WORST_CASE(Omega(0),?)

Initial ITS
Start location: l66
   0: l0 -> l2 : a_139^0'=a_139^post0, result_11^0'=result_11^post0, i_31^0'=i_31^post0, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post0, rcd_320^0'=rcd_320^post0, i_112^0'=i_112^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, x_22^0'=x_22^post0, rcd_199^0'=rcd_199^post0, head_16^0'=head_16^post0, temp0_32^0'=temp0_32^post0, r_149^0'=r_149^post0, y_26^0'=y_26^post0, rcd_71^0'=rcd_71^post0, i_198^0'=i_198^post0, x_207^0'=x_207^post0, rcd_185^0'=rcd_185^post0, a_279^0'=a_279^post0, t_23^0'=t_23^post0, len_221^0'=len_221^post0, x_SLAM_f_20^0'=x_SLAM_f_20^post0, rcd_284^0'=rcd_284^post0, head_SLAM_f_30^0'=head_SLAM_f_30^post0, temp_37^0'=temp_37^post0, r_41^0'=r_41^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, len_159^0'=len_159^post0, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post0, rcd_45^0'=rcd_45^post0, i_130^0'=i_130^post0, x_154^0'=x_154^post0, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post0, rcd_220^0'=rcd_220^post0, head_33^0'=head_33^post0, temp_36^0'=temp_36^post0, r_192^0'=r_192^post0, (0 == 0 /\ rcd_288^0-rcd_288^post0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ i_198^0-i_198^post0 == 0 /\ a_279^0-a_279^post0 == 0 /\ len_221^0-len_221^post0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post0 == 0 /\ -rcd_114^post0+rcd_114^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post0 == 0 /\ temp_37^0-temp_37^post0 == 0 /\ y_26^0-y_26^post0 == 0 /\ -i_31^0 <= 0 /\ rcd_71^0-rcd_71^post0 == 0 /\ -head_33^post0+head_33^0 == 0 /\ rcd_45^0-rcd_45^post0 == 0 /\ a_139^0-a_139^post0 == 0 /\ -r_149^post0+r_149^0 == 0 /\ a_309^0-a_309^post0 == 0 /\ tmp_35^0-tmp_35^post0 == 0 /\ -rcd_220^post0+rcd_220^0 == 0 /\ -x_27^post0+x_27^0 == 0 /\ y_21^0-y_21^post0 == 0 /\ -a_174^post0+a_174^0 == 0 /\ len_159^0-len_159^post0 == 0 /\ -x_154^post0+x_154^0 == 0 /\ -x_22^post0+x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_207^0-x_207^post0 == 0 /\ t_23^0-t_23^post0 == 0 /\ -rcd_199^post0+rcd_199^0 == 0 /\ temp0_19^0-temp0_19^post0 == 0 /\ a_222^0-a_222^post0 == 0 /\ rcd_106^0-rcd_106^post0 == 0 /\ result_11^0-result_11^post0 == 0 /\ length_29^0-length_29^post0 == 0 /\ -rcd_194^post0+rcd_194^0 == 0 /\ i_112^0-i_112^post0 == 0 /\ -a_253^post0+a_253^0 == 0 /\ temp0_32^0-temp0_32^post0 == 0 /\ -temp_36^post0+temp_36^0 == 0 /\ -f_202^post0+f_202^0 == 0 /\ rcd_320^0-rcd_320^post0 == 0 /\ i_31^0-i_31^post0 == 0 /\ -rcd_308^post0+rcd_308^0 == 0 /\ -rcd_284^post0+rcd_284^0 == 0), cost: 1
   1: l2 -> l3 : a_139^0'=a_139^post1, result_11^0'=result_11^post1, i_31^0'=i_31^post1, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post1, rcd_320^0'=rcd_320^post1, i_112^0'=i_112^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, x_22^0'=x_22^post1, rcd_199^0'=rcd_199^post1, head_16^0'=head_16^post1, temp0_32^0'=temp0_32^post1, r_149^0'=r_149^post1, y_26^0'=y_26^post1, rcd_71^0'=rcd_71^post1, i_198^0'=i_198^post1, x_207^0'=x_207^post1, rcd_185^0'=rcd_185^post1, a_279^0'=a_279^post1, t_23^0'=t_23^post1, len_221^0'=len_221^post1, x_SLAM_f_20^0'=x_SLAM_f_20^post1, rcd_284^0'=rcd_284^post1, head_SLAM_f_30^0'=head_SLAM_f_30^post1, temp_37^0'=temp_37^post1, r_41^0'=r_41^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, len_159^0'=len_159^post1, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post1, rcd_45^0'=rcd_45^post1, i_130^0'=i_130^post1, x_154^0'=x_154^post1, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post1, rcd_220^0'=rcd_220^post1, head_33^0'=head_33^post1, temp_36^0'=temp_36^post1, r_192^0'=r_192^post1, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post1 == 0 /\ -rcd_220^post1+rcd_220^0 == 0 /\ -y_26^post1+y_26^0 == 0 /\ -x_207^post1+x_207^0 == 0 /\ rcd_185^0-rcd_185^post1 == 0 /\ -x_27^post1+x_27^0 == 0 /\ -temp_37^post1+temp_37^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ -head_SLAM_f_30^post1+head_SLAM_f_30^0 == 0 /\ temp0_32^0-temp0_32^post1 == 0 /\ -a_174^post1+a_174^0 == 0 /\ -x_154^post1+x_154^0 == 0 /\ -temp0_19^post1+temp0_19^0 == 0 /\ a_139^0-a_139^post1 == 0 /\ a_309^0-a_309^post1 == 0 /\ rcd_320^0-rcd_320^post1 == 0 /\ i_31^0-i_31^post1 == 0 /\ -r_41^post1+r_41^0 == 0 /\ -i_198^post1+i_198^0 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ -rcd_194^post1+rcd_194^0 == 0 /\ rcd_308^0-rcd_308^post1 == 0 /\ -rcd_284^post1+rcd_284^0 == 0 /\ x_22^0-x_22^post1 == 0 /\ -x_SLAM_f_20^post1+x_SLAM_f_20^0 == 0 /\ -temp_36^post1+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post1 == 0 /\ -a_253^post1+a_253^0 == 0 /\ -r_192^post1+r_192^0 == 0 /\ rcd_106^0-rcd_106^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post1+rcd_45^0 == 0 /\ -length_29^post1+length_29^0 == 0 /\ tmp_35^0-tmp_35^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ head_16^0-head_16^post1 == 0 /\ i_112^0-i_112^post1 == 0 /\ y_21^0-y_21^post1 == 0 /\ tail_15^0-tail_15^post1 == 0 /\ rcd_199^0-rcd_199^post1 == 0 /\ -head_33^post1+head_33^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post1 == 0 /\ -len_159^post1+len_159^0 == 0 /\ -rcd_114^post1+rcd_114^0 == 0 /\ len_221^0-len_221^post1 == 0 /\ a_279^0-a_279^post1 == 0 /\ rcd_288^0-rcd_288^post1 == 0 /\ -i_130^post1+i_130^0 == 0 /\ r_149^0-r_149^post1 == 0 /\ f_202^0-f_202^post1 == 0 /\ a_222^0-a_222^post1 == 0 /\ rcd_71^0-rcd_71^post1 == 0 /\ rcd_193^0-rcd_193^post1 == 0), cost: 1
   2: l2 -> l3 : a_139^0'=a_139^post2, result_11^0'=result_11^post2, i_31^0'=i_31^post2, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post2, rcd_320^0'=rcd_320^post2, i_112^0'=i_112^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, x_22^0'=x_22^post2, rcd_199^0'=rcd_199^post2, head_16^0'=head_16^post2, temp0_32^0'=temp0_32^post2, r_149^0'=r_149^post2, y_26^0'=y_26^post2, rcd_71^0'=rcd_71^post2, i_198^0'=i_198^post2, x_207^0'=x_207^post2, rcd_185^0'=rcd_185^post2, a_279^0'=a_279^post2, t_23^0'=t_23^post2, len_221^0'=len_221^post2, x_SLAM_f_20^0'=x_SLAM_f_20^post2, rcd_284^0'=rcd_284^post2, head_SLAM_f_30^0'=head_SLAM_f_30^post2, temp_37^0'=temp_37^post2, r_41^0'=r_41^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, len_159^0'=len_159^post2, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post2, rcd_45^0'=rcd_45^post2, i_130^0'=i_130^post2, x_154^0'=x_154^post2, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post2, rcd_220^0'=rcd_220^post2, head_33^0'=head_33^post2, temp_36^0'=temp_36^post2, r_192^0'=r_192^post2, (rcd_308^0-rcd_308^post2 == 0 /\ 1-y_26^0+x_27^0 <= 0 /\ rcd_199^0-rcd_199^post2 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post2 == 0 /\ rcd_114^0-rcd_114^post2 == 0 /\ -rcd_45^post2+rcd_45^0 == 0 /\ r_41^0-r_41^post2 == 0 /\ -a_279^post2+a_279^0 == 0 /\ rcd_288^0-rcd_288^post2 == 0 /\ x_207^0-x_207^post2 == 0 /\ -len_159^post2+len_159^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_130^post2+i_130^0 == 0 /\ rcd_106^0-rcd_106^post2 == 0 /\ -r_149^post2+r_149^0 == 0 /\ -len_221^post2+len_221^0 == 0 /\ y_26^0-y_26^post2 == 0 /\ -head_33^post2+head_33^0 == 0 /\ length_29^0-length_29^post2 == 0 /\ tmp_35^0-tmp_35^post2 == 0 /\ a_139^0-a_139^post2 == 0 /\ -x_27^post2+x_27^0 == 0 /\ head_16^0-head_16^post2 == 0 /\ x_154^0-x_154^post2 == 0 /\ -rcd_320^post2+rcd_320^0 == 0 /\ i_31^0-i_31^post2 == 0 /\ -rcd_220^post2+rcd_220^0 == 0 /\ tail_15^0-tail_15^post2 == 0 /\ -x_22^post2+x_22^0 == 0 /\ -temp_37^post2+temp_37^0 == 0 /\ -r_192^post2+r_192^0 == 0 /\ i_198^0-i_198^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_222^0-a_222^post2 == 0 /\ -temp0_19^post2+temp0_19^0 == 0 /\ rcd_193^0-rcd_193^post2 == 0 /\ -head_SLAM_f_30^post2+head_SLAM_f_30^0 == 0 /\ -a_174^post2+a_174^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post2 == 0 /\ -rcd_194^post2+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post2 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ -temp0_32^post2+temp0_32^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_309^0-a_309^post2 == 0 /\ -rcd_71^post2+rcd_71^0 == 0 /\ i_112^0-i_112^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -temp_36^post2+temp_36^0 == 0 /\ -y_21^post2+y_21^0 == 0 /\ -a_253^post2+a_253^0 == 0 /\ rcd_284^0-rcd_284^post2 == 0 /\ -f_202^post2+f_202^0 == 0), cost: 1
   3: l3 -> l4 : a_139^0'=a_139^post3, result_11^0'=result_11^post3, i_31^0'=i_31^post3, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post3, rcd_320^0'=rcd_320^post3, i_112^0'=i_112^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, x_22^0'=x_22^post3, rcd_199^0'=rcd_199^post3, head_16^0'=head_16^post3, temp0_32^0'=temp0_32^post3, r_149^0'=r_149^post3, y_26^0'=y_26^post3, rcd_71^0'=rcd_71^post3, i_198^0'=i_198^post3, x_207^0'=x_207^post3, rcd_185^0'=rcd_185^post3, a_279^0'=a_279^post3, t_23^0'=t_23^post3, len_221^0'=len_221^post3, x_SLAM_f_20^0'=x_SLAM_f_20^post3, rcd_284^0'=rcd_284^post3, head_SLAM_f_30^0'=head_SLAM_f_30^post3, temp_37^0'=temp_37^post3, r_41^0'=r_41^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, len_159^0'=len_159^post3, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post3, rcd_45^0'=rcd_45^post3, i_130^0'=i_130^post3, x_154^0'=x_154^post3, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post3, rcd_220^0'=rcd_220^post3, head_33^0'=head_33^post3, temp_36^0'=temp_36^post3, r_192^0'=r_192^post3, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_185^post3+rcd_185^0 == 0 /\ -x_207^post3+x_207^0 == 0 /\ -x_SLAM_f_20^post3+x_SLAM_f_20^0 == 0 /\ y_26^0-y_26^post3 == 0 /\ a_309^0-a_309^post3 == 0 /\ -temp_36^post3+temp_36^0 == 0 /\ 1-len_159^0 <= 0 /\ -1+len_159^0 <= 0 /\ -r_192^post3+r_192^0 == 0 /\ -f_202^post3+f_202^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -head_16^post3+head_16^0 == 0 /\ i_130^0-i_130^post3 == 0 /\ -r_41^post3+r_41^0 == 0 /\ i_112^0-i_112^post3 == 0 /\ rcd_199^0-rcd_199^post3 == 0 /\ -x_154^post3+x_154^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ rcd_320^0-rcd_320^post3 == 0 /\ rcd_284^0-rcd_284^post3 == 0 /\ a_174^0-a_174^post3 == 0 /\ x_22^0-x_22^post3 == 0 /\ -rcd_308^post3+rcd_308^0 == 0 /\ -i_198^post3+i_198^0 == 0 /\ a_222^0-a_222^post3 == 0 /\ -rcd_194^post3+rcd_194^0 == 0 /\ temp_37^0-temp_37^post3 == 0 /\ r_149^0-r_149^post3 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -y_21^post3+y_21^0 == 0 /\ rcd_71^0-rcd_71^post3 == 0 /\ -a_253^post3+a_253^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_19^0-temp0_19^post3 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ length_29^0-length_29^post3 == 0 /\ -a_174^0+a_139^post3 <= 0 /\ -a_279^post3+a_279^0 == 0 /\ t_23^0-t_23^post3 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_32^0-temp0_32^post3 == 0 /\ rcd_185^0-rcd_45^0 <= 0 /\ len_221^0-len_221^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -i_31^post3+i_31^0 == 0 /\ tail_15^0-tail_15^post3 == 0 /\ -rcd_288^post3+rcd_288^0 == 0 /\ -tmp_35^post3+tmp_35^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ a_174^0-a_139^post3 <= 0 /\ -rcd_114^post3+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post3 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_33^post3+head_33^0 == 0 /\ -rcd_220^post3+rcd_220^0 == 0 /\ -rcd_185^0+rcd_45^0 <= 0 /\ len_159^0-len_159^post3 == 0 /\ -x_27^post3+x_27^0 == 0 /\ rcd_193^0-rcd_193^post3 == 0 /\ -rcd_45^post3+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post3 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post3 == 0), cost: 1
   4: l4 -> l5 : a_139^0'=a_139^post4, result_11^0'=result_11^post4, i_31^0'=i_31^post4, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post4, rcd_320^0'=rcd_320^post4, i_112^0'=i_112^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, x_22^0'=x_22^post4, rcd_199^0'=rcd_199^post4, head_16^0'=head_16^post4, temp0_32^0'=temp0_32^post4, r_149^0'=r_149^post4, y_26^0'=y_26^post4, rcd_71^0'=rcd_71^post4, i_198^0'=i_198^post4, x_207^0'=x_207^post4, rcd_185^0'=rcd_185^post4, a_279^0'=a_279^post4, t_23^0'=t_23^post4, len_221^0'=len_221^post4, x_SLAM_f_20^0'=x_SLAM_f_20^post4, rcd_284^0'=rcd_284^post4, head_SLAM_f_30^0'=head_SLAM_f_30^post4, temp_37^0'=temp_37^post4, r_41^0'=r_41^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, len_159^0'=len_159^post4, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post4, rcd_45^0'=rcd_45^post4, i_130^0'=i_130^post4, x_154^0'=x_154^post4, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post4, rcd_220^0'=rcd_220^post4, head_33^0'=head_33^post4, temp_36^0'=temp_36^post4, r_192^0'=r_192^post4, (rcd_288^0-rcd_288^post4 == 0 /\ i_31^0-i_31^post4 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -a_253^post4+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post4 == 0 /\ -rcd_71^post4+rcd_71^0 == 0 /\ r_41^0-r_41^post4 == 0 /\ x_207^0-x_207^post4 == 0 /\ -rcd_308^post4+rcd_308^0 == 0 /\ rcd_193^0-rcd_193^post4 == 0 /\ -len_159^post4+len_159^0 == 0 /\ -temp0_19^post4+temp0_19^0 == 0 /\ y_26^0-y_26^post4 == 0 /\ -rcd_114^post4+rcd_114^0 == 0 /\ length_29^0-length_29^post4 == 0 /\ -i_130^post4+i_130^0 == 0 /\ -len_221^post4+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_220^post4+rcd_220^0 == 0 /\ -tmp_35^post4+tmp_35^0 == 0 /\ -rcd_45^post4+rcd_45^0 == 0 /\ -x_27^post4+x_27^0 == 0 /\ head_16^0-head_16^post4 == 0 /\ a_139^0-a_139^post4 == 0 /\ tail_15^0-tail_15^post4 == 0 /\ rcd_199^0-rcd_199^post4 == 0 /\ -head_33^post4+head_33^0 == 0 /\ -temp_37^post4+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post4 == 0 /\ -temp_36^post4+temp_36^0 == 0 /\ -rcd_320^post4+rcd_320^0 == 0 /\ f_202^0-f_202^post4 == 0 /\ -r_192^post4+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post4 == 0 /\ -a_174^post4+a_174^0 == 0 /\ a_279^0-a_279^post4 == 0 /\ -head_SLAM_f_30^post4+head_SLAM_f_30^0 == 0 /\ a_222^0-a_222^post4 == 0 /\ -x_154^post4+x_154^0 == 0 /\ rcd_106^0-rcd_106^post4 == 0 /\ r_149^0-r_149^post4 == 0 /\ -y_21^post4+y_21^0 == 0 /\ -temp0_32^post4+temp0_32^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ -rcd_194^post4+rcd_194^0 == 0 /\ a_309^0-a_309^post4 == 0 /\ -t_23^post4+t_23^0 == 0 /\ rcd_185^0-rcd_185^post4 == 0 /\ -i_198^post4+i_198^0 == 0 /\ rcd_284^0-rcd_284^post4 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ i_112^0-i_112^post4 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post4 == 0), cost: 1
   5: l4 -> l5 : a_139^0'=a_139^post5, result_11^0'=result_11^post5, i_31^0'=i_31^post5, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post5, rcd_320^0'=rcd_320^post5, i_112^0'=i_112^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, x_22^0'=x_22^post5, rcd_199^0'=rcd_199^post5, head_16^0'=head_16^post5, temp0_32^0'=temp0_32^post5, r_149^0'=r_149^post5, y_26^0'=y_26^post5, rcd_71^0'=rcd_71^post5, i_198^0'=i_198^post5, x_207^0'=x_207^post5, rcd_185^0'=rcd_185^post5, a_279^0'=a_279^post5, t_23^0'=t_23^post5, len_221^0'=len_221^post5, x_SLAM_f_20^0'=x_SLAM_f_20^post5, rcd_284^0'=rcd_284^post5, head_SLAM_f_30^0'=head_SLAM_f_30^post5, temp_37^0'=temp_37^post5, r_41^0'=r_41^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, len_159^0'=len_159^post5, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post5, rcd_45^0'=rcd_45^post5, i_130^0'=i_130^post5, x_154^0'=x_154^post5, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post5, rcd_220^0'=rcd_220^post5, head_33^0'=head_33^post5, temp_36^0'=temp_36^post5, r_192^0'=r_192^post5, (-head_16^post5+head_16^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ length_29^0-length_29^post5 == 0 /\ -x_154^post5+x_154^0 == 0 /\ -x_207^post5+x_207^0 == 0 /\ -temp_36^post5+temp_36^0 == 0 /\ -r_149^post5+r_149^0 == 0 /\ -x_27^post5+x_27^0 == 0 /\ -f_202^post5+f_202^0 == 0 /\ rcd_284^0-rcd_284^post5 == 0 /\ i_112^0-i_112^post5 == 0 /\ -y_26^post5+y_26^0 == 0 /\ i_130^0-i_130^post5 == 0 /\ -r_41^post5+r_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post5 == 0 /\ tail_15^0-tail_15^post5 == 0 /\ tmp_35^0-tmp_35^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_31^0-i_31^post5 == 0 /\ -y_21^post5+y_21^0 == 0 /\ rcd_288^0-rcd_288^post5 == 0 /\ -rcd_308^post5+rcd_308^0 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -rcd_106^post5+rcd_106^0 == 0 /\ len_221^0-len_221^post5 == 0 /\ -rcd_194^post5+rcd_194^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post5 == 0 /\ a_174^0-a_174^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ -x_22^post5+x_22^0 == 0 /\ -r_192^post5+r_192^0 == 0 /\ a_222^0-a_222^post5 == 0 /\ temp_37^0-temp_37^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ rcd_71^0-rcd_71^post5 == 0 /\ -a_253^post5+a_253^0 == 0 /\ a_309^0-a_309^post5 == 0 /\ temp0_32^0-temp0_32^post5 == 0 /\ rcd_185^0-rcd_185^post5 == 0 /\ rcd_320^0-rcd_320^post5 == 0 /\ a_139^0-a_139^post5 == 0 /\ -temp0_19^post5+temp0_19^0 == 0 /\ -rcd_199^post5+rcd_199^0 == 0 /\ -rcd_114^post5+rcd_114^0 == 0 /\ len_159^0-len_159^post5 == 0 /\ i_198^0-i_198^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_220^post5+rcd_220^0 == 0 /\ -a_279^post5+a_279^0 == 0 /\ -rcd_45^post5+rcd_45^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post5 == 0 /\ -head_33^post5+head_33^0 == 0 /\ rcd_193^0-rcd_193^post5 == 0), cost: 1
   6: l5 -> l1 : a_139^0'=a_139^post6, result_11^0'=result_11^post6, i_31^0'=i_31^post6, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post6, rcd_320^0'=rcd_320^post6, i_112^0'=i_112^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, x_22^0'=x_22^post6, rcd_199^0'=rcd_199^post6, head_16^0'=head_16^post6, temp0_32^0'=temp0_32^post6, r_149^0'=r_149^post6, y_26^0'=y_26^post6, rcd_71^0'=rcd_71^post6, i_198^0'=i_198^post6, x_207^0'=x_207^post6, rcd_185^0'=rcd_185^post6, a_279^0'=a_279^post6, t_23^0'=t_23^post6, len_221^0'=len_221^post6, x_SLAM_f_20^0'=x_SLAM_f_20^post6, rcd_284^0'=rcd_284^post6, head_SLAM_f_30^0'=head_SLAM_f_30^post6, temp_37^0'=temp_37^post6, r_41^0'=r_41^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, len_159^0'=len_159^post6, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post6, rcd_45^0'=rcd_45^post6, i_130^0'=i_130^post6, x_154^0'=x_154^post6, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post6, rcd_220^0'=rcd_220^post6, head_33^0'=head_33^post6, temp_36^0'=temp_36^post6, r_192^0'=r_192^post6, (0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post6 == 0 /\ rcd_199^0-rcd_199^post6 == 0 /\ rcd_320^0-rcd_320^post6 == 0 /\ -rcd_45^post6+rcd_45^0 == 0 /\ -t_23^post6+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post6 == 0 /\ -i_130^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_193^0-rcd_193^post6 == 0 /\ -len_159^post6+len_159^0 == 0 /\ rcd_106^0-rcd_106^post6 == 0 /\ r_149^0-r_149^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ 1+a_139^0-i_130^post6 <= 0 /\ -rcd_114^post6+rcd_114^0 == 0 /\ length_29^0-length_29^post6 == 0 /\ temp0_32^0-temp0_32^post6 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post6+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_19^post6+temp0_19^0 == 0 /\ i_112^0-i_112^post6 == 0 /\ -head_33^post6+head_33^0 == 0 /\ -rcd_220^post6+rcd_220^0 == 0 /\ i_31^0-i_31^post6 == 0 /\ -x_207^post6+x_207^0 == 0 /\ a_253^0-a_253^post6 == 0 /\ -temp_36^post6+temp_36^0 == 0 /\ len_221^0-len_221^post6 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_288^0-rcd_288^post6 == 0 /\ -a_174^post6+a_174^0 == 0 /\ -tail_15^post6+tail_15^0 == 0 /\ -temp_37^post6+temp_37^0 == 0 /\ f_202^0-f_202^post6 == 0 /\ a_279^0-a_279^post6 == 0 /\ -x_27^post6+x_27^0 == 0 /\ -rcd_185^post6+rcd_185^0 == 0 /\ -head_SLAM_f_30^post6+head_SLAM_f_30^0 == 0 /\ a_222^0-a_222^post6 == 0 /\ i_198^0-i_198^post6 == 0 /\ -x_154^post6+x_154^0 == 0 /\ x_22^0-x_22^post6 == 0 /\ -rcd_194^post6+rcd_194^0 == 0 /\ rcd_71^0-rcd_71^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_21^post6+y_21^0 == 0 /\ -rcd_308^post6+rcd_308^0 == 0 /\ -1-a_139^0+i_130^post6 <= 0 /\ -r_41^post6+r_41^0 == 0 /\ a_309^0-a_309^post6 == 0 /\ -rcd_284^post6+rcd_284^0 == 0 /\ -r_192^post6+r_192^0 == 0 /\ -x_SLAM_f_20^post6+x_SLAM_f_20^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ head_16^0-head_16^post6 == 0 /\ y_26^0-y_26^post6 == 0 /\ tmp_35^0-tmp_35^post6 == 0 /\ a_139^0-a_139^post6 == 0), cost: 1
  76: l1 -> l50 : a_139^0'=a_139^post76, result_11^0'=result_11^post76, i_31^0'=i_31^post76, rcd_193^0'=rcd_193^post76, a_309^0'=a_309^post76, tail_15^0'=tail_15^post76, length_29^0'=length_29^post76, x_SLAM_f_25^0'=x_SLAM_f_25^post76, rcd_288^0'=rcd_288^post76, rcd_320^0'=rcd_320^post76, i_112^0'=i_112^post76, tmp_35^0'=tmp_35^post76, rcd_106^0'=rcd_106^post76, a_222^0'=a_222^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76, x_22^0'=x_22^post76, rcd_199^0'=rcd_199^post76, head_16^0'=head_16^post76, temp0_32^0'=temp0_32^post76, r_149^0'=r_149^post76, y_26^0'=y_26^post76, rcd_71^0'=rcd_71^post76, i_198^0'=i_198^post76, x_207^0'=x_207^post76, rcd_185^0'=rcd_185^post76, a_279^0'=a_279^post76, t_23^0'=t_23^post76, len_221^0'=len_221^post76, x_SLAM_f_20^0'=x_SLAM_f_20^post76, rcd_284^0'=rcd_284^post76, head_SLAM_f_30^0'=head_SLAM_f_30^post76, temp_37^0'=temp_37^post76, r_41^0'=r_41^post76, a_174^0'=a_174^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76, len_159^0'=len_159^post76, rcd_194^0'=rcd_194^post76, f_202^0'=f_202^post76, temp0_19^0'=temp0_19^post76, nondet_12^0'=nondet_12^post76, y_21^0'=y_21^post76, rcd_308^0'=rcd_308^post76, rcd_45^0'=rcd_45^post76, i_130^0'=i_130^post76, x_154^0'=x_154^post76, rcd_114^0'=rcd_114^post76, a_253^0'=a_253^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, rcd_220^0'=rcd_220^post76, head_33^0'=head_33^post76, temp_36^0'=temp_36^post76, r_192^0'=r_192^post76, (0 == 0 /\ temp0_32^0-temp0_32^post76 == 0 /\ -len_159^0 <= 0 /\ -temp_36^post76+temp_36^0 == 0 /\ -y_26^0+x_27^0 <= 0 /\ rcd_185^0-rcd_185^post76 == 0 /\ head_16^0-x_22^post76 <= 0 /\ -i_198^post76+i_198^0 == 0 /\ -tail_15^0+y_21^post76 <= 0 /\ -tail_15^0+y_21^post76 == 0 /\ a_139^0-a_139^post76 == 0 /\ rcd_194^0-rcd_194^post76 == 0 /\ -temp_37^post76+temp_37^0 == 0 /\ -head_SLAM_f_30^post76+head_SLAM_f_30^0 == 0 /\ -a_174^post76+a_174^0 == 0 /\ a_309^0-a_309^post76 == 0 /\ -x_154^post76+x_154^0 == 0 /\ -rcd_284^post76+rcd_284^0 == 0 /\ rcd_308^0-rcd_308^post76 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76 == 0 /\ y_26^0-x_27^0 <= 0 /\ -t_23^post76+t_23^0 == 0 /\ -r_41^post76+r_41^0 == 0 /\ -head_16^0+x_22^post76 <= 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -r_192^post76+r_192^0 == 0 /\ tail_15^0-y_21^post76 <= 0 /\ -a_174^0 <= 0 /\ -a_253^post76+a_253^0 == 0 /\ a_279^0-a_279^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -len_159^post76+len_159^0 == 0 /\ head_16^0-head_16^post76 == 0 /\ x_SLAM_f_20^post76-x_22^post76 <= 0 /\ i_112^0-i_112^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76+y_21^post76 <= 0 /\ x_SLAM_f_20^post76-head_16^0 <= 0 /\ x_SLAM_f_20^post76-head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ tmp_35^0-tmp_35^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ -i_130^post76+i_130^0 == 0 /\ rcd_320^0-rcd_320^post76 == 0 /\ -temp0_19^post76+temp0_19^0 == 0 /\ len_221^0-len_221^post76 == 0 /\ i_31^0-i_31^post76 == 0 /\ rcd_288^0-rcd_288^post76 == 0 /\ tail_15^0-tail_15^post76 == 0 /\ rcd_199^0-rcd_199^post76 == 0 /\ -a_222^post76+a_222^0 == 0 /\ f_202^0-f_202^post76 == 0 /\ -rcd_220^post76+rcd_220^0 == 0 /\ rcd_71^0-rcd_71^post76 == 0 /\ -x_SLAM_f_20^post76+x_22^post76 <= 0 /\ -x_SLAM_f_20^post76+x_22^post76 == 0 /\ -x_207^post76+x_207^0 == 0 /\ rcd_193^0-rcd_193^post76 == 0 /\ -head_33^post76+head_33^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76-y_21^post76 <= 0 /\ -rcd_45^post76+rcd_45^0 == 0 /\ -x_SLAM_f_20^post76+head_16^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ -rcd_114^post76+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post76 == 0 /\ r_149^0-r_149^post76 == 0), cost: 1
  80: l1 -> l53 : a_139^0'=a_139^post80, result_11^0'=result_11^post80, i_31^0'=i_31^post80, rcd_193^0'=rcd_193^post80, a_309^0'=a_309^post80, tail_15^0'=tail_15^post80, length_29^0'=length_29^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, rcd_288^0'=rcd_288^post80, rcd_320^0'=rcd_320^post80, i_112^0'=i_112^post80, tmp_35^0'=tmp_35^post80, rcd_106^0'=rcd_106^post80, a_222^0'=a_222^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80, x_22^0'=x_22^post80, rcd_199^0'=rcd_199^post80, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post80, r_149^0'=r_149^post80, y_26^0'=y_26^post80, rcd_71^0'=rcd_71^post80, i_198^0'=i_198^post80, x_207^0'=x_207^post80, rcd_185^0'=rcd_185^post80, a_279^0'=a_279^post80, t_23^0'=t_23^post80, len_221^0'=len_221^post80, x_SLAM_f_20^0'=x_SLAM_f_20^post80, rcd_284^0'=rcd_284^post80, head_SLAM_f_30^0'=head_SLAM_f_30^post80, temp_37^0'=temp_37^post80, r_41^0'=r_41^post80, a_174^0'=a_174^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, len_159^0'=len_159^post80, rcd_194^0'=rcd_194^post80, f_202^0'=f_202^post80, temp0_19^0'=temp0_19^post80, nondet_12^0'=nondet_12^post80, y_21^0'=y_21^post80, rcd_308^0'=rcd_308^post80, rcd_45^0'=rcd_45^post80, i_130^0'=i_130^post80, x_154^0'=x_154^post80, rcd_114^0'=rcd_114^post80, a_253^0'=a_253^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=x_27^post80, rcd_220^0'=rcd_220^post80, head_33^0'=head_33^post80, temp_36^0'=temp_36^post80, r_192^0'=r_192^post80, (0 == 0 /\ tmp_35^0-tmp_35^post80 == 0 /\ -rcd_199^post80+rcd_199^0 == 0 /\ -len_159^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -r_192^post80+r_192^0 == 0 /\ -x_154^post80+x_154^0 == 0 /\ -i_130^post80+i_130^0 == 0 /\ -rcd_194^post80+rcd_194^0 == 0 /\ rcd_284^0-rcd_284^post80 == 0 /\ rcd_288^0-rcd_288^post80 == 0 /\ -temp_36^post80+temp_36^0 == 0 /\ -r_149^post80+r_149^0 == 0 /\ a_174^0-a_174^post80 == 0 /\ -y_26^post80+y_26^0 == 0 /\ -x_22^post80+x_22^0 == 0 /\ rcd_320^0-rcd_320^post80 == 0 /\ i_31^0-i_31^post80 == 0 /\ -y_21^post80+y_21^0 == 0 /\ -a_174^0 <= 0 /\ a_222^0-a_222^post80 == 0 /\ temp_37^0-temp_37^post80 == 0 /\ -rcd_106^post80+rcd_106^0 == 0 /\ rcd_71^0-rcd_71^post80 == 0 /\ temp0_32^0-temp0_32^post80 == 0 /\ a_139^0-a_139^post80 == 0 /\ length_29^0-length_29^post80 == 0 /\ -a_279^post80+a_279^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post80 == 0 /\ t_23^0-t_23^post80 == 0 /\ a_309^0-a_309^post80 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ -rcd_308^post80+rcd_308^0 == 0 /\ -a_253^post80+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post80 == 0 /\ head_33^0-head_33^post80 == 0 /\ -rcd_45^post80+rcd_45^0 == 0 /\ -rcd_220^post80+rcd_220^0 == 0 /\ i_112^0-i_112^post80 == 0 /\ -temp0_19^post80+temp0_19^0 == 0 /\ len_159^0-len_159^post80 == 0 /\ i_198^0-i_198^post80 == 0 /\ -rcd_114^post80+rcd_114^0 == 0 /\ -len_221^post80+len_221^0 == 0 /\ rcd_193^0-rcd_193^post80 == 0 /\ rcd_185^0-rcd_185^post80 == 0 /\ -x_27^post80+x_27^0 == 0 /\ result_11^0-result_11^post80 == 0), cost: 1
   7: l6 -> l8 : a_139^0'=a_139^post7, result_11^0'=result_11^post7, i_31^0'=i_31^post7, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post7, rcd_320^0'=rcd_320^post7, i_112^0'=i_112^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, x_22^0'=x_22^post7, rcd_199^0'=rcd_199^post7, head_16^0'=head_16^post7, temp0_32^0'=temp0_32^post7, r_149^0'=r_149^post7, y_26^0'=y_26^post7, rcd_71^0'=rcd_71^post7, i_198^0'=i_198^post7, x_207^0'=x_207^post7, rcd_185^0'=rcd_185^post7, a_279^0'=a_279^post7, t_23^0'=t_23^post7, len_221^0'=len_221^post7, x_SLAM_f_20^0'=x_SLAM_f_20^post7, rcd_284^0'=rcd_284^post7, head_SLAM_f_30^0'=head_SLAM_f_30^post7, temp_37^0'=temp_37^post7, r_41^0'=r_41^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, len_159^0'=len_159^post7, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post7, rcd_45^0'=rcd_45^post7, i_130^0'=i_130^post7, x_154^0'=x_154^post7, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post7, rcd_220^0'=rcd_220^post7, head_33^0'=head_33^post7, temp_36^0'=temp_36^post7, r_192^0'=r_192^post7, (0 == 0 /\ -rcd_194^post7+rcd_194^0 == 0 /\ -f_202^post7+f_202^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10 <= 0 /\ i_198^0-i_198^post7 == 0 /\ result_11^10-temp0_32^10 == 0 /\ -rcd_308^post7+rcd_308^0 == 0 /\ a_139^0-a_139^post7 == 0 /\ -result_11^10+head_16^10 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ x_22^0-x_22^post7 == 0 /\ rcd_193^0-rcd_193^post7 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10 <= 0 /\ i_112^0-i_112^post7 == 0 /\ rcd_199^0-rcd_199^post7 == 0 /\ -x_SLAM_f_20^post7+x_SLAM_f_20^0 == 0 /\ -rcd_114^post7+rcd_114^0 == 0 /\ x_154^0-x_154^post7 == 0 /\ -r_149^post7+r_149^0 == 0 /\ -rcd_106^post7+rcd_106^0 == 0 /\ temp0_32^10-head_33^0 == 0 /\ -tail_15^0+y_26^post7 <= 0 /\ -tail_15^0+y_26^post7 == 0 /\ a_222^0-a_222^post7 == 0 /\ temp0_19^0-temp0_19^post7 == 0 /\ -temp_37^post7+temp_37^0 == 0 /\ x_SLAM_f_25^10-x_27^post7 <= 0 /\ rcd_288^0-rcd_288^post7 == 0 /\ -i_130^post7+i_130^0 == 0 /\ -head_16^10+x_27^post7 <= 0 /\ -x_SLAM_f_25^10+head_16^10 <= 0 /\ -r_192^post7+r_192^0 == 0 /\ -y_26^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10 <= 0 /\ rcd_71^0-rcd_71^post7 == 0 /\ -i_31^0+length_29^0 <= 0 /\ a_309^0-a_309^post7 == 0 /\ tail_15^0-y_26^post7 <= 0 /\ r_41^0-r_41^post7 == 0 /\ -x_207^post7+x_207^0 == 0 /\ -x_SLAM_f_25^10+x_27^post7 <= 0 /\ -x_SLAM_f_25^10+x_27^post7 == 0 /\ -a_253^post7+a_253^0 == 0 /\ -rcd_320^post7+rcd_320^0 == 0 /\ -a_279^post7+a_279^0 == 0 /\ -rcd_284^post7+rcd_284^0 == 0 /\ head_16^10-x_27^post7 <= 0 /\ x_SLAM_f_25^10-head_16^10 <= 0 /\ x_SLAM_f_25^10-head_16^10 == 0 /\ y_26^post7-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -len_221^post7+len_221^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -rcd_220^post7+rcd_220^0 == 0 /\ -a_174^post7+a_174^0 == 0 /\ -y_21^post7+y_21^0 == 0 /\ -len_159^post7+len_159^0 == 0 /\ -rcd_45^post7+rcd_45^0 == 0 /\ -rcd_185^post7+rcd_185^0 == 0), cost: 1
  27: l6 -> l20 : a_139^0'=a_139^post27, result_11^0'=result_11^post27, i_31^0'=i_31^post27, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post27, rcd_320^0'=rcd_320^post27, i_112^0'=i_112^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, x_22^0'=x_22^post27, rcd_199^0'=rcd_199^post27, head_16^0'=head_16^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, len_221^0'=len_221^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, rcd_284^0'=rcd_284^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^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, len_159^0'=len_159^post27, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, i_130^0'=i_130^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post27, rcd_220^0'=rcd_220^post27, head_33^0'=head_33^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, (0 == 0 /\ 2-length_29^0 <= 0 /\ -2+i_31^post27 <= 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -tail_15^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ rcd_114^0-rcd_114^post27 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -a_279^post27+a_279^0 == 0 /\ r_41^0-r_41^post27 == 0 /\ head_SLAM_f_30^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ tmp_35^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -len_159^post27+len_159^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ tail_15^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -i_130^post27+i_130^0 == 0 /\ y_26^0-y_26^post27 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ length_29^0-length_29^post27 == 0 /\ -head_SLAM_f_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ -tmp_35^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_16^0-head_16^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -len_221^post27+len_221^0 == 0 /\ 1-length_29^0 <= 0 /\ x_154^0-x_154^post27 == 0 /\ -x_27^post27+x_27^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_220^post27+rcd_220^0 == 0 /\ -r_149^post27+r_149^0 == 0 /\ 2-i_31^post27 <= 0 /\ -f_202^post27+f_202^0 == 0 /\ -x_22^post27+x_22^0 == 0 /\ -r_192^post27+r_192^0 == 0 /\ tmp_35^post27-temp_36^0 == 0 /\ i_198^0-i_198^post27 == 0 /\ -a_174^post27+a_174^0 == 0 /\ head_SLAM_f_30^post27-tail_15^post27 <= 0 /\ a_222^0-a_222^post27 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ head_33^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_33^post27-tmp_35^post27 <= 0 /\ head_33^post27-tmp_35^post27 == 0 /\ rcd_185^0-rcd_185^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ x_207^0-x_207^post27 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -head_SLAM_f_30^post27+tail_15^post27 <= 0 /\ -1-i_31^0+i_31^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -head_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -a_253^post27+a_253^0 == 0 /\ rcd_284^0-rcd_284^post27 == 0 /\ -head_33^post27+tmp_35^post27 <= 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ i_112^0-i_112^post27 == 0), cost: 1
   8: l8 -> l9 : a_139^0'=a_139^post8, result_11^0'=result_11^post8, i_31^0'=i_31^post8, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post8, rcd_320^0'=rcd_320^post8, i_112^0'=i_112^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, x_22^0'=x_22^post8, rcd_199^0'=rcd_199^post8, head_16^0'=head_16^post8, temp0_32^0'=temp0_32^post8, r_149^0'=r_149^post8, y_26^0'=y_26^post8, rcd_71^0'=rcd_71^post8, i_198^0'=i_198^post8, x_207^0'=x_207^post8, rcd_185^0'=rcd_185^post8, a_279^0'=a_279^post8, t_23^0'=t_23^post8, len_221^0'=len_221^post8, x_SLAM_f_20^0'=x_SLAM_f_20^post8, rcd_284^0'=rcd_284^post8, head_SLAM_f_30^0'=head_SLAM_f_30^post8, temp_37^0'=temp_37^post8, r_41^0'=r_41^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, len_159^0'=len_159^post8, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post8, rcd_45^0'=rcd_45^post8, i_130^0'=i_130^post8, x_154^0'=x_154^post8, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post8, rcd_220^0'=rcd_220^post8, head_33^0'=head_33^post8, temp_36^0'=temp_36^post8, r_192^0'=r_192^post8, (-rcd_284^post8+rcd_284^0 == 0 /\ x_22^0-x_22^post8 == 0 /\ -x_SLAM_f_20^post8+x_SLAM_f_20^0 == 0 /\ -temp0_32^post8+temp0_32^0 == 0 /\ -rcd_308^post8+rcd_308^0 == 0 /\ -a_222^post8+a_222^0 == 0 /\ -temp0_19^post8+temp0_19^0 == 0 /\ -a_279^post8+a_279^0 == 0 /\ -x_27^post8+x_27^0 == 0 /\ tail_15^0-tail_15^post8 == 0 /\ -rcd_220^post8+rcd_220^0 == 0 /\ -a_253^post8+a_253^0 == 0 /\ rcd_185^0-rcd_185^post8 == 0 /\ -len_221^post8+len_221^0 == 0 /\ rcd_193^0-rcd_193^post8 == 0 /\ -temp_36^post8+temp_36^0 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ -f_202^post8+f_202^0 == 0 /\ r_149^0-r_149^post8 == 0 /\ a_139^0-a_139^post8 == 0 /\ head_16^0-head_16^post8 == 0 /\ x_154^0-x_154^post8 == 0 /\ tmp_35^0-tmp_35^post8 == 0 /\ rcd_114^0-rcd_114^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_288^0-rcd_288^post8 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post8 == 0 /\ x_207^0-x_207^post8 == 0 /\ -i_198^post8+i_198^0 == 0 /\ -rcd_106^post8+rcd_106^0 == 0 /\ -a_309^post8+a_309^0 == 0 /\ i_112^0-i_112^post8 == 0 /\ i_31^0-i_31^post8 == 0 /\ rcd_194^0-rcd_194^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -i_130^post8+i_130^0 == 0 /\ -rcd_45^post8+rcd_45^0 == 0 /\ rcd_320^0-rcd_320^post8 == 0 /\ -y_21^post8+y_21^0 == 0 /\ result_11^0-result_11^post8 == 0 /\ -r_192^post8+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -rcd_71^post8+rcd_71^0 == 0 /\ rcd_199^0-rcd_199^post8 == 0 /\ -temp_37^post8+temp_37^0 == 0 /\ -head_33^post8+head_33^0 == 0 /\ -head_SLAM_f_30^post8+head_SLAM_f_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post8 == 0 /\ -t_23^post8+t_23^0 == 0 /\ -a_174^post8+a_174^0 == 0 /\ length_29^0-length_29^post8 == 0 /\ -len_159^post8+len_159^0 == 0 /\ r_41^0-r_41^post8 == 0 /\ -y_26^post8+y_26^0 == 0), cost: 1
   9: l8 -> l9 : a_139^0'=a_139^post9, result_11^0'=result_11^post9, i_31^0'=i_31^post9, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post9, rcd_320^0'=rcd_320^post9, i_112^0'=i_112^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, x_22^0'=x_22^post9, rcd_199^0'=rcd_199^post9, head_16^0'=head_16^post9, temp0_32^0'=temp0_32^post9, r_149^0'=r_149^post9, y_26^0'=y_26^post9, rcd_71^0'=rcd_71^post9, i_198^0'=i_198^post9, x_207^0'=x_207^post9, rcd_185^0'=rcd_185^post9, a_279^0'=a_279^post9, t_23^0'=t_23^post9, len_221^0'=len_221^post9, x_SLAM_f_20^0'=x_SLAM_f_20^post9, rcd_284^0'=rcd_284^post9, head_SLAM_f_30^0'=head_SLAM_f_30^post9, temp_37^0'=temp_37^post9, r_41^0'=r_41^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, len_159^0'=len_159^post9, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post9, rcd_45^0'=rcd_45^post9, i_130^0'=i_130^post9, x_154^0'=x_154^post9, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post9, rcd_220^0'=rcd_220^post9, head_33^0'=head_33^post9, temp_36^0'=temp_36^post9, r_192^0'=r_192^post9, (1-y_26^0+x_27^0 <= 0 /\ -rcd_71^post9+rcd_71^0 == 0 /\ a_139^0-a_139^post9 == 0 /\ i_198^0-i_198^post9 == 0 /\ -i_130^post9+i_130^0 == 0 /\ len_159^0-len_159^post9 == 0 /\ -rcd_114^post9+rcd_114^0 == 0 /\ -rcd_45^post9+rcd_45^0 == 0 /\ -r_149^post9+r_149^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post9 == 0 /\ -y_21^post9+y_21^0 == 0 /\ t_23^0-t_23^post9 == 0 /\ a_222^0-a_222^post9 == 0 /\ -a_279^post9+a_279^0 == 0 /\ a_309^0-a_309^post9 == 0 /\ i_112^0-i_112^post9 == 0 /\ x_22^0-x_22^post9 == 0 /\ rcd_284^0-rcd_284^post9 == 0 /\ -rcd_199^post9+rcd_199^0 == 0 /\ a_174^0-a_174^post9 == 0 /\ -x_154^post9+x_154^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post9 == 0 /\ -head_16^post9+head_16^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post9 == 0 /\ rcd_193^0-rcd_193^post9 == 0 /\ x_27^0-x_27^post9 == 0 /\ tmp_35^0-tmp_35^post9 == 0 /\ -r_41^post9+r_41^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post9 == 0 /\ -a_253^post9+a_253^0 == 0 /\ rcd_288^0-rcd_288^post9 == 0 /\ -rcd_220^post9+rcd_220^0 == 0 /\ y_26^0-y_26^post9 == 0 /\ -head_33^post9+head_33^0 == 0 /\ temp0_19^0-temp0_19^post9 == 0 /\ x_207^0-x_207^post9 == 0 /\ length_29^0-length_29^post9 == 0 /\ -len_221^post9+len_221^0 == 0 /\ temp_37^0-temp_37^post9 == 0 /\ -temp_36^post9+temp_36^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_192^post9+r_192^0 == 0 /\ -f_202^post9+f_202^0 == 0 /\ -rcd_185^post9+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post9 == 0 /\ rcd_106^0-rcd_106^post9 == 0 /\ rcd_320^0-rcd_320^post9 == 0 /\ i_31^0-i_31^post9 == 0 /\ tail_15^0-tail_15^post9 == 0 /\ -rcd_308^post9+rcd_308^0 == 0 /\ -rcd_194^post9+rcd_194^0 == 0), cost: 1
  10: l9 -> l10 : a_139^0'=a_139^post10, result_11^0'=result_11^post10, i_31^0'=i_31^post10, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post10, rcd_320^0'=rcd_320^post10, i_112^0'=i_112^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, x_22^0'=x_22^post10, rcd_199^0'=rcd_199^post10, head_16^0'=head_16^post10, temp0_32^0'=temp0_32^post10, r_149^0'=r_149^post10, y_26^0'=y_26^post10, rcd_71^0'=rcd_71^post10, i_198^0'=i_198^post10, x_207^0'=x_207^post10, rcd_185^0'=rcd_185^post10, a_279^0'=a_279^post10, t_23^0'=t_23^post10, len_221^0'=len_221^post10, x_SLAM_f_20^0'=x_SLAM_f_20^post10, rcd_284^0'=rcd_284^post10, head_SLAM_f_30^0'=head_SLAM_f_30^post10, temp_37^0'=temp_37^post10, r_41^0'=r_41^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, len_159^0'=len_159^post10, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post10, rcd_45^0'=rcd_45^post10, i_130^0'=i_130^post10, x_154^0'=x_154^post10, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post10, rcd_220^0'=rcd_220^post10, head_33^0'=head_33^post10, temp_36^0'=temp_36^post10, r_192^0'=r_192^post10, (-len_221^post10+len_221^0 == 0 /\ rcd_71^0-rcd_71^post10 == 0 /\ -x_27^post10+x_27^0 == 0 /\ -rcd_284^post10+rcd_284^0 == 0 /\ -x_154^post10+x_154^0 == 0 /\ -rcd_220^post10+rcd_220^0 == 0 /\ -a_174^post10+a_174^0 == 0 /\ -r_41^post10+r_41^0 == 0 /\ -head_33^post10+head_33^0 == 0 /\ tail_15^0-tail_15^post10 == 0 /\ -x_207^post10+x_207^0 == 0 /\ rcd_185^0-rcd_185^post10 == 0 /\ rcd_320^0-rcd_320^post10 == 0 /\ -x_SLAM_f_20^post10+x_SLAM_f_20^0 == 0 /\ -a_253^post10+a_253^0 == 0 /\ i_31^0-i_31^post10 == 0 /\ temp0_32^0-temp0_32^post10 == 0 /\ tail_15^0-y_26^0 <= 0 /\ head_16^0-head_16^post10 == 0 /\ a_139^0-a_139^post10 == 0 /\ a_279^0-a_279^post10 == 0 /\ -r_192^post10+r_192^0 == 0 /\ -temp_36^post10+temp_36^0 == 0 /\ tmp_35^0-tmp_35^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_26^0-y_26^post10 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_198^post10+i_198^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post10 == 0 /\ rcd_193^0-rcd_193^post10 == 0 /\ -rcd_308^post10+rcd_308^0 == 0 /\ -f_202^post10+f_202^0 == 0 /\ -rcd_194^post10+rcd_194^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ i_112^0-i_112^post10 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ x_22^0-x_22^post10 == 0 /\ rcd_106^0-rcd_106^post10 == 0 /\ -a_309^post10+a_309^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_199^0-rcd_199^post10 == 0 /\ -rcd_45^post10+rcd_45^0 == 0 /\ -rcd_114^post10+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-x_27^0 <= 0 /\ y_21^0-y_21^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -x_SLAM_f_25^post10+x_SLAM_f_25^0 == 0 /\ -len_159^post10+len_159^0 == 0 /\ r_149^0-r_149^post10 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_288^0-rcd_288^post10 == 0 /\ length_29^0-length_29^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+x_27^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ t_23^0-t_23^post10 == 0 /\ -temp_37^post10+temp_37^0 == 0 /\ -i_130^post10+i_130^0 == 0 /\ a_222^0-a_222^post10 == 0 /\ temp0_19^0-temp0_19^post10 == 0), cost: 1
  11: l10 -> l11 : a_139^0'=a_139^post11, result_11^0'=result_11^post11, i_31^0'=i_31^post11, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post11, rcd_320^0'=rcd_320^post11, i_112^0'=i_112^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, x_22^0'=x_22^post11, rcd_199^0'=rcd_199^post11, head_16^0'=head_16^post11, temp0_32^0'=temp0_32^post11, r_149^0'=r_149^post11, y_26^0'=y_26^post11, rcd_71^0'=rcd_71^post11, i_198^0'=i_198^post11, x_207^0'=x_207^post11, rcd_185^0'=rcd_185^post11, a_279^0'=a_279^post11, t_23^0'=t_23^post11, len_221^0'=len_221^post11, x_SLAM_f_20^0'=x_SLAM_f_20^post11, rcd_284^0'=rcd_284^post11, head_SLAM_f_30^0'=head_SLAM_f_30^post11, temp_37^0'=temp_37^post11, r_41^0'=r_41^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, len_159^0'=len_159^post11, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post11, rcd_45^0'=rcd_45^post11, i_130^0'=i_130^post11, x_154^0'=x_154^post11, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post11, rcd_220^0'=rcd_220^post11, head_33^0'=head_33^post11, temp_36^0'=temp_36^post11, r_192^0'=r_192^post11, (-rcd_194^post11+rcd_194^0 == 0 /\ a_222^0-a_222^post11 == 0 /\ -rcd_45^post11+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_23^post11+t_23^0 == 0 /\ -rcd_71^post11+rcd_71^0 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ rcd_308^0-rcd_308^post11 == 0 /\ tmp_35^0-tmp_35^post11 == 0 /\ r_149^0-r_149^post11 == 0 /\ -y_21^post11+y_21^0 == 0 /\ x_22^0-x_22^post11 == 0 /\ -rcd_114^post11+rcd_114^0 == 0 /\ -head_33^post11+head_33^0 == 0 /\ a_309^0-a_309^post11 == 0 /\ -len_159^post11+len_159^0 == 0 /\ -head_16^post11+head_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post11 == 0 /\ rcd_284^0-rcd_284^post11 == 0 /\ -i_130^post11+i_130^0 == 0 /\ x_154^0-x_154^post11 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ -temp_37^post11+temp_37^0 == 0 /\ -rcd_199^post11+rcd_199^0 == 0 /\ i_198^0-i_198^post11 == 0 /\ -a_279^post11+a_279^0 == 0 /\ -r_41^post11+r_41^0 == 0 /\ -x_27^post11+x_27^0 == 0 /\ a_139^0-a_139^post11 == 0 /\ -y_26^post11+y_26^0 == 0 /\ -len_221^post11+len_221^0 == 0 /\ -rcd_220^post11+rcd_220^0 == 0 /\ x_207^0-x_207^post11 == 0 /\ rcd_288^0-rcd_288^post11 == 0 /\ -a_174^post11+a_174^0 == 0 /\ -head_SLAM_f_30^post11+head_SLAM_f_30^0 == 0 /\ length_29^0-length_29^post11 == 0 /\ -temp0_19^post11+temp0_19^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post11 == 0 /\ rcd_193^0-rcd_193^post11 == 0 /\ -temp0_32^post11+temp0_32^0 == 0 /\ -a_253^post11+a_253^0 == 0 /\ -r_192^post11+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post11 == 0 /\ i_112^0-i_112^post11 == 0 /\ rcd_106^0-rcd_106^post11 == 0 /\ rcd_320^0-rcd_320^post11 == 0 /\ tail_15^0-tail_15^post11 == 0 /\ -temp_36^post11+temp_36^0 == 0 /\ -f_202^post11+f_202^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ i_31^0-i_31^post11 == 0 /\ rcd_185^0-rcd_185^post11 == 0), cost: 1
  12: l10 -> l11 : a_139^0'=a_139^post12, result_11^0'=result_11^post12, i_31^0'=i_31^post12, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post12, rcd_320^0'=rcd_320^post12, i_112^0'=i_112^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, x_22^0'=x_22^post12, rcd_199^0'=rcd_199^post12, head_16^0'=head_16^post12, temp0_32^0'=temp0_32^post12, r_149^0'=r_149^post12, y_26^0'=y_26^post12, rcd_71^0'=rcd_71^post12, i_198^0'=i_198^post12, x_207^0'=x_207^post12, rcd_185^0'=rcd_185^post12, a_279^0'=a_279^post12, t_23^0'=t_23^post12, len_221^0'=len_221^post12, x_SLAM_f_20^0'=x_SLAM_f_20^post12, rcd_284^0'=rcd_284^post12, head_SLAM_f_30^0'=head_SLAM_f_30^post12, temp_37^0'=temp_37^post12, r_41^0'=r_41^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, len_159^0'=len_159^post12, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post12, rcd_45^0'=rcd_45^post12, i_130^0'=i_130^post12, x_154^0'=x_154^post12, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post12, rcd_220^0'=rcd_220^post12, head_33^0'=head_33^post12, temp_36^0'=temp_36^post12, r_192^0'=r_192^post12, (-x_154^post12+x_154^0 == 0 /\ -rcd_220^post12+rcd_220^0 == 0 /\ -r_41^post12+r_41^0 == 0 /\ a_309^0-a_309^post12 == 0 /\ -rcd_185^post12+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post12 == 0 /\ -rcd_308^post12+rcd_308^0 == 0 /\ -rcd_284^post12+rcd_284^0 == 0 /\ rcd_71^0-rcd_71^post12 == 0 /\ rcd_199^0-rcd_199^post12 == 0 /\ rcd_320^0-rcd_320^post12 == 0 /\ -x_27^post12+x_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_130^0-i_130^post12 == 0 /\ i_31^0-i_31^post12 == 0 /\ -x_SLAM_f_20^post12+x_SLAM_f_20^0 == 0 /\ temp0_32^0-temp0_32^post12 == 0 /\ -a_253^post12+a_253^0 == 0 /\ -x_207^post12+x_207^0 == 0 /\ a_279^0-a_279^post12 == 0 /\ head_16^0-head_16^post12 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ a_139^0-a_139^post12 == 0 /\ a_174^0-a_174^post12 == 0 /\ -r_192^post12+r_192^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post12 == 0 /\ x_22^0-x_22^post12 == 0 /\ -temp_36^post12+temp_36^0 == 0 /\ temp0_19^0-temp0_19^post12 == 0 /\ -f_202^post12+f_202^0 == 0 /\ -rcd_194^post12+rcd_194^0 == 0 /\ -rcd_45^post12+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post12 == 0 /\ y_26^0-y_26^post12 == 0 /\ length_29^0-length_29^post12 == 0 /\ -rcd_114^post12+rcd_114^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ y_21^0-y_21^post12 == 0 /\ tmp_35^0-tmp_35^post12 == 0 /\ i_112^0-i_112^post12 == 0 /\ len_221^0-len_221^post12 == 0 /\ i_198^0-i_198^post12 == 0 /\ a_222^0-a_222^post12 == 0 /\ -head_33^post12+head_33^0 == 0 /\ -r_149^post12+r_149^0 == 0 /\ -tail_15^post12+tail_15^0 == 0 /\ rcd_288^0-rcd_288^post12 == 0 /\ -temp_37^post12+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -len_159^post12+len_159^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post12 == 0 /\ rcd_193^0-rcd_193^post12 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ t_23^0-t_23^post12 == 0), cost: 1
  13: l11 -> l12 : a_139^0'=a_139^post13, result_11^0'=result_11^post13, i_31^0'=i_31^post13, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post13, rcd_320^0'=rcd_320^post13, i_112^0'=i_112^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, x_22^0'=x_22^post13, rcd_199^0'=rcd_199^post13, head_16^0'=head_16^post13, temp0_32^0'=temp0_32^post13, r_149^0'=r_149^post13, y_26^0'=y_26^post13, rcd_71^0'=rcd_71^post13, i_198^0'=i_198^post13, x_207^0'=x_207^post13, rcd_185^0'=rcd_185^post13, a_279^0'=a_279^post13, t_23^0'=t_23^post13, len_221^0'=len_221^post13, x_SLAM_f_20^0'=x_SLAM_f_20^post13, rcd_284^0'=rcd_284^post13, head_SLAM_f_30^0'=head_SLAM_f_30^post13, temp_37^0'=temp_37^post13, r_41^0'=r_41^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, len_159^0'=len_159^post13, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post13, rcd_45^0'=rcd_45^post13, i_130^0'=i_130^post13, x_154^0'=x_154^post13, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post13, rcd_220^0'=rcd_220^post13, head_33^0'=head_33^post13, temp_36^0'=temp_36^post13, r_192^0'=r_192^post13, (0 == 0 /\ -rcd_45^post13+rcd_45^0 == 0 /\ x_207^0-x_207^post13 == 0 /\ -i_130^post13+i_130^0 == 0 /\ head_16^0-head_16^post13 == 0 /\ -rcd_114^post13+rcd_114^0 == 0 /\ -y_26^0+x_27^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ x_154^0-x_154^post13 == 0 /\ rcd_308^0-rcd_308^post13 == 0 /\ -t_23^post13+t_23^0 == 0 /\ rcd_288^0-rcd_288^post13 == 0 /\ -x_SLAM_f_20^post13+head_16^0 <= 0 /\ -rcd_71^post13+rcd_71^0 == 0 /\ -head_33^post13+head_33^0 == 0 /\ rcd_106^0-rcd_106^post13 == 0 /\ -tmp_35^post13+tmp_35^0 == 0 /\ -a_279^post13+a_279^0 == 0 /\ y_26^0-x_27^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ -temp_37^post13+temp_37^0 == 0 /\ a_309^0-a_309^post13 == 0 /\ a_139^0-a_139^post13 == 0 /\ -len_159^post13+len_159^0 == 0 /\ a_253^0-a_253^post13 == 0 /\ -head_SLAM_f_30^post13+head_SLAM_f_30^0 == 0 /\ x_SLAM_f_20^post13-head_16^0 <= 0 /\ x_SLAM_f_20^post13-head_16^0 == 0 /\ i_31^0-i_31^post13 == 0 /\ -a_174^post13+a_174^0 == 0 /\ a_222^0-a_222^post13 == 0 /\ -temp0_19^post13+temp0_19^0 == 0 /\ -rcd_185^post13+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post13 == 0 /\ x_SLAM_f_20^post13-x_22^post13 <= 0 /\ y_21^post13-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ -rcd_220^post13+rcd_220^0 == 0 /\ -temp0_32^post13+temp0_32^0 == 0 /\ rcd_194^0-rcd_194^post13 == 0 /\ -r_41^post13+r_41^0 == 0 /\ r_149^0-r_149^post13 == 0 /\ -head_16^0+x_22^post13 <= 0 /\ -tail_15^0+y_21^post13 <= 0 /\ -tail_15^0+y_21^post13 == 0 /\ -rcd_320^post13+rcd_320^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 <= 0 /\ -x_SLAM_f_20^post13+x_22^post13 <= 0 /\ -x_SLAM_f_20^post13+x_22^post13 == 0 /\ -temp_36^post13+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post13 == 0 /\ -y_21^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13 <= 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -r_192^post13+r_192^0 == 0 /\ rcd_284^0-rcd_284^post13 == 0 /\ -f_202^post13+f_202^0 == 0 /\ result_11^0-result_11^post13 == 0 /\ len_221^0-len_221^post13 == 0 /\ head_16^0-x_22^post13 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ tail_15^0-tail_15^post13 == 0 /\ rcd_199^0-rcd_199^post13 == 0 /\ i_112^0-i_112^post13 == 0 /\ tail_15^0-y_21^post13 <= 0 /\ -i_198^post13+i_198^0 == 0 /\ -length_29^post13+length_29^0 == 0), cost: 1
  14: l12 -> l13 : a_139^0'=a_139^post14, result_11^0'=result_11^post14, i_31^0'=i_31^post14, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post14, rcd_320^0'=rcd_320^post14, i_112^0'=i_112^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, x_22^0'=x_22^post14, rcd_199^0'=rcd_199^post14, head_16^0'=head_16^post14, temp0_32^0'=temp0_32^post14, r_149^0'=r_149^post14, y_26^0'=y_26^post14, rcd_71^0'=rcd_71^post14, i_198^0'=i_198^post14, x_207^0'=x_207^post14, rcd_185^0'=rcd_185^post14, a_279^0'=a_279^post14, t_23^0'=t_23^post14, len_221^0'=len_221^post14, x_SLAM_f_20^0'=x_SLAM_f_20^post14, rcd_284^0'=rcd_284^post14, head_SLAM_f_30^0'=head_SLAM_f_30^post14, temp_37^0'=temp_37^post14, r_41^0'=r_41^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, len_159^0'=len_159^post14, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post14, rcd_45^0'=rcd_45^post14, i_130^0'=i_130^post14, x_154^0'=x_154^post14, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post14, rcd_220^0'=rcd_220^post14, head_33^0'=head_33^post14, temp_36^0'=temp_36^post14, r_192^0'=r_192^post14, (-temp0_19^post14+temp0_19^0 == 0 /\ i_130^0-i_130^post14 == 0 /\ -head_16^post14+head_16^0 == 0 /\ temp_37^0-temp_37^post14 == 0 /\ -rcd_220^post14+rcd_220^0 == 0 /\ a_309^0-a_309^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ tmp_35^0-tmp_35^post14 == 0 /\ -len_221^post14+len_221^0 == 0 /\ -x_22^post14+x_22^0 == 0 /\ a_174^0-a_174^post14 == 0 /\ i_31^0-i_31^post14 == 0 /\ -x_27^post14+x_27^0 == 0 /\ rcd_199^0-rcd_199^post14 == 0 /\ rcd_320^0-rcd_320^post14 == 0 /\ -head_33^post14+head_33^0 == 0 /\ -temp0_32^post14+temp0_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_198^0-i_198^post14 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post14 == 0 /\ -r_192^post14+r_192^0 == 0 /\ -temp_36^post14+temp_36^0 == 0 /\ -y_21^post14+y_21^0 == 0 /\ -a_253^post14+a_253^0 == 0 /\ -rcd_308^post14+rcd_308^0 == 0 /\ -f_202^post14+f_202^0 == 0 /\ y_26^0-y_26^post14 == 0 /\ r_41^0-r_41^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post14 == 0 /\ length_29^0-length_29^post14 == 0 /\ -rcd_194^post14+rcd_194^0 == 0 /\ t_23^0-t_23^post14 == 0 /\ rcd_185^0-rcd_185^post14 == 0 /\ i_112^0-i_112^post14 == 0 /\ rcd_106^0-rcd_106^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -rcd_114^post14+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post14 == 0 /\ a_139^0-a_139^post14 == 0 /\ rcd_284^0-rcd_284^post14 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_45^post14+rcd_45^0 == 0 /\ tail_15^0-tail_15^post14 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post14 == 0 /\ len_159^0-len_159^post14 == 0 /\ rcd_193^0-rcd_193^post14 == 0 /\ -a_279^post14+a_279^0 == 0 /\ -r_149^post14+r_149^0 == 0 /\ rcd_288^0-rcd_288^post14 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post14 == 0 /\ a_222^0-a_222^post14 == 0 /\ -x_154^post14+x_154^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post14 == 0 /\ x_207^0-x_207^post14 == 0), cost: 1
  15: l12 -> l13 : a_139^0'=a_139^post15, result_11^0'=result_11^post15, i_31^0'=i_31^post15, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post15, rcd_320^0'=rcd_320^post15, i_112^0'=i_112^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, x_22^0'=x_22^post15, rcd_199^0'=rcd_199^post15, head_16^0'=head_16^post15, temp0_32^0'=temp0_32^post15, r_149^0'=r_149^post15, y_26^0'=y_26^post15, rcd_71^0'=rcd_71^post15, i_198^0'=i_198^post15, x_207^0'=x_207^post15, rcd_185^0'=rcd_185^post15, a_279^0'=a_279^post15, t_23^0'=t_23^post15, len_221^0'=len_221^post15, x_SLAM_f_20^0'=x_SLAM_f_20^post15, rcd_284^0'=rcd_284^post15, head_SLAM_f_30^0'=head_SLAM_f_30^post15, temp_37^0'=temp_37^post15, r_41^0'=r_41^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, len_159^0'=len_159^post15, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post15, rcd_45^0'=rcd_45^post15, i_130^0'=i_130^post15, x_154^0'=x_154^post15, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post15, rcd_220^0'=rcd_220^post15, head_33^0'=head_33^post15, temp_36^0'=temp_36^post15, r_192^0'=r_192^post15, (-nondet_12^post15+nondet_12^0 == 0 /\ rcd_193^0-rcd_193^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_279^0-a_279^post15 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post15 == 0 /\ rcd_288^0-rcd_288^post15 == 0 /\ length_29^0-length_29^post15 == 0 /\ -rcd_45^post15+rcd_45^0 == 0 /\ -rcd_114^post15+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post15 == 0 /\ temp_37^0-temp_37^post15 == 0 /\ rcd_71^0-rcd_71^post15 == 0 /\ rcd_106^0-rcd_106^post15 == 0 /\ y_26^0-y_26^post15 == 0 /\ i_31^0-i_31^post15 == 0 /\ a_253^0-a_253^post15 == 0 /\ -a_174^post15+a_174^0 == 0 /\ -i_130^post15+i_130^0 == 0 /\ len_221^0-len_221^post15 == 0 /\ -x_154^post15+x_154^0 == 0 /\ tail_15^0-tail_15^post15 == 0 /\ rcd_320^0-rcd_320^post15 == 0 /\ rcd_199^0-rcd_199^post15 == 0 /\ head_16^0-head_16^post15 == 0 /\ i_198^0-i_198^post15 == 0 /\ -x_SLAM_f_20^post15+x_SLAM_f_20^0 == 0 /\ y_21^0-y_21^post15 == 0 /\ len_159^0-len_159^post15 == 0 /\ -x_27^post15+x_27^0 == 0 /\ -rcd_220^post15+rcd_220^0 == 0 /\ a_139^0-a_139^post15 == 0 /\ r_149^0-r_149^post15 == 0 /\ f_202^0-f_202^post15 == 0 /\ -r_41^post15+r_41^0 == 0 /\ -x_207^post15+x_207^0 == 0 /\ t_23^0-t_23^post15 == 0 /\ x_22^0-x_22^post15 == 0 /\ -head_33^post15+head_33^0 == 0 /\ a_222^0-a_222^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -tmp_35^post15+tmp_35^0 == 0 /\ -temp0_19^post15+temp0_19^0 == 0 /\ -rcd_308^post15+rcd_308^0 == 0 /\ i_112^0-i_112^post15 == 0 /\ temp0_32^0-temp0_32^post15 == 0 /\ a_309^0-a_309^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post15+temp_36^0 == 0 /\ -rcd_185^post15+rcd_185^0 == 0 /\ -rcd_194^post15+rcd_194^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_284^post15+rcd_284^0 == 0 /\ -r_192^post15+r_192^0 == 0), cost: 1
  16: l13 -> l14 : a_139^0'=a_139^post16, result_11^0'=result_11^post16, i_31^0'=i_31^post16, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post16, rcd_320^0'=rcd_320^post16, i_112^0'=i_112^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, x_22^0'=x_22^post16, rcd_199^0'=rcd_199^post16, head_16^0'=head_16^post16, temp0_32^0'=temp0_32^post16, r_149^0'=r_149^post16, y_26^0'=y_26^post16, rcd_71^0'=rcd_71^post16, i_198^0'=i_198^post16, x_207^0'=x_207^post16, rcd_185^0'=rcd_185^post16, a_279^0'=a_279^post16, t_23^0'=t_23^post16, len_221^0'=len_221^post16, x_SLAM_f_20^0'=x_SLAM_f_20^post16, rcd_284^0'=rcd_284^post16, head_SLAM_f_30^0'=head_SLAM_f_30^post16, temp_37^0'=temp_37^post16, r_41^0'=r_41^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, len_159^0'=len_159^post16, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post16, rcd_45^0'=rcd_45^post16, i_130^0'=i_130^post16, x_154^0'=x_154^post16, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post16, rcd_220^0'=rcd_220^post16, head_33^0'=head_33^post16, temp_36^0'=temp_36^post16, r_192^0'=r_192^post16, (0 == 0 /\ a_309^0-a_309^post16 == 0 /\ -a_174^post16+a_174^0 == 0 /\ -temp_37^post16+temp_37^0 == 0 /\ -a_222^post16+a_222^0 == 0 /\ -x_27^post16+x_27^0 == 0 /\ -x_154^post16+x_154^0 == 0 /\ -y_26^post16+y_26^0 == 0 /\ -temp0_19^post16+temp0_19^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ rcd_199^0-rcd_199^post16 == 0 /\ -head_SLAM_f_30^post16+head_SLAM_f_30^0 == 0 /\ rcd_320^0-rcd_320^post16 == 0 /\ -x_22^post16+x_22^0 == 0 /\ -len_221^post16+len_221^0 == 0 /\ -head_33^post16+head_33^0 == 0 /\ -y_21^post16+y_21^0 == 0 /\ -temp0_32^post16+temp0_32^0 == 0 /\ -i_112^post16+i_112^0 == 0 /\ rcd_308^0-rcd_308^post16 == 0 /\ -a_253^post16+a_253^0 == 0 /\ -i_198^post16+i_198^0 == 0 /\ x_207^0-x_207^post16 == 0 /\ r_149^0-r_149^post16 == 0 /\ rcd_288^0-rcd_288^post16 == 0 /\ -rcd_284^post16+rcd_284^0 == 0 /\ -r_192^post16+r_192^0 == 0 /\ -temp_36^post16+temp_36^0 == 0 /\ r_41^0-r_41^post16 == 0 /\ rcd_106^0-rcd_106^post16 == 0 /\ rcd_71^0-rcd_71^post16 == 0 /\ rcd_194^0-rcd_194^post16 == 0 /\ -length_29^post16+length_29^0 == 0 /\ i_31^0-i_31^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ rcd_185^0-rcd_185^post16 == 0 /\ -rcd_114^post16+rcd_114^0 == 0 /\ -t_23^post16+t_23^0 == 0 /\ -rcd_45^post16+rcd_45^0 == 0 /\ -len_159^post16+len_159^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post16 == 0 /\ a_279^0-a_279^post16 == 0 /\ f_202^0-f_202^post16 == 0 /\ a_139^0-a_139^post16 == 0 /\ tmp_35^0-tmp_35^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post16 == 0 /\ -i_130^post16+i_130^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_193^0-rcd_193^post16 == 0 /\ -rcd_220^post16+rcd_220^0 == 0), cost: 1
  17: l14 -> l15 : a_139^0'=a_139^post17, result_11^0'=result_11^post17, i_31^0'=i_31^post17, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post17, rcd_320^0'=rcd_320^post17, i_112^0'=i_112^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, x_22^0'=x_22^post17, rcd_199^0'=rcd_199^post17, head_16^0'=head_16^post17, temp0_32^0'=temp0_32^post17, r_149^0'=r_149^post17, y_26^0'=y_26^post17, rcd_71^0'=rcd_71^post17, i_198^0'=i_198^post17, x_207^0'=x_207^post17, rcd_185^0'=rcd_185^post17, a_279^0'=a_279^post17, t_23^0'=t_23^post17, len_221^0'=len_221^post17, x_SLAM_f_20^0'=x_SLAM_f_20^post17, rcd_284^0'=rcd_284^post17, head_SLAM_f_30^0'=head_SLAM_f_30^post17, temp_37^0'=temp_37^post17, r_41^0'=r_41^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, len_159^0'=len_159^post17, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post17, rcd_45^0'=rcd_45^post17, i_130^0'=i_130^post17, x_154^0'=x_154^post17, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post17, rcd_220^0'=rcd_220^post17, head_33^0'=head_33^post17, temp_36^0'=temp_36^post17, r_192^0'=r_192^post17, (head_16^0-head_16^post17 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post17 == 0 /\ len_159^0-len_159^post17 == 0 /\ a_139^0-a_139^post17 == 0 /\ -rcd_45^post17+rcd_45^0 == 0 /\ rcd_288^0-rcd_288^post17 == 0 /\ a_174^0-a_174^post17 == 0 /\ -rcd_71^post17+rcd_71^0 == 0 /\ t_23^0-t_23^post17 == 0 /\ -y_21^post17+y_21^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post17 == 0 /\ rcd_106^0-rcd_106^post17 == 0 /\ -rcd_114^post17+rcd_114^0 == 0 /\ y_26^0-y_26^post17 == 0 /\ temp_37^0-temp_37^post17 == 0 /\ -head_33^post17+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ length_29^0-length_29^post17 == 0 /\ -temp0_19^post17+temp0_19^0 == 0 /\ rcd_320^0-rcd_320^post17 == 0 /\ len_221^0-len_221^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ result_11^0-result_11^post17 == 0 /\ i_130^0-i_130^post17 == 0 /\ tmp_35^0-tmp_35^post17 == 0 /\ tail_15^0-tail_15^post17 == 0 /\ rcd_199^0-rcd_199^post17 == 0 /\ -a_279^post17+a_279^0 == 0 /\ i_31^0-i_31^post17 == 0 /\ -rcd_220^post17+rcd_220^0 == 0 /\ -r_149^post17+r_149^0 == 0 /\ x_27^0-x_27^post17 == 0 /\ -f_202^post17+f_202^0 == 0 /\ i_198^0-i_198^post17 == 0 /\ -x_SLAM_f_20^post17+x_SLAM_f_20^0 == 0 /\ -rcd_284^post17+rcd_284^0 == 0 /\ -x_154^post17+x_154^0 == 0 /\ -x_22^post17+x_22^0 == 0 /\ -r_41^post17+r_41^0 == 0 /\ -head_SLAM_f_30^post17+head_SLAM_f_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_222^0-a_222^post17 == 0 /\ -x_207^post17+x_207^0 == 0 /\ a_309^0-a_309^post17 == 0 /\ -rcd_308^post17+rcd_308^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ temp0_32^0-temp0_32^post17 == 0 /\ -rcd_194^post17+rcd_194^0 == 0 /\ -r_192^post17+r_192^0 == 0 /\ -a_253^post17+a_253^0 == 0 /\ i_112^0-i_112^post17 == 0 /\ -rcd_185^post17+rcd_185^0 == 0 /\ -temp_36^post17+temp_36^0 == 0), cost: 1
  18: l14 -> l15 : a_139^0'=a_139^post18, result_11^0'=result_11^post18, i_31^0'=i_31^post18, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post18, rcd_320^0'=rcd_320^post18, i_112^0'=i_112^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, x_22^0'=x_22^post18, rcd_199^0'=rcd_199^post18, head_16^0'=head_16^post18, temp0_32^0'=temp0_32^post18, r_149^0'=r_149^post18, y_26^0'=y_26^post18, rcd_71^0'=rcd_71^post18, i_198^0'=i_198^post18, x_207^0'=x_207^post18, rcd_185^0'=rcd_185^post18, a_279^0'=a_279^post18, t_23^0'=t_23^post18, len_221^0'=len_221^post18, x_SLAM_f_20^0'=x_SLAM_f_20^post18, rcd_284^0'=rcd_284^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post18, r_41^0'=r_41^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, len_159^0'=len_159^post18, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post18, rcd_45^0'=rcd_45^post18, i_130^0'=i_130^post18, x_154^0'=x_154^post18, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post18, rcd_220^0'=rcd_220^post18, head_33^0'=head_33^post18, temp_36^0'=temp_36^post18, r_192^0'=r_192^post18, (-head_SLAM_f_30^post18+head_SLAM_f_30^0 == 0 /\ -temp_36^post18+temp_36^0 == 0 /\ rcd_106^0-rcd_106^post18 == 0 /\ -rcd_284^post18+rcd_284^0 == 0 /\ y_26^0-y_26^post18 == 0 /\ -a_174^post18+a_174^0 == 0 /\ -f_202^post18+f_202^0 == 0 /\ -x_154^post18+x_154^0 == 0 /\ -x_SLAM_f_20^post18+x_SLAM_f_20^0 == 0 /\ length_29^0-length_29^post18 == 0 /\ -a_222^post18+a_222^0 == 0 /\ result_11^0-result_11^post18 == 0 /\ -rcd_185^post18+rcd_185^0 == 0 /\ tail_15^0-tail_15^post18 == 0 /\ rcd_45^0-rcd_45^post18 == 0 /\ -temp0_32^post18+temp0_32^0 == 0 /\ a_253^0-a_253^post18 == 0 /\ -x_27^post18+x_27^0 == 0 /\ -len_221^post18+len_221^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_112^0-i_112^post18 == 0 /\ -r_192^post18+r_192^0 == 0 /\ rcd_308^0-rcd_308^post18 == 0 /\ -i_198^post18+i_198^0 == 0 /\ r_149^0-r_149^post18 == 0 /\ x_207^0-x_207^post18 == 0 /\ rcd_193^0-rcd_193^post18 == 0 /\ -a_309^post18+a_309^0 == 0 /\ -rcd_288^post18+rcd_288^0 == 0 /\ -t_23^post18+t_23^0 == 0 /\ rcd_71^0-rcd_71^post18 == 0 /\ rcd_194^0-rcd_194^post18 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ -x_SLAM_f_25^post18+x_SLAM_f_25^0 == 0 /\ rcd_320^0-rcd_320^post18 == 0 /\ -rcd_114^post18+rcd_114^0 == 0 /\ -y_21^post18+y_21^0 == 0 /\ a_139^0-a_139^post18 == 0 /\ rcd_199^0-rcd_199^post18 == 0 /\ i_31^0-i_31^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post18+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_279^0-a_279^post18 == 0 /\ head_16^0-head_16^post18 == 0 /\ -head_33^post18+head_33^0 == 0 /\ -temp0_19^post18+temp0_19^0 == 0 /\ -tmp_35^post18+tmp_35^0 == 0 /\ -len_159^post18+len_159^0 == 0 /\ -temp_37^post18+temp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 == 0 /\ x_22^0-x_22^post18 == 0 /\ -rcd_220^post18+rcd_220^0 == 0 /\ -i_130^post18+i_130^0 == 0 /\ r_41^0-r_41^post18 == 0), cost: 1
  19: l15 -> l16 : a_139^0'=a_139^post19, result_11^0'=result_11^post19, i_31^0'=i_31^post19, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post19, rcd_320^0'=rcd_320^post19, i_112^0'=i_112^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, x_22^0'=x_22^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_16^post19, temp0_32^0'=temp0_32^post19, r_149^0'=r_149^post19, y_26^0'=y_26^post19, rcd_71^0'=rcd_71^post19, i_198^0'=i_198^post19, x_207^0'=x_207^post19, rcd_185^0'=rcd_185^post19, a_279^0'=a_279^post19, t_23^0'=t_23^post19, len_221^0'=len_221^post19, x_SLAM_f_20^0'=x_SLAM_f_20^post19, rcd_284^0'=rcd_284^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, temp_37^0'=temp_37^post19, r_41^0'=r_41^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, len_159^0'=len_159^post19, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post19, rcd_45^0'=rcd_45^post19, i_130^0'=i_130^post19, x_154^0'=x_154^post19, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post19, rcd_220^0'=rcd_220^post19, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, r_192^0'=r_192^post19, (-rcd_45^post19+rcd_45^0 == 0 /\ rcd_199^0-rcd_199^post19 == 0 /\ -rcd_71^post19+rcd_71^0 == 0 /\ a_174^0-a_174^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ len_159^0-len_159^post19 == 0 /\ length_29^0-length_29^post19 == 0 /\ -rcd_114^post19+rcd_114^0 == 0 /\ r_41^0-r_41^post19 == 0 /\ x_22^0-x_22^post19 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19 == 0 /\ -y_21^post19+y_21^0 == 0 /\ rcd_193^0-rcd_193^post19 == 0 /\ r_149^0-r_149^post19 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post19 == 0 /\ a_222^0-a_222^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post19+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_185^0-rcd_185^post19 == 0 /\ -a_279^post19+a_279^0 == 0 /\ rcd_106^0-rcd_106^post19 == 0 /\ rcd_284^0-rcd_284^post19 == 0 /\ result_11^0-result_11^post19 == 0 /\ -len_221^post19+len_221^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ temp0_32^0-temp0_32^post19 == 0 /\ -head_33^post19+head_33^0 == 0 /\ -head_16^post19+head_16^0 == 0 /\ i_130^0-i_130^post19 == 0 /\ tail_15^0-tail_15^post19 == 0 /\ -head_SLAM_f_30^post19+head_SLAM_f_30^0 == 0 /\ rcd_288^0-rcd_288^post19 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_154^post19+x_154^0 == 0 /\ x_27^0-x_27^post19 == 0 /\ -rcd_320^post19+rcd_320^0 == 0 /\ head_16^0-t_23^post19 <= 0 /\ i_198^0-i_198^post19 == 0 /\ -x_22^0+t_23^post19 == 0 /\ -i_112^post19+i_112^0 == 0 /\ -temp0_19^post19+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post19 == 0 /\ -y_26^post19+y_26^0 == 0 /\ x_22^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ x_207^0-x_207^post19 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post19 == 0 /\ -r_192^post19+r_192^0 == 0 /\ temp_37^0-temp_37^post19 == 0 /\ -head_16^0+t_23^post19 <= 0 /\ a_309^0-a_309^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post19 == 0 /\ tmp_35^0-tmp_35^post19 == 0 /\ -a_253^post19+a_253^0 == 0 /\ -temp_36^post19+temp_36^0 == 0 /\ -f_202^post19+f_202^0 == 0 /\ -x_22^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post19 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post19+rcd_308^0 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ -rcd_194^post19+rcd_194^0 == 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  20: l16 -> l17 : a_139^0'=a_139^post20, result_11^0'=result_11^post20, i_31^0'=i_31^post20, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post20, rcd_320^0'=rcd_320^post20, i_112^0'=i_112^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, x_22^0'=x_22^post20, rcd_199^0'=rcd_199^post20, head_16^0'=head_16^post20, temp0_32^0'=temp0_32^post20, r_149^0'=r_149^post20, y_26^0'=y_26^post20, rcd_71^0'=rcd_71^post20, i_198^0'=i_198^post20, x_207^0'=x_207^post20, rcd_185^0'=rcd_185^post20, a_279^0'=a_279^post20, t_23^0'=t_23^post20, len_221^0'=len_221^post20, x_SLAM_f_20^0'=x_SLAM_f_20^post20, rcd_284^0'=rcd_284^post20, head_SLAM_f_30^0'=head_SLAM_f_30^post20, temp_37^0'=temp_37^post20, r_41^0'=r_41^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, len_159^0'=len_159^post20, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post20, rcd_45^0'=rcd_45^post20, i_130^0'=i_130^post20, x_154^0'=x_154^post20, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post20, rcd_220^0'=rcd_220^post20, head_33^0'=head_33^post20, temp_36^0'=temp_36^post20, r_192^0'=r_192^post20, (-x_27^post20+x_27^0 == 0 /\ rcd_71^0-rcd_71^post20 == 0 /\ -x_154^post20+x_154^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post20 == 0 /\ rcd_106^0-rcd_106^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_220^post20+rcd_220^0 == 0 /\ -head_16^post20+head_16^0 == 0 /\ -a_174^post20+a_174^0 == 0 /\ y_26^0-y_26^post20 == 0 /\ -x_207^post20+x_207^0 == 0 /\ a_139^0-a_139^post20 == 0 /\ rcd_45^0-rcd_45^post20 == 0 /\ rcd_284^0-rcd_284^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_112^0-i_112^post20 == 0 /\ -r_41^post20+r_41^0 == 0 /\ -rcd_199^post20+rcd_199^0 == 0 /\ tail_15^0-tail_15^post20 == 0 /\ -a_253^post20+a_253^0 == 0 /\ -r_192^post20+r_192^0 == 0 /\ -y_21^post20+y_21^0 == 0 /\ len_221^0-len_221^post20 == 0 /\ a_279^0-a_279^post20 == 0 /\ -rcd_194^post20+rcd_194^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post20 == 0 /\ -temp_36^post20+temp_36^0 == 0 /\ a_222^0-a_222^post20 == 0 /\ r_149^0-r_149^post20 == 0 /\ -rcd_185^post20+rcd_185^0 == 0 /\ -rcd_308^post20+rcd_308^0 == 0 /\ -f_202^post20+f_202^0 == 0 /\ rcd_193^0-rcd_193^post20 == 0 /\ temp_37^0-temp_37^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post20+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ temp0_32^0-temp0_32^post20 == 0 /\ -rcd_288^post20+rcd_288^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_309^0-a_309^post20 == 0 /\ rcd_320^0-rcd_320^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ i_31^0-i_31^post20 == 0 /\ -rcd_114^post20+rcd_114^0 == 0 /\ -tmp_35^post20+tmp_35^0 == 0 /\ -head_33^post20+head_33^0 == 0 /\ -len_159^post20+len_159^0 == 0 /\ -x_SLAM_f_25^post20+x_SLAM_f_25^0 == 0 /\ i_198^0-i_198^post20 == 0 /\ length_29^0-length_29^post20 == 0 /\ t_23^0-t_23^post20 == 0 /\ x_22^0-x_22^post20 == 0 /\ -i_130^post20+i_130^0 == 0 /\ temp0_19^0-temp0_19^post20 == 0), cost: 1
  21: l16 -> l17 : a_139^0'=a_139^post21, result_11^0'=result_11^post21, i_31^0'=i_31^post21, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post21, rcd_320^0'=rcd_320^post21, i_112^0'=i_112^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, x_22^0'=x_22^post21, rcd_199^0'=rcd_199^post21, head_16^0'=head_16^post21, temp0_32^0'=temp0_32^post21, r_149^0'=r_149^post21, y_26^0'=y_26^post21, rcd_71^0'=rcd_71^post21, i_198^0'=i_198^post21, x_207^0'=x_207^post21, rcd_185^0'=rcd_185^post21, a_279^0'=a_279^post21, t_23^0'=t_23^post21, len_221^0'=len_221^post21, x_SLAM_f_20^0'=x_SLAM_f_20^post21, rcd_284^0'=rcd_284^post21, head_SLAM_f_30^0'=head_SLAM_f_30^post21, temp_37^0'=temp_37^post21, r_41^0'=r_41^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, len_159^0'=len_159^post21, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post21, rcd_45^0'=rcd_45^post21, i_130^0'=i_130^post21, x_154^0'=x_154^post21, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post21, rcd_220^0'=rcd_220^post21, head_33^0'=head_33^post21, temp_36^0'=temp_36^post21, r_192^0'=r_192^post21, (-rcd_45^post21+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post21 == 0 /\ rcd_193^0-rcd_193^post21 == 0 /\ x_22^0-x_22^post21 == 0 /\ -t_23^post21+t_23^0 == 0 /\ r_149^0-r_149^post21 == 0 /\ -len_159^post21+len_159^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21 == 0 /\ -head_33^post21+head_33^0 == 0 /\ -rcd_114^post21+rcd_114^0 == 0 /\ rcd_185^0-rcd_185^post21 == 0 /\ -i_130^post21+i_130^0 == 0 /\ temp0_32^0-temp0_32^post21 == 0 /\ -len_221^post21+len_221^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -x_27^post21+x_27^0 == 0 /\ a_309^0-a_309^post21 == 0 /\ rcd_199^0-rcd_199^post21 == 0 /\ -rcd_220^post21+rcd_220^0 == 0 /\ -y_26^post21+y_26^0 == 0 /\ rcd_288^0-rcd_288^post21 == 0 /\ -temp_37^post21+temp_37^0 == 0 /\ -a_174^post21+a_174^0 == 0 /\ a_279^0-a_279^post21 == 0 /\ -x_154^post21+x_154^0 == 0 /\ x_207^0-x_207^post21 == 0 /\ -temp0_19^post21+temp0_19^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post21 == 0 /\ rcd_71^0-rcd_71^post21 == 0 /\ -i_112^post21+i_112^0 == 0 /\ -head_SLAM_f_30^post21+head_SLAM_f_30^0 == 0 /\ -r_41^post21+r_41^0 == 0 /\ -a_222^post21+a_222^0 == 0 /\ -a_253^post21+a_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21 == 0 /\ rcd_106^0-rcd_106^post21 == 0 /\ -i_198^post21+i_198^0 == 0 /\ -y_21^post21+y_21^0 == 0 /\ rcd_194^0-rcd_194^post21 == 0 /\ -rcd_308^post21+rcd_308^0 == 0 /\ length_29^0-length_29^post21 == 0 /\ -x_SLAM_f_20^post21+x_SLAM_f_20^0 == 0 /\ -rcd_284^post21+rcd_284^0 == 0 /\ tmp_35^0-tmp_35^post21 == 0 /\ -r_192^post21+r_192^0 == 0 /\ -temp_36^post21+temp_36^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-head_16^post21 == 0 /\ rcd_320^0-rcd_320^post21 == 0 /\ -f_202^post21+f_202^0 == 0 /\ i_31^0-i_31^post21 == 0 /\ tail_15^0-tail_15^post21 == 0), cost: 1
  22: l17 -> l18 : a_139^0'=a_139^post22, result_11^0'=result_11^post22, i_31^0'=i_31^post22, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post22, rcd_320^0'=rcd_320^post22, i_112^0'=i_112^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, x_22^0'=x_22^post22, rcd_199^0'=rcd_199^post22, head_16^0'=head_16^post22, temp0_32^0'=temp0_32^post22, r_149^0'=r_149^post22, y_26^0'=y_26^post22, rcd_71^0'=rcd_71^post22, i_198^0'=i_198^post22, x_207^0'=x_207^post22, rcd_185^0'=rcd_185^post22, a_279^0'=a_279^post22, t_23^0'=t_23^post22, len_221^0'=len_221^post22, x_SLAM_f_20^0'=x_SLAM_f_20^post22, rcd_284^0'=rcd_284^post22, head_SLAM_f_30^0'=head_SLAM_f_30^post22, temp_37^0'=temp_37^post22, r_41^0'=r_41^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, len_159^0'=len_159^post22, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post22, rcd_45^0'=rcd_45^post22, i_130^0'=i_130^post22, x_154^0'=x_154^post22, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post22, rcd_220^0'=rcd_220^post22, head_33^0'=head_33^post22, temp_36^0'=temp_36^post22, r_192^0'=r_192^post22, (-rcd_185^post22+rcd_185^0 == 0 /\ -temp_36^post22+temp_36^0 == 0 /\ length_29^0-length_29^post22 == 0 /\ -f_202^post22+f_202^0 == 0 /\ -head_16^post22+head_16^0 == 0 /\ -r_41^post22+r_41^0 == 0 /\ -x_154^post22+x_154^0 == 0 /\ len_221^0-len_221^post22 == 0 /\ -x_207^post22+x_207^0 == 0 /\ tail_15^0-tail_15^post22 == 0 /\ -head_SLAM_f_30^post22+head_SLAM_f_30^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post22 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post22 == 0 /\ -rcd_194^post22+rcd_194^0 == 0 /\ -a_253^post22+a_253^0 == 0 /\ i_31^0-i_31^post22 == 0 /\ rcd_114^0-rcd_114^post22 == 0 /\ -rcd_106^post22+rcd_106^0 == 0 /\ a_139^0-a_139^post22 == 0 /\ -temp0_32^post22+temp0_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post22 == 0 /\ -rcd_308^post22+rcd_308^0 == 0 /\ -r_192^post22+r_192^0 == 0 /\ rcd_193^0-rcd_193^post22 == 0 /\ x_22^0-x_22^post22 == 0 /\ -rcd_71^post22+rcd_71^0 == 0 /\ -y_21^post22+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22 == 0 /\ y_26^0-y_26^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22 == 0 /\ a_309^0-a_309^post22 == 0 /\ -a_279^post22+a_279^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ rcd_284^0-rcd_284^post22 == 0 /\ tmp_35^0-tmp_35^post22 == 0 /\ -len_159^post22+len_159^0 == 0 /\ i_112^0-i_112^post22 == 0 /\ rcd_320^0-rcd_320^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ a_174^0-a_174^post22 == 0 /\ -r_149^post22+r_149^0 == 0 /\ -i_130^post22+i_130^0 == 0 /\ -head_33^post22+head_33^0 == 0 /\ -temp0_19^post22+temp0_19^0 == 0 /\ i_198^0-i_198^post22 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ -rcd_199^post22+rcd_199^0 == 0 /\ rcd_288^0-rcd_288^post22 == 0 /\ -x_27^post22+x_27^0 == 0 /\ t_23^0-t_23^post22 == 0 /\ -rcd_45^post22+rcd_45^0 == 0 /\ -rcd_220^post22+rcd_220^0 == 0 /\ a_222^0-a_222^post22 == 0 /\ temp_37^0-temp_37^post22 == 0), cost: 1
  23: l17 -> l18 : a_139^0'=a_139^post23, result_11^0'=result_11^post23, i_31^0'=i_31^post23, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post23, rcd_320^0'=rcd_320^post23, i_112^0'=i_112^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, x_22^0'=x_22^post23, rcd_199^0'=rcd_199^post23, head_16^0'=head_16^post23, temp0_32^0'=temp0_32^post23, r_149^0'=r_149^post23, y_26^0'=y_26^post23, rcd_71^0'=rcd_71^post23, i_198^0'=i_198^post23, x_207^0'=x_207^post23, rcd_185^0'=rcd_185^post23, a_279^0'=a_279^post23, t_23^0'=t_23^post23, len_221^0'=len_221^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, rcd_284^0'=rcd_284^post23, head_SLAM_f_30^0'=head_SLAM_f_30^post23, temp_37^0'=temp_37^post23, r_41^0'=r_41^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, len_159^0'=len_159^post23, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post23, rcd_45^0'=rcd_45^post23, i_130^0'=i_130^post23, x_154^0'=x_154^post23, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post23, rcd_220^0'=rcd_220^post23, head_33^0'=head_33^post23, temp_36^0'=temp_36^post23, r_192^0'=r_192^post23, (-nondet_12^post23+nondet_12^0 == 0 /\ x_22^0-x_22^post23 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23 == 0 /\ a_279^0-a_279^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post23+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post23 == 0 /\ -rcd_114^post23+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post23 == 0 /\ r_149^0-r_149^post23 == 0 /\ -i_130^post23+i_130^0 == 0 /\ rcd_45^0-rcd_45^post23 == 0 /\ a_309^0-a_309^post23 == 0 /\ -head_33^post23+head_33^0 == 0 /\ -rcd_220^post23+rcd_220^0 == 0 /\ i_112^0-i_112^post23 == 0 /\ temp0_32^0-temp0_32^post23 == 0 /\ -x_27^post23+x_27^0 == 0 /\ -temp_37^post23+temp_37^0 == 0 /\ -a_222^post23+a_222^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post23 == 0 /\ i_31^0-i_31^post23 == 0 /\ rcd_288^0-rcd_288^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post23+temp_36^0 == 0 /\ -f_202^post23+f_202^0 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -x_SLAM_f_20^post23+x_SLAM_f_20^0 == 0 /\ rcd_193^0-rcd_193^post23 == 0 /\ -r_41^post23+r_41^0 == 0 /\ len_159^0-len_159^post23 == 0 /\ -rcd_185^post23+rcd_185^0 == 0 /\ -a_174^post23+a_174^0 == 0 /\ -x_154^post23+x_154^0 == 0 /\ x_207^0-x_207^post23 == 0 /\ temp0_19^0-temp0_19^post23 == 0 /\ y_26^0-y_26^post23 == 0 /\ length_29^0-length_29^post23 == 0 /\ rcd_71^0-rcd_71^post23 == 0 /\ rcd_194^0-rcd_194^post23 == 0 /\ t_23^0-t_23^post23 == 0 /\ -y_21^post23+y_21^0 == 0 /\ -rcd_308^post23+rcd_308^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -r_192^post23+r_192^0 == 0 /\ a_139^0-a_139^post23 == 0 /\ -a_253^post23+a_253^0 == 0 /\ -i_198^post23+i_198^0 == 0 /\ len_221^0-len_221^post23 == 0 /\ tail_15^0-tail_15^post23 == 0 /\ tmp_35^0-tmp_35^post23 == 0 /\ rcd_320^0-rcd_320^post23 == 0 /\ -rcd_284^post23+rcd_284^0 == 0 /\ rcd_199^0-rcd_199^post23 == 0 /\ head_16^0-head_16^post23 == 0), cost: 1
  24: l18 -> l19 : a_139^0'=a_139^post24, result_11^0'=result_11^post24, i_31^0'=i_31^post24, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post24, rcd_320^0'=rcd_320^post24, i_112^0'=i_112^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, x_22^0'=x_22^post24, rcd_199^0'=rcd_199^post24, head_16^0'=head_16^post24, temp0_32^0'=temp0_32^post24, r_149^0'=r_149^post24, y_26^0'=y_26^post24, rcd_71^0'=rcd_71^post24, i_198^0'=i_198^post24, x_207^0'=x_207^post24, rcd_185^0'=rcd_185^post24, a_279^0'=a_279^post24, t_23^0'=t_23^post24, len_221^0'=len_221^post24, x_SLAM_f_20^0'=x_SLAM_f_20^post24, rcd_284^0'=rcd_284^post24, head_SLAM_f_30^0'=head_SLAM_f_30^post24, temp_37^0'=temp_37^post24, r_41^0'=r_41^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, len_159^0'=len_159^post24, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post24, rcd_45^0'=rcd_45^post24, i_130^0'=i_130^post24, x_154^0'=x_154^post24, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post24, rcd_220^0'=rcd_220^post24, head_33^0'=head_33^post24, temp_36^0'=temp_36^post24, r_192^0'=r_192^post24, (0 == 0 /\ -temp_36^post24+temp_36^0 == 0 /\ -head_SLAM_f_30^post24+head_SLAM_f_30^0 == 0 /\ -x_27^post24+x_27^0 == 0 /\ a_309^0-a_309^post24 == 0 /\ -x_154^post24+x_154^0 == 0 /\ rcd_185^0-rcd_185^post24 == 0 /\ -y_26^post24+y_26^0 == 0 /\ -len_221^post24+len_221^0 == 0 /\ a_139^0-a_139^post24 == 0 /\ rcd_199^0-rcd_199^post24 == 0 /\ rcd_320^0-rcd_320^post24 == 0 /\ result_11^post24-temp0_19^0 == 0 /\ -temp0_32^post24+temp0_32^0 == 0 /\ -rcd_308^post24+rcd_308^0 == 0 /\ i_198^0-i_198^post24 == 0 /\ r_41^0-r_41^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post24 == 0 /\ -rcd_194^post24+rcd_194^0 == 0 /\ rcd_193^0-rcd_193^post24 == 0 /\ rcd_114^0-rcd_114^post24 == 0 /\ -r_192^post24+r_192^0 == 0 /\ temp_37^0-temp_37^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ x_22^0-y_21^0 <= 0 /\ -rcd_71^post24+rcd_71^0 == 0 /\ -a_253^post24+a_253^0 == 0 /\ i_112^0-i_112^post24 == 0 /\ rcd_284^0-rcd_284^post24 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post24+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -length_29^post24+length_29^0 == 0 /\ tmp_35^0-tmp_35^post24 == 0 /\ tail_15^0-tail_15^post24 == 0 /\ -x_22^0+y_21^0 <= 0 /\ -temp0_19^post24+temp0_19^0 == 0 /\ -len_159^post24+len_159^0 == 0 /\ i_31^0-i_31^post24 == 0 /\ rcd_288^0-rcd_288^post24 == 0 /\ a_174^0-a_174^post24 == 0 /\ f_202^0-f_202^post24 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post24 == 0 /\ -rcd_220^post24+rcd_220^0 == 0 /\ -head_33^post24+head_33^0 == 0 /\ -rcd_45^post24+rcd_45^0 == 0 /\ -i_130^post24+i_130^0 == 0 /\ -a_279^post24+a_279^0 == 0 /\ a_222^0-a_222^post24 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_149^0-r_149^post24 == 0 /\ rcd_106^0-rcd_106^post24 == 0 /\ x_207^0-x_207^post24 == 0), cost: 1
  25: l19 -> l7 : a_139^0'=a_139^post25, result_11^0'=result_11^post25, i_31^0'=i_31^post25, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post25, rcd_320^0'=rcd_320^post25, i_112^0'=i_112^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, x_22^0'=x_22^post25, rcd_199^0'=rcd_199^post25, head_16^0'=head_16^post25, temp0_32^0'=temp0_32^post25, r_149^0'=r_149^post25, y_26^0'=y_26^post25, rcd_71^0'=rcd_71^post25, i_198^0'=i_198^post25, x_207^0'=x_207^post25, rcd_185^0'=rcd_185^post25, a_279^0'=a_279^post25, t_23^0'=t_23^post25, len_221^0'=len_221^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, rcd_284^0'=rcd_284^post25, head_SLAM_f_30^0'=head_SLAM_f_30^post25, temp_37^0'=temp_37^post25, r_41^0'=r_41^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, len_159^0'=len_159^post25, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post25, rcd_45^0'=rcd_45^post25, i_130^0'=i_130^post25, x_154^0'=x_154^post25, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post25, rcd_220^0'=rcd_220^post25, head_33^0'=head_33^post25, temp_36^0'=temp_36^post25, r_192^0'=r_192^post25, (tail_15^0-tail_15^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ rcd_288^0-rcd_288^post25 == 0 /\ -a_253^post25+a_253^0 == 0 /\ a_279^0-a_279^post25 == 0 /\ len_221^0-len_221^post25 == 0 /\ x_22^0-x_22^post25 == 0 /\ i_198^0-i_198^post25 == 0 /\ -rcd_114^post25+rcd_114^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post25 == 0 /\ y_26^0-y_26^post25 == 0 /\ rcd_71^0-rcd_71^post25 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_149^post25+r_149^0 == 0 /\ a_309^0-a_309^post25 == 0 /\ rcd_45^0-rcd_45^post25 == 0 /\ -i_130^post25+i_130^0 == 0 /\ tmp_35^0-tmp_35^post25 == 0 /\ -head_33^post25+head_33^0 == 0 /\ -rcd_220^post25+rcd_220^0 == 0 /\ head_16^0-head_16^post25 == 0 /\ a_139^0-a_139^post25 == 0 /\ -a_174^post25+a_174^0 == 0 /\ -f_202^post25+f_202^0 == 0 /\ -temp_37^post25+temp_37^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post25 == 0 /\ rcd_320^0-rcd_320^post25 == 0 /\ len_159^0-len_159^post25 == 0 /\ -x_154^post25+x_154^0 == 0 /\ -x_27^post25+x_27^0 == 0 /\ y_21^0-y_21^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_199^post25+rcd_199^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ x_207^0-x_207^post25 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_19^0-temp0_19^post25 == 0 /\ a_222^0-a_222^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_193^0-rcd_193^post25 == 0 /\ -rcd_308^post25+rcd_308^0 == 0 /\ rcd_106^0-rcd_106^post25 == 0 /\ -r_41^post25+r_41^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ -rcd_194^post25+rcd_194^0 == 0 /\ temp0_32^0-temp0_32^post25 == 0 /\ rcd_185^0-rcd_185^post25 == 0 /\ length_29^0-length_29^post25 == 0 /\ i_112^0-i_112^post25 == 0 /\ -rcd_284^post25+rcd_284^0 == 0 /\ -r_192^post25+r_192^0 == 0 /\ -temp_36^post25+temp_36^0 == 0 /\ i_31^0-i_31^post25 == 0), cost: 1
  26: l19 -> l7 : a_139^0'=a_139^post26, result_11^0'=result_11^post26, i_31^0'=i_31^post26, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post26, rcd_320^0'=rcd_320^post26, i_112^0'=i_112^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, x_22^0'=x_22^post26, rcd_199^0'=rcd_199^post26, head_16^0'=head_16^post26, temp0_32^0'=temp0_32^post26, r_149^0'=r_149^post26, y_26^0'=y_26^post26, rcd_71^0'=rcd_71^post26, i_198^0'=i_198^post26, x_207^0'=x_207^post26, rcd_185^0'=rcd_185^post26, a_279^0'=a_279^post26, t_23^0'=t_23^post26, len_221^0'=len_221^post26, x_SLAM_f_20^0'=x_SLAM_f_20^post26, rcd_284^0'=rcd_284^post26, head_SLAM_f_30^0'=head_SLAM_f_30^post26, temp_37^0'=temp_37^post26, r_41^0'=r_41^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, len_159^0'=len_159^post26, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post26, rcd_45^0'=rcd_45^post26, i_130^0'=i_130^post26, x_154^0'=x_154^post26, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post26, rcd_220^0'=rcd_220^post26, head_33^0'=head_33^post26, temp_36^0'=temp_36^post26, r_192^0'=r_192^post26, (temp0_32^0-temp0_32^post26 == 0 /\ rcd_194^0-rcd_194^post26 == 0 /\ -a_174^post26+a_174^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26 == 0 /\ rcd_185^0-rcd_185^post26 == 0 /\ -x_27^post26+x_27^0 == 0 /\ -x_154^post26+x_154^0 == 0 /\ a_309^0-a_309^post26 == 0 /\ -temp_37^post26+temp_37^0 == 0 /\ -head_SLAM_f_30^post26+head_SLAM_f_30^0 == 0 /\ a_139^0-a_139^post26 == 0 /\ i_31^0-i_31^post26 == 0 /\ -y_26^post26+y_26^0 == 0 /\ -i_198^post26+i_198^0 == 0 /\ -r_41^post26+r_41^0 == 0 /\ rcd_308^0-rcd_308^post26 == 0 /\ -rcd_284^post26+rcd_284^0 == 0 /\ x_22^0-x_22^post26 == 0 /\ -x_SLAM_f_20^post26+x_SLAM_f_20^0 == 0 /\ -a_253^post26+a_253^0 == 0 /\ -r_192^post26+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post26 == 0 /\ -temp_36^post26+temp_36^0 == 0 /\ rcd_106^0-rcd_106^post26 == 0 /\ -rcd_45^post26+rcd_45^0 == 0 /\ -length_29^post26+length_29^0 == 0 /\ result_11^0-result_11^post26 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ -len_159^post26+len_159^0 == 0 /\ tmp_35^0-tmp_35^post26 == 0 /\ head_16^0-head_16^post26 == 0 /\ i_112^0-i_112^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post26+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_23^post26+t_23^0 == 0 /\ y_21^0-y_21^post26 == 0 /\ tail_15^0-tail_15^post26 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post26 == 0 /\ rcd_320^0-rcd_320^post26 == 0 /\ rcd_199^0-rcd_199^post26 == 0 /\ a_279^0-a_279^post26 == 0 /\ -head_33^post26+head_33^0 == 0 /\ -i_130^post26+i_130^0 == 0 /\ f_202^0-f_202^post26 == 0 /\ -rcd_114^post26+rcd_114^0 == 0 /\ rcd_288^0-rcd_288^post26 == 0 /\ -temp0_19^post26+temp0_19^0 == 0 /\ len_221^0-len_221^post26 == 0 /\ a_222^0-a_222^post26 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_207^post26+x_207^0 == 0 /\ -rcd_220^post26+rcd_220^0 == 0 /\ r_149^0-r_149^post26 == 0 /\ rcd_71^0-rcd_71^post26 == 0 /\ rcd_193^0-rcd_193^post26 == 0), cost: 1
  28: l20 -> l21 : a_139^0'=a_139^post28, result_11^0'=result_11^post28, i_31^0'=i_31^post28, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post28, rcd_320^0'=rcd_320^post28, i_112^0'=i_112^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, x_22^0'=x_22^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, rcd_71^0'=rcd_71^post28, i_198^0'=i_198^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, len_221^0'=len_221^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, rcd_284^0'=rcd_284^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^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, len_159^0'=len_159^post28, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, i_130^0'=i_130^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post28, rcd_220^0'=rcd_220^post28, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, (0 == 0 /\ rcd_114^0-rcd_114^post28 == 0 /\ -len_159^0 <= 0 /\ -a_279^post28+a_279^0 == 0 /\ -result_11^11+head_16^post28 == 0 /\ -rcd_194^post28+rcd_45^0 <= 0 /\ i_112^0-i_112^post28 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ x_27^post28-head_16^post28 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_31^0 <= 0 /\ -i_130^post28+i_130^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ rcd_194^post28-rcd_45^0 <= 0 /\ -rcd_220^post28+rcd_220^0 == 0 /\ temp0_32^110-head_33^0 == 0 /\ -x_27^post28+head_16^post28 <= 0 /\ x_154^0-x_154^post28 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_SLAM_f_25^post28-x_27^post28 <= 0 /\ y_26^post28-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -x_22^post28+x_22^0 == 0 /\ -len_221^post28+len_221^0 == 0 /\ -a_174^0+i_31^post28 <= 0 /\ -temp_37^post28+temp_37^0 == 0 /\ -r_192^post28+r_192^0 == 0 /\ -x_SLAM_f_25^post28+head_16^post28 <= 0 /\ -f_202^post28+f_202^0 == 0 /\ -a_174^post28+a_174^0 == 0 /\ x_207^0-x_207^post28 == 0 /\ a_222^0-a_222^post28 == 0 /\ len_159^0 <= 0 /\ rcd_193^0-rcd_193^post28 == 0 /\ -x_SLAM_f_20^post28+x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_26^post28 <= 0 /\ -tail_15^0+y_26^post28 == 0 /\ a_309^0-a_309^post28 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 == 0 /\ -y_26^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ a_139^0-a_139^post28 == 0 /\ r_41^0-r_41^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -rcd_106^post28+rcd_106^0 == 0 /\ a_174^0-i_31^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ tail_15^0-y_26^post28 <= 0 /\ -a_253^post28+a_253^0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ rcd_284^0-rcd_284^post28 == 0 /\ -y_21^post28+y_21^0 == 0), cost: 1
  32: l20 -> l23 : a_139^0'=a_139^post32, result_11^0'=result_11^post32, i_31^0'=i_31^post32, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post32, rcd_320^0'=rcd_320^post32, i_112^0'=i_112^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, x_22^0'=x_22^post32, rcd_199^0'=rcd_199^post32, head_16^0'=head_16^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, rcd_71^0'=rcd_71^post32, i_198^0'=i_198^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, len_221^0'=len_221^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, rcd_284^0'=rcd_284^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^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, len_159^0'=len_159^post32, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, i_130^0'=i_130^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post32, rcd_220^0'=rcd_220^post32, head_33^0'=head_33^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, (0 == 0 /\ -1-i_31^0+i_31^post32 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ -x_SLAM_f_20^post32+x_SLAM_f_20^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -a_222^post32+a_222^0 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -a_253^post32+a_253^0 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -rcd_220^post32+rcd_220^0 == 0 /\ -len_221^post32+len_221^0 == 0 /\ 1+i_112^post32-i_31^post32 <= 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -i_31^0 <= 0 /\ r_149^0-r_149^post32 == 0 /\ -x_27^post32+x_27^0 == 0 /\ x_154^0-x_154^post32 == 0 /\ rcd_288^0-rcd_288^post32 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post32+rcd_114^post32 <= 0 /\ 1-length_29^0+i_112^post32 <= 0 /\ -rcd_114^post32+rcd_45^0 <= 0 /\ -a_309^post32+a_309^0 == 0 /\ rcd_71^0-rcd_71^post32 == 0 /\ rcd_194^0-rcd_194^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -i_130^post32+i_130^0 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ -r_192^post32+r_192^0 == 0 /\ rcd_320^0-rcd_320^post32 == 0 /\ rcd_199^0-rcd_199^post32 == 0 /\ -1-i_112^post32+i_31^post32 <= 0 /\ rcd_45^post32-rcd_114^post32 <= 0 /\ a_139^0-a_139^post32 == 0 /\ rcd_114^post32-rcd_45^0 <= 0 /\ -tmp_35^post32+head_33^post32 == 0 /\ head_16^0-head_16^post32 == 0 /\ -a_174^post32+a_174^0 == 0 /\ tmp_35^post32-temp_36^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -head_SLAM_f_30^post32+head_SLAM_f_30^0 == 0 /\ -y_26^post32+y_26^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ r_41^0-r_41^post32 == 0), cost: 1
  29: l21 -> l22 : a_139^0'=a_139^post29, result_11^0'=result_11^post29, i_31^0'=i_31^post29, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post29, rcd_320^0'=rcd_320^post29, i_112^0'=i_112^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, x_22^0'=x_22^post29, rcd_199^0'=rcd_199^post29, head_16^0'=head_16^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, rcd_71^0'=rcd_71^post29, i_198^0'=i_198^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, len_221^0'=len_221^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, rcd_284^0'=rcd_284^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^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, len_159^0'=len_159^post29, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, i_130^0'=i_130^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post29, rcd_220^0'=rcd_220^post29, head_33^0'=head_33^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, (-y_21^post29+y_21^0 == 0 /\ x_207^0-x_207^post29 == 0 /\ rcd_193^0-rcd_193^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ a_139^0-a_139^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post29+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ head_16^0-head_16^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -i_198^post29+i_198^0 == 0 /\ y_26^0-y_26^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ rcd_288^0-rcd_288^post29 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ rcd_199^0-rcd_199^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ a_253^0-a_253^post29 == 0 /\ -len_159^post29+len_159^0 == 0 /\ i_31^0-i_31^post29 == 0 /\ -x_154^post29+x_154^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ a_279^0-a_279^post29 == 0 /\ a_222^0-a_222^post29 == 0 /\ r_149^0-r_149^post29 == 0 /\ -rcd_220^post29+rcd_220^0 == 0 /\ -tmp_35^post29+tmp_35^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0 /\ a_309^0-a_309^post29 == 0 /\ rcd_194^0-rcd_194^post29 == 0 /\ -x_27^post29+x_27^0 == 0 /\ -head_33^post29+head_33^0 == 0 /\ f_202^0-f_202^post29 == 0 /\ r_41^0-r_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ i_112^0-i_112^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ -rcd_320^post29+rcd_320^0 == 0 /\ -r_192^post29+r_192^0 == 0 /\ rcd_71^0-rcd_71^post29 == 0 /\ -rcd_308^post29+rcd_308^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ -len_221^post29+len_221^0 == 0 /\ -rcd_114^post29+rcd_114^0 == 0), cost: 1
  30: l21 -> l22 : a_139^0'=a_139^post30, result_11^0'=result_11^post30, i_31^0'=i_31^post30, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post30, rcd_320^0'=rcd_320^post30, i_112^0'=i_112^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, x_22^0'=x_22^post30, rcd_199^0'=rcd_199^post30, head_16^0'=head_16^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, rcd_71^0'=rcd_71^post30, i_198^0'=i_198^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, len_221^0'=len_221^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, rcd_284^0'=rcd_284^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^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, len_159^0'=len_159^post30, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, i_130^0'=i_130^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post30, rcd_220^0'=rcd_220^post30, head_33^0'=head_33^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, (-temp0_19^post30+temp0_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ rcd_284^0-rcd_284^post30 == 0 /\ i_130^0-i_130^post30 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ -rcd_220^post30+rcd_220^0 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ temp_37^0-temp_37^post30 == 0 /\ -a_279^post30+a_279^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ len_159^0-len_159^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ i_198^0-i_198^post30 == 0 /\ -head_33^post30+head_33^0 == 0 /\ -i_112^post30+i_112^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ -a_253^post30+a_253^0 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -x_27^post30+x_27^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ -temp_36^post30+temp_36^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ -f_202^post30+f_202^0 == 0 /\ r_149^0-r_149^post30 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ a_309^0-a_309^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ -rcd_199^post30+rcd_199^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ -rcd_106^post30+rcd_106^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post30 == 0 /\ rcd_320^0-rcd_320^post30 == 0 /\ rcd_71^0-rcd_71^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ rcd_185^0-rcd_185^post30 == 0 /\ -head_16^post30+head_16^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -x_154^post30+x_154^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ a_139^0-a_139^post30 == 0 /\ -a_174^post30+a_174^0 == 0 /\ -y_26^post30+y_26^0 == 0 /\ length_29^0-length_29^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ r_192^0-r_192^post30 == 0), cost: 1
  31: l22 -> l1 : a_139^0'=a_139^post31, result_11^0'=result_11^post31, i_31^0'=i_31^post31, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post31, rcd_320^0'=rcd_320^post31, i_112^0'=i_112^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, x_22^0'=x_22^post31, rcd_199^0'=rcd_199^post31, head_16^0'=head_16^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, rcd_71^0'=rcd_71^post31, i_198^0'=i_198^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, len_221^0'=len_221^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, rcd_284^0'=rcd_284^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^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, len_159^0'=len_159^post31, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, i_130^0'=i_130^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post31, rcd_220^0'=rcd_220^post31, head_33^0'=head_33^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, (rcd_45^0-rcd_45^post31 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ -i_130^post31+i_130^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_139^0-a_139^post31 == 0 /\ rcd_194^0-rcd_194^post31 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ -r_192^post31+r_192^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ x_22^0-x_22^post31 == 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ -r_149^post31+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post31 == 0 /\ len_221^0-len_221^post31 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ -t_23^post31+t_23^0 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ rcd_320^0-rcd_320^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -len_159^post31+len_159^0 == 0 /\ i_198^0-i_198^post31 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ -r_41^post31+r_41^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ tmp_35^0-tmp_35^post31 == 0 /\ rcd_288^0-rcd_288^post31 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -rcd_220^post31+rcd_220^0 == 0 /\ f_202^0-f_202^post31 == 0 /\ -head_33^post31+head_33^0 == 0 /\ -x_207^post31+x_207^0 == 0 /\ -x_SLAM_f_20^post31+x_SLAM_f_20^0 == 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_36^post31+temp_36^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ -a_253^post31+a_253^0 == 0 /\ rcd_71^0-rcd_71^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -x_27^post31+x_27^0 == 0 /\ -rcd_185^post31+rcd_185^0 == 0 /\ -a_222^post31+a_222^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ y_21^0-y_21^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  33: l23 -> l20 : a_139^0'=a_139^post33, result_11^0'=result_11^post33, i_31^0'=i_31^post33, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post33, rcd_320^0'=rcd_320^post33, i_112^0'=i_112^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, x_22^0'=x_22^post33, rcd_199^0'=rcd_199^post33, head_16^0'=head_16^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, rcd_71^0'=rcd_71^post33, i_198^0'=i_198^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, len_221^0'=len_221^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, rcd_284^0'=rcd_284^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^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, len_159^0'=len_159^post33, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, i_130^0'=i_130^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post33, rcd_220^0'=rcd_220^post33, head_33^0'=head_33^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, (-rcd_71^post33+rcd_71^0 == 0 /\ a_139^0-a_139^post33 == 0 /\ i_198^0-i_198^post33 == 0 /\ rcd_193^0-rcd_193^post33 == 0 /\ -rcd_45^post33+rcd_45^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -r_149^post33+r_149^0 == 0 /\ a_222^0-a_222^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ i_112^0-i_112^post33 == 0 /\ -a_279^post33+a_279^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -len_159^post33+len_159^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ i_130^0-i_130^post33 == 0 /\ -head_SLAM_f_30^post33+head_SLAM_f_30^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -x_154^post33+x_154^0 == 0 /\ x_27^0-x_27^post33 == 0 /\ -r_41^post33+r_41^0 == 0 /\ rcd_288^0-rcd_288^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -head_33^post33+head_33^0 == 0 /\ temp0_19^0-temp0_19^post33 == 0 /\ -a_253^post33+a_253^0 == 0 /\ -rcd_220^post33+rcd_220^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -len_221^post33+len_221^0 == 0 /\ x_207^0-x_207^post33 == 0 /\ -temp_36^post33+temp_36^0 == 0 /\ temp_37^0-temp_37^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -r_192^post33+r_192^0 == 0 /\ -rcd_185^post33+rcd_185^0 == 0 /\ i_31^0-i_31^post33 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ rcd_320^0-rcd_320^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ a_174^0-a_174^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  34: l24 -> l7 : a_139^0'=a_139^post34, result_11^0'=result_11^post34, i_31^0'=i_31^post34, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post34, rcd_320^0'=rcd_320^post34, i_112^0'=i_112^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, x_22^0'=x_22^post34, rcd_199^0'=rcd_199^post34, head_16^0'=head_16^post34, temp0_32^0'=temp0_32^post34, r_149^0'=r_149^post34, y_26^0'=y_26^post34, rcd_71^0'=rcd_71^post34, i_198^0'=i_198^post34, x_207^0'=x_207^post34, rcd_185^0'=rcd_185^post34, a_279^0'=a_279^post34, t_23^0'=t_23^post34, len_221^0'=len_221^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, rcd_284^0'=rcd_284^post34, head_SLAM_f_30^0'=head_SLAM_f_30^post34, temp_37^0'=temp_37^post34, r_41^0'=r_41^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, len_159^0'=len_159^post34, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post34, rcd_45^0'=rcd_45^post34, i_130^0'=i_130^post34, x_154^0'=x_154^post34, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post34, rcd_220^0'=rcd_220^post34, head_33^0'=head_33^post34, temp_36^0'=temp_36^post34, r_192^0'=r_192^post34, (0 == 0 /\ -len_159^post34+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34+y_21^10 <= 0 /\ -y_21^10+x_22^10 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110-y_26^10 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ x_SLAM_f_20^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ -rcd_45^post34+rcd_45^0 == 0 /\ -tail_15^0+y_26^10 <= 0 /\ -tail_15^0+y_26^10 == 0 /\ -x_SLAM_f_20^10+x_22^10 <= 0 /\ -x_SLAM_f_20^10+x_22^10 == 0 /\ x_SLAM_f_25^110-x_27^10 <= 0 /\ -r_41^post34+r_41^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34-x_22^10 <= 0 /\ i_112^0-i_112^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -x_27^10+y_26^10 <= 0 /\ -i_130^post34+i_130^0 == 0 /\ x_27^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ tail_15^0-tail_15^post34 == 0 /\ x_207^0-x_207^post34 == 0 /\ tail_15^0-y_21^10 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34-y_21^10 <= 0 /\ rcd_106^0-rcd_106^post34 == 0 /\ y_21^10-x_22^10 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110+y_26^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ result_11^post34-temp0_19^0 == 0 /\ r_149^0-r_149^post34 == 0 /\ -x_SLAM_f_20^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ -x_154^post34+x_154^0 == 0 /\ tail_15^0-y_26^10 <= 0 /\ x_SLAM_f_20^10-x_22^10 <= 0 /\ -x_SLAM_f_25^110+x_27^10 <= 0 /\ -x_SLAM_f_25^110+x_27^10 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34+x_22^10 <= 0 /\ x_27^10-y_26^10 <= 0 /\ result_11^12-temp0_32^120 == 0 /\ -x_27^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -r_192^post34+r_192^0 == 0 /\ a_253^0-a_253^post34 == 0 /\ rcd_284^0-rcd_284^post34 == 0 /\ -tail_15^0+y_21^10 <= 0 /\ -tail_15^0+y_21^10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^20 <= 0 /\ a_174^0-a_174^post34 == 0 /\ -rcd_308^post34+rcd_308^0 == 0 /\ rcd_185^0-rcd_185^post34 == 0 /\ -head_16^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ -rcd_114^post34+rcd_114^0 == 0 /\ -x_SLAM_f_20^10+head_16^post34 <= 0 /\ rcd_71^0-rcd_71^post34 == 0 /\ rcd_193^0-rcd_193^post34 == 0 /\ -head_16^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ temp0_32^120-head_33^0 == 0 /\ -temp0_19^post34+temp0_19^0 == 0 /\ a_139^0-a_139^post34 == 0 /\ x_SLAM_f_25^110-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -result_11^12+head_16^post34 == 0 /\ head_16^post34-x_SLAM_f_25^110 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_31^0+length_29^0 <= 0 /\ a_222^0-a_222^post34 == 0 /\ -rcd_220^post34+rcd_220^0 == 0 /\ -f_202^post34+f_202^0 == 0 /\ rcd_320^0-rcd_320^post34 == 0 /\ head_16^post34-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 <= 0 /\ -temp_37^post34+temp_37^0 == 0 /\ x_SLAM_f_20^10-head_16^post34 <= 0 /\ x_SLAM_f_20^10-head_16^post34 == 0 /\ head_16^post34-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ rcd_288^0-rcd_288^post34 == 0 /\ -a_279^post34+a_279^0 == 0 /\ len_221^0-len_221^post34 == 0 /\ -x_SLAM_f_25^110+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -head_16^post34+x_SLAM_f_25^110 <= 0 /\ -head_16^post34+x_SLAM_f_25^110 == 0 /\ -i_198^post34+i_198^0 == 0 /\ rcd_199^0-rcd_199^post34 == 0 /\ a_309^0-a_309^post34 == 0 /\ -rcd_194^post34+rcd_194^0 == 0), cost: 1
  35: l24 -> l6 : a_139^0'=a_139^post35, result_11^0'=result_11^post35, i_31^0'=i_31^post35, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post35, rcd_320^0'=rcd_320^post35, i_112^0'=i_112^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, x_22^0'=x_22^post35, rcd_199^0'=rcd_199^post35, head_16^0'=head_16^post35, temp0_32^0'=temp0_32^post35, r_149^0'=r_149^post35, y_26^0'=y_26^post35, rcd_71^0'=rcd_71^post35, i_198^0'=i_198^post35, x_207^0'=x_207^post35, rcd_185^0'=rcd_185^post35, a_279^0'=a_279^post35, t_23^0'=t_23^post35, len_221^0'=len_221^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, rcd_284^0'=rcd_284^post35, head_SLAM_f_30^0'=head_SLAM_f_30^post35, temp_37^0'=temp_37^post35, r_41^0'=r_41^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, len_159^0'=len_159^post35, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post35, rcd_45^0'=rcd_45^post35, i_130^0'=i_130^post35, x_154^0'=x_154^post35, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post35, rcd_220^0'=rcd_220^post35, head_33^0'=head_33^post35, temp_36^0'=temp_36^post35, r_192^0'=r_192^post35, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35+head_33^post35 <= 0 /\ rcd_199^0-rcd_199^post35 == 0 /\ -rcd_45^post35+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post35 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_288^0-rcd_288^post35 == 0 /\ -tmp_35^post35+head_33^post35 <= 0 /\ -tmp_35^post35+head_33^post35 == 0 /\ a_279^0-a_279^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ rcd_71^0-rcd_71^post35 == 0 /\ tmp_35^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ rcd_193^0-rcd_193^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35-head_33^post35 <= 0 /\ rcd_106^0-rcd_106^post35 == 0 /\ y_26^0-y_26^post35 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -rcd_114^post35+rcd_114^0 == 0 /\ length_29^0-length_29^post35 == 0 /\ tmp_35^post35-head_33^post35 <= 0 /\ -i_130^post35+i_130^0 == 0 /\ a_139^0-a_139^post35 == 0 /\ -x_27^post35+x_27^0 == 0 /\ a_253^0-a_253^post35 == 0 /\ 1-length_29^0 <= 0 /\ -tmp_35^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ head_16^0-head_16^post35 == 0 /\ rcd_320^0-rcd_320^post35 == 0 /\ y_21^0-y_21^post35 == 0 /\ -rcd_220^post35+rcd_220^0 == 0 /\ -x_207^post35+x_207^0 == 0 /\ tmp_35^post35-temp_36^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -temp_37^post35+temp_37^0 == 0 /\ -head_SLAM_f_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ len_221^0-len_221^post35 == 0 /\ -a_174^post35+a_174^0 == 0 /\ -x_154^post35+x_154^0 == 0 /\ i_198^0-i_198^post35 == 0 /\ x_22^0-x_22^post35 == 0 /\ -tail_15^post35+head_SLAM_f_30^post35 <= 0 /\ len_159^0-len_159^post35 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ r_149^0-r_149^post35 == 0 /\ f_202^0-f_202^post35 == 0 /\ a_222^0-a_222^post35 == 0 /\ -r_41^post35+r_41^0 == 0 /\ -rcd_194^post35+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post35 == 0 /\ tail_15^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ head_SLAM_f_30^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -rcd_284^post35+rcd_284^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -x_SLAM_f_20^post35+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ tail_15^post35-head_SLAM_f_30^post35 <= 0 /\ -1-i_31^0+i_31^post35 == 0 /\ a_309^0-a_309^post35 == 0 /\ i_112^0-i_112^post35 == 0 /\ -rcd_308^post35+rcd_308^0 == 0 /\ -r_192^post35+r_192^0 == 0 /\ 1-i_31^post35 <= 0 /\ -1+i_31^post35 <= 0), cost: 1
  36: l25 -> l7 : a_139^0'=a_139^post36, result_11^0'=result_11^post36, i_31^0'=i_31^post36, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post36, rcd_320^0'=rcd_320^post36, i_112^0'=i_112^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, x_22^0'=x_22^post36, rcd_199^0'=rcd_199^post36, head_16^0'=head_16^post36, temp0_32^0'=temp0_32^post36, r_149^0'=r_149^post36, y_26^0'=y_26^post36, rcd_71^0'=rcd_71^post36, i_198^0'=i_198^post36, x_207^0'=x_207^post36, rcd_185^0'=rcd_185^post36, a_279^0'=a_279^post36, t_23^0'=t_23^post36, len_221^0'=len_221^post36, x_SLAM_f_20^0'=x_SLAM_f_20^post36, rcd_284^0'=rcd_284^post36, head_SLAM_f_30^0'=head_SLAM_f_30^post36, temp_37^0'=temp_37^post36, r_41^0'=r_41^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, len_159^0'=len_159^post36, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post36, rcd_45^0'=rcd_45^post36, i_130^0'=i_130^post36, x_154^0'=x_154^post36, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post36, rcd_220^0'=rcd_220^post36, head_33^0'=head_33^post36, temp_36^0'=temp_36^post36, r_192^0'=r_192^post36, (0 == 0 /\ -y_26^post36+y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post36 <= 0 /\ -temp_37^post36+temp_37^0 == 0 /\ -r_192^post36+r_192^0 == 0 /\ tmp_35^0-tmp_35^post36 == 0 /\ -temp0_19^post36+temp0_19^0 == 0 /\ -a_222^post36+a_222^0 == 0 /\ -len_221^post36+len_221^0 == 0 /\ head_16^0-head_16^post36 == 0 /\ i_112^0-i_112^post36 == 0 /\ -head_SLAM_f_30^post36+head_SLAM_f_30^0 == 0 /\ -a_174^post36+a_174^0 == 0 /\ -x_154^post36+x_154^0 == 0 /\ tail_15^0-tail_15^post36 == 0 /\ rcd_308^0-rcd_308^post36 == 0 /\ -i_198^post36+i_198^0 == 0 /\ rcd_199^0-rcd_199^post36 == 0 /\ -rcd_284^post36+rcd_284^0 == 0 /\ result_11^post36-temp0_19^0 == 0 /\ -temp0_32^post36+temp0_32^0 == 0 /\ rcd_288^0-rcd_288^post36 == 0 /\ r_149^0-r_149^post36 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^post36 <= 0 /\ x_207^0-x_207^post36 == 0 /\ -rcd_71^post36+rcd_71^0 == 0 /\ -temp_36^post36+temp_36^0 == 0 /\ -a_253^post36+a_253^0 == 0 /\ -f_202^post36+f_202^0 == 0 /\ rcd_194^0-rcd_194^post36 == 0 /\ rcd_185^0-rcd_185^post36 == 0 /\ x_22^0-y_21^0 <= 0 /\ -rcd_45^post36+rcd_45^0 == 0 /\ a_139^0-a_139^post36 == 0 /\ -a_279^0 <= 0 /\ -len_159^post36+len_159^0 == 0 /\ -rcd_106^post36+rcd_106^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ i_31^0-i_31^post36 == 0 /\ -i_130^post36+i_130^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ r_41^0-r_41^post36 == 0 /\ -a_309^post36+a_309^0 == 0 /\ -head_33^post36+head_33^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post36 == 0 /\ -rcd_114^post36+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post36 == 0 /\ a_279^0-a_279^post36 == 0 /\ -x_27^post36+x_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post36 == 0 /\ -rcd_320^post36+rcd_320^0 == 0 /\ -rcd_220^post36+rcd_220^0 == 0), cost: 1
  37: l25 -> l27 : a_139^0'=a_139^post37, result_11^0'=result_11^post37, i_31^0'=i_31^post37, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post37, rcd_320^0'=rcd_320^post37, i_112^0'=i_112^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, x_22^0'=x_22^post37, rcd_199^0'=rcd_199^post37, head_16^0'=head_16^post37, temp0_32^0'=temp0_32^post37, r_149^0'=r_149^post37, y_26^0'=y_26^post37, rcd_71^0'=rcd_71^post37, i_198^0'=i_198^post37, x_207^0'=x_207^post37, rcd_185^0'=rcd_185^post37, a_279^0'=a_279^post37, t_23^0'=t_23^post37, len_221^0'=len_221^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, rcd_284^0'=rcd_284^post37, head_SLAM_f_30^0'=head_SLAM_f_30^post37, temp_37^0'=temp_37^post37, r_41^0'=r_41^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, len_159^0'=len_159^post37, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post37, rcd_45^0'=rcd_45^post37, i_130^0'=i_130^post37, x_154^0'=x_154^post37, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post37, rcd_220^0'=rcd_220^post37, head_33^0'=head_33^post37, temp_36^0'=temp_36^post37, r_192^0'=r_192^post37, (0 == 0 /\ a_174^0-a_174^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ i_31^0-i_31^post37 == 0 /\ -a_279^post37+a_279^0 == 0 /\ -a_253^post37+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post37 == 0 /\ len_159^0-len_159^post37 == 0 /\ rcd_193^0-rcd_193^post37 == 0 /\ temp_37^0-temp_37^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ length_29^0-length_29^post37 == 0 /\ -rcd_114^post37+rcd_114^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -head_33^post37+head_33^0 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -r_149^post37+r_149^0 == 0 /\ -rcd_220^post37+rcd_220^0 == 0 /\ i_130^0-i_130^post37 == 0 /\ -x_27^post37+x_27^0 == 0 /\ len_221^0-len_221^post37 == 0 /\ -rcd_45^post37+rcd_45^0 == 0 /\ rcd_320^0-rcd_320^post37 == 0 /\ rcd_199^0-rcd_199^post37 == 0 /\ i_112^0-i_112^post37 == 0 /\ rcd_284^0-rcd_284^post37 == 0 /\ -rcd_185^post37+rcd_185^0 == 0 /\ -x_207^post37+x_207^0 == 0 /\ i_198^0-i_198^post37 == 0 /\ -temp_36^post37+temp_36^0 == 0 /\ rcd_288^0-rcd_288^post37 == 0 /\ -r_192^post37+r_192^0 == 0 /\ -f_202^post37+f_202^0 == 0 /\ -a_279^0 <= 0 /\ -head_SLAM_f_30^post37+head_SLAM_f_30^0 == 0 /\ rcd_106^0-rcd_106^post37 == 0 /\ a_222^0-a_222^post37 == 0 /\ -x_154^post37+x_154^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post37 == 0 /\ a_309^0-a_309^post37 == 0 /\ -rcd_308^post37+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post37 == 0 /\ -x_22^post37+x_22^0 == 0 /\ a_139^0-a_139^post37 == 0 /\ -rcd_194^post37+rcd_194^0 == 0 /\ -rcd_71^post37+rcd_71^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
  38: l27 -> l28 : a_139^0'=a_139^post38, result_11^0'=result_11^post38, i_31^0'=i_31^post38, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post38, rcd_320^0'=rcd_320^post38, i_112^0'=i_112^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, x_22^0'=x_22^post38, rcd_199^0'=rcd_199^post38, head_16^0'=head_16^post38, temp0_32^0'=temp0_32^post38, r_149^0'=r_149^post38, y_26^0'=y_26^post38, rcd_71^0'=rcd_71^post38, i_198^0'=i_198^post38, x_207^0'=x_207^post38, rcd_185^0'=rcd_185^post38, a_279^0'=a_279^post38, t_23^0'=t_23^post38, len_221^0'=len_221^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, rcd_284^0'=rcd_284^post38, head_SLAM_f_30^0'=head_SLAM_f_30^post38, temp_37^0'=temp_37^post38, r_41^0'=r_41^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, len_159^0'=len_159^post38, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post38, rcd_45^0'=rcd_45^post38, i_130^0'=i_130^post38, x_154^0'=x_154^post38, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post38, rcd_220^0'=rcd_220^post38, head_33^0'=head_33^post38, temp_36^0'=temp_36^post38, r_192^0'=r_192^post38, (-temp_37^post38+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_26^0-y_26^post38 == 0 /\ -a_222^post38+a_222^0 == 0 /\ length_29^0-length_29^post38 == 0 /\ result_11^0-result_11^post38 == 0 /\ -x_27^post38+x_27^0 == 0 /\ -temp_36^post38+temp_36^0 == 0 /\ -x_SLAM_f_20^post38+x_SLAM_f_20^0 == 0 /\ rcd_45^0-rcd_45^post38 == 0 /\ -r_192^post38+r_192^0 == 0 /\ -a_174^post38+a_174^0 == 0 /\ -rcd_185^post38+rcd_185^0 == 0 /\ i_112^0-i_112^post38 == 0 /\ head_16^0-head_16^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ -x_154^post38+x_154^0 == 0 /\ -y_21^post38+y_21^0 == 0 /\ a_253^0-a_253^post38 == 0 /\ -temp0_32^post38+temp0_32^0 == 0 /\ i_31^0-i_31^post38 == 0 /\ f_202^0-f_202^post38 == 0 /\ -i_198^post38+i_198^0 == 0 /\ x_207^0-x_207^post38 == 0 /\ rcd_193^0-rcd_193^post38 == 0 /\ -rcd_284^post38+rcd_284^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post38 == 0 /\ rcd_106^0-rcd_106^post38 == 0 /\ r_149^0-r_149^post38 == 0 /\ -x_SLAM_f_25^post38+x_SLAM_f_25^0 == 0 /\ rcd_71^0-rcd_71^post38 == 0 /\ rcd_194^0-rcd_194^post38 == 0 /\ -rcd_288^post38+rcd_288^0 == 0 /\ -rcd_308^post38+rcd_308^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_309^post38+a_309^0 == 0 /\ -rcd_114^post38+rcd_114^0 == 0 /\ a_139^0-a_139^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ rcd_199^0-rcd_199^post38 == 0 /\ rcd_320^0-rcd_320^post38 == 0 /\ -len_159^post38+len_159^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -i_130^post38+i_130^0 == 0 /\ a_279^0-a_279^post38 == 0 /\ -len_221^post38+len_221^0 == 0 /\ x_22^0-x_22^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_220^post38+rcd_220^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post38 == 0 /\ r_41^0-r_41^post38 == 0 /\ -tmp_35^post38+tmp_35^0 == 0 /\ -head_33^post38+head_33^0 == 0), cost: 1
  39: l27 -> l28 : a_139^0'=a_139^post39, result_11^0'=result_11^post39, i_31^0'=i_31^post39, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post39, rcd_320^0'=rcd_320^post39, i_112^0'=i_112^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, x_22^0'=x_22^post39, rcd_199^0'=rcd_199^post39, head_16^0'=head_16^post39, temp0_32^0'=temp0_32^post39, r_149^0'=r_149^post39, y_26^0'=y_26^post39, rcd_71^0'=rcd_71^post39, i_198^0'=i_198^post39, x_207^0'=x_207^post39, rcd_185^0'=rcd_185^post39, a_279^0'=a_279^post39, t_23^0'=t_23^post39, len_221^0'=len_221^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, rcd_284^0'=rcd_284^post39, head_SLAM_f_30^0'=head_SLAM_f_30^post39, temp_37^0'=temp_37^post39, r_41^0'=r_41^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, len_159^0'=len_159^post39, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post39, rcd_45^0'=rcd_45^post39, i_130^0'=i_130^post39, x_154^0'=x_154^post39, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post39, rcd_220^0'=rcd_220^post39, head_33^0'=head_33^post39, temp_36^0'=temp_36^post39, r_192^0'=r_192^post39, (-nondet_12^post39+nondet_12^0 == 0 /\ rcd_199^0-rcd_199^post39 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post39 == 0 /\ x_22^0-x_22^post39 == 0 /\ -a_253^post39+a_253^0 == 0 /\ len_159^0-len_159^post39 == 0 /\ i_198^0-i_198^post39 == 0 /\ -rcd_71^post39+rcd_71^0 == 0 /\ a_174^0-a_174^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ a_222^0-a_222^post39 == 0 /\ temp_37^0-temp_37^post39 == 0 /\ rcd_193^0-rcd_193^post39 == 0 /\ -temp0_19^post39+temp0_19^0 == 0 /\ r_149^0-r_149^post39 == 0 /\ -rcd_114^post39+rcd_114^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -len_221^post39+len_221^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ a_309^0-a_309^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_32^0-temp0_32^post39 == 0 /\ rcd_185^0-rcd_185^post39 == 0 /\ rcd_284^0-rcd_284^post39 == 0 /\ -a_279^post39+a_279^0 == 0 /\ i_130^0-i_130^post39 == 0 /\ -rcd_45^post39+rcd_45^0 == 0 /\ -rcd_220^post39+rcd_220^0 == 0 /\ -head_33^post39+head_33^0 == 0 /\ i_31^0-i_31^post39 == 0 /\ x_27^0-x_27^post39 == 0 /\ -i_112^post39+i_112^0 == 0 /\ -head_16^post39+head_16^0 == 0 /\ rcd_288^0-rcd_288^post39 == 0 /\ -x_154^post39+x_154^0 == 0 /\ -temp_36^post39+temp_36^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ x_207^0-x_207^post39 == 0 /\ -f_202^post39+f_202^0 == 0 /\ -y_26^post39+y_26^0 == 0 /\ -head_SLAM_f_30^post39+head_SLAM_f_30^0 == 0 /\ -r_41^post39+r_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_21^post39+y_21^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ -rcd_308^post39+rcd_308^0 == 0 /\ -rcd_106^post39+rcd_106^0 == 0 /\ -rcd_194^post39+rcd_194^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ tmp_35^0-tmp_35^post39 == 0 /\ rcd_320^0-rcd_320^post39 == 0 /\ a_139^0-a_139^post39 == 0), cost: 1
  40: l28 -> l29 : a_139^0'=a_139^post40, result_11^0'=result_11^post40, i_31^0'=i_31^post40, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post40, rcd_320^0'=rcd_320^post40, i_112^0'=i_112^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, x_22^0'=x_22^post40, rcd_199^0'=rcd_199^post40, head_16^0'=head_16^post40, temp0_32^0'=temp0_32^post40, r_149^0'=r_149^post40, y_26^0'=y_26^post40, rcd_71^0'=rcd_71^post40, i_198^0'=i_198^post40, x_207^0'=x_207^post40, rcd_185^0'=rcd_185^post40, a_279^0'=a_279^post40, t_23^0'=t_23^post40, len_221^0'=len_221^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, rcd_284^0'=rcd_284^post40, head_SLAM_f_30^0'=head_SLAM_f_30^post40, temp_37^0'=temp_37^post40, r_41^0'=r_41^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, len_159^0'=len_159^post40, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post40, rcd_45^0'=rcd_45^post40, i_130^0'=i_130^post40, x_154^0'=x_154^post40, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post40, rcd_220^0'=rcd_220^post40, head_33^0'=head_33^post40, temp_36^0'=temp_36^post40, r_192^0'=r_192^post40, (0 == 0 /\ -temp_36^post40+temp_36^0 == 0 /\ rcd_106^0-rcd_106^post40 == 0 /\ y_26^0-y_26^post40 == 0 /\ -a_174^post40+a_174^0 == 0 /\ -f_202^post40+f_202^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ rcd_308^post40-rcd_45^0 <= 0 /\ -temp_37^post40+temp_37^0 == 0 /\ length_29^0-length_29^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -x_27^post40+x_27^0 == 0 /\ -rcd_199^post40+rcd_199^0 == 0 /\ -rcd_185^post40+rcd_185^0 == 0 /\ -x_154^post40+x_154^0 == 0 /\ rcd_45^0-rcd_45^post40 == 0 /\ -rcd_194^post40+rcd_194^0 == 0 /\ a_253^0-a_253^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post40 == 0 /\ len_221^0-len_221^post40 == 0 /\ tail_15^0-tail_15^post40 == 0 /\ -rcd_308^post40+rcd_45^0 <= 0 /\ -r_41^post40+r_41^0 == 0 /\ -x_22^0+t_23^post40 == 0 /\ rcd_320^0-rcd_320^post40 == 0 /\ a_279^0-a_279^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -y_21^post40+y_21^0 == 0 /\ a_222^0-a_222^post40 == 0 /\ -rcd_284^post40+rcd_284^0 == 0 /\ -r_192^post40+r_192^0 == 0 /\ r_149^0-r_149^post40 == 0 /\ 1-a_279^0+a_309^post40 <= 0 /\ rcd_193^0-rcd_193^post40 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post40 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post40 == 0 /\ i_112^0-i_112^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ i_31^0-i_31^post40 == 0 /\ head_16^0-head_16^post40 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ tmp_35^0-tmp_35^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_25^post40+x_SLAM_f_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -len_159^post40+len_159^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_288^0-rcd_288^post40 == 0 /\ -rcd_114^post40+rcd_114^0 == 0 /\ -i_130^post40+i_130^0 == 0 /\ -temp0_19^post40+temp0_19^0 == 0 /\ i_198^0-i_198^post40 == 0 /\ x_22^0-x_22^post40 == 0 /\ -head_33^post40+head_33^0 == 0 /\ -rcd_220^post40+rcd_220^0 == 0 /\ -x_207^post40+x_207^0 == 0 /\ -1+a_279^0-a_309^post40 <= 0 /\ rcd_71^0-rcd_71^post40 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  41: l29 -> l30 : a_139^0'=a_139^post41, result_11^0'=result_11^post41, i_31^0'=i_31^post41, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post41, rcd_320^0'=rcd_320^post41, i_112^0'=i_112^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, x_22^0'=x_22^post41, rcd_199^0'=rcd_199^post41, head_16^0'=head_16^post41, temp0_32^0'=temp0_32^post41, r_149^0'=r_149^post41, y_26^0'=y_26^post41, rcd_71^0'=rcd_71^post41, i_198^0'=i_198^post41, x_207^0'=x_207^post41, rcd_185^0'=rcd_185^post41, a_279^0'=a_279^post41, t_23^0'=t_23^post41, len_221^0'=len_221^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, rcd_284^0'=rcd_284^post41, head_SLAM_f_30^0'=head_SLAM_f_30^post41, temp_37^0'=temp_37^post41, r_41^0'=r_41^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, len_159^0'=len_159^post41, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post41, rcd_45^0'=rcd_45^post41, i_130^0'=i_130^post41, x_154^0'=x_154^post41, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post41, rcd_220^0'=rcd_220^post41, head_33^0'=head_33^post41, temp_36^0'=temp_36^post41, r_192^0'=r_192^post41, (rcd_308^0-rcd_308^post41 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ -rcd_45^post41+rcd_45^0 == 0 /\ -len_159^post41+len_159^0 == 0 /\ x_22^0-x_22^post41 == 0 /\ r_149^0-r_149^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_185^0-rcd_185^post41 == 0 /\ temp0_32^0-temp0_32^post41 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -a_222^post41+a_222^0 == 0 /\ x_207^0-x_207^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -i_130^post41+i_130^0 == 0 /\ a_309^0-a_309^post41 == 0 /\ -head_33^post41+head_33^0 == 0 /\ -rcd_114^post41+rcd_114^0 == 0 /\ -rcd_220^post41+rcd_220^0 == 0 /\ -len_221^post41+len_221^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ x_154^0-x_154^post41 == 0 /\ -x_27^post41+x_27^0 == 0 /\ rcd_288^0-rcd_288^post41 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post41 == 0 /\ -temp_36^post41+temp_36^0 == 0 /\ -f_202^post41+f_202^0 == 0 /\ -a_174^post41+a_174^0 == 0 /\ rcd_320^0-rcd_320^post41 == 0 /\ rcd_199^0-rcd_199^post41 == 0 /\ -r_192^post41+r_192^0 == 0 /\ -head_SLAM_f_30^post41+head_SLAM_f_30^0 == 0 /\ rcd_193^0-rcd_193^post41 == 0 /\ a_279^0-a_279^post41 == 0 /\ rcd_71^0-rcd_71^post41 == 0 /\ -i_112^post41+i_112^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post41+temp_37^0 == 0 /\ -i_198^post41+i_198^0 == 0 /\ -y_26^post41+y_26^0 == 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_106^post41+rcd_106^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -x_SLAM_f_20^post41+x_SLAM_f_20^0 == 0 /\ -rcd_284^post41+rcd_284^0 == 0 /\ -r_41^post41+r_41^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ a_139^0-a_139^post41 == 0 /\ -y_21^post41+y_21^0 == 0 /\ tmp_35^0-tmp_35^post41 == 0 /\ head_16^0-head_16^post41 == 0 /\ -a_253^post41+a_253^0 == 0 /\ i_31^0-i_31^post41 == 0 /\ rcd_194^0-rcd_194^post41 == 0), cost: 1
  42: l29 -> l30 : a_139^0'=a_139^post42, result_11^0'=result_11^post42, i_31^0'=i_31^post42, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post42, rcd_320^0'=rcd_320^post42, i_112^0'=i_112^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, x_22^0'=x_22^post42, rcd_199^0'=rcd_199^post42, head_16^0'=head_16^post42, temp0_32^0'=temp0_32^post42, r_149^0'=r_149^post42, y_26^0'=y_26^post42, rcd_71^0'=rcd_71^post42, i_198^0'=i_198^post42, x_207^0'=x_207^post42, rcd_185^0'=rcd_185^post42, a_279^0'=a_279^post42, t_23^0'=t_23^post42, len_221^0'=len_221^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, rcd_284^0'=rcd_284^post42, head_SLAM_f_30^0'=head_SLAM_f_30^post42, temp_37^0'=temp_37^post42, r_41^0'=r_41^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, len_159^0'=len_159^post42, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post42, rcd_45^0'=rcd_45^post42, i_130^0'=i_130^post42, x_154^0'=x_154^post42, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post42, rcd_220^0'=rcd_220^post42, head_33^0'=head_33^post42, temp_36^0'=temp_36^post42, r_192^0'=r_192^post42, (x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ length_29^0-length_29^post42 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ -temp_36^post42+temp_36^0 == 0 /\ -r_192^post42+r_192^0 == 0 /\ t_23^0-t_23^post42 == 0 /\ rcd_193^0-rcd_193^post42 == 0 /\ -rcd_185^post42+rcd_185^0 == 0 /\ a_222^0-a_222^post42 == 0 /\ a_139^0-a_139^post42 == 0 /\ -f_202^post42+f_202^0 == 0 /\ -i_130^post42+i_130^0 == 0 /\ -rcd_194^post42+rcd_194^0 == 0 /\ -head_16^post42+head_16^0 == 0 /\ i_31^0-i_31^post42 == 0 /\ -rcd_199^post42+rcd_199^0 == 0 /\ -rcd_71^post42+rcd_71^0 == 0 /\ -head_SLAM_f_30^post42+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post42 == 0 /\ -x_154^post42+x_154^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post42 == 0 /\ len_221^0-len_221^post42 == 0 /\ rcd_114^0-rcd_114^post42 == 0 /\ r_41^0-r_41^post42 == 0 /\ i_198^0-i_198^post42 == 0 /\ -y_21^post42+y_21^0 == 0 /\ x_22^0-x_22^post42 == 0 /\ -a_253^post42+a_253^0 == 0 /\ -a_279^post42+a_279^0 == 0 /\ temp0_19^0-temp0_19^post42 == 0 /\ y_26^0-y_26^post42 == 0 /\ x_207^0-x_207^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42 == 0 /\ rcd_220^0-rcd_220^post42 == 0 /\ -len_159^post42+len_159^0 == 0 /\ i_112^0-i_112^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -rcd_308^post42+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post42 == 0 /\ a_309^0-a_309^post42 == 0 /\ x_27^0-x_27^post42 == 0 /\ rcd_284^0-rcd_284^post42 == 0 /\ rcd_320^0-rcd_320^post42 == 0 /\ rcd_288^0-rcd_288^post42 == 0 /\ a_174^0-a_174^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -rcd_45^post42+rcd_45^0 == 0 /\ temp_37^0-temp_37^post42 == 0 /\ -head_33^post42+head_33^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_149^post42+r_149^0 == 0 /\ rcd_106^0-rcd_106^post42 == 0), cost: 1
  43: l30 -> l31 : a_139^0'=a_139^post43, result_11^0'=result_11^post43, i_31^0'=i_31^post43, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post43, rcd_320^0'=rcd_320^post43, i_112^0'=i_112^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, x_22^0'=x_22^post43, rcd_199^0'=rcd_199^post43, head_16^0'=head_16^post43, temp0_32^0'=temp0_32^post43, r_149^0'=r_149^post43, y_26^0'=y_26^post43, rcd_71^0'=rcd_71^post43, i_198^0'=i_198^post43, x_207^0'=x_207^post43, rcd_185^0'=rcd_185^post43, a_279^0'=a_279^post43, t_23^0'=t_23^post43, len_221^0'=len_221^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, rcd_284^0'=rcd_284^post43, head_SLAM_f_30^0'=head_SLAM_f_30^post43, temp_37^0'=temp_37^post43, r_41^0'=r_41^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, len_159^0'=len_159^post43, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post43, rcd_45^0'=rcd_45^post43, i_130^0'=i_130^post43, x_154^0'=x_154^post43, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post43, rcd_220^0'=rcd_220^post43, head_33^0'=head_33^post43, temp_36^0'=temp_36^post43, r_192^0'=r_192^post43, (tail_15^0-tail_15^post43 == 0 /\ -a_253^post43+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post43 == 0 /\ x_22^0-x_22^post43 == 0 /\ rcd_71^0-rcd_71^post43 == 0 /\ a_279^0-a_279^post43 == 0 /\ rcd_106^0-rcd_106^post43 == 0 /\ -rcd_308^post43+rcd_308^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_149^0-r_149^post43 == 0 /\ -rcd_220^post43+rcd_220^0 == 0 /\ rcd_193^0-rcd_193^post43 == 0 /\ rcd_45^0-rcd_45^post43 == 0 /\ -len_221^post43+len_221^0 == 0 /\ -rcd_114^post43+rcd_114^0 == 0 /\ a_139^0-a_139^post43 == 0 /\ head_16^0-head_16^post43 == 0 /\ -tmp_35^post43+tmp_35^0 == 0 /\ a_309^0-a_309^post43 == 0 /\ -head_33^post43+head_33^0 == 0 /\ -x_27^post43+x_27^0 == 0 /\ rcd_199^0-rcd_199^post43 == 0 /\ i_31^0-i_31^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post43+temp_36^0 == 0 /\ -temp_37^post43+temp_37^0 == 0 /\ x_207^0-x_207^post43 == 0 /\ -a_174^post43+a_174^0 == 0 /\ -f_202^post43+f_202^0 == 0 /\ -a_222^post43+a_222^0 == 0 /\ len_159^0-len_159^post43 == 0 /\ -r_41^post43+r_41^0 == 0 /\ -i_130^post43+i_130^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ rcd_185^0-rcd_185^post43 == 0 /\ -x_154^post43+x_154^0 == 0 /\ temp0_32^0-temp0_32^post43 == 0 /\ -i_198^post43+i_198^0 == 0 /\ rcd_194^0-rcd_194^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ t_23^0-t_23^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ -x_SLAM_f_20^post43+x_SLAM_f_20^0 == 0 /\ i_112^0-i_112^post43 == 0 /\ -rcd_284^post43+rcd_284^0 == 0 /\ -rcd_288^post43+rcd_288^0 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_320^0-rcd_320^post43 == 0 /\ y_26^0-y_26^post43 == 0), cost: 1
  44: l30 -> l31 : a_139^0'=a_139^post44, result_11^0'=result_11^post44, i_31^0'=i_31^post44, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post44, rcd_320^0'=rcd_320^post44, i_112^0'=i_112^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, x_22^0'=x_22^post44, rcd_199^0'=rcd_199^post44, head_16^0'=head_16^post44, temp0_32^0'=temp0_32^post44, r_149^0'=r_149^post44, y_26^0'=y_26^post44, rcd_71^0'=rcd_71^post44, i_198^0'=i_198^post44, x_207^0'=x_207^post44, rcd_185^0'=rcd_185^post44, a_279^0'=a_279^post44, t_23^0'=t_23^post44, len_221^0'=len_221^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, rcd_284^0'=rcd_284^post44, head_SLAM_f_30^0'=head_SLAM_f_30^post44, temp_37^0'=temp_37^post44, r_41^0'=r_41^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, len_159^0'=len_159^post44, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post44, rcd_45^0'=rcd_45^post44, i_130^0'=i_130^post44, x_154^0'=x_154^post44, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post44, rcd_220^0'=rcd_220^post44, head_33^0'=head_33^post44, temp_36^0'=temp_36^post44, r_192^0'=r_192^post44, (x_154^0-x_154^post44 == 0 /\ r_149^0-r_149^post44 == 0 /\ rcd_185^0-rcd_185^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44 == 0 /\ -head_16^post44+head_16^0 == 0 /\ -temp_36^post44+temp_36^0 == 0 /\ a_309^0-a_309^post44 == 0 /\ a_139^0-a_139^post44 == 0 /\ -rcd_199^post44+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post44 == 0 /\ -i_130^post44+i_130^0 == 0 /\ -rcd_194^post44+rcd_194^0 == 0 /\ rcd_114^0-rcd_114^post44 == 0 /\ -a_174^post44+a_174^0 == 0 /\ r_41^0-r_41^post44 == 0 /\ -y_26^post44+y_26^0 == 0 /\ -temp0_32^post44+temp0_32^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -head_SLAM_f_30^post44+head_SLAM_f_30^0 == 0 /\ i_198^0-i_198^post44 == 0 /\ -rcd_308^post44+rcd_308^0 == 0 /\ -r_192^post44+r_192^0 == 0 /\ -rcd_71^post44+rcd_71^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post44 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -head_33^post44+head_33^0 == 0 /\ -a_253^post44+a_253^0 == 0 /\ rcd_193^0-rcd_193^post44 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -a_279^post44+a_279^0 == 0 /\ rcd_284^0-rcd_284^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ rcd_288^0-rcd_288^post44 == 0 /\ -len_159^post44+len_159^0 == 0 /\ tmp_35^0-tmp_35^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ -len_221^post44+len_221^0 == 0 /\ -rcd_45^post44+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_31^0-i_31^post44 == 0 /\ -rcd_220^post44+rcd_220^0 == 0 /\ f_202^0-f_202^post44 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post44 == 0 /\ -x_27^post44+x_27^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ x_207^0-x_207^post44 == 0 /\ a_222^0-a_222^post44 == 0 /\ rcd_106^0-rcd_106^post44 == 0 /\ -temp0_19^post44+temp0_19^0 == 0 /\ -i_112^post44+i_112^0 == 0 /\ temp_37^0-temp_37^post44 == 0), cost: 1
  45: l31 -> l32 : a_139^0'=a_139^post45, result_11^0'=result_11^post45, i_31^0'=i_31^post45, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post45, rcd_320^0'=rcd_320^post45, i_112^0'=i_112^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, x_22^0'=x_22^post45, rcd_199^0'=rcd_199^post45, head_16^0'=head_16^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, rcd_71^0'=rcd_71^post45, i_198^0'=i_198^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, len_221^0'=len_221^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^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, len_159^0'=len_159^post45, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, i_130^0'=i_130^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post45, rcd_220^0'=rcd_220^post45, head_33^0'=head_33^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, (-a_253^post45+a_253^0 == 0 /\ -head_33^post45+head_33^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ i_31^0-i_31^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ rcd_71^0-rcd_71^post45 == 0 /\ -i_130^post45+i_130^0 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ -rcd_220^post45+rcd_220^0 == 0 /\ -x_27^post45+x_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ head_16^0-head_16^post45 == 0 /\ a_139^0-a_139^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ a_309^0-a_309^post45 == 0 /\ y_21^0-y_21^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ -r_149^post45+r_149^0 == 0 /\ -x_207^post45+x_207^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ i_112^0-i_112^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ i_198^0-i_198^post45 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ rcd_193^0-rcd_193^post45 == 0 /\ len_159^0-len_159^post45 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ -rcd_194^post45+rcd_194^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ rcd_185^0-rcd_185^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -rcd_284^post45+rcd_284^0 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -r_192^post45+r_192^0 == 0 /\ rcd_288^0-rcd_288^post45 == 0 /\ -x_22^post45+x_22^0 == 0), cost: 1
  46: l31 -> l32 : a_139^0'=a_139^post46, result_11^0'=result_11^post46, i_31^0'=i_31^post46, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post46, rcd_320^0'=rcd_320^post46, i_112^0'=i_112^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, x_22^0'=x_22^post46, rcd_199^0'=rcd_199^post46, head_16^0'=head_16^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, rcd_71^0'=rcd_71^post46, i_198^0'=i_198^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, len_221^0'=len_221^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, rcd_284^0'=rcd_284^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^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, len_159^0'=len_159^post46, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, i_130^0'=i_130^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post46, rcd_220^0'=rcd_220^post46, head_33^0'=head_33^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, (result_11^0-result_11^post46 == 0 /\ -temp_36^post46+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -r_192^post46+r_192^0 == 0 /\ -y_26^post46+y_26^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ rcd_194^0-rcd_194^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ a_309^0-a_309^post46 == 0 /\ -a_174^post46+a_174^0 == 0 /\ rcd_308^0-rcd_308^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ x_22^0-x_22^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -r_41^post46+r_41^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ -tmp_35^post46+tmp_35^0 == 0 /\ -a_253^post46+a_253^0 == 0 /\ head_16^0-head_16^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ -i_130^post46+i_130^0 == 0 /\ rcd_320^0-rcd_320^post46 == 0 /\ len_221^0-len_221^post46 == 0 /\ -temp0_19^post46+temp0_19^0 == 0 /\ i_31^0-i_31^post46 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ rcd_288^0-rcd_288^post46 == 0 /\ tail_15^0-tail_15^post46 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ i_112^0-i_112^post46 == 0 /\ -a_222^post46+a_222^0 == 0 /\ f_202^0-f_202^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -rcd_220^post46+rcd_220^0 == 0 /\ -x_207^post46+x_207^0 == 0 /\ -x_27^post46+x_27^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ y_21^0-y_21^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ -head_33^post46+head_33^0 == 0 /\ r_149^0-r_149^post46 == 0), cost: 1
  47: l32 -> l26 : a_139^0'=a_139^post47, result_11^0'=result_11^post47, i_31^0'=i_31^post47, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post47, rcd_320^0'=rcd_320^post47, i_112^0'=i_112^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, x_22^0'=x_22^post47, rcd_199^0'=rcd_199^post47, head_16^0'=head_16^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, rcd_71^0'=rcd_71^post47, i_198^0'=i_198^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, len_221^0'=len_221^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, rcd_284^0'=rcd_284^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^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, len_159^0'=len_159^post47, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, i_130^0'=i_130^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post47, rcd_220^0'=rcd_220^post47, head_33^0'=head_33^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, (0 == 0 /\ r_41^0-r_41^post47 == 0 /\ a_174^0-a_174^post47 == 0 /\ rcd_288^0-rcd_288^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -a_253^post47+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ rcd_114^0-rcd_114^post47 == 0 /\ rcd_45^post47-rcd_308^0 <= 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ -x_27^post47+x_27^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post47+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_220^post47+rcd_220^0 == 0 /\ -r_149^post47+r_149^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ -len_221^post47+len_221^0 == 0 /\ -rcd_45^post47+rcd_308^0 <= 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ -head_33^post47+head_33^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47 == 0 /\ rcd_284^0-rcd_284^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ tail_15^0-tail_15^post47 == 0 /\ -y_21^post47+y_21^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_198^0-i_198^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ a_309^0-a_279^post47 <= 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -r_192^post47+r_192^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ a_222^0-a_222^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ x_207^0-x_207^post47 == 0 /\ rcd_185^0-rcd_185^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ -x_22^post47+x_22^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -a_309^0+a_279^post47 <= 0 /\ -temp0_32^post47+temp0_32^0 == 0), cost: 1
  48: l26 -> l25 : a_139^0'=a_139^post48, result_11^0'=result_11^post48, i_31^0'=i_31^post48, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post48, rcd_320^0'=rcd_320^post48, i_112^0'=i_112^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, x_22^0'=x_22^post48, rcd_199^0'=rcd_199^post48, head_16^0'=head_16^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, rcd_71^0'=rcd_71^post48, i_198^0'=i_198^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, len_221^0'=len_221^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, rcd_284^0'=rcd_284^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^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, len_159^0'=len_159^post48, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, i_130^0'=i_130^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post48, rcd_220^0'=rcd_220^post48, head_33^0'=head_33^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, (y_26^0-y_26^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ rcd_45^0-rcd_45^post48 == 0 /\ -y_21^post48+y_21^0 == 0 /\ a_309^0-a_309^post48 == 0 /\ -rcd_185^post48+rcd_185^0 == 0 /\ i_112^0-i_112^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -r_192^post48+r_192^0 == 0 /\ -f_202^post48+f_202^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ -r_41^post48+r_41^0 == 0 /\ i_31^0-i_31^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ temp_37^0-temp_37^post48 == 0 /\ rcd_71^0-rcd_71^post48 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ a_174^0-a_174^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ r_149^0-r_149^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ temp0_19^0-temp0_19^post48 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ length_29^0-length_29^post48 == 0 /\ -rcd_220^post48+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -x_27^post48+x_27^0 == 0 /\ rcd_199^0-rcd_199^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -x_207^post48+x_207^0 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ i_198^0-i_198^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ len_159^0-len_159^post48 == 0 /\ -head_33^post48+head_33^0 == 0 /\ a_279^0-a_279^post48 == 0), cost: 1
  49: l33 -> l34 : a_139^0'=a_139^post49, result_11^0'=result_11^post49, i_31^0'=i_31^post49, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post49, rcd_320^0'=rcd_320^post49, i_112^0'=i_112^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, x_22^0'=x_22^post49, rcd_199^0'=rcd_199^post49, head_16^0'=head_16^post49, temp0_32^0'=temp0_32^post49, r_149^0'=r_149^post49, y_26^0'=y_26^post49, rcd_71^0'=rcd_71^post49, i_198^0'=i_198^post49, x_207^0'=x_207^post49, rcd_185^0'=rcd_185^post49, a_279^0'=a_279^post49, t_23^0'=t_23^post49, len_221^0'=len_221^post49, x_SLAM_f_20^0'=x_SLAM_f_20^post49, rcd_284^0'=rcd_284^post49, head_SLAM_f_30^0'=head_SLAM_f_30^post49, temp_37^0'=temp_37^post49, r_41^0'=r_41^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, len_159^0'=len_159^post49, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post49, rcd_45^0'=rcd_45^post49, i_130^0'=i_130^post49, x_154^0'=x_154^post49, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post49, rcd_220^0'=rcd_220^post49, head_33^0'=head_33^post49, temp_36^0'=temp_36^post49, r_192^0'=r_192^post49, (0 == 0 /\ -len_159^post49+len_159^0 == 0 /\ rcd_199^0-rcd_199^post49 == 0 /\ r_41^0-r_41^post49 == 0 /\ i_31^0-i_31^post49 == 0 /\ -head_33^post49+head_33^0 == 0 /\ -a_253^post49+a_253^0 == 0 /\ -rcd_220^post49+rcd_220^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ -rcd_45^post49+rcd_45^0 == 0 /\ -x_27^post49+x_27^0 == 0 /\ rcd_185^0-rcd_185^post49 == 0 /\ -temp0_19^post49+temp0_19^0 == 0 /\ rcd_308^0-rcd_308^post49 == 0 /\ -len_221^post49+len_221^0 == 0 /\ y_26^0-y_26^post49 == 0 /\ -rcd_114^post49+rcd_114^0 == 0 /\ -rcd_320^post49+rcd_320^0 == 0 /\ length_29^0-length_29^post49 == 0 /\ x_22^0-x_22^post49 == 0 /\ f_202^0-f_202^post49 == 0 /\ i_112^0-i_112^post49 == 0 /\ i_198^0-i_198^post49 == 0 /\ -rcd_193^post49+rcd_193^0 == 0 /\ a_222^0-a_222^post49 == 0 /\ rcd_106^0-rcd_106^post49 == 0 /\ -i_130^post49+i_130^0 == 0 /\ rcd_71^0-rcd_71^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49 == 0 /\ -rcd_194^post49+rcd_194^0 == 0 /\ -temp_37^post49+temp_37^0 == 0 /\ -r_192^post49+r_192^0 == 0 /\ -temp_36^post49+temp_36^0 == 0 /\ a_279^0-a_279^post49 == 0 /\ -a_174^post49+a_174^0 == 0 /\ r_149^0-r_149^post49 == 0 /\ x_207^0-x_207^post49 == 0 /\ -head_SLAM_f_30^post49+head_SLAM_f_30^0 == 0 /\ -x_154^post49+x_154^0 == 0 /\ -y_21^post49+y_21^0 == 0 /\ a_309^0-a_309^post49 == 0 /\ -temp0_32^post49+temp0_32^0 == 0 /\ -a_253^0 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post49 == 0 /\ rcd_284^0-rcd_284^post49 == 0 /\ rcd_288^0-rcd_288^post49 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ tmp_35^0-tmp_35^post49 == 0 /\ a_139^0-a_139^post49 == 0 /\ -t_23^post49+t_23^0 == 0), cost: 1
  60: l33 -> l40 : a_139^0'=a_139^post60, result_11^0'=result_11^post60, i_31^0'=i_31^post60, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post60, rcd_320^0'=rcd_320^post60, i_112^0'=i_112^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, x_22^0'=x_22^post60, rcd_199^0'=rcd_199^post60, head_16^0'=head_16^post60, temp0_32^0'=temp0_32^post60, r_149^0'=r_149^post60, y_26^0'=y_26^post60, rcd_71^0'=rcd_71^post60, i_198^0'=i_198^post60, x_207^0'=x_207^post60, rcd_185^0'=rcd_185^post60, a_279^0'=a_279^post60, t_23^0'=t_23^post60, len_221^0'=len_221^post60, x_SLAM_f_20^0'=x_SLAM_f_20^post60, rcd_284^0'=rcd_284^post60, head_SLAM_f_30^0'=head_SLAM_f_30^post60, temp_37^0'=temp_37^post60, r_41^0'=r_41^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, len_159^0'=len_159^post60, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post60, rcd_45^0'=rcd_45^post60, i_130^0'=i_130^post60, x_154^0'=x_154^post60, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post60, rcd_220^0'=rcd_220^post60, head_33^0'=head_33^post60, temp_36^0'=temp_36^post60, r_192^0'=r_192^post60, (0 == 0 /\ -rcd_199^post60+rcd_199^0 == 0 /\ -i_130^post60+i_130^0 == 0 /\ tmp_35^0-tmp_35^post60 == 0 /\ x_154^0-x_154^post60 == 0 /\ -rcd_194^post60+rcd_194^0 == 0 /\ -rcd_114^post60+rcd_114^0 == 0 /\ rcd_308^0-rcd_308^post60 == 0 /\ -rcd_45^post60+rcd_45^0 == 0 /\ a_309^0-a_309^post60 == 0 /\ rcd_288^0-rcd_288^post60 == 0 /\ -rcd_71^post60+rcd_71^0 == 0 /\ -r_149^post60+r_149^0 == 0 /\ r_41^0-r_41^post60 == 0 /\ -a_279^post60+a_279^0 == 0 /\ -a_174^post60+a_174^0 == 0 /\ -temp_37^post60+temp_37^0 == 0 /\ -len_159^post60+len_159^0 == 0 /\ i_198^0-i_198^post60 == 0 /\ -y_26^post60+y_26^0 == 0 /\ -temp0_19^post60+temp0_19^0 == 0 /\ x_207^0-x_207^post60 == 0 /\ a_222^0-a_222^post60 == 0 /\ rcd_193^0-rcd_193^post60 == 0 /\ x_22^0-y_21^0 <= 0 /\ -head_SLAM_f_30^post60+head_SLAM_f_30^0 == 0 /\ a_139^0-a_139^post60 == 0 /\ -len_221^post60+len_221^0 == 0 /\ result_11^post60-temp0_19^0 == 0 /\ -rcd_220^post60+rcd_220^0 == 0 /\ -temp0_32^post60+temp0_32^0 == 0 /\ -a_253^post60+a_253^0 == 0 /\ -x_27^post60+x_27^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post60 == 0 /\ head_33^0-head_33^post60 == 0 /\ -x_22^0+y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60 == 0 /\ rcd_106^0-rcd_106^post60 == 0 /\ tail_15^0-tail_15^post60 == 0 /\ i_112^0-i_112^post60 == 0 /\ -r_192^post60+r_192^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ rcd_284^0-rcd_284^post60 == 0 /\ -temp_36^post60+temp_36^0 == 0 /\ rcd_320^0-rcd_320^post60 == 0 /\ -f_202^post60+f_202^0 == 0 /\ -a_253^0 <= 0 /\ rcd_185^0-rcd_185^post60 == 0 /\ i_31^0-i_31^post60 == 0 /\ -length_29^post60+length_29^0 == 0), cost: 1
  50: l34 -> l35 : a_139^0'=a_139^post50, result_11^0'=result_11^post50, i_31^0'=i_31^post50, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post50, rcd_320^0'=rcd_320^post50, i_112^0'=i_112^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, x_22^0'=x_22^post50, rcd_199^0'=rcd_199^post50, head_16^0'=head_16^post50, temp0_32^0'=temp0_32^post50, r_149^0'=r_149^post50, y_26^0'=y_26^post50, rcd_71^0'=rcd_71^post50, i_198^0'=i_198^post50, x_207^0'=x_207^post50, rcd_185^0'=rcd_185^post50, a_279^0'=a_279^post50, t_23^0'=t_23^post50, len_221^0'=len_221^post50, x_SLAM_f_20^0'=x_SLAM_f_20^post50, rcd_284^0'=rcd_284^post50, head_SLAM_f_30^0'=head_SLAM_f_30^post50, temp_37^0'=temp_37^post50, r_41^0'=r_41^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, len_159^0'=len_159^post50, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post50, rcd_45^0'=rcd_45^post50, i_130^0'=i_130^post50, x_154^0'=x_154^post50, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post50, rcd_220^0'=rcd_220^post50, head_33^0'=head_33^post50, temp_36^0'=temp_36^post50, r_192^0'=r_192^post50, (tmp_35^0-tmp_35^post50 == 0 /\ -r_192^post50+r_192^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post50 == 0 /\ rcd_193^0-rcd_193^post50 == 0 /\ -rcd_199^post50+rcd_199^0 == 0 /\ -head_16^post50+head_16^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post50 == 0 /\ -i_130^post50+i_130^0 == 0 /\ -rcd_194^post50+rcd_194^0 == 0 /\ rcd_284^0-rcd_284^post50 == 0 /\ -temp_36^post50+temp_36^0 == 0 /\ -r_149^post50+r_149^0 == 0 /\ rcd_288^0-rcd_288^post50 == 0 /\ length_29^0-length_29^post50 == 0 /\ len_221^0-len_221^post50 == 0 /\ tail_15^0-tail_15^post50 == 0 /\ -y_26^post50+y_26^0 == 0 /\ -x_22^post50+x_22^0 == 0 /\ rcd_320^0-rcd_320^post50 == 0 /\ i_31^0-i_31^post50 == 0 /\ -r_41^post50+r_41^0 == 0 /\ -x_154^post50+x_154^0 == 0 /\ -y_21^post50+y_21^0 == 0 /\ temp_37^0-temp_37^post50 == 0 /\ -rcd_106^post50+rcd_106^0 == 0 /\ rcd_71^0-rcd_71^post50 == 0 /\ temp0_32^0-temp0_32^post50 == 0 /\ -a_279^post50+a_279^0 == 0 /\ a_139^0-a_139^post50 == 0 /\ t_23^0-t_23^post50 == 0 /\ a_222^0-a_222^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ a_309^0-a_309^post50 == 0 /\ rcd_220^0-rcd_220^post50 == 0 /\ -rcd_308^post50+rcd_308^0 == 0 /\ -a_253^post50+a_253^0 == 0 /\ -f_202^post50+f_202^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post50 == 0 /\ head_33^0-head_33^post50 == 0 /\ -rcd_45^post50+rcd_45^0 == 0 /\ i_112^0-i_112^post50 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ len_159^0-len_159^post50 == 0 /\ -temp0_19^post50+temp0_19^0 == 0 /\ i_198^0-i_198^post50 == 0 /\ -rcd_114^post50+rcd_114^0 == 0 /\ rcd_185^0-rcd_185^post50 == 0 /\ -x_207^post50+x_207^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_174^0-a_174^post50 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -x_27^post50+x_27^0 == 0), cost: 1
  51: l34 -> l35 : a_139^0'=a_139^post51, result_11^0'=result_11^post51, i_31^0'=i_31^post51, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post51, rcd_320^0'=rcd_320^post51, i_112^0'=i_112^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, x_22^0'=x_22^post51, rcd_199^0'=rcd_199^post51, head_16^0'=head_16^post51, temp0_32^0'=temp0_32^post51, r_149^0'=r_149^post51, y_26^0'=y_26^post51, rcd_71^0'=rcd_71^post51, i_198^0'=i_198^post51, x_207^0'=x_207^post51, rcd_185^0'=rcd_185^post51, a_279^0'=a_279^post51, t_23^0'=t_23^post51, len_221^0'=len_221^post51, x_SLAM_f_20^0'=x_SLAM_f_20^post51, rcd_284^0'=rcd_284^post51, head_SLAM_f_30^0'=head_SLAM_f_30^post51, temp_37^0'=temp_37^post51, r_41^0'=r_41^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, len_159^0'=len_159^post51, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post51, rcd_45^0'=rcd_45^post51, i_130^0'=i_130^post51, x_154^0'=x_154^post51, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post51, rcd_220^0'=rcd_220^post51, head_33^0'=head_33^post51, temp_36^0'=temp_36^post51, r_192^0'=r_192^post51, (x_22^0-x_22^post51 == 0 /\ -head_33^post51+head_33^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post51 == 0 /\ i_112^0-i_112^post51 == 0 /\ rcd_199^0-rcd_199^post51 == 0 /\ rcd_320^0-rcd_320^post51 == 0 /\ -len_159^post51+len_159^0 == 0 /\ -rcd_308^post51+rcd_308^0 == 0 /\ rcd_193^0-rcd_193^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51 == 0 /\ -a_253^post51+a_253^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ length_29^0-length_29^post51 == 0 /\ temp0_32^0-temp0_32^post51 == 0 /\ rcd_45^0-rcd_45^post51 == 0 /\ -rcd_220^post51+rcd_220^0 == 0 /\ r_149^0-r_149^post51 == 0 /\ -a_222^post51+a_222^0 == 0 /\ x_207^0-x_207^post51 == 0 /\ -rcd_185^post51+rcd_185^0 == 0 /\ -rcd_114^post51+rcd_114^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post51+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_19^post51+temp0_19^0 == 0 /\ -x_27^post51+x_27^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ f_202^0-f_202^post51 == 0 /\ -r_192^post51+r_192^0 == 0 /\ i_31^0-i_31^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -temp_36^post51+temp_36^0 == 0 /\ a_279^0-a_279^post51 == 0 /\ rcd_71^0-rcd_71^post51 == 0 /\ -a_174^post51+a_174^0 == 0 /\ -tail_15^post51+tail_15^0 == 0 /\ -temp_37^post51+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post51 == 0 /\ -i_130^post51+i_130^0 == 0 /\ len_221^0-len_221^post51 == 0 /\ -i_198^post51+i_198^0 == 0 /\ -t_23^post51+t_23^0 == 0 /\ -head_SLAM_f_30^post51+head_SLAM_f_30^0 == 0 /\ -rcd_284^post51+rcd_284^0 == 0 /\ tmp_35^0-tmp_35^post51 == 0 /\ -x_154^post51+x_154^0 == 0 /\ a_139^0-a_139^post51 == 0 /\ -x_SLAM_f_20^post51+x_SLAM_f_20^0 == 0 /\ head_16^0-head_16^post51 == 0 /\ -y_21^post51+y_21^0 == 0 /\ y_26^0-y_26^post51 == 0 /\ -r_41^post51+r_41^0 == 0 /\ a_309^0-a_309^post51 == 0 /\ rcd_194^0-rcd_194^post51 == 0 /\ -rcd_288^post51+rcd_288^0 == 0), cost: 1
  52: l35 -> l36 : a_139^0'=a_139^post52, result_11^0'=result_11^post52, i_31^0'=i_31^post52, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post52, rcd_320^0'=rcd_320^post52, i_112^0'=i_112^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, x_22^0'=x_22^post52, rcd_199^0'=rcd_199^post52, head_16^0'=head_16^post52, temp0_32^0'=temp0_32^post52, r_149^0'=r_149^post52, y_26^0'=y_26^post52, rcd_71^0'=rcd_71^post52, i_198^0'=i_198^post52, x_207^0'=x_207^post52, rcd_185^0'=rcd_185^post52, a_279^0'=a_279^post52, t_23^0'=t_23^post52, len_221^0'=len_221^post52, x_SLAM_f_20^0'=x_SLAM_f_20^post52, rcd_284^0'=rcd_284^post52, head_SLAM_f_30^0'=head_SLAM_f_30^post52, temp_37^0'=temp_37^post52, r_41^0'=r_41^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, len_159^0'=len_159^post52, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post52, rcd_45^0'=rcd_45^post52, i_130^0'=i_130^post52, x_154^0'=x_154^post52, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post52, rcd_220^0'=rcd_220^post52, head_33^0'=head_33^post52, temp_36^0'=temp_36^post52, r_192^0'=r_192^post52, (length_29^0-length_29^post52 == 0 /\ -y_21^post52+y_21^0 == 0 /\ x_207^0-x_207^post52 == 0 /\ -r_192^post52+r_192^0 == 0 /\ a_139^0-a_139^post52 == 0 /\ rcd_193^0-rcd_193^post52 == 0 /\ -i_198^post52+i_198^0 == 0 /\ -r_149^post52+r_149^0 == 0 /\ head_16^0-head_16^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -temp_36^post52+temp_36^0 == 0 /\ i_112^0-i_112^post52 == 0 /\ -f_202^post52+f_202^0 == 0 /\ rcd_288^0-rcd_288^post52 == 0 /\ tmp_35^0-tmp_35^post52 == 0 /\ -i_130^post52+i_130^0 == 0 /\ -head_SLAM_f_30^post52+head_SLAM_f_30^0 == 0 /\ i_31^0-i_31^post52 == 0 /\ -rcd_71^post52+rcd_71^0 == 0 /\ -x_154^post52+x_154^0 == 0 /\ -temp_37^post52+temp_37^0 == 0 /\ rcd_114^0-rcd_114^post52 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post52 == 0 /\ tail_15^0-tail_15^post52 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -y_26^post52+y_26^0 == 0 /\ rcd_199^0-rcd_199^post52 == 0 /\ rcd_185^0-rcd_185^post52 == 0 /\ -rcd_106^post52+rcd_106^0 == 0 /\ -x_22^post52+x_22^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_279^post52+a_279^0 == 0 /\ -head_33^post52+head_33^0 == 0 /\ a_222^0-a_222^post52 == 0 /\ -a_253^post52+a_253^0 == 0 /\ -temp0_32^post52+temp0_32^0 == 0 /\ rcd_220^0-rcd_220^post52 == 0 /\ -len_221^post52+len_221^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 == 0 /\ -len_159^post52+len_159^0 == 0 /\ rcd_194^0-rcd_194^post52 == 0 /\ -x_SLAM_f_20^post52+x_SLAM_f_20^0 == 0 /\ -rcd_284^post52+rcd_284^0 == 0 /\ a_309^0-a_309^post52 == 0 /\ x_27^0-x_27^post52 == 0 /\ -rcd_308^post52+rcd_308^0 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -x_22^0+t_23^post52 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post52+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_320^post52+rcd_320^0 == 0 /\ a_174^0-a_174^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ r_41^0-r_41^post52 == 0 /\ -temp0_19^post52+temp0_19^0 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ -rcd_45^post52+rcd_45^0 == 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  53: l36 -> l37 : a_139^0'=a_139^post53, result_11^0'=result_11^post53, i_31^0'=i_31^post53, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post53, rcd_320^0'=rcd_320^post53, i_112^0'=i_112^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, x_22^0'=x_22^post53, rcd_199^0'=rcd_199^post53, head_16^0'=head_16^post53, temp0_32^0'=temp0_32^post53, r_149^0'=r_149^post53, y_26^0'=y_26^post53, rcd_71^0'=rcd_71^post53, i_198^0'=i_198^post53, x_207^0'=x_207^post53, rcd_185^0'=rcd_185^post53, a_279^0'=a_279^post53, t_23^0'=t_23^post53, len_221^0'=len_221^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post53, rcd_284^0'=rcd_284^post53, head_SLAM_f_30^0'=head_SLAM_f_30^post53, temp_37^0'=temp_37^post53, r_41^0'=r_41^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, len_159^0'=len_159^post53, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post53, rcd_45^0'=rcd_45^post53, i_130^0'=i_130^post53, x_154^0'=x_154^post53, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post53, rcd_220^0'=rcd_220^post53, head_33^0'=head_33^post53, temp_36^0'=temp_36^post53, r_192^0'=r_192^post53, (rcd_284^0-rcd_284^post53 == 0 /\ -rcd_308^post53+rcd_308^0 == 0 /\ -a_253^post53+a_253^0 == 0 /\ i_130^0-i_130^post53 == 0 /\ -head_33^post53+head_33^0 == 0 /\ i_112^0-i_112^post53 == 0 /\ temp_37^0-temp_37^post53 == 0 /\ x_22^0-x_22^post53 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53 == 0 /\ tail_15^0-tail_15^post53 == 0 /\ -a_279^post53+a_279^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post53 == 0 /\ rcd_106^0-rcd_106^post53 == 0 /\ i_198^0-i_198^post53 == 0 /\ len_221^0-len_221^post53 == 0 /\ r_149^0-r_149^post53 == 0 /\ rcd_45^0-rcd_45^post53 == 0 /\ t_23^0-t_23^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post53+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ a_222^0-a_222^post53 == 0 /\ -rcd_220^post53+rcd_220^0 == 0 /\ rcd_193^0-rcd_193^post53 == 0 /\ -x_207^post53+x_207^0 == 0 /\ -x_27^post53+x_27^0 == 0 /\ a_309^0-a_309^post53 == 0 /\ -rcd_114^post53+rcd_114^0 == 0 /\ i_31^0-i_31^post53 == 0 /\ -y_21^post53+y_21^0 == 0 /\ rcd_320^0-rcd_320^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_71^0-rcd_71^post53 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post53 == 0 /\ -rcd_194^post53+rcd_194^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post53 == 0 /\ -temp_36^post53+temp_36^0 == 0 /\ -f_202^post53+f_202^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ -rcd_185^post53+rcd_185^0 == 0 /\ length_29^0-length_29^post53 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ len_159^0-len_159^post53 == 0 /\ -a_174^post53+a_174^0 == 0 /\ -head_16^post53+head_16^0 == 0 /\ temp0_19^0-temp0_19^post53 == 0 /\ -x_154^post53+x_154^0 == 0 /\ -rcd_288^post53+rcd_288^0 == 0 /\ a_139^0-a_139^post53 == 0 /\ -r_41^post53+r_41^0 == 0 /\ r_192^0-r_192^post53 == 0 /\ -rcd_199^post53+rcd_199^0 == 0 /\ tmp_35^0-tmp_35^post53 == 0 /\ y_26^0-y_26^post53 == 0), cost: 1
  54: l36 -> l37 : a_139^0'=a_139^post54, result_11^0'=result_11^post54, i_31^0'=i_31^post54, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post54, rcd_320^0'=rcd_320^post54, i_112^0'=i_112^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, x_22^0'=x_22^post54, rcd_199^0'=rcd_199^post54, head_16^0'=head_16^post54, temp0_32^0'=temp0_32^post54, r_149^0'=r_149^post54, y_26^0'=y_26^post54, rcd_71^0'=rcd_71^post54, i_198^0'=i_198^post54, x_207^0'=x_207^post54, rcd_185^0'=rcd_185^post54, a_279^0'=a_279^post54, t_23^0'=t_23^post54, len_221^0'=len_221^post54, x_SLAM_f_20^0'=x_SLAM_f_20^post54, rcd_284^0'=rcd_284^post54, head_SLAM_f_30^0'=head_SLAM_f_30^post54, temp_37^0'=temp_37^post54, r_41^0'=r_41^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, len_159^0'=len_159^post54, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post54, rcd_45^0'=rcd_45^post54, i_130^0'=i_130^post54, x_154^0'=x_154^post54, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post54, rcd_220^0'=rcd_220^post54, head_33^0'=head_33^post54, temp_36^0'=temp_36^post54, r_192^0'=r_192^post54, (-rcd_114^post54+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post54 == 0 /\ r_149^0-r_149^post54 == 0 /\ rcd_185^0-rcd_185^post54 == 0 /\ -i_130^post54+i_130^0 == 0 /\ -rcd_45^post54+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post54 == 0 /\ -r_192^post54+r_192^0 == 0 /\ rcd_194^0-rcd_194^post54 == 0 /\ -i_198^post54+i_198^0 == 0 /\ length_29^0-length_29^post54 == 0 /\ a_139^0-a_139^post54 == 0 /\ -x_SLAM_f_20^post54+x_SLAM_f_20^0 == 0 /\ -temp_37^post54+temp_37^0 == 0 /\ tail_15^0-tail_15^post54 == 0 /\ rcd_199^0-rcd_199^post54 == 0 /\ x_22^0-x_22^post54 == 0 /\ -y_26^post54+y_26^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post54 == 0 /\ rcd_106^0-rcd_106^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54 == 0 /\ -x_154^post54+x_154^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ -a_174^post54+a_174^0 == 0 /\ a_279^0-a_279^post54 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ -len_159^post54+len_159^0 == 0 /\ -a_253^post54+a_253^0 == 0 /\ result_11^0-result_11^post54 == 0 /\ tmp_35^0-tmp_35^post54 == 0 /\ -head_33^post54+head_33^0 == 0 /\ -rcd_308^post54+rcd_308^0 == 0 /\ -temp0_19^post54+temp0_19^0 == 0 /\ head_16^0-head_16^post54 == 0 /\ -rcd_284^post54+rcd_284^0 == 0 /\ -x_27^post54+x_27^0 == 0 /\ -rcd_220^post54+rcd_220^0 == 0 /\ f_202^0-f_202^post54 == 0 /\ rcd_288^0-rcd_288^post54 == 0 /\ a_309^0-a_309^post54 == 0 /\ -temp_36^post54+temp_36^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post54+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_71^0-rcd_71^post54 == 0 /\ i_31^0-i_31^post54 == 0 /\ r_41^0-r_41^post54 == 0 /\ -x_207^post54+x_207^0 == 0 /\ -rcd_320^post54+rcd_320^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_222^post54+a_222^0 == 0 /\ -i_112^post54+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post54 == 0 /\ -len_221^post54+len_221^0 == 0), cost: 1
  55: l37 -> l38 : a_139^0'=a_139^post55, result_11^0'=result_11^post55, i_31^0'=i_31^post55, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post55, rcd_320^0'=rcd_320^post55, i_112^0'=i_112^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, x_22^0'=x_22^post55, rcd_199^0'=rcd_199^post55, head_16^0'=head_16^post55, temp0_32^0'=temp0_32^post55, r_149^0'=r_149^post55, y_26^0'=y_26^post55, rcd_71^0'=rcd_71^post55, i_198^0'=i_198^post55, x_207^0'=x_207^post55, rcd_185^0'=rcd_185^post55, a_279^0'=a_279^post55, t_23^0'=t_23^post55, len_221^0'=len_221^post55, x_SLAM_f_20^0'=x_SLAM_f_20^post55, rcd_284^0'=rcd_284^post55, head_SLAM_f_30^0'=head_SLAM_f_30^post55, temp_37^0'=temp_37^post55, r_41^0'=r_41^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, len_159^0'=len_159^post55, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post55, rcd_45^0'=rcd_45^post55, i_130^0'=i_130^post55, x_154^0'=x_154^post55, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post55, rcd_220^0'=rcd_220^post55, head_33^0'=head_33^post55, temp_36^0'=temp_36^post55, r_192^0'=r_192^post55, (x_22^0-x_22^post55 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55 == 0 /\ len_221^0-len_221^post55 == 0 /\ rcd_284^0-rcd_284^post55 == 0 /\ -temp0_19^post55+temp0_19^0 == 0 /\ -rcd_308^post55+rcd_308^0 == 0 /\ tail_15^0-tail_15^post55 == 0 /\ -a_253^post55+a_253^0 == 0 /\ -a_279^post55+a_279^0 == 0 /\ temp_37^0-temp_37^post55 == 0 /\ -x_27^post55+x_27^0 == 0 /\ -rcd_220^post55+rcd_220^0 == 0 /\ -head_33^post55+head_33^0 == 0 /\ i_198^0-i_198^post55 == 0 /\ rcd_193^0-rcd_193^post55 == 0 /\ -temp_36^post55+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post55 == 0 /\ -f_202^post55+f_202^0 == 0 /\ -i_112^post55+i_112^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post55 == 0 /\ x_154^0-x_154^post55 == 0 /\ a_222^0-a_222^post55 == 0 /\ r_149^0-r_149^post55 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post55 == 0 /\ rcd_288^0-rcd_288^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post55+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_207^post55+x_207^0 == 0 /\ a_139^0-a_139^post55 == 0 /\ -rcd_114^post55+rcd_114^0 == 0 /\ a_309^0-a_309^post55 == 0 /\ -rcd_106^post55+rcd_106^0 == 0 /\ rcd_320^0-rcd_320^post55 == 0 /\ -rcd_199^post55+rcd_199^0 == 0 /\ -y_21^post55+y_21^0 == 0 /\ i_31^0-i_31^post55 == 0 /\ -i_130^post55+i_130^0 == 0 /\ -rcd_45^post55+rcd_45^0 == 0 /\ rcd_185^0-rcd_185^post55 == 0 /\ -rcd_194^post55+rcd_194^0 == 0 /\ -r_192^post55+r_192^0 == 0 /\ -rcd_71^post55+rcd_71^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55 == 0 /\ -head_16^post55+head_16^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ tmp_35^0-tmp_35^post55 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -r_41^post55+r_41^0 == 0 /\ -t_23^post55+t_23^0 == 0 /\ -a_174^post55+a_174^0 == 0 /\ length_29^0-length_29^post55 == 0 /\ -y_26^post55+y_26^0 == 0 /\ -len_159^post55+len_159^0 == 0 /\ -head_SLAM_f_30^post55+head_SLAM_f_30^0 == 0), cost: 1
  56: l37 -> l38 : a_139^0'=a_139^post56, result_11^0'=result_11^post56, i_31^0'=i_31^post56, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post56, rcd_320^0'=rcd_320^post56, i_112^0'=i_112^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, x_22^0'=x_22^post56, rcd_199^0'=rcd_199^post56, head_16^0'=head_16^post56, temp0_32^0'=temp0_32^post56, r_149^0'=r_149^post56, y_26^0'=y_26^post56, rcd_71^0'=rcd_71^post56, i_198^0'=i_198^post56, x_207^0'=x_207^post56, rcd_185^0'=rcd_185^post56, a_279^0'=a_279^post56, t_23^0'=t_23^post56, len_221^0'=len_221^post56, x_SLAM_f_20^0'=x_SLAM_f_20^post56, rcd_284^0'=rcd_284^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post56, temp_37^0'=temp_37^post56, r_41^0'=r_41^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, len_159^0'=len_159^post56, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post56, rcd_45^0'=rcd_45^post56, i_130^0'=i_130^post56, x_154^0'=x_154^post56, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post56, rcd_220^0'=rcd_220^post56, head_33^0'=head_33^post56, temp_36^0'=temp_36^post56, r_192^0'=r_192^post56, (-r_192^post56+r_192^0 == 0 /\ a_139^0-a_139^post56 == 0 /\ temp0_32^0-temp0_32^post56 == 0 /\ rcd_193^0-rcd_193^post56 == 0 /\ -i_130^post56+i_130^0 == 0 /\ -i_198^post56+i_198^0 == 0 /\ -rcd_45^post56+rcd_45^0 == 0 /\ -r_149^post56+r_149^0 == 0 /\ rcd_194^0-rcd_194^post56 == 0 /\ a_309^0-a_309^post56 == 0 /\ -temp_37^post56+temp_37^0 == 0 /\ i_112^0-i_112^post56 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post56 == 0 /\ x_22^0-x_22^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -x_SLAM_f_20^post56+x_SLAM_f_20^0 == 0 /\ -x_154^post56+x_154^0 == 0 /\ -r_41^post56+r_41^0 == 0 /\ a_174^0-a_174^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 == 0 /\ result_11^0-result_11^post56 == 0 /\ -t_23^post56+t_23^0 == 0 /\ a_279^0-a_279^post56 == 0 /\ -len_159^post56+len_159^0 == 0 /\ tmp_35^0-tmp_35^post56 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ head_16^0-head_16^post56 == 0 /\ rcd_288^0-rcd_288^post56 == 0 /\ temp0_19^0-temp0_19^post56 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post56 == 0 /\ y_26^0-y_26^post56 == 0 /\ -a_253^post56+a_253^0 == 0 /\ -head_33^post56+head_33^0 == 0 /\ -rcd_220^post56+rcd_220^0 == 0 /\ length_29^0-length_29^post56 == 0 /\ -rcd_308^post56+rcd_308^0 == 0 /\ -rcd_284^post56+rcd_284^0 == 0 /\ -a_222^post56+a_222^0 == 0 /\ len_221^0-len_221^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post56+x_27^0 == 0 /\ -temp_36^post56+temp_36^0 == 0 /\ tail_15^0-tail_15^post56 == 0 /\ -rcd_185^post56+rcd_185^0 == 0 /\ rcd_199^0-rcd_199^post56 == 0 /\ -f_202^post56+f_202^0 == 0 /\ rcd_320^0-rcd_320^post56 == 0 /\ rcd_106^0-rcd_106^post56 == 0 /\ -x_207^post56+x_207^0 == 0 /\ i_31^0-i_31^post56 == 0 /\ rcd_71^0-rcd_71^post56 == 0 /\ y_21^0-y_21^post56 == 0 /\ -rcd_114^post56+rcd_114^0 == 0), cost: 1
  57: l38 -> l39 : a_139^0'=a_139^post57, result_11^0'=result_11^post57, i_31^0'=i_31^post57, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post57, rcd_320^0'=rcd_320^post57, i_112^0'=i_112^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, x_22^0'=x_22^post57, rcd_199^0'=rcd_199^post57, head_16^0'=head_16^post57, temp0_32^0'=temp0_32^post57, r_149^0'=r_149^post57, y_26^0'=y_26^post57, rcd_71^0'=rcd_71^post57, i_198^0'=i_198^post57, x_207^0'=x_207^post57, rcd_185^0'=rcd_185^post57, a_279^0'=a_279^post57, t_23^0'=t_23^post57, len_221^0'=len_221^post57, x_SLAM_f_20^0'=x_SLAM_f_20^post57, rcd_284^0'=rcd_284^post57, head_SLAM_f_30^0'=head_SLAM_f_30^post57, temp_37^0'=temp_37^post57, r_41^0'=r_41^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, len_159^0'=len_159^post57, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post57, rcd_45^0'=rcd_45^post57, i_130^0'=i_130^post57, x_154^0'=x_154^post57, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post57, rcd_220^0'=rcd_220^post57, head_33^0'=head_33^post57, temp_36^0'=temp_36^post57, r_192^0'=r_192^post57, (-len_221^post57+len_221^0 == 0 /\ -len_159^post57+len_159^0 == 0 /\ rcd_114^0-rcd_114^post57 == 0 /\ tail_15^0-tail_15^post57 == 0 /\ -a_253^post57+a_253^0 == 0 /\ -head_33^post57+head_33^0 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ -a_279^post57+a_279^0 == 0 /\ -rcd_308^post57+rcd_308^0 == 0 /\ -x_SLAM_f_20^post57+x_SLAM_f_20^0 == 0 /\ rcd_185^0-rcd_185^post57 == 0 /\ -rcd_220^post57+rcd_220^0 == 0 /\ a_139^0-a_139^post57 == 0 /\ x_154^0-x_154^post57 == 0 /\ x_207^0-x_207^post57 == 0 /\ -x_27^post57+x_27^0 == 0 /\ -rcd_45^post57+rcd_45^0 == 0 /\ tmp_35^0-tmp_35^post57 == 0 /\ rcd_193^0-rcd_193^post57 == 0 /\ head_16^0-head_16^post57 == 0 /\ y_26^0-y_26^post57 == 0 /\ -temp0_19^post57+temp0_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post57+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post57 == 0 /\ x_22^0-x_22^post57 == 0 /\ -i_198^post57+i_198^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57 == 0 /\ i_112^0-i_112^post57 == 0 /\ rcd_284^0-rcd_284^post57 == 0 /\ -a_309^post57+a_309^0 == 0 /\ rcd_320^0-rcd_320^post57 == 0 /\ -y_21^post57+y_21^0 == 0 /\ i_31^0-i_31^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57 == 0 /\ rcd_199^0-rcd_199^post57 == 0 /\ -rcd_194^post57+rcd_194^0 == 0 /\ -i_130^post57+i_130^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -temp_36^post57+temp_36^0 == 0 /\ -f_202^post57+f_202^0 == 0 /\ -temp_37^post57+temp_37^0 == 0 /\ -r_192^post57+r_192^0 == 0 /\ a_222^0-a_222^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -head_SLAM_f_30^post57+head_SLAM_f_30^0 == 0 /\ -rcd_71^post57+rcd_71^0 == 0 /\ r_149^0-r_149^post57 == 0 /\ -a_174^post57+a_174^0 == 0 /\ rcd_288^0-rcd_288^post57 == 0 /\ -t_23^post57+t_23^0 == 0 /\ r_41^0-r_41^post57 == 0 /\ -rcd_106^post57+rcd_106^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ -temp0_32^post57+temp0_32^0 == 0), cost: 1
  58: l38 -> l39 : a_139^0'=a_139^post58, result_11^0'=result_11^post58, i_31^0'=i_31^post58, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post58, rcd_320^0'=rcd_320^post58, i_112^0'=i_112^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, x_22^0'=x_22^post58, rcd_199^0'=rcd_199^post58, head_16^0'=head_16^post58, temp0_32^0'=temp0_32^post58, r_149^0'=r_149^post58, y_26^0'=y_26^post58, rcd_71^0'=rcd_71^post58, i_198^0'=i_198^post58, x_207^0'=x_207^post58, rcd_185^0'=rcd_185^post58, a_279^0'=a_279^post58, t_23^0'=t_23^post58, len_221^0'=len_221^post58, x_SLAM_f_20^0'=x_SLAM_f_20^post58, rcd_284^0'=rcd_284^post58, head_SLAM_f_30^0'=head_SLAM_f_30^post58, temp_37^0'=temp_37^post58, r_41^0'=r_41^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, len_159^0'=len_159^post58, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post58, rcd_45^0'=rcd_45^post58, i_130^0'=i_130^post58, x_154^0'=x_154^post58, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post58, rcd_220^0'=rcd_220^post58, head_33^0'=head_33^post58, temp_36^0'=temp_36^post58, r_192^0'=r_192^post58, (-rcd_194^post58+rcd_194^0 == 0 /\ a_222^0-a_222^post58 == 0 /\ -r_149^post58+r_149^0 == 0 /\ a_139^0-a_139^post58 == 0 /\ -rcd_114^post58+rcd_114^0 == 0 /\ -i_130^post58+i_130^0 == 0 /\ -rcd_71^post58+rcd_71^0 == 0 /\ -temp_36^post58+temp_36^0 == 0 /\ -y_21^post58+y_21^0 == 0 /\ -r_192^post58+r_192^0 == 0 /\ -f_202^post58+f_202^0 == 0 /\ x_22^0-x_22^post58 == 0 /\ a_309^0-a_309^post58 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58 == 0 /\ -x_154^post58+x_154^0 == 0 /\ i_112^0-i_112^post58 == 0 /\ rcd_284^0-rcd_284^post58 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post58 == 0 /\ -head_16^post58+head_16^0 == 0 /\ -rcd_199^post58+rcd_199^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post58 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ a_174^0-a_174^post58 == 0 /\ i_198^0-i_198^post58 == 0 /\ temp0_32^0-temp0_32^post58 == 0 /\ tmp_35^0-tmp_35^post58 == 0 /\ -rcd_308^post58+rcd_308^0 == 0 /\ -r_41^post58+r_41^0 == 0 /\ -len_221^post58+len_221^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ x_207^0-x_207^post58 == 0 /\ temp0_19^0-temp0_19^post58 == 0 /\ rcd_193^0-rcd_193^post58 == 0 /\ -head_33^post58+head_33^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post58 == 0 /\ y_26^0-y_26^post58 == 0 /\ -a_253^post58+a_253^0 == 0 /\ length_29^0-length_29^post58 == 0 /\ rcd_288^0-rcd_288^post58 == 0 /\ -rcd_220^post58+rcd_220^0 == 0 /\ -rcd_185^post58+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post58 == 0 /\ -rcd_45^post58+rcd_45^0 == 0 /\ temp_37^0-temp_37^post58 == 0 /\ -x_27^post58+x_27^0 == 0 /\ i_31^0-i_31^post58 == 0 /\ rcd_106^0-rcd_106^post58 == 0 /\ tail_15^0-tail_15^post58 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_320^0-rcd_320^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ len_159^0-len_159^post58 == 0 /\ a_279^0-a_279^post58 == 0), cost: 1
  59: l39 -> l25 : a_139^0'=a_139^post59, result_11^0'=result_11^post59, i_31^0'=i_31^post59, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post59, rcd_320^0'=rcd_320^post59, i_112^0'=i_112^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, x_22^0'=x_22^post59, rcd_199^0'=rcd_199^post59, head_16^0'=head_16^post59, temp0_32^0'=temp0_32^post59, r_149^0'=r_149^post59, y_26^0'=y_26^post59, rcd_71^0'=rcd_71^post59, i_198^0'=i_198^post59, x_207^0'=x_207^post59, rcd_185^0'=rcd_185^post59, a_279^0'=a_279^post59, t_23^0'=t_23^post59, len_221^0'=len_221^post59, x_SLAM_f_20^0'=x_SLAM_f_20^post59, rcd_284^0'=rcd_284^post59, head_SLAM_f_30^0'=head_SLAM_f_30^post59, temp_37^0'=temp_37^post59, r_41^0'=r_41^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, len_159^0'=len_159^post59, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post59, rcd_45^0'=rcd_45^post59, i_130^0'=i_130^post59, x_154^0'=x_154^post59, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post59, rcd_220^0'=rcd_220^post59, head_33^0'=head_33^post59, temp_36^0'=temp_36^post59, r_192^0'=r_192^post59, (a_309^0-a_309^post59 == 0 /\ -r_41^post59+r_41^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post59 == 0 /\ -rcd_284^post59+rcd_284^0 == 0 /\ rcd_71^0-rcd_71^post59 == 0 /\ -head_33^post59+head_33^0 == 0 /\ i_31^0-i_31^post59 == 0 /\ temp0_32^0-temp0_32^post59 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59 == 0 /\ rcd_199^0-rcd_199^post59 == 0 /\ -x_27^post59+x_27^0 == 0 /\ rcd_320^0-rcd_320^post59 == 0 /\ rcd_185^0-rcd_185^post59 == 0 /\ -a_253^post59+a_253^0 == 0 /\ -rcd_220^post59+rcd_220^0 == 0 /\ -x_SLAM_f_20^post59+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post59 == 0 /\ rcd_193^0-rcd_193^post59 == 0 /\ -x_207^post59+x_207^0 == 0 /\ a_279^0-a_279^post59 == 0 /\ head_16^0-head_16^post59 == 0 /\ a_139^0-a_139^post59 == 0 /\ -rcd_45^post59+rcd_45^0 == 0 /\ -r_192^post59+r_192^0 == 0 /\ -temp0_19^post59+temp0_19^0 == 0 /\ -rcd_308^post59+rcd_308^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post59+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ y_26^0-y_26^post59 == 0 /\ -i_198^post59+i_198^0 == 0 /\ length_29^0-length_29^post59 == 0 /\ x_22^0-x_22^post59 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_130^post59+i_130^0 == 0 /\ -rcd_194^post59+rcd_194^0 == 0 /\ -rcd_114^post59+rcd_114^0 == 0 /\ i_112^0-i_112^post59 == 0 /\ rcd_106^0-rcd_106^post59 == 0 /\ y_21^0-y_21^post59 == 0 /\ -temp_36^post59+temp_36^0 == 0 /\ result_11^0-result_11^post59 == 0 /\ len_221^0-len_221^post59 == 0 /\ a_222^0-a_222^post59 == 0 /\ -tail_15^post59+tail_15^0 == 0 /\ r_149^0-r_149^post59 == 0 /\ -temp_37^post59+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post59 == 0 /\ -len_159^post59+len_159^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ f_202^0-f_202^post59 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ -x_154^post59+x_154^0 == 0 /\ rcd_288^0-rcd_288^post59 == 0 /\ -a_174^post59+a_174^0 == 0 /\ t_23^0-t_23^post59 == 0), cost: 1
  61: l40 -> l41 : a_139^0'=a_139^post61, result_11^0'=result_11^post61, i_31^0'=i_31^post61, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post61, rcd_320^0'=rcd_320^post61, i_112^0'=i_112^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, x_22^0'=x_22^post61, rcd_199^0'=rcd_199^post61, head_16^0'=head_16^post61, temp0_32^0'=temp0_32^post61, r_149^0'=r_149^post61, y_26^0'=y_26^post61, rcd_71^0'=rcd_71^post61, i_198^0'=i_198^post61, x_207^0'=x_207^post61, rcd_185^0'=rcd_185^post61, a_279^0'=a_279^post61, t_23^0'=t_23^post61, len_221^0'=len_221^post61, x_SLAM_f_20^0'=x_SLAM_f_20^post61, rcd_284^0'=rcd_284^post61, head_SLAM_f_30^0'=head_SLAM_f_30^post61, temp_37^0'=temp_37^post61, r_41^0'=r_41^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, len_159^0'=len_159^post61, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post61, rcd_45^0'=rcd_45^post61, i_130^0'=i_130^post61, x_154^0'=x_154^post61, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post61, rcd_220^0'=rcd_220^post61, head_33^0'=head_33^post61, temp_36^0'=temp_36^post61, r_192^0'=r_192^post61, (-temp0_19^post61+temp0_19^0 == 0 /\ i_130^0-i_130^post61 == 0 /\ rcd_71^0-rcd_71^post61 == 0 /\ -rcd_220^post61+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post61 == 0 /\ rcd_199^0-rcd_199^post61 == 0 /\ i_31^0-i_31^post61 == 0 /\ a_174^0-a_174^post61 == 0 /\ -x_SLAM_f_20^post61+x_SLAM_f_20^0 == 0 /\ -rcd_284^post61+rcd_284^0 == 0 /\ -x_22^post61+x_22^0 == 0 /\ -head_33^post61+head_33^0 == 0 /\ -x_27^post61+x_27^0 == 0 /\ temp0_32^0-temp0_32^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post61 == 0 /\ -a_253^post61+a_253^0 == 0 /\ -r_192^post61+r_192^0 == 0 /\ -x_207^post61+x_207^0 == 0 /\ head_16^0-head_16^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tmp_35^0-tmp_35^post61 == 0 /\ a_139^0-a_139^post61 == 0 /\ -temp_36^post61+temp_36^0 == 0 /\ -rcd_308^post61+rcd_308^0 == 0 /\ -f_202^post61+f_202^0 == 0 /\ -rcd_185^post61+rcd_185^0 == 0 /\ y_26^0-y_26^post61 == 0 /\ length_29^0-length_29^post61 == 0 /\ t_23^0-t_23^post61 == 0 /\ i_112^0-i_112^post61 == 0 /\ -rcd_114^post61+rcd_114^0 == 0 /\ -rcd_194^post61+rcd_194^0 == 0 /\ rcd_106^0-rcd_106^post61 == 0 /\ result_11^0-result_11^post61 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tail_15^post61+tail_15^0 == 0 /\ len_221^0-len_221^post61 == 0 /\ len_159^0-len_159^post61 == 0 /\ i_198^0-i_198^post61 == 0 /\ -rcd_45^post61+rcd_45^0 == 0 /\ y_21^0-y_21^post61 == 0 /\ -temp_37^post61+temp_37^0 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ a_222^0-a_222^post61 == 0 /\ -a_279^post61+a_279^0 == 0 /\ rcd_193^0-rcd_193^post61 == 0 /\ -r_149^post61+r_149^0 == 0 /\ rcd_288^0-rcd_288^post61 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post61 == 0 /\ -r_41^post61+r_41^0 == 0 /\ -x_154^post61+x_154^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_309^0-a_309^post61 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post61 == 0), cost: 1
  62: l40 -> l41 : a_139^0'=a_139^post62, result_11^0'=result_11^post62, i_31^0'=i_31^post62, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post62, rcd_320^0'=rcd_320^post62, i_112^0'=i_112^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, x_22^0'=x_22^post62, rcd_199^0'=rcd_199^post62, head_16^0'=head_16^post62, temp0_32^0'=temp0_32^post62, r_149^0'=r_149^post62, y_26^0'=y_26^post62, rcd_71^0'=rcd_71^post62, i_198^0'=i_198^post62, x_207^0'=x_207^post62, rcd_185^0'=rcd_185^post62, a_279^0'=a_279^post62, t_23^0'=t_23^post62, len_221^0'=len_221^post62, x_SLAM_f_20^0'=x_SLAM_f_20^post62, rcd_284^0'=rcd_284^post62, head_SLAM_f_30^0'=head_SLAM_f_30^post62, temp_37^0'=temp_37^post62, r_41^0'=r_41^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, len_159^0'=len_159^post62, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post62, rcd_45^0'=rcd_45^post62, i_130^0'=i_130^post62, x_154^0'=x_154^post62, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post62, rcd_220^0'=rcd_220^post62, head_33^0'=head_33^post62, temp_36^0'=temp_36^post62, r_192^0'=r_192^post62, (x_207^0-x_207^post62 == 0 /\ -y_21^post62+y_21^0 == 0 /\ -rcd_114^post62+rcd_114^0 == 0 /\ -i_130^post62+i_130^0 == 0 /\ head_16^0-head_16^post62 == 0 /\ -i_198^post62+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post62+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_154^0-x_154^post62 == 0 /\ -rcd_71^post62+rcd_71^0 == 0 /\ length_29^0-length_29^post62 == 0 /\ rcd_288^0-rcd_288^post62 == 0 /\ rcd_308^0-rcd_308^post62 == 0 /\ -r_192^post62+r_192^0 == 0 /\ -rcd_45^post62+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post62 == 0 /\ -a_174^post62+a_174^0 == 0 /\ -temp_37^post62+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post62 == 0 /\ y_26^0-y_26^post62 == 0 /\ tail_15^0-tail_15^post62 == 0 /\ -t_23^post62+t_23^0 == 0 /\ rcd_199^0-rcd_199^post62 == 0 /\ i_31^0-i_31^post62 == 0 /\ -head_SLAM_f_30^post62+head_SLAM_f_30^0 == 0 /\ a_253^0-a_253^post62 == 0 /\ -len_159^post62+len_159^0 == 0 /\ a_222^0-a_222^post62 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ -rcd_220^post62+rcd_220^0 == 0 /\ -len_221^post62+len_221^0 == 0 /\ rcd_193^0-rcd_193^post62 == 0 /\ a_139^0-a_139^post62 == 0 /\ r_149^0-r_149^post62 == 0 /\ f_202^0-f_202^post62 == 0 /\ -x_SLAM_f_20^post62+x_SLAM_f_20^0 == 0 /\ rcd_194^0-rcd_194^post62 == 0 /\ -rcd_284^post62+rcd_284^0 == 0 /\ a_309^0-a_309^post62 == 0 /\ -head_33^post62+head_33^0 == 0 /\ -temp0_19^post62+temp0_19^0 == 0 /\ x_22^0-x_22^post62 == 0 /\ -tmp_35^post62+tmp_35^0 == 0 /\ i_112^0-i_112^post62 == 0 /\ r_41^0-r_41^post62 == 0 /\ -rcd_320^post62+rcd_320^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -x_27^post62+x_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62 == 0 /\ -temp_36^post62+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_279^0-a_279^post62 == 0 /\ -rcd_185^post62+rcd_185^0 == 0), cost: 1
  63: l41 -> l7 : a_139^0'=a_139^post63, result_11^0'=result_11^post63, i_31^0'=i_31^post63, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post63, rcd_320^0'=rcd_320^post63, i_112^0'=i_112^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, x_22^0'=x_22^post63, rcd_199^0'=rcd_199^post63, head_16^0'=head_16^post63, temp0_32^0'=temp0_32^post63, r_149^0'=r_149^post63, y_26^0'=y_26^post63, rcd_71^0'=rcd_71^post63, i_198^0'=i_198^post63, x_207^0'=x_207^post63, rcd_185^0'=rcd_185^post63, a_279^0'=a_279^post63, t_23^0'=t_23^post63, len_221^0'=len_221^post63, x_SLAM_f_20^0'=x_SLAM_f_20^post63, rcd_284^0'=rcd_284^post63, head_SLAM_f_30^0'=head_SLAM_f_30^post63, temp_37^0'=temp_37^post63, r_41^0'=r_41^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, len_159^0'=len_159^post63, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post63, rcd_45^0'=rcd_45^post63, i_130^0'=i_130^post63, x_154^0'=x_154^post63, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post63, rcd_220^0'=rcd_220^post63, head_33^0'=head_33^post63, temp_36^0'=temp_36^post63, r_192^0'=r_192^post63, (a_309^0-a_309^post63 == 0 /\ rcd_284^0-rcd_284^post63 == 0 /\ i_130^0-i_130^post63 == 0 /\ -y_26^post63+y_26^0 == 0 /\ -temp0_19^post63+temp0_19^0 == 0 /\ i_31^0-i_31^post63 == 0 /\ -rcd_308^post63+rcd_308^0 == 0 /\ temp_37^0-temp_37^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post63 == 0 /\ rcd_320^0-rcd_320^post63 == 0 /\ -a_279^post63+a_279^0 == 0 /\ result_11^0-result_11^post63 == 0 /\ -a_253^post63+a_253^0 == 0 /\ -rcd_220^post63+rcd_220^0 == 0 /\ rcd_199^0-rcd_199^post63 == 0 /\ -head_33^post63+head_33^0 == 0 /\ -len_221^post63+len_221^0 == 0 /\ a_174^0-a_174^post63 == 0 /\ -temp_36^post63+temp_36^0 == 0 /\ t_23^0-t_23^post63 == 0 /\ i_198^0-i_198^post63 == 0 /\ -i_112^post63+i_112^0 == 0 /\ -f_202^post63+f_202^0 == 0 /\ rcd_288^0-rcd_288^post63 == 0 /\ -x_27^post63+x_27^0 == 0 /\ -rcd_45^post63+rcd_45^0 == 0 /\ r_149^0-r_149^post63 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_194^post63+rcd_194^0 == 0 /\ length_29^0-length_29^post63 == 0 /\ r_41^0-r_41^post63 == 0 /\ -rcd_114^post63+rcd_114^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -y_21^post63+y_21^0 == 0 /\ rcd_71^0-rcd_71^post63 == 0 /\ rcd_106^0-rcd_106^post63 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post63+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post63 == 0 /\ tail_15^0-tail_15^post63 == 0 /\ rcd_185^0-rcd_185^post63 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post63 == 0 /\ temp0_32^0-temp0_32^post63 == 0 /\ rcd_193^0-rcd_193^post63 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ len_159^0-len_159^post63 == 0 /\ -head_16^post63+head_16^0 == 0 /\ a_139^0-a_139^post63 == 0 /\ -x_22^post63+x_22^0 == 0 /\ tmp_35^0-tmp_35^post63 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post63 == 0 /\ -x_154^post63+x_154^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_192^0-r_192^post63 == 0 /\ x_207^0-x_207^post63 == 0 /\ a_222^0-a_222^post63 == 0), cost: 1
  64: l42 -> l43 : a_139^0'=a_139^post64, result_11^0'=result_11^post64, i_31^0'=i_31^post64, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post64, rcd_320^0'=rcd_320^post64, i_112^0'=i_112^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, x_22^0'=x_22^post64, rcd_199^0'=rcd_199^post64, head_16^0'=head_16^post64, temp0_32^0'=temp0_32^post64, r_149^0'=r_149^post64, y_26^0'=y_26^post64, rcd_71^0'=rcd_71^post64, i_198^0'=i_198^post64, x_207^0'=x_207^post64, rcd_185^0'=rcd_185^post64, a_279^0'=a_279^post64, t_23^0'=t_23^post64, len_221^0'=len_221^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, head_SLAM_f_30^0'=head_SLAM_f_30^post64, temp_37^0'=temp_37^post64, r_41^0'=r_41^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, len_159^0'=len_159^post64, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post64, rcd_45^0'=rcd_45^post64, i_130^0'=i_130^post64, x_154^0'=x_154^post64, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post64, rcd_220^0'=rcd_220^post64, head_33^0'=head_33^post64, temp_36^0'=temp_36^post64, r_192^0'=r_192^post64, (0 == 0 /\ rcd_193^0-rcd_193^post64 == 0 /\ -len_159^0 <= 0 /\ -i_130^post64+i_130^0 == 0 /\ -rcd_45^post64+rcd_45^0 == 0 /\ -rcd_114^post64+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post64 == 0 /\ -r_192^post64+r_192^0 == 0 /\ -y_21^post64+y_21^0 == 0 /\ y_26^0-y_26^post64 == 0 /\ length_29^0-length_29^post64 == 0 /\ rcd_71^0-rcd_71^post64 == 0 /\ temp_37^0-temp_37^post64 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post64 == 0 /\ i_31^0-i_31^post64 == 0 /\ a_253^0-a_253^post64 == 0 /\ rcd_106^0-rcd_106^post64 == 0 /\ rcd_320^0-rcd_320^post64 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ len_221^0-len_221^post64 == 0 /\ -x_154^post64+x_154^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ rcd_199^0-rcd_199^post64 == 0 /\ -a_174^post64+a_174^0 == 0 /\ a_279^0-a_279^post64 == 0 /\ a_139^0-a_139^post64 == 0 /\ i_198^0-i_198^post64 == 0 /\ -temp0_19^post64+temp0_19^0 == 0 /\ -rcd_308^post64+rcd_308^0 == 0 /\ -tmp_35^post64+tmp_35^0 == 0 /\ -r_41^post64+r_41^0 == 0 /\ len_159^0-len_159^post64 == 0 /\ r_149^0-r_149^post64 == 0 /\ -rcd_220^post64+rcd_220^0 == 0 /\ -head_33^post64+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_27^post64+x_27^0 == 0 /\ a_222^0-a_222^post64 == 0 /\ -x_207^post64+x_207^0 == 0 /\ f_202^0-f_202^post64 == 0 /\ a_309^0-a_309^post64 == 0 /\ i_112^0-i_112^post64 == 0 /\ -temp_36^post64+temp_36^0 == 0 /\ x_22^0-x_22^post64 == 0 /\ -rcd_185^post64+rcd_185^0 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_194^post64+rcd_194^0 == 0), cost: 1
  65: l43 -> l44 : a_139^0'=a_139^post65, result_11^0'=result_11^post65, i_31^0'=i_31^post65, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post65, rcd_320^0'=rcd_320^post65, i_112^0'=i_112^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, x_22^0'=x_22^post65, rcd_199^0'=rcd_199^post65, head_16^0'=head_16^post65, temp0_32^0'=temp0_32^post65, r_149^0'=r_149^post65, y_26^0'=y_26^post65, rcd_71^0'=rcd_71^post65, i_198^0'=i_198^post65, x_207^0'=x_207^post65, rcd_185^0'=rcd_185^post65, a_279^0'=a_279^post65, t_23^0'=t_23^post65, len_221^0'=len_221^post65, x_SLAM_f_20^0'=x_SLAM_f_20^post65, rcd_284^0'=rcd_284^post65, head_SLAM_f_30^0'=head_SLAM_f_30^post65, temp_37^0'=temp_37^post65, r_41^0'=r_41^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, len_159^0'=len_159^post65, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post65, rcd_45^0'=rcd_45^post65, i_130^0'=i_130^post65, x_154^0'=x_154^post65, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post65, rcd_220^0'=rcd_220^post65, head_33^0'=head_33^post65, temp_36^0'=temp_36^post65, r_192^0'=r_192^post65, (-len_221^post65+len_221^0 == 0 /\ -x_SLAM_f_20^post65+x_SLAM_f_20^0 == 0 /\ -head_SLAM_f_30^post65+head_SLAM_f_30^0 == 0 /\ -rcd_284^post65+rcd_284^0 == 0 /\ -x_154^post65+x_154^0 == 0 /\ -x_27^post65+x_27^0 == 0 /\ x_22^0-x_22^post65 == 0 /\ -a_174^post65+a_174^0 == 0 /\ -temp0_19^post65+temp0_19^0 == 0 /\ -a_222^post65+a_222^0 == 0 /\ -a_253^post65+a_253^0 == 0 /\ -head_33^post65+head_33^0 == 0 /\ -rcd_220^post65+rcd_220^0 == 0 /\ tail_15^0-tail_15^post65 == 0 /\ -temp0_32^post65+temp0_32^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post65 == 0 /\ -r_192^post65+r_192^0 == 0 /\ -temp_36^post65+temp_36^0 == 0 /\ -f_202^post65+f_202^0 == 0 /\ rcd_308^0-rcd_308^post65 == 0 /\ -i_112^post65+i_112^0 == 0 /\ r_149^0-r_149^post65 == 0 /\ rcd_288^0-rcd_288^post65 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post65 == 0 /\ length_29^0-length_29^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post65+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_198^post65+i_198^0 == 0 /\ x_207^0-x_207^post65 == 0 /\ rcd_71^0-rcd_71^post65 == 0 /\ -rcd_106^post65+rcd_106^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ rcd_194^0-rcd_194^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -rcd_114^post65+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post65 == 0 /\ rcd_185^0-rcd_185^post65 == 0 /\ -rcd_45^post65+rcd_45^0 == 0 /\ i_31^0-i_31^post65 == 0 /\ -y_21^post65+y_21^0 == 0 /\ rcd_199^0-rcd_199^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ a_139^0-a_139^post65 == 0 /\ head_16^0-head_16^post65 == 0 /\ a_279^0-a_279^post65 == 0 /\ tmp_35^0-tmp_35^post65 == 0 /\ -len_159^post65+len_159^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -temp_37^post65+temp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post65 == 0 /\ rcd_193^0-rcd_193^post65 == 0 /\ -y_26^post65+y_26^0 == 0 /\ r_41^0-r_41^post65 == 0 /\ -i_130^post65+i_130^0 == 0), cost: 1
  66: l43 -> l44 : a_139^0'=a_139^post66, result_11^0'=result_11^post66, i_31^0'=i_31^post66, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post66, rcd_320^0'=rcd_320^post66, i_112^0'=i_112^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, x_22^0'=x_22^post66, rcd_199^0'=rcd_199^post66, head_16^0'=head_16^post66, temp0_32^0'=temp0_32^post66, r_149^0'=r_149^post66, y_26^0'=y_26^post66, rcd_71^0'=rcd_71^post66, i_198^0'=i_198^post66, x_207^0'=x_207^post66, rcd_185^0'=rcd_185^post66, a_279^0'=a_279^post66, t_23^0'=t_23^post66, len_221^0'=len_221^post66, x_SLAM_f_20^0'=x_SLAM_f_20^post66, rcd_284^0'=rcd_284^post66, head_SLAM_f_30^0'=head_SLAM_f_30^post66, temp_37^0'=temp_37^post66, r_41^0'=r_41^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, len_159^0'=len_159^post66, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post66, rcd_45^0'=rcd_45^post66, i_130^0'=i_130^post66, x_154^0'=x_154^post66, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post66, rcd_220^0'=rcd_220^post66, head_33^0'=head_33^post66, temp_36^0'=temp_36^post66, r_192^0'=r_192^post66, (-rcd_45^post66+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post66+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post66 == 0 /\ -rcd_194^post66+rcd_194^0 == 0 /\ -rcd_71^post66+rcd_71^0 == 0 /\ a_174^0-a_174^post66 == 0 /\ len_159^0-len_159^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -rcd_114^post66+rcd_114^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ -r_149^post66+r_149^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post66 == 0 /\ rcd_193^0-rcd_193^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ i_112^0-i_112^post66 == 0 /\ rcd_106^0-rcd_106^post66 == 0 /\ rcd_284^0-rcd_284^post66 == 0 /\ rcd_320^0-rcd_320^post66 == 0 /\ tail_15^0-tail_15^post66 == 0 /\ rcd_199^0-rcd_199^post66 == 0 /\ temp0_32^0-temp0_32^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ i_31^0-i_31^post66 == 0 /\ len_221^0-len_221^post66 == 0 /\ -a_279^post66+a_279^0 == 0 /\ i_130^0-i_130^post66 == 0 /\ -head_16^post66+head_16^0 == 0 /\ -r_41^post66+r_41^0 == 0 /\ -x_154^post66+x_154^0 == 0 /\ a_222^0-a_222^post66 == 0 /\ x_27^0-x_27^post66 == 0 /\ tmp_35^0-tmp_35^post66 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -head_SLAM_f_30^post66+head_SLAM_f_30^0 == 0 /\ rcd_288^0-rcd_288^post66 == 0 /\ -head_33^post66+head_33^0 == 0 /\ y_26^0-y_26^post66 == 0 /\ -x_SLAM_f_20^post66+x_SLAM_f_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_19^post66+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post66 == 0 /\ -x_22^post66+x_22^0 == 0 /\ -a_253^post66+a_253^0 == 0 /\ -r_192^post66+r_192^0 == 0 /\ -x_207^post66+x_207^0 == 0 /\ temp_37^0-temp_37^post66 == 0 /\ a_309^0-a_309^post66 == 0 /\ -y_21^post66+y_21^0 == 0 /\ -temp_36^post66+temp_36^0 == 0 /\ -rcd_185^post66+rcd_185^0 == 0 /\ -f_202^post66+f_202^0 == 0 /\ -rcd_308^post66+rcd_308^0 == 0 /\ i_198^0-i_198^post66 == 0), cost: 1
  67: l44 -> l45 : a_139^0'=a_139^post67, result_11^0'=result_11^post67, i_31^0'=i_31^post67, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post67, rcd_320^0'=rcd_320^post67, i_112^0'=i_112^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, x_22^0'=x_22^post67, rcd_199^0'=rcd_199^post67, head_16^0'=head_16^post67, temp0_32^0'=temp0_32^post67, r_149^0'=r_149^post67, y_26^0'=y_26^post67, rcd_71^0'=rcd_71^post67, i_198^0'=i_198^post67, x_207^0'=x_207^post67, rcd_185^0'=rcd_185^post67, a_279^0'=a_279^post67, t_23^0'=t_23^post67, len_221^0'=len_221^post67, x_SLAM_f_20^0'=x_SLAM_f_20^post67, rcd_284^0'=rcd_284^post67, head_SLAM_f_30^0'=head_SLAM_f_30^post67, temp_37^0'=temp_37^post67, r_41^0'=r_41^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, len_159^0'=len_159^post67, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post67, rcd_45^0'=rcd_45^post67, i_130^0'=i_130^post67, x_154^0'=x_154^post67, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post67, rcd_220^0'=rcd_220^post67, head_33^0'=head_33^post67, temp_36^0'=temp_36^post67, r_192^0'=r_192^post67, (0 == 0 /\ -x_154^post67+x_154^0 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -rcd_220^post67+rcd_220^0 == 0 /\ -len_221^post67+len_221^0 == 0 /\ rcd_106^0-rcd_106^post67 == 0 /\ -head_16^0+t_23^post67 <= 0 /\ y_26^0-y_26^post67 == 0 /\ -a_174^post67+a_174^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post67 == 0 /\ -rcd_284^post67+rcd_284^0 == 0 /\ -temp0_32^post67+temp0_32^0 == 0 /\ tail_15^0-tail_15^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ rcd_45^0-rcd_45^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post67+x_27^0 == 0 /\ i_112^0-i_112^post67 == 0 /\ -x_SLAM_f_20^post67+x_SLAM_f_20^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ -r_192^post67+r_192^0 == 0 /\ x_207^0-x_207^post67 == 0 /\ head_16^0-t_23^post67 <= 0 /\ -x_22^0+t_23^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post67 == 0 /\ -a_222^post67+a_222^0 == 0 /\ r_149^0-r_149^post67 == 0 /\ -temp_36^post67+temp_36^0 == 0 /\ -rcd_185^post67+rcd_185^0 == 0 /\ -f_202^post67+f_202^0 == 0 /\ rcd_193^0-rcd_193^post67 == 0 /\ -rcd_308^post67+rcd_308^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_198^post67+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post67+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -rcd_114^post67+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post67 == 0 /\ a_279^0-a_253^post67 <= 0 /\ rcd_199^0-rcd_199^post67 == 0 /\ rcd_320^0-rcd_320^post67 == 0 /\ -rcd_288^post67+rcd_288^0 == 0 /\ -y_21^post67+y_21^0 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ i_31^0-i_31^post67 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -head_33^post67+head_33^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_35^post67+tmp_35^0 == 0 /\ a_279^0-a_279^post67 == 0 /\ head_16^0-head_16^post67 == 0 /\ -x_SLAM_f_25^post67+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post67 == 0 /\ -temp_37^post67+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post67 == 0 /\ -i_130^post67+i_130^0 == 0 /\ length_29^0-length_29^post67 == 0 /\ -a_279^0+a_253^post67 <= 0 /\ -len_159^post67+len_159^0 == 0 /\ temp0_19^0-temp0_19^post67 == 0 /\ r_41^0-r_41^post67 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ x_22^0-x_22^post67 == 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  68: l45 -> l46 : a_139^0'=a_139^post68, result_11^0'=result_11^post68, i_31^0'=i_31^post68, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post68, rcd_320^0'=rcd_320^post68, i_112^0'=i_112^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, x_22^0'=x_22^post68, rcd_199^0'=rcd_199^post68, head_16^0'=head_16^post68, temp0_32^0'=temp0_32^post68, r_149^0'=r_149^post68, y_26^0'=y_26^post68, rcd_71^0'=rcd_71^post68, i_198^0'=i_198^post68, x_207^0'=x_207^post68, rcd_185^0'=rcd_185^post68, a_279^0'=a_279^post68, t_23^0'=t_23^post68, len_221^0'=len_221^post68, x_SLAM_f_20^0'=x_SLAM_f_20^post68, rcd_284^0'=rcd_284^post68, head_SLAM_f_30^0'=head_SLAM_f_30^post68, temp_37^0'=temp_37^post68, r_41^0'=r_41^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, len_159^0'=len_159^post68, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post68, rcd_45^0'=rcd_45^post68, i_130^0'=i_130^post68, x_154^0'=x_154^post68, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post68, rcd_220^0'=rcd_220^post68, head_33^0'=head_33^post68, temp_36^0'=temp_36^post68, r_192^0'=r_192^post68, (a_222^0-a_222^post68 == 0 /\ i_198^0-i_198^post68 == 0 /\ -rcd_45^post68+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post68+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post68 == 0 /\ -rcd_194^post68+rcd_194^0 == 0 /\ -rcd_114^post68+rcd_114^0 == 0 /\ a_139^0-a_139^post68 == 0 /\ x_22^0-x_22^post68 == 0 /\ length_29^0-length_29^post68 == 0 /\ r_149^0-r_149^post68 == 0 /\ -rcd_71^post68+rcd_71^0 == 0 /\ t_23^0-t_23^post68 == 0 /\ -y_21^post68+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post68 == 0 /\ i_130^0-i_130^post68 == 0 /\ -head_33^post68+head_33^0 == 0 /\ a_309^0-a_309^post68 == 0 /\ rcd_185^0-rcd_185^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post68 == 0 /\ -a_279^post68+a_279^0 == 0 /\ rcd_284^0-rcd_284^post68 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -head_16^post68+head_16^0 == 0 /\ -rcd_199^post68+rcd_199^0 == 0 /\ -len_159^post68+len_159^0 == 0 /\ -head_SLAM_f_30^post68+head_SLAM_f_30^0 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -x_154^post68+x_154^0 == 0 /\ -y_26^post68+y_26^0 == 0 /\ -r_41^post68+r_41^0 == 0 /\ -rcd_220^post68+rcd_220^0 == 0 /\ x_207^0-x_207^post68 == 0 /\ x_27^0-x_27^post68 == 0 /\ rcd_288^0-rcd_288^post68 == 0 /\ -len_221^post68+len_221^0 == 0 /\ -temp0_19^post68+temp0_19^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_112^post68+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_253^post68+a_253^0 == 0 /\ rcd_106^0-rcd_106^post68 == 0 /\ temp_37^0-temp_37^post68 == 0 /\ -r_192^post68+r_192^0 == 0 /\ tail_15^0-tail_15^post68 == 0 /\ a_174^0-a_174^post68 == 0 /\ -rcd_308^post68+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post68 == 0 /\ rcd_320^0-rcd_320^post68 == 0 /\ -temp_36^post68+temp_36^0 == 0 /\ -f_202^post68+f_202^0 == 0 /\ i_31^0-i_31^post68 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post68 == 0), cost: 1
  69: l45 -> l46 : a_139^0'=a_139^post69, result_11^0'=result_11^post69, i_31^0'=i_31^post69, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post69, rcd_320^0'=rcd_320^post69, i_112^0'=i_112^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, x_22^0'=x_22^post69, rcd_199^0'=rcd_199^post69, head_16^0'=head_16^post69, temp0_32^0'=temp0_32^post69, r_149^0'=r_149^post69, y_26^0'=y_26^post69, rcd_71^0'=rcd_71^post69, i_198^0'=i_198^post69, x_207^0'=x_207^post69, rcd_185^0'=rcd_185^post69, a_279^0'=a_279^post69, t_23^0'=t_23^post69, len_221^0'=len_221^post69, x_SLAM_f_20^0'=x_SLAM_f_20^post69, rcd_284^0'=rcd_284^post69, head_SLAM_f_30^0'=head_SLAM_f_30^post69, temp_37^0'=temp_37^post69, r_41^0'=r_41^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, len_159^0'=len_159^post69, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post69, rcd_45^0'=rcd_45^post69, i_130^0'=i_130^post69, x_154^0'=x_154^post69, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post69, rcd_220^0'=rcd_220^post69, head_33^0'=head_33^post69, temp_36^0'=temp_36^post69, r_192^0'=r_192^post69, (-rcd_185^post69+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post69 == 0 /\ -rcd_284^post69+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post69 == 0 /\ rcd_71^0-rcd_71^post69 == 0 /\ -rcd_220^post69+rcd_220^0 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ -r_41^post69+r_41^0 == 0 /\ len_221^0-len_221^post69 == 0 /\ a_139^0-a_139^post69 == 0 /\ -x_207^post69+x_207^0 == 0 /\ tail_15^0-tail_15^post69 == 0 /\ -x_27^post69+x_27^0 == 0 /\ rcd_45^0-rcd_45^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_193^0-rcd_193^post69 == 0 /\ head_16^0-head_16^post69 == 0 /\ a_279^0-a_279^post69 == 0 /\ r_149^0-r_149^post69 == 0 /\ -r_192^post69+r_192^0 == 0 /\ -temp_36^post69+temp_36^0 == 0 /\ -f_202^post69+f_202^0 == 0 /\ -a_253^post69+a_253^0 == 0 /\ -rcd_194^post69+rcd_194^0 == 0 /\ -rcd_308^post69+rcd_308^0 == 0 /\ a_222^0-a_222^post69 == 0 /\ -i_130^post69+i_130^0 == 0 /\ -rcd_114^post69+rcd_114^0 == 0 /\ y_26^0-y_26^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post69+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_309^0-a_309^post69 == 0 /\ result_11^0-result_11^post69 == 0 /\ tmp_35^0-tmp_35^post69 == 0 /\ y_21^0-y_21^post69 == 0 /\ i_31^0-i_31^post69 == 0 /\ i_112^0-i_112^post69 == 0 /\ rcd_320^0-rcd_320^post69 == 0 /\ -x_SLAM_f_25^post69+x_SLAM_f_25^0 == 0 /\ -rcd_199^post69+rcd_199^0 == 0 /\ i_198^0-i_198^post69 == 0 /\ -temp_37^post69+temp_37^0 == 0 /\ -head_33^post69+head_33^0 == 0 /\ rcd_288^0-rcd_288^post69 == 0 /\ -a_174^post69+a_174^0 == 0 /\ temp0_19^0-temp0_19^post69 == 0 /\ -len_159^post69+len_159^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_22^0-x_22^post69 == 0 /\ -x_154^post69+x_154^0 == 0 /\ t_23^0-t_23^post69 == 0), cost: 1
  70: l46 -> l47 : a_139^0'=a_139^post70, result_11^0'=result_11^post70, i_31^0'=i_31^post70, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post70, rcd_320^0'=rcd_320^post70, i_112^0'=i_112^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, x_22^0'=x_22^post70, rcd_199^0'=rcd_199^post70, head_16^0'=head_16^post70, temp0_32^0'=temp0_32^post70, r_149^0'=r_149^post70, y_26^0'=y_26^post70, rcd_71^0'=rcd_71^post70, i_198^0'=i_198^post70, x_207^0'=x_207^post70, rcd_185^0'=rcd_185^post70, a_279^0'=a_279^post70, t_23^0'=t_23^post70, len_221^0'=len_221^post70, x_SLAM_f_20^0'=x_SLAM_f_20^post70, rcd_284^0'=rcd_284^post70, head_SLAM_f_30^0'=head_SLAM_f_30^post70, temp_37^0'=temp_37^post70, r_41^0'=r_41^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, len_159^0'=len_159^post70, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post70, rcd_45^0'=rcd_45^post70, i_130^0'=i_130^post70, x_154^0'=x_154^post70, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post70, rcd_220^0'=rcd_220^post70, head_33^0'=head_33^post70, temp_36^0'=temp_36^post70, r_192^0'=r_192^post70, (-nondet_12^post70+nondet_12^0 == 0 /\ -i_130^post70+i_130^0 == 0 /\ x_154^0-x_154^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post70+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post70 == 0 /\ rcd_308^0-rcd_308^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post70 == 0 /\ r_149^0-r_149^post70 == 0 /\ x_22^0-x_22^post70 == 0 /\ -rcd_114^post70+rcd_114^0 == 0 /\ -rcd_45^post70+rcd_45^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -len_159^post70+len_159^0 == 0 /\ temp0_32^0-temp0_32^post70 == 0 /\ a_309^0-a_309^post70 == 0 /\ -a_174^post70+a_174^0 == 0 /\ -y_26^post70+y_26^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ -temp_37^post70+temp_37^0 == 0 /\ rcd_185^0-rcd_185^post70 == 0 /\ -temp0_19^post70+temp0_19^0 == 0 /\ -a_222^post70+a_222^0 == 0 /\ rcd_193^0-rcd_193^post70 == 0 /\ -x_27^post70+x_27^0 == 0 /\ -head_SLAM_f_30^post70+head_SLAM_f_30^0 == 0 /\ -rcd_220^post70+rcd_220^0 == 0 /\ -x_SLAM_f_20^post70+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post70 == 0 /\ a_279^0-a_279^post70 == 0 /\ -r_41^post70+r_41^0 == 0 /\ rcd_288^0-rcd_288^post70 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post70 == 0 /\ x_207^0-x_207^post70 == 0 /\ -head_33^post70+head_33^0 == 0 /\ -i_112^post70+i_112^0 == 0 /\ rcd_71^0-rcd_71^post70 == 0 /\ -a_253^post70+a_253^0 == 0 /\ rcd_194^0-rcd_194^post70 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ -r_192^post70+r_192^0 == 0 /\ rcd_106^0-rcd_106^post70 == 0 /\ -temp_36^post70+temp_36^0 == 0 /\ -i_198^post70+i_198^0 == 0 /\ -y_21^post70+y_21^0 == 0 /\ i_31^0-i_31^post70 == 0 /\ -f_202^post70+f_202^0 == 0 /\ len_221^0-len_221^post70 == 0 /\ -rcd_284^post70+rcd_284^0 == 0 /\ tail_15^0-tail_15^post70 == 0 /\ rcd_199^0-rcd_199^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ rcd_320^0-rcd_320^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post70 == 0 /\ head_16^0-head_16^post70 == 0), cost: 1
  71: l46 -> l47 : a_139^0'=a_139^post71, result_11^0'=result_11^post71, i_31^0'=i_31^post71, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post71, rcd_320^0'=rcd_320^post71, i_112^0'=i_112^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, x_22^0'=x_22^post71, rcd_199^0'=rcd_199^post71, head_16^0'=head_16^post71, temp0_32^0'=temp0_32^post71, r_149^0'=r_149^post71, y_26^0'=y_26^post71, rcd_71^0'=rcd_71^post71, i_198^0'=i_198^post71, x_207^0'=x_207^post71, rcd_185^0'=rcd_185^post71, a_279^0'=a_279^post71, t_23^0'=t_23^post71, len_221^0'=len_221^post71, x_SLAM_f_20^0'=x_SLAM_f_20^post71, rcd_284^0'=rcd_284^post71, head_SLAM_f_30^0'=head_SLAM_f_30^post71, temp_37^0'=temp_37^post71, r_41^0'=r_41^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, len_159^0'=len_159^post71, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post71, rcd_45^0'=rcd_45^post71, i_130^0'=i_130^post71, x_154^0'=x_154^post71, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post71, rcd_220^0'=rcd_220^post71, head_33^0'=head_33^post71, temp_36^0'=temp_36^post71, r_192^0'=r_192^post71, (-head_16^post71+head_16^0 == 0 /\ -x_27^post71+x_27^0 == 0 /\ a_309^0-a_309^post71 == 0 /\ -x_154^post71+x_154^0 == 0 /\ length_29^0-length_29^post71 == 0 /\ i_31^0-i_31^post71 == 0 /\ len_221^0-len_221^post71 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post71 == 0 /\ -head_SLAM_f_30^post71+head_SLAM_f_30^0 == 0 /\ -x_22^post71+x_22^0 == 0 /\ -head_33^post71+head_33^0 == 0 /\ rcd_320^0-rcd_320^post71 == 0 /\ -temp0_19^post71+temp0_19^0 == 0 /\ -rcd_308^post71+rcd_308^0 == 0 /\ -temp0_32^post71+temp0_32^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post71 == 0 /\ i_198^0-i_198^post71 == 0 /\ -a_253^post71+a_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ tmp_35^0-tmp_35^post71 == 0 /\ a_139^0-a_139^post71 == 0 /\ -temp_36^post71+temp_36^0 == 0 /\ -y_21^post71+y_21^0 == 0 /\ r_41^0-r_41^post71 == 0 /\ -rcd_185^post71+rcd_185^0 == 0 /\ -f_202^post71+f_202^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post71 == 0 /\ -rcd_194^post71+rcd_194^0 == 0 /\ -r_192^post71+r_192^0 == 0 /\ rcd_193^0-rcd_193^post71 == 0 /\ rcd_114^0-rcd_114^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post71 == 0 /\ i_112^0-i_112^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ rcd_106^0-rcd_106^post71 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -rcd_71^post71+rcd_71^0 == 0 /\ y_26^0-y_26^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ rcd_284^0-rcd_284^post71 == 0 /\ tail_15^0-tail_15^post71 == 0 /\ -rcd_45^post71+rcd_45^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ -len_159^post71+len_159^0 == 0 /\ a_174^0-a_174^post71 == 0 /\ -r_149^post71+r_149^0 == 0 /\ -rcd_199^post71+rcd_199^0 == 0 /\ x_207^0-x_207^post71 == 0 /\ -i_130^post71+i_130^0 == 0 /\ rcd_288^0-rcd_288^post71 == 0 /\ -a_279^post71+a_279^0 == 0 /\ a_222^0-a_222^post71 == 0 /\ -rcd_220^post71+rcd_220^0 == 0 /\ temp_37^0-temp_37^post71 == 0), cost: 1
  72: l47 -> l48 : a_139^0'=a_139^post72, result_11^0'=result_11^post72, i_31^0'=i_31^post72, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post72, rcd_320^0'=rcd_320^post72, i_112^0'=i_112^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, x_22^0'=x_22^post72, rcd_199^0'=rcd_199^post72, head_16^0'=head_16^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, rcd_71^0'=rcd_71^post72, i_198^0'=i_198^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, len_221^0'=len_221^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, rcd_284^0'=rcd_284^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^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, len_159^0'=len_159^post72, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, i_130^0'=i_130^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post72, rcd_220^0'=rcd_220^post72, head_33^0'=head_33^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, (a_139^0-a_139^post72 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_71^post72+rcd_71^0 == 0 /\ a_174^0-a_174^post72 == 0 /\ len_159^0-len_159^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ t_23^0-t_23^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ i_112^0-i_112^post72 == 0 /\ -r_149^post72+r_149^0 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ rcd_284^0-rcd_284^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ y_26^0-y_26^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ -head_16^post72+head_16^0 == 0 /\ -a_279^post72+a_279^0 == 0 /\ i_130^0-i_130^post72 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -x_SLAM_f_20^post72+x_SLAM_f_20^0 == 0 /\ x_27^0-x_27^post72 == 0 /\ -r_41^post72+r_41^0 == 0 /\ -a_222^post72+a_222^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -head_33^post72+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ -x_22^post72+x_22^0 == 0 /\ -a_253^post72+a_253^0 == 0 /\ -r_192^post72+r_192^0 == 0 /\ temp_37^0-temp_37^post72 == 0 /\ rcd_194^0-rcd_194^post72 == 0 /\ len_221^0-len_221^post72 == 0 /\ y_21^0-y_21^post72 == 0 /\ tail_15^0-tail_15^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ rcd_320^0-rcd_320^post72 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ -temp_36^post72+temp_36^0 == 0 /\ -f_202^post72+f_202^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ -i_198^post72+i_198^0 == 0), cost: 1
  73: l47 -> l48 : a_139^0'=a_139^post73, result_11^0'=result_11^post73, i_31^0'=i_31^post73, rcd_193^0'=rcd_193^post73, a_309^0'=a_309^post73, tail_15^0'=tail_15^post73, length_29^0'=length_29^post73, x_SLAM_f_25^0'=x_SLAM_f_25^post73, rcd_288^0'=rcd_288^post73, rcd_320^0'=rcd_320^post73, i_112^0'=i_112^post73, tmp_35^0'=tmp_35^post73, rcd_106^0'=rcd_106^post73, a_222^0'=a_222^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73, x_22^0'=x_22^post73, rcd_199^0'=rcd_199^post73, head_16^0'=head_16^post73, temp0_32^0'=temp0_32^post73, r_149^0'=r_149^post73, y_26^0'=y_26^post73, rcd_71^0'=rcd_71^post73, i_198^0'=i_198^post73, x_207^0'=x_207^post73, rcd_185^0'=rcd_185^post73, a_279^0'=a_279^post73, t_23^0'=t_23^post73, len_221^0'=len_221^post73, x_SLAM_f_20^0'=x_SLAM_f_20^post73, rcd_284^0'=rcd_284^post73, head_SLAM_f_30^0'=head_SLAM_f_30^post73, temp_37^0'=temp_37^post73, r_41^0'=r_41^post73, a_174^0'=a_174^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73, len_159^0'=len_159^post73, rcd_194^0'=rcd_194^post73, f_202^0'=f_202^post73, temp0_19^0'=temp0_19^post73, nondet_12^0'=nondet_12^post73, y_21^0'=y_21^post73, rcd_308^0'=rcd_308^post73, rcd_45^0'=rcd_45^post73, i_130^0'=i_130^post73, x_154^0'=x_154^post73, rcd_114^0'=rcd_114^post73, a_253^0'=a_253^post73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post73, x_27^0'=x_27^post73, rcd_220^0'=rcd_220^post73, head_33^0'=head_33^post73, temp_36^0'=temp_36^post73, r_192^0'=r_192^post73, (-x_154^post73+x_154^0 == 0 /\ -rcd_220^post73+rcd_220^0 == 0 /\ -len_221^post73+len_221^0 == 0 /\ rcd_106^0-rcd_106^post73 == 0 /\ -rcd_185^post73+rcd_185^0 == 0 /\ y_26^0-y_26^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73 == 0 /\ -a_174^post73+a_174^0 == 0 /\ length_29^0-length_29^post73 == 0 /\ -rcd_284^post73+rcd_284^0 == 0 /\ -temp0_32^post73+temp0_32^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ rcd_45^0-rcd_45^post73 == 0 /\ tail_15^0-tail_15^post73 == 0 /\ -x_27^post73+x_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_112^0-i_112^post73 == 0 /\ -x_SLAM_f_20^post73+x_SLAM_f_20^0 == 0 /\ -a_253^post73+a_253^0 == 0 /\ x_207^0-x_207^post73 == 0 /\ -r_192^post73+r_192^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post73 == 0 /\ -a_222^post73+a_222^0 == 0 /\ r_149^0-r_149^post73 == 0 /\ -temp_36^post73+temp_36^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -f_202^post73+f_202^0 == 0 /\ rcd_193^0-rcd_193^post73 == 0 /\ -rcd_308^post73+rcd_308^0 == 0 /\ -i_198^post73+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post73+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ -a_309^post73+a_309^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -rcd_114^post73+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post73 == 0 /\ rcd_320^0-rcd_320^post73 == 0 /\ rcd_199^0-rcd_199^post73 == 0 /\ -rcd_288^post73+rcd_288^0 == 0 /\ -y_21^post73+y_21^0 == 0 /\ i_31^0-i_31^post73 == 0 /\ -head_33^post73+head_33^0 == 0 /\ a_279^0-a_279^post73 == 0 /\ head_16^0-head_16^post73 == 0 /\ -tmp_35^post73+tmp_35^0 == 0 /\ -x_SLAM_f_25^post73+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post73 == 0 /\ -temp_37^post73+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post73 == 0 /\ x_22^0-x_22^post73 == 0 /\ -i_130^post73+i_130^0 == 0 /\ temp0_19^0-temp0_19^post73 == 0 /\ -len_159^post73+len_159^0 == 0 /\ r_41^0-r_41^post73 == 0), cost: 1
  74: l48 -> l25 : a_139^0'=a_139^post74, result_11^0'=result_11^post74, i_31^0'=i_31^post74, rcd_193^0'=rcd_193^post74, a_309^0'=a_309^post74, tail_15^0'=tail_15^post74, length_29^0'=length_29^post74, x_SLAM_f_25^0'=x_SLAM_f_25^post74, rcd_288^0'=rcd_288^post74, rcd_320^0'=rcd_320^post74, i_112^0'=i_112^post74, tmp_35^0'=tmp_35^post74, rcd_106^0'=rcd_106^post74, a_222^0'=a_222^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74, x_22^0'=x_22^post74, rcd_199^0'=rcd_199^post74, head_16^0'=head_16^post74, temp0_32^0'=temp0_32^post74, r_149^0'=r_149^post74, y_26^0'=y_26^post74, rcd_71^0'=rcd_71^post74, i_198^0'=i_198^post74, x_207^0'=x_207^post74, rcd_185^0'=rcd_185^post74, a_279^0'=a_279^post74, t_23^0'=t_23^post74, len_221^0'=len_221^post74, x_SLAM_f_20^0'=x_SLAM_f_20^post74, rcd_284^0'=rcd_284^post74, head_SLAM_f_30^0'=head_SLAM_f_30^post74, temp_37^0'=temp_37^post74, r_41^0'=r_41^post74, a_174^0'=a_174^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74, len_159^0'=len_159^post74, rcd_194^0'=rcd_194^post74, f_202^0'=f_202^post74, temp0_19^0'=temp0_19^post74, nondet_12^0'=nondet_12^post74, y_21^0'=y_21^post74, rcd_308^0'=rcd_308^post74, rcd_45^0'=rcd_45^post74, i_130^0'=i_130^post74, x_154^0'=x_154^post74, rcd_114^0'=rcd_114^post74, a_253^0'=a_253^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, x_27^0'=x_27^post74, rcd_220^0'=rcd_220^post74, head_33^0'=head_33^post74, temp_36^0'=temp_36^post74, r_192^0'=r_192^post74, (0 == 0 /\ a_222^0-a_222^post74 == 0 /\ i_198^0-i_198^post74 == 0 /\ -rcd_45^post74+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post74+rcd_194^0 == 0 /\ -rcd_114^post74+rcd_114^0 == 0 /\ -1+len_159^post74-a_253^0 <= 0 /\ x_22^0-x_22^post74 == 0 /\ r_149^0-r_149^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -rcd_71^post74+rcd_71^0 == 0 /\ -y_21^post74+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post74 == 0 /\ t_23^0-t_23^post74 == 0 /\ -head_33^post74+head_33^0 == 0 /\ i_130^0-i_130^post74 == 0 /\ rcd_185^0-rcd_185^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74 == 0 /\ -a_279^post74+a_279^0 == 0 /\ rcd_284^0-rcd_284^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ temp0_32^0-temp0_32^post74 == 0 /\ -head_16^post74+head_16^0 == 0 /\ -head_SLAM_f_30^post74+head_SLAM_f_30^0 == 0 /\ rcd_199^0-rcd_199^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_154^post74+x_154^0 == 0 /\ -y_26^post74+y_26^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_41^post74+r_41^0 == 0 /\ x_207^0-x_207^post74 == 0 /\ x_27^0-x_27^post74 == 0 /\ 1-len_159^post74+a_253^0 <= 0 /\ rcd_288^0-rcd_288^post74 == 0 /\ -len_221^post74+len_221^0 == 0 /\ -temp0_19^post74+temp0_19^0 == 0 /\ -a_139^post74+a_139^0 == 0 /\ rcd_220^0-rcd_220^post74 == 0 /\ -i_112^post74+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_106^0-rcd_106^post74 == 0 /\ temp_37^0-temp_37^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -r_192^post74+r_192^0 == 0 /\ -f_202^post74+f_202^0 == 0 /\ tail_15^0-tail_15^post74 == 0 /\ a_174^0-a_174^post74 == 0 /\ tmp_35^0-tmp_35^post74 == 0 /\ -rcd_308^post74+rcd_308^0 == 0 /\ rcd_320^0-rcd_320^post74 == 0 /\ -temp_36^post74+temp_36^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_253^post74+a_253^0 == 0 /\ i_31^0-i_31^post74 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post74 == 0), cost: 1
  75: l49 -> l24 : a_139^0'=a_139^post75, result_11^0'=result_11^post75, i_31^0'=i_31^post75, rcd_193^0'=rcd_193^post75, a_309^0'=a_309^post75, tail_15^0'=tail_15^post75, length_29^0'=length_29^post75, x_SLAM_f_25^0'=x_SLAM_f_25^post75, rcd_288^0'=rcd_288^post75, rcd_320^0'=rcd_320^post75, i_112^0'=i_112^post75, tmp_35^0'=tmp_35^post75, rcd_106^0'=rcd_106^post75, a_222^0'=a_222^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75, x_22^0'=x_22^post75, rcd_199^0'=rcd_199^post75, head_16^0'=head_16^post75, temp0_32^0'=temp0_32^post75, r_149^0'=r_149^post75, y_26^0'=y_26^post75, rcd_71^0'=rcd_71^post75, i_198^0'=i_198^post75, x_207^0'=x_207^post75, rcd_185^0'=rcd_185^post75, a_279^0'=a_279^post75, t_23^0'=t_23^post75, len_221^0'=len_221^post75, x_SLAM_f_20^0'=x_SLAM_f_20^post75, rcd_284^0'=rcd_284^post75, head_SLAM_f_30^0'=head_SLAM_f_30^post75, temp_37^0'=temp_37^post75, r_41^0'=r_41^post75, a_174^0'=a_174^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75, len_159^0'=len_159^post75, rcd_194^0'=rcd_194^post75, f_202^0'=f_202^post75, temp0_19^0'=temp0_19^post75, nondet_12^0'=nondet_12^post75, y_21^0'=y_21^post75, rcd_308^0'=rcd_308^post75, rcd_45^0'=rcd_45^post75, i_130^0'=i_130^post75, x_154^0'=x_154^post75, rcd_114^0'=rcd_114^post75, a_253^0'=a_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, x_27^0'=x_27^post75, rcd_220^0'=rcd_220^post75, head_33^0'=head_33^post75, temp_36^0'=temp_36^post75, r_192^0'=r_192^post75, (0 == 0 /\ rcd_193^0-rcd_193^post75 == 0 /\ -head_33^post75+head_SLAM_f_30^post75 <= 0 /\ x_22^0-x_22^post75 == 0 /\ -i_31^post75 <= 0 /\ -rcd_114^post75+rcd_114^0 == 0 /\ i_31^post75 <= 0 /\ i_31^post75 == 0 /\ tail_15^post75-temp_37^0 == 0 /\ -rcd_71^post75+rcd_71^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_SLAM_f_30^post75 <= 0 /\ -y_21^post75+y_21^0 == 0 /\ rcd_106^0-rcd_106^post75 == 0 /\ t_23^0-t_23^post75 == 0 /\ x_207^0-x_207^post75 == 0 /\ r_41^0-r_41^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-tail_15^post75 <= 0 /\ i_130^0-i_130^post75 == 0 /\ rcd_45^0-rcd_45^post75 == 0 /\ head_33^post75-head_SLAM_f_30^post75 <= 0 /\ head_33^post75-head_SLAM_f_30^post75 == 0 /\ -a_279^post75+a_279^0 == 0 /\ rcd_284^0-rcd_284^post75 == 0 /\ -rcd_220^post75+rcd_220^0 == 0 /\ -head_16^post75+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-nondet_12^10 == 0 /\ -len_159^post75+len_159^0 == 0 /\ rcd_199^0-rcd_199^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_SLAM_f_30^post75 <= 0 /\ a_139^0-a_139^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+tail_15^post75 <= 0 /\ tmp_35^0-tmp_35^post75 == 0 /\ -x_154^post75+x_154^0 == 0 /\ y_26^0-y_26^post75 == 0 /\ temp0_32^0-temp0_32^post75 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-length_29^post75 <= 0 /\ -r_149^post75+r_149^0 == 0 /\ -temp_36^post75+temp_36^0 == 0 /\ i_112^0-i_112^post75 == 0 /\ -f_202^post75+f_202^0 == 0 /\ x_27^0-x_27^post75 == 0 /\ -rcd_308^post75+rcd_308^0 == 0 /\ -rcd_320^post75+rcd_320^0 == 0 /\ -len_221^post75+len_221^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_33^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 == 0 /\ a_222^0-a_222^post75 == 0 /\ temp0_19^0-temp0_19^post75 == 0 /\ result_11^0-result_11^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 == 0 /\ rcd_185^0-rcd_185^post75 == 0 /\ a_309^0-a_309^post75 == 0 /\ -r_192^post75+r_192^0 == 0 /\ -i_198^post75+i_198^0 == 0 /\ -a_253^post75+a_253^0 == 0 /\ -rcd_194^post75+rcd_194^0 == 0 /\ a_174^0-a_174^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_33^post75 <= 0 /\ tail_15^post75-head_SLAM_f_30^post75 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post75 == 0 /\ rcd_288^0-rcd_288^post75 == 0), cost: 1
  77: l50 -> l51 : a_139^0'=a_139^post77, result_11^0'=result_11^post77, i_31^0'=i_31^post77, rcd_193^0'=rcd_193^post77, a_309^0'=a_309^post77, tail_15^0'=tail_15^post77, length_29^0'=length_29^post77, x_SLAM_f_25^0'=x_SLAM_f_25^post77, rcd_288^0'=rcd_288^post77, rcd_320^0'=rcd_320^post77, i_112^0'=i_112^post77, tmp_35^0'=tmp_35^post77, rcd_106^0'=rcd_106^post77, a_222^0'=a_222^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77, x_22^0'=x_22^post77, rcd_199^0'=rcd_199^post77, head_16^0'=head_16^post77, temp0_32^0'=temp0_32^post77, r_149^0'=r_149^post77, y_26^0'=y_26^post77, rcd_71^0'=rcd_71^post77, i_198^0'=i_198^post77, x_207^0'=x_207^post77, rcd_185^0'=rcd_185^post77, a_279^0'=a_279^post77, t_23^0'=t_23^post77, len_221^0'=len_221^post77, x_SLAM_f_20^0'=x_SLAM_f_20^post77, rcd_284^0'=rcd_284^post77, head_SLAM_f_30^0'=head_SLAM_f_30^post77, temp_37^0'=temp_37^post77, r_41^0'=r_41^post77, a_174^0'=a_174^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77, len_159^0'=len_159^post77, rcd_194^0'=rcd_194^post77, f_202^0'=f_202^post77, temp0_19^0'=temp0_19^post77, nondet_12^0'=nondet_12^post77, y_21^0'=y_21^post77, rcd_308^0'=rcd_308^post77, rcd_45^0'=rcd_45^post77, i_130^0'=i_130^post77, x_154^0'=x_154^post77, rcd_114^0'=rcd_114^post77, a_253^0'=a_253^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, x_27^0'=x_27^post77, rcd_220^0'=rcd_220^post77, head_33^0'=head_33^post77, temp_36^0'=temp_36^post77, r_192^0'=r_192^post77, (r_41^0-r_41^post77 == 0 /\ i_31^0-i_31^post77 == 0 /\ rcd_288^0-rcd_288^post77 == 0 /\ -len_159^post77+len_159^0 == 0 /\ rcd_199^0-rcd_199^post77 == 0 /\ -a_253^post77+a_253^0 == 0 /\ rcd_114^0-rcd_114^post77 == 0 /\ len_221^0-len_221^post77 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_279^post77+a_279^0 == 0 /\ -rcd_308^post77+rcd_308^0 == 0 /\ y_26^0-y_26^post77 == 0 /\ x_154^0-x_154^post77 == 0 /\ -temp0_19^post77+temp0_19^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post77 == 0 /\ -x_27^post77+x_27^0 == 0 /\ rcd_193^0-rcd_193^post77 == 0 /\ -r_149^post77+r_149^0 == 0 /\ head_16^0-head_16^post77 == 0 /\ -rcd_320^post77+rcd_320^0 == 0 /\ -rcd_220^post77+rcd_220^0 == 0 /\ -rcd_45^post77+rcd_45^0 == 0 /\ tmp_35^0-tmp_35^post77 == 0 /\ -head_33^post77+head_33^0 == 0 /\ a_139^0-a_139^post77 == 0 /\ -r_192^post77+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77 == 0 /\ rcd_284^0-rcd_284^post77 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post77 == 0 /\ tail_15^0-tail_15^post77 == 0 /\ -y_21^post77+y_21^0 == 0 /\ -temp_36^post77+temp_36^0 == 0 /\ -f_202^post77+f_202^0 == 0 /\ -rcd_194^post77+rcd_194^0 == 0 /\ -i_130^post77+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77 == 0 /\ i_198^0-i_198^post77 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post77+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post77 == 0 /\ result_11^0-result_11^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ a_222^0-a_222^post77 == 0 /\ -rcd_71^post77+rcd_71^0 == 0 /\ -a_174^post77+a_174^0 == 0 /\ x_207^0-x_207^post77 == 0 /\ rcd_185^0-rcd_185^post77 == 0 /\ -head_SLAM_f_30^post77+head_SLAM_f_30^0 == 0 /\ -x_22^post77+x_22^0 == 0 /\ i_112^0-i_112^post77 == 0 /\ -t_23^post77+t_23^0 == 0 /\ length_29^0-length_29^post77 == 0 /\ -temp0_32^post77+temp0_32^0 == 0 /\ a_309^0-a_309^post77 == 0), cost: 1
  78: l50 -> l51 : a_139^0'=a_139^post78, result_11^0'=result_11^post78, i_31^0'=i_31^post78, rcd_193^0'=rcd_193^post78, a_309^0'=a_309^post78, tail_15^0'=tail_15^post78, length_29^0'=length_29^post78, x_SLAM_f_25^0'=x_SLAM_f_25^post78, rcd_288^0'=rcd_288^post78, rcd_320^0'=rcd_320^post78, i_112^0'=i_112^post78, tmp_35^0'=tmp_35^post78, rcd_106^0'=rcd_106^post78, a_222^0'=a_222^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78, x_22^0'=x_22^post78, rcd_199^0'=rcd_199^post78, head_16^0'=head_16^post78, temp0_32^0'=temp0_32^post78, r_149^0'=r_149^post78, y_26^0'=y_26^post78, rcd_71^0'=rcd_71^post78, i_198^0'=i_198^post78, x_207^0'=x_207^post78, rcd_185^0'=rcd_185^post78, a_279^0'=a_279^post78, t_23^0'=t_23^post78, len_221^0'=len_221^post78, x_SLAM_f_20^0'=x_SLAM_f_20^post78, rcd_284^0'=rcd_284^post78, head_SLAM_f_30^0'=head_SLAM_f_30^post78, temp_37^0'=temp_37^post78, r_41^0'=r_41^post78, a_174^0'=a_174^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78, len_159^0'=len_159^post78, rcd_194^0'=rcd_194^post78, f_202^0'=f_202^post78, temp0_19^0'=temp0_19^post78, nondet_12^0'=nondet_12^post78, y_21^0'=y_21^post78, rcd_308^0'=rcd_308^post78, rcd_45^0'=rcd_45^post78, i_130^0'=i_130^post78, x_154^0'=x_154^post78, rcd_114^0'=rcd_114^post78, a_253^0'=a_253^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, x_27^0'=x_27^post78, rcd_220^0'=rcd_220^post78, head_33^0'=head_33^post78, temp_36^0'=temp_36^post78, r_192^0'=r_192^post78, (-r_149^post78+r_149^0 == 0 /\ rcd_194^0-rcd_194^post78 == 0 /\ y_26^0-y_26^post78 == 0 /\ result_11^0-result_11^post78 == 0 /\ -x_207^post78+x_207^0 == 0 /\ -y_21^post78+y_21^0 == 0 /\ -i_130^post78+i_130^0 == 0 /\ -rcd_185^post78+rcd_185^0 == 0 /\ a_309^0-a_309^post78 == 0 /\ i_112^0-i_112^post78 == 0 /\ -temp_36^post78+temp_36^0 == 0 /\ -f_202^post78+f_202^0 == 0 /\ -i_198^post78+i_198^0 == 0 /\ -r_192^post78+r_192^0 == 0 /\ x_22^0-x_22^post78 == 0 /\ -head_16^post78+head_16^0 == 0 /\ -r_41^post78+r_41^0 == 0 /\ -x_154^post78+x_154^0 == 0 /\ temp_37^0-temp_37^post78 == 0 /\ rcd_71^0-rcd_71^post78 == 0 /\ a_174^0-a_174^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78 == 0 /\ -x_SLAM_f_20^post78+x_SLAM_f_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post78 == 0 /\ t_23^0-t_23^post78 == 0 /\ temp0_32^0-temp0_32^post78 == 0 /\ temp0_19^0-temp0_19^post78 == 0 /\ -rcd_288^post78+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post78 == 0 /\ -rcd_308^post78+rcd_308^0 == 0 /\ a_139^0-a_139^post78 == 0 /\ -a_253^post78+a_253^0 == 0 /\ -rcd_284^post78+rcd_284^0 == 0 /\ length_29^0-length_29^post78 == 0 /\ -rcd_220^post78+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post78 == 0 /\ tail_15^0-tail_15^post78 == 0 /\ -x_27^post78+x_27^0 == 0 /\ rcd_199^0-rcd_199^post78 == 0 /\ rcd_320^0-rcd_320^post78 == 0 /\ -rcd_45^post78+rcd_45^0 == 0 /\ i_31^0-i_31^post78 == 0 /\ len_221^0-len_221^post78 == 0 /\ a_222^0-a_222^post78 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post78+tmp_35^0 == 0 /\ rcd_106^0-rcd_106^post78 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_159^0-len_159^post78 == 0 /\ -head_33^post78+head_33^0 == 0 /\ a_279^0-a_279^post78 == 0 /\ -rcd_114^post78+rcd_114^0 == 0), cost: 1
  79: l51 -> l42 : a_139^0'=a_139^post79, result_11^0'=result_11^post79, i_31^0'=i_31^post79, rcd_193^0'=rcd_193^post79, a_309^0'=a_309^post79, tail_15^0'=tail_15^post79, length_29^0'=length_29^post79, x_SLAM_f_25^0'=x_SLAM_f_25^post79, rcd_288^0'=rcd_288^post79, rcd_320^0'=rcd_320^post79, i_112^0'=i_112^post79, tmp_35^0'=tmp_35^post79, rcd_106^0'=rcd_106^post79, a_222^0'=a_222^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79, x_22^0'=x_22^post79, rcd_199^0'=rcd_199^post79, head_16^0'=head_16^post79, temp0_32^0'=temp0_32^post79, r_149^0'=r_149^post79, y_26^0'=y_26^post79, rcd_71^0'=rcd_71^post79, i_198^0'=i_198^post79, x_207^0'=x_207^post79, rcd_185^0'=rcd_185^post79, a_279^0'=a_279^post79, t_23^0'=t_23^post79, len_221^0'=len_221^post79, x_SLAM_f_20^0'=x_SLAM_f_20^post79, rcd_284^0'=rcd_284^post79, head_SLAM_f_30^0'=head_SLAM_f_30^post79, temp_37^0'=temp_37^post79, r_41^0'=r_41^post79, a_174^0'=a_174^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79, len_159^0'=len_159^post79, rcd_194^0'=rcd_194^post79, f_202^0'=f_202^post79, temp0_19^0'=temp0_19^post79, nondet_12^0'=nondet_12^post79, y_21^0'=y_21^post79, rcd_308^0'=rcd_308^post79, rcd_45^0'=rcd_45^post79, i_130^0'=i_130^post79, x_154^0'=x_154^post79, rcd_114^0'=rcd_114^post79, a_253^0'=a_253^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, x_27^0'=x_27^post79, rcd_220^0'=rcd_220^post79, head_33^0'=head_33^post79, temp_36^0'=temp_36^post79, r_192^0'=r_192^post79, (rcd_199^0-rcd_199^post79 == 0 /\ rcd_114^0-rcd_114^post79 == 0 /\ r_41^0-r_41^post79 == 0 /\ -a_279^post79+a_279^0 == 0 /\ -head_33^post79+head_33^0 == 0 /\ i_31^0-i_31^post79 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79 == 0 /\ rcd_185^0-rcd_185^post79 == 0 /\ -len_159^post79+len_159^0 == 0 /\ -rcd_220^post79+rcd_220^0 == 0 /\ -a_253^post79+a_253^0 == 0 /\ tmp_35^0-tmp_35^post79 == 0 /\ a_139^0-a_139^post79 == 0 /\ -len_221^post79+len_221^0 == 0 /\ -rcd_45^post79+rcd_45^0 == 0 /\ -temp0_19^post79+temp0_19^0 == 0 /\ head_16^0-head_16^post79 == 0 /\ rcd_308^0-rcd_308^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post79+rcd_320^0 == 0 /\ -x_27^post79+x_27^0 == 0 /\ y_26^0-y_26^post79 == 0 /\ length_29^0-length_29^post79 == 0 /\ x_22^0-x_22^post79 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ f_202^0-f_202^post79 == 0 /\ tail_15^0-tail_15^post79 == 0 /\ i_112^0-i_112^post79 == 0 /\ -rcd_193^post79+rcd_193^0 == 0 /\ i_198^0-i_198^post79 == 0 /\ rcd_106^0-rcd_106^post79 == 0 /\ -temp_37^post79+temp_37^0 == 0 /\ a_222^0-a_222^post79 == 0 /\ -i_130^post79+i_130^0 == 0 /\ -temp_36^post79+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79 == 0 /\ -r_192^post79+r_192^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post79 == 0 /\ r_149^0-r_149^post79 == 0 /\ -rcd_194^post79+rcd_194^0 == 0 /\ -head_SLAM_f_30^post79+head_SLAM_f_30^0 == 0 /\ x_207^0-x_207^post79 == 0 /\ -x_154^post79+x_154^0 == 0 /\ -t_23^post79+t_23^0 == 0 /\ -a_174^post79+a_174^0 == 0 /\ -y_21^post79+y_21^0 == 0 /\ -temp0_32^post79+temp0_32^0 == 0 /\ a_309^0-a_309^post79 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post79 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_284^0-rcd_284^post79 == 0 /\ -rcd_71^post79+rcd_71^0 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ rcd_288^0-rcd_288^post79 == 0), cost: 1
  81: l53 -> l54 : a_139^0'=a_139^post81, result_11^0'=result_11^post81, i_31^0'=i_31^post81, rcd_193^0'=rcd_193^post81, a_309^0'=a_309^post81, tail_15^0'=tail_15^post81, length_29^0'=length_29^post81, x_SLAM_f_25^0'=x_SLAM_f_25^post81, rcd_288^0'=rcd_288^post81, rcd_320^0'=rcd_320^post81, i_112^0'=i_112^post81, tmp_35^0'=tmp_35^post81, rcd_106^0'=rcd_106^post81, a_222^0'=a_222^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81, x_22^0'=x_22^post81, rcd_199^0'=rcd_199^post81, head_16^0'=head_16^post81, temp0_32^0'=temp0_32^post81, r_149^0'=r_149^post81, y_26^0'=y_26^post81, rcd_71^0'=rcd_71^post81, i_198^0'=i_198^post81, x_207^0'=x_207^post81, rcd_185^0'=rcd_185^post81, a_279^0'=a_279^post81, t_23^0'=t_23^post81, len_221^0'=len_221^post81, x_SLAM_f_20^0'=x_SLAM_f_20^post81, rcd_284^0'=rcd_284^post81, head_SLAM_f_30^0'=head_SLAM_f_30^post81, temp_37^0'=temp_37^post81, r_41^0'=r_41^post81, a_174^0'=a_174^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81, len_159^0'=len_159^post81, rcd_194^0'=rcd_194^post81, f_202^0'=f_202^post81, temp0_19^0'=temp0_19^post81, nondet_12^0'=nondet_12^post81, y_21^0'=y_21^post81, rcd_308^0'=rcd_308^post81, rcd_45^0'=rcd_45^post81, i_130^0'=i_130^post81, x_154^0'=x_154^post81, rcd_114^0'=rcd_114^post81, a_253^0'=a_253^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, x_27^0'=x_27^post81, rcd_220^0'=rcd_220^post81, head_33^0'=head_33^post81, temp_36^0'=temp_36^post81, r_192^0'=r_192^post81, (i_31^0-i_31^post81 == 0 /\ -head_33^post81+head_33^0 == 0 /\ -a_253^post81+a_253^0 == 0 /\ i_112^0-i_112^post81 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post81 == 0 /\ rcd_199^0-rcd_199^post81 == 0 /\ rcd_320^0-rcd_320^post81 == 0 /\ -len_159^post81+len_159^0 == 0 /\ rcd_193^0-rcd_193^post81 == 0 /\ -rcd_308^post81+rcd_308^0 == 0 /\ result_11^0-result_11^post81 == 0 /\ -rcd_185^post81+rcd_185^0 == 0 /\ length_29^0-length_29^post81 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ temp0_32^0-temp0_32^post81 == 0 /\ -x_207^post81+x_207^0 == 0 /\ -rcd_220^post81+rcd_220^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_114^post81+rcd_114^0 == 0 /\ -rcd_45^post81+rcd_45^0 == 0 /\ y_26^0-y_26^post81 == 0 /\ -temp0_19^post81+temp0_19^0 == 0 /\ -x_27^post81+x_27^0 == 0 /\ f_202^0-f_202^post81 == 0 /\ -r_192^post81+r_192^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post81 == 0 /\ -temp_37^post81+temp_37^0 == 0 /\ a_279^0-a_279^post81 == 0 /\ -temp_36^post81+temp_36^0 == 0 /\ rcd_71^0-rcd_71^post81 == 0 /\ -a_174^post81+a_174^0 == 0 /\ -tail_15^post81+tail_15^0 == 0 /\ -rcd_194^post81+rcd_194^0 == 0 /\ -i_130^post81+i_130^0 == 0 /\ i_198^0-i_198^post81 == 0 /\ len_221^0-len_221^post81 == 0 /\ rcd_106^0-rcd_106^post81 == 0 /\ y_21^0-y_21^post81 == 0 /\ r_149^0-r_149^post81 == 0 /\ -t_23^post81+t_23^0 == 0 /\ -head_SLAM_f_30^post81+head_SLAM_f_30^0 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ tmp_35^0-tmp_35^post81 == 0 /\ -rcd_284^post81+rcd_284^0 == 0 /\ -x_154^post81+x_154^0 == 0 /\ a_139^0-a_139^post81 == 0 /\ a_222^0-a_222^post81 == 0 /\ -x_SLAM_f_20^post81+x_SLAM_f_20^0 == 0 /\ head_16^0-head_16^post81 == 0 /\ -r_41^post81+r_41^0 == 0 /\ a_309^0-a_309^post81 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_288^post81+rcd_288^0 == 0), cost: 1
  82: l53 -> l54 : a_139^0'=a_139^post82, result_11^0'=result_11^post82, i_31^0'=i_31^post82, rcd_193^0'=rcd_193^post82, a_309^0'=a_309^post82, tail_15^0'=tail_15^post82, length_29^0'=length_29^post82, x_SLAM_f_25^0'=x_SLAM_f_25^post82, rcd_288^0'=rcd_288^post82, rcd_320^0'=rcd_320^post82, i_112^0'=i_112^post82, tmp_35^0'=tmp_35^post82, rcd_106^0'=rcd_106^post82, a_222^0'=a_222^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82, x_22^0'=x_22^post82, rcd_199^0'=rcd_199^post82, head_16^0'=head_16^post82, temp0_32^0'=temp0_32^post82, r_149^0'=r_149^post82, y_26^0'=y_26^post82, rcd_71^0'=rcd_71^post82, i_198^0'=i_198^post82, x_207^0'=x_207^post82, rcd_185^0'=rcd_185^post82, a_279^0'=a_279^post82, t_23^0'=t_23^post82, len_221^0'=len_221^post82, x_SLAM_f_20^0'=x_SLAM_f_20^post82, rcd_284^0'=rcd_284^post82, head_SLAM_f_30^0'=head_SLAM_f_30^post82, temp_37^0'=temp_37^post82, r_41^0'=r_41^post82, a_174^0'=a_174^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82, len_159^0'=len_159^post82, rcd_194^0'=rcd_194^post82, f_202^0'=f_202^post82, temp0_19^0'=temp0_19^post82, nondet_12^0'=nondet_12^post82, y_21^0'=y_21^post82, rcd_308^0'=rcd_308^post82, rcd_45^0'=rcd_45^post82, i_130^0'=i_130^post82, x_154^0'=x_154^post82, rcd_114^0'=rcd_114^post82, a_253^0'=a_253^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, x_27^0'=x_27^post82, rcd_220^0'=rcd_220^post82, head_33^0'=head_33^post82, temp_36^0'=temp_36^post82, r_192^0'=r_192^post82, (x_207^0-x_207^post82 == 0 /\ length_29^0-length_29^post82 == 0 /\ 1-y_26^0+x_27^0 <= 0 /\ -y_21^post82+y_21^0 == 0 /\ -rcd_114^post82+rcd_114^0 == 0 /\ result_11^0-result_11^post82 == 0 /\ -r_149^post82+r_149^0 == 0 /\ -i_198^post82+i_198^0 == 0 /\ head_16^0-head_16^post82 == 0 /\ -temp_36^post82+temp_36^0 == 0 /\ -f_202^post82+f_202^0 == 0 /\ i_112^0-i_112^post82 == 0 /\ -i_130^post82+i_130^0 == 0 /\ -r_192^post82+r_192^0 == 0 /\ rcd_288^0-rcd_288^post82 == 0 /\ tmp_35^0-tmp_35^post82 == 0 /\ -temp_37^post82+temp_37^0 == 0 /\ i_31^0-i_31^post82 == 0 /\ -head_SLAM_f_30^post82+head_SLAM_f_30^0 == 0 /\ -x_154^post82+x_154^0 == 0 /\ -y_26^post82+y_26^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post82 == 0 /\ -x_SLAM_f_20^post82+x_SLAM_f_20^0 == 0 /\ -rcd_106^post82+rcd_106^0 == 0 /\ tail_15^0-tail_15^post82 == 0 /\ rcd_199^0-rcd_199^post82 == 0 /\ -rcd_71^post82+rcd_71^0 == 0 /\ -t_23^post82+t_23^0 == 0 /\ rcd_193^0-rcd_193^post82 == 0 /\ -x_22^post82+x_22^0 == 0 /\ -len_159^post82+len_159^0 == 0 /\ -a_253^post82+a_253^0 == 0 /\ -temp0_32^post82+temp0_32^0 == 0 /\ rcd_185^0-rcd_185^post82 == 0 /\ -len_221^post82+len_221^0 == 0 /\ a_222^0-a_222^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82 == 0 /\ rcd_220^0-rcd_220^post82 == 0 /\ -rcd_308^post82+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post82 == 0 /\ -rcd_284^post82+rcd_284^0 == 0 /\ a_139^0-a_139^post82 == 0 /\ a_309^0-a_309^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ a_174^0-a_174^post82 == 0 /\ r_41^0-r_41^post82 == 0 /\ -rcd_320^post82+rcd_320^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post82+x_27^0 == 0 /\ a_279^0-a_279^post82 == 0 /\ -head_33^post82+head_33^0 == 0 /\ -temp0_19^post82+temp0_19^0 == 0 /\ -rcd_45^post82+rcd_45^0 == 0), cost: 1
  83: l54 -> l55 : a_139^0'=a_139^post83, result_11^0'=result_11^post83, i_31^0'=i_31^post83, rcd_193^0'=rcd_193^post83, a_309^0'=a_309^post83, tail_15^0'=tail_15^post83, length_29^0'=length_29^post83, x_SLAM_f_25^0'=x_SLAM_f_25^post83, rcd_288^0'=rcd_288^post83, rcd_320^0'=rcd_320^post83, i_112^0'=i_112^post83, tmp_35^0'=tmp_35^post83, rcd_106^0'=rcd_106^post83, a_222^0'=a_222^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83, x_22^0'=x_22^post83, rcd_199^0'=rcd_199^post83, head_16^0'=head_16^post83, temp0_32^0'=temp0_32^post83, r_149^0'=r_149^post83, y_26^0'=y_26^post83, rcd_71^0'=rcd_71^post83, i_198^0'=i_198^post83, x_207^0'=x_207^post83, rcd_185^0'=rcd_185^post83, a_279^0'=a_279^post83, t_23^0'=t_23^post83, len_221^0'=len_221^post83, x_SLAM_f_20^0'=x_SLAM_f_20^post83, rcd_284^0'=rcd_284^post83, head_SLAM_f_30^0'=head_SLAM_f_30^post83, temp_37^0'=temp_37^post83, r_41^0'=r_41^post83, a_174^0'=a_174^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83, len_159^0'=len_159^post83, rcd_194^0'=rcd_194^post83, f_202^0'=f_202^post83, temp0_19^0'=temp0_19^post83, nondet_12^0'=nondet_12^post83, y_21^0'=y_21^post83, rcd_308^0'=rcd_308^post83, rcd_45^0'=rcd_45^post83, i_130^0'=i_130^post83, x_154^0'=x_154^post83, rcd_114^0'=rcd_114^post83, a_253^0'=a_253^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, x_27^0'=x_27^post83, rcd_220^0'=rcd_220^post83, head_33^0'=head_33^post83, temp_36^0'=temp_36^post83, r_192^0'=r_192^post83, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83 == 0 /\ rcd_284^0-rcd_284^post83 == 0 /\ -head_33^post83+head_33^0 == 0 /\ i_130^0-i_130^post83 == 0 /\ -rcd_308^post83+rcd_308^0 == 0 /\ -a_253^post83+a_253^0 == 0 /\ rcd_199^0-rcd_199^post83 == 0 /\ -1+a_174^0-a_222^post83 <= 0 /\ temp_37^0-temp_37^post83 == 0 /\ tail_15^0-tail_15^post83 == 0 /\ x_22^0-x_22^post83 == 0 /\ -a_279^post83+a_279^0 == 0 /\ rcd_106^0-rcd_106^post83 == 0 /\ rcd_220^post83-rcd_45^0 <= 0 /\ len_159^0-len_159^post83 == 0 /\ i_198^0-i_198^post83 == 0 /\ tail_15^0-y_26^0 <= 0 /\ a_174^0-a_174^post83 == 0 /\ r_149^0-r_149^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post83+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ t_23^0-t_23^post83 == 0 /\ result_11^0-result_11^post83 == 0 /\ -f_202^post83+f_202^0 == 0 /\ -1-len_159^0+len_221^post83 <= 0 /\ -x_207^post83+x_207^0 == 0 /\ -x_27^post83+x_27^0 == 0 /\ rcd_45^0-rcd_45^post83 == 0 /\ -rcd_220^post83+rcd_45^0 <= 0 /\ i_112^0-i_112^post83 == 0 /\ length_29^0-length_29^post83 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post83 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -y_21^post83+y_21^0 == 0 /\ -rcd_114^post83+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post83 == 0 /\ -rcd_194^post83+rcd_194^0 == 0 /\ 1-a_174^0+a_222^post83 <= 0 /\ rcd_71^0-rcd_71^post83 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post83 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_36^post83+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post83 == 0 /\ -rcd_185^post83+rcd_185^0 == 0 /\ -f_202^0+x_27^0 <= 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -x_SLAM_f_20^post83+x_SLAM_f_20^0 == 0 /\ 1+len_159^0-len_221^post83 <= 0 /\ -head_16^post83+head_16^0 == 0 /\ rcd_193^0-rcd_193^post83 == 0 /\ temp0_19^0-temp0_19^post83 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_309^0-a_309^post83 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post83 == 0 /\ -rcd_288^post83+rcd_288^0 == 0 /\ -x_154^post83+x_154^0 == 0 /\ a_139^0-a_139^post83 == 0 /\ r_192^0-r_192^post83 == 0 /\ -r_41^post83+r_41^0 == 0 /\ tmp_35^0-tmp_35^post83 == 0 /\ y_26^0-y_26^post83 == 0 /\ f_202^0-x_27^0 <= 0), cost: 1
  84: l55 -> l56 : a_139^0'=a_139^post84, result_11^0'=result_11^post84, i_31^0'=i_31^post84, rcd_193^0'=rcd_193^post84, a_309^0'=a_309^post84, tail_15^0'=tail_15^post84, length_29^0'=length_29^post84, x_SLAM_f_25^0'=x_SLAM_f_25^post84, rcd_288^0'=rcd_288^post84, rcd_320^0'=rcd_320^post84, i_112^0'=i_112^post84, tmp_35^0'=tmp_35^post84, rcd_106^0'=rcd_106^post84, a_222^0'=a_222^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84, x_22^0'=x_22^post84, rcd_199^0'=rcd_199^post84, head_16^0'=head_16^post84, temp0_32^0'=temp0_32^post84, r_149^0'=r_149^post84, y_26^0'=y_26^post84, rcd_71^0'=rcd_71^post84, i_198^0'=i_198^post84, x_207^0'=x_207^post84, rcd_185^0'=rcd_185^post84, a_279^0'=a_279^post84, t_23^0'=t_23^post84, len_221^0'=len_221^post84, x_SLAM_f_20^0'=x_SLAM_f_20^post84, rcd_284^0'=rcd_284^post84, head_SLAM_f_30^0'=head_SLAM_f_30^post84, temp_37^0'=temp_37^post84, r_41^0'=r_41^post84, a_174^0'=a_174^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84, len_159^0'=len_159^post84, rcd_194^0'=rcd_194^post84, f_202^0'=f_202^post84, temp0_19^0'=temp0_19^post84, nondet_12^0'=nondet_12^post84, y_21^0'=y_21^post84, rcd_308^0'=rcd_308^post84, rcd_45^0'=rcd_45^post84, i_130^0'=i_130^post84, x_154^0'=x_154^post84, rcd_114^0'=rcd_114^post84, a_253^0'=a_253^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, x_27^0'=x_27^post84, rcd_220^0'=rcd_220^post84, head_33^0'=head_33^post84, temp_36^0'=temp_36^post84, r_192^0'=r_192^post84, (rcd_193^0-rcd_193^post84 == 0 /\ -rcd_114^post84+rcd_114^0 == 0 /\ rcd_45^0-rcd_45^post84 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ rcd_185^0-rcd_185^post84 == 0 /\ x_207^0-x_207^post84 == 0 /\ -i_130^post84+i_130^0 == 0 /\ rcd_288^0-rcd_288^post84 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post84 == 0 /\ -r_192^post84+r_192^0 == 0 /\ -i_198^post84+i_198^0 == 0 /\ y_26^0-y_26^post84 == 0 /\ a_139^0-a_139^post84 == 0 /\ length_29^0-length_29^post84 == 0 /\ -x_SLAM_f_20^post84+x_SLAM_f_20^0 == 0 /\ -rcd_284^post84+rcd_284^0 == 0 /\ -temp_37^post84+temp_37^0 == 0 /\ -a_174^post84+a_174^0 == 0 /\ tail_15^0-tail_15^post84 == 0 /\ rcd_199^0-rcd_199^post84 == 0 /\ i_31^0-i_31^post84 == 0 /\ a_253^0-a_253^post84 == 0 /\ rcd_106^0-rcd_106^post84 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post84 == 0 /\ -t_23^post84+t_23^0 == 0 /\ -x_154^post84+x_154^0 == 0 /\ -y_21^post84+y_21^0 == 0 /\ a_279^0-a_279^post84 == 0 /\ temp0_32^0-temp0_32^post84 == 0 /\ -len_159^post84+len_159^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_308^post84+rcd_308^0 == 0 /\ -head_33^post84+head_33^0 == 0 /\ r_149^0-r_149^post84 == 0 /\ head_16^0-head_16^post84 == 0 /\ -temp0_19^post84+temp0_19^0 == 0 /\ a_222^0-a_222^post84 == 0 /\ f_202^0-f_202^post84 == 0 /\ -rcd_220^post84+rcd_220^0 == 0 /\ tmp_35^0-tmp_35^post84 == 0 /\ a_309^0-a_309^post84 == 0 /\ rcd_194^0-rcd_194^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ -temp_36^post84+temp_36^0 == 0 /\ x_22^0-x_22^post84 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84 == 0 /\ rcd_71^0-rcd_71^post84 == 0 /\ -x_27^post84+x_27^0 == 0 /\ r_41^0-r_41^post84 == 0 /\ -rcd_320^post84+rcd_320^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post84+i_112^0 == 0 /\ -len_221^post84+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  85: l55 -> l56 : a_139^0'=a_139^post85, result_11^0'=result_11^post85, i_31^0'=i_31^post85, rcd_193^0'=rcd_193^post85, a_309^0'=a_309^post85, tail_15^0'=tail_15^post85, length_29^0'=length_29^post85, x_SLAM_f_25^0'=x_SLAM_f_25^post85, rcd_288^0'=rcd_288^post85, rcd_320^0'=rcd_320^post85, i_112^0'=i_112^post85, tmp_35^0'=tmp_35^post85, rcd_106^0'=rcd_106^post85, a_222^0'=a_222^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85, x_22^0'=x_22^post85, rcd_199^0'=rcd_199^post85, head_16^0'=head_16^post85, temp0_32^0'=temp0_32^post85, r_149^0'=r_149^post85, y_26^0'=y_26^post85, rcd_71^0'=rcd_71^post85, i_198^0'=i_198^post85, x_207^0'=x_207^post85, rcd_185^0'=rcd_185^post85, a_279^0'=a_279^post85, t_23^0'=t_23^post85, len_221^0'=len_221^post85, x_SLAM_f_20^0'=x_SLAM_f_20^post85, rcd_284^0'=rcd_284^post85, head_SLAM_f_30^0'=head_SLAM_f_30^post85, temp_37^0'=temp_37^post85, r_41^0'=r_41^post85, a_174^0'=a_174^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85, len_159^0'=len_159^post85, rcd_194^0'=rcd_194^post85, f_202^0'=f_202^post85, temp0_19^0'=temp0_19^post85, nondet_12^0'=nondet_12^post85, y_21^0'=y_21^post85, rcd_308^0'=rcd_308^post85, rcd_45^0'=rcd_45^post85, i_130^0'=i_130^post85, x_154^0'=x_154^post85, rcd_114^0'=rcd_114^post85, a_253^0'=a_253^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, x_27^0'=x_27^post85, rcd_220^0'=rcd_220^post85, head_33^0'=head_33^post85, temp_36^0'=temp_36^post85, r_192^0'=r_192^post85, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85 == 0 /\ x_22^0-x_22^post85 == 0 /\ len_221^0-len_221^post85 == 0 /\ tail_15^0-tail_15^post85 == 0 /\ -temp0_19^post85+temp0_19^0 == 0 /\ temp_37^0-temp_37^post85 == 0 /\ i_198^0-i_198^post85 == 0 /\ -head_33^post85+head_33^0 == 0 /\ -rcd_220^post85+rcd_220^0 == 0 /\ -a_253^post85+a_253^0 == 0 /\ -rcd_308^post85+rcd_308^0 == 0 /\ result_11^0-result_11^post85 == 0 /\ len_159^0-len_159^post85 == 0 /\ -a_279^post85+a_279^0 == 0 /\ rcd_193^0-rcd_193^post85 == 0 /\ -x_27^post85+x_27^0 == 0 /\ -temp_36^post85+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post85 == 0 /\ -f_202^post85+f_202^0 == 0 /\ r_149^0-r_149^post85 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_112^post85+i_112^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post85 == 0 /\ t_23^0-t_23^post85 == 0 /\ x_154^0-x_154^post85 == 0 /\ a_222^0-a_222^post85 == 0 /\ -x_207^post85+x_207^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_288^0-rcd_288^post85 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post85 == 0 /\ rcd_284^0-rcd_284^post85 == 0 /\ -rcd_114^post85+rcd_114^0 == 0 /\ a_309^0-a_309^post85 == 0 /\ -rcd_106^post85+rcd_106^0 == 0 /\ -r_192^post85+r_192^0 == 0 /\ rcd_320^0-rcd_320^post85 == 0 /\ -y_21^post85+y_21^0 == 0 /\ -rcd_199^post85+rcd_199^0 == 0 /\ i_31^0-i_31^post85 == 0 /\ -i_130^post85+i_130^0 == 0 /\ -rcd_45^post85+rcd_45^0 == 0 /\ rcd_71^0-rcd_71^post85 == 0 /\ -rcd_194^post85+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post85 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -head_16^post85+head_16^0 == 0 /\ a_139^0-a_139^post85 == 0 /\ tmp_35^0-tmp_35^post85 == 0 /\ -r_41^post85+r_41^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ -head_SLAM_f_30^post85+head_SLAM_f_30^0 == 0 /\ -a_174^post85+a_174^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ -y_26^post85+y_26^0 == 0), cost: 1
  86: l56 -> l57 : a_139^0'=a_139^post86, result_11^0'=result_11^post86, i_31^0'=i_31^post86, rcd_193^0'=rcd_193^post86, a_309^0'=a_309^post86, tail_15^0'=tail_15^post86, length_29^0'=length_29^post86, x_SLAM_f_25^0'=x_SLAM_f_25^post86, rcd_288^0'=rcd_288^post86, rcd_320^0'=rcd_320^post86, i_112^0'=i_112^post86, tmp_35^0'=tmp_35^post86, rcd_106^0'=rcd_106^post86, a_222^0'=a_222^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86, x_22^0'=x_22^post86, rcd_199^0'=rcd_199^post86, head_16^0'=head_16^post86, temp0_32^0'=temp0_32^post86, r_149^0'=r_149^post86, y_26^0'=y_26^post86, rcd_71^0'=rcd_71^post86, i_198^0'=i_198^post86, x_207^0'=x_207^post86, rcd_185^0'=rcd_185^post86, a_279^0'=a_279^post86, t_23^0'=t_23^post86, len_221^0'=len_221^post86, x_SLAM_f_20^0'=x_SLAM_f_20^post86, rcd_284^0'=rcd_284^post86, head_SLAM_f_30^0'=head_SLAM_f_30^post86, temp_37^0'=temp_37^post86, r_41^0'=r_41^post86, a_174^0'=a_174^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86, len_159^0'=len_159^post86, rcd_194^0'=rcd_194^post86, f_202^0'=f_202^post86, temp0_19^0'=temp0_19^post86, nondet_12^0'=nondet_12^post86, y_21^0'=y_21^post86, rcd_308^0'=rcd_308^post86, rcd_45^0'=rcd_45^post86, i_130^0'=i_130^post86, x_154^0'=x_154^post86, rcd_114^0'=rcd_114^post86, a_253^0'=a_253^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, x_27^0'=x_27^post86, rcd_220^0'=rcd_220^post86, head_33^0'=head_33^post86, temp_36^0'=temp_36^post86, r_192^0'=r_192^post86, (-r_192^post86+r_192^0 == 0 /\ a_139^0-a_139^post86 == 0 /\ temp0_32^0-temp0_32^post86 == 0 /\ rcd_193^0-rcd_193^post86 == 0 /\ -i_198^post86+i_198^0 == 0 /\ -rcd_45^post86+rcd_45^0 == 0 /\ -i_130^post86+i_130^0 == 0 /\ -r_149^post86+r_149^0 == 0 /\ rcd_194^0-rcd_194^post86 == 0 /\ -temp_37^post86+temp_37^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post86 == 0 /\ -x_154^post86+x_154^0 == 0 /\ i_112^0-i_112^post86 == 0 /\ x_22^0-x_22^post86 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86 == 0 /\ f_202^0-f_202^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ 1+y_26^0-x_207^0 <= 0 /\ -a_174^post86+a_174^0 == 0 /\ tail_15^0-tail_15^post86 == 0 /\ -r_41^post86+r_41^0 == 0 /\ rcd_199^0-rcd_199^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ result_11^0-result_11^post86 == 0 /\ len_221^0-len_221^post86 == 0 /\ a_279^0-a_279^post86 == 0 /\ -x_SLAM_f_25^post86+x_SLAM_f_25^0 == 0 /\ -len_159^post86+len_159^0 == 0 /\ tmp_35^0-tmp_35^post86 == 0 /\ -x_SLAM_f_20^post86+x_SLAM_f_20^0 == 0 /\ -a_253^post86+a_253^0 == 0 /\ head_16^0-head_16^post86 == 0 /\ rcd_288^0-rcd_288^post86 == 0 /\ y_26^0-y_26^post86 == 0 /\ -head_33^post86+head_33^0 == 0 /\ -rcd_308^post86+rcd_308^0 == 0 /\ -rcd_284^post86+rcd_284^0 == 0 /\ -rcd_220^post86+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post86 == 0 /\ -temp_36^post86+temp_36^0 == 0 /\ a_309^0-a_309^post86 == 0 /\ -x_27^post86+x_27^0 == 0 /\ -rcd_185^post86+rcd_185^0 == 0 /\ -a_222^post86+a_222^0 == 0 /\ rcd_106^0-rcd_106^post86 == 0 /\ rcd_71^0-rcd_71^post86 == 0 /\ -x_207^post86+x_207^0 == 0 /\ i_31^0-i_31^post86 == 0 /\ -temp0_19^post86+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post86 == 0 /\ -rcd_114^post86+rcd_114^0 == 0), cost: 1
  87: l56 -> l57 : a_139^0'=a_139^post87, result_11^0'=result_11^post87, i_31^0'=i_31^post87, rcd_193^0'=rcd_193^post87, a_309^0'=a_309^post87, tail_15^0'=tail_15^post87, length_29^0'=length_29^post87, x_SLAM_f_25^0'=x_SLAM_f_25^post87, rcd_288^0'=rcd_288^post87, rcd_320^0'=rcd_320^post87, i_112^0'=i_112^post87, tmp_35^0'=tmp_35^post87, rcd_106^0'=rcd_106^post87, a_222^0'=a_222^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87, x_22^0'=x_22^post87, rcd_199^0'=rcd_199^post87, head_16^0'=head_16^post87, temp0_32^0'=temp0_32^post87, r_149^0'=r_149^post87, y_26^0'=y_26^post87, rcd_71^0'=rcd_71^post87, i_198^0'=i_198^post87, x_207^0'=x_207^post87, rcd_185^0'=rcd_185^post87, a_279^0'=a_279^post87, t_23^0'=t_23^post87, len_221^0'=len_221^post87, x_SLAM_f_20^0'=x_SLAM_f_20^post87, rcd_284^0'=rcd_284^post87, head_SLAM_f_30^0'=head_SLAM_f_30^post87, temp_37^0'=temp_37^post87, r_41^0'=r_41^post87, a_174^0'=a_174^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87, len_159^0'=len_159^post87, rcd_194^0'=rcd_194^post87, f_202^0'=f_202^post87, temp0_19^0'=temp0_19^post87, nondet_12^0'=nondet_12^post87, y_21^0'=y_21^post87, rcd_308^0'=rcd_308^post87, rcd_45^0'=rcd_45^post87, i_130^0'=i_130^post87, x_154^0'=x_154^post87, rcd_114^0'=rcd_114^post87, a_253^0'=a_253^post87, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post87, x_27^0'=x_27^post87, rcd_220^0'=rcd_220^post87, head_33^0'=head_33^post87, temp_36^0'=temp_36^post87, r_192^0'=r_192^post87, (-len_221^post87+len_221^0 == 0 /\ -head_33^post87+head_33^0 == 0 /\ x_22^0-x_22^post87 == 0 /\ -len_159^post87+len_159^0 == 0 /\ 1-y_26^0+x_207^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87 == 0 /\ rcd_114^0-rcd_114^post87 == 0 /\ -rcd_284^post87+rcd_284^0 == 0 /\ tail_15^0-tail_15^post87 == 0 /\ rcd_185^0-rcd_185^post87 == 0 /\ -x_SLAM_f_20^post87+x_SLAM_f_20^0 == 0 /\ -a_253^post87+a_253^0 == 0 /\ -rcd_308^post87+rcd_308^0 == 0 /\ -a_279^post87+a_279^0 == 0 /\ -rcd_220^post87+rcd_220^0 == 0 /\ x_154^0-x_154^post87 == 0 /\ a_139^0-a_139^post87 == 0 /\ x_207^0-x_207^post87 == 0 /\ r_149^0-r_149^post87 == 0 /\ -rcd_45^post87+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post87+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post87+x_27^0 == 0 /\ tmp_35^0-tmp_35^post87 == 0 /\ rcd_193^0-rcd_193^post87 == 0 /\ -temp0_19^post87+temp0_19^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post87 == 0 /\ -a_222^post87+a_222^0 == 0 /\ rcd_288^0-rcd_288^post87 == 0 /\ i_112^0-i_112^post87 == 0 /\ -i_198^post87+i_198^0 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ rcd_320^0-rcd_320^post87 == 0 /\ -a_309^post87+a_309^0 == 0 /\ i_31^0-i_31^post87 == 0 /\ -i_130^post87+i_130^0 == 0 /\ rcd_199^0-rcd_199^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87 == 0 /\ -temp_36^post87+temp_36^0 == 0 /\ result_11^0-result_11^post87 == 0 /\ -y_21^post87+y_21^0 == 0 /\ -f_202^post87+f_202^0 == 0 /\ -temp_37^post87+temp_37^0 == 0 /\ -r_192^post87+r_192^0 == 0 /\ -y_26^post87+y_26^0 == 0 /\ -rcd_71^post87+rcd_71^0 == 0 /\ head_16^0-head_16^post87 == 0 /\ -head_SLAM_f_30^post87+head_SLAM_f_30^0 == 0 /\ -a_174^post87+a_174^0 == 0 /\ rcd_194^0-rcd_194^post87 == 0 /\ -rcd_106^post87+rcd_106^0 == 0 /\ -t_23^post87+t_23^0 == 0 /\ r_41^0-r_41^post87 == 0 /\ length_29^0-length_29^post87 == 0 /\ -temp0_32^post87+temp0_32^0 == 0), cost: 1
  88: l57 -> l52 : a_139^0'=a_139^post88, result_11^0'=result_11^post88, i_31^0'=i_31^post88, rcd_193^0'=rcd_193^post88, a_309^0'=a_309^post88, tail_15^0'=tail_15^post88, length_29^0'=length_29^post88, x_SLAM_f_25^0'=x_SLAM_f_25^post88, rcd_288^0'=rcd_288^post88, rcd_320^0'=rcd_320^post88, i_112^0'=i_112^post88, tmp_35^0'=tmp_35^post88, rcd_106^0'=rcd_106^post88, a_222^0'=a_222^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88, x_22^0'=x_22^post88, rcd_199^0'=rcd_199^post88, head_16^0'=head_16^post88, temp0_32^0'=temp0_32^post88, r_149^0'=r_149^post88, y_26^0'=y_26^post88, rcd_71^0'=rcd_71^post88, i_198^0'=i_198^post88, x_207^0'=x_207^post88, rcd_185^0'=rcd_185^post88, a_279^0'=a_279^post88, t_23^0'=t_23^post88, len_221^0'=len_221^post88, x_SLAM_f_20^0'=x_SLAM_f_20^post88, rcd_284^0'=rcd_284^post88, head_SLAM_f_30^0'=head_SLAM_f_30^post88, temp_37^0'=temp_37^post88, r_41^0'=r_41^post88, a_174^0'=a_174^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88, len_159^0'=len_159^post88, rcd_194^0'=rcd_194^post88, f_202^0'=f_202^post88, temp0_19^0'=temp0_19^post88, nondet_12^0'=nondet_12^post88, y_21^0'=y_21^post88, rcd_308^0'=rcd_308^post88, rcd_45^0'=rcd_45^post88, i_130^0'=i_130^post88, x_154^0'=x_154^post88, rcd_114^0'=rcd_114^post88, a_253^0'=a_253^post88, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post88, x_27^0'=x_27^post88, rcd_220^0'=rcd_220^post88, head_33^0'=head_33^post88, temp_36^0'=temp_36^post88, r_192^0'=r_192^post88, (0 == 0 /\ -rcd_194^post88+rcd_194^0 == 0 /\ a_222^0-a_222^post88 == 0 /\ -r_149^post88+r_149^0 == 0 /\ a_139^0-a_139^post88 == 0 /\ -len_221^0+len_159^post88 <= 0 /\ -rcd_114^post88+rcd_114^0 == 0 /\ -r_192^post88+r_192^0 == 0 /\ -i_130^post88+i_130^0 == 0 /\ -rcd_71^post88+rcd_71^0 == 0 /\ -temp_36^post88+temp_36^0 == 0 /\ -y_21^post88+y_21^0 == 0 /\ t_23^0-t_23^post88 == 0 /\ -f_202^post88+f_202^0 == 0 /\ x_22^0-x_22^post88 == 0 /\ a_309^0-a_309^post88 == 0 /\ len_221^0-len_159^post88 <= 0 /\ i_112^0-i_112^post88 == 0 /\ -head_16^post88+head_16^0 == 0 /\ -a_279^post88+a_279^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88 == 0 /\ -x_154^post88+x_154^0 == 0 /\ rcd_284^0-rcd_284^post88 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post88 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -rcd_199^post88+rcd_199^0 == 0 /\ -head_SLAM_f_30^post88+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post88 == 0 /\ i_198^0-i_198^post88 == 0 /\ temp0_32^0-temp0_32^post88 == 0 /\ -r_41^post88+r_41^0 == 0 /\ tmp_35^0-tmp_35^post88 == 0 /\ result_11^0-result_11^post88 == 0 /\ -len_221^post88+len_221^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_207^0-x_207^post88 == 0 /\ -rcd_45^post88+rcd_220^0 <= 0 /\ temp0_19^0-temp0_19^post88 == 0 /\ x_27^0-x_27^post88 == 0 /\ rcd_193^0-rcd_193^post88 == 0 /\ -head_33^post88+head_33^0 == 0 /\ -rcd_308^post88+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post88 == 0 /\ y_26^0-y_26^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ -a_253^post88+a_253^0 == 0 /\ rcd_288^0-rcd_288^post88 == 0 /\ -a_222^0+a_174^post88 <= 0 /\ -rcd_220^post88+rcd_220^0 == 0 /\ -rcd_185^post88+rcd_185^0 == 0 /\ rcd_45^post88-rcd_220^0 <= 0 /\ temp_37^0-temp_37^post88 == 0 /\ rcd_320^0-rcd_320^post88 == 0 /\ i_31^0-i_31^post88 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-tail_15^post88 == 0 /\ rcd_106^0-rcd_106^post88 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_222^0-a_174^post88 <= 0), cost: 1
  89: l52 -> l1 : a_139^0'=a_139^post89, result_11^0'=result_11^post89, i_31^0'=i_31^post89, rcd_193^0'=rcd_193^post89, a_309^0'=a_309^post89, tail_15^0'=tail_15^post89, length_29^0'=length_29^post89, x_SLAM_f_25^0'=x_SLAM_f_25^post89, rcd_288^0'=rcd_288^post89, rcd_320^0'=rcd_320^post89, i_112^0'=i_112^post89, tmp_35^0'=tmp_35^post89, rcd_106^0'=rcd_106^post89, a_222^0'=a_222^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89, x_22^0'=x_22^post89, rcd_199^0'=rcd_199^post89, head_16^0'=head_16^post89, temp0_32^0'=temp0_32^post89, r_149^0'=r_149^post89, y_26^0'=y_26^post89, rcd_71^0'=rcd_71^post89, i_198^0'=i_198^post89, x_207^0'=x_207^post89, rcd_185^0'=rcd_185^post89, a_279^0'=a_279^post89, t_23^0'=t_23^post89, len_221^0'=len_221^post89, x_SLAM_f_20^0'=x_SLAM_f_20^post89, rcd_284^0'=rcd_284^post89, head_SLAM_f_30^0'=head_SLAM_f_30^post89, temp_37^0'=temp_37^post89, r_41^0'=r_41^post89, a_174^0'=a_174^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89, len_159^0'=len_159^post89, rcd_194^0'=rcd_194^post89, f_202^0'=f_202^post89, temp0_19^0'=temp0_19^post89, nondet_12^0'=nondet_12^post89, y_21^0'=y_21^post89, rcd_308^0'=rcd_308^post89, rcd_45^0'=rcd_45^post89, i_130^0'=i_130^post89, x_154^0'=x_154^post89, rcd_114^0'=rcd_114^post89, a_253^0'=a_253^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_27^0'=x_27^post89, rcd_220^0'=rcd_220^post89, head_33^0'=head_33^post89, temp_36^0'=temp_36^post89, r_192^0'=r_192^post89, (head_SLAM_f_30^0-head_SLAM_f_30^post89 == 0 /\ tail_15^0-tail_15^post89 == 0 /\ -rcd_308^post89+rcd_308^0 == 0 /\ -rcd_284^post89+rcd_284^0 == 0 /\ rcd_71^0-rcd_71^post89 == 0 /\ i_31^0-i_31^post89 == 0 /\ -head_33^post89+head_33^0 == 0 /\ -rcd_220^post89+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post89 == 0 /\ -x_27^post89+x_27^0 == 0 /\ rcd_185^0-rcd_185^post89 == 0 /\ -a_253^post89+a_253^0 == 0 /\ temp0_32^0-temp0_32^post89 == 0 /\ tmp_35^0-tmp_35^post89 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post89 == 0 /\ -x_207^post89+x_207^0 == 0 /\ rcd_193^0-rcd_193^post89 == 0 /\ a_279^0-a_279^post89 == 0 /\ head_16^0-head_16^post89 == 0 /\ -temp_36^post89+temp_36^0 == 0 /\ -rcd_45^post89+rcd_45^0 == 0 /\ -f_202^post89+f_202^0 == 0 /\ -r_192^post89+r_192^0 == 0 /\ -len_221^post89+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post89+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_309^0-a_309^post89 == 0 /\ y_26^0-y_26^post89 == 0 /\ x_22^0-x_22^post89 == 0 /\ -i_130^post89+i_130^0 == 0 /\ -rcd_194^post89+rcd_194^0 == 0 /\ r_41^0-r_41^post89 == 0 /\ rcd_199^0-rcd_199^post89 == 0 /\ i_112^0-i_112^post89 == 0 /\ -rcd_114^post89+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post89 == 0 /\ y_21^0-y_21^post89 == 0 /\ i_198^0-i_198^post89 == 0 /\ result_11^0-result_11^post89 == 0 /\ a_222^0-a_222^post89 == 0 /\ r_149^0-r_149^post89 == 0 /\ -x_SLAM_f_25^post89+x_SLAM_f_25^0 == 0 /\ -x_SLAM_f_20^post89+x_SLAM_f_20^0 == 0 /\ -temp_37^post89+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_19^0-temp0_19^post89 == 0 /\ length_29^0-length_29^post89 == 0 /\ -len_159^post89+len_159^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ t_23^0-t_23^post89 == 0 /\ rcd_288^0-rcd_288^post89 == 0 /\ -a_174^post89+a_174^0 == 0 /\ -x_154^post89+x_154^0 == 0), cost: 1
  90: l58 -> l59 : a_139^0'=a_139^post90, result_11^0'=result_11^post90, i_31^0'=i_31^post90, rcd_193^0'=rcd_193^post90, a_309^0'=a_309^post90, tail_15^0'=tail_15^post90, length_29^0'=length_29^post90, x_SLAM_f_25^0'=x_SLAM_f_25^post90, rcd_288^0'=rcd_288^post90, rcd_320^0'=rcd_320^post90, i_112^0'=i_112^post90, tmp_35^0'=tmp_35^post90, rcd_106^0'=rcd_106^post90, a_222^0'=a_222^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post90, x_22^0'=x_22^post90, rcd_199^0'=rcd_199^post90, head_16^0'=head_16^post90, temp0_32^0'=temp0_32^post90, r_149^0'=r_149^post90, y_26^0'=y_26^post90, rcd_71^0'=rcd_71^post90, i_198^0'=i_198^post90, x_207^0'=x_207^post90, rcd_185^0'=rcd_185^post90, a_279^0'=a_279^post90, t_23^0'=t_23^post90, len_221^0'=len_221^post90, x_SLAM_f_20^0'=x_SLAM_f_20^post90, rcd_284^0'=rcd_284^post90, head_SLAM_f_30^0'=head_SLAM_f_30^post90, temp_37^0'=temp_37^post90, r_41^0'=r_41^post90, a_174^0'=a_174^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post90, len_159^0'=len_159^post90, rcd_194^0'=rcd_194^post90, f_202^0'=f_202^post90, temp0_19^0'=temp0_19^post90, nondet_12^0'=nondet_12^post90, y_21^0'=y_21^post90, rcd_308^0'=rcd_308^post90, rcd_45^0'=rcd_45^post90, i_130^0'=i_130^post90, x_154^0'=x_154^post90, rcd_114^0'=rcd_114^post90, a_253^0'=a_253^post90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post90, x_27^0'=x_27^post90, rcd_220^0'=rcd_220^post90, head_33^0'=head_33^post90, temp_36^0'=temp_36^post90, r_192^0'=r_192^post90, (0 == 0 /\ -rcd_320^post90+rcd_45^0 <= 0 /\ tmp_35^0-tmp_35^post90 == 0 /\ -rcd_199^post90+rcd_199^0 == 0 /\ -i_130^post90+i_130^0 == 0 /\ -rcd_114^post90+rcd_114^0 == 0 /\ -y_26^0+x_27^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ a_222^0-a_222^post90 == 0 /\ x_154^0-x_154^post90 == 0 /\ r_149^0-r_149^post90 == 0 /\ 1-len_159^0 <= 0 /\ -1+len_159^0 <= 0 /\ rcd_308^0-rcd_308^post90 == 0 /\ -t_23^post90+t_23^0 == 0 /\ -tail_15^0+y_21^post90 <= 0 /\ -tail_15^0+y_21^post90 == 0 /\ -rcd_194^post90+rcd_194^0 == 0 /\ -rcd_45^post90+rcd_45^0 == 0 /\ -rcd_71^post90+rcd_71^0 == 0 /\ a_309^0-a_309^post90 == 0 /\ -head_16^0+x_22^post90 <= 0 /\ r_41^0-r_41^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post90 == 0 /\ rcd_284^0-rcd_284^post90 == 0 /\ rcd_320^post90-rcd_45^0 <= 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ -head_16^post90+head_16^0 == 0 /\ -a_279^post90+a_279^0 == 0 /\ y_26^0-x_27^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ -temp_37^post90+temp_37^0 == 0 /\ -a_139^0 <= 0 /\ tail_15^0-y_21^post90 <= 0 /\ -len_159^post90+len_159^0 == 0 /\ i_198^0-i_198^post90 == 0 /\ temp0_32^0-temp0_32^post90 == 0 /\ -head_SLAM_f_30^post90+head_SLAM_f_30^0 == 0 /\ head_16^0-x_22^post90 <= 0 /\ -a_174^post90+a_174^0 == 0 /\ -head_16^0+x_SLAM_f_20^post90 <= 0 /\ -head_16^0+x_SLAM_f_20^post90 == 0 /\ x_207^0-x_207^post90 == 0 /\ -temp0_19^post90+temp0_19^0 == 0 /\ rcd_193^0-rcd_193^post90 == 0 /\ a_139^0-a_139^post90 == 0 /\ -x_SLAM_f_20^post90+x_22^post90 <= 0 /\ -x_SLAM_f_20^post90+x_22^post90 == 0 /\ -rcd_220^post90+rcd_220^0 == 0 /\ y_21^post90-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ rcd_288^0-rcd_288^post90 == 0 /\ -head_33^post90+head_33^0 == 0 /\ head_16^0-x_SLAM_f_20^post90 <= 0 /\ x_SLAM_f_20^post90-x_22^post90 <= 0 /\ rcd_106^0-rcd_106^post90 == 0 /\ -temp_36^post90+temp_36^0 == 0 /\ tail_15^0-tail_15^post90 == 0 /\ -r_192^post90+r_192^0 == 0 /\ -a_253^post90+a_253^0 == 0 /\ -i_112^post90+i_112^0 == 0 /\ -f_202^post90+f_202^0 == 0 /\ -y_21^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ rcd_185^0-rcd_185^post90 == 0 /\ -len_221^post90+len_221^0 == 0 /\ i_31^0-i_31^post90 == 0 /\ -length_29^post90+length_29^0 == 0 /\ result_11^0-result_11^post90 == 0), cost: 1
  94: l58 -> l61 : a_139^0'=a_139^post94, result_11^0'=result_11^post94, i_31^0'=i_31^post94, rcd_193^0'=rcd_193^post94, a_309^0'=a_309^post94, tail_15^0'=tail_15^post94, length_29^0'=length_29^post94, x_SLAM_f_25^0'=x_SLAM_f_25^post94, rcd_288^0'=rcd_288^post94, rcd_320^0'=rcd_320^post94, i_112^0'=i_112^post94, tmp_35^0'=tmp_35^post94, rcd_106^0'=rcd_106^post94, a_222^0'=a_222^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post94, x_22^0'=x_22^post94, rcd_199^0'=rcd_199^post94, head_16^0'=head_16^post94, temp0_32^0'=temp0_32^post94, r_149^0'=r_149^post94, y_26^0'=y_26^post94, rcd_71^0'=rcd_71^post94, i_198^0'=i_198^post94, x_207^0'=x_207^post94, rcd_185^0'=rcd_185^post94, a_279^0'=a_279^post94, t_23^0'=t_23^post94, len_221^0'=len_221^post94, x_SLAM_f_20^0'=x_SLAM_f_20^post94, rcd_284^0'=rcd_284^post94, head_SLAM_f_30^0'=head_SLAM_f_30^post94, temp_37^0'=temp_37^post94, r_41^0'=r_41^post94, a_174^0'=a_174^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post94, len_159^0'=len_159^post94, rcd_194^0'=rcd_194^post94, f_202^0'=f_202^post94, temp0_19^0'=temp0_19^post94, nondet_12^0'=nondet_12^post94, y_21^0'=y_21^post94, rcd_308^0'=rcd_308^post94, rcd_45^0'=rcd_45^post94, i_130^0'=i_130^post94, x_154^0'=x_154^post94, rcd_114^0'=rcd_114^post94, a_253^0'=a_253^post94, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post94, x_27^0'=x_27^post94, rcd_220^0'=rcd_220^post94, head_33^0'=head_33^post94, temp_36^0'=temp_36^post94, r_192^0'=r_192^post94, (0 == 0 /\ rcd_193^0-rcd_193^post94 == 0 /\ a_279^0-a_279^post94 == 0 /\ rcd_45^0-rcd_45^post94 == 0 /\ rcd_288^0-rcd_288^post94 == 0 /\ -y_21^post94+y_21^0 == 0 /\ -rcd_114^post94+rcd_114^0 == 0 /\ y_26^0-y_26^post94 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post94 == 0 /\ length_29^0-length_29^post94 == 0 /\ rcd_71^0-rcd_71^post94 == 0 /\ temp_37^0-temp_37^post94 == 0 /\ -a_174^post94+a_174^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post94+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ i_31^0-i_31^post94 == 0 /\ a_253^0-a_253^post94 == 0 /\ rcd_106^0-rcd_106^post94 == 0 /\ -a_139^0 <= 0 /\ rcd_320^0-rcd_320^post94 == 0 /\ len_221^0-len_221^post94 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ rcd_199^0-rcd_199^post94 == 0 /\ -i_130^post94+i_130^0 == 0 /\ len_159^0-len_159^post94 == 0 /\ a_139^0-a_139^post94 == 0 /\ i_198^0-i_198^post94 == 0 /\ -x_SLAM_f_20^post94+x_SLAM_f_20^0 == 0 /\ -rcd_284^post94+rcd_284^0 == 0 /\ -temp0_19^post94+temp0_19^0 == 0 /\ -tmp_35^post94+tmp_35^0 == 0 /\ -r_41^post94+r_41^0 == 0 /\ -head_33^post94+head_33^0 == 0 /\ -rcd_220^post94+rcd_220^0 == 0 /\ t_23^0-t_23^post94 == 0 /\ f_202^0-f_202^post94 == 0 /\ -result_11^post94+result_11^0 == 0 /\ -x_207^post94+x_207^0 == 0 /\ a_222^0-a_222^post94 == 0 /\ -x_27^post94+x_27^0 == 0 /\ a_309^0-a_309^post94 == 0 /\ -temp_36^post94+temp_36^0 == 0 /\ x_22^0-x_22^post94 == 0 /\ -r_192^post94+r_192^0 == 0 /\ -rcd_185^post94+rcd_185^0 == 0 /\ i_112^0-i_112^post94 == 0 /\ temp0_32^0-temp0_32^post94 == 0 /\ -rcd_308^post94+rcd_308^0 == 0 /\ -rcd_194^post94+rcd_194^0 == 0), cost: 1
  91: l59 -> l60 : a_139^0'=a_139^post91, result_11^0'=result_11^post91, i_31^0'=i_31^post91, rcd_193^0'=rcd_193^post91, a_309^0'=a_309^post91, tail_15^0'=tail_15^post91, length_29^0'=length_29^post91, x_SLAM_f_25^0'=x_SLAM_f_25^post91, rcd_288^0'=rcd_288^post91, rcd_320^0'=rcd_320^post91, i_112^0'=i_112^post91, tmp_35^0'=tmp_35^post91, rcd_106^0'=rcd_106^post91, a_222^0'=a_222^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post91, x_22^0'=x_22^post91, rcd_199^0'=rcd_199^post91, head_16^0'=head_16^post91, temp0_32^0'=temp0_32^post91, r_149^0'=r_149^post91, y_26^0'=y_26^post91, rcd_71^0'=rcd_71^post91, i_198^0'=i_198^post91, x_207^0'=x_207^post91, rcd_185^0'=rcd_185^post91, a_279^0'=a_279^post91, t_23^0'=t_23^post91, len_221^0'=len_221^post91, x_SLAM_f_20^0'=x_SLAM_f_20^post91, rcd_284^0'=rcd_284^post91, head_SLAM_f_30^0'=head_SLAM_f_30^post91, temp_37^0'=temp_37^post91, r_41^0'=r_41^post91, a_174^0'=a_174^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post91, len_159^0'=len_159^post91, rcd_194^0'=rcd_194^post91, f_202^0'=f_202^post91, temp0_19^0'=temp0_19^post91, nondet_12^0'=nondet_12^post91, y_21^0'=y_21^post91, rcd_308^0'=rcd_308^post91, rcd_45^0'=rcd_45^post91, i_130^0'=i_130^post91, x_154^0'=x_154^post91, rcd_114^0'=rcd_114^post91, a_253^0'=a_253^post91, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post91, x_27^0'=x_27^post91, rcd_220^0'=rcd_220^post91, head_33^0'=head_33^post91, temp_36^0'=temp_36^post91, r_192^0'=r_192^post91, (-temp0_19^post91+temp0_19^0 == 0 /\ -rcd_308^post91+rcd_308^0 == 0 /\ -rcd_220^post91+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post91 == 0 /\ rcd_199^0-rcd_199^post91 == 0 /\ rcd_320^0-rcd_320^post91 == 0 /\ rcd_71^0-rcd_71^post91 == 0 /\ -x_22^post91+x_22^0 == 0 /\ a_174^0-a_174^post91 == 0 /\ i_31^0-i_31^post91 == 0 /\ -rcd_284^post91+rcd_284^0 == 0 /\ a_279^0-a_279^post91 == 0 /\ temp0_32^0-temp0_32^post91 == 0 /\ -head_33^post91+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post91+x_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post91 == 0 /\ tmp_35^0-tmp_35^post91 == 0 /\ -x_207^post91+x_207^0 == 0 /\ a_139^0-a_139^post91 == 0 /\ -temp_36^post91+temp_36^0 == 0 /\ head_16^0-head_16^post91 == 0 /\ -a_253^post91+a_253^0 == 0 /\ -f_202^post91+f_202^0 == 0 /\ y_26^0-y_26^post91 == 0 /\ -rcd_185^post91+rcd_185^0 == 0 /\ length_29^0-length_29^post91 == 0 /\ i_112^0-i_112^post91 == 0 /\ -rcd_114^post91+rcd_114^0 == 0 /\ -i_130^post91+i_130^0 == 0 /\ -rcd_194^post91+rcd_194^0 == 0 /\ rcd_106^0-rcd_106^post91 == 0 /\ -tail_15^post91+tail_15^0 == 0 /\ result_11^0-result_11^post91 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_159^0-len_159^post91 == 0 /\ -rcd_45^post91+rcd_45^0 == 0 /\ -r_192^post91+r_192^0 == 0 /\ len_221^0-len_221^post91 == 0 /\ i_198^0-i_198^post91 == 0 /\ y_21^0-y_21^post91 == 0 /\ -temp_37^post91+temp_37^0 == 0 /\ t_23^0-t_23^post91 == 0 /\ rcd_193^0-rcd_193^post91 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ -x_SLAM_f_20^post91+x_SLAM_f_20^0 == 0 /\ a_222^0-a_222^post91 == 0 /\ -r_149^post91+r_149^0 == 0 /\ rcd_288^0-rcd_288^post91 == 0 /\ -r_41^post91+r_41^0 == 0 /\ a_309^0-a_309^post91 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_154^post91+x_154^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post91 == 0), cost: 1
  92: l59 -> l60 : a_139^0'=a_139^post92, result_11^0'=result_11^post92, i_31^0'=i_31^post92, rcd_193^0'=rcd_193^post92, a_309^0'=a_309^post92, tail_15^0'=tail_15^post92, length_29^0'=length_29^post92, x_SLAM_f_25^0'=x_SLAM_f_25^post92, rcd_288^0'=rcd_288^post92, rcd_320^0'=rcd_320^post92, i_112^0'=i_112^post92, tmp_35^0'=tmp_35^post92, rcd_106^0'=rcd_106^post92, a_222^0'=a_222^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post92, x_22^0'=x_22^post92, rcd_199^0'=rcd_199^post92, head_16^0'=head_16^post92, temp0_32^0'=temp0_32^post92, r_149^0'=r_149^post92, y_26^0'=y_26^post92, rcd_71^0'=rcd_71^post92, i_198^0'=i_198^post92, x_207^0'=x_207^post92, rcd_185^0'=rcd_185^post92, a_279^0'=a_279^post92, t_23^0'=t_23^post92, len_221^0'=len_221^post92, x_SLAM_f_20^0'=x_SLAM_f_20^post92, rcd_284^0'=rcd_284^post92, head_SLAM_f_30^0'=head_SLAM_f_30^post92, temp_37^0'=temp_37^post92, r_41^0'=r_41^post92, a_174^0'=a_174^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post92, len_159^0'=len_159^post92, rcd_194^0'=rcd_194^post92, f_202^0'=f_202^post92, temp0_19^0'=temp0_19^post92, nondet_12^0'=nondet_12^post92, y_21^0'=y_21^post92, rcd_308^0'=rcd_308^post92, rcd_45^0'=rcd_45^post92, i_130^0'=i_130^post92, x_154^0'=x_154^post92, rcd_114^0'=rcd_114^post92, a_253^0'=a_253^post92, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post92, x_27^0'=x_27^post92, rcd_220^0'=rcd_220^post92, head_33^0'=head_33^post92, temp_36^0'=temp_36^post92, r_192^0'=r_192^post92, (-y_21^post92+y_21^0 == 0 /\ x_207^0-x_207^post92 == 0 /\ -rcd_114^post92+rcd_114^0 == 0 /\ -i_130^post92+i_130^0 == 0 /\ -i_198^post92+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post92+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_16^0-head_16^post92 == 0 /\ x_154^0-x_154^post92 == 0 /\ -rcd_71^post92+rcd_71^0 == 0 /\ rcd_308^0-rcd_308^post92 == 0 /\ rcd_288^0-rcd_288^post92 == 0 /\ -r_192^post92+r_192^0 == 0 /\ -rcd_45^post92+rcd_45^0 == 0 /\ a_309^0-a_309^post92 == 0 /\ -a_174^post92+a_174^0 == 0 /\ -temp_37^post92+temp_37^0 == 0 /\ y_26^0-y_26^post92 == 0 /\ i_31^0-i_31^post92 == 0 /\ a_253^0-a_253^post92 == 0 /\ -head_SLAM_f_30^post92+head_SLAM_f_30^0 == 0 /\ -t_23^post92+t_23^0 == 0 /\ -len_159^post92+len_159^0 == 0 /\ a_222^0-a_222^post92 == 0 /\ -temp0_32^post92+temp0_32^0 == 0 /\ -r_41^post92+r_41^0 == 0 /\ -temp0_19^post92+temp0_19^0 == 0 /\ rcd_193^0-rcd_193^post92 == 0 /\ a_139^0-a_139^post92 == 0 /\ r_149^0-r_149^post92 == 0 /\ rcd_194^0-rcd_194^post92 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post92 == 0 /\ -rcd_284^post92+rcd_284^0 == 0 /\ x_22^0-x_22^post92 == 0 /\ -head_33^post92+head_33^0 == 0 /\ -rcd_220^post92+rcd_220^0 == 0 /\ -x_SLAM_f_20^post92+x_SLAM_f_20^0 == 0 /\ -tmp_35^post92+tmp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post92 == 0 /\ -temp_36^post92+temp_36^0 == 0 /\ -length_29^post92+length_29^0 == 0 /\ i_112^0-i_112^post92 == 0 /\ -f_202^post92+f_202^0 == 0 /\ nondet_12^0-nondet_12^post92 == 0 /\ -x_27^post92+x_27^0 == 0 /\ len_221^0-len_221^post92 == 0 /\ rcd_106^0-rcd_106^post92 == 0 /\ -rcd_185^post92+rcd_185^0 == 0 /\ tail_15^0-tail_15^post92 == 0 /\ rcd_320^0-rcd_320^post92 == 0 /\ result_11^0-result_11^post92 == 0 /\ rcd_199^0-rcd_199^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post92 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_279^0-a_279^post92 == 0), cost: 1
  93: l60 -> l42 : a_139^0'=a_139^post93, result_11^0'=result_11^post93, i_31^0'=i_31^post93, rcd_193^0'=rcd_193^post93, a_309^0'=a_309^post93, tail_15^0'=tail_15^post93, length_29^0'=length_29^post93, x_SLAM_f_25^0'=x_SLAM_f_25^post93, rcd_288^0'=rcd_288^post93, rcd_320^0'=rcd_320^post93, i_112^0'=i_112^post93, tmp_35^0'=tmp_35^post93, rcd_106^0'=rcd_106^post93, a_222^0'=a_222^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post93, x_22^0'=x_22^post93, rcd_199^0'=rcd_199^post93, head_16^0'=head_16^post93, temp0_32^0'=temp0_32^post93, r_149^0'=r_149^post93, y_26^0'=y_26^post93, rcd_71^0'=rcd_71^post93, i_198^0'=i_198^post93, x_207^0'=x_207^post93, rcd_185^0'=rcd_185^post93, a_279^0'=a_279^post93, t_23^0'=t_23^post93, len_221^0'=len_221^post93, x_SLAM_f_20^0'=x_SLAM_f_20^post93, rcd_284^0'=rcd_284^post93, head_SLAM_f_30^0'=head_SLAM_f_30^post93, temp_37^0'=temp_37^post93, r_41^0'=r_41^post93, a_174^0'=a_174^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post93, len_159^0'=len_159^post93, rcd_194^0'=rcd_194^post93, f_202^0'=f_202^post93, temp0_19^0'=temp0_19^post93, nondet_12^0'=nondet_12^post93, y_21^0'=y_21^post93, rcd_308^0'=rcd_308^post93, rcd_45^0'=rcd_45^post93, i_130^0'=i_130^post93, x_154^0'=x_154^post93, rcd_114^0'=rcd_114^post93, a_253^0'=a_253^post93, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post93, x_27^0'=x_27^post93, rcd_220^0'=rcd_220^post93, head_33^0'=head_33^post93, temp_36^0'=temp_36^post93, r_192^0'=r_192^post93, (0 == 0 /\ a_309^0-a_309^post93 == 0 /\ -rcd_308^post93+rcd_308^0 == 0 /\ i_130^0-i_130^post93 == 0 /\ i_31^0-i_31^post93 == 0 /\ -temp0_19^post93+temp0_19^0 == 0 /\ -a_279^post93+a_279^0 == 0 /\ -head_33^post93+head_33^0 == 0 /\ -a_253^post93+a_253^0 == 0 /\ -temp0_32^post93+temp0_32^0 == 0 /\ result_11^0-result_11^post93 == 0 /\ rcd_199^0-rcd_199^post93 == 0 /\ rcd_320^0-rcd_320^post93 == 0 /\ -len_221^post93+len_221^0 == 0 /\ -rcd_220^post93+rcd_220^0 == 0 /\ -rcd_320^0+rcd_45^post93 <= 0 /\ a_174^0-a_174^post93 == 0 /\ t_23^0-t_23^post93 == 0 /\ i_198^0-i_198^post93 == 0 /\ -temp_36^post93+temp_36^0 == 0 /\ -f_202^post93+f_202^0 == 0 /\ tmp_35^0-tmp_35^post93 == 0 /\ head_16^0-head_16^post93 == 0 /\ -x_27^post93+x_27^0 == 0 /\ y_26^0-y_26^post93 == 0 /\ length_29^0-length_29^post93 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post93+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_320^0-rcd_45^post93 <= 0 /\ -rcd_194^post93+rcd_194^0 == 0 /\ r_41^0-r_41^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post93+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp_37^0-temp_37^post93 == 0 /\ -rcd_114^post93+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post93 == 0 /\ rcd_71^0-rcd_71^post93 == 0 /\ rcd_284^0-rcd_284^post93 == 0 /\ rcd_106^0-rcd_106^post93 == 0 /\ i_112^0-i_112^post93 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post93 == 0 /\ -y_21^post93+y_21^0 == 0 /\ tail_15^0-tail_15^post93 == 0 /\ -r_149^post93+r_149^0 == 0 /\ rcd_185^0-rcd_185^post93 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post93 == 0 /\ rcd_193^0-rcd_193^post93 == 0 /\ len_159^0-len_159^post93 == 0 /\ -x_22^post93+x_22^0 == 0 /\ a_139^0-a_139^post93 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post93 == 0 /\ rcd_288^0-rcd_288^post93 == 0 /\ -x_154^post93+x_154^0 == 0 /\ x_207^0-x_207^post93 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_192^0-r_192^post93 == 0 /\ a_222^0-a_222^post93 == 0), cost: 1
  95: l61 -> l62 : a_139^0'=a_139^post95, result_11^0'=result_11^post95, i_31^0'=i_31^post95, rcd_193^0'=rcd_193^post95, a_309^0'=a_309^post95, tail_15^0'=tail_15^post95, length_29^0'=length_29^post95, x_SLAM_f_25^0'=x_SLAM_f_25^post95, rcd_288^0'=rcd_288^post95, rcd_320^0'=rcd_320^post95, i_112^0'=i_112^post95, tmp_35^0'=tmp_35^post95, rcd_106^0'=rcd_106^post95, a_222^0'=a_222^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post95, x_22^0'=x_22^post95, rcd_199^0'=rcd_199^post95, head_16^0'=head_16^post95, temp0_32^0'=temp0_32^post95, r_149^0'=r_149^post95, y_26^0'=y_26^post95, rcd_71^0'=rcd_71^post95, i_198^0'=i_198^post95, x_207^0'=x_207^post95, rcd_185^0'=rcd_185^post95, a_279^0'=a_279^post95, t_23^0'=t_23^post95, len_221^0'=len_221^post95, x_SLAM_f_20^0'=x_SLAM_f_20^post95, rcd_284^0'=rcd_284^post95, head_SLAM_f_30^0'=head_SLAM_f_30^post95, temp_37^0'=temp_37^post95, r_41^0'=r_41^post95, a_174^0'=a_174^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post95, len_159^0'=len_159^post95, rcd_194^0'=rcd_194^post95, f_202^0'=f_202^post95, temp0_19^0'=temp0_19^post95, nondet_12^0'=nondet_12^post95, y_21^0'=y_21^post95, rcd_308^0'=rcd_308^post95, rcd_45^0'=rcd_45^post95, i_130^0'=i_130^post95, x_154^0'=x_154^post95, rcd_114^0'=rcd_114^post95, a_253^0'=a_253^post95, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post95, x_27^0'=x_27^post95, rcd_220^0'=rcd_220^post95, head_33^0'=head_33^post95, temp_36^0'=temp_36^post95, r_192^0'=r_192^post95, (-head_SLAM_f_30^post95+head_SLAM_f_30^0 == 0 /\ r_41^0-r_41^post95 == 0 /\ -rcd_284^post95+rcd_284^0 == 0 /\ x_22^0-x_22^post95 == 0 /\ -x_154^post95+x_154^0 == 0 /\ -rcd_220^post95+rcd_220^0 == 0 /\ a_309^0-a_309^post95 == 0 /\ -a_222^post95+a_222^0 == 0 /\ rcd_320^0-rcd_320^post95 == 0 /\ -len_221^post95+len_221^0 == 0 /\ -a_253^post95+a_253^0 == 0 /\ rcd_199^0-rcd_199^post95 == 0 /\ -head_33^post95+head_33^0 == 0 /\ -temp0_32^post95+temp0_32^0 == 0 /\ result_11^0-result_11^post95 == 0 /\ -temp0_19^post95+temp0_19^0 == 0 /\ -x_27^post95+x_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post95 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ -r_192^post95+r_192^0 == 0 /\ -i_112^post95+i_112^0 == 0 /\ rcd_308^0-rcd_308^post95 == 0 /\ r_149^0-r_149^post95 == 0 /\ length_29^0-length_29^post95 == 0 /\ rcd_288^0-rcd_288^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post95+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp_36^post95+temp_36^0 == 0 /\ x_207^0-x_207^post95 == 0 /\ -t_23^post95+t_23^0 == 0 /\ rcd_71^0-rcd_71^post95 == 0 /\ rcd_106^0-rcd_106^post95 == 0 /\ i_31^0-i_31^post95 == 0 /\ rcd_194^0-rcd_194^post95 == 0 /\ tail_15^0-tail_15^post95 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post95 == 0 /\ -rcd_114^post95+rcd_114^0 == 0 /\ rcd_185^0-rcd_185^post95 == 0 /\ -y_21^post95+y_21^0 == 0 /\ i_198^0-i_198^post95 == 0 /\ -rcd_45^post95+rcd_45^0 == 0 /\ a_279^0-a_279^post95 == 0 /\ a_139^0-a_139^post95 == 0 /\ head_16^0-head_16^post95 == 0 /\ tmp_35^0-tmp_35^post95 == 0 /\ -len_159^post95+len_159^0 == 0 /\ f_202^0-f_202^post95 == 0 /\ -temp_37^post95+temp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post95 == 0 /\ -a_174^post95+a_174^0 == 0 /\ rcd_193^0-rcd_193^post95 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post95 == 0 /\ -y_26^post95+y_26^0 == 0 /\ -i_130^post95+i_130^0 == 0), cost: 1
  96: l61 -> l62 : a_139^0'=a_139^post96, result_11^0'=result_11^post96, i_31^0'=i_31^post96, rcd_193^0'=rcd_193^post96, a_309^0'=a_309^post96, tail_15^0'=tail_15^post96, length_29^0'=length_29^post96, x_SLAM_f_25^0'=x_SLAM_f_25^post96, rcd_288^0'=rcd_288^post96, rcd_320^0'=rcd_320^post96, i_112^0'=i_112^post96, tmp_35^0'=tmp_35^post96, rcd_106^0'=rcd_106^post96, a_222^0'=a_222^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post96, x_22^0'=x_22^post96, rcd_199^0'=rcd_199^post96, head_16^0'=head_16^post96, temp0_32^0'=temp0_32^post96, r_149^0'=r_149^post96, y_26^0'=y_26^post96, rcd_71^0'=rcd_71^post96, i_198^0'=i_198^post96, x_207^0'=x_207^post96, rcd_185^0'=rcd_185^post96, a_279^0'=a_279^post96, t_23^0'=t_23^post96, len_221^0'=len_221^post96, x_SLAM_f_20^0'=x_SLAM_f_20^post96, rcd_284^0'=rcd_284^post96, head_SLAM_f_30^0'=head_SLAM_f_30^post96, temp_37^0'=temp_37^post96, r_41^0'=r_41^post96, a_174^0'=a_174^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post96, len_159^0'=len_159^post96, rcd_194^0'=rcd_194^post96, f_202^0'=f_202^post96, temp0_19^0'=temp0_19^post96, nondet_12^0'=nondet_12^post96, y_21^0'=y_21^post96, rcd_308^0'=rcd_308^post96, rcd_45^0'=rcd_45^post96, i_130^0'=i_130^post96, x_154^0'=x_154^post96, rcd_114^0'=rcd_114^post96, a_253^0'=a_253^post96, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post96, x_27^0'=x_27^post96, rcd_220^0'=rcd_220^post96, head_33^0'=head_33^post96, temp_36^0'=temp_36^post96, r_192^0'=r_192^post96, (-rcd_45^post96+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post96+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post96+rcd_194^0 == 0 /\ 1-y_26^0+x_27^0 <= 0 /\ a_139^0-a_139^post96 == 0 /\ -rcd_71^post96+rcd_71^0 == 0 /\ head_16^0-head_16^post96 == 0 /\ rcd_288^0-rcd_288^post96 == 0 /\ a_174^0-a_174^post96 == 0 /\ -rcd_114^post96+rcd_114^0 == 0 /\ tmp_35^0-tmp_35^post96 == 0 /\ len_159^0-len_159^post96 == 0 /\ length_29^0-length_29^post96 == 0 /\ rcd_193^0-rcd_193^post96 == 0 /\ -y_21^post96+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post96 == 0 /\ t_23^0-t_23^post96 == 0 /\ -a_279^post96+a_279^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -head_33^post96+head_33^0 == 0 /\ rcd_106^0-rcd_106^post96 == 0 /\ -r_149^post96+r_149^0 == 0 /\ temp_37^0-temp_37^post96 == 0 /\ rcd_320^0-rcd_320^post96 == 0 /\ y_26^0-y_26^post96 == 0 /\ tail_15^0-tail_15^post96 == 0 /\ rcd_199^0-rcd_199^post96 == 0 /\ i_31^0-i_31^post96 == 0 /\ result_11^0-result_11^post96 == 0 /\ len_221^0-len_221^post96 == 0 /\ i_130^0-i_130^post96 == 0 /\ -r_41^post96+r_41^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -head_SLAM_f_30^post96+head_SLAM_f_30^0 == 0 /\ -x_154^post96+x_154^0 == 0 /\ a_222^0-a_222^post96 == 0 /\ x_27^0-x_27^post96 == 0 /\ -rcd_284^post96+rcd_284^0 == 0 /\ -x_SLAM_f_20^post96+x_SLAM_f_20^0 == 0 /\ -temp0_19^post96+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post96 == 0 /\ -x_22^post96+x_22^0 == 0 /\ -x_207^post96+x_207^0 == 0 /\ -r_192^post96+r_192^0 == 0 /\ a_309^0-a_309^post96 == 0 /\ -a_253^post96+a_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post96+temp_36^0 == 0 /\ -f_202^post96+f_202^0 == 0 /\ i_112^0-i_112^post96 == 0 /\ -rcd_308^post96+rcd_308^0 == 0 /\ rcd_185^0-rcd_185^post96 == 0 /\ i_198^0-i_198^post96 == 0 /\ temp0_32^0-temp0_32^post96 == 0), cost: 1
  97: l62 -> l63 : a_139^0'=a_139^post97, result_11^0'=result_11^post97, i_31^0'=i_31^post97, rcd_193^0'=rcd_193^post97, a_309^0'=a_309^post97, tail_15^0'=tail_15^post97, length_29^0'=length_29^post97, x_SLAM_f_25^0'=x_SLAM_f_25^post97, rcd_288^0'=rcd_288^post97, rcd_320^0'=rcd_320^post97, i_112^0'=i_112^post97, tmp_35^0'=tmp_35^post97, rcd_106^0'=rcd_106^post97, a_222^0'=a_222^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post97, x_22^0'=x_22^post97, rcd_199^0'=rcd_199^post97, head_16^0'=head_16^post97, temp0_32^0'=temp0_32^post97, r_149^0'=r_149^post97, y_26^0'=y_26^post97, rcd_71^0'=rcd_71^post97, i_198^0'=i_198^post97, x_207^0'=x_207^post97, rcd_185^0'=rcd_185^post97, a_279^0'=a_279^post97, t_23^0'=t_23^post97, len_221^0'=len_221^post97, x_SLAM_f_20^0'=x_SLAM_f_20^post97, rcd_284^0'=rcd_284^post97, head_SLAM_f_30^0'=head_SLAM_f_30^post97, temp_37^0'=temp_37^post97, r_41^0'=r_41^post97, a_174^0'=a_174^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post97, len_159^0'=len_159^post97, rcd_194^0'=rcd_194^post97, f_202^0'=f_202^post97, temp0_19^0'=temp0_19^post97, nondet_12^0'=nondet_12^post97, y_21^0'=y_21^post97, rcd_308^0'=rcd_308^post97, rcd_45^0'=rcd_45^post97, i_130^0'=i_130^post97, x_154^0'=x_154^post97, rcd_114^0'=rcd_114^post97, a_253^0'=a_253^post97, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post97, x_27^0'=x_27^post97, rcd_220^0'=rcd_220^post97, head_33^0'=head_33^post97, temp_36^0'=temp_36^post97, r_192^0'=r_192^post97, (-len_221^post97+len_221^0 == 0 /\ rcd_106^0-rcd_106^post97 == 0 /\ -rcd_220^post97+rcd_220^0 == 0 /\ -a_174^post97+a_174^0 == 0 /\ -temp0_32^post97+temp0_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post97 == 0 /\ y_26^0-y_26^post97 == 0 /\ -rcd_284^post97+rcd_284^0 == 0 /\ rcd_45^0-rcd_45^post97 == 0 /\ tail_15^0-tail_15^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post97+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post97+x_27^0 == 0 /\ i_112^0-i_112^post97 == 0 /\ -x_SLAM_f_20^post97+x_SLAM_f_20^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ -a_253^post97+a_253^0 == 0 /\ x_207^0-x_207^post97 == 0 /\ rcd_308^0-rcd_308^post97 == 0 /\ -a_222^post97+a_222^0 == 0 /\ -temp_36^post97+temp_36^0 == 0 /\ r_149^0-r_149^post97 == 0 /\ -rcd_185^post97+rcd_185^0 == 0 /\ -f_202^post97+f_202^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -i_198^post97+i_198^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -i_130^post97+i_130^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post97+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ nondet_12^0-nondet_12^post97 == 0 /\ -t_23^post97+t_23^0 == 0 /\ -a_309^post97+a_309^0 == 0 /\ rcd_320^0-rcd_320^post97 == 0 /\ -rcd_114^post97+rcd_114^0 == 0 /\ -rcd_193^post97+rcd_193^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_71^0-rcd_71^post97 == 0 /\ -r_192^post97+r_192^0 == 0 /\ rcd_199^0-rcd_199^post97 == 0 /\ -rcd_288^post97+rcd_288^0 == 0 /\ -y_21^post97+y_21^0 == 0 /\ i_31^0-i_31^post97 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -tmp_35^post97+tmp_35^0 == 0 /\ a_279^0-a_279^post97 == 0 /\ -head_33^post97+head_33^0 == 0 /\ -temp_37^post97+temp_37^0 == 0 /\ head_16^0-head_16^post97 == 0 /\ a_139^0-a_139^post97 == 0 /\ -x_SLAM_f_25^post97+x_SLAM_f_25^0 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_194^0-rcd_194^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -len_159^post97+len_159^0 == 0 /\ r_41^0-r_41^post97 == 0 /\ x_22^0-x_22^post97 == 0 /\ -head_SLAM_f_30^post97+head_SLAM_f_30^0 == 0 /\ -x_154^post97+x_154^0 == 0 /\ temp0_19^0-temp0_19^post97 == 0), cost: 1
  98: l63 -> l64 : a_139^0'=a_139^post98, result_11^0'=result_11^post98, i_31^0'=i_31^post98, rcd_193^0'=rcd_193^post98, a_309^0'=a_309^post98, tail_15^0'=tail_15^post98, length_29^0'=length_29^post98, x_SLAM_f_25^0'=x_SLAM_f_25^post98, rcd_288^0'=rcd_288^post98, rcd_320^0'=rcd_320^post98, i_112^0'=i_112^post98, tmp_35^0'=tmp_35^post98, rcd_106^0'=rcd_106^post98, a_222^0'=a_222^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post98, x_22^0'=x_22^post98, rcd_199^0'=rcd_199^post98, head_16^0'=head_16^post98, temp0_32^0'=temp0_32^post98, r_149^0'=r_149^post98, y_26^0'=y_26^post98, rcd_71^0'=rcd_71^post98, i_198^0'=i_198^post98, x_207^0'=x_207^post98, rcd_185^0'=rcd_185^post98, a_279^0'=a_279^post98, t_23^0'=t_23^post98, len_221^0'=len_221^post98, x_SLAM_f_20^0'=x_SLAM_f_20^post98, rcd_284^0'=rcd_284^post98, head_SLAM_f_30^0'=head_SLAM_f_30^post98, temp_37^0'=temp_37^post98, r_41^0'=r_41^post98, a_174^0'=a_174^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post98, len_159^0'=len_159^post98, rcd_194^0'=rcd_194^post98, f_202^0'=f_202^post98, temp0_19^0'=temp0_19^post98, nondet_12^0'=nondet_12^post98, y_21^0'=y_21^post98, rcd_308^0'=rcd_308^post98, rcd_45^0'=rcd_45^post98, i_130^0'=i_130^post98, x_154^0'=x_154^post98, rcd_114^0'=rcd_114^post98, a_253^0'=a_253^post98, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post98, x_27^0'=x_27^post98, rcd_220^0'=rcd_220^post98, head_33^0'=head_33^post98, temp_36^0'=temp_36^post98, r_192^0'=r_192^post98, (-rcd_194^post98+rcd_194^0 == 0 /\ a_222^0-a_222^post98 == 0 /\ rcd_193^0-rcd_193^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post98+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_106^post98+rcd_106^0 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ a_139^0-a_139^post98 == 0 /\ -rcd_114^post98+rcd_114^0 == 0 /\ r_41^0-r_41^post98 == 0 /\ x_22^0-x_22^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -rcd_45^post98+rcd_45^0 == 0 /\ r_149^0-r_149^post98 == 0 /\ -rcd_71^post98+rcd_71^0 == 0 /\ x_207^0-x_207^post98 == 0 /\ t_23^0-t_23^post98 == 0 /\ -y_21^post98+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post98 == 0 /\ -head_33^post98+head_33^0 == 0 /\ i_130^0-i_130^post98 == 0 /\ rcd_185^0-rcd_185^post98 == 0 /\ -a_279^post98+a_279^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post98 == 0 /\ rcd_284^0-rcd_284^post98 == 0 /\ result_11^0-result_11^post98 == 0 /\ -head_16^post98+head_16^0 == 0 /\ i_31^0-i_31^post98 == 0 /\ -len_159^post98+len_159^0 == 0 /\ tail_15^0-tail_15^post98 == 0 /\ -nondet_12^post98+nondet_12^0 == 0 /\ rcd_199^0-rcd_199^post98 == 0 /\ -head_SLAM_f_30^post98+head_SLAM_f_30^0 == 0 /\ -x_154^post98+x_154^0 == 0 /\ temp0_32^0-temp0_32^post98 == 0 /\ -y_26^post98+y_26^0 == 0 /\ -temp0_19^post98+temp0_19^0 == 0 /\ rcd_288^0-rcd_288^post98 == 0 /\ x_27^0-x_27^post98 == 0 /\ -rcd_308^post98+rcd_308^0 == 0 /\ -rcd_320^post98+rcd_320^0 == 0 /\ -len_221^post98+len_221^0 == 0 /\ rcd_220^0-rcd_220^post98 == 0 /\ -i_112^post98+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post98+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_253^post98+a_253^0 == 0 /\ -temp_36^post98+temp_36^0 == 0 /\ temp_37^0-temp_37^post98 == 0 /\ -f_202^post98+f_202^0 == 0 /\ a_309^0-a_309^post98 == 0 /\ -r_192^post98+r_192^0 == 0 /\ -i_198^post98+i_198^0 == 0 /\ tmp_35^0-tmp_35^post98 == 0 /\ a_174^0-a_174^post98 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post98 == 0), cost: 1
  99: l63 -> l64 : a_139^0'=a_139^post99, result_11^0'=result_11^post99, i_31^0'=i_31^post99, rcd_193^0'=rcd_193^post99, a_309^0'=a_309^post99, tail_15^0'=tail_15^post99, length_29^0'=length_29^post99, x_SLAM_f_25^0'=x_SLAM_f_25^post99, rcd_288^0'=rcd_288^post99, rcd_320^0'=rcd_320^post99, i_112^0'=i_112^post99, tmp_35^0'=tmp_35^post99, rcd_106^0'=rcd_106^post99, a_222^0'=a_222^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post99, x_22^0'=x_22^post99, rcd_199^0'=rcd_199^post99, head_16^0'=head_16^post99, temp0_32^0'=temp0_32^post99, r_149^0'=r_149^post99, y_26^0'=y_26^post99, rcd_71^0'=rcd_71^post99, i_198^0'=i_198^post99, x_207^0'=x_207^post99, rcd_185^0'=rcd_185^post99, a_279^0'=a_279^post99, t_23^0'=t_23^post99, len_221^0'=len_221^post99, x_SLAM_f_20^0'=x_SLAM_f_20^post99, rcd_284^0'=rcd_284^post99, head_SLAM_f_30^0'=head_SLAM_f_30^post99, temp_37^0'=temp_37^post99, r_41^0'=r_41^post99, a_174^0'=a_174^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post99, len_159^0'=len_159^post99, rcd_194^0'=rcd_194^post99, f_202^0'=f_202^post99, temp0_19^0'=temp0_19^post99, nondet_12^0'=nondet_12^post99, y_21^0'=y_21^post99, rcd_308^0'=rcd_308^post99, rcd_45^0'=rcd_45^post99, i_130^0'=i_130^post99, x_154^0'=x_154^post99, rcd_114^0'=rcd_114^post99, a_253^0'=a_253^post99, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post99, x_27^0'=x_27^post99, rcd_220^0'=rcd_220^post99, head_33^0'=head_33^post99, temp_36^0'=temp_36^post99, r_192^0'=r_192^post99, (temp_37^0-temp_37^post99 == 0 /\ i_112^0-i_112^post99 == 0 /\ -head_16^post99+head_16^0 == 0 /\ rcd_106^0-rcd_106^post99 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post99 == 0 /\ -rcd_220^post99+rcd_220^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -r_41^post99+r_41^0 == 0 /\ len_221^0-len_221^post99 == 0 /\ -x_27^post99+x_27^0 == 0 /\ -x_207^post99+x_207^0 == 0 /\ rcd_284^0-rcd_284^post99 == 0 /\ tail_15^0-tail_15^post99 == 0 /\ rcd_45^0-rcd_45^post99 == 0 /\ -head_33^post99+head_33^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post99 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_193^0-rcd_193^post99 == 0 /\ a_279^0-a_279^post99 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -temp_36^post99+temp_36^0 == 0 /\ -y_21^post99+y_21^0 == 0 /\ r_149^0-r_149^post99 == 0 /\ -r_192^post99+r_192^0 == 0 /\ -a_253^post99+a_253^0 == 0 /\ -f_202^post99+f_202^0 == 0 /\ -rcd_194^post99+rcd_194^0 == 0 /\ -rcd_308^post99+rcd_308^0 == 0 /\ -rcd_185^post99+rcd_185^0 == 0 /\ a_222^0-a_222^post99 == 0 /\ -i_130^post99+i_130^0 == 0 /\ rcd_71^0-rcd_71^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post99+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ a_309^0-a_309^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ i_31^0-i_31^post99 == 0 /\ temp0_32^0-temp0_32^post99 == 0 /\ rcd_320^0-rcd_320^post99 == 0 /\ -rcd_114^post99+rcd_114^0 == 0 /\ -x_SLAM_f_25^post99+x_SLAM_f_25^0 == 0 /\ i_198^0-i_198^post99 == 0 /\ tmp_35^0-tmp_35^post99 == 0 /\ -rcd_199^post99+rcd_199^0 == 0 /\ -rcd_288^post99+rcd_288^0 == 0 /\ a_139^0-a_139^post99 == 0 /\ temp0_19^0-temp0_19^post99 == 0 /\ y_26^0-y_26^post99 == 0 /\ length_29^0-length_29^post99 == 0 /\ -len_159^post99+len_159^0 == 0 /\ x_22^0-x_22^post99 == 0 /\ t_23^0-t_23^post99 == 0 /\ -x_154^post99+x_154^0 == 0 /\ -a_174^post99+a_174^0 == 0), cost: 1
 100: l64 -> l65 : a_139^0'=a_139^post100, result_11^0'=result_11^post100, i_31^0'=i_31^post100, rcd_193^0'=rcd_193^post100, a_309^0'=a_309^post100, tail_15^0'=tail_15^post100, length_29^0'=length_29^post100, x_SLAM_f_25^0'=x_SLAM_f_25^post100, rcd_288^0'=rcd_288^post100, rcd_320^0'=rcd_320^post100, i_112^0'=i_112^post100, tmp_35^0'=tmp_35^post100, rcd_106^0'=rcd_106^post100, a_222^0'=a_222^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post100, x_22^0'=x_22^post100, rcd_199^0'=rcd_199^post100, head_16^0'=head_16^post100, temp0_32^0'=temp0_32^post100, r_149^0'=r_149^post100, y_26^0'=y_26^post100, rcd_71^0'=rcd_71^post100, i_198^0'=i_198^post100, x_207^0'=x_207^post100, rcd_185^0'=rcd_185^post100, a_279^0'=a_279^post100, t_23^0'=t_23^post100, len_221^0'=len_221^post100, x_SLAM_f_20^0'=x_SLAM_f_20^post100, rcd_284^0'=rcd_284^post100, head_SLAM_f_30^0'=head_SLAM_f_30^post100, temp_37^0'=temp_37^post100, r_41^0'=r_41^post100, a_174^0'=a_174^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post100, len_159^0'=len_159^post100, rcd_194^0'=rcd_194^post100, f_202^0'=f_202^post100, temp0_19^0'=temp0_19^post100, nondet_12^0'=nondet_12^post100, y_21^0'=y_21^post100, rcd_308^0'=rcd_308^post100, rcd_45^0'=rcd_45^post100, i_130^0'=i_130^post100, x_154^0'=x_154^post100, rcd_114^0'=rcd_114^post100, a_253^0'=a_253^post100, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post100, x_27^0'=x_27^post100, rcd_220^0'=rcd_220^post100, head_33^0'=head_33^post100, temp_36^0'=temp_36^post100, r_192^0'=r_192^post100, (-result_dot_nondet_sdv_special_RETURN_VALUE_14^post100+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ r_149^0-r_149^post100 == 0 /\ a_139^0-a_139^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post100 == 0 /\ 1+y_26^0-x_154^0 <= 0 /\ -rcd_45^post100+rcd_45^0 == 0 /\ -rcd_114^post100+rcd_114^0 == 0 /\ -t_23^post100+t_23^0 == 0 /\ x_22^0-x_22^post100 == 0 /\ rcd_193^0-rcd_193^post100 == 0 /\ -len_159^post100+len_159^0 == 0 /\ a_309^0-a_309^post100 == 0 /\ -y_26^post100+y_26^0 == 0 /\ -i_130^post100+i_130^0 == 0 /\ result_11^0-result_11^post100 == 0 /\ temp0_32^0-temp0_32^post100 == 0 /\ -temp_37^post100+temp_37^0 == 0 /\ rcd_185^0-rcd_185^post100 == 0 /\ -temp0_19^post100+temp0_19^0 == 0 /\ -a_222^post100+a_222^0 == 0 /\ -x_27^post100+x_27^0 == 0 /\ tmp_35^0-tmp_35^post100 == 0 /\ -head_SLAM_f_30^post100+head_SLAM_f_30^0 == 0 /\ -x_154^post100+x_154^0 == 0 /\ -a_174^post100+a_174^0 == 0 /\ a_279^0-a_279^post100 == 0 /\ -x_SLAM_f_20^post100+x_SLAM_f_20^0 == 0 /\ -rcd_220^post100+rcd_220^0 == 0 /\ -r_41^post100+r_41^0 == 0 /\ rcd_288^0-rcd_288^post100 == 0 /\ x_207^0-x_207^post100 == 0 /\ -head_33^post100+head_33^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post100 == 0 /\ -i_112^post100+i_112^0 == 0 /\ rcd_71^0-rcd_71^post100 == 0 /\ rcd_194^0-rcd_194^post100 == 0 /\ rcd_106^0-rcd_106^post100 == 0 /\ -temp_36^post100+temp_36^0 == 0 /\ -y_21^post100+y_21^0 == 0 /\ -f_202^post100+f_202^0 == 0 /\ -a_253^post100+a_253^0 == 0 /\ -i_198^post100+i_198^0 == 0 /\ len_221^0-len_221^post100 == 0 /\ i_31^0-i_31^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post100 == 0 /\ tail_15^0-tail_15^post100 == 0 /\ rcd_320^0-rcd_320^post100 == 0 /\ -rcd_284^post100+rcd_284^0 == 0 /\ rcd_199^0-rcd_199^post100 == 0 /\ -rcd_308^post100+rcd_308^0 == 0 /\ head_16^0-head_16^post100 == 0 /\ -r_192^post100+r_192^0 == 0 /\ -length_29^post100+length_29^0 == 0), cost: 1
 101: l64 -> l65 : a_139^0'=a_139^post101, result_11^0'=result_11^post101, i_31^0'=i_31^post101, rcd_193^0'=rcd_193^post101, a_309^0'=a_309^post101, tail_15^0'=tail_15^post101, length_29^0'=length_29^post101, x_SLAM_f_25^0'=x_SLAM_f_25^post101, rcd_288^0'=rcd_288^post101, rcd_320^0'=rcd_320^post101, i_112^0'=i_112^post101, tmp_35^0'=tmp_35^post101, rcd_106^0'=rcd_106^post101, a_222^0'=a_222^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post101, x_22^0'=x_22^post101, rcd_199^0'=rcd_199^post101, head_16^0'=head_16^post101, temp0_32^0'=temp0_32^post101, r_149^0'=r_149^post101, y_26^0'=y_26^post101, rcd_71^0'=rcd_71^post101, i_198^0'=i_198^post101, x_207^0'=x_207^post101, rcd_185^0'=rcd_185^post101, a_279^0'=a_279^post101, t_23^0'=t_23^post101, len_221^0'=len_221^post101, x_SLAM_f_20^0'=x_SLAM_f_20^post101, rcd_284^0'=rcd_284^post101, head_SLAM_f_30^0'=head_SLAM_f_30^post101, temp_37^0'=temp_37^post101, r_41^0'=r_41^post101, a_174^0'=a_174^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post101, len_159^0'=len_159^post101, rcd_194^0'=rcd_194^post101, f_202^0'=f_202^post101, temp0_19^0'=temp0_19^post101, nondet_12^0'=nondet_12^post101, y_21^0'=y_21^post101, rcd_308^0'=rcd_308^post101, rcd_45^0'=rcd_45^post101, i_130^0'=i_130^post101, x_154^0'=x_154^post101, rcd_114^0'=rcd_114^post101, a_253^0'=a_253^post101, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post101, x_27^0'=x_27^post101, rcd_220^0'=rcd_220^post101, head_33^0'=head_33^post101, temp_36^0'=temp_36^post101, r_192^0'=r_192^post101, (-head_16^post101+head_16^0 == 0 /\ -x_22^post101+x_22^0 == 0 /\ -r_41^post101+r_41^0 == 0 /\ -head_SLAM_f_30^post101+head_SLAM_f_30^0 == 0 /\ -x_27^post101+x_27^0 == 0 /\ -x_154^post101+x_154^0 == 0 /\ length_29^0-length_29^post101 == 0 /\ -temp0_19^post101+temp0_19^0 == 0 /\ tail_15^0-tail_15^post101 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post101 == 0 /\ -head_33^post101+head_33^0 == 0 /\ -x_207^post101+x_207^0 == 0 /\ len_221^0-len_221^post101 == 0 /\ -temp0_32^post101+temp0_32^0 == 0 /\ -rcd_308^post101+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post101 == 0 /\ -a_253^post101+a_253^0 == 0 /\ -y_21^post101+y_21^0 == 0 /\ tmp_35^0-tmp_35^post101 == 0 /\ a_139^0-a_139^post101 == 0 /\ -rcd_185^post101+rcd_185^0 == 0 /\ y_26^0-y_26^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post101 == 0 /\ 1-y_26^0+x_154^0 <= 0 /\ -temp_36^post101+temp_36^0 == 0 /\ rcd_193^0-rcd_193^post101 == 0 /\ rcd_114^0-rcd_114^post101 == 0 /\ -r_192^post101+r_192^0 == 0 /\ -f_202^post101+f_202^0 == 0 /\ temp_37^0-temp_37^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post101 == 0 /\ a_309^0-a_309^post101 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ i_112^0-i_112^post101 == 0 /\ -rcd_194^post101+rcd_194^0 == 0 /\ -rcd_45^post101+rcd_45^0 == 0 /\ -rcd_71^post101+rcd_71^0 == 0 /\ rcd_284^0-rcd_284^post101 == 0 /\ result_11^0-result_11^post101 == 0 /\ rcd_320^0-rcd_320^post101 == 0 /\ -rcd_106^post101+rcd_106^0 == 0 /\ -t_23^post101+t_23^0 == 0 /\ i_31^0-i_31^post101 == 0 /\ i_198^0-i_198^post101 == 0 /\ -len_159^post101+len_159^0 == 0 /\ -r_149^post101+r_149^0 == 0 /\ a_174^0-a_174^post101 == 0 /\ -rcd_199^post101+rcd_199^0 == 0 /\ rcd_288^0-rcd_288^post101 == 0 /\ -i_130^post101+i_130^0 == 0 /\ -a_279^post101+a_279^0 == 0 /\ a_222^0-a_222^post101 == 0 /\ -rcd_220^post101+rcd_220^0 == 0), cost: 1
 102: l65 -> l1 : a_139^0'=a_139^post102, result_11^0'=result_11^post102, i_31^0'=i_31^post102, rcd_193^0'=rcd_193^post102, a_309^0'=a_309^post102, tail_15^0'=tail_15^post102, length_29^0'=length_29^post102, x_SLAM_f_25^0'=x_SLAM_f_25^post102, rcd_288^0'=rcd_288^post102, rcd_320^0'=rcd_320^post102, i_112^0'=i_112^post102, tmp_35^0'=tmp_35^post102, rcd_106^0'=rcd_106^post102, a_222^0'=a_222^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post102, x_22^0'=x_22^post102, rcd_199^0'=rcd_199^post102, head_16^0'=head_16^post102, temp0_32^0'=temp0_32^post102, r_149^0'=r_149^post102, y_26^0'=y_26^post102, rcd_71^0'=rcd_71^post102, i_198^0'=i_198^post102, x_207^0'=x_207^post102, rcd_185^0'=rcd_185^post102, a_279^0'=a_279^post102, t_23^0'=t_23^post102, len_221^0'=len_221^post102, x_SLAM_f_20^0'=x_SLAM_f_20^post102, rcd_284^0'=rcd_284^post102, head_SLAM_f_30^0'=head_SLAM_f_30^post102, temp_37^0'=temp_37^post102, r_41^0'=r_41^post102, a_174^0'=a_174^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post102, len_159^0'=len_159^post102, rcd_194^0'=rcd_194^post102, f_202^0'=f_202^post102, temp0_19^0'=temp0_19^post102, nondet_12^0'=nondet_12^post102, y_21^0'=y_21^post102, rcd_308^0'=rcd_308^post102, rcd_45^0'=rcd_45^post102, i_130^0'=i_130^post102, x_154^0'=x_154^post102, rcd_114^0'=rcd_114^post102, a_253^0'=a_253^post102, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post102, x_27^0'=x_27^post102, rcd_220^0'=rcd_220^post102, head_33^0'=head_33^post102, temp_36^0'=temp_36^post102, r_192^0'=r_192^post102, (a_279^0-a_279^post102 == 0 /\ x_22^0-x_22^post102 == 0 /\ -rcd_114^post102+rcd_114^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post102+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post102 == 0 /\ a_309^0-a_309^post102 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post102 == 0 /\ result_11^0-result_11^post102 == 0 /\ -head_33^post102+head_33^0 == 0 /\ -temp_37^post102+temp_37^0 == 0 /\ -len_159^post102+len_159^0 == 0 /\ temp0_32^0-temp0_32^post102 == 0 /\ rcd_45^0-rcd_45^post102 == 0 /\ -i_130^post102+i_130^0 == 0 /\ -nondet_12^post102+nondet_12^0 == 0 /\ -rcd_220^post102+rcd_220^0 == 0 /\ -r_149^post102+r_149^0 == 0 /\ i_112^0-i_112^post102 == 0 /\ -rcd_185^post102+rcd_185^0 == 0 /\ -a_174^post102+a_174^0 == 0 /\ -f_202^post102+f_202^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post102 == 0 /\ head_16^0-head_16^post102 == 0 /\ -rcd_284^post102+rcd_284^0 == 0 /\ -r_41^post102+r_41^0 == 0 /\ -x_154^post102+x_154^0 == 0 /\ -x_27^post102+x_27^0 == 0 /\ rcd_288^0-rcd_288^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_23^0-t_23^post102 == 0 /\ x_207^0-x_207^post102 == 0 /\ -x_SLAM_f_20^post102+x_SLAM_f_20^0 == 0 /\ temp0_19^0-temp0_19^post102 == 0 /\ rcd_193^0-rcd_193^post102 == 0 /\ -rcd_308^post102+rcd_308^0 == 0 /\ rcd_106^0-rcd_106^post102 == 0 /\ y_26^0-y_26^post102 == 0 /\ rcd_71^0-rcd_71^post102 == 0 /\ rcd_194^0-rcd_194^post102 == 0 /\ length_29^0-length_29^post102 == 0 /\ tmp_35^0-tmp_35^post102 == 0 /\ len_221^0-len_221^post102 == 0 /\ y_21^0-y_21^post102 == 0 /\ -a_222^post102+a_222^0 == 0 /\ tail_15^0-tail_15^post102 == 0 /\ rcd_199^0-rcd_199^post102 == 0 /\ rcd_320^0-rcd_320^post102 == 0 /\ a_139^0-a_139^post102 == 0 /\ -a_253^post102+a_253^0 == 0 /\ -i_198^post102+i_198^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_192^post102+r_192^0 == 0 /\ -temp_36^post102+temp_36^0 == 0 /\ i_31^0-i_31^post102 == 0), cost: 1
 103: l66 -> l49 : a_139^0'=a_139^post103, result_11^0'=result_11^post103, i_31^0'=i_31^post103, rcd_193^0'=rcd_193^post103, a_309^0'=a_309^post103, tail_15^0'=tail_15^post103, length_29^0'=length_29^post103, x_SLAM_f_25^0'=x_SLAM_f_25^post103, rcd_288^0'=rcd_288^post103, rcd_320^0'=rcd_320^post103, i_112^0'=i_112^post103, tmp_35^0'=tmp_35^post103, rcd_106^0'=rcd_106^post103, a_222^0'=a_222^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103, x_22^0'=x_22^post103, rcd_199^0'=rcd_199^post103, head_16^0'=head_16^post103, temp0_32^0'=temp0_32^post103, r_149^0'=r_149^post103, y_26^0'=y_26^post103, rcd_71^0'=rcd_71^post103, i_198^0'=i_198^post103, x_207^0'=x_207^post103, rcd_185^0'=rcd_185^post103, a_279^0'=a_279^post103, t_23^0'=t_23^post103, len_221^0'=len_221^post103, x_SLAM_f_20^0'=x_SLAM_f_20^post103, rcd_284^0'=rcd_284^post103, head_SLAM_f_30^0'=head_SLAM_f_30^post103, temp_37^0'=temp_37^post103, r_41^0'=r_41^post103, a_174^0'=a_174^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post103, len_159^0'=len_159^post103, rcd_194^0'=rcd_194^post103, f_202^0'=f_202^post103, temp0_19^0'=temp0_19^post103, nondet_12^0'=nondet_12^post103, y_21^0'=y_21^post103, rcd_308^0'=rcd_308^post103, rcd_45^0'=rcd_45^post103, i_130^0'=i_130^post103, x_154^0'=x_154^post103, rcd_114^0'=rcd_114^post103, a_253^0'=a_253^post103, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post103, x_27^0'=x_27^post103, rcd_220^0'=rcd_220^post103, head_33^0'=head_33^post103, temp_36^0'=temp_36^post103, r_192^0'=r_192^post103, (a_309^0-a_309^post103 == 0 /\ -head_SLAM_f_30^post103+head_SLAM_f_30^0 == 0 /\ rcd_185^0-rcd_185^post103 == 0 /\ -x_154^post103+x_154^0 == 0 /\ rcd_320^0-rcd_320^post103 == 0 /\ -temp0_32^post103+temp0_32^0 == 0 /\ rcd_199^0-rcd_199^post103 == 0 /\ a_139^0-a_139^post103 == 0 /\ i_31^0-i_31^post103 == 0 /\ -len_221^post103+len_221^0 == 0 /\ -y_26^post103+y_26^0 == 0 /\ -x_27^post103+x_27^0 == 0 /\ head_16^0-head_16^post103 == 0 /\ i_198^0-i_198^post103 == 0 /\ rcd_193^0-rcd_193^post103 == 0 /\ -r_192^post103+r_192^0 == 0 /\ x_22^0-x_22^post103 == 0 /\ -rcd_308^post103+rcd_308^0 == 0 /\ -rcd_194^post103+rcd_194^0 == 0 /\ -a_253^post103+a_253^0 == 0 /\ rcd_114^0-rcd_114^post103 == 0 /\ -temp_36^post103+temp_36^0 == 0 /\ r_41^0-r_41^post103 == 0 /\ rcd_106^0-rcd_106^post103 == 0 /\ -rcd_71^post103+rcd_71^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ temp_37^0-temp_37^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103 == 0 /\ -rcd_45^post103+rcd_45^0 == 0 /\ rcd_284^0-rcd_284^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ -y_21^post103+y_21^0 == 0 /\ tail_15^0-tail_15^post103 == 0 /\ tmp_35^0-tmp_35^post103 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post103 == 0 /\ i_112^0-i_112^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post103+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^post103 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post103 == 0 /\ -a_279^post103+a_279^0 == 0 /\ -head_33^post103+head_33^0 == 0 /\ f_202^0-f_202^post103 == 0 /\ rcd_288^0-rcd_288^post103 == 0 /\ -temp0_19^post103+temp0_19^0 == 0 /\ -len_159^post103+len_159^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ -a_174^post103+a_174^0 == 0 /\ -i_130^post103+i_130^0 == 0 /\ -rcd_220^post103+rcd_220^0 == 0 /\ r_149^0-r_149^post103 == 0 /\ x_207^0-x_207^post103 == 0 /\ a_222^0-a_222^post103 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l66
  76: l1 -> l50 : a_139^0'=a_139^post76, result_11^0'=result_11^post76, i_31^0'=i_31^post76, rcd_193^0'=rcd_193^post76, a_309^0'=a_309^post76, tail_15^0'=tail_15^post76, length_29^0'=length_29^post76, x_SLAM_f_25^0'=x_SLAM_f_25^post76, rcd_288^0'=rcd_288^post76, rcd_320^0'=rcd_320^post76, i_112^0'=i_112^post76, tmp_35^0'=tmp_35^post76, rcd_106^0'=rcd_106^post76, a_222^0'=a_222^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76, x_22^0'=x_22^post76, rcd_199^0'=rcd_199^post76, head_16^0'=head_16^post76, temp0_32^0'=temp0_32^post76, r_149^0'=r_149^post76, y_26^0'=y_26^post76, rcd_71^0'=rcd_71^post76, i_198^0'=i_198^post76, x_207^0'=x_207^post76, rcd_185^0'=rcd_185^post76, a_279^0'=a_279^post76, t_23^0'=t_23^post76, len_221^0'=len_221^post76, x_SLAM_f_20^0'=x_SLAM_f_20^post76, rcd_284^0'=rcd_284^post76, head_SLAM_f_30^0'=head_SLAM_f_30^post76, temp_37^0'=temp_37^post76, r_41^0'=r_41^post76, a_174^0'=a_174^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76, len_159^0'=len_159^post76, rcd_194^0'=rcd_194^post76, f_202^0'=f_202^post76, temp0_19^0'=temp0_19^post76, nondet_12^0'=nondet_12^post76, y_21^0'=y_21^post76, rcd_308^0'=rcd_308^post76, rcd_45^0'=rcd_45^post76, i_130^0'=i_130^post76, x_154^0'=x_154^post76, rcd_114^0'=rcd_114^post76, a_253^0'=a_253^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, rcd_220^0'=rcd_220^post76, head_33^0'=head_33^post76, temp_36^0'=temp_36^post76, r_192^0'=r_192^post76, (0 == 0 /\ temp0_32^0-temp0_32^post76 == 0 /\ -len_159^0 <= 0 /\ -temp_36^post76+temp_36^0 == 0 /\ -y_26^0+x_27^0 <= 0 /\ rcd_185^0-rcd_185^post76 == 0 /\ head_16^0-x_22^post76 <= 0 /\ -i_198^post76+i_198^0 == 0 /\ -tail_15^0+y_21^post76 <= 0 /\ -tail_15^0+y_21^post76 == 0 /\ a_139^0-a_139^post76 == 0 /\ rcd_194^0-rcd_194^post76 == 0 /\ -temp_37^post76+temp_37^0 == 0 /\ -head_SLAM_f_30^post76+head_SLAM_f_30^0 == 0 /\ -a_174^post76+a_174^0 == 0 /\ a_309^0-a_309^post76 == 0 /\ -x_154^post76+x_154^0 == 0 /\ -rcd_284^post76+rcd_284^0 == 0 /\ rcd_308^0-rcd_308^post76 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76 == 0 /\ y_26^0-x_27^0 <= 0 /\ -t_23^post76+t_23^0 == 0 /\ -r_41^post76+r_41^0 == 0 /\ -head_16^0+x_22^post76 <= 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -r_192^post76+r_192^0 == 0 /\ tail_15^0-y_21^post76 <= 0 /\ -a_174^0 <= 0 /\ -a_253^post76+a_253^0 == 0 /\ a_279^0-a_279^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -len_159^post76+len_159^0 == 0 /\ head_16^0-head_16^post76 == 0 /\ x_SLAM_f_20^post76-x_22^post76 <= 0 /\ i_112^0-i_112^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76+y_21^post76 <= 0 /\ x_SLAM_f_20^post76-head_16^0 <= 0 /\ x_SLAM_f_20^post76-head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ tmp_35^0-tmp_35^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ -i_130^post76+i_130^0 == 0 /\ rcd_320^0-rcd_320^post76 == 0 /\ -temp0_19^post76+temp0_19^0 == 0 /\ len_221^0-len_221^post76 == 0 /\ i_31^0-i_31^post76 == 0 /\ rcd_288^0-rcd_288^post76 == 0 /\ tail_15^0-tail_15^post76 == 0 /\ rcd_199^0-rcd_199^post76 == 0 /\ -a_222^post76+a_222^0 == 0 /\ f_202^0-f_202^post76 == 0 /\ -rcd_220^post76+rcd_220^0 == 0 /\ rcd_71^0-rcd_71^post76 == 0 /\ -x_SLAM_f_20^post76+x_22^post76 <= 0 /\ -x_SLAM_f_20^post76+x_22^post76 == 0 /\ -x_207^post76+x_207^0 == 0 /\ rcd_193^0-rcd_193^post76 == 0 /\ -head_33^post76+head_33^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76-y_21^post76 <= 0 /\ -rcd_45^post76+rcd_45^0 == 0 /\ -x_SLAM_f_20^post76+head_16^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ -rcd_114^post76+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post76 == 0 /\ r_149^0-r_149^post76 == 0), cost: 1
  80: l1 -> l53 : a_139^0'=a_139^post80, result_11^0'=result_11^post80, i_31^0'=i_31^post80, rcd_193^0'=rcd_193^post80, a_309^0'=a_309^post80, tail_15^0'=tail_15^post80, length_29^0'=length_29^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, rcd_288^0'=rcd_288^post80, rcd_320^0'=rcd_320^post80, i_112^0'=i_112^post80, tmp_35^0'=tmp_35^post80, rcd_106^0'=rcd_106^post80, a_222^0'=a_222^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80, x_22^0'=x_22^post80, rcd_199^0'=rcd_199^post80, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post80, r_149^0'=r_149^post80, y_26^0'=y_26^post80, rcd_71^0'=rcd_71^post80, i_198^0'=i_198^post80, x_207^0'=x_207^post80, rcd_185^0'=rcd_185^post80, a_279^0'=a_279^post80, t_23^0'=t_23^post80, len_221^0'=len_221^post80, x_SLAM_f_20^0'=x_SLAM_f_20^post80, rcd_284^0'=rcd_284^post80, head_SLAM_f_30^0'=head_SLAM_f_30^post80, temp_37^0'=temp_37^post80, r_41^0'=r_41^post80, a_174^0'=a_174^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, len_159^0'=len_159^post80, rcd_194^0'=rcd_194^post80, f_202^0'=f_202^post80, temp0_19^0'=temp0_19^post80, nondet_12^0'=nondet_12^post80, y_21^0'=y_21^post80, rcd_308^0'=rcd_308^post80, rcd_45^0'=rcd_45^post80, i_130^0'=i_130^post80, x_154^0'=x_154^post80, rcd_114^0'=rcd_114^post80, a_253^0'=a_253^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=x_27^post80, rcd_220^0'=rcd_220^post80, head_33^0'=head_33^post80, temp_36^0'=temp_36^post80, r_192^0'=r_192^post80, (0 == 0 /\ tmp_35^0-tmp_35^post80 == 0 /\ -rcd_199^post80+rcd_199^0 == 0 /\ -len_159^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -r_192^post80+r_192^0 == 0 /\ -x_154^post80+x_154^0 == 0 /\ -i_130^post80+i_130^0 == 0 /\ -rcd_194^post80+rcd_194^0 == 0 /\ rcd_284^0-rcd_284^post80 == 0 /\ rcd_288^0-rcd_288^post80 == 0 /\ -temp_36^post80+temp_36^0 == 0 /\ -r_149^post80+r_149^0 == 0 /\ a_174^0-a_174^post80 == 0 /\ -y_26^post80+y_26^0 == 0 /\ -x_22^post80+x_22^0 == 0 /\ rcd_320^0-rcd_320^post80 == 0 /\ i_31^0-i_31^post80 == 0 /\ -y_21^post80+y_21^0 == 0 /\ -a_174^0 <= 0 /\ a_222^0-a_222^post80 == 0 /\ temp_37^0-temp_37^post80 == 0 /\ -rcd_106^post80+rcd_106^0 == 0 /\ rcd_71^0-rcd_71^post80 == 0 /\ temp0_32^0-temp0_32^post80 == 0 /\ a_139^0-a_139^post80 == 0 /\ length_29^0-length_29^post80 == 0 /\ -a_279^post80+a_279^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post80 == 0 /\ t_23^0-t_23^post80 == 0 /\ a_309^0-a_309^post80 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ -rcd_308^post80+rcd_308^0 == 0 /\ -a_253^post80+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post80 == 0 /\ head_33^0-head_33^post80 == 0 /\ -rcd_45^post80+rcd_45^0 == 0 /\ -rcd_220^post80+rcd_220^0 == 0 /\ i_112^0-i_112^post80 == 0 /\ -temp0_19^post80+temp0_19^0 == 0 /\ len_159^0-len_159^post80 == 0 /\ i_198^0-i_198^post80 == 0 /\ -rcd_114^post80+rcd_114^0 == 0 /\ -len_221^post80+len_221^0 == 0 /\ rcd_193^0-rcd_193^post80 == 0 /\ rcd_185^0-rcd_185^post80 == 0 /\ -x_27^post80+x_27^0 == 0 /\ result_11^0-result_11^post80 == 0), cost: 1
  27: l6 -> l20 : a_139^0'=a_139^post27, result_11^0'=result_11^post27, i_31^0'=i_31^post27, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post27, rcd_320^0'=rcd_320^post27, i_112^0'=i_112^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, x_22^0'=x_22^post27, rcd_199^0'=rcd_199^post27, head_16^0'=head_16^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, len_221^0'=len_221^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, rcd_284^0'=rcd_284^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^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, len_159^0'=len_159^post27, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, i_130^0'=i_130^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post27, rcd_220^0'=rcd_220^post27, head_33^0'=head_33^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, (0 == 0 /\ 2-length_29^0 <= 0 /\ -2+i_31^post27 <= 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -tail_15^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ rcd_114^0-rcd_114^post27 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -a_279^post27+a_279^0 == 0 /\ r_41^0-r_41^post27 == 0 /\ head_SLAM_f_30^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ tmp_35^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -len_159^post27+len_159^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ tail_15^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -i_130^post27+i_130^0 == 0 /\ y_26^0-y_26^post27 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ length_29^0-length_29^post27 == 0 /\ -head_SLAM_f_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ -tmp_35^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_16^0-head_16^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -len_221^post27+len_221^0 == 0 /\ 1-length_29^0 <= 0 /\ x_154^0-x_154^post27 == 0 /\ -x_27^post27+x_27^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_220^post27+rcd_220^0 == 0 /\ -r_149^post27+r_149^0 == 0 /\ 2-i_31^post27 <= 0 /\ -f_202^post27+f_202^0 == 0 /\ -x_22^post27+x_22^0 == 0 /\ -r_192^post27+r_192^0 == 0 /\ tmp_35^post27-temp_36^0 == 0 /\ i_198^0-i_198^post27 == 0 /\ -a_174^post27+a_174^0 == 0 /\ head_SLAM_f_30^post27-tail_15^post27 <= 0 /\ a_222^0-a_222^post27 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ head_33^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_33^post27-tmp_35^post27 <= 0 /\ head_33^post27-tmp_35^post27 == 0 /\ rcd_185^0-rcd_185^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ x_207^0-x_207^post27 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -head_SLAM_f_30^post27+tail_15^post27 <= 0 /\ -1-i_31^0+i_31^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -head_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -a_253^post27+a_253^0 == 0 /\ rcd_284^0-rcd_284^post27 == 0 /\ -head_33^post27+tmp_35^post27 <= 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ i_112^0-i_112^post27 == 0), cost: 1
  28: l20 -> l21 : a_139^0'=a_139^post28, result_11^0'=result_11^post28, i_31^0'=i_31^post28, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post28, rcd_320^0'=rcd_320^post28, i_112^0'=i_112^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, x_22^0'=x_22^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, rcd_71^0'=rcd_71^post28, i_198^0'=i_198^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, len_221^0'=len_221^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, rcd_284^0'=rcd_284^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^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, len_159^0'=len_159^post28, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, i_130^0'=i_130^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post28, rcd_220^0'=rcd_220^post28, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, (0 == 0 /\ rcd_114^0-rcd_114^post28 == 0 /\ -len_159^0 <= 0 /\ -a_279^post28+a_279^0 == 0 /\ -result_11^11+head_16^post28 == 0 /\ -rcd_194^post28+rcd_45^0 <= 0 /\ i_112^0-i_112^post28 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ x_27^post28-head_16^post28 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_31^0 <= 0 /\ -i_130^post28+i_130^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ rcd_194^post28-rcd_45^0 <= 0 /\ -rcd_220^post28+rcd_220^0 == 0 /\ temp0_32^110-head_33^0 == 0 /\ -x_27^post28+head_16^post28 <= 0 /\ x_154^0-x_154^post28 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_SLAM_f_25^post28-x_27^post28 <= 0 /\ y_26^post28-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -x_22^post28+x_22^0 == 0 /\ -len_221^post28+len_221^0 == 0 /\ -a_174^0+i_31^post28 <= 0 /\ -temp_37^post28+temp_37^0 == 0 /\ -r_192^post28+r_192^0 == 0 /\ -x_SLAM_f_25^post28+head_16^post28 <= 0 /\ -f_202^post28+f_202^0 == 0 /\ -a_174^post28+a_174^0 == 0 /\ x_207^0-x_207^post28 == 0 /\ a_222^0-a_222^post28 == 0 /\ len_159^0 <= 0 /\ rcd_193^0-rcd_193^post28 == 0 /\ -x_SLAM_f_20^post28+x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_26^post28 <= 0 /\ -tail_15^0+y_26^post28 == 0 /\ a_309^0-a_309^post28 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 == 0 /\ -y_26^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ a_139^0-a_139^post28 == 0 /\ r_41^0-r_41^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -rcd_106^post28+rcd_106^0 == 0 /\ a_174^0-i_31^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ tail_15^0-y_26^post28 <= 0 /\ -a_253^post28+a_253^0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ rcd_284^0-rcd_284^post28 == 0 /\ -y_21^post28+y_21^0 == 0), cost: 1
  32: l20 -> l23 : a_139^0'=a_139^post32, result_11^0'=result_11^post32, i_31^0'=i_31^post32, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post32, rcd_320^0'=rcd_320^post32, i_112^0'=i_112^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, x_22^0'=x_22^post32, rcd_199^0'=rcd_199^post32, head_16^0'=head_16^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, rcd_71^0'=rcd_71^post32, i_198^0'=i_198^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, len_221^0'=len_221^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, rcd_284^0'=rcd_284^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^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, len_159^0'=len_159^post32, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, i_130^0'=i_130^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post32, rcd_220^0'=rcd_220^post32, head_33^0'=head_33^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, (0 == 0 /\ -1-i_31^0+i_31^post32 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ -x_SLAM_f_20^post32+x_SLAM_f_20^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -a_222^post32+a_222^0 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -a_253^post32+a_253^0 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -rcd_220^post32+rcd_220^0 == 0 /\ -len_221^post32+len_221^0 == 0 /\ 1+i_112^post32-i_31^post32 <= 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -i_31^0 <= 0 /\ r_149^0-r_149^post32 == 0 /\ -x_27^post32+x_27^0 == 0 /\ x_154^0-x_154^post32 == 0 /\ rcd_288^0-rcd_288^post32 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post32+rcd_114^post32 <= 0 /\ 1-length_29^0+i_112^post32 <= 0 /\ -rcd_114^post32+rcd_45^0 <= 0 /\ -a_309^post32+a_309^0 == 0 /\ rcd_71^0-rcd_71^post32 == 0 /\ rcd_194^0-rcd_194^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -i_130^post32+i_130^0 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ -r_192^post32+r_192^0 == 0 /\ rcd_320^0-rcd_320^post32 == 0 /\ rcd_199^0-rcd_199^post32 == 0 /\ -1-i_112^post32+i_31^post32 <= 0 /\ rcd_45^post32-rcd_114^post32 <= 0 /\ a_139^0-a_139^post32 == 0 /\ rcd_114^post32-rcd_45^0 <= 0 /\ -tmp_35^post32+head_33^post32 == 0 /\ head_16^0-head_16^post32 == 0 /\ -a_174^post32+a_174^0 == 0 /\ tmp_35^post32-temp_36^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -head_SLAM_f_30^post32+head_SLAM_f_30^0 == 0 /\ -y_26^post32+y_26^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ r_41^0-r_41^post32 == 0), cost: 1
  29: l21 -> l22 : a_139^0'=a_139^post29, result_11^0'=result_11^post29, i_31^0'=i_31^post29, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post29, rcd_320^0'=rcd_320^post29, i_112^0'=i_112^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, x_22^0'=x_22^post29, rcd_199^0'=rcd_199^post29, head_16^0'=head_16^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, rcd_71^0'=rcd_71^post29, i_198^0'=i_198^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, len_221^0'=len_221^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, rcd_284^0'=rcd_284^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^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, len_159^0'=len_159^post29, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, i_130^0'=i_130^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post29, rcd_220^0'=rcd_220^post29, head_33^0'=head_33^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, (-y_21^post29+y_21^0 == 0 /\ x_207^0-x_207^post29 == 0 /\ rcd_193^0-rcd_193^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ a_139^0-a_139^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post29+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ head_16^0-head_16^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -i_198^post29+i_198^0 == 0 /\ y_26^0-y_26^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ rcd_288^0-rcd_288^post29 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ rcd_199^0-rcd_199^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ a_253^0-a_253^post29 == 0 /\ -len_159^post29+len_159^0 == 0 /\ i_31^0-i_31^post29 == 0 /\ -x_154^post29+x_154^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ a_279^0-a_279^post29 == 0 /\ a_222^0-a_222^post29 == 0 /\ r_149^0-r_149^post29 == 0 /\ -rcd_220^post29+rcd_220^0 == 0 /\ -tmp_35^post29+tmp_35^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0 /\ a_309^0-a_309^post29 == 0 /\ rcd_194^0-rcd_194^post29 == 0 /\ -x_27^post29+x_27^0 == 0 /\ -head_33^post29+head_33^0 == 0 /\ f_202^0-f_202^post29 == 0 /\ r_41^0-r_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ i_112^0-i_112^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ -rcd_320^post29+rcd_320^0 == 0 /\ -r_192^post29+r_192^0 == 0 /\ rcd_71^0-rcd_71^post29 == 0 /\ -rcd_308^post29+rcd_308^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ -len_221^post29+len_221^0 == 0 /\ -rcd_114^post29+rcd_114^0 == 0), cost: 1
  30: l21 -> l22 : a_139^0'=a_139^post30, result_11^0'=result_11^post30, i_31^0'=i_31^post30, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post30, rcd_320^0'=rcd_320^post30, i_112^0'=i_112^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, x_22^0'=x_22^post30, rcd_199^0'=rcd_199^post30, head_16^0'=head_16^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, rcd_71^0'=rcd_71^post30, i_198^0'=i_198^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, len_221^0'=len_221^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, rcd_284^0'=rcd_284^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^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, len_159^0'=len_159^post30, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, i_130^0'=i_130^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post30, rcd_220^0'=rcd_220^post30, head_33^0'=head_33^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, (-temp0_19^post30+temp0_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ rcd_284^0-rcd_284^post30 == 0 /\ i_130^0-i_130^post30 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ -rcd_220^post30+rcd_220^0 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ temp_37^0-temp_37^post30 == 0 /\ -a_279^post30+a_279^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ len_159^0-len_159^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ i_198^0-i_198^post30 == 0 /\ -head_33^post30+head_33^0 == 0 /\ -i_112^post30+i_112^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ -a_253^post30+a_253^0 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -x_27^post30+x_27^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ -temp_36^post30+temp_36^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ -f_202^post30+f_202^0 == 0 /\ r_149^0-r_149^post30 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ a_309^0-a_309^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ -rcd_199^post30+rcd_199^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ -rcd_106^post30+rcd_106^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post30 == 0 /\ rcd_320^0-rcd_320^post30 == 0 /\ rcd_71^0-rcd_71^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ rcd_185^0-rcd_185^post30 == 0 /\ -head_16^post30+head_16^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -x_154^post30+x_154^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ a_139^0-a_139^post30 == 0 /\ -a_174^post30+a_174^0 == 0 /\ -y_26^post30+y_26^0 == 0 /\ length_29^0-length_29^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ r_192^0-r_192^post30 == 0), cost: 1
  31: l22 -> l1 : a_139^0'=a_139^post31, result_11^0'=result_11^post31, i_31^0'=i_31^post31, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post31, rcd_320^0'=rcd_320^post31, i_112^0'=i_112^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, x_22^0'=x_22^post31, rcd_199^0'=rcd_199^post31, head_16^0'=head_16^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, rcd_71^0'=rcd_71^post31, i_198^0'=i_198^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, len_221^0'=len_221^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, rcd_284^0'=rcd_284^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^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, len_159^0'=len_159^post31, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, i_130^0'=i_130^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post31, rcd_220^0'=rcd_220^post31, head_33^0'=head_33^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, (rcd_45^0-rcd_45^post31 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ -i_130^post31+i_130^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_139^0-a_139^post31 == 0 /\ rcd_194^0-rcd_194^post31 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ -r_192^post31+r_192^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ x_22^0-x_22^post31 == 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ -r_149^post31+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post31 == 0 /\ len_221^0-len_221^post31 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ -t_23^post31+t_23^0 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ rcd_320^0-rcd_320^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -len_159^post31+len_159^0 == 0 /\ i_198^0-i_198^post31 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ -r_41^post31+r_41^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ tmp_35^0-tmp_35^post31 == 0 /\ rcd_288^0-rcd_288^post31 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -rcd_220^post31+rcd_220^0 == 0 /\ f_202^0-f_202^post31 == 0 /\ -head_33^post31+head_33^0 == 0 /\ -x_207^post31+x_207^0 == 0 /\ -x_SLAM_f_20^post31+x_SLAM_f_20^0 == 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_36^post31+temp_36^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ -a_253^post31+a_253^0 == 0 /\ rcd_71^0-rcd_71^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -x_27^post31+x_27^0 == 0 /\ -rcd_185^post31+rcd_185^0 == 0 /\ -a_222^post31+a_222^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ y_21^0-y_21^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  33: l23 -> l20 : a_139^0'=a_139^post33, result_11^0'=result_11^post33, i_31^0'=i_31^post33, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post33, rcd_320^0'=rcd_320^post33, i_112^0'=i_112^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, x_22^0'=x_22^post33, rcd_199^0'=rcd_199^post33, head_16^0'=head_16^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, rcd_71^0'=rcd_71^post33, i_198^0'=i_198^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, len_221^0'=len_221^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, rcd_284^0'=rcd_284^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^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, len_159^0'=len_159^post33, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, i_130^0'=i_130^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post33, rcd_220^0'=rcd_220^post33, head_33^0'=head_33^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, (-rcd_71^post33+rcd_71^0 == 0 /\ a_139^0-a_139^post33 == 0 /\ i_198^0-i_198^post33 == 0 /\ rcd_193^0-rcd_193^post33 == 0 /\ -rcd_45^post33+rcd_45^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -r_149^post33+r_149^0 == 0 /\ a_222^0-a_222^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ i_112^0-i_112^post33 == 0 /\ -a_279^post33+a_279^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -len_159^post33+len_159^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ i_130^0-i_130^post33 == 0 /\ -head_SLAM_f_30^post33+head_SLAM_f_30^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -x_154^post33+x_154^0 == 0 /\ x_27^0-x_27^post33 == 0 /\ -r_41^post33+r_41^0 == 0 /\ rcd_288^0-rcd_288^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -head_33^post33+head_33^0 == 0 /\ temp0_19^0-temp0_19^post33 == 0 /\ -a_253^post33+a_253^0 == 0 /\ -rcd_220^post33+rcd_220^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -len_221^post33+len_221^0 == 0 /\ x_207^0-x_207^post33 == 0 /\ -temp_36^post33+temp_36^0 == 0 /\ temp_37^0-temp_37^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -r_192^post33+r_192^0 == 0 /\ -rcd_185^post33+rcd_185^0 == 0 /\ i_31^0-i_31^post33 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ rcd_320^0-rcd_320^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ a_174^0-a_174^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  35: l24 -> l6 : a_139^0'=a_139^post35, result_11^0'=result_11^post35, i_31^0'=i_31^post35, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post35, rcd_320^0'=rcd_320^post35, i_112^0'=i_112^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, x_22^0'=x_22^post35, rcd_199^0'=rcd_199^post35, head_16^0'=head_16^post35, temp0_32^0'=temp0_32^post35, r_149^0'=r_149^post35, y_26^0'=y_26^post35, rcd_71^0'=rcd_71^post35, i_198^0'=i_198^post35, x_207^0'=x_207^post35, rcd_185^0'=rcd_185^post35, a_279^0'=a_279^post35, t_23^0'=t_23^post35, len_221^0'=len_221^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, rcd_284^0'=rcd_284^post35, head_SLAM_f_30^0'=head_SLAM_f_30^post35, temp_37^0'=temp_37^post35, r_41^0'=r_41^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, len_159^0'=len_159^post35, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post35, rcd_45^0'=rcd_45^post35, i_130^0'=i_130^post35, x_154^0'=x_154^post35, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post35, rcd_220^0'=rcd_220^post35, head_33^0'=head_33^post35, temp_36^0'=temp_36^post35, r_192^0'=r_192^post35, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35+head_33^post35 <= 0 /\ rcd_199^0-rcd_199^post35 == 0 /\ -rcd_45^post35+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post35 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_288^0-rcd_288^post35 == 0 /\ -tmp_35^post35+head_33^post35 <= 0 /\ -tmp_35^post35+head_33^post35 == 0 /\ a_279^0-a_279^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ rcd_71^0-rcd_71^post35 == 0 /\ tmp_35^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ rcd_193^0-rcd_193^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35-head_33^post35 <= 0 /\ rcd_106^0-rcd_106^post35 == 0 /\ y_26^0-y_26^post35 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -rcd_114^post35+rcd_114^0 == 0 /\ length_29^0-length_29^post35 == 0 /\ tmp_35^post35-head_33^post35 <= 0 /\ -i_130^post35+i_130^0 == 0 /\ a_139^0-a_139^post35 == 0 /\ -x_27^post35+x_27^0 == 0 /\ a_253^0-a_253^post35 == 0 /\ 1-length_29^0 <= 0 /\ -tmp_35^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ head_16^0-head_16^post35 == 0 /\ rcd_320^0-rcd_320^post35 == 0 /\ y_21^0-y_21^post35 == 0 /\ -rcd_220^post35+rcd_220^0 == 0 /\ -x_207^post35+x_207^0 == 0 /\ tmp_35^post35-temp_36^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -temp_37^post35+temp_37^0 == 0 /\ -head_SLAM_f_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ len_221^0-len_221^post35 == 0 /\ -a_174^post35+a_174^0 == 0 /\ -x_154^post35+x_154^0 == 0 /\ i_198^0-i_198^post35 == 0 /\ x_22^0-x_22^post35 == 0 /\ -tail_15^post35+head_SLAM_f_30^post35 <= 0 /\ len_159^0-len_159^post35 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ r_149^0-r_149^post35 == 0 /\ f_202^0-f_202^post35 == 0 /\ a_222^0-a_222^post35 == 0 /\ -r_41^post35+r_41^0 == 0 /\ -rcd_194^post35+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post35 == 0 /\ tail_15^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ head_SLAM_f_30^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -rcd_284^post35+rcd_284^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -x_SLAM_f_20^post35+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ tail_15^post35-head_SLAM_f_30^post35 <= 0 /\ -1-i_31^0+i_31^post35 == 0 /\ a_309^0-a_309^post35 == 0 /\ i_112^0-i_112^post35 == 0 /\ -rcd_308^post35+rcd_308^0 == 0 /\ -r_192^post35+r_192^0 == 0 /\ 1-i_31^post35 <= 0 /\ -1+i_31^post35 <= 0), cost: 1
  37: l25 -> l27 : a_139^0'=a_139^post37, result_11^0'=result_11^post37, i_31^0'=i_31^post37, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post37, rcd_320^0'=rcd_320^post37, i_112^0'=i_112^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, x_22^0'=x_22^post37, rcd_199^0'=rcd_199^post37, head_16^0'=head_16^post37, temp0_32^0'=temp0_32^post37, r_149^0'=r_149^post37, y_26^0'=y_26^post37, rcd_71^0'=rcd_71^post37, i_198^0'=i_198^post37, x_207^0'=x_207^post37, rcd_185^0'=rcd_185^post37, a_279^0'=a_279^post37, t_23^0'=t_23^post37, len_221^0'=len_221^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, rcd_284^0'=rcd_284^post37, head_SLAM_f_30^0'=head_SLAM_f_30^post37, temp_37^0'=temp_37^post37, r_41^0'=r_41^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, len_159^0'=len_159^post37, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post37, rcd_45^0'=rcd_45^post37, i_130^0'=i_130^post37, x_154^0'=x_154^post37, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post37, rcd_220^0'=rcd_220^post37, head_33^0'=head_33^post37, temp_36^0'=temp_36^post37, r_192^0'=r_192^post37, (0 == 0 /\ a_174^0-a_174^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ i_31^0-i_31^post37 == 0 /\ -a_279^post37+a_279^0 == 0 /\ -a_253^post37+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post37 == 0 /\ len_159^0-len_159^post37 == 0 /\ rcd_193^0-rcd_193^post37 == 0 /\ temp_37^0-temp_37^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ length_29^0-length_29^post37 == 0 /\ -rcd_114^post37+rcd_114^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -head_33^post37+head_33^0 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -r_149^post37+r_149^0 == 0 /\ -rcd_220^post37+rcd_220^0 == 0 /\ i_130^0-i_130^post37 == 0 /\ -x_27^post37+x_27^0 == 0 /\ len_221^0-len_221^post37 == 0 /\ -rcd_45^post37+rcd_45^0 == 0 /\ rcd_320^0-rcd_320^post37 == 0 /\ rcd_199^0-rcd_199^post37 == 0 /\ i_112^0-i_112^post37 == 0 /\ rcd_284^0-rcd_284^post37 == 0 /\ -rcd_185^post37+rcd_185^0 == 0 /\ -x_207^post37+x_207^0 == 0 /\ i_198^0-i_198^post37 == 0 /\ -temp_36^post37+temp_36^0 == 0 /\ rcd_288^0-rcd_288^post37 == 0 /\ -r_192^post37+r_192^0 == 0 /\ -f_202^post37+f_202^0 == 0 /\ -a_279^0 <= 0 /\ -head_SLAM_f_30^post37+head_SLAM_f_30^0 == 0 /\ rcd_106^0-rcd_106^post37 == 0 /\ a_222^0-a_222^post37 == 0 /\ -x_154^post37+x_154^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post37 == 0 /\ a_309^0-a_309^post37 == 0 /\ -rcd_308^post37+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post37 == 0 /\ -x_22^post37+x_22^0 == 0 /\ a_139^0-a_139^post37 == 0 /\ -rcd_194^post37+rcd_194^0 == 0 /\ -rcd_71^post37+rcd_71^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
  38: l27 -> l28 : a_139^0'=a_139^post38, result_11^0'=result_11^post38, i_31^0'=i_31^post38, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post38, rcd_320^0'=rcd_320^post38, i_112^0'=i_112^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, x_22^0'=x_22^post38, rcd_199^0'=rcd_199^post38, head_16^0'=head_16^post38, temp0_32^0'=temp0_32^post38, r_149^0'=r_149^post38, y_26^0'=y_26^post38, rcd_71^0'=rcd_71^post38, i_198^0'=i_198^post38, x_207^0'=x_207^post38, rcd_185^0'=rcd_185^post38, a_279^0'=a_279^post38, t_23^0'=t_23^post38, len_221^0'=len_221^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, rcd_284^0'=rcd_284^post38, head_SLAM_f_30^0'=head_SLAM_f_30^post38, temp_37^0'=temp_37^post38, r_41^0'=r_41^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, len_159^0'=len_159^post38, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post38, rcd_45^0'=rcd_45^post38, i_130^0'=i_130^post38, x_154^0'=x_154^post38, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post38, rcd_220^0'=rcd_220^post38, head_33^0'=head_33^post38, temp_36^0'=temp_36^post38, r_192^0'=r_192^post38, (-temp_37^post38+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_26^0-y_26^post38 == 0 /\ -a_222^post38+a_222^0 == 0 /\ length_29^0-length_29^post38 == 0 /\ result_11^0-result_11^post38 == 0 /\ -x_27^post38+x_27^0 == 0 /\ -temp_36^post38+temp_36^0 == 0 /\ -x_SLAM_f_20^post38+x_SLAM_f_20^0 == 0 /\ rcd_45^0-rcd_45^post38 == 0 /\ -r_192^post38+r_192^0 == 0 /\ -a_174^post38+a_174^0 == 0 /\ -rcd_185^post38+rcd_185^0 == 0 /\ i_112^0-i_112^post38 == 0 /\ head_16^0-head_16^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ -x_154^post38+x_154^0 == 0 /\ -y_21^post38+y_21^0 == 0 /\ a_253^0-a_253^post38 == 0 /\ -temp0_32^post38+temp0_32^0 == 0 /\ i_31^0-i_31^post38 == 0 /\ f_202^0-f_202^post38 == 0 /\ -i_198^post38+i_198^0 == 0 /\ x_207^0-x_207^post38 == 0 /\ rcd_193^0-rcd_193^post38 == 0 /\ -rcd_284^post38+rcd_284^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post38 == 0 /\ rcd_106^0-rcd_106^post38 == 0 /\ r_149^0-r_149^post38 == 0 /\ -x_SLAM_f_25^post38+x_SLAM_f_25^0 == 0 /\ rcd_71^0-rcd_71^post38 == 0 /\ rcd_194^0-rcd_194^post38 == 0 /\ -rcd_288^post38+rcd_288^0 == 0 /\ -rcd_308^post38+rcd_308^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_309^post38+a_309^0 == 0 /\ -rcd_114^post38+rcd_114^0 == 0 /\ a_139^0-a_139^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ rcd_199^0-rcd_199^post38 == 0 /\ rcd_320^0-rcd_320^post38 == 0 /\ -len_159^post38+len_159^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -i_130^post38+i_130^0 == 0 /\ a_279^0-a_279^post38 == 0 /\ -len_221^post38+len_221^0 == 0 /\ x_22^0-x_22^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_220^post38+rcd_220^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post38 == 0 /\ r_41^0-r_41^post38 == 0 /\ -tmp_35^post38+tmp_35^0 == 0 /\ -head_33^post38+head_33^0 == 0), cost: 1
  39: l27 -> l28 : a_139^0'=a_139^post39, result_11^0'=result_11^post39, i_31^0'=i_31^post39, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post39, rcd_320^0'=rcd_320^post39, i_112^0'=i_112^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, x_22^0'=x_22^post39, rcd_199^0'=rcd_199^post39, head_16^0'=head_16^post39, temp0_32^0'=temp0_32^post39, r_149^0'=r_149^post39, y_26^0'=y_26^post39, rcd_71^0'=rcd_71^post39, i_198^0'=i_198^post39, x_207^0'=x_207^post39, rcd_185^0'=rcd_185^post39, a_279^0'=a_279^post39, t_23^0'=t_23^post39, len_221^0'=len_221^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, rcd_284^0'=rcd_284^post39, head_SLAM_f_30^0'=head_SLAM_f_30^post39, temp_37^0'=temp_37^post39, r_41^0'=r_41^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, len_159^0'=len_159^post39, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post39, rcd_45^0'=rcd_45^post39, i_130^0'=i_130^post39, x_154^0'=x_154^post39, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post39, rcd_220^0'=rcd_220^post39, head_33^0'=head_33^post39, temp_36^0'=temp_36^post39, r_192^0'=r_192^post39, (-nondet_12^post39+nondet_12^0 == 0 /\ rcd_199^0-rcd_199^post39 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post39 == 0 /\ x_22^0-x_22^post39 == 0 /\ -a_253^post39+a_253^0 == 0 /\ len_159^0-len_159^post39 == 0 /\ i_198^0-i_198^post39 == 0 /\ -rcd_71^post39+rcd_71^0 == 0 /\ a_174^0-a_174^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ a_222^0-a_222^post39 == 0 /\ temp_37^0-temp_37^post39 == 0 /\ rcd_193^0-rcd_193^post39 == 0 /\ -temp0_19^post39+temp0_19^0 == 0 /\ r_149^0-r_149^post39 == 0 /\ -rcd_114^post39+rcd_114^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -len_221^post39+len_221^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ a_309^0-a_309^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_32^0-temp0_32^post39 == 0 /\ rcd_185^0-rcd_185^post39 == 0 /\ rcd_284^0-rcd_284^post39 == 0 /\ -a_279^post39+a_279^0 == 0 /\ i_130^0-i_130^post39 == 0 /\ -rcd_45^post39+rcd_45^0 == 0 /\ -rcd_220^post39+rcd_220^0 == 0 /\ -head_33^post39+head_33^0 == 0 /\ i_31^0-i_31^post39 == 0 /\ x_27^0-x_27^post39 == 0 /\ -i_112^post39+i_112^0 == 0 /\ -head_16^post39+head_16^0 == 0 /\ rcd_288^0-rcd_288^post39 == 0 /\ -x_154^post39+x_154^0 == 0 /\ -temp_36^post39+temp_36^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ x_207^0-x_207^post39 == 0 /\ -f_202^post39+f_202^0 == 0 /\ -y_26^post39+y_26^0 == 0 /\ -head_SLAM_f_30^post39+head_SLAM_f_30^0 == 0 /\ -r_41^post39+r_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_21^post39+y_21^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ -rcd_308^post39+rcd_308^0 == 0 /\ -rcd_106^post39+rcd_106^0 == 0 /\ -rcd_194^post39+rcd_194^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ tmp_35^0-tmp_35^post39 == 0 /\ rcd_320^0-rcd_320^post39 == 0 /\ a_139^0-a_139^post39 == 0), cost: 1
  40: l28 -> l29 : a_139^0'=a_139^post40, result_11^0'=result_11^post40, i_31^0'=i_31^post40, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post40, rcd_320^0'=rcd_320^post40, i_112^0'=i_112^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, x_22^0'=x_22^post40, rcd_199^0'=rcd_199^post40, head_16^0'=head_16^post40, temp0_32^0'=temp0_32^post40, r_149^0'=r_149^post40, y_26^0'=y_26^post40, rcd_71^0'=rcd_71^post40, i_198^0'=i_198^post40, x_207^0'=x_207^post40, rcd_185^0'=rcd_185^post40, a_279^0'=a_279^post40, t_23^0'=t_23^post40, len_221^0'=len_221^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, rcd_284^0'=rcd_284^post40, head_SLAM_f_30^0'=head_SLAM_f_30^post40, temp_37^0'=temp_37^post40, r_41^0'=r_41^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, len_159^0'=len_159^post40, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post40, rcd_45^0'=rcd_45^post40, i_130^0'=i_130^post40, x_154^0'=x_154^post40, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post40, rcd_220^0'=rcd_220^post40, head_33^0'=head_33^post40, temp_36^0'=temp_36^post40, r_192^0'=r_192^post40, (0 == 0 /\ -temp_36^post40+temp_36^0 == 0 /\ rcd_106^0-rcd_106^post40 == 0 /\ y_26^0-y_26^post40 == 0 /\ -a_174^post40+a_174^0 == 0 /\ -f_202^post40+f_202^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ rcd_308^post40-rcd_45^0 <= 0 /\ -temp_37^post40+temp_37^0 == 0 /\ length_29^0-length_29^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -x_27^post40+x_27^0 == 0 /\ -rcd_199^post40+rcd_199^0 == 0 /\ -rcd_185^post40+rcd_185^0 == 0 /\ -x_154^post40+x_154^0 == 0 /\ rcd_45^0-rcd_45^post40 == 0 /\ -rcd_194^post40+rcd_194^0 == 0 /\ a_253^0-a_253^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post40 == 0 /\ len_221^0-len_221^post40 == 0 /\ tail_15^0-tail_15^post40 == 0 /\ -rcd_308^post40+rcd_45^0 <= 0 /\ -r_41^post40+r_41^0 == 0 /\ -x_22^0+t_23^post40 == 0 /\ rcd_320^0-rcd_320^post40 == 0 /\ a_279^0-a_279^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -y_21^post40+y_21^0 == 0 /\ a_222^0-a_222^post40 == 0 /\ -rcd_284^post40+rcd_284^0 == 0 /\ -r_192^post40+r_192^0 == 0 /\ r_149^0-r_149^post40 == 0 /\ 1-a_279^0+a_309^post40 <= 0 /\ rcd_193^0-rcd_193^post40 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post40 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post40 == 0 /\ i_112^0-i_112^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ i_31^0-i_31^post40 == 0 /\ head_16^0-head_16^post40 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ tmp_35^0-tmp_35^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_25^post40+x_SLAM_f_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -len_159^post40+len_159^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_288^0-rcd_288^post40 == 0 /\ -rcd_114^post40+rcd_114^0 == 0 /\ -i_130^post40+i_130^0 == 0 /\ -temp0_19^post40+temp0_19^0 == 0 /\ i_198^0-i_198^post40 == 0 /\ x_22^0-x_22^post40 == 0 /\ -head_33^post40+head_33^0 == 0 /\ -rcd_220^post40+rcd_220^0 == 0 /\ -x_207^post40+x_207^0 == 0 /\ -1+a_279^0-a_309^post40 <= 0 /\ rcd_71^0-rcd_71^post40 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  41: l29 -> l30 : a_139^0'=a_139^post41, result_11^0'=result_11^post41, i_31^0'=i_31^post41, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post41, rcd_320^0'=rcd_320^post41, i_112^0'=i_112^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, x_22^0'=x_22^post41, rcd_199^0'=rcd_199^post41, head_16^0'=head_16^post41, temp0_32^0'=temp0_32^post41, r_149^0'=r_149^post41, y_26^0'=y_26^post41, rcd_71^0'=rcd_71^post41, i_198^0'=i_198^post41, x_207^0'=x_207^post41, rcd_185^0'=rcd_185^post41, a_279^0'=a_279^post41, t_23^0'=t_23^post41, len_221^0'=len_221^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, rcd_284^0'=rcd_284^post41, head_SLAM_f_30^0'=head_SLAM_f_30^post41, temp_37^0'=temp_37^post41, r_41^0'=r_41^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, len_159^0'=len_159^post41, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post41, rcd_45^0'=rcd_45^post41, i_130^0'=i_130^post41, x_154^0'=x_154^post41, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post41, rcd_220^0'=rcd_220^post41, head_33^0'=head_33^post41, temp_36^0'=temp_36^post41, r_192^0'=r_192^post41, (rcd_308^0-rcd_308^post41 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ -rcd_45^post41+rcd_45^0 == 0 /\ -len_159^post41+len_159^0 == 0 /\ x_22^0-x_22^post41 == 0 /\ r_149^0-r_149^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_185^0-rcd_185^post41 == 0 /\ temp0_32^0-temp0_32^post41 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -a_222^post41+a_222^0 == 0 /\ x_207^0-x_207^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -i_130^post41+i_130^0 == 0 /\ a_309^0-a_309^post41 == 0 /\ -head_33^post41+head_33^0 == 0 /\ -rcd_114^post41+rcd_114^0 == 0 /\ -rcd_220^post41+rcd_220^0 == 0 /\ -len_221^post41+len_221^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ x_154^0-x_154^post41 == 0 /\ -x_27^post41+x_27^0 == 0 /\ rcd_288^0-rcd_288^post41 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post41 == 0 /\ -temp_36^post41+temp_36^0 == 0 /\ -f_202^post41+f_202^0 == 0 /\ -a_174^post41+a_174^0 == 0 /\ rcd_320^0-rcd_320^post41 == 0 /\ rcd_199^0-rcd_199^post41 == 0 /\ -r_192^post41+r_192^0 == 0 /\ -head_SLAM_f_30^post41+head_SLAM_f_30^0 == 0 /\ rcd_193^0-rcd_193^post41 == 0 /\ a_279^0-a_279^post41 == 0 /\ rcd_71^0-rcd_71^post41 == 0 /\ -i_112^post41+i_112^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post41+temp_37^0 == 0 /\ -i_198^post41+i_198^0 == 0 /\ -y_26^post41+y_26^0 == 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_106^post41+rcd_106^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -x_SLAM_f_20^post41+x_SLAM_f_20^0 == 0 /\ -rcd_284^post41+rcd_284^0 == 0 /\ -r_41^post41+r_41^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ a_139^0-a_139^post41 == 0 /\ -y_21^post41+y_21^0 == 0 /\ tmp_35^0-tmp_35^post41 == 0 /\ head_16^0-head_16^post41 == 0 /\ -a_253^post41+a_253^0 == 0 /\ i_31^0-i_31^post41 == 0 /\ rcd_194^0-rcd_194^post41 == 0), cost: 1
  42: l29 -> l30 : a_139^0'=a_139^post42, result_11^0'=result_11^post42, i_31^0'=i_31^post42, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post42, rcd_320^0'=rcd_320^post42, i_112^0'=i_112^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, x_22^0'=x_22^post42, rcd_199^0'=rcd_199^post42, head_16^0'=head_16^post42, temp0_32^0'=temp0_32^post42, r_149^0'=r_149^post42, y_26^0'=y_26^post42, rcd_71^0'=rcd_71^post42, i_198^0'=i_198^post42, x_207^0'=x_207^post42, rcd_185^0'=rcd_185^post42, a_279^0'=a_279^post42, t_23^0'=t_23^post42, len_221^0'=len_221^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, rcd_284^0'=rcd_284^post42, head_SLAM_f_30^0'=head_SLAM_f_30^post42, temp_37^0'=temp_37^post42, r_41^0'=r_41^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, len_159^0'=len_159^post42, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post42, rcd_45^0'=rcd_45^post42, i_130^0'=i_130^post42, x_154^0'=x_154^post42, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post42, rcd_220^0'=rcd_220^post42, head_33^0'=head_33^post42, temp_36^0'=temp_36^post42, r_192^0'=r_192^post42, (x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ length_29^0-length_29^post42 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ -temp_36^post42+temp_36^0 == 0 /\ -r_192^post42+r_192^0 == 0 /\ t_23^0-t_23^post42 == 0 /\ rcd_193^0-rcd_193^post42 == 0 /\ -rcd_185^post42+rcd_185^0 == 0 /\ a_222^0-a_222^post42 == 0 /\ a_139^0-a_139^post42 == 0 /\ -f_202^post42+f_202^0 == 0 /\ -i_130^post42+i_130^0 == 0 /\ -rcd_194^post42+rcd_194^0 == 0 /\ -head_16^post42+head_16^0 == 0 /\ i_31^0-i_31^post42 == 0 /\ -rcd_199^post42+rcd_199^0 == 0 /\ -rcd_71^post42+rcd_71^0 == 0 /\ -head_SLAM_f_30^post42+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post42 == 0 /\ -x_154^post42+x_154^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post42 == 0 /\ len_221^0-len_221^post42 == 0 /\ rcd_114^0-rcd_114^post42 == 0 /\ r_41^0-r_41^post42 == 0 /\ i_198^0-i_198^post42 == 0 /\ -y_21^post42+y_21^0 == 0 /\ x_22^0-x_22^post42 == 0 /\ -a_253^post42+a_253^0 == 0 /\ -a_279^post42+a_279^0 == 0 /\ temp0_19^0-temp0_19^post42 == 0 /\ y_26^0-y_26^post42 == 0 /\ x_207^0-x_207^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42 == 0 /\ rcd_220^0-rcd_220^post42 == 0 /\ -len_159^post42+len_159^0 == 0 /\ i_112^0-i_112^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -rcd_308^post42+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post42 == 0 /\ a_309^0-a_309^post42 == 0 /\ x_27^0-x_27^post42 == 0 /\ rcd_284^0-rcd_284^post42 == 0 /\ rcd_320^0-rcd_320^post42 == 0 /\ rcd_288^0-rcd_288^post42 == 0 /\ a_174^0-a_174^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -rcd_45^post42+rcd_45^0 == 0 /\ temp_37^0-temp_37^post42 == 0 /\ -head_33^post42+head_33^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_149^post42+r_149^0 == 0 /\ rcd_106^0-rcd_106^post42 == 0), cost: 1
  43: l30 -> l31 : a_139^0'=a_139^post43, result_11^0'=result_11^post43, i_31^0'=i_31^post43, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post43, rcd_320^0'=rcd_320^post43, i_112^0'=i_112^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, x_22^0'=x_22^post43, rcd_199^0'=rcd_199^post43, head_16^0'=head_16^post43, temp0_32^0'=temp0_32^post43, r_149^0'=r_149^post43, y_26^0'=y_26^post43, rcd_71^0'=rcd_71^post43, i_198^0'=i_198^post43, x_207^0'=x_207^post43, rcd_185^0'=rcd_185^post43, a_279^0'=a_279^post43, t_23^0'=t_23^post43, len_221^0'=len_221^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, rcd_284^0'=rcd_284^post43, head_SLAM_f_30^0'=head_SLAM_f_30^post43, temp_37^0'=temp_37^post43, r_41^0'=r_41^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, len_159^0'=len_159^post43, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post43, rcd_45^0'=rcd_45^post43, i_130^0'=i_130^post43, x_154^0'=x_154^post43, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post43, rcd_220^0'=rcd_220^post43, head_33^0'=head_33^post43, temp_36^0'=temp_36^post43, r_192^0'=r_192^post43, (tail_15^0-tail_15^post43 == 0 /\ -a_253^post43+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post43 == 0 /\ x_22^0-x_22^post43 == 0 /\ rcd_71^0-rcd_71^post43 == 0 /\ a_279^0-a_279^post43 == 0 /\ rcd_106^0-rcd_106^post43 == 0 /\ -rcd_308^post43+rcd_308^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_149^0-r_149^post43 == 0 /\ -rcd_220^post43+rcd_220^0 == 0 /\ rcd_193^0-rcd_193^post43 == 0 /\ rcd_45^0-rcd_45^post43 == 0 /\ -len_221^post43+len_221^0 == 0 /\ -rcd_114^post43+rcd_114^0 == 0 /\ a_139^0-a_139^post43 == 0 /\ head_16^0-head_16^post43 == 0 /\ -tmp_35^post43+tmp_35^0 == 0 /\ a_309^0-a_309^post43 == 0 /\ -head_33^post43+head_33^0 == 0 /\ -x_27^post43+x_27^0 == 0 /\ rcd_199^0-rcd_199^post43 == 0 /\ i_31^0-i_31^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post43+temp_36^0 == 0 /\ -temp_37^post43+temp_37^0 == 0 /\ x_207^0-x_207^post43 == 0 /\ -a_174^post43+a_174^0 == 0 /\ -f_202^post43+f_202^0 == 0 /\ -a_222^post43+a_222^0 == 0 /\ len_159^0-len_159^post43 == 0 /\ -r_41^post43+r_41^0 == 0 /\ -i_130^post43+i_130^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ rcd_185^0-rcd_185^post43 == 0 /\ -x_154^post43+x_154^0 == 0 /\ temp0_32^0-temp0_32^post43 == 0 /\ -i_198^post43+i_198^0 == 0 /\ rcd_194^0-rcd_194^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ t_23^0-t_23^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ -x_SLAM_f_20^post43+x_SLAM_f_20^0 == 0 /\ i_112^0-i_112^post43 == 0 /\ -rcd_284^post43+rcd_284^0 == 0 /\ -rcd_288^post43+rcd_288^0 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_320^0-rcd_320^post43 == 0 /\ y_26^0-y_26^post43 == 0), cost: 1
  44: l30 -> l31 : a_139^0'=a_139^post44, result_11^0'=result_11^post44, i_31^0'=i_31^post44, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post44, rcd_320^0'=rcd_320^post44, i_112^0'=i_112^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, x_22^0'=x_22^post44, rcd_199^0'=rcd_199^post44, head_16^0'=head_16^post44, temp0_32^0'=temp0_32^post44, r_149^0'=r_149^post44, y_26^0'=y_26^post44, rcd_71^0'=rcd_71^post44, i_198^0'=i_198^post44, x_207^0'=x_207^post44, rcd_185^0'=rcd_185^post44, a_279^0'=a_279^post44, t_23^0'=t_23^post44, len_221^0'=len_221^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, rcd_284^0'=rcd_284^post44, head_SLAM_f_30^0'=head_SLAM_f_30^post44, temp_37^0'=temp_37^post44, r_41^0'=r_41^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, len_159^0'=len_159^post44, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post44, rcd_45^0'=rcd_45^post44, i_130^0'=i_130^post44, x_154^0'=x_154^post44, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post44, rcd_220^0'=rcd_220^post44, head_33^0'=head_33^post44, temp_36^0'=temp_36^post44, r_192^0'=r_192^post44, (x_154^0-x_154^post44 == 0 /\ r_149^0-r_149^post44 == 0 /\ rcd_185^0-rcd_185^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44 == 0 /\ -head_16^post44+head_16^0 == 0 /\ -temp_36^post44+temp_36^0 == 0 /\ a_309^0-a_309^post44 == 0 /\ a_139^0-a_139^post44 == 0 /\ -rcd_199^post44+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post44 == 0 /\ -i_130^post44+i_130^0 == 0 /\ -rcd_194^post44+rcd_194^0 == 0 /\ rcd_114^0-rcd_114^post44 == 0 /\ -a_174^post44+a_174^0 == 0 /\ r_41^0-r_41^post44 == 0 /\ -y_26^post44+y_26^0 == 0 /\ -temp0_32^post44+temp0_32^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -head_SLAM_f_30^post44+head_SLAM_f_30^0 == 0 /\ i_198^0-i_198^post44 == 0 /\ -rcd_308^post44+rcd_308^0 == 0 /\ -r_192^post44+r_192^0 == 0 /\ -rcd_71^post44+rcd_71^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post44 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -head_33^post44+head_33^0 == 0 /\ -a_253^post44+a_253^0 == 0 /\ rcd_193^0-rcd_193^post44 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -a_279^post44+a_279^0 == 0 /\ rcd_284^0-rcd_284^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ rcd_288^0-rcd_288^post44 == 0 /\ -len_159^post44+len_159^0 == 0 /\ tmp_35^0-tmp_35^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ -len_221^post44+len_221^0 == 0 /\ -rcd_45^post44+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_31^0-i_31^post44 == 0 /\ -rcd_220^post44+rcd_220^0 == 0 /\ f_202^0-f_202^post44 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post44 == 0 /\ -x_27^post44+x_27^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ x_207^0-x_207^post44 == 0 /\ a_222^0-a_222^post44 == 0 /\ rcd_106^0-rcd_106^post44 == 0 /\ -temp0_19^post44+temp0_19^0 == 0 /\ -i_112^post44+i_112^0 == 0 /\ temp_37^0-temp_37^post44 == 0), cost: 1
  45: l31 -> l32 : a_139^0'=a_139^post45, result_11^0'=result_11^post45, i_31^0'=i_31^post45, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post45, rcd_320^0'=rcd_320^post45, i_112^0'=i_112^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, x_22^0'=x_22^post45, rcd_199^0'=rcd_199^post45, head_16^0'=head_16^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, rcd_71^0'=rcd_71^post45, i_198^0'=i_198^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, len_221^0'=len_221^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^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, len_159^0'=len_159^post45, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, i_130^0'=i_130^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post45, rcd_220^0'=rcd_220^post45, head_33^0'=head_33^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, (-a_253^post45+a_253^0 == 0 /\ -head_33^post45+head_33^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ i_31^0-i_31^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ rcd_71^0-rcd_71^post45 == 0 /\ -i_130^post45+i_130^0 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ -rcd_220^post45+rcd_220^0 == 0 /\ -x_27^post45+x_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ head_16^0-head_16^post45 == 0 /\ a_139^0-a_139^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ a_309^0-a_309^post45 == 0 /\ y_21^0-y_21^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ -r_149^post45+r_149^0 == 0 /\ -x_207^post45+x_207^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ i_112^0-i_112^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ i_198^0-i_198^post45 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ rcd_193^0-rcd_193^post45 == 0 /\ len_159^0-len_159^post45 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ -rcd_194^post45+rcd_194^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ rcd_185^0-rcd_185^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -rcd_284^post45+rcd_284^0 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -r_192^post45+r_192^0 == 0 /\ rcd_288^0-rcd_288^post45 == 0 /\ -x_22^post45+x_22^0 == 0), cost: 1
  46: l31 -> l32 : a_139^0'=a_139^post46, result_11^0'=result_11^post46, i_31^0'=i_31^post46, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post46, rcd_320^0'=rcd_320^post46, i_112^0'=i_112^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, x_22^0'=x_22^post46, rcd_199^0'=rcd_199^post46, head_16^0'=head_16^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, rcd_71^0'=rcd_71^post46, i_198^0'=i_198^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, len_221^0'=len_221^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, rcd_284^0'=rcd_284^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^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, len_159^0'=len_159^post46, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, i_130^0'=i_130^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post46, rcd_220^0'=rcd_220^post46, head_33^0'=head_33^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, (result_11^0-result_11^post46 == 0 /\ -temp_36^post46+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -r_192^post46+r_192^0 == 0 /\ -y_26^post46+y_26^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ rcd_194^0-rcd_194^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ a_309^0-a_309^post46 == 0 /\ -a_174^post46+a_174^0 == 0 /\ rcd_308^0-rcd_308^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ x_22^0-x_22^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -r_41^post46+r_41^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ -tmp_35^post46+tmp_35^0 == 0 /\ -a_253^post46+a_253^0 == 0 /\ head_16^0-head_16^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ -i_130^post46+i_130^0 == 0 /\ rcd_320^0-rcd_320^post46 == 0 /\ len_221^0-len_221^post46 == 0 /\ -temp0_19^post46+temp0_19^0 == 0 /\ i_31^0-i_31^post46 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ rcd_288^0-rcd_288^post46 == 0 /\ tail_15^0-tail_15^post46 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ i_112^0-i_112^post46 == 0 /\ -a_222^post46+a_222^0 == 0 /\ f_202^0-f_202^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -rcd_220^post46+rcd_220^0 == 0 /\ -x_207^post46+x_207^0 == 0 /\ -x_27^post46+x_27^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ y_21^0-y_21^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ -head_33^post46+head_33^0 == 0 /\ r_149^0-r_149^post46 == 0), cost: 1
  47: l32 -> l26 : a_139^0'=a_139^post47, result_11^0'=result_11^post47, i_31^0'=i_31^post47, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post47, rcd_320^0'=rcd_320^post47, i_112^0'=i_112^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, x_22^0'=x_22^post47, rcd_199^0'=rcd_199^post47, head_16^0'=head_16^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, rcd_71^0'=rcd_71^post47, i_198^0'=i_198^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, len_221^0'=len_221^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, rcd_284^0'=rcd_284^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^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, len_159^0'=len_159^post47, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, i_130^0'=i_130^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post47, rcd_220^0'=rcd_220^post47, head_33^0'=head_33^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, (0 == 0 /\ r_41^0-r_41^post47 == 0 /\ a_174^0-a_174^post47 == 0 /\ rcd_288^0-rcd_288^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -a_253^post47+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ rcd_114^0-rcd_114^post47 == 0 /\ rcd_45^post47-rcd_308^0 <= 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ -x_27^post47+x_27^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post47+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_220^post47+rcd_220^0 == 0 /\ -r_149^post47+r_149^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ -len_221^post47+len_221^0 == 0 /\ -rcd_45^post47+rcd_308^0 <= 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ -head_33^post47+head_33^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47 == 0 /\ rcd_284^0-rcd_284^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ tail_15^0-tail_15^post47 == 0 /\ -y_21^post47+y_21^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_198^0-i_198^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ a_309^0-a_279^post47 <= 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -r_192^post47+r_192^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ a_222^0-a_222^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ x_207^0-x_207^post47 == 0 /\ rcd_185^0-rcd_185^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ -x_22^post47+x_22^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -a_309^0+a_279^post47 <= 0 /\ -temp0_32^post47+temp0_32^0 == 0), cost: 1
  48: l26 -> l25 : a_139^0'=a_139^post48, result_11^0'=result_11^post48, i_31^0'=i_31^post48, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post48, rcd_320^0'=rcd_320^post48, i_112^0'=i_112^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, x_22^0'=x_22^post48, rcd_199^0'=rcd_199^post48, head_16^0'=head_16^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, rcd_71^0'=rcd_71^post48, i_198^0'=i_198^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, len_221^0'=len_221^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, rcd_284^0'=rcd_284^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^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, len_159^0'=len_159^post48, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, i_130^0'=i_130^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post48, rcd_220^0'=rcd_220^post48, head_33^0'=head_33^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, (y_26^0-y_26^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ rcd_45^0-rcd_45^post48 == 0 /\ -y_21^post48+y_21^0 == 0 /\ a_309^0-a_309^post48 == 0 /\ -rcd_185^post48+rcd_185^0 == 0 /\ i_112^0-i_112^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -r_192^post48+r_192^0 == 0 /\ -f_202^post48+f_202^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ -r_41^post48+r_41^0 == 0 /\ i_31^0-i_31^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ temp_37^0-temp_37^post48 == 0 /\ rcd_71^0-rcd_71^post48 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ a_174^0-a_174^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ r_149^0-r_149^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ temp0_19^0-temp0_19^post48 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ length_29^0-length_29^post48 == 0 /\ -rcd_220^post48+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -x_27^post48+x_27^0 == 0 /\ rcd_199^0-rcd_199^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -x_207^post48+x_207^0 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ i_198^0-i_198^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ len_159^0-len_159^post48 == 0 /\ -head_33^post48+head_33^0 == 0 /\ a_279^0-a_279^post48 == 0), cost: 1
  64: l42 -> l43 : a_139^0'=a_139^post64, result_11^0'=result_11^post64, i_31^0'=i_31^post64, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post64, rcd_320^0'=rcd_320^post64, i_112^0'=i_112^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, x_22^0'=x_22^post64, rcd_199^0'=rcd_199^post64, head_16^0'=head_16^post64, temp0_32^0'=temp0_32^post64, r_149^0'=r_149^post64, y_26^0'=y_26^post64, rcd_71^0'=rcd_71^post64, i_198^0'=i_198^post64, x_207^0'=x_207^post64, rcd_185^0'=rcd_185^post64, a_279^0'=a_279^post64, t_23^0'=t_23^post64, len_221^0'=len_221^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, head_SLAM_f_30^0'=head_SLAM_f_30^post64, temp_37^0'=temp_37^post64, r_41^0'=r_41^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, len_159^0'=len_159^post64, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post64, rcd_45^0'=rcd_45^post64, i_130^0'=i_130^post64, x_154^0'=x_154^post64, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post64, rcd_220^0'=rcd_220^post64, head_33^0'=head_33^post64, temp_36^0'=temp_36^post64, r_192^0'=r_192^post64, (0 == 0 /\ rcd_193^0-rcd_193^post64 == 0 /\ -len_159^0 <= 0 /\ -i_130^post64+i_130^0 == 0 /\ -rcd_45^post64+rcd_45^0 == 0 /\ -rcd_114^post64+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post64 == 0 /\ -r_192^post64+r_192^0 == 0 /\ -y_21^post64+y_21^0 == 0 /\ y_26^0-y_26^post64 == 0 /\ length_29^0-length_29^post64 == 0 /\ rcd_71^0-rcd_71^post64 == 0 /\ temp_37^0-temp_37^post64 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post64 == 0 /\ i_31^0-i_31^post64 == 0 /\ a_253^0-a_253^post64 == 0 /\ rcd_106^0-rcd_106^post64 == 0 /\ rcd_320^0-rcd_320^post64 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ len_221^0-len_221^post64 == 0 /\ -x_154^post64+x_154^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ rcd_199^0-rcd_199^post64 == 0 /\ -a_174^post64+a_174^0 == 0 /\ a_279^0-a_279^post64 == 0 /\ a_139^0-a_139^post64 == 0 /\ i_198^0-i_198^post64 == 0 /\ -temp0_19^post64+temp0_19^0 == 0 /\ -rcd_308^post64+rcd_308^0 == 0 /\ -tmp_35^post64+tmp_35^0 == 0 /\ -r_41^post64+r_41^0 == 0 /\ len_159^0-len_159^post64 == 0 /\ r_149^0-r_149^post64 == 0 /\ -rcd_220^post64+rcd_220^0 == 0 /\ -head_33^post64+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_27^post64+x_27^0 == 0 /\ a_222^0-a_222^post64 == 0 /\ -x_207^post64+x_207^0 == 0 /\ f_202^0-f_202^post64 == 0 /\ a_309^0-a_309^post64 == 0 /\ i_112^0-i_112^post64 == 0 /\ -temp_36^post64+temp_36^0 == 0 /\ x_22^0-x_22^post64 == 0 /\ -rcd_185^post64+rcd_185^0 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_194^post64+rcd_194^0 == 0), cost: 1
  65: l43 -> l44 : a_139^0'=a_139^post65, result_11^0'=result_11^post65, i_31^0'=i_31^post65, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post65, rcd_320^0'=rcd_320^post65, i_112^0'=i_112^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, x_22^0'=x_22^post65, rcd_199^0'=rcd_199^post65, head_16^0'=head_16^post65, temp0_32^0'=temp0_32^post65, r_149^0'=r_149^post65, y_26^0'=y_26^post65, rcd_71^0'=rcd_71^post65, i_198^0'=i_198^post65, x_207^0'=x_207^post65, rcd_185^0'=rcd_185^post65, a_279^0'=a_279^post65, t_23^0'=t_23^post65, len_221^0'=len_221^post65, x_SLAM_f_20^0'=x_SLAM_f_20^post65, rcd_284^0'=rcd_284^post65, head_SLAM_f_30^0'=head_SLAM_f_30^post65, temp_37^0'=temp_37^post65, r_41^0'=r_41^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, len_159^0'=len_159^post65, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post65, rcd_45^0'=rcd_45^post65, i_130^0'=i_130^post65, x_154^0'=x_154^post65, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post65, rcd_220^0'=rcd_220^post65, head_33^0'=head_33^post65, temp_36^0'=temp_36^post65, r_192^0'=r_192^post65, (-len_221^post65+len_221^0 == 0 /\ -x_SLAM_f_20^post65+x_SLAM_f_20^0 == 0 /\ -head_SLAM_f_30^post65+head_SLAM_f_30^0 == 0 /\ -rcd_284^post65+rcd_284^0 == 0 /\ -x_154^post65+x_154^0 == 0 /\ -x_27^post65+x_27^0 == 0 /\ x_22^0-x_22^post65 == 0 /\ -a_174^post65+a_174^0 == 0 /\ -temp0_19^post65+temp0_19^0 == 0 /\ -a_222^post65+a_222^0 == 0 /\ -a_253^post65+a_253^0 == 0 /\ -head_33^post65+head_33^0 == 0 /\ -rcd_220^post65+rcd_220^0 == 0 /\ tail_15^0-tail_15^post65 == 0 /\ -temp0_32^post65+temp0_32^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post65 == 0 /\ -r_192^post65+r_192^0 == 0 /\ -temp_36^post65+temp_36^0 == 0 /\ -f_202^post65+f_202^0 == 0 /\ rcd_308^0-rcd_308^post65 == 0 /\ -i_112^post65+i_112^0 == 0 /\ r_149^0-r_149^post65 == 0 /\ rcd_288^0-rcd_288^post65 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post65 == 0 /\ length_29^0-length_29^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post65+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_198^post65+i_198^0 == 0 /\ x_207^0-x_207^post65 == 0 /\ rcd_71^0-rcd_71^post65 == 0 /\ -rcd_106^post65+rcd_106^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ rcd_194^0-rcd_194^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -rcd_114^post65+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post65 == 0 /\ rcd_185^0-rcd_185^post65 == 0 /\ -rcd_45^post65+rcd_45^0 == 0 /\ i_31^0-i_31^post65 == 0 /\ -y_21^post65+y_21^0 == 0 /\ rcd_199^0-rcd_199^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ a_139^0-a_139^post65 == 0 /\ head_16^0-head_16^post65 == 0 /\ a_279^0-a_279^post65 == 0 /\ tmp_35^0-tmp_35^post65 == 0 /\ -len_159^post65+len_159^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -temp_37^post65+temp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post65 == 0 /\ rcd_193^0-rcd_193^post65 == 0 /\ -y_26^post65+y_26^0 == 0 /\ r_41^0-r_41^post65 == 0 /\ -i_130^post65+i_130^0 == 0), cost: 1
  66: l43 -> l44 : a_139^0'=a_139^post66, result_11^0'=result_11^post66, i_31^0'=i_31^post66, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post66, rcd_320^0'=rcd_320^post66, i_112^0'=i_112^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, x_22^0'=x_22^post66, rcd_199^0'=rcd_199^post66, head_16^0'=head_16^post66, temp0_32^0'=temp0_32^post66, r_149^0'=r_149^post66, y_26^0'=y_26^post66, rcd_71^0'=rcd_71^post66, i_198^0'=i_198^post66, x_207^0'=x_207^post66, rcd_185^0'=rcd_185^post66, a_279^0'=a_279^post66, t_23^0'=t_23^post66, len_221^0'=len_221^post66, x_SLAM_f_20^0'=x_SLAM_f_20^post66, rcd_284^0'=rcd_284^post66, head_SLAM_f_30^0'=head_SLAM_f_30^post66, temp_37^0'=temp_37^post66, r_41^0'=r_41^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, len_159^0'=len_159^post66, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post66, rcd_45^0'=rcd_45^post66, i_130^0'=i_130^post66, x_154^0'=x_154^post66, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post66, rcd_220^0'=rcd_220^post66, head_33^0'=head_33^post66, temp_36^0'=temp_36^post66, r_192^0'=r_192^post66, (-rcd_45^post66+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post66+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post66 == 0 /\ -rcd_194^post66+rcd_194^0 == 0 /\ -rcd_71^post66+rcd_71^0 == 0 /\ a_174^0-a_174^post66 == 0 /\ len_159^0-len_159^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -rcd_114^post66+rcd_114^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ -r_149^post66+r_149^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post66 == 0 /\ rcd_193^0-rcd_193^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ i_112^0-i_112^post66 == 0 /\ rcd_106^0-rcd_106^post66 == 0 /\ rcd_284^0-rcd_284^post66 == 0 /\ rcd_320^0-rcd_320^post66 == 0 /\ tail_15^0-tail_15^post66 == 0 /\ rcd_199^0-rcd_199^post66 == 0 /\ temp0_32^0-temp0_32^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ i_31^0-i_31^post66 == 0 /\ len_221^0-len_221^post66 == 0 /\ -a_279^post66+a_279^0 == 0 /\ i_130^0-i_130^post66 == 0 /\ -head_16^post66+head_16^0 == 0 /\ -r_41^post66+r_41^0 == 0 /\ -x_154^post66+x_154^0 == 0 /\ a_222^0-a_222^post66 == 0 /\ x_27^0-x_27^post66 == 0 /\ tmp_35^0-tmp_35^post66 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -head_SLAM_f_30^post66+head_SLAM_f_30^0 == 0 /\ rcd_288^0-rcd_288^post66 == 0 /\ -head_33^post66+head_33^0 == 0 /\ y_26^0-y_26^post66 == 0 /\ -x_SLAM_f_20^post66+x_SLAM_f_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_19^post66+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post66 == 0 /\ -x_22^post66+x_22^0 == 0 /\ -a_253^post66+a_253^0 == 0 /\ -r_192^post66+r_192^0 == 0 /\ -x_207^post66+x_207^0 == 0 /\ temp_37^0-temp_37^post66 == 0 /\ a_309^0-a_309^post66 == 0 /\ -y_21^post66+y_21^0 == 0 /\ -temp_36^post66+temp_36^0 == 0 /\ -rcd_185^post66+rcd_185^0 == 0 /\ -f_202^post66+f_202^0 == 0 /\ -rcd_308^post66+rcd_308^0 == 0 /\ i_198^0-i_198^post66 == 0), cost: 1
  67: l44 -> l45 : a_139^0'=a_139^post67, result_11^0'=result_11^post67, i_31^0'=i_31^post67, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post67, rcd_320^0'=rcd_320^post67, i_112^0'=i_112^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, x_22^0'=x_22^post67, rcd_199^0'=rcd_199^post67, head_16^0'=head_16^post67, temp0_32^0'=temp0_32^post67, r_149^0'=r_149^post67, y_26^0'=y_26^post67, rcd_71^0'=rcd_71^post67, i_198^0'=i_198^post67, x_207^0'=x_207^post67, rcd_185^0'=rcd_185^post67, a_279^0'=a_279^post67, t_23^0'=t_23^post67, len_221^0'=len_221^post67, x_SLAM_f_20^0'=x_SLAM_f_20^post67, rcd_284^0'=rcd_284^post67, head_SLAM_f_30^0'=head_SLAM_f_30^post67, temp_37^0'=temp_37^post67, r_41^0'=r_41^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, len_159^0'=len_159^post67, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post67, rcd_45^0'=rcd_45^post67, i_130^0'=i_130^post67, x_154^0'=x_154^post67, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post67, rcd_220^0'=rcd_220^post67, head_33^0'=head_33^post67, temp_36^0'=temp_36^post67, r_192^0'=r_192^post67, (0 == 0 /\ -x_154^post67+x_154^0 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -rcd_220^post67+rcd_220^0 == 0 /\ -len_221^post67+len_221^0 == 0 /\ rcd_106^0-rcd_106^post67 == 0 /\ -head_16^0+t_23^post67 <= 0 /\ y_26^0-y_26^post67 == 0 /\ -a_174^post67+a_174^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post67 == 0 /\ -rcd_284^post67+rcd_284^0 == 0 /\ -temp0_32^post67+temp0_32^0 == 0 /\ tail_15^0-tail_15^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ rcd_45^0-rcd_45^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post67+x_27^0 == 0 /\ i_112^0-i_112^post67 == 0 /\ -x_SLAM_f_20^post67+x_SLAM_f_20^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ -r_192^post67+r_192^0 == 0 /\ x_207^0-x_207^post67 == 0 /\ head_16^0-t_23^post67 <= 0 /\ -x_22^0+t_23^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post67 == 0 /\ -a_222^post67+a_222^0 == 0 /\ r_149^0-r_149^post67 == 0 /\ -temp_36^post67+temp_36^0 == 0 /\ -rcd_185^post67+rcd_185^0 == 0 /\ -f_202^post67+f_202^0 == 0 /\ rcd_193^0-rcd_193^post67 == 0 /\ -rcd_308^post67+rcd_308^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_198^post67+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post67+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -rcd_114^post67+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post67 == 0 /\ a_279^0-a_253^post67 <= 0 /\ rcd_199^0-rcd_199^post67 == 0 /\ rcd_320^0-rcd_320^post67 == 0 /\ -rcd_288^post67+rcd_288^0 == 0 /\ -y_21^post67+y_21^0 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ i_31^0-i_31^post67 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -head_33^post67+head_33^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_35^post67+tmp_35^0 == 0 /\ a_279^0-a_279^post67 == 0 /\ head_16^0-head_16^post67 == 0 /\ -x_SLAM_f_25^post67+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post67 == 0 /\ -temp_37^post67+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post67 == 0 /\ -i_130^post67+i_130^0 == 0 /\ length_29^0-length_29^post67 == 0 /\ -a_279^0+a_253^post67 <= 0 /\ -len_159^post67+len_159^0 == 0 /\ temp0_19^0-temp0_19^post67 == 0 /\ r_41^0-r_41^post67 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ x_22^0-x_22^post67 == 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
  68: l45 -> l46 : a_139^0'=a_139^post68, result_11^0'=result_11^post68, i_31^0'=i_31^post68, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post68, rcd_320^0'=rcd_320^post68, i_112^0'=i_112^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, x_22^0'=x_22^post68, rcd_199^0'=rcd_199^post68, head_16^0'=head_16^post68, temp0_32^0'=temp0_32^post68, r_149^0'=r_149^post68, y_26^0'=y_26^post68, rcd_71^0'=rcd_71^post68, i_198^0'=i_198^post68, x_207^0'=x_207^post68, rcd_185^0'=rcd_185^post68, a_279^0'=a_279^post68, t_23^0'=t_23^post68, len_221^0'=len_221^post68, x_SLAM_f_20^0'=x_SLAM_f_20^post68, rcd_284^0'=rcd_284^post68, head_SLAM_f_30^0'=head_SLAM_f_30^post68, temp_37^0'=temp_37^post68, r_41^0'=r_41^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, len_159^0'=len_159^post68, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post68, rcd_45^0'=rcd_45^post68, i_130^0'=i_130^post68, x_154^0'=x_154^post68, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post68, rcd_220^0'=rcd_220^post68, head_33^0'=head_33^post68, temp_36^0'=temp_36^post68, r_192^0'=r_192^post68, (a_222^0-a_222^post68 == 0 /\ i_198^0-i_198^post68 == 0 /\ -rcd_45^post68+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post68+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post68 == 0 /\ -rcd_194^post68+rcd_194^0 == 0 /\ -rcd_114^post68+rcd_114^0 == 0 /\ a_139^0-a_139^post68 == 0 /\ x_22^0-x_22^post68 == 0 /\ length_29^0-length_29^post68 == 0 /\ r_149^0-r_149^post68 == 0 /\ -rcd_71^post68+rcd_71^0 == 0 /\ t_23^0-t_23^post68 == 0 /\ -y_21^post68+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post68 == 0 /\ i_130^0-i_130^post68 == 0 /\ -head_33^post68+head_33^0 == 0 /\ a_309^0-a_309^post68 == 0 /\ rcd_185^0-rcd_185^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post68 == 0 /\ -a_279^post68+a_279^0 == 0 /\ rcd_284^0-rcd_284^post68 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -head_16^post68+head_16^0 == 0 /\ -rcd_199^post68+rcd_199^0 == 0 /\ -len_159^post68+len_159^0 == 0 /\ -head_SLAM_f_30^post68+head_SLAM_f_30^0 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -x_154^post68+x_154^0 == 0 /\ -y_26^post68+y_26^0 == 0 /\ -r_41^post68+r_41^0 == 0 /\ -rcd_220^post68+rcd_220^0 == 0 /\ x_207^0-x_207^post68 == 0 /\ x_27^0-x_27^post68 == 0 /\ rcd_288^0-rcd_288^post68 == 0 /\ -len_221^post68+len_221^0 == 0 /\ -temp0_19^post68+temp0_19^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_112^post68+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_253^post68+a_253^0 == 0 /\ rcd_106^0-rcd_106^post68 == 0 /\ temp_37^0-temp_37^post68 == 0 /\ -r_192^post68+r_192^0 == 0 /\ tail_15^0-tail_15^post68 == 0 /\ a_174^0-a_174^post68 == 0 /\ -rcd_308^post68+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post68 == 0 /\ rcd_320^0-rcd_320^post68 == 0 /\ -temp_36^post68+temp_36^0 == 0 /\ -f_202^post68+f_202^0 == 0 /\ i_31^0-i_31^post68 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post68 == 0), cost: 1
  69: l45 -> l46 : a_139^0'=a_139^post69, result_11^0'=result_11^post69, i_31^0'=i_31^post69, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post69, rcd_320^0'=rcd_320^post69, i_112^0'=i_112^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, x_22^0'=x_22^post69, rcd_199^0'=rcd_199^post69, head_16^0'=head_16^post69, temp0_32^0'=temp0_32^post69, r_149^0'=r_149^post69, y_26^0'=y_26^post69, rcd_71^0'=rcd_71^post69, i_198^0'=i_198^post69, x_207^0'=x_207^post69, rcd_185^0'=rcd_185^post69, a_279^0'=a_279^post69, t_23^0'=t_23^post69, len_221^0'=len_221^post69, x_SLAM_f_20^0'=x_SLAM_f_20^post69, rcd_284^0'=rcd_284^post69, head_SLAM_f_30^0'=head_SLAM_f_30^post69, temp_37^0'=temp_37^post69, r_41^0'=r_41^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, len_159^0'=len_159^post69, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post69, rcd_45^0'=rcd_45^post69, i_130^0'=i_130^post69, x_154^0'=x_154^post69, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post69, rcd_220^0'=rcd_220^post69, head_33^0'=head_33^post69, temp_36^0'=temp_36^post69, r_192^0'=r_192^post69, (-rcd_185^post69+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post69 == 0 /\ -rcd_284^post69+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post69 == 0 /\ rcd_71^0-rcd_71^post69 == 0 /\ -rcd_220^post69+rcd_220^0 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ -r_41^post69+r_41^0 == 0 /\ len_221^0-len_221^post69 == 0 /\ a_139^0-a_139^post69 == 0 /\ -x_207^post69+x_207^0 == 0 /\ tail_15^0-tail_15^post69 == 0 /\ -x_27^post69+x_27^0 == 0 /\ rcd_45^0-rcd_45^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_193^0-rcd_193^post69 == 0 /\ head_16^0-head_16^post69 == 0 /\ a_279^0-a_279^post69 == 0 /\ r_149^0-r_149^post69 == 0 /\ -r_192^post69+r_192^0 == 0 /\ -temp_36^post69+temp_36^0 == 0 /\ -f_202^post69+f_202^0 == 0 /\ -a_253^post69+a_253^0 == 0 /\ -rcd_194^post69+rcd_194^0 == 0 /\ -rcd_308^post69+rcd_308^0 == 0 /\ a_222^0-a_222^post69 == 0 /\ -i_130^post69+i_130^0 == 0 /\ -rcd_114^post69+rcd_114^0 == 0 /\ y_26^0-y_26^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post69+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_309^0-a_309^post69 == 0 /\ result_11^0-result_11^post69 == 0 /\ tmp_35^0-tmp_35^post69 == 0 /\ y_21^0-y_21^post69 == 0 /\ i_31^0-i_31^post69 == 0 /\ i_112^0-i_112^post69 == 0 /\ rcd_320^0-rcd_320^post69 == 0 /\ -x_SLAM_f_25^post69+x_SLAM_f_25^0 == 0 /\ -rcd_199^post69+rcd_199^0 == 0 /\ i_198^0-i_198^post69 == 0 /\ -temp_37^post69+temp_37^0 == 0 /\ -head_33^post69+head_33^0 == 0 /\ rcd_288^0-rcd_288^post69 == 0 /\ -a_174^post69+a_174^0 == 0 /\ temp0_19^0-temp0_19^post69 == 0 /\ -len_159^post69+len_159^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_22^0-x_22^post69 == 0 /\ -x_154^post69+x_154^0 == 0 /\ t_23^0-t_23^post69 == 0), cost: 1
  70: l46 -> l47 : a_139^0'=a_139^post70, result_11^0'=result_11^post70, i_31^0'=i_31^post70, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post70, rcd_320^0'=rcd_320^post70, i_112^0'=i_112^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, x_22^0'=x_22^post70, rcd_199^0'=rcd_199^post70, head_16^0'=head_16^post70, temp0_32^0'=temp0_32^post70, r_149^0'=r_149^post70, y_26^0'=y_26^post70, rcd_71^0'=rcd_71^post70, i_198^0'=i_198^post70, x_207^0'=x_207^post70, rcd_185^0'=rcd_185^post70, a_279^0'=a_279^post70, t_23^0'=t_23^post70, len_221^0'=len_221^post70, x_SLAM_f_20^0'=x_SLAM_f_20^post70, rcd_284^0'=rcd_284^post70, head_SLAM_f_30^0'=head_SLAM_f_30^post70, temp_37^0'=temp_37^post70, r_41^0'=r_41^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, len_159^0'=len_159^post70, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post70, rcd_45^0'=rcd_45^post70, i_130^0'=i_130^post70, x_154^0'=x_154^post70, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post70, rcd_220^0'=rcd_220^post70, head_33^0'=head_33^post70, temp_36^0'=temp_36^post70, r_192^0'=r_192^post70, (-nondet_12^post70+nondet_12^0 == 0 /\ -i_130^post70+i_130^0 == 0 /\ x_154^0-x_154^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post70+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post70 == 0 /\ rcd_308^0-rcd_308^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post70 == 0 /\ r_149^0-r_149^post70 == 0 /\ x_22^0-x_22^post70 == 0 /\ -rcd_114^post70+rcd_114^0 == 0 /\ -rcd_45^post70+rcd_45^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -len_159^post70+len_159^0 == 0 /\ temp0_32^0-temp0_32^post70 == 0 /\ a_309^0-a_309^post70 == 0 /\ -a_174^post70+a_174^0 == 0 /\ -y_26^post70+y_26^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ -temp_37^post70+temp_37^0 == 0 /\ rcd_185^0-rcd_185^post70 == 0 /\ -temp0_19^post70+temp0_19^0 == 0 /\ -a_222^post70+a_222^0 == 0 /\ rcd_193^0-rcd_193^post70 == 0 /\ -x_27^post70+x_27^0 == 0 /\ -head_SLAM_f_30^post70+head_SLAM_f_30^0 == 0 /\ -rcd_220^post70+rcd_220^0 == 0 /\ -x_SLAM_f_20^post70+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post70 == 0 /\ a_279^0-a_279^post70 == 0 /\ -r_41^post70+r_41^0 == 0 /\ rcd_288^0-rcd_288^post70 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post70 == 0 /\ x_207^0-x_207^post70 == 0 /\ -head_33^post70+head_33^0 == 0 /\ -i_112^post70+i_112^0 == 0 /\ rcd_71^0-rcd_71^post70 == 0 /\ -a_253^post70+a_253^0 == 0 /\ rcd_194^0-rcd_194^post70 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ -r_192^post70+r_192^0 == 0 /\ rcd_106^0-rcd_106^post70 == 0 /\ -temp_36^post70+temp_36^0 == 0 /\ -i_198^post70+i_198^0 == 0 /\ -y_21^post70+y_21^0 == 0 /\ i_31^0-i_31^post70 == 0 /\ -f_202^post70+f_202^0 == 0 /\ len_221^0-len_221^post70 == 0 /\ -rcd_284^post70+rcd_284^0 == 0 /\ tail_15^0-tail_15^post70 == 0 /\ rcd_199^0-rcd_199^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ rcd_320^0-rcd_320^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post70 == 0 /\ head_16^0-head_16^post70 == 0), cost: 1
  71: l46 -> l47 : a_139^0'=a_139^post71, result_11^0'=result_11^post71, i_31^0'=i_31^post71, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post71, rcd_320^0'=rcd_320^post71, i_112^0'=i_112^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, x_22^0'=x_22^post71, rcd_199^0'=rcd_199^post71, head_16^0'=head_16^post71, temp0_32^0'=temp0_32^post71, r_149^0'=r_149^post71, y_26^0'=y_26^post71, rcd_71^0'=rcd_71^post71, i_198^0'=i_198^post71, x_207^0'=x_207^post71, rcd_185^0'=rcd_185^post71, a_279^0'=a_279^post71, t_23^0'=t_23^post71, len_221^0'=len_221^post71, x_SLAM_f_20^0'=x_SLAM_f_20^post71, rcd_284^0'=rcd_284^post71, head_SLAM_f_30^0'=head_SLAM_f_30^post71, temp_37^0'=temp_37^post71, r_41^0'=r_41^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, len_159^0'=len_159^post71, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post71, rcd_45^0'=rcd_45^post71, i_130^0'=i_130^post71, x_154^0'=x_154^post71, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post71, rcd_220^0'=rcd_220^post71, head_33^0'=head_33^post71, temp_36^0'=temp_36^post71, r_192^0'=r_192^post71, (-head_16^post71+head_16^0 == 0 /\ -x_27^post71+x_27^0 == 0 /\ a_309^0-a_309^post71 == 0 /\ -x_154^post71+x_154^0 == 0 /\ length_29^0-length_29^post71 == 0 /\ i_31^0-i_31^post71 == 0 /\ len_221^0-len_221^post71 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post71 == 0 /\ -head_SLAM_f_30^post71+head_SLAM_f_30^0 == 0 /\ -x_22^post71+x_22^0 == 0 /\ -head_33^post71+head_33^0 == 0 /\ rcd_320^0-rcd_320^post71 == 0 /\ -temp0_19^post71+temp0_19^0 == 0 /\ -rcd_308^post71+rcd_308^0 == 0 /\ -temp0_32^post71+temp0_32^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post71 == 0 /\ i_198^0-i_198^post71 == 0 /\ -a_253^post71+a_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ tmp_35^0-tmp_35^post71 == 0 /\ a_139^0-a_139^post71 == 0 /\ -temp_36^post71+temp_36^0 == 0 /\ -y_21^post71+y_21^0 == 0 /\ r_41^0-r_41^post71 == 0 /\ -rcd_185^post71+rcd_185^0 == 0 /\ -f_202^post71+f_202^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post71 == 0 /\ -rcd_194^post71+rcd_194^0 == 0 /\ -r_192^post71+r_192^0 == 0 /\ rcd_193^0-rcd_193^post71 == 0 /\ rcd_114^0-rcd_114^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post71 == 0 /\ i_112^0-i_112^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ rcd_106^0-rcd_106^post71 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -rcd_71^post71+rcd_71^0 == 0 /\ y_26^0-y_26^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ rcd_284^0-rcd_284^post71 == 0 /\ tail_15^0-tail_15^post71 == 0 /\ -rcd_45^post71+rcd_45^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ -len_159^post71+len_159^0 == 0 /\ a_174^0-a_174^post71 == 0 /\ -r_149^post71+r_149^0 == 0 /\ -rcd_199^post71+rcd_199^0 == 0 /\ x_207^0-x_207^post71 == 0 /\ -i_130^post71+i_130^0 == 0 /\ rcd_288^0-rcd_288^post71 == 0 /\ -a_279^post71+a_279^0 == 0 /\ a_222^0-a_222^post71 == 0 /\ -rcd_220^post71+rcd_220^0 == 0 /\ temp_37^0-temp_37^post71 == 0), cost: 1
  72: l47 -> l48 : a_139^0'=a_139^post72, result_11^0'=result_11^post72, i_31^0'=i_31^post72, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post72, rcd_320^0'=rcd_320^post72, i_112^0'=i_112^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, x_22^0'=x_22^post72, rcd_199^0'=rcd_199^post72, head_16^0'=head_16^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, rcd_71^0'=rcd_71^post72, i_198^0'=i_198^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, len_221^0'=len_221^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, rcd_284^0'=rcd_284^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^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, len_159^0'=len_159^post72, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, i_130^0'=i_130^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post72, rcd_220^0'=rcd_220^post72, head_33^0'=head_33^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, (a_139^0-a_139^post72 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_71^post72+rcd_71^0 == 0 /\ a_174^0-a_174^post72 == 0 /\ len_159^0-len_159^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ t_23^0-t_23^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ i_112^0-i_112^post72 == 0 /\ -r_149^post72+r_149^0 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ rcd_284^0-rcd_284^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ y_26^0-y_26^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ -head_16^post72+head_16^0 == 0 /\ -a_279^post72+a_279^0 == 0 /\ i_130^0-i_130^post72 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -x_SLAM_f_20^post72+x_SLAM_f_20^0 == 0 /\ x_27^0-x_27^post72 == 0 /\ -r_41^post72+r_41^0 == 0 /\ -a_222^post72+a_222^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -head_33^post72+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ -x_22^post72+x_22^0 == 0 /\ -a_253^post72+a_253^0 == 0 /\ -r_192^post72+r_192^0 == 0 /\ temp_37^0-temp_37^post72 == 0 /\ rcd_194^0-rcd_194^post72 == 0 /\ len_221^0-len_221^post72 == 0 /\ y_21^0-y_21^post72 == 0 /\ tail_15^0-tail_15^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ rcd_320^0-rcd_320^post72 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ -temp_36^post72+temp_36^0 == 0 /\ -f_202^post72+f_202^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ -i_198^post72+i_198^0 == 0), cost: 1
  73: l47 -> l48 : a_139^0'=a_139^post73, result_11^0'=result_11^post73, i_31^0'=i_31^post73, rcd_193^0'=rcd_193^post73, a_309^0'=a_309^post73, tail_15^0'=tail_15^post73, length_29^0'=length_29^post73, x_SLAM_f_25^0'=x_SLAM_f_25^post73, rcd_288^0'=rcd_288^post73, rcd_320^0'=rcd_320^post73, i_112^0'=i_112^post73, tmp_35^0'=tmp_35^post73, rcd_106^0'=rcd_106^post73, a_222^0'=a_222^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73, x_22^0'=x_22^post73, rcd_199^0'=rcd_199^post73, head_16^0'=head_16^post73, temp0_32^0'=temp0_32^post73, r_149^0'=r_149^post73, y_26^0'=y_26^post73, rcd_71^0'=rcd_71^post73, i_198^0'=i_198^post73, x_207^0'=x_207^post73, rcd_185^0'=rcd_185^post73, a_279^0'=a_279^post73, t_23^0'=t_23^post73, len_221^0'=len_221^post73, x_SLAM_f_20^0'=x_SLAM_f_20^post73, rcd_284^0'=rcd_284^post73, head_SLAM_f_30^0'=head_SLAM_f_30^post73, temp_37^0'=temp_37^post73, r_41^0'=r_41^post73, a_174^0'=a_174^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73, len_159^0'=len_159^post73, rcd_194^0'=rcd_194^post73, f_202^0'=f_202^post73, temp0_19^0'=temp0_19^post73, nondet_12^0'=nondet_12^post73, y_21^0'=y_21^post73, rcd_308^0'=rcd_308^post73, rcd_45^0'=rcd_45^post73, i_130^0'=i_130^post73, x_154^0'=x_154^post73, rcd_114^0'=rcd_114^post73, a_253^0'=a_253^post73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post73, x_27^0'=x_27^post73, rcd_220^0'=rcd_220^post73, head_33^0'=head_33^post73, temp_36^0'=temp_36^post73, r_192^0'=r_192^post73, (-x_154^post73+x_154^0 == 0 /\ -rcd_220^post73+rcd_220^0 == 0 /\ -len_221^post73+len_221^0 == 0 /\ rcd_106^0-rcd_106^post73 == 0 /\ -rcd_185^post73+rcd_185^0 == 0 /\ y_26^0-y_26^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73 == 0 /\ -a_174^post73+a_174^0 == 0 /\ length_29^0-length_29^post73 == 0 /\ -rcd_284^post73+rcd_284^0 == 0 /\ -temp0_32^post73+temp0_32^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ rcd_45^0-rcd_45^post73 == 0 /\ tail_15^0-tail_15^post73 == 0 /\ -x_27^post73+x_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_112^0-i_112^post73 == 0 /\ -x_SLAM_f_20^post73+x_SLAM_f_20^0 == 0 /\ -a_253^post73+a_253^0 == 0 /\ x_207^0-x_207^post73 == 0 /\ -r_192^post73+r_192^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post73 == 0 /\ -a_222^post73+a_222^0 == 0 /\ r_149^0-r_149^post73 == 0 /\ -temp_36^post73+temp_36^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -f_202^post73+f_202^0 == 0 /\ rcd_193^0-rcd_193^post73 == 0 /\ -rcd_308^post73+rcd_308^0 == 0 /\ -i_198^post73+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post73+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ -a_309^post73+a_309^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -rcd_114^post73+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post73 == 0 /\ rcd_320^0-rcd_320^post73 == 0 /\ rcd_199^0-rcd_199^post73 == 0 /\ -rcd_288^post73+rcd_288^0 == 0 /\ -y_21^post73+y_21^0 == 0 /\ i_31^0-i_31^post73 == 0 /\ -head_33^post73+head_33^0 == 0 /\ a_279^0-a_279^post73 == 0 /\ head_16^0-head_16^post73 == 0 /\ -tmp_35^post73+tmp_35^0 == 0 /\ -x_SLAM_f_25^post73+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post73 == 0 /\ -temp_37^post73+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post73 == 0 /\ x_22^0-x_22^post73 == 0 /\ -i_130^post73+i_130^0 == 0 /\ temp0_19^0-temp0_19^post73 == 0 /\ -len_159^post73+len_159^0 == 0 /\ r_41^0-r_41^post73 == 0), cost: 1
  74: l48 -> l25 : a_139^0'=a_139^post74, result_11^0'=result_11^post74, i_31^0'=i_31^post74, rcd_193^0'=rcd_193^post74, a_309^0'=a_309^post74, tail_15^0'=tail_15^post74, length_29^0'=length_29^post74, x_SLAM_f_25^0'=x_SLAM_f_25^post74, rcd_288^0'=rcd_288^post74, rcd_320^0'=rcd_320^post74, i_112^0'=i_112^post74, tmp_35^0'=tmp_35^post74, rcd_106^0'=rcd_106^post74, a_222^0'=a_222^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74, x_22^0'=x_22^post74, rcd_199^0'=rcd_199^post74, head_16^0'=head_16^post74, temp0_32^0'=temp0_32^post74, r_149^0'=r_149^post74, y_26^0'=y_26^post74, rcd_71^0'=rcd_71^post74, i_198^0'=i_198^post74, x_207^0'=x_207^post74, rcd_185^0'=rcd_185^post74, a_279^0'=a_279^post74, t_23^0'=t_23^post74, len_221^0'=len_221^post74, x_SLAM_f_20^0'=x_SLAM_f_20^post74, rcd_284^0'=rcd_284^post74, head_SLAM_f_30^0'=head_SLAM_f_30^post74, temp_37^0'=temp_37^post74, r_41^0'=r_41^post74, a_174^0'=a_174^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74, len_159^0'=len_159^post74, rcd_194^0'=rcd_194^post74, f_202^0'=f_202^post74, temp0_19^0'=temp0_19^post74, nondet_12^0'=nondet_12^post74, y_21^0'=y_21^post74, rcd_308^0'=rcd_308^post74, rcd_45^0'=rcd_45^post74, i_130^0'=i_130^post74, x_154^0'=x_154^post74, rcd_114^0'=rcd_114^post74, a_253^0'=a_253^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, x_27^0'=x_27^post74, rcd_220^0'=rcd_220^post74, head_33^0'=head_33^post74, temp_36^0'=temp_36^post74, r_192^0'=r_192^post74, (0 == 0 /\ a_222^0-a_222^post74 == 0 /\ i_198^0-i_198^post74 == 0 /\ -rcd_45^post74+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post74+rcd_194^0 == 0 /\ -rcd_114^post74+rcd_114^0 == 0 /\ -1+len_159^post74-a_253^0 <= 0 /\ x_22^0-x_22^post74 == 0 /\ r_149^0-r_149^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -rcd_71^post74+rcd_71^0 == 0 /\ -y_21^post74+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post74 == 0 /\ t_23^0-t_23^post74 == 0 /\ -head_33^post74+head_33^0 == 0 /\ i_130^0-i_130^post74 == 0 /\ rcd_185^0-rcd_185^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74 == 0 /\ -a_279^post74+a_279^0 == 0 /\ rcd_284^0-rcd_284^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ temp0_32^0-temp0_32^post74 == 0 /\ -head_16^post74+head_16^0 == 0 /\ -head_SLAM_f_30^post74+head_SLAM_f_30^0 == 0 /\ rcd_199^0-rcd_199^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_154^post74+x_154^0 == 0 /\ -y_26^post74+y_26^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_41^post74+r_41^0 == 0 /\ x_207^0-x_207^post74 == 0 /\ x_27^0-x_27^post74 == 0 /\ 1-len_159^post74+a_253^0 <= 0 /\ rcd_288^0-rcd_288^post74 == 0 /\ -len_221^post74+len_221^0 == 0 /\ -temp0_19^post74+temp0_19^0 == 0 /\ -a_139^post74+a_139^0 == 0 /\ rcd_220^0-rcd_220^post74 == 0 /\ -i_112^post74+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_106^0-rcd_106^post74 == 0 /\ temp_37^0-temp_37^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -r_192^post74+r_192^0 == 0 /\ -f_202^post74+f_202^0 == 0 /\ tail_15^0-tail_15^post74 == 0 /\ a_174^0-a_174^post74 == 0 /\ tmp_35^0-tmp_35^post74 == 0 /\ -rcd_308^post74+rcd_308^0 == 0 /\ rcd_320^0-rcd_320^post74 == 0 /\ -temp_36^post74+temp_36^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_253^post74+a_253^0 == 0 /\ i_31^0-i_31^post74 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post74 == 0), cost: 1
  75: l49 -> l24 : a_139^0'=a_139^post75, result_11^0'=result_11^post75, i_31^0'=i_31^post75, rcd_193^0'=rcd_193^post75, a_309^0'=a_309^post75, tail_15^0'=tail_15^post75, length_29^0'=length_29^post75, x_SLAM_f_25^0'=x_SLAM_f_25^post75, rcd_288^0'=rcd_288^post75, rcd_320^0'=rcd_320^post75, i_112^0'=i_112^post75, tmp_35^0'=tmp_35^post75, rcd_106^0'=rcd_106^post75, a_222^0'=a_222^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75, x_22^0'=x_22^post75, rcd_199^0'=rcd_199^post75, head_16^0'=head_16^post75, temp0_32^0'=temp0_32^post75, r_149^0'=r_149^post75, y_26^0'=y_26^post75, rcd_71^0'=rcd_71^post75, i_198^0'=i_198^post75, x_207^0'=x_207^post75, rcd_185^0'=rcd_185^post75, a_279^0'=a_279^post75, t_23^0'=t_23^post75, len_221^0'=len_221^post75, x_SLAM_f_20^0'=x_SLAM_f_20^post75, rcd_284^0'=rcd_284^post75, head_SLAM_f_30^0'=head_SLAM_f_30^post75, temp_37^0'=temp_37^post75, r_41^0'=r_41^post75, a_174^0'=a_174^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75, len_159^0'=len_159^post75, rcd_194^0'=rcd_194^post75, f_202^0'=f_202^post75, temp0_19^0'=temp0_19^post75, nondet_12^0'=nondet_12^post75, y_21^0'=y_21^post75, rcd_308^0'=rcd_308^post75, rcd_45^0'=rcd_45^post75, i_130^0'=i_130^post75, x_154^0'=x_154^post75, rcd_114^0'=rcd_114^post75, a_253^0'=a_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, x_27^0'=x_27^post75, rcd_220^0'=rcd_220^post75, head_33^0'=head_33^post75, temp_36^0'=temp_36^post75, r_192^0'=r_192^post75, (0 == 0 /\ rcd_193^0-rcd_193^post75 == 0 /\ -head_33^post75+head_SLAM_f_30^post75 <= 0 /\ x_22^0-x_22^post75 == 0 /\ -i_31^post75 <= 0 /\ -rcd_114^post75+rcd_114^0 == 0 /\ i_31^post75 <= 0 /\ i_31^post75 == 0 /\ tail_15^post75-temp_37^0 == 0 /\ -rcd_71^post75+rcd_71^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_SLAM_f_30^post75 <= 0 /\ -y_21^post75+y_21^0 == 0 /\ rcd_106^0-rcd_106^post75 == 0 /\ t_23^0-t_23^post75 == 0 /\ x_207^0-x_207^post75 == 0 /\ r_41^0-r_41^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-tail_15^post75 <= 0 /\ i_130^0-i_130^post75 == 0 /\ rcd_45^0-rcd_45^post75 == 0 /\ head_33^post75-head_SLAM_f_30^post75 <= 0 /\ head_33^post75-head_SLAM_f_30^post75 == 0 /\ -a_279^post75+a_279^0 == 0 /\ rcd_284^0-rcd_284^post75 == 0 /\ -rcd_220^post75+rcd_220^0 == 0 /\ -head_16^post75+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-nondet_12^10 == 0 /\ -len_159^post75+len_159^0 == 0 /\ rcd_199^0-rcd_199^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_SLAM_f_30^post75 <= 0 /\ a_139^0-a_139^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+tail_15^post75 <= 0 /\ tmp_35^0-tmp_35^post75 == 0 /\ -x_154^post75+x_154^0 == 0 /\ y_26^0-y_26^post75 == 0 /\ temp0_32^0-temp0_32^post75 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-length_29^post75 <= 0 /\ -r_149^post75+r_149^0 == 0 /\ -temp_36^post75+temp_36^0 == 0 /\ i_112^0-i_112^post75 == 0 /\ -f_202^post75+f_202^0 == 0 /\ x_27^0-x_27^post75 == 0 /\ -rcd_308^post75+rcd_308^0 == 0 /\ -rcd_320^post75+rcd_320^0 == 0 /\ -len_221^post75+len_221^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_33^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 == 0 /\ a_222^0-a_222^post75 == 0 /\ temp0_19^0-temp0_19^post75 == 0 /\ result_11^0-result_11^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 == 0 /\ rcd_185^0-rcd_185^post75 == 0 /\ a_309^0-a_309^post75 == 0 /\ -r_192^post75+r_192^0 == 0 /\ -i_198^post75+i_198^0 == 0 /\ -a_253^post75+a_253^0 == 0 /\ -rcd_194^post75+rcd_194^0 == 0 /\ a_174^0-a_174^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_33^post75 <= 0 /\ tail_15^post75-head_SLAM_f_30^post75 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post75 == 0 /\ rcd_288^0-rcd_288^post75 == 0), cost: 1
  77: l50 -> l51 : a_139^0'=a_139^post77, result_11^0'=result_11^post77, i_31^0'=i_31^post77, rcd_193^0'=rcd_193^post77, a_309^0'=a_309^post77, tail_15^0'=tail_15^post77, length_29^0'=length_29^post77, x_SLAM_f_25^0'=x_SLAM_f_25^post77, rcd_288^0'=rcd_288^post77, rcd_320^0'=rcd_320^post77, i_112^0'=i_112^post77, tmp_35^0'=tmp_35^post77, rcd_106^0'=rcd_106^post77, a_222^0'=a_222^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77, x_22^0'=x_22^post77, rcd_199^0'=rcd_199^post77, head_16^0'=head_16^post77, temp0_32^0'=temp0_32^post77, r_149^0'=r_149^post77, y_26^0'=y_26^post77, rcd_71^0'=rcd_71^post77, i_198^0'=i_198^post77, x_207^0'=x_207^post77, rcd_185^0'=rcd_185^post77, a_279^0'=a_279^post77, t_23^0'=t_23^post77, len_221^0'=len_221^post77, x_SLAM_f_20^0'=x_SLAM_f_20^post77, rcd_284^0'=rcd_284^post77, head_SLAM_f_30^0'=head_SLAM_f_30^post77, temp_37^0'=temp_37^post77, r_41^0'=r_41^post77, a_174^0'=a_174^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77, len_159^0'=len_159^post77, rcd_194^0'=rcd_194^post77, f_202^0'=f_202^post77, temp0_19^0'=temp0_19^post77, nondet_12^0'=nondet_12^post77, y_21^0'=y_21^post77, rcd_308^0'=rcd_308^post77, rcd_45^0'=rcd_45^post77, i_130^0'=i_130^post77, x_154^0'=x_154^post77, rcd_114^0'=rcd_114^post77, a_253^0'=a_253^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, x_27^0'=x_27^post77, rcd_220^0'=rcd_220^post77, head_33^0'=head_33^post77, temp_36^0'=temp_36^post77, r_192^0'=r_192^post77, (r_41^0-r_41^post77 == 0 /\ i_31^0-i_31^post77 == 0 /\ rcd_288^0-rcd_288^post77 == 0 /\ -len_159^post77+len_159^0 == 0 /\ rcd_199^0-rcd_199^post77 == 0 /\ -a_253^post77+a_253^0 == 0 /\ rcd_114^0-rcd_114^post77 == 0 /\ len_221^0-len_221^post77 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_279^post77+a_279^0 == 0 /\ -rcd_308^post77+rcd_308^0 == 0 /\ y_26^0-y_26^post77 == 0 /\ x_154^0-x_154^post77 == 0 /\ -temp0_19^post77+temp0_19^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post77 == 0 /\ -x_27^post77+x_27^0 == 0 /\ rcd_193^0-rcd_193^post77 == 0 /\ -r_149^post77+r_149^0 == 0 /\ head_16^0-head_16^post77 == 0 /\ -rcd_320^post77+rcd_320^0 == 0 /\ -rcd_220^post77+rcd_220^0 == 0 /\ -rcd_45^post77+rcd_45^0 == 0 /\ tmp_35^0-tmp_35^post77 == 0 /\ -head_33^post77+head_33^0 == 0 /\ a_139^0-a_139^post77 == 0 /\ -r_192^post77+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77 == 0 /\ rcd_284^0-rcd_284^post77 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post77 == 0 /\ tail_15^0-tail_15^post77 == 0 /\ -y_21^post77+y_21^0 == 0 /\ -temp_36^post77+temp_36^0 == 0 /\ -f_202^post77+f_202^0 == 0 /\ -rcd_194^post77+rcd_194^0 == 0 /\ -i_130^post77+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77 == 0 /\ i_198^0-i_198^post77 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post77+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post77 == 0 /\ result_11^0-result_11^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ a_222^0-a_222^post77 == 0 /\ -rcd_71^post77+rcd_71^0 == 0 /\ -a_174^post77+a_174^0 == 0 /\ x_207^0-x_207^post77 == 0 /\ rcd_185^0-rcd_185^post77 == 0 /\ -head_SLAM_f_30^post77+head_SLAM_f_30^0 == 0 /\ -x_22^post77+x_22^0 == 0 /\ i_112^0-i_112^post77 == 0 /\ -t_23^post77+t_23^0 == 0 /\ length_29^0-length_29^post77 == 0 /\ -temp0_32^post77+temp0_32^0 == 0 /\ a_309^0-a_309^post77 == 0), cost: 1
  78: l50 -> l51 : a_139^0'=a_139^post78, result_11^0'=result_11^post78, i_31^0'=i_31^post78, rcd_193^0'=rcd_193^post78, a_309^0'=a_309^post78, tail_15^0'=tail_15^post78, length_29^0'=length_29^post78, x_SLAM_f_25^0'=x_SLAM_f_25^post78, rcd_288^0'=rcd_288^post78, rcd_320^0'=rcd_320^post78, i_112^0'=i_112^post78, tmp_35^0'=tmp_35^post78, rcd_106^0'=rcd_106^post78, a_222^0'=a_222^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78, x_22^0'=x_22^post78, rcd_199^0'=rcd_199^post78, head_16^0'=head_16^post78, temp0_32^0'=temp0_32^post78, r_149^0'=r_149^post78, y_26^0'=y_26^post78, rcd_71^0'=rcd_71^post78, i_198^0'=i_198^post78, x_207^0'=x_207^post78, rcd_185^0'=rcd_185^post78, a_279^0'=a_279^post78, t_23^0'=t_23^post78, len_221^0'=len_221^post78, x_SLAM_f_20^0'=x_SLAM_f_20^post78, rcd_284^0'=rcd_284^post78, head_SLAM_f_30^0'=head_SLAM_f_30^post78, temp_37^0'=temp_37^post78, r_41^0'=r_41^post78, a_174^0'=a_174^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78, len_159^0'=len_159^post78, rcd_194^0'=rcd_194^post78, f_202^0'=f_202^post78, temp0_19^0'=temp0_19^post78, nondet_12^0'=nondet_12^post78, y_21^0'=y_21^post78, rcd_308^0'=rcd_308^post78, rcd_45^0'=rcd_45^post78, i_130^0'=i_130^post78, x_154^0'=x_154^post78, rcd_114^0'=rcd_114^post78, a_253^0'=a_253^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, x_27^0'=x_27^post78, rcd_220^0'=rcd_220^post78, head_33^0'=head_33^post78, temp_36^0'=temp_36^post78, r_192^0'=r_192^post78, (-r_149^post78+r_149^0 == 0 /\ rcd_194^0-rcd_194^post78 == 0 /\ y_26^0-y_26^post78 == 0 /\ result_11^0-result_11^post78 == 0 /\ -x_207^post78+x_207^0 == 0 /\ -y_21^post78+y_21^0 == 0 /\ -i_130^post78+i_130^0 == 0 /\ -rcd_185^post78+rcd_185^0 == 0 /\ a_309^0-a_309^post78 == 0 /\ i_112^0-i_112^post78 == 0 /\ -temp_36^post78+temp_36^0 == 0 /\ -f_202^post78+f_202^0 == 0 /\ -i_198^post78+i_198^0 == 0 /\ -r_192^post78+r_192^0 == 0 /\ x_22^0-x_22^post78 == 0 /\ -head_16^post78+head_16^0 == 0 /\ -r_41^post78+r_41^0 == 0 /\ -x_154^post78+x_154^0 == 0 /\ temp_37^0-temp_37^post78 == 0 /\ rcd_71^0-rcd_71^post78 == 0 /\ a_174^0-a_174^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78 == 0 /\ -x_SLAM_f_20^post78+x_SLAM_f_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post78 == 0 /\ t_23^0-t_23^post78 == 0 /\ temp0_32^0-temp0_32^post78 == 0 /\ temp0_19^0-temp0_19^post78 == 0 /\ -rcd_288^post78+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post78 == 0 /\ -rcd_308^post78+rcd_308^0 == 0 /\ a_139^0-a_139^post78 == 0 /\ -a_253^post78+a_253^0 == 0 /\ -rcd_284^post78+rcd_284^0 == 0 /\ length_29^0-length_29^post78 == 0 /\ -rcd_220^post78+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post78 == 0 /\ tail_15^0-tail_15^post78 == 0 /\ -x_27^post78+x_27^0 == 0 /\ rcd_199^0-rcd_199^post78 == 0 /\ rcd_320^0-rcd_320^post78 == 0 /\ -rcd_45^post78+rcd_45^0 == 0 /\ i_31^0-i_31^post78 == 0 /\ len_221^0-len_221^post78 == 0 /\ a_222^0-a_222^post78 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post78+tmp_35^0 == 0 /\ rcd_106^0-rcd_106^post78 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_159^0-len_159^post78 == 0 /\ -head_33^post78+head_33^0 == 0 /\ a_279^0-a_279^post78 == 0 /\ -rcd_114^post78+rcd_114^0 == 0), cost: 1
  79: l51 -> l42 : a_139^0'=a_139^post79, result_11^0'=result_11^post79, i_31^0'=i_31^post79, rcd_193^0'=rcd_193^post79, a_309^0'=a_309^post79, tail_15^0'=tail_15^post79, length_29^0'=length_29^post79, x_SLAM_f_25^0'=x_SLAM_f_25^post79, rcd_288^0'=rcd_288^post79, rcd_320^0'=rcd_320^post79, i_112^0'=i_112^post79, tmp_35^0'=tmp_35^post79, rcd_106^0'=rcd_106^post79, a_222^0'=a_222^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79, x_22^0'=x_22^post79, rcd_199^0'=rcd_199^post79, head_16^0'=head_16^post79, temp0_32^0'=temp0_32^post79, r_149^0'=r_149^post79, y_26^0'=y_26^post79, rcd_71^0'=rcd_71^post79, i_198^0'=i_198^post79, x_207^0'=x_207^post79, rcd_185^0'=rcd_185^post79, a_279^0'=a_279^post79, t_23^0'=t_23^post79, len_221^0'=len_221^post79, x_SLAM_f_20^0'=x_SLAM_f_20^post79, rcd_284^0'=rcd_284^post79, head_SLAM_f_30^0'=head_SLAM_f_30^post79, temp_37^0'=temp_37^post79, r_41^0'=r_41^post79, a_174^0'=a_174^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79, len_159^0'=len_159^post79, rcd_194^0'=rcd_194^post79, f_202^0'=f_202^post79, temp0_19^0'=temp0_19^post79, nondet_12^0'=nondet_12^post79, y_21^0'=y_21^post79, rcd_308^0'=rcd_308^post79, rcd_45^0'=rcd_45^post79, i_130^0'=i_130^post79, x_154^0'=x_154^post79, rcd_114^0'=rcd_114^post79, a_253^0'=a_253^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, x_27^0'=x_27^post79, rcd_220^0'=rcd_220^post79, head_33^0'=head_33^post79, temp_36^0'=temp_36^post79, r_192^0'=r_192^post79, (rcd_199^0-rcd_199^post79 == 0 /\ rcd_114^0-rcd_114^post79 == 0 /\ r_41^0-r_41^post79 == 0 /\ -a_279^post79+a_279^0 == 0 /\ -head_33^post79+head_33^0 == 0 /\ i_31^0-i_31^post79 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79 == 0 /\ rcd_185^0-rcd_185^post79 == 0 /\ -len_159^post79+len_159^0 == 0 /\ -rcd_220^post79+rcd_220^0 == 0 /\ -a_253^post79+a_253^0 == 0 /\ tmp_35^0-tmp_35^post79 == 0 /\ a_139^0-a_139^post79 == 0 /\ -len_221^post79+len_221^0 == 0 /\ -rcd_45^post79+rcd_45^0 == 0 /\ -temp0_19^post79+temp0_19^0 == 0 /\ head_16^0-head_16^post79 == 0 /\ rcd_308^0-rcd_308^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post79+rcd_320^0 == 0 /\ -x_27^post79+x_27^0 == 0 /\ y_26^0-y_26^post79 == 0 /\ length_29^0-length_29^post79 == 0 /\ x_22^0-x_22^post79 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ f_202^0-f_202^post79 == 0 /\ tail_15^0-tail_15^post79 == 0 /\ i_112^0-i_112^post79 == 0 /\ -rcd_193^post79+rcd_193^0 == 0 /\ i_198^0-i_198^post79 == 0 /\ rcd_106^0-rcd_106^post79 == 0 /\ -temp_37^post79+temp_37^0 == 0 /\ a_222^0-a_222^post79 == 0 /\ -i_130^post79+i_130^0 == 0 /\ -temp_36^post79+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79 == 0 /\ -r_192^post79+r_192^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post79 == 0 /\ r_149^0-r_149^post79 == 0 /\ -rcd_194^post79+rcd_194^0 == 0 /\ -head_SLAM_f_30^post79+head_SLAM_f_30^0 == 0 /\ x_207^0-x_207^post79 == 0 /\ -x_154^post79+x_154^0 == 0 /\ -t_23^post79+t_23^0 == 0 /\ -a_174^post79+a_174^0 == 0 /\ -y_21^post79+y_21^0 == 0 /\ -temp0_32^post79+temp0_32^0 == 0 /\ a_309^0-a_309^post79 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post79 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_284^0-rcd_284^post79 == 0 /\ -rcd_71^post79+rcd_71^0 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ rcd_288^0-rcd_288^post79 == 0), cost: 1
  81: l53 -> l54 : a_139^0'=a_139^post81, result_11^0'=result_11^post81, i_31^0'=i_31^post81, rcd_193^0'=rcd_193^post81, a_309^0'=a_309^post81, tail_15^0'=tail_15^post81, length_29^0'=length_29^post81, x_SLAM_f_25^0'=x_SLAM_f_25^post81, rcd_288^0'=rcd_288^post81, rcd_320^0'=rcd_320^post81, i_112^0'=i_112^post81, tmp_35^0'=tmp_35^post81, rcd_106^0'=rcd_106^post81, a_222^0'=a_222^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81, x_22^0'=x_22^post81, rcd_199^0'=rcd_199^post81, head_16^0'=head_16^post81, temp0_32^0'=temp0_32^post81, r_149^0'=r_149^post81, y_26^0'=y_26^post81, rcd_71^0'=rcd_71^post81, i_198^0'=i_198^post81, x_207^0'=x_207^post81, rcd_185^0'=rcd_185^post81, a_279^0'=a_279^post81, t_23^0'=t_23^post81, len_221^0'=len_221^post81, x_SLAM_f_20^0'=x_SLAM_f_20^post81, rcd_284^0'=rcd_284^post81, head_SLAM_f_30^0'=head_SLAM_f_30^post81, temp_37^0'=temp_37^post81, r_41^0'=r_41^post81, a_174^0'=a_174^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81, len_159^0'=len_159^post81, rcd_194^0'=rcd_194^post81, f_202^0'=f_202^post81, temp0_19^0'=temp0_19^post81, nondet_12^0'=nondet_12^post81, y_21^0'=y_21^post81, rcd_308^0'=rcd_308^post81, rcd_45^0'=rcd_45^post81, i_130^0'=i_130^post81, x_154^0'=x_154^post81, rcd_114^0'=rcd_114^post81, a_253^0'=a_253^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, x_27^0'=x_27^post81, rcd_220^0'=rcd_220^post81, head_33^0'=head_33^post81, temp_36^0'=temp_36^post81, r_192^0'=r_192^post81, (i_31^0-i_31^post81 == 0 /\ -head_33^post81+head_33^0 == 0 /\ -a_253^post81+a_253^0 == 0 /\ i_112^0-i_112^post81 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post81 == 0 /\ rcd_199^0-rcd_199^post81 == 0 /\ rcd_320^0-rcd_320^post81 == 0 /\ -len_159^post81+len_159^0 == 0 /\ rcd_193^0-rcd_193^post81 == 0 /\ -rcd_308^post81+rcd_308^0 == 0 /\ result_11^0-result_11^post81 == 0 /\ -rcd_185^post81+rcd_185^0 == 0 /\ length_29^0-length_29^post81 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ temp0_32^0-temp0_32^post81 == 0 /\ -x_207^post81+x_207^0 == 0 /\ -rcd_220^post81+rcd_220^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_114^post81+rcd_114^0 == 0 /\ -rcd_45^post81+rcd_45^0 == 0 /\ y_26^0-y_26^post81 == 0 /\ -temp0_19^post81+temp0_19^0 == 0 /\ -x_27^post81+x_27^0 == 0 /\ f_202^0-f_202^post81 == 0 /\ -r_192^post81+r_192^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post81 == 0 /\ -temp_37^post81+temp_37^0 == 0 /\ a_279^0-a_279^post81 == 0 /\ -temp_36^post81+temp_36^0 == 0 /\ rcd_71^0-rcd_71^post81 == 0 /\ -a_174^post81+a_174^0 == 0 /\ -tail_15^post81+tail_15^0 == 0 /\ -rcd_194^post81+rcd_194^0 == 0 /\ -i_130^post81+i_130^0 == 0 /\ i_198^0-i_198^post81 == 0 /\ len_221^0-len_221^post81 == 0 /\ rcd_106^0-rcd_106^post81 == 0 /\ y_21^0-y_21^post81 == 0 /\ r_149^0-r_149^post81 == 0 /\ -t_23^post81+t_23^0 == 0 /\ -head_SLAM_f_30^post81+head_SLAM_f_30^0 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ tmp_35^0-tmp_35^post81 == 0 /\ -rcd_284^post81+rcd_284^0 == 0 /\ -x_154^post81+x_154^0 == 0 /\ a_139^0-a_139^post81 == 0 /\ a_222^0-a_222^post81 == 0 /\ -x_SLAM_f_20^post81+x_SLAM_f_20^0 == 0 /\ head_16^0-head_16^post81 == 0 /\ -r_41^post81+r_41^0 == 0 /\ a_309^0-a_309^post81 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_288^post81+rcd_288^0 == 0), cost: 1
  82: l53 -> l54 : a_139^0'=a_139^post82, result_11^0'=result_11^post82, i_31^0'=i_31^post82, rcd_193^0'=rcd_193^post82, a_309^0'=a_309^post82, tail_15^0'=tail_15^post82, length_29^0'=length_29^post82, x_SLAM_f_25^0'=x_SLAM_f_25^post82, rcd_288^0'=rcd_288^post82, rcd_320^0'=rcd_320^post82, i_112^0'=i_112^post82, tmp_35^0'=tmp_35^post82, rcd_106^0'=rcd_106^post82, a_222^0'=a_222^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82, x_22^0'=x_22^post82, rcd_199^0'=rcd_199^post82, head_16^0'=head_16^post82, temp0_32^0'=temp0_32^post82, r_149^0'=r_149^post82, y_26^0'=y_26^post82, rcd_71^0'=rcd_71^post82, i_198^0'=i_198^post82, x_207^0'=x_207^post82, rcd_185^0'=rcd_185^post82, a_279^0'=a_279^post82, t_23^0'=t_23^post82, len_221^0'=len_221^post82, x_SLAM_f_20^0'=x_SLAM_f_20^post82, rcd_284^0'=rcd_284^post82, head_SLAM_f_30^0'=head_SLAM_f_30^post82, temp_37^0'=temp_37^post82, r_41^0'=r_41^post82, a_174^0'=a_174^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82, len_159^0'=len_159^post82, rcd_194^0'=rcd_194^post82, f_202^0'=f_202^post82, temp0_19^0'=temp0_19^post82, nondet_12^0'=nondet_12^post82, y_21^0'=y_21^post82, rcd_308^0'=rcd_308^post82, rcd_45^0'=rcd_45^post82, i_130^0'=i_130^post82, x_154^0'=x_154^post82, rcd_114^0'=rcd_114^post82, a_253^0'=a_253^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, x_27^0'=x_27^post82, rcd_220^0'=rcd_220^post82, head_33^0'=head_33^post82, temp_36^0'=temp_36^post82, r_192^0'=r_192^post82, (x_207^0-x_207^post82 == 0 /\ length_29^0-length_29^post82 == 0 /\ 1-y_26^0+x_27^0 <= 0 /\ -y_21^post82+y_21^0 == 0 /\ -rcd_114^post82+rcd_114^0 == 0 /\ result_11^0-result_11^post82 == 0 /\ -r_149^post82+r_149^0 == 0 /\ -i_198^post82+i_198^0 == 0 /\ head_16^0-head_16^post82 == 0 /\ -temp_36^post82+temp_36^0 == 0 /\ -f_202^post82+f_202^0 == 0 /\ i_112^0-i_112^post82 == 0 /\ -i_130^post82+i_130^0 == 0 /\ -r_192^post82+r_192^0 == 0 /\ rcd_288^0-rcd_288^post82 == 0 /\ tmp_35^0-tmp_35^post82 == 0 /\ -temp_37^post82+temp_37^0 == 0 /\ i_31^0-i_31^post82 == 0 /\ -head_SLAM_f_30^post82+head_SLAM_f_30^0 == 0 /\ -x_154^post82+x_154^0 == 0 /\ -y_26^post82+y_26^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post82 == 0 /\ -x_SLAM_f_20^post82+x_SLAM_f_20^0 == 0 /\ -rcd_106^post82+rcd_106^0 == 0 /\ tail_15^0-tail_15^post82 == 0 /\ rcd_199^0-rcd_199^post82 == 0 /\ -rcd_71^post82+rcd_71^0 == 0 /\ -t_23^post82+t_23^0 == 0 /\ rcd_193^0-rcd_193^post82 == 0 /\ -x_22^post82+x_22^0 == 0 /\ -len_159^post82+len_159^0 == 0 /\ -a_253^post82+a_253^0 == 0 /\ -temp0_32^post82+temp0_32^0 == 0 /\ rcd_185^0-rcd_185^post82 == 0 /\ -len_221^post82+len_221^0 == 0 /\ a_222^0-a_222^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82 == 0 /\ rcd_220^0-rcd_220^post82 == 0 /\ -rcd_308^post82+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post82 == 0 /\ -rcd_284^post82+rcd_284^0 == 0 /\ a_139^0-a_139^post82 == 0 /\ a_309^0-a_309^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ a_174^0-a_174^post82 == 0 /\ r_41^0-r_41^post82 == 0 /\ -rcd_320^post82+rcd_320^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post82+x_27^0 == 0 /\ a_279^0-a_279^post82 == 0 /\ -head_33^post82+head_33^0 == 0 /\ -temp0_19^post82+temp0_19^0 == 0 /\ -rcd_45^post82+rcd_45^0 == 0), cost: 1
  83: l54 -> l55 : a_139^0'=a_139^post83, result_11^0'=result_11^post83, i_31^0'=i_31^post83, rcd_193^0'=rcd_193^post83, a_309^0'=a_309^post83, tail_15^0'=tail_15^post83, length_29^0'=length_29^post83, x_SLAM_f_25^0'=x_SLAM_f_25^post83, rcd_288^0'=rcd_288^post83, rcd_320^0'=rcd_320^post83, i_112^0'=i_112^post83, tmp_35^0'=tmp_35^post83, rcd_106^0'=rcd_106^post83, a_222^0'=a_222^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83, x_22^0'=x_22^post83, rcd_199^0'=rcd_199^post83, head_16^0'=head_16^post83, temp0_32^0'=temp0_32^post83, r_149^0'=r_149^post83, y_26^0'=y_26^post83, rcd_71^0'=rcd_71^post83, i_198^0'=i_198^post83, x_207^0'=x_207^post83, rcd_185^0'=rcd_185^post83, a_279^0'=a_279^post83, t_23^0'=t_23^post83, len_221^0'=len_221^post83, x_SLAM_f_20^0'=x_SLAM_f_20^post83, rcd_284^0'=rcd_284^post83, head_SLAM_f_30^0'=head_SLAM_f_30^post83, temp_37^0'=temp_37^post83, r_41^0'=r_41^post83, a_174^0'=a_174^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83, len_159^0'=len_159^post83, rcd_194^0'=rcd_194^post83, f_202^0'=f_202^post83, temp0_19^0'=temp0_19^post83, nondet_12^0'=nondet_12^post83, y_21^0'=y_21^post83, rcd_308^0'=rcd_308^post83, rcd_45^0'=rcd_45^post83, i_130^0'=i_130^post83, x_154^0'=x_154^post83, rcd_114^0'=rcd_114^post83, a_253^0'=a_253^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, x_27^0'=x_27^post83, rcd_220^0'=rcd_220^post83, head_33^0'=head_33^post83, temp_36^0'=temp_36^post83, r_192^0'=r_192^post83, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83 == 0 /\ rcd_284^0-rcd_284^post83 == 0 /\ -head_33^post83+head_33^0 == 0 /\ i_130^0-i_130^post83 == 0 /\ -rcd_308^post83+rcd_308^0 == 0 /\ -a_253^post83+a_253^0 == 0 /\ rcd_199^0-rcd_199^post83 == 0 /\ -1+a_174^0-a_222^post83 <= 0 /\ temp_37^0-temp_37^post83 == 0 /\ tail_15^0-tail_15^post83 == 0 /\ x_22^0-x_22^post83 == 0 /\ -a_279^post83+a_279^0 == 0 /\ rcd_106^0-rcd_106^post83 == 0 /\ rcd_220^post83-rcd_45^0 <= 0 /\ len_159^0-len_159^post83 == 0 /\ i_198^0-i_198^post83 == 0 /\ tail_15^0-y_26^0 <= 0 /\ a_174^0-a_174^post83 == 0 /\ r_149^0-r_149^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post83+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ t_23^0-t_23^post83 == 0 /\ result_11^0-result_11^post83 == 0 /\ -f_202^post83+f_202^0 == 0 /\ -1-len_159^0+len_221^post83 <= 0 /\ -x_207^post83+x_207^0 == 0 /\ -x_27^post83+x_27^0 == 0 /\ rcd_45^0-rcd_45^post83 == 0 /\ -rcd_220^post83+rcd_45^0 <= 0 /\ i_112^0-i_112^post83 == 0 /\ length_29^0-length_29^post83 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post83 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -y_21^post83+y_21^0 == 0 /\ -rcd_114^post83+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post83 == 0 /\ -rcd_194^post83+rcd_194^0 == 0 /\ 1-a_174^0+a_222^post83 <= 0 /\ rcd_71^0-rcd_71^post83 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post83 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_36^post83+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post83 == 0 /\ -rcd_185^post83+rcd_185^0 == 0 /\ -f_202^0+x_27^0 <= 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -x_SLAM_f_20^post83+x_SLAM_f_20^0 == 0 /\ 1+len_159^0-len_221^post83 <= 0 /\ -head_16^post83+head_16^0 == 0 /\ rcd_193^0-rcd_193^post83 == 0 /\ temp0_19^0-temp0_19^post83 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_309^0-a_309^post83 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post83 == 0 /\ -rcd_288^post83+rcd_288^0 == 0 /\ -x_154^post83+x_154^0 == 0 /\ a_139^0-a_139^post83 == 0 /\ r_192^0-r_192^post83 == 0 /\ -r_41^post83+r_41^0 == 0 /\ tmp_35^0-tmp_35^post83 == 0 /\ y_26^0-y_26^post83 == 0 /\ f_202^0-x_27^0 <= 0), cost: 1
  84: l55 -> l56 : a_139^0'=a_139^post84, result_11^0'=result_11^post84, i_31^0'=i_31^post84, rcd_193^0'=rcd_193^post84, a_309^0'=a_309^post84, tail_15^0'=tail_15^post84, length_29^0'=length_29^post84, x_SLAM_f_25^0'=x_SLAM_f_25^post84, rcd_288^0'=rcd_288^post84, rcd_320^0'=rcd_320^post84, i_112^0'=i_112^post84, tmp_35^0'=tmp_35^post84, rcd_106^0'=rcd_106^post84, a_222^0'=a_222^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84, x_22^0'=x_22^post84, rcd_199^0'=rcd_199^post84, head_16^0'=head_16^post84, temp0_32^0'=temp0_32^post84, r_149^0'=r_149^post84, y_26^0'=y_26^post84, rcd_71^0'=rcd_71^post84, i_198^0'=i_198^post84, x_207^0'=x_207^post84, rcd_185^0'=rcd_185^post84, a_279^0'=a_279^post84, t_23^0'=t_23^post84, len_221^0'=len_221^post84, x_SLAM_f_20^0'=x_SLAM_f_20^post84, rcd_284^0'=rcd_284^post84, head_SLAM_f_30^0'=head_SLAM_f_30^post84, temp_37^0'=temp_37^post84, r_41^0'=r_41^post84, a_174^0'=a_174^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84, len_159^0'=len_159^post84, rcd_194^0'=rcd_194^post84, f_202^0'=f_202^post84, temp0_19^0'=temp0_19^post84, nondet_12^0'=nondet_12^post84, y_21^0'=y_21^post84, rcd_308^0'=rcd_308^post84, rcd_45^0'=rcd_45^post84, i_130^0'=i_130^post84, x_154^0'=x_154^post84, rcd_114^0'=rcd_114^post84, a_253^0'=a_253^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, x_27^0'=x_27^post84, rcd_220^0'=rcd_220^post84, head_33^0'=head_33^post84, temp_36^0'=temp_36^post84, r_192^0'=r_192^post84, (rcd_193^0-rcd_193^post84 == 0 /\ -rcd_114^post84+rcd_114^0 == 0 /\ rcd_45^0-rcd_45^post84 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ rcd_185^0-rcd_185^post84 == 0 /\ x_207^0-x_207^post84 == 0 /\ -i_130^post84+i_130^0 == 0 /\ rcd_288^0-rcd_288^post84 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post84 == 0 /\ -r_192^post84+r_192^0 == 0 /\ -i_198^post84+i_198^0 == 0 /\ y_26^0-y_26^post84 == 0 /\ a_139^0-a_139^post84 == 0 /\ length_29^0-length_29^post84 == 0 /\ -x_SLAM_f_20^post84+x_SLAM_f_20^0 == 0 /\ -rcd_284^post84+rcd_284^0 == 0 /\ -temp_37^post84+temp_37^0 == 0 /\ -a_174^post84+a_174^0 == 0 /\ tail_15^0-tail_15^post84 == 0 /\ rcd_199^0-rcd_199^post84 == 0 /\ i_31^0-i_31^post84 == 0 /\ a_253^0-a_253^post84 == 0 /\ rcd_106^0-rcd_106^post84 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post84 == 0 /\ -t_23^post84+t_23^0 == 0 /\ -x_154^post84+x_154^0 == 0 /\ -y_21^post84+y_21^0 == 0 /\ a_279^0-a_279^post84 == 0 /\ temp0_32^0-temp0_32^post84 == 0 /\ -len_159^post84+len_159^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_308^post84+rcd_308^0 == 0 /\ -head_33^post84+head_33^0 == 0 /\ r_149^0-r_149^post84 == 0 /\ head_16^0-head_16^post84 == 0 /\ -temp0_19^post84+temp0_19^0 == 0 /\ a_222^0-a_222^post84 == 0 /\ f_202^0-f_202^post84 == 0 /\ -rcd_220^post84+rcd_220^0 == 0 /\ tmp_35^0-tmp_35^post84 == 0 /\ a_309^0-a_309^post84 == 0 /\ rcd_194^0-rcd_194^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ -temp_36^post84+temp_36^0 == 0 /\ x_22^0-x_22^post84 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84 == 0 /\ rcd_71^0-rcd_71^post84 == 0 /\ -x_27^post84+x_27^0 == 0 /\ r_41^0-r_41^post84 == 0 /\ -rcd_320^post84+rcd_320^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post84+i_112^0 == 0 /\ -len_221^post84+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  85: l55 -> l56 : a_139^0'=a_139^post85, result_11^0'=result_11^post85, i_31^0'=i_31^post85, rcd_193^0'=rcd_193^post85, a_309^0'=a_309^post85, tail_15^0'=tail_15^post85, length_29^0'=length_29^post85, x_SLAM_f_25^0'=x_SLAM_f_25^post85, rcd_288^0'=rcd_288^post85, rcd_320^0'=rcd_320^post85, i_112^0'=i_112^post85, tmp_35^0'=tmp_35^post85, rcd_106^0'=rcd_106^post85, a_222^0'=a_222^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85, x_22^0'=x_22^post85, rcd_199^0'=rcd_199^post85, head_16^0'=head_16^post85, temp0_32^0'=temp0_32^post85, r_149^0'=r_149^post85, y_26^0'=y_26^post85, rcd_71^0'=rcd_71^post85, i_198^0'=i_198^post85, x_207^0'=x_207^post85, rcd_185^0'=rcd_185^post85, a_279^0'=a_279^post85, t_23^0'=t_23^post85, len_221^0'=len_221^post85, x_SLAM_f_20^0'=x_SLAM_f_20^post85, rcd_284^0'=rcd_284^post85, head_SLAM_f_30^0'=head_SLAM_f_30^post85, temp_37^0'=temp_37^post85, r_41^0'=r_41^post85, a_174^0'=a_174^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85, len_159^0'=len_159^post85, rcd_194^0'=rcd_194^post85, f_202^0'=f_202^post85, temp0_19^0'=temp0_19^post85, nondet_12^0'=nondet_12^post85, y_21^0'=y_21^post85, rcd_308^0'=rcd_308^post85, rcd_45^0'=rcd_45^post85, i_130^0'=i_130^post85, x_154^0'=x_154^post85, rcd_114^0'=rcd_114^post85, a_253^0'=a_253^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, x_27^0'=x_27^post85, rcd_220^0'=rcd_220^post85, head_33^0'=head_33^post85, temp_36^0'=temp_36^post85, r_192^0'=r_192^post85, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85 == 0 /\ x_22^0-x_22^post85 == 0 /\ len_221^0-len_221^post85 == 0 /\ tail_15^0-tail_15^post85 == 0 /\ -temp0_19^post85+temp0_19^0 == 0 /\ temp_37^0-temp_37^post85 == 0 /\ i_198^0-i_198^post85 == 0 /\ -head_33^post85+head_33^0 == 0 /\ -rcd_220^post85+rcd_220^0 == 0 /\ -a_253^post85+a_253^0 == 0 /\ -rcd_308^post85+rcd_308^0 == 0 /\ result_11^0-result_11^post85 == 0 /\ len_159^0-len_159^post85 == 0 /\ -a_279^post85+a_279^0 == 0 /\ rcd_193^0-rcd_193^post85 == 0 /\ -x_27^post85+x_27^0 == 0 /\ -temp_36^post85+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post85 == 0 /\ -f_202^post85+f_202^0 == 0 /\ r_149^0-r_149^post85 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_112^post85+i_112^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post85 == 0 /\ t_23^0-t_23^post85 == 0 /\ x_154^0-x_154^post85 == 0 /\ a_222^0-a_222^post85 == 0 /\ -x_207^post85+x_207^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_288^0-rcd_288^post85 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post85 == 0 /\ rcd_284^0-rcd_284^post85 == 0 /\ -rcd_114^post85+rcd_114^0 == 0 /\ a_309^0-a_309^post85 == 0 /\ -rcd_106^post85+rcd_106^0 == 0 /\ -r_192^post85+r_192^0 == 0 /\ rcd_320^0-rcd_320^post85 == 0 /\ -y_21^post85+y_21^0 == 0 /\ -rcd_199^post85+rcd_199^0 == 0 /\ i_31^0-i_31^post85 == 0 /\ -i_130^post85+i_130^0 == 0 /\ -rcd_45^post85+rcd_45^0 == 0 /\ rcd_71^0-rcd_71^post85 == 0 /\ -rcd_194^post85+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post85 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -head_16^post85+head_16^0 == 0 /\ a_139^0-a_139^post85 == 0 /\ tmp_35^0-tmp_35^post85 == 0 /\ -r_41^post85+r_41^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ -head_SLAM_f_30^post85+head_SLAM_f_30^0 == 0 /\ -a_174^post85+a_174^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ -y_26^post85+y_26^0 == 0), cost: 1
  86: l56 -> l57 : a_139^0'=a_139^post86, result_11^0'=result_11^post86, i_31^0'=i_31^post86, rcd_193^0'=rcd_193^post86, a_309^0'=a_309^post86, tail_15^0'=tail_15^post86, length_29^0'=length_29^post86, x_SLAM_f_25^0'=x_SLAM_f_25^post86, rcd_288^0'=rcd_288^post86, rcd_320^0'=rcd_320^post86, i_112^0'=i_112^post86, tmp_35^0'=tmp_35^post86, rcd_106^0'=rcd_106^post86, a_222^0'=a_222^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86, x_22^0'=x_22^post86, rcd_199^0'=rcd_199^post86, head_16^0'=head_16^post86, temp0_32^0'=temp0_32^post86, r_149^0'=r_149^post86, y_26^0'=y_26^post86, rcd_71^0'=rcd_71^post86, i_198^0'=i_198^post86, x_207^0'=x_207^post86, rcd_185^0'=rcd_185^post86, a_279^0'=a_279^post86, t_23^0'=t_23^post86, len_221^0'=len_221^post86, x_SLAM_f_20^0'=x_SLAM_f_20^post86, rcd_284^0'=rcd_284^post86, head_SLAM_f_30^0'=head_SLAM_f_30^post86, temp_37^0'=temp_37^post86, r_41^0'=r_41^post86, a_174^0'=a_174^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86, len_159^0'=len_159^post86, rcd_194^0'=rcd_194^post86, f_202^0'=f_202^post86, temp0_19^0'=temp0_19^post86, nondet_12^0'=nondet_12^post86, y_21^0'=y_21^post86, rcd_308^0'=rcd_308^post86, rcd_45^0'=rcd_45^post86, i_130^0'=i_130^post86, x_154^0'=x_154^post86, rcd_114^0'=rcd_114^post86, a_253^0'=a_253^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, x_27^0'=x_27^post86, rcd_220^0'=rcd_220^post86, head_33^0'=head_33^post86, temp_36^0'=temp_36^post86, r_192^0'=r_192^post86, (-r_192^post86+r_192^0 == 0 /\ a_139^0-a_139^post86 == 0 /\ temp0_32^0-temp0_32^post86 == 0 /\ rcd_193^0-rcd_193^post86 == 0 /\ -i_198^post86+i_198^0 == 0 /\ -rcd_45^post86+rcd_45^0 == 0 /\ -i_130^post86+i_130^0 == 0 /\ -r_149^post86+r_149^0 == 0 /\ rcd_194^0-rcd_194^post86 == 0 /\ -temp_37^post86+temp_37^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post86 == 0 /\ -x_154^post86+x_154^0 == 0 /\ i_112^0-i_112^post86 == 0 /\ x_22^0-x_22^post86 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86 == 0 /\ f_202^0-f_202^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ 1+y_26^0-x_207^0 <= 0 /\ -a_174^post86+a_174^0 == 0 /\ tail_15^0-tail_15^post86 == 0 /\ -r_41^post86+r_41^0 == 0 /\ rcd_199^0-rcd_199^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ result_11^0-result_11^post86 == 0 /\ len_221^0-len_221^post86 == 0 /\ a_279^0-a_279^post86 == 0 /\ -x_SLAM_f_25^post86+x_SLAM_f_25^0 == 0 /\ -len_159^post86+len_159^0 == 0 /\ tmp_35^0-tmp_35^post86 == 0 /\ -x_SLAM_f_20^post86+x_SLAM_f_20^0 == 0 /\ -a_253^post86+a_253^0 == 0 /\ head_16^0-head_16^post86 == 0 /\ rcd_288^0-rcd_288^post86 == 0 /\ y_26^0-y_26^post86 == 0 /\ -head_33^post86+head_33^0 == 0 /\ -rcd_308^post86+rcd_308^0 == 0 /\ -rcd_284^post86+rcd_284^0 == 0 /\ -rcd_220^post86+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post86 == 0 /\ -temp_36^post86+temp_36^0 == 0 /\ a_309^0-a_309^post86 == 0 /\ -x_27^post86+x_27^0 == 0 /\ -rcd_185^post86+rcd_185^0 == 0 /\ -a_222^post86+a_222^0 == 0 /\ rcd_106^0-rcd_106^post86 == 0 /\ rcd_71^0-rcd_71^post86 == 0 /\ -x_207^post86+x_207^0 == 0 /\ i_31^0-i_31^post86 == 0 /\ -temp0_19^post86+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post86 == 0 /\ -rcd_114^post86+rcd_114^0 == 0), cost: 1
  87: l56 -> l57 : a_139^0'=a_139^post87, result_11^0'=result_11^post87, i_31^0'=i_31^post87, rcd_193^0'=rcd_193^post87, a_309^0'=a_309^post87, tail_15^0'=tail_15^post87, length_29^0'=length_29^post87, x_SLAM_f_25^0'=x_SLAM_f_25^post87, rcd_288^0'=rcd_288^post87, rcd_320^0'=rcd_320^post87, i_112^0'=i_112^post87, tmp_35^0'=tmp_35^post87, rcd_106^0'=rcd_106^post87, a_222^0'=a_222^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87, x_22^0'=x_22^post87, rcd_199^0'=rcd_199^post87, head_16^0'=head_16^post87, temp0_32^0'=temp0_32^post87, r_149^0'=r_149^post87, y_26^0'=y_26^post87, rcd_71^0'=rcd_71^post87, i_198^0'=i_198^post87, x_207^0'=x_207^post87, rcd_185^0'=rcd_185^post87, a_279^0'=a_279^post87, t_23^0'=t_23^post87, len_221^0'=len_221^post87, x_SLAM_f_20^0'=x_SLAM_f_20^post87, rcd_284^0'=rcd_284^post87, head_SLAM_f_30^0'=head_SLAM_f_30^post87, temp_37^0'=temp_37^post87, r_41^0'=r_41^post87, a_174^0'=a_174^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87, len_159^0'=len_159^post87, rcd_194^0'=rcd_194^post87, f_202^0'=f_202^post87, temp0_19^0'=temp0_19^post87, nondet_12^0'=nondet_12^post87, y_21^0'=y_21^post87, rcd_308^0'=rcd_308^post87, rcd_45^0'=rcd_45^post87, i_130^0'=i_130^post87, x_154^0'=x_154^post87, rcd_114^0'=rcd_114^post87, a_253^0'=a_253^post87, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post87, x_27^0'=x_27^post87, rcd_220^0'=rcd_220^post87, head_33^0'=head_33^post87, temp_36^0'=temp_36^post87, r_192^0'=r_192^post87, (-len_221^post87+len_221^0 == 0 /\ -head_33^post87+head_33^0 == 0 /\ x_22^0-x_22^post87 == 0 /\ -len_159^post87+len_159^0 == 0 /\ 1-y_26^0+x_207^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87 == 0 /\ rcd_114^0-rcd_114^post87 == 0 /\ -rcd_284^post87+rcd_284^0 == 0 /\ tail_15^0-tail_15^post87 == 0 /\ rcd_185^0-rcd_185^post87 == 0 /\ -x_SLAM_f_20^post87+x_SLAM_f_20^0 == 0 /\ -a_253^post87+a_253^0 == 0 /\ -rcd_308^post87+rcd_308^0 == 0 /\ -a_279^post87+a_279^0 == 0 /\ -rcd_220^post87+rcd_220^0 == 0 /\ x_154^0-x_154^post87 == 0 /\ a_139^0-a_139^post87 == 0 /\ x_207^0-x_207^post87 == 0 /\ r_149^0-r_149^post87 == 0 /\ -rcd_45^post87+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post87+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post87+x_27^0 == 0 /\ tmp_35^0-tmp_35^post87 == 0 /\ rcd_193^0-rcd_193^post87 == 0 /\ -temp0_19^post87+temp0_19^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post87 == 0 /\ -a_222^post87+a_222^0 == 0 /\ rcd_288^0-rcd_288^post87 == 0 /\ i_112^0-i_112^post87 == 0 /\ -i_198^post87+i_198^0 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ rcd_320^0-rcd_320^post87 == 0 /\ -a_309^post87+a_309^0 == 0 /\ i_31^0-i_31^post87 == 0 /\ -i_130^post87+i_130^0 == 0 /\ rcd_199^0-rcd_199^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87 == 0 /\ -temp_36^post87+temp_36^0 == 0 /\ result_11^0-result_11^post87 == 0 /\ -y_21^post87+y_21^0 == 0 /\ -f_202^post87+f_202^0 == 0 /\ -temp_37^post87+temp_37^0 == 0 /\ -r_192^post87+r_192^0 == 0 /\ -y_26^post87+y_26^0 == 0 /\ -rcd_71^post87+rcd_71^0 == 0 /\ head_16^0-head_16^post87 == 0 /\ -head_SLAM_f_30^post87+head_SLAM_f_30^0 == 0 /\ -a_174^post87+a_174^0 == 0 /\ rcd_194^0-rcd_194^post87 == 0 /\ -rcd_106^post87+rcd_106^0 == 0 /\ -t_23^post87+t_23^0 == 0 /\ r_41^0-r_41^post87 == 0 /\ length_29^0-length_29^post87 == 0 /\ -temp0_32^post87+temp0_32^0 == 0), cost: 1
  88: l57 -> l52 : a_139^0'=a_139^post88, result_11^0'=result_11^post88, i_31^0'=i_31^post88, rcd_193^0'=rcd_193^post88, a_309^0'=a_309^post88, tail_15^0'=tail_15^post88, length_29^0'=length_29^post88, x_SLAM_f_25^0'=x_SLAM_f_25^post88, rcd_288^0'=rcd_288^post88, rcd_320^0'=rcd_320^post88, i_112^0'=i_112^post88, tmp_35^0'=tmp_35^post88, rcd_106^0'=rcd_106^post88, a_222^0'=a_222^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88, x_22^0'=x_22^post88, rcd_199^0'=rcd_199^post88, head_16^0'=head_16^post88, temp0_32^0'=temp0_32^post88, r_149^0'=r_149^post88, y_26^0'=y_26^post88, rcd_71^0'=rcd_71^post88, i_198^0'=i_198^post88, x_207^0'=x_207^post88, rcd_185^0'=rcd_185^post88, a_279^0'=a_279^post88, t_23^0'=t_23^post88, len_221^0'=len_221^post88, x_SLAM_f_20^0'=x_SLAM_f_20^post88, rcd_284^0'=rcd_284^post88, head_SLAM_f_30^0'=head_SLAM_f_30^post88, temp_37^0'=temp_37^post88, r_41^0'=r_41^post88, a_174^0'=a_174^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88, len_159^0'=len_159^post88, rcd_194^0'=rcd_194^post88, f_202^0'=f_202^post88, temp0_19^0'=temp0_19^post88, nondet_12^0'=nondet_12^post88, y_21^0'=y_21^post88, rcd_308^0'=rcd_308^post88, rcd_45^0'=rcd_45^post88, i_130^0'=i_130^post88, x_154^0'=x_154^post88, rcd_114^0'=rcd_114^post88, a_253^0'=a_253^post88, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post88, x_27^0'=x_27^post88, rcd_220^0'=rcd_220^post88, head_33^0'=head_33^post88, temp_36^0'=temp_36^post88, r_192^0'=r_192^post88, (0 == 0 /\ -rcd_194^post88+rcd_194^0 == 0 /\ a_222^0-a_222^post88 == 0 /\ -r_149^post88+r_149^0 == 0 /\ a_139^0-a_139^post88 == 0 /\ -len_221^0+len_159^post88 <= 0 /\ -rcd_114^post88+rcd_114^0 == 0 /\ -r_192^post88+r_192^0 == 0 /\ -i_130^post88+i_130^0 == 0 /\ -rcd_71^post88+rcd_71^0 == 0 /\ -temp_36^post88+temp_36^0 == 0 /\ -y_21^post88+y_21^0 == 0 /\ t_23^0-t_23^post88 == 0 /\ -f_202^post88+f_202^0 == 0 /\ x_22^0-x_22^post88 == 0 /\ a_309^0-a_309^post88 == 0 /\ len_221^0-len_159^post88 <= 0 /\ i_112^0-i_112^post88 == 0 /\ -head_16^post88+head_16^0 == 0 /\ -a_279^post88+a_279^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88 == 0 /\ -x_154^post88+x_154^0 == 0 /\ rcd_284^0-rcd_284^post88 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post88 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -rcd_199^post88+rcd_199^0 == 0 /\ -head_SLAM_f_30^post88+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post88 == 0 /\ i_198^0-i_198^post88 == 0 /\ temp0_32^0-temp0_32^post88 == 0 /\ -r_41^post88+r_41^0 == 0 /\ tmp_35^0-tmp_35^post88 == 0 /\ result_11^0-result_11^post88 == 0 /\ -len_221^post88+len_221^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_207^0-x_207^post88 == 0 /\ -rcd_45^post88+rcd_220^0 <= 0 /\ temp0_19^0-temp0_19^post88 == 0 /\ x_27^0-x_27^post88 == 0 /\ rcd_193^0-rcd_193^post88 == 0 /\ -head_33^post88+head_33^0 == 0 /\ -rcd_308^post88+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post88 == 0 /\ y_26^0-y_26^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ -a_253^post88+a_253^0 == 0 /\ rcd_288^0-rcd_288^post88 == 0 /\ -a_222^0+a_174^post88 <= 0 /\ -rcd_220^post88+rcd_220^0 == 0 /\ -rcd_185^post88+rcd_185^0 == 0 /\ rcd_45^post88-rcd_220^0 <= 0 /\ temp_37^0-temp_37^post88 == 0 /\ rcd_320^0-rcd_320^post88 == 0 /\ i_31^0-i_31^post88 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-tail_15^post88 == 0 /\ rcd_106^0-rcd_106^post88 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_222^0-a_174^post88 <= 0), cost: 1
  89: l52 -> l1 : a_139^0'=a_139^post89, result_11^0'=result_11^post89, i_31^0'=i_31^post89, rcd_193^0'=rcd_193^post89, a_309^0'=a_309^post89, tail_15^0'=tail_15^post89, length_29^0'=length_29^post89, x_SLAM_f_25^0'=x_SLAM_f_25^post89, rcd_288^0'=rcd_288^post89, rcd_320^0'=rcd_320^post89, i_112^0'=i_112^post89, tmp_35^0'=tmp_35^post89, rcd_106^0'=rcd_106^post89, a_222^0'=a_222^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89, x_22^0'=x_22^post89, rcd_199^0'=rcd_199^post89, head_16^0'=head_16^post89, temp0_32^0'=temp0_32^post89, r_149^0'=r_149^post89, y_26^0'=y_26^post89, rcd_71^0'=rcd_71^post89, i_198^0'=i_198^post89, x_207^0'=x_207^post89, rcd_185^0'=rcd_185^post89, a_279^0'=a_279^post89, t_23^0'=t_23^post89, len_221^0'=len_221^post89, x_SLAM_f_20^0'=x_SLAM_f_20^post89, rcd_284^0'=rcd_284^post89, head_SLAM_f_30^0'=head_SLAM_f_30^post89, temp_37^0'=temp_37^post89, r_41^0'=r_41^post89, a_174^0'=a_174^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89, len_159^0'=len_159^post89, rcd_194^0'=rcd_194^post89, f_202^0'=f_202^post89, temp0_19^0'=temp0_19^post89, nondet_12^0'=nondet_12^post89, y_21^0'=y_21^post89, rcd_308^0'=rcd_308^post89, rcd_45^0'=rcd_45^post89, i_130^0'=i_130^post89, x_154^0'=x_154^post89, rcd_114^0'=rcd_114^post89, a_253^0'=a_253^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_27^0'=x_27^post89, rcd_220^0'=rcd_220^post89, head_33^0'=head_33^post89, temp_36^0'=temp_36^post89, r_192^0'=r_192^post89, (head_SLAM_f_30^0-head_SLAM_f_30^post89 == 0 /\ tail_15^0-tail_15^post89 == 0 /\ -rcd_308^post89+rcd_308^0 == 0 /\ -rcd_284^post89+rcd_284^0 == 0 /\ rcd_71^0-rcd_71^post89 == 0 /\ i_31^0-i_31^post89 == 0 /\ -head_33^post89+head_33^0 == 0 /\ -rcd_220^post89+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post89 == 0 /\ -x_27^post89+x_27^0 == 0 /\ rcd_185^0-rcd_185^post89 == 0 /\ -a_253^post89+a_253^0 == 0 /\ temp0_32^0-temp0_32^post89 == 0 /\ tmp_35^0-tmp_35^post89 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post89 == 0 /\ -x_207^post89+x_207^0 == 0 /\ rcd_193^0-rcd_193^post89 == 0 /\ a_279^0-a_279^post89 == 0 /\ head_16^0-head_16^post89 == 0 /\ -temp_36^post89+temp_36^0 == 0 /\ -rcd_45^post89+rcd_45^0 == 0 /\ -f_202^post89+f_202^0 == 0 /\ -r_192^post89+r_192^0 == 0 /\ -len_221^post89+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post89+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_309^0-a_309^post89 == 0 /\ y_26^0-y_26^post89 == 0 /\ x_22^0-x_22^post89 == 0 /\ -i_130^post89+i_130^0 == 0 /\ -rcd_194^post89+rcd_194^0 == 0 /\ r_41^0-r_41^post89 == 0 /\ rcd_199^0-rcd_199^post89 == 0 /\ i_112^0-i_112^post89 == 0 /\ -rcd_114^post89+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post89 == 0 /\ y_21^0-y_21^post89 == 0 /\ i_198^0-i_198^post89 == 0 /\ result_11^0-result_11^post89 == 0 /\ a_222^0-a_222^post89 == 0 /\ r_149^0-r_149^post89 == 0 /\ -x_SLAM_f_25^post89+x_SLAM_f_25^0 == 0 /\ -x_SLAM_f_20^post89+x_SLAM_f_20^0 == 0 /\ -temp_37^post89+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_19^0-temp0_19^post89 == 0 /\ length_29^0-length_29^post89 == 0 /\ -len_159^post89+len_159^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ t_23^0-t_23^post89 == 0 /\ rcd_288^0-rcd_288^post89 == 0 /\ -a_174^post89+a_174^0 == 0 /\ -x_154^post89+x_154^0 == 0), cost: 1
 103: l66 -> l49 : a_139^0'=a_139^post103, result_11^0'=result_11^post103, i_31^0'=i_31^post103, rcd_193^0'=rcd_193^post103, a_309^0'=a_309^post103, tail_15^0'=tail_15^post103, length_29^0'=length_29^post103, x_SLAM_f_25^0'=x_SLAM_f_25^post103, rcd_288^0'=rcd_288^post103, rcd_320^0'=rcd_320^post103, i_112^0'=i_112^post103, tmp_35^0'=tmp_35^post103, rcd_106^0'=rcd_106^post103, a_222^0'=a_222^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103, x_22^0'=x_22^post103, rcd_199^0'=rcd_199^post103, head_16^0'=head_16^post103, temp0_32^0'=temp0_32^post103, r_149^0'=r_149^post103, y_26^0'=y_26^post103, rcd_71^0'=rcd_71^post103, i_198^0'=i_198^post103, x_207^0'=x_207^post103, rcd_185^0'=rcd_185^post103, a_279^0'=a_279^post103, t_23^0'=t_23^post103, len_221^0'=len_221^post103, x_SLAM_f_20^0'=x_SLAM_f_20^post103, rcd_284^0'=rcd_284^post103, head_SLAM_f_30^0'=head_SLAM_f_30^post103, temp_37^0'=temp_37^post103, r_41^0'=r_41^post103, a_174^0'=a_174^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post103, len_159^0'=len_159^post103, rcd_194^0'=rcd_194^post103, f_202^0'=f_202^post103, temp0_19^0'=temp0_19^post103, nondet_12^0'=nondet_12^post103, y_21^0'=y_21^post103, rcd_308^0'=rcd_308^post103, rcd_45^0'=rcd_45^post103, i_130^0'=i_130^post103, x_154^0'=x_154^post103, rcd_114^0'=rcd_114^post103, a_253^0'=a_253^post103, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post103, x_27^0'=x_27^post103, rcd_220^0'=rcd_220^post103, head_33^0'=head_33^post103, temp_36^0'=temp_36^post103, r_192^0'=r_192^post103, (a_309^0-a_309^post103 == 0 /\ -head_SLAM_f_30^post103+head_SLAM_f_30^0 == 0 /\ rcd_185^0-rcd_185^post103 == 0 /\ -x_154^post103+x_154^0 == 0 /\ rcd_320^0-rcd_320^post103 == 0 /\ -temp0_32^post103+temp0_32^0 == 0 /\ rcd_199^0-rcd_199^post103 == 0 /\ a_139^0-a_139^post103 == 0 /\ i_31^0-i_31^post103 == 0 /\ -len_221^post103+len_221^0 == 0 /\ -y_26^post103+y_26^0 == 0 /\ -x_27^post103+x_27^0 == 0 /\ head_16^0-head_16^post103 == 0 /\ i_198^0-i_198^post103 == 0 /\ rcd_193^0-rcd_193^post103 == 0 /\ -r_192^post103+r_192^0 == 0 /\ x_22^0-x_22^post103 == 0 /\ -rcd_308^post103+rcd_308^0 == 0 /\ -rcd_194^post103+rcd_194^0 == 0 /\ -a_253^post103+a_253^0 == 0 /\ rcd_114^0-rcd_114^post103 == 0 /\ -temp_36^post103+temp_36^0 == 0 /\ r_41^0-r_41^post103 == 0 /\ rcd_106^0-rcd_106^post103 == 0 /\ -rcd_71^post103+rcd_71^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ temp_37^0-temp_37^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103 == 0 /\ -rcd_45^post103+rcd_45^0 == 0 /\ rcd_284^0-rcd_284^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ -y_21^post103+y_21^0 == 0 /\ tail_15^0-tail_15^post103 == 0 /\ tmp_35^0-tmp_35^post103 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post103 == 0 /\ i_112^0-i_112^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post103+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^post103 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post103 == 0 /\ -a_279^post103+a_279^0 == 0 /\ -head_33^post103+head_33^0 == 0 /\ f_202^0-f_202^post103 == 0 /\ rcd_288^0-rcd_288^post103 == 0 /\ -temp0_19^post103+temp0_19^0 == 0 /\ -len_159^post103+len_159^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ -a_174^post103+a_174^0 == 0 /\ -i_130^post103+i_130^0 == 0 /\ -rcd_220^post103+rcd_220^0 == 0 /\ r_149^0-r_149^post103 == 0 /\ x_207^0-x_207^post103 == 0 /\ a_222^0-a_222^post103 == 0), cost: 1


Applied preprocessing
Original rule:
l6 -> l20 : a_139^0'=a_139^post27, result_11^0'=result_11^post27, i_31^0'=i_31^post27, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post27, rcd_320^0'=rcd_320^post27, i_112^0'=i_112^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, x_22^0'=x_22^post27, rcd_199^0'=rcd_199^post27, head_16^0'=head_16^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, len_221^0'=len_221^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, rcd_284^0'=rcd_284^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^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, len_159^0'=len_159^post27, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, i_130^0'=i_130^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post27, rcd_220^0'=rcd_220^post27, head_33^0'=head_33^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, (0 == 0 /\ 2-length_29^0 <= 0 /\ -2+i_31^post27 <= 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -tail_15^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ rcd_114^0-rcd_114^post27 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -a_279^post27+a_279^0 == 0 /\ r_41^0-r_41^post27 == 0 /\ head_SLAM_f_30^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ tmp_35^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -len_159^post27+len_159^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ tail_15^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -i_130^post27+i_130^0 == 0 /\ y_26^0-y_26^post27 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 <= 0 /\ length_29^0-length_29^post27 == 0 /\ -head_SLAM_f_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ -tmp_35^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_16^0-head_16^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -len_221^post27+len_221^0 == 0 /\ 1-length_29^0 <= 0 /\ x_154^0-x_154^post27 == 0 /\ -x_27^post27+x_27^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_220^post27+rcd_220^0 == 0 /\ -r_149^post27+r_149^0 == 0 /\ 2-i_31^post27 <= 0 /\ -f_202^post27+f_202^0 == 0 /\ -x_22^post27+x_22^0 == 0 /\ -r_192^post27+r_192^0 == 0 /\ tmp_35^post27-temp_36^0 == 0 /\ i_198^0-i_198^post27 == 0 /\ -a_174^post27+a_174^0 == 0 /\ head_SLAM_f_30^post27-tail_15^post27 <= 0 /\ a_222^0-a_222^post27 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ head_33^post27-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ head_33^post27-tmp_35^post27 <= 0 /\ head_33^post27-tmp_35^post27 == 0 /\ rcd_185^0-rcd_185^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ x_207^0-x_207^post27 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -head_SLAM_f_30^post27+tail_15^post27 <= 0 /\ -1-i_31^0+i_31^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -head_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 <= 0 /\ -a_253^post27+a_253^0 == 0 /\ rcd_284^0-rcd_284^post27 == 0 /\ -head_33^post27+tmp_35^post27 <= 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ i_112^0-i_112^post27 == 0), cost: 1
New rule:
l6 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post27, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : a_139^0'=a_139^post28, result_11^0'=result_11^post28, i_31^0'=i_31^post28, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post28, rcd_320^0'=rcd_320^post28, i_112^0'=i_112^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, x_22^0'=x_22^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, rcd_71^0'=rcd_71^post28, i_198^0'=i_198^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, len_221^0'=len_221^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, rcd_284^0'=rcd_284^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^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, len_159^0'=len_159^post28, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, i_130^0'=i_130^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post28, rcd_220^0'=rcd_220^post28, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, (0 == 0 /\ rcd_114^0-rcd_114^post28 == 0 /\ -len_159^0 <= 0 /\ -a_279^post28+a_279^0 == 0 /\ -result_11^11+head_16^post28 == 0 /\ -rcd_194^post28+rcd_45^0 <= 0 /\ i_112^0-i_112^post28 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ x_27^post28-head_16^post28 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_31^0 <= 0 /\ -i_130^post28+i_130^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ rcd_194^post28-rcd_45^0 <= 0 /\ -rcd_220^post28+rcd_220^0 == 0 /\ temp0_32^110-head_33^0 == 0 /\ -x_27^post28+head_16^post28 <= 0 /\ x_154^0-x_154^post28 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_SLAM_f_25^post28-x_27^post28 <= 0 /\ y_26^post28-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ -x_22^post28+x_22^0 == 0 /\ -len_221^post28+len_221^0 == 0 /\ -a_174^0+i_31^post28 <= 0 /\ -temp_37^post28+temp_37^0 == 0 /\ -r_192^post28+r_192^0 == 0 /\ -x_SLAM_f_25^post28+head_16^post28 <= 0 /\ -f_202^post28+f_202^0 == 0 /\ -a_174^post28+a_174^0 == 0 /\ x_207^0-x_207^post28 == 0 /\ a_222^0-a_222^post28 == 0 /\ len_159^0 <= 0 /\ rcd_193^0-rcd_193^post28 == 0 /\ -x_SLAM_f_20^post28+x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_26^post28 <= 0 /\ -tail_15^0+y_26^post28 == 0 /\ a_309^0-a_309^post28 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 <= 0 /\ -x_SLAM_f_25^post28+x_27^post28 == 0 /\ -y_26^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 <= 0 /\ a_139^0-a_139^post28 == 0 /\ r_41^0-r_41^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -rcd_106^post28+rcd_106^0 == 0 /\ a_174^0-i_31^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 <= 0 /\ x_SLAM_f_25^post28-head_16^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ tail_15^0-y_26^post28 <= 0 /\ -a_253^post28+a_253^0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ rcd_284^0-rcd_284^post28 == 0 /\ -y_21^post28+y_21^0 == 0), cost: 1
New rule:
l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : a_139^0'=a_139^post29, result_11^0'=result_11^post29, i_31^0'=i_31^post29, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post29, rcd_320^0'=rcd_320^post29, i_112^0'=i_112^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, x_22^0'=x_22^post29, rcd_199^0'=rcd_199^post29, head_16^0'=head_16^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, rcd_71^0'=rcd_71^post29, i_198^0'=i_198^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, len_221^0'=len_221^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, rcd_284^0'=rcd_284^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^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, len_159^0'=len_159^post29, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, i_130^0'=i_130^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post29, rcd_220^0'=rcd_220^post29, head_33^0'=head_33^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, (-y_21^post29+y_21^0 == 0 /\ x_207^0-x_207^post29 == 0 /\ rcd_193^0-rcd_193^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ a_139^0-a_139^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post29+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ head_16^0-head_16^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -i_198^post29+i_198^0 == 0 /\ y_26^0-y_26^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ rcd_288^0-rcd_288^post29 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ rcd_199^0-rcd_199^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ a_253^0-a_253^post29 == 0 /\ -len_159^post29+len_159^0 == 0 /\ i_31^0-i_31^post29 == 0 /\ -x_154^post29+x_154^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ a_279^0-a_279^post29 == 0 /\ a_222^0-a_222^post29 == 0 /\ r_149^0-r_149^post29 == 0 /\ -rcd_220^post29+rcd_220^0 == 0 /\ -tmp_35^post29+tmp_35^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0 /\ a_309^0-a_309^post29 == 0 /\ rcd_194^0-rcd_194^post29 == 0 /\ -x_27^post29+x_27^0 == 0 /\ -head_33^post29+head_33^0 == 0 /\ f_202^0-f_202^post29 == 0 /\ r_41^0-r_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ i_112^0-i_112^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ -rcd_320^post29+rcd_320^0 == 0 /\ -r_192^post29+r_192^0 == 0 /\ rcd_71^0-rcd_71^post29 == 0 /\ -rcd_308^post29+rcd_308^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ -len_221^post29+len_221^0 == 0 /\ -rcd_114^post29+rcd_114^0 == 0), cost: 1
New rule:
l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : a_139^0'=a_139^post30, result_11^0'=result_11^post30, i_31^0'=i_31^post30, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post30, rcd_320^0'=rcd_320^post30, i_112^0'=i_112^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, x_22^0'=x_22^post30, rcd_199^0'=rcd_199^post30, head_16^0'=head_16^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, rcd_71^0'=rcd_71^post30, i_198^0'=i_198^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, len_221^0'=len_221^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, rcd_284^0'=rcd_284^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^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, len_159^0'=len_159^post30, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, i_130^0'=i_130^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post30, rcd_220^0'=rcd_220^post30, head_33^0'=head_33^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, (-temp0_19^post30+temp0_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ rcd_284^0-rcd_284^post30 == 0 /\ i_130^0-i_130^post30 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ -rcd_220^post30+rcd_220^0 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ temp_37^0-temp_37^post30 == 0 /\ -a_279^post30+a_279^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ len_159^0-len_159^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ i_198^0-i_198^post30 == 0 /\ -head_33^post30+head_33^0 == 0 /\ -i_112^post30+i_112^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ -a_253^post30+a_253^0 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -x_27^post30+x_27^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ -temp_36^post30+temp_36^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ -f_202^post30+f_202^0 == 0 /\ r_149^0-r_149^post30 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ a_309^0-a_309^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ -rcd_199^post30+rcd_199^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ -rcd_106^post30+rcd_106^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post30 == 0 /\ rcd_320^0-rcd_320^post30 == 0 /\ rcd_71^0-rcd_71^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ rcd_185^0-rcd_185^post30 == 0 /\ -head_16^post30+head_16^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -x_154^post30+x_154^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ a_139^0-a_139^post30 == 0 /\ -a_174^post30+a_174^0 == 0 /\ -y_26^post30+y_26^0 == 0 /\ length_29^0-length_29^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ r_192^0-r_192^post30 == 0), cost: 1
New rule:
l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l1 : a_139^0'=a_139^post31, result_11^0'=result_11^post31, i_31^0'=i_31^post31, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post31, rcd_320^0'=rcd_320^post31, i_112^0'=i_112^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, x_22^0'=x_22^post31, rcd_199^0'=rcd_199^post31, head_16^0'=head_16^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, rcd_71^0'=rcd_71^post31, i_198^0'=i_198^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, len_221^0'=len_221^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, rcd_284^0'=rcd_284^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^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, len_159^0'=len_159^post31, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, i_130^0'=i_130^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post31, rcd_220^0'=rcd_220^post31, head_33^0'=head_33^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, (rcd_45^0-rcd_45^post31 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ -i_130^post31+i_130^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_139^0-a_139^post31 == 0 /\ rcd_194^0-rcd_194^post31 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ -r_192^post31+r_192^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ x_22^0-x_22^post31 == 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ -r_149^post31+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post31 == 0 /\ len_221^0-len_221^post31 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ -t_23^post31+t_23^0 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ rcd_320^0-rcd_320^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -len_159^post31+len_159^0 == 0 /\ i_198^0-i_198^post31 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ -r_41^post31+r_41^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ tmp_35^0-tmp_35^post31 == 0 /\ rcd_288^0-rcd_288^post31 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -rcd_220^post31+rcd_220^0 == 0 /\ f_202^0-f_202^post31 == 0 /\ -head_33^post31+head_33^0 == 0 /\ -x_207^post31+x_207^0 == 0 /\ -x_SLAM_f_20^post31+x_SLAM_f_20^0 == 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_36^post31+temp_36^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ -a_253^post31+a_253^0 == 0 /\ rcd_71^0-rcd_71^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -x_27^post31+x_27^0 == 0 /\ -rcd_185^post31+rcd_185^0 == 0 /\ -a_222^post31+a_222^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ y_21^0-y_21^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
New rule:
l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l20 -> l23 : a_139^0'=a_139^post32, result_11^0'=result_11^post32, i_31^0'=i_31^post32, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post32, rcd_320^0'=rcd_320^post32, i_112^0'=i_112^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, x_22^0'=x_22^post32, rcd_199^0'=rcd_199^post32, head_16^0'=head_16^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, rcd_71^0'=rcd_71^post32, i_198^0'=i_198^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, len_221^0'=len_221^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, rcd_284^0'=rcd_284^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^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, len_159^0'=len_159^post32, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, i_130^0'=i_130^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post32, rcd_220^0'=rcd_220^post32, head_33^0'=head_33^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, (0 == 0 /\ -1-i_31^0+i_31^post32 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ -x_SLAM_f_20^post32+x_SLAM_f_20^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -a_222^post32+a_222^0 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -a_253^post32+a_253^0 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -rcd_220^post32+rcd_220^0 == 0 /\ -len_221^post32+len_221^0 == 0 /\ 1+i_112^post32-i_31^post32 <= 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -i_31^0 <= 0 /\ r_149^0-r_149^post32 == 0 /\ -x_27^post32+x_27^0 == 0 /\ x_154^0-x_154^post32 == 0 /\ rcd_288^0-rcd_288^post32 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post32+rcd_114^post32 <= 0 /\ 1-length_29^0+i_112^post32 <= 0 /\ -rcd_114^post32+rcd_45^0 <= 0 /\ -a_309^post32+a_309^0 == 0 /\ rcd_71^0-rcd_71^post32 == 0 /\ rcd_194^0-rcd_194^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -i_130^post32+i_130^0 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ -r_192^post32+r_192^0 == 0 /\ rcd_320^0-rcd_320^post32 == 0 /\ rcd_199^0-rcd_199^post32 == 0 /\ -1-i_112^post32+i_31^post32 <= 0 /\ rcd_45^post32-rcd_114^post32 <= 0 /\ a_139^0-a_139^post32 == 0 /\ rcd_114^post32-rcd_45^0 <= 0 /\ -tmp_35^post32+head_33^post32 == 0 /\ head_16^0-head_16^post32 == 0 /\ -a_174^post32+a_174^0 == 0 /\ tmp_35^post32-temp_36^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -head_SLAM_f_30^post32+head_SLAM_f_30^0 == 0 /\ -y_26^post32+y_26^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ r_41^0-r_41^post32 == 0), cost: 1
New rule:
l20 -> l23 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l23 -> l20 : a_139^0'=a_139^post33, result_11^0'=result_11^post33, i_31^0'=i_31^post33, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post33, rcd_320^0'=rcd_320^post33, i_112^0'=i_112^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, x_22^0'=x_22^post33, rcd_199^0'=rcd_199^post33, head_16^0'=head_16^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, rcd_71^0'=rcd_71^post33, i_198^0'=i_198^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, len_221^0'=len_221^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, rcd_284^0'=rcd_284^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^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, len_159^0'=len_159^post33, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, i_130^0'=i_130^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post33, rcd_220^0'=rcd_220^post33, head_33^0'=head_33^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, (-rcd_71^post33+rcd_71^0 == 0 /\ a_139^0-a_139^post33 == 0 /\ i_198^0-i_198^post33 == 0 /\ rcd_193^0-rcd_193^post33 == 0 /\ -rcd_45^post33+rcd_45^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -r_149^post33+r_149^0 == 0 /\ a_222^0-a_222^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ i_112^0-i_112^post33 == 0 /\ -a_279^post33+a_279^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -len_159^post33+len_159^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ i_130^0-i_130^post33 == 0 /\ -head_SLAM_f_30^post33+head_SLAM_f_30^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -x_154^post33+x_154^0 == 0 /\ x_27^0-x_27^post33 == 0 /\ -r_41^post33+r_41^0 == 0 /\ rcd_288^0-rcd_288^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -head_33^post33+head_33^0 == 0 /\ temp0_19^0-temp0_19^post33 == 0 /\ -a_253^post33+a_253^0 == 0 /\ -rcd_220^post33+rcd_220^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -len_221^post33+len_221^0 == 0 /\ x_207^0-x_207^post33 == 0 /\ -temp_36^post33+temp_36^0 == 0 /\ temp_37^0-temp_37^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -r_192^post33+r_192^0 == 0 /\ -rcd_185^post33+rcd_185^0 == 0 /\ i_31^0-i_31^post33 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ rcd_320^0-rcd_320^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ a_174^0-a_174^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
New rule:
l23 -> l20 : TRUE, cost: 1

Applied preprocessing
Original rule:
l24 -> l6 : a_139^0'=a_139^post35, result_11^0'=result_11^post35, i_31^0'=i_31^post35, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post35, rcd_320^0'=rcd_320^post35, i_112^0'=i_112^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, x_22^0'=x_22^post35, rcd_199^0'=rcd_199^post35, head_16^0'=head_16^post35, temp0_32^0'=temp0_32^post35, r_149^0'=r_149^post35, y_26^0'=y_26^post35, rcd_71^0'=rcd_71^post35, i_198^0'=i_198^post35, x_207^0'=x_207^post35, rcd_185^0'=rcd_185^post35, a_279^0'=a_279^post35, t_23^0'=t_23^post35, len_221^0'=len_221^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, rcd_284^0'=rcd_284^post35, head_SLAM_f_30^0'=head_SLAM_f_30^post35, temp_37^0'=temp_37^post35, r_41^0'=r_41^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, len_159^0'=len_159^post35, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post35, rcd_45^0'=rcd_45^post35, i_130^0'=i_130^post35, x_154^0'=x_154^post35, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post35, rcd_220^0'=rcd_220^post35, head_33^0'=head_33^post35, temp_36^0'=temp_36^post35, r_192^0'=r_192^post35, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35+head_33^post35 <= 0 /\ rcd_199^0-rcd_199^post35 == 0 /\ -rcd_45^post35+rcd_45^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post35 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_288^0-rcd_288^post35 == 0 /\ -tmp_35^post35+head_33^post35 <= 0 /\ -tmp_35^post35+head_33^post35 == 0 /\ a_279^0-a_279^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ rcd_71^0-rcd_71^post35 == 0 /\ tmp_35^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ rcd_193^0-rcd_193^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35-head_33^post35 <= 0 /\ rcd_106^0-rcd_106^post35 == 0 /\ y_26^0-y_26^post35 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -rcd_114^post35+rcd_114^0 == 0 /\ length_29^0-length_29^post35 == 0 /\ tmp_35^post35-head_33^post35 <= 0 /\ -i_130^post35+i_130^0 == 0 /\ a_139^0-a_139^post35 == 0 /\ -x_27^post35+x_27^0 == 0 /\ a_253^0-a_253^post35 == 0 /\ 1-length_29^0 <= 0 /\ -tmp_35^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 <= 0 /\ head_16^0-head_16^post35 == 0 /\ rcd_320^0-rcd_320^post35 == 0 /\ y_21^0-y_21^post35 == 0 /\ -rcd_220^post35+rcd_220^0 == 0 /\ -x_207^post35+x_207^0 == 0 /\ tmp_35^post35-temp_36^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -temp_37^post35+temp_37^0 == 0 /\ -head_SLAM_f_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ len_221^0-len_221^post35 == 0 /\ -a_174^post35+a_174^0 == 0 /\ -x_154^post35+x_154^0 == 0 /\ i_198^0-i_198^post35 == 0 /\ x_22^0-x_22^post35 == 0 /\ -tail_15^post35+head_SLAM_f_30^post35 <= 0 /\ len_159^0-len_159^post35 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ r_149^0-r_149^post35 == 0 /\ f_202^0-f_202^post35 == 0 /\ a_222^0-a_222^post35 == 0 /\ -r_41^post35+r_41^0 == 0 /\ -rcd_194^post35+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post35 == 0 /\ tail_15^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ head_SLAM_f_30^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -rcd_284^post35+rcd_284^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -x_SLAM_f_20^post35+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ tail_15^post35-head_SLAM_f_30^post35 <= 0 /\ -1-i_31^0+i_31^post35 == 0 /\ a_309^0-a_309^post35 == 0 /\ i_112^0-i_112^post35 == 0 /\ -rcd_308^post35+rcd_308^0 == 0 /\ -r_192^post35+r_192^0 == 0 /\ 1-i_31^post35 <= 0 /\ -1+i_31^post35 <= 0), cost: 1
New rule:
l24 -> l6 : i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, (i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l25 -> l27 : a_139^0'=a_139^post37, result_11^0'=result_11^post37, i_31^0'=i_31^post37, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post37, rcd_320^0'=rcd_320^post37, i_112^0'=i_112^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, x_22^0'=x_22^post37, rcd_199^0'=rcd_199^post37, head_16^0'=head_16^post37, temp0_32^0'=temp0_32^post37, r_149^0'=r_149^post37, y_26^0'=y_26^post37, rcd_71^0'=rcd_71^post37, i_198^0'=i_198^post37, x_207^0'=x_207^post37, rcd_185^0'=rcd_185^post37, a_279^0'=a_279^post37, t_23^0'=t_23^post37, len_221^0'=len_221^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, rcd_284^0'=rcd_284^post37, head_SLAM_f_30^0'=head_SLAM_f_30^post37, temp_37^0'=temp_37^post37, r_41^0'=r_41^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, len_159^0'=len_159^post37, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post37, rcd_45^0'=rcd_45^post37, i_130^0'=i_130^post37, x_154^0'=x_154^post37, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post37, rcd_220^0'=rcd_220^post37, head_33^0'=head_33^post37, temp_36^0'=temp_36^post37, r_192^0'=r_192^post37, (0 == 0 /\ a_174^0-a_174^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ i_31^0-i_31^post37 == 0 /\ -a_279^post37+a_279^0 == 0 /\ -a_253^post37+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post37 == 0 /\ len_159^0-len_159^post37 == 0 /\ rcd_193^0-rcd_193^post37 == 0 /\ temp_37^0-temp_37^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ length_29^0-length_29^post37 == 0 /\ -rcd_114^post37+rcd_114^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -head_33^post37+head_33^0 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -r_149^post37+r_149^0 == 0 /\ -rcd_220^post37+rcd_220^0 == 0 /\ i_130^0-i_130^post37 == 0 /\ -x_27^post37+x_27^0 == 0 /\ len_221^0-len_221^post37 == 0 /\ -rcd_45^post37+rcd_45^0 == 0 /\ rcd_320^0-rcd_320^post37 == 0 /\ rcd_199^0-rcd_199^post37 == 0 /\ i_112^0-i_112^post37 == 0 /\ rcd_284^0-rcd_284^post37 == 0 /\ -rcd_185^post37+rcd_185^0 == 0 /\ -x_207^post37+x_207^0 == 0 /\ i_198^0-i_198^post37 == 0 /\ -temp_36^post37+temp_36^0 == 0 /\ rcd_288^0-rcd_288^post37 == 0 /\ -r_192^post37+r_192^0 == 0 /\ -f_202^post37+f_202^0 == 0 /\ -a_279^0 <= 0 /\ -head_SLAM_f_30^post37+head_SLAM_f_30^0 == 0 /\ rcd_106^0-rcd_106^post37 == 0 /\ a_222^0-a_222^post37 == 0 /\ -x_154^post37+x_154^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post37 == 0 /\ a_309^0-a_309^post37 == 0 /\ -rcd_308^post37+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post37 == 0 /\ -x_22^post37+x_22^0 == 0 /\ a_139^0-a_139^post37 == 0 /\ -rcd_194^post37+rcd_194^0 == 0 /\ -rcd_71^post37+rcd_71^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
New rule:
l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_139^0'=a_139^post38, result_11^0'=result_11^post38, i_31^0'=i_31^post38, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post38, rcd_320^0'=rcd_320^post38, i_112^0'=i_112^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, x_22^0'=x_22^post38, rcd_199^0'=rcd_199^post38, head_16^0'=head_16^post38, temp0_32^0'=temp0_32^post38, r_149^0'=r_149^post38, y_26^0'=y_26^post38, rcd_71^0'=rcd_71^post38, i_198^0'=i_198^post38, x_207^0'=x_207^post38, rcd_185^0'=rcd_185^post38, a_279^0'=a_279^post38, t_23^0'=t_23^post38, len_221^0'=len_221^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, rcd_284^0'=rcd_284^post38, head_SLAM_f_30^0'=head_SLAM_f_30^post38, temp_37^0'=temp_37^post38, r_41^0'=r_41^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, len_159^0'=len_159^post38, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post38, rcd_45^0'=rcd_45^post38, i_130^0'=i_130^post38, x_154^0'=x_154^post38, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post38, rcd_220^0'=rcd_220^post38, head_33^0'=head_33^post38, temp_36^0'=temp_36^post38, r_192^0'=r_192^post38, (-temp_37^post38+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_26^0-y_26^post38 == 0 /\ -a_222^post38+a_222^0 == 0 /\ length_29^0-length_29^post38 == 0 /\ result_11^0-result_11^post38 == 0 /\ -x_27^post38+x_27^0 == 0 /\ -temp_36^post38+temp_36^0 == 0 /\ -x_SLAM_f_20^post38+x_SLAM_f_20^0 == 0 /\ rcd_45^0-rcd_45^post38 == 0 /\ -r_192^post38+r_192^0 == 0 /\ -a_174^post38+a_174^0 == 0 /\ -rcd_185^post38+rcd_185^0 == 0 /\ i_112^0-i_112^post38 == 0 /\ head_16^0-head_16^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ -x_154^post38+x_154^0 == 0 /\ -y_21^post38+y_21^0 == 0 /\ a_253^0-a_253^post38 == 0 /\ -temp0_32^post38+temp0_32^0 == 0 /\ i_31^0-i_31^post38 == 0 /\ f_202^0-f_202^post38 == 0 /\ -i_198^post38+i_198^0 == 0 /\ x_207^0-x_207^post38 == 0 /\ rcd_193^0-rcd_193^post38 == 0 /\ -rcd_284^post38+rcd_284^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post38 == 0 /\ rcd_106^0-rcd_106^post38 == 0 /\ r_149^0-r_149^post38 == 0 /\ -x_SLAM_f_25^post38+x_SLAM_f_25^0 == 0 /\ rcd_71^0-rcd_71^post38 == 0 /\ rcd_194^0-rcd_194^post38 == 0 /\ -rcd_288^post38+rcd_288^0 == 0 /\ -rcd_308^post38+rcd_308^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_309^post38+a_309^0 == 0 /\ -rcd_114^post38+rcd_114^0 == 0 /\ a_139^0-a_139^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ rcd_199^0-rcd_199^post38 == 0 /\ rcd_320^0-rcd_320^post38 == 0 /\ -len_159^post38+len_159^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -i_130^post38+i_130^0 == 0 /\ a_279^0-a_279^post38 == 0 /\ -len_221^post38+len_221^0 == 0 /\ x_22^0-x_22^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_220^post38+rcd_220^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post38 == 0 /\ r_41^0-r_41^post38 == 0 /\ -tmp_35^post38+tmp_35^0 == 0 /\ -head_33^post38+head_33^0 == 0), cost: 1
New rule:
l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_139^0'=a_139^post39, result_11^0'=result_11^post39, i_31^0'=i_31^post39, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post39, rcd_320^0'=rcd_320^post39, i_112^0'=i_112^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, x_22^0'=x_22^post39, rcd_199^0'=rcd_199^post39, head_16^0'=head_16^post39, temp0_32^0'=temp0_32^post39, r_149^0'=r_149^post39, y_26^0'=y_26^post39, rcd_71^0'=rcd_71^post39, i_198^0'=i_198^post39, x_207^0'=x_207^post39, rcd_185^0'=rcd_185^post39, a_279^0'=a_279^post39, t_23^0'=t_23^post39, len_221^0'=len_221^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, rcd_284^0'=rcd_284^post39, head_SLAM_f_30^0'=head_SLAM_f_30^post39, temp_37^0'=temp_37^post39, r_41^0'=r_41^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, len_159^0'=len_159^post39, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post39, rcd_45^0'=rcd_45^post39, i_130^0'=i_130^post39, x_154^0'=x_154^post39, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post39, rcd_220^0'=rcd_220^post39, head_33^0'=head_33^post39, temp_36^0'=temp_36^post39, r_192^0'=r_192^post39, (-nondet_12^post39+nondet_12^0 == 0 /\ rcd_199^0-rcd_199^post39 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post39 == 0 /\ x_22^0-x_22^post39 == 0 /\ -a_253^post39+a_253^0 == 0 /\ len_159^0-len_159^post39 == 0 /\ i_198^0-i_198^post39 == 0 /\ -rcd_71^post39+rcd_71^0 == 0 /\ a_174^0-a_174^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ a_222^0-a_222^post39 == 0 /\ temp_37^0-temp_37^post39 == 0 /\ rcd_193^0-rcd_193^post39 == 0 /\ -temp0_19^post39+temp0_19^0 == 0 /\ r_149^0-r_149^post39 == 0 /\ -rcd_114^post39+rcd_114^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -len_221^post39+len_221^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ a_309^0-a_309^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_32^0-temp0_32^post39 == 0 /\ rcd_185^0-rcd_185^post39 == 0 /\ rcd_284^0-rcd_284^post39 == 0 /\ -a_279^post39+a_279^0 == 0 /\ i_130^0-i_130^post39 == 0 /\ -rcd_45^post39+rcd_45^0 == 0 /\ -rcd_220^post39+rcd_220^0 == 0 /\ -head_33^post39+head_33^0 == 0 /\ i_31^0-i_31^post39 == 0 /\ x_27^0-x_27^post39 == 0 /\ -i_112^post39+i_112^0 == 0 /\ -head_16^post39+head_16^0 == 0 /\ rcd_288^0-rcd_288^post39 == 0 /\ -x_154^post39+x_154^0 == 0 /\ -temp_36^post39+temp_36^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ x_207^0-x_207^post39 == 0 /\ -f_202^post39+f_202^0 == 0 /\ -y_26^post39+y_26^0 == 0 /\ -head_SLAM_f_30^post39+head_SLAM_f_30^0 == 0 /\ -r_41^post39+r_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_21^post39+y_21^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ -rcd_308^post39+rcd_308^0 == 0 /\ -rcd_106^post39+rcd_106^0 == 0 /\ -rcd_194^post39+rcd_194^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ tmp_35^0-tmp_35^post39 == 0 /\ rcd_320^0-rcd_320^post39 == 0 /\ a_139^0-a_139^post39 == 0), cost: 1
New rule:
l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : a_139^0'=a_139^post40, result_11^0'=result_11^post40, i_31^0'=i_31^post40, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post40, rcd_320^0'=rcd_320^post40, i_112^0'=i_112^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, x_22^0'=x_22^post40, rcd_199^0'=rcd_199^post40, head_16^0'=head_16^post40, temp0_32^0'=temp0_32^post40, r_149^0'=r_149^post40, y_26^0'=y_26^post40, rcd_71^0'=rcd_71^post40, i_198^0'=i_198^post40, x_207^0'=x_207^post40, rcd_185^0'=rcd_185^post40, a_279^0'=a_279^post40, t_23^0'=t_23^post40, len_221^0'=len_221^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, rcd_284^0'=rcd_284^post40, head_SLAM_f_30^0'=head_SLAM_f_30^post40, temp_37^0'=temp_37^post40, r_41^0'=r_41^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, len_159^0'=len_159^post40, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post40, rcd_45^0'=rcd_45^post40, i_130^0'=i_130^post40, x_154^0'=x_154^post40, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post40, rcd_220^0'=rcd_220^post40, head_33^0'=head_33^post40, temp_36^0'=temp_36^post40, r_192^0'=r_192^post40, (0 == 0 /\ -temp_36^post40+temp_36^0 == 0 /\ rcd_106^0-rcd_106^post40 == 0 /\ y_26^0-y_26^post40 == 0 /\ -a_174^post40+a_174^0 == 0 /\ -f_202^post40+f_202^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ rcd_308^post40-rcd_45^0 <= 0 /\ -temp_37^post40+temp_37^0 == 0 /\ length_29^0-length_29^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -x_27^post40+x_27^0 == 0 /\ -rcd_199^post40+rcd_199^0 == 0 /\ -rcd_185^post40+rcd_185^0 == 0 /\ -x_154^post40+x_154^0 == 0 /\ rcd_45^0-rcd_45^post40 == 0 /\ -rcd_194^post40+rcd_194^0 == 0 /\ a_253^0-a_253^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post40 == 0 /\ len_221^0-len_221^post40 == 0 /\ tail_15^0-tail_15^post40 == 0 /\ -rcd_308^post40+rcd_45^0 <= 0 /\ -r_41^post40+r_41^0 == 0 /\ -x_22^0+t_23^post40 == 0 /\ rcd_320^0-rcd_320^post40 == 0 /\ a_279^0-a_279^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -y_21^post40+y_21^0 == 0 /\ a_222^0-a_222^post40 == 0 /\ -rcd_284^post40+rcd_284^0 == 0 /\ -r_192^post40+r_192^0 == 0 /\ r_149^0-r_149^post40 == 0 /\ 1-a_279^0+a_309^post40 <= 0 /\ rcd_193^0-rcd_193^post40 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post40 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post40 == 0 /\ i_112^0-i_112^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ i_31^0-i_31^post40 == 0 /\ head_16^0-head_16^post40 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ tmp_35^0-tmp_35^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_25^post40+x_SLAM_f_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -len_159^post40+len_159^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_288^0-rcd_288^post40 == 0 /\ -rcd_114^post40+rcd_114^0 == 0 /\ -i_130^post40+i_130^0 == 0 /\ -temp0_19^post40+temp0_19^0 == 0 /\ i_198^0-i_198^post40 == 0 /\ x_22^0-x_22^post40 == 0 /\ -head_33^post40+head_33^0 == 0 /\ -rcd_220^post40+rcd_220^0 == 0 /\ -x_207^post40+x_207^0 == 0 /\ -1+a_279^0-a_309^post40 <= 0 /\ rcd_71^0-rcd_71^post40 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ tail_15^0-y_21^0 <= 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, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1

Applied preprocessing
Original rule:
l29 -> l30 : a_139^0'=a_139^post41, result_11^0'=result_11^post41, i_31^0'=i_31^post41, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post41, rcd_320^0'=rcd_320^post41, i_112^0'=i_112^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, x_22^0'=x_22^post41, rcd_199^0'=rcd_199^post41, head_16^0'=head_16^post41, temp0_32^0'=temp0_32^post41, r_149^0'=r_149^post41, y_26^0'=y_26^post41, rcd_71^0'=rcd_71^post41, i_198^0'=i_198^post41, x_207^0'=x_207^post41, rcd_185^0'=rcd_185^post41, a_279^0'=a_279^post41, t_23^0'=t_23^post41, len_221^0'=len_221^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, rcd_284^0'=rcd_284^post41, head_SLAM_f_30^0'=head_SLAM_f_30^post41, temp_37^0'=temp_37^post41, r_41^0'=r_41^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, len_159^0'=len_159^post41, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post41, rcd_45^0'=rcd_45^post41, i_130^0'=i_130^post41, x_154^0'=x_154^post41, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post41, rcd_220^0'=rcd_220^post41, head_33^0'=head_33^post41, temp_36^0'=temp_36^post41, r_192^0'=r_192^post41, (rcd_308^0-rcd_308^post41 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ -rcd_45^post41+rcd_45^0 == 0 /\ -len_159^post41+len_159^0 == 0 /\ x_22^0-x_22^post41 == 0 /\ r_149^0-r_149^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_185^0-rcd_185^post41 == 0 /\ temp0_32^0-temp0_32^post41 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -a_222^post41+a_222^0 == 0 /\ x_207^0-x_207^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -i_130^post41+i_130^0 == 0 /\ a_309^0-a_309^post41 == 0 /\ -head_33^post41+head_33^0 == 0 /\ -rcd_114^post41+rcd_114^0 == 0 /\ -rcd_220^post41+rcd_220^0 == 0 /\ -len_221^post41+len_221^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ x_154^0-x_154^post41 == 0 /\ -x_27^post41+x_27^0 == 0 /\ rcd_288^0-rcd_288^post41 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post41 == 0 /\ -temp_36^post41+temp_36^0 == 0 /\ -f_202^post41+f_202^0 == 0 /\ -a_174^post41+a_174^0 == 0 /\ rcd_320^0-rcd_320^post41 == 0 /\ rcd_199^0-rcd_199^post41 == 0 /\ -r_192^post41+r_192^0 == 0 /\ -head_SLAM_f_30^post41+head_SLAM_f_30^0 == 0 /\ rcd_193^0-rcd_193^post41 == 0 /\ a_279^0-a_279^post41 == 0 /\ rcd_71^0-rcd_71^post41 == 0 /\ -i_112^post41+i_112^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post41+temp_37^0 == 0 /\ -i_198^post41+i_198^0 == 0 /\ -y_26^post41+y_26^0 == 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_106^post41+rcd_106^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -x_SLAM_f_20^post41+x_SLAM_f_20^0 == 0 /\ -rcd_284^post41+rcd_284^0 == 0 /\ -r_41^post41+r_41^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ a_139^0-a_139^post41 == 0 /\ -y_21^post41+y_21^0 == 0 /\ tmp_35^0-tmp_35^post41 == 0 /\ head_16^0-head_16^post41 == 0 /\ -a_253^post41+a_253^0 == 0 /\ i_31^0-i_31^post41 == 0 /\ rcd_194^0-rcd_194^post41 == 0), cost: 1
New rule:
l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l30 : a_139^0'=a_139^post42, result_11^0'=result_11^post42, i_31^0'=i_31^post42, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post42, rcd_320^0'=rcd_320^post42, i_112^0'=i_112^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, x_22^0'=x_22^post42, rcd_199^0'=rcd_199^post42, head_16^0'=head_16^post42, temp0_32^0'=temp0_32^post42, r_149^0'=r_149^post42, y_26^0'=y_26^post42, rcd_71^0'=rcd_71^post42, i_198^0'=i_198^post42, x_207^0'=x_207^post42, rcd_185^0'=rcd_185^post42, a_279^0'=a_279^post42, t_23^0'=t_23^post42, len_221^0'=len_221^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, rcd_284^0'=rcd_284^post42, head_SLAM_f_30^0'=head_SLAM_f_30^post42, temp_37^0'=temp_37^post42, r_41^0'=r_41^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, len_159^0'=len_159^post42, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post42, rcd_45^0'=rcd_45^post42, i_130^0'=i_130^post42, x_154^0'=x_154^post42, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post42, rcd_220^0'=rcd_220^post42, head_33^0'=head_33^post42, temp_36^0'=temp_36^post42, r_192^0'=r_192^post42, (x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ length_29^0-length_29^post42 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ -temp_36^post42+temp_36^0 == 0 /\ -r_192^post42+r_192^0 == 0 /\ t_23^0-t_23^post42 == 0 /\ rcd_193^0-rcd_193^post42 == 0 /\ -rcd_185^post42+rcd_185^0 == 0 /\ a_222^0-a_222^post42 == 0 /\ a_139^0-a_139^post42 == 0 /\ -f_202^post42+f_202^0 == 0 /\ -i_130^post42+i_130^0 == 0 /\ -rcd_194^post42+rcd_194^0 == 0 /\ -head_16^post42+head_16^0 == 0 /\ i_31^0-i_31^post42 == 0 /\ -rcd_199^post42+rcd_199^0 == 0 /\ -rcd_71^post42+rcd_71^0 == 0 /\ -head_SLAM_f_30^post42+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post42 == 0 /\ -x_154^post42+x_154^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post42 == 0 /\ len_221^0-len_221^post42 == 0 /\ rcd_114^0-rcd_114^post42 == 0 /\ r_41^0-r_41^post42 == 0 /\ i_198^0-i_198^post42 == 0 /\ -y_21^post42+y_21^0 == 0 /\ x_22^0-x_22^post42 == 0 /\ -a_253^post42+a_253^0 == 0 /\ -a_279^post42+a_279^0 == 0 /\ temp0_19^0-temp0_19^post42 == 0 /\ y_26^0-y_26^post42 == 0 /\ x_207^0-x_207^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42 == 0 /\ rcd_220^0-rcd_220^post42 == 0 /\ -len_159^post42+len_159^0 == 0 /\ i_112^0-i_112^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -rcd_308^post42+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post42 == 0 /\ a_309^0-a_309^post42 == 0 /\ x_27^0-x_27^post42 == 0 /\ rcd_284^0-rcd_284^post42 == 0 /\ rcd_320^0-rcd_320^post42 == 0 /\ rcd_288^0-rcd_288^post42 == 0 /\ a_174^0-a_174^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -rcd_45^post42+rcd_45^0 == 0 /\ temp_37^0-temp_37^post42 == 0 /\ -head_33^post42+head_33^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_149^post42+r_149^0 == 0 /\ rcd_106^0-rcd_106^post42 == 0), cost: 1
New rule:
l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l30 -> l31 : a_139^0'=a_139^post43, result_11^0'=result_11^post43, i_31^0'=i_31^post43, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post43, rcd_320^0'=rcd_320^post43, i_112^0'=i_112^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, x_22^0'=x_22^post43, rcd_199^0'=rcd_199^post43, head_16^0'=head_16^post43, temp0_32^0'=temp0_32^post43, r_149^0'=r_149^post43, y_26^0'=y_26^post43, rcd_71^0'=rcd_71^post43, i_198^0'=i_198^post43, x_207^0'=x_207^post43, rcd_185^0'=rcd_185^post43, a_279^0'=a_279^post43, t_23^0'=t_23^post43, len_221^0'=len_221^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, rcd_284^0'=rcd_284^post43, head_SLAM_f_30^0'=head_SLAM_f_30^post43, temp_37^0'=temp_37^post43, r_41^0'=r_41^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, len_159^0'=len_159^post43, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post43, rcd_45^0'=rcd_45^post43, i_130^0'=i_130^post43, x_154^0'=x_154^post43, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post43, rcd_220^0'=rcd_220^post43, head_33^0'=head_33^post43, temp_36^0'=temp_36^post43, r_192^0'=r_192^post43, (tail_15^0-tail_15^post43 == 0 /\ -a_253^post43+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post43 == 0 /\ x_22^0-x_22^post43 == 0 /\ rcd_71^0-rcd_71^post43 == 0 /\ a_279^0-a_279^post43 == 0 /\ rcd_106^0-rcd_106^post43 == 0 /\ -rcd_308^post43+rcd_308^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_149^0-r_149^post43 == 0 /\ -rcd_220^post43+rcd_220^0 == 0 /\ rcd_193^0-rcd_193^post43 == 0 /\ rcd_45^0-rcd_45^post43 == 0 /\ -len_221^post43+len_221^0 == 0 /\ -rcd_114^post43+rcd_114^0 == 0 /\ a_139^0-a_139^post43 == 0 /\ head_16^0-head_16^post43 == 0 /\ -tmp_35^post43+tmp_35^0 == 0 /\ a_309^0-a_309^post43 == 0 /\ -head_33^post43+head_33^0 == 0 /\ -x_27^post43+x_27^0 == 0 /\ rcd_199^0-rcd_199^post43 == 0 /\ i_31^0-i_31^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_36^post43+temp_36^0 == 0 /\ -temp_37^post43+temp_37^0 == 0 /\ x_207^0-x_207^post43 == 0 /\ -a_174^post43+a_174^0 == 0 /\ -f_202^post43+f_202^0 == 0 /\ -a_222^post43+a_222^0 == 0 /\ len_159^0-len_159^post43 == 0 /\ -r_41^post43+r_41^0 == 0 /\ -i_130^post43+i_130^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ rcd_185^0-rcd_185^post43 == 0 /\ -x_154^post43+x_154^0 == 0 /\ temp0_32^0-temp0_32^post43 == 0 /\ -i_198^post43+i_198^0 == 0 /\ rcd_194^0-rcd_194^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ t_23^0-t_23^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ -x_SLAM_f_20^post43+x_SLAM_f_20^0 == 0 /\ i_112^0-i_112^post43 == 0 /\ -rcd_284^post43+rcd_284^0 == 0 /\ -rcd_288^post43+rcd_288^0 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_320^0-rcd_320^post43 == 0 /\ y_26^0-y_26^post43 == 0), cost: 1
New rule:
l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l30 -> l31 : a_139^0'=a_139^post44, result_11^0'=result_11^post44, i_31^0'=i_31^post44, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post44, rcd_320^0'=rcd_320^post44, i_112^0'=i_112^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, x_22^0'=x_22^post44, rcd_199^0'=rcd_199^post44, head_16^0'=head_16^post44, temp0_32^0'=temp0_32^post44, r_149^0'=r_149^post44, y_26^0'=y_26^post44, rcd_71^0'=rcd_71^post44, i_198^0'=i_198^post44, x_207^0'=x_207^post44, rcd_185^0'=rcd_185^post44, a_279^0'=a_279^post44, t_23^0'=t_23^post44, len_221^0'=len_221^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, rcd_284^0'=rcd_284^post44, head_SLAM_f_30^0'=head_SLAM_f_30^post44, temp_37^0'=temp_37^post44, r_41^0'=r_41^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, len_159^0'=len_159^post44, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post44, rcd_45^0'=rcd_45^post44, i_130^0'=i_130^post44, x_154^0'=x_154^post44, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post44, rcd_220^0'=rcd_220^post44, head_33^0'=head_33^post44, temp_36^0'=temp_36^post44, r_192^0'=r_192^post44, (x_154^0-x_154^post44 == 0 /\ r_149^0-r_149^post44 == 0 /\ rcd_185^0-rcd_185^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44 == 0 /\ -head_16^post44+head_16^0 == 0 /\ -temp_36^post44+temp_36^0 == 0 /\ a_309^0-a_309^post44 == 0 /\ a_139^0-a_139^post44 == 0 /\ -rcd_199^post44+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post44 == 0 /\ -i_130^post44+i_130^0 == 0 /\ -rcd_194^post44+rcd_194^0 == 0 /\ rcd_114^0-rcd_114^post44 == 0 /\ -a_174^post44+a_174^0 == 0 /\ r_41^0-r_41^post44 == 0 /\ -y_26^post44+y_26^0 == 0 /\ -temp0_32^post44+temp0_32^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -head_SLAM_f_30^post44+head_SLAM_f_30^0 == 0 /\ i_198^0-i_198^post44 == 0 /\ -rcd_308^post44+rcd_308^0 == 0 /\ -r_192^post44+r_192^0 == 0 /\ -rcd_71^post44+rcd_71^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post44 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -head_33^post44+head_33^0 == 0 /\ -a_253^post44+a_253^0 == 0 /\ rcd_193^0-rcd_193^post44 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -a_279^post44+a_279^0 == 0 /\ rcd_284^0-rcd_284^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ rcd_288^0-rcd_288^post44 == 0 /\ -len_159^post44+len_159^0 == 0 /\ tmp_35^0-tmp_35^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ -len_221^post44+len_221^0 == 0 /\ -rcd_45^post44+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_31^0-i_31^post44 == 0 /\ -rcd_220^post44+rcd_220^0 == 0 /\ f_202^0-f_202^post44 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post44 == 0 /\ -x_27^post44+x_27^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ x_207^0-x_207^post44 == 0 /\ a_222^0-a_222^post44 == 0 /\ rcd_106^0-rcd_106^post44 == 0 /\ -temp0_19^post44+temp0_19^0 == 0 /\ -i_112^post44+i_112^0 == 0 /\ temp_37^0-temp_37^post44 == 0), cost: 1
New rule:
l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l32 : a_139^0'=a_139^post45, result_11^0'=result_11^post45, i_31^0'=i_31^post45, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post45, rcd_320^0'=rcd_320^post45, i_112^0'=i_112^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, x_22^0'=x_22^post45, rcd_199^0'=rcd_199^post45, head_16^0'=head_16^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, rcd_71^0'=rcd_71^post45, i_198^0'=i_198^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, len_221^0'=len_221^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^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, len_159^0'=len_159^post45, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, i_130^0'=i_130^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post45, rcd_220^0'=rcd_220^post45, head_33^0'=head_33^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, (-a_253^post45+a_253^0 == 0 /\ -head_33^post45+head_33^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ i_31^0-i_31^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ rcd_71^0-rcd_71^post45 == 0 /\ -i_130^post45+i_130^0 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ -rcd_220^post45+rcd_220^0 == 0 /\ -x_27^post45+x_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ head_16^0-head_16^post45 == 0 /\ a_139^0-a_139^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ a_309^0-a_309^post45 == 0 /\ y_21^0-y_21^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ -r_149^post45+r_149^0 == 0 /\ -x_207^post45+x_207^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ i_112^0-i_112^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ i_198^0-i_198^post45 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ rcd_193^0-rcd_193^post45 == 0 /\ len_159^0-len_159^post45 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ -rcd_194^post45+rcd_194^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ rcd_185^0-rcd_185^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -rcd_284^post45+rcd_284^0 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -r_192^post45+r_192^0 == 0 /\ rcd_288^0-rcd_288^post45 == 0 /\ -x_22^post45+x_22^0 == 0), cost: 1
New rule:
l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l32 : a_139^0'=a_139^post46, result_11^0'=result_11^post46, i_31^0'=i_31^post46, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post46, rcd_320^0'=rcd_320^post46, i_112^0'=i_112^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, x_22^0'=x_22^post46, rcd_199^0'=rcd_199^post46, head_16^0'=head_16^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, rcd_71^0'=rcd_71^post46, i_198^0'=i_198^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, len_221^0'=len_221^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, rcd_284^0'=rcd_284^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^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, len_159^0'=len_159^post46, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, i_130^0'=i_130^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post46, rcd_220^0'=rcd_220^post46, head_33^0'=head_33^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, (result_11^0-result_11^post46 == 0 /\ -temp_36^post46+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -r_192^post46+r_192^0 == 0 /\ -y_26^post46+y_26^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ rcd_194^0-rcd_194^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ a_309^0-a_309^post46 == 0 /\ -a_174^post46+a_174^0 == 0 /\ rcd_308^0-rcd_308^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ x_22^0-x_22^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -r_41^post46+r_41^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ -tmp_35^post46+tmp_35^0 == 0 /\ -a_253^post46+a_253^0 == 0 /\ head_16^0-head_16^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ -i_130^post46+i_130^0 == 0 /\ rcd_320^0-rcd_320^post46 == 0 /\ len_221^0-len_221^post46 == 0 /\ -temp0_19^post46+temp0_19^0 == 0 /\ i_31^0-i_31^post46 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ rcd_288^0-rcd_288^post46 == 0 /\ tail_15^0-tail_15^post46 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ i_112^0-i_112^post46 == 0 /\ -a_222^post46+a_222^0 == 0 /\ f_202^0-f_202^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -rcd_220^post46+rcd_220^0 == 0 /\ -x_207^post46+x_207^0 == 0 /\ -x_27^post46+x_27^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ y_21^0-y_21^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ -head_33^post46+head_33^0 == 0 /\ r_149^0-r_149^post46 == 0), cost: 1
New rule:
l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l32 -> l26 : a_139^0'=a_139^post47, result_11^0'=result_11^post47, i_31^0'=i_31^post47, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post47, rcd_320^0'=rcd_320^post47, i_112^0'=i_112^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, x_22^0'=x_22^post47, rcd_199^0'=rcd_199^post47, head_16^0'=head_16^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, rcd_71^0'=rcd_71^post47, i_198^0'=i_198^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, len_221^0'=len_221^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, rcd_284^0'=rcd_284^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^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, len_159^0'=len_159^post47, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, i_130^0'=i_130^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post47, rcd_220^0'=rcd_220^post47, head_33^0'=head_33^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, (0 == 0 /\ r_41^0-r_41^post47 == 0 /\ a_174^0-a_174^post47 == 0 /\ rcd_288^0-rcd_288^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -a_253^post47+a_253^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ rcd_114^0-rcd_114^post47 == 0 /\ rcd_45^post47-rcd_308^0 <= 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ -x_27^post47+x_27^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post47+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_220^post47+rcd_220^0 == 0 /\ -r_149^post47+r_149^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ -len_221^post47+len_221^0 == 0 /\ -rcd_45^post47+rcd_308^0 <= 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ -head_33^post47+head_33^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47 == 0 /\ rcd_284^0-rcd_284^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ tail_15^0-tail_15^post47 == 0 /\ -y_21^post47+y_21^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_198^0-i_198^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ a_309^0-a_279^post47 <= 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -r_192^post47+r_192^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ a_222^0-a_222^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ x_207^0-x_207^post47 == 0 /\ rcd_185^0-rcd_185^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ -x_22^post47+x_22^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -a_309^0+a_279^post47 <= 0 /\ -temp0_32^post47+temp0_32^0 == 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 : a_139^0'=a_139^post48, result_11^0'=result_11^post48, i_31^0'=i_31^post48, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post48, rcd_320^0'=rcd_320^post48, i_112^0'=i_112^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, x_22^0'=x_22^post48, rcd_199^0'=rcd_199^post48, head_16^0'=head_16^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, rcd_71^0'=rcd_71^post48, i_198^0'=i_198^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, len_221^0'=len_221^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, rcd_284^0'=rcd_284^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^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, len_159^0'=len_159^post48, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, i_130^0'=i_130^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post48, rcd_220^0'=rcd_220^post48, head_33^0'=head_33^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, (y_26^0-y_26^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ rcd_45^0-rcd_45^post48 == 0 /\ -y_21^post48+y_21^0 == 0 /\ a_309^0-a_309^post48 == 0 /\ -rcd_185^post48+rcd_185^0 == 0 /\ i_112^0-i_112^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -r_192^post48+r_192^0 == 0 /\ -f_202^post48+f_202^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ -r_41^post48+r_41^0 == 0 /\ i_31^0-i_31^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ temp_37^0-temp_37^post48 == 0 /\ rcd_71^0-rcd_71^post48 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ a_174^0-a_174^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ r_149^0-r_149^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ temp0_19^0-temp0_19^post48 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ length_29^0-length_29^post48 == 0 /\ -rcd_220^post48+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -x_27^post48+x_27^0 == 0 /\ rcd_199^0-rcd_199^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -x_207^post48+x_207^0 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ i_198^0-i_198^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ len_159^0-len_159^post48 == 0 /\ -head_33^post48+head_33^0 == 0 /\ a_279^0-a_279^post48 == 0), cost: 1
New rule:
l26 -> l25 : TRUE, cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : a_139^0'=a_139^post64, result_11^0'=result_11^post64, i_31^0'=i_31^post64, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post64, rcd_320^0'=rcd_320^post64, i_112^0'=i_112^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, x_22^0'=x_22^post64, rcd_199^0'=rcd_199^post64, head_16^0'=head_16^post64, temp0_32^0'=temp0_32^post64, r_149^0'=r_149^post64, y_26^0'=y_26^post64, rcd_71^0'=rcd_71^post64, i_198^0'=i_198^post64, x_207^0'=x_207^post64, rcd_185^0'=rcd_185^post64, a_279^0'=a_279^post64, t_23^0'=t_23^post64, len_221^0'=len_221^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, head_SLAM_f_30^0'=head_SLAM_f_30^post64, temp_37^0'=temp_37^post64, r_41^0'=r_41^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, len_159^0'=len_159^post64, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post64, rcd_45^0'=rcd_45^post64, i_130^0'=i_130^post64, x_154^0'=x_154^post64, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post64, rcd_220^0'=rcd_220^post64, head_33^0'=head_33^post64, temp_36^0'=temp_36^post64, r_192^0'=r_192^post64, (0 == 0 /\ rcd_193^0-rcd_193^post64 == 0 /\ -len_159^0 <= 0 /\ -i_130^post64+i_130^0 == 0 /\ -rcd_45^post64+rcd_45^0 == 0 /\ -rcd_114^post64+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post64 == 0 /\ -r_192^post64+r_192^0 == 0 /\ -y_21^post64+y_21^0 == 0 /\ y_26^0-y_26^post64 == 0 /\ length_29^0-length_29^post64 == 0 /\ rcd_71^0-rcd_71^post64 == 0 /\ temp_37^0-temp_37^post64 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post64 == 0 /\ i_31^0-i_31^post64 == 0 /\ a_253^0-a_253^post64 == 0 /\ rcd_106^0-rcd_106^post64 == 0 /\ rcd_320^0-rcd_320^post64 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ len_221^0-len_221^post64 == 0 /\ -x_154^post64+x_154^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ rcd_199^0-rcd_199^post64 == 0 /\ -a_174^post64+a_174^0 == 0 /\ a_279^0-a_279^post64 == 0 /\ a_139^0-a_139^post64 == 0 /\ i_198^0-i_198^post64 == 0 /\ -temp0_19^post64+temp0_19^0 == 0 /\ -rcd_308^post64+rcd_308^0 == 0 /\ -tmp_35^post64+tmp_35^0 == 0 /\ -r_41^post64+r_41^0 == 0 /\ len_159^0-len_159^post64 == 0 /\ r_149^0-r_149^post64 == 0 /\ -rcd_220^post64+rcd_220^0 == 0 /\ -head_33^post64+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_27^post64+x_27^0 == 0 /\ a_222^0-a_222^post64 == 0 /\ -x_207^post64+x_207^0 == 0 /\ f_202^0-f_202^post64 == 0 /\ a_309^0-a_309^post64 == 0 /\ i_112^0-i_112^post64 == 0 /\ -temp_36^post64+temp_36^0 == 0 /\ x_22^0-x_22^post64 == 0 /\ -rcd_185^post64+rcd_185^0 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -rcd_194^post64+rcd_194^0 == 0), cost: 1
New rule:
l42 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, len_159^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l44 : a_139^0'=a_139^post65, result_11^0'=result_11^post65, i_31^0'=i_31^post65, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post65, rcd_320^0'=rcd_320^post65, i_112^0'=i_112^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, x_22^0'=x_22^post65, rcd_199^0'=rcd_199^post65, head_16^0'=head_16^post65, temp0_32^0'=temp0_32^post65, r_149^0'=r_149^post65, y_26^0'=y_26^post65, rcd_71^0'=rcd_71^post65, i_198^0'=i_198^post65, x_207^0'=x_207^post65, rcd_185^0'=rcd_185^post65, a_279^0'=a_279^post65, t_23^0'=t_23^post65, len_221^0'=len_221^post65, x_SLAM_f_20^0'=x_SLAM_f_20^post65, rcd_284^0'=rcd_284^post65, head_SLAM_f_30^0'=head_SLAM_f_30^post65, temp_37^0'=temp_37^post65, r_41^0'=r_41^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, len_159^0'=len_159^post65, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post65, rcd_45^0'=rcd_45^post65, i_130^0'=i_130^post65, x_154^0'=x_154^post65, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post65, rcd_220^0'=rcd_220^post65, head_33^0'=head_33^post65, temp_36^0'=temp_36^post65, r_192^0'=r_192^post65, (-len_221^post65+len_221^0 == 0 /\ -x_SLAM_f_20^post65+x_SLAM_f_20^0 == 0 /\ -head_SLAM_f_30^post65+head_SLAM_f_30^0 == 0 /\ -rcd_284^post65+rcd_284^0 == 0 /\ -x_154^post65+x_154^0 == 0 /\ -x_27^post65+x_27^0 == 0 /\ x_22^0-x_22^post65 == 0 /\ -a_174^post65+a_174^0 == 0 /\ -temp0_19^post65+temp0_19^0 == 0 /\ -a_222^post65+a_222^0 == 0 /\ -a_253^post65+a_253^0 == 0 /\ -head_33^post65+head_33^0 == 0 /\ -rcd_220^post65+rcd_220^0 == 0 /\ tail_15^0-tail_15^post65 == 0 /\ -temp0_32^post65+temp0_32^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post65 == 0 /\ -r_192^post65+r_192^0 == 0 /\ -temp_36^post65+temp_36^0 == 0 /\ -f_202^post65+f_202^0 == 0 /\ rcd_308^0-rcd_308^post65 == 0 /\ -i_112^post65+i_112^0 == 0 /\ r_149^0-r_149^post65 == 0 /\ rcd_288^0-rcd_288^post65 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post65 == 0 /\ length_29^0-length_29^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post65+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_198^post65+i_198^0 == 0 /\ x_207^0-x_207^post65 == 0 /\ rcd_71^0-rcd_71^post65 == 0 /\ -rcd_106^post65+rcd_106^0 == 0 /\ -t_23^post65+t_23^0 == 0 /\ rcd_194^0-rcd_194^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -rcd_114^post65+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post65 == 0 /\ rcd_185^0-rcd_185^post65 == 0 /\ -rcd_45^post65+rcd_45^0 == 0 /\ i_31^0-i_31^post65 == 0 /\ -y_21^post65+y_21^0 == 0 /\ rcd_199^0-rcd_199^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ a_139^0-a_139^post65 == 0 /\ head_16^0-head_16^post65 == 0 /\ a_279^0-a_279^post65 == 0 /\ tmp_35^0-tmp_35^post65 == 0 /\ -len_159^post65+len_159^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -temp_37^post65+temp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post65 == 0 /\ rcd_193^0-rcd_193^post65 == 0 /\ -y_26^post65+y_26^0 == 0 /\ r_41^0-r_41^post65 == 0 /\ -i_130^post65+i_130^0 == 0), cost: 1
New rule:
l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l44 : a_139^0'=a_139^post66, result_11^0'=result_11^post66, i_31^0'=i_31^post66, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post66, rcd_320^0'=rcd_320^post66, i_112^0'=i_112^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, x_22^0'=x_22^post66, rcd_199^0'=rcd_199^post66, head_16^0'=head_16^post66, temp0_32^0'=temp0_32^post66, r_149^0'=r_149^post66, y_26^0'=y_26^post66, rcd_71^0'=rcd_71^post66, i_198^0'=i_198^post66, x_207^0'=x_207^post66, rcd_185^0'=rcd_185^post66, a_279^0'=a_279^post66, t_23^0'=t_23^post66, len_221^0'=len_221^post66, x_SLAM_f_20^0'=x_SLAM_f_20^post66, rcd_284^0'=rcd_284^post66, head_SLAM_f_30^0'=head_SLAM_f_30^post66, temp_37^0'=temp_37^post66, r_41^0'=r_41^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, len_159^0'=len_159^post66, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post66, rcd_45^0'=rcd_45^post66, i_130^0'=i_130^post66, x_154^0'=x_154^post66, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post66, rcd_220^0'=rcd_220^post66, head_33^0'=head_33^post66, temp_36^0'=temp_36^post66, r_192^0'=r_192^post66, (-rcd_45^post66+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post66+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post66 == 0 /\ -rcd_194^post66+rcd_194^0 == 0 /\ -rcd_71^post66+rcd_71^0 == 0 /\ a_174^0-a_174^post66 == 0 /\ len_159^0-len_159^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -rcd_114^post66+rcd_114^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ -r_149^post66+r_149^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post66 == 0 /\ rcd_193^0-rcd_193^post66 == 0 /\ t_23^0-t_23^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ i_112^0-i_112^post66 == 0 /\ rcd_106^0-rcd_106^post66 == 0 /\ rcd_284^0-rcd_284^post66 == 0 /\ rcd_320^0-rcd_320^post66 == 0 /\ tail_15^0-tail_15^post66 == 0 /\ rcd_199^0-rcd_199^post66 == 0 /\ temp0_32^0-temp0_32^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ i_31^0-i_31^post66 == 0 /\ len_221^0-len_221^post66 == 0 /\ -a_279^post66+a_279^0 == 0 /\ i_130^0-i_130^post66 == 0 /\ -head_16^post66+head_16^0 == 0 /\ -r_41^post66+r_41^0 == 0 /\ -x_154^post66+x_154^0 == 0 /\ a_222^0-a_222^post66 == 0 /\ x_27^0-x_27^post66 == 0 /\ tmp_35^0-tmp_35^post66 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -head_SLAM_f_30^post66+head_SLAM_f_30^0 == 0 /\ rcd_288^0-rcd_288^post66 == 0 /\ -head_33^post66+head_33^0 == 0 /\ y_26^0-y_26^post66 == 0 /\ -x_SLAM_f_20^post66+x_SLAM_f_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_19^post66+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post66 == 0 /\ -x_22^post66+x_22^0 == 0 /\ -a_253^post66+a_253^0 == 0 /\ -r_192^post66+r_192^0 == 0 /\ -x_207^post66+x_207^0 == 0 /\ temp_37^0-temp_37^post66 == 0 /\ a_309^0-a_309^post66 == 0 /\ -y_21^post66+y_21^0 == 0 /\ -temp_36^post66+temp_36^0 == 0 /\ -rcd_185^post66+rcd_185^0 == 0 /\ -f_202^post66+f_202^0 == 0 /\ -rcd_308^post66+rcd_308^0 == 0 /\ i_198^0-i_198^post66 == 0), cost: 1
New rule:
l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l44 -> l45 : a_139^0'=a_139^post67, result_11^0'=result_11^post67, i_31^0'=i_31^post67, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post67, rcd_320^0'=rcd_320^post67, i_112^0'=i_112^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, x_22^0'=x_22^post67, rcd_199^0'=rcd_199^post67, head_16^0'=head_16^post67, temp0_32^0'=temp0_32^post67, r_149^0'=r_149^post67, y_26^0'=y_26^post67, rcd_71^0'=rcd_71^post67, i_198^0'=i_198^post67, x_207^0'=x_207^post67, rcd_185^0'=rcd_185^post67, a_279^0'=a_279^post67, t_23^0'=t_23^post67, len_221^0'=len_221^post67, x_SLAM_f_20^0'=x_SLAM_f_20^post67, rcd_284^0'=rcd_284^post67, head_SLAM_f_30^0'=head_SLAM_f_30^post67, temp_37^0'=temp_37^post67, r_41^0'=r_41^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, len_159^0'=len_159^post67, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post67, rcd_45^0'=rcd_45^post67, i_130^0'=i_130^post67, x_154^0'=x_154^post67, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post67, rcd_220^0'=rcd_220^post67, head_33^0'=head_33^post67, temp_36^0'=temp_36^post67, r_192^0'=r_192^post67, (0 == 0 /\ -x_154^post67+x_154^0 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -rcd_220^post67+rcd_220^0 == 0 /\ -len_221^post67+len_221^0 == 0 /\ rcd_106^0-rcd_106^post67 == 0 /\ -head_16^0+t_23^post67 <= 0 /\ y_26^0-y_26^post67 == 0 /\ -a_174^post67+a_174^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post67 == 0 /\ -rcd_284^post67+rcd_284^0 == 0 /\ -temp0_32^post67+temp0_32^0 == 0 /\ tail_15^0-tail_15^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ rcd_45^0-rcd_45^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_27^post67+x_27^0 == 0 /\ i_112^0-i_112^post67 == 0 /\ -x_SLAM_f_20^post67+x_SLAM_f_20^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ -r_192^post67+r_192^0 == 0 /\ x_207^0-x_207^post67 == 0 /\ head_16^0-t_23^post67 <= 0 /\ -x_22^0+t_23^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post67 == 0 /\ -a_222^post67+a_222^0 == 0 /\ r_149^0-r_149^post67 == 0 /\ -temp_36^post67+temp_36^0 == 0 /\ -rcd_185^post67+rcd_185^0 == 0 /\ -f_202^post67+f_202^0 == 0 /\ rcd_193^0-rcd_193^post67 == 0 /\ -rcd_308^post67+rcd_308^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_198^post67+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post67+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -rcd_114^post67+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post67 == 0 /\ a_279^0-a_253^post67 <= 0 /\ rcd_199^0-rcd_199^post67 == 0 /\ rcd_320^0-rcd_320^post67 == 0 /\ -rcd_288^post67+rcd_288^0 == 0 /\ -y_21^post67+y_21^0 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ i_31^0-i_31^post67 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -head_33^post67+head_33^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_35^post67+tmp_35^0 == 0 /\ a_279^0-a_279^post67 == 0 /\ head_16^0-head_16^post67 == 0 /\ -x_SLAM_f_25^post67+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post67 == 0 /\ -temp_37^post67+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post67 == 0 /\ -i_130^post67+i_130^0 == 0 /\ length_29^0-length_29^post67 == 0 /\ -a_279^0+a_253^post67 <= 0 /\ -len_159^post67+len_159^0 == 0 /\ temp0_19^0-temp0_19^post67 == 0 /\ r_41^0-r_41^post67 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ x_22^0-x_22^post67 == 0 /\ tail_15^0-y_21^0 <= 0), cost: 1
New rule:
l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : a_139^0'=a_139^post68, result_11^0'=result_11^post68, i_31^0'=i_31^post68, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post68, rcd_320^0'=rcd_320^post68, i_112^0'=i_112^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, x_22^0'=x_22^post68, rcd_199^0'=rcd_199^post68, head_16^0'=head_16^post68, temp0_32^0'=temp0_32^post68, r_149^0'=r_149^post68, y_26^0'=y_26^post68, rcd_71^0'=rcd_71^post68, i_198^0'=i_198^post68, x_207^0'=x_207^post68, rcd_185^0'=rcd_185^post68, a_279^0'=a_279^post68, t_23^0'=t_23^post68, len_221^0'=len_221^post68, x_SLAM_f_20^0'=x_SLAM_f_20^post68, rcd_284^0'=rcd_284^post68, head_SLAM_f_30^0'=head_SLAM_f_30^post68, temp_37^0'=temp_37^post68, r_41^0'=r_41^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, len_159^0'=len_159^post68, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post68, rcd_45^0'=rcd_45^post68, i_130^0'=i_130^post68, x_154^0'=x_154^post68, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post68, rcd_220^0'=rcd_220^post68, head_33^0'=head_33^post68, temp_36^0'=temp_36^post68, r_192^0'=r_192^post68, (a_222^0-a_222^post68 == 0 /\ i_198^0-i_198^post68 == 0 /\ -rcd_45^post68+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post68+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_193^0-rcd_193^post68 == 0 /\ -rcd_194^post68+rcd_194^0 == 0 /\ -rcd_114^post68+rcd_114^0 == 0 /\ a_139^0-a_139^post68 == 0 /\ x_22^0-x_22^post68 == 0 /\ length_29^0-length_29^post68 == 0 /\ r_149^0-r_149^post68 == 0 /\ -rcd_71^post68+rcd_71^0 == 0 /\ t_23^0-t_23^post68 == 0 /\ -y_21^post68+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post68 == 0 /\ i_130^0-i_130^post68 == 0 /\ -head_33^post68+head_33^0 == 0 /\ a_309^0-a_309^post68 == 0 /\ rcd_185^0-rcd_185^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post68 == 0 /\ -a_279^post68+a_279^0 == 0 /\ rcd_284^0-rcd_284^post68 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -head_16^post68+head_16^0 == 0 /\ -rcd_199^post68+rcd_199^0 == 0 /\ -len_159^post68+len_159^0 == 0 /\ -head_SLAM_f_30^post68+head_SLAM_f_30^0 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -x_154^post68+x_154^0 == 0 /\ -y_26^post68+y_26^0 == 0 /\ -r_41^post68+r_41^0 == 0 /\ -rcd_220^post68+rcd_220^0 == 0 /\ x_207^0-x_207^post68 == 0 /\ x_27^0-x_27^post68 == 0 /\ rcd_288^0-rcd_288^post68 == 0 /\ -len_221^post68+len_221^0 == 0 /\ -temp0_19^post68+temp0_19^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_112^post68+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_253^post68+a_253^0 == 0 /\ rcd_106^0-rcd_106^post68 == 0 /\ temp_37^0-temp_37^post68 == 0 /\ -r_192^post68+r_192^0 == 0 /\ tail_15^0-tail_15^post68 == 0 /\ a_174^0-a_174^post68 == 0 /\ -rcd_308^post68+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post68 == 0 /\ rcd_320^0-rcd_320^post68 == 0 /\ -temp_36^post68+temp_36^0 == 0 /\ -f_202^post68+f_202^0 == 0 /\ i_31^0-i_31^post68 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post68 == 0), cost: 1
New rule:
l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : a_139^0'=a_139^post69, result_11^0'=result_11^post69, i_31^0'=i_31^post69, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post69, rcd_320^0'=rcd_320^post69, i_112^0'=i_112^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, x_22^0'=x_22^post69, rcd_199^0'=rcd_199^post69, head_16^0'=head_16^post69, temp0_32^0'=temp0_32^post69, r_149^0'=r_149^post69, y_26^0'=y_26^post69, rcd_71^0'=rcd_71^post69, i_198^0'=i_198^post69, x_207^0'=x_207^post69, rcd_185^0'=rcd_185^post69, a_279^0'=a_279^post69, t_23^0'=t_23^post69, len_221^0'=len_221^post69, x_SLAM_f_20^0'=x_SLAM_f_20^post69, rcd_284^0'=rcd_284^post69, head_SLAM_f_30^0'=head_SLAM_f_30^post69, temp_37^0'=temp_37^post69, r_41^0'=r_41^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, len_159^0'=len_159^post69, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post69, rcd_45^0'=rcd_45^post69, i_130^0'=i_130^post69, x_154^0'=x_154^post69, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post69, rcd_220^0'=rcd_220^post69, head_33^0'=head_33^post69, temp_36^0'=temp_36^post69, r_192^0'=r_192^post69, (-rcd_185^post69+rcd_185^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post69 == 0 /\ -rcd_284^post69+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post69 == 0 /\ rcd_71^0-rcd_71^post69 == 0 /\ -rcd_220^post69+rcd_220^0 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ -r_41^post69+r_41^0 == 0 /\ len_221^0-len_221^post69 == 0 /\ a_139^0-a_139^post69 == 0 /\ -x_207^post69+x_207^0 == 0 /\ tail_15^0-tail_15^post69 == 0 /\ -x_27^post69+x_27^0 == 0 /\ rcd_45^0-rcd_45^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_193^0-rcd_193^post69 == 0 /\ head_16^0-head_16^post69 == 0 /\ a_279^0-a_279^post69 == 0 /\ r_149^0-r_149^post69 == 0 /\ -r_192^post69+r_192^0 == 0 /\ -temp_36^post69+temp_36^0 == 0 /\ -f_202^post69+f_202^0 == 0 /\ -a_253^post69+a_253^0 == 0 /\ -rcd_194^post69+rcd_194^0 == 0 /\ -rcd_308^post69+rcd_308^0 == 0 /\ a_222^0-a_222^post69 == 0 /\ -i_130^post69+i_130^0 == 0 /\ -rcd_114^post69+rcd_114^0 == 0 /\ y_26^0-y_26^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post69+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_309^0-a_309^post69 == 0 /\ result_11^0-result_11^post69 == 0 /\ tmp_35^0-tmp_35^post69 == 0 /\ y_21^0-y_21^post69 == 0 /\ i_31^0-i_31^post69 == 0 /\ i_112^0-i_112^post69 == 0 /\ rcd_320^0-rcd_320^post69 == 0 /\ -x_SLAM_f_25^post69+x_SLAM_f_25^0 == 0 /\ -rcd_199^post69+rcd_199^0 == 0 /\ i_198^0-i_198^post69 == 0 /\ -temp_37^post69+temp_37^0 == 0 /\ -head_33^post69+head_33^0 == 0 /\ rcd_288^0-rcd_288^post69 == 0 /\ -a_174^post69+a_174^0 == 0 /\ temp0_19^0-temp0_19^post69 == 0 /\ -len_159^post69+len_159^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_22^0-x_22^post69 == 0 /\ -x_154^post69+x_154^0 == 0 /\ t_23^0-t_23^post69 == 0), cost: 1
New rule:
l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : a_139^0'=a_139^post70, result_11^0'=result_11^post70, i_31^0'=i_31^post70, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post70, rcd_320^0'=rcd_320^post70, i_112^0'=i_112^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, x_22^0'=x_22^post70, rcd_199^0'=rcd_199^post70, head_16^0'=head_16^post70, temp0_32^0'=temp0_32^post70, r_149^0'=r_149^post70, y_26^0'=y_26^post70, rcd_71^0'=rcd_71^post70, i_198^0'=i_198^post70, x_207^0'=x_207^post70, rcd_185^0'=rcd_185^post70, a_279^0'=a_279^post70, t_23^0'=t_23^post70, len_221^0'=len_221^post70, x_SLAM_f_20^0'=x_SLAM_f_20^post70, rcd_284^0'=rcd_284^post70, head_SLAM_f_30^0'=head_SLAM_f_30^post70, temp_37^0'=temp_37^post70, r_41^0'=r_41^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, len_159^0'=len_159^post70, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post70, rcd_45^0'=rcd_45^post70, i_130^0'=i_130^post70, x_154^0'=x_154^post70, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post70, rcd_220^0'=rcd_220^post70, head_33^0'=head_33^post70, temp_36^0'=temp_36^post70, r_192^0'=r_192^post70, (-nondet_12^post70+nondet_12^0 == 0 /\ -i_130^post70+i_130^0 == 0 /\ x_154^0-x_154^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post70+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_139^0-a_139^post70 == 0 /\ rcd_308^0-rcd_308^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post70 == 0 /\ r_149^0-r_149^post70 == 0 /\ x_22^0-x_22^post70 == 0 /\ -rcd_114^post70+rcd_114^0 == 0 /\ -rcd_45^post70+rcd_45^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -len_159^post70+len_159^0 == 0 /\ temp0_32^0-temp0_32^post70 == 0 /\ a_309^0-a_309^post70 == 0 /\ -a_174^post70+a_174^0 == 0 /\ -y_26^post70+y_26^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ -temp_37^post70+temp_37^0 == 0 /\ rcd_185^0-rcd_185^post70 == 0 /\ -temp0_19^post70+temp0_19^0 == 0 /\ -a_222^post70+a_222^0 == 0 /\ rcd_193^0-rcd_193^post70 == 0 /\ -x_27^post70+x_27^0 == 0 /\ -head_SLAM_f_30^post70+head_SLAM_f_30^0 == 0 /\ -rcd_220^post70+rcd_220^0 == 0 /\ -x_SLAM_f_20^post70+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post70 == 0 /\ a_279^0-a_279^post70 == 0 /\ -r_41^post70+r_41^0 == 0 /\ rcd_288^0-rcd_288^post70 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post70 == 0 /\ x_207^0-x_207^post70 == 0 /\ -head_33^post70+head_33^0 == 0 /\ -i_112^post70+i_112^0 == 0 /\ rcd_71^0-rcd_71^post70 == 0 /\ -a_253^post70+a_253^0 == 0 /\ rcd_194^0-rcd_194^post70 == 0 /\ 1+head_16^0-y_21^0 <= 0 /\ -r_192^post70+r_192^0 == 0 /\ rcd_106^0-rcd_106^post70 == 0 /\ -temp_36^post70+temp_36^0 == 0 /\ -i_198^post70+i_198^0 == 0 /\ -y_21^post70+y_21^0 == 0 /\ i_31^0-i_31^post70 == 0 /\ -f_202^post70+f_202^0 == 0 /\ len_221^0-len_221^post70 == 0 /\ -rcd_284^post70+rcd_284^0 == 0 /\ tail_15^0-tail_15^post70 == 0 /\ rcd_199^0-rcd_199^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ rcd_320^0-rcd_320^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post70 == 0 /\ head_16^0-head_16^post70 == 0), cost: 1
New rule:
l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : a_139^0'=a_139^post71, result_11^0'=result_11^post71, i_31^0'=i_31^post71, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post71, rcd_320^0'=rcd_320^post71, i_112^0'=i_112^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, x_22^0'=x_22^post71, rcd_199^0'=rcd_199^post71, head_16^0'=head_16^post71, temp0_32^0'=temp0_32^post71, r_149^0'=r_149^post71, y_26^0'=y_26^post71, rcd_71^0'=rcd_71^post71, i_198^0'=i_198^post71, x_207^0'=x_207^post71, rcd_185^0'=rcd_185^post71, a_279^0'=a_279^post71, t_23^0'=t_23^post71, len_221^0'=len_221^post71, x_SLAM_f_20^0'=x_SLAM_f_20^post71, rcd_284^0'=rcd_284^post71, head_SLAM_f_30^0'=head_SLAM_f_30^post71, temp_37^0'=temp_37^post71, r_41^0'=r_41^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, len_159^0'=len_159^post71, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post71, rcd_45^0'=rcd_45^post71, i_130^0'=i_130^post71, x_154^0'=x_154^post71, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post71, rcd_220^0'=rcd_220^post71, head_33^0'=head_33^post71, temp_36^0'=temp_36^post71, r_192^0'=r_192^post71, (-head_16^post71+head_16^0 == 0 /\ -x_27^post71+x_27^0 == 0 /\ a_309^0-a_309^post71 == 0 /\ -x_154^post71+x_154^0 == 0 /\ length_29^0-length_29^post71 == 0 /\ i_31^0-i_31^post71 == 0 /\ len_221^0-len_221^post71 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post71 == 0 /\ -head_SLAM_f_30^post71+head_SLAM_f_30^0 == 0 /\ -x_22^post71+x_22^0 == 0 /\ -head_33^post71+head_33^0 == 0 /\ rcd_320^0-rcd_320^post71 == 0 /\ -temp0_19^post71+temp0_19^0 == 0 /\ -rcd_308^post71+rcd_308^0 == 0 /\ -temp0_32^post71+temp0_32^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post71 == 0 /\ i_198^0-i_198^post71 == 0 /\ -a_253^post71+a_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ tmp_35^0-tmp_35^post71 == 0 /\ a_139^0-a_139^post71 == 0 /\ -temp_36^post71+temp_36^0 == 0 /\ -y_21^post71+y_21^0 == 0 /\ r_41^0-r_41^post71 == 0 /\ -rcd_185^post71+rcd_185^0 == 0 /\ -f_202^post71+f_202^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post71 == 0 /\ -rcd_194^post71+rcd_194^0 == 0 /\ -r_192^post71+r_192^0 == 0 /\ rcd_193^0-rcd_193^post71 == 0 /\ rcd_114^0-rcd_114^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post71 == 0 /\ i_112^0-i_112^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ rcd_106^0-rcd_106^post71 == 0 /\ 1-head_16^0+y_21^0 <= 0 /\ -rcd_71^post71+rcd_71^0 == 0 /\ y_26^0-y_26^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ rcd_284^0-rcd_284^post71 == 0 /\ tail_15^0-tail_15^post71 == 0 /\ -rcd_45^post71+rcd_45^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ -len_159^post71+len_159^0 == 0 /\ a_174^0-a_174^post71 == 0 /\ -r_149^post71+r_149^0 == 0 /\ -rcd_199^post71+rcd_199^0 == 0 /\ x_207^0-x_207^post71 == 0 /\ -i_130^post71+i_130^0 == 0 /\ rcd_288^0-rcd_288^post71 == 0 /\ -a_279^post71+a_279^0 == 0 /\ a_222^0-a_222^post71 == 0 /\ -rcd_220^post71+rcd_220^0 == 0 /\ temp_37^0-temp_37^post71 == 0), cost: 1
New rule:
l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : a_139^0'=a_139^post72, result_11^0'=result_11^post72, i_31^0'=i_31^post72, rcd_193^0'=rcd_193^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, rcd_288^0'=rcd_288^post72, rcd_320^0'=rcd_320^post72, i_112^0'=i_112^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, x_22^0'=x_22^post72, rcd_199^0'=rcd_199^post72, head_16^0'=head_16^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, rcd_71^0'=rcd_71^post72, i_198^0'=i_198^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, len_221^0'=len_221^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, rcd_284^0'=rcd_284^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^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, len_159^0'=len_159^post72, rcd_194^0'=rcd_194^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, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, i_130^0'=i_130^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^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, x_27^0'=x_27^post72, rcd_220^0'=rcd_220^post72, head_33^0'=head_33^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, (a_139^0-a_139^post72 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_71^post72+rcd_71^0 == 0 /\ a_174^0-a_174^post72 == 0 /\ len_159^0-len_159^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ t_23^0-t_23^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ i_112^0-i_112^post72 == 0 /\ -r_149^post72+r_149^0 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ rcd_284^0-rcd_284^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ y_26^0-y_26^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ temp0_32^0-temp0_32^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ -head_16^post72+head_16^0 == 0 /\ -a_279^post72+a_279^0 == 0 /\ i_130^0-i_130^post72 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -x_SLAM_f_20^post72+x_SLAM_f_20^0 == 0 /\ x_27^0-x_27^post72 == 0 /\ -r_41^post72+r_41^0 == 0 /\ -a_222^post72+a_222^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -head_33^post72+head_33^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ -x_22^post72+x_22^0 == 0 /\ -a_253^post72+a_253^0 == 0 /\ -r_192^post72+r_192^0 == 0 /\ temp_37^0-temp_37^post72 == 0 /\ rcd_194^0-rcd_194^post72 == 0 /\ len_221^0-len_221^post72 == 0 /\ y_21^0-y_21^post72 == 0 /\ tail_15^0-tail_15^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ rcd_320^0-rcd_320^post72 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ -temp_36^post72+temp_36^0 == 0 /\ -f_202^post72+f_202^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ -i_198^post72+i_198^0 == 0), cost: 1
New rule:
l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : a_139^0'=a_139^post73, result_11^0'=result_11^post73, i_31^0'=i_31^post73, rcd_193^0'=rcd_193^post73, a_309^0'=a_309^post73, tail_15^0'=tail_15^post73, length_29^0'=length_29^post73, x_SLAM_f_25^0'=x_SLAM_f_25^post73, rcd_288^0'=rcd_288^post73, rcd_320^0'=rcd_320^post73, i_112^0'=i_112^post73, tmp_35^0'=tmp_35^post73, rcd_106^0'=rcd_106^post73, a_222^0'=a_222^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73, x_22^0'=x_22^post73, rcd_199^0'=rcd_199^post73, head_16^0'=head_16^post73, temp0_32^0'=temp0_32^post73, r_149^0'=r_149^post73, y_26^0'=y_26^post73, rcd_71^0'=rcd_71^post73, i_198^0'=i_198^post73, x_207^0'=x_207^post73, rcd_185^0'=rcd_185^post73, a_279^0'=a_279^post73, t_23^0'=t_23^post73, len_221^0'=len_221^post73, x_SLAM_f_20^0'=x_SLAM_f_20^post73, rcd_284^0'=rcd_284^post73, head_SLAM_f_30^0'=head_SLAM_f_30^post73, temp_37^0'=temp_37^post73, r_41^0'=r_41^post73, a_174^0'=a_174^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73, len_159^0'=len_159^post73, rcd_194^0'=rcd_194^post73, f_202^0'=f_202^post73, temp0_19^0'=temp0_19^post73, nondet_12^0'=nondet_12^post73, y_21^0'=y_21^post73, rcd_308^0'=rcd_308^post73, rcd_45^0'=rcd_45^post73, i_130^0'=i_130^post73, x_154^0'=x_154^post73, rcd_114^0'=rcd_114^post73, a_253^0'=a_253^post73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post73, x_27^0'=x_27^post73, rcd_220^0'=rcd_220^post73, head_33^0'=head_33^post73, temp_36^0'=temp_36^post73, r_192^0'=r_192^post73, (-x_154^post73+x_154^0 == 0 /\ -rcd_220^post73+rcd_220^0 == 0 /\ -len_221^post73+len_221^0 == 0 /\ rcd_106^0-rcd_106^post73 == 0 /\ -rcd_185^post73+rcd_185^0 == 0 /\ y_26^0-y_26^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post73 == 0 /\ -a_174^post73+a_174^0 == 0 /\ length_29^0-length_29^post73 == 0 /\ -rcd_284^post73+rcd_284^0 == 0 /\ -temp0_32^post73+temp0_32^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ rcd_45^0-rcd_45^post73 == 0 /\ tail_15^0-tail_15^post73 == 0 /\ -x_27^post73+x_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post73+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_112^0-i_112^post73 == 0 /\ -x_SLAM_f_20^post73+x_SLAM_f_20^0 == 0 /\ -a_253^post73+a_253^0 == 0 /\ x_207^0-x_207^post73 == 0 /\ -r_192^post73+r_192^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post73 == 0 /\ -a_222^post73+a_222^0 == 0 /\ r_149^0-r_149^post73 == 0 /\ -temp_36^post73+temp_36^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -f_202^post73+f_202^0 == 0 /\ rcd_193^0-rcd_193^post73 == 0 /\ -rcd_308^post73+rcd_308^0 == 0 /\ -i_198^post73+i_198^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post73+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ -a_309^post73+a_309^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -rcd_114^post73+rcd_114^0 == 0 /\ rcd_71^0-rcd_71^post73 == 0 /\ rcd_320^0-rcd_320^post73 == 0 /\ rcd_199^0-rcd_199^post73 == 0 /\ -rcd_288^post73+rcd_288^0 == 0 /\ -y_21^post73+y_21^0 == 0 /\ i_31^0-i_31^post73 == 0 /\ -head_33^post73+head_33^0 == 0 /\ a_279^0-a_279^post73 == 0 /\ head_16^0-head_16^post73 == 0 /\ -tmp_35^post73+tmp_35^0 == 0 /\ -x_SLAM_f_25^post73+x_SLAM_f_25^0 == 0 /\ a_139^0-a_139^post73 == 0 /\ -temp_37^post73+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post73 == 0 /\ x_22^0-x_22^post73 == 0 /\ -i_130^post73+i_130^0 == 0 /\ temp0_19^0-temp0_19^post73 == 0 /\ -len_159^post73+len_159^0 == 0 /\ r_41^0-r_41^post73 == 0), cost: 1
New rule:
l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l25 : a_139^0'=a_139^post74, result_11^0'=result_11^post74, i_31^0'=i_31^post74, rcd_193^0'=rcd_193^post74, a_309^0'=a_309^post74, tail_15^0'=tail_15^post74, length_29^0'=length_29^post74, x_SLAM_f_25^0'=x_SLAM_f_25^post74, rcd_288^0'=rcd_288^post74, rcd_320^0'=rcd_320^post74, i_112^0'=i_112^post74, tmp_35^0'=tmp_35^post74, rcd_106^0'=rcd_106^post74, a_222^0'=a_222^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74, x_22^0'=x_22^post74, rcd_199^0'=rcd_199^post74, head_16^0'=head_16^post74, temp0_32^0'=temp0_32^post74, r_149^0'=r_149^post74, y_26^0'=y_26^post74, rcd_71^0'=rcd_71^post74, i_198^0'=i_198^post74, x_207^0'=x_207^post74, rcd_185^0'=rcd_185^post74, a_279^0'=a_279^post74, t_23^0'=t_23^post74, len_221^0'=len_221^post74, x_SLAM_f_20^0'=x_SLAM_f_20^post74, rcd_284^0'=rcd_284^post74, head_SLAM_f_30^0'=head_SLAM_f_30^post74, temp_37^0'=temp_37^post74, r_41^0'=r_41^post74, a_174^0'=a_174^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74, len_159^0'=len_159^post74, rcd_194^0'=rcd_194^post74, f_202^0'=f_202^post74, temp0_19^0'=temp0_19^post74, nondet_12^0'=nondet_12^post74, y_21^0'=y_21^post74, rcd_308^0'=rcd_308^post74, rcd_45^0'=rcd_45^post74, i_130^0'=i_130^post74, x_154^0'=x_154^post74, rcd_114^0'=rcd_114^post74, a_253^0'=a_253^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, x_27^0'=x_27^post74, rcd_220^0'=rcd_220^post74, head_33^0'=head_33^post74, temp_36^0'=temp_36^post74, r_192^0'=r_192^post74, (0 == 0 /\ a_222^0-a_222^post74 == 0 /\ i_198^0-i_198^post74 == 0 /\ -rcd_45^post74+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_194^post74+rcd_194^0 == 0 /\ -rcd_114^post74+rcd_114^0 == 0 /\ -1+len_159^post74-a_253^0 <= 0 /\ x_22^0-x_22^post74 == 0 /\ r_149^0-r_149^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -rcd_71^post74+rcd_71^0 == 0 /\ -y_21^post74+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post74 == 0 /\ t_23^0-t_23^post74 == 0 /\ -head_33^post74+head_33^0 == 0 /\ i_130^0-i_130^post74 == 0 /\ rcd_185^0-rcd_185^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post74 == 0 /\ -a_279^post74+a_279^0 == 0 /\ rcd_284^0-rcd_284^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ temp0_32^0-temp0_32^post74 == 0 /\ -head_16^post74+head_16^0 == 0 /\ -head_SLAM_f_30^post74+head_SLAM_f_30^0 == 0 /\ rcd_199^0-rcd_199^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_154^post74+x_154^0 == 0 /\ -y_26^post74+y_26^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_41^post74+r_41^0 == 0 /\ x_207^0-x_207^post74 == 0 /\ x_27^0-x_27^post74 == 0 /\ 1-len_159^post74+a_253^0 <= 0 /\ rcd_288^0-rcd_288^post74 == 0 /\ -len_221^post74+len_221^0 == 0 /\ -temp0_19^post74+temp0_19^0 == 0 /\ -a_139^post74+a_139^0 == 0 /\ rcd_220^0-rcd_220^post74 == 0 /\ -i_112^post74+i_112^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post74+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_106^0-rcd_106^post74 == 0 /\ temp_37^0-temp_37^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -r_192^post74+r_192^0 == 0 /\ -f_202^post74+f_202^0 == 0 /\ tail_15^0-tail_15^post74 == 0 /\ a_174^0-a_174^post74 == 0 /\ tmp_35^0-tmp_35^post74 == 0 /\ -rcd_308^post74+rcd_308^0 == 0 /\ rcd_320^0-rcd_320^post74 == 0 /\ -temp_36^post74+temp_36^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_253^post74+a_253^0 == 0 /\ i_31^0-i_31^post74 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post74 == 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 : a_139^0'=a_139^post75, result_11^0'=result_11^post75, i_31^0'=i_31^post75, rcd_193^0'=rcd_193^post75, a_309^0'=a_309^post75, tail_15^0'=tail_15^post75, length_29^0'=length_29^post75, x_SLAM_f_25^0'=x_SLAM_f_25^post75, rcd_288^0'=rcd_288^post75, rcd_320^0'=rcd_320^post75, i_112^0'=i_112^post75, tmp_35^0'=tmp_35^post75, rcd_106^0'=rcd_106^post75, a_222^0'=a_222^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75, x_22^0'=x_22^post75, rcd_199^0'=rcd_199^post75, head_16^0'=head_16^post75, temp0_32^0'=temp0_32^post75, r_149^0'=r_149^post75, y_26^0'=y_26^post75, rcd_71^0'=rcd_71^post75, i_198^0'=i_198^post75, x_207^0'=x_207^post75, rcd_185^0'=rcd_185^post75, a_279^0'=a_279^post75, t_23^0'=t_23^post75, len_221^0'=len_221^post75, x_SLAM_f_20^0'=x_SLAM_f_20^post75, rcd_284^0'=rcd_284^post75, head_SLAM_f_30^0'=head_SLAM_f_30^post75, temp_37^0'=temp_37^post75, r_41^0'=r_41^post75, a_174^0'=a_174^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75, len_159^0'=len_159^post75, rcd_194^0'=rcd_194^post75, f_202^0'=f_202^post75, temp0_19^0'=temp0_19^post75, nondet_12^0'=nondet_12^post75, y_21^0'=y_21^post75, rcd_308^0'=rcd_308^post75, rcd_45^0'=rcd_45^post75, i_130^0'=i_130^post75, x_154^0'=x_154^post75, rcd_114^0'=rcd_114^post75, a_253^0'=a_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, x_27^0'=x_27^post75, rcd_220^0'=rcd_220^post75, head_33^0'=head_33^post75, temp_36^0'=temp_36^post75, r_192^0'=r_192^post75, (0 == 0 /\ rcd_193^0-rcd_193^post75 == 0 /\ -head_33^post75+head_SLAM_f_30^post75 <= 0 /\ x_22^0-x_22^post75 == 0 /\ -i_31^post75 <= 0 /\ -rcd_114^post75+rcd_114^0 == 0 /\ i_31^post75 <= 0 /\ i_31^post75 == 0 /\ tail_15^post75-temp_37^0 == 0 /\ -rcd_71^post75+rcd_71^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_SLAM_f_30^post75 <= 0 /\ -y_21^post75+y_21^0 == 0 /\ rcd_106^0-rcd_106^post75 == 0 /\ t_23^0-t_23^post75 == 0 /\ x_207^0-x_207^post75 == 0 /\ r_41^0-r_41^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-tail_15^post75 <= 0 /\ i_130^0-i_130^post75 == 0 /\ rcd_45^0-rcd_45^post75 == 0 /\ head_33^post75-head_SLAM_f_30^post75 <= 0 /\ head_33^post75-head_SLAM_f_30^post75 == 0 /\ -a_279^post75+a_279^0 == 0 /\ rcd_284^0-rcd_284^post75 == 0 /\ -rcd_220^post75+rcd_220^0 == 0 /\ -head_16^post75+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-nondet_12^10 == 0 /\ -len_159^post75+len_159^0 == 0 /\ rcd_199^0-rcd_199^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_SLAM_f_30^post75 <= 0 /\ a_139^0-a_139^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+tail_15^post75 <= 0 /\ tmp_35^0-tmp_35^post75 == 0 /\ -x_154^post75+x_154^0 == 0 /\ y_26^0-y_26^post75 == 0 /\ temp0_32^0-temp0_32^post75 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-length_29^post75 <= 0 /\ -r_149^post75+r_149^0 == 0 /\ -temp_36^post75+temp_36^0 == 0 /\ i_112^0-i_112^post75 == 0 /\ -f_202^post75+f_202^0 == 0 /\ x_27^0-x_27^post75 == 0 /\ -rcd_308^post75+rcd_308^0 == 0 /\ -rcd_320^post75+rcd_320^0 == 0 /\ -len_221^post75+len_221^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post75 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75+head_33^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 <= 0 /\ -tail_15^post75+head_SLAM_f_30^post75 == 0 /\ a_222^0-a_222^post75 == 0 /\ temp0_19^0-temp0_19^post75 == 0 /\ result_11^0-result_11^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post75+length_29^post75 == 0 /\ rcd_185^0-rcd_185^post75 == 0 /\ a_309^0-a_309^post75 == 0 /\ -r_192^post75+r_192^0 == 0 /\ -i_198^post75+i_198^0 == 0 /\ -a_253^post75+a_253^0 == 0 /\ -rcd_194^post75+rcd_194^0 == 0 /\ a_174^0-a_174^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post75-head_33^post75 <= 0 /\ tail_15^post75-head_SLAM_f_30^post75 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post75 == 0 /\ rcd_288^0-rcd_288^post75 == 0), cost: 1
New rule:
l49 -> l24 : 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^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l1 -> l50 : a_139^0'=a_139^post76, result_11^0'=result_11^post76, i_31^0'=i_31^post76, rcd_193^0'=rcd_193^post76, a_309^0'=a_309^post76, tail_15^0'=tail_15^post76, length_29^0'=length_29^post76, x_SLAM_f_25^0'=x_SLAM_f_25^post76, rcd_288^0'=rcd_288^post76, rcd_320^0'=rcd_320^post76, i_112^0'=i_112^post76, tmp_35^0'=tmp_35^post76, rcd_106^0'=rcd_106^post76, a_222^0'=a_222^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76, x_22^0'=x_22^post76, rcd_199^0'=rcd_199^post76, head_16^0'=head_16^post76, temp0_32^0'=temp0_32^post76, r_149^0'=r_149^post76, y_26^0'=y_26^post76, rcd_71^0'=rcd_71^post76, i_198^0'=i_198^post76, x_207^0'=x_207^post76, rcd_185^0'=rcd_185^post76, a_279^0'=a_279^post76, t_23^0'=t_23^post76, len_221^0'=len_221^post76, x_SLAM_f_20^0'=x_SLAM_f_20^post76, rcd_284^0'=rcd_284^post76, head_SLAM_f_30^0'=head_SLAM_f_30^post76, temp_37^0'=temp_37^post76, r_41^0'=r_41^post76, a_174^0'=a_174^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76, len_159^0'=len_159^post76, rcd_194^0'=rcd_194^post76, f_202^0'=f_202^post76, temp0_19^0'=temp0_19^post76, nondet_12^0'=nondet_12^post76, y_21^0'=y_21^post76, rcd_308^0'=rcd_308^post76, rcd_45^0'=rcd_45^post76, i_130^0'=i_130^post76, x_154^0'=x_154^post76, rcd_114^0'=rcd_114^post76, a_253^0'=a_253^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, rcd_220^0'=rcd_220^post76, head_33^0'=head_33^post76, temp_36^0'=temp_36^post76, r_192^0'=r_192^post76, (0 == 0 /\ temp0_32^0-temp0_32^post76 == 0 /\ -len_159^0 <= 0 /\ -temp_36^post76+temp_36^0 == 0 /\ -y_26^0+x_27^0 <= 0 /\ rcd_185^0-rcd_185^post76 == 0 /\ head_16^0-x_22^post76 <= 0 /\ -i_198^post76+i_198^0 == 0 /\ -tail_15^0+y_21^post76 <= 0 /\ -tail_15^0+y_21^post76 == 0 /\ a_139^0-a_139^post76 == 0 /\ rcd_194^0-rcd_194^post76 == 0 /\ -temp_37^post76+temp_37^0 == 0 /\ -head_SLAM_f_30^post76+head_SLAM_f_30^0 == 0 /\ -a_174^post76+a_174^0 == 0 /\ a_309^0-a_309^post76 == 0 /\ -x_154^post76+x_154^0 == 0 /\ -rcd_284^post76+rcd_284^0 == 0 /\ rcd_308^0-rcd_308^post76 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post76 == 0 /\ y_26^0-x_27^0 <= 0 /\ -t_23^post76+t_23^0 == 0 /\ -r_41^post76+r_41^0 == 0 /\ -head_16^0+x_22^post76 <= 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -r_192^post76+r_192^0 == 0 /\ tail_15^0-y_21^post76 <= 0 /\ -a_174^0 <= 0 /\ -a_253^post76+a_253^0 == 0 /\ a_279^0-a_279^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -len_159^post76+len_159^0 == 0 /\ head_16^0-head_16^post76 == 0 /\ x_SLAM_f_20^post76-x_22^post76 <= 0 /\ i_112^0-i_112^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76+y_21^post76 <= 0 /\ x_SLAM_f_20^post76-head_16^0 <= 0 /\ x_SLAM_f_20^post76-head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ tmp_35^0-tmp_35^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ -i_130^post76+i_130^0 == 0 /\ rcd_320^0-rcd_320^post76 == 0 /\ -temp0_19^post76+temp0_19^0 == 0 /\ len_221^0-len_221^post76 == 0 /\ i_31^0-i_31^post76 == 0 /\ rcd_288^0-rcd_288^post76 == 0 /\ tail_15^0-tail_15^post76 == 0 /\ rcd_199^0-rcd_199^post76 == 0 /\ -a_222^post76+a_222^0 == 0 /\ f_202^0-f_202^post76 == 0 /\ -rcd_220^post76+rcd_220^0 == 0 /\ rcd_71^0-rcd_71^post76 == 0 /\ -x_SLAM_f_20^post76+x_22^post76 <= 0 /\ -x_SLAM_f_20^post76+x_22^post76 == 0 /\ -x_207^post76+x_207^0 == 0 /\ rcd_193^0-rcd_193^post76 == 0 /\ -head_33^post76+head_33^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76-y_21^post76 <= 0 /\ -rcd_45^post76+rcd_45^0 == 0 /\ -x_SLAM_f_20^post76+head_16^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post76 <= 0 /\ -rcd_114^post76+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post76 == 0 /\ r_149^0-r_149^post76 == 0), cost: 1
New rule:
l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l50 -> l51 : a_139^0'=a_139^post77, result_11^0'=result_11^post77, i_31^0'=i_31^post77, rcd_193^0'=rcd_193^post77, a_309^0'=a_309^post77, tail_15^0'=tail_15^post77, length_29^0'=length_29^post77, x_SLAM_f_25^0'=x_SLAM_f_25^post77, rcd_288^0'=rcd_288^post77, rcd_320^0'=rcd_320^post77, i_112^0'=i_112^post77, tmp_35^0'=tmp_35^post77, rcd_106^0'=rcd_106^post77, a_222^0'=a_222^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77, x_22^0'=x_22^post77, rcd_199^0'=rcd_199^post77, head_16^0'=head_16^post77, temp0_32^0'=temp0_32^post77, r_149^0'=r_149^post77, y_26^0'=y_26^post77, rcd_71^0'=rcd_71^post77, i_198^0'=i_198^post77, x_207^0'=x_207^post77, rcd_185^0'=rcd_185^post77, a_279^0'=a_279^post77, t_23^0'=t_23^post77, len_221^0'=len_221^post77, x_SLAM_f_20^0'=x_SLAM_f_20^post77, rcd_284^0'=rcd_284^post77, head_SLAM_f_30^0'=head_SLAM_f_30^post77, temp_37^0'=temp_37^post77, r_41^0'=r_41^post77, a_174^0'=a_174^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77, len_159^0'=len_159^post77, rcd_194^0'=rcd_194^post77, f_202^0'=f_202^post77, temp0_19^0'=temp0_19^post77, nondet_12^0'=nondet_12^post77, y_21^0'=y_21^post77, rcd_308^0'=rcd_308^post77, rcd_45^0'=rcd_45^post77, i_130^0'=i_130^post77, x_154^0'=x_154^post77, rcd_114^0'=rcd_114^post77, a_253^0'=a_253^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, x_27^0'=x_27^post77, rcd_220^0'=rcd_220^post77, head_33^0'=head_33^post77, temp_36^0'=temp_36^post77, r_192^0'=r_192^post77, (r_41^0-r_41^post77 == 0 /\ i_31^0-i_31^post77 == 0 /\ rcd_288^0-rcd_288^post77 == 0 /\ -len_159^post77+len_159^0 == 0 /\ rcd_199^0-rcd_199^post77 == 0 /\ -a_253^post77+a_253^0 == 0 /\ rcd_114^0-rcd_114^post77 == 0 /\ len_221^0-len_221^post77 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_279^post77+a_279^0 == 0 /\ -rcd_308^post77+rcd_308^0 == 0 /\ y_26^0-y_26^post77 == 0 /\ x_154^0-x_154^post77 == 0 /\ -temp0_19^post77+temp0_19^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post77 == 0 /\ -x_27^post77+x_27^0 == 0 /\ rcd_193^0-rcd_193^post77 == 0 /\ -r_149^post77+r_149^0 == 0 /\ head_16^0-head_16^post77 == 0 /\ -rcd_320^post77+rcd_320^0 == 0 /\ -rcd_220^post77+rcd_220^0 == 0 /\ -rcd_45^post77+rcd_45^0 == 0 /\ tmp_35^0-tmp_35^post77 == 0 /\ -head_33^post77+head_33^0 == 0 /\ a_139^0-a_139^post77 == 0 /\ -r_192^post77+r_192^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post77 == 0 /\ rcd_284^0-rcd_284^post77 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post77 == 0 /\ tail_15^0-tail_15^post77 == 0 /\ -y_21^post77+y_21^0 == 0 /\ -temp_36^post77+temp_36^0 == 0 /\ -f_202^post77+f_202^0 == 0 /\ -rcd_194^post77+rcd_194^0 == 0 /\ -i_130^post77+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post77 == 0 /\ i_198^0-i_198^post77 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_37^post77+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post77 == 0 /\ result_11^0-result_11^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ a_222^0-a_222^post77 == 0 /\ -rcd_71^post77+rcd_71^0 == 0 /\ -a_174^post77+a_174^0 == 0 /\ x_207^0-x_207^post77 == 0 /\ rcd_185^0-rcd_185^post77 == 0 /\ -head_SLAM_f_30^post77+head_SLAM_f_30^0 == 0 /\ -x_22^post77+x_22^0 == 0 /\ i_112^0-i_112^post77 == 0 /\ -t_23^post77+t_23^0 == 0 /\ length_29^0-length_29^post77 == 0 /\ -temp0_32^post77+temp0_32^0 == 0 /\ a_309^0-a_309^post77 == 0), cost: 1
New rule:
l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l50 -> l51 : a_139^0'=a_139^post78, result_11^0'=result_11^post78, i_31^0'=i_31^post78, rcd_193^0'=rcd_193^post78, a_309^0'=a_309^post78, tail_15^0'=tail_15^post78, length_29^0'=length_29^post78, x_SLAM_f_25^0'=x_SLAM_f_25^post78, rcd_288^0'=rcd_288^post78, rcd_320^0'=rcd_320^post78, i_112^0'=i_112^post78, tmp_35^0'=tmp_35^post78, rcd_106^0'=rcd_106^post78, a_222^0'=a_222^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78, x_22^0'=x_22^post78, rcd_199^0'=rcd_199^post78, head_16^0'=head_16^post78, temp0_32^0'=temp0_32^post78, r_149^0'=r_149^post78, y_26^0'=y_26^post78, rcd_71^0'=rcd_71^post78, i_198^0'=i_198^post78, x_207^0'=x_207^post78, rcd_185^0'=rcd_185^post78, a_279^0'=a_279^post78, t_23^0'=t_23^post78, len_221^0'=len_221^post78, x_SLAM_f_20^0'=x_SLAM_f_20^post78, rcd_284^0'=rcd_284^post78, head_SLAM_f_30^0'=head_SLAM_f_30^post78, temp_37^0'=temp_37^post78, r_41^0'=r_41^post78, a_174^0'=a_174^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78, len_159^0'=len_159^post78, rcd_194^0'=rcd_194^post78, f_202^0'=f_202^post78, temp0_19^0'=temp0_19^post78, nondet_12^0'=nondet_12^post78, y_21^0'=y_21^post78, rcd_308^0'=rcd_308^post78, rcd_45^0'=rcd_45^post78, i_130^0'=i_130^post78, x_154^0'=x_154^post78, rcd_114^0'=rcd_114^post78, a_253^0'=a_253^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, x_27^0'=x_27^post78, rcd_220^0'=rcd_220^post78, head_33^0'=head_33^post78, temp_36^0'=temp_36^post78, r_192^0'=r_192^post78, (-r_149^post78+r_149^0 == 0 /\ rcd_194^0-rcd_194^post78 == 0 /\ y_26^0-y_26^post78 == 0 /\ result_11^0-result_11^post78 == 0 /\ -x_207^post78+x_207^0 == 0 /\ -y_21^post78+y_21^0 == 0 /\ -i_130^post78+i_130^0 == 0 /\ -rcd_185^post78+rcd_185^0 == 0 /\ a_309^0-a_309^post78 == 0 /\ i_112^0-i_112^post78 == 0 /\ -temp_36^post78+temp_36^0 == 0 /\ -f_202^post78+f_202^0 == 0 /\ -i_198^post78+i_198^0 == 0 /\ -r_192^post78+r_192^0 == 0 /\ x_22^0-x_22^post78 == 0 /\ -head_16^post78+head_16^0 == 0 /\ -r_41^post78+r_41^0 == 0 /\ -x_154^post78+x_154^0 == 0 /\ temp_37^0-temp_37^post78 == 0 /\ rcd_71^0-rcd_71^post78 == 0 /\ a_174^0-a_174^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post78 == 0 /\ -x_SLAM_f_20^post78+x_SLAM_f_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post78 == 0 /\ t_23^0-t_23^post78 == 0 /\ temp0_32^0-temp0_32^post78 == 0 /\ temp0_19^0-temp0_19^post78 == 0 /\ -rcd_288^post78+rcd_288^0 == 0 /\ rcd_193^0-rcd_193^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post78 == 0 /\ -rcd_308^post78+rcd_308^0 == 0 /\ a_139^0-a_139^post78 == 0 /\ -a_253^post78+a_253^0 == 0 /\ -rcd_284^post78+rcd_284^0 == 0 /\ length_29^0-length_29^post78 == 0 /\ -rcd_220^post78+rcd_220^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post78 == 0 /\ tail_15^0-tail_15^post78 == 0 /\ -x_27^post78+x_27^0 == 0 /\ rcd_199^0-rcd_199^post78 == 0 /\ rcd_320^0-rcd_320^post78 == 0 /\ -rcd_45^post78+rcd_45^0 == 0 /\ i_31^0-i_31^post78 == 0 /\ len_221^0-len_221^post78 == 0 /\ a_222^0-a_222^post78 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post78+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post78+tmp_35^0 == 0 /\ rcd_106^0-rcd_106^post78 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_159^0-len_159^post78 == 0 /\ -head_33^post78+head_33^0 == 0 /\ a_279^0-a_279^post78 == 0 /\ -rcd_114^post78+rcd_114^0 == 0), cost: 1
New rule:
l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l51 -> l42 : a_139^0'=a_139^post79, result_11^0'=result_11^post79, i_31^0'=i_31^post79, rcd_193^0'=rcd_193^post79, a_309^0'=a_309^post79, tail_15^0'=tail_15^post79, length_29^0'=length_29^post79, x_SLAM_f_25^0'=x_SLAM_f_25^post79, rcd_288^0'=rcd_288^post79, rcd_320^0'=rcd_320^post79, i_112^0'=i_112^post79, tmp_35^0'=tmp_35^post79, rcd_106^0'=rcd_106^post79, a_222^0'=a_222^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79, x_22^0'=x_22^post79, rcd_199^0'=rcd_199^post79, head_16^0'=head_16^post79, temp0_32^0'=temp0_32^post79, r_149^0'=r_149^post79, y_26^0'=y_26^post79, rcd_71^0'=rcd_71^post79, i_198^0'=i_198^post79, x_207^0'=x_207^post79, rcd_185^0'=rcd_185^post79, a_279^0'=a_279^post79, t_23^0'=t_23^post79, len_221^0'=len_221^post79, x_SLAM_f_20^0'=x_SLAM_f_20^post79, rcd_284^0'=rcd_284^post79, head_SLAM_f_30^0'=head_SLAM_f_30^post79, temp_37^0'=temp_37^post79, r_41^0'=r_41^post79, a_174^0'=a_174^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79, len_159^0'=len_159^post79, rcd_194^0'=rcd_194^post79, f_202^0'=f_202^post79, temp0_19^0'=temp0_19^post79, nondet_12^0'=nondet_12^post79, y_21^0'=y_21^post79, rcd_308^0'=rcd_308^post79, rcd_45^0'=rcd_45^post79, i_130^0'=i_130^post79, x_154^0'=x_154^post79, rcd_114^0'=rcd_114^post79, a_253^0'=a_253^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, x_27^0'=x_27^post79, rcd_220^0'=rcd_220^post79, head_33^0'=head_33^post79, temp_36^0'=temp_36^post79, r_192^0'=r_192^post79, (rcd_199^0-rcd_199^post79 == 0 /\ rcd_114^0-rcd_114^post79 == 0 /\ r_41^0-r_41^post79 == 0 /\ -a_279^post79+a_279^0 == 0 /\ -head_33^post79+head_33^0 == 0 /\ i_31^0-i_31^post79 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post79 == 0 /\ rcd_185^0-rcd_185^post79 == 0 /\ -len_159^post79+len_159^0 == 0 /\ -rcd_220^post79+rcd_220^0 == 0 /\ -a_253^post79+a_253^0 == 0 /\ tmp_35^0-tmp_35^post79 == 0 /\ a_139^0-a_139^post79 == 0 /\ -len_221^post79+len_221^0 == 0 /\ -rcd_45^post79+rcd_45^0 == 0 /\ -temp0_19^post79+temp0_19^0 == 0 /\ head_16^0-head_16^post79 == 0 /\ rcd_308^0-rcd_308^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_320^post79+rcd_320^0 == 0 /\ -x_27^post79+x_27^0 == 0 /\ y_26^0-y_26^post79 == 0 /\ length_29^0-length_29^post79 == 0 /\ x_22^0-x_22^post79 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ f_202^0-f_202^post79 == 0 /\ tail_15^0-tail_15^post79 == 0 /\ i_112^0-i_112^post79 == 0 /\ -rcd_193^post79+rcd_193^0 == 0 /\ i_198^0-i_198^post79 == 0 /\ rcd_106^0-rcd_106^post79 == 0 /\ -temp_37^post79+temp_37^0 == 0 /\ a_222^0-a_222^post79 == 0 /\ -i_130^post79+i_130^0 == 0 /\ -temp_36^post79+temp_36^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post79 == 0 /\ -r_192^post79+r_192^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post79 == 0 /\ r_149^0-r_149^post79 == 0 /\ -rcd_194^post79+rcd_194^0 == 0 /\ -head_SLAM_f_30^post79+head_SLAM_f_30^0 == 0 /\ x_207^0-x_207^post79 == 0 /\ -x_154^post79+x_154^0 == 0 /\ -t_23^post79+t_23^0 == 0 /\ -a_174^post79+a_174^0 == 0 /\ -y_21^post79+y_21^0 == 0 /\ -temp0_32^post79+temp0_32^0 == 0 /\ a_309^0-a_309^post79 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post79 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_284^0-rcd_284^post79 == 0 /\ -rcd_71^post79+rcd_71^0 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ rcd_288^0-rcd_288^post79 == 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 : a_139^0'=a_139^post80, result_11^0'=result_11^post80, i_31^0'=i_31^post80, rcd_193^0'=rcd_193^post80, a_309^0'=a_309^post80, tail_15^0'=tail_15^post80, length_29^0'=length_29^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, rcd_288^0'=rcd_288^post80, rcd_320^0'=rcd_320^post80, i_112^0'=i_112^post80, tmp_35^0'=tmp_35^post80, rcd_106^0'=rcd_106^post80, a_222^0'=a_222^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80, x_22^0'=x_22^post80, rcd_199^0'=rcd_199^post80, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post80, r_149^0'=r_149^post80, y_26^0'=y_26^post80, rcd_71^0'=rcd_71^post80, i_198^0'=i_198^post80, x_207^0'=x_207^post80, rcd_185^0'=rcd_185^post80, a_279^0'=a_279^post80, t_23^0'=t_23^post80, len_221^0'=len_221^post80, x_SLAM_f_20^0'=x_SLAM_f_20^post80, rcd_284^0'=rcd_284^post80, head_SLAM_f_30^0'=head_SLAM_f_30^post80, temp_37^0'=temp_37^post80, r_41^0'=r_41^post80, a_174^0'=a_174^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, len_159^0'=len_159^post80, rcd_194^0'=rcd_194^post80, f_202^0'=f_202^post80, temp0_19^0'=temp0_19^post80, nondet_12^0'=nondet_12^post80, y_21^0'=y_21^post80, rcd_308^0'=rcd_308^post80, rcd_45^0'=rcd_45^post80, i_130^0'=i_130^post80, x_154^0'=x_154^post80, rcd_114^0'=rcd_114^post80, a_253^0'=a_253^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=x_27^post80, rcd_220^0'=rcd_220^post80, head_33^0'=head_33^post80, temp_36^0'=temp_36^post80, r_192^0'=r_192^post80, (0 == 0 /\ tmp_35^0-tmp_35^post80 == 0 /\ -rcd_199^post80+rcd_199^0 == 0 /\ -len_159^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -r_192^post80+r_192^0 == 0 /\ -x_154^post80+x_154^0 == 0 /\ -i_130^post80+i_130^0 == 0 /\ -rcd_194^post80+rcd_194^0 == 0 /\ rcd_284^0-rcd_284^post80 == 0 /\ rcd_288^0-rcd_288^post80 == 0 /\ -temp_36^post80+temp_36^0 == 0 /\ -r_149^post80+r_149^0 == 0 /\ a_174^0-a_174^post80 == 0 /\ -y_26^post80+y_26^0 == 0 /\ -x_22^post80+x_22^0 == 0 /\ rcd_320^0-rcd_320^post80 == 0 /\ i_31^0-i_31^post80 == 0 /\ -y_21^post80+y_21^0 == 0 /\ -a_174^0 <= 0 /\ a_222^0-a_222^post80 == 0 /\ temp_37^0-temp_37^post80 == 0 /\ -rcd_106^post80+rcd_106^0 == 0 /\ rcd_71^0-rcd_71^post80 == 0 /\ temp0_32^0-temp0_32^post80 == 0 /\ a_139^0-a_139^post80 == 0 /\ length_29^0-length_29^post80 == 0 /\ -a_279^post80+a_279^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post80 == 0 /\ t_23^0-t_23^post80 == 0 /\ a_309^0-a_309^post80 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ -rcd_308^post80+rcd_308^0 == 0 /\ -a_253^post80+a_253^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post80 == 0 /\ head_33^0-head_33^post80 == 0 /\ -rcd_45^post80+rcd_45^0 == 0 /\ -rcd_220^post80+rcd_220^0 == 0 /\ i_112^0-i_112^post80 == 0 /\ -temp0_19^post80+temp0_19^0 == 0 /\ len_159^0-len_159^post80 == 0 /\ i_198^0-i_198^post80 == 0 /\ -rcd_114^post80+rcd_114^0 == 0 /\ -len_221^post80+len_221^0 == 0 /\ rcd_193^0-rcd_193^post80 == 0 /\ rcd_185^0-rcd_185^post80 == 0 /\ -x_27^post80+x_27^0 == 0 /\ result_11^0-result_11^post80 == 0), cost: 1
New rule:
l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l53 -> l54 : a_139^0'=a_139^post81, result_11^0'=result_11^post81, i_31^0'=i_31^post81, rcd_193^0'=rcd_193^post81, a_309^0'=a_309^post81, tail_15^0'=tail_15^post81, length_29^0'=length_29^post81, x_SLAM_f_25^0'=x_SLAM_f_25^post81, rcd_288^0'=rcd_288^post81, rcd_320^0'=rcd_320^post81, i_112^0'=i_112^post81, tmp_35^0'=tmp_35^post81, rcd_106^0'=rcd_106^post81, a_222^0'=a_222^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81, x_22^0'=x_22^post81, rcd_199^0'=rcd_199^post81, head_16^0'=head_16^post81, temp0_32^0'=temp0_32^post81, r_149^0'=r_149^post81, y_26^0'=y_26^post81, rcd_71^0'=rcd_71^post81, i_198^0'=i_198^post81, x_207^0'=x_207^post81, rcd_185^0'=rcd_185^post81, a_279^0'=a_279^post81, t_23^0'=t_23^post81, len_221^0'=len_221^post81, x_SLAM_f_20^0'=x_SLAM_f_20^post81, rcd_284^0'=rcd_284^post81, head_SLAM_f_30^0'=head_SLAM_f_30^post81, temp_37^0'=temp_37^post81, r_41^0'=r_41^post81, a_174^0'=a_174^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81, len_159^0'=len_159^post81, rcd_194^0'=rcd_194^post81, f_202^0'=f_202^post81, temp0_19^0'=temp0_19^post81, nondet_12^0'=nondet_12^post81, y_21^0'=y_21^post81, rcd_308^0'=rcd_308^post81, rcd_45^0'=rcd_45^post81, i_130^0'=i_130^post81, x_154^0'=x_154^post81, rcd_114^0'=rcd_114^post81, a_253^0'=a_253^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, x_27^0'=x_27^post81, rcd_220^0'=rcd_220^post81, head_33^0'=head_33^post81, temp_36^0'=temp_36^post81, r_192^0'=r_192^post81, (i_31^0-i_31^post81 == 0 /\ -head_33^post81+head_33^0 == 0 /\ -a_253^post81+a_253^0 == 0 /\ i_112^0-i_112^post81 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post81 == 0 /\ rcd_199^0-rcd_199^post81 == 0 /\ rcd_320^0-rcd_320^post81 == 0 /\ -len_159^post81+len_159^0 == 0 /\ rcd_193^0-rcd_193^post81 == 0 /\ -rcd_308^post81+rcd_308^0 == 0 /\ result_11^0-result_11^post81 == 0 /\ -rcd_185^post81+rcd_185^0 == 0 /\ length_29^0-length_29^post81 == 0 /\ 1+y_26^0-x_27^0 <= 0 /\ temp0_32^0-temp0_32^post81 == 0 /\ -x_207^post81+x_207^0 == 0 /\ -rcd_220^post81+rcd_220^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_114^post81+rcd_114^0 == 0 /\ -rcd_45^post81+rcd_45^0 == 0 /\ y_26^0-y_26^post81 == 0 /\ -temp0_19^post81+temp0_19^0 == 0 /\ -x_27^post81+x_27^0 == 0 /\ f_202^0-f_202^post81 == 0 /\ -r_192^post81+r_192^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post81 == 0 /\ -temp_37^post81+temp_37^0 == 0 /\ a_279^0-a_279^post81 == 0 /\ -temp_36^post81+temp_36^0 == 0 /\ rcd_71^0-rcd_71^post81 == 0 /\ -a_174^post81+a_174^0 == 0 /\ -tail_15^post81+tail_15^0 == 0 /\ -rcd_194^post81+rcd_194^0 == 0 /\ -i_130^post81+i_130^0 == 0 /\ i_198^0-i_198^post81 == 0 /\ len_221^0-len_221^post81 == 0 /\ rcd_106^0-rcd_106^post81 == 0 /\ y_21^0-y_21^post81 == 0 /\ r_149^0-r_149^post81 == 0 /\ -t_23^post81+t_23^0 == 0 /\ -head_SLAM_f_30^post81+head_SLAM_f_30^0 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ tmp_35^0-tmp_35^post81 == 0 /\ -rcd_284^post81+rcd_284^0 == 0 /\ -x_154^post81+x_154^0 == 0 /\ a_139^0-a_139^post81 == 0 /\ a_222^0-a_222^post81 == 0 /\ -x_SLAM_f_20^post81+x_SLAM_f_20^0 == 0 /\ head_16^0-head_16^post81 == 0 /\ -r_41^post81+r_41^0 == 0 /\ a_309^0-a_309^post81 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_288^post81+rcd_288^0 == 0), cost: 1
New rule:
l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l53 -> l54 : a_139^0'=a_139^post82, result_11^0'=result_11^post82, i_31^0'=i_31^post82, rcd_193^0'=rcd_193^post82, a_309^0'=a_309^post82, tail_15^0'=tail_15^post82, length_29^0'=length_29^post82, x_SLAM_f_25^0'=x_SLAM_f_25^post82, rcd_288^0'=rcd_288^post82, rcd_320^0'=rcd_320^post82, i_112^0'=i_112^post82, tmp_35^0'=tmp_35^post82, rcd_106^0'=rcd_106^post82, a_222^0'=a_222^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82, x_22^0'=x_22^post82, rcd_199^0'=rcd_199^post82, head_16^0'=head_16^post82, temp0_32^0'=temp0_32^post82, r_149^0'=r_149^post82, y_26^0'=y_26^post82, rcd_71^0'=rcd_71^post82, i_198^0'=i_198^post82, x_207^0'=x_207^post82, rcd_185^0'=rcd_185^post82, a_279^0'=a_279^post82, t_23^0'=t_23^post82, len_221^0'=len_221^post82, x_SLAM_f_20^0'=x_SLAM_f_20^post82, rcd_284^0'=rcd_284^post82, head_SLAM_f_30^0'=head_SLAM_f_30^post82, temp_37^0'=temp_37^post82, r_41^0'=r_41^post82, a_174^0'=a_174^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82, len_159^0'=len_159^post82, rcd_194^0'=rcd_194^post82, f_202^0'=f_202^post82, temp0_19^0'=temp0_19^post82, nondet_12^0'=nondet_12^post82, y_21^0'=y_21^post82, rcd_308^0'=rcd_308^post82, rcd_45^0'=rcd_45^post82, i_130^0'=i_130^post82, x_154^0'=x_154^post82, rcd_114^0'=rcd_114^post82, a_253^0'=a_253^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, x_27^0'=x_27^post82, rcd_220^0'=rcd_220^post82, head_33^0'=head_33^post82, temp_36^0'=temp_36^post82, r_192^0'=r_192^post82, (x_207^0-x_207^post82 == 0 /\ length_29^0-length_29^post82 == 0 /\ 1-y_26^0+x_27^0 <= 0 /\ -y_21^post82+y_21^0 == 0 /\ -rcd_114^post82+rcd_114^0 == 0 /\ result_11^0-result_11^post82 == 0 /\ -r_149^post82+r_149^0 == 0 /\ -i_198^post82+i_198^0 == 0 /\ head_16^0-head_16^post82 == 0 /\ -temp_36^post82+temp_36^0 == 0 /\ -f_202^post82+f_202^0 == 0 /\ i_112^0-i_112^post82 == 0 /\ -i_130^post82+i_130^0 == 0 /\ -r_192^post82+r_192^0 == 0 /\ rcd_288^0-rcd_288^post82 == 0 /\ tmp_35^0-tmp_35^post82 == 0 /\ -temp_37^post82+temp_37^0 == 0 /\ i_31^0-i_31^post82 == 0 /\ -head_SLAM_f_30^post82+head_SLAM_f_30^0 == 0 /\ -x_154^post82+x_154^0 == 0 /\ -y_26^post82+y_26^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post82 == 0 /\ -x_SLAM_f_20^post82+x_SLAM_f_20^0 == 0 /\ -rcd_106^post82+rcd_106^0 == 0 /\ tail_15^0-tail_15^post82 == 0 /\ rcd_199^0-rcd_199^post82 == 0 /\ -rcd_71^post82+rcd_71^0 == 0 /\ -t_23^post82+t_23^0 == 0 /\ rcd_193^0-rcd_193^post82 == 0 /\ -x_22^post82+x_22^0 == 0 /\ -len_159^post82+len_159^0 == 0 /\ -a_253^post82+a_253^0 == 0 /\ -temp0_32^post82+temp0_32^0 == 0 /\ rcd_185^0-rcd_185^post82 == 0 /\ -len_221^post82+len_221^0 == 0 /\ a_222^0-a_222^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post82 == 0 /\ rcd_220^0-rcd_220^post82 == 0 /\ -rcd_308^post82+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post82 == 0 /\ -rcd_284^post82+rcd_284^0 == 0 /\ a_139^0-a_139^post82 == 0 /\ a_309^0-a_309^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ a_174^0-a_174^post82 == 0 /\ r_41^0-r_41^post82 == 0 /\ -rcd_320^post82+rcd_320^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post82+x_27^0 == 0 /\ a_279^0-a_279^post82 == 0 /\ -head_33^post82+head_33^0 == 0 /\ -temp0_19^post82+temp0_19^0 == 0 /\ -rcd_45^post82+rcd_45^0 == 0), cost: 1
New rule:
l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l54 -> l55 : a_139^0'=a_139^post83, result_11^0'=result_11^post83, i_31^0'=i_31^post83, rcd_193^0'=rcd_193^post83, a_309^0'=a_309^post83, tail_15^0'=tail_15^post83, length_29^0'=length_29^post83, x_SLAM_f_25^0'=x_SLAM_f_25^post83, rcd_288^0'=rcd_288^post83, rcd_320^0'=rcd_320^post83, i_112^0'=i_112^post83, tmp_35^0'=tmp_35^post83, rcd_106^0'=rcd_106^post83, a_222^0'=a_222^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83, x_22^0'=x_22^post83, rcd_199^0'=rcd_199^post83, head_16^0'=head_16^post83, temp0_32^0'=temp0_32^post83, r_149^0'=r_149^post83, y_26^0'=y_26^post83, rcd_71^0'=rcd_71^post83, i_198^0'=i_198^post83, x_207^0'=x_207^post83, rcd_185^0'=rcd_185^post83, a_279^0'=a_279^post83, t_23^0'=t_23^post83, len_221^0'=len_221^post83, x_SLAM_f_20^0'=x_SLAM_f_20^post83, rcd_284^0'=rcd_284^post83, head_SLAM_f_30^0'=head_SLAM_f_30^post83, temp_37^0'=temp_37^post83, r_41^0'=r_41^post83, a_174^0'=a_174^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83, len_159^0'=len_159^post83, rcd_194^0'=rcd_194^post83, f_202^0'=f_202^post83, temp0_19^0'=temp0_19^post83, nondet_12^0'=nondet_12^post83, y_21^0'=y_21^post83, rcd_308^0'=rcd_308^post83, rcd_45^0'=rcd_45^post83, i_130^0'=i_130^post83, x_154^0'=x_154^post83, rcd_114^0'=rcd_114^post83, a_253^0'=a_253^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, x_27^0'=x_27^post83, rcd_220^0'=rcd_220^post83, head_33^0'=head_33^post83, temp_36^0'=temp_36^post83, r_192^0'=r_192^post83, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post83 == 0 /\ rcd_284^0-rcd_284^post83 == 0 /\ -head_33^post83+head_33^0 == 0 /\ i_130^0-i_130^post83 == 0 /\ -rcd_308^post83+rcd_308^0 == 0 /\ -a_253^post83+a_253^0 == 0 /\ rcd_199^0-rcd_199^post83 == 0 /\ -1+a_174^0-a_222^post83 <= 0 /\ temp_37^0-temp_37^post83 == 0 /\ tail_15^0-tail_15^post83 == 0 /\ x_22^0-x_22^post83 == 0 /\ -a_279^post83+a_279^0 == 0 /\ rcd_106^0-rcd_106^post83 == 0 /\ rcd_220^post83-rcd_45^0 <= 0 /\ len_159^0-len_159^post83 == 0 /\ i_198^0-i_198^post83 == 0 /\ tail_15^0-y_26^0 <= 0 /\ a_174^0-a_174^post83 == 0 /\ r_149^0-r_149^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post83+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ t_23^0-t_23^post83 == 0 /\ result_11^0-result_11^post83 == 0 /\ -f_202^post83+f_202^0 == 0 /\ -1-len_159^0+len_221^post83 <= 0 /\ -x_207^post83+x_207^0 == 0 /\ -x_27^post83+x_27^0 == 0 /\ rcd_45^0-rcd_45^post83 == 0 /\ -rcd_220^post83+rcd_45^0 <= 0 /\ i_112^0-i_112^post83 == 0 /\ length_29^0-length_29^post83 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post83 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -y_21^post83+y_21^0 == 0 /\ -rcd_114^post83+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post83 == 0 /\ -rcd_194^post83+rcd_194^0 == 0 /\ 1-a_174^0+a_222^post83 <= 0 /\ rcd_71^0-rcd_71^post83 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post83 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_36^post83+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post83 == 0 /\ -rcd_185^post83+rcd_185^0 == 0 /\ -f_202^0+x_27^0 <= 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -x_SLAM_f_20^post83+x_SLAM_f_20^0 == 0 /\ 1+len_159^0-len_221^post83 <= 0 /\ -head_16^post83+head_16^0 == 0 /\ rcd_193^0-rcd_193^post83 == 0 /\ temp0_19^0-temp0_19^post83 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_309^0-a_309^post83 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post83 == 0 /\ -rcd_288^post83+rcd_288^0 == 0 /\ -x_154^post83+x_154^0 == 0 /\ a_139^0-a_139^post83 == 0 /\ r_192^0-r_192^post83 == 0 /\ -r_41^post83+r_41^0 == 0 /\ tmp_35^0-tmp_35^post83 == 0 /\ y_26^0-y_26^post83 == 0 /\ f_202^0-x_27^0 <= 0), cost: 1
New rule:
l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l55 -> l56 : a_139^0'=a_139^post84, result_11^0'=result_11^post84, i_31^0'=i_31^post84, rcd_193^0'=rcd_193^post84, a_309^0'=a_309^post84, tail_15^0'=tail_15^post84, length_29^0'=length_29^post84, x_SLAM_f_25^0'=x_SLAM_f_25^post84, rcd_288^0'=rcd_288^post84, rcd_320^0'=rcd_320^post84, i_112^0'=i_112^post84, tmp_35^0'=tmp_35^post84, rcd_106^0'=rcd_106^post84, a_222^0'=a_222^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84, x_22^0'=x_22^post84, rcd_199^0'=rcd_199^post84, head_16^0'=head_16^post84, temp0_32^0'=temp0_32^post84, r_149^0'=r_149^post84, y_26^0'=y_26^post84, rcd_71^0'=rcd_71^post84, i_198^0'=i_198^post84, x_207^0'=x_207^post84, rcd_185^0'=rcd_185^post84, a_279^0'=a_279^post84, t_23^0'=t_23^post84, len_221^0'=len_221^post84, x_SLAM_f_20^0'=x_SLAM_f_20^post84, rcd_284^0'=rcd_284^post84, head_SLAM_f_30^0'=head_SLAM_f_30^post84, temp_37^0'=temp_37^post84, r_41^0'=r_41^post84, a_174^0'=a_174^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84, len_159^0'=len_159^post84, rcd_194^0'=rcd_194^post84, f_202^0'=f_202^post84, temp0_19^0'=temp0_19^post84, nondet_12^0'=nondet_12^post84, y_21^0'=y_21^post84, rcd_308^0'=rcd_308^post84, rcd_45^0'=rcd_45^post84, i_130^0'=i_130^post84, x_154^0'=x_154^post84, rcd_114^0'=rcd_114^post84, a_253^0'=a_253^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, x_27^0'=x_27^post84, rcd_220^0'=rcd_220^post84, head_33^0'=head_33^post84, temp_36^0'=temp_36^post84, r_192^0'=r_192^post84, (rcd_193^0-rcd_193^post84 == 0 /\ -rcd_114^post84+rcd_114^0 == 0 /\ rcd_45^0-rcd_45^post84 == 0 /\ 1+head_16^0-y_26^0 <= 0 /\ rcd_185^0-rcd_185^post84 == 0 /\ x_207^0-x_207^post84 == 0 /\ -i_130^post84+i_130^0 == 0 /\ rcd_288^0-rcd_288^post84 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post84 == 0 /\ -r_192^post84+r_192^0 == 0 /\ -i_198^post84+i_198^0 == 0 /\ y_26^0-y_26^post84 == 0 /\ a_139^0-a_139^post84 == 0 /\ length_29^0-length_29^post84 == 0 /\ -x_SLAM_f_20^post84+x_SLAM_f_20^0 == 0 /\ -rcd_284^post84+rcd_284^0 == 0 /\ -temp_37^post84+temp_37^0 == 0 /\ -a_174^post84+a_174^0 == 0 /\ tail_15^0-tail_15^post84 == 0 /\ rcd_199^0-rcd_199^post84 == 0 /\ i_31^0-i_31^post84 == 0 /\ a_253^0-a_253^post84 == 0 /\ rcd_106^0-rcd_106^post84 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post84 == 0 /\ -t_23^post84+t_23^0 == 0 /\ -x_154^post84+x_154^0 == 0 /\ -y_21^post84+y_21^0 == 0 /\ a_279^0-a_279^post84 == 0 /\ temp0_32^0-temp0_32^post84 == 0 /\ -len_159^post84+len_159^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_308^post84+rcd_308^0 == 0 /\ -head_33^post84+head_33^0 == 0 /\ r_149^0-r_149^post84 == 0 /\ head_16^0-head_16^post84 == 0 /\ -temp0_19^post84+temp0_19^0 == 0 /\ a_222^0-a_222^post84 == 0 /\ f_202^0-f_202^post84 == 0 /\ -rcd_220^post84+rcd_220^0 == 0 /\ tmp_35^0-tmp_35^post84 == 0 /\ a_309^0-a_309^post84 == 0 /\ rcd_194^0-rcd_194^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ -temp_36^post84+temp_36^0 == 0 /\ x_22^0-x_22^post84 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post84 == 0 /\ rcd_71^0-rcd_71^post84 == 0 /\ -x_27^post84+x_27^0 == 0 /\ r_41^0-r_41^post84 == 0 /\ -rcd_320^post84+rcd_320^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post84+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post84+i_112^0 == 0 /\ -len_221^post84+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
New rule:
l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l55 -> l56 : a_139^0'=a_139^post85, result_11^0'=result_11^post85, i_31^0'=i_31^post85, rcd_193^0'=rcd_193^post85, a_309^0'=a_309^post85, tail_15^0'=tail_15^post85, length_29^0'=length_29^post85, x_SLAM_f_25^0'=x_SLAM_f_25^post85, rcd_288^0'=rcd_288^post85, rcd_320^0'=rcd_320^post85, i_112^0'=i_112^post85, tmp_35^0'=tmp_35^post85, rcd_106^0'=rcd_106^post85, a_222^0'=a_222^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85, x_22^0'=x_22^post85, rcd_199^0'=rcd_199^post85, head_16^0'=head_16^post85, temp0_32^0'=temp0_32^post85, r_149^0'=r_149^post85, y_26^0'=y_26^post85, rcd_71^0'=rcd_71^post85, i_198^0'=i_198^post85, x_207^0'=x_207^post85, rcd_185^0'=rcd_185^post85, a_279^0'=a_279^post85, t_23^0'=t_23^post85, len_221^0'=len_221^post85, x_SLAM_f_20^0'=x_SLAM_f_20^post85, rcd_284^0'=rcd_284^post85, head_SLAM_f_30^0'=head_SLAM_f_30^post85, temp_37^0'=temp_37^post85, r_41^0'=r_41^post85, a_174^0'=a_174^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85, len_159^0'=len_159^post85, rcd_194^0'=rcd_194^post85, f_202^0'=f_202^post85, temp0_19^0'=temp0_19^post85, nondet_12^0'=nondet_12^post85, y_21^0'=y_21^post85, rcd_308^0'=rcd_308^post85, rcd_45^0'=rcd_45^post85, i_130^0'=i_130^post85, x_154^0'=x_154^post85, rcd_114^0'=rcd_114^post85, a_253^0'=a_253^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, x_27^0'=x_27^post85, rcd_220^0'=rcd_220^post85, head_33^0'=head_33^post85, temp_36^0'=temp_36^post85, r_192^0'=r_192^post85, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post85 == 0 /\ x_22^0-x_22^post85 == 0 /\ len_221^0-len_221^post85 == 0 /\ tail_15^0-tail_15^post85 == 0 /\ -temp0_19^post85+temp0_19^0 == 0 /\ temp_37^0-temp_37^post85 == 0 /\ i_198^0-i_198^post85 == 0 /\ -head_33^post85+head_33^0 == 0 /\ -rcd_220^post85+rcd_220^0 == 0 /\ -a_253^post85+a_253^0 == 0 /\ -rcd_308^post85+rcd_308^0 == 0 /\ result_11^0-result_11^post85 == 0 /\ len_159^0-len_159^post85 == 0 /\ -a_279^post85+a_279^0 == 0 /\ rcd_193^0-rcd_193^post85 == 0 /\ -x_27^post85+x_27^0 == 0 /\ -temp_36^post85+temp_36^0 == 0 /\ temp0_32^0-temp0_32^post85 == 0 /\ -f_202^post85+f_202^0 == 0 /\ r_149^0-r_149^post85 == 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_112^post85+i_112^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post85 == 0 /\ t_23^0-t_23^post85 == 0 /\ x_154^0-x_154^post85 == 0 /\ a_222^0-a_222^post85 == 0 /\ -x_207^post85+x_207^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_288^0-rcd_288^post85 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post85 == 0 /\ rcd_284^0-rcd_284^post85 == 0 /\ -rcd_114^post85+rcd_114^0 == 0 /\ a_309^0-a_309^post85 == 0 /\ -rcd_106^post85+rcd_106^0 == 0 /\ -r_192^post85+r_192^0 == 0 /\ rcd_320^0-rcd_320^post85 == 0 /\ -y_21^post85+y_21^0 == 0 /\ -rcd_199^post85+rcd_199^0 == 0 /\ i_31^0-i_31^post85 == 0 /\ -i_130^post85+i_130^0 == 0 /\ -rcd_45^post85+rcd_45^0 == 0 /\ rcd_71^0-rcd_71^post85 == 0 /\ -rcd_194^post85+rcd_194^0 == 0 /\ rcd_185^0-rcd_185^post85 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -head_16^post85+head_16^0 == 0 /\ a_139^0-a_139^post85 == 0 /\ tmp_35^0-tmp_35^post85 == 0 /\ -r_41^post85+r_41^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ -head_SLAM_f_30^post85+head_SLAM_f_30^0 == 0 /\ -a_174^post85+a_174^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ -y_26^post85+y_26^0 == 0), cost: 1
New rule:
l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l56 -> l57 : a_139^0'=a_139^post86, result_11^0'=result_11^post86, i_31^0'=i_31^post86, rcd_193^0'=rcd_193^post86, a_309^0'=a_309^post86, tail_15^0'=tail_15^post86, length_29^0'=length_29^post86, x_SLAM_f_25^0'=x_SLAM_f_25^post86, rcd_288^0'=rcd_288^post86, rcd_320^0'=rcd_320^post86, i_112^0'=i_112^post86, tmp_35^0'=tmp_35^post86, rcd_106^0'=rcd_106^post86, a_222^0'=a_222^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86, x_22^0'=x_22^post86, rcd_199^0'=rcd_199^post86, head_16^0'=head_16^post86, temp0_32^0'=temp0_32^post86, r_149^0'=r_149^post86, y_26^0'=y_26^post86, rcd_71^0'=rcd_71^post86, i_198^0'=i_198^post86, x_207^0'=x_207^post86, rcd_185^0'=rcd_185^post86, a_279^0'=a_279^post86, t_23^0'=t_23^post86, len_221^0'=len_221^post86, x_SLAM_f_20^0'=x_SLAM_f_20^post86, rcd_284^0'=rcd_284^post86, head_SLAM_f_30^0'=head_SLAM_f_30^post86, temp_37^0'=temp_37^post86, r_41^0'=r_41^post86, a_174^0'=a_174^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86, len_159^0'=len_159^post86, rcd_194^0'=rcd_194^post86, f_202^0'=f_202^post86, temp0_19^0'=temp0_19^post86, nondet_12^0'=nondet_12^post86, y_21^0'=y_21^post86, rcd_308^0'=rcd_308^post86, rcd_45^0'=rcd_45^post86, i_130^0'=i_130^post86, x_154^0'=x_154^post86, rcd_114^0'=rcd_114^post86, a_253^0'=a_253^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, x_27^0'=x_27^post86, rcd_220^0'=rcd_220^post86, head_33^0'=head_33^post86, temp_36^0'=temp_36^post86, r_192^0'=r_192^post86, (-r_192^post86+r_192^0 == 0 /\ a_139^0-a_139^post86 == 0 /\ temp0_32^0-temp0_32^post86 == 0 /\ rcd_193^0-rcd_193^post86 == 0 /\ -i_198^post86+i_198^0 == 0 /\ -rcd_45^post86+rcd_45^0 == 0 /\ -i_130^post86+i_130^0 == 0 /\ -r_149^post86+r_149^0 == 0 /\ rcd_194^0-rcd_194^post86 == 0 /\ -temp_37^post86+temp_37^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post86 == 0 /\ -x_154^post86+x_154^0 == 0 /\ i_112^0-i_112^post86 == 0 /\ x_22^0-x_22^post86 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post86 == 0 /\ f_202^0-f_202^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ 1+y_26^0-x_207^0 <= 0 /\ -a_174^post86+a_174^0 == 0 /\ tail_15^0-tail_15^post86 == 0 /\ -r_41^post86+r_41^0 == 0 /\ rcd_199^0-rcd_199^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ result_11^0-result_11^post86 == 0 /\ len_221^0-len_221^post86 == 0 /\ a_279^0-a_279^post86 == 0 /\ -x_SLAM_f_25^post86+x_SLAM_f_25^0 == 0 /\ -len_159^post86+len_159^0 == 0 /\ tmp_35^0-tmp_35^post86 == 0 /\ -x_SLAM_f_20^post86+x_SLAM_f_20^0 == 0 /\ -a_253^post86+a_253^0 == 0 /\ head_16^0-head_16^post86 == 0 /\ rcd_288^0-rcd_288^post86 == 0 /\ y_26^0-y_26^post86 == 0 /\ -head_33^post86+head_33^0 == 0 /\ -rcd_308^post86+rcd_308^0 == 0 /\ -rcd_284^post86+rcd_284^0 == 0 /\ -rcd_220^post86+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post86 == 0 /\ -temp_36^post86+temp_36^0 == 0 /\ a_309^0-a_309^post86 == 0 /\ -x_27^post86+x_27^0 == 0 /\ -rcd_185^post86+rcd_185^0 == 0 /\ -a_222^post86+a_222^0 == 0 /\ rcd_106^0-rcd_106^post86 == 0 /\ rcd_71^0-rcd_71^post86 == 0 /\ -x_207^post86+x_207^0 == 0 /\ i_31^0-i_31^post86 == 0 /\ -temp0_19^post86+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post86 == 0 /\ -rcd_114^post86+rcd_114^0 == 0), cost: 1
New rule:
l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l56 -> l57 : a_139^0'=a_139^post87, result_11^0'=result_11^post87, i_31^0'=i_31^post87, rcd_193^0'=rcd_193^post87, a_309^0'=a_309^post87, tail_15^0'=tail_15^post87, length_29^0'=length_29^post87, x_SLAM_f_25^0'=x_SLAM_f_25^post87, rcd_288^0'=rcd_288^post87, rcd_320^0'=rcd_320^post87, i_112^0'=i_112^post87, tmp_35^0'=tmp_35^post87, rcd_106^0'=rcd_106^post87, a_222^0'=a_222^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87, x_22^0'=x_22^post87, rcd_199^0'=rcd_199^post87, head_16^0'=head_16^post87, temp0_32^0'=temp0_32^post87, r_149^0'=r_149^post87, y_26^0'=y_26^post87, rcd_71^0'=rcd_71^post87, i_198^0'=i_198^post87, x_207^0'=x_207^post87, rcd_185^0'=rcd_185^post87, a_279^0'=a_279^post87, t_23^0'=t_23^post87, len_221^0'=len_221^post87, x_SLAM_f_20^0'=x_SLAM_f_20^post87, rcd_284^0'=rcd_284^post87, head_SLAM_f_30^0'=head_SLAM_f_30^post87, temp_37^0'=temp_37^post87, r_41^0'=r_41^post87, a_174^0'=a_174^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87, len_159^0'=len_159^post87, rcd_194^0'=rcd_194^post87, f_202^0'=f_202^post87, temp0_19^0'=temp0_19^post87, nondet_12^0'=nondet_12^post87, y_21^0'=y_21^post87, rcd_308^0'=rcd_308^post87, rcd_45^0'=rcd_45^post87, i_130^0'=i_130^post87, x_154^0'=x_154^post87, rcd_114^0'=rcd_114^post87, a_253^0'=a_253^post87, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post87, x_27^0'=x_27^post87, rcd_220^0'=rcd_220^post87, head_33^0'=head_33^post87, temp_36^0'=temp_36^post87, r_192^0'=r_192^post87, (-len_221^post87+len_221^0 == 0 /\ -head_33^post87+head_33^0 == 0 /\ x_22^0-x_22^post87 == 0 /\ -len_159^post87+len_159^0 == 0 /\ 1-y_26^0+x_207^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post87 == 0 /\ rcd_114^0-rcd_114^post87 == 0 /\ -rcd_284^post87+rcd_284^0 == 0 /\ tail_15^0-tail_15^post87 == 0 /\ rcd_185^0-rcd_185^post87 == 0 /\ -x_SLAM_f_20^post87+x_SLAM_f_20^0 == 0 /\ -a_253^post87+a_253^0 == 0 /\ -rcd_308^post87+rcd_308^0 == 0 /\ -a_279^post87+a_279^0 == 0 /\ -rcd_220^post87+rcd_220^0 == 0 /\ x_154^0-x_154^post87 == 0 /\ a_139^0-a_139^post87 == 0 /\ x_207^0-x_207^post87 == 0 /\ r_149^0-r_149^post87 == 0 /\ -rcd_45^post87+rcd_45^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post87+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_27^post87+x_27^0 == 0 /\ tmp_35^0-tmp_35^post87 == 0 /\ rcd_193^0-rcd_193^post87 == 0 /\ -temp0_19^post87+temp0_19^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post87 == 0 /\ -a_222^post87+a_222^0 == 0 /\ rcd_288^0-rcd_288^post87 == 0 /\ i_112^0-i_112^post87 == 0 /\ -i_198^post87+i_198^0 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ rcd_320^0-rcd_320^post87 == 0 /\ -a_309^post87+a_309^0 == 0 /\ i_31^0-i_31^post87 == 0 /\ -i_130^post87+i_130^0 == 0 /\ rcd_199^0-rcd_199^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post87 == 0 /\ -temp_36^post87+temp_36^0 == 0 /\ result_11^0-result_11^post87 == 0 /\ -y_21^post87+y_21^0 == 0 /\ -f_202^post87+f_202^0 == 0 /\ -temp_37^post87+temp_37^0 == 0 /\ -r_192^post87+r_192^0 == 0 /\ -y_26^post87+y_26^0 == 0 /\ -rcd_71^post87+rcd_71^0 == 0 /\ head_16^0-head_16^post87 == 0 /\ -head_SLAM_f_30^post87+head_SLAM_f_30^0 == 0 /\ -a_174^post87+a_174^0 == 0 /\ rcd_194^0-rcd_194^post87 == 0 /\ -rcd_106^post87+rcd_106^0 == 0 /\ -t_23^post87+t_23^0 == 0 /\ r_41^0-r_41^post87 == 0 /\ length_29^0-length_29^post87 == 0 /\ -temp0_32^post87+temp0_32^0 == 0), cost: 1
New rule:
l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l57 -> l52 : a_139^0'=a_139^post88, result_11^0'=result_11^post88, i_31^0'=i_31^post88, rcd_193^0'=rcd_193^post88, a_309^0'=a_309^post88, tail_15^0'=tail_15^post88, length_29^0'=length_29^post88, x_SLAM_f_25^0'=x_SLAM_f_25^post88, rcd_288^0'=rcd_288^post88, rcd_320^0'=rcd_320^post88, i_112^0'=i_112^post88, tmp_35^0'=tmp_35^post88, rcd_106^0'=rcd_106^post88, a_222^0'=a_222^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88, x_22^0'=x_22^post88, rcd_199^0'=rcd_199^post88, head_16^0'=head_16^post88, temp0_32^0'=temp0_32^post88, r_149^0'=r_149^post88, y_26^0'=y_26^post88, rcd_71^0'=rcd_71^post88, i_198^0'=i_198^post88, x_207^0'=x_207^post88, rcd_185^0'=rcd_185^post88, a_279^0'=a_279^post88, t_23^0'=t_23^post88, len_221^0'=len_221^post88, x_SLAM_f_20^0'=x_SLAM_f_20^post88, rcd_284^0'=rcd_284^post88, head_SLAM_f_30^0'=head_SLAM_f_30^post88, temp_37^0'=temp_37^post88, r_41^0'=r_41^post88, a_174^0'=a_174^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88, len_159^0'=len_159^post88, rcd_194^0'=rcd_194^post88, f_202^0'=f_202^post88, temp0_19^0'=temp0_19^post88, nondet_12^0'=nondet_12^post88, y_21^0'=y_21^post88, rcd_308^0'=rcd_308^post88, rcd_45^0'=rcd_45^post88, i_130^0'=i_130^post88, x_154^0'=x_154^post88, rcd_114^0'=rcd_114^post88, a_253^0'=a_253^post88, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post88, x_27^0'=x_27^post88, rcd_220^0'=rcd_220^post88, head_33^0'=head_33^post88, temp_36^0'=temp_36^post88, r_192^0'=r_192^post88, (0 == 0 /\ -rcd_194^post88+rcd_194^0 == 0 /\ a_222^0-a_222^post88 == 0 /\ -r_149^post88+r_149^0 == 0 /\ a_139^0-a_139^post88 == 0 /\ -len_221^0+len_159^post88 <= 0 /\ -rcd_114^post88+rcd_114^0 == 0 /\ -r_192^post88+r_192^0 == 0 /\ -i_130^post88+i_130^0 == 0 /\ -rcd_71^post88+rcd_71^0 == 0 /\ -temp_36^post88+temp_36^0 == 0 /\ -y_21^post88+y_21^0 == 0 /\ t_23^0-t_23^post88 == 0 /\ -f_202^post88+f_202^0 == 0 /\ x_22^0-x_22^post88 == 0 /\ a_309^0-a_309^post88 == 0 /\ len_221^0-len_159^post88 <= 0 /\ i_112^0-i_112^post88 == 0 /\ -head_16^post88+head_16^0 == 0 /\ -a_279^post88+a_279^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post88 == 0 /\ -x_154^post88+x_154^0 == 0 /\ rcd_284^0-rcd_284^post88 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post88 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -rcd_199^post88+rcd_199^0 == 0 /\ -head_SLAM_f_30^post88+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post88 == 0 /\ i_198^0-i_198^post88 == 0 /\ temp0_32^0-temp0_32^post88 == 0 /\ -r_41^post88+r_41^0 == 0 /\ tmp_35^0-tmp_35^post88 == 0 /\ result_11^0-result_11^post88 == 0 /\ -len_221^post88+len_221^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_207^0-x_207^post88 == 0 /\ -rcd_45^post88+rcd_220^0 <= 0 /\ temp0_19^0-temp0_19^post88 == 0 /\ x_27^0-x_27^post88 == 0 /\ rcd_193^0-rcd_193^post88 == 0 /\ -head_33^post88+head_33^0 == 0 /\ -rcd_308^post88+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post88 == 0 /\ y_26^0-y_26^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ -a_253^post88+a_253^0 == 0 /\ rcd_288^0-rcd_288^post88 == 0 /\ -a_222^0+a_174^post88 <= 0 /\ -rcd_220^post88+rcd_220^0 == 0 /\ -rcd_185^post88+rcd_185^0 == 0 /\ rcd_45^post88-rcd_220^0 <= 0 /\ temp_37^0-temp_37^post88 == 0 /\ rcd_320^0-rcd_320^post88 == 0 /\ i_31^0-i_31^post88 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-tail_15^post88 == 0 /\ rcd_106^0-rcd_106^post88 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_222^0-a_174^post88 <= 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 : a_139^0'=a_139^post89, result_11^0'=result_11^post89, i_31^0'=i_31^post89, rcd_193^0'=rcd_193^post89, a_309^0'=a_309^post89, tail_15^0'=tail_15^post89, length_29^0'=length_29^post89, x_SLAM_f_25^0'=x_SLAM_f_25^post89, rcd_288^0'=rcd_288^post89, rcd_320^0'=rcd_320^post89, i_112^0'=i_112^post89, tmp_35^0'=tmp_35^post89, rcd_106^0'=rcd_106^post89, a_222^0'=a_222^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89, x_22^0'=x_22^post89, rcd_199^0'=rcd_199^post89, head_16^0'=head_16^post89, temp0_32^0'=temp0_32^post89, r_149^0'=r_149^post89, y_26^0'=y_26^post89, rcd_71^0'=rcd_71^post89, i_198^0'=i_198^post89, x_207^0'=x_207^post89, rcd_185^0'=rcd_185^post89, a_279^0'=a_279^post89, t_23^0'=t_23^post89, len_221^0'=len_221^post89, x_SLAM_f_20^0'=x_SLAM_f_20^post89, rcd_284^0'=rcd_284^post89, head_SLAM_f_30^0'=head_SLAM_f_30^post89, temp_37^0'=temp_37^post89, r_41^0'=r_41^post89, a_174^0'=a_174^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89, len_159^0'=len_159^post89, rcd_194^0'=rcd_194^post89, f_202^0'=f_202^post89, temp0_19^0'=temp0_19^post89, nondet_12^0'=nondet_12^post89, y_21^0'=y_21^post89, rcd_308^0'=rcd_308^post89, rcd_45^0'=rcd_45^post89, i_130^0'=i_130^post89, x_154^0'=x_154^post89, rcd_114^0'=rcd_114^post89, a_253^0'=a_253^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_27^0'=x_27^post89, rcd_220^0'=rcd_220^post89, head_33^0'=head_33^post89, temp_36^0'=temp_36^post89, r_192^0'=r_192^post89, (head_SLAM_f_30^0-head_SLAM_f_30^post89 == 0 /\ tail_15^0-tail_15^post89 == 0 /\ -rcd_308^post89+rcd_308^0 == 0 /\ -rcd_284^post89+rcd_284^0 == 0 /\ rcd_71^0-rcd_71^post89 == 0 /\ i_31^0-i_31^post89 == 0 /\ -head_33^post89+head_33^0 == 0 /\ -rcd_220^post89+rcd_220^0 == 0 /\ rcd_320^0-rcd_320^post89 == 0 /\ -x_27^post89+x_27^0 == 0 /\ rcd_185^0-rcd_185^post89 == 0 /\ -a_253^post89+a_253^0 == 0 /\ temp0_32^0-temp0_32^post89 == 0 /\ tmp_35^0-tmp_35^post89 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post89 == 0 /\ -x_207^post89+x_207^0 == 0 /\ rcd_193^0-rcd_193^post89 == 0 /\ a_279^0-a_279^post89 == 0 /\ head_16^0-head_16^post89 == 0 /\ -temp_36^post89+temp_36^0 == 0 /\ -rcd_45^post89+rcd_45^0 == 0 /\ -f_202^post89+f_202^0 == 0 /\ -r_192^post89+r_192^0 == 0 /\ -len_221^post89+len_221^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post89+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_309^0-a_309^post89 == 0 /\ y_26^0-y_26^post89 == 0 /\ x_22^0-x_22^post89 == 0 /\ -i_130^post89+i_130^0 == 0 /\ -rcd_194^post89+rcd_194^0 == 0 /\ r_41^0-r_41^post89 == 0 /\ rcd_199^0-rcd_199^post89 == 0 /\ i_112^0-i_112^post89 == 0 /\ -rcd_114^post89+rcd_114^0 == 0 /\ rcd_106^0-rcd_106^post89 == 0 /\ y_21^0-y_21^post89 == 0 /\ i_198^0-i_198^post89 == 0 /\ result_11^0-result_11^post89 == 0 /\ a_222^0-a_222^post89 == 0 /\ r_149^0-r_149^post89 == 0 /\ -x_SLAM_f_25^post89+x_SLAM_f_25^0 == 0 /\ -x_SLAM_f_20^post89+x_SLAM_f_20^0 == 0 /\ -temp_37^post89+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_19^0-temp0_19^post89 == 0 /\ length_29^0-length_29^post89 == 0 /\ -len_159^post89+len_159^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ t_23^0-t_23^post89 == 0 /\ rcd_288^0-rcd_288^post89 == 0 /\ -a_174^post89+a_174^0 == 0 /\ -x_154^post89+x_154^0 == 0), cost: 1
New rule:
l52 -> l1 : TRUE, cost: 1

Applied preprocessing
Original rule:
l66 -> l49 : a_139^0'=a_139^post103, result_11^0'=result_11^post103, i_31^0'=i_31^post103, rcd_193^0'=rcd_193^post103, a_309^0'=a_309^post103, tail_15^0'=tail_15^post103, length_29^0'=length_29^post103, x_SLAM_f_25^0'=x_SLAM_f_25^post103, rcd_288^0'=rcd_288^post103, rcd_320^0'=rcd_320^post103, i_112^0'=i_112^post103, tmp_35^0'=tmp_35^post103, rcd_106^0'=rcd_106^post103, a_222^0'=a_222^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103, x_22^0'=x_22^post103, rcd_199^0'=rcd_199^post103, head_16^0'=head_16^post103, temp0_32^0'=temp0_32^post103, r_149^0'=r_149^post103, y_26^0'=y_26^post103, rcd_71^0'=rcd_71^post103, i_198^0'=i_198^post103, x_207^0'=x_207^post103, rcd_185^0'=rcd_185^post103, a_279^0'=a_279^post103, t_23^0'=t_23^post103, len_221^0'=len_221^post103, x_SLAM_f_20^0'=x_SLAM_f_20^post103, rcd_284^0'=rcd_284^post103, head_SLAM_f_30^0'=head_SLAM_f_30^post103, temp_37^0'=temp_37^post103, r_41^0'=r_41^post103, a_174^0'=a_174^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post103, len_159^0'=len_159^post103, rcd_194^0'=rcd_194^post103, f_202^0'=f_202^post103, temp0_19^0'=temp0_19^post103, nondet_12^0'=nondet_12^post103, y_21^0'=y_21^post103, rcd_308^0'=rcd_308^post103, rcd_45^0'=rcd_45^post103, i_130^0'=i_130^post103, x_154^0'=x_154^post103, rcd_114^0'=rcd_114^post103, a_253^0'=a_253^post103, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post103, x_27^0'=x_27^post103, rcd_220^0'=rcd_220^post103, head_33^0'=head_33^post103, temp_36^0'=temp_36^post103, r_192^0'=r_192^post103, (a_309^0-a_309^post103 == 0 /\ -head_SLAM_f_30^post103+head_SLAM_f_30^0 == 0 /\ rcd_185^0-rcd_185^post103 == 0 /\ -x_154^post103+x_154^0 == 0 /\ rcd_320^0-rcd_320^post103 == 0 /\ -temp0_32^post103+temp0_32^0 == 0 /\ rcd_199^0-rcd_199^post103 == 0 /\ a_139^0-a_139^post103 == 0 /\ i_31^0-i_31^post103 == 0 /\ -len_221^post103+len_221^0 == 0 /\ -y_26^post103+y_26^0 == 0 /\ -x_27^post103+x_27^0 == 0 /\ head_16^0-head_16^post103 == 0 /\ i_198^0-i_198^post103 == 0 /\ rcd_193^0-rcd_193^post103 == 0 /\ -r_192^post103+r_192^0 == 0 /\ x_22^0-x_22^post103 == 0 /\ -rcd_308^post103+rcd_308^0 == 0 /\ -rcd_194^post103+rcd_194^0 == 0 /\ -a_253^post103+a_253^0 == 0 /\ rcd_114^0-rcd_114^post103 == 0 /\ -temp_36^post103+temp_36^0 == 0 /\ r_41^0-r_41^post103 == 0 /\ rcd_106^0-rcd_106^post103 == 0 /\ -rcd_71^post103+rcd_71^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ temp_37^0-temp_37^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post103 == 0 /\ -rcd_45^post103+rcd_45^0 == 0 /\ rcd_284^0-rcd_284^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ -y_21^post103+y_21^0 == 0 /\ tail_15^0-tail_15^post103 == 0 /\ tmp_35^0-tmp_35^post103 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post103 == 0 /\ i_112^0-i_112^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post103+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^post103 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post103 == 0 /\ -a_279^post103+a_279^0 == 0 /\ -head_33^post103+head_33^0 == 0 /\ f_202^0-f_202^post103 == 0 /\ rcd_288^0-rcd_288^post103 == 0 /\ -temp0_19^post103+temp0_19^0 == 0 /\ -len_159^post103+len_159^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ -a_174^post103+a_174^0 == 0 /\ -i_130^post103+i_130^0 == 0 /\ -rcd_220^post103+rcd_220^0 == 0 /\ r_149^0-r_149^post103 == 0 /\ x_207^0-x_207^post103 == 0 /\ a_222^0-a_222^post103 == 0), cost: 1
New rule:
l66 -> l49 : TRUE, cost: 1

Simplified rules
Start location: l66
 136: l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 140: l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 104: l6 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post27, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1
 105: l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
 109: l20 -> l23 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1
 106: l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1
 107: l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1
 108: l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 110: l23 -> l20 : TRUE, cost: 1
 111: l24 -> l6 : i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, (i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1
 112: l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
 113: l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1
 114: l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1
 115: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 116: l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 117: l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 118: l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
 119: l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
 120: l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
 121: l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
 122: 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
 123: l26 -> l25 : TRUE, cost: 1
 124: l42 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, len_159^0 >= 0, cost: 1
 125: l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1
 126: l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1
 127: l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 128: l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 129: l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 130: l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
 131: l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
 132: l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
 133: l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 135: l49 -> l24 : 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^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, 0 == 0, cost: 1
 137: l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 138: l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 139: l51 -> l42 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 141: l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1
 142: l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1
 143: l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
 144: l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1
 145: l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1
 146: l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1
 147: l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1
 148: 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
 149: l52 -> l1 : TRUE, cost: 1
 150: l66 -> l49 : TRUE, cost: 1


Eliminating location l49 by chaining:

Applied chaining
First rule:
l66 -> l49 : TRUE, cost: 1
Second rule:
l49 -> l24 : 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^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, 0 == 0, cost: 1
New rule:
l66 -> l24 : 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^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 135 150

Eliminating location l24 by chaining:

Applied chaining
First rule:
l66 -> l24 : 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^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, 0 == 0, cost: 2
Second rule:
l24 -> l6 : i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, (i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1
New rule:
l66 -> l6 : i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3

Applied simplification
Original rule:
l66 -> l6 : i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3
New rule:
l66 -> l6 : i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 111 151

Eliminating location l6 by chaining:

Applied chaining
First rule:
l66 -> l6 : i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, 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^post35, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post35, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l6 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post27, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1
New rule:
l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 104 152

Eliminating location l23 by chaining:

Applied chaining
First rule:
l20 -> l23 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (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 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 109 110

Eliminating location l42 by chaining:

Applied chaining
First rule:
l51 -> l42 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
Second rule:
l42 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, len_159^0 >= 0, cost: 1
New rule:
l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 124 139

Eliminating location l26 by chaining:

Applied chaining
First 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
Second rule:
l26 -> l25 : TRUE, cost: 1
New rule:
l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 122 123

Eliminating location l52 by chaining:

Applied chaining
First 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
Second rule:
l52 -> l1 : TRUE, cost: 1
New rule:
l57 -> l1 : 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: 2

Applied deletion
Removed the following rules: 148 149

Eliminated locations on linear paths
Start location: l66
 136: l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 140: l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 105: l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
 154: l20 -> l20 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2
 106: l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1
 107: l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1
 108: l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 112: l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
 113: l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1
 114: l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1
 115: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 116: l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 117: l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 118: l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
 119: l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
 120: l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
 121: l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
 156: l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 125: l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1
 126: l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1
 127: l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 128: l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 129: l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 130: l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
 131: l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
 132: l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
 133: l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 137: l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 138: l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 155: l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2
 141: l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1
 142: l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1
 143: l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
 144: l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1
 145: l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1
 146: l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1
 147: l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1
 157: l57 -> l1 : 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: 2
 153: l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l20 -> l20 : i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2
New rule:
l20 -> l20 : i_31^0'=i_31^0+n0, i_112^0'=-1+i_31^0+n0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ -i_31^0-n0+length_29^0 >= 0 /\ -2+n0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l20 -> l20 : i_31^0'=i_31^0+n0, i_112^0'=-1+i_31^0+n0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ -i_31^0-n0+length_29^0 >= 0 /\ -2+n0 >= 0), cost: 2*n0
New rule:
l20 -> l20 : i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (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 : i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (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 : i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (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: 154

Accelerated simple loops
Start location: l66
 136: l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 140: l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 105: l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
 159: l20 -> l20 : i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0
 106: l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1
 107: l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1
 108: l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 112: l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
 113: l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1
 114: l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1
 115: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 116: l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 117: l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 118: l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
 119: l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
 120: l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
 121: l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
 156: l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 125: l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1
 126: l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1
 127: l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 128: l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 129: l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 130: l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
 131: l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
 132: l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
 133: l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 137: l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 138: l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 155: l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2
 141: l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1
 142: l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1
 143: l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
 144: l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1
 145: l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1
 146: l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1
 147: l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1
 157: l57 -> l1 : 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: 2
 153: l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l20 -> l20 : i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, rcd_114^0'=rcd_45^0, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, (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 : i_31^0'=nondet_12^10, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, i_112^0'=-1+nondet_12^10, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 159

Chained accelerated rules with incoming rules
Start location: l66
 136: l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 140: l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
 105: l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
 106: l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1
 107: l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1
 108: l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 112: l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
 113: l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1
 114: l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1
 115: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 116: l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 117: l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 118: l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
 119: l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
 120: l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
 121: l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
 156: l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 125: l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1
 126: l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1
 127: l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
 128: l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 129: l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 130: l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
 131: l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
 132: l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
 133: l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 137: l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 138: l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
 155: l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2
 141: l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1
 142: l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1
 143: l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
 144: l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1
 145: l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1
 146: l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1
 147: l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1
 157: l57 -> l1 : 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: 2
 153: l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4
 160: l66 -> l20 : i_31^0'=nondet_12^10, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, i_112^0'=-1+nondet_12^10, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Eliminating location l20 by chaining:

Applied chaining
First rule:
l66 -> l20 : i_31^0'=2, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post35, temp_36^0'=temp_36^post27, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
New rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 2 >= 0 /\ len_159^0 == 0), cost: 5

Applied simplification
Original rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 2 >= 0 /\ len_159^0 == 0), cost: 5
New rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5

Applied chaining
First rule:
l66 -> l20 : i_31^0'=nondet_12^10, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=nondet_12^10, i_112^0'=-1+nondet_12^10, tmp_35^0'=temp_36^post32, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post35, rcd_71^0'=rcd_71^post27, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post32, temp_36^0'=temp_36^post32, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10
Second rule:
l20 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post28, y_26^0'=tail_15^0, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, 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_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=head_33^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1
New rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (0 <= 0 /\ nondet_12^10 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10

Applied simplification
Original rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (0 <= 0 /\ nondet_12^10 >= 0 /\ -4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10
New rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10

Applied deletion
Removed the following rules: 105 153 160

Eliminating location l22 by chaining:

Applied chaining
First rule:
l21 -> l22 : 1+head_16^0-y_26^0 <= 0, cost: 1
Second rule:
l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2

Applied chaining
First rule:
l21 -> l22 : 1-head_16^0+y_26^0 <= 0, cost: 1
Second rule:
l22 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 106 107 108

Eliminating location l50 by chaining:

Applied chaining
First rule:
l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
Second rule:
l50 -> l51 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2

Applied chaining
First rule:
l1 -> l50 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
Second rule:
l50 -> l51 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 136 137 138

Eliminating location l53 by chaining:

Applied chaining
First rule:
l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
Second rule:
l53 -> l54 : 1+y_26^0-x_27^0 <= 0, cost: 1
New rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2

Applied chaining
First rule:
l1 -> l53 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1
Second rule:
l53 -> l54 : 1-y_26^0+x_27^0 <= 0, cost: 1
New rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 140 141 142

Eliminating location l43 by chaining:

Applied chaining
First rule:
l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2
Second rule:
l43 -> l44 : 1-x_22^0+y_21^0 <= 0, cost: 1
New rule:
l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3

Applied chaining
First rule:
l51 -> l43 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0), cost: 2
Second rule:
l43 -> l44 : 1+x_22^0-y_21^0 <= 0, cost: 1
New rule:
l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 125 126 155

Eliminating location l45 by chaining:

Applied chaining
First rule:
l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
Second rule:
l45 -> l46 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2

Applied chaining
First rule:
l44 -> l45 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
Second rule:
l45 -> l46 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 127 128 129

Eliminating location l47 by chaining:

Applied chaining
First rule:
l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
Second rule:
l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l46 -> l47 : 1+head_16^0-y_21^0 <= 0, cost: 1
Second rule:
l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
Second rule:
l47 -> l48 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l46 -> l47 : 1-head_16^0+y_21^0 <= 0, cost: 1
Second rule:
l47 -> l48 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 130 131 132 133

Eliminating location l27 by chaining:

Applied chaining
First rule:
l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
Second rule:
l27 -> l28 : 1-x_22^0+y_21^0 <= 0, cost: 1
New rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l25 -> l27 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_279^0 >= 0, cost: 1
Second rule:
l27 -> l28 : 1+x_22^0-y_21^0 <= 0, cost: 1
New rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 112 113 114

Eliminating location l29 by chaining:

Applied chaining
First rule:
l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
Second rule:
l29 -> l30 : 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2

Applied chaining
First rule:
l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 1
Second rule:
l29 -> l30 : 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0, cost: 1
New rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 115 116 117

Eliminating location l31 by chaining:

Applied chaining
First rule:
l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
Second rule:
l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l30 -> l31 : 1+head_16^0-y_21^0 <= 0, cost: 1
Second rule:
l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
Second rule:
l31 -> l32 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l30 -> l31 : 1-head_16^0+y_21^0 <= 0, cost: 1
Second rule:
l31 -> l32 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 118 119 120 121

Eliminating location l55 by chaining:

Applied chaining
First rule:
l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
Second rule:
l55 -> l56 : 1+head_16^0-y_26^0 <= 0, cost: 1
New rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2

Applied chaining
First rule:
l54 -> l55 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 1
Second rule:
l55 -> l56 : 1-head_16^0+y_26^0 <= 0, cost: 1
New rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2

Applied deletion
Removed the following rules: 143 144 145

Eliminating location l57 by chaining:

Applied chaining
First rule:
l56 -> l57 : 1+y_26^0-x_207^0 <= 0, cost: 1
Second rule:
l57 -> l1 : 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: 2
New rule:
l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3

Applied chaining
First rule:
l56 -> l57 : 1-y_26^0+x_207^0 <= 0, cost: 1
Second rule:
l57 -> l1 : 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: 2
New rule:
l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 146 147 157

Eliminated locations on tree-shaped paths
Start location: l66
 165: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
 166: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
 167: l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
 168: l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 177: l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 2
 178: l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0), cost: 2
 179: l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2
 180: l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2
 181: l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
 182: l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
 183: l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
 184: l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
 156: l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 171: l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2
 172: l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2
 173: l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
 174: l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
 175: l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
 176: l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 185: l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2
 186: l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Applied merging
first rule:
l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
second rule:
l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
new rule:
l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2

Applied merging
first rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
second rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2
new rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2

Applied merging
first rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 2
second rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0), cost: 2
new rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2
second rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2
new rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, ((-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0) \/ (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0)), cost: 2

Applied merging
first rule:
l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
second rule:
l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
new rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l30 -> l32 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
second rule:
l30 -> l32 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
new rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2
second rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2
new rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0), cost: 2
second rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 2
new rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, ((-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0) \/ (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0)), cost: 2

Applied merging
first rule:
l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
second rule:
l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0), cost: 2
new rule:
l46 -> l48 : ((1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l46 -> l48 : (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
second rule:
l46 -> l48 : (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0), cost: 2
new rule:
l46 -> l48 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l46 -> l48 : ((1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2
second rule:
l46 -> l48 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2
new rule:
l46 -> l48 : ((1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2
second rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, (1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0), cost: 2
new rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, ((1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0) \/ (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0)), cost: 2

Merged rules
Start location: l66
 189: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 190: l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 191: l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)), cost: 2
 192: l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, ((-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0) \/ (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0)), cost: 2
 195: l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2
 156: l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 196: l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, ((-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0) \/ (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0)), cost: 2
 199: l46 -> l48 : ((1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2
 134: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 200: l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, ((1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0) \/ (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0)), cost: 2
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Eliminating location l54 by chaining:

Applied chaining
First rule:
l1 -> l54 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, head_16^0'=head_16^post80, x_207^0'=x_207^post80, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
Second rule:
l54 -> l56 : a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, rcd_220^0'=rcd_45^0, ((1-head_16^0+y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0) \/ (1+head_16^0-y_26^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_202^0+x_27^0 == 0)), cost: 2
New rule:
l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0)) /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0))), cost: 4

Applied simplification
Original rule:
l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0)) /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0))), cost: 4
New rule:
l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4

Applied deletion
Removed the following rules: 190 200

Eliminating location l46 by chaining:

Applied chaining
First rule:
l44 -> l46 : t_23^0'=head_16^0, a_253^0'=a_279^0, ((-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0) \/ (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0)), cost: 2
Second rule:
l46 -> l48 : ((1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0)), cost: 2
New rule:
l44 -> l48 : t_23^0'=head_16^0, a_253^0'=a_279^0, (((-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0) \/ (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0)) /\ ((1-head_16^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-head_16^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ 1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 4

Applied simplification
Original rule:
l44 -> l48 : t_23^0'=head_16^0, a_253^0'=a_279^0, (((-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0) \/ (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0)) /\ ((1-head_16^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-head_16^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ 1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 4
New rule:
l44 -> l48 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 4

Applied deletion
Removed the following rules: 196 199

Eliminating location l48 by chaining:

Applied chaining
First rule:
l44 -> l48 : t_23^0'=head_16^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 4
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:
l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5

Applied deletion
Removed the following rules: 134 202

Eliminating location l28 by chaining:

Applied chaining
First rule:
l25 -> l28 : tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)), cost: 2
Second rule:
l28 -> l30 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, ((-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ 1+head_16^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0) \/ (-tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-head_16^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0)), cost: 2
New rule:
l25 -> l30 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0))), cost: 4

Applied simplification
Original rule:
l25 -> l30 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0))), cost: 4
New rule:
l25 -> l30 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0)) /\ ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0))), cost: 4

Applied deletion
Removed the following rules: 191 192

Eliminating location l30 by chaining:

Applied chaining
First rule:
l25 -> l30 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0)) /\ ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0))), cost: 4
Second rule:
l30 -> l32 : ((1+t_23^0-y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1+t_23^0-y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1-head_16^0+y_21^0 <= 0) \/ (1-t_23^0+y_21^0 <= 0 /\ 1+head_16^0-y_21^0 <= 0)), cost: 2
New rule:
l25 -> l32 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0)) /\ ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)) /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 6

Applied simplification
Original rule:
l25 -> l32 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+head_16^post37 <= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0)) /\ ((a_279^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (a_279^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0)) /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 6
New rule:
l25 -> l32 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 6

Applied deletion
Removed the following rules: 195 204

Eliminating location l32 by chaining:

Applied chaining
First rule:
l25 -> l32 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 6
Second rule:
l32 -> l25 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 8

Applied simplification
Original rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 8
New rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0))), cost: 8

Applied deletion
Removed the following rules: 156 205

Eliminated locations on linear paths
Start location: l66
 189: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 201: l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 206: l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0))), cost: 8
 203: l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Applied simplification
Original rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post37, head_16^0'=head_16^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37-tail_15^post37 == 0 /\ a_279^0 >= 0 /\ -x_SLAM_f_20^post37+head_16^post37 == 0 /\ y_21^0-tail_15^post37 == 0 /\ ((1-head_16^post37+y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1-head_16^post37+y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0) \/ (1+head_16^post37-y_21^0 <= 0 /\ 1+x_22^0-y_21^0 <= 0))), cost: 8
New rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1+x_SLAM_f_20^post37-y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_SLAM_f_20^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 8

Simplified simple loops
Start location: l66
 189: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 201: l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 207: l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1+x_SLAM_f_20^post37-y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_SLAM_f_20^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 8
 203: l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Applied acceleration
Original rule:
l25 -> l25 : a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1+x_SLAM_f_20^post37-y_21^0 <= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ 1-x_SLAM_f_20^post37+y_21^0 <= 0) \/ (1+x_SLAM_f_20^post37-y_21^0 <= 0 /\ 1-x_22^0+y_21^0 <= 0))), cost: 8
New rule:
l25 -> l25 : a_309^0'=a_279^0-n3, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=a_279^0-n3, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ -1+n3 >= 0 /\ 1+a_279^0-n3 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0))), cost: 8*n3

Applied instantiation
Original rule:
l25 -> l25 : a_309^0'=a_279^0-n3, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=a_279^0-n3, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ -1+n3 >= 0 /\ 1+a_279^0-n3 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0))), cost: 8*n3
New rule:
l25 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0))), cost: 8+8*a_279^0

Applied simplification
Original rule:
l25 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0))), cost: 8+8*a_279^0
New rule:
l25 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0))), cost: 8+8*a_279^0

Applied deletion
Removed the following rules: 207

Accelerated simple loops
Start location: l66
 189: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 201: l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 209: l25 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0))), cost: 8+8*a_279^0
 203: l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Applied chaining
First rule:
l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5
Second rule:
l25 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ ((-1-x_22^0+y_21^0 >= 0 /\ -1-x_SLAM_f_20^post37+y_21^0 >= 0) \/ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0) \/ (-1-x_22^0+y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0) \/ (-1+x_22^0-y_21^0 >= 0 /\ -1+x_SLAM_f_20^post37-y_21^0 >= 0))), cost: 8+8*a_279^0
New rule:
l44 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, len_159^0'=1+a_279^0, rcd_308^0'=rcd_45^0, a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0) /\ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 \/ -1+x_SLAM_f_20^post37-y_21^0 >= 0)), cost: 13+8*a_279^0

Applied deletion
Removed the following rules: 209

Chained accelerated rules with incoming rules
Start location: l66
 189: l1 -> l51 : x_SLAM_f_25^0'=x_SLAM_f_25^post76, x_22^0'=head_16^0, y_26^0'=y_26^post76, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, x_27^0'=x_27^post76, ((-y_26^0+x_27^0 == 0 /\ 1+tail_15^0-head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (-y_26^0+x_27^0 == 0 /\ 1-tail_15^0+head_16^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)), cost: 2
 201: l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 203: l44 -> l25 : t_23^0'=head_16^0, len_159^0'=1+a_279^0, a_253^0'=a_279^0, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0)), cost: 5
 210: l44 -> l25 : a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post37, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post37, r_41^0'=r_41^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, len_159^0'=1+a_279^0, rcd_308^0'=rcd_45^0, a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, (-rcd_284^0+rcd_45^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 >= 0 /\ a_279^0 >= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-x_SLAM_f_20^0 == 0 /\ -tail_15^0+y_21^0 == 0 /\ (1-head_16^0+y_21^0 <= 0 \/ 1+head_16^0-y_21^0 <= 0) /\ (-1-x_SLAM_f_20^post37+y_21^0 >= 0 \/ -1+x_SLAM_f_20^post37-y_21^0 >= 0)), cost: 13+8*a_279^0
 169: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_159^0 >= 0 /\ 1-x_22^0+y_21^0 <= 0), cost: 3
 170: l51 -> l44 : tail_15^0'=tail_15^post64, rcd_288^0'=rcd_288^post64, head_16^0'=head_16^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, rcd_284^0'=rcd_284^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+x_22^0-y_21^0 <= 0 /\ len_159^0 >= 0), cost: 3
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l66
 201: l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
 163: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 164: l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
 187: l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
 188: l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
 161: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
 162: l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10


Eliminating location l21 by chaining:

Applied chaining
First rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
Second rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7

Applied chaining
First rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 5
Second rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7

Applied chaining
First rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10
Second rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+head_16^0-y_26^0 <= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10

Applied chaining
First rule:
l66 -> l21 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-4+nondet_12^10 >= 0 /\ len_159^0 == 0), cost: 1+2*nondet_12^10
Second rule:
l21 -> l1 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_31^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ 1-head_16^0+y_26^0 <= 0 /\ -i_198^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 2
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10

Applied deletion
Removed the following rules: 161 162 163 164

Eliminating location l56 by chaining:

Applied chaining
First rule:
l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
Second rule:
l56 -> l1 : 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 /\ 1+y_26^0-x_207^0 <= 0), cost: 3
New rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7

Applied chaining
First rule:
l1 -> l56 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80, f_202^0'=f_202^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 4
Second rule:
l56 -> l1 : 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 /\ 1-y_26^0+x_207^0 <= 0), cost: 3
New rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7

Applied deletion
Removed the following rules: 187 188 201

Eliminated locations on tree-shaped paths
Start location: l66
 215: l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7
 216: l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7
 211: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 212: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 213: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
 214: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10


Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ (0 == 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0))), cost: 7

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post80, x_SLAM_f_25^0'=x_SLAM_f_25^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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^post80, len_159^0'=1+len_159^0, f_202^0'=f_202^post80, rcd_45^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-f_202^post80+x_27^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0) \/ (1-head_16^post80+y_26^0 <= 0 /\ -f_202^post80+x_27^0 == 0 /\ head_16^post80-x_SLAM_f_25^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-y_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-tail_15^post80 == 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ 1+head_16^post80-y_26^0 <= 0)), cost: 7

Simplified simple loops
Start location: l66
 217: l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ (0 == 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0))), cost: 7
 218: l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ 1+head_16^post80-y_26^0 <= 0)), cost: 7
 211: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 212: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 213: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
 214: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10


Applied acceleration
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1-x_207^post80+y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ (0 == 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 == 0 /\ 1+head_16^post80-y_26^0 <= 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=a_174^0-n7, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=n7+len_159^0, r_41^0'=r_41^post80, a_174^0'=a_174^0-n7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=n7+len_159^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ -1+n7 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0)) /\ ((len_159^0 >= 0 /\ 1+a_174^0-n7 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (-1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0 /\ 1+a_174^0-n7 >= 0))), cost: 7*n7

Applied instantiation
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=a_174^0-n7, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=n7+len_159^0, r_41^0'=r_41^post80, a_174^0'=a_174^0-n7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=n7+len_159^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ -1+n7 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0)) /\ ((len_159^0 >= 0 /\ 1+a_174^0-n7 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (-1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0 /\ 1+a_174^0-n7 >= 0))), cost: 7*n7
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0)) /\ ((0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0) \/ (0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0))), cost: 7+7*a_174^0

Applied acceleration
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (1+x_207^post80-y_26^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((1-y_26^0+x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0) \/ (1+y_26^0-x_27^0 <= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0)) /\ ((0 == 0 /\ 1-head_16^post80+y_26^0 <= 0) \/ 1+head_16^post80-y_26^0 <= 0)), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-n9+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=n9+len_159^0, r_41^0'=r_41^post80, a_174^0'=-n9+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=n9+len_159^0, f_202^0'=x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ -1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0 /\ 1-n9+a_174^0 >= 0) \/ (-1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0 /\ 1-n9+a_174^0 >= 0))), cost: 7*n9

Applied instantiation
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-n9+a_174^0, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=n9+len_159^0, r_41^0'=r_41^post80, a_174^0'=-n9+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=n9+len_159^0, f_202^0'=x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ -1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0 /\ 1-n9+a_174^0 >= 0) \/ (-1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0 /\ 1-n9+a_174^0 >= 0))), cost: 7*n9
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ (-1-head_16^post80+y_26^0 >= 0 \/ (0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0))), cost: 7+7*a_174^0

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0)) /\ ((0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0) \/ (0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0))), cost: 7+7*a_174^0
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ (-1-head_16^post80+y_26^0 >= 0 \/ (0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0))), cost: 7+7*a_174^0
New rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0

Applied deletion
Removed the following rules: 217 218

Accelerated simple loops
Start location: l66
 221: l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0
 222: l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0
 211: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 212: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 213: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
 214: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10


Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post35-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 14+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post35-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 14+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post32-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 10+2*nondet_12^10+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0+x_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1+x_207^post80-y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0)) /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*y_26^0 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*y_26^0 >= 0 /\ -1-head_16^post80+y_26^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post32-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 10+2*nondet_12^10+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 14+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 14+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post32, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 10+2*nondet_12^10+7*a_174^0

Applied chaining
First rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_26^0, x_SLAM_f_25^0'=head_16^post80, a_222^0'=-1, head_16^0'=head_16^post80, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, r_41^0'=r_41^post80, 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, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, rcd_220^0'=rcd_45^0, (-1-x_207^post80+y_26^0 >= 0 /\ a_174^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((0 >= 0 /\ -1+head_16^post80-y_26^0 >= 0) \/ -1-head_16^post80+y_26^0 >= 0) /\ ((len_159^0 >= 0 /\ -1-y_26^0+x_27^0 >= 0) \/ (0 >= 0 /\ -1+y_26^0-x_27^0 >= 0 /\ len_159^0 >= 0))), cost: 7+7*a_174^0
New rule:
l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post32, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 10+2*nondet_12^10+7*a_174^0

Applied deletion
Removed the following rules: 221 222

Chained accelerated rules with incoming rules
Start location: l66
 211: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 212: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post35, tmp_35^0'=tmp_35^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post35, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post35, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0), cost: 7
 213: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
 214: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=temp_36^post32, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=temp_36^post32, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_194^0'=rcd_45^0, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, x_27^0'=temp_36^post32, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0), cost: 3+2*nondet_12^10
 223: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post35-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 14+7*a_174^0
 224: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post35-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 14+7*a_174^0
 225: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post32-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 10+2*nondet_12^10+7*a_174^0
 226: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+temp_36^post32-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-1+x_207^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ ((-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0) \/ (-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80+4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post80-4*result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0))), cost: 10+2*nondet_12^10+7*a_174^0
 227: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ 1+temp_36^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 14+7*a_174^0
 228: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, tmp_35^0'=tmp_35^post28, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post35, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post35, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ 1-temp_36^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 14+7*a_174^0
 229: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post32, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ 1+temp_36^post32-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 10+2*nondet_12^10+7*a_174^0
 230: l66 -> l1 : result_11^0'=result_11^post28, i_31^0'=a_174^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, length_29^0'=length_29^post28, x_SLAM_f_25^0'=head_16^post80, i_112^0'=-1+nondet_12^10, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post32, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, rcd_199^0'=rcd_199^post28, head_16^0'=head_16^post80, temp0_32^0'=temp0_32^post28, y_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_71^0'=rcd_71^post27, i_198^0'=i_198^post28, x_207^0'=x_207^post80, len_221^0'=1+a_174^0+len_159^0, head_SLAM_f_30^0'=head_SLAM_f_30^post28, temp_37^0'=temp_37^post75, r_41^0'=r_41^post80, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=temp_36^post32, nondet_12^0'=nondet_12^post75, rcd_114^0'=rcd_45^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, x_27^0'=temp_36^post32, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post28, temp_36^0'=temp_36^post28, (1-temp_36^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 >= 0 /\ -a_174^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ -1-x_207^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 /\ -4+nondet_12^10 >= 0 /\ -i_198^post28+result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 <= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post80 >= 0 /\ (-1+head_16^post80-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0 \/ -1-head_16^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 >= 0)), cost: 10+2*nondet_12^10+7*a_174^0


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


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0