WORST_CASE(Omega(0),?) Initial ITS Start location: l66 0: l0 -> l1 : a_116^0'=a_116^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, r_39^0'=r_39^post0, a_260^0'=a_260^post0, i_30^0'=i_30^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, temp0_15^0'=temp0_15^post0, head_175^0'=head_175^post0, nondet_12^0'=nondet_12^post0, a_184^0'=a_184^post0, x_20^0'=x_20^post0, rcd_88^0'=rcd_88^post0, f_170^0'=f_170^post0, len_132^0'=len_132^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_163^0'=r_163^post0, a_237^0'=a_237^post0, y_19^0'=y_19^post0, i_167^0'=i_167^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, head_14^0'=head_14^post0, length_29^0'=length_29^post0, a_147^0'=a_147^post0, x_16^0'=x_16^post0, i_108^0'=i_108^post0, rcd_58^0'=rcd_58^post0, ct_17^0'=ct_17^post0, i_94^0'=i_94^post0, t_23^0'=t_23^post0, temp0_31^0'=temp0_31^post0, head_27^0'=head_27^post0, r_124^0'=r_124^post0, a_215^0'=a_215^post0, x_SLAM_f_18^0'=x_SLAM_f_18^post0, result_11^0'=result_11^post0, head_129^0'=head_129^post0, len_183^0'=len_183^post0, (0 == 0 /\ rcd_88^0-rcd_88^post0 == 0 /\ -r_163^post0+r_163^0 == 0 /\ i_30^0-i_30^post0 == 0 /\ -i_167^post0+i_167^0 == 0 /\ a_116^0-a_116^post0 == 0 /\ x_20^0-y_19^0 <= 0 /\ temp_35^0-temp_35^post0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ len_132^0-len_132^post0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -rcd_58^post0+rcd_58^0 == 0 /\ -f_170^post0+f_170^0 == 0 /\ -r_124^post0+r_124^0 == 0 /\ a_237^0-a_237^post0 == 0 /\ a_215^0-a_215^post0 == 0 /\ temp0_15^0-temp0_15^post0 == 0 /\ -head_27^post0+head_27^0 == 0 /\ tmp_34^0-tmp_34^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -length_29^post0+length_29^0 == 0 /\ -temp0_31^post0+temp0_31^0 == 0 /\ -i_108^post0+i_108^0 == 0 /\ a_184^0-a_184^post0 == 0 /\ -a_237^0 <= 0 /\ -i_94^post0+i_94^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -len_183^post0+len_183^0 == 0 /\ a_260^0-a_260^post0 == 0 /\ head_14^0-head_14^post0 == 0 /\ -a_147^post0+a_147^0 == 0 /\ -temp0_15^0+result_11^post0 == 0 /\ -head_129^post0+head_129^0 == 0 /\ -head_175^post0+head_175^0 == 0), cost: 1 1: l0 -> l3 : a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, r_39^0'=r_39^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, temp0_15^0'=temp0_15^post1, head_175^0'=head_175^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, rcd_88^0'=rcd_88^post1, f_170^0'=f_170^post1, len_132^0'=len_132^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_163^0'=r_163^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, i_167^0'=i_167^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, head_14^0'=head_14^post1, length_29^0'=length_29^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, i_108^0'=i_108^post1, rcd_58^0'=rcd_58^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, head_27^0'=head_27^post1, r_124^0'=r_124^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, result_11^0'=result_11^post1, head_129^0'=head_129^post1, len_183^0'=len_183^post1, (0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ length_29^0-length_29^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -a_147^post1+a_147^0 == 0 /\ a_260^0-a_260^post1 == 0 /\ a_184^0-a_184^post1 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ f_170^0-f_170^post1 == 0 /\ x_20^0-x_20^post1 == 0 /\ tmp_34^0-tmp_34^post1 == 0 /\ -len_132^post1+len_132^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -len_183^post1+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -a_237^0 <= 0 /\ -i_167^post1+i_167^0 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ head_32^0-head_32^post1 == 0 /\ y_19^0-y_19^post1 == 0 /\ r_163^0-r_163^post1 == 0 /\ a_116^0-a_116^post1 == 0 /\ -a_215^post1+a_215^0 == 0 /\ temp0_15^0-temp0_15^post1 == 0 /\ i_108^0-i_108^post1 == 0 /\ -head_129^post1+head_129^0 == 0), cost: 1 2: l3 -> l4 : a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, r_39^0'=r_39^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, temp0_15^0'=temp0_15^post2, head_175^0'=head_175^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, rcd_88^0'=rcd_88^post2, f_170^0'=f_170^post2, len_132^0'=len_132^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_163^0'=r_163^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, i_167^0'=i_167^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, head_14^0'=head_14^post2, length_29^0'=length_29^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, i_108^0'=i_108^post2, rcd_58^0'=rcd_58^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, head_27^0'=head_27^post2, r_124^0'=r_124^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, result_11^0'=result_11^post2, head_129^0'=head_129^post2, len_183^0'=len_183^post2, (a_260^0-a_260^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -a_215^post2+a_215^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ len_132^0-len_132^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ head_175^0-head_175^post2 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ y_19^0-y_19^post2 == 0 /\ a_147^0-a_147^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -x_SLAM_f_18^post2+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ i_108^0-i_108^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_129^post2+head_129^0 == 0 /\ a_184^0-a_184^post2 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -len_183^post2+len_183^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ length_29^0-length_29^post2 == 0), cost: 1 3: l3 -> l4 : a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, r_39^0'=r_39^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, temp0_15^0'=temp0_15^post3, head_175^0'=head_175^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, rcd_88^0'=rcd_88^post3, f_170^0'=f_170^post3, len_132^0'=len_132^post3, temp_35^0'=temp_35^post3, head_32^0'=head_32^post3, r_163^0'=r_163^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, i_167^0'=i_167^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, head_14^0'=head_14^post3, length_29^0'=length_29^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, i_108^0'=i_108^post3, rcd_58^0'=rcd_58^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, head_27^0'=head_27^post3, r_124^0'=r_124^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, result_11^0'=result_11^post3, head_129^0'=head_129^post3, len_183^0'=len_183^post3, (1+x_20^0-y_19^0 <= 0 /\ -i_167^post3+i_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ f_170^0-f_170^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ x_20^0-x_20^post3 == 0 /\ i_108^0-i_108^post3 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -y_19^post3+y_19^0 == 0 /\ a_116^0-a_116^post3 == 0 /\ -head_14^post3+head_14^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -head_129^post3+head_129^0 == 0 /\ length_29^0-length_29^post3 == 0 /\ i_30^0-i_30^post3 == 0 /\ a_237^0-a_237^post3 == 0 /\ -rcd_58^post3+rcd_58^0 == 0 /\ r_39^0-r_39^post3 == 0 /\ -len_183^post3+len_183^0 == 0 /\ head_32^0-head_32^post3 == 0 /\ temp_35^0-temp_35^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -a_215^post3+a_215^0 == 0 /\ -a_147^post3+a_147^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ result_11^0-result_11^post3 == 0 /\ -t_23^post3+t_23^0 == 0 /\ -x_SLAM_f_18^post3+x_SLAM_f_18^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -len_132^post3+len_132^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_260^post3+a_260^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -head_27^post3+head_27^0 == 0), cost: 1 4: l4 -> l5 : a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, r_39^0'=r_39^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, temp0_15^0'=temp0_15^post4, head_175^0'=head_175^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, rcd_88^0'=rcd_88^post4, f_170^0'=f_170^post4, len_132^0'=len_132^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_163^0'=r_163^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, i_167^0'=i_167^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, head_14^0'=head_14^post4, length_29^0'=length_29^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, i_108^0'=i_108^post4, rcd_58^0'=rcd_58^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, head_27^0'=head_27^post4, r_124^0'=r_124^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, result_11^0'=result_11^post4, head_129^0'=head_129^post4, len_183^0'=len_183^post4, (0 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -1+a_237^0-a_260^post4 <= 0 /\ -head_27^post4+head_27^0 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -head_129^post4+head_129^0 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -len_183^post4+len_183^0 == 0 /\ -ct_17^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -temp_35^post4+temp_35^0 == 0 /\ x_20^0-x_20^post4 == 0 /\ head_175^0-head_175^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ len_132^0-len_132^post4 == 0 /\ y_19^0 <= 0 /\ -a_215^post4+a_215^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ 1-a_237^0+a_260^post4 <= 0 /\ -result_11^post4+result_11^0 == 0 /\ -x_16^post4+x_16^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -y_19^0 <= 0 /\ -a_147^post4+a_147^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ i_94^0-i_94^post4 == 0 /\ ct_17^0 <= 0 /\ a_116^0-a_116^post4 == 0 /\ -x_SLAM_f_18^post4+x_SLAM_f_18^0 == 0 /\ -x_20^0+t_23^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post4+i_167^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ f_170^0-f_170^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ r_163^0-r_163^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ i_30^0-i_30^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ a_184^0-a_184^post4 == 0), cost: 1 5: l5 -> l6 : a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, r_39^0'=r_39^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, temp0_15^0'=temp0_15^post5, head_175^0'=head_175^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, rcd_88^0'=rcd_88^post5, f_170^0'=f_170^post5, len_132^0'=len_132^post5, temp_35^0'=temp_35^post5, head_32^0'=head_32^post5, r_163^0'=r_163^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, i_167^0'=i_167^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, head_14^0'=head_14^post5, length_29^0'=length_29^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, i_108^0'=i_108^post5, rcd_58^0'=rcd_58^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, head_27^0'=head_27^post5, r_124^0'=r_124^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, result_11^0'=result_11^post5, head_129^0'=head_129^post5, len_183^0'=len_183^post5, (r_39^0-r_39^post5 == 0 /\ head_175^0-head_175^post5 == 0 /\ a_116^0-a_116^post5 == 0 /\ -x_20^post5+x_20^0 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ length_29^0-length_29^post5 == 0 /\ -a_147^post5+a_147^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ -head_129^post5+head_129^0 == 0 /\ a_237^0-a_237^post5 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -x_SLAM_f_18^post5+x_SLAM_f_18^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ i_30^0-i_30^post5 == 0 /\ -i_94^post5+i_94^0 == 0 /\ 1-head_14^0 <= 0 /\ a_184^0-a_184^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -len_183^post5+len_183^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ r_163^0-r_163^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -a_215^post5+a_215^0 == 0 /\ i_108^0-i_108^post5 == 0), cost: 1 6: l5 -> l6 : a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, r_39^0'=r_39^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, temp0_15^0'=temp0_15^post6, head_175^0'=head_175^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, rcd_88^0'=rcd_88^post6, f_170^0'=f_170^post6, len_132^0'=len_132^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_163^0'=r_163^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, i_167^0'=i_167^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, head_14^0'=head_14^post6, length_29^0'=length_29^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, i_108^0'=i_108^post6, rcd_58^0'=rcd_58^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, head_27^0'=head_27^post6, r_124^0'=r_124^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, result_11^0'=result_11^post6, head_129^0'=head_129^post6, len_183^0'=len_183^post6, (head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ -len_132^post6+len_132^0 == 0 /\ -x_SLAM_f_18^post6+x_SLAM_f_18^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ r_124^0-r_124^post6 == 0 /\ a_116^0-a_116^post6 == 0 /\ t_23^0-t_23^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ -len_183^post6+len_183^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ head_14^0-head_14^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ -a_260^post6+a_260^0 == 0 /\ -i_167^post6+i_167^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ 1+head_14^0 <= 0 /\ r_39^0-r_39^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -length_29^post6+length_29^0 == 0 /\ -head_129^post6+head_129^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ temp0_15^0-temp0_15^post6 == 0), cost: 1 7: l6 -> l7 : a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, r_39^0'=r_39^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, temp0_15^0'=temp0_15^post7, head_175^0'=head_175^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, rcd_88^0'=rcd_88^post7, f_170^0'=f_170^post7, len_132^0'=len_132^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_163^0'=r_163^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, i_167^0'=i_167^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, head_14^0'=head_14^post7, length_29^0'=length_29^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, i_108^0'=i_108^post7, rcd_58^0'=rcd_58^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, head_27^0'=head_27^post7, r_124^0'=r_124^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, result_11^0'=result_11^post7, head_129^0'=head_129^post7, len_183^0'=len_183^post7, (f_170^0-f_170^post7 == 0 /\ -i_167^post7+i_167^0 == 0 /\ temp0_15^0-temp0_15^post7 == 0 /\ -r_163^post7+r_163^0 == 0 /\ -a_215^post7+a_215^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ a_184^0-a_184^post7 == 0 /\ x_20^0-x_20^post7 == 0 /\ rcd_88^0-rcd_88^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ -len_183^post7+len_183^0 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -x_SLAM_f_18^post7+x_SLAM_f_18^0 == 0 /\ -a_147^post7+a_147^0 == 0 /\ length_29^0-length_29^post7 == 0 /\ a_237^0-a_237^post7 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ r_124^0-r_124^post7 == 0 /\ -len_132^post7+len_132^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -a_260^post7+a_260^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ head_175^0-head_175^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_16^post7+x_16^0 == 0 /\ head_129^0-head_129^post7 == 0 /\ head_14^0-head_14^post7 == 0 /\ -head_27^post7+head_27^0 == 0 /\ head_32^0-head_32^post7 == 0), cost: 1 8: l6 -> l7 : a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, r_39^0'=r_39^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, temp0_15^0'=temp0_15^post8, head_175^0'=head_175^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, rcd_88^0'=rcd_88^post8, f_170^0'=f_170^post8, len_132^0'=len_132^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_163^0'=r_163^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, i_167^0'=i_167^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, head_14^0'=head_14^post8, length_29^0'=length_29^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, i_108^0'=i_108^post8, rcd_58^0'=rcd_58^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, head_27^0'=head_27^post8, r_124^0'=r_124^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, result_11^0'=result_11^post8, head_129^0'=head_129^post8, len_183^0'=len_183^post8, (temp_35^0-temp_35^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ -r_163^post8+r_163^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ t_23^0-t_23^post8 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ i_167^0-i_167^post8 == 0 /\ -head_129^post8+head_129^0 == 0 /\ -y_19^post8+y_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ len_132^0-len_132^post8 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ -f_170^post8+f_170^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ -a_215^post8+a_215^0 == 0 /\ head_32^0-head_32^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -x_SLAM_f_18^post8+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -head_175^post8+head_175^0 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -x_20^post8+x_20^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ a_237^0-a_237^post8 == 0 /\ -i_108^post8+i_108^0 == 0), cost: 1 9: l7 -> l8 : a_116^0'=a_116^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, r_39^0'=r_39^post9, a_260^0'=a_260^post9, i_30^0'=i_30^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, temp0_15^0'=temp0_15^post9, head_175^0'=head_175^post9, nondet_12^0'=nondet_12^post9, a_184^0'=a_184^post9, x_20^0'=x_20^post9, rcd_88^0'=rcd_88^post9, f_170^0'=f_170^post9, len_132^0'=len_132^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_163^0'=r_163^post9, a_237^0'=a_237^post9, y_19^0'=y_19^post9, i_167^0'=i_167^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, head_14^0'=head_14^post9, length_29^0'=length_29^post9, a_147^0'=a_147^post9, x_16^0'=x_16^post9, i_108^0'=i_108^post9, rcd_58^0'=rcd_58^post9, ct_17^0'=ct_17^post9, i_94^0'=i_94^post9, t_23^0'=t_23^post9, temp0_31^0'=temp0_31^post9, head_27^0'=head_27^post9, r_124^0'=r_124^post9, a_215^0'=a_215^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, result_11^0'=result_11^post9, head_129^0'=head_129^post9, len_183^0'=len_183^post9, (-y_19^post9+y_19^0 == 0 /\ -head_27^post9+head_27^0 == 0 /\ -head_129^post9+head_129^0 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_132^post9+len_132^0 == 0 /\ -r_124^post9+r_124^0 == 0 /\ -len_183^post9+len_183^0 == 0 /\ a_116^0-a_116^post9 == 0 /\ rcd_58^0-rcd_58^post9 == 0 /\ -x_20^post9+x_20^0 == 0 /\ -a_237^post9+a_237^0 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ f_170^0-f_170^post9 == 0 /\ i_167^0-i_167^post9 == 0 /\ r_39^0-r_39^post9 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ i_30^0-i_30^post9 == 0 /\ a_184^0-a_184^post9 == 0 /\ rcd_88^0-rcd_88^post9 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post9 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -result_11^post9+result_11^0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9 == 0 /\ -length_29^post9+length_29^0 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ x_16^0-x_16^post9 == 0 /\ -i_94^post9+i_94^0 == 0 /\ ct_17^0-ct_17^post9 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -r_163^post9+r_163^0 == 0 /\ -a_147^post9+a_147^0 == 0 /\ temp0_15^0-temp0_15^post9 == 0 /\ a_260^0-a_260^post9 == 0 /\ head_14^0-head_14^post9 == 0 /\ -i_108^post9+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ head_175^0-head_175^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0), cost: 1 10: l7 -> l8 : a_116^0'=a_116^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, r_39^0'=r_39^post10, a_260^0'=a_260^post10, i_30^0'=i_30^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, temp0_15^0'=temp0_15^post10, head_175^0'=head_175^post10, nondet_12^0'=nondet_12^post10, a_184^0'=a_184^post10, x_20^0'=x_20^post10, rcd_88^0'=rcd_88^post10, f_170^0'=f_170^post10, len_132^0'=len_132^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_163^0'=r_163^post10, a_237^0'=a_237^post10, y_19^0'=y_19^post10, i_167^0'=i_167^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_14^0'=head_14^post10, length_29^0'=length_29^post10, a_147^0'=a_147^post10, x_16^0'=x_16^post10, i_108^0'=i_108^post10, rcd_58^0'=rcd_58^post10, ct_17^0'=ct_17^post10, i_94^0'=i_94^post10, t_23^0'=t_23^post10, temp0_31^0'=temp0_31^post10, head_27^0'=head_27^post10, r_124^0'=r_124^post10, a_215^0'=a_215^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_11^0'=result_11^post10, head_129^0'=head_129^post10, len_183^0'=len_183^post10, (-a_147^post10+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ x_16^0-x_16^post10 == 0 /\ r_124^0-r_124^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -len_132^post10+len_132^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ -head_129^post10+head_129^0 == 0 /\ -x_SLAM_f_18^post10+x_SLAM_f_18^0 == 0 /\ f_170^0-f_170^post10 == 0 /\ -ct_17^post10+ct_17^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ a_260^0-a_260^post10 == 0 /\ t_23^0-t_23^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ head_27^0-head_27^post10 == 0 /\ a_116^0-a_116^post10 == 0 /\ r_39^0-r_39^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -r_163^post10+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10 == 0 /\ -head_14^post10+head_14^0 == 0 /\ -i_167^post10+i_167^0 == 0 /\ a_237^0-a_237^post10 == 0 /\ -rcd_88^post10+rcd_88^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -len_183^post10+len_183^0 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ -length_29^post10+length_29^0 == 0 /\ a_184^0-a_184^post10 == 0 /\ i_94^0-i_94^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -y_19^post10+y_19^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1 11: l8 -> l2 : a_116^0'=a_116^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, r_39^0'=r_39^post11, a_260^0'=a_260^post11, i_30^0'=i_30^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, temp0_15^0'=temp0_15^post11, head_175^0'=head_175^post11, nondet_12^0'=nondet_12^post11, a_184^0'=a_184^post11, x_20^0'=x_20^post11, rcd_88^0'=rcd_88^post11, f_170^0'=f_170^post11, len_132^0'=len_132^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_163^0'=r_163^post11, a_237^0'=a_237^post11, y_19^0'=y_19^post11, i_167^0'=i_167^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_14^0'=head_14^post11, length_29^0'=length_29^post11, a_147^0'=a_147^post11, x_16^0'=x_16^post11, i_108^0'=i_108^post11, rcd_58^0'=rcd_58^post11, ct_17^0'=ct_17^post11, i_94^0'=i_94^post11, t_23^0'=t_23^post11, temp0_31^0'=temp0_31^post11, head_27^0'=head_27^post11, r_124^0'=r_124^post11, a_215^0'=a_215^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, result_11^0'=result_11^post11, head_129^0'=head_129^post11, len_183^0'=len_183^post11, (0 == 0 /\ i_30^0-i_30^post11 == 0 /\ head_14^0-head_14^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -t_23^post11+t_23^0 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -a_215^post11+a_215^0 == 0 /\ -result_11^post11+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ r_163^0-r_163^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ head_175^0-head_175^post11 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ a_260^0-a_260^post11 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -a_260^0+a_237^post11 <= 0 /\ x_16^0-x_16^post11 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -r_124^post11+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ len_132^0-len_132^post11 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -len_183^post11+len_183^0 == 0 /\ a_147^0-a_147^post11 == 0 /\ a_260^0-a_237^post11 <= 0 /\ ct_17^0-ct_17^post11 == 0 /\ -head_129^post11+head_129^0 == 0 /\ -y_19^post11+y_19^0 == 0 /\ -a_184^post11+a_184^0 == 0 /\ -length_29^post11+length_29^0 == 0 /\ a_116^0-a_116^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0), cost: 1 12: l2 -> l0 : a_116^0'=a_116^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, r_39^0'=r_39^post12, a_260^0'=a_260^post12, i_30^0'=i_30^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, temp0_15^0'=temp0_15^post12, head_175^0'=head_175^post12, nondet_12^0'=nondet_12^post12, a_184^0'=a_184^post12, x_20^0'=x_20^post12, rcd_88^0'=rcd_88^post12, f_170^0'=f_170^post12, len_132^0'=len_132^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_163^0'=r_163^post12, a_237^0'=a_237^post12, y_19^0'=y_19^post12, i_167^0'=i_167^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_14^0'=head_14^post12, length_29^0'=length_29^post12, a_147^0'=a_147^post12, x_16^0'=x_16^post12, i_108^0'=i_108^post12, rcd_58^0'=rcd_58^post12, ct_17^0'=ct_17^post12, i_94^0'=i_94^post12, t_23^0'=t_23^post12, temp0_31^0'=temp0_31^post12, head_27^0'=head_27^post12, r_124^0'=r_124^post12, a_215^0'=a_215^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, result_11^0'=result_11^post12, head_129^0'=head_129^post12, len_183^0'=len_183^post12, (-head_32^post12+head_32^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ -r_163^post12+r_163^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ a_260^0-a_260^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -length_29^post12+length_29^0 == 0 /\ -i_108^post12+i_108^0 == 0 /\ -len_183^post12+len_183^0 == 0 /\ len_132^0-len_132^post12 == 0 /\ -a_215^post12+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -f_170^post12+f_170^0 == 0 /\ -rcd_58^post12+rcd_58^0 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -a_147^post12+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -x_20^post12+x_20^0 == 0 /\ a_184^0-a_184^post12 == 0 /\ temp0_15^0-temp0_15^post12 == 0 /\ -head_129^post12+head_129^0 == 0 /\ a_116^0-a_116^post12 == 0 /\ -r_124^post12+r_124^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ ct_17^0-ct_17^post12 == 0 /\ a_237^0-a_237^post12 == 0 /\ -head_175^post12+head_175^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -head_27^post12+head_27^0 == 0), cost: 1 13: l9 -> l10 : a_116^0'=a_116^post13, tmp_34^0'=tmp_34^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, r_39^0'=r_39^post13, a_260^0'=a_260^post13, i_30^0'=i_30^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, temp0_15^0'=temp0_15^post13, head_175^0'=head_175^post13, nondet_12^0'=nondet_12^post13, a_184^0'=a_184^post13, x_20^0'=x_20^post13, rcd_88^0'=rcd_88^post13, f_170^0'=f_170^post13, len_132^0'=len_132^post13, temp_35^0'=temp_35^post13, head_32^0'=head_32^post13, r_163^0'=r_163^post13, a_237^0'=a_237^post13, y_19^0'=y_19^post13, i_167^0'=i_167^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, head_14^0'=head_14^post13, length_29^0'=length_29^post13, a_147^0'=a_147^post13, x_16^0'=x_16^post13, i_108^0'=i_108^post13, rcd_58^0'=rcd_58^post13, ct_17^0'=ct_17^post13, i_94^0'=i_94^post13, t_23^0'=t_23^post13, temp0_31^0'=temp0_31^post13, head_27^0'=head_27^post13, r_124^0'=r_124^post13, a_215^0'=a_215^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, result_11^0'=result_11^post13, head_129^0'=head_129^post13, len_183^0'=len_183^post13, (0 == 0 /\ head_32^0-head_32^post13 == 0 /\ -head_129^post13+head_129^0 == 0 /\ x_20^0-y_19^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -length_29^post13+length_29^0 == 0 /\ -head_27^post13+head_27^0 == 0 /\ a_116^0-a_116^post13 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ -r_124^post13+r_124^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -len_183^post13+len_183^0 == 0 /\ a_184^0-a_184^post13 == 0 /\ -x_20^0+y_19^0 <= 0 /\ rcd_88^0-rcd_88^post13 == 0 /\ i_30^0-i_30^post13 == 0 /\ head_175^0-head_175^post13 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ len_132^0-len_132^post13 == 0 /\ -i_94^post13+i_94^0 == 0 /\ -a_215^post13+a_215^0 == 0 /\ a_237^0-a_237^post13 == 0 /\ -r_163^post13+r_163^0 == 0 /\ -i_167^post13+i_167^0 == 0 /\ -rcd_58^post13+rcd_58^0 == 0 /\ a_260^0-a_260^post13 == 0 /\ temp0_15^0-temp0_15^post13 == 0 /\ -i_108^post13+i_108^0 == 0 /\ r_39^0-r_39^post13 == 0 /\ -a_215^0 <= 0 /\ -f_170^post13+f_170^0 == 0 /\ -temp0_15^0+result_11^post13 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post13 == 0 /\ a_147^0-a_147^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0), cost: 1 17: l9 -> l12 : a_116^0'=a_116^post17, tmp_34^0'=tmp_34^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, r_39^0'=r_39^post17, a_260^0'=a_260^post17, i_30^0'=i_30^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, temp0_15^0'=temp0_15^post17, head_175^0'=head_175^post17, nondet_12^0'=nondet_12^post17, a_184^0'=a_184^post17, x_20^0'=x_20^post17, rcd_88^0'=rcd_88^post17, f_170^0'=f_170^post17, len_132^0'=len_132^post17, temp_35^0'=temp_35^post17, head_32^0'=head_32^post17, r_163^0'=r_163^post17, a_237^0'=a_237^post17, y_19^0'=y_19^post17, i_167^0'=i_167^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, head_14^0'=head_14^post17, length_29^0'=length_29^post17, a_147^0'=a_147^post17, x_16^0'=x_16^post17, i_108^0'=i_108^post17, rcd_58^0'=rcd_58^post17, ct_17^0'=ct_17^post17, i_94^0'=i_94^post17, t_23^0'=t_23^post17, temp0_31^0'=temp0_31^post17, head_27^0'=head_27^post17, r_124^0'=r_124^post17, a_215^0'=a_215^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, result_11^0'=result_11^post17, head_129^0'=head_129^post17, len_183^0'=len_183^post17, (0 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ a_147^0-a_147^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ r_163^0-r_163^post17 == 0 /\ -i_108^post17+i_108^0 == 0 /\ -len_183^post17+len_183^0 == 0 /\ tmp_34^0-tmp_34^post17 == 0 /\ a_260^0-a_260^post17 == 0 /\ -length_29^post17+length_29^0 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ len_132^0-len_132^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ -head_129^post17+head_129^0 == 0 /\ -a_215^post17+a_215^0 == 0 /\ -a_237^post17+a_237^0 == 0 /\ rcd_58^0-rcd_58^post17 == 0 /\ -f_170^post17+f_170^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ i_167^0-i_167^post17 == 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -head_27^post17+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ r_39^0-r_39^post17 == 0 /\ head_175^0-head_175^post17 == 0 /\ i_30^0-i_30^post17 == 0 /\ a_116^0-a_116^post17 == 0 /\ a_184^0-a_184^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ -a_215^0 <= 0 /\ temp_35^0-temp_35^post17 == 0 /\ -x_20^post17+x_20^0 == 0 /\ -r_124^post17+r_124^0 == 0 /\ -head_32^post17+head_32^0 == 0), cost: 1 14: l10 -> l11 : a_116^0'=a_116^post14, tmp_34^0'=tmp_34^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, r_39^0'=r_39^post14, a_260^0'=a_260^post14, i_30^0'=i_30^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, temp0_15^0'=temp0_15^post14, head_175^0'=head_175^post14, nondet_12^0'=nondet_12^post14, a_184^0'=a_184^post14, x_20^0'=x_20^post14, rcd_88^0'=rcd_88^post14, f_170^0'=f_170^post14, len_132^0'=len_132^post14, temp_35^0'=temp_35^post14, head_32^0'=head_32^post14, r_163^0'=r_163^post14, a_237^0'=a_237^post14, y_19^0'=y_19^post14, i_167^0'=i_167^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, head_14^0'=head_14^post14, length_29^0'=length_29^post14, a_147^0'=a_147^post14, x_16^0'=x_16^post14, i_108^0'=i_108^post14, rcd_58^0'=rcd_58^post14, ct_17^0'=ct_17^post14, i_94^0'=i_94^post14, t_23^0'=t_23^post14, temp0_31^0'=temp0_31^post14, head_27^0'=head_27^post14, r_124^0'=r_124^post14, a_215^0'=a_215^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, result_11^0'=result_11^post14, head_129^0'=head_129^post14, len_183^0'=len_183^post14, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ a_116^0-a_116^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ r_39^0-r_39^post14 == 0 /\ -x_SLAM_f_18^post14+x_SLAM_f_18^0 == 0 /\ -a_237^post14+a_237^0 == 0 /\ -head_129^post14+head_129^0 == 0 /\ head_14^0-head_14^post14 == 0 /\ -y_19^post14+y_19^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ i_167^0-i_167^post14 == 0 /\ -r_124^post14+r_124^0 == 0 /\ -result_11^post14+result_11^0 == 0 /\ 1-head_14^0 <= 0 /\ -head_27^post14+head_27^0 == 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ -head_175^post14+head_175^0 == 0 /\ x_20^0-x_20^post14 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ len_132^0-len_132^post14 == 0 /\ -head_32^post14+head_32^0 == 0 /\ x_16^0-x_16^post14 == 0 /\ -length_29^post14+length_29^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 == 0 /\ r_163^0-r_163^post14 == 0 /\ temp_35^0-temp_35^post14 == 0 /\ -a_215^post14+a_215^0 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ -f_170^post14+f_170^0 == 0 /\ rcd_58^0-rcd_58^post14 == 0 /\ i_30^0-i_30^post14 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ a_260^0-a_260^post14 == 0 /\ a_184^0-a_184^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -a_147^post14+a_147^0 == 0), cost: 1 15: l10 -> l11 : a_116^0'=a_116^post15, tmp_34^0'=tmp_34^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, r_39^0'=r_39^post15, a_260^0'=a_260^post15, i_30^0'=i_30^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, temp0_15^0'=temp0_15^post15, head_175^0'=head_175^post15, nondet_12^0'=nondet_12^post15, a_184^0'=a_184^post15, x_20^0'=x_20^post15, rcd_88^0'=rcd_88^post15, f_170^0'=f_170^post15, len_132^0'=len_132^post15, temp_35^0'=temp_35^post15, head_32^0'=head_32^post15, r_163^0'=r_163^post15, a_237^0'=a_237^post15, y_19^0'=y_19^post15, i_167^0'=i_167^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, head_14^0'=head_14^post15, length_29^0'=length_29^post15, a_147^0'=a_147^post15, x_16^0'=x_16^post15, i_108^0'=i_108^post15, rcd_58^0'=rcd_58^post15, ct_17^0'=ct_17^post15, i_94^0'=i_94^post15, t_23^0'=t_23^post15, temp0_31^0'=temp0_31^post15, head_27^0'=head_27^post15, r_124^0'=r_124^post15, a_215^0'=a_215^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, result_11^0'=result_11^post15, head_129^0'=head_129^post15, len_183^0'=len_183^post15, (-length_29^post15+length_29^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ a_260^0-a_260^post15 == 0 /\ head_14^0-head_14^post15 == 0 /\ i_167^0-i_167^post15 == 0 /\ x_16^0-x_16^post15 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ -f_170^post15+f_170^0 == 0 /\ rcd_88^0-rcd_88^post15 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ -x_SLAM_f_18^post15+x_SLAM_f_18^0 == 0 /\ -a_147^post15+a_147^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ -head_32^post15+head_32^0 == 0 /\ tmp_34^0-tmp_34^post15 == 0 /\ -r_163^post15+r_163^0 == 0 /\ -x_20^post15+x_20^0 == 0 /\ t_23^0-t_23^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ -len_132^post15+len_132^0 == 0 /\ a_184^0-a_184^post15 == 0 /\ -len_183^post15+len_183^0 == 0 /\ -i_108^post15+i_108^0 == 0 /\ -r_124^post15+r_124^0 == 0 /\ -y_19^post15+y_19^0 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_27^post15+head_27^0 == 0 /\ i_30^0-i_30^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ head_175^0-head_175^post15 == 0 /\ a_237^0-a_237^post15 == 0 /\ nondet_12^0-nondet_12^post15 == 0 /\ a_116^0-a_116^post15 == 0 /\ -a_215^post15+a_215^0 == 0 /\ -head_129^post15+head_129^0 == 0 /\ i_94^0-i_94^post15 == 0 /\ temp0_15^0-temp0_15^post15 == 0), cost: 1 16: l11 -> l1 : a_116^0'=a_116^post16, tmp_34^0'=tmp_34^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, r_39^0'=r_39^post16, a_260^0'=a_260^post16, i_30^0'=i_30^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, temp0_15^0'=temp0_15^post16, head_175^0'=head_175^post16, nondet_12^0'=nondet_12^post16, a_184^0'=a_184^post16, x_20^0'=x_20^post16, rcd_88^0'=rcd_88^post16, f_170^0'=f_170^post16, len_132^0'=len_132^post16, temp_35^0'=temp_35^post16, head_32^0'=head_32^post16, r_163^0'=r_163^post16, a_237^0'=a_237^post16, y_19^0'=y_19^post16, i_167^0'=i_167^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, head_14^0'=head_14^post16, length_29^0'=length_29^post16, a_147^0'=a_147^post16, x_16^0'=x_16^post16, i_108^0'=i_108^post16, rcd_58^0'=rcd_58^post16, ct_17^0'=ct_17^post16, i_94^0'=i_94^post16, t_23^0'=t_23^post16, temp0_31^0'=temp0_31^post16, head_27^0'=head_27^post16, r_124^0'=r_124^post16, a_215^0'=a_215^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, result_11^0'=result_11^post16, head_129^0'=head_129^post16, len_183^0'=len_183^post16, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_27^0-head_27^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ head_175^0-head_175^post16 == 0 /\ x_20^0-x_20^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ r_163^0-r_163^post16 == 0 /\ -length_29^post16+length_29^0 == 0 /\ i_30^0-i_30^post16 == 0 /\ -i_108^post16+i_108^0 == 0 /\ -f_170^post16+f_170^0 == 0 /\ ct_17^0-ct_17^post16 == 0 /\ -a_215^post16+a_215^0 == 0 /\ r_124^0-r_124^post16 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ -a_147^post16+a_147^0 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -t_23^post16+t_23^0 == 0 /\ a_116^0-a_116^post16 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ a_260^0-a_260^post16 == 0 /\ i_167^0-i_167^post16 == 0 /\ -a_184^post16+a_184^0 == 0 /\ -head_129^post16+head_129^0 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -y_19^post16+y_19^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ len_132^0-len_132^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tmp_34^0-tmp_34^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ head_14^0-head_14^post16 == 0 /\ rcd_58^0-rcd_58^post16 == 0 /\ -a_237^post16+a_237^0 == 0 /\ len_183^0-len_183^post16 == 0 /\ -i_94^post16+i_94^0 == 0 /\ x_16^0-x_16^post16 == 0), cost: 1 18: l12 -> l13 : a_116^0'=a_116^post18, tmp_34^0'=tmp_34^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, r_39^0'=r_39^post18, a_260^0'=a_260^post18, i_30^0'=i_30^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, temp0_15^0'=temp0_15^post18, head_175^0'=head_175^post18, nondet_12^0'=nondet_12^post18, a_184^0'=a_184^post18, x_20^0'=x_20^post18, rcd_88^0'=rcd_88^post18, f_170^0'=f_170^post18, len_132^0'=len_132^post18, temp_35^0'=temp_35^post18, head_32^0'=head_32^post18, r_163^0'=r_163^post18, a_237^0'=a_237^post18, y_19^0'=y_19^post18, i_167^0'=i_167^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, head_14^0'=head_14^post18, length_29^0'=length_29^post18, a_147^0'=a_147^post18, x_16^0'=x_16^post18, i_108^0'=i_108^post18, rcd_58^0'=rcd_58^post18, ct_17^0'=ct_17^post18, i_94^0'=i_94^post18, t_23^0'=t_23^post18, temp0_31^0'=temp0_31^post18, head_27^0'=head_27^post18, r_124^0'=r_124^post18, a_215^0'=a_215^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, result_11^0'=result_11^post18, head_129^0'=head_129^post18, len_183^0'=len_183^post18, (-len_183^post18+len_183^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ t_23^0-t_23^post18 == 0 /\ rcd_58^0-rcd_58^post18 == 0 /\ a_116^0-a_116^post18 == 0 /\ -head_27^post18+head_27^0 == 0 /\ head_14^0-head_14^post18 == 0 /\ -y_19^post18+y_19^0 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ i_167^0-i_167^post18 == 0 /\ -r_124^post18+r_124^0 == 0 /\ -i_94^post18+i_94^0 == 0 /\ rcd_88^0-rcd_88^post18 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ x_20^0-x_20^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -a_237^post18+a_237^0 == 0 /\ -head_129^post18+head_129^0 == 0 /\ i_30^0-i_30^post18 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ len_132^0-len_132^post18 == 0 /\ -head_175^post18+head_175^0 == 0 /\ ct_17^0-ct_17^post18 == 0 /\ tmp_34^0-tmp_34^post18 == 0 /\ -length_29^post18+length_29^0 == 0 /\ -a_215^post18+a_215^0 == 0 /\ x_16^0-x_16^post18 == 0 /\ -head_32^post18+head_32^0 == 0 /\ -f_170^post18+f_170^0 == 0 /\ temp0_15^0-temp0_15^post18 == 0 /\ a_260^0-a_260^post18 == 0 /\ -a_147^post18+a_147^0 == 0 /\ -i_108^post18+i_108^0 == 0 /\ -temp0_31^post18+temp0_31^0 == 0 /\ temp_35^0-temp_35^post18 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ a_184^0-a_184^post18 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post18 == 0 /\ -r_163^post18+r_163^0 == 0), cost: 1 19: l12 -> l13 : a_116^0'=a_116^post19, tmp_34^0'=tmp_34^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, r_39^0'=r_39^post19, a_260^0'=a_260^post19, i_30^0'=i_30^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, temp0_15^0'=temp0_15^post19, head_175^0'=head_175^post19, nondet_12^0'=nondet_12^post19, a_184^0'=a_184^post19, x_20^0'=x_20^post19, rcd_88^0'=rcd_88^post19, f_170^0'=f_170^post19, len_132^0'=len_132^post19, temp_35^0'=temp_35^post19, head_32^0'=head_32^post19, r_163^0'=r_163^post19, a_237^0'=a_237^post19, y_19^0'=y_19^post19, i_167^0'=i_167^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, head_14^0'=head_14^post19, length_29^0'=length_29^post19, a_147^0'=a_147^post19, x_16^0'=x_16^post19, i_108^0'=i_108^post19, rcd_58^0'=rcd_58^post19, ct_17^0'=ct_17^post19, i_94^0'=i_94^post19, t_23^0'=t_23^post19, temp0_31^0'=temp0_31^post19, head_27^0'=head_27^post19, r_124^0'=r_124^post19, a_215^0'=a_215^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, result_11^0'=result_11^post19, head_129^0'=head_129^post19, len_183^0'=len_183^post19, (1+x_20^0-y_19^0 <= 0 /\ rcd_88^0-rcd_88^post19 == 0 /\ len_132^0-len_132^post19 == 0 /\ -a_237^post19+a_237^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_147^0-a_147^post19 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ -a_184^post19+a_184^0 == 0 /\ -head_129^post19+head_129^0 == 0 /\ -x_SLAM_f_18^post19+x_SLAM_f_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ r_163^0-r_163^post19 == 0 /\ -r_124^post19+r_124^0 == 0 /\ -result_11^post19+result_11^0 == 0 /\ f_170^0-f_170^post19 == 0 /\ y_19^0-y_19^post19 == 0 /\ -x_16^post19+x_16^0 == 0 /\ i_30^0-i_30^post19 == 0 /\ -head_27^post19+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ -i_94^post19+i_94^0 == 0 /\ -head_14^post19+head_14^0 == 0 /\ -i_108^post19+i_108^0 == 0 /\ r_39^0-r_39^post19 == 0 /\ head_175^0-head_175^post19 == 0 /\ a_116^0-a_116^post19 == 0 /\ -ct_17^post19+ct_17^0 == 0 /\ head_32^0-head_32^post19 == 0 /\ -length_29^post19+length_29^0 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ a_260^0-a_260^post19 == 0 /\ temp0_15^0-temp0_15^post19 == 0 /\ -t_23^post19+t_23^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ tmp_34^0-tmp_34^post19 == 0 /\ i_167^0-i_167^post19 == 0 /\ -len_183^post19+len_183^0 == 0 /\ -a_215^post19+a_215^0 == 0 /\ x_20^0-x_20^post19 == 0 /\ -rcd_58^post19+rcd_58^0 == 0), cost: 1 20: l13 -> l14 : a_116^0'=a_116^post20, tmp_34^0'=tmp_34^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, r_39^0'=r_39^post20, a_260^0'=a_260^post20, i_30^0'=i_30^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, temp0_15^0'=temp0_15^post20, head_175^0'=head_175^post20, nondet_12^0'=nondet_12^post20, a_184^0'=a_184^post20, x_20^0'=x_20^post20, rcd_88^0'=rcd_88^post20, f_170^0'=f_170^post20, len_132^0'=len_132^post20, temp_35^0'=temp_35^post20, head_32^0'=head_32^post20, r_163^0'=r_163^post20, a_237^0'=a_237^post20, y_19^0'=y_19^post20, i_167^0'=i_167^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, head_14^0'=head_14^post20, length_29^0'=length_29^post20, a_147^0'=a_147^post20, x_16^0'=x_16^post20, i_108^0'=i_108^post20, rcd_58^0'=rcd_58^post20, ct_17^0'=ct_17^post20, i_94^0'=i_94^post20, t_23^0'=t_23^post20, temp0_31^0'=temp0_31^post20, head_27^0'=head_27^post20, r_124^0'=r_124^post20, a_215^0'=a_215^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, result_11^0'=result_11^post20, head_129^0'=head_129^post20, len_183^0'=len_183^post20, (-i_94^post20+i_94^0 == 0 /\ -length_29^post20+length_29^0 == 0 /\ -a_215^post20+a_215^0 == 0 /\ head_27^0-head_27^post20 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ -result_11^post20+result_11^0 == 0 /\ t_23^post20-x_20^0 == 0 /\ head_175^0-head_175^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 == 0 /\ -f_170^post20+f_170^0 == 0 /\ -ct_17^0 <= 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ r_163^0-r_163^post20 == 0 /\ i_30^0-i_30^post20 == 0 /\ x_20^0-x_20^post20 == 0 /\ -x_SLAM_f_18^post20+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -ct_17^post20+ct_17^0 == 0 /\ a_116^0-a_116^post20 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -temp0_15^post20+temp0_15^0 == 0 /\ y_19^0 <= 0 /\ -i_108^post20+i_108^0 == 0 /\ -y_19^post20+y_19^0 == 0 /\ -r_124^post20+r_124^0 == 0 /\ a_260^0-a_260^post20 == 0 /\ -head_129^post20+head_129^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post20 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ i_167^0-i_167^post20 == 0 /\ temp_35^0-temp_35^post20 == 0 /\ -y_19^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ len_132^0-len_132^post20 == 0 /\ ct_17^0 <= 0 /\ r_39^0-r_39^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -len_183^post20+len_183^0 == 0 /\ -a_237^post20+a_237^0 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -head_14^post20+head_14^0 == 0 /\ -a_184^post20+a_184^0 == 0 /\ -x_16^post20+x_16^0 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ a_147^0-a_147^post20 == 0 /\ rcd_58^0-rcd_58^post20 == 0), cost: 1 21: l14 -> l15 : a_116^0'=a_116^post21, tmp_34^0'=tmp_34^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, r_39^0'=r_39^post21, a_260^0'=a_260^post21, i_30^0'=i_30^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, temp0_15^0'=temp0_15^post21, head_175^0'=head_175^post21, nondet_12^0'=nondet_12^post21, a_184^0'=a_184^post21, x_20^0'=x_20^post21, rcd_88^0'=rcd_88^post21, f_170^0'=f_170^post21, len_132^0'=len_132^post21, temp_35^0'=temp_35^post21, head_32^0'=head_32^post21, r_163^0'=r_163^post21, a_237^0'=a_237^post21, y_19^0'=y_19^post21, i_167^0'=i_167^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, head_14^0'=head_14^post21, length_29^0'=length_29^post21, a_147^0'=a_147^post21, x_16^0'=x_16^post21, i_108^0'=i_108^post21, rcd_58^0'=rcd_58^post21, ct_17^0'=ct_17^post21, i_94^0'=i_94^post21, t_23^0'=t_23^post21, temp0_31^0'=temp0_31^post21, head_27^0'=head_27^post21, r_124^0'=r_124^post21, a_215^0'=a_215^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, result_11^0'=result_11^post21, head_129^0'=head_129^post21, len_183^0'=len_183^post21, (-head_32^post21+head_32^0 == 0 /\ a_260^0-a_260^post21 == 0 /\ y_19^0-y_19^post21 == 0 /\ -i_108^post21+i_108^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ rcd_88^0-rcd_88^post21 == 0 /\ -a_215^post21+a_215^0 == 0 /\ -length_29^post21+length_29^0 == 0 /\ len_132^0-len_132^post21 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post21 == 0 /\ 1-head_14^0 <= 0 /\ head_14^0-head_14^post21 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ -x_SLAM_f_18^post21+x_SLAM_f_18^0 == 0 /\ -head_129^post21+head_129^0 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ -head_27^post21+head_27^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ -temp_35^post21+temp_35^0 == 0 /\ -t_23^post21+t_23^0 == 0 /\ x_20^0-x_20^post21 == 0 /\ -len_183^post21+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ head_175^0-head_175^post21 == 0 /\ a_184^0-a_184^post21 == 0 /\ i_167^0-i_167^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_163^0-r_163^post21 == 0 /\ ct_17^0-ct_17^post21 == 0 /\ -result_11^post21+result_11^0 == 0 /\ -x_16^post21+x_16^0 == 0 /\ -r_124^post21+r_124^0 == 0 /\ r_39^0-r_39^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ a_147^0-a_147^post21 == 0 /\ -a_237^post21+a_237^0 == 0 /\ a_116^0-a_116^post21 == 0 /\ -i_30^post21+i_30^0 == 0 /\ -i_94^post21+i_94^0 == 0), cost: 1 22: l14 -> l15 : a_116^0'=a_116^post22, tmp_34^0'=tmp_34^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, r_39^0'=r_39^post22, a_260^0'=a_260^post22, i_30^0'=i_30^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, temp0_15^0'=temp0_15^post22, head_175^0'=head_175^post22, nondet_12^0'=nondet_12^post22, a_184^0'=a_184^post22, x_20^0'=x_20^post22, rcd_88^0'=rcd_88^post22, f_170^0'=f_170^post22, len_132^0'=len_132^post22, temp_35^0'=temp_35^post22, head_32^0'=head_32^post22, r_163^0'=r_163^post22, a_237^0'=a_237^post22, y_19^0'=y_19^post22, i_167^0'=i_167^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, head_14^0'=head_14^post22, length_29^0'=length_29^post22, a_147^0'=a_147^post22, x_16^0'=x_16^post22, i_108^0'=i_108^post22, rcd_58^0'=rcd_58^post22, ct_17^0'=ct_17^post22, i_94^0'=i_94^post22, t_23^0'=t_23^post22, temp0_31^0'=temp0_31^post22, head_27^0'=head_27^post22, r_124^0'=r_124^post22, a_215^0'=a_215^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, result_11^0'=result_11^post22, head_129^0'=head_129^post22, len_183^0'=len_183^post22, (head_32^0-head_32^post22 == 0 /\ -len_183^post22+len_183^0 == 0 /\ x_20^0-x_20^post22 == 0 /\ head_27^0-head_27^post22 == 0 /\ a_116^0-a_116^post22 == 0 /\ temp0_15^0-temp0_15^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ -head_14^post22+head_14^0 == 0 /\ -i_167^post22+i_167^0 == 0 /\ i_108^0-i_108^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ r_39^0-r_39^post22 == 0 /\ head_175^0-head_175^post22 == 0 /\ len_132^0-len_132^post22 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ -rcd_58^post22+rcd_58^0 == 0 /\ -head_129^post22+head_129^0 == 0 /\ -a_215^post22+a_215^0 == 0 /\ -a_184^post22+a_184^0 == 0 /\ f_170^0-f_170^post22 == 0 /\ -a_147^post22+a_147^0 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ y_19^0-y_19^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ -i_94^post22+i_94^0 == 0 /\ r_163^0-r_163^post22 == 0 /\ tmp_34^0-tmp_34^post22 == 0 /\ 1+head_14^0 <= 0 /\ result_11^0-result_11^post22 == 0 /\ a_260^0-a_260^post22 == 0 /\ -x_16^post22+x_16^0 == 0 /\ -t_23^post22+t_23^0 == 0 /\ -a_237^post22+a_237^0 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ length_29^0-length_29^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 == 0 /\ -r_124^post22+r_124^0 == 0), cost: 1 23: l15 -> l16 : a_116^0'=a_116^post23, tmp_34^0'=tmp_34^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, r_39^0'=r_39^post23, a_260^0'=a_260^post23, i_30^0'=i_30^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, temp0_15^0'=temp0_15^post23, head_175^0'=head_175^post23, nondet_12^0'=nondet_12^post23, a_184^0'=a_184^post23, x_20^0'=x_20^post23, rcd_88^0'=rcd_88^post23, f_170^0'=f_170^post23, len_132^0'=len_132^post23, temp_35^0'=temp_35^post23, head_32^0'=head_32^post23, r_163^0'=r_163^post23, a_237^0'=a_237^post23, y_19^0'=y_19^post23, i_167^0'=i_167^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, head_14^0'=head_14^post23, length_29^0'=length_29^post23, a_147^0'=a_147^post23, x_16^0'=x_16^post23, i_108^0'=i_108^post23, rcd_58^0'=rcd_58^post23, ct_17^0'=ct_17^post23, i_94^0'=i_94^post23, t_23^0'=t_23^post23, temp0_31^0'=temp0_31^post23, head_27^0'=head_27^post23, r_124^0'=r_124^post23, a_215^0'=a_215^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, result_11^0'=result_11^post23, head_129^0'=head_129^post23, len_183^0'=len_183^post23, (len_132^0-len_132^post23 == 0 /\ -a_184^post23+a_184^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ y_19^0-y_19^post23 == 0 /\ a_147^0-a_147^post23 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ -head_129^post23+head_129^0 == 0 /\ -head_27^post23+head_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_183^post23+len_183^0 == 0 /\ -r_124^post23+r_124^0 == 0 /\ a_260^0-a_260^post23 == 0 /\ -x_16^post23+x_16^0 == 0 /\ -i_94^post23+i_94^0 == 0 /\ f_170^0-f_170^post23 == 0 /\ a_215^0-a_215^post23 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ -a_237^post23+a_237^0 == 0 /\ -result_11^post23+result_11^0 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ r_163^0-r_163^post23 == 0 /\ -head_14^post23+head_14^0 == 0 /\ r_39^0-r_39^post23 == 0 /\ head_175^0-head_175^post23 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ -length_29^post23+length_29^0 == 0 /\ head_32^0-head_32^post23 == 0 /\ a_116^0-a_116^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_108^post23+i_108^0 == 0 /\ i_167^0-i_167^post23 == 0 /\ -t_23^post23+t_23^0 == 0 /\ temp0_15^0-temp0_15^post23 == 0 /\ x_20^0-x_20^post23 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ -x_SLAM_f_18^post23+x_SLAM_f_18^0 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ i_30^0-i_30^post23 == 0), cost: 1 24: l15 -> l16 : a_116^0'=a_116^post24, tmp_34^0'=tmp_34^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, r_39^0'=r_39^post24, a_260^0'=a_260^post24, i_30^0'=i_30^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, temp0_15^0'=temp0_15^post24, head_175^0'=head_175^post24, nondet_12^0'=nondet_12^post24, a_184^0'=a_184^post24, x_20^0'=x_20^post24, rcd_88^0'=rcd_88^post24, f_170^0'=f_170^post24, len_132^0'=len_132^post24, temp_35^0'=temp_35^post24, head_32^0'=head_32^post24, r_163^0'=r_163^post24, a_237^0'=a_237^post24, y_19^0'=y_19^post24, i_167^0'=i_167^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, head_14^0'=head_14^post24, length_29^0'=length_29^post24, a_147^0'=a_147^post24, x_16^0'=x_16^post24, i_108^0'=i_108^post24, rcd_58^0'=rcd_58^post24, ct_17^0'=ct_17^post24, i_94^0'=i_94^post24, t_23^0'=t_23^post24, temp0_31^0'=temp0_31^post24, head_27^0'=head_27^post24, r_124^0'=r_124^post24, a_215^0'=a_215^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, result_11^0'=result_11^post24, head_129^0'=head_129^post24, len_183^0'=len_183^post24, (temp0_31^0-temp0_31^post24 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ length_29^0-length_29^post24 == 0 /\ i_30^0-i_30^post24 == 0 /\ head_175^0-head_175^post24 == 0 /\ -t_23^post24+t_23^0 == 0 /\ a_237^0-a_237^post24 == 0 /\ -x_SLAM_f_18^post24+x_SLAM_f_18^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -head_129^post24+head_129^0 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ head_32^0-head_32^post24 == 0 /\ -result_11^post24+result_11^0 == 0 /\ -x_16^post24+x_16^0 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ a_260^0-a_260^post24 == 0 /\ x_20^0-x_20^post24 == 0 /\ -r_124^post24+r_124^0 == 0 /\ -i_94^post24+i_94^0 == 0 /\ -head_27^post24+head_27^0 == 0 /\ a_215^0-a_215^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ a_116^0-a_116^post24 == 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ r_39^0-r_39^post24 == 0 /\ -i_108^post24+i_108^0 == 0 /\ -i_167^post24+i_167^0 == 0 /\ -ct_17^post24+ct_17^0 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ -len_183^post24+len_183^0 == 0 /\ r_163^0-r_163^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ f_170^0-f_170^post24 == 0 /\ -head_14^post24+head_14^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ a_184^0-a_184^post24 == 0 /\ -rcd_58^post24+rcd_58^0 == 0 /\ -a_147^post24+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0), cost: 1 25: l16 -> l17 : a_116^0'=a_116^post25, tmp_34^0'=tmp_34^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, r_39^0'=r_39^post25, a_260^0'=a_260^post25, i_30^0'=i_30^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, temp0_15^0'=temp0_15^post25, head_175^0'=head_175^post25, nondet_12^0'=nondet_12^post25, a_184^0'=a_184^post25, x_20^0'=x_20^post25, rcd_88^0'=rcd_88^post25, f_170^0'=f_170^post25, len_132^0'=len_132^post25, temp_35^0'=temp_35^post25, head_32^0'=head_32^post25, r_163^0'=r_163^post25, a_237^0'=a_237^post25, y_19^0'=y_19^post25, i_167^0'=i_167^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, head_14^0'=head_14^post25, length_29^0'=length_29^post25, a_147^0'=a_147^post25, x_16^0'=x_16^post25, i_108^0'=i_108^post25, rcd_58^0'=rcd_58^post25, ct_17^0'=ct_17^post25, i_94^0'=i_94^post25, t_23^0'=t_23^post25, temp0_31^0'=temp0_31^post25, head_27^0'=head_27^post25, r_124^0'=r_124^post25, a_215^0'=a_215^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, result_11^0'=result_11^post25, head_129^0'=head_129^post25, len_183^0'=len_183^post25, (a_260^0-a_260^post25 == 0 /\ -a_215^post25+a_215^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ -x_16^post25+x_16^0 == 0 /\ -a_147^post25+a_147^0 == 0 /\ rcd_88^0-rcd_88^post25 == 0 /\ r_39^0-r_39^post25 == 0 /\ -i_94^post25+i_94^0 == 0 /\ len_132^0-len_132^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_167^post25+i_167^0 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -x_SLAM_f_18^post25+x_SLAM_f_18^0 == 0 /\ -ct_17^post25+ct_17^0 == 0 /\ -t_23^post25+t_23^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -head_129^post25+head_129^0 == 0 /\ i_108^0-i_108^post25 == 0 /\ -rcd_58^post25+rcd_58^0 == 0 /\ -r_124^post25+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ head_175^0-head_175^post25 == 0 /\ f_170^0-f_170^post25 == 0 /\ -head_27^post25+head_27^0 == 0 /\ x_20^0-x_20^post25 == 0 /\ -len_183^post25+len_183^0 == 0 /\ a_184^0-a_184^post25 == 0 /\ r_163^0-r_163^post25 == 0 /\ -i_30^post25+i_30^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -head_14^post25+head_14^0 == 0 /\ head_32^0-head_32^post25 == 0 /\ a_116^0-a_116^post25 == 0 /\ -a_237^post25+a_237^0 == 0 /\ length_29^0-length_29^post25 == 0), cost: 1 26: l16 -> l17 : a_116^0'=a_116^post26, tmp_34^0'=tmp_34^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, r_39^0'=r_39^post26, a_260^0'=a_260^post26, i_30^0'=i_30^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, temp0_15^0'=temp0_15^post26, head_175^0'=head_175^post26, nondet_12^0'=nondet_12^post26, a_184^0'=a_184^post26, x_20^0'=x_20^post26, rcd_88^0'=rcd_88^post26, f_170^0'=f_170^post26, len_132^0'=len_132^post26, temp_35^0'=temp_35^post26, head_32^0'=head_32^post26, r_163^0'=r_163^post26, a_237^0'=a_237^post26, y_19^0'=y_19^post26, i_167^0'=i_167^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, head_14^0'=head_14^post26, length_29^0'=length_29^post26, a_147^0'=a_147^post26, x_16^0'=x_16^post26, i_108^0'=i_108^post26, rcd_58^0'=rcd_58^post26, ct_17^0'=ct_17^post26, i_94^0'=i_94^post26, t_23^0'=t_23^post26, temp0_31^0'=temp0_31^post26, head_27^0'=head_27^post26, r_124^0'=r_124^post26, a_215^0'=a_215^post26, x_SLAM_f_18^0'=x_SLAM_f_18^post26, result_11^0'=result_11^post26, head_129^0'=head_129^post26, len_183^0'=len_183^post26, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ f_170^0-f_170^post26 == 0 /\ temp0_15^0-temp0_15^post26 == 0 /\ -i_167^post26+i_167^0 == 0 /\ x_20^0-x_20^post26 == 0 /\ i_108^0-i_108^post26 == 0 /\ -head_14^post26+head_14^0 == 0 /\ i_30^0-i_30^post26 == 0 /\ a_184^0-a_184^post26 == 0 /\ -ct_17^post26+ct_17^0 == 0 /\ r_39^0-r_39^post26 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ -len_183^post26+len_183^0 == 0 /\ -rcd_58^post26+rcd_58^0 == 0 /\ a_116^0-a_116^post26 == 0 /\ -a_215^post26+a_215^0 == 0 /\ head_32^0-head_32^post26 == 0 /\ -head_27^post26+head_27^0 == 0 /\ r_163^0-r_163^post26 == 0 /\ -a_237^post26+a_237^0 == 0 /\ -x_SLAM_f_18^post26+x_SLAM_f_18^0 == 0 /\ y_19^0-y_19^post26 == 0 /\ temp_35^0-temp_35^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -a_147^post26+a_147^0 == 0 /\ -len_132^post26+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post26 == 0 /\ -t_23^post26+t_23^0 == 0 /\ -x_16^post26+x_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -a_260^post26+a_260^0 == 0 /\ rcd_88^0-rcd_88^post26 == 0 /\ tmp_34^0-tmp_34^post26 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ head_175^0-head_175^post26 == 0 /\ length_29^0-length_29^post26 == 0 /\ head_129^0-head_129^post26 == 0 /\ -r_124^post26+r_124^0 == 0 /\ -i_94^post26+i_94^0 == 0), cost: 1 27: l17 -> l0 : a_116^0'=a_116^post27, tmp_34^0'=tmp_34^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, r_39^0'=r_39^post27, a_260^0'=a_260^post27, i_30^0'=i_30^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, temp0_15^0'=temp0_15^post27, head_175^0'=head_175^post27, nondet_12^0'=nondet_12^post27, a_184^0'=a_184^post27, x_20^0'=x_20^post27, rcd_88^0'=rcd_88^post27, f_170^0'=f_170^post27, len_132^0'=len_132^post27, temp_35^0'=temp_35^post27, head_32^0'=head_32^post27, r_163^0'=r_163^post27, a_237^0'=a_237^post27, y_19^0'=y_19^post27, i_167^0'=i_167^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, head_14^0'=head_14^post27, length_29^0'=length_29^post27, a_147^0'=a_147^post27, x_16^0'=x_16^post27, i_108^0'=i_108^post27, rcd_58^0'=rcd_58^post27, ct_17^0'=ct_17^post27, i_94^0'=i_94^post27, t_23^0'=t_23^post27, temp0_31^0'=temp0_31^post27, head_27^0'=head_27^post27, r_124^0'=r_124^post27, a_215^0'=a_215^post27, x_SLAM_f_18^0'=x_SLAM_f_18^post27, result_11^0'=result_11^post27, head_129^0'=head_129^post27, len_183^0'=len_183^post27, (x_20^0-x_20^post27 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_124^post27+r_124^0 == 0 /\ -len_183^post27+len_183^0 == 0 /\ tmp_34^0-tmp_34^post27 == 0 /\ -i_167^post27+i_167^0 == 0 /\ -r_163^post27+r_163^0 == 0 /\ -head_27^post27+head_27^0 == 0 /\ length_29^0-length_29^post27 == 0 /\ -rcd_58^post27+rcd_58^0 == 0 /\ -head_14^post27+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ a_260^0-a_260^post27 == 0 /\ -a_215^post27+a_215^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -y_19^post27+y_19^0 == 0 /\ -head_129^post27+head_129^0 == 0 /\ f_170^0-f_170^post27 == 0 /\ a_237^0-a_237^post27 == 0 /\ -t_23^post27+t_23^0 == 0 /\ temp_35^0-temp_35^post27 == 0 /\ head_32^0-head_32^post27 == 0 /\ -a_147^post27+a_147^0 == 0 /\ i_94^0-i_94^post27 == 0 /\ -x_SLAM_f_18^post27+x_SLAM_f_18^0 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ a_116^0-a_116^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ -x_16^post27+x_16^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ temp0_15^0-temp0_15^post27 == 0 /\ i_108^0-i_108^post27 == 0 /\ i_30^0-i_30^post27 == 0 /\ -ct_17^post27+ct_17^0 == 0 /\ a_184^0-a_184^post27 == 0 /\ r_39^0-r_39^post27 == 0 /\ head_175^0-head_175^post27 == 0 /\ -len_132^post27+len_132^0 == 0 /\ rcd_88^0-rcd_88^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1 28: l18 -> l19 : a_116^0'=a_116^post28, tmp_34^0'=tmp_34^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, r_39^0'=r_39^post28, a_260^0'=a_260^post28, i_30^0'=i_30^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, temp0_15^0'=temp0_15^post28, head_175^0'=head_175^post28, nondet_12^0'=nondet_12^post28, a_184^0'=a_184^post28, x_20^0'=x_20^post28, rcd_88^0'=rcd_88^post28, f_170^0'=f_170^post28, len_132^0'=len_132^post28, temp_35^0'=temp_35^post28, head_32^0'=head_32^post28, r_163^0'=r_163^post28, a_237^0'=a_237^post28, y_19^0'=y_19^post28, i_167^0'=i_167^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_14^0'=head_14^post28, length_29^0'=length_29^post28, a_147^0'=a_147^post28, x_16^0'=x_16^post28, i_108^0'=i_108^post28, rcd_58^0'=rcd_58^post28, ct_17^0'=ct_17^post28, i_94^0'=i_94^post28, t_23^0'=t_23^post28, temp0_31^0'=temp0_31^post28, head_27^0'=head_27^post28, r_124^0'=r_124^post28, a_215^0'=a_215^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, result_11^0'=result_11^post28, head_129^0'=head_129^post28, len_183^0'=len_183^post28, (0 == 0 /\ -len_132^post28+len_132^0 == 0 /\ -head_27^post28+head_27^0 == 0 /\ r_39^0-r_39^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -head_129^post28+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_237^0-a_237^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_32^0-head_32^post28 == 0 /\ -len_183^post28+len_183^0 == 0 /\ a_116^0-a_116^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ a_260^0-a_260^post28 == 0 /\ -r_124^post28+r_124^0 == 0 /\ -result_11^post28+result_11^0 == 0 /\ temp0_15^0-temp0_15^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ x_20^0-x_20^post28 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ y_19^0-y_19^post28 == 0 /\ r_163^0-r_163^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ -a_215^post28+a_215^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_30^0-i_30^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ a_184^0-a_184^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -len_132^0 <= 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post28 == 0 /\ -a_147^post28+a_147^0 == 0), cost: 1 29: l19 -> l20 : a_116^0'=a_116^post29, tmp_34^0'=tmp_34^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, r_39^0'=r_39^post29, a_260^0'=a_260^post29, i_30^0'=i_30^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, temp0_15^0'=temp0_15^post29, head_175^0'=head_175^post29, nondet_12^0'=nondet_12^post29, a_184^0'=a_184^post29, x_20^0'=x_20^post29, rcd_88^0'=rcd_88^post29, f_170^0'=f_170^post29, len_132^0'=len_132^post29, temp_35^0'=temp_35^post29, head_32^0'=head_32^post29, r_163^0'=r_163^post29, a_237^0'=a_237^post29, y_19^0'=y_19^post29, i_167^0'=i_167^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_14^0'=head_14^post29, length_29^0'=length_29^post29, a_147^0'=a_147^post29, x_16^0'=x_16^post29, i_108^0'=i_108^post29, rcd_58^0'=rcd_58^post29, ct_17^0'=ct_17^post29, i_94^0'=i_94^post29, t_23^0'=t_23^post29, temp0_31^0'=temp0_31^post29, head_27^0'=head_27^post29, r_124^0'=r_124^post29, a_215^0'=a_215^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, result_11^0'=result_11^post29, head_129^0'=head_129^post29, len_183^0'=len_183^post29, (a_116^0-a_116^post29 == 0 /\ x_16^0-x_16^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ -a_147^post29+a_147^0 == 0 /\ -x_20^post29+x_20^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -x_SLAM_f_18^post29+x_SLAM_f_18^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ -len_132^post29+len_132^0 == 0 /\ r_39^0-r_39^post29 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ f_170^0-f_170^post29 == 0 /\ -ct_17^post29+ct_17^0 == 0 /\ -head_27^post29+head_27^0 == 0 /\ a_184^0-a_184^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ head_175^0-head_175^post29 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ i_30^0-i_30^post29 == 0 /\ a_237^0-a_237^post29 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -y_19^post29+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ -head_14^post29+head_14^0 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -head_129^post29+head_129^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_215^post29+a_215^0 == 0 /\ a_260^0-a_260^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post29 == 0 /\ i_108^0-i_108^post29 == 0 /\ -len_183^post29+len_183^0 == 0), cost: 1 30: l19 -> l20 : a_116^0'=a_116^post30, tmp_34^0'=tmp_34^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, r_39^0'=r_39^post30, a_260^0'=a_260^post30, i_30^0'=i_30^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, temp0_15^0'=temp0_15^post30, head_175^0'=head_175^post30, nondet_12^0'=nondet_12^post30, a_184^0'=a_184^post30, x_20^0'=x_20^post30, rcd_88^0'=rcd_88^post30, f_170^0'=f_170^post30, len_132^0'=len_132^post30, temp_35^0'=temp_35^post30, head_32^0'=head_32^post30, r_163^0'=r_163^post30, a_237^0'=a_237^post30, y_19^0'=y_19^post30, i_167^0'=i_167^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_14^0'=head_14^post30, length_29^0'=length_29^post30, a_147^0'=a_147^post30, x_16^0'=x_16^post30, i_108^0'=i_108^post30, rcd_58^0'=rcd_58^post30, ct_17^0'=ct_17^post30, i_94^0'=i_94^post30, t_23^0'=t_23^post30, temp0_31^0'=temp0_31^post30, head_27^0'=head_27^post30, r_124^0'=r_124^post30, a_215^0'=a_215^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, result_11^0'=result_11^post30, head_129^0'=head_129^post30, len_183^0'=len_183^post30, (1+x_20^0-y_19^0 <= 0 /\ -a_215^post30+a_215^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ temp0_15^0-temp0_15^post30 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -result_11^post30+result_11^0 == 0 /\ i_167^0-i_167^post30 == 0 /\ x_16^0-x_16^post30 == 0 /\ f_170^0-f_170^post30 == 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -a_147^post30+a_147^0 == 0 /\ i_30^0-i_30^post30 == 0 /\ a_184^0-a_184^post30 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_32^post30+head_32^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ a_237^0-a_237^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ -r_163^post30+r_163^0 == 0 /\ a_116^0-a_116^post30 == 0 /\ -a_260^post30+a_260^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ -rcd_58^post30+rcd_58^0 == 0 /\ head_14^0-head_14^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ -len_183^post30+len_183^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ r_39^0-r_39^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ head_129^0-head_129^post30 == 0 /\ y_19^0-y_19^post30 == 0 /\ i_94^0-i_94^post30 == 0), cost: 1 31: l20 -> l21 : a_116^0'=a_116^post31, tmp_34^0'=tmp_34^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, r_39^0'=r_39^post31, a_260^0'=a_260^post31, i_30^0'=i_30^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, temp0_15^0'=temp0_15^post31, head_175^0'=head_175^post31, nondet_12^0'=nondet_12^post31, a_184^0'=a_184^post31, x_20^0'=x_20^post31, rcd_88^0'=rcd_88^post31, f_170^0'=f_170^post31, len_132^0'=len_132^post31, temp_35^0'=temp_35^post31, head_32^0'=head_32^post31, r_163^0'=r_163^post31, a_237^0'=a_237^post31, y_19^0'=y_19^post31, i_167^0'=i_167^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_14^0'=head_14^post31, length_29^0'=length_29^post31, a_147^0'=a_147^post31, x_16^0'=x_16^post31, i_108^0'=i_108^post31, rcd_58^0'=rcd_58^post31, ct_17^0'=ct_17^post31, i_94^0'=i_94^post31, t_23^0'=t_23^post31, temp0_31^0'=temp0_31^post31, head_27^0'=head_27^post31, r_124^0'=r_124^post31, a_215^0'=a_215^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, result_11^0'=result_11^post31, head_129^0'=head_129^post31, len_183^0'=len_183^post31, (0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ a_260^0-a_260^post31 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -r_163^post31+r_163^0 == 0 /\ -ct_17^0 <= 0 /\ -a_215^post31+a_237^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -y_19^post31+y_19^0 == 0 /\ -len_183^post31+len_183^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -rcd_58^post31+rcd_58^0 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ -f_170^post31+f_170^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ a_237^0-a_237^post31 == 0 /\ a_215^post31-a_237^0 <= 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0 <= 0 /\ temp_35^0-temp_35^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ temp0_15^0-temp0_15^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -a_147^post31+a_147^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ i_94^0-i_94^post31 == 0 /\ -head_14^0+t_23^post31 <= 0 /\ -x_16^post31+x_16^0 == 0 /\ i_30^0-i_30^post31 == 0 /\ -head_129^post31+head_129^0 == 0 /\ -y_19^0 <= 0 /\ a_184^0-a_184^post31 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ head_175^0-head_175^post31 == 0 /\ a_116^0-a_116^post31 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_14^0-t_23^post31 <= 0 /\ -x_20^0+t_23^post31 == 0 /\ head_14^0-x_16^0 <= 0 /\ -head_27^post31+head_27^0 == 0 /\ -r_124^post31+r_124^0 == 0), cost: 1 32: l21 -> l22 : a_116^0'=a_116^post32, tmp_34^0'=tmp_34^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, r_39^0'=r_39^post32, a_260^0'=a_260^post32, i_30^0'=i_30^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, temp0_15^0'=temp0_15^post32, head_175^0'=head_175^post32, nondet_12^0'=nondet_12^post32, a_184^0'=a_184^post32, x_20^0'=x_20^post32, rcd_88^0'=rcd_88^post32, f_170^0'=f_170^post32, len_132^0'=len_132^post32, temp_35^0'=temp_35^post32, head_32^0'=head_32^post32, r_163^0'=r_163^post32, a_237^0'=a_237^post32, y_19^0'=y_19^post32, i_167^0'=i_167^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_14^0'=head_14^post32, length_29^0'=length_29^post32, a_147^0'=a_147^post32, x_16^0'=x_16^post32, i_108^0'=i_108^post32, rcd_58^0'=rcd_58^post32, ct_17^0'=ct_17^post32, i_94^0'=i_94^post32, t_23^0'=t_23^post32, temp0_31^0'=temp0_31^post32, head_27^0'=head_27^post32, r_124^0'=r_124^post32, a_215^0'=a_215^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, result_11^0'=result_11^post32, head_129^0'=head_129^post32, len_183^0'=len_183^post32, (-r_124^post32+r_124^0 == 0 /\ -i_108^post32+i_108^0 == 0 /\ -len_183^post32+len_183^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ a_116^0-a_116^post32 == 0 /\ -head_27^post32+head_27^0 == 0 /\ i_167^0-i_167^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ -y_19^post32+y_19^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ 1-head_14^0 <= 0 /\ -head_129^post32+head_129^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ r_39^0-r_39^post32 == 0 /\ i_30^0-i_30^post32 == 0 /\ -f_170^post32+f_170^0 == 0 /\ -i_94^post32+i_94^0 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ -a_215^post32+a_215^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -head_175^post32+head_175^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ temp0_15^0-temp0_15^post32 == 0 /\ a_260^0-a_260^post32 == 0 /\ head_14^0-head_14^post32 == 0 /\ a_184^0-a_184^post32 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ a_237^0-a_237^post32 == 0 /\ -x_20^post32+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0), cost: 1 33: l21 -> l22 : a_116^0'=a_116^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, r_39^0'=r_39^post33, a_260^0'=a_260^post33, i_30^0'=i_30^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, temp0_15^0'=temp0_15^post33, head_175^0'=head_175^post33, nondet_12^0'=nondet_12^post33, a_184^0'=a_184^post33, x_20^0'=x_20^post33, rcd_88^0'=rcd_88^post33, f_170^0'=f_170^post33, len_132^0'=len_132^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_163^0'=r_163^post33, a_237^0'=a_237^post33, y_19^0'=y_19^post33, i_167^0'=i_167^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_14^0'=head_14^post33, length_29^0'=length_29^post33, a_147^0'=a_147^post33, x_16^0'=x_16^post33, i_108^0'=i_108^post33, rcd_58^0'=rcd_58^post33, ct_17^0'=ct_17^post33, i_94^0'=i_94^post33, t_23^0'=t_23^post33, temp0_31^0'=temp0_31^post33, head_27^0'=head_27^post33, r_124^0'=r_124^post33, a_215^0'=a_215^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, result_11^0'=result_11^post33, head_129^0'=head_129^post33, len_183^0'=len_183^post33, (rcd_88^0-rcd_88^post33 == 0 /\ -len_132^post33+len_132^0 == 0 /\ -x_20^post33+x_20^0 == 0 /\ a_116^0-a_116^post33 == 0 /\ -len_183^post33+len_183^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ x_16^0-x_16^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ a_184^0-a_184^post33 == 0 /\ r_39^0-r_39^post33 == 0 /\ -head_27^post33+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_14^post33+head_14^0 == 0 /\ head_175^0-head_175^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ 1+head_14^0 <= 0 /\ -ct_17^post33+ct_17^0 == 0 /\ a_237^0-a_237^post33 == 0 /\ -a_215^post33+a_215^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ -length_29^post33+length_29^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -i_108^post33+i_108^0 == 0 /\ a_260^0-a_260^post33 == 0 /\ -y_19^post33+y_19^0 == 0 /\ i_94^0-i_94^post33 == 0 /\ temp0_15^0-temp0_15^post33 == 0 /\ -t_23^post33+t_23^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0), cost: 1 34: l22 -> l23 : a_116^0'=a_116^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, r_39^0'=r_39^post34, a_260^0'=a_260^post34, i_30^0'=i_30^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, temp0_15^0'=temp0_15^post34, head_175^0'=head_175^post34, nondet_12^0'=nondet_12^post34, a_184^0'=a_184^post34, x_20^0'=x_20^post34, rcd_88^0'=rcd_88^post34, f_170^0'=f_170^post34, len_132^0'=len_132^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_163^0'=r_163^post34, a_237^0'=a_237^post34, y_19^0'=y_19^post34, i_167^0'=i_167^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_14^0'=head_14^post34, length_29^0'=length_29^post34, a_147^0'=a_147^post34, x_16^0'=x_16^post34, i_108^0'=i_108^post34, rcd_58^0'=rcd_58^post34, ct_17^0'=ct_17^post34, i_94^0'=i_94^post34, t_23^0'=t_23^post34, temp0_31^0'=temp0_31^post34, head_27^0'=head_27^post34, r_124^0'=r_124^post34, a_215^0'=a_215^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, result_11^0'=result_11^post34, head_129^0'=head_129^post34, len_183^0'=len_183^post34, (-a_215^post34+a_215^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -a_237^post34+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -head_175^post34+head_175^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ a_260^0-a_260^post34 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_27^0-head_27^post34 == 0 /\ -i_108^post34+i_108^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ head_14^0-head_14^post34 == 0 /\ a_116^0-a_116^post34 == 0 /\ len_132^0-len_132^post34 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -head_129^post34+head_129^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ a_147^0-a_147^post34 == 0 /\ r_163^0-r_163^post34 == 0 /\ i_94^0-i_94^post34 == 0 /\ tmp_34^0-tmp_34^post34 == 0 /\ -f_170^post34+f_170^0 == 0 /\ -len_183^post34+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0), cost: 1 35: l22 -> l23 : a_116^0'=a_116^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, r_39^0'=r_39^post35, a_260^0'=a_260^post35, i_30^0'=i_30^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, temp0_15^0'=temp0_15^post35, head_175^0'=head_175^post35, nondet_12^0'=nondet_12^post35, a_184^0'=a_184^post35, x_20^0'=x_20^post35, rcd_88^0'=rcd_88^post35, f_170^0'=f_170^post35, len_132^0'=len_132^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_163^0'=r_163^post35, a_237^0'=a_237^post35, y_19^0'=y_19^post35, i_167^0'=i_167^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_14^0'=head_14^post35, length_29^0'=length_29^post35, a_147^0'=a_147^post35, x_16^0'=x_16^post35, i_108^0'=i_108^post35, rcd_58^0'=rcd_58^post35, ct_17^0'=ct_17^post35, i_94^0'=i_94^post35, t_23^0'=t_23^post35, temp0_31^0'=temp0_31^post35, head_27^0'=head_27^post35, r_124^0'=r_124^post35, a_215^0'=a_215^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, result_11^0'=result_11^post35, head_129^0'=head_129^post35, len_183^0'=len_183^post35, (-result_11^post35+result_11^0 == 0 /\ -length_29^post35+length_29^0 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ a_260^0-a_260^post35 == 0 /\ head_14^0-head_14^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ rcd_88^0-rcd_88^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ len_132^0-len_132^post35 == 0 /\ -head_32^post35+head_32^0 == 0 /\ tmp_34^0-tmp_34^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -f_170^post35+f_170^0 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -y_19^post35+y_19^0 == 0 /\ -head_129^post35+head_129^0 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ -head_27^post35+head_27^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ -r_124^post35+r_124^0 == 0 /\ -len_183^post35+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ i_30^0-i_30^post35 == 0 /\ head_175^0-head_175^post35 == 0 /\ a_184^0-a_184^post35 == 0 /\ -x_20^post35+x_20^0 == 0 /\ -a_237^post35+a_237^0 == 0 /\ -x_16^post35+x_16^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ rcd_58^0-rcd_58^post35 == 0), cost: 1 36: l23 -> l24 : a_116^0'=a_116^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, r_39^0'=r_39^post36, a_260^0'=a_260^post36, i_30^0'=i_30^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, temp0_15^0'=temp0_15^post36, head_175^0'=head_175^post36, nondet_12^0'=nondet_12^post36, a_184^0'=a_184^post36, x_20^0'=x_20^post36, rcd_88^0'=rcd_88^post36, f_170^0'=f_170^post36, len_132^0'=len_132^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_163^0'=r_163^post36, a_237^0'=a_237^post36, y_19^0'=y_19^post36, i_167^0'=i_167^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_14^0'=head_14^post36, length_29^0'=length_29^post36, a_147^0'=a_147^post36, x_16^0'=x_16^post36, i_108^0'=i_108^post36, rcd_58^0'=rcd_58^post36, ct_17^0'=ct_17^post36, i_94^0'=i_94^post36, t_23^0'=t_23^post36, temp0_31^0'=temp0_31^post36, head_27^0'=head_27^post36, r_124^0'=r_124^post36, a_215^0'=a_215^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, result_11^0'=result_11^post36, head_129^0'=head_129^post36, len_183^0'=len_183^post36, (temp_35^0-temp_35^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ temp0_15^0-temp0_15^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ i_167^0-i_167^post36 == 0 /\ -r_163^post36+r_163^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ head_27^0-head_27^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_116^0-a_116^post36 == 0 /\ -len_183^post36+len_183^0 == 0 /\ r_124^0-r_124^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ len_132^0-len_132^post36 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ -a_215^post36+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -y_19^post36+y_19^0 == 0 /\ -f_170^post36+f_170^0 == 0 /\ -a_147^post36+a_147^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post36+i_94^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_260^0-a_260^post36 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ -result_11^post36+result_11^0 == 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -head_129^post36+head_129^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ head_14^0-head_14^post36 == 0 /\ -head_32^post36+head_32^0 == 0 /\ a_237^0-a_237^post36 == 0), cost: 1 37: l23 -> l24 : a_116^0'=a_116^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, r_39^0'=r_39^post37, a_260^0'=a_260^post37, i_30^0'=i_30^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, temp0_15^0'=temp0_15^post37, head_175^0'=head_175^post37, nondet_12^0'=nondet_12^post37, a_184^0'=a_184^post37, x_20^0'=x_20^post37, rcd_88^0'=rcd_88^post37, f_170^0'=f_170^post37, len_132^0'=len_132^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_163^0'=r_163^post37, a_237^0'=a_237^post37, y_19^0'=y_19^post37, i_167^0'=i_167^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_14^0'=head_14^post37, length_29^0'=length_29^post37, a_147^0'=a_147^post37, x_16^0'=x_16^post37, i_108^0'=i_108^post37, rcd_58^0'=rcd_58^post37, ct_17^0'=ct_17^post37, i_94^0'=i_94^post37, t_23^0'=t_23^post37, temp0_31^0'=temp0_31^post37, head_27^0'=head_27^post37, r_124^0'=r_124^post37, a_215^0'=a_215^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, result_11^0'=result_11^post37, head_129^0'=head_129^post37, len_183^0'=len_183^post37, (y_19^0-y_19^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ tmp_34^0-tmp_34^post37 == 0 /\ -r_124^post37+r_124^0 == 0 /\ x_20^0-x_20^post37 == 0 /\ -head_27^post37+head_27^0 == 0 /\ -len_183^post37+len_183^0 == 0 /\ temp0_15^0-temp0_15^post37 == 0 /\ head_14^0-head_14^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ a_215^0-a_215^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -a_237^post37+a_237^0 == 0 /\ -head_129^post37+head_129^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ r_163^0-r_163^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ f_170^0-f_170^post37 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -i_94^post37+i_94^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ i_167^0-i_167^post37 == 0 /\ a_260^0-a_260^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ a_116^0-a_116^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -head_32^post37+head_32^0 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ -i_108^post37+i_108^0 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_132^0-len_132^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ head_175^0-head_175^post37 == 0), cost: 1 38: l24 -> l0 : a_116^0'=a_116^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, r_39^0'=r_39^post38, a_260^0'=a_260^post38, i_30^0'=i_30^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, temp0_15^0'=temp0_15^post38, head_175^0'=head_175^post38, nondet_12^0'=nondet_12^post38, a_184^0'=a_184^post38, x_20^0'=x_20^post38, rcd_88^0'=rcd_88^post38, f_170^0'=f_170^post38, len_132^0'=len_132^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_163^0'=r_163^post38, a_237^0'=a_237^post38, y_19^0'=y_19^post38, i_167^0'=i_167^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_14^0'=head_14^post38, length_29^0'=length_29^post38, a_147^0'=a_147^post38, x_16^0'=x_16^post38, i_108^0'=i_108^post38, rcd_58^0'=rcd_58^post38, ct_17^0'=ct_17^post38, i_94^0'=i_94^post38, t_23^0'=t_23^post38, temp0_31^0'=temp0_31^post38, head_27^0'=head_27^post38, r_124^0'=r_124^post38, a_215^0'=a_215^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, result_11^0'=result_11^post38, head_129^0'=head_129^post38, len_183^0'=len_183^post38, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_237^post38+a_237^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ 1-len_132^post38+a_215^0 <= 0 /\ -head_129^post38+head_129^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_124^post38+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ a_215^0-a_215^post38 == 0 /\ a_260^0-a_260^post38 == 0 /\ -head_175^post38+head_175^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_167^0-i_167^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_116^0-a_116^post38 == 0 /\ -head_14^post38+head_14^0 == 0 /\ ct_17^0-ct_17^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ -1+len_132^post38-a_215^0 <= 0 /\ -rcd_88^post38+rcd_88^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -len_183^post38+len_183^0 == 0 /\ r_163^0-r_163^post38 == 0 /\ rcd_58^0-rcd_58^post38 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_184^0-a_184^post38 == 0 /\ -f_170^post38+f_170^0 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0), cost: 1 39: l25 -> l26 : a_116^0'=a_116^post39, tmp_34^0'=tmp_34^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, r_39^0'=r_39^post39, a_260^0'=a_260^post39, i_30^0'=i_30^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, temp0_15^0'=temp0_15^post39, head_175^0'=head_175^post39, nondet_12^0'=nondet_12^post39, a_184^0'=a_184^post39, x_20^0'=x_20^post39, rcd_88^0'=rcd_88^post39, f_170^0'=f_170^post39, len_132^0'=len_132^post39, temp_35^0'=temp_35^post39, head_32^0'=head_32^post39, r_163^0'=r_163^post39, a_237^0'=a_237^post39, y_19^0'=y_19^post39, i_167^0'=i_167^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, head_14^0'=head_14^post39, length_29^0'=length_29^post39, a_147^0'=a_147^post39, x_16^0'=x_16^post39, i_108^0'=i_108^post39, rcd_58^0'=rcd_58^post39, ct_17^0'=ct_17^post39, i_94^0'=i_94^post39, t_23^0'=t_23^post39, temp0_31^0'=temp0_31^post39, head_27^0'=head_27^post39, r_124^0'=r_124^post39, a_215^0'=a_215^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, result_11^0'=result_11^post39, head_129^0'=head_129^post39, len_183^0'=len_183^post39, (0 == 0 /\ -x_20^post39+x_20^0 == 0 /\ -head_27^post39+head_SLAM_f_26^10 <= 0 /\ head_175^0-head_175^post39 == 0 /\ r_163^0-r_163^post39 == 0 /\ a_116^0-a_116^post39 == 0 /\ -r_124^post39+r_124^0 == 0 /\ temp0_15^0-temp0_15^post39 == 0 /\ -len_132^post39+len_132^0 == 0 /\ -ct_17^post39+ct_17^0 == 0 /\ f_170^0-f_170^post39 == 0 /\ -len_183^post39+len_183^0 == 0 /\ head_27^post39-head_SLAM_f_26^10 <= 0 /\ head_27^post39-head_SLAM_f_26^10 == 0 /\ rcd_88^0-rcd_88^post39 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ -head_129^post39+head_129^0 == 0 /\ -t_23^post39+t_23^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -y_19^post39+y_19^0 == 0 /\ -a_215^post39+a_215^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -a_147^post39+a_147^0 == 0 /\ -result_11^10+head_14^10 == 0 /\ i_167^0-i_167^post39 == 0 /\ a_260^0-a_260^post39 == 0 /\ head_27^post39-head_14^10 <= 0 /\ -head_14^10+head_SLAM_f_26^10 <= 0 /\ -head_14^10+head_SLAM_f_26^10 == 0 /\ -a_237^post39+a_237^0 == 0 /\ -x_SLAM_f_18^post39+x_SLAM_f_18^0 == 0 /\ -x_16^post39+x_16^0 == 0 /\ result_11^10-temp0_31^10 == 0 /\ -i_94^post39+i_94^0 == 0 /\ a_184^0-a_184^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ rcd_58^0-rcd_58^post39 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -head_27^post39+head_14^10 <= 0 /\ r_39^0-r_39^post39 == 0 /\ head_14^10-head_SLAM_f_26^10 <= 0), cost: 1 59: l25 -> l38 : a_116^0'=a_116^post59, tmp_34^0'=tmp_34^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_39^0'=r_39^post59, a_260^0'=a_260^post59, i_30^0'=i_30^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, temp0_15^0'=temp0_15^post59, head_175^0'=head_175^post59, nondet_12^0'=nondet_12^post59, a_184^0'=a_184^post59, x_20^0'=x_20^post59, rcd_88^0'=rcd_88^post59, f_170^0'=f_170^post59, len_132^0'=len_132^post59, temp_35^0'=temp_35^post59, head_32^0'=head_32^post59, r_163^0'=r_163^post59, a_237^0'=a_237^post59, y_19^0'=y_19^post59, i_167^0'=i_167^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, head_14^0'=head_14^post59, length_29^0'=length_29^post59, a_147^0'=a_147^post59, x_16^0'=x_16^post59, i_108^0'=i_108^post59, rcd_58^0'=rcd_58^post59, ct_17^0'=ct_17^post59, i_94^0'=i_94^post59, t_23^0'=t_23^post59, temp0_31^0'=temp0_31^post59, head_27^0'=head_27^post59, r_124^0'=r_124^post59, a_215^0'=a_215^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, result_11^0'=result_11^post59, head_129^0'=head_129^post59, len_183^0'=len_183^post59, (0 == 0 /\ tmp_34^post59-temp_35^0 == 0 /\ t_23^0-t_23^post59 == 0 /\ -1-i_30^0+i_30^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -a_237^post59+a_237^0 == 0 /\ 2-length_29^0 <= 0 /\ a_116^0-a_116^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ -head_32^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post59 == 0 /\ -len_132^post59+len_132^0 == 0 /\ 2-i_30^post59 <= 0 /\ f_170^0-f_170^post59 == 0 /\ -r_124^post59+r_124^0 == 0 /\ -head_27^post59+head_27^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ head_32^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ 1-length_29^0 <= 0 /\ -x_20^post59+x_20^0 == 0 /\ i_167^0-i_167^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ ct_17^0-ct_17^post59 == 0 /\ head_32^post59-tmp_34^post59 <= 0 /\ head_32^post59-tmp_34^post59 == 0 /\ tmp_34^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ a_184^0-a_184^post59 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -r_163^post59+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post59-length_29^0 <= 0 /\ -2+i_30^post59 <= 0 /\ -i_108^post59+i_108^0 == 0 /\ -length_29^post59+length_29^0 == 0 /\ x_16^0-x_16^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -head_129^post59+head_129^0 == 0 /\ -a_215^post59+a_215^0 == 0 /\ -head_32^post59+tmp_34^post59 <= 0 /\ -y_19^post59+y_19^0 == 0 /\ -tmp_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ a_260^0-a_260^post59 == 0 /\ -a_147^post59+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+length_29^0 <= 0 /\ -len_183^post59+len_183^0 == 0), cost: 1 40: l26 -> l27 : a_116^0'=a_116^post40, tmp_34^0'=tmp_34^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, r_39^0'=r_39^post40, a_260^0'=a_260^post40, i_30^0'=i_30^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, temp0_15^0'=temp0_15^post40, head_175^0'=head_175^post40, nondet_12^0'=nondet_12^post40, a_184^0'=a_184^post40, x_20^0'=x_20^post40, rcd_88^0'=rcd_88^post40, f_170^0'=f_170^post40, len_132^0'=len_132^post40, temp_35^0'=temp_35^post40, head_32^0'=head_32^post40, r_163^0'=r_163^post40, a_237^0'=a_237^post40, y_19^0'=y_19^post40, i_167^0'=i_167^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, head_14^0'=head_14^post40, length_29^0'=length_29^post40, a_147^0'=a_147^post40, x_16^0'=x_16^post40, i_108^0'=i_108^post40, rcd_58^0'=rcd_58^post40, ct_17^0'=ct_17^post40, i_94^0'=i_94^post40, t_23^0'=t_23^post40, temp0_31^0'=temp0_31^post40, head_27^0'=head_27^post40, r_124^0'=r_124^post40, a_215^0'=a_215^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, result_11^0'=result_11^post40, head_129^0'=head_129^post40, len_183^0'=len_183^post40, (tmp_34^0-tmp_34^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ r_124^0-r_124^post40 == 0 /\ t_23^0-t_23^post40 == 0 /\ -head_27^post40+head_27^0 == 0 /\ -x_SLAM_f_18^post40+x_SLAM_f_18^0 == 0 /\ -head_129^post40+head_129^0 == 0 /\ rcd_58^0-rcd_58^post40 == 0 /\ -y_19^post40+y_19^0 == 0 /\ a_260^0-a_260^post40 == 0 /\ i_167^0-i_167^post40 == 0 /\ -rcd_88^post40+rcd_88^0 == 0 /\ -i_94^post40+i_94^0 == 0 /\ x_20^0-x_20^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -a_237^post40+a_237^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -head_175^post40+head_175^0 == 0 /\ ct_17^0-ct_17^post40 == 0 /\ -length_29^post40+length_29^0 == 0 /\ r_39^0-r_39^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ x_16^0-x_16^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ -f_170^post40+f_170^0 == 0 /\ a_116^0-a_116^post40 == 0 /\ -a_215^post40+a_215^0 == 0 /\ -a_147^post40+a_147^0 == 0 /\ 1-head_27^0 <= 0 /\ -len_183^post40+len_183^0 == 0 /\ head_14^0-head_14^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ a_184^0-a_184^post40 == 0 /\ -r_163^post40+r_163^0 == 0), cost: 1 41: l26 -> l27 : a_116^0'=a_116^post41, tmp_34^0'=tmp_34^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_39^0'=r_39^post41, a_260^0'=a_260^post41, i_30^0'=i_30^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, temp0_15^0'=temp0_15^post41, head_175^0'=head_175^post41, nondet_12^0'=nondet_12^post41, a_184^0'=a_184^post41, x_20^0'=x_20^post41, rcd_88^0'=rcd_88^post41, f_170^0'=f_170^post41, len_132^0'=len_132^post41, temp_35^0'=temp_35^post41, head_32^0'=head_32^post41, r_163^0'=r_163^post41, a_237^0'=a_237^post41, y_19^0'=y_19^post41, i_167^0'=i_167^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, head_14^0'=head_14^post41, length_29^0'=length_29^post41, a_147^0'=a_147^post41, x_16^0'=x_16^post41, i_108^0'=i_108^post41, rcd_58^0'=rcd_58^post41, ct_17^0'=ct_17^post41, i_94^0'=i_94^post41, t_23^0'=t_23^post41, temp0_31^0'=temp0_31^post41, head_27^0'=head_27^post41, r_124^0'=r_124^post41, a_215^0'=a_215^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, result_11^0'=result_11^post41, head_129^0'=head_129^post41, len_183^0'=len_183^post41, (head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ 1+head_27^0 <= 0 /\ a_116^0-a_116^post41 == 0 /\ -f_170^post41+f_170^0 == 0 /\ rcd_88^0-rcd_88^post41 == 0 /\ head_14^0-head_14^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ -x_SLAM_f_18^post41+x_SLAM_f_18^0 == 0 /\ -a_147^post41+a_147^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -head_27^post41+head_27^0 == 0 /\ -r_163^post41+r_163^0 == 0 /\ -len_132^post41+len_132^0 == 0 /\ -i_94^post41+i_94^0 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ -x_20^post41+x_20^0 == 0 /\ -r_124^post41+r_124^0 == 0 /\ -head_32^post41+head_32^0 == 0 /\ x_16^0-x_16^post41 == 0 /\ ct_17^0-ct_17^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ a_184^0-a_184^post41 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -len_183^post41+len_183^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ head_175^0-head_175^post41 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ a_237^0-a_237^post41 == 0 /\ -rcd_58^post41+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ -y_19^post41+y_19^0 == 0 /\ -head_129^post41+head_129^0 == 0 /\ -length_29^post41+length_29^0 == 0 /\ -a_215^post41+a_215^0 == 0 /\ a_260^0-a_260^post41 == 0 /\ temp0_15^0-temp0_15^post41 == 0), cost: 1 42: l27 -> l28 : a_116^0'=a_116^post42, tmp_34^0'=tmp_34^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, r_39^0'=r_39^post42, a_260^0'=a_260^post42, i_30^0'=i_30^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, temp0_15^0'=temp0_15^post42, head_175^0'=head_175^post42, nondet_12^0'=nondet_12^post42, a_184^0'=a_184^post42, x_20^0'=x_20^post42, rcd_88^0'=rcd_88^post42, f_170^0'=f_170^post42, len_132^0'=len_132^post42, temp_35^0'=temp_35^post42, head_32^0'=head_32^post42, r_163^0'=r_163^post42, a_237^0'=a_237^post42, y_19^0'=y_19^post42, i_167^0'=i_167^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, head_14^0'=head_14^post42, length_29^0'=length_29^post42, a_147^0'=a_147^post42, x_16^0'=x_16^post42, i_108^0'=i_108^post42, rcd_58^0'=rcd_58^post42, ct_17^0'=ct_17^post42, i_94^0'=i_94^post42, t_23^0'=t_23^post42, temp0_31^0'=temp0_31^post42, head_27^0'=head_27^post42, r_124^0'=r_124^post42, a_215^0'=a_215^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, result_11^0'=result_11^post42, head_129^0'=head_129^post42, len_183^0'=len_183^post42, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_167^0-i_167^post42 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -a_215^post42+a_215^0 == 0 /\ r_163^0-r_163^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ -f_170^post42+f_170^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -a_147^post42+a_147^0 == 0 /\ t_23^0-t_23^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ a_116^0-a_116^post42 == 0 /\ -x_SLAM_f_18^post42+x_SLAM_f_18^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ -temp0_15^post42+temp0_15^0 == 0 /\ -len_183^post42+len_183^0 == 0 /\ -rcd_58^post42+rcd_58^0 == 0 /\ a_260^0-a_260^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ r_39^0-r_39^post42 == 0 /\ len_132^0-len_132^post42 == 0 /\ -y_19^post42+y_19^0 == 0 /\ -head_27^0 <= 0 /\ head_27^0 <= 0 /\ -i_94^post42+i_94^0 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ a_237^0-a_237^post42 == 0 /\ -a_184^post42+a_184^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ head_14^0-head_14^post42 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -result_11^post42+result_11^0 == 0 /\ -head_129^post42+head_129^0 == 0 /\ -rcd_88^post42+rcd_88^0 == 0), cost: 1 43: l28 -> l29 : a_116^0'=a_116^post43, tmp_34^0'=tmp_34^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, r_39^0'=r_39^post43, a_260^0'=a_260^post43, i_30^0'=i_30^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, temp0_15^0'=temp0_15^post43, head_175^0'=head_175^post43, nondet_12^0'=nondet_12^post43, a_184^0'=a_184^post43, x_20^0'=x_20^post43, rcd_88^0'=rcd_88^post43, f_170^0'=f_170^post43, len_132^0'=len_132^post43, temp_35^0'=temp_35^post43, head_32^0'=head_32^post43, r_163^0'=r_163^post43, a_237^0'=a_237^post43, y_19^0'=y_19^post43, i_167^0'=i_167^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, head_14^0'=head_14^post43, length_29^0'=length_29^post43, a_147^0'=a_147^post43, x_16^0'=x_16^post43, i_108^0'=i_108^post43, rcd_58^0'=rcd_58^post43, ct_17^0'=ct_17^post43, i_94^0'=i_94^post43, t_23^0'=t_23^post43, temp0_31^0'=temp0_31^post43, head_27^0'=head_27^post43, r_124^0'=r_124^post43, a_215^0'=a_215^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, result_11^0'=result_11^post43, head_129^0'=head_129^post43, len_183^0'=len_183^post43, (r_163^0-r_163^post43 == 0 /\ f_170^0-f_170^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ y_19^0-y_19^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ a_260^0-a_260^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ -head_129^post43+head_129^0 == 0 /\ -a_215^post43+a_215^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ head_14^0-head_14^post43 == 0 /\ 1-head_14^0 <= 0 /\ -len_183^post43+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ -a_237^post43+a_237^0 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ i_167^0-i_167^post43 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ ct_17^0-ct_17^post43 == 0 /\ len_132^0-len_132^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ -r_124^post43+r_124^0 == 0 /\ i_30^0-i_30^post43 == 0 /\ -head_27^post43+head_27^0 == 0 /\ r_39^0-r_39^post43 == 0 /\ -x_16^post43+x_16^0 == 0 /\ head_175^0-head_175^post43 == 0 /\ a_184^0-a_184^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ a_147^0-a_147^post43 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -i_94^post43+i_94^0 == 0), cost: 1 44: l28 -> l29 : a_116^0'=a_116^post44, tmp_34^0'=tmp_34^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, a_260^0'=a_260^post44, i_30^0'=i_30^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, temp0_15^0'=temp0_15^post44, head_175^0'=head_175^post44, nondet_12^0'=nondet_12^post44, a_184^0'=a_184^post44, x_20^0'=x_20^post44, rcd_88^0'=rcd_88^post44, f_170^0'=f_170^post44, len_132^0'=len_132^post44, temp_35^0'=temp_35^post44, head_32^0'=head_32^post44, r_163^0'=r_163^post44, a_237^0'=a_237^post44, y_19^0'=y_19^post44, i_167^0'=i_167^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, head_14^0'=head_14^post44, length_29^0'=length_29^post44, a_147^0'=a_147^post44, x_16^0'=x_16^post44, i_108^0'=i_108^post44, rcd_58^0'=rcd_58^post44, ct_17^0'=ct_17^post44, i_94^0'=i_94^post44, t_23^0'=t_23^post44, temp0_31^0'=temp0_31^post44, head_27^0'=head_27^post44, r_124^0'=r_124^post44, a_215^0'=a_215^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, result_11^0'=result_11^post44, head_129^0'=head_129^post44, len_183^0'=len_183^post44, (-y_19^post44+y_19^0 == 0 /\ -head_129^post44+head_129^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -len_183^post44+len_183^0 == 0 /\ -r_124^post44+r_124^0 == 0 /\ head_27^0-head_27^post44 == 0 /\ a_116^0-a_116^post44 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ -a_237^post44+a_237^0 == 0 /\ a_260^0-a_260^post44 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ i_167^0-i_167^post44 == 0 /\ r_39^0-r_39^post44 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ len_132^0-len_132^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ -length_29^post44+length_29^0 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -head_175^post44+head_175^0 == 0 /\ tmp_34^0-tmp_34^post44 == 0 /\ x_16^0-x_16^post44 == 0 /\ -f_170^post44+f_170^0 == 0 /\ 1+head_14^0 <= 0 /\ ct_17^0-ct_17^post44 == 0 /\ -i_94^post44+i_94^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ -a_215^post44+a_215^0 == 0 /\ a_184^0-a_184^post44 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ -a_147^post44+a_147^0 == 0 /\ -x_20^post44+x_20^0 == 0 /\ head_14^0-head_14^post44 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -r_163^post44+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ i_30^0-i_30^post44 == 0 /\ -i_108^post44+i_108^0 == 0), cost: 1 45: l29 -> l30 : a_116^0'=a_116^post45, tmp_34^0'=tmp_34^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, r_39^0'=r_39^post45, a_260^0'=a_260^post45, i_30^0'=i_30^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, temp0_15^0'=temp0_15^post45, head_175^0'=head_175^post45, nondet_12^0'=nondet_12^post45, a_184^0'=a_184^post45, x_20^0'=x_20^post45, rcd_88^0'=rcd_88^post45, f_170^0'=f_170^post45, len_132^0'=len_132^post45, temp_35^0'=temp_35^post45, head_32^0'=head_32^post45, r_163^0'=r_163^post45, a_237^0'=a_237^post45, y_19^0'=y_19^post45, i_167^0'=i_167^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, head_14^0'=head_14^post45, length_29^0'=length_29^post45, a_147^0'=a_147^post45, x_16^0'=x_16^post45, i_108^0'=i_108^post45, rcd_58^0'=rcd_58^post45, ct_17^0'=ct_17^post45, i_94^0'=i_94^post45, t_23^0'=t_23^post45, temp0_31^0'=temp0_31^post45, head_27^0'=head_27^post45, r_124^0'=r_124^post45, a_215^0'=a_215^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, result_11^0'=result_11^post45, head_129^0'=head_129^post45, len_183^0'=len_183^post45, (0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ len_132^0-len_132^post45 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_16^post45+head_14^0 <= 0 /\ ct_17^post45 <= 0 /\ ct_17^post45 == 0 /\ -head_129^post45+head_129^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ a_147^0-a_147^post45 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ -len_183^post45+len_183^0 == 0 /\ a_116^0-a_116^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_14^0-head_14^post45 == 0 /\ x_16^post45-head_14^0 <= 0 /\ x_16^post45-head_14^0 == 0 /\ f_170^0-f_170^post45 == 0 /\ -r_124^post45+r_124^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -y_19^post45 <= 0 /\ i_30^0-i_30^post45 == 0 /\ -a_237^post45+a_237^0 == 0 /\ -i_94^post45+i_94^0 == 0 /\ -ct_17^post45 <= 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ r_163^0-r_163^post45 == 0 /\ tmp_34^0-tmp_34^post45 == 0 /\ ct_17^post45-y_19^post45 <= 0 /\ -x_SLAM_f_18^post45+head_14^0 <= 0 /\ y_19^post45 <= 0 /\ -x_20^post45+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -length_29^post45+length_29^0 == 0 /\ head_32^0-head_32^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ -x_SLAM_f_18^post45+x_20^post45 <= 0 /\ -x_SLAM_f_18^post45+x_20^post45 == 0 /\ x_SLAM_f_18^post45-x_16^post45 <= 0 /\ x_SLAM_f_18^post45-x_16^post45 == 0 /\ -a_215^post45+a_215^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -head_27^0 <= 0 /\ -ct_17^post45+y_19^post45 <= 0 /\ -ct_17^post45+y_19^post45 == 0 /\ head_27^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 <= 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ x_SLAM_f_18^post45-head_14^0 <= 0 /\ a_260^0-a_260^post45 == 0 /\ x_20^post45-head_14^0 <= 0 /\ head_175^0-head_175^post45 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ x_SLAM_f_18^post45-x_20^post45 <= 0 /\ -x_SLAM_f_18^post45+x_16^post45 <= 0), cost: 1 46: l30 -> l31 : a_116^0'=a_116^post46, tmp_34^0'=tmp_34^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, r_39^0'=r_39^post46, a_260^0'=a_260^post46, i_30^0'=i_30^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, temp0_15^0'=temp0_15^post46, head_175^0'=head_175^post46, nondet_12^0'=nondet_12^post46, a_184^0'=a_184^post46, x_20^0'=x_20^post46, rcd_88^0'=rcd_88^post46, f_170^0'=f_170^post46, len_132^0'=len_132^post46, temp_35^0'=temp_35^post46, head_32^0'=head_32^post46, r_163^0'=r_163^post46, a_237^0'=a_237^post46, y_19^0'=y_19^post46, i_167^0'=i_167^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, head_14^0'=head_14^post46, length_29^0'=length_29^post46, a_147^0'=a_147^post46, x_16^0'=x_16^post46, i_108^0'=i_108^post46, rcd_58^0'=rcd_58^post46, ct_17^0'=ct_17^post46, i_94^0'=i_94^post46, t_23^0'=t_23^post46, temp0_31^0'=temp0_31^post46, head_27^0'=head_27^post46, r_124^0'=r_124^post46, a_215^0'=a_215^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, result_11^0'=result_11^post46, head_129^0'=head_129^post46, len_183^0'=len_183^post46, (i_30^0-i_30^post46 == 0 /\ -i_94^post46+i_94^0 == 0 /\ -f_170^post46+f_170^0 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ r_163^0-r_163^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ head_175^0-head_175^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ -x_16^post46+x_16^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ -x_SLAM_f_18^post46+x_SLAM_f_18^0 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ head_32^0-head_32^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ a_147^0-a_147^post46 == 0 /\ x_20^0-x_20^post46 == 0 /\ head_27^0-head_27^post46 == 0 /\ a_116^0-a_116^post46 == 0 /\ 1-head_14^0 <= 0 /\ i_167^0-i_167^post46 == 0 /\ -r_124^post46+r_124^0 == 0 /\ a_260^0-a_260^post46 == 0 /\ a_215^0-a_215^post46 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post46 == 0 /\ r_39^0-r_39^post46 == 0 /\ -temp0_15^post46+temp0_15^0 == 0 /\ -len_183^post46+len_183^0 == 0 /\ -i_108^post46+i_108^0 == 0 /\ len_132^0-len_132^post46 == 0 /\ -head_14^post46+head_14^0 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -length_29^post46+length_29^0 == 0 /\ -a_237^post46+a_237^0 == 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ -head_129^post46+head_129^0 == 0 /\ -y_19^post46+y_19^0 == 0 /\ -a_184^post46+a_184^0 == 0 /\ rcd_58^0-rcd_58^post46 == 0), cost: 1 47: l30 -> l31 : a_116^0'=a_116^post47, tmp_34^0'=tmp_34^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, r_39^0'=r_39^post47, a_260^0'=a_260^post47, i_30^0'=i_30^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, temp0_15^0'=temp0_15^post47, head_175^0'=head_175^post47, nondet_12^0'=nondet_12^post47, a_184^0'=a_184^post47, x_20^0'=x_20^post47, rcd_88^0'=rcd_88^post47, f_170^0'=f_170^post47, len_132^0'=len_132^post47, temp_35^0'=temp_35^post47, head_32^0'=head_32^post47, r_163^0'=r_163^post47, a_237^0'=a_237^post47, y_19^0'=y_19^post47, i_167^0'=i_167^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, head_14^0'=head_14^post47, length_29^0'=length_29^post47, a_147^0'=a_147^post47, x_16^0'=x_16^post47, i_108^0'=i_108^post47, rcd_58^0'=rcd_58^post47, ct_17^0'=ct_17^post47, i_94^0'=i_94^post47, t_23^0'=t_23^post47, temp0_31^0'=temp0_31^post47, head_27^0'=head_27^post47, r_124^0'=r_124^post47, a_215^0'=a_215^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, result_11^0'=result_11^post47, head_129^0'=head_129^post47, len_183^0'=len_183^post47, (a_260^0-a_260^post47 == 0 /\ -i_167^post47+i_167^0 == 0 /\ -head_14^post47+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ i_108^0-i_108^post47 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_215^post47+a_215^0 == 0 /\ tmp_34^0-tmp_34^post47 == 0 /\ -t_23^post47+t_23^0 == 0 /\ r_39^0-r_39^post47 == 0 /\ head_175^0-head_175^post47 == 0 /\ a_147^0-a_147^post47 == 0 /\ -rcd_58^post47+rcd_58^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ r_163^0-r_163^post47 == 0 /\ -head_129^post47+head_129^0 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -a_237^post47+a_237^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -x_SLAM_f_18^post47+x_SLAM_f_18^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ f_170^0-f_170^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ 1+head_14^0 <= 0 /\ -head_27^post47+head_27^0 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ a_184^0-a_184^post47 == 0 /\ -len_183^post47+len_183^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -r_124^post47+r_124^0 == 0 /\ x_20^0-x_20^post47 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -i_30^post47+i_30^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ a_116^0-a_116^post47 == 0 /\ -i_94^post47+i_94^0 == 0), cost: 1 48: l31 -> l32 : a_116^0'=a_116^post48, tmp_34^0'=tmp_34^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, r_39^0'=r_39^post48, a_260^0'=a_260^post48, i_30^0'=i_30^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, temp0_15^0'=temp0_15^post48, head_175^0'=head_175^post48, nondet_12^0'=nondet_12^post48, a_184^0'=a_184^post48, x_20^0'=x_20^post48, rcd_88^0'=rcd_88^post48, f_170^0'=f_170^post48, len_132^0'=len_132^post48, temp_35^0'=temp_35^post48, head_32^0'=head_32^post48, r_163^0'=r_163^post48, a_237^0'=a_237^post48, y_19^0'=y_19^post48, i_167^0'=i_167^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, head_14^0'=head_14^post48, length_29^0'=length_29^post48, a_147^0'=a_147^post48, x_16^0'=x_16^post48, i_108^0'=i_108^post48, rcd_58^0'=rcd_58^post48, ct_17^0'=ct_17^post48, i_94^0'=i_94^post48, t_23^0'=t_23^post48, temp0_31^0'=temp0_31^post48, head_27^0'=head_27^post48, r_124^0'=r_124^post48, a_215^0'=a_215^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, result_11^0'=result_11^post48, head_129^0'=head_129^post48, len_183^0'=len_183^post48, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ f_170^0-f_170^post48 == 0 /\ -i_167^post48+i_167^0 == 0 /\ x_20^0-x_20^post48 == 0 /\ -len_183^post48+len_183^0 == 0 /\ tmp_34^0-tmp_34^post48 == 0 /\ -r_163^post48+r_163^0 == 0 /\ a_260^0-a_260^post48 == 0 /\ -y_19^post48+y_19^0 == 0 /\ -rcd_58^post48+rcd_58^0 == 0 /\ a_184^0-a_184^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ length_29^0-length_29^post48 == 0 /\ -head_129^post48+head_129^0 == 0 /\ -a_215^post48+a_215^0 == 0 /\ a_237^0-a_237^post48 == 0 /\ -a_147^post48+a_147^0 == 0 /\ -r_39^post48+r_39^0 == 0 /\ head_32^0-head_32^post48 == 0 /\ temp_35^0-temp_35^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ i_94^0-i_94^post48 == 0 /\ a_116^0-a_116^post48 == 0 /\ -len_132^post48+len_132^0 == 0 /\ -t_23^post48+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ -result_11^post48+result_11^0 == 0 /\ i_108^0-i_108^post48 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ head_175^0-head_175^post48 == 0 /\ i_30^0-i_30^post48 == 0 /\ -head_27^post48+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ rcd_88^0-rcd_88^post48 == 0 /\ -r_124^post48+r_124^0 == 0), cost: 1 49: l32 -> l33 : a_116^0'=a_116^post49, tmp_34^0'=tmp_34^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, r_39^0'=r_39^post49, a_260^0'=a_260^post49, i_30^0'=i_30^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, temp0_15^0'=temp0_15^post49, head_175^0'=head_175^post49, nondet_12^0'=nondet_12^post49, a_184^0'=a_184^post49, x_20^0'=x_20^post49, rcd_88^0'=rcd_88^post49, f_170^0'=f_170^post49, len_132^0'=len_132^post49, temp_35^0'=temp_35^post49, head_32^0'=head_32^post49, r_163^0'=r_163^post49, a_237^0'=a_237^post49, y_19^0'=y_19^post49, i_167^0'=i_167^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, head_14^0'=head_14^post49, length_29^0'=length_29^post49, a_147^0'=a_147^post49, x_16^0'=x_16^post49, i_108^0'=i_108^post49, rcd_58^0'=rcd_58^post49, ct_17^0'=ct_17^post49, i_94^0'=i_94^post49, t_23^0'=t_23^post49, temp0_31^0'=temp0_31^post49, head_27^0'=head_27^post49, r_124^0'=r_124^post49, a_215^0'=a_215^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, result_11^0'=result_11^post49, head_129^0'=head_129^post49, len_183^0'=len_183^post49, (-len_183^post49+len_183^0 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_237^0-a_237^post49 == 0 /\ temp0_31^0-temp0_31^post49 == 0 /\ -head_129^post49+head_129^0 == 0 /\ -head_27^post49+head_27^0 == 0 /\ -len_132^post49+len_132^0 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ length_29^0-length_29^post49 == 0 /\ a_116^0-a_116^post49 == 0 /\ head_32^0-head_32^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ -r_124^post49+r_124^0 == 0 /\ -i_94^post49+i_94^0 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ a_260^0-a_260^post49 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ x_20^0-x_20^post49 == 0 /\ -result_11^post49+result_11^0 == 0 /\ head_175^0-head_175^post49 == 0 /\ -x_16^post49+x_16^0 == 0 /\ -head_14^post49+head_14^0 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ y_19^0-y_19^post49 == 0 /\ -a_215^post49+a_215^0 == 0 /\ -t_23^post49+t_23^0 == 0 /\ -x_SLAM_f_18^post49+x_SLAM_f_18^0 == 0 /\ f_170^0-f_170^post49 == 0 /\ r_39^0-r_39^post49 == 0 /\ -i_108^post49+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ a_184^0-a_184^post49 == 0 /\ -a_147^post49+a_147^0 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ r_163^0-r_163^post49 == 0 /\ -i_167^post49+i_167^0 == 0), cost: 1 50: l32 -> l33 : a_116^0'=a_116^post50, tmp_34^0'=tmp_34^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, r_39^0'=r_39^post50, a_260^0'=a_260^post50, i_30^0'=i_30^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, temp0_15^0'=temp0_15^post50, head_175^0'=head_175^post50, nondet_12^0'=nondet_12^post50, a_184^0'=a_184^post50, x_20^0'=x_20^post50, rcd_88^0'=rcd_88^post50, f_170^0'=f_170^post50, len_132^0'=len_132^post50, temp_35^0'=temp_35^post50, head_32^0'=head_32^post50, r_163^0'=r_163^post50, a_237^0'=a_237^post50, y_19^0'=y_19^post50, i_167^0'=i_167^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, head_14^0'=head_14^post50, length_29^0'=length_29^post50, a_147^0'=a_147^post50, x_16^0'=x_16^post50, i_108^0'=i_108^post50, rcd_58^0'=rcd_58^post50, ct_17^0'=ct_17^post50, i_94^0'=i_94^post50, t_23^0'=t_23^post50, temp0_31^0'=temp0_31^post50, head_27^0'=head_27^post50, r_124^0'=r_124^post50, a_215^0'=a_215^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, result_11^0'=result_11^post50, head_129^0'=head_129^post50, len_183^0'=len_183^post50, (1+x_20^0-y_19^0 <= 0 /\ -x_20^post50+x_20^0 == 0 /\ rcd_88^0-rcd_88^post50 == 0 /\ -len_132^post50+len_132^0 == 0 /\ r_39^0-r_39^post50 == 0 /\ a_116^0-a_116^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -t_23^post50+t_23^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ -head_129^post50+head_129^0 == 0 /\ x_16^0-x_16^post50 == 0 /\ -x_SLAM_f_18^post50+x_SLAM_f_18^0 == 0 /\ -ct_17^post50+ct_17^0 == 0 /\ f_170^0-f_170^post50 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ a_184^0-a_184^post50 == 0 /\ -r_124^post50+r_124^0 == 0 /\ tmp_34^0-tmp_34^post50 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ -head_27^post50+head_27^0 == 0 /\ -i_167^post50+i_167^0 == 0 /\ head_175^0-head_175^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -r_163^post50+r_163^0 == 0 /\ a_237^0-a_237^post50 == 0 /\ -head_14^post50+head_14^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ head_32^0-head_32^post50 == 0 /\ -len_183^post50+len_183^0 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ -y_19^post50+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -a_215^post50+a_215^0 == 0 /\ -a_147^post50+a_147^0 == 0 /\ a_260^0-a_260^post50 == 0 /\ i_108^0-i_108^post50 == 0 /\ -rcd_58^post50+rcd_58^0 == 0), cost: 1 51: l33 -> l34 : a_116^0'=a_116^post51, tmp_34^0'=tmp_34^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, r_39^0'=r_39^post51, a_260^0'=a_260^post51, i_30^0'=i_30^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, temp0_15^0'=temp0_15^post51, head_175^0'=head_175^post51, nondet_12^0'=nondet_12^post51, a_184^0'=a_184^post51, x_20^0'=x_20^post51, rcd_88^0'=rcd_88^post51, f_170^0'=f_170^post51, len_132^0'=len_132^post51, temp_35^0'=temp_35^post51, head_32^0'=head_32^post51, r_163^0'=r_163^post51, a_237^0'=a_237^post51, y_19^0'=y_19^post51, i_167^0'=i_167^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, head_14^0'=head_14^post51, length_29^0'=length_29^post51, a_147^0'=a_147^post51, x_16^0'=x_16^post51, i_108^0'=i_108^post51, rcd_58^0'=rcd_58^post51, ct_17^0'=ct_17^post51, i_94^0'=i_94^post51, t_23^0'=t_23^post51, temp0_31^0'=temp0_31^post51, head_27^0'=head_27^post51, r_124^0'=r_124^post51, a_215^0'=a_215^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, result_11^0'=result_11^post51, head_129^0'=head_129^post51, len_183^0'=len_183^post51, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ x_16^0-x_16^post51 == 0 /\ -a_215^post51+a_215^0 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ -result_11^post51+result_11^0 == 0 /\ head_175^0-head_175^post51 == 0 /\ f_170^0-f_170^post51 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 == 0 /\ head_14^0-t_23^post51 <= 0 /\ -ct_17^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ -x_20^0+t_23^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ a_184^0-a_184^post51 == 0 /\ -a_147^post51+a_147^0 == 0 /\ i_30^0-i_30^post51 == 0 /\ x_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_20^0-x_20^post51 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -x_SLAM_f_18^post51+x_SLAM_f_18^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -ct_17^post51+ct_17^0 == 0 /\ r_124^0-r_124^post51 == 0 /\ -r_163^post51+r_163^0 == 0 /\ -head_14^0+t_23^post51 <= 0 /\ -len_132^post51+len_132^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ a_116^0-a_116^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ y_19^0 <= 0 /\ head_14^0-head_14^post51 == 0 /\ -head_129^post51+head_129^0 == 0 /\ -a_260^post51+a_260^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post51 == 0 /\ -rcd_58^post51+rcd_58^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ temp_35^0-temp_35^post51 == 0 /\ -y_19^0 <= 0 /\ -i_167^post51+i_167^0 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ -head_27^post51+head_27^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ r_39^0-r_39^post51 == 0 /\ ct_17^0 <= 0 /\ -len_183^post51+len_183^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ a_237^0-a_237^post51 == 0 /\ tmp_34^0-tmp_34^post51 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -x_20^0 <= 0 /\ -y_19^post51+y_19^0 == 0 /\ i_94^0-i_94^post51 == 0 /\ head_14^0-x_16^0 <= 0 /\ -length_29^post51+length_29^0 == 0), cost: 1 52: l34 -> l35 : a_116^0'=a_116^post52, tmp_34^0'=tmp_34^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, r_39^0'=r_39^post52, a_260^0'=a_260^post52, i_30^0'=i_30^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, temp0_15^0'=temp0_15^post52, head_175^0'=head_175^post52, nondet_12^0'=nondet_12^post52, a_184^0'=a_184^post52, x_20^0'=x_20^post52, rcd_88^0'=rcd_88^post52, f_170^0'=f_170^post52, len_132^0'=len_132^post52, temp_35^0'=temp_35^post52, head_32^0'=head_32^post52, r_163^0'=r_163^post52, a_237^0'=a_237^post52, y_19^0'=y_19^post52, i_167^0'=i_167^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, head_14^0'=head_14^post52, length_29^0'=length_29^post52, a_147^0'=a_147^post52, x_16^0'=x_16^post52, i_108^0'=i_108^post52, rcd_58^0'=rcd_58^post52, ct_17^0'=ct_17^post52, i_94^0'=i_94^post52, t_23^0'=t_23^post52, temp0_31^0'=temp0_31^post52, head_27^0'=head_27^post52, r_124^0'=r_124^post52, a_215^0'=a_215^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, result_11^0'=result_11^post52, head_129^0'=head_129^post52, len_183^0'=len_183^post52, (f_170^0-f_170^post52 == 0 /\ -r_163^post52+r_163^0 == 0 /\ a_260^0-a_260^post52 == 0 /\ -i_167^post52+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ -head_14^post52+head_14^0 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ rcd_88^0-rcd_88^post52 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ -a_215^post52+a_215^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ length_29^0-length_29^post52 == 0 /\ -y_19^post52+y_19^0 == 0 /\ a_237^0-a_237^post52 == 0 /\ -rcd_58^post52+rcd_58^0 == 0 /\ 1-head_14^0 <= 0 /\ -a_147^post52+a_147^0 == 0 /\ -head_27^post52+head_27^0 == 0 /\ -x_SLAM_f_18^post52+x_SLAM_f_18^0 == 0 /\ i_94^0-i_94^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ -t_23^post52+t_23^0 == 0 /\ -len_183^post52+len_183^0 == 0 /\ i_108^0-i_108^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ -head_129^post52+head_129^0 == 0 /\ -r_39^post52+r_39^0 == 0 /\ a_184^0-a_184^post52 == 0 /\ -len_132^post52+len_132^0 == 0 /\ -x_20^post52+x_20^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ -x_16^post52+x_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0 /\ head_175^0-head_175^post52 == 0 /\ -r_124^post52+r_124^0 == 0 /\ a_116^0-a_116^post52 == 0 /\ head_32^0-head_32^post52 == 0), cost: 1 53: l34 -> l35 : a_116^0'=a_116^post53, tmp_34^0'=tmp_34^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, r_39^0'=r_39^post53, a_260^0'=a_260^post53, i_30^0'=i_30^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, temp0_15^0'=temp0_15^post53, head_175^0'=head_175^post53, nondet_12^0'=nondet_12^post53, a_184^0'=a_184^post53, x_20^0'=x_20^post53, rcd_88^0'=rcd_88^post53, f_170^0'=f_170^post53, len_132^0'=len_132^post53, temp_35^0'=temp_35^post53, head_32^0'=head_32^post53, r_163^0'=r_163^post53, a_237^0'=a_237^post53, y_19^0'=y_19^post53, i_167^0'=i_167^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, head_14^0'=head_14^post53, length_29^0'=length_29^post53, a_147^0'=a_147^post53, x_16^0'=x_16^post53, i_108^0'=i_108^post53, rcd_58^0'=rcd_58^post53, ct_17^0'=ct_17^post53, i_94^0'=i_94^post53, t_23^0'=t_23^post53, temp0_31^0'=temp0_31^post53, head_27^0'=head_27^post53, r_124^0'=r_124^post53, a_215^0'=a_215^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, result_11^0'=result_11^post53, head_129^0'=head_129^post53, len_183^0'=len_183^post53, (temp_35^0-temp_35^post53 == 0 /\ -i_108^post53+i_108^0 == 0 /\ -len_183^post53+len_183^0 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ i_167^0-i_167^post53 == 0 /\ t_23^0-t_23^post53 == 0 /\ a_116^0-a_116^post53 == 0 /\ -head_27^post53+head_27^0 == 0 /\ -r_163^post53+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ len_132^0-len_132^post53 == 0 /\ r_124^0-r_124^post53 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ -head_129^post53+head_129^0 == 0 /\ -a_215^post53+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53 == 0 /\ -y_19^post53+y_19^0 == 0 /\ -f_170^post53+f_170^0 == 0 /\ -a_147^post53+a_147^0 == 0 /\ tmp_34^0-tmp_34^post53 == 0 /\ -i_94^post53+i_94^0 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ 1+head_14^0 <= 0 /\ -result_11^post53+result_11^0 == 0 /\ a_260^0-a_260^post53 == 0 /\ ct_17^0-ct_17^post53 == 0 /\ -head_175^post53+head_175^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post53 == 0 /\ x_16^0-x_16^post53 == 0 /\ i_30^0-i_30^post53 == 0 /\ a_184^0-a_184^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ head_14^0-head_14^post53 == 0 /\ a_237^0-a_237^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0), cost: 1 54: l35 -> l36 : a_116^0'=a_116^post54, tmp_34^0'=tmp_34^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, r_39^0'=r_39^post54, a_260^0'=a_260^post54, i_30^0'=i_30^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, temp0_15^0'=temp0_15^post54, head_175^0'=head_175^post54, nondet_12^0'=nondet_12^post54, a_184^0'=a_184^post54, x_20^0'=x_20^post54, rcd_88^0'=rcd_88^post54, f_170^0'=f_170^post54, len_132^0'=len_132^post54, temp_35^0'=temp_35^post54, head_32^0'=head_32^post54, r_163^0'=r_163^post54, a_237^0'=a_237^post54, y_19^0'=y_19^post54, i_167^0'=i_167^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, head_14^0'=head_14^post54, length_29^0'=length_29^post54, a_147^0'=a_147^post54, x_16^0'=x_16^post54, i_108^0'=i_108^post54, rcd_58^0'=rcd_58^post54, ct_17^0'=ct_17^post54, i_94^0'=i_94^post54, t_23^0'=t_23^post54, temp0_31^0'=temp0_31^post54, head_27^0'=head_27^post54, r_124^0'=r_124^post54, a_215^0'=a_215^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, result_11^0'=result_11^post54, head_129^0'=head_129^post54, len_183^0'=len_183^post54, (-head_27^post54+head_27^0 == 0 /\ -rcd_58^post54+rcd_58^0 == 0 /\ -len_132^post54+len_132^0 == 0 /\ -y_19^post54+y_19^0 == 0 /\ -head_129^post54+head_129^0 == 0 /\ a_116^0-a_116^post54 == 0 /\ -x_20^post54+x_20^0 == 0 /\ x_16^0-x_16^post54 == 0 /\ -r_124^post54+r_124^0 == 0 /\ temp_35^0-temp_35^post54 == 0 /\ f_170^0-f_170^post54 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post54 == 0 /\ -result_11^post54+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post54 == 0 /\ r_39^0-r_39^post54 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ i_30^0-i_30^post54 == 0 /\ a_184^0-a_184^post54 == 0 /\ rcd_88^0-rcd_88^post54 == 0 /\ tmp_34^0-tmp_34^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ -r_163^post54+r_163^0 == 0 /\ head_175^0-head_175^post54 == 0 /\ a_237^0-a_237^post54 == 0 /\ -ct_17^post54+ct_17^0 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ -length_29^post54+length_29^0 == 0 /\ head_32^0-head_32^post54 == 0 /\ -a_215^post54+a_215^0 == 0 /\ i_94^0-i_94^post54 == 0 /\ head_14^0-head_14^post54 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 == 0 /\ -t_23^post54+t_23^0 == 0 /\ a_260^0-a_260^post54 == 0 /\ temp0_15^0-temp0_15^post54 == 0 /\ -len_183^post54+len_183^0 == 0 /\ -i_108^post54+i_108^0 == 0 /\ -i_167^post54+i_167^0 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ -a_147^post54+a_147^0 == 0), cost: 1 55: l35 -> l36 : a_116^0'=a_116^post55, tmp_34^0'=tmp_34^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, r_39^0'=r_39^post55, a_260^0'=a_260^post55, i_30^0'=i_30^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, temp0_15^0'=temp0_15^post55, head_175^0'=head_175^post55, nondet_12^0'=nondet_12^post55, a_184^0'=a_184^post55, x_20^0'=x_20^post55, rcd_88^0'=rcd_88^post55, f_170^0'=f_170^post55, len_132^0'=len_132^post55, temp_35^0'=temp_35^post55, head_32^0'=head_32^post55, r_163^0'=r_163^post55, a_237^0'=a_237^post55, y_19^0'=y_19^post55, i_167^0'=i_167^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, head_14^0'=head_14^post55, length_29^0'=length_29^post55, a_147^0'=a_147^post55, x_16^0'=x_16^post55, i_108^0'=i_108^post55, rcd_58^0'=rcd_58^post55, ct_17^0'=ct_17^post55, i_94^0'=i_94^post55, t_23^0'=t_23^post55, temp0_31^0'=temp0_31^post55, head_27^0'=head_27^post55, r_124^0'=r_124^post55, a_215^0'=a_215^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, result_11^0'=result_11^post55, head_129^0'=head_129^post55, len_183^0'=len_183^post55, (x_16^0-x_16^post55 == 0 /\ -a_237^post55+a_237^0 == 0 /\ -a_147^post55+a_147^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ i_30^0-i_30^post55 == 0 /\ -x_SLAM_f_18^post55+x_SLAM_f_18^0 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ -t_23^post55+t_23^0 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -head_129^post55+head_129^0 == 0 /\ -ct_17^post55+ct_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ r_124^0-r_124^post55 == 0 /\ a_260^0-a_260^post55 == 0 /\ -head_175^post55+head_175^0 == 0 /\ -head_32^post55+head_32^0 == 0 /\ head_27^0-head_27^post55 == 0 /\ i_167^0-i_167^post55 == 0 /\ x_20^0-x_20^post55 == 0 /\ a_116^0-a_116^post55 == 0 /\ head_14^0-head_14^post55 == 0 /\ -i_108^post55+i_108^0 == 0 /\ r_39^0-r_39^post55 == 0 /\ len_132^0-len_132^post55 == 0 /\ -rcd_88^post55+rcd_88^0 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ -len_183^post55+len_183^0 == 0 /\ -y_19^post55+y_19^0 == 0 /\ r_163^0-r_163^post55 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ -a_215^post55+a_215^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ a_184^0-a_184^post55 == 0 /\ i_94^0-i_94^post55 == 0 /\ -f_170^post55+f_170^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ tmp_34^0-tmp_34^post55 == 0), cost: 1 56: l36 -> l37 : a_116^0'=a_116^post56, tmp_34^0'=tmp_34^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, r_39^0'=r_39^post56, a_260^0'=a_260^post56, i_30^0'=i_30^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, temp0_15^0'=temp0_15^post56, head_175^0'=head_175^post56, nondet_12^0'=nondet_12^post56, a_184^0'=a_184^post56, x_20^0'=x_20^post56, rcd_88^0'=rcd_88^post56, f_170^0'=f_170^post56, len_132^0'=len_132^post56, temp_35^0'=temp_35^post56, head_32^0'=head_32^post56, r_163^0'=r_163^post56, a_237^0'=a_237^post56, y_19^0'=y_19^post56, i_167^0'=i_167^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, head_14^0'=head_14^post56, length_29^0'=length_29^post56, a_147^0'=a_147^post56, x_16^0'=x_16^post56, i_108^0'=i_108^post56, rcd_58^0'=rcd_58^post56, ct_17^0'=ct_17^post56, i_94^0'=i_94^post56, t_23^0'=t_23^post56, temp0_31^0'=temp0_31^post56, head_27^0'=head_27^post56, r_124^0'=r_124^post56, a_215^0'=a_215^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, result_11^0'=result_11^post56, head_129^0'=head_129^post56, len_183^0'=len_183^post56, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_132^0-len_132^post56 == 0 /\ -i_94^post56+i_94^0 == 0 /\ x_20^0-y_19^0 <= 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ -a_215^post56+a_215^0 == 0 /\ a_260^0-a_260^post56 == 0 /\ tmp_34^0-tmp_34^post56 == 0 /\ a_147^0-a_147^post56 == 0 /\ -len_183^post56+len_183^0 == 0 /\ -i_108^post56+i_108^0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -temp_35^post56+temp_35^0 == 0 /\ f_170^0-f_170^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -a_237^post56+a_237^0 == 0 /\ r_163^0-r_163^post56 == 0 /\ r_124^0-r_124^post56 == 0 /\ a_184^0-a_184^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ temp0_15^0-temp0_15^post56 == 0 /\ r_39^0-r_39^post56 == 0 /\ -head_129^post56+head_129^0 == 0 /\ a_116^0-a_116^post56 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post56 == 0 /\ i_167^0-i_167^post56 == 0 /\ rcd_88^0-rcd_88^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ i_30^0-i_30^post56 == 0 /\ result_11^post56-temp0_15^0 == 0 /\ head_175^0-head_175^post56 == 0 /\ -head_27^post56+head_27^0 == 0 /\ -nondet_12^post56+nondet_12^0 == 0), cost: 1 57: l37 -> l1 : a_116^0'=a_116^post57, tmp_34^0'=tmp_34^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, r_39^0'=r_39^post57, a_260^0'=a_260^post57, i_30^0'=i_30^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, temp0_15^0'=temp0_15^post57, head_175^0'=head_175^post57, nondet_12^0'=nondet_12^post57, a_184^0'=a_184^post57, x_20^0'=x_20^post57, rcd_88^0'=rcd_88^post57, f_170^0'=f_170^post57, len_132^0'=len_132^post57, temp_35^0'=temp_35^post57, head_32^0'=head_32^post57, r_163^0'=r_163^post57, a_237^0'=a_237^post57, y_19^0'=y_19^post57, i_167^0'=i_167^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, head_14^0'=head_14^post57, length_29^0'=length_29^post57, a_147^0'=a_147^post57, x_16^0'=x_16^post57, i_108^0'=i_108^post57, rcd_58^0'=rcd_58^post57, ct_17^0'=ct_17^post57, i_94^0'=i_94^post57, t_23^0'=t_23^post57, temp0_31^0'=temp0_31^post57, head_27^0'=head_27^post57, r_124^0'=r_124^post57, a_215^0'=a_215^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, result_11^0'=result_11^post57, head_129^0'=head_129^post57, len_183^0'=len_183^post57, (x_20^0-x_20^post57 == 0 /\ -i_108^post57+i_108^0 == 0 /\ -i_167^post57+i_167^0 == 0 /\ temp0_15^0-temp0_15^post57 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post57 == 0 /\ -head_14^post57+head_14^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ r_39^0-r_39^post57 == 0 /\ -rcd_58^post57+rcd_58^0 == 0 /\ i_30^0-i_30^post57 == 0 /\ r_124^0-r_124^post57 == 0 /\ a_184^0-a_184^post57 == 0 /\ a_116^0-a_116^post57 == 0 /\ rcd_88^0-rcd_88^post57 == 0 /\ -y_19^post57+y_19^0 == 0 /\ 1-head_14^0 <= 0 /\ -head_129^post57+head_129^0 == 0 /\ -a_215^post57+a_215^0 == 0 /\ temp_35^0-temp_35^post57 == 0 /\ a_237^0-a_237^post57 == 0 /\ -len_183^post57+len_183^0 == 0 /\ f_170^0-f_170^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ -t_23^post57+t_23^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ -x_16^post57+x_16^0 == 0 /\ head_32^0-head_32^post57 == 0 /\ -result_11^post57+result_11^0 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ i_94^0-i_94^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ a_260^0-a_260^post57 == 0 /\ -a_147^post57+a_147^0 == 0 /\ -head_27^post57+head_27^0 == 0 /\ -r_163^post57+r_163^0 == 0 /\ -len_132^post57+len_132^0 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ head_175^0-head_175^post57 == 0), cost: 1 58: l37 -> l1 : a_116^0'=a_116^post58, tmp_34^0'=tmp_34^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, r_39^0'=r_39^post58, a_260^0'=a_260^post58, i_30^0'=i_30^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, temp0_15^0'=temp0_15^post58, head_175^0'=head_175^post58, nondet_12^0'=nondet_12^post58, a_184^0'=a_184^post58, x_20^0'=x_20^post58, rcd_88^0'=rcd_88^post58, f_170^0'=f_170^post58, len_132^0'=len_132^post58, temp_35^0'=temp_35^post58, head_32^0'=head_32^post58, r_163^0'=r_163^post58, a_237^0'=a_237^post58, y_19^0'=y_19^post58, i_167^0'=i_167^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, head_14^0'=head_14^post58, length_29^0'=length_29^post58, a_147^0'=a_147^post58, x_16^0'=x_16^post58, i_108^0'=i_108^post58, rcd_58^0'=rcd_58^post58, ct_17^0'=ct_17^post58, i_94^0'=i_94^post58, t_23^0'=t_23^post58, temp0_31^0'=temp0_31^post58, head_27^0'=head_27^post58, r_124^0'=r_124^post58, a_215^0'=a_215^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, result_11^0'=result_11^post58, head_129^0'=head_129^post58, len_183^0'=len_183^post58, (nondet_12^0-nondet_12^post58 == 0 /\ -len_183^post58+len_183^0 == 0 /\ tmp_34^0-tmp_34^post58 == 0 /\ t_23^0-t_23^post58 == 0 /\ -y_19^post58+y_19^0 == 0 /\ x_16^0-x_16^post58 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ -head_27^post58+head_27^0 == 0 /\ -r_124^post58+r_124^0 == 0 /\ a_260^0-a_260^post58 == 0 /\ -a_237^post58+a_237^0 == 0 /\ i_167^0-i_167^post58 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -rcd_88^post58+rcd_88^0 == 0 /\ len_132^0-len_132^post58 == 0 /\ -head_129^post58+head_129^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58 == 0 /\ -length_29^post58+length_29^0 == 0 /\ -head_14^post58+head_14^0 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ a_116^0-a_116^post58 == 0 /\ -a_215^post58+a_215^0 == 0 /\ 1+head_14^0 <= 0 /\ head_32^0-head_32^post58 == 0 /\ -head_175^post58+head_175^0 == 0 /\ -f_170^post58+f_170^0 == 0 /\ a_184^0-a_184^post58 == 0 /\ i_94^0-i_94^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ -a_147^post58+a_147^0 == 0 /\ -r_163^post58+r_163^0 == 0 /\ -x_20^post58+x_20^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ -x_SLAM_f_18^post58+x_SLAM_f_18^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ r_39^0-r_39^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -temp0_15^post58+temp0_15^0 == 0), cost: 1 95: l38 -> l63 : a_116^0'=a_116^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, r_39^0'=r_39^post95, a_260^0'=a_260^post95, i_30^0'=i_30^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp0_15^0'=temp0_15^post95, head_175^0'=head_175^post95, nondet_12^0'=nondet_12^post95, a_184^0'=a_184^post95, x_20^0'=x_20^post95, rcd_88^0'=rcd_88^post95, f_170^0'=f_170^post95, len_132^0'=len_132^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_163^0'=r_163^post95, a_237^0'=a_237^post95, y_19^0'=y_19^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_14^post95, length_29^0'=length_29^post95, a_147^0'=a_147^post95, x_16^0'=x_16^post95, i_108^0'=i_108^post95, rcd_58^0'=rcd_58^post95, ct_17^0'=ct_17^post95, i_94^0'=i_94^post95, t_23^0'=t_23^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_27^post95, r_124^0'=r_124^post95, a_215^0'=a_215^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, result_11^0'=result_11^post95, head_129^0'=head_129^post95, len_183^0'=len_183^post95, (0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post95 <= 0 /\ -y_19^post95+y_19^0 == 0 /\ -rcd_58^post95+rcd_58^0 == 0 /\ x_20^0-x_20^post95 == 0 /\ x_16^0-x_16^post95 == 0 /\ temp0_15^0-temp0_15^post95 == 0 /\ -head_14^post95+head_27^post95 <= 0 /\ -r_124^post95+r_124^0 == 0 /\ -result_11^11+head_14^post95 == 0 /\ a_147^0-i_30^post95 <= 0 /\ -len_183^post95+len_183^0 == 0 /\ len_132^0 <= 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -i_30^0 <= 0 /\ -head_129^post95+head_129^0 == 0 /\ -a_184^post95+a_184^0 == 0 /\ f_170^0-f_170^post95 == 0 /\ head_14^post95-head_27^post95 <= 0 /\ -ct_17^post95+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ head_14^post95-head_SLAM_f_26^post95 <= 0 /\ a_237^0-a_237^post95 == 0 /\ head_27^post95-head_SLAM_f_26^post95 <= 0 /\ head_27^post95-head_SLAM_f_26^post95 == 0 /\ a_260^0-a_260^post95 == 0 /\ -a_215^post95+a_215^0 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_147^post95+a_147^0 == 0 /\ a_116^0-a_116^post95 == 0 /\ -head_14^post95+head_SLAM_f_26^post95 <= 0 /\ -head_14^post95+head_SLAM_f_26^post95 == 0 /\ -i_108^post95+i_108^0 == 0 /\ -head_27^post95+head_SLAM_f_26^post95 <= 0 /\ head_175^0-head_175^post95 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -len_132^0 <= 0 /\ r_39^0-r_39^post95 == 0 /\ len_132^0-len_132^post95 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -t_23^post95+t_23^0 == 0), cost: 1 99: l38 -> l65 : a_116^0'=a_116^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, r_39^0'=r_39^post99, a_260^0'=a_260^post99, i_30^0'=i_30^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, temp0_15^0'=temp0_15^post99, head_175^0'=head_175^post99, nondet_12^0'=nondet_12^post99, a_184^0'=a_184^post99, x_20^0'=x_20^post99, rcd_88^0'=rcd_88^post99, f_170^0'=f_170^post99, len_132^0'=len_132^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_163^0'=r_163^post99, a_237^0'=a_237^post99, y_19^0'=y_19^post99, i_167^0'=i_167^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_14^0'=head_14^post99, length_29^0'=length_29^post99, a_147^0'=a_147^post99, x_16^0'=x_16^post99, i_108^0'=i_108^post99, rcd_58^0'=rcd_58^post99, ct_17^0'=ct_17^post99, i_94^0'=i_94^post99, t_23^0'=t_23^post99, temp0_31^0'=temp0_31^post99, head_27^0'=head_27^post99, r_124^0'=r_124^post99, a_215^0'=a_215^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, result_11^0'=result_11^post99, head_129^0'=head_129^post99, len_183^0'=len_183^post99, (0 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -r_124^post99+r_124^0 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -r_163^post99+r_163^0 == 0 /\ a_260^0-a_260^post99 == 0 /\ temp0_31^0-temp0_31^post99 == 0 /\ -tmp_34^post99+head_32^post99 == 0 /\ -head_14^post99+head_14^0 == 0 /\ -1-i_30^0+i_30^post99 == 0 /\ -len_183^post99+len_183^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ -i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -head_129^post99+head_129^0 == 0 /\ -1-i_94^post99+i_30^post99 <= 0 /\ r_39^0-r_39^post99 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ y_19^0-y_19^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -f_170^post99+f_170^0 == 0 /\ -t_23^post99+t_23^0 == 0 /\ -a_215^post99+a_215^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_175^post99+head_175^0 == 0 /\ temp0_15^0-temp0_15^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post99 == 0 /\ -head_27^post99+head_27^0 == 0 /\ i_108^0-i_108^post99 == 0 /\ 1-length_29^0+i_94^post99 <= 0 /\ length_29^0-length_29^post99 == 0 /\ a_116^0-a_116^post99 == 0 /\ a_184^0-a_184^post99 == 0 /\ -x_SLAM_f_18^post99+x_SLAM_f_18^0 == 0 /\ -ct_17^post99+ct_17^0 == 0 /\ -temp_35^0+tmp_34^post99 == 0 /\ a_237^0-a_237^post99 == 0 /\ 1+i_94^post99-i_30^post99 <= 0 /\ -x_20^post99+x_20^0 == 0), cost: 1 60: l39 -> l40 : a_116^0'=a_116^post60, tmp_34^0'=tmp_34^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_39^0'=r_39^post60, a_260^0'=a_260^post60, i_30^0'=i_30^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, temp0_15^0'=temp0_15^post60, head_175^0'=head_175^post60, nondet_12^0'=nondet_12^post60, a_184^0'=a_184^post60, x_20^0'=x_20^post60, rcd_88^0'=rcd_88^post60, f_170^0'=f_170^post60, len_132^0'=len_132^post60, temp_35^0'=temp_35^post60, head_32^0'=head_32^post60, r_163^0'=r_163^post60, a_237^0'=a_237^post60, y_19^0'=y_19^post60, i_167^0'=i_167^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, head_14^0'=head_14^post60, length_29^0'=length_29^post60, a_147^0'=a_147^post60, x_16^0'=x_16^post60, i_108^0'=i_108^post60, rcd_58^0'=rcd_58^post60, ct_17^0'=ct_17^post60, i_94^0'=i_94^post60, t_23^0'=t_23^post60, temp0_31^0'=temp0_31^post60, head_27^0'=head_27^post60, r_124^0'=r_124^post60, a_215^0'=a_215^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, result_11^0'=result_11^post60, head_129^0'=head_129^post60, len_183^0'=len_183^post60, (0 == 0 /\ a_237^0-a_237^post60 == 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post60 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post60-nondet_12^10 == 0 /\ -length_29^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ -rcd_58^post60+rcd_58^0 == 0 /\ -t_23^post60+t_23^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -result_11^post60+result_11^0 == 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_116^0-a_116^post60 == 0 /\ -len_183^post60+len_183^0 == 0 /\ i_30^post60 <= 0 /\ i_30^post60 == 0 /\ -head_129^post60+head_129^0 == 0 /\ len_132^0-len_132^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ -i_30^post60 <= 0 /\ x_20^0-x_20^post60 == 0 /\ r_39^0-r_39^post60 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -head_32^post60 <= 0 /\ -head_14^post60+head_14^0 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -ct_17^post60+ct_17^0 == 0 /\ a_260^0-a_260^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_215^post60+a_215^0 == 0 /\ a_184^0-a_184^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -head_27^post60+head_27^0 == 0 /\ i_94^0-i_94^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_167^post60+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ r_163^0-r_163^post60 == 0 /\ -a_147^post60+a_147^0 == 0 /\ f_170^0-f_170^post60 == 0 /\ head_32^post60 <= 0 /\ head_32^post60 == 0), cost: 1 101: l40 -> l1 : a_116^0'=a_116^post101, tmp_34^0'=tmp_34^post101, head_SLAM_f_26^0'=head_SLAM_f_26^post101, r_39^0'=r_39^post101, a_260^0'=a_260^post101, i_30^0'=i_30^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, temp0_15^0'=temp0_15^post101, head_175^0'=head_175^post101, nondet_12^0'=nondet_12^post101, a_184^0'=a_184^post101, x_20^0'=x_20^post101, rcd_88^0'=rcd_88^post101, f_170^0'=f_170^post101, len_132^0'=len_132^post101, temp_35^0'=temp_35^post101, head_32^0'=head_32^post101, r_163^0'=r_163^post101, a_237^0'=a_237^post101, y_19^0'=y_19^post101, i_167^0'=i_167^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, head_14^0'=head_14^post101, length_29^0'=length_29^post101, a_147^0'=a_147^post101, x_16^0'=x_16^post101, i_108^0'=i_108^post101, rcd_58^0'=rcd_58^post101, ct_17^0'=ct_17^post101, i_94^0'=i_94^post101, t_23^0'=t_23^post101, temp0_31^0'=temp0_31^post101, head_27^0'=head_27^post101, r_124^0'=r_124^post101, a_215^0'=a_215^post101, x_SLAM_f_18^0'=x_SLAM_f_18^post101, result_11^0'=result_11^post101, head_129^0'=head_129^post101, len_183^0'=len_183^post101, (0 == 0 /\ a_116^0-a_116^post101 == 0 /\ -y_19^130+x_20^130 <= 0 /\ -head_14^post101 <= 0 /\ -head_27^10+head_SLAM_f_26^110 <= 0 /\ -ct_17^13+y_19^130 <= 0 /\ -ct_17^13+y_19^130 == 0 /\ result_11^120-temp0_31^120 == 0 /\ -rcd_58^post101+rcd_58^0 == 0 /\ -i_108^post101+i_108^0 == 0 /\ nondet_12^0-nondet_12^post101 == 0 /\ r_39^0-r_39^post101 == 0 /\ a_260^0-a_260^post101 == 0 /\ x_16^10-head_14^post101 <= 0 /\ x_16^10-head_14^post101 == 0 /\ -a_237^post101+a_237^0 == 0 /\ y_19^130-x_20^130 <= 0 /\ ct_17^13 <= 0 /\ ct_17^13 == 0 /\ head_175^0-head_175^post101 == 0 /\ head_27^10 <= 0 /\ -i_167^post101+i_167^0 == 0 /\ head_27^10-head_SLAM_f_26^110 <= 0 /\ head_27^10-head_SLAM_f_26^110 == 0 /\ y_19^130 <= 0 /\ len_132^0-len_132^post101 == 0 /\ ct_17^13-y_19^130 <= 0 /\ x_16^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -x_16^10+head_14^post101 <= 0 /\ i_94^0-i_94^post101 == 0 /\ -a_184^post101+a_184^0 == 0 /\ x_20^130 <= 0 /\ -a_215^post101+a_215^0 == 0 /\ x_16^10-x_SLAM_f_18^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ temp0_15^0-temp0_15^post101 == 0 /\ -temp0_15^0+result_11^post101 == 0 /\ -x_16^10 <= 0 /\ -head_14^post101+head_SLAM_f_26^110 <= 0 /\ -head_14^post101+head_SLAM_f_26^110 == 0 /\ rcd_88^0-rcd_88^post101 == 0 /\ -x_20^130 <= 0 /\ head_14^post101 <= 0 /\ -x_20^130+x_SLAM_f_18^130 <= 0 /\ -r_124^post101+r_124^0 == 0 /\ -x_SLAM_f_18^130 <= 0 /\ -head_129^post101+head_129^0 == 0 /\ -x_16^10+x_SLAM_f_18^130 <= 0 /\ -x_16^10+x_SLAM_f_18^130 == 0 /\ -len_183^post101+len_183^0 == 0 /\ -head_27^10 <= 0 /\ -head_SLAM_f_26^110 <= 0 /\ head_SLAM_f_26^110 <= 0 /\ -ct_17^13 <= 0 /\ -result_11^120+head_14^post101 == 0 /\ -head_32^0+temp0_31^120 == 0 /\ -a_147^post101+a_147^0 == 0 /\ head_14^post101-head_SLAM_f_26^110 <= 0 /\ -r_163^post101+r_163^0 == 0 /\ x_SLAM_f_18^130 <= 0 /\ -i_30^0+length_29^0 <= 0 /\ x_20^130-x_SLAM_f_18^130 <= 0 /\ x_20^130-x_SLAM_f_18^130 == 0 /\ -y_19^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ f_170^0-f_170^post101 == 0), cost: 1 102: l40 -> l25 : a_116^0'=a_116^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_26^0'=head_SLAM_f_26^post102, r_39^0'=r_39^post102, a_260^0'=a_260^post102, i_30^0'=i_30^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, temp0_15^0'=temp0_15^post102, head_175^0'=head_175^post102, nondet_12^0'=nondet_12^post102, a_184^0'=a_184^post102, x_20^0'=x_20^post102, rcd_88^0'=rcd_88^post102, f_170^0'=f_170^post102, len_132^0'=len_132^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_163^0'=r_163^post102, a_237^0'=a_237^post102, y_19^0'=y_19^post102, i_167^0'=i_167^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, head_14^0'=head_14^post102, length_29^0'=length_29^post102, a_147^0'=a_147^post102, x_16^0'=x_16^post102, i_108^0'=i_108^post102, rcd_58^0'=rcd_58^post102, ct_17^0'=ct_17^post102, i_94^0'=i_94^post102, t_23^0'=t_23^post102, temp0_31^0'=temp0_31^post102, head_27^0'=head_27^post102, r_124^0'=r_124^post102, a_215^0'=a_215^post102, x_SLAM_f_18^0'=x_SLAM_f_18^post102, result_11^0'=result_11^post102, head_129^0'=head_129^post102, len_183^0'=len_183^post102, (0 == 0 /\ -1+i_30^post102-i_30^0 == 0 /\ rcd_88^0-rcd_88^post102 == 0 /\ a_116^0-a_116^post102 == 0 /\ len_132^0-len_132^post102 == 0 /\ -a_237^post102+a_237^0 == 0 /\ r_39^0-r_39^post102 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ length_29^0-length_29^post102 == 0 /\ -a_184^post102+a_184^0 == 0 /\ -head_129^post102+head_129^0 == 0 /\ r_163^0-r_163^post102 == 0 /\ 1-i_30^post102 <= 0 /\ -1+i_30^post102 <= 0 /\ f_170^0-f_170^post102 == 0 /\ -r_124^post102+r_124^0 == 0 /\ -i_94^post102+i_94^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ y_19^0-y_19^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ 1-length_29^0 <= 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_16^post102+x_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post102 == 0 /\ -head_27^post102+head_27^0 == 0 /\ -head_14^post102+head_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ -ct_17^post102+ct_17^0 == 0 /\ head_175^0-head_175^post102 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -a_215^post102+a_215^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ head_32^post102-tmp_34^post102 <= 0 /\ head_32^post102-tmp_34^post102 == 0 /\ -t_23^post102+t_23^0 == 0 /\ -len_183^post102+len_183^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ i_108^0-i_108^post102 == 0 /\ temp0_15^0-temp0_15^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -x_SLAM_f_18^post102+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post102 == 0 /\ i_167^0-i_167^post102 == 0 /\ -a_147^post102+a_147^0 == 0 /\ -head_32^post102+tmp_34^post102 <= 0 /\ x_20^0-x_20^post102 == 0), cost: 1 61: l41 -> l42 : a_116^0'=a_116^post61, tmp_34^0'=tmp_34^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_39^0'=r_39^post61, a_260^0'=a_260^post61, i_30^0'=i_30^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, temp0_15^0'=temp0_15^post61, head_175^0'=head_175^post61, nondet_12^0'=nondet_12^post61, a_184^0'=a_184^post61, x_20^0'=x_20^post61, rcd_88^0'=rcd_88^post61, f_170^0'=f_170^post61, len_132^0'=len_132^post61, temp_35^0'=temp_35^post61, head_32^0'=head_32^post61, r_163^0'=r_163^post61, a_237^0'=a_237^post61, y_19^0'=y_19^post61, i_167^0'=i_167^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, head_14^0'=head_14^post61, length_29^0'=length_29^post61, a_147^0'=a_147^post61, x_16^0'=x_16^post61, i_108^0'=i_108^post61, rcd_58^0'=rcd_58^post61, ct_17^0'=ct_17^post61, i_94^0'=i_94^post61, t_23^0'=t_23^post61, temp0_31^0'=temp0_31^post61, head_27^0'=head_27^post61, r_124^0'=r_124^post61, a_215^0'=a_215^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, result_11^0'=result_11^post61, head_129^0'=head_129^post61, len_183^0'=len_183^post61, (0 == 0 /\ -head_14^0+x_16^post61 <= 0 /\ -head_14^0+x_16^post61 == 0 /\ x_20^post61-x_SLAM_f_18^post61 <= 0 /\ x_20^post61-x_SLAM_f_18^post61 == 0 /\ -x_SLAM_f_18^post61+x_16^post61 <= 0 /\ head_14^0-x_SLAM_f_18^post61 <= 0 /\ i_30^0-i_30^post61 == 0 /\ -a_215^post61+a_215^0 == 0 /\ -i_94^post61+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ head_14^0-head_14^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -a_237^post61+a_237^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ head_14^0-x_16^post61 <= 0 /\ -x_20^post61+x_SLAM_f_18^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 == 0 /\ -head_14^0+x_SLAM_f_18^post61 <= 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ a_260^0-a_260^post61 == 0 /\ -a_147^0 <= 0 /\ y_19^post61 <= 0 /\ -r_124^post61+r_124^0 == 0 /\ -head_32^post61+head_32^0 == 0 /\ -i_108^post61+i_108^0 == 0 /\ i_167^0-i_167^post61 == 0 /\ x_20^post61-head_14^0 <= 0 /\ -y_19^post61 <= 0 /\ y_19^post61-ct_17^post61 <= 0 /\ y_19^post61-ct_17^post61 == 0 /\ -len_183^post61+len_183^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -ct_17^post61 <= 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ r_39^0-r_39^post61 == 0 /\ -head_27^0 <= 0 /\ -x_20^post61+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ head_27^0 <= 0 /\ temp_35^0-temp_35^post61 == 0 /\ -y_19^post61+ct_17^post61 <= 0 /\ a_147^0-a_147^post61 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -head_129^post61+head_129^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ ct_17^post61 <= 0 /\ ct_17^post61 == 0 /\ a_116^0-a_116^post61 == 0 /\ -len_132^0 <= 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ -f_170^post61+f_170^0 == 0), cost: 1 65: l41 -> l45 : a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, temp0_15^0'=temp0_15^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, rcd_88^0'=rcd_88^post65, f_170^0'=f_170^post65, len_132^0'=len_132^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, r_163^0'=r_163^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, i_167^0'=i_167^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_14^post65, length_29^0'=length_29^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, i_108^0'=i_108^post65, rcd_58^0'=rcd_58^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_27^post65, r_124^0'=r_124^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, result_11^0'=result_11^post65, head_129^0'=head_129^post65, len_183^0'=len_183^post65, (0 == 0 /\ -head_27^post65+head_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ -x_SLAM_f_18^post65+x_SLAM_f_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ -t_23^post65+t_23^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_124^post65+r_124^0 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_147^0 <= 0 /\ -i_94^post65+i_94^0 == 0 /\ i_167^0-i_167^post65 == 0 /\ x_20^0-x_20^post65 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ tmp_34^0-tmp_34^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ x_16^0-x_16^post65 == 0 /\ ct_17^0-ct_17^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ -temp0_15^post65+temp0_15^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_163^0-r_163^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ -head_129^post65+head_129^0 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_147^0-a_147^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ a_260^0-a_260^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -len_132^0 <= 0 /\ -a_215^post65+a_215^0 == 0), cost: 1 62: l42 -> l43 : a_116^0'=a_116^post62, tmp_34^0'=tmp_34^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_39^0'=r_39^post62, a_260^0'=a_260^post62, i_30^0'=i_30^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, temp0_15^0'=temp0_15^post62, head_175^0'=head_175^post62, nondet_12^0'=nondet_12^post62, a_184^0'=a_184^post62, x_20^0'=x_20^post62, rcd_88^0'=rcd_88^post62, f_170^0'=f_170^post62, len_132^0'=len_132^post62, temp_35^0'=temp_35^post62, head_32^0'=head_32^post62, r_163^0'=r_163^post62, a_237^0'=a_237^post62, y_19^0'=y_19^post62, i_167^0'=i_167^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, head_14^0'=head_14^post62, length_29^0'=length_29^post62, a_147^0'=a_147^post62, x_16^0'=x_16^post62, i_108^0'=i_108^post62, rcd_58^0'=rcd_58^post62, ct_17^0'=ct_17^post62, i_94^0'=i_94^post62, t_23^0'=t_23^post62, temp0_31^0'=temp0_31^post62, head_27^0'=head_27^post62, r_124^0'=r_124^post62, a_215^0'=a_215^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, result_11^0'=result_11^post62, head_129^0'=head_129^post62, len_183^0'=len_183^post62, (-result_11^post62+result_11^0 == 0 /\ i_167^0-i_167^post62 == 0 /\ head_14^0-head_14^post62 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ a_260^0-a_260^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ r_39^0-r_39^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ -head_32^post62+head_32^0 == 0 /\ -a_215^post62+a_215^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ -f_170^post62+f_170^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -r_163^post62+r_163^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_147^post62+a_147^0 == 0 /\ -head_27^post62+head_27^0 == 0 /\ -rcd_58^post62+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -len_183^post62+len_183^0 == 0 /\ -y_19^post62+y_19^0 == 0 /\ -r_124^post62+r_124^0 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ a_184^0-a_184^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ a_237^0-a_237^post62 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ -head_175^post62+head_175^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ a_116^0-a_116^post62 == 0), cost: 1 63: l42 -> l43 : a_116^0'=a_116^post63, tmp_34^0'=tmp_34^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_39^0'=r_39^post63, a_260^0'=a_260^post63, i_30^0'=i_30^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, temp0_15^0'=temp0_15^post63, head_175^0'=head_175^post63, nondet_12^0'=nondet_12^post63, a_184^0'=a_184^post63, x_20^0'=x_20^post63, rcd_88^0'=rcd_88^post63, f_170^0'=f_170^post63, len_132^0'=len_132^post63, temp_35^0'=temp_35^post63, head_32^0'=head_32^post63, r_163^0'=r_163^post63, a_237^0'=a_237^post63, y_19^0'=y_19^post63, i_167^0'=i_167^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, head_14^0'=head_14^post63, length_29^0'=length_29^post63, a_147^0'=a_147^post63, x_16^0'=x_16^post63, i_108^0'=i_108^post63, rcd_58^0'=rcd_58^post63, ct_17^0'=ct_17^post63, i_94^0'=i_94^post63, t_23^0'=t_23^post63, temp0_31^0'=temp0_31^post63, head_27^0'=head_27^post63, r_124^0'=r_124^post63, a_215^0'=a_215^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, result_11^0'=result_11^post63, head_129^0'=head_129^post63, len_183^0'=len_183^post63, (r_163^0-r_163^post63 == 0 /\ f_170^0-f_170^post63 == 0 /\ -i_108^post63+i_108^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ i_167^0-i_167^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ x_20^0-x_20^post63 == 0 /\ head_27^0-head_27^post63 == 0 /\ a_116^0-a_116^post63 == 0 /\ -len_183^post63+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ r_124^0-r_124^post63 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -a_215^post63+a_215^0 == 0 /\ -y_19^post63+y_19^0 == 0 /\ -a_147^post63+a_147^0 == 0 /\ -i_94^post63+i_94^0 == 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -a_184^post63+a_184^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1+head_14^0 <= 0 /\ a_260^0-a_260^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -head_129^post63+head_129^0 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post63 == 0 /\ head_14^0-head_14^post63 == 0 /\ x_16^0-x_16^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ a_237^0-a_237^post63 == 0), cost: 1 64: l43 -> l18 : a_116^0'=a_116^post64, tmp_34^0'=tmp_34^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_39^0'=r_39^post64, a_260^0'=a_260^post64, i_30^0'=i_30^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, temp0_15^0'=temp0_15^post64, head_175^0'=head_175^post64, nondet_12^0'=nondet_12^post64, a_184^0'=a_184^post64, x_20^0'=x_20^post64, rcd_88^0'=rcd_88^post64, f_170^0'=f_170^post64, len_132^0'=len_132^post64, temp_35^0'=temp_35^post64, head_32^0'=head_32^post64, r_163^0'=r_163^post64, a_237^0'=a_237^post64, y_19^0'=y_19^post64, i_167^0'=i_167^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, head_14^0'=head_14^post64, length_29^0'=length_29^post64, a_147^0'=a_147^post64, x_16^0'=x_16^post64, i_108^0'=i_108^post64, rcd_58^0'=rcd_58^post64, ct_17^0'=ct_17^post64, i_94^0'=i_94^post64, t_23^0'=t_23^post64, temp0_31^0'=temp0_31^post64, head_27^0'=head_27^post64, r_124^0'=r_124^post64, a_215^0'=a_215^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, result_11^0'=result_11^post64, head_129^0'=head_129^post64, len_183^0'=len_183^post64, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_129^post64+head_129^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ tmp_34^0-tmp_34^post64 == 0 /\ -r_124^post64+r_124^0 == 0 /\ -head_27^post64+head_27^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -len_183^post64+len_183^0 == 0 /\ y_19^0-y_19^post64 == 0 /\ a_260^0-a_260^post64 == 0 /\ head_14^0-head_14^post64 == 0 /\ a_215^0-a_215^post64 == 0 /\ -a_237^post64+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ r_163^0-r_163^post64 == 0 /\ f_170^0-f_170^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post64+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ i_167^0-i_167^post64 == 0 /\ a_116^0-a_116^post64 == 0 /\ -i_94^post64+i_94^0 == 0 /\ rcd_58^0-rcd_58^post64 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post64 == 0 /\ -x_SLAM_f_18^post64+x_SLAM_f_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ i_30^0-i_30^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_184^0-a_184^post64 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_39^0-r_39^post64 == 0), cost: 1 66: l45 -> l46 : a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_39^0'=r_39^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp0_15^0'=temp0_15^post66, head_175^0'=head_175^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, rcd_88^0'=rcd_88^post66, f_170^0'=f_170^post66, len_132^0'=len_132^post66, temp_35^0'=temp_35^post66, head_32^0'=head_32^post66, r_163^0'=r_163^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, i_167^0'=i_167^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, head_14^0'=head_14^post66, length_29^0'=length_29^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, i_108^0'=i_108^post66, rcd_58^0'=rcd_58^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, head_27^0'=head_27^post66, r_124^0'=r_124^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, result_11^0'=result_11^post66, head_129^0'=head_129^post66, len_183^0'=len_183^post66, (-t_23^post66+t_23^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_215^post66+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ a_116^0-a_116^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ head_14^0-head_14^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ len_132^0-len_132^post66 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -a_237^post66+a_237^0 == 0 /\ r_39^0-r_39^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ head_32^0-head_32^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ r_163^0-r_163^post66 == 0 /\ -head_27^post66+head_27^0 == 0 /\ a_147^0-a_147^post66 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ head_175^0-head_175^post66 == 0 /\ a_184^0-a_184^post66 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ x_20^0-x_20^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ 1-head_27^0 <= 0 /\ -head_129^post66+head_129^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -len_183^post66+len_183^0 == 0 /\ a_260^0-a_260^post66 == 0), cost: 1 67: l45 -> l46 : a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, r_39^0'=r_39^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, temp0_15^0'=temp0_15^post67, head_175^0'=head_175^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, rcd_88^0'=rcd_88^post67, f_170^0'=f_170^post67, len_132^0'=len_132^post67, temp_35^0'=temp_35^post67, head_32^0'=head_32^post67, r_163^0'=r_163^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, i_167^0'=i_167^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, head_14^0'=head_14^post67, length_29^0'=length_29^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, i_108^0'=i_108^post67, rcd_58^0'=rcd_58^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, head_27^0'=head_27^post67, r_124^0'=r_124^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, result_11^0'=result_11^post67, head_129^0'=head_129^post67, len_183^0'=len_183^post67, (head_27^0-head_27^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ 1+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ i_108^0-i_108^post67 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ i_30^0-i_30^post67 == 0 /\ -a_215^post67+a_215^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ a_116^0-a_116^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -len_183^post67+len_183^0 == 0 /\ head_32^0-head_32^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -x_SLAM_f_18^post67+x_SLAM_f_18^0 == 0 /\ a_147^0-a_147^post67 == 0 /\ i_167^0-i_167^post67 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ rcd_58^0-rcd_58^post67 == 0 /\ -a_237^post67+a_237^0 == 0 /\ -head_129^post67+head_129^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -a_184^post67+a_184^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ len_132^0-len_132^post67 == 0 /\ head_175^0-head_175^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ -x_16^post67+x_16^0 == 0 /\ -head_14^post67+head_14^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ length_29^0-length_29^post67 == 0), cost: 1 68: l46 -> l47 : a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, r_39^0'=r_39^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, temp0_15^0'=temp0_15^post68, head_175^0'=head_175^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, rcd_88^0'=rcd_88^post68, f_170^0'=f_170^post68, len_132^0'=len_132^post68, temp_35^0'=temp_35^post68, head_32^0'=head_32^post68, r_163^0'=r_163^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, i_167^0'=i_167^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, head_14^0'=head_14^post68, length_29^0'=length_29^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, i_108^0'=i_108^post68, rcd_58^0'=rcd_58^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, head_27^0'=head_27^post68, r_124^0'=r_124^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, result_11^0'=result_11^post68, head_129^0'=head_129^post68, len_183^0'=len_183^post68, (0 == 0 /\ y_19^0-y_19^post68 == 0 /\ a_147^0-a_147^post68 == 0 /\ -i_108^post68+i_108^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ r_163^0-r_163^post68 == 0 /\ f_170^0-head_27^0 <= 0 /\ a_260^0-a_260^post68 == 0 /\ 1-len_183^post68+len_132^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -1-a_184^post68+a_147^0 <= 0 /\ a_215^0-a_215^post68 == 0 /\ -head_129^post68+head_129^0 == 0 /\ head_14^0-head_14^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ rcd_58^0-rcd_58^post68 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -i_94^post68+i_94^0 == 0 /\ f_170^0-f_170^post68 == 0 /\ -t_23^post68+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ i_167^0-i_167^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post68 == 0 /\ -1+len_183^post68-len_132^0 <= 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ -x_SLAM_f_18^post68+x_SLAM_f_18^0 == 0 /\ x_20^0-x_20^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ 1+a_184^post68-a_147^0 <= 0 /\ a_116^0-a_116^post68 == 0 /\ rcd_88^0-rcd_88^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ i_30^0-i_30^post68 == 0 /\ -head_27^post68+head_27^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ r_39^0-r_39^post68 == 0), cost: 1 69: l47 -> l48 : a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, r_39^0'=r_39^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, temp0_15^0'=temp0_15^post69, head_175^0'=head_175^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, rcd_88^0'=rcd_88^post69, f_170^0'=f_170^post69, len_132^0'=len_132^post69, temp_35^0'=temp_35^post69, head_32^0'=head_32^post69, r_163^0'=r_163^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, i_167^0'=i_167^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, head_14^0'=head_14^post69, length_29^0'=length_29^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, i_108^0'=i_108^post69, rcd_58^0'=rcd_58^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, head_27^0'=head_27^post69, r_124^0'=r_124^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, result_11^0'=result_11^post69, head_129^0'=head_129^post69, len_183^0'=len_183^post69, (a_237^0-a_237^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ head_32^0-head_32^post69 == 0 /\ -head_129^post69+head_129^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -len_183^post69+len_183^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ a_116^0-a_116^post69 == 0 /\ 1-head_14^0 <= 0 /\ -head_14^post69+head_14^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ r_39^0-r_39^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ -a_215^post69+a_215^0 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -x_16^post69+x_16^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ -a_147^post69+a_147^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ y_19^0-y_19^post69 == 0 /\ a_260^0-a_260^post69 == 0 /\ a_184^0-a_184^post69 == 0 /\ temp0_15^0-temp0_15^post69 == 0 /\ -x_SLAM_f_18^post69+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post69 == 0 /\ -i_167^post69+i_167^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ r_163^0-r_163^post69 == 0 /\ -t_23^post69+t_23^0 == 0 /\ f_170^0-f_170^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0), cost: 1 70: l47 -> l48 : a_116^0'=a_116^post70, tmp_34^0'=tmp_34^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, r_39^0'=r_39^post70, a_260^0'=a_260^post70, i_30^0'=i_30^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, temp0_15^0'=temp0_15^post70, head_175^0'=head_175^post70, nondet_12^0'=nondet_12^post70, a_184^0'=a_184^post70, x_20^0'=x_20^post70, rcd_88^0'=rcd_88^post70, f_170^0'=f_170^post70, len_132^0'=len_132^post70, temp_35^0'=temp_35^post70, head_32^0'=head_32^post70, r_163^0'=r_163^post70, a_237^0'=a_237^post70, y_19^0'=y_19^post70, i_167^0'=i_167^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, head_14^0'=head_14^post70, length_29^0'=length_29^post70, a_147^0'=a_147^post70, x_16^0'=x_16^post70, i_108^0'=i_108^post70, rcd_58^0'=rcd_58^post70, ct_17^0'=ct_17^post70, i_94^0'=i_94^post70, t_23^0'=t_23^post70, temp0_31^0'=temp0_31^post70, head_27^0'=head_27^post70, r_124^0'=r_124^post70, a_215^0'=a_215^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, result_11^0'=result_11^post70, head_129^0'=head_129^post70, len_183^0'=len_183^post70, (-a_237^post70+a_237^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_88^0-rcd_88^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -x_SLAM_f_18^post70+x_SLAM_f_18^0 == 0 /\ len_132^0-len_132^post70 == 0 /\ -x_16^post70+x_16^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -result_11^post70+result_11^0 == 0 /\ head_32^0-head_32^post70 == 0 /\ f_170^0-f_170^post70 == 0 /\ a_147^0-a_147^post70 == 0 /\ y_19^0-y_19^post70 == 0 /\ r_163^0-r_163^post70 == 0 /\ -i_94^post70+i_94^0 == 0 /\ -head_27^post70+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post70 == 0 /\ -r_124^post70+r_124^0 == 0 /\ -i_30^post70+i_30^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ head_175^0-head_175^post70 == 0 /\ a_116^0-a_116^post70 == 0 /\ a_184^0-a_184^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ 1+head_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post70+head_14^0 == 0 /\ -ct_17^post70+ct_17^0 == 0 /\ -head_129^post70+head_129^0 == 0 /\ -length_29^post70+length_29^0 == 0 /\ -a_215^post70+a_215^0 == 0 /\ -len_183^post70+len_183^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ a_260^0-a_260^post70 == 0 /\ i_108^0-i_108^post70 == 0 /\ temp0_15^0-temp0_15^post70 == 0 /\ x_20^0-x_20^post70 == 0 /\ i_167^0-i_167^post70 == 0), cost: 1 71: l48 -> l49 : a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, r_39^0'=r_39^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, temp0_15^0'=temp0_15^post71, head_175^0'=head_175^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, rcd_88^0'=rcd_88^post71, f_170^0'=f_170^post71, len_132^0'=len_132^post71, temp_35^0'=temp_35^post71, head_32^0'=head_32^post71, r_163^0'=r_163^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, i_167^0'=i_167^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, head_14^0'=head_14^post71, length_29^0'=length_29^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, i_108^0'=i_108^post71, rcd_58^0'=rcd_58^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, head_27^0'=head_27^post71, r_124^0'=r_124^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, result_11^0'=result_11^post71, head_129^0'=head_129^post71, len_183^0'=len_183^post71, (length_29^0-length_29^post71 == 0 /\ -a_215^post71+a_215^0 == 0 /\ -x_16^post71+x_16^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ i_30^0-i_30^post71 == 0 /\ 1-head_175^0 <= 0 /\ a_184^0-a_184^post71 == 0 /\ -i_94^post71+i_94^0 == 0 /\ head_175^0-head_175^post71 == 0 /\ a_237^0-a_237^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ f_170^0-f_170^post71 == 0 /\ x_20^0-x_20^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ -x_SLAM_f_18^post71+x_SLAM_f_18^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -i_108^post71+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ temp0_15^0-temp0_15^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ a_116^0-a_116^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ -i_167^post71+i_167^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -r_124^post71+r_124^0 == 0 /\ y_19^0-y_19^post71 == 0 /\ head_32^0-head_32^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ r_163^0-r_163^post71 == 0 /\ -len_183^post71+len_183^0 == 0 /\ tmp_34^0-tmp_34^post71 == 0 /\ -head_14^post71+head_14^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ -head_129^post71+head_129^0 == 0), cost: 1 72: l48 -> l49 : a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, r_39^0'=r_39^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, temp0_15^0'=temp0_15^post72, head_175^0'=head_175^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, rcd_88^0'=rcd_88^post72, f_170^0'=f_170^post72, len_132^0'=len_132^post72, temp_35^0'=temp_35^post72, head_32^0'=head_32^post72, r_163^0'=r_163^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, i_167^0'=i_167^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, head_14^0'=head_14^post72, length_29^0'=length_29^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, i_108^0'=i_108^post72, rcd_58^0'=rcd_58^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, head_27^0'=head_27^post72, r_124^0'=r_124^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, result_11^0'=result_11^post72, head_129^0'=head_129^post72, len_183^0'=len_183^post72, (-head_14^post72+head_14^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ -a_215^post72+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -a_147^post72+a_147^0 == 0 /\ len_132^0-len_132^post72 == 0 /\ -len_183^post72+len_183^0 == 0 /\ head_175^0-head_175^post72 == 0 /\ -x_SLAM_f_18^post72+x_SLAM_f_18^0 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ r_163^0-r_163^post72 == 0 /\ f_170^0-f_170^post72 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ i_108^0-i_108^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ i_30^0-i_30^post72 == 0 /\ a_184^0-a_184^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ -head_129^post72+head_129^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ a_116^0-a_116^post72 == 0 /\ 1+head_175^0 <= 0 /\ head_32^0-head_32^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ y_19^0-y_19^post72 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_16^post72+x_16^0 == 0), cost: 1 73: l49 -> l44 : a_116^0'=a_116^post73, tmp_34^0'=tmp_34^post73, head_SLAM_f_26^0'=head_SLAM_f_26^post73, r_39^0'=r_39^post73, a_260^0'=a_260^post73, i_30^0'=i_30^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, temp0_15^0'=temp0_15^post73, head_175^0'=head_175^post73, nondet_12^0'=nondet_12^post73, a_184^0'=a_184^post73, x_20^0'=x_20^post73, rcd_88^0'=rcd_88^post73, f_170^0'=f_170^post73, len_132^0'=len_132^post73, temp_35^0'=temp_35^post73, head_32^0'=head_32^post73, r_163^0'=r_163^post73, a_237^0'=a_237^post73, y_19^0'=y_19^post73, i_167^0'=i_167^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, head_14^0'=head_14^post73, length_29^0'=length_29^post73, a_147^0'=a_147^post73, x_16^0'=x_16^post73, i_108^0'=i_108^post73, rcd_58^0'=rcd_58^post73, ct_17^0'=ct_17^post73, i_94^0'=i_94^post73, t_23^0'=t_23^post73, temp0_31^0'=temp0_31^post73, head_27^0'=head_27^post73, r_124^0'=r_124^post73, a_215^0'=a_215^post73, x_SLAM_f_18^0'=x_SLAM_f_18^post73, result_11^0'=result_11^post73, head_129^0'=head_129^post73, len_183^0'=len_183^post73, (0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ -r_124^post73+r_124^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post73 == 0 /\ head_32^0-head_32^post73 == 0 /\ temp0_15^0-temp0_15^post73 == 0 /\ -i_167^post73+i_167^0 == 0 /\ -rcd_58^post73+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -head_129^post73+head_129^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ a_184^0-a_184^post73 == 0 /\ a_116^0-a_116^post73 == 0 /\ -head_14^post73+head_14^0 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_183^post73+len_183^0 == 0 /\ r_39^0-r_39^post73 == 0 /\ head_175^0-head_175^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ -x_16^post73+x_16^0 == 0 /\ y_19^0-y_19^post73 == 0 /\ -len_132^post73+len_183^0 <= 0 /\ -a_215^post73+a_215^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post73 == 0 /\ result_11^0-result_11^post73 == 0 /\ a_147^post73-a_184^0 <= 0 /\ length_29^0-length_29^post73 == 0 /\ -a_260^post73+a_260^0 == 0 /\ i_108^0-i_108^post73 == 0 /\ len_132^post73-len_183^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -x_SLAM_f_18^post73+x_SLAM_f_18^0 == 0 /\ -ct_17^post73+ct_17^0 == 0 /\ r_163^0-r_163^post73 == 0 /\ -head_27^post73+head_27^0 == 0 /\ f_170^0-f_170^post73 == 0 /\ a_237^0-a_237^post73 == 0 /\ -a_147^post73+a_184^0 <= 0), cost: 1 74: l44 -> l41 : a_116^0'=a_116^post74, tmp_34^0'=tmp_34^post74, head_SLAM_f_26^0'=head_SLAM_f_26^post74, r_39^0'=r_39^post74, a_260^0'=a_260^post74, i_30^0'=i_30^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, temp0_15^0'=temp0_15^post74, head_175^0'=head_175^post74, nondet_12^0'=nondet_12^post74, a_184^0'=a_184^post74, x_20^0'=x_20^post74, rcd_88^0'=rcd_88^post74, f_170^0'=f_170^post74, len_132^0'=len_132^post74, temp_35^0'=temp_35^post74, head_32^0'=head_32^post74, r_163^0'=r_163^post74, a_237^0'=a_237^post74, y_19^0'=y_19^post74, i_167^0'=i_167^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, head_14^0'=head_14^post74, length_29^0'=length_29^post74, a_147^0'=a_147^post74, x_16^0'=x_16^post74, i_108^0'=i_108^post74, rcd_58^0'=rcd_58^post74, ct_17^0'=ct_17^post74, i_94^0'=i_94^post74, t_23^0'=t_23^post74, temp0_31^0'=temp0_31^post74, head_27^0'=head_27^post74, r_124^0'=r_124^post74, a_215^0'=a_215^post74, x_SLAM_f_18^0'=x_SLAM_f_18^post74, result_11^0'=result_11^post74, head_129^0'=head_129^post74, len_183^0'=len_183^post74, (-y_19^post74+y_19^0 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ -head_129^post74+head_129^0 == 0 /\ x_20^0-x_20^post74 == 0 /\ -head_27^post74+head_27^0 == 0 /\ -r_124^post74+r_124^0 == 0 /\ -len_183^post74+len_183^0 == 0 /\ -rcd_58^post74+rcd_58^0 == 0 /\ a_184^0-a_184^post74 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post74 == 0 /\ a_260^0-a_260^post74 == 0 /\ -head_14^post74+head_14^0 == 0 /\ temp_35^0-temp_35^post74 == 0 /\ -x_16^post74+x_16^0 == 0 /\ f_170^0-f_170^post74 == 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ a_237^0-a_237^post74 == 0 /\ -result_11^post74+result_11^0 == 0 /\ -length_29^post74+length_29^0 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ head_32^0-head_32^post74 == 0 /\ a_116^0-a_116^post74 == 0 /\ i_94^0-i_94^post74 == 0 /\ -a_215^post74+a_215^0 == 0 /\ temp0_15^0-temp0_15^post74 == 0 /\ -x_SLAM_f_18^post74+x_SLAM_f_18^0 == 0 /\ -r_163^post74+r_163^0 == 0 /\ -a_147^post74+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post74+i_167^0 == 0 /\ r_39^0-r_39^post74 == 0 /\ head_175^0-head_175^post74 == 0 /\ -i_108^post74+i_108^0 == 0 /\ -t_23^post74+t_23^0 == 0 /\ i_30^0-i_30^post74 == 0 /\ -len_132^post74+len_132^0 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ -ct_17^post74+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0), cost: 1 75: l50 -> l51 : a_116^0'=a_116^post75, tmp_34^0'=tmp_34^post75, head_SLAM_f_26^0'=head_SLAM_f_26^post75, r_39^0'=r_39^post75, a_260^0'=a_260^post75, i_30^0'=i_30^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, temp0_15^0'=temp0_15^post75, head_175^0'=head_175^post75, nondet_12^0'=nondet_12^post75, a_184^0'=a_184^post75, x_20^0'=x_20^post75, rcd_88^0'=rcd_88^post75, f_170^0'=f_170^post75, len_132^0'=len_132^post75, temp_35^0'=temp_35^post75, head_32^0'=head_32^post75, r_163^0'=r_163^post75, a_237^0'=a_237^post75, y_19^0'=y_19^post75, i_167^0'=i_167^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, head_14^0'=head_14^post75, length_29^0'=length_29^post75, a_147^0'=a_147^post75, x_16^0'=x_16^post75, i_108^0'=i_108^post75, rcd_58^0'=rcd_58^post75, ct_17^0'=ct_17^post75, i_94^0'=i_94^post75, t_23^0'=t_23^post75, temp0_31^0'=temp0_31^post75, head_27^0'=head_27^post75, r_124^0'=r_124^post75, a_215^0'=a_215^post75, x_SLAM_f_18^0'=x_SLAM_f_18^post75, result_11^0'=result_11^post75, head_129^0'=head_129^post75, len_183^0'=len_183^post75, (0 == 0 /\ -a_147^post75+a_147^0 == 0 /\ head_14^0-x_20^post75 <= 0 /\ -nondet_12^post75+nondet_12^0 == 0 /\ head_175^0-head_175^post75 == 0 /\ r_124^0-r_124^post75 == 0 /\ i_30^0-i_30^post75 == 0 /\ -temp_35^post75+temp_35^0 == 0 /\ length_29^0-length_29^post75 == 0 /\ -i_94^post75+i_94^0 == 0 /\ -x_SLAM_f_18^post75+x_20^post75 <= 0 /\ -x_SLAM_f_18^post75+x_20^post75 == 0 /\ x_16^post75-head_14^0 <= 0 /\ x_16^post75-head_14^0 == 0 /\ a_184^0-a_184^post75 == 0 /\ -temp0_31^post75+temp0_31^0 == 0 /\ head_14^0-x_SLAM_f_18^post75 <= 0 /\ -len_132^post75+len_132^0 == 0 /\ -result_11^post75+result_11^0 == 0 /\ -t_23^post75+t_23^0 == 0 /\ a_237^0-a_237^post75 == 0 /\ -head_14^0+x_20^post75 <= 0 /\ x_SLAM_f_18^post75-x_20^post75 <= 0 /\ -a_116^0 <= 0 /\ -x_16^post75+head_14^0 <= 0 /\ a_260^0-a_260^post75 == 0 /\ ct_17^post75 <= 0 /\ ct_17^post75 == 0 /\ temp0_15^0-temp0_15^post75 == 0 /\ -head_14^0+x_SLAM_f_18^post75 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_19^post75 <= 0 /\ rcd_88^0-rcd_88^post75 == 0 /\ a_116^0-a_116^post75 == 0 /\ r_39^0-r_39^post75 == 0 /\ -ct_17^post75 <= 0 /\ -head_14^post75+head_14^0 == 0 /\ -i_108^post75+i_108^0 == 0 /\ -i_167^post75+i_167^0 == 0 /\ x_16^post75-x_SLAM_f_18^post75 <= 0 /\ ct_17^post75-y_19^post75 <= 0 /\ f_170^0-f_170^post75 == 0 /\ head_32^0-head_32^post75 == 0 /\ -head_27^0 <= 0 /\ head_27^0 <= 0 /\ -a_215^post75+a_215^0 == 0 /\ -head_129^post75+head_129^0 == 0 /\ r_163^0-r_163^post75 == 0 /\ -rcd_58^post75+rcd_58^0 == 0 /\ y_19^post75 <= 0 /\ tmp_34^0-tmp_34^post75 == 0 /\ -len_183^post75+len_183^0 == 0 /\ -x_16^post75+x_SLAM_f_18^post75 <= 0 /\ -x_16^post75+x_SLAM_f_18^post75 == 0 /\ -ct_17^post75+y_19^post75 <= 0 /\ -ct_17^post75+y_19^post75 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0), cost: 1 79: l50 -> l53 : a_116^0'=a_116^post79, tmp_34^0'=tmp_34^post79, head_SLAM_f_26^0'=head_SLAM_f_26^post79, r_39^0'=r_39^post79, a_260^0'=a_260^post79, i_30^0'=i_30^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, temp0_15^0'=temp0_15^post79, head_175^0'=head_175^post79, nondet_12^0'=nondet_12^post79, a_184^0'=a_184^post79, x_20^0'=x_20^post79, rcd_88^0'=rcd_88^post79, f_170^0'=f_170^post79, len_132^0'=len_132^post79, temp_35^0'=temp_35^post79, head_32^0'=head_32^post79, r_163^0'=r_163^post79, a_237^0'=a_237^post79, y_19^0'=y_19^post79, i_167^0'=i_167^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79, head_14^0'=head_14^post79, length_29^0'=length_29^post79, a_147^0'=a_147^post79, x_16^0'=x_16^post79, i_108^0'=i_108^post79, rcd_58^0'=rcd_58^post79, ct_17^0'=ct_17^post79, i_94^0'=i_94^post79, t_23^0'=t_23^post79, temp0_31^0'=temp0_31^post79, head_27^0'=head_27^post79, r_124^0'=r_124^post79, a_215^0'=a_215^post79, x_SLAM_f_18^0'=x_SLAM_f_18^post79, result_11^0'=result_11^post79, head_129^0'=head_129^post79, len_183^0'=len_183^post79, (0 == 0 /\ -head_27^post79+head_27^0 == 0 /\ -y_19^post79+y_19^0 == 0 /\ -x_SLAM_f_18^post79+x_SLAM_f_18^0 == 0 /\ t_23^0-t_23^post79 == 0 /\ rcd_58^0-rcd_58^post79 == 0 /\ a_116^0-a_116^post79 == 0 /\ -a_237^post79+a_237^0 == 0 /\ a_260^0-a_260^post79 == 0 /\ i_167^0-i_167^post79 == 0 /\ -a_116^0 <= 0 /\ -rcd_88^post79+rcd_88^0 == 0 /\ r_39^0-r_39^post79 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ -result_11^post79+result_11^0 == 0 /\ len_132^0-len_132^post79 == 0 /\ tmp_34^0-tmp_34^post79 == 0 /\ -length_29^post79+length_29^0 == 0 /\ -temp0_31^post79+temp0_31^0 == 0 /\ -head_175^post79+head_175^0 == 0 /\ x_16^0-x_16^post79 == 0 /\ -i_94^post79+i_94^0 == 0 /\ ct_17^0-ct_17^post79 == 0 /\ -a_215^post79+a_215^0 == 0 /\ -f_170^post79+f_170^0 == 0 /\ -head_32^post79+head_32^0 == 0 /\ -i_108^post79+i_108^0 == 0 /\ -x_20^post79+x_20^0 == 0 /\ -a_147^post79+a_147^0 == 0 /\ -len_183^post79+len_183^0 == 0 /\ temp_35^0-temp_35^post79 == 0 /\ -r_163^post79+r_163^0 == 0 /\ i_30^0-i_30^post79 == 0 /\ -temp0_15^post79+temp0_15^0 == 0 /\ a_184^0-a_184^post79 == 0), cost: 1 76: l51 -> l52 : a_116^0'=a_116^post76, tmp_34^0'=tmp_34^post76, head_SLAM_f_26^0'=head_SLAM_f_26^post76, r_39^0'=r_39^post76, a_260^0'=a_260^post76, i_30^0'=i_30^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, temp0_15^0'=temp0_15^post76, head_175^0'=head_175^post76, nondet_12^0'=nondet_12^post76, a_184^0'=a_184^post76, x_20^0'=x_20^post76, rcd_88^0'=rcd_88^post76, f_170^0'=f_170^post76, len_132^0'=len_132^post76, temp_35^0'=temp_35^post76, head_32^0'=head_32^post76, r_163^0'=r_163^post76, a_237^0'=a_237^post76, y_19^0'=y_19^post76, i_167^0'=i_167^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, head_14^0'=head_14^post76, length_29^0'=length_29^post76, a_147^0'=a_147^post76, x_16^0'=x_16^post76, i_108^0'=i_108^post76, rcd_58^0'=rcd_58^post76, ct_17^0'=ct_17^post76, i_94^0'=i_94^post76, t_23^0'=t_23^post76, temp0_31^0'=temp0_31^post76, head_27^0'=head_27^post76, r_124^0'=r_124^post76, a_215^0'=a_215^post76, x_SLAM_f_18^0'=x_SLAM_f_18^post76, result_11^0'=result_11^post76, head_129^0'=head_129^post76, len_183^0'=len_183^post76, (-result_11^post76+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post76 == 0 /\ -f_170^post76+f_170^0 == 0 /\ -temp0_31^post76+temp0_31^0 == 0 /\ rcd_88^0-rcd_88^post76 == 0 /\ r_39^0-r_39^post76 == 0 /\ temp_35^0-temp_35^post76 == 0 /\ -a_215^post76+a_215^0 == 0 /\ -head_27^post76+head_27^0 == 0 /\ -len_132^post76+len_132^0 == 0 /\ -r_163^post76+r_163^0 == 0 /\ -x_20^post76+x_20^0 == 0 /\ -a_147^post76+a_147^0 == 0 /\ tmp_34^0-tmp_34^post76 == 0 /\ t_23^0-t_23^post76 == 0 /\ 1-head_14^0 <= 0 /\ -x_SLAM_f_18^post76+x_SLAM_f_18^0 == 0 /\ i_94^0-i_94^post76 == 0 /\ -ct_17^post76+ct_17^0 == 0 /\ i_108^0-i_108^post76 == 0 /\ i_30^0-i_30^post76 == 0 /\ a_184^0-a_184^post76 == 0 /\ -len_183^post76+len_183^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76 == 0 /\ -r_124^post76+r_124^0 == 0 /\ -i_167^post76+i_167^0 == 0 /\ -rcd_58^post76+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ head_175^0-head_175^post76 == 0 /\ a_237^0-a_237^post76 == 0 /\ nondet_12^0-nondet_12^post76 == 0 /\ head_32^0-head_32^post76 == 0 /\ -head_129^post76+head_129^0 == 0 /\ -y_19^post76+y_19^0 == 0 /\ a_116^0-a_116^post76 == 0 /\ -x_16^post76+x_16^0 == 0 /\ -length_29^post76+length_29^0 == 0 /\ a_260^0-a_260^post76 == 0 /\ -head_14^post76+head_14^0 == 0 /\ temp0_15^0-temp0_15^post76 == 0), cost: 1 77: l51 -> l52 : a_116^0'=a_116^post77, tmp_34^0'=tmp_34^post77, head_SLAM_f_26^0'=head_SLAM_f_26^post77, r_39^0'=r_39^post77, a_260^0'=a_260^post77, i_30^0'=i_30^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, temp0_15^0'=temp0_15^post77, head_175^0'=head_175^post77, nondet_12^0'=nondet_12^post77, a_184^0'=a_184^post77, x_20^0'=x_20^post77, rcd_88^0'=rcd_88^post77, f_170^0'=f_170^post77, len_132^0'=len_132^post77, temp_35^0'=temp_35^post77, head_32^0'=head_32^post77, r_163^0'=r_163^post77, a_237^0'=a_237^post77, y_19^0'=y_19^post77, i_167^0'=i_167^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, head_14^0'=head_14^post77, length_29^0'=length_29^post77, a_147^0'=a_147^post77, x_16^0'=x_16^post77, i_108^0'=i_108^post77, rcd_58^0'=rcd_58^post77, ct_17^0'=ct_17^post77, i_94^0'=i_94^post77, t_23^0'=t_23^post77, temp0_31^0'=temp0_31^post77, head_27^0'=head_27^post77, r_124^0'=r_124^post77, a_215^0'=a_215^post77, x_SLAM_f_18^0'=x_SLAM_f_18^post77, result_11^0'=result_11^post77, head_129^0'=head_129^post77, len_183^0'=len_183^post77, (i_167^0-i_167^post77 == 0 /\ f_170^0-f_170^post77 == 0 /\ -ct_17^post77+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post77 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post77 == 0 /\ a_184^0-a_184^post77 == 0 /\ -length_29^post77+length_29^0 == 0 /\ -head_32^post77+head_32^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post77 == 0 /\ x_20^0-x_20^post77 == 0 /\ a_116^0-a_116^post77 == 0 /\ rcd_88^0-rcd_88^post77 == 0 /\ -len_183^post77+len_183^0 == 0 /\ -i_108^post77+i_108^0 == 0 /\ r_124^0-r_124^post77 == 0 /\ t_23^0-t_23^post77 == 0 /\ r_39^0-r_39^post77 == 0 /\ i_30^0-i_30^post77 == 0 /\ -a_215^post77+a_215^0 == 0 /\ -temp0_31^post77+temp0_31^0 == 0 /\ -r_163^post77+r_163^0 == 0 /\ -a_147^post77+a_147^0 == 0 /\ -rcd_58^post77+rcd_58^0 == 0 /\ temp_35^0-temp_35^post77 == 0 /\ nondet_12^0-nondet_12^post77 == 0 /\ -y_19^post77+y_19^0 == 0 /\ 1+head_14^0 <= 0 /\ tmp_34^0-tmp_34^post77 == 0 /\ -len_132^post77+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post77 == 0 /\ -i_94^post77+i_94^0 == 0 /\ a_237^0-a_237^post77 == 0 /\ -a_260^post77+a_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ head_129^0-head_129^post77 == 0 /\ head_175^0-head_175^post77 == 0 /\ -result_11^post77+result_11^0 == 0 /\ head_14^0-head_14^post77 == 0 /\ x_16^0-x_16^post77 == 0 /\ -head_27^post77+head_27^0 == 0), cost: 1 78: l52 -> l18 : a_116^0'=a_116^post78, tmp_34^0'=tmp_34^post78, head_SLAM_f_26^0'=head_SLAM_f_26^post78, r_39^0'=r_39^post78, a_260^0'=a_260^post78, i_30^0'=i_30^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, temp0_15^0'=temp0_15^post78, head_175^0'=head_175^post78, nondet_12^0'=nondet_12^post78, a_184^0'=a_184^post78, x_20^0'=x_20^post78, rcd_88^0'=rcd_88^post78, f_170^0'=f_170^post78, len_132^0'=len_132^post78, temp_35^0'=temp_35^post78, head_32^0'=head_32^post78, r_163^0'=r_163^post78, a_237^0'=a_237^post78, y_19^0'=y_19^post78, i_167^0'=i_167^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78, head_14^0'=head_14^post78, length_29^0'=length_29^post78, a_147^0'=a_147^post78, x_16^0'=x_16^post78, i_108^0'=i_108^post78, rcd_58^0'=rcd_58^post78, ct_17^0'=ct_17^post78, i_94^0'=i_94^post78, t_23^0'=t_23^post78, temp0_31^0'=temp0_31^post78, head_27^0'=head_27^post78, r_124^0'=r_124^post78, a_215^0'=a_215^post78, x_SLAM_f_18^0'=x_SLAM_f_18^post78, result_11^0'=result_11^post78, head_129^0'=head_129^post78, len_183^0'=len_183^post78, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ nondet_12^0-nondet_12^post78 == 0 /\ -y_19^post78+y_19^0 == 0 /\ -rcd_88^post78+rcd_88^0 == 0 /\ -r_124^post78+r_124^0 == 0 /\ x_20^0-x_20^post78 == 0 /\ a_260^0-a_260^post78 == 0 /\ tmp_34^0-tmp_34^post78 == 0 /\ -i_167^post78+i_167^0 == 0 /\ -rcd_58^post78+rcd_58^0 == 0 /\ length_29^0-length_29^post78 == 0 /\ -head_14^post78+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post78 == 0 /\ -head_129^post78+head_129^0 == 0 /\ -len_183^post78+len_183^0 == 0 /\ f_170^0-f_170^post78 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp_35^0-temp_35^post78 == 0 /\ -a_215^post78+a_215^0 == 0 /\ a_237^0-a_237^post78 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post78 == 0 /\ -result_11^post78+result_11^0 == 0 /\ head_32^0-head_32^post78 == 0 /\ -x_16^post78+x_16^0 == 0 /\ -t_23^post78+t_23^0 == 0 /\ temp0_15^0-temp0_15^post78 == 0 /\ -a_147^post78+a_147^0 == 0 /\ i_94^0-i_94^post78 == 0 /\ -temp0_31^post78+temp0_31^0 == 0 /\ -r_163^post78+r_163^0 == 0 /\ -len_132^post78+len_132^0 == 0 /\ -head_27^post78+head_27^0 == 0 /\ i_30^0-i_30^post78 == 0 /\ -x_SLAM_f_18^post78+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post78 == 0 /\ a_184^0-a_184^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78 == 0 /\ -ct_17^post78+ct_17^0 == 0 /\ -i_108^post78+i_108^0 == 0 /\ r_39^0-r_39^post78 == 0 /\ head_175^0-head_175^post78 == 0), cost: 1 80: l53 -> l54 : a_116^0'=a_116^post80, tmp_34^0'=tmp_34^post80, head_SLAM_f_26^0'=head_SLAM_f_26^post80, r_39^0'=r_39^post80, a_260^0'=a_260^post80, i_30^0'=i_30^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, temp0_15^0'=temp0_15^post80, head_175^0'=head_175^post80, nondet_12^0'=nondet_12^post80, a_184^0'=a_184^post80, x_20^0'=x_20^post80, rcd_88^0'=rcd_88^post80, f_170^0'=f_170^post80, len_132^0'=len_132^post80, temp_35^0'=temp_35^post80, head_32^0'=head_32^post80, r_163^0'=r_163^post80, a_237^0'=a_237^post80, y_19^0'=y_19^post80, i_167^0'=i_167^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80, head_14^0'=head_14^post80, length_29^0'=length_29^post80, a_147^0'=a_147^post80, x_16^0'=x_16^post80, i_108^0'=i_108^post80, rcd_58^0'=rcd_58^post80, ct_17^0'=ct_17^post80, i_94^0'=i_94^post80, t_23^0'=t_23^post80, temp0_31^0'=temp0_31^post80, head_27^0'=head_27^post80, r_124^0'=r_124^post80, a_215^0'=a_215^post80, x_SLAM_f_18^0'=x_SLAM_f_18^post80, result_11^0'=result_11^post80, head_129^0'=head_129^post80, len_183^0'=len_183^post80, (-f_170^post80+f_170^0 == 0 /\ r_39^0-r_39^post80 == 0 /\ x_16^0-x_16^post80 == 0 /\ -x_SLAM_f_18^post80+x_SLAM_f_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post80 == 0 /\ -a_147^post80+a_147^0 == 0 /\ a_116^0-a_116^post80 == 0 /\ rcd_88^0-rcd_88^post80 == 0 /\ -result_11^post80+result_11^0 == 0 /\ head_14^0-head_14^post80 == 0 /\ temp_35^0-temp_35^post80 == 0 /\ -head_27^post80+head_27^0 == 0 /\ -len_132^post80+len_132^0 == 0 /\ tmp_34^0-tmp_34^post80 == 0 /\ -i_94^post80+i_94^0 == 0 /\ t_23^0-t_23^post80 == 0 /\ -r_124^post80+r_124^0 == 0 /\ -head_32^post80+head_32^0 == 0 /\ -x_20^post80+x_20^0 == 0 /\ i_30^0-i_30^post80 == 0 /\ ct_17^0-ct_17^post80 == 0 /\ head_175^0-head_175^post80 == 0 /\ a_184^0-a_184^post80 == 0 /\ -i_108^post80+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80 == 0 /\ a_237^0-a_237^post80 == 0 /\ -i_167^post80+i_167^0 == 0 /\ -r_163^post80+r_163^0 == 0 /\ -a_215^post80+a_215^0 == 0 /\ -rcd_58^post80+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post80 == 0 /\ -temp0_31^post80+temp0_31^0 == 0 /\ 1-head_27^0 <= 0 /\ -head_129^post80+head_129^0 == 0 /\ nondet_12^0-nondet_12^post80 == 0 /\ -length_29^post80+length_29^0 == 0 /\ temp0_15^0-temp0_15^post80 == 0 /\ -len_183^post80+len_183^0 == 0 /\ -y_19^post80+y_19^0 == 0 /\ a_260^0-a_260^post80 == 0), cost: 1 81: l53 -> l54 : a_116^0'=a_116^post81, tmp_34^0'=tmp_34^post81, head_SLAM_f_26^0'=head_SLAM_f_26^post81, r_39^0'=r_39^post81, a_260^0'=a_260^post81, i_30^0'=i_30^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, temp0_15^0'=temp0_15^post81, head_175^0'=head_175^post81, nondet_12^0'=nondet_12^post81, a_184^0'=a_184^post81, x_20^0'=x_20^post81, rcd_88^0'=rcd_88^post81, f_170^0'=f_170^post81, len_132^0'=len_132^post81, temp_35^0'=temp_35^post81, head_32^0'=head_32^post81, r_163^0'=r_163^post81, a_237^0'=a_237^post81, y_19^0'=y_19^post81, i_167^0'=i_167^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81, head_14^0'=head_14^post81, length_29^0'=length_29^post81, a_147^0'=a_147^post81, x_16^0'=x_16^post81, i_108^0'=i_108^post81, rcd_58^0'=rcd_58^post81, ct_17^0'=ct_17^post81, i_94^0'=i_94^post81, t_23^0'=t_23^post81, temp0_31^0'=temp0_31^post81, head_27^0'=head_27^post81, r_124^0'=r_124^post81, a_215^0'=a_215^post81, x_SLAM_f_18^0'=x_SLAM_f_18^post81, result_11^0'=result_11^post81, head_129^0'=head_129^post81, len_183^0'=len_183^post81, (i_30^0-i_30^post81 == 0 /\ -ct_17^post81+ct_17^0 == 0 /\ 1+head_27^0 <= 0 /\ -length_29^post81+length_29^0 == 0 /\ -f_170^post81+f_170^0 == 0 /\ head_27^0-head_27^post81 == 0 /\ i_167^0-i_167^post81 == 0 /\ -temp0_31^post81+temp0_31^0 == 0 /\ r_163^0-r_163^post81 == 0 /\ -head_32^post81+head_32^0 == 0 /\ -a_215^post81+a_215^0 == 0 /\ head_175^0-head_175^post81 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post81 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81 == 0 /\ -a_147^post81+a_147^0 == 0 /\ nondet_12^0-nondet_12^post81 == 0 /\ t_23^0-t_23^post81 == 0 /\ -i_108^post81+i_108^0 == 0 /\ x_20^0-x_20^post81 == 0 /\ a_116^0-a_116^post81 == 0 /\ a_260^0-a_260^post81 == 0 /\ -x_SLAM_f_18^post81+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post81 == 0 /\ -temp0_15^post81+temp0_15^0 == 0 /\ -len_183^post81+len_183^0 == 0 /\ -y_19^post81+y_19^0 == 0 /\ head_14^0-head_14^post81 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post81 == 0 /\ len_132^0-len_132^post81 == 0 /\ r_39^0-r_39^post81 == 0 /\ temp_35^0-temp_35^post81 == 0 /\ -a_237^post81+a_237^0 == 0 /\ -i_94^post81+i_94^0 == 0 /\ tmp_34^0-tmp_34^post81 == 0 /\ x_16^0-x_16^post81 == 0 /\ -result_11^post81+result_11^0 == 0 /\ -a_184^post81+a_184^0 == 0 /\ -head_129^post81+head_129^0 == 0 /\ -rcd_88^post81+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post81 == 0), cost: 1 82: l54 -> l55 : a_116^0'=a_116^post82, tmp_34^0'=tmp_34^post82, head_SLAM_f_26^0'=head_SLAM_f_26^post82, r_39^0'=r_39^post82, a_260^0'=a_260^post82, i_30^0'=i_30^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, temp0_15^0'=temp0_15^post82, head_175^0'=head_175^post82, nondet_12^0'=nondet_12^post82, a_184^0'=a_184^post82, x_20^0'=x_20^post82, rcd_88^0'=rcd_88^post82, f_170^0'=f_170^post82, len_132^0'=len_132^post82, temp_35^0'=temp_35^post82, head_32^0'=head_32^post82, r_163^0'=r_163^post82, a_237^0'=a_237^post82, y_19^0'=y_19^post82, i_167^0'=i_167^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82, head_14^0'=head_14^post82, length_29^0'=length_29^post82, a_147^0'=a_147^post82, x_16^0'=x_16^post82, i_108^0'=i_108^post82, rcd_58^0'=rcd_58^post82, ct_17^0'=ct_17^post82, i_94^0'=i_94^post82, t_23^0'=t_23^post82, temp0_31^0'=temp0_31^post82, head_27^0'=head_27^post82, r_124^0'=r_124^post82, a_215^0'=a_215^post82, x_SLAM_f_18^0'=x_SLAM_f_18^post82, result_11^0'=result_11^post82, head_129^0'=head_129^post82, len_183^0'=len_183^post82, (r_163^0-r_163^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ -head_32^post82+head_32^0 == 0 /\ a_260^0-a_260^post82 == 0 /\ -rcd_88^post82+rcd_88^0 == 0 /\ -length_29^post82+length_29^0 == 0 /\ tmp_34^0-tmp_34^post82 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post82 == 0 /\ -i_108^post82+i_108^0 == 0 /\ -head_129^post82+head_129^0 == 0 /\ -a_215^post82+a_215^0 == 0 /\ -t_23^post82+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82 == 0 /\ head_14^0-head_14^post82 == 0 /\ -f_170^post82+f_170^0 == 0 /\ -temp0_31^post82+temp0_31^0 == 0 /\ -len_183^post82+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ i_167^0-i_167^post82 == 0 /\ temp_35^0-temp_35^post82 == 0 /\ -x_SLAM_f_18^post82+x_SLAM_f_18^0 == 0 /\ -x_20^post82+x_20^0 == 0 /\ rcd_58^0-rcd_58^post82 == 0 /\ a_184^0-a_184^post82 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post82 == 0 /\ len_132^0-len_132^post82 == 0 /\ -i_94^post82+i_94^0 == 0 /\ -x_16^post82+x_16^0 == 0 /\ a_116^0-a_116^post82 == 0 /\ -r_124^post82+r_124^0 == 0 /\ r_39^0-r_39^post82 == 0 /\ head_175^0-head_175^post82 == 0 /\ ct_17^0-ct_17^post82 == 0 /\ i_30^0-i_30^post82 == 0 /\ -result_11^post82+result_11^0 == 0 /\ -a_237^post82+a_237^0 == 0 /\ -head_27^post82+head_27^0 == 0 /\ a_147^0-a_147^post82 == 0 /\ y_19^0-y_19^post82 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0), cost: 1 83: l55 -> l56 : a_116^0'=a_116^post83, tmp_34^0'=tmp_34^post83, head_SLAM_f_26^0'=head_SLAM_f_26^post83, r_39^0'=r_39^post83, a_260^0'=a_260^post83, i_30^0'=i_30^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, temp0_15^0'=temp0_15^post83, head_175^0'=head_175^post83, nondet_12^0'=nondet_12^post83, a_184^0'=a_184^post83, x_20^0'=x_20^post83, rcd_88^0'=rcd_88^post83, f_170^0'=f_170^post83, len_132^0'=len_132^post83, temp_35^0'=temp_35^post83, head_32^0'=head_32^post83, r_163^0'=r_163^post83, a_237^0'=a_237^post83, y_19^0'=y_19^post83, i_167^0'=i_167^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, head_14^0'=head_14^post83, length_29^0'=length_29^post83, a_147^0'=a_147^post83, x_16^0'=x_16^post83, i_108^0'=i_108^post83, rcd_58^0'=rcd_58^post83, ct_17^0'=ct_17^post83, i_94^0'=i_94^post83, t_23^0'=t_23^post83, temp0_31^0'=temp0_31^post83, head_27^0'=head_27^post83, r_124^0'=r_124^post83, a_215^0'=a_215^post83, x_SLAM_f_18^0'=x_SLAM_f_18^post83, result_11^0'=result_11^post83, head_129^0'=head_129^post83, len_183^0'=len_183^post83, (nondet_12^0-nondet_12^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 == 0 /\ -rcd_88^post83+rcd_88^0 == 0 /\ -y_19^post83+y_19^0 == 0 /\ t_23^0-t_23^post83 == 0 /\ -r_124^post83+r_124^0 == 0 /\ head_27^0-head_27^post83 == 0 /\ rcd_58^0-rcd_58^post83 == 0 /\ temp0_15^0-temp0_15^post83 == 0 /\ i_30^0-i_30^post83 == 0 /\ a_116^0-a_116^post83 == 0 /\ i_167^0-i_167^post83 == 0 /\ -a_237^post83+a_237^0 == 0 /\ -len_183^post83+len_183^0 == 0 /\ 1-head_14^0 <= 0 /\ -head_129^post83+head_129^0 == 0 /\ len_132^0-len_132^post83 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post83 == 0 /\ r_39^0-r_39^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 == 0 /\ -a_215^post83+a_215^0 == 0 /\ -length_29^post83+length_29^0 == 0 /\ -temp0_31^post83+temp0_31^0 == 0 /\ -result_11^post83+result_11^0 == 0 /\ ct_17^0-ct_17^post83 == 0 /\ -f_170^post83+f_170^0 == 0 /\ tmp_34^0-tmp_34^post83 == 0 /\ -head_175^post83+head_175^0 == 0 /\ -a_147^post83+a_147^0 == 0 /\ -i_94^post83+i_94^0 == 0 /\ a_260^0-a_260^post83 == 0 /\ -x_20^post83+x_20^0 == 0 /\ a_184^0-a_184^post83 == 0 /\ -head_32^post83+head_32^0 == 0 /\ -r_163^post83+r_163^0 == 0 /\ x_16^0-x_16^post83 == 0 /\ head_14^0-head_14^post83 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post83 == 0 /\ -i_108^post83+i_108^0 == 0 /\ temp_35^0-temp_35^post83 == 0), cost: 1 84: l55 -> l56 : a_116^0'=a_116^post84, tmp_34^0'=tmp_34^post84, head_SLAM_f_26^0'=head_SLAM_f_26^post84, r_39^0'=r_39^post84, a_260^0'=a_260^post84, i_30^0'=i_30^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, temp0_15^0'=temp0_15^post84, head_175^0'=head_175^post84, nondet_12^0'=nondet_12^post84, a_184^0'=a_184^post84, x_20^0'=x_20^post84, rcd_88^0'=rcd_88^post84, f_170^0'=f_170^post84, len_132^0'=len_132^post84, temp_35^0'=temp_35^post84, head_32^0'=head_32^post84, r_163^0'=r_163^post84, a_237^0'=a_237^post84, y_19^0'=y_19^post84, i_167^0'=i_167^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, head_14^0'=head_14^post84, length_29^0'=length_29^post84, a_147^0'=a_147^post84, x_16^0'=x_16^post84, i_108^0'=i_108^post84, rcd_58^0'=rcd_58^post84, ct_17^0'=ct_17^post84, i_94^0'=i_94^post84, t_23^0'=t_23^post84, temp0_31^0'=temp0_31^post84, head_27^0'=head_27^post84, r_124^0'=r_124^post84, a_215^0'=a_215^post84, x_SLAM_f_18^0'=x_SLAM_f_18^post84, result_11^0'=result_11^post84, head_129^0'=head_129^post84, len_183^0'=len_183^post84, (-head_27^post84+head_27^0 == 0 /\ -head_129^post84+head_129^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ -x_SLAM_f_18^post84+x_SLAM_f_18^0 == 0 /\ -a_184^post84+a_184^0 == 0 /\ y_19^0-y_19^post84 == 0 /\ a_147^0-a_147^post84 == 0 /\ a_116^0-a_116^post84 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 == 0 /\ head_14^0-head_14^post84 == 0 /\ -temp_35^post84+temp_35^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ -r_124^post84+r_124^0 == 0 /\ f_170^0-f_170^post84 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post84 == 0 /\ rcd_88^0-rcd_88^post84 == 0 /\ i_30^0-i_30^post84 == 0 /\ -result_11^post84+result_11^0 == 0 /\ -x_16^post84+x_16^0 == 0 /\ -a_237^post84+a_237^0 == 0 /\ r_163^0-r_163^post84 == 0 /\ -ct_17^post84+ct_17^0 == 0 /\ tmp_34^0-tmp_34^post84 == 0 /\ -length_29^post84+length_29^0 == 0 /\ head_32^0-head_32^post84 == 0 /\ 1+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post84 == 0 /\ -i_108^post84+i_108^0 == 0 /\ a_260^0-a_260^post84 == 0 /\ i_167^0-i_167^post84 == 0 /\ temp0_15^0-temp0_15^post84 == 0 /\ -len_183^post84+len_183^0 == 0 /\ -a_215^post84+a_215^0 == 0 /\ -temp0_31^post84+temp0_31^0 == 0 /\ head_175^0-head_175^post84 == 0 /\ x_20^0-x_20^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ len_132^0-len_132^post84 == 0 /\ -t_23^post84+t_23^0 == 0), cost: 1 85: l56 -> l57 : a_116^0'=a_116^post85, tmp_34^0'=tmp_34^post85, head_SLAM_f_26^0'=head_SLAM_f_26^post85, r_39^0'=r_39^post85, a_260^0'=a_260^post85, i_30^0'=i_30^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, temp0_15^0'=temp0_15^post85, head_175^0'=head_175^post85, nondet_12^0'=nondet_12^post85, a_184^0'=a_184^post85, x_20^0'=x_20^post85, rcd_88^0'=rcd_88^post85, f_170^0'=f_170^post85, len_132^0'=len_132^post85, temp_35^0'=temp_35^post85, head_32^0'=head_32^post85, r_163^0'=r_163^post85, a_237^0'=a_237^post85, y_19^0'=y_19^post85, i_167^0'=i_167^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, head_14^0'=head_14^post85, length_29^0'=length_29^post85, a_147^0'=a_147^post85, x_16^0'=x_16^post85, i_108^0'=i_108^post85, rcd_58^0'=rcd_58^post85, ct_17^0'=ct_17^post85, i_94^0'=i_94^post85, t_23^0'=t_23^post85, temp0_31^0'=temp0_31^post85, head_27^0'=head_27^post85, r_124^0'=r_124^post85, a_215^0'=a_215^post85, x_SLAM_f_18^0'=x_SLAM_f_18^post85, result_11^0'=result_11^post85, head_129^0'=head_129^post85, len_183^0'=len_183^post85, (-f_170^post85+f_170^0 == 0 /\ -t_23^post85+t_23^0 == 0 /\ i_30^0-i_30^post85 == 0 /\ -a_237^post85+a_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ -x_16^post85+x_16^0 == 0 /\ -x_SLAM_f_18^post85+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post85 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ x_20^0-x_20^post85 == 0 /\ head_32^0-head_32^post85 == 0 /\ nondet_12^0-nondet_12^post85 == 0 /\ head_27^0-head_27^post85 == 0 /\ -i_94^post85+i_94^0 == 0 /\ -r_124^post85+r_124^0 == 0 /\ i_167^0-i_167^post85 == 0 /\ a_215^0-a_215^post85 == 0 /\ a_260^0-a_260^post85 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post85 == 0 /\ r_39^0-r_39^post85 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ a_116^0-a_116^post85 == 0 /\ -temp0_15^post85+temp0_15^0 == 0 /\ -i_108^post85+i_108^0 == 0 /\ len_132^0-len_132^post85 == 0 /\ 1-head_129^0 <= 0 /\ temp_35^0-temp_35^post85 == 0 /\ -head_14^post85+head_14^0 == 0 /\ -ct_17^post85+ct_17^0 == 0 /\ a_147^0-a_147^post85 == 0 /\ rcd_58^0-rcd_58^post85 == 0 /\ -a_184^post85+a_184^0 == 0 /\ r_163^0-r_163^post85 == 0 /\ -temp0_31^post85+temp0_31^0 == 0 /\ -len_183^post85+len_183^0 == 0 /\ -y_19^post85+y_19^0 == 0 /\ tmp_34^0-tmp_34^post85 == 0 /\ -length_29^post85+length_29^0 == 0 /\ -head_129^post85+head_129^0 == 0), cost: 1 86: l56 -> l57 : a_116^0'=a_116^post86, tmp_34^0'=tmp_34^post86, head_SLAM_f_26^0'=head_SLAM_f_26^post86, r_39^0'=r_39^post86, a_260^0'=a_260^post86, i_30^0'=i_30^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, temp0_15^0'=temp0_15^post86, head_175^0'=head_175^post86, nondet_12^0'=nondet_12^post86, a_184^0'=a_184^post86, x_20^0'=x_20^post86, rcd_88^0'=rcd_88^post86, f_170^0'=f_170^post86, len_132^0'=len_132^post86, temp_35^0'=temp_35^post86, head_32^0'=head_32^post86, r_163^0'=r_163^post86, a_237^0'=a_237^post86, y_19^0'=y_19^post86, i_167^0'=i_167^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, head_14^0'=head_14^post86, length_29^0'=length_29^post86, a_147^0'=a_147^post86, x_16^0'=x_16^post86, i_108^0'=i_108^post86, rcd_58^0'=rcd_58^post86, ct_17^0'=ct_17^post86, i_94^0'=i_94^post86, t_23^0'=t_23^post86, temp0_31^0'=temp0_31^post86, head_27^0'=head_27^post86, r_124^0'=r_124^post86, a_215^0'=a_215^post86, x_SLAM_f_18^0'=x_SLAM_f_18^post86, result_11^0'=result_11^post86, head_129^0'=head_129^post86, len_183^0'=len_183^post86, (a_260^0-a_260^post86 == 0 /\ -length_29^post86+length_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post86 == 0 /\ rcd_88^0-rcd_88^post86 == 0 /\ -head_32^post86+head_32^0 == 0 /\ -a_215^post86+a_215^0 == 0 /\ r_39^0-r_39^post86 == 0 /\ len_132^0-len_132^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ -i_108^post86+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tmp_34^0-tmp_34^post86 == 0 /\ -x_SLAM_f_18^post86+x_SLAM_f_18^0 == 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ head_14^0-head_14^post86 == 0 /\ 1+head_129^0 <= 0 /\ a_184^0-a_184^post86 == 0 /\ i_167^0-i_167^post86 == 0 /\ -len_183^post86+len_183^0 == 0 /\ temp0_15^0-temp0_15^post86 == 0 /\ r_163^0-r_163^post86 == 0 /\ f_170^0-f_170^post86 == 0 /\ -r_124^post86+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -head_27^post86+head_27^0 == 0 /\ -y_19^post86+y_19^0 == 0 /\ head_175^0-head_175^post86 == 0 /\ nondet_12^0-nondet_12^post86 == 0 /\ ct_17^0-ct_17^post86 == 0 /\ -i_94^post86+i_94^0 == 0 /\ x_20^0-x_20^post86 == 0 /\ -i_30^post86+i_30^0 == 0 /\ a_116^0-a_116^post86 == 0 /\ rcd_58^0-rcd_58^post86 == 0 /\ -result_11^post86+result_11^0 == 0 /\ -a_237^post86+a_237^0 == 0 /\ -x_16^post86+x_16^0 == 0 /\ -head_129^post86+head_129^0 == 0 /\ -temp_35^post86+temp_35^0 == 0 /\ a_147^0-a_147^post86 == 0), cost: 1 87: l57 -> l41 : a_116^0'=a_116^post87, tmp_34^0'=tmp_34^post87, head_SLAM_f_26^0'=head_SLAM_f_26^post87, r_39^0'=r_39^post87, a_260^0'=a_260^post87, i_30^0'=i_30^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, temp0_15^0'=temp0_15^post87, head_175^0'=head_175^post87, nondet_12^0'=nondet_12^post87, a_184^0'=a_184^post87, x_20^0'=x_20^post87, rcd_88^0'=rcd_88^post87, f_170^0'=f_170^post87, len_132^0'=len_132^post87, temp_35^0'=temp_35^post87, head_32^0'=head_32^post87, r_163^0'=r_163^post87, a_237^0'=a_237^post87, y_19^0'=y_19^post87, i_167^0'=i_167^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, head_14^0'=head_14^post87, length_29^0'=length_29^post87, a_147^0'=a_147^post87, x_16^0'=x_16^post87, i_108^0'=i_108^post87, rcd_58^0'=rcd_58^post87, ct_17^0'=ct_17^post87, i_94^0'=i_94^post87, t_23^0'=t_23^post87, temp0_31^0'=temp0_31^post87, head_27^0'=head_27^post87, r_124^0'=r_124^post87, a_215^0'=a_215^post87, x_SLAM_f_18^0'=x_SLAM_f_18^post87, result_11^0'=result_11^post87, head_129^0'=head_129^post87, len_183^0'=len_183^post87, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post87 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post87 == 0 /\ -head_14^post87+head_14^0 == 0 /\ temp0_15^0-temp0_15^post87 == 0 /\ -rcd_88^post87+rcd_88^0 == 0 /\ -ct_17^post87+ct_17^0 == 0 /\ i_108^0-i_108^post87 == 0 /\ head_27^0-head_27^post87 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post87 == 0 /\ -head_129^post87+head_129^0 == 0 /\ -a_215^post87+a_215^0 == 0 /\ len_132^0-len_132^post87 == 0 /\ -a_184^post87+a_184^0 == 0 /\ i_30^0-i_30^post87 == 0 /\ r_39^0-r_39^post87 == 0 /\ a_116^0-a_116^post87 == 0 /\ head_175^0-head_175^post87 == 0 /\ -t_23^post87+t_23^0 == 0 /\ temp0_31^0-temp0_31^post87 == 0 /\ a_147^0-a_147^post87 == 0 /\ -i_167^post87+i_167^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_183^post87+len_183^0 == 0 /\ head_32^0-head_32^post87 == 0 /\ -rcd_58^post87+rcd_58^0 == 0 /\ r_163^0-r_163^post87 == 0 /\ f_170^0-f_170^post87 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ -a_237^post87+a_237^0 == 0 /\ y_19^0-y_19^post87 == 0 /\ -x_SLAM_f_18^post87+x_SLAM_f_18^0 == 0 /\ result_11^0-result_11^post87 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_260^0-a_260^post87 == 0 /\ tmp_34^0-tmp_34^post87 == 0 /\ -temp_35^post87+temp_35^0 == 0 /\ -r_124^post87+r_124^0 == 0 /\ -x_16^post87+x_16^0 == 0 /\ length_29^0-length_29^post87 == 0 /\ -i_94^post87+i_94^0 == 0), cost: 1 88: l58 -> l59 : a_116^0'=a_116^post88, tmp_34^0'=tmp_34^post88, head_SLAM_f_26^0'=head_SLAM_f_26^post88, r_39^0'=r_39^post88, a_260^0'=a_260^post88, i_30^0'=i_30^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, temp0_15^0'=temp0_15^post88, head_175^0'=head_175^post88, nondet_12^0'=nondet_12^post88, a_184^0'=a_184^post88, x_20^0'=x_20^post88, rcd_88^0'=rcd_88^post88, f_170^0'=f_170^post88, len_132^0'=len_132^post88, temp_35^0'=temp_35^post88, head_32^0'=head_32^post88, r_163^0'=r_163^post88, a_237^0'=a_237^post88, y_19^0'=y_19^post88, i_167^0'=i_167^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, head_14^0'=head_14^post88, length_29^0'=length_29^post88, a_147^0'=a_147^post88, x_16^0'=x_16^post88, i_108^0'=i_108^post88, rcd_58^0'=rcd_58^post88, ct_17^0'=ct_17^post88, i_94^0'=i_94^post88, t_23^0'=t_23^post88, temp0_31^0'=temp0_31^post88, head_27^0'=head_27^post88, r_124^0'=r_124^post88, a_215^0'=a_215^post88, x_SLAM_f_18^0'=x_SLAM_f_18^post88, result_11^0'=result_11^post88, head_129^0'=head_129^post88, len_183^0'=len_183^post88, (0 == 0 /\ -head_129^post88+head_129^0 == 0 /\ x_20^0-x_20^post88 == 0 /\ -len_183^post88+len_183^0 == 0 /\ -r_124^post88+r_124^0 == 0 /\ tmp_34^0-tmp_34^post88 == 0 /\ a_147^0-a_147^post88 == 0 /\ y_19^0-y_19^post88 == 0 /\ -temp_35^post88+temp_35^0 == 0 /\ -a_237^post88+a_237^0 == 0 /\ a_215^0-a_215^post88 == 0 /\ -i_30^0 <= 0 /\ -x_16^post88+x_16^0 == 0 /\ f_170^0-f_170^post88 == 0 /\ -a_184^post88+a_184^0 == 0 /\ i_30^0-i_30^post88 == 0 /\ nondet_12^0-nondet_12^post88 == 0 /\ -result_11^post88+result_11^0 == 0 /\ -length_29^post88+length_29^0 == 0 /\ -temp0_31^post88+temp0_31^0 == 0 /\ head_32^0-head_32^post88 == 0 /\ -i_94^post88+i_94^0 == 0 /\ rcd_58^0-rcd_58^post88 == 0 /\ a_260^0-a_260^post88 == 0 /\ temp0_15^0-temp0_15^post88 == 0 /\ -head_27^post88+head_27^0 == 0 /\ -x_SLAM_f_18^post88+x_SLAM_f_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_116^0-a_116^post88 == 0 /\ i_167^0-i_167^post88 == 0 /\ rcd_88^0-rcd_88^post88 == 0 /\ head_175^0-head_175^post88 == 0 /\ -t_23^post88+t_23^0 == 0 /\ len_132^0-len_132^post88 == 0 /\ -ct_17^post88+ct_17^0 == 0), cost: 1 89: l59 -> l60 : a_116^0'=a_116^post89, tmp_34^0'=tmp_34^post89, head_SLAM_f_26^0'=head_SLAM_f_26^post89, r_39^0'=r_39^post89, a_260^0'=a_260^post89, i_30^0'=i_30^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, temp0_15^0'=temp0_15^post89, head_175^0'=head_175^post89, nondet_12^0'=nondet_12^post89, a_184^0'=a_184^post89, x_20^0'=x_20^post89, rcd_88^0'=rcd_88^post89, f_170^0'=f_170^post89, len_132^0'=len_132^post89, temp_35^0'=temp_35^post89, head_32^0'=head_32^post89, r_163^0'=r_163^post89, a_237^0'=a_237^post89, y_19^0'=y_19^post89, i_167^0'=i_167^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89, head_14^0'=head_14^post89, length_29^0'=length_29^post89, a_147^0'=a_147^post89, x_16^0'=x_16^post89, i_108^0'=i_108^post89, rcd_58^0'=rcd_58^post89, ct_17^0'=ct_17^post89, i_94^0'=i_94^post89, t_23^0'=t_23^post89, temp0_31^0'=temp0_31^post89, head_27^0'=head_27^post89, r_124^0'=r_124^post89, a_215^0'=a_215^post89, x_SLAM_f_18^0'=x_SLAM_f_18^post89, result_11^0'=result_11^post89, head_129^0'=head_129^post89, len_183^0'=len_183^post89, (-x_SLAM_f_18^post89+x_SLAM_f_18^0 == 0 /\ tmp_34^0-tmp_34^post89 == 0 /\ -rcd_58^post89+rcd_58^0 == 0 /\ a_237^0-a_237^post89 == 0 /\ -head_129^post89+head_129^0 == 0 /\ -head_27^post89+head_27^0 == 0 /\ -len_132^post89+len_132^0 == 0 /\ length_29^0-length_29^post89 == 0 /\ -len_183^post89+len_183^0 == 0 /\ head_32^0-head_32^post89 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post89 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ -r_124^post89+r_124^0 == 0 /\ -temp_35^post89+temp_35^0 == 0 /\ a_260^0-a_260^post89 == 0 /\ x_20^0-x_20^post89 == 0 /\ a_215^0-a_215^post89 == 0 /\ head_175^0-head_175^post89 == 0 /\ -result_11^post89+result_11^0 == 0 /\ -i_94^post89+i_94^0 == 0 /\ -x_16^post89+x_16^0 == 0 /\ -ct_17^post89+ct_17^0 == 0 /\ r_39^0-r_39^post89 == 0 /\ -head_14^post89+head_14^0 == 0 /\ y_19^0-y_19^post89 == 0 /\ -i_108^post89+i_108^0 == 0 /\ a_116^0-a_116^post89 == 0 /\ -t_23^post89+t_23^0 == 0 /\ -temp0_31^post89+temp0_31^0 == 0 /\ -a_147^post89+a_147^0 == 0 /\ 1-head_27^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post89+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ f_170^0-f_170^post89 == 0 /\ i_30^0-i_30^post89 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post89 == 0 /\ r_163^0-r_163^post89 == 0 /\ a_184^0-a_184^post89 == 0 /\ rcd_88^0-rcd_88^post89 == 0 /\ -i_167^post89+i_167^0 == 0), cost: 1 90: l59 -> l60 : a_116^0'=a_116^post90, tmp_34^0'=tmp_34^post90, head_SLAM_f_26^0'=head_SLAM_f_26^post90, r_39^0'=r_39^post90, a_260^0'=a_260^post90, i_30^0'=i_30^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, temp0_15^0'=temp0_15^post90, head_175^0'=head_175^post90, nondet_12^0'=nondet_12^post90, a_184^0'=a_184^post90, x_20^0'=x_20^post90, rcd_88^0'=rcd_88^post90, f_170^0'=f_170^post90, len_132^0'=len_132^post90, temp_35^0'=temp_35^post90, head_32^0'=head_32^post90, r_163^0'=r_163^post90, a_237^0'=a_237^post90, y_19^0'=y_19^post90, i_167^0'=i_167^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, head_14^0'=head_14^post90, length_29^0'=length_29^post90, a_147^0'=a_147^post90, x_16^0'=x_16^post90, i_108^0'=i_108^post90, rcd_58^0'=rcd_58^post90, ct_17^0'=ct_17^post90, i_94^0'=i_94^post90, t_23^0'=t_23^post90, temp0_31^0'=temp0_31^post90, head_27^0'=head_27^post90, r_124^0'=r_124^post90, a_215^0'=a_215^post90, x_SLAM_f_18^0'=x_SLAM_f_18^post90, result_11^0'=result_11^post90, head_129^0'=head_129^post90, len_183^0'=len_183^post90, (-a_147^post90+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post90 == 0 /\ r_39^0-r_39^post90 == 0 /\ temp0_31^0-temp0_31^post90 == 0 /\ 1+head_27^0 <= 0 /\ -i_94^post90+i_94^0 == 0 /\ rcd_88^0-rcd_88^post90 == 0 /\ length_29^0-length_29^post90 == 0 /\ -x_16^post90+x_16^0 == 0 /\ len_132^0-len_132^post90 == 0 /\ -result_11^post90+result_11^0 == 0 /\ -t_23^post90+t_23^0 == 0 /\ -x_SLAM_f_18^post90+x_SLAM_f_18^0 == 0 /\ y_19^0-y_19^post90 == 0 /\ -ct_17^post90+ct_17^0 == 0 /\ -head_27^post90+head_27^0 == 0 /\ tmp_34^0-tmp_34^post90 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_124^post90+r_124^0 == 0 /\ a_184^0-a_184^post90 == 0 /\ -len_183^post90+len_183^0 == 0 /\ -i_30^post90+i_30^0 == 0 /\ r_163^0-r_163^post90 == 0 /\ -rcd_58^post90+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 == 0 /\ head_175^0-head_175^post90 == 0 /\ f_170^0-f_170^post90 == 0 /\ -head_14^post90+head_14^0 == 0 /\ head_32^0-head_32^post90 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ x_20^0-x_20^post90 == 0 /\ -a_237^post90+a_237^0 == 0 /\ -head_129^post90+head_129^0 == 0 /\ a_116^0-a_116^post90 == 0 /\ -temp_35^post90+temp_35^0 == 0 /\ i_167^0-i_167^post90 == 0 /\ a_260^0-a_260^post90 == 0 /\ -a_215^post90+a_215^0 == 0 /\ i_108^0-i_108^post90 == 0 /\ temp0_15^0-temp0_15^post90 == 0), cost: 1 91: l60 -> l61 : a_116^0'=a_116^post91, tmp_34^0'=tmp_34^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, r_39^0'=r_39^post91, a_260^0'=a_260^post91, i_30^0'=i_30^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, temp0_15^0'=temp0_15^post91, head_175^0'=head_175^post91, nondet_12^0'=nondet_12^post91, a_184^0'=a_184^post91, x_20^0'=x_20^post91, rcd_88^0'=rcd_88^post91, f_170^0'=f_170^post91, len_132^0'=len_132^post91, temp_35^0'=temp_35^post91, head_32^0'=head_32^post91, r_163^0'=r_163^post91, a_237^0'=a_237^post91, y_19^0'=y_19^post91, i_167^0'=i_167^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, head_14^0'=head_14^post91, length_29^0'=length_29^post91, a_147^0'=a_147^post91, x_16^0'=x_16^post91, i_108^0'=i_108^post91, rcd_58^0'=rcd_58^post91, ct_17^0'=ct_17^post91, i_94^0'=i_94^post91, t_23^0'=t_23^post91, temp0_31^0'=temp0_31^post91, head_27^0'=head_27^post91, r_124^0'=r_124^post91, a_215^0'=a_215^post91, x_SLAM_f_18^0'=x_SLAM_f_18^post91, result_11^0'=result_11^post91, head_129^0'=head_129^post91, len_183^0'=len_183^post91, (0 == 0 /\ a_184^0-a_184^post91 == 0 /\ -head_14^post91+head_14^0 == 0 /\ temp0_15^0-temp0_15^post91 == 0 /\ i_108^0-i_108^post91 == 0 /\ -ct_17^post91+ct_17^0 == 0 /\ a_147^0-a_116^post91 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 == 0 /\ f_170^0-f_170^post91 == 0 /\ i_30^0-i_30^post91 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_23^post91+t_23^0 == 0 /\ r_39^0-r_39^post91 == 0 /\ x_20^0-x_20^post91 == 0 /\ head_175^0-head_175^post91 == 0 /\ temp0_31^0-temp0_31^post91 == 0 /\ -a_215^post91+a_215^0 == 0 /\ -a_147^0+a_116^post91 <= 0 /\ a_147^0-a_147^post91 == 0 /\ y_19^0-y_19^post91 == 0 /\ -x_SLAM_f_18^post91+x_SLAM_f_18^0 == 0 /\ head_32^0-head_32^post91 == 0 /\ -len_132^post91+len_132^0 == 0 /\ -i_167^post91+i_167^0 == 0 /\ -rcd_58^post91+rcd_58^0 == 0 /\ -head_129^post91+head_129^0 == 0 /\ -a_260^post91+a_260^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post91 == 0 /\ -head_27^post91+head_27^0 == 0 /\ -temp_35^post91+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post91 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ r_163^0-r_163^post91 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ -len_183^post91+len_183^0 == 0 /\ -i_94^post91+i_94^0 == 0 /\ -x_16^post91+x_16^0 == 0 /\ -r_124^post91+r_124^0 == 0 /\ tmp_34^0-tmp_34^post91 == 0 /\ -result_11^post91+result_11^0 == 0 /\ length_29^0-length_29^post91 == 0 /\ -a_237^post91+a_237^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0), cost: 1 92: l61 -> l62 : a_116^0'=a_116^post92, tmp_34^0'=tmp_34^post92, head_SLAM_f_26^0'=head_SLAM_f_26^post92, r_39^0'=r_39^post92, a_260^0'=a_260^post92, i_30^0'=i_30^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, temp0_15^0'=temp0_15^post92, head_175^0'=head_175^post92, nondet_12^0'=nondet_12^post92, a_184^0'=a_184^post92, x_20^0'=x_20^post92, rcd_88^0'=rcd_88^post92, f_170^0'=f_170^post92, len_132^0'=len_132^post92, temp_35^0'=temp_35^post92, head_32^0'=head_32^post92, r_163^0'=r_163^post92, a_237^0'=a_237^post92, y_19^0'=y_19^post92, i_167^0'=i_167^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, head_14^0'=head_14^post92, length_29^0'=length_29^post92, a_147^0'=a_147^post92, x_16^0'=x_16^post92, i_108^0'=i_108^post92, rcd_58^0'=rcd_58^post92, ct_17^0'=ct_17^post92, i_94^0'=i_94^post92, t_23^0'=t_23^post92, temp0_31^0'=temp0_31^post92, head_27^0'=head_27^post92, r_124^0'=r_124^post92, a_215^0'=a_215^post92, x_SLAM_f_18^0'=x_SLAM_f_18^post92, result_11^0'=result_11^post92, head_129^0'=head_129^post92, len_183^0'=len_183^post92, (f_170^0-f_170^post92 == 0 /\ -i_167^post92+i_167^0 == 0 /\ -r_163^post92+r_163^0 == 0 /\ a_184^0-a_184^post92 == 0 /\ -head_14^post92+head_14^0 == 0 /\ tmp_34^0-tmp_34^post92 == 0 /\ -ct_17^post92+ct_17^0 == 0 /\ x_20^0-x_20^post92 == 0 /\ a_260^0-a_260^post92 == 0 /\ -a_215^post92+a_215^0 == 0 /\ -temp0_31^post92+temp0_31^0 == 0 /\ length_29^0-length_29^post92 == 0 /\ -y_19^post92+y_19^0 == 0 /\ -head_129^post92+head_129^0 == 0 /\ -rcd_58^post92+rcd_58^0 == 0 /\ 1-head_14^0 <= 0 /\ -a_147^post92+a_147^0 == 0 /\ -len_183^post92+len_183^0 == 0 /\ a_237^0-a_237^post92 == 0 /\ -x_SLAM_f_18^post92+x_SLAM_f_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post92 == 0 /\ i_94^0-i_94^post92 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ -t_23^post92+t_23^0 == 0 /\ temp0_15^0-temp0_15^post92 == 0 /\ nondet_12^0-nondet_12^post92 == 0 /\ i_108^0-i_108^post92 == 0 /\ -r_39^post92+r_39^0 == 0 /\ -len_132^post92+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post92 == 0 /\ -result_11^post92+result_11^0 == 0 /\ rcd_88^0-rcd_88^post92 == 0 /\ -head_27^post92+head_27^0 == 0 /\ -x_16^post92+x_16^0 == 0 /\ i_30^0-i_30^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ a_116^0-a_116^post92 == 0 /\ head_175^0-head_175^post92 == 0 /\ -r_124^post92+r_124^0 == 0 /\ head_32^0-head_32^post92 == 0), cost: 1 93: l61 -> l62 : a_116^0'=a_116^post93, tmp_34^0'=tmp_34^post93, head_SLAM_f_26^0'=head_SLAM_f_26^post93, r_39^0'=r_39^post93, a_260^0'=a_260^post93, i_30^0'=i_30^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, temp0_15^0'=temp0_15^post93, head_175^0'=head_175^post93, nondet_12^0'=nondet_12^post93, a_184^0'=a_184^post93, x_20^0'=x_20^post93, rcd_88^0'=rcd_88^post93, f_170^0'=f_170^post93, len_132^0'=len_132^post93, temp_35^0'=temp_35^post93, head_32^0'=head_32^post93, r_163^0'=r_163^post93, a_237^0'=a_237^post93, y_19^0'=y_19^post93, i_167^0'=i_167^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, head_14^0'=head_14^post93, length_29^0'=length_29^post93, a_147^0'=a_147^post93, x_16^0'=x_16^post93, i_108^0'=i_108^post93, rcd_58^0'=rcd_58^post93, ct_17^0'=ct_17^post93, i_94^0'=i_94^post93, t_23^0'=t_23^post93, temp0_31^0'=temp0_31^post93, head_27^0'=head_27^post93, r_124^0'=r_124^post93, a_215^0'=a_215^post93, x_SLAM_f_18^0'=x_SLAM_f_18^post93, result_11^0'=result_11^post93, head_129^0'=head_129^post93, len_183^0'=len_183^post93, (-head_129^post93+head_129^0 == 0 /\ a_237^0-a_237^post93 == 0 /\ tmp_34^0-tmp_34^post93 == 0 /\ -len_183^post93+len_183^0 == 0 /\ -rcd_58^post93+rcd_58^0 == 0 /\ head_32^0-head_32^post93 == 0 /\ a_116^0-a_116^post93 == 0 /\ -head_27^post93+head_27^0 == 0 /\ temp0_31^0-temp0_31^post93 == 0 /\ -r_124^post93+r_124^0 == 0 /\ length_29^0-length_29^post93 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ a_260^0-a_260^post93 == 0 /\ -temp_35^post93+temp_35^0 == 0 /\ temp0_15^0-temp0_15^post93 == 0 /\ -x_16^post93+x_16^0 == 0 /\ head_175^0-head_175^post93 == 0 /\ -head_14^post93+head_14^0 == 0 /\ len_132^0-len_132^post93 == 0 /\ -result_11^post93+result_11^0 == 0 /\ x_20^0-x_20^post93 == 0 /\ -a_215^post93+a_215^0 == 0 /\ -i_94^post93+i_94^0 == 0 /\ 1+head_14^0 <= 0 /\ y_19^0-y_19^post93 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_167^post93+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post93 == 0 /\ -x_SLAM_f_18^post93+x_SLAM_f_18^0 == 0 /\ -a_147^post93+a_147^0 == 0 /\ f_170^0-f_170^post93 == 0 /\ rcd_88^0-rcd_88^post93 == 0 /\ i_30^0-i_30^post93 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 == 0 /\ -t_23^post93+t_23^0 == 0 /\ r_163^0-r_163^post93 == 0 /\ -i_108^post93+i_108^0 == 0 /\ a_184^0-a_184^post93 == 0 /\ r_39^0-r_39^post93 == 0 /\ -ct_17^post93+ct_17^0 == 0), cost: 1 94: l62 -> l41 : a_116^0'=a_116^post94, tmp_34^0'=tmp_34^post94, head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, a_260^0'=a_260^post94, i_30^0'=i_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, temp0_15^0'=temp0_15^post94, head_175^0'=head_175^post94, nondet_12^0'=nondet_12^post94, a_184^0'=a_184^post94, x_20^0'=x_20^post94, rcd_88^0'=rcd_88^post94, f_170^0'=f_170^post94, len_132^0'=len_132^post94, temp_35^0'=temp_35^post94, head_32^0'=head_32^post94, r_163^0'=r_163^post94, a_237^0'=a_237^post94, y_19^0'=y_19^post94, i_167^0'=i_167^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, head_14^0'=head_14^post94, length_29^0'=length_29^post94, a_147^0'=a_147^post94, x_16^0'=x_16^post94, i_108^0'=i_108^post94, rcd_58^0'=rcd_58^post94, ct_17^0'=ct_17^post94, i_94^0'=i_94^post94, t_23^0'=t_23^post94, temp0_31^0'=temp0_31^post94, head_27^0'=head_27^post94, r_124^0'=r_124^post94, a_215^0'=a_215^post94, x_SLAM_f_18^0'=x_SLAM_f_18^post94, result_11^0'=result_11^post94, head_129^0'=head_129^post94, len_183^0'=len_183^post94, (0 == 0 /\ -head_27^post94+head_27^0 == 0 /\ r_39^0-r_39^post94 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ -rcd_58^post94+rcd_58^0 == 0 /\ -x_SLAM_f_18^post94+x_SLAM_f_18^0 == 0 /\ -len_132^post94+len_132^0 == 0 /\ -y_19^post94+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_108^0 <= 0 /\ -head_129^post94+head_129^0 == 0 /\ x_16^0-x_16^post94 == 0 /\ a_116^0-a_116^post94 == 0 /\ -x_20^post94+x_20^0 == 0 /\ head_32^0-head_32^post94 == 0 /\ -result_11^post94+result_11^0 == 0 /\ 1+a_116^0-i_108^post94 <= 0 /\ temp_35^0-temp_35^post94 == 0 /\ f_170^0-f_170^post94 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post94 == 0 /\ -i_94^post94+i_94^0 == 0 /\ -r_124^post94+r_124^0 == 0 /\ i_30^0-i_30^post94 == 0 /\ a_184^0-a_184^post94 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_88^0-rcd_88^post94 == 0 /\ tmp_34^0-tmp_34^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ -r_163^post94+r_163^0 == 0 /\ head_175^0-head_175^post94 == 0 /\ a_237^0-a_237^post94 == 0 /\ -head_14^post94+head_14^0 == 0 /\ -length_29^post94+length_29^0 == 0 /\ -ct_17^post94+ct_17^0 == 0 /\ -a_215^post94+a_215^0 == 0 /\ -t_23^post94+t_23^0 == 0 /\ -1-a_116^0+i_108^post94 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 == 0 /\ a_260^0-a_260^post94 == 0 /\ temp0_15^0-temp0_15^post94 == 0 /\ -len_183^post94+len_183^0 == 0 /\ -i_167^post94+i_167^0 == 0 /\ nondet_12^0-nondet_12^post94 == 0 /\ -a_147^post94+a_147^0 == 0), cost: 1 96: l63 -> l64 : a_116^0'=a_116^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, r_39^0'=r_39^post96, a_260^0'=a_260^post96, i_30^0'=i_30^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, temp0_15^0'=temp0_15^post96, head_175^0'=head_175^post96, nondet_12^0'=nondet_12^post96, a_184^0'=a_184^post96, x_20^0'=x_20^post96, rcd_88^0'=rcd_88^post96, f_170^0'=f_170^post96, len_132^0'=len_132^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_163^0'=r_163^post96, a_237^0'=a_237^post96, y_19^0'=y_19^post96, i_167^0'=i_167^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_14^0'=head_14^post96, length_29^0'=length_29^post96, a_147^0'=a_147^post96, x_16^0'=x_16^post96, i_108^0'=i_108^post96, rcd_58^0'=rcd_58^post96, ct_17^0'=ct_17^post96, i_94^0'=i_94^post96, t_23^0'=t_23^post96, temp0_31^0'=temp0_31^post96, head_27^0'=head_27^post96, r_124^0'=r_124^post96, a_215^0'=a_215^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, result_11^0'=result_11^post96, head_129^0'=head_129^post96, len_183^0'=len_183^post96, (length_29^0-length_29^post96 == 0 /\ a_116^0-a_116^post96 == 0 /\ -i_94^post96+i_94^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ head_175^0-head_175^post96 == 0 /\ -t_23^post96+t_23^0 == 0 /\ a_184^0-a_184^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ a_237^0-a_237^post96 == 0 /\ r_39^0-r_39^post96 == 0 /\ -x_16^post96+x_16^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ x_20^0-x_20^post96 == 0 /\ -ct_17^post96+ct_17^0 == 0 /\ -len_132^post96+len_132^0 == 0 /\ -head_27^post96+head_27^0 == 0 /\ 1-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post96 == 0 /\ -r_124^post96+r_124^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_167^post96+i_167^0 == 0 /\ -len_183^post96+len_183^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ -head_14^post96+head_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -head_129^post96+head_129^0 == 0 /\ head_32^0-head_32^post96 == 0 /\ r_163^0-r_163^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ -a_215^post96+a_215^0 == 0 /\ a_260^0-a_260^post96 == 0 /\ temp0_15^0-temp0_15^post96 == 0 /\ i_108^0-i_108^post96 == 0), cost: 1 97: l63 -> l64 : a_116^0'=a_116^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, r_39^0'=r_39^post97, a_260^0'=a_260^post97, i_30^0'=i_30^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, temp0_15^0'=temp0_15^post97, head_175^0'=head_175^post97, nondet_12^0'=nondet_12^post97, a_184^0'=a_184^post97, x_20^0'=x_20^post97, rcd_88^0'=rcd_88^post97, f_170^0'=f_170^post97, len_132^0'=len_132^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_163^0'=r_163^post97, a_237^0'=a_237^post97, y_19^0'=y_19^post97, i_167^0'=i_167^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_14^0'=head_14^post97, length_29^0'=length_29^post97, a_147^0'=a_147^post97, x_16^0'=x_16^post97, i_108^0'=i_108^post97, rcd_58^0'=rcd_58^post97, ct_17^0'=ct_17^post97, i_94^0'=i_94^post97, t_23^0'=t_23^post97, temp0_31^0'=temp0_31^post97, head_27^0'=head_27^post97, r_124^0'=r_124^post97, a_215^0'=a_215^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, result_11^0'=result_11^post97, head_129^0'=head_129^post97, len_183^0'=len_183^post97, (-temp0_31^post97+temp0_31^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ a_260^0-a_260^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ x_16^0-x_16^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -f_170^post97+f_170^0 == 0 /\ -a_147^post97+a_147^0 == 0 /\ -a_215^post97+a_215^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ -x_20^post97+x_20^0 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -r_163^post97+r_163^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ r_124^0-r_124^post97 == 0 /\ -ct_17^post97+ct_17^0 == 0 /\ a_116^0-a_116^post97 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ a_184^0-a_184^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ i_108^0-i_108^post97 == 0 /\ head_14^0-head_14^post97 == 0 /\ -y_19^post97+y_19^0 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ 1+head_14^0 <= 0 /\ -len_183^post97+len_183^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -head_27^post97+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ nondet_12^0-nondet_12^post97 == 0 /\ tmp_34^0-tmp_34^post97 == 0 /\ a_237^0-a_237^post97 == 0 /\ i_94^0-i_94^post97 == 0 /\ temp0_15^0-temp0_15^post97 == 0 /\ -head_129^post97+head_129^0 == 0 /\ -length_29^post97+length_29^0 == 0), cost: 1 98: l64 -> l41 : a_116^0'=a_116^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, r_39^0'=r_39^post98, a_260^0'=a_260^post98, i_30^0'=i_30^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, temp0_15^0'=temp0_15^post98, head_175^0'=head_175^post98, nondet_12^0'=nondet_12^post98, a_184^0'=a_184^post98, x_20^0'=x_20^post98, rcd_88^0'=rcd_88^post98, f_170^0'=f_170^post98, len_132^0'=len_132^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_163^0'=r_163^post98, a_237^0'=a_237^post98, y_19^0'=y_19^post98, i_167^0'=i_167^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_14^0'=head_14^post98, length_29^0'=length_29^post98, a_147^0'=a_147^post98, x_16^0'=x_16^post98, i_108^0'=i_108^post98, rcd_58^0'=rcd_58^post98, ct_17^0'=ct_17^post98, i_94^0'=i_94^post98, t_23^0'=t_23^post98, temp0_31^0'=temp0_31^post98, head_27^0'=head_27^post98, r_124^0'=r_124^post98, a_215^0'=a_215^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, result_11^0'=result_11^post98, head_129^0'=head_129^post98, len_183^0'=len_183^post98, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^post98+i_167^0 == 0 /\ -r_163^post98+r_163^0 == 0 /\ temp0_15^0-temp0_15^post98 == 0 /\ x_20^0-x_20^post98 == 0 /\ -i_108^post98+i_108^0 == 0 /\ -head_129^post98+head_129^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ rcd_88^0-rcd_88^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -a_215^post98+a_215^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post98 == 0 /\ a_184^0-a_184^post98 == 0 /\ a_116^0-a_116^post98 == 0 /\ i_30^0-i_30^post98 == 0 /\ a_237^0-a_237^post98 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ -len_183^post98+len_183^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post98+a_147^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -x_16^post98+x_16^0 == 0 /\ tmp_34^0-tmp_34^post98 == 0 /\ -t_23^post98+t_23^0 == 0 /\ -len_132^post98+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -i_94^post98+i_94^0 == 0 /\ head_175^0-head_175^post98 == 0 /\ -a_260^post98+a_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ head_14^0-head_14^post98 == 0 /\ -head_27^post98+head_27^0 == 0), cost: 1 100: l65 -> l38 : a_116^0'=a_116^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, r_39^0'=r_39^post100, a_260^0'=a_260^post100, i_30^0'=i_30^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, temp0_15^0'=temp0_15^post100, head_175^0'=head_175^post100, nondet_12^0'=nondet_12^post100, a_184^0'=a_184^post100, x_20^0'=x_20^post100, rcd_88^0'=rcd_88^post100, f_170^0'=f_170^post100, len_132^0'=len_132^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_163^0'=r_163^post100, a_237^0'=a_237^post100, y_19^0'=y_19^post100, i_167^0'=i_167^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_14^0'=head_14^post100, length_29^0'=length_29^post100, a_147^0'=a_147^post100, x_16^0'=x_16^post100, i_108^0'=i_108^post100, rcd_58^0'=rcd_58^post100, ct_17^0'=ct_17^post100, i_94^0'=i_94^post100, t_23^0'=t_23^post100, temp0_31^0'=temp0_31^post100, head_27^0'=head_27^post100, r_124^0'=r_124^post100, a_215^0'=a_215^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, result_11^0'=result_11^post100, head_129^0'=head_129^post100, len_183^0'=len_183^post100, (-y_19^post100+y_19^0 == 0 /\ tmp_34^0-tmp_34^post100 == 0 /\ -head_27^post100+head_27^0 == 0 /\ -len_183^post100+len_183^0 == 0 /\ -r_124^post100+r_124^0 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_260^0-a_260^post100 == 0 /\ temp0_15^0-temp0_15^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ x_20^0-x_20^post100 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ a_237^0-a_237^post100 == 0 /\ -length_29^post100+length_29^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ head_32^0-head_32^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -a_215^post100+a_215^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ -a_147^post100+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -i_108^post100+i_108^0 == 0 /\ r_39^0-r_39^post100 == 0 /\ -r_163^post100+r_163^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ -t_23^post100+t_23^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ a_184^0-a_184^post100 == 0 /\ -ct_17^post100+ct_17^0 == 0), cost: 1 103: l66 -> l39 : a_116^0'=a_116^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_26^0'=head_SLAM_f_26^post103, r_39^0'=r_39^post103, a_260^0'=a_260^post103, i_30^0'=i_30^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, temp0_15^0'=temp0_15^post103, head_175^0'=head_175^post103, nondet_12^0'=nondet_12^post103, a_184^0'=a_184^post103, x_20^0'=x_20^post103, rcd_88^0'=rcd_88^post103, f_170^0'=f_170^post103, len_132^0'=len_132^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_163^0'=r_163^post103, a_237^0'=a_237^post103, y_19^0'=y_19^post103, i_167^0'=i_167^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, head_14^0'=head_14^post103, length_29^0'=length_29^post103, a_147^0'=a_147^post103, x_16^0'=x_16^post103, i_108^0'=i_108^post103, rcd_58^0'=rcd_58^post103, ct_17^0'=ct_17^post103, i_94^0'=i_94^post103, t_23^0'=t_23^post103, temp0_31^0'=temp0_31^post103, head_27^0'=head_27^post103, r_124^0'=r_124^post103, a_215^0'=a_215^post103, x_SLAM_f_18^0'=x_SLAM_f_18^post103, result_11^0'=result_11^post103, head_129^0'=head_129^post103, len_183^0'=len_183^post103, (-i_94^post103+i_94^0 == 0 /\ -x_16^post103+x_16^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ -a_215^post103+a_215^0 == 0 /\ -result_11^post103+result_11^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ a_184^0-a_184^post103 == 0 /\ -len_132^post103+len_132^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ y_19^0-y_19^post103 == 0 /\ a_147^0-a_147^post103 == 0 /\ x_20^0-x_20^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -head_27^post103+head_27^0 == 0 /\ -x_SLAM_f_18^post103+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post103 == 0 /\ -ct_17^post103+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post103 == 0 /\ -i_108^post103+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post103 == 0 /\ length_29^0-length_29^post103 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post103+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post103 == 0 /\ -r_124^post103+r_124^0 == 0 /\ r_163^0-r_163^post103 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ head_175^0-head_175^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ f_170^0-f_170^post103 == 0 /\ -head_14^post103+head_14^0 == 0 /\ -head_129^post103+head_129^0 == 0 /\ -a_237^post103+a_237^0 == 0 /\ tmp_34^0-tmp_34^post103 == 0 /\ i_167^0-i_167^post103 == 0 /\ -len_183^post103+len_183^0 == 0 /\ -temp_35^post103+temp_35^0 == 0), cost: 1 Removed unreachable rules and leafs Start location: l66 1: l0 -> l3 : a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, r_39^0'=r_39^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, temp0_15^0'=temp0_15^post1, head_175^0'=head_175^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, rcd_88^0'=rcd_88^post1, f_170^0'=f_170^post1, len_132^0'=len_132^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_163^0'=r_163^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, i_167^0'=i_167^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, head_14^0'=head_14^post1, length_29^0'=length_29^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, i_108^0'=i_108^post1, rcd_58^0'=rcd_58^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, head_27^0'=head_27^post1, r_124^0'=r_124^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, result_11^0'=result_11^post1, head_129^0'=head_129^post1, len_183^0'=len_183^post1, (0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ length_29^0-length_29^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -a_147^post1+a_147^0 == 0 /\ a_260^0-a_260^post1 == 0 /\ a_184^0-a_184^post1 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ f_170^0-f_170^post1 == 0 /\ x_20^0-x_20^post1 == 0 /\ tmp_34^0-tmp_34^post1 == 0 /\ -len_132^post1+len_132^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -len_183^post1+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -a_237^0 <= 0 /\ -i_167^post1+i_167^0 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ head_32^0-head_32^post1 == 0 /\ y_19^0-y_19^post1 == 0 /\ r_163^0-r_163^post1 == 0 /\ a_116^0-a_116^post1 == 0 /\ -a_215^post1+a_215^0 == 0 /\ temp0_15^0-temp0_15^post1 == 0 /\ i_108^0-i_108^post1 == 0 /\ -head_129^post1+head_129^0 == 0), cost: 1 2: l3 -> l4 : a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, r_39^0'=r_39^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, temp0_15^0'=temp0_15^post2, head_175^0'=head_175^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, rcd_88^0'=rcd_88^post2, f_170^0'=f_170^post2, len_132^0'=len_132^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_163^0'=r_163^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, i_167^0'=i_167^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, head_14^0'=head_14^post2, length_29^0'=length_29^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, i_108^0'=i_108^post2, rcd_58^0'=rcd_58^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, head_27^0'=head_27^post2, r_124^0'=r_124^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, result_11^0'=result_11^post2, head_129^0'=head_129^post2, len_183^0'=len_183^post2, (a_260^0-a_260^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -a_215^post2+a_215^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ len_132^0-len_132^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ head_175^0-head_175^post2 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ y_19^0-y_19^post2 == 0 /\ a_147^0-a_147^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -x_SLAM_f_18^post2+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ i_108^0-i_108^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_129^post2+head_129^0 == 0 /\ a_184^0-a_184^post2 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -len_183^post2+len_183^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ length_29^0-length_29^post2 == 0), cost: 1 3: l3 -> l4 : a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, r_39^0'=r_39^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, temp0_15^0'=temp0_15^post3, head_175^0'=head_175^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, rcd_88^0'=rcd_88^post3, f_170^0'=f_170^post3, len_132^0'=len_132^post3, temp_35^0'=temp_35^post3, head_32^0'=head_32^post3, r_163^0'=r_163^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, i_167^0'=i_167^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, head_14^0'=head_14^post3, length_29^0'=length_29^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, i_108^0'=i_108^post3, rcd_58^0'=rcd_58^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, head_27^0'=head_27^post3, r_124^0'=r_124^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, result_11^0'=result_11^post3, head_129^0'=head_129^post3, len_183^0'=len_183^post3, (1+x_20^0-y_19^0 <= 0 /\ -i_167^post3+i_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ f_170^0-f_170^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ x_20^0-x_20^post3 == 0 /\ i_108^0-i_108^post3 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -y_19^post3+y_19^0 == 0 /\ a_116^0-a_116^post3 == 0 /\ -head_14^post3+head_14^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -head_129^post3+head_129^0 == 0 /\ length_29^0-length_29^post3 == 0 /\ i_30^0-i_30^post3 == 0 /\ a_237^0-a_237^post3 == 0 /\ -rcd_58^post3+rcd_58^0 == 0 /\ r_39^0-r_39^post3 == 0 /\ -len_183^post3+len_183^0 == 0 /\ head_32^0-head_32^post3 == 0 /\ temp_35^0-temp_35^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -a_215^post3+a_215^0 == 0 /\ -a_147^post3+a_147^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ result_11^0-result_11^post3 == 0 /\ -t_23^post3+t_23^0 == 0 /\ -x_SLAM_f_18^post3+x_SLAM_f_18^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -len_132^post3+len_132^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_260^post3+a_260^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -head_27^post3+head_27^0 == 0), cost: 1 4: l4 -> l5 : a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, r_39^0'=r_39^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, temp0_15^0'=temp0_15^post4, head_175^0'=head_175^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, rcd_88^0'=rcd_88^post4, f_170^0'=f_170^post4, len_132^0'=len_132^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_163^0'=r_163^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, i_167^0'=i_167^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, head_14^0'=head_14^post4, length_29^0'=length_29^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, i_108^0'=i_108^post4, rcd_58^0'=rcd_58^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, head_27^0'=head_27^post4, r_124^0'=r_124^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, result_11^0'=result_11^post4, head_129^0'=head_129^post4, len_183^0'=len_183^post4, (0 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -1+a_237^0-a_260^post4 <= 0 /\ -head_27^post4+head_27^0 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -head_129^post4+head_129^0 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -len_183^post4+len_183^0 == 0 /\ -ct_17^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -temp_35^post4+temp_35^0 == 0 /\ x_20^0-x_20^post4 == 0 /\ head_175^0-head_175^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ len_132^0-len_132^post4 == 0 /\ y_19^0 <= 0 /\ -a_215^post4+a_215^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ 1-a_237^0+a_260^post4 <= 0 /\ -result_11^post4+result_11^0 == 0 /\ -x_16^post4+x_16^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -y_19^0 <= 0 /\ -a_147^post4+a_147^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ i_94^0-i_94^post4 == 0 /\ ct_17^0 <= 0 /\ a_116^0-a_116^post4 == 0 /\ -x_SLAM_f_18^post4+x_SLAM_f_18^0 == 0 /\ -x_20^0+t_23^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post4+i_167^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ f_170^0-f_170^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ r_163^0-r_163^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ i_30^0-i_30^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ a_184^0-a_184^post4 == 0), cost: 1 5: l5 -> l6 : a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, r_39^0'=r_39^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, temp0_15^0'=temp0_15^post5, head_175^0'=head_175^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, rcd_88^0'=rcd_88^post5, f_170^0'=f_170^post5, len_132^0'=len_132^post5, temp_35^0'=temp_35^post5, head_32^0'=head_32^post5, r_163^0'=r_163^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, i_167^0'=i_167^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, head_14^0'=head_14^post5, length_29^0'=length_29^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, i_108^0'=i_108^post5, rcd_58^0'=rcd_58^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, head_27^0'=head_27^post5, r_124^0'=r_124^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, result_11^0'=result_11^post5, head_129^0'=head_129^post5, len_183^0'=len_183^post5, (r_39^0-r_39^post5 == 0 /\ head_175^0-head_175^post5 == 0 /\ a_116^0-a_116^post5 == 0 /\ -x_20^post5+x_20^0 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ length_29^0-length_29^post5 == 0 /\ -a_147^post5+a_147^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ -head_129^post5+head_129^0 == 0 /\ a_237^0-a_237^post5 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -x_SLAM_f_18^post5+x_SLAM_f_18^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ i_30^0-i_30^post5 == 0 /\ -i_94^post5+i_94^0 == 0 /\ 1-head_14^0 <= 0 /\ a_184^0-a_184^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -len_183^post5+len_183^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ r_163^0-r_163^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -a_215^post5+a_215^0 == 0 /\ i_108^0-i_108^post5 == 0), cost: 1 6: l5 -> l6 : a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, r_39^0'=r_39^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, temp0_15^0'=temp0_15^post6, head_175^0'=head_175^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, rcd_88^0'=rcd_88^post6, f_170^0'=f_170^post6, len_132^0'=len_132^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_163^0'=r_163^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, i_167^0'=i_167^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, head_14^0'=head_14^post6, length_29^0'=length_29^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, i_108^0'=i_108^post6, rcd_58^0'=rcd_58^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, head_27^0'=head_27^post6, r_124^0'=r_124^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, result_11^0'=result_11^post6, head_129^0'=head_129^post6, len_183^0'=len_183^post6, (head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ -len_132^post6+len_132^0 == 0 /\ -x_SLAM_f_18^post6+x_SLAM_f_18^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ r_124^0-r_124^post6 == 0 /\ a_116^0-a_116^post6 == 0 /\ t_23^0-t_23^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ -len_183^post6+len_183^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ head_14^0-head_14^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ -a_260^post6+a_260^0 == 0 /\ -i_167^post6+i_167^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ 1+head_14^0 <= 0 /\ r_39^0-r_39^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -length_29^post6+length_29^0 == 0 /\ -head_129^post6+head_129^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ temp0_15^0-temp0_15^post6 == 0), cost: 1 7: l6 -> l7 : a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, r_39^0'=r_39^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, temp0_15^0'=temp0_15^post7, head_175^0'=head_175^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, rcd_88^0'=rcd_88^post7, f_170^0'=f_170^post7, len_132^0'=len_132^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_163^0'=r_163^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, i_167^0'=i_167^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, head_14^0'=head_14^post7, length_29^0'=length_29^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, i_108^0'=i_108^post7, rcd_58^0'=rcd_58^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, head_27^0'=head_27^post7, r_124^0'=r_124^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, result_11^0'=result_11^post7, head_129^0'=head_129^post7, len_183^0'=len_183^post7, (f_170^0-f_170^post7 == 0 /\ -i_167^post7+i_167^0 == 0 /\ temp0_15^0-temp0_15^post7 == 0 /\ -r_163^post7+r_163^0 == 0 /\ -a_215^post7+a_215^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ a_184^0-a_184^post7 == 0 /\ x_20^0-x_20^post7 == 0 /\ rcd_88^0-rcd_88^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ -len_183^post7+len_183^0 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -x_SLAM_f_18^post7+x_SLAM_f_18^0 == 0 /\ -a_147^post7+a_147^0 == 0 /\ length_29^0-length_29^post7 == 0 /\ a_237^0-a_237^post7 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ r_124^0-r_124^post7 == 0 /\ -len_132^post7+len_132^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -a_260^post7+a_260^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ head_175^0-head_175^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_16^post7+x_16^0 == 0 /\ head_129^0-head_129^post7 == 0 /\ head_14^0-head_14^post7 == 0 /\ -head_27^post7+head_27^0 == 0 /\ head_32^0-head_32^post7 == 0), cost: 1 8: l6 -> l7 : a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, r_39^0'=r_39^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, temp0_15^0'=temp0_15^post8, head_175^0'=head_175^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, rcd_88^0'=rcd_88^post8, f_170^0'=f_170^post8, len_132^0'=len_132^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_163^0'=r_163^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, i_167^0'=i_167^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, head_14^0'=head_14^post8, length_29^0'=length_29^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, i_108^0'=i_108^post8, rcd_58^0'=rcd_58^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, head_27^0'=head_27^post8, r_124^0'=r_124^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, result_11^0'=result_11^post8, head_129^0'=head_129^post8, len_183^0'=len_183^post8, (temp_35^0-temp_35^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ -r_163^post8+r_163^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ t_23^0-t_23^post8 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ i_167^0-i_167^post8 == 0 /\ -head_129^post8+head_129^0 == 0 /\ -y_19^post8+y_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ len_132^0-len_132^post8 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ -f_170^post8+f_170^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ -a_215^post8+a_215^0 == 0 /\ head_32^0-head_32^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -x_SLAM_f_18^post8+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -head_175^post8+head_175^0 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -x_20^post8+x_20^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ a_237^0-a_237^post8 == 0 /\ -i_108^post8+i_108^0 == 0), cost: 1 9: l7 -> l8 : a_116^0'=a_116^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, r_39^0'=r_39^post9, a_260^0'=a_260^post9, i_30^0'=i_30^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, temp0_15^0'=temp0_15^post9, head_175^0'=head_175^post9, nondet_12^0'=nondet_12^post9, a_184^0'=a_184^post9, x_20^0'=x_20^post9, rcd_88^0'=rcd_88^post9, f_170^0'=f_170^post9, len_132^0'=len_132^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_163^0'=r_163^post9, a_237^0'=a_237^post9, y_19^0'=y_19^post9, i_167^0'=i_167^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, head_14^0'=head_14^post9, length_29^0'=length_29^post9, a_147^0'=a_147^post9, x_16^0'=x_16^post9, i_108^0'=i_108^post9, rcd_58^0'=rcd_58^post9, ct_17^0'=ct_17^post9, i_94^0'=i_94^post9, t_23^0'=t_23^post9, temp0_31^0'=temp0_31^post9, head_27^0'=head_27^post9, r_124^0'=r_124^post9, a_215^0'=a_215^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, result_11^0'=result_11^post9, head_129^0'=head_129^post9, len_183^0'=len_183^post9, (-y_19^post9+y_19^0 == 0 /\ -head_27^post9+head_27^0 == 0 /\ -head_129^post9+head_129^0 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_132^post9+len_132^0 == 0 /\ -r_124^post9+r_124^0 == 0 /\ -len_183^post9+len_183^0 == 0 /\ a_116^0-a_116^post9 == 0 /\ rcd_58^0-rcd_58^post9 == 0 /\ -x_20^post9+x_20^0 == 0 /\ -a_237^post9+a_237^0 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ f_170^0-f_170^post9 == 0 /\ i_167^0-i_167^post9 == 0 /\ r_39^0-r_39^post9 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ i_30^0-i_30^post9 == 0 /\ a_184^0-a_184^post9 == 0 /\ rcd_88^0-rcd_88^post9 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post9 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -result_11^post9+result_11^0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9 == 0 /\ -length_29^post9+length_29^0 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ x_16^0-x_16^post9 == 0 /\ -i_94^post9+i_94^0 == 0 /\ ct_17^0-ct_17^post9 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -r_163^post9+r_163^0 == 0 /\ -a_147^post9+a_147^0 == 0 /\ temp0_15^0-temp0_15^post9 == 0 /\ a_260^0-a_260^post9 == 0 /\ head_14^0-head_14^post9 == 0 /\ -i_108^post9+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ head_175^0-head_175^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0), cost: 1 10: l7 -> l8 : a_116^0'=a_116^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, r_39^0'=r_39^post10, a_260^0'=a_260^post10, i_30^0'=i_30^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, temp0_15^0'=temp0_15^post10, head_175^0'=head_175^post10, nondet_12^0'=nondet_12^post10, a_184^0'=a_184^post10, x_20^0'=x_20^post10, rcd_88^0'=rcd_88^post10, f_170^0'=f_170^post10, len_132^0'=len_132^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_163^0'=r_163^post10, a_237^0'=a_237^post10, y_19^0'=y_19^post10, i_167^0'=i_167^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_14^0'=head_14^post10, length_29^0'=length_29^post10, a_147^0'=a_147^post10, x_16^0'=x_16^post10, i_108^0'=i_108^post10, rcd_58^0'=rcd_58^post10, ct_17^0'=ct_17^post10, i_94^0'=i_94^post10, t_23^0'=t_23^post10, temp0_31^0'=temp0_31^post10, head_27^0'=head_27^post10, r_124^0'=r_124^post10, a_215^0'=a_215^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_11^0'=result_11^post10, head_129^0'=head_129^post10, len_183^0'=len_183^post10, (-a_147^post10+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ x_16^0-x_16^post10 == 0 /\ r_124^0-r_124^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -len_132^post10+len_132^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ -head_129^post10+head_129^0 == 0 /\ -x_SLAM_f_18^post10+x_SLAM_f_18^0 == 0 /\ f_170^0-f_170^post10 == 0 /\ -ct_17^post10+ct_17^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ a_260^0-a_260^post10 == 0 /\ t_23^0-t_23^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ head_27^0-head_27^post10 == 0 /\ a_116^0-a_116^post10 == 0 /\ r_39^0-r_39^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -r_163^post10+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10 == 0 /\ -head_14^post10+head_14^0 == 0 /\ -i_167^post10+i_167^0 == 0 /\ a_237^0-a_237^post10 == 0 /\ -rcd_88^post10+rcd_88^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -len_183^post10+len_183^0 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ -length_29^post10+length_29^0 == 0 /\ a_184^0-a_184^post10 == 0 /\ i_94^0-i_94^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -y_19^post10+y_19^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1 11: l8 -> l2 : a_116^0'=a_116^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, r_39^0'=r_39^post11, a_260^0'=a_260^post11, i_30^0'=i_30^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, temp0_15^0'=temp0_15^post11, head_175^0'=head_175^post11, nondet_12^0'=nondet_12^post11, a_184^0'=a_184^post11, x_20^0'=x_20^post11, rcd_88^0'=rcd_88^post11, f_170^0'=f_170^post11, len_132^0'=len_132^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_163^0'=r_163^post11, a_237^0'=a_237^post11, y_19^0'=y_19^post11, i_167^0'=i_167^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_14^0'=head_14^post11, length_29^0'=length_29^post11, a_147^0'=a_147^post11, x_16^0'=x_16^post11, i_108^0'=i_108^post11, rcd_58^0'=rcd_58^post11, ct_17^0'=ct_17^post11, i_94^0'=i_94^post11, t_23^0'=t_23^post11, temp0_31^0'=temp0_31^post11, head_27^0'=head_27^post11, r_124^0'=r_124^post11, a_215^0'=a_215^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, result_11^0'=result_11^post11, head_129^0'=head_129^post11, len_183^0'=len_183^post11, (0 == 0 /\ i_30^0-i_30^post11 == 0 /\ head_14^0-head_14^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -t_23^post11+t_23^0 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -a_215^post11+a_215^0 == 0 /\ -result_11^post11+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ r_163^0-r_163^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ head_175^0-head_175^post11 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ a_260^0-a_260^post11 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -a_260^0+a_237^post11 <= 0 /\ x_16^0-x_16^post11 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -r_124^post11+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ len_132^0-len_132^post11 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -len_183^post11+len_183^0 == 0 /\ a_147^0-a_147^post11 == 0 /\ a_260^0-a_237^post11 <= 0 /\ ct_17^0-ct_17^post11 == 0 /\ -head_129^post11+head_129^0 == 0 /\ -y_19^post11+y_19^0 == 0 /\ -a_184^post11+a_184^0 == 0 /\ -length_29^post11+length_29^0 == 0 /\ a_116^0-a_116^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0), cost: 1 12: l2 -> l0 : a_116^0'=a_116^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, r_39^0'=r_39^post12, a_260^0'=a_260^post12, i_30^0'=i_30^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, temp0_15^0'=temp0_15^post12, head_175^0'=head_175^post12, nondet_12^0'=nondet_12^post12, a_184^0'=a_184^post12, x_20^0'=x_20^post12, rcd_88^0'=rcd_88^post12, f_170^0'=f_170^post12, len_132^0'=len_132^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_163^0'=r_163^post12, a_237^0'=a_237^post12, y_19^0'=y_19^post12, i_167^0'=i_167^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_14^0'=head_14^post12, length_29^0'=length_29^post12, a_147^0'=a_147^post12, x_16^0'=x_16^post12, i_108^0'=i_108^post12, rcd_58^0'=rcd_58^post12, ct_17^0'=ct_17^post12, i_94^0'=i_94^post12, t_23^0'=t_23^post12, temp0_31^0'=temp0_31^post12, head_27^0'=head_27^post12, r_124^0'=r_124^post12, a_215^0'=a_215^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, result_11^0'=result_11^post12, head_129^0'=head_129^post12, len_183^0'=len_183^post12, (-head_32^post12+head_32^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ -r_163^post12+r_163^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ a_260^0-a_260^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -length_29^post12+length_29^0 == 0 /\ -i_108^post12+i_108^0 == 0 /\ -len_183^post12+len_183^0 == 0 /\ len_132^0-len_132^post12 == 0 /\ -a_215^post12+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -f_170^post12+f_170^0 == 0 /\ -rcd_58^post12+rcd_58^0 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -a_147^post12+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -x_20^post12+x_20^0 == 0 /\ a_184^0-a_184^post12 == 0 /\ temp0_15^0-temp0_15^post12 == 0 /\ -head_129^post12+head_129^0 == 0 /\ a_116^0-a_116^post12 == 0 /\ -r_124^post12+r_124^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ ct_17^0-ct_17^post12 == 0 /\ a_237^0-a_237^post12 == 0 /\ -head_175^post12+head_175^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -head_27^post12+head_27^0 == 0), cost: 1 28: l18 -> l19 : a_116^0'=a_116^post28, tmp_34^0'=tmp_34^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, r_39^0'=r_39^post28, a_260^0'=a_260^post28, i_30^0'=i_30^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, temp0_15^0'=temp0_15^post28, head_175^0'=head_175^post28, nondet_12^0'=nondet_12^post28, a_184^0'=a_184^post28, x_20^0'=x_20^post28, rcd_88^0'=rcd_88^post28, f_170^0'=f_170^post28, len_132^0'=len_132^post28, temp_35^0'=temp_35^post28, head_32^0'=head_32^post28, r_163^0'=r_163^post28, a_237^0'=a_237^post28, y_19^0'=y_19^post28, i_167^0'=i_167^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_14^0'=head_14^post28, length_29^0'=length_29^post28, a_147^0'=a_147^post28, x_16^0'=x_16^post28, i_108^0'=i_108^post28, rcd_58^0'=rcd_58^post28, ct_17^0'=ct_17^post28, i_94^0'=i_94^post28, t_23^0'=t_23^post28, temp0_31^0'=temp0_31^post28, head_27^0'=head_27^post28, r_124^0'=r_124^post28, a_215^0'=a_215^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, result_11^0'=result_11^post28, head_129^0'=head_129^post28, len_183^0'=len_183^post28, (0 == 0 /\ -len_132^post28+len_132^0 == 0 /\ -head_27^post28+head_27^0 == 0 /\ r_39^0-r_39^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -head_129^post28+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_237^0-a_237^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_32^0-head_32^post28 == 0 /\ -len_183^post28+len_183^0 == 0 /\ a_116^0-a_116^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ a_260^0-a_260^post28 == 0 /\ -r_124^post28+r_124^0 == 0 /\ -result_11^post28+result_11^0 == 0 /\ temp0_15^0-temp0_15^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ x_20^0-x_20^post28 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ y_19^0-y_19^post28 == 0 /\ r_163^0-r_163^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ -a_215^post28+a_215^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_30^0-i_30^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ a_184^0-a_184^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -len_132^0 <= 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post28 == 0 /\ -a_147^post28+a_147^0 == 0), cost: 1 29: l19 -> l20 : a_116^0'=a_116^post29, tmp_34^0'=tmp_34^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, r_39^0'=r_39^post29, a_260^0'=a_260^post29, i_30^0'=i_30^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, temp0_15^0'=temp0_15^post29, head_175^0'=head_175^post29, nondet_12^0'=nondet_12^post29, a_184^0'=a_184^post29, x_20^0'=x_20^post29, rcd_88^0'=rcd_88^post29, f_170^0'=f_170^post29, len_132^0'=len_132^post29, temp_35^0'=temp_35^post29, head_32^0'=head_32^post29, r_163^0'=r_163^post29, a_237^0'=a_237^post29, y_19^0'=y_19^post29, i_167^0'=i_167^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_14^0'=head_14^post29, length_29^0'=length_29^post29, a_147^0'=a_147^post29, x_16^0'=x_16^post29, i_108^0'=i_108^post29, rcd_58^0'=rcd_58^post29, ct_17^0'=ct_17^post29, i_94^0'=i_94^post29, t_23^0'=t_23^post29, temp0_31^0'=temp0_31^post29, head_27^0'=head_27^post29, r_124^0'=r_124^post29, a_215^0'=a_215^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, result_11^0'=result_11^post29, head_129^0'=head_129^post29, len_183^0'=len_183^post29, (a_116^0-a_116^post29 == 0 /\ x_16^0-x_16^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ -a_147^post29+a_147^0 == 0 /\ -x_20^post29+x_20^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -x_SLAM_f_18^post29+x_SLAM_f_18^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ -len_132^post29+len_132^0 == 0 /\ r_39^0-r_39^post29 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ f_170^0-f_170^post29 == 0 /\ -ct_17^post29+ct_17^0 == 0 /\ -head_27^post29+head_27^0 == 0 /\ a_184^0-a_184^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ head_175^0-head_175^post29 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ i_30^0-i_30^post29 == 0 /\ a_237^0-a_237^post29 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -y_19^post29+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ -head_14^post29+head_14^0 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -head_129^post29+head_129^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_215^post29+a_215^0 == 0 /\ a_260^0-a_260^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post29 == 0 /\ i_108^0-i_108^post29 == 0 /\ -len_183^post29+len_183^0 == 0), cost: 1 30: l19 -> l20 : a_116^0'=a_116^post30, tmp_34^0'=tmp_34^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, r_39^0'=r_39^post30, a_260^0'=a_260^post30, i_30^0'=i_30^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, temp0_15^0'=temp0_15^post30, head_175^0'=head_175^post30, nondet_12^0'=nondet_12^post30, a_184^0'=a_184^post30, x_20^0'=x_20^post30, rcd_88^0'=rcd_88^post30, f_170^0'=f_170^post30, len_132^0'=len_132^post30, temp_35^0'=temp_35^post30, head_32^0'=head_32^post30, r_163^0'=r_163^post30, a_237^0'=a_237^post30, y_19^0'=y_19^post30, i_167^0'=i_167^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_14^0'=head_14^post30, length_29^0'=length_29^post30, a_147^0'=a_147^post30, x_16^0'=x_16^post30, i_108^0'=i_108^post30, rcd_58^0'=rcd_58^post30, ct_17^0'=ct_17^post30, i_94^0'=i_94^post30, t_23^0'=t_23^post30, temp0_31^0'=temp0_31^post30, head_27^0'=head_27^post30, r_124^0'=r_124^post30, a_215^0'=a_215^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, result_11^0'=result_11^post30, head_129^0'=head_129^post30, len_183^0'=len_183^post30, (1+x_20^0-y_19^0 <= 0 /\ -a_215^post30+a_215^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ temp0_15^0-temp0_15^post30 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -result_11^post30+result_11^0 == 0 /\ i_167^0-i_167^post30 == 0 /\ x_16^0-x_16^post30 == 0 /\ f_170^0-f_170^post30 == 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -a_147^post30+a_147^0 == 0 /\ i_30^0-i_30^post30 == 0 /\ a_184^0-a_184^post30 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_32^post30+head_32^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ a_237^0-a_237^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ -r_163^post30+r_163^0 == 0 /\ a_116^0-a_116^post30 == 0 /\ -a_260^post30+a_260^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ -rcd_58^post30+rcd_58^0 == 0 /\ head_14^0-head_14^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ -len_183^post30+len_183^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ r_39^0-r_39^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ head_129^0-head_129^post30 == 0 /\ y_19^0-y_19^post30 == 0 /\ i_94^0-i_94^post30 == 0), cost: 1 31: l20 -> l21 : a_116^0'=a_116^post31, tmp_34^0'=tmp_34^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, r_39^0'=r_39^post31, a_260^0'=a_260^post31, i_30^0'=i_30^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, temp0_15^0'=temp0_15^post31, head_175^0'=head_175^post31, nondet_12^0'=nondet_12^post31, a_184^0'=a_184^post31, x_20^0'=x_20^post31, rcd_88^0'=rcd_88^post31, f_170^0'=f_170^post31, len_132^0'=len_132^post31, temp_35^0'=temp_35^post31, head_32^0'=head_32^post31, r_163^0'=r_163^post31, a_237^0'=a_237^post31, y_19^0'=y_19^post31, i_167^0'=i_167^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_14^0'=head_14^post31, length_29^0'=length_29^post31, a_147^0'=a_147^post31, x_16^0'=x_16^post31, i_108^0'=i_108^post31, rcd_58^0'=rcd_58^post31, ct_17^0'=ct_17^post31, i_94^0'=i_94^post31, t_23^0'=t_23^post31, temp0_31^0'=temp0_31^post31, head_27^0'=head_27^post31, r_124^0'=r_124^post31, a_215^0'=a_215^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, result_11^0'=result_11^post31, head_129^0'=head_129^post31, len_183^0'=len_183^post31, (0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ a_260^0-a_260^post31 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -r_163^post31+r_163^0 == 0 /\ -ct_17^0 <= 0 /\ -a_215^post31+a_237^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -y_19^post31+y_19^0 == 0 /\ -len_183^post31+len_183^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -rcd_58^post31+rcd_58^0 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ -f_170^post31+f_170^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ a_237^0-a_237^post31 == 0 /\ a_215^post31-a_237^0 <= 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0 <= 0 /\ temp_35^0-temp_35^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ temp0_15^0-temp0_15^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -a_147^post31+a_147^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ i_94^0-i_94^post31 == 0 /\ -head_14^0+t_23^post31 <= 0 /\ -x_16^post31+x_16^0 == 0 /\ i_30^0-i_30^post31 == 0 /\ -head_129^post31+head_129^0 == 0 /\ -y_19^0 <= 0 /\ a_184^0-a_184^post31 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ head_175^0-head_175^post31 == 0 /\ a_116^0-a_116^post31 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_14^0-t_23^post31 <= 0 /\ -x_20^0+t_23^post31 == 0 /\ head_14^0-x_16^0 <= 0 /\ -head_27^post31+head_27^0 == 0 /\ -r_124^post31+r_124^0 == 0), cost: 1 32: l21 -> l22 : a_116^0'=a_116^post32, tmp_34^0'=tmp_34^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, r_39^0'=r_39^post32, a_260^0'=a_260^post32, i_30^0'=i_30^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, temp0_15^0'=temp0_15^post32, head_175^0'=head_175^post32, nondet_12^0'=nondet_12^post32, a_184^0'=a_184^post32, x_20^0'=x_20^post32, rcd_88^0'=rcd_88^post32, f_170^0'=f_170^post32, len_132^0'=len_132^post32, temp_35^0'=temp_35^post32, head_32^0'=head_32^post32, r_163^0'=r_163^post32, a_237^0'=a_237^post32, y_19^0'=y_19^post32, i_167^0'=i_167^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_14^0'=head_14^post32, length_29^0'=length_29^post32, a_147^0'=a_147^post32, x_16^0'=x_16^post32, i_108^0'=i_108^post32, rcd_58^0'=rcd_58^post32, ct_17^0'=ct_17^post32, i_94^0'=i_94^post32, t_23^0'=t_23^post32, temp0_31^0'=temp0_31^post32, head_27^0'=head_27^post32, r_124^0'=r_124^post32, a_215^0'=a_215^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, result_11^0'=result_11^post32, head_129^0'=head_129^post32, len_183^0'=len_183^post32, (-r_124^post32+r_124^0 == 0 /\ -i_108^post32+i_108^0 == 0 /\ -len_183^post32+len_183^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ a_116^0-a_116^post32 == 0 /\ -head_27^post32+head_27^0 == 0 /\ i_167^0-i_167^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ -y_19^post32+y_19^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ 1-head_14^0 <= 0 /\ -head_129^post32+head_129^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ r_39^0-r_39^post32 == 0 /\ i_30^0-i_30^post32 == 0 /\ -f_170^post32+f_170^0 == 0 /\ -i_94^post32+i_94^0 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ -a_215^post32+a_215^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -head_175^post32+head_175^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ temp0_15^0-temp0_15^post32 == 0 /\ a_260^0-a_260^post32 == 0 /\ head_14^0-head_14^post32 == 0 /\ a_184^0-a_184^post32 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ a_237^0-a_237^post32 == 0 /\ -x_20^post32+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0), cost: 1 33: l21 -> l22 : a_116^0'=a_116^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, r_39^0'=r_39^post33, a_260^0'=a_260^post33, i_30^0'=i_30^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, temp0_15^0'=temp0_15^post33, head_175^0'=head_175^post33, nondet_12^0'=nondet_12^post33, a_184^0'=a_184^post33, x_20^0'=x_20^post33, rcd_88^0'=rcd_88^post33, f_170^0'=f_170^post33, len_132^0'=len_132^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_163^0'=r_163^post33, a_237^0'=a_237^post33, y_19^0'=y_19^post33, i_167^0'=i_167^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_14^0'=head_14^post33, length_29^0'=length_29^post33, a_147^0'=a_147^post33, x_16^0'=x_16^post33, i_108^0'=i_108^post33, rcd_58^0'=rcd_58^post33, ct_17^0'=ct_17^post33, i_94^0'=i_94^post33, t_23^0'=t_23^post33, temp0_31^0'=temp0_31^post33, head_27^0'=head_27^post33, r_124^0'=r_124^post33, a_215^0'=a_215^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, result_11^0'=result_11^post33, head_129^0'=head_129^post33, len_183^0'=len_183^post33, (rcd_88^0-rcd_88^post33 == 0 /\ -len_132^post33+len_132^0 == 0 /\ -x_20^post33+x_20^0 == 0 /\ a_116^0-a_116^post33 == 0 /\ -len_183^post33+len_183^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ x_16^0-x_16^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ a_184^0-a_184^post33 == 0 /\ r_39^0-r_39^post33 == 0 /\ -head_27^post33+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_14^post33+head_14^0 == 0 /\ head_175^0-head_175^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ 1+head_14^0 <= 0 /\ -ct_17^post33+ct_17^0 == 0 /\ a_237^0-a_237^post33 == 0 /\ -a_215^post33+a_215^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ -length_29^post33+length_29^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -i_108^post33+i_108^0 == 0 /\ a_260^0-a_260^post33 == 0 /\ -y_19^post33+y_19^0 == 0 /\ i_94^0-i_94^post33 == 0 /\ temp0_15^0-temp0_15^post33 == 0 /\ -t_23^post33+t_23^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0), cost: 1 34: l22 -> l23 : a_116^0'=a_116^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, r_39^0'=r_39^post34, a_260^0'=a_260^post34, i_30^0'=i_30^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, temp0_15^0'=temp0_15^post34, head_175^0'=head_175^post34, nondet_12^0'=nondet_12^post34, a_184^0'=a_184^post34, x_20^0'=x_20^post34, rcd_88^0'=rcd_88^post34, f_170^0'=f_170^post34, len_132^0'=len_132^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_163^0'=r_163^post34, a_237^0'=a_237^post34, y_19^0'=y_19^post34, i_167^0'=i_167^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_14^0'=head_14^post34, length_29^0'=length_29^post34, a_147^0'=a_147^post34, x_16^0'=x_16^post34, i_108^0'=i_108^post34, rcd_58^0'=rcd_58^post34, ct_17^0'=ct_17^post34, i_94^0'=i_94^post34, t_23^0'=t_23^post34, temp0_31^0'=temp0_31^post34, head_27^0'=head_27^post34, r_124^0'=r_124^post34, a_215^0'=a_215^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, result_11^0'=result_11^post34, head_129^0'=head_129^post34, len_183^0'=len_183^post34, (-a_215^post34+a_215^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -a_237^post34+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -head_175^post34+head_175^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ a_260^0-a_260^post34 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_27^0-head_27^post34 == 0 /\ -i_108^post34+i_108^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ head_14^0-head_14^post34 == 0 /\ a_116^0-a_116^post34 == 0 /\ len_132^0-len_132^post34 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -head_129^post34+head_129^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ a_147^0-a_147^post34 == 0 /\ r_163^0-r_163^post34 == 0 /\ i_94^0-i_94^post34 == 0 /\ tmp_34^0-tmp_34^post34 == 0 /\ -f_170^post34+f_170^0 == 0 /\ -len_183^post34+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0), cost: 1 35: l22 -> l23 : a_116^0'=a_116^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, r_39^0'=r_39^post35, a_260^0'=a_260^post35, i_30^0'=i_30^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, temp0_15^0'=temp0_15^post35, head_175^0'=head_175^post35, nondet_12^0'=nondet_12^post35, a_184^0'=a_184^post35, x_20^0'=x_20^post35, rcd_88^0'=rcd_88^post35, f_170^0'=f_170^post35, len_132^0'=len_132^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_163^0'=r_163^post35, a_237^0'=a_237^post35, y_19^0'=y_19^post35, i_167^0'=i_167^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_14^0'=head_14^post35, length_29^0'=length_29^post35, a_147^0'=a_147^post35, x_16^0'=x_16^post35, i_108^0'=i_108^post35, rcd_58^0'=rcd_58^post35, ct_17^0'=ct_17^post35, i_94^0'=i_94^post35, t_23^0'=t_23^post35, temp0_31^0'=temp0_31^post35, head_27^0'=head_27^post35, r_124^0'=r_124^post35, a_215^0'=a_215^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, result_11^0'=result_11^post35, head_129^0'=head_129^post35, len_183^0'=len_183^post35, (-result_11^post35+result_11^0 == 0 /\ -length_29^post35+length_29^0 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ a_260^0-a_260^post35 == 0 /\ head_14^0-head_14^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ rcd_88^0-rcd_88^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ len_132^0-len_132^post35 == 0 /\ -head_32^post35+head_32^0 == 0 /\ tmp_34^0-tmp_34^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -f_170^post35+f_170^0 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -y_19^post35+y_19^0 == 0 /\ -head_129^post35+head_129^0 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ -head_27^post35+head_27^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ -r_124^post35+r_124^0 == 0 /\ -len_183^post35+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ i_30^0-i_30^post35 == 0 /\ head_175^0-head_175^post35 == 0 /\ a_184^0-a_184^post35 == 0 /\ -x_20^post35+x_20^0 == 0 /\ -a_237^post35+a_237^0 == 0 /\ -x_16^post35+x_16^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ rcd_58^0-rcd_58^post35 == 0), cost: 1 36: l23 -> l24 : a_116^0'=a_116^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, r_39^0'=r_39^post36, a_260^0'=a_260^post36, i_30^0'=i_30^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, temp0_15^0'=temp0_15^post36, head_175^0'=head_175^post36, nondet_12^0'=nondet_12^post36, a_184^0'=a_184^post36, x_20^0'=x_20^post36, rcd_88^0'=rcd_88^post36, f_170^0'=f_170^post36, len_132^0'=len_132^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_163^0'=r_163^post36, a_237^0'=a_237^post36, y_19^0'=y_19^post36, i_167^0'=i_167^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_14^0'=head_14^post36, length_29^0'=length_29^post36, a_147^0'=a_147^post36, x_16^0'=x_16^post36, i_108^0'=i_108^post36, rcd_58^0'=rcd_58^post36, ct_17^0'=ct_17^post36, i_94^0'=i_94^post36, t_23^0'=t_23^post36, temp0_31^0'=temp0_31^post36, head_27^0'=head_27^post36, r_124^0'=r_124^post36, a_215^0'=a_215^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, result_11^0'=result_11^post36, head_129^0'=head_129^post36, len_183^0'=len_183^post36, (temp_35^0-temp_35^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ temp0_15^0-temp0_15^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ i_167^0-i_167^post36 == 0 /\ -r_163^post36+r_163^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ head_27^0-head_27^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_116^0-a_116^post36 == 0 /\ -len_183^post36+len_183^0 == 0 /\ r_124^0-r_124^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ len_132^0-len_132^post36 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ -a_215^post36+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -y_19^post36+y_19^0 == 0 /\ -f_170^post36+f_170^0 == 0 /\ -a_147^post36+a_147^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post36+i_94^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_260^0-a_260^post36 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ -result_11^post36+result_11^0 == 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -head_129^post36+head_129^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ head_14^0-head_14^post36 == 0 /\ -head_32^post36+head_32^0 == 0 /\ a_237^0-a_237^post36 == 0), cost: 1 37: l23 -> l24 : a_116^0'=a_116^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, r_39^0'=r_39^post37, a_260^0'=a_260^post37, i_30^0'=i_30^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, temp0_15^0'=temp0_15^post37, head_175^0'=head_175^post37, nondet_12^0'=nondet_12^post37, a_184^0'=a_184^post37, x_20^0'=x_20^post37, rcd_88^0'=rcd_88^post37, f_170^0'=f_170^post37, len_132^0'=len_132^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_163^0'=r_163^post37, a_237^0'=a_237^post37, y_19^0'=y_19^post37, i_167^0'=i_167^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_14^0'=head_14^post37, length_29^0'=length_29^post37, a_147^0'=a_147^post37, x_16^0'=x_16^post37, i_108^0'=i_108^post37, rcd_58^0'=rcd_58^post37, ct_17^0'=ct_17^post37, i_94^0'=i_94^post37, t_23^0'=t_23^post37, temp0_31^0'=temp0_31^post37, head_27^0'=head_27^post37, r_124^0'=r_124^post37, a_215^0'=a_215^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, result_11^0'=result_11^post37, head_129^0'=head_129^post37, len_183^0'=len_183^post37, (y_19^0-y_19^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ tmp_34^0-tmp_34^post37 == 0 /\ -r_124^post37+r_124^0 == 0 /\ x_20^0-x_20^post37 == 0 /\ -head_27^post37+head_27^0 == 0 /\ -len_183^post37+len_183^0 == 0 /\ temp0_15^0-temp0_15^post37 == 0 /\ head_14^0-head_14^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ a_215^0-a_215^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -a_237^post37+a_237^0 == 0 /\ -head_129^post37+head_129^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ r_163^0-r_163^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ f_170^0-f_170^post37 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -i_94^post37+i_94^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ i_167^0-i_167^post37 == 0 /\ a_260^0-a_260^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ a_116^0-a_116^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -head_32^post37+head_32^0 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ -i_108^post37+i_108^0 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_132^0-len_132^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ head_175^0-head_175^post37 == 0), cost: 1 38: l24 -> l0 : a_116^0'=a_116^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, r_39^0'=r_39^post38, a_260^0'=a_260^post38, i_30^0'=i_30^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, temp0_15^0'=temp0_15^post38, head_175^0'=head_175^post38, nondet_12^0'=nondet_12^post38, a_184^0'=a_184^post38, x_20^0'=x_20^post38, rcd_88^0'=rcd_88^post38, f_170^0'=f_170^post38, len_132^0'=len_132^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_163^0'=r_163^post38, a_237^0'=a_237^post38, y_19^0'=y_19^post38, i_167^0'=i_167^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_14^0'=head_14^post38, length_29^0'=length_29^post38, a_147^0'=a_147^post38, x_16^0'=x_16^post38, i_108^0'=i_108^post38, rcd_58^0'=rcd_58^post38, ct_17^0'=ct_17^post38, i_94^0'=i_94^post38, t_23^0'=t_23^post38, temp0_31^0'=temp0_31^post38, head_27^0'=head_27^post38, r_124^0'=r_124^post38, a_215^0'=a_215^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, result_11^0'=result_11^post38, head_129^0'=head_129^post38, len_183^0'=len_183^post38, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_237^post38+a_237^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ 1-len_132^post38+a_215^0 <= 0 /\ -head_129^post38+head_129^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_124^post38+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ a_215^0-a_215^post38 == 0 /\ a_260^0-a_260^post38 == 0 /\ -head_175^post38+head_175^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_167^0-i_167^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_116^0-a_116^post38 == 0 /\ -head_14^post38+head_14^0 == 0 /\ ct_17^0-ct_17^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ -1+len_132^post38-a_215^0 <= 0 /\ -rcd_88^post38+rcd_88^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -len_183^post38+len_183^0 == 0 /\ r_163^0-r_163^post38 == 0 /\ rcd_58^0-rcd_58^post38 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_184^0-a_184^post38 == 0 /\ -f_170^post38+f_170^0 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0), cost: 1 59: l25 -> l38 : a_116^0'=a_116^post59, tmp_34^0'=tmp_34^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_39^0'=r_39^post59, a_260^0'=a_260^post59, i_30^0'=i_30^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, temp0_15^0'=temp0_15^post59, head_175^0'=head_175^post59, nondet_12^0'=nondet_12^post59, a_184^0'=a_184^post59, x_20^0'=x_20^post59, rcd_88^0'=rcd_88^post59, f_170^0'=f_170^post59, len_132^0'=len_132^post59, temp_35^0'=temp_35^post59, head_32^0'=head_32^post59, r_163^0'=r_163^post59, a_237^0'=a_237^post59, y_19^0'=y_19^post59, i_167^0'=i_167^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, head_14^0'=head_14^post59, length_29^0'=length_29^post59, a_147^0'=a_147^post59, x_16^0'=x_16^post59, i_108^0'=i_108^post59, rcd_58^0'=rcd_58^post59, ct_17^0'=ct_17^post59, i_94^0'=i_94^post59, t_23^0'=t_23^post59, temp0_31^0'=temp0_31^post59, head_27^0'=head_27^post59, r_124^0'=r_124^post59, a_215^0'=a_215^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, result_11^0'=result_11^post59, head_129^0'=head_129^post59, len_183^0'=len_183^post59, (0 == 0 /\ tmp_34^post59-temp_35^0 == 0 /\ t_23^0-t_23^post59 == 0 /\ -1-i_30^0+i_30^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -a_237^post59+a_237^0 == 0 /\ 2-length_29^0 <= 0 /\ a_116^0-a_116^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ -head_32^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post59 == 0 /\ -len_132^post59+len_132^0 == 0 /\ 2-i_30^post59 <= 0 /\ f_170^0-f_170^post59 == 0 /\ -r_124^post59+r_124^0 == 0 /\ -head_27^post59+head_27^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ head_32^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ 1-length_29^0 <= 0 /\ -x_20^post59+x_20^0 == 0 /\ i_167^0-i_167^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ ct_17^0-ct_17^post59 == 0 /\ head_32^post59-tmp_34^post59 <= 0 /\ head_32^post59-tmp_34^post59 == 0 /\ tmp_34^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ a_184^0-a_184^post59 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -r_163^post59+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post59-length_29^0 <= 0 /\ -2+i_30^post59 <= 0 /\ -i_108^post59+i_108^0 == 0 /\ -length_29^post59+length_29^0 == 0 /\ x_16^0-x_16^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -head_129^post59+head_129^0 == 0 /\ -a_215^post59+a_215^0 == 0 /\ -head_32^post59+tmp_34^post59 <= 0 /\ -y_19^post59+y_19^0 == 0 /\ -tmp_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ a_260^0-a_260^post59 == 0 /\ -a_147^post59+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+length_29^0 <= 0 /\ -len_183^post59+len_183^0 == 0), cost: 1 95: l38 -> l63 : a_116^0'=a_116^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, r_39^0'=r_39^post95, a_260^0'=a_260^post95, i_30^0'=i_30^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp0_15^0'=temp0_15^post95, head_175^0'=head_175^post95, nondet_12^0'=nondet_12^post95, a_184^0'=a_184^post95, x_20^0'=x_20^post95, rcd_88^0'=rcd_88^post95, f_170^0'=f_170^post95, len_132^0'=len_132^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_163^0'=r_163^post95, a_237^0'=a_237^post95, y_19^0'=y_19^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_14^post95, length_29^0'=length_29^post95, a_147^0'=a_147^post95, x_16^0'=x_16^post95, i_108^0'=i_108^post95, rcd_58^0'=rcd_58^post95, ct_17^0'=ct_17^post95, i_94^0'=i_94^post95, t_23^0'=t_23^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_27^post95, r_124^0'=r_124^post95, a_215^0'=a_215^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, result_11^0'=result_11^post95, head_129^0'=head_129^post95, len_183^0'=len_183^post95, (0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post95 <= 0 /\ -y_19^post95+y_19^0 == 0 /\ -rcd_58^post95+rcd_58^0 == 0 /\ x_20^0-x_20^post95 == 0 /\ x_16^0-x_16^post95 == 0 /\ temp0_15^0-temp0_15^post95 == 0 /\ -head_14^post95+head_27^post95 <= 0 /\ -r_124^post95+r_124^0 == 0 /\ -result_11^11+head_14^post95 == 0 /\ a_147^0-i_30^post95 <= 0 /\ -len_183^post95+len_183^0 == 0 /\ len_132^0 <= 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -i_30^0 <= 0 /\ -head_129^post95+head_129^0 == 0 /\ -a_184^post95+a_184^0 == 0 /\ f_170^0-f_170^post95 == 0 /\ head_14^post95-head_27^post95 <= 0 /\ -ct_17^post95+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ head_14^post95-head_SLAM_f_26^post95 <= 0 /\ a_237^0-a_237^post95 == 0 /\ head_27^post95-head_SLAM_f_26^post95 <= 0 /\ head_27^post95-head_SLAM_f_26^post95 == 0 /\ a_260^0-a_260^post95 == 0 /\ -a_215^post95+a_215^0 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_147^post95+a_147^0 == 0 /\ a_116^0-a_116^post95 == 0 /\ -head_14^post95+head_SLAM_f_26^post95 <= 0 /\ -head_14^post95+head_SLAM_f_26^post95 == 0 /\ -i_108^post95+i_108^0 == 0 /\ -head_27^post95+head_SLAM_f_26^post95 <= 0 /\ head_175^0-head_175^post95 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -len_132^0 <= 0 /\ r_39^0-r_39^post95 == 0 /\ len_132^0-len_132^post95 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -t_23^post95+t_23^0 == 0), cost: 1 99: l38 -> l65 : a_116^0'=a_116^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, r_39^0'=r_39^post99, a_260^0'=a_260^post99, i_30^0'=i_30^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, temp0_15^0'=temp0_15^post99, head_175^0'=head_175^post99, nondet_12^0'=nondet_12^post99, a_184^0'=a_184^post99, x_20^0'=x_20^post99, rcd_88^0'=rcd_88^post99, f_170^0'=f_170^post99, len_132^0'=len_132^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_163^0'=r_163^post99, a_237^0'=a_237^post99, y_19^0'=y_19^post99, i_167^0'=i_167^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_14^0'=head_14^post99, length_29^0'=length_29^post99, a_147^0'=a_147^post99, x_16^0'=x_16^post99, i_108^0'=i_108^post99, rcd_58^0'=rcd_58^post99, ct_17^0'=ct_17^post99, i_94^0'=i_94^post99, t_23^0'=t_23^post99, temp0_31^0'=temp0_31^post99, head_27^0'=head_27^post99, r_124^0'=r_124^post99, a_215^0'=a_215^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, result_11^0'=result_11^post99, head_129^0'=head_129^post99, len_183^0'=len_183^post99, (0 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -r_124^post99+r_124^0 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -r_163^post99+r_163^0 == 0 /\ a_260^0-a_260^post99 == 0 /\ temp0_31^0-temp0_31^post99 == 0 /\ -tmp_34^post99+head_32^post99 == 0 /\ -head_14^post99+head_14^0 == 0 /\ -1-i_30^0+i_30^post99 == 0 /\ -len_183^post99+len_183^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ -i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -head_129^post99+head_129^0 == 0 /\ -1-i_94^post99+i_30^post99 <= 0 /\ r_39^0-r_39^post99 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ y_19^0-y_19^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -f_170^post99+f_170^0 == 0 /\ -t_23^post99+t_23^0 == 0 /\ -a_215^post99+a_215^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_175^post99+head_175^0 == 0 /\ temp0_15^0-temp0_15^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post99 == 0 /\ -head_27^post99+head_27^0 == 0 /\ i_108^0-i_108^post99 == 0 /\ 1-length_29^0+i_94^post99 <= 0 /\ length_29^0-length_29^post99 == 0 /\ a_116^0-a_116^post99 == 0 /\ a_184^0-a_184^post99 == 0 /\ -x_SLAM_f_18^post99+x_SLAM_f_18^0 == 0 /\ -ct_17^post99+ct_17^0 == 0 /\ -temp_35^0+tmp_34^post99 == 0 /\ a_237^0-a_237^post99 == 0 /\ 1+i_94^post99-i_30^post99 <= 0 /\ -x_20^post99+x_20^0 == 0), cost: 1 60: l39 -> l40 : a_116^0'=a_116^post60, tmp_34^0'=tmp_34^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_39^0'=r_39^post60, a_260^0'=a_260^post60, i_30^0'=i_30^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, temp0_15^0'=temp0_15^post60, head_175^0'=head_175^post60, nondet_12^0'=nondet_12^post60, a_184^0'=a_184^post60, x_20^0'=x_20^post60, rcd_88^0'=rcd_88^post60, f_170^0'=f_170^post60, len_132^0'=len_132^post60, temp_35^0'=temp_35^post60, head_32^0'=head_32^post60, r_163^0'=r_163^post60, a_237^0'=a_237^post60, y_19^0'=y_19^post60, i_167^0'=i_167^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, head_14^0'=head_14^post60, length_29^0'=length_29^post60, a_147^0'=a_147^post60, x_16^0'=x_16^post60, i_108^0'=i_108^post60, rcd_58^0'=rcd_58^post60, ct_17^0'=ct_17^post60, i_94^0'=i_94^post60, t_23^0'=t_23^post60, temp0_31^0'=temp0_31^post60, head_27^0'=head_27^post60, r_124^0'=r_124^post60, a_215^0'=a_215^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, result_11^0'=result_11^post60, head_129^0'=head_129^post60, len_183^0'=len_183^post60, (0 == 0 /\ a_237^0-a_237^post60 == 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post60 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post60-nondet_12^10 == 0 /\ -length_29^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ -rcd_58^post60+rcd_58^0 == 0 /\ -t_23^post60+t_23^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -result_11^post60+result_11^0 == 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_116^0-a_116^post60 == 0 /\ -len_183^post60+len_183^0 == 0 /\ i_30^post60 <= 0 /\ i_30^post60 == 0 /\ -head_129^post60+head_129^0 == 0 /\ len_132^0-len_132^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ -i_30^post60 <= 0 /\ x_20^0-x_20^post60 == 0 /\ r_39^0-r_39^post60 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -head_32^post60 <= 0 /\ -head_14^post60+head_14^0 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -ct_17^post60+ct_17^0 == 0 /\ a_260^0-a_260^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_215^post60+a_215^0 == 0 /\ a_184^0-a_184^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -head_27^post60+head_27^0 == 0 /\ i_94^0-i_94^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_167^post60+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ r_163^0-r_163^post60 == 0 /\ -a_147^post60+a_147^0 == 0 /\ f_170^0-f_170^post60 == 0 /\ head_32^post60 <= 0 /\ head_32^post60 == 0), cost: 1 102: l40 -> l25 : a_116^0'=a_116^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_26^0'=head_SLAM_f_26^post102, r_39^0'=r_39^post102, a_260^0'=a_260^post102, i_30^0'=i_30^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, temp0_15^0'=temp0_15^post102, head_175^0'=head_175^post102, nondet_12^0'=nondet_12^post102, a_184^0'=a_184^post102, x_20^0'=x_20^post102, rcd_88^0'=rcd_88^post102, f_170^0'=f_170^post102, len_132^0'=len_132^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_163^0'=r_163^post102, a_237^0'=a_237^post102, y_19^0'=y_19^post102, i_167^0'=i_167^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, head_14^0'=head_14^post102, length_29^0'=length_29^post102, a_147^0'=a_147^post102, x_16^0'=x_16^post102, i_108^0'=i_108^post102, rcd_58^0'=rcd_58^post102, ct_17^0'=ct_17^post102, i_94^0'=i_94^post102, t_23^0'=t_23^post102, temp0_31^0'=temp0_31^post102, head_27^0'=head_27^post102, r_124^0'=r_124^post102, a_215^0'=a_215^post102, x_SLAM_f_18^0'=x_SLAM_f_18^post102, result_11^0'=result_11^post102, head_129^0'=head_129^post102, len_183^0'=len_183^post102, (0 == 0 /\ -1+i_30^post102-i_30^0 == 0 /\ rcd_88^0-rcd_88^post102 == 0 /\ a_116^0-a_116^post102 == 0 /\ len_132^0-len_132^post102 == 0 /\ -a_237^post102+a_237^0 == 0 /\ r_39^0-r_39^post102 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ length_29^0-length_29^post102 == 0 /\ -a_184^post102+a_184^0 == 0 /\ -head_129^post102+head_129^0 == 0 /\ r_163^0-r_163^post102 == 0 /\ 1-i_30^post102 <= 0 /\ -1+i_30^post102 <= 0 /\ f_170^0-f_170^post102 == 0 /\ -r_124^post102+r_124^0 == 0 /\ -i_94^post102+i_94^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ y_19^0-y_19^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ 1-length_29^0 <= 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_16^post102+x_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post102 == 0 /\ -head_27^post102+head_27^0 == 0 /\ -head_14^post102+head_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ -ct_17^post102+ct_17^0 == 0 /\ head_175^0-head_175^post102 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -a_215^post102+a_215^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ head_32^post102-tmp_34^post102 <= 0 /\ head_32^post102-tmp_34^post102 == 0 /\ -t_23^post102+t_23^0 == 0 /\ -len_183^post102+len_183^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ i_108^0-i_108^post102 == 0 /\ temp0_15^0-temp0_15^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -x_SLAM_f_18^post102+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post102 == 0 /\ i_167^0-i_167^post102 == 0 /\ -a_147^post102+a_147^0 == 0 /\ -head_32^post102+tmp_34^post102 <= 0 /\ x_20^0-x_20^post102 == 0), cost: 1 61: l41 -> l42 : a_116^0'=a_116^post61, tmp_34^0'=tmp_34^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_39^0'=r_39^post61, a_260^0'=a_260^post61, i_30^0'=i_30^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, temp0_15^0'=temp0_15^post61, head_175^0'=head_175^post61, nondet_12^0'=nondet_12^post61, a_184^0'=a_184^post61, x_20^0'=x_20^post61, rcd_88^0'=rcd_88^post61, f_170^0'=f_170^post61, len_132^0'=len_132^post61, temp_35^0'=temp_35^post61, head_32^0'=head_32^post61, r_163^0'=r_163^post61, a_237^0'=a_237^post61, y_19^0'=y_19^post61, i_167^0'=i_167^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, head_14^0'=head_14^post61, length_29^0'=length_29^post61, a_147^0'=a_147^post61, x_16^0'=x_16^post61, i_108^0'=i_108^post61, rcd_58^0'=rcd_58^post61, ct_17^0'=ct_17^post61, i_94^0'=i_94^post61, t_23^0'=t_23^post61, temp0_31^0'=temp0_31^post61, head_27^0'=head_27^post61, r_124^0'=r_124^post61, a_215^0'=a_215^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, result_11^0'=result_11^post61, head_129^0'=head_129^post61, len_183^0'=len_183^post61, (0 == 0 /\ -head_14^0+x_16^post61 <= 0 /\ -head_14^0+x_16^post61 == 0 /\ x_20^post61-x_SLAM_f_18^post61 <= 0 /\ x_20^post61-x_SLAM_f_18^post61 == 0 /\ -x_SLAM_f_18^post61+x_16^post61 <= 0 /\ head_14^0-x_SLAM_f_18^post61 <= 0 /\ i_30^0-i_30^post61 == 0 /\ -a_215^post61+a_215^0 == 0 /\ -i_94^post61+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ head_14^0-head_14^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -a_237^post61+a_237^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ head_14^0-x_16^post61 <= 0 /\ -x_20^post61+x_SLAM_f_18^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 == 0 /\ -head_14^0+x_SLAM_f_18^post61 <= 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ a_260^0-a_260^post61 == 0 /\ -a_147^0 <= 0 /\ y_19^post61 <= 0 /\ -r_124^post61+r_124^0 == 0 /\ -head_32^post61+head_32^0 == 0 /\ -i_108^post61+i_108^0 == 0 /\ i_167^0-i_167^post61 == 0 /\ x_20^post61-head_14^0 <= 0 /\ -y_19^post61 <= 0 /\ y_19^post61-ct_17^post61 <= 0 /\ y_19^post61-ct_17^post61 == 0 /\ -len_183^post61+len_183^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -ct_17^post61 <= 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ r_39^0-r_39^post61 == 0 /\ -head_27^0 <= 0 /\ -x_20^post61+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ head_27^0 <= 0 /\ temp_35^0-temp_35^post61 == 0 /\ -y_19^post61+ct_17^post61 <= 0 /\ a_147^0-a_147^post61 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -head_129^post61+head_129^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ ct_17^post61 <= 0 /\ ct_17^post61 == 0 /\ a_116^0-a_116^post61 == 0 /\ -len_132^0 <= 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ -f_170^post61+f_170^0 == 0), cost: 1 65: l41 -> l45 : a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, temp0_15^0'=temp0_15^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, rcd_88^0'=rcd_88^post65, f_170^0'=f_170^post65, len_132^0'=len_132^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, r_163^0'=r_163^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, i_167^0'=i_167^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_14^post65, length_29^0'=length_29^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, i_108^0'=i_108^post65, rcd_58^0'=rcd_58^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_27^post65, r_124^0'=r_124^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, result_11^0'=result_11^post65, head_129^0'=head_129^post65, len_183^0'=len_183^post65, (0 == 0 /\ -head_27^post65+head_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ -x_SLAM_f_18^post65+x_SLAM_f_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ -t_23^post65+t_23^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_124^post65+r_124^0 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_147^0 <= 0 /\ -i_94^post65+i_94^0 == 0 /\ i_167^0-i_167^post65 == 0 /\ x_20^0-x_20^post65 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ tmp_34^0-tmp_34^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ x_16^0-x_16^post65 == 0 /\ ct_17^0-ct_17^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ -temp0_15^post65+temp0_15^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_163^0-r_163^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ -head_129^post65+head_129^0 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_147^0-a_147^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ a_260^0-a_260^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -len_132^0 <= 0 /\ -a_215^post65+a_215^0 == 0), cost: 1 62: l42 -> l43 : a_116^0'=a_116^post62, tmp_34^0'=tmp_34^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_39^0'=r_39^post62, a_260^0'=a_260^post62, i_30^0'=i_30^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, temp0_15^0'=temp0_15^post62, head_175^0'=head_175^post62, nondet_12^0'=nondet_12^post62, a_184^0'=a_184^post62, x_20^0'=x_20^post62, rcd_88^0'=rcd_88^post62, f_170^0'=f_170^post62, len_132^0'=len_132^post62, temp_35^0'=temp_35^post62, head_32^0'=head_32^post62, r_163^0'=r_163^post62, a_237^0'=a_237^post62, y_19^0'=y_19^post62, i_167^0'=i_167^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, head_14^0'=head_14^post62, length_29^0'=length_29^post62, a_147^0'=a_147^post62, x_16^0'=x_16^post62, i_108^0'=i_108^post62, rcd_58^0'=rcd_58^post62, ct_17^0'=ct_17^post62, i_94^0'=i_94^post62, t_23^0'=t_23^post62, temp0_31^0'=temp0_31^post62, head_27^0'=head_27^post62, r_124^0'=r_124^post62, a_215^0'=a_215^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, result_11^0'=result_11^post62, head_129^0'=head_129^post62, len_183^0'=len_183^post62, (-result_11^post62+result_11^0 == 0 /\ i_167^0-i_167^post62 == 0 /\ head_14^0-head_14^post62 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ a_260^0-a_260^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ r_39^0-r_39^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ -head_32^post62+head_32^0 == 0 /\ -a_215^post62+a_215^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ -f_170^post62+f_170^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -r_163^post62+r_163^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_147^post62+a_147^0 == 0 /\ -head_27^post62+head_27^0 == 0 /\ -rcd_58^post62+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -len_183^post62+len_183^0 == 0 /\ -y_19^post62+y_19^0 == 0 /\ -r_124^post62+r_124^0 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ a_184^0-a_184^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ a_237^0-a_237^post62 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ -head_175^post62+head_175^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ a_116^0-a_116^post62 == 0), cost: 1 63: l42 -> l43 : a_116^0'=a_116^post63, tmp_34^0'=tmp_34^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_39^0'=r_39^post63, a_260^0'=a_260^post63, i_30^0'=i_30^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, temp0_15^0'=temp0_15^post63, head_175^0'=head_175^post63, nondet_12^0'=nondet_12^post63, a_184^0'=a_184^post63, x_20^0'=x_20^post63, rcd_88^0'=rcd_88^post63, f_170^0'=f_170^post63, len_132^0'=len_132^post63, temp_35^0'=temp_35^post63, head_32^0'=head_32^post63, r_163^0'=r_163^post63, a_237^0'=a_237^post63, y_19^0'=y_19^post63, i_167^0'=i_167^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, head_14^0'=head_14^post63, length_29^0'=length_29^post63, a_147^0'=a_147^post63, x_16^0'=x_16^post63, i_108^0'=i_108^post63, rcd_58^0'=rcd_58^post63, ct_17^0'=ct_17^post63, i_94^0'=i_94^post63, t_23^0'=t_23^post63, temp0_31^0'=temp0_31^post63, head_27^0'=head_27^post63, r_124^0'=r_124^post63, a_215^0'=a_215^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, result_11^0'=result_11^post63, head_129^0'=head_129^post63, len_183^0'=len_183^post63, (r_163^0-r_163^post63 == 0 /\ f_170^0-f_170^post63 == 0 /\ -i_108^post63+i_108^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ i_167^0-i_167^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ x_20^0-x_20^post63 == 0 /\ head_27^0-head_27^post63 == 0 /\ a_116^0-a_116^post63 == 0 /\ -len_183^post63+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ r_124^0-r_124^post63 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -a_215^post63+a_215^0 == 0 /\ -y_19^post63+y_19^0 == 0 /\ -a_147^post63+a_147^0 == 0 /\ -i_94^post63+i_94^0 == 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -a_184^post63+a_184^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1+head_14^0 <= 0 /\ a_260^0-a_260^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -head_129^post63+head_129^0 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post63 == 0 /\ head_14^0-head_14^post63 == 0 /\ x_16^0-x_16^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ a_237^0-a_237^post63 == 0), cost: 1 64: l43 -> l18 : a_116^0'=a_116^post64, tmp_34^0'=tmp_34^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_39^0'=r_39^post64, a_260^0'=a_260^post64, i_30^0'=i_30^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, temp0_15^0'=temp0_15^post64, head_175^0'=head_175^post64, nondet_12^0'=nondet_12^post64, a_184^0'=a_184^post64, x_20^0'=x_20^post64, rcd_88^0'=rcd_88^post64, f_170^0'=f_170^post64, len_132^0'=len_132^post64, temp_35^0'=temp_35^post64, head_32^0'=head_32^post64, r_163^0'=r_163^post64, a_237^0'=a_237^post64, y_19^0'=y_19^post64, i_167^0'=i_167^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, head_14^0'=head_14^post64, length_29^0'=length_29^post64, a_147^0'=a_147^post64, x_16^0'=x_16^post64, i_108^0'=i_108^post64, rcd_58^0'=rcd_58^post64, ct_17^0'=ct_17^post64, i_94^0'=i_94^post64, t_23^0'=t_23^post64, temp0_31^0'=temp0_31^post64, head_27^0'=head_27^post64, r_124^0'=r_124^post64, a_215^0'=a_215^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, result_11^0'=result_11^post64, head_129^0'=head_129^post64, len_183^0'=len_183^post64, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_129^post64+head_129^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ tmp_34^0-tmp_34^post64 == 0 /\ -r_124^post64+r_124^0 == 0 /\ -head_27^post64+head_27^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -len_183^post64+len_183^0 == 0 /\ y_19^0-y_19^post64 == 0 /\ a_260^0-a_260^post64 == 0 /\ head_14^0-head_14^post64 == 0 /\ a_215^0-a_215^post64 == 0 /\ -a_237^post64+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ r_163^0-r_163^post64 == 0 /\ f_170^0-f_170^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post64+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ i_167^0-i_167^post64 == 0 /\ a_116^0-a_116^post64 == 0 /\ -i_94^post64+i_94^0 == 0 /\ rcd_58^0-rcd_58^post64 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post64 == 0 /\ -x_SLAM_f_18^post64+x_SLAM_f_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ i_30^0-i_30^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_184^0-a_184^post64 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_39^0-r_39^post64 == 0), cost: 1 66: l45 -> l46 : a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_39^0'=r_39^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp0_15^0'=temp0_15^post66, head_175^0'=head_175^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, rcd_88^0'=rcd_88^post66, f_170^0'=f_170^post66, len_132^0'=len_132^post66, temp_35^0'=temp_35^post66, head_32^0'=head_32^post66, r_163^0'=r_163^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, i_167^0'=i_167^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, head_14^0'=head_14^post66, length_29^0'=length_29^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, i_108^0'=i_108^post66, rcd_58^0'=rcd_58^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, head_27^0'=head_27^post66, r_124^0'=r_124^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, result_11^0'=result_11^post66, head_129^0'=head_129^post66, len_183^0'=len_183^post66, (-t_23^post66+t_23^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_215^post66+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ a_116^0-a_116^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ head_14^0-head_14^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ len_132^0-len_132^post66 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -a_237^post66+a_237^0 == 0 /\ r_39^0-r_39^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ head_32^0-head_32^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ r_163^0-r_163^post66 == 0 /\ -head_27^post66+head_27^0 == 0 /\ a_147^0-a_147^post66 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ head_175^0-head_175^post66 == 0 /\ a_184^0-a_184^post66 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ x_20^0-x_20^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ 1-head_27^0 <= 0 /\ -head_129^post66+head_129^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -len_183^post66+len_183^0 == 0 /\ a_260^0-a_260^post66 == 0), cost: 1 67: l45 -> l46 : a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, r_39^0'=r_39^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, temp0_15^0'=temp0_15^post67, head_175^0'=head_175^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, rcd_88^0'=rcd_88^post67, f_170^0'=f_170^post67, len_132^0'=len_132^post67, temp_35^0'=temp_35^post67, head_32^0'=head_32^post67, r_163^0'=r_163^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, i_167^0'=i_167^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, head_14^0'=head_14^post67, length_29^0'=length_29^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, i_108^0'=i_108^post67, rcd_58^0'=rcd_58^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, head_27^0'=head_27^post67, r_124^0'=r_124^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, result_11^0'=result_11^post67, head_129^0'=head_129^post67, len_183^0'=len_183^post67, (head_27^0-head_27^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ 1+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ i_108^0-i_108^post67 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ i_30^0-i_30^post67 == 0 /\ -a_215^post67+a_215^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ a_116^0-a_116^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -len_183^post67+len_183^0 == 0 /\ head_32^0-head_32^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -x_SLAM_f_18^post67+x_SLAM_f_18^0 == 0 /\ a_147^0-a_147^post67 == 0 /\ i_167^0-i_167^post67 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ rcd_58^0-rcd_58^post67 == 0 /\ -a_237^post67+a_237^0 == 0 /\ -head_129^post67+head_129^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -a_184^post67+a_184^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ len_132^0-len_132^post67 == 0 /\ head_175^0-head_175^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ -x_16^post67+x_16^0 == 0 /\ -head_14^post67+head_14^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ length_29^0-length_29^post67 == 0), cost: 1 68: l46 -> l47 : a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, r_39^0'=r_39^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, temp0_15^0'=temp0_15^post68, head_175^0'=head_175^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, rcd_88^0'=rcd_88^post68, f_170^0'=f_170^post68, len_132^0'=len_132^post68, temp_35^0'=temp_35^post68, head_32^0'=head_32^post68, r_163^0'=r_163^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, i_167^0'=i_167^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, head_14^0'=head_14^post68, length_29^0'=length_29^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, i_108^0'=i_108^post68, rcd_58^0'=rcd_58^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, head_27^0'=head_27^post68, r_124^0'=r_124^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, result_11^0'=result_11^post68, head_129^0'=head_129^post68, len_183^0'=len_183^post68, (0 == 0 /\ y_19^0-y_19^post68 == 0 /\ a_147^0-a_147^post68 == 0 /\ -i_108^post68+i_108^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ r_163^0-r_163^post68 == 0 /\ f_170^0-head_27^0 <= 0 /\ a_260^0-a_260^post68 == 0 /\ 1-len_183^post68+len_132^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -1-a_184^post68+a_147^0 <= 0 /\ a_215^0-a_215^post68 == 0 /\ -head_129^post68+head_129^0 == 0 /\ head_14^0-head_14^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ rcd_58^0-rcd_58^post68 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -i_94^post68+i_94^0 == 0 /\ f_170^0-f_170^post68 == 0 /\ -t_23^post68+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ i_167^0-i_167^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post68 == 0 /\ -1+len_183^post68-len_132^0 <= 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ -x_SLAM_f_18^post68+x_SLAM_f_18^0 == 0 /\ x_20^0-x_20^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ 1+a_184^post68-a_147^0 <= 0 /\ a_116^0-a_116^post68 == 0 /\ rcd_88^0-rcd_88^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ i_30^0-i_30^post68 == 0 /\ -head_27^post68+head_27^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ r_39^0-r_39^post68 == 0), cost: 1 69: l47 -> l48 : a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, r_39^0'=r_39^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, temp0_15^0'=temp0_15^post69, head_175^0'=head_175^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, rcd_88^0'=rcd_88^post69, f_170^0'=f_170^post69, len_132^0'=len_132^post69, temp_35^0'=temp_35^post69, head_32^0'=head_32^post69, r_163^0'=r_163^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, i_167^0'=i_167^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, head_14^0'=head_14^post69, length_29^0'=length_29^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, i_108^0'=i_108^post69, rcd_58^0'=rcd_58^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, head_27^0'=head_27^post69, r_124^0'=r_124^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, result_11^0'=result_11^post69, head_129^0'=head_129^post69, len_183^0'=len_183^post69, (a_237^0-a_237^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ head_32^0-head_32^post69 == 0 /\ -head_129^post69+head_129^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -len_183^post69+len_183^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ a_116^0-a_116^post69 == 0 /\ 1-head_14^0 <= 0 /\ -head_14^post69+head_14^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ r_39^0-r_39^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ -a_215^post69+a_215^0 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -x_16^post69+x_16^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ -a_147^post69+a_147^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ y_19^0-y_19^post69 == 0 /\ a_260^0-a_260^post69 == 0 /\ a_184^0-a_184^post69 == 0 /\ temp0_15^0-temp0_15^post69 == 0 /\ -x_SLAM_f_18^post69+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post69 == 0 /\ -i_167^post69+i_167^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ r_163^0-r_163^post69 == 0 /\ -t_23^post69+t_23^0 == 0 /\ f_170^0-f_170^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0), cost: 1 70: l47 -> l48 : a_116^0'=a_116^post70, tmp_34^0'=tmp_34^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, r_39^0'=r_39^post70, a_260^0'=a_260^post70, i_30^0'=i_30^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, temp0_15^0'=temp0_15^post70, head_175^0'=head_175^post70, nondet_12^0'=nondet_12^post70, a_184^0'=a_184^post70, x_20^0'=x_20^post70, rcd_88^0'=rcd_88^post70, f_170^0'=f_170^post70, len_132^0'=len_132^post70, temp_35^0'=temp_35^post70, head_32^0'=head_32^post70, r_163^0'=r_163^post70, a_237^0'=a_237^post70, y_19^0'=y_19^post70, i_167^0'=i_167^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, head_14^0'=head_14^post70, length_29^0'=length_29^post70, a_147^0'=a_147^post70, x_16^0'=x_16^post70, i_108^0'=i_108^post70, rcd_58^0'=rcd_58^post70, ct_17^0'=ct_17^post70, i_94^0'=i_94^post70, t_23^0'=t_23^post70, temp0_31^0'=temp0_31^post70, head_27^0'=head_27^post70, r_124^0'=r_124^post70, a_215^0'=a_215^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, result_11^0'=result_11^post70, head_129^0'=head_129^post70, len_183^0'=len_183^post70, (-a_237^post70+a_237^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_88^0-rcd_88^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -x_SLAM_f_18^post70+x_SLAM_f_18^0 == 0 /\ len_132^0-len_132^post70 == 0 /\ -x_16^post70+x_16^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -result_11^post70+result_11^0 == 0 /\ head_32^0-head_32^post70 == 0 /\ f_170^0-f_170^post70 == 0 /\ a_147^0-a_147^post70 == 0 /\ y_19^0-y_19^post70 == 0 /\ r_163^0-r_163^post70 == 0 /\ -i_94^post70+i_94^0 == 0 /\ -head_27^post70+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post70 == 0 /\ -r_124^post70+r_124^0 == 0 /\ -i_30^post70+i_30^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ head_175^0-head_175^post70 == 0 /\ a_116^0-a_116^post70 == 0 /\ a_184^0-a_184^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ 1+head_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post70+head_14^0 == 0 /\ -ct_17^post70+ct_17^0 == 0 /\ -head_129^post70+head_129^0 == 0 /\ -length_29^post70+length_29^0 == 0 /\ -a_215^post70+a_215^0 == 0 /\ -len_183^post70+len_183^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ a_260^0-a_260^post70 == 0 /\ i_108^0-i_108^post70 == 0 /\ temp0_15^0-temp0_15^post70 == 0 /\ x_20^0-x_20^post70 == 0 /\ i_167^0-i_167^post70 == 0), cost: 1 71: l48 -> l49 : a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, r_39^0'=r_39^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, temp0_15^0'=temp0_15^post71, head_175^0'=head_175^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, rcd_88^0'=rcd_88^post71, f_170^0'=f_170^post71, len_132^0'=len_132^post71, temp_35^0'=temp_35^post71, head_32^0'=head_32^post71, r_163^0'=r_163^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, i_167^0'=i_167^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, head_14^0'=head_14^post71, length_29^0'=length_29^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, i_108^0'=i_108^post71, rcd_58^0'=rcd_58^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, head_27^0'=head_27^post71, r_124^0'=r_124^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, result_11^0'=result_11^post71, head_129^0'=head_129^post71, len_183^0'=len_183^post71, (length_29^0-length_29^post71 == 0 /\ -a_215^post71+a_215^0 == 0 /\ -x_16^post71+x_16^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ i_30^0-i_30^post71 == 0 /\ 1-head_175^0 <= 0 /\ a_184^0-a_184^post71 == 0 /\ -i_94^post71+i_94^0 == 0 /\ head_175^0-head_175^post71 == 0 /\ a_237^0-a_237^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ f_170^0-f_170^post71 == 0 /\ x_20^0-x_20^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ -x_SLAM_f_18^post71+x_SLAM_f_18^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -i_108^post71+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ temp0_15^0-temp0_15^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ a_116^0-a_116^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ -i_167^post71+i_167^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -r_124^post71+r_124^0 == 0 /\ y_19^0-y_19^post71 == 0 /\ head_32^0-head_32^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ r_163^0-r_163^post71 == 0 /\ -len_183^post71+len_183^0 == 0 /\ tmp_34^0-tmp_34^post71 == 0 /\ -head_14^post71+head_14^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ -head_129^post71+head_129^0 == 0), cost: 1 72: l48 -> l49 : a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, r_39^0'=r_39^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, temp0_15^0'=temp0_15^post72, head_175^0'=head_175^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, rcd_88^0'=rcd_88^post72, f_170^0'=f_170^post72, len_132^0'=len_132^post72, temp_35^0'=temp_35^post72, head_32^0'=head_32^post72, r_163^0'=r_163^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, i_167^0'=i_167^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, head_14^0'=head_14^post72, length_29^0'=length_29^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, i_108^0'=i_108^post72, rcd_58^0'=rcd_58^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, head_27^0'=head_27^post72, r_124^0'=r_124^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, result_11^0'=result_11^post72, head_129^0'=head_129^post72, len_183^0'=len_183^post72, (-head_14^post72+head_14^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ -a_215^post72+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -a_147^post72+a_147^0 == 0 /\ len_132^0-len_132^post72 == 0 /\ -len_183^post72+len_183^0 == 0 /\ head_175^0-head_175^post72 == 0 /\ -x_SLAM_f_18^post72+x_SLAM_f_18^0 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ r_163^0-r_163^post72 == 0 /\ f_170^0-f_170^post72 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ i_108^0-i_108^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ i_30^0-i_30^post72 == 0 /\ a_184^0-a_184^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ -head_129^post72+head_129^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ a_116^0-a_116^post72 == 0 /\ 1+head_175^0 <= 0 /\ head_32^0-head_32^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ y_19^0-y_19^post72 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_16^post72+x_16^0 == 0), cost: 1 73: l49 -> l44 : a_116^0'=a_116^post73, tmp_34^0'=tmp_34^post73, head_SLAM_f_26^0'=head_SLAM_f_26^post73, r_39^0'=r_39^post73, a_260^0'=a_260^post73, i_30^0'=i_30^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, temp0_15^0'=temp0_15^post73, head_175^0'=head_175^post73, nondet_12^0'=nondet_12^post73, a_184^0'=a_184^post73, x_20^0'=x_20^post73, rcd_88^0'=rcd_88^post73, f_170^0'=f_170^post73, len_132^0'=len_132^post73, temp_35^0'=temp_35^post73, head_32^0'=head_32^post73, r_163^0'=r_163^post73, a_237^0'=a_237^post73, y_19^0'=y_19^post73, i_167^0'=i_167^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, head_14^0'=head_14^post73, length_29^0'=length_29^post73, a_147^0'=a_147^post73, x_16^0'=x_16^post73, i_108^0'=i_108^post73, rcd_58^0'=rcd_58^post73, ct_17^0'=ct_17^post73, i_94^0'=i_94^post73, t_23^0'=t_23^post73, temp0_31^0'=temp0_31^post73, head_27^0'=head_27^post73, r_124^0'=r_124^post73, a_215^0'=a_215^post73, x_SLAM_f_18^0'=x_SLAM_f_18^post73, result_11^0'=result_11^post73, head_129^0'=head_129^post73, len_183^0'=len_183^post73, (0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ -r_124^post73+r_124^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post73 == 0 /\ head_32^0-head_32^post73 == 0 /\ temp0_15^0-temp0_15^post73 == 0 /\ -i_167^post73+i_167^0 == 0 /\ -rcd_58^post73+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -head_129^post73+head_129^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ a_184^0-a_184^post73 == 0 /\ a_116^0-a_116^post73 == 0 /\ -head_14^post73+head_14^0 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_183^post73+len_183^0 == 0 /\ r_39^0-r_39^post73 == 0 /\ head_175^0-head_175^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ -x_16^post73+x_16^0 == 0 /\ y_19^0-y_19^post73 == 0 /\ -len_132^post73+len_183^0 <= 0 /\ -a_215^post73+a_215^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post73 == 0 /\ result_11^0-result_11^post73 == 0 /\ a_147^post73-a_184^0 <= 0 /\ length_29^0-length_29^post73 == 0 /\ -a_260^post73+a_260^0 == 0 /\ i_108^0-i_108^post73 == 0 /\ len_132^post73-len_183^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -x_SLAM_f_18^post73+x_SLAM_f_18^0 == 0 /\ -ct_17^post73+ct_17^0 == 0 /\ r_163^0-r_163^post73 == 0 /\ -head_27^post73+head_27^0 == 0 /\ f_170^0-f_170^post73 == 0 /\ a_237^0-a_237^post73 == 0 /\ -a_147^post73+a_184^0 <= 0), cost: 1 74: l44 -> l41 : a_116^0'=a_116^post74, tmp_34^0'=tmp_34^post74, head_SLAM_f_26^0'=head_SLAM_f_26^post74, r_39^0'=r_39^post74, a_260^0'=a_260^post74, i_30^0'=i_30^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, temp0_15^0'=temp0_15^post74, head_175^0'=head_175^post74, nondet_12^0'=nondet_12^post74, a_184^0'=a_184^post74, x_20^0'=x_20^post74, rcd_88^0'=rcd_88^post74, f_170^0'=f_170^post74, len_132^0'=len_132^post74, temp_35^0'=temp_35^post74, head_32^0'=head_32^post74, r_163^0'=r_163^post74, a_237^0'=a_237^post74, y_19^0'=y_19^post74, i_167^0'=i_167^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, head_14^0'=head_14^post74, length_29^0'=length_29^post74, a_147^0'=a_147^post74, x_16^0'=x_16^post74, i_108^0'=i_108^post74, rcd_58^0'=rcd_58^post74, ct_17^0'=ct_17^post74, i_94^0'=i_94^post74, t_23^0'=t_23^post74, temp0_31^0'=temp0_31^post74, head_27^0'=head_27^post74, r_124^0'=r_124^post74, a_215^0'=a_215^post74, x_SLAM_f_18^0'=x_SLAM_f_18^post74, result_11^0'=result_11^post74, head_129^0'=head_129^post74, len_183^0'=len_183^post74, (-y_19^post74+y_19^0 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ -head_129^post74+head_129^0 == 0 /\ x_20^0-x_20^post74 == 0 /\ -head_27^post74+head_27^0 == 0 /\ -r_124^post74+r_124^0 == 0 /\ -len_183^post74+len_183^0 == 0 /\ -rcd_58^post74+rcd_58^0 == 0 /\ a_184^0-a_184^post74 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post74 == 0 /\ a_260^0-a_260^post74 == 0 /\ -head_14^post74+head_14^0 == 0 /\ temp_35^0-temp_35^post74 == 0 /\ -x_16^post74+x_16^0 == 0 /\ f_170^0-f_170^post74 == 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ a_237^0-a_237^post74 == 0 /\ -result_11^post74+result_11^0 == 0 /\ -length_29^post74+length_29^0 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ head_32^0-head_32^post74 == 0 /\ a_116^0-a_116^post74 == 0 /\ i_94^0-i_94^post74 == 0 /\ -a_215^post74+a_215^0 == 0 /\ temp0_15^0-temp0_15^post74 == 0 /\ -x_SLAM_f_18^post74+x_SLAM_f_18^0 == 0 /\ -r_163^post74+r_163^0 == 0 /\ -a_147^post74+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post74+i_167^0 == 0 /\ r_39^0-r_39^post74 == 0 /\ head_175^0-head_175^post74 == 0 /\ -i_108^post74+i_108^0 == 0 /\ -t_23^post74+t_23^0 == 0 /\ i_30^0-i_30^post74 == 0 /\ -len_132^post74+len_132^0 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ -ct_17^post74+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0), cost: 1 96: l63 -> l64 : a_116^0'=a_116^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, r_39^0'=r_39^post96, a_260^0'=a_260^post96, i_30^0'=i_30^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, temp0_15^0'=temp0_15^post96, head_175^0'=head_175^post96, nondet_12^0'=nondet_12^post96, a_184^0'=a_184^post96, x_20^0'=x_20^post96, rcd_88^0'=rcd_88^post96, f_170^0'=f_170^post96, len_132^0'=len_132^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_163^0'=r_163^post96, a_237^0'=a_237^post96, y_19^0'=y_19^post96, i_167^0'=i_167^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_14^0'=head_14^post96, length_29^0'=length_29^post96, a_147^0'=a_147^post96, x_16^0'=x_16^post96, i_108^0'=i_108^post96, rcd_58^0'=rcd_58^post96, ct_17^0'=ct_17^post96, i_94^0'=i_94^post96, t_23^0'=t_23^post96, temp0_31^0'=temp0_31^post96, head_27^0'=head_27^post96, r_124^0'=r_124^post96, a_215^0'=a_215^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, result_11^0'=result_11^post96, head_129^0'=head_129^post96, len_183^0'=len_183^post96, (length_29^0-length_29^post96 == 0 /\ a_116^0-a_116^post96 == 0 /\ -i_94^post96+i_94^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ head_175^0-head_175^post96 == 0 /\ -t_23^post96+t_23^0 == 0 /\ a_184^0-a_184^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ a_237^0-a_237^post96 == 0 /\ r_39^0-r_39^post96 == 0 /\ -x_16^post96+x_16^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ x_20^0-x_20^post96 == 0 /\ -ct_17^post96+ct_17^0 == 0 /\ -len_132^post96+len_132^0 == 0 /\ -head_27^post96+head_27^0 == 0 /\ 1-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post96 == 0 /\ -r_124^post96+r_124^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_167^post96+i_167^0 == 0 /\ -len_183^post96+len_183^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ -head_14^post96+head_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -head_129^post96+head_129^0 == 0 /\ head_32^0-head_32^post96 == 0 /\ r_163^0-r_163^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ -a_215^post96+a_215^0 == 0 /\ a_260^0-a_260^post96 == 0 /\ temp0_15^0-temp0_15^post96 == 0 /\ i_108^0-i_108^post96 == 0), cost: 1 97: l63 -> l64 : a_116^0'=a_116^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, r_39^0'=r_39^post97, a_260^0'=a_260^post97, i_30^0'=i_30^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, temp0_15^0'=temp0_15^post97, head_175^0'=head_175^post97, nondet_12^0'=nondet_12^post97, a_184^0'=a_184^post97, x_20^0'=x_20^post97, rcd_88^0'=rcd_88^post97, f_170^0'=f_170^post97, len_132^0'=len_132^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_163^0'=r_163^post97, a_237^0'=a_237^post97, y_19^0'=y_19^post97, i_167^0'=i_167^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_14^0'=head_14^post97, length_29^0'=length_29^post97, a_147^0'=a_147^post97, x_16^0'=x_16^post97, i_108^0'=i_108^post97, rcd_58^0'=rcd_58^post97, ct_17^0'=ct_17^post97, i_94^0'=i_94^post97, t_23^0'=t_23^post97, temp0_31^0'=temp0_31^post97, head_27^0'=head_27^post97, r_124^0'=r_124^post97, a_215^0'=a_215^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, result_11^0'=result_11^post97, head_129^0'=head_129^post97, len_183^0'=len_183^post97, (-temp0_31^post97+temp0_31^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ a_260^0-a_260^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ x_16^0-x_16^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -f_170^post97+f_170^0 == 0 /\ -a_147^post97+a_147^0 == 0 /\ -a_215^post97+a_215^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ -x_20^post97+x_20^0 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -r_163^post97+r_163^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ r_124^0-r_124^post97 == 0 /\ -ct_17^post97+ct_17^0 == 0 /\ a_116^0-a_116^post97 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ a_184^0-a_184^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ i_108^0-i_108^post97 == 0 /\ head_14^0-head_14^post97 == 0 /\ -y_19^post97+y_19^0 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ 1+head_14^0 <= 0 /\ -len_183^post97+len_183^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -head_27^post97+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ nondet_12^0-nondet_12^post97 == 0 /\ tmp_34^0-tmp_34^post97 == 0 /\ a_237^0-a_237^post97 == 0 /\ i_94^0-i_94^post97 == 0 /\ temp0_15^0-temp0_15^post97 == 0 /\ -head_129^post97+head_129^0 == 0 /\ -length_29^post97+length_29^0 == 0), cost: 1 98: l64 -> l41 : a_116^0'=a_116^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, r_39^0'=r_39^post98, a_260^0'=a_260^post98, i_30^0'=i_30^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, temp0_15^0'=temp0_15^post98, head_175^0'=head_175^post98, nondet_12^0'=nondet_12^post98, a_184^0'=a_184^post98, x_20^0'=x_20^post98, rcd_88^0'=rcd_88^post98, f_170^0'=f_170^post98, len_132^0'=len_132^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_163^0'=r_163^post98, a_237^0'=a_237^post98, y_19^0'=y_19^post98, i_167^0'=i_167^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_14^0'=head_14^post98, length_29^0'=length_29^post98, a_147^0'=a_147^post98, x_16^0'=x_16^post98, i_108^0'=i_108^post98, rcd_58^0'=rcd_58^post98, ct_17^0'=ct_17^post98, i_94^0'=i_94^post98, t_23^0'=t_23^post98, temp0_31^0'=temp0_31^post98, head_27^0'=head_27^post98, r_124^0'=r_124^post98, a_215^0'=a_215^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, result_11^0'=result_11^post98, head_129^0'=head_129^post98, len_183^0'=len_183^post98, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^post98+i_167^0 == 0 /\ -r_163^post98+r_163^0 == 0 /\ temp0_15^0-temp0_15^post98 == 0 /\ x_20^0-x_20^post98 == 0 /\ -i_108^post98+i_108^0 == 0 /\ -head_129^post98+head_129^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ rcd_88^0-rcd_88^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -a_215^post98+a_215^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post98 == 0 /\ a_184^0-a_184^post98 == 0 /\ a_116^0-a_116^post98 == 0 /\ i_30^0-i_30^post98 == 0 /\ a_237^0-a_237^post98 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ -len_183^post98+len_183^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post98+a_147^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -x_16^post98+x_16^0 == 0 /\ tmp_34^0-tmp_34^post98 == 0 /\ -t_23^post98+t_23^0 == 0 /\ -len_132^post98+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -i_94^post98+i_94^0 == 0 /\ head_175^0-head_175^post98 == 0 /\ -a_260^post98+a_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ head_14^0-head_14^post98 == 0 /\ -head_27^post98+head_27^0 == 0), cost: 1 100: l65 -> l38 : a_116^0'=a_116^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, r_39^0'=r_39^post100, a_260^0'=a_260^post100, i_30^0'=i_30^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, temp0_15^0'=temp0_15^post100, head_175^0'=head_175^post100, nondet_12^0'=nondet_12^post100, a_184^0'=a_184^post100, x_20^0'=x_20^post100, rcd_88^0'=rcd_88^post100, f_170^0'=f_170^post100, len_132^0'=len_132^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_163^0'=r_163^post100, a_237^0'=a_237^post100, y_19^0'=y_19^post100, i_167^0'=i_167^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_14^0'=head_14^post100, length_29^0'=length_29^post100, a_147^0'=a_147^post100, x_16^0'=x_16^post100, i_108^0'=i_108^post100, rcd_58^0'=rcd_58^post100, ct_17^0'=ct_17^post100, i_94^0'=i_94^post100, t_23^0'=t_23^post100, temp0_31^0'=temp0_31^post100, head_27^0'=head_27^post100, r_124^0'=r_124^post100, a_215^0'=a_215^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, result_11^0'=result_11^post100, head_129^0'=head_129^post100, len_183^0'=len_183^post100, (-y_19^post100+y_19^0 == 0 /\ tmp_34^0-tmp_34^post100 == 0 /\ -head_27^post100+head_27^0 == 0 /\ -len_183^post100+len_183^0 == 0 /\ -r_124^post100+r_124^0 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_260^0-a_260^post100 == 0 /\ temp0_15^0-temp0_15^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ x_20^0-x_20^post100 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ a_237^0-a_237^post100 == 0 /\ -length_29^post100+length_29^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ head_32^0-head_32^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -a_215^post100+a_215^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ -a_147^post100+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -i_108^post100+i_108^0 == 0 /\ r_39^0-r_39^post100 == 0 /\ -r_163^post100+r_163^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ -t_23^post100+t_23^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ a_184^0-a_184^post100 == 0 /\ -ct_17^post100+ct_17^0 == 0), cost: 1 103: l66 -> l39 : a_116^0'=a_116^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_26^0'=head_SLAM_f_26^post103, r_39^0'=r_39^post103, a_260^0'=a_260^post103, i_30^0'=i_30^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, temp0_15^0'=temp0_15^post103, head_175^0'=head_175^post103, nondet_12^0'=nondet_12^post103, a_184^0'=a_184^post103, x_20^0'=x_20^post103, rcd_88^0'=rcd_88^post103, f_170^0'=f_170^post103, len_132^0'=len_132^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_163^0'=r_163^post103, a_237^0'=a_237^post103, y_19^0'=y_19^post103, i_167^0'=i_167^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, head_14^0'=head_14^post103, length_29^0'=length_29^post103, a_147^0'=a_147^post103, x_16^0'=x_16^post103, i_108^0'=i_108^post103, rcd_58^0'=rcd_58^post103, ct_17^0'=ct_17^post103, i_94^0'=i_94^post103, t_23^0'=t_23^post103, temp0_31^0'=temp0_31^post103, head_27^0'=head_27^post103, r_124^0'=r_124^post103, a_215^0'=a_215^post103, x_SLAM_f_18^0'=x_SLAM_f_18^post103, result_11^0'=result_11^post103, head_129^0'=head_129^post103, len_183^0'=len_183^post103, (-i_94^post103+i_94^0 == 0 /\ -x_16^post103+x_16^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ -a_215^post103+a_215^0 == 0 /\ -result_11^post103+result_11^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ a_184^0-a_184^post103 == 0 /\ -len_132^post103+len_132^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ y_19^0-y_19^post103 == 0 /\ a_147^0-a_147^post103 == 0 /\ x_20^0-x_20^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -head_27^post103+head_27^0 == 0 /\ -x_SLAM_f_18^post103+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post103 == 0 /\ -ct_17^post103+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post103 == 0 /\ -i_108^post103+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post103 == 0 /\ length_29^0-length_29^post103 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post103+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post103 == 0 /\ -r_124^post103+r_124^0 == 0 /\ r_163^0-r_163^post103 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ head_175^0-head_175^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ f_170^0-f_170^post103 == 0 /\ -head_14^post103+head_14^0 == 0 /\ -head_129^post103+head_129^0 == 0 /\ -a_237^post103+a_237^0 == 0 /\ tmp_34^0-tmp_34^post103 == 0 /\ i_167^0-i_167^post103 == 0 /\ -len_183^post103+len_183^0 == 0 /\ -temp_35^post103+temp_35^0 == 0), cost: 1 Applied preprocessing Original rule: l0 -> l3 : a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, r_39^0'=r_39^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, temp0_15^0'=temp0_15^post1, head_175^0'=head_175^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, rcd_88^0'=rcd_88^post1, f_170^0'=f_170^post1, len_132^0'=len_132^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_163^0'=r_163^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, i_167^0'=i_167^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, head_14^0'=head_14^post1, length_29^0'=length_29^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, i_108^0'=i_108^post1, rcd_58^0'=rcd_58^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, head_27^0'=head_27^post1, r_124^0'=r_124^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, result_11^0'=result_11^post1, head_129^0'=head_129^post1, len_183^0'=len_183^post1, (0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ length_29^0-length_29^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -a_147^post1+a_147^0 == 0 /\ a_260^0-a_260^post1 == 0 /\ a_184^0-a_184^post1 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ f_170^0-f_170^post1 == 0 /\ x_20^0-x_20^post1 == 0 /\ tmp_34^0-tmp_34^post1 == 0 /\ -len_132^post1+len_132^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -len_183^post1+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -a_237^0 <= 0 /\ -i_167^post1+i_167^0 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ head_32^0-head_32^post1 == 0 /\ y_19^0-y_19^post1 == 0 /\ r_163^0-r_163^post1 == 0 /\ a_116^0-a_116^post1 == 0 /\ -a_215^post1+a_215^0 == 0 /\ temp0_15^0-temp0_15^post1 == 0 /\ i_108^0-i_108^post1 == 0 /\ -head_129^post1+head_129^0 == 0), cost: 1 New rule: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 Applied preprocessing Original rule: l3 -> l4 : a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, r_39^0'=r_39^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, temp0_15^0'=temp0_15^post2, head_175^0'=head_175^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, rcd_88^0'=rcd_88^post2, f_170^0'=f_170^post2, len_132^0'=len_132^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_163^0'=r_163^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, i_167^0'=i_167^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, head_14^0'=head_14^post2, length_29^0'=length_29^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, i_108^0'=i_108^post2, rcd_58^0'=rcd_58^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, head_27^0'=head_27^post2, r_124^0'=r_124^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, result_11^0'=result_11^post2, head_129^0'=head_129^post2, len_183^0'=len_183^post2, (a_260^0-a_260^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -a_215^post2+a_215^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ len_132^0-len_132^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ head_175^0-head_175^post2 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ y_19^0-y_19^post2 == 0 /\ a_147^0-a_147^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -x_SLAM_f_18^post2+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ i_108^0-i_108^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_129^post2+head_129^0 == 0 /\ a_184^0-a_184^post2 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -len_183^post2+len_183^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ length_29^0-length_29^post2 == 0), cost: 1 New rule: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 Applied preprocessing Original rule: l3 -> l4 : a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, r_39^0'=r_39^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, temp0_15^0'=temp0_15^post3, head_175^0'=head_175^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, rcd_88^0'=rcd_88^post3, f_170^0'=f_170^post3, len_132^0'=len_132^post3, temp_35^0'=temp_35^post3, head_32^0'=head_32^post3, r_163^0'=r_163^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, i_167^0'=i_167^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, head_14^0'=head_14^post3, length_29^0'=length_29^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, i_108^0'=i_108^post3, rcd_58^0'=rcd_58^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, head_27^0'=head_27^post3, r_124^0'=r_124^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, result_11^0'=result_11^post3, head_129^0'=head_129^post3, len_183^0'=len_183^post3, (1+x_20^0-y_19^0 <= 0 /\ -i_167^post3+i_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ f_170^0-f_170^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ x_20^0-x_20^post3 == 0 /\ i_108^0-i_108^post3 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -y_19^post3+y_19^0 == 0 /\ a_116^0-a_116^post3 == 0 /\ -head_14^post3+head_14^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -head_129^post3+head_129^0 == 0 /\ length_29^0-length_29^post3 == 0 /\ i_30^0-i_30^post3 == 0 /\ a_237^0-a_237^post3 == 0 /\ -rcd_58^post3+rcd_58^0 == 0 /\ r_39^0-r_39^post3 == 0 /\ -len_183^post3+len_183^0 == 0 /\ head_32^0-head_32^post3 == 0 /\ temp_35^0-temp_35^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -a_215^post3+a_215^0 == 0 /\ -a_147^post3+a_147^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ result_11^0-result_11^post3 == 0 /\ -t_23^post3+t_23^0 == 0 /\ -x_SLAM_f_18^post3+x_SLAM_f_18^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -len_132^post3+len_132^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_260^post3+a_260^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -head_27^post3+head_27^0 == 0), cost: 1 New rule: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 Applied preprocessing Original rule: l4 -> l5 : a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, r_39^0'=r_39^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, temp0_15^0'=temp0_15^post4, head_175^0'=head_175^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, rcd_88^0'=rcd_88^post4, f_170^0'=f_170^post4, len_132^0'=len_132^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_163^0'=r_163^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, i_167^0'=i_167^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, head_14^0'=head_14^post4, length_29^0'=length_29^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, i_108^0'=i_108^post4, rcd_58^0'=rcd_58^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, head_27^0'=head_27^post4, r_124^0'=r_124^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, result_11^0'=result_11^post4, head_129^0'=head_129^post4, len_183^0'=len_183^post4, (0 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -1+a_237^0-a_260^post4 <= 0 /\ -head_27^post4+head_27^0 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -head_129^post4+head_129^0 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -len_183^post4+len_183^0 == 0 /\ -ct_17^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -temp_35^post4+temp_35^0 == 0 /\ x_20^0-x_20^post4 == 0 /\ head_175^0-head_175^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ len_132^0-len_132^post4 == 0 /\ y_19^0 <= 0 /\ -a_215^post4+a_215^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ 1-a_237^0+a_260^post4 <= 0 /\ -result_11^post4+result_11^0 == 0 /\ -x_16^post4+x_16^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -y_19^0 <= 0 /\ -a_147^post4+a_147^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ i_94^0-i_94^post4 == 0 /\ ct_17^0 <= 0 /\ a_116^0-a_116^post4 == 0 /\ -x_SLAM_f_18^post4+x_SLAM_f_18^0 == 0 /\ -x_20^0+t_23^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post4+i_167^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ f_170^0-f_170^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ r_163^0-r_163^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ i_30^0-i_30^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ a_184^0-a_184^post4 == 0), cost: 1 New rule: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Applied preprocessing Original rule: l5 -> l6 : a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, r_39^0'=r_39^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, temp0_15^0'=temp0_15^post5, head_175^0'=head_175^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, rcd_88^0'=rcd_88^post5, f_170^0'=f_170^post5, len_132^0'=len_132^post5, temp_35^0'=temp_35^post5, head_32^0'=head_32^post5, r_163^0'=r_163^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, i_167^0'=i_167^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, head_14^0'=head_14^post5, length_29^0'=length_29^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, i_108^0'=i_108^post5, rcd_58^0'=rcd_58^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, head_27^0'=head_27^post5, r_124^0'=r_124^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, result_11^0'=result_11^post5, head_129^0'=head_129^post5, len_183^0'=len_183^post5, (r_39^0-r_39^post5 == 0 /\ head_175^0-head_175^post5 == 0 /\ a_116^0-a_116^post5 == 0 /\ -x_20^post5+x_20^0 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ length_29^0-length_29^post5 == 0 /\ -a_147^post5+a_147^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ -head_129^post5+head_129^0 == 0 /\ a_237^0-a_237^post5 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -x_SLAM_f_18^post5+x_SLAM_f_18^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ i_30^0-i_30^post5 == 0 /\ -i_94^post5+i_94^0 == 0 /\ 1-head_14^0 <= 0 /\ a_184^0-a_184^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -len_183^post5+len_183^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ r_163^0-r_163^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -a_215^post5+a_215^0 == 0 /\ i_108^0-i_108^post5 == 0), cost: 1 New rule: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l5 -> l6 : a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, r_39^0'=r_39^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, temp0_15^0'=temp0_15^post6, head_175^0'=head_175^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, rcd_88^0'=rcd_88^post6, f_170^0'=f_170^post6, len_132^0'=len_132^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_163^0'=r_163^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, i_167^0'=i_167^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, head_14^0'=head_14^post6, length_29^0'=length_29^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, i_108^0'=i_108^post6, rcd_58^0'=rcd_58^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, head_27^0'=head_27^post6, r_124^0'=r_124^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, result_11^0'=result_11^post6, head_129^0'=head_129^post6, len_183^0'=len_183^post6, (head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ -len_132^post6+len_132^0 == 0 /\ -x_SLAM_f_18^post6+x_SLAM_f_18^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ r_124^0-r_124^post6 == 0 /\ a_116^0-a_116^post6 == 0 /\ t_23^0-t_23^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ -len_183^post6+len_183^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ head_14^0-head_14^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ -a_260^post6+a_260^0 == 0 /\ -i_167^post6+i_167^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ 1+head_14^0 <= 0 /\ r_39^0-r_39^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -length_29^post6+length_29^0 == 0 /\ -head_129^post6+head_129^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ temp0_15^0-temp0_15^post6 == 0), cost: 1 New rule: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l6 -> l7 : a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, r_39^0'=r_39^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, temp0_15^0'=temp0_15^post7, head_175^0'=head_175^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, rcd_88^0'=rcd_88^post7, f_170^0'=f_170^post7, len_132^0'=len_132^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_163^0'=r_163^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, i_167^0'=i_167^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, head_14^0'=head_14^post7, length_29^0'=length_29^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, i_108^0'=i_108^post7, rcd_58^0'=rcd_58^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, head_27^0'=head_27^post7, r_124^0'=r_124^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, result_11^0'=result_11^post7, head_129^0'=head_129^post7, len_183^0'=len_183^post7, (f_170^0-f_170^post7 == 0 /\ -i_167^post7+i_167^0 == 0 /\ temp0_15^0-temp0_15^post7 == 0 /\ -r_163^post7+r_163^0 == 0 /\ -a_215^post7+a_215^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ a_184^0-a_184^post7 == 0 /\ x_20^0-x_20^post7 == 0 /\ rcd_88^0-rcd_88^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ -len_183^post7+len_183^0 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -x_SLAM_f_18^post7+x_SLAM_f_18^0 == 0 /\ -a_147^post7+a_147^0 == 0 /\ length_29^0-length_29^post7 == 0 /\ a_237^0-a_237^post7 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ r_124^0-r_124^post7 == 0 /\ -len_132^post7+len_132^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -a_260^post7+a_260^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ head_175^0-head_175^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_16^post7+x_16^0 == 0 /\ head_129^0-head_129^post7 == 0 /\ head_14^0-head_14^post7 == 0 /\ -head_27^post7+head_27^0 == 0 /\ head_32^0-head_32^post7 == 0), cost: 1 New rule: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l6 -> l7 : a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, r_39^0'=r_39^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, temp0_15^0'=temp0_15^post8, head_175^0'=head_175^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, rcd_88^0'=rcd_88^post8, f_170^0'=f_170^post8, len_132^0'=len_132^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_163^0'=r_163^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, i_167^0'=i_167^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, head_14^0'=head_14^post8, length_29^0'=length_29^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, i_108^0'=i_108^post8, rcd_58^0'=rcd_58^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, head_27^0'=head_27^post8, r_124^0'=r_124^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, result_11^0'=result_11^post8, head_129^0'=head_129^post8, len_183^0'=len_183^post8, (temp_35^0-temp_35^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ -r_163^post8+r_163^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ t_23^0-t_23^post8 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ i_167^0-i_167^post8 == 0 /\ -head_129^post8+head_129^0 == 0 /\ -y_19^post8+y_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ len_132^0-len_132^post8 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ -f_170^post8+f_170^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ -a_215^post8+a_215^0 == 0 /\ head_32^0-head_32^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -x_SLAM_f_18^post8+x_SLAM_f_18^0 == 0 /\ a_116^0-a_116^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -head_175^post8+head_175^0 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -x_20^post8+x_20^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ a_237^0-a_237^post8 == 0 /\ -i_108^post8+i_108^0 == 0), cost: 1 New rule: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l7 -> l8 : a_116^0'=a_116^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, r_39^0'=r_39^post9, a_260^0'=a_260^post9, i_30^0'=i_30^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, temp0_15^0'=temp0_15^post9, head_175^0'=head_175^post9, nondet_12^0'=nondet_12^post9, a_184^0'=a_184^post9, x_20^0'=x_20^post9, rcd_88^0'=rcd_88^post9, f_170^0'=f_170^post9, len_132^0'=len_132^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_163^0'=r_163^post9, a_237^0'=a_237^post9, y_19^0'=y_19^post9, i_167^0'=i_167^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, head_14^0'=head_14^post9, length_29^0'=length_29^post9, a_147^0'=a_147^post9, x_16^0'=x_16^post9, i_108^0'=i_108^post9, rcd_58^0'=rcd_58^post9, ct_17^0'=ct_17^post9, i_94^0'=i_94^post9, t_23^0'=t_23^post9, temp0_31^0'=temp0_31^post9, head_27^0'=head_27^post9, r_124^0'=r_124^post9, a_215^0'=a_215^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, result_11^0'=result_11^post9, head_129^0'=head_129^post9, len_183^0'=len_183^post9, (-y_19^post9+y_19^0 == 0 /\ -head_27^post9+head_27^0 == 0 /\ -head_129^post9+head_129^0 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_132^post9+len_132^0 == 0 /\ -r_124^post9+r_124^0 == 0 /\ -len_183^post9+len_183^0 == 0 /\ a_116^0-a_116^post9 == 0 /\ rcd_58^0-rcd_58^post9 == 0 /\ -x_20^post9+x_20^0 == 0 /\ -a_237^post9+a_237^0 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ f_170^0-f_170^post9 == 0 /\ i_167^0-i_167^post9 == 0 /\ r_39^0-r_39^post9 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ i_30^0-i_30^post9 == 0 /\ a_184^0-a_184^post9 == 0 /\ rcd_88^0-rcd_88^post9 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post9 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -result_11^post9+result_11^0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9 == 0 /\ -length_29^post9+length_29^0 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ x_16^0-x_16^post9 == 0 /\ -i_94^post9+i_94^0 == 0 /\ ct_17^0-ct_17^post9 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -r_163^post9+r_163^0 == 0 /\ -a_147^post9+a_147^0 == 0 /\ temp0_15^0-temp0_15^post9 == 0 /\ a_260^0-a_260^post9 == 0 /\ head_14^0-head_14^post9 == 0 /\ -i_108^post9+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ head_175^0-head_175^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0), cost: 1 New rule: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l7 -> l8 : a_116^0'=a_116^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, r_39^0'=r_39^post10, a_260^0'=a_260^post10, i_30^0'=i_30^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, temp0_15^0'=temp0_15^post10, head_175^0'=head_175^post10, nondet_12^0'=nondet_12^post10, a_184^0'=a_184^post10, x_20^0'=x_20^post10, rcd_88^0'=rcd_88^post10, f_170^0'=f_170^post10, len_132^0'=len_132^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_163^0'=r_163^post10, a_237^0'=a_237^post10, y_19^0'=y_19^post10, i_167^0'=i_167^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_14^0'=head_14^post10, length_29^0'=length_29^post10, a_147^0'=a_147^post10, x_16^0'=x_16^post10, i_108^0'=i_108^post10, rcd_58^0'=rcd_58^post10, ct_17^0'=ct_17^post10, i_94^0'=i_94^post10, t_23^0'=t_23^post10, temp0_31^0'=temp0_31^post10, head_27^0'=head_27^post10, r_124^0'=r_124^post10, a_215^0'=a_215^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_11^0'=result_11^post10, head_129^0'=head_129^post10, len_183^0'=len_183^post10, (-a_147^post10+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ x_16^0-x_16^post10 == 0 /\ r_124^0-r_124^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -len_132^post10+len_132^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ -head_129^post10+head_129^0 == 0 /\ -x_SLAM_f_18^post10+x_SLAM_f_18^0 == 0 /\ f_170^0-f_170^post10 == 0 /\ -ct_17^post10+ct_17^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ a_260^0-a_260^post10 == 0 /\ t_23^0-t_23^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ head_27^0-head_27^post10 == 0 /\ a_116^0-a_116^post10 == 0 /\ r_39^0-r_39^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -r_163^post10+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10 == 0 /\ -head_14^post10+head_14^0 == 0 /\ -i_167^post10+i_167^0 == 0 /\ a_237^0-a_237^post10 == 0 /\ -rcd_88^post10+rcd_88^0 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -len_183^post10+len_183^0 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ -length_29^post10+length_29^0 == 0 /\ a_184^0-a_184^post10 == 0 /\ i_94^0-i_94^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -y_19^post10+y_19^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1 New rule: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l8 -> l2 : a_116^0'=a_116^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, r_39^0'=r_39^post11, a_260^0'=a_260^post11, i_30^0'=i_30^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, temp0_15^0'=temp0_15^post11, head_175^0'=head_175^post11, nondet_12^0'=nondet_12^post11, a_184^0'=a_184^post11, x_20^0'=x_20^post11, rcd_88^0'=rcd_88^post11, f_170^0'=f_170^post11, len_132^0'=len_132^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_163^0'=r_163^post11, a_237^0'=a_237^post11, y_19^0'=y_19^post11, i_167^0'=i_167^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_14^0'=head_14^post11, length_29^0'=length_29^post11, a_147^0'=a_147^post11, x_16^0'=x_16^post11, i_108^0'=i_108^post11, rcd_58^0'=rcd_58^post11, ct_17^0'=ct_17^post11, i_94^0'=i_94^post11, t_23^0'=t_23^post11, temp0_31^0'=temp0_31^post11, head_27^0'=head_27^post11, r_124^0'=r_124^post11, a_215^0'=a_215^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, result_11^0'=result_11^post11, head_129^0'=head_129^post11, len_183^0'=len_183^post11, (0 == 0 /\ i_30^0-i_30^post11 == 0 /\ head_14^0-head_14^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -t_23^post11+t_23^0 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -a_215^post11+a_215^0 == 0 /\ -result_11^post11+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ r_163^0-r_163^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ head_175^0-head_175^post11 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ a_260^0-a_260^post11 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -a_260^0+a_237^post11 <= 0 /\ x_16^0-x_16^post11 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -r_124^post11+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ len_132^0-len_132^post11 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -len_183^post11+len_183^0 == 0 /\ a_147^0-a_147^post11 == 0 /\ a_260^0-a_237^post11 <= 0 /\ ct_17^0-ct_17^post11 == 0 /\ -head_129^post11+head_129^0 == 0 /\ -y_19^post11+y_19^0 == 0 /\ -a_184^post11+a_184^0 == 0 /\ -length_29^post11+length_29^0 == 0 /\ a_116^0-a_116^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0), cost: 1 New rule: l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Applied preprocessing Original rule: l2 -> l0 : a_116^0'=a_116^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, r_39^0'=r_39^post12, a_260^0'=a_260^post12, i_30^0'=i_30^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, temp0_15^0'=temp0_15^post12, head_175^0'=head_175^post12, nondet_12^0'=nondet_12^post12, a_184^0'=a_184^post12, x_20^0'=x_20^post12, rcd_88^0'=rcd_88^post12, f_170^0'=f_170^post12, len_132^0'=len_132^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_163^0'=r_163^post12, a_237^0'=a_237^post12, y_19^0'=y_19^post12, i_167^0'=i_167^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_14^0'=head_14^post12, length_29^0'=length_29^post12, a_147^0'=a_147^post12, x_16^0'=x_16^post12, i_108^0'=i_108^post12, rcd_58^0'=rcd_58^post12, ct_17^0'=ct_17^post12, i_94^0'=i_94^post12, t_23^0'=t_23^post12, temp0_31^0'=temp0_31^post12, head_27^0'=head_27^post12, r_124^0'=r_124^post12, a_215^0'=a_215^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, result_11^0'=result_11^post12, head_129^0'=head_129^post12, len_183^0'=len_183^post12, (-head_32^post12+head_32^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ -r_163^post12+r_163^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ a_260^0-a_260^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -length_29^post12+length_29^0 == 0 /\ -i_108^post12+i_108^0 == 0 /\ -len_183^post12+len_183^0 == 0 /\ len_132^0-len_132^post12 == 0 /\ -a_215^post12+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -f_170^post12+f_170^0 == 0 /\ -rcd_58^post12+rcd_58^0 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -a_147^post12+a_147^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -x_20^post12+x_20^0 == 0 /\ a_184^0-a_184^post12 == 0 /\ temp0_15^0-temp0_15^post12 == 0 /\ -head_129^post12+head_129^0 == 0 /\ a_116^0-a_116^post12 == 0 /\ -r_124^post12+r_124^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ ct_17^0-ct_17^post12 == 0 /\ a_237^0-a_237^post12 == 0 /\ -head_175^post12+head_175^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -head_27^post12+head_27^0 == 0), cost: 1 New rule: l2 -> l0 : TRUE, cost: 1 Applied preprocessing Original rule: l18 -> l19 : a_116^0'=a_116^post28, tmp_34^0'=tmp_34^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, r_39^0'=r_39^post28, a_260^0'=a_260^post28, i_30^0'=i_30^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, temp0_15^0'=temp0_15^post28, head_175^0'=head_175^post28, nondet_12^0'=nondet_12^post28, a_184^0'=a_184^post28, x_20^0'=x_20^post28, rcd_88^0'=rcd_88^post28, f_170^0'=f_170^post28, len_132^0'=len_132^post28, temp_35^0'=temp_35^post28, head_32^0'=head_32^post28, r_163^0'=r_163^post28, a_237^0'=a_237^post28, y_19^0'=y_19^post28, i_167^0'=i_167^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_14^0'=head_14^post28, length_29^0'=length_29^post28, a_147^0'=a_147^post28, x_16^0'=x_16^post28, i_108^0'=i_108^post28, rcd_58^0'=rcd_58^post28, ct_17^0'=ct_17^post28, i_94^0'=i_94^post28, t_23^0'=t_23^post28, temp0_31^0'=temp0_31^post28, head_27^0'=head_27^post28, r_124^0'=r_124^post28, a_215^0'=a_215^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, result_11^0'=result_11^post28, head_129^0'=head_129^post28, len_183^0'=len_183^post28, (0 == 0 /\ -len_132^post28+len_132^0 == 0 /\ -head_27^post28+head_27^0 == 0 /\ r_39^0-r_39^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -head_129^post28+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_237^0-a_237^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_32^0-head_32^post28 == 0 /\ -len_183^post28+len_183^0 == 0 /\ a_116^0-a_116^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ a_260^0-a_260^post28 == 0 /\ -r_124^post28+r_124^0 == 0 /\ -result_11^post28+result_11^0 == 0 /\ temp0_15^0-temp0_15^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ x_20^0-x_20^post28 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ y_19^0-y_19^post28 == 0 /\ r_163^0-r_163^post28 == 0 /\ -t_23^post28+t_23^0 == 0 /\ -a_215^post28+a_215^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_30^0-i_30^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ a_184^0-a_184^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -len_132^0 <= 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post28 == 0 /\ -a_147^post28+a_147^0 == 0), cost: 1 New rule: l18 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_132^0 >= 0, cost: 1 Applied preprocessing Original rule: l19 -> l20 : a_116^0'=a_116^post29, tmp_34^0'=tmp_34^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, r_39^0'=r_39^post29, a_260^0'=a_260^post29, i_30^0'=i_30^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, temp0_15^0'=temp0_15^post29, head_175^0'=head_175^post29, nondet_12^0'=nondet_12^post29, a_184^0'=a_184^post29, x_20^0'=x_20^post29, rcd_88^0'=rcd_88^post29, f_170^0'=f_170^post29, len_132^0'=len_132^post29, temp_35^0'=temp_35^post29, head_32^0'=head_32^post29, r_163^0'=r_163^post29, a_237^0'=a_237^post29, y_19^0'=y_19^post29, i_167^0'=i_167^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_14^0'=head_14^post29, length_29^0'=length_29^post29, a_147^0'=a_147^post29, x_16^0'=x_16^post29, i_108^0'=i_108^post29, rcd_58^0'=rcd_58^post29, ct_17^0'=ct_17^post29, i_94^0'=i_94^post29, t_23^0'=t_23^post29, temp0_31^0'=temp0_31^post29, head_27^0'=head_27^post29, r_124^0'=r_124^post29, a_215^0'=a_215^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, result_11^0'=result_11^post29, head_129^0'=head_129^post29, len_183^0'=len_183^post29, (a_116^0-a_116^post29 == 0 /\ x_16^0-x_16^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ -a_147^post29+a_147^0 == 0 /\ -x_20^post29+x_20^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ -x_SLAM_f_18^post29+x_SLAM_f_18^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ -len_132^post29+len_132^0 == 0 /\ r_39^0-r_39^post29 == 0 /\ 1-x_20^0+y_19^0 <= 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ f_170^0-f_170^post29 == 0 /\ -ct_17^post29+ct_17^0 == 0 /\ -head_27^post29+head_27^0 == 0 /\ a_184^0-a_184^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ head_175^0-head_175^post29 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ i_30^0-i_30^post29 == 0 /\ a_237^0-a_237^post29 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -y_19^post29+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ -head_14^post29+head_14^0 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -head_129^post29+head_129^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_215^post29+a_215^0 == 0 /\ a_260^0-a_260^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post29 == 0 /\ i_108^0-i_108^post29 == 0 /\ -len_183^post29+len_183^0 == 0), cost: 1 New rule: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 Applied preprocessing Original rule: l19 -> l20 : a_116^0'=a_116^post30, tmp_34^0'=tmp_34^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, r_39^0'=r_39^post30, a_260^0'=a_260^post30, i_30^0'=i_30^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, temp0_15^0'=temp0_15^post30, head_175^0'=head_175^post30, nondet_12^0'=nondet_12^post30, a_184^0'=a_184^post30, x_20^0'=x_20^post30, rcd_88^0'=rcd_88^post30, f_170^0'=f_170^post30, len_132^0'=len_132^post30, temp_35^0'=temp_35^post30, head_32^0'=head_32^post30, r_163^0'=r_163^post30, a_237^0'=a_237^post30, y_19^0'=y_19^post30, i_167^0'=i_167^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_14^0'=head_14^post30, length_29^0'=length_29^post30, a_147^0'=a_147^post30, x_16^0'=x_16^post30, i_108^0'=i_108^post30, rcd_58^0'=rcd_58^post30, ct_17^0'=ct_17^post30, i_94^0'=i_94^post30, t_23^0'=t_23^post30, temp0_31^0'=temp0_31^post30, head_27^0'=head_27^post30, r_124^0'=r_124^post30, a_215^0'=a_215^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, result_11^0'=result_11^post30, head_129^0'=head_129^post30, len_183^0'=len_183^post30, (1+x_20^0-y_19^0 <= 0 /\ -a_215^post30+a_215^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ temp0_15^0-temp0_15^post30 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -result_11^post30+result_11^0 == 0 /\ i_167^0-i_167^post30 == 0 /\ x_16^0-x_16^post30 == 0 /\ f_170^0-f_170^post30 == 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -a_147^post30+a_147^0 == 0 /\ i_30^0-i_30^post30 == 0 /\ a_184^0-a_184^post30 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_32^post30+head_32^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ a_237^0-a_237^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ -r_163^post30+r_163^0 == 0 /\ a_116^0-a_116^post30 == 0 /\ -a_260^post30+a_260^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ -rcd_58^post30+rcd_58^0 == 0 /\ head_14^0-head_14^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ -len_183^post30+len_183^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ r_39^0-r_39^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ head_129^0-head_129^post30 == 0 /\ y_19^0-y_19^post30 == 0 /\ i_94^0-i_94^post30 == 0), cost: 1 New rule: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 Applied preprocessing Original rule: l20 -> l21 : a_116^0'=a_116^post31, tmp_34^0'=tmp_34^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, r_39^0'=r_39^post31, a_260^0'=a_260^post31, i_30^0'=i_30^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, temp0_15^0'=temp0_15^post31, head_175^0'=head_175^post31, nondet_12^0'=nondet_12^post31, a_184^0'=a_184^post31, x_20^0'=x_20^post31, rcd_88^0'=rcd_88^post31, f_170^0'=f_170^post31, len_132^0'=len_132^post31, temp_35^0'=temp_35^post31, head_32^0'=head_32^post31, r_163^0'=r_163^post31, a_237^0'=a_237^post31, y_19^0'=y_19^post31, i_167^0'=i_167^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_14^0'=head_14^post31, length_29^0'=length_29^post31, a_147^0'=a_147^post31, x_16^0'=x_16^post31, i_108^0'=i_108^post31, rcd_58^0'=rcd_58^post31, ct_17^0'=ct_17^post31, i_94^0'=i_94^post31, t_23^0'=t_23^post31, temp0_31^0'=temp0_31^post31, head_27^0'=head_27^post31, r_124^0'=r_124^post31, a_215^0'=a_215^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, result_11^0'=result_11^post31, head_129^0'=head_129^post31, len_183^0'=len_183^post31, (0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ a_260^0-a_260^post31 == 0 /\ head_14^0-x_SLAM_f_18^0 <= 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -r_163^post31+r_163^0 == 0 /\ -ct_17^0 <= 0 /\ -a_215^post31+a_237^0 <= 0 /\ -y_19^0+ct_17^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -y_19^post31+y_19^0 == 0 /\ -len_183^post31+len_183^0 == 0 /\ -head_14^0+x_SLAM_f_18^0 <= 0 /\ -rcd_58^post31+rcd_58^0 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ -f_170^post31+f_170^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ a_237^0-a_237^post31 == 0 /\ a_215^post31-a_237^0 <= 0 /\ y_19^0-ct_17^0 <= 0 /\ y_19^0 <= 0 /\ temp_35^0-temp_35^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ temp0_15^0-temp0_15^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -a_147^post31+a_147^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ i_94^0-i_94^post31 == 0 /\ -head_14^0+t_23^post31 <= 0 /\ -x_16^post31+x_16^0 == 0 /\ i_30^0-i_30^post31 == 0 /\ -head_129^post31+head_129^0 == 0 /\ -y_19^0 <= 0 /\ a_184^0-a_184^post31 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ head_175^0-head_175^post31 == 0 /\ a_116^0-a_116^post31 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ head_14^0-t_23^post31 <= 0 /\ -x_20^0+t_23^post31 == 0 /\ head_14^0-x_16^0 <= 0 /\ -head_27^post31+head_27^0 == 0 /\ -r_124^post31+r_124^0 == 0), cost: 1 New rule: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Applied preprocessing Original rule: l21 -> l22 : a_116^0'=a_116^post32, tmp_34^0'=tmp_34^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, r_39^0'=r_39^post32, a_260^0'=a_260^post32, i_30^0'=i_30^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, temp0_15^0'=temp0_15^post32, head_175^0'=head_175^post32, nondet_12^0'=nondet_12^post32, a_184^0'=a_184^post32, x_20^0'=x_20^post32, rcd_88^0'=rcd_88^post32, f_170^0'=f_170^post32, len_132^0'=len_132^post32, temp_35^0'=temp_35^post32, head_32^0'=head_32^post32, r_163^0'=r_163^post32, a_237^0'=a_237^post32, y_19^0'=y_19^post32, i_167^0'=i_167^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_14^0'=head_14^post32, length_29^0'=length_29^post32, a_147^0'=a_147^post32, x_16^0'=x_16^post32, i_108^0'=i_108^post32, rcd_58^0'=rcd_58^post32, ct_17^0'=ct_17^post32, i_94^0'=i_94^post32, t_23^0'=t_23^post32, temp0_31^0'=temp0_31^post32, head_27^0'=head_27^post32, r_124^0'=r_124^post32, a_215^0'=a_215^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, result_11^0'=result_11^post32, head_129^0'=head_129^post32, len_183^0'=len_183^post32, (-r_124^post32+r_124^0 == 0 /\ -i_108^post32+i_108^0 == 0 /\ -len_183^post32+len_183^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ a_116^0-a_116^post32 == 0 /\ -head_27^post32+head_27^0 == 0 /\ i_167^0-i_167^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ -y_19^post32+y_19^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ 1-head_14^0 <= 0 /\ -head_129^post32+head_129^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ r_39^0-r_39^post32 == 0 /\ i_30^0-i_30^post32 == 0 /\ -f_170^post32+f_170^0 == 0 /\ -i_94^post32+i_94^0 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ -a_215^post32+a_215^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -head_175^post32+head_175^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ temp0_15^0-temp0_15^post32 == 0 /\ a_260^0-a_260^post32 == 0 /\ head_14^0-head_14^post32 == 0 /\ a_184^0-a_184^post32 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ a_237^0-a_237^post32 == 0 /\ -x_20^post32+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0), cost: 1 New rule: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l21 -> l22 : a_116^0'=a_116^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, r_39^0'=r_39^post33, a_260^0'=a_260^post33, i_30^0'=i_30^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, temp0_15^0'=temp0_15^post33, head_175^0'=head_175^post33, nondet_12^0'=nondet_12^post33, a_184^0'=a_184^post33, x_20^0'=x_20^post33, rcd_88^0'=rcd_88^post33, f_170^0'=f_170^post33, len_132^0'=len_132^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_163^0'=r_163^post33, a_237^0'=a_237^post33, y_19^0'=y_19^post33, i_167^0'=i_167^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_14^0'=head_14^post33, length_29^0'=length_29^post33, a_147^0'=a_147^post33, x_16^0'=x_16^post33, i_108^0'=i_108^post33, rcd_58^0'=rcd_58^post33, ct_17^0'=ct_17^post33, i_94^0'=i_94^post33, t_23^0'=t_23^post33, temp0_31^0'=temp0_31^post33, head_27^0'=head_27^post33, r_124^0'=r_124^post33, a_215^0'=a_215^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, result_11^0'=result_11^post33, head_129^0'=head_129^post33, len_183^0'=len_183^post33, (rcd_88^0-rcd_88^post33 == 0 /\ -len_132^post33+len_132^0 == 0 /\ -x_20^post33+x_20^0 == 0 /\ a_116^0-a_116^post33 == 0 /\ -len_183^post33+len_183^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ x_16^0-x_16^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ a_184^0-a_184^post33 == 0 /\ r_39^0-r_39^post33 == 0 /\ -head_27^post33+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_14^post33+head_14^0 == 0 /\ head_175^0-head_175^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ 1+head_14^0 <= 0 /\ -ct_17^post33+ct_17^0 == 0 /\ a_237^0-a_237^post33 == 0 /\ -a_215^post33+a_215^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ -length_29^post33+length_29^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -i_108^post33+i_108^0 == 0 /\ a_260^0-a_260^post33 == 0 /\ -y_19^post33+y_19^0 == 0 /\ i_94^0-i_94^post33 == 0 /\ temp0_15^0-temp0_15^post33 == 0 /\ -t_23^post33+t_23^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0), cost: 1 New rule: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l22 -> l23 : a_116^0'=a_116^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, r_39^0'=r_39^post34, a_260^0'=a_260^post34, i_30^0'=i_30^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, temp0_15^0'=temp0_15^post34, head_175^0'=head_175^post34, nondet_12^0'=nondet_12^post34, a_184^0'=a_184^post34, x_20^0'=x_20^post34, rcd_88^0'=rcd_88^post34, f_170^0'=f_170^post34, len_132^0'=len_132^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_163^0'=r_163^post34, a_237^0'=a_237^post34, y_19^0'=y_19^post34, i_167^0'=i_167^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_14^0'=head_14^post34, length_29^0'=length_29^post34, a_147^0'=a_147^post34, x_16^0'=x_16^post34, i_108^0'=i_108^post34, rcd_58^0'=rcd_58^post34, ct_17^0'=ct_17^post34, i_94^0'=i_94^post34, t_23^0'=t_23^post34, temp0_31^0'=temp0_31^post34, head_27^0'=head_27^post34, r_124^0'=r_124^post34, a_215^0'=a_215^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, result_11^0'=result_11^post34, head_129^0'=head_129^post34, len_183^0'=len_183^post34, (-a_215^post34+a_215^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -a_237^post34+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -head_175^post34+head_175^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ a_260^0-a_260^post34 == 0 /\ 1-y_19^0+head_14^0 <= 0 /\ head_27^0-head_27^post34 == 0 /\ -i_108^post34+i_108^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ head_14^0-head_14^post34 == 0 /\ a_116^0-a_116^post34 == 0 /\ len_132^0-len_132^post34 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -head_129^post34+head_129^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ a_147^0-a_147^post34 == 0 /\ r_163^0-r_163^post34 == 0 /\ i_94^0-i_94^post34 == 0 /\ tmp_34^0-tmp_34^post34 == 0 /\ -f_170^post34+f_170^0 == 0 /\ -len_183^post34+len_183^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0), cost: 1 New rule: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l22 -> l23 : a_116^0'=a_116^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, r_39^0'=r_39^post35, a_260^0'=a_260^post35, i_30^0'=i_30^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, temp0_15^0'=temp0_15^post35, head_175^0'=head_175^post35, nondet_12^0'=nondet_12^post35, a_184^0'=a_184^post35, x_20^0'=x_20^post35, rcd_88^0'=rcd_88^post35, f_170^0'=f_170^post35, len_132^0'=len_132^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_163^0'=r_163^post35, a_237^0'=a_237^post35, y_19^0'=y_19^post35, i_167^0'=i_167^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_14^0'=head_14^post35, length_29^0'=length_29^post35, a_147^0'=a_147^post35, x_16^0'=x_16^post35, i_108^0'=i_108^post35, rcd_58^0'=rcd_58^post35, ct_17^0'=ct_17^post35, i_94^0'=i_94^post35, t_23^0'=t_23^post35, temp0_31^0'=temp0_31^post35, head_27^0'=head_27^post35, r_124^0'=r_124^post35, a_215^0'=a_215^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, result_11^0'=result_11^post35, head_129^0'=head_129^post35, len_183^0'=len_183^post35, (-result_11^post35+result_11^0 == 0 /\ -length_29^post35+length_29^0 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ a_260^0-a_260^post35 == 0 /\ head_14^0-head_14^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ 1+y_19^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ rcd_88^0-rcd_88^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ len_132^0-len_132^post35 == 0 /\ -head_32^post35+head_32^0 == 0 /\ tmp_34^0-tmp_34^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -f_170^post35+f_170^0 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -y_19^post35+y_19^0 == 0 /\ -head_129^post35+head_129^0 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ -head_27^post35+head_27^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ -r_124^post35+r_124^0 == 0 /\ -len_183^post35+len_183^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ i_30^0-i_30^post35 == 0 /\ head_175^0-head_175^post35 == 0 /\ a_184^0-a_184^post35 == 0 /\ -x_20^post35+x_20^0 == 0 /\ -a_237^post35+a_237^0 == 0 /\ -x_16^post35+x_16^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ rcd_58^0-rcd_58^post35 == 0), cost: 1 New rule: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l23 -> l24 : a_116^0'=a_116^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, r_39^0'=r_39^post36, a_260^0'=a_260^post36, i_30^0'=i_30^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, temp0_15^0'=temp0_15^post36, head_175^0'=head_175^post36, nondet_12^0'=nondet_12^post36, a_184^0'=a_184^post36, x_20^0'=x_20^post36, rcd_88^0'=rcd_88^post36, f_170^0'=f_170^post36, len_132^0'=len_132^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_163^0'=r_163^post36, a_237^0'=a_237^post36, y_19^0'=y_19^post36, i_167^0'=i_167^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_14^0'=head_14^post36, length_29^0'=length_29^post36, a_147^0'=a_147^post36, x_16^0'=x_16^post36, i_108^0'=i_108^post36, rcd_58^0'=rcd_58^post36, ct_17^0'=ct_17^post36, i_94^0'=i_94^post36, t_23^0'=t_23^post36, temp0_31^0'=temp0_31^post36, head_27^0'=head_27^post36, r_124^0'=r_124^post36, a_215^0'=a_215^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, result_11^0'=result_11^post36, head_129^0'=head_129^post36, len_183^0'=len_183^post36, (temp_35^0-temp_35^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ temp0_15^0-temp0_15^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ i_167^0-i_167^post36 == 0 /\ -r_163^post36+r_163^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ head_27^0-head_27^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_116^0-a_116^post36 == 0 /\ -len_183^post36+len_183^0 == 0 /\ r_124^0-r_124^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ len_132^0-len_132^post36 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ -a_215^post36+a_215^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -y_19^post36+y_19^0 == 0 /\ -f_170^post36+f_170^0 == 0 /\ -a_147^post36+a_147^0 == 0 /\ 1+y_19^0-t_23^0 <= 0 /\ -i_94^post36+i_94^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_260^0-a_260^post36 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ -result_11^post36+result_11^0 == 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -head_129^post36+head_129^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ head_14^0-head_14^post36 == 0 /\ -head_32^post36+head_32^0 == 0 /\ a_237^0-a_237^post36 == 0), cost: 1 New rule: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l23 -> l24 : a_116^0'=a_116^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, r_39^0'=r_39^post37, a_260^0'=a_260^post37, i_30^0'=i_30^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, temp0_15^0'=temp0_15^post37, head_175^0'=head_175^post37, nondet_12^0'=nondet_12^post37, a_184^0'=a_184^post37, x_20^0'=x_20^post37, rcd_88^0'=rcd_88^post37, f_170^0'=f_170^post37, len_132^0'=len_132^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_163^0'=r_163^post37, a_237^0'=a_237^post37, y_19^0'=y_19^post37, i_167^0'=i_167^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_14^0'=head_14^post37, length_29^0'=length_29^post37, a_147^0'=a_147^post37, x_16^0'=x_16^post37, i_108^0'=i_108^post37, rcd_58^0'=rcd_58^post37, ct_17^0'=ct_17^post37, i_94^0'=i_94^post37, t_23^0'=t_23^post37, temp0_31^0'=temp0_31^post37, head_27^0'=head_27^post37, r_124^0'=r_124^post37, a_215^0'=a_215^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, result_11^0'=result_11^post37, head_129^0'=head_129^post37, len_183^0'=len_183^post37, (y_19^0-y_19^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ tmp_34^0-tmp_34^post37 == 0 /\ -r_124^post37+r_124^0 == 0 /\ x_20^0-x_20^post37 == 0 /\ -head_27^post37+head_27^0 == 0 /\ -len_183^post37+len_183^0 == 0 /\ temp0_15^0-temp0_15^post37 == 0 /\ head_14^0-head_14^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ a_215^0-a_215^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -a_237^post37+a_237^0 == 0 /\ -head_129^post37+head_129^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ r_163^0-r_163^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ f_170^0-f_170^post37 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -i_94^post37+i_94^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ i_167^0-i_167^post37 == 0 /\ a_260^0-a_260^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ a_116^0-a_116^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ 1-y_19^0+t_23^0 <= 0 /\ -head_32^post37+head_32^0 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ -i_108^post37+i_108^0 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_132^0-len_132^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ head_175^0-head_175^post37 == 0), cost: 1 New rule: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 Applied preprocessing Original rule: l24 -> l0 : a_116^0'=a_116^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, r_39^0'=r_39^post38, a_260^0'=a_260^post38, i_30^0'=i_30^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, temp0_15^0'=temp0_15^post38, head_175^0'=head_175^post38, nondet_12^0'=nondet_12^post38, a_184^0'=a_184^post38, x_20^0'=x_20^post38, rcd_88^0'=rcd_88^post38, f_170^0'=f_170^post38, len_132^0'=len_132^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_163^0'=r_163^post38, a_237^0'=a_237^post38, y_19^0'=y_19^post38, i_167^0'=i_167^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_14^0'=head_14^post38, length_29^0'=length_29^post38, a_147^0'=a_147^post38, x_16^0'=x_16^post38, i_108^0'=i_108^post38, rcd_58^0'=rcd_58^post38, ct_17^0'=ct_17^post38, i_94^0'=i_94^post38, t_23^0'=t_23^post38, temp0_31^0'=temp0_31^post38, head_27^0'=head_27^post38, r_124^0'=r_124^post38, a_215^0'=a_215^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, result_11^0'=result_11^post38, head_129^0'=head_129^post38, len_183^0'=len_183^post38, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_237^post38+a_237^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -t_23^post38+t_23^0 == 0 /\ 1-len_132^post38+a_215^0 <= 0 /\ -head_129^post38+head_129^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_124^post38+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ a_215^0-a_215^post38 == 0 /\ a_260^0-a_260^post38 == 0 /\ -head_175^post38+head_175^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_167^0-i_167^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_116^0-a_116^post38 == 0 /\ -head_14^post38+head_14^0 == 0 /\ ct_17^0-ct_17^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ -1+len_132^post38-a_215^0 <= 0 /\ -rcd_88^post38+rcd_88^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -len_183^post38+len_183^0 == 0 /\ r_163^0-r_163^post38 == 0 /\ rcd_58^0-rcd_58^post38 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_184^0-a_184^post38 == 0 /\ -f_170^post38+f_170^0 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0), cost: 1 New rule: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Applied preprocessing Original rule: l25 -> l38 : a_116^0'=a_116^post59, tmp_34^0'=tmp_34^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, r_39^0'=r_39^post59, a_260^0'=a_260^post59, i_30^0'=i_30^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, temp0_15^0'=temp0_15^post59, head_175^0'=head_175^post59, nondet_12^0'=nondet_12^post59, a_184^0'=a_184^post59, x_20^0'=x_20^post59, rcd_88^0'=rcd_88^post59, f_170^0'=f_170^post59, len_132^0'=len_132^post59, temp_35^0'=temp_35^post59, head_32^0'=head_32^post59, r_163^0'=r_163^post59, a_237^0'=a_237^post59, y_19^0'=y_19^post59, i_167^0'=i_167^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, head_14^0'=head_14^post59, length_29^0'=length_29^post59, a_147^0'=a_147^post59, x_16^0'=x_16^post59, i_108^0'=i_108^post59, rcd_58^0'=rcd_58^post59, ct_17^0'=ct_17^post59, i_94^0'=i_94^post59, t_23^0'=t_23^post59, temp0_31^0'=temp0_31^post59, head_27^0'=head_27^post59, r_124^0'=r_124^post59, a_215^0'=a_215^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, result_11^0'=result_11^post59, head_129^0'=head_129^post59, len_183^0'=len_183^post59, (0 == 0 /\ tmp_34^post59-temp_35^0 == 0 /\ t_23^0-t_23^post59 == 0 /\ -1-i_30^0+i_30^post59 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0 /\ -a_237^post59+a_237^0 == 0 /\ 2-length_29^0 <= 0 /\ a_116^0-a_116^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ -head_32^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0 /\ head_14^0-head_14^post59 == 0 /\ -len_132^post59+len_132^0 == 0 /\ 2-i_30^post59 <= 0 /\ f_170^0-f_170^post59 == 0 /\ -r_124^post59+r_124^0 == 0 /\ -head_27^post59+head_27^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ head_32^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ 1-length_29^0 <= 0 /\ -x_20^post59+x_20^0 == 0 /\ i_167^0-i_167^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ head_175^0-head_175^post59 == 0 /\ ct_17^0-ct_17^post59 == 0 /\ head_32^post59-tmp_34^post59 <= 0 /\ head_32^post59-tmp_34^post59 == 0 /\ tmp_34^post59-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ a_184^0-a_184^post59 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -r_163^post59+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post59-length_29^0 <= 0 /\ -2+i_30^post59 <= 0 /\ -i_108^post59+i_108^0 == 0 /\ -length_29^post59+length_29^0 == 0 /\ x_16^0-x_16^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -head_129^post59+head_129^0 == 0 /\ -a_215^post59+a_215^0 == 0 /\ -head_32^post59+tmp_34^post59 <= 0 /\ -y_19^post59+y_19^0 == 0 /\ -tmp_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 <= 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ a_260^0-a_260^post59 == 0 /\ -a_147^post59+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post59+length_29^0 <= 0 /\ -len_183^post59+len_183^0 == 0), cost: 1 New rule: l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post59, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post59, (-1+i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l39 -> l40 : a_116^0'=a_116^post60, tmp_34^0'=tmp_34^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, r_39^0'=r_39^post60, a_260^0'=a_260^post60, i_30^0'=i_30^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, temp0_15^0'=temp0_15^post60, head_175^0'=head_175^post60, nondet_12^0'=nondet_12^post60, a_184^0'=a_184^post60, x_20^0'=x_20^post60, rcd_88^0'=rcd_88^post60, f_170^0'=f_170^post60, len_132^0'=len_132^post60, temp_35^0'=temp_35^post60, head_32^0'=head_32^post60, r_163^0'=r_163^post60, a_237^0'=a_237^post60, y_19^0'=y_19^post60, i_167^0'=i_167^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, head_14^0'=head_14^post60, length_29^0'=length_29^post60, a_147^0'=a_147^post60, x_16^0'=x_16^post60, i_108^0'=i_108^post60, rcd_58^0'=rcd_58^post60, ct_17^0'=ct_17^post60, i_94^0'=i_94^post60, t_23^0'=t_23^post60, temp0_31^0'=temp0_31^post60, head_27^0'=head_27^post60, r_124^0'=r_124^post60, a_215^0'=a_215^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, result_11^0'=result_11^post60, head_129^0'=head_129^post60, len_183^0'=len_183^post60, (0 == 0 /\ a_237^0-a_237^post60 == 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ r_124^0-r_124^post60 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post60-nondet_12^10 == 0 /\ -length_29^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ -rcd_58^post60+rcd_58^0 == 0 /\ -t_23^post60+t_23^0 == 0 /\ x_16^0-x_16^post60 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -result_11^post60+result_11^0 == 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ length_29^post60-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_116^0-a_116^post60 == 0 /\ -len_183^post60+len_183^0 == 0 /\ i_30^post60 <= 0 /\ i_30^post60 == 0 /\ -head_129^post60+head_129^0 == 0 /\ len_132^0-len_132^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ -i_30^post60 <= 0 /\ x_20^0-x_20^post60 == 0 /\ r_39^0-r_39^post60 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -head_32^post60 <= 0 /\ -head_14^post60+head_14^0 == 0 /\ -i_108^post60+i_108^0 == 0 /\ -ct_17^post60+ct_17^0 == 0 /\ a_260^0-a_260^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ -a_215^post60+a_215^0 == 0 /\ a_184^0-a_184^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -head_27^post60+head_27^0 == 0 /\ i_94^0-i_94^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_167^post60+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post60 == 0 /\ r_163^0-r_163^post60 == 0 /\ -a_147^post60+a_147^0 == 0 /\ f_170^0-f_170^post60 == 0 /\ head_32^post60 <= 0 /\ head_32^post60 == 0), cost: 1 New rule: l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1 Applied preprocessing Original rule: l41 -> l42 : a_116^0'=a_116^post61, tmp_34^0'=tmp_34^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, r_39^0'=r_39^post61, a_260^0'=a_260^post61, i_30^0'=i_30^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, temp0_15^0'=temp0_15^post61, head_175^0'=head_175^post61, nondet_12^0'=nondet_12^post61, a_184^0'=a_184^post61, x_20^0'=x_20^post61, rcd_88^0'=rcd_88^post61, f_170^0'=f_170^post61, len_132^0'=len_132^post61, temp_35^0'=temp_35^post61, head_32^0'=head_32^post61, r_163^0'=r_163^post61, a_237^0'=a_237^post61, y_19^0'=y_19^post61, i_167^0'=i_167^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, head_14^0'=head_14^post61, length_29^0'=length_29^post61, a_147^0'=a_147^post61, x_16^0'=x_16^post61, i_108^0'=i_108^post61, rcd_58^0'=rcd_58^post61, ct_17^0'=ct_17^post61, i_94^0'=i_94^post61, t_23^0'=t_23^post61, temp0_31^0'=temp0_31^post61, head_27^0'=head_27^post61, r_124^0'=r_124^post61, a_215^0'=a_215^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, result_11^0'=result_11^post61, head_129^0'=head_129^post61, len_183^0'=len_183^post61, (0 == 0 /\ -head_14^0+x_16^post61 <= 0 /\ -head_14^0+x_16^post61 == 0 /\ x_20^post61-x_SLAM_f_18^post61 <= 0 /\ x_20^post61-x_SLAM_f_18^post61 == 0 /\ -x_SLAM_f_18^post61+x_16^post61 <= 0 /\ head_14^0-x_SLAM_f_18^post61 <= 0 /\ i_30^0-i_30^post61 == 0 /\ -a_215^post61+a_215^0 == 0 /\ -i_94^post61+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ head_14^0-head_14^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ -a_237^post61+a_237^0 == 0 /\ -head_175^post61+head_175^0 == 0 /\ head_14^0-x_16^post61 <= 0 /\ -x_20^post61+x_SLAM_f_18^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 <= 0 /\ x_SLAM_f_18^post61-x_16^post61 == 0 /\ -head_14^0+x_SLAM_f_18^post61 <= 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ a_260^0-a_260^post61 == 0 /\ -a_147^0 <= 0 /\ y_19^post61 <= 0 /\ -r_124^post61+r_124^0 == 0 /\ -head_32^post61+head_32^0 == 0 /\ -i_108^post61+i_108^0 == 0 /\ i_167^0-i_167^post61 == 0 /\ x_20^post61-head_14^0 <= 0 /\ -y_19^post61 <= 0 /\ y_19^post61-ct_17^post61 <= 0 /\ y_19^post61-ct_17^post61 == 0 /\ -len_183^post61+len_183^0 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ len_132^0-len_132^post61 == 0 /\ -ct_17^post61 <= 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ r_39^0-r_39^post61 == 0 /\ -head_27^0 <= 0 /\ -x_20^post61+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ head_27^0 <= 0 /\ temp_35^0-temp_35^post61 == 0 /\ -y_19^post61+ct_17^post61 <= 0 /\ a_147^0-a_147^post61 == 0 /\ -length_29^post61+length_29^0 == 0 /\ -head_129^post61+head_129^0 == 0 /\ r_163^0-r_163^post61 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ ct_17^post61 <= 0 /\ ct_17^post61 == 0 /\ a_116^0-a_116^post61 == 0 /\ -len_132^0 <= 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ -f_170^post61+f_170^0 == 0), cost: 1 New rule: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 Applied preprocessing Original rule: l42 -> l43 : a_116^0'=a_116^post62, tmp_34^0'=tmp_34^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, r_39^0'=r_39^post62, a_260^0'=a_260^post62, i_30^0'=i_30^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, temp0_15^0'=temp0_15^post62, head_175^0'=head_175^post62, nondet_12^0'=nondet_12^post62, a_184^0'=a_184^post62, x_20^0'=x_20^post62, rcd_88^0'=rcd_88^post62, f_170^0'=f_170^post62, len_132^0'=len_132^post62, temp_35^0'=temp_35^post62, head_32^0'=head_32^post62, r_163^0'=r_163^post62, a_237^0'=a_237^post62, y_19^0'=y_19^post62, i_167^0'=i_167^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, head_14^0'=head_14^post62, length_29^0'=length_29^post62, a_147^0'=a_147^post62, x_16^0'=x_16^post62, i_108^0'=i_108^post62, rcd_58^0'=rcd_58^post62, ct_17^0'=ct_17^post62, i_94^0'=i_94^post62, t_23^0'=t_23^post62, temp0_31^0'=temp0_31^post62, head_27^0'=head_27^post62, r_124^0'=r_124^post62, a_215^0'=a_215^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, result_11^0'=result_11^post62, head_129^0'=head_129^post62, len_183^0'=len_183^post62, (-result_11^post62+result_11^0 == 0 /\ i_167^0-i_167^post62 == 0 /\ head_14^0-head_14^post62 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ a_260^0-a_260^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ r_39^0-r_39^post62 == 0 /\ -length_29^post62+length_29^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ -head_32^post62+head_32^0 == 0 /\ -a_215^post62+a_215^0 == 0 /\ len_132^0-len_132^post62 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ -f_170^post62+f_170^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ 1-head_14^0 <= 0 /\ -r_163^post62+r_163^0 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -a_147^post62+a_147^0 == 0 /\ -head_27^post62+head_27^0 == 0 /\ -rcd_58^post62+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ temp0_15^0-temp0_15^post62 == 0 /\ -len_183^post62+len_183^0 == 0 /\ -y_19^post62+y_19^0 == 0 /\ -r_124^post62+r_124^0 == 0 /\ -head_129^post62+head_129^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ a_184^0-a_184^post62 == 0 /\ -x_20^post62+x_20^0 == 0 /\ a_237^0-a_237^post62 == 0 /\ ct_17^0-ct_17^post62 == 0 /\ -head_175^post62+head_175^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ a_116^0-a_116^post62 == 0), cost: 1 New rule: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l42 -> l43 : a_116^0'=a_116^post63, tmp_34^0'=tmp_34^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, r_39^0'=r_39^post63, a_260^0'=a_260^post63, i_30^0'=i_30^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, temp0_15^0'=temp0_15^post63, head_175^0'=head_175^post63, nondet_12^0'=nondet_12^post63, a_184^0'=a_184^post63, x_20^0'=x_20^post63, rcd_88^0'=rcd_88^post63, f_170^0'=f_170^post63, len_132^0'=len_132^post63, temp_35^0'=temp_35^post63, head_32^0'=head_32^post63, r_163^0'=r_163^post63, a_237^0'=a_237^post63, y_19^0'=y_19^post63, i_167^0'=i_167^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, head_14^0'=head_14^post63, length_29^0'=length_29^post63, a_147^0'=a_147^post63, x_16^0'=x_16^post63, i_108^0'=i_108^post63, rcd_58^0'=rcd_58^post63, ct_17^0'=ct_17^post63, i_94^0'=i_94^post63, t_23^0'=t_23^post63, temp0_31^0'=temp0_31^post63, head_27^0'=head_27^post63, r_124^0'=r_124^post63, a_215^0'=a_215^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, result_11^0'=result_11^post63, head_129^0'=head_129^post63, len_183^0'=len_183^post63, (r_163^0-r_163^post63 == 0 /\ f_170^0-f_170^post63 == 0 /\ -i_108^post63+i_108^0 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ i_167^0-i_167^post63 == 0 /\ t_23^0-t_23^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ x_20^0-x_20^post63 == 0 /\ head_27^0-head_27^post63 == 0 /\ a_116^0-a_116^post63 == 0 /\ -len_183^post63+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ r_124^0-r_124^post63 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -a_215^post63+a_215^0 == 0 /\ -y_19^post63+y_19^0 == 0 /\ -a_147^post63+a_147^0 == 0 /\ -i_94^post63+i_94^0 == 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -a_184^post63+a_184^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ 1+head_14^0 <= 0 /\ a_260^0-a_260^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -head_129^post63+head_129^0 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post63 == 0 /\ head_14^0-head_14^post63 == 0 /\ x_16^0-x_16^post63 == 0 /\ len_132^0-len_132^post63 == 0 /\ head_175^0-head_175^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ a_237^0-a_237^post63 == 0), cost: 1 New rule: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l43 -> l18 : a_116^0'=a_116^post64, tmp_34^0'=tmp_34^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, r_39^0'=r_39^post64, a_260^0'=a_260^post64, i_30^0'=i_30^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, temp0_15^0'=temp0_15^post64, head_175^0'=head_175^post64, nondet_12^0'=nondet_12^post64, a_184^0'=a_184^post64, x_20^0'=x_20^post64, rcd_88^0'=rcd_88^post64, f_170^0'=f_170^post64, len_132^0'=len_132^post64, temp_35^0'=temp_35^post64, head_32^0'=head_32^post64, r_163^0'=r_163^post64, a_237^0'=a_237^post64, y_19^0'=y_19^post64, i_167^0'=i_167^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, head_14^0'=head_14^post64, length_29^0'=length_29^post64, a_147^0'=a_147^post64, x_16^0'=x_16^post64, i_108^0'=i_108^post64, rcd_58^0'=rcd_58^post64, ct_17^0'=ct_17^post64, i_94^0'=i_94^post64, t_23^0'=t_23^post64, temp0_31^0'=temp0_31^post64, head_27^0'=head_27^post64, r_124^0'=r_124^post64, a_215^0'=a_215^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, result_11^0'=result_11^post64, head_129^0'=head_129^post64, len_183^0'=len_183^post64, (1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_129^post64+head_129^0 == 0 /\ a_147^0-a_147^post64 == 0 /\ tmp_34^0-tmp_34^post64 == 0 /\ -r_124^post64+r_124^0 == 0 /\ -head_27^post64+head_27^0 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -len_183^post64+len_183^0 == 0 /\ y_19^0-y_19^post64 == 0 /\ a_260^0-a_260^post64 == 0 /\ head_14^0-head_14^post64 == 0 /\ a_215^0-a_215^post64 == 0 /\ -a_237^post64+a_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ r_163^0-r_163^post64 == 0 /\ f_170^0-f_170^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post64+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ i_167^0-i_167^post64 == 0 /\ a_116^0-a_116^post64 == 0 /\ -i_94^post64+i_94^0 == 0 /\ rcd_58^0-rcd_58^post64 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -head_32^post64+head_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post64 == 0 /\ -x_SLAM_f_18^post64+x_SLAM_f_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ len_132^0-len_132^post64 == 0 /\ i_30^0-i_30^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -i_108^post64+i_108^0 == 0 /\ a_184^0-a_184^post64 == 0 /\ head_175^0-head_175^post64 == 0 /\ r_39^0-r_39^post64 == 0), cost: 1 New rule: l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Applied preprocessing Original rule: l41 -> l45 : a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, temp0_15^0'=temp0_15^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, rcd_88^0'=rcd_88^post65, f_170^0'=f_170^post65, len_132^0'=len_132^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, r_163^0'=r_163^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, i_167^0'=i_167^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_14^post65, length_29^0'=length_29^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, i_108^0'=i_108^post65, rcd_58^0'=rcd_58^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_27^post65, r_124^0'=r_124^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, result_11^0'=result_11^post65, head_129^0'=head_129^post65, len_183^0'=len_183^post65, (0 == 0 /\ -head_27^post65+head_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ -x_SLAM_f_18^post65+x_SLAM_f_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ i_30^0-i_30^post65 == 0 /\ -t_23^post65+t_23^0 == 0 /\ a_116^0-a_116^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_124^post65+r_124^0 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_147^0 <= 0 /\ -i_94^post65+i_94^0 == 0 /\ i_167^0-i_167^post65 == 0 /\ x_20^0-x_20^post65 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ tmp_34^0-tmp_34^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ x_16^0-x_16^post65 == 0 /\ ct_17^0-ct_17^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ -temp0_15^post65+temp0_15^0 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ r_163^0-r_163^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ -head_129^post65+head_129^0 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_147^0-a_147^post65 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ a_260^0-a_260^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -len_132^0 <= 0 /\ -a_215^post65+a_215^0 == 0), cost: 1 New rule: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 Applied preprocessing Original rule: l45 -> l46 : a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, r_39^0'=r_39^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp0_15^0'=temp0_15^post66, head_175^0'=head_175^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, rcd_88^0'=rcd_88^post66, f_170^0'=f_170^post66, len_132^0'=len_132^post66, temp_35^0'=temp_35^post66, head_32^0'=head_32^post66, r_163^0'=r_163^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, i_167^0'=i_167^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, head_14^0'=head_14^post66, length_29^0'=length_29^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, i_108^0'=i_108^post66, rcd_58^0'=rcd_58^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, head_27^0'=head_27^post66, r_124^0'=r_124^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, result_11^0'=result_11^post66, head_129^0'=head_129^post66, len_183^0'=len_183^post66, (-t_23^post66+t_23^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ -a_215^post66+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ a_116^0-a_116^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ head_14^0-head_14^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ len_132^0-len_132^post66 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -a_237^post66+a_237^0 == 0 /\ r_39^0-r_39^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ head_32^0-head_32^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ r_163^0-r_163^post66 == 0 /\ -head_27^post66+head_27^0 == 0 /\ a_147^0-a_147^post66 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ head_175^0-head_175^post66 == 0 /\ a_184^0-a_184^post66 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ x_20^0-x_20^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ 1-head_27^0 <= 0 /\ -head_129^post66+head_129^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -len_183^post66+len_183^0 == 0 /\ a_260^0-a_260^post66 == 0), cost: 1 New rule: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l45 -> l46 : a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, r_39^0'=r_39^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, temp0_15^0'=temp0_15^post67, head_175^0'=head_175^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, rcd_88^0'=rcd_88^post67, f_170^0'=f_170^post67, len_132^0'=len_132^post67, temp_35^0'=temp_35^post67, head_32^0'=head_32^post67, r_163^0'=r_163^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, i_167^0'=i_167^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, head_14^0'=head_14^post67, length_29^0'=length_29^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, i_108^0'=i_108^post67, rcd_58^0'=rcd_58^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, head_27^0'=head_27^post67, r_124^0'=r_124^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, result_11^0'=result_11^post67, head_129^0'=head_129^post67, len_183^0'=len_183^post67, (head_27^0-head_27^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ 1+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ i_108^0-i_108^post67 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ i_30^0-i_30^post67 == 0 /\ -a_215^post67+a_215^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ a_116^0-a_116^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -len_183^post67+len_183^0 == 0 /\ head_32^0-head_32^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -x_SLAM_f_18^post67+x_SLAM_f_18^0 == 0 /\ a_147^0-a_147^post67 == 0 /\ i_167^0-i_167^post67 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ rcd_58^0-rcd_58^post67 == 0 /\ -a_237^post67+a_237^0 == 0 /\ -head_129^post67+head_129^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ -a_184^post67+a_184^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ len_132^0-len_132^post67 == 0 /\ head_175^0-head_175^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ -x_16^post67+x_16^0 == 0 /\ -head_14^post67+head_14^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ length_29^0-length_29^post67 == 0), cost: 1 New rule: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 Applied preprocessing Original rule: l46 -> l47 : a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, r_39^0'=r_39^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, temp0_15^0'=temp0_15^post68, head_175^0'=head_175^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, rcd_88^0'=rcd_88^post68, f_170^0'=f_170^post68, len_132^0'=len_132^post68, temp_35^0'=temp_35^post68, head_32^0'=head_32^post68, r_163^0'=r_163^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, i_167^0'=i_167^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, head_14^0'=head_14^post68, length_29^0'=length_29^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, i_108^0'=i_108^post68, rcd_58^0'=rcd_58^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, head_27^0'=head_27^post68, r_124^0'=r_124^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, result_11^0'=result_11^post68, head_129^0'=head_129^post68, len_183^0'=len_183^post68, (0 == 0 /\ y_19^0-y_19^post68 == 0 /\ a_147^0-a_147^post68 == 0 /\ -i_108^post68+i_108^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ r_163^0-r_163^post68 == 0 /\ f_170^0-head_27^0 <= 0 /\ a_260^0-a_260^post68 == 0 /\ 1-len_183^post68+len_132^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -1-a_184^post68+a_147^0 <= 0 /\ a_215^0-a_215^post68 == 0 /\ -head_129^post68+head_129^0 == 0 /\ head_14^0-head_14^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ rcd_58^0-rcd_58^post68 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ -i_94^post68+i_94^0 == 0 /\ f_170^0-f_170^post68 == 0 /\ -t_23^post68+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ i_167^0-i_167^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp0_15^0-temp0_15^post68 == 0 /\ -1+len_183^post68-len_132^0 <= 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ -x_SLAM_f_18^post68+x_SLAM_f_18^0 == 0 /\ x_20^0-x_20^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ 1+a_184^post68-a_147^0 <= 0 /\ a_116^0-a_116^post68 == 0 /\ rcd_88^0-rcd_88^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ i_30^0-i_30^post68 == 0 /\ -head_27^post68+head_27^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ r_39^0-r_39^post68 == 0), cost: 1 New rule: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Applied preprocessing Original rule: l47 -> l48 : a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, r_39^0'=r_39^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, temp0_15^0'=temp0_15^post69, head_175^0'=head_175^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, rcd_88^0'=rcd_88^post69, f_170^0'=f_170^post69, len_132^0'=len_132^post69, temp_35^0'=temp_35^post69, head_32^0'=head_32^post69, r_163^0'=r_163^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, i_167^0'=i_167^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, head_14^0'=head_14^post69, length_29^0'=length_29^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, i_108^0'=i_108^post69, rcd_58^0'=rcd_58^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, head_27^0'=head_27^post69, r_124^0'=r_124^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, result_11^0'=result_11^post69, head_129^0'=head_129^post69, len_183^0'=len_183^post69, (a_237^0-a_237^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ head_32^0-head_32^post69 == 0 /\ -head_129^post69+head_129^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -len_183^post69+len_183^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ a_116^0-a_116^post69 == 0 /\ 1-head_14^0 <= 0 /\ -head_14^post69+head_14^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ r_39^0-r_39^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ -a_215^post69+a_215^0 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -x_16^post69+x_16^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ -a_147^post69+a_147^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ y_19^0-y_19^post69 == 0 /\ a_260^0-a_260^post69 == 0 /\ a_184^0-a_184^post69 == 0 /\ temp0_15^0-temp0_15^post69 == 0 /\ -x_SLAM_f_18^post69+x_SLAM_f_18^0 == 0 /\ i_108^0-i_108^post69 == 0 /\ -i_167^post69+i_167^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ r_163^0-r_163^post69 == 0 /\ -t_23^post69+t_23^0 == 0 /\ f_170^0-f_170^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0), cost: 1 New rule: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l47 -> l48 : a_116^0'=a_116^post70, tmp_34^0'=tmp_34^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, r_39^0'=r_39^post70, a_260^0'=a_260^post70, i_30^0'=i_30^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, temp0_15^0'=temp0_15^post70, head_175^0'=head_175^post70, nondet_12^0'=nondet_12^post70, a_184^0'=a_184^post70, x_20^0'=x_20^post70, rcd_88^0'=rcd_88^post70, f_170^0'=f_170^post70, len_132^0'=len_132^post70, temp_35^0'=temp_35^post70, head_32^0'=head_32^post70, r_163^0'=r_163^post70, a_237^0'=a_237^post70, y_19^0'=y_19^post70, i_167^0'=i_167^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, head_14^0'=head_14^post70, length_29^0'=length_29^post70, a_147^0'=a_147^post70, x_16^0'=x_16^post70, i_108^0'=i_108^post70, rcd_58^0'=rcd_58^post70, ct_17^0'=ct_17^post70, i_94^0'=i_94^post70, t_23^0'=t_23^post70, temp0_31^0'=temp0_31^post70, head_27^0'=head_27^post70, r_124^0'=r_124^post70, a_215^0'=a_215^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, result_11^0'=result_11^post70, head_129^0'=head_129^post70, len_183^0'=len_183^post70, (-a_237^post70+a_237^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_88^0-rcd_88^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -x_SLAM_f_18^post70+x_SLAM_f_18^0 == 0 /\ len_132^0-len_132^post70 == 0 /\ -x_16^post70+x_16^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -result_11^post70+result_11^0 == 0 /\ head_32^0-head_32^post70 == 0 /\ f_170^0-f_170^post70 == 0 /\ a_147^0-a_147^post70 == 0 /\ y_19^0-y_19^post70 == 0 /\ r_163^0-r_163^post70 == 0 /\ -i_94^post70+i_94^0 == 0 /\ -head_27^post70+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post70 == 0 /\ -r_124^post70+r_124^0 == 0 /\ -i_30^post70+i_30^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ head_175^0-head_175^post70 == 0 /\ a_116^0-a_116^post70 == 0 /\ a_184^0-a_184^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ 1+head_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post70+head_14^0 == 0 /\ -ct_17^post70+ct_17^0 == 0 /\ -head_129^post70+head_129^0 == 0 /\ -length_29^post70+length_29^0 == 0 /\ -a_215^post70+a_215^0 == 0 /\ -len_183^post70+len_183^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ a_260^0-a_260^post70 == 0 /\ i_108^0-i_108^post70 == 0 /\ temp0_15^0-temp0_15^post70 == 0 /\ x_20^0-x_20^post70 == 0 /\ i_167^0-i_167^post70 == 0), cost: 1 New rule: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l48 -> l49 : a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, r_39^0'=r_39^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, temp0_15^0'=temp0_15^post71, head_175^0'=head_175^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, rcd_88^0'=rcd_88^post71, f_170^0'=f_170^post71, len_132^0'=len_132^post71, temp_35^0'=temp_35^post71, head_32^0'=head_32^post71, r_163^0'=r_163^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, i_167^0'=i_167^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, head_14^0'=head_14^post71, length_29^0'=length_29^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, i_108^0'=i_108^post71, rcd_58^0'=rcd_58^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, head_27^0'=head_27^post71, r_124^0'=r_124^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, result_11^0'=result_11^post71, head_129^0'=head_129^post71, len_183^0'=len_183^post71, (length_29^0-length_29^post71 == 0 /\ -a_215^post71+a_215^0 == 0 /\ -x_16^post71+x_16^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ i_30^0-i_30^post71 == 0 /\ 1-head_175^0 <= 0 /\ a_184^0-a_184^post71 == 0 /\ -i_94^post71+i_94^0 == 0 /\ head_175^0-head_175^post71 == 0 /\ a_237^0-a_237^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ f_170^0-f_170^post71 == 0 /\ x_20^0-x_20^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ -x_SLAM_f_18^post71+x_SLAM_f_18^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -i_108^post71+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ temp0_15^0-temp0_15^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ a_116^0-a_116^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ -i_167^post71+i_167^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -r_124^post71+r_124^0 == 0 /\ y_19^0-y_19^post71 == 0 /\ head_32^0-head_32^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ r_163^0-r_163^post71 == 0 /\ -len_183^post71+len_183^0 == 0 /\ tmp_34^0-tmp_34^post71 == 0 /\ -head_14^post71+head_14^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ -head_129^post71+head_129^0 == 0), cost: 1 New rule: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 Applied preprocessing Original rule: l48 -> l49 : a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, r_39^0'=r_39^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, temp0_15^0'=temp0_15^post72, head_175^0'=head_175^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, rcd_88^0'=rcd_88^post72, f_170^0'=f_170^post72, len_132^0'=len_132^post72, temp_35^0'=temp_35^post72, head_32^0'=head_32^post72, r_163^0'=r_163^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, i_167^0'=i_167^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, head_14^0'=head_14^post72, length_29^0'=length_29^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, i_108^0'=i_108^post72, rcd_58^0'=rcd_58^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, head_27^0'=head_27^post72, r_124^0'=r_124^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, result_11^0'=result_11^post72, head_129^0'=head_129^post72, len_183^0'=len_183^post72, (-head_14^post72+head_14^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ -a_215^post72+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -a_147^post72+a_147^0 == 0 /\ len_132^0-len_132^post72 == 0 /\ -len_183^post72+len_183^0 == 0 /\ head_175^0-head_175^post72 == 0 /\ -x_SLAM_f_18^post72+x_SLAM_f_18^0 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ r_163^0-r_163^post72 == 0 /\ f_170^0-f_170^post72 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ i_108^0-i_108^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ i_30^0-i_30^post72 == 0 /\ a_184^0-a_184^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ -head_129^post72+head_129^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ a_116^0-a_116^post72 == 0 /\ 1+head_175^0 <= 0 /\ head_32^0-head_32^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ y_19^0-y_19^post72 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_16^post72+x_16^0 == 0), cost: 1 New rule: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 Applied preprocessing Original rule: l49 -> l44 : a_116^0'=a_116^post73, tmp_34^0'=tmp_34^post73, head_SLAM_f_26^0'=head_SLAM_f_26^post73, r_39^0'=r_39^post73, a_260^0'=a_260^post73, i_30^0'=i_30^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, temp0_15^0'=temp0_15^post73, head_175^0'=head_175^post73, nondet_12^0'=nondet_12^post73, a_184^0'=a_184^post73, x_20^0'=x_20^post73, rcd_88^0'=rcd_88^post73, f_170^0'=f_170^post73, len_132^0'=len_132^post73, temp_35^0'=temp_35^post73, head_32^0'=head_32^post73, r_163^0'=r_163^post73, a_237^0'=a_237^post73, y_19^0'=y_19^post73, i_167^0'=i_167^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, head_14^0'=head_14^post73, length_29^0'=length_29^post73, a_147^0'=a_147^post73, x_16^0'=x_16^post73, i_108^0'=i_108^post73, rcd_58^0'=rcd_58^post73, ct_17^0'=ct_17^post73, i_94^0'=i_94^post73, t_23^0'=t_23^post73, temp0_31^0'=temp0_31^post73, head_27^0'=head_27^post73, r_124^0'=r_124^post73, a_215^0'=a_215^post73, x_SLAM_f_18^0'=x_SLAM_f_18^post73, result_11^0'=result_11^post73, head_129^0'=head_129^post73, len_183^0'=len_183^post73, (0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ -r_124^post73+r_124^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post73 == 0 /\ head_32^0-head_32^post73 == 0 /\ temp0_15^0-temp0_15^post73 == 0 /\ -i_167^post73+i_167^0 == 0 /\ -rcd_58^post73+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -head_129^post73+head_129^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ a_184^0-a_184^post73 == 0 /\ a_116^0-a_116^post73 == 0 /\ -head_14^post73+head_14^0 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_183^post73+len_183^0 == 0 /\ r_39^0-r_39^post73 == 0 /\ head_175^0-head_175^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ -x_16^post73+x_16^0 == 0 /\ y_19^0-y_19^post73 == 0 /\ -len_132^post73+len_183^0 <= 0 /\ -a_215^post73+a_215^0 == 0 /\ -t_23^post73+t_23^0 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post73 == 0 /\ result_11^0-result_11^post73 == 0 /\ a_147^post73-a_184^0 <= 0 /\ length_29^0-length_29^post73 == 0 /\ -a_260^post73+a_260^0 == 0 /\ i_108^0-i_108^post73 == 0 /\ len_132^post73-len_183^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -x_SLAM_f_18^post73+x_SLAM_f_18^0 == 0 /\ -ct_17^post73+ct_17^0 == 0 /\ r_163^0-r_163^post73 == 0 /\ -head_27^post73+head_27^0 == 0 /\ f_170^0-f_170^post73 == 0 /\ a_237^0-a_237^post73 == 0 /\ -a_147^post73+a_184^0 <= 0), cost: 1 New rule: l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Applied preprocessing Original rule: l44 -> l41 : a_116^0'=a_116^post74, tmp_34^0'=tmp_34^post74, head_SLAM_f_26^0'=head_SLAM_f_26^post74, r_39^0'=r_39^post74, a_260^0'=a_260^post74, i_30^0'=i_30^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, temp0_15^0'=temp0_15^post74, head_175^0'=head_175^post74, nondet_12^0'=nondet_12^post74, a_184^0'=a_184^post74, x_20^0'=x_20^post74, rcd_88^0'=rcd_88^post74, f_170^0'=f_170^post74, len_132^0'=len_132^post74, temp_35^0'=temp_35^post74, head_32^0'=head_32^post74, r_163^0'=r_163^post74, a_237^0'=a_237^post74, y_19^0'=y_19^post74, i_167^0'=i_167^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, head_14^0'=head_14^post74, length_29^0'=length_29^post74, a_147^0'=a_147^post74, x_16^0'=x_16^post74, i_108^0'=i_108^post74, rcd_58^0'=rcd_58^post74, ct_17^0'=ct_17^post74, i_94^0'=i_94^post74, t_23^0'=t_23^post74, temp0_31^0'=temp0_31^post74, head_27^0'=head_27^post74, r_124^0'=r_124^post74, a_215^0'=a_215^post74, x_SLAM_f_18^0'=x_SLAM_f_18^post74, result_11^0'=result_11^post74, head_129^0'=head_129^post74, len_183^0'=len_183^post74, (-y_19^post74+y_19^0 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ -head_129^post74+head_129^0 == 0 /\ x_20^0-x_20^post74 == 0 /\ -head_27^post74+head_27^0 == 0 /\ -r_124^post74+r_124^0 == 0 /\ -len_183^post74+len_183^0 == 0 /\ -rcd_58^post74+rcd_58^0 == 0 /\ a_184^0-a_184^post74 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post74 == 0 /\ a_260^0-a_260^post74 == 0 /\ -head_14^post74+head_14^0 == 0 /\ temp_35^0-temp_35^post74 == 0 /\ -x_16^post74+x_16^0 == 0 /\ f_170^0-f_170^post74 == 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ a_237^0-a_237^post74 == 0 /\ -result_11^post74+result_11^0 == 0 /\ -length_29^post74+length_29^0 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ head_32^0-head_32^post74 == 0 /\ a_116^0-a_116^post74 == 0 /\ i_94^0-i_94^post74 == 0 /\ -a_215^post74+a_215^0 == 0 /\ temp0_15^0-temp0_15^post74 == 0 /\ -x_SLAM_f_18^post74+x_SLAM_f_18^0 == 0 /\ -r_163^post74+r_163^0 == 0 /\ -a_147^post74+a_147^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_167^post74+i_167^0 == 0 /\ r_39^0-r_39^post74 == 0 /\ head_175^0-head_175^post74 == 0 /\ -i_108^post74+i_108^0 == 0 /\ -t_23^post74+t_23^0 == 0 /\ i_30^0-i_30^post74 == 0 /\ -len_132^post74+len_132^0 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ -ct_17^post74+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0), cost: 1 New rule: l44 -> l41 : TRUE, cost: 1 Applied preprocessing Original rule: l38 -> l63 : a_116^0'=a_116^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, r_39^0'=r_39^post95, a_260^0'=a_260^post95, i_30^0'=i_30^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp0_15^0'=temp0_15^post95, head_175^0'=head_175^post95, nondet_12^0'=nondet_12^post95, a_184^0'=a_184^post95, x_20^0'=x_20^post95, rcd_88^0'=rcd_88^post95, f_170^0'=f_170^post95, len_132^0'=len_132^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_163^0'=r_163^post95, a_237^0'=a_237^post95, y_19^0'=y_19^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_14^post95, length_29^0'=length_29^post95, a_147^0'=a_147^post95, x_16^0'=x_16^post95, i_108^0'=i_108^post95, rcd_58^0'=rcd_58^post95, ct_17^0'=ct_17^post95, i_94^0'=i_94^post95, t_23^0'=t_23^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_27^post95, r_124^0'=r_124^post95, a_215^0'=a_215^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, result_11^0'=result_11^post95, head_129^0'=head_129^post95, len_183^0'=len_183^post95, (0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ -a_147^0+i_30^post95 <= 0 /\ -y_19^post95+y_19^0 == 0 /\ -rcd_58^post95+rcd_58^0 == 0 /\ x_20^0-x_20^post95 == 0 /\ x_16^0-x_16^post95 == 0 /\ temp0_15^0-temp0_15^post95 == 0 /\ -head_14^post95+head_27^post95 <= 0 /\ -r_124^post95+r_124^0 == 0 /\ -result_11^11+head_14^post95 == 0 /\ a_147^0-i_30^post95 <= 0 /\ -len_183^post95+len_183^0 == 0 /\ len_132^0 <= 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -i_30^0 <= 0 /\ -head_129^post95+head_129^0 == 0 /\ -a_184^post95+a_184^0 == 0 /\ f_170^0-f_170^post95 == 0 /\ head_14^post95-head_27^post95 <= 0 /\ -ct_17^post95+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ head_14^post95-head_SLAM_f_26^post95 <= 0 /\ a_237^0-a_237^post95 == 0 /\ head_27^post95-head_SLAM_f_26^post95 <= 0 /\ head_27^post95-head_SLAM_f_26^post95 == 0 /\ a_260^0-a_260^post95 == 0 /\ -a_215^post95+a_215^0 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_147^post95+a_147^0 == 0 /\ a_116^0-a_116^post95 == 0 /\ -head_14^post95+head_SLAM_f_26^post95 <= 0 /\ -head_14^post95+head_SLAM_f_26^post95 == 0 /\ -i_108^post95+i_108^0 == 0 /\ -head_27^post95+head_SLAM_f_26^post95 <= 0 /\ head_175^0-head_175^post95 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -len_132^0 <= 0 /\ r_39^0-r_39^post95 == 0 /\ len_132^0-len_132^post95 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ -t_23^post95+t_23^0 == 0), cost: 1 New rule: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l63 -> l64 : a_116^0'=a_116^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, r_39^0'=r_39^post96, a_260^0'=a_260^post96, i_30^0'=i_30^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, temp0_15^0'=temp0_15^post96, head_175^0'=head_175^post96, nondet_12^0'=nondet_12^post96, a_184^0'=a_184^post96, x_20^0'=x_20^post96, rcd_88^0'=rcd_88^post96, f_170^0'=f_170^post96, len_132^0'=len_132^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_163^0'=r_163^post96, a_237^0'=a_237^post96, y_19^0'=y_19^post96, i_167^0'=i_167^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_14^0'=head_14^post96, length_29^0'=length_29^post96, a_147^0'=a_147^post96, x_16^0'=x_16^post96, i_108^0'=i_108^post96, rcd_58^0'=rcd_58^post96, ct_17^0'=ct_17^post96, i_94^0'=i_94^post96, t_23^0'=t_23^post96, temp0_31^0'=temp0_31^post96, head_27^0'=head_27^post96, r_124^0'=r_124^post96, a_215^0'=a_215^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, result_11^0'=result_11^post96, head_129^0'=head_129^post96, len_183^0'=len_183^post96, (length_29^0-length_29^post96 == 0 /\ a_116^0-a_116^post96 == 0 /\ -i_94^post96+i_94^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ head_175^0-head_175^post96 == 0 /\ -t_23^post96+t_23^0 == 0 /\ a_184^0-a_184^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ a_237^0-a_237^post96 == 0 /\ r_39^0-r_39^post96 == 0 /\ -x_16^post96+x_16^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ x_20^0-x_20^post96 == 0 /\ -ct_17^post96+ct_17^0 == 0 /\ -len_132^post96+len_132^0 == 0 /\ -head_27^post96+head_27^0 == 0 /\ 1-head_14^0 <= 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post96 == 0 /\ -r_124^post96+r_124^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_167^post96+i_167^0 == 0 /\ -len_183^post96+len_183^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ -head_14^post96+head_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -head_129^post96+head_129^0 == 0 /\ head_32^0-head_32^post96 == 0 /\ r_163^0-r_163^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ -a_215^post96+a_215^0 == 0 /\ a_260^0-a_260^post96 == 0 /\ temp0_15^0-temp0_15^post96 == 0 /\ i_108^0-i_108^post96 == 0), cost: 1 New rule: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l63 -> l64 : a_116^0'=a_116^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, r_39^0'=r_39^post97, a_260^0'=a_260^post97, i_30^0'=i_30^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, temp0_15^0'=temp0_15^post97, head_175^0'=head_175^post97, nondet_12^0'=nondet_12^post97, a_184^0'=a_184^post97, x_20^0'=x_20^post97, rcd_88^0'=rcd_88^post97, f_170^0'=f_170^post97, len_132^0'=len_132^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_163^0'=r_163^post97, a_237^0'=a_237^post97, y_19^0'=y_19^post97, i_167^0'=i_167^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_14^0'=head_14^post97, length_29^0'=length_29^post97, a_147^0'=a_147^post97, x_16^0'=x_16^post97, i_108^0'=i_108^post97, rcd_58^0'=rcd_58^post97, ct_17^0'=ct_17^post97, i_94^0'=i_94^post97, t_23^0'=t_23^post97, temp0_31^0'=temp0_31^post97, head_27^0'=head_27^post97, r_124^0'=r_124^post97, a_215^0'=a_215^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, result_11^0'=result_11^post97, head_129^0'=head_129^post97, len_183^0'=len_183^post97, (-temp0_31^post97+temp0_31^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ a_260^0-a_260^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ x_16^0-x_16^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -f_170^post97+f_170^0 == 0 /\ -a_147^post97+a_147^0 == 0 /\ -a_215^post97+a_215^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ -x_20^post97+x_20^0 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -r_163^post97+r_163^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ r_124^0-r_124^post97 == 0 /\ -ct_17^post97+ct_17^0 == 0 /\ a_116^0-a_116^post97 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ a_184^0-a_184^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ i_108^0-i_108^post97 == 0 /\ head_14^0-head_14^post97 == 0 /\ -y_19^post97+y_19^0 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ 1+head_14^0 <= 0 /\ -len_183^post97+len_183^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -head_27^post97+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ nondet_12^0-nondet_12^post97 == 0 /\ tmp_34^0-tmp_34^post97 == 0 /\ a_237^0-a_237^post97 == 0 /\ i_94^0-i_94^post97 == 0 /\ temp0_15^0-temp0_15^post97 == 0 /\ -head_129^post97+head_129^0 == 0 /\ -length_29^post97+length_29^0 == 0), cost: 1 New rule: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l64 -> l41 : a_116^0'=a_116^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, r_39^0'=r_39^post98, a_260^0'=a_260^post98, i_30^0'=i_30^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, temp0_15^0'=temp0_15^post98, head_175^0'=head_175^post98, nondet_12^0'=nondet_12^post98, a_184^0'=a_184^post98, x_20^0'=x_20^post98, rcd_88^0'=rcd_88^post98, f_170^0'=f_170^post98, len_132^0'=len_132^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_163^0'=r_163^post98, a_237^0'=a_237^post98, y_19^0'=y_19^post98, i_167^0'=i_167^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_14^0'=head_14^post98, length_29^0'=length_29^post98, a_147^0'=a_147^post98, x_16^0'=x_16^post98, i_108^0'=i_108^post98, rcd_58^0'=rcd_58^post98, ct_17^0'=ct_17^post98, i_94^0'=i_94^post98, t_23^0'=t_23^post98, temp0_31^0'=temp0_31^post98, head_27^0'=head_27^post98, r_124^0'=r_124^post98, a_215^0'=a_215^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, result_11^0'=result_11^post98, head_129^0'=head_129^post98, len_183^0'=len_183^post98, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_167^post98+i_167^0 == 0 /\ -r_163^post98+r_163^0 == 0 /\ temp0_15^0-temp0_15^post98 == 0 /\ x_20^0-x_20^post98 == 0 /\ -i_108^post98+i_108^0 == 0 /\ -head_129^post98+head_129^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ rcd_88^0-rcd_88^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -a_215^post98+a_215^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post98 == 0 /\ a_184^0-a_184^post98 == 0 /\ a_116^0-a_116^post98 == 0 /\ i_30^0-i_30^post98 == 0 /\ a_237^0-a_237^post98 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ -len_183^post98+len_183^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_147^post98+a_147^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -x_16^post98+x_16^0 == 0 /\ tmp_34^0-tmp_34^post98 == 0 /\ -t_23^post98+t_23^0 == 0 /\ -len_132^post98+len_132^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -i_94^post98+i_94^0 == 0 /\ head_175^0-head_175^post98 == 0 /\ -a_260^post98+a_260^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ head_14^0-head_14^post98 == 0 /\ -head_27^post98+head_27^0 == 0), cost: 1 New rule: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l38 -> l65 : a_116^0'=a_116^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, r_39^0'=r_39^post99, a_260^0'=a_260^post99, i_30^0'=i_30^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, temp0_15^0'=temp0_15^post99, head_175^0'=head_175^post99, nondet_12^0'=nondet_12^post99, a_184^0'=a_184^post99, x_20^0'=x_20^post99, rcd_88^0'=rcd_88^post99, f_170^0'=f_170^post99, len_132^0'=len_132^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_163^0'=r_163^post99, a_237^0'=a_237^post99, y_19^0'=y_19^post99, i_167^0'=i_167^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_14^0'=head_14^post99, length_29^0'=length_29^post99, a_147^0'=a_147^post99, x_16^0'=x_16^post99, i_108^0'=i_108^post99, rcd_58^0'=rcd_58^post99, ct_17^0'=ct_17^post99, i_94^0'=i_94^post99, t_23^0'=t_23^post99, temp0_31^0'=temp0_31^post99, head_27^0'=head_27^post99, r_124^0'=r_124^post99, a_215^0'=a_215^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, result_11^0'=result_11^post99, head_129^0'=head_129^post99, len_183^0'=len_183^post99, (0 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -r_124^post99+r_124^0 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -r_163^post99+r_163^0 == 0 /\ a_260^0-a_260^post99 == 0 /\ temp0_31^0-temp0_31^post99 == 0 /\ -tmp_34^post99+head_32^post99 == 0 /\ -head_14^post99+head_14^0 == 0 /\ -1-i_30^0+i_30^post99 == 0 /\ -len_183^post99+len_183^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ -i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -head_129^post99+head_129^0 == 0 /\ -1-i_94^post99+i_30^post99 <= 0 /\ r_39^0-r_39^post99 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ y_19^0-y_19^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -f_170^post99+f_170^0 == 0 /\ -t_23^post99+t_23^0 == 0 /\ -a_215^post99+a_215^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_175^post99+head_175^0 == 0 /\ temp0_15^0-temp0_15^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post99 == 0 /\ -head_27^post99+head_27^0 == 0 /\ i_108^0-i_108^post99 == 0 /\ 1-length_29^0+i_94^post99 <= 0 /\ length_29^0-length_29^post99 == 0 /\ a_116^0-a_116^post99 == 0 /\ a_184^0-a_184^post99 == 0 /\ -x_SLAM_f_18^post99+x_SLAM_f_18^0 == 0 /\ -ct_17^post99+ct_17^0 == 0 /\ -temp_35^0+tmp_34^post99 == 0 /\ a_237^0-a_237^post99 == 0 /\ 1+i_94^post99-i_30^post99 <= 0 /\ -x_20^post99+x_20^0 == 0), cost: 1 New rule: l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l65 -> l38 : a_116^0'=a_116^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, r_39^0'=r_39^post100, a_260^0'=a_260^post100, i_30^0'=i_30^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, temp0_15^0'=temp0_15^post100, head_175^0'=head_175^post100, nondet_12^0'=nondet_12^post100, a_184^0'=a_184^post100, x_20^0'=x_20^post100, rcd_88^0'=rcd_88^post100, f_170^0'=f_170^post100, len_132^0'=len_132^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_163^0'=r_163^post100, a_237^0'=a_237^post100, y_19^0'=y_19^post100, i_167^0'=i_167^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_14^0'=head_14^post100, length_29^0'=length_29^post100, a_147^0'=a_147^post100, x_16^0'=x_16^post100, i_108^0'=i_108^post100, rcd_58^0'=rcd_58^post100, ct_17^0'=ct_17^post100, i_94^0'=i_94^post100, t_23^0'=t_23^post100, temp0_31^0'=temp0_31^post100, head_27^0'=head_27^post100, r_124^0'=r_124^post100, a_215^0'=a_215^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, result_11^0'=result_11^post100, head_129^0'=head_129^post100, len_183^0'=len_183^post100, (-y_19^post100+y_19^0 == 0 /\ tmp_34^0-tmp_34^post100 == 0 /\ -head_27^post100+head_27^0 == 0 /\ -len_183^post100+len_183^0 == 0 /\ -r_124^post100+r_124^0 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_260^0-a_260^post100 == 0 /\ temp0_15^0-temp0_15^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ x_20^0-x_20^post100 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ a_237^0-a_237^post100 == 0 /\ -length_29^post100+length_29^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ head_32^0-head_32^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -a_215^post100+a_215^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ -a_147^post100+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -i_108^post100+i_108^0 == 0 /\ r_39^0-r_39^post100 == 0 /\ -r_163^post100+r_163^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ -t_23^post100+t_23^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ a_184^0-a_184^post100 == 0 /\ -ct_17^post100+ct_17^0 == 0), cost: 1 New rule: l65 -> l38 : TRUE, cost: 1 Applied preprocessing Original rule: l40 -> l25 : a_116^0'=a_116^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_26^0'=head_SLAM_f_26^post102, r_39^0'=r_39^post102, a_260^0'=a_260^post102, i_30^0'=i_30^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, temp0_15^0'=temp0_15^post102, head_175^0'=head_175^post102, nondet_12^0'=nondet_12^post102, a_184^0'=a_184^post102, x_20^0'=x_20^post102, rcd_88^0'=rcd_88^post102, f_170^0'=f_170^post102, len_132^0'=len_132^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_163^0'=r_163^post102, a_237^0'=a_237^post102, y_19^0'=y_19^post102, i_167^0'=i_167^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, head_14^0'=head_14^post102, length_29^0'=length_29^post102, a_147^0'=a_147^post102, x_16^0'=x_16^post102, i_108^0'=i_108^post102, rcd_58^0'=rcd_58^post102, ct_17^0'=ct_17^post102, i_94^0'=i_94^post102, t_23^0'=t_23^post102, temp0_31^0'=temp0_31^post102, head_27^0'=head_27^post102, r_124^0'=r_124^post102, a_215^0'=a_215^post102, x_SLAM_f_18^0'=x_SLAM_f_18^post102, result_11^0'=result_11^post102, head_129^0'=head_129^post102, len_183^0'=len_183^post102, (0 == 0 /\ -1+i_30^post102-i_30^0 == 0 /\ rcd_88^0-rcd_88^post102 == 0 /\ a_116^0-a_116^post102 == 0 /\ len_132^0-len_132^post102 == 0 /\ -a_237^post102+a_237^0 == 0 /\ r_39^0-r_39^post102 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ length_29^0-length_29^post102 == 0 /\ -a_184^post102+a_184^0 == 0 /\ -head_129^post102+head_129^0 == 0 /\ r_163^0-r_163^post102 == 0 /\ 1-i_30^post102 <= 0 /\ -1+i_30^post102 <= 0 /\ f_170^0-f_170^post102 == 0 /\ -r_124^post102+r_124^0 == 0 /\ -i_94^post102+i_94^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 <= 0 /\ y_19^0-y_19^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ 1-length_29^0 <= 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_16^post102+x_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post102 == 0 /\ -head_27^post102+head_27^0 == 0 /\ -head_14^post102+head_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ -ct_17^post102+ct_17^0 == 0 /\ head_175^0-head_175^post102 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -a_215^post102+a_215^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ head_32^post102-tmp_34^post102 <= 0 /\ head_32^post102-tmp_34^post102 == 0 /\ -t_23^post102+t_23^0 == 0 /\ -len_183^post102+len_183^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ i_108^0-i_108^post102 == 0 /\ temp0_15^0-temp0_15^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -x_SLAM_f_18^post102+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post102 == 0 /\ i_167^0-i_167^post102 == 0 /\ -a_147^post102+a_147^0 == 0 /\ -head_32^post102+tmp_34^post102 <= 0 /\ x_20^0-x_20^post102 == 0), cost: 1 New rule: l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l66 -> l39 : a_116^0'=a_116^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_26^0'=head_SLAM_f_26^post103, r_39^0'=r_39^post103, a_260^0'=a_260^post103, i_30^0'=i_30^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, temp0_15^0'=temp0_15^post103, head_175^0'=head_175^post103, nondet_12^0'=nondet_12^post103, a_184^0'=a_184^post103, x_20^0'=x_20^post103, rcd_88^0'=rcd_88^post103, f_170^0'=f_170^post103, len_132^0'=len_132^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_163^0'=r_163^post103, a_237^0'=a_237^post103, y_19^0'=y_19^post103, i_167^0'=i_167^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, head_14^0'=head_14^post103, length_29^0'=length_29^post103, a_147^0'=a_147^post103, x_16^0'=x_16^post103, i_108^0'=i_108^post103, rcd_58^0'=rcd_58^post103, ct_17^0'=ct_17^post103, i_94^0'=i_94^post103, t_23^0'=t_23^post103, temp0_31^0'=temp0_31^post103, head_27^0'=head_27^post103, r_124^0'=r_124^post103, a_215^0'=a_215^post103, x_SLAM_f_18^0'=x_SLAM_f_18^post103, result_11^0'=result_11^post103, head_129^0'=head_129^post103, len_183^0'=len_183^post103, (-i_94^post103+i_94^0 == 0 /\ -x_16^post103+x_16^0 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ -a_215^post103+a_215^0 == 0 /\ -result_11^post103+result_11^0 == 0 /\ -t_23^post103+t_23^0 == 0 /\ a_184^0-a_184^post103 == 0 /\ -len_132^post103+len_132^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ y_19^0-y_19^post103 == 0 /\ a_147^0-a_147^post103 == 0 /\ x_20^0-x_20^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -head_27^post103+head_27^0 == 0 /\ -x_SLAM_f_18^post103+x_SLAM_f_18^0 == 0 /\ a_260^0-a_260^post103 == 0 /\ -ct_17^post103+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post103 == 0 /\ -i_108^post103+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post103 == 0 /\ length_29^0-length_29^post103 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post103+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_116^0-a_116^post103 == 0 /\ -r_124^post103+r_124^0 == 0 /\ r_163^0-r_163^post103 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ head_175^0-head_175^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ f_170^0-f_170^post103 == 0 /\ -head_14^post103+head_14^0 == 0 /\ -head_129^post103+head_129^0 == 0 /\ -a_237^post103+a_237^0 == 0 /\ tmp_34^0-tmp_34^post103 == 0 /\ i_167^0-i_167^post103 == 0 /\ -len_183^post103+len_183^0 == 0 /\ -temp_35^post103+temp_35^0 == 0), cost: 1 New rule: l66 -> l39 : TRUE, cost: 1 Simplified rules Start location: l66 104: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 105: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 106: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 107: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 108: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 109: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 110: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 111: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 112: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 113: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 114: l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 115: l2 -> l0 : TRUE, cost: 1 116: l18 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_132^0 >= 0, cost: 1 117: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 118: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 119: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 120: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 121: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 122: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 123: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 124: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 125: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 127: l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post59, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post59, (-1+i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 143: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 147: l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 128: l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1 149: l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 129: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 133: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 130: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 131: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 132: l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 134: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 135: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 136: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 137: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 138: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 139: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 140: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 141: l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 142: l44 -> l41 : TRUE, cost: 1 144: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 145: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 146: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 148: l65 -> l38 : TRUE, cost: 1 150: l66 -> l39 : TRUE, cost: 1 Eliminating location l39 by chaining: Applied chaining First rule: l66 -> l39 : TRUE, cost: 1 Second rule: l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1 New rule: l66 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 2 Applied deletion Removed the following rules: 128 150 Eliminating location l40 by chaining: Applied chaining First rule: l66 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 2 Second rule: l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 New rule: l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3 Applied simplification Original rule: l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3 New rule: l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3 Applied deletion Removed the following rules: 149 151 Eliminating location l25 by chaining: Applied chaining First rule: l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3 Second rule: l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post59, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post59, (-1+i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 New rule: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4 Applied simplification Original rule: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4 New rule: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 Applied deletion Removed the following rules: 127 152 Eliminating location l65 by chaining: Applied chaining First rule: l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1 Second rule: l65 -> l38 : TRUE, cost: 1 New rule: l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 Applied deletion Removed the following rules: 147 148 Eliminating location l18 by chaining: Applied chaining First rule: l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l18 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_132^0 >= 0, cost: 1 New rule: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 116 132 Eliminating location l2 by chaining: Applied chaining First rule: l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l2 -> l0 : TRUE, cost: 1 New rule: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 Applied deletion Removed the following rules: 114 115 Eliminating location l44 by chaining: Applied chaining First rule: l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 Second rule: l44 -> l41 : TRUE, cost: 1 New rule: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 Applied deletion Removed the following rules: 141 142 Eliminated locations on linear paths Start location: l66 104: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 105: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 106: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 107: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 108: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 109: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 110: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 111: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 112: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 113: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 156: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 117: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 118: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 119: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 120: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 121: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 122: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 123: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 124: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 125: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 143: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 154: l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 129: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 133: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 130: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 131: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 155: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 134: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 135: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 136: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 137: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 138: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 139: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 140: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 157: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 144: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 145: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 146: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 153: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 Applied acceleration Original rule: l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2 New rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=i_30^0+n0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+i_30^0+n0, (i_30^0 >= 0 /\ -2+n0 >= 0 /\ -i_30^0-n0+length_29^0 >= 0), cost: 2*n0 Applied instantiation Original rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=i_30^0+n0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+i_30^0+n0, (i_30^0 >= 0 /\ -2+n0 >= 0 /\ -i_30^0-n0+length_29^0 >= 0), cost: 2*n0 New rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+length_29^0, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0 Applied simplification Original rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+length_29^0, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0 New rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0 Applied deletion Removed the following rules: 154 Accelerated simple loops Start location: l66 104: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 105: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 106: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 107: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 108: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 109: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 110: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 111: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 112: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 113: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 156: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 117: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 118: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 119: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 120: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 121: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 122: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 123: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 124: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 125: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 143: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 159: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0 129: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 133: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 130: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 131: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 155: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 134: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 135: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 136: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 137: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 138: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 139: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 140: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 157: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 144: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 145: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 146: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 153: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 Applied chaining First rule: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 Second rule: l38 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0 New rule: l66 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, -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 104: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 105: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 106: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 107: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 108: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 109: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 110: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 111: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 112: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 113: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 156: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 117: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 118: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 119: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 120: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 121: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 122: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 123: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 124: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 125: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 143: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 129: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 133: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 130: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 131: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 155: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 134: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 135: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 136: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 137: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 138: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 139: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 140: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 157: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 144: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 145: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 146: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 153: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 160: l66 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Eliminating location l38 by chaining: Applied chaining First rule: l66 -> l38 : tmp_34^0'=temp_35^post102, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post59, head_32^0'=temp_35^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, -2+nondet_12^10 >= 0, cost: 4 Second rule: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 New rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 2 >= 0), cost: 5 Applied simplification Original rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 2 >= 0), cost: 5 New rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 Applied chaining First rule: l66 -> l38 : tmp_34^0'=temp_35^post99, i_30^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post99, head_32^0'=temp_35^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post102, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Second rule: l38 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_32^0, length_29^0'=length_29^post95, temp0_31^0'=temp0_31^post95, head_27^0'=head_32^0, result_11^0'=result_11^post95, (i_30^0 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0), cost: 1 New rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (0 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ nondet_12^10 >= 0), cost: 1+2*nondet_12^10 Applied simplification Original rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (0 <= 0 /\ -4+nondet_12^10 >= 0 /\ len_132^0 == 0 /\ nondet_12^10 >= 0), cost: 1+2*nondet_12^10 New rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied deletion Removed the following rules: 143 153 160 Eliminating location l64 by chaining: Applied chaining First rule: l63 -> l64 : -1+head_14^0 >= 0, cost: 1 Second rule: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 New rule: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied chaining First rule: l63 -> l64 : 1+head_14^0 <= 0, cost: 1 Second rule: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 New rule: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 144 145 146 Eliminating location l42 by chaining: Applied chaining First rule: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 Second rule: l42 -> l43 : -1+head_14^0 >= 0, cost: 1 New rule: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2 Applied chaining First rule: l41 -> l42 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1 Second rule: l42 -> l43 : 1+head_14^0 <= 0, cost: 1 New rule: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0), cost: 2 Applied deletion Removed the following rules: 129 130 131 Eliminating location l45 by chaining: Applied chaining First rule: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 Second rule: l45 -> l46 : -1+head_27^0 >= 0, cost: 1 New rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 Applied chaining First rule: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1 Second rule: l45 -> l46 : 1+head_27^0 <= 0, cost: 1 New rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2 Applied deletion Removed the following rules: 133 134 135 Eliminating location l19 by chaining: Applied chaining First rule: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Second rule: l19 -> l20 : 1-x_20^0+y_19^0 <= 0, cost: 1 New rule: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied chaining First rule: l43 -> l19 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Second rule: l19 -> l20 : 1+x_20^0-y_19^0 <= 0, cost: 1 New rule: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied deletion Removed the following rules: 117 118 155 Eliminating location l21 by chaining: Applied chaining First rule: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Second rule: l21 -> l22 : -1+head_14^0 >= 0, cost: 1 New rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 Applied chaining First rule: l20 -> l21 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Second rule: l21 -> l22 : 1+head_14^0 <= 0, cost: 1 New rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 Applied deletion Removed the following rules: 119 120 121 Eliminating location l23 by chaining: Applied chaining First rule: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l22 -> l23 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied chaining First rule: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l23 -> l24 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l22 -> l23 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l23 -> l24 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied deletion Removed the following rules: 122 123 124 125 Eliminating location l3 by chaining: Applied chaining First rule: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 Second rule: l3 -> l4 : 1-x_20^0+y_19^0 <= 0, cost: 1 New rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 Applied chaining First rule: l0 -> l3 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, a_237^0 >= 0, cost: 1 Second rule: l3 -> l4 : 1+x_20^0-y_19^0 <= 0, cost: 1 New rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 Applied deletion Removed the following rules: 104 105 106 Eliminating location l5 by chaining: Applied chaining First rule: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Second rule: l5 -> l6 : -1+head_14^0 >= 0, cost: 1 New rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 Applied chaining First rule: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 1 Second rule: l5 -> l6 : 1+head_14^0 <= 0, cost: 1 New rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 Applied deletion Removed the following rules: 107 108 109 Eliminating location l7 by chaining: Applied chaining First rule: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l6 -> l7 : 1-y_19^0+head_14^0 <= 0, cost: 1 Second rule: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied chaining First rule: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l7 -> l8 : 1+y_19^0-t_23^0 <= 0, cost: 1 New rule: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 Applied chaining First rule: l6 -> l7 : 1+y_19^0-head_14^0 <= 0, cost: 1 Second rule: l7 -> l8 : 1-y_19^0+t_23^0 <= 0, cost: 1 New rule: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 Applied deletion Removed the following rules: 110 111 112 113 Eliminating location l47 by chaining: Applied chaining First rule: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l47 -> l48 : -1+head_14^0 >= 0, cost: 1 New rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied chaining First rule: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1 Second rule: l47 -> l48 : 1+head_14^0 <= 0, cost: 1 New rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 Applied deletion Removed the following rules: 136 137 138 Eliminating location l49 by chaining: Applied chaining First rule: l48 -> l49 : -1+head_175^0 >= 0, cost: 1 Second rule: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied chaining First rule: l48 -> l49 : 1+head_175^0 <= 0, cost: 1 Second rule: l49 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied deletion Removed the following rules: 139 140 157 Eliminated locations on tree-shaped paths Start location: l66 177: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 178: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 179: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 180: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 181: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 182: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 183: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 184: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 156: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 171: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 172: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 173: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 174: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 175: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 176: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 165: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2 166: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0), cost: 2 167: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 168: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 185: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 186: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied merging first rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 second rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0), cost: 2 new rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)), cost: 2 Applied merging first rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 second rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 new rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 Applied merging first rule: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 second rule: l6 -> l8 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 new rule: l6 -> l8 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 Applied merging first rule: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 second rule: l6 -> l8 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 new rule: l6 -> l8 : ((1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 Applied merging first rule: l6 -> l8 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 second rule: l6 -> l8 : ((1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 new rule: l6 -> l8 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 Applied merging first rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0), cost: 2 second rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, (-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0), cost: 2 new rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 Applied merging first rule: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 second rule: l22 -> l24 : (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 new rule: l22 -> l24 : ((1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0)), cost: 2 Applied merging first rule: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0), cost: 2 second rule: l22 -> l24 : (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0), cost: 2 new rule: l22 -> l24 : ((1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 Applied merging first rule: l22 -> l24 : ((1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0)), cost: 2 second rule: l22 -> l24 : ((1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 new rule: l22 -> l24 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 Applied merging first rule: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2 second rule: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0), cost: 2 new rule: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 Applied merging first rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0), cost: 2 second rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2 new rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)), cost: 2 Applied merging first rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 second rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 2 new rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, ((f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0) \/ (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0)), cost: 2 Merged rules Start location: l66 189: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)), cost: 2 190: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 193: l6 -> l8 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 156: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 194: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 197: l22 -> l24 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 126: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 198: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 199: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)), cost: 2 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 200: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, ((f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0) \/ (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0)), cost: 2 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Eliminating location l46 by chaining: Applied chaining First rule: l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, f_170^0'=f_170^post65, head_14^0'=head_14^post65, ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)), cost: 2 Second rule: l46 -> l48 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, ((f_170^0-head_27^0 == 0 /\ -1+head_14^0 >= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0) \/ (f_170^0-head_27^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_SLAM_f_26^0+head_14^0 == 0)), cost: 2 New rule: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0) \/ (-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 Applied simplification Original rule: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0) \/ (-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 New rule: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 199 200 Eliminating location l22 by chaining: Applied chaining First rule: l20 -> l22 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 Second rule: l22 -> l24 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 New rule: l20 -> l24 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((1+y_19^0-head_14^0 <= 0 \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0) \/ 1-y_19^0+head_14^0 <= 0) /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 4 Applied simplification Original rule: l20 -> l24 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((1+y_19^0-head_14^0 <= 0 \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+head_14^0 <= 0) \/ 1-y_19^0+head_14^0 <= 0) /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 4 New rule: l20 -> l24 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 4 Applied deletion Removed the following rules: 194 197 Eliminating location l24 by chaining: Applied chaining First rule: l20 -> l24 : t_23^0'=head_14^0, a_215^0'=a_237^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 4 Second rule: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1 New rule: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 Applied deletion Removed the following rules: 126 202 Eliminating location l4 by chaining: Applied chaining First rule: l0 -> l4 : r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)), cost: 2 Second rule: l4 -> l6 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0)), cost: 2 New rule: l0 -> l6 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)) /\ ((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0))), cost: 4 Applied simplification Original rule: l0 -> l6 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)) /\ ((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0))), cost: 4 New rule: l0 -> l6 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 189 190 Eliminating location l6 by chaining: Applied chaining First rule: l0 -> l6 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0))), cost: 4 Second rule: l6 -> l8 : ((1-y_19^0+head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0) \/ (1+y_19^0-head_14^0 <= 0 /\ 1-y_19^0+t_23^0 <= 0) \/ (1-y_19^0+head_14^0 <= 0 /\ 1+y_19^0-t_23^0 <= 0)), cost: 2 New rule: l0 -> l8 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0))), cost: 6 Applied simplification Original rule: l0 -> l8 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (((-head_14^post1+x_16^post1 == 0 /\ 1+head_14^post1 <= 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0) \/ (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ -1+head_14^post1 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ a_237^0 >= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ a_237^0 >= 0)) /\ ((1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0))), cost: 6 New rule: l0 -> l8 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0))), cost: 6 Applied deletion Removed the following rules: 193 204 Eliminating location l8 by chaining: Applied chaining First rule: l0 -> l8 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0))), cost: 6 Second rule: l8 -> l0 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0))), cost: 8 Applied simplification Original rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0))), cost: 8 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0))), cost: 8 Applied deletion Removed the following rules: 156 205 Eliminated locations on linear paths Start location: l66 206: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0))), cost: 8 203: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 198: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 201: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied simplification Original rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, (-head_14^post1+x_16^post1 == 0 /\ -x_16^post1+x_SLAM_f_18^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ct_17^post1-y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1-head_14^post1+y_19^0 <= 0) \/ (1-head_14^post1+y_19^0 <= 0 /\ 1-x_20^0+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1+head_14^post1-y_19^0 <= 0))), cost: 8 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0))), cost: 8 Simplified simple loops Start location: l66 207: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0))), cost: 8 203: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 198: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 201: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied acceleration Original rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ ((1+x_20^0-y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1+x_16^post1-y_19^0 <= 0) \/ (1+x_20^0-y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0) \/ (1-x_20^0+y_19^0 <= 0 /\ 1-x_16^post1+y_19^0 <= 0))), cost: 8 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-n3+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-n3+a_237^0, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ y_19^0 >= 0 /\ -1+n3 >= 0 /\ -y_19^0 >= 0 /\ 1-n3+a_237^0 >= 0 /\ ((-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 8*n3 Applied instantiation Original rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-n3+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-n3+a_237^0, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ y_19^0 >= 0 /\ -1+n3 >= 0 /\ -y_19^0 >= 0 /\ 1-n3+a_237^0 >= 0 /\ ((-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 8*n3 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 >= 0 /\ -y_19^0 >= 0 /\ ((-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0))), cost: 8+8*a_237^0 Applied simplification Original rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 >= 0 /\ -y_19^0 >= 0 /\ ((-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0))), cost: 8+8*a_237^0 New rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ ((-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 8+8*a_237^0 Applied deletion Removed the following rules: 207 Accelerated simple loops Start location: l66 209: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ ((-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 8+8*a_237^0 203: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 198: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 201: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Applied chaining First rule: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 Second rule: l0 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_16^post1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ ((-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 8+8*a_237^0 New rule: l20 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, len_132^0'=1+a_237^0, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, a_215^0'=a_237^0, x_SLAM_f_18^0'=x_16^post1, (-y_19^0+ct_17^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 13+8*a_237^0 Applied deletion Removed the following rules: 209 Chained accelerated rules with incoming rules Start location: l66 203: l20 -> l0 : len_132^0'=1+a_237^0, t_23^0'=head_14^0, a_215^0'=a_237^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-y_19^0+ct_17^0 == 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ 1+head_14^0 <= 0 /\ -head_14^0+x_16^0 == 0) \/ (-y_19^0+ct_17^0 == 0 /\ -1+head_14^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0))), cost: 5 210: l20 -> l0 : r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, len_132^0'=1+a_237^0, a_237^0'=-1, head_14^0'=x_16^post1, x_16^0'=x_16^post1, ct_17^0'=0, t_23^0'=x_20^0, a_215^0'=a_237^0, x_SLAM_f_18^0'=x_16^post1, (-y_19^0+ct_17^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ a_237^0 >= 0 /\ y_19^0 == 0 /\ -x_20^0+head_14^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -head_14^0+x_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((-1-x_16^post1+y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0) \/ (-1-x_16^post1+y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1+x_20^0-y_19^0 >= 0) \/ (-1+x_16^post1-y_19^0 >= 0 /\ -1-x_20^0+y_19^0 >= 0))), cost: 13+8*a_237^0 198: l41 -> l43 : head_SLAM_f_26^0'=head_SLAM_f_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post61, x_SLAM_f_18^0'=head_14^0, ((len_132^0 >= 0 /\ -1+head_14^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ 1+head_14^0 <= 0 /\ head_27^0 == 0)), cost: 2 201: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 169: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1-x_20^0+y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 170: l43 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_14^0'=head_14^post28, x_16^0'=x_16^post28, ct_17^0'=ct_17^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, (1+x_20^0-y_19^0 <= 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Removed unreachable locations and irrelevant leafs Start location: l66 201: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 187: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 188: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 163: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 164: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 161: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 162: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Eliminating location l63 by chaining: Applied chaining First rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 Second rule: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Applied chaining First rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5 Second rule: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Applied chaining First rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Second rule: l63 -> l41 : (-1+head_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Applied chaining First rule: l66 -> l63 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (-4+nondet_12^10 >= 0 /\ len_132^0 == 0), cost: 1+2*nondet_12^10 Second rule: l63 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Applied deletion Removed the following rules: 161 162 163 164 Eliminating location l48 by chaining: Applied chaining First rule: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 Second rule: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (-1+head_175^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7 Applied chaining First rule: l41 -> l48 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, head_14^0'=head_14^post65, len_183^0'=1+len_132^0, (((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 4 Second rule: l48 -> l41 : len_132^0'=len_183^0, a_147^0'=a_184^0, (1+head_175^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0)) /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0))), cost: 7 Applied deletion Removed the following rules: 187 188 201 Eliminated locations on tree-shaped paths Start location: l66 215: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7 216: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0)) /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0))), cost: 7 211: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 212: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 213: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 214: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0)) /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 == 0 /\ 1+head_SLAM_f_26^post65 <= 0) \/ -1+head_SLAM_f_26^post65 >= 0) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=f_170^post65, len_132^0'=1+len_132^0, head_14^0'=head_14^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0) \/ (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0)) /\ ((-head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0 /\ -1+head_14^post65 >= 0) \/ (1+head_14^post65 <= 0 /\ -head_SLAM_f_26^post65+head_14^post65 == 0 /\ f_170^post65-head_27^0 == 0))), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)) /\ ((0 == 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 7 Simplified simple loops Start location: l66 217: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 == 0 /\ 1+head_SLAM_f_26^post65 <= 0) \/ -1+head_SLAM_f_26^post65 >= 0) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 218: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)) /\ ((0 == 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 7 211: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 212: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 213: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 214: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Applied acceleration Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 == 0 /\ 1+head_SLAM_f_26^post65 <= 0) \/ -1+head_SLAM_f_26^post65 >= 0) /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0))), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-n7+a_147^0, f_170^0'=head_27^0, len_132^0'=n7+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-n7+a_147^0, len_183^0'=n7+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1+n7 >= 0 /\ ((len_132^0 >= 0 /\ 1-n7+a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (-1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ 1-n7+a_147^0 >= 0)) /\ ((0 >= 0 /\ -1-head_SLAM_f_26^post65 >= 0) \/ -1+head_SLAM_f_26^post65 >= 0)), cost: 7*n7 Applied instantiation Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-n7+a_147^0, f_170^0'=head_27^0, len_132^0'=n7+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-n7+a_147^0, len_183^0'=n7+len_132^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1+n7 >= 0 /\ ((len_132^0 >= 0 /\ 1-n7+a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (-1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ 1-n7+a_147^0 >= 0)) /\ ((0 >= 0 /\ -1-head_SLAM_f_26^post65 >= 0) \/ -1+head_SLAM_f_26^post65 >= 0)), cost: 7*n7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ (0 >= 0 /\ -1-head_SLAM_f_26^post65 >= 0)) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (0 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 Applied acceleration Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1+a_147^0, len_183^0'=1+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+head_175^post65 <= 0 /\ ((len_132^0 >= 0 /\ a_147^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0)) /\ ((0 == 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 7 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-n9+a_147^0, f_170^0'=head_27^0, len_132^0'=n9+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-n9+a_147^0, len_183^0'=n9+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1+n9 >= 0 /\ -1-head_175^post65 >= 0 /\ ((-1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0) \/ (len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0 /\ -1+head_27^0 >= 0)) /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ -1-head_SLAM_f_26^post65 >= 0)), cost: 7*n9 Applied instantiation Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-n9+a_147^0, f_170^0'=head_27^0, len_132^0'=n9+len_132^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-n9+a_147^0, len_183^0'=n9+len_132^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1+n9 >= 0 /\ -1-head_175^post65 >= 0 /\ ((-1-head_27^0 >= 0 /\ len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0) \/ (len_132^0 >= 0 /\ 1-n9+a_147^0 >= 0 /\ -1+head_27^0 >= 0)) /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ -1-head_SLAM_f_26^post65 >= 0)), cost: 7*n9 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ -1-head_175^post65 >= 0 /\ ((0 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0)) /\ (-1-head_SLAM_f_26^post65 >= 0 \/ (0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0))), cost: 7+7*a_147^0 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ (0 >= 0 /\ -1-head_SLAM_f_26^post65 >= 0)) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (0 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 Applied simplification Original rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ -1-head_175^post65 >= 0 /\ ((0 >= 0 /\ -1-head_27^0 >= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0)) /\ (-1-head_SLAM_f_26^post65 >= 0 \/ (0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0))), cost: 7+7*a_147^0 New rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 Applied deletion Removed the following rules: 217 218 Accelerated simple loops Start location: l66 221: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 222: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 211: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 212: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 213: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 214: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ 1+head_27^0 <= 0 /\ len_132^0 >= 0) \/ (0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 Applied chaining First rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 Second rule: l41 -> l41 : head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post65, a_147^0'=-1, len_183^0'=1+len_132^0+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ a_147^0 >= 0 /\ 1+head_175^post65 <= 0 /\ ((0 >= 0 /\ -1+head_SLAM_f_26^post65 >= 0) \/ 1+head_SLAM_f_26^post65 <= 0) /\ ((0 >= 0 /\ len_132^0 >= 0 /\ -1+head_27^0 >= 0) \/ (1+head_27^0 <= 0 /\ len_132^0 >= 0))), cost: 7+7*a_147^0 New rule: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 Applied deletion Removed the following rules: 221 222 Chained accelerated rules with incoming rules Start location: l66 211: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 212: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post102, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post102, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 7 213: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 214: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=temp_35^post99, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post60, rcd_88^0'=rcd_88^post99, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=temp_35^post99, length_29^0'=length_29^post95, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0), cost: 3+2*nondet_12^10 223: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 224: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 225: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 226: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -1+head_175^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 227: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -1+temp_35^post102 >= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 228: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, f_170^0'=temp_35^post102, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post102, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_35^post102 <= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 14+7*a_147^0 229: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ -1+temp_35^post99 >= 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 230: l66 -> l41 : tmp_34^0'=tmp_34^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post65, r_39^0'=r_39^post65, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_175^0'=head_175^post65, nondet_12^0'=nondet_12^post60, a_184^0'=-1, rcd_88^0'=rcd_88^post99, f_170^0'=temp_35^post99, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, i_167^0'=i_167^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_14^0'=head_SLAM_f_26^post65, length_29^0'=length_29^post95, a_147^0'=-1, rcd_58^0'=rcd_58^post59, i_94^0'=-1+nondet_12^10, temp0_31^0'=temp0_31^post95, head_27^0'=temp_35^post99, result_11^0'=result_11^post95, len_183^0'=1+len_132^0+a_147^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post95-a_147^0 <= 0 /\ 1+temp_35^post99 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 >= 0 /\ len_132^0 == 0 /\ 1+head_175^post65 <= 0 /\ -i_167^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 <= 0 /\ (-1+head_SLAM_f_26^post65 >= 0 \/ 1+head_SLAM_f_26^post65 <= 0)), cost: 10+2*nondet_12^10+7*a_147^0 Removed unreachable locations and irrelevant leafs Start location: l66 Computing asymptotic complexity Proved the following lower bound Complexity: Unknown Cpx degree: ? Solved cost: 0 Rule cost: 0