WORST_CASE(Omega(0),?) Initial ITS Start location: l223 0: l0 -> l2 : a_1089^0'=a_1089^post0, f_847^0'=f_847^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_394^0'=a_394^post0, x_156^0'=x_156^post0, a_632^0'=a_632^post0, r_192^0'=r_192^post0, a_176^0'=a_176^post0, i_106^0'=i_106^post0, a_430^0'=a_430^post0, t_458^0'=t_458^post0, len_161^0'=len_161^post0, x_975^0'=x_975^post0, a_902^0'=a_902^post0, a_947^0'=a_947^post0, rcd_88^0'=rcd_88^post0, a_311^0'=a_311^post0, i_140^0'=i_140^post0, a_577^0'=a_577^post0, x_14^0'=x_14^post0, nondet_12^0'=nondet_12^post0, a_121^0'=a_121^post0, head_15^0'=head_15^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0, i_27^0'=i_27^post0, x_21^0'=x_21^post0, a_634^0'=a_634^post0, r_39^0'=r_39^post0, a_263^0'=a_263^post0, i_113^0'=i_113^post0, a_432^0'=a_432^post0, temp0_31^0'=temp0_31^post0, len_262^0'=len_262^post0, y_20^0'=y_20^post0, f_248^0'=f_248^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_393^0'=a_393^post0, i_229^0'=i_229^post0, a_610^0'=a_610^post0, r_151^0'=r_151^post0, a_144^0'=a_144^post0, i_1053^0'=i_1053^post0, a_417^0'=a_417^post0, t_24^0'=t_24^post0, i_94^0'=i_94^post0, x_852^0'=x_852^post0, a_862^0'=a_862^post0, rcd_1249^0'=rcd_1249^post0, rcd_58^0'=rcd_58^post0, a_310^0'=a_310^post0, i_127^0'=i_127^post0, a_576^0'=a_576^post0, tmp_34^0'=tmp_34^post0, length_29^0'=length_29^post0, a_1162^0'=a_1162^post0, f_969^0'=f_969^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0, a_395^0'=a_395^post0, x_17^0'=x_17^post0, a_633^0'=a_633^post0, r_224^0'=r_224^post0, a_239^0'=a_239^post0, i_107^0'=i_107^post0, a_431^0'=a_431^post0, temp0_16^0'=temp0_16^post0, len_238^0'=len_238^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, a_924^0'=a_924^post0, ct_18^0'=ct_18^post0, result_11^0'=result_11^post0, a_392^0'=a_392^post0, i_197^0'=i_197^post0, a_579^0'=a_579^post0, r_143^0'=r_143^post0, a_1236^0'=a_1236^post0, head_32^0'=head_32^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, i_30^0'=i_30^post0, x_253^0'=x_253^post0, a_635^0'=a_635^post0, r_970^0'=r_970^post0, rcd_47^0'=rcd_47^post0, a_309^0'=a_309^post0, i_1248^0'=i_1248^post0, a_575^0'=a_575^post0, temp_35^0'=temp_35^post0, len_861^0'=len_861^post0, (0 == 0 /\ -r_151^post0+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post0 == 0 /\ t_458^0-t_458^post0 == 0 /\ a_632^0-a_632^post0 == 0 /\ -len_161^0 <= 0 /\ -a_924^post0+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_262^0-len_262^post0 == 0 /\ x_156^0-x_156^post0 == 0 /\ -a_576^post0+a_576^0 == 0 /\ a_902^0-a_902^post0 == 0 /\ -r_143^post0+r_143^0 == 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ i_229^0-i_229^post0 == 0 /\ -a_634^post0+a_634^0 == 0 /\ -x_253^post0+x_253^0 == 0 /\ a_1089^0-a_1089^post0 == 0 /\ a_394^0-a_394^post0 == 0 /\ -a_862^post0+a_862^0 == 0 /\ -a_392^post0+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post0+a_1236^0 == 0 /\ a_176^0-a_176^post0 == 0 /\ -temp_35^post0+temp_35^0 == 0 /\ a_121^0-a_121^post0 == 0 /\ -rcd_47^post0+rcd_47^0 == 0 /\ -len_238^post0+len_238^0 == 0 /\ a_263^0-a_263^post0 == 0 /\ -r_970^post0+r_970^0 == 0 /\ -a_610^post0+a_610^0 == 0 /\ -length_29^post0+length_29^0 == 0 /\ -r_192^post0+r_192^0 == 0 /\ i_94^0-i_94^post0 == 0 /\ a_430^0-a_430^post0 == 0 /\ -i_1053^post0+i_1053^0 == 0 /\ -i_1248^post0+i_1248^0 == 0 /\ x_975^0-x_975^post0 == 0 /\ -a_395^post0+a_395^0 == 0 /\ -r_224^post0+r_224^0 == 0 /\ -len_861^post0+len_861^0 == 0 /\ y_20^0-y_20^post0 == 0 /\ -a_239^post0+a_239^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -a_579^post0+a_579^0 == 0 /\ a_432^0-a_432^post0 == 0 /\ -a_311^post0+a_311^0 == 0 /\ a_577^0-a_577^post0 == 0 /\ -x_852^post0+x_852^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ -i_127^post0+i_127^0 == 0 /\ i_113^0-i_113^post0 == 0 /\ -rcd_88^post0+rcd_88^0 == 0 /\ a_633^0-a_633^post0 == 0 /\ -i_197^post0+i_197^0 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ f_969^0-f_969^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_431^0-a_431^post0 == 0 /\ a_144^0-a_144^post0 == 0 /\ -i_107^post0+i_107^0 == 0 /\ -i_30^post0+i_30^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -a_575^post0+a_575^0 == 0 /\ -rcd_1249^post0+rcd_1249^0 == 0 /\ a_310^0-a_310^post0 == 0 /\ a_947^0-a_947^post0 == 0 /\ -a_417^post0+a_417^0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -a_309^post0+a_309^0 == 0 /\ len_161^0-len_161^post0 == 0 /\ -tmp_34^post0+tmp_34^0 == 0 /\ -a_1162^post0+a_1162^0 == 0 /\ -a_393^post0+a_393^0 == 0 /\ -a_635^post0+a_635^0 == 0 /\ f_847^0-f_847^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -rcd_58^post0+rcd_58^0 == 0 /\ i_140^0-i_140^post0 == 0 /\ i_106^0-i_106^post0 == 0), cost: 1 1: l2 -> l3 : a_1089^0'=a_1089^post1, f_847^0'=f_847^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_394^0'=a_394^post1, x_156^0'=x_156^post1, a_632^0'=a_632^post1, r_192^0'=r_192^post1, a_176^0'=a_176^post1, i_106^0'=i_106^post1, a_430^0'=a_430^post1, t_458^0'=t_458^post1, len_161^0'=len_161^post1, x_975^0'=x_975^post1, a_902^0'=a_902^post1, a_947^0'=a_947^post1, rcd_88^0'=rcd_88^post1, a_311^0'=a_311^post1, i_140^0'=i_140^post1, a_577^0'=a_577^post1, x_14^0'=x_14^post1, nondet_12^0'=nondet_12^post1, a_121^0'=a_121^post1, head_15^0'=head_15^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1, i_27^0'=i_27^post1, x_21^0'=x_21^post1, a_634^0'=a_634^post1, r_39^0'=r_39^post1, a_263^0'=a_263^post1, i_113^0'=i_113^post1, a_432^0'=a_432^post1, temp0_31^0'=temp0_31^post1, len_262^0'=len_262^post1, y_20^0'=y_20^post1, f_248^0'=f_248^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_393^0'=a_393^post1, i_229^0'=i_229^post1, a_610^0'=a_610^post1, r_151^0'=r_151^post1, a_144^0'=a_144^post1, i_1053^0'=i_1053^post1, a_417^0'=a_417^post1, t_24^0'=t_24^post1, i_94^0'=i_94^post1, x_852^0'=x_852^post1, a_862^0'=a_862^post1, rcd_1249^0'=rcd_1249^post1, rcd_58^0'=rcd_58^post1, a_310^0'=a_310^post1, i_127^0'=i_127^post1, a_576^0'=a_576^post1, tmp_34^0'=tmp_34^post1, length_29^0'=length_29^post1, a_1162^0'=a_1162^post1, f_969^0'=f_969^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1, a_395^0'=a_395^post1, x_17^0'=x_17^post1, a_633^0'=a_633^post1, r_224^0'=r_224^post1, a_239^0'=a_239^post1, i_107^0'=i_107^post1, a_431^0'=a_431^post1, temp0_16^0'=temp0_16^post1, len_238^0'=len_238^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, a_924^0'=a_924^post1, ct_18^0'=ct_18^post1, result_11^0'=result_11^post1, a_392^0'=a_392^post1, i_197^0'=i_197^post1, a_579^0'=a_579^post1, r_143^0'=r_143^post1, a_1236^0'=a_1236^post1, head_32^0'=head_32^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1, i_30^0'=i_30^post1, x_253^0'=x_253^post1, a_635^0'=a_635^post1, r_970^0'=r_970^post1, rcd_47^0'=rcd_47^post1, a_309^0'=a_309^post1, i_1248^0'=i_1248^post1, a_575^0'=a_575^post1, temp_35^0'=temp_35^post1, len_861^0'=len_861^post1, (-a_310^post1+a_310^0 == 0 /\ -a_239^post1+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ a_634^0-a_634^post1 == 0 /\ i_27^0-i_27^post1 == 0 /\ -a_395^post1+a_395^0 == 0 /\ -i_229^post1+i_229^0 == 0 /\ -ct_18^post1+ct_18^0 == 0 /\ a_576^0-a_576^post1 == 0 /\ -length_29^post1+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ x_17^0-x_17^post1 == 0 /\ -i_197^post1+i_197^0 == 0 /\ -a_862^post1+a_862^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ -r_224^post1+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1 == 0 /\ a_176^0-a_176^post1 == 0 /\ -i_1053^post1+i_1053^0 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -a_417^post1+a_417^0 == 0 /\ t_458^0-t_458^post1 == 0 /\ a_924^0-a_924^post1 == 0 /\ -a_393^post1+a_393^0 == 0 /\ -t_24^post1+t_24^0 == 0 /\ -a_579^post1+a_579^0 == 0 /\ f_248^0-f_248^post1 == 0 /\ a_610^0-a_610^post1 == 0 /\ rcd_1249^0-rcd_1249^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -a_263^post1+a_263^0 == 0 /\ x_975^0-x_975^post1 == 0 /\ a_632^0-a_632^post1 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_107^post1+i_107^0 == 0 /\ -len_861^post1+len_861^0 == 0 /\ -x_852^post1+x_852^0 == 0 /\ r_192^0-r_192^post1 == 0 /\ i_113^0-i_113^post1 == 0 /\ -a_635^post1+a_635^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -i_1248^post1+i_1248^0 == 0 /\ a_121^0-a_121^post1 == 0 /\ len_161^0-len_161^post1 == 0 /\ -i_140^post1+i_140^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ len_262^0-len_262^post1 == 0 /\ a_144^0-a_144^post1 == 0 /\ a_394^0-a_394^post1 == 0 /\ -rcd_47^post1+rcd_47^0 == 0 /\ -r_143^post1+r_143^0 == 0 /\ -a_575^post1+a_575^0 == 0 /\ a_947^0-a_947^post1 == 0 /\ -a_1089^post1+a_1089^0 == 0 /\ f_847^0-f_847^post1 == 0 /\ -a_309^post1+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post1 == 0 /\ i_106^0-i_106^post1 == 0 /\ i_94^0-i_94^post1 == 0 /\ r_151^0-r_151^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -a_1236^post1+a_1236^0 == 0 /\ -x_253^post1+x_253^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ a_430^0-a_430^post1 == 0 /\ -a_392^post1+a_392^0 == 0 /\ i_127^0-i_127^post1 == 0 /\ head_15^0-head_15^post1 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ a_311^0-a_311^post1 == 0 /\ a_902^0-a_902^post1 == 0 /\ a_633^0-a_633^post1 == 0 /\ x_21^0-x_21^post1 == 0 /\ a_577^0-a_577^post1 == 0 /\ x_156^0-x_156^post1 == 0 /\ -f_969^post1+f_969^0 == 0 /\ -r_970^post1+r_970^0 == 0 /\ -y_20^post1+y_20^0 == 0 /\ -a_432^post1+a_432^0 == 0 /\ -a_431^post1+a_431^0 == 0 /\ x_14^0-x_14^post1 == 0 /\ a_1162^0-a_1162^post1 == 0 /\ -x_SLAM_f_19^post1+x_SLAM_f_19^0 == 0), cost: 1 2: l2 -> l3 : a_1089^0'=a_1089^post2, f_847^0'=f_847^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_394^0'=a_394^post2, x_156^0'=x_156^post2, a_632^0'=a_632^post2, r_192^0'=r_192^post2, a_176^0'=a_176^post2, i_106^0'=i_106^post2, a_430^0'=a_430^post2, t_458^0'=t_458^post2, len_161^0'=len_161^post2, x_975^0'=x_975^post2, a_902^0'=a_902^post2, a_947^0'=a_947^post2, rcd_88^0'=rcd_88^post2, a_311^0'=a_311^post2, i_140^0'=i_140^post2, a_577^0'=a_577^post2, x_14^0'=x_14^post2, nondet_12^0'=nondet_12^post2, a_121^0'=a_121^post2, head_15^0'=head_15^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2, i_27^0'=i_27^post2, x_21^0'=x_21^post2, a_634^0'=a_634^post2, r_39^0'=r_39^post2, a_263^0'=a_263^post2, i_113^0'=i_113^post2, a_432^0'=a_432^post2, temp0_31^0'=temp0_31^post2, len_262^0'=len_262^post2, y_20^0'=y_20^post2, f_248^0'=f_248^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_393^0'=a_393^post2, i_229^0'=i_229^post2, a_610^0'=a_610^post2, r_151^0'=r_151^post2, a_144^0'=a_144^post2, i_1053^0'=i_1053^post2, a_417^0'=a_417^post2, t_24^0'=t_24^post2, i_94^0'=i_94^post2, x_852^0'=x_852^post2, a_862^0'=a_862^post2, rcd_1249^0'=rcd_1249^post2, rcd_58^0'=rcd_58^post2, a_310^0'=a_310^post2, i_127^0'=i_127^post2, a_576^0'=a_576^post2, tmp_34^0'=tmp_34^post2, length_29^0'=length_29^post2, a_1162^0'=a_1162^post2, f_969^0'=f_969^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2, a_395^0'=a_395^post2, x_17^0'=x_17^post2, a_633^0'=a_633^post2, r_224^0'=r_224^post2, a_239^0'=a_239^post2, i_107^0'=i_107^post2, a_431^0'=a_431^post2, temp0_16^0'=temp0_16^post2, len_238^0'=len_238^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_924^0'=a_924^post2, ct_18^0'=ct_18^post2, result_11^0'=result_11^post2, a_392^0'=a_392^post2, i_197^0'=i_197^post2, a_579^0'=a_579^post2, r_143^0'=r_143^post2, a_1236^0'=a_1236^post2, head_32^0'=head_32^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2, i_30^0'=i_30^post2, x_253^0'=x_253^post2, a_635^0'=a_635^post2, r_970^0'=r_970^post2, rcd_47^0'=rcd_47^post2, a_309^0'=a_309^post2, i_1248^0'=i_1248^post2, a_575^0'=a_575^post2, temp_35^0'=temp_35^post2, len_861^0'=len_861^post2, (rcd_1249^0-rcd_1249^post2 == 0 /\ f_248^0-f_248^post2 == 0 /\ t_458^0-t_458^post2 == 0 /\ a_902^0-a_902^post2 == 0 /\ a_430^0-a_430^post2 == 0 /\ f_969^0-f_969^post2 == 0 /\ x_975^0-x_975^post2 == 0 /\ i_106^0-i_106^post2 == 0 /\ -rcd_47^post2+rcd_47^0 == 0 /\ -a_1162^post2+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_311^0-a_311^post2 == 0 /\ x_156^0-x_156^post2 == 0 /\ i_127^0-i_127^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post2 == 0 /\ -result_11^post2+result_11^0 == 0 /\ a_1236^0-a_1236^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ x_852^0-x_852^post2 == 0 /\ -a_392^post2+a_392^0 == 0 /\ -a_431^post2+a_431^0 == 0 /\ -r_143^post2+r_143^0 == 0 /\ len_262^0-len_262^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_161^0-len_161^post2 == 0 /\ -r_970^post2+r_970^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ -i_113^post2+i_113^0 == 0 /\ f_847^0-f_847^post2 == 0 /\ a_394^0-a_394^post2 == 0 /\ -x_SLAM_f_19^post2+x_SLAM_f_19^0 == 0 /\ -i_140^post2+i_140^0 == 0 /\ -a_432^post2+a_432^0 == 0 /\ -i_229^post2+i_229^0 == 0 /\ -a_310^post2+a_310^0 == 0 /\ -x_253^post2+x_253^0 == 0 /\ a_176^0-a_176^post2 == 0 /\ head_15^0-head_15^post2 == 0 /\ r_151^0-r_151^post2 == 0 /\ a_239^0-a_239^post2 == 0 /\ -i_1053^post2+i_1053^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2 == 0 /\ -length_29^post2+length_29^0 == 0 /\ a_635^0-a_635^post2 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post2+r_224^0 == 0 /\ -a_395^post2+a_395^0 == 0 /\ -len_861^post2+len_861^0 == 0 /\ -a_577^post2+a_577^0 == 0 /\ -i_1248^post2+i_1248^0 == 0 /\ a_393^0-a_393^post2 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_610^0-a_610^post2 == 0 /\ i_27^0-i_27^post2 == 0 /\ -a_862^post2+a_862^0 == 0 /\ a_633^0-a_633^post2 == 0 /\ -a_263^post2+a_263^0 == 0 /\ -x_17^post2+x_17^0 == 0 /\ -a_579^post2+a_579^0 == 0 /\ r_192^0-r_192^post2 == 0 /\ -i_197^post2+i_197^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ x_14^0-x_14^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_417^0-a_417^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -i_107^post2+i_107^0 == 0 /\ a_121^0-a_121^post2 == 0 /\ -a_924^post2+a_924^0 == 0 /\ a_634^0-a_634^post2 == 0 /\ -a_575^post2+a_575^0 == 0 /\ a_1089^0-a_1089^post2 == 0 /\ a_576^0-a_576^post2 == 0 /\ a_947^0-a_947^post2 == 0 /\ -a_309^post2+a_309^0 == 0 /\ -ct_18^post2+ct_18^0 == 0 /\ -tmp_34^post2+tmp_34^0 == 0 /\ len_238^0-len_238^post2 == 0 /\ -t_24^post2+t_24^0 == 0), cost: 1 3: l3 -> l4 : a_1089^0'=a_1089^post3, f_847^0'=f_847^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, a_394^0'=a_394^post3, x_156^0'=x_156^post3, a_632^0'=a_632^post3, r_192^0'=r_192^post3, a_176^0'=a_176^post3, i_106^0'=i_106^post3, a_430^0'=a_430^post3, t_458^0'=t_458^post3, len_161^0'=len_161^post3, x_975^0'=x_975^post3, a_902^0'=a_902^post3, a_947^0'=a_947^post3, rcd_88^0'=rcd_88^post3, a_311^0'=a_311^post3, i_140^0'=i_140^post3, a_577^0'=a_577^post3, x_14^0'=x_14^post3, nondet_12^0'=nondet_12^post3, a_121^0'=a_121^post3, head_15^0'=head_15^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3, i_27^0'=i_27^post3, x_21^0'=x_21^post3, a_634^0'=a_634^post3, r_39^0'=r_39^post3, a_263^0'=a_263^post3, i_113^0'=i_113^post3, a_432^0'=a_432^post3, temp0_31^0'=temp0_31^post3, len_262^0'=len_262^post3, y_20^0'=y_20^post3, f_248^0'=f_248^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, a_393^0'=a_393^post3, i_229^0'=i_229^post3, a_610^0'=a_610^post3, r_151^0'=r_151^post3, a_144^0'=a_144^post3, i_1053^0'=i_1053^post3, a_417^0'=a_417^post3, t_24^0'=t_24^post3, i_94^0'=i_94^post3, x_852^0'=x_852^post3, a_862^0'=a_862^post3, rcd_1249^0'=rcd_1249^post3, rcd_58^0'=rcd_58^post3, a_310^0'=a_310^post3, i_127^0'=i_127^post3, a_576^0'=a_576^post3, tmp_34^0'=tmp_34^post3, length_29^0'=length_29^post3, a_1162^0'=a_1162^post3, f_969^0'=f_969^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3, a_395^0'=a_395^post3, x_17^0'=x_17^post3, a_633^0'=a_633^post3, r_224^0'=r_224^post3, a_239^0'=a_239^post3, i_107^0'=i_107^post3, a_431^0'=a_431^post3, temp0_16^0'=temp0_16^post3, len_238^0'=len_238^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, a_924^0'=a_924^post3, ct_18^0'=ct_18^post3, result_11^0'=result_11^post3, a_392^0'=a_392^post3, i_197^0'=i_197^post3, a_579^0'=a_579^post3, r_143^0'=r_143^post3, a_1236^0'=a_1236^post3, head_32^0'=head_32^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3, i_30^0'=i_30^post3, x_253^0'=x_253^post3, a_635^0'=a_635^post3, r_970^0'=r_970^post3, rcd_47^0'=rcd_47^post3, a_309^0'=a_309^post3, i_1248^0'=i_1248^post3, a_575^0'=a_575^post3, temp_35^0'=temp_35^post3, len_861^0'=len_861^post3, (0 == 0 /\ -i_229^post3+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post3+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -a_577^post3+a_577^0 == 0 /\ a_263^0-a_263^post3 == 0 /\ a_394^0-a_394^post3 == 0 /\ a_144^0-a_144^post3 == 0 /\ -a_924^0+a_902^post3 <= 0 /\ a_576^0-a_576^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ a_1089^0-a_1089^post3 == 0 /\ x_852^0-x_852^post3 == 0 /\ -length_29^post3+length_29^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -r_39^post3+r_39^0 == 0 /\ f_847^0-f_847^post3 == 0 /\ -a_392^post3+a_392^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ -a_862^post3+a_862^0 == 0 /\ -a_310^post3+a_310^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3 == 0 /\ -r_224^post3+r_224^0 == 0 /\ -head_32^post3+head_32^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ -len_861^post3+len_861^0 == 0 /\ -a_635^post3+a_635^0 == 0 /\ -result_11^post3+result_11^0 == 0 /\ i_106^0-i_106^post3 == 0 /\ rcd_1249^0-rcd_1249^post3 == 0 /\ -a_393^post3+a_393^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ a_924^0-a_902^post3 <= 0 /\ -i_197^post3+i_197^0 == 0 /\ -a_309^post3+a_309^0 == 0 /\ -i_127^post3+i_127^0 == 0 /\ t_458^0-t_458^post3 == 0 /\ -a_579^post3+a_579^0 == 0 /\ r_143^0-r_143^post3 == 0 /\ y_20^0 <= 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ len_161^0-len_161^post3 == 0 /\ -i_107^post3+i_107^0 == 0 /\ -a_633^post3+a_633^0 == 0 /\ -a_417^post3+a_417^0 == 0 /\ -a_575^post3+a_575^0 == 0 /\ a_1236^0-a_1236^post3 == 0 /\ a_610^0-a_610^post3 == 0 /\ x_21^0-x_21^post3 == 0 /\ -a_924^post3+a_924^0 == 0 /\ -a_632^post3+a_632^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ -rcd_47^post3+rcd_47^0 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ i_27^0-i_27^post3 == 0 /\ a_121^0-a_121^post3 == 0 /\ a_634^0-a_634^post3 == 0 /\ -i_140^post3+i_140^0 == 0 /\ x_253^0-x_253^post3 == 0 /\ len_262^0-len_262^post3 == 0 /\ x_156^0-x_156^post3 == 0 /\ a_947^0-a_947^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ -x_975^post3+x_975^0 == 0 /\ -a_1162^post3+a_1162^0 == 0 /\ i_1053^0-i_1053^post3 == 0 /\ t_24^post3-x_21^0 == 0 /\ -f_969^post3+f_969^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ a_176^0-a_176^post3 == 0 /\ t_24^post3-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3 == 0 /\ len_238^0-len_238^post3 == 0 /\ head_15^0-x_17^0 <= 0 /\ -r_970^post3+r_970^0 == 0 /\ -a_432^post3+a_432^0 == 0 /\ -a_431^post3+a_431^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ r_151^0-r_151^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -i_113^post3+i_113^0 == 0 /\ a_311^0-a_311^post3 == 0 /\ -ct_18^0 <= 0 /\ -temp_35^post3+temp_35^0 == 0 /\ a_239^0-a_239^post3 == 0 /\ head_15^0-head_15^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post3 == 0 /\ -f_248^post3+f_248^0 == 0 /\ -t_24^post3+head_15^0 <= 0 /\ -a_395^post3+a_395^0 == 0 /\ x_14^0-x_14^post3 == 0 /\ a_430^0-a_430^post3 == 0 /\ -head_15^0+x_17^0 <= 0), cost: 1 4: l4 -> l5 : a_1089^0'=a_1089^post4, f_847^0'=f_847^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_394^0'=a_394^post4, x_156^0'=x_156^post4, a_632^0'=a_632^post4, r_192^0'=r_192^post4, a_176^0'=a_176^post4, i_106^0'=i_106^post4, a_430^0'=a_430^post4, t_458^0'=t_458^post4, len_161^0'=len_161^post4, x_975^0'=x_975^post4, a_902^0'=a_902^post4, a_947^0'=a_947^post4, rcd_88^0'=rcd_88^post4, a_311^0'=a_311^post4, i_140^0'=i_140^post4, a_577^0'=a_577^post4, x_14^0'=x_14^post4, nondet_12^0'=nondet_12^post4, a_121^0'=a_121^post4, head_15^0'=head_15^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4, i_27^0'=i_27^post4, x_21^0'=x_21^post4, a_634^0'=a_634^post4, r_39^0'=r_39^post4, a_263^0'=a_263^post4, i_113^0'=i_113^post4, a_432^0'=a_432^post4, temp0_31^0'=temp0_31^post4, len_262^0'=len_262^post4, y_20^0'=y_20^post4, f_248^0'=f_248^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_393^0'=a_393^post4, i_229^0'=i_229^post4, a_610^0'=a_610^post4, r_151^0'=r_151^post4, a_144^0'=a_144^post4, i_1053^0'=i_1053^post4, a_417^0'=a_417^post4, t_24^0'=t_24^post4, i_94^0'=i_94^post4, x_852^0'=x_852^post4, a_862^0'=a_862^post4, rcd_1249^0'=rcd_1249^post4, rcd_58^0'=rcd_58^post4, a_310^0'=a_310^post4, i_127^0'=i_127^post4, a_576^0'=a_576^post4, tmp_34^0'=tmp_34^post4, length_29^0'=length_29^post4, a_1162^0'=a_1162^post4, f_969^0'=f_969^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4, a_395^0'=a_395^post4, x_17^0'=x_17^post4, a_633^0'=a_633^post4, r_224^0'=r_224^post4, a_239^0'=a_239^post4, i_107^0'=i_107^post4, a_431^0'=a_431^post4, temp0_16^0'=temp0_16^post4, len_238^0'=len_238^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, a_924^0'=a_924^post4, ct_18^0'=ct_18^post4, result_11^0'=result_11^post4, a_392^0'=a_392^post4, i_197^0'=i_197^post4, a_579^0'=a_579^post4, r_143^0'=r_143^post4, a_1236^0'=a_1236^post4, head_32^0'=head_32^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4, i_30^0'=i_30^post4, x_253^0'=x_253^post4, a_635^0'=a_635^post4, r_970^0'=r_970^post4, rcd_47^0'=rcd_47^post4, a_309^0'=a_309^post4, i_1248^0'=i_1248^post4, a_575^0'=a_575^post4, temp_35^0'=temp_35^post4, len_861^0'=len_861^post4, (a_430^0-a_430^post4 == 0 /\ i_113^0-i_113^post4 == 0 /\ -rcd_1249^post4+rcd_1249^0 == 0 /\ x_975^0-x_975^post4 == 0 /\ r_192^0-r_192^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ length_29^0-length_29^post4 == 0 /\ a_633^0-a_633^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ -len_238^post4+len_238^0 == 0 /\ -a_610^post4+a_610^0 == 0 /\ a_393^0-a_393^post4 == 0 /\ -a_924^post4+a_924^0 == 0 /\ a_432^0-a_432^post4 == 0 /\ f_969^0-f_969^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -rcd_47^post4+rcd_47^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ -r_143^post4+r_143^0 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_579^0-a_579^post4 == 0 /\ -x_253^post4+x_253^0 == 0 /\ i_140^0-i_140^post4 == 0 /\ a_862^0-a_862^post4 == 0 /\ -r_970^post4+r_970^0 == 0 /\ x_156^0-x_156^post4 == 0 /\ len_161^0-len_161^post4 == 0 /\ a_144^0-a_144^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 == 0 /\ -a_431^post4+a_431^0 == 0 /\ a_394^0-a_394^post4 == 0 /\ -i_229^post4+i_229^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ -a_576^post4+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_58^0-rcd_58^post4 == 0 /\ r_151^0-r_151^post4 == 0 /\ head_32^0-head_32^post4 == 0 /\ -f_248^post4+f_248^0 == 0 /\ a_395^0-a_395^post4 == 0 /\ a_311^0-a_311^post4 == 0 /\ a_239^0-a_239^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ a_902^0-a_902^post4 == 0 /\ -len_861^post4+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ -a_1236^post4+a_1236^0 == 0 /\ -a_577^post4+a_577^0 == 0 /\ -i_1248^post4+i_1248^0 == 0 /\ i_106^0-i_106^post4 == 0 /\ a_635^0-a_635^post4 == 0 /\ -a_947^post4+a_947^0 == 0 /\ a_1089^0-a_1089^post4 == 0 /\ -r_224^post4+r_224^0 == 0 /\ -a_310^post4+a_310^0 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -len_262^post4+len_262^0 == 0 /\ t_458^0-t_458^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ -i_30^post4+i_30^0 == 0 /\ x_852^0-x_852^post4 == 0 /\ a_632^0-a_632^post4 == 0 /\ -a_392^post4+a_392^0 == 0 /\ a_417^0-a_417^post4 == 0 /\ -a_575^post4+a_575^0 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ -i_197^post4+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ a_263^0-a_263^post4 == 0 /\ 1-head_15^0 <= 0 /\ a_634^0-a_634^post4 == 0 /\ -a_309^post4+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -i_127^post4+i_127^0 == 0 /\ -x_14^post4+x_14^0 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ i_1053^0-i_1053^post4 == 0 /\ -a_1162^post4+a_1162^0 == 0 /\ a_176^0-a_176^post4 == 0 /\ y_20^0-y_20^post4 == 0 /\ -i_107^post4+i_107^0 == 0 /\ a_121^0-a_121^post4 == 0), cost: 1 5: l4 -> l5 : a_1089^0'=a_1089^post5, f_847^0'=f_847^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, a_394^0'=a_394^post5, x_156^0'=x_156^post5, a_632^0'=a_632^post5, r_192^0'=r_192^post5, a_176^0'=a_176^post5, i_106^0'=i_106^post5, a_430^0'=a_430^post5, t_458^0'=t_458^post5, len_161^0'=len_161^post5, x_975^0'=x_975^post5, a_902^0'=a_902^post5, a_947^0'=a_947^post5, rcd_88^0'=rcd_88^post5, a_311^0'=a_311^post5, i_140^0'=i_140^post5, a_577^0'=a_577^post5, x_14^0'=x_14^post5, nondet_12^0'=nondet_12^post5, a_121^0'=a_121^post5, head_15^0'=head_15^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5, i_27^0'=i_27^post5, x_21^0'=x_21^post5, a_634^0'=a_634^post5, r_39^0'=r_39^post5, a_263^0'=a_263^post5, i_113^0'=i_113^post5, a_432^0'=a_432^post5, temp0_31^0'=temp0_31^post5, len_262^0'=len_262^post5, y_20^0'=y_20^post5, f_248^0'=f_248^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, a_393^0'=a_393^post5, i_229^0'=i_229^post5, a_610^0'=a_610^post5, r_151^0'=r_151^post5, a_144^0'=a_144^post5, i_1053^0'=i_1053^post5, a_417^0'=a_417^post5, t_24^0'=t_24^post5, i_94^0'=i_94^post5, x_852^0'=x_852^post5, a_862^0'=a_862^post5, rcd_1249^0'=rcd_1249^post5, rcd_58^0'=rcd_58^post5, a_310^0'=a_310^post5, i_127^0'=i_127^post5, a_576^0'=a_576^post5, tmp_34^0'=tmp_34^post5, length_29^0'=length_29^post5, a_1162^0'=a_1162^post5, f_969^0'=f_969^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5, a_395^0'=a_395^post5, x_17^0'=x_17^post5, a_633^0'=a_633^post5, r_224^0'=r_224^post5, a_239^0'=a_239^post5, i_107^0'=i_107^post5, a_431^0'=a_431^post5, temp0_16^0'=temp0_16^post5, len_238^0'=len_238^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, a_924^0'=a_924^post5, ct_18^0'=ct_18^post5, result_11^0'=result_11^post5, a_392^0'=a_392^post5, i_197^0'=i_197^post5, a_579^0'=a_579^post5, r_143^0'=r_143^post5, a_1236^0'=a_1236^post5, head_32^0'=head_32^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5, i_30^0'=i_30^post5, x_253^0'=x_253^post5, a_635^0'=a_635^post5, r_970^0'=r_970^post5, rcd_47^0'=rcd_47^post5, a_309^0'=a_309^post5, i_1248^0'=i_1248^post5, a_575^0'=a_575^post5, temp_35^0'=temp_35^post5, len_861^0'=len_861^post5, (a_432^0-a_432^post5 == 0 /\ -a_392^post5+a_392^0 == 0 /\ x_21^0-x_21^post5 == 0 /\ -len_861^post5+len_861^0 == 0 /\ 1+head_15^0 <= 0 /\ -a_309^post5+a_309^0 == 0 /\ -a_1236^post5+a_1236^0 == 0 /\ x_156^0-x_156^post5 == 0 /\ a_263^0-a_263^post5 == 0 /\ a_144^0-a_144^post5 == 0 /\ f_847^0-f_847^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ -a_310^post5+a_310^0 == 0 /\ a_862^0-a_862^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -a_635^post5+a_635^0 == 0 /\ i_94^0-i_94^post5 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ a_417^0-a_417^post5 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -r_224^post5+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5 == 0 /\ a_394^0-a_394^post5 == 0 /\ -len_262^post5+len_262^0 == 0 /\ -i_1248^post5+i_1248^0 == 0 /\ r_151^0-r_151^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ -head_32^post5+head_32^0 == 0 /\ a_902^0-a_902^post5 == 0 /\ a_577^0-a_577^post5 == 0 /\ -a_579^post5+a_579^0 == 0 /\ -x_14^post5+x_14^0 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ -i_127^post5+i_127^0 == 0 /\ -i_30^post5+i_30^0 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ i_106^0-i_106^post5 == 0 /\ a_311^0-a_311^post5 == 0 /\ -i_197^post5+i_197^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ a_1089^0-a_1089^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ a_430^0-a_430^post5 == 0 /\ t_458^0-t_458^post5 == 0 /\ -i_107^post5+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ -a_575^post5+a_575^0 == 0 /\ i_140^0-i_140^post5 == 0 /\ -a_633^post5+a_633^0 == 0 /\ -rcd_47^post5+rcd_47^0 == 0 /\ -a_924^post5+a_924^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5 == 0 /\ -rcd_1249^post5+rcd_1249^0 == 0 /\ -x_852^post5+x_852^0 == 0 /\ x_253^0-x_253^post5 == 0 /\ i_1053^0-i_1053^post5 == 0 /\ -a_1162^post5+a_1162^0 == 0 /\ -f_969^post5+f_969^0 == 0 /\ x_975^0-x_975^post5 == 0 /\ -len_238^post5+len_238^0 == 0 /\ -r_970^post5+r_970^0 == 0 /\ y_20^0-y_20^post5 == 0 /\ a_947^0-a_947^post5 == 0 /\ a_610^0-a_610^post5 == 0 /\ -a_239^post5+a_239^0 == 0 /\ r_192^0-r_192^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ i_113^0-i_113^post5 == 0 /\ a_176^0-a_176^post5 == 0 /\ length_29^0-length_29^post5 == 0 /\ a_632^0-a_632^post5 == 0 /\ a_393^0-a_393^post5 == 0 /\ len_161^0-len_161^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ -r_143^post5+r_143^0 == 0 /\ -a_121^post5+a_121^0 == 0 /\ -f_248^post5+f_248^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -a_634^post5+a_634^0 == 0 /\ -a_431^post5+a_431^0 == 0 /\ -i_229^post5+i_229^0 == 0 /\ -a_576^post5+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post5+a_395^0 == 0), cost: 1 6: l5 -> l6 : a_1089^0'=a_1089^post6, f_847^0'=f_847^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_394^0'=a_394^post6, x_156^0'=x_156^post6, a_632^0'=a_632^post6, r_192^0'=r_192^post6, a_176^0'=a_176^post6, i_106^0'=i_106^post6, a_430^0'=a_430^post6, t_458^0'=t_458^post6, len_161^0'=len_161^post6, x_975^0'=x_975^post6, a_902^0'=a_902^post6, a_947^0'=a_947^post6, rcd_88^0'=rcd_88^post6, a_311^0'=a_311^post6, i_140^0'=i_140^post6, a_577^0'=a_577^post6, x_14^0'=x_14^post6, nondet_12^0'=nondet_12^post6, a_121^0'=a_121^post6, head_15^0'=head_15^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6, i_27^0'=i_27^post6, x_21^0'=x_21^post6, a_634^0'=a_634^post6, r_39^0'=r_39^post6, a_263^0'=a_263^post6, i_113^0'=i_113^post6, a_432^0'=a_432^post6, temp0_31^0'=temp0_31^post6, len_262^0'=len_262^post6, y_20^0'=y_20^post6, f_248^0'=f_248^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_393^0'=a_393^post6, i_229^0'=i_229^post6, a_610^0'=a_610^post6, r_151^0'=r_151^post6, a_144^0'=a_144^post6, i_1053^0'=i_1053^post6, a_417^0'=a_417^post6, t_24^0'=t_24^post6, i_94^0'=i_94^post6, x_852^0'=x_852^post6, a_862^0'=a_862^post6, rcd_1249^0'=rcd_1249^post6, rcd_58^0'=rcd_58^post6, a_310^0'=a_310^post6, i_127^0'=i_127^post6, a_576^0'=a_576^post6, tmp_34^0'=tmp_34^post6, length_29^0'=length_29^post6, a_1162^0'=a_1162^post6, f_969^0'=f_969^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6, a_395^0'=a_395^post6, x_17^0'=x_17^post6, a_633^0'=a_633^post6, r_224^0'=r_224^post6, a_239^0'=a_239^post6, i_107^0'=i_107^post6, a_431^0'=a_431^post6, temp0_16^0'=temp0_16^post6, len_238^0'=len_238^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, a_924^0'=a_924^post6, ct_18^0'=ct_18^post6, result_11^0'=result_11^post6, a_392^0'=a_392^post6, i_197^0'=i_197^post6, a_579^0'=a_579^post6, r_143^0'=r_143^post6, a_1236^0'=a_1236^post6, head_32^0'=head_32^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6, i_30^0'=i_30^post6, x_253^0'=x_253^post6, a_635^0'=a_635^post6, r_970^0'=r_970^post6, rcd_47^0'=rcd_47^post6, a_309^0'=a_309^post6, i_1248^0'=i_1248^post6, a_575^0'=a_575^post6, temp_35^0'=temp_35^post6, len_861^0'=len_861^post6, (r_192^0-r_192^post6 == 0 /\ -f_969^post6+f_969^0 == 0 /\ i_113^0-i_113^post6 == 0 /\ length_29^0-length_29^post6 == 0 /\ r_39^0-r_39^post6 == 0 /\ i_1053^0-i_1053^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post6+a_610^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ a_395^0-a_395^post6 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_47^post6+rcd_47^0 == 0 /\ a_393^0-a_393^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ -x_21^post6+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_310^0-a_310^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_432^0-a_432^post6 == 0 /\ -x_253^post6+x_253^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ x_156^0-x_156^post6 == 0 /\ -r_970^post6+r_970^0 == 0 /\ a_1162^0-a_1162^post6 == 0 /\ -f_248^post6+f_248^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ i_140^0-i_140^post6 == 0 /\ i_197^0-i_197^post6 == 0 /\ -len_861^post6+len_861^0 == 0 /\ a_634^0-a_634^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -a_576^post6+a_576^0 == 0 /\ -i_229^post6+i_229^0 == 0 /\ -a_924^post6+a_924^0 == 0 /\ -r_143^post6+r_143^0 == 0 /\ head_32^0-head_32^post6 == 0 /\ a_417^0-a_417^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ r_151^0-r_151^post6 == 0 /\ -rcd_1249^post6+rcd_1249^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ a_311^0-a_311^post6 == 0 /\ a_902^0-a_902^post6 == 0 /\ x_975^0-x_975^post6 == 0 /\ t_458^0-t_458^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ -a_392^post6+a_392^0 == 0 /\ a_577^0-a_577^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post6+a_575^0 == 0 /\ i_106^0-i_106^post6 == 0 /\ -a_1236^post6+a_1236^0 == 0 /\ a_1089^0-a_1089^post6 == 0 /\ -len_262^post6+len_262^0 == 0 /\ -a_947^post6+a_947^0 == 0 /\ len_161^0-len_161^post6 == 0 /\ i_107^0-i_107^post6 == 0 /\ -i_1248^post6+i_1248^0 == 0 /\ -a_239^post6+a_239^0 == 0 /\ a_632^0-a_632^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ a_263^0-a_263^post6 == 0 /\ -a_635^post6+a_635^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_852^0-x_852^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -a_430^post6+a_430^0 == 0 /\ -a_633^post6+a_633^0 == 0 /\ -x_14^post6+x_14^0 == 0 /\ f_847^0-f_847^post6 == 0 /\ -len_238^post6+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6 == 0 /\ r_224^0-r_224^post6 == 0 /\ a_394^0-a_394^post6 == 0 /\ -a_309^post6+a_309^0 == 0 /\ a_862^0-a_862^post6 == 0 /\ a_431^0-a_431^post6 == 0 /\ a_176^0-a_176^post6 == 0 /\ a_121^0-a_121^post6 == 0 /\ -a_579^post6+a_579^0 == 0 /\ y_20^0-y_20^post6 == 0 /\ -i_127^post6+i_127^0 == 0 /\ -ct_18^post6+ct_18^0 == 0), cost: 1 7: l5 -> l6 : a_1089^0'=a_1089^post7, f_847^0'=f_847^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_394^0'=a_394^post7, x_156^0'=x_156^post7, a_632^0'=a_632^post7, r_192^0'=r_192^post7, a_176^0'=a_176^post7, i_106^0'=i_106^post7, a_430^0'=a_430^post7, t_458^0'=t_458^post7, len_161^0'=len_161^post7, x_975^0'=x_975^post7, a_902^0'=a_902^post7, a_947^0'=a_947^post7, rcd_88^0'=rcd_88^post7, a_311^0'=a_311^post7, i_140^0'=i_140^post7, a_577^0'=a_577^post7, x_14^0'=x_14^post7, nondet_12^0'=nondet_12^post7, a_121^0'=a_121^post7, head_15^0'=head_15^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7, i_27^0'=i_27^post7, x_21^0'=x_21^post7, a_634^0'=a_634^post7, r_39^0'=r_39^post7, a_263^0'=a_263^post7, i_113^0'=i_113^post7, a_432^0'=a_432^post7, temp0_31^0'=temp0_31^post7, len_262^0'=len_262^post7, y_20^0'=y_20^post7, f_248^0'=f_248^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_393^0'=a_393^post7, i_229^0'=i_229^post7, a_610^0'=a_610^post7, r_151^0'=r_151^post7, a_144^0'=a_144^post7, i_1053^0'=i_1053^post7, a_417^0'=a_417^post7, t_24^0'=t_24^post7, i_94^0'=i_94^post7, x_852^0'=x_852^post7, a_862^0'=a_862^post7, rcd_1249^0'=rcd_1249^post7, rcd_58^0'=rcd_58^post7, a_310^0'=a_310^post7, i_127^0'=i_127^post7, a_576^0'=a_576^post7, tmp_34^0'=tmp_34^post7, length_29^0'=length_29^post7, a_1162^0'=a_1162^post7, f_969^0'=f_969^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7, a_395^0'=a_395^post7, x_17^0'=x_17^post7, a_633^0'=a_633^post7, r_224^0'=r_224^post7, a_239^0'=a_239^post7, i_107^0'=i_107^post7, a_431^0'=a_431^post7, temp0_16^0'=temp0_16^post7, len_238^0'=len_238^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, a_924^0'=a_924^post7, ct_18^0'=ct_18^post7, result_11^0'=result_11^post7, a_392^0'=a_392^post7, i_197^0'=i_197^post7, a_579^0'=a_579^post7, r_143^0'=r_143^post7, a_1236^0'=a_1236^post7, head_32^0'=head_32^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7, i_30^0'=i_30^post7, x_253^0'=x_253^post7, a_635^0'=a_635^post7, r_970^0'=r_970^post7, rcd_47^0'=rcd_47^post7, a_309^0'=a_309^post7, i_1248^0'=i_1248^post7, a_575^0'=a_575^post7, temp_35^0'=temp_35^post7, len_861^0'=len_861^post7, (-a_393^post7+a_393^0 == 0 /\ -a_576^post7+a_576^0 == 0 /\ i_229^0-i_229^post7 == 0 /\ x_156^0-x_156^post7 == 0 /\ a_579^0-a_579^post7 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -i_27^post7+i_27^0 == 0 /\ -a_392^post7+a_392^0 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ -len_861^post7+len_861^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ a_121^0-a_121^post7 == 0 /\ a_634^0-a_634^post7 == 0 /\ -a_1236^post7+a_1236^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -i_1248^post7+i_1248^0 == 0 /\ len_262^0-len_262^post7 == 0 /\ -a_417^post7+a_417^0 == 0 /\ a_577^0-a_577^post7 == 0 /\ -a_635^post7+a_635^0 == 0 /\ -a_239^post7+a_239^0 == 0 /\ head_15^0-head_15^post7 == 0 /\ -rcd_47^post7+rcd_47^0 == 0 /\ a_176^0-a_176^post7 == 0 /\ -len_238^post7+len_238^0 == 0 /\ r_192^0-r_192^post7 == 0 /\ -length_29^post7+length_29^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ x_14^0-x_14^post7 == 0 /\ i_1053^0-i_1053^post7 == 0 /\ a_632^0-a_632^post7 == 0 /\ -a_575^post7+a_575^0 == 0 /\ -r_151^post7+r_151^0 == 0 /\ -a_862^post7+a_862^0 == 0 /\ -i_197^post7+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post7+a_309^0 == 0 /\ a_1089^0-a_1089^post7 == 0 /\ -a_902^post7+a_902^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ a_263^0-a_263^post7 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -a_633^post7+a_633^0 == 0 /\ a_430^0-a_430^post7 == 0 /\ y_20^0-y_20^post7 == 0 /\ -i_127^post7+i_127^0 == 0 /\ -a_1162^post7+a_1162^0 == 0 /\ f_847^0-f_847^post7 == 0 /\ -a_924^post7+a_924^0 == 0 /\ a_432^0-a_432^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_253^post7+x_253^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ a_431^0-a_431^post7 == 0 /\ -r_970^post7+r_970^0 == 0 /\ a_394^0-a_394^post7 == 0 /\ i_113^0-i_113^post7 == 0 /\ i_94^0-i_94^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7 == 0 /\ -a_311^post7+a_311^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -f_969^post7+f_969^0 == 0 /\ x_975^0-x_975^post7 == 0 /\ -x_852^post7+x_852^0 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_395^0-a_395^post7 == 0 /\ -r_224^post7+r_224^0 == 0 /\ a_310^0-a_310^post7 == 0 /\ a_947^0-a_947^post7 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ a_610^0-a_610^post7 == 0 /\ i_107^0-i_107^post7 == 0 /\ -r_143^post7+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ i_140^0-i_140^post7 == 0 /\ i_106^0-i_106^post7 == 0 /\ len_161^0-len_161^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -rcd_1249^post7+rcd_1249^0 == 0 /\ -result_11^post7+result_11^0 == 0 /\ t_458^0-t_458^post7 == 0 /\ t_24^0-t_24^post7 == 0 /\ -f_248^post7+f_248^0 == 0 /\ r_39^0-r_39^post7 == 0), cost: 1 8: l6 -> l7 : a_1089^0'=a_1089^post8, f_847^0'=f_847^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_394^0'=a_394^post8, x_156^0'=x_156^post8, a_632^0'=a_632^post8, r_192^0'=r_192^post8, a_176^0'=a_176^post8, i_106^0'=i_106^post8, a_430^0'=a_430^post8, t_458^0'=t_458^post8, len_161^0'=len_161^post8, x_975^0'=x_975^post8, a_902^0'=a_902^post8, a_947^0'=a_947^post8, rcd_88^0'=rcd_88^post8, a_311^0'=a_311^post8, i_140^0'=i_140^post8, a_577^0'=a_577^post8, x_14^0'=x_14^post8, nondet_12^0'=nondet_12^post8, a_121^0'=a_121^post8, head_15^0'=head_15^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8, i_27^0'=i_27^post8, x_21^0'=x_21^post8, a_634^0'=a_634^post8, r_39^0'=r_39^post8, a_263^0'=a_263^post8, i_113^0'=i_113^post8, a_432^0'=a_432^post8, temp0_31^0'=temp0_31^post8, len_262^0'=len_262^post8, y_20^0'=y_20^post8, f_248^0'=f_248^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_393^0'=a_393^post8, i_229^0'=i_229^post8, a_610^0'=a_610^post8, r_151^0'=r_151^post8, a_144^0'=a_144^post8, i_1053^0'=i_1053^post8, a_417^0'=a_417^post8, t_24^0'=t_24^post8, i_94^0'=i_94^post8, x_852^0'=x_852^post8, a_862^0'=a_862^post8, rcd_1249^0'=rcd_1249^post8, rcd_58^0'=rcd_58^post8, a_310^0'=a_310^post8, i_127^0'=i_127^post8, a_576^0'=a_576^post8, tmp_34^0'=tmp_34^post8, length_29^0'=length_29^post8, a_1162^0'=a_1162^post8, f_969^0'=f_969^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8, a_395^0'=a_395^post8, x_17^0'=x_17^post8, a_633^0'=a_633^post8, r_224^0'=r_224^post8, a_239^0'=a_239^post8, i_107^0'=i_107^post8, a_431^0'=a_431^post8, temp0_16^0'=temp0_16^post8, len_238^0'=len_238^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, a_924^0'=a_924^post8, ct_18^0'=ct_18^post8, result_11^0'=result_11^post8, a_392^0'=a_392^post8, i_197^0'=i_197^post8, a_579^0'=a_579^post8, r_143^0'=r_143^post8, a_1236^0'=a_1236^post8, head_32^0'=head_32^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8, i_30^0'=i_30^post8, x_253^0'=x_253^post8, a_635^0'=a_635^post8, r_970^0'=r_970^post8, rcd_47^0'=rcd_47^post8, a_309^0'=a_309^post8, i_1248^0'=i_1248^post8, a_575^0'=a_575^post8, temp_35^0'=temp_35^post8, len_861^0'=len_861^post8, (a_176^0-a_176^post8 == 0 /\ -rcd_1249^post8+rcd_1249^0 == 0 /\ -x_852^post8+x_852^0 == 0 /\ -i_197^post8+i_197^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ -r_970^post8+r_970^0 == 0 /\ i_27^0-i_27^post8 == 0 /\ r_192^0-r_192^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post8+a_610^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post8 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -ct_18^post8+ct_18^0 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ a_310^0-a_310^post8 == 0 /\ t_458^0-t_458^post8 == 0 /\ -rcd_47^post8+rcd_47^0 == 0 /\ -x_253^post8+x_253^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ a_1089^0-a_1089^post8 == 0 /\ -len_861^post8+len_861^0 == 0 /\ a_263^0-a_263^post8 == 0 /\ -f_248^post8+f_248^0 == 0 /\ -a_311^post8+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8 == 0 /\ a_924^0-a_924^post8 == 0 /\ -i_1248^post8+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ -a_395^post8+a_395^0 == 0 /\ -a_239^post8+a_239^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ x_975^0-x_975^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ y_20^0-y_20^post8 == 0 /\ -i_1053^post8+i_1053^0 == 0 /\ a_634^0-a_634^post8 == 0 /\ -a_576^post8+a_576^0 == 0 /\ a_121^0-a_121^post8 == 0 /\ len_262^0-len_262^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_1236^post8+a_1236^0 == 0 /\ -r_143^post8+r_143^0 == 0 /\ -a_575^post8+a_575^0 == 0 /\ a_394^0-a_394^post8 == 0 /\ i_113^0-i_113^post8 == 0 /\ -a_635^post8+a_635^0 == 0 /\ -a_144^post8+a_144^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -a_309^post8+a_309^0 == 0 /\ f_969^0-f_969^post8 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -a_417^post8+a_417^0 == 0 /\ x_14^0-x_14^post8 == 0 /\ a_430^0-a_430^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ a_632^0-a_632^post8 == 0 /\ -length_29^post8+length_29^0 == 0 /\ a_393^0-a_393^post8 == 0 /\ len_161^0-len_161^post8 == 0 /\ -i_107^post8+i_107^0 == 0 /\ f_847^0-f_847^post8 == 0 /\ i_229^0-i_229^post8 == 0 /\ a_432^0-a_432^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -i_106^post8+i_106^0 == 0 /\ a_1162^0-a_1162^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ x_21^0-x_21^post8 == 0 /\ -len_238^post8+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post8+r_151^0 == 0 /\ i_140^0-i_140^post8 == 0 /\ -a_579^post8+a_579^0 == 0 /\ r_224^0-r_224^post8 == 0 /\ a_431^0-a_431^post8 == 0 /\ -a_633^post8+a_633^0 == 0 /\ a_862^0-a_862^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -i_127^post8+i_127^0 == 0 /\ a_577^0-a_577^post8 == 0 /\ a_902^0-a_902^post8 == 0 /\ -a_392^post8+a_392^0 == 0 /\ x_156^0-x_156^post8 == 0 /\ a_947^0-a_947^post8 == 0), cost: 1 9: l6 -> l7 : a_1089^0'=a_1089^post9, f_847^0'=f_847^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_394^0'=a_394^post9, x_156^0'=x_156^post9, a_632^0'=a_632^post9, r_192^0'=r_192^post9, a_176^0'=a_176^post9, i_106^0'=i_106^post9, a_430^0'=a_430^post9, t_458^0'=t_458^post9, len_161^0'=len_161^post9, x_975^0'=x_975^post9, a_902^0'=a_902^post9, a_947^0'=a_947^post9, rcd_88^0'=rcd_88^post9, a_311^0'=a_311^post9, i_140^0'=i_140^post9, a_577^0'=a_577^post9, x_14^0'=x_14^post9, nondet_12^0'=nondet_12^post9, a_121^0'=a_121^post9, head_15^0'=head_15^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9, i_27^0'=i_27^post9, x_21^0'=x_21^post9, a_634^0'=a_634^post9, r_39^0'=r_39^post9, a_263^0'=a_263^post9, i_113^0'=i_113^post9, a_432^0'=a_432^post9, temp0_31^0'=temp0_31^post9, len_262^0'=len_262^post9, y_20^0'=y_20^post9, f_248^0'=f_248^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_393^0'=a_393^post9, i_229^0'=i_229^post9, a_610^0'=a_610^post9, r_151^0'=r_151^post9, a_144^0'=a_144^post9, i_1053^0'=i_1053^post9, a_417^0'=a_417^post9, t_24^0'=t_24^post9, i_94^0'=i_94^post9, x_852^0'=x_852^post9, a_862^0'=a_862^post9, rcd_1249^0'=rcd_1249^post9, rcd_58^0'=rcd_58^post9, a_310^0'=a_310^post9, i_127^0'=i_127^post9, a_576^0'=a_576^post9, tmp_34^0'=tmp_34^post9, length_29^0'=length_29^post9, a_1162^0'=a_1162^post9, f_969^0'=f_969^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9, a_395^0'=a_395^post9, x_17^0'=x_17^post9, a_633^0'=a_633^post9, r_224^0'=r_224^post9, a_239^0'=a_239^post9, i_107^0'=i_107^post9, a_431^0'=a_431^post9, temp0_16^0'=temp0_16^post9, len_238^0'=len_238^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_924^0'=a_924^post9, ct_18^0'=ct_18^post9, result_11^0'=result_11^post9, a_392^0'=a_392^post9, i_197^0'=i_197^post9, a_579^0'=a_579^post9, r_143^0'=r_143^post9, a_1236^0'=a_1236^post9, head_32^0'=head_32^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9, i_30^0'=i_30^post9, x_253^0'=x_253^post9, a_635^0'=a_635^post9, r_970^0'=r_970^post9, rcd_47^0'=rcd_47^post9, a_309^0'=a_309^post9, i_1248^0'=i_1248^post9, a_575^0'=a_575^post9, temp_35^0'=temp_35^post9, len_861^0'=len_861^post9, (a_1162^0-a_1162^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9 == 0 /\ i_229^0-i_229^post9 == 0 /\ -r_151^post9+r_151^0 == 0 /\ -a_309^post9+a_309^0 == 0 /\ -a_393^post9+a_393^0 == 0 /\ -a_417^post9+a_417^0 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post9 == 0 /\ -i_27^post9+i_27^0 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ -a_635^post9+a_635^0 == 0 /\ -length_29^post9+length_29^0 == 0 /\ a_634^0-a_634^post9 == 0 /\ -i_107^post9+i_107^0 == 0 /\ len_262^0-len_262^post9 == 0 /\ a_947^0-a_947^post9 == 0 /\ x_975^0-x_975^post9 == 0 /\ i_127^0-i_127^post9 == 0 /\ -a_575^post9+a_575^0 == 0 /\ -a_1236^post9+a_1236^0 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ a_577^0-a_577^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_176^0-a_176^post9 == 0 /\ -rcd_47^post9+rcd_47^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_140^post9+i_140^0 == 0 /\ -a_862^post9+a_862^0 == 0 /\ -a_310^post9+a_310^0 == 0 /\ r_192^0-r_192^post9 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -a_392^post9+a_392^0 == 0 /\ a_632^0-a_632^post9 == 0 /\ -a_902^post9+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post9 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_156^0-x_156^post9 == 0 /\ -f_969^post9+f_969^0 == 0 /\ a_633^0-a_633^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ f_847^0-f_847^post9 == 0 /\ a_432^0-a_432^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_263^post9+a_263^0 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -a_579^post9+a_579^0 == 0 /\ -x_253^post9+x_253^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ -i_197^post9+i_197^0 == 0 /\ a_610^0-a_610^post9 == 0 /\ a_121^0-a_121^post9 == 0 /\ -a_431^post9+a_431^0 == 0 /\ i_94^0-i_94^post9 == 0 /\ -rcd_58^post9+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9 == 0 /\ r_970^0-r_970^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ a_394^0-a_394^post9 == 0 /\ i_113^0-i_113^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -x_852^post9+x_852^0 == 0 /\ -a_395^post9+a_395^0 == 0 /\ -rcd_88^post9+rcd_88^0 == 0 /\ len_238^0-len_238^post9 == 0 /\ -i_1248^post9+i_1248^0 == 0 /\ a_1089^0-a_1089^post9 == 0 /\ -tmp_34^post9+tmp_34^0 == 0 /\ x_14^0-x_14^post9 == 0 /\ -a_239^post9+a_239^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ i_106^0-i_106^post9 == 0 /\ -i_1053^post9+i_1053^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ a_430^0-a_430^post9 == 0 /\ -len_161^post9+len_161^0 == 0 /\ -r_143^post9+r_143^0 == 0 /\ -a_924^post9+a_924^0 == 0 /\ -r_224^post9+r_224^0 == 0 /\ -len_861^post9+len_861^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -a_576^post9+a_576^0 == 0 /\ a_311^0-a_311^post9 == 0 /\ t_458^0-t_458^post9 == 0), cost: 1 10: l7 -> l1 : a_1089^0'=a_1089^post10, f_847^0'=f_847^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_394^0'=a_394^post10, x_156^0'=x_156^post10, a_632^0'=a_632^post10, r_192^0'=r_192^post10, a_176^0'=a_176^post10, i_106^0'=i_106^post10, a_430^0'=a_430^post10, t_458^0'=t_458^post10, len_161^0'=len_161^post10, x_975^0'=x_975^post10, a_902^0'=a_902^post10, a_947^0'=a_947^post10, rcd_88^0'=rcd_88^post10, a_311^0'=a_311^post10, i_140^0'=i_140^post10, a_577^0'=a_577^post10, x_14^0'=x_14^post10, nondet_12^0'=nondet_12^post10, a_121^0'=a_121^post10, head_15^0'=head_15^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10, i_27^0'=i_27^post10, x_21^0'=x_21^post10, a_634^0'=a_634^post10, r_39^0'=r_39^post10, a_263^0'=a_263^post10, i_113^0'=i_113^post10, a_432^0'=a_432^post10, temp0_31^0'=temp0_31^post10, len_262^0'=len_262^post10, y_20^0'=y_20^post10, f_248^0'=f_248^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_393^0'=a_393^post10, i_229^0'=i_229^post10, a_610^0'=a_610^post10, r_151^0'=r_151^post10, a_144^0'=a_144^post10, i_1053^0'=i_1053^post10, a_417^0'=a_417^post10, t_24^0'=t_24^post10, i_94^0'=i_94^post10, x_852^0'=x_852^post10, a_862^0'=a_862^post10, rcd_1249^0'=rcd_1249^post10, rcd_58^0'=rcd_58^post10, a_310^0'=a_310^post10, i_127^0'=i_127^post10, a_576^0'=a_576^post10, tmp_34^0'=tmp_34^post10, length_29^0'=length_29^post10, a_1162^0'=a_1162^post10, f_969^0'=f_969^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10, a_395^0'=a_395^post10, x_17^0'=x_17^post10, a_633^0'=a_633^post10, r_224^0'=r_224^post10, a_239^0'=a_239^post10, i_107^0'=i_107^post10, a_431^0'=a_431^post10, temp0_16^0'=temp0_16^post10, len_238^0'=len_238^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, a_924^0'=a_924^post10, ct_18^0'=ct_18^post10, result_11^0'=result_11^post10, a_392^0'=a_392^post10, i_197^0'=i_197^post10, a_579^0'=a_579^post10, r_143^0'=r_143^post10, a_1236^0'=a_1236^post10, head_32^0'=head_32^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10, i_30^0'=i_30^post10, x_253^0'=x_253^post10, a_635^0'=a_635^post10, r_970^0'=r_970^post10, rcd_47^0'=rcd_47^post10, a_309^0'=a_309^post10, i_1248^0'=i_1248^post10, a_575^0'=a_575^post10, temp_35^0'=temp_35^post10, len_861^0'=len_861^post10, (0 == 0 /\ -y_20^post10+y_20^0 == 0 /\ a_394^0-a_394^post10 == 0 /\ a_1089^0-a_1089^post10 == 0 /\ -x_253^post10+x_253^0 == 0 /\ -a_263^post10+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post10+r_970^0 == 0 /\ -i_197^post10+i_197^0 == 0 /\ -t_24^post10+t_24^0 == 0 /\ -head_32^post10+head_32^0 == 0 /\ a_311^0-a_311^post10 == 0 /\ -a_431^post10+a_431^0 == 0 /\ -i_229^post10+i_229^0 == 0 /\ a_576^0-a_576^post10 == 0 /\ rcd_1249^0-rcd_1249^post10 == 0 /\ t_458^0-t_458^post10 == 0 /\ x_852^0-x_852^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -1-a_902^0+len_161^post10 <= 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ i_106^0-i_106^post10 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post10+temp_35^0 == 0 /\ f_847^0-f_847^post10 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_1053^post10+i_1053^0 == 0 /\ -a_395^post10+a_395^0 == 0 /\ -a_417^post10+a_417^0 == 0 /\ -len_861^post10+len_861^0 == 0 /\ a_924^0-a_924^post10 == 0 /\ ct_18^0-ct_18^post10 == 0 /\ len_262^0-len_262^post10 == 0 /\ -a_577^post10+a_577^0 == 0 /\ a_1236^0-a_1236^post10 == 0 /\ -result_11^post10+result_11^0 == 0 /\ a_610^0-a_610^post10 == 0 /\ -r_224^post10+r_224^0 == 0 /\ -i_1248^post10+i_1248^0 == 0 /\ -a_393^post10+a_393^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ x_975^0-x_975^post10 == 0 /\ -x_17^post10+x_17^0 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -r_143^post10+r_143^0 == 0 /\ i_127^0-i_127^post10 == 0 /\ -x_SLAM_f_19^post10+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post10 == 0 /\ -i_107^post10+i_107^0 == 0 /\ len_238^0-len_238^post10 == 0 /\ x_14^0-x_14^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -a_575^post10+a_575^0 == 0 /\ a_310^0-a_310^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_176^0-a_176^post10 == 0 /\ -a_635^post10+a_635^0 == 0 /\ i_27^0-i_27^post10 == 0 /\ f_969^0-f_969^post10 == 0 /\ a_121^0-a_121^post10 == 0 /\ -a_432^post10+a_432^0 == 0 /\ -a_632^post10+a_632^0 == 0 /\ -i_113^post10+i_113^0 == 0 /\ a_430^0-a_430^post10 == 0 /\ 1+a_902^0-len_161^post10 <= 0 /\ -a_309^post10+a_309^0 == 0 /\ x_156^0-x_156^post10 == 0 /\ 1-i_27^0 <= 0 /\ -r_39^post10+r_39^0 == 0 /\ a_1162^0-a_1162^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post10+a_862^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ -a_633^post10+a_633^0 == 0 /\ r_151^0-r_151^post10 == 0 /\ r_192^0-r_192^post10 == 0 /\ -rcd_47^post10+rcd_47^0 == 0 /\ f_248^0-f_248^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ a_239^0-a_239^post10 == 0 /\ -i_140^post10+i_140^0 == 0 /\ a_902^0-a_902^post10 == 0 /\ -a_392^post10+a_392^0 == 0 /\ -a_579^post10+a_579^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ -length_29^post10+length_29^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ a_634^0-a_634^post10 == 0), cost: 1 265: l1 -> l166 : a_1089^0'=a_1089^post265, f_847^0'=f_847^post265, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post265, a_394^0'=a_394^post265, x_156^0'=x_156^post265, a_632^0'=a_632^post265, r_192^0'=r_192^post265, a_176^0'=a_176^post265, i_106^0'=i_106^post265, a_430^0'=a_430^post265, t_458^0'=t_458^post265, len_161^0'=len_161^post265, x_975^0'=x_975^post265, a_902^0'=a_902^post265, a_947^0'=a_947^post265, rcd_88^0'=rcd_88^post265, a_311^0'=a_311^post265, i_140^0'=i_140^post265, a_577^0'=a_577^post265, x_14^0'=x_14^post265, nondet_12^0'=nondet_12^post265, a_121^0'=a_121^post265, head_15^0'=head_15^post265, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post265, i_27^0'=i_27^post265, x_21^0'=x_21^post265, a_634^0'=a_634^post265, r_39^0'=r_39^post265, a_263^0'=a_263^post265, i_113^0'=i_113^post265, a_432^0'=a_432^post265, temp0_31^0'=temp0_31^post265, len_262^0'=len_262^post265, y_20^0'=y_20^post265, f_248^0'=f_248^post265, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post265, a_393^0'=a_393^post265, i_229^0'=i_229^post265, a_610^0'=a_610^post265, r_151^0'=r_151^post265, a_144^0'=a_144^post265, i_1053^0'=i_1053^post265, a_417^0'=a_417^post265, t_24^0'=t_24^post265, i_94^0'=i_94^post265, x_852^0'=x_852^post265, a_862^0'=a_862^post265, rcd_1249^0'=rcd_1249^post265, rcd_58^0'=rcd_58^post265, a_310^0'=a_310^post265, i_127^0'=i_127^post265, a_576^0'=a_576^post265, tmp_34^0'=tmp_34^post265, length_29^0'=length_29^post265, a_1162^0'=a_1162^post265, f_969^0'=f_969^post265, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post265, a_395^0'=a_395^post265, x_17^0'=x_17^post265, a_633^0'=a_633^post265, r_224^0'=r_224^post265, a_239^0'=a_239^post265, i_107^0'=i_107^post265, a_431^0'=a_431^post265, temp0_16^0'=temp0_16^post265, len_238^0'=len_238^post265, x_SLAM_f_19^0'=x_SLAM_f_19^post265, a_924^0'=a_924^post265, ct_18^0'=ct_18^post265, result_11^0'=result_11^post265, a_392^0'=a_392^post265, i_197^0'=i_197^post265, a_579^0'=a_579^post265, r_143^0'=r_143^post265, a_1236^0'=a_1236^post265, head_32^0'=head_32^post265, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post265, i_30^0'=i_30^post265, x_253^0'=x_253^post265, a_635^0'=a_635^post265, r_970^0'=r_970^post265, rcd_47^0'=rcd_47^post265, a_309^0'=a_309^post265, i_1248^0'=i_1248^post265, a_575^0'=a_575^post265, temp_35^0'=temp_35^post265, len_861^0'=len_861^post265, (0 == 0 /\ a_263^0-a_263^post265 == 0 /\ x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post265 == 0 /\ a_862^0-a_862^post265 == 0 /\ f_248^0-f_248^post265 == 0 /\ a_392^0-a_392^post265 == 0 /\ a_176^0-a_176^post265 == 0 /\ r_39^0-r_39^post265 == 0 /\ -a_310^post265+a_310^0 == 0 /\ -i_107^post265+i_107^0 == 0 /\ length_29^0-length_29^post265 == 0 /\ a_632^0-a_632^post265 == 0 /\ -a_924^post265+a_924^0 == 0 /\ -r_143^post265+r_143^0 == 0 /\ a_610^0-a_610^post265 == 0 /\ -x_21^0+y_20^0 <= 0 /\ t_458^0-t_458^post265 == 0 /\ -temp_35^post265+temp_35^0 == 0 /\ a_393^0-a_393^post265 == 0 /\ a_1236^0-a_1236^post265 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post265+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_970^post265+r_970^0 == 0 /\ -nondet_12^post265+nondet_12^0 == 0 /\ -f_969^post265+f_969^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post265+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_417^0-a_417^post265 == 0 /\ -x_253^post265+x_253^0 == 0 /\ -i_127^post265+i_127^0 == 0 /\ -a_947^post265+a_947^0 == 0 /\ a_634^0-a_634^post265 == 0 /\ i_113^0-i_113^post265 == 0 /\ len_262^0-len_262^post265 == 0 /\ -a_121^post265+a_121^0 == 0 /\ -r_224^post265+r_224^0 == 0 /\ -len_861^post265+len_861^0 == 0 /\ x_975^0-x_975^post265 == 0 /\ r_192^0-r_192^post265 == 0 /\ -i_140^post265+i_140^0 == 0 /\ -a_579^post265+a_579^0 == 0 /\ -i_1248^post265+i_1248^0 == 0 /\ -a_576^post265+a_576^0 == 0 /\ -i_94^post265+i_94^0 == 0 /\ a_577^0-a_577^post265 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post265 == 0 /\ -a_431^post265+a_431^0 == 0 /\ -a_239^post265+a_239^0 == 0 /\ -temp0_16^post265+temp0_16^0 == 0 /\ x_852^0-x_852^post265 == 0 /\ -rcd_47^post265+rcd_47^0 == 0 /\ -a_395^post265+a_395^0 == 0 /\ -len_238^post265+len_238^0 == 0 /\ i_106^0-i_106^post265 == 0 /\ r_151^0-r_151^post265 == 0 /\ -a_430^post265+a_430^0 == 0 /\ rcd_88^0-rcd_88^post265 == 0 /\ a_633^0-a_633^post265 == 0 /\ -temp0_31^post265+temp0_31^0 == 0 /\ f_847^0-f_847^post265 == 0 /\ a_902^0-a_902^post265 == 0 /\ a_311^0-a_311^post265 == 0 /\ a_144^0-a_144^post265 == 0 /\ -a_575^post265+a_575^0 == 0 /\ -i_197^post265+i_197^0 == 0 /\ -a_309^post265+a_309^0 == 0 /\ -a_924^0 <= 0 /\ a_394^0-a_394^post265 == 0 /\ len_161^0-len_161^post265 == 0 /\ -temp0_16^0+result_11^post265 == 0 /\ rcd_1249^0-rcd_1249^post265 == 0 /\ -a_635^post265+a_635^0 == 0 /\ x_156^0-x_156^post265 == 0 /\ a_1089^0-a_1089^post265 == 0 /\ -tmp_34^post265+tmp_34^0 == 0 /\ -a_1162^post265+a_1162^0 == 0 /\ -i_1053^post265+i_1053^0 == 0 /\ -i_229^post265+i_229^0 == 0 /\ -a_432^post265+a_432^0 == 0 /\ rcd_58^0-rcd_58^post265 == 0 /\ x_14^0-x_14^post265 == 0 /\ -head_32^post265+head_32^0 == 0 /\ -i_30^post265+i_30^0 == 0), cost: 1 271: l1 -> l170 : a_1089^0'=a_1089^post271, f_847^0'=f_847^post271, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_394^0'=a_394^post271, x_156^0'=x_156^post271, a_632^0'=a_632^post271, r_192^0'=r_192^post271, a_176^0'=a_176^post271, i_106^0'=i_106^post271, a_430^0'=a_430^post271, t_458^0'=t_458^post271, len_161^0'=len_161^post271, x_975^0'=x_975^post271, a_902^0'=a_902^post271, a_947^0'=a_947^post271, rcd_88^0'=rcd_88^post271, a_311^0'=a_311^post271, i_140^0'=i_140^post271, a_577^0'=a_577^post271, x_14^0'=x_14^post271, nondet_12^0'=nondet_12^post271, a_121^0'=a_121^post271, head_15^0'=head_15^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271, i_27^0'=i_27^post271, x_21^0'=x_21^post271, a_634^0'=a_634^post271, r_39^0'=r_39^post271, a_263^0'=a_263^post271, i_113^0'=i_113^post271, a_432^0'=a_432^post271, temp0_31^0'=temp0_31^post271, len_262^0'=len_262^post271, y_20^0'=y_20^post271, f_248^0'=f_248^post271, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271, a_393^0'=a_393^post271, i_229^0'=i_229^post271, a_610^0'=a_610^post271, r_151^0'=r_151^post271, a_144^0'=a_144^post271, i_1053^0'=i_1053^post271, a_417^0'=a_417^post271, t_24^0'=t_24^post271, i_94^0'=i_94^post271, x_852^0'=x_852^post271, a_862^0'=a_862^post271, rcd_1249^0'=rcd_1249^post271, rcd_58^0'=rcd_58^post271, a_310^0'=a_310^post271, i_127^0'=i_127^post271, a_576^0'=a_576^post271, tmp_34^0'=tmp_34^post271, length_29^0'=length_29^post271, a_1162^0'=a_1162^post271, f_969^0'=f_969^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271, a_395^0'=a_395^post271, x_17^0'=x_17^post271, a_633^0'=a_633^post271, r_224^0'=r_224^post271, a_239^0'=a_239^post271, i_107^0'=i_107^post271, a_431^0'=a_431^post271, temp0_16^0'=temp0_16^post271, len_238^0'=len_238^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=a_924^post271, ct_18^0'=ct_18^post271, result_11^0'=result_11^post271, a_392^0'=a_392^post271, i_197^0'=i_197^post271, a_579^0'=a_579^post271, r_143^0'=r_143^post271, a_1236^0'=a_1236^post271, head_32^0'=head_32^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, i_30^0'=i_30^post271, x_253^0'=x_253^post271, a_635^0'=a_635^post271, r_970^0'=r_970^post271, rcd_47^0'=rcd_47^post271, a_309^0'=a_309^post271, i_1248^0'=i_1248^post271, a_575^0'=a_575^post271, temp_35^0'=temp_35^post271, len_861^0'=len_861^post271, (0 == 0 /\ x_156^0-x_156^post271 == 0 /\ -i_30^post271+i_30^0 == 0 /\ -a_309^post271+a_309^0 == 0 /\ -r_151^post271+r_151^0 == 0 /\ -a_144^post271+a_144^0 == 0 /\ a_632^0-a_632^post271 == 0 /\ -a_575^post271+a_575^0 == 0 /\ -a_576^post271+a_576^0 == 0 /\ a_579^0-a_579^post271 == 0 /\ -a_1236^post271+a_1236^0 == 0 /\ a_121^0-a_121^post271 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271 == 0 /\ a_902^0-a_902^post271 == 0 /\ -a_635^post271+a_635^0 == 0 /\ -a_417^post271+a_417^0 == 0 /\ temp0_31^0-temp0_31^post271 == 0 /\ len_262^0-len_262^post271 == 0 /\ a_577^0-a_577^post271 == 0 /\ i_229^0-i_229^post271 == 0 /\ a_634^0-a_634^post271 == 0 /\ a_392^0-a_392^post271 == 0 /\ -length_29^post271+length_29^0 == 0 /\ a_1089^0-a_1089^post271 == 0 /\ a_394^0-a_394^post271 == 0 /\ -rcd_58^post271+rcd_58^0 == 0 /\ i_1053^0-i_1053^post271 == 0 /\ -a_633^post271+a_633^0 == 0 /\ -a_862^post271+a_862^0 == 0 /\ a_176^0-a_176^post271 == 0 /\ -a_610^post271+a_610^0 == 0 /\ -head_32^post271+head_32^0 == 0 /\ a_430^0-a_430^post271 == 0 /\ -rcd_47^post271+rcd_47^0 == 0 /\ a_263^0-a_263^post271 == 0 /\ -i_197^post271+i_197^0 == 0 /\ -len_238^post271+len_238^0 == 0 /\ f_847^0-f_847^post271 == 0 /\ -f_969^post271+f_969^0 == 0 /\ -r_192^post271+r_192^0 == 0 /\ -x_852^post271+x_852^0 == 0 /\ a_432^0-a_432^post271 == 0 /\ -i_127^post271+i_127^0 == 0 /\ -temp_35^post271+temp_35^0 == 0 /\ y_20^0-y_20^post271 == 0 /\ i_113^0-i_113^post271 == 0 /\ nondet_12^0-nondet_12^post271 == 0 /\ -r_970^post271+r_970^0 == 0 /\ x_21^0-x_21^post271 == 0 /\ -a_311^post271+a_311^0 == 0 /\ x_975^0-x_975^post271 == 0 /\ a_431^0-a_431^post271 == 0 /\ -rcd_88^post271+rcd_88^0 == 0 /\ -a_1162^post271+a_1162^0 == 0 /\ i_94^0-i_94^post271 == 0 /\ -x_253^post271+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271 == 0 /\ a_947^0-a_947^post271 == 0 /\ a_310^0-a_310^post271 == 0 /\ -i_1248^post271+i_1248^0 == 0 /\ -f_248^post271+f_248^0 == 0 /\ -a_239^post271+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post271+tmp_34^0 == 0 /\ -a_924^0 <= 0 /\ -r_224^post271+r_224^0 == 0 /\ -rcd_1249^post271+rcd_1249^0 == 0 /\ -temp0_16^post271+temp0_16^0 == 0 /\ a_395^0-a_395^post271 == 0 /\ -len_861^post271+len_861^0 == 0 /\ len_161^0-len_161^post271 == 0 /\ -a_924^post271+a_924^0 == 0 /\ i_140^0-i_140^post271 == 0 /\ -result_11^post271+result_11^0 == 0 /\ -r_143^post271+r_143^0 == 0 /\ t_458^0-t_458^post271 == 0 /\ i_107^0-i_107^post271 == 0 /\ -a_393^post271+a_393^0 == 0 /\ i_106^0-i_106^post271 == 0 /\ t_24^0-t_24^post271 == 0), cost: 1 11: l8 -> l10 : a_1089^0'=a_1089^post11, f_847^0'=f_847^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, a_394^0'=a_394^post11, x_156^0'=x_156^post11, a_632^0'=a_632^post11, r_192^0'=r_192^post11, a_176^0'=a_176^post11, i_106^0'=i_106^post11, a_430^0'=a_430^post11, t_458^0'=t_458^post11, len_161^0'=len_161^post11, x_975^0'=x_975^post11, a_902^0'=a_902^post11, a_947^0'=a_947^post11, rcd_88^0'=rcd_88^post11, a_311^0'=a_311^post11, i_140^0'=i_140^post11, a_577^0'=a_577^post11, x_14^0'=x_14^post11, nondet_12^0'=nondet_12^post11, a_121^0'=a_121^post11, head_15^0'=head_15^post11, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post11, i_27^0'=i_27^post11, x_21^0'=x_21^post11, a_634^0'=a_634^post11, r_39^0'=r_39^post11, a_263^0'=a_263^post11, i_113^0'=i_113^post11, a_432^0'=a_432^post11, temp0_31^0'=temp0_31^post11, len_262^0'=len_262^post11, y_20^0'=y_20^post11, f_248^0'=f_248^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, a_393^0'=a_393^post11, i_229^0'=i_229^post11, a_610^0'=a_610^post11, r_151^0'=r_151^post11, a_144^0'=a_144^post11, i_1053^0'=i_1053^post11, a_417^0'=a_417^post11, t_24^0'=t_24^post11, i_94^0'=i_94^post11, x_852^0'=x_852^post11, a_862^0'=a_862^post11, rcd_1249^0'=rcd_1249^post11, rcd_58^0'=rcd_58^post11, a_310^0'=a_310^post11, i_127^0'=i_127^post11, a_576^0'=a_576^post11, tmp_34^0'=tmp_34^post11, length_29^0'=length_29^post11, a_1162^0'=a_1162^post11, f_969^0'=f_969^post11, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post11, a_395^0'=a_395^post11, x_17^0'=x_17^post11, a_633^0'=a_633^post11, r_224^0'=r_224^post11, a_239^0'=a_239^post11, i_107^0'=i_107^post11, a_431^0'=a_431^post11, temp0_16^0'=temp0_16^post11, len_238^0'=len_238^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, a_924^0'=a_924^post11, ct_18^0'=ct_18^post11, result_11^0'=result_11^post11, a_392^0'=a_392^post11, i_197^0'=i_197^post11, a_579^0'=a_579^post11, r_143^0'=r_143^post11, a_1236^0'=a_1236^post11, head_32^0'=head_32^post11, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post11, i_30^0'=i_30^post11, x_253^0'=x_253^post11, a_635^0'=a_635^post11, r_970^0'=r_970^post11, rcd_47^0'=rcd_47^post11, a_309^0'=a_309^post11, i_1248^0'=i_1248^post11, a_575^0'=a_575^post11, temp_35^0'=temp_35^post11, len_861^0'=len_861^post11, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post11 == 0 /\ a_430^0-a_430^post11 == 0 /\ f_248^0-f_248^post11 == 0 /\ x_21^0-x_21^post11 == 0 /\ -i_113^post11+i_113^0 == 0 /\ -len_161^0 <= 0 /\ -r_143^post11+r_143^0 == 0 /\ x_975^0-x_975^post11 == 0 /\ -i_107^post11+i_107^0 == 0 /\ -a_575^post11+a_575^0 == 0 /\ f_969^0-f_969^post11 == 0 /\ -a_1236^post11+a_1236^0 == 0 /\ a_633^0-a_633^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -a_309^post11+a_309^0 == 0 /\ -x_SLAM_f_19^post11+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post11 == 0 /\ x_17^0-x_17^post11 == 0 /\ -a_432^post11+a_432^0 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ len_161^0-len_161^post11 == 0 /\ a_144^0-a_144^post11 == 0 /\ a_947^0-a_947^post11 == 0 /\ -length_29^post11+length_29^0 == 0 /\ i_27^0-i_27^post11 == 0 /\ -rcd_47^post11+rcd_47^0 == 0 /\ -i_140^post11+i_140^0 == 0 /\ -a_310^post11+a_310^0 == 0 /\ -a_862^post11+a_862^0 == 0 /\ -a_392^post11+a_392^0 == 0 /\ t_458^0-t_458^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -a_176^0 <= 0 /\ rcd_1249^0-rcd_1249^post11 == 0 /\ -x_253^post11+x_253^0 == 0 /\ i_106^0-i_106^post11 == 0 /\ f_847^0-f_847^post11 == 0 /\ -r_970^post11+r_970^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post11+r_151^0 == 0 /\ a_576^0-a_576^post11 == 0 /\ -r_224^post11+r_224^0 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -ct_18^post11+ct_18^0 == 0 /\ -x_852^post11+x_852^0 == 0 /\ -a_579^post11+a_579^0 == 0 /\ -a_263^post11+a_263^0 == 0 /\ a_632^0-a_632^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post11 == 0 /\ a_121^0-a_121^post11 == 0 /\ a_902^0-a_902^post11 == 0 /\ -i_197^post11+i_197^0 == 0 /\ a_239^0-a_239^post11 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ x_156^0-x_156^post11 == 0 /\ len_262^0-len_262^post11 == 0 /\ a_610^0-a_610^post11 == 0 /\ -a_431^post11+a_431^0 == 0 /\ -y_20^post11+y_20^0 == 0 /\ i_229^0-i_229^post11 == 0 /\ a_634^0-a_634^post11 == 0 /\ head_15^0-head_15^post11 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ len_238^0-len_238^post11 == 0 /\ -a_395^post11+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post11+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1089^0-a_1089^post11 == 0 /\ a_394^0-a_394^post11 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ -a_1162^post11+a_1162^0 == 0 /\ a_417^0-a_417^post11 == 0 /\ -a_924^post11+a_924^0 == 0 /\ r_192^0-r_192^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ x_14^0-x_14^post11 == 0 /\ a_176^0-a_176^post11 == 0 /\ -temp0_16^post11+temp0_16^0 == 0 /\ -len_861^post11+len_861^0 == 0 /\ -i_30^post11+i_30^0 == 0 /\ -a_635^post11+a_635^0 == 0 /\ -a_577^post11+a_577^0 == 0 /\ a_311^0-a_311^post11 == 0 /\ i_1053^0-i_1053^post11 == 0 /\ -i_1248^post11+i_1248^0 == 0 /\ -a_393^post11+a_393^0 == 0 /\ rcd_88^0-rcd_88^post11 == 0), cost: 1 22: l8 -> l17 : a_1089^0'=a_1089^post22, f_847^0'=f_847^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_394^0'=a_394^post22, x_156^0'=x_156^post22, a_632^0'=a_632^post22, r_192^0'=r_192^post22, a_176^0'=a_176^post22, i_106^0'=i_106^post22, a_430^0'=a_430^post22, t_458^0'=t_458^post22, len_161^0'=len_161^post22, x_975^0'=x_975^post22, a_902^0'=a_902^post22, a_947^0'=a_947^post22, rcd_88^0'=rcd_88^post22, a_311^0'=a_311^post22, i_140^0'=i_140^post22, a_577^0'=a_577^post22, x_14^0'=x_14^post22, nondet_12^0'=nondet_12^post22, a_121^0'=a_121^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=i_27^post22, x_21^0'=x_21^post22, a_634^0'=a_634^post22, r_39^0'=r_39^post22, a_263^0'=a_263^post22, i_113^0'=i_113^post22, a_432^0'=a_432^post22, temp0_31^0'=temp0_31^post22, len_262^0'=len_262^post22, y_20^0'=y_20^post22, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_393^0'=a_393^post22, i_229^0'=i_229^post22, a_610^0'=a_610^post22, r_151^0'=r_151^post22, a_144^0'=a_144^post22, i_1053^0'=i_1053^post22, a_417^0'=a_417^post22, t_24^0'=t_24^post22, i_94^0'=i_94^post22, x_852^0'=x_852^post22, a_862^0'=a_862^post22, rcd_1249^0'=rcd_1249^post22, rcd_58^0'=rcd_58^post22, a_310^0'=a_310^post22, i_127^0'=i_127^post22, a_576^0'=a_576^post22, tmp_34^0'=tmp_34^post22, length_29^0'=length_29^post22, a_1162^0'=a_1162^post22, f_969^0'=f_969^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22, a_395^0'=a_395^post22, x_17^0'=x_17^post22, a_633^0'=a_633^post22, r_224^0'=r_224^post22, a_239^0'=a_239^post22, i_107^0'=i_107^post22, a_431^0'=a_431^post22, temp0_16^0'=temp0_16^post22, len_238^0'=len_238^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_924^0'=a_924^post22, ct_18^0'=ct_18^post22, result_11^0'=result_11^post22, a_392^0'=a_392^post22, i_197^0'=i_197^post22, a_579^0'=a_579^post22, r_143^0'=r_143^post22, a_1236^0'=a_1236^post22, head_32^0'=head_32^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22, i_30^0'=i_30^post22, x_253^0'=x_253^post22, a_635^0'=a_635^post22, r_970^0'=r_970^post22, rcd_47^0'=rcd_47^post22, a_309^0'=a_309^post22, i_1248^0'=i_1248^post22, a_575^0'=a_575^post22, temp_35^0'=temp_35^post22, len_861^0'=len_861^post22, (0 == 0 /\ -i_30^post22+i_30^0 == 0 /\ x_21^0-x_21^post22 == 0 /\ -i_113^post22+i_113^0 == 0 /\ -r_143^post22+r_143^0 == 0 /\ a_632^0-a_632^post22 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post22 == 0 /\ x_975^0-x_975^post22 == 0 /\ -i_107^post22+i_107^0 == 0 /\ -a_1236^post22+a_1236^0 == 0 /\ -a_575^post22+a_575^0 == 0 /\ f_969^0-f_969^post22 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -a_432^post22+a_432^0 == 0 /\ i_127^0-i_127^post22 == 0 /\ -a_309^post22+a_309^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -a_310^post22+a_310^0 == 0 /\ -i_140^post22+i_140^0 == 0 /\ a_394^0-a_394^post22 == 0 /\ len_161^0-len_161^post22 == 0 /\ a_144^0-a_144^post22 == 0 /\ a_947^0-a_947^post22 == 0 /\ -a_392^post22+a_392^0 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -rcd_47^post22+rcd_47^0 == 0 /\ -a_862^post22+a_862^0 == 0 /\ t_458^0-t_458^post22 == 0 /\ x_852^0-x_852^post22 == 0 /\ rcd_1249^0-rcd_1249^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ i_106^0-i_106^post22 == 0 /\ -a_176^0 <= 0 /\ a_576^0-a_576^post22 == 0 /\ -r_151^post22+r_151^0 == 0 /\ f_847^0-f_847^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ a_633^0-a_633^post22 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -r_224^post22+r_224^0 == 0 /\ -a_579^post22+a_579^0 == 0 /\ -t_24^post22+t_24^0 == 0 /\ -r_970^post22+r_970^0 == 0 /\ i_229^0-i_229^post22 == 0 /\ -a_263^post22+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22 == 0 /\ a_121^0-a_121^post22 == 0 /\ a_610^0-a_610^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ a_239^0-a_239^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ -i_197^post22+i_197^0 == 0 /\ x_156^0-x_156^post22 == 0 /\ len_262^0-len_262^post22 == 0 /\ -y_20^post22+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ -a_431^post22+a_431^0 == 0 /\ a_902^0-a_902^post22 == 0 /\ a_634^0-a_634^post22 == 0 /\ a_176^0-a_176^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_238^0-len_238^post22 == 0 /\ i_1053^0-i_1053^post22 == 0 /\ -a_1162^post22+a_1162^0 == 0 /\ -a_395^post22+a_395^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ a_1089^0-a_1089^post22 == 0 /\ -a_924^post22+a_924^0 == 0 /\ a_417^0-a_417^post22 == 0 /\ i_27^0-i_27^post22 == 0 /\ x_14^0-x_14^post22 == 0 /\ r_192^0-r_192^post22 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -len_861^post22+len_861^0 == 0 /\ -a_577^post22+a_577^0 == 0 /\ -i_1248^post22+i_1248^0 == 0 /\ -a_393^post22+a_393^0 == 0 /\ -a_635^post22+a_635^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ a_311^0-a_311^post22 == 0), cost: 1 33: l8 -> l24 : a_1089^0'=a_1089^post33, f_847^0'=f_847^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_394^0'=a_394^post33, x_156^0'=x_156^post33, a_632^0'=a_632^post33, r_192^0'=r_192^post33, a_176^0'=a_176^post33, i_106^0'=i_106^post33, a_430^0'=a_430^post33, t_458^0'=t_458^post33, len_161^0'=len_161^post33, x_975^0'=x_975^post33, a_902^0'=a_902^post33, a_947^0'=a_947^post33, rcd_88^0'=rcd_88^post33, a_311^0'=a_311^post33, i_140^0'=i_140^post33, a_577^0'=a_577^post33, x_14^0'=x_14^post33, nondet_12^0'=nondet_12^post33, a_121^0'=a_121^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^post33, x_21^0'=x_21^post33, a_634^0'=a_634^post33, r_39^0'=r_39^post33, a_263^0'=a_263^post33, i_113^0'=i_113^post33, a_432^0'=a_432^post33, temp0_31^0'=temp0_31^post33, len_262^0'=len_262^post33, y_20^0'=y_20^post33, f_248^0'=f_248^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_393^0'=a_393^post33, i_229^0'=i_229^post33, a_610^0'=a_610^post33, r_151^0'=r_151^post33, a_144^0'=a_144^post33, i_1053^0'=i_1053^post33, a_417^0'=a_417^post33, t_24^0'=t_24^post33, i_94^0'=i_94^post33, x_852^0'=x_852^post33, a_862^0'=a_862^post33, rcd_1249^0'=rcd_1249^post33, rcd_58^0'=rcd_58^post33, a_310^0'=a_310^post33, i_127^0'=i_127^post33, a_576^0'=a_576^post33, tmp_34^0'=tmp_34^post33, length_29^0'=length_29^post33, a_1162^0'=a_1162^post33, f_969^0'=f_969^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33, a_395^0'=a_395^post33, x_17^0'=x_17^post33, a_633^0'=a_633^post33, r_224^0'=r_224^post33, a_239^0'=a_239^post33, i_107^0'=i_107^post33, a_431^0'=a_431^post33, temp0_16^0'=temp0_16^post33, len_238^0'=len_238^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, a_924^0'=a_924^post33, ct_18^0'=ct_18^post33, result_11^0'=result_11^post33, a_392^0'=a_392^post33, i_197^0'=i_197^post33, a_579^0'=a_579^post33, r_143^0'=r_143^post33, a_1236^0'=a_1236^post33, head_32^0'=head_32^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33, i_30^0'=i_30^post33, x_253^0'=x_253^post33, a_635^0'=a_635^post33, r_970^0'=r_970^post33, rcd_47^0'=rcd_47^post33, a_309^0'=a_309^post33, i_1248^0'=i_1248^post33, a_575^0'=a_575^post33, temp_35^0'=temp_35^post33, len_861^0'=len_861^post33, (0 == 0 /\ a_417^0-a_417^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -len_861^post33+len_861^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ t_24^0-t_24^post33 == 0 /\ a_176^0-a_176^post33 == 0 /\ -i_1248^post33+i_1248^0 == 0 /\ a_394^0-a_394^post33 == 0 /\ -a_239^post33+a_239^0 == 0 /\ len_161^0-len_161^post33 == 0 /\ a_947^0-a_947^post33 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -len_161^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post33 == 0 /\ f_847^0-f_847^post33 == 0 /\ -a_579^post33+a_579^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ -a_392^post33+a_392^0 == 0 /\ i_1053^0-i_1053^post33 == 0 /\ -f_248^post33+f_248^0 == 0 /\ length_29^0-length_29^post33 == 0 /\ -a_575^post33+a_575^0 == 0 /\ -i_197^post33+i_197^0 == 0 /\ -rcd_1249^post33+rcd_1249^0 == 0 /\ a_430^0-a_430^post33 == 0 /\ r_151^0-r_151^post33 == 0 /\ i_94^0-i_94^post33 == 0 /\ -a_635^post33+a_635^0 == 0 /\ a_577^0-a_577^post33 == 0 /\ -a_309^post33+a_309^0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -x_17^post33+x_17^0 == 0 /\ -x_21^post33+x_21^0 == 0 /\ x_156^0-x_156^post33 == 0 /\ a_432^0-a_432^post33 == 0 /\ -ct_18^post33+ct_18^0 == 0 /\ a_1162^0-a_1162^post33 == 0 /\ i_113^0-i_113^post33 == 0 /\ a_902^0-a_902^post33 == 0 /\ -a_176^0 <= 0 /\ r_192^0-r_192^post33 == 0 /\ a_862^0-a_862^post33 == 0 /\ -i_30^post33+i_30^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0 /\ -x_852^post33+x_852^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_238^post33+len_238^0 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post33 == 0 /\ -a_634^post33+a_634^0 == 0 /\ a_395^0-a_395^post33 == 0 /\ -a_633^post33+a_633^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ a_311^0-a_311^post33 == 0 /\ -a_924^post33+a_924^0 == 0 /\ -a_576^post33+a_576^0 == 0 /\ -x_14^post33+x_14^0 == 0 /\ i_140^0-i_140^post33 == 0 /\ -r_143^post33+r_143^0 == 0 /\ -result_11^post33+result_11^0 == 0 /\ i_106^0-i_106^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ i_107^0-i_107^post33 == 0 /\ -a_121^post33+a_121^0 == 0 /\ a_632^0-a_632^post33 == 0 /\ -a_1236^post33+a_1236^0 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ x_975^0-x_975^post33 == 0 /\ y_20^0-y_20^post33 == 0 /\ a_393^0-a_393^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ t_458^0-t_458^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -a_431^post33+a_431^0 == 0 /\ -f_969^post33+f_969^0 == 0 /\ r_224^0-r_224^post33 == 0 /\ -a_310^post33+a_310^0 == 0 /\ -len_262^post33+len_262^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -a_610^post33+a_610^0 == 0 /\ -r_970^post33+r_970^0 == 0 /\ -x_253^post33+x_253^0 == 0 /\ -rcd_47^post33+rcd_47^0 == 0), cost: 1 12: l10 -> l11 : a_1089^0'=a_1089^post12, f_847^0'=f_847^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, a_394^0'=a_394^post12, x_156^0'=x_156^post12, a_632^0'=a_632^post12, r_192^0'=r_192^post12, a_176^0'=a_176^post12, i_106^0'=i_106^post12, a_430^0'=a_430^post12, t_458^0'=t_458^post12, len_161^0'=len_161^post12, x_975^0'=x_975^post12, a_902^0'=a_902^post12, a_947^0'=a_947^post12, rcd_88^0'=rcd_88^post12, a_311^0'=a_311^post12, i_140^0'=i_140^post12, a_577^0'=a_577^post12, x_14^0'=x_14^post12, nondet_12^0'=nondet_12^post12, a_121^0'=a_121^post12, head_15^0'=head_15^post12, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post12, i_27^0'=i_27^post12, x_21^0'=x_21^post12, a_634^0'=a_634^post12, r_39^0'=r_39^post12, a_263^0'=a_263^post12, i_113^0'=i_113^post12, a_432^0'=a_432^post12, temp0_31^0'=temp0_31^post12, len_262^0'=len_262^post12, y_20^0'=y_20^post12, f_248^0'=f_248^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, a_393^0'=a_393^post12, i_229^0'=i_229^post12, a_610^0'=a_610^post12, r_151^0'=r_151^post12, a_144^0'=a_144^post12, i_1053^0'=i_1053^post12, a_417^0'=a_417^post12, t_24^0'=t_24^post12, i_94^0'=i_94^post12, x_852^0'=x_852^post12, a_862^0'=a_862^post12, rcd_1249^0'=rcd_1249^post12, rcd_58^0'=rcd_58^post12, a_310^0'=a_310^post12, i_127^0'=i_127^post12, a_576^0'=a_576^post12, tmp_34^0'=tmp_34^post12, length_29^0'=length_29^post12, a_1162^0'=a_1162^post12, f_969^0'=f_969^post12, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post12, a_395^0'=a_395^post12, x_17^0'=x_17^post12, a_633^0'=a_633^post12, r_224^0'=r_224^post12, a_239^0'=a_239^post12, i_107^0'=i_107^post12, a_431^0'=a_431^post12, temp0_16^0'=temp0_16^post12, len_238^0'=len_238^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, a_924^0'=a_924^post12, ct_18^0'=ct_18^post12, result_11^0'=result_11^post12, a_392^0'=a_392^post12, i_197^0'=i_197^post12, a_579^0'=a_579^post12, r_143^0'=r_143^post12, a_1236^0'=a_1236^post12, head_32^0'=head_32^post12, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post12, i_30^0'=i_30^post12, x_253^0'=x_253^post12, a_635^0'=a_635^post12, r_970^0'=r_970^post12, rcd_47^0'=rcd_47^post12, a_309^0'=a_309^post12, i_1248^0'=i_1248^post12, a_575^0'=a_575^post12, temp_35^0'=temp_35^post12, len_861^0'=len_861^post12, (a_144^0-a_144^post12 == 0 /\ a_394^0-a_394^post12 == 0 /\ -r_970^post12+r_970^0 == 0 /\ t_24^0-t_24^post12 == 0 /\ -f_248^post12+f_248^0 == 0 /\ a_862^0-a_862^post12 == 0 /\ a_947^0-a_947^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ -i_229^post12+i_229^0 == 0 /\ rcd_58^0-rcd_58^post12 == 0 /\ -r_224^post12+r_224^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -i_197^post12+i_197^0 == 0 /\ -len_262^post12+len_262^0 == 0 /\ a_263^0-a_263^post12 == 0 /\ 1-x_14^0 <= 0 /\ a_430^0-a_430^post12 == 0 /\ -a_579^post12+a_579^0 == 0 /\ t_458^0-t_458^post12 == 0 /\ x_852^0-x_852^post12 == 0 /\ i_106^0-i_106^post12 == 0 /\ len_161^0-len_161^post12 == 0 /\ -i_127^post12+i_127^0 == 0 /\ a_576^0-a_576^post12 == 0 /\ -ct_18^post12+ct_18^0 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ f_847^0-f_847^post12 == 0 /\ head_15^0-head_15^post12 == 0 /\ -rcd_1249^post12+rcd_1249^0 == 0 /\ r_151^0-r_151^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post12+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post12 == 0 /\ -i_107^post12+i_107^0 == 0 /\ -a_577^post12+a_577^0 == 0 /\ -a_1162^post12+a_1162^0 == 0 /\ -x_17^post12+x_17^0 == 0 /\ -a_575^post12+a_575^0 == 0 /\ a_1236^0-a_1236^post12 == 0 /\ a_432^0-a_432^post12 == 0 /\ -i_1248^post12+i_1248^0 == 0 /\ x_21^0-x_21^post12 == 0 /\ -result_11^post12+result_11^0 == 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ x_156^0-x_156^post12 == 0 /\ -a_924^post12+a_924^0 == 0 /\ -i_30^post12+i_30^0 == 0 /\ -len_861^post12+len_861^0 == 0 /\ -r_143^post12+r_143^0 == 0 /\ i_27^0-i_27^post12 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -i_94^post12+i_94^0 == 0 /\ -len_238^post12+len_238^0 == 0 /\ a_176^0-a_176^post12 == 0 /\ a_1089^0-a_1089^post12 == 0 /\ -a_309^post12+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post12+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post12+i_113^0 == 0 /\ y_20^0-y_20^post12 == 0 /\ rcd_88^0-rcd_88^post12 == 0 /\ a_311^0-a_311^post12 == 0 /\ -a_633^post12+a_633^0 == 0 /\ a_635^0-a_635^post12 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post12 == 0 /\ -x_14^post12+x_14^0 == 0 /\ -a_632^post12+a_632^0 == 0 /\ i_1053^0-i_1053^post12 == 0 /\ i_140^0-i_140^post12 == 0 /\ a_395^0-a_395^post12 == 0 /\ -length_29^post12+length_29^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ -a_121^post12+a_121^0 == 0 /\ -a_431^post12+a_431^0 == 0 /\ a_393^0-a_393^post12 == 0 /\ -r_39^post12+r_39^0 == 0 /\ a_239^0-a_239^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ r_192^0-r_192^post12 == 0 /\ x_975^0-x_975^post12 == 0 /\ f_969^0-f_969^post12 == 0 /\ -x_SLAM_f_19^post12+x_SLAM_f_19^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ a_417^0-a_417^post12 == 0 /\ -a_392^post12+a_392^0 == 0 /\ -rcd_47^post12+rcd_47^0 == 0 /\ -a_310^post12+a_310^0 == 0 /\ -x_253^post12+x_253^0 == 0 /\ a_634^0-a_634^post12 == 0 /\ -a_610^post12+a_610^0 == 0), cost: 1 13: l10 -> l11 : a_1089^0'=a_1089^post13, f_847^0'=f_847^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, a_394^0'=a_394^post13, x_156^0'=x_156^post13, a_632^0'=a_632^post13, r_192^0'=r_192^post13, a_176^0'=a_176^post13, i_106^0'=i_106^post13, a_430^0'=a_430^post13, t_458^0'=t_458^post13, len_161^0'=len_161^post13, x_975^0'=x_975^post13, a_902^0'=a_902^post13, a_947^0'=a_947^post13, rcd_88^0'=rcd_88^post13, a_311^0'=a_311^post13, i_140^0'=i_140^post13, a_577^0'=a_577^post13, x_14^0'=x_14^post13, nondet_12^0'=nondet_12^post13, a_121^0'=a_121^post13, head_15^0'=head_15^post13, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post13, i_27^0'=i_27^post13, x_21^0'=x_21^post13, a_634^0'=a_634^post13, r_39^0'=r_39^post13, a_263^0'=a_263^post13, i_113^0'=i_113^post13, a_432^0'=a_432^post13, temp0_31^0'=temp0_31^post13, len_262^0'=len_262^post13, y_20^0'=y_20^post13, f_248^0'=f_248^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, a_393^0'=a_393^post13, i_229^0'=i_229^post13, a_610^0'=a_610^post13, r_151^0'=r_151^post13, a_144^0'=a_144^post13, i_1053^0'=i_1053^post13, a_417^0'=a_417^post13, t_24^0'=t_24^post13, i_94^0'=i_94^post13, x_852^0'=x_852^post13, a_862^0'=a_862^post13, rcd_1249^0'=rcd_1249^post13, rcd_58^0'=rcd_58^post13, a_310^0'=a_310^post13, i_127^0'=i_127^post13, a_576^0'=a_576^post13, tmp_34^0'=tmp_34^post13, length_29^0'=length_29^post13, a_1162^0'=a_1162^post13, f_969^0'=f_969^post13, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post13, a_395^0'=a_395^post13, x_17^0'=x_17^post13, a_633^0'=a_633^post13, r_224^0'=r_224^post13, a_239^0'=a_239^post13, i_107^0'=i_107^post13, a_431^0'=a_431^post13, temp0_16^0'=temp0_16^post13, len_238^0'=len_238^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, a_924^0'=a_924^post13, ct_18^0'=ct_18^post13, result_11^0'=result_11^post13, a_392^0'=a_392^post13, i_197^0'=i_197^post13, a_579^0'=a_579^post13, r_143^0'=r_143^post13, a_1236^0'=a_1236^post13, head_32^0'=head_32^post13, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post13, i_30^0'=i_30^post13, x_253^0'=x_253^post13, a_635^0'=a_635^post13, r_970^0'=r_970^post13, rcd_47^0'=rcd_47^post13, a_309^0'=a_309^post13, i_1248^0'=i_1248^post13, a_575^0'=a_575^post13, temp_35^0'=temp_35^post13, len_861^0'=len_861^post13, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post13 == 0 /\ -rcd_47^post13+rcd_47^0 == 0 /\ i_94^0-i_94^post13 == 0 /\ r_151^0-r_151^post13 == 0 /\ -r_143^post13+r_143^0 == 0 /\ i_113^0-i_113^post13 == 0 /\ a_393^0-a_393^post13 == 0 /\ r_39^0-r_39^post13 == 0 /\ -x_SLAM_f_19^post13+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ -a_634^post13+a_634^0 == 0 /\ -i_107^post13+i_107^0 == 0 /\ a_432^0-a_432^post13 == 0 /\ f_969^0-f_969^post13 == 0 /\ -a_575^post13+a_575^0 == 0 /\ r_192^0-r_192^post13 == 0 /\ a_862^0-a_862^post13 == 0 /\ a_144^0-a_144^post13 == 0 /\ x_21^0-x_21^post13 == 0 /\ a_633^0-a_633^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -a_576^post13+a_576^0 == 0 /\ head_32^0-head_32^post13 == 0 /\ a_417^0-a_417^post13 == 0 /\ i_140^0-i_140^post13 == 0 /\ rcd_58^0-rcd_58^post13 == 0 /\ a_1089^0-a_1089^post13 == 0 /\ i_27^0-i_27^post13 == 0 /\ -temp_35^post13+temp_35^0 == 0 /\ -a_392^post13+a_392^0 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ -r_970^post13+r_970^0 == 0 /\ -x_253^post13+x_253^0 == 0 /\ -len_238^post13+len_238^0 == 0 /\ a_263^0-a_263^post13 == 0 /\ -a_310^post13+a_310^0 == 0 /\ -a_610^post13+a_610^0 == 0 /\ -a_1236^post13+a_1236^0 == 0 /\ a_632^0-a_632^post13 == 0 /\ -len_262^post13+len_262^0 == 0 /\ i_106^0-i_106^post13 == 0 /\ -r_224^post13+r_224^0 == 0 /\ -i_1248^post13+i_1248^0 == 0 /\ -a_239^post13+a_239^0 == 0 /\ -t_24^post13+t_24^0 == 0 /\ -i_197^post13+i_197^0 == 0 /\ -a_579^post13+a_579^0 == 0 /\ a_311^0-a_311^post13 == 0 /\ a_902^0-a_902^post13 == 0 /\ x_975^0-x_975^post13 == 0 /\ t_458^0-t_458^post13 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ f_248^0-f_248^post13 == 0 /\ -ct_18^post13+ct_18^0 == 0 /\ a_577^0-a_577^post13 == 0 /\ -a_431^post13+a_431^0 == 0 /\ -i_127^post13+i_127^0 == 0 /\ i_229^0-i_229^post13 == 0 /\ -a_395^post13+a_395^0 == 0 /\ -a_430^post13+a_430^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post13+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -a_1162^post13+a_1162^0 == 0 /\ -a_309^post13+a_309^0 == 0 /\ x_14^0-x_14^post13 == 0 /\ -a_947^post13+a_947^0 == 0 /\ i_1053^0-i_1053^post13 == 0 /\ a_121^0-a_121^post13 == 0 /\ -a_924^post13+a_924^0 == 0 /\ -head_15^post13+head_15^0 == 0 /\ a_394^0-a_394^post13 == 0 /\ -x_17^post13+x_17^0 == 0 /\ x_852^0-x_852^post13 == 0 /\ len_161^0-len_161^post13 == 0 /\ rcd_88^0-rcd_88^post13 == 0 /\ 1+x_14^0 <= 0 /\ -a_635^post13+a_635^0 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ a_176^0-a_176^post13 == 0 /\ y_20^0-y_20^post13 == 0 /\ f_847^0-f_847^post13 == 0 /\ -i_30^post13+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post13 == 0 /\ -len_861^post13+len_861^0 == 0 /\ rcd_1249^0-rcd_1249^post13 == 0 /\ length_29^0-length_29^post13 == 0), cost: 1 14: l11 -> l12 : a_1089^0'=a_1089^post14, f_847^0'=f_847^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_394^0'=a_394^post14, x_156^0'=x_156^post14, a_632^0'=a_632^post14, r_192^0'=r_192^post14, a_176^0'=a_176^post14, i_106^0'=i_106^post14, a_430^0'=a_430^post14, t_458^0'=t_458^post14, len_161^0'=len_161^post14, x_975^0'=x_975^post14, a_902^0'=a_902^post14, a_947^0'=a_947^post14, rcd_88^0'=rcd_88^post14, a_311^0'=a_311^post14, i_140^0'=i_140^post14, a_577^0'=a_577^post14, x_14^0'=x_14^post14, nondet_12^0'=nondet_12^post14, a_121^0'=a_121^post14, head_15^0'=head_15^post14, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post14, i_27^0'=i_27^post14, x_21^0'=x_21^post14, a_634^0'=a_634^post14, r_39^0'=r_39^post14, a_263^0'=a_263^post14, i_113^0'=i_113^post14, a_432^0'=a_432^post14, temp0_31^0'=temp0_31^post14, len_262^0'=len_262^post14, y_20^0'=y_20^post14, f_248^0'=f_248^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_393^0'=a_393^post14, i_229^0'=i_229^post14, a_610^0'=a_610^post14, r_151^0'=r_151^post14, a_144^0'=a_144^post14, i_1053^0'=i_1053^post14, a_417^0'=a_417^post14, t_24^0'=t_24^post14, i_94^0'=i_94^post14, x_852^0'=x_852^post14, a_862^0'=a_862^post14, rcd_1249^0'=rcd_1249^post14, rcd_58^0'=rcd_58^post14, a_310^0'=a_310^post14, i_127^0'=i_127^post14, a_576^0'=a_576^post14, tmp_34^0'=tmp_34^post14, length_29^0'=length_29^post14, a_1162^0'=a_1162^post14, f_969^0'=f_969^post14, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post14, a_395^0'=a_395^post14, x_17^0'=x_17^post14, a_633^0'=a_633^post14, r_224^0'=r_224^post14, a_239^0'=a_239^post14, i_107^0'=i_107^post14, a_431^0'=a_431^post14, temp0_16^0'=temp0_16^post14, len_238^0'=len_238^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, a_924^0'=a_924^post14, ct_18^0'=ct_18^post14, result_11^0'=result_11^post14, a_392^0'=a_392^post14, i_197^0'=i_197^post14, a_579^0'=a_579^post14, r_143^0'=r_143^post14, a_1236^0'=a_1236^post14, head_32^0'=head_32^post14, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post14, i_30^0'=i_30^post14, x_253^0'=x_253^post14, a_635^0'=a_635^post14, r_970^0'=r_970^post14, rcd_47^0'=rcd_47^post14, a_309^0'=a_309^post14, i_1248^0'=i_1248^post14, a_575^0'=a_575^post14, temp_35^0'=temp_35^post14, len_861^0'=len_861^post14, (0 == 0 /\ a_634^0-a_634^post14 == 0 /\ t_24^0-t_24^post14 == 0 /\ -len_861^post14+len_861^0 == 0 /\ -temp0_16^post14+temp0_16^0 == 0 /\ a_176^0-a_176^post14 == 0 /\ -len_262^post14+len_262^0 == 0 /\ -i_1248^post14+i_1248^0 == 0 /\ len_161^0-len_161^post14 == 0 /\ x_156^0-x_156^post14 == 0 /\ -len_161^0 <= 0 /\ a_947^0-a_947^post14 == 0 /\ -head_32^post14+head_32^0 == 0 /\ -f_248^post14+f_248^0 == 0 /\ -a_239^post14+a_239^0 == 0 /\ head_15^0-x_17^post14 <= 0 /\ a_263^0-a_263^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ i_1053^0-i_1053^post14 == 0 /\ -i_127^post14+i_127^0 == 0 /\ -i_229^post14+i_229^0 == 0 /\ -r_39^post14+r_39^0 == 0 /\ -a_392^post14+a_392^0 == 0 /\ a_395^0-a_395^post14 == 0 /\ x_21^post14-head_15^0 <= 0 /\ -ct_18^post14+y_20^post14 <= 0 /\ -ct_18^post14+y_20^post14 == 0 /\ length_29^0-length_29^post14 == 0 /\ i_27^0 <= 0 /\ -ct_18^post14 <= 0 /\ -a_575^post14+a_575^0 == 0 /\ -i_197^post14+i_197^0 == 0 /\ -a_579^post14+a_579^0 == 0 /\ head_15^0-head_15^post14 == 0 /\ -rcd_1249^post14+rcd_1249^0 == 0 /\ a_430^0-a_430^post14 == 0 /\ -a_309^post14+a_309^0 == 0 /\ -i_30^post14+i_30^0 == 0 /\ r_151^0-r_151^post14 == 0 /\ -a_635^post14+a_635^0 == 0 /\ a_632^0-a_632^post14 == 0 /\ -head_15^0+x_17^post14 <= 0 /\ -head_15^0+x_17^post14 == 0 /\ a_432^0-a_432^post14 == 0 /\ a_902^0-a_902^post14 == 0 /\ i_113^0-i_113^post14 == 0 /\ -a_176^0 <= 0 /\ r_192^0-r_192^post14 == 0 /\ a_1162^0-a_1162^post14 == 0 /\ a_862^0-a_862^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -x_21^post14+head_15^0 <= 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ -a_144^post14+a_144^0 == 0 /\ ct_18^post14-y_20^post14 <= 0 /\ -rcd_58^post14+rcd_58^0 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ ct_18^post14 <= 0 /\ ct_18^post14 == 0 /\ -len_238^post14+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post14+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post14+head_15^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ x_852^0-x_852^post14 == 0 /\ x_SLAM_f_19^post14-x_17^post14 <= 0 /\ x_SLAM_f_19^post14-x_17^post14 == 0 /\ a_1089^0-a_1089^post14 == 0 /\ -a_633^post14+a_633^0 == 0 /\ a_394^0-a_394^post14 == 0 /\ a_417^0-a_417^post14 == 0 /\ -a_924^post14+a_924^0 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ a_311^0-a_311^post14 == 0 /\ -x_21^post14+x_SLAM_f_19^post14 <= 0 /\ -a_576^post14+a_576^0 == 0 /\ i_140^0-i_140^post14 == 0 /\ f_847^0-f_847^post14 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post14 == 0 /\ i_106^0-i_106^post14 == 0 /\ -r_143^post14+r_143^0 == 0 /\ -a_121^post14+a_121^0 == 0 /\ i_107^0-i_107^post14 == 0 /\ -a_1236^post14+a_1236^0 == 0 /\ -x_253^post14+x_253^0 == 0 /\ x_975^0-x_975^post14 == 0 /\ t_458^0-t_458^post14 == 0 /\ a_393^0-a_393^post14 == 0 /\ x_SLAM_f_19^post14-head_15^0 <= 0 /\ -r_970^post14+r_970^0 == 0 /\ -x_SLAM_f_19^post14+x_17^post14 <= 0 /\ -a_431^post14+a_431^0 == 0 /\ y_20^post14 <= 0 /\ -f_969^post14+f_969^0 == 0 /\ r_224^0-r_224^post14 == 0 /\ -y_20^post14 <= 0 /\ -a_310^post14+a_310^0 == 0 /\ a_577^0-a_577^post14 == 0 /\ -a_610^post14+a_610^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ x_21^post14-x_SLAM_f_19^post14 <= 0 /\ x_21^post14-x_SLAM_f_19^post14 == 0 /\ -rcd_47^post14+rcd_47^0 == 0), cost: 1 15: l12 -> l13 : a_1089^0'=a_1089^post15, f_847^0'=f_847^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_394^0'=a_394^post15, x_156^0'=x_156^post15, a_632^0'=a_632^post15, r_192^0'=r_192^post15, a_176^0'=a_176^post15, i_106^0'=i_106^post15, a_430^0'=a_430^post15, t_458^0'=t_458^post15, len_161^0'=len_161^post15, x_975^0'=x_975^post15, a_902^0'=a_902^post15, a_947^0'=a_947^post15, rcd_88^0'=rcd_88^post15, a_311^0'=a_311^post15, i_140^0'=i_140^post15, a_577^0'=a_577^post15, x_14^0'=x_14^post15, nondet_12^0'=nondet_12^post15, a_121^0'=a_121^post15, head_15^0'=head_15^post15, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post15, i_27^0'=i_27^post15, x_21^0'=x_21^post15, a_634^0'=a_634^post15, r_39^0'=r_39^post15, a_263^0'=a_263^post15, i_113^0'=i_113^post15, a_432^0'=a_432^post15, temp0_31^0'=temp0_31^post15, len_262^0'=len_262^post15, y_20^0'=y_20^post15, f_248^0'=f_248^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_393^0'=a_393^post15, i_229^0'=i_229^post15, a_610^0'=a_610^post15, r_151^0'=r_151^post15, a_144^0'=a_144^post15, i_1053^0'=i_1053^post15, a_417^0'=a_417^post15, t_24^0'=t_24^post15, i_94^0'=i_94^post15, x_852^0'=x_852^post15, a_862^0'=a_862^post15, rcd_1249^0'=rcd_1249^post15, rcd_58^0'=rcd_58^post15, a_310^0'=a_310^post15, i_127^0'=i_127^post15, a_576^0'=a_576^post15, tmp_34^0'=tmp_34^post15, length_29^0'=length_29^post15, a_1162^0'=a_1162^post15, f_969^0'=f_969^post15, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post15, a_395^0'=a_395^post15, x_17^0'=x_17^post15, a_633^0'=a_633^post15, r_224^0'=r_224^post15, a_239^0'=a_239^post15, i_107^0'=i_107^post15, a_431^0'=a_431^post15, temp0_16^0'=temp0_16^post15, len_238^0'=len_238^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, a_924^0'=a_924^post15, ct_18^0'=ct_18^post15, result_11^0'=result_11^post15, a_392^0'=a_392^post15, i_197^0'=i_197^post15, a_579^0'=a_579^post15, r_143^0'=r_143^post15, a_1236^0'=a_1236^post15, head_32^0'=head_32^post15, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post15, i_30^0'=i_30^post15, x_253^0'=x_253^post15, a_635^0'=a_635^post15, r_970^0'=r_970^post15, rcd_47^0'=rcd_47^post15, a_309^0'=a_309^post15, i_1248^0'=i_1248^post15, a_575^0'=a_575^post15, temp_35^0'=temp_35^post15, len_861^0'=len_861^post15, (-a_610^post15+a_610^0 == 0 /\ t_458^0-t_458^post15 == 0 /\ a_902^0-a_902^post15 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post15 == 0 /\ -a_633^post15+a_633^0 == 0 /\ i_94^0-i_94^post15 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ i_106^0-i_106^post15 == 0 /\ -rcd_47^post15+rcd_47^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ head_15^0-head_15^post15 == 0 /\ a_310^0-a_310^post15 == 0 /\ 1-x_14^0 <= 0 /\ -rcd_1249^post15+rcd_1249^0 == 0 /\ -r_143^post15+r_143^0 == 0 /\ -a_634^post15+a_634^0 == 0 /\ x_156^0-x_156^post15 == 0 /\ a_1089^0-a_1089^post15 == 0 /\ -len_238^post15+len_238^0 == 0 /\ x_21^0-x_21^post15 == 0 /\ -r_151^post15+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_27^0-i_27^post15 == 0 /\ a_121^0-a_121^post15 == 0 /\ -f_969^post15+f_969^0 == 0 /\ len_262^0-len_262^post15 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post15 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ a_263^0-a_263^post15 == 0 /\ -x_253^post15+x_253^0 == 0 /\ -a_576^post15+a_576^0 == 0 /\ -temp_35^post15+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ a_417^0-a_417^post15 == 0 /\ -a_1236^post15+a_1236^0 == 0 /\ a_392^0-a_392^post15 == 0 /\ y_20^0-y_20^post15 == 0 /\ -f_248^post15+f_248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post15 == 0 /\ -a_311^post15+a_311^0 == 0 /\ -r_970^post15+r_970^0 == 0 /\ i_1053^0-i_1053^post15 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ -i_1248^post15+i_1248^0 == 0 /\ -a_395^post15+a_395^0 == 0 /\ a_632^0-a_632^post15 == 0 /\ -a_430^post15+a_430^0 == 0 /\ -a_239^post15+a_239^0 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ -length_29^post15+length_29^0 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ r_224^0-r_224^post15 == 0 /\ -ct_18^post15+ct_18^0 == 0 /\ x_975^0-x_975^post15 == 0 /\ -len_861^post15+len_861^0 == 0 /\ i_113^0-i_113^post15 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post15 == 0 /\ a_393^0-a_393^post15 == 0 /\ a_577^0-a_577^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ -head_32^post15+head_32^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ x_14^0-x_14^post15 == 0 /\ -r_192^post15+r_192^0 == 0 /\ a_432^0-a_432^post15 == 0 /\ -i_197^post15+i_197^0 == 0 /\ -a_579^post15+a_579^0 == 0 /\ len_161^0-len_161^post15 == 0 /\ -x_17^post15+x_17^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -a_309^post15+a_309^0 == 0 /\ -a_144^post15+a_144^0 == 0 /\ i_140^0-i_140^post15 == 0 /\ x_852^0-x_852^post15 == 0 /\ i_229^0-i_229^post15 == 0 /\ a_431^0-a_431^post15 == 0 /\ -i_127^post15+i_127^0 == 0 /\ -i_107^post15+i_107^0 == 0 /\ t_24^0-t_24^post15 == 0 /\ -a_924^post15+a_924^0 == 0 /\ -a_575^post15+a_575^0 == 0 /\ a_862^0-a_862^post15 == 0 /\ a_394^0-a_394^post15 == 0 /\ -a_635^post15+a_635^0 == 0 /\ a_176^0-a_176^post15 == 0 /\ f_847^0-f_847^post15 == 0 /\ a_947^0-a_947^post15 == 0 /\ -a_1162^post15+a_1162^0 == 0), cost: 1 16: l12 -> l13 : a_1089^0'=a_1089^post16, f_847^0'=f_847^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_394^0'=a_394^post16, x_156^0'=x_156^post16, a_632^0'=a_632^post16, r_192^0'=r_192^post16, a_176^0'=a_176^post16, i_106^0'=i_106^post16, a_430^0'=a_430^post16, t_458^0'=t_458^post16, len_161^0'=len_161^post16, x_975^0'=x_975^post16, a_902^0'=a_902^post16, a_947^0'=a_947^post16, rcd_88^0'=rcd_88^post16, a_311^0'=a_311^post16, i_140^0'=i_140^post16, a_577^0'=a_577^post16, x_14^0'=x_14^post16, nondet_12^0'=nondet_12^post16, a_121^0'=a_121^post16, head_15^0'=head_15^post16, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post16, i_27^0'=i_27^post16, x_21^0'=x_21^post16, a_634^0'=a_634^post16, r_39^0'=r_39^post16, a_263^0'=a_263^post16, i_113^0'=i_113^post16, a_432^0'=a_432^post16, temp0_31^0'=temp0_31^post16, len_262^0'=len_262^post16, y_20^0'=y_20^post16, f_248^0'=f_248^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_393^0'=a_393^post16, i_229^0'=i_229^post16, a_610^0'=a_610^post16, r_151^0'=r_151^post16, a_144^0'=a_144^post16, i_1053^0'=i_1053^post16, a_417^0'=a_417^post16, t_24^0'=t_24^post16, i_94^0'=i_94^post16, x_852^0'=x_852^post16, a_862^0'=a_862^post16, rcd_1249^0'=rcd_1249^post16, rcd_58^0'=rcd_58^post16, a_310^0'=a_310^post16, i_127^0'=i_127^post16, a_576^0'=a_576^post16, tmp_34^0'=tmp_34^post16, length_29^0'=length_29^post16, a_1162^0'=a_1162^post16, f_969^0'=f_969^post16, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post16, a_395^0'=a_395^post16, x_17^0'=x_17^post16, a_633^0'=a_633^post16, r_224^0'=r_224^post16, a_239^0'=a_239^post16, i_107^0'=i_107^post16, a_431^0'=a_431^post16, temp0_16^0'=temp0_16^post16, len_238^0'=len_238^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, a_924^0'=a_924^post16, ct_18^0'=ct_18^post16, result_11^0'=result_11^post16, a_392^0'=a_392^post16, i_197^0'=i_197^post16, a_579^0'=a_579^post16, r_143^0'=r_143^post16, a_1236^0'=a_1236^post16, head_32^0'=head_32^post16, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post16, i_30^0'=i_30^post16, x_253^0'=x_253^post16, a_635^0'=a_635^post16, r_970^0'=r_970^post16, rcd_47^0'=rcd_47^post16, a_309^0'=a_309^post16, i_1248^0'=i_1248^post16, a_575^0'=a_575^post16, temp_35^0'=temp_35^post16, len_861^0'=len_861^post16, (len_262^0-len_262^post16 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post16 == 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ i_140^0-i_140^post16 == 0 /\ i_197^0-i_197^post16 == 0 /\ -length_29^post16+length_29^0 == 0 /\ a_1089^0-a_1089^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post16+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post16+len_861^0 == 0 /\ temp0_31^0-temp0_31^post16 == 0 /\ a_1162^0-a_1162^post16 == 0 /\ i_229^0-i_229^post16 == 0 /\ -f_248^post16+f_248^0 == 0 /\ -a_1236^post16+a_1236^0 == 0 /\ a_634^0-a_634^post16 == 0 /\ a_947^0-a_947^post16 == 0 /\ -a_393^post16+a_393^0 == 0 /\ -i_1248^post16+i_1248^0 == 0 /\ -head_32^post16+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post16 == 0 /\ -a_579^post16+a_579^0 == 0 /\ -i_27^post16+i_27^0 == 0 /\ -a_239^post16+a_239^0 == 0 /\ i_1053^0-i_1053^post16 == 0 /\ -i_127^post16+i_127^0 == 0 /\ a_395^0-a_395^post16 == 0 /\ a_176^0-a_176^post16 == 0 /\ i_113^0-i_113^post16 == 0 /\ x_975^0-x_975^post16 == 0 /\ -a_635^post16+a_635^0 == 0 /\ -a_144^post16+a_144^0 == 0 /\ r_192^0-r_192^post16 == 0 /\ -i_30^post16+i_30^0 == 0 /\ -head_15^post16+head_15^0 == 0 /\ -a_575^post16+a_575^0 == 0 /\ -x_17^post16+x_17^0 == 0 /\ -x_852^post16+x_852^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post16+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post16+a_309^0 == 0 /\ a_310^0-a_310^post16 == 0 /\ -a_417^post16+a_417^0 == 0 /\ -rcd_58^post16+rcd_58^0 == 0 /\ a_632^0-a_632^post16 == 0 /\ -ct_18^post16+ct_18^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ a_432^0-a_432^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ t_24^0-t_24^post16 == 0 /\ -len_238^post16+len_238^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ a_862^0-a_862^post16 == 0 /\ a_121^0-a_121^post16 == 0 /\ x_21^0-x_21^post16 == 0 /\ -a_902^post16+a_902^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0 /\ -a_633^post16+a_633^0 == 0 /\ x_156^0-x_156^post16 == 0 /\ len_161^0-len_161^post16 == 0 /\ f_847^0-f_847^post16 == 0 /\ a_263^0-a_263^post16 == 0 /\ -a_924^post16+a_924^0 == 0 /\ a_394^0-a_394^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_969^post16+f_969^0 == 0 /\ -result_11^post16+result_11^0 == 0 /\ -rcd_1249^post16+rcd_1249^0 == 0 /\ y_20^0-y_20^post16 == 0 /\ -a_431^post16+a_431^0 == 0 /\ i_107^0-i_107^post16 == 0 /\ -x_253^post16+x_253^0 == 0 /\ r_224^0-r_224^post16 == 0 /\ -r_970^post16+r_970^0 == 0 /\ rcd_47^0-rcd_47^post16 == 0 /\ -a_392^post16+a_392^0 == 0 /\ r_151^0-r_151^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ a_577^0-a_577^post16 == 0 /\ t_458^0-t_458^post16 == 0 /\ a_311^0-a_311^post16 == 0 /\ -r_143^post16+r_143^0 == 0 /\ i_106^0-i_106^post16 == 0 /\ i_94^0-i_94^post16 == 0 /\ -a_576^post16+a_576^0 == 0 /\ 1+x_14^0 <= 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -a_610^post16+a_610^0 == 0 /\ a_430^0-a_430^post16 == 0 /\ -temp_35^post16+temp_35^0 == 0), cost: 1 17: l13 -> l14 : a_1089^0'=a_1089^post17, f_847^0'=f_847^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_394^0'=a_394^post17, x_156^0'=x_156^post17, a_632^0'=a_632^post17, r_192^0'=r_192^post17, a_176^0'=a_176^post17, i_106^0'=i_106^post17, a_430^0'=a_430^post17, t_458^0'=t_458^post17, len_161^0'=len_161^post17, x_975^0'=x_975^post17, a_902^0'=a_902^post17, a_947^0'=a_947^post17, rcd_88^0'=rcd_88^post17, a_311^0'=a_311^post17, i_140^0'=i_140^post17, a_577^0'=a_577^post17, x_14^0'=x_14^post17, nondet_12^0'=nondet_12^post17, a_121^0'=a_121^post17, head_15^0'=head_15^post17, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post17, i_27^0'=i_27^post17, x_21^0'=x_21^post17, a_634^0'=a_634^post17, r_39^0'=r_39^post17, a_263^0'=a_263^post17, i_113^0'=i_113^post17, a_432^0'=a_432^post17, temp0_31^0'=temp0_31^post17, len_262^0'=len_262^post17, y_20^0'=y_20^post17, f_248^0'=f_248^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_393^0'=a_393^post17, i_229^0'=i_229^post17, a_610^0'=a_610^post17, r_151^0'=r_151^post17, a_144^0'=a_144^post17, i_1053^0'=i_1053^post17, a_417^0'=a_417^post17, t_24^0'=t_24^post17, i_94^0'=i_94^post17, x_852^0'=x_852^post17, a_862^0'=a_862^post17, rcd_1249^0'=rcd_1249^post17, rcd_58^0'=rcd_58^post17, a_310^0'=a_310^post17, i_127^0'=i_127^post17, a_576^0'=a_576^post17, tmp_34^0'=tmp_34^post17, length_29^0'=length_29^post17, a_1162^0'=a_1162^post17, f_969^0'=f_969^post17, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post17, a_395^0'=a_395^post17, x_17^0'=x_17^post17, a_633^0'=a_633^post17, r_224^0'=r_224^post17, a_239^0'=a_239^post17, i_107^0'=i_107^post17, a_431^0'=a_431^post17, temp0_16^0'=temp0_16^post17, len_238^0'=len_238^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, a_924^0'=a_924^post17, ct_18^0'=ct_18^post17, result_11^0'=result_11^post17, a_392^0'=a_392^post17, i_197^0'=i_197^post17, a_579^0'=a_579^post17, r_143^0'=r_143^post17, a_1236^0'=a_1236^post17, head_32^0'=head_32^post17, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post17, i_30^0'=i_30^post17, x_253^0'=x_253^post17, a_635^0'=a_635^post17, r_970^0'=r_970^post17, rcd_47^0'=rcd_47^post17, a_309^0'=a_309^post17, i_1248^0'=i_1248^post17, a_575^0'=a_575^post17, temp_35^0'=temp_35^post17, len_861^0'=len_861^post17, (t_458^0-t_458^post17 == 0 /\ -a_610^post17+a_610^0 == 0 /\ i_106^0-i_106^post17 == 0 /\ i_127^0-i_127^post17 == 0 /\ x_975^0-x_975^post17 == 0 /\ -len_238^post17+len_238^0 == 0 /\ a_632^0-a_632^post17 == 0 /\ a_577^0-a_577^post17 == 0 /\ rcd_1249^0-rcd_1249^post17 == 0 /\ head_15^0-head_15^post17 == 0 /\ a_902^0-a_902^post17 == 0 /\ -rcd_47^post17+rcd_47^0 == 0 /\ -a_634^post17+a_634^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ -x_253^post17+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post17 == 0 /\ i_229^0-i_229^post17 == 0 /\ -r_151^post17+r_151^0 == 0 /\ -result_11^post17+result_11^0 == 0 /\ a_121^0-a_121^post17 == 0 /\ -r_224^post17+r_224^0 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ -a_576^post17+a_576^0 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -r_970^post17+r_970^0 == 0 /\ len_262^0-len_262^post17 == 0 /\ -r_143^post17+r_143^0 == 0 /\ -x_SLAM_f_19^post17+x_SLAM_f_19^0 == 0 /\ -i_27^post17+i_27^0 == 0 /\ a_176^0-a_176^post17 == 0 /\ f_847^0-f_847^post17 == 0 /\ y_20^0-y_20^post17 == 0 /\ a_394^0-a_394^post17 == 0 /\ a_924^0-a_924^post17 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post17 == 0 /\ -a_395^post17+a_395^0 == 0 /\ -a_1236^post17+a_1236^0 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ -a_311^post17+a_311^0 == 0 /\ f_969^0-f_969^post17 == 0 /\ -a_392^post17+a_392^0 == 0 /\ i_94^0-i_94^post17 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post17 == 0 /\ -i_1248^post17+i_1248^0 == 0 /\ -length_29^post17+length_29^0 == 0 /\ i_113^0-i_113^post17 == 0 /\ r_39^0-r_39^post17 == 0 /\ -a_239^post17+a_239^0 == 0 /\ a_393^0-a_393^post17 == 0 /\ temp0_16^0-temp0_16^post17 == 0 /\ -a_862^post17+a_862^0 == 0 /\ -a_310^post17+a_310^0 == 0 /\ -x_156^post17+x_156^0 == 0 /\ len_161^0-len_161^post17 == 0 /\ -i_1053^post17+i_1053^0 == 0 /\ -i_30^post17+i_30^0 == 0 /\ x_21^0-x_21^post17 == 0 /\ -len_861^post17+len_861^0 == 0 /\ a_432^0-a_432^post17 == 0 /\ -a_635^post17+a_635^0 == 0 /\ -r_192^post17+r_192^0 == 0 /\ x_14^0-x_14^post17 == 0 /\ a_430^0-a_430^post17 == 0 /\ -head_32^post17+head_32^0 == 0 /\ -x_852^post17+x_852^0 == 0 /\ i_140^0-i_140^post17 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ 1-head_15^0 <= 0 /\ -x_17^post17+x_17^0 == 0 /\ -a_309^post17+a_309^0 == 0 /\ a_431^0-a_431^post17 == 0 /\ -a_579^post17+a_579^0 == 0 /\ a_1162^0-a_1162^post17 == 0 /\ -rcd_58^post17+rcd_58^0 == 0 /\ t_24^0-t_24^post17 == 0 /\ -i_107^post17+i_107^0 == 0 /\ -ct_18^post17+ct_18^0 == 0 /\ a_144^0-a_144^post17 == 0 /\ a_947^0-a_947^post17 == 0 /\ -a_263^post17+a_263^0 == 0 /\ -a_575^post17+a_575^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post17+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_197^post17+i_197^0 == 0 /\ -a_633^post17+a_633^0 == 0 /\ f_248^0-f_248^post17 == 0 /\ -a_417^post17+a_417^0 == 0), cost: 1 18: l13 -> l14 : a_1089^0'=a_1089^post18, f_847^0'=f_847^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, a_394^0'=a_394^post18, x_156^0'=x_156^post18, a_632^0'=a_632^post18, r_192^0'=r_192^post18, a_176^0'=a_176^post18, i_106^0'=i_106^post18, a_430^0'=a_430^post18, t_458^0'=t_458^post18, len_161^0'=len_161^post18, x_975^0'=x_975^post18, a_902^0'=a_902^post18, a_947^0'=a_947^post18, rcd_88^0'=rcd_88^post18, a_311^0'=a_311^post18, i_140^0'=i_140^post18, a_577^0'=a_577^post18, x_14^0'=x_14^post18, nondet_12^0'=nondet_12^post18, a_121^0'=a_121^post18, head_15^0'=head_15^post18, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post18, i_27^0'=i_27^post18, x_21^0'=x_21^post18, a_634^0'=a_634^post18, r_39^0'=r_39^post18, a_263^0'=a_263^post18, i_113^0'=i_113^post18, a_432^0'=a_432^post18, temp0_31^0'=temp0_31^post18, len_262^0'=len_262^post18, y_20^0'=y_20^post18, f_248^0'=f_248^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, a_393^0'=a_393^post18, i_229^0'=i_229^post18, a_610^0'=a_610^post18, r_151^0'=r_151^post18, a_144^0'=a_144^post18, i_1053^0'=i_1053^post18, a_417^0'=a_417^post18, t_24^0'=t_24^post18, i_94^0'=i_94^post18, x_852^0'=x_852^post18, a_862^0'=a_862^post18, rcd_1249^0'=rcd_1249^post18, rcd_58^0'=rcd_58^post18, a_310^0'=a_310^post18, i_127^0'=i_127^post18, a_576^0'=a_576^post18, tmp_34^0'=tmp_34^post18, length_29^0'=length_29^post18, a_1162^0'=a_1162^post18, f_969^0'=f_969^post18, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post18, a_395^0'=a_395^post18, x_17^0'=x_17^post18, a_633^0'=a_633^post18, r_224^0'=r_224^post18, a_239^0'=a_239^post18, i_107^0'=i_107^post18, a_431^0'=a_431^post18, temp0_16^0'=temp0_16^post18, len_238^0'=len_238^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_924^0'=a_924^post18, ct_18^0'=ct_18^post18, result_11^0'=result_11^post18, a_392^0'=a_392^post18, i_197^0'=i_197^post18, a_579^0'=a_579^post18, r_143^0'=r_143^post18, a_1236^0'=a_1236^post18, head_32^0'=head_32^post18, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post18, i_30^0'=i_30^post18, x_253^0'=x_253^post18, a_635^0'=a_635^post18, r_970^0'=r_970^post18, rcd_47^0'=rcd_47^post18, a_309^0'=a_309^post18, i_1248^0'=i_1248^post18, a_575^0'=a_575^post18, temp_35^0'=temp_35^post18, len_861^0'=len_861^post18, (-len_861^post18+len_861^0 == 0 /\ x_21^0-x_21^post18 == 0 /\ i_197^0-i_197^post18 == 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post18 == 0 /\ -a_1236^post18+a_1236^0 == 0 /\ a_576^0-a_576^post18 == 0 /\ a_1162^0-a_1162^post18 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post18 == 0 /\ -a_432^post18+a_432^0 == 0 /\ -a_393^post18+a_393^0 == 0 /\ -i_1248^post18+i_1248^0 == 0 /\ -a_239^post18+a_239^0 == 0 /\ f_248^0-f_248^post18 == 0 /\ -i_94^post18+i_94^0 == 0 /\ -a_392^post18+a_392^0 == 0 /\ x_17^0-x_17^post18 == 0 /\ a_924^0-a_924^post18 == 0 /\ -length_29^post18+length_29^0 == 0 /\ a_394^0-a_394^post18 == 0 /\ -i_1053^post18+i_1053^0 == 0 /\ -a_310^post18+a_310^0 == 0 /\ -head_32^post18+head_32^0 == 0 /\ x_975^0-x_975^post18 == 0 /\ -a_635^post18+a_635^0 == 0 /\ r_224^0-r_224^post18 == 0 /\ -i_30^post18+i_30^0 == 0 /\ rcd_1249^0-rcd_1249^post18 == 0 /\ a_610^0-a_610^post18 == 0 /\ -r_151^post18+r_151^0 == 0 /\ i_106^0-i_106^post18 == 0 /\ -rcd_58^post18+rcd_58^0 == 0 /\ i_27^0-i_27^post18 == 0 /\ -a_417^post18+a_417^0 == 0 /\ -a_579^post18+a_579^0 == 0 /\ -a_309^post18+a_309^0 == 0 /\ t_458^0-t_458^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -ct_18^post18+ct_18^0 == 0 /\ -a_144^post18+a_144^0 == 0 /\ -a_263^post18+a_263^0 == 0 /\ -i_107^post18+i_107^0 == 0 /\ -a_575^post18+a_575^0 == 0 /\ -a_862^post18+a_862^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ -a_633^post18+a_633^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ len_161^0-len_161^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ x_156^0-x_156^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post18+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_431^post18+a_431^0 == 0 /\ f_847^0-f_847^post18 == 0 /\ -x_852^post18+x_852^0 == 0 /\ a_634^0-a_634^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ head_15^0-head_15^post18 == 0 /\ -f_969^post18+f_969^0 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ a_121^0-a_121^post18 == 0 /\ -rcd_47^post18+rcd_47^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ -i_140^post18+i_140^0 == 0 /\ len_262^0-len_262^post18 == 0 /\ a_947^0-a_947^post18 == 0 /\ -temp_35^post18+temp_35^0 == 0 /\ a_430^0-a_430^post18 == 0 /\ rcd_88^0-rcd_88^post18 == 0 /\ r_192^0-r_192^post18 == 0 /\ i_127^0-i_127^post18 == 0 /\ a_311^0-a_311^post18 == 0 /\ a_902^0-a_902^post18 == 0 /\ -r_143^post18+r_143^0 == 0 /\ a_176^0-a_176^post18 == 0 /\ len_238^0-len_238^post18 == 0 /\ -i_229^post18+i_229^0 == 0 /\ a_577^0-a_577^post18 == 0 /\ -y_20^post18+y_20^0 == 0 /\ -x_253^post18+x_253^0 == 0 /\ -x_SLAM_f_19^post18+x_SLAM_f_19^0 == 0 /\ -r_970^post18+r_970^0 == 0 /\ a_632^0-a_632^post18 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post18+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ temp0_16^0-temp0_16^post18 == 0 /\ x_14^0-x_14^post18 == 0 /\ a_1089^0-a_1089^post18 == 0 /\ -i_113^post18+i_113^0 == 0 /\ -a_395^post18+a_395^0 == 0), cost: 1 19: l14 -> l15 : a_1089^0'=a_1089^post19, f_847^0'=f_847^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, a_394^0'=a_394^post19, x_156^0'=x_156^post19, a_632^0'=a_632^post19, r_192^0'=r_192^post19, a_176^0'=a_176^post19, i_106^0'=i_106^post19, a_430^0'=a_430^post19, t_458^0'=t_458^post19, len_161^0'=len_161^post19, x_975^0'=x_975^post19, a_902^0'=a_902^post19, a_947^0'=a_947^post19, rcd_88^0'=rcd_88^post19, a_311^0'=a_311^post19, i_140^0'=i_140^post19, a_577^0'=a_577^post19, x_14^0'=x_14^post19, nondet_12^0'=nondet_12^post19, a_121^0'=a_121^post19, head_15^0'=head_15^post19, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post19, i_27^0'=i_27^post19, x_21^0'=x_21^post19, a_634^0'=a_634^post19, r_39^0'=r_39^post19, a_263^0'=a_263^post19, i_113^0'=i_113^post19, a_432^0'=a_432^post19, temp0_31^0'=temp0_31^post19, len_262^0'=len_262^post19, y_20^0'=y_20^post19, f_248^0'=f_248^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, a_393^0'=a_393^post19, i_229^0'=i_229^post19, a_610^0'=a_610^post19, r_151^0'=r_151^post19, a_144^0'=a_144^post19, i_1053^0'=i_1053^post19, a_417^0'=a_417^post19, t_24^0'=t_24^post19, i_94^0'=i_94^post19, x_852^0'=x_852^post19, a_862^0'=a_862^post19, rcd_1249^0'=rcd_1249^post19, rcd_58^0'=rcd_58^post19, a_310^0'=a_310^post19, i_127^0'=i_127^post19, a_576^0'=a_576^post19, tmp_34^0'=tmp_34^post19, length_29^0'=length_29^post19, a_1162^0'=a_1162^post19, f_969^0'=f_969^post19, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post19, a_395^0'=a_395^post19, x_17^0'=x_17^post19, a_633^0'=a_633^post19, r_224^0'=r_224^post19, a_239^0'=a_239^post19, i_107^0'=i_107^post19, a_431^0'=a_431^post19, temp0_16^0'=temp0_16^post19, len_238^0'=len_238^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, a_924^0'=a_924^post19, ct_18^0'=ct_18^post19, result_11^0'=result_11^post19, a_392^0'=a_392^post19, i_197^0'=i_197^post19, a_579^0'=a_579^post19, r_143^0'=r_143^post19, a_1236^0'=a_1236^post19, head_32^0'=head_32^post19, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post19, i_30^0'=i_30^post19, x_253^0'=x_253^post19, a_635^0'=a_635^post19, r_970^0'=r_970^post19, rcd_47^0'=rcd_47^post19, a_309^0'=a_309^post19, i_1248^0'=i_1248^post19, a_575^0'=a_575^post19, temp_35^0'=temp_35^post19, len_861^0'=len_861^post19, (a_902^0-a_902^post19 == 0 /\ -i_197^post19+i_197^0 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ i_127^0-i_127^post19 == 0 /\ rcd_1249^0-rcd_1249^post19 == 0 /\ -r_970^post19+r_970^0 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post19+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ r_192^0-r_192^post19 == 0 /\ -x_253^post19+x_253^0 == 0 /\ i_106^0-i_106^post19 == 0 /\ -a_610^post19+a_610^0 == 0 /\ -ct_18^post19+ct_18^0 == 0 /\ i_27^0-i_27^post19 == 0 /\ t_458^0-t_458^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post19 == 0 /\ -rcd_47^post19+rcd_47^0 == 0 /\ -rcd_58^post19+rcd_58^0 == 0 /\ x_852^0-x_852^post19 == 0 /\ -x_SLAM_f_19^post19+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post19+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_311^post19+a_311^0 == 0 /\ -len_861^post19+len_861^0 == 0 /\ f_847^0-f_847^post19 == 0 /\ -i_1248^post19+i_1248^0 == 0 /\ i_229^0-i_229^post19 == 0 /\ a_924^0-a_924^post19 == 0 /\ -a_239^post19+a_239^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ a_947^0-a_947^post19 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ x_975^0-x_975^post19 == 0 /\ head_15^0-head_15^post19 == 0 /\ -a_431^post19+a_431^0 == 0 /\ y_20^0-y_20^post19 == 0 /\ -a_395^post19+a_395^0 == 0 /\ len_262^0-len_262^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ -r_143^post19+r_143^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ -i_113^post19+i_113^0 == 0 /\ a_394^0-a_394^post19 == 0 /\ -a_575^post19+a_575^0 == 0 /\ a_176^0-a_176^post19 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_309^post19+a_309^0 == 0 /\ -a_862^post19+a_862^0 == 0 /\ rcd_88^0-rcd_88^post19 == 0 /\ -a_635^post19+a_635^0 == 0 /\ f_969^0-f_969^post19 == 0 /\ -i_1053^post19+i_1053^0 == 0 /\ a_430^0-a_430^post19 == 0 /\ -i_30^post19+i_30^0 == 0 /\ -a_393^post19+a_393^0 == 0 /\ temp0_16^0-temp0_16^post19 == 0 /\ -a_310^post19+a_310^0 == 0 /\ x_14^0-x_14^post19 == 0 /\ a_632^0-a_632^post19 == 0 /\ -i_94^post19+i_94^0 == 0 /\ -r_224^post19+r_224^0 == 0 /\ -a_1236^post19+a_1236^0 == 0 /\ len_161^0-len_161^post19 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ -r_151^post19+r_151^0 == 0 /\ a_432^0-a_432^post19 == 0 /\ a_576^0-a_576^post19 == 0 /\ a_1162^0-a_1162^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post19+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post19 == 0 /\ a_144^0-a_144^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ i_140^0-i_140^post19 == 0 /\ -a_579^post19+a_579^0 == 0 /\ -a_263^post19+a_263^0 == 0 /\ x_17^0-x_17^post19 == 0 /\ len_238^0-len_238^post19 == 0 /\ a_634^0-a_634^post19 == 0 /\ -i_107^post19+i_107^0 == 0 /\ -a_633^post19+a_633^0 == 0 /\ a_577^0-a_577^post19 == 0 /\ a_121^0-a_121^post19 == 0 /\ x_156^0-x_156^post19 == 0 /\ -a_392^post19+a_392^0 == 0 /\ a_417^0-a_417^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ f_248^0-f_248^post19 == 0 /\ -r_39^post19+r_39^0 == 0), cost: 1 20: l14 -> l15 : a_1089^0'=a_1089^post20, f_847^0'=f_847^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, a_394^0'=a_394^post20, x_156^0'=x_156^post20, a_632^0'=a_632^post20, r_192^0'=r_192^post20, a_176^0'=a_176^post20, i_106^0'=i_106^post20, a_430^0'=a_430^post20, t_458^0'=t_458^post20, len_161^0'=len_161^post20, x_975^0'=x_975^post20, a_902^0'=a_902^post20, a_947^0'=a_947^post20, rcd_88^0'=rcd_88^post20, a_311^0'=a_311^post20, i_140^0'=i_140^post20, a_577^0'=a_577^post20, x_14^0'=x_14^post20, nondet_12^0'=nondet_12^post20, a_121^0'=a_121^post20, head_15^0'=head_15^post20, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post20, i_27^0'=i_27^post20, x_21^0'=x_21^post20, a_634^0'=a_634^post20, r_39^0'=r_39^post20, a_263^0'=a_263^post20, i_113^0'=i_113^post20, a_432^0'=a_432^post20, temp0_31^0'=temp0_31^post20, len_262^0'=len_262^post20, y_20^0'=y_20^post20, f_248^0'=f_248^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, a_393^0'=a_393^post20, i_229^0'=i_229^post20, a_610^0'=a_610^post20, r_151^0'=r_151^post20, a_144^0'=a_144^post20, i_1053^0'=i_1053^post20, a_417^0'=a_417^post20, t_24^0'=t_24^post20, i_94^0'=i_94^post20, x_852^0'=x_852^post20, a_862^0'=a_862^post20, rcd_1249^0'=rcd_1249^post20, rcd_58^0'=rcd_58^post20, a_310^0'=a_310^post20, i_127^0'=i_127^post20, a_576^0'=a_576^post20, tmp_34^0'=tmp_34^post20, length_29^0'=length_29^post20, a_1162^0'=a_1162^post20, f_969^0'=f_969^post20, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post20, a_395^0'=a_395^post20, x_17^0'=x_17^post20, a_633^0'=a_633^post20, r_224^0'=r_224^post20, a_239^0'=a_239^post20, i_107^0'=i_107^post20, a_431^0'=a_431^post20, temp0_16^0'=temp0_16^post20, len_238^0'=len_238^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, a_924^0'=a_924^post20, ct_18^0'=ct_18^post20, result_11^0'=result_11^post20, a_392^0'=a_392^post20, i_197^0'=i_197^post20, a_579^0'=a_579^post20, r_143^0'=r_143^post20, a_1236^0'=a_1236^post20, head_32^0'=head_32^post20, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post20, i_30^0'=i_30^post20, x_253^0'=x_253^post20, a_635^0'=a_635^post20, r_970^0'=r_970^post20, rcd_47^0'=rcd_47^post20, a_309^0'=a_309^post20, i_1248^0'=i_1248^post20, a_575^0'=a_575^post20, temp_35^0'=temp_35^post20, len_861^0'=len_861^post20, (-a_309^post20+a_309^0 == 0 /\ -a_1236^post20+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post20 == 0 /\ i_229^0-i_229^post20 == 0 /\ -a_417^post20+a_417^0 == 0 /\ -r_143^post20+r_143^0 == 0 /\ -x_SLAM_f_19^post20+x_SLAM_f_19^0 == 0 /\ -i_27^post20+i_27^0 == 0 /\ f_248^0-f_248^post20 == 0 /\ -a_393^post20+a_393^0 == 0 /\ -i_30^post20+i_30^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ head_15^0-head_15^post20 == 0 /\ a_634^0-a_634^post20 == 0 /\ -a_635^post20+a_635^0 == 0 /\ -length_29^post20+length_29^0 == 0 /\ a_947^0-a_947^post20 == 0 /\ -i_107^post20+i_107^0 == 0 /\ a_121^0-a_121^post20 == 0 /\ x_975^0-x_975^post20 == 0 /\ i_127^0-i_127^post20 == 0 /\ x_156^0-x_156^post20 == 0 /\ -a_575^post20+a_575^0 == 0 /\ len_262^0-len_262^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post20+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_176^0-a_176^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -rcd_47^post20+rcd_47^0 == 0 /\ r_192^0-r_192^post20 == 0 /\ -ct_18^post20+ct_18^0 == 0 /\ -a_862^post20+a_862^0 == 0 /\ -a_310^post20+a_310^0 == 0 /\ x_14^0-x_14^post20 == 0 /\ -r_151^post20+r_151^0 == 0 /\ a_632^0-a_632^post20 == 0 /\ -a_392^post20+a_392^0 == 0 /\ -a_902^post20+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_432^0-a_432^post20 == 0 /\ -i_197^post20+i_197^0 == 0 /\ -a_579^post20+a_579^0 == 0 /\ -t_24^post20+t_24^0 == 0 /\ a_633^0-a_633^post20 == 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ -result_11^post20+result_11^0 == 0 /\ y_20^0-y_20^post20 == 0 /\ f_847^0-f_847^post20 == 0 /\ -f_969^post20+f_969^0 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -x_253^post20+x_253^0 == 0 /\ i_140^0-i_140^post20 == 0 /\ x_21^0-x_21^post20 == 0 /\ -a_263^post20+a_263^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ -rcd_58^post20+rcd_58^0 == 0 /\ a_610^0-a_610^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post20 == 0 /\ i_94^0-i_94^post20 == 0 /\ x_17^0-x_17^post20 == 0 /\ i_113^0-i_113^post20 == 0 /\ -a_431^post20+a_431^0 == 0 /\ -x_852^post20+x_852^0 == 0 /\ r_970^0-r_970^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_395^post20+a_395^0 == 0 /\ a_394^0-a_394^post20 == 0 /\ a_144^0-a_144^post20 == 0 /\ a_577^0-a_577^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ -len_861^post20+len_861^0 == 0 /\ -i_1248^post20+i_1248^0 == 0 /\ len_238^0-len_238^post20 == 0 /\ -a_311^post20+a_311^0 == 0 /\ a_1089^0-a_1089^post20 == 0 /\ -a_239^post20+a_239^0 == 0 /\ -tmp_34^post20+tmp_34^0 == 0 /\ -a_1162^post20+a_1162^0 == 0 /\ i_106^0-i_106^post20 == 0 /\ -len_161^post20+len_161^0 == 0 /\ r_39^0-r_39^post20 == 0 /\ a_430^0-a_430^post20 == 0 /\ -a_576^post20+a_576^0 == 0 /\ -r_224^post20+r_224^0 == 0 /\ t_458^0-t_458^post20 == 0 /\ -i_1053^post20+i_1053^0 == 0 /\ -a_924^post20+a_924^0 == 0), cost: 1 21: l15 -> l9 : a_1089^0'=a_1089^post21, f_847^0'=f_847^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, a_394^0'=a_394^post21, x_156^0'=x_156^post21, a_632^0'=a_632^post21, r_192^0'=r_192^post21, a_176^0'=a_176^post21, i_106^0'=i_106^post21, a_430^0'=a_430^post21, t_458^0'=t_458^post21, len_161^0'=len_161^post21, x_975^0'=x_975^post21, a_902^0'=a_902^post21, a_947^0'=a_947^post21, rcd_88^0'=rcd_88^post21, a_311^0'=a_311^post21, i_140^0'=i_140^post21, a_577^0'=a_577^post21, x_14^0'=x_14^post21, nondet_12^0'=nondet_12^post21, a_121^0'=a_121^post21, head_15^0'=head_15^post21, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post21, i_27^0'=i_27^post21, x_21^0'=x_21^post21, a_634^0'=a_634^post21, r_39^0'=r_39^post21, a_263^0'=a_263^post21, i_113^0'=i_113^post21, a_432^0'=a_432^post21, temp0_31^0'=temp0_31^post21, len_262^0'=len_262^post21, y_20^0'=y_20^post21, f_248^0'=f_248^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, a_393^0'=a_393^post21, i_229^0'=i_229^post21, a_610^0'=a_610^post21, r_151^0'=r_151^post21, a_144^0'=a_144^post21, i_1053^0'=i_1053^post21, a_417^0'=a_417^post21, t_24^0'=t_24^post21, i_94^0'=i_94^post21, x_852^0'=x_852^post21, a_862^0'=a_862^post21, rcd_1249^0'=rcd_1249^post21, rcd_58^0'=rcd_58^post21, a_310^0'=a_310^post21, i_127^0'=i_127^post21, a_576^0'=a_576^post21, tmp_34^0'=tmp_34^post21, length_29^0'=length_29^post21, a_1162^0'=a_1162^post21, f_969^0'=f_969^post21, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post21, a_395^0'=a_395^post21, x_17^0'=x_17^post21, a_633^0'=a_633^post21, r_224^0'=r_224^post21, a_239^0'=a_239^post21, i_107^0'=i_107^post21, a_431^0'=a_431^post21, temp0_16^0'=temp0_16^post21, len_238^0'=len_238^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, a_924^0'=a_924^post21, ct_18^0'=ct_18^post21, result_11^0'=result_11^post21, a_392^0'=a_392^post21, i_197^0'=i_197^post21, a_579^0'=a_579^post21, r_143^0'=r_143^post21, a_1236^0'=a_1236^post21, head_32^0'=head_32^post21, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post21, i_30^0'=i_30^post21, x_253^0'=x_253^post21, a_635^0'=a_635^post21, r_970^0'=r_970^post21, rcd_47^0'=rcd_47^post21, a_309^0'=a_309^post21, i_1248^0'=i_1248^post21, a_575^0'=a_575^post21, temp_35^0'=temp_35^post21, len_861^0'=len_861^post21, (a_1089^0-a_1089^post21 == 0 /\ a_394^0-a_394^post21 == 0 /\ -x_253^post21+x_253^0 == 0 /\ -y_20^post21+y_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_24^post21+t_24^0 == 0 /\ a_311^0-a_311^post21 == 0 /\ -a_263^post21+a_263^0 == 0 /\ a_576^0-a_576^post21 == 0 /\ t_458^0-t_458^post21 == 0 /\ -r_970^post21+r_970^0 == 0 /\ x_852^0-x_852^post21 == 0 /\ -a_431^post21+a_431^0 == 0 /\ rcd_88^0-rcd_88^post21 == 0 /\ i_106^0-i_106^post21 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post21+temp_35^0 == 0 /\ -ct_18^post21+ct_18^0 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ f_847^0-f_847^post21 == 0 /\ -i_229^post21+i_229^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post21 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -i_1053^post21+i_1053^0 == 0 /\ -a_395^post21+a_395^0 == 0 /\ -a_417^post21+a_417^0 == 0 /\ -len_861^post21+len_861^0 == 0 /\ -a_239^post21+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post21+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_924^0-a_924^post21 == 0 /\ a_1236^0-a_1236^post21 == 0 /\ -result_11^post21+result_11^0 == 0 /\ len_262^0-len_262^post21 == 0 /\ -a_577^post21+a_577^0 == 0 /\ a_610^0-a_610^post21 == 0 /\ -i_1248^post21+i_1248^0 == 0 /\ -a_393^post21+a_393^0 == 0 /\ x_21^0-x_21^post21 == 0 /\ -r_224^post21+r_224^0 == 0 /\ x_975^0-x_975^post21 == 0 /\ -x_17^post21+x_17^0 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ -r_143^post21+r_143^0 == 0 /\ i_127^0-i_127^post21 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post21 == 0 /\ len_238^0-len_238^post21 == 0 /\ -i_107^post21+i_107^0 == 0 /\ -i_30^post21+i_30^0 == 0 /\ -a_575^post21+a_575^0 == 0 /\ f_969^0-f_969^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -i_94^post21+i_94^0 == 0 /\ x_14^0-x_14^post21 == 0 /\ a_176^0-a_176^post21 == 0 /\ -a_309^post21+a_309^0 == 0 /\ a_121^0-a_121^post21 == 0 /\ -a_635^post21+a_635^0 == 0 /\ i_27^0-i_27^post21 == 0 /\ -i_113^post21+i_113^0 == 0 /\ a_430^0-a_430^post21 == 0 /\ -a_432^post21+a_432^0 == 0 /\ rcd_1249^0-rcd_1249^post21 == 0 /\ -a_632^post21+a_632^0 == 0 /\ len_161^0-len_161^post21 == 0 /\ -length_29^post21+length_29^0 == 0 /\ -r_39^post21+r_39^0 == 0 /\ x_156^0-x_156^post21 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post21+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1162^0-a_1162^post21 == 0 /\ head_15^0-head_15^post21 == 0 /\ -a_862^post21+a_862^0 == 0 /\ temp0_16^0-temp0_16^post21 == 0 /\ -a_633^post21+a_633^0 == 0 /\ -i_140^post21+i_140^0 == 0 /\ r_151^0-r_151^post21 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ a_902^0-a_902^post21 == 0 /\ r_192^0-r_192^post21 == 0 /\ a_144^0-a_144^post21 == 0 /\ -rcd_47^post21+rcd_47^0 == 0 /\ f_248^0-f_248^post21 == 0 /\ -a_310^post21+a_310^0 == 0 /\ -head_32^post21+head_32^0 == 0 /\ -i_197^post21+i_197^0 == 0 /\ -a_579^post21+a_579^0 == 0 /\ -a_392^post21+a_392^0 == 0 /\ a_634^0-a_634^post21 == 0), cost: 1 349: l9 -> l214 : a_1089^0'=a_1089^post349, f_847^0'=f_847^post349, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post349, a_394^0'=a_394^post349, x_156^0'=x_156^post349, a_632^0'=a_632^post349, r_192^0'=r_192^post349, a_176^0'=a_176^post349, i_106^0'=i_106^post349, a_430^0'=a_430^post349, t_458^0'=t_458^post349, len_161^0'=len_161^post349, x_975^0'=x_975^post349, a_902^0'=a_902^post349, a_947^0'=a_947^post349, rcd_88^0'=rcd_88^post349, a_311^0'=a_311^post349, i_140^0'=i_140^post349, a_577^0'=a_577^post349, x_14^0'=x_14^post349, nondet_12^0'=nondet_12^post349, a_121^0'=a_121^post349, head_15^0'=head_15^post349, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post349, i_27^0'=i_27^post349, x_21^0'=x_21^post349, a_634^0'=a_634^post349, r_39^0'=r_39^post349, a_263^0'=a_263^post349, i_113^0'=i_113^post349, a_432^0'=a_432^post349, temp0_31^0'=temp0_31^post349, len_262^0'=len_262^post349, y_20^0'=y_20^post349, f_248^0'=f_248^post349, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post349, a_393^0'=a_393^post349, i_229^0'=i_229^post349, a_610^0'=a_610^post349, r_151^0'=r_151^post349, a_144^0'=a_144^post349, i_1053^0'=i_1053^post349, a_417^0'=a_417^post349, t_24^0'=t_24^post349, i_94^0'=i_94^post349, x_852^0'=x_852^post349, a_862^0'=a_862^post349, rcd_1249^0'=rcd_1249^post349, rcd_58^0'=rcd_58^post349, a_310^0'=a_310^post349, i_127^0'=i_127^post349, a_576^0'=a_576^post349, tmp_34^0'=tmp_34^post349, length_29^0'=length_29^post349, a_1162^0'=a_1162^post349, f_969^0'=f_969^post349, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post349, a_395^0'=a_395^post349, x_17^0'=x_17^post349, a_633^0'=a_633^post349, r_224^0'=r_224^post349, a_239^0'=a_239^post349, i_107^0'=i_107^post349, a_431^0'=a_431^post349, temp0_16^0'=temp0_16^post349, len_238^0'=len_238^post349, x_SLAM_f_19^0'=x_SLAM_f_19^post349, a_924^0'=a_924^post349, ct_18^0'=ct_18^post349, result_11^0'=result_11^post349, a_392^0'=a_392^post349, i_197^0'=i_197^post349, a_579^0'=a_579^post349, r_143^0'=r_143^post349, a_1236^0'=a_1236^post349, head_32^0'=head_32^post349, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post349, i_30^0'=i_30^post349, x_253^0'=x_253^post349, a_635^0'=a_635^post349, r_970^0'=r_970^post349, rcd_47^0'=rcd_47^post349, a_309^0'=a_309^post349, i_1248^0'=i_1248^post349, a_575^0'=a_575^post349, temp_35^0'=temp_35^post349, len_861^0'=len_861^post349, (0 == 0 /\ x_975^0-x_975^post349 == 0 /\ -f_969^post349+f_969^0 == 0 /\ -x_253^post349+x_253^0 == 0 /\ a_311^0-a_311^post349 == 0 /\ t_458^0-t_458^post349 == 0 /\ r_143^0-r_143^post349 == 0 /\ a_902^0-a_902^post349 == 0 /\ rcd_88^0-rcd_88^post349 == 0 /\ i_106^0-i_106^post349 == 0 /\ -len_161^0 <= 0 /\ -a_121^post349+a_121^0 == 0 /\ t_24^0-t_24^post349 == 0 /\ -result_11^post349+result_11^0 == 0 /\ -rcd_47^post349+rcd_47^0 == 0 /\ len_161^0-len_161^post349 == 0 /\ -x_21^post349+x_21^0 == 0 /\ a_632^0-a_632^post349 == 0 /\ a_263^0-a_263^post349 == 0 /\ -a_1162^post349+a_1162^0 == 0 /\ -y_20^post349+y_20^0 == 0 /\ len_262^0-len_262^post349 == 0 /\ a_1236^0-a_1236^post349 == 0 /\ x_852^0-x_852^post349 == 0 /\ -r_970^post349+r_970^0 == 0 /\ -f_248^post349+f_248^0 == 0 /\ -r_224^post349+r_224^0 == 0 /\ temp0_31^0-temp0_31^post349 == 0 /\ f_847^0-f_847^post349 == 0 /\ -temp0_16^post349+temp0_16^0 == 0 /\ a_579^0-a_579^post349 == 0 /\ -len_861^post349+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post349 == 0 /\ -i_229^post349+i_229^0 == 0 /\ -a_924^post349+a_924^0 == 0 /\ a_862^0-a_862^post349 == 0 /\ -i_113^post349+i_113^0 == 0 /\ -a_176^0 <= 0 /\ a_176^0-a_176^post349 == 0 /\ -temp_35^post349+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post349 == 0 /\ -rcd_1249^post349+rcd_1249^0 == 0 /\ r_192^0-r_192^post349 == 0 /\ -i_30^post349+i_30^0 == 0 /\ -a_144^post349+a_144^0 == 0 /\ -r_39^post349+r_39^0 == 0 /\ -i_107^post349+i_107^0 == 0 /\ a_239^0-a_239^post349 == 0 /\ i_1053^0-i_1053^post349 == 0 /\ rcd_58^0-rcd_58^post349 == 0 /\ -a_575^post349+a_575^0 == 0 /\ a_395^0-a_395^post349 == 0 /\ -a_577^post349+a_577^0 == 0 /\ a_635^0-a_635^post349 == 0 /\ -i_94^post349+i_94^0 == 0 /\ -i_1248^post349+i_1248^0 == 0 /\ a_1089^0-a_1089^post349 == 0 /\ -length_29^post349+length_29^0 == 0 /\ x_156^0-x_156^post349 == 0 /\ -len_238^post349+len_238^0 == 0 /\ a_576^0-a_576^post349 == 0 /\ -a_310^post349+a_310^0 == 0 /\ i_140^0-i_140^post349 == 0 /\ -head_32^post349+head_32^0 == 0 /\ -a_633^post349+a_633^0 == 0 /\ nondet_12^0-nondet_12^post349 == 0 /\ a_634^0-a_634^post349 == 0 /\ a_947^0-a_947^post349 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post349+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post349 == 0 /\ -i_197^post349+i_197^0 == 0 /\ -a_309^post349+a_309^0 == 0 /\ -i_127^post349+i_127^0 == 0 /\ r_151^0-r_151^post349 == 0), cost: 1 23: l17 -> l18 : a_1089^0'=a_1089^post23, f_847^0'=f_847^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_394^0'=a_394^post23, x_156^0'=x_156^post23, a_632^0'=a_632^post23, r_192^0'=r_192^post23, a_176^0'=a_176^post23, i_106^0'=i_106^post23, a_430^0'=a_430^post23, t_458^0'=t_458^post23, len_161^0'=len_161^post23, x_975^0'=x_975^post23, a_902^0'=a_902^post23, a_947^0'=a_947^post23, rcd_88^0'=rcd_88^post23, a_311^0'=a_311^post23, i_140^0'=i_140^post23, a_577^0'=a_577^post23, x_14^0'=x_14^post23, nondet_12^0'=nondet_12^post23, a_121^0'=a_121^post23, head_15^0'=head_15^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23, i_27^0'=i_27^post23, x_21^0'=x_21^post23, a_634^0'=a_634^post23, r_39^0'=r_39^post23, a_263^0'=a_263^post23, i_113^0'=i_113^post23, a_432^0'=a_432^post23, temp0_31^0'=temp0_31^post23, len_262^0'=len_262^post23, y_20^0'=y_20^post23, f_248^0'=f_248^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_393^0'=a_393^post23, i_229^0'=i_229^post23, a_610^0'=a_610^post23, r_151^0'=r_151^post23, a_144^0'=a_144^post23, i_1053^0'=i_1053^post23, a_417^0'=a_417^post23, t_24^0'=t_24^post23, i_94^0'=i_94^post23, x_852^0'=x_852^post23, a_862^0'=a_862^post23, rcd_1249^0'=rcd_1249^post23, rcd_58^0'=rcd_58^post23, a_310^0'=a_310^post23, i_127^0'=i_127^post23, a_576^0'=a_576^post23, tmp_34^0'=tmp_34^post23, length_29^0'=length_29^post23, a_1162^0'=a_1162^post23, f_969^0'=f_969^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23, a_395^0'=a_395^post23, x_17^0'=x_17^post23, a_633^0'=a_633^post23, r_224^0'=r_224^post23, a_239^0'=a_239^post23, i_107^0'=i_107^post23, a_431^0'=a_431^post23, temp0_16^0'=temp0_16^post23, len_238^0'=len_238^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_924^0'=a_924^post23, ct_18^0'=ct_18^post23, result_11^0'=result_11^post23, a_392^0'=a_392^post23, i_197^0'=i_197^post23, a_579^0'=a_579^post23, r_143^0'=r_143^post23, a_1236^0'=a_1236^post23, head_32^0'=head_32^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23, i_30^0'=i_30^post23, x_253^0'=x_253^post23, a_635^0'=a_635^post23, r_970^0'=r_970^post23, rcd_47^0'=rcd_47^post23, a_309^0'=a_309^post23, i_1248^0'=i_1248^post23, a_575^0'=a_575^post23, temp_35^0'=temp_35^post23, len_861^0'=len_861^post23, (-r_224^post23+r_224^0 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ -f_248^post23+f_248^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ a_144^0-a_144^post23 == 0 /\ a_394^0-a_394^post23 == 0 /\ a_862^0-a_862^post23 == 0 /\ -i_229^post23+i_229^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ -r_970^post23+r_970^0 == 0 /\ -i_197^post23+i_197^0 == 0 /\ 1-x_14^0 <= 0 /\ x_852^0-x_852^post23 == 0 /\ -a_579^post23+a_579^0 == 0 /\ a_430^0-a_430^post23 == 0 /\ a_263^0-a_263^post23 == 0 /\ t_458^0-t_458^post23 == 0 /\ i_106^0-i_106^post23 == 0 /\ -ct_18^post23+ct_18^0 == 0 /\ -i_127^post23+i_127^0 == 0 /\ len_161^0-len_161^post23 == 0 /\ a_576^0-a_576^post23 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_847^0-f_847^post23 == 0 /\ -rcd_1249^post23+rcd_1249^0 == 0 /\ head_15^0-head_15^post23 == 0 /\ -a_924^post23+a_924^0 == 0 /\ r_151^0-r_151^post23 == 0 /\ -a_1162^post23+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post23+i_107^0 == 0 /\ a_1236^0-a_1236^post23 == 0 /\ -a_577^post23+a_577^0 == 0 /\ -i_1248^post23+i_1248^0 == 0 /\ -len_861^post23+len_861^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ len_262^0-len_262^post23 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ -a_393^post23+a_393^0 == 0 /\ -i_30^post23+i_30^0 == 0 /\ x_156^0-x_156^post23 == 0 /\ a_947^0-a_947^post23 == 0 /\ -r_143^post23+r_143^0 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ i_27^0-i_27^post23 == 0 /\ -len_238^post23+len_238^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ a_176^0-a_176^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ -i_113^post23+i_113^0 == 0 /\ a_1089^0-a_1089^post23 == 0 /\ a_395^0-a_395^post23 == 0 /\ -a_575^post23+a_575^0 == 0 /\ -a_633^post23+a_633^0 == 0 /\ a_311^0-a_311^post23 == 0 /\ -x_14^post23+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -a_309^post23+a_309^0 == 0 /\ a_635^0-a_635^post23 == 0 /\ -a_632^post23+a_632^0 == 0 /\ -a_432^post23+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23 == 0 /\ i_140^0-i_140^post23 == 0 /\ i_1053^0-i_1053^post23 == 0 /\ -a_121^post23+a_121^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_431^post23+a_431^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ -r_39^post23+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post23+a_392^0 == 0 /\ a_239^0-a_239^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ f_969^0-f_969^post23 == 0 /\ a_902^0-a_902^post23 == 0 /\ -a_610^post23+a_610^0 == 0 /\ -head_32^post23+head_32^0 == 0 /\ x_975^0-x_975^post23 == 0 /\ a_417^0-a_417^post23 == 0 /\ -x_253^post23+x_253^0 == 0 /\ -rcd_47^post23+rcd_47^0 == 0 /\ a_634^0-a_634^post23 == 0 /\ -a_310^post23+a_310^0 == 0), cost: 1 24: l17 -> l18 : a_1089^0'=a_1089^post24, f_847^0'=f_847^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_394^0'=a_394^post24, x_156^0'=x_156^post24, a_632^0'=a_632^post24, r_192^0'=r_192^post24, a_176^0'=a_176^post24, i_106^0'=i_106^post24, a_430^0'=a_430^post24, t_458^0'=t_458^post24, len_161^0'=len_161^post24, x_975^0'=x_975^post24, a_902^0'=a_902^post24, a_947^0'=a_947^post24, rcd_88^0'=rcd_88^post24, a_311^0'=a_311^post24, i_140^0'=i_140^post24, a_577^0'=a_577^post24, x_14^0'=x_14^post24, nondet_12^0'=nondet_12^post24, a_121^0'=a_121^post24, head_15^0'=head_15^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24, i_27^0'=i_27^post24, x_21^0'=x_21^post24, a_634^0'=a_634^post24, r_39^0'=r_39^post24, a_263^0'=a_263^post24, i_113^0'=i_113^post24, a_432^0'=a_432^post24, temp0_31^0'=temp0_31^post24, len_262^0'=len_262^post24, y_20^0'=y_20^post24, f_248^0'=f_248^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_393^0'=a_393^post24, i_229^0'=i_229^post24, a_610^0'=a_610^post24, r_151^0'=r_151^post24, a_144^0'=a_144^post24, i_1053^0'=i_1053^post24, a_417^0'=a_417^post24, t_24^0'=t_24^post24, i_94^0'=i_94^post24, x_852^0'=x_852^post24, a_862^0'=a_862^post24, rcd_1249^0'=rcd_1249^post24, rcd_58^0'=rcd_58^post24, a_310^0'=a_310^post24, i_127^0'=i_127^post24, a_576^0'=a_576^post24, tmp_34^0'=tmp_34^post24, length_29^0'=length_29^post24, a_1162^0'=a_1162^post24, f_969^0'=f_969^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24, a_395^0'=a_395^post24, x_17^0'=x_17^post24, a_633^0'=a_633^post24, r_224^0'=r_224^post24, a_239^0'=a_239^post24, i_107^0'=i_107^post24, a_431^0'=a_431^post24, temp0_16^0'=temp0_16^post24, len_238^0'=len_238^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_924^0'=a_924^post24, ct_18^0'=ct_18^post24, result_11^0'=result_11^post24, a_392^0'=a_392^post24, i_197^0'=i_197^post24, a_579^0'=a_579^post24, r_143^0'=r_143^post24, a_1236^0'=a_1236^post24, head_32^0'=head_32^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24, i_30^0'=i_30^post24, x_253^0'=x_253^post24, a_635^0'=a_635^post24, r_970^0'=r_970^post24, rcd_47^0'=rcd_47^post24, a_309^0'=a_309^post24, i_1248^0'=i_1248^post24, a_575^0'=a_575^post24, temp_35^0'=temp_35^post24, len_861^0'=len_861^post24, (-x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ i_94^0-i_94^post24 == 0 /\ r_151^0-r_151^post24 == 0 /\ -rcd_47^post24+rcd_47^0 == 0 /\ -r_143^post24+r_143^0 == 0 /\ i_113^0-i_113^post24 == 0 /\ r_39^0-r_39^post24 == 0 /\ a_393^0-a_393^post24 == 0 /\ a_430^0-a_430^post24 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ -len_238^post24+len_238^0 == 0 /\ f_969^0-f_969^post24 == 0 /\ a_432^0-a_432^post24 == 0 /\ -a_634^post24+a_634^0 == 0 /\ -i_107^post24+i_107^0 == 0 /\ -a_575^post24+a_575^0 == 0 /\ r_192^0-r_192^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ a_862^0-a_862^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_633^0-a_633^post24 == 0 /\ -a_576^post24+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ i_27^0-i_27^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ t_24^0-t_24^post24 == 0 /\ -a_431^post24+a_431^0 == 0 /\ len_161^0-len_161^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ a_417^0-a_417^post24 == 0 /\ head_32^0-head_32^post24 == 0 /\ -x_253^post24+x_253^0 == 0 /\ -r_970^post24+r_970^0 == 0 /\ -a_392^post24+a_392^0 == 0 /\ -a_310^post24+a_310^0 == 0 /\ a_263^0-a_263^post24 == 0 /\ -a_610^post24+a_610^0 == 0 /\ -a_1236^post24+a_1236^0 == 0 /\ i_140^0-i_140^post24 == 0 /\ -i_1248^post24+i_1248^0 == 0 /\ i_106^0-i_106^post24 == 0 /\ a_632^0-a_632^post24 == 0 /\ -a_239^post24+a_239^0 == 0 /\ a_311^0-a_311^post24 == 0 /\ a_902^0-a_902^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24 == 0 /\ x_975^0-x_975^post24 == 0 /\ -i_197^post24+i_197^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -i_127^post24+i_127^0 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ -len_262^post24+len_262^0 == 0 /\ -a_579^post24+a_579^0 == 0 /\ a_577^0-a_577^post24 == 0 /\ t_458^0-t_458^post24 == 0 /\ f_248^0-f_248^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ i_229^0-i_229^post24 == 0 /\ x_156^0-x_156^post24 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post24+a_395^0 == 0 /\ -a_309^post24+a_309^0 == 0 /\ i_1053^0-i_1053^post24 == 0 /\ -a_924^post24+a_924^0 == 0 /\ x_14^0-x_14^post24 == 0 /\ a_121^0-a_121^post24 == 0 /\ -a_947^post24+a_947^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ a_394^0-a_394^post24 == 0 /\ a_1089^0-a_1089^post24 == 0 /\ x_852^0-x_852^post24 == 0 /\ -a_1162^post24+a_1162^0 == 0 /\ 1+x_14^0 <= 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -a_635^post24+a_635^0 == 0 /\ a_176^0-a_176^post24 == 0 /\ f_847^0-f_847^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ y_20^0-y_20^post24 == 0 /\ -len_861^post24+len_861^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24 == 0 /\ -r_224^post24+r_224^0 == 0 /\ length_29^0-length_29^post24 == 0 /\ rcd_1249^0-rcd_1249^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0), cost: 1 25: l18 -> l19 : a_1089^0'=a_1089^post25, f_847^0'=f_847^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_394^0'=a_394^post25, x_156^0'=x_156^post25, a_632^0'=a_632^post25, r_192^0'=r_192^post25, a_176^0'=a_176^post25, i_106^0'=i_106^post25, a_430^0'=a_430^post25, t_458^0'=t_458^post25, len_161^0'=len_161^post25, x_975^0'=x_975^post25, a_902^0'=a_902^post25, a_947^0'=a_947^post25, rcd_88^0'=rcd_88^post25, a_311^0'=a_311^post25, i_140^0'=i_140^post25, a_577^0'=a_577^post25, x_14^0'=x_14^post25, nondet_12^0'=nondet_12^post25, a_121^0'=a_121^post25, head_15^0'=head_15^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25, i_27^0'=i_27^post25, x_21^0'=x_21^post25, a_634^0'=a_634^post25, r_39^0'=r_39^post25, a_263^0'=a_263^post25, i_113^0'=i_113^post25, a_432^0'=a_432^post25, temp0_31^0'=temp0_31^post25, len_262^0'=len_262^post25, y_20^0'=y_20^post25, f_248^0'=f_248^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_393^0'=a_393^post25, i_229^0'=i_229^post25, a_610^0'=a_610^post25, r_151^0'=r_151^post25, a_144^0'=a_144^post25, i_1053^0'=i_1053^post25, a_417^0'=a_417^post25, t_24^0'=t_24^post25, i_94^0'=i_94^post25, x_852^0'=x_852^post25, a_862^0'=a_862^post25, rcd_1249^0'=rcd_1249^post25, rcd_58^0'=rcd_58^post25, a_310^0'=a_310^post25, i_127^0'=i_127^post25, a_576^0'=a_576^post25, tmp_34^0'=tmp_34^post25, length_29^0'=length_29^post25, a_1162^0'=a_1162^post25, f_969^0'=f_969^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25, a_395^0'=a_395^post25, x_17^0'=x_17^post25, a_633^0'=a_633^post25, r_224^0'=r_224^post25, a_239^0'=a_239^post25, i_107^0'=i_107^post25, a_431^0'=a_431^post25, temp0_16^0'=temp0_16^post25, len_238^0'=len_238^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_924^0'=a_924^post25, ct_18^0'=ct_18^post25, result_11^0'=result_11^post25, a_392^0'=a_392^post25, i_197^0'=i_197^post25, a_579^0'=a_579^post25, r_143^0'=r_143^post25, a_1236^0'=a_1236^post25, head_32^0'=head_32^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25, i_30^0'=i_30^post25, x_253^0'=x_253^post25, a_635^0'=a_635^post25, r_970^0'=r_970^post25, rcd_47^0'=rcd_47^post25, a_309^0'=a_309^post25, i_1248^0'=i_1248^post25, a_575^0'=a_575^post25, temp_35^0'=temp_35^post25, len_861^0'=len_861^post25, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-a_176^0+a_263^post25 <= 0 /\ -r_151^post25+r_151^0 == 0 /\ head_15^0-head_15^post25 == 0 /\ f_248^0-f_248^post25 == 0 /\ -a_610^post25+a_610^0 == 0 /\ a_632^0-a_632^post25 == 0 /\ x_156^0-x_156^post25 == 0 /\ -a_924^post25+a_924^0 == 0 /\ -a_576^post25+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_47^post25+rcd_47^0 == 0 /\ a_577^0-a_577^post25 == 0 /\ a_902^0-a_902^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -r_143^post25+r_143^0 == 0 /\ i_229^0-i_229^post25 == 0 /\ a_634^0-a_634^post25 == 0 /\ -1-len_161^0+len_262^post25 <= 0 /\ a_394^0-a_394^post25 == 0 /\ -a_392^post25+a_392^0 == 0 /\ i_140^0-i_140^post25 == 0 /\ -a_862^post25+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_176^0-a_176^post25 == 0 /\ a_121^0-a_121^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -a_1236^post25+a_1236^0 == 0 /\ -r_970^post25+r_970^0 == 0 /\ -len_238^post25+len_238^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -i_27^post25+i_27^0 == 0 /\ f_847^0-f_847^post25 == 0 /\ -length_29^post25+length_29^0 == 0 /\ -x_253^post25+x_253^0 == 0 /\ -r_192^post25+r_192^0 == 0 /\ -i_1053^post25+i_1053^0 == 0 /\ -ct_18^post25+ct_18^0 == 0 /\ a_311^0-a_311^post25 == 0 /\ i_94^0-i_94^post25 == 0 /\ a_430^0-a_430^post25 == 0 /\ -i_1248^post25+i_1248^0 == 0 /\ -1+a_176^0-a_263^post25 <= 0 /\ -rcd_58^post25+rcd_58^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -r_224^post25+r_224^0 == 0 /\ -a_239^post25+a_239^0 == 0 /\ x_975^0-x_975^post25 == 0 /\ -a_395^post25+a_395^0 == 0 /\ -x_852^post25+x_852^0 == 0 /\ a_432^0-a_432^post25 == 0 /\ -len_861^post25+len_861^0 == 0 /\ a_1089^0-a_1089^post25 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 == 0 /\ i_113^0-i_113^post25 == 0 /\ -i_127^post25+i_127^0 == 0 /\ a_633^0-a_633^post25 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ f_969^0-f_969^post25 == 0 /\ -x_14^0+f_248^0 <= 0 /\ -i_197^post25+i_197^0 == 0 /\ a_431^0-a_431^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ -a_579^post25+a_579^0 == 0 /\ -i_30^post25+i_30^0 == 0 /\ 1+len_161^0-len_262^post25 <= 0 /\ len_161^0-len_161^post25 == 0 /\ a_144^0-a_144^post25 == 0 /\ a_947^0-a_947^post25 == 0 /\ 1-i_27^0 <= 0 /\ -a_309^post25+a_309^0 == 0 /\ -i_107^post25+i_107^0 == 0 /\ -rcd_1249^post25+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ -a_417^post25+a_417^0 == 0 /\ -a_575^post25+a_575^0 == 0 /\ -x_14^post25+x_14^0 == 0 /\ a_310^0-a_310^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -a_635^post25+a_635^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ r_39^0-r_39^post25 == 0 /\ t_458^0-t_458^post25 == 0 /\ -a_393^post25+a_393^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ t_24^0-t_24^post25 == 0 /\ x_14^0-f_248^0 <= 0 /\ i_106^0-i_106^post25 == 0 /\ -x_17^post25+x_17^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -a_1162^post25+a_1162^0 == 0), cost: 1 26: l19 -> l20 : a_1089^0'=a_1089^post26, f_847^0'=f_847^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, a_394^0'=a_394^post26, x_156^0'=x_156^post26, a_632^0'=a_632^post26, r_192^0'=r_192^post26, a_176^0'=a_176^post26, i_106^0'=i_106^post26, a_430^0'=a_430^post26, t_458^0'=t_458^post26, len_161^0'=len_161^post26, x_975^0'=x_975^post26, a_902^0'=a_902^post26, a_947^0'=a_947^post26, rcd_88^0'=rcd_88^post26, a_311^0'=a_311^post26, i_140^0'=i_140^post26, a_577^0'=a_577^post26, x_14^0'=x_14^post26, nondet_12^0'=nondet_12^post26, a_121^0'=a_121^post26, head_15^0'=head_15^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26, i_27^0'=i_27^post26, x_21^0'=x_21^post26, a_634^0'=a_634^post26, r_39^0'=r_39^post26, a_263^0'=a_263^post26, i_113^0'=i_113^post26, a_432^0'=a_432^post26, temp0_31^0'=temp0_31^post26, len_262^0'=len_262^post26, y_20^0'=y_20^post26, f_248^0'=f_248^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, a_393^0'=a_393^post26, i_229^0'=i_229^post26, a_610^0'=a_610^post26, r_151^0'=r_151^post26, a_144^0'=a_144^post26, i_1053^0'=i_1053^post26, a_417^0'=a_417^post26, t_24^0'=t_24^post26, i_94^0'=i_94^post26, x_852^0'=x_852^post26, a_862^0'=a_862^post26, rcd_1249^0'=rcd_1249^post26, rcd_58^0'=rcd_58^post26, a_310^0'=a_310^post26, i_127^0'=i_127^post26, a_576^0'=a_576^post26, tmp_34^0'=tmp_34^post26, length_29^0'=length_29^post26, a_1162^0'=a_1162^post26, f_969^0'=f_969^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26, a_395^0'=a_395^post26, x_17^0'=x_17^post26, a_633^0'=a_633^post26, r_224^0'=r_224^post26, a_239^0'=a_239^post26, i_107^0'=i_107^post26, a_431^0'=a_431^post26, temp0_16^0'=temp0_16^post26, len_238^0'=len_238^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_924^0'=a_924^post26, ct_18^0'=ct_18^post26, result_11^0'=result_11^post26, a_392^0'=a_392^post26, i_197^0'=i_197^post26, a_579^0'=a_579^post26, r_143^0'=r_143^post26, a_1236^0'=a_1236^post26, head_32^0'=head_32^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26, i_30^0'=i_30^post26, x_253^0'=x_253^post26, a_635^0'=a_635^post26, r_970^0'=r_970^post26, rcd_47^0'=rcd_47^post26, a_309^0'=a_309^post26, i_1248^0'=i_1248^post26, a_575^0'=a_575^post26, temp_35^0'=temp_35^post26, len_861^0'=len_861^post26, (x_21^0-x_21^post26 == 0 /\ -a_576^post26+a_576^0 == 0 /\ i_229^0-i_229^post26 == 0 /\ -i_30^post26+i_30^0 == 0 /\ -a_393^post26+a_393^0 == 0 /\ -a_392^post26+a_392^0 == 0 /\ x_156^0-x_156^post26 == 0 /\ f_847^0-f_847^post26 == 0 /\ -a_144^post26+a_144^0 == 0 /\ i_1053^0-i_1053^post26 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ i_94^0-i_94^post26 == 0 /\ a_394^0-a_394^post26 == 0 /\ -len_861^post26+len_861^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ a_121^0-a_121^post26 == 0 /\ len_262^0-len_262^post26 == 0 /\ -a_1236^post26+a_1236^0 == 0 /\ a_947^0-a_947^post26 == 0 /\ -i_1248^post26+i_1248^0 == 0 /\ a_417^0-a_417^post26 == 0 /\ -a_239^post26+a_239^0 == 0 /\ -a_635^post26+a_635^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -rcd_47^post26+rcd_47^0 == 0 /\ -len_238^post26+len_238^0 == 0 /\ -ct_18^post26+ct_18^0 == 0 /\ a_577^0-a_577^post26 == 0 /\ r_39^0-r_39^post26 == 0 /\ r_192^0-r_192^post26 == 0 /\ -rcd_58^post26+rcd_58^0 == 0 /\ x_14^0-x_14^post26 == 0 /\ -x_852^post26+x_852^0 == 0 /\ -a_633^post26+a_633^0 == 0 /\ -length_29^post26+length_29^0 == 0 /\ -r_151^post26+r_151^0 == 0 /\ -a_575^post26+a_575^0 == 0 /\ -a_862^post26+a_862^0 == 0 /\ -i_197^post26+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ -a_902^post26+a_902^0 == 0 /\ -a_579^post26+a_579^0 == 0 /\ -a_309^post26+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post26+head_32^0 == 0 /\ a_1089^0-a_1089^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ a_263^0-a_263^post26 == 0 /\ i_27^0-i_27^post26 == 0 /\ a_430^0-a_430^post26 == 0 /\ y_20^0-y_20^post26 == 0 /\ -i_127^post26+i_127^0 == 0 /\ -x_253^post26+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1162^post26+a_1162^0 == 0 /\ a_432^0-a_432^post26 == 0 /\ -a_924^post26+a_924^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ f_248^0-f_248^post26 == 0 /\ a_431^0-a_431^post26 == 0 /\ a_176^0-a_176^post26 == 0 /\ i_113^0-i_113^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26 == 0 /\ -a_311^post26+a_311^0 == 0 /\ x_17^0-x_17^post26 == 0 /\ r_224^0-r_224^post26 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -f_969^post26+f_969^0 == 0 /\ x_975^0-x_975^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_310^0-a_310^post26 == 0 /\ -r_970^post26+r_970^0 == 0 /\ 1-head_15^0 <= 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ -a_395^post26+a_395^0 == 0 /\ i_107^0-i_107^post26 == 0 /\ a_610^0-a_610^post26 == 0 /\ -r_143^post26+r_143^0 == 0 /\ t_24^0-t_24^post26 == 0 /\ i_140^0-i_140^post26 == 0 /\ len_161^0-len_161^post26 == 0 /\ i_106^0-i_106^post26 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ -rcd_1249^post26+rcd_1249^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ -a_634^post26+a_634^0 == 0 /\ t_458^0-t_458^post26 == 0 /\ a_632^0-a_632^post26 == 0), cost: 1 27: l19 -> l20 : a_1089^0'=a_1089^post27, f_847^0'=f_847^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, a_394^0'=a_394^post27, x_156^0'=x_156^post27, a_632^0'=a_632^post27, r_192^0'=r_192^post27, a_176^0'=a_176^post27, i_106^0'=i_106^post27, a_430^0'=a_430^post27, t_458^0'=t_458^post27, len_161^0'=len_161^post27, x_975^0'=x_975^post27, a_902^0'=a_902^post27, a_947^0'=a_947^post27, rcd_88^0'=rcd_88^post27, a_311^0'=a_311^post27, i_140^0'=i_140^post27, a_577^0'=a_577^post27, x_14^0'=x_14^post27, nondet_12^0'=nondet_12^post27, a_121^0'=a_121^post27, head_15^0'=head_15^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27, i_27^0'=i_27^post27, x_21^0'=x_21^post27, a_634^0'=a_634^post27, r_39^0'=r_39^post27, a_263^0'=a_263^post27, i_113^0'=i_113^post27, a_432^0'=a_432^post27, temp0_31^0'=temp0_31^post27, len_262^0'=len_262^post27, y_20^0'=y_20^post27, f_248^0'=f_248^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, a_393^0'=a_393^post27, i_229^0'=i_229^post27, a_610^0'=a_610^post27, r_151^0'=r_151^post27, a_144^0'=a_144^post27, i_1053^0'=i_1053^post27, a_417^0'=a_417^post27, t_24^0'=t_24^post27, i_94^0'=i_94^post27, x_852^0'=x_852^post27, a_862^0'=a_862^post27, rcd_1249^0'=rcd_1249^post27, rcd_58^0'=rcd_58^post27, a_310^0'=a_310^post27, i_127^0'=i_127^post27, a_576^0'=a_576^post27, tmp_34^0'=tmp_34^post27, length_29^0'=length_29^post27, a_1162^0'=a_1162^post27, f_969^0'=f_969^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27, a_395^0'=a_395^post27, x_17^0'=x_17^post27, a_633^0'=a_633^post27, r_224^0'=r_224^post27, a_239^0'=a_239^post27, i_107^0'=i_107^post27, a_431^0'=a_431^post27, temp0_16^0'=temp0_16^post27, len_238^0'=len_238^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_924^0'=a_924^post27, ct_18^0'=ct_18^post27, result_11^0'=result_11^post27, a_392^0'=a_392^post27, i_197^0'=i_197^post27, a_579^0'=a_579^post27, r_143^0'=r_143^post27, a_1236^0'=a_1236^post27, head_32^0'=head_32^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27, i_30^0'=i_30^post27, x_253^0'=x_253^post27, a_635^0'=a_635^post27, r_970^0'=r_970^post27, rcd_47^0'=rcd_47^post27, a_309^0'=a_309^post27, i_1248^0'=i_1248^post27, a_575^0'=a_575^post27, temp_35^0'=temp_35^post27, len_861^0'=len_861^post27, (a_176^0-a_176^post27 == 0 /\ -rcd_1249^post27+rcd_1249^0 == 0 /\ -i_197^post27+i_197^0 == 0 /\ -x_852^post27+x_852^0 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ 1+head_15^0 <= 0 /\ a_947^0-a_947^post27 == 0 /\ -r_970^post27+r_970^0 == 0 /\ -a_924^post27+a_924^0 == 0 /\ i_27^0-i_27^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ i_1053^0-i_1053^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post27+a_610^0 == 0 /\ r_39^0-r_39^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ a_310^0-a_310^post27 == 0 /\ -x_253^post27+x_253^0 == 0 /\ -rcd_47^post27+rcd_47^0 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -head_15^post27+head_15^0 == 0 /\ a_1089^0-a_1089^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post27 == 0 /\ -f_248^post27+f_248^0 == 0 /\ -a_311^post27+a_311^0 == 0 /\ i_229^0-i_229^post27 == 0 /\ a_432^0-a_432^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -i_1248^post27+i_1248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -a_395^post27+a_395^0 == 0 /\ -a_239^post27+a_239^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ x_975^0-x_975^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_121^0-a_121^post27 == 0 /\ a_634^0-a_634^post27 == 0 /\ -a_393^post27+a_393^0 == 0 /\ i_113^0-i_113^post27 == 0 /\ -r_143^post27+r_143^0 == 0 /\ -a_392^post27+a_392^0 == 0 /\ a_394^0-a_394^post27 == 0 /\ -a_576^post27+a_576^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ -a_144^post27+a_144^0 == 0 /\ -a_309^post27+a_309^0 == 0 /\ -a_635^post27+a_635^0 == 0 /\ f_969^0-f_969^post27 == 0 /\ a_430^0-a_430^post27 == 0 /\ -a_417^post27+a_417^0 == 0 /\ -len_861^post27+len_861^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -a_1236^post27+a_1236^0 == 0 /\ t_24^0-t_24^post27 == 0 /\ i_107^0-i_107^post27 == 0 /\ a_632^0-a_632^post27 == 0 /\ x_14^0-x_14^post27 == 0 /\ rcd_88^0-rcd_88^post27 == 0 /\ len_161^0-len_161^post27 == 0 /\ -rcd_58^post27+rcd_58^0 == 0 /\ -i_106^post27+i_106^0 == 0 /\ f_847^0-f_847^post27 == 0 /\ a_1162^0-a_1162^post27 == 0 /\ -length_29^post27+length_29^0 == 0 /\ -len_238^post27+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post27 == 0 /\ -r_151^post27+r_151^0 == 0 /\ i_140^0-i_140^post27 == 0 /\ -a_575^post27+a_575^0 == 0 /\ -a_579^post27+a_579^0 == 0 /\ -a_633^post27+a_633^0 == 0 /\ a_431^0-a_431^post27 == 0 /\ r_224^0-r_224^post27 == 0 /\ len_262^0-len_262^post27 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ a_862^0-a_862^post27 == 0 /\ i_94^0-i_94^post27 == 0 /\ a_577^0-a_577^post27 == 0 /\ -i_127^post27+i_127^0 == 0 /\ x_156^0-x_156^post27 == 0 /\ -t_458^post27+t_458^0 == 0 /\ -a_902^post27+a_902^0 == 0 /\ -head_32^post27+head_32^0 == 0), cost: 1 28: l20 -> l21 : a_1089^0'=a_1089^post28, f_847^0'=f_847^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, a_394^0'=a_394^post28, x_156^0'=x_156^post28, a_632^0'=a_632^post28, r_192^0'=r_192^post28, a_176^0'=a_176^post28, i_106^0'=i_106^post28, a_430^0'=a_430^post28, t_458^0'=t_458^post28, len_161^0'=len_161^post28, x_975^0'=x_975^post28, a_902^0'=a_902^post28, a_947^0'=a_947^post28, rcd_88^0'=rcd_88^post28, a_311^0'=a_311^post28, i_140^0'=i_140^post28, a_577^0'=a_577^post28, x_14^0'=x_14^post28, nondet_12^0'=nondet_12^post28, a_121^0'=a_121^post28, head_15^0'=head_15^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28, i_27^0'=i_27^post28, x_21^0'=x_21^post28, a_634^0'=a_634^post28, r_39^0'=r_39^post28, a_263^0'=a_263^post28, i_113^0'=i_113^post28, a_432^0'=a_432^post28, temp0_31^0'=temp0_31^post28, len_262^0'=len_262^post28, y_20^0'=y_20^post28, f_248^0'=f_248^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, a_393^0'=a_393^post28, i_229^0'=i_229^post28, a_610^0'=a_610^post28, r_151^0'=r_151^post28, a_144^0'=a_144^post28, i_1053^0'=i_1053^post28, a_417^0'=a_417^post28, t_24^0'=t_24^post28, i_94^0'=i_94^post28, x_852^0'=x_852^post28, a_862^0'=a_862^post28, rcd_1249^0'=rcd_1249^post28, rcd_58^0'=rcd_58^post28, a_310^0'=a_310^post28, i_127^0'=i_127^post28, a_576^0'=a_576^post28, tmp_34^0'=tmp_34^post28, length_29^0'=length_29^post28, a_1162^0'=a_1162^post28, f_969^0'=f_969^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28, a_395^0'=a_395^post28, x_17^0'=x_17^post28, a_633^0'=a_633^post28, r_224^0'=r_224^post28, a_239^0'=a_239^post28, i_107^0'=i_107^post28, a_431^0'=a_431^post28, temp0_16^0'=temp0_16^post28, len_238^0'=len_238^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_924^0'=a_924^post28, ct_18^0'=ct_18^post28, result_11^0'=result_11^post28, a_392^0'=a_392^post28, i_197^0'=i_197^post28, a_579^0'=a_579^post28, r_143^0'=r_143^post28, a_1236^0'=a_1236^post28, head_32^0'=head_32^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28, i_30^0'=i_30^post28, x_253^0'=x_253^post28, a_635^0'=a_635^post28, r_970^0'=r_970^post28, rcd_47^0'=rcd_47^post28, a_309^0'=a_309^post28, i_1248^0'=i_1248^post28, a_575^0'=a_575^post28, temp_35^0'=temp_35^post28, len_861^0'=len_861^post28, (-a_309^post28+a_309^0 == 0 /\ i_229^0-i_229^post28 == 0 /\ -a_635^post28+a_635^0 == 0 /\ -r_143^post28+r_143^0 == 0 /\ -i_27^post28+i_27^0 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -a_417^post28+a_417^0 == 0 /\ f_248^0-f_248^post28 == 0 /\ -a_393^post28+a_393^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post28+length_29^0 == 0 /\ a_634^0-a_634^post28 == 0 /\ a_121^0-a_121^post28 == 0 /\ a_947^0-a_947^post28 == 0 /\ i_127^0-i_127^post28 == 0 /\ x_975^0-x_975^post28 == 0 /\ -i_107^post28+i_107^0 == 0 /\ -a_1236^post28+a_1236^0 == 0 /\ -a_575^post28+a_575^0 == 0 /\ x_156^0-x_156^post28 == 0 /\ a_577^0-a_577^post28 == 0 /\ len_262^0-len_262^post28 == 0 /\ a_176^0-a_176^post28 == 0 /\ -rcd_47^post28+rcd_47^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -a_310^post28+a_310^0 == 0 /\ r_192^0-r_192^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -len_238^post28+len_238^0 == 0 /\ -a_392^post28+a_392^0 == 0 /\ -r_151^post28+r_151^0 == 0 /\ x_14^0-x_14^post28 == 0 /\ a_632^0-a_632^post28 == 0 /\ a_430^0-a_430^post28 == 0 /\ -a_902^post28+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post28 == 0 /\ a_1089^0-a_1089^post28 == 0 /\ -a_862^post28+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post28+a_579^0 == 0 /\ a_633^0-a_633^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ f_847^0-f_847^post28 == 0 /\ a_432^0-a_432^post28 == 0 /\ -result_11^post28+result_11^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -x_253^post28+x_253^0 == 0 /\ x_21^0-x_21^post28 == 0 /\ i_140^0-i_140^post28 == 0 /\ -a_263^post28+a_263^0 == 0 /\ -i_197^post28+i_197^0 == 0 /\ f_969^0-f_969^post28 == 0 /\ i_94^0-i_94^post28 == 0 /\ a_431^0-a_431^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -x_852^post28+x_852^0 == 0 /\ a_144^0-a_144^post28 == 0 /\ -a_311^post28+a_311^0 == 0 /\ a_394^0-a_394^post28 == 0 /\ i_113^0-i_113^post28 == 0 /\ r_970^0-r_970^post28 == 0 /\ x_17^0-x_17^post28 == 0 /\ -a_395^post28+a_395^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -i_1248^post28+i_1248^0 == 0 /\ -a_239^post28+a_239^0 == 0 /\ a_610^0-a_610^post28 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -a_1162^post28+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ i_106^0-i_106^post28 == 0 /\ t_24^0-t_24^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ len_161^0-len_161^post28 == 0 /\ r_39^0-r_39^post28 == 0 /\ -len_861^post28+len_861^0 == 0 /\ -a_924^post28+a_924^0 == 0 /\ -r_224^post28+r_224^0 == 0 /\ -i_1053^post28+i_1053^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post28+a_576^0 == 0 /\ t_458^0-t_458^post28 == 0), cost: 1 29: l20 -> l21 : a_1089^0'=a_1089^post29, f_847^0'=f_847^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, a_394^0'=a_394^post29, x_156^0'=x_156^post29, a_632^0'=a_632^post29, r_192^0'=r_192^post29, a_176^0'=a_176^post29, i_106^0'=i_106^post29, a_430^0'=a_430^post29, t_458^0'=t_458^post29, len_161^0'=len_161^post29, x_975^0'=x_975^post29, a_902^0'=a_902^post29, a_947^0'=a_947^post29, rcd_88^0'=rcd_88^post29, a_311^0'=a_311^post29, i_140^0'=i_140^post29, a_577^0'=a_577^post29, x_14^0'=x_14^post29, nondet_12^0'=nondet_12^post29, a_121^0'=a_121^post29, head_15^0'=head_15^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29, i_27^0'=i_27^post29, x_21^0'=x_21^post29, a_634^0'=a_634^post29, r_39^0'=r_39^post29, a_263^0'=a_263^post29, i_113^0'=i_113^post29, a_432^0'=a_432^post29, temp0_31^0'=temp0_31^post29, len_262^0'=len_262^post29, y_20^0'=y_20^post29, f_248^0'=f_248^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, a_393^0'=a_393^post29, i_229^0'=i_229^post29, a_610^0'=a_610^post29, r_151^0'=r_151^post29, a_144^0'=a_144^post29, i_1053^0'=i_1053^post29, a_417^0'=a_417^post29, t_24^0'=t_24^post29, i_94^0'=i_94^post29, x_852^0'=x_852^post29, a_862^0'=a_862^post29, rcd_1249^0'=rcd_1249^post29, rcd_58^0'=rcd_58^post29, a_310^0'=a_310^post29, i_127^0'=i_127^post29, a_576^0'=a_576^post29, tmp_34^0'=tmp_34^post29, length_29^0'=length_29^post29, a_1162^0'=a_1162^post29, f_969^0'=f_969^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29, a_395^0'=a_395^post29, x_17^0'=x_17^post29, a_633^0'=a_633^post29, r_224^0'=r_224^post29, a_239^0'=a_239^post29, i_107^0'=i_107^post29, a_431^0'=a_431^post29, temp0_16^0'=temp0_16^post29, len_238^0'=len_238^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_924^0'=a_924^post29, ct_18^0'=ct_18^post29, result_11^0'=result_11^post29, a_392^0'=a_392^post29, i_197^0'=i_197^post29, a_579^0'=a_579^post29, r_143^0'=r_143^post29, a_1236^0'=a_1236^post29, head_32^0'=head_32^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29, i_30^0'=i_30^post29, x_253^0'=x_253^post29, a_635^0'=a_635^post29, r_970^0'=r_970^post29, rcd_47^0'=rcd_47^post29, a_309^0'=a_309^post29, i_1248^0'=i_1248^post29, a_575^0'=a_575^post29, temp_35^0'=temp_35^post29, len_861^0'=len_861^post29, (a_1089^0-a_1089^post29 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ a_394^0-a_394^post29 == 0 /\ -x_253^post29+x_253^0 == 0 /\ -i_197^post29+i_197^0 == 0 /\ -a_579^post29+a_579^0 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ -a_263^post29+a_263^0 == 0 /\ -i_229^post29+i_229^0 == 0 /\ a_311^0-a_311^post29 == 0 /\ -a_431^post29+a_431^0 == 0 /\ -ct_18^post29+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ a_576^0-a_576^post29 == 0 /\ t_458^0-t_458^post29 == 0 /\ -r_970^post29+r_970^0 == 0 /\ x_852^0-x_852^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ i_106^0-i_106^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29 == 0 /\ -i_1053^post29+i_1053^0 == 0 /\ -a_395^post29+a_395^0 == 0 /\ -i_1248^post29+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post29+len_861^0 == 0 /\ a_924^0-a_924^post29 == 0 /\ -a_239^post29+a_239^0 == 0 /\ f_248^0-f_248^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ len_262^0-len_262^post29 == 0 /\ a_1236^0-a_1236^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ a_610^0-a_610^post29 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_393^post29+a_393^0 == 0 /\ -r_224^post29+r_224^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ x_975^0-x_975^post29 == 0 /\ temp0_31^0-temp0_31^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -r_143^post29+r_143^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -i_107^post29+i_107^0 == 0 /\ a_947^0-a_947^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -i_30^post29+i_30^0 == 0 /\ len_238^0-len_238^post29 == 0 /\ -a_575^post29+a_575^0 == 0 /\ -i_94^post29+i_94^0 == 0 /\ x_14^0-x_14^post29 == 0 /\ a_176^0-a_176^post29 == 0 /\ a_121^0-a_121^post29 == 0 /\ i_27^0-i_27^post29 == 0 /\ f_969^0-f_969^post29 == 0 /\ -a_309^post29+a_309^0 == 0 /\ -a_635^post29+a_635^0 == 0 /\ -a_632^post29+a_632^0 == 0 /\ -i_113^post29+i_113^0 == 0 /\ -a_432^post29+a_432^0 == 0 /\ a_430^0-a_430^post29 == 0 /\ rcd_1249^0-rcd_1249^post29 == 0 /\ -a_417^post29+a_417^0 == 0 /\ len_161^0-len_161^post29 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ x_156^0-x_156^post29 == 0 /\ a_1162^0-a_1162^post29 == 0 /\ f_847^0-f_847^post29 == 0 /\ head_15^0-head_15^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post29+a_862^0 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ r_151^0-r_151^post29 == 0 /\ -a_633^post29+a_633^0 == 0 /\ r_192^0-r_192^post29 == 0 /\ -rcd_47^post29+rcd_47^0 == 0 /\ -i_140^post29+i_140^0 == 0 /\ a_902^0-a_902^post29 == 0 /\ -a_310^post29+a_310^0 == 0 /\ i_127^0-i_127^post29 == 0 /\ -a_392^post29+a_392^0 == 0 /\ a_144^0-a_144^post29 == 0 /\ a_577^0-a_577^post29 == 0 /\ a_634^0-a_634^post29 == 0), cost: 1 30: l21 -> l22 : a_1089^0'=a_1089^post30, f_847^0'=f_847^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, a_394^0'=a_394^post30, x_156^0'=x_156^post30, a_632^0'=a_632^post30, r_192^0'=r_192^post30, a_176^0'=a_176^post30, i_106^0'=i_106^post30, a_430^0'=a_430^post30, t_458^0'=t_458^post30, len_161^0'=len_161^post30, x_975^0'=x_975^post30, a_902^0'=a_902^post30, a_947^0'=a_947^post30, rcd_88^0'=rcd_88^post30, a_311^0'=a_311^post30, i_140^0'=i_140^post30, a_577^0'=a_577^post30, x_14^0'=x_14^post30, nondet_12^0'=nondet_12^post30, a_121^0'=a_121^post30, head_15^0'=head_15^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30, i_27^0'=i_27^post30, x_21^0'=x_21^post30, a_634^0'=a_634^post30, r_39^0'=r_39^post30, a_263^0'=a_263^post30, i_113^0'=i_113^post30, a_432^0'=a_432^post30, temp0_31^0'=temp0_31^post30, len_262^0'=len_262^post30, y_20^0'=y_20^post30, f_248^0'=f_248^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, a_393^0'=a_393^post30, i_229^0'=i_229^post30, a_610^0'=a_610^post30, r_151^0'=r_151^post30, a_144^0'=a_144^post30, i_1053^0'=i_1053^post30, a_417^0'=a_417^post30, t_24^0'=t_24^post30, i_94^0'=i_94^post30, x_852^0'=x_852^post30, a_862^0'=a_862^post30, rcd_1249^0'=rcd_1249^post30, rcd_58^0'=rcd_58^post30, a_310^0'=a_310^post30, i_127^0'=i_127^post30, a_576^0'=a_576^post30, tmp_34^0'=tmp_34^post30, length_29^0'=length_29^post30, a_1162^0'=a_1162^post30, f_969^0'=f_969^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30, a_395^0'=a_395^post30, x_17^0'=x_17^post30, a_633^0'=a_633^post30, r_224^0'=r_224^post30, a_239^0'=a_239^post30, i_107^0'=i_107^post30, a_431^0'=a_431^post30, temp0_16^0'=temp0_16^post30, len_238^0'=len_238^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_924^0'=a_924^post30, ct_18^0'=ct_18^post30, result_11^0'=result_11^post30, a_392^0'=a_392^post30, i_197^0'=i_197^post30, a_579^0'=a_579^post30, r_143^0'=r_143^post30, a_1236^0'=a_1236^post30, head_32^0'=head_32^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30, i_30^0'=i_30^post30, x_253^0'=x_253^post30, a_635^0'=a_635^post30, r_970^0'=r_970^post30, rcd_47^0'=rcd_47^post30, a_309^0'=a_309^post30, i_1248^0'=i_1248^post30, a_575^0'=a_575^post30, temp_35^0'=temp_35^post30, len_861^0'=len_861^post30, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30 == 0 /\ a_430^0-a_430^post30 == 0 /\ f_248^0-f_248^post30 == 0 /\ x_975^0-x_975^post30 == 0 /\ -r_143^post30+r_143^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ a_632^0-a_632^post30 == 0 /\ -a_575^post30+a_575^0 == 0 /\ f_969^0-f_969^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -i_113^post30+i_113^0 == 0 /\ i_127^0-i_127^post30 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -i_107^post30+i_107^0 == 0 /\ -a_432^post30+a_432^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ len_161^0-len_161^post30 == 0 /\ a_947^0-a_947^post30 == 0 /\ -r_39^post30+r_39^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ a_176^0-a_176^post30 == 0 /\ x_852^0-x_852^post30 == 0 /\ -a_1236^post30+a_1236^0 == 0 /\ a_394^0-a_394^post30 == 0 /\ -rcd_47^post30+rcd_47^0 == 0 /\ -i_140^post30+i_140^0 == 0 /\ -a_392^post30+a_392^0 == 0 /\ -a_310^post30+a_310^0 == 0 /\ t_458^0-t_458^post30 == 0 /\ -a_862^post30+a_862^0 == 0 /\ -i_94^post30+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post30 == 0 /\ f_847^0-f_847^post30 == 0 /\ -r_970^post30+r_970^0 == 0 /\ -r_151^post30+r_151^0 == 0 /\ a_633^0-a_633^post30 == 0 /\ -t_24^post30+t_24^0 == 0 /\ 1-x_253^0 <= 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -a_579^post30+a_579^0 == 0 /\ i_229^0-i_229^post30 == 0 /\ -x_253^post30+x_253^0 == 0 /\ -a_263^post30+a_263^0 == 0 /\ temp0_16^0-temp0_16^post30 == 0 /\ -head_32^post30+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30 == 0 /\ a_121^0-a_121^post30 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_239^0-a_239^post30 == 0 /\ len_262^0-len_262^post30 == 0 /\ -i_197^post30+i_197^0 == 0 /\ x_156^0-x_156^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ a_610^0-a_610^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ a_902^0-a_902^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ a_144^0-a_144^post30 == 0 /\ -a_431^post30+a_431^0 == 0 /\ len_238^0-len_238^post30 == 0 /\ a_634^0-a_634^post30 == 0 /\ -a_395^post30+a_395^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ a_1089^0-a_1089^post30 == 0 /\ -a_1162^post30+a_1162^0 == 0 /\ a_417^0-a_417^post30 == 0 /\ -a_924^post30+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ i_27^0-i_27^post30 == 0 /\ x_14^0-x_14^post30 == 0 /\ a_576^0-a_576^post30 == 0 /\ -r_224^post30+r_224^0 == 0 /\ -len_861^post30+len_861^0 == 0 /\ -x_21^post30+x_21^0 == 0 /\ -i_1053^post30+i_1053^0 == 0 /\ -a_635^post30+a_635^0 == 0 /\ -i_1248^post30+i_1248^0 == 0 /\ -a_577^post30+a_577^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ a_311^0-a_311^post30 == 0 /\ i_106^0-i_106^post30 == 0 /\ -a_393^post30+a_393^0 == 0), cost: 1 31: l21 -> l22 : a_1089^0'=a_1089^post31, f_847^0'=f_847^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, a_394^0'=a_394^post31, x_156^0'=x_156^post31, a_632^0'=a_632^post31, r_192^0'=r_192^post31, a_176^0'=a_176^post31, i_106^0'=i_106^post31, a_430^0'=a_430^post31, t_458^0'=t_458^post31, len_161^0'=len_161^post31, x_975^0'=x_975^post31, a_902^0'=a_902^post31, a_947^0'=a_947^post31, rcd_88^0'=rcd_88^post31, a_311^0'=a_311^post31, i_140^0'=i_140^post31, a_577^0'=a_577^post31, x_14^0'=x_14^post31, nondet_12^0'=nondet_12^post31, a_121^0'=a_121^post31, head_15^0'=head_15^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31, i_27^0'=i_27^post31, x_21^0'=x_21^post31, a_634^0'=a_634^post31, r_39^0'=r_39^post31, a_263^0'=a_263^post31, i_113^0'=i_113^post31, a_432^0'=a_432^post31, temp0_31^0'=temp0_31^post31, len_262^0'=len_262^post31, y_20^0'=y_20^post31, f_248^0'=f_248^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, a_393^0'=a_393^post31, i_229^0'=i_229^post31, a_610^0'=a_610^post31, r_151^0'=r_151^post31, a_144^0'=a_144^post31, i_1053^0'=i_1053^post31, a_417^0'=a_417^post31, t_24^0'=t_24^post31, i_94^0'=i_94^post31, x_852^0'=x_852^post31, a_862^0'=a_862^post31, rcd_1249^0'=rcd_1249^post31, rcd_58^0'=rcd_58^post31, a_310^0'=a_310^post31, i_127^0'=i_127^post31, a_576^0'=a_576^post31, tmp_34^0'=tmp_34^post31, length_29^0'=length_29^post31, a_1162^0'=a_1162^post31, f_969^0'=f_969^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31, a_395^0'=a_395^post31, x_17^0'=x_17^post31, a_633^0'=a_633^post31, r_224^0'=r_224^post31, a_239^0'=a_239^post31, i_107^0'=i_107^post31, a_431^0'=a_431^post31, temp0_16^0'=temp0_16^post31, len_238^0'=len_238^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_924^0'=a_924^post31, ct_18^0'=ct_18^post31, result_11^0'=result_11^post31, a_392^0'=a_392^post31, i_197^0'=i_197^post31, a_579^0'=a_579^post31, r_143^0'=r_143^post31, a_1236^0'=a_1236^post31, head_32^0'=head_32^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31, i_30^0'=i_30^post31, x_253^0'=x_253^post31, a_635^0'=a_635^post31, r_970^0'=r_970^post31, rcd_47^0'=rcd_47^post31, a_309^0'=a_309^post31, i_1248^0'=i_1248^post31, a_575^0'=a_575^post31, temp_35^0'=temp_35^post31, len_861^0'=len_861^post31, (t_24^0-t_24^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -f_248^post31+f_248^0 == 0 /\ a_862^0-a_862^post31 == 0 /\ a_394^0-a_394^post31 == 0 /\ a_144^0-a_144^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ -r_970^post31+r_970^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -r_224^post31+r_224^0 == 0 /\ a_263^0-a_263^post31 == 0 /\ -i_197^post31+i_197^0 == 0 /\ -a_579^post31+a_579^0 == 0 /\ a_392^0-a_392^post31 == 0 /\ a_430^0-a_430^post31 == 0 /\ t_458^0-t_458^post31 == 0 /\ x_852^0-x_852^post31 == 0 /\ len_161^0-len_161^post31 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ i_106^0-i_106^post31 == 0 /\ -i_127^post31+i_127^0 == 0 /\ -ct_18^post31+ct_18^0 == 0 /\ -i_229^post31+i_229^0 == 0 /\ a_576^0-a_576^post31 == 0 /\ -temp_35^post31+temp_35^0 == 0 /\ a_311^0-a_311^post31 == 0 /\ f_847^0-f_847^post31 == 0 /\ 1+x_253^0 <= 0 /\ -rcd_1249^post31+rcd_1249^0 == 0 /\ -i_107^post31+i_107^0 == 0 /\ -a_577^post31+a_577^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post31+a_575^0 == 0 /\ -a_924^post31+a_924^0 == 0 /\ a_1236^0-a_1236^post31 == 0 /\ r_143^0-r_143^post31 == 0 /\ a_121^0-a_121^post31 == 0 /\ -len_861^post31+len_861^0 == 0 /\ -i_1248^post31+i_1248^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ len_262^0-len_262^post31 == 0 /\ temp0_31^0-temp0_31^post31 == 0 /\ -a_393^post31+a_393^0 == 0 /\ -a_1162^post31+a_1162^0 == 0 /\ -i_30^post31+i_30^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ a_947^0-a_947^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ i_27^0-i_27^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -len_238^post31+len_238^0 == 0 /\ a_176^0-a_176^post31 == 0 /\ -i_94^post31+i_94^0 == 0 /\ a_1089^0-a_1089^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post31+i_113^0 == 0 /\ -a_309^post31+a_309^0 == 0 /\ -a_633^post31+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ a_635^0-a_635^post31 == 0 /\ -a_432^post31+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31 == 0 /\ -a_632^post31+a_632^0 == 0 /\ i_1053^0-i_1053^post31 == 0 /\ a_395^0-a_395^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -i_140^post31+i_140^0 == 0 /\ -a_431^post31+a_431^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ r_151^0-r_151^post31 == 0 /\ a_239^0-a_239^post31 == 0 /\ a_902^0-a_902^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -a_610^post31+a_610^0 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_975^0-x_975^post31 == 0 /\ f_969^0-f_969^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ -head_32^post31+head_32^0 == 0 /\ x_156^0-x_156^post31 == 0 /\ a_417^0-a_417^post31 == 0 /\ -rcd_47^post31+rcd_47^0 == 0 /\ head_15^0-head_15^post31 == 0 /\ -x_253^post31+x_253^0 == 0 /\ a_634^0-a_634^post31 == 0 /\ -a_310^post31+a_310^0 == 0), cost: 1 32: l22 -> l16 : a_1089^0'=a_1089^post32, f_847^0'=f_847^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, a_394^0'=a_394^post32, x_156^0'=x_156^post32, a_632^0'=a_632^post32, r_192^0'=r_192^post32, a_176^0'=a_176^post32, i_106^0'=i_106^post32, a_430^0'=a_430^post32, t_458^0'=t_458^post32, len_161^0'=len_161^post32, x_975^0'=x_975^post32, a_902^0'=a_902^post32, a_947^0'=a_947^post32, rcd_88^0'=rcd_88^post32, a_311^0'=a_311^post32, i_140^0'=i_140^post32, a_577^0'=a_577^post32, x_14^0'=x_14^post32, nondet_12^0'=nondet_12^post32, a_121^0'=a_121^post32, head_15^0'=head_15^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32, i_27^0'=i_27^post32, x_21^0'=x_21^post32, a_634^0'=a_634^post32, r_39^0'=r_39^post32, a_263^0'=a_263^post32, i_113^0'=i_113^post32, a_432^0'=a_432^post32, temp0_31^0'=temp0_31^post32, len_262^0'=len_262^post32, y_20^0'=y_20^post32, f_248^0'=f_248^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, a_393^0'=a_393^post32, i_229^0'=i_229^post32, a_610^0'=a_610^post32, r_151^0'=r_151^post32, a_144^0'=a_144^post32, i_1053^0'=i_1053^post32, a_417^0'=a_417^post32, t_24^0'=t_24^post32, i_94^0'=i_94^post32, x_852^0'=x_852^post32, a_862^0'=a_862^post32, rcd_1249^0'=rcd_1249^post32, rcd_58^0'=rcd_58^post32, a_310^0'=a_310^post32, i_127^0'=i_127^post32, a_576^0'=a_576^post32, tmp_34^0'=tmp_34^post32, length_29^0'=length_29^post32, a_1162^0'=a_1162^post32, f_969^0'=f_969^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32, a_395^0'=a_395^post32, x_17^0'=x_17^post32, a_633^0'=a_633^post32, r_224^0'=r_224^post32, a_239^0'=a_239^post32, i_107^0'=i_107^post32, a_431^0'=a_431^post32, temp0_16^0'=temp0_16^post32, len_238^0'=len_238^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_924^0'=a_924^post32, ct_18^0'=ct_18^post32, result_11^0'=result_11^post32, a_392^0'=a_392^post32, i_197^0'=i_197^post32, a_579^0'=a_579^post32, r_143^0'=r_143^post32, a_1236^0'=a_1236^post32, head_32^0'=head_32^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32, i_30^0'=i_30^post32, x_253^0'=x_253^post32, a_635^0'=a_635^post32, r_970^0'=r_970^post32, rcd_47^0'=rcd_47^post32, a_309^0'=a_309^post32, i_1248^0'=i_1248^post32, a_575^0'=a_575^post32, temp_35^0'=temp_35^post32, len_861^0'=len_861^post32, (0 == 0 /\ -len_238^post32+len_238^0 == 0 /\ -rcd_47^post32+rcd_47^0 == 0 /\ i_94^0-i_94^post32 == 0 /\ r_151^0-r_151^post32 == 0 /\ i_113^0-i_113^post32 == 0 /\ -r_143^post32+r_143^0 == 0 /\ a_393^0-a_393^post32 == 0 /\ a_430^0-a_430^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ x_975^0-x_975^post32 == 0 /\ -a_634^post32+a_634^0 == 0 /\ f_969^0-f_969^post32 == 0 /\ -i_107^post32+i_107^0 == 0 /\ a_432^0-a_432^post32 == 0 /\ -a_575^post32+a_575^0 == 0 /\ r_192^0-r_192^post32 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ -a_309^post32+a_309^0 == 0 /\ a_633^0-a_633^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -rcd_1249^post32+rcd_1249^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ a_417^0-a_417^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -a_576^post32+a_576^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ a_862^0-a_862^post32 == 0 /\ -a_431^post32+a_431^0 == 0 /\ i_27^0-i_27^post32 == 0 /\ -a_392^post32+a_392^0 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ head_32^0-head_32^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -x_253^post32+x_253^0 == 0 /\ -a_610^post32+a_610^0 == 0 /\ i_140^0-i_140^post32 == 0 /\ -a_1236^post32+a_1236^0 == 0 /\ i_106^0-i_106^post32 == 0 /\ -len_262^post32+len_262^0 == 0 /\ a_632^0-a_632^post32 == 0 /\ a_176^post32-a_263^0 <= 0 /\ -i_1248^post32+i_1248^0 == 0 /\ -r_970^post32+r_970^0 == 0 /\ -a_310^post32+a_310^0 == 0 /\ -r_224^post32+r_224^0 == 0 /\ a_902^0-a_902^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32 == 0 /\ a_311^0-a_311^post32 == 0 /\ -i_197^post32+i_197^0 == 0 /\ -a_579^post32+a_579^0 == 0 /\ t_458^0-t_458^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ f_248^0-f_248^post32 == 0 /\ a_577^0-a_577^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ i_229^0-i_229^post32 == 0 /\ -i_127^post32+i_127^0 == 0 /\ a_239^0-a_239^post32 == 0 /\ -a_395^post32+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post32 == 0 /\ len_262^0-len_161^post32 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ -a_924^post32+a_924^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -a_1162^post32+a_1162^0 == 0 /\ -a_947^post32+a_947^0 == 0 /\ x_14^0-x_14^post32 == 0 /\ 1-i_27^0 <= 0 /\ i_1053^0-i_1053^post32 == 0 /\ -a_176^post32+a_263^0 <= 0 /\ a_121^0-a_121^post32 == 0 /\ -head_15^post32+head_15^0 == 0 /\ a_1089^0-a_1089^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ a_394^0-a_394^post32 == 0 /\ a_263^0-a_263^post32 == 0 /\ x_852^0-x_852^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ y_20^0-y_20^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ f_847^0-f_847^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32 == 0 /\ -len_861^post32+len_861^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_262^0+len_161^post32 <= 0 /\ -a_635^post32+a_635^0 == 0), cost: 1 50: l16 -> l33 : a_1089^0'=a_1089^post50, f_847^0'=f_847^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_394^0'=a_394^post50, x_156^0'=x_156^post50, a_632^0'=a_632^post50, r_192^0'=r_192^post50, a_176^0'=a_176^post50, i_106^0'=i_106^post50, a_430^0'=a_430^post50, t_458^0'=t_458^post50, len_161^0'=len_161^post50, x_975^0'=x_975^post50, a_902^0'=a_902^post50, a_947^0'=a_947^post50, rcd_88^0'=rcd_88^post50, a_311^0'=a_311^post50, i_140^0'=i_140^post50, a_577^0'=a_577^post50, x_14^0'=x_14^post50, nondet_12^0'=nondet_12^post50, a_121^0'=a_121^post50, head_15^0'=head_15^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50, i_27^0'=i_27^post50, x_21^0'=x_21^post50, a_634^0'=a_634^post50, r_39^0'=r_39^post50, a_263^0'=a_263^post50, i_113^0'=i_113^post50, a_432^0'=a_432^post50, temp0_31^0'=temp0_31^post50, len_262^0'=len_262^post50, y_20^0'=y_20^post50, f_248^0'=f_248^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_393^0'=a_393^post50, i_229^0'=i_229^post50, a_610^0'=a_610^post50, r_151^0'=r_151^post50, a_144^0'=a_144^post50, i_1053^0'=i_1053^post50, a_417^0'=a_417^post50, t_24^0'=t_24^post50, i_94^0'=i_94^post50, x_852^0'=x_852^post50, a_862^0'=a_862^post50, rcd_1249^0'=rcd_1249^post50, rcd_58^0'=rcd_58^post50, a_310^0'=a_310^post50, i_127^0'=i_127^post50, a_576^0'=a_576^post50, tmp_34^0'=tmp_34^post50, length_29^0'=length_29^post50, a_1162^0'=a_1162^post50, f_969^0'=f_969^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50, a_395^0'=a_395^post50, x_17^0'=x_17^post50, a_633^0'=a_633^post50, r_224^0'=r_224^post50, a_239^0'=a_239^post50, i_107^0'=i_107^post50, a_431^0'=a_431^post50, temp0_16^0'=temp0_16^post50, len_238^0'=len_238^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, a_924^0'=a_924^post50, ct_18^0'=ct_18^post50, result_11^0'=result_11^post50, a_392^0'=a_392^post50, i_197^0'=i_197^post50, a_579^0'=a_579^post50, r_143^0'=r_143^post50, a_1236^0'=a_1236^post50, head_32^0'=head_32^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50, i_30^0'=i_30^post50, x_253^0'=x_253^post50, a_635^0'=a_635^post50, r_970^0'=r_970^post50, rcd_47^0'=rcd_47^post50, a_309^0'=a_309^post50, i_1248^0'=i_1248^post50, a_575^0'=a_575^post50, temp_35^0'=temp_35^post50, len_861^0'=len_861^post50, (0 == 0 /\ -x_14^post50 <= 0 /\ -i_113^post50+i_113^0 == 0 /\ -a_432^post50+a_432^0 == 0 /\ -a_635^post50+a_635^0 == 0 /\ -r_143^post50+r_143^0 == 0 /\ x_SLAM_f_19^post50-x_17^post50 <= 0 /\ x_SLAM_f_19^post50-x_17^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50 == 0 /\ head_15^0-x_17^post50 <= 0 /\ result_11^0-result_11^post50 == 0 /\ -len_161^0 <= 0 /\ -a_309^post50+a_309^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ -head_15^0+x_SLAM_f_19^post50 <= 0 /\ a_862^0-a_862^post50 == 0 /\ a_634^0-a_634^post50 == 0 /\ x_14^post50 <= 0 /\ -a_144^post50+a_144^0 == 0 /\ a_902^0-a_902^post50 == 0 /\ -ct_18^post50+y_20^post50 <= 0 /\ -ct_18^post50+y_20^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ a_947^0-a_947^post50 == 0 /\ -a_310^post50+a_310^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -a_1236^post50+a_1236^0 == 0 /\ -a_575^post50+a_575^0 == 0 /\ x_156^0-x_156^post50 == 0 /\ rcd_88^0-rcd_88^post50 == 0 /\ -len_238^post50+len_238^0 == 0 /\ -len_262^post50+len_262^0 == 0 /\ a_176^0-a_176^post50 == 0 /\ -a_633^post50+a_633^0 == 0 /\ -rcd_47^post50+rcd_47^0 == 0 /\ i_1053^0-i_1053^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -x_SLAM_f_19^post50+x_17^post50 <= 0 /\ length_29^0-length_29^post50 == 0 /\ r_192^0-r_192^post50 == 0 /\ -head_15^0+x_17^post50 <= 0 /\ -head_15^0+x_17^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -ct_18^post50 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_579^0-a_579^post50 == 0 /\ a_632^0-a_632^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ a_430^0-a_430^post50 == 0 /\ head_15^0-x_SLAM_f_19^post50 <= 0 /\ -a_176^0 <= 0 /\ -f_969^post50+f_969^0 == 0 /\ ct_18^post50-y_20^post50 <= 0 /\ a_392^0-a_392^post50 == 0 /\ a_1089^0-a_1089^post50 == 0 /\ a_311^0-a_311^post50 == 0 /\ -i_127^post50+i_127^0 == 0 /\ a_263^0-a_263^post50 == 0 /\ x_852^0-x_852^post50 == 0 /\ -x_21^post50+x_SLAM_f_19^post50 <= 0 /\ -x_21^post50+head_15^0 <= 0 /\ a_576^0-a_576^post50 == 0 /\ -a_431^post50+a_431^0 == 0 /\ f_847^0-f_847^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50 == 0 /\ -temp_35^post50+temp_35^0 == 0 /\ -r_970^post50+r_970^0 == 0 /\ -x_253^post50+x_253^0 == 0 /\ i_140^0-i_140^post50 == 0 /\ -i_197^post50+i_197^0 == 0 /\ ct_18^post50 <= 0 /\ ct_18^post50 == 0 /\ x_975^0-x_975^post50 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ r_151^0-r_151^post50 == 0 /\ -f_248^post50+f_248^0 == 0 /\ a_394^0-a_394^post50 == 0 /\ -a_121^post50+a_121^0 == 0 /\ -y_20^post50 <= 0 /\ -t_24^post50+t_24^0 == 0 /\ a_417^0-a_417^post50 == 0 /\ x_21^post50-x_SLAM_f_19^post50 <= 0 /\ x_21^post50-x_SLAM_f_19^post50 == 0 /\ -a_577^post50+a_577^0 == 0 /\ x_21^post50-head_15^0 <= 0 /\ a_610^0-a_610^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -a_1162^post50+a_1162^0 == 0 /\ -i_229^post50+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post50 == 0 /\ i_106^0-i_106^post50 == 0 /\ -i_30^post50+i_30^0 == 0 /\ -i_1248^post50+i_1248^0 == 0 /\ a_395^0-a_395^post50 == 0 /\ -a_239^post50+a_239^0 == 0 /\ len_161^0-len_161^post50 == 0 /\ y_20^post50 <= 0 /\ -r_224^post50+r_224^0 == 0 /\ -len_861^post50+len_861^0 == 0 /\ a_393^0-a_393^post50 == 0 /\ -a_924^post50+a_924^0 == 0 /\ -temp0_16^post50+temp0_16^0 == 0 /\ t_458^0-t_458^post50 == 0 /\ i_107^0-i_107^post50 == 0), cost: 1 54: l16 -> l36 : a_1089^0'=a_1089^post54, f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_394^0'=a_394^post54, x_156^0'=x_156^post54, a_632^0'=a_632^post54, r_192^0'=r_192^post54, a_176^0'=a_176^post54, i_106^0'=i_106^post54, a_430^0'=a_430^post54, t_458^0'=t_458^post54, len_161^0'=len_161^post54, x_975^0'=x_975^post54, a_902^0'=a_902^post54, a_947^0'=a_947^post54, rcd_88^0'=rcd_88^post54, a_311^0'=a_311^post54, i_140^0'=i_140^post54, a_577^0'=a_577^post54, x_14^0'=x_14^post54, nondet_12^0'=nondet_12^post54, a_121^0'=a_121^post54, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54, i_27^0'=i_27^post54, x_21^0'=x_21^post54, a_634^0'=a_634^post54, r_39^0'=r_39^post54, a_263^0'=a_263^post54, i_113^0'=i_113^post54, a_432^0'=a_432^post54, temp0_31^0'=temp0_31^post54, len_262^0'=len_262^post54, y_20^0'=y_20^post54, f_248^0'=f_248^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_393^0'=a_393^post54, i_229^0'=i_229^post54, a_610^0'=a_610^post54, r_151^0'=r_151^post54, a_144^0'=a_144^post54, i_1053^0'=i_1053^post54, a_417^0'=a_417^post54, t_24^0'=t_24^post54, i_94^0'=i_94^post54, x_852^0'=x_852^post54, a_862^0'=a_862^post54, rcd_1249^0'=rcd_1249^post54, rcd_58^0'=rcd_58^post54, a_310^0'=a_310^post54, i_127^0'=i_127^post54, a_576^0'=a_576^post54, tmp_34^0'=tmp_34^post54, length_29^0'=length_29^post54, a_1162^0'=a_1162^post54, f_969^0'=f_969^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54, a_395^0'=a_395^post54, x_17^0'=x_17^post54, a_633^0'=a_633^post54, r_224^0'=r_224^post54, a_239^0'=a_239^post54, i_107^0'=i_107^post54, a_431^0'=a_431^post54, temp0_16^0'=temp0_16^post54, len_238^0'=len_238^post54, x_SLAM_f_19^0'=x_SLAM_f_19^post54, a_924^0'=a_924^post54, ct_18^0'=ct_18^post54, result_11^0'=result_11^post54, a_392^0'=a_392^post54, i_197^0'=i_197^post54, a_579^0'=a_579^post54, r_143^0'=r_143^post54, a_1236^0'=a_1236^post54, head_32^0'=head_32^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54, i_30^0'=i_30^post54, x_253^0'=x_253^post54, a_635^0'=a_635^post54, r_970^0'=r_970^post54, rcd_47^0'=rcd_47^post54, a_309^0'=a_309^post54, i_1248^0'=i_1248^post54, a_575^0'=a_575^post54, temp_35^0'=temp_35^post54, len_861^0'=len_861^post54, (0 == 0 /\ rcd_1249^0-rcd_1249^post54 == 0 /\ -rcd_47^post54+rcd_47^0 == 0 /\ a_924^0-a_924^post54 == 0 /\ -i_140^post54+i_140^0 == 0 /\ f_248^0-f_248^post54 == 0 /\ -r_143^post54+r_143^0 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post54 == 0 /\ i_127^0-i_127^post54 == 0 /\ x_975^0-x_975^post54 == 0 /\ -a_144^post54+a_144^0 == 0 /\ a_577^0-a_577^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post54+a_575^0 == 0 /\ -r_151^post54+r_151^0 == 0 /\ r_192^0-r_192^post54 == 0 /\ -a_309^post54+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_1162^0-a_1162^post54 == 0 /\ x_21^0-x_21^post54 == 0 /\ -a_633^post54+a_633^0 == 0 /\ -i_113^post54+i_113^0 == 0 /\ a_634^0-a_634^post54 == 0 /\ -a_432^post54+a_432^0 == 0 /\ -a_431^post54+a_431^0 == 0 /\ i_27^0-i_27^post54 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_392^post54+a_392^0 == 0 /\ a_947^0-a_947^post54 == 0 /\ a_576^0-a_576^post54 == 0 /\ -length_29^post54+length_29^0 == 0 /\ i_197^0-i_197^post54 == 0 /\ -y_20^post54+y_20^0 == 0 /\ -x_253^post54+x_253^0 == 0 /\ -x_SLAM_f_19^post54+x_SLAM_f_19^0 == 0 /\ -a_176^0 <= 0 /\ i_107^0-i_107^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -f_969^post54+f_969^0 == 0 /\ -a_1236^post54+a_1236^0 == 0 /\ -ct_18^post54+ct_18^0 == 0 /\ a_632^0-a_632^post54 == 0 /\ -t_458^post54+t_458^0 == 0 /\ -a_310^post54+a_310^0 == 0 /\ r_224^0-r_224^post54 == 0 /\ a_311^0-a_311^post54 == 0 /\ a_902^0-a_902^post54 == 0 /\ -i_106^post54+i_106^0 == 0 /\ -rcd_58^post54+rcd_58^0 == 0 /\ i_229^0-i_229^post54 == 0 /\ r_970^0-r_970^post54 == 0 /\ -len_161^post54+len_161^0 == 0 /\ -a_395^post54+a_395^0 == 0 /\ -a_862^post54+a_862^0 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ x_156^0-x_156^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_610^0-a_610^post54 == 0 /\ -a_579^post54+a_579^0 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ temp0_31^0-temp0_31^post54 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -a_263^post54+a_263^0 == 0 /\ x_14^0-x_14^post54 == 0 /\ a_121^0-a_121^post54 == 0 /\ -a_393^post54+a_393^0 == 0 /\ a_1089^0-a_1089^post54 == 0 /\ len_262^0-len_262^post54 == 0 /\ a_394^0-a_394^post54 == 0 /\ x_17^0-x_17^post54 == 0 /\ -a_417^post54+a_417^0 == 0 /\ rcd_88^0-rcd_88^post54 == 0 /\ -temp0_16^post54+temp0_16^0 == 0 /\ a_176^0-a_176^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -i_1053^post54+i_1053^0 == 0 /\ -i_1248^post54+i_1248^0 == 0 /\ -len_861^post54+len_861^0 == 0 /\ -a_239^post54+a_239^0 == 0 /\ -t_24^post54+t_24^0 == 0 /\ len_238^0-len_238^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_635^post54+a_635^0 == 0), cost: 1 64: l16 -> l41 : a_1089^0'=a_1089^post64, f_847^0'=f_847^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_394^0'=a_394^post64, x_156^0'=x_156^post64, a_632^0'=a_632^post64, r_192^0'=r_192^post64, a_176^0'=a_176^post64, i_106^0'=i_106^post64, a_430^0'=a_430^post64, t_458^0'=t_458^post64, len_161^0'=len_161^post64, x_975^0'=x_975^post64, a_902^0'=a_902^post64, a_947^0'=a_947^post64, rcd_88^0'=rcd_88^post64, a_311^0'=a_311^post64, i_140^0'=i_140^post64, a_577^0'=a_577^post64, x_14^0'=x_14^post64, nondet_12^0'=nondet_12^post64, a_121^0'=a_121^post64, head_15^0'=head_15^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64, i_27^0'=i_27^post64, x_21^0'=x_21^post64, a_634^0'=a_634^post64, r_39^0'=r_39^post64, a_263^0'=a_263^post64, i_113^0'=i_113^post64, a_432^0'=a_432^post64, temp0_31^0'=temp0_31^post64, len_262^0'=len_262^post64, y_20^0'=y_20^post64, f_248^0'=f_248^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_393^0'=a_393^post64, i_229^0'=i_229^post64, a_610^0'=a_610^post64, r_151^0'=r_151^post64, a_144^0'=a_144^post64, i_1053^0'=i_1053^post64, a_417^0'=a_417^post64, t_24^0'=t_24^post64, i_94^0'=i_94^post64, x_852^0'=x_852^post64, a_862^0'=a_862^post64, rcd_1249^0'=rcd_1249^post64, rcd_58^0'=rcd_58^post64, a_310^0'=a_310^post64, i_127^0'=i_127^post64, a_576^0'=a_576^post64, tmp_34^0'=tmp_34^post64, length_29^0'=length_29^post64, a_1162^0'=a_1162^post64, f_969^0'=f_969^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64, a_395^0'=a_395^post64, x_17^0'=x_17^post64, a_633^0'=a_633^post64, r_224^0'=r_224^post64, a_239^0'=a_239^post64, i_107^0'=i_107^post64, a_431^0'=a_431^post64, temp0_16^0'=temp0_16^post64, len_238^0'=len_238^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, a_924^0'=a_924^post64, ct_18^0'=ct_18^post64, result_11^0'=result_11^post64, a_392^0'=a_392^post64, i_197^0'=i_197^post64, a_579^0'=a_579^post64, r_143^0'=r_143^post64, a_1236^0'=a_1236^post64, head_32^0'=head_32^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64, i_30^0'=i_30^post64, x_253^0'=x_253^post64, a_635^0'=a_635^post64, r_970^0'=r_970^post64, rcd_47^0'=rcd_47^post64, a_309^0'=a_309^post64, i_1248^0'=i_1248^post64, a_575^0'=a_575^post64, temp_35^0'=temp_35^post64, len_861^0'=len_861^post64, (0 == 0 /\ -len_262^post64+len_262^0 == 0 /\ a_417^0-a_417^post64 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ i_140^0-i_140^post64 == 0 /\ a_263^0-a_263^post64 == 0 /\ -i_1248^post64+i_1248^0 == 0 /\ a_1089^0-a_1089^post64 == 0 /\ a_394^0-a_394^post64 == 0 /\ a_1162^0-a_1162^post64 == 0 /\ -a_239^post64+a_239^0 == 0 /\ -len_161^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -i_1053^post64+i_1053^0 == 0 /\ -i_30^post64+i_30^0 == 0 /\ rcd_88^0-rcd_88^post64 == 0 /\ y_20^0-y_20^post64 == 0 /\ f_847^0-f_847^post64 == 0 /\ a_924^0-a_924^post64 == 0 /\ -a_392^post64+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post64+len_861^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ x_975^0-x_975^post64 == 0 /\ i_106^0-i_106^post64 == 0 /\ -a_635^post64+a_635^0 == 0 /\ i_94^0-i_94^post64 == 0 /\ r_224^0-r_224^post64 == 0 /\ i_127^0-i_127^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ t_458^0-t_458^post64 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_309^post64+a_309^0 == 0 /\ a_393^0-a_393^post64 == 0 /\ a_577^0-a_577^post64 == 0 /\ -a_579^post64+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -i_107^post64+i_107^0 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -a_176^0 <= 0 /\ -a_575^post64+a_575^0 == 0 /\ -a_633^post64+a_633^0 == 0 /\ -x_852^post64+x_852^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ -len_238^post64+len_238^0 == 0 /\ a_862^0-a_862^post64 == 0 /\ x_14^0-x_14^post64 == 0 /\ a_121^0-a_121^post64 == 0 /\ x_156^0-x_156^post64 == 0 /\ len_161^0-len_161^post64 == 0 /\ a_947^0-a_947^post64 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ -f_969^post64+f_969^0 == 0 /\ -a_634^post64+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post64+rcd_1249^0 == 0 /\ length_29^0-length_29^post64 == 0 /\ f_248^0-f_248^post64 == 0 /\ -a_576^post64+a_576^0 == 0 /\ -a_431^post64+a_431^0 == 0 /\ -r_970^post64+r_970^0 == 0 /\ rcd_47^0-rcd_47^post64 == 0 /\ a_632^0-a_632^post64 == 0 /\ r_151^0-r_151^post64 == 0 /\ -a_176^post64+a_176^0 == 0 /\ a_311^0-a_311^post64 == 0 /\ -r_143^post64+r_143^0 == 0 /\ i_113^0-i_113^post64 == 0 /\ -temp_35^post64+temp_35^0 == 0 /\ -i_27^post64+i_27^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ a_902^0-a_902^post64 == 0 /\ -x_253^post64+x_253^0 == 0 /\ a_310^0-a_310^post64 == 0 /\ i_229^0-i_229^post64 == 0 /\ a_432^0-a_432^post64 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ r_192^0-r_192^post64 == 0 /\ -a_395^post64+a_395^0 == 0 /\ -a_610^post64+a_610^0 == 0 /\ a_430^0-a_430^post64 == 0 /\ -a_1236^post64+a_1236^0 == 0), cost: 1 34: l24 -> l25 : a_1089^0'=a_1089^post34, f_847^0'=f_847^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_394^0'=a_394^post34, x_156^0'=x_156^post34, a_632^0'=a_632^post34, r_192^0'=r_192^post34, a_176^0'=a_176^post34, i_106^0'=i_106^post34, a_430^0'=a_430^post34, t_458^0'=t_458^post34, len_161^0'=len_161^post34, x_975^0'=x_975^post34, a_902^0'=a_902^post34, a_947^0'=a_947^post34, rcd_88^0'=rcd_88^post34, a_311^0'=a_311^post34, i_140^0'=i_140^post34, a_577^0'=a_577^post34, x_14^0'=x_14^post34, nondet_12^0'=nondet_12^post34, a_121^0'=a_121^post34, head_15^0'=head_15^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34, i_27^0'=i_27^post34, x_21^0'=x_21^post34, a_634^0'=a_634^post34, r_39^0'=r_39^post34, a_263^0'=a_263^post34, i_113^0'=i_113^post34, a_432^0'=a_432^post34, temp0_31^0'=temp0_31^post34, len_262^0'=len_262^post34, y_20^0'=y_20^post34, f_248^0'=f_248^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_393^0'=a_393^post34, i_229^0'=i_229^post34, a_610^0'=a_610^post34, r_151^0'=r_151^post34, a_144^0'=a_144^post34, i_1053^0'=i_1053^post34, a_417^0'=a_417^post34, t_24^0'=t_24^post34, i_94^0'=i_94^post34, x_852^0'=x_852^post34, a_862^0'=a_862^post34, rcd_1249^0'=rcd_1249^post34, rcd_58^0'=rcd_58^post34, a_310^0'=a_310^post34, i_127^0'=i_127^post34, a_576^0'=a_576^post34, tmp_34^0'=tmp_34^post34, length_29^0'=length_29^post34, a_1162^0'=a_1162^post34, f_969^0'=f_969^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34, a_395^0'=a_395^post34, x_17^0'=x_17^post34, a_633^0'=a_633^post34, r_224^0'=r_224^post34, a_239^0'=a_239^post34, i_107^0'=i_107^post34, a_431^0'=a_431^post34, temp0_16^0'=temp0_16^post34, len_238^0'=len_238^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_924^0'=a_924^post34, ct_18^0'=ct_18^post34, result_11^0'=result_11^post34, a_392^0'=a_392^post34, i_197^0'=i_197^post34, a_579^0'=a_579^post34, r_143^0'=r_143^post34, a_1236^0'=a_1236^post34, head_32^0'=head_32^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34, i_30^0'=i_30^post34, x_253^0'=x_253^post34, a_635^0'=a_635^post34, r_970^0'=r_970^post34, rcd_47^0'=rcd_47^post34, a_309^0'=a_309^post34, i_1248^0'=i_1248^post34, a_575^0'=a_575^post34, temp_35^0'=temp_35^post34, len_861^0'=len_861^post34, (-a_633^post34+a_633^0 == 0 /\ -a_610^post34+a_610^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ i_94^0-i_94^post34 == 0 /\ -rcd_47^post34+rcd_47^0 == 0 /\ head_15^0-head_15^post34 == 0 /\ a_393^0-a_393^post34 == 0 /\ r_39^0-r_39^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34 == 0 /\ 1-x_14^0 <= 0 /\ a_432^0-a_432^post34 == 0 /\ a_310^0-a_310^post34 == 0 /\ -rcd_1249^post34+rcd_1249^0 == 0 /\ -a_634^post34+a_634^0 == 0 /\ -r_143^post34+r_143^0 == 0 /\ r_192^0-r_192^post34 == 0 /\ x_156^0-x_156^post34 == 0 /\ i_113^0-i_113^post34 == 0 /\ a_1089^0-a_1089^post34 == 0 /\ -a_924^post34+a_924^0 == 0 /\ -len_238^post34+len_238^0 == 0 /\ x_21^0-x_21^post34 == 0 /\ -a_576^post34+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post34+r_151^0 == 0 /\ a_121^0-a_121^post34 == 0 /\ i_27^0-i_27^post34 == 0 /\ -a_1236^post34+a_1236^0 == 0 /\ -f_969^post34+f_969^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ -x_253^post34+x_253^0 == 0 /\ a_263^0-a_263^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ a_417^0-a_417^post34 == 0 /\ a_392^0-a_392^post34 == 0 /\ y_20^0-y_20^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -f_248^post34+f_248^0 == 0 /\ -a_311^post34+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34 == 0 /\ -r_970^post34+r_970^0 == 0 /\ a_632^0-a_632^post34 == 0 /\ i_106^0-i_106^post34 == 0 /\ -i_1248^post34+i_1248^0 == 0 /\ -a_395^post34+a_395^0 == 0 /\ -len_861^post34+len_861^0 == 0 /\ -a_239^post34+a_239^0 == 0 /\ -a_430^post34+a_430^0 == 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_224^0-r_224^post34 == 0 /\ a_902^0-a_902^post34 == 0 /\ x_975^0-x_975^post34 == 0 /\ i_107^0-i_107^post34 == 0 /\ -len_262^post34+len_262^0 == 0 /\ t_458^0-t_458^post34 == 0 /\ a_577^0-a_577^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post34+i_1053^0 == 0 /\ -i_197^post34+i_197^0 == 0 /\ x_14^0-x_14^post34 == 0 /\ -a_575^post34+a_575^0 == 0 /\ -a_579^post34+a_579^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ len_161^0-len_161^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ i_140^0-i_140^post34 == 0 /\ -a_947^post34+a_947^0 == 0 /\ -a_309^post34+a_309^0 == 0 /\ x_852^0-x_852^post34 == 0 /\ i_229^0-i_229^post34 == 0 /\ a_431^0-a_431^post34 == 0 /\ -i_127^post34+i_127^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ a_394^0-a_394^post34 == 0 /\ a_862^0-a_862^post34 == 0 /\ -rcd_58^post34+rcd_58^0 == 0 /\ -a_635^post34+a_635^0 == 0 /\ a_176^0-a_176^post34 == 0 /\ rcd_88^0-rcd_88^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ f_847^0-f_847^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ -a_1162^post34+a_1162^0 == 0), cost: 1 35: l24 -> l25 : a_1089^0'=a_1089^post35, f_847^0'=f_847^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_394^0'=a_394^post35, x_156^0'=x_156^post35, a_632^0'=a_632^post35, r_192^0'=r_192^post35, a_176^0'=a_176^post35, i_106^0'=i_106^post35, a_430^0'=a_430^post35, t_458^0'=t_458^post35, len_161^0'=len_161^post35, x_975^0'=x_975^post35, a_902^0'=a_902^post35, a_947^0'=a_947^post35, rcd_88^0'=rcd_88^post35, a_311^0'=a_311^post35, i_140^0'=i_140^post35, a_577^0'=a_577^post35, x_14^0'=x_14^post35, nondet_12^0'=nondet_12^post35, a_121^0'=a_121^post35, head_15^0'=head_15^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35, i_27^0'=i_27^post35, x_21^0'=x_21^post35, a_634^0'=a_634^post35, r_39^0'=r_39^post35, a_263^0'=a_263^post35, i_113^0'=i_113^post35, a_432^0'=a_432^post35, temp0_31^0'=temp0_31^post35, len_262^0'=len_262^post35, y_20^0'=y_20^post35, f_248^0'=f_248^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_393^0'=a_393^post35, i_229^0'=i_229^post35, a_610^0'=a_610^post35, r_151^0'=r_151^post35, a_144^0'=a_144^post35, i_1053^0'=i_1053^post35, a_417^0'=a_417^post35, t_24^0'=t_24^post35, i_94^0'=i_94^post35, x_852^0'=x_852^post35, a_862^0'=a_862^post35, rcd_1249^0'=rcd_1249^post35, rcd_58^0'=rcd_58^post35, a_310^0'=a_310^post35, i_127^0'=i_127^post35, a_576^0'=a_576^post35, tmp_34^0'=tmp_34^post35, length_29^0'=length_29^post35, a_1162^0'=a_1162^post35, f_969^0'=f_969^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35, a_395^0'=a_395^post35, x_17^0'=x_17^post35, a_633^0'=a_633^post35, r_224^0'=r_224^post35, a_239^0'=a_239^post35, i_107^0'=i_107^post35, a_431^0'=a_431^post35, temp0_16^0'=temp0_16^post35, len_238^0'=len_238^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_924^0'=a_924^post35, ct_18^0'=ct_18^post35, result_11^0'=result_11^post35, a_392^0'=a_392^post35, i_197^0'=i_197^post35, a_579^0'=a_579^post35, r_143^0'=r_143^post35, a_1236^0'=a_1236^post35, head_32^0'=head_32^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35, i_30^0'=i_30^post35, x_253^0'=x_253^post35, a_635^0'=a_635^post35, r_970^0'=r_970^post35, rcd_47^0'=rcd_47^post35, a_309^0'=a_309^post35, i_1248^0'=i_1248^post35, a_575^0'=a_575^post35, temp_35^0'=temp_35^post35, len_861^0'=len_861^post35, (x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -length_29^post35+length_29^0 == 0 /\ len_262^0-len_262^post35 == 0 /\ -len_861^post35+len_861^0 == 0 /\ -f_248^post35+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ i_229^0-i_229^post35 == 0 /\ -a_1236^post35+a_1236^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ a_634^0-a_634^post35 == 0 /\ len_161^0-len_161^post35 == 0 /\ a_947^0-a_947^post35 == 0 /\ -i_1248^post35+i_1248^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -i_27^post35+i_27^0 == 0 /\ -a_239^post35+a_239^0 == 0 /\ i_1053^0-i_1053^post35 == 0 /\ -i_197^post35+i_197^0 == 0 /\ -a_393^post35+a_393^0 == 0 /\ -i_127^post35+i_127^0 == 0 /\ a_395^0-a_395^post35 == 0 /\ a_121^0-a_121^post35 == 0 /\ a_176^0-a_176^post35 == 0 /\ -a_579^post35+a_579^0 == 0 /\ i_113^0-i_113^post35 == 0 /\ -r_151^post35+r_151^0 == 0 /\ x_975^0-x_975^post35 == 0 /\ -a_635^post35+a_635^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ r_192^0-r_192^post35 == 0 /\ a_430^0-a_430^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ -x_852^post35+x_852^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -a_575^post35+a_575^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_156^0-x_156^post35 == 0 /\ -a_309^post35+a_309^0 == 0 /\ a_1089^0-a_1089^post35 == 0 /\ a_1162^0-a_1162^post35 == 0 /\ a_310^0-a_310^post35 == 0 /\ -a_417^post35+a_417^0 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ x_14^0-x_14^post35 == 0 /\ a_632^0-a_632^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ a_432^0-a_432^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_902^post35+a_902^0 == 0 /\ a_862^0-a_862^post35 == 0 /\ x_21^0-x_21^post35 == 0 /\ i_140^0-i_140^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post35+a_633^0 == 0 /\ a_431^0-a_431^post35 == 0 /\ f_847^0-f_847^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ a_263^0-a_263^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post35 == 0 /\ -a_924^post35+a_924^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_47^post35+rcd_47^0 == 0 /\ -r_143^post35+r_143^0 == 0 /\ -rcd_1249^post35+rcd_1249^0 == 0 /\ -len_238^post35+len_238^0 == 0 /\ y_20^0-y_20^post35 == 0 /\ i_107^0-i_107^post35 == 0 /\ a_610^0-a_610^post35 == 0 /\ -x_253^post35+x_253^0 == 0 /\ r_224^0-r_224^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -f_969^post35+f_969^0 == 0 /\ -r_970^post35+r_970^0 == 0 /\ -a_392^post35+a_392^0 == 0 /\ a_577^0-a_577^post35 == 0 /\ t_458^0-t_458^post35 == 0 /\ -a_311^post35+a_311^0 == 0 /\ i_106^0-i_106^post35 == 0 /\ i_94^0-i_94^post35 == 0 /\ -a_576^post35+a_576^0 == 0 /\ 1+x_14^0 <= 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -temp_35^post35+temp_35^0 == 0), cost: 1 36: l25 -> l26 : a_1089^0'=a_1089^post36, f_847^0'=f_847^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_394^0'=a_394^post36, x_156^0'=x_156^post36, a_632^0'=a_632^post36, r_192^0'=r_192^post36, a_176^0'=a_176^post36, i_106^0'=i_106^post36, a_430^0'=a_430^post36, t_458^0'=t_458^post36, len_161^0'=len_161^post36, x_975^0'=x_975^post36, a_902^0'=a_902^post36, a_947^0'=a_947^post36, rcd_88^0'=rcd_88^post36, a_311^0'=a_311^post36, i_140^0'=i_140^post36, a_577^0'=a_577^post36, x_14^0'=x_14^post36, nondet_12^0'=nondet_12^post36, a_121^0'=a_121^post36, head_15^0'=head_15^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36, i_27^0'=i_27^post36, x_21^0'=x_21^post36, a_634^0'=a_634^post36, r_39^0'=r_39^post36, a_263^0'=a_263^post36, i_113^0'=i_113^post36, a_432^0'=a_432^post36, temp0_31^0'=temp0_31^post36, len_262^0'=len_262^post36, y_20^0'=y_20^post36, f_248^0'=f_248^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_393^0'=a_393^post36, i_229^0'=i_229^post36, a_610^0'=a_610^post36, r_151^0'=r_151^post36, a_144^0'=a_144^post36, i_1053^0'=i_1053^post36, a_417^0'=a_417^post36, t_24^0'=t_24^post36, i_94^0'=i_94^post36, x_852^0'=x_852^post36, a_862^0'=a_862^post36, rcd_1249^0'=rcd_1249^post36, rcd_58^0'=rcd_58^post36, a_310^0'=a_310^post36, i_127^0'=i_127^post36, a_576^0'=a_576^post36, tmp_34^0'=tmp_34^post36, length_29^0'=length_29^post36, a_1162^0'=a_1162^post36, f_969^0'=f_969^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36, a_395^0'=a_395^post36, x_17^0'=x_17^post36, a_633^0'=a_633^post36, r_224^0'=r_224^post36, a_239^0'=a_239^post36, i_107^0'=i_107^post36, a_431^0'=a_431^post36, temp0_16^0'=temp0_16^post36, len_238^0'=len_238^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, a_924^0'=a_924^post36, ct_18^0'=ct_18^post36, result_11^0'=result_11^post36, a_392^0'=a_392^post36, i_197^0'=i_197^post36, a_579^0'=a_579^post36, r_143^0'=r_143^post36, a_1236^0'=a_1236^post36, head_32^0'=head_32^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36, i_30^0'=i_30^post36, x_253^0'=x_253^post36, a_635^0'=a_635^post36, r_970^0'=r_970^post36, rcd_47^0'=rcd_47^post36, a_309^0'=a_309^post36, i_1248^0'=i_1248^post36, a_575^0'=a_575^post36, temp_35^0'=temp_35^post36, len_861^0'=len_861^post36, (0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ t_458^0-t_458^post36 == 0 /\ i_106^0-i_106^post36 == 0 /\ -len_238^post36+len_238^0 == 0 /\ a_632^0-a_632^post36 == 0 /\ head_15^0-head_15^post36 == 0 /\ a_902^0-a_902^post36 == 0 /\ -a_634^post36+a_634^0 == 0 /\ -x_253^post36+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post36+rcd_1249^0 == 0 /\ a_310^0-a_310^post36 == 0 /\ i_229^0-i_229^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_151^post36+r_151^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -a_576^post36+a_576^0 == 0 /\ -r_970^post36+r_970^0 == 0 /\ -nondet_12^11+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36 == 0 /\ -r_224^post36+r_224^0 == 0 /\ a_121^0-a_121^post36 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ len_262^0-len_262^post36 == 0 /\ a_263^0-a_263^post36 == 0 /\ -r_143^post36+r_143^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ a_176^0-a_176^post36 == 0 /\ a_394^0-a_394^post36 == 0 /\ a_924^0-a_924^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36 == 0 /\ -a_395^post36+a_395^0 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ -a_1236^post36+a_1236^0 == 0 /\ x_975^0-x_975^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ a_577^0-a_577^post36 == 0 /\ f_248^0-f_248^post36 == 0 /\ f_969^0-f_969^post36 == 0 /\ i_94^0-i_94^post36 == 0 /\ -a_392^post36+a_392^0 == 0 /\ i_113^0-i_113^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_393^0-a_393^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ i_140^0-i_140^post36 == 0 /\ -a_862^post36+a_862^0 == 0 /\ -i_30^post36+i_30^0 == 0 /\ -i_1053^post36+i_1053^0 == 0 /\ -x_156^post36+x_156^0 == 0 /\ len_161^0-len_161^post36 == 0 /\ -i_1248^post36+i_1248^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ a_1089^0-a_1089^post36 == 0 /\ a_311^0-a_311^post36 == 0 /\ -len_861^post36+len_861^0 == 0 /\ a_432^0-a_432^post36 == 0 /\ -r_192^post36+r_192^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ -a_239^post36+a_239^0 == 0 /\ a_430^0-a_430^post36 == 0 /\ -a_635^post36+a_635^0 == 0 /\ -rcd_47^post36+rcd_47^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -x_852^post36+x_852^0 == 0 /\ y_20^0-y_20^post36 == 0 /\ 1-i_27^0 <= 0 /\ -a_579^post36+a_579^0 == 0 /\ -a_610^post36+a_610^0 == 0 /\ -x_17^post36+x_17^0 == 0 /\ a_431^0-a_431^post36 == 0 /\ -i_197^post36+i_197^0 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ a_144^0-a_144^post36 == 0 /\ a_1162^0-a_1162^post36 == 0 /\ f_847^0-f_847^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -i_107^post36+i_107^0 == 0 /\ -ct_18^post36+ct_18^0 == 0 /\ a_947^0-a_947^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post36+a_575^0 == 0 /\ -a_417^post36+a_417^0 == 0 /\ -a_633^post36+a_633^0 == 0 /\ -a_309^post36+a_309^0 == 0), cost: 1 37: l26 -> l27 : a_1089^0'=a_1089^post37, f_847^0'=f_847^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_394^0'=a_394^post37, x_156^0'=x_156^post37, a_632^0'=a_632^post37, r_192^0'=r_192^post37, a_176^0'=a_176^post37, i_106^0'=i_106^post37, a_430^0'=a_430^post37, t_458^0'=t_458^post37, len_161^0'=len_161^post37, x_975^0'=x_975^post37, a_902^0'=a_902^post37, a_947^0'=a_947^post37, rcd_88^0'=rcd_88^post37, a_311^0'=a_311^post37, i_140^0'=i_140^post37, a_577^0'=a_577^post37, x_14^0'=x_14^post37, nondet_12^0'=nondet_12^post37, a_121^0'=a_121^post37, head_15^0'=head_15^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37, i_27^0'=i_27^post37, x_21^0'=x_21^post37, a_634^0'=a_634^post37, r_39^0'=r_39^post37, a_263^0'=a_263^post37, i_113^0'=i_113^post37, a_432^0'=a_432^post37, temp0_31^0'=temp0_31^post37, len_262^0'=len_262^post37, y_20^0'=y_20^post37, f_248^0'=f_248^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_393^0'=a_393^post37, i_229^0'=i_229^post37, a_610^0'=a_610^post37, r_151^0'=r_151^post37, a_144^0'=a_144^post37, i_1053^0'=i_1053^post37, a_417^0'=a_417^post37, t_24^0'=t_24^post37, i_94^0'=i_94^post37, x_852^0'=x_852^post37, a_862^0'=a_862^post37, rcd_1249^0'=rcd_1249^post37, rcd_58^0'=rcd_58^post37, a_310^0'=a_310^post37, i_127^0'=i_127^post37, a_576^0'=a_576^post37, tmp_34^0'=tmp_34^post37, length_29^0'=length_29^post37, a_1162^0'=a_1162^post37, f_969^0'=f_969^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37, a_395^0'=a_395^post37, x_17^0'=x_17^post37, a_633^0'=a_633^post37, r_224^0'=r_224^post37, a_239^0'=a_239^post37, i_107^0'=i_107^post37, a_431^0'=a_431^post37, temp0_16^0'=temp0_16^post37, len_238^0'=len_238^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, a_924^0'=a_924^post37, ct_18^0'=ct_18^post37, result_11^0'=result_11^post37, a_392^0'=a_392^post37, i_197^0'=i_197^post37, a_579^0'=a_579^post37, r_143^0'=r_143^post37, a_1236^0'=a_1236^post37, head_32^0'=head_32^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37, i_30^0'=i_30^post37, x_253^0'=x_253^post37, a_635^0'=a_635^post37, r_970^0'=r_970^post37, rcd_47^0'=rcd_47^post37, a_309^0'=a_309^post37, i_1248^0'=i_1248^post37, a_575^0'=a_575^post37, temp_35^0'=temp_35^post37, len_861^0'=len_861^post37, (-r_143^post37+r_143^0 == 0 /\ f_847^0-f_847^post37 == 0 /\ -a_575^post37+a_575^0 == 0 /\ head_15^0-head_15^post37 == 0 /\ -a_635^post37+a_635^0 == 0 /\ -r_151^post37+r_151^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -a_309^post37+a_309^0 == 0 /\ t_458^0-t_458^post37 == 0 /\ -a_633^post37+a_633^0 == 0 /\ len_262^0-len_262^post37 == 0 /\ a_417^0-a_417^post37 == 0 /\ a_902^0-a_902^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37 == 0 /\ -a_1236^post37+a_1236^0 == 0 /\ -a_576^post37+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_94^0-i_94^post37 == 0 /\ x_156^0-x_156^post37 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ i_113^0-i_113^post37 == 0 /\ i_229^0-i_229^post37 == 0 /\ -a_862^post37+a_862^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ a_121^0-a_121^post37 == 0 /\ i_27^0-i_27^post37 == 0 /\ a_1089^0-a_1089^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ a_430^0-a_430^post37 == 0 /\ a_263^0-a_263^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post37+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -x_253^post37+x_253^0 == 0 /\ -len_238^post37+len_238^0 == 0 /\ i_106^0-i_106^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ a_392^0-a_392^post37 == 0 /\ -rcd_47^post37+rcd_47^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post37 == 0 /\ -a_311^post37+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37 == 0 /\ -i_197^post37+i_197^0 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ r_224^0-r_224^post37 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -f_969^post37+f_969^0 == 0 /\ -r_970^post37+r_970^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -i_1053^post37+i_1053^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ f_248^0-f_248^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -rcd_58^post37+rcd_58^0 == 0 /\ a_432^0-a_432^post37 == 0 /\ -a_395^post37+a_395^0 == 0 /\ -a_579^post37+a_579^0 == 0 /\ x_975^0-x_975^post37 == 0 /\ -ct_18^post37+ct_18^0 == 0 /\ -a_1162^post37+a_1162^0 == 0 /\ -i_127^post37+i_127^0 == 0 /\ a_577^0-a_577^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ -a_394^post37+a_394^0 == 0 /\ -len_861^post37+len_861^0 == 0 /\ a_176^0-a_176^post37 == 0 /\ a_431^0-a_431^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -rcd_1249^post37+rcd_1249^0 == 0 /\ t_24^0-t_24^post37 == 0 /\ -a_634^post37+a_634^0 == 0 /\ -i_1248^post37+i_1248^0 == 0 /\ r_192^0-r_192^post37 == 0 /\ -a_144^post37+a_144^0 == 0 /\ a_947^0-a_947^post37 == 0 /\ a_310^0-a_310^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -a_239^post37+a_239^0 == 0 /\ x_852^0-x_852^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -a_393^post37+a_393^0 == 0 /\ a_632^0-a_632^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -a_924^post37+a_924^0 == 0 /\ i_140^0-i_140^post37 == 0 /\ len_161^0-len_161^post37 == 0 /\ i_107^0-i_107^post37 == 0), cost: 1 38: l26 -> l27 : a_1089^0'=a_1089^post38, f_847^0'=f_847^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_394^0'=a_394^post38, x_156^0'=x_156^post38, a_632^0'=a_632^post38, r_192^0'=r_192^post38, a_176^0'=a_176^post38, i_106^0'=i_106^post38, a_430^0'=a_430^post38, t_458^0'=t_458^post38, len_161^0'=len_161^post38, x_975^0'=x_975^post38, a_902^0'=a_902^post38, a_947^0'=a_947^post38, rcd_88^0'=rcd_88^post38, a_311^0'=a_311^post38, i_140^0'=i_140^post38, a_577^0'=a_577^post38, x_14^0'=x_14^post38, nondet_12^0'=nondet_12^post38, a_121^0'=a_121^post38, head_15^0'=head_15^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38, i_27^0'=i_27^post38, x_21^0'=x_21^post38, a_634^0'=a_634^post38, r_39^0'=r_39^post38, a_263^0'=a_263^post38, i_113^0'=i_113^post38, a_432^0'=a_432^post38, temp0_31^0'=temp0_31^post38, len_262^0'=len_262^post38, y_20^0'=y_20^post38, f_248^0'=f_248^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_393^0'=a_393^post38, i_229^0'=i_229^post38, a_610^0'=a_610^post38, r_151^0'=r_151^post38, a_144^0'=a_144^post38, i_1053^0'=i_1053^post38, a_417^0'=a_417^post38, t_24^0'=t_24^post38, i_94^0'=i_94^post38, x_852^0'=x_852^post38, a_862^0'=a_862^post38, rcd_1249^0'=rcd_1249^post38, rcd_58^0'=rcd_58^post38, a_310^0'=a_310^post38, i_127^0'=i_127^post38, a_576^0'=a_576^post38, tmp_34^0'=tmp_34^post38, length_29^0'=length_29^post38, a_1162^0'=a_1162^post38, f_969^0'=f_969^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38, a_395^0'=a_395^post38, x_17^0'=x_17^post38, a_633^0'=a_633^post38, r_224^0'=r_224^post38, a_239^0'=a_239^post38, i_107^0'=i_107^post38, a_431^0'=a_431^post38, temp0_16^0'=temp0_16^post38, len_238^0'=len_238^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, a_924^0'=a_924^post38, ct_18^0'=ct_18^post38, result_11^0'=result_11^post38, a_392^0'=a_392^post38, i_197^0'=i_197^post38, a_579^0'=a_579^post38, r_143^0'=r_143^post38, a_1236^0'=a_1236^post38, head_32^0'=head_32^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38, i_30^0'=i_30^post38, x_253^0'=x_253^post38, a_635^0'=a_635^post38, r_970^0'=r_970^post38, rcd_47^0'=rcd_47^post38, a_309^0'=a_309^post38, i_1248^0'=i_1248^post38, a_575^0'=a_575^post38, temp_35^0'=temp_35^post38, len_861^0'=len_861^post38, (i_1053^0-i_1053^post38 == 0 /\ i_27^0-i_27^post38 == 0 /\ -i_1248^post38+i_1248^0 == 0 /\ a_310^0-a_310^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_634^0-a_634^post38 == 0 /\ -a_239^post38+a_239^0 == 0 /\ a_1089^0-a_1089^post38 == 0 /\ -i_127^post38+i_127^0 == 0 /\ a_947^0-a_947^post38 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ -head_15^post38+head_15^0 == 0 /\ -a_579^post38+a_579^0 == 0 /\ -x_253^post38+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ -i_197^post38+i_197^0 == 0 /\ len_262^0-len_262^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ i_140^0-i_140^post38 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ a_395^0-a_395^post38 == 0 /\ a_176^0-a_176^post38 == 0 /\ -f_248^post38+f_248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38 == 0 /\ -a_417^post38+a_417^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_309^post38+a_309^0 == 0 /\ -a_393^post38+a_393^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ x_975^0-x_975^post38 == 0 /\ -rcd_1249^post38+rcd_1249^0 == 0 /\ i_229^0-i_229^post38 == 0 /\ a_432^0-a_432^post38 == 0 /\ -i_30^post38+i_30^0 == 0 /\ a_121^0-a_121^post38 == 0 /\ r_192^0-r_192^post38 == 0 /\ i_113^0-i_113^post38 == 0 /\ -x_852^post38+x_852^0 == 0 /\ -a_635^post38+a_635^0 == 0 /\ x_156^0-x_156^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_924^post38+a_924^0 == 0 /\ -len_861^post38+len_861^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ len_161^0-len_161^post38 == 0 /\ x_17^0-x_17^post38 == 0 /\ x_14^0-x_14^post38 == 0 /\ -r_151^post38+r_151^0 == 0 /\ a_394^0-a_394^post38 == 0 /\ -a_902^post38+a_902^0 == 0 /\ -r_143^post38+r_143^0 == 0 /\ rcd_88^0-rcd_88^post38 == 0 /\ a_311^0-a_311^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ f_847^0-f_847^post38 == 0 /\ a_263^0-a_263^post38 == 0 /\ -a_576^post38+a_576^0 == 0 /\ t_24^0-t_24^post38 == 0 /\ -a_575^post38+a_575^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_107^0-i_107^post38 == 0 /\ i_106^0-i_106^post38 == 0 /\ -a_1236^post38+a_1236^0 == 0 /\ -a_633^post38+a_633^0 == 0 /\ -f_969^post38+f_969^0 == 0 /\ i_94^0-i_94^post38 == 0 /\ t_458^0-t_458^post38 == 0 /\ a_430^0-a_430^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ -a_610^post38+a_610^0 == 0 /\ a_577^0-a_577^post38 == 0 /\ a_1162^0-a_1162^post38 == 0 /\ -a_392^post38+a_392^0 == 0 /\ -y_20^post38+y_20^0 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -rcd_47^post38+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_224^0-r_224^post38 == 0 /\ a_431^0-a_431^post38 == 0 /\ x_21^0-x_21^post38 == 0 /\ a_862^0-a_862^post38 == 0 /\ -len_238^post38+len_238^0 == 0 /\ -r_970^post38+r_970^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0), cost: 1 39: l27 -> l28 : a_1089^0'=a_1089^post39, f_847^0'=f_847^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_394^0'=a_394^post39, x_156^0'=x_156^post39, a_632^0'=a_632^post39, r_192^0'=r_192^post39, a_176^0'=a_176^post39, i_106^0'=i_106^post39, a_430^0'=a_430^post39, t_458^0'=t_458^post39, len_161^0'=len_161^post39, x_975^0'=x_975^post39, a_902^0'=a_902^post39, a_947^0'=a_947^post39, rcd_88^0'=rcd_88^post39, a_311^0'=a_311^post39, i_140^0'=i_140^post39, a_577^0'=a_577^post39, x_14^0'=x_14^post39, nondet_12^0'=nondet_12^post39, a_121^0'=a_121^post39, head_15^0'=head_15^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39, i_27^0'=i_27^post39, x_21^0'=x_21^post39, a_634^0'=a_634^post39, r_39^0'=r_39^post39, a_263^0'=a_263^post39, i_113^0'=i_113^post39, a_432^0'=a_432^post39, temp0_31^0'=temp0_31^post39, len_262^0'=len_262^post39, y_20^0'=y_20^post39, f_248^0'=f_248^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_393^0'=a_393^post39, i_229^0'=i_229^post39, a_610^0'=a_610^post39, r_151^0'=r_151^post39, a_144^0'=a_144^post39, i_1053^0'=i_1053^post39, a_417^0'=a_417^post39, t_24^0'=t_24^post39, i_94^0'=i_94^post39, x_852^0'=x_852^post39, a_862^0'=a_862^post39, rcd_1249^0'=rcd_1249^post39, rcd_58^0'=rcd_58^post39, a_310^0'=a_310^post39, i_127^0'=i_127^post39, a_576^0'=a_576^post39, tmp_34^0'=tmp_34^post39, length_29^0'=length_29^post39, a_1162^0'=a_1162^post39, f_969^0'=f_969^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39, a_395^0'=a_395^post39, x_17^0'=x_17^post39, a_633^0'=a_633^post39, r_224^0'=r_224^post39, a_239^0'=a_239^post39, i_107^0'=i_107^post39, a_431^0'=a_431^post39, temp0_16^0'=temp0_16^post39, len_238^0'=len_238^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, a_924^0'=a_924^post39, ct_18^0'=ct_18^post39, result_11^0'=result_11^post39, a_392^0'=a_392^post39, i_197^0'=i_197^post39, a_579^0'=a_579^post39, r_143^0'=r_143^post39, a_1236^0'=a_1236^post39, head_32^0'=head_32^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39, i_30^0'=i_30^post39, x_253^0'=x_253^post39, a_635^0'=a_635^post39, r_970^0'=r_970^post39, rcd_47^0'=rcd_47^post39, a_309^0'=a_309^post39, i_1248^0'=i_1248^post39, a_575^0'=a_575^post39, temp_35^0'=temp_35^post39, len_861^0'=len_861^post39, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post39+r_151^0 == 0 /\ f_248^0-f_248^post39 == 0 /\ head_15^0-head_15^post39 == 0 /\ a_176^0-a_239^post39 <= 0 /\ a_632^0-a_632^post39 == 0 /\ i_127^0-i_127^post39 == 0 /\ len_262^0-len_262^post39 == 0 /\ x_156^0-x_156^post39 == 0 /\ -a_924^post39+a_924^0 == 0 /\ 1+i_27^post39-i_27^0 == 0 /\ -a_576^post39+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post39 == 0 /\ a_902^0-a_902^post39 == 0 /\ -r_143^post39+r_143^0 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ len_161^0-len_238^post39 <= 0 /\ -a_309^post39+a_309^0 == 0 /\ i_229^0-i_229^post39 == 0 /\ a_634^0-a_634^post39 == 0 /\ -x_253^post39+x_253^0 == 0 /\ a_394^0-a_394^post39 == 0 /\ a_1089^0-a_1089^post39 == 0 /\ x_14^0-x_14^post39 == 0 /\ -a_392^post39+a_392^0 == 0 /\ -a_862^post39+a_862^0 == 0 /\ -a_610^post39+a_610^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_176^0+a_239^post39 <= 0 /\ a_176^0-a_176^post39 == 0 /\ a_121^0-a_121^post39 == 0 /\ -a_1236^post39+a_1236^0 == 0 /\ -r_970^post39+r_970^0 == 0 /\ -rcd_47^post39+rcd_47^0 == 0 /\ 1+i_27^post39-i_229^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -len_161^0+len_238^post39 <= 0 /\ f_847^0-f_847^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ -i_1053^post39+i_1053^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ i_94^0-i_94^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39 == 0 /\ a_430^0-a_430^post39 == 0 /\ -a_310^post39+a_310^0 == 0 /\ x_975^0-x_975^post39 == 0 /\ -r_224^post39+r_224^0 == 0 /\ -a_395^post39+a_395^0 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -a_311^post39+a_311^0 == 0 /\ -x_852^post39+x_852^0 == 0 /\ y_20^0-y_20^post39 == 0 /\ a_432^0-a_432^post39 == 0 /\ -len_861^post39+len_861^0 == 0 /\ i_113^0-i_113^post39 == 0 /\ a_633^0-a_633^post39 == 0 /\ x_21^0-x_21^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ f_969^0-f_969^post39 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -i_197^post39+i_197^0 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ a_431^0-a_431^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -a_579^post39+a_579^0 == 0 /\ -i_30^post39+i_30^0 == 0 /\ -a_263^post39+a_263^0 == 0 /\ a_144^0-a_144^post39 == 0 /\ a_947^0-a_947^post39 == 0 /\ -i_107^post39+i_107^0 == 0 /\ -a_417^post39+a_417^0 == 0 /\ -rcd_1249^post39+rcd_1249^0 == 0 /\ -a_575^post39+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ len_161^0-len_161^post39 == 0 /\ -a_635^post39+a_635^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ t_458^0-t_458^post39 == 0 /\ -i_1248^post39+i_1248^0 == 0 /\ -a_393^post39+a_393^0 == 0 /\ -1-i_27^post39+i_229^0 <= 0 /\ -rcd_58^post39+rcd_58^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ i_106^0-i_106^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ i_140^0-i_140^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_1162^post39+a_1162^0 == 0), cost: 1 40: l28 -> l29 : a_1089^0'=a_1089^post40, f_847^0'=f_847^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_394^0'=a_394^post40, x_156^0'=x_156^post40, a_632^0'=a_632^post40, r_192^0'=r_192^post40, a_176^0'=a_176^post40, i_106^0'=i_106^post40, a_430^0'=a_430^post40, t_458^0'=t_458^post40, len_161^0'=len_161^post40, x_975^0'=x_975^post40, a_902^0'=a_902^post40, a_947^0'=a_947^post40, rcd_88^0'=rcd_88^post40, a_311^0'=a_311^post40, i_140^0'=i_140^post40, a_577^0'=a_577^post40, x_14^0'=x_14^post40, nondet_12^0'=nondet_12^post40, a_121^0'=a_121^post40, head_15^0'=head_15^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40, i_27^0'=i_27^post40, x_21^0'=x_21^post40, a_634^0'=a_634^post40, r_39^0'=r_39^post40, a_263^0'=a_263^post40, i_113^0'=i_113^post40, a_432^0'=a_432^post40, temp0_31^0'=temp0_31^post40, len_262^0'=len_262^post40, y_20^0'=y_20^post40, f_248^0'=f_248^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_393^0'=a_393^post40, i_229^0'=i_229^post40, a_610^0'=a_610^post40, r_151^0'=r_151^post40, a_144^0'=a_144^post40, i_1053^0'=i_1053^post40, a_417^0'=a_417^post40, t_24^0'=t_24^post40, i_94^0'=i_94^post40, x_852^0'=x_852^post40, a_862^0'=a_862^post40, rcd_1249^0'=rcd_1249^post40, rcd_58^0'=rcd_58^post40, a_310^0'=a_310^post40, i_127^0'=i_127^post40, a_576^0'=a_576^post40, tmp_34^0'=tmp_34^post40, length_29^0'=length_29^post40, a_1162^0'=a_1162^post40, f_969^0'=f_969^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40, a_395^0'=a_395^post40, x_17^0'=x_17^post40, a_633^0'=a_633^post40, r_224^0'=r_224^post40, a_239^0'=a_239^post40, i_107^0'=i_107^post40, a_431^0'=a_431^post40, temp0_16^0'=temp0_16^post40, len_238^0'=len_238^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, a_924^0'=a_924^post40, ct_18^0'=ct_18^post40, result_11^0'=result_11^post40, a_392^0'=a_392^post40, i_197^0'=i_197^post40, a_579^0'=a_579^post40, r_143^0'=r_143^post40, a_1236^0'=a_1236^post40, head_32^0'=head_32^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40, i_30^0'=i_30^post40, x_253^0'=x_253^post40, a_635^0'=a_635^post40, r_970^0'=r_970^post40, rcd_47^0'=rcd_47^post40, a_309^0'=a_309^post40, i_1248^0'=i_1248^post40, a_575^0'=a_575^post40, temp_35^0'=temp_35^post40, len_861^0'=len_861^post40, (a_634^0-a_634^post40 == 0 /\ -a_239^post40+a_239^0 == 0 /\ -a_310^post40+a_310^0 == 0 /\ -i_229^post40+i_229^0 == 0 /\ -ct_18^post40+ct_18^0 == 0 /\ -a_395^post40+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post40 == 0 /\ a_1089^0-a_1089^post40 == 0 /\ -i_1053^post40+i_1053^0 == 0 /\ x_852^0-x_852^post40 == 0 /\ x_17^0-x_17^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -length_29^post40+length_29^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ 1-x_14^0 <= 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -a_862^post40+a_862^0 == 0 /\ -i_197^post40+i_197^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -a_579^post40+a_579^0 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -a_393^post40+a_393^0 == 0 /\ a_924^0-a_924^post40 == 0 /\ t_458^0-t_458^post40 == 0 /\ rcd_1249^0-rcd_1249^post40 == 0 /\ f_248^0-f_248^post40 == 0 /\ r_224^0-r_224^post40 == 0 /\ a_610^0-a_610^post40 == 0 /\ i_106^0-i_106^post40 == 0 /\ -a_263^post40+a_263^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ -i_30^post40+i_30^0 == 0 /\ -a_144^post40+a_144^0 == 0 /\ -i_107^post40+i_107^0 == 0 /\ x_975^0-x_975^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -a_417^post40+a_417^0 == 0 /\ -len_861^post40+len_861^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ -a_635^post40+a_635^0 == 0 /\ a_1236^0-a_1236^post40 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -i_1248^post40+i_1248^0 == 0 /\ -i_140^post40+i_140^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -a_632^post40+a_632^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ len_161^0-len_161^post40 == 0 /\ a_121^0-a_121^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ len_262^0-len_262^post40 == 0 /\ a_394^0-a_394^post40 == 0 /\ -rcd_47^post40+rcd_47^0 == 0 /\ -r_143^post40+r_143^0 == 0 /\ a_176^0-a_176^post40 == 0 /\ -a_633^post40+a_633^0 == 0 /\ -a_575^post40+a_575^0 == 0 /\ a_947^0-a_947^post40 == 0 /\ f_847^0-f_847^post40 == 0 /\ -a_309^post40+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post40 == 0 /\ i_94^0-i_94^post40 == 0 /\ -a_432^post40+a_432^0 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ r_151^0-r_151^post40 == 0 /\ -a_431^post40+a_431^0 == 0 /\ a_430^0-a_430^post40 == 0 /\ -i_113^post40+i_113^0 == 0 /\ a_311^0-a_311^post40 == 0 /\ head_15^0-head_15^post40 == 0 /\ a_902^0-a_902^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -a_392^post40+a_392^0 == 0 /\ a_577^0-a_577^post40 == 0 /\ x_156^0-x_156^post40 == 0 /\ -x_253^post40+x_253^0 == 0 /\ -f_969^post40+f_969^0 == 0 /\ -r_970^post40+r_970^0 == 0 /\ -y_20^post40+y_20^0 == 0 /\ x_14^0-x_14^post40 == 0 /\ a_1162^0-a_1162^post40 == 0 /\ r_192^0-r_192^post40 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1 41: l28 -> l29 : a_1089^0'=a_1089^post41, f_847^0'=f_847^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_394^0'=a_394^post41, x_156^0'=x_156^post41, a_632^0'=a_632^post41, r_192^0'=r_192^post41, a_176^0'=a_176^post41, i_106^0'=i_106^post41, a_430^0'=a_430^post41, t_458^0'=t_458^post41, len_161^0'=len_161^post41, x_975^0'=x_975^post41, a_902^0'=a_902^post41, a_947^0'=a_947^post41, rcd_88^0'=rcd_88^post41, a_311^0'=a_311^post41, i_140^0'=i_140^post41, a_577^0'=a_577^post41, x_14^0'=x_14^post41, nondet_12^0'=nondet_12^post41, a_121^0'=a_121^post41, head_15^0'=head_15^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41, i_27^0'=i_27^post41, x_21^0'=x_21^post41, a_634^0'=a_634^post41, r_39^0'=r_39^post41, a_263^0'=a_263^post41, i_113^0'=i_113^post41, a_432^0'=a_432^post41, temp0_31^0'=temp0_31^post41, len_262^0'=len_262^post41, y_20^0'=y_20^post41, f_248^0'=f_248^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_393^0'=a_393^post41, i_229^0'=i_229^post41, a_610^0'=a_610^post41, r_151^0'=r_151^post41, a_144^0'=a_144^post41, i_1053^0'=i_1053^post41, a_417^0'=a_417^post41, t_24^0'=t_24^post41, i_94^0'=i_94^post41, x_852^0'=x_852^post41, a_862^0'=a_862^post41, rcd_1249^0'=rcd_1249^post41, rcd_58^0'=rcd_58^post41, a_310^0'=a_310^post41, i_127^0'=i_127^post41, a_576^0'=a_576^post41, tmp_34^0'=tmp_34^post41, length_29^0'=length_29^post41, a_1162^0'=a_1162^post41, f_969^0'=f_969^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41, a_395^0'=a_395^post41, x_17^0'=x_17^post41, a_633^0'=a_633^post41, r_224^0'=r_224^post41, a_239^0'=a_239^post41, i_107^0'=i_107^post41, a_431^0'=a_431^post41, temp0_16^0'=temp0_16^post41, len_238^0'=len_238^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, a_924^0'=a_924^post41, ct_18^0'=ct_18^post41, result_11^0'=result_11^post41, a_392^0'=a_392^post41, i_197^0'=i_197^post41, a_579^0'=a_579^post41, r_143^0'=r_143^post41, a_1236^0'=a_1236^post41, head_32^0'=head_32^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41, i_30^0'=i_30^post41, x_253^0'=x_253^post41, a_635^0'=a_635^post41, r_970^0'=r_970^post41, rcd_47^0'=rcd_47^post41, a_309^0'=a_309^post41, i_1248^0'=i_1248^post41, a_575^0'=a_575^post41, temp_35^0'=temp_35^post41, len_861^0'=len_861^post41, (f_248^0-f_248^post41 == 0 /\ a_430^0-a_430^post41 == 0 /\ t_458^0-t_458^post41 == 0 /\ x_975^0-x_975^post41 == 0 /\ i_106^0-i_106^post41 == 0 /\ -a_1162^post41+a_1162^0 == 0 /\ -r_151^post41+r_151^0 == 0 /\ i_127^0-i_127^post41 == 0 /\ -a_924^post41+a_924^0 == 0 /\ a_632^0-a_632^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ f_969^0-f_969^post41 == 0 /\ a_1236^0-a_1236^post41 == 0 /\ x_852^0-x_852^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -r_143^post41+r_143^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -a_431^post41+a_431^0 == 0 /\ len_161^0-len_161^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_113^post41+i_113^0 == 0 /\ -r_970^post41+r_970^0 == 0 /\ x_156^0-x_156^post41 == 0 /\ f_847^0-f_847^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -y_20^post41+y_20^0 == 0 /\ a_394^0-a_394^post41 == 0 /\ -rcd_47^post41+rcd_47^0 == 0 /\ -a_432^post41+a_432^0 == 0 /\ -a_310^post41+a_310^0 == 0 /\ -x_253^post41+x_253^0 == 0 /\ -i_140^post41+i_140^0 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ rcd_1249^0-rcd_1249^post41 == 0 /\ a_176^0-a_176^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ a_239^0-a_239^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ a_635^0-a_635^post41 == 0 /\ -a_577^post41+a_577^0 == 0 /\ a_902^0-a_902^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -i_1053^post41+i_1053^0 == 0 /\ -r_224^post41+r_224^0 == 0 /\ -a_395^post41+a_395^0 == 0 /\ -i_1248^post41+i_1248^0 == 0 /\ i_229^0-i_229^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -a_392^post41+a_392^0 == 0 /\ -a_579^post41+a_579^0 == 0 /\ a_610^0-a_610^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ a_633^0-a_633^post41 == 0 /\ r_192^0-r_192^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0 /\ -a_862^post41+a_862^0 == 0 /\ -a_263^post41+a_263^0 == 0 /\ a_144^0-a_144^post41 == 0 /\ x_14^0-x_14^post41 == 0 /\ -x_21^post41+x_21^0 == 0 /\ -i_197^post41+i_197^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_417^0-a_417^post41 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -a_393^post41+a_393^0 == 0 /\ x_17^0-x_17^post41 == 0 /\ -i_107^post41+i_107^0 == 0 /\ a_121^0-a_121^post41 == 0 /\ a_634^0-a_634^post41 == 0 /\ a_576^0-a_576^post41 == 0 /\ a_1089^0-a_1089^post41 == 0 /\ -a_575^post41+a_575^0 == 0 /\ len_262^0-len_262^post41 == 0 /\ 1+x_14^0 <= 0 /\ -len_861^post41+len_861^0 == 0 /\ -a_309^post41+a_309^0 == 0 /\ rcd_88^0-rcd_88^post41 == 0 /\ a_947^0-a_947^post41 == 0 /\ a_311^0-a_311^post41 == 0 /\ -ct_18^post41+ct_18^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ len_238^0-len_238^post41 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -t_24^post41+t_24^0 == 0), cost: 1 42: l29 -> l30 : a_1089^0'=a_1089^post42, f_847^0'=f_847^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_394^0'=a_394^post42, x_156^0'=x_156^post42, a_632^0'=a_632^post42, r_192^0'=r_192^post42, a_176^0'=a_176^post42, i_106^0'=i_106^post42, a_430^0'=a_430^post42, t_458^0'=t_458^post42, len_161^0'=len_161^post42, x_975^0'=x_975^post42, a_902^0'=a_902^post42, a_947^0'=a_947^post42, rcd_88^0'=rcd_88^post42, a_311^0'=a_311^post42, i_140^0'=i_140^post42, a_577^0'=a_577^post42, x_14^0'=x_14^post42, nondet_12^0'=nondet_12^post42, a_121^0'=a_121^post42, head_15^0'=head_15^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42, i_27^0'=i_27^post42, x_21^0'=x_21^post42, a_634^0'=a_634^post42, r_39^0'=r_39^post42, a_263^0'=a_263^post42, i_113^0'=i_113^post42, a_432^0'=a_432^post42, temp0_31^0'=temp0_31^post42, len_262^0'=len_262^post42, y_20^0'=y_20^post42, f_248^0'=f_248^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_393^0'=a_393^post42, i_229^0'=i_229^post42, a_610^0'=a_610^post42, r_151^0'=r_151^post42, a_144^0'=a_144^post42, i_1053^0'=i_1053^post42, a_417^0'=a_417^post42, t_24^0'=t_24^post42, i_94^0'=i_94^post42, x_852^0'=x_852^post42, a_862^0'=a_862^post42, rcd_1249^0'=rcd_1249^post42, rcd_58^0'=rcd_58^post42, a_310^0'=a_310^post42, i_127^0'=i_127^post42, a_576^0'=a_576^post42, tmp_34^0'=tmp_34^post42, length_29^0'=length_29^post42, a_1162^0'=a_1162^post42, f_969^0'=f_969^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42, a_395^0'=a_395^post42, x_17^0'=x_17^post42, a_633^0'=a_633^post42, r_224^0'=r_224^post42, a_239^0'=a_239^post42, i_107^0'=i_107^post42, a_431^0'=a_431^post42, temp0_16^0'=temp0_16^post42, len_238^0'=len_238^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, a_924^0'=a_924^post42, ct_18^0'=ct_18^post42, result_11^0'=result_11^post42, a_392^0'=a_392^post42, i_197^0'=i_197^post42, a_579^0'=a_579^post42, r_143^0'=r_143^post42, a_1236^0'=a_1236^post42, head_32^0'=head_32^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42, i_30^0'=i_30^post42, x_253^0'=x_253^post42, a_635^0'=a_635^post42, r_970^0'=r_970^post42, rcd_47^0'=rcd_47^post42, a_309^0'=a_309^post42, i_1248^0'=i_1248^post42, a_575^0'=a_575^post42, temp_35^0'=temp_35^post42, len_861^0'=len_861^post42, (-i_229^post42+i_229^0 == 0 /\ -a_577^post42+a_577^0 == 0 /\ a_263^0-a_263^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_1248^post42+i_1248^0 == 0 /\ -a_310^post42+a_310^0 == 0 /\ a_1089^0-a_1089^post42 == 0 /\ a_144^0-a_144^post42 == 0 /\ a_394^0-a_394^post42 == 0 /\ a_576^0-a_576^post42 == 0 /\ a_862^0-a_862^post42 == 0 /\ x_852^0-x_852^post42 == 0 /\ len_161^0-len_161^post42 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -r_39^post42+r_39^0 == 0 /\ f_847^0-f_847^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -a_392^post42+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ -r_224^post42+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -len_861^post42+len_861^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -a_309^post42+a_309^0 == 0 /\ i_106^0-i_106^post42 == 0 /\ -a_393^post42+a_393^0 == 0 /\ a_430^0-a_430^post42 == 0 /\ r_143^0-r_143^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ -i_197^post42+i_197^0 == 0 /\ -a_579^post42+a_579^0 == 0 /\ t_458^0-t_458^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -a_635^post42+a_635^0 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -a_417^post42+a_417^0 == 0 /\ -i_107^post42+i_107^0 == 0 /\ a_1236^0-a_1236^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ -a_633^post42+a_633^0 == 0 /\ a_610^0-a_610^post42 == 0 /\ -a_575^post42+a_575^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ -rcd_47^post42+rcd_47^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ -a_924^post42+a_924^0 == 0 /\ a_121^0-a_121^post42 == 0 /\ -i_140^post42+i_140^0 == 0 /\ a_634^0-a_634^post42 == 0 /\ i_27^0-i_27^post42 == 0 /\ x_156^0-x_156^post42 == 0 /\ len_262^0-len_262^post42 == 0 /\ a_947^0-a_947^post42 == 0 /\ -a_1162^post42+a_1162^0 == 0 /\ -rcd_1249^post42+rcd_1249^0 == 0 /\ -a_632^post42+a_632^0 == 0 /\ -f_969^post42+f_969^0 == 0 /\ i_1053^0-i_1053^post42 == 0 /\ a_176^0-a_176^post42 == 0 /\ x_253^0-x_253^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -len_238^post42+len_238^0 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -i_113^post42+i_113^0 == 0 /\ r_151^0-r_151^post42 == 0 /\ 1-head_15^0 <= 0 /\ -a_432^post42+a_432^0 == 0 /\ a_311^0-a_311^post42 == 0 /\ a_902^0-a_902^post42 == 0 /\ x_975^0-x_975^post42 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ head_15^0-head_15^post42 == 0 /\ a_239^0-a_239^post42 == 0 /\ -r_970^post42+r_970^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -a_431^post42+a_431^0 == 0 /\ -f_248^post42+f_248^0 == 0 /\ r_192^0-r_192^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ -a_395^post42+a_395^0 == 0), cost: 1 43: l29 -> l30 : a_1089^0'=a_1089^post43, f_847^0'=f_847^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_394^0'=a_394^post43, x_156^0'=x_156^post43, a_632^0'=a_632^post43, r_192^0'=r_192^post43, a_176^0'=a_176^post43, i_106^0'=i_106^post43, a_430^0'=a_430^post43, t_458^0'=t_458^post43, len_161^0'=len_161^post43, x_975^0'=x_975^post43, a_902^0'=a_902^post43, a_947^0'=a_947^post43, rcd_88^0'=rcd_88^post43, a_311^0'=a_311^post43, i_140^0'=i_140^post43, a_577^0'=a_577^post43, x_14^0'=x_14^post43, nondet_12^0'=nondet_12^post43, a_121^0'=a_121^post43, head_15^0'=head_15^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43, i_27^0'=i_27^post43, x_21^0'=x_21^post43, a_634^0'=a_634^post43, r_39^0'=r_39^post43, a_263^0'=a_263^post43, i_113^0'=i_113^post43, a_432^0'=a_432^post43, temp0_31^0'=temp0_31^post43, len_262^0'=len_262^post43, y_20^0'=y_20^post43, f_248^0'=f_248^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_393^0'=a_393^post43, i_229^0'=i_229^post43, a_610^0'=a_610^post43, r_151^0'=r_151^post43, a_144^0'=a_144^post43, i_1053^0'=i_1053^post43, a_417^0'=a_417^post43, t_24^0'=t_24^post43, i_94^0'=i_94^post43, x_852^0'=x_852^post43, a_862^0'=a_862^post43, rcd_1249^0'=rcd_1249^post43, rcd_58^0'=rcd_58^post43, a_310^0'=a_310^post43, i_127^0'=i_127^post43, a_576^0'=a_576^post43, tmp_34^0'=tmp_34^post43, length_29^0'=length_29^post43, a_1162^0'=a_1162^post43, f_969^0'=f_969^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43, a_395^0'=a_395^post43, x_17^0'=x_17^post43, a_633^0'=a_633^post43, r_224^0'=r_224^post43, a_239^0'=a_239^post43, i_107^0'=i_107^post43, a_431^0'=a_431^post43, temp0_16^0'=temp0_16^post43, len_238^0'=len_238^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, a_924^0'=a_924^post43, ct_18^0'=ct_18^post43, result_11^0'=result_11^post43, a_392^0'=a_392^post43, i_197^0'=i_197^post43, a_579^0'=a_579^post43, r_143^0'=r_143^post43, a_1236^0'=a_1236^post43, head_32^0'=head_32^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43, i_30^0'=i_30^post43, x_253^0'=x_253^post43, a_635^0'=a_635^post43, r_970^0'=r_970^post43, rcd_47^0'=rcd_47^post43, a_309^0'=a_309^post43, i_1248^0'=i_1248^post43, a_575^0'=a_575^post43, temp_35^0'=temp_35^post43, len_861^0'=len_861^post43, (-a_610^post43+a_610^0 == 0 /\ t_458^0-t_458^post43 == 0 /\ a_902^0-a_902^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_106^0-i_106^post43 == 0 /\ a_577^0-a_577^post43 == 0 /\ -rcd_47^post43+rcd_47^0 == 0 /\ -a_634^post43+a_634^0 == 0 /\ head_15^0-head_15^post43 == 0 /\ a_310^0-a_310^post43 == 0 /\ x_156^0-x_156^post43 == 0 /\ -rcd_1249^post43+rcd_1249^0 == 0 /\ -a_633^post43+a_633^0 == 0 /\ a_1089^0-a_1089^post43 == 0 /\ -r_143^post43+r_143^0 == 0 /\ a_632^0-a_632^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ -len_238^post43+len_238^0 == 0 /\ -r_151^post43+r_151^0 == 0 /\ a_121^0-a_121^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ len_262^0-len_262^post43 == 0 /\ -f_969^post43+f_969^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ a_263^0-a_263^post43 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post43 == 0 /\ -a_576^post43+a_576^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -a_1236^post43+a_1236^0 == 0 /\ f_847^0-f_847^post43 == 0 /\ a_392^0-a_392^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43 == 0 /\ -a_311^post43+a_311^0 == 0 /\ a_394^0-a_394^post43 == 0 /\ i_1053^0-i_1053^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -x_253^post43+x_253^0 == 0 /\ -r_970^post43+r_970^0 == 0 /\ a_579^0-a_579^post43 == 0 /\ y_20^0-y_20^post43 == 0 /\ a_176^0-a_176^post43 == 0 /\ -i_1248^post43+i_1248^0 == 0 /\ r_39^0-r_39^post43 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ -a_430^post43+a_430^0 == 0 /\ -a_239^post43+a_239^0 == 0 /\ -f_248^post43+f_248^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ x_975^0-x_975^post43 == 0 /\ -r_224^post43+r_224^0 == 0 /\ -len_861^post43+len_861^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ i_94^0-i_94^post43 == 0 /\ i_113^0-i_113^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43 == 0 /\ a_393^0-a_393^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -i_27^post43+i_27^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ a_432^0-a_432^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ -i_197^post43+i_197^0 == 0 /\ len_161^0-len_161^post43 == 0 /\ -a_309^post43+a_309^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -i_30^post43+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ i_140^0-i_140^post43 == 0 /\ -x_852^post43+x_852^0 == 0 /\ -a_144^post43+a_144^0 == 0 /\ -i_107^post43+i_107^0 == 0 /\ i_229^0-i_229^post43 == 0 /\ -i_127^post43+i_127^0 == 0 /\ a_431^0-a_431^post43 == 0 /\ -a_924^post43+a_924^0 == 0 /\ -a_575^post43+a_575^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ a_862^0-a_862^post43 == 0 /\ -a_417^post43+a_417^0 == 0 /\ -a_635^post43+a_635^0 == 0 /\ a_947^0-a_947^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_1162^post43+a_1162^0 == 0 /\ a_395^0-a_395^post43 == 0), cost: 1 44: l30 -> l31 : a_1089^0'=a_1089^post44, f_847^0'=f_847^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_394^0'=a_394^post44, x_156^0'=x_156^post44, a_632^0'=a_632^post44, r_192^0'=r_192^post44, a_176^0'=a_176^post44, i_106^0'=i_106^post44, a_430^0'=a_430^post44, t_458^0'=t_458^post44, len_161^0'=len_161^post44, x_975^0'=x_975^post44, a_902^0'=a_902^post44, a_947^0'=a_947^post44, rcd_88^0'=rcd_88^post44, a_311^0'=a_311^post44, i_140^0'=i_140^post44, a_577^0'=a_577^post44, x_14^0'=x_14^post44, nondet_12^0'=nondet_12^post44, a_121^0'=a_121^post44, head_15^0'=head_15^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44, i_27^0'=i_27^post44, x_21^0'=x_21^post44, a_634^0'=a_634^post44, r_39^0'=r_39^post44, a_263^0'=a_263^post44, i_113^0'=i_113^post44, a_432^0'=a_432^post44, temp0_31^0'=temp0_31^post44, len_262^0'=len_262^post44, y_20^0'=y_20^post44, f_248^0'=f_248^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_393^0'=a_393^post44, i_229^0'=i_229^post44, a_610^0'=a_610^post44, r_151^0'=r_151^post44, a_144^0'=a_144^post44, i_1053^0'=i_1053^post44, a_417^0'=a_417^post44, t_24^0'=t_24^post44, i_94^0'=i_94^post44, x_852^0'=x_852^post44, a_862^0'=a_862^post44, rcd_1249^0'=rcd_1249^post44, rcd_58^0'=rcd_58^post44, a_310^0'=a_310^post44, i_127^0'=i_127^post44, a_576^0'=a_576^post44, tmp_34^0'=tmp_34^post44, length_29^0'=length_29^post44, a_1162^0'=a_1162^post44, f_969^0'=f_969^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44, a_395^0'=a_395^post44, x_17^0'=x_17^post44, a_633^0'=a_633^post44, r_224^0'=r_224^post44, a_239^0'=a_239^post44, i_107^0'=i_107^post44, a_431^0'=a_431^post44, temp0_16^0'=temp0_16^post44, len_238^0'=len_238^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, a_924^0'=a_924^post44, ct_18^0'=ct_18^post44, result_11^0'=result_11^post44, a_392^0'=a_392^post44, i_197^0'=i_197^post44, a_579^0'=a_579^post44, r_143^0'=r_143^post44, a_1236^0'=a_1236^post44, head_32^0'=head_32^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44, i_30^0'=i_30^post44, x_253^0'=x_253^post44, a_635^0'=a_635^post44, r_970^0'=r_970^post44, rcd_47^0'=rcd_47^post44, a_309^0'=a_309^post44, i_1248^0'=i_1248^post44, a_575^0'=a_575^post44, temp_35^0'=temp_35^post44, len_861^0'=len_861^post44, (i_197^0-i_197^post44 == 0 /\ -len_262^post44+len_262^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0 /\ i_140^0-i_140^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_417^post44+a_417^0 == 0 /\ -f_248^post44+f_248^0 == 0 /\ a_1162^0-a_1162^post44 == 0 /\ a_1089^0-a_1089^post44 == 0 /\ a_634^0-a_634^post44 == 0 /\ -i_1053^post44+i_1053^0 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -i_1248^post44+i_1248^0 == 0 /\ -a_392^post44+a_392^0 == 0 /\ y_20^0-y_20^post44 == 0 /\ a_924^0-a_924^post44 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44 == 0 /\ -i_27^post44+i_27^0 == 0 /\ -a_239^post44+a_239^0 == 0 /\ -a_579^post44+a_579^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ a_395^0-a_395^post44 == 0 /\ a_176^0-a_176^post44 == 0 /\ -len_861^post44+len_861^0 == 0 /\ -a_635^post44+a_635^0 == 0 /\ -a_144^post44+a_144^0 == 0 /\ x_975^0-x_975^post44 == 0 /\ -i_127^post44+i_127^0 == 0 /\ r_192^0-r_192^post44 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44+i_30^0 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_852^post44+x_852^0 == 0 /\ a_393^0-a_393^post44 == 0 /\ t_458^0-t_458^post44 == 0 /\ -a_309^post44+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_310^0-a_310^post44 == 0 /\ -i_107^post44+i_107^0 == 0 /\ -a_575^post44+a_575^0 == 0 /\ a_632^0-a_632^post44 == 0 /\ -ct_18^post44+ct_18^0 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ r_970^0-r_970^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ a_862^0-a_862^post44 == 0 /\ -len_238^post44+len_238^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_121^0-a_121^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ x_156^0-x_156^post44 == 0 /\ a_947^0-a_947^post44 == 0 /\ a_263^0-a_263^post44 == 0 /\ -a_633^post44+a_633^0 == 0 /\ f_847^0-f_847^post44 == 0 /\ -f_969^post44+f_969^0 == 0 /\ -result_11^post44+result_11^0 == 0 /\ a_394^0-a_394^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_1249^post44+rcd_1249^0 == 0 /\ -a_431^post44+a_431^0 == 0 /\ -x_253^post44+x_253^0 == 0 /\ -a_576^post44+a_576^0 == 0 /\ length_29^0-length_29^post44 == 0 /\ rcd_47^0-rcd_47^post44 == 0 /\ r_39^0-r_39^post44 == 0 /\ r_151^0-r_151^post44 == 0 /\ a_577^0-a_577^post44 == 0 /\ a_311^0-a_311^post44 == 0 /\ -r_143^post44+r_143^0 == 0 /\ i_106^0-i_106^post44 == 0 /\ i_113^0-i_113^post44 == 0 /\ i_94^0-i_94^post44 == 0 /\ r_224^0-r_224^post44 == 0 /\ a_902^0-a_902^post44 == 0 /\ i_229^0-i_229^post44 == 0 /\ a_432^0-a_432^post44 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -len_161^post44+len_161^0 == 0 /\ -a_610^post44+a_610^0 == 0 /\ a_430^0-a_430^post44 == 0 /\ x_14^0-x_14^post44 == 0 /\ -temp_35^post44+temp_35^0 == 0 /\ -a_1236^post44+a_1236^0 == 0), cost: 1 45: l30 -> l31 : a_1089^0'=a_1089^post45, f_847^0'=f_847^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_394^0'=a_394^post45, x_156^0'=x_156^post45, a_632^0'=a_632^post45, r_192^0'=r_192^post45, a_176^0'=a_176^post45, i_106^0'=i_106^post45, a_430^0'=a_430^post45, t_458^0'=t_458^post45, len_161^0'=len_161^post45, x_975^0'=x_975^post45, a_902^0'=a_902^post45, a_947^0'=a_947^post45, rcd_88^0'=rcd_88^post45, a_311^0'=a_311^post45, i_140^0'=i_140^post45, a_577^0'=a_577^post45, x_14^0'=x_14^post45, nondet_12^0'=nondet_12^post45, a_121^0'=a_121^post45, head_15^0'=head_15^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45, i_27^0'=i_27^post45, x_21^0'=x_21^post45, a_634^0'=a_634^post45, r_39^0'=r_39^post45, a_263^0'=a_263^post45, i_113^0'=i_113^post45, a_432^0'=a_432^post45, temp0_31^0'=temp0_31^post45, len_262^0'=len_262^post45, y_20^0'=y_20^post45, f_248^0'=f_248^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_393^0'=a_393^post45, i_229^0'=i_229^post45, a_610^0'=a_610^post45, r_151^0'=r_151^post45, a_144^0'=a_144^post45, i_1053^0'=i_1053^post45, a_417^0'=a_417^post45, t_24^0'=t_24^post45, i_94^0'=i_94^post45, x_852^0'=x_852^post45, a_862^0'=a_862^post45, rcd_1249^0'=rcd_1249^post45, rcd_58^0'=rcd_58^post45, a_310^0'=a_310^post45, i_127^0'=i_127^post45, a_576^0'=a_576^post45, tmp_34^0'=tmp_34^post45, length_29^0'=length_29^post45, a_1162^0'=a_1162^post45, f_969^0'=f_969^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45, a_395^0'=a_395^post45, x_17^0'=x_17^post45, a_633^0'=a_633^post45, r_224^0'=r_224^post45, a_239^0'=a_239^post45, i_107^0'=i_107^post45, a_431^0'=a_431^post45, temp0_16^0'=temp0_16^post45, len_238^0'=len_238^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, a_924^0'=a_924^post45, ct_18^0'=ct_18^post45, result_11^0'=result_11^post45, a_392^0'=a_392^post45, i_197^0'=i_197^post45, a_579^0'=a_579^post45, r_143^0'=r_143^post45, a_1236^0'=a_1236^post45, head_32^0'=head_32^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45, i_30^0'=i_30^post45, x_253^0'=x_253^post45, a_635^0'=a_635^post45, r_970^0'=r_970^post45, rcd_47^0'=rcd_47^post45, a_309^0'=a_309^post45, i_1248^0'=i_1248^post45, a_575^0'=a_575^post45, temp_35^0'=temp_35^post45, len_861^0'=len_861^post45, (a_430^0-a_430^post45 == 0 /\ t_458^0-t_458^post45 == 0 /\ a_632^0-a_632^post45 == 0 /\ i_106^0-i_106^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ x_975^0-x_975^post45 == 0 /\ a_577^0-a_577^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_902^0-a_902^post45 == 0 /\ rcd_1249^0-rcd_1249^post45 == 0 /\ -rcd_47^post45+rcd_47^0 == 0 /\ -a_634^post45+a_634^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post45+x_253^0 == 0 /\ x_14^0-x_14^post45 == 0 /\ a_1162^0-a_1162^post45 == 0 /\ i_229^0-i_229^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -r_143^post45+r_143^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -r_224^post45+r_224^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -a_576^post45+a_576^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_140^0-i_140^post45 == 0 /\ -f_969^post45+f_969^0 == 0 /\ len_262^0-len_262^post45 == 0 /\ -r_970^post45+r_970^0 == 0 /\ x_156^0-x_156^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post45 == 0 /\ f_847^0-f_847^post45 == 0 /\ -a_431^post45+a_431^0 == 0 /\ a_394^0-a_394^post45 == 0 /\ -a_1236^post45+a_1236^0 == 0 /\ head_15^0-head_15^post45 == 0 /\ -a_395^post45+a_395^0 == 0 /\ a_924^0-a_924^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ -len_161^post45+len_161^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ a_311^0-a_311^post45 == 0 /\ -a_862^post45+a_862^0 == 0 /\ i_94^0-i_94^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45 == 0 /\ -a_392^post45+a_392^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ a_610^0-a_610^post45 == 0 /\ i_113^0-i_113^post45 == 0 /\ -a_239^post45+a_239^0 == 0 /\ a_393^0-a_393^post45 == 0 /\ a_1089^0-a_1089^post45 == 0 /\ -a_310^post45+a_310^0 == 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -len_861^post45+len_861^0 == 0 /\ -i_1053^post45+i_1053^0 == 0 /\ x_21^0-x_21^post45 == 0 /\ a_432^0-a_432^post45 == 0 /\ -i_30^post45+i_30^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -r_192^post45+r_192^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ -x_852^post45+x_852^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -a_579^post45+a_579^0 == 0 /\ -a_635^post45+a_635^0 == 0 /\ -r_151^post45+r_151^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ i_1248^0-i_1248^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ -i_107^post45+i_107^0 == 0 /\ a_144^0-a_144^post45 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -a_263^post45+a_263^0 == 0 /\ a_947^0-a_947^post45 == 0 /\ -a_575^post45+a_575^0 == 0 /\ -i_197^post45+i_197^0 == 0 /\ len_238^0-len_238^post45 == 0 /\ -a_633^post45+a_633^0 == 0 /\ f_248^0-f_248^post45 == 0 /\ a_121^0-a_121^post45 == 0 /\ -a_417^post45+a_417^0 == 0), cost: 1 46: l31 -> l32 : a_1089^0'=a_1089^post46, f_847^0'=f_847^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_394^0'=a_394^post46, x_156^0'=x_156^post46, a_632^0'=a_632^post46, r_192^0'=r_192^post46, a_176^0'=a_176^post46, i_106^0'=i_106^post46, a_430^0'=a_430^post46, t_458^0'=t_458^post46, len_161^0'=len_161^post46, x_975^0'=x_975^post46, a_902^0'=a_902^post46, a_947^0'=a_947^post46, rcd_88^0'=rcd_88^post46, a_311^0'=a_311^post46, i_140^0'=i_140^post46, a_577^0'=a_577^post46, x_14^0'=x_14^post46, nondet_12^0'=nondet_12^post46, a_121^0'=a_121^post46, head_15^0'=head_15^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46, i_27^0'=i_27^post46, x_21^0'=x_21^post46, a_634^0'=a_634^post46, r_39^0'=r_39^post46, a_263^0'=a_263^post46, i_113^0'=i_113^post46, a_432^0'=a_432^post46, temp0_31^0'=temp0_31^post46, len_262^0'=len_262^post46, y_20^0'=y_20^post46, f_248^0'=f_248^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_393^0'=a_393^post46, i_229^0'=i_229^post46, a_610^0'=a_610^post46, r_151^0'=r_151^post46, a_144^0'=a_144^post46, i_1053^0'=i_1053^post46, a_417^0'=a_417^post46, t_24^0'=t_24^post46, i_94^0'=i_94^post46, x_852^0'=x_852^post46, a_862^0'=a_862^post46, rcd_1249^0'=rcd_1249^post46, rcd_58^0'=rcd_58^post46, a_310^0'=a_310^post46, i_127^0'=i_127^post46, a_576^0'=a_576^post46, tmp_34^0'=tmp_34^post46, length_29^0'=length_29^post46, a_1162^0'=a_1162^post46, f_969^0'=f_969^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46, a_395^0'=a_395^post46, x_17^0'=x_17^post46, a_633^0'=a_633^post46, r_224^0'=r_224^post46, a_239^0'=a_239^post46, i_107^0'=i_107^post46, a_431^0'=a_431^post46, temp0_16^0'=temp0_16^post46, len_238^0'=len_238^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, a_924^0'=a_924^post46, ct_18^0'=ct_18^post46, result_11^0'=result_11^post46, a_392^0'=a_392^post46, i_197^0'=i_197^post46, a_579^0'=a_579^post46, r_143^0'=r_143^post46, a_1236^0'=a_1236^post46, head_32^0'=head_32^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46, i_30^0'=i_30^post46, x_253^0'=x_253^post46, a_635^0'=a_635^post46, r_970^0'=r_970^post46, rcd_47^0'=rcd_47^post46, a_309^0'=a_309^post46, i_1248^0'=i_1248^post46, a_575^0'=a_575^post46, temp_35^0'=temp_35^post46, len_861^0'=len_861^post46, (i_197^0-i_197^post46 == 0 /\ -a_417^post46+a_417^0 == 0 /\ x_21^0-x_21^post46 == 0 /\ -len_861^post46+len_861^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ -a_1236^post46+a_1236^0 == 0 /\ a_576^0-a_576^post46 == 0 /\ a_263^0-a_263^post46 == 0 /\ a_1162^0-a_1162^post46 == 0 /\ -a_432^post46+a_432^0 == 0 /\ f_847^0-f_847^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46 == 0 /\ -a_393^post46+a_393^0 == 0 /\ -a_392^post46+a_392^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ x_17^0-x_17^post46 == 0 /\ a_924^0-a_924^post46 == 0 /\ -i_1053^post46+i_1053^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ a_394^0-a_394^post46 == 0 /\ -i_1248^post46+i_1248^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ a_577^0-a_577^post46 == 0 /\ x_975^0-x_975^post46 == 0 /\ -a_579^post46+a_579^0 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ -a_635^post46+a_635^0 == 0 /\ i_127^0-i_127^post46 == 0 /\ r_224^0-r_224^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ -r_151^post46+r_151^0 == 0 /\ a_610^0-a_610^post46 == 0 /\ i_106^0-i_106^post46 == 0 /\ i_27^0-i_27^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ -a_144^post46+a_144^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ t_458^0-t_458^post46 == 0 /\ -i_107^post46+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -a_575^post46+a_575^0 == 0 /\ -a_862^post46+a_862^0 == 0 /\ -a_633^post46+a_633^0 == 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ -a_431^post46+a_431^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ len_161^0-len_161^post46 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ head_15^0-head_15^post46 == 0 /\ a_634^0-a_634^post46 == 0 /\ -rcd_1249^post46+rcd_1249^0 == 0 /\ -f_969^post46+f_969^0 == 0 /\ -x_852^post46+x_852^0 == 0 /\ a_121^0-a_121^post46 == 0 /\ f_248^0-f_248^post46 == 0 /\ -rcd_47^post46+rcd_47^0 == 0 /\ a_902^0-a_902^post46 == 0 /\ len_262^0-len_262^post46 == 0 /\ -i_140^post46+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post46+r_970^0 == 0 /\ a_947^0-a_947^post46 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ a_430^0-a_430^post46 == 0 /\ -a_239^post46+a_239^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ a_311^0-a_311^post46 == 0 /\ -r_143^post46+r_143^0 == 0 /\ a_176^0-a_176^post46 == 0 /\ rcd_88^0-rcd_88^post46 == 0 /\ len_238^0-len_238^post46 == 0 /\ -i_229^post46+i_229^0 == 0 /\ -y_20^post46+y_20^0 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -x_253^post46+x_253^0 == 0 /\ a_632^0-a_632^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post46+temp_35^0 == 0 /\ a_310^0-a_310^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ -i_113^post46+i_113^0 == 0 /\ -a_395^post46+a_395^0 == 0 /\ a_1089^0-a_1089^post46 == 0), cost: 1 47: l31 -> l32 : a_1089^0'=a_1089^post47, f_847^0'=f_847^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_394^0'=a_394^post47, x_156^0'=x_156^post47, a_632^0'=a_632^post47, r_192^0'=r_192^post47, a_176^0'=a_176^post47, i_106^0'=i_106^post47, a_430^0'=a_430^post47, t_458^0'=t_458^post47, len_161^0'=len_161^post47, x_975^0'=x_975^post47, a_902^0'=a_902^post47, a_947^0'=a_947^post47, rcd_88^0'=rcd_88^post47, a_311^0'=a_311^post47, i_140^0'=i_140^post47, a_577^0'=a_577^post47, x_14^0'=x_14^post47, nondet_12^0'=nondet_12^post47, a_121^0'=a_121^post47, head_15^0'=head_15^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47, i_27^0'=i_27^post47, x_21^0'=x_21^post47, a_634^0'=a_634^post47, r_39^0'=r_39^post47, a_263^0'=a_263^post47, i_113^0'=i_113^post47, a_432^0'=a_432^post47, temp0_31^0'=temp0_31^post47, len_262^0'=len_262^post47, y_20^0'=y_20^post47, f_248^0'=f_248^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_393^0'=a_393^post47, i_229^0'=i_229^post47, a_610^0'=a_610^post47, r_151^0'=r_151^post47, a_144^0'=a_144^post47, i_1053^0'=i_1053^post47, a_417^0'=a_417^post47, t_24^0'=t_24^post47, i_94^0'=i_94^post47, x_852^0'=x_852^post47, a_862^0'=a_862^post47, rcd_1249^0'=rcd_1249^post47, rcd_58^0'=rcd_58^post47, a_310^0'=a_310^post47, i_127^0'=i_127^post47, a_576^0'=a_576^post47, tmp_34^0'=tmp_34^post47, length_29^0'=length_29^post47, a_1162^0'=a_1162^post47, f_969^0'=f_969^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47, a_395^0'=a_395^post47, x_17^0'=x_17^post47, a_633^0'=a_633^post47, r_224^0'=r_224^post47, a_239^0'=a_239^post47, i_107^0'=i_107^post47, a_431^0'=a_431^post47, temp0_16^0'=temp0_16^post47, len_238^0'=len_238^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, a_924^0'=a_924^post47, ct_18^0'=ct_18^post47, result_11^0'=result_11^post47, a_392^0'=a_392^post47, i_197^0'=i_197^post47, a_579^0'=a_579^post47, r_143^0'=r_143^post47, a_1236^0'=a_1236^post47, head_32^0'=head_32^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47, i_30^0'=i_30^post47, x_253^0'=x_253^post47, a_635^0'=a_635^post47, r_970^0'=r_970^post47, rcd_47^0'=rcd_47^post47, a_309^0'=a_309^post47, i_1248^0'=i_1248^post47, a_575^0'=a_575^post47, temp_35^0'=temp_35^post47, len_861^0'=len_861^post47, (r_192^0-r_192^post47 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ i_113^0-i_113^post47 == 0 /\ r_39^0-r_39^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_127^0-i_127^post47 == 0 /\ rcd_1249^0-rcd_1249^post47 == 0 /\ f_969^0-f_969^post47 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ len_161^0-len_161^post47 == 0 /\ -rcd_47^post47+rcd_47^0 == 0 /\ -r_970^post47+r_970^0 == 0 /\ a_430^0-a_430^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post47 == 0 /\ -a_1162^post47+a_1162^0 == 0 /\ a_432^0-a_432^post47 == 0 /\ -x_253^post47+x_253^0 == 0 /\ i_27^0-i_27^post47 == 0 /\ x_156^0-x_156^post47 == 0 /\ -i_1248^post47+i_1248^0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -a_577^post47+a_577^0 == 0 /\ a_576^0-a_576^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ -i_1053^post47+i_1053^0 == 0 /\ f_847^0-f_847^post47 == 0 /\ i_140^0-i_140^post47 == 0 /\ -r_224^post47+r_224^0 == 0 /\ i_229^0-i_229^post47 == 0 /\ a_634^0-a_634^post47 == 0 /\ -len_861^post47+len_861^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ a_947^0-a_947^post47 == 0 /\ -a_924^post47+a_924^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ -r_143^post47+r_143^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -a_431^post47+a_431^0 == 0 /\ -a_395^post47+a_395^0 == 0 /\ a_311^0-a_311^post47 == 0 /\ -a_309^post47+a_309^0 == 0 /\ a_902^0-a_902^post47 == 0 /\ -i_30^post47+i_30^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ a_610^0-a_610^post47 == 0 /\ -a_392^post47+a_392^0 == 0 /\ -a_862^post47+a_862^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ -i_107^post47+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post47+a_575^0 == 0 /\ -a_1236^post47+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ a_1089^0-a_1089^post47 == 0 /\ a_635^0-a_635^post47 == 0 /\ -t_458^post47+t_458^0 == 0 /\ -a_393^post47+a_393^0 == 0 /\ -a_310^post47+a_310^0 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -i_106^post47+i_106^0 == 0 /\ a_632^0-a_632^post47 == 0 /\ len_262^0-len_262^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post47 == 0 /\ x_21^0-x_21^post47 == 0 /\ -r_151^post47+r_151^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -head_32^post47+head_32^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ -x_852^post47+x_852^0 == 0 /\ -ct_18^post47+ct_18^0 == 0 /\ -a_579^post47+a_579^0 == 0 /\ a_394^0-a_394^post47 == 0 /\ -a_263^post47+a_263^0 == 0 /\ x_17^0-x_17^post47 == 0 /\ len_238^0-len_238^post47 == 0 /\ a_239^0-a_239^post47 == 0 /\ x_975^0-x_975^post47 == 0 /\ a_176^0-a_176^post47 == 0 /\ -i_197^post47+i_197^0 == 0 /\ a_121^0-a_121^post47 == 0 /\ a_417^0-a_417^post47 == 0 /\ f_248^0-f_248^post47 == 0), cost: 1 48: l32 -> l23 : a_1089^0'=a_1089^post48, f_847^0'=f_847^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_394^0'=a_394^post48, x_156^0'=x_156^post48, a_632^0'=a_632^post48, r_192^0'=r_192^post48, a_176^0'=a_176^post48, i_106^0'=i_106^post48, a_430^0'=a_430^post48, t_458^0'=t_458^post48, len_161^0'=len_161^post48, x_975^0'=x_975^post48, a_902^0'=a_902^post48, a_947^0'=a_947^post48, rcd_88^0'=rcd_88^post48, a_311^0'=a_311^post48, i_140^0'=i_140^post48, a_577^0'=a_577^post48, x_14^0'=x_14^post48, nondet_12^0'=nondet_12^post48, a_121^0'=a_121^post48, head_15^0'=head_15^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48, i_27^0'=i_27^post48, x_21^0'=x_21^post48, a_634^0'=a_634^post48, r_39^0'=r_39^post48, a_263^0'=a_263^post48, i_113^0'=i_113^post48, a_432^0'=a_432^post48, temp0_31^0'=temp0_31^post48, len_262^0'=len_262^post48, y_20^0'=y_20^post48, f_248^0'=f_248^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_393^0'=a_393^post48, i_229^0'=i_229^post48, a_610^0'=a_610^post48, r_151^0'=r_151^post48, a_144^0'=a_144^post48, i_1053^0'=i_1053^post48, a_417^0'=a_417^post48, t_24^0'=t_24^post48, i_94^0'=i_94^post48, x_852^0'=x_852^post48, a_862^0'=a_862^post48, rcd_1249^0'=rcd_1249^post48, rcd_58^0'=rcd_58^post48, a_310^0'=a_310^post48, i_127^0'=i_127^post48, a_576^0'=a_576^post48, tmp_34^0'=tmp_34^post48, length_29^0'=length_29^post48, a_1162^0'=a_1162^post48, f_969^0'=f_969^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48, a_395^0'=a_395^post48, x_17^0'=x_17^post48, a_633^0'=a_633^post48, r_224^0'=r_224^post48, a_239^0'=a_239^post48, i_107^0'=i_107^post48, a_431^0'=a_431^post48, temp0_16^0'=temp0_16^post48, len_238^0'=len_238^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, a_924^0'=a_924^post48, ct_18^0'=ct_18^post48, result_11^0'=result_11^post48, a_392^0'=a_392^post48, i_197^0'=i_197^post48, a_579^0'=a_579^post48, r_143^0'=r_143^post48, a_1236^0'=a_1236^post48, head_32^0'=head_32^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48, i_30^0'=i_30^post48, x_253^0'=x_253^post48, a_635^0'=a_635^post48, r_970^0'=r_970^post48, rcd_47^0'=rcd_47^post48, a_309^0'=a_309^post48, i_1248^0'=i_1248^post48, a_575^0'=a_575^post48, temp_35^0'=temp_35^post48, len_861^0'=len_861^post48, (0 == 0 /\ a_576^0-a_576^post48 == 0 /\ x_21^0-x_21^post48 == 0 /\ -i_107^post48+i_107^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -a_432^post48+a_432^0 == 0 /\ -i_30^post48+i_30^0 == 0 /\ x_156^0-x_156^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -a_575^post48+a_575^0 == 0 /\ tmp_34^0-tmp_34^post48 == 0 /\ -a_392^post48+a_392^0 == 0 /\ -a_1236^post48+a_1236^0 == 0 /\ f_847^0-f_847^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_417^post48+a_417^0 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ -i_94^post48+i_94^0 == 0 /\ a_862^0-a_862^post48 == 0 /\ a_144^0-a_144^post48 == 0 /\ -len_861^post48+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -i_1248^post48+i_1248^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_394^0-a_394^post48 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ -a_635^post48+a_635^0 == 0 /\ a_902^0-a_902^post48 == 0 /\ head_15^0-head_15^post48 == 0 /\ -rcd_47^post48+rcd_47^0 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ rcd_88^0-rcd_88^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_238^post48+len_238^0 == 0 /\ a_577^0-a_577^post48 == 0 /\ -a_310^post48+a_310^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -len_262^post48+len_262^0 == 0 /\ i_106^0-i_106^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ -a_633^post48+a_633^0 == 0 /\ -i_197^post48+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post48+a_309^0 == 0 /\ t_458^0-t_458^post48 == 0 /\ a_311^0-a_311^post48 == 0 /\ a_1089^0-a_1089^post48 == 0 /\ -a_579^post48+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ a_263^0-a_263^post48 == 0 /\ i_27^0-i_27^post48 == 0 /\ a_430^0-a_430^post48 == 0 /\ x_253^0-x_253^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ -i_127^post48+i_127^0 == 0 /\ -a_431^post48+a_431^0 == 0 /\ -a_1162^post48+a_1162^0 == 0 /\ -a_924^post48+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ 1-i_229^0 <= 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ len_238^0-len_161^post48 <= 0 /\ -result_11^post48+result_11^0 == 0 /\ -x_852^post48+x_852^0 == 0 /\ a_634^0-a_634^post48 == 0 /\ r_151^0-r_151^post48 == 0 /\ f_248^0-f_248^post48 == 0 /\ -r_970^post48+r_970^0 == 0 /\ -a_176^post48+a_239^0 <= 0 /\ x_975^0-x_975^post48 == 0 /\ -a_121^post48+a_121^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -i_229^post48+i_229^0 == 0 /\ a_239^0-a_239^post48 == 0 /\ a_947^0-a_947^post48 == 0 /\ r_192^0-r_192^post48 == 0 /\ -a_395^post48+a_395^0 == 0 /\ f_969^0-f_969^post48 == 0 /\ a_610^0-a_610^post48 == 0 /\ i_1053^0-i_1053^post48 == 0 /\ -len_238^0+len_161^post48 <= 0 /\ -r_143^post48+r_143^0 == 0 /\ i_140^0-i_140^post48 == 0 /\ rcd_1249^0-rcd_1249^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post48+r_224^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -i_113^post48+i_113^0 == 0 /\ a_176^post48-a_239^0 <= 0 /\ a_393^0-a_393^post48 == 0 /\ a_632^0-a_632^post48 == 0), cost: 1 49: l23 -> l8 : a_1089^0'=a_1089^post49, f_847^0'=f_847^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_394^0'=a_394^post49, x_156^0'=x_156^post49, a_632^0'=a_632^post49, r_192^0'=r_192^post49, a_176^0'=a_176^post49, i_106^0'=i_106^post49, a_430^0'=a_430^post49, t_458^0'=t_458^post49, len_161^0'=len_161^post49, x_975^0'=x_975^post49, a_902^0'=a_902^post49, a_947^0'=a_947^post49, rcd_88^0'=rcd_88^post49, a_311^0'=a_311^post49, i_140^0'=i_140^post49, a_577^0'=a_577^post49, x_14^0'=x_14^post49, nondet_12^0'=nondet_12^post49, a_121^0'=a_121^post49, head_15^0'=head_15^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49, i_27^0'=i_27^post49, x_21^0'=x_21^post49, a_634^0'=a_634^post49, r_39^0'=r_39^post49, a_263^0'=a_263^post49, i_113^0'=i_113^post49, a_432^0'=a_432^post49, temp0_31^0'=temp0_31^post49, len_262^0'=len_262^post49, y_20^0'=y_20^post49, f_248^0'=f_248^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_393^0'=a_393^post49, i_229^0'=i_229^post49, a_610^0'=a_610^post49, r_151^0'=r_151^post49, a_144^0'=a_144^post49, i_1053^0'=i_1053^post49, a_417^0'=a_417^post49, t_24^0'=t_24^post49, i_94^0'=i_94^post49, x_852^0'=x_852^post49, a_862^0'=a_862^post49, rcd_1249^0'=rcd_1249^post49, rcd_58^0'=rcd_58^post49, a_310^0'=a_310^post49, i_127^0'=i_127^post49, a_576^0'=a_576^post49, tmp_34^0'=tmp_34^post49, length_29^0'=length_29^post49, a_1162^0'=a_1162^post49, f_969^0'=f_969^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49, a_395^0'=a_395^post49, x_17^0'=x_17^post49, a_633^0'=a_633^post49, r_224^0'=r_224^post49, a_239^0'=a_239^post49, i_107^0'=i_107^post49, a_431^0'=a_431^post49, temp0_16^0'=temp0_16^post49, len_238^0'=len_238^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, a_924^0'=a_924^post49, ct_18^0'=ct_18^post49, result_11^0'=result_11^post49, a_392^0'=a_392^post49, i_197^0'=i_197^post49, a_579^0'=a_579^post49, r_143^0'=r_143^post49, a_1236^0'=a_1236^post49, head_32^0'=head_32^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49, i_30^0'=i_30^post49, x_253^0'=x_253^post49, a_635^0'=a_635^post49, r_970^0'=r_970^post49, rcd_47^0'=rcd_47^post49, a_309^0'=a_309^post49, i_1248^0'=i_1248^post49, a_575^0'=a_575^post49, temp_35^0'=temp_35^post49, len_861^0'=len_861^post49, (a_176^0-a_176^post49 == 0 /\ -x_21^post49+x_21^0 == 0 /\ f_969^0-f_969^post49 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -r_970^post49+r_970^0 == 0 /\ -a_431^post49+a_431^0 == 0 /\ i_27^0-i_27^post49 == 0 /\ -a_924^post49+a_924^0 == 0 /\ r_192^0-r_192^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -ct_18^post49+ct_18^0 == 0 /\ length_29^0-length_29^post49 == 0 /\ -a_1162^post49+a_1162^0 == 0 /\ -x_253^post49+x_253^0 == 0 /\ a_1089^0-a_1089^post49 == 0 /\ a_263^0-a_263^post49 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post49 == 0 /\ -i_229^post49+i_229^0 == 0 /\ a_432^0-a_432^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ -temp0_16^post49+temp0_16^0 == 0 /\ -i_1248^post49+i_1248^0 == 0 /\ -i_1053^post49+i_1053^0 == 0 /\ -r_224^post49+r_224^0 == 0 /\ -a_395^post49+a_395^0 == 0 /\ -a_239^post49+a_239^0 == 0 /\ r_151^0-r_151^post49 == 0 /\ f_248^0-f_248^post49 == 0 /\ -r_143^post49+r_143^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_417^0-a_417^post49 == 0 /\ head_32^0-head_32^post49 == 0 /\ rcd_58^0-rcd_58^post49 == 0 /\ a_144^0-a_144^post49 == 0 /\ a_634^0-a_634^post49 == 0 /\ head_15^0-head_15^post49 == 0 /\ -a_947^post49+a_947^0 == 0 /\ a_902^0-a_902^post49 == 0 /\ i_113^0-i_113^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -a_392^post49+a_392^0 == 0 /\ i_127^0-i_127^post49 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -x_14^post49+x_14^0 == 0 /\ a_394^0-a_394^post49 == 0 /\ len_238^0-len_238^post49 == 0 /\ -a_635^post49+a_635^0 == 0 /\ -a_576^post49+a_576^0 == 0 /\ -i_107^post49+i_107^0 == 0 /\ rcd_1249^0-rcd_1249^post49 == 0 /\ t_458^0-t_458^post49 == 0 /\ -len_861^post49+len_861^0 == 0 /\ x_852^0-x_852^post49 == 0 /\ -a_1236^post49+a_1236^0 == 0 /\ i_106^0-i_106^post49 == 0 /\ a_632^0-a_632^post49 == 0 /\ i_140^0-i_140^post49 == 0 /\ len_161^0-len_161^post49 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -a_310^post49+a_310^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ a_311^0-a_311^post49 == 0 /\ a_393^0-a_393^post49 == 0 /\ y_20^0-y_20^post49 == 0 /\ f_847^0-f_847^post49 == 0 /\ -a_610^post49+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49 == 0 /\ a_309^0-a_309^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -x_975^post49+x_975^0 == 0 /\ a_633^0-a_633^post49 == 0 /\ -rcd_47^post49+rcd_47^0 == 0 /\ -a_579^post49+a_579^0 == 0 /\ a_121^0-a_121^post49 == 0 /\ -a_575^post49+a_575^0 == 0 /\ -a_430^post49+a_430^0 == 0 /\ -i_197^post49+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49 == 0 /\ a_577^0-a_577^post49 == 0 /\ -len_262^post49+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ -a_862^post49+a_862^0 == 0), cost: 1 51: l33 -> l34 : a_1089^0'=a_1089^post51, f_847^0'=f_847^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_394^0'=a_394^post51, x_156^0'=x_156^post51, a_632^0'=a_632^post51, r_192^0'=r_192^post51, a_176^0'=a_176^post51, i_106^0'=i_106^post51, a_430^0'=a_430^post51, t_458^0'=t_458^post51, len_161^0'=len_161^post51, x_975^0'=x_975^post51, a_902^0'=a_902^post51, a_947^0'=a_947^post51, rcd_88^0'=rcd_88^post51, a_311^0'=a_311^post51, i_140^0'=i_140^post51, a_577^0'=a_577^post51, x_14^0'=x_14^post51, nondet_12^0'=nondet_12^post51, a_121^0'=a_121^post51, head_15^0'=head_15^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51, i_27^0'=i_27^post51, x_21^0'=x_21^post51, a_634^0'=a_634^post51, r_39^0'=r_39^post51, a_263^0'=a_263^post51, i_113^0'=i_113^post51, a_432^0'=a_432^post51, temp0_31^0'=temp0_31^post51, len_262^0'=len_262^post51, y_20^0'=y_20^post51, f_248^0'=f_248^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_393^0'=a_393^post51, i_229^0'=i_229^post51, a_610^0'=a_610^post51, r_151^0'=r_151^post51, a_144^0'=a_144^post51, i_1053^0'=i_1053^post51, a_417^0'=a_417^post51, t_24^0'=t_24^post51, i_94^0'=i_94^post51, x_852^0'=x_852^post51, a_862^0'=a_862^post51, rcd_1249^0'=rcd_1249^post51, rcd_58^0'=rcd_58^post51, a_310^0'=a_310^post51, i_127^0'=i_127^post51, a_576^0'=a_576^post51, tmp_34^0'=tmp_34^post51, length_29^0'=length_29^post51, a_1162^0'=a_1162^post51, f_969^0'=f_969^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51, a_395^0'=a_395^post51, x_17^0'=x_17^post51, a_633^0'=a_633^post51, r_224^0'=r_224^post51, a_239^0'=a_239^post51, i_107^0'=i_107^post51, a_431^0'=a_431^post51, temp0_16^0'=temp0_16^post51, len_238^0'=len_238^post51, x_SLAM_f_19^0'=x_SLAM_f_19^post51, a_924^0'=a_924^post51, ct_18^0'=ct_18^post51, result_11^0'=result_11^post51, a_392^0'=a_392^post51, i_197^0'=i_197^post51, a_579^0'=a_579^post51, r_143^0'=r_143^post51, a_1236^0'=a_1236^post51, head_32^0'=head_32^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51, i_30^0'=i_30^post51, x_253^0'=x_253^post51, a_635^0'=a_635^post51, r_970^0'=r_970^post51, rcd_47^0'=rcd_47^post51, a_309^0'=a_309^post51, i_1248^0'=i_1248^post51, a_575^0'=a_575^post51, temp_35^0'=temp_35^post51, len_861^0'=len_861^post51, (a_176^0-a_176^post51 == 0 /\ a_1089^0-a_1089^post51 == 0 /\ r_143^0-r_143^post51 == 0 /\ -x_21^post51+x_21^0 == 0 /\ -i_197^post51+i_197^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -a_579^post51+a_579^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ -f_969^post51+f_969^0 == 0 /\ a_310^0-a_310^post51 == 0 /\ a_311^0-a_311^post51 == 0 /\ -ct_18^post51+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 == 0 /\ -a_1162^post51+a_1162^0 == 0 /\ -i_127^post51+i_127^0 == 0 /\ -r_970^post51+r_970^0 == 0 /\ a_395^0-a_395^post51 == 0 /\ i_27^0-i_27^post51 == 0 /\ t_458^0-t_458^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post51 == 0 /\ i_140^0-i_140^post51 == 0 /\ -f_248^post51+f_248^0 == 0 /\ i_106^0-i_106^post51 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ a_392^0-a_392^post51 == 0 /\ r_39^0-r_39^post51 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51 == 0 /\ -temp0_16^post51+temp0_16^0 == 0 /\ a_393^0-a_393^post51 == 0 /\ -i_1248^post51+i_1248^0 == 0 /\ -rcd_1249^post51+rcd_1249^0 == 0 /\ -len_861^post51+len_861^0 == 0 /\ -a_239^post51+a_239^0 == 0 /\ y_20^0-y_20^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ len_262^0-len_262^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ a_417^0-a_417^post51 == 0 /\ -head_15^post51+head_15^0 == 0 /\ -a_924^post51+a_924^0 == 0 /\ -i_30^post51+i_30^0 == 0 /\ a_634^0-a_634^post51 == 0 /\ -x_17^post51+x_17^0 == 0 /\ temp0_31^0-temp0_31^post51 == 0 /\ a_947^0-a_947^post51 == 0 /\ -i_107^post51+i_107^0 == 0 /\ x_14^0-x_14^post51 == 0 /\ -r_151^post51+r_151^0 == 0 /\ -a_575^post51+a_575^0 == 0 /\ -i_94^post51+i_94^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ i_1053^0-i_1053^post51 == 0 /\ -a_635^post51+a_635^0 == 0 /\ a_121^0-a_121^post51 == 0 /\ -a_576^post51+a_576^0 == 0 /\ a_632^0-a_632^post51 == 0 /\ a_263^0-a_263^post51 == 0 /\ -a_633^post51+a_633^0 == 0 /\ t_24^0-t_24^post51 == 0 /\ len_161^0-len_161^post51 == 0 /\ x_852^0-x_852^post51 == 0 /\ -a_144^post51+a_144^0 == 0 /\ x_156^0-x_156^post51 == 0 /\ -x_975^post51+x_975^0 == 0 /\ f_847^0-f_847^post51 == 0 /\ 1-head_15^0 <= 0 /\ r_224^0-r_224^post51 == 0 /\ a_309^0-a_309^post51 == 0 /\ -a_610^post51+a_610^0 == 0 /\ a_432^0-a_432^post51 == 0 /\ -a_1236^post51+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ -rcd_47^post51+rcd_47^0 == 0 /\ -x_253^post51+x_253^0 == 0 /\ i_113^0-i_113^post51 == 0 /\ -len_238^post51+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_902^0-a_902^post51 == 0 /\ a_394^0-a_394^post51 == 0 /\ a_862^0-a_862^post51 == 0 /\ a_577^0-a_577^post51 == 0 /\ i_229^0-i_229^post51 == 0 /\ a_431^0-a_431^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -a_430^post51+a_430^0 == 0), cost: 1 52: l33 -> l34 : a_1089^0'=a_1089^post52, f_847^0'=f_847^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_394^0'=a_394^post52, x_156^0'=x_156^post52, a_632^0'=a_632^post52, r_192^0'=r_192^post52, a_176^0'=a_176^post52, i_106^0'=i_106^post52, a_430^0'=a_430^post52, t_458^0'=t_458^post52, len_161^0'=len_161^post52, x_975^0'=x_975^post52, a_902^0'=a_902^post52, a_947^0'=a_947^post52, rcd_88^0'=rcd_88^post52, a_311^0'=a_311^post52, i_140^0'=i_140^post52, a_577^0'=a_577^post52, x_14^0'=x_14^post52, nondet_12^0'=nondet_12^post52, a_121^0'=a_121^post52, head_15^0'=head_15^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52, i_27^0'=i_27^post52, x_21^0'=x_21^post52, a_634^0'=a_634^post52, r_39^0'=r_39^post52, a_263^0'=a_263^post52, i_113^0'=i_113^post52, a_432^0'=a_432^post52, temp0_31^0'=temp0_31^post52, len_262^0'=len_262^post52, y_20^0'=y_20^post52, f_248^0'=f_248^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_393^0'=a_393^post52, i_229^0'=i_229^post52, a_610^0'=a_610^post52, r_151^0'=r_151^post52, a_144^0'=a_144^post52, i_1053^0'=i_1053^post52, a_417^0'=a_417^post52, t_24^0'=t_24^post52, i_94^0'=i_94^post52, x_852^0'=x_852^post52, a_862^0'=a_862^post52, rcd_1249^0'=rcd_1249^post52, rcd_58^0'=rcd_58^post52, a_310^0'=a_310^post52, i_127^0'=i_127^post52, a_576^0'=a_576^post52, tmp_34^0'=tmp_34^post52, length_29^0'=length_29^post52, a_1162^0'=a_1162^post52, f_969^0'=f_969^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52, a_395^0'=a_395^post52, x_17^0'=x_17^post52, a_633^0'=a_633^post52, r_224^0'=r_224^post52, a_239^0'=a_239^post52, i_107^0'=i_107^post52, a_431^0'=a_431^post52, temp0_16^0'=temp0_16^post52, len_238^0'=len_238^post52, x_SLAM_f_19^0'=x_SLAM_f_19^post52, a_924^0'=a_924^post52, ct_18^0'=ct_18^post52, result_11^0'=result_11^post52, a_392^0'=a_392^post52, i_197^0'=i_197^post52, a_579^0'=a_579^post52, r_143^0'=r_143^post52, a_1236^0'=a_1236^post52, head_32^0'=head_32^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52, i_30^0'=i_30^post52, x_253^0'=x_253^post52, a_635^0'=a_635^post52, r_970^0'=r_970^post52, rcd_47^0'=rcd_47^post52, a_309^0'=a_309^post52, i_1248^0'=i_1248^post52, a_575^0'=a_575^post52, temp_35^0'=temp_35^post52, len_861^0'=len_861^post52, (-a_575^post52+a_575^0 == 0 /\ -x_17^post52+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52 == 0 /\ 1+head_15^0 <= 0 /\ a_430^0-a_430^post52 == 0 /\ t_458^0-t_458^post52 == 0 /\ -r_143^post52+r_143^0 == 0 /\ x_975^0-x_975^post52 == 0 /\ a_632^0-a_632^post52 == 0 /\ -i_30^post52+i_30^0 == 0 /\ r_151^0-r_151^post52 == 0 /\ a_577^0-a_577^post52 == 0 /\ len_262^0-len_262^post52 == 0 /\ a_902^0-a_902^post52 == 0 /\ -a_576^post52+a_576^0 == 0 /\ -a_309^post52+a_309^0 == 0 /\ -x_SLAM_f_19^post52+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post52+a_144^0 == 0 /\ temp0_31^0-temp0_31^post52 == 0 /\ a_1162^0-a_1162^post52 == 0 /\ i_229^0-i_229^post52 == 0 /\ -a_634^post52+a_634^0 == 0 /\ -a_633^post52+a_633^0 == 0 /\ a_310^0-a_310^post52 == 0 /\ -a_610^post52+a_610^0 == 0 /\ i_1053^0-i_1053^post52 == 0 /\ -a_1236^post52+a_1236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0 /\ a_176^0-a_176^post52 == 0 /\ -rcd_47^post52+rcd_47^0 == 0 /\ a_394^0-a_394^post52 == 0 /\ a_579^0-a_579^post52 == 0 /\ i_140^0-i_140^post52 == 0 /\ -f_969^post52+f_969^0 == 0 /\ f_847^0-f_847^post52 == 0 /\ -len_238^post52+len_238^0 == 0 /\ -r_970^post52+r_970^0 == 0 /\ -length_29^post52+length_29^0 == 0 /\ t_24^0-t_24^post52 == 0 /\ -i_27^post52+i_27^0 == 0 /\ a_392^0-a_392^post52 == 0 /\ i_197^0-i_197^post52 == 0 /\ i_94^0-i_94^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52 == 0 /\ -i_127^post52+i_127^0 == 0 /\ -ct_18^post52+ct_18^0 == 0 /\ y_20^0-y_20^post52 == 0 /\ -x_253^post52+x_253^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -rcd_88^post52+rcd_88^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ -head_15^post52+head_15^0 == 0 /\ -r_192^post52+r_192^0 == 0 /\ -rcd_58^post52+rcd_58^0 == 0 /\ a_121^0-a_121^post52 == 0 /\ -len_161^post52+len_161^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ a_432^0-a_432^post52 == 0 /\ -f_248^post52+f_248^0 == 0 /\ -temp_35^post52+temp_35^0 == 0 /\ i_113^0-i_113^post52 == 0 /\ x_156^0-x_156^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ a_862^0-a_862^post52 == 0 /\ -a_431^post52+a_431^0 == 0 /\ -len_861^post52+len_861^0 == 0 /\ a_1089^0-a_1089^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ a_395^0-a_395^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ a_947^0-a_947^post52 == 0 /\ x_14^0-x_14^post52 == 0 /\ -a_417^post52+a_417^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ -x_852^post52+x_852^0 == 0 /\ -r_224^post52+r_224^0 == 0 /\ -rcd_1249^post52+rcd_1249^0 == 0 /\ -a_393^post52+a_393^0 == 0 /\ -a_924^post52+a_924^0 == 0 /\ -temp0_16^post52+temp0_16^0 == 0 /\ -a_635^post52+a_635^0 == 0 /\ a_263^0-a_263^post52 == 0 /\ i_107^0-i_107^post52 == 0 /\ a_311^0-a_311^post52 == 0 /\ -i_1248^post52+i_1248^0 == 0 /\ -a_239^post52+a_239^0 == 0 /\ i_106^0-i_106^post52 == 0), cost: 1 53: l34 -> l0 : a_1089^0'=a_1089^post53, f_847^0'=f_847^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_394^0'=a_394^post53, x_156^0'=x_156^post53, a_632^0'=a_632^post53, r_192^0'=r_192^post53, a_176^0'=a_176^post53, i_106^0'=i_106^post53, a_430^0'=a_430^post53, t_458^0'=t_458^post53, len_161^0'=len_161^post53, x_975^0'=x_975^post53, a_902^0'=a_902^post53, a_947^0'=a_947^post53, rcd_88^0'=rcd_88^post53, a_311^0'=a_311^post53, i_140^0'=i_140^post53, a_577^0'=a_577^post53, x_14^0'=x_14^post53, nondet_12^0'=nondet_12^post53, a_121^0'=a_121^post53, head_15^0'=head_15^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53, i_27^0'=i_27^post53, x_21^0'=x_21^post53, a_634^0'=a_634^post53, r_39^0'=r_39^post53, a_263^0'=a_263^post53, i_113^0'=i_113^post53, a_432^0'=a_432^post53, temp0_31^0'=temp0_31^post53, len_262^0'=len_262^post53, y_20^0'=y_20^post53, f_248^0'=f_248^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_393^0'=a_393^post53, i_229^0'=i_229^post53, a_610^0'=a_610^post53, r_151^0'=r_151^post53, a_144^0'=a_144^post53, i_1053^0'=i_1053^post53, a_417^0'=a_417^post53, t_24^0'=t_24^post53, i_94^0'=i_94^post53, x_852^0'=x_852^post53, a_862^0'=a_862^post53, rcd_1249^0'=rcd_1249^post53, rcd_58^0'=rcd_58^post53, a_310^0'=a_310^post53, i_127^0'=i_127^post53, a_576^0'=a_576^post53, tmp_34^0'=tmp_34^post53, length_29^0'=length_29^post53, a_1162^0'=a_1162^post53, f_969^0'=f_969^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53, a_395^0'=a_395^post53, x_17^0'=x_17^post53, a_633^0'=a_633^post53, r_224^0'=r_224^post53, a_239^0'=a_239^post53, i_107^0'=i_107^post53, a_431^0'=a_431^post53, temp0_16^0'=temp0_16^post53, len_238^0'=len_238^post53, x_SLAM_f_19^0'=x_SLAM_f_19^post53, a_924^0'=a_924^post53, ct_18^0'=ct_18^post53, result_11^0'=result_11^post53, a_392^0'=a_392^post53, i_197^0'=i_197^post53, a_579^0'=a_579^post53, r_143^0'=r_143^post53, a_1236^0'=a_1236^post53, head_32^0'=head_32^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53, i_30^0'=i_30^post53, x_253^0'=x_253^post53, a_635^0'=a_635^post53, r_970^0'=r_970^post53, rcd_47^0'=rcd_47^post53, a_309^0'=a_309^post53, i_1248^0'=i_1248^post53, a_575^0'=a_575^post53, temp_35^0'=temp_35^post53, len_861^0'=len_861^post53, (a_394^0-a_394^post53 == 0 /\ a_1089^0-a_1089^post53 == 0 /\ -r_970^post53+r_970^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ -x_852^post53+x_852^0 == 0 /\ -head_15^post53+head_15^0 == 0 /\ -i_1053^post53+i_1053^0 == 0 /\ -a_395^post53+a_395^0 == 0 /\ -a_579^post53+a_579^0 == 0 /\ i_140^0-i_140^post53 == 0 /\ t_458^0-t_458^post53 == 0 /\ i_106^0-i_106^post53 == 0 /\ rcd_88^0-rcd_88^post53 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post53+ct_18^0 == 0 /\ a_311^0-a_311^post53 == 0 /\ -a_263^post53+a_263^0 == 0 /\ -temp_35^post53+temp_35^0 == 0 /\ -i_197^post53+i_197^0 == 0 /\ rcd_1249^0-rcd_1249^post53 == 0 /\ f_847^0-f_847^post53 == 0 /\ a_924^0-a_924^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_224^0-r_224^post53 == 0 /\ a_393^0-a_393^post53 == 0 /\ -a_144^post53+a_144^0 == 0 /\ -a_634^post53+a_634^0 == 0 /\ -i_107^post53+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post53+a_575^0 == 0 /\ y_20^0-y_20^post53 == 0 /\ i_127^0-i_127^post53 == 0 /\ -i_1248^post53+i_1248^0 == 0 /\ a_121^0-a_121^post53 == 0 /\ -len_861^post53+len_861^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ len_262^0-len_262^post53 == 0 /\ temp0_31^0-temp0_31^post53 == 0 /\ -result_11^post53+result_11^0 == 0 /\ -a_239^post53+a_239^0 == 0 /\ -a_635^post53+a_635^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ a_577^0-a_577^post53 == 0 /\ -i_30^post53+i_30^0 == 0 /\ i_94^0-i_94^post53 == 0 /\ -x_17^post53+x_17^0 == 0 /\ a_947^0-a_947^post53 == 0 /\ -r_151^post53+r_151^0 == 0 /\ len_161^0-len_161^post53 == 0 /\ a_310^0-a_310^post53 == 0 /\ x_14^0-x_14^post53 == 0 /\ -a_576^post53+a_576^0 == 0 /\ -a_309^post53+a_309^0 == 0 /\ r_39^0-r_39^post53 == 0 /\ -a_1236^post53+a_1236^0 == 0 /\ -r_143^post53+r_143^0 == 0 /\ -a_417^post53+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -a_633^post53+a_633^0 == 0 /\ -a_176^post53+a_176^0 == 0 /\ t_24^0-t_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post53+a_392^0 == 0 /\ -f_969^post53+f_969^0 == 0 /\ a_430^0-a_430^post53 == 0 /\ a_632^0-a_632^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post53+a_610^0 == 0 /\ a_432^0-a_432^post53 == 0 /\ a_1162^0-a_1162^post53 == 0 /\ i_113^0-i_113^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_902^0-a_902^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ x_975^0-x_975^post53 == 0 /\ -x_SLAM_f_19^post53+x_SLAM_f_19^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -rcd_47^post53+rcd_47^0 == 0 /\ x_156^0-x_156^post53 == 0 /\ -i_27^post53+i_27^0 == 0 /\ i_229^0-i_229^post53 == 0 /\ -x_253^post53+x_253^0 == 0 /\ a_431^0-a_431^post53 == 0 /\ temp0_16^0-temp0_16^post53 == 0 /\ a_862^0-a_862^post53 == 0 /\ -len_238^post53+len_238^0 == 0), cost: 1 55: l36 -> l37 : a_1089^0'=a_1089^post55, f_847^0'=f_847^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_394^0'=a_394^post55, x_156^0'=x_156^post55, a_632^0'=a_632^post55, r_192^0'=r_192^post55, a_176^0'=a_176^post55, i_106^0'=i_106^post55, a_430^0'=a_430^post55, t_458^0'=t_458^post55, len_161^0'=len_161^post55, x_975^0'=x_975^post55, a_902^0'=a_902^post55, a_947^0'=a_947^post55, rcd_88^0'=rcd_88^post55, a_311^0'=a_311^post55, i_140^0'=i_140^post55, a_577^0'=a_577^post55, x_14^0'=x_14^post55, nondet_12^0'=nondet_12^post55, a_121^0'=a_121^post55, head_15^0'=head_15^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55, i_27^0'=i_27^post55, x_21^0'=x_21^post55, a_634^0'=a_634^post55, r_39^0'=r_39^post55, a_263^0'=a_263^post55, i_113^0'=i_113^post55, a_432^0'=a_432^post55, temp0_31^0'=temp0_31^post55, len_262^0'=len_262^post55, y_20^0'=y_20^post55, f_248^0'=f_248^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_393^0'=a_393^post55, i_229^0'=i_229^post55, a_610^0'=a_610^post55, r_151^0'=r_151^post55, a_144^0'=a_144^post55, i_1053^0'=i_1053^post55, a_417^0'=a_417^post55, t_24^0'=t_24^post55, i_94^0'=i_94^post55, x_852^0'=x_852^post55, a_862^0'=a_862^post55, rcd_1249^0'=rcd_1249^post55, rcd_58^0'=rcd_58^post55, a_310^0'=a_310^post55, i_127^0'=i_127^post55, a_576^0'=a_576^post55, tmp_34^0'=tmp_34^post55, length_29^0'=length_29^post55, a_1162^0'=a_1162^post55, f_969^0'=f_969^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55, a_395^0'=a_395^post55, x_17^0'=x_17^post55, a_633^0'=a_633^post55, r_224^0'=r_224^post55, a_239^0'=a_239^post55, i_107^0'=i_107^post55, a_431^0'=a_431^post55, temp0_16^0'=temp0_16^post55, len_238^0'=len_238^post55, x_SLAM_f_19^0'=x_SLAM_f_19^post55, a_924^0'=a_924^post55, ct_18^0'=ct_18^post55, result_11^0'=result_11^post55, a_392^0'=a_392^post55, i_197^0'=i_197^post55, a_579^0'=a_579^post55, r_143^0'=r_143^post55, a_1236^0'=a_1236^post55, head_32^0'=head_32^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55, i_30^0'=i_30^post55, x_253^0'=x_253^post55, a_635^0'=a_635^post55, r_970^0'=r_970^post55, rcd_47^0'=rcd_47^post55, a_309^0'=a_309^post55, i_1248^0'=i_1248^post55, a_575^0'=a_575^post55, temp_35^0'=temp_35^post55, len_861^0'=len_861^post55, (x_852^0-x_852^post55 == 0 /\ -a_577^post55+a_577^0 == 0 /\ -len_861^post55+len_861^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post55 == 0 /\ -i_1053^post55+i_1053^0 == 0 /\ a_576^0-a_576^post55 == 0 /\ a_121^0-a_121^post55 == 0 /\ -i_1248^post55+i_1248^0 == 0 /\ -y_20^post55+y_20^0 == 0 /\ len_161^0-len_161^post55 == 0 /\ len_262^0-len_262^post55 == 0 /\ x_156^0-x_156^post55 == 0 /\ a_947^0-a_947^post55 == 0 /\ 1-x_14^0 <= 0 /\ -a_395^post55+a_395^0 == 0 /\ f_847^0-f_847^post55 == 0 /\ a_394^0-a_394^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_579^post55+a_579^0 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ -a_392^post55+a_392^0 == 0 /\ -a_263^post55+a_263^0 == 0 /\ rcd_1249^0-rcd_1249^post55 == 0 /\ -head_32^post55+head_32^0 == 0 /\ r_224^0-r_224^post55 == 0 /\ -a_575^post55+a_575^0 == 0 /\ i_106^0-i_106^post55 == 0 /\ head_15^0-head_15^post55 == 0 /\ -i_197^post55+i_197^0 == 0 /\ a_430^0-a_430^post55 == 0 /\ -a_309^post55+a_309^0 == 0 /\ ct_18^0-ct_18^post55 == 0 /\ -a_144^post55+a_144^0 == 0 /\ -a_393^post55+a_393^0 == 0 /\ -a_635^post55+a_635^0 == 0 /\ -i_107^post55+i_107^0 == 0 /\ a_432^0-a_432^post55 == 0 /\ -t_24^post55+t_24^0 == 0 /\ -a_1162^post55+a_1162^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ i_127^0-i_127^post55 == 0 /\ -i_30^post55+i_30^0 == 0 /\ x_21^0-x_21^post55 == 0 /\ a_1236^0-a_1236^post55 == 0 /\ -a_417^post55+a_417^0 == 0 /\ i_229^0-i_229^post55 == 0 /\ a_431^0-a_431^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ i_27^0-i_27^post55 == 0 /\ -a_632^post55+a_632^0 == 0 /\ x_17^0-x_17^post55 == 0 /\ -len_238^post55+len_238^0 == 0 /\ -x_SLAM_f_19^post55+x_SLAM_f_19^0 == 0 /\ -r_151^post55+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_634^0-a_634^post55 == 0 /\ a_1089^0-a_1089^post55 == 0 /\ a_310^0-a_310^post55 == 0 /\ a_176^0-a_176^post55 == 0 /\ -a_633^post55+a_633^0 == 0 /\ -a_924^post55+a_924^0 == 0 /\ rcd_88^0-rcd_88^post55 == 0 /\ a_311^0-a_311^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -r_143^post55+r_143^0 == 0 /\ -a_862^post55+a_862^0 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ f_248^0-f_248^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ -temp_35^post55+temp_35^0 == 0 /\ x_975^0-x_975^post55 == 0 /\ -i_113^post55+i_113^0 == 0 /\ -r_970^post55+r_970^0 == 0 /\ t_458^0-t_458^post55 == 0 /\ a_239^0-a_239^post55 == 0 /\ -a_902^post55+a_902^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post55+x_253^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ a_610^0-a_610^post55 == 0 /\ -rcd_47^post55+rcd_47^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ f_969^0-f_969^post55 == 0), cost: 1 56: l36 -> l37 : a_1089^0'=a_1089^post56, f_847^0'=f_847^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_394^0'=a_394^post56, x_156^0'=x_156^post56, a_632^0'=a_632^post56, r_192^0'=r_192^post56, a_176^0'=a_176^post56, i_106^0'=i_106^post56, a_430^0'=a_430^post56, t_458^0'=t_458^post56, len_161^0'=len_161^post56, x_975^0'=x_975^post56, a_902^0'=a_902^post56, a_947^0'=a_947^post56, rcd_88^0'=rcd_88^post56, a_311^0'=a_311^post56, i_140^0'=i_140^post56, a_577^0'=a_577^post56, x_14^0'=x_14^post56, nondet_12^0'=nondet_12^post56, a_121^0'=a_121^post56, head_15^0'=head_15^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56, i_27^0'=i_27^post56, x_21^0'=x_21^post56, a_634^0'=a_634^post56, r_39^0'=r_39^post56, a_263^0'=a_263^post56, i_113^0'=i_113^post56, a_432^0'=a_432^post56, temp0_31^0'=temp0_31^post56, len_262^0'=len_262^post56, y_20^0'=y_20^post56, f_248^0'=f_248^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_393^0'=a_393^post56, i_229^0'=i_229^post56, a_610^0'=a_610^post56, r_151^0'=r_151^post56, a_144^0'=a_144^post56, i_1053^0'=i_1053^post56, a_417^0'=a_417^post56, t_24^0'=t_24^post56, i_94^0'=i_94^post56, x_852^0'=x_852^post56, a_862^0'=a_862^post56, rcd_1249^0'=rcd_1249^post56, rcd_58^0'=rcd_58^post56, a_310^0'=a_310^post56, i_127^0'=i_127^post56, a_576^0'=a_576^post56, tmp_34^0'=tmp_34^post56, length_29^0'=length_29^post56, a_1162^0'=a_1162^post56, f_969^0'=f_969^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56, a_395^0'=a_395^post56, x_17^0'=x_17^post56, a_633^0'=a_633^post56, r_224^0'=r_224^post56, a_239^0'=a_239^post56, i_107^0'=i_107^post56, a_431^0'=a_431^post56, temp0_16^0'=temp0_16^post56, len_238^0'=len_238^post56, x_SLAM_f_19^0'=x_SLAM_f_19^post56, a_924^0'=a_924^post56, ct_18^0'=ct_18^post56, result_11^0'=result_11^post56, a_392^0'=a_392^post56, i_197^0'=i_197^post56, a_579^0'=a_579^post56, r_143^0'=r_143^post56, a_1236^0'=a_1236^post56, head_32^0'=head_32^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56, i_30^0'=i_30^post56, x_253^0'=x_253^post56, a_635^0'=a_635^post56, r_970^0'=r_970^post56, rcd_47^0'=rcd_47^post56, a_309^0'=a_309^post56, i_1248^0'=i_1248^post56, a_575^0'=a_575^post56, temp_35^0'=temp_35^post56, len_861^0'=len_861^post56, (a_610^0-a_610^post56 == 0 /\ -a_1162^post56+a_1162^0 == 0 /\ r_39^0-r_39^post56 == 0 /\ a_633^0-a_633^post56 == 0 /\ -r_151^post56+r_151^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ ct_18^0-ct_18^post56 == 0 /\ a_1089^0-a_1089^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -len_238^post56+len_238^0 == 0 /\ x_21^0-x_21^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_924^post56+a_924^0 == 0 /\ -i_113^post56+i_113^0 == 0 /\ i_27^0-i_27^post56 == 0 /\ -a_1236^post56+a_1236^0 == 0 /\ -r_143^post56+r_143^0 == 0 /\ a_634^0-a_634^post56 == 0 /\ a_947^0-a_947^post56 == 0 /\ a_263^0-a_263^post56 == 0 /\ -x_253^post56+x_253^0 == 0 /\ -a_432^post56+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_144^0-a_144^post56 == 0 /\ x_156^0-x_156^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ a_576^0-a_576^post56 == 0 /\ -y_20^post56+y_20^0 == 0 /\ -rcd_47^post56+rcd_47^0 == 0 /\ -i_140^post56+i_140^0 == 0 /\ -a_431^post56+a_431^0 == 0 /\ f_248^0-f_248^post56 == 0 /\ -x_SLAM_f_19^post56+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post56 == 0 /\ -r_970^post56+r_970^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -i_94^post56+i_94^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -i_1248^post56+i_1248^0 == 0 /\ -a_395^post56+a_395^0 == 0 /\ a_632^0-a_632^post56 == 0 /\ -t_458^post56+t_458^0 == 0 /\ -len_861^post56+len_861^0 == 0 /\ -head_32^post56+head_32^0 == 0 /\ -a_239^post56+a_239^0 == 0 /\ rcd_1249^0-rcd_1249^post56 == 0 /\ a_902^0-a_902^post56 == 0 /\ x_975^0-x_975^post56 == 0 /\ a_430^0-a_430^post56 == 0 /\ -a_310^post56+a_310^0 == 0 /\ -i_106^post56+i_106^0 == 0 /\ -a_862^post56+a_862^0 == 0 /\ i_229^0-i_229^post56 == 0 /\ a_577^0-a_577^post56 == 0 /\ -a_392^post56+a_392^0 == 0 /\ f_969^0-f_969^post56 == 0 /\ -temp0_16^post56+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post56+r_224^0 == 0 /\ len_161^0-len_161^post56 == 0 /\ -a_579^post56+a_579^0 == 0 /\ -a_575^post56+a_575^0 == 0 /\ x_14^0-x_14^post56 == 0 /\ -t_24^post56+t_24^0 == 0 /\ -i_197^post56+i_197^0 == 0 /\ -a_417^post56+a_417^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -a_309^post56+a_309^0 == 0 /\ x_17^0-x_17^post56 == 0 /\ -a_393^post56+a_393^0 == 0 /\ a_121^0-a_121^post56 == 0 /\ -i_127^post56+i_127^0 == 0 /\ -i_30^post56+i_30^0 == 0 /\ len_262^0-len_262^post56 == 0 /\ a_394^0-a_394^post56 == 0 /\ 1+x_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -a_635^post56+a_635^0 == 0 /\ rcd_88^0-rcd_88^post56 == 0 /\ a_176^0-a_176^post56 == 0 /\ -x_852^post56+x_852^0 == 0 /\ a_311^0-a_311^post56 == 0 /\ f_847^0-f_847^post56 == 0 /\ i_1053^0-i_1053^post56 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -i_107^post56+i_107^0 == 0), cost: 1 57: l37 -> l38 : a_1089^0'=a_1089^post57, f_847^0'=f_847^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_394^0'=a_394^post57, x_156^0'=x_156^post57, a_632^0'=a_632^post57, r_192^0'=r_192^post57, a_176^0'=a_176^post57, i_106^0'=i_106^post57, a_430^0'=a_430^post57, t_458^0'=t_458^post57, len_161^0'=len_161^post57, x_975^0'=x_975^post57, a_902^0'=a_902^post57, a_947^0'=a_947^post57, rcd_88^0'=rcd_88^post57, a_311^0'=a_311^post57, i_140^0'=i_140^post57, a_577^0'=a_577^post57, x_14^0'=x_14^post57, nondet_12^0'=nondet_12^post57, a_121^0'=a_121^post57, head_15^0'=head_15^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57, i_27^0'=i_27^post57, x_21^0'=x_21^post57, a_634^0'=a_634^post57, r_39^0'=r_39^post57, a_263^0'=a_263^post57, i_113^0'=i_113^post57, a_432^0'=a_432^post57, temp0_31^0'=temp0_31^post57, len_262^0'=len_262^post57, y_20^0'=y_20^post57, f_248^0'=f_248^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_393^0'=a_393^post57, i_229^0'=i_229^post57, a_610^0'=a_610^post57, r_151^0'=r_151^post57, a_144^0'=a_144^post57, i_1053^0'=i_1053^post57, a_417^0'=a_417^post57, t_24^0'=t_24^post57, i_94^0'=i_94^post57, x_852^0'=x_852^post57, a_862^0'=a_862^post57, rcd_1249^0'=rcd_1249^post57, rcd_58^0'=rcd_58^post57, a_310^0'=a_310^post57, i_127^0'=i_127^post57, a_576^0'=a_576^post57, tmp_34^0'=tmp_34^post57, length_29^0'=length_29^post57, a_1162^0'=a_1162^post57, f_969^0'=f_969^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57, a_395^0'=a_395^post57, x_17^0'=x_17^post57, a_633^0'=a_633^post57, r_224^0'=r_224^post57, a_239^0'=a_239^post57, i_107^0'=i_107^post57, a_431^0'=a_431^post57, temp0_16^0'=temp0_16^post57, len_238^0'=len_238^post57, x_SLAM_f_19^0'=x_SLAM_f_19^post57, a_924^0'=a_924^post57, ct_18^0'=ct_18^post57, result_11^0'=result_11^post57, a_392^0'=a_392^post57, i_197^0'=i_197^post57, a_579^0'=a_579^post57, r_143^0'=r_143^post57, a_1236^0'=a_1236^post57, head_32^0'=head_32^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57, i_30^0'=i_30^post57, x_253^0'=x_253^post57, a_635^0'=a_635^post57, r_970^0'=r_970^post57, rcd_47^0'=rcd_47^post57, a_309^0'=a_309^post57, i_1248^0'=i_1248^post57, a_575^0'=a_575^post57, temp_35^0'=temp_35^post57, len_861^0'=len_861^post57, (0 == 0 /\ -r_39^post57+r_39^0 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_263^0-a_263^post57 == 0 /\ -i_1053^post57+i_1053^0 == 0 /\ 1-a_176^0+a_862^post57 <= 0 /\ -r_224^post57+r_224^0 == 0 /\ -a_395^post57+a_395^0 == 0 /\ -a_310^post57+a_310^0 == 0 /\ t_24^0-t_24^post57 == 0 /\ -a_1236^post57+a_1236^0 == 0 /\ a_634^0-a_634^post57 == 0 /\ len_161^0-len_161^post57 == 0 /\ a_947^0-a_947^post57 == 0 /\ -i_1248^post57+i_1248^0 == 0 /\ -head_32^post57+head_32^0 == 0 /\ -x_17^post57+x_17^0 == 0 /\ -a_579^post57+a_579^0 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ -i_197^post57+i_197^0 == 0 /\ a_176^0-a_176^post57 == 0 /\ -len_262^post57+len_262^0 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ a_902^0-a_902^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57-nondet_12^12 == 0 /\ i_113^0-i_113^post57 == 0 /\ length_29^0-length_29^post57 == 0 /\ r_192^0-r_192^post57 == 0 /\ -i_107^post57+i_107^0 == 0 /\ a_430^0-a_430^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ f_248^0-f_248^post57 == 0 /\ -i_30^post57+i_30^0 == 0 /\ -i_140^post57+i_140^0 == 0 /\ rcd_88^0-rcd_88^post57 == 0 /\ -a_575^post57+a_575^0 == 0 /\ head_15^0-head_15^post57 == 0 /\ -a_309^post57+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ -1-len_161^0+len_861^post57 <= 0 /\ x_156^0-x_156^post57 == 0 /\ -a_1162^post57+a_1162^0 == 0 /\ -a_635^post57+a_635^0 == 0 /\ -rcd_47^post57+rcd_47^0 == 0 /\ a_632^0-a_632^post57 == 0 /\ -ct_18^post57+ct_18^0 == 0 /\ a_432^0-a_432^post57 == 0 /\ a_144^0-a_144^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^post57+y_20^0 == 0 /\ a_417^0-a_417^post57 == 0 /\ x_852^0-x_852^post57 == 0 /\ -1+a_176^0-a_862^post57 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ f_847^0-x_14^0 <= 0 /\ -a_121^post57+a_121^0 == 0 /\ a_576^0-a_576^post57 == 0 /\ f_847^0-f_847^post57 == 0 /\ -rcd_1249^post57+rcd_1249^0 == 0 /\ -a_924^post57+a_924^0 == 0 /\ a_394^0-a_394^post57 == 0 /\ -len_238^post57+len_238^0 == 0 /\ a_610^0-a_610^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ -r_143^post57+r_143^0 == 0 /\ r_151^0-r_151^post57 == 0 /\ -x_253^post57+x_253^0 == 0 /\ -x_SLAM_f_19^post57+x_SLAM_f_19^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post57+a_392^0 == 0 /\ a_1089^0-a_1089^post57 == 0 /\ a_577^0-a_577^post57 == 0 /\ t_458^0-t_458^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ x_975^0-x_975^post57 == 0 /\ i_106^0-i_106^post57 == 0 /\ -f_847^0+x_14^0 <= 0 /\ a_239^0-a_239^post57 == 0 /\ 1+len_161^0-len_861^post57 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ i_127^0-i_127^post57 == 0 /\ -r_970^post57+r_970^0 == 0 /\ a_393^0-a_393^post57 == 0 /\ a_633^0-a_633^post57 == 0 /\ -a_431^post57+a_431^0 == 0 /\ i_27^0-i_27^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ f_969^0-f_969^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -i_229^post57+i_229^0 == 0 /\ a_311^0-a_311^post57 == 0), cost: 1 58: l38 -> l39 : a_1089^0'=a_1089^post58, f_847^0'=f_847^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_394^0'=a_394^post58, x_156^0'=x_156^post58, a_632^0'=a_632^post58, r_192^0'=r_192^post58, a_176^0'=a_176^post58, i_106^0'=i_106^post58, a_430^0'=a_430^post58, t_458^0'=t_458^post58, len_161^0'=len_161^post58, x_975^0'=x_975^post58, a_902^0'=a_902^post58, a_947^0'=a_947^post58, rcd_88^0'=rcd_88^post58, a_311^0'=a_311^post58, i_140^0'=i_140^post58, a_577^0'=a_577^post58, x_14^0'=x_14^post58, nondet_12^0'=nondet_12^post58, a_121^0'=a_121^post58, head_15^0'=head_15^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58, i_27^0'=i_27^post58, x_21^0'=x_21^post58, a_634^0'=a_634^post58, r_39^0'=r_39^post58, a_263^0'=a_263^post58, i_113^0'=i_113^post58, a_432^0'=a_432^post58, temp0_31^0'=temp0_31^post58, len_262^0'=len_262^post58, y_20^0'=y_20^post58, f_248^0'=f_248^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_393^0'=a_393^post58, i_229^0'=i_229^post58, a_610^0'=a_610^post58, r_151^0'=r_151^post58, a_144^0'=a_144^post58, i_1053^0'=i_1053^post58, a_417^0'=a_417^post58, t_24^0'=t_24^post58, i_94^0'=i_94^post58, x_852^0'=x_852^post58, a_862^0'=a_862^post58, rcd_1249^0'=rcd_1249^post58, rcd_58^0'=rcd_58^post58, a_310^0'=a_310^post58, i_127^0'=i_127^post58, a_576^0'=a_576^post58, tmp_34^0'=tmp_34^post58, length_29^0'=length_29^post58, a_1162^0'=a_1162^post58, f_969^0'=f_969^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58, a_395^0'=a_395^post58, x_17^0'=x_17^post58, a_633^0'=a_633^post58, r_224^0'=r_224^post58, a_239^0'=a_239^post58, i_107^0'=i_107^post58, a_431^0'=a_431^post58, temp0_16^0'=temp0_16^post58, len_238^0'=len_238^post58, x_SLAM_f_19^0'=x_SLAM_f_19^post58, a_924^0'=a_924^post58, ct_18^0'=ct_18^post58, result_11^0'=result_11^post58, a_392^0'=a_392^post58, i_197^0'=i_197^post58, a_579^0'=a_579^post58, r_143^0'=r_143^post58, a_1236^0'=a_1236^post58, head_32^0'=head_32^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58, i_30^0'=i_30^post58, x_253^0'=x_253^post58, a_635^0'=a_635^post58, r_970^0'=r_970^post58, rcd_47^0'=rcd_47^post58, a_309^0'=a_309^post58, i_1248^0'=i_1248^post58, a_575^0'=a_575^post58, temp_35^0'=temp_35^post58, len_861^0'=len_861^post58, (a_394^0-a_394^post58 == 0 /\ a_176^0-a_176^post58 == 0 /\ -a_431^post58+a_431^0 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ a_947^0-a_947^post58 == 0 /\ -a_263^post58+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post58+r_970^0 == 0 /\ len_161^0-len_161^post58 == 0 /\ -t_24^post58+t_24^0 == 0 /\ -r_224^post58+r_224^0 == 0 /\ r_192^0-r_192^post58 == 0 /\ -i_197^post58+i_197^0 == 0 /\ x_14^0-x_14^post58 == 0 /\ rcd_1249^0-rcd_1249^post58 == 0 /\ x_852^0-x_852^post58 == 0 /\ -temp_35^post58+temp_35^0 == 0 /\ f_847^0-f_847^post58 == 0 /\ -y_20^post58+y_20^0 == 0 /\ r_39^0-r_39^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post58+a_1162^0 == 0 /\ i_229^0-i_229^post58 == 0 /\ a_432^0-a_432^post58 == 0 /\ -a_395^post58+a_395^0 == 0 /\ -a_924^post58+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_417^post58+a_417^0 == 0 /\ a_430^0-a_430^post58 == 0 /\ ct_18^0-ct_18^post58 == 0 /\ -a_577^post58+a_577^0 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -temp0_16^post58+temp0_16^0 == 0 /\ -i_1248^post58+i_1248^0 == 0 /\ -i_1053^post58+i_1053^0 == 0 /\ -len_861^post58+len_861^0 == 0 /\ a_144^0-a_144^post58 == 0 /\ x_156^0-x_156^post58 == 0 /\ i_113^0-i_113^post58 == 0 /\ head_15^0-head_15^post58 == 0 /\ i_127^0-i_127^post58 == 0 /\ -a_635^post58+a_635^0 == 0 /\ -a_393^post58+a_393^0 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -a_576^post58+a_576^0 == 0 /\ a_310^0-a_310^post58 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ -r_143^post58+r_143^0 == 0 /\ -i_30^post58+i_30^0 == 0 /\ i_27^0-i_27^post58 == 0 /\ i_140^0-i_140^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post58 == 0 /\ -i_107^post58+i_107^0 == 0 /\ -a_1236^post58+a_1236^0 == 0 /\ a_1089^0-a_1089^post58 == 0 /\ a_311^0-a_311^post58 == 0 /\ -a_309^post58+a_309^0 == 0 /\ -x_SLAM_f_19^post58+x_SLAM_f_19^0 == 0 /\ -rcd_47^post58+rcd_47^0 == 0 /\ -len_238^post58+len_238^0 == 0 /\ -i_106^post58+i_106^0 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post58 == 0 /\ -a_392^post58+a_392^0 == 0 /\ -a_633^post58+a_633^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ x_975^0-x_975^post58 == 0 /\ f_969^0-f_969^post58 == 0 /\ -x_253^post58+x_253^0 == 0 /\ temp0_31^0-temp0_31^post58 == 0 /\ -a_862^post58+a_862^0 == 0 /\ f_248^0-f_248^post58 == 0 /\ a_610^0-a_610^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ a_121^0-a_121^post58 == 0 /\ a_239^0-a_239^post58 == 0 /\ -t_458^post58+t_458^0 == 0 /\ -a_579^post58+a_579^0 == 0 /\ -a_902^post58+a_902^0 == 0 /\ len_262^0-len_262^post58 == 0 /\ -r_151^post58+r_151^0 == 0 /\ a_575^0-a_575^post58 == 0 /\ -head_32^post58+head_32^0 == 0 /\ x_17^0-x_17^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ a_634^0-a_634^post58 == 0), cost: 1 59: l38 -> l39 : a_1089^0'=a_1089^post59, f_847^0'=f_847^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_394^0'=a_394^post59, x_156^0'=x_156^post59, a_632^0'=a_632^post59, r_192^0'=r_192^post59, a_176^0'=a_176^post59, i_106^0'=i_106^post59, a_430^0'=a_430^post59, t_458^0'=t_458^post59, len_161^0'=len_161^post59, x_975^0'=x_975^post59, a_902^0'=a_902^post59, a_947^0'=a_947^post59, rcd_88^0'=rcd_88^post59, a_311^0'=a_311^post59, i_140^0'=i_140^post59, a_577^0'=a_577^post59, x_14^0'=x_14^post59, nondet_12^0'=nondet_12^post59, a_121^0'=a_121^post59, head_15^0'=head_15^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59, i_27^0'=i_27^post59, x_21^0'=x_21^post59, a_634^0'=a_634^post59, r_39^0'=r_39^post59, a_263^0'=a_263^post59, i_113^0'=i_113^post59, a_432^0'=a_432^post59, temp0_31^0'=temp0_31^post59, len_262^0'=len_262^post59, y_20^0'=y_20^post59, f_248^0'=f_248^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_393^0'=a_393^post59, i_229^0'=i_229^post59, a_610^0'=a_610^post59, r_151^0'=r_151^post59, a_144^0'=a_144^post59, i_1053^0'=i_1053^post59, a_417^0'=a_417^post59, t_24^0'=t_24^post59, i_94^0'=i_94^post59, x_852^0'=x_852^post59, a_862^0'=a_862^post59, rcd_1249^0'=rcd_1249^post59, rcd_58^0'=rcd_58^post59, a_310^0'=a_310^post59, i_127^0'=i_127^post59, a_576^0'=a_576^post59, tmp_34^0'=tmp_34^post59, length_29^0'=length_29^post59, a_1162^0'=a_1162^post59, f_969^0'=f_969^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59, a_395^0'=a_395^post59, x_17^0'=x_17^post59, a_633^0'=a_633^post59, r_224^0'=r_224^post59, a_239^0'=a_239^post59, i_107^0'=i_107^post59, a_431^0'=a_431^post59, temp0_16^0'=temp0_16^post59, len_238^0'=len_238^post59, x_SLAM_f_19^0'=x_SLAM_f_19^post59, a_924^0'=a_924^post59, ct_18^0'=ct_18^post59, result_11^0'=result_11^post59, a_392^0'=a_392^post59, i_197^0'=i_197^post59, a_579^0'=a_579^post59, r_143^0'=r_143^post59, a_1236^0'=a_1236^post59, head_32^0'=head_32^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59, i_30^0'=i_30^post59, x_253^0'=x_253^post59, a_635^0'=a_635^post59, r_970^0'=r_970^post59, rcd_47^0'=rcd_47^post59, a_309^0'=a_309^post59, i_1248^0'=i_1248^post59, a_575^0'=a_575^post59, temp_35^0'=temp_35^post59, len_861^0'=len_861^post59, (tmp_34^0-tmp_34^post59 == 0 /\ f_847^0-f_847^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -r_143^post59+r_143^0 == 0 /\ 1+head_15^0 <= 0 /\ head_15^0-head_15^post59 == 0 /\ -len_238^post59+len_238^0 == 0 /\ -a_635^post59+a_635^0 == 0 /\ -x_SLAM_f_19^post59+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post59 == 0 /\ -i_113^post59+i_113^0 == 0 /\ -a_417^post59+a_417^0 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ -a_575^post59+a_575^0 == 0 /\ a_902^0-a_902^post59 == 0 /\ -a_309^post59+a_309^0 == 0 /\ -a_1236^post59+a_1236^0 == 0 /\ a_633^0-a_633^post59 == 0 /\ a_862^0-a_862^post59 == 0 /\ ct_18^0-ct_18^post59 == 0 /\ x_156^0-x_156^post59 == 0 /\ a_610^0-a_610^post59 == 0 /\ -a_432^post59+a_432^0 == 0 /\ -a_121^post59+a_121^0 == 0 /\ a_144^0-a_144^post59 == 0 /\ x_14^0-x_14^post59 == 0 /\ a_947^0-a_947^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ i_27^0-i_27^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post59 == 0 /\ -a_431^post59+a_431^0 == 0 /\ t_458^0-t_458^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ a_430^0-a_430^post59 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -a_310^post59+a_310^0 == 0 /\ a_263^0-a_263^post59 == 0 /\ a_311^0-a_311^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -x_253^post59+x_253^0 == 0 /\ i_106^0-i_106^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59 == 0 /\ -rcd_47^post59+rcd_47^0 == 0 /\ -a_392^post59+a_392^0 == 0 /\ a_576^0-a_576^post59 == 0 /\ -r_224^post59+r_224^0 == 0 /\ -i_197^post59+i_197^0 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ f_248^0-f_248^post59 == 0 /\ -x_852^post59+x_852^0 == 0 /\ y_20^0-y_20^post59 == 0 /\ a_393^0-a_393^post59 == 0 /\ -r_970^post59+r_970^0 == 0 /\ a_632^0-a_632^post59 == 0 /\ r_151^0-r_151^post59 == 0 /\ -rcd_58^post59+rcd_58^0 == 0 /\ -a_395^post59+a_395^0 == 0 /\ temp0_31^0-temp0_31^post59 == 0 /\ -a_579^post59+a_579^0 == 0 /\ x_975^0-x_975^post59 == 0 /\ len_262^0-len_262^post59 == 0 /\ -i_229^post59+i_229^0 == 0 /\ -i_127^post59+i_127^0 == 0 /\ a_634^0-a_634^post59 == 0 /\ a_577^0-a_577^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 == 0 /\ a_394^0-a_394^post59 == 0 /\ -a_1162^post59+a_1162^0 == 0 /\ -a_924^post59+a_924^0 == 0 /\ r_192^0-r_192^post59 == 0 /\ f_969^0-f_969^post59 == 0 /\ -i_107^post59+i_107^0 == 0 /\ -i_1248^post59+i_1248^0 == 0 /\ a_176^0-a_176^post59 == 0 /\ -x_17^post59+x_17^0 == 0 /\ -a_239^post59+a_239^0 == 0 /\ -t_24^post59+t_24^0 == 0 /\ -temp0_16^post59+temp0_16^0 == 0 /\ -len_861^post59+len_861^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ i_140^0-i_140^post59 == 0 /\ -i_30^post59+i_30^0 == 0 /\ len_161^0-len_161^post59 == 0 /\ rcd_1249^0-rcd_1249^post59 == 0 /\ i_1053^0-i_1053^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0), cost: 1 60: l39 -> l40 : a_1089^0'=a_1089^post60, f_847^0'=f_847^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_394^0'=a_394^post60, x_156^0'=x_156^post60, a_632^0'=a_632^post60, r_192^0'=r_192^post60, a_176^0'=a_176^post60, i_106^0'=i_106^post60, a_430^0'=a_430^post60, t_458^0'=t_458^post60, len_161^0'=len_161^post60, x_975^0'=x_975^post60, a_902^0'=a_902^post60, a_947^0'=a_947^post60, rcd_88^0'=rcd_88^post60, a_311^0'=a_311^post60, i_140^0'=i_140^post60, a_577^0'=a_577^post60, x_14^0'=x_14^post60, nondet_12^0'=nondet_12^post60, a_121^0'=a_121^post60, head_15^0'=head_15^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60, i_27^0'=i_27^post60, x_21^0'=x_21^post60, a_634^0'=a_634^post60, r_39^0'=r_39^post60, a_263^0'=a_263^post60, i_113^0'=i_113^post60, a_432^0'=a_432^post60, temp0_31^0'=temp0_31^post60, len_262^0'=len_262^post60, y_20^0'=y_20^post60, f_248^0'=f_248^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_393^0'=a_393^post60, i_229^0'=i_229^post60, a_610^0'=a_610^post60, r_151^0'=r_151^post60, a_144^0'=a_144^post60, i_1053^0'=i_1053^post60, a_417^0'=a_417^post60, t_24^0'=t_24^post60, i_94^0'=i_94^post60, x_852^0'=x_852^post60, a_862^0'=a_862^post60, rcd_1249^0'=rcd_1249^post60, rcd_58^0'=rcd_58^post60, a_310^0'=a_310^post60, i_127^0'=i_127^post60, a_576^0'=a_576^post60, tmp_34^0'=tmp_34^post60, length_29^0'=length_29^post60, a_1162^0'=a_1162^post60, f_969^0'=f_969^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60, a_395^0'=a_395^post60, x_17^0'=x_17^post60, a_633^0'=a_633^post60, r_224^0'=r_224^post60, a_239^0'=a_239^post60, i_107^0'=i_107^post60, a_431^0'=a_431^post60, temp0_16^0'=temp0_16^post60, len_238^0'=len_238^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, a_924^0'=a_924^post60, ct_18^0'=ct_18^post60, result_11^0'=result_11^post60, a_392^0'=a_392^post60, i_197^0'=i_197^post60, a_579^0'=a_579^post60, r_143^0'=r_143^post60, a_1236^0'=a_1236^post60, head_32^0'=head_32^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60, i_30^0'=i_30^post60, x_253^0'=x_253^post60, a_635^0'=a_635^post60, r_970^0'=r_970^post60, rcd_47^0'=rcd_47^post60, a_309^0'=a_309^post60, i_1248^0'=i_1248^post60, a_575^0'=a_575^post60, temp_35^0'=temp_35^post60, len_861^0'=len_861^post60, (-i_1248^post60+i_1248^0 == 0 /\ i_27^0-i_27^post60 == 0 /\ t_24^0-t_24^post60 == 0 /\ -head_32^post60+head_32^0 == 0 /\ a_634^0-a_634^post60 == 0 /\ -a_239^post60+a_239^0 == 0 /\ a_947^0-a_947^post60 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ -i_229^post60+i_229^0 == 0 /\ -a_263^post60+a_263^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ -i_197^post60+i_197^0 == 0 /\ -a_579^post60+a_579^0 == 0 /\ -len_262^post60+len_262^0 == 0 /\ -x_253^post60+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ a_430^0-a_430^post60 == 0 /\ a_176^0-a_176^post60 == 0 /\ length_29^0-length_29^post60 == 0 /\ -a_395^post60+a_395^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post60 == 0 /\ head_15^0-head_15^post60 == 0 /\ 1-x_852^0 <= 0 /\ -a_309^post60+a_309^0 == 0 /\ f_248^0-f_248^post60 == 0 /\ r_151^0-r_151^post60 == 0 /\ a_902^0-a_902^post60 == 0 /\ -a_1162^post60+a_1162^0 == 0 /\ -x_17^post60+x_17^0 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -x_21^post60+x_21^0 == 0 /\ a_432^0-a_432^post60 == 0 /\ -i_1053^post60+i_1053^0 == 0 /\ -i_30^post60+i_30^0 == 0 /\ -a_635^post60+a_635^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ i_113^0-i_113^post60 == 0 /\ a_144^0-a_144^post60 == 0 /\ x_156^0-x_156^post60 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -r_224^post60+r_224^0 == 0 /\ -a_924^post60+a_924^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ -len_861^post60+len_861^0 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ len_238^0-len_238^post60 == 0 /\ len_161^0-len_161^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -x_SLAM_f_19^post60+x_SLAM_f_19^0 == 0 /\ -r_143^post60+r_143^0 == 0 /\ x_852^0-x_852^post60 == 0 /\ a_1089^0-a_1089^post60 == 0 /\ a_394^0-a_394^post60 == 0 /\ a_417^0-a_417^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ y_20^0-y_20^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_311^0-a_311^post60 == 0 /\ rcd_1249^0-rcd_1249^post60 == 0 /\ f_847^0-f_847^post60 == 0 /\ -i_107^post60+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60 == 0 /\ -x_14^post60+x_14^0 == 0 /\ -x_975^post60+x_975^0 == 0 /\ -a_576^post60+a_576^0 == 0 /\ i_140^0-i_140^post60 == 0 /\ i_106^0-i_106^post60 == 0 /\ -a_1236^post60+a_1236^0 == 0 /\ a_633^0-a_633^post60 == 0 /\ -a_121^post60+a_121^0 == 0 /\ -a_310^post60+a_310^0 == 0 /\ a_393^0-a_393^post60 == 0 /\ -a_862^post60+a_862^0 == 0 /\ -a_431^post60+a_431^0 == 0 /\ t_458^0-t_458^post60 == 0 /\ a_577^0-a_577^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ f_969^0-f_969^post60 == 0 /\ -a_392^post60+a_392^0 == 0 /\ -rcd_47^post60+rcd_47^0 == 0 /\ i_127^0-i_127^post60 == 0 /\ -r_970^post60+r_970^0 == 0 /\ a_575^0-a_575^post60 == 0 /\ -a_610^post60+a_610^0 == 0 /\ -i_94^post60+i_94^0 == 0), cost: 1 61: l39 -> l40 : a_1089^0'=a_1089^post61, f_847^0'=f_847^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_394^0'=a_394^post61, x_156^0'=x_156^post61, a_632^0'=a_632^post61, r_192^0'=r_192^post61, a_176^0'=a_176^post61, i_106^0'=i_106^post61, a_430^0'=a_430^post61, t_458^0'=t_458^post61, len_161^0'=len_161^post61, x_975^0'=x_975^post61, a_902^0'=a_902^post61, a_947^0'=a_947^post61, rcd_88^0'=rcd_88^post61, a_311^0'=a_311^post61, i_140^0'=i_140^post61, a_577^0'=a_577^post61, x_14^0'=x_14^post61, nondet_12^0'=nondet_12^post61, a_121^0'=a_121^post61, head_15^0'=head_15^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61, i_27^0'=i_27^post61, x_21^0'=x_21^post61, a_634^0'=a_634^post61, r_39^0'=r_39^post61, a_263^0'=a_263^post61, i_113^0'=i_113^post61, a_432^0'=a_432^post61, temp0_31^0'=temp0_31^post61, len_262^0'=len_262^post61, y_20^0'=y_20^post61, f_248^0'=f_248^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_393^0'=a_393^post61, i_229^0'=i_229^post61, a_610^0'=a_610^post61, r_151^0'=r_151^post61, a_144^0'=a_144^post61, i_1053^0'=i_1053^post61, a_417^0'=a_417^post61, t_24^0'=t_24^post61, i_94^0'=i_94^post61, x_852^0'=x_852^post61, a_862^0'=a_862^post61, rcd_1249^0'=rcd_1249^post61, rcd_58^0'=rcd_58^post61, a_310^0'=a_310^post61, i_127^0'=i_127^post61, a_576^0'=a_576^post61, tmp_34^0'=tmp_34^post61, length_29^0'=length_29^post61, a_1162^0'=a_1162^post61, f_969^0'=f_969^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61, a_395^0'=a_395^post61, x_17^0'=x_17^post61, a_633^0'=a_633^post61, r_224^0'=r_224^post61, a_239^0'=a_239^post61, i_107^0'=i_107^post61, a_431^0'=a_431^post61, temp0_16^0'=temp0_16^post61, len_238^0'=len_238^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, a_924^0'=a_924^post61, ct_18^0'=ct_18^post61, result_11^0'=result_11^post61, a_392^0'=a_392^post61, i_197^0'=i_197^post61, a_579^0'=a_579^post61, r_143^0'=r_143^post61, a_1236^0'=a_1236^post61, head_32^0'=head_32^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61, i_30^0'=i_30^post61, x_253^0'=x_253^post61, a_635^0'=a_635^post61, r_970^0'=r_970^post61, rcd_47^0'=rcd_47^post61, a_309^0'=a_309^post61, i_1248^0'=i_1248^post61, a_575^0'=a_575^post61, temp_35^0'=temp_35^post61, len_861^0'=len_861^post61, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61 == 0 /\ head_15^0-head_15^post61 == 0 /\ -a_633^post61+a_633^0 == 0 /\ -x_SLAM_f_19^post61+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post61 == 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ x_156^0-x_156^post61 == 0 /\ -a_432^post61+a_432^0 == 0 /\ len_262^0-len_262^post61 == 0 /\ -a_924^post61+a_924^0 == 0 /\ a_610^0-a_610^post61 == 0 /\ -i_113^post61+i_113^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ a_902^0-a_902^post61 == 0 /\ -r_143^post61+r_143^0 == 0 /\ a_862^0-a_862^post61 == 0 /\ a_634^0-a_634^post61 == 0 /\ -x_253^post61+x_253^0 == 0 /\ a_394^0-a_394^post61 == 0 /\ a_1089^0-a_1089^post61 == 0 /\ -f_969^post61+f_969^0 == 0 /\ x_14^0-x_14^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ -a_1236^post61+a_1236^0 == 0 /\ -temp_35^post61+temp_35^0 == 0 /\ a_176^0-a_176^post61 == 0 /\ -a_121^post61+a_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ -rcd_47^post61+rcd_47^0 == 0 /\ -r_970^post61+r_970^0 == 0 /\ a_392^0-a_392^post61 == 0 /\ -len_238^post61+len_238^0 == 0 /\ a_311^0-a_311^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ a_263^0-a_263^post61 == 0 /\ x_852^0-x_852^post61 == 0 /\ -a_310^post61+a_310^0 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ i_1053^0-i_1053^post61 == 0 /\ rcd_88^0-rcd_88^post61 == 0 /\ length_29^0-length_29^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61 == 0 /\ -ct_18^post61+ct_18^0 == 0 /\ 1+x_852^0 <= 0 /\ a_393^0-a_393^post61 == 0 /\ -i_1248^post61+i_1248^0 == 0 /\ -len_861^post61+len_861^0 == 0 /\ -a_239^post61+a_239^0 == 0 /\ -f_248^post61+f_248^0 == 0 /\ -r_224^post61+r_224^0 == 0 /\ -a_579^post61+a_579^0 == 0 /\ -t_24^post61+t_24^0 == 0 /\ x_975^0-x_975^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ y_20^0-y_20^post61 == 0 /\ r_151^0-r_151^post61 == 0 /\ -temp0_16^post61+temp0_16^0 == 0 /\ a_577^0-a_577^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ -a_431^post61+a_431^0 == 0 /\ -i_127^post61+i_127^0 == 0 /\ -i_229^post61+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_430^post61+a_430^0 == 0 /\ -i_197^post61+i_197^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -a_309^post61+a_309^0 == 0 /\ -a_144^post61+a_144^0 == 0 /\ a_947^0-a_947^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ -i_107^post61+i_107^0 == 0 /\ a_417^0-a_417^post61 == 0 /\ -a_575^post61+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ len_161^0-len_161^post61 == 0 /\ i_27^0-i_27^post61 == 0 /\ -a_635^post61+a_635^0 == 0 /\ a_576^0-a_576^post61 == 0 /\ -x_17^post61+x_17^0 == 0 /\ f_847^0-f_847^post61 == 0 /\ t_458^0-t_458^post61 == 0 /\ -x_21^post61+x_21^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ rcd_1249^0-rcd_1249^post61 == 0 /\ i_140^0-i_140^post61 == 0 /\ i_106^0-i_106^post61 == 0 /\ a_395^0-a_395^post61 == 0 /\ -a_1162^post61+a_1162^0 == 0), cost: 1 62: l40 -> l35 : a_1089^0'=a_1089^post62, f_847^0'=f_847^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_394^0'=a_394^post62, x_156^0'=x_156^post62, a_632^0'=a_632^post62, r_192^0'=r_192^post62, a_176^0'=a_176^post62, i_106^0'=i_106^post62, a_430^0'=a_430^post62, t_458^0'=t_458^post62, len_161^0'=len_161^post62, x_975^0'=x_975^post62, a_902^0'=a_902^post62, a_947^0'=a_947^post62, rcd_88^0'=rcd_88^post62, a_311^0'=a_311^post62, i_140^0'=i_140^post62, a_577^0'=a_577^post62, x_14^0'=x_14^post62, nondet_12^0'=nondet_12^post62, a_121^0'=a_121^post62, head_15^0'=head_15^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62, i_27^0'=i_27^post62, x_21^0'=x_21^post62, a_634^0'=a_634^post62, r_39^0'=r_39^post62, a_263^0'=a_263^post62, i_113^0'=i_113^post62, a_432^0'=a_432^post62, temp0_31^0'=temp0_31^post62, len_262^0'=len_262^post62, y_20^0'=y_20^post62, f_248^0'=f_248^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_393^0'=a_393^post62, i_229^0'=i_229^post62, a_610^0'=a_610^post62, r_151^0'=r_151^post62, a_144^0'=a_144^post62, i_1053^0'=i_1053^post62, a_417^0'=a_417^post62, t_24^0'=t_24^post62, i_94^0'=i_94^post62, x_852^0'=x_852^post62, a_862^0'=a_862^post62, rcd_1249^0'=rcd_1249^post62, rcd_58^0'=rcd_58^post62, a_310^0'=a_310^post62, i_127^0'=i_127^post62, a_576^0'=a_576^post62, tmp_34^0'=tmp_34^post62, length_29^0'=length_29^post62, a_1162^0'=a_1162^post62, f_969^0'=f_969^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62, a_395^0'=a_395^post62, x_17^0'=x_17^post62, a_633^0'=a_633^post62, r_224^0'=r_224^post62, a_239^0'=a_239^post62, i_107^0'=i_107^post62, a_431^0'=a_431^post62, temp0_16^0'=temp0_16^post62, len_238^0'=len_238^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, a_924^0'=a_924^post62, ct_18^0'=ct_18^post62, result_11^0'=result_11^post62, a_392^0'=a_392^post62, i_197^0'=i_197^post62, a_579^0'=a_579^post62, r_143^0'=r_143^post62, a_1236^0'=a_1236^post62, head_32^0'=head_32^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62, i_30^0'=i_30^post62, x_253^0'=x_253^post62, a_635^0'=a_635^post62, r_970^0'=r_970^post62, rcd_47^0'=rcd_47^post62, a_309^0'=a_309^post62, i_1248^0'=i_1248^post62, a_575^0'=a_575^post62, temp_35^0'=temp_35^post62, len_861^0'=len_861^post62, (0 == 0 /\ i_140^0-i_140^post62 == 0 /\ -a_239^post62+a_239^0 == 0 /\ a_634^0-a_634^post62 == 0 /\ i_27^0-i_27^post62 == 0 /\ -len_262^post62+len_262^0 == 0 /\ -ct_18^post62+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ -f_248^post62+f_248^0 == 0 /\ y_20^0-y_20^post62 == 0 /\ -i_197^post62+i_197^0 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ i_1053^0-i_1053^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62 == 0 /\ a_392^0-a_392^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ a_395^0-a_395^post62 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post62+head_32^0 == 0 /\ -i_127^post62+i_127^0 == 0 /\ t_458^0-t_458^post62 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_579^post62+a_579^0 == 0 /\ -a_1162^post62+a_1162^0 == 0 /\ -x_17^post62+x_17^0 == 0 /\ -i_30^post62+i_30^0 == 0 /\ -a_924^post62+a_924^0 == 0 /\ a_632^0-a_632^post62 == 0 /\ -i_107^post62+i_107^0 == 0 /\ a_393^0-a_393^post62 == 0 /\ -x_21^post62+x_21^0 == 0 /\ r_143^0-r_143^post62 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ i_113^0-i_113^post62 == 0 /\ r_192^0-r_192^post62 == 0 /\ -len_861^post62+len_861^0 == 0 /\ a_310^0-a_310^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -a_635^post62+a_635^0 == 0 /\ -a_144^post62+a_144^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -i_1248^post62+i_1248^0 == 0 /\ -a_176^post62+a_862^0 <= 0 /\ a_862^0-a_862^post62 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ -len_238^post62+len_238^0 == 0 /\ a_121^0-a_121^post62 == 0 /\ -a_610^post62+a_610^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ x_852^0-x_852^post62 == 0 /\ -len_161^post62+len_861^0 <= 0 /\ a_263^0-a_263^post62 == 0 /\ -a_633^post62+a_633^0 == 0 /\ a_394^0-a_394^post62 == 0 /\ a_417^0-a_417^post62 == 0 /\ t_24^0-t_24^post62 == 0 /\ -a_575^post62+a_575^0 == 0 /\ -rcd_1249^post62+rcd_1249^0 == 0 /\ a_947^0-a_947^post62 == 0 /\ -x_975^post62+x_975^0 == 0 /\ f_847^0-f_847^post62 == 0 /\ i_106^0-i_106^post62 == 0 /\ a_176^post62-a_862^0 <= 0 /\ rcd_47^0-rcd_47^post62 == 0 /\ 1-i_27^0 <= 0 /\ r_151^0-r_151^post62 == 0 /\ -a_576^post62+a_576^0 == 0 /\ -a_1236^post62+a_1236^0 == 0 /\ -x_253^post62+x_253^0 == 0 /\ length_29^0-length_29^post62 == 0 /\ a_430^0-a_430^post62 == 0 /\ a_311^0-a_311^post62 == 0 /\ len_161^post62-len_861^0 <= 0 /\ a_309^0-a_309^post62 == 0 /\ a_902^0-a_902^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62 == 0 /\ r_224^0-r_224^post62 == 0 /\ a_577^0-a_577^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ x_156^0-x_156^post62 == 0 /\ a_1089^0-a_1089^post62 == 0 /\ i_229^0-i_229^post62 == 0 /\ -f_969^post62+f_969^0 == 0 /\ -r_970^post62+r_970^0 == 0 /\ a_432^0-a_432^post62 == 0 /\ -a_431^post62+a_431^0 == 0 /\ x_14^0-x_14^post62 == 0), cost: 1 63: l35 -> l16 : a_1089^0'=a_1089^post63, f_847^0'=f_847^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_394^0'=a_394^post63, x_156^0'=x_156^post63, a_632^0'=a_632^post63, r_192^0'=r_192^post63, a_176^0'=a_176^post63, i_106^0'=i_106^post63, a_430^0'=a_430^post63, t_458^0'=t_458^post63, len_161^0'=len_161^post63, x_975^0'=x_975^post63, a_902^0'=a_902^post63, a_947^0'=a_947^post63, rcd_88^0'=rcd_88^post63, a_311^0'=a_311^post63, i_140^0'=i_140^post63, a_577^0'=a_577^post63, x_14^0'=x_14^post63, nondet_12^0'=nondet_12^post63, a_121^0'=a_121^post63, head_15^0'=head_15^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63, i_27^0'=i_27^post63, x_21^0'=x_21^post63, a_634^0'=a_634^post63, r_39^0'=r_39^post63, a_263^0'=a_263^post63, i_113^0'=i_113^post63, a_432^0'=a_432^post63, temp0_31^0'=temp0_31^post63, len_262^0'=len_262^post63, y_20^0'=y_20^post63, f_248^0'=f_248^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_393^0'=a_393^post63, i_229^0'=i_229^post63, a_610^0'=a_610^post63, r_151^0'=r_151^post63, a_144^0'=a_144^post63, i_1053^0'=i_1053^post63, a_417^0'=a_417^post63, t_24^0'=t_24^post63, i_94^0'=i_94^post63, x_852^0'=x_852^post63, a_862^0'=a_862^post63, rcd_1249^0'=rcd_1249^post63, rcd_58^0'=rcd_58^post63, a_310^0'=a_310^post63, i_127^0'=i_127^post63, a_576^0'=a_576^post63, tmp_34^0'=tmp_34^post63, length_29^0'=length_29^post63, a_1162^0'=a_1162^post63, f_969^0'=f_969^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63, a_395^0'=a_395^post63, x_17^0'=x_17^post63, a_633^0'=a_633^post63, r_224^0'=r_224^post63, a_239^0'=a_239^post63, i_107^0'=i_107^post63, a_431^0'=a_431^post63, temp0_16^0'=temp0_16^post63, len_238^0'=len_238^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, a_924^0'=a_924^post63, ct_18^0'=ct_18^post63, result_11^0'=result_11^post63, a_392^0'=a_392^post63, i_197^0'=i_197^post63, a_579^0'=a_579^post63, r_143^0'=r_143^post63, a_1236^0'=a_1236^post63, head_32^0'=head_32^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63, i_30^0'=i_30^post63, x_253^0'=x_253^post63, a_635^0'=a_635^post63, r_970^0'=r_970^post63, rcd_47^0'=rcd_47^post63, a_309^0'=a_309^post63, i_1248^0'=i_1248^post63, a_575^0'=a_575^post63, temp_35^0'=temp_35^post63, len_861^0'=len_861^post63, (t_458^0-t_458^post63 == 0 /\ a_430^0-a_430^post63 == 0 /\ a_902^0-a_902^post63 == 0 /\ x_975^0-x_975^post63 == 0 /\ a_577^0-a_577^post63 == 0 /\ i_106^0-i_106^post63 == 0 /\ -rcd_47^post63+rcd_47^0 == 0 /\ -a_634^post63+a_634^0 == 0 /\ -len_238^post63+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post63+a_633^0 == 0 /\ x_156^0-x_156^post63 == 0 /\ a_632^0-a_632^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -rcd_1249^post63+rcd_1249^0 == 0 /\ -r_151^post63+r_151^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ -r_143^post63+r_143^0 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ len_262^0-len_262^post63 == 0 /\ a_862^0-a_862^post63 == 0 /\ temp0_31^0-temp0_31^post63 == 0 /\ a_1162^0-a_1162^post63 == 0 /\ -f_969^post63+f_969^0 == 0 /\ -a_576^post63+a_576^0 == 0 /\ -a_431^post63+a_431^0 == 0 /\ a_310^0-a_310^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ -r_970^post63+r_970^0 == 0 /\ f_847^0-f_847^post63 == 0 /\ -a_1236^post63+a_1236^0 == 0 /\ a_392^0-a_392^post63 == 0 /\ y_20^0-y_20^post63 == 0 /\ -a_311^post63+a_311^0 == 0 /\ a_394^0-a_394^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ a_579^0-a_579^post63 == 0 /\ -x_253^post63+x_253^0 == 0 /\ i_140^0-i_140^post63 == 0 /\ -a_610^post63+a_610^0 == 0 /\ i_1053^0-i_1053^post63 == 0 /\ a_176^0-a_176^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ r_39^0-r_39^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ -f_248^post63+f_248^0 == 0 /\ -rcd_58^post63+rcd_58^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0 /\ -len_861^post63+len_861^0 == 0 /\ -len_161^post63+len_161^0 == 0 /\ -r_224^post63+r_224^0 == 0 /\ i_94^0-i_94^post63 == 0 /\ i_113^0-i_113^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63 == 0 /\ a_393^0-a_393^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ -a_239^post63+a_239^0 == 0 /\ -i_27^post63+i_27^0 == 0 /\ -r_192^post63+r_192^0 == 0 /\ a_432^0-a_432^post63 == 0 /\ -i_127^post63+i_127^0 == 0 /\ x_21^0-x_21^post63 == 0 /\ -x_17^post63+x_17^0 == 0 /\ -i_197^post63+i_197^0 == 0 /\ x_14^0-x_14^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -i_30^post63+i_30^0 == 0 /\ -x_852^post63+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_635^post63+a_635^0 == 0 /\ -a_144^post63+a_144^0 == 0 /\ i_229^0-i_229^post63 == 0 /\ a_121^0-a_121^post63 == 0 /\ -i_107^post63+i_107^0 == 0 /\ i_1248^0-i_1248^post63 == 0 /\ -a_924^post63+a_924^0 == 0 /\ -a_575^post63+a_575^0 == 0 /\ a_1089^0-a_1089^post63 == 0 /\ a_263^0-a_263^post63 == 0 /\ -a_417^post63+a_417^0 == 0 /\ -a_309^post63+a_309^0 == 0 /\ a_947^0-a_947^post63 == 0 /\ -ct_18^post63+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63 == 0 /\ -head_15^post63+head_15^0 == 0 /\ a_395^0-a_395^post63 == 0), cost: 1 65: l41 -> l42 : a_1089^0'=a_1089^post65, f_847^0'=f_847^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_394^0'=a_394^post65, x_156^0'=x_156^post65, a_632^0'=a_632^post65, r_192^0'=r_192^post65, a_176^0'=a_176^post65, i_106^0'=i_106^post65, a_430^0'=a_430^post65, t_458^0'=t_458^post65, len_161^0'=len_161^post65, x_975^0'=x_975^post65, a_902^0'=a_902^post65, a_947^0'=a_947^post65, rcd_88^0'=rcd_88^post65, a_311^0'=a_311^post65, i_140^0'=i_140^post65, a_577^0'=a_577^post65, x_14^0'=x_14^post65, nondet_12^0'=nondet_12^post65, a_121^0'=a_121^post65, head_15^0'=head_15^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65, i_27^0'=i_27^post65, x_21^0'=x_21^post65, a_634^0'=a_634^post65, r_39^0'=r_39^post65, a_263^0'=a_263^post65, i_113^0'=i_113^post65, a_432^0'=a_432^post65, temp0_31^0'=temp0_31^post65, len_262^0'=len_262^post65, y_20^0'=y_20^post65, f_248^0'=f_248^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_393^0'=a_393^post65, i_229^0'=i_229^post65, a_610^0'=a_610^post65, r_151^0'=r_151^post65, a_144^0'=a_144^post65, i_1053^0'=i_1053^post65, a_417^0'=a_417^post65, t_24^0'=t_24^post65, i_94^0'=i_94^post65, x_852^0'=x_852^post65, a_862^0'=a_862^post65, rcd_1249^0'=rcd_1249^post65, rcd_58^0'=rcd_58^post65, a_310^0'=a_310^post65, i_127^0'=i_127^post65, a_576^0'=a_576^post65, tmp_34^0'=tmp_34^post65, length_29^0'=length_29^post65, a_1162^0'=a_1162^post65, f_969^0'=f_969^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65, a_395^0'=a_395^post65, x_17^0'=x_17^post65, a_633^0'=a_633^post65, r_224^0'=r_224^post65, a_239^0'=a_239^post65, i_107^0'=i_107^post65, a_431^0'=a_431^post65, temp0_16^0'=temp0_16^post65, len_238^0'=len_238^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, a_924^0'=a_924^post65, ct_18^0'=ct_18^post65, result_11^0'=result_11^post65, a_392^0'=a_392^post65, i_197^0'=i_197^post65, a_579^0'=a_579^post65, r_143^0'=r_143^post65, a_1236^0'=a_1236^post65, head_32^0'=head_32^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65, i_30^0'=i_30^post65, x_253^0'=x_253^post65, a_635^0'=a_635^post65, r_970^0'=r_970^post65, rcd_47^0'=rcd_47^post65, a_309^0'=a_309^post65, i_1248^0'=i_1248^post65, a_575^0'=a_575^post65, temp_35^0'=temp_35^post65, len_861^0'=len_861^post65, (a_430^0-a_430^post65 == 0 /\ r_192^0-r_192^post65 == 0 /\ -a_633^post65+a_633^0 == 0 /\ i_113^0-i_113^post65 == 0 /\ x_975^0-x_975^post65 == 0 /\ i_127^0-i_127^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post65 == 0 /\ rcd_1249^0-rcd_1249^post65 == 0 /\ -a_634^post65+a_634^0 == 0 /\ 1-x_14^0 <= 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -rcd_47^post65+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post65 == 0 /\ -t_24^post65+t_24^0 == 0 /\ a_1162^0-a_1162^post65 == 0 /\ -a_924^post65+a_924^0 == 0 /\ a_432^0-a_432^post65 == 0 /\ i_27^0-i_27^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_143^post65+r_143^0 == 0 /\ a_576^0-a_576^post65 == 0 /\ -x_253^post65+x_253^0 == 0 /\ i_197^0-i_197^post65 == 0 /\ -temp_35^post65+temp_35^0 == 0 /\ i_140^0-i_140^post65 == 0 /\ -r_970^post65+r_970^0 == 0 /\ i_229^0-i_229^post65 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ x_156^0-x_156^post65 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -f_969^post65+f_969^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_847^0-f_847^post65 == 0 /\ -a_431^post65+a_431^0 == 0 /\ a_394^0-a_394^post65 == 0 /\ head_15^0-head_15^post65 == 0 /\ -a_395^post65+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_947^0-a_947^post65 == 0 /\ -len_161^post65+len_161^0 == 0 /\ i_107^0-i_107^post65 == 0 /\ a_311^0-a_311^post65 == 0 /\ -a_862^post65+a_862^0 == 0 /\ -len_861^post65+len_861^0 == 0 /\ a_902^0-a_902^post65 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ i_94^0-i_94^post65 == 0 /\ -a_1236^post65+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_1248^post65+i_1248^0 == 0 /\ r_224^0-r_224^post65 == 0 /\ a_610^0-a_610^post65 == 0 /\ -a_239^post65+a_239^0 == 0 /\ -a_393^post65+a_393^0 == 0 /\ a_1089^0-a_1089^post65 == 0 /\ -a_310^post65+a_310^0 == 0 /\ -i_30^post65+i_30^0 == 0 /\ -i_106^post65+i_106^0 == 0 /\ -i_1053^post65+i_1053^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ a_632^0-a_632^post65 == 0 /\ -a_392^post65+a_392^0 == 0 /\ x_21^0-x_21^post65 == 0 /\ len_262^0-len_262^post65 == 0 /\ -a_575^post65+a_575^0 == 0 /\ -r_151^post65+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ -t_458^post65+t_458^0 == 0 /\ temp0_31^0-temp0_31^post65 == 0 /\ -a_635^post65+a_635^0 == 0 /\ -a_579^post65+a_579^0 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -x_852^post65+x_852^0 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -a_263^post65+a_263^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ len_238^0-len_238^post65 == 0 /\ a_176^0-a_176^post65 == 0 /\ -a_144^post65+a_144^0 == 0 /\ f_248^0-f_248^post65 == 0 /\ -a_417^post65+a_417^0 == 0 /\ a_121^0-a_121^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0), cost: 1 66: l41 -> l42 : a_1089^0'=a_1089^post66, f_847^0'=f_847^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_394^0'=a_394^post66, x_156^0'=x_156^post66, a_632^0'=a_632^post66, r_192^0'=r_192^post66, a_176^0'=a_176^post66, i_106^0'=i_106^post66, a_430^0'=a_430^post66, t_458^0'=t_458^post66, len_161^0'=len_161^post66, x_975^0'=x_975^post66, a_902^0'=a_902^post66, a_947^0'=a_947^post66, rcd_88^0'=rcd_88^post66, a_311^0'=a_311^post66, i_140^0'=i_140^post66, a_577^0'=a_577^post66, x_14^0'=x_14^post66, nondet_12^0'=nondet_12^post66, a_121^0'=a_121^post66, head_15^0'=head_15^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66, i_27^0'=i_27^post66, x_21^0'=x_21^post66, a_634^0'=a_634^post66, r_39^0'=r_39^post66, a_263^0'=a_263^post66, i_113^0'=i_113^post66, a_432^0'=a_432^post66, temp0_31^0'=temp0_31^post66, len_262^0'=len_262^post66, y_20^0'=y_20^post66, f_248^0'=f_248^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_393^0'=a_393^post66, i_229^0'=i_229^post66, a_610^0'=a_610^post66, r_151^0'=r_151^post66, a_144^0'=a_144^post66, i_1053^0'=i_1053^post66, a_417^0'=a_417^post66, t_24^0'=t_24^post66, i_94^0'=i_94^post66, x_852^0'=x_852^post66, a_862^0'=a_862^post66, rcd_1249^0'=rcd_1249^post66, rcd_58^0'=rcd_58^post66, a_310^0'=a_310^post66, i_127^0'=i_127^post66, a_576^0'=a_576^post66, tmp_34^0'=tmp_34^post66, length_29^0'=length_29^post66, a_1162^0'=a_1162^post66, f_969^0'=f_969^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66, a_395^0'=a_395^post66, x_17^0'=x_17^post66, a_633^0'=a_633^post66, r_224^0'=r_224^post66, a_239^0'=a_239^post66, i_107^0'=i_107^post66, a_431^0'=a_431^post66, temp0_16^0'=temp0_16^post66, len_238^0'=len_238^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, a_924^0'=a_924^post66, ct_18^0'=ct_18^post66, result_11^0'=result_11^post66, a_392^0'=a_392^post66, i_197^0'=i_197^post66, a_579^0'=a_579^post66, r_143^0'=r_143^post66, a_1236^0'=a_1236^post66, head_32^0'=head_32^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66, i_30^0'=i_30^post66, x_253^0'=x_253^post66, a_635^0'=a_635^post66, r_970^0'=r_970^post66, rcd_47^0'=rcd_47^post66, a_309^0'=a_309^post66, i_1248^0'=i_1248^post66, a_575^0'=a_575^post66, temp_35^0'=temp_35^post66, len_861^0'=len_861^post66, (-a_417^post66+a_417^0 == 0 /\ -len_861^post66+len_861^0 == 0 /\ a_121^0-a_121^post66 == 0 /\ a_1162^0-a_1162^post66 == 0 /\ -a_392^post66+a_392^0 == 0 /\ a_576^0-a_576^post66 == 0 /\ a_263^0-a_263^post66 == 0 /\ i_197^0-i_197^post66 == 0 /\ i_229^0-i_229^post66 == 0 /\ f_847^0-f_847^post66 == 0 /\ i_140^0-i_140^post66 == 0 /\ -i_27^post66+i_27^0 == 0 /\ -a_309^post66+a_309^0 == 0 /\ -a_862^post66+a_862^0 == 0 /\ a_924^0-a_924^post66 == 0 /\ -a_635^post66+a_635^0 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -len_262^post66+len_262^0 == 0 /\ -a_393^post66+a_393^0 == 0 /\ -length_29^post66+length_29^0 == 0 /\ x_975^0-x_975^post66 == 0 /\ y_20^0-y_20^post66 == 0 /\ a_577^0-a_577^post66 == 0 /\ -a_1236^post66+a_1236^0 == 0 /\ -i_1053^post66+i_1053^0 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -a_579^post66+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_192^0-r_192^post66 == 0 /\ r_224^0-r_224^post66 == 0 /\ i_127^0-i_127^post66 == 0 /\ head_15^0-head_15^post66 == 0 /\ -i_30^post66+i_30^0 == 0 /\ i_106^0-i_106^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ a_632^0-a_632^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -i_107^post66+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ -a_575^post66+a_575^0 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -f_969^post66+f_969^0 == 0 /\ x_156^0-x_156^post66 == 0 /\ a_432^0-a_432^post66 == 0 /\ -a_633^post66+a_633^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ -a_610^post66+a_610^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ a_431^0-a_431^post66 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ x_21^0-x_21^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ -x_852^post66+x_852^0 == 0 /\ a_634^0-a_634^post66 == 0 /\ -rcd_1249^post66+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ f_248^0-f_248^post66 == 0 /\ a_394^0-a_394^post66 == 0 /\ r_970^0-r_970^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post66+len_238^0 == 0 /\ -r_151^post66+r_151^0 == 0 /\ a_947^0-a_947^post66 == 0 /\ a_311^0-a_311^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post66 == 0 /\ -len_161^post66+len_161^0 == 0 /\ -i_1248^post66+i_1248^0 == 0 /\ a_176^0-a_176^post66 == 0 /\ -x_253^post66+x_253^0 == 0 /\ -a_239^post66+a_239^0 == 0 /\ rcd_47^0-rcd_47^post66 == 0 /\ a_310^0-a_310^post66 == 0 /\ 1+x_14^0 <= 0 /\ a_1089^0-a_1089^post66 == 0 /\ temp0_16^0-temp0_16^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ a_430^0-a_430^post66 == 0 /\ -r_143^post66+r_143^0 == 0 /\ t_458^0-t_458^post66 == 0 /\ -rcd_88^post66+rcd_88^0 == 0 /\ -i_113^post66+i_113^0 == 0 /\ -a_395^post66+a_395^0 == 0), cost: 1 67: l42 -> l43 : a_1089^0'=a_1089^post67, f_847^0'=f_847^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, a_394^0'=a_394^post67, x_156^0'=x_156^post67, a_632^0'=a_632^post67, r_192^0'=r_192^post67, a_176^0'=a_176^post67, i_106^0'=i_106^post67, a_430^0'=a_430^post67, t_458^0'=t_458^post67, len_161^0'=len_161^post67, x_975^0'=x_975^post67, a_902^0'=a_902^post67, a_947^0'=a_947^post67, rcd_88^0'=rcd_88^post67, a_311^0'=a_311^post67, i_140^0'=i_140^post67, a_577^0'=a_577^post67, x_14^0'=x_14^post67, nondet_12^0'=nondet_12^post67, a_121^0'=a_121^post67, head_15^0'=head_15^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67, i_27^0'=i_27^post67, x_21^0'=x_21^post67, a_634^0'=a_634^post67, r_39^0'=r_39^post67, a_263^0'=a_263^post67, i_113^0'=i_113^post67, a_432^0'=a_432^post67, temp0_31^0'=temp0_31^post67, len_262^0'=len_262^post67, y_20^0'=y_20^post67, f_248^0'=f_248^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, a_393^0'=a_393^post67, i_229^0'=i_229^post67, a_610^0'=a_610^post67, r_151^0'=r_151^post67, a_144^0'=a_144^post67, i_1053^0'=i_1053^post67, a_417^0'=a_417^post67, t_24^0'=t_24^post67, i_94^0'=i_94^post67, x_852^0'=x_852^post67, a_862^0'=a_862^post67, rcd_1249^0'=rcd_1249^post67, rcd_58^0'=rcd_58^post67, a_310^0'=a_310^post67, i_127^0'=i_127^post67, a_576^0'=a_576^post67, tmp_34^0'=tmp_34^post67, length_29^0'=length_29^post67, a_1162^0'=a_1162^post67, f_969^0'=f_969^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67, a_395^0'=a_395^post67, x_17^0'=x_17^post67, a_633^0'=a_633^post67, r_224^0'=r_224^post67, a_239^0'=a_239^post67, i_107^0'=i_107^post67, a_431^0'=a_431^post67, temp0_16^0'=temp0_16^post67, len_238^0'=len_238^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, a_924^0'=a_924^post67, ct_18^0'=ct_18^post67, result_11^0'=result_11^post67, a_392^0'=a_392^post67, i_197^0'=i_197^post67, a_579^0'=a_579^post67, r_143^0'=r_143^post67, a_1236^0'=a_1236^post67, head_32^0'=head_32^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67, i_30^0'=i_30^post67, x_253^0'=x_253^post67, a_635^0'=a_635^post67, r_970^0'=r_970^post67, rcd_47^0'=rcd_47^post67, a_309^0'=a_309^post67, i_1248^0'=i_1248^post67, a_575^0'=a_575^post67, temp_35^0'=temp_35^post67, len_861^0'=len_861^post67, (0 == 0 /\ a_577^0-a_577^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post67+a_579^0 == 0 /\ a_902^0-a_902^post67 == 0 /\ -i_197^post67+i_197^0 == 0 /\ -x_253^post67+x_253^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ a_1089^0-a_1089^post67 == 0 /\ -a_263^post67+a_263^0 == 0 /\ i_106^0-i_106^post67 == 0 /\ len_161^0-len_161^post67 == 0 /\ -x_852^post67+x_852^0 == 0 /\ rcd_1249^0-rcd_1249^post67 == 0 /\ t_458^0-t_458^post67 == 0 /\ -r_970^post67+r_970^0 == 0 /\ a_430^0-a_430^post67 == 0 /\ -a_431^post67+a_431^0 == 0 /\ a_632^0-a_632^post67 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -a_239^post67+a_239^0 == 0 /\ x_21^0-x_21^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ -a_395^post67+a_395^0 == 0 /\ -len_861^post67+len_861^0 == 0 /\ f_847^0-f_847^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ a_924^0-a_924^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67 == 0 /\ i_94^0-i_94^post67 == 0 /\ -r_224^post67+r_224^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ a_121^0-a_121^post67 == 0 /\ a_176^0-a_176^post67 == 0 /\ -a_576^post67+a_576^0 == 0 /\ -a_634^post67+a_634^0 == 0 /\ -i_1053^post67+i_1053^0 == 0 /\ i_127^0-i_127^post67 == 0 /\ len_262^0-len_262^post67 == 0 /\ a_394^0-a_394^post67 == 0 /\ -r_143^post67+r_143^0 == 0 /\ -a_417^post67+a_417^0 == 0 /\ -i_27^post67+i_27^0 == 0 /\ -i_107^post67+i_107^0 == 0 /\ -a_575^post67+a_575^0 == 0 /\ i_113^0-i_113^post67 == 0 /\ -a_1236^post67+a_1236^0 == 0 /\ a_310^0-a_310^post67 == 0 /\ r_192^0-r_192^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ f_969^0-f_969^post67 == 0 /\ -x_17^post67+x_17^0 == 0 /\ t_24^0-t_24^post67 == 0 /\ a_311^0-a_311^post67 == 0 /\ -x_14^post67+x_14^0 == 0 /\ a_393^0-a_393^post67 == 0 /\ -a_635^post67+a_635^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ i_140^0-i_140^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -a_633^post67+a_633^0 == 0 /\ a_432^0-a_432^post67 == 0 /\ 1-i_27^0 <= 0 /\ i_1248^0-i_1248^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ -len_238^post67+len_238^0 == 0 /\ a_1162^0-a_1162^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post67 == 0 /\ y_20^0-y_20^post67 == 0 /\ i_229^0-i_229^post67 == 0 /\ -r_151^post67+r_151^0 == 0 /\ -a_862^post67+a_862^0 == 0 /\ f_248^0-f_248^post67 == 0 /\ -a_610^post67+a_610^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ x_975^0-x_975^post67 == 0 /\ -rcd_47^post67+rcd_47^0 == 0 /\ a_144^0-a_144^post67 == 0 /\ x_156^0-x_156^post67 == 0 /\ -a_392^post67+a_392^0 == 0 /\ a_947^0-a_947^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67-nondet_12^13 == 0), cost: 1 68: l43 -> l44 : a_1089^0'=a_1089^post68, f_847^0'=f_847^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, a_394^0'=a_394^post68, x_156^0'=x_156^post68, a_632^0'=a_632^post68, r_192^0'=r_192^post68, a_176^0'=a_176^post68, i_106^0'=i_106^post68, a_430^0'=a_430^post68, t_458^0'=t_458^post68, len_161^0'=len_161^post68, x_975^0'=x_975^post68, a_902^0'=a_902^post68, a_947^0'=a_947^post68, rcd_88^0'=rcd_88^post68, a_311^0'=a_311^post68, i_140^0'=i_140^post68, a_577^0'=a_577^post68, x_14^0'=x_14^post68, nondet_12^0'=nondet_12^post68, a_121^0'=a_121^post68, head_15^0'=head_15^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68, i_27^0'=i_27^post68, x_21^0'=x_21^post68, a_634^0'=a_634^post68, r_39^0'=r_39^post68, a_263^0'=a_263^post68, i_113^0'=i_113^post68, a_432^0'=a_432^post68, temp0_31^0'=temp0_31^post68, len_262^0'=len_262^post68, y_20^0'=y_20^post68, f_248^0'=f_248^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, a_393^0'=a_393^post68, i_229^0'=i_229^post68, a_610^0'=a_610^post68, r_151^0'=r_151^post68, a_144^0'=a_144^post68, i_1053^0'=i_1053^post68, a_417^0'=a_417^post68, t_24^0'=t_24^post68, i_94^0'=i_94^post68, x_852^0'=x_852^post68, a_862^0'=a_862^post68, rcd_1249^0'=rcd_1249^post68, rcd_58^0'=rcd_58^post68, a_310^0'=a_310^post68, i_127^0'=i_127^post68, a_576^0'=a_576^post68, tmp_34^0'=tmp_34^post68, length_29^0'=length_29^post68, a_1162^0'=a_1162^post68, f_969^0'=f_969^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68, a_395^0'=a_395^post68, x_17^0'=x_17^post68, a_633^0'=a_633^post68, r_224^0'=r_224^post68, a_239^0'=a_239^post68, i_107^0'=i_107^post68, a_431^0'=a_431^post68, temp0_16^0'=temp0_16^post68, len_238^0'=len_238^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, a_924^0'=a_924^post68, ct_18^0'=ct_18^post68, result_11^0'=result_11^post68, a_392^0'=a_392^post68, i_197^0'=i_197^post68, a_579^0'=a_579^post68, r_143^0'=r_143^post68, a_1236^0'=a_1236^post68, head_32^0'=head_32^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68, i_30^0'=i_30^post68, x_253^0'=x_253^post68, a_635^0'=a_635^post68, r_970^0'=r_970^post68, rcd_47^0'=rcd_47^post68, a_309^0'=a_309^post68, i_1248^0'=i_1248^post68, a_575^0'=a_575^post68, temp_35^0'=temp_35^post68, len_861^0'=len_861^post68, (t_458^0-t_458^post68 == 0 /\ a_902^0-a_902^post68 == 0 /\ -a_610^post68+a_610^0 == 0 /\ i_106^0-i_106^post68 == 0 /\ -a_634^post68+a_634^0 == 0 /\ head_15^0-head_15^post68 == 0 /\ a_577^0-a_577^post68 == 0 /\ -rcd_47^post68+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68 == 0 /\ -rcd_1249^post68+rcd_1249^0 == 0 /\ a_310^0-a_310^post68 == 0 /\ a_1089^0-a_1089^post68 == 0 /\ -r_143^post68+r_143^0 == 0 /\ x_156^0-x_156^post68 == 0 /\ -a_633^post68+a_633^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ a_632^0-a_632^post68 == 0 /\ -len_238^post68+len_238^0 == 0 /\ -r_151^post68+r_151^0 == 0 /\ a_121^0-a_121^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ len_262^0-len_262^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post68 == 0 /\ -f_969^post68+f_969^0 == 0 /\ -a_576^post68+a_576^0 == 0 /\ a_263^0-a_263^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ y_20^0-y_20^post68 == 0 /\ f_847^0-f_847^post68 == 0 /\ a_392^0-a_392^post68 == 0 /\ -a_311^post68+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68 == 0 /\ a_394^0-a_394^post68 == 0 /\ -a_1236^post68+a_1236^0 == 0 /\ a_579^0-a_579^post68 == 0 /\ -x_253^post68+x_253^0 == 0 /\ -r_970^post68+r_970^0 == 0 /\ i_1053^0-i_1053^post68 == 0 /\ -rcd_88^post68+rcd_88^0 == 0 /\ a_176^0-a_176^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -i_1248^post68+i_1248^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -f_248^post68+f_248^0 == 0 /\ -a_239^post68+a_239^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_430^post68+a_430^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68 == 0 /\ i_94^0-i_94^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ x_975^0-x_975^post68 == 0 /\ i_113^0-i_113^post68 == 0 /\ -r_224^post68+r_224^0 == 0 /\ -i_197^post68+i_197^0 == 0 /\ a_393^0-a_393^post68 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -i_27^post68+i_27^0 == 0 /\ -r_192^post68+r_192^0 == 0 /\ a_432^0-a_432^post68 == 0 /\ x_21^0-x_21^post68 == 0 /\ x_14^0-x_14^post68 == 0 /\ -x_17^post68+x_17^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ len_161^0-len_161^post68 == 0 /\ -i_127^post68+i_127^0 == 0 /\ -x_852^post68+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ i_140^0-i_140^post68 == 0 /\ -a_309^post68+a_309^0 == 0 /\ i_229^0-i_229^post68 == 0 /\ -i_107^post68+i_107^0 == 0 /\ a_431^0-a_431^post68 == 0 /\ t_24^0-t_24^post68 == 0 /\ -a_924^post68+a_924^0 == 0 /\ -a_575^post68+a_575^0 == 0 /\ a_862^0-a_862^post68 == 0 /\ -a_417^post68+a_417^0 == 0 /\ -len_861^post68+len_861^0 == 0 /\ a_947^0-a_947^post68 == 0 /\ -a_635^post68+a_635^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ -a_1162^post68+a_1162^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ a_395^0-a_395^post68 == 0), cost: 1 69: l43 -> l44 : a_1089^0'=a_1089^post69, f_847^0'=f_847^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, a_394^0'=a_394^post69, x_156^0'=x_156^post69, a_632^0'=a_632^post69, r_192^0'=r_192^post69, a_176^0'=a_176^post69, i_106^0'=i_106^post69, a_430^0'=a_430^post69, t_458^0'=t_458^post69, len_161^0'=len_161^post69, x_975^0'=x_975^post69, a_902^0'=a_902^post69, a_947^0'=a_947^post69, rcd_88^0'=rcd_88^post69, a_311^0'=a_311^post69, i_140^0'=i_140^post69, a_577^0'=a_577^post69, x_14^0'=x_14^post69, nondet_12^0'=nondet_12^post69, a_121^0'=a_121^post69, head_15^0'=head_15^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69, i_27^0'=i_27^post69, x_21^0'=x_21^post69, a_634^0'=a_634^post69, r_39^0'=r_39^post69, a_263^0'=a_263^post69, i_113^0'=i_113^post69, a_432^0'=a_432^post69, temp0_31^0'=temp0_31^post69, len_262^0'=len_262^post69, y_20^0'=y_20^post69, f_248^0'=f_248^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, a_393^0'=a_393^post69, i_229^0'=i_229^post69, a_610^0'=a_610^post69, r_151^0'=r_151^post69, a_144^0'=a_144^post69, i_1053^0'=i_1053^post69, a_417^0'=a_417^post69, t_24^0'=t_24^post69, i_94^0'=i_94^post69, x_852^0'=x_852^post69, a_862^0'=a_862^post69, rcd_1249^0'=rcd_1249^post69, rcd_58^0'=rcd_58^post69, a_310^0'=a_310^post69, i_127^0'=i_127^post69, a_576^0'=a_576^post69, tmp_34^0'=tmp_34^post69, length_29^0'=length_29^post69, a_1162^0'=a_1162^post69, f_969^0'=f_969^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69, a_395^0'=a_395^post69, x_17^0'=x_17^post69, a_633^0'=a_633^post69, r_224^0'=r_224^post69, a_239^0'=a_239^post69, i_107^0'=i_107^post69, a_431^0'=a_431^post69, temp0_16^0'=temp0_16^post69, len_238^0'=len_238^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, a_924^0'=a_924^post69, ct_18^0'=ct_18^post69, result_11^0'=result_11^post69, a_392^0'=a_392^post69, i_197^0'=i_197^post69, a_579^0'=a_579^post69, r_143^0'=r_143^post69, a_1236^0'=a_1236^post69, head_32^0'=head_32^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69, i_30^0'=i_30^post69, x_253^0'=x_253^post69, a_635^0'=a_635^post69, r_970^0'=r_970^post69, rcd_47^0'=rcd_47^post69, a_309^0'=a_309^post69, i_1248^0'=i_1248^post69, a_575^0'=a_575^post69, temp_35^0'=temp_35^post69, len_861^0'=len_861^post69, (x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_140^0-i_140^post69 == 0 /\ i_197^0-i_197^post69 == 0 /\ -len_262^post69+len_262^0 == 0 /\ -f_248^post69+f_248^0 == 0 /\ a_1089^0-a_1089^post69 == 0 /\ a_1162^0-a_1162^post69 == 0 /\ a_634^0-a_634^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ -i_1053^post69+i_1053^0 == 0 /\ -i_1248^post69+i_1248^0 == 0 /\ y_20^0-y_20^post69 == 0 /\ -i_27^post69+i_27^0 == 0 /\ -a_239^post69+a_239^0 == 0 /\ -a_392^post69+a_392^0 == 0 /\ a_924^0-a_924^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post69 == 0 /\ -i_127^post69+i_127^0 == 0 /\ a_176^0-a_176^post69 == 0 /\ -len_861^post69+len_861^0 == 0 /\ -a_579^post69+a_579^0 == 0 /\ -i_30^post69+i_30^0 == 0 /\ i_106^0-i_106^post69 == 0 /\ x_975^0-x_975^post69 == 0 /\ -a_635^post69+a_635^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post69+head_15^0 == 0 /\ -x_852^post69+x_852^0 == 0 /\ -x_17^post69+x_17^0 == 0 /\ t_458^0-t_458^post69 == 0 /\ a_393^0-a_393^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post69+a_309^0 == 0 /\ -a_144^post69+a_144^0 == 0 /\ a_310^0-a_310^post69 == 0 /\ -a_417^post69+a_417^0 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -i_107^post69+i_107^0 == 0 /\ a_632^0-a_632^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -a_575^post69+a_575^0 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -len_238^post69+len_238^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ a_121^0-a_121^post69 == 0 /\ a_862^0-a_862^post69 == 0 /\ x_21^0-x_21^post69 == 0 /\ -a_633^post69+a_633^0 == 0 /\ len_161^0-len_161^post69 == 0 /\ x_156^0-x_156^post69 == 0 /\ a_947^0-a_947^post69 == 0 /\ f_847^0-f_847^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ a_263^0-a_263^post69 == 0 /\ a_394^0-a_394^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -f_969^post69+f_969^0 == 0 /\ -rcd_1249^post69+rcd_1249^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -x_253^post69+x_253^0 == 0 /\ -a_576^post69+a_576^0 == 0 /\ r_224^0-r_224^post69 == 0 /\ -r_970^post69+r_970^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ a_430^0-a_430^post69 == 0 /\ r_151^0-r_151^post69 == 0 /\ -r_143^post69+r_143^0 == 0 /\ -a_431^post69+a_431^0 == 0 /\ rcd_47^0-rcd_47^post69 == 0 /\ a_902^0-a_902^post69 == 0 /\ a_311^0-a_311^post69 == 0 /\ a_577^0-a_577^post69 == 0 /\ i_113^0-i_113^post69 == 0 /\ i_94^0-i_94^post69 == 0 /\ i_229^0-i_229^post69 == 0 /\ a_432^0-a_432^post69 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ -a_610^post69+a_610^0 == 0 /\ r_192^0-r_192^post69 == 0 /\ -a_1236^post69+a_1236^0 == 0 /\ -temp_35^post69+temp_35^0 == 0), cost: 1 70: l44 -> l45 : a_1089^0'=a_1089^post70, f_847^0'=f_847^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, a_394^0'=a_394^post70, x_156^0'=x_156^post70, a_632^0'=a_632^post70, r_192^0'=r_192^post70, a_176^0'=a_176^post70, i_106^0'=i_106^post70, a_430^0'=a_430^post70, t_458^0'=t_458^post70, len_161^0'=len_161^post70, x_975^0'=x_975^post70, a_902^0'=a_902^post70, a_947^0'=a_947^post70, rcd_88^0'=rcd_88^post70, a_311^0'=a_311^post70, i_140^0'=i_140^post70, a_577^0'=a_577^post70, x_14^0'=x_14^post70, nondet_12^0'=nondet_12^post70, a_121^0'=a_121^post70, head_15^0'=head_15^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70, i_27^0'=i_27^post70, x_21^0'=x_21^post70, a_634^0'=a_634^post70, r_39^0'=r_39^post70, a_263^0'=a_263^post70, i_113^0'=i_113^post70, a_432^0'=a_432^post70, temp0_31^0'=temp0_31^post70, len_262^0'=len_262^post70, y_20^0'=y_20^post70, f_248^0'=f_248^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, a_393^0'=a_393^post70, i_229^0'=i_229^post70, a_610^0'=a_610^post70, r_151^0'=r_151^post70, a_144^0'=a_144^post70, i_1053^0'=i_1053^post70, a_417^0'=a_417^post70, t_24^0'=t_24^post70, i_94^0'=i_94^post70, x_852^0'=x_852^post70, a_862^0'=a_862^post70, rcd_1249^0'=rcd_1249^post70, rcd_58^0'=rcd_58^post70, a_310^0'=a_310^post70, i_127^0'=i_127^post70, a_576^0'=a_576^post70, tmp_34^0'=tmp_34^post70, length_29^0'=length_29^post70, a_1162^0'=a_1162^post70, f_969^0'=f_969^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70, a_395^0'=a_395^post70, x_17^0'=x_17^post70, a_633^0'=a_633^post70, r_224^0'=r_224^post70, a_239^0'=a_239^post70, i_107^0'=i_107^post70, a_431^0'=a_431^post70, temp0_16^0'=temp0_16^post70, len_238^0'=len_238^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, a_924^0'=a_924^post70, ct_18^0'=ct_18^post70, result_11^0'=result_11^post70, a_392^0'=a_392^post70, i_197^0'=i_197^post70, a_579^0'=a_579^post70, r_143^0'=r_143^post70, a_1236^0'=a_1236^post70, head_32^0'=head_32^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70, i_30^0'=i_30^post70, x_253^0'=x_253^post70, a_635^0'=a_635^post70, r_970^0'=r_970^post70, rcd_47^0'=rcd_47^post70, a_309^0'=a_309^post70, i_1248^0'=i_1248^post70, a_575^0'=a_575^post70, temp_35^0'=temp_35^post70, len_861^0'=len_861^post70, (t_458^0-t_458^post70 == 0 /\ i_106^0-i_106^post70 == 0 /\ a_632^0-a_632^post70 == 0 /\ 1+i_27^post70-i_27^0 == 0 /\ a_430^0-a_430^post70 == 0 /\ x_975^0-x_975^post70 == 0 /\ i_127^0-i_127^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ rcd_1249^0-rcd_1249^post70 == 0 /\ a_902^0-a_902^post70 == 0 /\ -a_634^post70+a_634^0 == 0 /\ a_577^0-a_577^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ -rcd_47^post70+rcd_47^0 == 0 /\ 1+i_27^post70-i_197^0 <= 0 /\ -x_253^post70+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post70 == 0 /\ a_1162^0-a_1162^post70 == 0 /\ i_229^0-i_229^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ -r_143^post70+r_143^0 == 0 /\ temp0_31^0-temp0_31^post70 == 0 /\ -a_576^post70+a_576^0 == 0 /\ -r_224^post70+r_224^0 == 0 /\ i_197^0-i_197^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ a_394^0-a_394^post70 == 0 /\ i_140^0-i_140^post70 == 0 /\ len_262^0-len_262^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ -f_969^post70+f_969^0 == 0 /\ a_176^0-a_176^post70 == 0 /\ -a_431^post70+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ y_20^0-y_20^post70 == 0 /\ f_847^0-f_847^post70 == 0 /\ a_924^0-a_924^post70 == 0 /\ -r_970^post70+r_970^0 == 0 /\ -a_395^post70+a_395^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -a_1236^post70+a_1236^0 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ -len_161^post70+len_161^0 == 0 /\ a_610^0-a_610^post70 == 0 /\ a_311^0-a_311^post70 == 0 /\ -a_862^post70+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70 == 0 /\ i_94^0-i_94^post70 == 0 /\ -i_1248^post70+i_1248^0 == 0 /\ -a_392^post70+a_392^0 == 0 /\ i_113^0-i_113^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ -a_239^post70+a_239^0 == 0 /\ a_393^0-a_393^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -1-i_27^post70+i_197^0 <= 0 /\ x_156^0-x_156^post70 == 0 /\ a_1089^0-a_1089^post70 == 0 /\ a_432^0-a_432^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -a_310^post70+a_310^0 == 0 /\ -i_1053^post70+i_1053^0 == 0 /\ x_21^0-x_21^post70 == 0 /\ -len_861^post70+len_861^0 == 0 /\ -r_192^post70+r_192^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -x_852^post70+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ -r_151^post70+r_151^0 == 0 /\ -t_24^post70+t_24^0 == 0 /\ -a_579^post70+a_579^0 == 0 /\ -a_309^post70+a_309^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -a_635^post70+a_635^0 == 0 /\ -i_107^post70+i_107^0 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ a_947^0-a_947^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ -a_575^post70+a_575^0 == 0 /\ len_238^0-len_238^post70 == 0 /\ -a_263^post70+a_263^0 == 0 /\ f_248^0-f_248^post70 == 0 /\ -a_417^post70+a_417^0 == 0 /\ -a_633^post70+a_633^0 == 0 /\ a_121^0-a_121^post70 == 0), cost: 1 71: l45 -> l46 : a_1089^0'=a_1089^post71, f_847^0'=f_847^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, a_394^0'=a_394^post71, x_156^0'=x_156^post71, a_632^0'=a_632^post71, r_192^0'=r_192^post71, a_176^0'=a_176^post71, i_106^0'=i_106^post71, a_430^0'=a_430^post71, t_458^0'=t_458^post71, len_161^0'=len_161^post71, x_975^0'=x_975^post71, a_902^0'=a_902^post71, a_947^0'=a_947^post71, rcd_88^0'=rcd_88^post71, a_311^0'=a_311^post71, i_140^0'=i_140^post71, a_577^0'=a_577^post71, x_14^0'=x_14^post71, nondet_12^0'=nondet_12^post71, a_121^0'=a_121^post71, head_15^0'=head_15^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71, i_27^0'=i_27^post71, x_21^0'=x_21^post71, a_634^0'=a_634^post71, r_39^0'=r_39^post71, a_263^0'=a_263^post71, i_113^0'=i_113^post71, a_432^0'=a_432^post71, temp0_31^0'=temp0_31^post71, len_262^0'=len_262^post71, y_20^0'=y_20^post71, f_248^0'=f_248^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, a_393^0'=a_393^post71, i_229^0'=i_229^post71, a_610^0'=a_610^post71, r_151^0'=r_151^post71, a_144^0'=a_144^post71, i_1053^0'=i_1053^post71, a_417^0'=a_417^post71, t_24^0'=t_24^post71, i_94^0'=i_94^post71, x_852^0'=x_852^post71, a_862^0'=a_862^post71, rcd_1249^0'=rcd_1249^post71, rcd_58^0'=rcd_58^post71, a_310^0'=a_310^post71, i_127^0'=i_127^post71, a_576^0'=a_576^post71, tmp_34^0'=tmp_34^post71, length_29^0'=length_29^post71, a_1162^0'=a_1162^post71, f_969^0'=f_969^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71, a_395^0'=a_395^post71, x_17^0'=x_17^post71, a_633^0'=a_633^post71, r_224^0'=r_224^post71, a_239^0'=a_239^post71, i_107^0'=i_107^post71, a_431^0'=a_431^post71, temp0_16^0'=temp0_16^post71, len_238^0'=len_238^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, a_924^0'=a_924^post71, ct_18^0'=ct_18^post71, result_11^0'=result_11^post71, a_392^0'=a_392^post71, i_197^0'=i_197^post71, a_579^0'=a_579^post71, r_143^0'=r_143^post71, a_1236^0'=a_1236^post71, head_32^0'=head_32^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71, i_30^0'=i_30^post71, x_253^0'=x_253^post71, a_635^0'=a_635^post71, r_970^0'=r_970^post71, rcd_47^0'=rcd_47^post71, a_309^0'=a_309^post71, i_1248^0'=i_1248^post71, a_575^0'=a_575^post71, temp_35^0'=temp_35^post71, len_861^0'=len_861^post71, (-a_395^post71+a_395^0 == 0 /\ -a_417^post71+a_417^0 == 0 /\ -a_862^post71+a_862^0 == 0 /\ -len_861^post71+len_861^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ i_197^0-i_197^post71 == 0 /\ -a_1236^post71+a_1236^0 == 0 /\ a_576^0-a_576^post71 == 0 /\ a_1162^0-a_1162^post71 == 0 /\ f_847^0-f_847^post71 == 0 /\ a_263^0-a_263^post71 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71 == 0 /\ -a_393^post71+a_393^0 == 0 /\ -a_432^post71+a_432^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_392^post71+a_392^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ x_17^0-x_17^post71 == 0 /\ -length_29^post71+length_29^0 == 0 /\ a_924^0-a_924^post71 == 0 /\ -i_1248^post71+i_1248^0 == 0 /\ a_394^0-a_394^post71 == 0 /\ -i_1053^post71+i_1053^0 == 0 /\ -a_575^post71+a_575^0 == 0 /\ -a_579^post71+a_579^0 == 0 /\ a_577^0-a_577^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ -a_635^post71+a_635^0 == 0 /\ -r_151^post71+r_151^0 == 0 /\ r_224^0-r_224^post71 == 0 /\ i_127^0-i_127^post71 == 0 /\ i_106^0-i_106^post71 == 0 /\ -i_30^post71+i_30^0 == 0 /\ -head_32^post71+head_32^0 == 0 /\ a_610^0-a_610^post71 == 0 /\ i_27^0-i_27^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ t_458^0-t_458^post71 == 0 /\ -a_144^post71+a_144^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -a_309^post71+a_309^0 == 0 /\ -i_107^post71+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -a_633^post71+a_633^0 == 0 /\ -tmp_34^post71+tmp_34^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ len_161^0-len_161^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -a_431^post71+a_431^0 == 0 /\ x_156^0-x_156^post71 == 0 /\ -rcd_1249^post71+rcd_1249^0 == 0 /\ head_15^0-head_15^post71 == 0 /\ -i_140^post71+i_140^0 == 0 /\ a_634^0-a_634^post71 == 0 /\ -x_852^post71+x_852^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -r_970^post71+r_970^0 == 0 /\ a_176^0-a_176^post71 == 0 /\ a_121^0-a_121^post71 == 0 /\ f_248^0-f_248^post71 == 0 /\ -rcd_47^post71+rcd_47^0 == 0 /\ x_975^0-x_975^post71 == 0 /\ len_262^0-len_262^post71 == 0 /\ a_947^0-a_947^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post71 == 0 /\ -a_239^post71+a_239^0 == 0 /\ -r_143^post71+r_143^0 == 0 /\ a_902^0-a_902^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ a_311^0-a_311^post71 == 0 /\ r_192^0-r_192^post71 == 0 /\ len_238^0-len_238^post71 == 0 /\ -f_969^post71+f_969^0 == 0 /\ -x_253^post71+x_253^0 == 0 /\ -y_20^post71+y_20^0 == 0 /\ a_310^0-a_310^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ x_14^0-x_14^post71 == 0 /\ -i_229^post71+i_229^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ -i_113^post71+i_113^0 == 0 /\ a_1089^0-a_1089^post71 == 0 /\ a_632^0-a_632^post71 == 0), cost: 1 72: l45 -> l46 : a_1089^0'=a_1089^post72, f_847^0'=f_847^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, a_394^0'=a_394^post72, x_156^0'=x_156^post72, a_632^0'=a_632^post72, r_192^0'=r_192^post72, a_176^0'=a_176^post72, i_106^0'=i_106^post72, a_430^0'=a_430^post72, t_458^0'=t_458^post72, len_161^0'=len_161^post72, x_975^0'=x_975^post72, a_902^0'=a_902^post72, a_947^0'=a_947^post72, rcd_88^0'=rcd_88^post72, a_311^0'=a_311^post72, i_140^0'=i_140^post72, a_577^0'=a_577^post72, x_14^0'=x_14^post72, nondet_12^0'=nondet_12^post72, a_121^0'=a_121^post72, head_15^0'=head_15^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72, i_27^0'=i_27^post72, x_21^0'=x_21^post72, a_634^0'=a_634^post72, r_39^0'=r_39^post72, a_263^0'=a_263^post72, i_113^0'=i_113^post72, a_432^0'=a_432^post72, temp0_31^0'=temp0_31^post72, len_262^0'=len_262^post72, y_20^0'=y_20^post72, f_248^0'=f_248^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, a_393^0'=a_393^post72, i_229^0'=i_229^post72, a_610^0'=a_610^post72, r_151^0'=r_151^post72, a_144^0'=a_144^post72, i_1053^0'=i_1053^post72, a_417^0'=a_417^post72, t_24^0'=t_24^post72, i_94^0'=i_94^post72, x_852^0'=x_852^post72, a_862^0'=a_862^post72, rcd_1249^0'=rcd_1249^post72, rcd_58^0'=rcd_58^post72, a_310^0'=a_310^post72, i_127^0'=i_127^post72, a_576^0'=a_576^post72, tmp_34^0'=tmp_34^post72, length_29^0'=length_29^post72, a_1162^0'=a_1162^post72, f_969^0'=f_969^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72, a_395^0'=a_395^post72, x_17^0'=x_17^post72, a_633^0'=a_633^post72, r_224^0'=r_224^post72, a_239^0'=a_239^post72, i_107^0'=i_107^post72, a_431^0'=a_431^post72, temp0_16^0'=temp0_16^post72, len_238^0'=len_238^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, a_924^0'=a_924^post72, ct_18^0'=ct_18^post72, result_11^0'=result_11^post72, a_392^0'=a_392^post72, i_197^0'=i_197^post72, a_579^0'=a_579^post72, r_143^0'=r_143^post72, a_1236^0'=a_1236^post72, head_32^0'=head_32^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72, i_30^0'=i_30^post72, x_253^0'=x_253^post72, a_635^0'=a_635^post72, r_970^0'=r_970^post72, rcd_47^0'=rcd_47^post72, a_309^0'=a_309^post72, i_1248^0'=i_1248^post72, a_575^0'=a_575^post72, temp_35^0'=temp_35^post72, len_861^0'=len_861^post72, (i_113^0-i_113^post72 == 0 /\ r_192^0-r_192^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ rcd_1249^0-rcd_1249^post72 == 0 /\ i_127^0-i_127^post72 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ f_969^0-f_969^post72 == 0 /\ -a_924^post72+a_924^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_161^0-len_161^post72 == 0 /\ -rcd_47^post72+rcd_47^0 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_27^0-i_27^post72 == 0 /\ x_14^0-x_14^post72 == 0 /\ -a_1162^post72+a_1162^0 == 0 /\ a_430^0-a_430^post72 == 0 /\ -x_253^post72+x_253^0 == 0 /\ -r_970^post72+r_970^0 == 0 /\ a_432^0-a_432^post72 == 0 /\ -x_SLAM_f_19^post72+x_SLAM_f_19^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -i_1248^post72+i_1248^0 == 0 /\ i_140^0-i_140^post72 == 0 /\ x_156^0-x_156^post72 == 0 /\ f_847^0-f_847^post72 == 0 /\ -i_94^post72+i_94^0 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_229^0-i_229^post72 == 0 /\ -len_861^post72+len_861^0 == 0 /\ -r_224^post72+r_224^0 == 0 /\ a_576^0-a_576^post72 == 0 /\ -i_1053^post72+i_1053^0 == 0 /\ a_634^0-a_634^post72 == 0 /\ -a_395^post72+a_395^0 == 0 /\ a_144^0-a_144^post72 == 0 /\ a_947^0-a_947^post72 == 0 /\ -r_143^post72+r_143^0 == 0 /\ rcd_58^0-rcd_58^post72 == 0 /\ -a_431^post72+a_431^0 == 0 /\ a_610^0-a_610^post72 == 0 /\ -a_392^post72+a_392^0 == 0 /\ a_311^0-a_311^post72 == 0 /\ a_902^0-a_902^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -a_309^post72+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ -a_310^post72+a_310^0 == 0 /\ -a_862^post72+a_862^0 == 0 /\ head_15^0-head_15^post72 == 0 /\ -i_107^post72+i_107^0 == 0 /\ -a_1236^post72+a_1236^0 == 0 /\ -a_575^post72+a_575^0 == 0 /\ a_635^0-a_635^post72 == 0 /\ a_1089^0-a_1089^post72 == 0 /\ -t_458^post72+t_458^0 == 0 /\ -a_393^post72+a_393^0 == 0 /\ -head_32^post72+head_32^0 == 0 /\ -i_106^post72+i_106^0 == 0 /\ a_632^0-a_632^post72 == 0 /\ -a_577^post72+a_577^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ -r_151^post72+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post72 == 0 /\ len_262^0-len_262^post72 == 0 /\ -x_852^post72+x_852^0 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_633^0-a_633^post72 == 0 /\ -a_579^post72+a_579^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ 1+x_14^0 <= 0 /\ a_394^0-a_394^post72 == 0 /\ len_238^0-len_238^post72 == 0 /\ x_17^0-x_17^post72 == 0 /\ -a_263^post72+a_263^0 == 0 /\ f_248^0-f_248^post72 == 0 /\ a_239^0-a_239^post72 == 0 /\ x_975^0-x_975^post72 == 0 /\ a_176^0-a_176^post72 == 0 /\ a_121^0-a_121^post72 == 0 /\ -i_197^post72+i_197^0 == 0 /\ a_417^0-a_417^post72 == 0), cost: 1 73: l46 -> l47 : a_1089^0'=a_1089^post73, f_847^0'=f_847^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, a_394^0'=a_394^post73, x_156^0'=x_156^post73, a_632^0'=a_632^post73, r_192^0'=r_192^post73, a_176^0'=a_176^post73, i_106^0'=i_106^post73, a_430^0'=a_430^post73, t_458^0'=t_458^post73, len_161^0'=len_161^post73, x_975^0'=x_975^post73, a_902^0'=a_902^post73, a_947^0'=a_947^post73, rcd_88^0'=rcd_88^post73, a_311^0'=a_311^post73, i_140^0'=i_140^post73, a_577^0'=a_577^post73, x_14^0'=x_14^post73, nondet_12^0'=nondet_12^post73, a_121^0'=a_121^post73, head_15^0'=head_15^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73, i_27^0'=i_27^post73, x_21^0'=x_21^post73, a_634^0'=a_634^post73, r_39^0'=r_39^post73, a_263^0'=a_263^post73, i_113^0'=i_113^post73, a_432^0'=a_432^post73, temp0_31^0'=temp0_31^post73, len_262^0'=len_262^post73, y_20^0'=y_20^post73, f_248^0'=f_248^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, a_393^0'=a_393^post73, i_229^0'=i_229^post73, a_610^0'=a_610^post73, r_151^0'=r_151^post73, a_144^0'=a_144^post73, i_1053^0'=i_1053^post73, a_417^0'=a_417^post73, t_24^0'=t_24^post73, i_94^0'=i_94^post73, x_852^0'=x_852^post73, a_862^0'=a_862^post73, rcd_1249^0'=rcd_1249^post73, rcd_58^0'=rcd_58^post73, a_310^0'=a_310^post73, i_127^0'=i_127^post73, a_576^0'=a_576^post73, tmp_34^0'=tmp_34^post73, length_29^0'=length_29^post73, a_1162^0'=a_1162^post73, f_969^0'=f_969^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73, a_395^0'=a_395^post73, x_17^0'=x_17^post73, a_633^0'=a_633^post73, r_224^0'=r_224^post73, a_239^0'=a_239^post73, i_107^0'=i_107^post73, a_431^0'=a_431^post73, temp0_16^0'=temp0_16^post73, len_238^0'=len_238^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, a_924^0'=a_924^post73, ct_18^0'=ct_18^post73, result_11^0'=result_11^post73, a_392^0'=a_392^post73, i_197^0'=i_197^post73, a_579^0'=a_579^post73, r_143^0'=r_143^post73, a_1236^0'=a_1236^post73, head_32^0'=head_32^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73, i_30^0'=i_30^post73, x_253^0'=x_253^post73, a_635^0'=a_635^post73, r_970^0'=r_970^post73, rcd_47^0'=rcd_47^post73, a_309^0'=a_309^post73, i_1248^0'=i_1248^post73, a_575^0'=a_575^post73, temp_35^0'=temp_35^post73, len_861^0'=len_861^post73, (x_21^0-x_21^post73 == 0 /\ -a_432^post73+a_432^0 == 0 /\ a_576^0-a_576^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ x_852^0-x_852^post73 == 0 /\ -i_107^post73+i_107^0 == 0 /\ -i_30^post73+i_30^0 == 0 /\ -a_392^post73+a_392^0 == 0 /\ -a_1236^post73+a_1236^0 == 0 /\ x_156^0-x_156^post73 == 0 /\ -x_17^post73+x_17^0 == 0 /\ -a_417^post73+a_417^0 == 0 /\ f_847^0-f_847^post73 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -x_SLAM_f_19^post73+x_SLAM_f_19^0 == 0 /\ a_144^0-a_144^post73 == 0 /\ a_394^0-a_394^post73 == 0 /\ a_862^0-a_862^post73 == 0 /\ rcd_58^0-rcd_58^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -i_1248^post73+i_1248^0 == 0 /\ -len_861^post73+len_861^0 == 0 /\ a_947^0-a_947^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ a_902^0-a_902^post73 == 0 /\ -a_635^post73+a_635^0 == 0 /\ ct_18^0-ct_18^post73 == 0 /\ -len_262^post73+len_262^0 == 0 /\ -len_238^post73+len_238^0 == 0 /\ -rcd_47^post73+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ a_577^0-a_577^post73 == 0 /\ -a_310^post73+a_310^0 == 0 /\ -a_633^post73+a_633^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ i_106^0-i_106^post73 == 0 /\ length_29^0-length_29^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post73+a_575^0 == 0 /\ -i_197^post73+i_197^0 == 0 /\ a_311^0-a_311^post73 == 0 /\ -a_579^post73+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ a_1089^0-a_1089^post73 == 0 /\ -i_127^post73+i_127^0 == 0 /\ i_27^0-i_27^post73 == 0 /\ -x_14^post73+x_14^0 == 0 /\ a_430^0-a_430^post73 == 0 /\ a_263^0-a_263^post73 == 0 /\ -a_309^post73+a_309^0 == 0 /\ -a_431^post73+a_431^0 == 0 /\ x_253^0-x_253^post73 == 0 /\ -a_1162^post73+a_1162^0 == 0 /\ y_20^0-y_20^post73 == 0 /\ -a_924^post73+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ a_634^0-a_634^post73 == 0 /\ r_151^0-r_151^post73 == 0 /\ f_248^0-f_248^post73 == 0 /\ -a_121^post73+a_121^0 == 0 /\ -t_24^post73+t_24^0 == 0 /\ a_176^0-a_176^post73 == 0 /\ x_975^0-x_975^post73 == 0 /\ -i_229^post73+i_229^0 == 0 /\ r_192^0-r_192^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ -r_970^post73+r_970^0 == 0 /\ a_239^0-a_239^post73 == 0 /\ 1-head_15^0 <= 0 /\ f_969^0-f_969^post73 == 0 /\ -r_224^post73+r_224^0 == 0 /\ -a_395^post73+a_395^0 == 0 /\ a_610^0-a_610^post73 == 0 /\ i_1053^0-i_1053^post73 == 0 /\ -r_143^post73+r_143^0 == 0 /\ i_140^0-i_140^post73 == 0 /\ rcd_1249^0-rcd_1249^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post73+i_113^0 == 0 /\ len_161^0-len_161^post73 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ a_632^0-a_632^post73 == 0 /\ t_458^0-t_458^post73 == 0 /\ a_393^0-a_393^post73 == 0), cost: 1 74: l46 -> l47 : a_1089^0'=a_1089^post74, f_847^0'=f_847^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, a_394^0'=a_394^post74, x_156^0'=x_156^post74, a_632^0'=a_632^post74, r_192^0'=r_192^post74, a_176^0'=a_176^post74, i_106^0'=i_106^post74, a_430^0'=a_430^post74, t_458^0'=t_458^post74, len_161^0'=len_161^post74, x_975^0'=x_975^post74, a_902^0'=a_902^post74, a_947^0'=a_947^post74, rcd_88^0'=rcd_88^post74, a_311^0'=a_311^post74, i_140^0'=i_140^post74, a_577^0'=a_577^post74, x_14^0'=x_14^post74, nondet_12^0'=nondet_12^post74, a_121^0'=a_121^post74, head_15^0'=head_15^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74, i_27^0'=i_27^post74, x_21^0'=x_21^post74, a_634^0'=a_634^post74, r_39^0'=r_39^post74, a_263^0'=a_263^post74, i_113^0'=i_113^post74, a_432^0'=a_432^post74, temp0_31^0'=temp0_31^post74, len_262^0'=len_262^post74, y_20^0'=y_20^post74, f_248^0'=f_248^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, a_393^0'=a_393^post74, i_229^0'=i_229^post74, a_610^0'=a_610^post74, r_151^0'=r_151^post74, a_144^0'=a_144^post74, i_1053^0'=i_1053^post74, a_417^0'=a_417^post74, t_24^0'=t_24^post74, i_94^0'=i_94^post74, x_852^0'=x_852^post74, a_862^0'=a_862^post74, rcd_1249^0'=rcd_1249^post74, rcd_58^0'=rcd_58^post74, a_310^0'=a_310^post74, i_127^0'=i_127^post74, a_576^0'=a_576^post74, tmp_34^0'=tmp_34^post74, length_29^0'=length_29^post74, a_1162^0'=a_1162^post74, f_969^0'=f_969^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74, a_395^0'=a_395^post74, x_17^0'=x_17^post74, a_633^0'=a_633^post74, r_224^0'=r_224^post74, a_239^0'=a_239^post74, i_107^0'=i_107^post74, a_431^0'=a_431^post74, temp0_16^0'=temp0_16^post74, len_238^0'=len_238^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, a_924^0'=a_924^post74, ct_18^0'=ct_18^post74, result_11^0'=result_11^post74, a_392^0'=a_392^post74, i_197^0'=i_197^post74, a_579^0'=a_579^post74, r_143^0'=r_143^post74, a_1236^0'=a_1236^post74, head_32^0'=head_32^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74, i_30^0'=i_30^post74, x_253^0'=x_253^post74, a_635^0'=a_635^post74, r_970^0'=r_970^post74, rcd_47^0'=rcd_47^post74, a_309^0'=a_309^post74, i_1248^0'=i_1248^post74, a_575^0'=a_575^post74, temp_35^0'=temp_35^post74, len_861^0'=len_861^post74, (a_176^0-a_176^post74 == 0 /\ 1+head_15^0 <= 0 /\ -x_21^post74+x_21^0 == 0 /\ -a_1162^post74+a_1162^0 == 0 /\ -temp_35^post74+temp_35^0 == 0 /\ -a_924^post74+a_924^0 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -r_970^post74+r_970^0 == 0 /\ r_192^0-r_192^post74 == 0 /\ -f_969^post74+f_969^0 == 0 /\ -a_431^post74+a_431^0 == 0 /\ a_610^0-a_610^post74 == 0 /\ -t_24^post74+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post74 == 0 /\ -ct_18^post74+ct_18^0 == 0 /\ i_27^0-i_27^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -x_253^post74+x_253^0 == 0 /\ a_1089^0-a_1089^post74 == 0 /\ r_39^0-r_39^post74 == 0 /\ a_393^0-a_393^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post74+r_224^0 == 0 /\ a_263^0-a_263^post74 == 0 /\ x_156^0-x_156^post74 == 0 /\ -i_229^post74+i_229^0 == 0 /\ -i_1053^post74+i_1053^0 == 0 /\ -i_1248^post74+i_1248^0 == 0 /\ a_432^0-a_432^post74 == 0 /\ -x_SLAM_f_19^post74+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74 == 0 /\ -a_239^post74+a_239^0 == 0 /\ -r_143^post74+r_143^0 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_395^post74+a_395^0 == 0 /\ a_417^0-a_417^post74 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ r_151^0-r_151^post74 == 0 /\ head_32^0-head_32^post74 == 0 /\ f_248^0-f_248^post74 == 0 /\ rcd_58^0-rcd_58^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ a_634^0-a_634^post74 == 0 /\ head_15^0-head_15^post74 == 0 /\ -a_947^post74+a_947^0 == 0 /\ i_113^0-i_113^post74 == 0 /\ a_902^0-a_902^post74 == 0 /\ -a_862^post74+a_862^0 == 0 /\ -x_17^post74+x_17^0 == 0 /\ -i_94^post74+i_94^0 == 0 /\ i_127^0-i_127^post74 == 0 /\ a_394^0-a_394^post74 == 0 /\ -x_14^post74+x_14^0 == 0 /\ -a_576^post74+a_576^0 == 0 /\ len_238^0-len_238^post74 == 0 /\ -a_635^post74+a_635^0 == 0 /\ -a_392^post74+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post74 == 0 /\ -i_107^post74+i_107^0 == 0 /\ -len_861^post74+len_861^0 == 0 /\ i_140^0-i_140^post74 == 0 /\ t_458^0-t_458^post74 == 0 /\ x_852^0-x_852^post74 == 0 /\ -a_1236^post74+a_1236^0 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ i_106^0-i_106^post74 == 0 /\ a_632^0-a_632^post74 == 0 /\ len_161^0-len_161^post74 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ a_311^0-a_311^post74 == 0 /\ -a_310^post74+a_310^0 == 0 /\ -i_30^post74+i_30^0 == 0 /\ -x_975^post74+x_975^0 == 0 /\ f_847^0-f_847^post74 == 0 /\ y_20^0-y_20^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ -len_262^post74+len_262^0 == 0 /\ a_633^0-a_633^post74 == 0 /\ -rcd_47^post74+rcd_47^0 == 0 /\ a_121^0-a_121^post74 == 0 /\ -a_575^post74+a_575^0 == 0 /\ -i_197^post74+i_197^0 == 0 /\ -a_430^post74+a_430^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0 /\ -a_579^post74+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74 == 0 /\ a_577^0-a_577^post74 == 0), cost: 1 75: l47 -> l48 : a_1089^0'=a_1089^post75, f_847^0'=f_847^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, a_394^0'=a_394^post75, x_156^0'=x_156^post75, a_632^0'=a_632^post75, r_192^0'=r_192^post75, a_176^0'=a_176^post75, i_106^0'=i_106^post75, a_430^0'=a_430^post75, t_458^0'=t_458^post75, len_161^0'=len_161^post75, x_975^0'=x_975^post75, a_902^0'=a_902^post75, a_947^0'=a_947^post75, rcd_88^0'=rcd_88^post75, a_311^0'=a_311^post75, i_140^0'=i_140^post75, a_577^0'=a_577^post75, x_14^0'=x_14^post75, nondet_12^0'=nondet_12^post75, a_121^0'=a_121^post75, head_15^0'=head_15^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75, i_27^0'=i_27^post75, x_21^0'=x_21^post75, a_634^0'=a_634^post75, r_39^0'=r_39^post75, a_263^0'=a_263^post75, i_113^0'=i_113^post75, a_432^0'=a_432^post75, temp0_31^0'=temp0_31^post75, len_262^0'=len_262^post75, y_20^0'=y_20^post75, f_248^0'=f_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, a_393^0'=a_393^post75, i_229^0'=i_229^post75, a_610^0'=a_610^post75, r_151^0'=r_151^post75, a_144^0'=a_144^post75, i_1053^0'=i_1053^post75, a_417^0'=a_417^post75, t_24^0'=t_24^post75, i_94^0'=i_94^post75, x_852^0'=x_852^post75, a_862^0'=a_862^post75, rcd_1249^0'=rcd_1249^post75, rcd_58^0'=rcd_58^post75, a_310^0'=a_310^post75, i_127^0'=i_127^post75, a_576^0'=a_576^post75, tmp_34^0'=tmp_34^post75, length_29^0'=length_29^post75, a_1162^0'=a_1162^post75, f_969^0'=f_969^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75, a_395^0'=a_395^post75, x_17^0'=x_17^post75, a_633^0'=a_633^post75, r_224^0'=r_224^post75, a_239^0'=a_239^post75, i_107^0'=i_107^post75, a_431^0'=a_431^post75, temp0_16^0'=temp0_16^post75, len_238^0'=len_238^post75, x_SLAM_f_19^0'=x_SLAM_f_19^post75, a_924^0'=a_924^post75, ct_18^0'=ct_18^post75, result_11^0'=result_11^post75, a_392^0'=a_392^post75, i_197^0'=i_197^post75, a_579^0'=a_579^post75, r_143^0'=r_143^post75, a_1236^0'=a_1236^post75, head_32^0'=head_32^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75, i_30^0'=i_30^post75, x_253^0'=x_253^post75, a_635^0'=a_635^post75, r_970^0'=r_970^post75, rcd_47^0'=rcd_47^post75, a_309^0'=a_309^post75, i_1248^0'=i_1248^post75, a_575^0'=a_575^post75, temp_35^0'=temp_35^post75, len_861^0'=len_861^post75, (a_263^0-a_263^post75 == 0 /\ -i_113^post75+i_113^0 == 0 /\ -a_1236^post75+a_1236^0 == 0 /\ -r_143^post75+r_143^0 == 0 /\ -a_635^post75+a_635^0 == 0 /\ -a_432^post75+a_432^0 == 0 /\ result_11^0-result_11^post75 == 0 /\ -i_30^post75+i_30^0 == 0 /\ -x_17^post75+x_17^0 == 0 /\ head_15^0-head_15^post75 == 0 /\ -temp0_31^post75+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75 == 0 /\ a_634^0-a_634^post75 == 0 /\ a_862^0-a_862^post75 == 0 /\ -a_309^post75+a_309^0 == 0 /\ -x_SLAM_f_19^post75+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post75 == 0 /\ a_947^0-a_947^post75 == 0 /\ -a_144^post75+a_144^0 == 0 /\ -a_310^post75+a_310^0 == 0 /\ -i_94^post75+i_94^0 == 0 /\ x_156^0-x_156^post75 == 0 /\ -a_575^post75+a_575^0 == 0 /\ rcd_88^0-rcd_88^post75 == 0 /\ -head_32^post75+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75 == 0 /\ a_176^0-a_176^post75 == 0 /\ a_311^0-a_311^post75 == 0 /\ i_1053^0-i_1053^post75 == 0 /\ -a_633^post75+a_633^0 == 0 /\ -rcd_47^post75+rcd_47^0 == 0 /\ length_29^0-length_29^post75 == 0 /\ r_192^0-r_192^post75 == 0 /\ -ct_18^post75+ct_18^0 == 0 /\ -len_262^post75+len_262^0 == 0 /\ -len_238^post75+len_238^0 == 0 /\ a_579^0-a_579^post75 == 0 /\ a_430^0-a_430^post75 == 0 /\ a_632^0-a_632^post75 == 0 /\ -f_969^post75+f_969^0 == 0 /\ -x_14^post75+x_14^0 == 0 /\ a_392^0-a_392^post75 == 0 /\ a_1089^0-a_1089^post75 == 0 /\ -r_39^post75+r_39^0 == 0 /\ x_852^0-x_852^post75 == 0 /\ -i_197^post75+i_197^0 == 0 /\ -a_431^post75+a_431^0 == 0 /\ -a_121^post75+a_121^0 == 0 /\ a_576^0-a_576^post75 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-y_20^post75 == 0 /\ f_847^0-f_847^post75 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -i_127^post75+i_127^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75 == 0 /\ -x_253^post75+x_253^0 == 0 /\ i_140^0-i_140^post75 == 0 /\ -x_21^post75+x_21^0 == 0 /\ -temp_35^post75+temp_35^0 == 0 /\ -r_970^post75+r_970^0 == 0 /\ -rcd_58^post75+rcd_58^0 == 0 /\ x_975^0-x_975^post75 == 0 /\ -f_248^post75+f_248^0 == 0 /\ r_151^0-r_151^post75 == 0 /\ a_394^0-a_394^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_417^0-a_417^post75 == 0 /\ a_577^0-a_577^post75 == 0 /\ -len_861^post75+len_861^0 == 0 /\ -i_1248^post75+i_1248^0 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ a_610^0-a_610^post75 == 0 /\ -a_1162^post75+a_1162^0 == 0 /\ -i_229^post75+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post75 == 0 /\ i_27^0-i_27^post75 == 0 /\ i_106^0-i_106^post75 == 0 /\ -a_239^post75+a_239^0 == 0 /\ a_395^0-a_395^post75 == 0 /\ -temp0_16^post75+temp0_16^0 == 0 /\ len_161^0-len_161^post75 == 0 /\ a_393^0-a_393^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post75+a_924^0 == 0 /\ i_107^0-i_107^post75 == 0 /\ -r_224^post75+r_224^0 == 0 /\ t_458^0-t_458^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0), cost: 1 76: l47 -> l48 : a_1089^0'=a_1089^post76, f_847^0'=f_847^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, a_394^0'=a_394^post76, x_156^0'=x_156^post76, a_632^0'=a_632^post76, r_192^0'=r_192^post76, a_176^0'=a_176^post76, i_106^0'=i_106^post76, a_430^0'=a_430^post76, t_458^0'=t_458^post76, len_161^0'=len_161^post76, x_975^0'=x_975^post76, a_902^0'=a_902^post76, a_947^0'=a_947^post76, rcd_88^0'=rcd_88^post76, a_311^0'=a_311^post76, i_140^0'=i_140^post76, a_577^0'=a_577^post76, x_14^0'=x_14^post76, nondet_12^0'=nondet_12^post76, a_121^0'=a_121^post76, head_15^0'=head_15^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76, i_27^0'=i_27^post76, x_21^0'=x_21^post76, a_634^0'=a_634^post76, r_39^0'=r_39^post76, a_263^0'=a_263^post76, i_113^0'=i_113^post76, a_432^0'=a_432^post76, temp0_31^0'=temp0_31^post76, len_262^0'=len_262^post76, y_20^0'=y_20^post76, f_248^0'=f_248^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, a_393^0'=a_393^post76, i_229^0'=i_229^post76, a_610^0'=a_610^post76, r_151^0'=r_151^post76, a_144^0'=a_144^post76, i_1053^0'=i_1053^post76, a_417^0'=a_417^post76, t_24^0'=t_24^post76, i_94^0'=i_94^post76, x_852^0'=x_852^post76, a_862^0'=a_862^post76, rcd_1249^0'=rcd_1249^post76, rcd_58^0'=rcd_58^post76, a_310^0'=a_310^post76, i_127^0'=i_127^post76, a_576^0'=a_576^post76, tmp_34^0'=tmp_34^post76, length_29^0'=length_29^post76, a_1162^0'=a_1162^post76, f_969^0'=f_969^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76, a_395^0'=a_395^post76, x_17^0'=x_17^post76, a_633^0'=a_633^post76, r_224^0'=r_224^post76, a_239^0'=a_239^post76, i_107^0'=i_107^post76, a_431^0'=a_431^post76, temp0_16^0'=temp0_16^post76, len_238^0'=len_238^post76, x_SLAM_f_19^0'=x_SLAM_f_19^post76, a_924^0'=a_924^post76, ct_18^0'=ct_18^post76, result_11^0'=result_11^post76, a_392^0'=a_392^post76, i_197^0'=i_197^post76, a_579^0'=a_579^post76, r_143^0'=r_143^post76, a_1236^0'=a_1236^post76, head_32^0'=head_32^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76, i_30^0'=i_30^post76, x_253^0'=x_253^post76, a_635^0'=a_635^post76, r_970^0'=r_970^post76, rcd_47^0'=rcd_47^post76, a_309^0'=a_309^post76, i_1248^0'=i_1248^post76, a_575^0'=a_575^post76, temp_35^0'=temp_35^post76, len_861^0'=len_861^post76, (a_1089^0-a_1089^post76 == 0 /\ -f_969^post76+f_969^0 == 0 /\ r_143^0-r_143^post76 == 0 /\ -head_32^post76+head_32^0 == 0 /\ -temp_35^post76+temp_35^0 == 0 /\ -i_127^post76+i_127^0 == 0 /\ a_310^0-a_310^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -a_579^post76+a_579^0 == 0 /\ -ct_18^post76+ct_18^0 == 0 /\ a_311^0-a_311^post76 == 0 /\ -a_1162^post76+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ t_458^0-t_458^post76 == 0 /\ a_395^0-a_395^post76 == 0 /\ -r_970^post76+r_970^0 == 0 /\ i_27^0-i_27^post76 == 0 /\ rcd_88^0-rcd_88^post76 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post76 == 0 /\ -f_248^post76+f_248^0 == 0 /\ i_106^0-i_106^post76 == 0 /\ i_140^0-i_140^post76 == 0 /\ r_39^0-r_39^post76 == 0 /\ a_392^0-a_392^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76 == 0 /\ -temp0_16^post76+temp0_16^0 == 0 /\ a_393^0-a_393^post76 == 0 /\ -i_1248^post76+i_1248^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -len_861^post76+len_861^0 == 0 /\ -a_239^post76+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ y_20^0-y_20^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -rcd_1249^post76+rcd_1249^0 == 0 /\ a_417^0-a_417^post76 == 0 /\ -i_30^post76+i_30^0 == 0 /\ len_262^0-len_262^post76 == 0 /\ x_21^0-x_21^post76 == 0 /\ a_634^0-a_634^post76 == 0 /\ -head_15^post76+head_15^0 == 0 /\ -a_924^post76+a_924^0 == 0 /\ -r_224^post76+r_224^0 == 0 /\ temp0_31^0-temp0_31^post76 == 0 /\ -x_17^post76+x_17^0 == 0 /\ -r_151^post76+r_151^0 == 0 /\ -a_144^post76+a_144^0 == 0 /\ a_947^0-a_947^post76 == 0 /\ -i_107^post76+i_107^0 == 0 /\ -i_94^post76+i_94^0 == 0 /\ -a_575^post76+a_575^0 == 0 /\ x_14^0-x_14^post76 == 0 /\ rcd_58^0-rcd_58^post76 == 0 /\ i_1053^0-i_1053^post76 == 0 /\ a_121^0-a_121^post76 == 0 /\ -a_635^post76+a_635^0 == 0 /\ -a_576^post76+a_576^0 == 0 /\ a_632^0-a_632^post76 == 0 /\ a_263^0-a_263^post76 == 0 /\ -a_633^post76+a_633^0 == 0 /\ -a_176^post76+a_176^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ x_852^0-x_852^post76 == 0 /\ len_161^0-len_161^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ x_156^0-x_156^post76 == 0 /\ f_847^0-f_847^post76 == 0 /\ a_309^0-a_309^post76 == 0 /\ -a_610^post76+a_610^0 == 0 /\ -a_1236^post76+a_1236^0 == 0 /\ a_432^0-a_432^post76 == 0 /\ -x_253^post76+x_253^0 == 0 /\ a_902^0-a_902^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76 == 0 /\ -len_238^post76+len_238^0 == 0 /\ i_113^0-i_113^post76 == 0 /\ r_192^0-r_192^post76 == 0 /\ -rcd_47^post76+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post76+i_197^0 == 0 /\ a_394^0-a_394^post76 == 0 /\ i_229^0-i_229^post76 == 0 /\ a_862^0-a_862^post76 == 0 /\ a_577^0-a_577^post76 == 0 /\ -x_975^post76+x_975^0 == 0 /\ a_431^0-a_431^post76 == 0 /\ -a_430^post76+a_430^0 == 0), cost: 1 77: l48 -> l8 : a_1089^0'=a_1089^post77, f_847^0'=f_847^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, a_394^0'=a_394^post77, x_156^0'=x_156^post77, a_632^0'=a_632^post77, r_192^0'=r_192^post77, a_176^0'=a_176^post77, i_106^0'=i_106^post77, a_430^0'=a_430^post77, t_458^0'=t_458^post77, len_161^0'=len_161^post77, x_975^0'=x_975^post77, a_902^0'=a_902^post77, a_947^0'=a_947^post77, rcd_88^0'=rcd_88^post77, a_311^0'=a_311^post77, i_140^0'=i_140^post77, a_577^0'=a_577^post77, x_14^0'=x_14^post77, nondet_12^0'=nondet_12^post77, a_121^0'=a_121^post77, head_15^0'=head_15^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77, i_27^0'=i_27^post77, x_21^0'=x_21^post77, a_634^0'=a_634^post77, r_39^0'=r_39^post77, a_263^0'=a_263^post77, i_113^0'=i_113^post77, a_432^0'=a_432^post77, temp0_31^0'=temp0_31^post77, len_262^0'=len_262^post77, y_20^0'=y_20^post77, f_248^0'=f_248^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, a_393^0'=a_393^post77, i_229^0'=i_229^post77, a_610^0'=a_610^post77, r_151^0'=r_151^post77, a_144^0'=a_144^post77, i_1053^0'=i_1053^post77, a_417^0'=a_417^post77, t_24^0'=t_24^post77, i_94^0'=i_94^post77, x_852^0'=x_852^post77, a_862^0'=a_862^post77, rcd_1249^0'=rcd_1249^post77, rcd_58^0'=rcd_58^post77, a_310^0'=a_310^post77, i_127^0'=i_127^post77, a_576^0'=a_576^post77, tmp_34^0'=tmp_34^post77, length_29^0'=length_29^post77, a_1162^0'=a_1162^post77, f_969^0'=f_969^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77, a_395^0'=a_395^post77, x_17^0'=x_17^post77, a_633^0'=a_633^post77, r_224^0'=r_224^post77, a_239^0'=a_239^post77, i_107^0'=i_107^post77, a_431^0'=a_431^post77, temp0_16^0'=temp0_16^post77, len_238^0'=len_238^post77, x_SLAM_f_19^0'=x_SLAM_f_19^post77, a_924^0'=a_924^post77, ct_18^0'=ct_18^post77, result_11^0'=result_11^post77, a_392^0'=a_392^post77, i_197^0'=i_197^post77, a_579^0'=a_579^post77, r_143^0'=r_143^post77, a_1236^0'=a_1236^post77, head_32^0'=head_32^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77, i_30^0'=i_30^post77, x_253^0'=x_253^post77, a_635^0'=a_635^post77, r_970^0'=r_970^post77, rcd_47^0'=rcd_47^post77, a_309^0'=a_309^post77, i_1248^0'=i_1248^post77, a_575^0'=a_575^post77, temp_35^0'=temp_35^post77, len_861^0'=len_861^post77, (-x_17^post77+x_17^0 == 0 /\ y_20^0-y_20^post77 == 0 /\ -a_575^post77+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77 == 0 /\ -i_30^post77+i_30^0 == 0 /\ t_458^0-t_458^post77 == 0 /\ -r_143^post77+r_143^0 == 0 /\ a_632^0-a_632^post77 == 0 /\ a_430^0-a_430^post77 == 0 /\ x_975^0-x_975^post77 == 0 /\ r_151^0-r_151^post77 == 0 /\ len_262^0-len_262^post77 == 0 /\ -a_576^post77+a_576^0 == 0 /\ a_902^0-a_902^post77 == 0 /\ a_577^0-a_577^post77 == 0 /\ -a_309^post77+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post77+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post77 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_144^post77+a_144^0 == 0 /\ -a_634^post77+a_634^0 == 0 /\ a_1162^0-a_1162^post77 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post77+a_633^0 == 0 /\ a_394^0-a_394^post77 == 0 /\ i_1053^0-i_1053^post77 == 0 /\ -a_610^post77+a_610^0 == 0 /\ a_310^0-a_310^post77 == 0 /\ a_176^0-a_176^post77 == 0 /\ -a_392^post77+a_392^0 == 0 /\ -a_1236^post77+a_1236^0 == 0 /\ -rcd_47^post77+rcd_47^0 == 0 /\ i_140^0-i_140^post77 == 0 /\ a_579^0-a_579^post77 == 0 /\ -len_238^post77+len_238^0 == 0 /\ f_847^0-f_847^post77 == 0 /\ -i_27^post77+i_27^0 == 0 /\ -length_29^post77+length_29^0 == 0 /\ i_197^0-i_197^post77 == 0 /\ -f_969^post77+f_969^0 == 0 /\ t_24^0-t_24^post77 == 0 /\ -head_15^post77+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77 == 0 /\ -ct_18^post77+ct_18^0 == 0 /\ i_94^0-i_94^post77 == 0 /\ -i_127^post77+i_127^0 == 0 /\ i_229^0-i_229^post77 == 0 /\ -x_253^post77+x_253^0 == 0 /\ a_432^0-a_432^post77 == 0 /\ -head_32^post77+head_32^0 == 0 /\ -r_192^post77+r_192^0 == 0 /\ -x_852^post77+x_852^0 == 0 /\ a_862^0-a_862^post77 == 0 /\ a_121^0-a_121^post77 == 0 /\ x_21^0-x_21^post77 == 0 /\ -f_248^post77+f_248^0 == 0 /\ -len_161^post77+len_161^0 == 0 /\ r_970^0-r_970^post77 == 0 /\ i_113^0-i_113^post77 == 0 /\ -rcd_88^post77+rcd_88^0 == 0 /\ -temp_35^post77+temp_35^0 == 0 /\ x_156^0-x_156^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ nondet_12^0-nondet_12^post77 == 0 /\ -a_431^post77+a_431^0 == 0 /\ -rcd_58^post77+rcd_58^0 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ -temp0_16^post77+temp0_16^0 == 0 /\ a_1089^0-a_1089^post77 == 0 /\ -len_861^post77+len_861^0 == 0 /\ a_395^0-a_395^post77 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post77 == 0 /\ a_947^0-a_947^post77 == 0 /\ -a_417^post77+a_417^0 == 0 /\ -result_11^post77+result_11^0 == 0 /\ x_14^0-x_14^post77 == 0 /\ -a_393^post77+a_393^0 == 0 /\ -r_224^post77+r_224^0 == 0 /\ 1-i_197^0 <= 0 /\ -rcd_1249^post77+rcd_1249^0 == 0 /\ r_39^0-r_39^post77 == 0 /\ a_263^0-a_263^post77 == 0 /\ -a_924^post77+a_924^0 == 0 /\ -i_1248^post77+i_1248^0 == 0 /\ -a_239^post77+a_239^0 == 0 /\ i_107^0-i_107^post77 == 0 /\ -a_635^post77+a_635^0 == 0 /\ i_106^0-i_106^post77 == 0 /\ a_311^0-a_311^post77 == 0), cost: 1 78: l49 -> l51 : a_1089^0'=a_1089^post78, f_847^0'=f_847^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, a_394^0'=a_394^post78, x_156^0'=x_156^post78, a_632^0'=a_632^post78, r_192^0'=r_192^post78, a_176^0'=a_176^post78, i_106^0'=i_106^post78, a_430^0'=a_430^post78, t_458^0'=t_458^post78, len_161^0'=len_161^post78, x_975^0'=x_975^post78, a_902^0'=a_902^post78, a_947^0'=a_947^post78, rcd_88^0'=rcd_88^post78, a_311^0'=a_311^post78, i_140^0'=i_140^post78, a_577^0'=a_577^post78, x_14^0'=x_14^post78, nondet_12^0'=nondet_12^post78, a_121^0'=a_121^post78, head_15^0'=head_15^post78, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post78, i_27^0'=i_27^post78, x_21^0'=x_21^post78, a_634^0'=a_634^post78, r_39^0'=r_39^post78, a_263^0'=a_263^post78, i_113^0'=i_113^post78, a_432^0'=a_432^post78, temp0_31^0'=temp0_31^post78, len_262^0'=len_262^post78, y_20^0'=y_20^post78, f_248^0'=f_248^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78, a_393^0'=a_393^post78, i_229^0'=i_229^post78, a_610^0'=a_610^post78, r_151^0'=r_151^post78, a_144^0'=a_144^post78, i_1053^0'=i_1053^post78, a_417^0'=a_417^post78, t_24^0'=t_24^post78, i_94^0'=i_94^post78, x_852^0'=x_852^post78, a_862^0'=a_862^post78, rcd_1249^0'=rcd_1249^post78, rcd_58^0'=rcd_58^post78, a_310^0'=a_310^post78, i_127^0'=i_127^post78, a_576^0'=a_576^post78, tmp_34^0'=tmp_34^post78, length_29^0'=length_29^post78, a_1162^0'=a_1162^post78, f_969^0'=f_969^post78, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post78, a_395^0'=a_395^post78, x_17^0'=x_17^post78, a_633^0'=a_633^post78, r_224^0'=r_224^post78, a_239^0'=a_239^post78, i_107^0'=i_107^post78, a_431^0'=a_431^post78, temp0_16^0'=temp0_16^post78, len_238^0'=len_238^post78, x_SLAM_f_19^0'=x_SLAM_f_19^post78, a_924^0'=a_924^post78, ct_18^0'=ct_18^post78, result_11^0'=result_11^post78, a_392^0'=a_392^post78, i_197^0'=i_197^post78, a_579^0'=a_579^post78, r_143^0'=r_143^post78, a_1236^0'=a_1236^post78, head_32^0'=head_32^post78, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post78, i_30^0'=i_30^post78, x_253^0'=x_253^post78, a_635^0'=a_635^post78, r_970^0'=r_970^post78, rcd_47^0'=rcd_47^post78, a_309^0'=a_309^post78, i_1248^0'=i_1248^post78, a_575^0'=a_575^post78, temp_35^0'=temp_35^post78, len_861^0'=len_861^post78, (-rcd_58^post78+rcd_58^0 == 0 /\ -temp_35^post78+temp_35^0 == 0 /\ a_1089^0-a_1089^post78 == 0 /\ -x_852^post78+x_852^0 == 0 /\ a_394^0-a_394^post78 == 0 /\ -head_15^post78+head_15^0 == 0 /\ -r_970^post78+r_970^0 == 0 /\ -i_1053^post78+i_1053^0 == 0 /\ -a_395^post78+a_395^0 == 0 /\ 1-x_14^0 <= 0 /\ -i_197^post78+i_197^0 == 0 /\ -a_579^post78+a_579^0 == 0 /\ t_458^0-t_458^post78 == 0 /\ i_140^0-i_140^post78 == 0 /\ i_106^0-i_106^post78 == 0 /\ -a_263^post78+a_263^0 == 0 /\ -ct_18^post78+ct_18^0 == 0 /\ rcd_1249^0-rcd_1249^post78 == 0 /\ -a_862^post78+a_862^0 == 0 /\ rcd_88^0-rcd_88^post78 == 0 /\ a_311^0-a_311^post78 == 0 /\ f_847^0-f_847^post78 == 0 /\ a_393^0-a_393^post78 == 0 /\ r_224^0-r_224^post78 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post78 == 0 /\ a_924^0-a_924^post78 == 0 /\ -a_634^post78+a_634^0 == 0 /\ -a_144^post78+a_144^0 == 0 /\ -i_107^post78+i_107^0 == 0 /\ y_20^0-y_20^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post78+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post78+i_1248^0 == 0 /\ -len_861^post78+len_861^0 == 0 /\ i_127^0-i_127^post78 == 0 /\ a_121^0-a_121^post78 == 0 /\ x_21^0-x_21^post78 == 0 /\ -result_11^post78+result_11^0 == 0 /\ -a_239^post78+a_239^0 == 0 /\ -tmp_34^post78+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post78 == 0 /\ len_262^0-len_262^post78 == 0 /\ a_577^0-a_577^post78 == 0 /\ -x_17^post78+x_17^0 == 0 /\ -i_30^post78+i_30^0 == 0 /\ i_94^0-i_94^post78 == 0 /\ a_947^0-a_947^post78 == 0 /\ len_161^0-len_161^post78 == 0 /\ -a_635^post78+a_635^0 == 0 /\ a_310^0-a_310^post78 == 0 /\ x_14^0-x_14^post78 == 0 /\ -x_SLAM_f_19^post78+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post78 == 0 /\ -a_576^post78+a_576^0 == 0 /\ -a_575^post78+a_575^0 == 0 /\ -a_633^post78+a_633^0 == 0 /\ -a_1236^post78+a_1236^0 == 0 /\ -r_143^post78+r_143^0 == 0 /\ r_39^0-r_39^post78 == 0 /\ -a_417^post78+a_417^0 == 0 /\ -a_309^post78+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post78 == 0 /\ t_24^0-t_24^post78 == 0 /\ -a_176^post78+a_176^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post78+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post78+a_392^0 == 0 /\ f_248^0-f_248^post78 == 0 /\ -length_29^post78+length_29^0 == 0 /\ -rcd_47^post78+rcd_47^0 == 0 /\ a_432^0-a_432^post78 == 0 /\ a_632^0-a_632^post78 == 0 /\ a_430^0-a_430^post78 == 0 /\ -a_610^post78+a_610^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1162^0-a_1162^post78 == 0 /\ nondet_12^0-nondet_12^post78 == 0 /\ a_902^0-a_902^post78 == 0 /\ -head_32^post78+head_32^0 == 0 /\ x_975^0-x_975^post78 == 0 /\ -i_27^post78+i_27^0 == 0 /\ x_156^0-x_156^post78 == 0 /\ i_229^0-i_229^post78 == 0 /\ -x_253^post78+x_253^0 == 0 /\ -f_969^post78+f_969^0 == 0 /\ a_431^0-a_431^post78 == 0 /\ -r_151^post78+r_151^0 == 0 /\ temp0_16^0-temp0_16^post78 == 0 /\ -len_238^post78+len_238^0 == 0 /\ i_113^0-i_113^post78 == 0), cost: 1 79: l49 -> l51 : a_1089^0'=a_1089^post79, f_847^0'=f_847^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, a_394^0'=a_394^post79, x_156^0'=x_156^post79, a_632^0'=a_632^post79, r_192^0'=r_192^post79, a_176^0'=a_176^post79, i_106^0'=i_106^post79, a_430^0'=a_430^post79, t_458^0'=t_458^post79, len_161^0'=len_161^post79, x_975^0'=x_975^post79, a_902^0'=a_902^post79, a_947^0'=a_947^post79, rcd_88^0'=rcd_88^post79, a_311^0'=a_311^post79, i_140^0'=i_140^post79, a_577^0'=a_577^post79, x_14^0'=x_14^post79, nondet_12^0'=nondet_12^post79, a_121^0'=a_121^post79, head_15^0'=head_15^post79, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post79, i_27^0'=i_27^post79, x_21^0'=x_21^post79, a_634^0'=a_634^post79, r_39^0'=r_39^post79, a_263^0'=a_263^post79, i_113^0'=i_113^post79, a_432^0'=a_432^post79, temp0_31^0'=temp0_31^post79, len_262^0'=len_262^post79, y_20^0'=y_20^post79, f_248^0'=f_248^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79, a_393^0'=a_393^post79, i_229^0'=i_229^post79, a_610^0'=a_610^post79, r_151^0'=r_151^post79, a_144^0'=a_144^post79, i_1053^0'=i_1053^post79, a_417^0'=a_417^post79, t_24^0'=t_24^post79, i_94^0'=i_94^post79, x_852^0'=x_852^post79, a_862^0'=a_862^post79, rcd_1249^0'=rcd_1249^post79, rcd_58^0'=rcd_58^post79, a_310^0'=a_310^post79, i_127^0'=i_127^post79, a_576^0'=a_576^post79, tmp_34^0'=tmp_34^post79, length_29^0'=length_29^post79, a_1162^0'=a_1162^post79, f_969^0'=f_969^post79, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post79, a_395^0'=a_395^post79, x_17^0'=x_17^post79, a_633^0'=a_633^post79, r_224^0'=r_224^post79, a_239^0'=a_239^post79, i_107^0'=i_107^post79, a_431^0'=a_431^post79, temp0_16^0'=temp0_16^post79, len_238^0'=len_238^post79, x_SLAM_f_19^0'=x_SLAM_f_19^post79, a_924^0'=a_924^post79, ct_18^0'=ct_18^post79, result_11^0'=result_11^post79, a_392^0'=a_392^post79, i_197^0'=i_197^post79, a_579^0'=a_579^post79, r_143^0'=r_143^post79, a_1236^0'=a_1236^post79, head_32^0'=head_32^post79, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post79, i_30^0'=i_30^post79, x_253^0'=x_253^post79, a_635^0'=a_635^post79, r_970^0'=r_970^post79, rcd_47^0'=rcd_47^post79, a_309^0'=a_309^post79, i_1248^0'=i_1248^post79, a_575^0'=a_575^post79, temp_35^0'=temp_35^post79, len_861^0'=len_861^post79, (f_248^0-f_248^post79 == 0 /\ -a_635^post79+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post79 == 0 /\ -rcd_47^post79+rcd_47^0 == 0 /\ a_924^0-a_924^post79 == 0 /\ -r_143^post79+r_143^0 == 0 /\ r_39^0-r_39^post79 == 0 /\ a_430^0-a_430^post79 == 0 /\ -r_151^post79+r_151^0 == 0 /\ x_975^0-x_975^post79 == 0 /\ i_127^0-i_127^post79 == 0 /\ -a_309^post79+a_309^0 == 0 /\ -a_144^post79+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post79+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post79 == 0 /\ a_577^0-a_577^post79 == 0 /\ -a_633^post79+a_633^0 == 0 /\ -a_575^post79+a_575^0 == 0 /\ a_1162^0-a_1162^post79 == 0 /\ r_192^0-r_192^post79 == 0 /\ x_21^0-x_21^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post79+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_27^0-i_27^post79 == 0 /\ -i_113^post79+i_113^0 == 0 /\ -a_432^post79+a_432^0 == 0 /\ a_634^0-a_634^post79 == 0 /\ -a_431^post79+a_431^0 == 0 /\ a_947^0-a_947^post79 == 0 /\ -x_253^post79+x_253^0 == 0 /\ i_197^0-i_197^post79 == 0 /\ -x_SLAM_f_19^post79+x_SLAM_f_19^0 == 0 /\ -length_29^post79+length_29^0 == 0 /\ -f_969^post79+f_969^0 == 0 /\ a_576^0-a_576^post79 == 0 /\ -y_20^post79+y_20^0 == 0 /\ -a_392^post79+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_310^post79+a_310^0 == 0 /\ i_107^0-i_107^post79 == 0 /\ -i_94^post79+i_94^0 == 0 /\ -i_140^post79+i_140^0 == 0 /\ -a_1236^post79+a_1236^0 == 0 /\ f_847^0-f_847^post79 == 0 /\ head_15^0-head_15^post79 == 0 /\ -t_458^post79+t_458^0 == 0 /\ a_632^0-a_632^post79 == 0 /\ -head_32^post79+head_32^0 == 0 /\ -i_106^post79+i_106^0 == 0 /\ a_311^0-a_311^post79 == 0 /\ -rcd_58^post79+rcd_58^0 == 0 /\ a_902^0-a_902^post79 == 0 /\ r_970^0-r_970^post79 == 0 /\ i_229^0-i_229^post79 == 0 /\ -len_161^post79+len_161^0 == 0 /\ x_156^0-x_156^post79 == 0 /\ a_610^0-a_610^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post79+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post79+a_395^0 == 0 /\ r_224^0-r_224^post79 == 0 /\ -a_862^post79+a_862^0 == 0 /\ -temp_35^post79+temp_35^0 == 0 /\ -a_579^post79+a_579^0 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ temp0_31^0-temp0_31^post79 == 0 /\ x_14^0-x_14^post79 == 0 /\ -a_263^post79+a_263^0 == 0 /\ a_121^0-a_121^post79 == 0 /\ -result_11^post79+result_11^0 == 0 /\ -a_417^post79+a_417^0 == 0 /\ a_394^0-a_394^post79 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post79 == 0 /\ a_1089^0-a_1089^post79 == 0 /\ x_17^0-x_17^post79 == 0 /\ -a_393^post79+a_393^0 == 0 /\ len_262^0-len_262^post79 == 0 /\ 1+x_14^0 <= 0 /\ -i_1053^post79+i_1053^0 == 0 /\ rcd_88^0-rcd_88^post79 == 0 /\ -temp0_16^post79+temp0_16^0 == 0 /\ a_176^0-a_176^post79 == 0 /\ -i_1248^post79+i_1248^0 == 0 /\ -i_30^post79+i_30^0 == 0 /\ -len_861^post79+len_861^0 == 0 /\ -a_239^post79+a_239^0 == 0 /\ -x_852^post79+x_852^0 == 0 /\ len_238^0-len_238^post79 == 0 /\ -tmp_34^post79+tmp_34^0 == 0 /\ -t_24^post79+t_24^0 == 0), cost: 1 95: l49 -> l62 : a_1089^0'=a_1089^post95, f_847^0'=f_847^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_394^0'=a_394^post95, x_156^0'=x_156^post95, a_632^0'=a_632^post95, r_192^0'=r_192^post95, a_176^0'=a_176^post95, i_106^0'=i_106^post95, a_430^0'=a_430^post95, t_458^0'=t_458^post95, len_161^0'=len_161^post95, x_975^0'=x_975^post95, a_902^0'=a_902^post95, a_947^0'=a_947^post95, rcd_88^0'=rcd_88^post95, a_311^0'=a_311^post95, i_140^0'=i_140^post95, a_577^0'=a_577^post95, x_14^0'=x_14^post95, nondet_12^0'=nondet_12^post95, a_121^0'=a_121^post95, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95, i_27^0'=i_27^post95, x_21^0'=x_21^post95, a_634^0'=a_634^post95, r_39^0'=r_39^post95, a_263^0'=a_263^post95, i_113^0'=i_113^post95, a_432^0'=a_432^post95, temp0_31^0'=temp0_31^post95, len_262^0'=len_262^post95, y_20^0'=y_20^post95, f_248^0'=f_248^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_393^0'=a_393^post95, i_229^0'=i_229^post95, a_610^0'=a_610^post95, r_151^0'=r_151^post95, a_144^0'=a_144^post95, i_1053^0'=i_1053^post95, a_417^0'=a_417^post95, t_24^0'=t_24^post95, i_94^0'=i_94^post95, x_852^0'=x_852^post95, a_862^0'=a_862^post95, rcd_1249^0'=rcd_1249^post95, rcd_58^0'=rcd_58^post95, a_310^0'=a_310^post95, i_127^0'=i_127^post95, a_576^0'=a_576^post95, tmp_34^0'=tmp_34^post95, length_29^0'=length_29^post95, a_1162^0'=a_1162^post95, f_969^0'=f_969^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95, a_395^0'=a_395^post95, x_17^0'=x_17^post95, a_633^0'=a_633^post95, r_224^0'=r_224^post95, a_239^0'=a_239^post95, i_107^0'=i_107^post95, a_431^0'=a_431^post95, temp0_16^0'=temp0_16^post95, len_238^0'=len_238^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, a_924^0'=a_924^post95, ct_18^0'=ct_18^post95, result_11^0'=result_11^post95, a_392^0'=a_392^post95, i_197^0'=i_197^post95, a_579^0'=a_579^post95, r_143^0'=r_143^post95, a_1236^0'=a_1236^post95, head_32^0'=head_32^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95, i_30^0'=i_30^post95, x_253^0'=x_253^post95, a_635^0'=a_635^post95, r_970^0'=r_970^post95, rcd_47^0'=rcd_47^post95, a_309^0'=a_309^post95, i_1248^0'=i_1248^post95, a_575^0'=a_575^post95, temp_35^0'=temp_35^post95, len_861^0'=len_861^post95, (0 == 0 /\ r_39^0-r_39^post95 == 0 /\ r_151^0-r_151^post95 == 0 /\ -a_610^post95+a_610^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_634^post95+a_634^0 == 0 /\ a_430^0-a_430^post95 == 0 /\ -rcd_47^post95+rcd_47^0 == 0 /\ x_975^0-x_975^post95 == 0 /\ i_113^0-i_113^post95 == 0 /\ -rcd_1249^post95+rcd_1249^0 == 0 /\ a_393^0-a_393^post95 == 0 /\ -r_143^post95+r_143^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ a_432^0-a_432^post95 == 0 /\ a_633^0-a_633^post95 == 0 /\ i_27^0-i_27^post95 == 0 /\ -len_238^post95+len_238^0 == 0 /\ f_969^0-f_969^post95 == 0 /\ x_21^0-x_21^post95 == 0 /\ r_192^0-r_192^post95 == 0 /\ a_579^0-a_579^post95 == 0 /\ -a_392^post95+a_392^0 == 0 /\ len_161^0-len_161^post95 == 0 /\ head_32^0-head_32^post95 == 0 /\ i_140^0-i_140^post95 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ a_144^0-a_144^post95 == 0 /\ -a_576^post95+a_576^0 == 0 /\ t_24^0-t_24^post95 == 0 /\ a_862^0-a_862^post95 == 0 /\ -f_248^post95+f_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -a_1236^post95+a_1236^0 == 0 /\ -a_431^post95+a_431^0 == 0 /\ -i_229^post95+i_229^0 == 0 /\ f_847^0-f_847^post95 == 0 /\ -x_253^post95+x_253^0 == 0 /\ -x_SLAM_f_19^post95+x_SLAM_f_19^0 == 0 /\ -r_970^post95+r_970^0 == 0 /\ t_458^0-t_458^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post95 == 0 /\ i_106^0-i_106^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ a_239^0-a_239^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95 == 0 /\ a_311^0-a_311^post95 == 0 /\ -r_224^post95+r_224^0 == 0 /\ -a_395^post95+a_395^0 == 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -a_310^post95+a_310^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -i_197^post95+i_197^0 == 0 /\ a_1089^0-a_1089^post95 == 0 /\ x_156^0-x_156^post95 == 0 /\ a_632^0-a_632^post95 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ -len_262^post95+len_262^0 == 0 /\ -a_947^post95+a_947^0 == 0 /\ a_121^0-a_121^post95 == 0 /\ x_852^0-x_852^post95 == 0 /\ -x_17^post95+x_17^0 == 0 /\ -i_127^post95+i_127^0 == 0 /\ -x_14^post95+x_14^0 == 0 /\ -a_309^post95+a_309^0 == 0 /\ -i_107^post95+i_107^0 == 0 /\ a_263^0-a_263^post95 == 0 /\ a_417^0-a_417^post95 == 0 /\ -a_924^post95+a_924^0 == 0 /\ -a_575^post95+a_575^0 == 0 /\ y_20^0-y_20^post95 == 0 /\ -len_861^post95+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95 == 0 /\ a_394^0-a_394^post95 == 0 /\ -a_635^post95+a_635^0 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -a_1162^post95+a_1162^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ i_1053^0-i_1053^post95 == 0 /\ -a_577^post95+a_577^0 == 0 /\ a_176^0-a_176^post95 == 0), cost: 1 108: l49 -> l69 : a_1089^0'=a_1089^post108, f_847^0'=f_847^post108, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post108, a_394^0'=a_394^post108, x_156^0'=x_156^post108, a_632^0'=a_632^post108, r_192^0'=r_192^post108, a_176^0'=a_176^post108, i_106^0'=i_106^post108, a_430^0'=a_430^post108, t_458^0'=t_458^post108, len_161^0'=len_161^post108, x_975^0'=x_975^post108, a_902^0'=a_902^post108, a_947^0'=a_947^post108, rcd_88^0'=rcd_88^post108, a_311^0'=a_311^post108, i_140^0'=i_140^post108, a_577^0'=a_577^post108, x_14^0'=x_14^post108, nondet_12^0'=nondet_12^post108, a_121^0'=a_121^post108, head_15^0'=head_15^post108, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post108, i_27^0'=i_27^post108, x_21^0'=x_21^post108, a_634^0'=a_634^post108, r_39^0'=r_39^post108, a_263^0'=a_263^post108, i_113^0'=i_113^post108, a_432^0'=a_432^post108, temp0_31^0'=temp0_31^post108, len_262^0'=len_262^post108, y_20^0'=y_20^post108, f_248^0'=f_248^post108, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post108, a_393^0'=a_393^post108, i_229^0'=i_229^post108, a_610^0'=a_610^post108, r_151^0'=r_151^post108, a_144^0'=a_144^post108, i_1053^0'=i_1053^post108, a_417^0'=a_417^post108, t_24^0'=t_24^post108, i_94^0'=i_94^post108, x_852^0'=x_852^post108, a_862^0'=a_862^post108, rcd_1249^0'=rcd_1249^post108, rcd_58^0'=rcd_58^post108, a_310^0'=a_310^post108, i_127^0'=i_127^post108, a_576^0'=a_576^post108, tmp_34^0'=tmp_34^post108, length_29^0'=length_29^post108, a_1162^0'=a_1162^post108, f_969^0'=f_969^post108, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post108, a_395^0'=a_395^post108, x_17^0'=x_17^post108, a_633^0'=a_633^post108, r_224^0'=r_224^post108, a_239^0'=a_239^post108, i_107^0'=i_107^post108, a_431^0'=a_431^post108, temp0_16^0'=temp0_16^post108, len_238^0'=len_238^post108, x_SLAM_f_19^0'=x_SLAM_f_19^post108, a_924^0'=a_924^post108, ct_18^0'=ct_18^post108, result_11^0'=result_11^post108, a_392^0'=a_392^post108, i_197^0'=i_197^post108, a_579^0'=a_579^post108, r_143^0'=r_143^post108, a_1236^0'=a_1236^post108, head_32^0'=head_32^post108, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post108, i_30^0'=i_30^post108, x_253^0'=x_253^post108, a_635^0'=a_635^post108, r_970^0'=r_970^post108, rcd_47^0'=rcd_47^post108, a_309^0'=a_309^post108, i_1248^0'=i_1248^post108, a_575^0'=a_575^post108, temp_35^0'=temp_35^post108, len_861^0'=len_861^post108, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post108+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post108+i_197^0 == 0 /\ -a_579^post108+a_579^0 == 0 /\ r_192^0-r_192^post108 == 0 /\ i_1053^0-i_1053^post108 == 0 /\ i_113^0-i_113^post108 == 0 /\ -x_253^post108+x_253^0 == 0 /\ a_310^0-a_310^post108 == 0 /\ -i_127^post108+i_127^0 == 0 /\ a_176^0-a_176^post108 == 0 /\ -result_11^post108+result_11^0 == 0 /\ a_395^0-a_395^post108 == 0 /\ -f_969^post108+f_969^0 == 0 /\ length_29^0-length_29^post108 == 0 /\ -a_610^post108+a_610^0 == 0 /\ -x_21^post108+x_21^0 == 0 /\ i_27^0-i_27^post108 == 0 /\ t_24^0-t_24^post108 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post108 == 0 /\ a_393^0-a_393^post108 == 0 /\ r_39^0-r_39^post108 == 0 /\ -r_970^post108+r_970^0 == 0 /\ -rcd_47^post108+rcd_47^0 == 0 /\ -rcd_58^post108+rcd_58^0 == 0 /\ -a_239^post108+a_239^0 == 0 /\ a_432^0-a_432^post108 == 0 /\ -tmp_34^post108+tmp_34^0 == 0 /\ -len_861^post108+len_861^0 == 0 /\ -temp0_16^post108+temp0_16^0 == 0 /\ a_1162^0-a_1162^post108 == 0 /\ -i_229^post108+i_229^0 == 0 /\ -f_248^post108+f_248^0 == 0 /\ i_140^0-i_140^post108 == 0 /\ a_634^0-a_634^post108 == 0 /\ -temp_35^post108+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post108+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_1249^post108+rcd_1249^0 == 0 /\ -nondet_12^post108+nondet_12^0 == 0 /\ r_151^0-r_151^post108 == 0 /\ -a_576^post108+a_576^0 == 0 /\ -a_924^post108+a_924^0 == 0 /\ a_417^0-a_417^post108 == 0 /\ x_156^0-x_156^post108 == 0 /\ head_32^0-head_32^post108 == 0 /\ -r_143^post108+r_143^0 == 0 /\ a_577^0-a_577^post108 == 0 /\ i_30^0-i_30^post108 == 0 /\ -a_575^post108+a_575^0 == 0 /\ rcd_88^0-rcd_88^post108 == 0 /\ a_311^0-a_311^post108 == 0 /\ a_902^0-a_902^post108 == 0 /\ -a_1236^post108+a_1236^0 == 0 /\ -a_947^post108+a_947^0 == 0 /\ i_106^0-i_106^post108 == 0 /\ -i_94^post108+i_94^0 == 0 /\ len_161^0-len_161^post108 == 0 /\ -x_17^post108+x_17^0 == 0 /\ i_107^0-i_107^post108 == 0 /\ -temp0_31^post108+temp0_31^0 == 0 /\ -a_635^post108+a_635^0 == 0 /\ t_458^0-t_458^post108 == 0 /\ x_852^0-x_852^post108 == 0 /\ a_263^0-a_263^post108 == 0 /\ -i_1248^post108+i_1248^0 == 0 /\ a_1089^0-a_1089^post108 == 0 /\ -a_144^post108+a_144^0 == 0 /\ a_632^0-a_632^post108 == 0 /\ -a_430^post108+a_430^0 == 0 /\ -a_633^post108+a_633^0 == 0 /\ -ct_18^post108+ct_18^0 == 0 /\ -len_238^post108+len_238^0 == 0 /\ f_847^0-f_847^post108 == 0 /\ -len_262^post108+len_262^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post108+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post108 == 0 /\ a_862^0-a_862^post108 == 0 /\ -x_14^post108+x_14^0 == 0 /\ -x_975^post108+x_975^0 == 0 /\ a_121^0-a_121^post108 == 0 /\ y_20^0-y_20^post108 == 0 /\ a_431^0-a_431^post108 == 0 /\ -a_309^post108+a_309^0 == 0 /\ r_224^0-r_224^post108 == 0 /\ a_394^0-a_394^post108 == 0 /\ -a_392^post108+a_392^0 == 0), cost: 1 80: l51 -> l52 : a_1089^0'=a_1089^post80, f_847^0'=f_847^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, a_394^0'=a_394^post80, x_156^0'=x_156^post80, a_632^0'=a_632^post80, r_192^0'=r_192^post80, a_176^0'=a_176^post80, i_106^0'=i_106^post80, a_430^0'=a_430^post80, t_458^0'=t_458^post80, len_161^0'=len_161^post80, x_975^0'=x_975^post80, a_902^0'=a_902^post80, a_947^0'=a_947^post80, rcd_88^0'=rcd_88^post80, a_311^0'=a_311^post80, i_140^0'=i_140^post80, a_577^0'=a_577^post80, x_14^0'=x_14^post80, nondet_12^0'=nondet_12^post80, a_121^0'=a_121^post80, head_15^0'=head_15^post80, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post80, i_27^0'=i_27^post80, x_21^0'=x_21^post80, a_634^0'=a_634^post80, r_39^0'=r_39^post80, a_263^0'=a_263^post80, i_113^0'=i_113^post80, a_432^0'=a_432^post80, temp0_31^0'=temp0_31^post80, len_262^0'=len_262^post80, y_20^0'=y_20^post80, f_248^0'=f_248^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80, a_393^0'=a_393^post80, i_229^0'=i_229^post80, a_610^0'=a_610^post80, r_151^0'=r_151^post80, a_144^0'=a_144^post80, i_1053^0'=i_1053^post80, a_417^0'=a_417^post80, t_24^0'=t_24^post80, i_94^0'=i_94^post80, x_852^0'=x_852^post80, a_862^0'=a_862^post80, rcd_1249^0'=rcd_1249^post80, rcd_58^0'=rcd_58^post80, a_310^0'=a_310^post80, i_127^0'=i_127^post80, a_576^0'=a_576^post80, tmp_34^0'=tmp_34^post80, length_29^0'=length_29^post80, a_1162^0'=a_1162^post80, f_969^0'=f_969^post80, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post80, a_395^0'=a_395^post80, x_17^0'=x_17^post80, a_633^0'=a_633^post80, r_224^0'=r_224^post80, a_239^0'=a_239^post80, i_107^0'=i_107^post80, a_431^0'=a_431^post80, temp0_16^0'=temp0_16^post80, len_238^0'=len_238^post80, x_SLAM_f_19^0'=x_SLAM_f_19^post80, a_924^0'=a_924^post80, ct_18^0'=ct_18^post80, result_11^0'=result_11^post80, a_392^0'=a_392^post80, i_197^0'=i_197^post80, a_579^0'=a_579^post80, r_143^0'=r_143^post80, a_1236^0'=a_1236^post80, head_32^0'=head_32^post80, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post80, i_30^0'=i_30^post80, x_253^0'=x_253^post80, a_635^0'=a_635^post80, r_970^0'=r_970^post80, rcd_47^0'=rcd_47^post80, a_309^0'=a_309^post80, i_1248^0'=i_1248^post80, a_575^0'=a_575^post80, temp_35^0'=temp_35^post80, len_861^0'=len_861^post80, (0 == 0 /\ -temp0_16^post80+temp0_16^0 == 0 /\ -x_14^post80+x_17^post80 <= 0 /\ nondet_12^0-nondet_12^post80 == 0 /\ -a_577^post80+a_577^0 == 0 /\ -i_1248^post80+i_1248^0 == 0 /\ -i_1053^post80+i_1053^0 == 0 /\ a_394^0-a_394^post80 == 0 /\ -len_861^post80+len_861^0 == 0 /\ x_852^0-x_852^post80 == 0 /\ a_947^0-a_947^post80 == 0 /\ a_121^0-a_121^post80 == 0 /\ len_161^0-len_161^post80 == 0 /\ head_15^0-x_17^post80 <= 0 /\ -r_39^post80+r_39^0 == 0 /\ f_847^0-f_847^post80 == 0 /\ -a_395^post80+a_395^0 == 0 /\ -a_263^post80+a_263^0 == 0 /\ -a_579^post80+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post80+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_392^post80+a_392^0 == 0 /\ -head_32^post80+head_32^0 == 0 /\ rcd_58^0-rcd_58^post80 == 0 /\ rcd_1249^0-rcd_1249^post80 == 0 /\ y_20^post80-ct_18^post80 <= 0 /\ y_20^post80-ct_18^post80 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post80 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post80 <= 0 /\ x_14^post80-x_17^post80 <= 0 /\ i_27^0 <= 0 /\ -result_11^post80+result_11^0 == 0 /\ r_224^0-r_224^post80 == 0 /\ i_106^0-i_106^post80 == 0 /\ head_15^0-head_15^post80 == 0 /\ a_430^0-a_430^post80 == 0 /\ -a_575^post80+a_575^0 == 0 /\ -i_197^post80+i_197^0 == 0 /\ -a_144^post80+a_144^0 == 0 /\ y_20^post80 <= 0 /\ -a_309^post80+a_309^0 == 0 /\ -a_635^post80+a_635^0 == 0 /\ -tmp_34^post80+tmp_34^0 == 0 /\ -a_1162^post80+a_1162^0 == 0 /\ x_156^0-x_156^post80 == 0 /\ -a_393^post80+a_393^0 == 0 /\ -head_15^0+x_17^post80 <= 0 /\ -head_15^0+x_17^post80 == 0 /\ a_432^0-a_432^post80 == 0 /\ -t_24^post80+t_24^0 == 0 /\ i_127^0-i_127^post80 == 0 /\ a_1236^0-a_1236^post80 == 0 /\ -i_30^post80+i_30^0 == 0 /\ -a_417^post80+a_417^0 == 0 /\ -y_20^post80+ct_18^post80 <= 0 /\ i_229^0-i_229^post80 == 0 /\ a_431^0-a_431^post80 == 0 /\ -a_632^post80+a_632^0 == 0 /\ -x_21^post80+x_SLAM_f_19^post80 <= 0 /\ temp0_31^0-temp0_31^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post80+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_634^0-a_634^post80 == 0 /\ x_SLAM_f_19^post80-x_17^post80 <= 0 /\ x_SLAM_f_19^post80-x_17^post80 == 0 /\ -x_14^post80+x_SLAM_f_19^post80 <= 0 /\ -r_151^post80+r_151^0 == 0 /\ a_1089^0-a_1089^post80 == 0 /\ a_310^0-a_310^post80 == 0 /\ -head_15^0+x_14^post80 <= 0 /\ -i_107^post80+i_107^0 == 0 /\ a_311^0-a_311^post80 == 0 /\ a_176^0-a_176^post80 == 0 /\ -a_576^post80+a_576^0 == 0 /\ rcd_88^0-rcd_88^post80 == 0 /\ -a_924^post80+a_924^0 == 0 /\ x_21^post80-x_14^post80 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post80+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post80 == 0 /\ -a_633^post80+a_633^0 == 0 /\ -r_143^post80+r_143^0 == 0 /\ x_21^post80-x_SLAM_f_19^post80 <= 0 /\ x_21^post80-x_SLAM_f_19^post80 == 0 /\ -a_862^post80+a_862^0 == 0 /\ -i_113^post80+i_113^0 == 0 /\ x_975^0-x_975^post80 == 0 /\ -i_94^post80+i_94^0 == 0 /\ ct_18^post80 <= 0 /\ ct_18^post80 == 0 /\ -temp_35^post80+temp_35^0 == 0 /\ -x_SLAM_f_19^post80+x_17^post80 <= 0 /\ x_14^post80-x_SLAM_f_19^post80 <= 0 /\ t_458^0-t_458^post80 == 0 /\ f_248^0-f_248^post80 == 0 /\ -a_902^post80+a_902^0 == 0 /\ a_239^0-a_239^post80 == 0 /\ head_15^0-x_14^post80 <= 0 /\ len_262^0-len_262^post80 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_20^post80 <= 0 /\ -r_970^post80+r_970^0 == 0 /\ -x_253^post80+x_253^0 == 0 /\ -len_238^post80+len_238^0 == 0 /\ -x_21^post80+x_14^post80 <= 0 /\ r_192^0-r_192^post80 == 0 /\ -length_29^post80+length_29^0 == 0 /\ a_610^0-a_610^post80 == 0 /\ -rcd_47^post80+rcd_47^0 == 0 /\ -ct_18^post80 <= 0 /\ f_969^0-f_969^post80 == 0), cost: 1 81: l52 -> l53 : a_1089^0'=a_1089^post81, f_847^0'=f_847^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, a_394^0'=a_394^post81, x_156^0'=x_156^post81, a_632^0'=a_632^post81, r_192^0'=r_192^post81, a_176^0'=a_176^post81, i_106^0'=i_106^post81, a_430^0'=a_430^post81, t_458^0'=t_458^post81, len_161^0'=len_161^post81, x_975^0'=x_975^post81, a_902^0'=a_902^post81, a_947^0'=a_947^post81, rcd_88^0'=rcd_88^post81, a_311^0'=a_311^post81, i_140^0'=i_140^post81, a_577^0'=a_577^post81, x_14^0'=x_14^post81, nondet_12^0'=nondet_12^post81, a_121^0'=a_121^post81, head_15^0'=head_15^post81, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post81, i_27^0'=i_27^post81, x_21^0'=x_21^post81, a_634^0'=a_634^post81, r_39^0'=r_39^post81, a_263^0'=a_263^post81, i_113^0'=i_113^post81, a_432^0'=a_432^post81, temp0_31^0'=temp0_31^post81, len_262^0'=len_262^post81, y_20^0'=y_20^post81, f_248^0'=f_248^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81, a_393^0'=a_393^post81, i_229^0'=i_229^post81, a_610^0'=a_610^post81, r_151^0'=r_151^post81, a_144^0'=a_144^post81, i_1053^0'=i_1053^post81, a_417^0'=a_417^post81, t_24^0'=t_24^post81, i_94^0'=i_94^post81, x_852^0'=x_852^post81, a_862^0'=a_862^post81, rcd_1249^0'=rcd_1249^post81, rcd_58^0'=rcd_58^post81, a_310^0'=a_310^post81, i_127^0'=i_127^post81, a_576^0'=a_576^post81, tmp_34^0'=tmp_34^post81, length_29^0'=length_29^post81, a_1162^0'=a_1162^post81, f_969^0'=f_969^post81, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post81, a_395^0'=a_395^post81, x_17^0'=x_17^post81, a_633^0'=a_633^post81, r_224^0'=r_224^post81, a_239^0'=a_239^post81, i_107^0'=i_107^post81, a_431^0'=a_431^post81, temp0_16^0'=temp0_16^post81, len_238^0'=len_238^post81, x_SLAM_f_19^0'=x_SLAM_f_19^post81, a_924^0'=a_924^post81, ct_18^0'=ct_18^post81, result_11^0'=result_11^post81, a_392^0'=a_392^post81, i_197^0'=i_197^post81, a_579^0'=a_579^post81, r_143^0'=r_143^post81, a_1236^0'=a_1236^post81, head_32^0'=head_32^post81, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post81, i_30^0'=i_30^post81, x_253^0'=x_253^post81, a_635^0'=a_635^post81, r_970^0'=r_970^post81, rcd_47^0'=rcd_47^post81, a_309^0'=a_309^post81, i_1248^0'=i_1248^post81, a_575^0'=a_575^post81, temp_35^0'=temp_35^post81, len_861^0'=len_861^post81, (a_610^0-a_610^post81 == 0 /\ r_39^0-r_39^post81 == 0 /\ head_15^0-head_15^post81 == 0 /\ -r_151^post81+r_151^0 == 0 /\ 1-x_14^0 <= 0 /\ a_633^0-a_633^post81 == 0 /\ x_21^0-x_21^post81 == 0 /\ ct_18^0-ct_18^post81 == 0 /\ a_1089^0-a_1089^post81 == 0 /\ r_192^0-r_192^post81 == 0 /\ -a_924^post81+a_924^0 == 0 /\ -len_238^post81+len_238^0 == 0 /\ nondet_12^0-nondet_12^post81 == 0 /\ -i_113^post81+i_113^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post81+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post81+a_1236^0 == 0 /\ -r_143^post81+r_143^0 == 0 /\ i_27^0-i_27^post81 == 0 /\ a_634^0-a_634^post81 == 0 /\ -x_253^post81+x_253^0 == 0 /\ -a_432^post81+a_432^0 == 0 /\ a_263^0-a_263^post81 == 0 /\ x_156^0-x_156^post81 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post81 == 0 /\ a_144^0-a_144^post81 == 0 /\ a_947^0-a_947^post81 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post81 == 0 /\ a_576^0-a_576^post81 == 0 /\ -length_29^post81+length_29^0 == 0 /\ -x_SLAM_f_19^post81+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post81 == 0 /\ -rcd_47^post81+rcd_47^0 == 0 /\ f_248^0-f_248^post81 == 0 /\ -i_94^post81+i_94^0 == 0 /\ rcd_58^0-rcd_58^post81 == 0 /\ -i_140^post81+i_140^0 == 0 /\ -a_431^post81+a_431^0 == 0 /\ -r_970^post81+r_970^0 == 0 /\ -len_861^post81+len_861^0 == 0 /\ a_632^0-a_632^post81 == 0 /\ -a_395^post81+a_395^0 == 0 /\ -head_32^post81+head_32^0 == 0 /\ -a_239^post81+a_239^0 == 0 /\ -temp0_16^post81+temp0_16^0 == 0 /\ rcd_1249^0-rcd_1249^post81 == 0 /\ -y_20^post81+y_20^0 == 0 /\ a_430^0-a_430^post81 == 0 /\ a_902^0-a_902^post81 == 0 /\ x_975^0-x_975^post81 == 0 /\ -i_106^post81+i_106^0 == 0 /\ -a_310^post81+a_310^0 == 0 /\ -t_458^post81+t_458^0 == 0 /\ -a_862^post81+a_862^0 == 0 /\ a_577^0-a_577^post81 == 0 /\ i_229^0-i_229^post81 == 0 /\ -r_224^post81+r_224^0 == 0 /\ f_969^0-f_969^post81 == 0 /\ -a_392^post81+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post81+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post81 == 0 /\ temp0_31^0-temp0_31^post81 == 0 /\ -a_575^post81+a_575^0 == 0 /\ -a_417^post81+a_417^0 == 0 /\ -t_24^post81+t_24^0 == 0 /\ len_161^0-len_161^post81 == 0 /\ -i_197^post81+i_197^0 == 0 /\ -a_309^post81+a_309^0 == 0 /\ -i_127^post81+i_127^0 == 0 /\ -a_579^post81+a_579^0 == 0 /\ x_17^0-x_17^post81 == 0 /\ -result_11^post81+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81 == 0 /\ a_121^0-a_121^post81 == 0 /\ len_262^0-len_262^post81 == 0 /\ a_394^0-a_394^post81 == 0 /\ -i_30^post81+i_30^0 == 0 /\ -a_393^post81+a_393^0 == 0 /\ -x_852^post81+x_852^0 == 0 /\ i_1053^0-i_1053^post81 == 0 /\ -a_635^post81+a_635^0 == 0 /\ rcd_88^0-rcd_88^post81 == 0 /\ a_176^0-a_176^post81 == 0 /\ a_311^0-a_311^post81 == 0 /\ f_847^0-f_847^post81 == 0 /\ -a_1162^post81+a_1162^0 == 0 /\ temp_35^0-temp_35^post81 == 0 /\ -i_1248^post81+i_1248^0 == 0 /\ -i_107^post81+i_107^0 == 0), cost: 1 82: l52 -> l53 : a_1089^0'=a_1089^post82, f_847^0'=f_847^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, a_394^0'=a_394^post82, x_156^0'=x_156^post82, a_632^0'=a_632^post82, r_192^0'=r_192^post82, a_176^0'=a_176^post82, i_106^0'=i_106^post82, a_430^0'=a_430^post82, t_458^0'=t_458^post82, len_161^0'=len_161^post82, x_975^0'=x_975^post82, a_902^0'=a_902^post82, a_947^0'=a_947^post82, rcd_88^0'=rcd_88^post82, a_311^0'=a_311^post82, i_140^0'=i_140^post82, a_577^0'=a_577^post82, x_14^0'=x_14^post82, nondet_12^0'=nondet_12^post82, a_121^0'=a_121^post82, head_15^0'=head_15^post82, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post82, i_27^0'=i_27^post82, x_21^0'=x_21^post82, a_634^0'=a_634^post82, r_39^0'=r_39^post82, a_263^0'=a_263^post82, i_113^0'=i_113^post82, a_432^0'=a_432^post82, temp0_31^0'=temp0_31^post82, len_262^0'=len_262^post82, y_20^0'=y_20^post82, f_248^0'=f_248^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82, a_393^0'=a_393^post82, i_229^0'=i_229^post82, a_610^0'=a_610^post82, r_151^0'=r_151^post82, a_144^0'=a_144^post82, i_1053^0'=i_1053^post82, a_417^0'=a_417^post82, t_24^0'=t_24^post82, i_94^0'=i_94^post82, x_852^0'=x_852^post82, a_862^0'=a_862^post82, rcd_1249^0'=rcd_1249^post82, rcd_58^0'=rcd_58^post82, a_310^0'=a_310^post82, i_127^0'=i_127^post82, a_576^0'=a_576^post82, tmp_34^0'=tmp_34^post82, length_29^0'=length_29^post82, a_1162^0'=a_1162^post82, f_969^0'=f_969^post82, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post82, a_395^0'=a_395^post82, x_17^0'=x_17^post82, a_633^0'=a_633^post82, r_224^0'=r_224^post82, a_239^0'=a_239^post82, i_107^0'=i_107^post82, a_431^0'=a_431^post82, temp0_16^0'=temp0_16^post82, len_238^0'=len_238^post82, x_SLAM_f_19^0'=x_SLAM_f_19^post82, a_924^0'=a_924^post82, ct_18^0'=ct_18^post82, result_11^0'=result_11^post82, a_392^0'=a_392^post82, i_197^0'=i_197^post82, a_579^0'=a_579^post82, r_143^0'=r_143^post82, a_1236^0'=a_1236^post82, head_32^0'=head_32^post82, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post82, i_30^0'=i_30^post82, x_253^0'=x_253^post82, a_635^0'=a_635^post82, r_970^0'=r_970^post82, rcd_47^0'=rcd_47^post82, a_309^0'=a_309^post82, i_1248^0'=i_1248^post82, a_575^0'=a_575^post82, temp_35^0'=temp_35^post82, len_861^0'=len_861^post82, (-i_1053^post82+i_1053^0 == 0 /\ len_161^0-len_161^post82 == 0 /\ -temp0_31^post82+temp0_31^0 == 0 /\ rcd_58^0-rcd_58^post82 == 0 /\ result_11^0-result_11^post82 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ a_263^0-a_263^post82 == 0 /\ t_24^0-t_24^post82 == 0 /\ -r_224^post82+r_224^0 == 0 /\ -a_395^post82+a_395^0 == 0 /\ -temp0_16^post82+temp0_16^0 == 0 /\ a_634^0-a_634^post82 == 0 /\ a_862^0-a_862^post82 == 0 /\ -r_39^post82+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post82+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post82+len_861^0 == 0 /\ a_947^0-a_947^post82 == 0 /\ -i_1248^post82+i_1248^0 == 0 /\ -head_32^post82+head_32^0 == 0 /\ -len_262^post82+len_262^0 == 0 /\ -i_197^post82+i_197^0 == 0 /\ a_176^0-a_176^post82 == 0 /\ -x_17^post82+x_17^0 == 0 /\ -a_579^post82+a_579^0 == 0 /\ -i_30^post82+i_30^0 == 0 /\ i_113^0-i_113^post82 == 0 /\ a_902^0-a_902^post82 == 0 /\ length_29^0-length_29^post82 == 0 /\ r_192^0-r_192^post82 == 0 /\ a_430^0-a_430^post82 == 0 /\ tmp_34^0-tmp_34^post82 == 0 /\ -i_107^post82+i_107^0 == 0 /\ f_248^0-f_248^post82 == 0 /\ head_15^0-head_15^post82 == 0 /\ -x_14^post82+x_14^0 == 0 /\ rcd_88^0-rcd_88^post82 == 0 /\ -a_575^post82+a_575^0 == 0 /\ a_311^0-a_311^post82 == 0 /\ x_156^0-x_156^post82 == 0 /\ -a_309^post82+a_309^0 == 0 /\ -a_635^post82+a_635^0 == 0 /\ a_1089^0-a_1089^post82 == 0 /\ a_432^0-a_432^post82 == 0 /\ a_632^0-a_632^post82 == 0 /\ -ct_18^post82+ct_18^0 == 0 /\ -a_1162^post82+a_1162^0 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ a_144^0-a_144^post82 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post82+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post82 == 0 /\ a_417^0-a_417^post82 == 0 /\ x_852^0-x_852^post82 == 0 /\ -rcd_1249^post82+rcd_1249^0 == 0 /\ a_576^0-a_576^post82 == 0 /\ f_847^0-f_847^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post82 == 0 /\ -a_924^post82+a_924^0 == 0 /\ a_394^0-a_394^post82 == 0 /\ -rcd_47^post82+rcd_47^0 == 0 /\ -r_143^post82+r_143^0 == 0 /\ -x_21^post82+x_21^0 == 0 /\ -len_238^post82+len_238^0 == 0 /\ y_20^0-y_20^post82 == 0 /\ r_151^0-r_151^post82 == 0 /\ a_610^0-a_610^post82 == 0 /\ t_458^0-t_458^post82 == 0 /\ -a_392^post82+a_392^0 == 0 /\ -x_SLAM_f_19^post82+x_SLAM_f_19^0 == 0 /\ a_577^0-a_577^post82 == 0 /\ i_106^0-i_106^post82 == 0 /\ x_975^0-x_975^post82 == 0 /\ -i_94^post82+i_94^0 == 0 /\ a_239^0-a_239^post82 == 0 /\ -r_970^post82+r_970^0 == 0 /\ 1+x_14^0 <= 0 /\ i_127^0-i_127^post82 == 0 /\ -a_1236^post82+a_1236^0 == 0 /\ a_393^0-a_393^post82 == 0 /\ -a_431^post82+a_431^0 == 0 /\ a_633^0-a_633^post82 == 0 /\ -a_121^post82+a_121^0 == 0 /\ i_27^0-i_27^post82 == 0 /\ f_969^0-f_969^post82 == 0 /\ -a_310^post82+a_310^0 == 0 /\ -i_229^post82+i_229^0 == 0 /\ -temp_35^post82+temp_35^0 == 0 /\ -x_253^post82+x_253^0 == 0), cost: 1 83: l53 -> l54 : a_1089^0'=a_1089^post83, f_847^0'=f_847^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, a_394^0'=a_394^post83, x_156^0'=x_156^post83, a_632^0'=a_632^post83, r_192^0'=r_192^post83, a_176^0'=a_176^post83, i_106^0'=i_106^post83, a_430^0'=a_430^post83, t_458^0'=t_458^post83, len_161^0'=len_161^post83, x_975^0'=x_975^post83, a_902^0'=a_902^post83, a_947^0'=a_947^post83, rcd_88^0'=rcd_88^post83, a_311^0'=a_311^post83, i_140^0'=i_140^post83, a_577^0'=a_577^post83, x_14^0'=x_14^post83, nondet_12^0'=nondet_12^post83, a_121^0'=a_121^post83, head_15^0'=head_15^post83, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post83, i_27^0'=i_27^post83, x_21^0'=x_21^post83, a_634^0'=a_634^post83, r_39^0'=r_39^post83, a_263^0'=a_263^post83, i_113^0'=i_113^post83, a_432^0'=a_432^post83, temp0_31^0'=temp0_31^post83, len_262^0'=len_262^post83, y_20^0'=y_20^post83, f_248^0'=f_248^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, a_393^0'=a_393^post83, i_229^0'=i_229^post83, a_610^0'=a_610^post83, r_151^0'=r_151^post83, a_144^0'=a_144^post83, i_1053^0'=i_1053^post83, a_417^0'=a_417^post83, t_24^0'=t_24^post83, i_94^0'=i_94^post83, x_852^0'=x_852^post83, a_862^0'=a_862^post83, rcd_1249^0'=rcd_1249^post83, rcd_58^0'=rcd_58^post83, a_310^0'=a_310^post83, i_127^0'=i_127^post83, a_576^0'=a_576^post83, tmp_34^0'=tmp_34^post83, length_29^0'=length_29^post83, a_1162^0'=a_1162^post83, f_969^0'=f_969^post83, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post83, a_395^0'=a_395^post83, x_17^0'=x_17^post83, a_633^0'=a_633^post83, r_224^0'=r_224^post83, a_239^0'=a_239^post83, i_107^0'=i_107^post83, a_431^0'=a_431^post83, temp0_16^0'=temp0_16^post83, len_238^0'=len_238^post83, x_SLAM_f_19^0'=x_SLAM_f_19^post83, a_924^0'=a_924^post83, ct_18^0'=ct_18^post83, result_11^0'=result_11^post83, a_392^0'=a_392^post83, i_197^0'=i_197^post83, a_579^0'=a_579^post83, r_143^0'=r_143^post83, a_1236^0'=a_1236^post83, head_32^0'=head_32^post83, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post83, i_30^0'=i_30^post83, x_253^0'=x_253^post83, a_635^0'=a_635^post83, r_970^0'=r_970^post83, rcd_47^0'=rcd_47^post83, a_309^0'=a_309^post83, i_1248^0'=i_1248^post83, a_575^0'=a_575^post83, temp_35^0'=temp_35^post83, len_861^0'=len_861^post83, (0 == 0 /\ -a_924^post83+a_924^0 == 0 /\ -rcd_47^post83+rcd_47^0 == 0 /\ -a_1162^post83+a_1162^0 == 0 /\ t_458^0-t_458^post83 == 0 /\ i_106^0-i_106^post83 == 0 /\ a_632^0-a_632^post83 == 0 /\ a_392^0-a_392^post83 == 0 /\ -len_238^post83+len_238^0 == 0 /\ a_610^0-a_610^post83 == 0 /\ a_311^0-a_311^post83 == 0 /\ a_902^0-a_902^post83 == 0 /\ -result_11^post83+result_11^0 == 0 /\ -x_253^post83+x_253^0 == 0 /\ -f_969^post83+f_969^0 == 0 /\ a_633^0-a_633^post83 == 0 /\ temp0_31^0-temp0_31^post83 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_432^post83+a_432^0 == 0 /\ -a_431^post83+a_431^0 == 0 /\ i_27^0 <= 0 /\ -r_970^post83+r_970^0 == 0 /\ -r_224^post83+r_224^0 == 0 /\ -i_113^post83+i_113^0 == 0 /\ -r_143^post83+r_143^0 == 0 /\ a_1089^0-a_1089^post83 == 0 /\ len_262^0-len_262^post83 == 0 /\ a_263^0-a_263^post83 == 0 /\ a_634^0-a_634^post83 == 0 /\ rcd_88^0-rcd_88^post83 == 0 /\ a_176^0-a_176^post83 == 0 /\ i_1053^0-i_1053^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post83 == 0 /\ a_417^0-a_417^post83 == 0 /\ tmp_34^0-tmp_34^post83 == 0 /\ -a_1236^post83+a_1236^0 == 0 /\ -temp_35^post83+temp_35^0 == 0 /\ -a_121^post83+a_121^0 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -y_20^post83+y_20^0 == 0 /\ x_975^0-x_975^post83 == 0 /\ -a_310^post83+a_310^0 == 0 /\ r_151^0-r_151^post83 == 0 /\ rcd_1249^0-rcd_1249^post83 == 0 /\ -i_229^post83+i_229^0 == 0 /\ f_248^0-f_248^post83 == 0 /\ -a_395^post83+a_395^0 == 0 /\ a_577^0-a_577^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post83+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -length_29^post83+length_29^0 == 0 /\ a_393^0-a_393^post83 == 0 /\ -temp0_16^post83+temp0_16^0 == 0 /\ -a_862^post83+a_862^0 == 0 /\ -r_39^post83+r_39^0 == 0 /\ -i_94^post83+i_94^0 == 0 /\ -i_1248^post83+i_1248^0 == 0 /\ len_161^0-len_161^post83 == 0 /\ r_192^0-r_192^post83 == 0 /\ -len_861^post83+len_861^0 == 0 /\ -a_579^post83+a_579^0 == 0 /\ -a_239^post83+a_239^0 == 0 /\ -head_32^post83+head_32^0 == 0 /\ -a_635^post83+a_635^0 == 0 /\ i_140^0-i_140^post83 == 0 /\ -i_127^post83+i_127^0 == 0 /\ -i_30^post83+i_30^0 == 0 /\ x_852^0-x_852^post83 == 0 /\ -t_24^post83+t_24^0 == 0 /\ -x_21^post83+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 == 0 /\ a_576^0-a_576^post83 == 0 /\ -i_197^post83+i_197^0 == 0 /\ -a_430^post83+a_430^0 == 0 /\ x_156^0-x_156^post83 == 0 /\ f_847^0-f_847^post83 == 0 /\ -a_144^post83+a_144^0 == 0 /\ a_394^0-a_394^post83 == 0 /\ rcd_58^0-rcd_58^post83 == 0 /\ a_947^0-a_947^post83 == 0 /\ -i_107^post83+i_107^0 == 0 /\ -a_575^post83+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post83 == 0 /\ -a_309^post83+a_309^0 == 0), cost: 1 84: l54 -> l55 : a_1089^0'=a_1089^post84, f_847^0'=f_847^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, a_394^0'=a_394^post84, x_156^0'=x_156^post84, a_632^0'=a_632^post84, r_192^0'=r_192^post84, a_176^0'=a_176^post84, i_106^0'=i_106^post84, a_430^0'=a_430^post84, t_458^0'=t_458^post84, len_161^0'=len_161^post84, x_975^0'=x_975^post84, a_902^0'=a_902^post84, a_947^0'=a_947^post84, rcd_88^0'=rcd_88^post84, a_311^0'=a_311^post84, i_140^0'=i_140^post84, a_577^0'=a_577^post84, x_14^0'=x_14^post84, nondet_12^0'=nondet_12^post84, a_121^0'=a_121^post84, head_15^0'=head_15^post84, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post84, i_27^0'=i_27^post84, x_21^0'=x_21^post84, a_634^0'=a_634^post84, r_39^0'=r_39^post84, a_263^0'=a_263^post84, i_113^0'=i_113^post84, a_432^0'=a_432^post84, temp0_31^0'=temp0_31^post84, len_262^0'=len_262^post84, y_20^0'=y_20^post84, f_248^0'=f_248^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, a_393^0'=a_393^post84, i_229^0'=i_229^post84, a_610^0'=a_610^post84, r_151^0'=r_151^post84, a_144^0'=a_144^post84, i_1053^0'=i_1053^post84, a_417^0'=a_417^post84, t_24^0'=t_24^post84, i_94^0'=i_94^post84, x_852^0'=x_852^post84, a_862^0'=a_862^post84, rcd_1249^0'=rcd_1249^post84, rcd_58^0'=rcd_58^post84, a_310^0'=a_310^post84, i_127^0'=i_127^post84, a_576^0'=a_576^post84, tmp_34^0'=tmp_34^post84, length_29^0'=length_29^post84, a_1162^0'=a_1162^post84, f_969^0'=f_969^post84, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post84, a_395^0'=a_395^post84, x_17^0'=x_17^post84, a_633^0'=a_633^post84, r_224^0'=r_224^post84, a_239^0'=a_239^post84, i_107^0'=i_107^post84, a_431^0'=a_431^post84, temp0_16^0'=temp0_16^post84, len_238^0'=len_238^post84, x_SLAM_f_19^0'=x_SLAM_f_19^post84, a_924^0'=a_924^post84, ct_18^0'=ct_18^post84, result_11^0'=result_11^post84, a_392^0'=a_392^post84, i_197^0'=i_197^post84, a_579^0'=a_579^post84, r_143^0'=r_143^post84, a_1236^0'=a_1236^post84, head_32^0'=head_32^post84, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post84, i_30^0'=i_30^post84, x_253^0'=x_253^post84, a_635^0'=a_635^post84, r_970^0'=r_970^post84, rcd_47^0'=rcd_47^post84, a_309^0'=a_309^post84, i_1248^0'=i_1248^post84, a_575^0'=a_575^post84, temp_35^0'=temp_35^post84, len_861^0'=len_861^post84, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post84+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 == 0 /\ -temp0_31^post84+temp0_31^0 == 0 /\ i_140^0-i_140^post84 == 0 /\ a_634^0-a_634^post84 == 0 /\ -r_39^post84+r_39^0 == 0 /\ a_579^0-a_579^post84 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post84 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post84 == 0 /\ -a_144^post84+a_144^0 == 0 /\ -i_1248^post84+i_1248^0 == 0 /\ -x_17^post84+x_17^0 == 0 /\ -head_32^post84+head_32^0 == 0 /\ -temp0_16^post84+temp0_16^0 == 0 /\ a_947^0-a_947^post84 == 0 /\ -len_861^post84+len_861^0 == 0 /\ y_20^0-y_20^post84 == 0 /\ -i_30^post84+i_30^0 == 0 /\ r_151^0-r_151^post84 == 0 /\ -len_262^post84+len_262^0 == 0 /\ -a_392^post84+a_392^0 == 0 /\ a_176^0-a_176^post84 == 0 /\ -x_21^post84+x_21^0 == 0 /\ -i_197^post84+i_197^0 == 0 /\ a_239^0-a_239^post84 == 0 /\ length_29^0-length_29^post84 == 0 /\ -len_238^post84+len_238^0 == 0 /\ -a_635^post84+a_635^0 == 0 /\ r_143^0-r_143^post84 == 0 /\ i_1053^0-i_1053^post84 == 0 /\ i_113^0-i_113^post84 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ rcd_88^0-rcd_88^post84 == 0 /\ -a_633^post84+a_633^0 == 0 /\ -a_575^post84+a_575^0 == 0 /\ -a_309^post84+a_309^0 == 0 /\ -i_127^post84+i_127^0 == 0 /\ t_24^0-t_24^post84 == 0 /\ -ct_18^post84+ct_18^0 == 0 /\ a_393^0-a_393^post84 == 0 /\ a_632^0-a_632^post84 == 0 /\ a_432^0-a_432^post84 == 0 /\ r_192^0-r_192^post84 == 0 /\ a_310^0-a_310^post84 == 0 /\ x_852^0-x_852^post84 == 0 /\ a_263^0-a_263^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ a_417^0-a_417^post84 == 0 /\ -x_975^post84+x_975^0 == 0 /\ -rcd_1249^post84+rcd_1249^0 == 0 /\ a_862^0-a_862^post84 == 0 /\ -a_1162^post84+a_1162^0 == 0 /\ len_161^0-len_161^post84 == 0 /\ -a_924^post84+a_924^0 == 0 /\ x_156^0-x_156^post84 == 0 /\ -a_431^post84+a_431^0 == 0 /\ i_229^0-i_229^post84 == 0 /\ -head_15^post84+head_15^0 == 0 /\ f_847^0-f_847^post84 == 0 /\ -tmp_34^post84+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84 == 0 /\ -a_610^post84+a_610^0 == 0 /\ a_394^0-a_394^post84 == 0 /\ -x_253^post84+x_253^0 == 0 /\ a_121^0-a_121^post84 == 0 /\ rcd_58^0-rcd_58^post84 == 0 /\ t_458^0-t_458^post84 == 0 /\ a_430^0-a_430^post84 == 0 /\ a_395^0-a_395^post84 == 0 /\ -f_248^post84+f_248^0 == 0 /\ -r_224^post84+r_224^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ -temp_35^post84+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post84 == 0 /\ a_311^0-a_311^post84 == 0 /\ a_902^0-a_902^post84 == 0 /\ i_106^0-i_106^post84 == 0 /\ -a_576^post84+a_576^0 == 0 /\ -r_970^post84+r_970^0 == 0 /\ -f_969^post84+f_969^0 == 0 /\ i_107^0-i_107^post84 == 0 /\ rcd_47^0-rcd_47^post84 == 0 /\ a_577^0-a_577^post84 == 0 /\ x_14^0-x_14^post84 == 0 /\ -a_1236^post84+a_1236^0 == 0 /\ i_27^0-i_27^post84 == 0 /\ a_1089^0-a_1089^post84 == 0), cost: 1 85: l54 -> l55 : a_1089^0'=a_1089^post85, f_847^0'=f_847^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, a_394^0'=a_394^post85, x_156^0'=x_156^post85, a_632^0'=a_632^post85, r_192^0'=r_192^post85, a_176^0'=a_176^post85, i_106^0'=i_106^post85, a_430^0'=a_430^post85, t_458^0'=t_458^post85, len_161^0'=len_161^post85, x_975^0'=x_975^post85, a_902^0'=a_902^post85, a_947^0'=a_947^post85, rcd_88^0'=rcd_88^post85, a_311^0'=a_311^post85, i_140^0'=i_140^post85, a_577^0'=a_577^post85, x_14^0'=x_14^post85, nondet_12^0'=nondet_12^post85, a_121^0'=a_121^post85, head_15^0'=head_15^post85, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post85, i_27^0'=i_27^post85, x_21^0'=x_21^post85, a_634^0'=a_634^post85, r_39^0'=r_39^post85, a_263^0'=a_263^post85, i_113^0'=i_113^post85, a_432^0'=a_432^post85, temp0_31^0'=temp0_31^post85, len_262^0'=len_262^post85, y_20^0'=y_20^post85, f_248^0'=f_248^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, a_393^0'=a_393^post85, i_229^0'=i_229^post85, a_610^0'=a_610^post85, r_151^0'=r_151^post85, a_144^0'=a_144^post85, i_1053^0'=i_1053^post85, a_417^0'=a_417^post85, t_24^0'=t_24^post85, i_94^0'=i_94^post85, x_852^0'=x_852^post85, a_862^0'=a_862^post85, rcd_1249^0'=rcd_1249^post85, rcd_58^0'=rcd_58^post85, a_310^0'=a_310^post85, i_127^0'=i_127^post85, a_576^0'=a_576^post85, tmp_34^0'=tmp_34^post85, length_29^0'=length_29^post85, a_1162^0'=a_1162^post85, f_969^0'=f_969^post85, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post85, a_395^0'=a_395^post85, x_17^0'=x_17^post85, a_633^0'=a_633^post85, r_224^0'=r_224^post85, a_239^0'=a_239^post85, i_107^0'=i_107^post85, a_431^0'=a_431^post85, temp0_16^0'=temp0_16^post85, len_238^0'=len_238^post85, x_SLAM_f_19^0'=x_SLAM_f_19^post85, a_924^0'=a_924^post85, ct_18^0'=ct_18^post85, result_11^0'=result_11^post85, a_392^0'=a_392^post85, i_197^0'=i_197^post85, a_579^0'=a_579^post85, r_143^0'=r_143^post85, a_1236^0'=a_1236^post85, head_32^0'=head_32^post85, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post85, i_30^0'=i_30^post85, x_253^0'=x_253^post85, a_635^0'=a_635^post85, r_970^0'=r_970^post85, rcd_47^0'=rcd_47^post85, a_309^0'=a_309^post85, i_1248^0'=i_1248^post85, a_575^0'=a_575^post85, temp_35^0'=temp_35^post85, len_861^0'=len_861^post85, (a_577^0-a_577^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ -a_633^post85+a_633^0 == 0 /\ a_392^0-a_392^post85 == 0 /\ -a_1162^post85+a_1162^0 == 0 /\ -rcd_1249^post85+rcd_1249^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_632^0-a_632^post85 == 0 /\ i_106^0-i_106^post85 == 0 /\ len_161^0-len_161^post85 == 0 /\ -f_969^post85+f_969^0 == 0 /\ -x_852^post85+x_852^0 == 0 /\ -rcd_47^post85+rcd_47^0 == 0 /\ -head_15^post85+head_15^0 == 0 /\ -a_924^post85+a_924^0 == 0 /\ -r_970^post85+r_970^0 == 0 /\ t_458^0-t_458^post85 == 0 /\ -a_610^post85+a_610^0 == 0 /\ a_1089^0-a_1089^post85 == 0 /\ -len_238^post85+len_238^0 == 0 /\ -i_1248^post85+i_1248^0 == 0 /\ -a_239^post85+a_239^0 == 0 /\ -a_311^post85+a_311^0 == 0 /\ -x_SLAM_f_19^post85+x_SLAM_f_19^0 == 0 /\ a_579^0-a_579^post85 == 0 /\ y_20^0-y_20^post85 == 0 /\ -r_143^post85+r_143^0 == 0 /\ f_847^0-f_847^post85 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post85 == 0 /\ x_21^0-x_21^post85 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ a_862^0-a_862^post85 == 0 /\ -x_253^post85+x_253^0 == 0 /\ temp0_31^0-temp0_31^post85 == 0 /\ i_1053^0-i_1053^post85 == 0 /\ -temp_35^post85+temp_35^0 == 0 /\ -a_634^post85+a_634^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ -f_248^post85+f_248^0 == 0 /\ i_94^0-i_94^post85 == 0 /\ a_121^0-a_121^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post85+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_576^post85+a_576^0 == 0 /\ len_262^0-len_262^post85 == 0 /\ a_394^0-a_394^post85 == 0 /\ -a_1236^post85+a_1236^0 == 0 /\ -a_417^post85+a_417^0 == 0 /\ -i_27^post85+i_27^0 == 0 /\ r_192^0-r_192^post85 == 0 /\ a_395^0-a_395^post85 == 0 /\ i_113^0-i_113^post85 == 0 /\ -a_309^post85+a_309^0 == 0 /\ -a_310^post85+a_310^0 == 0 /\ -a_176^post85+a_176^0 == 0 /\ -x_17^post85+x_17^0 == 0 /\ x_14^0-x_14^post85 == 0 /\ t_24^0-t_24^post85 == 0 /\ -i_30^post85+i_30^0 == 0 /\ -a_635^post85+a_635^0 == 0 /\ -length_29^post85+length_29^0 == 0 /\ -a_430^post85+a_430^0 == 0 /\ a_393^0-a_393^post85 == 0 /\ -r_224^post85+r_224^0 == 0 /\ r_39^0-r_39^post85 == 0 /\ -len_861^post85+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -temp0_16^post85+temp0_16^0 == 0 /\ i_229^0-i_229^post85 == 0 /\ a_432^0-a_432^post85 == 0 /\ -head_32^post85+head_32^0 == 0 /\ a_263^0-a_263^post85 == 0 /\ x_156^0-x_156^post85 == 0 /\ -ct_18^post85+ct_18^0 == 0 /\ nondet_12^0-nondet_12^post85 == 0 /\ -r_151^post85+r_151^0 == 0 /\ -i_197^post85+i_197^0 == 0 /\ i_140^0-i_140^post85 == 0 /\ -i_127^post85+i_127^0 == 0 /\ a_431^0-a_431^post85 == 0 /\ -a_144^post85+a_144^0 == 0 /\ a_947^0-a_947^post85 == 0 /\ -i_107^post85+i_107^0 == 0 /\ a_902^0-a_902^post85 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post85 == 0 /\ x_975^0-x_975^post85 == 0 /\ -a_575^post85+a_575^0 == 0 /\ rcd_58^0-rcd_58^post85 == 0 /\ tmp_34^0-tmp_34^post85 == 0), cost: 1 86: l55 -> l56 : a_1089^0'=a_1089^post86, f_847^0'=f_847^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, a_394^0'=a_394^post86, x_156^0'=x_156^post86, a_632^0'=a_632^post86, r_192^0'=r_192^post86, a_176^0'=a_176^post86, i_106^0'=i_106^post86, a_430^0'=a_430^post86, t_458^0'=t_458^post86, len_161^0'=len_161^post86, x_975^0'=x_975^post86, a_902^0'=a_902^post86, a_947^0'=a_947^post86, rcd_88^0'=rcd_88^post86, a_311^0'=a_311^post86, i_140^0'=i_140^post86, a_577^0'=a_577^post86, x_14^0'=x_14^post86, nondet_12^0'=nondet_12^post86, a_121^0'=a_121^post86, head_15^0'=head_15^post86, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post86, i_27^0'=i_27^post86, x_21^0'=x_21^post86, a_634^0'=a_634^post86, r_39^0'=r_39^post86, a_263^0'=a_263^post86, i_113^0'=i_113^post86, a_432^0'=a_432^post86, temp0_31^0'=temp0_31^post86, len_262^0'=len_262^post86, y_20^0'=y_20^post86, f_248^0'=f_248^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, a_393^0'=a_393^post86, i_229^0'=i_229^post86, a_610^0'=a_610^post86, r_151^0'=r_151^post86, a_144^0'=a_144^post86, i_1053^0'=i_1053^post86, a_417^0'=a_417^post86, t_24^0'=t_24^post86, i_94^0'=i_94^post86, x_852^0'=x_852^post86, a_862^0'=a_862^post86, rcd_1249^0'=rcd_1249^post86, rcd_58^0'=rcd_58^post86, a_310^0'=a_310^post86, i_127^0'=i_127^post86, a_576^0'=a_576^post86, tmp_34^0'=tmp_34^post86, length_29^0'=length_29^post86, a_1162^0'=a_1162^post86, f_969^0'=f_969^post86, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post86, a_395^0'=a_395^post86, x_17^0'=x_17^post86, a_633^0'=a_633^post86, r_224^0'=r_224^post86, a_239^0'=a_239^post86, i_107^0'=i_107^post86, a_431^0'=a_431^post86, temp0_16^0'=temp0_16^post86, len_238^0'=len_238^post86, x_SLAM_f_19^0'=x_SLAM_f_19^post86, a_924^0'=a_924^post86, ct_18^0'=ct_18^post86, result_11^0'=result_11^post86, a_392^0'=a_392^post86, i_197^0'=i_197^post86, a_579^0'=a_579^post86, r_143^0'=r_143^post86, a_1236^0'=a_1236^post86, head_32^0'=head_32^post86, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post86, i_30^0'=i_30^post86, x_253^0'=x_253^post86, a_635^0'=a_635^post86, r_970^0'=r_970^post86, rcd_47^0'=rcd_47^post86, a_309^0'=a_309^post86, i_1248^0'=i_1248^post86, a_575^0'=a_575^post86, temp_35^0'=temp_35^post86, len_861^0'=len_861^post86, (x_21^0-x_21^post86 == 0 /\ a_1162^0-a_1162^post86 == 0 /\ -a_309^post86+a_309^0 == 0 /\ -a_144^post86+a_144^0 == 0 /\ -x_14^0+t_24^post86 <= 0 /\ -a_392^post86+a_392^0 == 0 /\ a_579^0-a_579^post86 == 0 /\ -i_30^post86+i_30^0 == 0 /\ -i_107^post86+i_107^0 == 0 /\ i_197^0-i_197^post86 == 0 /\ -a_1236^post86+a_1236^0 == 0 /\ -a_575^post86+a_575^0 == 0 /\ i_140^0-i_140^post86 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post86 == 0 /\ a_924^0-a_924^post86 == 0 /\ -a_635^post86+a_635^0 == 0 /\ -len_262^post86+len_262^0 == 0 /\ i_94^0-i_94^post86 == 0 /\ a_394^0-a_394^post86 == 0 /\ -x_17^post86+x_17^0 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ a_417^0-a_417^post86 == 0 /\ x_975^0-x_975^post86 == 0 /\ -i_27^post86+i_27^0 == 0 /\ y_20^0-y_20^post86 == 0 /\ r_151^0-r_151^post86 == 0 /\ a_577^0-a_577^post86 == 0 /\ -ct_18^post86+ct_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_14^0-t_24^post86 <= 0 /\ r_39^0-r_39^post86 == 0 /\ x_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post86+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post86 == 0 /\ -a_633^post86+a_633^0 == 0 /\ -head_32^post86+head_32^0 == 0 /\ -x_852^post86+x_852^0 == 0 /\ i_106^0-i_106^post86 == 0 /\ y_20^0 <= 0 /\ -i_127^post86+i_127^0 == 0 /\ a_393^0-a_393^post86 == 0 /\ x_14^0-x_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ a_310^0-a_310^post86 == 0 /\ x_156^0-x_156^post86 == 0 /\ -x_253^post86+x_253^0 == 0 /\ -f_969^post86+f_969^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -a_634^post86+a_634^0 == 0 /\ a_263^0-a_263^post86 == 0 /\ f_847^0-f_847^post86 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post86+a_610^0 == 0 /\ -temp_35^post86+temp_35^0 == 0 /\ a_862^0-a_862^post86 == 0 /\ -rcd_1249^post86+rcd_1249^0 == 0 /\ i_229^0-i_229^post86 == 0 /\ -y_20^0 <= 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ r_224^0-r_224^post86 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -len_238^post86+len_238^0 == 0 /\ a_947^0-a_947^post86 == 0 /\ -result_11^post86+result_11^0 == 0 /\ -head_15^post86+head_15^0 == 0 /\ f_248^0-f_248^post86 == 0 /\ r_970^0-r_970^post86 == 0 /\ -rcd_58^post86+rcd_58^0 == 0 /\ a_176^0-a_176^post86 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ a_121^0-a_121^post86 == 0 /\ r_192^0-r_192^post86 == 0 /\ -i_1053^post86+i_1053^0 == 0 /\ i_113^0-i_113^post86 == 0 /\ a_311^0-a_311^post86 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -i_1248^post86+i_1248^0 == 0 /\ -x_21^0 <= 0 /\ -len_161^post86+len_161^0 == 0 /\ a_902^0-a_902^post86 == 0 /\ -len_861^post86+len_861^0 == 0 /\ -a_239^post86+a_239^0 == 0 /\ -ct_18^0 <= 0 /\ -a_395^post86+a_395^0 == 0 /\ rcd_88^0-rcd_88^post86 == 0 /\ length_29^0-length_29^post86 == 0 /\ -temp0_16^post86+temp0_16^0 == 0 /\ rcd_47^0-rcd_47^post86 == 0 /\ -a_431^post86+a_431^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -a_576^post86+a_576^0 == 0 /\ a_1089^0-a_1089^post86 == 0 /\ x_14^0-x_14^post86 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post86+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_430^0-a_430^post86 == 0 /\ -r_143^post86+r_143^0 == 0 /\ -x_21^0+t_24^post86 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ -head_15^0+x_17^0 <= 0 /\ a_432^0-a_432^post86 == 0 /\ a_632^0-a_632^post86 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0), cost: 1 87: l56 -> l57 : a_1089^0'=a_1089^post87, f_847^0'=f_847^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, a_394^0'=a_394^post87, x_156^0'=x_156^post87, a_632^0'=a_632^post87, r_192^0'=r_192^post87, a_176^0'=a_176^post87, i_106^0'=i_106^post87, a_430^0'=a_430^post87, t_458^0'=t_458^post87, len_161^0'=len_161^post87, x_975^0'=x_975^post87, a_902^0'=a_902^post87, a_947^0'=a_947^post87, rcd_88^0'=rcd_88^post87, a_311^0'=a_311^post87, i_140^0'=i_140^post87, a_577^0'=a_577^post87, x_14^0'=x_14^post87, nondet_12^0'=nondet_12^post87, a_121^0'=a_121^post87, head_15^0'=head_15^post87, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post87, i_27^0'=i_27^post87, x_21^0'=x_21^post87, a_634^0'=a_634^post87, r_39^0'=r_39^post87, a_263^0'=a_263^post87, i_113^0'=i_113^post87, a_432^0'=a_432^post87, temp0_31^0'=temp0_31^post87, len_262^0'=len_262^post87, y_20^0'=y_20^post87, f_248^0'=f_248^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, a_393^0'=a_393^post87, i_229^0'=i_229^post87, a_610^0'=a_610^post87, r_151^0'=r_151^post87, a_144^0'=a_144^post87, i_1053^0'=i_1053^post87, a_417^0'=a_417^post87, t_24^0'=t_24^post87, i_94^0'=i_94^post87, x_852^0'=x_852^post87, a_862^0'=a_862^post87, rcd_1249^0'=rcd_1249^post87, rcd_58^0'=rcd_58^post87, a_310^0'=a_310^post87, i_127^0'=i_127^post87, a_576^0'=a_576^post87, tmp_34^0'=tmp_34^post87, length_29^0'=length_29^post87, a_1162^0'=a_1162^post87, f_969^0'=f_969^post87, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post87, a_395^0'=a_395^post87, x_17^0'=x_17^post87, a_633^0'=a_633^post87, r_224^0'=r_224^post87, a_239^0'=a_239^post87, i_107^0'=i_107^post87, a_431^0'=a_431^post87, temp0_16^0'=temp0_16^post87, len_238^0'=len_238^post87, x_SLAM_f_19^0'=x_SLAM_f_19^post87, a_924^0'=a_924^post87, ct_18^0'=ct_18^post87, result_11^0'=result_11^post87, a_392^0'=a_392^post87, i_197^0'=i_197^post87, a_579^0'=a_579^post87, r_143^0'=r_143^post87, a_1236^0'=a_1236^post87, head_32^0'=head_32^post87, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post87, i_30^0'=i_30^post87, x_253^0'=x_253^post87, a_635^0'=a_635^post87, r_970^0'=r_970^post87, rcd_47^0'=rcd_47^post87, a_309^0'=a_309^post87, i_1248^0'=i_1248^post87, a_575^0'=a_575^post87, temp_35^0'=temp_35^post87, len_861^0'=len_861^post87, (a_577^0-a_577^post87 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_263^post87+a_263^0 == 0 /\ -t_24^post87+t_24^0 == 0 /\ a_947^0-a_947^post87 == 0 /\ -a_579^post87+a_579^0 == 0 /\ -x_253^post87+x_253^0 == 0 /\ -result_11^post87+result_11^0 == 0 /\ -a_924^post87+a_924^0 == 0 /\ x_14^0-x_14^post87 == 0 /\ i_106^0-i_106^post87 == 0 /\ 1-x_14^0 <= 0 /\ -x_852^post87+x_852^0 == 0 /\ rcd_1249^0-rcd_1249^post87 == 0 /\ len_161^0-len_161^post87 == 0 /\ a_430^0-a_430^post87 == 0 /\ -f_969^post87+f_969^0 == 0 /\ -r_970^post87+r_970^0 == 0 /\ -a_431^post87+a_431^0 == 0 /\ -y_20^post87+y_20^0 == 0 /\ a_632^0-a_632^post87 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post87+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_239^post87+a_239^0 == 0 /\ -tmp_34^post87+tmp_34^0 == 0 /\ x_21^0-x_21^post87 == 0 /\ x_156^0-x_156^post87 == 0 /\ -a_395^post87+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post87+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_229^0-i_229^post87 == 0 /\ f_847^0-f_847^post87 == 0 /\ a_432^0-a_432^post87 == 0 /\ i_197^0-i_197^post87 == 0 /\ a_1162^0-a_1162^post87 == 0 /\ -r_143^post87+r_143^0 == 0 /\ i_94^0-i_94^post87 == 0 /\ -r_224^post87+r_224^0 == 0 /\ -temp_35^post87+temp_35^0 == 0 /\ a_176^0-a_176^post87 == 0 /\ -a_634^post87+a_634^0 == 0 /\ -i_1053^post87+i_1053^0 == 0 /\ head_15^0-head_15^post87 == 0 /\ a_394^0-a_394^post87 == 0 /\ i_127^0-i_127^post87 == 0 /\ -i_27^post87+i_27^0 == 0 /\ -a_393^post87+a_393^0 == 0 /\ -a_576^post87+a_576^0 == 0 /\ -a_1236^post87+a_1236^0 == 0 /\ i_113^0-i_113^post87 == 0 /\ a_1089^0-a_1089^post87 == 0 /\ r_192^0-r_192^post87 == 0 /\ a_310^0-a_310^post87 == 0 /\ -i_30^post87+i_30^0 == 0 /\ -a_392^post87+a_392^0 == 0 /\ -a_417^post87+a_417^0 == 0 /\ i_140^0-i_140^post87 == 0 /\ -temp0_16^post87+temp0_16^0 == 0 /\ i_107^0-i_107^post87 == 0 /\ -len_861^post87+len_861^0 == 0 /\ r_39^0-r_39^post87 == 0 /\ a_311^0-a_311^post87 == 0 /\ -a_635^post87+a_635^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post87 == 0 /\ rcd_88^0-rcd_88^post87 == 0 /\ -x_SLAM_f_19^post87+x_SLAM_f_19^0 == 0 /\ -ct_18^post87+ct_18^0 == 0 /\ i_1248^0-i_1248^post87 == 0 /\ -len_238^post87+len_238^0 == 0 /\ -length_29^post87+length_29^0 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ -a_633^post87+a_633^0 == 0 /\ -rcd_58^post87+rcd_58^0 == 0 /\ -rcd_47^post87+rcd_47^0 == 0 /\ temp0_31^0-temp0_31^post87 == 0 /\ -a_575^post87+a_575^0 == 0 /\ -a_862^post87+a_862^0 == 0 /\ f_248^0-f_248^post87 == 0 /\ a_610^0-a_610^post87 == 0 /\ a_121^0-a_121^post87 == 0 /\ -t_458^post87+t_458^0 == 0 /\ len_262^0-len_262^post87 == 0 /\ -r_151^post87+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post87+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post87+a_309^0 == 0 /\ x_17^0-x_17^post87 == 0 /\ a_144^0-a_144^post87 == 0 /\ -a_902^post87+a_902^0 == 0 /\ x_975^0-x_975^post87 == 0 /\ -head_32^post87+head_32^0 == 0), cost: 1 88: l56 -> l57 : a_1089^0'=a_1089^post88, f_847^0'=f_847^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, a_394^0'=a_394^post88, x_156^0'=x_156^post88, a_632^0'=a_632^post88, r_192^0'=r_192^post88, a_176^0'=a_176^post88, i_106^0'=i_106^post88, a_430^0'=a_430^post88, t_458^0'=t_458^post88, len_161^0'=len_161^post88, x_975^0'=x_975^post88, a_902^0'=a_902^post88, a_947^0'=a_947^post88, rcd_88^0'=rcd_88^post88, a_311^0'=a_311^post88, i_140^0'=i_140^post88, a_577^0'=a_577^post88, x_14^0'=x_14^post88, nondet_12^0'=nondet_12^post88, a_121^0'=a_121^post88, head_15^0'=head_15^post88, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post88, i_27^0'=i_27^post88, x_21^0'=x_21^post88, a_634^0'=a_634^post88, r_39^0'=r_39^post88, a_263^0'=a_263^post88, i_113^0'=i_113^post88, a_432^0'=a_432^post88, temp0_31^0'=temp0_31^post88, len_262^0'=len_262^post88, y_20^0'=y_20^post88, f_248^0'=f_248^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, a_393^0'=a_393^post88, i_229^0'=i_229^post88, a_610^0'=a_610^post88, r_151^0'=r_151^post88, a_144^0'=a_144^post88, i_1053^0'=i_1053^post88, a_417^0'=a_417^post88, t_24^0'=t_24^post88, i_94^0'=i_94^post88, x_852^0'=x_852^post88, a_862^0'=a_862^post88, rcd_1249^0'=rcd_1249^post88, rcd_58^0'=rcd_58^post88, a_310^0'=a_310^post88, i_127^0'=i_127^post88, a_576^0'=a_576^post88, tmp_34^0'=tmp_34^post88, length_29^0'=length_29^post88, a_1162^0'=a_1162^post88, f_969^0'=f_969^post88, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post88, a_395^0'=a_395^post88, x_17^0'=x_17^post88, a_633^0'=a_633^post88, r_224^0'=r_224^post88, a_239^0'=a_239^post88, i_107^0'=i_107^post88, a_431^0'=a_431^post88, temp0_16^0'=temp0_16^post88, len_238^0'=len_238^post88, x_SLAM_f_19^0'=x_SLAM_f_19^post88, a_924^0'=a_924^post88, ct_18^0'=ct_18^post88, result_11^0'=result_11^post88, a_392^0'=a_392^post88, i_197^0'=i_197^post88, a_579^0'=a_579^post88, r_143^0'=r_143^post88, a_1236^0'=a_1236^post88, head_32^0'=head_32^post88, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post88, i_30^0'=i_30^post88, x_253^0'=x_253^post88, a_635^0'=a_635^post88, r_970^0'=r_970^post88, rcd_47^0'=rcd_47^post88, a_309^0'=a_309^post88, i_1248^0'=i_1248^post88, a_575^0'=a_575^post88, temp_35^0'=temp_35^post88, len_861^0'=len_861^post88, (f_847^0-f_847^post88 == 0 /\ -a_392^post88+a_392^0 == 0 /\ a_263^0-a_263^post88 == 0 /\ -r_143^post88+r_143^0 == 0 /\ -i_30^post88+i_30^0 == 0 /\ -a_635^post88+a_635^0 == 0 /\ -a_144^post88+a_144^0 == 0 /\ i_197^0-i_197^post88 == 0 /\ x_21^0-x_21^post88 == 0 /\ -i_107^post88+i_107^0 == 0 /\ -i_94^post88+i_94^0 == 0 /\ -i_113^post88+i_113^0 == 0 /\ -a_575^post88+a_575^0 == 0 /\ head_15^0-head_15^post88 == 0 /\ -a_1236^post88+a_1236^0 == 0 /\ a_924^0-a_924^post88 == 0 /\ -a_417^post88+a_417^0 == 0 /\ nondet_12^0-nondet_12^post88 == 0 /\ -a_309^post88+a_309^0 == 0 /\ -x_SLAM_f_19^post88+x_SLAM_f_19^0 == 0 /\ -a_432^post88+a_432^0 == 0 /\ a_121^0-a_121^post88 == 0 /\ ct_18^0-ct_18^post88 == 0 /\ x_17^0-x_17^post88 == 0 /\ i_127^0-i_127^post88 == 0 /\ -rcd_58^post88+rcd_58^0 == 0 /\ -length_29^post88+length_29^0 == 0 /\ a_947^0-a_947^post88 == 0 /\ -rcd_47^post88+rcd_47^0 == 0 /\ i_27^0-i_27^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post88+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post88+len_238^0 == 0 /\ r_39^0-r_39^post88 == 0 /\ t_458^0-t_458^post88 == 0 /\ x_14^0-x_14^post88 == 0 /\ -a_579^post88+a_579^0 == 0 /\ -head_32^post88+head_32^0 == 0 /\ a_430^0-a_430^post88 == 0 /\ -a_633^post88+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post88 == 0 /\ i_106^0-i_106^post88 == 0 /\ -a_862^post88+a_862^0 == 0 /\ -r_151^post88+r_151^0 == 0 /\ a_1089^0-a_1089^post88 == 0 /\ a_576^0-a_576^post88 == 0 /\ -temp_35^post88+temp_35^0 == 0 /\ -x_852^post88+x_852^0 == 0 /\ x_156^0-x_156^post88 == 0 /\ a_632^0-a_632^post88 == 0 /\ i_140^0-i_140^post88 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post88+r_970^0 == 0 /\ f_248^0-f_248^post88 == 0 /\ r_224^0-r_224^post88 == 0 /\ a_902^0-a_902^post88 == 0 /\ a_431^0-a_431^post88 == 0 /\ x_975^0-x_975^post88 == 0 /\ len_262^0-len_262^post88 == 0 /\ temp0_31^0-temp0_31^post88 == 0 /\ a_577^0-a_577^post88 == 0 /\ -y_20^post88+y_20^0 == 0 /\ i_229^0-i_229^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ a_634^0-a_634^post88 == 0 /\ -x_253^post88+x_253^0 == 0 /\ a_394^0-a_394^post88 == 0 /\ -a_1162^post88+a_1162^0 == 0 /\ -temp0_16^post88+temp0_16^0 == 0 /\ a_610^0-a_610^post88 == 0 /\ -len_861^post88+len_861^0 == 0 /\ r_192^0-r_192^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post88+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_969^0-f_969^post88 == 0 /\ -i_1053^post88+i_1053^0 == 0 /\ -a_395^post88+a_395^0 == 0 /\ -i_1248^post88+i_1248^0 == 0 /\ a_176^0-a_176^post88 == 0 /\ 1+x_14^0 <= 0 /\ t_24^0-t_24^post88 == 0 /\ -a_239^post88+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post88+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post88+result_11^0 == 0 /\ len_161^0-len_161^post88 == 0 /\ a_310^0-a_310^post88 == 0 /\ -rcd_1249^post88+rcd_1249^0 == 0 /\ rcd_88^0-rcd_88^post88 == 0 /\ a_311^0-a_311^post88 == 0 /\ -a_393^post88+a_393^0 == 0), cost: 1 89: l57 -> l58 : a_1089^0'=a_1089^post89, f_847^0'=f_847^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, a_394^0'=a_394^post89, x_156^0'=x_156^post89, a_632^0'=a_632^post89, r_192^0'=r_192^post89, a_176^0'=a_176^post89, i_106^0'=i_106^post89, a_430^0'=a_430^post89, t_458^0'=t_458^post89, len_161^0'=len_161^post89, x_975^0'=x_975^post89, a_902^0'=a_902^post89, a_947^0'=a_947^post89, rcd_88^0'=rcd_88^post89, a_311^0'=a_311^post89, i_140^0'=i_140^post89, a_577^0'=a_577^post89, x_14^0'=x_14^post89, nondet_12^0'=nondet_12^post89, a_121^0'=a_121^post89, head_15^0'=head_15^post89, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post89, i_27^0'=i_27^post89, x_21^0'=x_21^post89, a_634^0'=a_634^post89, r_39^0'=r_39^post89, a_263^0'=a_263^post89, i_113^0'=i_113^post89, a_432^0'=a_432^post89, temp0_31^0'=temp0_31^post89, len_262^0'=len_262^post89, y_20^0'=y_20^post89, f_248^0'=f_248^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89, a_393^0'=a_393^post89, i_229^0'=i_229^post89, a_610^0'=a_610^post89, r_151^0'=r_151^post89, a_144^0'=a_144^post89, i_1053^0'=i_1053^post89, a_417^0'=a_417^post89, t_24^0'=t_24^post89, i_94^0'=i_94^post89, x_852^0'=x_852^post89, a_862^0'=a_862^post89, rcd_1249^0'=rcd_1249^post89, rcd_58^0'=rcd_58^post89, a_310^0'=a_310^post89, i_127^0'=i_127^post89, a_576^0'=a_576^post89, tmp_34^0'=tmp_34^post89, length_29^0'=length_29^post89, a_1162^0'=a_1162^post89, f_969^0'=f_969^post89, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post89, a_395^0'=a_395^post89, x_17^0'=x_17^post89, a_633^0'=a_633^post89, r_224^0'=r_224^post89, a_239^0'=a_239^post89, i_107^0'=i_107^post89, a_431^0'=a_431^post89, temp0_16^0'=temp0_16^post89, len_238^0'=len_238^post89, x_SLAM_f_19^0'=x_SLAM_f_19^post89, a_924^0'=a_924^post89, ct_18^0'=ct_18^post89, result_11^0'=result_11^post89, a_392^0'=a_392^post89, i_197^0'=i_197^post89, a_579^0'=a_579^post89, r_143^0'=r_143^post89, a_1236^0'=a_1236^post89, head_32^0'=head_32^post89, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post89, i_30^0'=i_30^post89, x_253^0'=x_253^post89, a_635^0'=a_635^post89, r_970^0'=r_970^post89, rcd_47^0'=rcd_47^post89, a_309^0'=a_309^post89, i_1248^0'=i_1248^post89, a_575^0'=a_575^post89, temp_35^0'=temp_35^post89, len_861^0'=len_861^post89, (-a_431^post89+a_431^0 == 0 /\ -result_11^post89+result_11^0 == 0 /\ -r_970^post89+r_970^0 == 0 /\ a_176^0-a_176^post89 == 0 /\ ct_18^0-ct_18^post89 == 0 /\ r_192^0-r_192^post89 == 0 /\ -temp_35^post89+temp_35^0 == 0 /\ -i_197^post89+i_197^0 == 0 /\ rcd_58^0-rcd_58^post89 == 0 /\ -a_579^post89+a_579^0 == 0 /\ -x_253^post89+x_253^0 == 0 /\ -y_20^post89+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post89 == 0 /\ rcd_1249^0-rcd_1249^post89 == 0 /\ -a_263^post89+a_263^0 == 0 /\ x_14^0-x_14^post89 == 0 /\ i_27^0-i_27^post89 == 0 /\ -t_24^post89+t_24^0 == 0 /\ len_161^0-len_161^post89 == 0 /\ -a_395^post89+a_395^0 == 0 /\ r_39^0-r_39^post89 == 0 /\ -x_852^post89+x_852^0 == 0 /\ -a_924^post89+a_924^0 == 0 /\ i_229^0-i_229^post89 == 0 /\ a_432^0-a_432^post89 == 0 /\ -i_1248^post89+i_1248^0 == 0 /\ -a_239^post89+a_239^0 == 0 /\ a_430^0-a_430^post89 == 0 /\ tmp_34^0-tmp_34^post89 == 0 /\ -a_1162^post89+a_1162^0 == 0 /\ f_248^0-f_248^post89 == 0 /\ -i_1053^post89+i_1053^0 == 0 /\ -i_30^post89+i_30^0 == 0 /\ nondet_12^0-nondet_12^post89 == 0 /\ a_634^0-a_634^post89 == 0 /\ x_156^0-x_156^post89 == 0 /\ a_144^0-a_144^post89 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post89+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_113^0-i_113^post89 == 0 /\ -r_224^post89+r_224^0 == 0 /\ a_947^0-a_947^post89 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post89+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp0_16^post89+temp0_16^0 == 0 /\ -len_861^post89+len_861^0 == 0 /\ head_15^0-head_15^post89 == 0 /\ -a_576^post89+a_576^0 == 0 /\ rcd_88^0-rcd_88^post89 == 0 /\ -a_393^post89+a_393^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89 == 0 /\ -r_143^post89+r_143^0 == 0 /\ a_610^0-a_610^post89 == 0 /\ -a_309^post89+a_309^0 == 0 /\ -length_29^post89+length_29^0 == 0 /\ i_140^0-i_140^post89 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post89+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post89+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post89 == 0 /\ -i_107^post89+i_107^0 == 0 /\ a_311^0-a_311^post89 == 0 /\ a_1089^0-a_1089^post89 == 0 /\ -a_417^post89+a_417^0 == 0 /\ a_635^0-a_635^post89 == 0 /\ -a_1236^post89+a_1236^0 == 0 /\ -len_238^post89+len_238^0 == 0 /\ -rcd_47^post89+rcd_47^0 == 0 /\ -t_458^post89+t_458^0 == 0 /\ f_847^0-f_847^post89 == 0 /\ -a_310^post89+a_310^0 == 0 /\ -i_106^post89+i_106^0 == 0 /\ x_21^0-x_21^post89 == 0 /\ f_969^0-f_969^post89 == 0 /\ temp0_31^0-temp0_31^post89 == 0 /\ x_975^0-x_975^post89 == 0 /\ a_121^0-a_121^post89 == 0 /\ i_94^0-i_94^post89 == 0 /\ -r_151^post89+r_151^0 == 0 /\ -a_392^post89+a_392^0 == 0 /\ -a_862^post89+a_862^0 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ len_262^0-len_262^post89 == 0 /\ a_394^0-a_394^post89 == 0 /\ -head_32^post89+head_32^0 == 0 /\ i_127^0-i_127^post89 == 0 /\ -a_902^post89+a_902^0 == 0 /\ x_17^0-x_17^post89 == 0 /\ a_633^0-a_633^post89 == 0 /\ a_575^0-a_575^post89 == 0 /\ a_577^0-a_577^post89 == 0), cost: 1 90: l57 -> l58 : a_1089^0'=a_1089^post90, f_847^0'=f_847^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, a_394^0'=a_394^post90, x_156^0'=x_156^post90, a_632^0'=a_632^post90, r_192^0'=r_192^post90, a_176^0'=a_176^post90, i_106^0'=i_106^post90, a_430^0'=a_430^post90, t_458^0'=t_458^post90, len_161^0'=len_161^post90, x_975^0'=x_975^post90, a_902^0'=a_902^post90, a_947^0'=a_947^post90, rcd_88^0'=rcd_88^post90, a_311^0'=a_311^post90, i_140^0'=i_140^post90, a_577^0'=a_577^post90, x_14^0'=x_14^post90, nondet_12^0'=nondet_12^post90, a_121^0'=a_121^post90, head_15^0'=head_15^post90, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post90, i_27^0'=i_27^post90, x_21^0'=x_21^post90, a_634^0'=a_634^post90, r_39^0'=r_39^post90, a_263^0'=a_263^post90, i_113^0'=i_113^post90, a_432^0'=a_432^post90, temp0_31^0'=temp0_31^post90, len_262^0'=len_262^post90, y_20^0'=y_20^post90, f_248^0'=f_248^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, a_393^0'=a_393^post90, i_229^0'=i_229^post90, a_610^0'=a_610^post90, r_151^0'=r_151^post90, a_144^0'=a_144^post90, i_1053^0'=i_1053^post90, a_417^0'=a_417^post90, t_24^0'=t_24^post90, i_94^0'=i_94^post90, x_852^0'=x_852^post90, a_862^0'=a_862^post90, rcd_1249^0'=rcd_1249^post90, rcd_58^0'=rcd_58^post90, a_310^0'=a_310^post90, i_127^0'=i_127^post90, a_576^0'=a_576^post90, tmp_34^0'=tmp_34^post90, length_29^0'=length_29^post90, a_1162^0'=a_1162^post90, f_969^0'=f_969^post90, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post90, a_395^0'=a_395^post90, x_17^0'=x_17^post90, a_633^0'=a_633^post90, r_224^0'=r_224^post90, a_239^0'=a_239^post90, i_107^0'=i_107^post90, a_431^0'=a_431^post90, temp0_16^0'=temp0_16^post90, len_238^0'=len_238^post90, x_SLAM_f_19^0'=x_SLAM_f_19^post90, a_924^0'=a_924^post90, ct_18^0'=ct_18^post90, result_11^0'=result_11^post90, a_392^0'=a_392^post90, i_197^0'=i_197^post90, a_579^0'=a_579^post90, r_143^0'=r_143^post90, a_1236^0'=a_1236^post90, head_32^0'=head_32^post90, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post90, i_30^0'=i_30^post90, x_253^0'=x_253^post90, a_635^0'=a_635^post90, r_970^0'=r_970^post90, rcd_47^0'=rcd_47^post90, a_309^0'=a_309^post90, i_1248^0'=i_1248^post90, a_575^0'=a_575^post90, temp_35^0'=temp_35^post90, len_861^0'=len_861^post90, (-i_94^post90+i_94^0 == 0 /\ -a_309^post90+a_309^0 == 0 /\ f_847^0-f_847^post90 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post90 == 0 /\ a_393^0-a_393^post90 == 0 /\ -x_SLAM_f_19^post90+x_SLAM_f_19^0 == 0 /\ -a_392^post90+a_392^0 == 0 /\ -i_107^post90+i_107^0 == 0 /\ a_432^0-a_432^post90 == 0 /\ -a_576^post90+a_576^0 == 0 /\ -i_30^post90+i_30^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ -a_575^post90+a_575^0 == 0 /\ y_20^0-y_20^post90 == 0 /\ r_151^0-r_151^post90 == 0 /\ -a_1236^post90+a_1236^0 == 0 /\ a_144^0-a_144^post90 == 0 /\ -a_635^post90+a_635^0 == 0 /\ x_21^0-x_21^post90 == 0 /\ x_975^0-x_975^post90 == 0 /\ -a_417^post90+a_417^0 == 0 /\ i_113^0-i_113^post90 == 0 /\ a_310^0-a_310^post90 == 0 /\ r_143^0-r_143^post90 == 0 /\ -temp0_31^post90+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 == 0 /\ -rcd_47^post90+rcd_47^0 == 0 /\ i_27^0-i_27^post90 == 0 /\ -ct_18^post90+ct_18^0 == 0 /\ -a_610^post90+a_610^0 == 0 /\ len_161^0-len_161^post90 == 0 /\ a_579^0-a_579^post90 == 0 /\ -head_32^post90+head_32^0 == 0 /\ r_39^0-r_39^post90 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 == 0 /\ -a_633^post90+a_633^0 == 0 /\ t_458^0-t_458^post90 == 0 /\ i_140^0-i_140^post90 == 0 /\ i_106^0-i_106^post90 == 0 /\ t_24^0-t_24^post90 == 0 /\ -len_238^post90+len_238^0 == 0 /\ -i_197^post90+i_197^0 == 0 /\ -len_262^post90+len_262^0 == 0 /\ x_156^0-x_156^post90 == 0 /\ -f_969^post90+f_969^0 == 0 /\ a_632^0-a_632^post90 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ -i_127^post90+i_127^0 == 0 /\ -head_15^post90+head_15^0 == 0 /\ -a_924^post90+a_924^0 == 0 /\ x_253^0-x_253^post90 == 0 /\ -temp_35^post90+temp_35^0 == 0 /\ a_902^0-a_902^post90 == 0 /\ -r_970^post90+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post90 == 0 /\ a_121^0-a_121^post90 == 0 /\ rcd_58^0-rcd_58^post90 == 0 /\ -f_248^post90+f_248^0 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ a_239^0-a_239^post90 == 0 /\ i_229^0-i_229^post90 == 0 /\ a_394^0-a_394^post90 == 0 /\ a_634^0-a_634^post90 == 0 /\ -a_431^post90+a_431^0 == 0 /\ -a_1162^post90+a_1162^0 == 0 /\ a_862^0-a_862^post90 == 0 /\ a_577^0-a_577^post90 == 0 /\ -i_1248^post90+i_1248^0 == 0 /\ a_1089^0-a_1089^post90 == 0 /\ -tmp_34^post90+tmp_34^0 == 0 /\ x_14^0-x_14^post90 == 0 /\ i_1053^0-i_1053^post90 == 0 /\ -r_224^post90+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post90+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_192^0-r_192^post90 == 0 /\ -len_861^post90+len_861^0 == 0 /\ a_176^0-a_176^post90 == 0 /\ -temp0_16^post90+temp0_16^0 == 0 /\ x_852^0-x_852^post90 == 0 /\ length_29^0-length_29^post90 == 0 /\ -rcd_1249^post90+rcd_1249^0 == 0 /\ -a_947^post90+a_947^0 == 0 /\ a_395^0-a_395^post90 == 0 /\ a_263^0-a_263^post90 == 0 /\ a_430^0-a_430^post90 == 0 /\ -x_17^post90+x_17^0 == 0 /\ rcd_88^0-rcd_88^post90 == 0 /\ a_311^0-a_311^post90 == 0), cost: 1 91: l58 -> l59 : a_1089^0'=a_1089^post91, f_847^0'=f_847^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, a_394^0'=a_394^post91, x_156^0'=x_156^post91, a_632^0'=a_632^post91, r_192^0'=r_192^post91, a_176^0'=a_176^post91, i_106^0'=i_106^post91, a_430^0'=a_430^post91, t_458^0'=t_458^post91, len_161^0'=len_161^post91, x_975^0'=x_975^post91, a_902^0'=a_902^post91, a_947^0'=a_947^post91, rcd_88^0'=rcd_88^post91, a_311^0'=a_311^post91, i_140^0'=i_140^post91, a_577^0'=a_577^post91, x_14^0'=x_14^post91, nondet_12^0'=nondet_12^post91, a_121^0'=a_121^post91, head_15^0'=head_15^post91, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post91, i_27^0'=i_27^post91, x_21^0'=x_21^post91, a_634^0'=a_634^post91, r_39^0'=r_39^post91, a_263^0'=a_263^post91, i_113^0'=i_113^post91, a_432^0'=a_432^post91, temp0_31^0'=temp0_31^post91, len_262^0'=len_262^post91, y_20^0'=y_20^post91, f_248^0'=f_248^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, a_393^0'=a_393^post91, i_229^0'=i_229^post91, a_610^0'=a_610^post91, r_151^0'=r_151^post91, a_144^0'=a_144^post91, i_1053^0'=i_1053^post91, a_417^0'=a_417^post91, t_24^0'=t_24^post91, i_94^0'=i_94^post91, x_852^0'=x_852^post91, a_862^0'=a_862^post91, rcd_1249^0'=rcd_1249^post91, rcd_58^0'=rcd_58^post91, a_310^0'=a_310^post91, i_127^0'=i_127^post91, a_576^0'=a_576^post91, tmp_34^0'=tmp_34^post91, length_29^0'=length_29^post91, a_1162^0'=a_1162^post91, f_969^0'=f_969^post91, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post91, a_395^0'=a_395^post91, x_17^0'=x_17^post91, a_633^0'=a_633^post91, r_224^0'=r_224^post91, a_239^0'=a_239^post91, i_107^0'=i_107^post91, a_431^0'=a_431^post91, temp0_16^0'=temp0_16^post91, len_238^0'=len_238^post91, x_SLAM_f_19^0'=x_SLAM_f_19^post91, a_924^0'=a_924^post91, ct_18^0'=ct_18^post91, result_11^0'=result_11^post91, a_392^0'=a_392^post91, i_197^0'=i_197^post91, a_579^0'=a_579^post91, r_143^0'=r_143^post91, a_1236^0'=a_1236^post91, head_32^0'=head_32^post91, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post91, i_30^0'=i_30^post91, x_253^0'=x_253^post91, a_635^0'=a_635^post91, r_970^0'=r_970^post91, rcd_47^0'=rcd_47^post91, a_309^0'=a_309^post91, i_1248^0'=i_1248^post91, a_575^0'=a_575^post91, temp_35^0'=temp_35^post91, len_861^0'=len_861^post91, (0 == 0 /\ -rcd_58^post91+rcd_58^0 == 0 /\ -r_151^post91+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post91 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post91+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_161^0-len_161^post91 == 0 /\ -r_39^post91+r_39^0 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ -a_239^post91+a_239^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ f_847^0-f_847^post91 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ -temp0_16^post91+temp0_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_11^post91-temp0_16^0 == 0 /\ a_634^0-a_634^post91 == 0 /\ -head_32^post91+head_32^0 == 0 /\ -i_197^post91+i_197^0 == 0 /\ i_94^0-i_94^post91 == 0 /\ len_262^0-len_262^post91 == 0 /\ a_394^0-a_394^post91 == 0 /\ i_127^0-i_127^post91 == 0 /\ -x_253^post91+x_253^0 == 0 /\ a_176^0-a_176^post91 == 0 /\ a_902^0-a_902^post91 == 0 /\ a_417^0-a_417^post91 == 0 /\ a_947^0-a_947^post91 == 0 /\ i_113^0-i_113^post91 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_610^post91+a_610^0 == 0 /\ i_27^0 <= 0 /\ -length_29^post91+length_29^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ a_1089^0-a_1089^post91 == 0 /\ -a_309^post91+a_309^0 == 0 /\ -a_924^post91+a_924^0 == 0 /\ a_430^0-a_430^post91 == 0 /\ -a_862^post91+a_862^0 == 0 /\ -a_310^post91+a_310^0 == 0 /\ a_577^0-a_577^post91 == 0 /\ -rcd_47^post91+rcd_47^0 == 0 /\ -r_224^post91+r_224^0 == 0 /\ -a_395^post91+a_395^0 == 0 /\ -i_1053^post91+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 == 0 /\ a_1162^0-a_1162^post91 == 0 /\ -len_861^post91+len_861^0 == 0 /\ -f_248^post91+f_248^0 == 0 /\ x_156^0-x_156^post91 == 0 /\ -a_635^post91+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post91 == 0 /\ a_576^0-a_576^post91 == 0 /\ a_1236^0-a_1236^post91 == 0 /\ -i_1248^post91+i_1248^0 == 0 /\ x_852^0-x_852^post91 == 0 /\ -i_107^post91+i_107^0 == 0 /\ a_432^0-a_432^post91 == 0 /\ -a_575^post91+a_575^0 == 0 /\ -a_311^post91+a_311^0 == 0 /\ -a_263^post91+a_263^0 == 0 /\ -r_143^post91+r_143^0 == 0 /\ -a_431^post91+a_431^0 == 0 /\ temp0_31^0-temp0_31^post91 == 0 /\ head_15^0-head_15^post91 == 0 /\ i_229^0-i_229^post91 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post91+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_30^post91+i_30^0 == 0 /\ len_238^0-len_238^post91 == 0 /\ i_106^0-i_106^post91 == 0 /\ -a_392^post91+a_392^0 == 0 /\ -a_579^post91+a_579^0 == 0 /\ x_975^0-x_975^post91 == 0 /\ a_121^0-a_121^post91 == 0 /\ t_458^0-t_458^post91 == 0 /\ i_140^0-i_140^post91 == 0 /\ -a_393^post91+a_393^0 == 0 /\ -temp_35^post91+temp_35^0 == 0 /\ -a_633^post91+a_633^0 == 0 /\ a_144^0-a_144^post91 == 0 /\ a_632^0-a_632^post91 == 0 /\ rcd_88^0-rcd_88^post91 == 0 /\ -f_969^post91+f_969^0 == 0 /\ r_192^0-r_192^post91 == 0 /\ -r_970^post91+r_970^0 == 0), cost: 1 92: l59 -> l60 : a_1089^0'=a_1089^post92, f_847^0'=f_847^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, a_394^0'=a_394^post92, x_156^0'=x_156^post92, a_632^0'=a_632^post92, r_192^0'=r_192^post92, a_176^0'=a_176^post92, i_106^0'=i_106^post92, a_430^0'=a_430^post92, t_458^0'=t_458^post92, len_161^0'=len_161^post92, x_975^0'=x_975^post92, a_902^0'=a_902^post92, a_947^0'=a_947^post92, rcd_88^0'=rcd_88^post92, a_311^0'=a_311^post92, i_140^0'=i_140^post92, a_577^0'=a_577^post92, x_14^0'=x_14^post92, nondet_12^0'=nondet_12^post92, a_121^0'=a_121^post92, head_15^0'=head_15^post92, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post92, i_27^0'=i_27^post92, x_21^0'=x_21^post92, a_634^0'=a_634^post92, r_39^0'=r_39^post92, a_263^0'=a_263^post92, i_113^0'=i_113^post92, a_432^0'=a_432^post92, temp0_31^0'=temp0_31^post92, len_262^0'=len_262^post92, y_20^0'=y_20^post92, f_248^0'=f_248^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, a_393^0'=a_393^post92, i_229^0'=i_229^post92, a_610^0'=a_610^post92, r_151^0'=r_151^post92, a_144^0'=a_144^post92, i_1053^0'=i_1053^post92, a_417^0'=a_417^post92, t_24^0'=t_24^post92, i_94^0'=i_94^post92, x_852^0'=x_852^post92, a_862^0'=a_862^post92, rcd_1249^0'=rcd_1249^post92, rcd_58^0'=rcd_58^post92, a_310^0'=a_310^post92, i_127^0'=i_127^post92, a_576^0'=a_576^post92, tmp_34^0'=tmp_34^post92, length_29^0'=length_29^post92, a_1162^0'=a_1162^post92, f_969^0'=f_969^post92, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post92, a_395^0'=a_395^post92, x_17^0'=x_17^post92, a_633^0'=a_633^post92, r_224^0'=r_224^post92, a_239^0'=a_239^post92, i_107^0'=i_107^post92, a_431^0'=a_431^post92, temp0_16^0'=temp0_16^post92, len_238^0'=len_238^post92, x_SLAM_f_19^0'=x_SLAM_f_19^post92, a_924^0'=a_924^post92, ct_18^0'=ct_18^post92, result_11^0'=result_11^post92, a_392^0'=a_392^post92, i_197^0'=i_197^post92, a_579^0'=a_579^post92, r_143^0'=r_143^post92, a_1236^0'=a_1236^post92, head_32^0'=head_32^post92, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post92, i_30^0'=i_30^post92, x_253^0'=x_253^post92, a_635^0'=a_635^post92, r_970^0'=r_970^post92, rcd_47^0'=rcd_47^post92, a_309^0'=a_309^post92, i_1248^0'=i_1248^post92, a_575^0'=a_575^post92, temp_35^0'=temp_35^post92, len_861^0'=len_861^post92, (-head_32^post92+head_32^0 == 0 /\ -x_852^post92+x_852^0 == 0 /\ -y_20^post92+y_20^0 == 0 /\ i_27^0-i_27^post92 == 0 /\ -i_229^post92+i_229^0 == 0 /\ a_176^0-a_176^post92 == 0 /\ -r_970^post92+r_970^0 == 0 /\ -i_197^post92+i_197^0 == 0 /\ a_1089^0-a_1089^post92 == 0 /\ -a_395^post92+a_395^0 == 0 /\ -r_224^post92+r_224^0 == 0 /\ -a_579^post92+a_579^0 == 0 /\ 1-x_14^0 <= 0 /\ r_39^0-r_39^post92 == 0 /\ -rcd_58^post92+rcd_58^0 == 0 /\ a_576^0-a_576^post92 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post92 == 0 /\ rcd_88^0-rcd_88^post92 == 0 /\ a_311^0-a_311^post92 == 0 /\ -ct_18^post92+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post92 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post92+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post92+a_862^0 == 0 /\ -temp_35^post92+temp_35^0 == 0 /\ -a_263^post92+a_263^0 == 0 /\ i_106^0-i_106^post92 == 0 /\ f_248^0-f_248^post92 == 0 /\ tmp_34^0-tmp_34^post92 == 0 /\ a_632^0-a_632^post92 == 0 /\ a_924^0-a_924^post92 == 0 /\ t_458^0-t_458^post92 == 0 /\ -x_17^post92+x_17^0 == 0 /\ -a_393^post92+a_393^0 == 0 /\ -t_24^post92+t_24^0 == 0 /\ nondet_12^0-nondet_12^post92 == 0 /\ -i_1248^post92+i_1248^0 == 0 /\ x_975^0-x_975^post92 == 0 /\ -a_239^post92+a_239^0 == 0 /\ -result_11^post92+result_11^0 == 0 /\ a_1236^0-a_1236^post92 == 0 /\ -len_861^post92+len_861^0 == 0 /\ a_634^0-a_634^post92 == 0 /\ -i_1053^post92+i_1053^0 == 0 /\ -i_30^post92+i_30^0 == 0 /\ a_610^0-a_610^post92 == 0 /\ temp0_31^0-temp0_31^post92 == 0 /\ x_14^0-x_14^post92 == 0 /\ -r_143^post92+r_143^0 == 0 /\ -a_635^post92+a_635^0 == 0 /\ a_394^0-a_394^post92 == 0 /\ a_121^0-a_121^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ len_262^0-len_262^post92 == 0 /\ a_947^0-a_947^post92 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post92+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_430^0-a_430^post92 == 0 /\ -a_417^post92+a_417^0 == 0 /\ -a_309^post92+a_309^0 == 0 /\ len_238^0-len_238^post92 == 0 /\ len_161^0-len_161^post92 == 0 /\ -i_107^post92+i_107^0 == 0 /\ -a_575^post92+a_575^0 == 0 /\ -i_113^post92+i_113^0 == 0 /\ f_847^0-f_847^post92 == 0 /\ rcd_1249^0-rcd_1249^post92 == 0 /\ head_15^0-head_15^post92 == 0 /\ temp0_16^0-temp0_16^post92 == 0 /\ r_151^0-r_151^post92 == 0 /\ -a_432^post92+a_432^0 == 0 /\ -a_431^post92+a_431^0 == 0 /\ a_902^0-a_902^post92 == 0 /\ -a_392^post92+a_392^0 == 0 /\ i_127^0-i_127^post92 == 0 /\ -x_SLAM_f_19^post92+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post92 == 0 /\ x_21^0-x_21^post92 == 0 /\ -length_29^post92+length_29^0 == 0 /\ -f_969^post92+f_969^0 == 0 /\ a_144^0-a_144^post92 == 0 /\ a_1162^0-a_1162^post92 == 0 /\ -rcd_47^post92+rcd_47^0 == 0 /\ a_577^0-a_577^post92 == 0 /\ a_633^0-a_633^post92 == 0 /\ -x_253^post92+x_253^0 == 0 /\ -a_310^post92+a_310^0 == 0 /\ x_156^0-x_156^post92 == 0 /\ i_94^0-i_94^post92 == 0 /\ -i_140^post92+i_140^0 == 0), cost: 1 93: l59 -> l60 : a_1089^0'=a_1089^post93, f_847^0'=f_847^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, a_394^0'=a_394^post93, x_156^0'=x_156^post93, a_632^0'=a_632^post93, r_192^0'=r_192^post93, a_176^0'=a_176^post93, i_106^0'=i_106^post93, a_430^0'=a_430^post93, t_458^0'=t_458^post93, len_161^0'=len_161^post93, x_975^0'=x_975^post93, a_902^0'=a_902^post93, a_947^0'=a_947^post93, rcd_88^0'=rcd_88^post93, a_311^0'=a_311^post93, i_140^0'=i_140^post93, a_577^0'=a_577^post93, x_14^0'=x_14^post93, nondet_12^0'=nondet_12^post93, a_121^0'=a_121^post93, head_15^0'=head_15^post93, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post93, i_27^0'=i_27^post93, x_21^0'=x_21^post93, a_634^0'=a_634^post93, r_39^0'=r_39^post93, a_263^0'=a_263^post93, i_113^0'=i_113^post93, a_432^0'=a_432^post93, temp0_31^0'=temp0_31^post93, len_262^0'=len_262^post93, y_20^0'=y_20^post93, f_248^0'=f_248^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, a_393^0'=a_393^post93, i_229^0'=i_229^post93, a_610^0'=a_610^post93, r_151^0'=r_151^post93, a_144^0'=a_144^post93, i_1053^0'=i_1053^post93, a_417^0'=a_417^post93, t_24^0'=t_24^post93, i_94^0'=i_94^post93, x_852^0'=x_852^post93, a_862^0'=a_862^post93, rcd_1249^0'=rcd_1249^post93, rcd_58^0'=rcd_58^post93, a_310^0'=a_310^post93, i_127^0'=i_127^post93, a_576^0'=a_576^post93, tmp_34^0'=tmp_34^post93, length_29^0'=length_29^post93, a_1162^0'=a_1162^post93, f_969^0'=f_969^post93, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post93, a_395^0'=a_395^post93, x_17^0'=x_17^post93, a_633^0'=a_633^post93, r_224^0'=r_224^post93, a_239^0'=a_239^post93, i_107^0'=i_107^post93, a_431^0'=a_431^post93, temp0_16^0'=temp0_16^post93, len_238^0'=len_238^post93, x_SLAM_f_19^0'=x_SLAM_f_19^post93, a_924^0'=a_924^post93, ct_18^0'=ct_18^post93, result_11^0'=result_11^post93, a_392^0'=a_392^post93, i_197^0'=i_197^post93, a_579^0'=a_579^post93, r_143^0'=r_143^post93, a_1236^0'=a_1236^post93, head_32^0'=head_32^post93, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post93, i_30^0'=i_30^post93, x_253^0'=x_253^post93, a_635^0'=a_635^post93, r_970^0'=r_970^post93, rcd_47^0'=rcd_47^post93, a_309^0'=a_309^post93, i_1248^0'=i_1248^post93, a_575^0'=a_575^post93, temp_35^0'=temp_35^post93, len_861^0'=len_861^post93, (a_632^0-a_632^post93 == 0 /\ i_106^0-i_106^post93 == 0 /\ -x_SLAM_f_19^post93+x_SLAM_f_19^0 == 0 /\ a_430^0-a_430^post93 == 0 /\ -r_151^post93+r_151^0 == 0 /\ a_902^0-a_902^post93 == 0 /\ x_975^0-x_975^post93 == 0 /\ f_248^0-f_248^post93 == 0 /\ t_458^0-t_458^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post93+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_107^post93+i_107^0 == 0 /\ i_127^0-i_127^post93 == 0 /\ -a_575^post93+a_575^0 == 0 /\ f_969^0-f_969^post93 == 0 /\ -r_143^post93+r_143^0 == 0 /\ result_11^0-result_11^post93 == 0 /\ temp0_31^0-temp0_31^post93 == 0 /\ len_161^0-len_161^post93 == 0 /\ -i_113^post93+i_113^0 == 0 /\ -a_862^post93+a_862^0 == 0 /\ -a_432^post93+a_432^0 == 0 /\ len_262^0-len_262^post93 == 0 /\ a_394^0-a_394^post93 == 0 /\ -temp_35^post93+temp_35^0 == 0 /\ x_852^0-x_852^post93 == 0 /\ -r_970^post93+r_970^0 == 0 /\ rcd_88^0-rcd_88^post93 == 0 /\ -x_253^post93+x_253^0 == 0 /\ -rcd_47^post93+rcd_47^0 == 0 /\ -y_20^post93+y_20^0 == 0 /\ -i_140^post93+i_140^0 == 0 /\ a_176^0-a_176^post93 == 0 /\ -a_392^post93+a_392^0 == 0 /\ f_847^0-f_847^post93 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_310^post93+a_310^0 == 0 /\ rcd_1249^0-rcd_1249^post93 == 0 /\ length_29^0-length_29^post93 == 0 /\ -i_94^post93+i_94^0 == 0 /\ -a_1236^post93+a_1236^0 == 0 /\ temp0_16^0-temp0_16^post93 == 0 /\ -a_577^post93+a_577^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post93 == 0 /\ -i_1248^post93+i_1248^0 == 0 /\ head_15^0-head_15^post93 == 0 /\ -head_32^post93+head_32^0 == 0 /\ -rcd_58^post93+rcd_58^0 == 0 /\ -t_24^post93+t_24^0 == 0 /\ -a_579^post93+a_579^0 == 0 /\ a_393^0-a_393^post93 == 0 /\ -ct_18^post93+ct_18^0 == 0 /\ -i_229^post93+i_229^0 == 0 /\ a_239^0-a_239^post93 == 0 /\ -r_39^post93+r_39^0 == 0 /\ -a_431^post93+a_431^0 == 0 /\ x_156^0-x_156^post93 == 0 /\ -a_263^post93+a_263^0 == 0 /\ a_610^0-a_610^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post93+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ nondet_12^0-nondet_12^post93 == 0 /\ -a_395^post93+a_395^0 == 0 /\ a_144^0-a_144^post93 == 0 /\ -i_197^post93+i_197^0 == 0 /\ r_192^0-r_192^post93 == 0 /\ a_633^0-a_633^post93 == 0 /\ -a_924^post93+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 == 0 /\ x_17^0-x_17^post93 == 0 /\ -a_309^post93+a_309^0 == 0 /\ a_1089^0-a_1089^post93 == 0 /\ len_238^0-len_238^post93 == 0 /\ a_634^0-a_634^post93 == 0 /\ i_27^0-i_27^post93 == 0 /\ a_947^0-a_947^post93 == 0 /\ -x_21^post93+x_21^0 == 0 /\ x_14^0-x_14^post93 == 0 /\ a_121^0-a_121^post93 == 0 /\ -tmp_34^post93+tmp_34^0 == 0 /\ a_417^0-a_417^post93 == 0 /\ a_311^0-a_311^post93 == 0 /\ 1+x_14^0 <= 0 /\ -a_635^post93+a_635^0 == 0 /\ a_576^0-a_576^post93 == 0 /\ -i_30^post93+i_30^0 == 0 /\ -i_1053^post93+i_1053^0 == 0 /\ -r_224^post93+r_224^0 == 0 /\ -len_861^post93+len_861^0 == 0 /\ -a_1162^post93+a_1162^0 == 0), cost: 1 94: l60 -> l50 : a_1089^0'=a_1089^post94, f_847^0'=f_847^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, a_394^0'=a_394^post94, x_156^0'=x_156^post94, a_632^0'=a_632^post94, r_192^0'=r_192^post94, a_176^0'=a_176^post94, i_106^0'=i_106^post94, a_430^0'=a_430^post94, t_458^0'=t_458^post94, len_161^0'=len_161^post94, x_975^0'=x_975^post94, a_902^0'=a_902^post94, a_947^0'=a_947^post94, rcd_88^0'=rcd_88^post94, a_311^0'=a_311^post94, i_140^0'=i_140^post94, a_577^0'=a_577^post94, x_14^0'=x_14^post94, nondet_12^0'=nondet_12^post94, a_121^0'=a_121^post94, head_15^0'=head_15^post94, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post94, i_27^0'=i_27^post94, x_21^0'=x_21^post94, a_634^0'=a_634^post94, r_39^0'=r_39^post94, a_263^0'=a_263^post94, i_113^0'=i_113^post94, a_432^0'=a_432^post94, temp0_31^0'=temp0_31^post94, len_262^0'=len_262^post94, y_20^0'=y_20^post94, f_248^0'=f_248^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, a_393^0'=a_393^post94, i_229^0'=i_229^post94, a_610^0'=a_610^post94, r_151^0'=r_151^post94, a_144^0'=a_144^post94, i_1053^0'=i_1053^post94, a_417^0'=a_417^post94, t_24^0'=t_24^post94, i_94^0'=i_94^post94, x_852^0'=x_852^post94, a_862^0'=a_862^post94, rcd_1249^0'=rcd_1249^post94, rcd_58^0'=rcd_58^post94, a_310^0'=a_310^post94, i_127^0'=i_127^post94, a_576^0'=a_576^post94, tmp_34^0'=tmp_34^post94, length_29^0'=length_29^post94, a_1162^0'=a_1162^post94, f_969^0'=f_969^post94, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post94, a_395^0'=a_395^post94, x_17^0'=x_17^post94, a_633^0'=a_633^post94, r_224^0'=r_224^post94, a_239^0'=a_239^post94, i_107^0'=i_107^post94, a_431^0'=a_431^post94, temp0_16^0'=temp0_16^post94, len_238^0'=len_238^post94, x_SLAM_f_19^0'=x_SLAM_f_19^post94, a_924^0'=a_924^post94, ct_18^0'=ct_18^post94, result_11^0'=result_11^post94, a_392^0'=a_392^post94, i_197^0'=i_197^post94, a_579^0'=a_579^post94, r_143^0'=r_143^post94, a_1236^0'=a_1236^post94, head_32^0'=head_32^post94, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post94, i_30^0'=i_30^post94, x_253^0'=x_253^post94, a_635^0'=a_635^post94, r_970^0'=r_970^post94, rcd_47^0'=rcd_47^post94, a_309^0'=a_309^post94, i_1248^0'=i_1248^post94, a_575^0'=a_575^post94, temp_35^0'=temp_35^post94, len_861^0'=len_861^post94, (-temp0_16^post94+temp0_16^0 == 0 /\ -a_310^post94+a_310^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ x_852^0-x_852^post94 == 0 /\ -len_861^post94+len_861^0 == 0 /\ a_144^0-a_144^post94 == 0 /\ -f_248^post94+f_248^0 == 0 /\ -y_20^post94+y_20^0 == 0 /\ a_394^0-a_394^post94 == 0 /\ a_1089^0-a_1089^post94 == 0 /\ a_263^0-a_263^post94 == 0 /\ -head_32^post94+head_32^0 == 0 /\ a_576^0-a_576^post94 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post94+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post94+temp_35^0 == 0 /\ -i_229^post94+i_229^0 == 0 /\ rcd_88^0-rcd_88^post94 == 0 /\ -r_224^post94+r_224^0 == 0 /\ a_311^0-a_311^post94 == 0 /\ -a_392^post94+a_392^0 == 0 /\ tmp_34^0-tmp_34^post94 == 0 /\ -a_579^post94+a_579^0 == 0 /\ f_847^0-f_847^post94 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post94 == 0 /\ i_106^0-i_106^post94 == 0 /\ -i_127^post94+i_127^0 == 0 /\ -i_107^post94+i_107^0 == 0 /\ i_27^0 <= 0 /\ -a_575^post94+a_575^0 == 0 /\ -i_197^post94+i_197^0 == 0 /\ t_458^0-t_458^post94 == 0 /\ -i_30^post94+i_30^0 == 0 /\ -a_635^post94+a_635^0 == 0 /\ -a_417^post94+a_417^0 == 0 /\ -result_11^post94+result_11^0 == 0 /\ -x_17^post94+x_17^0 == 0 /\ x_21^0-x_21^post94 == 0 /\ ct_18^0-ct_18^post94 == 0 /\ len_262^0-len_262^post94 == 0 /\ -a_1162^post94+a_1162^0 == 0 /\ -a_393^post94+a_393^0 == 0 /\ -t_24^post94+t_24^0 == 0 /\ a_1236^0-a_1236^post94 == 0 /\ r_143^0-r_143^post94 == 0 /\ -i_1248^post94+i_1248^0 == 0 /\ -a_577^post94+a_577^0 == 0 /\ a_610^0-a_610^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ a_634^0-a_634^post94 == 0 /\ len_238^0-len_238^post94 == 0 /\ x_14^0-x_14^post94 == 0 /\ a_121^0-a_121^post94 == 0 /\ a_176^0-a_176^post94 == 0 /\ -a_633^post94+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 == 0 /\ len_161^0-len_161^post94 == 0 /\ i_27^0-i_27^post94 == 0 /\ a_947^0-a_947^post94 == 0 /\ x_253^0-x_253^post94 == 0 /\ -rcd_1249^post94+rcd_1249^0 == 0 /\ -a_632^post94+a_632^0 == 0 /\ -a_924^post94+a_924^0 == 0 /\ rcd_58^0-rcd_58^post94 == 0 /\ -a_309^post94+a_309^0 == 0 /\ -i_113^post94+i_113^0 == 0 /\ i_1053^0-i_1053^post94 == 0 /\ a_395^0-a_395^post94 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post94 == 0 /\ -a_862^post94+a_862^0 == 0 /\ head_15^0-head_15^post94 == 0 /\ -r_39^post94+r_39^0 == 0 /\ a_430^0-a_430^post94 == 0 /\ r_151^0-r_151^post94 == 0 /\ -a_432^post94+a_432^0 == 0 /\ -f_969^post94+f_969^0 == 0 /\ -a_431^post94+a_431^0 == 0 /\ x_975^0-x_975^post94 == 0 /\ -i_94^post94+i_94^0 == 0 /\ x_156^0-x_156^post94 == 0 /\ -i_140^post94+i_140^0 == 0 /\ a_239^0-a_239^post94 == 0 /\ a_902^0-a_902^post94 == 0 /\ r_192^0-r_192^post94 == 0 /\ -length_29^post94+length_29^0 == 0 /\ -r_970^post94+r_970^0 == 0 /\ -x_SLAM_f_19^post94+x_SLAM_f_19^0 == 0 /\ nondet_12^0-nondet_12^post94 == 0 /\ -rcd_47^post94+rcd_47^0 == 0), cost: 1 96: l62 -> l63 : a_1089^0'=a_1089^post96, f_847^0'=f_847^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_394^0'=a_394^post96, x_156^0'=x_156^post96, a_632^0'=a_632^post96, r_192^0'=r_192^post96, a_176^0'=a_176^post96, i_106^0'=i_106^post96, a_430^0'=a_430^post96, t_458^0'=t_458^post96, len_161^0'=len_161^post96, x_975^0'=x_975^post96, a_902^0'=a_902^post96, a_947^0'=a_947^post96, rcd_88^0'=rcd_88^post96, a_311^0'=a_311^post96, i_140^0'=i_140^post96, a_577^0'=a_577^post96, x_14^0'=x_14^post96, nondet_12^0'=nondet_12^post96, a_121^0'=a_121^post96, head_15^0'=head_15^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96, i_27^0'=i_27^post96, x_21^0'=x_21^post96, a_634^0'=a_634^post96, r_39^0'=r_39^post96, a_263^0'=a_263^post96, i_113^0'=i_113^post96, a_432^0'=a_432^post96, temp0_31^0'=temp0_31^post96, len_262^0'=len_262^post96, y_20^0'=y_20^post96, f_248^0'=f_248^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_393^0'=a_393^post96, i_229^0'=i_229^post96, a_610^0'=a_610^post96, r_151^0'=r_151^post96, a_144^0'=a_144^post96, i_1053^0'=i_1053^post96, a_417^0'=a_417^post96, t_24^0'=t_24^post96, i_94^0'=i_94^post96, x_852^0'=x_852^post96, a_862^0'=a_862^post96, rcd_1249^0'=rcd_1249^post96, rcd_58^0'=rcd_58^post96, a_310^0'=a_310^post96, i_127^0'=i_127^post96, a_576^0'=a_576^post96, tmp_34^0'=tmp_34^post96, length_29^0'=length_29^post96, a_1162^0'=a_1162^post96, f_969^0'=f_969^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96, a_395^0'=a_395^post96, x_17^0'=x_17^post96, a_633^0'=a_633^post96, r_224^0'=r_224^post96, a_239^0'=a_239^post96, i_107^0'=i_107^post96, a_431^0'=a_431^post96, temp0_16^0'=temp0_16^post96, len_238^0'=len_238^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, a_924^0'=a_924^post96, ct_18^0'=ct_18^post96, result_11^0'=result_11^post96, a_392^0'=a_392^post96, i_197^0'=i_197^post96, a_579^0'=a_579^post96, r_143^0'=r_143^post96, a_1236^0'=a_1236^post96, head_32^0'=head_32^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96, i_30^0'=i_30^post96, x_253^0'=x_253^post96, a_635^0'=a_635^post96, r_970^0'=r_970^post96, rcd_47^0'=rcd_47^post96, a_309^0'=a_309^post96, i_1248^0'=i_1248^post96, a_575^0'=a_575^post96, temp_35^0'=temp_35^post96, len_861^0'=len_861^post96, (t_24^0-t_24^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ -len_262^post96+len_262^0 == 0 /\ a_862^0-a_862^post96 == 0 /\ x_21^0-x_21^post96 == 0 /\ a_417^0-a_417^post96 == 0 /\ -a_310^post96+a_310^0 == 0 /\ -f_248^post96+f_248^0 == 0 /\ len_161^0-len_161^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post96+r_224^0 == 0 /\ x_156^0-x_156^post96 == 0 /\ a_947^0-a_947^post96 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ -i_229^post96+i_229^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ f_847^0-f_847^post96 == 0 /\ a_263^0-a_263^post96 == 0 /\ a_394^0-a_394^post96 == 0 /\ 1-x_14^0 <= 0 /\ -i_1248^post96+i_1248^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ -a_392^post96+a_392^0 == 0 /\ -i_27^post96+i_27^0 == 0 /\ -a_239^post96+a_239^0 == 0 /\ length_29^0-length_29^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -i_127^post96+i_127^0 == 0 /\ -len_861^post96+len_861^0 == 0 /\ -a_579^post96+a_579^0 == 0 /\ -i_30^post96+i_30^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -a_635^post96+a_635^0 == 0 /\ a_430^0-a_430^post96 == 0 /\ r_151^0-r_151^post96 == 0 /\ -i_107^post96+i_107^0 == 0 /\ a_902^0-a_902^post96 == 0 /\ -x_852^post96+x_852^0 == 0 /\ i_106^0-i_106^post96 == 0 /\ a_311^0-a_311^post96 == 0 /\ a_577^0-a_577^post96 == 0 /\ -x_17^post96+x_17^0 == 0 /\ i_94^0-i_94^post96 == 0 /\ -i_197^post96+i_197^0 == 0 /\ head_15^0-head_15^post96 == 0 /\ -a_309^post96+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ -a_575^post96+a_575^0 == 0 /\ -len_238^post96+len_238^0 == 0 /\ i_140^0-i_140^post96 == 0 /\ -rcd_47^post96+rcd_47^0 == 0 /\ -a_634^post96+a_634^0 == 0 /\ -a_633^post96+a_633^0 == 0 /\ a_1089^0-a_1089^post96 == 0 /\ -a_1162^post96+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ x_253^0-x_253^post96 == 0 /\ y_20^0-y_20^post96 == 0 /\ -f_969^post96+f_969^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ i_1053^0-i_1053^post96 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ -a_924^post96+a_924^0 == 0 /\ a_395^0-a_395^post96 == 0 /\ a_176^0-a_176^post96 == 0 /\ -rcd_1249^post96+rcd_1249^0 == 0 /\ i_113^0-i_113^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -r_970^post96+r_970^0 == 0 /\ x_975^0-x_975^post96 == 0 /\ r_192^0-r_192^post96 == 0 /\ -r_143^post96+r_143^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -a_431^post96+a_431^0 == 0 /\ a_393^0-a_393^post96 == 0 /\ t_458^0-t_458^post96 == 0 /\ -a_576^post96+a_576^0 == 0 /\ -x_SLAM_f_19^post96+x_SLAM_f_19^0 == 0 /\ -a_1236^post96+a_1236^0 == 0 /\ -a_121^post96+a_121^0 == 0 /\ -a_610^post96+a_610^0 == 0 /\ a_632^0-a_632^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0), cost: 1 97: l62 -> l63 : a_1089^0'=a_1089^post97, f_847^0'=f_847^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_394^0'=a_394^post97, x_156^0'=x_156^post97, a_632^0'=a_632^post97, r_192^0'=r_192^post97, a_176^0'=a_176^post97, i_106^0'=i_106^post97, a_430^0'=a_430^post97, t_458^0'=t_458^post97, len_161^0'=len_161^post97, x_975^0'=x_975^post97, a_902^0'=a_902^post97, a_947^0'=a_947^post97, rcd_88^0'=rcd_88^post97, a_311^0'=a_311^post97, i_140^0'=i_140^post97, a_577^0'=a_577^post97, x_14^0'=x_14^post97, nondet_12^0'=nondet_12^post97, a_121^0'=a_121^post97, head_15^0'=head_15^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97, i_27^0'=i_27^post97, x_21^0'=x_21^post97, a_634^0'=a_634^post97, r_39^0'=r_39^post97, a_263^0'=a_263^post97, i_113^0'=i_113^post97, a_432^0'=a_432^post97, temp0_31^0'=temp0_31^post97, len_262^0'=len_262^post97, y_20^0'=y_20^post97, f_248^0'=f_248^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_393^0'=a_393^post97, i_229^0'=i_229^post97, a_610^0'=a_610^post97, r_151^0'=r_151^post97, a_144^0'=a_144^post97, i_1053^0'=i_1053^post97, a_417^0'=a_417^post97, t_24^0'=t_24^post97, i_94^0'=i_94^post97, x_852^0'=x_852^post97, a_862^0'=a_862^post97, rcd_1249^0'=rcd_1249^post97, rcd_58^0'=rcd_58^post97, a_310^0'=a_310^post97, i_127^0'=i_127^post97, a_576^0'=a_576^post97, tmp_34^0'=tmp_34^post97, length_29^0'=length_29^post97, a_1162^0'=a_1162^post97, f_969^0'=f_969^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97, a_395^0'=a_395^post97, x_17^0'=x_17^post97, a_633^0'=a_633^post97, r_224^0'=r_224^post97, a_239^0'=a_239^post97, i_107^0'=i_107^post97, a_431^0'=a_431^post97, temp0_16^0'=temp0_16^post97, len_238^0'=len_238^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, a_924^0'=a_924^post97, ct_18^0'=ct_18^post97, result_11^0'=result_11^post97, a_392^0'=a_392^post97, i_197^0'=i_197^post97, a_579^0'=a_579^post97, r_143^0'=r_143^post97, a_1236^0'=a_1236^post97, head_32^0'=head_32^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97, i_30^0'=i_30^post97, x_253^0'=x_253^post97, a_635^0'=a_635^post97, r_970^0'=r_970^post97, rcd_47^0'=rcd_47^post97, a_309^0'=a_309^post97, i_1248^0'=i_1248^post97, a_575^0'=a_575^post97, temp_35^0'=temp_35^post97, len_861^0'=len_861^post97, (r_151^0-r_151^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -a_924^post97+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97 == 0 /\ -a_610^post97+a_610^0 == 0 /\ -rcd_1249^post97+rcd_1249^0 == 0 /\ i_94^0-i_94^post97 == 0 /\ i_113^0-i_113^post97 == 0 /\ -a_634^post97+a_634^0 == 0 /\ r_39^0-r_39^post97 == 0 /\ -rcd_47^post97+rcd_47^0 == 0 /\ a_393^0-a_393^post97 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ -x_253^post97+x_253^0 == 0 /\ a_1089^0-a_1089^post97 == 0 /\ a_432^0-a_432^post97 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post97+len_238^0 == 0 /\ x_21^0-x_21^post97 == 0 /\ a_310^0-a_310^post97 == 0 /\ -result_11^post97+result_11^0 == 0 /\ r_192^0-r_192^post97 == 0 /\ i_140^0-i_140^post97 == 0 /\ i_197^0-i_197^post97 == 0 /\ head_32^0-head_32^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ a_417^0-a_417^post97 == 0 /\ a_263^0-a_263^post97 == 0 /\ -a_576^post97+a_576^0 == 0 /\ i_27^0-i_27^post97 == 0 /\ -temp_35^post97+temp_35^0 == 0 /\ -r_143^post97+r_143^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ x_156^0-x_156^post97 == 0 /\ a_1162^0-a_1162^post97 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ -f_969^post97+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97 == 0 /\ -r_970^post97+r_970^0 == 0 /\ -a_395^post97+a_395^0 == 0 /\ -f_248^post97+f_248^0 == 0 /\ -a_1236^post97+a_1236^0 == 0 /\ t_458^0-t_458^post97 == 0 /\ i_106^0-i_106^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post97 == 0 /\ -len_262^post97+len_262^0 == 0 /\ x_975^0-x_975^post97 == 0 /\ i_107^0-i_107^post97 == 0 /\ a_311^0-a_311^post97 == 0 /\ -a_392^post97+a_392^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ -i_1248^post97+i_1248^0 == 0 /\ -a_239^post97+a_239^0 == 0 /\ a_902^0-a_902^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ a_577^0-a_577^post97 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ i_229^0-i_229^post97 == 0 /\ -len_861^post97+len_861^0 == 0 /\ -a_430^post97+a_430^0 == 0 /\ -a_947^post97+a_947^0 == 0 /\ -x_14^post97+x_14^0 == 0 /\ -head_15^post97+head_15^0 == 0 /\ x_852^0-x_852^post97 == 0 /\ -x_17^post97+x_17^0 == 0 /\ a_121^0-a_121^post97 == 0 /\ -a_579^post97+a_579^0 == 0 /\ -a_309^post97+a_309^0 == 0 /\ t_24^0-t_24^post97 == 0 /\ a_862^0-a_862^post97 == 0 /\ a_394^0-a_394^post97 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ len_161^0-len_161^post97 == 0 /\ -a_635^post97+a_635^0 == 0 /\ a_431^0-a_431^post97 == 0 /\ 1+x_14^0 <= 0 /\ -a_144^post97+a_144^0 == 0 /\ a_176^0-a_176^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -i_127^post97+i_127^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ f_847^0-f_847^post97 == 0 /\ y_20^0-y_20^post97 == 0 /\ i_1053^0-i_1053^post97 == 0 /\ r_224^0-r_224^post97 == 0 /\ -a_575^post97+a_575^0 == 0 /\ -a_633^post97+a_633^0 == 0), cost: 1 98: l63 -> l64 : a_1089^0'=a_1089^post98, f_847^0'=f_847^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_394^0'=a_394^post98, x_156^0'=x_156^post98, a_632^0'=a_632^post98, r_192^0'=r_192^post98, a_176^0'=a_176^post98, i_106^0'=i_106^post98, a_430^0'=a_430^post98, t_458^0'=t_458^post98, len_161^0'=len_161^post98, x_975^0'=x_975^post98, a_902^0'=a_902^post98, a_947^0'=a_947^post98, rcd_88^0'=rcd_88^post98, a_311^0'=a_311^post98, i_140^0'=i_140^post98, a_577^0'=a_577^post98, x_14^0'=x_14^post98, nondet_12^0'=nondet_12^post98, a_121^0'=a_121^post98, head_15^0'=head_15^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98, i_27^0'=i_27^post98, x_21^0'=x_21^post98, a_634^0'=a_634^post98, r_39^0'=r_39^post98, a_263^0'=a_263^post98, i_113^0'=i_113^post98, a_432^0'=a_432^post98, temp0_31^0'=temp0_31^post98, len_262^0'=len_262^post98, y_20^0'=y_20^post98, f_248^0'=f_248^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_393^0'=a_393^post98, i_229^0'=i_229^post98, a_610^0'=a_610^post98, r_151^0'=r_151^post98, a_144^0'=a_144^post98, i_1053^0'=i_1053^post98, a_417^0'=a_417^post98, t_24^0'=t_24^post98, i_94^0'=i_94^post98, x_852^0'=x_852^post98, a_862^0'=a_862^post98, rcd_1249^0'=rcd_1249^post98, rcd_58^0'=rcd_58^post98, a_310^0'=a_310^post98, i_127^0'=i_127^post98, a_576^0'=a_576^post98, tmp_34^0'=tmp_34^post98, length_29^0'=length_29^post98, a_1162^0'=a_1162^post98, f_969^0'=f_969^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98, a_395^0'=a_395^post98, x_17^0'=x_17^post98, a_633^0'=a_633^post98, r_224^0'=r_224^post98, a_239^0'=a_239^post98, i_107^0'=i_107^post98, a_431^0'=a_431^post98, temp0_16^0'=temp0_16^post98, len_238^0'=len_238^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, a_924^0'=a_924^post98, ct_18^0'=ct_18^post98, result_11^0'=result_11^post98, a_392^0'=a_392^post98, i_197^0'=i_197^post98, a_579^0'=a_579^post98, r_143^0'=r_143^post98, a_1236^0'=a_1236^post98, head_32^0'=head_32^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98, i_30^0'=i_30^post98, x_253^0'=x_253^post98, a_635^0'=a_635^post98, r_970^0'=r_970^post98, rcd_47^0'=rcd_47^post98, a_309^0'=a_309^post98, i_1248^0'=i_1248^post98, a_575^0'=a_575^post98, temp_35^0'=temp_35^post98, len_861^0'=len_861^post98, (0 == 0 /\ -a_417^post98+a_417^0 == 0 /\ -a_862^post98+a_862^0 == 0 /\ -i_27^post98+i_27^0 == 0 /\ -len_861^post98+len_861^0 == 0 /\ a_263^0-a_263^post98 == 0 /\ -a_1236^post98+a_1236^0 == 0 /\ len_161^0-len_161^post98 == 0 /\ y_20^0-y_20^post98 == 0 /\ -a_393^post98+a_393^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ i_229^0-i_229^post98 == 0 /\ x_156^0-x_156^post98 == 0 /\ -a_392^post98+a_392^0 == 0 /\ a_634^0-a_634^post98 == 0 /\ -a_239^post98+a_239^0 == 0 /\ head_15^0-head_15^post98 == 0 /\ i_1053^0-i_1053^post98 == 0 /\ a_176^0-a_176^post98 == 0 /\ a_395^0-a_395^post98 == 0 /\ -length_29^post98+length_29^0 == 0 /\ a_121^0-a_121^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ -i_1248^post98+i_1248^0 == 0 /\ len_262^0-len_262^post98 == 0 /\ a_947^0-a_947^post98 == 0 /\ -a_575^post98+a_575^0 == 0 /\ a_430^0-a_430^post98 == 0 /\ -i_197^post98+i_197^0 == 0 /\ -a_579^post98+a_579^0 == 0 /\ -ct_18^post98+ct_18^0 == 0 /\ i_113^0-i_113^post98 == 0 /\ -a_635^post98+a_635^0 == 0 /\ r_192^0-r_192^post98 == 0 /\ -r_151^post98+r_151^0 == 0 /\ -len_238^post98+len_238^0 == 0 /\ -i_127^post98+i_127^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ -a_309^post98+a_309^0 == 0 /\ -a_610^post98+a_610^0 == 0 /\ i_140^0-i_140^post98 == 0 /\ -a_144^post98+a_144^0 == 0 /\ a_632^0-a_632^post98 == 0 /\ -rcd_47^post98+rcd_47^0 == 0 /\ -a_633^post98+a_633^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_432^0-a_432^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ -rcd_1249^post98+rcd_1249^0 == 0 /\ -result_11^post98+result_11^0 == 0 /\ -a_1162^post98+a_1162^0 == 0 /\ f_847^0-f_847^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_902^post98+a_902^0 == 0 /\ a_431^0-a_431^post98 == 0 /\ i_94^0-i_94^post98 == 0 /\ -x_852^post98+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ x_17^0-x_17^post98 == 0 /\ -a_924^post98+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post98 == 0 /\ a_577^0-a_577^post98 == 0 /\ 1-i_27^0 <= 0 /\ -r_143^post98+r_143^0 == 0 /\ x_975^0-x_975^post98 == 0 /\ x_14^0-x_14^post98 == 0 /\ -x_SLAM_f_19^post98+x_SLAM_f_19^0 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -nondet_12^14+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98 == 0 /\ r_224^0-r_224^post98 == 0 /\ -x_253^post98+x_253^0 == 0 /\ -f_969^post98+f_969^0 == 0 /\ a_1089^0-a_1089^post98 == 0 /\ i_107^0-i_107^post98 == 0 /\ -r_970^post98+r_970^0 == 0 /\ i_106^0-i_106^post98 == 0 /\ a_311^0-a_311^post98 == 0 /\ -f_248^post98+f_248^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post98 == 0 /\ r_39^0-r_39^post98 == 0 /\ -a_576^post98+a_576^0 == 0 /\ a_310^0-a_310^post98 == 0), cost: 1 99: l64 -> l65 : a_1089^0'=a_1089^post99, f_847^0'=f_847^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_394^0'=a_394^post99, x_156^0'=x_156^post99, a_632^0'=a_632^post99, r_192^0'=r_192^post99, a_176^0'=a_176^post99, i_106^0'=i_106^post99, a_430^0'=a_430^post99, t_458^0'=t_458^post99, len_161^0'=len_161^post99, x_975^0'=x_975^post99, a_902^0'=a_902^post99, a_947^0'=a_947^post99, rcd_88^0'=rcd_88^post99, a_311^0'=a_311^post99, i_140^0'=i_140^post99, a_577^0'=a_577^post99, x_14^0'=x_14^post99, nondet_12^0'=nondet_12^post99, a_121^0'=a_121^post99, head_15^0'=head_15^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99, i_27^0'=i_27^post99, x_21^0'=x_21^post99, a_634^0'=a_634^post99, r_39^0'=r_39^post99, a_263^0'=a_263^post99, i_113^0'=i_113^post99, a_432^0'=a_432^post99, temp0_31^0'=temp0_31^post99, len_262^0'=len_262^post99, y_20^0'=y_20^post99, f_248^0'=f_248^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_393^0'=a_393^post99, i_229^0'=i_229^post99, a_610^0'=a_610^post99, r_151^0'=r_151^post99, a_144^0'=a_144^post99, i_1053^0'=i_1053^post99, a_417^0'=a_417^post99, t_24^0'=t_24^post99, i_94^0'=i_94^post99, x_852^0'=x_852^post99, a_862^0'=a_862^post99, rcd_1249^0'=rcd_1249^post99, rcd_58^0'=rcd_58^post99, a_310^0'=a_310^post99, i_127^0'=i_127^post99, a_576^0'=a_576^post99, tmp_34^0'=tmp_34^post99, length_29^0'=length_29^post99, a_1162^0'=a_1162^post99, f_969^0'=f_969^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99, a_395^0'=a_395^post99, x_17^0'=x_17^post99, a_633^0'=a_633^post99, r_224^0'=r_224^post99, a_239^0'=a_239^post99, i_107^0'=i_107^post99, a_431^0'=a_431^post99, temp0_16^0'=temp0_16^post99, len_238^0'=len_238^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, a_924^0'=a_924^post99, ct_18^0'=ct_18^post99, result_11^0'=result_11^post99, a_392^0'=a_392^post99, i_197^0'=i_197^post99, a_579^0'=a_579^post99, r_143^0'=r_143^post99, a_1236^0'=a_1236^post99, head_32^0'=head_32^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99, i_30^0'=i_30^post99, x_253^0'=x_253^post99, a_635^0'=a_635^post99, r_970^0'=r_970^post99, rcd_47^0'=rcd_47^post99, a_309^0'=a_309^post99, i_1248^0'=i_1248^post99, a_575^0'=a_575^post99, temp_35^0'=temp_35^post99, len_861^0'=len_861^post99, (-i_1248^post99+i_1248^0 == 0 /\ -a_239^post99+a_239^0 == 0 /\ -a_579^post99+a_579^0 == 0 /\ len_161^0-len_161^post99 == 0 /\ -rcd_58^post99+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -i_127^post99+i_127^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ a_417^0-a_417^post99 == 0 /\ a_176^0-a_176^post99 == 0 /\ a_394^0-a_394^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ -i_197^post99+i_197^0 == 0 /\ length_29^0-length_29^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -f_248^post99+f_248^0 == 0 /\ f_847^0-f_847^post99 == 0 /\ a_263^0-a_263^post99 == 0 /\ t_24^0-t_24^post99 == 0 /\ -a_431^post99+a_431^0 == 0 /\ -i_229^post99+i_229^0 == 0 /\ i_1053^0-i_1053^post99 == 0 /\ -a_309^post99+a_309^0 == 0 /\ i_94^0-i_94^post99 == 0 /\ a_432^0-a_432^post99 == 0 /\ -a_144^post99+a_144^0 == 0 /\ a_430^0-a_430^post99 == 0 /\ a_632^0-a_632^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -rcd_1249^post99+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_151^0-r_151^post99 == 0 /\ -a_575^post99+a_575^0 == 0 /\ -a_924^post99+a_924^0 == 0 /\ i_113^0-i_113^post99 == 0 /\ a_577^0-a_577^post99 == 0 /\ a_1162^0-a_1162^post99 == 0 /\ -len_861^post99+len_861^0 == 0 /\ r_192^0-r_192^post99 == 0 /\ a_902^0-a_902^post99 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -x_852^post99+x_852^0 == 0 /\ -a_635^post99+a_635^0 == 0 /\ x_156^0-x_156^post99 == 0 /\ head_32^0-head_32^post99 == 0 /\ -a_947^post99+a_947^0 == 0 /\ head_15^0-head_15^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_862^0-a_862^post99 == 0 /\ -x_17^post99+x_17^0 == 0 /\ a_1089^0-a_1089^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -x_SLAM_f_19^post99+x_SLAM_f_19^0 == 0 /\ -x_14^post99+x_14^0 == 0 /\ -a_576^post99+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ -r_143^post99+r_143^0 == 0 /\ -a_1236^post99+a_1236^0 == 0 /\ i_140^0-i_140^post99 == 0 /\ t_458^0-t_458^post99 == 0 /\ a_395^0-a_395^post99 == 0 /\ i_106^0-i_106^post99 == 0 /\ -a_634^post99+a_634^0 == 0 /\ rcd_88^0-rcd_88^post99 == 0 /\ a_311^0-a_311^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99 == 0 /\ -i_27^post99+i_27^0 == 0 /\ r_224^0-r_224^post99 == 0 /\ -a_392^post99+a_392^0 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ a_393^0-a_393^post99 == 0 /\ -a_633^post99+a_633^0 == 0 /\ i_107^0-i_107^post99 == 0 /\ -f_969^post99+f_969^0 == 0 /\ -a_310^post99+a_310^0 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ x_975^0-x_975^post99 == 0 /\ y_20^0-y_20^post99 == 0 /\ -a_610^post99+a_610^0 == 0 /\ a_121^0-a_121^post99 == 0 /\ -rcd_47^post99+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -x_253^post99+x_253^0 == 0 /\ -len_238^post99+len_238^0 == 0 /\ -r_970^post99+r_970^0 == 0 /\ -len_262^post99+len_262^0 == 0), cost: 1 100: l64 -> l65 : a_1089^0'=a_1089^post100, f_847^0'=f_847^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_394^0'=a_394^post100, x_156^0'=x_156^post100, a_632^0'=a_632^post100, r_192^0'=r_192^post100, a_176^0'=a_176^post100, i_106^0'=i_106^post100, a_430^0'=a_430^post100, t_458^0'=t_458^post100, len_161^0'=len_161^post100, x_975^0'=x_975^post100, a_902^0'=a_902^post100, a_947^0'=a_947^post100, rcd_88^0'=rcd_88^post100, a_311^0'=a_311^post100, i_140^0'=i_140^post100, a_577^0'=a_577^post100, x_14^0'=x_14^post100, nondet_12^0'=nondet_12^post100, a_121^0'=a_121^post100, head_15^0'=head_15^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100, i_27^0'=i_27^post100, x_21^0'=x_21^post100, a_634^0'=a_634^post100, r_39^0'=r_39^post100, a_263^0'=a_263^post100, i_113^0'=i_113^post100, a_432^0'=a_432^post100, temp0_31^0'=temp0_31^post100, len_262^0'=len_262^post100, y_20^0'=y_20^post100, f_248^0'=f_248^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_393^0'=a_393^post100, i_229^0'=i_229^post100, a_610^0'=a_610^post100, r_151^0'=r_151^post100, a_144^0'=a_144^post100, i_1053^0'=i_1053^post100, a_417^0'=a_417^post100, t_24^0'=t_24^post100, i_94^0'=i_94^post100, x_852^0'=x_852^post100, a_862^0'=a_862^post100, rcd_1249^0'=rcd_1249^post100, rcd_58^0'=rcd_58^post100, a_310^0'=a_310^post100, i_127^0'=i_127^post100, a_576^0'=a_576^post100, tmp_34^0'=tmp_34^post100, length_29^0'=length_29^post100, a_1162^0'=a_1162^post100, f_969^0'=f_969^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100, a_395^0'=a_395^post100, x_17^0'=x_17^post100, a_633^0'=a_633^post100, r_224^0'=r_224^post100, a_239^0'=a_239^post100, i_107^0'=i_107^post100, a_431^0'=a_431^post100, temp0_16^0'=temp0_16^post100, len_238^0'=len_238^post100, x_SLAM_f_19^0'=x_SLAM_f_19^post100, a_924^0'=a_924^post100, ct_18^0'=ct_18^post100, result_11^0'=result_11^post100, a_392^0'=a_392^post100, i_197^0'=i_197^post100, a_579^0'=a_579^post100, r_143^0'=r_143^post100, a_1236^0'=a_1236^post100, head_32^0'=head_32^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100, i_30^0'=i_30^post100, x_253^0'=x_253^post100, a_635^0'=a_635^post100, r_970^0'=r_970^post100, rcd_47^0'=rcd_47^post100, a_309^0'=a_309^post100, i_1248^0'=i_1248^post100, a_575^0'=a_575^post100, temp_35^0'=temp_35^post100, len_861^0'=len_861^post100, (-len_238^post100+len_238^0 == 0 /\ head_15^0-head_15^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -rcd_47^post100+rcd_47^0 == 0 /\ a_902^0-a_902^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100 == 0 /\ -r_143^post100+r_143^0 == 0 /\ -a_633^post100+a_633^0 == 0 /\ a_432^0-a_432^post100 == 0 /\ r_192^0-r_192^post100 == 0 /\ -r_151^post100+r_151^0 == 0 /\ i_229^0-i_229^post100 == 0 /\ i_113^0-i_113^post100 == 0 /\ -a_924^post100+a_924^0 == 0 /\ -a_576^post100+a_576^0 == 0 /\ x_21^0-x_21^post100 == 0 /\ x_156^0-x_156^post100 == 0 /\ -a_309^post100+a_309^0 == 0 /\ -rcd_1249^post100+rcd_1249^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post100 == 0 /\ x_14^0-x_14^post100 == 0 /\ a_121^0-a_121^post100 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_417^0-a_417^post100 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ i_27^0-i_27^post100 == 0 /\ a_263^0-a_263^post100 == 0 /\ -a_1236^post100+a_1236^0 == 0 /\ -len_262^post100+len_262^0 == 0 /\ -f_969^post100+f_969^0 == 0 /\ y_20^0-y_20^post100 == 0 /\ r_39^0-r_39^post100 == 0 /\ a_392^0-a_392^post100 == 0 /\ t_458^0-t_458^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100 == 0 /\ -a_311^post100+a_311^0 == 0 /\ i_106^0-i_106^post100 == 0 /\ -a_610^post100+a_610^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ -x_253^post100+x_253^0 == 0 /\ -ct_18^post100+ct_18^0 == 0 /\ -i_1053^post100+i_1053^0 == 0 /\ i_107^0-i_107^post100 == 0 /\ r_224^0-r_224^post100 == 0 /\ -r_970^post100+r_970^0 == 0 /\ f_248^0-f_248^post100 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -i_197^post100+i_197^0 == 0 /\ -a_430^post100+a_430^0 == 0 /\ -a_395^post100+a_395^0 == 0 /\ -temp0_16^post100+temp0_16^0 == 0 /\ a_393^0-a_393^post100 == 0 /\ a_632^0-a_632^post100 == 0 /\ -len_861^post100+len_861^0 == 0 /\ x_975^0-x_975^post100 == 0 /\ -a_394^post100+a_394^0 == 0 /\ -f_847^post100+f_847^0 == 0 /\ a_577^0-a_577^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ -a_862^post100+a_862^0 == 0 /\ -temp_35^post100+temp_35^0 == 0 /\ -i_127^post100+i_127^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -a_579^post100+a_579^0 == 0 /\ -a_1162^post100+a_1162^0 == 0 /\ t_24^0-t_24^post100 == 0 /\ -a_144^post100+a_144^0 == 0 /\ -a_634^post100+a_634^0 == 0 /\ a_431^0-a_431^post100 == 0 /\ len_161^0-len_161^post100 == 0 /\ -x_17^post100+x_17^0 == 0 /\ a_310^0-a_310^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post100+a_575^0 == 0 /\ a_176^0-a_176^post100 == 0 /\ -a_947^post100+a_947^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ x_852^0-x_852^post100 == 0 /\ -i_1248^post100+i_1248^0 == 0 /\ -a_239^post100+a_239^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ length_29^0-length_29^post100 == 0 /\ i_140^0-i_140^post100 == 0 /\ -a_635^post100+a_635^0 == 0), cost: 1 101: l65 -> l66 : a_1089^0'=a_1089^post101, f_847^0'=f_847^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, a_394^0'=a_394^post101, x_156^0'=x_156^post101, a_632^0'=a_632^post101, r_192^0'=r_192^post101, a_176^0'=a_176^post101, i_106^0'=i_106^post101, a_430^0'=a_430^post101, t_458^0'=t_458^post101, len_161^0'=len_161^post101, x_975^0'=x_975^post101, a_902^0'=a_902^post101, a_947^0'=a_947^post101, rcd_88^0'=rcd_88^post101, a_311^0'=a_311^post101, i_140^0'=i_140^post101, a_577^0'=a_577^post101, x_14^0'=x_14^post101, nondet_12^0'=nondet_12^post101, a_121^0'=a_121^post101, head_15^0'=head_15^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101, i_27^0'=i_27^post101, x_21^0'=x_21^post101, a_634^0'=a_634^post101, r_39^0'=r_39^post101, a_263^0'=a_263^post101, i_113^0'=i_113^post101, a_432^0'=a_432^post101, temp0_31^0'=temp0_31^post101, len_262^0'=len_262^post101, y_20^0'=y_20^post101, f_248^0'=f_248^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, a_393^0'=a_393^post101, i_229^0'=i_229^post101, a_610^0'=a_610^post101, r_151^0'=r_151^post101, a_144^0'=a_144^post101, i_1053^0'=i_1053^post101, a_417^0'=a_417^post101, t_24^0'=t_24^post101, i_94^0'=i_94^post101, x_852^0'=x_852^post101, a_862^0'=a_862^post101, rcd_1249^0'=rcd_1249^post101, rcd_58^0'=rcd_58^post101, a_310^0'=a_310^post101, i_127^0'=i_127^post101, a_576^0'=a_576^post101, tmp_34^0'=tmp_34^post101, length_29^0'=length_29^post101, a_1162^0'=a_1162^post101, f_969^0'=f_969^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101, a_395^0'=a_395^post101, x_17^0'=x_17^post101, a_633^0'=a_633^post101, r_224^0'=r_224^post101, a_239^0'=a_239^post101, i_107^0'=i_107^post101, a_431^0'=a_431^post101, temp0_16^0'=temp0_16^post101, len_238^0'=len_238^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, a_924^0'=a_924^post101, ct_18^0'=ct_18^post101, result_11^0'=result_11^post101, a_392^0'=a_392^post101, i_197^0'=i_197^post101, a_579^0'=a_579^post101, r_143^0'=r_143^post101, a_1236^0'=a_1236^post101, head_32^0'=head_32^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101, i_30^0'=i_30^post101, x_253^0'=x_253^post101, a_635^0'=a_635^post101, r_970^0'=r_970^post101, rcd_47^0'=rcd_47^post101, a_309^0'=a_309^post101, i_1248^0'=i_1248^post101, a_575^0'=a_575^post101, temp_35^0'=temp_35^post101, len_861^0'=len_861^post101, (0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ a_121^0-a_121^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_634^0-a_634^post101 == 0 /\ -i_1248^post101+i_1248^0 == 0 /\ len_262^0-len_262^post101 == 0 /\ -a_239^post101+a_239^0 == 0 /\ -length_29^post101+length_29^0 == 0 /\ -1+i_1248^0-i_27^post101 <= 0 /\ a_310^0-a_310^post101 == 0 /\ -rcd_58^post101+rcd_58^0 == 0 /\ a_395^0-a_395^post101 == 0 /\ a_176^0-a_176^post101 == 0 /\ -i_197^post101+i_197^0 == 0 /\ -a_579^post101+a_579^0 == 0 /\ a_947^0-a_947^post101 == 0 /\ -i_127^post101+i_127^0 == 0 /\ -head_32^post101+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post101 == 0 /\ i_1053^0-i_1053^post101 == 0 /\ -f_248^post101+f_248^0 == 0 /\ -a_393^post101+a_393^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post101 == 0 /\ -t_24^post101+t_24^0 == 0 /\ x_975^0-x_975^post101 == 0 /\ a_430^0-a_430^post101 == 0 /\ -a_924^post101+a_924^0 == 0 /\ head_15^0-head_15^post101 == 0 /\ i_113^0-i_113^post101 == 0 /\ -a_635^post101+a_635^0 == 0 /\ -a_144^post101+a_144^0 == 0 /\ -a_309^post101+a_309^0 == 0 /\ 1-i_27^0+i_27^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ i_229^0-i_229^post101 == 0 /\ a_432^0-a_432^post101 == 0 /\ x_156^0-x_156^post101 == 0 /\ -len_861^post101+len_861^0 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ -i_30^post101+i_30^0 == 0 /\ -a_417^post101+a_417^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ -x_852^post101+x_852^0 == 0 /\ r_192^0-r_192^post101 == 0 /\ a_1162^0-a_1162^post101 == 0 /\ -rcd_47^post101+rcd_47^0 == 0 /\ i_140^0-i_140^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ nondet_12^0-nondet_12^post101 == 0 /\ a_431^0-a_431^post101 == 0 /\ a_1089^0-a_1089^post101 == 0 /\ a_394^0-a_394^post101 == 0 /\ x_17^0-x_17^post101 == 0 /\ len_161^0-len_161^post101 == 0 /\ -r_143^post101+r_143^0 == 0 /\ 1-i_1248^0+i_27^post101 <= 0 /\ rcd_88^0-rcd_88^post101 == 0 /\ y_20^0-y_20^post101 == 0 /\ a_263^0-a_263^post101 == 0 /\ -a_633^post101+a_633^0 == 0 /\ f_847^0-f_847^post101 == 0 /\ -a_575^post101+a_575^0 == 0 /\ -a_902^post101+a_902^0 == 0 /\ i_107^0-i_107^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post101+r_151^0 == 0 /\ -result_11^post101+result_11^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ -rcd_1249^post101+rcd_47^0 <= 0 /\ t_458^0-t_458^post101 == 0 /\ r_224^0-r_224^post101 == 0 /\ -a_576^post101+a_576^0 == 0 /\ a_610^0-a_610^post101 == 0 /\ i_106^0-i_106^post101 == 0 /\ -temp_35^post101+temp_35^0 == 0 /\ i_94^0-i_94^post101 == 0 /\ a_577^0-a_577^post101 == 0 /\ -a_392^post101+a_392^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post101+r_970^0 == 0 /\ -x_253^post101+x_253^0 == 0 /\ -len_238^post101+len_238^0 == 0 /\ x_21^0-x_21^post101 == 0 /\ -f_969^post101+f_969^0 == 0 /\ a_862^0-a_862^post101 == 0 /\ -a_1236^post101+a_1236^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ rcd_1249^post101-rcd_47^0 <= 0 /\ -a_311^post101+a_311^0 == 0), cost: 1 102: l66 -> l67 : a_1089^0'=a_1089^post102, f_847^0'=f_847^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_394^0'=a_394^post102, x_156^0'=x_156^post102, a_632^0'=a_632^post102, r_192^0'=r_192^post102, a_176^0'=a_176^post102, i_106^0'=i_106^post102, a_430^0'=a_430^post102, t_458^0'=t_458^post102, len_161^0'=len_161^post102, x_975^0'=x_975^post102, a_902^0'=a_902^post102, a_947^0'=a_947^post102, rcd_88^0'=rcd_88^post102, a_311^0'=a_311^post102, i_140^0'=i_140^post102, a_577^0'=a_577^post102, x_14^0'=x_14^post102, nondet_12^0'=nondet_12^post102, a_121^0'=a_121^post102, head_15^0'=head_15^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102, i_27^0'=i_27^post102, x_21^0'=x_21^post102, a_634^0'=a_634^post102, r_39^0'=r_39^post102, a_263^0'=a_263^post102, i_113^0'=i_113^post102, a_432^0'=a_432^post102, temp0_31^0'=temp0_31^post102, len_262^0'=len_262^post102, y_20^0'=y_20^post102, f_248^0'=f_248^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_393^0'=a_393^post102, i_229^0'=i_229^post102, a_610^0'=a_610^post102, r_151^0'=r_151^post102, a_144^0'=a_144^post102, i_1053^0'=i_1053^post102, a_417^0'=a_417^post102, t_24^0'=t_24^post102, i_94^0'=i_94^post102, x_852^0'=x_852^post102, a_862^0'=a_862^post102, rcd_1249^0'=rcd_1249^post102, rcd_58^0'=rcd_58^post102, a_310^0'=a_310^post102, i_127^0'=i_127^post102, a_576^0'=a_576^post102, tmp_34^0'=tmp_34^post102, length_29^0'=length_29^post102, a_1162^0'=a_1162^post102, f_969^0'=f_969^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102, a_395^0'=a_395^post102, x_17^0'=x_17^post102, a_633^0'=a_633^post102, r_224^0'=r_224^post102, a_239^0'=a_239^post102, i_107^0'=i_107^post102, a_431^0'=a_431^post102, temp0_16^0'=temp0_16^post102, len_238^0'=len_238^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, a_924^0'=a_924^post102, ct_18^0'=ct_18^post102, result_11^0'=result_11^post102, a_392^0'=a_392^post102, i_197^0'=i_197^post102, a_579^0'=a_579^post102, r_143^0'=r_143^post102, a_1236^0'=a_1236^post102, head_32^0'=head_32^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102, i_30^0'=i_30^post102, x_253^0'=x_253^post102, a_635^0'=a_635^post102, r_970^0'=r_970^post102, rcd_47^0'=rcd_47^post102, a_309^0'=a_309^post102, i_1248^0'=i_1248^post102, a_575^0'=a_575^post102, temp_35^0'=temp_35^post102, len_861^0'=len_861^post102, (a_632^0-a_632^post102 == 0 /\ i_106^0-i_106^post102 == 0 /\ head_15^0-head_15^post102 == 0 /\ t_458^0-t_458^post102 == 0 /\ a_902^0-a_902^post102 == 0 /\ -len_238^post102+len_238^0 == 0 /\ -r_151^post102+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-x_14^0 <= 0 /\ i_229^0-i_229^post102 == 0 /\ -a_634^post102+a_634^0 == 0 /\ -a_576^post102+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ x_14^0-x_14^post102 == 0 /\ -a_1236^post102+a_1236^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post102 == 0 /\ -temp_35^post102+temp_35^0 == 0 /\ -r_143^post102+r_143^0 == 0 /\ -i_27^post102+i_27^0 == 0 /\ -x_253^post102+x_253^0 == 0 /\ a_121^0-a_121^post102 == 0 /\ -r_970^post102+r_970^0 == 0 /\ a_1089^0-a_1089^post102 == 0 /\ len_262^0-len_262^post102 == 0 /\ a_394^0-a_394^post102 == 0 /\ a_263^0-a_263^post102 == 0 /\ -a_610^post102+a_610^0 == 0 /\ -length_29^post102+length_29^0 == 0 /\ y_20^0-y_20^post102 == 0 /\ a_176^0-a_176^post102 == 0 /\ -rcd_47^post102+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102 == 0 /\ a_924^0-a_924^post102 == 0 /\ -a_395^post102+a_395^0 == 0 /\ -len_861^post102+len_861^0 == 0 /\ a_430^0-a_430^post102 == 0 /\ -head_32^post102+head_32^0 == 0 /\ x_975^0-x_975^post102 == 0 /\ -a_311^post102+a_311^0 == 0 /\ i_94^0-i_94^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ -r_192^post102+r_192^0 == 0 /\ a_577^0-a_577^post102 == 0 /\ r_39^0-r_39^post102 == 0 /\ -rcd_88^post102+rcd_88^0 == 0 /\ -i_1248^post102+i_1248^0 == 0 /\ -r_224^post102+r_224^0 == 0 /\ a_432^0-a_432^post102 == 0 /\ a_633^0-a_633^post102 == 0 /\ -a_579^post102+a_579^0 == 0 /\ -a_239^post102+a_239^0 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ i_113^0-i_113^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -i_127^post102+i_127^0 == 0 /\ x_21^0-x_21^post102 == 0 /\ -a_392^post102+a_392^0 == 0 /\ -a_862^post102+a_862^0 == 0 /\ f_969^0-f_969^post102 == 0 /\ -i_1053^post102+i_1053^0 == 0 /\ -x_156^post102+x_156^0 == 0 /\ -a_575^post102+a_575^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -i_197^post102+i_197^0 == 0 /\ -rcd_1249^post102+rcd_1249^0 == 0 /\ -a_417^post102+a_417^0 == 0 /\ a_431^0-a_431^post102 == 0 /\ a_310^0-a_310^post102 == 0 /\ a_947^0-a_947^post102 == 0 /\ -a_393^post102+a_393^0 == 0 /\ a_1162^0-a_1162^post102 == 0 /\ -a_635^post102+a_635^0 == 0 /\ len_161^0-len_161^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_17^post102+x_17^0 == 0 /\ -i_30^post102+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 == 0 /\ a_144^0-a_144^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ f_847^0-f_847^post102 == 0 /\ -a_309^post102+a_309^0 == 0 /\ -x_852^post102+x_852^0 == 0 /\ -tmp_34^post102+tmp_34^0 == 0 /\ f_248^0-f_248^post102 == 0 /\ -i_107^post102+i_107^0 == 0 /\ i_140^0-i_140^post102 == 0), cost: 1 103: l66 -> l67 : a_1089^0'=a_1089^post103, f_847^0'=f_847^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_394^0'=a_394^post103, x_156^0'=x_156^post103, a_632^0'=a_632^post103, r_192^0'=r_192^post103, a_176^0'=a_176^post103, i_106^0'=i_106^post103, a_430^0'=a_430^post103, t_458^0'=t_458^post103, len_161^0'=len_161^post103, x_975^0'=x_975^post103, a_902^0'=a_902^post103, a_947^0'=a_947^post103, rcd_88^0'=rcd_88^post103, a_311^0'=a_311^post103, i_140^0'=i_140^post103, a_577^0'=a_577^post103, x_14^0'=x_14^post103, nondet_12^0'=nondet_12^post103, a_121^0'=a_121^post103, head_15^0'=head_15^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103, i_27^0'=i_27^post103, x_21^0'=x_21^post103, a_634^0'=a_634^post103, r_39^0'=r_39^post103, a_263^0'=a_263^post103, i_113^0'=i_113^post103, a_432^0'=a_432^post103, temp0_31^0'=temp0_31^post103, len_262^0'=len_262^post103, y_20^0'=y_20^post103, f_248^0'=f_248^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_393^0'=a_393^post103, i_229^0'=i_229^post103, a_610^0'=a_610^post103, r_151^0'=r_151^post103, a_144^0'=a_144^post103, i_1053^0'=i_1053^post103, a_417^0'=a_417^post103, t_24^0'=t_24^post103, i_94^0'=i_94^post103, x_852^0'=x_852^post103, a_862^0'=a_862^post103, rcd_1249^0'=rcd_1249^post103, rcd_58^0'=rcd_58^post103, a_310^0'=a_310^post103, i_127^0'=i_127^post103, a_576^0'=a_576^post103, tmp_34^0'=tmp_34^post103, length_29^0'=length_29^post103, a_1162^0'=a_1162^post103, f_969^0'=f_969^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103, a_395^0'=a_395^post103, x_17^0'=x_17^post103, a_633^0'=a_633^post103, r_224^0'=r_224^post103, a_239^0'=a_239^post103, i_107^0'=i_107^post103, a_431^0'=a_431^post103, temp0_16^0'=temp0_16^post103, len_238^0'=len_238^post103, x_SLAM_f_19^0'=x_SLAM_f_19^post103, a_924^0'=a_924^post103, ct_18^0'=ct_18^post103, result_11^0'=result_11^post103, a_392^0'=a_392^post103, i_197^0'=i_197^post103, a_579^0'=a_579^post103, r_143^0'=r_143^post103, a_1236^0'=a_1236^post103, head_32^0'=head_32^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103, i_30^0'=i_30^post103, x_253^0'=x_253^post103, a_635^0'=a_635^post103, r_970^0'=r_970^post103, rcd_47^0'=rcd_47^post103, a_309^0'=a_309^post103, i_1248^0'=i_1248^post103, a_575^0'=a_575^post103, temp_35^0'=temp_35^post103, len_861^0'=len_861^post103, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ -i_1248^post103+i_1248^0 == 0 /\ a_634^0-a_634^post103 == 0 /\ i_27^0-i_27^post103 == 0 /\ -len_861^post103+len_861^0 == 0 /\ -a_310^post103+a_310^0 == 0 /\ -a_239^post103+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post103+a_862^0 == 0 /\ a_576^0-a_576^post103 == 0 /\ -ct_18^post103+ct_18^0 == 0 /\ x_17^0-x_17^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103 == 0 /\ -i_30^post103+i_30^0 == 0 /\ -i_1053^post103+i_1053^0 == 0 /\ a_176^0-a_176^post103 == 0 /\ -head_32^post103+head_32^0 == 0 /\ f_248^0-f_248^post103 == 0 /\ -a_393^post103+a_393^0 == 0 /\ -r_224^post103+r_224^0 == 0 /\ -i_197^post103+i_197^0 == 0 /\ a_924^0-a_924^post103 == 0 /\ -result_11^post103+result_11^0 == 0 /\ a_610^0-a_610^post103 == 0 /\ -r_151^post103+r_151^0 == 0 /\ -a_309^post103+a_309^0 == 0 /\ a_632^0-a_632^post103 == 0 /\ -i_107^post103+i_107^0 == 0 /\ t_458^0-t_458^post103 == 0 /\ rcd_1249^0-rcd_1249^post103 == 0 /\ x_975^0-x_975^post103 == 0 /\ i_113^0-i_113^post103 == 0 /\ -a_575^post103+a_575^0 == 0 /\ -a_579^post103+a_579^0 == 0 /\ -t_24^post103+t_24^0 == 0 /\ -a_635^post103+a_635^0 == 0 /\ -a_263^post103+a_263^0 == 0 /\ -a_417^post103+a_417^0 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ -x_852^post103+x_852^0 == 0 /\ r_192^0-r_192^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_262^0-len_262^post103 == 0 /\ nondet_12^0-nondet_12^post103 == 0 /\ temp0_31^0-temp0_31^post103 == 0 /\ a_144^0-a_144^post103 == 0 /\ a_394^0-a_394^post103 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -i_140^post103+i_140^0 == 0 /\ a_633^0-a_633^post103 == 0 /\ len_161^0-len_161^post103 == 0 /\ a_947^0-a_947^post103 == 0 /\ len_238^0-len_238^post103 == 0 /\ f_847^0-f_847^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103 == 0 /\ -rcd_47^post103+rcd_47^0 == 0 /\ -r_143^post103+r_143^0 == 0 /\ a_121^0-a_121^post103 == 0 /\ -f_969^post103+f_969^0 == 0 /\ a_902^0-a_902^post103 == 0 /\ i_106^0-i_106^post103 == 0 /\ -a_392^post103+a_392^0 == 0 /\ -y_20^post103+y_20^0 == 0 /\ i_94^0-i_94^post103 == 0 /\ a_430^0-a_430^post103 == 0 /\ -x_SLAM_f_19^post103+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ i_127^0-i_127^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ -temp_35^post103+temp_35^0 == 0 /\ a_311^0-a_311^post103 == 0 /\ -x_253^post103+x_253^0 == 0 /\ a_577^0-a_577^post103 == 0 /\ x_156^0-x_156^post103 == 0 /\ 1+x_14^0 <= 0 /\ -r_970^post103+r_970^0 == 0 /\ a_1089^0-a_1089^post103 == 0 /\ a_1162^0-a_1162^post103 == 0 /\ -a_432^post103+a_432^0 == 0 /\ -a_431^post103+a_431^0 == 0 /\ x_14^0-x_14^post103 == 0 /\ -a_395^post103+a_395^0 == 0 /\ -i_229^post103+i_229^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ x_21^0-x_21^post103 == 0 /\ -a_1236^post103+a_1236^0 == 0), cost: 1 104: l67 -> l68 : a_1089^0'=a_1089^post104, f_847^0'=f_847^post104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post104, a_394^0'=a_394^post104, x_156^0'=x_156^post104, a_632^0'=a_632^post104, r_192^0'=r_192^post104, a_176^0'=a_176^post104, i_106^0'=i_106^post104, a_430^0'=a_430^post104, t_458^0'=t_458^post104, len_161^0'=len_161^post104, x_975^0'=x_975^post104, a_902^0'=a_902^post104, a_947^0'=a_947^post104, rcd_88^0'=rcd_88^post104, a_311^0'=a_311^post104, i_140^0'=i_140^post104, a_577^0'=a_577^post104, x_14^0'=x_14^post104, nondet_12^0'=nondet_12^post104, a_121^0'=a_121^post104, head_15^0'=head_15^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104, i_27^0'=i_27^post104, x_21^0'=x_21^post104, a_634^0'=a_634^post104, r_39^0'=r_39^post104, a_263^0'=a_263^post104, i_113^0'=i_113^post104, a_432^0'=a_432^post104, temp0_31^0'=temp0_31^post104, len_262^0'=len_262^post104, y_20^0'=y_20^post104, f_248^0'=f_248^post104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104, a_393^0'=a_393^post104, i_229^0'=i_229^post104, a_610^0'=a_610^post104, r_151^0'=r_151^post104, a_144^0'=a_144^post104, i_1053^0'=i_1053^post104, a_417^0'=a_417^post104, t_24^0'=t_24^post104, i_94^0'=i_94^post104, x_852^0'=x_852^post104, a_862^0'=a_862^post104, rcd_1249^0'=rcd_1249^post104, rcd_58^0'=rcd_58^post104, a_310^0'=a_310^post104, i_127^0'=i_127^post104, a_576^0'=a_576^post104, tmp_34^0'=tmp_34^post104, length_29^0'=length_29^post104, a_1162^0'=a_1162^post104, f_969^0'=f_969^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104, a_395^0'=a_395^post104, x_17^0'=x_17^post104, a_633^0'=a_633^post104, r_224^0'=r_224^post104, a_239^0'=a_239^post104, i_107^0'=i_107^post104, a_431^0'=a_431^post104, temp0_16^0'=temp0_16^post104, len_238^0'=len_238^post104, x_SLAM_f_19^0'=x_SLAM_f_19^post104, a_924^0'=a_924^post104, ct_18^0'=ct_18^post104, result_11^0'=result_11^post104, a_392^0'=a_392^post104, i_197^0'=i_197^post104, a_579^0'=a_579^post104, r_143^0'=r_143^post104, a_1236^0'=a_1236^post104, head_32^0'=head_32^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104, i_30^0'=i_30^post104, x_253^0'=x_253^post104, a_635^0'=a_635^post104, r_970^0'=r_970^post104, rcd_47^0'=rcd_47^post104, a_309^0'=a_309^post104, i_1248^0'=i_1248^post104, a_575^0'=a_575^post104, temp_35^0'=temp_35^post104, len_861^0'=len_861^post104, (-i_140^post104+i_140^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post104 == 0 /\ -tmp_34^post104+tmp_34^0 == 0 /\ -a_1162^post104+a_1162^0 == 0 /\ a_311^0-a_311^post104 == 0 /\ f_248^0-f_248^post104 == 0 /\ rcd_1249^0-rcd_1249^post104 == 0 /\ t_458^0-t_458^post104 == 0 /\ a_902^0-a_902^post104 == 0 /\ f_969^0-f_969^post104 == 0 /\ rcd_88^0-rcd_88^post104 == 0 /\ i_106^0-i_106^post104 == 0 /\ i_127^0-i_127^post104 == 0 /\ -rcd_47^post104+rcd_47^0 == 0 /\ x_156^0-x_156^post104 == 0 /\ -result_11^post104+result_11^0 == 0 /\ -a_924^post104+a_924^0 == 0 /\ -x_21^post104+x_21^0 == 0 /\ len_161^0-len_161^post104 == 0 /\ a_632^0-a_632^post104 == 0 /\ x_14^0-x_14^post104 == 0 /\ a_430^0-a_430^post104 == 0 /\ len_262^0-len_262^post104 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1236^0-a_1236^post104 == 0 /\ x_852^0-x_852^post104 == 0 /\ -x_253^post104+x_253^0 == 0 /\ -r_970^post104+r_970^0 == 0 /\ temp0_31^0-temp0_31^post104 == 0 /\ f_847^0-f_847^post104 == 0 /\ -r_143^post104+r_143^0 == 0 /\ -y_20^post104+y_20^0 == 0 /\ -a_432^post104+a_432^0 == 0 /\ a_394^0-a_394^post104 == 0 /\ -i_229^post104+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post104+i_113^0 == 0 /\ -temp_35^post104+temp_35^0 == 0 /\ a_176^0-a_176^post104 == 0 /\ -a_431^post104+a_431^0 == 0 /\ -x_SLAM_f_19^post104+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post104 == 0 /\ -a_310^post104+a_310^0 == 0 /\ -len_861^post104+len_861^0 == 0 /\ -r_39^post104+r_39^0 == 0 /\ a_610^0-a_610^post104 == 0 /\ -a_395^post104+a_395^0 == 0 /\ a_239^0-a_239^post104 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ head_15^0-head_15^post104 == 0 /\ -a_862^post104+a_862^0 == 0 /\ -x_17^post104+x_17^0 == 0 /\ a_635^0-a_635^post104 == 0 /\ -r_224^post104+r_224^0 == 0 /\ -i_94^post104+i_94^0 == 0 /\ a_393^0-a_393^post104 == 0 /\ a_633^0-a_633^post104 == 0 /\ -a_577^post104+a_577^0 == 0 /\ -a_392^post104+a_392^0 == 0 /\ -i_1248^post104+i_1248^0 == 0 /\ -i_1053^post104+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post104 == 0 /\ temp0_16^0-temp0_16^post104 == 0 /\ i_27^0-i_27^post104 == 0 /\ -length_29^post104+length_29^0 == 0 /\ -i_107^post104+i_107^0 == 0 /\ -ct_18^post104+ct_18^0 == 0 /\ a_576^0-a_576^post104 == 0 /\ -a_263^post104+a_263^0 == 0 /\ -a_579^post104+a_579^0 == 0 /\ -a_575^post104+a_575^0 == 0 /\ -t_24^post104+t_24^0 == 0 /\ a_121^0-a_121^post104 == 0 /\ -i_197^post104+i_197^0 == 0 /\ a_1089^0-a_1089^post104 == 0 /\ -i_30^post104+i_30^0 == 0 /\ -head_32^post104+head_32^0 == 0 /\ a_144^0-a_144^post104 == 0 /\ nondet_12^0-nondet_12^post104 == 0 /\ a_634^0-a_634^post104 == 0 /\ a_947^0-a_947^post104 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_417^0-a_417^post104 == 0 /\ r_151^0-r_151^post104 == 0 /\ -rcd_58^post104+rcd_58^0 == 0 /\ len_238^0-len_238^post104 == 0 /\ -a_309^post104+a_309^0 == 0), cost: 1 105: l67 -> l68 : a_1089^0'=a_1089^post105, f_847^0'=f_847^post105, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post105, a_394^0'=a_394^post105, x_156^0'=x_156^post105, a_632^0'=a_632^post105, r_192^0'=r_192^post105, a_176^0'=a_176^post105, i_106^0'=i_106^post105, a_430^0'=a_430^post105, t_458^0'=t_458^post105, len_161^0'=len_161^post105, x_975^0'=x_975^post105, a_902^0'=a_902^post105, a_947^0'=a_947^post105, rcd_88^0'=rcd_88^post105, a_311^0'=a_311^post105, i_140^0'=i_140^post105, a_577^0'=a_577^post105, x_14^0'=x_14^post105, nondet_12^0'=nondet_12^post105, a_121^0'=a_121^post105, head_15^0'=head_15^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105, i_27^0'=i_27^post105, x_21^0'=x_21^post105, a_634^0'=a_634^post105, r_39^0'=r_39^post105, a_263^0'=a_263^post105, i_113^0'=i_113^post105, a_432^0'=a_432^post105, temp0_31^0'=temp0_31^post105, len_262^0'=len_262^post105, y_20^0'=y_20^post105, f_248^0'=f_248^post105, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105, a_393^0'=a_393^post105, i_229^0'=i_229^post105, a_610^0'=a_610^post105, r_151^0'=r_151^post105, a_144^0'=a_144^post105, i_1053^0'=i_1053^post105, a_417^0'=a_417^post105, t_24^0'=t_24^post105, i_94^0'=i_94^post105, x_852^0'=x_852^post105, a_862^0'=a_862^post105, rcd_1249^0'=rcd_1249^post105, rcd_58^0'=rcd_58^post105, a_310^0'=a_310^post105, i_127^0'=i_127^post105, a_576^0'=a_576^post105, tmp_34^0'=tmp_34^post105, length_29^0'=length_29^post105, a_1162^0'=a_1162^post105, f_969^0'=f_969^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105, a_395^0'=a_395^post105, x_17^0'=x_17^post105, a_633^0'=a_633^post105, r_224^0'=r_224^post105, a_239^0'=a_239^post105, i_107^0'=i_107^post105, a_431^0'=a_431^post105, temp0_16^0'=temp0_16^post105, len_238^0'=len_238^post105, x_SLAM_f_19^0'=x_SLAM_f_19^post105, a_924^0'=a_924^post105, ct_18^0'=ct_18^post105, result_11^0'=result_11^post105, a_392^0'=a_392^post105, i_197^0'=i_197^post105, a_579^0'=a_579^post105, r_143^0'=r_143^post105, a_1236^0'=a_1236^post105, head_32^0'=head_32^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105, i_30^0'=i_30^post105, x_253^0'=x_253^post105, a_635^0'=a_635^post105, r_970^0'=r_970^post105, rcd_47^0'=rcd_47^post105, a_309^0'=a_309^post105, i_1248^0'=i_1248^post105, a_575^0'=a_575^post105, temp_35^0'=temp_35^post105, len_861^0'=len_861^post105, (x_852^0-x_852^post105 == 0 /\ a_263^0-a_263^post105 == 0 /\ nondet_12^0-nondet_12^post105 == 0 /\ -length_29^post105+length_29^0 == 0 /\ -r_39^post105+r_39^0 == 0 /\ -a_392^post105+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post105 == 0 /\ -i_1248^post105+i_1248^0 == 0 /\ -a_862^post105+a_862^0 == 0 /\ -i_107^post105+i_107^0 == 0 /\ x_17^0-x_17^post105 == 0 /\ f_847^0-f_847^post105 == 0 /\ -head_32^post105+head_32^0 == 0 /\ tmp_34^0-tmp_34^post105 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105 == 0 /\ -temp0_16^post105+temp0_16^0 == 0 /\ a_394^0-a_394^post105 == 0 /\ a_144^0-a_144^post105 == 0 /\ -len_861^post105+len_861^0 == 0 /\ -a_635^post105+a_635^0 == 0 /\ -i_30^post105+i_30^0 == 0 /\ -a_310^post105+a_310^0 == 0 /\ -a_393^post105+a_393^0 == 0 /\ t_458^0-t_458^post105 == 0 /\ -t_24^post105+t_24^0 == 0 /\ r_143^0-r_143^post105 == 0 /\ rcd_1249^0-rcd_1249^post105 == 0 /\ a_610^0-a_610^post105 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_106^0-i_106^post105 == 0 /\ a_577^0-a_577^post105 == 0 /\ ct_18^0-ct_18^post105 == 0 /\ -a_575^post105+a_575^0 == 0 /\ -a_417^post105+a_417^0 == 0 /\ -i_197^post105+i_197^0 == 0 /\ -a_633^post105+a_633^0 == 0 /\ -a_309^post105+a_309^0 == 0 /\ -i_127^post105+i_127^0 == 0 /\ len_161^0-len_161^post105 == 0 /\ -a_579^post105+a_579^0 == 0 /\ -x_975^post105+x_975^0 == 0 /\ i_27^0-i_27^post105 == 0 /\ x_21^0-x_21^post105 == 0 /\ a_1236^0-a_1236^post105 == 0 /\ a_121^0-a_121^post105 == 0 /\ len_262^0-len_262^post105 == 0 /\ x_156^0-x_156^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post105 == 0 /\ temp0_31^0-temp0_31^post105 == 0 /\ -a_1162^post105+a_1162^0 == 0 /\ -a_924^post105+a_924^0 == 0 /\ -rcd_47^post105+rcd_47^0 == 0 /\ a_634^0-a_634^post105 == 0 /\ x_253^0-x_253^post105 == 0 /\ -i_140^post105+i_140^0 == 0 /\ len_238^0-len_238^post105 == 0 /\ f_248^0-f_248^post105 == 0 /\ rcd_58^0-rcd_58^post105 == 0 /\ a_947^0-a_947^post105 == 0 /\ -r_970^post105+r_970^0 == 0 /\ -f_969^post105+f_969^0 == 0 /\ -result_11^post105+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105 == 0 /\ a_176^0-a_176^post105 == 0 /\ -r_224^post105+r_224^0 == 0 /\ r_151^0-r_151^post105 == 0 /\ a_239^0-a_239^post105 == 0 /\ a_902^0-a_902^post105 == 0 /\ -temp_35^post105+temp_35^0 == 0 /\ head_15^0-head_15^post105 == 0 /\ i_1053^0-i_1053^post105 == 0 /\ a_311^0-a_311^post105 == 0 /\ -i_113^post105+i_113^0 == 0 /\ -i_94^post105+i_94^0 == 0 /\ rcd_88^0-rcd_88^post105 == 0 /\ -a_395^post105+a_395^0 == 0 /\ a_1089^0-a_1089^post105 == 0 /\ a_430^0-a_430^post105 == 0 /\ x_14^0-x_14^post105 == 0 /\ -y_20^post105+y_20^0 == 0 /\ -a_431^post105+a_431^0 == 0 /\ -a_432^post105+a_432^0 == 0 /\ -i_229^post105+i_229^0 == 0 /\ a_632^0-a_632^post105 == 0 /\ -x_SLAM_f_19^post105+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post105 == 0), cost: 1 106: l68 -> l61 : a_1089^0'=a_1089^post106, f_847^0'=f_847^post106, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post106, a_394^0'=a_394^post106, x_156^0'=x_156^post106, a_632^0'=a_632^post106, r_192^0'=r_192^post106, a_176^0'=a_176^post106, i_106^0'=i_106^post106, a_430^0'=a_430^post106, t_458^0'=t_458^post106, len_161^0'=len_161^post106, x_975^0'=x_975^post106, a_902^0'=a_902^post106, a_947^0'=a_947^post106, rcd_88^0'=rcd_88^post106, a_311^0'=a_311^post106, i_140^0'=i_140^post106, a_577^0'=a_577^post106, x_14^0'=x_14^post106, nondet_12^0'=nondet_12^post106, a_121^0'=a_121^post106, head_15^0'=head_15^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106, i_27^0'=i_27^post106, x_21^0'=x_21^post106, a_634^0'=a_634^post106, r_39^0'=r_39^post106, a_263^0'=a_263^post106, i_113^0'=i_113^post106, a_432^0'=a_432^post106, temp0_31^0'=temp0_31^post106, len_262^0'=len_262^post106, y_20^0'=y_20^post106, f_248^0'=f_248^post106, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106, a_393^0'=a_393^post106, i_229^0'=i_229^post106, a_610^0'=a_610^post106, r_151^0'=r_151^post106, a_144^0'=a_144^post106, i_1053^0'=i_1053^post106, a_417^0'=a_417^post106, t_24^0'=t_24^post106, i_94^0'=i_94^post106, x_852^0'=x_852^post106, a_862^0'=a_862^post106, rcd_1249^0'=rcd_1249^post106, rcd_58^0'=rcd_58^post106, a_310^0'=a_310^post106, i_127^0'=i_127^post106, a_576^0'=a_576^post106, tmp_34^0'=tmp_34^post106, length_29^0'=length_29^post106, a_1162^0'=a_1162^post106, f_969^0'=f_969^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106, a_395^0'=a_395^post106, x_17^0'=x_17^post106, a_633^0'=a_633^post106, r_224^0'=r_224^post106, a_239^0'=a_239^post106, i_107^0'=i_107^post106, a_431^0'=a_431^post106, temp0_16^0'=temp0_16^post106, len_238^0'=len_238^post106, x_SLAM_f_19^0'=x_SLAM_f_19^post106, a_924^0'=a_924^post106, ct_18^0'=ct_18^post106, result_11^0'=result_11^post106, a_392^0'=a_392^post106, i_197^0'=i_197^post106, a_579^0'=a_579^post106, r_143^0'=r_143^post106, a_1236^0'=a_1236^post106, head_32^0'=head_32^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106, i_30^0'=i_30^post106, x_253^0'=x_253^post106, a_635^0'=a_635^post106, r_970^0'=r_970^post106, rcd_47^0'=rcd_47^post106, a_309^0'=a_309^post106, i_1248^0'=i_1248^post106, a_575^0'=a_575^post106, temp_35^0'=temp_35^post106, len_861^0'=len_861^post106, (0 == 0 /\ f_969^0-f_969^post106 == 0 /\ x_975^0-x_975^post106 == 0 /\ -a_924^post106+a_924^0 == 0 /\ a_176^0-a_176^post106 == 0 /\ length_29^0-length_29^post106 == 0 /\ r_192^0-r_192^post106 == 0 /\ -a_431^post106+a_431^0 == 0 /\ -x_21^post106+x_21^0 == 0 /\ -a_1162^post106+a_1162^0 == 0 /\ i_27^0-i_27^post106 == 0 /\ t_24^0-t_24^post106 == 0 /\ -result_11^post106+result_11^0 == 0 /\ a_393^0-a_393^post106 == 0 /\ r_39^0-r_39^post106 == 0 /\ -rcd_47^post106+rcd_1249^0 <= 0 /\ a_430^0-a_430^post106 == 0 /\ -a_610^post106+a_610^0 == 0 /\ a_432^0-a_432^post106 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_970^post106+r_970^0 == 0 /\ -f_248^post106+f_248^0 == 0 /\ -r_143^post106+r_143^0 == 0 /\ -i_94^post106+i_94^0 == 0 /\ len_161^0-len_161^post106 == 0 /\ x_156^0-x_156^post106 == 0 /\ a_144^0-a_144^post106 == 0 /\ a_579^0-a_579^post106 == 0 /\ i_140^0-i_140^post106 == 0 /\ -i_229^post106+i_229^0 == 0 /\ f_847^0-f_847^post106 == 0 /\ -x_253^post106+x_253^0 == 0 /\ a_394^0-a_394^post106 == 0 /\ head_15^0-head_15^post106 == 0 /\ a_862^0-a_862^post106 == 0 /\ r_151^0-r_151^post106 == 0 /\ i_113^0-i_113^post106 == 0 /\ a_902^0-a_902^post106 == 0 /\ -temp_35^post106+temp_35^0 == 0 /\ rcd_47^post106-rcd_1249^0 <= 0 /\ -a_576^post106+a_576^0 == 0 /\ -rcd_1249^post106+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post106 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_32^0-head_32^post106 == 0 /\ a_239^0-a_239^post106 == 0 /\ -a_1236^post106+a_1236^0 == 0 /\ -i_30^post106+i_30^0 == 0 /\ rcd_88^0-rcd_88^post106 == 0 /\ a_311^0-a_311^post106 == 0 /\ -a_947^post106+a_947^0 == 0 /\ a_635^0-a_635^post106 == 0 /\ a_395^0-a_395^post106 == 0 /\ -x_17^post106+x_17^0 == 0 /\ a_632^0-a_632^post106 == 0 /\ i_106^0-i_106^post106 == 0 /\ -temp0_31^post106+temp0_31^0 == 0 /\ 1-i_1248^0 <= 0 /\ -a_577^post106+a_577^0 == 0 /\ -i_1248^post106+i_1248^0 == 0 /\ -x_SLAM_f_19^post106+x_SLAM_f_19^0 == 0 /\ -a_392^post106+a_392^0 == 0 /\ x_852^0-x_852^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post106 == 0 /\ -a_310^post106+a_310^0 == 0 /\ -r_224^post106+r_224^0 == 0 /\ -temp0_16^post106+temp0_16^0 == 0 /\ a_1089^0-a_1089^post106 == 0 /\ -len_861^post106+len_861^0 == 0 /\ t_458^0-t_458^post106 == 0 /\ nondet_12^0-nondet_12^post106 == 0 /\ a_263^0-a_263^post106 == 0 /\ a_417^0-a_417^post106 == 0 /\ y_20^0-y_20^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106 == 0 /\ -i_197^post106+i_197^0 == 0 /\ a_633^0-a_633^post106 == 0 /\ -len_238^post106+len_238^0 == 0 /\ a_634^0-a_634^post106 == 0 /\ -len_262^post106+len_262^0 == 0 /\ i_1053^0-i_1053^post106 == 0 /\ -a_309^post106+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post106 == 0 /\ -i_127^post106+i_127^0 == 0 /\ -x_14^post106+x_14^0 == 0 /\ -i_107^post106+i_107^0 == 0 /\ a_121^0-a_121^post106 == 0 /\ -a_575^post106+a_575^0 == 0 /\ -ct_18^post106+ct_18^0 == 0), cost: 1 107: l61 -> l49 : a_1089^0'=a_1089^post107, f_847^0'=f_847^post107, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post107, a_394^0'=a_394^post107, x_156^0'=x_156^post107, a_632^0'=a_632^post107, r_192^0'=r_192^post107, a_176^0'=a_176^post107, i_106^0'=i_106^post107, a_430^0'=a_430^post107, t_458^0'=t_458^post107, len_161^0'=len_161^post107, x_975^0'=x_975^post107, a_902^0'=a_902^post107, a_947^0'=a_947^post107, rcd_88^0'=rcd_88^post107, a_311^0'=a_311^post107, i_140^0'=i_140^post107, a_577^0'=a_577^post107, x_14^0'=x_14^post107, nondet_12^0'=nondet_12^post107, a_121^0'=a_121^post107, head_15^0'=head_15^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107, i_27^0'=i_27^post107, x_21^0'=x_21^post107, a_634^0'=a_634^post107, r_39^0'=r_39^post107, a_263^0'=a_263^post107, i_113^0'=i_113^post107, a_432^0'=a_432^post107, temp0_31^0'=temp0_31^post107, len_262^0'=len_262^post107, y_20^0'=y_20^post107, f_248^0'=f_248^post107, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107, a_393^0'=a_393^post107, i_229^0'=i_229^post107, a_610^0'=a_610^post107, r_151^0'=r_151^post107, a_144^0'=a_144^post107, i_1053^0'=i_1053^post107, a_417^0'=a_417^post107, t_24^0'=t_24^post107, i_94^0'=i_94^post107, x_852^0'=x_852^post107, a_862^0'=a_862^post107, rcd_1249^0'=rcd_1249^post107, rcd_58^0'=rcd_58^post107, a_310^0'=a_310^post107, i_127^0'=i_127^post107, a_576^0'=a_576^post107, tmp_34^0'=tmp_34^post107, length_29^0'=length_29^post107, a_1162^0'=a_1162^post107, f_969^0'=f_969^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107, a_395^0'=a_395^post107, x_17^0'=x_17^post107, a_633^0'=a_633^post107, r_224^0'=r_224^post107, a_239^0'=a_239^post107, i_107^0'=i_107^post107, a_431^0'=a_431^post107, temp0_16^0'=temp0_16^post107, len_238^0'=len_238^post107, x_SLAM_f_19^0'=x_SLAM_f_19^post107, a_924^0'=a_924^post107, ct_18^0'=ct_18^post107, result_11^0'=result_11^post107, a_392^0'=a_392^post107, i_197^0'=i_197^post107, a_579^0'=a_579^post107, r_143^0'=r_143^post107, a_1236^0'=a_1236^post107, head_32^0'=head_32^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107, i_30^0'=i_30^post107, x_253^0'=x_253^post107, a_635^0'=a_635^post107, r_970^0'=r_970^post107, rcd_47^0'=rcd_47^post107, a_309^0'=a_309^post107, i_1248^0'=i_1248^post107, a_575^0'=a_575^post107, temp_35^0'=temp_35^post107, len_861^0'=len_861^post107, (-a_576^post107+a_576^0 == 0 /\ x_156^0-x_156^post107 == 0 /\ a_263^0-a_263^post107 == 0 /\ a_432^0-a_432^post107 == 0 /\ f_847^0-f_847^post107 == 0 /\ a_862^0-a_862^post107 == 0 /\ -a_309^post107+a_309^0 == 0 /\ x_21^0-x_21^post107 == 0 /\ -temp0_16^post107+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post107 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107 == 0 /\ a_417^0-a_417^post107 == 0 /\ -a_635^post107+a_635^0 == 0 /\ -i_30^post107+i_30^0 == 0 /\ a_144^0-a_144^post107 == 0 /\ head_15^0-head_15^post107 == 0 /\ -a_310^post107+a_310^0 == 0 /\ -x_17^post107+x_17^0 == 0 /\ -len_262^post107+len_262^0 == 0 /\ a_394^0-a_394^post107 == 0 /\ i_94^0-i_94^post107 == 0 /\ i_113^0-i_113^post107 == 0 /\ -len_861^post107+len_861^0 == 0 /\ -a_1236^post107+a_1236^0 == 0 /\ a_392^0-a_392^post107 == 0 /\ a_311^0-a_311^post107 == 0 /\ a_902^0-a_902^post107 == 0 /\ rcd_88^0-rcd_88^post107 == 0 /\ -a_579^post107+a_579^0 == 0 /\ -temp0_31^post107+temp0_31^0 == 0 /\ -ct_18^post107+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post107 == 0 /\ -i_127^post107+i_127^0 == 0 /\ -i_107^post107+i_107^0 == 0 /\ a_1089^0-a_1089^post107 == 0 /\ i_106^0-i_106^post107 == 0 /\ -x_14^post107+x_14^0 == 0 /\ a_430^0-a_430^post107 == 0 /\ i_27^0-i_27^post107 == 0 /\ -a_575^post107+a_575^0 == 0 /\ -i_197^post107+i_197^0 == 0 /\ -head_32^post107+head_32^0 == 0 /\ r_39^0-r_39^post107 == 0 /\ t_458^0-t_458^post107 == 0 /\ -a_633^post107+a_633^0 == 0 /\ -f_969^post107+f_969^0 == 0 /\ -result_11^post107+result_11^0 == 0 /\ x_253^0-x_253^post107 == 0 /\ i_140^0-i_140^post107 == 0 /\ -temp_35^post107+temp_35^0 == 0 /\ -nondet_12^post107+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107 == 0 /\ -a_121^post107+a_121^0 == 0 /\ -rcd_47^post107+rcd_47^0 == 0 /\ -a_1162^post107+a_1162^0 == 0 /\ i_1053^0-i_1053^post107 == 0 /\ -len_238^post107+len_238^0 == 0 /\ -r_970^post107+r_970^0 == 0 /\ -t_24^post107+t_24^0 == 0 /\ x_975^0-x_975^post107 == 0 /\ -rcd_58^post107+rcd_58^0 == 0 /\ y_20^0-y_20^post107 == 0 /\ a_947^0-a_947^post107 == 0 /\ r_151^0-r_151^post107 == 0 /\ f_248^0-f_248^post107 == 0 /\ a_577^0-a_577^post107 == 0 /\ a_176^0-a_176^post107 == 0 /\ -r_224^post107+r_224^0 == 0 /\ -i_1248^post107+i_1248^0 == 0 /\ r_192^0-r_192^post107 == 0 /\ rcd_1249^0-rcd_1249^post107 == 0 /\ -a_239^post107+a_239^0 == 0 /\ -x_SLAM_f_19^post107+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post107 == 0 /\ -a_924^post107+a_924^0 == 0 /\ -a_634^post107+a_634^0 == 0 /\ -a_431^post107+a_431^0 == 0 /\ -i_229^post107+i_229^0 == 0 /\ length_29^0-length_29^post107 == 0 /\ a_632^0-a_632^post107 == 0 /\ -a_395^post107+a_395^0 == 0 /\ a_393^0-a_393^post107 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_143^post107+r_143^0 == 0 /\ x_852^0-x_852^post107 == 0 /\ len_161^0-len_161^post107 == 0), cost: 1 109: l69 -> l70 : a_1089^0'=a_1089^post109, f_847^0'=f_847^post109, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post109, a_394^0'=a_394^post109, x_156^0'=x_156^post109, a_632^0'=a_632^post109, r_192^0'=r_192^post109, a_176^0'=a_176^post109, i_106^0'=i_106^post109, a_430^0'=a_430^post109, t_458^0'=t_458^post109, len_161^0'=len_161^post109, x_975^0'=x_975^post109, a_902^0'=a_902^post109, a_947^0'=a_947^post109, rcd_88^0'=rcd_88^post109, a_311^0'=a_311^post109, i_140^0'=i_140^post109, a_577^0'=a_577^post109, x_14^0'=x_14^post109, nondet_12^0'=nondet_12^post109, a_121^0'=a_121^post109, head_15^0'=head_15^post109, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post109, i_27^0'=i_27^post109, x_21^0'=x_21^post109, a_634^0'=a_634^post109, r_39^0'=r_39^post109, a_263^0'=a_263^post109, i_113^0'=i_113^post109, a_432^0'=a_432^post109, temp0_31^0'=temp0_31^post109, len_262^0'=len_262^post109, y_20^0'=y_20^post109, f_248^0'=f_248^post109, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post109, a_393^0'=a_393^post109, i_229^0'=i_229^post109, a_610^0'=a_610^post109, r_151^0'=r_151^post109, a_144^0'=a_144^post109, i_1053^0'=i_1053^post109, a_417^0'=a_417^post109, t_24^0'=t_24^post109, i_94^0'=i_94^post109, x_852^0'=x_852^post109, a_862^0'=a_862^post109, rcd_1249^0'=rcd_1249^post109, rcd_58^0'=rcd_58^post109, a_310^0'=a_310^post109, i_127^0'=i_127^post109, a_576^0'=a_576^post109, tmp_34^0'=tmp_34^post109, length_29^0'=length_29^post109, a_1162^0'=a_1162^post109, f_969^0'=f_969^post109, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post109, a_395^0'=a_395^post109, x_17^0'=x_17^post109, a_633^0'=a_633^post109, r_224^0'=r_224^post109, a_239^0'=a_239^post109, i_107^0'=i_107^post109, a_431^0'=a_431^post109, temp0_16^0'=temp0_16^post109, len_238^0'=len_238^post109, x_SLAM_f_19^0'=x_SLAM_f_19^post109, a_924^0'=a_924^post109, ct_18^0'=ct_18^post109, result_11^0'=result_11^post109, a_392^0'=a_392^post109, i_197^0'=i_197^post109, a_579^0'=a_579^post109, r_143^0'=r_143^post109, a_1236^0'=a_1236^post109, head_32^0'=head_32^post109, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post109, i_30^0'=i_30^post109, x_253^0'=x_253^post109, a_635^0'=a_635^post109, r_970^0'=r_970^post109, rcd_47^0'=rcd_47^post109, a_309^0'=a_309^post109, i_1248^0'=i_1248^post109, a_575^0'=a_575^post109, temp_35^0'=temp_35^post109, len_861^0'=len_861^post109, (-a_309^post109+a_309^0 == 0 /\ x_156^0-x_156^post109 == 0 /\ -i_30^post109+i_30^0 == 0 /\ -a_144^post109+a_144^0 == 0 /\ a_632^0-a_632^post109 == 0 /\ -a_576^post109+a_576^0 == 0 /\ -a_575^post109+a_575^0 == 0 /\ a_579^0-a_579^post109 == 0 /\ 1-x_14^0 <= 0 /\ -a_1236^post109+a_1236^0 == 0 /\ a_902^0-a_902^post109 == 0 /\ -a_417^post109+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post109 == 0 /\ a_121^0-a_121^post109 == 0 /\ -a_635^post109+a_635^0 == 0 /\ len_262^0-len_262^post109 == 0 /\ temp0_31^0-temp0_31^post109 == 0 /\ a_577^0-a_577^post109 == 0 /\ i_229^0-i_229^post109 == 0 /\ head_15^0-head_15^post109 == 0 /\ a_634^0-a_634^post109 == 0 /\ a_392^0-a_392^post109 == 0 /\ -a_610^post109+a_610^0 == 0 /\ -rcd_58^post109+rcd_58^0 == 0 /\ a_394^0-a_394^post109 == 0 /\ a_1089^0-a_1089^post109 == 0 /\ -length_29^post109+length_29^0 == 0 /\ x_14^0-x_14^post109 == 0 /\ i_1053^0-i_1053^post109 == 0 /\ -rcd_47^post109+rcd_47^0 == 0 /\ -a_862^post109+a_862^0 == 0 /\ r_192^0-r_192^post109 == 0 /\ a_176^0-a_176^post109 == 0 /\ -head_32^post109+head_32^0 == 0 /\ -a_633^post109+a_633^0 == 0 /\ -i_27^post109+i_27^0 == 0 /\ a_263^0-a_263^post109 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post109 == 0 /\ a_430^0-a_430^post109 == 0 /\ -r_151^post109+r_151^0 == 0 /\ -len_238^post109+len_238^0 == 0 /\ -i_197^post109+i_197^0 == 0 /\ f_847^0-f_847^post109 == 0 /\ -x_852^post109+x_852^0 == 0 /\ -f_969^post109+f_969^0 == 0 /\ a_432^0-a_432^post109 == 0 /\ -i_127^post109+i_127^0 == 0 /\ -a_924^post109+a_924^0 == 0 /\ y_20^0-y_20^post109 == 0 /\ -temp_35^post109+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post109 == 0 /\ -r_970^post109+r_970^0 == 0 /\ x_21^0-x_21^post109 == 0 /\ -a_311^post109+a_311^0 == 0 /\ -ct_18^post109+ct_18^0 == 0 /\ a_431^0-a_431^post109 == 0 /\ x_975^0-x_975^post109 == 0 /\ -a_1162^post109+a_1162^0 == 0 /\ -rcd_88^post109+rcd_88^0 == 0 /\ -x_253^post109+x_253^0 == 0 /\ i_94^0-i_94^post109 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post109 == 0 /\ i_113^0-i_113^post109 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post109 == 0 /\ a_310^0-a_310^post109 == 0 /\ a_947^0-a_947^post109 == 0 /\ -i_1248^post109+i_1248^0 == 0 /\ -f_248^post109+f_248^0 == 0 /\ -tmp_34^post109+tmp_34^0 == 0 /\ -a_239^post109+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post109+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -r_224^post109+r_224^0 == 0 /\ -len_861^post109+len_861^0 == 0 /\ -temp0_16^post109+temp0_16^0 == 0 /\ a_395^0-a_395^post109 == 0 /\ len_161^0-len_161^post109 == 0 /\ t_458^0-t_458^post109 == 0 /\ -rcd_1249^post109+rcd_1249^0 == 0 /\ r_39^0-r_39^post109 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post109 == 0 /\ i_140^0-i_140^post109 == 0 /\ i_107^0-i_107^post109 == 0 /\ -r_143^post109+r_143^0 == 0 /\ i_106^0-i_106^post109 == 0 /\ -a_393^post109+a_393^0 == 0 /\ t_24^0-t_24^post109 == 0 /\ -result_11^post109+result_11^0 == 0 /\ -x_17^post109+x_17^0 == 0), cost: 1 110: l69 -> l70 : a_1089^0'=a_1089^post110, f_847^0'=f_847^post110, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post110, a_394^0'=a_394^post110, x_156^0'=x_156^post110, a_632^0'=a_632^post110, r_192^0'=r_192^post110, a_176^0'=a_176^post110, i_106^0'=i_106^post110, a_430^0'=a_430^post110, t_458^0'=t_458^post110, len_161^0'=len_161^post110, x_975^0'=x_975^post110, a_902^0'=a_902^post110, a_947^0'=a_947^post110, rcd_88^0'=rcd_88^post110, a_311^0'=a_311^post110, i_140^0'=i_140^post110, a_577^0'=a_577^post110, x_14^0'=x_14^post110, nondet_12^0'=nondet_12^post110, a_121^0'=a_121^post110, head_15^0'=head_15^post110, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post110, i_27^0'=i_27^post110, x_21^0'=x_21^post110, a_634^0'=a_634^post110, r_39^0'=r_39^post110, a_263^0'=a_263^post110, i_113^0'=i_113^post110, a_432^0'=a_432^post110, temp0_31^0'=temp0_31^post110, len_262^0'=len_262^post110, y_20^0'=y_20^post110, f_248^0'=f_248^post110, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post110, a_393^0'=a_393^post110, i_229^0'=i_229^post110, a_610^0'=a_610^post110, r_151^0'=r_151^post110, a_144^0'=a_144^post110, i_1053^0'=i_1053^post110, a_417^0'=a_417^post110, t_24^0'=t_24^post110, i_94^0'=i_94^post110, x_852^0'=x_852^post110, a_862^0'=a_862^post110, rcd_1249^0'=rcd_1249^post110, rcd_58^0'=rcd_58^post110, a_310^0'=a_310^post110, i_127^0'=i_127^post110, a_576^0'=a_576^post110, tmp_34^0'=tmp_34^post110, length_29^0'=length_29^post110, a_1162^0'=a_1162^post110, f_969^0'=f_969^post110, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post110, a_395^0'=a_395^post110, x_17^0'=x_17^post110, a_633^0'=a_633^post110, r_224^0'=r_224^post110, a_239^0'=a_239^post110, i_107^0'=i_107^post110, a_431^0'=a_431^post110, temp0_16^0'=temp0_16^post110, len_238^0'=len_238^post110, x_SLAM_f_19^0'=x_SLAM_f_19^post110, a_924^0'=a_924^post110, ct_18^0'=ct_18^post110, result_11^0'=result_11^post110, a_392^0'=a_392^post110, i_197^0'=i_197^post110, a_579^0'=a_579^post110, r_143^0'=r_143^post110, a_1236^0'=a_1236^post110, head_32^0'=head_32^post110, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post110, i_30^0'=i_30^post110, x_253^0'=x_253^post110, a_635^0'=a_635^post110, r_970^0'=r_970^post110, rcd_47^0'=rcd_47^post110, a_309^0'=a_309^post110, i_1248^0'=i_1248^post110, a_575^0'=a_575^post110, temp_35^0'=temp_35^post110, len_861^0'=len_861^post110, (-r_970^post110+r_970^0 == 0 /\ -x_253^post110+x_253^0 == 0 /\ rcd_88^0-rcd_88^post110 == 0 /\ -i_127^post110+i_127^0 == 0 /\ a_310^0-a_310^post110 == 0 /\ -head_15^post110+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post110+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post110+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post110 == 0 /\ -x_852^post110+x_852^0 == 0 /\ -i_197^post110+i_197^0 == 0 /\ a_395^0-a_395^post110 == 0 /\ a_176^0-a_176^post110 == 0 /\ i_27^0-i_27^post110 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post110 == 0 /\ i_140^0-i_140^post110 == 0 /\ r_39^0-r_39^post110 == 0 /\ -a_610^post110+a_610^0 == 0 /\ a_311^0-a_311^post110 == 0 /\ a_1089^0-a_1089^post110 == 0 /\ t_458^0-t_458^post110 == 0 /\ -temp_35^post110+temp_35^0 == 0 /\ -ct_18^post110+ct_18^0 == 0 /\ -tmp_34^post110+tmp_34^0 == 0 /\ y_20^0-y_20^post110 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post110+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post110 == 0 /\ a_924^0-a_924^post110 == 0 /\ -a_417^post110+a_417^0 == 0 /\ -f_248^post110+f_248^0 == 0 /\ a_632^0-a_632^post110 == 0 /\ -result_11^post110+result_11^0 == 0 /\ -i_1053^post110+i_1053^0 == 0 /\ x_975^0-x_975^post110 == 0 /\ r_192^0-r_192^post110 == 0 /\ temp0_31^0-temp0_31^post110 == 0 /\ -i_1248^post110+i_1248^0 == 0 /\ a_121^0-a_121^post110 == 0 /\ -a_239^post110+a_239^0 == 0 /\ len_262^0-len_262^post110 == 0 /\ -rcd_1249^post110+rcd_1249^0 == 0 /\ a_634^0-a_634^post110 == 0 /\ -len_861^post110+len_861^0 == 0 /\ nondet_12^0-nondet_12^post110 == 0 /\ -a_635^post110+a_635^0 == 0 /\ -a_144^post110+a_144^0 == 0 /\ a_394^0-a_394^post110 == 0 /\ -a_576^post110+a_576^0 == 0 /\ i_30^0-i_30^post110 == 0 /\ len_161^0-len_161^post110 == 0 /\ -r_143^post110+r_143^0 == 0 /\ -x_17^post110+x_17^0 == 0 /\ x_14^0-x_14^post110 == 0 /\ t_24^0-t_24^post110 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post110+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post110+a_309^0 == 0 /\ -i_107^post110+i_107^0 == 0 /\ -a_1236^post110+a_1236^0 == 0 /\ -a_575^post110+a_575^0 == 0 /\ a_263^0-a_263^post110 == 0 /\ f_847^0-f_847^post110 == 0 /\ a_393^0-a_393^post110 == 0 /\ -rcd_47^post110+rcd_47^0 == 0 /\ -len_238^post110+len_238^0 == 0 /\ i_229^0-i_229^post110 == 0 /\ a_432^0-a_432^post110 == 0 /\ temp0_16^0-temp0_16^post110 == 0 /\ a_430^0-a_430^post110 == 0 /\ -a_633^post110+a_633^0 == 0 /\ -length_29^post110+length_29^0 == 0 /\ 1+x_14^0 <= 0 /\ -f_969^post110+f_969^0 == 0 /\ a_862^0-a_862^post110 == 0 /\ -a_392^post110+a_392^0 == 0 /\ -r_151^post110+r_151^0 == 0 /\ x_21^0-x_21^post110 == 0 /\ a_577^0-a_577^post110 == 0 /\ a_431^0-a_431^post110 == 0 /\ -a_579^post110+a_579^0 == 0 /\ x_156^0-x_156^post110 == 0 /\ -i_106^post110+i_106^0 == 0 /\ -head_32^post110+head_32^0 == 0 /\ a_1162^0-a_1162^post110 == 0 /\ i_113^0-i_113^post110 == 0 /\ a_947^0-a_947^post110 == 0 /\ i_94^0-i_94^post110 == 0 /\ r_224^0-r_224^post110 == 0 /\ a_902^0-a_902^post110 == 0), cost: 1 111: l70 -> l71 : a_1089^0'=a_1089^post111, f_847^0'=f_847^post111, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post111, a_394^0'=a_394^post111, x_156^0'=x_156^post111, a_632^0'=a_632^post111, r_192^0'=r_192^post111, a_176^0'=a_176^post111, i_106^0'=i_106^post111, a_430^0'=a_430^post111, t_458^0'=t_458^post111, len_161^0'=len_161^post111, x_975^0'=x_975^post111, a_902^0'=a_902^post111, a_947^0'=a_947^post111, rcd_88^0'=rcd_88^post111, a_311^0'=a_311^post111, i_140^0'=i_140^post111, a_577^0'=a_577^post111, x_14^0'=x_14^post111, nondet_12^0'=nondet_12^post111, a_121^0'=a_121^post111, head_15^0'=head_15^post111, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post111, i_27^0'=i_27^post111, x_21^0'=x_21^post111, a_634^0'=a_634^post111, r_39^0'=r_39^post111, a_263^0'=a_263^post111, i_113^0'=i_113^post111, a_432^0'=a_432^post111, temp0_31^0'=temp0_31^post111, len_262^0'=len_262^post111, y_20^0'=y_20^post111, f_248^0'=f_248^post111, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post111, a_393^0'=a_393^post111, i_229^0'=i_229^post111, a_610^0'=a_610^post111, r_151^0'=r_151^post111, a_144^0'=a_144^post111, i_1053^0'=i_1053^post111, a_417^0'=a_417^post111, t_24^0'=t_24^post111, i_94^0'=i_94^post111, x_852^0'=x_852^post111, a_862^0'=a_862^post111, rcd_1249^0'=rcd_1249^post111, rcd_58^0'=rcd_58^post111, a_310^0'=a_310^post111, i_127^0'=i_127^post111, a_576^0'=a_576^post111, tmp_34^0'=tmp_34^post111, length_29^0'=length_29^post111, a_1162^0'=a_1162^post111, f_969^0'=f_969^post111, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post111, a_395^0'=a_395^post111, x_17^0'=x_17^post111, a_633^0'=a_633^post111, r_224^0'=r_224^post111, a_239^0'=a_239^post111, i_107^0'=i_107^post111, a_431^0'=a_431^post111, temp0_16^0'=temp0_16^post111, len_238^0'=len_238^post111, x_SLAM_f_19^0'=x_SLAM_f_19^post111, a_924^0'=a_924^post111, ct_18^0'=ct_18^post111, result_11^0'=result_11^post111, a_392^0'=a_392^post111, i_197^0'=i_197^post111, a_579^0'=a_579^post111, r_143^0'=r_143^post111, a_1236^0'=a_1236^post111, head_32^0'=head_32^post111, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post111, i_30^0'=i_30^post111, x_253^0'=x_253^post111, a_635^0'=a_635^post111, r_970^0'=r_970^post111, rcd_47^0'=rcd_47^post111, a_309^0'=a_309^post111, i_1248^0'=i_1248^post111, a_575^0'=a_575^post111, temp_35^0'=temp_35^post111, len_861^0'=len_861^post111, (0 == 0 /\ -r_143^post111+r_143^0 == 0 /\ a_1162^0-a_1162^post111 == 0 /\ i_229^0-i_229^post111 == 0 /\ -a_576^post111+a_576^0 == 0 /\ -a_610^post111+a_610^0 == 0 /\ -a_309^post111+a_309^0 == 0 /\ -a_635^post111+a_635^0 == 0 /\ -r_151^post111+r_151^0 == 0 /\ f_248^0-f_248^post111 == 0 /\ -x_SLAM_f_19^post111+x_SLAM_f_19^0 == 0 /\ -i_107^post111+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post111+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_47^post111+rcd_47^0 == 0 /\ a_1089^0-a_1089^post111 == 0 /\ -a_1236^post111+a_1236^0 == 0 /\ -a_575^post111+a_575^0 == 0 /\ temp0_31^0-temp0_31^post111 == 0 /\ x_975^0-x_975^post111 == 0 /\ i_127^0-i_127^post111 == 0 /\ a_634^0-a_634^post111 == 0 /\ a_577^0-a_577^post111 == 0 /\ len_262^0-len_262^post111 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ a_902^0-a_902^post111 == 0 /\ -a_417^post111+a_417^0 == 0 /\ a_176^0-a_176^post111 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_862^post111+a_862^0 == 0 /\ a_394^0-a_394^post111 == 0 /\ -a_392^post111+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post111+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post111+length_29^0 == 0 /\ -a_311^post111+a_311^0 == 0 /\ r_192^0-r_192^post111 == 0 /\ -i_27^post111+i_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post111+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_310^post111+a_310^0 == 0 /\ -x_253^post111+x_253^0 == 0 /\ a_632^0-a_632^post111 == 0 /\ rcd_1249^0-rcd_1249^post111 == 0 /\ -head_32^post111+head_32^0 == 0 /\ f_847^0-f_847^post111 == 0 /\ temp0_16^0-temp0_16^post111 == 0 /\ -x_852^post111+x_852^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post111 <= 0 /\ -r_224^post111+r_224^0 == 0 /\ head_15^0-head_15^post111 == 0 /\ -temp_35^post111+temp_35^0 == 0 /\ -f_969^post111+f_969^0 == 0 /\ x_21^0-x_21^post111 == 0 /\ -a_579^post111+a_579^0 == 0 /\ a_432^0-a_432^post111 == 0 /\ -rcd_58^post111+rcd_58^0 == 0 /\ -nondet_12^15+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post111 == 0 /\ -a_431^post111+a_431^0 == 0 /\ -a_263^post111+a_263^0 == 0 /\ x_14^0-x_14^post111 == 0 /\ -a_395^post111+a_395^0 == 0 /\ -ct_18^post111+ct_18^0 == 0 /\ r_970^0-r_970^post111 == 0 /\ -i_197^post111+i_197^0 == 0 /\ i_94^0-i_94^post111 == 0 /\ -rcd_88^post111+rcd_88^0 == 0 /\ x_156^0-x_156^post111 == 0 /\ i_113^0-i_113^post111 == 0 /\ x_17^0-x_17^post111 == 0 /\ a_633^0-a_633^post111 == 0 /\ -len_161^post111+len_161^0 == 0 /\ 1-i_27^0 <= 0 /\ a_144^0-a_144^post111 == 0 /\ a_947^0-a_947^post111 == 0 /\ -a_924^post111+a_924^0 == 0 /\ len_238^0-len_238^post111 == 0 /\ i_140^0-i_140^post111 == 0 /\ -i_1248^post111+i_1248^0 == 0 /\ a_121^0-a_121^post111 == 0 /\ a_430^0-a_430^post111 == 0 /\ -a_239^post111+a_239^0 == 0 /\ r_39^0-r_39^post111 == 0 /\ -tmp_34^post111+tmp_34^0 == 0 /\ y_20^0-y_20^post111 == 0 /\ t_458^0-t_458^post111 == 0 /\ -len_861^post111+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post111 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post111 <= 0 /\ -i_1053^post111+i_1053^0 == 0 /\ i_106^0-i_106^post111 == 0 /\ -t_24^post111+t_24^0 == 0 /\ -i_30^post111+i_30^0 == 0 /\ -a_393^post111+a_393^0 == 0 /\ -result_11^post111+result_11^0 == 0), cost: 1 112: l71 -> l72 : a_1089^0'=a_1089^post112, f_847^0'=f_847^post112, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post112, a_394^0'=a_394^post112, x_156^0'=x_156^post112, a_632^0'=a_632^post112, r_192^0'=r_192^post112, a_176^0'=a_176^post112, i_106^0'=i_106^post112, a_430^0'=a_430^post112, t_458^0'=t_458^post112, len_161^0'=len_161^post112, x_975^0'=x_975^post112, a_902^0'=a_902^post112, a_947^0'=a_947^post112, rcd_88^0'=rcd_88^post112, a_311^0'=a_311^post112, i_140^0'=i_140^post112, a_577^0'=a_577^post112, x_14^0'=x_14^post112, nondet_12^0'=nondet_12^post112, a_121^0'=a_121^post112, head_15^0'=head_15^post112, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post112, i_27^0'=i_27^post112, x_21^0'=x_21^post112, a_634^0'=a_634^post112, r_39^0'=r_39^post112, a_263^0'=a_263^post112, i_113^0'=i_113^post112, a_432^0'=a_432^post112, temp0_31^0'=temp0_31^post112, len_262^0'=len_262^post112, y_20^0'=y_20^post112, f_248^0'=f_248^post112, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post112, a_393^0'=a_393^post112, i_229^0'=i_229^post112, a_610^0'=a_610^post112, r_151^0'=r_151^post112, a_144^0'=a_144^post112, i_1053^0'=i_1053^post112, a_417^0'=a_417^post112, t_24^0'=t_24^post112, i_94^0'=i_94^post112, x_852^0'=x_852^post112, a_862^0'=a_862^post112, rcd_1249^0'=rcd_1249^post112, rcd_58^0'=rcd_58^post112, a_310^0'=a_310^post112, i_127^0'=i_127^post112, a_576^0'=a_576^post112, tmp_34^0'=tmp_34^post112, length_29^0'=length_29^post112, a_1162^0'=a_1162^post112, f_969^0'=f_969^post112, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post112, a_395^0'=a_395^post112, x_17^0'=x_17^post112, a_633^0'=a_633^post112, r_224^0'=r_224^post112, a_239^0'=a_239^post112, i_107^0'=i_107^post112, a_431^0'=a_431^post112, temp0_16^0'=temp0_16^post112, len_238^0'=len_238^post112, x_SLAM_f_19^0'=x_SLAM_f_19^post112, a_924^0'=a_924^post112, ct_18^0'=ct_18^post112, result_11^0'=result_11^post112, a_392^0'=a_392^post112, i_197^0'=i_197^post112, a_579^0'=a_579^post112, r_143^0'=r_143^post112, a_1236^0'=a_1236^post112, head_32^0'=head_32^post112, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post112, i_30^0'=i_30^post112, x_253^0'=x_253^post112, a_635^0'=a_635^post112, r_970^0'=r_970^post112, rcd_47^0'=rcd_47^post112, a_309^0'=a_309^post112, i_1248^0'=i_1248^post112, a_575^0'=a_575^post112, temp_35^0'=temp_35^post112, len_861^0'=len_861^post112, (-a_862^post112+a_862^0 == 0 /\ -a_417^post112+a_417^0 == 0 /\ -i_27^post112+i_27^0 == 0 /\ -len_861^post112+len_861^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post112 == 0 /\ -a_1236^post112+a_1236^0 == 0 /\ len_161^0-len_161^post112 == 0 /\ temp0_31^0-temp0_31^post112 == 0 /\ -a_393^post112+a_393^0 == 0 /\ i_229^0-i_229^post112 == 0 /\ x_156^0-x_156^post112 == 0 /\ -a_392^post112+a_392^0 == 0 /\ head_15^0-head_15^post112 == 0 /\ a_634^0-a_634^post112 == 0 /\ i_1053^0-i_1053^post112 == 0 /\ a_121^0-a_121^post112 == 0 /\ a_395^0-a_395^post112 == 0 /\ a_176^0-a_176^post112 == 0 /\ -length_29^post112+length_29^0 == 0 /\ -temp0_16^post112+temp0_16^0 == 0 /\ -i_1248^post112+i_1248^0 == 0 /\ x_975^0-x_975^post112 == 0 /\ len_262^0-len_262^post112 == 0 /\ a_947^0-a_947^post112 == 0 /\ -a_579^post112+a_579^0 == 0 /\ -a_575^post112+a_575^0 == 0 /\ -head_32^post112+head_32^0 == 0 /\ -i_197^post112+i_197^0 == 0 /\ a_430^0-a_430^post112 == 0 /\ i_113^0-i_113^post112 == 0 /\ -ct_18^post112+ct_18^0 == 0 /\ -a_635^post112+a_635^0 == 0 /\ r_192^0-r_192^post112 == 0 /\ -r_151^post112+r_151^0 == 0 /\ -len_238^post112+len_238^0 == 0 /\ -i_127^post112+i_127^0 == 0 /\ -i_30^post112+i_30^0 == 0 /\ a_310^0-a_310^post112 == 0 /\ -rcd_58^post112+rcd_58^0 == 0 /\ x_14^0-x_14^post112 == 0 /\ -a_144^post112+a_144^0 == 0 /\ -a_309^post112+a_309^0 == 0 /\ a_1089^0-a_1089^post112 == 0 /\ a_632^0-a_632^post112 == 0 /\ x_21^0-x_21^post112 == 0 /\ a_432^0-a_432^post112 == 0 /\ -a_633^post112+a_633^0 == 0 /\ -tmp_34^post112+tmp_34^0 == 0 /\ -result_11^post112+result_11^0 == 0 /\ a_263^0-a_263^post112 == 0 /\ f_847^0-f_847^post112 == 0 /\ -a_1162^post112+a_1162^0 == 0 /\ nondet_12^0-nondet_12^post112 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post112+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_902^post112+a_902^0 == 0 /\ i_140^0-i_140^post112 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post112 == 0 /\ a_431^0-a_431^post112 == 0 /\ i_94^0-i_94^post112 == 0 /\ -rcd_1249^post112+rcd_1249^0 == 0 /\ -x_852^post112+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post112 == 0 /\ x_17^0-x_17^post112 == 0 /\ y_20^0-y_20^post112 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post112+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_970^0-r_970^post112 == 0 /\ -rcd_47^post112+rcd_47^0 == 0 /\ a_394^0-a_394^post112 == 0 /\ -a_924^post112+a_924^0 == 0 /\ -a_239^post112+a_239^0 == 0 /\ -a_311^post112+a_311^0 == 0 /\ a_577^0-a_577^post112 == 0 /\ -r_143^post112+r_143^0 == 0 /\ 1-head_15^0 <= 0 /\ -rcd_88^post112+rcd_88^0 == 0 /\ -x_253^post112+x_253^0 == 0 /\ r_224^0-r_224^post112 == 0 /\ -f_969^post112+f_969^0 == 0 /\ i_107^0-i_107^post112 == 0 /\ i_106^0-i_106^post112 == 0 /\ a_610^0-a_610^post112 == 0 /\ -f_248^post112+f_248^0 == 0 /\ t_24^0-t_24^post112 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post112+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp_35^post112+temp_35^0 == 0 /\ t_458^0-t_458^post112 == 0 /\ r_39^0-r_39^post112 == 0 /\ -a_576^post112+a_576^0 == 0), cost: 1 113: l71 -> l72 : a_1089^0'=a_1089^post113, f_847^0'=f_847^post113, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post113, a_394^0'=a_394^post113, x_156^0'=x_156^post113, a_632^0'=a_632^post113, r_192^0'=r_192^post113, a_176^0'=a_176^post113, i_106^0'=i_106^post113, a_430^0'=a_430^post113, t_458^0'=t_458^post113, len_161^0'=len_161^post113, x_975^0'=x_975^post113, a_902^0'=a_902^post113, a_947^0'=a_947^post113, rcd_88^0'=rcd_88^post113, a_311^0'=a_311^post113, i_140^0'=i_140^post113, a_577^0'=a_577^post113, x_14^0'=x_14^post113, nondet_12^0'=nondet_12^post113, a_121^0'=a_121^post113, head_15^0'=head_15^post113, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post113, i_27^0'=i_27^post113, x_21^0'=x_21^post113, a_634^0'=a_634^post113, r_39^0'=r_39^post113, a_263^0'=a_263^post113, i_113^0'=i_113^post113, a_432^0'=a_432^post113, temp0_31^0'=temp0_31^post113, len_262^0'=len_262^post113, y_20^0'=y_20^post113, f_248^0'=f_248^post113, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post113, a_393^0'=a_393^post113, i_229^0'=i_229^post113, a_610^0'=a_610^post113, r_151^0'=r_151^post113, a_144^0'=a_144^post113, i_1053^0'=i_1053^post113, a_417^0'=a_417^post113, t_24^0'=t_24^post113, i_94^0'=i_94^post113, x_852^0'=x_852^post113, a_862^0'=a_862^post113, rcd_1249^0'=rcd_1249^post113, rcd_58^0'=rcd_58^post113, a_310^0'=a_310^post113, i_127^0'=i_127^post113, a_576^0'=a_576^post113, tmp_34^0'=tmp_34^post113, length_29^0'=length_29^post113, a_1162^0'=a_1162^post113, f_969^0'=f_969^post113, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post113, a_395^0'=a_395^post113, x_17^0'=x_17^post113, a_633^0'=a_633^post113, r_224^0'=r_224^post113, a_239^0'=a_239^post113, i_107^0'=i_107^post113, a_431^0'=a_431^post113, temp0_16^0'=temp0_16^post113, len_238^0'=len_238^post113, x_SLAM_f_19^0'=x_SLAM_f_19^post113, a_924^0'=a_924^post113, ct_18^0'=ct_18^post113, result_11^0'=result_11^post113, a_392^0'=a_392^post113, i_197^0'=i_197^post113, a_579^0'=a_579^post113, r_143^0'=r_143^post113, a_1236^0'=a_1236^post113, head_32^0'=head_32^post113, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post113, i_30^0'=i_30^post113, x_253^0'=x_253^post113, a_635^0'=a_635^post113, r_970^0'=r_970^post113, rcd_47^0'=rcd_47^post113, a_309^0'=a_309^post113, i_1248^0'=i_1248^post113, a_575^0'=a_575^post113, temp_35^0'=temp_35^post113, len_861^0'=len_861^post113, (i_1053^0-i_1053^post113 == 0 /\ -x_253^post113+x_253^0 == 0 /\ 1+head_15^0 <= 0 /\ -temp_35^post113+temp_35^0 == 0 /\ -i_197^post113+i_197^0 == 0 /\ r_192^0-r_192^post113 == 0 /\ -a_634^post113+a_634^0 == 0 /\ head_15^0-head_15^post113 == 0 /\ a_395^0-a_395^post113 == 0 /\ i_106^0-i_106^post113 == 0 /\ -r_970^post113+r_970^0 == 0 /\ -tmp_34^post113+tmp_34^0 == 0 /\ -rcd_1249^post113+rcd_1249^0 == 0 /\ -result_11^post113+result_11^0 == 0 /\ -f_969^post113+f_969^0 == 0 /\ -len_238^post113+len_238^0 == 0 /\ a_310^0-a_310^post113 == 0 /\ -x_21^post113+x_21^0 == 0 /\ i_27^0-i_27^post113 == 0 /\ -ct_18^post113+ct_18^0 == 0 /\ -a_610^post113+a_610^0 == 0 /\ a_430^0-a_430^post113 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post113+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post113+rcd_58^0 == 0 /\ len_161^0-len_161^post113 == 0 /\ -rcd_47^post113+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post113 == 0 /\ a_432^0-a_432^post113 == 0 /\ -len_861^post113+len_861^0 == 0 /\ -temp0_16^post113+temp0_16^0 == 0 /\ a_263^0-a_263^post113 == 0 /\ a_1162^0-a_1162^post113 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post113 == 0 /\ i_140^0-i_140^post113 == 0 /\ temp0_31^0-temp0_31^post113 == 0 /\ -i_1248^post113+i_1248^0 == 0 /\ -a_576^post113+a_576^0 == 0 /\ -a_239^post113+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post113+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_88^post113+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post113 == 0 /\ -a_924^post113+a_924^0 == 0 /\ -f_248^post113+f_248^0 == 0 /\ head_32^0-head_32^post113 == 0 /\ a_176^0-a_176^post113 == 0 /\ a_577^0-a_577^post113 == 0 /\ a_121^0-a_121^post113 == 0 /\ x_156^0-x_156^post113 == 0 /\ -r_143^post113+r_143^0 == 0 /\ i_113^0-i_113^post113 == 0 /\ i_30^0-i_30^post113 == 0 /\ -length_29^post113+length_29^0 == 0 /\ a_902^0-a_902^post113 == 0 /\ a_311^0-a_311^post113 == 0 /\ -a_575^post113+a_575^0 == 0 /\ -a_1236^post113+a_1236^0 == 0 /\ -a_417^post113+a_417^0 == 0 /\ r_39^0-r_39^post113 == 0 /\ -a_309^post113+a_309^0 == 0 /\ i_94^0-i_94^post113 == 0 /\ -a_635^post113+a_635^0 == 0 /\ i_107^0-i_107^post113 == 0 /\ a_393^0-a_393^post113 == 0 /\ -x_17^post113+x_17^0 == 0 /\ t_458^0-t_458^post113 == 0 /\ a_1089^0-a_1089^post113 == 0 /\ a_632^0-a_632^post113 == 0 /\ -a_144^post113+a_144^0 == 0 /\ -r_151^post113+r_151^0 == 0 /\ f_847^0-f_847^post113 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post113+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_262^post113+len_262^0 == 0 /\ i_229^0-i_229^post113 == 0 /\ t_24^0-t_24^post113 == 0 /\ -x_852^post113+x_852^0 == 0 /\ a_862^0-a_862^post113 == 0 /\ a_431^0-a_431^post113 == 0 /\ -a_579^post113+a_579^0 == 0 /\ -a_633^post113+a_633^0 == 0 /\ -i_127^post113+i_127^0 == 0 /\ a_947^0-a_947^post113 == 0 /\ nondet_12^0-nondet_12^post113 == 0 /\ x_975^0-x_975^post113 == 0 /\ -x_14^post113+x_14^0 == 0 /\ y_20^0-y_20^post113 == 0 /\ -a_392^post113+a_392^0 == 0 /\ a_394^0-a_394^post113 == 0 /\ r_224^0-r_224^post113 == 0), cost: 1 114: l72 -> l73 : a_1089^0'=a_1089^post114, f_847^0'=f_847^post114, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post114, a_394^0'=a_394^post114, x_156^0'=x_156^post114, a_632^0'=a_632^post114, r_192^0'=r_192^post114, a_176^0'=a_176^post114, i_106^0'=i_106^post114, a_430^0'=a_430^post114, t_458^0'=t_458^post114, len_161^0'=len_161^post114, x_975^0'=x_975^post114, a_902^0'=a_902^post114, a_947^0'=a_947^post114, rcd_88^0'=rcd_88^post114, a_311^0'=a_311^post114, i_140^0'=i_140^post114, a_577^0'=a_577^post114, x_14^0'=x_14^post114, nondet_12^0'=nondet_12^post114, a_121^0'=a_121^post114, head_15^0'=head_15^post114, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post114, i_27^0'=i_27^post114, x_21^0'=x_21^post114, a_634^0'=a_634^post114, r_39^0'=r_39^post114, a_263^0'=a_263^post114, i_113^0'=i_113^post114, a_432^0'=a_432^post114, temp0_31^0'=temp0_31^post114, len_262^0'=len_262^post114, y_20^0'=y_20^post114, f_248^0'=f_248^post114, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post114, a_393^0'=a_393^post114, i_229^0'=i_229^post114, a_610^0'=a_610^post114, r_151^0'=r_151^post114, a_144^0'=a_144^post114, i_1053^0'=i_1053^post114, a_417^0'=a_417^post114, t_24^0'=t_24^post114, i_94^0'=i_94^post114, x_852^0'=x_852^post114, a_862^0'=a_862^post114, rcd_1249^0'=rcd_1249^post114, rcd_58^0'=rcd_58^post114, a_310^0'=a_310^post114, i_127^0'=i_127^post114, a_576^0'=a_576^post114, tmp_34^0'=tmp_34^post114, length_29^0'=length_29^post114, a_1162^0'=a_1162^post114, f_969^0'=f_969^post114, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post114, a_395^0'=a_395^post114, x_17^0'=x_17^post114, a_633^0'=a_633^post114, r_224^0'=r_224^post114, a_239^0'=a_239^post114, i_107^0'=i_107^post114, a_431^0'=a_431^post114, temp0_16^0'=temp0_16^post114, len_238^0'=len_238^post114, x_SLAM_f_19^0'=x_SLAM_f_19^post114, a_924^0'=a_924^post114, ct_18^0'=ct_18^post114, result_11^0'=result_11^post114, a_392^0'=a_392^post114, i_197^0'=i_197^post114, a_579^0'=a_579^post114, r_143^0'=r_143^post114, a_1236^0'=a_1236^post114, head_32^0'=head_32^post114, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post114, i_30^0'=i_30^post114, x_253^0'=x_253^post114, a_635^0'=a_635^post114, r_970^0'=r_970^post114, rcd_47^0'=rcd_47^post114, a_309^0'=a_309^post114, i_1248^0'=i_1248^post114, a_575^0'=a_575^post114, temp_35^0'=temp_35^post114, len_861^0'=len_861^post114, (0 == 0 /\ -a_392^post114+a_392^0 == 0 /\ -a_1236^post114+a_1236^0 == 0 /\ x_156^0-x_156^post114 == 0 /\ -a_309^post114+a_309^0 == 0 /\ f_847^0-f_847^post114 == 0 /\ x_SLAM_f_19^post114-x_17^post114 <= 0 /\ x_SLAM_f_19^post114-x_17^post114 == 0 /\ head_15^0-x_17^post114 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post114 <= 0 /\ -a_575^post114+a_575^0 == 0 /\ -i_30^post114+i_30^0 == 0 /\ x_SLAM_f_19^post114-x_21^post114 <= 0 /\ -head_15^0+x_SLAM_f_19^post114 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post114 <= 0 /\ -temp0_31^post114+temp0_31^0 == 0 /\ a_121^0-a_121^post114 == 0 /\ a_902^0-a_902^post114 == 0 /\ len_262^0-len_262^post114 == 0 /\ -a_635^post114+a_635^0 == 0 /\ i_94^0-i_94^post114 == 0 /\ i_113^0-i_113^post114 == 0 /\ -a_144^post114+a_144^0 == 0 /\ i_229^0-i_229^post114 == 0 /\ -x_14^post114 <= 0 /\ -ct_18^post114+y_20^post114 <= 0 /\ -ct_18^post114+y_20^post114 == 0 /\ x_14^0 <= 0 /\ head_15^0-head_15^post114 == 0 /\ -x_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post114 == 0 /\ -i_107^post114+i_107^0 == 0 /\ head_15^0-x_21^post114 <= 0 /\ a_394^0-a_394^post114 == 0 /\ a_417^0-a_417^post114 == 0 /\ -a_610^post114+a_610^0 == 0 /\ a_577^0-a_577^post114 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post114+head_32^0 == 0 /\ -rcd_58^post114+rcd_58^0 == 0 /\ -a_633^post114+a_633^0 == 0 /\ -length_29^post114+length_29^0 == 0 /\ a_1089^0-a_1089^post114 == 0 /\ -x_SLAM_f_19^post114+x_17^post114 <= 0 /\ -head_15^0+x_17^post114 <= 0 /\ -head_15^0+x_17^post114 == 0 /\ -rcd_47^post114+rcd_47^0 == 0 /\ -a_862^post114+a_862^0 == 0 /\ ct_18^post114 <= 0 /\ ct_18^post114 == 0 /\ i_106^0-i_106^post114 == 0 /\ -x_SLAM_f_19^post114+x_21^post114 <= 0 /\ -x_SLAM_f_19^post114+x_21^post114 == 0 /\ head_15^0-x_SLAM_f_19^post114 <= 0 /\ a_263^0-a_263^post114 == 0 /\ ct_18^post114-y_20^post114 <= 0 /\ r_39^0-r_39^post114 == 0 /\ -len_238^post114+len_238^0 == 0 /\ y_20^post114 <= 0 /\ a_430^0-a_430^post114 == 0 /\ -r_151^post114+r_151^0 == 0 /\ -head_15^0+x_21^post114 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post114+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post114+i_197^0 == 0 /\ -a_579^post114+a_579^0 == 0 /\ -result_11^post114+result_11^0 == 0 /\ -f_969^post114+f_969^0 == 0 /\ a_432^0-a_432^post114 == 0 /\ f_248^0-f_248^post114 == 0 /\ -x_253^post114+x_253^0 == 0 /\ -i_127^post114+i_127^0 == 0 /\ -a_924^post114+a_924^0 == 0 /\ -a_311^post114+a_311^0 == 0 /\ -x_852^post114+x_852^0 == 0 /\ -y_20^post114 <= 0 /\ x_14^post114 <= 0 /\ r_224^0-r_224^post114 == 0 /\ a_431^0-a_431^post114 == 0 /\ x_975^0-x_975^post114 == 0 /\ -a_1162^post114+a_1162^0 == 0 /\ -r_970^post114+r_970^0 == 0 /\ -rcd_88^post114+rcd_88^0 == 0 /\ -i_1248^post114+i_1248^0 == 0 /\ -a_395^post114+a_395^0 == 0 /\ a_310^0-a_310^post114 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post114 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post114 <= 0 /\ 1-i_27^0 <= 0 /\ -a_239^post114+a_239^0 == 0 /\ r_192^0-r_192^post114 == 0 /\ a_176^0-a_176^post114 == 0 /\ -tmp_34^post114+tmp_34^0 == 0 /\ a_947^0-a_947^post114 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post114+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_861^post114+len_861^0 == 0 /\ len_161^0-len_161^post114 == 0 /\ a_632^0-a_632^post114 == 0 /\ t_458^0-t_458^post114 == 0 /\ -temp_35^post114+temp_35^0 == 0 /\ -rcd_1249^post114+rcd_1249^0 == 0 /\ -nondet_12^post114+nondet_12^0 == 0 /\ -ct_18^post114 <= 0 /\ -r_143^post114+r_143^0 == 0 /\ -a_634^post114+a_634^0 == 0 /\ i_140^0-i_140^post114 == 0 /\ -temp0_16^post114+temp0_16^0 == 0 /\ -a_576^post114+a_576^0 == 0 /\ t_24^0-t_24^post114 == 0 /\ -a_393^post114+a_393^0 == 0 /\ -i_1053^post114+i_1053^0 == 0), cost: 1 115: l73 -> l74 : a_1089^0'=a_1089^post115, f_847^0'=f_847^post115, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post115, a_394^0'=a_394^post115, x_156^0'=x_156^post115, a_632^0'=a_632^post115, r_192^0'=r_192^post115, a_176^0'=a_176^post115, i_106^0'=i_106^post115, a_430^0'=a_430^post115, t_458^0'=t_458^post115, len_161^0'=len_161^post115, x_975^0'=x_975^post115, a_902^0'=a_902^post115, a_947^0'=a_947^post115, rcd_88^0'=rcd_88^post115, a_311^0'=a_311^post115, i_140^0'=i_140^post115, a_577^0'=a_577^post115, x_14^0'=x_14^post115, nondet_12^0'=nondet_12^post115, a_121^0'=a_121^post115, head_15^0'=head_15^post115, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post115, i_27^0'=i_27^post115, x_21^0'=x_21^post115, a_634^0'=a_634^post115, r_39^0'=r_39^post115, a_263^0'=a_263^post115, i_113^0'=i_113^post115, a_432^0'=a_432^post115, temp0_31^0'=temp0_31^post115, len_262^0'=len_262^post115, y_20^0'=y_20^post115, f_248^0'=f_248^post115, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post115, a_393^0'=a_393^post115, i_229^0'=i_229^post115, a_610^0'=a_610^post115, r_151^0'=r_151^post115, a_144^0'=a_144^post115, i_1053^0'=i_1053^post115, a_417^0'=a_417^post115, t_24^0'=t_24^post115, i_94^0'=i_94^post115, x_852^0'=x_852^post115, a_862^0'=a_862^post115, rcd_1249^0'=rcd_1249^post115, rcd_58^0'=rcd_58^post115, a_310^0'=a_310^post115, i_127^0'=i_127^post115, a_576^0'=a_576^post115, tmp_34^0'=tmp_34^post115, length_29^0'=length_29^post115, a_1162^0'=a_1162^post115, f_969^0'=f_969^post115, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post115, a_395^0'=a_395^post115, x_17^0'=x_17^post115, a_633^0'=a_633^post115, r_224^0'=r_224^post115, a_239^0'=a_239^post115, i_107^0'=i_107^post115, a_431^0'=a_431^post115, temp0_16^0'=temp0_16^post115, len_238^0'=len_238^post115, x_SLAM_f_19^0'=x_SLAM_f_19^post115, a_924^0'=a_924^post115, ct_18^0'=ct_18^post115, result_11^0'=result_11^post115, a_392^0'=a_392^post115, i_197^0'=i_197^post115, a_579^0'=a_579^post115, r_143^0'=r_143^post115, a_1236^0'=a_1236^post115, head_32^0'=head_32^post115, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post115, i_30^0'=i_30^post115, x_253^0'=x_253^post115, a_635^0'=a_635^post115, r_970^0'=r_970^post115, rcd_47^0'=rcd_47^post115, a_309^0'=a_309^post115, i_1248^0'=i_1248^post115, a_575^0'=a_575^post115, temp_35^0'=temp_35^post115, len_861^0'=len_861^post115, (-x_253^post115+x_253^0 == 0 /\ a_947^0-a_947^post115 == 0 /\ -r_970^post115+r_970^0 == 0 /\ -y_20^post115+y_20^0 == 0 /\ a_310^0-a_310^post115 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post115+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_27^0-i_27^post115 == 0 /\ i_1053^0-i_1053^post115 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post115 == 0 /\ x_14^0-x_14^post115 == 0 /\ -x_852^post115+x_852^0 == 0 /\ a_176^0-a_176^post115 == 0 /\ a_395^0-a_395^post115 == 0 /\ a_121^0-a_121^post115 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post115 == 0 /\ r_39^0-r_39^post115 == 0 /\ a_1089^0-a_1089^post115 == 0 /\ -rcd_58^post115+rcd_58^0 == 0 /\ -a_610^post115+a_610^0 == 0 /\ -temp_35^post115+temp_35^0 == 0 /\ -ct_18^post115+ct_18^0 == 0 /\ -tmp_34^post115+tmp_34^0 == 0 /\ x_156^0-x_156^post115 == 0 /\ -temp0_16^post115+temp0_16^0 == 0 /\ a_1162^0-a_1162^post115 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post115 == 0 /\ -len_861^post115+len_861^0 == 0 /\ i_197^0-i_197^post115 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post115+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post115 == 0 /\ -f_248^post115+f_248^0 == 0 /\ a_432^0-a_432^post115 == 0 /\ -a_924^post115+a_924^0 == 0 /\ nondet_12^0-nondet_12^post115 == 0 /\ i_113^0-i_113^post115 == 0 /\ x_975^0-x_975^post115 == 0 /\ r_192^0-r_192^post115 == 0 /\ -a_393^post115+a_393^0 == 0 /\ -i_1248^post115+i_1248^0 == 0 /\ -a_239^post115+a_239^0 == 0 /\ -result_11^post115+result_11^0 == 0 /\ -rcd_1249^post115+rcd_1249^0 == 0 /\ head_15^0-head_15^post115 == 0 /\ i_229^0-i_229^post115 == 0 /\ -r_143^post115+r_143^0 == 0 /\ a_634^0-a_634^post115 == 0 /\ a_394^0-a_394^post115 == 0 /\ -r_151^post115+r_151^0 == 0 /\ -a_635^post115+a_635^0 == 0 /\ x_17^0-x_17^post115 == 0 /\ -a_144^post115+a_144^0 == 0 /\ i_30^0-i_30^post115 == 0 /\ -a_392^post115+a_392^0 == 0 /\ -a_575^post115+a_575^0 == 0 /\ -a_576^post115+a_576^0 == 0 /\ t_24^0-t_24^post115 == 0 /\ i_107^0-i_107^post115 == 0 /\ a_311^0-a_311^post115 == 0 /\ -a_309^post115+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post115+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post115 == 0 /\ -a_417^post115+a_417^0 == 0 /\ rcd_88^0-rcd_88^post115 == 0 /\ len_161^0-len_161^post115 == 0 /\ f_847^0-f_847^post115 == 0 /\ a_263^0-a_263^post115 == 0 /\ -len_238^post115+len_238^0 == 0 /\ -length_29^post115+length_29^0 == 0 /\ 1-head_15^0 <= 0 /\ -a_902^post115+a_902^0 == 0 /\ -a_633^post115+a_633^0 == 0 /\ a_430^0-a_430^post115 == 0 /\ -a_1236^post115+a_1236^0 == 0 /\ -f_969^post115+f_969^0 == 0 /\ r_224^0-r_224^post115 == 0 /\ -t_458^post115+t_458^0 == 0 /\ a_862^0-a_862^post115 == 0 /\ -rcd_47^post115+rcd_47^0 == 0 /\ a_431^0-a_431^post115 == 0 /\ x_21^0-x_21^post115 == 0 /\ a_577^0-a_577^post115 == 0 /\ len_262^0-len_262^post115 == 0 /\ -head_32^post115+head_32^0 == 0 /\ -i_106^post115+i_106^0 == 0 /\ -a_579^post115+a_579^0 == 0 /\ temp0_31^0-temp0_31^post115 == 0 /\ -i_127^post115+i_127^0 == 0 /\ i_94^0-i_94^post115 == 0), cost: 1 116: l73 -> l74 : a_1089^0'=a_1089^post116, f_847^0'=f_847^post116, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post116, a_394^0'=a_394^post116, x_156^0'=x_156^post116, a_632^0'=a_632^post116, r_192^0'=r_192^post116, a_176^0'=a_176^post116, i_106^0'=i_106^post116, a_430^0'=a_430^post116, t_458^0'=t_458^post116, len_161^0'=len_161^post116, x_975^0'=x_975^post116, a_902^0'=a_902^post116, a_947^0'=a_947^post116, rcd_88^0'=rcd_88^post116, a_311^0'=a_311^post116, i_140^0'=i_140^post116, a_577^0'=a_577^post116, x_14^0'=x_14^post116, nondet_12^0'=nondet_12^post116, a_121^0'=a_121^post116, head_15^0'=head_15^post116, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post116, i_27^0'=i_27^post116, x_21^0'=x_21^post116, a_634^0'=a_634^post116, r_39^0'=r_39^post116, a_263^0'=a_263^post116, i_113^0'=i_113^post116, a_432^0'=a_432^post116, temp0_31^0'=temp0_31^post116, len_262^0'=len_262^post116, y_20^0'=y_20^post116, f_248^0'=f_248^post116, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post116, a_393^0'=a_393^post116, i_229^0'=i_229^post116, a_610^0'=a_610^post116, r_151^0'=r_151^post116, a_144^0'=a_144^post116, i_1053^0'=i_1053^post116, a_417^0'=a_417^post116, t_24^0'=t_24^post116, i_94^0'=i_94^post116, x_852^0'=x_852^post116, a_862^0'=a_862^post116, rcd_1249^0'=rcd_1249^post116, rcd_58^0'=rcd_58^post116, a_310^0'=a_310^post116, i_127^0'=i_127^post116, a_576^0'=a_576^post116, tmp_34^0'=tmp_34^post116, length_29^0'=length_29^post116, a_1162^0'=a_1162^post116, f_969^0'=f_969^post116, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post116, a_395^0'=a_395^post116, x_17^0'=x_17^post116, a_633^0'=a_633^post116, r_224^0'=r_224^post116, a_239^0'=a_239^post116, i_107^0'=i_107^post116, a_431^0'=a_431^post116, temp0_16^0'=temp0_16^post116, len_238^0'=len_238^post116, x_SLAM_f_19^0'=x_SLAM_f_19^post116, a_924^0'=a_924^post116, ct_18^0'=ct_18^post116, result_11^0'=result_11^post116, a_392^0'=a_392^post116, i_197^0'=i_197^post116, a_579^0'=a_579^post116, r_143^0'=r_143^post116, a_1236^0'=a_1236^post116, head_32^0'=head_32^post116, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post116, i_30^0'=i_30^post116, x_253^0'=x_253^post116, a_635^0'=a_635^post116, r_970^0'=r_970^post116, rcd_47^0'=rcd_47^post116, a_309^0'=a_309^post116, i_1248^0'=i_1248^post116, a_575^0'=a_575^post116, temp_35^0'=temp_35^post116, len_861^0'=len_861^post116, (-a_393^post116+a_393^0 == 0 /\ 1+head_15^0 <= 0 /\ i_229^0-i_229^post116 == 0 /\ -a_576^post116+a_576^0 == 0 /\ -r_143^post116+r_143^0 == 0 /\ f_248^0-f_248^post116 == 0 /\ -i_27^post116+i_27^0 == 0 /\ a_121^0-a_121^post116 == 0 /\ -i_107^post116+i_107^0 == 0 /\ temp0_31^0-temp0_31^post116 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post116+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_127^0-i_127^post116 == 0 /\ -a_575^post116+a_575^0 == 0 /\ a_634^0-a_634^post116 == 0 /\ len_262^0-len_262^post116 == 0 /\ x_156^0-x_156^post116 == 0 /\ -a_1236^post116+a_1236^0 == 0 /\ head_15^0-head_15^post116 == 0 /\ a_577^0-a_577^post116 == 0 /\ a_902^0-a_902^post116 == 0 /\ -a_309^post116+a_309^0 == 0 /\ -a_417^post116+a_417^0 == 0 /\ a_176^0-a_176^post116 == 0 /\ a_394^0-a_394^post116 == 0 /\ -a_610^post116+a_610^0 == 0 /\ a_1089^0-a_1089^post116 == 0 /\ -len_238^post116+len_238^0 == 0 /\ -a_392^post116+a_392^0 == 0 /\ -length_29^post116+length_29^0 == 0 /\ x_14^0-x_14^post116 == 0 /\ r_192^0-r_192^post116 == 0 /\ -rcd_47^post116+rcd_47^0 == 0 /\ -a_862^post116+a_862^0 == 0 /\ -x_253^post116+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post116+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post116 == 0 /\ a_632^0-a_632^post116 == 0 /\ -r_151^post116+r_151^0 == 0 /\ a_263^0-a_263^post116 == 0 /\ -head_32^post116+head_32^0 == 0 /\ temp0_16^0-temp0_16^post116 == 0 /\ -x_852^post116+x_852^0 == 0 /\ f_847^0-f_847^post116 == 0 /\ y_20^0-y_20^post116 == 0 /\ -r_970^post116+r_970^0 == 0 /\ -r_224^post116+r_224^0 == 0 /\ -temp_35^post116+temp_35^0 == 0 /\ x_21^0-x_21^post116 == 0 /\ a_432^0-a_432^post116 == 0 /\ -a_579^post116+a_579^0 == 0 /\ -rcd_58^post116+rcd_58^0 == 0 /\ a_430^0-a_430^post116 == 0 /\ x_975^0-x_975^post116 == 0 /\ -ct_18^post116+ct_18^0 == 0 /\ nondet_12^0-nondet_12^post116 == 0 /\ f_969^0-f_969^post116 == 0 /\ -a_395^post116+a_395^0 == 0 /\ -i_197^post116+i_197^0 == 0 /\ a_431^0-a_431^post116 == 0 /\ i_94^0-i_94^post116 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post116 == 0 /\ -rcd_88^post116+rcd_88^0 == 0 /\ i_113^0-i_113^post116 == 0 /\ x_17^0-x_17^post116 == 0 /\ a_633^0-a_633^post116 == 0 /\ -a_311^post116+a_311^0 == 0 /\ -a_1162^post116+a_1162^0 == 0 /\ a_144^0-a_144^post116 == 0 /\ a_947^0-a_947^post116 == 0 /\ -a_924^post116+a_924^0 == 0 /\ a_310^0-a_310^post116 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post116+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_161^0-len_161^post116 == 0 /\ -i_1248^post116+i_1248^0 == 0 /\ i_140^0-i_140^post116 == 0 /\ -tmp_34^post116+tmp_34^0 == 0 /\ t_458^0-t_458^post116 == 0 /\ -i_1053^post116+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post116 == 0 /\ -i_30^post116+i_30^0 == 0 /\ i_106^0-i_106^post116 == 0 /\ -rcd_1249^post116+rcd_1249^0 == 0 /\ -len_861^post116+len_861^0 == 0 /\ -a_635^post116+a_635^0 == 0 /\ -a_239^post116+a_239^0 == 0 /\ r_39^0-r_39^post116 == 0 /\ -result_11^post116+result_11^0 == 0 /\ t_24^0-t_24^post116 == 0), cost: 1 117: l74 -> l75 : a_1089^0'=a_1089^post117, f_847^0'=f_847^post117, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post117, a_394^0'=a_394^post117, x_156^0'=x_156^post117, a_632^0'=a_632^post117, r_192^0'=r_192^post117, a_176^0'=a_176^post117, i_106^0'=i_106^post117, a_430^0'=a_430^post117, t_458^0'=t_458^post117, len_161^0'=len_161^post117, x_975^0'=x_975^post117, a_902^0'=a_902^post117, a_947^0'=a_947^post117, rcd_88^0'=rcd_88^post117, a_311^0'=a_311^post117, i_140^0'=i_140^post117, a_577^0'=a_577^post117, x_14^0'=x_14^post117, nondet_12^0'=nondet_12^post117, a_121^0'=a_121^post117, head_15^0'=head_15^post117, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post117, i_27^0'=i_27^post117, x_21^0'=x_21^post117, a_634^0'=a_634^post117, r_39^0'=r_39^post117, a_263^0'=a_263^post117, i_113^0'=i_113^post117, a_432^0'=a_432^post117, temp0_31^0'=temp0_31^post117, len_262^0'=len_262^post117, y_20^0'=y_20^post117, f_248^0'=f_248^post117, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post117, a_393^0'=a_393^post117, i_229^0'=i_229^post117, a_610^0'=a_610^post117, r_151^0'=r_151^post117, a_144^0'=a_144^post117, i_1053^0'=i_1053^post117, a_417^0'=a_417^post117, t_24^0'=t_24^post117, i_94^0'=i_94^post117, x_852^0'=x_852^post117, a_862^0'=a_862^post117, rcd_1249^0'=rcd_1249^post117, rcd_58^0'=rcd_58^post117, a_310^0'=a_310^post117, i_127^0'=i_127^post117, a_576^0'=a_576^post117, tmp_34^0'=tmp_34^post117, length_29^0'=length_29^post117, a_1162^0'=a_1162^post117, f_969^0'=f_969^post117, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post117, a_395^0'=a_395^post117, x_17^0'=x_17^post117, a_633^0'=a_633^post117, r_224^0'=r_224^post117, a_239^0'=a_239^post117, i_107^0'=i_107^post117, a_431^0'=a_431^post117, temp0_16^0'=temp0_16^post117, len_238^0'=len_238^post117, x_SLAM_f_19^0'=x_SLAM_f_19^post117, a_924^0'=a_924^post117, ct_18^0'=ct_18^post117, result_11^0'=result_11^post117, a_392^0'=a_392^post117, i_197^0'=i_197^post117, a_579^0'=a_579^post117, r_143^0'=r_143^post117, a_1236^0'=a_1236^post117, head_32^0'=head_32^post117, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post117, i_30^0'=i_30^post117, x_253^0'=x_253^post117, a_635^0'=a_635^post117, r_970^0'=r_970^post117, rcd_47^0'=rcd_47^post117, a_309^0'=a_309^post117, i_1248^0'=i_1248^post117, a_575^0'=a_575^post117, temp_35^0'=temp_35^post117, len_861^0'=len_861^post117, (0 == 0 /\ -temp_35^post117+temp_35^0 == 0 /\ -head_32^post117+head_32^0 == 0 /\ -i_197^post117+i_197^0 == 0 /\ -x_852^post117+x_852^0 == 0 /\ -i_229^post117+i_229^0 == 0 /\ -y_20^post117+y_20^0 == 0 /\ a_1089^0-a_1089^post117 == 0 /\ -r_970^post117+r_970^0 == 0 /\ -a_395^post117+a_395^0 == 0 /\ -rcd_58^post117+rcd_58^0 == 0 /\ r_39^0-r_39^post117 == 0 /\ rcd_88^0-rcd_88^post117 == 0 /\ a_311^0-a_311^post117 == 0 /\ -a_579^post117+a_579^0 == 0 /\ a_576^0-a_576^post117 == 0 /\ -a_263^post117+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post117 == 0 /\ -a_862^post117+a_862^0 == 0 /\ i_106^0-i_106^post117 == 0 /\ tmp_34^0-tmp_34^post117 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_861^post117+len_861^0 == 0 /\ f_248^0-f_248^post117 == 0 /\ a_924^0-a_924^post117 == 0 /\ t_458^0-t_458^post117 == 0 /\ a_632^0-a_632^post117 == 0 /\ -a_393^post117+a_393^0 == 0 /\ -i_1248^post117+i_1248^0 == 0 /\ -t_24^post117+t_24^0 == 0 /\ -a_239^post117+a_239^0 == 0 /\ nondet_12^0-nondet_12^post117 == 0 /\ x_21^0-x_21^post117 == 0 /\ x_975^0-x_975^post117 == 0 /\ a_1236^0-a_1236^post117 == 0 /\ a_634^0-a_634^post117 == 0 /\ -result_11^post117+result_11^0 == 0 /\ temp0_31^0-temp0_31^post117 == 0 /\ -r_224^post117+r_224^0 == 0 /\ -i_1053^post117+i_1053^0 == 0 /\ -i_30^post117+i_30^0 == 0 /\ a_610^0-a_610^post117 == 0 /\ -r_143^post117+r_143^0 == 0 /\ a_394^0-a_394^post117 == 0 /\ -a_635^post117+a_635^0 == 0 /\ a_121^0-a_121^post117 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post117 == 0 /\ len_262^0-len_262^post117 == 0 /\ a_947^0-a_947^post117 == 0 /\ a_430^0-a_430^post117 == 0 /\ -a_417^post117+a_417^0 == 0 /\ -a_309^post117+a_309^0 == 0 /\ a_176^0-a_176^post117 == 0 /\ len_238^0-len_238^post117 == 0 /\ len_161^0-len_161^post117 == 0 /\ -i_113^post117+i_113^0 == 0 /\ -i_107^post117+i_107^0 == 0 /\ rcd_1249^0-rcd_1249^post117 == 0 /\ -a_575^post117+a_575^0 == 0 /\ f_847^0-f_847^post117 == 0 /\ 1-i_27^0 <= 0 /\ temp0_16^0-temp0_16^post117 == 0 /\ r_151^0-r_151^post117 == 0 /\ -a_432^post117+a_432^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post117+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_431^post117+a_431^0 == 0 /\ -a_392^post117+a_392^0 == 0 /\ r_192^0-r_192^post117 == 0 /\ a_902^0-a_902^post117 == 0 /\ i_127^0-i_127^post117 == 0 /\ -f_969^post117+f_969^0 == 0 /\ a_1162^0-a_1162^post117 == 0 /\ a_577^0-a_577^post117 == 0 /\ -x_253^post117+x_253^0 == 0 /\ -length_29^post117+length_29^0 == 0 /\ a_633^0-a_633^post117 == 0 /\ -rcd_47^post117+rcd_47^0 == 0 /\ -i_140^post117+i_140^0 == 0 /\ i_94^0-i_94^post117 == 0 /\ -a_310^post117+a_310^0 == 0 /\ x_156^0-x_156^post117 == 0 /\ a_144^0-a_144^post117 == 0), cost: 1 118: l75 -> l76 : a_1089^0'=a_1089^post118, f_847^0'=f_847^post118, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post118, a_394^0'=a_394^post118, x_156^0'=x_156^post118, a_632^0'=a_632^post118, r_192^0'=r_192^post118, a_176^0'=a_176^post118, i_106^0'=i_106^post118, a_430^0'=a_430^post118, t_458^0'=t_458^post118, len_161^0'=len_161^post118, x_975^0'=x_975^post118, a_902^0'=a_902^post118, a_947^0'=a_947^post118, rcd_88^0'=rcd_88^post118, a_311^0'=a_311^post118, i_140^0'=i_140^post118, a_577^0'=a_577^post118, x_14^0'=x_14^post118, nondet_12^0'=nondet_12^post118, a_121^0'=a_121^post118, head_15^0'=head_15^post118, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post118, i_27^0'=i_27^post118, x_21^0'=x_21^post118, a_634^0'=a_634^post118, r_39^0'=r_39^post118, a_263^0'=a_263^post118, i_113^0'=i_113^post118, a_432^0'=a_432^post118, temp0_31^0'=temp0_31^post118, len_262^0'=len_262^post118, y_20^0'=y_20^post118, f_248^0'=f_248^post118, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post118, a_393^0'=a_393^post118, i_229^0'=i_229^post118, a_610^0'=a_610^post118, r_151^0'=r_151^post118, a_144^0'=a_144^post118, i_1053^0'=i_1053^post118, a_417^0'=a_417^post118, t_24^0'=t_24^post118, i_94^0'=i_94^post118, x_852^0'=x_852^post118, a_862^0'=a_862^post118, rcd_1249^0'=rcd_1249^post118, rcd_58^0'=rcd_58^post118, a_310^0'=a_310^post118, i_127^0'=i_127^post118, a_576^0'=a_576^post118, tmp_34^0'=tmp_34^post118, length_29^0'=length_29^post118, a_1162^0'=a_1162^post118, f_969^0'=f_969^post118, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post118, a_395^0'=a_395^post118, x_17^0'=x_17^post118, a_633^0'=a_633^post118, r_224^0'=r_224^post118, a_239^0'=a_239^post118, i_107^0'=i_107^post118, a_431^0'=a_431^post118, temp0_16^0'=temp0_16^post118, len_238^0'=len_238^post118, x_SLAM_f_19^0'=x_SLAM_f_19^post118, a_924^0'=a_924^post118, ct_18^0'=ct_18^post118, result_11^0'=result_11^post118, a_392^0'=a_392^post118, i_197^0'=i_197^post118, a_579^0'=a_579^post118, r_143^0'=r_143^post118, a_1236^0'=a_1236^post118, head_32^0'=head_32^post118, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post118, i_30^0'=i_30^post118, x_253^0'=x_253^post118, a_635^0'=a_635^post118, r_970^0'=r_970^post118, rcd_47^0'=rcd_47^post118, a_309^0'=a_309^post118, i_1248^0'=i_1248^post118, a_575^0'=a_575^post118, temp_35^0'=temp_35^post118, len_861^0'=len_861^post118, (-x_SLAM_f_19^post118+x_SLAM_f_19^0 == 0 /\ -r_151^post118+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post118 == 0 /\ i_106^0-i_106^post118 == 0 /\ a_632^0-a_632^post118 == 0 /\ a_902^0-a_902^post118 == 0 /\ x_975^0-x_975^post118 == 0 /\ a_430^0-a_430^post118 == 0 /\ t_458^0-t_458^post118 == 0 /\ f_248^0-f_248^post118 == 0 /\ -i_107^post118+i_107^0 == 0 /\ -r_143^post118+r_143^0 == 0 /\ i_127^0-i_127^post118 == 0 /\ -a_575^post118+a_575^0 == 0 /\ f_969^0-f_969^post118 == 0 /\ result_11^0-result_11^post118 == 0 /\ temp0_31^0-temp0_31^post118 == 0 /\ len_161^0-len_161^post118 == 0 /\ -a_392^post118+a_392^0 == 0 /\ -i_113^post118+i_113^0 == 0 /\ -a_1236^post118+a_1236^0 == 0 /\ -a_432^post118+a_432^0 == 0 /\ a_394^0-a_394^post118 == 0 /\ -a_862^post118+a_862^0 == 0 /\ -a_310^post118+a_310^0 == 0 /\ -i_140^post118+i_140^0 == 0 /\ len_262^0-len_262^post118 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -temp_35^post118+temp_35^0 == 0 /\ x_852^0-x_852^post118 == 0 /\ rcd_88^0-rcd_88^post118 == 0 /\ -r_970^post118+r_970^0 == 0 /\ -rcd_47^post118+rcd_47^0 == 0 /\ a_176^0-a_176^post118 == 0 /\ f_847^0-f_847^post118 == 0 /\ rcd_1249^0-rcd_1249^post118 == 0 /\ -i_94^post118+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post118+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ length_29^0-length_29^post118 == 0 /\ -y_20^post118+y_20^0 == 0 /\ -i_1248^post118+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post118 == 0 /\ -head_32^post118+head_32^0 == 0 /\ head_15^0-head_15^post118 == 0 /\ temp0_16^0-temp0_16^post118 == 0 /\ a_239^0-a_239^post118 == 0 /\ -t_24^post118+t_24^0 == 0 /\ a_393^0-a_393^post118 == 0 /\ -ct_18^post118+ct_18^0 == 0 /\ -a_579^post118+a_579^0 == 0 /\ -x_253^post118+x_253^0 == 0 /\ x_156^0-x_156^post118 == 0 /\ -a_263^post118+a_263^0 == 0 /\ a_610^0-a_610^post118 == 0 /\ -a_431^post118+a_431^0 == 0 /\ -rcd_58^post118+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post118 == 0 /\ r_192^0-r_192^post118 == 0 /\ a_144^0-a_144^post118 == 0 /\ i_229^0-i_229^post118 == 0 /\ -a_395^post118+a_395^0 == 0 /\ a_633^0-a_633^post118 == 0 /\ -i_197^post118+i_197^0 == 0 /\ -r_39^post118+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post118+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_27^0-i_27^post118 == 0 /\ a_1089^0-a_1089^post118 == 0 /\ -a_309^post118+a_309^0 == 0 /\ -a_924^post118+a_924^0 == 0 /\ x_17^0-x_17^post118 == 0 /\ a_634^0-a_634^post118 == 0 /\ len_238^0-len_238^post118 == 0 /\ a_947^0-a_947^post118 == 0 /\ x_14^0-x_14^post118 == 0 /\ -tmp_34^post118+tmp_34^0 == 0 /\ -x_21^post118+x_21^0 == 0 /\ a_121^0-a_121^post118 == 0 /\ a_417^0-a_417^post118 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post118 == 0 /\ -i_1053^post118+i_1053^0 == 0 /\ -i_30^post118+i_30^0 == 0 /\ a_311^0-a_311^post118 == 0 /\ a_576^0-a_576^post118 == 0 /\ -a_635^post118+a_635^0 == 0 /\ -r_224^post118+r_224^0 == 0 /\ -a_577^post118+a_577^0 == 0 /\ -a_1162^post118+a_1162^0 == 0 /\ -len_861^post118+len_861^0 == 0), cost: 1 119: l75 -> l76 : a_1089^0'=a_1089^post119, f_847^0'=f_847^post119, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post119, a_394^0'=a_394^post119, x_156^0'=x_156^post119, a_632^0'=a_632^post119, r_192^0'=r_192^post119, a_176^0'=a_176^post119, i_106^0'=i_106^post119, a_430^0'=a_430^post119, t_458^0'=t_458^post119, len_161^0'=len_161^post119, x_975^0'=x_975^post119, a_902^0'=a_902^post119, a_947^0'=a_947^post119, rcd_88^0'=rcd_88^post119, a_311^0'=a_311^post119, i_140^0'=i_140^post119, a_577^0'=a_577^post119, x_14^0'=x_14^post119, nondet_12^0'=nondet_12^post119, a_121^0'=a_121^post119, head_15^0'=head_15^post119, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post119, i_27^0'=i_27^post119, x_21^0'=x_21^post119, a_634^0'=a_634^post119, r_39^0'=r_39^post119, a_263^0'=a_263^post119, i_113^0'=i_113^post119, a_432^0'=a_432^post119, temp0_31^0'=temp0_31^post119, len_262^0'=len_262^post119, y_20^0'=y_20^post119, f_248^0'=f_248^post119, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post119, a_393^0'=a_393^post119, i_229^0'=i_229^post119, a_610^0'=a_610^post119, r_151^0'=r_151^post119, a_144^0'=a_144^post119, i_1053^0'=i_1053^post119, a_417^0'=a_417^post119, t_24^0'=t_24^post119, i_94^0'=i_94^post119, x_852^0'=x_852^post119, a_862^0'=a_862^post119, rcd_1249^0'=rcd_1249^post119, rcd_58^0'=rcd_58^post119, a_310^0'=a_310^post119, i_127^0'=i_127^post119, a_576^0'=a_576^post119, tmp_34^0'=tmp_34^post119, length_29^0'=length_29^post119, a_1162^0'=a_1162^post119, f_969^0'=f_969^post119, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post119, a_395^0'=a_395^post119, x_17^0'=x_17^post119, a_633^0'=a_633^post119, r_224^0'=r_224^post119, a_239^0'=a_239^post119, i_107^0'=i_107^post119, a_431^0'=a_431^post119, temp0_16^0'=temp0_16^post119, len_238^0'=len_238^post119, x_SLAM_f_19^0'=x_SLAM_f_19^post119, a_924^0'=a_924^post119, ct_18^0'=ct_18^post119, result_11^0'=result_11^post119, a_392^0'=a_392^post119, i_197^0'=i_197^post119, a_579^0'=a_579^post119, r_143^0'=r_143^post119, a_1236^0'=a_1236^post119, head_32^0'=head_32^post119, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post119, i_30^0'=i_30^post119, x_253^0'=x_253^post119, a_635^0'=a_635^post119, r_970^0'=r_970^post119, rcd_47^0'=rcd_47^post119, a_309^0'=a_309^post119, i_1248^0'=i_1248^post119, a_575^0'=a_575^post119, temp_35^0'=temp_35^post119, len_861^0'=len_861^post119, (a_1089^0-a_1089^post119 == 0 /\ -temp0_16^post119+temp0_16^0 == 0 /\ a_862^0-a_862^post119 == 0 /\ a_144^0-a_144^post119 == 0 /\ a_394^0-a_394^post119 == 0 /\ -a_310^post119+a_310^0 == 0 /\ -r_970^post119+r_970^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post119 == 0 /\ -len_861^post119+len_861^0 == 0 /\ -f_248^post119+f_248^0 == 0 /\ -head_32^post119+head_32^0 == 0 /\ a_263^0-a_263^post119 == 0 /\ -y_20^post119+y_20^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_576^0-a_576^post119 == 0 /\ a_311^0-a_311^post119 == 0 /\ -i_229^post119+i_229^0 == 0 /\ -a_431^post119+a_431^0 == 0 /\ x_852^0-x_852^post119 == 0 /\ -temp_35^post119+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post119+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post119+r_224^0 == 0 /\ -i_197^post119+i_197^0 == 0 /\ -a_579^post119+a_579^0 == 0 /\ rcd_88^0-rcd_88^post119 == 0 /\ -a_392^post119+a_392^0 == 0 /\ f_847^0-f_847^post119 == 0 /\ i_106^0-i_106^post119 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post119 == 0 /\ -i_127^post119+i_127^0 == 0 /\ -i_107^post119+i_107^0 == 0 /\ -i_30^post119+i_30^0 == 0 /\ -a_575^post119+a_575^0 == 0 /\ t_458^0-t_458^post119 == 0 /\ -a_417^post119+a_417^0 == 0 /\ -result_11^post119+result_11^0 == 0 /\ x_21^0-x_21^post119 == 0 /\ -a_1162^post119+a_1162^0 == 0 /\ ct_18^0-ct_18^post119 == 0 /\ -a_393^post119+a_393^0 == 0 /\ a_1236^0-a_1236^post119 == 0 /\ len_262^0-len_262^post119 == 0 /\ -a_577^post119+a_577^0 == 0 /\ -t_24^post119+t_24^0 == 0 /\ -x_17^post119+x_17^0 == 0 /\ r_143^0-r_143^post119 == 0 /\ -i_1248^post119+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post119 == 0 /\ -a_635^post119+a_635^0 == 0 /\ a_610^0-a_610^post119 == 0 /\ a_634^0-a_634^post119 == 0 /\ x_14^0-x_14^post119 == 0 /\ len_238^0-len_238^post119 == 0 /\ a_176^0-a_176^post119 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post119 == 0 /\ a_947^0-a_947^post119 == 0 /\ i_27^0-i_27^post119 == 0 /\ -a_633^post119+a_633^0 == 0 /\ a_121^0-a_121^post119 == 0 /\ len_161^0-len_161^post119 == 0 /\ x_253^0-x_253^post119 == 0 /\ -a_432^post119+a_432^0 == 0 /\ -a_632^post119+a_632^0 == 0 /\ -a_924^post119+a_924^0 == 0 /\ -i_113^post119+i_113^0 == 0 /\ -rcd_1249^post119+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post119 == 0 /\ i_1053^0-i_1053^post119 == 0 /\ a_395^0-a_395^post119 == 0 /\ -a_309^post119+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post119 == 0 /\ -f_969^post119+f_969^0 == 0 /\ head_15^0-head_15^post119 == 0 /\ -r_39^post119+r_39^0 == 0 /\ a_430^0-a_430^post119 == 0 /\ tmp_34^0-tmp_34^post119 == 0 /\ r_151^0-r_151^post119 == 0 /\ x_975^0-x_975^post119 == 0 /\ -i_140^post119+i_140^0 == 0 /\ x_156^0-x_156^post119 == 0 /\ a_239^0-a_239^post119 == 0 /\ -i_94^post119+i_94^0 == 0 /\ r_192^0-r_192^post119 == 0 /\ a_902^0-a_902^post119 == 0 /\ -length_29^post119+length_29^0 == 0 /\ -x_SLAM_f_19^post119+x_SLAM_f_19^0 == 0 /\ nondet_12^0-nondet_12^post119 == 0 /\ -rcd_47^post119+rcd_47^0 == 0), cost: 1 120: l76 -> l77 : a_1089^0'=a_1089^post120, f_847^0'=f_847^post120, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post120, a_394^0'=a_394^post120, x_156^0'=x_156^post120, a_632^0'=a_632^post120, r_192^0'=r_192^post120, a_176^0'=a_176^post120, i_106^0'=i_106^post120, a_430^0'=a_430^post120, t_458^0'=t_458^post120, len_161^0'=len_161^post120, x_975^0'=x_975^post120, a_902^0'=a_902^post120, a_947^0'=a_947^post120, rcd_88^0'=rcd_88^post120, a_311^0'=a_311^post120, i_140^0'=i_140^post120, a_577^0'=a_577^post120, x_14^0'=x_14^post120, nondet_12^0'=nondet_12^post120, a_121^0'=a_121^post120, head_15^0'=head_15^post120, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post120, i_27^0'=i_27^post120, x_21^0'=x_21^post120, a_634^0'=a_634^post120, r_39^0'=r_39^post120, a_263^0'=a_263^post120, i_113^0'=i_113^post120, a_432^0'=a_432^post120, temp0_31^0'=temp0_31^post120, len_262^0'=len_262^post120, y_20^0'=y_20^post120, f_248^0'=f_248^post120, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post120, a_393^0'=a_393^post120, i_229^0'=i_229^post120, a_610^0'=a_610^post120, r_151^0'=r_151^post120, a_144^0'=a_144^post120, i_1053^0'=i_1053^post120, a_417^0'=a_417^post120, t_24^0'=t_24^post120, i_94^0'=i_94^post120, x_852^0'=x_852^post120, a_862^0'=a_862^post120, rcd_1249^0'=rcd_1249^post120, rcd_58^0'=rcd_58^post120, a_310^0'=a_310^post120, i_127^0'=i_127^post120, a_576^0'=a_576^post120, tmp_34^0'=tmp_34^post120, length_29^0'=length_29^post120, a_1162^0'=a_1162^post120, f_969^0'=f_969^post120, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post120, a_395^0'=a_395^post120, x_17^0'=x_17^post120, a_633^0'=a_633^post120, r_224^0'=r_224^post120, a_239^0'=a_239^post120, i_107^0'=i_107^post120, a_431^0'=a_431^post120, temp0_16^0'=temp0_16^post120, len_238^0'=len_238^post120, x_SLAM_f_19^0'=x_SLAM_f_19^post120, a_924^0'=a_924^post120, ct_18^0'=ct_18^post120, result_11^0'=result_11^post120, a_392^0'=a_392^post120, i_197^0'=i_197^post120, a_579^0'=a_579^post120, r_143^0'=r_143^post120, a_1236^0'=a_1236^post120, head_32^0'=head_32^post120, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post120, i_30^0'=i_30^post120, x_253^0'=x_253^post120, a_635^0'=a_635^post120, r_970^0'=r_970^post120, rcd_47^0'=rcd_47^post120, a_309^0'=a_309^post120, i_1248^0'=i_1248^post120, a_575^0'=a_575^post120, temp_35^0'=temp_35^post120, len_861^0'=len_861^post120, (r_39^0-r_39^post120 == 0 /\ r_151^0-r_151^post120 == 0 /\ -a_610^post120+a_610^0 == 0 /\ length_29^0-length_29^post120 == 0 /\ i_94^0-i_94^post120 == 0 /\ -a_634^post120+a_634^0 == 0 /\ a_430^0-a_430^post120 == 0 /\ -head_15^0+t_24^post120 <= 0 /\ i_113^0-i_113^post120 == 0 /\ x_975^0-x_975^post120 == 0 /\ -rcd_47^post120+rcd_47^0 == 0 /\ a_393^0-a_393^post120 == 0 /\ -a_575^post120+a_575^0 == 0 /\ -r_143^post120+r_143^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ f_969^0-f_969^post120 == 0 /\ -rcd_1249^post120+rcd_1249^0 == 0 /\ -len_238^post120+len_238^0 == 0 /\ a_633^0-a_633^post120 == 0 /\ x_21^0-x_21^post120 == 0 /\ x_14^0 <= 0 /\ a_432^0-a_432^post120 == 0 /\ i_27^0-i_27^post120 == 0 /\ -x_14^0 <= 0 /\ -x_21^0+t_24^post120 == 0 /\ -result_11^post120+result_11^0 == 0 /\ r_192^0-r_192^post120 == 0 /\ a_862^0-a_862^post120 == 0 /\ i_140^0-i_140^post120 == 0 /\ head_32^0-head_32^post120 == 0 /\ a_417^0-a_417^post120 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_161^0-len_161^post120 == 0 /\ a_579^0-a_579^post120 == 0 /\ x_21^0 <= 0 /\ -a_576^post120+a_576^0 == 0 /\ rcd_58^0-rcd_58^post120 == 0 /\ a_144^0-a_144^post120 == 0 /\ head_15^0-t_24^post120 <= 0 /\ -a_392^post120+a_392^0 == 0 /\ y_20^0 <= 0 /\ -f_248^post120+f_248^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -a_1236^post120+a_1236^0 == 0 /\ -x_SLAM_f_19^post120+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post120 == 0 /\ -x_253^post120+x_253^0 == 0 /\ -a_431^post120+a_431^0 == 0 /\ -r_970^post120+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post120+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post120+r_224^0 == 0 /\ -a_310^post120+a_310^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ t_458^0-t_458^post120 == 0 /\ -temp0_31^post120+temp0_31^0 == 0 /\ a_632^0-a_632^post120 == 0 /\ i_106^0-i_106^post120 == 0 /\ a_239^0-a_239^post120 == 0 /\ -temp0_16^post120+temp0_16^0 == 0 /\ a_902^0-a_902^post120 == 0 /\ rcd_88^0-rcd_88^post120 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_311^0-a_311^post120 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post120 == 0 /\ -y_20^0 <= 0 /\ -a_395^post120+a_395^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -i_197^post120+i_197^0 == 0 /\ -temp_35^post120+temp_35^0 == 0 /\ a_1089^0-a_1089^post120 == 0 /\ i_229^0-i_229^post120 == 0 /\ x_156^0-x_156^post120 == 0 /\ -a_947^post120+a_947^0 == 0 /\ -len_262^post120+len_262^0 == 0 /\ nondet_12^0-nondet_12^post120 == 0 /\ head_15^0-x_17^0 <= 0 /\ -x_17^post120+x_17^0 == 0 /\ -head_15^post120+head_15^0 == 0 /\ a_121^0-a_121^post120 == 0 /\ x_852^0-x_852^post120 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -a_309^post120+a_309^0 == 0 /\ -i_127^post120+i_127^0 == 0 /\ -x_21^0 <= 0 /\ -x_14^post120+x_14^0 == 0 /\ -a_924^post120+a_924^0 == 0 /\ -ct_18^0 <= 0 /\ a_263^0-a_263^post120 == 0 /\ -i_107^post120+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post120 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post120 == 0 /\ y_20^0-y_20^post120 == 0 /\ a_176^0-a_176^post120 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -len_861^post120+len_861^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ a_394^0-a_394^post120 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post120 == 0 /\ -ct_18^post120+ct_18^0 == 0 /\ -a_1162^post120+a_1162^0 == 0 /\ -a_577^post120+a_577^0 == 0 /\ tmp_34^0-tmp_34^post120 == 0 /\ -a_635^post120+a_635^0 == 0 /\ -head_15^0+x_17^0 <= 0 /\ -i_30^post120+i_30^0 == 0 /\ -i_1248^post120+i_1248^0 == 0 /\ i_1053^0-i_1053^post120 == 0), cost: 1 121: l77 -> l78 : a_1089^0'=a_1089^post121, f_847^0'=f_847^post121, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post121, a_394^0'=a_394^post121, x_156^0'=x_156^post121, a_632^0'=a_632^post121, r_192^0'=r_192^post121, a_176^0'=a_176^post121, i_106^0'=i_106^post121, a_430^0'=a_430^post121, t_458^0'=t_458^post121, len_161^0'=len_161^post121, x_975^0'=x_975^post121, a_902^0'=a_902^post121, a_947^0'=a_947^post121, rcd_88^0'=rcd_88^post121, a_311^0'=a_311^post121, i_140^0'=i_140^post121, a_577^0'=a_577^post121, x_14^0'=x_14^post121, nondet_12^0'=nondet_12^post121, a_121^0'=a_121^post121, head_15^0'=head_15^post121, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post121, i_27^0'=i_27^post121, x_21^0'=x_21^post121, a_634^0'=a_634^post121, r_39^0'=r_39^post121, a_263^0'=a_263^post121, i_113^0'=i_113^post121, a_432^0'=a_432^post121, temp0_31^0'=temp0_31^post121, len_262^0'=len_262^post121, y_20^0'=y_20^post121, f_248^0'=f_248^post121, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post121, a_393^0'=a_393^post121, i_229^0'=i_229^post121, a_610^0'=a_610^post121, r_151^0'=r_151^post121, a_144^0'=a_144^post121, i_1053^0'=i_1053^post121, a_417^0'=a_417^post121, t_24^0'=t_24^post121, i_94^0'=i_94^post121, x_852^0'=x_852^post121, a_862^0'=a_862^post121, rcd_1249^0'=rcd_1249^post121, rcd_58^0'=rcd_58^post121, a_310^0'=a_310^post121, i_127^0'=i_127^post121, a_576^0'=a_576^post121, tmp_34^0'=tmp_34^post121, length_29^0'=length_29^post121, a_1162^0'=a_1162^post121, f_969^0'=f_969^post121, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post121, a_395^0'=a_395^post121, x_17^0'=x_17^post121, a_633^0'=a_633^post121, r_224^0'=r_224^post121, a_239^0'=a_239^post121, i_107^0'=i_107^post121, a_431^0'=a_431^post121, temp0_16^0'=temp0_16^post121, len_238^0'=len_238^post121, x_SLAM_f_19^0'=x_SLAM_f_19^post121, a_924^0'=a_924^post121, ct_18^0'=ct_18^post121, result_11^0'=result_11^post121, a_392^0'=a_392^post121, i_197^0'=i_197^post121, a_579^0'=a_579^post121, r_143^0'=r_143^post121, a_1236^0'=a_1236^post121, head_32^0'=head_32^post121, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post121, i_30^0'=i_30^post121, x_253^0'=x_253^post121, a_635^0'=a_635^post121, r_970^0'=r_970^post121, rcd_47^0'=rcd_47^post121, a_309^0'=a_309^post121, i_1248^0'=i_1248^post121, a_575^0'=a_575^post121, temp_35^0'=temp_35^post121, len_861^0'=len_861^post121, (a_144^0-a_144^post121 == 0 /\ -temp0_31^post121+temp0_31^0 == 0 /\ -len_861^post121+len_861^0 == 0 /\ t_24^0-t_24^post121 == 0 /\ x_21^0-x_21^post121 == 0 /\ a_862^0-a_862^post121 == 0 /\ -f_248^post121+f_248^0 == 0 /\ a_417^0-a_417^post121 == 0 /\ len_161^0-len_161^post121 == 0 /\ a_947^0-a_947^post121 == 0 /\ -r_224^post121+r_224^0 == 0 /\ -i_229^post121+i_229^0 == 0 /\ -len_262^post121+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post121 == 0 /\ x_156^0-x_156^post121 == 0 /\ a_263^0-a_263^post121 == 0 /\ f_847^0-f_847^post121 == 0 /\ -a_392^post121+a_392^0 == 0 /\ -i_1248^post121+i_1248^0 == 0 /\ -i_27^post121+i_27^0 == 0 /\ -a_239^post121+a_239^0 == 0 /\ -head_32^post121+head_32^0 == 0 /\ a_394^0-a_394^post121 == 0 /\ -temp0_16^post121+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post121+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ length_29^0-length_29^post121 == 0 /\ -a_579^post121+a_579^0 == 0 /\ -i_127^post121+i_127^0 == 0 /\ head_15^0-head_15^post121 == 0 /\ -i_30^post121+i_30^0 == 0 /\ r_39^0-r_39^post121 == 0 /\ a_430^0-a_430^post121 == 0 /\ -a_635^post121+a_635^0 == 0 /\ r_151^0-r_151^post121 == 0 /\ -x_852^post121+x_852^0 == 0 /\ i_106^0-i_106^post121 == 0 /\ a_577^0-a_577^post121 == 0 /\ -i_107^post121+i_107^0 == 0 /\ a_311^0-a_311^post121 == 0 /\ a_902^0-a_902^post121 == 0 /\ -x_17^post121+x_17^0 == 0 /\ -i_197^post121+i_197^0 == 0 /\ i_94^0-i_94^post121 == 0 /\ -rcd_58^post121+rcd_58^0 == 0 /\ -a_309^post121+a_309^0 == 0 /\ a_432^0-a_432^post121 == 0 /\ -ct_18^post121+ct_18^0 == 0 /\ -a_575^post121+a_575^0 == 0 /\ -a_634^post121+a_634^0 == 0 /\ -rcd_47^post121+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post121 == 0 /\ a_1089^0-a_1089^post121 == 0 /\ -a_633^post121+a_633^0 == 0 /\ -a_1162^post121+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post121+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post121+len_238^0 == 0 /\ rcd_88^0-rcd_88^post121 == 0 /\ -result_11^post121+result_11^0 == 0 /\ -f_969^post121+f_969^0 == 0 /\ y_20^0-y_20^post121 == 0 /\ i_1053^0-i_1053^post121 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post121 == 0 /\ -a_924^post121+a_924^0 == 0 /\ i_140^0-i_140^post121 == 0 /\ a_395^0-a_395^post121 == 0 /\ a_176^0-a_176^post121 == 0 /\ -x_14^post121+x_14^0 == 0 /\ -rcd_1249^post121+rcd_1249^0 == 0 /\ -a_576^post121+a_576^0 == 0 /\ i_113^0-i_113^post121 == 0 /\ -temp_35^post121+temp_35^0 == 0 /\ x_975^0-x_975^post121 == 0 /\ -nondet_12^post121+nondet_12^0 == 0 /\ -r_143^post121+r_143^0 == 0 /\ -a_431^post121+a_431^0 == 0 /\ 1-head_15^0 <= 0 /\ tmp_34^0-tmp_34^post121 == 0 /\ a_393^0-a_393^post121 == 0 /\ -r_970^post121+r_970^0 == 0 /\ t_458^0-t_458^post121 == 0 /\ -a_1236^post121+a_1236^0 == 0 /\ -x_SLAM_f_19^post121+x_SLAM_f_19^0 == 0 /\ -a_310^post121+a_310^0 == 0 /\ a_632^0-a_632^post121 == 0 /\ -a_121^post121+a_121^0 == 0 /\ -a_610^post121+a_610^0 == 0 /\ r_192^0-r_192^post121 == 0 /\ -x_253^post121+x_253^0 == 0), cost: 1 122: l77 -> l78 : a_1089^0'=a_1089^post122, f_847^0'=f_847^post122, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post122, a_394^0'=a_394^post122, x_156^0'=x_156^post122, a_632^0'=a_632^post122, r_192^0'=r_192^post122, a_176^0'=a_176^post122, i_106^0'=i_106^post122, a_430^0'=a_430^post122, t_458^0'=t_458^post122, len_161^0'=len_161^post122, x_975^0'=x_975^post122, a_902^0'=a_902^post122, a_947^0'=a_947^post122, rcd_88^0'=rcd_88^post122, a_311^0'=a_311^post122, i_140^0'=i_140^post122, a_577^0'=a_577^post122, x_14^0'=x_14^post122, nondet_12^0'=nondet_12^post122, a_121^0'=a_121^post122, head_15^0'=head_15^post122, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post122, i_27^0'=i_27^post122, x_21^0'=x_21^post122, a_634^0'=a_634^post122, r_39^0'=r_39^post122, a_263^0'=a_263^post122, i_113^0'=i_113^post122, a_432^0'=a_432^post122, temp0_31^0'=temp0_31^post122, len_262^0'=len_262^post122, y_20^0'=y_20^post122, f_248^0'=f_248^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122, a_393^0'=a_393^post122, i_229^0'=i_229^post122, a_610^0'=a_610^post122, r_151^0'=r_151^post122, a_144^0'=a_144^post122, i_1053^0'=i_1053^post122, a_417^0'=a_417^post122, t_24^0'=t_24^post122, i_94^0'=i_94^post122, x_852^0'=x_852^post122, a_862^0'=a_862^post122, rcd_1249^0'=rcd_1249^post122, rcd_58^0'=rcd_58^post122, a_310^0'=a_310^post122, i_127^0'=i_127^post122, a_576^0'=a_576^post122, tmp_34^0'=tmp_34^post122, length_29^0'=length_29^post122, a_1162^0'=a_1162^post122, f_969^0'=f_969^post122, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post122, a_395^0'=a_395^post122, x_17^0'=x_17^post122, a_633^0'=a_633^post122, r_224^0'=r_224^post122, a_239^0'=a_239^post122, i_107^0'=i_107^post122, a_431^0'=a_431^post122, temp0_16^0'=temp0_16^post122, len_238^0'=len_238^post122, x_SLAM_f_19^0'=x_SLAM_f_19^post122, a_924^0'=a_924^post122, ct_18^0'=ct_18^post122, result_11^0'=result_11^post122, a_392^0'=a_392^post122, i_197^0'=i_197^post122, a_579^0'=a_579^post122, r_143^0'=r_143^post122, a_1236^0'=a_1236^post122, head_32^0'=head_32^post122, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post122, i_30^0'=i_30^post122, x_253^0'=x_253^post122, a_635^0'=a_635^post122, r_970^0'=r_970^post122, rcd_47^0'=rcd_47^post122, a_309^0'=a_309^post122, i_1248^0'=i_1248^post122, a_575^0'=a_575^post122, temp_35^0'=temp_35^post122, len_861^0'=len_861^post122, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post122 == 0 /\ -a_924^post122+a_924^0 == 0 /\ -rcd_47^post122+rcd_47^0 == 0 /\ r_151^0-r_151^post122 == 0 /\ length_29^0-length_29^post122 == 0 /\ 1+head_15^0 <= 0 /\ -rcd_1249^post122+rcd_1249^0 == 0 /\ i_94^0-i_94^post122 == 0 /\ -a_610^post122+a_610^0 == 0 /\ i_113^0-i_113^post122 == 0 /\ -tmp_34^post122+tmp_34^0 == 0 /\ a_393^0-a_393^post122 == 0 /\ r_39^0-r_39^post122 == 0 /\ a_1089^0-a_1089^post122 == 0 /\ -x_253^post122+x_253^0 == 0 /\ -len_238^post122+len_238^0 == 0 /\ -a_634^post122+a_634^0 == 0 /\ a_432^0-a_432^post122 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post122+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post122+head_15^0 == 0 /\ x_21^0-x_21^post122 == 0 /\ r_192^0-r_192^post122 == 0 /\ a_310^0-a_310^post122 == 0 /\ head_32^0-head_32^post122 == 0 /\ i_197^0-i_197^post122 == 0 /\ a_417^0-a_417^post122 == 0 /\ -a_576^post122+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post122 == 0 /\ i_140^0-i_140^post122 == 0 /\ i_27^0-i_27^post122 == 0 /\ a_263^0-a_263^post122 == 0 /\ x_156^0-x_156^post122 == 0 /\ -temp_35^post122+temp_35^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post122 == 0 /\ -r_143^post122+r_143^0 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ -f_969^post122+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post122 == 0 /\ -r_970^post122+r_970^0 == 0 /\ -a_1236^post122+a_1236^0 == 0 /\ -a_395^post122+a_395^0 == 0 /\ -f_248^post122+f_248^0 == 0 /\ -len_262^post122+len_262^0 == 0 /\ a_632^0-a_632^post122 == 0 /\ i_106^0-i_106^post122 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post122+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_975^0-x_975^post122 == 0 /\ -i_1248^post122+i_1248^0 == 0 /\ i_107^0-i_107^post122 == 0 /\ r_224^0-r_224^post122 == 0 /\ -temp0_31^post122+temp0_31^0 == 0 /\ a_311^0-a_311^post122 == 0 /\ i_30^0-i_30^post122 == 0 /\ a_577^0-a_577^post122 == 0 /\ -a_239^post122+a_239^0 == 0 /\ t_458^0-t_458^post122 == 0 /\ a_902^0-a_902^post122 == 0 /\ -temp0_16^post122+temp0_16^0 == 0 /\ i_229^0-i_229^post122 == 0 /\ -a_392^post122+a_392^0 == 0 /\ -len_861^post122+len_861^0 == 0 /\ x_14^0-x_14^post122 == 0 /\ -a_430^post122+a_430^0 == 0 /\ -a_947^post122+a_947^0 == 0 /\ -result_11^post122+result_11^0 == 0 /\ -x_17^post122+x_17^0 == 0 /\ a_121^0-a_121^post122 == 0 /\ -rcd_58^post122+rcd_58^0 == 0 /\ t_24^0-t_24^post122 == 0 /\ a_394^0-a_394^post122 == 0 /\ a_862^0-a_862^post122 == 0 /\ -i_127^post122+i_127^0 == 0 /\ x_852^0-x_852^post122 == 0 /\ a_431^0-a_431^post122 == 0 /\ -a_579^post122+a_579^0 == 0 /\ -a_309^post122+a_309^0 == 0 /\ -a_635^post122+a_635^0 == 0 /\ len_161^0-len_161^post122 == 0 /\ i_1053^0-i_1053^post122 == 0 /\ -ct_18^post122+ct_18^0 == 0 /\ y_20^0-y_20^post122 == 0 /\ rcd_88^0-rcd_88^post122 == 0 /\ a_176^0-a_176^post122 == 0 /\ -a_1162^post122+a_1162^0 == 0 /\ -a_144^post122+a_144^0 == 0 /\ f_847^0-f_847^post122 == 0 /\ -a_633^post122+a_633^0 == 0 /\ -a_575^post122+a_575^0 == 0), cost: 1 123: l78 -> l79 : a_1089^0'=a_1089^post123, f_847^0'=f_847^post123, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post123, a_394^0'=a_394^post123, x_156^0'=x_156^post123, a_632^0'=a_632^post123, r_192^0'=r_192^post123, a_176^0'=a_176^post123, i_106^0'=i_106^post123, a_430^0'=a_430^post123, t_458^0'=t_458^post123, len_161^0'=len_161^post123, x_975^0'=x_975^post123, a_902^0'=a_902^post123, a_947^0'=a_947^post123, rcd_88^0'=rcd_88^post123, a_311^0'=a_311^post123, i_140^0'=i_140^post123, a_577^0'=a_577^post123, x_14^0'=x_14^post123, nondet_12^0'=nondet_12^post123, a_121^0'=a_121^post123, head_15^0'=head_15^post123, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post123, i_27^0'=i_27^post123, x_21^0'=x_21^post123, a_634^0'=a_634^post123, r_39^0'=r_39^post123, a_263^0'=a_263^post123, i_113^0'=i_113^post123, a_432^0'=a_432^post123, temp0_31^0'=temp0_31^post123, len_262^0'=len_262^post123, y_20^0'=y_20^post123, f_248^0'=f_248^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123, a_393^0'=a_393^post123, i_229^0'=i_229^post123, a_610^0'=a_610^post123, r_151^0'=r_151^post123, a_144^0'=a_144^post123, i_1053^0'=i_1053^post123, a_417^0'=a_417^post123, t_24^0'=t_24^post123, i_94^0'=i_94^post123, x_852^0'=x_852^post123, a_862^0'=a_862^post123, rcd_1249^0'=rcd_1249^post123, rcd_58^0'=rcd_58^post123, a_310^0'=a_310^post123, i_127^0'=i_127^post123, a_576^0'=a_576^post123, tmp_34^0'=tmp_34^post123, length_29^0'=length_29^post123, a_1162^0'=a_1162^post123, f_969^0'=f_969^post123, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post123, a_395^0'=a_395^post123, x_17^0'=x_17^post123, a_633^0'=a_633^post123, r_224^0'=r_224^post123, a_239^0'=a_239^post123, i_107^0'=i_107^post123, a_431^0'=a_431^post123, temp0_16^0'=temp0_16^post123, len_238^0'=len_238^post123, x_SLAM_f_19^0'=x_SLAM_f_19^post123, a_924^0'=a_924^post123, ct_18^0'=ct_18^post123, result_11^0'=result_11^post123, a_392^0'=a_392^post123, i_197^0'=i_197^post123, a_579^0'=a_579^post123, r_143^0'=r_143^post123, a_1236^0'=a_1236^post123, head_32^0'=head_32^post123, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post123, i_30^0'=i_30^post123, x_253^0'=x_253^post123, a_635^0'=a_635^post123, r_970^0'=r_970^post123, rcd_47^0'=rcd_47^post123, a_309^0'=a_309^post123, i_1248^0'=i_1248^post123, a_575^0'=a_575^post123, temp_35^0'=temp_35^post123, len_861^0'=len_861^post123, (len_262^0-len_262^post123 == 0 /\ -a_862^post123+a_862^0 == 0 /\ a_263^0-a_263^post123 == 0 /\ -temp0_16^post123+temp0_16^0 == 0 /\ -len_861^post123+len_861^0 == 0 /\ len_161^0-len_161^post123 == 0 /\ temp0_31^0-temp0_31^post123 == 0 /\ -a_1236^post123+a_1236^0 == 0 /\ x_156^0-x_156^post123 == 0 /\ -a_417^post123+a_417^0 == 0 /\ i_229^0-i_229^post123 == 0 /\ -a_239^post123+a_239^0 == 0 /\ a_634^0-a_634^post123 == 0 /\ -a_393^post123+a_393^0 == 0 /\ i_1053^0-i_1053^post123 == 0 /\ head_15^0-head_15^post123 == 0 /\ a_176^0-a_176^post123 == 0 /\ a_395^0-a_395^post123 == 0 /\ -length_29^post123+length_29^0 == 0 /\ -i_1248^post123+i_1248^0 == 0 /\ -a_392^post123+a_392^0 == 0 /\ a_947^0-a_947^post123 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_121^0-a_121^post123 == 0 /\ -i_27^post123+i_27^0 == 0 /\ a_430^0-a_430^post123 == 0 /\ -a_575^post123+a_575^0 == 0 /\ -i_197^post123+i_197^0 == 0 /\ -ct_18^post123+ct_18^0 == 0 /\ i_113^0-i_113^post123 == 0 /\ -i_127^post123+i_127^0 == 0 /\ r_192^0-r_192^post123 == 0 /\ -a_579^post123+a_579^0 == 0 /\ -a_635^post123+a_635^0 == 0 /\ -i_30^post123+i_30^0 == 0 /\ -r_151^post123+r_151^0 == 0 /\ -head_32^post123+head_32^0 == 0 /\ -rcd_58^post123+rcd_58^0 == 0 /\ a_310^0-a_310^post123 == 0 /\ x_14^0-x_14^post123 == 0 /\ a_1162^0-a_1162^post123 == 0 /\ -a_309^post123+a_309^0 == 0 /\ -a_144^post123+a_144^0 == 0 /\ a_1089^0-a_1089^post123 == 0 /\ a_632^0-a_632^post123 == 0 /\ x_21^0-x_21^post123 == 0 /\ -a_633^post123+a_633^0 == 0 /\ a_432^0-a_432^post123 == 0 /\ -tmp_34^post123+tmp_34^0 == 0 /\ -rcd_1249^post123+rcd_1249^0 == 0 /\ i_140^0-i_140^post123 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post123+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post123 == 0 /\ f_847^0-f_847^post123 == 0 /\ nondet_12^0-nondet_12^post123 == 0 /\ -a_902^post123+a_902^0 == 0 /\ -result_11^post123+result_11^0 == 0 /\ a_431^0-a_431^post123 == 0 /\ i_94^0-i_94^post123 == 0 /\ -x_852^post123+x_852^0 == 0 /\ x_17^0-x_17^post123 == 0 /\ -len_238^post123+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post123+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_924^post123+a_924^0 == 0 /\ y_20^0-y_20^post123 == 0 /\ a_394^0-a_394^post123 == 0 /\ -rcd_47^post123+rcd_47^0 == 0 /\ -r_143^post123+r_143^0 == 0 /\ x_975^0-x_975^post123 == 0 /\ a_577^0-a_577^post123 == 0 /\ r_39^0-r_39^post123 == 0 /\ -f_969^post123+f_969^0 == 0 /\ -x_253^post123+x_253^0 == 0 /\ -r_970^post123+r_970^0 == 0 /\ -rcd_88^post123+rcd_88^0 == 0 /\ i_107^0-i_107^post123 == 0 /\ a_610^0-a_610^post123 == 0 /\ i_106^0-i_106^post123 == 0 /\ r_224^0-r_224^post123 == 0 /\ -x_SLAM_f_19^post123+x_SLAM_f_19^0 == 0 /\ -a_311^post123+a_311^0 == 0 /\ -f_248^post123+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post123+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post123+temp_35^0 == 0 /\ -a_576^post123+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post123+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_24^0-t_24^post123 == 0 /\ t_458^0-t_458^post123 == 0), cost: 1 124: l78 -> l79 : a_1089^0'=a_1089^post124, f_847^0'=f_847^post124, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post124, a_394^0'=a_394^post124, x_156^0'=x_156^post124, a_632^0'=a_632^post124, r_192^0'=r_192^post124, a_176^0'=a_176^post124, i_106^0'=i_106^post124, a_430^0'=a_430^post124, t_458^0'=t_458^post124, len_161^0'=len_161^post124, x_975^0'=x_975^post124, a_902^0'=a_902^post124, a_947^0'=a_947^post124, rcd_88^0'=rcd_88^post124, a_311^0'=a_311^post124, i_140^0'=i_140^post124, a_577^0'=a_577^post124, x_14^0'=x_14^post124, nondet_12^0'=nondet_12^post124, a_121^0'=a_121^post124, head_15^0'=head_15^post124, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post124, i_27^0'=i_27^post124, x_21^0'=x_21^post124, a_634^0'=a_634^post124, r_39^0'=r_39^post124, a_263^0'=a_263^post124, i_113^0'=i_113^post124, a_432^0'=a_432^post124, temp0_31^0'=temp0_31^post124, len_262^0'=len_262^post124, y_20^0'=y_20^post124, f_248^0'=f_248^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124, a_393^0'=a_393^post124, i_229^0'=i_229^post124, a_610^0'=a_610^post124, r_151^0'=r_151^post124, a_144^0'=a_144^post124, i_1053^0'=i_1053^post124, a_417^0'=a_417^post124, t_24^0'=t_24^post124, i_94^0'=i_94^post124, x_852^0'=x_852^post124, a_862^0'=a_862^post124, rcd_1249^0'=rcd_1249^post124, rcd_58^0'=rcd_58^post124, a_310^0'=a_310^post124, i_127^0'=i_127^post124, a_576^0'=a_576^post124, tmp_34^0'=tmp_34^post124, length_29^0'=length_29^post124, a_1162^0'=a_1162^post124, f_969^0'=f_969^post124, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post124, a_395^0'=a_395^post124, x_17^0'=x_17^post124, a_633^0'=a_633^post124, r_224^0'=r_224^post124, a_239^0'=a_239^post124, i_107^0'=i_107^post124, a_431^0'=a_431^post124, temp0_16^0'=temp0_16^post124, len_238^0'=len_238^post124, x_SLAM_f_19^0'=x_SLAM_f_19^post124, a_924^0'=a_924^post124, ct_18^0'=ct_18^post124, result_11^0'=result_11^post124, a_392^0'=a_392^post124, i_197^0'=i_197^post124, a_579^0'=a_579^post124, r_143^0'=r_143^post124, a_1236^0'=a_1236^post124, head_32^0'=head_32^post124, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post124, i_30^0'=i_30^post124, x_253^0'=x_253^post124, a_635^0'=a_635^post124, r_970^0'=r_970^post124, rcd_47^0'=rcd_47^post124, a_309^0'=a_309^post124, i_1248^0'=i_1248^post124, a_575^0'=a_575^post124, temp_35^0'=temp_35^post124, len_861^0'=len_861^post124, (a_902^0-a_902^post124 == 0 /\ ct_18^0-ct_18^post124 == 0 /\ -a_633^post124+a_633^0 == 0 /\ t_458^0-t_458^post124 == 0 /\ head_15^0-head_15^post124 == 0 /\ i_106^0-i_106^post124 == 0 /\ -tmp_34^post124+tmp_34^0 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -rcd_1249^post124+rcd_1249^0 == 0 /\ -a_610^post124+a_610^0 == 0 /\ i_27^0-i_27^post124 == 0 /\ a_310^0-a_310^post124 == 0 /\ -x_852^post124+x_852^0 == 0 /\ a_1089^0-a_1089^post124 == 0 /\ -rcd_47^post124+rcd_47^0 == 0 /\ a_632^0-a_632^post124 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post124+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post124+x_253^0 == 0 /\ -len_238^post124+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post124 == 0 /\ -r_970^post124+r_970^0 == 0 /\ -i_1248^post124+i_1248^0 == 0 /\ -a_239^post124+a_239^0 == 0 /\ a_121^0-a_121^post124 == 0 /\ x_21^0-x_21^post124 == 0 /\ temp0_31^0-temp0_31^post124 == 0 /\ len_262^0-len_262^post124 == 0 /\ a_263^0-a_263^post124 == 0 /\ nondet_12^0-nondet_12^post124 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post124 == 0 /\ -a_576^post124+a_576^0 == 0 /\ -r_224^post124+r_224^0 == 0 /\ -i_1053^post124+i_1053^0 == 0 /\ -temp_35^post124+temp_35^0 == 0 /\ a_924^0-a_924^post124 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post124 == 0 /\ -r_143^post124+r_143^0 == 0 /\ -a_1236^post124+a_1236^0 == 0 /\ a_634^0-a_634^post124 == 0 /\ -f_248^post124+f_248^0 == 0 /\ -a_311^post124+a_311^0 == 0 /\ x_975^0-x_975^post124 == 0 /\ -rcd_88^post124+rcd_88^0 == 0 /\ a_176^0-a_176^post124 == 0 /\ -a_395^post124+a_395^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ y_20^0-y_20^post124 == 0 /\ i_113^0-i_113^post124 == 0 /\ a_577^0-a_577^post124 == 0 /\ r_39^0-r_39^post124 == 0 /\ -a_417^post124+a_417^0 == 0 /\ -a_392^post124+a_392^0 == 0 /\ -a_309^post124+a_309^0 == 0 /\ -length_29^post124+length_29^0 == 0 /\ f_969^0-f_969^post124 == 0 /\ -i_107^post124+i_107^0 == 0 /\ i_30^0-i_30^post124 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post124 == 0 /\ -x_156^post124+x_156^0 == 0 /\ -a_575^post124+a_575^0 == 0 /\ -len_861^post124+len_861^0 == 0 /\ len_161^0-len_161^post124 == 0 /\ a_393^0-a_393^post124 == 0 /\ -head_32^post124+head_32^0 == 0 /\ -a_635^post124+a_635^0 == 0 /\ a_432^0-a_432^post124 == 0 /\ x_14^0-x_14^post124 == 0 /\ a_430^0-a_430^post124 == 0 /\ -x_17^post124+x_17^0 == 0 /\ a_1162^0-a_1162^post124 == 0 /\ -a_579^post124+a_579^0 == 0 /\ -r_151^post124+r_151^0 == 0 /\ -rcd_58^post124+rcd_58^0 == 0 /\ i_140^0-i_140^post124 == 0 /\ -r_192^post124+r_192^0 == 0 /\ f_847^0-f_847^post124 == 0 /\ -i_127^post124+i_127^0 == 0 /\ t_24^0-t_24^post124 == 0 /\ a_431^0-a_431^post124 == 0 /\ i_229^0-i_229^post124 == 0 /\ temp0_16^0-temp0_16^post124 == 0 /\ a_862^0-a_862^post124 == 0 /\ -i_197^post124+i_197^0 == 0 /\ a_947^0-a_947^post124 == 0 /\ i_94^0-i_94^post124 == 0 /\ a_144^0-a_144^post124 == 0 /\ a_394^0-a_394^post124 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post124+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 125: l79 -> l80 : a_1089^0'=a_1089^post125, f_847^0'=f_847^post125, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post125, a_394^0'=a_394^post125, x_156^0'=x_156^post125, a_632^0'=a_632^post125, r_192^0'=r_192^post125, a_176^0'=a_176^post125, i_106^0'=i_106^post125, a_430^0'=a_430^post125, t_458^0'=t_458^post125, len_161^0'=len_161^post125, x_975^0'=x_975^post125, a_902^0'=a_902^post125, a_947^0'=a_947^post125, rcd_88^0'=rcd_88^post125, a_311^0'=a_311^post125, i_140^0'=i_140^post125, a_577^0'=a_577^post125, x_14^0'=x_14^post125, nondet_12^0'=nondet_12^post125, a_121^0'=a_121^post125, head_15^0'=head_15^post125, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post125, i_27^0'=i_27^post125, x_21^0'=x_21^post125, a_634^0'=a_634^post125, r_39^0'=r_39^post125, a_263^0'=a_263^post125, i_113^0'=i_113^post125, a_432^0'=a_432^post125, temp0_31^0'=temp0_31^post125, len_262^0'=len_262^post125, y_20^0'=y_20^post125, f_248^0'=f_248^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125, a_393^0'=a_393^post125, i_229^0'=i_229^post125, a_610^0'=a_610^post125, r_151^0'=r_151^post125, a_144^0'=a_144^post125, i_1053^0'=i_1053^post125, a_417^0'=a_417^post125, t_24^0'=t_24^post125, i_94^0'=i_94^post125, x_852^0'=x_852^post125, a_862^0'=a_862^post125, rcd_1249^0'=rcd_1249^post125, rcd_58^0'=rcd_58^post125, a_310^0'=a_310^post125, i_127^0'=i_127^post125, a_576^0'=a_576^post125, tmp_34^0'=tmp_34^post125, length_29^0'=length_29^post125, a_1162^0'=a_1162^post125, f_969^0'=f_969^post125, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post125, a_395^0'=a_395^post125, x_17^0'=x_17^post125, a_633^0'=a_633^post125, r_224^0'=r_224^post125, a_239^0'=a_239^post125, i_107^0'=i_107^post125, a_431^0'=a_431^post125, temp0_16^0'=temp0_16^post125, len_238^0'=len_238^post125, x_SLAM_f_19^0'=x_SLAM_f_19^post125, a_924^0'=a_924^post125, ct_18^0'=ct_18^post125, result_11^0'=result_11^post125, a_392^0'=a_392^post125, i_197^0'=i_197^post125, a_579^0'=a_579^post125, r_143^0'=r_143^post125, a_1236^0'=a_1236^post125, head_32^0'=head_32^post125, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post125, i_30^0'=i_30^post125, x_253^0'=x_253^post125, a_635^0'=a_635^post125, r_970^0'=r_970^post125, rcd_47^0'=rcd_47^post125, a_309^0'=a_309^post125, i_1248^0'=i_1248^post125, a_575^0'=a_575^post125, temp_35^0'=temp_35^post125, len_861^0'=len_861^post125, (0 == 0 /\ -i_94^post125+i_94^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ i_1053^0-i_1053^post125 == 0 /\ -r_224^post125+r_224^0 == 0 /\ -i_197^post125+i_197^0 == 0 /\ a_393^0-a_393^post125 == 0 /\ -a_579^post125+a_579^0 == 0 /\ r_151^0-r_151^post125 == 0 /\ a_632^0-a_632^post125 == 0 /\ -i_113^post125+i_113^0 == 0 /\ -a_309^post125+a_309^0 == 0 /\ a_610^0-a_610^post125 == 0 /\ a_902^0-a_902^post125 == 0 /\ result_11^post125-temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post125 == 0 /\ -a_576^post125+a_576^0 == 0 /\ -a_395^post125+a_395^0 == 0 /\ -a_432^post125+a_432^0 == 0 /\ a_394^0-a_394^post125 == 0 /\ a_634^0-a_634^post125 == 0 /\ -rcd_58^post125+rcd_58^0 == 0 /\ a_1089^0-a_1089^post125 == 0 /\ x_156^0-x_156^post125 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_21^0+y_20^0 <= 0 /\ -len_861^post125+len_861^0 == 0 /\ a_263^0-a_263^post125 == 0 /\ -temp0_16^post125+temp0_16^0 == 0 /\ a_1162^0-a_1162^post125 == 0 /\ -r_39^post125+r_39^0 == 0 /\ x_14^0-x_14^post125 == 0 /\ -a_1236^post125+a_1236^0 == 0 /\ -a_431^post125+a_431^0 == 0 /\ -a_635^post125+a_635^0 == 0 /\ a_176^0-a_176^post125 == 0 /\ -tmp_34^post125+tmp_34^0 == 0 /\ a_311^0-a_311^post125 == 0 /\ x_852^0-x_852^post125 == 0 /\ -len_262^post125+len_262^0 == 0 /\ -temp0_31^post125+temp0_31^0 == 0 /\ -a_924^post125+a_924^0 == 0 /\ -rcd_47^post125+rcd_47^0 == 0 /\ -i_30^post125+i_30^0 == 0 /\ -len_238^post125+len_238^0 == 0 /\ -head_32^post125+head_32^0 == 0 /\ -r_143^post125+r_143^0 == 0 /\ f_847^0-f_847^post125 == 0 /\ -a_575^post125+a_575^0 == 0 /\ i_127^0-i_127^post125 == 0 /\ -temp_35^post125+temp_35^0 == 0 /\ len_161^0-len_161^post125 == 0 /\ r_192^0-r_192^post125 == 0 /\ i_107^0-i_107^post125 == 0 /\ -a_310^post125+a_310^0 == 0 /\ a_417^0-a_417^post125 == 0 /\ a_862^0-a_862^post125 == 0 /\ -x_975^post125+x_975^0 == 0 /\ i_229^0-i_229^post125 == 0 /\ a_577^0-a_577^post125 == 0 /\ -a_633^post125+a_633^0 == 0 /\ -a_144^post125+a_144^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post125 == 0 /\ 1-i_27^0 <= 0 /\ -rcd_1249^post125+rcd_1249^0 == 0 /\ a_430^0-a_430^post125 == 0 /\ -i_1248^post125+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post125+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_121^0-a_121^post125 == 0 /\ -a_239^post125+a_239^0 == 0 /\ -a_947^post125+a_947^0 == 0 /\ -f_969^post125+f_969^0 == 0 /\ f_248^0-f_248^post125 == 0 /\ -x_253^post125+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post125+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post125+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post125 == 0 /\ rcd_88^0-rcd_88^post125 == 0 /\ i_140^0-i_140^post125 == 0 /\ t_458^0-t_458^post125 == 0 /\ i_106^0-i_106^post125 == 0 /\ -a_392^post125+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post125 == 0 /\ length_29^0-length_29^post125 == 0), cost: 1 126: l80 -> l81 : a_1089^0'=a_1089^post126, f_847^0'=f_847^post126, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post126, a_394^0'=a_394^post126, x_156^0'=x_156^post126, a_632^0'=a_632^post126, r_192^0'=r_192^post126, a_176^0'=a_176^post126, i_106^0'=i_106^post126, a_430^0'=a_430^post126, t_458^0'=t_458^post126, len_161^0'=len_161^post126, x_975^0'=x_975^post126, a_902^0'=a_902^post126, a_947^0'=a_947^post126, rcd_88^0'=rcd_88^post126, a_311^0'=a_311^post126, i_140^0'=i_140^post126, a_577^0'=a_577^post126, x_14^0'=x_14^post126, nondet_12^0'=nondet_12^post126, a_121^0'=a_121^post126, head_15^0'=head_15^post126, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post126, i_27^0'=i_27^post126, x_21^0'=x_21^post126, a_634^0'=a_634^post126, r_39^0'=r_39^post126, a_263^0'=a_263^post126, i_113^0'=i_113^post126, a_432^0'=a_432^post126, temp0_31^0'=temp0_31^post126, len_262^0'=len_262^post126, y_20^0'=y_20^post126, f_248^0'=f_248^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126, a_393^0'=a_393^post126, i_229^0'=i_229^post126, a_610^0'=a_610^post126, r_151^0'=r_151^post126, a_144^0'=a_144^post126, i_1053^0'=i_1053^post126, a_417^0'=a_417^post126, t_24^0'=t_24^post126, i_94^0'=i_94^post126, x_852^0'=x_852^post126, a_862^0'=a_862^post126, rcd_1249^0'=rcd_1249^post126, rcd_58^0'=rcd_58^post126, a_310^0'=a_310^post126, i_127^0'=i_127^post126, a_576^0'=a_576^post126, tmp_34^0'=tmp_34^post126, length_29^0'=length_29^post126, a_1162^0'=a_1162^post126, f_969^0'=f_969^post126, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post126, a_395^0'=a_395^post126, x_17^0'=x_17^post126, a_633^0'=a_633^post126, r_224^0'=r_224^post126, a_239^0'=a_239^post126, i_107^0'=i_107^post126, a_431^0'=a_431^post126, temp0_16^0'=temp0_16^post126, len_238^0'=len_238^post126, x_SLAM_f_19^0'=x_SLAM_f_19^post126, a_924^0'=a_924^post126, ct_18^0'=ct_18^post126, result_11^0'=result_11^post126, a_392^0'=a_392^post126, i_197^0'=i_197^post126, a_579^0'=a_579^post126, r_143^0'=r_143^post126, a_1236^0'=a_1236^post126, head_32^0'=head_32^post126, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post126, i_30^0'=i_30^post126, x_253^0'=x_253^post126, a_635^0'=a_635^post126, r_970^0'=r_970^post126, rcd_47^0'=rcd_47^post126, a_309^0'=a_309^post126, i_1248^0'=i_1248^post126, a_575^0'=a_575^post126, temp_35^0'=temp_35^post126, len_861^0'=len_861^post126, (a_634^0-a_634^post126 == 0 /\ -ct_18^post126+ct_18^0 == 0 /\ -a_579^post126+a_579^0 == 0 /\ -t_24^post126+t_24^0 == 0 /\ a_1089^0-a_1089^post126 == 0 /\ -r_970^post126+r_970^0 == 0 /\ -x_253^post126+x_253^0 == 0 /\ a_176^0-a_176^post126 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post126 == 0 /\ -a_263^post126+a_263^0 == 0 /\ -head_32^post126+head_32^0 == 0 /\ i_27^0-i_27^post126 == 0 /\ -a_121^post126+a_121^0 == 0 /\ a_392^0-a_392^post126 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post126+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_39^0-r_39^post126 == 0 /\ -i_197^post126+i_197^0 == 0 /\ -temp_35^post126+temp_35^0 == 0 /\ -y_20^post126+y_20^0 == 0 /\ length_29^0-length_29^post126 == 0 /\ -a_431^post126+a_431^0 == 0 /\ a_311^0-a_311^post126 == 0 /\ -a_1162^post126+a_1162^0 == 0 /\ -a_395^post126+a_395^0 == 0 /\ -i_229^post126+i_229^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post126 == 0 /\ -len_861^post126+len_861^0 == 0 /\ -temp0_16^post126+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post126 == 0 /\ a_432^0-a_432^post126 == 0 /\ a_632^0-a_632^post126 == 0 /\ -a_947^post126+a_947^0 == 0 /\ r_192^0-r_192^post126 == 0 /\ -r_224^post126+r_224^0 == 0 /\ i_113^0-i_113^post126 == 0 /\ f_248^0-f_248^post126 == 0 /\ a_610^0-a_610^post126 == 0 /\ -x_21^post126+x_21^0 == 0 /\ -i_1248^post126+i_1248^0 == 0 /\ result_11^0-result_11^post126 == 0 /\ -a_924^post126+a_924^0 == 0 /\ -i_1053^post126+i_1053^0 == 0 /\ -a_635^post126+a_635^0 == 0 /\ -a_239^post126+a_239^0 == 0 /\ a_144^0-a_144^post126 == 0 /\ r_143^0-r_143^post126 == 0 /\ nondet_12^0-nondet_12^post126 == 0 /\ rcd_58^0-rcd_58^post126 == 0 /\ -x_17^post126+x_17^0 == 0 /\ -i_107^post126+i_107^0 == 0 /\ a_394^0-a_394^post126 == 0 /\ -a_575^post126+a_575^0 == 0 /\ len_161^0-len_161^post126 == 0 /\ -i_30^post126+i_30^0 == 0 /\ a_417^0-a_417^post126 == 0 /\ len_238^0-len_238^post126 == 0 /\ x_14^0-x_14^post126 == 0 /\ -x_975^post126+x_975^0 == 0 /\ x_852^0-x_852^post126 == 0 /\ -a_576^post126+a_576^0 == 0 /\ rcd_1249^0-rcd_1249^post126 == 0 /\ -x_SLAM_f_19^post126+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post126 == 0 /\ f_847^0-f_847^post126 == 0 /\ i_106^0-i_106^post126 == 0 /\ a_393^0-a_393^post126 == 0 /\ -a_310^post126+a_310^0 == 0 /\ a_633^0-a_633^post126 == 0 /\ -i_140^post126+i_140^0 == 0 /\ 1-head_15^0 <= 0 /\ t_458^0-t_458^post126 == 0 /\ -a_1236^post126+a_1236^0 == 0 /\ -rcd_47^post126+rcd_47^0 == 0 /\ a_309^0-a_309^post126 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post126 == 0 /\ a_430^0-a_430^post126 == 0 /\ r_151^0-r_151^post126 == 0 /\ -a_862^post126+a_862^0 == 0 /\ a_577^0-a_577^post126 == 0 /\ -i_94^post126+i_94^0 == 0 /\ -len_262^post126+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post126 == 0 /\ x_156^0-x_156^post126 == 0 /\ -temp0_31^post126+temp0_31^0 == 0 /\ -f_969^post126+f_969^0 == 0 /\ i_127^0-i_127^post126 == 0 /\ head_15^0-head_15^post126 == 0 /\ a_902^0-a_902^post126 == 0), cost: 1 127: l80 -> l81 : a_1089^0'=a_1089^post127, f_847^0'=f_847^post127, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post127, a_394^0'=a_394^post127, x_156^0'=x_156^post127, a_632^0'=a_632^post127, r_192^0'=r_192^post127, a_176^0'=a_176^post127, i_106^0'=i_106^post127, a_430^0'=a_430^post127, t_458^0'=t_458^post127, len_161^0'=len_161^post127, x_975^0'=x_975^post127, a_902^0'=a_902^post127, a_947^0'=a_947^post127, rcd_88^0'=rcd_88^post127, a_311^0'=a_311^post127, i_140^0'=i_140^post127, a_577^0'=a_577^post127, x_14^0'=x_14^post127, nondet_12^0'=nondet_12^post127, a_121^0'=a_121^post127, head_15^0'=head_15^post127, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post127, i_27^0'=i_27^post127, x_21^0'=x_21^post127, a_634^0'=a_634^post127, r_39^0'=r_39^post127, a_263^0'=a_263^post127, i_113^0'=i_113^post127, a_432^0'=a_432^post127, temp0_31^0'=temp0_31^post127, len_262^0'=len_262^post127, y_20^0'=y_20^post127, f_248^0'=f_248^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127, a_393^0'=a_393^post127, i_229^0'=i_229^post127, a_610^0'=a_610^post127, r_151^0'=r_151^post127, a_144^0'=a_144^post127, i_1053^0'=i_1053^post127, a_417^0'=a_417^post127, t_24^0'=t_24^post127, i_94^0'=i_94^post127, x_852^0'=x_852^post127, a_862^0'=a_862^post127, rcd_1249^0'=rcd_1249^post127, rcd_58^0'=rcd_58^post127, a_310^0'=a_310^post127, i_127^0'=i_127^post127, a_576^0'=a_576^post127, tmp_34^0'=tmp_34^post127, length_29^0'=length_29^post127, a_1162^0'=a_1162^post127, f_969^0'=f_969^post127, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post127, a_395^0'=a_395^post127, x_17^0'=x_17^post127, a_633^0'=a_633^post127, r_224^0'=r_224^post127, a_239^0'=a_239^post127, i_107^0'=i_107^post127, a_431^0'=a_431^post127, temp0_16^0'=temp0_16^post127, len_238^0'=len_238^post127, x_SLAM_f_19^0'=x_SLAM_f_19^post127, a_924^0'=a_924^post127, ct_18^0'=ct_18^post127, result_11^0'=result_11^post127, a_392^0'=a_392^post127, i_197^0'=i_197^post127, a_579^0'=a_579^post127, r_143^0'=r_143^post127, a_1236^0'=a_1236^post127, head_32^0'=head_32^post127, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post127, i_30^0'=i_30^post127, x_253^0'=x_253^post127, a_635^0'=a_635^post127, r_970^0'=r_970^post127, rcd_47^0'=rcd_47^post127, a_309^0'=a_309^post127, i_1248^0'=i_1248^post127, a_575^0'=a_575^post127, temp_35^0'=temp_35^post127, len_861^0'=len_861^post127, (1+head_15^0 <= 0 /\ -a_635^post127+a_635^0 == 0 /\ a_632^0-a_632^post127 == 0 /\ -len_238^post127+len_238^0 == 0 /\ -x_SLAM_f_19^post127+x_SLAM_f_19^0 == 0 /\ -x_14^post127+x_14^0 == 0 /\ -i_94^post127+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post127 == 0 /\ -i_113^post127+i_113^0 == 0 /\ -a_575^post127+a_575^0 == 0 /\ -a_1236^post127+a_1236^0 == 0 /\ -a_633^post127+a_633^0 == 0 /\ a_902^0-a_902^post127 == 0 /\ result_11^0-result_11^post127 == 0 /\ -r_143^post127+r_143^0 == 0 /\ x_975^0-x_975^post127 == 0 /\ a_610^0-a_610^post127 == 0 /\ -a_309^post127+a_309^0 == 0 /\ x_156^0-x_156^post127 == 0 /\ -a_432^post127+a_432^0 == 0 /\ head_15^0-head_15^post127 == 0 /\ a_634^0-a_634^post127 == 0 /\ -temp0_31^post127+temp0_31^0 == 0 /\ a_1089^0-a_1089^post127 == 0 /\ a_394^0-a_394^post127 == 0 /\ a_862^0-a_862^post127 == 0 /\ a_310^0-a_310^post127 == 0 /\ -rcd_47^post127+rcd_47^0 == 0 /\ -r_39^post127+r_39^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post127 == 0 /\ r_192^0-r_192^post127 == 0 /\ a_176^0-a_176^post127 == 0 /\ length_29^0-length_29^post127 == 0 /\ x_852^0-x_852^post127 == 0 /\ -head_32^post127+head_32^0 == 0 /\ a_392^0-a_392^post127 == 0 /\ a_579^0-a_579^post127 == 0 /\ -x_253^post127+x_253^0 == 0 /\ len_161^0-len_161^post127 == 0 /\ -f_969^post127+f_969^0 == 0 /\ -len_262^post127+len_262^0 == 0 /\ rcd_88^0-rcd_88^post127 == 0 /\ a_311^0-a_311^post127 == 0 /\ i_1053^0-i_1053^post127 == 0 /\ -rcd_58^post127+rcd_58^0 == 0 /\ -r_224^post127+r_224^0 == 0 /\ -temp_35^post127+temp_35^0 == 0 /\ f_847^0-f_847^post127 == 0 /\ -a_430^post127+a_430^0 == 0 /\ tmp_34^0-tmp_34^post127 == 0 /\ a_393^0-a_393^post127 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post127 == 0 /\ -f_248^post127+f_248^0 == 0 /\ -temp0_16^post127+temp0_16^0 == 0 /\ -r_970^post127+r_970^0 == 0 /\ y_20^0-y_20^post127 == 0 /\ -t_24^post127+t_24^0 == 0 /\ r_151^0-r_151^post127 == 0 /\ a_239^0-a_239^post127 == 0 /\ nondet_12^0-nondet_12^post127 == 0 /\ -i_197^post127+i_197^0 == 0 /\ -i_127^post127+i_127^0 == 0 /\ a_417^0-a_417^post127 == 0 /\ -a_121^post127+a_121^0 == 0 /\ -ct_18^post127+ct_18^0 == 0 /\ -i_229^post127+i_229^0 == 0 /\ -a_431^post127+a_431^0 == 0 /\ a_947^0-a_947^post127 == 0 /\ -rcd_1249^post127+rcd_1249^0 == 0 /\ -a_924^post127+a_924^0 == 0 /\ i_27^0-i_27^post127 == 0 /\ -a_144^post127+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post127+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post127+i_107^0 == 0 /\ -a_577^post127+a_577^0 == 0 /\ a_395^0-a_395^post127 == 0 /\ -len_861^post127+len_861^0 == 0 /\ -i_1248^post127+i_1248^0 == 0 /\ t_458^0-t_458^post127 == 0 /\ a_263^0-a_263^post127 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post127 == 0 /\ i_140^0-i_140^post127 == 0 /\ i_106^0-i_106^post127 == 0 /\ -a_1162^post127+a_1162^0 == 0 /\ -x_17^post127+x_17^0 == 0 /\ -x_21^post127+x_21^0 == 0 /\ a_576^0-a_576^post127 == 0 /\ -i_30^post127+i_30^0 == 0), cost: 1 128: l81 -> l50 : a_1089^0'=a_1089^post128, f_847^0'=f_847^post128, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post128, a_394^0'=a_394^post128, x_156^0'=x_156^post128, a_632^0'=a_632^post128, r_192^0'=r_192^post128, a_176^0'=a_176^post128, i_106^0'=i_106^post128, a_430^0'=a_430^post128, t_458^0'=t_458^post128, len_161^0'=len_161^post128, x_975^0'=x_975^post128, a_902^0'=a_902^post128, a_947^0'=a_947^post128, rcd_88^0'=rcd_88^post128, a_311^0'=a_311^post128, i_140^0'=i_140^post128, a_577^0'=a_577^post128, x_14^0'=x_14^post128, nondet_12^0'=nondet_12^post128, a_121^0'=a_121^post128, head_15^0'=head_15^post128, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post128, i_27^0'=i_27^post128, x_21^0'=x_21^post128, a_634^0'=a_634^post128, r_39^0'=r_39^post128, a_263^0'=a_263^post128, i_113^0'=i_113^post128, a_432^0'=a_432^post128, temp0_31^0'=temp0_31^post128, len_262^0'=len_262^post128, y_20^0'=y_20^post128, f_248^0'=f_248^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128, a_393^0'=a_393^post128, i_229^0'=i_229^post128, a_610^0'=a_610^post128, r_151^0'=r_151^post128, a_144^0'=a_144^post128, i_1053^0'=i_1053^post128, a_417^0'=a_417^post128, t_24^0'=t_24^post128, i_94^0'=i_94^post128, x_852^0'=x_852^post128, a_862^0'=a_862^post128, rcd_1249^0'=rcd_1249^post128, rcd_58^0'=rcd_58^post128, a_310^0'=a_310^post128, i_127^0'=i_127^post128, a_576^0'=a_576^post128, tmp_34^0'=tmp_34^post128, length_29^0'=length_29^post128, a_1162^0'=a_1162^post128, f_969^0'=f_969^post128, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post128, a_395^0'=a_395^post128, x_17^0'=x_17^post128, a_633^0'=a_633^post128, r_224^0'=r_224^post128, a_239^0'=a_239^post128, i_107^0'=i_107^post128, a_431^0'=a_431^post128, temp0_16^0'=temp0_16^post128, len_238^0'=len_238^post128, x_SLAM_f_19^0'=x_SLAM_f_19^post128, a_924^0'=a_924^post128, ct_18^0'=ct_18^post128, result_11^0'=result_11^post128, a_392^0'=a_392^post128, i_197^0'=i_197^post128, a_579^0'=a_579^post128, r_143^0'=r_143^post128, a_1236^0'=a_1236^post128, head_32^0'=head_32^post128, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post128, i_30^0'=i_30^post128, x_253^0'=x_253^post128, a_635^0'=a_635^post128, r_970^0'=r_970^post128, rcd_47^0'=rcd_47^post128, a_309^0'=a_309^post128, i_1248^0'=i_1248^post128, a_575^0'=a_575^post128, temp_35^0'=temp_35^post128, len_861^0'=len_861^post128, (-r_970^post128+r_970^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post128 == 0 /\ -head_32^post128+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post128 == 0 /\ a_394^0-a_394^post128 == 0 /\ a_1089^0-a_1089^post128 == 0 /\ a_310^0-a_310^post128 == 0 /\ -i_197^post128+i_197^0 == 0 /\ -len_262^post128+len_262^0 == 0 /\ -ct_18^post128+ct_18^0 == 0 /\ -temp0_31^post128+temp0_31^0 == 0 /\ a_417^0-a_417^post128 == 0 /\ rcd_88^0-rcd_88^post128 == 0 /\ a_311^0-a_311^post128 == 0 /\ y_20^0-y_20^post128 == 0 /\ -f_248^post128+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post128+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post128 == 0 /\ a_392^0-a_392^post128 == 0 /\ -temp_35^post128+temp_35^0 == 0 /\ -a_579^post128+a_579^0 == 0 /\ i_140^0-i_140^post128 == 0 /\ -i_127^post128+i_127^0 == 0 /\ i_106^0-i_106^post128 == 0 /\ -a_924^post128+a_924^0 == 0 /\ i_94^0-i_94^post128 == 0 /\ -result_11^post128+result_11^0 == 0 /\ r_39^0-r_39^post128 == 0 /\ a_393^0-a_393^post128 == 0 /\ -x_17^post128+x_17^0 == 0 /\ t_458^0-t_458^post128 == 0 /\ -a_1162^post128+a_1162^0 == 0 /\ -i_30^post128+i_30^0 == 0 /\ -i_1248^post128+i_1248^0 == 0 /\ -a_239^post128+a_239^0 == 0 /\ -x_852^post128+x_852^0 == 0 /\ -head_15^post128+head_15^0 == 0 /\ -r_224^post128+r_224^0 == 0 /\ -tmp_34^post128+tmp_34^0 == 0 /\ x_21^0-x_21^post128 == 0 /\ -temp0_16^post128+temp0_16^0 == 0 /\ -len_861^post128+len_861^0 == 0 /\ r_143^0-r_143^post128 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post128 == 0 /\ -a_635^post128+a_635^0 == 0 /\ i_1053^0-i_1053^post128 == 0 /\ rcd_58^0-rcd_58^post128 == 0 /\ x_14^0-x_14^post128 == 0 /\ t_24^0-t_24^post128 == 0 /\ a_862^0-a_862^post128 == 0 /\ a_121^0-a_121^post128 == 0 /\ len_161^0-len_161^post128 == 0 /\ a_947^0-a_947^post128 == 0 /\ a_263^0-a_263^post128 == 0 /\ -len_238^post128+len_238^0 == 0 /\ a_395^0-a_395^post128 == 0 /\ -a_634^post128+a_634^0 == 0 /\ -i_107^post128+i_107^0 == 0 /\ -a_633^post128+a_633^0 == 0 /\ length_29^0-length_29^post128 == 0 /\ -a_575^post128+a_575^0 == 0 /\ f_847^0-f_847^post128 == 0 /\ -rcd_1249^post128+rcd_1249^0 == 0 /\ -a_576^post128+a_576^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_1236^post128+a_1236^0 == 0 /\ a_632^0-a_632^post128 == 0 /\ -a_431^post128+a_431^0 == 0 /\ rcd_47^0-rcd_47^post128 == 0 /\ -i_27^post128+i_27^0 == 0 /\ r_151^0-r_151^post128 == 0 /\ i_113^0-i_113^post128 == 0 /\ a_902^0-a_902^post128 == 0 /\ a_309^0-a_309^post128 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post128 == 0 /\ -a_176^post128+a_176^0 == 0 /\ a_430^0-a_430^post128 == 0 /\ -x_975^post128+x_975^0 == 0 /\ -x_253^post128+x_253^0 == 0 /\ -f_969^post128+f_969^0 == 0 /\ i_229^0-i_229^post128 == 0 /\ a_577^0-a_577^post128 == 0 /\ a_432^0-a_432^post128 == 0 /\ x_156^0-x_156^post128 == 0 /\ nondet_12^0-nondet_12^post128 == 0 /\ r_192^0-r_192^post128 == 0 /\ a_144^0-a_144^post128 == 0 /\ -a_610^post128+a_610^0 == 0), cost: 1 129: l82 -> l83 : a_1089^0'=a_1089^post129, f_847^0'=f_847^post129, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post129, a_394^0'=a_394^post129, x_156^0'=x_156^post129, a_632^0'=a_632^post129, r_192^0'=r_192^post129, a_176^0'=a_176^post129, i_106^0'=i_106^post129, a_430^0'=a_430^post129, t_458^0'=t_458^post129, len_161^0'=len_161^post129, x_975^0'=x_975^post129, a_902^0'=a_902^post129, a_947^0'=a_947^post129, rcd_88^0'=rcd_88^post129, a_311^0'=a_311^post129, i_140^0'=i_140^post129, a_577^0'=a_577^post129, x_14^0'=x_14^post129, nondet_12^0'=nondet_12^post129, a_121^0'=a_121^post129, head_15^0'=head_15^post129, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post129, i_27^0'=i_27^post129, x_21^0'=x_21^post129, a_634^0'=a_634^post129, r_39^0'=r_39^post129, a_263^0'=a_263^post129, i_113^0'=i_113^post129, a_432^0'=a_432^post129, temp0_31^0'=temp0_31^post129, len_262^0'=len_262^post129, y_20^0'=y_20^post129, f_248^0'=f_248^post129, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post129, a_393^0'=a_393^post129, i_229^0'=i_229^post129, a_610^0'=a_610^post129, r_151^0'=r_151^post129, a_144^0'=a_144^post129, i_1053^0'=i_1053^post129, a_417^0'=a_417^post129, t_24^0'=t_24^post129, i_94^0'=i_94^post129, x_852^0'=x_852^post129, a_862^0'=a_862^post129, rcd_1249^0'=rcd_1249^post129, rcd_58^0'=rcd_58^post129, a_310^0'=a_310^post129, i_127^0'=i_127^post129, a_576^0'=a_576^post129, tmp_34^0'=tmp_34^post129, length_29^0'=length_29^post129, a_1162^0'=a_1162^post129, f_969^0'=f_969^post129, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post129, a_395^0'=a_395^post129, x_17^0'=x_17^post129, a_633^0'=a_633^post129, r_224^0'=r_224^post129, a_239^0'=a_239^post129, i_107^0'=i_107^post129, a_431^0'=a_431^post129, temp0_16^0'=temp0_16^post129, len_238^0'=len_238^post129, x_SLAM_f_19^0'=x_SLAM_f_19^post129, a_924^0'=a_924^post129, ct_18^0'=ct_18^post129, result_11^0'=result_11^post129, a_392^0'=a_392^post129, i_197^0'=i_197^post129, a_579^0'=a_579^post129, r_143^0'=r_143^post129, a_1236^0'=a_1236^post129, head_32^0'=head_32^post129, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post129, i_30^0'=i_30^post129, x_253^0'=x_253^post129, a_635^0'=a_635^post129, r_970^0'=r_970^post129, rcd_47^0'=rcd_47^post129, a_309^0'=a_309^post129, i_1248^0'=i_1248^post129, a_575^0'=a_575^post129, temp_35^0'=temp_35^post129, len_861^0'=len_861^post129, (a_632^0-a_632^post129 == 0 /\ i_106^0-i_106^post129 == 0 /\ a_430^0-a_430^post129 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post129+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_393^0-a_393^post129 == 0 /\ x_975^0-x_975^post129 == 0 /\ r_151^0-r_151^post129 == 0 /\ y_20^0-y_20^post129 == 0 /\ a_432^0-a_432^post129 == 0 /\ a_577^0-a_577^post129 == 0 /\ -x_SLAM_f_19^post129+x_SLAM_f_19^0 == 0 /\ -a_121^0 <= 0 /\ -a_634^post129+a_634^0 == 0 /\ a_1162^0-a_1162^post129 == 0 /\ -a_576^post129+a_576^0 == 0 /\ -a_924^post129+a_924^0 == 0 /\ -r_143^post129+r_143^0 == 0 /\ -a_633^post129+a_633^0 == 0 /\ i_1053^0-i_1053^post129 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post129 == 0 /\ t_24^0-t_24^post129 == 0 /\ -temp_35^post129+temp_35^0 == 0 /\ -i_27^post129+i_27^0 == 0 /\ a_394^0-a_394^post129 == 0 /\ head_32^0-head_32^post129 == 0 /\ -f_969^post129+f_969^0 == 0 /\ a_310^0-a_310^post129 == 0 /\ a_176^0-a_176^post129 == 0 /\ f_847^0-f_847^post129 == 0 /\ -x_253^post129+x_253^0 == 0 /\ a_579^0-a_579^post129 == 0 /\ -len_238^post129+len_238^0 == 0 /\ -r_970^post129+r_970^0 == 0 /\ -len_262^post129+len_262^0 == 0 /\ -a_610^post129+a_610^0 == 0 /\ i_140^0-i_140^post129 == 0 /\ -a_1236^post129+a_1236^0 == 0 /\ i_197^0-i_197^post129 == 0 /\ -temp0_31^post129+temp0_31^0 == 0 /\ -rcd_47^post129+rcd_47^0 == 0 /\ tmp_34^0-tmp_34^post129 == 0 /\ -temp0_16^post129+temp0_16^0 == 0 /\ i_107^0-i_107^post129 == 0 /\ -len_161^post129+len_161^0 == 0 /\ -r_224^post129+r_224^0 == 0 /\ -i_1248^post129+i_1248^0 == 0 /\ -a_239^post129+a_239^0 == 0 /\ i_94^0-i_94^post129 == 0 /\ t_458^0-t_458^post129 == 0 /\ -len_861^post129+len_861^0 == 0 /\ i_113^0-i_113^post129 == 0 /\ r_39^0-r_39^post129 == 0 /\ -i_127^post129+i_127^0 == 0 /\ -r_192^post129+r_192^0 == 0 /\ x_156^0-x_156^post129 == 0 /\ -a_431^post129+a_431^0 == 0 /\ a_902^0-a_902^post129 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post129+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_21^0-x_21^post129 == 0 /\ a_862^0-a_862^post129 == 0 /\ -a_392^post129+a_392^0 == 0 /\ -f_248^post129+f_248^0 == 0 /\ i_229^0-i_229^post129 == 0 /\ a_1089^0-a_1089^post129 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post129 == 0 /\ -result_11^post129+result_11^0 == 0 /\ -rcd_1249^post129+rcd_1249^0 == 0 /\ x_14^0-x_14^post129 == 0 /\ nondet_12^0-nondet_12^post129 == 0 /\ -a_575^post129+a_575^0 == 0 /\ a_121^0-a_121^post129 == 0 /\ -a_635^post129+a_635^0 == 0 /\ -a_309^post129+a_309^0 == 0 /\ -a_144^post129+a_144^0 == 0 /\ -a_947^post129+a_947^0 == 0 /\ -ct_18^post129+ct_18^0 == 0 /\ -head_15^post129+head_15^0 == 0 /\ a_395^0-a_395^post129 == 0 /\ a_311^0-a_311^post129 == 0 /\ a_263^0-a_263^post129 == 0 /\ rcd_88^0-rcd_88^post129 == 0 /\ -x_17^post129+x_17^0 == 0 /\ -rcd_58^post129+rcd_58^0 == 0 /\ -i_30^post129+i_30^0 == 0 /\ -a_417^post129+a_417^0 == 0 /\ -x_852^post129+x_852^0 == 0 /\ length_29^0-length_29^post129 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post129 == 0), cost: 1 140: l82 -> l89 : a_1089^0'=a_1089^post140, f_847^0'=f_847^post140, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post140, a_394^0'=a_394^post140, x_156^0'=x_156^post140, a_632^0'=a_632^post140, r_192^0'=r_192^post140, a_176^0'=a_176^post140, i_106^0'=i_106^post140, a_430^0'=a_430^post140, t_458^0'=t_458^post140, len_161^0'=len_161^post140, x_975^0'=x_975^post140, a_902^0'=a_902^post140, a_947^0'=a_947^post140, rcd_88^0'=rcd_88^post140, a_311^0'=a_311^post140, i_140^0'=i_140^post140, a_577^0'=a_577^post140, x_14^0'=x_14^post140, nondet_12^0'=nondet_12^post140, a_121^0'=a_121^post140, head_15^0'=head_15^post140, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post140, i_27^0'=i_27^post140, x_21^0'=x_21^post140, a_634^0'=a_634^post140, r_39^0'=r_39^post140, a_263^0'=a_263^post140, i_113^0'=i_113^post140, a_432^0'=a_432^post140, temp0_31^0'=temp0_31^post140, len_262^0'=len_262^post140, y_20^0'=y_20^post140, f_248^0'=f_248^post140, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140, a_393^0'=a_393^post140, i_229^0'=i_229^post140, a_610^0'=a_610^post140, r_151^0'=r_151^post140, a_144^0'=a_144^post140, i_1053^0'=i_1053^post140, a_417^0'=a_417^post140, t_24^0'=t_24^post140, i_94^0'=i_94^post140, x_852^0'=x_852^post140, a_862^0'=a_862^post140, rcd_1249^0'=rcd_1249^post140, rcd_58^0'=rcd_58^post140, a_310^0'=a_310^post140, i_127^0'=i_127^post140, a_576^0'=a_576^post140, tmp_34^0'=tmp_34^post140, length_29^0'=length_29^post140, a_1162^0'=a_1162^post140, f_969^0'=f_969^post140, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post140, a_395^0'=a_395^post140, x_17^0'=x_17^post140, a_633^0'=a_633^post140, r_224^0'=r_224^post140, a_239^0'=a_239^post140, i_107^0'=i_107^post140, a_431^0'=a_431^post140, temp0_16^0'=temp0_16^post140, len_238^0'=len_238^post140, x_SLAM_f_19^0'=x_SLAM_f_19^post140, a_924^0'=a_924^post140, ct_18^0'=ct_18^post140, result_11^0'=result_11^post140, a_392^0'=a_392^post140, i_197^0'=i_197^post140, a_579^0'=a_579^post140, r_143^0'=r_143^post140, a_1236^0'=a_1236^post140, head_32^0'=head_32^post140, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post140, i_30^0'=i_30^post140, x_253^0'=x_253^post140, a_635^0'=a_635^post140, r_970^0'=r_970^post140, rcd_47^0'=rcd_47^post140, a_309^0'=a_309^post140, i_1248^0'=i_1248^post140, a_575^0'=a_575^post140, temp_35^0'=temp_35^post140, len_861^0'=len_861^post140, (0 == 0 /\ -a_635^post140+a_635^0 == 0 /\ -a_432^post140+a_432^0 == 0 /\ -i_107^post140+i_107^0 == 0 /\ -i_30^post140+i_30^0 == 0 /\ -a_393^post140+a_393^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post140 == 0 /\ -a_575^post140+a_575^0 == 0 /\ -r_143^post140+r_143^0 == 0 /\ a_632^0-a_632^post140 == 0 /\ -i_94^post140+i_94^0 == 0 /\ a_430^0-a_430^post140 == 0 /\ f_969^0-f_969^post140 == 0 /\ x_975^0-x_975^post140 == 0 /\ -a_309^post140+a_309^0 == 0 /\ -x_SLAM_f_19^post140+x_SLAM_f_19^0 == 0 /\ -a_121^0 <= 0 /\ -i_113^post140+i_113^0 == 0 /\ f_248^0-f_248^post140 == 0 /\ result_11^0-result_11^post140 == 0 /\ x_17^0-x_17^post140 == 0 /\ a_634^0-a_634^post140 == 0 /\ i_127^0-i_127^post140 == 0 /\ a_394^0-a_394^post140 == 0 /\ -r_39^post140+r_39^0 == 0 /\ rcd_58^0-rcd_58^post140 == 0 /\ -rcd_47^post140+rcd_47^0 == 0 /\ -a_310^post140+a_310^0 == 0 /\ -i_140^post140+i_140^0 == 0 /\ len_161^0-len_161^post140 == 0 /\ a_610^0-a_610^post140 == 0 /\ a_176^0-a_176^post140 == 0 /\ -a_1236^post140+a_1236^0 == 0 /\ rcd_1249^0-rcd_1249^post140 == 0 /\ length_29^0-length_29^post140 == 0 /\ -a_392^post140+a_392^0 == 0 /\ x_852^0-x_852^post140 == 0 /\ -a_862^post140+a_862^0 == 0 /\ -head_32^post140+head_32^0 == 0 /\ -a_579^post140+a_579^0 == 0 /\ -temp0_31^post140+temp0_31^0 == 0 /\ f_847^0-f_847^post140 == 0 /\ -r_970^post140+r_970^0 == 0 /\ -a_431^post140+a_431^0 == 0 /\ -x_253^post140+x_253^0 == 0 /\ a_633^0-a_633^post140 == 0 /\ -a_263^post140+a_263^0 == 0 /\ temp0_16^0-temp0_16^post140 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post140 == 0 /\ -i_197^post140+i_197^0 == 0 /\ nondet_12^0-nondet_12^post140 == 0 /\ -y_20^post140+y_20^0 == 0 /\ r_192^0-r_192^post140 == 0 /\ a_144^0-a_144^post140 == 0 /\ a_239^0-a_239^post140 == 0 /\ a_121^0-a_121^post140 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post140 == 0 /\ len_262^0-len_262^post140 == 0 /\ -t_24^post140+t_24^0 == 0 /\ a_947^0-a_947^post140 == 0 /\ -temp_35^post140+temp_35^0 == 0 /\ -ct_18^post140+ct_18^0 == 0 /\ -tmp_34^post140+tmp_34^0 == 0 /\ a_902^0-a_902^post140 == 0 /\ -i_229^post140+i_229^0 == 0 /\ -a_924^post140+a_924^0 == 0 /\ rcd_88^0-rcd_88^post140 == 0 /\ -i_1053^post140+i_1053^0 == 0 /\ -a_395^post140+a_395^0 == 0 /\ a_417^0-a_417^post140 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post140+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_238^0-len_238^post140 == 0 /\ x_14^0-x_14^post140 == 0 /\ i_27^0-i_27^post140 == 0 /\ -a_1162^post140+a_1162^0 == 0 /\ -a_577^post140+a_577^0 == 0 /\ a_576^0-a_576^post140 == 0 /\ t_458^0-t_458^post140 == 0 /\ -i_1248^post140+i_1248^0 == 0 /\ -r_224^post140+r_224^0 == 0 /\ a_311^0-a_311^post140 == 0 /\ i_106^0-i_106^post140 == 0 /\ -x_21^post140+x_21^0 == 0 /\ a_1089^0-a_1089^post140 == 0 /\ -len_861^post140+len_861^0 == 0), cost: 1 149: l82 -> l94 : a_1089^0'=a_1089^post149, f_847^0'=f_847^post149, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post149, a_394^0'=a_394^post149, x_156^0'=x_156^post149, a_632^0'=a_632^post149, r_192^0'=r_192^post149, a_176^0'=a_176^post149, i_106^0'=i_106^post149, a_430^0'=a_430^post149, t_458^0'=t_458^post149, len_161^0'=len_161^post149, x_975^0'=x_975^post149, a_902^0'=a_902^post149, a_947^0'=a_947^post149, rcd_88^0'=rcd_88^post149, a_311^0'=a_311^post149, i_140^0'=i_140^post149, a_577^0'=a_577^post149, x_14^0'=x_14^post149, nondet_12^0'=nondet_12^post149, a_121^0'=a_121^post149, head_15^0'=head_15^post149, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post149, i_27^0'=i_27^post149, x_21^0'=x_21^post149, a_634^0'=a_634^post149, r_39^0'=r_39^post149, a_263^0'=a_263^post149, i_113^0'=i_113^post149, a_432^0'=a_432^post149, temp0_31^0'=temp0_31^post149, len_262^0'=len_262^post149, y_20^0'=y_20^post149, f_248^0'=f_248^post149, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post149, a_393^0'=a_393^post149, i_229^0'=i_229^post149, a_610^0'=a_610^post149, r_151^0'=r_151^post149, a_144^0'=a_144^post149, i_1053^0'=i_1053^post149, a_417^0'=a_417^post149, t_24^0'=t_24^post149, i_94^0'=i_94^post149, x_852^0'=x_852^post149, a_862^0'=a_862^post149, rcd_1249^0'=rcd_1249^post149, rcd_58^0'=rcd_58^post149, a_310^0'=a_310^post149, i_127^0'=i_127^post149, a_576^0'=a_576^post149, tmp_34^0'=tmp_34^post149, length_29^0'=length_29^post149, a_1162^0'=a_1162^post149, f_969^0'=f_969^post149, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post149, a_395^0'=a_395^post149, x_17^0'=x_17^post149, a_633^0'=a_633^post149, r_224^0'=r_224^post149, a_239^0'=a_239^post149, i_107^0'=i_107^post149, a_431^0'=a_431^post149, temp0_16^0'=temp0_16^post149, len_238^0'=len_238^post149, x_SLAM_f_19^0'=x_SLAM_f_19^post149, a_924^0'=a_924^post149, ct_18^0'=ct_18^post149, result_11^0'=result_11^post149, a_392^0'=a_392^post149, i_197^0'=i_197^post149, a_579^0'=a_579^post149, r_143^0'=r_143^post149, a_1236^0'=a_1236^post149, head_32^0'=head_32^post149, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post149, i_30^0'=i_30^post149, x_253^0'=x_253^post149, a_635^0'=a_635^post149, r_970^0'=r_970^post149, rcd_47^0'=rcd_47^post149, a_309^0'=a_309^post149, i_1248^0'=i_1248^post149, a_575^0'=a_575^post149, temp_35^0'=temp_35^post149, len_861^0'=len_861^post149, (0 == 0 /\ f_248^0-f_248^post149 == 0 /\ a_632^0-a_632^post149 == 0 /\ -a_576^post149+a_576^0 == 0 /\ -a_575^post149+a_575^0 == 0 /\ -a_1236^post149+a_1236^0 == 0 /\ a_121^0-a_121^post149 == 0 /\ a_902^0-a_902^post149 == 0 /\ -r_143^post149+r_143^0 == 0 /\ i_127^0-i_127^post149 == 0 /\ -a_121^0 <= 0 /\ -a_417^post149+a_417^0 == 0 /\ -a_309^post149+a_309^0 == 0 /\ temp0_31^0-temp0_31^post149 == 0 /\ len_262^0-len_262^post149 == 0 /\ x_156^0-x_156^post149 == 0 /\ i_229^0-i_229^post149 == 0 /\ a_577^0-a_577^post149 == 0 /\ a_634^0-a_634^post149 == 0 /\ -a_392^post149+a_392^0 == 0 /\ -length_29^post149+length_29^0 == 0 /\ a_1089^0-a_1089^post149 == 0 /\ a_394^0-a_394^post149 == 0 /\ -rcd_47^post149+rcd_47^0 == 0 /\ x_14^0-x_14^post149 == 0 /\ -a_862^post149+a_862^0 == 0 /\ r_192^0-r_192^post149 == 0 /\ a_176^0-a_176^post149 == 0 /\ -a_610^post149+a_610^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post149+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_32^post149+head_32^0 == 0 /\ -i_27^post149+i_27^0 == 0 /\ a_263^0-a_263^post149 == 0 /\ -x_253^post149+x_253^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post149 == 0 /\ -r_151^post149+r_151^0 == 0 /\ -a_310^post149+a_310^0 == 0 /\ -len_238^post149+len_238^0 == 0 /\ -r_970^post149+r_970^0 == 0 /\ -rcd_58^post149+rcd_58^0 == 0 /\ f_847^0-f_847^post149 == 0 /\ -temp_35^post149+temp_35^0 == 0 /\ -a_239^post149+a_239^0 == 0 /\ -x_852^post149+x_852^0 == 0 /\ a_432^0-a_432^post149 == 0 /\ a_430^0-a_430^post149 == 0 /\ x_975^0-x_975^post149 == 0 /\ -i_1053^post149+i_1053^0 == 0 /\ y_20^0-y_20^post149 == 0 /\ -r_224^post149+r_224^0 == 0 /\ -a_395^post149+a_395^0 == 0 /\ -i_197^post149+i_197^0 == 0 /\ -a_579^post149+a_579^0 == 0 /\ nondet_12^0-nondet_12^post149 == 0 /\ x_21^0-x_21^post149 == 0 /\ f_969^0-f_969^post149 == 0 /\ -a_311^post149+a_311^0 == 0 /\ a_633^0-a_633^post149 == 0 /\ -ct_18^post149+ct_18^0 == 0 /\ a_431^0-a_431^post149 == 0 /\ -rcd_88^post149+rcd_88^0 == 0 /\ temp0_16^0-temp0_16^post149 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post149 == 0 /\ i_113^0-i_113^post149 == 0 /\ i_94^0-i_94^post149 == 0 /\ a_947^0-a_947^post149 == 0 /\ len_161^0-len_161^post149 == 0 /\ a_144^0-a_144^post149 == 0 /\ -a_924^post149+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post149+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_107^post149+i_107^0 == 0 /\ -i_1248^post149+i_1248^0 == 0 /\ -len_861^post149+len_861^0 == 0 /\ r_39^0-r_39^post149 == 0 /\ -rcd_1249^post149+rcd_1249^0 == 0 /\ -result_11^post149+result_11^0 == 0 /\ -tmp_34^post149+tmp_34^0 == 0 /\ -a_635^post149+a_635^0 == 0 /\ t_458^0-t_458^post149 == 0 /\ i_106^0-i_106^post149 == 0 /\ -a_393^post149+a_393^0 == 0 /\ -a_1162^post149+a_1162^0 == 0 /\ t_24^0-t_24^post149 == 0 /\ -x_17^post149+x_17^0 == 0 /\ -i_30^post149+i_30^0 == 0), cost: 1 130: l83 -> l84 : a_1089^0'=a_1089^post130, f_847^0'=f_847^post130, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post130, a_394^0'=a_394^post130, x_156^0'=x_156^post130, a_632^0'=a_632^post130, r_192^0'=r_192^post130, a_176^0'=a_176^post130, i_106^0'=i_106^post130, a_430^0'=a_430^post130, t_458^0'=t_458^post130, len_161^0'=len_161^post130, x_975^0'=x_975^post130, a_902^0'=a_902^post130, a_947^0'=a_947^post130, rcd_88^0'=rcd_88^post130, a_311^0'=a_311^post130, i_140^0'=i_140^post130, a_577^0'=a_577^post130, x_14^0'=x_14^post130, nondet_12^0'=nondet_12^post130, a_121^0'=a_121^post130, head_15^0'=head_15^post130, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post130, i_27^0'=i_27^post130, x_21^0'=x_21^post130, a_634^0'=a_634^post130, r_39^0'=r_39^post130, a_263^0'=a_263^post130, i_113^0'=i_113^post130, a_432^0'=a_432^post130, temp0_31^0'=temp0_31^post130, len_262^0'=len_262^post130, y_20^0'=y_20^post130, f_248^0'=f_248^post130, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130, a_393^0'=a_393^post130, i_229^0'=i_229^post130, a_610^0'=a_610^post130, r_151^0'=r_151^post130, a_144^0'=a_144^post130, i_1053^0'=i_1053^post130, a_417^0'=a_417^post130, t_24^0'=t_24^post130, i_94^0'=i_94^post130, x_852^0'=x_852^post130, a_862^0'=a_862^post130, rcd_1249^0'=rcd_1249^post130, rcd_58^0'=rcd_58^post130, a_310^0'=a_310^post130, i_127^0'=i_127^post130, a_576^0'=a_576^post130, tmp_34^0'=tmp_34^post130, length_29^0'=length_29^post130, a_1162^0'=a_1162^post130, f_969^0'=f_969^post130, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post130, a_395^0'=a_395^post130, x_17^0'=x_17^post130, a_633^0'=a_633^post130, r_224^0'=r_224^post130, a_239^0'=a_239^post130, i_107^0'=i_107^post130, a_431^0'=a_431^post130, temp0_16^0'=temp0_16^post130, len_238^0'=len_238^post130, x_SLAM_f_19^0'=x_SLAM_f_19^post130, a_924^0'=a_924^post130, ct_18^0'=ct_18^post130, result_11^0'=result_11^post130, a_392^0'=a_392^post130, i_197^0'=i_197^post130, a_579^0'=a_579^post130, r_143^0'=r_143^post130, a_1236^0'=a_1236^post130, head_32^0'=head_32^post130, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post130, i_30^0'=i_30^post130, x_253^0'=x_253^post130, a_635^0'=a_635^post130, r_970^0'=r_970^post130, rcd_47^0'=rcd_47^post130, a_309^0'=a_309^post130, i_1248^0'=i_1248^post130, a_575^0'=a_575^post130, temp_35^0'=temp_35^post130, len_861^0'=len_861^post130, (-head_32^post130+head_32^0 == 0 /\ a_121^0-a_121^post130 == 0 /\ -a_395^post130+a_395^0 == 0 /\ len_161^0-len_161^post130 == 0 /\ -a_239^post130+a_239^0 == 0 /\ i_197^0-i_197^post130 == 0 /\ -len_861^post130+len_861^0 == 0 /\ -ct_18^post130+ct_18^0 == 0 /\ -len_262^post130+len_262^0 == 0 /\ a_263^0-a_263^post130 == 0 /\ a_417^0-a_417^post130 == 0 /\ a_394^0-a_394^post130 == 0 /\ 1-x_14^0 <= 0 /\ -a_862^post130+a_862^0 == 0 /\ -temp_35^post130+temp_35^0 == 0 /\ a_311^0-a_311^post130 == 0 /\ rcd_88^0-rcd_88^post130 == 0 /\ -i_1053^post130+i_1053^0 == 0 /\ f_847^0-f_847^post130 == 0 /\ a_924^0-a_924^post130 == 0 /\ -a_392^post130+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post130+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_106^0-i_106^post130 == 0 /\ -a_575^post130+a_575^0 == 0 /\ -t_24^post130+t_24^0 == 0 /\ -a_309^post130+a_309^0 == 0 /\ i_94^0-i_94^post130 == 0 /\ -a_579^post130+a_579^0 == 0 /\ r_39^0-r_39^post130 == 0 /\ -i_30^post130+i_30^0 == 0 /\ a_430^0-a_430^post130 == 0 /\ a_393^0-a_393^post130 == 0 /\ t_458^0-t_458^post130 == 0 /\ y_20^0-y_20^post130 == 0 /\ head_15^0-head_15^post130 == 0 /\ -result_11^post130+result_11^0 == 0 /\ i_127^0-i_127^post130 == 0 /\ r_224^0-r_224^post130 == 0 /\ a_1162^0-a_1162^post130 == 0 /\ x_21^0-x_21^post130 == 0 /\ -x_17^post130+x_17^0 == 0 /\ a_577^0-a_577^post130 == 0 /\ a_1089^0-a_1089^post130 == 0 /\ -x_852^post130+x_852^0 == 0 /\ -a_635^post130+a_635^0 == 0 /\ -a_144^post130+a_144^0 == 0 /\ -i_1248^post130+i_1248^0 == 0 /\ -i_107^post130+i_107^0 == 0 /\ -rcd_58^post130+rcd_58^0 == 0 /\ x_14^0-x_14^post130 == 0 /\ temp0_31^0-temp0_31^post130 == 0 /\ i_140^0-i_140^post130 == 0 /\ -a_633^post130+a_633^0 == 0 /\ -tmp_34^post130+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post130+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_431^0-a_431^post130 == 0 /\ x_156^0-x_156^post130 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post130 == 0 /\ a_947^0-a_947^post130 == 0 /\ -r_143^post130+r_143^0 == 0 /\ -rcd_1249^post130+rcd_1249^0 == 0 /\ -len_238^post130+len_238^0 == 0 /\ length_29^0-length_29^post130 == 0 /\ -a_634^post130+a_634^0 == 0 /\ -a_576^post130+a_576^0 == 0 /\ f_248^0-f_248^post130 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post130+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post130+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_632^0-a_632^post130 == 0 /\ -i_27^post130+i_27^0 == 0 /\ -a_1236^post130+a_1236^0 == 0 /\ -x_253^post130+x_253^0 == 0 /\ a_610^0-a_610^post130 == 0 /\ r_151^0-r_151^post130 == 0 /\ a_902^0-a_902^post130 == 0 /\ x_975^0-x_975^post130 == 0 /\ -a_176^post130+a_176^0 == 0 /\ i_229^0-i_229^post130 == 0 /\ a_432^0-a_432^post130 == 0 /\ a_310^0-a_310^post130 == 0 /\ r_192^0-r_192^post130 == 0 /\ i_113^0-i_113^post130 == 0 /\ -x_SLAM_f_19^post130+x_SLAM_f_19^0 == 0 /\ -rcd_47^post130+rcd_47^0 == 0 /\ -f_969^post130+f_969^0 == 0 /\ temp0_16^0-temp0_16^post130 == 0 /\ nondet_12^0-nondet_12^post130 == 0 /\ -r_970^post130+r_970^0 == 0), cost: 1 131: l83 -> l84 : a_1089^0'=a_1089^post131, f_847^0'=f_847^post131, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post131, a_394^0'=a_394^post131, x_156^0'=x_156^post131, a_632^0'=a_632^post131, r_192^0'=r_192^post131, a_176^0'=a_176^post131, i_106^0'=i_106^post131, a_430^0'=a_430^post131, t_458^0'=t_458^post131, len_161^0'=len_161^post131, x_975^0'=x_975^post131, a_902^0'=a_902^post131, a_947^0'=a_947^post131, rcd_88^0'=rcd_88^post131, a_311^0'=a_311^post131, i_140^0'=i_140^post131, a_577^0'=a_577^post131, x_14^0'=x_14^post131, nondet_12^0'=nondet_12^post131, a_121^0'=a_121^post131, head_15^0'=head_15^post131, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post131, i_27^0'=i_27^post131, x_21^0'=x_21^post131, a_634^0'=a_634^post131, r_39^0'=r_39^post131, a_263^0'=a_263^post131, i_113^0'=i_113^post131, a_432^0'=a_432^post131, temp0_31^0'=temp0_31^post131, len_262^0'=len_262^post131, y_20^0'=y_20^post131, f_248^0'=f_248^post131, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131, a_393^0'=a_393^post131, i_229^0'=i_229^post131, a_610^0'=a_610^post131, r_151^0'=r_151^post131, a_144^0'=a_144^post131, i_1053^0'=i_1053^post131, a_417^0'=a_417^post131, t_24^0'=t_24^post131, i_94^0'=i_94^post131, x_852^0'=x_852^post131, a_862^0'=a_862^post131, rcd_1249^0'=rcd_1249^post131, rcd_58^0'=rcd_58^post131, a_310^0'=a_310^post131, i_127^0'=i_127^post131, a_576^0'=a_576^post131, tmp_34^0'=tmp_34^post131, length_29^0'=length_29^post131, a_1162^0'=a_1162^post131, f_969^0'=f_969^post131, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post131, a_395^0'=a_395^post131, x_17^0'=x_17^post131, a_633^0'=a_633^post131, r_224^0'=r_224^post131, a_239^0'=a_239^post131, i_107^0'=i_107^post131, a_431^0'=a_431^post131, temp0_16^0'=temp0_16^post131, len_238^0'=len_238^post131, x_SLAM_f_19^0'=x_SLAM_f_19^post131, a_924^0'=a_924^post131, ct_18^0'=ct_18^post131, result_11^0'=result_11^post131, a_392^0'=a_392^post131, i_197^0'=i_197^post131, a_579^0'=a_579^post131, r_143^0'=r_143^post131, a_1236^0'=a_1236^post131, head_32^0'=head_32^post131, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post131, i_30^0'=i_30^post131, x_253^0'=x_253^post131, a_635^0'=a_635^post131, r_970^0'=r_970^post131, rcd_47^0'=rcd_47^post131, a_309^0'=a_309^post131, i_1248^0'=i_1248^post131, a_575^0'=a_575^post131, temp_35^0'=temp_35^post131, len_861^0'=len_861^post131, (i_113^0-i_113^post131 == 0 /\ r_192^0-r_192^post131 == 0 /\ r_39^0-r_39^post131 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post131+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_430^0-a_430^post131 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post131+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ rcd_1249^0-rcd_1249^post131 == 0 /\ x_975^0-x_975^post131 == 0 /\ -a_633^post131+a_633^0 == 0 /\ ct_18^0-ct_18^post131 == 0 /\ a_1162^0-a_1162^post131 == 0 /\ -a_924^post131+a_924^0 == 0 /\ -result_11^post131+result_11^0 == 0 /\ -r_143^post131+r_143^0 == 0 /\ -rcd_47^post131+rcd_47^0 == 0 /\ a_432^0-a_432^post131 == 0 /\ x_14^0-x_14^post131 == 0 /\ i_27^0-i_27^post131 == 0 /\ -f_969^post131+f_969^0 == 0 /\ nondet_12^0-nondet_12^post131 == 0 /\ i_140^0-i_140^post131 == 0 /\ -y_20^post131+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post131 == 0 /\ -x_SLAM_f_19^post131+x_SLAM_f_19^0 == 0 /\ -a_392^post131+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post131+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_229^0-i_229^post131 == 0 /\ a_634^0-a_634^post131 == 0 /\ a_576^0-a_576^post131 == 0 /\ -i_94^post131+i_94^0 == 0 /\ a_263^0-a_263^post131 == 0 /\ a_947^0-a_947^post131 == 0 /\ -a_1236^post131+a_1236^0 == 0 /\ -r_970^post131+r_970^0 == 0 /\ -a_431^post131+a_431^0 == 0 /\ i_197^0-i_197^post131 == 0 /\ -temp_35^post131+temp_35^0 == 0 /\ -x_253^post131+x_253^0 == 0 /\ f_248^0-f_248^post131 == 0 /\ r_224^0-r_224^post131 == 0 /\ a_610^0-a_610^post131 == 0 /\ a_902^0-a_902^post131 == 0 /\ -i_1053^post131+i_1053^0 == 0 /\ -length_29^post131+length_29^0 == 0 /\ i_107^0-i_107^post131 == 0 /\ -rcd_58^post131+rcd_58^0 == 0 /\ head_15^0-head_15^post131 == 0 /\ a_577^0-a_577^post131 == 0 /\ -a_395^post131+a_395^0 == 0 /\ -a_862^post131+a_862^0 == 0 /\ -temp0_16^post131+temp0_16^0 == 0 /\ -len_861^post131+len_861^0 == 0 /\ rcd_88^0-rcd_88^post131 == 0 /\ a_311^0-a_311^post131 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post131+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -t_458^post131+t_458^0 == 0 /\ x_156^0-x_156^post131 == 0 /\ -i_1248^post131+i_1248^0 == 0 /\ -a_239^post131+a_239^0 == 0 /\ -head_32^post131+head_32^0 == 0 /\ a_1089^0-a_1089^post131 == 0 /\ i_30^0-i_30^post131 == 0 /\ a_632^0-a_632^post131 == 0 /\ -a_393^post131+a_393^0 == 0 /\ -len_161^post131+len_161^0 == 0 /\ -a_579^post131+a_579^0 == 0 /\ -i_106^post131+i_106^0 == 0 /\ -i_127^post131+i_127^0 == 0 /\ a_121^0-a_121^post131 == 0 /\ -r_151^post131+r_151^0 == 0 /\ x_21^0-x_21^post131 == 0 /\ -a_144^post131+a_144^0 == 0 /\ temp0_31^0-temp0_31^post131 == 0 /\ -x_852^post131+x_852^0 == 0 /\ len_262^0-len_262^post131 == 0 /\ a_310^0-a_310^post131 == 0 /\ -a_575^post131+a_575^0 == 0 /\ -t_24^post131+t_24^0 == 0 /\ f_847^0-f_847^post131 == 0 /\ x_17^0-x_17^post131 == 0 /\ 1+x_14^0 <= 0 /\ -a_635^post131+a_635^0 == 0 /\ len_238^0-len_238^post131 == 0 /\ -a_417^post131+a_417^0 == 0 /\ -a_309^post131+a_309^0 == 0 /\ a_394^0-a_394^post131 == 0 /\ -tmp_34^post131+tmp_34^0 == 0 /\ a_176^0-a_176^post131 == 0), cost: 1 132: l84 -> l85 : a_1089^0'=a_1089^post132, f_847^0'=f_847^post132, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post132, a_394^0'=a_394^post132, x_156^0'=x_156^post132, a_632^0'=a_632^post132, r_192^0'=r_192^post132, a_176^0'=a_176^post132, i_106^0'=i_106^post132, a_430^0'=a_430^post132, t_458^0'=t_458^post132, len_161^0'=len_161^post132, x_975^0'=x_975^post132, a_902^0'=a_902^post132, a_947^0'=a_947^post132, rcd_88^0'=rcd_88^post132, a_311^0'=a_311^post132, i_140^0'=i_140^post132, a_577^0'=a_577^post132, x_14^0'=x_14^post132, nondet_12^0'=nondet_12^post132, a_121^0'=a_121^post132, head_15^0'=head_15^post132, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post132, i_27^0'=i_27^post132, x_21^0'=x_21^post132, a_634^0'=a_634^post132, r_39^0'=r_39^post132, a_263^0'=a_263^post132, i_113^0'=i_113^post132, a_432^0'=a_432^post132, temp0_31^0'=temp0_31^post132, len_262^0'=len_262^post132, y_20^0'=y_20^post132, f_248^0'=f_248^post132, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132, a_393^0'=a_393^post132, i_229^0'=i_229^post132, a_610^0'=a_610^post132, r_151^0'=r_151^post132, a_144^0'=a_144^post132, i_1053^0'=i_1053^post132, a_417^0'=a_417^post132, t_24^0'=t_24^post132, i_94^0'=i_94^post132, x_852^0'=x_852^post132, a_862^0'=a_862^post132, rcd_1249^0'=rcd_1249^post132, rcd_58^0'=rcd_58^post132, a_310^0'=a_310^post132, i_127^0'=i_127^post132, a_576^0'=a_576^post132, tmp_34^0'=tmp_34^post132, length_29^0'=length_29^post132, a_1162^0'=a_1162^post132, f_969^0'=f_969^post132, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post132, a_395^0'=a_395^post132, x_17^0'=x_17^post132, a_633^0'=a_633^post132, r_224^0'=r_224^post132, a_239^0'=a_239^post132, i_107^0'=i_107^post132, a_431^0'=a_431^post132, temp0_16^0'=temp0_16^post132, len_238^0'=len_238^post132, x_SLAM_f_19^0'=x_SLAM_f_19^post132, a_924^0'=a_924^post132, ct_18^0'=ct_18^post132, result_11^0'=result_11^post132, a_392^0'=a_392^post132, i_197^0'=i_197^post132, a_579^0'=a_579^post132, r_143^0'=r_143^post132, a_1236^0'=a_1236^post132, head_32^0'=head_32^post132, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post132, i_30^0'=i_30^post132, x_253^0'=x_253^post132, a_635^0'=a_635^post132, r_970^0'=r_970^post132, rcd_47^0'=rcd_47^post132, a_309^0'=a_309^post132, i_1248^0'=i_1248^post132, a_575^0'=a_575^post132, temp_35^0'=temp_35^post132, len_861^0'=len_861^post132, (0 == 0 /\ temp0_31^0-temp0_31^post132 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -a_395^post132+a_395^0 == 0 /\ a_121^0-a_121^post132 == 0 /\ -a_417^post132+a_417^0 == 0 /\ len_262^0-len_262^post132 == 0 /\ x_156^0-x_156^post132 == 0 /\ -length_29^post132+length_29^0 == 0 /\ f_847^0-f_847^post132 == 0 /\ nondet_12^0-nondet_12^post132 == 0 /\ a_176^0-a_176^post132 == 0 /\ -temp0_16^post132+temp0_16^0 == 0 /\ a_394^0-a_394^post132 == 0 /\ rcd_58^0-rcd_58^post132 == 0 /\ -a_121^0 <= 0 /\ a_947^0-a_947^post132 == 0 /\ -a_862^post132+a_862^0 == 0 /\ -i_94^post132+i_94^0 == 0 /\ -a_392^post132+a_392^0 == 0 /\ -i_1053^post132+i_1053^0 == 0 /\ -i_1248^post132+i_1248^0 == 0 /\ -r_224^post132+r_224^0 == 0 /\ -len_861^post132+len_861^0 == 0 /\ head_15^0-x_17^post132 <= 0 /\ -head_32^post132+head_32^0 == 0 /\ -a_579^post132+a_579^0 == 0 /\ -a_393^post132+a_393^0 == 0 /\ -a_635^post132+a_635^0 == 0 /\ i_27^0 <= 0 /\ -i_30^post132+i_30^0 == 0 /\ a_632^0-a_632^post132 == 0 /\ -a_263^post132+a_263^0 == 0 /\ -t_24^post132+t_24^0 == 0 /\ a_577^0-a_577^post132 == 0 /\ -i_197^post132+i_197^0 == 0 /\ i_113^0-i_113^post132 == 0 /\ i_127^0-i_127^post132 == 0 /\ head_15^0-head_15^post132 == 0 /\ y_20^post132 <= 0 /\ i_229^0-i_229^post132 == 0 /\ a_432^0-a_432^post132 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post132+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_107^post132+i_107^0 == 0 /\ r_192^0-r_192^post132 == 0 /\ -a_575^post132+a_575^0 == 0 /\ -head_15^0+x_17^post132 <= 0 /\ -head_15^0+x_17^post132 == 0 /\ a_430^0-a_430^post132 == 0 /\ -a_309^post132+a_309^0 == 0 /\ -x_852^post132+x_852^0 == 0 /\ -a_924^post132+a_924^0 == 0 /\ -tmp_34^post132+tmp_34^0 == 0 /\ -a_1162^post132+a_1162^0 == 0 /\ -rcd_47^post132+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post132+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ head_15^0-x_SLAM_f_19^post132 <= 0 /\ i_140^0-i_140^post132 == 0 /\ -len_238^post132+len_238^0 == 0 /\ a_431^0-a_431^post132 == 0 /\ -y_20^post132+ct_18^post132 <= 0 /\ -head_15^0+x_21^post132 <= 0 /\ -y_20^post132 <= 0 /\ a_1089^0-a_1089^post132 == 0 /\ a_144^0-a_144^post132 == 0 /\ a_633^0-a_633^post132 == 0 /\ a_634^0-a_634^post132 == 0 /\ -result_11^post132+result_11^0 == 0 /\ -x_253^post132+x_253^0 == 0 /\ -x_SLAM_f_19^post132+x_17^post132 <= 0 /\ rcd_88^0-rcd_88^post132 == 0 /\ -r_151^post132+r_151^0 == 0 /\ -a_176^0+a_121^0 <= 0 /\ -a_902^post132+a_902^0 == 0 /\ -rcd_1249^post132+rcd_1249^0 == 0 /\ -x_21^post132+x_SLAM_f_19^post132 <= 0 /\ x_975^0-x_975^post132 == 0 /\ f_969^0-f_969^post132 == 0 /\ -a_576^post132+a_576^0 == 0 /\ t_458^0-t_458^post132 == 0 /\ -head_15^0+x_SLAM_f_19^post132 <= 0 /\ i_106^0-i_106^post132 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post132+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post132 == 0 /\ a_239^0-a_239^post132 == 0 /\ -r_970^post132+r_970^0 == 0 /\ y_20^post132-ct_18^post132 <= 0 /\ y_20^post132-ct_18^post132 == 0 /\ head_15^0-x_21^post132 <= 0 /\ ct_18^post132 <= 0 /\ ct_18^post132 == 0 /\ -r_143^post132+r_143^0 == 0 /\ r_39^0-r_39^post132 == 0 /\ x_SLAM_f_19^post132-x_17^post132 <= 0 /\ x_SLAM_f_19^post132-x_17^post132 == 0 /\ a_310^0-a_310^post132 == 0 /\ len_161^0-len_161^post132 == 0 /\ -a_1236^post132+a_1236^0 == 0 /\ -ct_18^post132 <= 0 /\ a_610^0-a_610^post132 == 0 /\ a_176^0-a_121^0 <= 0 /\ -temp_35^post132+temp_35^0 == 0 /\ x_21^post132-x_SLAM_f_19^post132 <= 0 /\ x_21^post132-x_SLAM_f_19^post132 == 0 /\ -a_311^post132+a_311^0 == 0), cost: 1 133: l85 -> l86 : a_1089^0'=a_1089^post133, f_847^0'=f_847^post133, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post133, a_394^0'=a_394^post133, x_156^0'=x_156^post133, a_632^0'=a_632^post133, r_192^0'=r_192^post133, a_176^0'=a_176^post133, i_106^0'=i_106^post133, a_430^0'=a_430^post133, t_458^0'=t_458^post133, len_161^0'=len_161^post133, x_975^0'=x_975^post133, a_902^0'=a_902^post133, a_947^0'=a_947^post133, rcd_88^0'=rcd_88^post133, a_311^0'=a_311^post133, i_140^0'=i_140^post133, a_577^0'=a_577^post133, x_14^0'=x_14^post133, nondet_12^0'=nondet_12^post133, a_121^0'=a_121^post133, head_15^0'=head_15^post133, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post133, i_27^0'=i_27^post133, x_21^0'=x_21^post133, a_634^0'=a_634^post133, r_39^0'=r_39^post133, a_263^0'=a_263^post133, i_113^0'=i_113^post133, a_432^0'=a_432^post133, temp0_31^0'=temp0_31^post133, len_262^0'=len_262^post133, y_20^0'=y_20^post133, f_248^0'=f_248^post133, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133, a_393^0'=a_393^post133, i_229^0'=i_229^post133, a_610^0'=a_610^post133, r_151^0'=r_151^post133, a_144^0'=a_144^post133, i_1053^0'=i_1053^post133, a_417^0'=a_417^post133, t_24^0'=t_24^post133, i_94^0'=i_94^post133, x_852^0'=x_852^post133, a_862^0'=a_862^post133, rcd_1249^0'=rcd_1249^post133, rcd_58^0'=rcd_58^post133, a_310^0'=a_310^post133, i_127^0'=i_127^post133, a_576^0'=a_576^post133, tmp_34^0'=tmp_34^post133, length_29^0'=length_29^post133, a_1162^0'=a_1162^post133, f_969^0'=f_969^post133, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post133, a_395^0'=a_395^post133, x_17^0'=x_17^post133, a_633^0'=a_633^post133, r_224^0'=r_224^post133, a_239^0'=a_239^post133, i_107^0'=i_107^post133, a_431^0'=a_431^post133, temp0_16^0'=temp0_16^post133, len_238^0'=len_238^post133, x_SLAM_f_19^0'=x_SLAM_f_19^post133, a_924^0'=a_924^post133, ct_18^0'=ct_18^post133, result_11^0'=result_11^post133, a_392^0'=a_392^post133, i_197^0'=i_197^post133, a_579^0'=a_579^post133, r_143^0'=r_143^post133, a_1236^0'=a_1236^post133, head_32^0'=head_32^post133, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post133, i_30^0'=i_30^post133, x_253^0'=x_253^post133, a_635^0'=a_635^post133, r_970^0'=r_970^post133, rcd_47^0'=rcd_47^post133, a_309^0'=a_309^post133, i_1248^0'=i_1248^post133, a_575^0'=a_575^post133, temp_35^0'=temp_35^post133, len_861^0'=len_861^post133, (r_39^0-r_39^post133 == 0 /\ -a_121^post133+a_121^0 == 0 /\ rcd_88^0-rcd_88^post133 == 0 /\ a_311^0-a_311^post133 == 0 /\ a_902^0-a_902^post133 == 0 /\ ct_18^0-ct_18^post133 == 0 /\ a_610^0-a_610^post133 == 0 /\ -a_431^post133+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post133+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-x_14^0 <= 0 /\ -t_24^post133+t_24^0 == 0 /\ -x_253^post133+x_253^0 == 0 /\ -result_11^post133+result_11^0 == 0 /\ x_21^0-x_21^post133 == 0 /\ i_27^0-i_27^post133 == 0 /\ r_192^0-r_192^post133 == 0 /\ a_1089^0-a_1089^post133 == 0 /\ -rcd_47^post133+rcd_47^0 == 0 /\ -r_143^post133+r_143^0 == 0 /\ -temp_35^post133+temp_35^0 == 0 /\ -i_94^post133+i_94^0 == 0 /\ len_262^0-len_262^post133 == 0 /\ a_263^0-a_263^post133 == 0 /\ -r_224^post133+r_224^0 == 0 /\ nondet_12^0-nondet_12^post133 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post133 == 0 /\ -r_970^post133+r_970^0 == 0 /\ a_634^0-a_634^post133 == 0 /\ -i_1053^post133+i_1053^0 == 0 /\ -i_113^post133+i_113^0 == 0 /\ -y_20^post133+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post133 == 0 /\ -x_SLAM_f_19^post133+x_SLAM_f_19^0 == 0 /\ a_576^0-a_576^post133 == 0 /\ tmp_34^0-tmp_34^post133 == 0 /\ -a_395^post133+a_395^0 == 0 /\ -i_229^post133+i_229^0 == 0 /\ a_144^0-a_144^post133 == 0 /\ len_238^0-len_238^post133 == 0 /\ -a_1236^post133+a_1236^0 == 0 /\ a_947^0-a_947^post133 == 0 /\ a_924^0-a_924^post133 == 0 /\ f_248^0-f_248^post133 == 0 /\ -a_432^post133+a_432^0 == 0 /\ a_430^0-a_430^post133 == 0 /\ -a_862^post133+a_862^0 == 0 /\ -i_106^post133+i_106^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post133+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_975^0-x_975^post133 == 0 /\ i_127^0-i_127^post133 == 0 /\ a_632^0-a_632^post133 == 0 /\ -length_29^post133+length_29^0 == 0 /\ a_577^0-a_577^post133 == 0 /\ -i_1248^post133+i_1248^0 == 0 /\ rcd_1249^0-rcd_1249^post133 == 0 /\ -a_310^post133+a_310^0 == 0 /\ -head_32^post133+head_32^0 == 0 /\ -a_239^post133+a_239^0 == 0 /\ x_14^0-x_14^post133 == 0 /\ -len_861^post133+len_861^0 == 0 /\ a_1162^0-a_1162^post133 == 0 /\ -temp0_16^post133+temp0_16^0 == 0 /\ a_393^0-a_393^post133 == 0 /\ -x_17^post133+x_17^0 == 0 /\ -i_30^post133+i_30^0 == 0 /\ -x_156^post133+x_156^0 == 0 /\ -a_392^post133+a_392^0 == 0 /\ f_969^0-f_969^post133 == 0 /\ -t_458^post133+t_458^0 == 0 /\ -i_197^post133+i_197^0 == 0 /\ -x_852^post133+x_852^0 == 0 /\ temp0_31^0-temp0_31^post133 == 0 /\ a_633^0-a_633^post133 == 0 /\ -a_635^post133+a_635^0 == 0 /\ i_140^0-i_140^post133 == 0 /\ len_161^0-len_161^post133 == 0 /\ -a_309^post133+a_309^0 == 0 /\ -a_417^post133+a_417^0 == 0 /\ a_176^0-a_176^post133 == 0 /\ -i_107^post133+i_107^0 == 0 /\ f_847^0-f_847^post133 == 0 /\ -rcd_58^post133+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post133 == 0 /\ -a_579^post133+a_579^0 == 0 /\ -a_575^post133+a_575^0 == 0 /\ head_15^0-head_15^post133 == 0 /\ a_394^0-a_394^post133 == 0 /\ r_151^0-r_151^post133 == 0), cost: 1 134: l85 -> l86 : a_1089^0'=a_1089^post134, f_847^0'=f_847^post134, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post134, a_394^0'=a_394^post134, x_156^0'=x_156^post134, a_632^0'=a_632^post134, r_192^0'=r_192^post134, a_176^0'=a_176^post134, i_106^0'=i_106^post134, a_430^0'=a_430^post134, t_458^0'=t_458^post134, len_161^0'=len_161^post134, x_975^0'=x_975^post134, a_902^0'=a_902^post134, a_947^0'=a_947^post134, rcd_88^0'=rcd_88^post134, a_311^0'=a_311^post134, i_140^0'=i_140^post134, a_577^0'=a_577^post134, x_14^0'=x_14^post134, nondet_12^0'=nondet_12^post134, a_121^0'=a_121^post134, head_15^0'=head_15^post134, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post134, i_27^0'=i_27^post134, x_21^0'=x_21^post134, a_634^0'=a_634^post134, r_39^0'=r_39^post134, a_263^0'=a_263^post134, i_113^0'=i_113^post134, a_432^0'=a_432^post134, temp0_31^0'=temp0_31^post134, len_262^0'=len_262^post134, y_20^0'=y_20^post134, f_248^0'=f_248^post134, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134, a_393^0'=a_393^post134, i_229^0'=i_229^post134, a_610^0'=a_610^post134, r_151^0'=r_151^post134, a_144^0'=a_144^post134, i_1053^0'=i_1053^post134, a_417^0'=a_417^post134, t_24^0'=t_24^post134, i_94^0'=i_94^post134, x_852^0'=x_852^post134, a_862^0'=a_862^post134, rcd_1249^0'=rcd_1249^post134, rcd_58^0'=rcd_58^post134, a_310^0'=a_310^post134, i_127^0'=i_127^post134, a_576^0'=a_576^post134, tmp_34^0'=tmp_34^post134, length_29^0'=length_29^post134, a_1162^0'=a_1162^post134, f_969^0'=f_969^post134, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post134, a_395^0'=a_395^post134, x_17^0'=x_17^post134, a_633^0'=a_633^post134, r_224^0'=r_224^post134, a_239^0'=a_239^post134, i_107^0'=i_107^post134, a_431^0'=a_431^post134, temp0_16^0'=temp0_16^post134, len_238^0'=len_238^post134, x_SLAM_f_19^0'=x_SLAM_f_19^post134, a_924^0'=a_924^post134, ct_18^0'=ct_18^post134, result_11^0'=result_11^post134, a_392^0'=a_392^post134, i_197^0'=i_197^post134, a_579^0'=a_579^post134, r_143^0'=r_143^post134, a_1236^0'=a_1236^post134, head_32^0'=head_32^post134, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post134, i_30^0'=i_30^post134, x_253^0'=x_253^post134, a_635^0'=a_635^post134, r_970^0'=r_970^post134, rcd_47^0'=rcd_47^post134, a_309^0'=a_309^post134, i_1248^0'=i_1248^post134, a_575^0'=a_575^post134, temp_35^0'=temp_35^post134, len_861^0'=len_861^post134, (-a_1236^post134+a_1236^0 == 0 /\ -a_309^post134+a_309^0 == 0 /\ -a_432^post134+a_432^0 == 0 /\ x_156^0-x_156^post134 == 0 /\ result_11^0-result_11^post134 == 0 /\ -a_310^post134+a_310^0 == 0 /\ -a_862^post134+a_862^0 == 0 /\ -x_17^post134+x_17^0 == 0 /\ -a_392^post134+a_392^0 == 0 /\ -temp0_31^post134+temp0_31^0 == 0 /\ -i_30^post134+i_30^0 == 0 /\ -i_1053^post134+i_1053^0 == 0 /\ head_15^0-head_15^post134 == 0 /\ a_634^0-a_634^post134 == 0 /\ -a_635^post134+a_635^0 == 0 /\ f_248^0-f_248^post134 == 0 /\ a_902^0-a_902^post134 == 0 /\ -r_224^post134+r_224^0 == 0 /\ rcd_58^0-rcd_58^post134 == 0 /\ -i_94^post134+i_94^0 == 0 /\ -len_861^post134+len_861^0 == 0 /\ -temp0_16^post134+temp0_16^0 == 0 /\ a_947^0-a_947^post134 == 0 /\ -head_32^post134+head_32^0 == 0 /\ r_192^0-r_192^post134 == 0 /\ rcd_88^0-rcd_88^post134 == 0 /\ a_176^0-a_176^post134 == 0 /\ i_113^0-i_113^post134 == 0 /\ a_311^0-a_311^post134 == 0 /\ rcd_1249^0-rcd_1249^post134 == 0 /\ length_29^0-length_29^post134 == 0 /\ -ct_18^post134+ct_18^0 == 0 /\ -a_263^post134+a_263^0 == 0 /\ -a_579^post134+a_579^0 == 0 /\ -len_262^post134+len_262^0 == 0 /\ -i_197^post134+i_197^0 == 0 /\ a_632^0-a_632^post134 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post134+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_161^0-len_161^post134 == 0 /\ -x_975^post134+x_975^0 == 0 /\ -i_107^post134+i_107^0 == 0 /\ x_852^0-x_852^post134 == 0 /\ -x_14^post134+x_14^0 == 0 /\ -r_39^post134+r_39^0 == 0 /\ -a_575^post134+a_575^0 == 0 /\ a_1089^0-a_1089^post134 == 0 /\ y_20^0-y_20^post134 == 0 /\ a_576^0-a_576^post134 == 0 /\ -a_121^post134+a_121^0 == 0 /\ f_847^0-f_847^post134 == 0 /\ a_144^0-a_144^post134 == 0 /\ -tmp_34^post134+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post134 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post134 == 0 /\ -a_1162^post134+a_1162^0 == 0 /\ -x_21^post134+x_21^0 == 0 /\ i_140^0-i_140^post134 == 0 /\ -t_24^post134+t_24^0 == 0 /\ len_238^0-len_238^post134 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post134 == 0 /\ r_151^0-r_151^post134 == 0 /\ a_239^0-a_239^post134 == 0 /\ -rcd_47^post134+rcd_47^0 == 0 /\ -a_924^post134+a_924^0 == 0 /\ a_417^0-a_417^post134 == 0 /\ a_394^0-a_394^post134 == 0 /\ -r_970^post134+r_970^0 == 0 /\ a_577^0-a_577^post134 == 0 /\ -i_1248^post134+i_1248^0 == 0 /\ f_969^0-f_969^post134 == 0 /\ -x_SLAM_f_19^post134+x_SLAM_f_19^0 == 0 /\ -r_143^post134+r_143^0 == 0 /\ -i_229^post134+i_229^0 == 0 /\ i_127^0-i_127^post134 == 0 /\ -x_253^post134+x_253^0 == 0 /\ a_610^0-a_610^post134 == 0 /\ -temp_35^post134+temp_35^0 == 0 /\ 1+x_14^0 <= 0 /\ i_106^0-i_106^post134 == 0 /\ i_27^0-i_27^post134 == 0 /\ a_633^0-a_633^post134 == 0 /\ -a_431^post134+a_431^0 == 0 /\ t_458^0-t_458^post134 == 0 /\ a_430^0-a_430^post134 == 0 /\ a_393^0-a_393^post134 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post134+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post134+a_395^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post134 == 0), cost: 1 135: l86 -> l87 : a_1089^0'=a_1089^post135, f_847^0'=f_847^post135, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post135, a_394^0'=a_394^post135, x_156^0'=x_156^post135, a_632^0'=a_632^post135, r_192^0'=r_192^post135, a_176^0'=a_176^post135, i_106^0'=i_106^post135, a_430^0'=a_430^post135, t_458^0'=t_458^post135, len_161^0'=len_161^post135, x_975^0'=x_975^post135, a_902^0'=a_902^post135, a_947^0'=a_947^post135, rcd_88^0'=rcd_88^post135, a_311^0'=a_311^post135, i_140^0'=i_140^post135, a_577^0'=a_577^post135, x_14^0'=x_14^post135, nondet_12^0'=nondet_12^post135, a_121^0'=a_121^post135, head_15^0'=head_15^post135, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post135, i_27^0'=i_27^post135, x_21^0'=x_21^post135, a_634^0'=a_634^post135, r_39^0'=r_39^post135, a_263^0'=a_263^post135, i_113^0'=i_113^post135, a_432^0'=a_432^post135, temp0_31^0'=temp0_31^post135, len_262^0'=len_262^post135, y_20^0'=y_20^post135, f_248^0'=f_248^post135, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135, a_393^0'=a_393^post135, i_229^0'=i_229^post135, a_610^0'=a_610^post135, r_151^0'=r_151^post135, a_144^0'=a_144^post135, i_1053^0'=i_1053^post135, a_417^0'=a_417^post135, t_24^0'=t_24^post135, i_94^0'=i_94^post135, x_852^0'=x_852^post135, a_862^0'=a_862^post135, rcd_1249^0'=rcd_1249^post135, rcd_58^0'=rcd_58^post135, a_310^0'=a_310^post135, i_127^0'=i_127^post135, a_576^0'=a_576^post135, tmp_34^0'=tmp_34^post135, length_29^0'=length_29^post135, a_1162^0'=a_1162^post135, f_969^0'=f_969^post135, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post135, a_395^0'=a_395^post135, x_17^0'=x_17^post135, a_633^0'=a_633^post135, r_224^0'=r_224^post135, a_239^0'=a_239^post135, i_107^0'=i_107^post135, a_431^0'=a_431^post135, temp0_16^0'=temp0_16^post135, len_238^0'=len_238^post135, x_SLAM_f_19^0'=x_SLAM_f_19^post135, a_924^0'=a_924^post135, ct_18^0'=ct_18^post135, result_11^0'=result_11^post135, a_392^0'=a_392^post135, i_197^0'=i_197^post135, a_579^0'=a_579^post135, r_143^0'=r_143^post135, a_1236^0'=a_1236^post135, head_32^0'=head_32^post135, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post135, i_30^0'=i_30^post135, x_253^0'=x_253^post135, a_635^0'=a_635^post135, r_970^0'=r_970^post135, rcd_47^0'=rcd_47^post135, a_309^0'=a_309^post135, i_1248^0'=i_1248^post135, a_575^0'=a_575^post135, temp_35^0'=temp_35^post135, len_861^0'=len_861^post135, (-f_969^post135+f_969^0 == 0 /\ -x_253^post135+x_253^0 == 0 /\ a_311^0-a_311^post135 == 0 /\ a_392^0-a_392^post135 == 0 /\ a_610^0-a_610^post135 == 0 /\ t_458^0-t_458^post135 == 0 /\ a_902^0-a_902^post135 == 0 /\ r_143^0-r_143^post135 == 0 /\ rcd_88^0-rcd_88^post135 == 0 /\ i_106^0-i_106^post135 == 0 /\ -temp_35^post135+temp_35^0 == 0 /\ -a_121^post135+a_121^0 == 0 /\ -r_970^post135+r_970^0 == 0 /\ -result_11^post135+result_11^0 == 0 /\ -rcd_47^post135+rcd_47^0 == 0 /\ -len_238^post135+len_238^0 == 0 /\ a_1089^0-a_1089^post135 == 0 /\ -x_21^post135+x_21^0 == 0 /\ a_632^0-a_632^post135 == 0 /\ -a_1162^post135+a_1162^0 == 0 /\ -y_20^post135+y_20^0 == 0 /\ len_262^0-len_262^post135 == 0 /\ a_1236^0-a_1236^post135 == 0 /\ -x_SLAM_f_19^post135+x_SLAM_f_19^0 == 0 /\ -i_1248^post135+i_1248^0 == 0 /\ a_263^0-a_263^post135 == 0 /\ x_852^0-x_852^post135 == 0 /\ -f_248^post135+f_248^0 == 0 /\ -r_224^post135+r_224^0 == 0 /\ -a_239^post135+a_239^0 == 0 /\ temp0_31^0-temp0_31^post135 == 0 /\ f_847^0-f_847^post135 == 0 /\ -temp0_16^post135+temp0_16^0 == 0 /\ a_579^0-a_579^post135 == 0 /\ -len_861^post135+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post135 == 0 /\ -a_432^post135+a_432^0 == 0 /\ -a_431^post135+a_431^0 == 0 /\ -i_229^post135+i_229^0 == 0 /\ a_394^0-a_394^post135 == 0 /\ -a_924^post135+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post135+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post135+i_113^0 == 0 /\ a_176^0-a_176^post135 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post135 == 0 /\ tmp_34^0-tmp_34^post135 == 0 /\ r_192^0-r_192^post135 == 0 /\ -i_30^post135+i_30^0 == 0 /\ -a_144^post135+a_144^0 == 0 /\ -r_39^post135+r_39^0 == 0 /\ -a_862^post135+a_862^0 == 0 /\ i_127^0-i_127^post135 == 0 /\ -i_107^post135+i_107^0 == 0 /\ i_1053^0-i_1053^post135 == 0 /\ rcd_58^0-rcd_58^post135 == 0 /\ rcd_1249^0-rcd_1249^post135 == 0 /\ -a_575^post135+a_575^0 == 0 /\ a_395^0-a_395^post135 == 0 /\ -a_635^post135+a_635^0 == 0 /\ -a_577^post135+a_577^0 == 0 /\ x_14^0-x_14^post135 == 0 /\ -a_310^post135+a_310^0 == 0 /\ a_393^0-a_393^post135 == 0 /\ -i_94^post135+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post135 == 0 /\ -x_17^post135+x_17^0 == 0 /\ len_161^0-len_161^post135 == 0 /\ -length_29^post135+length_29^0 == 0 /\ i_27^0-i_27^post135 == 0 /\ -ct_18^post135+ct_18^0 == 0 /\ x_156^0-x_156^post135 == 0 /\ a_309^0-a_309^post135 == 0 /\ a_576^0-a_576^post135 == 0 /\ 1-head_15^0 <= 0 /\ -a_633^post135+a_633^0 == 0 /\ -t_24^post135+t_24^0 == 0 /\ -head_32^post135+head_32^0 == 0 /\ i_140^0-i_140^post135 == 0 /\ nondet_12^0-nondet_12^post135 == 0 /\ a_634^0-a_634^post135 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post135 == 0 /\ a_947^0-a_947^post135 == 0 /\ head_15^0-head_15^post135 == 0 /\ a_417^0-a_417^post135 == 0 /\ -i_197^post135+i_197^0 == 0 /\ -a_430^post135+a_430^0 == 0 /\ r_151^0-r_151^post135 == 0 /\ -x_975^post135+x_975^0 == 0), cost: 1 136: l86 -> l87 : a_1089^0'=a_1089^post136, f_847^0'=f_847^post136, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post136, a_394^0'=a_394^post136, x_156^0'=x_156^post136, a_632^0'=a_632^post136, r_192^0'=r_192^post136, a_176^0'=a_176^post136, i_106^0'=i_106^post136, a_430^0'=a_430^post136, t_458^0'=t_458^post136, len_161^0'=len_161^post136, x_975^0'=x_975^post136, a_902^0'=a_902^post136, a_947^0'=a_947^post136, rcd_88^0'=rcd_88^post136, a_311^0'=a_311^post136, i_140^0'=i_140^post136, a_577^0'=a_577^post136, x_14^0'=x_14^post136, nondet_12^0'=nondet_12^post136, a_121^0'=a_121^post136, head_15^0'=head_15^post136, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post136, i_27^0'=i_27^post136, x_21^0'=x_21^post136, a_634^0'=a_634^post136, r_39^0'=r_39^post136, a_263^0'=a_263^post136, i_113^0'=i_113^post136, a_432^0'=a_432^post136, temp0_31^0'=temp0_31^post136, len_262^0'=len_262^post136, y_20^0'=y_20^post136, f_248^0'=f_248^post136, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136, a_393^0'=a_393^post136, i_229^0'=i_229^post136, a_610^0'=a_610^post136, r_151^0'=r_151^post136, a_144^0'=a_144^post136, i_1053^0'=i_1053^post136, a_417^0'=a_417^post136, t_24^0'=t_24^post136, i_94^0'=i_94^post136, x_852^0'=x_852^post136, a_862^0'=a_862^post136, rcd_1249^0'=rcd_1249^post136, rcd_58^0'=rcd_58^post136, a_310^0'=a_310^post136, i_127^0'=i_127^post136, a_576^0'=a_576^post136, tmp_34^0'=tmp_34^post136, length_29^0'=length_29^post136, a_1162^0'=a_1162^post136, f_969^0'=f_969^post136, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post136, a_395^0'=a_395^post136, x_17^0'=x_17^post136, a_633^0'=a_633^post136, r_224^0'=r_224^post136, a_239^0'=a_239^post136, i_107^0'=i_107^post136, a_431^0'=a_431^post136, temp0_16^0'=temp0_16^post136, len_238^0'=len_238^post136, x_SLAM_f_19^0'=x_SLAM_f_19^post136, a_924^0'=a_924^post136, ct_18^0'=ct_18^post136, result_11^0'=result_11^post136, a_392^0'=a_392^post136, i_197^0'=i_197^post136, a_579^0'=a_579^post136, r_143^0'=r_143^post136, a_1236^0'=a_1236^post136, head_32^0'=head_32^post136, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post136, i_30^0'=i_30^post136, x_253^0'=x_253^post136, a_635^0'=a_635^post136, r_970^0'=r_970^post136, rcd_47^0'=rcd_47^post136, a_309^0'=a_309^post136, i_1248^0'=i_1248^post136, a_575^0'=a_575^post136, temp_35^0'=temp_35^post136, len_861^0'=len_861^post136, (-a_1236^post136+a_1236^0 == 0 /\ -a_576^post136+a_576^0 == 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post136 == 0 /\ -x_17^post136+x_17^0 == 0 /\ result_11^0-result_11^post136 == 0 /\ -i_30^post136+i_30^0 == 0 /\ a_579^0-a_579^post136 == 0 /\ -i_107^post136+i_107^0 == 0 /\ -a_392^post136+a_392^0 == 0 /\ -i_94^post136+i_94^0 == 0 /\ a_634^0-a_634^post136 == 0 /\ r_151^0-r_151^post136 == 0 /\ -temp0_16^post136+temp0_16^0 == 0 /\ -len_861^post136+len_861^0 == 0 /\ a_176^0-a_176^post136 == 0 /\ -a_635^post136+a_635^0 == 0 /\ i_113^0-i_113^post136 == 0 /\ -i_1248^post136+i_1248^0 == 0 /\ -x_SLAM_f_19^post136+x_SLAM_f_19^0 == 0 /\ -a_144^post136+a_144^0 == 0 /\ len_262^0-len_262^post136 == 0 /\ r_143^0-r_143^post136 == 0 /\ a_239^0-a_239^post136 == 0 /\ -head_32^post136+head_32^0 == 0 /\ -ct_18^post136+ct_18^0 == 0 /\ -len_238^post136+len_238^0 == 0 /\ a_310^0-a_310^post136 == 0 /\ -rcd_47^post136+rcd_47^0 == 0 /\ r_192^0-r_192^post136 == 0 /\ -temp0_31^post136+temp0_31^0 == 0 /\ -a_633^post136+a_633^0 == 0 /\ -x_975^post136+x_975^0 == 0 /\ x_14^0-x_14^post136 == 0 /\ -a_902^post136+a_902^0 == 0 /\ -a_575^post136+a_575^0 == 0 /\ -i_197^post136+i_197^0 == 0 /\ len_161^0-len_161^post136 == 0 /\ -r_39^post136+r_39^0 == 0 /\ x_852^0-x_852^post136 == 0 /\ -a_309^post136+a_309^0 == 0 /\ t_24^0-t_24^post136 == 0 /\ a_1089^0-a_1089^post136 == 0 /\ a_632^0-a_632^post136 == 0 /\ a_393^0-a_393^post136 == 0 /\ a_432^0-a_432^post136 == 0 /\ -i_127^post136+i_127^0 == 0 /\ -head_15^post136+head_15^0 == 0 /\ -a_431^post136+a_431^0 == 0 /\ -x_253^post136+x_253^0 == 0 /\ x_156^0-x_156^post136 == 0 /\ y_20^0-y_20^post136 == 0 /\ -a_1162^post136+a_1162^0 == 0 /\ i_229^0-i_229^post136 == 0 /\ f_847^0-f_847^post136 == 0 /\ -a_924^post136+a_924^0 == 0 /\ nondet_12^0-nondet_12^post136 == 0 /\ i_140^0-i_140^post136 == 0 /\ rcd_58^0-rcd_58^post136 == 0 /\ a_862^0-a_862^post136 == 0 /\ -x_21^post136+x_21^0 == 0 /\ a_121^0-a_121^post136 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post136 == 0 /\ -f_969^post136+f_969^0 == 0 /\ a_417^0-a_417^post136 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post136 == 0 /\ -r_970^post136+r_970^0 == 0 /\ a_394^0-a_394^post136 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post136 == 0 /\ -tmp_34^post136+tmp_34^0 == 0 /\ rcd_88^0-rcd_88^post136 == 0 /\ a_577^0-a_577^post136 == 0 /\ -a_311^post136+a_311^0 == 0 /\ a_610^0-a_610^post136 == 0 /\ a_395^0-a_395^post136 == 0 /\ -f_248^post136+f_248^0 == 0 /\ i_1053^0-i_1053^post136 == 0 /\ i_106^0-i_106^post136 == 0 /\ -r_224^post136+r_224^0 == 0 /\ -temp_35^post136+temp_35^0 == 0 /\ -rcd_1249^post136+rcd_1249^0 == 0 /\ length_29^0-length_29^post136 == 0 /\ a_430^0-a_430^post136 == 0 /\ i_27^0-i_27^post136 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post136 == 0 /\ a_263^0-a_263^post136 == 0 /\ t_458^0-t_458^post136 == 0 /\ -a_947^post136+a_947^0 == 0), cost: 1 137: l87 -> l88 : a_1089^0'=a_1089^post137, f_847^0'=f_847^post137, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post137, a_394^0'=a_394^post137, x_156^0'=x_156^post137, a_632^0'=a_632^post137, r_192^0'=r_192^post137, a_176^0'=a_176^post137, i_106^0'=i_106^post137, a_430^0'=a_430^post137, t_458^0'=t_458^post137, len_161^0'=len_161^post137, x_975^0'=x_975^post137, a_902^0'=a_902^post137, a_947^0'=a_947^post137, rcd_88^0'=rcd_88^post137, a_311^0'=a_311^post137, i_140^0'=i_140^post137, a_577^0'=a_577^post137, x_14^0'=x_14^post137, nondet_12^0'=nondet_12^post137, a_121^0'=a_121^post137, head_15^0'=head_15^post137, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post137, i_27^0'=i_27^post137, x_21^0'=x_21^post137, a_634^0'=a_634^post137, r_39^0'=r_39^post137, a_263^0'=a_263^post137, i_113^0'=i_113^post137, a_432^0'=a_432^post137, temp0_31^0'=temp0_31^post137, len_262^0'=len_262^post137, y_20^0'=y_20^post137, f_248^0'=f_248^post137, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137, a_393^0'=a_393^post137, i_229^0'=i_229^post137, a_610^0'=a_610^post137, r_151^0'=r_151^post137, a_144^0'=a_144^post137, i_1053^0'=i_1053^post137, a_417^0'=a_417^post137, t_24^0'=t_24^post137, i_94^0'=i_94^post137, x_852^0'=x_852^post137, a_862^0'=a_862^post137, rcd_1249^0'=rcd_1249^post137, rcd_58^0'=rcd_58^post137, a_310^0'=a_310^post137, i_127^0'=i_127^post137, a_576^0'=a_576^post137, tmp_34^0'=tmp_34^post137, length_29^0'=length_29^post137, a_1162^0'=a_1162^post137, f_969^0'=f_969^post137, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post137, a_395^0'=a_395^post137, x_17^0'=x_17^post137, a_633^0'=a_633^post137, r_224^0'=r_224^post137, a_239^0'=a_239^post137, i_107^0'=i_107^post137, a_431^0'=a_431^post137, temp0_16^0'=temp0_16^post137, len_238^0'=len_238^post137, x_SLAM_f_19^0'=x_SLAM_f_19^post137, a_924^0'=a_924^post137, ct_18^0'=ct_18^post137, result_11^0'=result_11^post137, a_392^0'=a_392^post137, i_197^0'=i_197^post137, a_579^0'=a_579^post137, r_143^0'=r_143^post137, a_1236^0'=a_1236^post137, head_32^0'=head_32^post137, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post137, i_30^0'=i_30^post137, x_253^0'=x_253^post137, a_635^0'=a_635^post137, r_970^0'=r_970^post137, rcd_47^0'=rcd_47^post137, a_309^0'=a_309^post137, i_1248^0'=i_1248^post137, a_575^0'=a_575^post137, temp_35^0'=temp_35^post137, len_861^0'=len_861^post137, (-result_11^post137+result_11^0 == 0 /\ a_176^0-a_176^post137 == 0 /\ -a_924^post137+a_924^0 == 0 /\ ct_18^0-ct_18^post137 == 0 /\ r_192^0-r_192^post137 == 0 /\ -a_610^post137+a_610^0 == 0 /\ -temp_35^post137+temp_35^0 == 0 /\ -rcd_1249^post137+rcd_1249^0 == 0 /\ -tmp_34^post137+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post137 == 0 /\ -y_20^post137+y_20^0 == 0 /\ a_1089^0-a_1089^post137 == 0 /\ -x_253^post137+x_253^0 == 0 /\ -len_238^post137+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post137+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post137+head_15^0 == 0 /\ i_27^0-i_27^post137 == 0 /\ -r_970^post137+r_970^0 == 0 /\ a_310^0-a_310^post137 == 0 /\ r_39^0-r_39^post137 == 0 /\ -x_852^post137+x_852^0 == 0 /\ a_263^0-a_263^post137 == 0 /\ i_229^0-i_229^post137 == 0 /\ a_432^0-a_432^post137 == 0 /\ -i_1248^post137+i_1248^0 == 0 /\ -a_239^post137+a_239^0 == 0 /\ -a_311^post137+a_311^0 == 0 /\ i_197^0-i_197^post137 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post137 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post137 == 0 /\ -a_395^post137+a_395^0 == 0 /\ nondet_12^0-nondet_12^post137 == 0 /\ a_634^0-a_634^post137 == 0 /\ x_975^0-x_975^post137 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post137+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_113^0-i_113^post137 == 0 /\ a_947^0-a_947^post137 == 0 /\ -r_143^post137+r_143^0 == 0 /\ -f_248^post137+f_248^0 == 0 /\ a_121^0-a_121^post137 == 0 /\ -a_576^post137+a_576^0 == 0 /\ rcd_88^0-rcd_88^post137 == 0 /\ -a_393^post137+a_393^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ f_969^0-f_969^post137 == 0 /\ i_107^0-i_107^post137 == 0 /\ -a_392^post137+a_392^0 == 0 /\ i_30^0-i_30^post137 == 0 /\ -a_309^post137+a_309^0 == 0 /\ -a_144^post137+a_144^0 == 0 /\ -temp0_16^post137+temp0_16^0 == 0 /\ -a_635^post137+a_635^0 == 0 /\ -length_29^post137+length_29^0 == 0 /\ x_14^0-x_14^post137 == 0 /\ a_632^0-a_632^post137 == 0 /\ a_430^0-a_430^post137 == 0 /\ t_24^0-t_24^post137 == 0 /\ -a_417^post137+a_417^0 == 0 /\ -len_861^post137+len_861^0 == 0 /\ len_161^0-len_161^post137 == 0 /\ -a_1236^post137+a_1236^0 == 0 /\ -rcd_47^post137+rcd_47^0 == 0 /\ x_156^0-x_156^post137 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post137+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post137+t_458^0 == 0 /\ -r_151^post137+r_151^0 == 0 /\ a_1162^0-a_1162^post137 == 0 /\ f_847^0-f_847^post137 == 0 /\ -rcd_58^post137+rcd_58^0 == 0 /\ a_862^0-a_862^post137 == 0 /\ -i_106^post137+i_106^0 == 0 /\ i_140^0-i_140^post137 == 0 /\ -a_579^post137+a_579^0 == 0 /\ a_431^0-a_431^post137 == 0 /\ x_21^0-x_21^post137 == 0 /\ temp0_31^0-temp0_31^post137 == 0 /\ -i_127^post137+i_127^0 == 0 /\ i_1053^0-i_1053^post137 == 0 /\ i_94^0-i_94^post137 == 0 /\ r_224^0-r_224^post137 == 0 /\ -a_575^post137+a_575^0 == 0 /\ len_262^0-len_262^post137 == 0 /\ -head_32^post137+head_32^0 == 0 /\ -a_902^post137+a_902^0 == 0 /\ x_17^0-x_17^post137 == 0 /\ a_394^0-a_394^post137 == 0 /\ a_577^0-a_577^post137 == 0 /\ -a_633^post137+a_633^0 == 0), cost: 1 138: l87 -> l88 : a_1089^0'=a_1089^post138, f_847^0'=f_847^post138, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post138, a_394^0'=a_394^post138, x_156^0'=x_156^post138, a_632^0'=a_632^post138, r_192^0'=r_192^post138, a_176^0'=a_176^post138, i_106^0'=i_106^post138, a_430^0'=a_430^post138, t_458^0'=t_458^post138, len_161^0'=len_161^post138, x_975^0'=x_975^post138, a_902^0'=a_902^post138, a_947^0'=a_947^post138, rcd_88^0'=rcd_88^post138, a_311^0'=a_311^post138, i_140^0'=i_140^post138, a_577^0'=a_577^post138, x_14^0'=x_14^post138, nondet_12^0'=nondet_12^post138, a_121^0'=a_121^post138, head_15^0'=head_15^post138, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post138, i_27^0'=i_27^post138, x_21^0'=x_21^post138, a_634^0'=a_634^post138, r_39^0'=r_39^post138, a_263^0'=a_263^post138, i_113^0'=i_113^post138, a_432^0'=a_432^post138, temp0_31^0'=temp0_31^post138, len_262^0'=len_262^post138, y_20^0'=y_20^post138, f_248^0'=f_248^post138, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138, a_393^0'=a_393^post138, i_229^0'=i_229^post138, a_610^0'=a_610^post138, r_151^0'=r_151^post138, a_144^0'=a_144^post138, i_1053^0'=i_1053^post138, a_417^0'=a_417^post138, t_24^0'=t_24^post138, i_94^0'=i_94^post138, x_852^0'=x_852^post138, a_862^0'=a_862^post138, rcd_1249^0'=rcd_1249^post138, rcd_58^0'=rcd_58^post138, a_310^0'=a_310^post138, i_127^0'=i_127^post138, a_576^0'=a_576^post138, tmp_34^0'=tmp_34^post138, length_29^0'=length_29^post138, a_1162^0'=a_1162^post138, f_969^0'=f_969^post138, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post138, a_395^0'=a_395^post138, x_17^0'=x_17^post138, a_633^0'=a_633^post138, r_224^0'=r_224^post138, a_239^0'=a_239^post138, i_107^0'=i_107^post138, a_431^0'=a_431^post138, temp0_16^0'=temp0_16^post138, len_238^0'=len_238^post138, x_SLAM_f_19^0'=x_SLAM_f_19^post138, a_924^0'=a_924^post138, ct_18^0'=ct_18^post138, result_11^0'=result_11^post138, a_392^0'=a_392^post138, i_197^0'=i_197^post138, a_579^0'=a_579^post138, r_143^0'=r_143^post138, a_1236^0'=a_1236^post138, head_32^0'=head_32^post138, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post138, i_30^0'=i_30^post138, x_253^0'=x_253^post138, a_635^0'=a_635^post138, r_970^0'=r_970^post138, rcd_47^0'=rcd_47^post138, a_309^0'=a_309^post138, i_1248^0'=i_1248^post138, a_575^0'=a_575^post138, temp_35^0'=temp_35^post138, len_861^0'=len_861^post138, (-a_417^post138+a_417^0 == 0 /\ -a_862^post138+a_862^0 == 0 /\ -i_27^post138+i_27^0 == 0 /\ -i_107^post138+i_107^0 == 0 /\ -a_575^post138+a_575^0 == 0 /\ -a_1236^post138+a_1236^0 == 0 /\ -a_635^post138+a_635^0 == 0 /\ -i_30^post138+i_30^0 == 0 /\ temp0_31^0-temp0_31^post138 == 0 /\ -a_393^post138+a_393^0 == 0 /\ i_229^0-i_229^post138 == 0 /\ a_634^0-a_634^post138 == 0 /\ head_15^0-head_15^post138 == 0 /\ f_248^0-f_248^post138 == 0 /\ a_121^0-a_121^post138 == 0 /\ a_176^0-a_176^post138 == 0 /\ -length_29^post138+length_29^0 == 0 /\ -i_1248^post138+i_1248^0 == 0 /\ i_127^0-i_127^post138 == 0 /\ len_262^0-len_262^post138 == 0 /\ x_156^0-x_156^post138 == 0 /\ a_947^0-a_947^post138 == 0 /\ -head_32^post138+head_32^0 == 0 /\ -a_310^post138+a_310^0 == 0 /\ i_113^0-i_113^post138 == 0 /\ -ct_18^post138+ct_18^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post138+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post138+len_238^0 == 0 /\ -r_151^post138+r_151^0 == 0 /\ a_430^0-a_430^post138 == 0 /\ rcd_1249^0-rcd_1249^post138 == 0 /\ x_14^0-x_14^post138 == 0 /\ -a_309^post138+a_309^0 == 0 /\ a_1089^0-a_1089^post138 == 0 /\ -a_392^post138+a_392^0 == 0 /\ a_632^0-a_632^post138 == 0 /\ a_633^0-a_633^post138 == 0 /\ x_21^0-x_21^post138 == 0 /\ a_432^0-a_432^post138 == 0 /\ -a_579^post138+a_579^0 == 0 /\ -i_197^post138+i_197^0 == 0 /\ -x_253^post138+x_253^0 == 0 /\ -result_11^post138+result_11^0 == 0 /\ f_847^0-f_847^post138 == 0 /\ temp0_16^0-temp0_16^post138 == 0 /\ -a_263^post138+a_263^0 == 0 /\ nondet_12^0-nondet_12^post138 == 0 /\ -a_902^post138+a_902^0 == 0 /\ i_140^0-i_140^post138 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post138 == 0 /\ i_94^0-i_94^post138 == 0 /\ a_431^0-a_431^post138 == 0 /\ -x_852^post138+x_852^0 == 0 /\ -a_1162^post138+a_1162^0 == 0 /\ x_975^0-x_975^post138 == 0 /\ x_17^0-x_17^post138 == 0 /\ y_20^0-y_20^post138 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post138+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_47^post138+rcd_47^0 == 0 /\ r_970^0-r_970^post138 == 0 /\ a_144^0-a_144^post138 == 0 /\ a_394^0-a_394^post138 == 0 /\ -rcd_58^post138+rcd_58^0 == 0 /\ -a_239^post138+a_239^0 == 0 /\ -tmp_34^post138+tmp_34^0 == 0 /\ -a_311^post138+a_311^0 == 0 /\ a_577^0-a_577^post138 == 0 /\ -a_395^post138+a_395^0 == 0 /\ -len_861^post138+len_861^0 == 0 /\ -x_SLAM_f_19^post138+x_SLAM_f_19^0 == 0 /\ -rcd_88^post138+rcd_88^0 == 0 /\ f_969^0-f_969^post138 == 0 /\ a_610^0-a_610^post138 == 0 /\ i_106^0-i_106^post138 == 0 /\ -r_224^post138+r_224^0 == 0 /\ t_24^0-t_24^post138 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post138+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp_35^post138+temp_35^0 == 0 /\ t_458^0-t_458^post138 == 0 /\ -a_576^post138+a_576^0 == 0 /\ r_39^0-r_39^post138 == 0 /\ -a_924^post138+a_924^0 == 0 /\ -i_1053^post138+i_1053^0 == 0 /\ len_161^0-len_161^post138 == 0 /\ -r_143^post138+r_143^0 == 0), cost: 1 139: l88 -> l9 : a_1089^0'=a_1089^post139, f_847^0'=f_847^post139, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post139, a_394^0'=a_394^post139, x_156^0'=x_156^post139, a_632^0'=a_632^post139, r_192^0'=r_192^post139, a_176^0'=a_176^post139, i_106^0'=i_106^post139, a_430^0'=a_430^post139, t_458^0'=t_458^post139, len_161^0'=len_161^post139, x_975^0'=x_975^post139, a_902^0'=a_902^post139, a_947^0'=a_947^post139, rcd_88^0'=rcd_88^post139, a_311^0'=a_311^post139, i_140^0'=i_140^post139, a_577^0'=a_577^post139, x_14^0'=x_14^post139, nondet_12^0'=nondet_12^post139, a_121^0'=a_121^post139, head_15^0'=head_15^post139, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post139, i_27^0'=i_27^post139, x_21^0'=x_21^post139, a_634^0'=a_634^post139, r_39^0'=r_39^post139, a_263^0'=a_263^post139, i_113^0'=i_113^post139, a_432^0'=a_432^post139, temp0_31^0'=temp0_31^post139, len_262^0'=len_262^post139, y_20^0'=y_20^post139, f_248^0'=f_248^post139, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139, a_393^0'=a_393^post139, i_229^0'=i_229^post139, a_610^0'=a_610^post139, r_151^0'=r_151^post139, a_144^0'=a_144^post139, i_1053^0'=i_1053^post139, a_417^0'=a_417^post139, t_24^0'=t_24^post139, i_94^0'=i_94^post139, x_852^0'=x_852^post139, a_862^0'=a_862^post139, rcd_1249^0'=rcd_1249^post139, rcd_58^0'=rcd_58^post139, a_310^0'=a_310^post139, i_127^0'=i_127^post139, a_576^0'=a_576^post139, tmp_34^0'=tmp_34^post139, length_29^0'=length_29^post139, a_1162^0'=a_1162^post139, f_969^0'=f_969^post139, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post139, a_395^0'=a_395^post139, x_17^0'=x_17^post139, a_633^0'=a_633^post139, r_224^0'=r_224^post139, a_239^0'=a_239^post139, i_107^0'=i_107^post139, a_431^0'=a_431^post139, temp0_16^0'=temp0_16^post139, len_238^0'=len_238^post139, x_SLAM_f_19^0'=x_SLAM_f_19^post139, a_924^0'=a_924^post139, ct_18^0'=ct_18^post139, result_11^0'=result_11^post139, a_392^0'=a_392^post139, i_197^0'=i_197^post139, a_579^0'=a_579^post139, r_143^0'=r_143^post139, a_1236^0'=a_1236^post139, head_32^0'=head_32^post139, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post139, i_30^0'=i_30^post139, x_253^0'=x_253^post139, a_635^0'=a_635^post139, r_970^0'=r_970^post139, rcd_47^0'=rcd_47^post139, a_309^0'=a_309^post139, i_1248^0'=i_1248^post139, a_575^0'=a_575^post139, temp_35^0'=temp_35^post139, len_861^0'=len_861^post139, (-t_24^post139+t_24^0 == 0 /\ -a_579^post139+a_579^0 == 0 /\ -result_11^post139+result_11^0 == 0 /\ ct_18^0-ct_18^post139 == 0 /\ a_394^0-a_394^post139 == 0 /\ a_1089^0-a_1089^post139 == 0 /\ -y_20^post139+y_20^0 == 0 /\ -a_263^post139+a_263^0 == 0 /\ -temp_35^post139+temp_35^0 == 0 /\ x_852^0-x_852^post139 == 0 /\ t_458^0-t_458^post139 == 0 /\ i_106^0-i_106^post139 == 0 /\ -a_431^post139+a_431^0 == 0 /\ -i_229^post139+i_229^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_253^post139+x_253^0 == 0 /\ -r_970^post139+r_970^0 == 0 /\ rcd_88^0-rcd_88^post139 == 0 /\ a_576^0-a_576^post139 == 0 /\ -a_395^post139+a_395^0 == 0 /\ a_311^0-a_311^post139 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post139 == 0 /\ -i_1053^post139+i_1053^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post139 == 0 /\ -i_1248^post139+i_1248^0 == 0 /\ -a_239^post139+a_239^0 == 0 /\ nondet_12^0-nondet_12^post139 == 0 /\ f_248^0-f_248^post139 == 0 /\ tmp_34^0-tmp_34^post139 == 0 /\ -len_861^post139+len_861^0 == 0 /\ -r_224^post139+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post139+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1236^0-a_1236^post139 == 0 /\ a_924^0-a_924^post139 == 0 /\ a_121^0-a_121^post139 == 0 /\ x_21^0-x_21^post139 == 0 /\ len_262^0-len_262^post139 == 0 /\ a_610^0-a_610^post139 == 0 /\ -r_143^post139+r_143^0 == 0 /\ temp0_31^0-temp0_31^post139 == 0 /\ -a_393^post139+a_393^0 == 0 /\ x_975^0-x_975^post139 == 0 /\ -x_17^post139+x_17^0 == 0 /\ a_577^0-a_577^post139 == 0 /\ -a_392^post139+a_392^0 == 0 /\ -a_309^post139+a_309^0 == 0 /\ len_238^0-len_238^post139 == 0 /\ -i_30^post139+i_30^0 == 0 /\ -a_417^post139+a_417^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post139 == 0 /\ -x_SLAM_f_19^post139+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post139 == 0 /\ -i_107^post139+i_107^0 == 0 /\ x_14^0-x_14^post139 == 0 /\ i_27^0-i_27^post139 == 0 /\ f_969^0-f_969^post139 == 0 /\ -x_156^post139+x_156^0 == 0 /\ -a_575^post139+a_575^0 == 0 /\ r_192^0-r_192^post139 == 0 /\ a_176^0-a_176^post139 == 0 /\ -i_113^post139+i_113^0 == 0 /\ len_161^0-len_161^post139 == 0 /\ -a_635^post139+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post139 == 0 /\ -a_432^post139+a_432^0 == 0 /\ -a_632^post139+a_632^0 == 0 /\ a_430^0-a_430^post139 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post139+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1162^0-a_1162^post139 == 0 /\ -rcd_58^post139+rcd_58^0 == 0 /\ -length_29^post139+length_29^0 == 0 /\ f_847^0-f_847^post139 == 0 /\ -rcd_47^post139+rcd_47^0 == 0 /\ -r_39^post139+r_39^0 == 0 /\ -a_310^post139+a_310^0 == 0 /\ -a_862^post139+a_862^0 == 0 /\ -i_140^post139+i_140^0 == 0 /\ temp0_16^0-temp0_16^post139 == 0 /\ r_151^0-r_151^post139 == 0 /\ a_144^0-a_144^post139 == 0 /\ a_902^0-a_902^post139 == 0 /\ -head_32^post139+head_32^0 == 0 /\ -a_633^post139+a_633^0 == 0 /\ i_94^0-i_94^post139 == 0 /\ a_634^0-a_634^post139 == 0 /\ i_127^0-i_127^post139 == 0 /\ head_15^0-head_15^post139 == 0 /\ -i_197^post139+i_197^0 == 0), cost: 1 141: l89 -> l90 : a_1089^0'=a_1089^post141, f_847^0'=f_847^post141, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post141, a_394^0'=a_394^post141, x_156^0'=x_156^post141, a_632^0'=a_632^post141, r_192^0'=r_192^post141, a_176^0'=a_176^post141, i_106^0'=i_106^post141, a_430^0'=a_430^post141, t_458^0'=t_458^post141, len_161^0'=len_161^post141, x_975^0'=x_975^post141, a_902^0'=a_902^post141, a_947^0'=a_947^post141, rcd_88^0'=rcd_88^post141, a_311^0'=a_311^post141, i_140^0'=i_140^post141, a_577^0'=a_577^post141, x_14^0'=x_14^post141, nondet_12^0'=nondet_12^post141, a_121^0'=a_121^post141, head_15^0'=head_15^post141, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post141, i_27^0'=i_27^post141, x_21^0'=x_21^post141, a_634^0'=a_634^post141, r_39^0'=r_39^post141, a_263^0'=a_263^post141, i_113^0'=i_113^post141, a_432^0'=a_432^post141, temp0_31^0'=temp0_31^post141, len_262^0'=len_262^post141, y_20^0'=y_20^post141, f_248^0'=f_248^post141, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141, a_393^0'=a_393^post141, i_229^0'=i_229^post141, a_610^0'=a_610^post141, r_151^0'=r_151^post141, a_144^0'=a_144^post141, i_1053^0'=i_1053^post141, a_417^0'=a_417^post141, t_24^0'=t_24^post141, i_94^0'=i_94^post141, x_852^0'=x_852^post141, a_862^0'=a_862^post141, rcd_1249^0'=rcd_1249^post141, rcd_58^0'=rcd_58^post141, a_310^0'=a_310^post141, i_127^0'=i_127^post141, a_576^0'=a_576^post141, tmp_34^0'=tmp_34^post141, length_29^0'=length_29^post141, a_1162^0'=a_1162^post141, f_969^0'=f_969^post141, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post141, a_395^0'=a_395^post141, x_17^0'=x_17^post141, a_633^0'=a_633^post141, r_224^0'=r_224^post141, a_239^0'=a_239^post141, i_107^0'=i_107^post141, a_431^0'=a_431^post141, temp0_16^0'=temp0_16^post141, len_238^0'=len_238^post141, x_SLAM_f_19^0'=x_SLAM_f_19^post141, a_924^0'=a_924^post141, ct_18^0'=ct_18^post141, result_11^0'=result_11^post141, a_392^0'=a_392^post141, i_197^0'=i_197^post141, a_579^0'=a_579^post141, r_143^0'=r_143^post141, a_1236^0'=a_1236^post141, head_32^0'=head_32^post141, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post141, i_30^0'=i_30^post141, x_253^0'=x_253^post141, a_635^0'=a_635^post141, r_970^0'=r_970^post141, rcd_47^0'=rcd_47^post141, a_309^0'=a_309^post141, i_1248^0'=i_1248^post141, a_575^0'=a_575^post141, temp_35^0'=temp_35^post141, len_861^0'=len_861^post141, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post141 == 0 /\ -r_224^post141+r_224^0 == 0 /\ a_144^0-a_144^post141 == 0 /\ a_394^0-a_394^post141 == 0 /\ -temp_35^post141+temp_35^0 == 0 /\ t_24^0-t_24^post141 == 0 /\ -a_579^post141+a_579^0 == 0 /\ -r_970^post141+r_970^0 == 0 /\ a_430^0-a_430^post141 == 0 /\ 1-x_14^0 <= 0 /\ -i_127^post141+i_127^0 == 0 /\ -a_121^post141+a_121^0 == 0 /\ x_852^0-x_852^post141 == 0 /\ -a_431^post141+a_431^0 == 0 /\ t_458^0-t_458^post141 == 0 /\ a_392^0-a_392^post141 == 0 /\ -ct_18^post141+ct_18^0 == 0 /\ a_263^0-a_263^post141 == 0 /\ -i_197^post141+i_197^0 == 0 /\ a_632^0-a_632^post141 == 0 /\ i_106^0-i_106^post141 == 0 /\ a_576^0-a_576^post141 == 0 /\ -y_20^post141+y_20^0 == 0 /\ -f_248^post141+f_248^0 == 0 /\ len_161^0-len_161^post141 == 0 /\ rcd_88^0-rcd_88^post141 == 0 /\ a_311^0-a_311^post141 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post141+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post141 == 0 /\ -a_1162^post141+a_1162^0 == 0 /\ -rcd_1249^post141+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post141 == 0 /\ -a_924^post141+a_924^0 == 0 /\ -i_229^post141+i_229^0 == 0 /\ x_21^0-x_21^post141 == 0 /\ -a_577^post141+a_577^0 == 0 /\ a_1236^0-a_1236^post141 == 0 /\ -i_1248^post141+i_1248^0 == 0 /\ -len_861^post141+len_861^0 == 0 /\ a_610^0-a_610^post141 == 0 /\ temp0_31^0-temp0_31^post141 == 0 /\ -temp0_16^post141+temp0_16^0 == 0 /\ a_862^0-a_862^post141 == 0 /\ len_262^0-len_262^post141 == 0 /\ -i_30^post141+i_30^0 == 0 /\ -a_393^post141+a_393^0 == 0 /\ r_143^0-r_143^post141 == 0 /\ -result_11^post141+result_11^0 == 0 /\ -x_17^post141+x_17^0 == 0 /\ rcd_58^0-rcd_58^post141 == 0 /\ a_176^0-a_176^post141 == 0 /\ -i_94^post141+i_94^0 == 0 /\ a_1089^0-a_1089^post141 == 0 /\ i_1053^0-i_1053^post141 == 0 /\ a_947^0-a_947^post141 == 0 /\ -i_113^post141+i_113^0 == 0 /\ -a_309^post141+a_309^0 == 0 /\ x_14^0-x_14^post141 == 0 /\ -x_SLAM_f_19^post141+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post141 == 0 /\ a_395^0-a_395^post141 == 0 /\ -i_107^post141+i_107^0 == 0 /\ i_27^0-i_27^post141 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post141 == 0 /\ -a_575^post141+a_575^0 == 0 /\ -a_432^post141+a_432^0 == 0 /\ -a_633^post141+a_633^0 == 0 /\ a_635^0-a_635^post141 == 0 /\ tmp_34^0-tmp_34^post141 == 0 /\ -i_140^post141+i_140^0 == 0 /\ -r_39^post141+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post141+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post141+length_29^0 == 0 /\ -rcd_47^post141+rcd_47^0 == 0 /\ r_151^0-r_151^post141 == 0 /\ a_417^0-a_417^post141 == 0 /\ -a_310^post141+a_310^0 == 0 /\ nondet_12^0-nondet_12^post141 == 0 /\ -x_253^post141+x_253^0 == 0 /\ -len_238^post141+len_238^0 == 0 /\ x_975^0-x_975^post141 == 0 /\ a_634^0-a_634^post141 == 0 /\ x_156^0-x_156^post141 == 0 /\ a_239^0-a_239^post141 == 0 /\ head_15^0-head_15^post141 == 0 /\ a_902^0-a_902^post141 == 0 /\ -head_32^post141+head_32^0 == 0 /\ -f_969^post141+f_969^0 == 0), cost: 1 142: l89 -> l90 : a_1089^0'=a_1089^post142, f_847^0'=f_847^post142, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post142, a_394^0'=a_394^post142, x_156^0'=x_156^post142, a_632^0'=a_632^post142, r_192^0'=r_192^post142, a_176^0'=a_176^post142, i_106^0'=i_106^post142, a_430^0'=a_430^post142, t_458^0'=t_458^post142, len_161^0'=len_161^post142, x_975^0'=x_975^post142, a_902^0'=a_902^post142, a_947^0'=a_947^post142, rcd_88^0'=rcd_88^post142, a_311^0'=a_311^post142, i_140^0'=i_140^post142, a_577^0'=a_577^post142, x_14^0'=x_14^post142, nondet_12^0'=nondet_12^post142, a_121^0'=a_121^post142, head_15^0'=head_15^post142, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post142, i_27^0'=i_27^post142, x_21^0'=x_21^post142, a_634^0'=a_634^post142, r_39^0'=r_39^post142, a_263^0'=a_263^post142, i_113^0'=i_113^post142, a_432^0'=a_432^post142, temp0_31^0'=temp0_31^post142, len_262^0'=len_262^post142, y_20^0'=y_20^post142, f_248^0'=f_248^post142, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142, a_393^0'=a_393^post142, i_229^0'=i_229^post142, a_610^0'=a_610^post142, r_151^0'=r_151^post142, a_144^0'=a_144^post142, i_1053^0'=i_1053^post142, a_417^0'=a_417^post142, t_24^0'=t_24^post142, i_94^0'=i_94^post142, x_852^0'=x_852^post142, a_862^0'=a_862^post142, rcd_1249^0'=rcd_1249^post142, rcd_58^0'=rcd_58^post142, a_310^0'=a_310^post142, i_127^0'=i_127^post142, a_576^0'=a_576^post142, tmp_34^0'=tmp_34^post142, length_29^0'=length_29^post142, a_1162^0'=a_1162^post142, f_969^0'=f_969^post142, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post142, a_395^0'=a_395^post142, x_17^0'=x_17^post142, a_633^0'=a_633^post142, r_224^0'=r_224^post142, a_239^0'=a_239^post142, i_107^0'=i_107^post142, a_431^0'=a_431^post142, temp0_16^0'=temp0_16^post142, len_238^0'=len_238^post142, x_SLAM_f_19^0'=x_SLAM_f_19^post142, a_924^0'=a_924^post142, ct_18^0'=ct_18^post142, result_11^0'=result_11^post142, a_392^0'=a_392^post142, i_197^0'=i_197^post142, a_579^0'=a_579^post142, r_143^0'=r_143^post142, a_1236^0'=a_1236^post142, head_32^0'=head_32^post142, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post142, i_30^0'=i_30^post142, x_253^0'=x_253^post142, a_635^0'=a_635^post142, r_970^0'=r_970^post142, rcd_47^0'=rcd_47^post142, a_309^0'=a_309^post142, i_1248^0'=i_1248^post142, a_575^0'=a_575^post142, temp_35^0'=temp_35^post142, len_861^0'=len_861^post142, (a_633^0-a_633^post142 == 0 /\ -a_635^post142+a_635^0 == 0 /\ -r_143^post142+r_143^0 == 0 /\ i_94^0-i_94^post142 == 0 /\ r_39^0-r_39^post142 == 0 /\ y_20^0-y_20^post142 == 0 /\ r_151^0-r_151^post142 == 0 /\ a_393^0-a_393^post142 == 0 /\ -len_238^post142+len_238^0 == 0 /\ -x_SLAM_f_19^post142+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post142 == 0 /\ -i_30^post142+i_30^0 == 0 /\ a_432^0-a_432^post142 == 0 /\ x_975^0-x_975^post142 == 0 /\ x_21^0-x_21^post142 == 0 /\ r_192^0-r_192^post142 == 0 /\ i_113^0-i_113^post142 == 0 /\ -a_309^post142+a_309^0 == 0 /\ a_144^0-a_144^post142 == 0 /\ -a_576^post142+a_576^0 == 0 /\ -a_634^post142+a_634^0 == 0 /\ -i_107^post142+i_107^0 == 0 /\ -a_575^post142+a_575^0 == 0 /\ i_27^0-i_27^post142 == 0 /\ t_24^0-t_24^post142 == 0 /\ -a_1236^post142+a_1236^0 == 0 /\ a_862^0-a_862^post142 == 0 /\ -a_431^post142+a_431^0 == 0 /\ a_310^0-a_310^post142 == 0 /\ a_417^0-a_417^post142 == 0 /\ head_32^0-head_32^post142 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post142 == 0 /\ rcd_58^0-rcd_58^post142 == 0 /\ -a_392^post142+a_392^0 == 0 /\ -a_610^post142+a_610^0 == 0 /\ -f_969^post142+f_969^0 == 0 /\ -temp0_31^post142+temp0_31^0 == 0 /\ -rcd_47^post142+rcd_47^0 == 0 /\ len_161^0-len_161^post142 == 0 /\ i_140^0-i_140^post142 == 0 /\ i_106^0-i_106^post142 == 0 /\ a_632^0-a_632^post142 == 0 /\ -a_579^post142+a_579^0 == 0 /\ x_253^0-x_253^post142 == 0 /\ -ct_18^post142+ct_18^0 == 0 /\ -len_262^post142+len_262^0 == 0 /\ t_458^0-t_458^post142 == 0 /\ f_248^0-f_248^post142 == 0 /\ a_902^0-a_902^post142 == 0 /\ -r_970^post142+r_970^0 == 0 /\ -i_197^post142+i_197^0 == 0 /\ a_239^0-a_239^post142 == 0 /\ i_229^0-i_229^post142 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post142+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_577^0-a_577^post142 == 0 /\ -temp_35^post142+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post142 == 0 /\ -nondet_12^post142+nondet_12^0 == 0 /\ -i_127^post142+i_127^0 == 0 /\ -a_395^post142+a_395^0 == 0 /\ x_156^0-x_156^post142 == 0 /\ -rcd_1249^post142+rcd_1249^0 == 0 /\ -len_861^post142+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post142 == 0 /\ i_1053^0-i_1053^post142 == 0 /\ x_14^0-x_14^post142 == 0 /\ -a_947^post142+a_947^0 == 0 /\ a_121^0-a_121^post142 == 0 /\ x_852^0-x_852^post142 == 0 /\ -a_1162^post142+a_1162^0 == 0 /\ -result_11^post142+result_11^0 == 0 /\ a_394^0-a_394^post142 == 0 /\ a_1089^0-a_1089^post142 == 0 /\ 1+x_14^0 <= 0 /\ -i_1248^post142+i_1248^0 == 0 /\ a_430^0-a_430^post142 == 0 /\ a_263^0-a_263^post142 == 0 /\ -x_17^post142+x_17^0 == 0 /\ a_311^0-a_311^post142 == 0 /\ a_176^0-a_176^post142 == 0 /\ rcd_88^0-rcd_88^post142 == 0 /\ length_29^0-length_29^post142 == 0 /\ f_847^0-f_847^post142 == 0 /\ -temp0_16^post142+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post142 == 0 /\ -r_224^post142+r_224^0 == 0 /\ -head_15^post142+head_15^0 == 0 /\ -a_924^post142+a_924^0 == 0), cost: 1 143: l90 -> l91 : a_1089^0'=a_1089^post143, f_847^0'=f_847^post143, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post143, a_394^0'=a_394^post143, x_156^0'=x_156^post143, a_632^0'=a_632^post143, r_192^0'=r_192^post143, a_176^0'=a_176^post143, i_106^0'=i_106^post143, a_430^0'=a_430^post143, t_458^0'=t_458^post143, len_161^0'=len_161^post143, x_975^0'=x_975^post143, a_902^0'=a_902^post143, a_947^0'=a_947^post143, rcd_88^0'=rcd_88^post143, a_311^0'=a_311^post143, i_140^0'=i_140^post143, a_577^0'=a_577^post143, x_14^0'=x_14^post143, nondet_12^0'=nondet_12^post143, a_121^0'=a_121^post143, head_15^0'=head_15^post143, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post143, i_27^0'=i_27^post143, x_21^0'=x_21^post143, a_634^0'=a_634^post143, r_39^0'=r_39^post143, a_263^0'=a_263^post143, i_113^0'=i_113^post143, a_432^0'=a_432^post143, temp0_31^0'=temp0_31^post143, len_262^0'=len_262^post143, y_20^0'=y_20^post143, f_248^0'=f_248^post143, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143, a_393^0'=a_393^post143, i_229^0'=i_229^post143, a_610^0'=a_610^post143, r_151^0'=r_151^post143, a_144^0'=a_144^post143, i_1053^0'=i_1053^post143, a_417^0'=a_417^post143, t_24^0'=t_24^post143, i_94^0'=i_94^post143, x_852^0'=x_852^post143, a_862^0'=a_862^post143, rcd_1249^0'=rcd_1249^post143, rcd_58^0'=rcd_58^post143, a_310^0'=a_310^post143, i_127^0'=i_127^post143, a_576^0'=a_576^post143, tmp_34^0'=tmp_34^post143, length_29^0'=length_29^post143, a_1162^0'=a_1162^post143, f_969^0'=f_969^post143, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post143, a_395^0'=a_395^post143, x_17^0'=x_17^post143, a_633^0'=a_633^post143, r_224^0'=r_224^post143, a_239^0'=a_239^post143, i_107^0'=i_107^post143, a_431^0'=a_431^post143, temp0_16^0'=temp0_16^post143, len_238^0'=len_238^post143, x_SLAM_f_19^0'=x_SLAM_f_19^post143, a_924^0'=a_924^post143, ct_18^0'=ct_18^post143, result_11^0'=result_11^post143, a_392^0'=a_392^post143, i_197^0'=i_197^post143, a_579^0'=a_579^post143, r_143^0'=r_143^post143, a_1236^0'=a_1236^post143, head_32^0'=head_32^post143, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post143, i_30^0'=i_30^post143, x_253^0'=x_253^post143, a_635^0'=a_635^post143, r_970^0'=r_970^post143, rcd_47^0'=rcd_47^post143, a_309^0'=a_309^post143, i_1248^0'=i_1248^post143, a_575^0'=a_575^post143, temp_35^0'=temp_35^post143, len_861^0'=len_861^post143, (0 == 0 /\ len_161^0-len_161^post143 == 0 /\ -i_1248^post143+i_1248^0 == 0 /\ -a_239^post143+a_239^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post143 == 0 /\ -rcd_58^post143+rcd_58^0 == 0 /\ -head_32^post143+head_32^0 == 0 /\ a_394^0-a_394^post143 == 0 /\ -ct_18^post143+ct_18^0 == 0 /\ -i_127^post143+i_127^0 == 0 /\ a_417^0-a_417^post143 == 0 /\ -a_579^post143+a_579^0 == 0 /\ -len_861^post143+len_861^0 == 0 /\ -temp0_16^post143+temp0_16^0 == 0 /\ -i_229^post143+i_229^0 == 0 /\ length_29^0-length_29^post143 == 0 /\ f_847^0-f_847^post143 == 0 /\ -a_431^post143+a_431^0 == 0 /\ a_263^0-a_263^post143 == 0 /\ t_24^0-t_24^post143 == 0 /\ -f_248^post143+f_248^0 == 0 /\ i_1053^0-i_1053^post143 == 0 /\ -i_197^post143+i_197^0 == 0 /\ a_610^0-a_610^post143 == 0 /\ -a_309^post143+a_309^0 == 0 /\ i_94^0-i_94^post143 == 0 /\ a_430^0-a_430^post143 == 0 /\ -a_144^post143+a_144^0 == 0 /\ head_15^0-head_15^post143 == 0 /\ -result_11^post143+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post143 <= 0 /\ -rcd_1249^post143+rcd_1249^0 == 0 /\ r_39^0-r_39^post143 == 0 /\ -a_575^post143+a_575^0 == 0 /\ r_151^0-r_151^post143 == 0 /\ a_432^0-a_432^post143 == 0 /\ a_577^0-a_577^post143 == 0 /\ r_192^0-r_192^post143 == 0 /\ a_902^0-a_902^post143 == 0 /\ x_156^0-x_156^post143 == 0 /\ i_113^0-i_113^post143 == 0 /\ -a_635^post143+a_635^0 == 0 /\ -a_947^post143+a_947^0 == 0 /\ a_1162^0-a_1162^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post143-nondet_12^16 == 0 /\ -i_30^post143+i_30^0 == 0 /\ -r_224^post143+r_224^0 == 0 /\ -x_852^post143+x_852^0 == 0 /\ -x_17^post143+x_17^0 == 0 /\ a_862^0-a_862^post143 == 0 /\ x_21^0-x_21^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post143 == 0 /\ -x_SLAM_f_19^post143+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post143+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_140^post143+i_140^0 == 0 /\ -a_576^post143+a_576^0 == 0 /\ -a_924^post143+a_924^0 == 0 /\ t_458^0-t_458^post143 == 0 /\ a_395^0-a_395^post143 == 0 /\ -rcd_47^post143+rcd_47^0 == 0 /\ -r_143^post143+r_143^0 == 0 /\ -a_634^post143+a_634^0 == 0 /\ rcd_88^0-rcd_88^post143 == 0 /\ -a_633^post143+a_633^0 == 0 /\ i_106^0-i_106^post143 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post143 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post143 <= 0 /\ a_311^0-a_311^post143 == 0 /\ -y_20^post143+y_20^0 == 0 /\ 1-i_27^0 <= 0 /\ a_632^0-a_632^post143 == 0 /\ a_393^0-a_393^post143 == 0 /\ -a_392^post143+a_392^0 == 0 /\ -f_969^post143+f_969^0 == 0 /\ -i_27^post143+i_27^0 == 0 /\ i_107^0-i_107^post143 == 0 /\ -a_121^post143+a_121^0 == 0 /\ x_975^0-x_975^post143 == 0 /\ -a_176^post143+a_176^0 == 0 /\ -temp_35^post143+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post143 == 0 /\ -a_1236^post143+a_1236^0 == 0 /\ -x_253^post143+x_253^0 == 0 /\ -len_238^post143+len_238^0 == 0 /\ a_1089^0-a_1089^post143 == 0 /\ -r_970^post143+r_970^0 == 0 /\ -len_262^post143+len_262^0 == 0 /\ -a_310^post143+a_310^0 == 0 /\ x_14^0-x_14^post143 == 0 /\ -temp0_31^post143+temp0_31^0 == 0), cost: 1 144: l91 -> l92 : a_1089^0'=a_1089^post144, f_847^0'=f_847^post144, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post144, a_394^0'=a_394^post144, x_156^0'=x_156^post144, a_632^0'=a_632^post144, r_192^0'=r_192^post144, a_176^0'=a_176^post144, i_106^0'=i_106^post144, a_430^0'=a_430^post144, t_458^0'=t_458^post144, len_161^0'=len_161^post144, x_975^0'=x_975^post144, a_902^0'=a_902^post144, a_947^0'=a_947^post144, rcd_88^0'=rcd_88^post144, a_311^0'=a_311^post144, i_140^0'=i_140^post144, a_577^0'=a_577^post144, x_14^0'=x_14^post144, nondet_12^0'=nondet_12^post144, a_121^0'=a_121^post144, head_15^0'=head_15^post144, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post144, i_27^0'=i_27^post144, x_21^0'=x_21^post144, a_634^0'=a_634^post144, r_39^0'=r_39^post144, a_263^0'=a_263^post144, i_113^0'=i_113^post144, a_432^0'=a_432^post144, temp0_31^0'=temp0_31^post144, len_262^0'=len_262^post144, y_20^0'=y_20^post144, f_248^0'=f_248^post144, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144, a_393^0'=a_393^post144, i_229^0'=i_229^post144, a_610^0'=a_610^post144, r_151^0'=r_151^post144, a_144^0'=a_144^post144, i_1053^0'=i_1053^post144, a_417^0'=a_417^post144, t_24^0'=t_24^post144, i_94^0'=i_94^post144, x_852^0'=x_852^post144, a_862^0'=a_862^post144, rcd_1249^0'=rcd_1249^post144, rcd_58^0'=rcd_58^post144, a_310^0'=a_310^post144, i_127^0'=i_127^post144, a_576^0'=a_576^post144, tmp_34^0'=tmp_34^post144, length_29^0'=length_29^post144, a_1162^0'=a_1162^post144, f_969^0'=f_969^post144, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post144, a_395^0'=a_395^post144, x_17^0'=x_17^post144, a_633^0'=a_633^post144, r_224^0'=r_224^post144, a_239^0'=a_239^post144, i_107^0'=i_107^post144, a_431^0'=a_431^post144, temp0_16^0'=temp0_16^post144, len_238^0'=len_238^post144, x_SLAM_f_19^0'=x_SLAM_f_19^post144, a_924^0'=a_924^post144, ct_18^0'=ct_18^post144, result_11^0'=result_11^post144, a_392^0'=a_392^post144, i_197^0'=i_197^post144, a_579^0'=a_579^post144, r_143^0'=r_143^post144, a_1236^0'=a_1236^post144, head_32^0'=head_32^post144, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post144, i_30^0'=i_30^post144, x_253^0'=x_253^post144, a_635^0'=a_635^post144, r_970^0'=r_970^post144, rcd_47^0'=rcd_47^post144, a_309^0'=a_309^post144, i_1248^0'=i_1248^post144, a_575^0'=a_575^post144, temp_35^0'=temp_35^post144, len_861^0'=len_861^post144, (-a_431^post144+a_431^0 == 0 /\ -x_253^post144+x_253^0 == 0 /\ -a_1162^post144+a_1162^0 == 0 /\ f_969^0-f_969^post144 == 0 /\ a_902^0-a_902^post144 == 0 /\ rcd_88^0-rcd_88^post144 == 0 /\ i_106^0-i_106^post144 == 0 /\ -result_11^post144+result_11^0 == 0 /\ t_24^0-t_24^post144 == 0 /\ -x_21^post144+x_21^0 == 0 /\ len_161^0-len_161^post144 == 0 /\ t_458^0-t_458^post144 == 0 /\ -a_610^post144+a_610^0 == 0 /\ a_632^0-a_632^post144 == 0 /\ a_430^0-a_430^post144 == 0 /\ a_263^0-a_263^post144 == 0 /\ -i_229^post144+i_229^0 == 0 /\ -temp0_16^post144+temp0_16^0 == 0 /\ a_1236^0-a_1236^post144 == 0 /\ len_262^0-len_262^post144 == 0 /\ x_852^0-x_852^post144 == 0 /\ -r_970^post144+r_970^0 == 0 /\ -r_224^post144+r_224^0 == 0 /\ -len_861^post144+len_861^0 == 0 /\ x_156^0-x_156^post144 == 0 /\ -f_248^post144+f_248^0 == 0 /\ temp0_31^0-temp0_31^post144 == 0 /\ a_579^0-a_579^post144 == 0 /\ f_847^0-f_847^post144 == 0 /\ -r_143^post144+r_143^0 == 0 /\ -a_924^post144+a_924^0 == 0 /\ a_394^0-a_394^post144 == 0 /\ -a_432^post144+a_432^0 == 0 /\ a_862^0-a_862^post144 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post144+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_151^0-r_151^post144 == 0 /\ -i_113^post144+i_113^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post144 == 0 /\ -temp_35^post144+temp_35^0 == 0 /\ -rcd_1249^post144+rcd_1249^0 == 0 /\ a_176^0-a_176^post144 == 0 /\ head_15^0-head_15^post144 == 0 /\ -a_144^post144+a_144^0 == 0 /\ r_192^0-r_192^post144 == 0 /\ -r_39^post144+r_39^0 == 0 /\ -i_107^post144+i_107^0 == 0 /\ a_239^0-a_239^post144 == 0 /\ -i_30^post144+i_30^0 == 0 /\ -a_392^post144+a_392^0 == 0 /\ -a_575^post144+a_575^0 == 0 /\ rcd_58^0-rcd_58^post144 == 0 /\ i_1053^0-i_1053^post144 == 0 /\ -x_17^post144+x_17^0 == 0 /\ a_395^0-a_395^post144 == 0 /\ i_140^0-i_140^post144 == 0 /\ -x_SLAM_f_19^post144+x_SLAM_f_19^0 == 0 /\ a_635^0-a_635^post144 == 0 /\ -a_577^post144+a_577^0 == 0 /\ a_393^0-a_393^post144 == 0 /\ -i_94^post144+i_94^0 == 0 /\ a_311^0-a_311^post144 == 0 /\ -i_1248^post144+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post144 == 0 /\ a_1089^0-a_1089^post144 == 0 /\ -length_29^post144+length_29^0 == 0 /\ i_27^0-i_27^post144 == 0 /\ a_576^0-a_576^post144 == 0 /\ -ct_18^post144+ct_18^0 == 0 /\ -len_238^post144+len_238^0 == 0 /\ -rcd_47^post144+rcd_47^0 == 0 /\ y_20^0-y_20^post144 == 0 /\ 1-head_15^0 <= 0 /\ -a_310^post144+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post144 == 0 /\ -a_633^post144+a_633^0 == 0 /\ -head_32^post144+head_32^0 == 0 /\ nondet_12^0-nondet_12^post144 == 0 /\ a_634^0-a_634^post144 == 0 /\ a_121^0-a_121^post144 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post144+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_197^post144+i_197^0 == 0 /\ tmp_34^0-tmp_34^post144 == 0 /\ a_417^0-a_417^post144 == 0 /\ -i_127^post144+i_127^0 == 0 /\ a_947^0-a_947^post144 == 0 /\ -x_14^post144+x_14^0 == 0 /\ x_975^0-x_975^post144 == 0 /\ -a_309^post144+a_309^0 == 0), cost: 1 145: l91 -> l92 : a_1089^0'=a_1089^post145, f_847^0'=f_847^post145, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post145, a_394^0'=a_394^post145, x_156^0'=x_156^post145, a_632^0'=a_632^post145, r_192^0'=r_192^post145, a_176^0'=a_176^post145, i_106^0'=i_106^post145, a_430^0'=a_430^post145, t_458^0'=t_458^post145, len_161^0'=len_161^post145, x_975^0'=x_975^post145, a_902^0'=a_902^post145, a_947^0'=a_947^post145, rcd_88^0'=rcd_88^post145, a_311^0'=a_311^post145, i_140^0'=i_140^post145, a_577^0'=a_577^post145, x_14^0'=x_14^post145, nondet_12^0'=nondet_12^post145, a_121^0'=a_121^post145, head_15^0'=head_15^post145, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post145, i_27^0'=i_27^post145, x_21^0'=x_21^post145, a_634^0'=a_634^post145, r_39^0'=r_39^post145, a_263^0'=a_263^post145, i_113^0'=i_113^post145, a_432^0'=a_432^post145, temp0_31^0'=temp0_31^post145, len_262^0'=len_262^post145, y_20^0'=y_20^post145, f_248^0'=f_248^post145, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145, a_393^0'=a_393^post145, i_229^0'=i_229^post145, a_610^0'=a_610^post145, r_151^0'=r_151^post145, a_144^0'=a_144^post145, i_1053^0'=i_1053^post145, a_417^0'=a_417^post145, t_24^0'=t_24^post145, i_94^0'=i_94^post145, x_852^0'=x_852^post145, a_862^0'=a_862^post145, rcd_1249^0'=rcd_1249^post145, rcd_58^0'=rcd_58^post145, a_310^0'=a_310^post145, i_127^0'=i_127^post145, a_576^0'=a_576^post145, tmp_34^0'=tmp_34^post145, length_29^0'=length_29^post145, a_1162^0'=a_1162^post145, f_969^0'=f_969^post145, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post145, a_395^0'=a_395^post145, x_17^0'=x_17^post145, a_633^0'=a_633^post145, r_224^0'=r_224^post145, a_239^0'=a_239^post145, i_107^0'=i_107^post145, a_431^0'=a_431^post145, temp0_16^0'=temp0_16^post145, len_238^0'=len_238^post145, x_SLAM_f_19^0'=x_SLAM_f_19^post145, a_924^0'=a_924^post145, ct_18^0'=ct_18^post145, result_11^0'=result_11^post145, a_392^0'=a_392^post145, i_197^0'=i_197^post145, a_579^0'=a_579^post145, r_143^0'=r_143^post145, a_1236^0'=a_1236^post145, head_32^0'=head_32^post145, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post145, i_30^0'=i_30^post145, x_253^0'=x_253^post145, a_635^0'=a_635^post145, r_970^0'=r_970^post145, rcd_47^0'=rcd_47^post145, a_309^0'=a_309^post145, i_1248^0'=i_1248^post145, a_575^0'=a_575^post145, temp_35^0'=temp_35^post145, len_861^0'=len_861^post145, (-x_17^post145+x_17^0 == 0 /\ f_847^0-f_847^post145 == 0 /\ y_20^0-y_20^post145 == 0 /\ a_263^0-a_263^post145 == 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post145 == 0 /\ -a_576^post145+a_576^0 == 0 /\ a_862^0-a_862^post145 == 0 /\ -a_309^post145+a_309^0 == 0 /\ x_21^0-x_21^post145 == 0 /\ -a_635^post145+a_635^0 == 0 /\ a_432^0-a_432^post145 == 0 /\ -a_392^post145+a_392^0 == 0 /\ -i_107^post145+i_107^0 == 0 /\ -len_861^post145+len_861^0 == 0 /\ a_417^0-a_417^post145 == 0 /\ tmp_34^0-tmp_34^post145 == 0 /\ r_151^0-r_151^post145 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post145 == 0 /\ -a_1236^post145+a_1236^0 == 0 /\ -temp0_16^post145+temp0_16^0 == 0 /\ a_144^0-a_144^post145 == 0 /\ i_94^0-i_94^post145 == 0 /\ i_113^0-i_113^post145 == 0 /\ -a_310^post145+a_310^0 == 0 /\ -i_30^post145+i_30^0 == 0 /\ r_143^0-r_143^post145 == 0 /\ -temp0_31^post145+temp0_31^0 == 0 /\ -a_610^post145+a_610^0 == 0 /\ -len_262^post145+len_262^0 == 0 /\ -len_238^post145+len_238^0 == 0 /\ -rcd_47^post145+rcd_47^0 == 0 /\ -a_633^post145+a_633^0 == 0 /\ i_140^0-i_140^post145 == 0 /\ -a_575^post145+a_575^0 == 0 /\ -i_197^post145+i_197^0 == 0 /\ len_161^0-len_161^post145 == 0 /\ t_458^0-t_458^post145 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post145 == 0 /\ i_27^0-i_27^post145 == 0 /\ -i_127^post145+i_127^0 == 0 /\ -a_579^post145+a_579^0 == 0 /\ i_106^0-i_106^post145 == 0 /\ r_39^0-r_39^post145 == 0 /\ -head_32^post145+head_32^0 == 0 /\ t_24^0-t_24^post145 == 0 /\ a_393^0-a_393^post145 == 0 /\ -head_15^post145+head_15^0 == 0 /\ x_156^0-x_156^post145 == 0 /\ i_229^0-i_229^post145 == 0 /\ -a_1162^post145+a_1162^0 == 0 /\ -temp_35^post145+temp_35^0 == 0 /\ -a_924^post145+a_924^0 == 0 /\ -nondet_12^post145+nondet_12^0 == 0 /\ -r_970^post145+r_970^0 == 0 /\ x_253^0-x_253^post145 == 0 /\ a_121^0-a_121^post145 == 0 /\ f_248^0-f_248^post145 == 0 /\ -ct_18^post145+ct_18^0 == 0 /\ x_975^0-x_975^post145 == 0 /\ rcd_58^0-rcd_58^post145 == 0 /\ -f_969^post145+f_969^0 == 0 /\ a_577^0-a_577^post145 == 0 /\ -a_431^post145+a_431^0 == 0 /\ a_902^0-a_902^post145 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post145 == 0 /\ -a_394^post145+a_394^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post145+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_176^0-a_176^post145 == 0 /\ -r_224^post145+r_224^0 == 0 /\ a_1089^0-a_1089^post145 == 0 /\ -i_1248^post145+i_1248^0 == 0 /\ -x_SLAM_f_19^post145+x_SLAM_f_19^0 == 0 /\ i_1053^0-i_1053^post145 == 0 /\ r_192^0-r_192^post145 == 0 /\ x_14^0-x_14^post145 == 0 /\ -a_239^post145+a_239^0 == 0 /\ rcd_1249^0-rcd_1249^post145 == 0 /\ -a_634^post145+a_634^0 == 0 /\ -a_395^post145+a_395^0 == 0 /\ x_852^0-x_852^post145 == 0 /\ length_29^0-length_29^post145 == 0 /\ a_632^0-a_632^post145 == 0 /\ a_430^0-a_430^post145 == 0 /\ -a_947^post145+a_947^0 == 0 /\ rcd_88^0-rcd_88^post145 == 0 /\ a_311^0-a_311^post145 == 0 /\ -result_11^post145+result_11^0 == 0), cost: 1 146: l92 -> l93 : a_1089^0'=a_1089^post146, f_847^0'=f_847^post146, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post146, a_394^0'=a_394^post146, x_156^0'=x_156^post146, a_632^0'=a_632^post146, r_192^0'=r_192^post146, a_176^0'=a_176^post146, i_106^0'=i_106^post146, a_430^0'=a_430^post146, t_458^0'=t_458^post146, len_161^0'=len_161^post146, x_975^0'=x_975^post146, a_902^0'=a_902^post146, a_947^0'=a_947^post146, rcd_88^0'=rcd_88^post146, a_311^0'=a_311^post146, i_140^0'=i_140^post146, a_577^0'=a_577^post146, x_14^0'=x_14^post146, nondet_12^0'=nondet_12^post146, a_121^0'=a_121^post146, head_15^0'=head_15^post146, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post146, i_27^0'=i_27^post146, x_21^0'=x_21^post146, a_634^0'=a_634^post146, r_39^0'=r_39^post146, a_263^0'=a_263^post146, i_113^0'=i_113^post146, a_432^0'=a_432^post146, temp0_31^0'=temp0_31^post146, len_262^0'=len_262^post146, y_20^0'=y_20^post146, f_248^0'=f_248^post146, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post146, a_393^0'=a_393^post146, i_229^0'=i_229^post146, a_610^0'=a_610^post146, r_151^0'=r_151^post146, a_144^0'=a_144^post146, i_1053^0'=i_1053^post146, a_417^0'=a_417^post146, t_24^0'=t_24^post146, i_94^0'=i_94^post146, x_852^0'=x_852^post146, a_862^0'=a_862^post146, rcd_1249^0'=rcd_1249^post146, rcd_58^0'=rcd_58^post146, a_310^0'=a_310^post146, i_127^0'=i_127^post146, a_576^0'=a_576^post146, tmp_34^0'=tmp_34^post146, length_29^0'=length_29^post146, a_1162^0'=a_1162^post146, f_969^0'=f_969^post146, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post146, a_395^0'=a_395^post146, x_17^0'=x_17^post146, a_633^0'=a_633^post146, r_224^0'=r_224^post146, a_239^0'=a_239^post146, i_107^0'=i_107^post146, a_431^0'=a_431^post146, temp0_16^0'=temp0_16^post146, len_238^0'=len_238^post146, x_SLAM_f_19^0'=x_SLAM_f_19^post146, a_924^0'=a_924^post146, ct_18^0'=ct_18^post146, result_11^0'=result_11^post146, a_392^0'=a_392^post146, i_197^0'=i_197^post146, a_579^0'=a_579^post146, r_143^0'=r_143^post146, a_1236^0'=a_1236^post146, head_32^0'=head_32^post146, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post146, i_30^0'=i_30^post146, x_253^0'=x_253^post146, a_635^0'=a_635^post146, r_970^0'=r_970^post146, rcd_47^0'=rcd_47^post146, a_309^0'=a_309^post146, i_1248^0'=i_1248^post146, a_575^0'=a_575^post146, temp_35^0'=temp_35^post146, len_861^0'=len_861^post146, (-temp_35^post146+temp_35^0 == 0 /\ -i_197^post146+i_197^0 == 0 /\ -a_431^post146+a_431^0 == 0 /\ a_176^0-a_176^post146 == 0 /\ i_1053^0-i_1053^post146 == 0 /\ length_29^0-length_29^post146 == 0 /\ r_192^0-r_192^post146 == 0 /\ -x_253^post146+x_253^0 == 0 /\ -x_21^post146+x_21^0 == 0 /\ -r_970^post146+r_970^0 == 0 /\ i_27^0-i_27^post146 == 0 /\ -rcd_58^post146+rcd_58^0 == 0 /\ a_430^0-a_430^post146 == 0 /\ t_24^0-t_24^post146 == 0 /\ a_395^0-a_395^post146 == 0 /\ r_39^0-r_39^post146 == 0 /\ len_161^0-len_161^post146 == 0 /\ a_393^0-a_393^post146 == 0 /\ -a_610^post146+a_610^0 == 0 /\ f_847^0-f_847^post146 == 0 /\ -len_861^post146+len_861^0 == 0 /\ -f_248^post146+f_248^0 == 0 /\ a_432^0-a_432^post146 == 0 /\ 1-x_156^0 <= 0 /\ -i_229^post146+i_229^0 == 0 /\ i_140^0-i_140^post146 == 0 /\ result_11^0-result_11^post146 == 0 /\ a_579^0-a_579^post146 == 0 /\ head_15^0-head_15^post146 == 0 /\ -i_1248^post146+i_1248^0 == 0 /\ -a_239^post146+a_239^0 == 0 /\ a_634^0-a_634^post146 == 0 /\ a_862^0-a_862^post146 == 0 /\ r_151^0-r_151^post146 == 0 /\ a_577^0-a_577^post146 == 0 /\ -temp0_16^post146+temp0_16^0 == 0 /\ a_1162^0-a_1162^post146 == 0 /\ i_113^0-i_113^post146 == 0 /\ a_902^0-a_902^post146 == 0 /\ -a_576^post146+a_576^0 == 0 /\ -rcd_1249^post146+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post146+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post146+a_924^0 == 0 /\ x_156^0-x_156^post146 == 0 /\ head_32^0-head_32^post146 == 0 /\ a_417^0-a_417^post146 == 0 /\ i_30^0-i_30^post146 == 0 /\ rcd_88^0-rcd_88^post146 == 0 /\ -a_1236^post146+a_1236^0 == 0 /\ -a_947^post146+a_947^0 == 0 /\ -r_143^post146+r_143^0 == 0 /\ a_311^0-a_311^post146 == 0 /\ -a_635^post146+a_635^0 == 0 /\ -x_17^post146+x_17^0 == 0 /\ i_106^0-i_106^post146 == 0 /\ a_632^0-a_632^post146 == 0 /\ -temp0_31^post146+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post146 == 0 /\ -a_309^post146+a_309^0 == 0 /\ -x_SLAM_f_19^post146+x_SLAM_f_19^0 == 0 /\ -a_144^post146+a_144^0 == 0 /\ -a_310^post146+a_310^0 == 0 /\ a_1089^0-a_1089^post146 == 0 /\ i_107^0-i_107^post146 == 0 /\ -i_94^post146+i_94^0 == 0 /\ t_458^0-t_458^post146 == 0 /\ -a_575^post146+a_575^0 == 0 /\ x_852^0-x_852^post146 == 0 /\ a_263^0-a_263^post146 == 0 /\ y_20^0-y_20^post146 == 0 /\ -a_633^post146+a_633^0 == 0 /\ -rcd_47^post146+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post146 == 0 /\ -ct_18^post146+ct_18^0 == 0 /\ -len_262^post146+len_262^0 == 0 /\ -len_238^post146+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post146+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ nondet_12^0-nondet_12^post146 == 0 /\ -a_392^post146+a_392^0 == 0 /\ x_975^0-x_975^post146 == 0 /\ tmp_34^0-tmp_34^post146 == 0 /\ -f_969^post146+f_969^0 == 0 /\ -i_127^post146+i_127^0 == 0 /\ a_394^0-a_394^post146 == 0 /\ -x_14^post146+x_14^0 == 0 /\ a_121^0-a_121^post146 == 0 /\ r_224^0-r_224^post146 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post146+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1 147: l92 -> l93 : a_1089^0'=a_1089^post147, f_847^0'=f_847^post147, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post147, a_394^0'=a_394^post147, x_156^0'=x_156^post147, a_632^0'=a_632^post147, r_192^0'=r_192^post147, a_176^0'=a_176^post147, i_106^0'=i_106^post147, a_430^0'=a_430^post147, t_458^0'=t_458^post147, len_161^0'=len_161^post147, x_975^0'=x_975^post147, a_902^0'=a_902^post147, a_947^0'=a_947^post147, rcd_88^0'=rcd_88^post147, a_311^0'=a_311^post147, i_140^0'=i_140^post147, a_577^0'=a_577^post147, x_14^0'=x_14^post147, nondet_12^0'=nondet_12^post147, a_121^0'=a_121^post147, head_15^0'=head_15^post147, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post147, i_27^0'=i_27^post147, x_21^0'=x_21^post147, a_634^0'=a_634^post147, r_39^0'=r_39^post147, a_263^0'=a_263^post147, i_113^0'=i_113^post147, a_432^0'=a_432^post147, temp0_31^0'=temp0_31^post147, len_262^0'=len_262^post147, y_20^0'=y_20^post147, f_248^0'=f_248^post147, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post147, a_393^0'=a_393^post147, i_229^0'=i_229^post147, a_610^0'=a_610^post147, r_151^0'=r_151^post147, a_144^0'=a_144^post147, i_1053^0'=i_1053^post147, a_417^0'=a_417^post147, t_24^0'=t_24^post147, i_94^0'=i_94^post147, x_852^0'=x_852^post147, a_862^0'=a_862^post147, rcd_1249^0'=rcd_1249^post147, rcd_58^0'=rcd_58^post147, a_310^0'=a_310^post147, i_127^0'=i_127^post147, a_576^0'=a_576^post147, tmp_34^0'=tmp_34^post147, length_29^0'=length_29^post147, a_1162^0'=a_1162^post147, f_969^0'=f_969^post147, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post147, a_395^0'=a_395^post147, x_17^0'=x_17^post147, a_633^0'=a_633^post147, r_224^0'=r_224^post147, a_239^0'=a_239^post147, i_107^0'=i_107^post147, a_431^0'=a_431^post147, temp0_16^0'=temp0_16^post147, len_238^0'=len_238^post147, x_SLAM_f_19^0'=x_SLAM_f_19^post147, a_924^0'=a_924^post147, ct_18^0'=ct_18^post147, result_11^0'=result_11^post147, a_392^0'=a_392^post147, i_197^0'=i_197^post147, a_579^0'=a_579^post147, r_143^0'=r_143^post147, a_1236^0'=a_1236^post147, head_32^0'=head_32^post147, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post147, i_30^0'=i_30^post147, x_253^0'=x_253^post147, a_635^0'=a_635^post147, r_970^0'=r_970^post147, rcd_47^0'=rcd_47^post147, a_309^0'=a_309^post147, i_1248^0'=i_1248^post147, a_575^0'=a_575^post147, temp_35^0'=temp_35^post147, len_861^0'=len_861^post147, (-r_151^post147+r_151^0 == 0 /\ x_156^0-x_156^post147 == 0 /\ f_847^0-f_847^post147 == 0 /\ head_15^0-head_15^post147 == 0 /\ -a_575^post147+a_575^0 == 0 /\ -a_309^post147+a_309^0 == 0 /\ -a_635^post147+a_635^0 == 0 /\ x_21^0-x_21^post147 == 0 /\ a_417^0-a_417^post147 == 0 /\ a_902^0-a_902^post147 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post147 == 0 /\ len_262^0-len_262^post147 == 0 /\ -a_576^post147+a_576^0 == 0 /\ -a_144^post147+a_144^0 == 0 /\ -a_633^post147+a_633^0 == 0 /\ -a_1236^post147+a_1236^0 == 0 /\ a_394^0-a_394^post147 == 0 /\ i_229^0-i_229^post147 == 0 /\ i_94^0-i_94^post147 == 0 /\ i_113^0-i_113^post147 == 0 /\ a_1089^0-a_1089^post147 == 0 /\ -length_29^post147+length_29^0 == 0 /\ -a_862^post147+a_862^0 == 0 /\ -temp0_31^post147+temp0_31^0 == 0 /\ -a_610^post147+a_610^0 == 0 /\ x_14^0-x_14^post147 == 0 /\ a_121^0-a_121^post147 == 0 /\ -x_253^post147+x_253^0 == 0 /\ -len_238^post147+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post147 == 0 /\ i_106^0-i_106^post147 == 0 /\ -rcd_47^post147+rcd_47^0 == 0 /\ i_27^0-i_27^post147 == 0 /\ a_430^0-a_430^post147 == 0 /\ a_263^0-a_263^post147 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post147 == 0 /\ i_107^0-i_107^post147 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post147+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post147+i_197^0 == 0 /\ -head_32^post147+head_32^0 == 0 /\ r_39^0-r_39^post147 == 0 /\ a_392^0-a_392^post147 == 0 /\ -result_11^post147+result_11^0 == 0 /\ -f_969^post147+f_969^0 == 0 /\ 1+x_156^0 <= 0 /\ -a_311^post147+a_311^0 == 0 /\ -temp_35^post147+temp_35^0 == 0 /\ y_20^0-y_20^post147 == 0 /\ -i_127^post147+i_127^0 == 0 /\ -nondet_12^post147+nondet_12^0 == 0 /\ a_432^0-a_432^post147 == 0 /\ f_248^0-f_248^post147 == 0 /\ -a_579^post147+a_579^0 == 0 /\ -ct_18^post147+ct_18^0 == 0 /\ -rcd_88^post147+rcd_88^0 == 0 /\ -a_1162^post147+a_1162^0 == 0 /\ -r_970^post147+r_970^0 == 0 /\ x_975^0-x_975^post147 == 0 /\ r_224^0-r_224^post147 == 0 /\ -a_395^post147+a_395^0 == 0 /\ -rcd_58^post147+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post147 == 0 /\ a_577^0-a_577^post147 == 0 /\ a_431^0-a_431^post147 == 0 /\ a_947^0-a_947^post147 == 0 /\ a_176^0-a_176^post147 == 0 /\ -temp0_16^post147+temp0_16^0 == 0 /\ -i_1248^post147+i_1248^0 == 0 /\ r_192^0-r_192^post147 == 0 /\ -len_861^post147+len_861^0 == 0 /\ -a_239^post147+a_239^0 == 0 /\ -tmp_34^post147+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post147+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_310^0-a_310^post147 == 0 /\ -rcd_1249^post147+rcd_1249^0 == 0 /\ -i_1053^post147+i_1053^0 == 0 /\ -i_30^post147+i_30^0 == 0 /\ -a_634^post147+a_634^0 == 0 /\ t_458^0-t_458^post147 == 0 /\ -a_393^post147+a_393^0 == 0 /\ a_632^0-a_632^post147 == 0 /\ -a_924^post147+a_924^0 == 0 /\ t_24^0-t_24^post147 == 0 /\ -x_17^post147+x_17^0 == 0 /\ -r_143^post147+r_143^0 == 0 /\ i_140^0-i_140^post147 == 0 /\ x_852^0-x_852^post147 == 0 /\ len_161^0-len_161^post147 == 0), cost: 1 148: l93 -> l16 : a_1089^0'=a_1089^post148, f_847^0'=f_847^post148, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post148, a_394^0'=a_394^post148, x_156^0'=x_156^post148, a_632^0'=a_632^post148, r_192^0'=r_192^post148, a_176^0'=a_176^post148, i_106^0'=i_106^post148, a_430^0'=a_430^post148, t_458^0'=t_458^post148, len_161^0'=len_161^post148, x_975^0'=x_975^post148, a_902^0'=a_902^post148, a_947^0'=a_947^post148, rcd_88^0'=rcd_88^post148, a_311^0'=a_311^post148, i_140^0'=i_140^post148, a_577^0'=a_577^post148, x_14^0'=x_14^post148, nondet_12^0'=nondet_12^post148, a_121^0'=a_121^post148, head_15^0'=head_15^post148, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post148, i_27^0'=i_27^post148, x_21^0'=x_21^post148, a_634^0'=a_634^post148, r_39^0'=r_39^post148, a_263^0'=a_263^post148, i_113^0'=i_113^post148, a_432^0'=a_432^post148, temp0_31^0'=temp0_31^post148, len_262^0'=len_262^post148, y_20^0'=y_20^post148, f_248^0'=f_248^post148, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post148, a_393^0'=a_393^post148, i_229^0'=i_229^post148, a_610^0'=a_610^post148, r_151^0'=r_151^post148, a_144^0'=a_144^post148, i_1053^0'=i_1053^post148, a_417^0'=a_417^post148, t_24^0'=t_24^post148, i_94^0'=i_94^post148, x_852^0'=x_852^post148, a_862^0'=a_862^post148, rcd_1249^0'=rcd_1249^post148, rcd_58^0'=rcd_58^post148, a_310^0'=a_310^post148, i_127^0'=i_127^post148, a_576^0'=a_576^post148, tmp_34^0'=tmp_34^post148, length_29^0'=length_29^post148, a_1162^0'=a_1162^post148, f_969^0'=f_969^post148, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post148, a_395^0'=a_395^post148, x_17^0'=x_17^post148, a_633^0'=a_633^post148, r_224^0'=r_224^post148, a_239^0'=a_239^post148, i_107^0'=i_107^post148, a_431^0'=a_431^post148, temp0_16^0'=temp0_16^post148, len_238^0'=len_238^post148, x_SLAM_f_19^0'=x_SLAM_f_19^post148, a_924^0'=a_924^post148, ct_18^0'=ct_18^post148, result_11^0'=result_11^post148, a_392^0'=a_392^post148, i_197^0'=i_197^post148, a_579^0'=a_579^post148, r_143^0'=r_143^post148, a_1236^0'=a_1236^post148, head_32^0'=head_32^post148, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post148, i_30^0'=i_30^post148, x_253^0'=x_253^post148, a_635^0'=a_635^post148, r_970^0'=r_970^post148, rcd_47^0'=rcd_47^post148, a_309^0'=a_309^post148, i_1248^0'=i_1248^post148, a_575^0'=a_575^post148, temp_35^0'=temp_35^post148, len_861^0'=len_861^post148, (-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post148+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post148+head_15^0 == 0 /\ a_634^0-a_634^post148 == 0 /\ -ct_18^post148+ct_18^0 == 0 /\ -i_197^post148+i_197^0 == 0 /\ -a_579^post148+a_579^0 == 0 /\ a_1089^0-a_1089^post148 == 0 /\ -r_970^post148+r_970^0 == 0 /\ i_1053^0-i_1053^post148 == 0 /\ -i_127^post148+i_127^0 == 0 /\ a_310^0-a_310^post148 == 0 /\ -x_253^post148+x_253^0 == 0 /\ a_395^0-a_395^post148 == 0 /\ a_176^0-a_176^post148 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post148 == 0 /\ -head_32^post148+head_32^0 == 0 /\ a_947^0-a_947^post148 == 0 /\ -y_20^post148+y_20^0 == 0 /\ i_27^0-i_27^post148 == 0 /\ -x_852^post148+x_852^0 == 0 /\ a_121^0-a_121^post148 == 0 /\ -f_248^post148+f_248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post148 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post148+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post148+temp_35^0 == 0 /\ r_39^0-r_39^post148 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_58^post148+rcd_58^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post148+tmp_34^0 == 0 /\ -temp0_16^post148+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post148 == 0 /\ -len_861^post148+len_861^0 == 0 /\ a_432^0-a_432^post148 == 0 /\ -a_417^post148+a_417^0 == 0 /\ -result_11^post148+result_11^0 == 0 /\ a_632^0-a_632^post148 == 0 /\ x_975^0-x_975^post148 == 0 /\ -a_393^post148+a_393^0 == 0 /\ i_113^0-i_113^post148 == 0 /\ -rcd_1249^post148+rcd_1249^0 == 0 /\ r_192^0-r_192^post148 == 0 /\ -a_924^post148+a_924^0 == 0 /\ -i_1248^post148+i_1248^0 == 0 /\ -a_239^post148+a_239^0 == 0 /\ x_156^0-x_156^post148 == 0 /\ -a_635^post148+a_635^0 == 0 /\ nondet_12^0-nondet_12^post148 == 0 /\ i_229^0-i_229^post148 == 0 /\ -r_143^post148+r_143^0 == 0 /\ -a_575^post148+a_575^0 == 0 /\ a_394^0-a_394^post148 == 0 /\ i_30^0-i_30^post148 == 0 /\ x_17^0-x_17^post148 == 0 /\ len_161^0-len_161^post148 == 0 /\ -r_151^post148+r_151^0 == 0 /\ x_14^0-x_14^post148 == 0 /\ a_311^0-a_311^post148 == 0 /\ -a_576^post148+a_576^0 == 0 /\ i_140^0-i_140^post148 == 0 /\ -a_309^post148+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post148+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_263^0-a_263^post148 == 0 /\ rcd_88^0-rcd_88^post148 == 0 /\ f_847^0-f_847^post148 == 0 /\ i_107^0-i_107^post148 == 0 /\ -a_144^post148+a_144^0 == 0 /\ i_106^0-i_106^post148 == 0 /\ t_24^0-t_24^post148 == 0 /\ 1-i_27^0 <= 0 /\ -a_633^post148+a_633^0 == 0 /\ i_94^0-i_94^post148 == 0 /\ -a_610^post148+a_610^0 == 0 /\ t_458^0-t_458^post148 == 0 /\ -a_1236^post148+a_1236^0 == 0 /\ -a_902^post148+a_902^0 == 0 /\ a_430^0-a_430^post148 == 0 /\ a_862^0-a_862^post148 == 0 /\ x_21^0-x_21^post148 == 0 /\ len_262^0-len_262^post148 == 0 /\ a_577^0-a_577^post148 == 0 /\ -len_238^post148+len_238^0 == 0 /\ a_431^0-a_431^post148 == 0 /\ temp0_31^0-temp0_31^post148 == 0 /\ r_224^0-r_224^post148 == 0 /\ -length_29^post148+length_29^0 == 0 /\ -rcd_47^post148+rcd_47^0 == 0 /\ -f_969^post148+f_969^0 == 0 /\ a_1162^0-a_1162^post148 == 0 /\ -a_392^post148+a_392^0 == 0), cost: 1 150: l94 -> l95 : a_1089^0'=a_1089^post150, f_847^0'=f_847^post150, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post150, a_394^0'=a_394^post150, x_156^0'=x_156^post150, a_632^0'=a_632^post150, r_192^0'=r_192^post150, a_176^0'=a_176^post150, i_106^0'=i_106^post150, a_430^0'=a_430^post150, t_458^0'=t_458^post150, len_161^0'=len_161^post150, x_975^0'=x_975^post150, a_902^0'=a_902^post150, a_947^0'=a_947^post150, rcd_88^0'=rcd_88^post150, a_311^0'=a_311^post150, i_140^0'=i_140^post150, a_577^0'=a_577^post150, x_14^0'=x_14^post150, nondet_12^0'=nondet_12^post150, a_121^0'=a_121^post150, head_15^0'=head_15^post150, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post150, i_27^0'=i_27^post150, x_21^0'=x_21^post150, a_634^0'=a_634^post150, r_39^0'=r_39^post150, a_263^0'=a_263^post150, i_113^0'=i_113^post150, a_432^0'=a_432^post150, temp0_31^0'=temp0_31^post150, len_262^0'=len_262^post150, y_20^0'=y_20^post150, f_248^0'=f_248^post150, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post150, a_393^0'=a_393^post150, i_229^0'=i_229^post150, a_610^0'=a_610^post150, r_151^0'=r_151^post150, a_144^0'=a_144^post150, i_1053^0'=i_1053^post150, a_417^0'=a_417^post150, t_24^0'=t_24^post150, i_94^0'=i_94^post150, x_852^0'=x_852^post150, a_862^0'=a_862^post150, rcd_1249^0'=rcd_1249^post150, rcd_58^0'=rcd_58^post150, a_310^0'=a_310^post150, i_127^0'=i_127^post150, a_576^0'=a_576^post150, tmp_34^0'=tmp_34^post150, length_29^0'=length_29^post150, a_1162^0'=a_1162^post150, f_969^0'=f_969^post150, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post150, a_395^0'=a_395^post150, x_17^0'=x_17^post150, a_633^0'=a_633^post150, r_224^0'=r_224^post150, a_239^0'=a_239^post150, i_107^0'=i_107^post150, a_431^0'=a_431^post150, temp0_16^0'=temp0_16^post150, len_238^0'=len_238^post150, x_SLAM_f_19^0'=x_SLAM_f_19^post150, a_924^0'=a_924^post150, ct_18^0'=ct_18^post150, result_11^0'=result_11^post150, a_392^0'=a_392^post150, i_197^0'=i_197^post150, a_579^0'=a_579^post150, r_143^0'=r_143^post150, a_1236^0'=a_1236^post150, head_32^0'=head_32^post150, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post150, i_30^0'=i_30^post150, x_253^0'=x_253^post150, a_635^0'=a_635^post150, r_970^0'=r_970^post150, rcd_47^0'=rcd_47^post150, a_309^0'=a_309^post150, i_1248^0'=i_1248^post150, a_575^0'=a_575^post150, temp_35^0'=temp_35^post150, len_861^0'=len_861^post150, (-r_970^post150+r_970^0 == 0 /\ -head_32^post150+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post150 == 0 /\ a_1089^0-a_1089^post150 == 0 /\ -rcd_58^post150+rcd_58^0 == 0 /\ -x_852^post150+x_852^0 == 0 /\ -i_197^post150+i_197^0 == 0 /\ -a_395^post150+a_395^0 == 0 /\ -i_229^post150+i_229^0 == 0 /\ i_27^0-i_27^post150 == 0 /\ 1-x_14^0 <= 0 /\ rcd_88^0-rcd_88^post150 == 0 /\ a_576^0-a_576^post150 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post150 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post150+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post150+a_862^0 == 0 /\ -temp_35^post150+temp_35^0 == 0 /\ -a_579^post150+a_579^0 == 0 /\ -r_39^post150+r_39^0 == 0 /\ -ct_18^post150+ct_18^0 == 0 /\ f_248^0-f_248^post150 == 0 /\ -i_30^post150+i_30^0 == 0 /\ rcd_1249^0-rcd_1249^post150 == 0 /\ i_106^0-i_106^post150 == 0 /\ -a_263^post150+a_263^0 == 0 /\ tmp_34^0-tmp_34^post150 == 0 /\ a_924^0-a_924^post150 == 0 /\ -x_17^post150+x_17^0 == 0 /\ -a_417^post150+a_417^0 == 0 /\ -a_393^post150+a_393^0 == 0 /\ t_458^0-t_458^post150 == 0 /\ -i_1053^post150+i_1053^0 == 0 /\ x_975^0-x_975^post150 == 0 /\ -result_11^post150+result_11^0 == 0 /\ -i_1248^post150+i_1248^0 == 0 /\ -r_224^post150+r_224^0 == 0 /\ -a_239^post150+a_239^0 == 0 /\ -len_861^post150+len_861^0 == 0 /\ a_610^0-a_610^post150 == 0 /\ a_1236^0-a_1236^post150 == 0 /\ -t_24^post150+t_24^0 == 0 /\ x_21^0-x_21^post150 == 0 /\ a_634^0-a_634^post150 == 0 /\ nondet_12^0-nondet_12^post150 == 0 /\ -a_635^post150+a_635^0 == 0 /\ temp0_31^0-temp0_31^post150 == 0 /\ a_394^0-a_394^post150 == 0 /\ x_14^0-x_14^post150 == 0 /\ -rcd_47^post150+rcd_47^0 == 0 /\ a_121^0-a_121^post150 == 0 /\ len_161^0-len_161^post150 == 0 /\ -r_143^post150+r_143^0 == 0 /\ a_947^0-a_947^post150 == 0 /\ -a_632^post150+a_632^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post150 == 0 /\ len_262^0-len_262^post150 == 0 /\ -a_309^post150+a_309^0 == 0 /\ a_176^0-a_176^post150 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post150+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_107^post150+i_107^0 == 0 /\ -a_575^post150+a_575^0 == 0 /\ len_238^0-len_238^post150 == 0 /\ f_847^0-f_847^post150 == 0 /\ head_15^0-head_15^post150 == 0 /\ temp0_16^0-temp0_16^post150 == 0 /\ -i_113^post150+i_113^0 == 0 /\ -a_432^post150+a_432^0 == 0 /\ -a_431^post150+a_431^0 == 0 /\ r_151^0-r_151^post150 == 0 /\ a_311^0-a_311^post150 == 0 /\ a_902^0-a_902^post150 == 0 /\ a_430^0-a_430^post150 == 0 /\ -x_253^post150+x_253^0 == 0 /\ -x_SLAM_f_19^post150+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post150 == 0 /\ -length_29^post150+length_29^0 == 0 /\ -f_969^post150+f_969^0 == 0 /\ a_633^0-a_633^post150 == 0 /\ -y_20^post150+y_20^0 == 0 /\ -a_392^post150+a_392^0 == 0 /\ a_577^0-a_577^post150 == 0 /\ -a_310^post150+a_310^0 == 0 /\ x_156^0-x_156^post150 == 0 /\ a_144^0-a_144^post150 == 0 /\ r_192^0-r_192^post150 == 0 /\ -i_140^post150+i_140^0 == 0 /\ i_94^0-i_94^post150 == 0 /\ a_1162^0-a_1162^post150 == 0), cost: 1 151: l94 -> l95 : a_1089^0'=a_1089^post151, f_847^0'=f_847^post151, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post151, a_394^0'=a_394^post151, x_156^0'=x_156^post151, a_632^0'=a_632^post151, r_192^0'=r_192^post151, a_176^0'=a_176^post151, i_106^0'=i_106^post151, a_430^0'=a_430^post151, t_458^0'=t_458^post151, len_161^0'=len_161^post151, x_975^0'=x_975^post151, a_902^0'=a_902^post151, a_947^0'=a_947^post151, rcd_88^0'=rcd_88^post151, a_311^0'=a_311^post151, i_140^0'=i_140^post151, a_577^0'=a_577^post151, x_14^0'=x_14^post151, nondet_12^0'=nondet_12^post151, a_121^0'=a_121^post151, head_15^0'=head_15^post151, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post151, i_27^0'=i_27^post151, x_21^0'=x_21^post151, a_634^0'=a_634^post151, r_39^0'=r_39^post151, a_263^0'=a_263^post151, i_113^0'=i_113^post151, a_432^0'=a_432^post151, temp0_31^0'=temp0_31^post151, len_262^0'=len_262^post151, y_20^0'=y_20^post151, f_248^0'=f_248^post151, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post151, a_393^0'=a_393^post151, i_229^0'=i_229^post151, a_610^0'=a_610^post151, r_151^0'=r_151^post151, a_144^0'=a_144^post151, i_1053^0'=i_1053^post151, a_417^0'=a_417^post151, t_24^0'=t_24^post151, i_94^0'=i_94^post151, x_852^0'=x_852^post151, a_862^0'=a_862^post151, rcd_1249^0'=rcd_1249^post151, rcd_58^0'=rcd_58^post151, a_310^0'=a_310^post151, i_127^0'=i_127^post151, a_576^0'=a_576^post151, tmp_34^0'=tmp_34^post151, length_29^0'=length_29^post151, a_1162^0'=a_1162^post151, f_969^0'=f_969^post151, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post151, a_395^0'=a_395^post151, x_17^0'=x_17^post151, a_633^0'=a_633^post151, r_224^0'=r_224^post151, a_239^0'=a_239^post151, i_107^0'=i_107^post151, a_431^0'=a_431^post151, temp0_16^0'=temp0_16^post151, len_238^0'=len_238^post151, x_SLAM_f_19^0'=x_SLAM_f_19^post151, a_924^0'=a_924^post151, ct_18^0'=ct_18^post151, result_11^0'=result_11^post151, a_392^0'=a_392^post151, i_197^0'=i_197^post151, a_579^0'=a_579^post151, r_143^0'=r_143^post151, a_1236^0'=a_1236^post151, head_32^0'=head_32^post151, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post151, i_30^0'=i_30^post151, x_253^0'=x_253^post151, a_635^0'=a_635^post151, r_970^0'=r_970^post151, rcd_47^0'=rcd_47^post151, a_309^0'=a_309^post151, i_1248^0'=i_1248^post151, a_575^0'=a_575^post151, temp_35^0'=temp_35^post151, len_861^0'=len_861^post151, (a_632^0-a_632^post151 == 0 /\ i_106^0-i_106^post151 == 0 /\ a_430^0-a_430^post151 == 0 /\ x_975^0-x_975^post151 == 0 /\ -r_151^post151+r_151^0 == 0 /\ f_248^0-f_248^post151 == 0 /\ t_458^0-t_458^post151 == 0 /\ -x_SLAM_f_19^post151+x_SLAM_f_19^0 == 0 /\ -i_107^post151+i_107^0 == 0 /\ -a_575^post151+a_575^0 == 0 /\ i_127^0-i_127^post151 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post151+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -r_143^post151+r_143^0 == 0 /\ result_11^0-result_11^post151 == 0 /\ f_969^0-f_969^post151 == 0 /\ -a_862^post151+a_862^0 == 0 /\ temp0_31^0-temp0_31^post151 == 0 /\ -a_432^post151+a_432^0 == 0 /\ -i_113^post151+i_113^0 == 0 /\ -i_94^post151+i_94^0 == 0 /\ -temp_35^post151+temp_35^0 == 0 /\ len_262^0-len_262^post151 == 0 /\ a_394^0-a_394^post151 == 0 /\ -a_431^post151+a_431^0 == 0 /\ x_852^0-x_852^post151 == 0 /\ len_161^0-len_161^post151 == 0 /\ -i_140^post151+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post151+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_88^0-rcd_88^post151 == 0 /\ a_176^0-a_176^post151 == 0 /\ -a_310^post151+a_310^0 == 0 /\ f_847^0-f_847^post151 == 0 /\ -r_970^post151+r_970^0 == 0 /\ -x_253^post151+x_253^0 == 0 /\ -a_1236^post151+a_1236^0 == 0 /\ rcd_58^0-rcd_58^post151 == 0 /\ rcd_1249^0-rcd_1249^post151 == 0 /\ -rcd_47^post151+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post151 == 0 /\ -r_224^post151+r_224^0 == 0 /\ temp0_16^0-temp0_16^post151 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post151+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post151 == 0 /\ -a_577^post151+a_577^0 == 0 /\ -i_1248^post151+i_1248^0 == 0 /\ -i_1053^post151+i_1053^0 == 0 /\ -length_29^post151+length_29^0 == 0 /\ a_239^0-a_239^post151 == 0 /\ -y_20^post151+y_20^0 == 0 /\ x_156^0-x_156^post151 == 0 /\ -r_39^post151+r_39^0 == 0 /\ -a_263^post151+a_263^0 == 0 /\ -a_395^post151+a_395^0 == 0 /\ a_902^0-a_902^post151 == 0 /\ -a_579^post151+a_579^0 == 0 /\ r_192^0-r_192^post151 == 0 /\ -head_32^post151+head_32^0 == 0 /\ -a_392^post151+a_392^0 == 0 /\ a_610^0-a_610^post151 == 0 /\ a_633^0-a_633^post151 == 0 /\ i_229^0-i_229^post151 == 0 /\ a_417^0-a_417^post151 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post151 == 0 /\ x_17^0-x_17^post151 == 0 /\ -a_924^post151+a_924^0 == 0 /\ a_144^0-a_144^post151 == 0 /\ i_27^0-i_27^post151 == 0 /\ x_14^0-x_14^post151 == 0 /\ nondet_12^0-nondet_12^post151 == 0 /\ -x_21^post151+x_21^0 == 0 /\ len_238^0-len_238^post151 == 0 /\ -i_197^post151+i_197^0 == 0 /\ a_634^0-a_634^post151 == 0 /\ a_576^0-a_576^post151 == 0 /\ a_1089^0-a_1089^post151 == 0 /\ a_121^0-a_121^post151 == 0 /\ -a_309^post151+a_309^0 == 0 /\ -a_635^post151+a_635^0 == 0 /\ 1+x_14^0 <= 0 /\ -ct_18^post151+ct_18^0 == 0 /\ a_311^0-a_311^post151 == 0 /\ -tmp_34^post151+tmp_34^0 == 0 /\ -a_1162^post151+a_1162^0 == 0 /\ -a_393^post151+a_393^0 == 0 /\ a_947^0-a_947^post151 == 0 /\ -len_861^post151+len_861^0 == 0 /\ -t_24^post151+t_24^0 == 0 /\ -i_30^post151+i_30^0 == 0), cost: 1 152: l95 -> l96 : a_1089^0'=a_1089^post152, f_847^0'=f_847^post152, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post152, a_394^0'=a_394^post152, x_156^0'=x_156^post152, a_632^0'=a_632^post152, r_192^0'=r_192^post152, a_176^0'=a_176^post152, i_106^0'=i_106^post152, a_430^0'=a_430^post152, t_458^0'=t_458^post152, len_161^0'=len_161^post152, x_975^0'=x_975^post152, a_902^0'=a_902^post152, a_947^0'=a_947^post152, rcd_88^0'=rcd_88^post152, a_311^0'=a_311^post152, i_140^0'=i_140^post152, a_577^0'=a_577^post152, x_14^0'=x_14^post152, nondet_12^0'=nondet_12^post152, a_121^0'=a_121^post152, head_15^0'=head_15^post152, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post152, i_27^0'=i_27^post152, x_21^0'=x_21^post152, a_634^0'=a_634^post152, r_39^0'=r_39^post152, a_263^0'=a_263^post152, i_113^0'=i_113^post152, a_432^0'=a_432^post152, temp0_31^0'=temp0_31^post152, len_262^0'=len_262^post152, y_20^0'=y_20^post152, f_248^0'=f_248^post152, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post152, a_393^0'=a_393^post152, i_229^0'=i_229^post152, a_610^0'=a_610^post152, r_151^0'=r_151^post152, a_144^0'=a_144^post152, i_1053^0'=i_1053^post152, a_417^0'=a_417^post152, t_24^0'=t_24^post152, i_94^0'=i_94^post152, x_852^0'=x_852^post152, a_862^0'=a_862^post152, rcd_1249^0'=rcd_1249^post152, rcd_58^0'=rcd_58^post152, a_310^0'=a_310^post152, i_127^0'=i_127^post152, a_576^0'=a_576^post152, tmp_34^0'=tmp_34^post152, length_29^0'=length_29^post152, a_1162^0'=a_1162^post152, f_969^0'=f_969^post152, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post152, a_395^0'=a_395^post152, x_17^0'=x_17^post152, a_633^0'=a_633^post152, r_224^0'=r_224^post152, a_239^0'=a_239^post152, i_107^0'=i_107^post152, a_431^0'=a_431^post152, temp0_16^0'=temp0_16^post152, len_238^0'=len_238^post152, x_SLAM_f_19^0'=x_SLAM_f_19^post152, a_924^0'=a_924^post152, ct_18^0'=ct_18^post152, result_11^0'=result_11^post152, a_392^0'=a_392^post152, i_197^0'=i_197^post152, a_579^0'=a_579^post152, r_143^0'=r_143^post152, a_1236^0'=a_1236^post152, head_32^0'=head_32^post152, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post152, i_30^0'=i_30^post152, x_253^0'=x_253^post152, a_635^0'=a_635^post152, r_970^0'=r_970^post152, rcd_47^0'=rcd_47^post152, a_309^0'=a_309^post152, i_1248^0'=i_1248^post152, a_575^0'=a_575^post152, temp_35^0'=temp_35^post152, len_861^0'=len_861^post152, (0 == 0 /\ -len_861^post152+len_861^0 == 0 /\ a_862^0-a_862^post152 == 0 /\ -head_32^post152+head_32^0 == 0 /\ len_161^0-len_161^post152 == 0 /\ -temp0_16^post152+temp0_16^0 == 0 /\ -i_229^post152+i_229^0 == 0 /\ x_852^0-x_852^post152 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post152 == 0 /\ a_263^0-a_263^post152 == 0 /\ -a_310^post152+a_310^0 == 0 /\ a_144^0-a_144^post152 == 0 /\ a_394^0-a_394^post152 == 0 /\ -temp_35^post152+temp_35^0 == 0 /\ -r_224^post152+r_224^0 == 0 /\ a_576^0-a_576^post152 == 0 /\ rcd_88^0-rcd_88^post152 == 0 /\ f_847^0-f_847^post152 == 0 /\ tmp_34^0-tmp_34^post152 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post152 == 0 /\ -r_39^post152+r_39^0 == 0 /\ -a_392^post152+a_392^0 == 0 /\ i_106^0-i_106^post152 == 0 /\ -a_575^post152+a_575^0 == 0 /\ -a_417^post152+a_417^0 == 0 /\ -i_197^post152+i_197^0 == 0 /\ -a_309^post152+a_309^0 == 0 /\ -i_127^post152+i_127^0 == 0 /\ -a_579^post152+a_579^0 == 0 /\ t_458^0-t_458^post152 == 0 /\ -result_11^post152+result_11^0 == 0 /\ r_143^0-r_143^post152 == 0 /\ -x_17^post152+x_17^0 == 0 /\ -i_30^post152+i_30^0 == 0 /\ -a_393^post152+a_393^0 == 0 /\ -t_24^post152+t_24^0 == 0 /\ x_21^0-x_21^post152 == 0 /\ ct_18^0-ct_18^post152 == 0 /\ a_1236^0-a_1236^post152 == 0 /\ -a_635^post152+a_635^0 == 0 /\ -a_1162^post152+a_1162^0 == 0 /\ x_14^0-x_14^post152 == 0 /\ a_1089^0-a_1089^post152 == 0 /\ -i_1248^post152+i_1248^0 == 0 /\ -i_107^post152+i_107^0 == 0 /\ temp0_31^0-temp0_31^post152 == 0 /\ -a_577^post152+a_577^0 == 0 /\ -a_633^post152+a_633^0 == 0 /\ i_27^0-i_27^post152 == 0 /\ a_634^0-a_634^post152 == 0 /\ -a_632^post152+a_632^0 == 0 /\ a_121^0-a_121^post152 == 0 /\ x_156^0-x_156^post152 == 0 /\ len_262^0-len_262^post152 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post152 == 0 /\ i_140^0-i_140^post152 == 0 /\ a_947^0-a_947^post152 == 0 /\ -rcd_1249^post152+rcd_1249^0 == 0 /\ x_253^0-x_253^post152 == 0 /\ i_1053^0-i_1053^post152 == 0 /\ a_176^0-a_176^post152 == 0 /\ a_395^0-a_395^post152 == 0 /\ -a_924^post152+a_924^0 == 0 /\ y_20^0-y_20^post152 == 0 /\ -len_238^post152+len_238^0 == 0 /\ -rcd_47^post152+rcd_47^0 == 0 /\ -i_113^post152+i_113^0 == 0 /\ rcd_58^0-rcd_58^post152 == 0 /\ a_430^0-a_430^post152 == 0 /\ -a_311^post152+a_311^0 == 0 /\ head_15^0-head_15^post152 == 0 /\ 1-i_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post152 == 0 /\ r_151^0-r_151^post152 == 0 /\ -f_969^post152+f_969^0 == 0 /\ -a_432^post152+a_432^0 == 0 /\ -a_431^post152+a_431^0 == 0 /\ a_239^0-a_239^post152 == 0 /\ a_902^0-a_902^post152 == 0 /\ x_975^0-x_975^post152 == 0 /\ a_610^0-a_610^post152 == 0 /\ -f_248^post152+f_248^0 == 0 /\ r_192^0-r_192^post152 == 0 /\ -length_29^post152+length_29^0 == 0 /\ -x_SLAM_f_19^post152+x_SLAM_f_19^0 == 0 /\ -nondet_12^17+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post152 == 0 /\ -i_94^post152+i_94^0 == 0 /\ -r_970^post152+r_970^0 == 0), cost: 1 153: l96 -> l97 : a_1089^0'=a_1089^post153, f_847^0'=f_847^post153, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post153, a_394^0'=a_394^post153, x_156^0'=x_156^post153, a_632^0'=a_632^post153, r_192^0'=r_192^post153, a_176^0'=a_176^post153, i_106^0'=i_106^post153, a_430^0'=a_430^post153, t_458^0'=t_458^post153, len_161^0'=len_161^post153, x_975^0'=x_975^post153, a_902^0'=a_902^post153, a_947^0'=a_947^post153, rcd_88^0'=rcd_88^post153, a_311^0'=a_311^post153, i_140^0'=i_140^post153, a_577^0'=a_577^post153, x_14^0'=x_14^post153, nondet_12^0'=nondet_12^post153, a_121^0'=a_121^post153, head_15^0'=head_15^post153, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post153, i_27^0'=i_27^post153, x_21^0'=x_21^post153, a_634^0'=a_634^post153, r_39^0'=r_39^post153, a_263^0'=a_263^post153, i_113^0'=i_113^post153, a_432^0'=a_432^post153, temp0_31^0'=temp0_31^post153, len_262^0'=len_262^post153, y_20^0'=y_20^post153, f_248^0'=f_248^post153, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post153, a_393^0'=a_393^post153, i_229^0'=i_229^post153, a_610^0'=a_610^post153, r_151^0'=r_151^post153, a_144^0'=a_144^post153, i_1053^0'=i_1053^post153, a_417^0'=a_417^post153, t_24^0'=t_24^post153, i_94^0'=i_94^post153, x_852^0'=x_852^post153, a_862^0'=a_862^post153, rcd_1249^0'=rcd_1249^post153, rcd_58^0'=rcd_58^post153, a_310^0'=a_310^post153, i_127^0'=i_127^post153, a_576^0'=a_576^post153, tmp_34^0'=tmp_34^post153, length_29^0'=length_29^post153, a_1162^0'=a_1162^post153, f_969^0'=f_969^post153, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post153, a_395^0'=a_395^post153, x_17^0'=x_17^post153, a_633^0'=a_633^post153, r_224^0'=r_224^post153, a_239^0'=a_239^post153, i_107^0'=i_107^post153, a_431^0'=a_431^post153, temp0_16^0'=temp0_16^post153, len_238^0'=len_238^post153, x_SLAM_f_19^0'=x_SLAM_f_19^post153, a_924^0'=a_924^post153, ct_18^0'=ct_18^post153, result_11^0'=result_11^post153, a_392^0'=a_392^post153, i_197^0'=i_197^post153, a_579^0'=a_579^post153, r_143^0'=r_143^post153, a_1236^0'=a_1236^post153, head_32^0'=head_32^post153, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post153, i_30^0'=i_30^post153, x_253^0'=x_253^post153, a_635^0'=a_635^post153, r_970^0'=r_970^post153, rcd_47^0'=rcd_47^post153, a_309^0'=a_309^post153, i_1248^0'=i_1248^post153, a_575^0'=a_575^post153, temp_35^0'=temp_35^post153, len_861^0'=len_861^post153, (a_1089^0-a_1089^post153 == 0 /\ a_394^0-a_394^post153 == 0 /\ -y_20^post153+y_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post153+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_263^post153+a_263^0 == 0 /\ -t_24^post153+t_24^0 == 0 /\ -temp_35^post153+temp_35^0 == 0 /\ x_852^0-x_852^post153 == 0 /\ t_458^0-t_458^post153 == 0 /\ -r_970^post153+r_970^0 == 0 /\ i_106^0-i_106^post153 == 0 /\ -ct_18^post153+ct_18^0 == 0 /\ -i_229^post153+i_229^0 == 0 /\ -a_431^post153+a_431^0 == 0 /\ -x_253^post153+x_253^0 == 0 /\ rcd_88^0-rcd_88^post153 == 0 /\ a_576^0-a_576^post153 == 0 /\ a_311^0-a_311^post153 == 0 /\ f_847^0-f_847^post153 == 0 /\ -i_1053^post153+i_1053^0 == 0 /\ -i_1248^post153+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post153 == 0 /\ -a_239^post153+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post153+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ tmp_34^0-tmp_34^post153 == 0 /\ -a_395^post153+a_395^0 == 0 /\ -r_224^post153+r_224^0 == 0 /\ -len_861^post153+len_861^0 == 0 /\ -a_577^post153+a_577^0 == 0 /\ a_1236^0-a_1236^post153 == 0 /\ a_924^0-a_924^post153 == 0 /\ a_121^0-a_121^post153 == 0 /\ x_21^0-x_21^post153 == 0 /\ a_610^0-a_610^post153 == 0 /\ -r_143^post153+r_143^0 == 0 /\ len_262^0-len_262^post153 == 0 /\ temp0_31^0-temp0_31^post153 == 0 /\ -a_393^post153+a_393^0 == 0 /\ x_975^0-x_975^post153 == 0 /\ -result_11^post153+result_11^0 == 0 /\ -x_17^post153+x_17^0 == 0 /\ a_947^0-a_947^post153 == 0 /\ -a_392^post153+a_392^0 == 0 /\ -a_309^post153+a_309^0 == 0 /\ -i_30^post153+i_30^0 == 0 /\ -x_156^post153+x_156^0 == 0 /\ len_238^0-len_238^post153 == 0 /\ -x_SLAM_f_19^post153+x_SLAM_f_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ x_14^0-x_14^post153 == 0 /\ -i_107^post153+i_107^0 == 0 /\ i_27^0-i_27^post153 == 0 /\ f_969^0-f_969^post153 == 0 /\ -a_575^post153+a_575^0 == 0 /\ r_192^0-r_192^post153 == 0 /\ a_176^0-a_176^post153 == 0 /\ -i_113^post153+i_113^0 == 0 /\ -i_94^post153+i_94^0 == 0 /\ len_161^0-len_161^post153 == 0 /\ -a_635^post153+a_635^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post153 == 0 /\ rcd_1249^0-rcd_1249^post153 == 0 /\ -a_632^post153+a_632^0 == 0 /\ a_430^0-a_430^post153 == 0 /\ -a_432^post153+a_432^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post153+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1162^0-a_1162^post153 == 0 /\ -rcd_58^post153+rcd_58^0 == 0 /\ -length_29^post153+length_29^0 == 0 /\ -rcd_47^post153+rcd_47^0 == 0 /\ -r_39^post153+r_39^0 == 0 /\ -a_862^post153+a_862^0 == 0 /\ -a_310^post153+a_310^0 == 0 /\ -i_140^post153+i_140^0 == 0 /\ temp0_16^0-temp0_16^post153 == 0 /\ r_151^0-r_151^post153 == 0 /\ f_248^0-f_248^post153 == 0 /\ a_144^0-a_144^post153 == 0 /\ a_902^0-a_902^post153 == 0 /\ nondet_12^0-nondet_12^post153 == 0 /\ -head_32^post153+head_32^0 == 0 /\ a_417^0-a_417^post153 == 0 /\ -a_633^post153+a_633^0 == 0 /\ i_127^0-i_127^post153 == 0 /\ head_15^0-head_15^post153 == 0 /\ a_634^0-a_634^post153 == 0 /\ -i_197^post153+i_197^0 == 0 /\ -a_579^post153+a_579^0 == 0), cost: 1 154: l96 -> l97 : a_1089^0'=a_1089^post154, f_847^0'=f_847^post154, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post154, a_394^0'=a_394^post154, x_156^0'=x_156^post154, a_632^0'=a_632^post154, r_192^0'=r_192^post154, a_176^0'=a_176^post154, i_106^0'=i_106^post154, a_430^0'=a_430^post154, t_458^0'=t_458^post154, len_161^0'=len_161^post154, x_975^0'=x_975^post154, a_902^0'=a_902^post154, a_947^0'=a_947^post154, rcd_88^0'=rcd_88^post154, a_311^0'=a_311^post154, i_140^0'=i_140^post154, a_577^0'=a_577^post154, x_14^0'=x_14^post154, nondet_12^0'=nondet_12^post154, a_121^0'=a_121^post154, head_15^0'=head_15^post154, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post154, i_27^0'=i_27^post154, x_21^0'=x_21^post154, a_634^0'=a_634^post154, r_39^0'=r_39^post154, a_263^0'=a_263^post154, i_113^0'=i_113^post154, a_432^0'=a_432^post154, temp0_31^0'=temp0_31^post154, len_262^0'=len_262^post154, y_20^0'=y_20^post154, f_248^0'=f_248^post154, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post154, a_393^0'=a_393^post154, i_229^0'=i_229^post154, a_610^0'=a_610^post154, r_151^0'=r_151^post154, a_144^0'=a_144^post154, i_1053^0'=i_1053^post154, a_417^0'=a_417^post154, t_24^0'=t_24^post154, i_94^0'=i_94^post154, x_852^0'=x_852^post154, a_862^0'=a_862^post154, rcd_1249^0'=rcd_1249^post154, rcd_58^0'=rcd_58^post154, a_310^0'=a_310^post154, i_127^0'=i_127^post154, a_576^0'=a_576^post154, tmp_34^0'=tmp_34^post154, length_29^0'=length_29^post154, a_1162^0'=a_1162^post154, f_969^0'=f_969^post154, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post154, a_395^0'=a_395^post154, x_17^0'=x_17^post154, a_633^0'=a_633^post154, r_224^0'=r_224^post154, a_239^0'=a_239^post154, i_107^0'=i_107^post154, a_431^0'=a_431^post154, temp0_16^0'=temp0_16^post154, len_238^0'=len_238^post154, x_SLAM_f_19^0'=x_SLAM_f_19^post154, a_924^0'=a_924^post154, ct_18^0'=ct_18^post154, result_11^0'=result_11^post154, a_392^0'=a_392^post154, i_197^0'=i_197^post154, a_579^0'=a_579^post154, r_143^0'=r_143^post154, a_1236^0'=a_1236^post154, head_32^0'=head_32^post154, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post154, i_30^0'=i_30^post154, x_253^0'=x_253^post154, a_635^0'=a_635^post154, r_970^0'=r_970^post154, rcd_47^0'=rcd_47^post154, a_309^0'=a_309^post154, i_1248^0'=i_1248^post154, a_575^0'=a_575^post154, temp_35^0'=temp_35^post154, len_861^0'=len_861^post154, (-a_635^post154+a_635^0 == 0 /\ -a_432^post154+a_432^0 == 0 /\ -i_30^post154+i_30^0 == 0 /\ -i_113^post154+i_113^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post154 == 0 /\ -a_393^post154+a_393^0 == 0 /\ -r_143^post154+r_143^0 == 0 /\ a_632^0-a_632^post154 == 0 /\ -i_94^post154+i_94^0 == 0 /\ a_430^0-a_430^post154 == 0 /\ f_969^0-f_969^post154 == 0 /\ x_975^0-x_975^post154 == 0 /\ -a_309^post154+a_309^0 == 0 /\ f_248^0-f_248^post154 == 0 /\ result_11^0-result_11^post154 == 0 /\ -i_107^post154+i_107^0 == 0 /\ -a_1236^post154+a_1236^0 == 0 /\ -a_575^post154+a_575^0 == 0 /\ x_17^0-x_17^post154 == 0 /\ -x_SLAM_f_19^post154+x_SLAM_f_19^0 == 0 /\ a_634^0-a_634^post154 == 0 /\ i_127^0-i_127^post154 == 0 /\ a_394^0-a_394^post154 == 0 /\ -r_39^post154+r_39^0 == 0 /\ rcd_58^0-rcd_58^post154 == 0 /\ -rcd_47^post154+rcd_47^0 == 0 /\ -a_310^post154+a_310^0 == 0 /\ len_161^0-len_161^post154 == 0 /\ -i_140^post154+i_140^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_610^0-a_610^post154 == 0 /\ a_176^0-a_176^post154 == 0 /\ -length_29^post154+length_29^0 == 0 /\ rcd_1249^0-rcd_1249^post154 == 0 /\ -a_392^post154+a_392^0 == 0 /\ -r_151^post154+r_151^0 == 0 /\ -a_862^post154+a_862^0 == 0 /\ x_852^0-x_852^post154 == 0 /\ -a_579^post154+a_579^0 == 0 /\ a_576^0-a_576^post154 == 0 /\ -head_32^post154+head_32^0 == 0 /\ f_847^0-f_847^post154 == 0 /\ t_458^0-t_458^post154 == 0 /\ -a_431^post154+a_431^0 == 0 /\ -r_970^post154+r_970^0 == 0 /\ -x_253^post154+x_253^0 == 0 /\ a_633^0-a_633^post154 == 0 /\ -a_263^post154+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post154 == 0 /\ -i_197^post154+i_197^0 == 0 /\ -y_20^post154+y_20^0 == 0 /\ temp0_31^0-temp0_31^post154 == 0 /\ r_192^0-r_192^post154 == 0 /\ a_144^0-a_144^post154 == 0 /\ a_121^0-a_121^post154 == 0 /\ a_239^0-a_239^post154 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post154 == 0 /\ x_156^0-x_156^post154 == 0 /\ -t_24^post154+t_24^0 == 0 /\ len_262^0-len_262^post154 == 0 /\ a_947^0-a_947^post154 == 0 /\ -temp_35^post154+temp_35^0 == 0 /\ -ct_18^post154+ct_18^0 == 0 /\ head_15^0-head_15^post154 == 0 /\ -tmp_34^post154+tmp_34^0 == 0 /\ a_902^0-a_902^post154 == 0 /\ nondet_12^0-nondet_12^post154 == 0 /\ i_1053^0-i_1053^post154 == 0 /\ -i_229^post154+i_229^0 == 0 /\ -a_924^post154+a_924^0 == 0 /\ rcd_88^0-rcd_88^post154 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post154+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post154+a_395^0 == 0 /\ a_417^0-a_417^post154 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post154 == 0 /\ len_238^0-len_238^post154 == 0 /\ x_14^0-x_14^post154 == 0 /\ -a_1162^post154+a_1162^0 == 0 /\ i_27^0-i_27^post154 == 0 /\ -a_577^post154+a_577^0 == 0 /\ -i_1248^post154+i_1248^0 == 0 /\ -r_224^post154+r_224^0 == 0 /\ i_106^0-i_106^post154 == 0 /\ a_1089^0-a_1089^post154 == 0 /\ a_311^0-a_311^post154 == 0 /\ -x_21^post154+x_21^0 == 0 /\ -temp0_16^post154+temp0_16^0 == 0 /\ -len_861^post154+len_861^0 == 0), cost: 1 155: l97 -> l98 : a_1089^0'=a_1089^post155, f_847^0'=f_847^post155, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post155, a_394^0'=a_394^post155, x_156^0'=x_156^post155, a_632^0'=a_632^post155, r_192^0'=r_192^post155, a_176^0'=a_176^post155, i_106^0'=i_106^post155, a_430^0'=a_430^post155, t_458^0'=t_458^post155, len_161^0'=len_161^post155, x_975^0'=x_975^post155, a_902^0'=a_902^post155, a_947^0'=a_947^post155, rcd_88^0'=rcd_88^post155, a_311^0'=a_311^post155, i_140^0'=i_140^post155, a_577^0'=a_577^post155, x_14^0'=x_14^post155, nondet_12^0'=nondet_12^post155, a_121^0'=a_121^post155, head_15^0'=head_15^post155, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post155, i_27^0'=i_27^post155, x_21^0'=x_21^post155, a_634^0'=a_634^post155, r_39^0'=r_39^post155, a_263^0'=a_263^post155, i_113^0'=i_113^post155, a_432^0'=a_432^post155, temp0_31^0'=temp0_31^post155, len_262^0'=len_262^post155, y_20^0'=y_20^post155, f_248^0'=f_248^post155, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post155, a_393^0'=a_393^post155, i_229^0'=i_229^post155, a_610^0'=a_610^post155, r_151^0'=r_151^post155, a_144^0'=a_144^post155, i_1053^0'=i_1053^post155, a_417^0'=a_417^post155, t_24^0'=t_24^post155, i_94^0'=i_94^post155, x_852^0'=x_852^post155, a_862^0'=a_862^post155, rcd_1249^0'=rcd_1249^post155, rcd_58^0'=rcd_58^post155, a_310^0'=a_310^post155, i_127^0'=i_127^post155, a_576^0'=a_576^post155, tmp_34^0'=tmp_34^post155, length_29^0'=length_29^post155, a_1162^0'=a_1162^post155, f_969^0'=f_969^post155, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post155, a_395^0'=a_395^post155, x_17^0'=x_17^post155, a_633^0'=a_633^post155, r_224^0'=r_224^post155, a_239^0'=a_239^post155, i_107^0'=i_107^post155, a_431^0'=a_431^post155, temp0_16^0'=temp0_16^post155, len_238^0'=len_238^post155, x_SLAM_f_19^0'=x_SLAM_f_19^post155, a_924^0'=a_924^post155, ct_18^0'=ct_18^post155, result_11^0'=result_11^post155, a_392^0'=a_392^post155, i_197^0'=i_197^post155, a_579^0'=a_579^post155, r_143^0'=r_143^post155, a_1236^0'=a_1236^post155, head_32^0'=head_32^post155, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post155, i_30^0'=i_30^post155, x_253^0'=x_253^post155, a_635^0'=a_635^post155, r_970^0'=r_970^post155, rcd_47^0'=rcd_47^post155, a_309^0'=a_309^post155, i_1248^0'=i_1248^post155, a_575^0'=a_575^post155, temp_35^0'=temp_35^post155, len_861^0'=len_861^post155, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post155 == 0 /\ a_394^0-a_394^post155 == 0 /\ -r_224^post155+r_224^0 == 0 /\ -temp_35^post155+temp_35^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ t_24^0-t_24^post155 == 0 /\ -r_970^post155+r_970^0 == 0 /\ 1-i_140^0+i_27^post155 <= 0 /\ f_969^0-f_969^post155 == 0 /\ a_121^0-a_144^post155 <= 0 /\ -i_127^post155+i_127^0 == 0 /\ a_430^0-a_430^post155 == 0 /\ x_852^0-x_852^post155 == 0 /\ t_458^0-t_458^post155 == 0 /\ a_392^0-a_392^post155 == 0 /\ -a_579^post155+a_579^0 == 0 /\ a_263^0-a_263^post155 == 0 /\ -ct_18^post155+ct_18^0 == 0 /\ a_632^0-a_632^post155 == 0 /\ -i_197^post155+i_197^0 == 0 /\ i_106^0-i_106^post155 == 0 /\ -a_1162^post155+a_1162^0 == 0 /\ a_576^0-a_576^post155 == 0 /\ -y_20^post155+y_20^0 == 0 /\ rcd_88^0-rcd_88^post155 == 0 /\ len_161^0-len_161^post155 == 0 /\ -f_248^post155+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post155+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post155 == 0 /\ -a_924^post155+a_924^0 == 0 /\ -rcd_1249^post155+rcd_1249^0 == 0 /\ head_15^0-head_15^post155 == 0 /\ -i_229^post155+i_229^0 == 0 /\ -a_577^post155+a_577^0 == 0 /\ x_21^0-x_21^post155 == 0 /\ r_151^0-r_151^post155 == 0 /\ a_1236^0-a_1236^post155 == 0 /\ -i_1248^post155+i_1248^0 == 0 /\ -a_121^0+a_144^post155 <= 0 /\ -len_861^post155+len_861^0 == 0 /\ len_262^0-len_262^post155 == 0 /\ temp0_31^0-temp0_31^post155 == 0 /\ -temp0_16^post155+temp0_16^0 == 0 /\ a_862^0-a_862^post155 == 0 /\ -i_30^post155+i_30^0 == 0 /\ -a_393^post155+a_393^0 == 0 /\ x_156^0-x_156^post155 == 0 /\ -result_11^post155+result_11^0 == 0 /\ -x_17^post155+x_17^0 == 0 /\ -i_94^post155+i_94^0 == 0 /\ rcd_58^0-rcd_58^post155 == 0 /\ a_176^0-a_176^post155 == 0 /\ a_1089^0-a_1089^post155 == 0 /\ i_1053^0-i_1053^post155 == 0 /\ a_947^0-a_947^post155 == 0 /\ -1+i_140^0-i_27^post155 <= 0 /\ -i_113^post155+i_113^0 == 0 /\ -a_309^post155+a_309^0 == 0 /\ r_192^0-r_192^post155 == 0 /\ -x_SLAM_f_19^post155+x_SLAM_f_19^0 == 0 /\ -i_107^post155+i_107^0 == 0 /\ -x_14^post155+x_14^0 == 0 /\ a_395^0-a_395^post155 == 0 /\ a_311^0-a_311^post155 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post155 == 0 /\ -a_575^post155+a_575^0 == 0 /\ i_140^0-i_140^post155 == 0 /\ -r_143^post155+r_39^0 <= 0 /\ -a_176^0+a_121^0 <= 0 /\ -a_432^post155+a_432^0 == 0 /\ -a_633^post155+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post155 == 0 /\ a_635^0-a_635^post155 == 0 /\ 1-i_27^0+i_27^post155 == 0 /\ tmp_34^0-tmp_34^post155 == 0 /\ -r_39^post155+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post155+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post155+length_29^0 == 0 /\ -a_431^post155+a_431^0 == 0 /\ -a_121^post155+a_121^0 == 0 /\ -rcd_47^post155+rcd_47^0 == 0 /\ a_417^0-a_417^post155 == 0 /\ a_239^0-a_239^post155 == 0 /\ -a_310^post155+a_310^0 == 0 /\ nondet_12^0-nondet_12^post155 == 0 /\ -x_253^post155+x_253^0 == 0 /\ x_975^0-x_975^post155 == 0 /\ -len_238^post155+len_238^0 == 0 /\ -a_610^post155+a_610^0 == 0 /\ r_143^post155-r_39^0 <= 0 /\ a_634^0-a_634^post155 == 0 /\ a_176^0-a_121^0 <= 0 /\ a_902^0-a_902^post155 == 0 /\ -head_32^post155+head_32^0 == 0), cost: 1 156: l98 -> l99 : a_1089^0'=a_1089^post156, f_847^0'=f_847^post156, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post156, a_394^0'=a_394^post156, x_156^0'=x_156^post156, a_632^0'=a_632^post156, r_192^0'=r_192^post156, a_176^0'=a_176^post156, i_106^0'=i_106^post156, a_430^0'=a_430^post156, t_458^0'=t_458^post156, len_161^0'=len_161^post156, x_975^0'=x_975^post156, a_902^0'=a_902^post156, a_947^0'=a_947^post156, rcd_88^0'=rcd_88^post156, a_311^0'=a_311^post156, i_140^0'=i_140^post156, a_577^0'=a_577^post156, x_14^0'=x_14^post156, nondet_12^0'=nondet_12^post156, a_121^0'=a_121^post156, head_15^0'=head_15^post156, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post156, i_27^0'=i_27^post156, x_21^0'=x_21^post156, a_634^0'=a_634^post156, r_39^0'=r_39^post156, a_263^0'=a_263^post156, i_113^0'=i_113^post156, a_432^0'=a_432^post156, temp0_31^0'=temp0_31^post156, len_262^0'=len_262^post156, y_20^0'=y_20^post156, f_248^0'=f_248^post156, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post156, a_393^0'=a_393^post156, i_229^0'=i_229^post156, a_610^0'=a_610^post156, r_151^0'=r_151^post156, a_144^0'=a_144^post156, i_1053^0'=i_1053^post156, a_417^0'=a_417^post156, t_24^0'=t_24^post156, i_94^0'=i_94^post156, x_852^0'=x_852^post156, a_862^0'=a_862^post156, rcd_1249^0'=rcd_1249^post156, rcd_58^0'=rcd_58^post156, a_310^0'=a_310^post156, i_127^0'=i_127^post156, a_576^0'=a_576^post156, tmp_34^0'=tmp_34^post156, length_29^0'=length_29^post156, a_1162^0'=a_1162^post156, f_969^0'=f_969^post156, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post156, a_395^0'=a_395^post156, x_17^0'=x_17^post156, a_633^0'=a_633^post156, r_224^0'=r_224^post156, a_239^0'=a_239^post156, i_107^0'=i_107^post156, a_431^0'=a_431^post156, temp0_16^0'=temp0_16^post156, len_238^0'=len_238^post156, x_SLAM_f_19^0'=x_SLAM_f_19^post156, a_924^0'=a_924^post156, ct_18^0'=ct_18^post156, result_11^0'=result_11^post156, a_392^0'=a_392^post156, i_197^0'=i_197^post156, a_579^0'=a_579^post156, r_143^0'=r_143^post156, a_1236^0'=a_1236^post156, head_32^0'=head_32^post156, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post156, i_30^0'=i_30^post156, x_253^0'=x_253^post156, a_635^0'=a_635^post156, r_970^0'=r_970^post156, rcd_47^0'=rcd_47^post156, a_309^0'=a_309^post156, i_1248^0'=i_1248^post156, a_575^0'=a_575^post156, temp_35^0'=temp_35^post156, len_861^0'=len_861^post156, (a_633^0-a_633^post156 == 0 /\ -a_635^post156+a_635^0 == 0 /\ -r_143^post156+r_143^0 == 0 /\ i_94^0-i_94^post156 == 0 /\ r_39^0-r_39^post156 == 0 /\ a_393^0-a_393^post156 == 0 /\ r_151^0-r_151^post156 == 0 /\ y_20^0-y_20^post156 == 0 /\ -x_SLAM_f_19^post156+x_SLAM_f_19^0 == 0 /\ -len_238^post156+len_238^0 == 0 /\ -i_30^post156+i_30^0 == 0 /\ tmp_34^0-tmp_34^post156 == 0 /\ 1-x_14^0 <= 0 /\ a_432^0-a_432^post156 == 0 /\ x_21^0-x_21^post156 == 0 /\ x_975^0-x_975^post156 == 0 /\ r_192^0-r_192^post156 == 0 /\ i_113^0-i_113^post156 == 0 /\ a_144^0-a_144^post156 == 0 /\ -a_634^post156+a_634^0 == 0 /\ -i_107^post156+i_107^0 == 0 /\ -a_576^post156+a_576^0 == 0 /\ -a_575^post156+a_575^0 == 0 /\ i_27^0-i_27^post156 == 0 /\ t_24^0-t_24^post156 == 0 /\ a_862^0-a_862^post156 == 0 /\ -a_1236^post156+a_1236^0 == 0 /\ -a_431^post156+a_431^0 == 0 /\ -a_310^post156+a_310^0 == 0 /\ rcd_58^0-rcd_58^post156 == 0 /\ a_417^0-a_417^post156 == 0 /\ head_32^0-head_32^post156 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post156 == 0 /\ -a_610^post156+a_610^0 == 0 /\ -temp0_31^post156+temp0_31^0 == 0 /\ -a_392^post156+a_392^0 == 0 /\ -f_969^post156+f_969^0 == 0 /\ len_161^0-len_161^post156 == 0 /\ a_263^0-a_263^post156 == 0 /\ -rcd_47^post156+rcd_47^0 == 0 /\ i_140^0-i_140^post156 == 0 /\ -r_970^post156+r_970^0 == 0 /\ i_106^0-i_106^post156 == 0 /\ a_632^0-a_632^post156 == 0 /\ -a_579^post156+a_579^0 == 0 /\ -a_239^post156+a_239^0 == 0 /\ x_253^0-x_253^post156 == 0 /\ -ct_18^post156+ct_18^0 == 0 /\ -len_262^post156+len_262^0 == 0 /\ -i_127^post156+i_127^0 == 0 /\ f_248^0-f_248^post156 == 0 /\ t_458^0-t_458^post156 == 0 /\ a_902^0-a_902^post156 == 0 /\ -i_197^post156+i_197^0 == 0 /\ i_229^0-i_229^post156 == 0 /\ a_577^0-a_577^post156 == 0 /\ -temp_35^post156+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post156 == 0 /\ -nondet_12^post156+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post156+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post156+a_395^0 == 0 /\ x_156^0-x_156^post156 == 0 /\ x_14^0-x_14^post156 == 0 /\ -len_861^post156+len_861^0 == 0 /\ -a_309^post156+a_309^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post156 == 0 /\ i_1053^0-i_1053^post156 == 0 /\ -a_947^post156+a_947^0 == 0 /\ x_852^0-x_852^post156 == 0 /\ -result_11^post156+result_11^0 == 0 /\ a_121^0-a_121^post156 == 0 /\ -a_1162^post156+a_1162^0 == 0 /\ a_394^0-a_394^post156 == 0 /\ a_1089^0-a_1089^post156 == 0 /\ a_430^0-a_430^post156 == 0 /\ -x_17^post156+x_17^0 == 0 /\ a_311^0-a_311^post156 == 0 /\ rcd_1249^0-rcd_1249^post156 == 0 /\ a_176^0-a_176^post156 == 0 /\ rcd_88^0-rcd_88^post156 == 0 /\ length_29^0-length_29^post156 == 0 /\ -temp0_16^post156+temp0_16^0 == 0 /\ f_847^0-f_847^post156 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post156 == 0 /\ -a_924^post156+a_924^0 == 0 /\ -head_15^post156+head_15^0 == 0 /\ -r_224^post156+r_224^0 == 0 /\ -i_1248^post156+i_1248^0 == 0), cost: 1 157: l98 -> l99 : a_1089^0'=a_1089^post157, f_847^0'=f_847^post157, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post157, a_394^0'=a_394^post157, x_156^0'=x_156^post157, a_632^0'=a_632^post157, r_192^0'=r_192^post157, a_176^0'=a_176^post157, i_106^0'=i_106^post157, a_430^0'=a_430^post157, t_458^0'=t_458^post157, len_161^0'=len_161^post157, x_975^0'=x_975^post157, a_902^0'=a_902^post157, a_947^0'=a_947^post157, rcd_88^0'=rcd_88^post157, a_311^0'=a_311^post157, i_140^0'=i_140^post157, a_577^0'=a_577^post157, x_14^0'=x_14^post157, nondet_12^0'=nondet_12^post157, a_121^0'=a_121^post157, head_15^0'=head_15^post157, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post157, i_27^0'=i_27^post157, x_21^0'=x_21^post157, a_634^0'=a_634^post157, r_39^0'=r_39^post157, a_263^0'=a_263^post157, i_113^0'=i_113^post157, a_432^0'=a_432^post157, temp0_31^0'=temp0_31^post157, len_262^0'=len_262^post157, y_20^0'=y_20^post157, f_248^0'=f_248^post157, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post157, a_393^0'=a_393^post157, i_229^0'=i_229^post157, a_610^0'=a_610^post157, r_151^0'=r_151^post157, a_144^0'=a_144^post157, i_1053^0'=i_1053^post157, a_417^0'=a_417^post157, t_24^0'=t_24^post157, i_94^0'=i_94^post157, x_852^0'=x_852^post157, a_862^0'=a_862^post157, rcd_1249^0'=rcd_1249^post157, rcd_58^0'=rcd_58^post157, a_310^0'=a_310^post157, i_127^0'=i_127^post157, a_576^0'=a_576^post157, tmp_34^0'=tmp_34^post157, length_29^0'=length_29^post157, a_1162^0'=a_1162^post157, f_969^0'=f_969^post157, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post157, a_395^0'=a_395^post157, x_17^0'=x_17^post157, a_633^0'=a_633^post157, r_224^0'=r_224^post157, a_239^0'=a_239^post157, i_107^0'=i_107^post157, a_431^0'=a_431^post157, temp0_16^0'=temp0_16^post157, len_238^0'=len_238^post157, x_SLAM_f_19^0'=x_SLAM_f_19^post157, a_924^0'=a_924^post157, ct_18^0'=ct_18^post157, result_11^0'=result_11^post157, a_392^0'=a_392^post157, i_197^0'=i_197^post157, a_579^0'=a_579^post157, r_143^0'=r_143^post157, a_1236^0'=a_1236^post157, head_32^0'=head_32^post157, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post157, i_30^0'=i_30^post157, x_253^0'=x_253^post157, a_635^0'=a_635^post157, r_970^0'=r_970^post157, rcd_47^0'=rcd_47^post157, a_309^0'=a_309^post157, i_1248^0'=i_1248^post157, a_575^0'=a_575^post157, temp_35^0'=temp_35^post157, len_861^0'=len_861^post157, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post157 == 0 /\ len_161^0-len_161^post157 == 0 /\ -i_1248^post157+i_1248^0 == 0 /\ -a_239^post157+a_239^0 == 0 /\ -rcd_58^post157+rcd_58^0 == 0 /\ -head_32^post157+head_32^0 == 0 /\ a_176^0-a_176^post157 == 0 /\ -temp0_16^post157+temp0_16^0 == 0 /\ -i_127^post157+i_127^0 == 0 /\ -ct_18^post157+ct_18^0 == 0 /\ -len_861^post157+len_861^0 == 0 /\ a_417^0-a_417^post157 == 0 /\ -a_579^post157+a_579^0 == 0 /\ i_27^0-i_27^post157 == 0 /\ -i_229^post157+i_229^0 == 0 /\ length_29^0-length_29^post157 == 0 /\ r_39^0-r_39^post157 == 0 /\ f_847^0-f_847^post157 == 0 /\ a_263^0-a_263^post157 == 0 /\ -a_431^post157+a_431^0 == 0 /\ t_24^0-t_24^post157 == 0 /\ i_1053^0-i_1053^post157 == 0 /\ -f_248^post157+f_248^0 == 0 /\ -i_197^post157+i_197^0 == 0 /\ -i_30^post157+i_30^0 == 0 /\ -a_309^post157+a_309^0 == 0 /\ i_94^0-i_94^post157 == 0 /\ a_430^0-a_430^post157 == 0 /\ -a_144^post157+a_144^0 == 0 /\ head_15^0-head_15^post157 == 0 /\ -result_11^post157+result_11^0 == 0 /\ -rcd_1249^post157+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post157+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post157+a_575^0 == 0 /\ r_151^0-r_151^post157 == 0 /\ a_632^0-a_632^post157 == 0 /\ a_432^0-a_432^post157 == 0 /\ a_577^0-a_577^post157 == 0 /\ r_192^0-r_192^post157 == 0 /\ x_156^0-x_156^post157 == 0 /\ a_1162^0-a_1162^post157 == 0 /\ i_113^0-i_113^post157 == 0 /\ -a_635^post157+a_635^0 == 0 /\ -a_947^post157+a_947^0 == 0 /\ a_902^0-a_902^post157 == 0 /\ -x_21^post157+x_21^0 == 0 /\ -x_17^post157+x_17^0 == 0 /\ a_862^0-a_862^post157 == 0 /\ a_634^0-a_634^post157 == 0 /\ a_1089^0-a_1089^post157 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post157 == 0 /\ a_394^0-a_394^post157 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post157+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post157+x_SLAM_f_19^0 == 0 /\ -a_633^post157+a_633^0 == 0 /\ -x_14^post157+x_14^0 == 0 /\ -a_576^post157+a_576^0 == 0 /\ a_311^0-a_311^post157 == 0 /\ -a_924^post157+a_924^0 == 0 /\ a_395^0-a_395^post157 == 0 /\ t_458^0-t_458^post157 == 0 /\ x_852^0-x_852^post157 == 0 /\ -r_143^post157+r_143^0 == 0 /\ rcd_88^0-rcd_88^post157 == 0 /\ i_140^0-i_140^post157 == 0 /\ i_106^0-i_106^post157 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post157 == 0 /\ r_224^0-r_224^post157 == 0 /\ -f_969^post157+f_969^0 == 0 /\ a_393^0-a_393^post157 == 0 /\ i_107^0-i_107^post157 == 0 /\ -a_392^post157+a_392^0 == 0 /\ -a_121^post157+a_121^0 == 0 /\ x_975^0-x_975^post157 == 0 /\ -a_610^post157+a_610^0 == 0 /\ -temp_35^post157+temp_35^0 == 0 /\ y_20^0-y_20^post157 == 0 /\ tmp_34^0-tmp_34^post157 == 0 /\ -a_1236^post157+a_1236^0 == 0 /\ 1+x_14^0 <= 0 /\ -len_238^post157+len_238^0 == 0 /\ -rcd_47^post157+rcd_47^0 == 0 /\ -r_970^post157+r_970^0 == 0 /\ -len_262^post157+len_262^0 == 0 /\ -a_310^post157+a_310^0 == 0 /\ nondet_12^0-nondet_12^post157 == 0 /\ -x_253^post157+x_253^0 == 0 /\ -temp0_31^post157+temp0_31^0 == 0), cost: 1 158: l99 -> l100 : a_1089^0'=a_1089^post158, f_847^0'=f_847^post158, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post158, a_394^0'=a_394^post158, x_156^0'=x_156^post158, a_632^0'=a_632^post158, r_192^0'=r_192^post158, a_176^0'=a_176^post158, i_106^0'=i_106^post158, a_430^0'=a_430^post158, t_458^0'=t_458^post158, len_161^0'=len_161^post158, x_975^0'=x_975^post158, a_902^0'=a_902^post158, a_947^0'=a_947^post158, rcd_88^0'=rcd_88^post158, a_311^0'=a_311^post158, i_140^0'=i_140^post158, a_577^0'=a_577^post158, x_14^0'=x_14^post158, nondet_12^0'=nondet_12^post158, a_121^0'=a_121^post158, head_15^0'=head_15^post158, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post158, i_27^0'=i_27^post158, x_21^0'=x_21^post158, a_634^0'=a_634^post158, r_39^0'=r_39^post158, a_263^0'=a_263^post158, i_113^0'=i_113^post158, a_432^0'=a_432^post158, temp0_31^0'=temp0_31^post158, len_262^0'=len_262^post158, y_20^0'=y_20^post158, f_248^0'=f_248^post158, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post158, a_393^0'=a_393^post158, i_229^0'=i_229^post158, a_610^0'=a_610^post158, r_151^0'=r_151^post158, a_144^0'=a_144^post158, i_1053^0'=i_1053^post158, a_417^0'=a_417^post158, t_24^0'=t_24^post158, i_94^0'=i_94^post158, x_852^0'=x_852^post158, a_862^0'=a_862^post158, rcd_1249^0'=rcd_1249^post158, rcd_58^0'=rcd_58^post158, a_310^0'=a_310^post158, i_127^0'=i_127^post158, a_576^0'=a_576^post158, tmp_34^0'=tmp_34^post158, length_29^0'=length_29^post158, a_1162^0'=a_1162^post158, f_969^0'=f_969^post158, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post158, a_395^0'=a_395^post158, x_17^0'=x_17^post158, a_633^0'=a_633^post158, r_224^0'=r_224^post158, a_239^0'=a_239^post158, i_107^0'=i_107^post158, a_431^0'=a_431^post158, temp0_16^0'=temp0_16^post158, len_238^0'=len_238^post158, x_SLAM_f_19^0'=x_SLAM_f_19^post158, a_924^0'=a_924^post158, ct_18^0'=ct_18^post158, result_11^0'=result_11^post158, a_392^0'=a_392^post158, i_197^0'=i_197^post158, a_579^0'=a_579^post158, r_143^0'=r_143^post158, a_1236^0'=a_1236^post158, head_32^0'=head_32^post158, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post158, i_30^0'=i_30^post158, x_253^0'=x_253^post158, a_635^0'=a_635^post158, r_970^0'=r_970^post158, rcd_47^0'=rcd_47^post158, a_309^0'=a_309^post158, i_1248^0'=i_1248^post158, a_575^0'=a_575^post158, temp_35^0'=temp_35^post158, len_861^0'=len_861^post158, (-tmp_34^post158+tmp_34^0 == 0 /\ -rcd_47^post158+rcd_47^0 == 0 /\ i_94^0-i_94^post158 == 0 /\ -len_238^post158+len_238^0 == 0 /\ -a_610^post158+a_610^0 == 0 /\ a_902^0-a_902^post158 == 0 /\ -r_143^post158+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post158 == 0 /\ head_15^0-head_15^post158 == 0 /\ -a_633^post158+a_633^0 == 0 /\ x_21^0-x_21^post158 == 0 /\ a_310^0-a_310^post158 == 0 /\ -r_151^post158+r_151^0 == 0 /\ i_229^0-i_229^post158 == 0 /\ i_113^0-i_113^post158 == 0 /\ x_156^0-x_156^post158 == 0 /\ r_192^0-r_192^post158 == 0 /\ -a_576^post158+a_576^0 == 0 /\ -a_309^post158+a_309^0 == 0 /\ -rcd_1249^post158+rcd_1249^0 == 0 /\ -a_634^post158+a_634^0 == 0 /\ -x_253^post158+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post158+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post158 == 0 /\ a_121^0-a_121^post158 == 0 /\ a_417^0-a_417^post158 == 0 /\ a_1089^0-a_1089^post158 == 0 /\ head_32^0-head_32^post158 == 0 /\ len_262^0-len_262^post158 == 0 /\ -a_1236^post158+a_1236^0 == 0 /\ i_27^0-i_27^post158 == 0 /\ a_263^0-a_263^post158 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post158 == 0 /\ y_20^0-y_20^post158 == 0 /\ r_39^0-r_39^post158 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post158 == 0 /\ a_392^0-a_392^post158 == 0 /\ -r_970^post158+r_970^0 == 0 /\ -temp0_31^post158+temp0_31^0 == 0 /\ i_106^0-i_106^post158 == 0 /\ -a_311^post158+a_311^0 == 0 /\ -f_969^post158+f_969^0 == 0 /\ -temp0_16^post158+temp0_16^0 == 0 /\ i_107^0-i_107^post158 == 0 /\ -i_1053^post158+i_1053^0 == 0 /\ -ct_18^post158+ct_18^0 == 0 /\ -rcd_88^post158+rcd_88^0 == 0 /\ f_248^0-f_248^post158 == 0 /\ -a_395^post158+a_395^0 == 0 /\ t_458^0-t_458^post158 == 0 /\ -rcd_58^post158+rcd_58^0 == 0 /\ -a_430^post158+a_430^0 == 0 /\ x_975^0-x_975^post158 == 0 /\ -a_394^post158+a_394^0 == 0 /\ a_393^0-a_393^post158 == 0 /\ r_224^0-r_224^post158 == 0 /\ a_632^0-a_632^post158 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post158+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_432^0-a_432^post158 == 0 /\ -a_862^post158+a_862^0 == 0 /\ a_577^0-a_577^post158 == 0 /\ -i_197^post158+i_197^0 == 0 /\ i_30^0-i_30^post158 == 0 /\ -temp_35^post158+temp_35^0 == 0 /\ -nondet_12^post158+nondet_12^0 == 0 /\ -a_579^post158+a_579^0 == 0 /\ x_14^0-x_14^post158 == 0 /\ -i_127^post158+i_127^0 == 0 /\ i_140^0-i_140^post158 == 0 /\ -a_924^post158+a_924^0 == 0 /\ len_161^0-len_161^post158 == 0 /\ -a_1162^post158+a_1162^0 == 0 /\ 1-head_15^0 <= 0 /\ -x_17^post158+x_17^0 == 0 /\ -a_575^post158+a_575^0 == 0 /\ a_431^0-a_431^post158 == 0 /\ a_176^0-a_176^post158 == 0 /\ x_852^0-x_852^post158 == 0 /\ t_24^0-t_24^post158 == 0 /\ -result_11^post158+result_11^0 == 0 /\ a_947^0-a_947^post158 == 0 /\ -len_861^post158+len_861^0 == 0 /\ -a_635^post158+a_635^0 == 0 /\ -i_1248^post158+i_1248^0 == 0 /\ f_847^0-f_847^post158 == 0 /\ length_29^0-length_29^post158 == 0 /\ -a_144^post158+a_144^0 == 0 /\ -a_239^post158+a_239^0 == 0), cost: 1 159: l99 -> l100 : a_1089^0'=a_1089^post159, f_847^0'=f_847^post159, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post159, a_394^0'=a_394^post159, x_156^0'=x_156^post159, a_632^0'=a_632^post159, r_192^0'=r_192^post159, a_176^0'=a_176^post159, i_106^0'=i_106^post159, a_430^0'=a_430^post159, t_458^0'=t_458^post159, len_161^0'=len_161^post159, x_975^0'=x_975^post159, a_902^0'=a_902^post159, a_947^0'=a_947^post159, rcd_88^0'=rcd_88^post159, a_311^0'=a_311^post159, i_140^0'=i_140^post159, a_577^0'=a_577^post159, x_14^0'=x_14^post159, nondet_12^0'=nondet_12^post159, a_121^0'=a_121^post159, head_15^0'=head_15^post159, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post159, i_27^0'=i_27^post159, x_21^0'=x_21^post159, a_634^0'=a_634^post159, r_39^0'=r_39^post159, a_263^0'=a_263^post159, i_113^0'=i_113^post159, a_432^0'=a_432^post159, temp0_31^0'=temp0_31^post159, len_262^0'=len_262^post159, y_20^0'=y_20^post159, f_248^0'=f_248^post159, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post159, a_393^0'=a_393^post159, i_229^0'=i_229^post159, a_610^0'=a_610^post159, r_151^0'=r_151^post159, a_144^0'=a_144^post159, i_1053^0'=i_1053^post159, a_417^0'=a_417^post159, t_24^0'=t_24^post159, i_94^0'=i_94^post159, x_852^0'=x_852^post159, a_862^0'=a_862^post159, rcd_1249^0'=rcd_1249^post159, rcd_58^0'=rcd_58^post159, a_310^0'=a_310^post159, i_127^0'=i_127^post159, a_576^0'=a_576^post159, tmp_34^0'=tmp_34^post159, length_29^0'=length_29^post159, a_1162^0'=a_1162^post159, f_969^0'=f_969^post159, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post159, a_395^0'=a_395^post159, x_17^0'=x_17^post159, a_633^0'=a_633^post159, r_224^0'=r_224^post159, a_239^0'=a_239^post159, i_107^0'=i_107^post159, a_431^0'=a_431^post159, temp0_16^0'=temp0_16^post159, len_238^0'=len_238^post159, x_SLAM_f_19^0'=x_SLAM_f_19^post159, a_924^0'=a_924^post159, ct_18^0'=ct_18^post159, result_11^0'=result_11^post159, a_392^0'=a_392^post159, i_197^0'=i_197^post159, a_579^0'=a_579^post159, r_143^0'=r_143^post159, a_1236^0'=a_1236^post159, head_32^0'=head_32^post159, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post159, i_30^0'=i_30^post159, x_253^0'=x_253^post159, a_635^0'=a_635^post159, r_970^0'=r_970^post159, rcd_47^0'=rcd_47^post159, a_309^0'=a_309^post159, i_1248^0'=i_1248^post159, a_575^0'=a_575^post159, temp_35^0'=temp_35^post159, len_861^0'=len_861^post159, (a_121^0-a_121^post159 == 0 /\ -f_248^post159+f_248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post159 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post159+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post159+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post159 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post159 == 0 /\ 1+head_15^0 <= 0 /\ len_262^0-len_262^post159 == 0 /\ a_310^0-a_310^post159 == 0 /\ -length_29^post159+length_29^0 == 0 /\ a_634^0-a_634^post159 == 0 /\ -temp0_16^post159+temp0_16^0 == 0 /\ -i_1248^post159+i_1248^0 == 0 /\ a_1089^0-a_1089^post159 == 0 /\ -a_239^post159+a_239^0 == 0 /\ -i_197^post159+i_197^0 == 0 /\ -head_32^post159+head_32^0 == 0 /\ -a_579^post159+a_579^0 == 0 /\ -i_27^post159+i_27^0 == 0 /\ a_947^0-a_947^post159 == 0 /\ -i_127^post159+i_127^0 == 0 /\ -a_393^post159+a_393^0 == 0 /\ a_176^0-a_176^post159 == 0 /\ i_1053^0-i_1053^post159 == 0 /\ a_395^0-a_395^post159 == 0 /\ -rcd_1249^post159+rcd_1249^0 == 0 /\ -x_852^post159+x_852^0 == 0 /\ x_975^0-x_975^post159 == 0 /\ a_632^0-a_632^post159 == 0 /\ -a_635^post159+a_635^0 == 0 /\ -a_144^post159+a_144^0 == 0 /\ head_15^0-head_15^post159 == 0 /\ -a_309^post159+a_309^0 == 0 /\ i_113^0-i_113^post159 == 0 /\ -a_924^post159+a_924^0 == 0 /\ -a_575^post159+a_575^0 == 0 /\ -a_417^post159+a_417^0 == 0 /\ a_1162^0-a_1162^post159 == 0 /\ -len_861^post159+len_861^0 == 0 /\ i_229^0-i_229^post159 == 0 /\ -ct_18^post159+ct_18^0 == 0 /\ x_156^0-x_156^post159 == 0 /\ -tmp_34^post159+tmp_34^0 == 0 /\ a_432^0-a_432^post159 == 0 /\ r_192^0-r_192^post159 == 0 /\ -i_30^post159+i_30^0 == 0 /\ x_14^0-x_14^post159 == 0 /\ nondet_12^0-nondet_12^post159 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post159+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_24^0-t_24^post159 == 0 /\ a_862^0-a_862^post159 == 0 /\ i_140^0-i_140^post159 == 0 /\ len_161^0-len_161^post159 == 0 /\ -len_238^post159+len_238^0 == 0 /\ -rcd_47^post159+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post159+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_17^0-x_17^post159 == 0 /\ y_20^0-y_20^post159 == 0 /\ a_263^0-a_263^post159 == 0 /\ f_847^0-f_847^post159 == 0 /\ -r_143^post159+r_143^0 == 0 /\ a_394^0-a_394^post159 == 0 /\ -a_633^post159+a_633^0 == 0 /\ -result_11^post159+result_11^0 == 0 /\ -a_902^post159+a_902^0 == 0 /\ -r_151^post159+r_151^0 == 0 /\ t_458^0-t_458^post159 == 0 /\ r_39^0-r_39^post159 == 0 /\ a_430^0-a_430^post159 == 0 /\ -temp_35^post159+temp_35^0 == 0 /\ r_224^0-r_224^post159 == 0 /\ -a_392^post159+a_392^0 == 0 /\ -f_969^post159+f_969^0 == 0 /\ i_107^0-i_107^post159 == 0 /\ a_610^0-a_610^post159 == 0 /\ i_106^0-i_106^post159 == 0 /\ i_94^0-i_94^post159 == 0 /\ -a_576^post159+a_576^0 == 0 /\ -a_431^post159+a_431^0 == 0 /\ -r_970^post159+r_970^0 == 0 /\ a_577^0-a_577^post159 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post159+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_311^post159+a_311^0 == 0 /\ -a_1236^post159+a_1236^0 == 0 /\ -rcd_88^post159+rcd_88^0 == 0 /\ x_21^0-x_21^post159 == 0 /\ -x_253^post159+x_253^0 == 0), cost: 1 160: l100 -> l101 : a_1089^0'=a_1089^post160, f_847^0'=f_847^post160, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post160, a_394^0'=a_394^post160, x_156^0'=x_156^post160, a_632^0'=a_632^post160, r_192^0'=r_192^post160, a_176^0'=a_176^post160, i_106^0'=i_106^post160, a_430^0'=a_430^post160, t_458^0'=t_458^post160, len_161^0'=len_161^post160, x_975^0'=x_975^post160, a_902^0'=a_902^post160, a_947^0'=a_947^post160, rcd_88^0'=rcd_88^post160, a_311^0'=a_311^post160, i_140^0'=i_140^post160, a_577^0'=a_577^post160, x_14^0'=x_14^post160, nondet_12^0'=nondet_12^post160, a_121^0'=a_121^post160, head_15^0'=head_15^post160, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post160, i_27^0'=i_27^post160, x_21^0'=x_21^post160, a_634^0'=a_634^post160, r_39^0'=r_39^post160, a_263^0'=a_263^post160, i_113^0'=i_113^post160, a_432^0'=a_432^post160, temp0_31^0'=temp0_31^post160, len_262^0'=len_262^post160, y_20^0'=y_20^post160, f_248^0'=f_248^post160, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post160, a_393^0'=a_393^post160, i_229^0'=i_229^post160, a_610^0'=a_610^post160, r_151^0'=r_151^post160, a_144^0'=a_144^post160, i_1053^0'=i_1053^post160, a_417^0'=a_417^post160, t_24^0'=t_24^post160, i_94^0'=i_94^post160, x_852^0'=x_852^post160, a_862^0'=a_862^post160, rcd_1249^0'=rcd_1249^post160, rcd_58^0'=rcd_58^post160, a_310^0'=a_310^post160, i_127^0'=i_127^post160, a_576^0'=a_576^post160, tmp_34^0'=tmp_34^post160, length_29^0'=length_29^post160, a_1162^0'=a_1162^post160, f_969^0'=f_969^post160, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post160, a_395^0'=a_395^post160, x_17^0'=x_17^post160, a_633^0'=a_633^post160, r_224^0'=r_224^post160, a_239^0'=a_239^post160, i_107^0'=i_107^post160, a_431^0'=a_431^post160, temp0_16^0'=temp0_16^post160, len_238^0'=len_238^post160, x_SLAM_f_19^0'=x_SLAM_f_19^post160, a_924^0'=a_924^post160, ct_18^0'=ct_18^post160, result_11^0'=result_11^post160, a_392^0'=a_392^post160, i_197^0'=i_197^post160, a_579^0'=a_579^post160, r_143^0'=r_143^post160, a_1236^0'=a_1236^post160, head_32^0'=head_32^post160, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post160, i_30^0'=i_30^post160, x_253^0'=x_253^post160, a_635^0'=a_635^post160, r_970^0'=r_970^post160, rcd_47^0'=rcd_47^post160, a_309^0'=a_309^post160, i_1248^0'=i_1248^post160, a_575^0'=a_575^post160, temp_35^0'=temp_35^post160, len_861^0'=len_861^post160, (-len_238^post160+len_238^0 == 0 /\ head_15^0-head_15^post160 == 0 /\ i_106^0-i_106^post160 == 0 /\ -a_610^post160+a_610^0 == 0 /\ -a_924^post160+a_924^0 == 0 /\ -rcd_47^post160+rcd_47^0 == 0 /\ i_1053^0-i_1053^post160 == 0 /\ -a_634^post160+a_634^0 == 0 /\ -r_151^post160+r_151^0 == 0 /\ -tmp_34^post160+tmp_34^0 == 0 /\ i_229^0-i_229^post160 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post160+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_161^0-len_161^post160 == 0 /\ -x_253^post160+x_253^0 == 0 /\ -result_11^post160+result_11^0 == 0 /\ -r_970^post160+r_970^0 == 0 /\ x_21^0-x_21^post160 == 0 /\ a_432^0-a_432^post160 == 0 /\ i_27^0-i_27^post160 == 0 /\ -f_969^post160+f_969^0 == 0 /\ -a_576^post160+a_576^0 == 0 /\ -rcd_1249^post160+rcd_1249^0 == 0 /\ r_192^0-r_192^post160 == 0 /\ a_430^0-a_430^post160 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post160 == 0 /\ i_140^0-i_140^post160 == 0 /\ temp0_31^0-temp0_31^post160 == 0 /\ head_32^0-head_32^post160 == 0 /\ -temp_35^post160+temp_35^0 == 0 /\ a_121^0-a_121^post160 == 0 /\ x_156^0-x_156^post160 == 0 /\ -nondet_12^post160+nondet_12^0 == 0 /\ a_263^0-a_263^post160 == 0 /\ -r_143^post160+r_143^0 == 0 /\ i_197^0-i_197^post160 == 0 /\ a_1162^0-a_1162^post160 == 0 /\ -length_29^post160+length_29^0 == 0 /\ a_176^0-a_176^post160 == 0 /\ -a_395^post160+a_395^0 == 0 /\ -a_1236^post160+a_1236^0 == 0 /\ f_847^0-f_847^post160 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post160 == 0 /\ -f_248^post160+f_248^0 == 0 /\ t_458^0-t_458^post160 == 0 /\ -rcd_88^post160+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post160+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_94^0-i_94^post160 == 0 /\ a_632^0-a_632^post160 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_113^0-i_113^post160 == 0 /\ i_30^0-i_30^post160 == 0 /\ a_577^0-a_577^post160 == 0 /\ i_107^0-i_107^post160 == 0 /\ -a_144^post160+a_144^0 == 0 /\ a_902^0-a_902^post160 == 0 /\ a_393^0-a_393^post160 == 0 /\ a_311^0-a_311^post160 == 0 /\ r_39^0-r_39^post160 == 0 /\ -a_392^post160+a_392^0 == 0 /\ a_1089^0-a_1089^post160 == 0 /\ -len_861^post160+len_861^0 == 0 /\ -temp0_16^post160+temp0_16^0 == 0 /\ -a_862^post160+a_862^0 == 0 /\ -a_635^post160+a_635^0 == 0 /\ -len_262^post160+len_262^0 == 0 /\ -i_127^post160+i_127^0 == 0 /\ -a_239^post160+a_239^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post160 == 0 /\ t_24^0-t_24^post160 == 0 /\ -x_14^post160+x_14^0 == 0 /\ a_431^0-a_431^post160 == 0 /\ i_1248^0-i_1248^post160 == 0 /\ -a_417^post160+a_417^0 == 0 /\ -x_17^post160+x_17^0 == 0 /\ a_310^0-a_310^post160 == 0 /\ a_947^0-a_947^post160 == 0 /\ -rcd_58^post160+rcd_58^0 == 0 /\ y_20^0-y_20^post160 == 0 /\ r_224^0-r_224^post160 == 0 /\ -a_575^post160+a_575^0 == 0 /\ a_394^0-a_394^post160 == 0 /\ -a_579^post160+a_579^0 == 0 /\ -ct_18^post160+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post160+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post160+a_309^0 == 0 /\ -x_852^post160+x_852^0 == 0 /\ -a_633^post160+a_633^0 == 0 /\ x_975^0-x_975^post160 == 0), cost: 1 161: l100 -> l101 : a_1089^0'=a_1089^post161, f_847^0'=f_847^post161, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post161, a_394^0'=a_394^post161, x_156^0'=x_156^post161, a_632^0'=a_632^post161, r_192^0'=r_192^post161, a_176^0'=a_176^post161, i_106^0'=i_106^post161, a_430^0'=a_430^post161, t_458^0'=t_458^post161, len_161^0'=len_161^post161, x_975^0'=x_975^post161, a_902^0'=a_902^post161, a_947^0'=a_947^post161, rcd_88^0'=rcd_88^post161, a_311^0'=a_311^post161, i_140^0'=i_140^post161, a_577^0'=a_577^post161, x_14^0'=x_14^post161, nondet_12^0'=nondet_12^post161, a_121^0'=a_121^post161, head_15^0'=head_15^post161, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post161, i_27^0'=i_27^post161, x_21^0'=x_21^post161, a_634^0'=a_634^post161, r_39^0'=r_39^post161, a_263^0'=a_263^post161, i_113^0'=i_113^post161, a_432^0'=a_432^post161, temp0_31^0'=temp0_31^post161, len_262^0'=len_262^post161, y_20^0'=y_20^post161, f_248^0'=f_248^post161, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post161, a_393^0'=a_393^post161, i_229^0'=i_229^post161, a_610^0'=a_610^post161, r_151^0'=r_151^post161, a_144^0'=a_144^post161, i_1053^0'=i_1053^post161, a_417^0'=a_417^post161, t_24^0'=t_24^post161, i_94^0'=i_94^post161, x_852^0'=x_852^post161, a_862^0'=a_862^post161, rcd_1249^0'=rcd_1249^post161, rcd_58^0'=rcd_58^post161, a_310^0'=a_310^post161, i_127^0'=i_127^post161, a_576^0'=a_576^post161, tmp_34^0'=tmp_34^post161, length_29^0'=length_29^post161, a_1162^0'=a_1162^post161, f_969^0'=f_969^post161, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post161, a_395^0'=a_395^post161, x_17^0'=x_17^post161, a_633^0'=a_633^post161, r_224^0'=r_224^post161, a_239^0'=a_239^post161, i_107^0'=i_107^post161, a_431^0'=a_431^post161, temp0_16^0'=temp0_16^post161, len_238^0'=len_238^post161, x_SLAM_f_19^0'=x_SLAM_f_19^post161, a_924^0'=a_924^post161, ct_18^0'=ct_18^post161, result_11^0'=result_11^post161, a_392^0'=a_392^post161, i_197^0'=i_197^post161, a_579^0'=a_579^post161, r_143^0'=r_143^post161, a_1236^0'=a_1236^post161, head_32^0'=head_32^post161, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post161, i_30^0'=i_30^post161, x_253^0'=x_253^post161, a_635^0'=a_635^post161, r_970^0'=r_970^post161, rcd_47^0'=rcd_47^post161, a_309^0'=a_309^post161, i_1248^0'=i_1248^post161, a_575^0'=a_575^post161, temp_35^0'=temp_35^post161, len_861^0'=len_861^post161, (-a_1236^post161+a_1236^0 == 0 /\ a_263^0-a_263^post161 == 0 /\ i_229^0-i_229^post161 == 0 /\ x_21^0-x_21^post161 == 0 /\ a_417^0-a_417^post161 == 0 /\ len_161^0-len_161^post161 == 0 /\ x_156^0-x_156^post161 == 0 /\ temp0_31^0-temp0_31^post161 == 0 /\ f_847^0-f_847^post161 == 0 /\ -a_393^post161+a_393^0 == 0 /\ -a_392^post161+a_392^0 == 0 /\ head_15^0-head_15^post161 == 0 /\ -i_1248^post161+i_1248^0 == 0 /\ -a_239^post161+a_239^0 == 0 /\ -i_27^post161+i_27^0 == 0 /\ -x_SLAM_f_19^post161+x_SLAM_f_19^0 == 0 /\ i_1053^0-i_1053^post161 == 0 /\ -length_29^post161+length_29^0 == 0 /\ a_394^0-a_394^post161 == 0 /\ a_121^0-a_121^post161 == 0 /\ -len_861^post161+len_861^0 == 0 /\ len_262^0-len_262^post161 == 0 /\ -i_30^post161+i_30^0 == 0 /\ -temp0_16^post161+temp0_16^0 == 0 /\ a_947^0-a_947^post161 == 0 /\ -head_32^post161+head_32^0 == 0 /\ r_39^0-r_39^post161 == 0 /\ a_430^0-a_430^post161 == 0 /\ i_127^0-i_127^post161 == 0 /\ -a_635^post161+a_635^0 == 0 /\ r_192^0-r_192^post161 == 0 /\ -x_852^post161+x_852^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_113^0-i_113^post161 == 0 /\ a_577^0-a_577^post161 == 0 /\ -len_238^post161+len_238^0 == 0 /\ -r_151^post161+r_151^0 == 0 /\ -i_197^post161+i_197^0 == 0 /\ i_94^0-i_94^post161 == 0 /\ -a_902^post161+a_902^0 == 0 /\ x_14^0-x_14^post161 == 0 /\ -a_579^post161+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post161+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -rcd_58^post161+rcd_58^0 == 0 /\ -a_633^post161+a_633^0 == 0 /\ -a_309^post161+a_309^0 == 0 /\ -a_144^post161+a_144^0 == 0 /\ -ct_18^post161+ct_18^0 == 0 /\ -a_575^post161+a_575^0 == 0 /\ -a_862^post161+a_862^0 == 0 /\ a_1089^0-a_1089^post161 == 0 /\ a_432^0-a_432^post161 == 0 /\ -rcd_1249^post161+rcd_1249^0 == 0 /\ -a_634^post161+a_634^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post161 == 0 /\ -a_1162^post161+a_1162^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post161+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_140^0-i_140^post161 == 0 /\ f_248^0-f_248^post161 == 0 /\ r_224^0-r_224^post161 == 0 /\ a_431^0-a_431^post161 == 0 /\ -result_11^post161+result_11^0 == 0 /\ -tmp_34^post161+tmp_34^0 == 0 /\ -f_969^post161+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post161 == 0 /\ x_17^0-x_17^post161 == 0 /\ -rcd_47^post161+rcd_47^0 == 0 /\ y_20^0-y_20^post161 == 0 /\ -x_253^post161+x_253^0 == 0 /\ a_176^0-a_176^post161 == 0 /\ -a_924^post161+a_924^0 == 0 /\ -nondet_12^post161+nondet_12^0 == 0 /\ x_975^0-x_975^post161 == 0 /\ -r_143^post161+r_143^0 == 0 /\ -a_311^post161+a_311^0 == 0 /\ -r_970^post161+r_970^0 == 0 /\ i_107^0-i_107^post161 == 0 /\ a_610^0-a_610^post161 == 0 /\ -rcd_88^post161+rcd_88^0 == 0 /\ -a_395^post161+a_395^0 == 0 /\ i_106^0-i_106^post161 == 0 /\ t_24^0-t_24^post161 == 0 /\ a_632^0-a_632^post161 == 0 /\ a_310^0-a_310^post161 == 0 /\ t_458^0-t_458^post161 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post161+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post161+a_576^0 == 0 /\ -temp_35^post161+temp_35^0 == 0), cost: 1 162: l101 -> l102 : a_1089^0'=a_1089^post162, f_847^0'=f_847^post162, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post162, a_394^0'=a_394^post162, x_156^0'=x_156^post162, a_632^0'=a_632^post162, r_192^0'=r_192^post162, a_176^0'=a_176^post162, i_106^0'=i_106^post162, a_430^0'=a_430^post162, t_458^0'=t_458^post162, len_161^0'=len_161^post162, x_975^0'=x_975^post162, a_902^0'=a_902^post162, a_947^0'=a_947^post162, rcd_88^0'=rcd_88^post162, a_311^0'=a_311^post162, i_140^0'=i_140^post162, a_577^0'=a_577^post162, x_14^0'=x_14^post162, nondet_12^0'=nondet_12^post162, a_121^0'=a_121^post162, head_15^0'=head_15^post162, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post162, i_27^0'=i_27^post162, x_21^0'=x_21^post162, a_634^0'=a_634^post162, r_39^0'=r_39^post162, a_263^0'=a_263^post162, i_113^0'=i_113^post162, a_432^0'=a_432^post162, temp0_31^0'=temp0_31^post162, len_262^0'=len_262^post162, y_20^0'=y_20^post162, f_248^0'=f_248^post162, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post162, a_393^0'=a_393^post162, i_229^0'=i_229^post162, a_610^0'=a_610^post162, r_151^0'=r_151^post162, a_144^0'=a_144^post162, i_1053^0'=i_1053^post162, a_417^0'=a_417^post162, t_24^0'=t_24^post162, i_94^0'=i_94^post162, x_852^0'=x_852^post162, a_862^0'=a_862^post162, rcd_1249^0'=rcd_1249^post162, rcd_58^0'=rcd_58^post162, a_310^0'=a_310^post162, i_127^0'=i_127^post162, a_576^0'=a_576^post162, tmp_34^0'=tmp_34^post162, length_29^0'=length_29^post162, a_1162^0'=a_1162^post162, f_969^0'=f_969^post162, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post162, a_395^0'=a_395^post162, x_17^0'=x_17^post162, a_633^0'=a_633^post162, r_224^0'=r_224^post162, a_239^0'=a_239^post162, i_107^0'=i_107^post162, a_431^0'=a_431^post162, temp0_16^0'=temp0_16^post162, len_238^0'=len_238^post162, x_SLAM_f_19^0'=x_SLAM_f_19^post162, a_924^0'=a_924^post162, ct_18^0'=ct_18^post162, result_11^0'=result_11^post162, a_392^0'=a_392^post162, i_197^0'=i_197^post162, a_579^0'=a_579^post162, r_143^0'=r_143^post162, a_1236^0'=a_1236^post162, head_32^0'=head_32^post162, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post162, i_30^0'=i_30^post162, x_253^0'=x_253^post162, a_635^0'=a_635^post162, r_970^0'=r_970^post162, rcd_47^0'=rcd_47^post162, a_309^0'=a_309^post162, i_1248^0'=i_1248^post162, a_575^0'=a_575^post162, temp_35^0'=temp_35^post162, len_861^0'=len_861^post162, (-a_924^post162+a_924^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 <= 0 /\ a_176^0-a_176^post162 == 0 /\ ct_18^0-ct_18^post162 == 0 /\ -result_11^post162+result_11^0 == 0 /\ -a_610^post162+a_610^0 == 0 /\ -rcd_1249^post162+rcd_1249^0 == 0 /\ r_192^0-r_192^post162 == 0 /\ -temp_35^post162+temp_35^0 == 0 /\ -tmp_34^post162+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post162 == 0 /\ -r_970^post162+r_970^0 == 0 /\ -x_253^post162+x_253^0 == 0 /\ -len_238^post162+len_238^0 == 0 /\ -rcd_47^post162+rcd_47^0 == 0 /\ -y_20^post162+y_20^0 == 0 /\ a_1089^0-a_1089^post162 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post162+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post162+head_15^0 == 0 /\ i_27^0-i_27^post162 == 0 /\ -x_852^post162+x_852^0 == 0 /\ a_310^0-a_310^post162 == 0 /\ r_39^0-r_39^post162 == 0 /\ i_229^0-i_229^post162 == 0 /\ a_576^0-a_576^post162 == 0 /\ -i_1248^post162+i_1248^0 == 0 /\ a_432^0-a_432^post162 == 0 /\ a_263^0-a_263^post162 == 0 /\ nondet_12^0-nondet_12^post162 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post162 == 0 /\ -a_239^post162+a_239^0 == 0 /\ -a_311^post162+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post162 == 0 /\ a_634^0-a_634^post162 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post162+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post162+a_395^0 == 0 /\ -r_143^post162+r_143^0 == 0 /\ x_975^0-x_975^post162 == 0 /\ i_113^0-i_113^post162 == 0 /\ a_947^0-a_947^post162 == 0 /\ -f_248^post162+f_248^0 == 0 /\ a_121^0-a_121^post162 == 0 /\ rcd_88^0-rcd_88^post162 == 0 /\ -x_156^post162+x_156^0 == 0 /\ -a_309^post162+a_309^0 == 0 /\ -a_393^post162+a_393^0 == 0 /\ -a_417^post162+a_417^0 == 0 /\ f_969^0-f_969^post162 == 0 /\ i_107^0-i_107^post162 == 0 /\ i_30^0-i_30^post162 == 0 /\ -length_29^post162+length_29^0 == 0 /\ len_161^0-len_161^post162 == 0 /\ -temp0_16^post162+temp0_16^0 == 0 /\ a_632^0-a_632^post162 == 0 /\ -a_635^post162+a_635^0 == 0 /\ a_430^0-a_430^post162 == 0 /\ -a_392^post162+a_392^0 == 0 /\ -len_861^post162+len_861^0 == 0 /\ x_14^0-x_14^post162 == 0 /\ -x_17^post162+x_17^0 == 0 /\ -a_1236^post162+a_1236^0 == 0 /\ a_1162^0-a_1162^post162 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post162+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post162+t_458^0 == 0 /\ f_847^0-f_847^post162 == 0 /\ -r_151^post162+r_151^0 == 0 /\ -head_32^post162+head_32^0 == 0 /\ -rcd_58^post162+rcd_58^0 == 0 /\ -i_106^post162+i_106^0 == 0 /\ -a_579^post162+a_579^0 == 0 /\ t_24^0-t_24^post162 == 0 /\ i_140^0-i_140^post162 == 0 /\ a_862^0-a_862^post162 == 0 /\ a_431^0-a_431^post162 == 0 /\ x_21^0-x_21^post162 == 0 /\ -a_144^post162+a_144^0 == 0 /\ temp0_31^0-temp0_31^post162 == 0 /\ i_1053^0-i_1053^post162 == 0 /\ -i_127^post162+i_127^0 == 0 /\ i_94^0-i_94^post162 == 0 /\ r_224^0-r_224^post162 == 0 /\ -a_902^post162+a_902^0 == 0 /\ -a_575^post162+a_575^0 == 0 /\ len_262^0-len_262^post162 == 0 /\ a_394^0-a_394^post162 == 0 /\ -a_633^post162+a_633^0 == 0 /\ -i_197^post162+i_197^0 == 0 /\ a_577^0-a_577^post162 == 0), cost: 1 163: l101 -> l102 : a_1089^0'=a_1089^post163, f_847^0'=f_847^post163, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post163, a_394^0'=a_394^post163, x_156^0'=x_156^post163, a_632^0'=a_632^post163, r_192^0'=r_192^post163, a_176^0'=a_176^post163, i_106^0'=i_106^post163, a_430^0'=a_430^post163, t_458^0'=t_458^post163, len_161^0'=len_161^post163, x_975^0'=x_975^post163, a_902^0'=a_902^post163, a_947^0'=a_947^post163, rcd_88^0'=rcd_88^post163, a_311^0'=a_311^post163, i_140^0'=i_140^post163, a_577^0'=a_577^post163, x_14^0'=x_14^post163, nondet_12^0'=nondet_12^post163, a_121^0'=a_121^post163, head_15^0'=head_15^post163, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post163, i_27^0'=i_27^post163, x_21^0'=x_21^post163, a_634^0'=a_634^post163, r_39^0'=r_39^post163, a_263^0'=a_263^post163, i_113^0'=i_113^post163, a_432^0'=a_432^post163, temp0_31^0'=temp0_31^post163, len_262^0'=len_262^post163, y_20^0'=y_20^post163, f_248^0'=f_248^post163, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post163, a_393^0'=a_393^post163, i_229^0'=i_229^post163, a_610^0'=a_610^post163, r_151^0'=r_151^post163, a_144^0'=a_144^post163, i_1053^0'=i_1053^post163, a_417^0'=a_417^post163, t_24^0'=t_24^post163, i_94^0'=i_94^post163, x_852^0'=x_852^post163, a_862^0'=a_862^post163, rcd_1249^0'=rcd_1249^post163, rcd_58^0'=rcd_58^post163, a_310^0'=a_310^post163, i_127^0'=i_127^post163, a_576^0'=a_576^post163, tmp_34^0'=tmp_34^post163, length_29^0'=length_29^post163, a_1162^0'=a_1162^post163, f_969^0'=f_969^post163, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post163, a_395^0'=a_395^post163, x_17^0'=x_17^post163, a_633^0'=a_633^post163, r_224^0'=r_224^post163, a_239^0'=a_239^post163, i_107^0'=i_107^post163, a_431^0'=a_431^post163, temp0_16^0'=temp0_16^post163, len_238^0'=len_238^post163, x_SLAM_f_19^0'=x_SLAM_f_19^post163, a_924^0'=a_924^post163, ct_18^0'=ct_18^post163, result_11^0'=result_11^post163, a_392^0'=a_392^post163, i_197^0'=i_197^post163, a_579^0'=a_579^post163, r_143^0'=r_143^post163, a_1236^0'=a_1236^post163, head_32^0'=head_32^post163, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post163, i_30^0'=i_30^post163, x_253^0'=x_253^post163, a_635^0'=a_635^post163, r_970^0'=r_970^post163, rcd_47^0'=rcd_47^post163, a_309^0'=a_309^post163, i_1248^0'=i_1248^post163, a_575^0'=a_575^post163, temp_35^0'=temp_35^post163, len_861^0'=len_861^post163, (x_156^0-x_156^post163 == 0 /\ -a_862^post163+a_862^0 == 0 /\ len_262^0-len_262^post163 == 0 /\ -i_107^post163+i_107^0 == 0 /\ -a_1236^post163+a_1236^0 == 0 /\ -a_575^post163+a_575^0 == 0 /\ -i_30^post163+i_30^0 == 0 /\ -a_635^post163+a_635^0 == 0 /\ temp0_31^0-temp0_31^post163 == 0 /\ -a_417^post163+a_417^0 == 0 /\ i_229^0-i_229^post163 == 0 /\ a_634^0-a_634^post163 == 0 /\ -a_393^post163+a_393^0 == 0 /\ f_248^0-f_248^post163 == 0 /\ head_15^0-head_15^post163 == 0 /\ a_176^0-a_176^post163 == 0 /\ a_121^0-a_121^post163 == 0 /\ -i_1248^post163+i_1248^0 == 0 /\ -length_29^post163+length_29^0 == 0 /\ -x_SLAM_f_19^post163+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post163 == 0 /\ i_127^0-i_127^post163 == 0 /\ -a_239^post163+a_239^0 == 0 /\ -i_27^post163+i_27^0 == 0 /\ x_975^0-x_975^post163 == 0 /\ -a_310^post163+a_310^0 == 0 /\ -ct_18^post163+ct_18^0 == 0 /\ i_113^0-i_113^post163 == 0 /\ r_192^0-r_192^post163 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post163+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post163+r_151^0 == 0 /\ -head_32^post163+head_32^0 == 0 /\ rcd_1249^0-rcd_1249^post163 == 0 /\ x_14^0-x_14^post163 == 0 /\ a_430^0-a_430^post163 == 0 /\ -a_392^post163+a_392^0 == 0 /\ -a_309^post163+a_309^0 == 0 /\ -a_579^post163+a_579^0 == 0 /\ a_1089^0-a_1089^post163 == 0 /\ a_632^0-a_632^post163 == 0 /\ x_21^0-x_21^post163 == 0 /\ a_432^0-a_432^post163 == 0 /\ -x_253^post163+x_253^0 == 0 /\ -a_263^post163+a_263^0 == 0 /\ -i_197^post163+i_197^0 == 0 /\ a_633^0-a_633^post163 == 0 /\ temp0_16^0-temp0_16^post163 == 0 /\ i_140^0-i_140^post163 == 0 /\ f_847^0-f_847^post163 == 0 /\ -a_902^post163+a_902^0 == 0 /\ nondet_12^0-nondet_12^post163 == 0 /\ -result_11^post163+result_11^0 == 0 /\ i_94^0-i_94^post163 == 0 /\ -x_852^post163+x_852^0 == 0 /\ a_431^0-a_431^post163 == 0 /\ -a_1162^post163+a_1162^0 == 0 /\ x_17^0-x_17^post163 == 0 /\ -len_238^post163+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post163+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post163 == 0 /\ y_20^0-y_20^post163 == 0 /\ a_144^0-a_144^post163 == 0 /\ a_394^0-a_394^post163 == 0 /\ -rcd_58^post163+rcd_58^0 == 0 /\ r_970^0-r_970^post163 == 0 /\ -rcd_47^post163+rcd_47^0 == 0 /\ -a_311^post163+a_311^0 == 0 /\ -tmp_34^post163+tmp_34^0 == 0 /\ a_577^0-a_577^post163 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 <= 0 /\ -len_861^post163+len_861^0 == 0 /\ -i_1053^post163+i_1053^0 == 0 /\ r_39^0-r_39^post163 == 0 /\ -a_395^post163+a_395^0 == 0 /\ -rcd_88^post163+rcd_88^0 == 0 /\ a_610^0-a_610^post163 == 0 /\ f_969^0-f_969^post163 == 0 /\ i_106^0-i_106^post163 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post163+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post163+temp_35^0 == 0 /\ -a_924^post163+a_924^0 == 0 /\ -r_224^post163+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post163+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_24^0-t_24^post163 == 0 /\ -a_576^post163+a_576^0 == 0 /\ t_458^0-t_458^post163 == 0 /\ len_161^0-len_161^post163 == 0 /\ -r_143^post163+r_143^0 == 0), cost: 1 164: l102 -> l8 : a_1089^0'=a_1089^post164, f_847^0'=f_847^post164, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post164, a_394^0'=a_394^post164, x_156^0'=x_156^post164, a_632^0'=a_632^post164, r_192^0'=r_192^post164, a_176^0'=a_176^post164, i_106^0'=i_106^post164, a_430^0'=a_430^post164, t_458^0'=t_458^post164, len_161^0'=len_161^post164, x_975^0'=x_975^post164, a_902^0'=a_902^post164, a_947^0'=a_947^post164, rcd_88^0'=rcd_88^post164, a_311^0'=a_311^post164, i_140^0'=i_140^post164, a_577^0'=a_577^post164, x_14^0'=x_14^post164, nondet_12^0'=nondet_12^post164, a_121^0'=a_121^post164, head_15^0'=head_15^post164, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post164, i_27^0'=i_27^post164, x_21^0'=x_21^post164, a_634^0'=a_634^post164, r_39^0'=r_39^post164, a_263^0'=a_263^post164, i_113^0'=i_113^post164, a_432^0'=a_432^post164, temp0_31^0'=temp0_31^post164, len_262^0'=len_262^post164, y_20^0'=y_20^post164, f_248^0'=f_248^post164, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post164, a_393^0'=a_393^post164, i_229^0'=i_229^post164, a_610^0'=a_610^post164, r_151^0'=r_151^post164, a_144^0'=a_144^post164, i_1053^0'=i_1053^post164, a_417^0'=a_417^post164, t_24^0'=t_24^post164, i_94^0'=i_94^post164, x_852^0'=x_852^post164, a_862^0'=a_862^post164, rcd_1249^0'=rcd_1249^post164, rcd_58^0'=rcd_58^post164, a_310^0'=a_310^post164, i_127^0'=i_127^post164, a_576^0'=a_576^post164, tmp_34^0'=tmp_34^post164, length_29^0'=length_29^post164, a_1162^0'=a_1162^post164, f_969^0'=f_969^post164, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post164, a_395^0'=a_395^post164, x_17^0'=x_17^post164, a_633^0'=a_633^post164, r_224^0'=r_224^post164, a_239^0'=a_239^post164, i_107^0'=i_107^post164, a_431^0'=a_431^post164, temp0_16^0'=temp0_16^post164, len_238^0'=len_238^post164, x_SLAM_f_19^0'=x_SLAM_f_19^post164, a_924^0'=a_924^post164, ct_18^0'=ct_18^post164, result_11^0'=result_11^post164, a_392^0'=a_392^post164, i_197^0'=i_197^post164, a_579^0'=a_579^post164, r_143^0'=r_143^post164, a_1236^0'=a_1236^post164, head_32^0'=head_32^post164, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post164, i_30^0'=i_30^post164, x_253^0'=x_253^post164, a_635^0'=a_635^post164, r_970^0'=r_970^post164, rcd_47^0'=rcd_47^post164, a_309^0'=a_309^post164, i_1248^0'=i_1248^post164, a_575^0'=a_575^post164, temp_35^0'=temp_35^post164, len_861^0'=len_861^post164, (0 == 0 /\ -a_579^post164+a_579^0 == 0 /\ -t_24^post164+t_24^0 == 0 /\ a_1089^0-a_1089^post164 == 0 /\ ct_18^0-ct_18^post164 == 0 /\ a_394^0-a_394^post164 == 0 /\ -a_263^post164+a_263^0 == 0 /\ t_458^0-t_458^post164 == 0 /\ x_852^0-x_852^post164 == 0 /\ i_106^0-i_106^post164 == 0 /\ 1-i_140^0 <= 0 /\ -a_431^post164+a_431^0 == 0 /\ -i_229^post164+i_229^0 == 0 /\ -y_20^post164+y_20^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_253^post164+x_253^0 == 0 /\ -r_970^post164+r_970^0 == 0 /\ a_311^0-a_311^post164 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post164 == 0 /\ rcd_88^0-rcd_88^post164 == 0 /\ a_576^0-a_576^post164 == 0 /\ -i_1248^post164+i_1248^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post164+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post164 == 0 /\ -a_239^post164+a_239^0 == 0 /\ tmp_34^0-tmp_34^post164 == 0 /\ nondet_12^0-nondet_12^post164 == 0 /\ f_248^0-f_248^post164 == 0 /\ x_21^0-x_21^post164 == 0 /\ -i_1053^post164+i_1053^0 == 0 /\ a_1236^0-a_1236^post164 == 0 /\ -r_224^post164+r_224^0 == 0 /\ -a_395^post164+a_395^0 == 0 /\ a_924^0-a_924^post164 == 0 /\ -temp_35^post164+temp_35^0 == 0 /\ len_262^0-len_262^post164 == 0 /\ temp0_31^0-temp0_31^post164 == 0 /\ -r_143^post164+r_143^0 == 0 /\ a_610^0-a_610^post164 == 0 /\ -result_11^post164+result_11^0 == 0 /\ x_975^0-x_975^post164 == 0 /\ -a_393^post164+a_393^0 == 0 /\ a_577^0-a_577^post164 == 0 /\ len_238^0-len_238^post164 == 0 /\ -x_17^post164+x_17^0 == 0 /\ -i_94^post164+i_94^0 == 0 /\ -a_392^post164+a_392^0 == 0 /\ -a_417^post164+a_417^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post164 == 0 /\ a_947^0-a_947^post164 == 0 /\ -a_309^post164+a_309^0 == 0 /\ -i_107^post164+i_107^0 == 0 /\ i_27^0-i_27^post164 == 0 /\ f_969^0-f_969^post164 == 0 /\ -x_156^post164+x_156^0 == 0 /\ r_192^0-r_192^post164 == 0 /\ -i_113^post164+i_113^0 == 0 /\ -a_575^post164+a_575^0 == 0 /\ x_14^0-x_14^post164 == 0 /\ a_176^0-a_176^post164 == 0 /\ -len_861^post164+len_861^0 == 0 /\ len_161^0-len_161^post164 == 0 /\ r_39^post164-r_143^0 <= 0 /\ -a_121^post164+a_144^0 <= 0 /\ rcd_1249^0-rcd_1249^post164 == 0 /\ -a_635^post164+a_635^0 == 0 /\ -a_632^post164+a_632^0 == 0 /\ a_430^0-a_430^post164 == 0 /\ -x_SLAM_f_19^post164+x_SLAM_f_19^0 == 0 /\ -i_30^post164+i_30^0 == 0 /\ -a_432^post164+a_432^0 == 0 /\ a_1162^0-a_1162^post164 == 0 /\ -rcd_58^post164+rcd_58^0 == 0 /\ f_847^0-f_847^post164 == 0 /\ -length_29^post164+length_29^0 == 0 /\ -rcd_47^post164+rcd_47^0 == 0 /\ -i_140^post164+i_140^0 == 0 /\ temp0_16^0-temp0_16^post164 == 0 /\ -a_862^post164+a_862^0 == 0 /\ -a_310^post164+a_310^0 == 0 /\ -i_197^post164+i_197^0 == 0 /\ r_151^0-r_151^post164 == 0 /\ -head_32^post164+head_32^0 == 0 /\ a_902^0-a_902^post164 == 0 /\ -r_39^post164+r_143^0 <= 0 /\ a_121^post164-a_144^0 <= 0 /\ -a_633^post164+a_633^0 == 0 /\ a_144^0-a_144^post164 == 0 /\ head_15^0-head_15^post164 == 0 /\ a_634^0-a_634^post164 == 0 /\ i_127^0-i_127^post164 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post164+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 165: l103 -> l104 : a_1089^0'=a_1089^post165, f_847^0'=f_847^post165, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post165, a_394^0'=a_394^post165, x_156^0'=x_156^post165, a_632^0'=a_632^post165, r_192^0'=r_192^post165, a_176^0'=a_176^post165, i_106^0'=i_106^post165, a_430^0'=a_430^post165, t_458^0'=t_458^post165, len_161^0'=len_161^post165, x_975^0'=x_975^post165, a_902^0'=a_902^post165, a_947^0'=a_947^post165, rcd_88^0'=rcd_88^post165, a_311^0'=a_311^post165, i_140^0'=i_140^post165, a_577^0'=a_577^post165, x_14^0'=x_14^post165, nondet_12^0'=nondet_12^post165, a_121^0'=a_121^post165, head_15^0'=head_15^post165, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post165, i_27^0'=i_27^post165, x_21^0'=x_21^post165, a_634^0'=a_634^post165, r_39^0'=r_39^post165, a_263^0'=a_263^post165, i_113^0'=i_113^post165, a_432^0'=a_432^post165, temp0_31^0'=temp0_31^post165, len_262^0'=len_262^post165, y_20^0'=y_20^post165, f_248^0'=f_248^post165, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post165, a_393^0'=a_393^post165, i_229^0'=i_229^post165, a_610^0'=a_610^post165, r_151^0'=r_151^post165, a_144^0'=a_144^post165, i_1053^0'=i_1053^post165, a_417^0'=a_417^post165, t_24^0'=t_24^post165, i_94^0'=i_94^post165, x_852^0'=x_852^post165, a_862^0'=a_862^post165, rcd_1249^0'=rcd_1249^post165, rcd_58^0'=rcd_58^post165, a_310^0'=a_310^post165, i_127^0'=i_127^post165, a_576^0'=a_576^post165, tmp_34^0'=tmp_34^post165, length_29^0'=length_29^post165, a_1162^0'=a_1162^post165, f_969^0'=f_969^post165, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post165, a_395^0'=a_395^post165, x_17^0'=x_17^post165, a_633^0'=a_633^post165, r_224^0'=r_224^post165, a_239^0'=a_239^post165, i_107^0'=i_107^post165, a_431^0'=a_431^post165, temp0_16^0'=temp0_16^post165, len_238^0'=len_238^post165, x_SLAM_f_19^0'=x_SLAM_f_19^post165, a_924^0'=a_924^post165, ct_18^0'=ct_18^post165, result_11^0'=result_11^post165, a_392^0'=a_392^post165, i_197^0'=i_197^post165, a_579^0'=a_579^post165, r_143^0'=r_143^post165, a_1236^0'=a_1236^post165, head_32^0'=head_32^post165, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post165, i_30^0'=i_30^post165, x_253^0'=x_253^post165, a_635^0'=a_635^post165, r_970^0'=r_970^post165, rcd_47^0'=rcd_47^post165, a_309^0'=a_309^post165, i_1248^0'=i_1248^post165, a_575^0'=a_575^post165, temp_35^0'=temp_35^post165, len_861^0'=len_861^post165, (0 == 0 /\ -i_30^post165+i_30^0 == 0 /\ -a_635^post165+a_635^0 == 0 /\ -a_393^post165+a_393^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -r_143^post165+r_143^0 == 0 /\ -a_432^post165+a_432^0 == 0 /\ -i_107^post165+i_107^0 == 0 /\ -ct_18^post165 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post165 == 0 /\ -i_94^post165+i_94^0 == 0 /\ a_632^0-a_632^post165 == 0 /\ -a_309^post165+a_309^0 == 0 /\ -length_29^post165+length_29^0 == 0 /\ -i_113^post165+i_113^0 == 0 /\ x_975^0-x_975^post165 == 0 /\ -a_1236^post165+a_1236^0 == 0 /\ -a_121^0 <= 0 /\ result_11^0-result_11^post165 == 0 /\ -y_20^post165+ct_18^post165 <= 0 /\ x_21^post165-x_SLAM_f_19^post165 <= 0 /\ x_21^post165-x_SLAM_f_19^post165 == 0 /\ f_248^0-f_248^post165 == 0 /\ y_20^post165 <= 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -y_20^post165 <= 0 /\ -a_575^post165+a_575^0 == 0 /\ a_634^0-a_634^post165 == 0 /\ a_121^0 <= 0 /\ a_394^0-a_394^post165 == 0 /\ -rcd_47^post165+rcd_47^0 == 0 /\ -i_140^post165+i_140^0 == 0 /\ -a_310^post165+a_310^0 == 0 /\ a_610^0-a_610^post165 == 0 /\ rcd_58^0-rcd_58^post165 == 0 /\ a_176^0-a_176^post165 == 0 /\ -r_39^post165+r_39^0 == 0 /\ rcd_1249^0-rcd_1249^post165 == 0 /\ y_20^post165-ct_18^post165 <= 0 /\ y_20^post165-ct_18^post165 == 0 /\ -x_21^post165+x_SLAM_f_19^post165 <= 0 /\ -a_392^post165+a_392^0 == 0 /\ -head_32^post165+head_32^0 == 0 /\ -f_969^post165+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post165 <= 0 /\ x_852^0-x_852^post165 == 0 /\ x_14^post165 <= 0 /\ -r_151^post165+r_151^0 == 0 /\ -a_862^post165+a_862^0 == 0 /\ len_161^0-len_161^post165 == 0 /\ t_458^0-t_458^post165 == 0 /\ -temp0_31^post165+temp0_31^0 == 0 /\ f_847^0-f_847^post165 == 0 /\ -a_579^post165+a_579^0 == 0 /\ -x_253^post165+x_253^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post165 <= 0 /\ -a_263^post165+a_263^0 == 0 /\ -x_14^post165 <= 0 /\ -r_970^post165+r_970^0 == 0 /\ a_633^0-a_633^post165 == 0 /\ -a_431^post165+a_431^0 == 0 /\ x_SLAM_f_19^post165-x_17^post165 <= 0 /\ x_SLAM_f_19^post165-x_17^post165 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post165 == 0 /\ head_15^0-x_17^post165 <= 0 /\ -i_197^post165+i_197^0 == 0 /\ temp0_16^0-temp0_16^post165 == 0 /\ nondet_12^0-nondet_12^post165 == 0 /\ a_239^0-a_239^post165 == 0 /\ r_192^0-r_192^post165 == 0 /\ a_144^0-a_144^post165 == 0 /\ ct_18^post165 <= 0 /\ ct_18^post165 == 0 /\ a_121^0-a_121^post165 == 0 /\ x_21^post165-head_15^0 <= 0 /\ -head_15^0+x_SLAM_f_19^post165 <= 0 /\ a_417^0-a_417^post165 == 0 /\ a_902^0-a_902^post165 == 0 /\ len_262^0-len_262^post165 == 0 /\ x_156^0-x_156^post165 == 0 /\ a_947^0-a_947^post165 == 0 /\ -t_24^post165+t_24^0 == 0 /\ -tmp_34^post165+tmp_34^0 == 0 /\ head_15^0-head_15^post165 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post165 == 0 /\ -temp_35^post165+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post165 == 0 /\ i_127^0-i_127^post165 == 0 /\ -i_1053^post165+i_1053^0 == 0 /\ -x_SLAM_f_19^post165+x_17^post165 <= 0 /\ -r_224^post165+r_224^0 == 0 /\ -a_395^post165+a_395^0 == 0 /\ -a_577^post165+a_577^0 == 0 /\ -head_15^0+x_17^post165 <= 0 /\ -head_15^0+x_17^post165 == 0 /\ len_238^0-len_238^post165 == 0 /\ -a_1162^post165+a_1162^0 == 0 /\ -i_229^post165+i_229^0 == 0 /\ -i_1248^post165+i_1248^0 == 0 /\ a_430^0-a_430^post165 == 0 /\ -x_21^post165+head_15^0 <= 0 /\ head_15^0-x_SLAM_f_19^post165 <= 0 /\ a_1089^0-a_1089^post165 == 0 /\ i_106^0-i_106^post165 == 0 /\ a_311^0-a_311^post165 == 0 /\ a_576^0-a_576^post165 == 0 /\ -a_924^post165+a_924^0 == 0 /\ -len_861^post165+len_861^0 == 0), cost: 1 169: l103 -> l106 : a_1089^0'=a_1089^post169, f_847^0'=f_847^post169, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post169, a_394^0'=a_394^post169, x_156^0'=x_156^post169, a_632^0'=a_632^post169, r_192^0'=r_192^post169, a_176^0'=a_176^post169, i_106^0'=i_106^post169, a_430^0'=a_430^post169, t_458^0'=t_458^post169, len_161^0'=len_161^post169, x_975^0'=x_975^post169, a_902^0'=a_902^post169, a_947^0'=a_947^post169, rcd_88^0'=rcd_88^post169, a_311^0'=a_311^post169, i_140^0'=i_140^post169, a_577^0'=a_577^post169, x_14^0'=x_14^post169, nondet_12^0'=nondet_12^post169, a_121^0'=a_121^post169, head_15^0'=head_15^post169, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post169, i_27^0'=i_27^post169, x_21^0'=x_21^post169, a_634^0'=a_634^post169, r_39^0'=r_39^post169, a_263^0'=a_263^post169, i_113^0'=i_113^post169, a_432^0'=a_432^post169, temp0_31^0'=temp0_31^post169, len_262^0'=len_262^post169, y_20^0'=y_20^post169, f_248^0'=f_248^post169, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post169, a_393^0'=a_393^post169, i_229^0'=i_229^post169, a_610^0'=a_610^post169, r_151^0'=r_151^post169, a_144^0'=a_144^post169, i_1053^0'=i_1053^post169, a_417^0'=a_417^post169, t_24^0'=t_24^post169, i_94^0'=i_94^post169, x_852^0'=x_852^post169, a_862^0'=a_862^post169, rcd_1249^0'=rcd_1249^post169, rcd_58^0'=rcd_58^post169, a_310^0'=a_310^post169, i_127^0'=i_127^post169, a_576^0'=a_576^post169, tmp_34^0'=tmp_34^post169, length_29^0'=length_29^post169, a_1162^0'=a_1162^post169, f_969^0'=f_969^post169, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post169, a_395^0'=a_395^post169, x_17^0'=x_17^post169, a_633^0'=a_633^post169, r_224^0'=r_224^post169, a_239^0'=a_239^post169, i_107^0'=i_107^post169, a_431^0'=a_431^post169, temp0_16^0'=temp0_16^post169, len_238^0'=len_238^post169, x_SLAM_f_19^0'=x_SLAM_f_19^post169, a_924^0'=a_924^post169, ct_18^0'=ct_18^post169, result_11^0'=result_11^post169, a_392^0'=a_392^post169, i_197^0'=i_197^post169, a_579^0'=a_579^post169, r_143^0'=r_143^post169, a_1236^0'=a_1236^post169, head_32^0'=head_32^post169, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post169, i_30^0'=i_30^post169, x_253^0'=x_253^post169, a_635^0'=a_635^post169, r_970^0'=r_970^post169, rcd_47^0'=rcd_47^post169, a_309^0'=a_309^post169, i_1248^0'=i_1248^post169, a_575^0'=a_575^post169, temp_35^0'=temp_35^post169, len_861^0'=len_861^post169, (0 == 0 /\ -len_238^post169+len_238^0 == 0 /\ -rcd_47^post169+rcd_47^0 == 0 /\ i_94^0-i_94^post169 == 0 /\ a_393^0-a_393^post169 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post169 == 0 /\ -a_633^post169+a_633^0 == 0 /\ a_432^0-a_432^post169 == 0 /\ -r_143^post169+r_143^0 == 0 /\ -a_924^post169+a_924^0 == 0 /\ x_21^0-x_21^post169 == 0 /\ r_192^0-r_192^post169 == 0 /\ -a_576^post169+a_576^0 == 0 /\ -a_121^0 <= 0 /\ i_113^0-i_113^post169 == 0 /\ a_310^0-a_310^post169 == 0 /\ i_229^0-i_229^post169 == 0 /\ -r_151^post169+r_151^0 == 0 /\ -rcd_1249^post169+rcd_1249^0 == 0 /\ x_156^0-x_156^post169 == 0 /\ -a_634^post169+a_634^0 == 0 /\ -a_309^post169+a_309^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post169 == 0 /\ -x_253^post169+x_253^0 == 0 /\ x_14^0-x_14^post169 == 0 /\ a_121^0-a_121^post169 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post169+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_32^0-head_32^post169 == 0 /\ a_417^0-a_417^post169 == 0 /\ -a_1236^post169+a_1236^0 == 0 /\ a_1089^0-a_1089^post169 == 0 /\ i_27^0-i_27^post169 == 0 /\ a_263^0-a_263^post169 == 0 /\ y_20^0-y_20^post169 == 0 /\ a_392^0-a_392^post169 == 0 /\ -len_262^post169+len_262^0 == 0 /\ r_39^0-r_39^post169 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post169 == 0 /\ -temp0_31^post169+temp0_31^0 == 0 /\ -a_610^post169+a_610^0 == 0 /\ -a_311^post169+a_311^0 == 0 /\ i_106^0-i_106^post169 == 0 /\ i_107^0-i_107^post169 == 0 /\ -ct_18^post169+ct_18^0 == 0 /\ r_224^0-r_224^post169 == 0 /\ -temp0_16^post169+temp0_16^0 == 0 /\ -i_1053^post169+i_1053^0 == 0 /\ f_248^0-f_248^post169 == 0 /\ -a_395^post169+a_395^0 == 0 /\ -len_861^post169+len_861^0 == 0 /\ t_458^0-t_458^post169 == 0 /\ a_632^0-a_632^post169 == 0 /\ -a_430^post169+a_430^0 == 0 /\ -a_394^post169+a_394^0 == 0 /\ -f_847^post169+f_847^0 == 0 /\ a_577^0-a_577^post169 == 0 /\ i_30^0-i_30^post169 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post169+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post169 == 0 /\ -i_197^post169+i_197^0 == 0 /\ -a_862^post169+a_862^0 == 0 /\ -a_579^post169+a_579^0 == 0 /\ -temp_35^post169+temp_35^0 == 0 /\ -nondet_12^post169+nondet_12^0 == 0 /\ -i_127^post169+i_127^0 == 0 /\ -a_144^post169+a_144^0 == 0 /\ t_24^0-t_24^post169 == 0 /\ i_140^0-i_140^post169 == 0 /\ -a_1162^post169+a_1162^0 == 0 /\ a_431^0-a_431^post169 == 0 /\ len_161^0-len_161^post169 == 0 /\ -a_575^post169+a_575^0 == 0 /\ a_176^0-a_176^post169 == 0 /\ -x_17^post169+x_17^0 == 0 /\ -result_11^post169+result_11^0 == 0 /\ -a_947^post169+a_947^0 == 0 /\ x_852^0-x_852^post169 == 0 /\ -rcd_58^post169+rcd_58^0 == 0 /\ -i_1248^post169+i_1248^0 == 0 /\ rcd_88^0-rcd_88^post169 == 0 /\ -a_239^post169+a_239^0 == 0 /\ length_29^0-length_29^post169 == 0 /\ -tmp_34^post169+tmp_34^0 == 0 /\ -a_635^post169+a_635^0 == 0), cost: 1 178: l103 -> l111 : a_1089^0'=a_1089^post178, f_847^0'=f_847^post178, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post178, a_394^0'=a_394^post178, x_156^0'=x_156^post178, a_632^0'=a_632^post178, r_192^0'=r_192^post178, a_176^0'=a_176^post178, i_106^0'=i_106^post178, a_430^0'=a_430^post178, t_458^0'=t_458^post178, len_161^0'=len_161^post178, x_975^0'=x_975^post178, a_902^0'=a_902^post178, a_947^0'=a_947^post178, rcd_88^0'=rcd_88^post178, a_311^0'=a_311^post178, i_140^0'=i_140^post178, a_577^0'=a_577^post178, x_14^0'=x_14^post178, nondet_12^0'=nondet_12^post178, a_121^0'=a_121^post178, head_15^0'=head_15^post178, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post178, i_27^0'=i_27^post178, x_21^0'=x_21^post178, a_634^0'=a_634^post178, r_39^0'=r_39^post178, a_263^0'=a_263^post178, i_113^0'=i_113^post178, a_432^0'=a_432^post178, temp0_31^0'=temp0_31^post178, len_262^0'=len_262^post178, y_20^0'=y_20^post178, f_248^0'=f_248^post178, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post178, a_393^0'=a_393^post178, i_229^0'=i_229^post178, a_610^0'=a_610^post178, r_151^0'=r_151^post178, a_144^0'=a_144^post178, i_1053^0'=i_1053^post178, a_417^0'=a_417^post178, t_24^0'=t_24^post178, i_94^0'=i_94^post178, x_852^0'=x_852^post178, a_862^0'=a_862^post178, rcd_1249^0'=rcd_1249^post178, rcd_58^0'=rcd_58^post178, a_310^0'=a_310^post178, i_127^0'=i_127^post178, a_576^0'=a_576^post178, tmp_34^0'=tmp_34^post178, length_29^0'=length_29^post178, a_1162^0'=a_1162^post178, f_969^0'=f_969^post178, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post178, a_395^0'=a_395^post178, x_17^0'=x_17^post178, a_633^0'=a_633^post178, r_224^0'=r_224^post178, a_239^0'=a_239^post178, i_107^0'=i_107^post178, a_431^0'=a_431^post178, temp0_16^0'=temp0_16^post178, len_238^0'=len_238^post178, x_SLAM_f_19^0'=x_SLAM_f_19^post178, a_924^0'=a_924^post178, ct_18^0'=ct_18^post178, result_11^0'=result_11^post178, a_392^0'=a_392^post178, i_197^0'=i_197^post178, a_579^0'=a_579^post178, r_143^0'=r_143^post178, a_1236^0'=a_1236^post178, head_32^0'=head_32^post178, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post178, i_30^0'=i_30^post178, x_253^0'=x_253^post178, a_635^0'=a_635^post178, r_970^0'=r_970^post178, rcd_47^0'=rcd_47^post178, a_309^0'=a_309^post178, i_1248^0'=i_1248^post178, a_575^0'=a_575^post178, temp_35^0'=temp_35^post178, len_861^0'=len_861^post178, (0 == 0 /\ length_29^0-length_29^post178 == 0 /\ r_151^0-r_151^post178 == 0 /\ -a_610^post178+a_610^0 == 0 /\ r_39^0-r_39^post178 == 0 /\ -rcd_47^post178+rcd_47^0 == 0 /\ x_975^0-x_975^post178 == 0 /\ a_430^0-a_430^post178 == 0 /\ i_94^0-i_94^post178 == 0 /\ i_113^0-i_113^post178 == 0 /\ a_393^0-a_393^post178 == 0 /\ -rcd_1249^post178+rcd_1249^0 == 0 /\ -a_121^0 <= 0 /\ -r_143^post178+r_143^0 == 0 /\ a_432^0-a_432^post178 == 0 /\ i_27^0-i_27^post178 == 0 /\ -result_11^post178+result_11^0 == 0 /\ a_633^0-a_633^post178 == 0 /\ f_969^0-f_969^post178 == 0 /\ -len_238^post178+len_238^0 == 0 /\ r_192^0-r_192^post178 == 0 /\ -x_21^post178+x_21^0 == 0 /\ len_161^0-len_161^post178 == 0 /\ a_144^0-a_144^post178 == 0 /\ -a_392^post178+a_392^0 == 0 /\ head_32^0-head_32^post178 == 0 /\ a_417^0-a_417^post178 == 0 /\ -nondet_12^post178+nondet_12^0 == 0 /\ rcd_58^0-rcd_58^post178 == 0 /\ -x_SLAM_f_19^post178+x_SLAM_f_19^0 == 0 /\ i_140^0-i_140^post178 == 0 /\ -a_576^post178+a_576^0 == 0 /\ t_24^0-t_24^post178 == 0 /\ a_634^0-a_634^post178 == 0 /\ a_862^0-a_862^post178 == 0 /\ -temp_35^post178+temp_35^0 == 0 /\ -a_1236^post178+a_1236^0 == 0 /\ -r_970^post178+r_970^0 == 0 /\ -i_229^post178+i_229^0 == 0 /\ -a_431^post178+a_431^0 == 0 /\ -x_253^post178+x_253^0 == 0 /\ f_248^0-f_248^post178 == 0 /\ t_458^0-t_458^post178 == 0 /\ -temp0_31^post178+temp0_31^0 == 0 /\ a_902^0-a_902^post178 == 0 /\ -i_1248^post178+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post178 == 0 /\ a_577^0-a_577^post178 == 0 /\ a_239^0-a_239^post178 == 0 /\ i_106^0-i_106^post178 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post178+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post178+a_395^0 == 0 /\ -a_310^post178+a_310^0 == 0 /\ -len_861^post178+len_861^0 == 0 /\ -temp0_16^post178+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post178 == 0 /\ a_311^0-a_311^post178 == 0 /\ x_156^0-x_156^post178 == 0 /\ -a_947^post178+a_947^0 == 0 /\ a_1089^0-a_1089^post178 == 0 /\ a_632^0-a_632^post178 == 0 /\ -i_197^post178+i_197^0 == 0 /\ -a_579^post178+a_579^0 == 0 /\ -x_17^post178+x_17^0 == 0 /\ -len_262^post178+len_262^0 == 0 /\ x_852^0-x_852^post178 == 0 /\ -a_309^post178+a_309^0 == 0 /\ -i_30^post178+i_30^0 == 0 /\ a_121^0-a_121^post178 == 0 /\ a_263^0-a_263^post178 == 0 /\ -i_107^post178+i_107^0 == 0 /\ -x_14^post178+x_14^0 == 0 /\ -a_924^post178+a_924^0 == 0 /\ -a_575^post178+a_575^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post178 == 0 /\ f_847^0-f_847^post178 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post178 == 0 /\ -a_635^post178+a_635^0 == 0 /\ a_394^0-a_394^post178 == 0 /\ i_1053^0-i_1053^post178 == 0 /\ -ct_18^post178+ct_18^0 == 0 /\ -a_1162^post178+a_1162^0 == 0 /\ tmp_34^0-tmp_34^post178 == 0 /\ y_20^0-y_20^post178 == 0 /\ a_176^0-a_176^post178 == 0), cost: 1 166: l104 -> l105 : a_1089^0'=a_1089^post166, f_847^0'=f_847^post166, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post166, a_394^0'=a_394^post166, x_156^0'=x_156^post166, a_632^0'=a_632^post166, r_192^0'=r_192^post166, a_176^0'=a_176^post166, i_106^0'=i_106^post166, a_430^0'=a_430^post166, t_458^0'=t_458^post166, len_161^0'=len_161^post166, x_975^0'=x_975^post166, a_902^0'=a_902^post166, a_947^0'=a_947^post166, rcd_88^0'=rcd_88^post166, a_311^0'=a_311^post166, i_140^0'=i_140^post166, a_577^0'=a_577^post166, x_14^0'=x_14^post166, nondet_12^0'=nondet_12^post166, a_121^0'=a_121^post166, head_15^0'=head_15^post166, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post166, i_27^0'=i_27^post166, x_21^0'=x_21^post166, a_634^0'=a_634^post166, r_39^0'=r_39^post166, a_263^0'=a_263^post166, i_113^0'=i_113^post166, a_432^0'=a_432^post166, temp0_31^0'=temp0_31^post166, len_262^0'=len_262^post166, y_20^0'=y_20^post166, f_248^0'=f_248^post166, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post166, a_393^0'=a_393^post166, i_229^0'=i_229^post166, a_610^0'=a_610^post166, r_151^0'=r_151^post166, a_144^0'=a_144^post166, i_1053^0'=i_1053^post166, a_417^0'=a_417^post166, t_24^0'=t_24^post166, i_94^0'=i_94^post166, x_852^0'=x_852^post166, a_862^0'=a_862^post166, rcd_1249^0'=rcd_1249^post166, rcd_58^0'=rcd_58^post166, a_310^0'=a_310^post166, i_127^0'=i_127^post166, a_576^0'=a_576^post166, tmp_34^0'=tmp_34^post166, length_29^0'=length_29^post166, a_1162^0'=a_1162^post166, f_969^0'=f_969^post166, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post166, a_395^0'=a_395^post166, x_17^0'=x_17^post166, a_633^0'=a_633^post166, r_224^0'=r_224^post166, a_239^0'=a_239^post166, i_107^0'=i_107^post166, a_431^0'=a_431^post166, temp0_16^0'=temp0_16^post166, len_238^0'=len_238^post166, x_SLAM_f_19^0'=x_SLAM_f_19^post166, a_924^0'=a_924^post166, ct_18^0'=ct_18^post166, result_11^0'=result_11^post166, a_392^0'=a_392^post166, i_197^0'=i_197^post166, a_579^0'=a_579^post166, r_143^0'=r_143^post166, a_1236^0'=a_1236^post166, head_32^0'=head_32^post166, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post166, i_30^0'=i_30^post166, x_253^0'=x_253^post166, a_635^0'=a_635^post166, r_970^0'=r_970^post166, rcd_47^0'=rcd_47^post166, a_309^0'=a_309^post166, i_1248^0'=i_1248^post166, a_575^0'=a_575^post166, temp_35^0'=temp_35^post166, len_861^0'=len_861^post166, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post166 == 0 /\ -r_224^post166+r_224^0 == 0 /\ -temp_35^post166+temp_35^0 == 0 /\ -i_197^post166+i_197^0 == 0 /\ -a_579^post166+a_579^0 == 0 /\ f_969^0-f_969^post166 == 0 /\ -a_431^post166+a_431^0 == 0 /\ -i_127^post166+i_127^0 == 0 /\ t_458^0-t_458^post166 == 0 /\ -ct_18^post166+ct_18^0 == 0 /\ x_852^0-x_852^post166 == 0 /\ a_263^0-a_263^post166 == 0 /\ -r_970^post166+r_970^0 == 0 /\ i_106^0-i_106^post166 == 0 /\ a_392^0-a_392^post166 == 0 /\ a_632^0-a_632^post166 == 0 /\ a_430^0-a_430^post166 == 0 /\ t_24^0-t_24^post166 == 0 /\ a_576^0-a_576^post166 == 0 /\ a_311^0-a_311^post166 == 0 /\ len_161^0-len_161^post166 == 0 /\ -y_20^post166+y_20^0 == 0 /\ rcd_88^0-rcd_88^post166 == 0 /\ -a_121^post166+a_121^0 == 0 /\ -f_248^post166+f_248^0 == 0 /\ -a_1162^post166+a_1162^0 == 0 /\ f_847^0-f_847^post166 == 0 /\ -i_229^post166+i_229^0 == 0 /\ -a_577^post166+a_577^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post166+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post166+a_924^0 == 0 /\ x_21^0-x_21^post166 == 0 /\ -rcd_1249^post166+rcd_1249^0 == 0 /\ -i_1248^post166+i_1248^0 == 0 /\ a_1236^0-a_1236^post166 == 0 /\ -temp0_16^post166+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post166 == 0 /\ -i_30^post166+i_30^0 == 0 /\ a_862^0-a_862^post166 == 0 /\ -len_861^post166+len_861^0 == 0 /\ a_394^0-a_394^post166 == 0 /\ len_262^0-len_262^post166 == 0 /\ -result_11^post166+result_11^0 == 0 /\ r_143^0-r_143^post166 == 0 /\ a_176^0-a_176^post166 == 0 /\ -a_432^post166+a_432^0 == 0 /\ a_1089^0-a_1089^post166 == 0 /\ rcd_58^0-rcd_58^post166 == 0 /\ i_1053^0-i_1053^post166 == 0 /\ a_947^0-a_947^post166 == 0 /\ -x_17^post166+x_17^0 == 0 /\ -i_94^post166+i_94^0 == 0 /\ -i_113^post166+i_113^0 == 0 /\ -a_309^post166+a_309^0 == 0 /\ x_14^0-x_14^post166 == 0 /\ -x_SLAM_f_19^post166+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post166 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post166 == 0 /\ a_395^0-a_395^post166 == 0 /\ -i_107^post166+i_107^0 == 0 /\ i_27^0-i_27^post166 == 0 /\ -a_575^post166+a_575^0 == 0 /\ a_635^0-a_635^post166 == 0 /\ -a_633^post166+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post166 == 0 /\ a_393^0-a_393^post166 == 0 /\ -i_140^post166+i_140^0 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post166+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_610^post166+a_610^0 == 0 /\ -length_29^post166+length_29^0 == 0 /\ tmp_34^0-tmp_34^post166 == 0 /\ -rcd_47^post166+rcd_47^0 == 0 /\ -x_253^post166+x_253^0 == 0 /\ r_151^0-r_151^post166 == 0 /\ a_417^0-a_417^post166 == 0 /\ -len_238^post166+len_238^0 == 0 /\ nondet_12^0-nondet_12^post166 == 0 /\ -a_310^post166+a_310^0 == 0 /\ -r_39^post166+r_39^0 == 0 /\ x_975^0-x_975^post166 == 0 /\ a_634^0-a_634^post166 == 0 /\ x_156^0-x_156^post166 == 0 /\ a_144^0-a_144^post166 == 0 /\ a_239^0-a_239^post166 == 0 /\ head_15^0-head_15^post166 == 0 /\ a_902^0-a_902^post166 == 0 /\ -head_32^post166+head_32^0 == 0), cost: 1 167: l104 -> l105 : a_1089^0'=a_1089^post167, f_847^0'=f_847^post167, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post167, a_394^0'=a_394^post167, x_156^0'=x_156^post167, a_632^0'=a_632^post167, r_192^0'=r_192^post167, a_176^0'=a_176^post167, i_106^0'=i_106^post167, a_430^0'=a_430^post167, t_458^0'=t_458^post167, len_161^0'=len_161^post167, x_975^0'=x_975^post167, a_902^0'=a_902^post167, a_947^0'=a_947^post167, rcd_88^0'=rcd_88^post167, a_311^0'=a_311^post167, i_140^0'=i_140^post167, a_577^0'=a_577^post167, x_14^0'=x_14^post167, nondet_12^0'=nondet_12^post167, a_121^0'=a_121^post167, head_15^0'=head_15^post167, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post167, i_27^0'=i_27^post167, x_21^0'=x_21^post167, a_634^0'=a_634^post167, r_39^0'=r_39^post167, a_263^0'=a_263^post167, i_113^0'=i_113^post167, a_432^0'=a_432^post167, temp0_31^0'=temp0_31^post167, len_262^0'=len_262^post167, y_20^0'=y_20^post167, f_248^0'=f_248^post167, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post167, a_393^0'=a_393^post167, i_229^0'=i_229^post167, a_610^0'=a_610^post167, r_151^0'=r_151^post167, a_144^0'=a_144^post167, i_1053^0'=i_1053^post167, a_417^0'=a_417^post167, t_24^0'=t_24^post167, i_94^0'=i_94^post167, x_852^0'=x_852^post167, a_862^0'=a_862^post167, rcd_1249^0'=rcd_1249^post167, rcd_58^0'=rcd_58^post167, a_310^0'=a_310^post167, i_127^0'=i_127^post167, a_576^0'=a_576^post167, tmp_34^0'=tmp_34^post167, length_29^0'=length_29^post167, a_1162^0'=a_1162^post167, f_969^0'=f_969^post167, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post167, a_395^0'=a_395^post167, x_17^0'=x_17^post167, a_633^0'=a_633^post167, r_224^0'=r_224^post167, a_239^0'=a_239^post167, i_107^0'=i_107^post167, a_431^0'=a_431^post167, temp0_16^0'=temp0_16^post167, len_238^0'=len_238^post167, x_SLAM_f_19^0'=x_SLAM_f_19^post167, a_924^0'=a_924^post167, ct_18^0'=ct_18^post167, result_11^0'=result_11^post167, a_392^0'=a_392^post167, i_197^0'=i_197^post167, a_579^0'=a_579^post167, r_143^0'=r_143^post167, a_1236^0'=a_1236^post167, head_32^0'=head_32^post167, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post167, i_30^0'=i_30^post167, x_253^0'=x_253^post167, a_635^0'=a_635^post167, r_970^0'=r_970^post167, rcd_47^0'=rcd_47^post167, a_309^0'=a_309^post167, i_1248^0'=i_1248^post167, a_575^0'=a_575^post167, temp_35^0'=temp_35^post167, len_861^0'=len_861^post167, (-a_575^post167+a_575^0 == 0 /\ a_633^0-a_633^post167 == 0 /\ i_94^0-i_94^post167 == 0 /\ -r_143^post167+r_143^0 == 0 /\ 1+head_15^0 <= 0 /\ -a_635^post167+a_635^0 == 0 /\ -len_238^post167+len_238^0 == 0 /\ -x_SLAM_f_19^post167+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post167 == 0 /\ a_393^0-a_393^post167 == 0 /\ r_39^0-r_39^post167 == 0 /\ r_151^0-r_151^post167 == 0 /\ tmp_34^0-tmp_34^post167 == 0 /\ -i_30^post167+i_30^0 == 0 /\ x_21^0-x_21^post167 == 0 /\ a_432^0-a_432^post167 == 0 /\ -a_309^post167+a_309^0 == 0 /\ x_975^0-x_975^post167 == 0 /\ i_113^0-i_113^post167 == 0 /\ r_192^0-r_192^post167 == 0 /\ -a_634^post167+a_634^0 == 0 /\ -a_576^post167+a_576^0 == 0 /\ -i_107^post167+i_107^0 == 0 /\ a_144^0-a_144^post167 == 0 /\ i_27^0-i_27^post167 == 0 /\ t_24^0-t_24^post167 == 0 /\ -a_1236^post167+a_1236^0 == 0 /\ a_310^0-a_310^post167 == 0 /\ head_32^0-head_32^post167 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post167 == 0 /\ a_417^0-a_417^post167 == 0 /\ -a_431^post167+a_431^0 == 0 /\ rcd_58^0-rcd_58^post167 == 0 /\ -a_392^post167+a_392^0 == 0 /\ -a_610^post167+a_610^0 == 0 /\ -temp0_31^post167+temp0_31^0 == 0 /\ i_140^0-i_140^post167 == 0 /\ len_161^0-len_161^post167 == 0 /\ -rcd_47^post167+rcd_47^0 == 0 /\ i_106^0-i_106^post167 == 0 /\ -i_197^post167+i_197^0 == 0 /\ -a_579^post167+a_579^0 == 0 /\ x_253^0-x_253^post167 == 0 /\ -ct_18^post167+ct_18^0 == 0 /\ t_458^0-t_458^post167 == 0 /\ -len_262^post167+len_262^0 == 0 /\ f_248^0-f_248^post167 == 0 /\ -f_969^post167+f_969^0 == 0 /\ -i_127^post167+i_127^0 == 0 /\ -a_394^post167+a_394^0 == 0 /\ a_632^0-a_632^post167 == 0 /\ -r_970^post167+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post167+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_239^0-a_239^post167 == 0 /\ a_577^0-a_577^post167 == 0 /\ a_902^0-a_902^post167 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post167 == 0 /\ -temp_35^post167+temp_35^0 == 0 /\ a_862^0-a_862^post167 == 0 /\ -nondet_12^post167+nondet_12^0 == 0 /\ i_229^0-i_229^post167 == 0 /\ x_156^0-x_156^post167 == 0 /\ -a_395^post167+a_395^0 == 0 /\ -len_861^post167+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post167 == 0 /\ x_14^0-x_14^post167 == 0 /\ i_1053^0-i_1053^post167 == 0 /\ -rcd_1249^post167+rcd_1249^0 == 0 /\ a_176^0-a_176^post167 == 0 /\ -result_11^post167+result_11^0 == 0 /\ -a_1162^post167+a_1162^0 == 0 /\ a_121^0-a_121^post167 == 0 /\ -a_947^post167+a_947^0 == 0 /\ x_852^0-x_852^post167 == 0 /\ a_1089^0-a_1089^post167 == 0 /\ a_430^0-a_430^post167 == 0 /\ -x_17^post167+x_17^0 == 0 /\ a_263^0-a_263^post167 == 0 /\ rcd_88^0-rcd_88^post167 == 0 /\ a_311^0-a_311^post167 == 0 /\ -a_924^post167+a_924^0 == 0 /\ f_847^0-f_847^post167 == 0 /\ -temp0_16^post167+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post167 == 0 /\ -i_1248^post167+i_1248^0 == 0 /\ -head_15^post167+head_15^0 == 0 /\ length_29^0-length_29^post167 == 0 /\ -r_224^post167+r_224^0 == 0), cost: 1 168: l105 -> l0 : a_1089^0'=a_1089^post168, f_847^0'=f_847^post168, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post168, a_394^0'=a_394^post168, x_156^0'=x_156^post168, a_632^0'=a_632^post168, r_192^0'=r_192^post168, a_176^0'=a_176^post168, i_106^0'=i_106^post168, a_430^0'=a_430^post168, t_458^0'=t_458^post168, len_161^0'=len_161^post168, x_975^0'=x_975^post168, a_902^0'=a_902^post168, a_947^0'=a_947^post168, rcd_88^0'=rcd_88^post168, a_311^0'=a_311^post168, i_140^0'=i_140^post168, a_577^0'=a_577^post168, x_14^0'=x_14^post168, nondet_12^0'=nondet_12^post168, a_121^0'=a_121^post168, head_15^0'=head_15^post168, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post168, i_27^0'=i_27^post168, x_21^0'=x_21^post168, a_634^0'=a_634^post168, r_39^0'=r_39^post168, a_263^0'=a_263^post168, i_113^0'=i_113^post168, a_432^0'=a_432^post168, temp0_31^0'=temp0_31^post168, len_262^0'=len_262^post168, y_20^0'=y_20^post168, f_248^0'=f_248^post168, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post168, a_393^0'=a_393^post168, i_229^0'=i_229^post168, a_610^0'=a_610^post168, r_151^0'=r_151^post168, a_144^0'=a_144^post168, i_1053^0'=i_1053^post168, a_417^0'=a_417^post168, t_24^0'=t_24^post168, i_94^0'=i_94^post168, x_852^0'=x_852^post168, a_862^0'=a_862^post168, rcd_1249^0'=rcd_1249^post168, rcd_58^0'=rcd_58^post168, a_310^0'=a_310^post168, i_127^0'=i_127^post168, a_576^0'=a_576^post168, tmp_34^0'=tmp_34^post168, length_29^0'=length_29^post168, a_1162^0'=a_1162^post168, f_969^0'=f_969^post168, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post168, a_395^0'=a_395^post168, x_17^0'=x_17^post168, a_633^0'=a_633^post168, r_224^0'=r_224^post168, a_239^0'=a_239^post168, i_107^0'=i_107^post168, a_431^0'=a_431^post168, temp0_16^0'=temp0_16^post168, len_238^0'=len_238^post168, x_SLAM_f_19^0'=x_SLAM_f_19^post168, a_924^0'=a_924^post168, ct_18^0'=ct_18^post168, result_11^0'=result_11^post168, a_392^0'=a_392^post168, i_197^0'=i_197^post168, a_579^0'=a_579^post168, r_143^0'=r_143^post168, a_1236^0'=a_1236^post168, head_32^0'=head_32^post168, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post168, i_30^0'=i_30^post168, x_253^0'=x_253^post168, a_635^0'=a_635^post168, r_970^0'=r_970^post168, rcd_47^0'=rcd_47^post168, a_309^0'=a_309^post168, i_1248^0'=i_1248^post168, a_575^0'=a_575^post168, temp_35^0'=temp_35^post168, len_861^0'=len_861^post168, (len_161^0-len_161^post168 == 0 /\ -i_1248^post168+i_1248^0 == 0 /\ -a_239^post168+a_239^0 == 0 /\ -rcd_58^post168+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post168 == 0 /\ -temp0_16^post168+temp0_16^0 == 0 /\ -ct_18^post168+ct_18^0 == 0 /\ -len_861^post168+len_861^0 == 0 /\ -a_579^post168+a_579^0 == 0 /\ a_176^0-a_176^post168 == 0 /\ -i_127^post168+i_127^0 == 0 /\ -x_253^post168+x_253^0 == 0 /\ a_394^0-a_394^post168 == 0 /\ a_417^0-a_417^post168 == 0 /\ length_29^0-length_29^post168 == 0 /\ -a_431^post168+a_431^0 == 0 /\ -f_248^post168+f_248^0 == 0 /\ a_263^0-a_263^post168 == 0 /\ f_847^0-f_847^post168 == 0 /\ t_24^0-t_24^post168 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_197^post168+i_197^0 == 0 /\ -i_229^post168+i_229^0 == 0 /\ i_1053^0-i_1053^post168 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_11^post168+result_11^0 == 0 /\ -a_309^post168+a_309^0 == 0 /\ -a_144^post168+a_144^0 == 0 /\ i_94^0-i_94^post168 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post168+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_39^0-r_39^post168 == 0 /\ a_430^0-a_430^post168 == 0 /\ -a_924^post168+a_924^0 == 0 /\ -a_575^post168+a_575^0 == 0 /\ r_151^0-r_151^post168 == 0 /\ -rcd_1249^post168+rcd_1249^0 == 0 /\ a_432^0-a_432^post168 == 0 /\ a_1162^0-a_1162^post168 == 0 /\ i_113^0-i_113^post168 == 0 /\ a_577^0-a_577^post168 == 0 /\ -i_30^post168+i_30^0 == 0 /\ a_902^0-a_902^post168 == 0 /\ r_192^0-r_192^post168 == 0 /\ -a_635^post168+a_635^0 == 0 /\ -a_947^post168+a_947^0 == 0 /\ x_156^0-x_156^post168 == 0 /\ -x_852^post168+x_852^0 == 0 /\ head_32^0-head_32^post168 == 0 /\ -x_17^post168+x_17^0 == 0 /\ head_15^0-head_15^post168 == 0 /\ -x_21^post168+x_21^0 == 0 /\ a_862^0-a_862^post168 == 0 /\ -x_SLAM_f_19^post168+x_SLAM_f_19^0 == 0 /\ a_1089^0-a_1089^post168 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post168+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_576^post168+a_576^0 == 0 /\ -x_14^post168+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post168 == 0 /\ a_311^0-a_311^post168 == 0 /\ -r_143^post168+r_143^0 == 0 /\ -a_634^post168+a_634^0 == 0 /\ i_140^0-i_140^post168 == 0 /\ a_395^0-a_395^post168 == 0 /\ t_458^0-t_458^post168 == 0 /\ rcd_88^0-rcd_88^post168 == 0 /\ i_106^0-i_106^post168 == 0 /\ -a_633^post168+a_633^0 == 0 /\ -a_392^post168+a_392^0 == 0 /\ a_632^0-a_632^post168 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post168 == 0 /\ 1-i_27^0 <= 0 /\ a_393^0-a_393^post168 == 0 /\ r_224^0-r_224^post168 == 0 /\ -i_27^post168+i_27^0 == 0 /\ i_107^0-i_107^post168 == 0 /\ -f_969^post168+f_969^0 == 0 /\ -a_310^post168+a_310^0 == 0 /\ -a_121^post168+a_121^0 == 0 /\ x_975^0-x_975^post168 == 0 /\ y_20^0-y_20^post168 == 0 /\ -a_1236^post168+a_1236^0 == 0 /\ tmp_34^0-tmp_34^post168 == 0 /\ -a_610^post168+a_610^0 == 0 /\ -temp_35^post168+temp_35^0 == 0 /\ -rcd_47^post168+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post168 == 0 /\ -temp0_31^post168+temp0_31^0 == 0 /\ -len_262^post168+len_262^0 == 0 /\ -r_970^post168+r_970^0 == 0 /\ -len_238^post168+len_238^0 == 0), cost: 1 170: l106 -> l107 : a_1089^0'=a_1089^post170, f_847^0'=f_847^post170, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post170, a_394^0'=a_394^post170, x_156^0'=x_156^post170, a_632^0'=a_632^post170, r_192^0'=r_192^post170, a_176^0'=a_176^post170, i_106^0'=i_106^post170, a_430^0'=a_430^post170, t_458^0'=t_458^post170, len_161^0'=len_161^post170, x_975^0'=x_975^post170, a_902^0'=a_902^post170, a_947^0'=a_947^post170, rcd_88^0'=rcd_88^post170, a_311^0'=a_311^post170, i_140^0'=i_140^post170, a_577^0'=a_577^post170, x_14^0'=x_14^post170, nondet_12^0'=nondet_12^post170, a_121^0'=a_121^post170, head_15^0'=head_15^post170, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post170, i_27^0'=i_27^post170, x_21^0'=x_21^post170, a_634^0'=a_634^post170, r_39^0'=r_39^post170, a_263^0'=a_263^post170, i_113^0'=i_113^post170, a_432^0'=a_432^post170, temp0_31^0'=temp0_31^post170, len_262^0'=len_262^post170, y_20^0'=y_20^post170, f_248^0'=f_248^post170, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post170, a_393^0'=a_393^post170, i_229^0'=i_229^post170, a_610^0'=a_610^post170, r_151^0'=r_151^post170, a_144^0'=a_144^post170, i_1053^0'=i_1053^post170, a_417^0'=a_417^post170, t_24^0'=t_24^post170, i_94^0'=i_94^post170, x_852^0'=x_852^post170, a_862^0'=a_862^post170, rcd_1249^0'=rcd_1249^post170, rcd_58^0'=rcd_58^post170, a_310^0'=a_310^post170, i_127^0'=i_127^post170, a_576^0'=a_576^post170, tmp_34^0'=tmp_34^post170, length_29^0'=length_29^post170, a_1162^0'=a_1162^post170, f_969^0'=f_969^post170, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post170, a_395^0'=a_395^post170, x_17^0'=x_17^post170, a_633^0'=a_633^post170, r_224^0'=r_224^post170, a_239^0'=a_239^post170, i_107^0'=i_107^post170, a_431^0'=a_431^post170, temp0_16^0'=temp0_16^post170, len_238^0'=len_238^post170, x_SLAM_f_19^0'=x_SLAM_f_19^post170, a_924^0'=a_924^post170, ct_18^0'=ct_18^post170, result_11^0'=result_11^post170, a_392^0'=a_392^post170, i_197^0'=i_197^post170, a_579^0'=a_579^post170, r_143^0'=r_143^post170, a_1236^0'=a_1236^post170, head_32^0'=head_32^post170, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post170, i_30^0'=i_30^post170, x_253^0'=x_253^post170, a_635^0'=a_635^post170, r_970^0'=r_970^post170, rcd_47^0'=rcd_47^post170, a_309^0'=a_309^post170, i_1248^0'=i_1248^post170, a_575^0'=a_575^post170, temp_35^0'=temp_35^post170, len_861^0'=len_861^post170, (-f_248^post170+f_248^0 == 0 /\ a_121^0-a_121^post170 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post170+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post170+rcd_58^0 == 0 /\ len_161^0-len_161^post170 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post170 == 0 /\ i_27^0-i_27^post170 == 0 /\ temp0_31^0-temp0_31^post170 == 0 /\ a_634^0-a_634^post170 == 0 /\ a_310^0-a_310^post170 == 0 /\ -i_1248^post170+i_1248^0 == 0 /\ len_262^0-len_262^post170 == 0 /\ -length_29^post170+length_29^0 == 0 /\ -a_239^post170+a_239^0 == 0 /\ 1-x_14^0 <= 0 /\ a_395^0-a_395^post170 == 0 /\ a_176^0-a_176^post170 == 0 /\ -i_197^post170+i_197^0 == 0 /\ -i_127^post170+i_127^0 == 0 /\ a_947^0-a_947^post170 == 0 /\ -a_579^post170+a_579^0 == 0 /\ i_1053^0-i_1053^post170 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post170 == 0 /\ -head_32^post170+head_32^0 == 0 /\ -rcd_1249^post170+rcd_1249^0 == 0 /\ -x_852^post170+x_852^0 == 0 /\ -a_393^post170+a_393^0 == 0 /\ -t_24^post170+t_24^0 == 0 /\ x_975^0-x_975^post170 == 0 /\ a_632^0-a_632^post170 == 0 /\ -a_309^post170+a_309^0 == 0 /\ -a_924^post170+a_924^0 == 0 /\ a_430^0-a_430^post170 == 0 /\ -a_635^post170+a_635^0 == 0 /\ -a_144^post170+a_144^0 == 0 /\ i_113^0-i_113^post170 == 0 /\ head_15^0-head_15^post170 == 0 /\ -len_861^post170+len_861^0 == 0 /\ x_156^0-x_156^post170 == 0 /\ -ct_18^post170+ct_18^0 == 0 /\ -tmp_34^post170+tmp_34^0 == 0 /\ -temp0_16^post170+temp0_16^0 == 0 /\ a_1089^0-a_1089^post170 == 0 /\ i_229^0-i_229^post170 == 0 /\ a_432^0-a_432^post170 == 0 /\ x_14^0-x_14^post170 == 0 /\ -a_417^post170+a_417^0 == 0 /\ r_192^0-r_192^post170 == 0 /\ a_1162^0-a_1162^post170 == 0 /\ -i_30^post170+i_30^0 == 0 /\ i_140^0-i_140^post170 == 0 /\ nondet_12^0-nondet_12^post170 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post170+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_238^post170+len_238^0 == 0 /\ a_431^0-a_431^post170 == 0 /\ x_17^0-x_17^post170 == 0 /\ -rcd_47^post170+rcd_47^0 == 0 /\ -a_633^post170+a_633^0 == 0 /\ -r_143^post170+r_143^0 == 0 /\ -a_575^post170+a_575^0 == 0 /\ f_847^0-f_847^post170 == 0 /\ y_20^0-y_20^post170 == 0 /\ a_263^0-a_263^post170 == 0 /\ a_394^0-a_394^post170 == 0 /\ -r_151^post170+r_151^0 == 0 /\ -a_902^post170+a_902^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post170+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -result_11^post170+result_11^0 == 0 /\ t_458^0-t_458^post170 == 0 /\ i_107^0-i_107^post170 == 0 /\ a_610^0-a_610^post170 == 0 /\ r_224^0-r_224^post170 == 0 /\ i_106^0-i_106^post170 == 0 /\ -a_576^post170+a_576^0 == 0 /\ -temp_35^post170+temp_35^0 == 0 /\ i_94^0-i_94^post170 == 0 /\ a_577^0-a_577^post170 == 0 /\ -r_970^post170+r_970^0 == 0 /\ -a_392^post170+a_392^0 == 0 /\ r_39^0-r_39^post170 == 0 /\ -a_311^post170+a_311^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post170+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post170+a_1236^0 == 0 /\ a_862^0-a_862^post170 == 0 /\ -x_253^post170+x_253^0 == 0 /\ -f_969^post170+f_969^0 == 0 /\ x_21^0-x_21^post170 == 0 /\ -rcd_88^post170+rcd_88^0 == 0), cost: 1 171: l106 -> l107 : a_1089^0'=a_1089^post171, f_847^0'=f_847^post171, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post171, a_394^0'=a_394^post171, x_156^0'=x_156^post171, a_632^0'=a_632^post171, r_192^0'=r_192^post171, a_176^0'=a_176^post171, i_106^0'=i_106^post171, a_430^0'=a_430^post171, t_458^0'=t_458^post171, len_161^0'=len_161^post171, x_975^0'=x_975^post171, a_902^0'=a_902^post171, a_947^0'=a_947^post171, rcd_88^0'=rcd_88^post171, a_311^0'=a_311^post171, i_140^0'=i_140^post171, a_577^0'=a_577^post171, x_14^0'=x_14^post171, nondet_12^0'=nondet_12^post171, a_121^0'=a_121^post171, head_15^0'=head_15^post171, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post171, i_27^0'=i_27^post171, x_21^0'=x_21^post171, a_634^0'=a_634^post171, r_39^0'=r_39^post171, a_263^0'=a_263^post171, i_113^0'=i_113^post171, a_432^0'=a_432^post171, temp0_31^0'=temp0_31^post171, len_262^0'=len_262^post171, y_20^0'=y_20^post171, f_248^0'=f_248^post171, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post171, a_393^0'=a_393^post171, i_229^0'=i_229^post171, a_610^0'=a_610^post171, r_151^0'=r_151^post171, a_144^0'=a_144^post171, i_1053^0'=i_1053^post171, a_417^0'=a_417^post171, t_24^0'=t_24^post171, i_94^0'=i_94^post171, x_852^0'=x_852^post171, a_862^0'=a_862^post171, rcd_1249^0'=rcd_1249^post171, rcd_58^0'=rcd_58^post171, a_310^0'=a_310^post171, i_127^0'=i_127^post171, a_576^0'=a_576^post171, tmp_34^0'=tmp_34^post171, length_29^0'=length_29^post171, a_1162^0'=a_1162^post171, f_969^0'=f_969^post171, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post171, a_395^0'=a_395^post171, x_17^0'=x_17^post171, a_633^0'=a_633^post171, r_224^0'=r_224^post171, a_239^0'=a_239^post171, i_107^0'=i_107^post171, a_431^0'=a_431^post171, temp0_16^0'=temp0_16^post171, len_238^0'=len_238^post171, x_SLAM_f_19^0'=x_SLAM_f_19^post171, a_924^0'=a_924^post171, ct_18^0'=ct_18^post171, result_11^0'=result_11^post171, a_392^0'=a_392^post171, i_197^0'=i_197^post171, a_579^0'=a_579^post171, r_143^0'=r_143^post171, a_1236^0'=a_1236^post171, head_32^0'=head_32^post171, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post171, i_30^0'=i_30^post171, x_253^0'=x_253^post171, a_635^0'=a_635^post171, r_970^0'=r_970^post171, rcd_47^0'=rcd_47^post171, a_309^0'=a_309^post171, i_1248^0'=i_1248^post171, a_575^0'=a_575^post171, temp_35^0'=temp_35^post171, len_861^0'=len_861^post171, (head_15^0-head_15^post171 == 0 /\ i_106^0-i_106^post171 == 0 /\ a_632^0-a_632^post171 == 0 /\ -rcd_47^post171+rcd_47^0 == 0 /\ a_902^0-a_902^post171 == 0 /\ -len_238^post171+len_238^0 == 0 /\ t_458^0-t_458^post171 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post171+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post171+r_151^0 == 0 /\ i_229^0-i_229^post171 == 0 /\ -a_634^post171+a_634^0 == 0 /\ -a_576^post171+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post171+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post171+rcd_1249^0 == 0 /\ temp0_31^0-temp0_31^post171 == 0 /\ -temp_35^post171+temp_35^0 == 0 /\ x_14^0-x_14^post171 == 0 /\ nondet_12^0-nondet_12^post171 == 0 /\ -a_1236^post171+a_1236^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post171 == 0 /\ -r_143^post171+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post171 == 0 /\ -i_27^post171+i_27^0 == 0 /\ a_394^0-a_394^post171 == 0 /\ a_121^0-a_121^post171 == 0 /\ -x_253^post171+x_253^0 == 0 /\ len_262^0-len_262^post171 == 0 /\ a_1089^0-a_1089^post171 == 0 /\ -r_970^post171+r_970^0 == 0 /\ a_263^0-a_263^post171 == 0 /\ -length_29^post171+length_29^0 == 0 /\ a_176^0-a_176^post171 == 0 /\ y_20^0-y_20^post171 == 0 /\ a_924^0-a_924^post171 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post171 == 0 /\ -a_395^post171+a_395^0 == 0 /\ -a_610^post171+a_610^0 == 0 /\ f_248^0-f_248^post171 == 0 /\ a_430^0-a_430^post171 == 0 /\ -rcd_88^post171+rcd_88^0 == 0 /\ -len_861^post171+len_861^0 == 0 /\ f_969^0-f_969^post171 == 0 /\ x_975^0-x_975^post171 == 0 /\ -head_32^post171+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post171 == 0 /\ i_94^0-i_94^post171 == 0 /\ -a_311^post171+a_311^0 == 0 /\ a_577^0-a_577^post171 == 0 /\ i_113^0-i_113^post171 == 0 /\ r_39^0-r_39^post171 == 0 /\ -ct_18^post171+ct_18^0 == 0 /\ a_432^0-a_432^post171 == 0 /\ -i_1248^post171+i_1248^0 == 0 /\ a_633^0-a_633^post171 == 0 /\ -a_392^post171+a_392^0 == 0 /\ temp0_16^0-temp0_16^post171 == 0 /\ -a_239^post171+a_239^0 == 0 /\ -r_192^post171+r_192^0 == 0 /\ -i_127^post171+i_127^0 == 0 /\ -a_862^post171+a_862^0 == 0 /\ -i_1053^post171+i_1053^0 == 0 /\ -a_579^post171+a_579^0 == 0 /\ x_21^0-x_21^post171 == 0 /\ -r_224^post171+r_224^0 == 0 /\ -x_156^post171+x_156^0 == 0 /\ -i_197^post171+i_197^0 == 0 /\ t_24^0-t_24^post171 == 0 /\ a_431^0-a_431^post171 == 0 /\ -a_417^post171+a_417^0 == 0 /\ -result_11^post171+result_11^0 == 0 /\ -a_635^post171+a_635^0 == 0 /\ a_1162^0-a_1162^post171 == 0 /\ a_947^0-a_947^post171 == 0 /\ -a_393^post171+a_393^0 == 0 /\ a_310^0-a_310^post171 == 0 /\ len_161^0-len_161^post171 == 0 /\ -i_30^post171+i_30^0 == 0 /\ -x_17^post171+x_17^0 == 0 /\ a_144^0-a_144^post171 == 0 /\ f_847^0-f_847^post171 == 0 /\ 1+x_14^0 <= 0 /\ -rcd_58^post171+rcd_58^0 == 0 /\ -a_309^post171+a_309^0 == 0 /\ -tmp_34^post171+tmp_34^0 == 0 /\ -x_852^post171+x_852^0 == 0 /\ -i_107^post171+i_107^0 == 0 /\ i_140^0-i_140^post171 == 0 /\ -a_575^post171+a_575^0 == 0), cost: 1 172: l107 -> l108 : a_1089^0'=a_1089^post172, f_847^0'=f_847^post172, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post172, a_394^0'=a_394^post172, x_156^0'=x_156^post172, a_632^0'=a_632^post172, r_192^0'=r_192^post172, a_176^0'=a_176^post172, i_106^0'=i_106^post172, a_430^0'=a_430^post172, t_458^0'=t_458^post172, len_161^0'=len_161^post172, x_975^0'=x_975^post172, a_902^0'=a_902^post172, a_947^0'=a_947^post172, rcd_88^0'=rcd_88^post172, a_311^0'=a_311^post172, i_140^0'=i_140^post172, a_577^0'=a_577^post172, x_14^0'=x_14^post172, nondet_12^0'=nondet_12^post172, a_121^0'=a_121^post172, head_15^0'=head_15^post172, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post172, i_27^0'=i_27^post172, x_21^0'=x_21^post172, a_634^0'=a_634^post172, r_39^0'=r_39^post172, a_263^0'=a_263^post172, i_113^0'=i_113^post172, a_432^0'=a_432^post172, temp0_31^0'=temp0_31^post172, len_262^0'=len_262^post172, y_20^0'=y_20^post172, f_248^0'=f_248^post172, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post172, a_393^0'=a_393^post172, i_229^0'=i_229^post172, a_610^0'=a_610^post172, r_151^0'=r_151^post172, a_144^0'=a_144^post172, i_1053^0'=i_1053^post172, a_417^0'=a_417^post172, t_24^0'=t_24^post172, i_94^0'=i_94^post172, x_852^0'=x_852^post172, a_862^0'=a_862^post172, rcd_1249^0'=rcd_1249^post172, rcd_58^0'=rcd_58^post172, a_310^0'=a_310^post172, i_127^0'=i_127^post172, a_576^0'=a_576^post172, tmp_34^0'=tmp_34^post172, length_29^0'=length_29^post172, a_1162^0'=a_1162^post172, f_969^0'=f_969^post172, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post172, a_395^0'=a_395^post172, x_17^0'=x_17^post172, a_633^0'=a_633^post172, r_224^0'=r_224^post172, a_239^0'=a_239^post172, i_107^0'=i_107^post172, a_431^0'=a_431^post172, temp0_16^0'=temp0_16^post172, len_238^0'=len_238^post172, x_SLAM_f_19^0'=x_SLAM_f_19^post172, a_924^0'=a_924^post172, ct_18^0'=ct_18^post172, result_11^0'=result_11^post172, a_392^0'=a_392^post172, i_197^0'=i_197^post172, a_579^0'=a_579^post172, r_143^0'=r_143^post172, a_1236^0'=a_1236^post172, head_32^0'=head_32^post172, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post172, i_30^0'=i_30^post172, x_253^0'=x_253^post172, a_635^0'=a_635^post172, r_970^0'=r_970^post172, rcd_47^0'=rcd_47^post172, a_309^0'=a_309^post172, i_1248^0'=i_1248^post172, a_575^0'=a_575^post172, temp_35^0'=temp_35^post172, len_861^0'=len_861^post172, (0 == 0 /\ -length_29^post172+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post172 == 0 /\ a_576^0-a_576^post172 == 0 /\ temp0_31^0-temp0_31^post172 == 0 /\ -i_1248^post172+i_1248^0 == 0 /\ i_27^0-i_27^post172 == 0 /\ a_634^0-a_634^post172 == 0 /\ -a_862^post172+a_862^0 == 0 /\ -len_861^post172+len_861^0 == 0 /\ -a_239^post172+a_239^0 == 0 /\ -i_1053^post172+i_1053^0 == 0 /\ -i_30^post172+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post172 == 0 /\ a_176^0-a_176^post172 == 0 /\ x_17^0-x_17^post172 == 0 /\ -a_393^post172+a_393^0 == 0 /\ -a_310^post172+a_310^0 == 0 /\ -r_224^post172+r_224^0 == 0 /\ -i_197^post172+i_197^0 == 0 /\ -a_392^post172+a_392^0 == 0 /\ -head_32^post172+head_32^0 == 0 /\ a_924^0-a_924^post172 == 0 /\ -nondet_12^18+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post172 == 0 /\ -x_14^0+f_969^0 <= 0 /\ f_248^0-f_248^post172 == 0 /\ -r_151^post172+r_151^0 == 0 /\ a_1089^0-a_1089^post172 == 0 /\ -result_11^post172+result_11^0 == 0 /\ t_458^0-t_458^post172 == 0 /\ a_632^0-a_632^post172 == 0 /\ x_975^0-x_975^post172 == 0 /\ -a_575^post172+a_575^0 == 0 /\ rcd_1249^0-rcd_1249^post172 == 0 /\ x_14^0-x_14^post172 == 0 /\ i_113^0-i_113^post172 == 0 /\ -t_24^post172+t_24^0 == 0 /\ -a_610^post172+a_610^0 == 0 /\ -a_309^post172+a_309^0 == 0 /\ -a_635^post172+a_635^0 == 0 /\ -a_579^post172+a_579^0 == 0 /\ -ct_18^post172+ct_18^0 == 0 /\ -a_263^post172+a_263^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post172 <= 0 /\ -1-a_176^0+a_121^0 <= 0 /\ -rcd_47^post172+rcd_47^0 == 0 /\ -i_107^post172+i_107^0 == 0 /\ r_192^0-r_192^post172 == 0 /\ -a_417^post172+a_417^0 == 0 /\ -rcd_58^post172+rcd_58^0 == 0 /\ 2-len_161^0 <= 0 /\ -x_852^post172+x_852^0 == 0 /\ x_14^0-f_969^0 <= 0 /\ len_262^0-len_262^post172 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post172+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_394^0-a_394^post172 == 0 /\ a_144^0-a_144^post172 == 0 /\ -tmp_34^post172+tmp_34^0 == 0 /\ a_633^0-a_633^post172 == 0 /\ len_161^0-len_161^post172 == 0 /\ y_20^0-y_20^post172 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post172 <= 0 /\ -x_253^post172+x_253^0 == 0 /\ a_947^0-a_947^post172 == 0 /\ f_847^0-f_847^post172 == 0 /\ len_238^0-len_238^post172 == 0 /\ head_15^0-head_15^post172 == 0 /\ -a_311^post172+a_311^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post172 == 0 /\ -r_143^post172+r_143^0 == 0 /\ a_121^0-a_121^post172 == 0 /\ a_902^0-a_902^post172 == 0 /\ -x_SLAM_f_19^post172+x_SLAM_f_19^0 == 0 /\ -f_969^post172+f_969^0 == 0 /\ i_106^0-i_106^post172 == 0 /\ 1-i_27^0 <= 0 /\ a_430^0-a_430^post172 == 0 /\ rcd_88^0-rcd_88^post172 == 0 /\ i_127^0-i_127^post172 == 0 /\ i_94^0-i_94^post172 == 0 /\ -temp_35^post172+temp_35^0 == 0 /\ r_39^0-r_39^post172 == 0 /\ a_577^0-a_577^post172 == 0 /\ 1+a_176^0-a_121^0 <= 0 /\ x_156^0-x_156^post172 == 0 /\ a_1162^0-a_1162^post172 == 0 /\ i_140^0-i_140^post172 == 0 /\ -r_970^post172+r_970^0 == 0 /\ -a_431^post172+a_431^0 == 0 /\ -a_432^post172+a_432^0 == 0 /\ temp0_16^0-temp0_16^post172 == 0 /\ -a_395^post172+a_395^0 == 0 /\ -2+len_161^0 <= 0 /\ x_21^0-x_21^post172 == 0 /\ -a_1236^post172+a_1236^0 == 0 /\ -i_229^post172+i_229^0 == 0), cost: 1 173: l108 -> l109 : a_1089^0'=a_1089^post173, f_847^0'=f_847^post173, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post173, a_394^0'=a_394^post173, x_156^0'=x_156^post173, a_632^0'=a_632^post173, r_192^0'=r_192^post173, a_176^0'=a_176^post173, i_106^0'=i_106^post173, a_430^0'=a_430^post173, t_458^0'=t_458^post173, len_161^0'=len_161^post173, x_975^0'=x_975^post173, a_902^0'=a_902^post173, a_947^0'=a_947^post173, rcd_88^0'=rcd_88^post173, a_311^0'=a_311^post173, i_140^0'=i_140^post173, a_577^0'=a_577^post173, x_14^0'=x_14^post173, nondet_12^0'=nondet_12^post173, a_121^0'=a_121^post173, head_15^0'=head_15^post173, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post173, i_27^0'=i_27^post173, x_21^0'=x_21^post173, a_634^0'=a_634^post173, r_39^0'=r_39^post173, a_263^0'=a_263^post173, i_113^0'=i_113^post173, a_432^0'=a_432^post173, temp0_31^0'=temp0_31^post173, len_262^0'=len_262^post173, y_20^0'=y_20^post173, f_248^0'=f_248^post173, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post173, a_393^0'=a_393^post173, i_229^0'=i_229^post173, a_610^0'=a_610^post173, r_151^0'=r_151^post173, a_144^0'=a_144^post173, i_1053^0'=i_1053^post173, a_417^0'=a_417^post173, t_24^0'=t_24^post173, i_94^0'=i_94^post173, x_852^0'=x_852^post173, a_862^0'=a_862^post173, rcd_1249^0'=rcd_1249^post173, rcd_58^0'=rcd_58^post173, a_310^0'=a_310^post173, i_127^0'=i_127^post173, a_576^0'=a_576^post173, tmp_34^0'=tmp_34^post173, length_29^0'=length_29^post173, a_1162^0'=a_1162^post173, f_969^0'=f_969^post173, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post173, a_395^0'=a_395^post173, x_17^0'=x_17^post173, a_633^0'=a_633^post173, r_224^0'=r_224^post173, a_239^0'=a_239^post173, i_107^0'=i_107^post173, a_431^0'=a_431^post173, temp0_16^0'=temp0_16^post173, len_238^0'=len_238^post173, x_SLAM_f_19^0'=x_SLAM_f_19^post173, a_924^0'=a_924^post173, ct_18^0'=ct_18^post173, result_11^0'=result_11^post173, a_392^0'=a_392^post173, i_197^0'=i_197^post173, a_579^0'=a_579^post173, r_143^0'=r_143^post173, a_1236^0'=a_1236^post173, head_32^0'=head_32^post173, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post173, i_30^0'=i_30^post173, x_253^0'=x_253^post173, a_635^0'=a_635^post173, r_970^0'=r_970^post173, rcd_47^0'=rcd_47^post173, a_309^0'=a_309^post173, i_1248^0'=i_1248^post173, a_575^0'=a_575^post173, temp_35^0'=temp_35^post173, len_861^0'=len_861^post173, (-i_127^post173+i_127^0 == 0 /\ -ct_18^post173+ct_18^0 == 0 /\ -head_15^post173+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post173+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_947^0-a_947^post173 == 0 /\ -a_579^post173+a_579^0 == 0 /\ -x_253^post173+x_253^0 == 0 /\ i_1053^0-i_1053^post173 == 0 /\ -i_197^post173+i_197^0 == 0 /\ -r_970^post173+r_970^0 == 0 /\ a_310^0-a_310^post173 == 0 /\ a_395^0-a_395^post173 == 0 /\ a_176^0-a_176^post173 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post173 == 0 /\ -head_32^post173+head_32^0 == 0 /\ i_27^0-i_27^post173 == 0 /\ -y_20^post173+y_20^0 == 0 /\ -x_852^post173+x_852^0 == 0 /\ i_140^0-i_140^post173 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post173+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post173 == 0 /\ r_39^0-r_39^post173 == 0 /\ -temp_35^post173+temp_35^0 == 0 /\ a_1089^0-a_1089^post173 == 0 /\ -rcd_58^post173+rcd_58^0 == 0 /\ -tmp_34^post173+tmp_34^0 == 0 /\ -len_861^post173+len_861^0 == 0 /\ -temp0_16^post173+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post173 == 0 /\ -a_417^post173+a_417^0 == 0 /\ a_632^0-a_632^post173 == 0 /\ a_432^0-a_432^post173 == 0 /\ -f_248^post173+f_248^0 == 0 /\ -a_393^post173+a_393^0 == 0 /\ x_975^0-x_975^post173 == 0 /\ r_192^0-r_192^post173 == 0 /\ -result_11^post173+result_11^0 == 0 /\ i_113^0-i_113^post173 == 0 /\ -a_924^post173+a_924^0 == 0 /\ -rcd_1249^post173+rcd_1249^0 == 0 /\ a_121^0-a_121^post173 == 0 /\ -i_1248^post173+i_1248^0 == 0 /\ i_229^0-i_229^post173 == 0 /\ -a_239^post173+a_239^0 == 0 /\ x_156^0-x_156^post173 == 0 /\ nondet_12^0-nondet_12^post173 == 0 /\ a_634^0-a_634^post173 == 0 /\ -a_635^post173+a_635^0 == 0 /\ a_394^0-a_394^post173 == 0 /\ i_30^0-i_30^post173 == 0 /\ -r_151^post173+r_151^0 == 0 /\ -a_575^post173+a_575^0 == 0 /\ x_17^0-x_17^post173 == 0 /\ len_161^0-len_161^post173 == 0 /\ -r_143^post173+r_143^0 == 0 /\ x_14^0-x_14^post173 == 0 /\ -a_576^post173+a_576^0 == 0 /\ i_107^0-i_107^post173 == 0 /\ a_311^0-a_311^post173 == 0 /\ t_458^0-t_458^post173 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post173+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ rcd_88^0-rcd_88^post173 == 0 /\ f_847^0-f_847^post173 == 0 /\ i_106^0-i_106^post173 == 0 /\ a_263^0-a_263^post173 == 0 /\ t_24^0-t_24^post173 == 0 /\ -a_309^post173+a_309^0 == 0 /\ -a_144^post173+a_144^0 == 0 /\ i_94^0-i_94^post173 == 0 /\ 1-head_15^0 <= 0 /\ -len_238^post173+len_238^0 == 0 /\ -a_610^post173+a_610^0 == 0 /\ -a_1236^post173+a_1236^0 == 0 /\ -a_902^post173+a_902^0 == 0 /\ -a_633^post173+a_633^0 == 0 /\ a_430^0-a_430^post173 == 0 /\ x_21^0-x_21^post173 == 0 /\ len_262^0-len_262^post173 == 0 /\ a_862^0-a_862^post173 == 0 /\ -rcd_47^post173+rcd_47^0 == 0 /\ a_577^0-a_577^post173 == 0 /\ a_431^0-a_431^post173 == 0 /\ -a_392^post173+a_392^0 == 0 /\ temp0_31^0-temp0_31^post173 == 0 /\ a_1162^0-a_1162^post173 == 0 /\ -f_969^post173+f_969^0 == 0 /\ -length_29^post173+length_29^0 == 0 /\ r_224^0-r_224^post173 == 0), cost: 1 174: l108 -> l109 : a_1089^0'=a_1089^post174, f_847^0'=f_847^post174, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post174, a_394^0'=a_394^post174, x_156^0'=x_156^post174, a_632^0'=a_632^post174, r_192^0'=r_192^post174, a_176^0'=a_176^post174, i_106^0'=i_106^post174, a_430^0'=a_430^post174, t_458^0'=t_458^post174, len_161^0'=len_161^post174, x_975^0'=x_975^post174, a_902^0'=a_902^post174, a_947^0'=a_947^post174, rcd_88^0'=rcd_88^post174, a_311^0'=a_311^post174, i_140^0'=i_140^post174, a_577^0'=a_577^post174, x_14^0'=x_14^post174, nondet_12^0'=nondet_12^post174, a_121^0'=a_121^post174, head_15^0'=head_15^post174, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post174, i_27^0'=i_27^post174, x_21^0'=x_21^post174, a_634^0'=a_634^post174, r_39^0'=r_39^post174, a_263^0'=a_263^post174, i_113^0'=i_113^post174, a_432^0'=a_432^post174, temp0_31^0'=temp0_31^post174, len_262^0'=len_262^post174, y_20^0'=y_20^post174, f_248^0'=f_248^post174, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post174, a_393^0'=a_393^post174, i_229^0'=i_229^post174, a_610^0'=a_610^post174, r_151^0'=r_151^post174, a_144^0'=a_144^post174, i_1053^0'=i_1053^post174, a_417^0'=a_417^post174, t_24^0'=t_24^post174, i_94^0'=i_94^post174, x_852^0'=x_852^post174, a_862^0'=a_862^post174, rcd_1249^0'=rcd_1249^post174, rcd_58^0'=rcd_58^post174, a_310^0'=a_310^post174, i_127^0'=i_127^post174, a_576^0'=a_576^post174, tmp_34^0'=tmp_34^post174, length_29^0'=length_29^post174, a_1162^0'=a_1162^post174, f_969^0'=f_969^post174, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post174, a_395^0'=a_395^post174, x_17^0'=x_17^post174, a_633^0'=a_633^post174, r_224^0'=r_224^post174, a_239^0'=a_239^post174, i_107^0'=i_107^post174, a_431^0'=a_431^post174, temp0_16^0'=temp0_16^post174, len_238^0'=len_238^post174, x_SLAM_f_19^0'=x_SLAM_f_19^post174, a_924^0'=a_924^post174, ct_18^0'=ct_18^post174, result_11^0'=result_11^post174, a_392^0'=a_392^post174, i_197^0'=i_197^post174, a_579^0'=a_579^post174, r_143^0'=r_143^post174, a_1236^0'=a_1236^post174, head_32^0'=head_32^post174, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post174, i_30^0'=i_30^post174, x_253^0'=x_253^post174, a_635^0'=a_635^post174, r_970^0'=r_970^post174, rcd_47^0'=rcd_47^post174, a_309^0'=a_309^post174, i_1248^0'=i_1248^post174, a_575^0'=a_575^post174, temp_35^0'=temp_35^post174, len_861^0'=len_861^post174, (f_248^0-f_248^post174 == 0 /\ 1+head_15^0 <= 0 /\ a_632^0-a_632^post174 == 0 /\ -a_576^post174+a_576^0 == 0 /\ -r_143^post174+r_143^0 == 0 /\ -a_575^post174+a_575^0 == 0 /\ -a_417^post174+a_417^0 == 0 /\ a_121^0-a_121^post174 == 0 /\ a_902^0-a_902^post174 == 0 /\ i_127^0-i_127^post174 == 0 /\ -a_309^post174+a_309^0 == 0 /\ len_262^0-len_262^post174 == 0 /\ x_156^0-x_156^post174 == 0 /\ temp0_31^0-temp0_31^post174 == 0 /\ -a_1236^post174+a_1236^0 == 0 /\ i_229^0-i_229^post174 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post174+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ head_15^0-head_15^post174 == 0 /\ a_577^0-a_577^post174 == 0 /\ a_634^0-a_634^post174 == 0 /\ -a_610^post174+a_610^0 == 0 /\ a_394^0-a_394^post174 == 0 /\ -length_29^post174+length_29^0 == 0 /\ a_1089^0-a_1089^post174 == 0 /\ x_14^0-x_14^post174 == 0 /\ -rcd_47^post174+rcd_47^0 == 0 /\ r_192^0-r_192^post174 == 0 /\ -a_392^post174+a_392^0 == 0 /\ -a_862^post174+a_862^0 == 0 /\ a_176^0-a_176^post174 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post174+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_32^post174+head_32^0 == 0 /\ -i_27^post174+i_27^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post174 == 0 /\ -x_253^post174+x_253^0 == 0 /\ -r_970^post174+r_970^0 == 0 /\ -len_238^post174+len_238^0 == 0 /\ -r_151^post174+r_151^0 == 0 /\ -a_310^post174+a_310^0 == 0 /\ f_847^0-f_847^post174 == 0 /\ -rcd_58^post174+rcd_58^0 == 0 /\ -r_224^post174+r_224^0 == 0 /\ y_20^0-y_20^post174 == 0 /\ temp0_16^0-temp0_16^post174 == 0 /\ -temp_35^post174+temp_35^0 == 0 /\ -x_852^post174+x_852^0 == 0 /\ a_430^0-a_430^post174 == 0 /\ -i_1053^post174+i_1053^0 == 0 /\ a_432^0-a_432^post174 == 0 /\ x_21^0-x_21^post174 == 0 /\ x_975^0-x_975^post174 == 0 /\ -a_395^post174+a_395^0 == 0 /\ nondet_12^0-nondet_12^post174 == 0 /\ -a_311^post174+a_311^0 == 0 /\ -i_197^post174+i_197^0 == 0 /\ f_969^0-f_969^post174 == 0 /\ -a_579^post174+a_579^0 == 0 /\ a_633^0-a_633^post174 == 0 /\ -ct_18^post174+ct_18^0 == 0 /\ -a_263^post174+a_263^0 == 0 /\ a_431^0-a_431^post174 == 0 /\ i_94^0-i_94^post174 == 0 /\ i_113^0-i_113^post174 == 0 /\ x_17^0-x_17^post174 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post174 == 0 /\ -rcd_88^post174+rcd_88^0 == 0 /\ len_161^0-len_161^post174 == 0 /\ a_144^0-a_144^post174 == 0 /\ a_947^0-a_947^post174 == 0 /\ -a_1162^post174+a_1162^0 == 0 /\ -a_924^post174+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post174+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_1248^post174+i_1248^0 == 0 /\ -i_107^post174+i_107^0 == 0 /\ r_39^0-r_39^post174 == 0 /\ t_458^0-t_458^post174 == 0 /\ -rcd_1249^post174+rcd_1249^0 == 0 /\ -a_239^post174+a_239^0 == 0 /\ -tmp_34^post174+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post174 == 0 /\ i_106^0-i_106^post174 == 0 /\ i_140^0-i_140^post174 == 0 /\ -len_861^post174+len_861^0 == 0 /\ -a_635^post174+a_635^0 == 0 /\ -i_30^post174+i_30^0 == 0 /\ -result_11^post174+result_11^0 == 0 /\ t_24^0-t_24^post174 == 0 /\ -a_393^post174+a_393^0 == 0), cost: 1 175: l109 -> l110 : a_1089^0'=a_1089^post175, f_847^0'=f_847^post175, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post175, a_394^0'=a_394^post175, x_156^0'=x_156^post175, a_632^0'=a_632^post175, r_192^0'=r_192^post175, a_176^0'=a_176^post175, i_106^0'=i_106^post175, a_430^0'=a_430^post175, t_458^0'=t_458^post175, len_161^0'=len_161^post175, x_975^0'=x_975^post175, a_902^0'=a_902^post175, a_947^0'=a_947^post175, rcd_88^0'=rcd_88^post175, a_311^0'=a_311^post175, i_140^0'=i_140^post175, a_577^0'=a_577^post175, x_14^0'=x_14^post175, nondet_12^0'=nondet_12^post175, a_121^0'=a_121^post175, head_15^0'=head_15^post175, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post175, i_27^0'=i_27^post175, x_21^0'=x_21^post175, a_634^0'=a_634^post175, r_39^0'=r_39^post175, a_263^0'=a_263^post175, i_113^0'=i_113^post175, a_432^0'=a_432^post175, temp0_31^0'=temp0_31^post175, len_262^0'=len_262^post175, y_20^0'=y_20^post175, f_248^0'=f_248^post175, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post175, a_393^0'=a_393^post175, i_229^0'=i_229^post175, a_610^0'=a_610^post175, r_151^0'=r_151^post175, a_144^0'=a_144^post175, i_1053^0'=i_1053^post175, a_417^0'=a_417^post175, t_24^0'=t_24^post175, i_94^0'=i_94^post175, x_852^0'=x_852^post175, a_862^0'=a_862^post175, rcd_1249^0'=rcd_1249^post175, rcd_58^0'=rcd_58^post175, a_310^0'=a_310^post175, i_127^0'=i_127^post175, a_576^0'=a_576^post175, tmp_34^0'=tmp_34^post175, length_29^0'=length_29^post175, a_1162^0'=a_1162^post175, f_969^0'=f_969^post175, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post175, a_395^0'=a_395^post175, x_17^0'=x_17^post175, a_633^0'=a_633^post175, r_224^0'=r_224^post175, a_239^0'=a_239^post175, i_107^0'=i_107^post175, a_431^0'=a_431^post175, temp0_16^0'=temp0_16^post175, len_238^0'=len_238^post175, x_SLAM_f_19^0'=x_SLAM_f_19^post175, a_924^0'=a_924^post175, ct_18^0'=ct_18^post175, result_11^0'=result_11^post175, a_392^0'=a_392^post175, i_197^0'=i_197^post175, a_579^0'=a_579^post175, r_143^0'=r_143^post175, a_1236^0'=a_1236^post175, head_32^0'=head_32^post175, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post175, i_30^0'=i_30^post175, x_253^0'=x_253^post175, a_635^0'=a_635^post175, r_970^0'=r_970^post175, rcd_47^0'=rcd_47^post175, a_309^0'=a_309^post175, i_1248^0'=i_1248^post175, a_575^0'=a_575^post175, temp_35^0'=temp_35^post175, len_861^0'=len_861^post175, (1-x_975^0 <= 0 /\ -r_970^post175+r_970^0 == 0 /\ -head_32^post175+head_32^0 == 0 /\ x_852^0-x_852^post175 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post175 == 0 /\ -i_197^post175+i_197^0 == 0 /\ -i_229^post175+i_229^0 == 0 /\ -a_395^post175+a_395^0 == 0 /\ a_1089^0-a_1089^post175 == 0 /\ -x_253^post175+x_253^0 == 0 /\ -a_579^post175+a_579^0 == 0 /\ a_576^0-a_576^post175 == 0 /\ -rcd_58^post175+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post175 == 0 /\ a_311^0-a_311^post175 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post175 == 0 /\ -a_862^post175+a_862^0 == 0 /\ -temp_35^post175+temp_35^0 == 0 /\ -ct_18^post175+ct_18^0 == 0 /\ -a_263^post175+a_263^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post175+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_39^post175+r_39^0 == 0 /\ rcd_1249^0-rcd_1249^post175 == 0 /\ f_248^0-f_248^post175 == 0 /\ i_106^0-i_106^post175 == 0 /\ -i_30^post175+i_30^0 == 0 /\ tmp_34^0-tmp_34^post175 == 0 /\ a_924^0-a_924^post175 == 0 /\ -a_393^post175+a_393^0 == 0 /\ -x_17^post175+x_17^0 == 0 /\ t_458^0-t_458^post175 == 0 /\ nondet_12^0-nondet_12^post175 == 0 /\ x_975^0-x_975^post175 == 0 /\ -i_1053^post175+i_1053^0 == 0 /\ -i_1248^post175+i_1248^0 == 0 /\ -a_239^post175+a_239^0 == 0 /\ a_1236^0-a_1236^post175 == 0 /\ -result_11^post175+result_11^0 == 0 /\ a_610^0-a_610^post175 == 0 /\ -r_224^post175+r_224^0 == 0 /\ a_634^0-a_634^post175 == 0 /\ x_21^0-x_21^post175 == 0 /\ temp0_31^0-temp0_31^post175 == 0 /\ -t_24^post175+t_24^0 == 0 /\ -len_861^post175+len_861^0 == 0 /\ a_394^0-a_394^post175 == 0 /\ x_14^0-x_14^post175 == 0 /\ i_27^0-i_27^post175 == 0 /\ -a_635^post175+a_635^0 == 0 /\ -r_143^post175+r_143^0 == 0 /\ -rcd_47^post175+rcd_47^0 == 0 /\ a_947^0-a_947^post175 == 0 /\ a_121^0-a_121^post175 == 0 /\ -a_632^post175+a_632^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post175 == 0 /\ len_262^0-len_262^post175 == 0 /\ -a_309^post175+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post175+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_176^0-a_176^post175 == 0 /\ -a_417^post175+a_417^0 == 0 /\ -i_107^post175+i_107^0 == 0 /\ len_161^0-len_161^post175 == 0 /\ -a_633^post175+a_633^0 == 0 /\ len_238^0-len_238^post175 == 0 /\ -a_575^post175+a_575^0 == 0 /\ f_847^0-f_847^post175 == 0 /\ -i_113^post175+i_113^0 == 0 /\ head_15^0-head_15^post175 == 0 /\ temp0_16^0-temp0_16^post175 == 0 /\ r_151^0-r_151^post175 == 0 /\ -a_432^post175+a_432^0 == 0 /\ a_902^0-a_902^post175 == 0 /\ -a_431^post175+a_431^0 == 0 /\ a_430^0-a_430^post175 == 0 /\ -f_969^post175+f_969^0 == 0 /\ i_127^0-i_127^post175 == 0 /\ -y_20^post175+y_20^0 == 0 /\ -length_29^post175+length_29^0 == 0 /\ a_577^0-a_577^post175 == 0 /\ -x_SLAM_f_19^post175+x_SLAM_f_19^0 == 0 /\ -a_392^post175+a_392^0 == 0 /\ x_156^0-x_156^post175 == 0 /\ a_144^0-a_144^post175 == 0 /\ -i_140^post175+i_140^0 == 0 /\ a_1162^0-a_1162^post175 == 0 /\ r_192^0-r_192^post175 == 0 /\ -a_310^post175+a_310^0 == 0 /\ i_94^0-i_94^post175 == 0), cost: 1 176: l109 -> l110 : a_1089^0'=a_1089^post176, f_847^0'=f_847^post176, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post176, a_394^0'=a_394^post176, x_156^0'=x_156^post176, a_632^0'=a_632^post176, r_192^0'=r_192^post176, a_176^0'=a_176^post176, i_106^0'=i_106^post176, a_430^0'=a_430^post176, t_458^0'=t_458^post176, len_161^0'=len_161^post176, x_975^0'=x_975^post176, a_902^0'=a_902^post176, a_947^0'=a_947^post176, rcd_88^0'=rcd_88^post176, a_311^0'=a_311^post176, i_140^0'=i_140^post176, a_577^0'=a_577^post176, x_14^0'=x_14^post176, nondet_12^0'=nondet_12^post176, a_121^0'=a_121^post176, head_15^0'=head_15^post176, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post176, i_27^0'=i_27^post176, x_21^0'=x_21^post176, a_634^0'=a_634^post176, r_39^0'=r_39^post176, a_263^0'=a_263^post176, i_113^0'=i_113^post176, a_432^0'=a_432^post176, temp0_31^0'=temp0_31^post176, len_262^0'=len_262^post176, y_20^0'=y_20^post176, f_248^0'=f_248^post176, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post176, a_393^0'=a_393^post176, i_229^0'=i_229^post176, a_610^0'=a_610^post176, r_151^0'=r_151^post176, a_144^0'=a_144^post176, i_1053^0'=i_1053^post176, a_417^0'=a_417^post176, t_24^0'=t_24^post176, i_94^0'=i_94^post176, x_852^0'=x_852^post176, a_862^0'=a_862^post176, rcd_1249^0'=rcd_1249^post176, rcd_58^0'=rcd_58^post176, a_310^0'=a_310^post176, i_127^0'=i_127^post176, a_576^0'=a_576^post176, tmp_34^0'=tmp_34^post176, length_29^0'=length_29^post176, a_1162^0'=a_1162^post176, f_969^0'=f_969^post176, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post176, a_395^0'=a_395^post176, x_17^0'=x_17^post176, a_633^0'=a_633^post176, r_224^0'=r_224^post176, a_239^0'=a_239^post176, i_107^0'=i_107^post176, a_431^0'=a_431^post176, temp0_16^0'=temp0_16^post176, len_238^0'=len_238^post176, x_SLAM_f_19^0'=x_SLAM_f_19^post176, a_924^0'=a_924^post176, ct_18^0'=ct_18^post176, result_11^0'=result_11^post176, a_392^0'=a_392^post176, i_197^0'=i_197^post176, a_579^0'=a_579^post176, r_143^0'=r_143^post176, a_1236^0'=a_1236^post176, head_32^0'=head_32^post176, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post176, i_30^0'=i_30^post176, x_253^0'=x_253^post176, a_635^0'=a_635^post176, r_970^0'=r_970^post176, rcd_47^0'=rcd_47^post176, a_309^0'=a_309^post176, i_1248^0'=i_1248^post176, a_575^0'=a_575^post176, temp_35^0'=temp_35^post176, len_861^0'=len_861^post176, (i_106^0-i_106^post176 == 0 /\ -r_151^post176+r_151^0 == 0 /\ a_632^0-a_632^post176 == 0 /\ a_430^0-a_430^post176 == 0 /\ x_975^0-x_975^post176 == 0 /\ -x_SLAM_f_19^post176+x_SLAM_f_19^0 == 0 /\ t_458^0-t_458^post176 == 0 /\ f_248^0-f_248^post176 == 0 /\ -a_924^post176+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post176+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_107^post176+i_107^0 == 0 /\ i_127^0-i_127^post176 == 0 /\ -a_575^post176+a_575^0 == 0 /\ f_969^0-f_969^post176 == 0 /\ -r_143^post176+r_143^0 == 0 /\ result_11^0-result_11^post176 == 0 /\ temp0_31^0-temp0_31^post176 == 0 /\ -a_432^post176+a_432^0 == 0 /\ -a_862^post176+a_862^0 == 0 /\ -i_94^post176+i_94^0 == 0 /\ -i_113^post176+i_113^0 == 0 /\ a_394^0-a_394^post176 == 0 /\ -temp_35^post176+temp_35^0 == 0 /\ x_852^0-x_852^post176 == 0 /\ len_161^0-len_161^post176 == 0 /\ -rcd_47^post176+rcd_47^0 == 0 /\ -a_310^post176+a_310^0 == 0 /\ a_176^0-a_176^post176 == 0 /\ -x_253^post176+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post176+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_847^0-f_847^post176 == 0 /\ -i_140^post176+i_140^0 == 0 /\ -r_970^post176+r_970^0 == 0 /\ rcd_58^0-rcd_58^post176 == 0 /\ rcd_1249^0-rcd_1249^post176 == 0 /\ -a_1236^post176+a_1236^0 == 0 /\ -a_577^post176+a_577^0 == 0 /\ temp0_16^0-temp0_16^post176 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post176 == 0 /\ head_15^0-head_15^post176 == 0 /\ -r_224^post176+r_224^0 == 0 /\ -i_1248^post176+i_1248^0 == 0 /\ -a_579^post176+a_579^0 == 0 /\ -y_20^post176+y_20^0 == 0 /\ -length_29^post176+length_29^0 == 0 /\ a_239^0-a_239^post176 == 0 /\ -ct_18^post176+ct_18^0 == 0 /\ -r_39^post176+r_39^0 == 0 /\ -a_431^post176+a_431^0 == 0 /\ len_262^0-len_262^post176 == 0 /\ x_156^0-x_156^post176 == 0 /\ a_902^0-a_902^post176 == 0 /\ -a_263^post176+a_263^0 == 0 /\ -a_395^post176+a_395^0 == 0 /\ r_192^0-r_192^post176 == 0 /\ -i_197^post176+i_197^0 == 0 /\ -head_32^post176+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post176+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_392^post176+a_392^0 == 0 /\ i_229^0-i_229^post176 == 0 /\ a_610^0-a_610^post176 == 0 /\ a_633^0-a_633^post176 == 0 /\ a_417^0-a_417^post176 == 0 /\ 1+x_975^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post176 == 0 /\ a_1089^0-a_1089^post176 == 0 /\ a_144^0-a_144^post176 == 0 /\ x_14^0-x_14^post176 == 0 /\ x_17^0-x_17^post176 == 0 /\ i_27^0-i_27^post176 == 0 /\ nondet_12^0-nondet_12^post176 == 0 /\ a_634^0-a_634^post176 == 0 /\ len_238^0-len_238^post176 == 0 /\ -x_21^post176+x_21^0 == 0 /\ a_947^0-a_947^post176 == 0 /\ a_576^0-a_576^post176 == 0 /\ -a_309^post176+a_309^0 == 0 /\ a_121^0-a_121^post176 == 0 /\ -tmp_34^post176+tmp_34^0 == 0 /\ -a_1162^post176+a_1162^0 == 0 /\ -a_393^post176+a_393^0 == 0 /\ -a_635^post176+a_635^0 == 0 /\ a_311^0-a_311^post176 == 0 /\ -i_1053^post176+i_1053^0 == 0 /\ -i_30^post176+i_30^0 == 0 /\ -t_24^post176+t_24^0 == 0 /\ rcd_88^0-rcd_88^post176 == 0 /\ -len_861^post176+len_861^0 == 0), cost: 1 177: l110 -> l16 : a_1089^0'=a_1089^post177, f_847^0'=f_847^post177, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post177, a_394^0'=a_394^post177, x_156^0'=x_156^post177, a_632^0'=a_632^post177, r_192^0'=r_192^post177, a_176^0'=a_176^post177, i_106^0'=i_106^post177, a_430^0'=a_430^post177, t_458^0'=t_458^post177, len_161^0'=len_161^post177, x_975^0'=x_975^post177, a_902^0'=a_902^post177, a_947^0'=a_947^post177, rcd_88^0'=rcd_88^post177, a_311^0'=a_311^post177, i_140^0'=i_140^post177, a_577^0'=a_577^post177, x_14^0'=x_14^post177, nondet_12^0'=nondet_12^post177, a_121^0'=a_121^post177, head_15^0'=head_15^post177, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post177, i_27^0'=i_27^post177, x_21^0'=x_21^post177, a_634^0'=a_634^post177, r_39^0'=r_39^post177, a_263^0'=a_263^post177, i_113^0'=i_113^post177, a_432^0'=a_432^post177, temp0_31^0'=temp0_31^post177, len_262^0'=len_262^post177, y_20^0'=y_20^post177, f_248^0'=f_248^post177, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post177, a_393^0'=a_393^post177, i_229^0'=i_229^post177, a_610^0'=a_610^post177, r_151^0'=r_151^post177, a_144^0'=a_144^post177, i_1053^0'=i_1053^post177, a_417^0'=a_417^post177, t_24^0'=t_24^post177, i_94^0'=i_94^post177, x_852^0'=x_852^post177, a_862^0'=a_862^post177, rcd_1249^0'=rcd_1249^post177, rcd_58^0'=rcd_58^post177, a_310^0'=a_310^post177, i_127^0'=i_127^post177, a_576^0'=a_576^post177, tmp_34^0'=tmp_34^post177, length_29^0'=length_29^post177, a_1162^0'=a_1162^post177, f_969^0'=f_969^post177, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post177, a_395^0'=a_395^post177, x_17^0'=x_17^post177, a_633^0'=a_633^post177, r_224^0'=r_224^post177, a_239^0'=a_239^post177, i_107^0'=i_107^post177, a_431^0'=a_431^post177, temp0_16^0'=temp0_16^post177, len_238^0'=len_238^post177, x_SLAM_f_19^0'=x_SLAM_f_19^post177, a_924^0'=a_924^post177, ct_18^0'=ct_18^post177, result_11^0'=result_11^post177, a_392^0'=a_392^post177, i_197^0'=i_197^post177, a_579^0'=a_579^post177, r_143^0'=r_143^post177, a_1236^0'=a_1236^post177, head_32^0'=head_32^post177, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post177, i_30^0'=i_30^post177, x_253^0'=x_253^post177, a_635^0'=a_635^post177, r_970^0'=r_970^post177, rcd_47^0'=rcd_47^post177, a_309^0'=a_309^post177, i_1248^0'=i_1248^post177, a_575^0'=a_575^post177, temp_35^0'=temp_35^post177, len_861^0'=len_861^post177, (-a_310^post177+a_310^0 == 0 /\ -head_32^post177+head_32^0 == 0 /\ a_862^0-a_862^post177 == 0 /\ len_161^0-len_161^post177 == 0 /\ -len_861^post177+len_861^0 == 0 /\ -temp0_16^post177+temp0_16^0 == 0 /\ -i_229^post177+i_229^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post177 == 0 /\ x_852^0-x_852^post177 == 0 /\ a_263^0-a_263^post177 == 0 /\ -y_20^post177+y_20^0 == 0 /\ a_1089^0-a_1089^post177 == 0 /\ a_144^0-a_144^post177 == 0 /\ a_394^0-a_394^post177 == 0 /\ -f_248^post177+f_248^0 == 0 /\ -temp_35^post177+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post177+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post177+r_224^0 == 0 /\ rcd_88^0-rcd_88^post177 == 0 /\ a_311^0-a_311^post177 == 0 /\ a_576^0-a_576^post177 == 0 /\ tmp_34^0-tmp_34^post177 == 0 /\ -r_39^post177+r_39^0 == 0 /\ f_847^0-f_847^post177 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post177 == 0 /\ -a_392^post177+a_392^0 == 0 /\ i_106^0-i_106^post177 == 0 /\ -a_417^post177+a_417^0 == 0 /\ -i_107^post177+i_107^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_575^post177+a_575^0 == 0 /\ -i_197^post177+i_197^0 == 0 /\ -a_579^post177+a_579^0 == 0 /\ -i_127^post177+i_127^0 == 0 /\ t_458^0-t_458^post177 == 0 /\ -i_30^post177+i_30^0 == 0 /\ -result_11^post177+result_11^0 == 0 /\ a_430^0-a_430^post177 == 0 /\ -a_393^post177+a_393^0 == 0 /\ -t_24^post177+t_24^0 == 0 /\ x_21^0-x_21^post177 == 0 /\ -x_17^post177+x_17^0 == 0 /\ ct_18^0-ct_18^post177 == 0 /\ r_143^0-r_143^post177 == 0 /\ -a_1162^post177+a_1162^0 == 0 /\ a_1236^0-a_1236^post177 == 0 /\ -a_635^post177+a_635^0 == 0 /\ -a_577^post177+a_577^0 == 0 /\ temp0_31^0-temp0_31^post177 == 0 /\ a_610^0-a_610^post177 == 0 /\ -i_1248^post177+i_1248^0 == 0 /\ a_634^0-a_634^post177 == 0 /\ -a_633^post177+a_633^0 == 0 /\ i_27^0-i_27^post177 == 0 /\ x_14^0-x_14^post177 == 0 /\ -len_238^post177+len_238^0 == 0 /\ a_121^0-a_121^post177 == 0 /\ x_156^0-x_156^post177 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post177 == 0 /\ len_262^0-len_262^post177 == 0 /\ a_947^0-a_947^post177 == 0 /\ x_253^0-x_253^post177 == 0 /\ i_1053^0-i_1053^post177 == 0 /\ -rcd_1249^post177+rcd_1249^0 == 0 /\ -a_632^post177+a_632^0 == 0 /\ a_176^0-a_176^post177 == 0 /\ rcd_58^0-rcd_58^post177 == 0 /\ a_395^0-a_395^post177 == 0 /\ -a_309^post177+a_309^0 == 0 /\ -a_924^post177+a_924^0 == 0 /\ -i_113^post177+i_113^0 == 0 /\ head_15^0-head_15^post177 == 0 /\ 1-i_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post177 == 0 /\ r_151^0-r_151^post177 == 0 /\ a_239^0-a_239^post177 == 0 /\ x_975^0-x_975^post177 == 0 /\ -a_432^post177+a_432^0 == 0 /\ -f_969^post177+f_969^0 == 0 /\ -i_94^post177+i_94^0 == 0 /\ r_192^0-r_192^post177 == 0 /\ a_902^0-a_902^post177 == 0 /\ -length_29^post177+length_29^0 == 0 /\ -x_SLAM_f_19^post177+x_SLAM_f_19^0 == 0 /\ -r_970^post177+r_970^0 == 0 /\ -rcd_47^post177+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post177 == 0 /\ -a_431^post177+a_431^0 == 0 /\ -i_140^post177+i_140^0 == 0), cost: 1 179: l111 -> l112 : a_1089^0'=a_1089^post179, f_847^0'=f_847^post179, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post179, a_394^0'=a_394^post179, x_156^0'=x_156^post179, a_632^0'=a_632^post179, r_192^0'=r_192^post179, a_176^0'=a_176^post179, i_106^0'=i_106^post179, a_430^0'=a_430^post179, t_458^0'=t_458^post179, len_161^0'=len_161^post179, x_975^0'=x_975^post179, a_902^0'=a_902^post179, a_947^0'=a_947^post179, rcd_88^0'=rcd_88^post179, a_311^0'=a_311^post179, i_140^0'=i_140^post179, a_577^0'=a_577^post179, x_14^0'=x_14^post179, nondet_12^0'=nondet_12^post179, a_121^0'=a_121^post179, head_15^0'=head_15^post179, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post179, i_27^0'=i_27^post179, x_21^0'=x_21^post179, a_634^0'=a_634^post179, r_39^0'=r_39^post179, a_263^0'=a_263^post179, i_113^0'=i_113^post179, a_432^0'=a_432^post179, temp0_31^0'=temp0_31^post179, len_262^0'=len_262^post179, y_20^0'=y_20^post179, f_248^0'=f_248^post179, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post179, a_393^0'=a_393^post179, i_229^0'=i_229^post179, a_610^0'=a_610^post179, r_151^0'=r_151^post179, a_144^0'=a_144^post179, i_1053^0'=i_1053^post179, a_417^0'=a_417^post179, t_24^0'=t_24^post179, i_94^0'=i_94^post179, x_852^0'=x_852^post179, a_862^0'=a_862^post179, rcd_1249^0'=rcd_1249^post179, rcd_58^0'=rcd_58^post179, a_310^0'=a_310^post179, i_127^0'=i_127^post179, a_576^0'=a_576^post179, tmp_34^0'=tmp_34^post179, length_29^0'=length_29^post179, a_1162^0'=a_1162^post179, f_969^0'=f_969^post179, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post179, a_395^0'=a_395^post179, x_17^0'=x_17^post179, a_633^0'=a_633^post179, r_224^0'=r_224^post179, a_239^0'=a_239^post179, i_107^0'=i_107^post179, a_431^0'=a_431^post179, temp0_16^0'=temp0_16^post179, len_238^0'=len_238^post179, x_SLAM_f_19^0'=x_SLAM_f_19^post179, a_924^0'=a_924^post179, ct_18^0'=ct_18^post179, result_11^0'=result_11^post179, a_392^0'=a_392^post179, i_197^0'=i_197^post179, a_579^0'=a_579^post179, r_143^0'=r_143^post179, a_1236^0'=a_1236^post179, head_32^0'=head_32^post179, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post179, i_30^0'=i_30^post179, x_253^0'=x_253^post179, a_635^0'=a_635^post179, r_970^0'=r_970^post179, rcd_47^0'=rcd_47^post179, a_309^0'=a_309^post179, i_1248^0'=i_1248^post179, a_575^0'=a_575^post179, temp_35^0'=temp_35^post179, len_861^0'=len_861^post179, (t_24^0-t_24^post179 == 0 /\ -i_229^post179+i_229^0 == 0 /\ -len_262^post179+len_262^0 == 0 /\ a_862^0-a_862^post179 == 0 /\ a_144^0-a_144^post179 == 0 /\ -a_310^post179+a_310^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post179+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_21^0-x_21^post179 == 0 /\ x_156^0-x_156^post179 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post179 == 0 /\ -temp0_31^post179+temp0_31^0 == 0 /\ -f_248^post179+f_248^0 == 0 /\ a_947^0-a_947^post179 == 0 /\ a_263^0-a_263^post179 == 0 /\ f_847^0-f_847^post179 == 0 /\ 1-x_14^0 <= 0 /\ i_1053^0-i_1053^post179 == 0 /\ a_394^0-a_394^post179 == 0 /\ -a_392^post179+a_392^0 == 0 /\ -i_1248^post179+i_1248^0 == 0 /\ -r_224^post179+r_224^0 == 0 /\ -a_579^post179+a_579^0 == 0 /\ -i_27^post179+i_27^0 == 0 /\ -a_239^post179+a_239^0 == 0 /\ a_417^0-a_417^post179 == 0 /\ -head_32^post179+head_32^0 == 0 /\ -temp0_16^post179+temp0_16^0 == 0 /\ -len_861^post179+len_861^0 == 0 /\ -a_635^post179+a_635^0 == 0 /\ -x_14^post179+x_14^0 == 0 /\ -i_127^post179+i_127^0 == 0 /\ length_29^0-length_29^post179 == 0 /\ r_151^0-r_151^post179 == 0 /\ r_39^0-r_39^post179 == 0 /\ -i_30^post179+i_30^0 == 0 /\ a_577^0-a_577^post179 == 0 /\ -rcd_58^post179+rcd_58^0 == 0 /\ i_106^0-i_106^post179 == 0 /\ -x_852^post179+x_852^0 == 0 /\ i_113^0-i_113^post179 == 0 /\ -x_17^post179+x_17^0 == 0 /\ a_311^0-a_311^post179 == 0 /\ -i_197^post179+i_197^0 == 0 /\ i_94^0-i_94^post179 == 0 /\ head_15^0-head_15^post179 == 0 /\ a_902^0-a_902^post179 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post179+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post179+a_309^0 == 0 /\ a_432^0-a_432^post179 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post179 == 0 /\ -a_575^post179+a_575^0 == 0 /\ a_430^0-a_430^post179 == 0 /\ -ct_18^post179+ct_18^0 == 0 /\ -a_924^post179+a_924^0 == 0 /\ -a_634^post179+a_634^0 == 0 /\ -rcd_47^post179+rcd_47^0 == 0 /\ -len_238^post179+len_238^0 == 0 /\ i_140^0-i_140^post179 == 0 /\ a_1089^0-a_1089^post179 == 0 /\ -a_633^post179+a_633^0 == 0 /\ -a_1162^post179+a_1162^0 == 0 /\ -result_11^post179+result_11^0 == 0 /\ -f_969^post179+f_969^0 == 0 /\ x_253^0-x_253^post179 == 0 /\ rcd_88^0-rcd_88^post179 == 0 /\ y_20^0-y_20^post179 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post179 == 0 /\ -rcd_1249^post179+rcd_1249^0 == 0 /\ a_395^0-a_395^post179 == 0 /\ a_176^0-a_176^post179 == 0 /\ -r_970^post179+r_970^0 == 0 /\ x_975^0-x_975^post179 == 0 /\ -a_431^post179+a_431^0 == 0 /\ -a_576^post179+a_576^0 == 0 /\ r_192^0-r_192^post179 == 0 /\ tmp_34^0-tmp_34^post179 == 0 /\ i_107^0-i_107^post179 == 0 /\ -r_143^post179+r_143^0 == 0 /\ t_458^0-t_458^post179 == 0 /\ a_393^0-a_393^post179 == 0 /\ -x_SLAM_f_19^post179+x_SLAM_f_19^0 == 0 /\ len_161^0-len_161^post179 == 0 /\ -a_1236^post179+a_1236^0 == 0 /\ -a_610^post179+a_610^0 == 0 /\ a_632^0-a_632^post179 == 0 /\ -temp_35^post179+temp_35^0 == 0 /\ -a_121^post179+a_121^0 == 0 /\ -nondet_12^post179+nondet_12^0 == 0), cost: 1 180: l111 -> l112 : a_1089^0'=a_1089^post180, f_847^0'=f_847^post180, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post180, a_394^0'=a_394^post180, x_156^0'=x_156^post180, a_632^0'=a_632^post180, r_192^0'=r_192^post180, a_176^0'=a_176^post180, i_106^0'=i_106^post180, a_430^0'=a_430^post180, t_458^0'=t_458^post180, len_161^0'=len_161^post180, x_975^0'=x_975^post180, a_902^0'=a_902^post180, a_947^0'=a_947^post180, rcd_88^0'=rcd_88^post180, a_311^0'=a_311^post180, i_140^0'=i_140^post180, a_577^0'=a_577^post180, x_14^0'=x_14^post180, nondet_12^0'=nondet_12^post180, a_121^0'=a_121^post180, head_15^0'=head_15^post180, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post180, i_27^0'=i_27^post180, x_21^0'=x_21^post180, a_634^0'=a_634^post180, r_39^0'=r_39^post180, a_263^0'=a_263^post180, i_113^0'=i_113^post180, a_432^0'=a_432^post180, temp0_31^0'=temp0_31^post180, len_262^0'=len_262^post180, y_20^0'=y_20^post180, f_248^0'=f_248^post180, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post180, a_393^0'=a_393^post180, i_229^0'=i_229^post180, a_610^0'=a_610^post180, r_151^0'=r_151^post180, a_144^0'=a_144^post180, i_1053^0'=i_1053^post180, a_417^0'=a_417^post180, t_24^0'=t_24^post180, i_94^0'=i_94^post180, x_852^0'=x_852^post180, a_862^0'=a_862^post180, rcd_1249^0'=rcd_1249^post180, rcd_58^0'=rcd_58^post180, a_310^0'=a_310^post180, i_127^0'=i_127^post180, a_576^0'=a_576^post180, tmp_34^0'=tmp_34^post180, length_29^0'=length_29^post180, a_1162^0'=a_1162^post180, f_969^0'=f_969^post180, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post180, a_395^0'=a_395^post180, x_17^0'=x_17^post180, a_633^0'=a_633^post180, r_224^0'=r_224^post180, a_239^0'=a_239^post180, i_107^0'=i_107^post180, a_431^0'=a_431^post180, temp0_16^0'=temp0_16^post180, len_238^0'=len_238^post180, x_SLAM_f_19^0'=x_SLAM_f_19^post180, a_924^0'=a_924^post180, ct_18^0'=ct_18^post180, result_11^0'=result_11^post180, a_392^0'=a_392^post180, i_197^0'=i_197^post180, a_579^0'=a_579^post180, r_143^0'=r_143^post180, a_1236^0'=a_1236^post180, head_32^0'=head_32^post180, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post180, i_30^0'=i_30^post180, x_253^0'=x_253^post180, a_635^0'=a_635^post180, r_970^0'=r_970^post180, rcd_47^0'=rcd_47^post180, a_309^0'=a_309^post180, i_1248^0'=i_1248^post180, a_575^0'=a_575^post180, temp_35^0'=temp_35^post180, len_861^0'=len_861^post180, (r_39^0-r_39^post180 == 0 /\ -rcd_1249^post180+rcd_1249^0 == 0 /\ -a_924^post180+a_924^0 == 0 /\ length_29^0-length_29^post180 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post180 == 0 /\ i_94^0-i_94^post180 == 0 /\ -a_634^post180+a_634^0 == 0 /\ i_113^0-i_113^post180 == 0 /\ -rcd_47^post180+rcd_47^0 == 0 /\ a_393^0-a_393^post180 == 0 /\ -tmp_34^post180+tmp_34^0 == 0 /\ a_1089^0-a_1089^post180 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post180+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post180+head_15^0 == 0 /\ -x_253^post180+x_253^0 == 0 /\ -len_238^post180+len_238^0 == 0 /\ -a_610^post180+a_610^0 == 0 /\ x_21^0-x_21^post180 == 0 /\ a_432^0-a_432^post180 == 0 /\ i_27^0-i_27^post180 == 0 /\ -result_11^post180+result_11^0 == 0 /\ a_310^0-a_310^post180 == 0 /\ r_192^0-r_192^post180 == 0 /\ -r_143^post180+r_143^0 == 0 /\ head_32^0-head_32^post180 == 0 /\ a_417^0-a_417^post180 == 0 /\ -temp_35^post180+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post180 == 0 /\ a_263^0-a_263^post180 == 0 /\ -a_576^post180+a_576^0 == 0 /\ -nondet_12^post180+nondet_12^0 == 0 /\ -f_969^post180+f_969^0 == 0 /\ -r_970^post180+r_970^0 == 0 /\ -a_311^post180+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post180 == 0 /\ i_197^0-i_197^post180 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post180 == 0 /\ -a_1236^post180+a_1236^0 == 0 /\ -a_395^post180+a_395^0 == 0 /\ a_121^0-a_121^post180 == 0 /\ -f_248^post180+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post180+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_458^0-t_458^post180 == 0 /\ -temp0_31^post180+temp0_31^0 == 0 /\ a_632^0-a_632^post180 == 0 /\ x_975^0-x_975^post180 == 0 /\ i_106^0-i_106^post180 == 0 /\ -a_392^post180+a_392^0 == 0 /\ a_577^0-a_577^post180 == 0 /\ i_30^0-i_30^post180 == 0 /\ i_107^0-i_107^post180 == 0 /\ a_902^0-a_902^post180 == 0 /\ rcd_88^0-rcd_88^post180 == 0 /\ -i_1248^post180+i_1248^0 == 0 /\ -a_144^post180+a_144^0 == 0 /\ -a_239^post180+a_239^0 == 0 /\ -a_430^post180+a_430^0 == 0 /\ -len_861^post180+len_861^0 == 0 /\ x_14^0-x_14^post180 == 0 /\ t_24^0-t_24^post180 == 0 /\ -temp0_16^post180+temp0_16^0 == 0 /\ i_229^0-i_229^post180 == 0 /\ -len_262^post180+len_262^0 == 0 /\ -a_947^post180+a_947^0 == 0 /\ -x_17^post180+x_17^0 == 0 /\ x_852^0-x_852^post180 == 0 /\ i_140^0-i_140^post180 == 0 /\ a_862^0-a_862^post180 == 0 /\ -a_579^post180+a_579^0 == 0 /\ -r_151^post180+r_151^0 == 0 /\ -a_309^post180+a_309^0 == 0 /\ -a_635^post180+a_635^0 == 0 /\ -rcd_58^post180+rcd_58^0 == 0 /\ x_156^0-x_156^post180 == 0 /\ len_161^0-len_161^post180 == 0 /\ -i_127^post180+i_127^0 == 0 /\ a_431^0-a_431^post180 == 0 /\ y_20^0-y_20^post180 == 0 /\ 1+x_14^0 <= 0 /\ a_176^0-a_176^post180 == 0 /\ f_847^0-f_847^post180 == 0 /\ i_1053^0-i_1053^post180 == 0 /\ a_394^0-a_394^post180 == 0 /\ -ct_18^post180+ct_18^0 == 0 /\ -a_575^post180+a_575^0 == 0 /\ -a_1162^post180+a_1162^0 == 0 /\ r_224^0-r_224^post180 == 0 /\ -a_633^post180+a_633^0 == 0), cost: 1 181: l112 -> l113 : a_1089^0'=a_1089^post181, f_847^0'=f_847^post181, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post181, a_394^0'=a_394^post181, x_156^0'=x_156^post181, a_632^0'=a_632^post181, r_192^0'=r_192^post181, a_176^0'=a_176^post181, i_106^0'=i_106^post181, a_430^0'=a_430^post181, t_458^0'=t_458^post181, len_161^0'=len_161^post181, x_975^0'=x_975^post181, a_902^0'=a_902^post181, a_947^0'=a_947^post181, rcd_88^0'=rcd_88^post181, a_311^0'=a_311^post181, i_140^0'=i_140^post181, a_577^0'=a_577^post181, x_14^0'=x_14^post181, nondet_12^0'=nondet_12^post181, a_121^0'=a_121^post181, head_15^0'=head_15^post181, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post181, i_27^0'=i_27^post181, x_21^0'=x_21^post181, a_634^0'=a_634^post181, r_39^0'=r_39^post181, a_263^0'=a_263^post181, i_113^0'=i_113^post181, a_432^0'=a_432^post181, temp0_31^0'=temp0_31^post181, len_262^0'=len_262^post181, y_20^0'=y_20^post181, f_248^0'=f_248^post181, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post181, a_393^0'=a_393^post181, i_229^0'=i_229^post181, a_610^0'=a_610^post181, r_151^0'=r_151^post181, a_144^0'=a_144^post181, i_1053^0'=i_1053^post181, a_417^0'=a_417^post181, t_24^0'=t_24^post181, i_94^0'=i_94^post181, x_852^0'=x_852^post181, a_862^0'=a_862^post181, rcd_1249^0'=rcd_1249^post181, rcd_58^0'=rcd_58^post181, a_310^0'=a_310^post181, i_127^0'=i_127^post181, a_576^0'=a_576^post181, tmp_34^0'=tmp_34^post181, length_29^0'=length_29^post181, a_1162^0'=a_1162^post181, f_969^0'=f_969^post181, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post181, a_395^0'=a_395^post181, x_17^0'=x_17^post181, a_633^0'=a_633^post181, r_224^0'=r_224^post181, a_239^0'=a_239^post181, i_107^0'=i_107^post181, a_431^0'=a_431^post181, temp0_16^0'=temp0_16^post181, len_238^0'=len_238^post181, x_SLAM_f_19^0'=x_SLAM_f_19^post181, a_924^0'=a_924^post181, ct_18^0'=ct_18^post181, result_11^0'=result_11^post181, a_392^0'=a_392^post181, i_197^0'=i_197^post181, a_579^0'=a_579^post181, r_143^0'=r_143^post181, a_1236^0'=a_1236^post181, head_32^0'=head_32^post181, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post181, i_30^0'=i_30^post181, x_253^0'=x_253^post181, a_635^0'=a_635^post181, r_970^0'=r_970^post181, rcd_47^0'=rcd_47^post181, a_309^0'=a_309^post181, i_1248^0'=i_1248^post181, a_575^0'=a_575^post181, temp_35^0'=temp_35^post181, len_861^0'=len_861^post181, (0 == 0 /\ i_229^0-i_229^post181 == 0 /\ a_579^0-a_579^post181 == 0 /\ -a_417^post181+a_417^0 == 0 /\ -i_27^post181+i_27^0 == 0 /\ -len_861^post181+len_861^0 == 0 /\ -a_309^post181+a_309^0 == 0 /\ -a_1236^post181+a_1236^0 == 0 /\ len_161^0-len_161^post181 == 0 /\ y_20^0-y_20^post181 == 0 /\ x_156^0-x_156^post181 == 0 /\ -a_393^post181+a_393^0 == 0 /\ temp0_31^0-temp0_31^post181 == 0 /\ -a_392^post181+a_392^0 == 0 /\ head_15^0-head_15^post181 == 0 /\ a_634^0-a_634^post181 == 0 /\ i_1053^0-i_1053^post181 == 0 /\ -length_29^post181+length_29^0 == 0 /\ a_121^0-a_121^post181 == 0 /\ -temp0_16^post181+temp0_16^0 == 0 /\ len_262^0-len_262^post181 == 0 /\ -i_1248^post181+i_1248^0 == 0 /\ a_947^0-a_947^post181 == 0 /\ -head_32^post181+head_32^0 == 0 /\ a_430^0-a_430^post181 == 0 /\ r_192^0-r_192^post181 == 0 /\ -a_635^post181+a_635^0 == 0 /\ i_113^0-i_113^post181 == 0 /\ a_176^0-a_176^post181 == 0 /\ -ct_18^post181+ct_18^0 == 0 /\ -i_127^post181+i_127^0 == 0 /\ -len_238^post181+len_238^0 == 0 /\ -i_30^post181+i_30^0 == 0 /\ -r_151^post181+r_151^0 == 0 /\ -i_197^post181+i_197^0 == 0 /\ -a_902^post181+a_902^0 == 0 /\ a_632^0-a_632^post181 == 0 /\ -a_610^post181+a_610^0 == 0 /\ a_310^0-a_310^post181 == 0 /\ -rcd_58^post181+rcd_58^0 == 0 /\ -a_144^post181+a_144^0 == 0 /\ -rcd_47^post181+rcd_47^0 == 0 /\ -a_575^post181+a_575^0 == 0 /\ -a_862^post181+a_862^0 == 0 /\ i_140^0-i_140^post181 == 0 /\ a_432^0-a_432^post181 == 0 /\ x_21^0-x_21^post181 == 0 /\ -a_633^post181+a_633^0 == 0 /\ -tmp_34^post181+tmp_34^0 == 0 /\ a_263^0-a_263^post181 == 0 /\ f_847^0-f_847^post181 == 0 /\ -result_11^post181+result_11^0 == 0 /\ -a_1162^post181+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post181+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_431^0-a_431^post181 == 0 /\ -rcd_1249^post181+rcd_1249^0 == 0 /\ -f_969^post181+f_969^0 == 0 /\ -x_852^post181+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post181 == 0 /\ x_17^0-x_17^post181 == 0 /\ i_94^0-i_94^post181 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post181+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post181 == 0 /\ -a_924^post181+a_924^0 == 0 /\ r_970^0-r_970^post181 == 0 /\ x_975^0-x_975^post181 == 0 /\ 1-i_27^0 <= 0 /\ a_577^0-a_577^post181 == 0 /\ -a_239^post181+a_239^0 == 0 /\ -r_143^post181+r_143^0 == 0 /\ x_14^0-x_14^post181 == 0 /\ a_395^0-a_395^post181 == 0 /\ -x_SLAM_f_19^post181+x_SLAM_f_19^0 == 0 /\ r_224^0-r_224^post181 == 0 /\ -x_253^post181+x_253^0 == 0 /\ a_1089^0-a_1089^post181 == 0 /\ -nondet_12^19+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post181 == 0 /\ -rcd_88^post181+rcd_88^0 == 0 /\ i_107^0-i_107^post181 == 0 /\ i_106^0-i_106^post181 == 0 /\ -temp_35^post181+temp_35^0 == 0 /\ -f_248^post181+f_248^0 == 0 /\ a_311^0-a_311^post181 == 0 /\ t_24^0-t_24^post181 == 0 /\ r_39^0-r_39^post181 == 0 /\ t_458^0-t_458^post181 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post181+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post181+a_576^0 == 0), cost: 1 182: l113 -> l114 : a_1089^0'=a_1089^post182, f_847^0'=f_847^post182, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post182, a_394^0'=a_394^post182, x_156^0'=x_156^post182, a_632^0'=a_632^post182, r_192^0'=r_192^post182, a_176^0'=a_176^post182, i_106^0'=i_106^post182, a_430^0'=a_430^post182, t_458^0'=t_458^post182, len_161^0'=len_161^post182, x_975^0'=x_975^post182, a_902^0'=a_902^post182, a_947^0'=a_947^post182, rcd_88^0'=rcd_88^post182, a_311^0'=a_311^post182, i_140^0'=i_140^post182, a_577^0'=a_577^post182, x_14^0'=x_14^post182, nondet_12^0'=nondet_12^post182, a_121^0'=a_121^post182, head_15^0'=head_15^post182, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post182, i_27^0'=i_27^post182, x_21^0'=x_21^post182, a_634^0'=a_634^post182, r_39^0'=r_39^post182, a_263^0'=a_263^post182, i_113^0'=i_113^post182, a_432^0'=a_432^post182, temp0_31^0'=temp0_31^post182, len_262^0'=len_262^post182, y_20^0'=y_20^post182, f_248^0'=f_248^post182, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post182, a_393^0'=a_393^post182, i_229^0'=i_229^post182, a_610^0'=a_610^post182, r_151^0'=r_151^post182, a_144^0'=a_144^post182, i_1053^0'=i_1053^post182, a_417^0'=a_417^post182, t_24^0'=t_24^post182, i_94^0'=i_94^post182, x_852^0'=x_852^post182, a_862^0'=a_862^post182, rcd_1249^0'=rcd_1249^post182, rcd_58^0'=rcd_58^post182, a_310^0'=a_310^post182, i_127^0'=i_127^post182, a_576^0'=a_576^post182, tmp_34^0'=tmp_34^post182, length_29^0'=length_29^post182, a_1162^0'=a_1162^post182, f_969^0'=f_969^post182, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post182, a_395^0'=a_395^post182, x_17^0'=x_17^post182, a_633^0'=a_633^post182, r_224^0'=r_224^post182, a_239^0'=a_239^post182, i_107^0'=i_107^post182, a_431^0'=a_431^post182, temp0_16^0'=temp0_16^post182, len_238^0'=len_238^post182, x_SLAM_f_19^0'=x_SLAM_f_19^post182, a_924^0'=a_924^post182, ct_18^0'=ct_18^post182, result_11^0'=result_11^post182, a_392^0'=a_392^post182, i_197^0'=i_197^post182, a_579^0'=a_579^post182, r_143^0'=r_143^post182, a_1236^0'=a_1236^post182, head_32^0'=head_32^post182, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post182, i_30^0'=i_30^post182, x_253^0'=x_253^post182, a_635^0'=a_635^post182, r_970^0'=r_970^post182, rcd_47^0'=rcd_47^post182, a_309^0'=a_309^post182, i_1248^0'=i_1248^post182, a_575^0'=a_575^post182, temp_35^0'=temp_35^post182, len_861^0'=len_861^post182, (len_161^0-len_161^post182 == 0 /\ -i_1248^post182+i_1248^0 == 0 /\ -rcd_58^post182+rcd_58^0 == 0 /\ -a_239^post182+a_239^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post182 == 0 /\ -ct_18^post182+ct_18^0 == 0 /\ a_176^0-a_176^post182 == 0 /\ -len_861^post182+len_861^0 == 0 /\ -i_127^post182+i_127^0 == 0 /\ -temp0_16^post182+temp0_16^0 == 0 /\ -a_579^post182+a_579^0 == 0 /\ i_27^0-i_27^post182 == 0 /\ a_417^0-a_417^post182 == 0 /\ length_29^0-length_29^post182 == 0 /\ r_39^0-r_39^post182 == 0 /\ -a_431^post182+a_431^0 == 0 /\ a_263^0-a_263^post182 == 0 /\ f_847^0-f_847^post182 == 0 /\ -f_248^post182+f_248^0 == 0 /\ t_24^0-t_24^post182 == 0 /\ -i_229^post182+i_229^0 == 0 /\ -i_197^post182+i_197^0 == 0 /\ a_395^0-a_395^post182 == 0 /\ i_1053^0-i_1053^post182 == 0 /\ -a_309^post182+a_309^0 == 0 /\ -i_30^post182+i_30^0 == 0 /\ -a_144^post182+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post182+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post182 == 0 /\ a_430^0-a_430^post182 == 0 /\ -a_575^post182+a_575^0 == 0 /\ -a_924^post182+a_924^0 == 0 /\ r_151^0-r_151^post182 == 0 /\ -rcd_1249^post182+rcd_1249^0 == 0 /\ a_432^0-a_432^post182 == 0 /\ a_902^0-a_902^post182 == 0 /\ i_113^0-i_113^post182 == 0 /\ a_577^0-a_577^post182 == 0 /\ a_1162^0-a_1162^post182 == 0 /\ r_192^0-r_192^post182 == 0 /\ result_11^0-result_11^post182 == 0 /\ -a_635^post182+a_635^0 == 0 /\ -a_947^post182+a_947^0 == 0 /\ x_156^0-x_156^post182 == 0 /\ head_32^0-head_32^post182 == 0 /\ -x_17^post182+x_17^0 == 0 /\ head_15^0-head_15^post182 == 0 /\ -x_21^post182+x_21^0 == 0 /\ a_862^0-a_862^post182 == 0 /\ a_634^0-a_634^post182 == 0 /\ a_394^0-a_394^post182 == 0 /\ a_1089^0-a_1089^post182 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post182+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post182+x_SLAM_f_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -i_94^post182+i_94^0 == 0 /\ -a_576^post182+a_576^0 == 0 /\ -x_14^post182+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post182 == 0 /\ a_311^0-a_311^post182 == 0 /\ -a_633^post182+a_633^0 == 0 /\ i_140^0-i_140^post182 == 0 /\ x_852^0-x_852^post182 == 0 /\ -r_143^post182+r_143^0 == 0 /\ t_458^0-t_458^post182 == 0 /\ rcd_88^0-rcd_88^post182 == 0 /\ i_106^0-i_106^post182 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post182 == 0 /\ -a_392^post182+a_392^0 == 0 /\ r_224^0-r_224^post182 == 0 /\ a_393^0-a_393^post182 == 0 /\ -f_969^post182+f_969^0 == 0 /\ i_107^0-i_107^post182 == 0 /\ -a_310^post182+a_310^0 == 0 /\ -a_121^post182+a_121^0 == 0 /\ x_975^0-x_975^post182 == 0 /\ y_20^0-y_20^post182 == 0 /\ -a_1236^post182+a_1236^0 == 0 /\ tmp_34^0-tmp_34^post182 == 0 /\ -a_610^post182+a_610^0 == 0 /\ -temp_35^post182+temp_35^0 == 0 /\ -len_238^post182+len_238^0 == 0 /\ -rcd_47^post182+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post182 == 0 /\ -x_253^post182+x_253^0 == 0 /\ -r_970^post182+r_970^0 == 0 /\ -len_262^post182+len_262^0 == 0 /\ -temp0_31^post182+temp0_31^0 == 0), cost: 1 183: l113 -> l114 : a_1089^0'=a_1089^post183, f_847^0'=f_847^post183, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post183, a_394^0'=a_394^post183, x_156^0'=x_156^post183, a_632^0'=a_632^post183, r_192^0'=r_192^post183, a_176^0'=a_176^post183, i_106^0'=i_106^post183, a_430^0'=a_430^post183, t_458^0'=t_458^post183, len_161^0'=len_161^post183, x_975^0'=x_975^post183, a_902^0'=a_902^post183, a_947^0'=a_947^post183, rcd_88^0'=rcd_88^post183, a_311^0'=a_311^post183, i_140^0'=i_140^post183, a_577^0'=a_577^post183, x_14^0'=x_14^post183, nondet_12^0'=nondet_12^post183, a_121^0'=a_121^post183, head_15^0'=head_15^post183, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post183, i_27^0'=i_27^post183, x_21^0'=x_21^post183, a_634^0'=a_634^post183, r_39^0'=r_39^post183, a_263^0'=a_263^post183, i_113^0'=i_113^post183, a_432^0'=a_432^post183, temp0_31^0'=temp0_31^post183, len_262^0'=len_262^post183, y_20^0'=y_20^post183, f_248^0'=f_248^post183, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post183, a_393^0'=a_393^post183, i_229^0'=i_229^post183, a_610^0'=a_610^post183, r_151^0'=r_151^post183, a_144^0'=a_144^post183, i_1053^0'=i_1053^post183, a_417^0'=a_417^post183, t_24^0'=t_24^post183, i_94^0'=i_94^post183, x_852^0'=x_852^post183, a_862^0'=a_862^post183, rcd_1249^0'=rcd_1249^post183, rcd_58^0'=rcd_58^post183, a_310^0'=a_310^post183, i_127^0'=i_127^post183, a_576^0'=a_576^post183, tmp_34^0'=tmp_34^post183, length_29^0'=length_29^post183, a_1162^0'=a_1162^post183, f_969^0'=f_969^post183, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post183, a_395^0'=a_395^post183, x_17^0'=x_17^post183, a_633^0'=a_633^post183, r_224^0'=r_224^post183, a_239^0'=a_239^post183, i_107^0'=i_107^post183, a_431^0'=a_431^post183, temp0_16^0'=temp0_16^post183, len_238^0'=len_238^post183, x_SLAM_f_19^0'=x_SLAM_f_19^post183, a_924^0'=a_924^post183, ct_18^0'=ct_18^post183, result_11^0'=result_11^post183, a_392^0'=a_392^post183, i_197^0'=i_197^post183, a_579^0'=a_579^post183, r_143^0'=r_143^post183, a_1236^0'=a_1236^post183, head_32^0'=head_32^post183, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post183, i_30^0'=i_30^post183, x_253^0'=x_253^post183, a_635^0'=a_635^post183, r_970^0'=r_970^post183, rcd_47^0'=rcd_47^post183, a_309^0'=a_309^post183, i_1248^0'=i_1248^post183, a_575^0'=a_575^post183, temp_35^0'=temp_35^post183, len_861^0'=len_861^post183, (-len_238^post183+len_238^0 == 0 /\ i_94^0-i_94^post183 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post183 == 0 /\ -a_633^post183+a_633^0 == 0 /\ -r_143^post183+r_143^0 == 0 /\ head_15^0-head_15^post183 == 0 /\ x_21^0-x_21^post183 == 0 /\ r_192^0-r_192^post183 == 0 /\ i_113^0-i_113^post183 == 0 /\ a_310^0-a_310^post183 == 0 /\ i_229^0-i_229^post183 == 0 /\ -a_576^post183+a_576^0 == 0 /\ -r_151^post183+r_151^0 == 0 /\ -a_575^post183+a_575^0 == 0 /\ -rcd_1249^post183+rcd_1249^0 == 0 /\ x_156^0-x_156^post183 == 0 /\ -a_634^post183+a_634^0 == 0 /\ -a_309^post183+a_309^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post183 == 0 /\ -x_253^post183+x_253^0 == 0 /\ a_121^0-a_121^post183 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post183+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_32^0-head_32^post183 == 0 /\ -a_1236^post183+a_1236^0 == 0 /\ -a_432^post183+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post183 == 0 /\ a_417^0-a_417^post183 == 0 /\ i_27^0-i_27^post183 == 0 /\ a_263^0-a_263^post183 == 0 /\ a_392^0-a_392^post183 == 0 /\ r_39^0-r_39^post183 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post183 == 0 /\ -temp0_31^post183+temp0_31^0 == 0 /\ -rcd_47^post183+rcd_47^0 == 0 /\ -f_969^post183+f_969^0 == 0 /\ i_106^0-i_106^post183 == 0 /\ -i_140^post183+i_140^0 == 0 /\ i_107^0-i_107^post183 == 0 /\ -ct_18^post183+ct_18^0 == 0 /\ -temp0_16^post183+temp0_16^0 == 0 /\ -r_970^post183+r_970^0 == 0 /\ -i_1053^post183+i_1053^0 == 0 /\ -rcd_88^post183+rcd_88^0 == 0 /\ f_248^0-f_248^post183 == 0 /\ -a_395^post183+a_395^0 == 0 /\ -y_20^post183+y_20^0 == 0 /\ a_902^0-a_902^post183 == 0 /\ a_632^0-a_632^post183 == 0 /\ -t_458^post183+t_458^0 == 0 /\ a_393^0-a_393^post183 == 0 /\ -rcd_58^post183+rcd_58^0 == 0 /\ r_224^0-r_224^post183 == 0 /\ -length_29^post183+length_29^0 == 0 /\ x_975^0-x_975^post183 == 0 /\ -a_430^post183+a_430^0 == 0 /\ -a_394^post183+a_394^0 == 0 /\ i_30^0-i_30^post183 == 0 /\ -f_847^post183+f_847^0 == 0 /\ a_577^0-a_577^post183 == 0 /\ -a_862^post183+a_862^0 == 0 /\ -i_197^post183+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post183+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_579^post183+a_579^0 == 0 /\ -temp_35^post183+temp_35^0 == 0 /\ -nondet_12^post183+nondet_12^0 == 0 /\ a_610^0-a_610^post183 == 0 /\ -a_144^post183+a_144^0 == 0 /\ t_24^0-t_24^post183 == 0 /\ -a_1162^post183+a_1162^0 == 0 /\ -i_127^post183+i_127^0 == 0 /\ len_161^0-len_161^post183 == 0 /\ a_431^0-a_431^post183 == 0 /\ -a_924^post183+a_924^0 == 0 /\ x_14^0-x_14^post183 == 0 /\ a_176^0-a_176^post183 == 0 /\ a_947^0-a_947^post183 == 0 /\ -x_17^post183+x_17^0 == 0 /\ len_262^0-len_262^post183 == 0 /\ -result_11^post183+result_11^0 == 0 /\ a_1089^0-a_1089^post183 == 0 /\ a_311^0-a_311^post183 == 0 /\ x_852^0-x_852^post183 == 0 /\ -i_1248^post183+i_1248^0 == 0 /\ -len_861^post183+len_861^0 == 0 /\ -a_635^post183+a_635^0 == 0 /\ -a_239^post183+a_239^0 == 0 /\ -tmp_34^post183+tmp_34^0 == 0), cost: 1 184: l114 -> l115 : a_1089^0'=a_1089^post184, f_847^0'=f_847^post184, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post184, a_394^0'=a_394^post184, x_156^0'=x_156^post184, a_632^0'=a_632^post184, r_192^0'=r_192^post184, a_176^0'=a_176^post184, i_106^0'=i_106^post184, a_430^0'=a_430^post184, t_458^0'=t_458^post184, len_161^0'=len_161^post184, x_975^0'=x_975^post184, a_902^0'=a_902^post184, a_947^0'=a_947^post184, rcd_88^0'=rcd_88^post184, a_311^0'=a_311^post184, i_140^0'=i_140^post184, a_577^0'=a_577^post184, x_14^0'=x_14^post184, nondet_12^0'=nondet_12^post184, a_121^0'=a_121^post184, head_15^0'=head_15^post184, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post184, i_27^0'=i_27^post184, x_21^0'=x_21^post184, a_634^0'=a_634^post184, r_39^0'=r_39^post184, a_263^0'=a_263^post184, i_113^0'=i_113^post184, a_432^0'=a_432^post184, temp0_31^0'=temp0_31^post184, len_262^0'=len_262^post184, y_20^0'=y_20^post184, f_248^0'=f_248^post184, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post184, a_393^0'=a_393^post184, i_229^0'=i_229^post184, a_610^0'=a_610^post184, r_151^0'=r_151^post184, a_144^0'=a_144^post184, i_1053^0'=i_1053^post184, a_417^0'=a_417^post184, t_24^0'=t_24^post184, i_94^0'=i_94^post184, x_852^0'=x_852^post184, a_862^0'=a_862^post184, rcd_1249^0'=rcd_1249^post184, rcd_58^0'=rcd_58^post184, a_310^0'=a_310^post184, i_127^0'=i_127^post184, a_576^0'=a_576^post184, tmp_34^0'=tmp_34^post184, length_29^0'=length_29^post184, a_1162^0'=a_1162^post184, f_969^0'=f_969^post184, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post184, a_395^0'=a_395^post184, x_17^0'=x_17^post184, a_633^0'=a_633^post184, r_224^0'=r_224^post184, a_239^0'=a_239^post184, i_107^0'=i_107^post184, a_431^0'=a_431^post184, temp0_16^0'=temp0_16^post184, len_238^0'=len_238^post184, x_SLAM_f_19^0'=x_SLAM_f_19^post184, a_924^0'=a_924^post184, ct_18^0'=ct_18^post184, result_11^0'=result_11^post184, a_392^0'=a_392^post184, i_197^0'=i_197^post184, a_579^0'=a_579^post184, r_143^0'=r_143^post184, a_1236^0'=a_1236^post184, head_32^0'=head_32^post184, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post184, i_30^0'=i_30^post184, x_253^0'=x_253^post184, a_635^0'=a_635^post184, r_970^0'=r_970^post184, rcd_47^0'=rcd_47^post184, a_309^0'=a_309^post184, i_1248^0'=i_1248^post184, a_575^0'=a_575^post184, temp_35^0'=temp_35^post184, len_861^0'=len_861^post184, (len_161^0-len_161^post184 == 0 /\ -i_1248^post184+i_1248^0 == 0 /\ -a_577^post184+a_577^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -head_32^post184+head_32^0 == 0 /\ a_394^0-a_394^post184 == 0 /\ -rcd_58^post184+rcd_58^0 == 0 /\ -i_197^post184+i_197^0 == 0 /\ -t_24^post184+t_24^0 == 0 /\ -i_229^post184+i_229^0 == 0 /\ -a_579^post184+a_579^0 == 0 /\ x_852^0-x_852^post184 == 0 /\ -1+i_127^0-i_27^post184 <= 0 /\ -a_263^post184+a_263^0 == 0 /\ rcd_88^0-rcd_88^post184 == 0 /\ a_576^0-a_576^post184 == 0 /\ f_847^0-f_847^post184 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post184+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post184+a_395^0 == 0 /\ rcd_1249^0-rcd_1249^post184 == 0 /\ -r_39^post184+r_39^0 == 0 /\ -a_309^post184+a_309^0 == 0 /\ i_106^0-i_106^post184 == 0 /\ a_430^0-a_430^post184 == 0 /\ -a_417^post184+a_417^0 == 0 /\ -result_11^post184+result_11^0 == 0 /\ a_924^0-a_924^post184 == 0 /\ -a_393^post184+a_393^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post184+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post184+tmp_34^0 == 0 /\ t_458^0-t_458^post184 == 0 /\ -x_17^post184+x_17^0 == 0 /\ -i_1053^post184+i_1053^0 == 0 /\ -a_635^post184+a_635^0 == 0 /\ ct_18^0-ct_18^post184 == 0 /\ -i_30^post184+i_30^0 == 0 /\ i_127^0-i_127^post184 == 0 /\ -len_861^post184+len_861^0 == 0 /\ a_1236^0-a_1236^post184 == 0 /\ -r_224^post184+r_224^0 == 0 /\ x_21^0-x_21^post184 == 0 /\ a_431^0-a_431^post184 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post184+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post184 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post184 == 0 /\ temp0_31^0-temp0_31^post184 == 0 /\ x_14^0-x_14^post184 == 0 /\ -x_SLAM_f_19^post184+x_SLAM_f_19^0 == 0 /\ a_121^0-a_121^post184 == 0 /\ a_634^0-a_634^post184 == 0 /\ -rcd_47^post184+rcd_47^0 == 0 /\ -r_143^post184+r_143^0 == 0 /\ a_947^0-a_947^post184 == 0 /\ a_310^0-a_310^post184 == 0 /\ -a_632^post184+a_632^0 == 0 /\ len_262^0-len_262^post184 == 0 /\ 1-i_127^0+i_27^post184 <= 0 /\ a_176^0-a_176^post184 == 0 /\ -i_107^post184+i_107^0 == 0 /\ -a_633^post184+a_633^0 == 0 /\ -a_575^post184+a_575^0 == 0 /\ -a_176^0+a_121^0 <= 0 /\ head_15^0-head_15^post184 == 0 /\ -i_113^post184+i_113^0 == 0 /\ -a_432^post184+a_432^0 == 0 /\ r_151^0-r_151^post184 == 0 /\ temp0_16^0-temp0_16^post184 == 0 /\ -a_862^post184+a_862^0 == 0 /\ a_239^0-a_239^post184 == 0 /\ a_311^0-a_311^post184 == 0 /\ a_902^0-a_902^post184 == 0 /\ x_975^0-x_975^post184 == 0 /\ 1-i_27^0+i_27^post184 == 0 /\ f_248^0-f_248^post184 == 0 /\ -temp_35^post184+temp_35^0 == 0 /\ -x_253^post184+x_253^0 == 0 /\ -len_238^post184+len_238^0 == 0 /\ -length_29^post184+length_29^0 == 0 /\ -r_970^post184+r_970^0 == 0 /\ a_610^0-a_610^post184 == 0 /\ -a_392^post184+a_392^0 == 0 /\ -y_20^post184+y_20^0 == 0 /\ x_156^0-x_156^post184 == 0 /\ nondet_12^0-nondet_12^post184 == 0 /\ -i_94^post184+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post184+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_192^0-r_192^post184 == 0 /\ a_144^0-a_144^post184 == 0 /\ a_1162^0-a_1162^post184 == 0 /\ a_176^0-a_121^0 <= 0 /\ -i_140^post184+i_140^0 == 0 /\ f_969^0-f_969^post184 == 0), cost: 1 185: l115 -> l116 : a_1089^0'=a_1089^post185, f_847^0'=f_847^post185, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post185, a_394^0'=a_394^post185, x_156^0'=x_156^post185, a_632^0'=a_632^post185, r_192^0'=r_192^post185, a_176^0'=a_176^post185, i_106^0'=i_106^post185, a_430^0'=a_430^post185, t_458^0'=t_458^post185, len_161^0'=len_161^post185, x_975^0'=x_975^post185, a_902^0'=a_902^post185, a_947^0'=a_947^post185, rcd_88^0'=rcd_88^post185, a_311^0'=a_311^post185, i_140^0'=i_140^post185, a_577^0'=a_577^post185, x_14^0'=x_14^post185, nondet_12^0'=nondet_12^post185, a_121^0'=a_121^post185, head_15^0'=head_15^post185, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post185, i_27^0'=i_27^post185, x_21^0'=x_21^post185, a_634^0'=a_634^post185, r_39^0'=r_39^post185, a_263^0'=a_263^post185, i_113^0'=i_113^post185, a_432^0'=a_432^post185, temp0_31^0'=temp0_31^post185, len_262^0'=len_262^post185, y_20^0'=y_20^post185, f_248^0'=f_248^post185, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post185, a_393^0'=a_393^post185, i_229^0'=i_229^post185, a_610^0'=a_610^post185, r_151^0'=r_151^post185, a_144^0'=a_144^post185, i_1053^0'=i_1053^post185, a_417^0'=a_417^post185, t_24^0'=t_24^post185, i_94^0'=i_94^post185, x_852^0'=x_852^post185, a_862^0'=a_862^post185, rcd_1249^0'=rcd_1249^post185, rcd_58^0'=rcd_58^post185, a_310^0'=a_310^post185, i_127^0'=i_127^post185, a_576^0'=a_576^post185, tmp_34^0'=tmp_34^post185, length_29^0'=length_29^post185, a_1162^0'=a_1162^post185, f_969^0'=f_969^post185, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post185, a_395^0'=a_395^post185, x_17^0'=x_17^post185, a_633^0'=a_633^post185, r_224^0'=r_224^post185, a_239^0'=a_239^post185, i_107^0'=i_107^post185, a_431^0'=a_431^post185, temp0_16^0'=temp0_16^post185, len_238^0'=len_238^post185, x_SLAM_f_19^0'=x_SLAM_f_19^post185, a_924^0'=a_924^post185, ct_18^0'=ct_18^post185, result_11^0'=result_11^post185, a_392^0'=a_392^post185, i_197^0'=i_197^post185, a_579^0'=a_579^post185, r_143^0'=r_143^post185, a_1236^0'=a_1236^post185, head_32^0'=head_32^post185, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post185, i_30^0'=i_30^post185, x_253^0'=x_253^post185, a_635^0'=a_635^post185, r_970^0'=r_970^post185, rcd_47^0'=rcd_47^post185, a_309^0'=a_309^post185, i_1248^0'=i_1248^post185, a_575^0'=a_575^post185, temp_35^0'=temp_35^post185, len_861^0'=len_861^post185, (a_430^0-a_430^post185 == 0 /\ tmp_34^0-tmp_34^post185 == 0 /\ x_975^0-x_975^post185 == 0 /\ -r_151^post185+r_151^0 == 0 /\ -x_SLAM_f_19^post185+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post185+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ 1-x_14^0 <= 0 /\ x_21^0-x_21^post185 == 0 /\ ct_18^0-ct_18^post185 == 0 /\ -a_432^post185+a_432^0 == 0 /\ -a_924^post185+a_924^0 == 0 /\ a_633^0-a_633^post185 == 0 /\ r_192^0-r_192^post185 == 0 /\ -i_113^post185+i_113^0 == 0 /\ nondet_12^0-nondet_12^post185 == 0 /\ -r_143^post185+r_143^0 == 0 /\ f_969^0-f_969^post185 == 0 /\ a_634^0-a_634^post185 == 0 /\ -a_862^post185+a_862^0 == 0 /\ -x_253^post185+x_253^0 == 0 /\ a_144^0-a_144^post185 == 0 /\ -a_1236^post185+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post185 == 0 /\ -a_431^post185+a_431^0 == 0 /\ i_27^0-i_27^post185 == 0 /\ a_947^0-a_947^post185 == 0 /\ len_161^0-len_161^post185 == 0 /\ -i_140^post185+i_140^0 == 0 /\ a_576^0-a_576^post185 == 0 /\ -a_310^post185+a_310^0 == 0 /\ -i_94^post185+i_94^0 == 0 /\ r_39^0-r_39^post185 == 0 /\ -r_970^post185+r_970^0 == 0 /\ rcd_58^0-rcd_58^post185 == 0 /\ rcd_1249^0-rcd_1249^post185 == 0 /\ i_106^0-i_106^post185 == 0 /\ -length_29^post185+length_29^0 == 0 /\ -rcd_47^post185+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post185 == 0 /\ -temp0_16^post185+temp0_16^0 == 0 /\ head_15^0-head_15^post185 == 0 /\ f_248^0-f_248^post185 == 0 /\ -a_395^post185+a_395^0 == 0 /\ -t_458^post185+t_458^0 == 0 /\ -len_861^post185+len_861^0 == 0 /\ a_239^0-a_239^post185 == 0 /\ -head_32^post185+head_32^0 == 0 /\ -y_20^post185+y_20^0 == 0 /\ a_632^0-a_632^post185 == 0 /\ len_262^0-len_262^post185 == 0 /\ x_156^0-x_156^post185 == 0 /\ -a_263^post185+a_263^0 == 0 /\ a_577^0-a_577^post185 == 0 /\ a_902^0-a_902^post185 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post185+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post185+r_224^0 == 0 /\ -i_197^post185+i_197^0 == 0 /\ temp0_31^0-temp0_31^post185 == 0 /\ -a_579^post185+a_579^0 == 0 /\ -a_392^post185+a_392^0 == 0 /\ a_610^0-a_610^post185 == 0 /\ i_229^0-i_229^post185 == 0 /\ -i_127^post185+i_127^0 == 0 /\ a_1089^0-a_1089^post185 == 0 /\ -i_107^post185+i_107^0 == 0 /\ a_394^0-a_394^post185 == 0 /\ x_17^0-x_17^post185 == 0 /\ x_14^0-x_14^post185 == 0 /\ -i_30^post185+i_30^0 == 0 /\ len_238^0-len_238^post185 == 0 /\ -a_575^post185+a_575^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post185 == 0 /\ a_176^0-a_176^post185 == 0 /\ -a_417^post185+a_417^0 == 0 /\ -result_11^post185+result_11^0 == 0 /\ a_121^0-a_121^post185 == 0 /\ -a_635^post185+a_635^0 == 0 /\ -a_309^post185+a_309^0 == 0 /\ -x_852^post185+x_852^0 == 0 /\ -a_393^post185+a_393^0 == 0 /\ a_311^0-a_311^post185 == 0 /\ -a_1162^post185+a_1162^0 == 0 /\ -t_24^post185+t_24^0 == 0 /\ rcd_88^0-rcd_88^post185 == 0 /\ temp_35^0-temp_35^post185 == 0 /\ i_1053^0-i_1053^post185 == 0 /\ -i_1248^post185+i_1248^0 == 0 /\ f_847^0-f_847^post185 == 0), cost: 1 186: l115 -> l116 : a_1089^0'=a_1089^post186, f_847^0'=f_847^post186, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post186, a_394^0'=a_394^post186, x_156^0'=x_156^post186, a_632^0'=a_632^post186, r_192^0'=r_192^post186, a_176^0'=a_176^post186, i_106^0'=i_106^post186, a_430^0'=a_430^post186, t_458^0'=t_458^post186, len_161^0'=len_161^post186, x_975^0'=x_975^post186, a_902^0'=a_902^post186, a_947^0'=a_947^post186, rcd_88^0'=rcd_88^post186, a_311^0'=a_311^post186, i_140^0'=i_140^post186, a_577^0'=a_577^post186, x_14^0'=x_14^post186, nondet_12^0'=nondet_12^post186, a_121^0'=a_121^post186, head_15^0'=head_15^post186, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post186, i_27^0'=i_27^post186, x_21^0'=x_21^post186, a_634^0'=a_634^post186, r_39^0'=r_39^post186, a_263^0'=a_263^post186, i_113^0'=i_113^post186, a_432^0'=a_432^post186, temp0_31^0'=temp0_31^post186, len_262^0'=len_262^post186, y_20^0'=y_20^post186, f_248^0'=f_248^post186, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post186, a_393^0'=a_393^post186, i_229^0'=i_229^post186, a_610^0'=a_610^post186, r_151^0'=r_151^post186, a_144^0'=a_144^post186, i_1053^0'=i_1053^post186, a_417^0'=a_417^post186, t_24^0'=t_24^post186, i_94^0'=i_94^post186, x_852^0'=x_852^post186, a_862^0'=a_862^post186, rcd_1249^0'=rcd_1249^post186, rcd_58^0'=rcd_58^post186, a_310^0'=a_310^post186, i_127^0'=i_127^post186, a_576^0'=a_576^post186, tmp_34^0'=tmp_34^post186, length_29^0'=length_29^post186, a_1162^0'=a_1162^post186, f_969^0'=f_969^post186, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post186, a_395^0'=a_395^post186, x_17^0'=x_17^post186, a_633^0'=a_633^post186, r_224^0'=r_224^post186, a_239^0'=a_239^post186, i_107^0'=i_107^post186, a_431^0'=a_431^post186, temp0_16^0'=temp0_16^post186, len_238^0'=len_238^post186, x_SLAM_f_19^0'=x_SLAM_f_19^post186, a_924^0'=a_924^post186, ct_18^0'=ct_18^post186, result_11^0'=result_11^post186, a_392^0'=a_392^post186, i_197^0'=i_197^post186, a_579^0'=a_579^post186, r_143^0'=r_143^post186, a_1236^0'=a_1236^post186, head_32^0'=head_32^post186, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post186, i_30^0'=i_30^post186, x_253^0'=x_253^post186, a_635^0'=a_635^post186, r_970^0'=r_970^post186, rcd_47^0'=rcd_47^post186, a_309^0'=a_309^post186, i_1248^0'=i_1248^post186, a_575^0'=a_575^post186, temp_35^0'=temp_35^post186, len_861^0'=len_861^post186, (a_862^0-a_862^post186 == 0 /\ len_161^0-len_161^post186 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post186+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_31^post186+temp0_31^0 == 0 /\ rcd_58^0-rcd_58^post186 == 0 /\ -i_229^post186+i_229^0 == 0 /\ x_852^0-x_852^post186 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post186 == 0 /\ -temp0_16^post186+temp0_16^0 == 0 /\ a_263^0-a_263^post186 == 0 /\ t_24^0-t_24^post186 == 0 /\ a_394^0-a_394^post186 == 0 /\ -i_1053^post186+i_1053^0 == 0 /\ -a_310^post186+a_310^0 == 0 /\ -r_224^post186+r_224^0 == 0 /\ a_176^0-a_176^post186 == 0 /\ -head_32^post186+head_32^0 == 0 /\ -i_197^post186+i_197^0 == 0 /\ -temp_35^post186+temp_35^0 == 0 /\ a_947^0-a_947^post186 == 0 /\ f_847^0-f_847^post186 == 0 /\ -len_262^post186+len_262^0 == 0 /\ tmp_34^0-tmp_34^post186 == 0 /\ -r_39^post186+r_39^0 == 0 /\ -x_17^post186+x_17^0 == 0 /\ -a_417^post186+a_417^0 == 0 /\ r_151^0-r_151^post186 == 0 /\ -x_21^post186+x_21^0 == 0 /\ -x_14^post186+x_14^0 == 0 /\ -a_309^post186+a_309^0 == 0 /\ -i_127^post186+i_127^0 == 0 /\ length_29^0-length_29^post186 == 0 /\ -a_579^post186+a_579^0 == 0 /\ -i_30^post186+i_30^0 == 0 /\ -result_11^post186+result_11^0 == 0 /\ head_15^0-head_15^post186 == 0 /\ a_430^0-a_430^post186 == 0 /\ rcd_88^0-rcd_88^post186 == 0 /\ a_902^0-a_902^post186 == 0 /\ -i_107^post186+i_107^0 == 0 /\ a_311^0-a_311^post186 == 0 /\ i_113^0-i_113^post186 == 0 /\ -a_924^post186+a_924^0 == 0 /\ -len_861^post186+len_861^0 == 0 /\ ct_18^0-ct_18^post186 == 0 /\ a_1089^0-a_1089^post186 == 0 /\ -a_635^post186+a_635^0 == 0 /\ x_156^0-x_156^post186 == 0 /\ -a_577^post186+a_577^0 == 0 /\ -a_1162^post186+a_1162^0 == 0 /\ a_432^0-a_432^post186 == 0 /\ -i_1248^post186+i_1248^0 == 0 /\ r_192^0-r_192^post186 == 0 /\ i_140^0-i_140^post186 == 0 /\ i_27^0-i_27^post186 == 0 /\ -a_633^post186+a_633^0 == 0 /\ a_634^0-a_634^post186 == 0 /\ a_144^0-a_144^post186 == 0 /\ -a_632^post186+a_632^0 == 0 /\ -rcd_47^post186+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post186 == 0 /\ y_20^0-y_20^post186 == 0 /\ -r_143^post186+r_143^0 == 0 /\ x_253^0-x_253^post186 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post186 == 0 /\ -rcd_1249^post186+rcd_1249^0 == 0 /\ a_395^0-a_395^post186 == 0 /\ -len_238^post186+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post186+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post186 == 0 /\ -a_392^post186+a_392^0 == 0 /\ i_106^0-i_106^post186 == 0 /\ a_610^0-a_610^post186 == 0 /\ -a_576^post186+a_576^0 == 0 /\ a_239^0-a_239^post186 == 0 /\ x_975^0-x_975^post186 == 0 /\ a_393^0-a_393^post186 == 0 /\ 1+x_14^0 <= 0 /\ -a_121^post186+a_121^0 == 0 /\ -f_248^post186+f_248^0 == 0 /\ f_969^0-f_969^post186 == 0 /\ -a_1236^post186+a_1236^0 == 0 /\ a_575^0-a_575^post186 == 0 /\ -x_SLAM_f_19^post186+x_SLAM_f_19^0 == 0 /\ nondet_12^0-nondet_12^post186 == 0 /\ -i_94^post186+i_94^0 == 0 /\ -r_970^post186+r_970^0 == 0 /\ -a_431^post186+a_431^0 == 0), cost: 1 187: l116 -> l117 : a_1089^0'=a_1089^post187, f_847^0'=f_847^post187, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post187, a_394^0'=a_394^post187, x_156^0'=x_156^post187, a_632^0'=a_632^post187, r_192^0'=r_192^post187, a_176^0'=a_176^post187, i_106^0'=i_106^post187, a_430^0'=a_430^post187, t_458^0'=t_458^post187, len_161^0'=len_161^post187, x_975^0'=x_975^post187, a_902^0'=a_902^post187, a_947^0'=a_947^post187, rcd_88^0'=rcd_88^post187, a_311^0'=a_311^post187, i_140^0'=i_140^post187, a_577^0'=a_577^post187, x_14^0'=x_14^post187, nondet_12^0'=nondet_12^post187, a_121^0'=a_121^post187, head_15^0'=head_15^post187, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post187, i_27^0'=i_27^post187, x_21^0'=x_21^post187, a_634^0'=a_634^post187, r_39^0'=r_39^post187, a_263^0'=a_263^post187, i_113^0'=i_113^post187, a_432^0'=a_432^post187, temp0_31^0'=temp0_31^post187, len_262^0'=len_262^post187, y_20^0'=y_20^post187, f_248^0'=f_248^post187, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post187, a_393^0'=a_393^post187, i_229^0'=i_229^post187, a_610^0'=a_610^post187, r_151^0'=r_151^post187, a_144^0'=a_144^post187, i_1053^0'=i_1053^post187, a_417^0'=a_417^post187, t_24^0'=t_24^post187, i_94^0'=i_94^post187, x_852^0'=x_852^post187, a_862^0'=a_862^post187, rcd_1249^0'=rcd_1249^post187, rcd_58^0'=rcd_58^post187, a_310^0'=a_310^post187, i_127^0'=i_127^post187, a_576^0'=a_576^post187, tmp_34^0'=tmp_34^post187, length_29^0'=length_29^post187, a_1162^0'=a_1162^post187, f_969^0'=f_969^post187, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post187, a_395^0'=a_395^post187, x_17^0'=x_17^post187, a_633^0'=a_633^post187, r_224^0'=r_224^post187, a_239^0'=a_239^post187, i_107^0'=i_107^post187, a_431^0'=a_431^post187, temp0_16^0'=temp0_16^post187, len_238^0'=len_238^post187, x_SLAM_f_19^0'=x_SLAM_f_19^post187, a_924^0'=a_924^post187, ct_18^0'=ct_18^post187, result_11^0'=result_11^post187, a_392^0'=a_392^post187, i_197^0'=i_197^post187, a_579^0'=a_579^post187, r_143^0'=r_143^post187, a_1236^0'=a_1236^post187, head_32^0'=head_32^post187, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post187, i_30^0'=i_30^post187, x_253^0'=x_253^post187, a_635^0'=a_635^post187, r_970^0'=r_970^post187, rcd_47^0'=rcd_47^post187, a_309^0'=a_309^post187, i_1248^0'=i_1248^post187, a_575^0'=a_575^post187, temp_35^0'=temp_35^post187, len_861^0'=len_861^post187, (i_113^0-i_113^post187 == 0 /\ -len_238^post187+len_238^0 == 0 /\ length_29^0-length_29^post187 == 0 /\ head_15^0-head_15^post187 == 0 /\ r_192^0-r_192^post187 == 0 /\ r_39^0-r_39^post187 == 0 /\ tmp_34^0-tmp_34^post187 == 0 /\ -rcd_47^post187+rcd_47^0 == 0 /\ a_392^0-a_392^post187 == 0 /\ a_311^0-a_311^post187 == 0 /\ -a_1162^post187+a_1162^0 == 0 /\ i_94^0-i_94^post187 == 0 /\ a_393^0-a_393^post187 == 0 /\ -a_924^post187+a_924^0 == 0 /\ a_633^0-a_633^post187 == 0 /\ -result_11^post187+result_11^0 == 0 /\ -f_969^post187+f_969^0 == 0 /\ a_432^0-a_432^post187 == 0 /\ a_610^0-a_610^post187 == 0 /\ i_27^0-i_27^post187 == 0 /\ -x_21^post187+x_21^0 == 0 /\ a_144^0-a_144^post187 == 0 /\ x_14^0-x_14^post187 == 0 /\ -nondet_12^post187+nondet_12^0 == 0 /\ -r_143^post187+r_143^0 == 0 /\ rcd_58^0-rcd_58^post187 == 0 /\ -a_431^post187+a_431^0 == 0 /\ head_32^0-head_32^post187 == 0 /\ a_417^0-a_417^post187 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post187 == 0 /\ a_1089^0-a_1089^post187 == 0 /\ a_634^0-a_634^post187 == 0 /\ -a_576^post187+a_576^0 == 0 /\ -r_970^post187+r_970^0 == 0 /\ a_263^0-a_263^post187 == 0 /\ -x_SLAM_f_19^post187+x_SLAM_f_19^0 == 0 /\ -a_1236^post187+a_1236^0 == 0 /\ -y_20^post187+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post187 == 0 /\ -a_310^post187+a_310^0 == 0 /\ -a_121^post187+a_121^0 == 0 /\ -temp_35^post187+temp_35^0 == 0 /\ -x_253^post187+x_253^0 == 0 /\ rcd_1249^0-rcd_1249^post187 == 0 /\ -temp0_31^post187+temp0_31^0 == 0 /\ a_902^0-a_902^post187 == 0 /\ x_975^0-x_975^post187 == 0 /\ r_151^0-r_151^post187 == 0 /\ t_458^0-t_458^post187 == 0 /\ f_248^0-f_248^post187 == 0 /\ i_106^0-i_106^post187 == 0 /\ a_577^0-a_577^post187 == 0 /\ -r_224^post187+r_224^0 == 0 /\ -a_395^post187+a_395^0 == 0 /\ -temp0_16^post187+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post187 == 0 /\ -i_229^post187+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post187+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post187+len_861^0 == 0 /\ -i_1248^post187+i_1248^0 == 0 /\ -a_239^post187+a_239^0 == 0 /\ -a_430^post187+a_430^0 == 0 /\ -a_947^post187+a_947^0 == 0 /\ a_632^0-a_632^post187 == 0 /\ -a_862^post187+a_862^0 == 0 /\ -a_579^post187+a_579^0 == 0 /\ -i_127^post187+i_127^0 == 0 /\ -len_262^post187+len_262^0 == 0 /\ x_852^0-x_852^post187 == 0 /\ -i_30^post187+i_30^0 == 0 /\ -a_635^post187+a_635^0 == 0 /\ 1-head_15^0 <= 0 /\ -i_107^post187+i_107^0 == 0 /\ -x_17^post187+x_17^0 == 0 /\ len_161^0-len_161^post187 == 0 /\ -a_575^post187+a_575^0 == 0 /\ x_156^0-x_156^post187 == 0 /\ -i_197^post187+i_197^0 == 0 /\ f_847^0-f_847^post187 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post187 == 0 /\ -a_309^post187+a_309^0 == 0 /\ a_394^0-a_394^post187 == 0 /\ i_1053^0-i_1053^post187 == 0 /\ -ct_18^post187+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post187 == 0 /\ -t_24^post187+t_24^0 == 0 /\ i_140^0-i_140^post187 == 0 /\ a_176^0-a_176^post187 == 0), cost: 1 188: l116 -> l117 : a_1089^0'=a_1089^post188, f_847^0'=f_847^post188, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post188, a_394^0'=a_394^post188, x_156^0'=x_156^post188, a_632^0'=a_632^post188, r_192^0'=r_192^post188, a_176^0'=a_176^post188, i_106^0'=i_106^post188, a_430^0'=a_430^post188, t_458^0'=t_458^post188, len_161^0'=len_161^post188, x_975^0'=x_975^post188, a_902^0'=a_902^post188, a_947^0'=a_947^post188, rcd_88^0'=rcd_88^post188, a_311^0'=a_311^post188, i_140^0'=i_140^post188, a_577^0'=a_577^post188, x_14^0'=x_14^post188, nondet_12^0'=nondet_12^post188, a_121^0'=a_121^post188, head_15^0'=head_15^post188, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post188, i_27^0'=i_27^post188, x_21^0'=x_21^post188, a_634^0'=a_634^post188, r_39^0'=r_39^post188, a_263^0'=a_263^post188, i_113^0'=i_113^post188, a_432^0'=a_432^post188, temp0_31^0'=temp0_31^post188, len_262^0'=len_262^post188, y_20^0'=y_20^post188, f_248^0'=f_248^post188, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post188, a_393^0'=a_393^post188, i_229^0'=i_229^post188, a_610^0'=a_610^post188, r_151^0'=r_151^post188, a_144^0'=a_144^post188, i_1053^0'=i_1053^post188, a_417^0'=a_417^post188, t_24^0'=t_24^post188, i_94^0'=i_94^post188, x_852^0'=x_852^post188, a_862^0'=a_862^post188, rcd_1249^0'=rcd_1249^post188, rcd_58^0'=rcd_58^post188, a_310^0'=a_310^post188, i_127^0'=i_127^post188, a_576^0'=a_576^post188, tmp_34^0'=tmp_34^post188, length_29^0'=length_29^post188, a_1162^0'=a_1162^post188, f_969^0'=f_969^post188, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post188, a_395^0'=a_395^post188, x_17^0'=x_17^post188, a_633^0'=a_633^post188, r_224^0'=r_224^post188, a_239^0'=a_239^post188, i_107^0'=i_107^post188, a_431^0'=a_431^post188, temp0_16^0'=temp0_16^post188, len_238^0'=len_238^post188, x_SLAM_f_19^0'=x_SLAM_f_19^post188, a_924^0'=a_924^post188, ct_18^0'=ct_18^post188, result_11^0'=result_11^post188, a_392^0'=a_392^post188, i_197^0'=i_197^post188, a_579^0'=a_579^post188, r_143^0'=r_143^post188, a_1236^0'=a_1236^post188, head_32^0'=head_32^post188, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post188, i_30^0'=i_30^post188, x_253^0'=x_253^post188, a_635^0'=a_635^post188, r_970^0'=r_970^post188, rcd_47^0'=rcd_47^post188, a_309^0'=a_309^post188, i_1248^0'=i_1248^post188, a_575^0'=a_575^post188, temp_35^0'=temp_35^post188, len_861^0'=len_861^post188, (result_11^0-result_11^post188 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post188 == 0 /\ -i_229^post188+i_229^0 == 0 /\ a_579^0-a_579^post188 == 0 /\ i_27^0-i_27^post188 == 0 /\ 1+head_15^0 <= 0 /\ -len_262^post188+len_262^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post188+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post188+i_1248^0 == 0 /\ a_634^0-a_634^post188 == 0 /\ -temp0_31^post188+temp0_31^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post188 == 0 /\ -a_392^post188+a_392^0 == 0 /\ x_156^0-x_156^post188 == 0 /\ t_24^0-t_24^post188 == 0 /\ a_176^0-a_176^post188 == 0 /\ -temp0_16^post188+temp0_16^0 == 0 /\ i_1053^0-i_1053^post188 == 0 /\ a_947^0-a_947^post188 == 0 /\ -r_39^post188+r_39^0 == 0 /\ -i_30^post188+i_30^0 == 0 /\ -len_861^post188+len_861^0 == 0 /\ -head_32^post188+head_32^0 == 0 /\ -x_14^post188+x_14^0 == 0 /\ a_632^0-a_632^post188 == 0 /\ r_151^0-r_151^post188 == 0 /\ length_29^0-length_29^post188 == 0 /\ -x_17^post188+x_17^0 == 0 /\ -x_21^post188+x_21^0 == 0 /\ -rcd_58^post188+rcd_58^0 == 0 /\ -i_197^post188+i_197^0 == 0 /\ a_311^0-a_311^post188 == 0 /\ i_113^0-i_113^post188 == 0 /\ -a_635^post188+a_635^0 == 0 /\ head_15^0-head_15^post188 == 0 /\ a_239^0-a_239^post188 == 0 /\ -a_309^post188+a_309^0 == 0 /\ a_902^0-a_902^post188 == 0 /\ -a_144^post188+a_144^0 == 0 /\ -ct_18^post188+ct_18^0 == 0 /\ -i_127^post188+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post188+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post188 == 0 /\ -a_575^post188+a_575^0 == 0 /\ r_192^0-r_192^post188 == 0 /\ -a_633^post188+a_633^0 == 0 /\ a_430^0-a_430^post188 == 0 /\ a_310^0-a_310^post188 == 0 /\ -rcd_47^post188+rcd_47^0 == 0 /\ -a_1162^post188+a_1162^0 == 0 /\ -a_924^post188+a_924^0 == 0 /\ i_140^0-i_140^post188 == 0 /\ a_417^0-a_417^post188 == 0 /\ -x_975^post188+x_975^0 == 0 /\ -len_238^post188+len_238^0 == 0 /\ nondet_12^0-nondet_12^post188 == 0 /\ -a_610^post188+a_610^0 == 0 /\ a_263^0-a_263^post188 == 0 /\ -rcd_1249^post188+rcd_1249^0 == 0 /\ a_1089^0-a_1089^post188 == 0 /\ a_862^0-a_862^post188 == 0 /\ a_394^0-a_394^post188 == 0 /\ x_852^0-x_852^post188 == 0 /\ -tmp_34^post188+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post188 == 0 /\ -x_253^post188+x_253^0 == 0 /\ -f_969^post188+f_969^0 == 0 /\ y_20^0-y_20^post188 == 0 /\ rcd_88^0-rcd_88^post188 == 0 /\ f_847^0-f_847^post188 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post188 == 0 /\ t_458^0-t_458^post188 == 0 /\ -a_431^post188+a_431^0 == 0 /\ i_106^0-i_106^post188 == 0 /\ a_395^0-a_395^post188 == 0 /\ -a_576^post188+a_576^0 == 0 /\ -i_94^post188+i_94^0 == 0 /\ -r_224^post188+r_224^0 == 0 /\ -temp_35^post188+temp_35^0 == 0 /\ i_107^0-i_107^post188 == 0 /\ -r_143^post188+r_143^0 == 0 /\ a_577^0-a_577^post188 == 0 /\ a_393^0-a_393^post188 == 0 /\ -r_970^post188+r_970^0 == 0 /\ len_161^0-len_161^post188 == 0 /\ -a_1236^post188+a_1236^0 == 0 /\ -f_248^post188+f_248^0 == 0 /\ -a_121^post188+a_121^0 == 0), cost: 1 189: l117 -> l118 : a_1089^0'=a_1089^post189, f_847^0'=f_847^post189, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post189, a_394^0'=a_394^post189, x_156^0'=x_156^post189, a_632^0'=a_632^post189, r_192^0'=r_192^post189, a_176^0'=a_176^post189, i_106^0'=i_106^post189, a_430^0'=a_430^post189, t_458^0'=t_458^post189, len_161^0'=len_161^post189, x_975^0'=x_975^post189, a_902^0'=a_902^post189, a_947^0'=a_947^post189, rcd_88^0'=rcd_88^post189, a_311^0'=a_311^post189, i_140^0'=i_140^post189, a_577^0'=a_577^post189, x_14^0'=x_14^post189, nondet_12^0'=nondet_12^post189, a_121^0'=a_121^post189, head_15^0'=head_15^post189, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post189, i_27^0'=i_27^post189, x_21^0'=x_21^post189, a_634^0'=a_634^post189, r_39^0'=r_39^post189, a_263^0'=a_263^post189, i_113^0'=i_113^post189, a_432^0'=a_432^post189, temp0_31^0'=temp0_31^post189, len_262^0'=len_262^post189, y_20^0'=y_20^post189, f_248^0'=f_248^post189, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post189, a_393^0'=a_393^post189, i_229^0'=i_229^post189, a_610^0'=a_610^post189, r_151^0'=r_151^post189, a_144^0'=a_144^post189, i_1053^0'=i_1053^post189, a_417^0'=a_417^post189, t_24^0'=t_24^post189, i_94^0'=i_94^post189, x_852^0'=x_852^post189, a_862^0'=a_862^post189, rcd_1249^0'=rcd_1249^post189, rcd_58^0'=rcd_58^post189, a_310^0'=a_310^post189, i_127^0'=i_127^post189, a_576^0'=a_576^post189, tmp_34^0'=tmp_34^post189, length_29^0'=length_29^post189, a_1162^0'=a_1162^post189, f_969^0'=f_969^post189, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post189, a_395^0'=a_395^post189, x_17^0'=x_17^post189, a_633^0'=a_633^post189, r_224^0'=r_224^post189, a_239^0'=a_239^post189, i_107^0'=i_107^post189, a_431^0'=a_431^post189, temp0_16^0'=temp0_16^post189, len_238^0'=len_238^post189, x_SLAM_f_19^0'=x_SLAM_f_19^post189, a_924^0'=a_924^post189, ct_18^0'=ct_18^post189, result_11^0'=result_11^post189, a_392^0'=a_392^post189, i_197^0'=i_197^post189, a_579^0'=a_579^post189, r_143^0'=r_143^post189, a_1236^0'=a_1236^post189, head_32^0'=head_32^post189, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post189, i_30^0'=i_30^post189, x_253^0'=x_253^post189, a_635^0'=a_635^post189, r_970^0'=r_970^post189, rcd_47^0'=rcd_47^post189, a_309^0'=a_309^post189, i_1248^0'=i_1248^post189, a_575^0'=a_575^post189, temp_35^0'=temp_35^post189, len_861^0'=len_861^post189, (-a_633^post189+a_633^0 == 0 /\ a_902^0-a_902^post189 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post189 == 0 /\ -rcd_1249^post189+rcd_1249^0 == 0 /\ a_392^0-a_392^post189 == 0 /\ i_106^0-i_106^post189 == 0 /\ -result_11^post189+result_11^0 == 0 /\ -x_852^post189+x_852^0 == 0 /\ -head_15^post189+head_15^0 == 0 /\ -tmp_34^post189+tmp_34^0 == 0 /\ -a_610^post189+a_610^0 == 0 /\ -len_238^post189+len_238^0 == 0 /\ -a_924^post189+a_924^0 == 0 /\ t_458^0-t_458^post189 == 0 /\ a_1089^0-a_1089^post189 == 0 /\ -rcd_47^post189+rcd_47^0 == 0 /\ a_310^0-a_310^post189 == 0 /\ a_632^0-a_632^post189 == 0 /\ -r_143^post189+r_143^0 == 0 /\ -a_311^post189+a_311^0 == 0 /\ x_21^0-x_21^post189 == 0 /\ -temp_35^post189+temp_35^0 == 0 /\ a_263^0-a_263^post189 == 0 /\ len_262^0-len_262^post189 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post189 == 0 /\ -nondet_12^post189+nondet_12^0 == 0 /\ -x_253^post189+x_253^0 == 0 /\ -r_970^post189+r_970^0 == 0 /\ -f_969^post189+f_969^0 == 0 /\ -rcd_88^post189+rcd_88^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post189 == 0 /\ temp0_31^0-temp0_31^post189 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post189 == 0 /\ i_94^0-i_94^post189 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post189+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_1053^0-i_1053^post189 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post189 == 0 /\ -a_576^post189+a_576^0 == 0 /\ a_176^0-a_176^post189 == 0 /\ a_121^0-a_121^post189 == 0 /\ y_20^0-y_20^post189 == 0 /\ a_394^0-a_394^post189 == 0 /\ -f_248^post189+f_248^0 == 0 /\ -a_634^post189+a_634^0 == 0 /\ -len_861^post189+len_861^0 == 0 /\ -a_1236^post189+a_1236^0 == 0 /\ -temp0_16^post189+temp0_16^0 == 0 /\ i_113^0-i_113^post189 == 0 /\ x_975^0-x_975^post189 == 0 /\ r_39^0-r_39^post189 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post189 == 0 /\ a_577^0-a_577^post189 == 0 /\ -a_417^post189+a_417^0 == 0 /\ -i_1248^post189+i_1248^0 == 0 /\ -r_224^post189+r_224^0 == 0 /\ -a_239^post189+a_239^0 == 0 /\ -x_17^post189+x_17^0 == 0 /\ -a_430^post189+a_430^0 == 0 /\ x_14^0-x_14^post189 == 0 /\ t_24^0-t_24^post189 == 0 /\ a_393^0-a_393^post189 == 0 /\ -length_29^post189+length_29^0 == 0 /\ -i_27^post189+i_27^0 == 0 /\ -a_575^post189+a_575^0 == 0 /\ -i_197^post189+i_197^0 == 0 /\ a_432^0-a_432^post189 == 0 /\ -ct_18^post189+ct_18^0 == 0 /\ -a_635^post189+a_635^0 == 0 /\ a_862^0-a_862^post189 == 0 /\ i_140^0-i_140^post189 == 0 /\ -r_151^post189+r_151^0 == 0 /\ len_161^0-len_161^post189 == 0 /\ -a_309^post189+a_309^0 == 0 /\ x_156^0-x_156^post189 == 0 /\ -head_32^post189+head_32^0 == 0 /\ i_229^0-i_229^post189 == 0 /\ -i_30^post189+i_30^0 == 0 /\ a_431^0-a_431^post189 == 0 /\ f_847^0-f_847^post189 == 0 /\ -a_579^post189+a_579^0 == 0 /\ -i_127^post189+i_127^0 == 0 /\ -a_1162^post189+a_1162^0 == 0 /\ a_395^0-a_395^post189 == 0 /\ -a_144^post189+a_144^0 == 0 /\ a_947^0-a_947^post189 == 0 /\ rcd_58^0-rcd_58^post189 == 0 /\ -i_107^post189+i_107^0 == 0), cost: 1 190: l117 -> l118 : a_1089^0'=a_1089^post190, f_847^0'=f_847^post190, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post190, a_394^0'=a_394^post190, x_156^0'=x_156^post190, a_632^0'=a_632^post190, r_192^0'=r_192^post190, a_176^0'=a_176^post190, i_106^0'=i_106^post190, a_430^0'=a_430^post190, t_458^0'=t_458^post190, len_161^0'=len_161^post190, x_975^0'=x_975^post190, a_902^0'=a_902^post190, a_947^0'=a_947^post190, rcd_88^0'=rcd_88^post190, a_311^0'=a_311^post190, i_140^0'=i_140^post190, a_577^0'=a_577^post190, x_14^0'=x_14^post190, nondet_12^0'=nondet_12^post190, a_121^0'=a_121^post190, head_15^0'=head_15^post190, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post190, i_27^0'=i_27^post190, x_21^0'=x_21^post190, a_634^0'=a_634^post190, r_39^0'=r_39^post190, a_263^0'=a_263^post190, i_113^0'=i_113^post190, a_432^0'=a_432^post190, temp0_31^0'=temp0_31^post190, len_262^0'=len_262^post190, y_20^0'=y_20^post190, f_248^0'=f_248^post190, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post190, a_393^0'=a_393^post190, i_229^0'=i_229^post190, a_610^0'=a_610^post190, r_151^0'=r_151^post190, a_144^0'=a_144^post190, i_1053^0'=i_1053^post190, a_417^0'=a_417^post190, t_24^0'=t_24^post190, i_94^0'=i_94^post190, x_852^0'=x_852^post190, a_862^0'=a_862^post190, rcd_1249^0'=rcd_1249^post190, rcd_58^0'=rcd_58^post190, a_310^0'=a_310^post190, i_127^0'=i_127^post190, a_576^0'=a_576^post190, tmp_34^0'=tmp_34^post190, length_29^0'=length_29^post190, a_1162^0'=a_1162^post190, f_969^0'=f_969^post190, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post190, a_395^0'=a_395^post190, x_17^0'=x_17^post190, a_633^0'=a_633^post190, r_224^0'=r_224^post190, a_239^0'=a_239^post190, i_107^0'=i_107^post190, a_431^0'=a_431^post190, temp0_16^0'=temp0_16^post190, len_238^0'=len_238^post190, x_SLAM_f_19^0'=x_SLAM_f_19^post190, a_924^0'=a_924^post190, ct_18^0'=ct_18^post190, result_11^0'=result_11^post190, a_392^0'=a_392^post190, i_197^0'=i_197^post190, a_579^0'=a_579^post190, r_143^0'=r_143^post190, a_1236^0'=a_1236^post190, head_32^0'=head_32^post190, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post190, i_30^0'=i_30^post190, x_253^0'=x_253^post190, a_635^0'=a_635^post190, r_970^0'=r_970^post190, rcd_47^0'=rcd_47^post190, a_309^0'=a_309^post190, i_1248^0'=i_1248^post190, a_575^0'=a_575^post190, temp_35^0'=temp_35^post190, len_861^0'=len_861^post190, (a_1162^0-a_1162^post190 == 0 /\ -a_1236^post190+a_1236^0 == 0 /\ -a_417^post190+a_417^0 == 0 /\ -a_392^post190+a_392^0 == 0 /\ i_140^0-i_140^post190 == 0 /\ -i_27^post190+i_27^0 == 0 /\ a_579^0-a_579^post190 == 0 /\ -a_309^post190+a_309^0 == 0 /\ i_197^0-i_197^post190 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post190 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post190+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post190+a_575^0 == 0 /\ temp0_31^0-temp0_31^post190 == 0 /\ a_924^0-a_924^post190 == 0 /\ i_1053^0-i_1053^post190 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post190 == 0 /\ -i_30^post190+i_30^0 == 0 /\ -len_861^post190+len_861^0 == 0 /\ a_634^0-a_634^post190 == 0 /\ -a_635^post190+a_635^0 == 0 /\ x_975^0-x_975^post190 == 0 /\ -len_262^post190+len_262^0 == 0 /\ y_20^0-y_20^post190 == 0 /\ -x_17^post190+x_17^0 == 0 /\ r_151^0-r_151^post190 == 0 /\ -rcd_58^post190+rcd_58^0 == 0 /\ -head_32^post190+head_32^0 == 0 /\ r_192^0-r_192^post190 == 0 /\ t_458^0-t_458^post190 == 0 /\ a_176^0-a_176^post190 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_113^0-i_113^post190 == 0 /\ -ct_18^post190+ct_18^0 == 0 /\ -head_15^post190+head_15^0 == 0 /\ -i_127^post190+i_127^0 == 0 /\ a_632^0-a_632^post190 == 0 /\ a_310^0-a_310^post190 == 0 /\ a_393^0-a_393^post190 == 0 /\ -a_144^post190+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post190+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_121^0-a_121^post190 == 0 /\ -f_969^post190+f_969^0 == 0 /\ -a_633^post190+a_633^0 == 0 /\ x_156^0-x_156^post190 == 0 /\ f_847^0-f_847^post190 == 0 /\ a_263^0-a_263^post190 == 0 /\ -tmp_34^post190+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post190 == 0 /\ -result_11^post190+result_11^0 == 0 /\ t_24^0-t_24^post190 == 0 /\ i_229^0-i_229^post190 == 0 /\ x_21^0-x_21^post190 == 0 /\ -rcd_1249^post190+rcd_1249^0 == 0 /\ a_862^0-a_862^post190 == 0 /\ -a_610^post190+a_610^0 == 0 /\ a_947^0-a_947^post190 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post190 == 0 /\ -x_852^post190+x_852^0 == 0 /\ i_94^0-i_94^post190 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post190+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_238^post190+len_238^0 == 0 /\ r_970^0-r_970^post190 == 0 /\ a_394^0-a_394^post190 == 0 /\ a_577^0-a_577^post190 == 0 /\ -i_1248^post190+i_1248^0 == 0 /\ a_902^0-a_902^post190 == 0 /\ length_29^0-length_29^post190 == 0 /\ -a_239^post190+a_239^0 == 0 /\ a_395^0-a_395^post190 == 0 /\ -temp0_16^post190+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post190 == 0 /\ r_224^0-r_224^post190 == 0 /\ -a_576^post190+a_576^0 == 0 /\ -x_253^post190+x_253^0 == 0 /\ a_311^0-a_311^post190 == 0 /\ rcd_47^0-rcd_47^post190 == 0 /\ i_107^0-i_107^post190 == 0 /\ i_106^0-i_106^post190 == 0 /\ -temp_35^post190+temp_35^0 == 0 /\ a_1089^0-a_1089^post190 == 0 /\ -a_431^post190+a_431^0 == 0 /\ -r_143^post190+r_143^0 == 0 /\ -f_248^post190+f_248^0 == 0 /\ x_14^0-x_14^post190 == 0 /\ a_430^0-a_430^post190 == 0 /\ r_39^0-r_39^post190 == 0 /\ -len_161^post190+len_161^0 == 0 /\ a_432^0-a_432^post190 == 0), cost: 1 191: l118 -> l8 : a_1089^0'=a_1089^post191, f_847^0'=f_847^post191, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post191, a_394^0'=a_394^post191, x_156^0'=x_156^post191, a_632^0'=a_632^post191, r_192^0'=r_192^post191, a_176^0'=a_176^post191, i_106^0'=i_106^post191, a_430^0'=a_430^post191, t_458^0'=t_458^post191, len_161^0'=len_161^post191, x_975^0'=x_975^post191, a_902^0'=a_902^post191, a_947^0'=a_947^post191, rcd_88^0'=rcd_88^post191, a_311^0'=a_311^post191, i_140^0'=i_140^post191, a_577^0'=a_577^post191, x_14^0'=x_14^post191, nondet_12^0'=nondet_12^post191, a_121^0'=a_121^post191, head_15^0'=head_15^post191, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post191, i_27^0'=i_27^post191, x_21^0'=x_21^post191, a_634^0'=a_634^post191, r_39^0'=r_39^post191, a_263^0'=a_263^post191, i_113^0'=i_113^post191, a_432^0'=a_432^post191, temp0_31^0'=temp0_31^post191, len_262^0'=len_262^post191, y_20^0'=y_20^post191, f_248^0'=f_248^post191, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post191, a_393^0'=a_393^post191, i_229^0'=i_229^post191, a_610^0'=a_610^post191, r_151^0'=r_151^post191, a_144^0'=a_144^post191, i_1053^0'=i_1053^post191, a_417^0'=a_417^post191, t_24^0'=t_24^post191, i_94^0'=i_94^post191, x_852^0'=x_852^post191, a_862^0'=a_862^post191, rcd_1249^0'=rcd_1249^post191, rcd_58^0'=rcd_58^post191, a_310^0'=a_310^post191, i_127^0'=i_127^post191, a_576^0'=a_576^post191, tmp_34^0'=tmp_34^post191, length_29^0'=length_29^post191, a_1162^0'=a_1162^post191, f_969^0'=f_969^post191, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post191, a_395^0'=a_395^post191, x_17^0'=x_17^post191, a_633^0'=a_633^post191, r_224^0'=r_224^post191, a_239^0'=a_239^post191, i_107^0'=i_107^post191, a_431^0'=a_431^post191, temp0_16^0'=temp0_16^post191, len_238^0'=len_238^post191, x_SLAM_f_19^0'=x_SLAM_f_19^post191, a_924^0'=a_924^post191, ct_18^0'=ct_18^post191, result_11^0'=result_11^post191, a_392^0'=a_392^post191, i_197^0'=i_197^post191, a_579^0'=a_579^post191, r_143^0'=r_143^post191, a_1236^0'=a_1236^post191, head_32^0'=head_32^post191, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post191, i_30^0'=i_30^post191, x_253^0'=x_253^post191, a_635^0'=a_635^post191, r_970^0'=r_970^post191, rcd_47^0'=rcd_47^post191, a_309^0'=a_309^post191, i_1248^0'=i_1248^post191, a_575^0'=a_575^post191, temp_35^0'=temp_35^post191, len_861^0'=len_861^post191, (x_975^0-x_975^post191 == 0 /\ i_127^0-i_127^post191 == 0 /\ -x_253^post191+x_253^0 == 0 /\ -a_263^post191+a_263^0 == 0 /\ -a_634^post191+a_634^0 == 0 /\ a_577^0-a_577^post191 == 0 /\ t_458^0-t_458^post191 == 0 /\ -a_431^post191+a_431^0 == 0 /\ a_902^0-a_902^post191 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post191+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_106^0-i_106^post191 == 0 /\ -result_11^post191+result_11^0 == 0 /\ -rcd_47^post191+rcd_47^0 == 0 /\ -f_969^post191+f_969^0 == 0 /\ rcd_1249^0-rcd_1249^post191 == 0 /\ x_14^0-x_14^post191 == 0 /\ len_161^0-len_161^post191 == 0 /\ -rcd_58^post191+rcd_58^0 == 0 /\ -t_24^post191+t_24^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tmp_34^post191+tmp_34^0 == 0 /\ a_632^0-a_632^post191 == 0 /\ a_430^0-a_430^post191 == 0 /\ len_262^0-len_262^post191 == 0 /\ -i_1053^post191+i_1053^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_21^0-x_21^post191 == 0 /\ -r_970^post191+r_970^0 == 0 /\ -r_224^post191+r_224^0 == 0 /\ -a_395^post191+a_395^0 == 0 /\ temp0_31^0-temp0_31^post191 == 0 /\ f_847^0-f_847^post191 == 0 /\ -a_311^post191+a_311^0 == 0 /\ a_1162^0-a_1162^post191 == 0 /\ -len_861^post191+len_861^0 == 0 /\ a_924^0-a_924^post191 == 0 /\ 1-i_127^0 <= 0 /\ i_94^0-i_94^post191 == 0 /\ a_394^0-a_394^post191 == 0 /\ -a_576^post191+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post191+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_88^post191+rcd_88^0 == 0 /\ -temp_35^post191+temp_35^0 == 0 /\ -r_143^post191+r_143^0 == 0 /\ a_176^0-a_176^post191 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post191+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ y_20^0-y_20^post191 == 0 /\ head_15^0-head_15^post191 == 0 /\ a_121^0-a_121^post191 == 0 /\ r_192^0-r_192^post191 == 0 /\ i_113^0-i_113^post191 == 0 /\ -a_392^post191+a_392^0 == 0 /\ r_39^0-r_39^post191 == 0 /\ -i_107^post191+i_107^0 == 0 /\ -i_30^post191+i_30^0 == 0 /\ -a_1236^post191+a_1236^0 == 0 /\ -a_575^post191+a_575^0 == 0 /\ -a_417^post191+a_417^0 == 0 /\ a_610^0-a_610^post191 == 0 /\ -x_SLAM_f_19^post191+x_SLAM_f_19^0 == 0 /\ -x_17^post191+x_17^0 == 0 /\ a_393^0-a_393^post191 == 0 /\ a_1089^0-a_1089^post191 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post191 == 0 /\ -a_239^post191+a_239^0 == 0 /\ -i_27^post191+i_27^0 == 0 /\ a_432^0-a_432^post191 == 0 /\ -a_635^post191+a_635^0 == 0 /\ -length_29^post191+length_29^0 == 0 /\ x_156^0-x_156^post191 == 0 /\ i_1248^0-i_1248^post191 == 0 /\ -ct_18^post191+ct_18^0 == 0 /\ -len_238^post191+len_238^0 == 0 /\ -r_151^post191+r_151^0 == 0 /\ -a_310^post191+a_310^0 == 0 /\ -a_633^post191+a_633^0 == 0 /\ -head_32^post191+head_32^0 == 0 /\ i_140^0-i_140^post191 == 0 /\ -x_852^post191+x_852^0 == 0 /\ i_229^0-i_229^post191 == 0 /\ temp0_16^0-temp0_16^post191 == 0 /\ nondet_12^0-nondet_12^post191 == 0 /\ a_144^0-a_144^post191 == 0 /\ a_947^0-a_947^post191 == 0 /\ f_248^0-f_248^post191 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post191+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post191+a_862^0 == 0 /\ -i_197^post191+i_197^0 == 0 /\ -a_309^post191+a_309^0 == 0 /\ -a_579^post191+a_579^0 == 0), cost: 1 192: l119 -> l121 : a_1089^0'=a_1089^post192, f_847^0'=f_847^post192, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post192, a_394^0'=a_394^post192, x_156^0'=x_156^post192, a_632^0'=a_632^post192, r_192^0'=r_192^post192, a_176^0'=a_176^post192, i_106^0'=i_106^post192, a_430^0'=a_430^post192, t_458^0'=t_458^post192, len_161^0'=len_161^post192, x_975^0'=x_975^post192, a_902^0'=a_902^post192, a_947^0'=a_947^post192, rcd_88^0'=rcd_88^post192, a_311^0'=a_311^post192, i_140^0'=i_140^post192, a_577^0'=a_577^post192, x_14^0'=x_14^post192, nondet_12^0'=nondet_12^post192, a_121^0'=a_121^post192, head_15^0'=head_15^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192, i_27^0'=i_27^post192, x_21^0'=x_21^post192, a_634^0'=a_634^post192, r_39^0'=r_39^post192, a_263^0'=a_263^post192, i_113^0'=i_113^post192, a_432^0'=a_432^post192, temp0_31^0'=temp0_31^post192, len_262^0'=len_262^post192, y_20^0'=y_20^post192, f_248^0'=f_248^post192, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192, a_393^0'=a_393^post192, i_229^0'=i_229^post192, a_610^0'=a_610^post192, r_151^0'=r_151^post192, a_144^0'=a_144^post192, i_1053^0'=i_1053^post192, a_417^0'=a_417^post192, t_24^0'=t_24^post192, i_94^0'=i_94^post192, x_852^0'=x_852^post192, a_862^0'=a_862^post192, rcd_1249^0'=rcd_1249^post192, rcd_58^0'=rcd_58^post192, a_310^0'=a_310^post192, i_127^0'=i_127^post192, a_576^0'=a_576^post192, tmp_34^0'=tmp_34^post192, length_29^0'=length_29^post192, a_1162^0'=a_1162^post192, f_969^0'=f_969^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192, a_395^0'=a_395^post192, x_17^0'=x_17^post192, a_633^0'=a_633^post192, r_224^0'=r_224^post192, a_239^0'=a_239^post192, i_107^0'=i_107^post192, a_431^0'=a_431^post192, temp0_16^0'=temp0_16^post192, len_238^0'=len_238^post192, x_SLAM_f_19^0'=x_SLAM_f_19^post192, a_924^0'=a_924^post192, ct_18^0'=ct_18^post192, result_11^0'=result_11^post192, a_392^0'=a_392^post192, i_197^0'=i_197^post192, a_579^0'=a_579^post192, r_143^0'=r_143^post192, a_1236^0'=a_1236^post192, head_32^0'=head_32^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192, i_30^0'=i_30^post192, x_253^0'=x_253^post192, a_635^0'=a_635^post192, r_970^0'=r_970^post192, rcd_47^0'=rcd_47^post192, a_309^0'=a_309^post192, i_1248^0'=i_1248^post192, a_575^0'=a_575^post192, temp_35^0'=temp_35^post192, len_861^0'=len_861^post192, (-a_432^post192+a_432^0 == 0 /\ -a_393^post192+a_393^0 == 0 /\ f_847^0-f_847^post192 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192 == 0 /\ -i_94^post192+i_94^0 == 0 /\ -i_113^post192+i_113^0 == 0 /\ -a_309^post192+a_309^0 == 0 /\ x_21^0-x_21^post192 == 0 /\ -a_144^post192+a_144^0 == 0 /\ -i_107^post192+i_107^0 == 0 /\ a_1162^0-a_1162^post192 == 0 /\ -a_392^post192+a_392^0 == 0 /\ i_197^0-i_197^post192 == 0 /\ a_924^0-a_924^post192 == 0 /\ nondet_12^0-nondet_12^post192 == 0 /\ -len_861^post192+len_861^0 == 0 /\ -i_30^post192+i_30^0 == 0 /\ ct_18^0-ct_18^post192 == 0 /\ -a_1236^post192+a_1236^0 == 0 /\ a_394^0-a_394^post192 == 0 /\ -a_635^post192+a_635^0 == 0 /\ x_17^0-x_17^post192 == 0 /\ -a_417^post192+a_417^0 == 0 /\ x_975^0-x_975^post192 == 0 /\ -x_SLAM_f_19^post192+x_SLAM_f_19^0 == 0 /\ -i_140^post192+i_140^0 == 0 /\ a_947^0-a_947^post192 == 0 /\ i_127^0-i_127^post192 == 0 /\ -length_29^post192+length_29^0 == 0 /\ -rcd_58^post192+rcd_58^0 == 0 /\ -rcd_47^post192+rcd_47^0 == 0 /\ t_458^0-t_458^post192 == 0 /\ -a_575^post192+a_575^0 == 0 /\ -a_862^post192+a_862^0 == 0 /\ -a_633^post192+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post192 == 0 /\ i_27^0-i_27^post192 == 0 /\ rcd_1249^0-rcd_1249^post192 == 0 /\ i_106^0-i_106^post192 == 0 /\ -a_579^post192+a_579^0 == 0 /\ a_576^0-a_576^post192 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post192+r_151^0 == 0 /\ -head_32^post192+head_32^0 == 0 /\ r_39^0-r_39^post192 == 0 /\ -x_852^post192+x_852^0 == 0 /\ -a_263^post192+a_263^0 == 0 /\ x_156^0-x_156^post192 == 0 /\ -t_24^post192+t_24^0 == 0 /\ -temp_35^post192+temp_35^0 == 0 /\ -i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post192 == 0 /\ -tmp_34^post192+tmp_34^0 == 0 /\ f_248^0-f_248^post192 == 0 /\ r_224^0-r_224^post192 == 0 /\ a_610^0-a_610^post192 == 0 /\ a_121^0-a_121^post192 == 0 /\ -x_253^post192+x_253^0 == 0 /\ a_634^0-a_634^post192 == 0 /\ -f_969^post192+f_969^0 == 0 /\ len_262^0-len_262^post192 == 0 /\ -a_431^post192+a_431^0 == 0 /\ r_970^0-r_970^post192 == 0 /\ head_15^0-head_15^post192 == 0 /\ a_902^0-a_902^post192 == 0 /\ -y_20^post192+y_20^0 == 0 /\ a_577^0-a_577^post192 == 0 /\ -a_239^post192+a_239^0 == 0 /\ a_176^0-a_176^post192 == 0 /\ -i_229^post192+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post192+i_1053^0 == 0 /\ -i_1248^post192+i_1248^0 == 0 /\ x_14^0-x_14^post192 == 0 /\ len_238^0-len_238^post192 == 0 /\ r_192^0-r_192^post192 == 0 /\ -len_161^post192+len_161^0 == 0 /\ -r_143^post192+r_143^0 == 0 /\ temp0_16^0-temp0_16^post192 == 0 /\ -a_395^post192+a_395^0 == 0 /\ a_632^0-a_632^post192 == 0 /\ a_430^0-a_430^post192 == 0 /\ a_1089^0-a_1089^post192 == 0 /\ a_311^0-a_311^post192 == 0 /\ -result_11^post192+result_11^0 == 0 /\ rcd_88^0-rcd_88^post192 == 0 /\ a_310^0-a_310^post192 == 0), cost: 1 209: l119 -> l132 : a_1089^0'=a_1089^post209, f_847^0'=f_847^post209, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, a_394^0'=a_394^post209, x_156^0'=x_156^post209, a_632^0'=a_632^post209, r_192^0'=r_192^post209, a_176^0'=a_176^post209, i_106^0'=i_106^post209, a_430^0'=a_430^post209, t_458^0'=t_458^post209, len_161^0'=len_161^post209, x_975^0'=x_975^post209, a_902^0'=a_902^post209, a_947^0'=a_947^post209, rcd_88^0'=rcd_88^post209, a_311^0'=a_311^post209, i_140^0'=i_140^post209, a_577^0'=a_577^post209, x_14^0'=x_14^post209, nondet_12^0'=nondet_12^post209, a_121^0'=a_121^post209, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209, i_27^0'=i_27^post209, x_21^0'=x_21^post209, a_634^0'=a_634^post209, r_39^0'=r_39^post209, a_263^0'=a_263^post209, i_113^0'=i_113^post209, a_432^0'=a_432^post209, temp0_31^0'=temp0_31^post209, len_262^0'=len_262^post209, y_20^0'=y_20^post209, f_248^0'=f_248^post209, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209, a_393^0'=a_393^post209, i_229^0'=i_229^post209, a_610^0'=a_610^post209, r_151^0'=r_151^post209, a_144^0'=a_144^post209, i_1053^0'=i_1053^post209, a_417^0'=a_417^post209, t_24^0'=t_24^post209, i_94^0'=i_94^post209, x_852^0'=x_852^post209, a_862^0'=a_862^post209, rcd_1249^0'=rcd_1249^post209, rcd_58^0'=rcd_58^post209, a_310^0'=a_310^post209, i_127^0'=i_127^post209, a_576^0'=a_576^post209, tmp_34^0'=tmp_34^post209, length_29^0'=length_29^post209, a_1162^0'=a_1162^post209, f_969^0'=f_969^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209, a_395^0'=a_395^post209, x_17^0'=x_17^post209, a_633^0'=a_633^post209, r_224^0'=r_224^post209, a_239^0'=a_239^post209, i_107^0'=i_107^post209, a_431^0'=a_431^post209, temp0_16^0'=temp0_16^post209, len_238^0'=len_238^post209, x_SLAM_f_19^0'=x_SLAM_f_19^post209, a_924^0'=a_924^post209, ct_18^0'=ct_18^post209, result_11^0'=result_11^post209, a_392^0'=a_392^post209, i_197^0'=i_197^post209, a_579^0'=a_579^post209, r_143^0'=r_143^post209, a_1236^0'=a_1236^post209, head_32^0'=head_32^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209, i_30^0'=i_30^post209, x_253^0'=x_253^post209, a_635^0'=a_635^post209, r_970^0'=r_970^post209, rcd_47^0'=rcd_47^post209, a_309^0'=a_309^post209, i_1248^0'=i_1248^post209, a_575^0'=a_575^post209, temp_35^0'=temp_35^post209, len_861^0'=len_861^post209, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post209+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post209 == 0 /\ a_430^0-a_430^post209 == 0 /\ -rcd_47^post209+rcd_47^0 == 0 /\ a_902^0-a_902^post209 == 0 /\ x_975^0-x_975^post209 == 0 /\ -r_143^post209+r_143^0 == 0 /\ t_458^0-t_458^post209 == 0 /\ a_577^0-a_577^post209 == 0 /\ -r_151^post209+r_151^0 == 0 /\ -a_634^post209+a_634^0 == 0 /\ -a_144^post209+a_144^0 == 0 /\ i_229^0-i_229^post209 == 0 /\ -a_575^post209+a_575^0 == 0 /\ x_156^0-x_156^post209 == 0 /\ -a_633^post209+a_633^0 == 0 /\ temp0_31^0-temp0_31^post209 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209 == 0 /\ -a_576^post209+a_576^0 == 0 /\ i_1053^0-i_1053^post209 == 0 /\ x_14^0-x_14^post209 == 0 /\ a_121^0-a_121^post209 == 0 /\ a_394^0-a_394^post209 == 0 /\ -i_27^post209+i_27^0 == 0 /\ len_262^0-len_262^post209 == 0 /\ a_310^0-a_310^post209 == 0 /\ -temp_35^post209+temp_35^0 == 0 /\ -r_970^post209+r_970^0 == 0 /\ -length_29^post209+length_29^0 == 0 /\ -x_253^post209+x_253^0 == 0 /\ -f_969^post209+f_969^0 == 0 /\ -len_238^post209+len_238^0 == 0 /\ a_176^0-a_176^post209 == 0 /\ a_579^0-a_579^post209 == 0 /\ y_20^0-y_20^post209 == 0 /\ a_392^0-a_392^post209 == 0 /\ f_847^0-f_847^post209 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209 == 0 /\ -a_311^post209+a_311^0 == 0 /\ t_24^0-t_24^post209 == 0 /\ -a_610^post209+a_610^0 == 0 /\ -a_1236^post209+a_1236^0 == 0 /\ -rcd_88^post209+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209 == 0 /\ -i_1248^post209+i_1248^0 == 0 /\ i_94^0-i_94^post209 == 0 /\ -len_161^post209+len_161^0 == 0 /\ -r_224^post209+r_224^0 == 0 /\ -a_239^post209+a_239^0 == 0 /\ -i_197^post209+i_197^0 == 0 /\ i_113^0-i_113^post209 == 0 /\ -i_30^0 <= 0 /\ -rcd_58^post209+rcd_58^0 == 0 /\ a_393^0-a_393^post209 == 0 /\ r_39^0-r_39^post209 == 0 /\ -ct_18^post209+ct_18^0 == 0 /\ -a_431^post209+a_431^0 == 0 /\ -i_127^post209+i_127^0 == 0 /\ a_432^0-a_432^post209 == 0 /\ -r_192^post209+r_192^0 == 0 /\ -head_32^post209+head_32^0 == 0 /\ -f_248^post209+f_248^0 == 0 /\ a_862^0-a_862^post209 == 0 /\ x_21^0-x_21^post209 == 0 /\ -result_11^post209+result_11^0 == 0 /\ -a_1162^post209+a_1162^0 == 0 /\ -a_309^post209+a_309^0 == 0 /\ a_1089^0-a_1089^post209 == 0 /\ -a_924^post209+a_924^0 == 0 /\ nondet_12^0-nondet_12^post209 == 0 /\ -x_17^post209+x_17^0 == 0 /\ -rcd_1249^post209+rcd_1249^0 == 0 /\ a_947^0-a_947^post209 == 0 /\ -tmp_34^post209+tmp_34^0 == 0 /\ -a_635^post209+a_635^0 == 0 /\ -temp0_16^post209+temp0_16^0 == 0 /\ a_395^0-a_395^post209 == 0 /\ a_263^0-a_263^post209 == 0 /\ -i_30^post209+i_30^0 == 0 /\ -a_417^post209+a_417^0 == 0 /\ i_107^0-i_107^post209 == 0 /\ -len_861^post209+len_861^0 == 0 /\ -x_852^post209+x_852^0 == 0 /\ i_140^0-i_140^post209 == 0), cost: 1 222: l119 -> l139 : a_1089^0'=a_1089^post222, f_847^0'=f_847^post222, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, a_394^0'=a_394^post222, x_156^0'=x_156^post222, a_632^0'=a_632^post222, r_192^0'=r_192^post222, a_176^0'=a_176^post222, i_106^0'=i_106^post222, a_430^0'=a_430^post222, t_458^0'=t_458^post222, len_161^0'=len_161^post222, x_975^0'=x_975^post222, a_902^0'=a_902^post222, a_947^0'=a_947^post222, rcd_88^0'=rcd_88^post222, a_311^0'=a_311^post222, i_140^0'=i_140^post222, a_577^0'=a_577^post222, x_14^0'=x_14^post222, nondet_12^0'=nondet_12^post222, a_121^0'=a_121^post222, head_15^0'=head_15^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222, i_27^0'=i_27^post222, x_21^0'=x_21^post222, a_634^0'=a_634^post222, r_39^0'=r_39^post222, a_263^0'=a_263^post222, i_113^0'=i_113^post222, a_432^0'=a_432^post222, temp0_31^0'=temp0_31^post222, len_262^0'=len_262^post222, y_20^0'=y_20^post222, f_248^0'=f_248^post222, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222, a_393^0'=a_393^post222, i_229^0'=i_229^post222, a_610^0'=a_610^post222, r_151^0'=r_151^post222, a_144^0'=a_144^post222, i_1053^0'=i_1053^post222, a_417^0'=a_417^post222, t_24^0'=t_24^post222, i_94^0'=i_94^post222, x_852^0'=x_852^post222, a_862^0'=a_862^post222, rcd_1249^0'=rcd_1249^post222, rcd_58^0'=rcd_58^post222, a_310^0'=a_310^post222, i_127^0'=i_127^post222, a_576^0'=a_576^post222, tmp_34^0'=tmp_34^post222, length_29^0'=length_29^post222, a_1162^0'=a_1162^post222, f_969^0'=f_969^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222, a_395^0'=a_395^post222, x_17^0'=x_17^post222, a_633^0'=a_633^post222, r_224^0'=r_224^post222, a_239^0'=a_239^post222, i_107^0'=i_107^post222, a_431^0'=a_431^post222, temp0_16^0'=temp0_16^post222, len_238^0'=len_238^post222, x_SLAM_f_19^0'=x_SLAM_f_19^post222, a_924^0'=a_924^post222, ct_18^0'=ct_18^post222, result_11^0'=result_11^post222, a_392^0'=a_392^post222, i_197^0'=i_197^post222, a_579^0'=a_579^post222, r_143^0'=r_143^post222, a_1236^0'=a_1236^post222, head_32^0'=head_32^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222, i_30^0'=i_30^post222, x_253^0'=x_253^post222, a_635^0'=a_635^post222, r_970^0'=r_970^post222, rcd_47^0'=rcd_47^post222, a_309^0'=a_309^post222, i_1248^0'=i_1248^post222, a_575^0'=a_575^post222, temp_35^0'=temp_35^post222, len_861^0'=len_861^post222, (0 == 0 /\ -a_634^post222+a_634^0 == 0 /\ -a_924^post222+a_924^0 == 0 /\ x_975^0-x_975^post222 == 0 /\ i_127^0-i_127^post222 == 0 /\ -a_431^post222+a_431^0 == 0 /\ a_577^0-a_577^post222 == 0 /\ i_106^0-i_106^post222 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_1249^0-rcd_1249^post222 == 0 /\ -f_969^post222+f_969^0 == 0 /\ x_14^0-x_14^post222 == 0 /\ -y_20^post222+y_20^0 == 0 /\ -result_11^post222+result_11^0 == 0 /\ a_632^0-a_632^post222 == 0 /\ -tmp_34^post222+tmp_34^0 == 0 /\ a_430^0-a_430^post222 == 0 /\ -t_24^post222+t_24^0 == 0 /\ -x_253^post222+x_253^0 == 0 /\ a_432^0-a_432^post222 == 0 /\ i_197^0-i_197^post222 == 0 /\ -r_970^post222+r_970^0 == 0 /\ -i_1053^post222+i_1053^0 == 0 /\ i_229^0-i_229^post222 == 0 /\ a_576^0-a_576^post222 == 0 /\ x_21^0-x_21^post222 == 0 /\ x_156^0-x_156^post222 == 0 /\ -r_143^post222+r_143^0 == 0 /\ a_1162^0-a_1162^post222 == 0 /\ i_140^0-i_140^post222 == 0 /\ -r_224^post222+r_224^0 == 0 /\ -a_395^post222+a_395^0 == 0 /\ f_847^0-f_847^post222 == 0 /\ a_394^0-a_394^post222 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post222 == 0 /\ a_176^0-a_176^post222 == 0 /\ -temp_35^post222+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post222 == 0 /\ -i_30^post222+i_30^0 == 0 /\ a_311^0-a_311^post222 == 0 /\ -len_161^post222+len_161^0 == 0 /\ i_107^0-i_107^post222 == 0 /\ a_610^0-a_610^post222 == 0 /\ -i_30^0 <= 0 /\ -a_393^post222+a_393^0 == 0 /\ -a_1236^post222+a_1236^0 == 0 /\ i_94^0-i_94^post222 == 0 /\ -length_29^post222+length_29^0 == 0 /\ -a_392^post222+a_392^0 == 0 /\ -x_SLAM_f_19^post222+x_SLAM_f_19^0 == 0 /\ -i_27^post222+i_27^0 == 0 /\ -a_239^post222+a_239^0 == 0 /\ -a_310^post222+a_310^0 == 0 /\ -temp0_16^post222+temp0_16^0 == 0 /\ a_1089^0-a_1089^post222 == 0 /\ -len_861^post222+len_861^0 == 0 /\ nondet_12^0-nondet_12^post222 == 0 /\ -t_458^post222+t_458^0 == 0 /\ i_1248^0-i_1248^post222 == 0 /\ -a_635^post222+a_635^0 == 0 /\ -head_32^post222+head_32^0 == 0 /\ -rcd_47^post222+rcd_47^0 == 0 /\ -x_852^post222+x_852^0 == 0 /\ -len_238^post222+len_238^0 == 0 /\ temp0_31^0-temp0_31^post222 == 0 /\ f_248^0-f_248^post222 == 0 /\ a_144^0-a_144^post222 == 0 /\ -r_151^post222+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post222+a_309^0 == 0 /\ -a_633^post222+a_633^0 == 0 /\ -a_902^post222+a_902^0 == 0 /\ -rcd_58^post222+rcd_58^0 == 0 /\ -a_417^post222+a_417^0 == 0 /\ x_17^0-x_17^post222 == 0 /\ a_121^0-a_121^post222 == 0 /\ -a_575^post222+a_575^0 == 0 /\ -a_862^post222+a_862^0 == 0 /\ -a_263^post222+a_263^0 == 0 /\ -a_579^post222+a_579^0 == 0 /\ -ct_18^post222+ct_18^0 == 0 /\ len_262^0-len_262^post222 == 0), cost: 1 193: l121 -> l122 : a_1089^0'=a_1089^post193, f_847^0'=f_847^post193, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post193, a_394^0'=a_394^post193, x_156^0'=x_156^post193, a_632^0'=a_632^post193, r_192^0'=r_192^post193, a_176^0'=a_176^post193, i_106^0'=i_106^post193, a_430^0'=a_430^post193, t_458^0'=t_458^post193, len_161^0'=len_161^post193, x_975^0'=x_975^post193, a_902^0'=a_902^post193, a_947^0'=a_947^post193, rcd_88^0'=rcd_88^post193, a_311^0'=a_311^post193, i_140^0'=i_140^post193, a_577^0'=a_577^post193, x_14^0'=x_14^post193, nondet_12^0'=nondet_12^post193, a_121^0'=a_121^post193, head_15^0'=head_15^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193, i_27^0'=i_27^post193, x_21^0'=x_21^post193, a_634^0'=a_634^post193, r_39^0'=r_39^post193, a_263^0'=a_263^post193, i_113^0'=i_113^post193, a_432^0'=a_432^post193, temp0_31^0'=temp0_31^post193, len_262^0'=len_262^post193, y_20^0'=y_20^post193, f_248^0'=f_248^post193, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193, a_393^0'=a_393^post193, i_229^0'=i_229^post193, a_610^0'=a_610^post193, r_151^0'=r_151^post193, a_144^0'=a_144^post193, i_1053^0'=i_1053^post193, a_417^0'=a_417^post193, t_24^0'=t_24^post193, i_94^0'=i_94^post193, x_852^0'=x_852^post193, a_862^0'=a_862^post193, rcd_1249^0'=rcd_1249^post193, rcd_58^0'=rcd_58^post193, a_310^0'=a_310^post193, i_127^0'=i_127^post193, a_576^0'=a_576^post193, tmp_34^0'=tmp_34^post193, length_29^0'=length_29^post193, a_1162^0'=a_1162^post193, f_969^0'=f_969^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193, a_395^0'=a_395^post193, x_17^0'=x_17^post193, a_633^0'=a_633^post193, r_224^0'=r_224^post193, a_239^0'=a_239^post193, i_107^0'=i_107^post193, a_431^0'=a_431^post193, temp0_16^0'=temp0_16^post193, len_238^0'=len_238^post193, x_SLAM_f_19^0'=x_SLAM_f_19^post193, a_924^0'=a_924^post193, ct_18^0'=ct_18^post193, result_11^0'=result_11^post193, a_392^0'=a_392^post193, i_197^0'=i_197^post193, a_579^0'=a_579^post193, r_143^0'=r_143^post193, a_1236^0'=a_1236^post193, head_32^0'=head_32^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193, i_30^0'=i_30^post193, x_253^0'=x_253^post193, a_635^0'=a_635^post193, r_970^0'=r_970^post193, rcd_47^0'=rcd_47^post193, a_309^0'=a_309^post193, i_1248^0'=i_1248^post193, a_575^0'=a_575^post193, temp_35^0'=temp_35^post193, len_861^0'=len_861^post193, (-i_197^post193+i_197^0 == 0 /\ i_127^0-i_127^post193 == 0 /\ -temp_35^post193+temp_35^0 == 0 /\ r_192^0-r_192^post193 == 0 /\ a_394^0-a_394^post193 == 0 /\ a_176^0-a_176^post193 == 0 /\ -x_253^post193+x_253^0 == 0 /\ -a_431^post193+a_431^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post193 == 0 /\ -r_970^post193+r_970^0 == 0 /\ rcd_58^0-rcd_58^post193 == 0 /\ rcd_1249^0-rcd_1249^post193 == 0 /\ 1-x_14^0 <= 0 /\ a_430^0-a_430^post193 == 0 /\ x_14^0-x_14^post193 == 0 /\ x_852^0-x_852^post193 == 0 /\ -y_20^post193+y_20^0 == 0 /\ -ct_18^post193+ct_18^0 == 0 /\ -tmp_34^post193+tmp_34^0 == 0 /\ -rcd_47^post193+rcd_47^0 == 0 /\ len_161^0-len_161^post193 == 0 /\ r_39^0-r_39^post193 == 0 /\ -t_24^post193+t_24^0 == 0 /\ i_229^0-i_229^post193 == 0 /\ a_432^0-a_432^post193 == 0 /\ f_847^0-f_847^post193 == 0 /\ -len_861^post193+len_861^0 == 0 /\ a_576^0-a_576^post193 == 0 /\ -a_577^post193+a_577^0 == 0 /\ -a_1162^post193+a_1162^0 == 0 /\ i_140^0-i_140^post193 == 0 /\ -a_395^post193+a_395^0 == 0 /\ -i_1248^post193+i_1248^0 == 0 /\ head_15^0-head_15^post193 == 0 /\ i_113^0-i_113^post193 == 0 /\ a_947^0-a_947^post193 == 0 /\ -a_924^post193+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post193+result_11^0 == 0 /\ -temp0_16^post193+temp0_16^0 == 0 /\ -i_1053^post193+i_1053^0 == 0 /\ -r_224^post193+r_224^0 == 0 /\ a_144^0-a_144^post193 == 0 /\ x_156^0-x_156^post193 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post193+a_575^0 == 0 /\ -a_1236^post193+a_1236^0 == 0 /\ -r_143^post193+r_143^0 == 0 /\ rcd_88^0-rcd_88^post193 == 0 /\ a_311^0-a_311^post193 == 0 /\ -a_393^post193+a_393^0 == 0 /\ a_610^0-a_610^post193 == 0 /\ i_27^0-i_27^post193 == 0 /\ -i_94^post193+i_94^0 == 0 /\ a_632^0-a_632^post193 == 0 /\ -a_309^post193+a_309^0 == 0 /\ -length_29^post193+length_29^0 == 0 /\ -x_SLAM_f_19^post193+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post193 == 0 /\ a_635^0-a_635^post193 == 0 /\ -a_310^post193+a_310^0 == 0 /\ -i_30^post193+i_30^0 == 0 /\ -i_107^post193+i_107^0 == 0 /\ a_1089^0-a_1089^post193 == 0 /\ -t_458^post193+t_458^0 == 0 /\ -head_32^post193+head_32^0 == 0 /\ x_21^0-x_21^post193 == 0 /\ -r_151^post193+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_106^post193+i_106^0 == 0 /\ -len_238^post193+len_238^0 == 0 /\ temp0_31^0-temp0_31^post193 == 0 /\ f_248^0-f_248^post193 == 0 /\ a_239^0-a_239^post193 == 0 /\ -a_579^post193+a_579^0 == 0 /\ -a_902^post193+a_902^0 == 0 /\ nondet_12^0-nondet_12^post193 == 0 /\ -a_392^post193+a_392^0 == 0 /\ x_975^0-x_975^post193 == 0 /\ a_417^0-a_417^post193 == 0 /\ -a_633^post193+a_633^0 == 0 /\ x_17^0-x_17^post193 == 0 /\ a_121^0-a_121^post193 == 0 /\ a_634^0-a_634^post193 == 0 /\ -a_862^post193+a_862^0 == 0 /\ -a_263^post193+a_263^0 == 0 /\ len_262^0-len_262^post193 == 0), cost: 1 194: l121 -> l122 : a_1089^0'=a_1089^post194, f_847^0'=f_847^post194, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post194, a_394^0'=a_394^post194, x_156^0'=x_156^post194, a_632^0'=a_632^post194, r_192^0'=r_192^post194, a_176^0'=a_176^post194, i_106^0'=i_106^post194, a_430^0'=a_430^post194, t_458^0'=t_458^post194, len_161^0'=len_161^post194, x_975^0'=x_975^post194, a_902^0'=a_902^post194, a_947^0'=a_947^post194, rcd_88^0'=rcd_88^post194, a_311^0'=a_311^post194, i_140^0'=i_140^post194, a_577^0'=a_577^post194, x_14^0'=x_14^post194, nondet_12^0'=nondet_12^post194, a_121^0'=a_121^post194, head_15^0'=head_15^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194, i_27^0'=i_27^post194, x_21^0'=x_21^post194, a_634^0'=a_634^post194, r_39^0'=r_39^post194, a_263^0'=a_263^post194, i_113^0'=i_113^post194, a_432^0'=a_432^post194, temp0_31^0'=temp0_31^post194, len_262^0'=len_262^post194, y_20^0'=y_20^post194, f_248^0'=f_248^post194, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194, a_393^0'=a_393^post194, i_229^0'=i_229^post194, a_610^0'=a_610^post194, r_151^0'=r_151^post194, a_144^0'=a_144^post194, i_1053^0'=i_1053^post194, a_417^0'=a_417^post194, t_24^0'=t_24^post194, i_94^0'=i_94^post194, x_852^0'=x_852^post194, a_862^0'=a_862^post194, rcd_1249^0'=rcd_1249^post194, rcd_58^0'=rcd_58^post194, a_310^0'=a_310^post194, i_127^0'=i_127^post194, a_576^0'=a_576^post194, tmp_34^0'=tmp_34^post194, length_29^0'=length_29^post194, a_1162^0'=a_1162^post194, f_969^0'=f_969^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194, a_395^0'=a_395^post194, x_17^0'=x_17^post194, a_633^0'=a_633^post194, r_224^0'=r_224^post194, a_239^0'=a_239^post194, i_107^0'=i_107^post194, a_431^0'=a_431^post194, temp0_16^0'=temp0_16^post194, len_238^0'=len_238^post194, x_SLAM_f_19^0'=x_SLAM_f_19^post194, a_924^0'=a_924^post194, ct_18^0'=ct_18^post194, result_11^0'=result_11^post194, a_392^0'=a_392^post194, i_197^0'=i_197^post194, a_579^0'=a_579^post194, r_143^0'=r_143^post194, a_1236^0'=a_1236^post194, head_32^0'=head_32^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194, i_30^0'=i_30^post194, x_253^0'=x_253^post194, a_635^0'=a_635^post194, r_970^0'=r_970^post194, rcd_47^0'=rcd_47^post194, a_309^0'=a_309^post194, i_1248^0'=i_1248^post194, a_575^0'=a_575^post194, temp_35^0'=temp_35^post194, len_861^0'=len_861^post194, (x_156^0-x_156^post194 == 0 /\ -x_SLAM_f_19^post194+x_SLAM_f_19^0 == 0 /\ -i_113^post194+i_113^0 == 0 /\ f_847^0-f_847^post194 == 0 /\ -a_392^post194+a_392^0 == 0 /\ -a_432^post194+a_432^0 == 0 /\ -a_309^post194+a_309^0 == 0 /\ tmp_34^0-tmp_34^post194 == 0 /\ x_21^0-x_21^post194 == 0 /\ a_610^0-a_610^post194 == 0 /\ -a_635^post194+a_635^0 == 0 /\ -length_29^post194+length_29^0 == 0 /\ a_902^0-a_902^post194 == 0 /\ nondet_12^0-nondet_12^post194 == 0 /\ -i_107^post194+i_107^0 == 0 /\ a_394^0-a_394^post194 == 0 /\ a_144^0-a_144^post194 == 0 /\ -a_417^post194+a_417^0 == 0 /\ head_15^0-head_15^post194 == 0 /\ -i_94^post194+i_94^0 == 0 /\ -a_575^post194+a_575^0 == 0 /\ a_862^0-a_862^post194 == 0 /\ a_633^0-a_633^post194 == 0 /\ -a_1236^post194+a_1236^0 == 0 /\ a_1089^0-a_1089^post194 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post194 == 0 /\ -a_310^post194+a_310^0 == 0 /\ x_14^0-x_14^post194 == 0 /\ -a_121^post194+a_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post194 == 0 /\ a_311^0-a_311^post194 == 0 /\ i_106^0-i_106^post194 == 0 /\ -rcd_47^post194+rcd_47^0 == 0 /\ a_430^0-a_430^post194 == 0 /\ a_263^0-a_263^post194 == 0 /\ i_27^0-i_27^post194 == 0 /\ -head_32^post194+head_32^0 == 0 /\ -i_197^post194+i_197^0 == 0 /\ a_576^0-a_576^post194 == 0 /\ t_458^0-t_458^post194 == 0 /\ r_39^0-r_39^post194 == 0 /\ -len_238^post194+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194 == 0 /\ -result_11^post194+result_11^0 == 0 /\ a_393^0-a_393^post194 == 0 /\ x_253^0-x_253^post194 == 0 /\ f_248^0-f_248^post194 == 0 /\ -temp_35^post194+temp_35^0 == 0 /\ y_20^0-y_20^post194 == 0 /\ -a_579^post194+a_579^0 == 0 /\ -t_24^post194+t_24^0 == 0 /\ r_151^0-r_151^post194 == 0 /\ -i_127^post194+i_127^0 == 0 /\ -a_1162^post194+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post194 == 0 /\ -r_970^post194+r_970^0 == 0 /\ -a_431^post194+a_431^0 == 0 /\ a_634^0-a_634^post194 == 0 /\ -rcd_58^post194+rcd_58^0 == 0 /\ x_975^0-x_975^post194 == 0 /\ len_262^0-len_262^post194 == 0 /\ a_947^0-a_947^post194 == 0 /\ -a_395^post194+a_395^0 == 0 /\ -x_852^post194+x_852^0 == 0 /\ -i_229^post194+i_229^0 == 0 /\ a_577^0-a_577^post194 == 0 /\ rcd_88^0-rcd_88^post194 == 0 /\ i_1053^0-i_1053^post194 == 0 /\ -a_924^post194+a_924^0 == 0 /\ a_176^0-a_176^post194 == 0 /\ -i_1248^post194+i_1248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194 == 0 /\ -a_239^post194+a_239^0 == 0 /\ r_192^0-r_192^post194 == 0 /\ f_969^0-f_969^post194 == 0 /\ 1+x_14^0 <= 0 /\ -i_30^post194+i_30^0 == 0 /\ a_632^0-a_632^post194 == 0 /\ i_140^0-i_140^post194 == 0 /\ -r_143^post194+r_143^0 == 0 /\ -x_17^post194+x_17^0 == 0 /\ rcd_1249^0-rcd_1249^post194 == 0 /\ -r_224^post194+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_16^post194+temp0_16^0 == 0 /\ len_161^0-len_161^post194 == 0 /\ -len_861^post194+len_861^0 == 0), cost: 1 195: l122 -> l123 : a_1089^0'=a_1089^post195, f_847^0'=f_847^post195, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, a_394^0'=a_394^post195, x_156^0'=x_156^post195, a_632^0'=a_632^post195, r_192^0'=r_192^post195, a_176^0'=a_176^post195, i_106^0'=i_106^post195, a_430^0'=a_430^post195, t_458^0'=t_458^post195, len_161^0'=len_161^post195, x_975^0'=x_975^post195, a_902^0'=a_902^post195, a_947^0'=a_947^post195, rcd_88^0'=rcd_88^post195, a_311^0'=a_311^post195, i_140^0'=i_140^post195, a_577^0'=a_577^post195, x_14^0'=x_14^post195, nondet_12^0'=nondet_12^post195, a_121^0'=a_121^post195, head_15^0'=head_15^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195, i_27^0'=i_27^post195, x_21^0'=x_21^post195, a_634^0'=a_634^post195, r_39^0'=r_39^post195, a_263^0'=a_263^post195, i_113^0'=i_113^post195, a_432^0'=a_432^post195, temp0_31^0'=temp0_31^post195, len_262^0'=len_262^post195, y_20^0'=y_20^post195, f_248^0'=f_248^post195, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195, a_393^0'=a_393^post195, i_229^0'=i_229^post195, a_610^0'=a_610^post195, r_151^0'=r_151^post195, a_144^0'=a_144^post195, i_1053^0'=i_1053^post195, a_417^0'=a_417^post195, t_24^0'=t_24^post195, i_94^0'=i_94^post195, x_852^0'=x_852^post195, a_862^0'=a_862^post195, rcd_1249^0'=rcd_1249^post195, rcd_58^0'=rcd_58^post195, a_310^0'=a_310^post195, i_127^0'=i_127^post195, a_576^0'=a_576^post195, tmp_34^0'=tmp_34^post195, length_29^0'=length_29^post195, a_1162^0'=a_1162^post195, f_969^0'=f_969^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195, a_395^0'=a_395^post195, x_17^0'=x_17^post195, a_633^0'=a_633^post195, r_224^0'=r_224^post195, a_239^0'=a_239^post195, i_107^0'=i_107^post195, a_431^0'=a_431^post195, temp0_16^0'=temp0_16^post195, len_238^0'=len_238^post195, x_SLAM_f_19^0'=x_SLAM_f_19^post195, a_924^0'=a_924^post195, ct_18^0'=ct_18^post195, result_11^0'=result_11^post195, a_392^0'=a_392^post195, i_197^0'=i_197^post195, a_579^0'=a_579^post195, r_143^0'=r_143^post195, a_1236^0'=a_1236^post195, head_32^0'=head_32^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195, i_30^0'=i_30^post195, x_253^0'=x_253^post195, a_635^0'=a_635^post195, r_970^0'=r_970^post195, rcd_47^0'=rcd_47^post195, a_309^0'=a_309^post195, i_1248^0'=i_1248^post195, a_575^0'=a_575^post195, temp_35^0'=temp_35^post195, len_861^0'=len_861^post195, (0 == 0 /\ a_634^0-a_634^post195 == 0 /\ -x_14^post195+x_17^post195 <= 0 /\ -x_14^post195+x_SLAM_f_19^post195 <= 0 /\ -a_263^post195+a_263^0 == 0 /\ -r_970^post195+r_970^0 == 0 /\ -i_197^post195+i_197^0 == 0 /\ -a_579^post195+a_579^0 == 0 /\ -x_253^post195+x_253^0 == 0 /\ t_24^0-t_24^post195 == 0 /\ x_14^post195-head_15^0 <= 0 /\ rcd_58^0-rcd_58^post195 == 0 /\ a_176^0-a_176^post195 == 0 /\ -head_32^post195+head_32^0 == 0 /\ f_969^0-f_969^post195 == 0 /\ -a_431^post195+a_431^0 == 0 /\ head_15^0-x_17^post195 <= 0 /\ -i_229^post195+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1162^post195+a_1162^0 == 0 /\ a_430^0-a_430^post195 == 0 /\ r_39^0-r_39^post195 == 0 /\ -temp_35^post195+temp_35^0 == 0 /\ -ct_18^post195+y_20^post195 <= 0 /\ -ct_18^post195+y_20^post195 == 0 /\ -x_21^post195+x_SLAM_f_19^post195 <= 0 /\ length_29^0-length_29^post195 == 0 /\ x_14^post195-x_17^post195 <= 0 /\ i_27^0 <= 0 /\ x_14^post195-x_SLAM_f_19^post195 <= 0 /\ -a_395^post195+a_395^0 == 0 /\ -len_861^post195+len_861^0 == 0 /\ -ct_18^post195 <= 0 /\ -x_14^post195+head_15^0 <= 0 /\ head_15^0-head_15^post195 == 0 /\ -temp0_16^post195+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post195 == 0 /\ a_632^0-a_632^post195 == 0 /\ r_151^0-r_151^post195 == 0 /\ a_432^0-a_432^post195 == 0 /\ -a_947^post195+a_947^0 == 0 /\ r_192^0-r_192^post195 == 0 /\ -head_15^0+x_17^post195 <= 0 /\ -head_15^0+x_17^post195 == 0 /\ -r_224^post195+r_224^0 == 0 /\ i_113^0-i_113^post195 == 0 /\ f_248^0-f_248^post195 == 0 /\ -a_924^post195+a_924^0 == 0 /\ a_902^0-a_902^post195 == 0 /\ -i_1248^post195+i_1248^0 == 0 /\ result_11^0-result_11^post195 == 0 /\ -i_1053^post195+i_1053^0 == 0 /\ ct_18^post195-y_20^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 == 0 /\ a_144^0-a_144^post195 == 0 /\ -a_239^post195+a_239^0 == 0 /\ x_156^0-x_156^post195 == 0 /\ nondet_12^0-nondet_12^post195 == 0 /\ -r_143^post195+r_143^0 == 0 /\ -a_635^post195+a_635^0 == 0 /\ -i_107^post195+i_107^0 == 0 /\ a_1089^0-a_1089^post195 == 0 /\ a_394^0-a_394^post195 == 0 /\ ct_18^post195 <= 0 /\ ct_18^post195 == 0 /\ -a_575^post195+a_575^0 == 0 /\ x_21^post195-x_14^post195 <= 0 /\ len_161^0-len_161^post195 == 0 /\ -i_30^0 <= 0 /\ -i_30^post195+i_30^0 == 0 /\ a_417^0-a_417^post195 == 0 /\ len_238^0-len_238^post195 == 0 /\ a_311^0-a_311^post195 == 0 /\ -x_975^post195+x_975^0 == 0 /\ rcd_1249^0-rcd_1249^post195 == 0 /\ x_852^0-x_852^post195 == 0 /\ -a_576^post195+a_576^0 == 0 /\ rcd_88^0-rcd_88^post195 == 0 /\ x_17^post195-x_SLAM_f_19^post195 <= 0 /\ i_140^0-i_140^post195 == 0 /\ i_106^0-i_106^post195 == 0 /\ f_847^0-f_847^post195 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195 == 0 /\ -a_310^post195+a_310^0 == 0 /\ -x_21^post195+x_14^post195 <= 0 /\ a_393^0-a_393^post195 == 0 /\ a_633^0-a_633^post195 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post195+a_1236^0 == 0 /\ t_458^0-t_458^post195 == 0 /\ y_20^post195 <= 0 /\ a_309^0-a_309^post195 == 0 /\ -a_121^post195+a_121^0 == 0 /\ -rcd_47^post195+rcd_47^0 == 0 /\ -y_20^post195 <= 0 /\ -a_862^post195+a_862^0 == 0 /\ a_577^0-a_577^post195 == 0 /\ -len_262^post195+len_262^0 == 0 /\ -a_610^post195+a_610^0 == 0 /\ -i_94^post195+i_94^0 == 0 /\ -temp0_31^post195+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195 == 0 /\ -x_17^post195+x_SLAM_f_19^post195 <= 0 /\ -x_17^post195+x_SLAM_f_19^post195 == 0 /\ i_127^0-i_127^post195 == 0 /\ -a_392^post195+a_392^0 == 0), cost: 1 196: l123 -> l124 : a_1089^0'=a_1089^post196, f_847^0'=f_847^post196, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post196, a_394^0'=a_394^post196, x_156^0'=x_156^post196, a_632^0'=a_632^post196, r_192^0'=r_192^post196, a_176^0'=a_176^post196, i_106^0'=i_106^post196, a_430^0'=a_430^post196, t_458^0'=t_458^post196, len_161^0'=len_161^post196, x_975^0'=x_975^post196, a_902^0'=a_902^post196, a_947^0'=a_947^post196, rcd_88^0'=rcd_88^post196, a_311^0'=a_311^post196, i_140^0'=i_140^post196, a_577^0'=a_577^post196, x_14^0'=x_14^post196, nondet_12^0'=nondet_12^post196, a_121^0'=a_121^post196, head_15^0'=head_15^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196, i_27^0'=i_27^post196, x_21^0'=x_21^post196, a_634^0'=a_634^post196, r_39^0'=r_39^post196, a_263^0'=a_263^post196, i_113^0'=i_113^post196, a_432^0'=a_432^post196, temp0_31^0'=temp0_31^post196, len_262^0'=len_262^post196, y_20^0'=y_20^post196, f_248^0'=f_248^post196, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196, a_393^0'=a_393^post196, i_229^0'=i_229^post196, a_610^0'=a_610^post196, r_151^0'=r_151^post196, a_144^0'=a_144^post196, i_1053^0'=i_1053^post196, a_417^0'=a_417^post196, t_24^0'=t_24^post196, i_94^0'=i_94^post196, x_852^0'=x_852^post196, a_862^0'=a_862^post196, rcd_1249^0'=rcd_1249^post196, rcd_58^0'=rcd_58^post196, a_310^0'=a_310^post196, i_127^0'=i_127^post196, a_576^0'=a_576^post196, tmp_34^0'=tmp_34^post196, length_29^0'=length_29^post196, a_1162^0'=a_1162^post196, f_969^0'=f_969^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196, a_395^0'=a_395^post196, x_17^0'=x_17^post196, a_633^0'=a_633^post196, r_224^0'=r_224^post196, a_239^0'=a_239^post196, i_107^0'=i_107^post196, a_431^0'=a_431^post196, temp0_16^0'=temp0_16^post196, len_238^0'=len_238^post196, x_SLAM_f_19^0'=x_SLAM_f_19^post196, a_924^0'=a_924^post196, ct_18^0'=ct_18^post196, result_11^0'=result_11^post196, a_392^0'=a_392^post196, i_197^0'=i_197^post196, a_579^0'=a_579^post196, r_143^0'=r_143^post196, a_1236^0'=a_1236^post196, head_32^0'=head_32^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196, i_30^0'=i_30^post196, x_253^0'=x_253^post196, a_635^0'=a_635^post196, r_970^0'=r_970^post196, rcd_47^0'=rcd_47^post196, a_309^0'=a_309^post196, i_1248^0'=i_1248^post196, a_575^0'=a_575^post196, temp_35^0'=temp_35^post196, len_861^0'=len_861^post196, (-x_SLAM_f_19^post196+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post196 == 0 /\ -x_14^post196+x_14^0 == 0 /\ tmp_34^0-tmp_34^post196 == 0 /\ -i_94^post196+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196 == 0 /\ -i_113^post196+i_113^0 == 0 /\ -r_143^post196+r_143^0 == 0 /\ -a_1236^post196+a_1236^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_633^post196+a_633^0 == 0 /\ -a_575^post196+a_575^0 == 0 /\ result_11^0-result_11^post196 == 0 /\ a_902^0-a_902^post196 == 0 /\ x_156^0-x_156^post196 == 0 /\ a_610^0-a_610^post196 == 0 /\ -a_432^post196+a_432^0 == 0 /\ -a_309^post196+a_309^0 == 0 /\ head_15^0-head_15^post196 == 0 /\ a_634^0-a_634^post196 == 0 /\ a_862^0-a_862^post196 == 0 /\ -temp0_31^post196+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196 == 0 /\ a_394^0-a_394^post196 == 0 /\ a_1089^0-a_1089^post196 == 0 /\ -rcd_47^post196+rcd_47^0 == 0 /\ -r_39^post196+r_39^0 == 0 /\ -a_310^post196+a_310^0 == 0 /\ r_192^0-r_192^post196 == 0 /\ a_176^0-a_176^post196 == 0 /\ length_29^0-length_29^post196 == 0 /\ x_852^0-x_852^post196 == 0 /\ -head_32^post196+head_32^0 == 0 /\ a_392^0-a_392^post196 == 0 /\ -f_969^post196+f_969^0 == 0 /\ -x_253^post196+x_253^0 == 0 /\ a_263^0-a_263^post196 == 0 /\ -len_262^post196+len_262^0 == 0 /\ -r_970^post196+r_970^0 == 0 /\ -len_238^post196+len_238^0 == 0 /\ i_1053^0-i_1053^post196 == 0 /\ rcd_88^0-rcd_88^post196 == 0 /\ a_311^0-a_311^post196 == 0 /\ -t_24^post196+t_24^0 == 0 /\ -a_239^post196+a_239^0 == 0 /\ -a_430^post196+a_430^0 == 0 /\ -f_248^post196+f_248^0 == 0 /\ -a_579^post196+a_579^0 == 0 /\ a_393^0-a_393^post196 == 0 /\ -rcd_58^post196+rcd_58^0 == 0 /\ y_20^0-y_20^post196 == 0 /\ -r_224^post196+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196 == 0 /\ -i_127^post196+i_127^0 == 0 /\ x_975^0-x_975^post196 == 0 /\ r_151^0-r_151^post196 == 0 /\ -i_197^post196+i_197^0 == 0 /\ -temp_35^post196+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post196 == 0 /\ a_577^0-a_577^post196 == 0 /\ a_417^0-a_417^post196 == 0 /\ -a_121^post196+a_121^0 == 0 /\ -ct_18^post196+ct_18^0 == 0 /\ -a_431^post196+a_431^0 == 0 /\ -i_229^post196+i_229^0 == 0 /\ len_161^0-len_161^post196 == 0 /\ -a_1162^post196+a_1162^0 == 0 /\ a_947^0-a_947^post196 == 0 /\ -a_924^post196+a_924^0 == 0 /\ i_27^0-i_27^post196 == 0 /\ -a_144^post196+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post196+i_107^0 == 0 /\ -len_861^post196+len_861^0 == 0 /\ a_395^0-a_395^post196 == 0 /\ t_458^0-t_458^post196 == 0 /\ -temp0_16^post196+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post196 == 0 /\ i_140^0-i_140^post196 == 0 /\ rcd_1249^0-rcd_1249^post196 == 0 /\ -a_635^post196+a_635^0 == 0 /\ i_106^0-i_106^post196 == 0 /\ f_847^0-f_847^post196 == 0 /\ -i_1248^post196+i_1248^0 == 0 /\ -x_17^post196+x_17^0 == 0 /\ -x_21^post196+x_21^0 == 0 /\ a_576^0-a_576^post196 == 0 /\ -i_30^post196+i_30^0 == 0), cost: 1 197: l123 -> l124 : a_1089^0'=a_1089^post197, f_847^0'=f_847^post197, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post197, a_394^0'=a_394^post197, x_156^0'=x_156^post197, a_632^0'=a_632^post197, r_192^0'=r_192^post197, a_176^0'=a_176^post197, i_106^0'=i_106^post197, a_430^0'=a_430^post197, t_458^0'=t_458^post197, len_161^0'=len_161^post197, x_975^0'=x_975^post197, a_902^0'=a_902^post197, a_947^0'=a_947^post197, rcd_88^0'=rcd_88^post197, a_311^0'=a_311^post197, i_140^0'=i_140^post197, a_577^0'=a_577^post197, x_14^0'=x_14^post197, nondet_12^0'=nondet_12^post197, a_121^0'=a_121^post197, head_15^0'=head_15^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197, i_27^0'=i_27^post197, x_21^0'=x_21^post197, a_634^0'=a_634^post197, r_39^0'=r_39^post197, a_263^0'=a_263^post197, i_113^0'=i_113^post197, a_432^0'=a_432^post197, temp0_31^0'=temp0_31^post197, len_262^0'=len_262^post197, y_20^0'=y_20^post197, f_248^0'=f_248^post197, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197, a_393^0'=a_393^post197, i_229^0'=i_229^post197, a_610^0'=a_610^post197, r_151^0'=r_151^post197, a_144^0'=a_144^post197, i_1053^0'=i_1053^post197, a_417^0'=a_417^post197, t_24^0'=t_24^post197, i_94^0'=i_94^post197, x_852^0'=x_852^post197, a_862^0'=a_862^post197, rcd_1249^0'=rcd_1249^post197, rcd_58^0'=rcd_58^post197, a_310^0'=a_310^post197, i_127^0'=i_127^post197, a_576^0'=a_576^post197, tmp_34^0'=tmp_34^post197, length_29^0'=length_29^post197, a_1162^0'=a_1162^post197, f_969^0'=f_969^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197, a_395^0'=a_395^post197, x_17^0'=x_17^post197, a_633^0'=a_633^post197, r_224^0'=r_224^post197, a_239^0'=a_239^post197, i_107^0'=i_107^post197, a_431^0'=a_431^post197, temp0_16^0'=temp0_16^post197, len_238^0'=len_238^post197, x_SLAM_f_19^0'=x_SLAM_f_19^post197, a_924^0'=a_924^post197, ct_18^0'=ct_18^post197, result_11^0'=result_11^post197, a_392^0'=a_392^post197, i_197^0'=i_197^post197, a_579^0'=a_579^post197, r_143^0'=r_143^post197, a_1236^0'=a_1236^post197, head_32^0'=head_32^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197, i_30^0'=i_30^post197, x_253^0'=x_253^post197, a_635^0'=a_635^post197, r_970^0'=r_970^post197, rcd_47^0'=rcd_47^post197, a_309^0'=a_309^post197, i_1248^0'=i_1248^post197, a_575^0'=a_575^post197, temp_35^0'=temp_35^post197, len_861^0'=len_861^post197, (-nondet_12^post197+nondet_12^0 == 0 /\ -r_970^post197+r_970^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post197 == 0 /\ -head_32^post197+head_32^0 == 0 /\ -f_248^post197+f_248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post197 == 0 /\ -i_197^post197+i_197^0 == 0 /\ a_310^0-a_310^post197 == 0 /\ a_176^0-a_176^post197 == 0 /\ -len_262^post197+len_262^0 == 0 /\ a_1089^0-a_1089^post197 == 0 /\ i_27^0-i_27^post197 == 0 /\ rcd_88^0-rcd_88^post197 == 0 /\ r_39^0-r_39^post197 == 0 /\ a_311^0-a_311^post197 == 0 /\ y_20^0-y_20^post197 == 0 /\ -i_127^post197+i_127^0 == 0 /\ i_1053^0-i_1053^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197 == 0 /\ a_392^0-a_392^post197 == 0 /\ i_140^0-i_140^post197 == 0 /\ -a_579^post197+a_579^0 == 0 /\ -temp_35^post197+temp_35^0 == 0 /\ -ct_18^post197+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post197 == 0 /\ -a_924^post197+a_924^0 == 0 /\ -i_30^post197+i_30^0 == 0 /\ -a_144^post197+a_144^0 == 0 /\ a_632^0-a_632^post197 == 0 /\ a_393^0-a_393^post197 == 0 /\ -a_1162^post197+a_1162^0 == 0 /\ t_458^0-t_458^post197 == 0 /\ -x_17^post197+x_17^0 == 0 /\ i_113^0-i_113^post197 == 0 /\ r_192^0-r_192^post197 == 0 /\ -i_1248^post197+i_1248^0 == 0 /\ a_417^0-a_417^post197 == 0 /\ result_11^0-result_11^post197 == 0 /\ -a_239^post197+a_239^0 == 0 /\ -tmp_34^post197+tmp_34^0 == 0 /\ -head_15^post197+head_15^0 == 0 /\ -x_21^post197+x_21^0 == 0 /\ -temp0_16^post197+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post197 == 0 /\ a_634^0-a_634^post197 == 0 /\ r_143^0-r_143^post197 == 0 /\ -len_861^post197+len_861^0 == 0 /\ a_394^0-a_394^post197 == 0 /\ x_14^0-x_14^post197 == 0 /\ t_24^0-t_24^post197 == 0 /\ -a_635^post197+a_635^0 == 0 /\ a_862^0-a_862^post197 == 0 /\ -rcd_47^post197+rcd_47^0 == 0 /\ a_947^0-a_947^post197 == 0 /\ a_121^0-a_121^post197 == 0 /\ -i_94^post197+i_94^0 == 0 /\ rcd_58^0-rcd_58^post197 == 0 /\ -len_238^post197+len_238^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197 == 0 /\ a_263^0-a_263^post197 == 0 /\ -a_633^post197+a_633^0 == 0 /\ x_852^0-x_852^post197 == 0 /\ -i_107^post197+i_107^0 == 0 /\ length_29^0-length_29^post197 == 0 /\ len_161^0-len_161^post197 == 0 /\ i_106^0-i_106^post197 == 0 /\ -a_575^post197+a_575^0 == 0 /\ -a_576^post197+a_576^0 == 0 /\ -rcd_1249^post197+rcd_1249^0 == 0 /\ f_847^0-f_847^post197 == 0 /\ r_224^0-r_224^post197 == 0 /\ -a_431^post197+a_431^0 == 0 /\ r_151^0-r_151^post197 == 0 /\ a_309^0-a_309^post197 == 0 /\ a_902^0-a_902^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197 == 0 /\ a_430^0-a_430^post197 == 0 /\ -a_1236^post197+a_1236^0 == 0 /\ -x_975^post197+x_975^0 == 0 /\ 1+x_14^0 <= 0 /\ -f_969^post197+f_969^0 == 0 /\ i_229^0-i_229^post197 == 0 /\ a_577^0-a_577^post197 == 0 /\ a_432^0-a_432^post197 == 0 /\ x_156^0-x_156^post197 == 0 /\ -x_253^post197+x_253^0 == 0 /\ -a_610^post197+a_610^0 == 0), cost: 1 198: l124 -> l125 : a_1089^0'=a_1089^post198, f_847^0'=f_847^post198, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, a_394^0'=a_394^post198, x_156^0'=x_156^post198, a_632^0'=a_632^post198, r_192^0'=r_192^post198, a_176^0'=a_176^post198, i_106^0'=i_106^post198, a_430^0'=a_430^post198, t_458^0'=t_458^post198, len_161^0'=len_161^post198, x_975^0'=x_975^post198, a_902^0'=a_902^post198, a_947^0'=a_947^post198, rcd_88^0'=rcd_88^post198, a_311^0'=a_311^post198, i_140^0'=i_140^post198, a_577^0'=a_577^post198, x_14^0'=x_14^post198, nondet_12^0'=nondet_12^post198, a_121^0'=a_121^post198, head_15^0'=head_15^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198, i_27^0'=i_27^post198, x_21^0'=x_21^post198, a_634^0'=a_634^post198, r_39^0'=r_39^post198, a_263^0'=a_263^post198, i_113^0'=i_113^post198, a_432^0'=a_432^post198, temp0_31^0'=temp0_31^post198, len_262^0'=len_262^post198, y_20^0'=y_20^post198, f_248^0'=f_248^post198, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198, a_393^0'=a_393^post198, i_229^0'=i_229^post198, a_610^0'=a_610^post198, r_151^0'=r_151^post198, a_144^0'=a_144^post198, i_1053^0'=i_1053^post198, a_417^0'=a_417^post198, t_24^0'=t_24^post198, i_94^0'=i_94^post198, x_852^0'=x_852^post198, a_862^0'=a_862^post198, rcd_1249^0'=rcd_1249^post198, rcd_58^0'=rcd_58^post198, a_310^0'=a_310^post198, i_127^0'=i_127^post198, a_576^0'=a_576^post198, tmp_34^0'=tmp_34^post198, length_29^0'=length_29^post198, a_1162^0'=a_1162^post198, f_969^0'=f_969^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198, a_395^0'=a_395^post198, x_17^0'=x_17^post198, a_633^0'=a_633^post198, r_224^0'=r_224^post198, a_239^0'=a_239^post198, i_107^0'=i_107^post198, a_431^0'=a_431^post198, temp0_16^0'=temp0_16^post198, len_238^0'=len_238^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, a_924^0'=a_924^post198, ct_18^0'=ct_18^post198, result_11^0'=result_11^post198, a_392^0'=a_392^post198, i_197^0'=i_197^post198, a_579^0'=a_579^post198, r_143^0'=r_143^post198, a_1236^0'=a_1236^post198, head_32^0'=head_32^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198, i_30^0'=i_30^post198, x_253^0'=x_253^post198, a_635^0'=a_635^post198, r_970^0'=r_970^post198, rcd_47^0'=rcd_47^post198, a_309^0'=a_309^post198, i_1248^0'=i_1248^post198, a_575^0'=a_575^post198, temp_35^0'=temp_35^post198, len_861^0'=len_861^post198, (0 == 0 /\ -rcd_47^post198+rcd_47^0 == 0 /\ i_106^0-i_106^post198 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post198 == 0 /\ a_430^0-a_430^post198 == 0 /\ x_975^0-x_975^post198 == 0 /\ a_577^0-a_577^post198 == 0 /\ t_458^0-t_458^post198 == 0 /\ a_902^0-a_902^post198 == 0 /\ -a_634^post198+a_634^0 == 0 /\ i_229^0-i_229^post198 == 0 /\ -r_151^post198+r_151^0 == 0 /\ a_1162^0-a_1162^post198 == 0 /\ -a_575^post198+a_575^0 == 0 /\ x_156^0-x_156^post198 == 0 /\ -r_143^post198+r_143^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post198+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_969^post198+f_969^0 == 0 /\ i_27^0 <= 0 /\ -a_576^post198+a_576^0 == 0 /\ temp0_31^0-temp0_31^post198 == 0 /\ t_24^0-t_24^post198 == 0 /\ len_262^0-len_262^post198 == 0 /\ a_394^0-a_394^post198 == 0 /\ -temp_35^post198+temp_35^0 == 0 /\ a_310^0-a_310^post198 == 0 /\ a_176^0-a_176^post198 == 0 /\ f_847^0-f_847^post198 == 0 /\ a_392^0-a_392^post198 == 0 /\ -x_253^post198+x_253^0 == 0 /\ -len_238^post198+len_238^0 == 0 /\ y_20^0-y_20^post198 == 0 /\ a_579^0-a_579^post198 == 0 /\ -a_610^post198+a_610^0 == 0 /\ -r_970^post198+r_970^0 == 0 /\ -a_1236^post198+a_1236^0 == 0 /\ i_140^0-i_140^post198 == 0 /\ -a_311^post198+a_311^0 == 0 /\ tmp_34^0-tmp_34^post198 == 0 /\ -len_161^post198+len_161^0 == 0 /\ -r_224^post198+r_224^0 == 0 /\ -i_1248^post198+i_1248^0 == 0 /\ -rcd_88^post198+rcd_88^0 == 0 /\ -i_30^0 <= 0 /\ -a_239^post198+a_239^0 == 0 /\ i_94^0-i_94^post198 == 0 /\ i_113^0-i_113^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198 == 0 /\ r_39^0-r_39^post198 == 0 /\ a_393^0-a_393^post198 == 0 /\ -rcd_58^post198+rcd_58^0 == 0 /\ -length_29^post198+length_29^0 == 0 /\ -r_192^post198+r_192^0 == 0 /\ -i_127^post198+i_127^0 == 0 /\ -a_431^post198+a_431^0 == 0 /\ a_432^0-a_432^post198 == 0 /\ -i_197^post198+i_197^0 == 0 /\ a_862^0-a_862^post198 == 0 /\ -head_32^post198+head_32^0 == 0 /\ -f_248^post198+f_248^0 == 0 /\ x_21^0-x_21^post198 == 0 /\ -result_11^post198+result_11^0 == 0 /\ a_1089^0-a_1089^post198 == 0 /\ -rcd_1249^post198+rcd_1249^0 == 0 /\ -a_924^post198+a_924^0 == 0 /\ nondet_12^0-nondet_12^post198 == 0 /\ a_947^0-a_947^post198 == 0 /\ -a_309^post198+a_309^0 == 0 /\ a_121^0-a_121^post198 == 0 /\ -a_635^post198+a_635^0 == 0 /\ -a_144^post198+a_144^0 == 0 /\ -temp0_16^post198+temp0_16^0 == 0 /\ a_395^0-a_395^post198 == 0 /\ -len_861^post198+len_861^0 == 0 /\ a_263^0-a_263^post198 == 0 /\ i_107^0-i_107^post198 == 0 /\ -a_417^post198+a_417^0 == 0 /\ -i_30^post198+i_30^0 == 0 /\ -x_852^post198+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198 == 0), cost: 1 199: l125 -> l126 : a_1089^0'=a_1089^post199, f_847^0'=f_847^post199, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post199, a_394^0'=a_394^post199, x_156^0'=x_156^post199, a_632^0'=a_632^post199, r_192^0'=r_192^post199, a_176^0'=a_176^post199, i_106^0'=i_106^post199, a_430^0'=a_430^post199, t_458^0'=t_458^post199, len_161^0'=len_161^post199, x_975^0'=x_975^post199, a_902^0'=a_902^post199, a_947^0'=a_947^post199, rcd_88^0'=rcd_88^post199, a_311^0'=a_311^post199, i_140^0'=i_140^post199, a_577^0'=a_577^post199, x_14^0'=x_14^post199, nondet_12^0'=nondet_12^post199, a_121^0'=a_121^post199, head_15^0'=head_15^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199, i_27^0'=i_27^post199, x_21^0'=x_21^post199, a_634^0'=a_634^post199, r_39^0'=r_39^post199, a_263^0'=a_263^post199, i_113^0'=i_113^post199, a_432^0'=a_432^post199, temp0_31^0'=temp0_31^post199, len_262^0'=len_262^post199, y_20^0'=y_20^post199, f_248^0'=f_248^post199, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199, a_393^0'=a_393^post199, i_229^0'=i_229^post199, a_610^0'=a_610^post199, r_151^0'=r_151^post199, a_144^0'=a_144^post199, i_1053^0'=i_1053^post199, a_417^0'=a_417^post199, t_24^0'=t_24^post199, i_94^0'=i_94^post199, x_852^0'=x_852^post199, a_862^0'=a_862^post199, rcd_1249^0'=rcd_1249^post199, rcd_58^0'=rcd_58^post199, a_310^0'=a_310^post199, i_127^0'=i_127^post199, a_576^0'=a_576^post199, tmp_34^0'=tmp_34^post199, length_29^0'=length_29^post199, a_1162^0'=a_1162^post199, f_969^0'=f_969^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199, a_395^0'=a_395^post199, x_17^0'=x_17^post199, a_633^0'=a_633^post199, r_224^0'=r_224^post199, a_239^0'=a_239^post199, i_107^0'=i_107^post199, a_431^0'=a_431^post199, temp0_16^0'=temp0_16^post199, len_238^0'=len_238^post199, x_SLAM_f_19^0'=x_SLAM_f_19^post199, a_924^0'=a_924^post199, ct_18^0'=ct_18^post199, result_11^0'=result_11^post199, a_392^0'=a_392^post199, i_197^0'=i_197^post199, a_579^0'=a_579^post199, r_143^0'=r_143^post199, a_1236^0'=a_1236^post199, head_32^0'=head_32^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199, i_30^0'=i_30^post199, x_253^0'=x_253^post199, a_635^0'=a_635^post199, r_970^0'=r_970^post199, rcd_47^0'=rcd_47^post199, a_309^0'=a_309^post199, i_1248^0'=i_1248^post199, a_575^0'=a_575^post199, temp_35^0'=temp_35^post199, len_861^0'=len_861^post199, (-head_32^post199+head_32^0 == 0 /\ -a_395^post199+a_395^0 == 0 /\ -a_239^post199+a_239^0 == 0 /\ -len_861^post199+len_861^0 == 0 /\ -ct_18^post199+ct_18^0 == 0 /\ i_197^0-i_197^post199 == 0 /\ -len_262^post199+len_262^0 == 0 /\ a_1089^0-a_1089^post199 == 0 /\ a_394^0-a_394^post199 == 0 /\ a_417^0-a_417^post199 == 0 /\ -temp_35^post199+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_311^0-a_311^post199 == 0 /\ rcd_88^0-rcd_88^post199 == 0 /\ f_847^0-f_847^post199 == 0 /\ a_924^0-a_924^post199 == 0 /\ -i_1053^post199+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post199 == 0 /\ i_140^0-i_140^post199 == 0 /\ i_106^0-i_106^post199 == 0 /\ -a_392^post199+a_392^0 == 0 /\ -rcd_1249^post199+rcd_1249^0 == 0 /\ i_94^0-i_94^post199 == 0 /\ -a_575^post199+a_575^0 == 0 /\ -a_579^post199+a_579^0 == 0 /\ -a_309^post199+a_309^0 == 0 /\ x_975^0-x_975^post199 == 0 /\ t_458^0-t_458^post199 == 0 /\ r_39^0-r_39^post199 == 0 /\ y_20^0-y_20^post199 == 0 /\ -result_11^post199+result_11^0 == 0 /\ -i_30^post199+i_30^0 == 0 /\ a_393^0-a_393^post199 == 0 /\ -a_263^post199+a_263^0 == 0 /\ -a_635^post199+a_635^0 == 0 /\ r_224^0-r_224^post199 == 0 /\ i_127^0-i_127^post199 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -x_17^post199+x_17^0 == 0 /\ a_577^0-a_577^post199 == 0 /\ x_21^0-x_21^post199 == 0 /\ -x_852^post199+x_852^0 == 0 /\ temp0_31^0-temp0_31^post199 == 0 /\ -a_144^post199+a_144^0 == 0 /\ -rcd_58^post199+rcd_58^0 == 0 /\ -i_107^post199+i_107^0 == 0 /\ -head_15^post199+head_15^0 == 0 /\ -i_1248^post199+i_1248^0 == 0 /\ -a_633^post199+a_633^0 == 0 /\ -tmp_34^post199+tmp_34^0 == 0 /\ t_24^0-t_24^post199 == 0 /\ x_14^0-x_14^post199 == 0 /\ a_862^0-a_862^post199 == 0 /\ a_121^0-a_121^post199 == 0 /\ -len_238^post199+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post199 == 0 /\ len_161^0-len_161^post199 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post199 == 0 /\ a_947^0-a_947^post199 == 0 /\ -a_576^post199+a_576^0 == 0 /\ -a_634^post199+a_634^0 == 0 /\ f_248^0-f_248^post199 == 0 /\ length_29^0-length_29^post199 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post199 == 0 /\ a_632^0-a_632^post199 == 0 /\ -r_143^post199+r_143^0 == 0 /\ -i_27^post199+i_27^0 == 0 /\ -x_253^post199+x_253^0 == 0 /\ -a_1236^post199+a_1236^0 == 0 /\ -a_431^post199+a_431^0 == 0 /\ r_151^0-r_151^post199 == 0 /\ -f_969^post199+f_969^0 == 0 /\ a_902^0-a_902^post199 == 0 /\ -r_970^post199+r_970^0 == 0 /\ -a_176^post199+a_176^0 == 0 /\ i_229^0-i_229^post199 == 0 /\ a_432^0-a_432^post199 == 0 /\ -a_610^post199+a_610^0 == 0 /\ r_192^0-r_192^post199 == 0 /\ a_310^0-a_310^post199 == 0 /\ a_1162^0-a_1162^post199 == 0 /\ i_113^0-i_113^post199 == 0 /\ temp0_16^0-temp0_16^post199 == 0 /\ nondet_12^0-nondet_12^post199 == 0 /\ -rcd_47^post199+rcd_47^0 == 0), cost: 1 200: l125 -> l126 : a_1089^0'=a_1089^post200, f_847^0'=f_847^post200, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post200, a_394^0'=a_394^post200, x_156^0'=x_156^post200, a_632^0'=a_632^post200, r_192^0'=r_192^post200, a_176^0'=a_176^post200, i_106^0'=i_106^post200, a_430^0'=a_430^post200, t_458^0'=t_458^post200, len_161^0'=len_161^post200, x_975^0'=x_975^post200, a_902^0'=a_902^post200, a_947^0'=a_947^post200, rcd_88^0'=rcd_88^post200, a_311^0'=a_311^post200, i_140^0'=i_140^post200, a_577^0'=a_577^post200, x_14^0'=x_14^post200, nondet_12^0'=nondet_12^post200, a_121^0'=a_121^post200, head_15^0'=head_15^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200, i_27^0'=i_27^post200, x_21^0'=x_21^post200, a_634^0'=a_634^post200, r_39^0'=r_39^post200, a_263^0'=a_263^post200, i_113^0'=i_113^post200, a_432^0'=a_432^post200, temp0_31^0'=temp0_31^post200, len_262^0'=len_262^post200, y_20^0'=y_20^post200, f_248^0'=f_248^post200, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200, a_393^0'=a_393^post200, i_229^0'=i_229^post200, a_610^0'=a_610^post200, r_151^0'=r_151^post200, a_144^0'=a_144^post200, i_1053^0'=i_1053^post200, a_417^0'=a_417^post200, t_24^0'=t_24^post200, i_94^0'=i_94^post200, x_852^0'=x_852^post200, a_862^0'=a_862^post200, rcd_1249^0'=rcd_1249^post200, rcd_58^0'=rcd_58^post200, a_310^0'=a_310^post200, i_127^0'=i_127^post200, a_576^0'=a_576^post200, tmp_34^0'=tmp_34^post200, length_29^0'=length_29^post200, a_1162^0'=a_1162^post200, f_969^0'=f_969^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200, a_395^0'=a_395^post200, x_17^0'=x_17^post200, a_633^0'=a_633^post200, r_224^0'=r_224^post200, a_239^0'=a_239^post200, i_107^0'=i_107^post200, a_431^0'=a_431^post200, temp0_16^0'=temp0_16^post200, len_238^0'=len_238^post200, x_SLAM_f_19^0'=x_SLAM_f_19^post200, a_924^0'=a_924^post200, ct_18^0'=ct_18^post200, result_11^0'=result_11^post200, a_392^0'=a_392^post200, i_197^0'=i_197^post200, a_579^0'=a_579^post200, r_143^0'=r_143^post200, a_1236^0'=a_1236^post200, head_32^0'=head_32^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200, i_30^0'=i_30^post200, x_253^0'=x_253^post200, a_635^0'=a_635^post200, r_970^0'=r_970^post200, rcd_47^0'=rcd_47^post200, a_309^0'=a_309^post200, i_1248^0'=i_1248^post200, a_575^0'=a_575^post200, temp_35^0'=temp_35^post200, len_861^0'=len_861^post200, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_39^0-r_39^post200 == 0 /\ rcd_1249^0-rcd_1249^post200 == 0 /\ -rcd_47^post200+rcd_47^0 == 0 /\ -tmp_34^post200+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post200 == 0 /\ i_127^0-i_127^post200 == 0 /\ -a_633^post200+a_633^0 == 0 /\ a_430^0-a_430^post200 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_577^0-a_577^post200 == 0 /\ -a_924^post200+a_924^0 == 0 /\ a_1162^0-a_1162^post200 == 0 /\ -r_143^post200+r_143^0 == 0 /\ -a_634^post200+a_634^0 == 0 /\ a_432^0-a_432^post200 == 0 /\ x_14^0-x_14^post200 == 0 /\ i_27^0-i_27^post200 == 0 /\ -r_151^post200+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_192^0-r_192^post200 == 0 /\ -x_SLAM_f_19^post200+x_SLAM_f_19^0 == 0 /\ -y_20^post200+y_20^0 == 0 /\ -a_392^post200+a_392^0 == 0 /\ -f_969^post200+f_969^0 == 0 /\ i_140^0-i_140^post200 == 0 /\ a_394^0-a_394^post200 == 0 /\ i_229^0-i_229^post200 == 0 /\ a_576^0-a_576^post200 == 0 /\ -temp_35^post200+temp_35^0 == 0 /\ -i_113^post200+i_113^0 == 0 /\ a_947^0-a_947^post200 == 0 /\ -a_1236^post200+a_1236^0 == 0 /\ -r_970^post200+r_970^0 == 0 /\ f_847^0-f_847^post200 == 0 /\ -a_431^post200+a_431^0 == 0 /\ i_197^0-i_197^post200 == 0 /\ -x_253^post200+x_253^0 == 0 /\ -a_395^post200+a_395^0 == 0 /\ r_224^0-r_224^post200 == 0 /\ a_610^0-a_610^post200 == 0 /\ -i_1053^post200+i_1053^0 == 0 /\ a_902^0-a_902^post200 == 0 /\ -i_1248^post200+i_1248^0 == 0 /\ -length_29^post200+length_29^0 == 0 /\ i_94^0-i_94^post200 == 0 /\ -a_239^post200+a_239^0 == 0 /\ -rcd_58^post200+rcd_58^0 == 0 /\ i_107^0-i_107^post200 == 0 /\ head_15^0-head_15^post200 == 0 /\ -a_310^post200+a_310^0 == 0 /\ -ct_18^post200+ct_18^0 == 0 /\ -a_862^post200+a_862^0 == 0 /\ -len_861^post200+len_861^0 == 0 /\ rcd_88^0-rcd_88^post200 == 0 /\ a_311^0-a_311^post200 == 0 /\ -temp0_16^post200+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -t_458^post200+t_458^0 == 0 /\ x_156^0-x_156^post200 == 0 /\ -head_32^post200+head_32^0 == 0 /\ a_1089^0-a_1089^post200 == 0 /\ nondet_12^0-nondet_12^post200 == 0 /\ a_632^0-a_632^post200 == 0 /\ -len_161^post200+len_161^0 == 0 /\ -a_393^post200+a_393^0 == 0 /\ -i_106^post200+i_106^0 == 0 /\ -a_309^post200+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post200 == 0 /\ a_121^0-a_121^post200 == 0 /\ -a_579^post200+a_579^0 == 0 /\ x_21^0-x_21^post200 == 0 /\ -a_144^post200+a_144^0 == 0 /\ -result_11^post200+result_11^0 == 0 /\ temp0_31^0-temp0_31^post200 == 0 /\ -a_417^post200+a_417^0 == 0 /\ -x_852^post200+x_852^0 == 0 /\ len_262^0-len_262^post200 == 0 /\ -a_575^post200+a_575^0 == 0 /\ -i_30^post200+i_30^0 == 0 /\ -a_263^post200+a_263^0 == 0 /\ -t_24^post200+t_24^0 == 0 /\ x_17^0-x_17^post200 == 0 /\ -a_635^post200+a_635^0 == 0 /\ len_238^0-len_238^post200 == 0 /\ f_248^0-f_248^post200 == 0 /\ a_176^0-a_176^post200 == 0), cost: 1 201: l126 -> l127 : a_1089^0'=a_1089^post201, f_847^0'=f_847^post201, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post201, a_394^0'=a_394^post201, x_156^0'=x_156^post201, a_632^0'=a_632^post201, r_192^0'=r_192^post201, a_176^0'=a_176^post201, i_106^0'=i_106^post201, a_430^0'=a_430^post201, t_458^0'=t_458^post201, len_161^0'=len_161^post201, x_975^0'=x_975^post201, a_902^0'=a_902^post201, a_947^0'=a_947^post201, rcd_88^0'=rcd_88^post201, a_311^0'=a_311^post201, i_140^0'=i_140^post201, a_577^0'=a_577^post201, x_14^0'=x_14^post201, nondet_12^0'=nondet_12^post201, a_121^0'=a_121^post201, head_15^0'=head_15^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201, i_27^0'=i_27^post201, x_21^0'=x_21^post201, a_634^0'=a_634^post201, r_39^0'=r_39^post201, a_263^0'=a_263^post201, i_113^0'=i_113^post201, a_432^0'=a_432^post201, temp0_31^0'=temp0_31^post201, len_262^0'=len_262^post201, y_20^0'=y_20^post201, f_248^0'=f_248^post201, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201, a_393^0'=a_393^post201, i_229^0'=i_229^post201, a_610^0'=a_610^post201, r_151^0'=r_151^post201, a_144^0'=a_144^post201, i_1053^0'=i_1053^post201, a_417^0'=a_417^post201, t_24^0'=t_24^post201, i_94^0'=i_94^post201, x_852^0'=x_852^post201, a_862^0'=a_862^post201, rcd_1249^0'=rcd_1249^post201, rcd_58^0'=rcd_58^post201, a_310^0'=a_310^post201, i_127^0'=i_127^post201, a_576^0'=a_576^post201, tmp_34^0'=tmp_34^post201, length_29^0'=length_29^post201, a_1162^0'=a_1162^post201, f_969^0'=f_969^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201, a_395^0'=a_395^post201, x_17^0'=x_17^post201, a_633^0'=a_633^post201, r_224^0'=r_224^post201, a_239^0'=a_239^post201, i_107^0'=i_107^post201, a_431^0'=a_431^post201, temp0_16^0'=temp0_16^post201, len_238^0'=len_238^post201, x_SLAM_f_19^0'=x_SLAM_f_19^post201, a_924^0'=a_924^post201, ct_18^0'=ct_18^post201, result_11^0'=result_11^post201, a_392^0'=a_392^post201, i_197^0'=i_197^post201, a_579^0'=a_579^post201, r_143^0'=r_143^post201, a_1236^0'=a_1236^post201, head_32^0'=head_32^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201, i_30^0'=i_30^post201, x_253^0'=x_253^post201, a_635^0'=a_635^post201, r_970^0'=r_970^post201, rcd_47^0'=rcd_47^post201, a_309^0'=a_309^post201, i_1248^0'=i_1248^post201, a_575^0'=a_575^post201, temp_35^0'=temp_35^post201, len_861^0'=len_861^post201, (0 == 0 /\ -length_29^post201+length_29^0 == 0 /\ -r_39^post201+r_39^0 == 0 /\ a_576^0-a_576^post201 == 0 /\ x_852^0-x_852^post201 == 0 /\ -i_1053^post201+i_1053^0 == 0 /\ x_21^0-x_21^post201 == 0 /\ -a_395^post201+a_395^0 == 0 /\ a_121^0-a_121^post201 == 0 /\ x_156^0-x_156^post201 == 0 /\ len_262^0-len_262^post201 == 0 /\ -a_417^post201+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post201+len_861^0 == 0 /\ f_847^0-f_847^post201 == 0 /\ -a_1236^post201+a_1236^0 == 0 /\ nondet_12^0-nondet_12^post201 == 0 /\ a_394^0-a_394^post201 == 0 /\ rcd_58^0-rcd_58^post201 == 0 /\ a_1089^post201-a_1162^0 <= 0 /\ -a_392^post201+a_392^0 == 0 /\ -a_862^post201+a_862^0 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -i_1248^post201+i_1248^0 == 0 /\ -a_579^post201+a_579^0 == 0 /\ -a_393^post201+a_393^0 == 0 /\ -a_635^post201+a_635^0 == 0 /\ -a_144^post201+a_144^0 == 0 /\ t_458^0-t_458^post201 == 0 /\ -i_107^post201+i_107^0 == 0 /\ -i_30^post201+i_30^0 == 0 /\ -a_575^post201+a_575^0 == 0 /\ -a_263^post201+a_263^0 == 0 /\ a_577^0-a_577^post201 == 0 /\ -head_32^post201+head_32^0 == 0 /\ -i_197^post201+i_197^0 == 0 /\ i_106^0-i_106^post201 == 0 /\ r_224^0-r_224^post201 == 0 /\ ct_18^0-ct_18^post201 == 0 /\ i_127^0-i_127^post201 == 0 /\ head_15^0-head_15^post201 == 0 /\ y_20^0 <= 0 /\ -a_309^post201+a_309^0 == 0 /\ -x_21^0+t_24^post201 == 0 /\ i_229^0-i_229^post201 == 0 /\ -a_1089^post201+a_1162^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_14^0-x_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post201 == 0 /\ x_14^0-x_14^post201 == 0 /\ a_430^0-a_430^post201 == 0 /\ i_27^0-i_27^post201 == 0 /\ -tmp_34^post201+tmp_34^0 == 0 /\ -a_1162^post201+a_1162^0 == 0 /\ -rcd_47^post201+rcd_47^0 == 0 /\ -a_924^post201+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post201 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -len_238^post201+len_238^0 == 0 /\ a_431^0-a_431^post201 == 0 /\ temp0_31^0-temp0_31^post201 == 0 /\ -x_14^0+t_24^post201 <= 0 /\ x_17^0-x_17^post201 == 0 /\ a_634^0-a_634^post201 == 0 /\ -y_20^0 <= 0 /\ -a_633^post201+a_633^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -result_11^post201+result_11^0 == 0 /\ y_20^0-y_20^post201 == 0 /\ a_947^0-a_947^post201 == 0 /\ rcd_88^0-rcd_88^post201 == 0 /\ -r_151^post201+r_151^0 == 0 /\ -rcd_1249^post201+rcd_1249^0 == 0 /\ a_176^0-a_176^post201 == 0 /\ -a_902^post201+a_902^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ r_192^0-r_192^post201 == 0 /\ -r_970^post201+r_970^0 == 0 /\ f_969^0-f_969^post201 == 0 /\ x_975^0-x_975^post201 == 0 /\ -x_253^post201+x_253^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post201 == 0 /\ a_239^0-a_239^post201 == 0 /\ -r_143^post201+r_143^0 == 0 /\ -ct_18^0 <= 0 /\ -i_94^post201+i_94^0 == 0 /\ x_14^0-t_24^post201 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ a_310^0-a_310^post201 == 0 /\ -i_113^post201+i_113^0 == 0 /\ len_161^0-len_161^post201 == 0 /\ -a_432^post201+a_432^0 == 0 /\ temp0_16^0-temp0_16^post201 == 0 /\ -temp_35^post201+temp_35^0 == 0 /\ a_610^0-a_610^post201 == 0 /\ a_632^0-a_632^post201 == 0 /\ -a_311^post201+a_311^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post201+x_SLAM_f_19^0 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0), cost: 1 202: l127 -> l128 : a_1089^0'=a_1089^post202, f_847^0'=f_847^post202, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post202, a_394^0'=a_394^post202, x_156^0'=x_156^post202, a_632^0'=a_632^post202, r_192^0'=r_192^post202, a_176^0'=a_176^post202, i_106^0'=i_106^post202, a_430^0'=a_430^post202, t_458^0'=t_458^post202, len_161^0'=len_161^post202, x_975^0'=x_975^post202, a_902^0'=a_902^post202, a_947^0'=a_947^post202, rcd_88^0'=rcd_88^post202, a_311^0'=a_311^post202, i_140^0'=i_140^post202, a_577^0'=a_577^post202, x_14^0'=x_14^post202, nondet_12^0'=nondet_12^post202, a_121^0'=a_121^post202, head_15^0'=head_15^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202, i_27^0'=i_27^post202, x_21^0'=x_21^post202, a_634^0'=a_634^post202, r_39^0'=r_39^post202, a_263^0'=a_263^post202, i_113^0'=i_113^post202, a_432^0'=a_432^post202, temp0_31^0'=temp0_31^post202, len_262^0'=len_262^post202, y_20^0'=y_20^post202, f_248^0'=f_248^post202, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202, a_393^0'=a_393^post202, i_229^0'=i_229^post202, a_610^0'=a_610^post202, r_151^0'=r_151^post202, a_144^0'=a_144^post202, i_1053^0'=i_1053^post202, a_417^0'=a_417^post202, t_24^0'=t_24^post202, i_94^0'=i_94^post202, x_852^0'=x_852^post202, a_862^0'=a_862^post202, rcd_1249^0'=rcd_1249^post202, rcd_58^0'=rcd_58^post202, a_310^0'=a_310^post202, i_127^0'=i_127^post202, a_576^0'=a_576^post202, tmp_34^0'=tmp_34^post202, length_29^0'=length_29^post202, a_1162^0'=a_1162^post202, f_969^0'=f_969^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202, a_395^0'=a_395^post202, x_17^0'=x_17^post202, a_633^0'=a_633^post202, r_224^0'=r_224^post202, a_239^0'=a_239^post202, i_107^0'=i_107^post202, a_431^0'=a_431^post202, temp0_16^0'=temp0_16^post202, len_238^0'=len_238^post202, x_SLAM_f_19^0'=x_SLAM_f_19^post202, a_924^0'=a_924^post202, ct_18^0'=ct_18^post202, result_11^0'=result_11^post202, a_392^0'=a_392^post202, i_197^0'=i_197^post202, a_579^0'=a_579^post202, r_143^0'=r_143^post202, a_1236^0'=a_1236^post202, head_32^0'=head_32^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202, i_30^0'=i_30^post202, x_253^0'=x_253^post202, a_635^0'=a_635^post202, r_970^0'=r_970^post202, rcd_47^0'=rcd_47^post202, a_309^0'=a_309^post202, i_1248^0'=i_1248^post202, a_575^0'=a_575^post202, temp_35^0'=temp_35^post202, len_861^0'=len_861^post202, (r_39^0-r_39^post202 == 0 /\ -a_1162^post202+a_1162^0 == 0 /\ -a_924^post202+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post202 == 0 /\ ct_18^0-ct_18^post202 == 0 /\ -rcd_47^post202+rcd_47^0 == 0 /\ -a_431^post202+a_431^0 == 0 /\ 1-x_14^0 <= 0 /\ -x_253^post202+x_253^0 == 0 /\ -r_151^post202+r_151^0 == 0 /\ -result_11^post202+result_11^0 == 0 /\ x_21^0-x_21^post202 == 0 /\ i_27^0-i_27^post202 == 0 /\ x_14^0-x_14^post202 == 0 /\ r_192^0-r_192^post202 == 0 /\ i_140^0-i_140^post202 == 0 /\ -i_94^post202+i_94^0 == 0 /\ -r_224^post202+r_224^0 == 0 /\ nondet_12^0-nondet_12^post202 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post202 == 0 /\ -temp_35^post202+temp_35^0 == 0 /\ a_263^0-a_263^post202 == 0 /\ x_156^0-x_156^post202 == 0 /\ -r_970^post202+r_970^0 == 0 /\ -i_1053^post202+i_1053^0 == 0 /\ a_634^0-a_634^post202 == 0 /\ -i_113^post202+i_113^0 == 0 /\ -x_SLAM_f_19^post202+x_SLAM_f_19^0 == 0 /\ -r_143^post202+r_143^0 == 0 /\ a_576^0-a_576^post202 == 0 /\ rcd_58^0-rcd_58^post202 == 0 /\ tmp_34^0-tmp_34^post202 == 0 /\ -a_395^post202+a_395^0 == 0 /\ a_144^0-a_144^post202 == 0 /\ -a_1236^post202+a_1236^0 == 0 /\ a_947^0-a_947^post202 == 0 /\ len_238^0-len_238^post202 == 0 /\ -y_20^post202+y_20^0 == 0 /\ f_248^0-f_248^post202 == 0 /\ -a_432^post202+a_432^0 == 0 /\ a_430^0-a_430^post202 == 0 /\ -i_106^post202+i_106^0 == 0 /\ -a_862^post202+a_862^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_975^0-x_975^post202 == 0 /\ i_127^0-i_127^post202 == 0 /\ a_632^0-a_632^post202 == 0 /\ a_610^0-a_610^post202 == 0 /\ -length_29^post202+length_29^0 == 0 /\ a_577^0-a_577^post202 == 0 /\ head_15^0-head_15^post202 == 0 /\ rcd_1249^0-rcd_1249^post202 == 0 /\ a_902^0-a_902^post202 == 0 /\ -i_1248^post202+i_1248^0 == 0 /\ rcd_88^0-rcd_88^post202 == 0 /\ a_311^0-a_311^post202 == 0 /\ -a_392^post202+a_392^0 == 0 /\ -a_239^post202+a_239^0 == 0 /\ -a_310^post202+a_310^0 == 0 /\ a_1089^0-a_1089^post202 == 0 /\ -len_861^post202+len_861^0 == 0 /\ -temp0_16^post202+temp0_16^0 == 0 /\ i_229^0-i_229^post202 == 0 /\ -i_30^post202+i_30^0 == 0 /\ -t_458^post202+t_458^0 == 0 /\ -a_393^post202+a_393^0 == 0 /\ -head_32^post202+head_32^0 == 0 /\ a_121^0-a_121^post202 == 0 /\ -x_852^post202+x_852^0 == 0 /\ -t_24^post202+t_24^0 == 0 /\ len_262^0-len_262^post202 == 0 /\ temp0_31^0-temp0_31^post202 == 0 /\ -a_635^post202+a_635^0 == 0 /\ -a_309^post202+a_309^0 == 0 /\ len_161^0-len_161^post202 == 0 /\ a_633^0-a_633^post202 == 0 /\ x_17^0-x_17^post202 == 0 /\ a_176^0-a_176^post202 == 0 /\ -a_417^post202+a_417^0 == 0 /\ -i_107^post202+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202 == 0 /\ f_847^0-f_847^post202 == 0 /\ -a_575^post202+a_575^0 == 0 /\ -i_197^post202+i_197^0 == 0 /\ a_394^0-a_394^post202 == 0 /\ -a_579^post202+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 203: l127 -> l128 : a_1089^0'=a_1089^post203, f_847^0'=f_847^post203, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post203, a_394^0'=a_394^post203, x_156^0'=x_156^post203, a_632^0'=a_632^post203, r_192^0'=r_192^post203, a_176^0'=a_176^post203, i_106^0'=i_106^post203, a_430^0'=a_430^post203, t_458^0'=t_458^post203, len_161^0'=len_161^post203, x_975^0'=x_975^post203, a_902^0'=a_902^post203, a_947^0'=a_947^post203, rcd_88^0'=rcd_88^post203, a_311^0'=a_311^post203, i_140^0'=i_140^post203, a_577^0'=a_577^post203, x_14^0'=x_14^post203, nondet_12^0'=nondet_12^post203, a_121^0'=a_121^post203, head_15^0'=head_15^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203, i_27^0'=i_27^post203, x_21^0'=x_21^post203, a_634^0'=a_634^post203, r_39^0'=r_39^post203, a_263^0'=a_263^post203, i_113^0'=i_113^post203, a_432^0'=a_432^post203, temp0_31^0'=temp0_31^post203, len_262^0'=len_262^post203, y_20^0'=y_20^post203, f_248^0'=f_248^post203, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203, a_393^0'=a_393^post203, i_229^0'=i_229^post203, a_610^0'=a_610^post203, r_151^0'=r_151^post203, a_144^0'=a_144^post203, i_1053^0'=i_1053^post203, a_417^0'=a_417^post203, t_24^0'=t_24^post203, i_94^0'=i_94^post203, x_852^0'=x_852^post203, a_862^0'=a_862^post203, rcd_1249^0'=rcd_1249^post203, rcd_58^0'=rcd_58^post203, a_310^0'=a_310^post203, i_127^0'=i_127^post203, a_576^0'=a_576^post203, tmp_34^0'=tmp_34^post203, length_29^0'=length_29^post203, a_1162^0'=a_1162^post203, f_969^0'=f_969^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203, a_395^0'=a_395^post203, x_17^0'=x_17^post203, a_633^0'=a_633^post203, r_224^0'=r_224^post203, a_239^0'=a_239^post203, i_107^0'=i_107^post203, a_431^0'=a_431^post203, temp0_16^0'=temp0_16^post203, len_238^0'=len_238^post203, x_SLAM_f_19^0'=x_SLAM_f_19^post203, a_924^0'=a_924^post203, ct_18^0'=ct_18^post203, result_11^0'=result_11^post203, a_392^0'=a_392^post203, i_197^0'=i_197^post203, a_579^0'=a_579^post203, r_143^0'=r_143^post203, a_1236^0'=a_1236^post203, head_32^0'=head_32^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203, i_30^0'=i_30^post203, x_253^0'=x_253^post203, a_635^0'=a_635^post203, r_970^0'=r_970^post203, rcd_47^0'=rcd_47^post203, a_309^0'=a_309^post203, i_1248^0'=i_1248^post203, a_575^0'=a_575^post203, temp_35^0'=temp_35^post203, len_861^0'=len_861^post203, (-a_1236^post203+a_1236^0 == 0 /\ a_263^0-a_263^post203 == 0 /\ len_161^0-len_161^post203 == 0 /\ -a_432^post203+a_432^0 == 0 /\ result_11^0-result_11^post203 == 0 /\ -x_17^post203+x_17^0 == 0 /\ x_156^0-x_156^post203 == 0 /\ -temp0_31^post203+temp0_31^0 == 0 /\ -a_392^post203+a_392^0 == 0 /\ head_15^0-head_15^post203 == 0 /\ a_634^0-a_634^post203 == 0 /\ tmp_34^0-tmp_34^post203 == 0 /\ -i_30^post203+i_30^0 == 0 /\ -i_1248^post203+i_1248^0 == 0 /\ -x_SLAM_f_19^post203+x_SLAM_f_19^0 == 0 /\ a_862^0-a_862^post203 == 0 /\ -temp0_16^post203+temp0_16^0 == 0 /\ f_248^0-f_248^post203 == 0 /\ a_902^0-a_902^post203 == 0 /\ -a_310^post203+a_310^0 == 0 /\ -len_861^post203+len_861^0 == 0 /\ -r_224^post203+r_224^0 == 0 /\ -i_94^post203+i_94^0 == 0 /\ rcd_58^0-rcd_58^post203 == 0 /\ -i_1053^post203+i_1053^0 == 0 /\ a_947^0-a_947^post203 == 0 /\ -head_32^post203+head_32^0 == 0 /\ -a_579^post203+a_579^0 == 0 /\ a_430^0-a_430^post203 == 0 /\ -a_635^post203+a_635^0 == 0 /\ r_192^0-r_192^post203 == 0 /\ i_113^0-i_113^post203 == 0 /\ rcd_88^0-rcd_88^post203 == 0 /\ a_176^0-a_176^post203 == 0 /\ a_311^0-a_311^post203 == 0 /\ length_29^0-length_29^post203 == 0 /\ -ct_18^post203+ct_18^0 == 0 /\ -len_262^post203+len_262^0 == 0 /\ -len_238^post203+len_238^0 == 0 /\ -i_197^post203+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post203 == 0 /\ -a_309^post203+a_309^0 == 0 /\ x_852^0-x_852^post203 == 0 /\ -x_14^post203+x_14^0 == 0 /\ -r_39^post203+r_39^0 == 0 /\ -i_127^post203+i_127^0 == 0 /\ -i_107^post203+i_107^0 == 0 /\ -a_575^post203+a_575^0 == 0 /\ a_1089^0-a_1089^post203 == 0 /\ -a_121^post203+a_121^0 == 0 /\ a_576^0-a_576^post203 == 0 /\ f_847^0-f_847^post203 == 0 /\ a_144^0-a_144^post203 == 0 /\ -a_431^post203+a_431^0 == 0 /\ nondet_12^0-nondet_12^post203 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203 == 0 /\ -a_1162^post203+a_1162^0 == 0 /\ i_140^0-i_140^post203 == 0 /\ -t_24^post203+t_24^0 == 0 /\ -x_21^post203+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203 == 0 /\ r_151^0-r_151^post203 == 0 /\ -rcd_47^post203+rcd_47^0 == 0 /\ y_20^0-y_20^post203 == 0 /\ a_417^0-a_417^post203 == 0 /\ -a_924^post203+a_924^0 == 0 /\ a_394^0-a_394^post203 == 0 /\ a_577^0-a_577^post203 == 0 /\ a_239^0-a_239^post203 == 0 /\ f_969^0-f_969^post203 == 0 /\ x_975^0-x_975^post203 == 0 /\ -r_143^post203+r_143^0 == 0 /\ -i_229^post203+i_229^0 == 0 /\ -x_253^post203+x_253^0 == 0 /\ -r_970^post203+r_970^0 == 0 /\ a_610^0-a_610^post203 == 0 /\ rcd_1249^0-rcd_1249^post203 == 0 /\ 1+x_14^0 <= 0 /\ i_106^0-i_106^post203 == 0 /\ i_27^0-i_27^post203 == 0 /\ a_633^0-a_633^post203 == 0 /\ t_458^0-t_458^post203 == 0 /\ a_393^0-a_393^post203 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post203+a_395^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post203 == 0 /\ -temp_35^post203+temp_35^0 == 0), cost: 1 204: l128 -> l129 : a_1089^0'=a_1089^post204, f_847^0'=f_847^post204, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post204, a_394^0'=a_394^post204, x_156^0'=x_156^post204, a_632^0'=a_632^post204, r_192^0'=r_192^post204, a_176^0'=a_176^post204, i_106^0'=i_106^post204, a_430^0'=a_430^post204, t_458^0'=t_458^post204, len_161^0'=len_161^post204, x_975^0'=x_975^post204, a_902^0'=a_902^post204, a_947^0'=a_947^post204, rcd_88^0'=rcd_88^post204, a_311^0'=a_311^post204, i_140^0'=i_140^post204, a_577^0'=a_577^post204, x_14^0'=x_14^post204, nondet_12^0'=nondet_12^post204, a_121^0'=a_121^post204, head_15^0'=head_15^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204, i_27^0'=i_27^post204, x_21^0'=x_21^post204, a_634^0'=a_634^post204, r_39^0'=r_39^post204, a_263^0'=a_263^post204, i_113^0'=i_113^post204, a_432^0'=a_432^post204, temp0_31^0'=temp0_31^post204, len_262^0'=len_262^post204, y_20^0'=y_20^post204, f_248^0'=f_248^post204, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204, a_393^0'=a_393^post204, i_229^0'=i_229^post204, a_610^0'=a_610^post204, r_151^0'=r_151^post204, a_144^0'=a_144^post204, i_1053^0'=i_1053^post204, a_417^0'=a_417^post204, t_24^0'=t_24^post204, i_94^0'=i_94^post204, x_852^0'=x_852^post204, a_862^0'=a_862^post204, rcd_1249^0'=rcd_1249^post204, rcd_58^0'=rcd_58^post204, a_310^0'=a_310^post204, i_127^0'=i_127^post204, a_576^0'=a_576^post204, tmp_34^0'=tmp_34^post204, length_29^0'=length_29^post204, a_1162^0'=a_1162^post204, f_969^0'=f_969^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204, a_395^0'=a_395^post204, x_17^0'=x_17^post204, a_633^0'=a_633^post204, r_224^0'=r_224^post204, a_239^0'=a_239^post204, i_107^0'=i_107^post204, a_431^0'=a_431^post204, temp0_16^0'=temp0_16^post204, len_238^0'=len_238^post204, x_SLAM_f_19^0'=x_SLAM_f_19^post204, a_924^0'=a_924^post204, ct_18^0'=ct_18^post204, result_11^0'=result_11^post204, a_392^0'=a_392^post204, i_197^0'=i_197^post204, a_579^0'=a_579^post204, r_143^0'=r_143^post204, a_1236^0'=a_1236^post204, head_32^0'=head_32^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204, i_30^0'=i_30^post204, x_253^0'=x_253^post204, a_635^0'=a_635^post204, r_970^0'=r_970^post204, rcd_47^0'=rcd_47^post204, a_309^0'=a_309^post204, i_1248^0'=i_1248^post204, a_575^0'=a_575^post204, temp_35^0'=temp_35^post204, len_861^0'=len_861^post204, (a_311^0-a_311^post204 == 0 /\ -f_969^post204+f_969^0 == 0 /\ a_610^0-a_610^post204 == 0 /\ a_392^0-a_392^post204 == 0 /\ t_458^0-t_458^post204 == 0 /\ a_176^0-a_176^post204 == 0 /\ a_902^0-a_902^post204 == 0 /\ r_143^0-r_143^post204 == 0 /\ -a_121^post204+a_121^0 == 0 /\ -x_21^post204+x_21^0 == 0 /\ rcd_88^0-rcd_88^post204 == 0 /\ r_192^0-r_192^post204 == 0 /\ -temp_35^post204+temp_35^0 == 0 /\ -r_970^post204+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post204 == 0 /\ -x_253^post204+x_253^0 == 0 /\ -len_238^post204+len_238^0 == 0 /\ -rcd_47^post204+rcd_47^0 == 0 /\ a_1089^0-a_1089^post204 == 0 /\ i_27^0-i_27^post204 == 0 /\ r_39^0-r_39^post204 == 0 /\ -a_1162^post204+a_1162^0 == 0 /\ len_262^0-len_262^post204 == 0 /\ a_1236^0-a_1236^post204 == 0 /\ -y_20^post204+y_20^0 == 0 /\ -x_SLAM_f_19^post204+x_SLAM_f_19^0 == 0 /\ -i_1248^post204+i_1248^0 == 0 /\ a_263^0-a_263^post204 == 0 /\ temp0_31^0-temp0_31^post204 == 0 /\ -a_239^post204+a_239^0 == 0 /\ a_144^0-a_144^post204 == 0 /\ -temp0_16^post204+temp0_16^0 == 0 /\ result_11^0-result_11^post204 == 0 /\ -len_861^post204+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204 == 0 /\ -i_229^post204+i_229^0 == 0 /\ -a_431^post204+a_431^0 == 0 /\ -nondet_12^post204+nondet_12^0 == 0 /\ -a_432^post204+a_432^0 == 0 /\ -a_924^post204+a_924^0 == 0 /\ -i_113^post204+i_113^0 == 0 /\ a_634^0-a_634^post204 == 0 /\ -a_395^post204+a_395^0 == 0 /\ a_417^0-a_417^post204 == 0 /\ f_248^0-f_248^post204 == 0 /\ tmp_34^0-tmp_34^post204 == 0 /\ -i_107^post204+i_107^0 == 0 /\ -a_862^post204+a_862^0 == 0 /\ i_1053^0-i_1053^post204 == 0 /\ i_127^0-i_127^post204 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post204 == 0 /\ -a_575^post204+a_575^0 == 0 /\ len_161^0-len_161^post204 == 0 /\ i_106^0-i_106^post204 == 0 /\ a_632^0-a_632^post204 == 0 /\ -a_635^post204+a_635^0 == 0 /\ a_393^0-a_393^post204 == 0 /\ -i_30^post204+i_30^0 == 0 /\ -a_310^post204+a_310^0 == 0 /\ -i_94^post204+i_94^0 == 0 /\ -r_224^post204+r_224^0 == 0 /\ -x_17^post204+x_17^0 == 0 /\ x_14^0-x_14^post204 == 0 /\ -length_29^post204+length_29^0 == 0 /\ x_852^0-x_852^post204 == 0 /\ x_156^0-x_156^post204 == 0 /\ a_309^0-a_309^post204 == 0 /\ a_576^0-a_576^post204 == 0 /\ f_847^0-f_847^post204 == 0 /\ -a_579^post204+a_579^0 == 0 /\ -t_24^post204+t_24^0 == 0 /\ -head_32^post204+head_32^0 == 0 /\ i_140^0-i_140^post204 == 0 /\ a_633^0-a_633^post204 == 0 /\ -ct_18^post204+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204 == 0 /\ a_947^0-a_947^post204 == 0 /\ rcd_58^0-rcd_58^post204 == 0 /\ head_15^0-head_15^post204 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ -x_975^post204+x_975^0 == 0 /\ a_394^0-a_394^post204 == 0 /\ -a_430^post204+a_430^0 == 0 /\ -i_197^post204+i_197^0 == 0 /\ r_151^0-r_151^post204 == 0 /\ a_577^0-a_577^post204 == 0), cost: 1 205: l128 -> l129 : a_1089^0'=a_1089^post205, f_847^0'=f_847^post205, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post205, a_394^0'=a_394^post205, x_156^0'=x_156^post205, a_632^0'=a_632^post205, r_192^0'=r_192^post205, a_176^0'=a_176^post205, i_106^0'=i_106^post205, a_430^0'=a_430^post205, t_458^0'=t_458^post205, len_161^0'=len_161^post205, x_975^0'=x_975^post205, a_902^0'=a_902^post205, a_947^0'=a_947^post205, rcd_88^0'=rcd_88^post205, a_311^0'=a_311^post205, i_140^0'=i_140^post205, a_577^0'=a_577^post205, x_14^0'=x_14^post205, nondet_12^0'=nondet_12^post205, a_121^0'=a_121^post205, head_15^0'=head_15^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205, i_27^0'=i_27^post205, x_21^0'=x_21^post205, a_634^0'=a_634^post205, r_39^0'=r_39^post205, a_263^0'=a_263^post205, i_113^0'=i_113^post205, a_432^0'=a_432^post205, temp0_31^0'=temp0_31^post205, len_262^0'=len_262^post205, y_20^0'=y_20^post205, f_248^0'=f_248^post205, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205, a_393^0'=a_393^post205, i_229^0'=i_229^post205, a_610^0'=a_610^post205, r_151^0'=r_151^post205, a_144^0'=a_144^post205, i_1053^0'=i_1053^post205, a_417^0'=a_417^post205, t_24^0'=t_24^post205, i_94^0'=i_94^post205, x_852^0'=x_852^post205, a_862^0'=a_862^post205, rcd_1249^0'=rcd_1249^post205, rcd_58^0'=rcd_58^post205, a_310^0'=a_310^post205, i_127^0'=i_127^post205, a_576^0'=a_576^post205, tmp_34^0'=tmp_34^post205, length_29^0'=length_29^post205, a_1162^0'=a_1162^post205, f_969^0'=f_969^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205, a_395^0'=a_395^post205, x_17^0'=x_17^post205, a_633^0'=a_633^post205, r_224^0'=r_224^post205, a_239^0'=a_239^post205, i_107^0'=i_107^post205, a_431^0'=a_431^post205, temp0_16^0'=temp0_16^post205, len_238^0'=len_238^post205, x_SLAM_f_19^0'=x_SLAM_f_19^post205, a_924^0'=a_924^post205, ct_18^0'=ct_18^post205, result_11^0'=result_11^post205, a_392^0'=a_392^post205, i_197^0'=i_197^post205, a_579^0'=a_579^post205, r_143^0'=r_143^post205, a_1236^0'=a_1236^post205, head_32^0'=head_32^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205, i_30^0'=i_30^post205, x_253^0'=x_253^post205, a_635^0'=a_635^post205, r_970^0'=r_970^post205, rcd_47^0'=rcd_47^post205, a_309^0'=a_309^post205, i_1248^0'=i_1248^post205, a_575^0'=a_575^post205, temp_35^0'=temp_35^post205, len_861^0'=len_861^post205, (-a_1236^post205+a_1236^0 == 0 /\ -i_30^post205+i_30^0 == 0 /\ -a_575^post205+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205 == 0 /\ -r_39^post205+r_39^0 == 0 /\ result_11^0-result_11^post205 == 0 /\ -a_432^post205+a_432^0 == 0 /\ a_579^0-a_579^post205 == 0 /\ a_634^0-a_634^post205 == 0 /\ -i_94^post205+i_94^0 == 0 /\ r_151^0-r_151^post205 == 0 /\ -temp0_31^post205+temp0_31^0 == 0 /\ -len_262^post205+len_262^0 == 0 /\ -x_17^post205+x_17^0 == 0 /\ a_176^0-a_176^post205 == 0 /\ -i_1248^post205+i_1248^0 == 0 /\ -a_635^post205+a_635^0 == 0 /\ -x_SLAM_f_19^post205+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post205 == 0 /\ -a_144^post205+a_144^0 == 0 /\ -ct_18^post205+ct_18^0 == 0 /\ a_239^0-a_239^post205 == 0 /\ rcd_88^0-rcd_88^post205 == 0 /\ i_113^0-i_113^post205 == 0 /\ -len_238^post205+len_238^0 == 0 /\ a_902^0-a_902^post205 == 0 /\ -a_610^post205+a_610^0 == 0 /\ r_192^0-r_192^post205 == 0 /\ a_310^0-a_310^post205 == 0 /\ i_1053^0-i_1053^post205 == 0 /\ -a_633^post205+a_633^0 == 0 /\ r_143^0-r_143^post205 == 0 /\ length_29^0-length_29^post205 == 0 /\ -head_32^post205+head_32^0 == 0 /\ i_140^0-i_140^post205 == 0 /\ -x_975^post205+x_975^0 == 0 /\ len_161^0-len_161^post205 == 0 /\ -a_309^post205+a_309^0 == 0 /\ x_852^0-x_852^post205 == 0 /\ a_392^0-a_392^post205 == 0 /\ t_24^0-t_24^post205 == 0 /\ a_632^0-a_632^post205 == 0 /\ a_576^0-a_576^post205 == 0 /\ -i_127^post205+i_127^0 == 0 /\ -a_431^post205+a_431^0 == 0 /\ -head_15^post205+head_15^0 == 0 /\ -x_253^post205+x_253^0 == 0 /\ -a_1162^post205+a_1162^0 == 0 /\ x_156^0-x_156^post205 == 0 /\ -i_197^post205+i_197^0 == 0 /\ f_847^0-f_847^post205 == 0 /\ nondet_12^0-nondet_12^post205 == 0 /\ a_862^0-a_862^post205 == 0 /\ -x_21^post205+x_21^0 == 0 /\ a_121^0-a_121^post205 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205 == 0 /\ a_417^0-a_417^post205 == 0 /\ -r_970^post205+r_970^0 == 0 /\ y_20^0-y_20^post205 == 0 /\ a_394^0-a_394^post205 == 0 /\ -rcd_58^post205+rcd_58^0 == 0 /\ -rcd_47^post205+rcd_47^0 == 0 /\ -f_969^post205+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205 == 0 /\ -tmp_34^post205+tmp_34^0 == 0 /\ -temp0_16^post205+temp0_16^0 == 0 /\ a_577^0-a_577^post205 == 0 /\ a_395^0-a_395^post205 == 0 /\ -len_861^post205+len_861^0 == 0 /\ -f_248^post205+f_248^0 == 0 /\ x_14^0-x_14^post205 == 0 /\ i_106^0-i_106^post205 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_107^0-i_107^post205 == 0 /\ -rcd_1249^post205+rcd_1249^0 == 0 /\ -i_229^post205+i_229^0 == 0 /\ -a_924^post205+a_924^0 == 0 /\ -r_224^post205+r_224^0 == 0 /\ a_393^0-a_393^post205 == 0 /\ -temp_35^post205+temp_35^0 == 0 /\ a_430^0-a_430^post205 == 0 /\ a_1089^0-a_1089^post205 == 0 /\ t_458^0-t_458^post205 == 0 /\ a_311^0-a_311^post205 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post205 == 0 /\ i_27^0-i_27^post205 == 0 /\ a_263^0-a_263^post205 == 0), cost: 1 206: l129 -> l130 : a_1089^0'=a_1089^post206, f_847^0'=f_847^post206, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post206, a_394^0'=a_394^post206, x_156^0'=x_156^post206, a_632^0'=a_632^post206, r_192^0'=r_192^post206, a_176^0'=a_176^post206, i_106^0'=i_106^post206, a_430^0'=a_430^post206, t_458^0'=t_458^post206, len_161^0'=len_161^post206, x_975^0'=x_975^post206, a_902^0'=a_902^post206, a_947^0'=a_947^post206, rcd_88^0'=rcd_88^post206, a_311^0'=a_311^post206, i_140^0'=i_140^post206, a_577^0'=a_577^post206, x_14^0'=x_14^post206, nondet_12^0'=nondet_12^post206, a_121^0'=a_121^post206, head_15^0'=head_15^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206, i_27^0'=i_27^post206, x_21^0'=x_21^post206, a_634^0'=a_634^post206, r_39^0'=r_39^post206, a_263^0'=a_263^post206, i_113^0'=i_113^post206, a_432^0'=a_432^post206, temp0_31^0'=temp0_31^post206, len_262^0'=len_262^post206, y_20^0'=y_20^post206, f_248^0'=f_248^post206, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206, a_393^0'=a_393^post206, i_229^0'=i_229^post206, a_610^0'=a_610^post206, r_151^0'=r_151^post206, a_144^0'=a_144^post206, i_1053^0'=i_1053^post206, a_417^0'=a_417^post206, t_24^0'=t_24^post206, i_94^0'=i_94^post206, x_852^0'=x_852^post206, a_862^0'=a_862^post206, rcd_1249^0'=rcd_1249^post206, rcd_58^0'=rcd_58^post206, a_310^0'=a_310^post206, i_127^0'=i_127^post206, a_576^0'=a_576^post206, tmp_34^0'=tmp_34^post206, length_29^0'=length_29^post206, a_1162^0'=a_1162^post206, f_969^0'=f_969^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206, a_395^0'=a_395^post206, x_17^0'=x_17^post206, a_633^0'=a_633^post206, r_224^0'=r_224^post206, a_239^0'=a_239^post206, i_107^0'=i_107^post206, a_431^0'=a_431^post206, temp0_16^0'=temp0_16^post206, len_238^0'=len_238^post206, x_SLAM_f_19^0'=x_SLAM_f_19^post206, a_924^0'=a_924^post206, ct_18^0'=ct_18^post206, result_11^0'=result_11^post206, a_392^0'=a_392^post206, i_197^0'=i_197^post206, a_579^0'=a_579^post206, r_143^0'=r_143^post206, a_1236^0'=a_1236^post206, head_32^0'=head_32^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206, i_30^0'=i_30^post206, x_253^0'=x_253^post206, a_635^0'=a_635^post206, r_970^0'=r_970^post206, rcd_47^0'=rcd_47^post206, a_309^0'=a_309^post206, i_1248^0'=i_1248^post206, a_575^0'=a_575^post206, temp_35^0'=temp_35^post206, len_861^0'=len_861^post206, (r_143^0-r_143^post206 == 0 /\ a_392^0-a_392^post206 == 0 /\ -temp_35^post206+temp_35^0 == 0 /\ -rcd_1249^post206+rcd_1249^0 == 0 /\ a_1089^0-a_1089^post206 == 0 /\ a_394^0-a_394^post206 == 0 /\ -x_852^post206+x_852^0 == 0 /\ -f_969^post206+f_969^0 == 0 /\ -r_970^post206+r_970^0 == 0 /\ -head_15^post206+head_15^0 == 0 /\ -a_924^post206+a_924^0 == 0 /\ t_458^0-t_458^post206 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post206 == 0 /\ i_140^0-i_140^post206 == 0 /\ -ct_18^post206+ct_18^0 == 0 /\ i_106^0-i_106^post206 == 0 /\ -a_1162^post206+a_1162^0 == 0 /\ -x_253^post206+x_253^0 == 0 /\ a_311^0-a_311^post206 == 0 /\ rcd_88^0-rcd_88^post206 == 0 /\ y_20^0-y_20^post206 == 0 /\ f_847^0-f_847^post206 == 0 /\ a_393^0-a_393^post206 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206 == 0 /\ -f_248^post206+f_248^0 == 0 /\ -temp0_16^post206+temp0_16^0 == 0 /\ a_579^0-a_579^post206 == 0 /\ -a_634^post206+a_634^0 == 0 /\ x_21^0-x_21^post206 == 0 /\ -r_224^post206+r_224^0 == 0 /\ -i_1248^post206+i_1248^0 == 0 /\ a_121^0-a_121^post206 == 0 /\ -a_239^post206+a_239^0 == 0 /\ temp0_31^0-temp0_31^post206 == 0 /\ len_262^0-len_262^post206 == 0 /\ -result_11^post206+result_11^0 == 0 /\ i_94^0-i_94^post206 == 0 /\ a_577^0-a_577^post206 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -x_17^post206+x_17^0 == 0 /\ a_947^0-a_947^post206 == 0 /\ -a_576^post206+a_576^0 == 0 /\ -a_144^post206+a_144^0 == 0 /\ -i_107^post206+i_107^0 == 0 /\ r_192^0-r_192^post206 == 0 /\ i_1053^0-i_1053^post206 == 0 /\ -a_575^post206+a_575^0 == 0 /\ x_14^0-x_14^post206 == 0 /\ a_395^0-a_395^post206 == 0 /\ r_39^0-r_39^post206 == 0 /\ -a_417^post206+a_417^0 == 0 /\ len_161^0-len_161^post206 == 0 /\ -a_309^post206+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post206 == 0 /\ -a_1236^post206+a_1236^0 == 0 /\ -a_635^post206+a_635^0 == 0 /\ t_24^0-t_24^post206 == 0 /\ -a_310^post206+a_310^0 == 0 /\ -i_30^post206+i_30^0 == 0 /\ -a_176^post206+a_176^0 == 0 /\ a_263^0-a_263^post206 == 0 /\ -a_610^post206+a_610^0 == 0 /\ x_156^0-x_156^post206 == 0 /\ -a_430^post206+a_430^0 == 0 /\ a_632^0-a_632^post206 == 0 /\ -length_29^post206+length_29^0 == 0 /\ a_432^0-a_432^post206 == 0 /\ -rcd_47^post206+rcd_47^0 == 0 /\ -i_27^post206+i_27^0 == 0 /\ -i_197^post206+i_197^0 == 0 /\ -head_32^post206+head_32^0 == 0 /\ a_902^0-a_902^post206 == 0 /\ tmp_34^0-tmp_34^post206 == 0 /\ nondet_12^0-nondet_12^post206 == 0 /\ -x_975^post206+x_975^0 == 0 /\ -a_633^post206+a_633^0 == 0 /\ rcd_58^0-rcd_58^post206 == 0 /\ i_229^0-i_229^post206 == 0 /\ -i_127^post206+i_127^0 == 0 /\ a_431^0-a_431^post206 == 0 /\ -len_238^post206+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206 == 0 /\ i_113^0-i_113^post206 == 0 /\ -r_151^post206+r_151^0 == 0 /\ len_861^0-len_861^post206 == 0 /\ a_862^0-a_862^post206 == 0), cost: 1 207: l129 -> l130 : a_1089^0'=a_1089^post207, f_847^0'=f_847^post207, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post207, a_394^0'=a_394^post207, x_156^0'=x_156^post207, a_632^0'=a_632^post207, r_192^0'=r_192^post207, a_176^0'=a_176^post207, i_106^0'=i_106^post207, a_430^0'=a_430^post207, t_458^0'=t_458^post207, len_161^0'=len_161^post207, x_975^0'=x_975^post207, a_902^0'=a_902^post207, a_947^0'=a_947^post207, rcd_88^0'=rcd_88^post207, a_311^0'=a_311^post207, i_140^0'=i_140^post207, a_577^0'=a_577^post207, x_14^0'=x_14^post207, nondet_12^0'=nondet_12^post207, a_121^0'=a_121^post207, head_15^0'=head_15^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207, i_27^0'=i_27^post207, x_21^0'=x_21^post207, a_634^0'=a_634^post207, r_39^0'=r_39^post207, a_263^0'=a_263^post207, i_113^0'=i_113^post207, a_432^0'=a_432^post207, temp0_31^0'=temp0_31^post207, len_262^0'=len_262^post207, y_20^0'=y_20^post207, f_248^0'=f_248^post207, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207, a_393^0'=a_393^post207, i_229^0'=i_229^post207, a_610^0'=a_610^post207, r_151^0'=r_151^post207, a_144^0'=a_144^post207, i_1053^0'=i_1053^post207, a_417^0'=a_417^post207, t_24^0'=t_24^post207, i_94^0'=i_94^post207, x_852^0'=x_852^post207, a_862^0'=a_862^post207, rcd_1249^0'=rcd_1249^post207, rcd_58^0'=rcd_58^post207, a_310^0'=a_310^post207, i_127^0'=i_127^post207, a_576^0'=a_576^post207, tmp_34^0'=tmp_34^post207, length_29^0'=length_29^post207, a_1162^0'=a_1162^post207, f_969^0'=f_969^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207, a_395^0'=a_395^post207, x_17^0'=x_17^post207, a_633^0'=a_633^post207, r_224^0'=r_224^post207, a_239^0'=a_239^post207, i_107^0'=i_107^post207, a_431^0'=a_431^post207, temp0_16^0'=temp0_16^post207, len_238^0'=len_238^post207, x_SLAM_f_19^0'=x_SLAM_f_19^post207, a_924^0'=a_924^post207, ct_18^0'=ct_18^post207, result_11^0'=result_11^post207, a_392^0'=a_392^post207, i_197^0'=i_197^post207, a_579^0'=a_579^post207, r_143^0'=r_143^post207, a_1236^0'=a_1236^post207, head_32^0'=head_32^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207, i_30^0'=i_30^post207, x_253^0'=x_253^post207, a_635^0'=a_635^post207, r_970^0'=r_970^post207, rcd_47^0'=rcd_47^post207, a_309^0'=a_309^post207, i_1248^0'=i_1248^post207, a_575^0'=a_575^post207, temp_35^0'=temp_35^post207, len_861^0'=len_861^post207, (-a_576^post207+a_576^0 == 0 /\ -x_14^post207+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207 == 0 /\ -x_17^post207+x_17^0 == 0 /\ -r_143^post207+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207 == 0 /\ a_579^0-a_579^post207 == 0 /\ -x_SLAM_f_19^post207+x_SLAM_f_19^0 == 0 /\ -a_633^post207+a_633^0 == 0 /\ -a_575^post207+a_575^0 == 0 /\ x_156^0-x_156^post207 == 0 /\ -a_1236^post207+a_1236^0 == 0 /\ -a_417^post207+a_417^0 == 0 /\ r_151^0-r_151^post207 == 0 /\ a_610^0-a_610^post207 == 0 /\ -a_309^post207+a_309^0 == 0 /\ i_113^0-i_113^post207 == 0 /\ a_902^0-a_902^post207 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_432^post207+a_432^0 == 0 /\ -len_238^post207+len_238^0 == 0 /\ a_1089^0-a_1089^post207 == 0 /\ a_394^0-a_394^post207 == 0 /\ a_310^0-a_310^post207 == 0 /\ -rcd_47^post207+rcd_47^0 == 0 /\ r_192^0-r_192^post207 == 0 /\ -temp0_31^post207+temp0_31^0 == 0 /\ -head_32^post207+head_32^0 == 0 /\ t_24^0-t_24^post207 == 0 /\ i_106^0-i_106^post207 == 0 /\ a_632^0-a_632^post207 == 0 /\ -x_253^post207+x_253^0 == 0 /\ a_392^0-a_392^post207 == 0 /\ -r_970^post207+r_970^0 == 0 /\ -len_262^post207+len_262^0 == 0 /\ a_393^0-a_393^post207 == 0 /\ a_311^0-a_311^post207 == 0 /\ -i_127^post207+i_127^0 == 0 /\ r_39^0-r_39^post207 == 0 /\ i_1053^0-i_1053^post207 == 0 /\ -f_969^post207+f_969^0 == 0 /\ f_847^0-f_847^post207 == 0 /\ y_20^0-y_20^post207 == 0 /\ -a_430^post207+a_430^0 == 0 /\ i_229^0-i_229^post207 == 0 /\ -r_224^post207+r_224^0 == 0 /\ -x_21^post207+x_21^0 == 0 /\ -ct_18^post207+ct_18^0 == 0 /\ -a_431^post207+a_431^0 == 0 /\ -head_15^post207+head_15^0 == 0 /\ x_975^0-x_975^post207 == 0 /\ -rcd_58^post207+rcd_58^0 == 0 /\ a_577^0-a_577^post207 == 0 /\ a_862^0-a_862^post207 == 0 /\ a_121^0-a_121^post207 == 0 /\ -i_197^post207+i_197^0 == 0 /\ -temp_35^post207+temp_35^0 == 0 /\ -nondet_12^post207+nondet_12^0 == 0 /\ a_947^0-a_947^post207 == 0 /\ -x_852^post207+x_852^0 == 0 /\ -tmp_34^post207+tmp_34^0 == 0 /\ i_94^0-i_94^post207 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207 == 0 /\ rcd_88^0-rcd_88^post207 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_176^0-a_176^post207 == 0 /\ -a_1162^post207+a_1162^0 == 0 /\ len_161^0-len_161^post207 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post207 == 0 /\ -f_248^post207+f_248^0 == 0 /\ length_29^0-length_29^post207 == 0 /\ -a_924^post207+a_924^0 == 0 /\ i_27^0-i_27^post207 == 0 /\ -a_144^post207+a_144^0 == 0 /\ a_395^0-a_395^post207 == 0 /\ -result_11^post207+result_11^0 == 0 /\ t_458^0-t_458^post207 == 0 /\ -a_634^post207+a_634^0 == 0 /\ -len_861^post207+len_861^0 == 0 /\ i_140^0-i_140^post207 == 0 /\ -temp0_16^post207+temp0_16^0 == 0 /\ -i_30^post207+i_30^0 == 0 /\ -i_1248^post207+i_1248^0 == 0 /\ -a_635^post207+a_635^0 == 0 /\ i_107^0-i_107^post207 == 0 /\ -a_239^post207+a_239^0 == 0 /\ -rcd_1249^post207+rcd_1249^0 == 0 /\ a_263^0-a_263^post207 == 0), cost: 1 208: l130 -> l120 : a_1089^0'=a_1089^post208, f_847^0'=f_847^post208, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post208, a_394^0'=a_394^post208, x_156^0'=x_156^post208, a_632^0'=a_632^post208, r_192^0'=r_192^post208, a_176^0'=a_176^post208, i_106^0'=i_106^post208, a_430^0'=a_430^post208, t_458^0'=t_458^post208, len_161^0'=len_161^post208, x_975^0'=x_975^post208, a_902^0'=a_902^post208, a_947^0'=a_947^post208, rcd_88^0'=rcd_88^post208, a_311^0'=a_311^post208, i_140^0'=i_140^post208, a_577^0'=a_577^post208, x_14^0'=x_14^post208, nondet_12^0'=nondet_12^post208, a_121^0'=a_121^post208, head_15^0'=head_15^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208, i_27^0'=i_27^post208, x_21^0'=x_21^post208, a_634^0'=a_634^post208, r_39^0'=r_39^post208, a_263^0'=a_263^post208, i_113^0'=i_113^post208, a_432^0'=a_432^post208, temp0_31^0'=temp0_31^post208, len_262^0'=len_262^post208, y_20^0'=y_20^post208, f_248^0'=f_248^post208, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208, a_393^0'=a_393^post208, i_229^0'=i_229^post208, a_610^0'=a_610^post208, r_151^0'=r_151^post208, a_144^0'=a_144^post208, i_1053^0'=i_1053^post208, a_417^0'=a_417^post208, t_24^0'=t_24^post208, i_94^0'=i_94^post208, x_852^0'=x_852^post208, a_862^0'=a_862^post208, rcd_1249^0'=rcd_1249^post208, rcd_58^0'=rcd_58^post208, a_310^0'=a_310^post208, i_127^0'=i_127^post208, a_576^0'=a_576^post208, tmp_34^0'=tmp_34^post208, length_29^0'=length_29^post208, a_1162^0'=a_1162^post208, f_969^0'=f_969^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208, a_395^0'=a_395^post208, x_17^0'=x_17^post208, a_633^0'=a_633^post208, r_224^0'=r_224^post208, a_239^0'=a_239^post208, i_107^0'=i_107^post208, a_431^0'=a_431^post208, temp0_16^0'=temp0_16^post208, len_238^0'=len_238^post208, x_SLAM_f_19^0'=x_SLAM_f_19^post208, a_924^0'=a_924^post208, ct_18^0'=ct_18^post208, result_11^0'=result_11^post208, a_392^0'=a_392^post208, i_197^0'=i_197^post208, a_579^0'=a_579^post208, r_143^0'=r_143^post208, a_1236^0'=a_1236^post208, head_32^0'=head_32^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208, i_30^0'=i_30^post208, x_253^0'=x_253^post208, a_635^0'=a_635^post208, r_970^0'=r_970^post208, rcd_47^0'=rcd_47^post208, a_309^0'=a_309^post208, i_1248^0'=i_1248^post208, a_575^0'=a_575^post208, temp_35^0'=temp_35^post208, len_861^0'=len_861^post208, (0 == 0 /\ -r_970^post208+r_970^0 == 0 /\ -nondet_12^post208+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ -f_248^post208+f_248^0 == 0 /\ i_27^0-i_27^post208 == 0 /\ a_310^0-a_310^post208 == 0 /\ -temp0_16^post208+temp0_16^0 == 0 /\ a_176^0-a_176^post208 == 0 /\ -len_262^post208+len_262^0 == 0 /\ -i_197^post208+i_197^0 == 0 /\ a_1089^0-a_1089^post208 == 0 /\ length_29^0-length_29^post208 == 0 /\ r_39^0-r_39^post208 == 0 /\ -a_579^post208+a_579^0 == 0 /\ y_20^0-y_20^post208 == 0 /\ rcd_88^0-rcd_88^post208 == 0 /\ a_311^0-a_311^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post208 == 0 /\ a_392^0-a_392^post208 == 0 /\ -i_127^post208+i_127^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208 == 0 /\ -ct_18^post208+ct_18^0 == 0 /\ -temp_35^post208+temp_35^0 == 0 /\ i_140^0-i_140^post208 == 0 /\ a_395^0-a_395^post208 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_1249^post208+rcd_1249^0 == 0 /\ i_27^0 <= 0 /\ -a_144^post208+a_144^0 == 0 /\ a_393^0-a_393^post208 == 0 /\ a_632^0-a_632^post208 == 0 /\ -a_1162^post208+a_1162^0 == 0 /\ -x_17^post208+x_17^0 == 0 /\ -1-a_1089^0+i_1053^post208 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post208+a_575^0 == 0 /\ i_113^0-i_113^post208 == 0 /\ r_192^0-r_192^post208 == 0 /\ -i_1248^post208+i_1248^0 == 0 /\ result_11^0-result_11^post208 == 0 /\ head_32^0-head_32^post208 == 0 /\ -tmp_34^post208+tmp_34^0 == 0 /\ a_417^0-a_417^post208 == 0 /\ -a_239^post208+a_239^0 == 0 /\ r_143^0-r_143^post208 == 0 /\ -head_15^post208+head_15^0 == 0 /\ -a_924^post208+a_924^0 == 0 /\ -x_21^post208+x_21^0 == 0 /\ -len_861^post208+len_861^0 == 0 /\ a_634^0-a_634^post208 == 0 /\ -i_30^post208+i_30^0 == 0 /\ x_14^0-x_14^post208 == 0 /\ t_24^0-t_24^post208 == 0 /\ -a_635^post208+a_635^0 == 0 /\ a_862^0-a_862^post208 == 0 /\ a_394^0-a_394^post208 == 0 /\ a_121^0-a_121^post208 == 0 /\ -a_576^post208+a_576^0 == 0 /\ rcd_58^0-rcd_58^post208 == 0 /\ -len_238^post208+len_238^0 == 0 /\ -i_94^post208+i_94^0 == 0 /\ a_947^0-a_947^post208 == 0 /\ a_263^0-a_263^post208 == 0 /\ -a_1236^post208+a_1236^0 == 0 /\ a_430^0-a_430^post208 == 0 /\ t_458^0-t_458^post208 == 0 /\ -a_633^post208+a_633^0 == 0 /\ x_852^0-x_852^post208 == 0 /\ len_161^0-len_161^post208 == 0 /\ i_106^0-i_106^post208 == 0 /\ f_847^0-f_847^post208 == 0 /\ r_224^0-r_224^post208 == 0 /\ -temp0_31^post208+temp0_31^0 == 0 /\ i_107^0-i_107^post208 == 0 /\ a_309^0-a_309^post208 == 0 /\ r_151^0-r_151^post208 == 0 /\ -a_431^post208+a_431^0 == 0 /\ a_902^0-a_902^post208 == 0 /\ -x_975^post208+x_975^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1+a_1089^0-i_1053^post208 <= 0 /\ i_229^0-i_229^post208 == 0 /\ a_432^0-a_432^post208 == 0 /\ -a_610^post208+a_610^0 == 0 /\ -f_969^post208+f_969^0 == 0 /\ a_577^0-a_577^post208 == 0 /\ x_156^0-x_156^post208 == 0 /\ -rcd_47^post208+rcd_47^0 == 0 /\ -x_253^post208+x_253^0 == 0), cost: 1 232: l120 -> l147 : a_1089^0'=a_1089^post232, f_847^0'=f_847^post232, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post232, a_394^0'=a_394^post232, x_156^0'=x_156^post232, a_632^0'=a_632^post232, r_192^0'=r_192^post232, a_176^0'=a_176^post232, i_106^0'=i_106^post232, a_430^0'=a_430^post232, t_458^0'=t_458^post232, len_161^0'=len_161^post232, x_975^0'=x_975^post232, a_902^0'=a_902^post232, a_947^0'=a_947^post232, rcd_88^0'=rcd_88^post232, a_311^0'=a_311^post232, i_140^0'=i_140^post232, a_577^0'=a_577^post232, x_14^0'=x_14^post232, nondet_12^0'=nondet_12^post232, a_121^0'=a_121^post232, head_15^0'=head_15^post232, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post232, i_27^0'=i_27^post232, x_21^0'=x_21^post232, a_634^0'=a_634^post232, r_39^0'=r_39^post232, a_263^0'=a_263^post232, i_113^0'=i_113^post232, a_432^0'=a_432^post232, temp0_31^0'=temp0_31^post232, len_262^0'=len_262^post232, y_20^0'=y_20^post232, f_248^0'=f_248^post232, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post232, a_393^0'=a_393^post232, i_229^0'=i_229^post232, a_610^0'=a_610^post232, r_151^0'=r_151^post232, a_144^0'=a_144^post232, i_1053^0'=i_1053^post232, a_417^0'=a_417^post232, t_24^0'=t_24^post232, i_94^0'=i_94^post232, x_852^0'=x_852^post232, a_862^0'=a_862^post232, rcd_1249^0'=rcd_1249^post232, rcd_58^0'=rcd_58^post232, a_310^0'=a_310^post232, i_127^0'=i_127^post232, a_576^0'=a_576^post232, tmp_34^0'=tmp_34^post232, length_29^0'=length_29^post232, a_1162^0'=a_1162^post232, f_969^0'=f_969^post232, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post232, a_395^0'=a_395^post232, x_17^0'=x_17^post232, a_633^0'=a_633^post232, r_224^0'=r_224^post232, a_239^0'=a_239^post232, i_107^0'=i_107^post232, a_431^0'=a_431^post232, temp0_16^0'=temp0_16^post232, len_238^0'=len_238^post232, x_SLAM_f_19^0'=x_SLAM_f_19^post232, a_924^0'=a_924^post232, ct_18^0'=ct_18^post232, result_11^0'=result_11^post232, a_392^0'=a_392^post232, i_197^0'=i_197^post232, a_579^0'=a_579^post232, r_143^0'=r_143^post232, a_1236^0'=a_1236^post232, head_32^0'=head_32^post232, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post232, i_30^0'=i_30^post232, x_253^0'=x_253^post232, a_635^0'=a_635^post232, r_970^0'=r_970^post232, rcd_47^0'=rcd_47^post232, a_309^0'=a_309^post232, i_1248^0'=i_1248^post232, a_575^0'=a_575^post232, temp_35^0'=temp_35^post232, len_861^0'=len_861^post232, (0 == 0 /\ a_176^0-a_176^post232 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post232 == 0 /\ x_21^0-y_20^0 <= 0 /\ a_263^0-a_263^post232 == 0 /\ -a_310^post232+a_310^0 == 0 /\ f_248^0-f_248^post232 == 0 /\ len_262^0-len_262^post232 == 0 /\ a_862^0-a_862^post232 == 0 /\ -i_229^post232+i_229^0 == 0 /\ a_632^0-a_632^post232 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post232+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ length_29^0-length_29^post232 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post232 == 0 /\ r_39^0-r_39^post232 == 0 /\ -a_924^post232+a_924^0 == 0 /\ -r_143^post232+r_143^0 == 0 /\ a_610^0-a_610^post232 == 0 /\ -x_21^0+y_20^0 <= 0 /\ i_197^0-i_197^post232 == 0 /\ -a_393^post232+a_393^0 == 0 /\ a_1236^0-a_1236^post232 == 0 /\ -f_969^post232+f_969^0 == 0 /\ a_1162^0-a_1162^post232 == 0 /\ -temp_35^post232+temp_35^0 == 0 /\ -i_127^post232+i_127^0 == 0 /\ x_156^0-x_156^post232 == 0 /\ a_417^0-a_417^post232 == 0 /\ -a_1162^0 <= 0 /\ a_432^0-a_432^post232 == 0 /\ result_11^post232-temp0_16^0 == 0 /\ a_634^0-a_634^post232 == 0 /\ i_113^0-i_113^post232 == 0 /\ -r_970^post232+r_970^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post232+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_394^0-a_394^post232 == 0 /\ -a_947^post232+a_947^0 == 0 /\ -len_861^post232+len_861^0 == 0 /\ -i_140^post232+i_140^0 == 0 /\ -a_579^post232+a_579^0 == 0 /\ rcd_88^0-rcd_88^post232 == 0 /\ -a_576^post232+a_576^0 == 0 /\ -i_1248^post232+i_1248^0 == 0 /\ a_633^0-a_633^post232 == 0 /\ a_121^0-a_121^post232 == 0 /\ -a_239^post232+a_239^0 == 0 /\ -a_430^post232+a_430^0 == 0 /\ -i_94^post232+i_94^0 == 0 /\ r_192^0-r_192^post232 == 0 /\ x_975^0-x_975^post232 == 0 /\ -x_253^post232+x_253^0 == 0 /\ i_107^0-i_107^post232 == 0 /\ -rcd_1249^post232+rcd_1249^0 == 0 /\ a_577^0-a_577^post232 == 0 /\ -a_902^post232+a_902^0 == 0 /\ -nondet_12^post232+nondet_12^0 == 0 /\ i_106^0-i_106^post232 == 0 /\ -a_392^post232+a_392^0 == 0 /\ a_311^0-a_311^post232 == 0 /\ -a_1089^post232+a_1089^0 == 0 /\ a_144^0-a_144^post232 == 0 /\ -temp0_16^post232+temp0_16^0 == 0 /\ x_852^0-x_852^post232 == 0 /\ -a_395^post232+a_395^0 == 0 /\ -len_238^post232+len_238^0 == 0 /\ len_161^0-len_161^post232 == 0 /\ -a_309^post232+a_309^0 == 0 /\ -head_32^post232+head_32^0 == 0 /\ f_847^0-f_847^post232 == 0 /\ r_151^0-r_151^post232 == 0 /\ t_458^0-t_458^post232 == 0 /\ -temp0_31^post232+temp0_31^0 == 0 /\ -tmp_34^post232+tmp_34^0 == 0 /\ head_15^0-head_15^post232 == 0 /\ -i_30^post232+i_30^0 == 0 /\ -rcd_58^post232+rcd_58^0 == 0 /\ -a_635^post232+a_635^0 == 0 /\ -a_431^post232+a_431^0 == 0 /\ -rcd_47^post232+rcd_47^0 == 0 /\ -r_224^post232+r_224^0 == 0 /\ -i_1053^post232+i_1053^0 == 0 /\ -a_575^post232+a_575^0 == 0), cost: 1 238: l120 -> l151 : a_1089^0'=a_1089^post238, f_847^0'=f_847^post238, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, a_394^0'=a_394^post238, x_156^0'=x_156^post238, a_632^0'=a_632^post238, r_192^0'=r_192^post238, a_176^0'=a_176^post238, i_106^0'=i_106^post238, a_430^0'=a_430^post238, t_458^0'=t_458^post238, len_161^0'=len_161^post238, x_975^0'=x_975^post238, a_902^0'=a_902^post238, a_947^0'=a_947^post238, rcd_88^0'=rcd_88^post238, a_311^0'=a_311^post238, i_140^0'=i_140^post238, a_577^0'=a_577^post238, x_14^0'=x_14^post238, nondet_12^0'=nondet_12^post238, a_121^0'=a_121^post238, head_15^0'=head_15^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238, i_27^0'=i_27^post238, x_21^0'=x_21^post238, a_634^0'=a_634^post238, r_39^0'=r_39^post238, a_263^0'=a_263^post238, i_113^0'=i_113^post238, a_432^0'=a_432^post238, temp0_31^0'=temp0_31^post238, len_262^0'=len_262^post238, y_20^0'=y_20^post238, f_248^0'=f_248^post238, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238, a_393^0'=a_393^post238, i_229^0'=i_229^post238, a_610^0'=a_610^post238, r_151^0'=r_151^post238, a_144^0'=a_144^post238, i_1053^0'=i_1053^post238, a_417^0'=a_417^post238, t_24^0'=t_24^post238, i_94^0'=i_94^post238, x_852^0'=x_852^post238, a_862^0'=a_862^post238, rcd_1249^0'=rcd_1249^post238, rcd_58^0'=rcd_58^post238, a_310^0'=a_310^post238, i_127^0'=i_127^post238, a_576^0'=a_576^post238, tmp_34^0'=tmp_34^post238, length_29^0'=length_29^post238, a_1162^0'=a_1162^post238, f_969^0'=f_969^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238, a_395^0'=a_395^post238, x_17^0'=x_17^post238, a_633^0'=a_633^post238, r_224^0'=r_224^post238, a_239^0'=a_239^post238, i_107^0'=i_107^post238, a_431^0'=a_431^post238, temp0_16^0'=temp0_16^post238, len_238^0'=len_238^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, a_924^0'=a_924^post238, ct_18^0'=ct_18^post238, result_11^0'=result_11^post238, a_392^0'=a_392^post238, i_197^0'=i_197^post238, a_579^0'=a_579^post238, r_143^0'=r_143^post238, a_1236^0'=a_1236^post238, head_32^0'=head_32^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238, i_30^0'=i_30^post238, x_253^0'=x_253^post238, a_635^0'=a_635^post238, r_970^0'=r_970^post238, rcd_47^0'=rcd_47^post238, a_309^0'=a_309^post238, i_1248^0'=i_1248^post238, a_575^0'=a_575^post238, temp_35^0'=temp_35^post238, len_861^0'=len_861^post238, (0 == 0 /\ -a_393^post238+a_393^0 == 0 /\ x_21^0-x_21^post238 == 0 /\ i_229^0-i_229^post238 == 0 /\ -a_576^post238+a_576^0 == 0 /\ x_156^0-x_156^post238 == 0 /\ f_847^0-f_847^post238 == 0 /\ -i_30^post238+i_30^0 == 0 /\ -a_392^post238+a_392^0 == 0 /\ i_94^0-i_94^post238 == 0 /\ temp0_31^0-temp0_31^post238 == 0 /\ a_121^0-a_121^post238 == 0 /\ -len_861^post238+len_861^0 == 0 /\ -temp0_16^post238+temp0_16^0 == 0 /\ a_417^0-a_417^post238 == 0 /\ -i_1248^post238+i_1248^0 == 0 /\ -a_1236^post238+a_1236^0 == 0 /\ -a_635^post238+a_635^0 == 0 /\ len_262^0-len_262^post238 == 0 /\ a_394^0-a_394^post238 == 0 /\ -a_144^post238+a_144^0 == 0 /\ -a_239^post238+a_239^0 == 0 /\ -rcd_47^post238+rcd_47^0 == 0 /\ a_577^0-a_577^post238 == 0 /\ -len_238^post238+len_238^0 == 0 /\ -a_610^post238+a_610^0 == 0 /\ -a_633^post238+a_633^0 == 0 /\ -length_29^post238+length_29^0 == 0 /\ i_1053^0-i_1053^post238 == 0 /\ i_106^0-i_106^post238 == 0 /\ -rcd_58^post238+rcd_58^0 == 0 /\ -a_1162^0 <= 0 /\ -a_575^post238+a_575^0 == 0 /\ -a_862^post238+a_862^0 == 0 /\ -i_197^post238+i_197^0 == 0 /\ -a_309^post238+a_309^0 == 0 /\ a_430^0-a_430^post238 == 0 /\ -a_579^post238+a_579^0 == 0 /\ a_1089^0-a_1089^post238 == 0 /\ -a_902^post238+a_902^0 == 0 /\ -r_151^post238+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post238+head_32^0 == 0 /\ a_263^0-a_263^post238 == 0 /\ -i_127^post238+i_127^0 == 0 /\ y_20^0-y_20^post238 == 0 /\ -x_253^post238+x_253^0 == 0 /\ a_432^0-a_432^post238 == 0 /\ -a_1162^post238+a_1162^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_924^post238+a_924^0 == 0 /\ -result_11^post238+result_11^0 == 0 /\ -x_852^post238+x_852^0 == 0 /\ f_248^0-f_248^post238 == 0 /\ a_431^0-a_431^post238 == 0 /\ a_176^0-a_176^post238 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238 == 0 /\ -r_970^post238+r_970^0 == 0 /\ i_113^0-i_113^post238 == 0 /\ -a_311^post238+a_311^0 == 0 /\ x_975^0-x_975^post238 == 0 /\ -f_969^post238+f_969^0 == 0 /\ r_224^0-r_224^post238 == 0 /\ -tmp_34^post238+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post238 == 0 /\ -rcd_88^post238+rcd_88^0 == 0 /\ -a_395^post238+a_395^0 == 0 /\ r_192^0-r_192^post238 == 0 /\ a_310^0-a_310^post238 == 0 /\ i_107^0-i_107^post238 == 0 /\ -r_143^post238+r_143^0 == 0 /\ i_140^0-i_140^post238 == 0 /\ t_458^0-t_458^post238 == 0 /\ -temp_35^post238+temp_35^0 == 0 /\ -rcd_1249^post238+rcd_1249^0 == 0 /\ len_161^0-len_161^post238 == 0 /\ -nondet_12^post238+nondet_12^0 == 0 /\ t_24^0-t_24^post238 == 0 /\ -a_634^post238+a_634^0 == 0 /\ a_632^0-a_632^post238 == 0), cost: 1 210: l132 -> l133 : a_1089^0'=a_1089^post210, f_847^0'=f_847^post210, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post210, a_394^0'=a_394^post210, x_156^0'=x_156^post210, a_632^0'=a_632^post210, r_192^0'=r_192^post210, a_176^0'=a_176^post210, i_106^0'=i_106^post210, a_430^0'=a_430^post210, t_458^0'=t_458^post210, len_161^0'=len_161^post210, x_975^0'=x_975^post210, a_902^0'=a_902^post210, a_947^0'=a_947^post210, rcd_88^0'=rcd_88^post210, a_311^0'=a_311^post210, i_140^0'=i_140^post210, a_577^0'=a_577^post210, x_14^0'=x_14^post210, nondet_12^0'=nondet_12^post210, a_121^0'=a_121^post210, head_15^0'=head_15^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210, i_27^0'=i_27^post210, x_21^0'=x_21^post210, a_634^0'=a_634^post210, r_39^0'=r_39^post210, a_263^0'=a_263^post210, i_113^0'=i_113^post210, a_432^0'=a_432^post210, temp0_31^0'=temp0_31^post210, len_262^0'=len_262^post210, y_20^0'=y_20^post210, f_248^0'=f_248^post210, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210, a_393^0'=a_393^post210, i_229^0'=i_229^post210, a_610^0'=a_610^post210, r_151^0'=r_151^post210, a_144^0'=a_144^post210, i_1053^0'=i_1053^post210, a_417^0'=a_417^post210, t_24^0'=t_24^post210, i_94^0'=i_94^post210, x_852^0'=x_852^post210, a_862^0'=a_862^post210, rcd_1249^0'=rcd_1249^post210, rcd_58^0'=rcd_58^post210, a_310^0'=a_310^post210, i_127^0'=i_127^post210, a_576^0'=a_576^post210, tmp_34^0'=tmp_34^post210, length_29^0'=length_29^post210, a_1162^0'=a_1162^post210, f_969^0'=f_969^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210, a_395^0'=a_395^post210, x_17^0'=x_17^post210, a_633^0'=a_633^post210, r_224^0'=r_224^post210, a_239^0'=a_239^post210, i_107^0'=i_107^post210, a_431^0'=a_431^post210, temp0_16^0'=temp0_16^post210, len_238^0'=len_238^post210, x_SLAM_f_19^0'=x_SLAM_f_19^post210, a_924^0'=a_924^post210, ct_18^0'=ct_18^post210, result_11^0'=result_11^post210, a_392^0'=a_392^post210, i_197^0'=i_197^post210, a_579^0'=a_579^post210, r_143^0'=r_143^post210, a_1236^0'=a_1236^post210, head_32^0'=head_32^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210, i_30^0'=i_30^post210, x_253^0'=x_253^post210, a_635^0'=a_635^post210, r_970^0'=r_970^post210, rcd_47^0'=rcd_47^post210, a_309^0'=a_309^post210, i_1248^0'=i_1248^post210, a_575^0'=a_575^post210, temp_35^0'=temp_35^post210, len_861^0'=len_861^post210, (-len_861^post210+len_861^0 == 0 /\ -i_1053^post210+i_1053^0 == 0 /\ -ct_18^post210+ct_18^0 == 0 /\ -a_395^post210+a_395^0 == 0 /\ a_417^0-a_417^post210 == 0 /\ -i_1248^post210+i_1248^0 == 0 /\ -a_239^post210+a_239^0 == 0 /\ a_394^0-a_394^post210 == 0 /\ a_1089^0-a_1089^post210 == 0 /\ a_310^0-a_310^post210 == 0 /\ -head_32^post210+head_32^0 == 0 /\ 1-x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post210+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post210 == 0 /\ a_311^0-a_311^post210 == 0 /\ -i_127^post210+i_127^0 == 0 /\ -a_392^post210+a_392^0 == 0 /\ i_140^0-i_140^post210 == 0 /\ f_847^0-f_847^post210 == 0 /\ -a_579^post210+a_579^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post210 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210 == 0 /\ a_924^0-a_924^post210 == 0 /\ i_106^0-i_106^post210 == 0 /\ i_94^0-i_94^post210 == 0 /\ -i_107^post210+i_107^0 == 0 /\ -a_575^post210+a_575^0 == 0 /\ -i_197^post210+i_197^0 == 0 /\ -rcd_1249^post210+rcd_1249^0 == 0 /\ x_975^0-x_975^post210 == 0 /\ y_20^0-y_20^post210 == 0 /\ a_393^0-a_393^post210 == 0 /\ -a_309^post210+a_309^0 == 0 /\ r_39^0-r_39^post210 == 0 /\ t_458^0-t_458^post210 == 0 /\ -i_30^post210+i_30^0 == 0 /\ -a_635^post210+a_635^0 == 0 /\ r_224^0-r_224^post210 == 0 /\ -result_11^post210+result_11^0 == 0 /\ -x_17^post210+x_17^0 == 0 /\ -head_15^post210+head_15^0 == 0 /\ x_21^0-x_21^post210 == 0 /\ len_262^0-len_262^post210 == 0 /\ a_577^0-a_577^post210 == 0 /\ -x_852^post210+x_852^0 == 0 /\ -rcd_58^post210+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post210 == 0 /\ -a_144^post210+a_144^0 == 0 /\ -tmp_34^post210+tmp_34^0 == 0 /\ x_14^0-x_14^post210 == 0 /\ t_24^0-t_24^post210 == 0 /\ -len_238^post210+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_121^0-a_121^post210 == 0 /\ len_161^0-len_161^post210 == 0 /\ -a_633^post210+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post210 == 0 /\ a_947^0-a_947^post210 == 0 /\ -a_176^post210+a_176^0 == 0 /\ a_263^0-a_263^post210 == 0 /\ -a_576^post210+a_576^0 == 0 /\ -r_143^post210+r_143^0 == 0 /\ length_29^0-length_29^post210 == 0 /\ -a_634^post210+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post210+a_1236^0 == 0 /\ -x_253^post210+x_253^0 == 0 /\ f_248^0-f_248^post210 == 0 /\ a_430^0-a_430^post210 == 0 /\ r_151^0-r_151^post210 == 0 /\ -a_431^post210+a_431^0 == 0 /\ a_632^0-a_632^post210 == 0 /\ -f_969^post210+f_969^0 == 0 /\ x_156^0-x_156^post210 == 0 /\ a_432^0-a_432^post210 == 0 /\ a_902^0-a_902^post210 == 0 /\ -r_970^post210+r_970^0 == 0 /\ i_113^0-i_113^post210 == 0 /\ -a_610^post210+a_610^0 == 0 /\ a_1162^0-a_1162^post210 == 0 /\ r_192^0-r_192^post210 == 0 /\ a_862^0-a_862^post210 == 0 /\ temp0_16^0-temp0_16^post210 == 0 /\ nondet_12^0-nondet_12^post210 == 0 /\ -rcd_47^post210+rcd_47^0 == 0 /\ -i_27^post210+i_27^0 == 0 /\ i_229^0-i_229^post210 == 0), cost: 1 211: l132 -> l133 : a_1089^0'=a_1089^post211, f_847^0'=f_847^post211, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post211, a_394^0'=a_394^post211, x_156^0'=x_156^post211, a_632^0'=a_632^post211, r_192^0'=r_192^post211, a_176^0'=a_176^post211, i_106^0'=i_106^post211, a_430^0'=a_430^post211, t_458^0'=t_458^post211, len_161^0'=len_161^post211, x_975^0'=x_975^post211, a_902^0'=a_902^post211, a_947^0'=a_947^post211, rcd_88^0'=rcd_88^post211, a_311^0'=a_311^post211, i_140^0'=i_140^post211, a_577^0'=a_577^post211, x_14^0'=x_14^post211, nondet_12^0'=nondet_12^post211, a_121^0'=a_121^post211, head_15^0'=head_15^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211, i_27^0'=i_27^post211, x_21^0'=x_21^post211, a_634^0'=a_634^post211, r_39^0'=r_39^post211, a_263^0'=a_263^post211, i_113^0'=i_113^post211, a_432^0'=a_432^post211, temp0_31^0'=temp0_31^post211, len_262^0'=len_262^post211, y_20^0'=y_20^post211, f_248^0'=f_248^post211, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211, a_393^0'=a_393^post211, i_229^0'=i_229^post211, a_610^0'=a_610^post211, r_151^0'=r_151^post211, a_144^0'=a_144^post211, i_1053^0'=i_1053^post211, a_417^0'=a_417^post211, t_24^0'=t_24^post211, i_94^0'=i_94^post211, x_852^0'=x_852^post211, a_862^0'=a_862^post211, rcd_1249^0'=rcd_1249^post211, rcd_58^0'=rcd_58^post211, a_310^0'=a_310^post211, i_127^0'=i_127^post211, a_576^0'=a_576^post211, tmp_34^0'=tmp_34^post211, length_29^0'=length_29^post211, a_1162^0'=a_1162^post211, f_969^0'=f_969^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211, a_395^0'=a_395^post211, x_17^0'=x_17^post211, a_633^0'=a_633^post211, r_224^0'=r_224^post211, a_239^0'=a_239^post211, i_107^0'=i_107^post211, a_431^0'=a_431^post211, temp0_16^0'=temp0_16^post211, len_238^0'=len_238^post211, x_SLAM_f_19^0'=x_SLAM_f_19^post211, a_924^0'=a_924^post211, ct_18^0'=ct_18^post211, result_11^0'=result_11^post211, a_392^0'=a_392^post211, i_197^0'=i_197^post211, a_579^0'=a_579^post211, r_143^0'=r_143^post211, a_1236^0'=a_1236^post211, head_32^0'=head_32^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211, i_30^0'=i_30^post211, x_253^0'=x_253^post211, a_635^0'=a_635^post211, r_970^0'=r_970^post211, rcd_47^0'=rcd_47^post211, a_309^0'=a_309^post211, i_1248^0'=i_1248^post211, a_575^0'=a_575^post211, temp_35^0'=temp_35^post211, len_861^0'=len_861^post211, (a_924^0-a_924^post211 == 0 /\ a_632^0-a_632^post211 == 0 /\ rcd_1249^0-rcd_1249^post211 == 0 /\ -tmp_34^post211+tmp_34^0 == 0 /\ a_430^0-a_430^post211 == 0 /\ -rcd_47^post211+rcd_47^0 == 0 /\ x_975^0-x_975^post211 == 0 /\ i_127^0-i_127^post211 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post211 == 0 /\ a_1162^0-a_1162^post211 == 0 /\ -a_634^post211+a_634^0 == 0 /\ -r_143^post211+r_143^0 == 0 /\ a_432^0-a_432^post211 == 0 /\ r_192^0-r_192^post211 == 0 /\ -r_151^post211+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post211 == 0 /\ -a_392^post211+a_392^0 == 0 /\ -f_969^post211+f_969^0 == 0 /\ -i_27^post211+i_27^0 == 0 /\ i_140^0-i_140^post211 == 0 /\ i_229^0-i_229^post211 == 0 /\ -x_253^post211+x_253^0 == 0 /\ -i_113^post211+i_113^0 == 0 /\ a_576^0-a_576^post211 == 0 /\ a_394^0-a_394^post211 == 0 /\ a_176^0-a_176^post211 == 0 /\ a_947^0-a_947^post211 == 0 /\ -a_1236^post211+a_1236^0 == 0 /\ -y_20^post211+y_20^0 == 0 /\ -a_431^post211+a_431^0 == 0 /\ f_847^0-f_847^post211 == 0 /\ -x_SLAM_f_19^post211+x_SLAM_f_19^0 == 0 /\ i_197^0-i_197^post211 == 0 /\ -r_970^post211+r_970^0 == 0 /\ -a_395^post211+a_395^0 == 0 /\ -i_1248^post211+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post211+i_106^0 == 0 /\ a_902^0-a_902^post211 == 0 /\ -rcd_58^post211+rcd_58^0 == 0 /\ -a_239^post211+a_239^0 == 0 /\ -length_29^post211+length_29^0 == 0 /\ i_107^0-i_107^post211 == 0 /\ a_610^0-a_610^post211 == 0 /\ i_94^0-i_94^post211 == 0 /\ -temp0_16^post211+temp0_16^0 == 0 /\ -ct_18^post211+ct_18^0 == 0 /\ head_15^0-head_15^post211 == 0 /\ r_39^0-r_39^post211 == 0 /\ a_311^0-a_311^post211 == 0 /\ -i_1053^post211+i_1053^0 == 0 /\ -a_862^post211+a_862^0 == 0 /\ -a_310^post211+a_310^0 == 0 /\ rcd_88^0-rcd_88^post211 == 0 /\ a_633^0-a_633^post211 == 0 /\ -temp_35^post211+temp_35^0 == 0 /\ -head_32^post211+head_32^0 == 0 /\ x_156^0-x_156^post211 == 0 /\ a_1089^0-a_1089^post211 == 0 /\ nondet_12^0-nondet_12^post211 == 0 /\ x_21^0-x_21^post211 == 0 /\ -len_161^post211+len_161^0 == 0 /\ -a_393^post211+a_393^0 == 0 /\ -r_224^post211+r_224^0 == 0 /\ -t_458^post211+t_458^0 == 0 /\ a_121^0-a_121^post211 == 0 /\ -t_24^post211+t_24^0 == 0 /\ -a_579^post211+a_579^0 == 0 /\ len_262^0-len_262^post211 == 0 /\ temp0_31^0-temp0_31^post211 == 0 /\ -result_11^post211+result_11^0 == 0 /\ -a_417^post211+a_417^0 == 0 /\ -a_309^post211+a_309^0 == 0 /\ -a_144^post211+a_144^0 == 0 /\ -a_263^post211+a_263^0 == 0 /\ -i_30^post211+i_30^0 == 0 /\ x_17^0-x_17^post211 == 0 /\ -a_575^post211+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post211 == 0 /\ 1+x_14^0 <= 0 /\ len_238^0-len_238^post211 == 0 /\ -len_861^post211+len_861^0 == 0 /\ -a_635^post211+a_635^0 == 0 /\ -x_852^post211+x_852^0 == 0 /\ f_248^0-f_248^post211 == 0), cost: 1 212: l133 -> l134 : a_1089^0'=a_1089^post212, f_847^0'=f_847^post212, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post212, a_394^0'=a_394^post212, x_156^0'=x_156^post212, a_632^0'=a_632^post212, r_192^0'=r_192^post212, a_176^0'=a_176^post212, i_106^0'=i_106^post212, a_430^0'=a_430^post212, t_458^0'=t_458^post212, len_161^0'=len_161^post212, x_975^0'=x_975^post212, a_902^0'=a_902^post212, a_947^0'=a_947^post212, rcd_88^0'=rcd_88^post212, a_311^0'=a_311^post212, i_140^0'=i_140^post212, a_577^0'=a_577^post212, x_14^0'=x_14^post212, nondet_12^0'=nondet_12^post212, a_121^0'=a_121^post212, head_15^0'=head_15^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212, i_27^0'=i_27^post212, x_21^0'=x_21^post212, a_634^0'=a_634^post212, r_39^0'=r_39^post212, a_263^0'=a_263^post212, i_113^0'=i_113^post212, a_432^0'=a_432^post212, temp0_31^0'=temp0_31^post212, len_262^0'=len_262^post212, y_20^0'=y_20^post212, f_248^0'=f_248^post212, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212, a_393^0'=a_393^post212, i_229^0'=i_229^post212, a_610^0'=a_610^post212, r_151^0'=r_151^post212, a_144^0'=a_144^post212, i_1053^0'=i_1053^post212, a_417^0'=a_417^post212, t_24^0'=t_24^post212, i_94^0'=i_94^post212, x_852^0'=x_852^post212, a_862^0'=a_862^post212, rcd_1249^0'=rcd_1249^post212, rcd_58^0'=rcd_58^post212, a_310^0'=a_310^post212, i_127^0'=i_127^post212, a_576^0'=a_576^post212, tmp_34^0'=tmp_34^post212, length_29^0'=length_29^post212, a_1162^0'=a_1162^post212, f_969^0'=f_969^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212, a_395^0'=a_395^post212, x_17^0'=x_17^post212, a_633^0'=a_633^post212, r_224^0'=r_224^post212, a_239^0'=a_239^post212, i_107^0'=i_107^post212, a_431^0'=a_431^post212, temp0_16^0'=temp0_16^post212, len_238^0'=len_238^post212, x_SLAM_f_19^0'=x_SLAM_f_19^post212, a_924^0'=a_924^post212, ct_18^0'=ct_18^post212, result_11^0'=result_11^post212, a_392^0'=a_392^post212, i_197^0'=i_197^post212, a_579^0'=a_579^post212, r_143^0'=r_143^post212, a_1236^0'=a_1236^post212, head_32^0'=head_32^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212, i_30^0'=i_30^post212, x_253^0'=x_253^post212, a_635^0'=a_635^post212, r_970^0'=r_970^post212, rcd_47^0'=rcd_47^post212, a_309^0'=a_309^post212, i_1248^0'=i_1248^post212, a_575^0'=a_575^post212, temp_35^0'=temp_35^post212, len_861^0'=len_861^post212, (0 == 0 /\ -i_1053^post212+i_1053^0 == 0 /\ -length_29^post212+length_29^0 == 0 /\ y_20^0-y_20^post212 == 0 /\ a_121^0-a_121^post212 == 0 /\ x_21^0-x_21^post212 == 0 /\ x_852^0-x_852^post212 == 0 /\ -len_861^post212+len_861^0 == 0 /\ x_156^0-x_156^post212 == 0 /\ len_161^0-len_161^post212 == 0 /\ -a_395^post212+a_395^0 == 0 /\ -a_1236^post212+a_1236^0 == 0 /\ a_576^0-a_576^post212 == 0 /\ i_140^0-i_140^post212 == 0 /\ f_847^0-f_847^post212 == 0 /\ -r_39^post212+r_39^0 == 0 /\ a_394^0-a_394^post212 == 0 /\ -i_1248^post212+i_1248^0 == 0 /\ -head_32^post212+head_32^0 == 0 /\ -a_862^post212+a_862^0 == 0 /\ -nondet_12^110+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212 == 0 /\ -a_393^post212+a_393^0 == 0 /\ -a_579^post212+a_579^0 == 0 /\ a_924^0-a_924^post212 == 0 /\ r_224^0-r_224^post212 == 0 /\ -a_263^post212+a_263^0 == 0 /\ -a_635^post212+a_635^0 == 0 /\ -a_144^post212+a_144^0 == 0 /\ -rcd_47^post212+rcd_47^0 == 0 /\ a_577^0-a_577^post212 == 0 /\ -i_30^post212+i_30^0 == 0 /\ -i_107^post212+i_107^0 == 0 /\ t_458^0-t_458^post212 == 0 /\ -a_575^post212+a_575^0 == 0 /\ i_106^0-i_106^post212 == 0 /\ -i_197^post212+i_197^0 == 0 /\ ct_18^0-ct_18^post212 == 0 /\ head_15^0-head_15^post212 == 0 /\ -a_309^post212+a_309^0 == 0 /\ i_127^0-i_127^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post212+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post212 == 0 /\ i_27^0-i_27^post212 == 0 /\ -rcd_58^post212+rcd_58^0 == 0 /\ -t_24^post212+t_24^0 == 0 /\ a_430^0-a_430^post212 == 0 /\ -tmp_34^post212+tmp_34^0 == 0 /\ -len_238^post212+len_238^0 == 0 /\ a_431^0-a_431^post212 == 0 /\ len_262^0-len_262^post212 == 0 /\ -a_633^post212+a_633^0 == 0 /\ temp0_31^0-temp0_31^post212 == 0 /\ x_17^0-x_17^post212 == 0 /\ a_634^0-a_634^post212 == 0 /\ -a_1162^post212+a_1162^0 == 0 /\ a_947^0-a_947^post212 == 0 /\ -r_151^post212+r_151^0 == 0 /\ -result_11^post212+result_11^0 == 0 /\ -rcd_1249^post212+rcd_1249^0 == 0 /\ a_176^0-a_176^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_610^post212+a_610^0 == 0 /\ f_969^0-f_969^post212 == 0 /\ a_239^0-a_239^post212 == 0 /\ -x_253^post212+x_253^0 == 0 /\ a_902^0-a_902^post212 == 0 /\ x_975^0-x_975^post212 == 0 /\ 1-i_27^0 <= 0 /\ r_192^0-r_192^post212 == 0 /\ -r_970^post212+r_970^0 == 0 /\ -a_392^post212+a_392^0 == 0 /\ -r_143^post212+r_143^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post212 == 0 /\ -i_94^post212+i_94^0 == 0 /\ rcd_88^0-rcd_88^post212 == 0 /\ -i_113^post212+i_113^0 == 0 /\ x_14^0-x_14^post212 == 0 /\ -x_SLAM_f_19^post212+x_SLAM_f_19^0 == 0 /\ -a_432^post212+a_432^0 == 0 /\ a_310^0-a_310^post212 == 0 /\ a_1089^0-a_1089^post212 == 0 /\ a_311^0-a_311^post212 == 0 /\ a_632^0-a_632^post212 == 0 /\ -temp_35^post212+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post212 == 0 /\ -i_229^post212+i_229^0 == 0), cost: 1 213: l134 -> l135 : a_1089^0'=a_1089^post213, f_847^0'=f_847^post213, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post213, a_394^0'=a_394^post213, x_156^0'=x_156^post213, a_632^0'=a_632^post213, r_192^0'=r_192^post213, a_176^0'=a_176^post213, i_106^0'=i_106^post213, a_430^0'=a_430^post213, t_458^0'=t_458^post213, len_161^0'=len_161^post213, x_975^0'=x_975^post213, a_902^0'=a_902^post213, a_947^0'=a_947^post213, rcd_88^0'=rcd_88^post213, a_311^0'=a_311^post213, i_140^0'=i_140^post213, a_577^0'=a_577^post213, x_14^0'=x_14^post213, nondet_12^0'=nondet_12^post213, a_121^0'=a_121^post213, head_15^0'=head_15^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213, i_27^0'=i_27^post213, x_21^0'=x_21^post213, a_634^0'=a_634^post213, r_39^0'=r_39^post213, a_263^0'=a_263^post213, i_113^0'=i_113^post213, a_432^0'=a_432^post213, temp0_31^0'=temp0_31^post213, len_262^0'=len_262^post213, y_20^0'=y_20^post213, f_248^0'=f_248^post213, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213, a_393^0'=a_393^post213, i_229^0'=i_229^post213, a_610^0'=a_610^post213, r_151^0'=r_151^post213, a_144^0'=a_144^post213, i_1053^0'=i_1053^post213, a_417^0'=a_417^post213, t_24^0'=t_24^post213, i_94^0'=i_94^post213, x_852^0'=x_852^post213, a_862^0'=a_862^post213, rcd_1249^0'=rcd_1249^post213, rcd_58^0'=rcd_58^post213, a_310^0'=a_310^post213, i_127^0'=i_127^post213, a_576^0'=a_576^post213, tmp_34^0'=tmp_34^post213, length_29^0'=length_29^post213, a_1162^0'=a_1162^post213, f_969^0'=f_969^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213, a_395^0'=a_395^post213, x_17^0'=x_17^post213, a_633^0'=a_633^post213, r_224^0'=r_224^post213, a_239^0'=a_239^post213, i_107^0'=i_107^post213, a_431^0'=a_431^post213, temp0_16^0'=temp0_16^post213, len_238^0'=len_238^post213, x_SLAM_f_19^0'=x_SLAM_f_19^post213, a_924^0'=a_924^post213, ct_18^0'=ct_18^post213, result_11^0'=result_11^post213, a_392^0'=a_392^post213, i_197^0'=i_197^post213, a_579^0'=a_579^post213, r_143^0'=r_143^post213, a_1236^0'=a_1236^post213, head_32^0'=head_32^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213, i_30^0'=i_30^post213, x_253^0'=x_253^post213, a_635^0'=a_635^post213, r_970^0'=r_970^post213, rcd_47^0'=rcd_47^post213, a_309^0'=a_309^post213, i_1248^0'=i_1248^post213, a_575^0'=a_575^post213, temp_35^0'=temp_35^post213, len_861^0'=len_861^post213, (rcd_88^0-rcd_88^post213 == 0 /\ -head_15^post213+head_15^0 == 0 /\ -r_224^post213+r_224^0 == 0 /\ -rcd_58^post213+rcd_58^0 == 0 /\ -temp_35^post213+temp_35^0 == 0 /\ -i_197^post213+i_197^0 == 0 /\ -a_579^post213+a_579^0 == 0 /\ -a_263^post213+a_263^0 == 0 /\ -ct_18^post213+ct_18^0 == 0 /\ t_458^0-t_458^post213 == 0 /\ i_140^0-i_140^post213 == 0 /\ a_632^0-a_632^post213 == 0 /\ -r_970^post213+r_970^0 == 0 /\ i_106^0-i_106^post213 == 0 /\ -a_395^post213+a_395^0 == 0 /\ rcd_1249^0-rcd_1249^post213 == 0 /\ a_1089^0-a_1089^post213 == 0 /\ a_311^0-a_311^post213 == 0 /\ -x_852^post213+x_852^0 == 0 /\ y_20^0-y_20^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post213 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213 == 0 /\ a_924^0-a_924^post213 == 0 /\ x_21^0-x_21^post213 == 0 /\ -i_1248^post213+i_1248^0 == 0 /\ -a_634^post213+a_634^0 == 0 /\ -a_239^post213+a_239^0 == 0 /\ -tmp_34^post213+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post213 == 0 /\ -i_30^post213+i_30^0 == 0 /\ -i_1053^post213+i_1053^0 == 0 /\ i_127^0-i_127^post213 == 0 /\ a_121^0-a_121^post213 == 0 /\ -len_861^post213+len_861^0 == 0 /\ a_394^0-a_394^post213 == 0 /\ len_262^0-len_262^post213 == 0 /\ i_94^0-i_94^post213 == 0 /\ a_577^0-a_577^post213 == 0 /\ -result_11^post213+result_11^0 == 0 /\ -x_SLAM_f_19^post213+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post213 == 0 /\ -a_176^post213+a_176^0 == 0 /\ -a_576^post213+a_576^0 == 0 /\ -x_17^post213+x_17^0 == 0 /\ len_161^0-len_161^post213 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post213 == 0 /\ -r_143^post213+r_143^0 == 0 /\ -a_635^post213+a_635^0 == 0 /\ x_14^0-x_14^post213 == 0 /\ -i_27^post213+i_27^0 == 0 /\ a_310^0-a_310^post213 == 0 /\ -a_309^post213+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_107^post213+i_107^0 == 0 /\ -a_575^post213+a_575^0 == 0 /\ -a_633^post213+a_633^0 == 0 /\ -a_1236^post213+a_1236^0 == 0 /\ -a_417^post213+a_417^0 == 0 /\ t_24^0-t_24^post213 == 0 /\ a_393^0-a_393^post213 == 0 /\ r_39^0-r_39^post213 == 0 /\ -rcd_47^post213+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post213 == 0 /\ -len_238^post213+len_238^0 == 0 /\ i_229^0-i_229^post213 == 0 /\ a_432^0-a_432^post213 == 0 /\ -a_862^post213+a_862^0 == 0 /\ -a_610^post213+a_610^0 == 0 /\ -a_392^post213+a_392^0 == 0 /\ -length_29^post213+length_29^0 == 0 /\ a_430^0-a_430^post213 == 0 /\ f_248^0-f_248^post213 == 0 /\ -x_253^post213+x_253^0 == 0 /\ -f_969^post213+f_969^0 == 0 /\ -r_151^post213+r_151^0 == 0 /\ nondet_12^0-nondet_12^post213 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_431^0-a_431^post213 == 0 /\ x_975^0-x_975^post213 == 0 /\ -head_32^post213+head_32^0 == 0 /\ a_144^0-a_144^post213 == 0 /\ x_156^0-x_156^post213 == 0 /\ i_113^0-i_113^post213 == 0 /\ a_1162^0-a_1162^post213 == 0 /\ a_902^0-a_902^post213 == 0), cost: 1 214: l134 -> l135 : a_1089^0'=a_1089^post214, f_847^0'=f_847^post214, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post214, a_394^0'=a_394^post214, x_156^0'=x_156^post214, a_632^0'=a_632^post214, r_192^0'=r_192^post214, a_176^0'=a_176^post214, i_106^0'=i_106^post214, a_430^0'=a_430^post214, t_458^0'=t_458^post214, len_161^0'=len_161^post214, x_975^0'=x_975^post214, a_902^0'=a_902^post214, a_947^0'=a_947^post214, rcd_88^0'=rcd_88^post214, a_311^0'=a_311^post214, i_140^0'=i_140^post214, a_577^0'=a_577^post214, x_14^0'=x_14^post214, nondet_12^0'=nondet_12^post214, a_121^0'=a_121^post214, head_15^0'=head_15^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214, i_27^0'=i_27^post214, x_21^0'=x_21^post214, a_634^0'=a_634^post214, r_39^0'=r_39^post214, a_263^0'=a_263^post214, i_113^0'=i_113^post214, a_432^0'=a_432^post214, temp0_31^0'=temp0_31^post214, len_262^0'=len_262^post214, y_20^0'=y_20^post214, f_248^0'=f_248^post214, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214, a_393^0'=a_393^post214, i_229^0'=i_229^post214, a_610^0'=a_610^post214, r_151^0'=r_151^post214, a_144^0'=a_144^post214, i_1053^0'=i_1053^post214, a_417^0'=a_417^post214, t_24^0'=t_24^post214, i_94^0'=i_94^post214, x_852^0'=x_852^post214, a_862^0'=a_862^post214, rcd_1249^0'=rcd_1249^post214, rcd_58^0'=rcd_58^post214, a_310^0'=a_310^post214, i_127^0'=i_127^post214, a_576^0'=a_576^post214, tmp_34^0'=tmp_34^post214, length_29^0'=length_29^post214, a_1162^0'=a_1162^post214, f_969^0'=f_969^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214, a_395^0'=a_395^post214, x_17^0'=x_17^post214, a_633^0'=a_633^post214, r_224^0'=r_224^post214, a_239^0'=a_239^post214, i_107^0'=i_107^post214, a_431^0'=a_431^post214, temp0_16^0'=temp0_16^post214, len_238^0'=len_238^post214, x_SLAM_f_19^0'=x_SLAM_f_19^post214, a_924^0'=a_924^post214, ct_18^0'=ct_18^post214, result_11^0'=result_11^post214, a_392^0'=a_392^post214, i_197^0'=i_197^post214, a_579^0'=a_579^post214, r_143^0'=r_143^post214, a_1236^0'=a_1236^post214, head_32^0'=head_32^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214, i_30^0'=i_30^post214, x_253^0'=x_253^post214, a_635^0'=a_635^post214, r_970^0'=r_970^post214, rcd_47^0'=rcd_47^post214, a_309^0'=a_309^post214, i_1248^0'=i_1248^post214, a_575^0'=a_575^post214, temp_35^0'=temp_35^post214, len_861^0'=len_861^post214, (-r_143^post214+r_143^0 == 0 /\ -a_575^post214+a_575^0 == 0 /\ a_1162^0-a_1162^post214 == 0 /\ -a_635^post214+a_635^0 == 0 /\ -x_SLAM_f_19^post214+x_SLAM_f_19^0 == 0 /\ -r_151^post214+r_151^0 == 0 /\ -a_309^post214+a_309^0 == 0 /\ a_924^0-a_924^post214 == 0 /\ f_248^0-f_248^post214 == 0 /\ -i_30^post214+i_30^0 == 0 /\ x_21^0-x_21^post214 == 0 /\ ct_18^0-ct_18^post214 == 0 /\ i_127^0-i_127^post214 == 0 /\ x_975^0-x_975^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ r_192^0-r_192^post214 == 0 /\ -i_113^post214+i_113^0 == 0 /\ -a_144^post214+a_144^0 == 0 /\ a_577^0-a_577^post214 == 0 /\ -i_107^post214+i_107^0 == 0 /\ -a_633^post214+a_633^0 == 0 /\ a_634^0-a_634^post214 == 0 /\ -a_862^post214+a_862^0 == 0 /\ -a_1236^post214+a_1236^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_27^0-i_27^post214 == 0 /\ -a_432^post214+a_432^0 == 0 /\ -a_431^post214+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_947^0-a_947^post214 == 0 /\ a_576^0-a_576^post214 == 0 /\ -i_94^post214+i_94^0 == 0 /\ -a_310^post214+a_310^0 == 0 /\ -i_140^post214+i_140^0 == 0 /\ i_197^0-i_197^post214 == 0 /\ r_39^0-r_39^post214 == 0 /\ -length_29^post214+length_29^0 == 0 /\ -a_392^post214+a_392^0 == 0 /\ -rcd_47^post214+rcd_47^0 == 0 /\ rcd_1249^0-rcd_1249^post214 == 0 /\ i_106^0-i_106^post214 == 0 /\ f_847^0-f_847^post214 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp_35^post214+temp_35^0 == 0 /\ head_15^0-head_15^post214 == 0 /\ -x_253^post214+x_253^0 == 0 /\ -f_969^post214+f_969^0 == 0 /\ -t_458^post214+t_458^0 == 0 /\ -y_20^post214+y_20^0 == 0 /\ -head_32^post214+head_32^0 == 0 /\ a_632^0-a_632^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post214+rcd_58^0 == 0 /\ len_262^0-len_262^post214 == 0 /\ nondet_12^0-nondet_12^post214 == 0 /\ -a_579^post214+a_579^0 == 0 /\ r_970^0-r_970^post214 == 0 /\ a_902^0-a_902^post214 == 0 /\ -a_263^post214+a_263^0 == 0 /\ x_156^0-x_156^post214 == 0 /\ a_610^0-a_610^post214 == 0 /\ temp0_31^0-temp0_31^post214 == 0 /\ r_224^0-r_224^post214 == 0 /\ i_229^0-i_229^post214 == 0 /\ -len_861^post214+len_861^0 == 0 /\ -a_395^post214+a_395^0 == 0 /\ -temp0_16^post214+temp0_16^0 == 0 /\ len_238^0-len_238^post214 == 0 /\ x_14^0-x_14^post214 == 0 /\ x_17^0-x_17^post214 == 0 /\ a_121^0-a_121^post214 == 0 /\ a_176^0-a_176^post214 == 0 /\ a_394^0-a_394^post214 == 0 /\ a_1089^0-a_1089^post214 == 0 /\ -result_11^post214+result_11^0 == 0 /\ -a_417^post214+a_417^0 == 0 /\ -len_161^post214+len_161^0 == 0 /\ -i_1248^post214+i_1248^0 == 0 /\ -a_239^post214+a_239^0 == 0 /\ -x_852^post214+x_852^0 == 0 /\ a_430^0-a_430^post214 == 0 /\ -tmp_34^post214+tmp_34^0 == 0 /\ -a_393^post214+a_393^0 == 0 /\ -t_24^post214+t_24^0 == 0 /\ rcd_88^0-rcd_88^post214 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post214 == 0 /\ a_311^0-a_311^post214 == 0 /\ -i_1053^post214+i_1053^0 == 0), cost: 1 215: l135 -> l136 : a_1089^0'=a_1089^post215, f_847^0'=f_847^post215, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post215, a_394^0'=a_394^post215, x_156^0'=x_156^post215, a_632^0'=a_632^post215, r_192^0'=r_192^post215, a_176^0'=a_176^post215, i_106^0'=i_106^post215, a_430^0'=a_430^post215, t_458^0'=t_458^post215, len_161^0'=len_161^post215, x_975^0'=x_975^post215, a_902^0'=a_902^post215, a_947^0'=a_947^post215, rcd_88^0'=rcd_88^post215, a_311^0'=a_311^post215, i_140^0'=i_140^post215, a_577^0'=a_577^post215, x_14^0'=x_14^post215, nondet_12^0'=nondet_12^post215, a_121^0'=a_121^post215, head_15^0'=head_15^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215, i_27^0'=i_27^post215, x_21^0'=x_21^post215, a_634^0'=a_634^post215, r_39^0'=r_39^post215, a_263^0'=a_263^post215, i_113^0'=i_113^post215, a_432^0'=a_432^post215, temp0_31^0'=temp0_31^post215, len_262^0'=len_262^post215, y_20^0'=y_20^post215, f_248^0'=f_248^post215, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215, a_393^0'=a_393^post215, i_229^0'=i_229^post215, a_610^0'=a_610^post215, r_151^0'=r_151^post215, a_144^0'=a_144^post215, i_1053^0'=i_1053^post215, a_417^0'=a_417^post215, t_24^0'=t_24^post215, i_94^0'=i_94^post215, x_852^0'=x_852^post215, a_862^0'=a_862^post215, rcd_1249^0'=rcd_1249^post215, rcd_58^0'=rcd_58^post215, a_310^0'=a_310^post215, i_127^0'=i_127^post215, a_576^0'=a_576^post215, tmp_34^0'=tmp_34^post215, length_29^0'=length_29^post215, a_1162^0'=a_1162^post215, f_969^0'=f_969^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215, a_395^0'=a_395^post215, x_17^0'=x_17^post215, a_633^0'=a_633^post215, r_224^0'=r_224^post215, a_239^0'=a_239^post215, i_107^0'=i_107^post215, a_431^0'=a_431^post215, temp0_16^0'=temp0_16^post215, len_238^0'=len_238^post215, x_SLAM_f_19^0'=x_SLAM_f_19^post215, a_924^0'=a_924^post215, ct_18^0'=ct_18^post215, result_11^0'=result_11^post215, a_392^0'=a_392^post215, i_197^0'=i_197^post215, a_579^0'=a_579^post215, r_143^0'=r_143^post215, a_1236^0'=a_1236^post215, head_32^0'=head_32^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215, i_30^0'=i_30^post215, x_253^0'=x_253^post215, a_635^0'=a_635^post215, r_970^0'=r_970^post215, rcd_47^0'=rcd_47^post215, a_309^0'=a_309^post215, i_1248^0'=i_1248^post215, a_575^0'=a_575^post215, temp_35^0'=temp_35^post215, len_861^0'=len_861^post215, (0 == 0 /\ -i_1248^post215+i_1248^0 == 0 /\ a_947^0-a_947^post215 == 0 /\ -head_32^post215+head_32^0 == 0 /\ len_161^0-len_161^post215 == 0 /\ -i_107^post215+i_30^0 <= 0 /\ -y_20^post215+y_20^0 == 0 /\ rcd_58^0-rcd_58^post215 == 0 /\ -temp0_16^post215+temp0_16^0 == 0 /\ x_852^0-x_852^post215 == 0 /\ x_14^0-x_14^post215 == 0 /\ -a_263^post215+a_263^0 == 0 /\ -a_579^post215+a_579^0 == 0 /\ -t_24^post215+t_24^0 == 0 /\ -x_253^post215+x_253^0 == 0 /\ a_394^0-a_394^post215 == 0 /\ -temp_35^post215+temp_35^0 == 0 /\ -i_197^post215+i_197^0 == 0 /\ -1+i_106^0-i_27^post215 <= 0 /\ rcd_1249^0-rcd_1249^post215 == 0 /\ f_847^0-f_847^post215 == 0 /\ -r_39^post215+r_39^0 == 0 /\ -a_395^post215+a_395^0 == 0 /\ i_106^0-i_106^post215 == 0 /\ -a_417^post215+a_417^0 == 0 /\ i_107^post215-i_30^0 <= 0 /\ -a_309^post215+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post215+tmp_34^0 == 0 /\ a_430^0-a_430^post215 == 0 /\ -result_11^post215+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post215+a_924^0 == 0 /\ -a_575^post215+a_575^0 == 0 /\ a_432^0-a_432^post215 == 0 /\ -i_30^post215+i_30^0 == 0 /\ -i_1053^post215+i_1053^0 == 0 /\ -len_861^post215+len_861^0 == 0 /\ ct_18^0-ct_18^post215 == 0 /\ a_1236^0-a_1236^post215 == 0 /\ x_156^0-x_156^post215 == 0 /\ -a_635^post215+a_635^0 == 0 /\ head_15^0-head_15^post215 == 0 /\ -a_1162^post215+a_1162^0 == 0 /\ i_127^0-i_127^post215 == 0 /\ -a_393^post215+a_393^0 == 0 /\ i_229^0-i_229^post215 == 0 /\ a_431^0-a_431^post215 == 0 /\ x_21^0-x_21^post215 == 0 /\ -r_224^post215+r_224^0 == 0 /\ -a_577^post215+a_577^0 == 0 /\ temp0_31^0-temp0_31^post215 == 0 /\ x_17^0-x_17^post215 == 0 /\ a_1089^0-a_1089^post215 == 0 /\ -r_151^post215+r_151^0 == 0 /\ a_310^0-a_310^post215 == 0 /\ a_634^0-a_634^post215 == 0 /\ -x_SLAM_f_19^post215+x_SLAM_f_19^0 == 0 /\ -a_632^post215+a_632^0 == 0 /\ -a_576^post215+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post215 == 0 /\ 1-i_106^0+i_27^post215 <= 0 /\ i_140^0-i_140^post215 == 0 /\ -r_143^post215+r_143^0 == 0 /\ a_176^0-a_176^post215 == 0 /\ rcd_88^0-rcd_88^post215 == 0 /\ x_14^0-head_15^0 <= 0 /\ a_311^0-a_311^post215 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post215+i_113^0 == 0 /\ -length_29^post215+length_29^0 == 0 /\ -a_392^post215+a_392^0 == 0 /\ -a_633^post215+a_633^0 == 0 /\ -a_902^post215+a_902^0 == 0 /\ f_248^0-f_248^post215 == 0 /\ a_239^0-a_239^post215 == 0 /\ 1-i_27^0+i_27^post215 == 0 /\ -a_862^post215+a_862^0 == 0 /\ x_975^0-x_975^post215 == 0 /\ -t_458^post215+t_458^0 == 0 /\ a_610^0-a_610^post215 == 0 /\ a_121^0-a_121^post215 == 0 /\ r_192^0-r_192^post215 == 0 /\ len_262^0-len_262^post215 == 0 /\ -rcd_47^post215+rcd_47^0 == 0 /\ a_144^0-a_144^post215 == 0 /\ nondet_12^0-nondet_12^post215 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post215 == 0 /\ -i_94^post215+i_94^0 == 0 /\ -r_970^post215+r_970^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -len_238^post215+len_238^0 == 0), cost: 1 216: l136 -> l137 : a_1089^0'=a_1089^post216, f_847^0'=f_847^post216, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post216, a_394^0'=a_394^post216, x_156^0'=x_156^post216, a_632^0'=a_632^post216, r_192^0'=r_192^post216, a_176^0'=a_176^post216, i_106^0'=i_106^post216, a_430^0'=a_430^post216, t_458^0'=t_458^post216, len_161^0'=len_161^post216, x_975^0'=x_975^post216, a_902^0'=a_902^post216, a_947^0'=a_947^post216, rcd_88^0'=rcd_88^post216, a_311^0'=a_311^post216, i_140^0'=i_140^post216, a_577^0'=a_577^post216, x_14^0'=x_14^post216, nondet_12^0'=nondet_12^post216, a_121^0'=a_121^post216, head_15^0'=head_15^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216, i_27^0'=i_27^post216, x_21^0'=x_21^post216, a_634^0'=a_634^post216, r_39^0'=r_39^post216, a_263^0'=a_263^post216, i_113^0'=i_113^post216, a_432^0'=a_432^post216, temp0_31^0'=temp0_31^post216, len_262^0'=len_262^post216, y_20^0'=y_20^post216, f_248^0'=f_248^post216, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216, a_393^0'=a_393^post216, i_229^0'=i_229^post216, a_610^0'=a_610^post216, r_151^0'=r_151^post216, a_144^0'=a_144^post216, i_1053^0'=i_1053^post216, a_417^0'=a_417^post216, t_24^0'=t_24^post216, i_94^0'=i_94^post216, x_852^0'=x_852^post216, a_862^0'=a_862^post216, rcd_1249^0'=rcd_1249^post216, rcd_58^0'=rcd_58^post216, a_310^0'=a_310^post216, i_127^0'=i_127^post216, a_576^0'=a_576^post216, tmp_34^0'=tmp_34^post216, length_29^0'=length_29^post216, a_1162^0'=a_1162^post216, f_969^0'=f_969^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216, a_395^0'=a_395^post216, x_17^0'=x_17^post216, a_633^0'=a_633^post216, r_224^0'=r_224^post216, a_239^0'=a_239^post216, i_107^0'=i_107^post216, a_431^0'=a_431^post216, temp0_16^0'=temp0_16^post216, len_238^0'=len_238^post216, x_SLAM_f_19^0'=x_SLAM_f_19^post216, a_924^0'=a_924^post216, ct_18^0'=ct_18^post216, result_11^0'=result_11^post216, a_392^0'=a_392^post216, i_197^0'=i_197^post216, a_579^0'=a_579^post216, r_143^0'=r_143^post216, a_1236^0'=a_1236^post216, head_32^0'=head_32^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216, i_30^0'=i_30^post216, x_253^0'=x_253^post216, a_635^0'=a_635^post216, r_970^0'=r_970^post216, rcd_47^0'=rcd_47^post216, a_309^0'=a_309^post216, i_1248^0'=i_1248^post216, a_575^0'=a_575^post216, temp_35^0'=temp_35^post216, len_861^0'=len_861^post216, (-len_238^post216+len_238^0 == 0 /\ -r_151^post216+r_151^0 == 0 /\ tmp_34^0-tmp_34^post216 == 0 /\ head_15^0-head_15^post216 == 0 /\ r_192^0-r_192^post216 == 0 /\ ct_18^0-ct_18^post216 == 0 /\ 1-x_14^0 <= 0 /\ -a_432^post216+a_432^0 == 0 /\ -a_924^post216+a_924^0 == 0 /\ a_633^0-a_633^post216 == 0 /\ -i_113^post216+i_113^0 == 0 /\ x_21^0-x_21^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_143^post216+r_143^0 == 0 /\ a_610^0-a_610^post216 == 0 /\ -a_309^post216+a_309^0 == 0 /\ nondet_12^0-nondet_12^post216 == 0 /\ -x_253^post216+x_253^0 == 0 /\ a_144^0-a_144^post216 == 0 /\ x_14^0-x_14^post216 == 0 /\ a_947^0-a_947^post216 == 0 /\ -a_392^post216+a_392^0 == 0 /\ -a_431^post216+a_431^0 == 0 /\ -a_1236^post216+a_1236^0 == 0 /\ a_1089^0-a_1089^post216 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post216 == 0 /\ i_27^0-i_27^post216 == 0 /\ a_263^0-a_263^post216 == 0 /\ -x_SLAM_f_19^post216+x_SLAM_f_19^0 == 0 /\ a_576^0-a_576^post216 == 0 /\ -rcd_47^post216+rcd_47^0 == 0 /\ r_39^0-r_39^post216 == 0 /\ t_458^0-t_458^post216 == 0 /\ -i_94^post216+i_94^0 == 0 /\ -i_140^post216+i_140^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216 == 0 /\ rcd_58^0-rcd_58^post216 == 0 /\ i_106^0-i_106^post216 == 0 /\ -length_29^post216+length_29^0 == 0 /\ -y_20^post216+y_20^0 == 0 /\ rcd_1249^0-rcd_1249^post216 == 0 /\ -a_310^post216+a_310^0 == 0 /\ f_248^0-f_248^post216 == 0 /\ -r_970^post216+r_970^0 == 0 /\ -r_224^post216+r_224^0 == 0 /\ -a_395^post216+a_395^0 == 0 /\ -head_32^post216+head_32^0 == 0 /\ -x_852^post216+x_852^0 == 0 /\ -temp0_16^post216+temp0_16^0 == 0 /\ a_632^0-a_632^post216 == 0 /\ a_430^0-a_430^post216 == 0 /\ -len_861^post216+len_861^0 == 0 /\ x_975^0-x_975^post216 == 0 /\ x_156^0-x_156^post216 == 0 /\ len_262^0-len_262^post216 == 0 /\ f_969^0-f_969^post216 == 0 /\ a_577^0-a_577^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post216 == 0 /\ -a_862^post216+a_862^0 == 0 /\ temp0_31^0-temp0_31^post216 == 0 /\ -i_197^post216+i_197^0 == 0 /\ i_229^0-i_229^post216 == 0 /\ -i_127^post216+i_127^0 == 0 /\ -a_579^post216+a_579^0 == 0 /\ a_634^0-a_634^post216 == 0 /\ -i_30^post216+i_30^0 == 0 /\ -a_1162^post216+a_1162^0 == 0 /\ x_17^0-x_17^post216 == 0 /\ a_394^0-a_394^post216 == 0 /\ len_161^0-len_161^post216 == 0 /\ -i_107^post216+i_107^0 == 0 /\ -a_417^post216+a_417^0 == 0 /\ -a_575^post216+a_575^0 == 0 /\ a_176^0-a_176^post216 == 0 /\ a_121^0-a_121^post216 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216 == 0 /\ -result_11^post216+result_11^0 == 0 /\ a_311^0-a_311^post216 == 0 /\ -i_1248^post216+i_1248^0 == 0 /\ -a_393^post216+a_393^0 == 0 /\ i_1053^0-i_1053^post216 == 0 /\ -a_239^post216+a_239^0 == 0 /\ rcd_88^0-rcd_88^post216 == 0 /\ -t_24^post216+t_24^0 == 0 /\ f_847^0-f_847^post216 == 0 /\ temp_35^0-temp_35^post216 == 0 /\ -a_635^post216+a_635^0 == 0), cost: 1 217: l136 -> l137 : a_1089^0'=a_1089^post217, f_847^0'=f_847^post217, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post217, a_394^0'=a_394^post217, x_156^0'=x_156^post217, a_632^0'=a_632^post217, r_192^0'=r_192^post217, a_176^0'=a_176^post217, i_106^0'=i_106^post217, a_430^0'=a_430^post217, t_458^0'=t_458^post217, len_161^0'=len_161^post217, x_975^0'=x_975^post217, a_902^0'=a_902^post217, a_947^0'=a_947^post217, rcd_88^0'=rcd_88^post217, a_311^0'=a_311^post217, i_140^0'=i_140^post217, a_577^0'=a_577^post217, x_14^0'=x_14^post217, nondet_12^0'=nondet_12^post217, a_121^0'=a_121^post217, head_15^0'=head_15^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217, i_27^0'=i_27^post217, x_21^0'=x_21^post217, a_634^0'=a_634^post217, r_39^0'=r_39^post217, a_263^0'=a_263^post217, i_113^0'=i_113^post217, a_432^0'=a_432^post217, temp0_31^0'=temp0_31^post217, len_262^0'=len_262^post217, y_20^0'=y_20^post217, f_248^0'=f_248^post217, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217, a_393^0'=a_393^post217, i_229^0'=i_229^post217, a_610^0'=a_610^post217, r_151^0'=r_151^post217, a_144^0'=a_144^post217, i_1053^0'=i_1053^post217, a_417^0'=a_417^post217, t_24^0'=t_24^post217, i_94^0'=i_94^post217, x_852^0'=x_852^post217, a_862^0'=a_862^post217, rcd_1249^0'=rcd_1249^post217, rcd_58^0'=rcd_58^post217, a_310^0'=a_310^post217, i_127^0'=i_127^post217, a_576^0'=a_576^post217, tmp_34^0'=tmp_34^post217, length_29^0'=length_29^post217, a_1162^0'=a_1162^post217, f_969^0'=f_969^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217, a_395^0'=a_395^post217, x_17^0'=x_17^post217, a_633^0'=a_633^post217, r_224^0'=r_224^post217, a_239^0'=a_239^post217, i_107^0'=i_107^post217, a_431^0'=a_431^post217, temp0_16^0'=temp0_16^post217, len_238^0'=len_238^post217, x_SLAM_f_19^0'=x_SLAM_f_19^post217, a_924^0'=a_924^post217, ct_18^0'=ct_18^post217, result_11^0'=result_11^post217, a_392^0'=a_392^post217, i_197^0'=i_197^post217, a_579^0'=a_579^post217, r_143^0'=r_143^post217, a_1236^0'=a_1236^post217, head_32^0'=head_32^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217, i_30^0'=i_30^post217, x_253^0'=x_253^post217, a_635^0'=a_635^post217, r_970^0'=r_970^post217, rcd_47^0'=rcd_47^post217, a_309^0'=a_309^post217, i_1248^0'=i_1248^post217, a_575^0'=a_575^post217, temp_35^0'=temp_35^post217, len_861^0'=len_861^post217, (a_862^0-a_862^post217 == 0 /\ rcd_58^0-rcd_58^post217 == 0 /\ result_11^0-result_11^post217 == 0 /\ -r_224^post217+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post217 == 0 /\ -i_229^post217+i_229^0 == 0 /\ len_161^0-len_161^post217 == 0 /\ i_27^0-i_27^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_262^post217+len_262^0 == 0 /\ a_634^0-a_634^post217 == 0 /\ -i_1053^post217+i_1053^0 == 0 /\ -i_1248^post217+i_1248^0 == 0 /\ -temp0_31^post217+temp0_31^0 == 0 /\ a_263^0-a_263^post217 == 0 /\ t_24^0-t_24^post217 == 0 /\ a_176^0-a_176^post217 == 0 /\ -a_395^post217+a_395^0 == 0 /\ a_947^0-a_947^post217 == 0 /\ -i_197^post217+i_197^0 == 0 /\ -r_39^post217+r_39^0 == 0 /\ -a_579^post217+a_579^0 == 0 /\ -head_32^post217+head_32^0 == 0 /\ -x_14^post217+x_14^0 == 0 /\ tmp_34^0-tmp_34^post217 == 0 /\ r_151^0-r_151^post217 == 0 /\ f_248^0-f_248^post217 == 0 /\ -x_21^post217+x_21^0 == 0 /\ length_29^0-length_29^post217 == 0 /\ -x_17^post217+x_17^0 == 0 /\ -a_1162^post217+a_1162^0 == 0 /\ a_632^0-a_632^post217 == 0 /\ a_430^0-a_430^post217 == 0 /\ -a_309^post217+a_309^0 == 0 /\ -a_924^post217+a_924^0 == 0 /\ a_311^0-a_311^post217 == 0 /\ i_113^0-i_113^post217 == 0 /\ head_15^0-head_15^post217 == 0 /\ a_902^0-a_902^post217 == 0 /\ rcd_88^0-rcd_88^post217 == 0 /\ -i_107^post217+i_107^0 == 0 /\ -ct_18^post217+ct_18^0 == 0 /\ a_432^0-a_432^post217 == 0 /\ -temp0_16^post217+temp0_16^0 == 0 /\ x_156^0-x_156^post217 == 0 /\ -len_861^post217+len_861^0 == 0 /\ -i_30^post217+i_30^0 == 0 /\ -a_635^post217+a_635^0 == 0 /\ r_192^0-r_192^post217 == 0 /\ i_140^0-i_140^post217 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217 == 0 /\ a_417^0-a_417^post217 == 0 /\ x_852^0-x_852^post217 == 0 /\ nondet_12^0-nondet_12^post217 == 0 /\ a_144^0-a_144^post217 == 0 /\ -len_238^post217+len_238^0 == 0 /\ -a_610^post217+a_610^0 == 0 /\ a_1089^0-a_1089^post217 == 0 /\ a_394^0-a_394^post217 == 0 /\ -rcd_47^post217+rcd_47^0 == 0 /\ -r_143^post217+r_143^0 == 0 /\ y_20^0-y_20^post217 == 0 /\ f_847^0-f_847^post217 == 0 /\ -rcd_1249^post217+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post217 == 0 /\ -a_576^post217+a_576^0 == 0 /\ i_106^0-i_106^post217 == 0 /\ -i_94^post217+i_94^0 == 0 /\ -temp_35^post217+temp_35^0 == 0 /\ a_239^0-a_239^post217 == 0 /\ a_577^0-a_577^post217 == 0 /\ x_975^0-x_975^post217 == 0 /\ -a_392^post217+a_392^0 == 0 /\ a_393^0-a_393^post217 == 0 /\ 1+x_14^0 <= 0 /\ -a_310^post217+a_310^0 == 0 /\ f_969^0-f_969^post217 == 0 /\ i_127^0-i_127^post217 == 0 /\ -x_253^post217+x_253^0 == 0 /\ a_633^0-a_633^post217 == 0 /\ a_575^0-a_575^post217 == 0 /\ -a_1236^post217+a_1236^0 == 0 /\ -r_970^post217+r_970^0 == 0 /\ -a_431^post217+a_431^0 == 0 /\ -a_121^post217+a_121^0 == 0 /\ -x_SLAM_f_19^post217+x_SLAM_f_19^0 == 0), cost: 1 218: l137 -> l138 : a_1089^0'=a_1089^post218, f_847^0'=f_847^post218, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post218, a_394^0'=a_394^post218, x_156^0'=x_156^post218, a_632^0'=a_632^post218, r_192^0'=r_192^post218, a_176^0'=a_176^post218, i_106^0'=i_106^post218, a_430^0'=a_430^post218, t_458^0'=t_458^post218, len_161^0'=len_161^post218, x_975^0'=x_975^post218, a_902^0'=a_902^post218, a_947^0'=a_947^post218, rcd_88^0'=rcd_88^post218, a_311^0'=a_311^post218, i_140^0'=i_140^post218, a_577^0'=a_577^post218, x_14^0'=x_14^post218, nondet_12^0'=nondet_12^post218, a_121^0'=a_121^post218, head_15^0'=head_15^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218, i_27^0'=i_27^post218, x_21^0'=x_21^post218, a_634^0'=a_634^post218, r_39^0'=r_39^post218, a_263^0'=a_263^post218, i_113^0'=i_113^post218, a_432^0'=a_432^post218, temp0_31^0'=temp0_31^post218, len_262^0'=len_262^post218, y_20^0'=y_20^post218, f_248^0'=f_248^post218, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218, a_393^0'=a_393^post218, i_229^0'=i_229^post218, a_610^0'=a_610^post218, r_151^0'=r_151^post218, a_144^0'=a_144^post218, i_1053^0'=i_1053^post218, a_417^0'=a_417^post218, t_24^0'=t_24^post218, i_94^0'=i_94^post218, x_852^0'=x_852^post218, a_862^0'=a_862^post218, rcd_1249^0'=rcd_1249^post218, rcd_58^0'=rcd_58^post218, a_310^0'=a_310^post218, i_127^0'=i_127^post218, a_576^0'=a_576^post218, tmp_34^0'=tmp_34^post218, length_29^0'=length_29^post218, a_1162^0'=a_1162^post218, f_969^0'=f_969^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218, a_395^0'=a_395^post218, x_17^0'=x_17^post218, a_633^0'=a_633^post218, r_224^0'=r_224^post218, a_239^0'=a_239^post218, i_107^0'=i_107^post218, a_431^0'=a_431^post218, temp0_16^0'=temp0_16^post218, len_238^0'=len_238^post218, x_SLAM_f_19^0'=x_SLAM_f_19^post218, a_924^0'=a_924^post218, ct_18^0'=ct_18^post218, result_11^0'=result_11^post218, a_392^0'=a_392^post218, i_197^0'=i_197^post218, a_579^0'=a_579^post218, r_143^0'=r_143^post218, a_1236^0'=a_1236^post218, head_32^0'=head_32^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218, i_30^0'=i_30^post218, x_253^0'=x_253^post218, a_635^0'=a_635^post218, r_970^0'=r_970^post218, rcd_47^0'=rcd_47^post218, a_309^0'=a_309^post218, i_1248^0'=i_1248^post218, a_575^0'=a_575^post218, temp_35^0'=temp_35^post218, len_861^0'=len_861^post218, (i_106^0-i_106^post218 == 0 /\ head_15^0-head_15^post218 == 0 /\ a_632^0-a_632^post218 == 0 /\ tmp_34^0-tmp_34^post218 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218 == 0 /\ a_392^0-a_392^post218 == 0 /\ -a_1162^post218+a_1162^0 == 0 /\ a_902^0-a_902^post218 == 0 /\ -a_634^post218+a_634^0 == 0 /\ -len_238^post218+len_238^0 == 0 /\ t_458^0-t_458^post218 == 0 /\ i_94^0-i_94^post218 == 0 /\ -a_924^post218+a_924^0 == 0 /\ a_610^0-a_610^post218 == 0 /\ i_27^0-i_27^post218 == 0 /\ -result_11^post218+result_11^0 == 0 /\ a_633^0-a_633^post218 == 0 /\ temp0_31^0-temp0_31^post218 == 0 /\ -i_113^post218+i_113^0 == 0 /\ x_14^0-x_14^post218 == 0 /\ -a_1236^post218+a_1236^0 == 0 /\ -r_143^post218+r_143^0 == 0 /\ -temp_35^post218+temp_35^0 == 0 /\ a_417^0-a_417^post218 == 0 /\ -a_121^post218+a_121^0 == 0 /\ -nondet_12^post218+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post218 == 0 /\ -f_969^post218+f_969^0 == 0 /\ -x_253^post218+x_253^0 == 0 /\ -a_431^post218+a_431^0 == 0 /\ -a_432^post218+a_432^0 == 0 /\ -r_970^post218+r_970^0 == 0 /\ a_1089^0-a_1089^post218 == 0 /\ len_262^0-len_262^post218 == 0 /\ a_263^0-a_263^post218 == 0 /\ -x_SLAM_f_19^post218+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post218 == 0 /\ a_176^0-a_176^post218 == 0 /\ -y_20^post218+y_20^0 == 0 /\ i_1053^0-i_1053^post218 == 0 /\ a_311^0-a_311^post218 == 0 /\ -rcd_47^post218+rcd_47^0 == 0 /\ length_29^0-length_29^post218 == 0 /\ -a_310^post218+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218 == 0 /\ f_248^0-f_248^post218 == 0 /\ -len_861^post218+len_861^0 == 0 /\ x_975^0-x_975^post218 == 0 /\ -head_32^post218+head_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_151^0-r_151^post218 == 0 /\ a_393^0-a_393^post218 == 0 /\ a_577^0-a_577^post218 == 0 /\ -i_229^post218+i_229^0 == 0 /\ -a_395^post218+a_395^0 == 0 /\ -i_1248^post218+i_1248^0 == 0 /\ -a_430^post218+a_430^0 == 0 /\ -a_239^post218+a_239^0 == 0 /\ -a_579^post218+a_579^0 == 0 /\ r_192^0-r_192^post218 == 0 /\ -i_127^post218+i_127^0 == 0 /\ -temp0_16^post218+temp0_16^0 == 0 /\ -a_862^post218+a_862^0 == 0 /\ -r_39^post218+r_39^0 == 0 /\ -r_224^post218+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post218+a_575^0 == 0 /\ -i_197^post218+i_197^0 == 0 /\ x_852^0-x_852^post218 == 0 /\ -a_635^post218+a_635^0 == 0 /\ a_947^0-a_947^post218 == 0 /\ len_161^0-len_161^post218 == 0 /\ -x_17^post218+x_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218 == 0 /\ -x_21^post218+x_21^0 == 0 /\ x_156^0-x_156^post218 == 0 /\ f_847^0-f_847^post218 == 0 /\ -a_309^post218+a_309^0 == 0 /\ a_576^0-a_576^post218 == 0 /\ a_394^0-a_394^post218 == 0 /\ -ct_18^post218+ct_18^0 == 0 /\ -a_144^post218+a_144^0 == 0 /\ -i_107^post218+i_107^0 == 0 /\ -i_30^post218+i_30^0 == 0 /\ i_140^0-i_140^post218 == 0 /\ rcd_58^0-rcd_58^post218 == 0 /\ rcd_1249^0-rcd_1249^post218 == 0 /\ -t_24^post218+t_24^0 == 0), cost: 1 219: l137 -> l138 : a_1089^0'=a_1089^post219, f_847^0'=f_847^post219, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post219, a_394^0'=a_394^post219, x_156^0'=x_156^post219, a_632^0'=a_632^post219, r_192^0'=r_192^post219, a_176^0'=a_176^post219, i_106^0'=i_106^post219, a_430^0'=a_430^post219, t_458^0'=t_458^post219, len_161^0'=len_161^post219, x_975^0'=x_975^post219, a_902^0'=a_902^post219, a_947^0'=a_947^post219, rcd_88^0'=rcd_88^post219, a_311^0'=a_311^post219, i_140^0'=i_140^post219, a_577^0'=a_577^post219, x_14^0'=x_14^post219, nondet_12^0'=nondet_12^post219, a_121^0'=a_121^post219, head_15^0'=head_15^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219, i_27^0'=i_27^post219, x_21^0'=x_21^post219, a_634^0'=a_634^post219, r_39^0'=r_39^post219, a_263^0'=a_263^post219, i_113^0'=i_113^post219, a_432^0'=a_432^post219, temp0_31^0'=temp0_31^post219, len_262^0'=len_262^post219, y_20^0'=y_20^post219, f_248^0'=f_248^post219, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219, a_393^0'=a_393^post219, i_229^0'=i_229^post219, a_610^0'=a_610^post219, r_151^0'=r_151^post219, a_144^0'=a_144^post219, i_1053^0'=i_1053^post219, a_417^0'=a_417^post219, t_24^0'=t_24^post219, i_94^0'=i_94^post219, x_852^0'=x_852^post219, a_862^0'=a_862^post219, rcd_1249^0'=rcd_1249^post219, rcd_58^0'=rcd_58^post219, a_310^0'=a_310^post219, i_127^0'=i_127^post219, a_576^0'=a_576^post219, tmp_34^0'=tmp_34^post219, length_29^0'=length_29^post219, a_1162^0'=a_1162^post219, f_969^0'=f_969^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219, a_395^0'=a_395^post219, x_17^0'=x_17^post219, a_633^0'=a_633^post219, r_224^0'=r_224^post219, a_239^0'=a_239^post219, i_107^0'=i_107^post219, a_431^0'=a_431^post219, temp0_16^0'=temp0_16^post219, len_238^0'=len_238^post219, x_SLAM_f_19^0'=x_SLAM_f_19^post219, a_924^0'=a_924^post219, ct_18^0'=ct_18^post219, result_11^0'=result_11^post219, a_392^0'=a_392^post219, i_197^0'=i_197^post219, a_579^0'=a_579^post219, r_143^0'=r_143^post219, a_1236^0'=a_1236^post219, head_32^0'=head_32^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219, i_30^0'=i_30^post219, x_253^0'=x_253^post219, a_635^0'=a_635^post219, r_970^0'=r_970^post219, rcd_47^0'=rcd_47^post219, a_309^0'=a_309^post219, i_1248^0'=i_1248^post219, a_575^0'=a_575^post219, temp_35^0'=temp_35^post219, len_861^0'=len_861^post219, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post219 == 0 /\ -len_262^post219+len_262^0 == 0 /\ i_140^0-i_140^post219 == 0 /\ a_634^0-a_634^post219 == 0 /\ a_579^0-a_579^post219 == 0 /\ -i_1248^post219+i_1248^0 == 0 /\ i_27^0-i_27^post219 == 0 /\ -a_239^post219+a_239^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post219 == 0 /\ a_947^0-a_947^post219 == 0 /\ -ct_18^post219+ct_18^0 == 0 /\ -temp0_31^post219+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219 == 0 /\ i_1053^0-i_1053^post219 == 0 /\ -i_30^post219+i_30^0 == 0 /\ a_392^0-a_392^post219 == 0 /\ -r_39^post219+r_39^0 == 0 /\ a_176^0-a_176^post219 == 0 /\ -head_32^post219+head_32^0 == 0 /\ -x_17^post219+x_17^0 == 0 /\ -i_197^post219+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ length_29^0-length_29^post219 == 0 /\ y_20^0-y_20^post219 == 0 /\ -temp0_16^post219+temp0_16^0 == 0 /\ -len_861^post219+len_861^0 == 0 /\ r_151^0-r_151^post219 == 0 /\ a_632^0-a_632^post219 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post219+head_15^0 == 0 /\ -x_21^post219+x_21^0 == 0 /\ i_113^0-i_113^post219 == 0 /\ -a_309^post219+a_309^0 == 0 /\ -i_127^post219+i_127^0 == 0 /\ -a_1162^post219+a_1162^0 == 0 /\ -a_635^post219+a_635^0 == 0 /\ a_310^0-a_310^post219 == 0 /\ a_393^0-a_393^post219 == 0 /\ -a_144^post219+a_144^0 == 0 /\ a_432^0-a_432^post219 == 0 /\ r_143^0-r_143^post219 == 0 /\ r_192^0-r_192^post219 == 0 /\ -a_633^post219+a_633^0 == 0 /\ -a_575^post219+a_575^0 == 0 /\ result_11^0-result_11^post219 == 0 /\ a_417^0-a_417^post219 == 0 /\ -a_924^post219+a_924^0 == 0 /\ a_263^0-a_263^post219 == 0 /\ nondet_12^0-nondet_12^post219 == 0 /\ a_394^0-a_394^post219 == 0 /\ i_229^0-i_229^post219 == 0 /\ -tmp_34^post219+tmp_34^0 == 0 /\ t_24^0-t_24^post219 == 0 /\ a_862^0-a_862^post219 == 0 /\ -a_610^post219+a_610^0 == 0 /\ x_852^0-x_852^post219 == 0 /\ len_161^0-len_161^post219 == 0 /\ -rcd_1249^post219+rcd_1249^0 == 0 /\ rcd_88^0-rcd_88^post219 == 0 /\ f_847^0-f_847^post219 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219 == 0 /\ rcd_58^0-rcd_58^post219 == 0 /\ a_121^0-a_121^post219 == 0 /\ -x_975^post219+x_975^0 == 0 /\ -len_238^post219+len_238^0 == 0 /\ -a_576^post219+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219 == 0 /\ a_311^0-a_311^post219 == 0 /\ a_902^0-a_902^post219 == 0 /\ -f_969^post219+f_969^0 == 0 /\ i_106^0-i_106^post219 == 0 /\ a_430^0-a_430^post219 == 0 /\ a_395^0-a_395^post219 == 0 /\ r_224^0-r_224^post219 == 0 /\ -temp_35^post219+temp_35^0 == 0 /\ t_458^0-t_458^post219 == 0 /\ -x_253^post219+x_253^0 == 0 /\ i_107^0-i_107^post219 == 0 /\ rcd_47^0-rcd_47^post219 == 0 /\ a_577^0-a_577^post219 == 0 /\ x_156^0-x_156^post219 == 0 /\ -r_970^post219+r_970^0 == 0 /\ a_1089^0-a_1089^post219 == 0 /\ -a_431^post219+a_431^0 == 0 /\ -f_248^post219+f_248^0 == 0 /\ x_14^0-x_14^post219 == 0 /\ -i_94^post219+i_94^0 == 0 /\ -a_1236^post219+a_1236^0 == 0), cost: 1 220: l138 -> l131 : a_1089^0'=a_1089^post220, f_847^0'=f_847^post220, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post220, a_394^0'=a_394^post220, x_156^0'=x_156^post220, a_632^0'=a_632^post220, r_192^0'=r_192^post220, a_176^0'=a_176^post220, i_106^0'=i_106^post220, a_430^0'=a_430^post220, t_458^0'=t_458^post220, len_161^0'=len_161^post220, x_975^0'=x_975^post220, a_902^0'=a_902^post220, a_947^0'=a_947^post220, rcd_88^0'=rcd_88^post220, a_311^0'=a_311^post220, i_140^0'=i_140^post220, a_577^0'=a_577^post220, x_14^0'=x_14^post220, nondet_12^0'=nondet_12^post220, a_121^0'=a_121^post220, head_15^0'=head_15^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220, i_27^0'=i_27^post220, x_21^0'=x_21^post220, a_634^0'=a_634^post220, r_39^0'=r_39^post220, a_263^0'=a_263^post220, i_113^0'=i_113^post220, a_432^0'=a_432^post220, temp0_31^0'=temp0_31^post220, len_262^0'=len_262^post220, y_20^0'=y_20^post220, f_248^0'=f_248^post220, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220, a_393^0'=a_393^post220, i_229^0'=i_229^post220, a_610^0'=a_610^post220, r_151^0'=r_151^post220, a_144^0'=a_144^post220, i_1053^0'=i_1053^post220, a_417^0'=a_417^post220, t_24^0'=t_24^post220, i_94^0'=i_94^post220, x_852^0'=x_852^post220, a_862^0'=a_862^post220, rcd_1249^0'=rcd_1249^post220, rcd_58^0'=rcd_58^post220, a_310^0'=a_310^post220, i_127^0'=i_127^post220, a_576^0'=a_576^post220, tmp_34^0'=tmp_34^post220, length_29^0'=length_29^post220, a_1162^0'=a_1162^post220, f_969^0'=f_969^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220, a_395^0'=a_395^post220, x_17^0'=x_17^post220, a_633^0'=a_633^post220, r_224^0'=r_224^post220, a_239^0'=a_239^post220, i_107^0'=i_107^post220, a_431^0'=a_431^post220, temp0_16^0'=temp0_16^post220, len_238^0'=len_238^post220, x_SLAM_f_19^0'=x_SLAM_f_19^post220, a_924^0'=a_924^post220, ct_18^0'=ct_18^post220, result_11^0'=result_11^post220, a_392^0'=a_392^post220, i_197^0'=i_197^post220, a_579^0'=a_579^post220, r_143^0'=r_143^post220, a_1236^0'=a_1236^post220, head_32^0'=head_32^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220, i_30^0'=i_30^post220, x_253^0'=x_253^post220, a_635^0'=a_635^post220, r_970^0'=r_970^post220, rcd_47^0'=rcd_47^post220, a_309^0'=a_309^post220, i_1248^0'=i_1248^post220, a_575^0'=a_575^post220, temp_35^0'=temp_35^post220, len_861^0'=len_861^post220, (0 == 0 /\ a_577^0-a_577^post220 == 0 /\ -len_238^post220+len_238^0 == 0 /\ a_902^0-a_902^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220 == 0 /\ i_106^0-i_106^post220 == 0 /\ -result_11^post220+result_11^0 == 0 /\ -a_633^post220+a_633^0 == 0 /\ a_392^0-a_392^post220 == 0 /\ -rcd_47^post220+rcd_47^0 == 0 /\ a_1089^0-a_1089^post220 == 0 /\ -a_924^post220+a_924^0 == 0 /\ -head_15^post220+head_15^0 == 0 /\ -rcd_1249^post220+rcd_1249^0 == 0 /\ -a_610^post220+a_610^0 == 0 /\ len_161^0-len_161^post220 == 0 /\ i_30^post220-i_107^0 <= 0 /\ t_458^0-t_458^post220 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -r_143^post220+r_143^0 == 0 /\ x_21^0-x_21^post220 == 0 /\ a_862^0-a_862^post220 == 0 /\ a_579^0-a_579^post220 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_262^0-len_262^post220 == 0 /\ -r_970^post220+r_970^0 == 0 /\ -x_253^post220+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220 == 0 /\ temp0_31^0-temp0_31^post220 == 0 /\ f_847^0-f_847^post220 == 0 /\ -a_311^post220+a_311^0 == 0 /\ -f_969^post220+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220 == 0 /\ -a_576^post220+a_576^0 == 0 /\ a_394^0-a_394^post220 == 0 /\ i_94^0-i_94^post220 == 0 /\ -rcd_88^post220+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_1053^0-i_1053^post220 == 0 /\ -i_30^post220+i_107^0 <= 0 /\ -temp_35^post220+temp_35^0 == 0 /\ a_176^0-a_176^post220 == 0 /\ y_20^0-y_20^post220 == 0 /\ -a_634^post220+a_634^0 == 0 /\ -x_SLAM_f_19^post220+x_SLAM_f_19^0 == 0 /\ 1-i_106^0 <= 0 /\ a_121^0-a_121^post220 == 0 /\ r_192^0-r_192^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -a_310^post220+a_310^0 == 0 /\ i_113^0-i_113^post220 == 0 /\ -len_861^post220+len_861^0 == 0 /\ r_39^0-r_39^post220 == 0 /\ -temp0_16^post220+temp0_16^0 == 0 /\ -a_1236^post220+a_1236^0 == 0 /\ -a_417^post220+a_417^0 == 0 /\ -f_248^post220+f_248^0 == 0 /\ -r_224^post220+r_224^0 == 0 /\ x_14^0-x_14^post220 == 0 /\ -x_17^post220+x_17^0 == 0 /\ t_24^0-t_24^post220 == 0 /\ a_393^0-a_393^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post220 == 0 /\ -length_29^post220+length_29^0 == 0 /\ a_432^0-a_432^post220 == 0 /\ -a_239^post220+a_239^0 == 0 /\ -i_27^post220+i_27^0 == 0 /\ -a_430^post220+a_430^0 == 0 /\ -a_635^post220+a_635^0 == 0 /\ -i_107^post220+i_107^0 == 0 /\ -ct_18^post220+ct_18^0 == 0 /\ -r_151^post220+r_151^0 == 0 /\ -a_575^post220+a_575^0 == 0 /\ -i_197^post220+i_197^0 == 0 /\ i_1248^0-i_1248^post220 == 0 /\ -i_127^post220+i_127^0 == 0 /\ i_140^0-i_140^post220 == 0 /\ -head_32^post220+head_32^0 == 0 /\ i_229^0-i_229^post220 == 0 /\ a_263^0-a_263^post220 == 0 /\ x_156^0-x_156^post220 == 0 /\ nondet_12^0-nondet_12^post220 == 0 /\ a_431^0-a_431^post220 == 0 /\ -x_852^post220+x_852^0 == 0 /\ -a_1162^post220+a_1162^0 == 0 /\ rcd_58^0-rcd_58^post220 == 0 /\ tmp_34^0-tmp_34^post220 == 0 /\ a_395^0-a_395^post220 == 0 /\ -a_144^post220+a_144^0 == 0 /\ a_947^0-a_947^post220 == 0 /\ x_975^0-x_975^post220 == 0 /\ -a_309^post220+a_309^0 == 0), cost: 1 221: l131 -> l119 : a_1089^0'=a_1089^post221, f_847^0'=f_847^post221, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post221, a_394^0'=a_394^post221, x_156^0'=x_156^post221, a_632^0'=a_632^post221, r_192^0'=r_192^post221, a_176^0'=a_176^post221, i_106^0'=i_106^post221, a_430^0'=a_430^post221, t_458^0'=t_458^post221, len_161^0'=len_161^post221, x_975^0'=x_975^post221, a_902^0'=a_902^post221, a_947^0'=a_947^post221, rcd_88^0'=rcd_88^post221, a_311^0'=a_311^post221, i_140^0'=i_140^post221, a_577^0'=a_577^post221, x_14^0'=x_14^post221, nondet_12^0'=nondet_12^post221, a_121^0'=a_121^post221, head_15^0'=head_15^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221, i_27^0'=i_27^post221, x_21^0'=x_21^post221, a_634^0'=a_634^post221, r_39^0'=r_39^post221, a_263^0'=a_263^post221, i_113^0'=i_113^post221, a_432^0'=a_432^post221, temp0_31^0'=temp0_31^post221, len_262^0'=len_262^post221, y_20^0'=y_20^post221, f_248^0'=f_248^post221, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221, a_393^0'=a_393^post221, i_229^0'=i_229^post221, a_610^0'=a_610^post221, r_151^0'=r_151^post221, a_144^0'=a_144^post221, i_1053^0'=i_1053^post221, a_417^0'=a_417^post221, t_24^0'=t_24^post221, i_94^0'=i_94^post221, x_852^0'=x_852^post221, a_862^0'=a_862^post221, rcd_1249^0'=rcd_1249^post221, rcd_58^0'=rcd_58^post221, a_310^0'=a_310^post221, i_127^0'=i_127^post221, a_576^0'=a_576^post221, tmp_34^0'=tmp_34^post221, length_29^0'=length_29^post221, a_1162^0'=a_1162^post221, f_969^0'=f_969^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221, a_395^0'=a_395^post221, x_17^0'=x_17^post221, a_633^0'=a_633^post221, r_224^0'=r_224^post221, a_239^0'=a_239^post221, i_107^0'=i_107^post221, a_431^0'=a_431^post221, temp0_16^0'=temp0_16^post221, len_238^0'=len_238^post221, x_SLAM_f_19^0'=x_SLAM_f_19^post221, a_924^0'=a_924^post221, ct_18^0'=ct_18^post221, result_11^0'=result_11^post221, a_392^0'=a_392^post221, i_197^0'=i_197^post221, a_579^0'=a_579^post221, r_143^0'=r_143^post221, a_1236^0'=a_1236^post221, head_32^0'=head_32^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221, i_30^0'=i_30^post221, x_253^0'=x_253^post221, a_635^0'=a_635^post221, r_970^0'=r_970^post221, rcd_47^0'=rcd_47^post221, a_309^0'=a_309^post221, i_1248^0'=i_1248^post221, a_575^0'=a_575^post221, temp_35^0'=temp_35^post221, len_861^0'=len_861^post221, (-temp0_31^post221+temp0_31^0 == 0 /\ a_417^0-a_417^post221 == 0 /\ i_140^0-i_140^post221 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post221 == 0 /\ -a_144^post221+a_144^0 == 0 /\ -a_392^post221+a_392^0 == 0 /\ i_197^0-i_197^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1162^0-a_1162^post221 == 0 /\ -i_107^post221+i_107^0 == 0 /\ -len_861^post221+len_861^0 == 0 /\ y_20^0-y_20^post221 == 0 /\ -i_27^post221+i_27^0 == 0 /\ -head_32^post221+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221 == 0 /\ a_924^0-a_924^post221 == 0 /\ a_394^0-a_394^post221 == 0 /\ -a_635^post221+a_635^0 == 0 /\ -len_262^post221+len_262^0 == 0 /\ -i_1248^post221+i_1248^0 == 0 /\ -x_17^post221+x_17^0 == 0 /\ x_975^0-x_975^post221 == 0 /\ -i_30^post221+i_30^0 == 0 /\ r_39^0-r_39^post221 == 0 /\ -a_579^post221+a_579^0 == 0 /\ -rcd_58^post221+rcd_58^0 == 0 /\ t_458^0-t_458^post221 == 0 /\ -x_852^post221+x_852^0 == 0 /\ i_106^0-i_106^post221 == 0 /\ -i_127^post221+i_127^0 == 0 /\ -head_15^post221+head_15^0 == 0 /\ i_94^0-i_94^post221 == 0 /\ -a_633^post221+a_633^0 == 0 /\ a_310^0-a_310^post221 == 0 /\ a_393^0-a_393^post221 == 0 /\ -a_575^post221+a_575^0 == 0 /\ -ct_18^post221+ct_18^0 == 0 /\ -a_309^post221+a_309^0 == 0 /\ x_21^0-x_21^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_610^post221+a_610^0 == 0 /\ a_121^0-a_121^post221 == 0 /\ x_156^0-x_156^post221 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post221 == 0 /\ -tmp_34^post221+tmp_34^0 == 0 /\ a_263^0-a_263^post221 == 0 /\ i_229^0-i_229^post221 == 0 /\ f_847^0-f_847^post221 == 0 /\ -a_634^post221+a_634^0 == 0 /\ t_24^0-t_24^post221 == 0 /\ a_862^0-a_862^post221 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post221+rcd_1249^0 == 0 /\ f_248^0-f_248^post221 == 0 /\ r_224^0-r_224^post221 == 0 /\ a_947^0-a_947^post221 == 0 /\ -f_969^post221+f_969^0 == 0 /\ -x_253^post221+x_253^0 == 0 /\ -len_238^post221+len_238^0 == 0 /\ -result_11^post221+result_11^0 == 0 /\ r_970^0-r_970^post221 == 0 /\ a_176^0-a_176^post221 == 0 /\ r_151^0-r_151^post221 == 0 /\ length_29^0-length_29^post221 == 0 /\ -a_239^post221+a_239^0 == 0 /\ rcd_47^0-rcd_47^post221 == 0 /\ a_577^0-a_577^post221 == 0 /\ a_902^0-a_902^post221 == 0 /\ -nondet_12^post221+nondet_12^0 == 0 /\ -i_1053^post221+i_1053^0 == 0 /\ -a_576^post221+a_576^0 == 0 /\ rcd_88^0-rcd_88^post221 == 0 /\ i_113^0-i_113^post221 == 0 /\ a_311^0-a_311^post221 == 0 /\ -a_1236^post221+a_1236^0 == 0 /\ -r_143^post221+r_143^0 == 0 /\ -a_395^post221+a_395^0 == 0 /\ temp0_16^0-temp0_16^post221 == 0 /\ -temp_35^post221+temp_35^0 == 0 /\ a_1089^0-a_1089^post221 == 0 /\ x_14^0-x_14^post221 == 0 /\ a_432^0-a_432^post221 == 0 /\ -a_431^post221+a_431^0 == 0 /\ a_632^0-a_632^post221 == 0 /\ a_430^0-a_430^post221 == 0 /\ r_192^0-r_192^post221 == 0 /\ -len_161^post221+len_161^0 == 0), cost: 1 223: l139 -> l140 : a_1089^0'=a_1089^post223, f_847^0'=f_847^post223, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post223, a_394^0'=a_394^post223, x_156^0'=x_156^post223, a_632^0'=a_632^post223, r_192^0'=r_192^post223, a_176^0'=a_176^post223, i_106^0'=i_106^post223, a_430^0'=a_430^post223, t_458^0'=t_458^post223, len_161^0'=len_161^post223, x_975^0'=x_975^post223, a_902^0'=a_902^post223, a_947^0'=a_947^post223, rcd_88^0'=rcd_88^post223, a_311^0'=a_311^post223, i_140^0'=i_140^post223, a_577^0'=a_577^post223, x_14^0'=x_14^post223, nondet_12^0'=nondet_12^post223, a_121^0'=a_121^post223, head_15^0'=head_15^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223, i_27^0'=i_27^post223, x_21^0'=x_21^post223, a_634^0'=a_634^post223, r_39^0'=r_39^post223, a_263^0'=a_263^post223, i_113^0'=i_113^post223, a_432^0'=a_432^post223, temp0_31^0'=temp0_31^post223, len_262^0'=len_262^post223, y_20^0'=y_20^post223, f_248^0'=f_248^post223, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223, a_393^0'=a_393^post223, i_229^0'=i_229^post223, a_610^0'=a_610^post223, r_151^0'=r_151^post223, a_144^0'=a_144^post223, i_1053^0'=i_1053^post223, a_417^0'=a_417^post223, t_24^0'=t_24^post223, i_94^0'=i_94^post223, x_852^0'=x_852^post223, a_862^0'=a_862^post223, rcd_1249^0'=rcd_1249^post223, rcd_58^0'=rcd_58^post223, a_310^0'=a_310^post223, i_127^0'=i_127^post223, a_576^0'=a_576^post223, tmp_34^0'=tmp_34^post223, length_29^0'=length_29^post223, a_1162^0'=a_1162^post223, f_969^0'=f_969^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223, a_395^0'=a_395^post223, x_17^0'=x_17^post223, a_633^0'=a_633^post223, r_224^0'=r_224^post223, a_239^0'=a_239^post223, i_107^0'=i_107^post223, a_431^0'=a_431^post223, temp0_16^0'=temp0_16^post223, len_238^0'=len_238^post223, x_SLAM_f_19^0'=x_SLAM_f_19^post223, a_924^0'=a_924^post223, ct_18^0'=ct_18^post223, result_11^0'=result_11^post223, a_392^0'=a_392^post223, i_197^0'=i_197^post223, a_579^0'=a_579^post223, r_143^0'=r_143^post223, a_1236^0'=a_1236^post223, head_32^0'=head_32^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223, i_30^0'=i_30^post223, x_253^0'=x_253^post223, a_635^0'=a_635^post223, r_970^0'=r_970^post223, rcd_47^0'=rcd_47^post223, a_309^0'=a_309^post223, i_1248^0'=i_1248^post223, a_575^0'=a_575^post223, temp_35^0'=temp_35^post223, len_861^0'=len_861^post223, (-a_432^post223+a_432^0 == 0 /\ f_847^0-f_847^post223 == 0 /\ -a_862^post223+a_862^0 == 0 /\ -i_94^post223+i_94^0 == 0 /\ a_263^0-a_263^post223 == 0 /\ -i_113^post223+i_113^0 == 0 /\ -a_393^post223+a_393^0 == 0 /\ -a_392^post223+a_392^0 == 0 /\ -a_309^post223+a_309^0 == 0 /\ i_197^0-i_197^post223 == 0 /\ -a_635^post223+a_635^0 == 0 /\ -a_144^post223+a_144^0 == 0 /\ x_21^0-x_21^post223 == 0 /\ 1-x_14^0 <= 0 /\ head_15^0-head_15^post223 == 0 /\ -len_861^post223+len_861^0 == 0 /\ -i_1053^post223+i_1053^0 == 0 /\ a_924^0-a_924^post223 == 0 /\ nondet_12^0-nondet_12^post223 == 0 /\ ct_18^0-ct_18^post223 == 0 /\ -a_417^post223+a_417^0 == 0 /\ a_394^0-a_394^post223 == 0 /\ x_17^0-x_17^post223 == 0 /\ -i_30^post223+i_30^0 == 0 /\ a_121^0-a_121^post223 == 0 /\ -a_1236^post223+a_1236^0 == 0 /\ -rcd_47^post223+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_127^0-i_127^post223 == 0 /\ -a_579^post223+a_579^0 == 0 /\ -rcd_58^post223+rcd_58^0 == 0 /\ -length_29^post223+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post223 == 0 /\ a_1089^0-a_1089^post223 == 0 /\ i_106^0-i_106^post223 == 0 /\ -i_107^post223+i_107^0 == 0 /\ x_14^0-x_14^post223 == 0 /\ -r_151^post223+r_151^0 == 0 /\ -a_575^post223+a_575^0 == 0 /\ i_27^0-i_27^post223 == 0 /\ a_430^0-a_430^post223 == 0 /\ a_576^0-a_576^post223 == 0 /\ -head_32^post223+head_32^0 == 0 /\ -a_633^post223+a_633^0 == 0 /\ r_39^0-r_39^post223 == 0 /\ t_458^0-t_458^post223 == 0 /\ -result_11^post223+result_11^0 == 0 /\ -rcd_1249^post223+rcd_1249^0 == 0 /\ i_140^0-i_140^post223 == 0 /\ x_156^0-x_156^post223 == 0 /\ -temp_35^post223+temp_35^0 == 0 /\ a_431^0-a_431^post223 == 0 /\ -y_20^post223+y_20^0 == 0 /\ -tmp_34^post223+tmp_34^0 == 0 /\ -a_1162^post223+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post223 == 0 /\ -x_253^post223+x_253^0 == 0 /\ -len_238^post223+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_24^post223+t_24^0 == 0 /\ -r_970^post223+r_970^0 == 0 /\ a_634^0-a_634^post223 == 0 /\ r_224^0-r_224^post223 == 0 /\ x_975^0-x_975^post223 == 0 /\ len_262^0-len_262^post223 == 0 /\ a_947^0-a_947^post223 == 0 /\ a_577^0-a_577^post223 == 0 /\ -x_852^post223+x_852^0 == 0 /\ f_248^0-f_248^post223 == 0 /\ a_902^0-a_902^post223 == 0 /\ -i_229^post223+i_229^0 == 0 /\ rcd_88^0-rcd_88^post223 == 0 /\ a_176^0-a_176^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post223+i_1248^0 == 0 /\ r_192^0-r_192^post223 == 0 /\ f_969^0-f_969^post223 == 0 /\ -a_239^post223+a_239^0 == 0 /\ -x_SLAM_f_19^post223+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post223 == 0 /\ temp0_16^0-temp0_16^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post223 == 0 /\ -a_395^post223+a_395^0 == 0 /\ a_311^0-a_311^post223 == 0 /\ -r_143^post223+r_143^0 == 0 /\ len_161^0-len_161^post223 == 0 /\ a_310^0-a_310^post223 == 0), cost: 1 224: l139 -> l140 : a_1089^0'=a_1089^post224, f_847^0'=f_847^post224, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post224, a_394^0'=a_394^post224, x_156^0'=x_156^post224, a_632^0'=a_632^post224, r_192^0'=r_192^post224, a_176^0'=a_176^post224, i_106^0'=i_106^post224, a_430^0'=a_430^post224, t_458^0'=t_458^post224, len_161^0'=len_161^post224, x_975^0'=x_975^post224, a_902^0'=a_902^post224, a_947^0'=a_947^post224, rcd_88^0'=rcd_88^post224, a_311^0'=a_311^post224, i_140^0'=i_140^post224, a_577^0'=a_577^post224, x_14^0'=x_14^post224, nondet_12^0'=nondet_12^post224, a_121^0'=a_121^post224, head_15^0'=head_15^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224, i_27^0'=i_27^post224, x_21^0'=x_21^post224, a_634^0'=a_634^post224, r_39^0'=r_39^post224, a_263^0'=a_263^post224, i_113^0'=i_113^post224, a_432^0'=a_432^post224, temp0_31^0'=temp0_31^post224, len_262^0'=len_262^post224, y_20^0'=y_20^post224, f_248^0'=f_248^post224, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224, a_393^0'=a_393^post224, i_229^0'=i_229^post224, a_610^0'=a_610^post224, r_151^0'=r_151^post224, a_144^0'=a_144^post224, i_1053^0'=i_1053^post224, a_417^0'=a_417^post224, t_24^0'=t_24^post224, i_94^0'=i_94^post224, x_852^0'=x_852^post224, a_862^0'=a_862^post224, rcd_1249^0'=rcd_1249^post224, rcd_58^0'=rcd_58^post224, a_310^0'=a_310^post224, i_127^0'=i_127^post224, a_576^0'=a_576^post224, tmp_34^0'=tmp_34^post224, length_29^0'=length_29^post224, a_1162^0'=a_1162^post224, f_969^0'=f_969^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224, a_395^0'=a_395^post224, x_17^0'=x_17^post224, a_633^0'=a_633^post224, r_224^0'=r_224^post224, a_239^0'=a_239^post224, i_107^0'=i_107^post224, a_431^0'=a_431^post224, temp0_16^0'=temp0_16^post224, len_238^0'=len_238^post224, x_SLAM_f_19^0'=x_SLAM_f_19^post224, a_924^0'=a_924^post224, ct_18^0'=ct_18^post224, result_11^0'=result_11^post224, a_392^0'=a_392^post224, i_197^0'=i_197^post224, a_579^0'=a_579^post224, r_143^0'=r_143^post224, a_1236^0'=a_1236^post224, head_32^0'=head_32^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224, i_30^0'=i_30^post224, x_253^0'=x_253^post224, a_635^0'=a_635^post224, r_970^0'=r_970^post224, rcd_47^0'=rcd_47^post224, a_309^0'=a_309^post224, i_1248^0'=i_1248^post224, a_575^0'=a_575^post224, temp_35^0'=temp_35^post224, len_861^0'=len_861^post224, (ct_18^0-ct_18^post224 == 0 /\ -i_197^post224+i_197^0 == 0 /\ -a_579^post224+a_579^0 == 0 /\ r_192^0-r_192^post224 == 0 /\ i_113^0-i_113^post224 == 0 /\ -x_253^post224+x_253^0 == 0 /\ a_176^0-a_176^post224 == 0 /\ -a_431^post224+a_431^0 == 0 /\ -result_11^post224+result_11^0 == 0 /\ rcd_58^0-rcd_58^post224 == 0 /\ -a_263^post224+a_263^0 == 0 /\ -r_970^post224+r_970^0 == 0 /\ f_969^0-f_969^post224 == 0 /\ rcd_1249^0-rcd_1249^post224 == 0 /\ a_430^0-a_430^post224 == 0 /\ i_27^0-i_27^post224 == 0 /\ -t_24^post224+t_24^0 == 0 /\ -x_852^post224+x_852^0 == 0 /\ -a_1162^post224+a_1162^0 == 0 /\ x_14^0-x_14^post224 == 0 /\ r_39^0-r_39^post224 == 0 /\ -rcd_47^post224+rcd_47^0 == 0 /\ len_161^0-len_161^post224 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post224 == 0 /\ i_229^0-i_229^post224 == 0 /\ a_432^0-a_432^post224 == 0 /\ -a_395^post224+a_395^0 == 0 /\ -a_239^post224+a_239^0 == 0 /\ -temp0_16^post224+temp0_16^0 == 0 /\ -len_861^post224+len_861^0 == 0 /\ a_576^0-a_576^post224 == 0 /\ tmp_34^0-tmp_34^post224 == 0 /\ -y_20^post224+y_20^0 == 0 /\ nondet_12^0-nondet_12^post224 == 0 /\ -x_SLAM_f_19^post224+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post224 == 0 /\ i_140^0-i_140^post224 == 0 /\ a_634^0-a_634^post224 == 0 /\ -r_224^post224+r_224^0 == 0 /\ -temp_35^post224+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post224 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_1053^post224+i_1053^0 == 0 /\ -a_924^post224+a_924^0 == 0 /\ x_156^0-x_156^post224 == 0 /\ a_144^0-a_144^post224 == 0 /\ a_947^0-a_947^post224 == 0 /\ -a_417^post224+a_417^0 == 0 /\ -r_143^post224+r_143^0 == 0 /\ -a_575^post224+a_575^0 == 0 /\ a_577^0-a_577^post224 == 0 /\ a_311^0-a_311^post224 == 0 /\ -a_309^post224+a_309^0 == 0 /\ -a_1236^post224+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post224 == 0 /\ -i_30^post224+i_30^0 == 0 /\ -a_393^post224+a_393^0 == 0 /\ a_610^0-a_610^post224 == 0 /\ a_632^0-a_632^post224 == 0 /\ -i_106^post224+i_106^0 == 0 /\ -length_29^post224+length_29^0 == 0 /\ a_1089^0-a_1089^post224 == 0 /\ -i_107^post224+i_107^0 == 0 /\ a_635^0-a_635^post224 == 0 /\ -i_1248^post224+i_1248^0 == 0 /\ a_633^0-a_633^post224 == 0 /\ -a_310^post224+a_310^0 == 0 /\ -head_32^post224+head_32^0 == 0 /\ x_21^0-x_21^post224 == 0 /\ f_847^0-f_847^post224 == 0 /\ -len_238^post224+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post224+t_458^0 == 0 /\ temp0_31^0-temp0_31^post224 == 0 /\ -r_151^post224+r_151^0 == 0 /\ 1+x_14^0 <= 0 /\ i_94^0-i_94^post224 == 0 /\ -a_902^post224+a_902^0 == 0 /\ x_17^0-x_17^post224 == 0 /\ x_975^0-x_975^post224 == 0 /\ a_121^0-a_121^post224 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224 == 0 /\ len_262^0-len_262^post224 == 0 /\ a_394^0-a_394^post224 == 0 /\ i_127^0-i_127^post224 == 0 /\ -a_862^post224+a_862^0 == 0 /\ -a_392^post224+a_392^0 == 0), cost: 1 225: l140 -> l141 : a_1089^0'=a_1089^post225, f_847^0'=f_847^post225, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post225, a_394^0'=a_394^post225, x_156^0'=x_156^post225, a_632^0'=a_632^post225, r_192^0'=r_192^post225, a_176^0'=a_176^post225, i_106^0'=i_106^post225, a_430^0'=a_430^post225, t_458^0'=t_458^post225, len_161^0'=len_161^post225, x_975^0'=x_975^post225, a_902^0'=a_902^post225, a_947^0'=a_947^post225, rcd_88^0'=rcd_88^post225, a_311^0'=a_311^post225, i_140^0'=i_140^post225, a_577^0'=a_577^post225, x_14^0'=x_14^post225, nondet_12^0'=nondet_12^post225, a_121^0'=a_121^post225, head_15^0'=head_15^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225, i_27^0'=i_27^post225, x_21^0'=x_21^post225, a_634^0'=a_634^post225, r_39^0'=r_39^post225, a_263^0'=a_263^post225, i_113^0'=i_113^post225, a_432^0'=a_432^post225, temp0_31^0'=temp0_31^post225, len_262^0'=len_262^post225, y_20^0'=y_20^post225, f_248^0'=f_248^post225, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225, a_393^0'=a_393^post225, i_229^0'=i_229^post225, a_610^0'=a_610^post225, r_151^0'=r_151^post225, a_144^0'=a_144^post225, i_1053^0'=i_1053^post225, a_417^0'=a_417^post225, t_24^0'=t_24^post225, i_94^0'=i_94^post225, x_852^0'=x_852^post225, a_862^0'=a_862^post225, rcd_1249^0'=rcd_1249^post225, rcd_58^0'=rcd_58^post225, a_310^0'=a_310^post225, i_127^0'=i_127^post225, a_576^0'=a_576^post225, tmp_34^0'=tmp_34^post225, length_29^0'=length_29^post225, a_1162^0'=a_1162^post225, f_969^0'=f_969^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225, a_395^0'=a_395^post225, x_17^0'=x_17^post225, a_633^0'=a_633^post225, r_224^0'=r_224^post225, a_239^0'=a_239^post225, i_107^0'=i_107^post225, a_431^0'=a_431^post225, temp0_16^0'=temp0_16^post225, len_238^0'=len_238^post225, x_SLAM_f_19^0'=x_SLAM_f_19^post225, a_924^0'=a_924^post225, ct_18^0'=ct_18^post225, result_11^0'=result_11^post225, a_392^0'=a_392^post225, i_197^0'=i_197^post225, a_579^0'=a_579^post225, r_143^0'=r_143^post225, a_1236^0'=a_1236^post225, head_32^0'=head_32^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225, i_30^0'=i_30^post225, x_253^0'=x_253^post225, a_635^0'=a_635^post225, r_970^0'=r_970^post225, rcd_47^0'=rcd_47^post225, a_309^0'=a_309^post225, i_1248^0'=i_1248^post225, a_575^0'=a_575^post225, temp_35^0'=temp_35^post225, len_861^0'=len_861^post225, (0 == 0 /\ -a_309^post225+a_309^0 == 0 /\ x_156^0-x_156^post225 == 0 /\ -x_SLAM_f_19^post225+x_SLAM_f_19^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -a_392^post225+a_392^0 == 0 /\ -a_417^post225+a_417^0 == 0 /\ f_847^0-f_847^post225 == 0 /\ a_632^0-a_632^post225 == 0 /\ -i_107^post225+i_107^0 == 0 /\ -rcd_47^post225+rcd_47^0 == 0 /\ -a_575^post225+a_575^0 == 0 /\ -i_30^post225+i_30^0 == 0 /\ tmp_34^0-tmp_34^post225 == 0 /\ -i_113^post225+i_113^0 == 0 /\ -a_1236^post225+a_1236^0 == 0 /\ -a_635^post225+a_635^0 == 0 /\ a_902^0-a_902^post225 == 0 /\ rcd_58^0-rcd_58^post225 == 0 /\ x_14^0-x_14^post225 == 0 /\ a_394^0-a_394^post225 == 0 /\ head_15^0-head_15^post225 == 0 /\ -i_94^post225+i_94^0 == 0 /\ -a_432^post225+a_432^0 == 0 /\ a_862^0-a_862^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post225 == 0 /\ -temp0_31^post225+temp0_31^0 == 0 /\ ct_18^0-ct_18^post225 == 0 /\ i_140^0-i_140^post225 == 0 /\ -a_310^post225+a_310^0 == 0 /\ r_192^0-r_192^post225 == 0 /\ -r_39^post225+r_39^0 == 0 /\ a_176^0-a_176^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post225 == 0 /\ x_852^0-x_852^post225 == 0 /\ length_29^0-length_29^post225 == 0 /\ -head_32^post225+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ a_263^0-a_263^post225 == 0 /\ -y_20^post225+y_20^0 == 0 /\ a_430^0-a_430^post225 == 0 /\ -i_197^post225+i_197^0 == 0 /\ -len_238^post225+len_238^0 == 0 /\ -len_262^post225+len_262^0 == 0 /\ rcd_88^0-rcd_88^post225 == 0 /\ a_393^0-a_393^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ -a_579^post225+a_579^0 == 0 /\ a_610^0-a_610^post225 == 0 /\ -result_11^post225+result_11^0 == 0 /\ -i_127^post225+i_127^0 == 0 /\ f_248^0-f_248^post225 == 0 /\ a_633^0-a_633^post225 == 0 /\ a_311^0-a_311^post225 == 0 /\ -a_924^post225+a_924^0 == 0 /\ temp0_16^0-temp0_16^post225 == 0 /\ -temp_35^post225+temp_35^0 == 0 /\ -t_24^post225+t_24^0 == 0 /\ r_151^0-r_151^post225 == 0 /\ a_144^0-a_144^post225 == 0 /\ -r_970^post225+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225-nondet_12^111 == 0 /\ a_634^0-a_634^post225 == 0 /\ a_1089^0-a_1089^post225 == 0 /\ a_176^0-a_121^post225 <= 0 /\ x_975^0-x_975^post225 == 0 /\ -a_431^post225+a_431^0 == 0 /\ -i_229^post225+i_229^0 == 0 /\ -a_1162^post225+a_1162^0 == 0 /\ -x_253^post225+x_253^0 == 0 /\ -a_395^post225+a_395^0 == 0 /\ a_947^0-a_947^post225 == 0 /\ -i_1053^post225+i_1053^0 == 0 /\ -i_1248^post225+i_1248^0 == 0 /\ 1-i_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225 == 0 /\ -a_239^post225+a_239^0 == 0 /\ i_27^0-i_27^post225 == 0 /\ f_969^0-f_969^post225 == 0 /\ -r_224^post225+r_224^0 == 0 /\ -len_861^post225+len_861^0 == 0 /\ len_161^0-len_161^post225 == 0 /\ t_458^0-t_458^post225 == 0 /\ -r_143^post225+r_143^0 == 0 /\ rcd_1249^0-rcd_1249^post225 == 0 /\ i_106^0-i_106^post225 == 0 /\ -a_176^0+a_121^post225 <= 0 /\ a_576^0-a_576^post225 == 0 /\ -x_17^post225+x_17^0 == 0 /\ -x_21^post225+x_21^0 == 0), cost: 1 226: l141 -> l142 : a_1089^0'=a_1089^post226, f_847^0'=f_847^post226, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post226, a_394^0'=a_394^post226, x_156^0'=x_156^post226, a_632^0'=a_632^post226, r_192^0'=r_192^post226, a_176^0'=a_176^post226, i_106^0'=i_106^post226, a_430^0'=a_430^post226, t_458^0'=t_458^post226, len_161^0'=len_161^post226, x_975^0'=x_975^post226, a_902^0'=a_902^post226, a_947^0'=a_947^post226, rcd_88^0'=rcd_88^post226, a_311^0'=a_311^post226, i_140^0'=i_140^post226, a_577^0'=a_577^post226, x_14^0'=x_14^post226, nondet_12^0'=nondet_12^post226, a_121^0'=a_121^post226, head_15^0'=head_15^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226, i_27^0'=i_27^post226, x_21^0'=x_21^post226, a_634^0'=a_634^post226, r_39^0'=r_39^post226, a_263^0'=a_263^post226, i_113^0'=i_113^post226, a_432^0'=a_432^post226, temp0_31^0'=temp0_31^post226, len_262^0'=len_262^post226, y_20^0'=y_20^post226, f_248^0'=f_248^post226, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226, a_393^0'=a_393^post226, i_229^0'=i_229^post226, a_610^0'=a_610^post226, r_151^0'=r_151^post226, a_144^0'=a_144^post226, i_1053^0'=i_1053^post226, a_417^0'=a_417^post226, t_24^0'=t_24^post226, i_94^0'=i_94^post226, x_852^0'=x_852^post226, a_862^0'=a_862^post226, rcd_1249^0'=rcd_1249^post226, rcd_58^0'=rcd_58^post226, a_310^0'=a_310^post226, i_127^0'=i_127^post226, a_576^0'=a_576^post226, tmp_34^0'=tmp_34^post226, length_29^0'=length_29^post226, a_1162^0'=a_1162^post226, f_969^0'=f_969^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226, a_395^0'=a_395^post226, x_17^0'=x_17^post226, a_633^0'=a_633^post226, r_224^0'=r_224^post226, a_239^0'=a_239^post226, i_107^0'=i_107^post226, a_431^0'=a_431^post226, temp0_16^0'=temp0_16^post226, len_238^0'=len_238^post226, x_SLAM_f_19^0'=x_SLAM_f_19^post226, a_924^0'=a_924^post226, ct_18^0'=ct_18^post226, result_11^0'=result_11^post226, a_392^0'=a_392^post226, i_197^0'=i_197^post226, a_579^0'=a_579^post226, r_143^0'=r_143^post226, a_1236^0'=a_1236^post226, head_32^0'=head_32^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226, i_30^0'=i_30^post226, x_253^0'=x_253^post226, a_635^0'=a_635^post226, r_970^0'=r_970^post226, rcd_47^0'=rcd_47^post226, a_309^0'=a_309^post226, i_1248^0'=i_1248^post226, a_575^0'=a_575^post226, temp_35^0'=temp_35^post226, len_861^0'=len_861^post226, (nondet_12^0-nondet_12^post226 == 0 /\ -r_39^post226+r_39^0 == 0 /\ -i_1053^post226+i_1053^0 == 0 /\ x_14^0-x_14^post226 == 0 /\ -length_29^post226+length_29^0 == 0 /\ a_121^0-a_121^post226 == 0 /\ x_21^0-x_21^post226 == 0 /\ x_852^0-x_852^post226 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post226 == 0 /\ -a_395^post226+a_395^0 == 0 /\ len_161^0-len_161^post226 == 0 /\ len_262^0-len_262^post226 == 0 /\ a_947^0-a_947^post226 == 0 /\ a_576^0-a_576^post226 == 0 /\ -a_1236^post226+a_1236^0 == 0 /\ f_847^0-f_847^post226 == 0 /\ a_394^0-a_394^post226 == 0 /\ -i_1248^post226+i_1248^0 == 0 /\ -head_32^post226+head_32^0 == 0 /\ -a_862^post226+a_862^0 == 0 /\ -a_392^post226+a_392^0 == 0 /\ rcd_58^0-rcd_58^post226 == 0 /\ -a_579^post226+a_579^0 == 0 /\ -len_861^post226+len_861^0 == 0 /\ -a_263^post226+a_263^0 == 0 /\ r_224^0-r_224^post226 == 0 /\ -a_635^post226+a_635^0 == 0 /\ -a_144^post226+a_144^0 == 0 /\ -i_107^post226+i_107^0 == 0 /\ -a_393^post226+a_393^0 == 0 /\ a_577^0-a_577^post226 == 0 /\ -i_30^post226+i_30^0 == 0 /\ t_458^0-t_458^post226 == 0 /\ -a_575^post226+a_575^0 == 0 /\ i_106^0-i_106^post226 == 0 /\ -i_197^post226+i_197^0 == 0 /\ ct_18^0-ct_18^post226 == 0 /\ head_15^0-head_15^post226 == 0 /\ i_127^0-i_127^post226 == 0 /\ -a_309^post226+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post226 == 0 /\ a_432^0-a_432^post226 == 0 /\ -a_417^post226+a_417^0 == 0 /\ i_27^0-i_27^post226 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post226 == 0 /\ -t_24^post226+t_24^0 == 0 /\ a_430^0-a_430^post226 == 0 /\ -tmp_34^post226+tmp_34^0 == 0 /\ i_140^0-i_140^post226 == 0 /\ -len_238^post226+len_238^0 == 0 /\ -a_924^post226+a_924^0 == 0 /\ -rcd_47^post226+rcd_47^0 == 0 /\ a_431^0-a_431^post226 == 0 /\ a_1089^0-a_1089^post226 == 0 /\ -a_633^post226+a_633^0 == 0 /\ temp0_31^0-temp0_31^post226 == 0 /\ x_17^0-x_17^post226 == 0 /\ a_634^0-a_634^post226 == 0 /\ -a_1162^post226+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post226 == 0 /\ y_20^0-y_20^post226 == 0 /\ -r_151^post226+r_151^0 == 0 /\ -result_11^post226+result_11^0 == 0 /\ -rcd_1249^post226+rcd_1249^0 == 0 /\ -a_902^post226+a_902^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post226 == 0 /\ a_239^0-a_239^post226 == 0 /\ f_969^0-f_969^post226 == 0 /\ -x_253^post226+x_253^0 == 0 /\ x_975^0-x_975^post226 == 0 /\ -r_970^post226+r_970^0 == 0 /\ r_192^0-r_192^post226 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post226+r_143^0 == 0 /\ f_248^0-f_248^post226 == 0 /\ -i_94^post226+i_94^0 == 0 /\ -i_113^post226+i_113^0 == 0 /\ -x_SLAM_f_19^post226+x_SLAM_f_19^0 == 0 /\ a_310^0-a_310^post226 == 0 /\ temp0_16^0-temp0_16^post226 == 0 /\ -a_311^post226+a_311^0 == 0 /\ a_632^0-a_632^post226 == 0 /\ a_610^0-a_610^post226 == 0 /\ -temp_35^post226+temp_35^0 == 0), cost: 1 227: l141 -> l142 : a_1089^0'=a_1089^post227, f_847^0'=f_847^post227, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post227, a_394^0'=a_394^post227, x_156^0'=x_156^post227, a_632^0'=a_632^post227, r_192^0'=r_192^post227, a_176^0'=a_176^post227, i_106^0'=i_106^post227, a_430^0'=a_430^post227, t_458^0'=t_458^post227, len_161^0'=len_161^post227, x_975^0'=x_975^post227, a_902^0'=a_902^post227, a_947^0'=a_947^post227, rcd_88^0'=rcd_88^post227, a_311^0'=a_311^post227, i_140^0'=i_140^post227, a_577^0'=a_577^post227, x_14^0'=x_14^post227, nondet_12^0'=nondet_12^post227, a_121^0'=a_121^post227, head_15^0'=head_15^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227, i_27^0'=i_27^post227, x_21^0'=x_21^post227, a_634^0'=a_634^post227, r_39^0'=r_39^post227, a_263^0'=a_263^post227, i_113^0'=i_113^post227, a_432^0'=a_432^post227, temp0_31^0'=temp0_31^post227, len_262^0'=len_262^post227, y_20^0'=y_20^post227, f_248^0'=f_248^post227, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227, a_393^0'=a_393^post227, i_229^0'=i_229^post227, a_610^0'=a_610^post227, r_151^0'=r_151^post227, a_144^0'=a_144^post227, i_1053^0'=i_1053^post227, a_417^0'=a_417^post227, t_24^0'=t_24^post227, i_94^0'=i_94^post227, x_852^0'=x_852^post227, a_862^0'=a_862^post227, rcd_1249^0'=rcd_1249^post227, rcd_58^0'=rcd_58^post227, a_310^0'=a_310^post227, i_127^0'=i_127^post227, a_576^0'=a_576^post227, tmp_34^0'=tmp_34^post227, length_29^0'=length_29^post227, a_1162^0'=a_1162^post227, f_969^0'=f_969^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227, a_395^0'=a_395^post227, x_17^0'=x_17^post227, a_633^0'=a_633^post227, r_224^0'=r_224^post227, a_239^0'=a_239^post227, i_107^0'=i_107^post227, a_431^0'=a_431^post227, temp0_16^0'=temp0_16^post227, len_238^0'=len_238^post227, x_SLAM_f_19^0'=x_SLAM_f_19^post227, a_924^0'=a_924^post227, ct_18^0'=ct_18^post227, result_11^0'=result_11^post227, a_392^0'=a_392^post227, i_197^0'=i_197^post227, a_579^0'=a_579^post227, r_143^0'=r_143^post227, a_1236^0'=a_1236^post227, head_32^0'=head_32^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227, i_30^0'=i_30^post227, x_253^0'=x_253^post227, a_635^0'=a_635^post227, r_970^0'=r_970^post227, rcd_47^0'=rcd_47^post227, a_309^0'=a_309^post227, i_1248^0'=i_1248^post227, a_575^0'=a_575^post227, temp_35^0'=temp_35^post227, len_861^0'=len_861^post227, (-a_1162^post227+a_1162^0 == 0 /\ 1+head_15^0 <= 0 /\ f_969^0-f_969^post227 == 0 /\ -a_924^post227+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post227 == 0 /\ -rcd_47^post227+rcd_47^0 == 0 /\ r_39^0-r_39^post227 == 0 /\ a_1089^0-a_1089^post227 == 0 /\ -len_238^post227+len_238^0 == 0 /\ -x_253^post227+x_253^0 == 0 /\ -t_24^post227+t_24^0 == 0 /\ x_21^0-x_21^post227 == 0 /\ -r_151^post227+r_151^0 == 0 /\ x_14^0-x_14^post227 == 0 /\ r_192^0-r_192^post227 == 0 /\ -result_11^post227+result_11^0 == 0 /\ i_140^0-i_140^post227 == 0 /\ -i_94^post227+i_94^0 == 0 /\ a_263^0-a_263^post227 == 0 /\ i_27^0-i_27^post227 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post227 == 0 /\ -r_224^post227+r_224^0 == 0 /\ nondet_12^0-nondet_12^post227 == 0 /\ -temp_35^post227+temp_35^0 == 0 /\ a_576^0-a_576^post227 == 0 /\ a_634^0-a_634^post227 == 0 /\ -i_113^post227+i_113^0 == 0 /\ -r_970^post227+r_970^0 == 0 /\ x_156^0-x_156^post227 == 0 /\ -x_SLAM_f_19^post227+x_SLAM_f_19^0 == 0 /\ -r_143^post227+r_143^0 == 0 /\ tmp_34^0-tmp_34^post227 == 0 /\ -a_431^post227+a_431^0 == 0 /\ rcd_58^0-rcd_58^post227 == 0 /\ a_144^0-a_144^post227 == 0 /\ a_947^0-a_947^post227 == 0 /\ -a_395^post227+a_395^0 == 0 /\ -a_1236^post227+a_1236^0 == 0 /\ -y_20^post227+y_20^0 == 0 /\ -a_432^post227+a_432^0 == 0 /\ f_248^0-f_248^post227 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post227+a_862^0 == 0 /\ a_610^0-a_610^post227 == 0 /\ x_975^0-x_975^post227 == 0 /\ i_127^0-i_127^post227 == 0 /\ a_430^0-a_430^post227 == 0 /\ a_632^0-a_632^post227 == 0 /\ -i_106^post227+i_106^0 == 0 /\ -a_392^post227+a_392^0 == 0 /\ a_311^0-a_311^post227 == 0 /\ -length_29^post227+length_29^0 == 0 /\ -i_1248^post227+i_1248^0 == 0 /\ rcd_1249^0-rcd_1249^post227 == 0 /\ head_15^0-head_15^post227 == 0 /\ a_577^0-a_577^post227 == 0 /\ a_902^0-a_902^post227 == 0 /\ rcd_88^0-rcd_88^post227 == 0 /\ -a_239^post227+a_239^0 == 0 /\ -temp0_16^post227+temp0_16^0 == 0 /\ -a_310^post227+a_310^0 == 0 /\ -i_30^post227+i_30^0 == 0 /\ i_229^0-i_229^post227 == 0 /\ -t_458^post227+t_458^0 == 0 /\ -len_861^post227+len_861^0 == 0 /\ -head_32^post227+head_32^0 == 0 /\ -x_852^post227+x_852^0 == 0 /\ a_121^0-a_121^post227 == 0 /\ -a_393^post227+a_393^0 == 0 /\ temp0_31^0-temp0_31^post227 == 0 /\ -a_309^post227+a_309^0 == 0 /\ len_262^0-len_262^post227 == 0 /\ -a_635^post227+a_635^0 == 0 /\ -a_579^post227+a_579^0 == 0 /\ x_17^0-x_17^post227 == 0 /\ len_161^0-len_161^post227 == 0 /\ a_633^0-a_633^post227 == 0 /\ a_176^0-a_176^post227 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227 == 0 /\ i_1053^0-i_1053^post227 == 0 /\ -i_107^post227+i_107^0 == 0 /\ f_847^0-f_847^post227 == 0 /\ a_394^0-a_394^post227 == 0 /\ -a_575^post227+a_575^0 == 0 /\ -i_197^post227+i_197^0 == 0 /\ -a_417^post227+a_417^0 == 0), cost: 1 228: l142 -> l16 : a_1089^0'=a_1089^post228, f_847^0'=f_847^post228, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post228, a_394^0'=a_394^post228, x_156^0'=x_156^post228, a_632^0'=a_632^post228, r_192^0'=r_192^post228, a_176^0'=a_176^post228, i_106^0'=i_106^post228, a_430^0'=a_430^post228, t_458^0'=t_458^post228, len_161^0'=len_161^post228, x_975^0'=x_975^post228, a_902^0'=a_902^post228, a_947^0'=a_947^post228, rcd_88^0'=rcd_88^post228, a_311^0'=a_311^post228, i_140^0'=i_140^post228, a_577^0'=a_577^post228, x_14^0'=x_14^post228, nondet_12^0'=nondet_12^post228, a_121^0'=a_121^post228, head_15^0'=head_15^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228, i_27^0'=i_27^post228, x_21^0'=x_21^post228, a_634^0'=a_634^post228, r_39^0'=r_39^post228, a_263^0'=a_263^post228, i_113^0'=i_113^post228, a_432^0'=a_432^post228, temp0_31^0'=temp0_31^post228, len_262^0'=len_262^post228, y_20^0'=y_20^post228, f_248^0'=f_248^post228, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228, a_393^0'=a_393^post228, i_229^0'=i_229^post228, a_610^0'=a_610^post228, r_151^0'=r_151^post228, a_144^0'=a_144^post228, i_1053^0'=i_1053^post228, a_417^0'=a_417^post228, t_24^0'=t_24^post228, i_94^0'=i_94^post228, x_852^0'=x_852^post228, a_862^0'=a_862^post228, rcd_1249^0'=rcd_1249^post228, rcd_58^0'=rcd_58^post228, a_310^0'=a_310^post228, i_127^0'=i_127^post228, a_576^0'=a_576^post228, tmp_34^0'=tmp_34^post228, length_29^0'=length_29^post228, a_1162^0'=a_1162^post228, f_969^0'=f_969^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228, a_395^0'=a_395^post228, x_17^0'=x_17^post228, a_633^0'=a_633^post228, r_224^0'=r_224^post228, a_239^0'=a_239^post228, i_107^0'=i_107^post228, a_431^0'=a_431^post228, temp0_16^0'=temp0_16^post228, len_238^0'=len_238^post228, x_SLAM_f_19^0'=x_SLAM_f_19^post228, a_924^0'=a_924^post228, ct_18^0'=ct_18^post228, result_11^0'=result_11^post228, a_392^0'=a_392^post228, i_197^0'=i_197^post228, a_579^0'=a_579^post228, r_143^0'=r_143^post228, a_1236^0'=a_1236^post228, head_32^0'=head_32^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228, i_30^0'=i_30^post228, x_253^0'=x_253^post228, a_635^0'=a_635^post228, r_970^0'=r_970^post228, rcd_47^0'=rcd_47^post228, a_309^0'=a_309^post228, i_1248^0'=i_1248^post228, a_575^0'=a_575^post228, temp_35^0'=temp_35^post228, len_861^0'=len_861^post228, (0 == 0 /\ -len_861^post228+len_861^0 == 0 /\ a_263^0-a_263^post228 == 0 /\ -a_1236^post228+a_1236^0 == 0 /\ len_161^0-len_161^post228 == 0 /\ result_11^0-result_11^post228 == 0 /\ -a_432^post228+a_432^0 == 0 /\ x_156^0-x_156^post228 == 0 /\ -i_1248^post228+i_1248^0 == 0 /\ head_15^0-head_15^post228 == 0 /\ a_634^0-a_634^post228 == 0 /\ -i_94^post228+i_94^0 == 0 /\ -x_17^post228+x_17^0 == 0 /\ -a_392^post228+a_392^0 == 0 /\ -temp0_31^post228+temp0_31^0 == 0 /\ a_862^0-a_862^post228 == 0 /\ -temp0_16^post228+temp0_16^0 == 0 /\ f_248^0-f_248^post228 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_224^post228+r_224^0 == 0 /\ -a_310^post228+a_310^0 == 0 /\ a_947^0-a_947^post228 == 0 /\ -i_1053^post228+i_1053^0 == 0 /\ rcd_58^0-rcd_58^post228 == 0 /\ -i_197^post228+i_197^0 == 0 /\ -head_32^post228+head_32^0 == 0 /\ -a_579^post228+a_579^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_430^0-a_430^post228 == 0 /\ rcd_88^0-rcd_88^post228 == 0 /\ r_192^0-r_192^post228 == 0 /\ a_311^0-a_311^post228 == 0 /\ a_902^0-a_902^post228 == 0 /\ -ct_18^post228+ct_18^0 == 0 /\ -a_635^post228+a_635^0 == 0 /\ a_176^0-a_176^post228 == 0 /\ -len_238^post228+len_238^0 == 0 /\ -len_262^post228+len_262^0 == 0 /\ -i_30^post228+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ length_29^0-length_29^post228 == 0 /\ -i_127^post228+i_127^0 == 0 /\ -x_14^post228+x_14^0 == 0 /\ -a_309^post228+a_309^0 == 0 /\ -1-a_121^0+i_113^post228 <= 0 /\ -r_39^post228+r_39^0 == 0 /\ x_852^0-x_852^post228 == 0 /\ a_1089^0-a_1089^post228 == 0 /\ -i_107^post228+i_107^0 == 0 /\ a_632^0-a_632^post228 == 0 /\ -a_575^post228+a_575^0 == 0 /\ -a_121^post228+a_121^0 == 0 /\ -tmp_34^post228+tmp_34^0 == 0 /\ a_576^0-a_576^post228 == 0 /\ f_847^0-f_847^post228 == 0 /\ -a_1162^post228+a_1162^0 == 0 /\ nondet_12^0-nondet_12^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228 == 0 /\ i_140^0-i_140^post228 == 0 /\ -a_431^post228+a_431^0 == 0 /\ a_144^0-a_144^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_21^post228+x_21^0 == 0 /\ -t_24^post228+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228 == 0 /\ y_20^0-y_20^post228 == 0 /\ r_151^0-r_151^post228 == 0 /\ -rcd_47^post228+rcd_47^0 == 0 /\ a_394^0-a_394^post228 == 0 /\ a_417^0-a_417^post228 == 0 /\ -a_924^post228+a_924^0 == 0 /\ -r_143^post228+r_143^0 == 0 /\ f_969^0-f_969^post228 == 0 /\ a_239^0-a_239^post228 == 0 /\ 1-i_27^0 <= 0 /\ a_577^0-a_577^post228 == 0 /\ x_975^0-x_975^post228 == 0 /\ -i_229^post228+i_229^0 == 0 /\ -x_253^post228+x_253^0 == 0 /\ -x_SLAM_f_19^post228+x_SLAM_f_19^0 == 0 /\ rcd_1249^0-rcd_1249^post228 == 0 /\ -r_970^post228+r_970^0 == 0 /\ a_610^0-a_610^post228 == 0 /\ i_106^0-i_106^post228 == 0 /\ -temp_35^post228+temp_35^0 == 0 /\ a_633^0-a_633^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_27^0-i_27^post228 == 0 /\ a_393^0-a_393^post228 == 0 /\ 1+a_121^0-i_113^post228 <= 0 /\ t_458^0-t_458^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post228 == 0 /\ -a_395^post228+a_395^0 == 0), cost: 1 229: l143 -> l144 : a_1089^0'=a_1089^post229, f_847^0'=f_847^post229, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post229, a_394^0'=a_394^post229, x_156^0'=x_156^post229, a_632^0'=a_632^post229, r_192^0'=r_192^post229, a_176^0'=a_176^post229, i_106^0'=i_106^post229, a_430^0'=a_430^post229, t_458^0'=t_458^post229, len_161^0'=len_161^post229, x_975^0'=x_975^post229, a_902^0'=a_902^post229, a_947^0'=a_947^post229, rcd_88^0'=rcd_88^post229, a_311^0'=a_311^post229, i_140^0'=i_140^post229, a_577^0'=a_577^post229, x_14^0'=x_14^post229, nondet_12^0'=nondet_12^post229, a_121^0'=a_121^post229, head_15^0'=head_15^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229, i_27^0'=i_27^post229, x_21^0'=x_21^post229, a_634^0'=a_634^post229, r_39^0'=r_39^post229, a_263^0'=a_263^post229, i_113^0'=i_113^post229, a_432^0'=a_432^post229, temp0_31^0'=temp0_31^post229, len_262^0'=len_262^post229, y_20^0'=y_20^post229, f_248^0'=f_248^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229, a_393^0'=a_393^post229, i_229^0'=i_229^post229, a_610^0'=a_610^post229, r_151^0'=r_151^post229, a_144^0'=a_144^post229, i_1053^0'=i_1053^post229, a_417^0'=a_417^post229, t_24^0'=t_24^post229, i_94^0'=i_94^post229, x_852^0'=x_852^post229, a_862^0'=a_862^post229, rcd_1249^0'=rcd_1249^post229, rcd_58^0'=rcd_58^post229, a_310^0'=a_310^post229, i_127^0'=i_127^post229, a_576^0'=a_576^post229, tmp_34^0'=tmp_34^post229, length_29^0'=length_29^post229, a_1162^0'=a_1162^post229, f_969^0'=f_969^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229, a_395^0'=a_395^post229, x_17^0'=x_17^post229, a_633^0'=a_633^post229, r_224^0'=r_224^post229, a_239^0'=a_239^post229, i_107^0'=i_107^post229, a_431^0'=a_431^post229, temp0_16^0'=temp0_16^post229, len_238^0'=len_238^post229, x_SLAM_f_19^0'=x_SLAM_f_19^post229, a_924^0'=a_924^post229, ct_18^0'=ct_18^post229, result_11^0'=result_11^post229, a_392^0'=a_392^post229, i_197^0'=i_197^post229, a_579^0'=a_579^post229, r_143^0'=r_143^post229, a_1236^0'=a_1236^post229, head_32^0'=head_32^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229, i_30^0'=i_30^post229, x_253^0'=x_253^post229, a_635^0'=a_635^post229, r_970^0'=r_970^post229, rcd_47^0'=rcd_47^post229, a_309^0'=a_309^post229, i_1248^0'=i_1248^post229, a_575^0'=a_575^post229, temp_35^0'=temp_35^post229, len_861^0'=len_861^post229, (0 == 0 /\ r_143^0-r_143^post229 == 0 /\ a_902^0-a_902^post229 == 0 /\ a_392^0-a_392^post229 == 0 /\ -head_32^post229 <= 0 /\ -y_20^post229+y_20^0 == 0 /\ t_458^0-t_458^post229 == 0 /\ a_176^0-a_176^post229 == 0 /\ -f_969^post229+f_969^0 == 0 /\ rcd_88^0-rcd_88^post229 == 0 /\ head_15^0-head_15^post229 == 0 /\ x_14^0-x_14^post229 == 0 /\ i_106^0-i_106^post229 == 0 /\ -a_121^post229+a_121^0 == 0 /\ -a_924^post229+a_924^0 == 0 /\ -x_21^post229+x_21^0 == 0 /\ -temp_35^post229+temp_35^0 == 0 /\ -len_238^post229+len_238^0 == 0 /\ i_27^0-i_27^post229 == 0 /\ -r_970^post229+r_970^0 == 0 /\ head_32^post229 <= 0 /\ head_32^post229 == 0 /\ r_39^0-r_39^post229 == 0 /\ -a_1162^post229+a_1162^0 == 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_1236^0-a_1236^post229 == 0 /\ -x_SLAM_f_19^post229+x_SLAM_f_19^0 == 0 /\ len_262^0-len_262^post229 == 0 /\ -i_1248^post229+i_1248^0 == 0 /\ -nondet_12^112+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_263^0-a_263^post229 == 0 /\ -a_239^post229+a_239^0 == 0 /\ temp0_31^0-temp0_31^post229 == 0 /\ -len_861^post229+len_861^0 == 0 /\ result_11^0-result_11^post229 == 0 /\ -temp0_16^post229+temp0_16^0 == 0 /\ -x_253^post229+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229 == 0 /\ -i_113^post229+i_113^0 == 0 /\ a_634^0-a_634^post229 == 0 /\ -a_431^post229+a_431^0 == 0 /\ -a_432^post229+a_432^0 == 0 /\ i_30^post229 <= 0 /\ i_30^post229 == 0 /\ -a_395^post229+a_395^0 == 0 /\ -length_29^post229+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ tmp_34^0-tmp_34^post229 == 0 /\ a_417^0-a_417^post229 == 0 /\ f_248^0-f_248^post229 == 0 /\ -i_229^post229+i_229^0 == 0 /\ a_577^0-a_577^post229 == 0 /\ -a_309^post229+a_309^0 == 0 /\ a_1089^0-a_1089^post229 == 0 /\ r_192^0-r_192^post229 == 0 /\ -a_144^post229+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_127^0-i_127^post229 == 0 /\ -a_862^post229+a_862^0 == 0 /\ -i_107^post229+i_107^0 == 0 /\ -a_310^post229+a_310^0 == 0 /\ rcd_1249^0-rcd_1249^post229 == 0 /\ i_1053^0-i_1053^post229 == 0 /\ -a_575^post229+a_575^0 == 0 /\ len_161^0-len_161^post229 == 0 /\ a_632^0-a_632^post229 == 0 /\ i_140^0-i_140^post229 == 0 /\ a_393^0-a_393^post229 == 0 /\ -a_635^post229+a_635^0 == 0 /\ -r_224^post229+r_224^0 == 0 /\ -i_94^post229+i_94^0 == 0 /\ -x_17^post229+x_17^0 == 0 /\ a_311^0-a_311^post229 == 0 /\ -i_30^post229 <= 0 /\ x_852^0-x_852^post229 == 0 /\ x_156^0-x_156^post229 == 0 /\ -a_430^post229+a_430^0 == 0 /\ f_847^0-f_847^post229 == 0 /\ -t_24^post229+t_24^0 == 0 /\ -ct_18^post229+ct_18^0 == 0 /\ a_633^0-a_633^post229 == 0 /\ a_576^0-a_576^post229 == 0 /\ -a_579^post229+a_579^0 == 0 /\ a_610^0-a_610^post229 == 0 /\ a_947^0-a_947^post229 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229 == 0 /\ rcd_58^0-rcd_58^post229 == 0 /\ -rcd_47^post229+rcd_47^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229 == 0 /\ a_394^0-a_394^post229 == 0 /\ -x_975^post229+x_975^0 == 0 /\ -i_197^post229+i_197^0 == 0 /\ r_151^0-r_151^post229 == 0), cost: 1 367: l144 -> l50 : a_1089^0'=a_1089^post367, f_847^0'=f_847^post367, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post367, a_394^0'=a_394^post367, x_156^0'=x_156^post367, a_632^0'=a_632^post367, r_192^0'=r_192^post367, a_176^0'=a_176^post367, i_106^0'=i_106^post367, a_430^0'=a_430^post367, t_458^0'=t_458^post367, len_161^0'=len_161^post367, x_975^0'=x_975^post367, a_902^0'=a_902^post367, a_947^0'=a_947^post367, rcd_88^0'=rcd_88^post367, a_311^0'=a_311^post367, i_140^0'=i_140^post367, a_577^0'=a_577^post367, x_14^0'=x_14^post367, nondet_12^0'=nondet_12^post367, a_121^0'=a_121^post367, head_15^0'=head_15^post367, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post367, i_27^0'=i_27^post367, x_21^0'=x_21^post367, a_634^0'=a_634^post367, r_39^0'=r_39^post367, a_263^0'=a_263^post367, i_113^0'=i_113^post367, a_432^0'=a_432^post367, temp0_31^0'=temp0_31^post367, len_262^0'=len_262^post367, y_20^0'=y_20^post367, f_248^0'=f_248^post367, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post367, a_393^0'=a_393^post367, i_229^0'=i_229^post367, a_610^0'=a_610^post367, r_151^0'=r_151^post367, a_144^0'=a_144^post367, i_1053^0'=i_1053^post367, a_417^0'=a_417^post367, t_24^0'=t_24^post367, i_94^0'=i_94^post367, x_852^0'=x_852^post367, a_862^0'=a_862^post367, rcd_1249^0'=rcd_1249^post367, rcd_58^0'=rcd_58^post367, a_310^0'=a_310^post367, i_127^0'=i_127^post367, a_576^0'=a_576^post367, tmp_34^0'=tmp_34^post367, length_29^0'=length_29^post367, a_1162^0'=a_1162^post367, f_969^0'=f_969^post367, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post367, a_395^0'=a_395^post367, x_17^0'=x_17^post367, a_633^0'=a_633^post367, r_224^0'=r_224^post367, a_239^0'=a_239^post367, i_107^0'=i_107^post367, a_431^0'=a_431^post367, temp0_16^0'=temp0_16^post367, len_238^0'=len_238^post367, x_SLAM_f_19^0'=x_SLAM_f_19^post367, a_924^0'=a_924^post367, ct_18^0'=ct_18^post367, result_11^0'=result_11^post367, a_392^0'=a_392^post367, i_197^0'=i_197^post367, a_579^0'=a_579^post367, r_143^0'=r_143^post367, a_1236^0'=a_1236^post367, head_32^0'=head_32^post367, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post367, i_30^0'=i_30^post367, x_253^0'=x_253^post367, a_635^0'=a_635^post367, r_970^0'=r_970^post367, rcd_47^0'=rcd_47^post367, a_309^0'=a_309^post367, i_1248^0'=i_1248^post367, a_575^0'=a_575^post367, temp_35^0'=temp_35^post367, len_861^0'=len_861^post367, (0 == 0 /\ -rcd_1249^post367+rcd_1249^0 == 0 /\ x_21^190 <= 0 /\ a_902^0-a_902^post367 == 0 /\ a_924^0-a_924^post367 == 0 /\ head_15^post367-x_17^10 <= 0 /\ -r_39^post367+r_39^0 == 0 /\ a_430^0-a_430^post367 == 0 /\ x_975^0-x_975^post367 == 0 /\ -rcd_47^post367+rcd_47^0 == 0 /\ -head_15^post367+x_14^10 <= 0 /\ -head_15^post367+x_14^10 == 0 /\ a_311^0-a_311^post367 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post367 == 0 /\ -i_94^post367+i_94^0 == 0 /\ a_634^0-a_634^post367 == 0 /\ x_21^190-x_SLAM_f_19^190 <= 0 /\ x_21^190-x_SLAM_f_19^190 == 0 /\ -i_127^post367+i_127^0 == 0 /\ -a_575^post367+a_575^0 == 0 /\ -ct_18^19 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post367 == 0 /\ a_176^0-a_176^post367 == 0 /\ a_310^0-a_310^post367 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post367 <= 0 /\ f_847^0-f_847^post367 == 0 /\ -x_21^190+y_20^190 <= 0 /\ f_248^0-f_248^post367 == 0 /\ x_156^0-x_156^post367 == 0 /\ -x_17^10+x_SLAM_f_19^190 <= 0 /\ -x_17^10+x_SLAM_f_19^190 == 0 /\ -i_229^post367+i_229^0 == 0 /\ -a_633^post367+a_633^0 == 0 /\ temp0_31^120-head_32^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ y_20^190 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ a_263^0-a_263^post367 == 0 /\ len_262^0-len_262^post367 == 0 /\ i_113^0-i_113^post367 == 0 /\ -head_15^post367+x_17^10 <= 0 /\ -head_15^post367+x_17^10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ head_15^post367 <= 0 /\ x_17^10 <= 0 /\ -result_11^120+head_15^post367 == 0 /\ -x_21^190 <= 0 /\ -a_392^post367+a_392^0 == 0 /\ a_947^0-a_947^post367 == 0 /\ head_15^post367-x_14^10 <= 0 /\ r_151^0-r_151^post367 == 0 /\ len_161^0-len_161^post367 == 0 /\ a_576^0-a_576^post367 == 0 /\ -x_21^190+x_SLAM_f_19^190 <= 0 /\ -x_253^post367+x_253^0 == 0 /\ -r_970^post367+r_970^0 == 0 /\ -a_579^post367+a_579^0 == 0 /\ -a_432^post367+a_432^0 == 0 /\ x_21^190-y_20^190 <= 0 /\ i_107^0-i_107^post367 == 0 /\ x_852^0-x_852^post367 == 0 /\ -x_14^post367 <= 0 /\ x_17^10-x_SLAM_f_19^190 <= 0 /\ i_197^0-i_197^post367 == 0 /\ result_11^120-temp0_31^120 == 0 /\ -x_SLAM_f_19^190 <= 0 /\ head_15^post367-x_14^post367 <= 0 /\ a_1089^0-a_1089^post367 == 0 /\ y_20^190-ct_18^19 <= 0 /\ y_20^190-ct_18^19 == 0 /\ -a_577^post367+a_577^0 == 0 /\ r_224^0-r_224^post367 == 0 /\ -i_1248^post367+i_1248^0 == 0 /\ x_14^post367 <= 0 /\ -rcd_58^post367+rcd_58^0 == 0 /\ result_11^post367-temp0_16^0 == 0 /\ a_239^0-a_239^post367 == 0 /\ -f_969^post367+f_969^0 == 0 /\ -a_1162^post367+a_1162^0 == 0 /\ a_393^0-a_393^post367 == 0 /\ -x_14^10 <= 0 /\ -a_395^post367+a_395^0 == 0 /\ a_417^0-a_417^post367 == 0 /\ ct_18^19 <= 0 /\ ct_18^19 == 0 /\ a_632^0-a_632^post367 == 0 /\ -head_15^post367+x_14^post367 <= 0 /\ nondet_12^0-nondet_12^post367 == 0 /\ -y_20^190+ct_18^19 <= 0 /\ i_140^0-i_140^post367 == 0 /\ -i_27^post367+i_27^0 == 0 /\ -a_121^post367+a_121^0 == 0 /\ -y_20^190 <= 0 /\ -len_238^post367+len_238^0 == 0 /\ -a_635^post367+a_635^0 == 0 /\ i_106^0-i_106^post367 == 0 /\ -a_309^post367+a_309^0 == 0 /\ -a_144^post367+a_144^0 == 0 /\ -temp0_16^post367+temp0_16^0 == 0 /\ a_431^0-a_431^post367 == 0 /\ -i_1053^post367+i_1053^0 == 0 /\ x_SLAM_f_19^190 <= 0 /\ a_610^0-a_610^post367 == 0 /\ a_862^0-a_862^post367 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post367+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_394^0-a_394^post367 == 0 /\ rcd_88^0-rcd_88^post367 == 0 /\ -len_861^post367+len_861^0 == 0 /\ r_192^0-r_192^post367 == 0 /\ -x_17^10 <= 0 /\ x_14^10 <= 0 /\ -a_1236^post367+a_1236^0 == 0 /\ -head_15^post367 <= 0 /\ t_458^0-t_458^post367 == 0 /\ -r_143^post367+r_143^0 == 0), cost: 1 368: l144 -> l145 : a_1089^0'=a_1089^post368, f_847^0'=f_847^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post368, a_394^0'=a_394^post368, x_156^0'=x_156^post368, a_632^0'=a_632^post368, r_192^0'=r_192^post368, a_176^0'=a_176^post368, i_106^0'=i_106^post368, a_430^0'=a_430^post368, t_458^0'=t_458^post368, len_161^0'=len_161^post368, x_975^0'=x_975^post368, a_902^0'=a_902^post368, a_947^0'=a_947^post368, rcd_88^0'=rcd_88^post368, a_311^0'=a_311^post368, i_140^0'=i_140^post368, a_577^0'=a_577^post368, x_14^0'=x_14^post368, nondet_12^0'=nondet_12^post368, a_121^0'=a_121^post368, head_15^0'=head_15^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368, i_27^0'=i_27^post368, x_21^0'=x_21^post368, a_634^0'=a_634^post368, r_39^0'=r_39^post368, a_263^0'=a_263^post368, i_113^0'=i_113^post368, a_432^0'=a_432^post368, temp0_31^0'=temp0_31^post368, len_262^0'=len_262^post368, y_20^0'=y_20^post368, f_248^0'=f_248^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368, a_393^0'=a_393^post368, i_229^0'=i_229^post368, a_610^0'=a_610^post368, r_151^0'=r_151^post368, a_144^0'=a_144^post368, i_1053^0'=i_1053^post368, a_417^0'=a_417^post368, t_24^0'=t_24^post368, i_94^0'=i_94^post368, x_852^0'=x_852^post368, a_862^0'=a_862^post368, rcd_1249^0'=rcd_1249^post368, rcd_58^0'=rcd_58^post368, a_310^0'=a_310^post368, i_127^0'=i_127^post368, a_576^0'=a_576^post368, tmp_34^0'=tmp_34^post368, length_29^0'=length_29^post368, a_1162^0'=a_1162^post368, f_969^0'=f_969^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368, a_395^0'=a_395^post368, x_17^0'=x_17^post368, a_633^0'=a_633^post368, r_224^0'=r_224^post368, a_239^0'=a_239^post368, i_107^0'=i_107^post368, a_431^0'=a_431^post368, temp0_16^0'=temp0_16^post368, len_238^0'=len_238^post368, x_SLAM_f_19^0'=x_SLAM_f_19^post368, a_924^0'=a_924^post368, ct_18^0'=ct_18^post368, result_11^0'=result_11^post368, a_392^0'=a_392^post368, i_197^0'=i_197^post368, a_579^0'=a_579^post368, r_143^0'=r_143^post368, a_1236^0'=a_1236^post368, head_32^0'=head_32^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368, i_30^0'=i_30^post368, x_253^0'=x_253^post368, a_635^0'=a_635^post368, r_970^0'=r_970^post368, rcd_47^0'=rcd_47^post368, a_309^0'=a_309^post368, i_1248^0'=i_1248^post368, a_575^0'=a_575^post368, temp_35^0'=temp_35^post368, len_861^0'=len_861^post368, (0 == 0 /\ -r_151^post368+r_151^0 == 0 /\ -a_144^post368+a_144^0 == 0 /\ a_1162^0-a_1162^post368 == 0 /\ -a_392^post368+a_392^0 == 0 /\ -a_635^post368+a_635^0 == 0 /\ -i_107^post368+i_107^0 == 0 /\ i_197^0-i_197^post368 == 0 /\ -i_94^post368+i_94^0 == 0 /\ -a_575^post368+a_575^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ 1-length_29^0+i_30^0 <= 0 /\ a_924^0-a_924^post368 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ nondet_12^0-nondet_12^post368 == 0 /\ -i_113^post368+i_113^0 == 0 /\ -a_309^post368+a_309^0 == 0 /\ r_192^0-r_192^post368 == 0 /\ tmp_34^post368-temp_35^0 == 0 /\ -a_1236^post368+a_1236^0 == 0 /\ -tmp_34^post368+head_32^post368 <= 0 /\ -tmp_34^post368+head_32^post368 == 0 /\ -a_432^post368+a_432^0 == 0 /\ x_21^0-x_21^post368 == 0 /\ -a_417^post368+a_417^0 == 0 /\ ct_18^0-ct_18^post368 == 0 /\ -len_238^post368+len_238^0 == 0 /\ i_127^0-i_127^post368 == 0 /\ a_947^0-a_947^post368 == 0 /\ -length_29^post368+length_29^0 == 0 /\ -rcd_58^post368+rcd_58^0 == 0 /\ i_27^0-i_27^post368 == 0 /\ -i_140^post368+i_140^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ -a_633^post368+a_633^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post368 == 0 /\ r_39^0-r_39^post368 == 0 /\ a_430^0-a_430^post368 == 0 /\ tmp_34^post368-head_32^post368 <= 0 /\ -rcd_47^post368+rcd_47^0 == 0 /\ t_458^0-t_458^post368 == 0 /\ -a_862^post368+a_862^0 == 0 /\ a_1089^0-a_1089^post368 == 0 /\ i_106^0-i_106^post368 == 0 /\ 1-length_29^0 <= 0 /\ a_576^0-a_576^post368 == 0 /\ a_263^0-a_263^post368 == 0 /\ -a_579^post368+a_579^0 == 0 /\ x_156^0-x_156^post368 == 0 /\ -r_970^post368+r_970^0 == 0 /\ -y_20^post368+y_20^0 == 0 /\ -x_852^post368+x_852^0 == 0 /\ a_632^0-a_632^post368 == 0 /\ -1+i_30^post368-i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-tmp_34^post368 <= 0 /\ r_224^0-r_224^post368 == 0 /\ a_902^0-a_902^post368 == 0 /\ x_975^0-x_975^post368 == 0 /\ a_121^0-a_121^post368 == 0 /\ f_969^0-f_969^post368 == 0 /\ a_431^0-a_431^post368 == 0 /\ len_262^0-len_262^post368 == 0 /\ temp0_31^0-temp0_31^post368 == 0 /\ f_248^0-f_248^post368 == 0 /\ head_15^0-head_15^post368 == 0 /\ a_577^0-a_577^post368 == 0 /\ i_229^0-i_229^post368 == 0 /\ a_634^0-a_634^post368 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-head_32^post368 <= 0 /\ -x_253^post368+x_253^0 == 0 /\ -i_1053^post368+i_1053^0 == 0 /\ a_394^0-a_394^post368 == 0 /\ x_17^0-x_17^post368 == 0 /\ a_310^0-a_310^post368 == 0 /\ x_14^0-x_14^post368 == 0 /\ -a_395^post368+a_395^0 == 0 /\ a_610^0-a_610^post368 == 0 /\ a_176^0-a_176^post368 == 0 /\ -temp0_16^post368+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+tmp_34^post368 <= 0 /\ -len_861^post368+len_861^0 == 0 /\ t_24^0-t_24^post368 == 0 /\ -i_1248^post368+i_1248^0 == 0 /\ -result_11^post368+result_11^0 == 0 /\ -a_239^post368+a_239^0 == 0 /\ len_161^0-len_161^post368 == 0 /\ -r_143^post368+r_143^0 == 0 /\ rcd_88^0-rcd_88^post368 == 0 /\ -a_393^post368+a_393^0 == 0 /\ 1-i_30^post368 <= 0 /\ -1+i_30^post368 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+head_32^post368 <= 0 /\ a_311^0-a_311^post368 == 0 /\ f_847^0-f_847^post368 == 0 /\ -rcd_1249^post368+rcd_1249^0 == 0), cost: 1 230: l145 -> l49 : a_1089^0'=a_1089^post230, f_847^0'=f_847^post230, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post230, a_394^0'=a_394^post230, x_156^0'=x_156^post230, a_632^0'=a_632^post230, r_192^0'=r_192^post230, a_176^0'=a_176^post230, i_106^0'=i_106^post230, a_430^0'=a_430^post230, t_458^0'=t_458^post230, len_161^0'=len_161^post230, x_975^0'=x_975^post230, a_902^0'=a_902^post230, a_947^0'=a_947^post230, rcd_88^0'=rcd_88^post230, a_311^0'=a_311^post230, i_140^0'=i_140^post230, a_577^0'=a_577^post230, x_14^0'=x_14^post230, nondet_12^0'=nondet_12^post230, a_121^0'=a_121^post230, head_15^0'=head_15^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230, i_27^0'=i_27^post230, x_21^0'=x_21^post230, a_634^0'=a_634^post230, r_39^0'=r_39^post230, a_263^0'=a_263^post230, i_113^0'=i_113^post230, a_432^0'=a_432^post230, temp0_31^0'=temp0_31^post230, len_262^0'=len_262^post230, y_20^0'=y_20^post230, f_248^0'=f_248^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, a_393^0'=a_393^post230, i_229^0'=i_229^post230, a_610^0'=a_610^post230, r_151^0'=r_151^post230, a_144^0'=a_144^post230, i_1053^0'=i_1053^post230, a_417^0'=a_417^post230, t_24^0'=t_24^post230, i_94^0'=i_94^post230, x_852^0'=x_852^post230, a_862^0'=a_862^post230, rcd_1249^0'=rcd_1249^post230, rcd_58^0'=rcd_58^post230, a_310^0'=a_310^post230, i_127^0'=i_127^post230, a_576^0'=a_576^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, a_1162^0'=a_1162^post230, f_969^0'=f_969^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230, a_395^0'=a_395^post230, x_17^0'=x_17^post230, a_633^0'=a_633^post230, r_224^0'=r_224^post230, a_239^0'=a_239^post230, i_107^0'=i_107^post230, a_431^0'=a_431^post230, temp0_16^0'=temp0_16^post230, len_238^0'=len_238^post230, x_SLAM_f_19^0'=x_SLAM_f_19^post230, a_924^0'=a_924^post230, ct_18^0'=ct_18^post230, result_11^0'=result_11^post230, a_392^0'=a_392^post230, i_197^0'=i_197^post230, a_579^0'=a_579^post230, r_143^0'=r_143^post230, a_1236^0'=a_1236^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230, i_30^0'=i_30^post230, x_253^0'=x_253^post230, a_635^0'=a_635^post230, r_970^0'=r_970^post230, rcd_47^0'=rcd_47^post230, a_309^0'=a_309^post230, i_1248^0'=i_1248^post230, a_575^0'=a_575^post230, temp_35^0'=temp_35^post230, len_861^0'=len_861^post230, (0 == 0 /\ a_1089^0-a_1089^post230 == 0 /\ -i_197^post230+i_197^0 == 0 /\ a_394^0-a_394^post230 == 0 /\ -head_15^post230+x_14^post230 <= 0 /\ -head_15^post230+x_14^post230 == 0 /\ -rcd_1249^post230+rcd_1249^0 == 0 /\ -r_970^post230+r_970^0 == 0 /\ i_1053^0-i_1053^post230 == 0 /\ f_969^0-f_969^post230 == 0 /\ rcd_58^0-rcd_58^post230 == 0 /\ a_430^0-a_430^post230 == 0 /\ -a_417^post230+a_417^0 == 0 /\ i_140^0-i_140^post230 == 0 /\ -ct_18^post230+ct_18^0 == 0 /\ t_458^0-t_458^post230 == 0 /\ a_632^0-a_632^post230 == 0 /\ -a_1162^post230+a_1162^0 == 0 /\ -x_253^post230+x_253^0 == 0 /\ len_161^0-len_161^post230 == 0 /\ result_11^10-temp0_31^10 == 0 /\ a_634^0-a_634^post230 == 0 /\ a_310^0-a_310^post230 == 0 /\ a_311^0-a_311^post230 == 0 /\ length_29^0-i_30^0 <= 0 /\ -f_248^post230+f_248^0 == 0 /\ a_263^0-a_263^post230 == 0 /\ head_15^post230-x_14^post230 <= 0 /\ -len_861^post230+len_861^0 == 0 /\ -rcd_88^post230+rcd_88^0 == 0 /\ x_21^0-x_21^post230 == 0 /\ -a_577^post230+a_577^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ a_1236^0-a_1236^post230 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post230 == 0 /\ -i_1248^post230+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230 == 0 /\ a_176^0-a_176^post230 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ y_20^0-y_20^post230 == 0 /\ -a_395^post230+a_395^0 == 0 /\ len_262^0-len_262^post230 == 0 /\ -a_576^post230+a_576^0 == 0 /\ a_121^0-a_121^post230 == 0 /\ -a_924^post230+a_924^0 == 0 /\ x_156^0-x_156^post230 == 0 /\ -r_143^post230+r_143^0 == 0 /\ f_847^0-f_847^post230 == 0 /\ -a_575^post230+a_575^0 == 0 /\ -x_852^post230+x_852^0 == 0 /\ -a_309^post230+a_309^0 == 0 /\ -a_144^post230+a_144^0 == 0 /\ i_27^0-i_27^post230 == 0 /\ r_192^0-r_192^post230 == 0 /\ -x_17^post230+x_17^0 == 0 /\ t_24^0-t_24^post230 == 0 /\ i_107^0-i_107^post230 == 0 /\ head_15^post230-result_11^10 == 0 /\ a_393^0-a_393^post230 == 0 /\ -temp0_16^post230+temp0_16^0 == 0 /\ a_635^0-a_635^post230 == 0 /\ i_94^0-i_94^post230 == 0 /\ i_113^0-i_113^post230 == 0 /\ temp0_31^10-head_32^0 == 0 /\ a_862^0-a_862^post230 == 0 /\ -len_238^post230+len_238^0 == 0 /\ -r_151^post230+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post230 == 0 /\ -a_610^post230+a_610^0 == 0 /\ a_432^0-a_432^post230 == 0 /\ a_431^0-a_431^post230 == 0 /\ a_902^0-a_902^post230 == 0 /\ a_239^0-a_239^post230 == 0 /\ r_39^0-r_39^post230 == 0 /\ nondet_12^0-nondet_12^post230 == 0 /\ -a_633^post230+a_633^0 == 0 /\ r_224^0-r_224^post230 == 0 /\ x_975^0-x_975^post230 == 0 /\ -i_127^post230+i_127^0 == 0 /\ -rcd_47^post230+rcd_47^0 == 0 /\ -a_579^post230+a_579^0 == 0 /\ i_106^0-i_106^post230 == 0 /\ -a_392^post230+a_392^0 == 0 /\ a_947^0-a_947^post230 == 0), cost: 1 231: l145 -> l146 : a_1089^0'=a_1089^post231, f_847^0'=f_847^post231, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post231, a_394^0'=a_394^post231, x_156^0'=x_156^post231, a_632^0'=a_632^post231, r_192^0'=r_192^post231, a_176^0'=a_176^post231, i_106^0'=i_106^post231, a_430^0'=a_430^post231, t_458^0'=t_458^post231, len_161^0'=len_161^post231, x_975^0'=x_975^post231, a_902^0'=a_902^post231, a_947^0'=a_947^post231, rcd_88^0'=rcd_88^post231, a_311^0'=a_311^post231, i_140^0'=i_140^post231, a_577^0'=a_577^post231, x_14^0'=x_14^post231, nondet_12^0'=nondet_12^post231, a_121^0'=a_121^post231, head_15^0'=head_15^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231, i_27^0'=i_27^post231, x_21^0'=x_21^post231, a_634^0'=a_634^post231, r_39^0'=r_39^post231, a_263^0'=a_263^post231, i_113^0'=i_113^post231, a_432^0'=a_432^post231, temp0_31^0'=temp0_31^post231, len_262^0'=len_262^post231, y_20^0'=y_20^post231, f_248^0'=f_248^post231, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231, a_393^0'=a_393^post231, i_229^0'=i_229^post231, a_610^0'=a_610^post231, r_151^0'=r_151^post231, a_144^0'=a_144^post231, i_1053^0'=i_1053^post231, a_417^0'=a_417^post231, t_24^0'=t_24^post231, i_94^0'=i_94^post231, x_852^0'=x_852^post231, a_862^0'=a_862^post231, rcd_1249^0'=rcd_1249^post231, rcd_58^0'=rcd_58^post231, a_310^0'=a_310^post231, i_127^0'=i_127^post231, a_576^0'=a_576^post231, tmp_34^0'=tmp_34^post231, length_29^0'=length_29^post231, a_1162^0'=a_1162^post231, f_969^0'=f_969^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231, a_395^0'=a_395^post231, x_17^0'=x_17^post231, a_633^0'=a_633^post231, r_224^0'=r_224^post231, a_239^0'=a_239^post231, i_107^0'=i_107^post231, a_431^0'=a_431^post231, temp0_16^0'=temp0_16^post231, len_238^0'=len_238^post231, x_SLAM_f_19^0'=x_SLAM_f_19^post231, a_924^0'=a_924^post231, ct_18^0'=ct_18^post231, result_11^0'=result_11^post231, a_392^0'=a_392^post231, i_197^0'=i_197^post231, a_579^0'=a_579^post231, r_143^0'=r_143^post231, a_1236^0'=a_1236^post231, head_32^0'=head_32^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231, i_30^0'=i_30^post231, x_253^0'=x_253^post231, a_635^0'=a_635^post231, r_970^0'=r_970^post231, rcd_47^0'=rcd_47^post231, a_309^0'=a_309^post231, i_1248^0'=i_1248^post231, a_575^0'=a_575^post231, temp_35^0'=temp_35^post231, len_861^0'=len_861^post231, (0 == 0 /\ 2-i_30^post231 <= 0 /\ x_156^0-x_156^post231 == 0 /\ 2-length_29^0 <= 0 /\ -r_151^post231+r_151^0 == 0 /\ -a_575^post231+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231 == 0 /\ -r_143^post231+r_143^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+head_32^post231 <= 0 /\ a_579^0-a_579^post231 == 0 /\ a_632^0-a_632^post231 == 0 /\ a_430^0-a_430^post231 == 0 /\ x_975^0-x_975^post231 == 0 /\ len_262^0-len_262^post231 == 0 /\ -a_576^post231+a_576^0 == 0 /\ a_577^0-a_577^post231 == 0 /\ a_902^0-a_902^post231 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post231 == 0 /\ -a_309^post231+a_309^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-tmp_34^post231 <= 0 /\ i_229^0-i_229^post231 == 0 /\ a_1162^0-a_1162^post231 == 0 /\ a_634^0-a_634^post231 == 0 /\ -a_144^post231+a_144^0 == 0 /\ -x_SLAM_f_19^post231+x_SLAM_f_19^0 == 0 /\ a_394^0-a_394^post231 == 0 /\ -len_238^post231+len_238^0 == 0 /\ -a_610^post231+a_610^0 == 0 /\ a_310^0-a_310^post231 == 0 /\ -a_1236^post231+a_1236^0 == 0 /\ i_1053^0-i_1053^post231 == 0 /\ a_176^0-a_176^post231 == 0 /\ -a_633^post231+a_633^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-head_32^post231 <= 0 /\ tmp_34^post231-temp_35^0 == 0 /\ i_140^0-i_140^post231 == 0 /\ -rcd_47^post231+rcd_47^0 == 0 /\ -f_969^post231+f_969^0 == 0 /\ -i_27^post231+i_27^0 == 0 /\ f_847^0-f_847^post231 == 0 /\ a_392^0-a_392^post231 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+tmp_34^post231 <= 0 /\ 1-length_29^0 <= 0 /\ t_24^0-t_24^post231 == 0 /\ -length_29^post231+length_29^0 == 0 /\ -1+i_30^post231-i_30^0 == 0 /\ -r_192^post231+r_192^0 == 0 /\ -ct_18^post231+ct_18^0 == 0 /\ -2+i_30^post231 <= 0 /\ -i_127^post231+i_127^0 == 0 /\ i_94^0-i_94^post231 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231 == 0 /\ -a_431^post231+a_431^0 == 0 /\ -head_15^post231+head_15^0 == 0 /\ -x_253^post231+x_253^0 == 0 /\ -i_197^post231+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post231-length_29^0 <= 0 /\ -x_852^post231+x_852^0 == 0 /\ -a_311^post231+a_311^0 == 0 /\ y_20^0-y_20^post231 == 0 /\ a_432^0-a_432^post231 == 0 /\ a_862^0-a_862^post231 == 0 /\ i_113^0-i_113^post231 == 0 /\ r_970^0-r_970^post231 == 0 /\ -len_161^post231+len_161^0 == 0 /\ a_121^0-a_121^post231 == 0 /\ x_21^0-x_21^post231 == 0 /\ -rcd_88^post231+rcd_88^0 == 0 /\ -tmp_34^post231+head_32^post231 <= 0 /\ -tmp_34^post231+head_32^post231 == 0 /\ nondet_12^0-nondet_12^post231 == 0 /\ -temp0_16^post231+temp0_16^0 == 0 /\ a_947^0-a_947^post231 == 0 /\ -len_861^post231+len_861^0 == 0 /\ -a_417^post231+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post231+length_29^0 <= 0 /\ a_395^0-a_395^post231 == 0 /\ -f_248^post231+f_248^0 == 0 /\ x_14^0-x_14^post231 == 0 /\ -result_11^post231+result_11^0 == 0 /\ i_107^0-i_107^post231 == 0 /\ -rcd_1249^post231+rcd_1249^0 == 0 /\ r_39^0-r_39^post231 == 0 /\ t_458^0-t_458^post231 == 0 /\ -a_924^post231+a_924^0 == 0 /\ -r_224^post231+r_224^0 == 0 /\ -i_1248^post231+i_1248^0 == 0 /\ tmp_34^post231-head_32^post231 <= 0 /\ -a_393^post231+a_393^0 == 0 /\ a_1089^0-a_1089^post231 == 0 /\ -a_239^post231+a_239^0 == 0 /\ -x_17^post231+x_17^0 == 0 /\ i_106^0-i_106^post231 == 0 /\ a_263^0-a_263^post231 == 0 /\ -a_635^post231+a_635^0 == 0), cost: 1 364: l146 -> l119 : a_1089^0'=a_1089^post364, f_847^0'=f_847^post364, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, a_394^0'=a_394^post364, x_156^0'=x_156^post364, a_632^0'=a_632^post364, r_192^0'=r_192^post364, a_176^0'=a_176^post364, i_106^0'=i_106^post364, a_430^0'=a_430^post364, t_458^0'=t_458^post364, len_161^0'=len_161^post364, x_975^0'=x_975^post364, a_902^0'=a_902^post364, a_947^0'=a_947^post364, rcd_88^0'=rcd_88^post364, a_311^0'=a_311^post364, i_140^0'=i_140^post364, a_577^0'=a_577^post364, x_14^0'=x_14^post364, nondet_12^0'=nondet_12^post364, a_121^0'=a_121^post364, head_15^0'=head_15^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364, i_27^0'=i_27^post364, x_21^0'=x_21^post364, a_634^0'=a_634^post364, r_39^0'=r_39^post364, a_263^0'=a_263^post364, i_113^0'=i_113^post364, a_432^0'=a_432^post364, temp0_31^0'=temp0_31^post364, len_262^0'=len_262^post364, y_20^0'=y_20^post364, f_248^0'=f_248^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, a_393^0'=a_393^post364, i_229^0'=i_229^post364, a_610^0'=a_610^post364, r_151^0'=r_151^post364, a_144^0'=a_144^post364, i_1053^0'=i_1053^post364, a_417^0'=a_417^post364, t_24^0'=t_24^post364, i_94^0'=i_94^post364, x_852^0'=x_852^post364, a_862^0'=a_862^post364, rcd_1249^0'=rcd_1249^post364, rcd_58^0'=rcd_58^post364, a_310^0'=a_310^post364, i_127^0'=i_127^post364, a_576^0'=a_576^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, a_1162^0'=a_1162^post364, f_969^0'=f_969^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364, a_395^0'=a_395^post364, x_17^0'=x_17^post364, a_633^0'=a_633^post364, r_224^0'=r_224^post364, a_239^0'=a_239^post364, i_107^0'=i_107^post364, a_431^0'=a_431^post364, temp0_16^0'=temp0_16^post364, len_238^0'=len_238^post364, x_SLAM_f_19^0'=x_SLAM_f_19^post364, a_924^0'=a_924^post364, ct_18^0'=ct_18^post364, result_11^0'=result_11^post364, a_392^0'=a_392^post364, i_197^0'=i_197^post364, a_579^0'=a_579^post364, r_143^0'=r_143^post364, a_1236^0'=a_1236^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364, i_30^0'=i_30^post364, x_253^0'=x_253^post364, a_635^0'=a_635^post364, r_970^0'=r_970^post364, rcd_47^0'=rcd_47^post364, a_309^0'=a_309^post364, i_1248^0'=i_1248^post364, a_575^0'=a_575^post364, temp_35^0'=temp_35^post364, len_861^0'=len_861^post364, (0 == 0 /\ f_847^0-f_847^post364 == 0 /\ -len_238^post364+len_238^0 == 0 /\ ct_18^0-ct_18^post364 == 0 /\ r_192^0-r_192^post364 == 0 /\ head_15^post364-x_14^post364 <= 0 /\ f_248^0-f_248^post364 == 0 /\ -x_SLAM_f_19^post364+x_SLAM_f_19^0 == 0 /\ -r_143^post364+r_143^0 == 0 /\ -i_107^post364+i_107^0 == 0 /\ -y_20^post364+y_20^0 == 0 /\ a_417^0-a_417^post364 == 0 /\ -a_575^post364+a_575^0 == 0 /\ x_156^0-x_156^post364 == 0 /\ i_27^0-i_27^post364 == 0 /\ i_127^0-i_127^post364 == 0 /\ -r_970^post364+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_94^0-i_94^post364 == 0 /\ i_113^0-i_113^post364 == 0 /\ length_29^0-i_30^0 <= 0 /\ -a_431^post364+a_431^0 == 0 /\ a_432^0-a_432^post364 == 0 /\ -i_1248^post364+i_1248^0 == 0 /\ -a_392^post364+a_392^0 == 0 /\ -a_239^post364+a_239^0 == 0 /\ -head_15^post364+x_14^post364 <= 0 /\ -head_15^post364+x_14^post364 == 0 /\ rcd_88^0-rcd_88^post364 == 0 /\ -a_310^post364+a_310^0 == 0 /\ -x_253^post364+x_253^0 == 0 /\ i_106^0-i_106^post364 == 0 /\ nondet_12^0-nondet_12^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364 == 0 /\ x_975^0-x_975^post364 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post364 == 0 /\ r_39^0-r_39^post364 == 0 /\ -a_121^post364+a_121^0 == 0 /\ -i_229^post364+i_229^0 == 0 /\ temp0_16^0-temp0_16^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ r_151^0-r_151^post364 == 0 /\ -r_224^post364+r_224^0 == 0 /\ -i_30^0 <= 0 /\ -i_1053^post364+i_1053^0 == 0 /\ a_610^0-a_610^post364 == 0 /\ -rcd_58^post364+rcd_58^0 == 0 /\ -a_309^post364+a_309^0 == 0 /\ a_393^0-a_393^post364 == 0 /\ a_430^0-a_430^post364 == 0 /\ -a_635^post364+a_635^0 == 0 /\ i_140^0-i_140^post364 == 0 /\ -a_395^post364+a_395^0 == 0 /\ -a_263^post364+a_263^0 == 0 /\ -i_197^post364+i_197^0 == 0 /\ a_632^0-a_632^post364 == 0 /\ -a_579^post364+a_579^0 == 0 /\ -a_862^post364+a_862^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ f_969^0-f_969^post364 == 0 /\ a_311^0-a_311^post364 == 0 /\ a_1089^0-a_1089^post364 == 0 /\ -a_1236^post364+a_1236^0 == 0 /\ a_633^0-a_633^post364 == 0 /\ a_176^0-a_176^post364 == 0 /\ -rcd_47^post364+rcd_47^0 == 0 /\ -a_924^post364+a_924^0 == 0 /\ -a_1162^post364+a_1162^0 == 0 /\ len_161^0-len_161^post364 == 0 /\ a_144^0-a_144^post364 == 0 /\ -x_17^post364+x_17^0 == 0 /\ -t_458^post364+t_458^0 == 0 /\ -t_24^post364+t_24^0 == 0 /\ a_576^0-a_576^post364 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -result_11^11+head_15^post364 == 0 /\ -a_634^post364+a_634^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ x_21^0-x_21^post364 == 0 /\ x_852^0-x_852^post364 == 0 /\ a_947^0-a_947^post364 == 0 /\ -len_861^post364+len_861^0 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ len_262^0-len_262^post364 == 0 /\ -a_902^post364+a_902^0 == 0 /\ a_394^0-a_394^post364 == 0 /\ a_577^0-a_577^post364 == 0), cost: 1 365: l146 -> l222 : a_1089^0'=a_1089^post365, f_847^0'=f_847^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post365, a_394^0'=a_394^post365, x_156^0'=x_156^post365, a_632^0'=a_632^post365, r_192^0'=r_192^post365, a_176^0'=a_176^post365, i_106^0'=i_106^post365, a_430^0'=a_430^post365, t_458^0'=t_458^post365, len_161^0'=len_161^post365, x_975^0'=x_975^post365, a_902^0'=a_902^post365, a_947^0'=a_947^post365, rcd_88^0'=rcd_88^post365, a_311^0'=a_311^post365, i_140^0'=i_140^post365, a_577^0'=a_577^post365, x_14^0'=x_14^post365, nondet_12^0'=nondet_12^post365, a_121^0'=a_121^post365, head_15^0'=head_15^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365, i_27^0'=i_27^post365, x_21^0'=x_21^post365, a_634^0'=a_634^post365, r_39^0'=r_39^post365, a_263^0'=a_263^post365, i_113^0'=i_113^post365, a_432^0'=a_432^post365, temp0_31^0'=temp0_31^post365, len_262^0'=len_262^post365, y_20^0'=y_20^post365, f_248^0'=f_248^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365, a_393^0'=a_393^post365, i_229^0'=i_229^post365, a_610^0'=a_610^post365, r_151^0'=r_151^post365, a_144^0'=a_144^post365, i_1053^0'=i_1053^post365, a_417^0'=a_417^post365, t_24^0'=t_24^post365, i_94^0'=i_94^post365, x_852^0'=x_852^post365, a_862^0'=a_862^post365, rcd_1249^0'=rcd_1249^post365, rcd_58^0'=rcd_58^post365, a_310^0'=a_310^post365, i_127^0'=i_127^post365, a_576^0'=a_576^post365, tmp_34^0'=tmp_34^post365, length_29^0'=length_29^post365, a_1162^0'=a_1162^post365, f_969^0'=f_969^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365, a_395^0'=a_395^post365, x_17^0'=x_17^post365, a_633^0'=a_633^post365, r_224^0'=r_224^post365, a_239^0'=a_239^post365, i_107^0'=i_107^post365, a_431^0'=a_431^post365, temp0_16^0'=temp0_16^post365, len_238^0'=len_238^post365, x_SLAM_f_19^0'=x_SLAM_f_19^post365, a_924^0'=a_924^post365, ct_18^0'=ct_18^post365, result_11^0'=result_11^post365, a_392^0'=a_392^post365, i_197^0'=i_197^post365, a_579^0'=a_579^post365, r_143^0'=r_143^post365, a_1236^0'=a_1236^post365, head_32^0'=head_32^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365, i_30^0'=i_30^post365, x_253^0'=x_253^post365, a_635^0'=a_635^post365, r_970^0'=r_970^post365, rcd_47^0'=rcd_47^post365, a_309^0'=a_309^post365, i_1248^0'=i_1248^post365, a_575^0'=a_575^post365, temp_35^0'=temp_35^post365, len_861^0'=len_861^post365, (0 == 0 /\ -a_862^post365+a_862^0 == 0 /\ -a_417^post365+a_417^0 == 0 /\ -i_27^post365+i_27^0 == 0 /\ -i_107^post365+i_107^0 == 0 /\ f_847^0-f_847^post365 == 0 /\ a_263^0-a_263^post365 == 0 /\ -a_575^post365+a_575^0 == 0 /\ -1+i_30^post365-i_94^post365 <= 0 /\ -a_1236^post365+a_1236^0 == 0 /\ -a_309^post365+a_309^0 == 0 /\ -a_635^post365+a_635^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ temp0_31^0-temp0_31^post365 == 0 /\ -a_393^post365+a_393^0 == 0 /\ i_229^0-i_229^post365 == 0 /\ a_634^0-a_634^post365 == 0 /\ head_15^0-head_15^post365 == 0 /\ nondet_12^0-nondet_12^post365 == 0 /\ a_121^0-a_121^post365 == 0 /\ -length_29^post365+length_29^0 == 0 /\ tmp_34^post365-temp_35^0 == 0 /\ x_156^0-x_156^post365 == 0 /\ len_262^0-len_262^post365 == 0 /\ a_947^0-a_947^post365 == 0 /\ r_192^0-r_192^post365 == 0 /\ i_127^0-i_127^post365 == 0 /\ i_113^0-i_113^post365 == 0 /\ -ct_18^post365+ct_18^0 == 0 /\ a_176^0-a_176^post365 == 0 /\ -len_238^post365+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post365+r_151^0 == 0 /\ a_430^0-a_430^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post365 == 0 /\ -a_579^post365+a_579^0 == 0 /\ x_14^0-x_14^post365 == 0 /\ a_1089^0-a_1089^post365 == 0 /\ -a_392^post365+a_392^0 == 0 /\ a_632^0-a_632^post365 == 0 /\ -rcd_1249^post365+rcd_1249^0 == 0 /\ a_633^0-a_633^post365 == 0 /\ a_432^0-a_432^post365 == 0 /\ -1+i_30^post365-i_30^0 == 0 /\ x_21^0-x_21^post365 == 0 /\ -i_197^post365+i_197^0 == 0 /\ 1-i_30^post365+i_94^post365 <= 0 /\ -x_253^post365+x_253^0 == 0 /\ -result_11^post365+result_11^0 == 0 /\ -i_30^0 <= 0 /\ temp0_16^0-temp0_16^post365 == 0 /\ -r_970^post365+r_970^0 == 0 /\ 1-length_29^0+i_94^post365 <= 0 /\ -a_902^post365+a_902^0 == 0 /\ i_140^0-i_140^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365 == 0 /\ a_431^0-a_431^post365 == 0 /\ -x_852^post365+x_852^0 == 0 /\ f_248^0-f_248^post365 == 0 /\ -a_1162^post365+a_1162^0 == 0 /\ x_975^0-x_975^post365 == 0 /\ x_17^0-x_17^post365 == 0 /\ -tmp_34^post365+head_32^post365 == 0 /\ y_20^0-y_20^post365 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365 == 0 /\ a_577^0-a_577^post365 == 0 /\ -rcd_47^post365+rcd_47^0 == 0 /\ a_144^0-a_144^post365 == 0 /\ a_394^0-a_394^post365 == 0 /\ -rcd_58^post365+rcd_58^0 == 0 /\ -a_311^post365+a_311^0 == 0 /\ -a_395^post365+a_395^0 == 0 /\ -len_861^post365+len_861^0 == 0 /\ -i_1248^post365+i_1248^0 == 0 /\ -x_SLAM_f_19^post365+x_SLAM_f_19^0 == 0 /\ -a_239^post365+a_239^0 == 0 /\ f_969^0-f_969^post365 == 0 /\ a_610^0-a_610^post365 == 0 /\ i_106^0-i_106^post365 == 0 /\ -r_224^post365+r_224^0 == 0 /\ t_24^0-t_24^post365 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post365 == 0 /\ r_39^0-r_39^post365 == 0 /\ -a_576^post365+a_576^0 == 0 /\ a_310^0-a_310^post365 == 0 /\ -a_924^post365+a_924^0 == 0 /\ -i_1053^post365+i_1053^0 == 0 /\ len_161^0-len_161^post365 == 0 /\ -r_143^post365+r_143^0 == 0), cost: 1 233: l147 -> l148 : a_1089^0'=a_1089^post233, f_847^0'=f_847^post233, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post233, a_394^0'=a_394^post233, x_156^0'=x_156^post233, a_632^0'=a_632^post233, r_192^0'=r_192^post233, a_176^0'=a_176^post233, i_106^0'=i_106^post233, a_430^0'=a_430^post233, t_458^0'=t_458^post233, len_161^0'=len_161^post233, x_975^0'=x_975^post233, a_902^0'=a_902^post233, a_947^0'=a_947^post233, rcd_88^0'=rcd_88^post233, a_311^0'=a_311^post233, i_140^0'=i_140^post233, a_577^0'=a_577^post233, x_14^0'=x_14^post233, nondet_12^0'=nondet_12^post233, a_121^0'=a_121^post233, head_15^0'=head_15^post233, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post233, i_27^0'=i_27^post233, x_21^0'=x_21^post233, a_634^0'=a_634^post233, r_39^0'=r_39^post233, a_263^0'=a_263^post233, i_113^0'=i_113^post233, a_432^0'=a_432^post233, temp0_31^0'=temp0_31^post233, len_262^0'=len_262^post233, y_20^0'=y_20^post233, f_248^0'=f_248^post233, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post233, a_393^0'=a_393^post233, i_229^0'=i_229^post233, a_610^0'=a_610^post233, r_151^0'=r_151^post233, a_144^0'=a_144^post233, i_1053^0'=i_1053^post233, a_417^0'=a_417^post233, t_24^0'=t_24^post233, i_94^0'=i_94^post233, x_852^0'=x_852^post233, a_862^0'=a_862^post233, rcd_1249^0'=rcd_1249^post233, rcd_58^0'=rcd_58^post233, a_310^0'=a_310^post233, i_127^0'=i_127^post233, a_576^0'=a_576^post233, tmp_34^0'=tmp_34^post233, length_29^0'=length_29^post233, a_1162^0'=a_1162^post233, f_969^0'=f_969^post233, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post233, a_395^0'=a_395^post233, x_17^0'=x_17^post233, a_633^0'=a_633^post233, r_224^0'=r_224^post233, a_239^0'=a_239^post233, i_107^0'=i_107^post233, a_431^0'=a_431^post233, temp0_16^0'=temp0_16^post233, len_238^0'=len_238^post233, x_SLAM_f_19^0'=x_SLAM_f_19^post233, a_924^0'=a_924^post233, ct_18^0'=ct_18^post233, result_11^0'=result_11^post233, a_392^0'=a_392^post233, i_197^0'=i_197^post233, a_579^0'=a_579^post233, r_143^0'=r_143^post233, a_1236^0'=a_1236^post233, head_32^0'=head_32^post233, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post233, i_30^0'=i_30^post233, x_253^0'=x_253^post233, a_635^0'=a_635^post233, r_970^0'=r_970^post233, rcd_47^0'=rcd_47^post233, a_309^0'=a_309^post233, i_1248^0'=i_1248^post233, a_575^0'=a_575^post233, temp_35^0'=temp_35^post233, len_861^0'=len_861^post233, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post233+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post233 == 0 /\ a_610^0-a_610^post233 == 0 /\ a_902^0-a_902^post233 == 0 /\ t_458^0-t_458^post233 == 0 /\ i_106^0-i_106^post233 == 0 /\ head_15^0-head_15^post233 == 0 /\ -rcd_47^post233+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post233 == 0 /\ a_311^0-a_311^post233 == 0 /\ 1-x_14^0 <= 0 /\ i_127^0-i_127^post233 == 0 /\ x_156^0-x_156^post233 == 0 /\ -a_924^post233+a_924^0 == 0 /\ -result_11^post233+result_11^0 == 0 /\ a_1089^0-a_1089^post233 == 0 /\ -r_143^post233+r_143^0 == 0 /\ a_632^0-a_632^post233 == 0 /\ -len_238^post233+len_238^0 == 0 /\ a_1236^0-a_1236^post233 == 0 /\ -x_21^post233+x_21^0 == 0 /\ x_852^0-x_852^post233 == 0 /\ -temp_35^post233+temp_35^0 == 0 /\ -x_SLAM_f_19^post233+x_SLAM_f_19^0 == 0 /\ -y_20^post233+y_20^0 == 0 /\ temp0_31^0-temp0_31^post233 == 0 /\ -a_392^post233+a_392^0 == 0 /\ len_262^0-len_262^post233 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post233+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_113^post233+i_113^0 == 0 /\ -i_94^post233+i_94^0 == 0 /\ f_847^0-f_847^post233 == 0 /\ -r_970^post233+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post233 == 0 /\ -a_121^post233+a_121^0 == 0 /\ a_394^0-a_394^post233 == 0 /\ -a_310^post233+a_310^0 == 0 /\ -a_431^post233+a_431^0 == 0 /\ -a_432^post233+a_432^0 == 0 /\ -i_229^post233+i_229^0 == 0 /\ a_176^0-a_176^post233 == 0 /\ -x_253^post233+x_253^0 == 0 /\ r_151^0-r_151^post233 == 0 /\ a_239^0-a_239^post233 == 0 /\ -i_1053^post233+i_1053^0 == 0 /\ -length_29^post233+length_29^0 == 0 /\ a_430^0-a_430^post233 == 0 /\ rcd_1249^0-rcd_1249^post233 == 0 /\ -rcd_58^post233+rcd_58^0 == 0 /\ x_975^0-x_975^post233 == 0 /\ -r_224^post233+r_224^0 == 0 /\ -a_395^post233+a_395^0 == 0 /\ -a_862^post233+a_862^0 == 0 /\ -len_861^post233+len_861^0 == 0 /\ -r_39^post233+r_39^0 == 0 /\ -a_577^post233+a_577^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post233+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post233+i_1248^0 == 0 /\ a_393^0-a_393^post233 == 0 /\ -head_32^post233+head_32^0 == 0 /\ a_633^0-a_633^post233 == 0 /\ i_27^0-i_27^post233 == 0 /\ x_14^0-x_14^post233 == 0 /\ f_969^0-f_969^post233 == 0 /\ -a_579^post233+a_579^0 == 0 /\ -x_17^post233+x_17^0 == 0 /\ r_192^0-r_192^post233 == 0 /\ -i_197^post233+i_197^0 == 0 /\ temp0_16^0-temp0_16^post233 == 0 /\ len_161^0-len_161^post233 == 0 /\ a_144^0-a_144^post233 == 0 /\ nondet_12^0-nondet_12^post233 == 0 /\ -i_30^post233+i_30^0 == 0 /\ -a_263^post233+a_263^0 == 0 /\ i_140^0-i_140^post233 == 0 /\ a_417^0-a_417^post233 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post233 == 0 /\ -i_107^post233+i_107^0 == 0 /\ -a_575^post233+a_575^0 == 0 /\ a_634^0-a_634^post233 == 0 /\ a_576^0-a_576^post233 == 0 /\ -t_24^post233+t_24^0 == 0 /\ a_947^0-a_947^post233 == 0 /\ -a_635^post233+a_635^0 == 0 /\ -a_309^post233+a_309^0 == 0 /\ -ct_18^post233+ct_18^0 == 0 /\ -tmp_34^post233+tmp_34^0 == 0 /\ -a_1162^post233+a_1162^0 == 0), cost: 1 234: l147 -> l148 : a_1089^0'=a_1089^post234, f_847^0'=f_847^post234, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post234, a_394^0'=a_394^post234, x_156^0'=x_156^post234, a_632^0'=a_632^post234, r_192^0'=r_192^post234, a_176^0'=a_176^post234, i_106^0'=i_106^post234, a_430^0'=a_430^post234, t_458^0'=t_458^post234, len_161^0'=len_161^post234, x_975^0'=x_975^post234, a_902^0'=a_902^post234, a_947^0'=a_947^post234, rcd_88^0'=rcd_88^post234, a_311^0'=a_311^post234, i_140^0'=i_140^post234, a_577^0'=a_577^post234, x_14^0'=x_14^post234, nondet_12^0'=nondet_12^post234, a_121^0'=a_121^post234, head_15^0'=head_15^post234, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post234, i_27^0'=i_27^post234, x_21^0'=x_21^post234, a_634^0'=a_634^post234, r_39^0'=r_39^post234, a_263^0'=a_263^post234, i_113^0'=i_113^post234, a_432^0'=a_432^post234, temp0_31^0'=temp0_31^post234, len_262^0'=len_262^post234, y_20^0'=y_20^post234, f_248^0'=f_248^post234, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post234, a_393^0'=a_393^post234, i_229^0'=i_229^post234, a_610^0'=a_610^post234, r_151^0'=r_151^post234, a_144^0'=a_144^post234, i_1053^0'=i_1053^post234, a_417^0'=a_417^post234, t_24^0'=t_24^post234, i_94^0'=i_94^post234, x_852^0'=x_852^post234, a_862^0'=a_862^post234, rcd_1249^0'=rcd_1249^post234, rcd_58^0'=rcd_58^post234, a_310^0'=a_310^post234, i_127^0'=i_127^post234, a_576^0'=a_576^post234, tmp_34^0'=tmp_34^post234, length_29^0'=length_29^post234, a_1162^0'=a_1162^post234, f_969^0'=f_969^post234, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post234, a_395^0'=a_395^post234, x_17^0'=x_17^post234, a_633^0'=a_633^post234, r_224^0'=r_224^post234, a_239^0'=a_239^post234, i_107^0'=i_107^post234, a_431^0'=a_431^post234, temp0_16^0'=temp0_16^post234, len_238^0'=len_238^post234, x_SLAM_f_19^0'=x_SLAM_f_19^post234, a_924^0'=a_924^post234, ct_18^0'=ct_18^post234, result_11^0'=result_11^post234, a_392^0'=a_392^post234, i_197^0'=i_197^post234, a_579^0'=a_579^post234, r_143^0'=r_143^post234, a_1236^0'=a_1236^post234, head_32^0'=head_32^post234, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post234, i_30^0'=i_30^post234, x_253^0'=x_253^post234, a_635^0'=a_635^post234, r_970^0'=r_970^post234, rcd_47^0'=rcd_47^post234, a_309^0'=a_309^post234, i_1248^0'=i_1248^post234, a_575^0'=a_575^post234, temp_35^0'=temp_35^post234, len_861^0'=len_861^post234, (-i_229^post234+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post234+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_310^post234+a_310^0 == 0 /\ -a_395^post234+a_395^0 == 0 /\ result_11^0-result_11^post234 == 0 /\ a_576^0-a_576^post234 == 0 /\ a_144^0-a_144^post234 == 0 /\ a_1089^0-a_1089^post234 == 0 /\ x_852^0-x_852^post234 == 0 /\ x_17^0-x_17^post234 == 0 /\ a_634^0-a_634^post234 == 0 /\ -length_29^post234+length_29^0 == 0 /\ -temp0_16^post234+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post234 == 0 /\ -r_39^post234+r_39^0 == 0 /\ -a_392^post234+a_392^0 == 0 /\ -a_862^post234+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post234 == 0 /\ -i_1248^post234+i_1248^0 == 0 /\ -r_224^post234+r_224^0 == 0 /\ -len_861^post234+len_861^0 == 0 /\ -a_579^post234+a_579^0 == 0 /\ -head_32^post234+head_32^0 == 0 /\ -a_393^post234+a_393^0 == 0 /\ -a_635^post234+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post234 == 0 /\ i_106^0-i_106^post234 == 0 /\ f_248^0-f_248^post234 == 0 /\ -i_30^post234+i_30^0 == 0 /\ -a_263^post234+a_263^0 == 0 /\ tmp_34^0-tmp_34^post234 == 0 /\ a_239^0-a_239^post234 == 0 /\ -i_197^post234+i_197^0 == 0 /\ t_458^0-t_458^post234 == 0 /\ r_143^0-r_143^post234 == 0 /\ len_161^0-len_161^post234 == 0 /\ -i_107^post234+i_107^0 == 0 /\ -a_633^post234+a_633^0 == 0 /\ x_21^0-x_21^post234 == 0 /\ -t_24^post234+t_24^0 == 0 /\ -a_575^post234+a_575^0 == 0 /\ a_610^0-a_610^post234 == 0 /\ a_1236^0-a_1236^post234 == 0 /\ -a_309^post234+a_309^0 == 0 /\ -ct_18^post234+ct_18^0 == 0 /\ -a_1162^post234+a_1162^0 == 0 /\ -rcd_47^post234+rcd_47^0 == 0 /\ -a_924^post234+a_924^0 == 0 /\ -a_632^post234+a_632^0 == 0 /\ temp0_31^0-temp0_31^post234 == 0 /\ i_27^0-i_27^post234 == 0 /\ a_121^0-a_121^post234 == 0 /\ -i_140^post234+i_140^0 == 0 /\ x_156^0-x_156^post234 == 0 /\ x_253^0-x_253^post234 == 0 /\ len_262^0-len_262^post234 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post234 == 0 /\ a_947^0-a_947^post234 == 0 /\ f_847^0-f_847^post234 == 0 /\ -x_975^post234+x_975^0 == 0 /\ nondet_12^0-nondet_12^post234 == 0 /\ i_1053^0-i_1053^post234 == 0 /\ a_394^0-a_394^post234 == 0 /\ rcd_58^0-rcd_58^post234 == 0 /\ a_176^0-a_176^post234 == 0 /\ -f_969^post234+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post234 == 0 /\ a_417^0-a_417^post234 == 0 /\ len_238^0-len_238^post234 == 0 /\ -a_432^post234+a_432^0 == 0 /\ -r_970^post234+r_970^0 == 0 /\ -a_431^post234+a_431^0 == 0 /\ r_151^0-r_151^post234 == 0 /\ -i_113^post234+i_113^0 == 0 /\ a_577^0-a_577^post234 == 0 /\ -i_94^post234+i_94^0 == 0 /\ a_311^0-a_311^post234 == 0 /\ a_902^0-a_902^post234 == 0 /\ i_127^0-i_127^post234 == 0 /\ head_15^0-head_15^post234 == 0 /\ 1+x_14^0 <= 0 /\ r_192^0-r_192^post234 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post234 == 0 /\ -temp_35^post234+temp_35^0 == 0 /\ x_14^0-x_14^post234 == 0 /\ a_430^0-a_430^post234 == 0 /\ -x_SLAM_f_19^post234+x_SLAM_f_19^0 == 0 /\ -y_20^post234+y_20^0 == 0), cost: 1 235: l148 -> l149 : a_1089^0'=a_1089^post235, f_847^0'=f_847^post235, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post235, a_394^0'=a_394^post235, x_156^0'=x_156^post235, a_632^0'=a_632^post235, r_192^0'=r_192^post235, a_176^0'=a_176^post235, i_106^0'=i_106^post235, a_430^0'=a_430^post235, t_458^0'=t_458^post235, len_161^0'=len_161^post235, x_975^0'=x_975^post235, a_902^0'=a_902^post235, a_947^0'=a_947^post235, rcd_88^0'=rcd_88^post235, a_311^0'=a_311^post235, i_140^0'=i_140^post235, a_577^0'=a_577^post235, x_14^0'=x_14^post235, nondet_12^0'=nondet_12^post235, a_121^0'=a_121^post235, head_15^0'=head_15^post235, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post235, i_27^0'=i_27^post235, x_21^0'=x_21^post235, a_634^0'=a_634^post235, r_39^0'=r_39^post235, a_263^0'=a_263^post235, i_113^0'=i_113^post235, a_432^0'=a_432^post235, temp0_31^0'=temp0_31^post235, len_262^0'=len_262^post235, y_20^0'=y_20^post235, f_248^0'=f_248^post235, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post235, a_393^0'=a_393^post235, i_229^0'=i_229^post235, a_610^0'=a_610^post235, r_151^0'=r_151^post235, a_144^0'=a_144^post235, i_1053^0'=i_1053^post235, a_417^0'=a_417^post235, t_24^0'=t_24^post235, i_94^0'=i_94^post235, x_852^0'=x_852^post235, a_862^0'=a_862^post235, rcd_1249^0'=rcd_1249^post235, rcd_58^0'=rcd_58^post235, a_310^0'=a_310^post235, i_127^0'=i_127^post235, a_576^0'=a_576^post235, tmp_34^0'=tmp_34^post235, length_29^0'=length_29^post235, a_1162^0'=a_1162^post235, f_969^0'=f_969^post235, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post235, a_395^0'=a_395^post235, x_17^0'=x_17^post235, a_633^0'=a_633^post235, r_224^0'=r_224^post235, a_239^0'=a_239^post235, i_107^0'=i_107^post235, a_431^0'=a_431^post235, temp0_16^0'=temp0_16^post235, len_238^0'=len_238^post235, x_SLAM_f_19^0'=x_SLAM_f_19^post235, a_924^0'=a_924^post235, ct_18^0'=ct_18^post235, result_11^0'=result_11^post235, a_392^0'=a_392^post235, i_197^0'=i_197^post235, a_579^0'=a_579^post235, r_143^0'=r_143^post235, a_1236^0'=a_1236^post235, head_32^0'=head_32^post235, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post235, i_30^0'=i_30^post235, x_253^0'=x_253^post235, a_635^0'=a_635^post235, r_970^0'=r_970^post235, rcd_47^0'=rcd_47^post235, a_309^0'=a_309^post235, i_1248^0'=i_1248^post235, a_575^0'=a_575^post235, temp_35^0'=temp_35^post235, len_861^0'=len_861^post235, (a_430^0-a_430^post235 == 0 /\ t_458^0-t_458^post235 == 0 /\ x_975^0-x_975^post235 == 0 /\ -rcd_1249^post235+rcd_1249^0 == 0 /\ i_106^0-i_106^post235 == 0 /\ a_632^0-a_632^post235 == 0 /\ -a_431^post235+a_431^0 == 0 /\ -a_610^post235+a_610^0 == 0 /\ -x_253^post235+x_253^0 == 0 /\ -len_238^post235+len_238^0 == 0 /\ t_24^0-t_24^post235 == 0 /\ a_393^0-a_393^post235 == 0 /\ -result_11^post235+result_11^0 == 0 /\ -a_924^post235+a_924^0 == 0 /\ f_969^0-f_969^post235 == 0 /\ a_1236^0-a_1236^post235 == 0 /\ -rcd_47^post235+rcd_47^0 == 0 /\ -r_143^post235+r_143^0 == 0 /\ x_852^0-x_852^post235 == 0 /\ -i_94^post235+i_94^0 == 0 /\ -r_224^post235+r_224^0 == 0 /\ -temp_35^post235+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post235 == 0 /\ 1-t_24^0 <= 0 /\ -r_970^post235+r_970^0 == 0 /\ i_140^0-i_140^post235 == 0 /\ a_862^0-a_862^post235 == 0 /\ a_579^0-a_579^post235 == 0 /\ -i_113^post235+i_113^0 == 0 /\ x_156^0-x_156^post235 == 0 /\ len_161^0-len_161^post235 == 0 /\ -x_SLAM_f_19^post235+x_SLAM_f_19^0 == 0 /\ a_176^0-a_176^post235 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post235 == 0 /\ f_847^0-f_847^post235 == 0 /\ a_394^0-a_394^post235 == 0 /\ head_15^0-head_15^post235 == 0 /\ -i_229^post235+i_229^0 == 0 /\ rcd_58^0-rcd_58^post235 == 0 /\ r_151^0-r_151^post235 == 0 /\ -f_248^post235+f_248^0 == 0 /\ -a_432^post235+a_432^0 == 0 /\ a_311^0-a_311^post235 == 0 /\ a_395^0-a_395^post235 == 0 /\ a_239^0-a_239^post235 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post235+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post235 == 0 /\ rcd_88^0-rcd_88^post235 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post235 == 0 /\ -length_29^post235+length_29^0 == 0 /\ -r_39^post235+r_39^0 == 0 /\ -a_577^post235+a_577^0 == 0 /\ -a_144^post235+a_144^0 == 0 /\ -i_1248^post235+i_1248^0 == 0 /\ i_1053^0-i_1053^post235 == 0 /\ a_635^0-a_635^post235 == 0 /\ -a_310^post235+a_310^0 == 0 /\ -len_262^post235+len_262^0 == 0 /\ -temp0_16^post235+temp0_16^0 == 0 /\ -x_17^post235+x_17^0 == 0 /\ -i_30^post235+i_30^0 == 0 /\ i_27^0-i_27^post235 == 0 /\ -a_392^post235+a_392^0 == 0 /\ a_1089^0-a_1089^post235 == 0 /\ -head_32^post235+head_32^0 == 0 /\ r_192^0-r_192^post235 == 0 /\ -x_21^post235+x_21^0 == 0 /\ -i_197^post235+i_197^0 == 0 /\ nondet_12^0-nondet_12^post235 == 0 /\ a_263^0-a_263^post235 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post235 == 0 /\ a_417^0-a_417^post235 == 0 /\ -a_309^post235+a_309^0 == 0 /\ a_634^0-a_634^post235 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post235 == 0 /\ a_576^0-a_576^post235 == 0 /\ -i_107^post235+i_107^0 == 0 /\ tmp_34^0-tmp_34^post235 == 0 /\ -x_14^post235+x_14^0 == 0 /\ -a_575^post235+a_575^0 == 0 /\ a_947^0-a_947^post235 == 0 /\ -ct_18^post235+ct_18^0 == 0 /\ -a_1162^post235+a_1162^0 == 0 /\ -i_127^post235+i_127^0 == 0 /\ y_20^0-y_20^post235 == 0 /\ len_861^0-len_861^post235 == 0 /\ -a_633^post235+a_633^0 == 0 /\ a_121^0-a_121^post235 == 0), cost: 1 236: l148 -> l149 : a_1089^0'=a_1089^post236, f_847^0'=f_847^post236, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post236, a_394^0'=a_394^post236, x_156^0'=x_156^post236, a_632^0'=a_632^post236, r_192^0'=r_192^post236, a_176^0'=a_176^post236, i_106^0'=i_106^post236, a_430^0'=a_430^post236, t_458^0'=t_458^post236, len_161^0'=len_161^post236, x_975^0'=x_975^post236, a_902^0'=a_902^post236, a_947^0'=a_947^post236, rcd_88^0'=rcd_88^post236, a_311^0'=a_311^post236, i_140^0'=i_140^post236, a_577^0'=a_577^post236, x_14^0'=x_14^post236, nondet_12^0'=nondet_12^post236, a_121^0'=a_121^post236, head_15^0'=head_15^post236, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post236, i_27^0'=i_27^post236, x_21^0'=x_21^post236, a_634^0'=a_634^post236, r_39^0'=r_39^post236, a_263^0'=a_263^post236, i_113^0'=i_113^post236, a_432^0'=a_432^post236, temp0_31^0'=temp0_31^post236, len_262^0'=len_262^post236, y_20^0'=y_20^post236, f_248^0'=f_248^post236, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post236, a_393^0'=a_393^post236, i_229^0'=i_229^post236, a_610^0'=a_610^post236, r_151^0'=r_151^post236, a_144^0'=a_144^post236, i_1053^0'=i_1053^post236, a_417^0'=a_417^post236, t_24^0'=t_24^post236, i_94^0'=i_94^post236, x_852^0'=x_852^post236, a_862^0'=a_862^post236, rcd_1249^0'=rcd_1249^post236, rcd_58^0'=rcd_58^post236, a_310^0'=a_310^post236, i_127^0'=i_127^post236, a_576^0'=a_576^post236, tmp_34^0'=tmp_34^post236, length_29^0'=length_29^post236, a_1162^0'=a_1162^post236, f_969^0'=f_969^post236, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post236, a_395^0'=a_395^post236, x_17^0'=x_17^post236, a_633^0'=a_633^post236, r_224^0'=r_224^post236, a_239^0'=a_239^post236, i_107^0'=i_107^post236, a_431^0'=a_431^post236, temp0_16^0'=temp0_16^post236, len_238^0'=len_238^post236, x_SLAM_f_19^0'=x_SLAM_f_19^post236, a_924^0'=a_924^post236, ct_18^0'=ct_18^post236, result_11^0'=result_11^post236, a_392^0'=a_392^post236, i_197^0'=i_197^post236, a_579^0'=a_579^post236, r_143^0'=r_143^post236, a_1236^0'=a_1236^post236, head_32^0'=head_32^post236, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post236, i_30^0'=i_30^post236, x_253^0'=x_253^post236, a_635^0'=a_635^post236, r_970^0'=r_970^post236, rcd_47^0'=rcd_47^post236, a_309^0'=a_309^post236, i_1248^0'=i_1248^post236, a_575^0'=a_575^post236, temp_35^0'=temp_35^post236, len_861^0'=len_861^post236, (-a_1236^post236+a_1236^0 == 0 /\ a_432^0-a_432^post236 == 0 /\ x_21^0-x_21^post236 == 0 /\ -a_309^post236+a_309^0 == 0 /\ f_847^0-f_847^post236 == 0 /\ a_144^0-a_144^post236 == 0 /\ a_263^0-a_263^post236 == 0 /\ -a_310^post236+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post236 == 0 /\ -x_17^post236+x_17^0 == 0 /\ a_862^0-a_862^post236 == 0 /\ i_140^0-i_140^post236 == 0 /\ -temp0_31^post236+temp0_31^0 == 0 /\ -a_392^post236+a_392^0 == 0 /\ -i_30^post236+i_30^0 == 0 /\ i_94^0-i_94^post236 == 0 /\ -a_635^post236+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post236 == 0 /\ r_151^0-r_151^post236 == 0 /\ -temp0_16^post236+temp0_16^0 == 0 /\ y_20^0-y_20^post236 == 0 /\ a_417^0-a_417^post236 == 0 /\ tmp_34^0-tmp_34^post236 == 0 /\ -r_224^post236+r_224^0 == 0 /\ -len_861^post236+len_861^0 == 0 /\ -i_1248^post236+i_1248^0 == 0 /\ a_394^0-a_394^post236 == 0 /\ a_577^0-a_577^post236 == 0 /\ -head_32^post236+head_32^0 == 0 /\ -a_579^post236+a_579^0 == 0 /\ -i_127^post236+i_127^0 == 0 /\ -ct_18^post236+ct_18^0 == 0 /\ r_143^0-r_143^post236 == 0 /\ -len_262^post236+len_262^0 == 0 /\ -i_197^post236+i_197^0 == 0 /\ i_106^0-i_106^post236 == 0 /\ i_27^0-i_27^post236 == 0 /\ t_24^0-t_24^post236 == 0 /\ r_39^0-r_39^post236 == 0 /\ t_458^0-t_458^post236 == 0 /\ a_393^0-a_393^post236 == 0 /\ a_430^0-a_430^post236 == 0 /\ -i_107^post236+i_107^0 == 0 /\ -a_575^post236+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post236 == 0 /\ i_229^0-i_229^post236 == 0 /\ -a_633^post236+a_633^0 == 0 /\ 1+t_24^0 <= 0 /\ -a_1162^post236+a_1162^0 == 0 /\ -result_11^post236+result_11^0 == 0 /\ -rcd_1249^post236+rcd_1249^0 == 0 /\ x_156^0-x_156^post236 == 0 /\ -a_610^post236+a_610^0 == 0 /\ -x_852^post236+x_852^0 == 0 /\ x_253^0-x_253^post236 == 0 /\ i_1053^0-i_1053^post236 == 0 /\ -f_969^post236+f_969^0 == 0 /\ a_121^0-a_121^post236 == 0 /\ a_902^0-a_902^post236 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post236 == 0 /\ rcd_58^0-rcd_58^post236 == 0 /\ x_975^0-x_975^post236 == 0 /\ -len_238^post236+len_238^0 == 0 /\ -head_15^post236+head_15^0 == 0 /\ -a_924^post236+a_924^0 == 0 /\ -r_970^post236+r_970^0 == 0 /\ a_947^0-a_947^post236 == 0 /\ -a_239^post236+a_239^0 == 0 /\ r_192^0-r_192^post236 == 0 /\ a_176^0-a_176^post236 == 0 /\ -x_SLAM_f_19^post236+x_SLAM_f_19^0 == 0 /\ i_113^0-i_113^post236 == 0 /\ rcd_88^0-rcd_88^post236 == 0 /\ a_311^0-a_311^post236 == 0 /\ length_29^0-length_29^post236 == 0 /\ rcd_47^0-rcd_47^post236 == 0 /\ -temp_35^post236+temp_35^0 == 0 /\ x_14^0-x_14^post236 == 0 /\ a_632^0-a_632^post236 == 0 /\ len_161^0-len_161^post236 == 0 /\ -f_248^post236+f_248^0 == 0 /\ -nondet_12^post236+nondet_12^0 == 0 /\ -a_634^post236+a_634^0 == 0 /\ -a_576^post236+a_576^0 == 0 /\ -a_431^post236+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post236+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post236+a_395^0 == 0 /\ a_1089^0-a_1089^post236 == 0), cost: 1 237: l149 -> l50 : a_1089^0'=a_1089^post237, f_847^0'=f_847^post237, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post237, a_394^0'=a_394^post237, x_156^0'=x_156^post237, a_632^0'=a_632^post237, r_192^0'=r_192^post237, a_176^0'=a_176^post237, i_106^0'=i_106^post237, a_430^0'=a_430^post237, t_458^0'=t_458^post237, len_161^0'=len_161^post237, x_975^0'=x_975^post237, a_902^0'=a_902^post237, a_947^0'=a_947^post237, rcd_88^0'=rcd_88^post237, a_311^0'=a_311^post237, i_140^0'=i_140^post237, a_577^0'=a_577^post237, x_14^0'=x_14^post237, nondet_12^0'=nondet_12^post237, a_121^0'=a_121^post237, head_15^0'=head_15^post237, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post237, i_27^0'=i_27^post237, x_21^0'=x_21^post237, a_634^0'=a_634^post237, r_39^0'=r_39^post237, a_263^0'=a_263^post237, i_113^0'=i_113^post237, a_432^0'=a_432^post237, temp0_31^0'=temp0_31^post237, len_262^0'=len_262^post237, y_20^0'=y_20^post237, f_248^0'=f_248^post237, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post237, a_393^0'=a_393^post237, i_229^0'=i_229^post237, a_610^0'=a_610^post237, r_151^0'=r_151^post237, a_144^0'=a_144^post237, i_1053^0'=i_1053^post237, a_417^0'=a_417^post237, t_24^0'=t_24^post237, i_94^0'=i_94^post237, x_852^0'=x_852^post237, a_862^0'=a_862^post237, rcd_1249^0'=rcd_1249^post237, rcd_58^0'=rcd_58^post237, a_310^0'=a_310^post237, i_127^0'=i_127^post237, a_576^0'=a_576^post237, tmp_34^0'=tmp_34^post237, length_29^0'=length_29^post237, a_1162^0'=a_1162^post237, f_969^0'=f_969^post237, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post237, a_395^0'=a_395^post237, x_17^0'=x_17^post237, a_633^0'=a_633^post237, r_224^0'=r_224^post237, a_239^0'=a_239^post237, i_107^0'=i_107^post237, a_431^0'=a_431^post237, temp0_16^0'=temp0_16^post237, len_238^0'=len_238^post237, x_SLAM_f_19^0'=x_SLAM_f_19^post237, a_924^0'=a_924^post237, ct_18^0'=ct_18^post237, result_11^0'=result_11^post237, a_392^0'=a_392^post237, i_197^0'=i_197^post237, a_579^0'=a_579^post237, r_143^0'=r_143^post237, a_1236^0'=a_1236^post237, head_32^0'=head_32^post237, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post237, i_30^0'=i_30^post237, x_253^0'=x_253^post237, a_635^0'=a_635^post237, r_970^0'=r_970^post237, rcd_47^0'=rcd_47^post237, a_309^0'=a_309^post237, i_1248^0'=i_1248^post237, a_575^0'=a_575^post237, temp_35^0'=temp_35^post237, len_861^0'=len_861^post237, (r_192^0-r_192^post237 == 0 /\ -f_969^post237+f_969^0 == 0 /\ i_113^0-i_113^post237 == 0 /\ r_39^0-r_39^post237 == 0 /\ i_1053^0-i_1053^post237 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post237+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post237+rcd_1249^0 == 0 /\ -a_610^post237+a_610^0 == 0 /\ length_29^0-length_29^post237 == 0 /\ -temp_35^post237+temp_35^0 == 0 /\ a_395^0-a_395^post237 == 0 /\ -r_970^post237+r_970^0 == 0 /\ len_161^0-len_161^post237 == 0 /\ -len_238^post237+len_238^0 == 0 /\ -rcd_47^post237+rcd_47^0 == 0 /\ -result_11^post237+result_11^0 == 0 /\ a_430^0-a_430^post237 == 0 /\ a_393^0-a_393^post237 == 0 /\ -x_21^post237+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post237 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_432^0-a_432^post237 == 0 /\ i_27^0-i_27^post237 == 0 /\ -x_253^post237+x_253^0 == 0 /\ x_156^0-x_156^post237 == 0 /\ a_1162^0-a_1162^post237 == 0 /\ -x_SLAM_f_19^post237+x_SLAM_f_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -i_1248^post237+i_1248^0 == 0 /\ -f_248^post237+f_248^0 == 0 /\ t_24^0-t_24^post237 == 0 /\ -a_239^post237+a_239^0 == 0 /\ i_140^0-i_140^post237 == 0 /\ i_197^0-i_197^post237 == 0 /\ a_862^0-a_862^post237 == 0 /\ -temp0_16^post237+temp0_16^0 == 0 /\ -len_861^post237+len_861^0 == 0 /\ a_634^0-a_634^post237 == 0 /\ -i_229^post237+i_229^0 == 0 /\ -a_576^post237+a_576^0 == 0 /\ -a_431^post237+a_431^0 == 0 /\ -a_924^post237+a_924^0 == 0 /\ head_15^0-head_15^post237 == 0 /\ head_32^0-head_32^post237 == 0 /\ a_417^0-a_417^post237 == 0 /\ -r_143^post237+r_143^0 == 0 /\ r_151^0-r_151^post237 == 0 /\ -nondet_12^post237+nondet_12^0 == 0 /\ a_311^0-a_311^post237 == 0 /\ -a_144^post237+a_144^0 == 0 /\ -a_309^post237+a_309^0 == 0 /\ t_458^0-t_458^post237 == 0 /\ a_577^0-a_577^post237 == 0 /\ a_902^0-a_902^post237 == 0 /\ i_30^0-i_30^post237 == 0 /\ -a_392^post237+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post237+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post237+a_575^0 == 0 /\ i_106^0-i_106^post237 == 0 /\ rcd_88^0-rcd_88^post237 == 0 /\ -a_1236^post237+a_1236^0 == 0 /\ -a_947^post237+a_947^0 == 0 /\ i_107^0-i_107^post237 == 0 /\ -len_262^post237+len_262^0 == 0 /\ -a_635^post237+a_635^0 == 0 /\ a_1089^0-a_1089^post237 == 0 /\ -i_94^post237+i_94^0 == 0 /\ -a_310^post237+a_310^0 == 0 /\ -x_17^post237+x_17^0 == 0 /\ a_632^0-a_632^post237 == 0 /\ -temp0_31^post237+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post237+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_852^0-x_852^post237 == 0 /\ -rcd_58^post237+rcd_58^0 == 0 /\ a_263^0-a_263^post237 == 0 /\ -a_633^post237+a_633^0 == 0 /\ -x_14^post237+x_14^0 == 0 /\ f_847^0-f_847^post237 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post237 == 0 /\ r_224^0-r_224^post237 == 0 /\ a_394^0-a_394^post237 == 0 /\ -i_127^post237+i_127^0 == 0 /\ x_975^0-x_975^post237 == 0 /\ a_176^0-a_176^post237 == 0 /\ a_121^0-a_121^post237 == 0 /\ y_20^0-y_20^post237 == 0 /\ -a_579^post237+a_579^0 == 0 /\ tmp_34^0-tmp_34^post237 == 0 /\ -ct_18^post237+ct_18^0 == 0), cost: 1 239: l151 -> l152 : a_1089^0'=a_1089^post239, f_847^0'=f_847^post239, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post239, a_394^0'=a_394^post239, x_156^0'=x_156^post239, a_632^0'=a_632^post239, r_192^0'=r_192^post239, a_176^0'=a_176^post239, i_106^0'=i_106^post239, a_430^0'=a_430^post239, t_458^0'=t_458^post239, len_161^0'=len_161^post239, x_975^0'=x_975^post239, a_902^0'=a_902^post239, a_947^0'=a_947^post239, rcd_88^0'=rcd_88^post239, a_311^0'=a_311^post239, i_140^0'=i_140^post239, a_577^0'=a_577^post239, x_14^0'=x_14^post239, nondet_12^0'=nondet_12^post239, a_121^0'=a_121^post239, head_15^0'=head_15^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239, i_27^0'=i_27^post239, x_21^0'=x_21^post239, a_634^0'=a_634^post239, r_39^0'=r_39^post239, a_263^0'=a_263^post239, i_113^0'=i_113^post239, a_432^0'=a_432^post239, temp0_31^0'=temp0_31^post239, len_262^0'=len_262^post239, y_20^0'=y_20^post239, f_248^0'=f_248^post239, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239, a_393^0'=a_393^post239, i_229^0'=i_229^post239, a_610^0'=a_610^post239, r_151^0'=r_151^post239, a_144^0'=a_144^post239, i_1053^0'=i_1053^post239, a_417^0'=a_417^post239, t_24^0'=t_24^post239, i_94^0'=i_94^post239, x_852^0'=x_852^post239, a_862^0'=a_862^post239, rcd_1249^0'=rcd_1249^post239, rcd_58^0'=rcd_58^post239, a_310^0'=a_310^post239, i_127^0'=i_127^post239, a_576^0'=a_576^post239, tmp_34^0'=tmp_34^post239, length_29^0'=length_29^post239, a_1162^0'=a_1162^post239, f_969^0'=f_969^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239, a_395^0'=a_395^post239, x_17^0'=x_17^post239, a_633^0'=a_633^post239, r_224^0'=r_224^post239, a_239^0'=a_239^post239, i_107^0'=i_107^post239, a_431^0'=a_431^post239, temp0_16^0'=temp0_16^post239, len_238^0'=len_238^post239, x_SLAM_f_19^0'=x_SLAM_f_19^post239, a_924^0'=a_924^post239, ct_18^0'=ct_18^post239, result_11^0'=result_11^post239, a_392^0'=a_392^post239, i_197^0'=i_197^post239, a_579^0'=a_579^post239, r_143^0'=r_143^post239, a_1236^0'=a_1236^post239, head_32^0'=head_32^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239, i_30^0'=i_30^post239, x_253^0'=x_253^post239, a_635^0'=a_635^post239, r_970^0'=r_970^post239, rcd_47^0'=rcd_47^post239, a_309^0'=a_309^post239, i_1248^0'=i_1248^post239, a_575^0'=a_575^post239, temp_35^0'=temp_35^post239, len_861^0'=len_861^post239, (-temp_35^post239+temp_35^0 == 0 /\ -rcd_1249^post239+rcd_1249^0 == 0 /\ -x_852^post239+x_852^0 == 0 /\ a_947^0-a_947^post239 == 0 /\ -r_970^post239+r_970^0 == 0 /\ i_27^0-i_27^post239 == 0 /\ r_192^0-r_192^post239 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_1053^0-i_1053^post239 == 0 /\ -a_924^post239+a_924^0 == 0 /\ a_395^0-a_395^post239 == 0 /\ a_176^0-a_176^post239 == 0 /\ r_39^0-r_39^post239 == 0 /\ -a_610^post239+a_610^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post239 == 0 /\ -ct_18^post239+ct_18^0 == 0 /\ -tmp_34^post239+tmp_34^0 == 0 /\ a_310^0-a_310^post239 == 0 /\ -y_20^post239+y_20^0 == 0 /\ -x_253^post239+x_253^0 == 0 /\ -head_15^post239+head_15^0 == 0 /\ a_1089^0-a_1089^post239 == 0 /\ a_263^0-a_263^post239 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_311^post239+a_311^0 == 0 /\ -f_248^post239+f_248^0 == 0 /\ -temp0_16^post239+temp0_16^0 == 0 /\ a_632^0-a_632^post239 == 0 /\ a_432^0-a_432^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239 == 0 /\ i_197^0-i_197^post239 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_1248^post239+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post239 == 0 /\ -a_239^post239+a_239^0 == 0 /\ x_975^0-x_975^post239 == 0 /\ -result_11^post239+result_11^0 == 0 /\ i_229^0-i_229^post239 == 0 /\ a_634^0-a_634^post239 == 0 /\ a_121^0-a_121^post239 == 0 /\ -a_393^post239+a_393^0 == 0 /\ i_113^0-i_113^post239 == 0 /\ -a_392^post239+a_392^0 == 0 /\ -r_143^post239+r_143^0 == 0 /\ a_394^0-a_394^post239 == 0 /\ -a_576^post239+a_576^0 == 0 /\ i_30^0-i_30^post239 == 0 /\ -a_635^post239+a_635^0 == 0 /\ -a_144^post239+a_144^0 == 0 /\ f_969^0-f_969^post239 == 0 /\ -a_575^post239+a_575^0 == 0 /\ x_14^0-x_14^post239 == 0 /\ -a_417^post239+a_417^0 == 0 /\ a_430^0-a_430^post239 == 0 /\ -len_861^post239+len_861^0 == 0 /\ -a_309^post239+a_309^0 == 0 /\ t_24^0-t_24^post239 == 0 /\ i_107^0-i_107^post239 == 0 /\ -a_1236^post239+a_1236^0 == 0 /\ len_161^0-len_161^post239 == 0 /\ rcd_88^0-rcd_88^post239 == 0 /\ f_847^0-f_847^post239 == 0 /\ -a_902^post239+a_902^0 == 0 /\ -rcd_58^post239+rcd_58^0 == 0 /\ -i_106^post239+i_106^0 == 0 /\ -length_29^post239+length_29^0 == 0 /\ x_21^0-x_21^post239 == 0 /\ -rcd_47^post239+rcd_47^0 == 0 /\ -len_238^post239+len_238^0 == 0 /\ -r_151^post239+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post239 == 0 /\ -head_32^post239+head_32^0 == 0 /\ r_224^0-r_224^post239 == 0 /\ -a_579^post239+a_579^0 == 0 /\ a_431^0-a_431^post239 == 0 /\ temp0_31^0-temp0_31^post239 == 0 /\ len_262^0-len_262^post239 == 0 /\ a_862^0-a_862^post239 == 0 /\ -a_633^post239+a_633^0 == 0 /\ i_94^0-i_94^post239 == 0 /\ a_1162^0-a_1162^post239 == 0 /\ -i_127^post239+i_127^0 == 0 /\ a_577^0-a_577^post239 == 0 /\ x_156^0-x_156^post239 == 0 /\ -t_458^post239+t_458^0 == 0 /\ x_17^0-x_17^post239 == 0), cost: 1 240: l151 -> l152 : a_1089^0'=a_1089^post240, f_847^0'=f_847^post240, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post240, a_394^0'=a_394^post240, x_156^0'=x_156^post240, a_632^0'=a_632^post240, r_192^0'=r_192^post240, a_176^0'=a_176^post240, i_106^0'=i_106^post240, a_430^0'=a_430^post240, t_458^0'=t_458^post240, len_161^0'=len_161^post240, x_975^0'=x_975^post240, a_902^0'=a_902^post240, a_947^0'=a_947^post240, rcd_88^0'=rcd_88^post240, a_311^0'=a_311^post240, i_140^0'=i_140^post240, a_577^0'=a_577^post240, x_14^0'=x_14^post240, nondet_12^0'=nondet_12^post240, a_121^0'=a_121^post240, head_15^0'=head_15^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240, i_27^0'=i_27^post240, x_21^0'=x_21^post240, a_634^0'=a_634^post240, r_39^0'=r_39^post240, a_263^0'=a_263^post240, i_113^0'=i_113^post240, a_432^0'=a_432^post240, temp0_31^0'=temp0_31^post240, len_262^0'=len_262^post240, y_20^0'=y_20^post240, f_248^0'=f_248^post240, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240, a_393^0'=a_393^post240, i_229^0'=i_229^post240, a_610^0'=a_610^post240, r_151^0'=r_151^post240, a_144^0'=a_144^post240, i_1053^0'=i_1053^post240, a_417^0'=a_417^post240, t_24^0'=t_24^post240, i_94^0'=i_94^post240, x_852^0'=x_852^post240, a_862^0'=a_862^post240, rcd_1249^0'=rcd_1249^post240, rcd_58^0'=rcd_58^post240, a_310^0'=a_310^post240, i_127^0'=i_127^post240, a_576^0'=a_576^post240, tmp_34^0'=tmp_34^post240, length_29^0'=length_29^post240, a_1162^0'=a_1162^post240, f_969^0'=f_969^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240, a_395^0'=a_395^post240, x_17^0'=x_17^post240, a_633^0'=a_633^post240, r_224^0'=r_224^post240, a_239^0'=a_239^post240, i_107^0'=i_107^post240, a_431^0'=a_431^post240, temp0_16^0'=temp0_16^post240, len_238^0'=len_238^post240, x_SLAM_f_19^0'=x_SLAM_f_19^post240, a_924^0'=a_924^post240, ct_18^0'=ct_18^post240, result_11^0'=result_11^post240, a_392^0'=a_392^post240, i_197^0'=i_197^post240, a_579^0'=a_579^post240, r_143^0'=r_143^post240, a_1236^0'=a_1236^post240, head_32^0'=head_32^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240, i_30^0'=i_30^post240, x_253^0'=x_253^post240, a_635^0'=a_635^post240, r_970^0'=r_970^post240, rcd_47^0'=rcd_47^post240, a_309^0'=a_309^post240, i_1248^0'=i_1248^post240, a_575^0'=a_575^post240, temp_35^0'=temp_35^post240, len_861^0'=len_861^post240, (-a_576^post240+a_576^0 == 0 /\ i_229^0-i_229^post240 == 0 /\ -a_309^post240+a_309^0 == 0 /\ -a_635^post240+a_635^0 == 0 /\ -a_393^post240+a_393^0 == 0 /\ -r_143^post240+r_143^0 == 0 /\ f_248^0-f_248^post240 == 0 /\ -i_27^post240+i_27^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post240+length_29^0 == 0 /\ a_121^0-a_121^post240 == 0 /\ a_634^0-a_634^post240 == 0 /\ -a_417^post240+a_417^0 == 0 /\ i_127^0-i_127^post240 == 0 /\ -i_107^post240+i_107^0 == 0 /\ len_262^0-len_262^post240 == 0 /\ x_156^0-x_156^post240 == 0 /\ a_947^0-a_947^post240 == 0 /\ -a_575^post240+a_575^0 == 0 /\ -a_1236^post240+a_1236^0 == 0 /\ head_15^0-head_15^post240 == 0 /\ a_577^0-a_577^post240 == 0 /\ -len_238^post240+len_238^0 == 0 /\ a_176^0-a_176^post240 == 0 /\ -rcd_47^post240+rcd_47^0 == 0 /\ -a_310^post240+a_310^0 == 0 /\ r_192^0-r_192^post240 == 0 /\ -ct_18^post240+ct_18^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post240 == 0 /\ -r_151^post240+r_151^0 == 0 /\ a_632^0-a_632^post240 == 0 /\ x_14^0-x_14^post240 == 0 /\ a_430^0-a_430^post240 == 0 /\ -a_902^post240+a_902^0 == 0 /\ -a_392^post240+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post240 == 0 /\ a_1089^0-a_1089^post240 == 0 /\ -a_862^post240+a_862^0 == 0 /\ -head_32^post240+head_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post240+result_11^0 == 0 /\ a_633^0-a_633^post240 == 0 /\ y_20^0-y_20^post240 == 0 /\ f_847^0-f_847^post240 == 0 /\ a_432^0-a_432^post240 == 0 /\ temp0_16^0-temp0_16^post240 == 0 /\ -i_197^post240+i_197^0 == 0 /\ -a_579^post240+a_579^0 == 0 /\ -temp_35^post240+temp_35^0 == 0 /\ -x_253^post240+x_253^0 == 0 /\ x_21^0-x_21^post240 == 0 /\ x_975^0-x_975^post240 == 0 /\ f_969^0-f_969^post240 == 0 /\ -a_263^post240+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240 == 0 /\ a_431^0-a_431^post240 == 0 /\ i_94^0-i_94^post240 == 0 /\ -rcd_58^post240+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post240 == 0 /\ r_970^0-r_970^post240 == 0 /\ a_394^0-a_394^post240 == 0 /\ -a_311^post240+a_311^0 == 0 /\ a_144^0-a_144^post240 == 0 /\ i_113^0-i_113^post240 == 0 /\ -x_852^post240+x_852^0 == 0 /\ x_17^0-x_17^post240 == 0 /\ -a_395^post240+a_395^0 == 0 /\ -rcd_88^post240+rcd_88^0 == 0 /\ -i_1248^post240+i_1248^0 == 0 /\ -a_239^post240+a_239^0 == 0 /\ -tmp_34^post240+tmp_34^0 == 0 /\ a_610^0-a_610^post240 == 0 /\ -a_1162^post240+a_1162^0 == 0 /\ t_24^0-t_24^post240 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post240 == 0 /\ i_106^0-i_106^post240 == 0 /\ -i_1053^post240+i_1053^0 == 0 /\ i_140^0-i_140^post240 == 0 /\ -i_30^post240+i_30^0 == 0 /\ len_161^0-len_161^post240 == 0 /\ -r_224^post240+r_224^0 == 0 /\ t_458^0-t_458^post240 == 0 /\ -a_924^post240+a_924^0 == 0 /\ r_39^0-r_39^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_861^post240+len_861^0 == 0), cost: 1 241: l152 -> l153 : a_1089^0'=a_1089^post241, f_847^0'=f_847^post241, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post241, a_394^0'=a_394^post241, x_156^0'=x_156^post241, a_632^0'=a_632^post241, r_192^0'=r_192^post241, a_176^0'=a_176^post241, i_106^0'=i_106^post241, a_430^0'=a_430^post241, t_458^0'=t_458^post241, len_161^0'=len_161^post241, x_975^0'=x_975^post241, a_902^0'=a_902^post241, a_947^0'=a_947^post241, rcd_88^0'=rcd_88^post241, a_311^0'=a_311^post241, i_140^0'=i_140^post241, a_577^0'=a_577^post241, x_14^0'=x_14^post241, nondet_12^0'=nondet_12^post241, a_121^0'=a_121^post241, head_15^0'=head_15^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241, i_27^0'=i_27^post241, x_21^0'=x_21^post241, a_634^0'=a_634^post241, r_39^0'=r_39^post241, a_263^0'=a_263^post241, i_113^0'=i_113^post241, a_432^0'=a_432^post241, temp0_31^0'=temp0_31^post241, len_262^0'=len_262^post241, y_20^0'=y_20^post241, f_248^0'=f_248^post241, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241, a_393^0'=a_393^post241, i_229^0'=i_229^post241, a_610^0'=a_610^post241, r_151^0'=r_151^post241, a_144^0'=a_144^post241, i_1053^0'=i_1053^post241, a_417^0'=a_417^post241, t_24^0'=t_24^post241, i_94^0'=i_94^post241, x_852^0'=x_852^post241, a_862^0'=a_862^post241, rcd_1249^0'=rcd_1249^post241, rcd_58^0'=rcd_58^post241, a_310^0'=a_310^post241, i_127^0'=i_127^post241, a_576^0'=a_576^post241, tmp_34^0'=tmp_34^post241, length_29^0'=length_29^post241, a_1162^0'=a_1162^post241, f_969^0'=f_969^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241, a_395^0'=a_395^post241, x_17^0'=x_17^post241, a_633^0'=a_633^post241, r_224^0'=r_224^post241, a_239^0'=a_239^post241, i_107^0'=i_107^post241, a_431^0'=a_431^post241, temp0_16^0'=temp0_16^post241, len_238^0'=len_238^post241, x_SLAM_f_19^0'=x_SLAM_f_19^post241, a_924^0'=a_924^post241, ct_18^0'=ct_18^post241, result_11^0'=result_11^post241, a_392^0'=a_392^post241, i_197^0'=i_197^post241, a_579^0'=a_579^post241, r_143^0'=r_143^post241, a_1236^0'=a_1236^post241, head_32^0'=head_32^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241, i_30^0'=i_30^post241, x_253^0'=x_253^post241, a_635^0'=a_635^post241, r_970^0'=r_970^post241, rcd_47^0'=rcd_47^post241, a_309^0'=a_309^post241, i_1248^0'=i_1248^post241, a_575^0'=a_575^post241, temp_35^0'=temp_35^post241, len_861^0'=len_861^post241, (0 == 0 /\ a_394^0-a_394^post241 == 0 /\ a_1089^0-a_1089^post241 == 0 /\ -x_253^post241+x_253^0 == 0 /\ -i_197^post241+i_197^0 == 0 /\ -temp_35^post241+temp_35^0 == 0 /\ -a_579^post241+a_579^0 == 0 /\ -head_32^post241+head_32^0 == 0 /\ -y_20^post241+y_20^0 == 0 /\ 1-a_1162^0+a_1236^post241 <= 0 /\ -a_431^post241+a_431^0 == 0 /\ -i_229^post241+i_229^0 == 0 /\ a_576^0-a_576^post241 == 0 /\ -ct_18^post241+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post241 == 0 /\ a_311^0-a_311^post241 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_852^0-x_852^post241 == 0 /\ -r_970^post241+r_970^0 == 0 /\ t_458^0-t_458^post241 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -a_263^post241+a_263^0 == 0 /\ -a_395^post241+a_395^0 == 0 /\ rcd_88^0-rcd_88^post241 == 0 /\ -rcd_58^post241+rcd_58^0 == 0 /\ i_106^0-i_106^post241 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241 == 0 /\ -len_861^post241+len_861^0 == 0 /\ -i_1053^post241+i_1053^0 == 0 /\ -i_1248^post241+i_1248^0 == 0 /\ -a_239^post241+a_239^0 == 0 /\ a_924^0-a_924^post241 == 0 /\ f_248^0-f_248^post241 == 0 /\ tmp_34^0-tmp_34^post241 == 0 /\ y_20^0 <= 0 /\ -a_393^post241+a_393^0 == 0 /\ x_21^0-x_21^post241 == 0 /\ len_262^0-len_262^post241 == 0 /\ a_610^0-a_610^post241 == 0 /\ -r_224^post241+r_224^0 == 0 /\ -x_17^post241+x_17^0 == 0 /\ nondet_12^0-nondet_12^post241 == 0 /\ x_14^0-x_17^0 <= 0 /\ x_975^0-x_975^post241 == 0 /\ temp0_31^0-temp0_31^post241 == 0 /\ -r_143^post241+r_143^0 == 0 /\ -result_11^post241+result_11^0 == 0 /\ -i_107^post241+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241 == 0 /\ a_947^0-a_947^post241 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ x_14^0-x_14^post241 == 0 /\ len_238^0-len_238^post241 == 0 /\ -a_575^post241+a_575^0 == 0 /\ -a_309^post241+a_309^0 == 0 /\ a_176^0-a_176^post241 == 0 /\ -i_30^post241+i_30^0 == 0 /\ -x_SLAM_f_19^post241+x_SLAM_f_19^0 == 0 /\ -a_635^post241+a_635^0 == 0 /\ -y_20^0 <= 0 /\ i_27^0-i_27^post241 == 0 /\ a_121^0-a_121^post241 == 0 /\ f_969^0-f_969^post241 == 0 /\ -1+a_1162^0-a_1236^post241 <= 0 /\ -a_432^post241+a_432^0 == 0 /\ -a_632^post241+a_632^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -i_113^post241+i_113^0 == 0 /\ a_430^0-a_430^post241 == 0 /\ rcd_1249^0-rcd_1249^post241 == 0 /\ len_161^0-len_161^post241 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ -a_417^post241+a_417^0 == 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ t_24^post241-x_21^0 == 0 /\ x_156^0-x_156^post241 == 0 /\ f_847^0-f_847^post241 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -r_39^post241+r_39^0 == 0 /\ -a_862^post241+a_862^0 == 0 /\ a_1162^0-a_1162^post241 == 0 /\ head_15^0-head_15^post241 == 0 /\ -ct_18^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post241 == 0 /\ r_151^0-r_151^post241 == 0 /\ -a_633^post241+a_633^0 == 0 /\ -rcd_47^post241+rcd_47^0 == 0 /\ r_192^0-r_192^post241 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -a_310^post241+a_310^0 == 0 /\ -i_140^post241+i_140^0 == 0 /\ i_127^0-i_127^post241 == 0 /\ a_902^0-a_902^post241 == 0 /\ -a_392^post241+a_392^0 == 0 /\ i_94^0-i_94^post241 == 0 /\ a_144^0-a_144^post241 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ a_577^0-a_577^post241 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post241 == 0 /\ -length_29^post241+length_29^0 == 0), cost: 1 242: l153 -> l154 : a_1089^0'=a_1089^post242, f_847^0'=f_847^post242, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post242, a_394^0'=a_394^post242, x_156^0'=x_156^post242, a_632^0'=a_632^post242, r_192^0'=r_192^post242, a_176^0'=a_176^post242, i_106^0'=i_106^post242, a_430^0'=a_430^post242, t_458^0'=t_458^post242, len_161^0'=len_161^post242, x_975^0'=x_975^post242, a_902^0'=a_902^post242, a_947^0'=a_947^post242, rcd_88^0'=rcd_88^post242, a_311^0'=a_311^post242, i_140^0'=i_140^post242, a_577^0'=a_577^post242, x_14^0'=x_14^post242, nondet_12^0'=nondet_12^post242, a_121^0'=a_121^post242, head_15^0'=head_15^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242, i_27^0'=i_27^post242, x_21^0'=x_21^post242, a_634^0'=a_634^post242, r_39^0'=r_39^post242, a_263^0'=a_263^post242, i_113^0'=i_113^post242, a_432^0'=a_432^post242, temp0_31^0'=temp0_31^post242, len_262^0'=len_262^post242, y_20^0'=y_20^post242, f_248^0'=f_248^post242, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242, a_393^0'=a_393^post242, i_229^0'=i_229^post242, a_610^0'=a_610^post242, r_151^0'=r_151^post242, a_144^0'=a_144^post242, i_1053^0'=i_1053^post242, a_417^0'=a_417^post242, t_24^0'=t_24^post242, i_94^0'=i_94^post242, x_852^0'=x_852^post242, a_862^0'=a_862^post242, rcd_1249^0'=rcd_1249^post242, rcd_58^0'=rcd_58^post242, a_310^0'=a_310^post242, i_127^0'=i_127^post242, a_576^0'=a_576^post242, tmp_34^0'=tmp_34^post242, length_29^0'=length_29^post242, a_1162^0'=a_1162^post242, f_969^0'=f_969^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242, a_395^0'=a_395^post242, x_17^0'=x_17^post242, a_633^0'=a_633^post242, r_224^0'=r_224^post242, a_239^0'=a_239^post242, i_107^0'=i_107^post242, a_431^0'=a_431^post242, temp0_16^0'=temp0_16^post242, len_238^0'=len_238^post242, x_SLAM_f_19^0'=x_SLAM_f_19^post242, a_924^0'=a_924^post242, ct_18^0'=ct_18^post242, result_11^0'=result_11^post242, a_392^0'=a_392^post242, i_197^0'=i_197^post242, a_579^0'=a_579^post242, r_143^0'=r_143^post242, a_1236^0'=a_1236^post242, head_32^0'=head_32^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242, i_30^0'=i_30^post242, x_253^0'=x_253^post242, a_635^0'=a_635^post242, r_970^0'=r_970^post242, rcd_47^0'=rcd_47^post242, a_309^0'=a_309^post242, i_1248^0'=i_1248^post242, a_575^0'=a_575^post242, temp_35^0'=temp_35^post242, len_861^0'=len_861^post242, (-a_575^post242+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242 == 0 /\ a_430^0-a_430^post242 == 0 /\ t_458^0-t_458^post242 == 0 /\ f_248^0-f_248^post242 == 0 /\ x_975^0-x_975^post242 == 0 /\ a_632^0-a_632^post242 == 0 /\ -i_30^post242+i_30^0 == 0 /\ 1-x_14^0 <= 0 /\ -r_143^post242+r_143^0 == 0 /\ f_969^0-f_969^post242 == 0 /\ -a_432^post242+a_432^0 == 0 /\ -x_SLAM_f_19^post242+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post242 == 0 /\ result_11^0-result_11^post242 == 0 /\ -i_113^post242+i_113^0 == 0 /\ -a_309^post242+a_309^0 == 0 /\ -i_107^post242+i_107^0 == 0 /\ temp0_31^0-temp0_31^post242 == 0 /\ x_17^0-x_17^post242 == 0 /\ rcd_58^0-rcd_58^post242 == 0 /\ -a_1236^post242+a_1236^0 == 0 /\ len_161^0-len_161^post242 == 0 /\ a_947^0-a_947^post242 == 0 /\ a_176^0-a_176^post242 == 0 /\ -rcd_47^post242+rcd_47^0 == 0 /\ x_852^0-x_852^post242 == 0 /\ -i_140^post242+i_140^0 == 0 /\ -a_392^post242+a_392^0 == 0 /\ -a_310^post242+a_310^0 == 0 /\ a_394^0-a_394^post242 == 0 /\ -a_862^post242+a_862^0 == 0 /\ -i_94^post242+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post242 == 0 /\ -r_970^post242+r_970^0 == 0 /\ f_847^0-f_847^post242 == 0 /\ -r_151^post242+r_151^0 == 0 /\ length_29^0-length_29^post242 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_633^0-a_633^post242 == 0 /\ -a_579^post242+a_579^0 == 0 /\ -t_24^post242+t_24^0 == 0 /\ temp0_16^0-temp0_16^post242 == 0 /\ -ct_18^post242+ct_18^0 == 0 /\ -a_263^post242+a_263^0 == 0 /\ -x_253^post242+x_253^0 == 0 /\ a_239^0-a_239^post242 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242 == 0 /\ -head_32^post242+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_121^0-a_121^post242 == 0 /\ -i_197^post242+i_197^0 == 0 /\ a_902^0-a_902^post242 == 0 /\ len_262^0-len_262^post242 == 0 /\ x_156^0-x_156^post242 == 0 /\ -temp_35^post242+temp_35^0 == 0 /\ a_610^0-a_610^post242 == 0 /\ r_192^0-r_192^post242 == 0 /\ -y_20^post242+y_20^0 == 0 /\ -r_39^post242+r_39^0 == 0 /\ -a_431^post242+a_431^0 == 0 /\ i_229^0-i_229^post242 == 0 /\ head_15^0-head_15^post242 == 0 /\ nondet_12^0-nondet_12^post242 == 0 /\ a_144^0-a_144^post242 == 0 /\ -a_395^post242+a_395^0 == 0 /\ len_238^0-len_238^post242 == 0 /\ a_634^0-a_634^post242 == 0 /\ i_27^0-i_27^post242 == 0 /\ -tmp_34^post242+tmp_34^0 == 0 /\ -a_1162^post242+a_1162^0 == 0 /\ a_1089^0-a_1089^post242 == 0 /\ -a_924^post242+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post242 == 0 /\ a_417^0-a_417^post242 == 0 /\ x_14^0-x_14^post242 == 0 /\ -x_21^post242+x_21^0 == 0 /\ a_576^0-a_576^post242 == 0 /\ -len_861^post242+len_861^0 == 0 /\ -a_577^post242+a_577^0 == 0 /\ -a_635^post242+a_635^0 == 0 /\ a_311^0-a_311^post242 == 0 /\ -i_1248^post242+i_1248^0 == 0 /\ -i_1053^post242+i_1053^0 == 0 /\ i_106^0-i_106^post242 == 0 /\ -r_224^post242+r_224^0 == 0 /\ -a_393^post242+a_393^0 == 0 /\ rcd_88^0-rcd_88^post242 == 0), cost: 1 243: l153 -> l154 : a_1089^0'=a_1089^post243, f_847^0'=f_847^post243, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post243, a_394^0'=a_394^post243, x_156^0'=x_156^post243, a_632^0'=a_632^post243, r_192^0'=r_192^post243, a_176^0'=a_176^post243, i_106^0'=i_106^post243, a_430^0'=a_430^post243, t_458^0'=t_458^post243, len_161^0'=len_161^post243, x_975^0'=x_975^post243, a_902^0'=a_902^post243, a_947^0'=a_947^post243, rcd_88^0'=rcd_88^post243, a_311^0'=a_311^post243, i_140^0'=i_140^post243, a_577^0'=a_577^post243, x_14^0'=x_14^post243, nondet_12^0'=nondet_12^post243, a_121^0'=a_121^post243, head_15^0'=head_15^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243, i_27^0'=i_27^post243, x_21^0'=x_21^post243, a_634^0'=a_634^post243, r_39^0'=r_39^post243, a_263^0'=a_263^post243, i_113^0'=i_113^post243, a_432^0'=a_432^post243, temp0_31^0'=temp0_31^post243, len_262^0'=len_262^post243, y_20^0'=y_20^post243, f_248^0'=f_248^post243, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243, a_393^0'=a_393^post243, i_229^0'=i_229^post243, a_610^0'=a_610^post243, r_151^0'=r_151^post243, a_144^0'=a_144^post243, i_1053^0'=i_1053^post243, a_417^0'=a_417^post243, t_24^0'=t_24^post243, i_94^0'=i_94^post243, x_852^0'=x_852^post243, a_862^0'=a_862^post243, rcd_1249^0'=rcd_1249^post243, rcd_58^0'=rcd_58^post243, a_310^0'=a_310^post243, i_127^0'=i_127^post243, a_576^0'=a_576^post243, tmp_34^0'=tmp_34^post243, length_29^0'=length_29^post243, a_1162^0'=a_1162^post243, f_969^0'=f_969^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243, a_395^0'=a_395^post243, x_17^0'=x_17^post243, a_633^0'=a_633^post243, r_224^0'=r_224^post243, a_239^0'=a_239^post243, i_107^0'=i_107^post243, a_431^0'=a_431^post243, temp0_16^0'=temp0_16^post243, len_238^0'=len_238^post243, x_SLAM_f_19^0'=x_SLAM_f_19^post243, a_924^0'=a_924^post243, ct_18^0'=ct_18^post243, result_11^0'=result_11^post243, a_392^0'=a_392^post243, i_197^0'=i_197^post243, a_579^0'=a_579^post243, r_143^0'=r_143^post243, a_1236^0'=a_1236^post243, head_32^0'=head_32^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243, i_30^0'=i_30^post243, x_253^0'=x_253^post243, a_635^0'=a_635^post243, r_970^0'=r_970^post243, rcd_47^0'=rcd_47^post243, a_309^0'=a_309^post243, i_1248^0'=i_1248^post243, a_575^0'=a_575^post243, temp_35^0'=temp_35^post243, len_861^0'=len_861^post243, (a_144^0-a_144^post243 == 0 /\ a_394^0-a_394^post243 == 0 /\ t_24^0-t_24^post243 == 0 /\ -r_970^post243+r_970^0 == 0 /\ -f_248^post243+f_248^0 == 0 /\ -y_20^post243+y_20^0 == 0 /\ a_862^0-a_862^post243 == 0 /\ -temp0_16^post243+temp0_16^0 == 0 /\ -len_861^post243+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243 == 0 /\ -r_224^post243+r_224^0 == 0 /\ a_392^0-a_392^post243 == 0 /\ a_311^0-a_311^post243 == 0 /\ a_263^0-a_263^post243 == 0 /\ -a_579^post243+a_579^0 == 0 /\ x_852^0-x_852^post243 == 0 /\ t_458^0-t_458^post243 == 0 /\ len_161^0-len_161^post243 == 0 /\ rcd_88^0-rcd_88^post243 == 0 /\ -i_127^post243+i_127^0 == 0 /\ i_106^0-i_106^post243 == 0 /\ -temp_35^post243+temp_35^0 == 0 /\ a_576^0-a_576^post243 == 0 /\ -ct_18^post243+ct_18^0 == 0 /\ -i_197^post243+i_197^0 == 0 /\ f_847^0-f_847^post243 == 0 /\ -i_229^post243+i_229^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243 == 0 /\ -i_30^post243+i_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post243+i_107^0 == 0 /\ a_430^0-a_430^post243 == 0 /\ -a_924^post243+a_924^0 == 0 /\ -a_575^post243+a_575^0 == 0 /\ a_610^0-a_610^post243 == 0 /\ a_1236^0-a_1236^post243 == 0 /\ r_143^0-r_143^post243 == 0 /\ -a_577^post243+a_577^0 == 0 /\ -i_1248^post243+i_1248^0 == 0 /\ x_21^0-x_21^post243 == 0 /\ len_262^0-len_262^post243 == 0 /\ -result_11^post243+result_11^0 == 0 /\ -x_17^post243+x_17^0 == 0 /\ temp0_31^0-temp0_31^post243 == 0 /\ -a_1162^post243+a_1162^0 == 0 /\ -a_393^post243+a_393^0 == 0 /\ a_947^0-a_947^post243 == 0 /\ rcd_58^0-rcd_58^post243 == 0 /\ -i_94^post243+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post243 == 0 /\ i_27^0-i_27^post243 == 0 /\ x_14^0-x_14^post243 == 0 /\ a_176^0-a_176^post243 == 0 /\ -len_238^post243+len_238^0 == 0 /\ a_121^0-a_121^post243 == 0 /\ a_1089^0-a_1089^post243 == 0 /\ -a_309^post243+a_309^0 == 0 /\ -i_113^post243+i_113^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_432^post243+a_432^0 == 0 /\ -a_633^post243+a_633^0 == 0 /\ a_635^0-a_635^post243 == 0 /\ -rcd_1249^post243+rcd_1249^0 == 0 /\ -a_632^post243+a_632^0 == 0 /\ i_1053^0-i_1053^post243 == 0 /\ a_395^0-a_395^post243 == 0 /\ -length_29^post243+length_29^0 == 0 /\ tmp_34^0-tmp_34^post243 == 0 /\ -f_969^post243+f_969^0 == 0 /\ -a_431^post243+a_431^0 == 0 /\ -i_140^post243+i_140^0 == 0 /\ r_151^0-r_151^post243 == 0 /\ -r_39^post243+r_39^0 == 0 /\ nondet_12^0-nondet_12^post243 == 0 /\ 1+x_14^0 <= 0 /\ a_239^0-a_239^post243 == 0 /\ a_902^0-a_902^post243 == 0 /\ x_975^0-x_975^post243 == 0 /\ r_192^0-r_192^post243 == 0 /\ -rcd_47^post243+rcd_47^0 == 0 /\ x_156^0-x_156^post243 == 0 /\ -head_32^post243+head_32^0 == 0 /\ a_417^0-a_417^post243 == 0 /\ -x_SLAM_f_19^post243+x_SLAM_f_19^0 == 0 /\ head_15^0-head_15^post243 == 0 /\ -a_310^post243+a_310^0 == 0 /\ -x_253^post243+x_253^0 == 0 /\ a_634^0-a_634^post243 == 0), cost: 1 244: l154 -> l155 : a_1089^0'=a_1089^post244, f_847^0'=f_847^post244, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post244, a_394^0'=a_394^post244, x_156^0'=x_156^post244, a_632^0'=a_632^post244, r_192^0'=r_192^post244, a_176^0'=a_176^post244, i_106^0'=i_106^post244, a_430^0'=a_430^post244, t_458^0'=t_458^post244, len_161^0'=len_161^post244, x_975^0'=x_975^post244, a_902^0'=a_902^post244, a_947^0'=a_947^post244, rcd_88^0'=rcd_88^post244, a_311^0'=a_311^post244, i_140^0'=i_140^post244, a_577^0'=a_577^post244, x_14^0'=x_14^post244, nondet_12^0'=nondet_12^post244, a_121^0'=a_121^post244, head_15^0'=head_15^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244, i_27^0'=i_27^post244, x_21^0'=x_21^post244, a_634^0'=a_634^post244, r_39^0'=r_39^post244, a_263^0'=a_263^post244, i_113^0'=i_113^post244, a_432^0'=a_432^post244, temp0_31^0'=temp0_31^post244, len_262^0'=len_262^post244, y_20^0'=y_20^post244, f_248^0'=f_248^post244, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244, a_393^0'=a_393^post244, i_229^0'=i_229^post244, a_610^0'=a_610^post244, r_151^0'=r_151^post244, a_144^0'=a_144^post244, i_1053^0'=i_1053^post244, a_417^0'=a_417^post244, t_24^0'=t_24^post244, i_94^0'=i_94^post244, x_852^0'=x_852^post244, a_862^0'=a_862^post244, rcd_1249^0'=rcd_1249^post244, rcd_58^0'=rcd_58^post244, a_310^0'=a_310^post244, i_127^0'=i_127^post244, a_576^0'=a_576^post244, tmp_34^0'=tmp_34^post244, length_29^0'=length_29^post244, a_1162^0'=a_1162^post244, f_969^0'=f_969^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244, a_395^0'=a_395^post244, x_17^0'=x_17^post244, a_633^0'=a_633^post244, r_224^0'=r_224^post244, a_239^0'=a_239^post244, i_107^0'=i_107^post244, a_431^0'=a_431^post244, temp0_16^0'=temp0_16^post244, len_238^0'=len_238^post244, x_SLAM_f_19^0'=x_SLAM_f_19^post244, a_924^0'=a_924^post244, ct_18^0'=ct_18^post244, result_11^0'=result_11^post244, a_392^0'=a_392^post244, i_197^0'=i_197^post244, a_579^0'=a_579^post244, r_143^0'=r_143^post244, a_1236^0'=a_1236^post244, head_32^0'=head_32^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244, i_30^0'=i_30^post244, x_253^0'=x_253^post244, a_635^0'=a_635^post244, r_970^0'=r_970^post244, rcd_47^0'=rcd_47^post244, a_309^0'=a_309^post244, i_1248^0'=i_1248^post244, a_575^0'=a_575^post244, temp_35^0'=temp_35^post244, len_861^0'=len_861^post244, (tmp_34^0-tmp_34^post244 == 0 /\ -len_238^post244+len_238^0 == 0 /\ -rcd_47^post244+rcd_47^0 == 0 /\ i_94^0-i_94^post244 == 0 /\ r_151^0-r_151^post244 == 0 /\ i_113^0-i_113^post244 == 0 /\ r_39^0-r_39^post244 == 0 /\ -r_143^post244+r_143^0 == 0 /\ a_393^0-a_393^post244 == 0 /\ a_430^0-a_430^post244 == 0 /\ x_975^0-x_975^post244 == 0 /\ -a_634^post244+a_634^0 == 0 /\ -i_107^post244+i_107^0 == 0 /\ a_432^0-a_432^post244 == 0 /\ f_969^0-f_969^post244 == 0 /\ -a_575^post244+a_575^0 == 0 /\ r_192^0-r_192^post244 == 0 /\ -rcd_1249^post244+rcd_1249^0 == 0 /\ a_633^0-a_633^post244 == 0 /\ -a_309^post244+a_309^0 == 0 /\ x_21^0-x_21^post244 == 0 /\ -a_576^post244+a_576^0 == 0 /\ -a_431^post244+a_431^0 == 0 /\ head_32^0-head_32^post244 == 0 /\ t_24^0-t_24^post244 == 0 /\ a_417^0-a_417^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post244 == 0 /\ i_140^0-i_140^post244 == 0 /\ rcd_58^0-rcd_58^post244 == 0 /\ a_862^0-a_862^post244 == 0 /\ a_144^0-a_144^post244 == 0 /\ i_27^0-i_27^post244 == 0 /\ len_161^0-len_161^post244 == 0 /\ -temp_35^post244+temp_35^0 == 0 /\ -a_392^post244+a_392^0 == 0 /\ -nondet_12^post244+nondet_12^0 == 0 /\ -x_253^post244+x_253^0 == 0 /\ -x_SLAM_f_19^post244+x_SLAM_f_19^0 == 0 /\ -a_610^post244+a_610^0 == 0 /\ -a_1236^post244+a_1236^0 == 0 /\ -len_262^post244+len_262^0 == 0 /\ i_106^0-i_106^post244 == 0 /\ -r_970^post244+r_970^0 == 0 /\ a_632^0-a_632^post244 == 0 /\ -r_224^post244+r_224^0 == 0 /\ -a_310^post244+a_310^0 == 0 /\ a_311^0-a_311^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244 == 0 /\ -a_579^post244+a_579^0 == 0 /\ t_458^0-t_458^post244 == 0 /\ f_248^0-f_248^post244 == 0 /\ a_577^0-a_577^post244 == 0 /\ -temp0_31^post244+temp0_31^0 == 0 /\ a_902^0-a_902^post244 == 0 /\ -ct_18^post244+ct_18^0 == 0 /\ a_239^0-a_239^post244 == 0 /\ i_229^0-i_229^post244 == 0 /\ -a_395^post244+a_395^0 == 0 /\ -i_197^post244+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post244 == 0 /\ -i_127^post244+i_127^0 == 0 /\ -a_947^post244+a_947^0 == 0 /\ -result_11^post244+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244 == 0 /\ -a_1162^post244+a_1162^0 == 0 /\ i_1053^0-i_1053^post244 == 0 /\ x_14^0-x_14^post244 == 0 /\ a_121^0-a_121^post244 == 0 /\ -a_924^post244+a_924^0 == 0 /\ -head_15^post244+head_15^0 == 0 /\ a_1089^0-a_1089^post244 == 0 /\ a_394^0-a_394^post244 == 0 /\ -x_17^post244+x_17^0 == 0 /\ x_852^0-x_852^post244 == 0 /\ a_263^0-a_263^post244 == 0 /\ -temp0_16^post244+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post244 == 0 /\ a_176^0-a_176^post244 == 0 /\ -i_30^post244+i_30^0 == 0 /\ y_20^0-y_20^post244 == 0 /\ f_847^0-f_847^post244 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244 == 0 /\ -i_1248^post244+i_1248^0 == 0 /\ -len_861^post244+len_861^0 == 0 /\ length_29^0-length_29^post244 == 0 /\ -a_635^post244+a_635^0 == 0), cost: 1 245: l154 -> l155 : a_1089^0'=a_1089^post245, f_847^0'=f_847^post245, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post245, a_394^0'=a_394^post245, x_156^0'=x_156^post245, a_632^0'=a_632^post245, r_192^0'=r_192^post245, a_176^0'=a_176^post245, i_106^0'=i_106^post245, a_430^0'=a_430^post245, t_458^0'=t_458^post245, len_161^0'=len_161^post245, x_975^0'=x_975^post245, a_902^0'=a_902^post245, a_947^0'=a_947^post245, rcd_88^0'=rcd_88^post245, a_311^0'=a_311^post245, i_140^0'=i_140^post245, a_577^0'=a_577^post245, x_14^0'=x_14^post245, nondet_12^0'=nondet_12^post245, a_121^0'=a_121^post245, head_15^0'=head_15^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245, i_27^0'=i_27^post245, x_21^0'=x_21^post245, a_634^0'=a_634^post245, r_39^0'=r_39^post245, a_263^0'=a_263^post245, i_113^0'=i_113^post245, a_432^0'=a_432^post245, temp0_31^0'=temp0_31^post245, len_262^0'=len_262^post245, y_20^0'=y_20^post245, f_248^0'=f_248^post245, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245, a_393^0'=a_393^post245, i_229^0'=i_229^post245, a_610^0'=a_610^post245, r_151^0'=r_151^post245, a_144^0'=a_144^post245, i_1053^0'=i_1053^post245, a_417^0'=a_417^post245, t_24^0'=t_24^post245, i_94^0'=i_94^post245, x_852^0'=x_852^post245, a_862^0'=a_862^post245, rcd_1249^0'=rcd_1249^post245, rcd_58^0'=rcd_58^post245, a_310^0'=a_310^post245, i_127^0'=i_127^post245, a_576^0'=a_576^post245, tmp_34^0'=tmp_34^post245, length_29^0'=length_29^post245, a_1162^0'=a_1162^post245, f_969^0'=f_969^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245, a_395^0'=a_395^post245, x_17^0'=x_17^post245, a_633^0'=a_633^post245, r_224^0'=r_224^post245, a_239^0'=a_239^post245, i_107^0'=i_107^post245, a_431^0'=a_431^post245, temp0_16^0'=temp0_16^post245, len_238^0'=len_238^post245, x_SLAM_f_19^0'=x_SLAM_f_19^post245, a_924^0'=a_924^post245, ct_18^0'=ct_18^post245, result_11^0'=result_11^post245, a_392^0'=a_392^post245, i_197^0'=i_197^post245, a_579^0'=a_579^post245, r_143^0'=r_143^post245, a_1236^0'=a_1236^post245, head_32^0'=head_32^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245, i_30^0'=i_30^post245, x_253^0'=x_253^post245, a_635^0'=a_635^post245, r_970^0'=r_970^post245, rcd_47^0'=rcd_47^post245, a_309^0'=a_309^post245, i_1248^0'=i_1248^post245, a_575^0'=a_575^post245, temp_35^0'=temp_35^post245, len_861^0'=len_861^post245, (-head_32^post245+head_32^0 == 0 /\ -f_248^post245+f_248^0 == 0 /\ -r_224^post245+r_224^0 == 0 /\ a_417^0-a_417^post245 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245 == 0 /\ t_24^0-t_24^post245 == 0 /\ -len_861^post245+len_861^0 == 0 /\ -temp0_16^post245+temp0_16^0 == 0 /\ -i_1248^post245+i_1248^0 == 0 /\ -len_262^post245+len_262^0 == 0 /\ len_161^0-len_161^post245 == 0 /\ x_156^0-x_156^post245 == 0 /\ -a_239^post245+a_239^0 == 0 /\ a_947^0-a_947^post245 == 0 /\ f_847^0-f_847^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post245 == 0 /\ a_394^0-a_394^post245 == 0 /\ -i_127^post245+i_127^0 == 0 /\ i_1053^0-i_1053^post245 == 0 /\ -a_579^post245+a_579^0 == 0 /\ -i_229^post245+i_229^0 == 0 /\ -a_392^post245+a_392^0 == 0 /\ length_29^0-length_29^post245 == 0 /\ -rcd_1249^post245+rcd_1249^0 == 0 /\ -x_852^post245+x_852^0 == 0 /\ a_430^0-a_430^post245 == 0 /\ head_15^0-head_15^post245 == 0 /\ -a_575^post245+a_575^0 == 0 /\ -i_197^post245+i_197^0 == 0 /\ -a_309^post245+a_309^0 == 0 /\ i_94^0-i_94^post245 == 0 /\ r_151^0-r_151^post245 == 0 /\ a_577^0-a_577^post245 == 0 /\ -a_635^post245+a_635^0 == 0 /\ r_39^0-r_39^post245 == 0 /\ a_432^0-a_432^post245 == 0 /\ -x_17^post245+x_17^0 == 0 /\ -ct_18^post245+ct_18^0 == 0 /\ a_902^0-a_902^post245 == 0 /\ i_113^0-i_113^post245 == 0 /\ r_192^0-r_192^post245 == 0 /\ a_1162^0-a_1162^post245 == 0 /\ a_862^0-a_862^post245 == 0 /\ x_21^0-x_21^post245 == 0 /\ -a_144^post245+a_144^0 == 0 /\ -rcd_58^post245+rcd_58^0 == 0 /\ -i_30^post245+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post245+x_SLAM_f_19^0 == 0 /\ -len_238^post245+len_238^0 == 0 /\ a_1089^0-a_1089^post245 == 0 /\ -a_634^post245+a_634^0 == 0 /\ -a_633^post245+a_633^0 == 0 /\ a_395^0-a_395^post245 == 0 /\ rcd_88^0-rcd_88^post245 == 0 /\ a_311^0-a_311^post245 == 0 /\ -x_14^post245+x_14^0 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ -a_576^post245+a_576^0 == 0 /\ -a_924^post245+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245 == 0 /\ -result_11^post245+result_11^0 == 0 /\ -r_143^post245+r_143^0 == 0 /\ i_140^0-i_140^post245 == 0 /\ i_106^0-i_106^post245 == 0 /\ -a_121^post245+a_121^0 == 0 /\ tmp_34^0-tmp_34^post245 == 0 /\ -a_176^post245+a_176^0 == 0 /\ i_107^0-i_107^post245 == 0 /\ x_975^0-x_975^post245 == 0 /\ -a_1236^post245+a_1236^0 == 0 /\ -temp_35^post245+temp_35^0 == 0 /\ a_632^0-a_632^post245 == 0 /\ t_458^0-t_458^post245 == 0 /\ a_393^0-a_393^post245 == 0 /\ y_20^0-y_20^post245 == 0 /\ -nondet_12^post245+nondet_12^0 == 0 /\ -r_970^post245+r_970^0 == 0 /\ -i_27^post245+i_27^0 == 0 /\ -f_969^post245+f_969^0 == 0 /\ -a_431^post245+a_431^0 == 0 /\ -a_610^post245+a_610^0 == 0 /\ -temp0_31^post245+temp0_31^0 == 0 /\ -x_253^post245+x_253^0 == 0 /\ -rcd_47^post245+rcd_47^0 == 0 /\ -a_310^post245+a_310^0 == 0), cost: 1 246: l155 -> l156 : a_1089^0'=a_1089^post246, f_847^0'=f_847^post246, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post246, a_394^0'=a_394^post246, x_156^0'=x_156^post246, a_632^0'=a_632^post246, r_192^0'=r_192^post246, a_176^0'=a_176^post246, i_106^0'=i_106^post246, a_430^0'=a_430^post246, t_458^0'=t_458^post246, len_161^0'=len_161^post246, x_975^0'=x_975^post246, a_902^0'=a_902^post246, a_947^0'=a_947^post246, rcd_88^0'=rcd_88^post246, a_311^0'=a_311^post246, i_140^0'=i_140^post246, a_577^0'=a_577^post246, x_14^0'=x_14^post246, nondet_12^0'=nondet_12^post246, a_121^0'=a_121^post246, head_15^0'=head_15^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246, i_27^0'=i_27^post246, x_21^0'=x_21^post246, a_634^0'=a_634^post246, r_39^0'=r_39^post246, a_263^0'=a_263^post246, i_113^0'=i_113^post246, a_432^0'=a_432^post246, temp0_31^0'=temp0_31^post246, len_262^0'=len_262^post246, y_20^0'=y_20^post246, f_248^0'=f_248^post246, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246, a_393^0'=a_393^post246, i_229^0'=i_229^post246, a_610^0'=a_610^post246, r_151^0'=r_151^post246, a_144^0'=a_144^post246, i_1053^0'=i_1053^post246, a_417^0'=a_417^post246, t_24^0'=t_24^post246, i_94^0'=i_94^post246, x_852^0'=x_852^post246, a_862^0'=a_862^post246, rcd_1249^0'=rcd_1249^post246, rcd_58^0'=rcd_58^post246, a_310^0'=a_310^post246, i_127^0'=i_127^post246, a_576^0'=a_576^post246, tmp_34^0'=tmp_34^post246, length_29^0'=length_29^post246, a_1162^0'=a_1162^post246, f_969^0'=f_969^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246, a_395^0'=a_395^post246, x_17^0'=x_17^post246, a_633^0'=a_633^post246, r_224^0'=r_224^post246, a_239^0'=a_239^post246, i_107^0'=i_107^post246, a_431^0'=a_431^post246, temp0_16^0'=temp0_16^post246, len_238^0'=len_238^post246, x_SLAM_f_19^0'=x_SLAM_f_19^post246, a_924^0'=a_924^post246, ct_18^0'=ct_18^post246, result_11^0'=result_11^post246, a_392^0'=a_392^post246, i_197^0'=i_197^post246, a_579^0'=a_579^post246, r_143^0'=r_143^post246, a_1236^0'=a_1236^post246, head_32^0'=head_32^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246, i_30^0'=i_30^post246, x_253^0'=x_253^post246, a_635^0'=a_635^post246, r_970^0'=r_970^post246, rcd_47^0'=rcd_47^post246, a_309^0'=a_309^post246, i_1248^0'=i_1248^post246, a_575^0'=a_575^post246, temp_35^0'=temp_35^post246, len_861^0'=len_861^post246, (-a_610^post246+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246 == 0 /\ i_94^0-i_94^post246 == 0 /\ -a_633^post246+a_633^0 == 0 /\ -tmp_34^post246+tmp_34^0 == 0 /\ i_113^0-i_113^post246 == 0 /\ -rcd_47^post246+rcd_47^0 == 0 /\ r_39^0-r_39^post246 == 0 /\ a_393^0-a_393^post246 == 0 /\ head_15^0-head_15^post246 == 0 /\ a_432^0-a_432^post246 == 0 /\ a_310^0-a_310^post246 == 0 /\ x_156^0-x_156^post246 == 0 /\ -rcd_1249^post246+rcd_1249^0 == 0 /\ -a_634^post246+a_634^0 == 0 /\ a_1089^0-a_1089^post246 == 0 /\ -r_143^post246+r_143^0 == 0 /\ r_192^0-r_192^post246 == 0 /\ -a_576^post246+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post246+len_238^0 == 0 /\ -r_151^post246+r_151^0 == 0 /\ x_21^0-x_21^post246 == 0 /\ -a_924^post246+a_924^0 == 0 /\ i_27^0-i_27^post246 == 0 /\ -a_1236^post246+a_1236^0 == 0 /\ a_121^0-a_121^post246 == 0 /\ -f_969^post246+f_969^0 == 0 /\ a_263^0-a_263^post246 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post246 == 0 /\ -x_253^post246+x_253^0 == 0 /\ -temp_35^post246+temp_35^0 == 0 /\ head_32^0-head_32^post246 == 0 /\ a_417^0-a_417^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246 == 0 /\ -temp0_31^post246+temp0_31^0 == 0 /\ -a_311^post246+a_311^0 == 0 /\ -f_248^post246+f_248^0 == 0 /\ -r_970^post246+r_970^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post246+a_395^0 == 0 /\ i_106^0-i_106^post246 == 0 /\ -len_861^post246+len_861^0 == 0 /\ a_632^0-a_632^post246 == 0 /\ -i_1248^post246+i_1248^0 == 0 /\ -a_430^post246+a_430^0 == 0 /\ -a_239^post246+a_239^0 == 0 /\ a_902^0-a_902^post246 == 0 /\ r_224^0-r_224^post246 == 0 /\ -ct_18^post246+ct_18^0 == 0 /\ x_975^0-x_975^post246 == 0 /\ -len_262^post246+len_262^0 == 0 /\ t_458^0-t_458^post246 == 0 /\ i_107^0-i_107^post246 == 0 /\ a_577^0-a_577^post246 == 0 /\ i_30^0-i_30^post246 == 0 /\ -nondet_12^post246+nondet_12^0 == 0 /\ i_229^0-i_229^post246 == 0 /\ -a_392^post246+a_392^0 == 0 /\ -temp0_16^post246+temp0_16^0 == 0 /\ x_14^0-x_14^post246 == 0 /\ -x_17^post246+x_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_197^post246+i_197^0 == 0 /\ -i_1053^post246+i_1053^0 == 0 /\ len_161^0-len_161^post246 == 0 /\ -a_579^post246+a_579^0 == 0 /\ -a_309^post246+a_309^0 == 0 /\ -result_11^post246+result_11^0 == 0 /\ i_140^0-i_140^post246 == 0 /\ -a_947^post246+a_947^0 == 0 /\ -i_127^post246+i_127^0 == 0 /\ a_431^0-a_431^post246 == 0 /\ t_24^0-t_24^post246 == 0 /\ a_862^0-a_862^post246 == 0 /\ a_394^0-a_394^post246 == 0 /\ x_852^0-x_852^post246 == 0 /\ rcd_88^0-rcd_88^post246 == 0 /\ -rcd_58^post246+rcd_58^0 == 0 /\ -a_635^post246+a_635^0 == 0 /\ a_176^0-a_176^post246 == 0 /\ y_20^0-y_20^post246 == 0 /\ f_847^0-f_847^post246 == 0 /\ length_29^0-length_29^post246 == 0 /\ -a_144^post246+a_144^0 == 0 /\ -a_1162^post246+a_1162^0 == 0 /\ -a_575^post246+a_575^0 == 0), cost: 1 247: l155 -> l156 : a_1089^0'=a_1089^post247, f_847^0'=f_847^post247, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post247, a_394^0'=a_394^post247, x_156^0'=x_156^post247, a_632^0'=a_632^post247, r_192^0'=r_192^post247, a_176^0'=a_176^post247, i_106^0'=i_106^post247, a_430^0'=a_430^post247, t_458^0'=t_458^post247, len_161^0'=len_161^post247, x_975^0'=x_975^post247, a_902^0'=a_902^post247, a_947^0'=a_947^post247, rcd_88^0'=rcd_88^post247, a_311^0'=a_311^post247, i_140^0'=i_140^post247, a_577^0'=a_577^post247, x_14^0'=x_14^post247, nondet_12^0'=nondet_12^post247, a_121^0'=a_121^post247, head_15^0'=head_15^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247, i_27^0'=i_27^post247, x_21^0'=x_21^post247, a_634^0'=a_634^post247, r_39^0'=r_39^post247, a_263^0'=a_263^post247, i_113^0'=i_113^post247, a_432^0'=a_432^post247, temp0_31^0'=temp0_31^post247, len_262^0'=len_262^post247, y_20^0'=y_20^post247, f_248^0'=f_248^post247, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247, a_393^0'=a_393^post247, i_229^0'=i_229^post247, a_610^0'=a_610^post247, r_151^0'=r_151^post247, a_144^0'=a_144^post247, i_1053^0'=i_1053^post247, a_417^0'=a_417^post247, t_24^0'=t_24^post247, i_94^0'=i_94^post247, x_852^0'=x_852^post247, a_862^0'=a_862^post247, rcd_1249^0'=rcd_1249^post247, rcd_58^0'=rcd_58^post247, a_310^0'=a_310^post247, i_127^0'=i_127^post247, a_576^0'=a_576^post247, tmp_34^0'=tmp_34^post247, length_29^0'=length_29^post247, a_1162^0'=a_1162^post247, f_969^0'=f_969^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247, a_395^0'=a_395^post247, x_17^0'=x_17^post247, a_633^0'=a_633^post247, r_224^0'=r_224^post247, a_239^0'=a_239^post247, i_107^0'=i_107^post247, a_431^0'=a_431^post247, temp0_16^0'=temp0_16^post247, len_238^0'=len_238^post247, x_SLAM_f_19^0'=x_SLAM_f_19^post247, a_924^0'=a_924^post247, ct_18^0'=ct_18^post247, result_11^0'=result_11^post247, a_392^0'=a_392^post247, i_197^0'=i_197^post247, a_579^0'=a_579^post247, r_143^0'=r_143^post247, a_1236^0'=a_1236^post247, head_32^0'=head_32^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247, i_30^0'=i_30^post247, x_253^0'=x_253^post247, a_635^0'=a_635^post247, r_970^0'=r_970^post247, rcd_47^0'=rcd_47^post247, a_309^0'=a_309^post247, i_1248^0'=i_1248^post247, a_575^0'=a_575^post247, temp_35^0'=temp_35^post247, len_861^0'=len_861^post247, (-length_29^post247+length_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post247 == 0 /\ len_262^0-len_262^post247 == 0 /\ -temp0_16^post247+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post247 == 0 /\ -a_862^post247+a_862^0 == 0 /\ -a_417^post247+a_417^0 == 0 /\ -len_861^post247+len_861^0 == 0 /\ i_229^0-i_229^post247 == 0 /\ -f_248^post247+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post247+a_1236^0 == 0 /\ a_634^0-a_634^post247 == 0 /\ len_161^0-len_161^post247 == 0 /\ a_947^0-a_947^post247 == 0 /\ -i_1248^post247+i_1248^0 == 0 /\ -a_393^post247+a_393^0 == 0 /\ head_15^0-head_15^post247 == 0 /\ -head_32^post247+head_32^0 == 0 /\ -i_27^post247+i_27^0 == 0 /\ -a_239^post247+a_239^0 == 0 /\ -i_197^post247+i_197^0 == 0 /\ -a_579^post247+a_579^0 == 0 /\ -a_392^post247+a_392^0 == 0 /\ i_1053^0-i_1053^post247 == 0 /\ a_395^0-a_395^post247 == 0 /\ a_121^0-a_121^post247 == 0 /\ a_176^0-a_176^post247 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -r_151^post247+r_151^0 == 0 /\ -a_144^post247+a_144^0 == 0 /\ x_975^0-x_975^post247 == 0 /\ i_113^0-i_113^post247 == 0 /\ -i_127^post247+i_127^0 == 0 /\ r_192^0-r_192^post247 == 0 /\ a_430^0-a_430^post247 == 0 /\ -i_30^post247+i_30^0 == 0 /\ -a_575^post247+a_575^0 == 0 /\ -x_852^post247+x_852^0 == 0 /\ -t_24^post247+t_24^0 == 0 /\ -a_635^post247+a_635^0 == 0 /\ a_1089^0-a_1089^post247 == 0 /\ -a_309^post247+a_309^0 == 0 /\ x_156^0-x_156^post247 == 0 /\ a_310^0-a_310^post247 == 0 /\ a_1162^0-a_1162^post247 == 0 /\ a_632^0-a_632^post247 == 0 /\ -rcd_58^post247+rcd_58^0 == 0 /\ x_14^0-x_14^post247 == 0 /\ -ct_18^post247+ct_18^0 == 0 /\ a_432^0-a_432^post247 == 0 /\ -tmp_34^post247+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post247 == 0 /\ r_970^0-r_970^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post247 == 0 /\ x_21^0-x_21^post247 == 0 /\ -a_902^post247+a_902^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247 == 0 /\ a_263^0-a_263^post247 == 0 /\ a_431^0-a_431^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_633^post247+a_633^0 == 0 /\ f_847^0-f_847^post247 == 0 /\ -result_11^post247+result_11^0 == 0 /\ a_394^0-a_394^post247 == 0 /\ -len_238^post247+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post247+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post247 == 0 /\ -rcd_47^post247+rcd_47^0 == 0 /\ -a_924^post247+a_924^0 == 0 /\ -rcd_1249^post247+rcd_1249^0 == 0 /\ -r_143^post247+r_143^0 == 0 /\ y_20^0-y_20^post247 == 0 /\ i_107^0-i_107^post247 == 0 /\ -x_253^post247+x_253^0 == 0 /\ -f_969^post247+f_969^0 == 0 /\ a_610^0-a_610^post247 == 0 /\ t_458^0-t_458^post247 == 0 /\ r_39^0-r_39^post247 == 0 /\ a_577^0-a_577^post247 == 0 /\ -a_311^post247+a_311^0 == 0 /\ i_106^0-i_106^post247 == 0 /\ i_94^0-i_94^post247 == 0 /\ r_224^0-r_224^post247 == 0 /\ -rcd_88^post247+rcd_88^0 == 0 /\ -a_576^post247+a_576^0 == 0 /\ -temp_35^post247+temp_35^0 == 0), cost: 1 248: l156 -> l150 : a_1089^0'=a_1089^post248, f_847^0'=f_847^post248, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post248, a_394^0'=a_394^post248, x_156^0'=x_156^post248, a_632^0'=a_632^post248, r_192^0'=r_192^post248, a_176^0'=a_176^post248, i_106^0'=i_106^post248, a_430^0'=a_430^post248, t_458^0'=t_458^post248, len_161^0'=len_161^post248, x_975^0'=x_975^post248, a_902^0'=a_902^post248, a_947^0'=a_947^post248, rcd_88^0'=rcd_88^post248, a_311^0'=a_311^post248, i_140^0'=i_140^post248, a_577^0'=a_577^post248, x_14^0'=x_14^post248, nondet_12^0'=nondet_12^post248, a_121^0'=a_121^post248, head_15^0'=head_15^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248, i_27^0'=i_27^post248, x_21^0'=x_21^post248, a_634^0'=a_634^post248, r_39^0'=r_39^post248, a_263^0'=a_263^post248, i_113^0'=i_113^post248, a_432^0'=a_432^post248, temp0_31^0'=temp0_31^post248, len_262^0'=len_262^post248, y_20^0'=y_20^post248, f_248^0'=f_248^post248, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248, a_393^0'=a_393^post248, i_229^0'=i_229^post248, a_610^0'=a_610^post248, r_151^0'=r_151^post248, a_144^0'=a_144^post248, i_1053^0'=i_1053^post248, a_417^0'=a_417^post248, t_24^0'=t_24^post248, i_94^0'=i_94^post248, x_852^0'=x_852^post248, a_862^0'=a_862^post248, rcd_1249^0'=rcd_1249^post248, rcd_58^0'=rcd_58^post248, a_310^0'=a_310^post248, i_127^0'=i_127^post248, a_576^0'=a_576^post248, tmp_34^0'=tmp_34^post248, length_29^0'=length_29^post248, a_1162^0'=a_1162^post248, f_969^0'=f_969^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248, a_395^0'=a_395^post248, x_17^0'=x_17^post248, a_633^0'=a_633^post248, r_224^0'=r_224^post248, a_239^0'=a_239^post248, i_107^0'=i_107^post248, a_431^0'=a_431^post248, temp0_16^0'=temp0_16^post248, len_238^0'=len_238^post248, x_SLAM_f_19^0'=x_SLAM_f_19^post248, a_924^0'=a_924^post248, ct_18^0'=ct_18^post248, result_11^0'=result_11^post248, a_392^0'=a_392^post248, i_197^0'=i_197^post248, a_579^0'=a_579^post248, r_143^0'=r_143^post248, a_1236^0'=a_1236^post248, head_32^0'=head_32^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248, i_30^0'=i_30^post248, x_253^0'=x_253^post248, a_635^0'=a_635^post248, r_970^0'=r_970^post248, rcd_47^0'=rcd_47^post248, a_309^0'=a_309^post248, i_1248^0'=i_1248^post248, a_575^0'=a_575^post248, temp_35^0'=temp_35^post248, len_861^0'=len_861^post248, (0 == 0 /\ ct_18^0-ct_18^post248 == 0 /\ t_458^0-t_458^post248 == 0 /\ -tmp_34^post248+tmp_34^0 == 0 /\ -a_610^post248+a_610^0 == 0 /\ a_632^0-a_632^post248 == 0 /\ i_106^0-i_106^post248 == 0 /\ a_902^0-a_902^post248 == 0 /\ -rcd_47^post248+rcd_47^0 == 0 /\ head_15^0-head_15^post248 == 0 /\ -a_634^post248+a_634^0 == 0 /\ -x_253^post248+x_253^0 == 0 /\ a_1089^0-a_1089^post248 == 0 /\ a_310^0-a_310^post248 == 0 /\ i_229^0-i_229^post248 == 0 /\ -rcd_1249^post248+rcd_1249^0 == 0 /\ -len_238^post248+len_238^0 == 0 /\ -r_151^post248+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post248 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_11^post248+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_121^0-a_121^post248 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -r_224^post248+r_224^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post248 == 0 /\ -r_970^post248+r_970^0 == 0 /\ temp0_31^0-temp0_31^post248 == 0 /\ -a_576^post248+a_576^0 == 0 /\ a_263^0-a_263^post248 == 0 /\ len_262^0-len_262^post248 == 0 /\ -r_143^post248+r_143^0 == 0 /\ nondet_12^0-nondet_12^post248 == 0 /\ -i_27^post248+i_27^0 == 0 /\ y_20^0-y_20^post248 == 0 /\ -a_311^post248+a_311^0 == 0 /\ a_176^0-a_176^post248 == 0 /\ -f_248^post248+f_248^0 == 0 /\ a_394^0-a_394^post248 == 0 /\ -a_1236^post248+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248 == 0 /\ -a_395^post248+a_395^0 == 0 /\ a_924^0-a_924^post248 == 0 /\ -temp_35^post248+temp_35^0 == 0 /\ -rcd_88^post248+rcd_88^0 == 0 /\ x_975^0-x_975^post248 == 0 /\ -a_1162^post248+a_1236^0 <= 0 /\ r_39^0-r_39^post248 == 0 /\ a_577^0-a_577^post248 == 0 /\ f_969^0-f_969^post248 == 0 /\ i_94^0-i_94^post248 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248 == 0 /\ -a_392^post248+a_392^0 == 0 /\ -length_29^post248+length_29^0 == 0 /\ i_113^0-i_113^post248 == 0 /\ -a_417^post248+a_417^0 == 0 /\ a_393^0-a_393^post248 == 0 /\ -a_862^post248+a_862^0 == 0 /\ temp0_16^0-temp0_16^post248 == 0 /\ len_161^0-len_161^post248 == 0 /\ -len_861^post248+len_861^0 == 0 /\ -i_1053^post248+i_1053^0 == 0 /\ -x_156^post248+x_156^0 == 0 /\ x_21^0-x_21^post248 == 0 /\ a_432^0-a_432^post248 == 0 /\ -i_30^post248+i_30^0 == 0 /\ -i_1248^post248+i_1248^0 == 0 /\ -a_239^post248+a_239^0 == 0 /\ -a_635^post248+a_635^0 == 0 /\ -head_32^post248+head_32^0 == 0 /\ x_14^0-x_14^post248 == 0 /\ -r_192^post248+r_192^0 == 0 /\ a_430^0-a_430^post248 == 0 /\ -x_852^post248+x_852^0 == 0 /\ -x_17^post248+x_17^0 == 0 /\ a_1162^post248-a_1236^0 <= 0 /\ i_140^0-i_140^post248 == 0 /\ -a_579^post248+a_579^0 == 0 /\ -i_127^post248+i_127^0 == 0 /\ a_431^0-a_431^post248 == 0 /\ f_847^0-f_847^post248 == 0 /\ -rcd_58^post248+rcd_58^0 == 0 /\ t_24^0-t_24^post248 == 0 /\ -i_107^post248+i_107^0 == 0 /\ a_144^0-a_144^post248 == 0 /\ a_947^0-a_947^post248 == 0 /\ -a_575^post248+a_575^0 == 0 /\ -i_197^post248+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post248+a_633^0 == 0 /\ -a_309^post248+a_309^0 == 0), cost: 1 249: l150 -> l120 : a_1089^0'=a_1089^post249, f_847^0'=f_847^post249, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post249, a_394^0'=a_394^post249, x_156^0'=x_156^post249, a_632^0'=a_632^post249, r_192^0'=r_192^post249, a_176^0'=a_176^post249, i_106^0'=i_106^post249, a_430^0'=a_430^post249, t_458^0'=t_458^post249, len_161^0'=len_161^post249, x_975^0'=x_975^post249, a_902^0'=a_902^post249, a_947^0'=a_947^post249, rcd_88^0'=rcd_88^post249, a_311^0'=a_311^post249, i_140^0'=i_140^post249, a_577^0'=a_577^post249, x_14^0'=x_14^post249, nondet_12^0'=nondet_12^post249, a_121^0'=a_121^post249, head_15^0'=head_15^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249, i_27^0'=i_27^post249, x_21^0'=x_21^post249, a_634^0'=a_634^post249, r_39^0'=r_39^post249, a_263^0'=a_263^post249, i_113^0'=i_113^post249, a_432^0'=a_432^post249, temp0_31^0'=temp0_31^post249, len_262^0'=len_262^post249, y_20^0'=y_20^post249, f_248^0'=f_248^post249, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249, a_393^0'=a_393^post249, i_229^0'=i_229^post249, a_610^0'=a_610^post249, r_151^0'=r_151^post249, a_144^0'=a_144^post249, i_1053^0'=i_1053^post249, a_417^0'=a_417^post249, t_24^0'=t_24^post249, i_94^0'=i_94^post249, x_852^0'=x_852^post249, a_862^0'=a_862^post249, rcd_1249^0'=rcd_1249^post249, rcd_58^0'=rcd_58^post249, a_310^0'=a_310^post249, i_127^0'=i_127^post249, a_576^0'=a_576^post249, tmp_34^0'=tmp_34^post249, length_29^0'=length_29^post249, a_1162^0'=a_1162^post249, f_969^0'=f_969^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249, a_395^0'=a_395^post249, x_17^0'=x_17^post249, a_633^0'=a_633^post249, r_224^0'=r_224^post249, a_239^0'=a_239^post249, i_107^0'=i_107^post249, a_431^0'=a_431^post249, temp0_16^0'=temp0_16^post249, len_238^0'=len_238^post249, x_SLAM_f_19^0'=x_SLAM_f_19^post249, a_924^0'=a_924^post249, ct_18^0'=ct_18^post249, result_11^0'=result_11^post249, a_392^0'=a_392^post249, i_197^0'=i_197^post249, a_579^0'=a_579^post249, r_143^0'=r_143^post249, a_1236^0'=a_1236^post249, head_32^0'=head_32^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249, i_30^0'=i_30^post249, x_253^0'=x_253^post249, a_635^0'=a_635^post249, r_970^0'=r_970^post249, rcd_47^0'=rcd_47^post249, a_309^0'=a_309^post249, i_1248^0'=i_1248^post249, a_575^0'=a_575^post249, temp_35^0'=temp_35^post249, len_861^0'=len_861^post249, (i_197^0-i_197^post249 == 0 /\ -len_861^post249+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post249 == 0 /\ temp0_31^0-temp0_31^post249 == 0 /\ a_1162^0-a_1162^post249 == 0 /\ -a_432^post249+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post249+i_107^0 == 0 /\ a_634^0-a_634^post249 == 0 /\ -a_393^post249+a_393^0 == 0 /\ -a_392^post249+a_392^0 == 0 /\ -i_1248^post249+i_1248^0 == 0 /\ f_248^0-f_248^post249 == 0 /\ -head_32^post249+head_32^0 == 0 /\ -a_239^post249+a_239^0 == 0 /\ -i_27^post249+i_27^0 == 0 /\ -length_29^post249+length_29^0 == 0 /\ x_17^0-x_17^post249 == 0 /\ a_924^0-a_924^post249 == 0 /\ -i_30^post249+i_30^0 == 0 /\ a_176^0-a_176^post249 == 0 /\ -a_310^post249+a_310^0 == 0 /\ x_975^0-x_975^post249 == 0 /\ -a_635^post249+a_635^0 == 0 /\ -x_852^post249+x_852^0 == 0 /\ -r_151^post249+r_151^0 == 0 /\ rcd_1249^0-rcd_1249^post249 == 0 /\ a_610^0-a_610^post249 == 0 /\ i_113^0-i_113^post249 == 0 /\ -a_579^post249+a_579^0 == 0 /\ -rcd_58^post249+rcd_58^0 == 0 /\ -a_417^post249+a_417^0 == 0 /\ -a_309^post249+a_309^0 == 0 /\ a_632^0-a_632^post249 == 0 /\ -a_263^post249+a_263^0 == 0 /\ t_458^0-t_458^post249 == 0 /\ -ct_18^post249+ct_18^0 == 0 /\ r_192^0-r_192^post249 == 0 /\ -a_575^post249+a_575^0 == 0 /\ -a_862^post249+a_862^0 == 0 /\ nondet_12^0-nondet_12^post249 == 0 /\ x_21^0-x_21^post249 == 0 /\ -a_431^post249+a_431^0 == 0 /\ a_633^0-a_633^post249 == 0 /\ len_161^0-len_161^post249 == 0 /\ temp0_16^0-temp0_16^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post249 == 0 /\ f_847^0-f_847^post249 == 0 /\ -t_24^post249+t_24^0 == 0 /\ head_15^0-head_15^post249 == 0 /\ -f_969^post249+f_969^0 == 0 /\ -result_11^post249+result_11^0 == 0 /\ -tmp_34^post249+tmp_34^0 == 0 /\ a_144^0-a_144^post249 == 0 /\ a_394^0-a_394^post249 == 0 /\ a_121^0-a_121^post249 == 0 /\ -x_253^post249+x_253^0 == 0 /\ -rcd_47^post249+rcd_47^0 == 0 /\ a_902^0-a_902^post249 == 0 /\ len_262^0-len_262^post249 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249 == 0 /\ -i_140^post249+i_140^0 == 0 /\ a_947^0-a_947^post249 == 0 /\ -temp_35^post249+temp_35^0 == 0 /\ a_430^0-a_430^post249 == 0 /\ r_39^0-r_39^post249 == 0 /\ i_127^0-i_127^post249 == 0 /\ a_311^0-a_311^post249 == 0 /\ -r_143^post249+r_143^0 == 0 /\ rcd_88^0-rcd_88^post249 == 0 /\ a_577^0-a_577^post249 == 0 /\ i_106^0-i_106^post249 == 0 /\ len_238^0-len_238^post249 == 0 /\ -i_229^post249+i_229^0 == 0 /\ -y_20^post249+y_20^0 == 0 /\ -x_SLAM_f_19^post249+x_SLAM_f_19^0 == 0 /\ -r_970^post249+r_970^0 == 0 /\ -a_576^post249+a_576^0 == 0 /\ -i_1053^post249+i_1053^0 == 0 /\ -r_224^post249+r_224^0 == 0 /\ i_94^0-i_94^post249 == 0 /\ -a_395^post249+a_395^0 == 0 /\ -a_1236^post249+a_1236^0 == 0 /\ x_14^0-x_14^post249 == 0 /\ a_1089^0-a_1089^post249 == 0), cost: 1 250: l157 -> l158 : a_1089^0'=a_1089^post250, f_847^0'=f_847^post250, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post250, a_394^0'=a_394^post250, x_156^0'=x_156^post250, a_632^0'=a_632^post250, r_192^0'=r_192^post250, a_176^0'=a_176^post250, i_106^0'=i_106^post250, a_430^0'=a_430^post250, t_458^0'=t_458^post250, len_161^0'=len_161^post250, x_975^0'=x_975^post250, a_902^0'=a_902^post250, a_947^0'=a_947^post250, rcd_88^0'=rcd_88^post250, a_311^0'=a_311^post250, i_140^0'=i_140^post250, a_577^0'=a_577^post250, x_14^0'=x_14^post250, nondet_12^0'=nondet_12^post250, a_121^0'=a_121^post250, head_15^0'=head_15^post250, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post250, i_27^0'=i_27^post250, x_21^0'=x_21^post250, a_634^0'=a_634^post250, r_39^0'=r_39^post250, a_263^0'=a_263^post250, i_113^0'=i_113^post250, a_432^0'=a_432^post250, temp0_31^0'=temp0_31^post250, len_262^0'=len_262^post250, y_20^0'=y_20^post250, f_248^0'=f_248^post250, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post250, a_393^0'=a_393^post250, i_229^0'=i_229^post250, a_610^0'=a_610^post250, r_151^0'=r_151^post250, a_144^0'=a_144^post250, i_1053^0'=i_1053^post250, a_417^0'=a_417^post250, t_24^0'=t_24^post250, i_94^0'=i_94^post250, x_852^0'=x_852^post250, a_862^0'=a_862^post250, rcd_1249^0'=rcd_1249^post250, rcd_58^0'=rcd_58^post250, a_310^0'=a_310^post250, i_127^0'=i_127^post250, a_576^0'=a_576^post250, tmp_34^0'=tmp_34^post250, length_29^0'=length_29^post250, a_1162^0'=a_1162^post250, f_969^0'=f_969^post250, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post250, a_395^0'=a_395^post250, x_17^0'=x_17^post250, a_633^0'=a_633^post250, r_224^0'=r_224^post250, a_239^0'=a_239^post250, i_107^0'=i_107^post250, a_431^0'=a_431^post250, temp0_16^0'=temp0_16^post250, len_238^0'=len_238^post250, x_SLAM_f_19^0'=x_SLAM_f_19^post250, a_924^0'=a_924^post250, ct_18^0'=ct_18^post250, result_11^0'=result_11^post250, a_392^0'=a_392^post250, i_197^0'=i_197^post250, a_579^0'=a_579^post250, r_143^0'=r_143^post250, a_1236^0'=a_1236^post250, head_32^0'=head_32^post250, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post250, i_30^0'=i_30^post250, x_253^0'=x_253^post250, a_635^0'=a_635^post250, r_970^0'=r_970^post250, rcd_47^0'=rcd_47^post250, a_309^0'=a_309^post250, i_1248^0'=i_1248^post250, a_575^0'=a_575^post250, temp_35^0'=temp_35^post250, len_861^0'=len_861^post250, (0 == 0 /\ x_975^0-x_975^post250 == 0 /\ -rcd_47^post250+rcd_47^0 == 0 /\ -i_107^post250+i_107^0 == 0 /\ t_458^0-t_458^post250 == 0 /\ x_21^0-y_20^0 <= 0 /\ -i_30^post250+i_30^0 == 0 /\ i_113^0-i_113^post250 == 0 /\ -i_127^post250+i_127^0 == 0 /\ -a_575^post250+a_575^0 == 0 /\ a_577^0-a_577^post250 == 0 /\ -r_143^post250+r_143^0 == 0 /\ head_15^0-head_15^post250 == 0 /\ a_610^0-a_610^post250 == 0 /\ -x_852^post250+x_852^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post250+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post250 == 0 /\ a_1089^0-a_1089^post250 == 0 /\ r_39^0-r_39^post250 == 0 /\ a_263^0-a_263^post250 == 0 /\ a_632^0-a_632^post250 == 0 /\ x_156^0-x_156^post250 == 0 /\ a_430^0-a_430^post250 == 0 /\ -a_431^post250+a_431^0 == 0 /\ -a_144^post250+a_144^0 == 0 /\ -r_151^post250+r_151^0 == 0 /\ -r_970^post250+r_970^0 == 0 /\ a_576^0-a_576^post250 == 0 /\ a_121^0-a_121^post250 == 0 /\ i_140^0-i_140^post250 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -a_392^post250+a_392^0 == 0 /\ -a_633^post250+a_633^0 == 0 /\ i_229^0-i_229^post250 == 0 /\ -a_1089^0 <= 0 /\ a_862^0-a_862^post250 == 0 /\ a_394^0-a_394^post250 == 0 /\ a_634^0-a_634^post250 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post250 == 0 /\ -len_161^post250+len_161^0 == 0 /\ -rcd_1249^post250+rcd_1249^0 == 0 /\ -a_579^post250+a_579^0 == 0 /\ -temp_35^post250+temp_35^0 == 0 /\ a_947^0-a_947^post250 == 0 /\ -len_262^post250+len_262^0 == 0 /\ -x_253^post250+x_253^0 == 0 /\ rcd_88^0-rcd_88^post250 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post250+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_11^post250-temp0_16^0 == 0 /\ -i_197^post250+i_197^0 == 0 /\ -rcd_58^post250+rcd_58^0 == 0 /\ a_311^0-a_311^post250 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post250 == 0 /\ -a_393^post250+a_393^0 == 0 /\ -a_1236^post250+a_1236^0 == 0 /\ -a_417^post250+a_417^0 == 0 /\ a_902^0-a_902^post250 == 0 /\ f_969^0-f_969^post250 == 0 /\ -i_106^post250+i_106^0 == 0 /\ f_248^0-f_248^post250 == 0 /\ -a_239^post250+a_239^0 == 0 /\ -length_29^post250+length_29^0 == 0 /\ r_224^0-r_224^post250 == 0 /\ -a_924^post250+a_924^0 == 0 /\ -tmp_34^post250+tmp_34^0 == 0 /\ -a_635^post250+a_635^0 == 0 /\ -a_310^post250+a_310^0 == 0 /\ i_1248^0-i_1248^post250 == 0 /\ -temp0_16^post250+temp0_16^0 == 0 /\ -a_1162^post250+a_1162^0 == 0 /\ -i_1053^post250+i_1053^0 == 0 /\ -a_395^post250+a_395^0 == 0 /\ -r_192^post250+r_192^0 == 0 /\ -head_32^post250+head_32^0 == 0 /\ f_847^0-f_847^post250 == 0 /\ -len_861^post250+len_861^0 == 0 /\ temp0_31^0-temp0_31^post250 == 0 /\ nondet_12^0-nondet_12^post250 == 0 /\ i_94^0-i_94^post250 == 0 /\ -a_309^post250+a_309^0 == 0 /\ -len_238^post250+len_238^0 == 0 /\ a_176^0-a_176^post250 == 0), cost: 1 254: l157 -> l160 : a_1089^0'=a_1089^post254, f_847^0'=f_847^post254, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post254, a_394^0'=a_394^post254, x_156^0'=x_156^post254, a_632^0'=a_632^post254, r_192^0'=r_192^post254, a_176^0'=a_176^post254, i_106^0'=i_106^post254, a_430^0'=a_430^post254, t_458^0'=t_458^post254, len_161^0'=len_161^post254, x_975^0'=x_975^post254, a_902^0'=a_902^post254, a_947^0'=a_947^post254, rcd_88^0'=rcd_88^post254, a_311^0'=a_311^post254, i_140^0'=i_140^post254, a_577^0'=a_577^post254, x_14^0'=x_14^post254, nondet_12^0'=nondet_12^post254, a_121^0'=a_121^post254, head_15^0'=head_15^post254, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post254, i_27^0'=i_27^post254, x_21^0'=x_21^post254, a_634^0'=a_634^post254, r_39^0'=r_39^post254, a_263^0'=a_263^post254, i_113^0'=i_113^post254, a_432^0'=a_432^post254, temp0_31^0'=temp0_31^post254, len_262^0'=len_262^post254, y_20^0'=y_20^post254, f_248^0'=f_248^post254, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post254, a_393^0'=a_393^post254, i_229^0'=i_229^post254, a_610^0'=a_610^post254, r_151^0'=r_151^post254, a_144^0'=a_144^post254, i_1053^0'=i_1053^post254, a_417^0'=a_417^post254, t_24^0'=t_24^post254, i_94^0'=i_94^post254, x_852^0'=x_852^post254, a_862^0'=a_862^post254, rcd_1249^0'=rcd_1249^post254, rcd_58^0'=rcd_58^post254, a_310^0'=a_310^post254, i_127^0'=i_127^post254, a_576^0'=a_576^post254, tmp_34^0'=tmp_34^post254, length_29^0'=length_29^post254, a_1162^0'=a_1162^post254, f_969^0'=f_969^post254, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post254, a_395^0'=a_395^post254, x_17^0'=x_17^post254, a_633^0'=a_633^post254, r_224^0'=r_224^post254, a_239^0'=a_239^post254, i_107^0'=i_107^post254, a_431^0'=a_431^post254, temp0_16^0'=temp0_16^post254, len_238^0'=len_238^post254, x_SLAM_f_19^0'=x_SLAM_f_19^post254, a_924^0'=a_924^post254, ct_18^0'=ct_18^post254, result_11^0'=result_11^post254, a_392^0'=a_392^post254, i_197^0'=i_197^post254, a_579^0'=a_579^post254, r_143^0'=r_143^post254, a_1236^0'=a_1236^post254, head_32^0'=head_32^post254, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post254, i_30^0'=i_30^post254, x_253^0'=x_253^post254, a_635^0'=a_635^post254, r_970^0'=r_970^post254, rcd_47^0'=rcd_47^post254, a_309^0'=a_309^post254, i_1248^0'=i_1248^post254, a_575^0'=a_575^post254, temp_35^0'=temp_35^post254, len_861^0'=len_861^post254, (0 == 0 /\ -i_1248^post254+i_1248^0 == 0 /\ -len_861^post254+len_861^0 == 0 /\ -head_32^post254+head_32^0 == 0 /\ -a_239^post254+a_239^0 == 0 /\ i_140^0-i_140^post254 == 0 /\ a_417^0-a_417^post254 == 0 /\ -x_852^post254+x_852^0 == 0 /\ -len_262^post254+len_262^0 == 0 /\ a_392^0-a_392^post254 == 0 /\ y_20^0-y_20^post254 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post254 == 0 /\ i_1053^0-i_1053^post254 == 0 /\ a_395^0-a_395^post254 == 0 /\ rcd_88^0-rcd_88^post254 == 0 /\ -temp0_16^post254+temp0_16^0 == 0 /\ i_106^0-i_106^post254 == 0 /\ f_847^0-f_847^post254 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post254+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_197^post254+i_197^0 == 0 /\ -a_579^post254+a_579^0 == 0 /\ -a_575^post254+a_575^0 == 0 /\ a_632^0-a_632^post254 == 0 /\ i_94^0-i_94^post254 == 0 /\ a_393^0-a_393^post254 == 0 /\ -a_309^post254+a_309^0 == 0 /\ a_902^0-a_902^post254 == 0 /\ -i_127^post254+i_127^0 == 0 /\ -i_30^post254+i_30^0 == 0 /\ -a_1089^0 <= 0 /\ -x_21^post254+x_21^0 == 0 /\ a_432^0-a_432^post254 == 0 /\ a_310^0-a_310^post254 == 0 /\ r_143^0-r_143^post254 == 0 /\ -rcd_58^post254+rcd_58^0 == 0 /\ -a_635^post254+a_635^0 == 0 /\ r_192^0-r_192^post254 == 0 /\ -a_144^post254+a_144^0 == 0 /\ nondet_12^0-nondet_12^post254 == 0 /\ temp0_31^0-temp0_31^post254 == 0 /\ -a_1162^post254+a_1162^0 == 0 /\ result_11^0-result_11^post254 == 0 /\ len_161^0-len_161^post254 == 0 /\ -a_610^post254+a_610^0 == 0 /\ a_121^0-a_121^post254 == 0 /\ -a_633^post254+a_633^0 == 0 /\ -tmp_34^post254+tmp_34^0 == 0 /\ a_263^0-a_263^post254 == 0 /\ i_229^0-i_229^post254 == 0 /\ a_947^0-a_947^post254 == 0 /\ t_24^0-t_24^post254 == 0 /\ a_862^0-a_862^post254 == 0 /\ a_394^0-a_394^post254 == 0 /\ -rcd_1249^post254+rcd_1249^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post254 == 0 /\ -a_176^post254+a_176^0 == 0 /\ -a_576^post254+a_576^0 == 0 /\ r_39^0-r_39^post254 == 0 /\ -x_975^post254+x_975^0 == 0 /\ -len_238^post254+len_238^0 == 0 /\ -a_634^post254+a_634^0 == 0 /\ -a_924^post254+a_924^0 == 0 /\ r_151^0-r_151^post254 == 0 /\ rcd_47^0-rcd_47^post254 == 0 /\ -a_1236^post254+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post254 == 0 /\ -f_969^post254+f_969^0 == 0 /\ r_224^0-r_224^post254 == 0 /\ -x_253^post254+x_253^0 == 0 /\ a_430^0-a_430^post254 == 0 /\ a_311^0-a_311^post254 == 0 /\ i_107^0-i_107^post254 == 0 /\ t_458^0-t_458^post254 == 0 /\ -temp_35^post254+temp_35^0 == 0 /\ a_577^0-a_577^post254 == 0 /\ -f_248^post254+f_248^0 == 0 /\ i_113^0-i_113^post254 == 0 /\ x_156^0-x_156^post254 == 0 /\ a_1089^0-a_1089^post254 == 0 /\ -a_431^post254+a_431^0 == 0 /\ -length_29^post254+length_29^0 == 0 /\ -r_970^post254+r_970^0 == 0), cost: 1 251: l158 -> l159 : a_1089^0'=a_1089^post251, f_847^0'=f_847^post251, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post251, a_394^0'=a_394^post251, x_156^0'=x_156^post251, a_632^0'=a_632^post251, r_192^0'=r_192^post251, a_176^0'=a_176^post251, i_106^0'=i_106^post251, a_430^0'=a_430^post251, t_458^0'=t_458^post251, len_161^0'=len_161^post251, x_975^0'=x_975^post251, a_902^0'=a_902^post251, a_947^0'=a_947^post251, rcd_88^0'=rcd_88^post251, a_311^0'=a_311^post251, i_140^0'=i_140^post251, a_577^0'=a_577^post251, x_14^0'=x_14^post251, nondet_12^0'=nondet_12^post251, a_121^0'=a_121^post251, head_15^0'=head_15^post251, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post251, i_27^0'=i_27^post251, x_21^0'=x_21^post251, a_634^0'=a_634^post251, r_39^0'=r_39^post251, a_263^0'=a_263^post251, i_113^0'=i_113^post251, a_432^0'=a_432^post251, temp0_31^0'=temp0_31^post251, len_262^0'=len_262^post251, y_20^0'=y_20^post251, f_248^0'=f_248^post251, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post251, a_393^0'=a_393^post251, i_229^0'=i_229^post251, a_610^0'=a_610^post251, r_151^0'=r_151^post251, a_144^0'=a_144^post251, i_1053^0'=i_1053^post251, a_417^0'=a_417^post251, t_24^0'=t_24^post251, i_94^0'=i_94^post251, x_852^0'=x_852^post251, a_862^0'=a_862^post251, rcd_1249^0'=rcd_1249^post251, rcd_58^0'=rcd_58^post251, a_310^0'=a_310^post251, i_127^0'=i_127^post251, a_576^0'=a_576^post251, tmp_34^0'=tmp_34^post251, length_29^0'=length_29^post251, a_1162^0'=a_1162^post251, f_969^0'=f_969^post251, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post251, a_395^0'=a_395^post251, x_17^0'=x_17^post251, a_633^0'=a_633^post251, r_224^0'=r_224^post251, a_239^0'=a_239^post251, i_107^0'=i_107^post251, a_431^0'=a_431^post251, temp0_16^0'=temp0_16^post251, len_238^0'=len_238^post251, x_SLAM_f_19^0'=x_SLAM_f_19^post251, a_924^0'=a_924^post251, ct_18^0'=ct_18^post251, result_11^0'=result_11^post251, a_392^0'=a_392^post251, i_197^0'=i_197^post251, a_579^0'=a_579^post251, r_143^0'=r_143^post251, a_1236^0'=a_1236^post251, head_32^0'=head_32^post251, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post251, i_30^0'=i_30^post251, x_253^0'=x_253^post251, a_635^0'=a_635^post251, r_970^0'=r_970^post251, rcd_47^0'=rcd_47^post251, a_309^0'=a_309^post251, i_1248^0'=i_1248^post251, a_575^0'=a_575^post251, temp_35^0'=temp_35^post251, len_861^0'=len_861^post251, (-i_94^post251+i_94^0 == 0 /\ -x_14^post251+x_14^0 == 0 /\ -x_17^post251+x_17^0 == 0 /\ -i_113^post251+i_113^0 == 0 /\ -a_309^post251+a_309^0 == 0 /\ -a_635^post251+a_635^0 == 0 /\ -x_SLAM_f_19^post251+x_SLAM_f_19^0 == 0 /\ -r_143^post251+r_143^0 == 0 /\ 1-x_14^0 <= 0 /\ result_11^0-result_11^post251 == 0 /\ -a_144^post251+a_144^0 == 0 /\ -a_575^post251+a_575^0 == 0 /\ x_975^0-x_975^post251 == 0 /\ a_634^0-a_634^post251 == 0 /\ x_156^0-x_156^post251 == 0 /\ -a_1236^post251+a_1236^0 == 0 /\ head_15^0-head_15^post251 == 0 /\ a_902^0-a_902^post251 == 0 /\ -a_432^post251+a_432^0 == 0 /\ -a_633^post251+a_633^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post251 == 0 /\ a_176^0-a_176^post251 == 0 /\ i_1053^0-i_1053^post251 == 0 /\ a_394^0-a_394^post251 == 0 /\ -len_262^post251+len_262^0 == 0 /\ t_24^0-t_24^post251 == 0 /\ -a_610^post251+a_610^0 == 0 /\ -temp0_31^post251+temp0_31^0 == 0 /\ a_310^0-a_310^post251 == 0 /\ r_192^0-r_192^post251 == 0 /\ -rcd_47^post251+rcd_47^0 == 0 /\ -x_253^post251+x_253^0 == 0 /\ x_852^0-x_852^post251 == 0 /\ -len_238^post251+len_238^0 == 0 /\ a_579^0-a_579^post251 == 0 /\ length_29^0-length_29^post251 == 0 /\ a_392^0-a_392^post251 == 0 /\ -r_39^post251+r_39^0 == 0 /\ a_632^0-a_632^post251 == 0 /\ a_311^0-a_311^post251 == 0 /\ len_161^0-len_161^post251 == 0 /\ -head_32^post251+head_32^0 == 0 /\ rcd_88^0-rcd_88^post251 == 0 /\ y_20^0-y_20^post251 == 0 /\ f_847^0-f_847^post251 == 0 /\ -x_21^post251+x_21^0 == 0 /\ -r_224^post251+r_224^0 == 0 /\ -temp_35^post251+temp_35^0 == 0 /\ -i_197^post251+i_197^0 == 0 /\ -rcd_58^post251+rcd_58^0 == 0 /\ -r_970^post251+r_970^0 == 0 /\ tmp_34^0-tmp_34^post251 == 0 /\ -f_969^post251+f_969^0 == 0 /\ -a_431^post251+a_431^0 == 0 /\ -i_127^post251+i_127^0 == 0 /\ r_151^0-r_151^post251 == 0 /\ -ct_18^post251+ct_18^0 == 0 /\ a_417^0-a_417^post251 == 0 /\ nondet_12^0-nondet_12^post251 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post251 == 0 /\ a_862^0-a_862^post251 == 0 /\ a_239^0-a_239^post251 == 0 /\ -a_121^post251+a_121^0 == 0 /\ -f_248^post251+f_248^0 == 0 /\ -a_1162^post251+a_1162^0 == 0 /\ a_1089^0-a_1089^post251 == 0 /\ -i_229^post251+i_229^0 == 0 /\ -a_577^post251+a_577^0 == 0 /\ a_947^0-a_947^post251 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post251+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post251+a_924^0 == 0 /\ -i_1248^post251+i_1248^0 == 0 /\ -rcd_1249^post251+rcd_1249^0 == 0 /\ -temp0_16^post251+temp0_16^0 == 0 /\ i_140^0-i_140^post251 == 0 /\ t_458^0-t_458^post251 == 0 /\ a_395^0-a_395^post251 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post251 == 0 /\ a_263^0-a_263^post251 == 0 /\ -i_30^post251+i_30^0 == 0 /\ i_27^0-i_27^post251 == 0 /\ i_106^0-i_106^post251 == 0 /\ a_430^0-a_430^post251 == 0 /\ a_576^0-a_576^post251 == 0 /\ i_107^0-i_107^post251 == 0 /\ -len_861^post251+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post251 == 0 /\ a_393^0-a_393^post251 == 0), cost: 1 252: l158 -> l159 : a_1089^0'=a_1089^post252, f_847^0'=f_847^post252, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post252, a_394^0'=a_394^post252, x_156^0'=x_156^post252, a_632^0'=a_632^post252, r_192^0'=r_192^post252, a_176^0'=a_176^post252, i_106^0'=i_106^post252, a_430^0'=a_430^post252, t_458^0'=t_458^post252, len_161^0'=len_161^post252, x_975^0'=x_975^post252, a_902^0'=a_902^post252, a_947^0'=a_947^post252, rcd_88^0'=rcd_88^post252, a_311^0'=a_311^post252, i_140^0'=i_140^post252, a_577^0'=a_577^post252, x_14^0'=x_14^post252, nondet_12^0'=nondet_12^post252, a_121^0'=a_121^post252, head_15^0'=head_15^post252, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post252, i_27^0'=i_27^post252, x_21^0'=x_21^post252, a_634^0'=a_634^post252, r_39^0'=r_39^post252, a_263^0'=a_263^post252, i_113^0'=i_113^post252, a_432^0'=a_432^post252, temp0_31^0'=temp0_31^post252, len_262^0'=len_262^post252, y_20^0'=y_20^post252, f_248^0'=f_248^post252, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post252, a_393^0'=a_393^post252, i_229^0'=i_229^post252, a_610^0'=a_610^post252, r_151^0'=r_151^post252, a_144^0'=a_144^post252, i_1053^0'=i_1053^post252, a_417^0'=a_417^post252, t_24^0'=t_24^post252, i_94^0'=i_94^post252, x_852^0'=x_852^post252, a_862^0'=a_862^post252, rcd_1249^0'=rcd_1249^post252, rcd_58^0'=rcd_58^post252, a_310^0'=a_310^post252, i_127^0'=i_127^post252, a_576^0'=a_576^post252, tmp_34^0'=tmp_34^post252, length_29^0'=length_29^post252, a_1162^0'=a_1162^post252, f_969^0'=f_969^post252, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post252, a_395^0'=a_395^post252, x_17^0'=x_17^post252, a_633^0'=a_633^post252, r_224^0'=r_224^post252, a_239^0'=a_239^post252, i_107^0'=i_107^post252, a_431^0'=a_431^post252, temp0_16^0'=temp0_16^post252, len_238^0'=len_238^post252, x_SLAM_f_19^0'=x_SLAM_f_19^post252, a_924^0'=a_924^post252, ct_18^0'=ct_18^post252, result_11^0'=result_11^post252, a_392^0'=a_392^post252, i_197^0'=i_197^post252, a_579^0'=a_579^post252, r_143^0'=r_143^post252, a_1236^0'=a_1236^post252, head_32^0'=head_32^post252, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post252, i_30^0'=i_30^post252, x_253^0'=x_253^post252, a_635^0'=a_635^post252, r_970^0'=r_970^post252, rcd_47^0'=rcd_47^post252, a_309^0'=a_309^post252, i_1248^0'=i_1248^post252, a_575^0'=a_575^post252, temp_35^0'=temp_35^post252, len_861^0'=len_861^post252, (-a_579^post252+a_579^0 == 0 /\ -head_32^post252+head_32^0 == 0 /\ -i_197^post252+i_197^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post252 == 0 /\ -ct_18^post252+ct_18^0 == 0 /\ a_310^0-a_310^post252 == 0 /\ -x_253^post252+x_253^0 == 0 /\ -f_969^post252+f_969^0 == 0 /\ -i_127^post252+i_127^0 == 0 /\ -len_262^post252+len_262^0 == 0 /\ a_1089^0-a_1089^post252 == 0 /\ a_394^0-a_394^post252 == 0 /\ a_417^0-a_417^post252 == 0 /\ -r_970^post252+r_970^0 == 0 /\ -f_248^post252+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post252+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post252 == 0 /\ a_311^0-a_311^post252 == 0 /\ -temp_35^post252+temp_35^0 == 0 /\ f_847^0-f_847^post252 == 0 /\ a_392^0-a_392^post252 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post252 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post252 == 0 /\ i_106^0-i_106^post252 == 0 /\ i_140^0-i_140^post252 == 0 /\ i_94^0-i_94^post252 == 0 /\ -len_861^post252+len_861^0 == 0 /\ -rcd_1249^post252+rcd_1249^0 == 0 /\ a_393^0-a_393^post252 == 0 /\ -result_11^post252+result_11^0 == 0 /\ t_458^0-t_458^post252 == 0 /\ y_20^0-y_20^post252 == 0 /\ -a_1162^post252+a_1162^0 == 0 /\ r_39^0-r_39^post252 == 0 /\ -x_17^post252+x_17^0 == 0 /\ x_21^0-x_21^post252 == 0 /\ a_577^0-a_577^post252 == 0 /\ -a_239^post252+a_239^0 == 0 /\ -x_852^post252+x_852^0 == 0 /\ r_143^0-r_143^post252 == 0 /\ -temp0_16^post252+temp0_16^0 == 0 /\ -i_1248^post252+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post252 == 0 /\ -head_15^post252+head_15^0 == 0 /\ -a_924^post252+a_924^0 == 0 /\ -r_224^post252+r_224^0 == 0 /\ -a_575^post252+a_575^0 == 0 /\ t_24^0-t_24^post252 == 0 /\ -a_635^post252+a_635^0 == 0 /\ x_14^0-x_14^post252 == 0 /\ i_1053^0-i_1053^post252 == 0 /\ a_395^0-a_395^post252 == 0 /\ a_121^0-a_121^post252 == 0 /\ -len_238^post252+len_238^0 == 0 /\ -i_30^post252+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post252 == 0 /\ a_947^0-a_947^post252 == 0 /\ rcd_58^0-rcd_58^post252 == 0 /\ -a_176^post252+a_176^0 == 0 /\ a_430^0-a_430^post252 == 0 /\ a_263^0-a_263^post252 == 0 /\ -a_634^post252+a_634^0 == 0 /\ -a_576^post252+a_576^0 == 0 /\ len_161^0-len_161^post252 == 0 /\ -i_107^post252+i_107^0 == 0 /\ length_29^0-length_29^post252 == 0 /\ -i_27^post252+i_27^0 == 0 /\ -x_975^post252+x_975^0 == 0 /\ -a_1236^post252+a_1236^0 == 0 /\ -a_633^post252+a_633^0 == 0 /\ r_151^0-r_151^post252 == 0 /\ a_309^0-a_309^post252 == 0 /\ tmp_34^0-tmp_34^post252 == 0 /\ a_632^0-a_632^post252 == 0 /\ -a_431^post252+a_431^0 == 0 /\ 1+x_14^0 <= 0 /\ -a_610^post252+a_610^0 == 0 /\ a_432^0-a_432^post252 == 0 /\ a_902^0-a_902^post252 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post252 == 0 /\ i_113^0-i_113^post252 == 0 /\ r_192^0-r_192^post252 == 0 /\ a_862^0-a_862^post252 == 0 /\ nondet_12^0-nondet_12^post252 == 0 /\ -rcd_47^post252+rcd_47^0 == 0 /\ i_229^0-i_229^post252 == 0 /\ x_156^0-x_156^post252 == 0 /\ a_144^0-a_144^post252 == 0), cost: 1 253: l159 -> l50 : a_1089^0'=a_1089^post253, f_847^0'=f_847^post253, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post253, a_394^0'=a_394^post253, x_156^0'=x_156^post253, a_632^0'=a_632^post253, r_192^0'=r_192^post253, a_176^0'=a_176^post253, i_106^0'=i_106^post253, a_430^0'=a_430^post253, t_458^0'=t_458^post253, len_161^0'=len_161^post253, x_975^0'=x_975^post253, a_902^0'=a_902^post253, a_947^0'=a_947^post253, rcd_88^0'=rcd_88^post253, a_311^0'=a_311^post253, i_140^0'=i_140^post253, a_577^0'=a_577^post253, x_14^0'=x_14^post253, nondet_12^0'=nondet_12^post253, a_121^0'=a_121^post253, head_15^0'=head_15^post253, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post253, i_27^0'=i_27^post253, x_21^0'=x_21^post253, a_634^0'=a_634^post253, r_39^0'=r_39^post253, a_263^0'=a_263^post253, i_113^0'=i_113^post253, a_432^0'=a_432^post253, temp0_31^0'=temp0_31^post253, len_262^0'=len_262^post253, y_20^0'=y_20^post253, f_248^0'=f_248^post253, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post253, a_393^0'=a_393^post253, i_229^0'=i_229^post253, a_610^0'=a_610^post253, r_151^0'=r_151^post253, a_144^0'=a_144^post253, i_1053^0'=i_1053^post253, a_417^0'=a_417^post253, t_24^0'=t_24^post253, i_94^0'=i_94^post253, x_852^0'=x_852^post253, a_862^0'=a_862^post253, rcd_1249^0'=rcd_1249^post253, rcd_58^0'=rcd_58^post253, a_310^0'=a_310^post253, i_127^0'=i_127^post253, a_576^0'=a_576^post253, tmp_34^0'=tmp_34^post253, length_29^0'=length_29^post253, a_1162^0'=a_1162^post253, f_969^0'=f_969^post253, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post253, a_395^0'=a_395^post253, x_17^0'=x_17^post253, a_633^0'=a_633^post253, r_224^0'=r_224^post253, a_239^0'=a_239^post253, i_107^0'=i_107^post253, a_431^0'=a_431^post253, temp0_16^0'=temp0_16^post253, len_238^0'=len_238^post253, x_SLAM_f_19^0'=x_SLAM_f_19^post253, a_924^0'=a_924^post253, ct_18^0'=ct_18^post253, result_11^0'=result_11^post253, a_392^0'=a_392^post253, i_197^0'=i_197^post253, a_579^0'=a_579^post253, r_143^0'=r_143^post253, a_1236^0'=a_1236^post253, head_32^0'=head_32^post253, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post253, i_30^0'=i_30^post253, x_253^0'=x_253^post253, a_635^0'=a_635^post253, r_970^0'=r_970^post253, rcd_47^0'=rcd_47^post253, a_309^0'=a_309^post253, i_1248^0'=i_1248^post253, a_575^0'=a_575^post253, temp_35^0'=temp_35^post253, len_861^0'=len_861^post253, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post253+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post253 == 0 /\ a_924^0-a_924^post253 == 0 /\ -x_SLAM_f_19^post253+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post253 == 0 /\ a_393^0-a_393^post253 == 0 /\ a_430^0-a_430^post253 == 0 /\ x_975^0-x_975^post253 == 0 /\ y_20^0-y_20^post253 == 0 /\ r_151^0-r_151^post253 == 0 /\ -a_576^post253+a_576^0 == 0 /\ a_432^0-a_432^post253 == 0 /\ i_113^0-i_113^post253 == 0 /\ a_577^0-a_577^post253 == 0 /\ a_1162^0-a_1162^post253 == 0 /\ r_192^0-r_192^post253 == 0 /\ -a_634^post253+a_634^0 == 0 /\ head_32^0-head_32^post253 == 0 /\ x_21^0-x_21^post253 == 0 /\ -r_143^post253+r_143^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post253+a_633^0 == 0 /\ -a_392^post253+a_392^0 == 0 /\ a_310^0-a_310^post253 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -i_27^post253+i_27^0 == 0 /\ -f_969^post253+f_969^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post253 == 0 /\ -a_1236^post253+a_1236^0 == 0 /\ -a_610^post253+a_610^0 == 0 /\ -temp_35^post253+temp_35^0 == 0 /\ a_394^0-a_394^post253 == 0 /\ -len_238^post253+len_238^0 == 0 /\ -len_262^post253+len_262^0 == 0 /\ i_140^0-i_140^post253 == 0 /\ -rcd_47^post253+rcd_47^0 == 0 /\ a_579^0-a_579^post253 == 0 /\ f_847^0-f_847^post253 == 0 /\ t_458^0-t_458^post253 == 0 /\ i_197^0-i_197^post253 == 0 /\ i_106^0-i_106^post253 == 0 /\ t_24^0-t_24^post253 == 0 /\ -r_970^post253+r_970^0 == 0 /\ -temp0_31^post253+temp0_31^0 == 0 /\ -i_1248^post253+i_1248^0 == 0 /\ r_224^0-r_224^post253 == 0 /\ -rcd_58^post253+rcd_58^0 == 0 /\ -a_239^post253+a_239^0 == 0 /\ i_94^0-i_94^post253 == 0 /\ i_107^0-i_107^post253 == 0 /\ -head_15^post253+head_15^0 == 0 /\ r_39^0-r_39^post253 == 0 /\ -ct_18^post253+ct_18^0 == 0 /\ -len_861^post253+len_861^0 == 0 /\ -i_1053^post253+i_1053^0 == 0 /\ -i_127^post253+i_127^0 == 0 /\ -temp0_16^post253+temp0_16^0 == 0 /\ -x_253^post253+x_253^0 == 0 /\ a_902^0-a_902^post253 == 0 /\ -a_431^post253+a_431^0 == 0 /\ x_156^0-x_156^post253 == 0 /\ nondet_12^0-nondet_12^post253 == 0 /\ -f_248^post253+f_248^0 == 0 /\ -len_161^post253+len_161^0 == 0 /\ i_229^0-i_229^post253 == 0 /\ a_862^0-a_862^post253 == 0 /\ a_1089^0-a_1089^post253 == 0 /\ -a_309^post253+a_309^0 == 0 /\ -result_11^post253+result_11^0 == 0 /\ -a_417^post253+a_417^0 == 0 /\ -a_144^post253+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post253+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post253 == 0 /\ -tmp_34^post253+tmp_34^0 == 0 /\ a_176^0-a_176^post253 == 0 /\ -a_575^post253+a_575^0 == 0 /\ a_121^0-a_121^post253 == 0 /\ -rcd_1249^post253+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post253 == 0 /\ -i_30^post253+i_30^0 == 0 /\ a_311^0-a_311^post253 == 0 /\ length_29^0-length_29^post253 == 0 /\ -a_635^post253+a_635^0 == 0 /\ a_395^0-a_395^post253 == 0 /\ -a_947^post253+a_947^0 == 0 /\ a_263^0-a_263^post253 == 0 /\ -x_17^post253+x_17^0 == 0 /\ rcd_88^0-rcd_88^post253 == 0 /\ -x_852^post253+x_852^0 == 0), cost: 1 255: l160 -> l161 : a_1089^0'=a_1089^post255, f_847^0'=f_847^post255, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post255, a_394^0'=a_394^post255, x_156^0'=x_156^post255, a_632^0'=a_632^post255, r_192^0'=r_192^post255, a_176^0'=a_176^post255, i_106^0'=i_106^post255, a_430^0'=a_430^post255, t_458^0'=t_458^post255, len_161^0'=len_161^post255, x_975^0'=x_975^post255, a_902^0'=a_902^post255, a_947^0'=a_947^post255, rcd_88^0'=rcd_88^post255, a_311^0'=a_311^post255, i_140^0'=i_140^post255, a_577^0'=a_577^post255, x_14^0'=x_14^post255, nondet_12^0'=nondet_12^post255, a_121^0'=a_121^post255, head_15^0'=head_15^post255, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post255, i_27^0'=i_27^post255, x_21^0'=x_21^post255, a_634^0'=a_634^post255, r_39^0'=r_39^post255, a_263^0'=a_263^post255, i_113^0'=i_113^post255, a_432^0'=a_432^post255, temp0_31^0'=temp0_31^post255, len_262^0'=len_262^post255, y_20^0'=y_20^post255, f_248^0'=f_248^post255, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post255, a_393^0'=a_393^post255, i_229^0'=i_229^post255, a_610^0'=a_610^post255, r_151^0'=r_151^post255, a_144^0'=a_144^post255, i_1053^0'=i_1053^post255, a_417^0'=a_417^post255, t_24^0'=t_24^post255, i_94^0'=i_94^post255, x_852^0'=x_852^post255, a_862^0'=a_862^post255, rcd_1249^0'=rcd_1249^post255, rcd_58^0'=rcd_58^post255, a_310^0'=a_310^post255, i_127^0'=i_127^post255, a_576^0'=a_576^post255, tmp_34^0'=tmp_34^post255, length_29^0'=length_29^post255, a_1162^0'=a_1162^post255, f_969^0'=f_969^post255, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post255, a_395^0'=a_395^post255, x_17^0'=x_17^post255, a_633^0'=a_633^post255, r_224^0'=r_224^post255, a_239^0'=a_239^post255, i_107^0'=i_107^post255, a_431^0'=a_431^post255, temp0_16^0'=temp0_16^post255, len_238^0'=len_238^post255, x_SLAM_f_19^0'=x_SLAM_f_19^post255, a_924^0'=a_924^post255, ct_18^0'=ct_18^post255, result_11^0'=result_11^post255, a_392^0'=a_392^post255, i_197^0'=i_197^post255, a_579^0'=a_579^post255, r_143^0'=r_143^post255, a_1236^0'=a_1236^post255, head_32^0'=head_32^post255, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post255, i_30^0'=i_30^post255, x_253^0'=x_253^post255, a_635^0'=a_635^post255, r_970^0'=r_970^post255, rcd_47^0'=rcd_47^post255, a_309^0'=a_309^post255, i_1248^0'=i_1248^post255, a_575^0'=a_575^post255, temp_35^0'=temp_35^post255, len_861^0'=len_861^post255, (a_902^0-a_902^post255 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post255 == 0 /\ x_975^0-x_975^post255 == 0 /\ a_577^0-a_577^post255 == 0 /\ -a_634^post255+a_634^0 == 0 /\ t_458^0-t_458^post255 == 0 /\ -a_633^post255+a_633^0 == 0 /\ head_15^0-head_15^post255 == 0 /\ i_106^0-i_106^post255 == 0 /\ -a_610^post255+a_610^0 == 0 /\ -a_924^post255+a_924^0 == 0 /\ -len_238^post255+len_238^0 == 0 /\ a_1089^0-a_1089^post255 == 0 /\ x_156^0-x_156^post255 == 0 /\ -rcd_47^post255+rcd_47^0 == 0 /\ -result_11^post255+result_11^0 == 0 /\ -rcd_1249^post255+rcd_1249^0 == 0 /\ a_632^0-a_632^post255 == 0 /\ -r_143^post255+r_143^0 == 0 /\ -x_253^post255+x_253^0 == 0 /\ -r_970^post255+r_970^0 == 0 /\ -f_969^post255+f_969^0 == 0 /\ a_862^0-a_862^post255 == 0 /\ x_21^0-x_21^post255 == 0 /\ len_262^0-len_262^post255 == 0 /\ -a_311^post255+a_311^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post255 == 0 /\ temp0_31^0-temp0_31^post255 == 0 /\ f_847^0-f_847^post255 == 0 /\ -a_576^post255+a_576^0 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ a_394^0-a_394^post255 == 0 /\ -rcd_88^post255+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post255 == 0 /\ a_392^0-a_392^post255 == 0 /\ -x_SLAM_f_19^post255+x_SLAM_f_19^0 == 0 /\ i_1053^0-i_1053^post255 == 0 /\ a_579^0-a_579^post255 == 0 /\ y_20^0-y_20^post255 == 0 /\ a_176^0-a_176^post255 == 0 /\ -temp_35^post255+temp_35^0 == 0 /\ a_121^0-a_121^post255 == 0 /\ i_113^0-i_113^post255 == 0 /\ -temp0_16^post255+temp0_16^0 == 0 /\ -length_29^post255+length_29^0 == 0 /\ r_39^0-r_39^post255 == 0 /\ tmp_34^0-tmp_34^post255 == 0 /\ -a_310^post255+a_310^0 == 0 /\ -r_224^post255+r_224^0 == 0 /\ -len_861^post255+len_861^0 == 0 /\ -f_248^post255+f_248^0 == 0 /\ i_94^0-i_94^post255 == 0 /\ -a_1236^post255+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post255 == 0 /\ a_393^0-a_393^post255 == 0 /\ -head_32^post255+head_32^0 == 0 /\ -x_17^post255+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post255 == 0 /\ -a_430^post255+a_430^0 == 0 /\ -i_27^post255+i_27^0 == 0 /\ -a_239^post255+a_239^0 == 0 /\ x_14^0-x_14^post255 == 0 /\ -i_197^post255+i_197^0 == 0 /\ -i_127^post255+i_127^0 == 0 /\ a_432^0-a_432^post255 == 0 /\ nondet_12^0-nondet_12^post255 == 0 /\ -r_151^post255+r_151^0 == 0 /\ i_1248^0-i_1248^post255 == 0 /\ -a_635^post255+a_635^0 == 0 /\ -a_144^post255+a_144^0 == 0 /\ -i_107^post255+i_107^0 == 0 /\ i_140^0-i_140^post255 == 0 /\ -i_30^post255+i_30^0 == 0 /\ -r_192^post255+r_192^0 == 0 /\ -a_575^post255+a_575^0 == 0 /\ i_229^0-i_229^post255 == 0 /\ t_24^0-t_24^post255 == 0 /\ -x_852^post255+x_852^0 == 0 /\ a_431^0-a_431^post255 == 0 /\ len_161^0-len_161^post255 == 0 /\ a_263^0-a_263^post255 == 0 /\ -a_1162^post255+a_1162^0 == 0 /\ a_947^0-a_947^post255 == 0 /\ -a_309^post255+a_309^0 == 0 /\ -a_417^post255+a_417^0 == 0 /\ rcd_58^0-rcd_58^post255 == 0 /\ a_395^0-a_395^post255 == 0 /\ -ct_18^post255+ct_18^0 == 0), cost: 1 256: l160 -> l161 : a_1089^0'=a_1089^post256, f_847^0'=f_847^post256, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post256, a_394^0'=a_394^post256, x_156^0'=x_156^post256, a_632^0'=a_632^post256, r_192^0'=r_192^post256, a_176^0'=a_176^post256, i_106^0'=i_106^post256, a_430^0'=a_430^post256, t_458^0'=t_458^post256, len_161^0'=len_161^post256, x_975^0'=x_975^post256, a_902^0'=a_902^post256, a_947^0'=a_947^post256, rcd_88^0'=rcd_88^post256, a_311^0'=a_311^post256, i_140^0'=i_140^post256, a_577^0'=a_577^post256, x_14^0'=x_14^post256, nondet_12^0'=nondet_12^post256, a_121^0'=a_121^post256, head_15^0'=head_15^post256, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post256, i_27^0'=i_27^post256, x_21^0'=x_21^post256, a_634^0'=a_634^post256, r_39^0'=r_39^post256, a_263^0'=a_263^post256, i_113^0'=i_113^post256, a_432^0'=a_432^post256, temp0_31^0'=temp0_31^post256, len_262^0'=len_262^post256, y_20^0'=y_20^post256, f_248^0'=f_248^post256, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post256, a_393^0'=a_393^post256, i_229^0'=i_229^post256, a_610^0'=a_610^post256, r_151^0'=r_151^post256, a_144^0'=a_144^post256, i_1053^0'=i_1053^post256, a_417^0'=a_417^post256, t_24^0'=t_24^post256, i_94^0'=i_94^post256, x_852^0'=x_852^post256, a_862^0'=a_862^post256, rcd_1249^0'=rcd_1249^post256, rcd_58^0'=rcd_58^post256, a_310^0'=a_310^post256, i_127^0'=i_127^post256, a_576^0'=a_576^post256, tmp_34^0'=tmp_34^post256, length_29^0'=length_29^post256, a_1162^0'=a_1162^post256, f_969^0'=f_969^post256, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post256, a_395^0'=a_395^post256, x_17^0'=x_17^post256, a_633^0'=a_633^post256, r_224^0'=r_224^post256, a_239^0'=a_239^post256, i_107^0'=i_107^post256, a_431^0'=a_431^post256, temp0_16^0'=temp0_16^post256, len_238^0'=len_238^post256, x_SLAM_f_19^0'=x_SLAM_f_19^post256, a_924^0'=a_924^post256, ct_18^0'=ct_18^post256, result_11^0'=result_11^post256, a_392^0'=a_392^post256, i_197^0'=i_197^post256, a_579^0'=a_579^post256, r_143^0'=r_143^post256, a_1236^0'=a_1236^post256, head_32^0'=head_32^post256, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post256, i_30^0'=i_30^post256, x_253^0'=x_253^post256, a_635^0'=a_635^post256, r_970^0'=r_970^post256, rcd_47^0'=rcd_47^post256, a_309^0'=a_309^post256, i_1248^0'=i_1248^post256, a_575^0'=a_575^post256, temp_35^0'=temp_35^post256, len_861^0'=len_861^post256, (i_140^0-i_140^post256 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post256+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_417^0-a_417^post256 == 0 /\ -len_262^post256+len_262^0 == 0 /\ -temp0_31^post256+temp0_31^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post256 == 0 /\ -a_392^post256+a_392^0 == 0 /\ a_1162^0-a_1162^post256 == 0 /\ i_197^0-i_197^post256 == 0 /\ -a_144^post256+a_144^0 == 0 /\ -f_248^post256+f_248^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ y_20^0-y_20^post256 == 0 /\ a_924^0-a_924^post256 == 0 /\ a_394^0-a_394^post256 == 0 /\ -i_1053^post256+i_1053^0 == 0 /\ -i_30^post256+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post256 == 0 /\ -i_1248^post256+i_1248^0 == 0 /\ -len_861^post256+len_861^0 == 0 /\ -a_635^post256+a_635^0 == 0 /\ -a_239^post256+a_239^0 == 0 /\ -head_32^post256+head_32^0 == 0 /\ x_975^0-x_975^post256 == 0 /\ -x_852^post256+x_852^0 == 0 /\ -head_15^post256+head_15^0 == 0 /\ t_458^0-t_458^post256 == 0 /\ i_106^0-i_106^post256 == 0 /\ -a_579^post256+a_579^0 == 0 /\ -x_17^post256+x_17^0 == 0 /\ -i_127^post256+i_127^0 == 0 /\ i_94^0-i_94^post256 == 0 /\ -rcd_58^post256+rcd_58^0 == 0 /\ r_39^0-r_39^post256 == 0 /\ a_393^0-a_393^post256 == 0 /\ -i_107^post256+i_107^0 == 0 /\ -ct_18^post256+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post256+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post256+a_575^0 == 0 /\ a_310^0-a_310^post256 == 0 /\ x_21^0-x_21^post256 == 0 /\ -a_309^post256+a_309^0 == 0 /\ -a_633^post256+a_633^0 == 0 /\ a_121^0-a_121^post256 == 0 /\ a_862^0-a_862^post256 == 0 /\ r_970^0-r_970^post256 == 0 /\ -tmp_34^post256+tmp_34^0 == 0 /\ -a_610^post256+a_610^0 == 0 /\ -len_238^post256+len_238^0 == 0 /\ x_156^0-x_156^post256 == 0 /\ a_263^0-a_263^post256 == 0 /\ f_847^0-f_847^post256 == 0 /\ nondet_12^0-nondet_12^post256 == 0 /\ -a_634^post256+a_634^0 == 0 /\ t_24^0-t_24^post256 == 0 /\ -x_253^post256+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post256+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_947^0-a_947^post256 == 0 /\ -rcd_1249^post256+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post256+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_224^0-r_224^post256 == 0 /\ -f_969^post256+f_969^0 == 0 /\ -result_11^post256+result_11^0 == 0 /\ rcd_47^0-rcd_47^post256 == 0 /\ -a_176^post256+a_176^0 == 0 /\ r_151^0-r_151^post256 == 0 /\ a_577^0-a_577^post256 == 0 /\ length_29^0-length_29^post256 == 0 /\ -a_576^post256+a_576^0 == 0 /\ a_632^0-a_632^post256 == 0 /\ a_311^0-a_311^post256 == 0 /\ rcd_88^0-rcd_88^post256 == 0 /\ i_113^0-i_113^post256 == 0 /\ -r_143^post256+r_143^0 == 0 /\ a_902^0-a_902^post256 == 0 /\ -i_27^post256+i_27^0 == 0 /\ temp0_16^0-temp0_16^post256 == 0 /\ -len_161^post256+len_161^0 == 0 /\ a_1089^0-a_1089^post256 == 0 /\ -a_395^post256+a_395^0 == 0 /\ i_229^0-i_229^post256 == 0 /\ -temp_35^post256+temp_35^0 == 0 /\ a_432^0-a_432^post256 == 0 /\ -a_1236^post256+a_1236^0 == 0 /\ -a_431^post256+a_431^0 == 0 /\ x_14^0-x_14^post256 == 0 /\ a_430^0-a_430^post256 == 0 /\ r_192^0-r_192^post256 == 0), cost: 1 257: l161 -> l162 : a_1089^0'=a_1089^post257, f_847^0'=f_847^post257, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post257, a_394^0'=a_394^post257, x_156^0'=x_156^post257, a_632^0'=a_632^post257, r_192^0'=r_192^post257, a_176^0'=a_176^post257, i_106^0'=i_106^post257, a_430^0'=a_430^post257, t_458^0'=t_458^post257, len_161^0'=len_161^post257, x_975^0'=x_975^post257, a_902^0'=a_902^post257, a_947^0'=a_947^post257, rcd_88^0'=rcd_88^post257, a_311^0'=a_311^post257, i_140^0'=i_140^post257, a_577^0'=a_577^post257, x_14^0'=x_14^post257, nondet_12^0'=nondet_12^post257, a_121^0'=a_121^post257, head_15^0'=head_15^post257, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post257, i_27^0'=i_27^post257, x_21^0'=x_21^post257, a_634^0'=a_634^post257, r_39^0'=r_39^post257, a_263^0'=a_263^post257, i_113^0'=i_113^post257, a_432^0'=a_432^post257, temp0_31^0'=temp0_31^post257, len_262^0'=len_262^post257, y_20^0'=y_20^post257, f_248^0'=f_248^post257, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post257, a_393^0'=a_393^post257, i_229^0'=i_229^post257, a_610^0'=a_610^post257, r_151^0'=r_151^post257, a_144^0'=a_144^post257, i_1053^0'=i_1053^post257, a_417^0'=a_417^post257, t_24^0'=t_24^post257, i_94^0'=i_94^post257, x_852^0'=x_852^post257, a_862^0'=a_862^post257, rcd_1249^0'=rcd_1249^post257, rcd_58^0'=rcd_58^post257, a_310^0'=a_310^post257, i_127^0'=i_127^post257, a_576^0'=a_576^post257, tmp_34^0'=tmp_34^post257, length_29^0'=length_29^post257, a_1162^0'=a_1162^post257, f_969^0'=f_969^post257, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post257, a_395^0'=a_395^post257, x_17^0'=x_17^post257, a_633^0'=a_633^post257, r_224^0'=r_224^post257, a_239^0'=a_239^post257, i_107^0'=i_107^post257, a_431^0'=a_431^post257, temp0_16^0'=temp0_16^post257, len_238^0'=len_238^post257, x_SLAM_f_19^0'=x_SLAM_f_19^post257, a_924^0'=a_924^post257, ct_18^0'=ct_18^post257, result_11^0'=result_11^post257, a_392^0'=a_392^post257, i_197^0'=i_197^post257, a_579^0'=a_579^post257, r_143^0'=r_143^post257, a_1236^0'=a_1236^post257, head_32^0'=head_32^post257, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post257, i_30^0'=i_30^post257, x_253^0'=x_253^post257, a_635^0'=a_635^post257, r_970^0'=r_970^post257, rcd_47^0'=rcd_47^post257, a_309^0'=a_309^post257, i_1248^0'=i_1248^post257, a_575^0'=a_575^post257, temp_35^0'=temp_35^post257, len_861^0'=len_861^post257, (a_430^0-a_430^post257 == 0 /\ i_127^0-i_127^post257 == 0 /\ x_975^0-x_975^post257 == 0 /\ i_106^0-i_106^post257 == 0 /\ a_577^0-a_577^post257 == 0 /\ -a_634^post257+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post257+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_1249^0-rcd_1249^post257 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post257+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_431^post257+a_431^0 == 0 /\ -f_969^post257+f_969^0 == 0 /\ -tmp_34^post257+tmp_34^0 == 0 /\ x_14^0-x_14^post257 == 0 /\ -x_14^0+x_17^0 <= 0 /\ a_632^0-a_632^post257 == 0 /\ -x_253^post257+x_253^0 == 0 /\ -rcd_47^post257+rcd_47^0 == 0 /\ -result_11^post257+result_11^0 == 0 /\ -a_924^post257+a_924^0 == 0 /\ -r_224^post257+r_224^0 == 0 /\ -temp_35^post257+temp_35^0 == 0 /\ i_229^0-i_229^post257 == 0 /\ -r_143^post257+r_143^0 == 0 /\ a_432^0-a_432^post257 == 0 /\ x_21^0-x_21^post257 == 0 /\ i_197^0-i_197^post257 == 0 /\ -x_21^0+t_24^post257 == 0 /\ a_576^0-a_576^post257 == 0 /\ temp0_31^0-temp0_31^post257 == 0 /\ a_1162^0-a_1162^post257 == 0 /\ -y_20^post257+y_20^0 == 0 /\ -i_1053^post257+i_1053^0 == 0 /\ -x_SLAM_f_19^post257+x_SLAM_f_19^0 == 0 /\ i_140^0-i_140^post257 == 0 /\ -r_970^post257+r_970^0 == 0 /\ x_156^0-x_156^post257 == 0 /\ y_20^0 <= 0 /\ f_847^0-f_847^post257 == 0 /\ -a_1236^post257+a_1236^0 == 0 /\ -a_395^post257+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post257+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post257 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post257+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_394^0-a_394^post257 == 0 /\ x_14^0-x_17^0 <= 0 /\ a_947^0-a_947^post257 == 0 /\ a_176^0-a_176^post257 == 0 /\ -len_861^post257+len_861^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ r_39^0-r_39^post257 == 0 /\ rcd_88^0-rcd_88^post257 == 0 /\ a_311^0-a_311^post257 == 0 /\ a_902^0-a_902^post257 == 0 /\ -len_161^post257+len_161^0 == 0 /\ -a_393^post257+a_393^0 == 0 /\ i_94^0-i_94^post257 == 0 /\ -y_20^0 <= 0 /\ a_610^0-a_610^post257 == 0 /\ i_113^0-i_113^post257 == 0 /\ -i_107^post257+i_107^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -head_32^post257+head_32^0 == 0 /\ -i_27^post257+i_27^0 == 0 /\ -a_239^post257+a_239^0 == 0 /\ -a_392^post257+a_392^0 == 0 /\ -temp0_16^post257+temp0_16^0 == 0 /\ -length_29^post257+length_29^0 == 0 /\ -r_192^post257+r_192^0 == 0 /\ a_1089^0-a_1089^post257 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ -a_310^post257+a_310^0 == 0 /\ -i_30^post257+i_30^0 == 0 /\ nondet_12^0-nondet_12^post257 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ i_1248^0-i_1248^post257 == 0 /\ ct_18^0 <= 0 /\ -x_852^post257+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post257 == 0 /\ -a_635^post257+a_635^0 == 0 /\ -len_238^post257+len_238^0 == 0 /\ -ct_18^0 <= 0 /\ -t_458^post257+t_458^0 == 0 /\ -r_151^post257+r_151^0 == 0 /\ -a_633^post257+a_633^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -rcd_58^post257+rcd_58^0 == 0 /\ f_248^0-f_248^post257 == 0 /\ -a_417^post257+a_417^0 == 0 /\ x_17^0-x_17^post257 == 0 /\ -a_579^post257+a_579^0 == 0 /\ a_144^0-a_144^post257 == 0 /\ -a_309^post257+a_309^0 == 0 /\ a_121^0-a_121^post257 == 0 /\ -ct_18^post257+ct_18^0 == 0 /\ -a_263^post257+a_263^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ len_262^0-len_262^post257 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0 /\ -a_575^post257+a_575^0 == 0 /\ -a_862^post257+a_862^0 == 0), cost: 1 258: l162 -> l163 : a_1089^0'=a_1089^post258, f_847^0'=f_847^post258, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post258, a_394^0'=a_394^post258, x_156^0'=x_156^post258, a_632^0'=a_632^post258, r_192^0'=r_192^post258, a_176^0'=a_176^post258, i_106^0'=i_106^post258, a_430^0'=a_430^post258, t_458^0'=t_458^post258, len_161^0'=len_161^post258, x_975^0'=x_975^post258, a_902^0'=a_902^post258, a_947^0'=a_947^post258, rcd_88^0'=rcd_88^post258, a_311^0'=a_311^post258, i_140^0'=i_140^post258, a_577^0'=a_577^post258, x_14^0'=x_14^post258, nondet_12^0'=nondet_12^post258, a_121^0'=a_121^post258, head_15^0'=head_15^post258, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post258, i_27^0'=i_27^post258, x_21^0'=x_21^post258, a_634^0'=a_634^post258, r_39^0'=r_39^post258, a_263^0'=a_263^post258, i_113^0'=i_113^post258, a_432^0'=a_432^post258, temp0_31^0'=temp0_31^post258, len_262^0'=len_262^post258, y_20^0'=y_20^post258, f_248^0'=f_248^post258, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post258, a_393^0'=a_393^post258, i_229^0'=i_229^post258, a_610^0'=a_610^post258, r_151^0'=r_151^post258, a_144^0'=a_144^post258, i_1053^0'=i_1053^post258, a_417^0'=a_417^post258, t_24^0'=t_24^post258, i_94^0'=i_94^post258, x_852^0'=x_852^post258, a_862^0'=a_862^post258, rcd_1249^0'=rcd_1249^post258, rcd_58^0'=rcd_58^post258, a_310^0'=a_310^post258, i_127^0'=i_127^post258, a_576^0'=a_576^post258, tmp_34^0'=tmp_34^post258, length_29^0'=length_29^post258, a_1162^0'=a_1162^post258, f_969^0'=f_969^post258, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post258, a_395^0'=a_395^post258, x_17^0'=x_17^post258, a_633^0'=a_633^post258, r_224^0'=r_224^post258, a_239^0'=a_239^post258, i_107^0'=i_107^post258, a_431^0'=a_431^post258, temp0_16^0'=temp0_16^post258, len_238^0'=len_238^post258, x_SLAM_f_19^0'=x_SLAM_f_19^post258, a_924^0'=a_924^post258, ct_18^0'=ct_18^post258, result_11^0'=result_11^post258, a_392^0'=a_392^post258, i_197^0'=i_197^post258, a_579^0'=a_579^post258, r_143^0'=r_143^post258, a_1236^0'=a_1236^post258, head_32^0'=head_32^post258, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post258, i_30^0'=i_30^post258, x_253^0'=x_253^post258, a_635^0'=a_635^post258, r_970^0'=r_970^post258, rcd_47^0'=rcd_47^post258, a_309^0'=a_309^post258, i_1248^0'=i_1248^post258, a_575^0'=a_575^post258, temp_35^0'=temp_35^post258, len_861^0'=len_861^post258, (i_197^0-i_197^post258 == 0 /\ -i_113^post258+i_113^0 == 0 /\ -a_309^post258+a_309^0 == 0 /\ -a_1236^post258+a_1236^0 == 0 /\ a_576^0-a_576^post258 == 0 /\ -a_432^post258+a_432^0 == 0 /\ a_263^0-a_263^post258 == 0 /\ -a_417^post258+a_417^0 == 0 /\ f_847^0-f_847^post258 == 0 /\ -a_862^post258+a_862^0 == 0 /\ nondet_12^0-nondet_12^post258 == 0 /\ -a_393^post258+a_393^0 == 0 /\ x_21^0-x_21^post258 == 0 /\ -i_1053^post258+i_1053^0 == 0 /\ 1-x_14^0 <= 0 /\ -i_30^post258+i_30^0 == 0 /\ -length_29^post258+length_29^0 == 0 /\ -a_392^post258+a_392^0 == 0 /\ -a_635^post258+a_635^0 == 0 /\ a_924^0-a_924^post258 == 0 /\ head_15^0-head_15^post258 == 0 /\ a_394^0-a_394^post258 == 0 /\ x_17^0-x_17^post258 == 0 /\ -i_94^post258+i_94^0 == 0 /\ -len_861^post258+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post258+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post258 == 0 /\ -head_32^post258+head_32^0 == 0 /\ ct_18^0-ct_18^post258 == 0 /\ -rcd_47^post258+rcd_47^0 == 0 /\ i_127^0-i_127^post258 == 0 /\ r_224^0-r_224^post258 == 0 /\ -t_24^post258+t_24^0 == 0 /\ -a_579^post258+a_579^0 == 0 /\ i_27^0-i_27^post258 == 0 /\ a_1089^0-a_1089^post258 == 0 /\ i_106^0-i_106^post258 == 0 /\ -r_151^post258+r_151^0 == 0 /\ -a_144^post258+a_144^0 == 0 /\ -i_107^post258+i_107^0 == 0 /\ -rcd_58^post258+rcd_58^0 == 0 /\ r_39^0-r_39^post258 == 0 /\ -a_575^post258+a_575^0 == 0 /\ x_14^0-x_14^post258 == 0 /\ a_430^0-a_430^post258 == 0 /\ -a_633^post258+a_633^0 == 0 /\ t_458^0-t_458^post258 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post258 == 0 /\ -result_11^post258+result_11^0 == 0 /\ x_156^0-x_156^post258 == 0 /\ -tmp_34^post258+tmp_34^0 == 0 /\ a_431^0-a_431^post258 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post258+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ temp0_31^0-temp0_31^post258 == 0 /\ -temp_35^post258+temp_35^0 == 0 /\ -rcd_1249^post258+rcd_1249^0 == 0 /\ -len_238^post258+len_238^0 == 0 /\ -r_970^post258+r_970^0 == 0 /\ a_634^0-a_634^post258 == 0 /\ -y_20^post258+y_20^0 == 0 /\ -i_140^post258+i_140^0 == 0 /\ a_902^0-a_902^post258 == 0 /\ -x_852^post258+x_852^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post258+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_947^0-a_947^post258 == 0 /\ x_975^0-x_975^post258 == 0 /\ a_121^0-a_121^post258 == 0 /\ -a_1162^post258+a_1162^0 == 0 /\ len_262^0-len_262^post258 == 0 /\ f_248^0-f_248^post258 == 0 /\ -x_SLAM_f_19^post258+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post258 == 0 /\ -i_1248^post258+i_1248^0 == 0 /\ a_610^0-a_610^post258 == 0 /\ a_176^0-a_176^post258 == 0 /\ a_311^0-a_311^post258 == 0 /\ -a_239^post258+a_239^0 == 0 /\ -r_143^post258+r_143^0 == 0 /\ r_192^0-r_192^post258 == 0 /\ f_969^0-f_969^post258 == 0 /\ -i_229^post258+i_229^0 == 0 /\ -x_253^post258+x_253^0 == 0 /\ len_161^0-len_161^post258 == 0 /\ a_632^0-a_632^post258 == 0 /\ temp0_16^0-temp0_16^post258 == 0 /\ -a_395^post258+a_395^0 == 0 /\ a_310^0-a_310^post258 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post258+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 259: l162 -> l163 : a_1089^0'=a_1089^post259, f_847^0'=f_847^post259, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post259, a_394^0'=a_394^post259, x_156^0'=x_156^post259, a_632^0'=a_632^post259, r_192^0'=r_192^post259, a_176^0'=a_176^post259, i_106^0'=i_106^post259, a_430^0'=a_430^post259, t_458^0'=t_458^post259, len_161^0'=len_161^post259, x_975^0'=x_975^post259, a_902^0'=a_902^post259, a_947^0'=a_947^post259, rcd_88^0'=rcd_88^post259, a_311^0'=a_311^post259, i_140^0'=i_140^post259, a_577^0'=a_577^post259, x_14^0'=x_14^post259, nondet_12^0'=nondet_12^post259, a_121^0'=a_121^post259, head_15^0'=head_15^post259, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post259, i_27^0'=i_27^post259, x_21^0'=x_21^post259, a_634^0'=a_634^post259, r_39^0'=r_39^post259, a_263^0'=a_263^post259, i_113^0'=i_113^post259, a_432^0'=a_432^post259, temp0_31^0'=temp0_31^post259, len_262^0'=len_262^post259, y_20^0'=y_20^post259, f_248^0'=f_248^post259, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post259, a_393^0'=a_393^post259, i_229^0'=i_229^post259, a_610^0'=a_610^post259, r_151^0'=r_151^post259, a_144^0'=a_144^post259, i_1053^0'=i_1053^post259, a_417^0'=a_417^post259, t_24^0'=t_24^post259, i_94^0'=i_94^post259, x_852^0'=x_852^post259, a_862^0'=a_862^post259, rcd_1249^0'=rcd_1249^post259, rcd_58^0'=rcd_58^post259, a_310^0'=a_310^post259, i_127^0'=i_127^post259, a_576^0'=a_576^post259, tmp_34^0'=tmp_34^post259, length_29^0'=length_29^post259, a_1162^0'=a_1162^post259, f_969^0'=f_969^post259, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post259, a_395^0'=a_395^post259, x_17^0'=x_17^post259, a_633^0'=a_633^post259, r_224^0'=r_224^post259, a_239^0'=a_239^post259, i_107^0'=i_107^post259, a_431^0'=a_431^post259, temp0_16^0'=temp0_16^post259, len_238^0'=len_238^post259, x_SLAM_f_19^0'=x_SLAM_f_19^post259, a_924^0'=a_924^post259, ct_18^0'=ct_18^post259, result_11^0'=result_11^post259, a_392^0'=a_392^post259, i_197^0'=i_197^post259, a_579^0'=a_579^post259, r_143^0'=r_143^post259, a_1236^0'=a_1236^post259, head_32^0'=head_32^post259, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post259, i_30^0'=i_30^post259, x_253^0'=x_253^post259, a_635^0'=a_635^post259, r_970^0'=r_970^post259, rcd_47^0'=rcd_47^post259, a_309^0'=a_309^post259, i_1248^0'=i_1248^post259, a_575^0'=a_575^post259, temp_35^0'=temp_35^post259, len_861^0'=len_861^post259, (ct_18^0-ct_18^post259 == 0 /\ -x_253^post259+x_253^0 == 0 /\ i_113^0-i_113^post259 == 0 /\ r_192^0-r_192^post259 == 0 /\ r_39^0-r_39^post259 == 0 /\ f_969^0-f_969^post259 == 0 /\ rcd_58^0-rcd_58^post259 == 0 /\ rcd_1249^0-rcd_1249^post259 == 0 /\ -result_11^post259+result_11^0 == 0 /\ -a_1162^post259+a_1162^0 == 0 /\ x_14^0-x_14^post259 == 0 /\ -t_24^post259+t_24^0 == 0 /\ a_430^0-a_430^post259 == 0 /\ -r_970^post259+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post259 == 0 /\ a_432^0-a_432^post259 == 0 /\ i_27^0-i_27^post259 == 0 /\ -rcd_47^post259+rcd_47^0 == 0 /\ len_161^0-len_161^post259 == 0 /\ a_576^0-a_576^post259 == 0 /\ -temp0_16^post259+temp0_16^0 == 0 /\ x_156^0-x_156^post259 == 0 /\ -a_395^post259+a_395^0 == 0 /\ -i_1053^post259+i_1053^0 == 0 /\ i_140^0-i_140^post259 == 0 /\ -len_861^post259+len_861^0 == 0 /\ nondet_12^0-nondet_12^post259 == 0 /\ -y_20^post259+y_20^0 == 0 /\ -x_SLAM_f_19^post259+x_SLAM_f_19^0 == 0 /\ i_229^0-i_229^post259 == 0 /\ a_634^0-a_634^post259 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post259+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_144^0-a_144^post259 == 0 /\ -a_431^post259+a_431^0 == 0 /\ head_15^0-head_15^post259 == 0 /\ -temp_35^post259+temp_35^0 == 0 /\ f_248^0-f_248^post259 == 0 /\ -a_924^post259+a_924^0 == 0 /\ tmp_34^0-tmp_34^post259 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post259+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post259+r_224^0 == 0 /\ -r_143^post259+r_143^0 == 0 /\ a_947^0-a_947^post259 == 0 /\ a_311^0-a_311^post259 == 0 /\ -a_862^post259+a_862^0 == 0 /\ -i_30^post259+i_30^0 == 0 /\ a_577^0-a_577^post259 == 0 /\ -i_107^post259+i_107^0 == 0 /\ a_902^0-a_902^post259 == 0 /\ -a_575^post259+a_575^0 == 0 /\ -a_1236^post259+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post259 == 0 /\ a_610^0-a_610^post259 == 0 /\ -a_417^post259+a_417^0 == 0 /\ -a_393^post259+a_393^0 == 0 /\ a_1089^0-a_1089^post259 == 0 /\ -i_106^post259+i_106^0 == 0 /\ -i_94^post259+i_94^0 == 0 /\ -i_1248^post259+i_1248^0 == 0 /\ a_635^0-a_635^post259 == 0 /\ a_632^0-a_632^post259 == 0 /\ -length_29^post259+length_29^0 == 0 /\ x_21^0-x_21^post259 == 0 /\ len_262^0-len_262^post259 == 0 /\ -a_310^post259+a_310^0 == 0 /\ a_633^0-a_633^post259 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post259+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post259+t_458^0 == 0 /\ temp0_31^0-temp0_31^post259 == 0 /\ -r_151^post259+r_151^0 == 0 /\ f_847^0-f_847^post259 == 0 /\ -head_32^post259+head_32^0 == 0 /\ -x_852^post259+x_852^0 == 0 /\ 1+x_14^0 <= 0 /\ a_394^0-a_394^post259 == 0 /\ x_17^0-x_17^post259 == 0 /\ -a_263^post259+a_263^0 == 0 /\ len_238^0-len_238^post259 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post259 == 0 /\ -i_197^post259+i_197^0 == 0 /\ -a_579^post259+a_579^0 == 0 /\ x_975^0-x_975^post259 == 0 /\ a_176^0-a_176^post259 == 0 /\ -a_392^post259+a_392^0 == 0 /\ a_121^0-a_121^post259 == 0 /\ a_239^0-a_239^post259 == 0 /\ -a_309^post259+a_309^0 == 0 /\ i_127^0-i_127^post259 == 0), cost: 1 260: l163 -> l164 : a_1089^0'=a_1089^post260, f_847^0'=f_847^post260, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post260, a_394^0'=a_394^post260, x_156^0'=x_156^post260, a_632^0'=a_632^post260, r_192^0'=r_192^post260, a_176^0'=a_176^post260, i_106^0'=i_106^post260, a_430^0'=a_430^post260, t_458^0'=t_458^post260, len_161^0'=len_161^post260, x_975^0'=x_975^post260, a_902^0'=a_902^post260, a_947^0'=a_947^post260, rcd_88^0'=rcd_88^post260, a_311^0'=a_311^post260, i_140^0'=i_140^post260, a_577^0'=a_577^post260, x_14^0'=x_14^post260, nondet_12^0'=nondet_12^post260, a_121^0'=a_121^post260, head_15^0'=head_15^post260, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post260, i_27^0'=i_27^post260, x_21^0'=x_21^post260, a_634^0'=a_634^post260, r_39^0'=r_39^post260, a_263^0'=a_263^post260, i_113^0'=i_113^post260, a_432^0'=a_432^post260, temp0_31^0'=temp0_31^post260, len_262^0'=len_262^post260, y_20^0'=y_20^post260, f_248^0'=f_248^post260, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post260, a_393^0'=a_393^post260, i_229^0'=i_229^post260, a_610^0'=a_610^post260, r_151^0'=r_151^post260, a_144^0'=a_144^post260, i_1053^0'=i_1053^post260, a_417^0'=a_417^post260, t_24^0'=t_24^post260, i_94^0'=i_94^post260, x_852^0'=x_852^post260, a_862^0'=a_862^post260, rcd_1249^0'=rcd_1249^post260, rcd_58^0'=rcd_58^post260, a_310^0'=a_310^post260, i_127^0'=i_127^post260, a_576^0'=a_576^post260, tmp_34^0'=tmp_34^post260, length_29^0'=length_29^post260, a_1162^0'=a_1162^post260, f_969^0'=f_969^post260, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post260, a_395^0'=a_395^post260, x_17^0'=x_17^post260, a_633^0'=a_633^post260, r_224^0'=r_224^post260, a_239^0'=a_239^post260, i_107^0'=i_107^post260, a_431^0'=a_431^post260, temp0_16^0'=temp0_16^post260, len_238^0'=len_238^post260, x_SLAM_f_19^0'=x_SLAM_f_19^post260, a_924^0'=a_924^post260, ct_18^0'=ct_18^post260, result_11^0'=result_11^post260, a_392^0'=a_392^post260, i_197^0'=i_197^post260, a_579^0'=a_579^post260, r_143^0'=r_143^post260, a_1236^0'=a_1236^post260, head_32^0'=head_32^post260, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post260, i_30^0'=i_30^post260, x_253^0'=x_253^post260, a_635^0'=a_635^post260, r_970^0'=r_970^post260, rcd_47^0'=rcd_47^post260, a_309^0'=a_309^post260, i_1248^0'=i_1248^post260, a_575^0'=a_575^post260, temp_35^0'=temp_35^post260, len_861^0'=len_861^post260, (-a_417^post260+a_417^0 == 0 /\ -x_17^post260+x_17^0 == 0 /\ -a_309^post260+a_309^0 == 0 /\ x_156^0-x_156^post260 == 0 /\ -x_14^post260+x_14^0 == 0 /\ -i_30^post260+i_30^0 == 0 /\ f_847^0-f_847^post260 == 0 /\ tmp_34^0-tmp_34^post260 == 0 /\ nondet_12^0-nondet_12^post260 == 0 /\ -i_113^post260+i_113^0 == 0 /\ -i_107^post260+i_107^0 == 0 /\ -a_392^post260+a_392^0 == 0 /\ a_862^0-a_862^post260 == 0 /\ -len_861^post260+len_861^0 == 0 /\ a_610^0-a_610^post260 == 0 /\ -a_1236^post260+a_1236^0 == 0 /\ rcd_58^0-rcd_58^post260 == 0 /\ -x_SLAM_f_19^post260+x_SLAM_f_19^0 == 0 /\ -a_635^post260+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post260 == 0 /\ a_902^0-a_902^post260 == 0 /\ -i_94^post260+i_94^0 == 0 /\ head_15^0-head_15^post260 == 0 /\ a_394^0-a_394^post260 == 0 /\ -i_1248^post260+i_1248^0 == 0 /\ -a_432^post260+a_432^0 == 0 /\ a_176^0-a_176^post260 == 0 /\ -a_310^post260+a_310^0 == 0 /\ -a_633^post260+a_633^0 == 0 /\ a_577^0-a_577^post260 == 0 /\ ct_18^0-ct_18^post260 == 0 /\ -temp0_31^post260+temp0_31^0 == 0 /\ a_1089^0-a_1089^post260 == 0 /\ -r_39^post260+r_39^0 == 0 /\ -rcd_47^post260+rcd_47^0 == 0 /\ r_192^0-r_192^post260 == 0 /\ -a_575^post260+a_575^0 == 0 /\ -i_197^post260+i_197^0 == 0 /\ i_27^0-i_27^post260 == 0 /\ a_632^0-a_632^post260 == 0 /\ length_29^0-length_29^post260 == 0 /\ -len_238^post260+len_238^0 == 0 /\ a_430^0-a_430^post260 == 0 /\ a_263^0-a_263^post260 == 0 /\ -len_262^post260+len_262^0 == 0 /\ rcd_88^0-rcd_88^post260 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post260+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_311^0-a_311^post260 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post260 == 0 /\ -head_32^post260+head_32^0 == 0 /\ y_20^0-y_20^post260 == 0 /\ a_393^0-a_393^post260 == 0 /\ -x_21^post260+x_21^0 == 0 /\ -t_24^post260+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post260 == 0 /\ -i_127^post260+i_127^0 == 0 /\ -a_579^post260+a_579^0 == 0 /\ -a_924^post260+a_924^0 == 0 /\ -result_11^post260+result_11^0 == 0 /\ f_248^0-f_248^post260 == 0 /\ temp0_16^0-temp0_16^post260 == 0 /\ r_151^0-r_151^post260 == 0 /\ a_634^0-a_634^post260 == 0 /\ -a_121^post260+a_121^0 == 0 /\ -x_852^post260+x_852^0 == 0 /\ a_144^0-a_144^post260 == 0 /\ -a_1162^post260+a_1162^0 == 0 /\ -x_253^post260+x_253^0 == 0 /\ x_975^0-x_975^post260 == 0 /\ -a_431^post260+a_431^0 == 0 /\ -r_970^post260+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post260+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post260+r_224^0 == 0 /\ -a_395^post260+a_395^0 == 0 /\ -a_239^post260+a_239^0 == 0 /\ f_969^0-f_969^post260 == 0 /\ -i_229^post260+i_229^0 == 0 /\ a_947^0-a_947^post260 == 0 /\ -i_1053^post260+i_1053^0 == 0 /\ i_140^0-i_140^post260 == 0 /\ len_161^0-len_161^post260 == 0 /\ -r_143^post260+r_143^0 == 0 /\ -temp_35^post260+temp_35^0 == 0 /\ t_458^0-t_458^post260 == 0 /\ rcd_1249^0-rcd_1249^post260 == 0 /\ i_106^0-i_106^post260 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ a_576^0-a_576^post260 == 0), cost: 1 261: l163 -> l164 : a_1089^0'=a_1089^post261, f_847^0'=f_847^post261, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post261, a_394^0'=a_394^post261, x_156^0'=x_156^post261, a_632^0'=a_632^post261, r_192^0'=r_192^post261, a_176^0'=a_176^post261, i_106^0'=i_106^post261, a_430^0'=a_430^post261, t_458^0'=t_458^post261, len_161^0'=len_161^post261, x_975^0'=x_975^post261, a_902^0'=a_902^post261, a_947^0'=a_947^post261, rcd_88^0'=rcd_88^post261, a_311^0'=a_311^post261, i_140^0'=i_140^post261, a_577^0'=a_577^post261, x_14^0'=x_14^post261, nondet_12^0'=nondet_12^post261, a_121^0'=a_121^post261, head_15^0'=head_15^post261, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post261, i_27^0'=i_27^post261, x_21^0'=x_21^post261, a_634^0'=a_634^post261, r_39^0'=r_39^post261, a_263^0'=a_263^post261, i_113^0'=i_113^post261, a_432^0'=a_432^post261, temp0_31^0'=temp0_31^post261, len_262^0'=len_262^post261, y_20^0'=y_20^post261, f_248^0'=f_248^post261, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post261, a_393^0'=a_393^post261, i_229^0'=i_229^post261, a_610^0'=a_610^post261, r_151^0'=r_151^post261, a_144^0'=a_144^post261, i_1053^0'=i_1053^post261, a_417^0'=a_417^post261, t_24^0'=t_24^post261, i_94^0'=i_94^post261, x_852^0'=x_852^post261, a_862^0'=a_862^post261, rcd_1249^0'=rcd_1249^post261, rcd_58^0'=rcd_58^post261, a_310^0'=a_310^post261, i_127^0'=i_127^post261, a_576^0'=a_576^post261, tmp_34^0'=tmp_34^post261, length_29^0'=length_29^post261, a_1162^0'=a_1162^post261, f_969^0'=f_969^post261, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post261, a_395^0'=a_395^post261, x_17^0'=x_17^post261, a_633^0'=a_633^post261, r_224^0'=r_224^post261, a_239^0'=a_239^post261, i_107^0'=i_107^post261, a_431^0'=a_431^post261, temp0_16^0'=temp0_16^post261, len_238^0'=len_238^post261, x_SLAM_f_19^0'=x_SLAM_f_19^post261, a_924^0'=a_924^post261, ct_18^0'=ct_18^post261, result_11^0'=result_11^post261, a_392^0'=a_392^post261, i_197^0'=i_197^post261, a_579^0'=a_579^post261, r_143^0'=r_143^post261, a_1236^0'=a_1236^post261, head_32^0'=head_32^post261, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post261, i_30^0'=i_30^post261, x_253^0'=x_253^post261, a_635^0'=a_635^post261, r_970^0'=r_970^post261, rcd_47^0'=rcd_47^post261, a_309^0'=a_309^post261, i_1248^0'=i_1248^post261, a_575^0'=a_575^post261, temp_35^0'=temp_35^post261, len_861^0'=len_861^post261, (-temp_35^post261+temp_35^0 == 0 /\ -a_263^post261+a_263^0 == 0 /\ -nondet_12^post261+nondet_12^0 == 0 /\ -a_431^post261+a_431^0 == 0 /\ a_610^0-a_610^post261 == 0 /\ i_27^0-i_27^post261 == 0 /\ -r_970^post261+r_970^0 == 0 /\ r_192^0-r_192^post261 == 0 /\ a_176^0-a_176^post261 == 0 /\ -i_197^post261+i_197^0 == 0 /\ length_29^0-length_29^post261 == 0 /\ r_39^0-r_39^post261 == 0 /\ -y_20^post261+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post261 == 0 /\ a_392^0-a_392^post261 == 0 /\ a_311^0-a_311^post261 == 0 /\ a_1089^0-a_1089^post261 == 0 /\ -ct_18^post261+ct_18^0 == 0 /\ -a_121^post261+a_121^0 == 0 /\ -t_24^post261+t_24^0 == 0 /\ -x_253^post261+x_253^0 == 0 /\ -i_1053^post261+i_1053^0 == 0 /\ a_432^0-a_432^post261 == 0 /\ a_632^0-a_632^post261 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post261 == 0 /\ -r_224^post261+r_224^0 == 0 /\ -a_1162^post261+a_1162^0 == 0 /\ -a_395^post261+a_395^0 == 0 /\ -i_229^post261+i_229^0 == 0 /\ -len_861^post261+len_861^0 == 0 /\ -temp0_16^post261+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post261+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_113^0-i_113^post261 == 0 /\ f_248^0-f_248^post261 == 0 /\ -i_1248^post261+i_1248^0 == 0 /\ a_144^0-a_144^post261 == 0 /\ -a_924^post261+a_924^0 == 0 /\ -a_239^post261+a_239^0 == 0 /\ result_11^0-result_11^post261 == 0 /\ tmp_34^0-tmp_34^post261 == 0 /\ -a_947^post261+a_947^0 == 0 /\ a_417^0-a_417^post261 == 0 /\ head_32^0-head_32^post261 == 0 /\ r_143^0-r_143^post261 == 0 /\ a_634^0-a_634^post261 == 0 /\ -x_21^post261+x_21^0 == 0 /\ i_127^0-i_127^post261 == 0 /\ -i_30^post261+i_30^0 == 0 /\ -a_635^post261+a_635^0 == 0 /\ a_394^0-a_394^post261 == 0 /\ -x_17^post261+x_17^0 == 0 /\ -i_107^post261+i_107^0 == 0 /\ len_238^0-len_238^post261 == 0 /\ -a_575^post261+a_575^0 == 0 /\ rcd_58^0-rcd_58^post261 == 0 /\ -a_576^post261+a_576^0 == 0 /\ -i_94^post261+i_94^0 == 0 /\ x_852^0-x_852^post261 == 0 /\ rcd_1249^0-rcd_1249^post261 == 0 /\ x_14^0-x_14^post261 == 0 /\ -a_1236^post261+a_1236^0 == 0 /\ a_430^0-a_430^post261 == 0 /\ t_458^0-t_458^post261 == 0 /\ -x_SLAM_f_19^post261+x_SLAM_f_19^0 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ len_161^0-len_161^post261 == 0 /\ i_106^0-i_106^post261 == 0 /\ -a_310^post261+a_310^0 == 0 /\ a_393^0-a_393^post261 == 0 /\ rcd_88^0-rcd_88^post261 == 0 /\ f_847^0-f_847^post261 == 0 /\ -temp0_31^post261+temp0_31^0 == 0 /\ a_633^0-a_633^post261 == 0 /\ -rcd_47^post261+rcd_47^0 == 0 /\ -x_975^post261+x_975^0 == 0 /\ a_309^0-a_309^post261 == 0 /\ i_140^0-i_140^post261 == 0 /\ head_15^0-head_15^post261 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post261 == 0 /\ -f_969^post261+f_969^0 == 0 /\ r_151^0-r_151^post261 == 0 /\ a_577^0-a_577^post261 == 0 /\ a_902^0-a_902^post261 == 0 /\ -a_862^post261+a_862^0 == 0 /\ -a_579^post261+a_579^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post261 == 0 /\ x_156^0-x_156^post261 == 0 /\ -len_262^post261+len_262^0 == 0), cost: 1 262: l164 -> l165 : a_1089^0'=a_1089^post262, f_847^0'=f_847^post262, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post262, a_394^0'=a_394^post262, x_156^0'=x_156^post262, a_632^0'=a_632^post262, r_192^0'=r_192^post262, a_176^0'=a_176^post262, i_106^0'=i_106^post262, a_430^0'=a_430^post262, t_458^0'=t_458^post262, len_161^0'=len_161^post262, x_975^0'=x_975^post262, a_902^0'=a_902^post262, a_947^0'=a_947^post262, rcd_88^0'=rcd_88^post262, a_311^0'=a_311^post262, i_140^0'=i_140^post262, a_577^0'=a_577^post262, x_14^0'=x_14^post262, nondet_12^0'=nondet_12^post262, a_121^0'=a_121^post262, head_15^0'=head_15^post262, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post262, i_27^0'=i_27^post262, x_21^0'=x_21^post262, a_634^0'=a_634^post262, r_39^0'=r_39^post262, a_263^0'=a_263^post262, i_113^0'=i_113^post262, a_432^0'=a_432^post262, temp0_31^0'=temp0_31^post262, len_262^0'=len_262^post262, y_20^0'=y_20^post262, f_248^0'=f_248^post262, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post262, a_393^0'=a_393^post262, i_229^0'=i_229^post262, a_610^0'=a_610^post262, r_151^0'=r_151^post262, a_144^0'=a_144^post262, i_1053^0'=i_1053^post262, a_417^0'=a_417^post262, t_24^0'=t_24^post262, i_94^0'=i_94^post262, x_852^0'=x_852^post262, a_862^0'=a_862^post262, rcd_1249^0'=rcd_1249^post262, rcd_58^0'=rcd_58^post262, a_310^0'=a_310^post262, i_127^0'=i_127^post262, a_576^0'=a_576^post262, tmp_34^0'=tmp_34^post262, length_29^0'=length_29^post262, a_1162^0'=a_1162^post262, f_969^0'=f_969^post262, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post262, a_395^0'=a_395^post262, x_17^0'=x_17^post262, a_633^0'=a_633^post262, r_224^0'=r_224^post262, a_239^0'=a_239^post262, i_107^0'=i_107^post262, a_431^0'=a_431^post262, temp0_16^0'=temp0_16^post262, len_238^0'=len_238^post262, x_SLAM_f_19^0'=x_SLAM_f_19^post262, a_924^0'=a_924^post262, ct_18^0'=ct_18^post262, result_11^0'=result_11^post262, a_392^0'=a_392^post262, i_197^0'=i_197^post262, a_579^0'=a_579^post262, r_143^0'=r_143^post262, a_1236^0'=a_1236^post262, head_32^0'=head_32^post262, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post262, i_30^0'=i_30^post262, x_253^0'=x_253^post262, a_635^0'=a_635^post262, r_970^0'=r_970^post262, rcd_47^0'=rcd_47^post262, a_309^0'=a_309^post262, i_1248^0'=i_1248^post262, a_575^0'=a_575^post262, temp_35^0'=temp_35^post262, len_861^0'=len_861^post262, (-a_432^post262+a_432^0 == 0 /\ -x_14^post262+x_14^0 == 0 /\ -x_SLAM_f_19^post262+x_SLAM_f_19^0 == 0 /\ -x_17^post262+x_17^0 == 0 /\ -i_94^post262+i_94^0 == 0 /\ -i_113^post262+i_113^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post262 == 0 /\ -r_143^post262+r_143^0 == 0 /\ result_11^0-result_11^post262 == 0 /\ -a_309^post262+a_309^0 == 0 /\ -a_635^post262+a_635^0 == 0 /\ -a_144^post262+a_144^0 == 0 /\ x_156^0-x_156^post262 == 0 /\ -a_1236^post262+a_1236^0 == 0 /\ x_975^0-x_975^post262 == 0 /\ a_634^0-a_634^post262 == 0 /\ -a_633^post262+a_633^0 == 0 /\ -a_575^post262+a_575^0 == 0 /\ a_947^0-a_947^post262 == 0 /\ a_902^0-a_902^post262 == 0 /\ head_15^0-head_15^post262 == 0 /\ i_1053^0-i_1053^post262 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post262 == 0 /\ -rcd_47^post262+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post262 == 0 /\ a_176^0-a_176^post262 == 0 /\ -len_262^post262+len_262^0 == 0 /\ -temp0_31^post262+temp0_31^0 == 0 /\ r_192^0-r_192^post262 == 0 /\ a_310^0-a_310^post262 == 0 /\ -x_253^post262+x_253^0 == 0 /\ -len_238^post262+len_238^0 == 0 /\ -f_969^post262+f_969^0 == 0 /\ a_632^0-a_632^post262 == 0 /\ length_29^0-length_29^post262 == 0 /\ -r_39^post262+r_39^0 == 0 /\ a_579^0-a_579^post262 == 0 /\ a_392^0-a_392^post262 == 0 /\ a_1089^0-a_1089^post262 == 0 /\ a_311^0-a_311^post262 == 0 /\ -head_32^post262+head_32^0 == 0 /\ x_852^0-x_852^post262 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ len_161^0-len_161^post262 == 0 /\ y_20^0-y_20^post262 == 0 /\ -a_431^post262+a_431^0 == 0 /\ f_847^0-f_847^post262 == 0 /\ -x_21^post262+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post262 == 0 /\ -rcd_58^post262+rcd_58^0 == 0 /\ -temp_35^post262+temp_35^0 == 0 /\ -a_430^post262+a_430^0 == 0 /\ -i_197^post262+i_197^0 == 0 /\ -i_127^post262+i_127^0 == 0 /\ a_417^0-a_417^post262 == 0 /\ -ct_18^post262+ct_18^0 == 0 /\ r_151^0-r_151^post262 == 0 /\ nondet_12^0-nondet_12^post262 == 0 /\ -r_970^post262+r_970^0 == 0 /\ -t_24^post262+t_24^0 == 0 /\ a_394^0-a_394^post262 == 0 /\ a_862^0-a_862^post262 == 0 /\ -f_248^post262+f_248^0 == 0 /\ a_239^0-a_239^post262 == 0 /\ -a_121^post262+a_121^0 == 0 /\ -a_924^post262+a_924^0 == 0 /\ -a_1162^post262+a_1162^0 == 0 /\ -i_229^post262+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post262+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_577^post262+a_577^0 == 0 /\ -rcd_1249^post262+rcd_1249^0 == 0 /\ -i_1248^post262+i_1248^0 == 0 /\ a_610^0-a_610^post262 == 0 /\ -tmp_34^post262+tmp_34^0 == 0 /\ -temp0_16^post262+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post262 == 0 /\ i_140^0-i_140^post262 == 0 /\ a_395^0-a_395^post262 == 0 /\ i_106^0-i_106^post262 == 0 /\ i_27^0-i_27^post262 == 0 /\ a_263^0-a_263^post262 == 0 /\ -i_30^post262+i_30^0 == 0 /\ -r_224^post262+r_224^0 == 0 /\ -len_861^post262+len_861^0 == 0 /\ i_107^0-i_107^post262 == 0 /\ a_576^0-a_576^post262 == 0 /\ t_458^0-t_458^post262 == 0 /\ a_393^0-a_393^post262 == 0), cost: 1 263: l164 -> l165 : a_1089^0'=a_1089^post263, f_847^0'=f_847^post263, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post263, a_394^0'=a_394^post263, x_156^0'=x_156^post263, a_632^0'=a_632^post263, r_192^0'=r_192^post263, a_176^0'=a_176^post263, i_106^0'=i_106^post263, a_430^0'=a_430^post263, t_458^0'=t_458^post263, len_161^0'=len_161^post263, x_975^0'=x_975^post263, a_902^0'=a_902^post263, a_947^0'=a_947^post263, rcd_88^0'=rcd_88^post263, a_311^0'=a_311^post263, i_140^0'=i_140^post263, a_577^0'=a_577^post263, x_14^0'=x_14^post263, nondet_12^0'=nondet_12^post263, a_121^0'=a_121^post263, head_15^0'=head_15^post263, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post263, i_27^0'=i_27^post263, x_21^0'=x_21^post263, a_634^0'=a_634^post263, r_39^0'=r_39^post263, a_263^0'=a_263^post263, i_113^0'=i_113^post263, a_432^0'=a_432^post263, temp0_31^0'=temp0_31^post263, len_262^0'=len_262^post263, y_20^0'=y_20^post263, f_248^0'=f_248^post263, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post263, a_393^0'=a_393^post263, i_229^0'=i_229^post263, a_610^0'=a_610^post263, r_151^0'=r_151^post263, a_144^0'=a_144^post263, i_1053^0'=i_1053^post263, a_417^0'=a_417^post263, t_24^0'=t_24^post263, i_94^0'=i_94^post263, x_852^0'=x_852^post263, a_862^0'=a_862^post263, rcd_1249^0'=rcd_1249^post263, rcd_58^0'=rcd_58^post263, a_310^0'=a_310^post263, i_127^0'=i_127^post263, a_576^0'=a_576^post263, tmp_34^0'=tmp_34^post263, length_29^0'=length_29^post263, a_1162^0'=a_1162^post263, f_969^0'=f_969^post263, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post263, a_395^0'=a_395^post263, x_17^0'=x_17^post263, a_633^0'=a_633^post263, r_224^0'=r_224^post263, a_239^0'=a_239^post263, i_107^0'=i_107^post263, a_431^0'=a_431^post263, temp0_16^0'=temp0_16^post263, len_238^0'=len_238^post263, x_SLAM_f_19^0'=x_SLAM_f_19^post263, a_924^0'=a_924^post263, ct_18^0'=ct_18^post263, result_11^0'=result_11^post263, a_392^0'=a_392^post263, i_197^0'=i_197^post263, a_579^0'=a_579^post263, r_143^0'=r_143^post263, a_1236^0'=a_1236^post263, head_32^0'=head_32^post263, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post263, i_30^0'=i_30^post263, x_253^0'=x_253^post263, a_635^0'=a_635^post263, r_970^0'=r_970^post263, rcd_47^0'=rcd_47^post263, a_309^0'=a_309^post263, i_1248^0'=i_1248^post263, a_575^0'=a_575^post263, temp_35^0'=temp_35^post263, len_861^0'=len_861^post263, (-i_197^post263+i_197^0 == 0 /\ -ct_18^post263+ct_18^0 == 0 /\ -temp_35^post263+temp_35^0 == 0 /\ -r_970^post263+r_970^0 == 0 /\ -x_253^post263+x_253^0 == 0 /\ -f_969^post263+f_969^0 == 0 /\ a_417^0-a_417^post263 == 0 /\ a_394^0-a_394^post263 == 0 /\ -head_32^post263+head_32^0 == 0 /\ a_1089^0-a_1089^post263 == 0 /\ a_310^0-a_310^post263 == 0 /\ -f_248^post263+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post263+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_311^0-a_311^post263 == 0 /\ -a_579^post263+a_579^0 == 0 /\ rcd_88^0-rcd_88^post263 == 0 /\ -a_1162^post263+a_1162^0 == 0 /\ -i_127^post263+i_127^0 == 0 /\ i_140^0-i_140^post263 == 0 /\ i_106^0-i_106^post263 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post263 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ a_392^0-a_392^post263 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post263 == 0 /\ i_94^0-i_94^post263 == 0 /\ -temp0_16^post263+temp0_16^0 == 0 /\ -rcd_1249^post263+rcd_1249^0 == 0 /\ a_393^0-a_393^post263 == 0 /\ -len_861^post263+len_861^0 == 0 /\ t_458^0-t_458^post263 == 0 /\ y_20^0-y_20^post263 == 0 /\ -i_1248^post263+i_1248^0 == 0 /\ -result_11^post263+result_11^0 == 0 /\ -a_239^post263+a_239^0 == 0 /\ -head_15^post263+head_15^0 == 0 /\ -x_852^post263+x_852^0 == 0 /\ x_21^0-x_21^post263 == 0 /\ -r_224^post263+r_224^0 == 0 /\ len_262^0-len_262^post263 == 0 /\ -tmp_34^post263+tmp_34^0 == 0 /\ -x_17^post263+x_17^0 == 0 /\ -a_924^post263+a_924^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post263 == 0 /\ r_143^0-r_143^post263 == 0 /\ temp0_31^0-temp0_31^post263 == 0 /\ -a_575^post263+a_575^0 == 0 /\ i_1053^0-i_1053^post263 == 0 /\ x_14^0-x_14^post263 == 0 /\ t_24^0-t_24^post263 == 0 /\ -a_635^post263+a_635^0 == 0 /\ -i_30^post263+i_30^0 == 0 /\ a_395^0-a_395^post263 == 0 /\ a_121^0-a_121^post263 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post263 == 0 /\ a_947^0-a_947^post263 == 0 /\ rcd_58^0-rcd_58^post263 == 0 /\ -a_176^post263+a_176^0 == 0 /\ a_263^0-a_263^post263 == 0 /\ r_39^0-r_39^post263 == 0 /\ -a_576^post263+a_576^0 == 0 /\ len_161^0-len_161^post263 == 0 /\ length_29^0-length_29^post263 == 0 /\ -a_634^post263+a_634^0 == 0 /\ -i_107^post263+i_107^0 == 0 /\ -a_633^post263+a_633^0 == 0 /\ f_847^0-f_847^post263 == 0 /\ a_309^0-a_309^post263 == 0 /\ -x_975^post263+x_975^0 == 0 /\ r_151^0-r_151^post263 == 0 /\ -a_1236^post263+a_1236^0 == 0 /\ -a_431^post263+a_431^0 == 0 /\ a_632^0-a_632^post263 == 0 /\ a_432^0-a_432^post263 == 0 /\ -a_430^post263+a_430^0 == 0 /\ -a_610^post263+a_610^0 == 0 /\ i_113^0-i_113^post263 == 0 /\ a_902^0-a_902^post263 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post263 == 0 /\ r_192^0-r_192^post263 == 0 /\ -len_238^post263+len_238^0 == 0 /\ a_862^0-a_862^post263 == 0 /\ a_577^0-a_577^post263 == 0 /\ x_156^0-x_156^post263 == 0 /\ nondet_12^0-nondet_12^post263 == 0 /\ -rcd_47^post263+rcd_47^0 == 0 /\ a_144^0-a_144^post263 == 0 /\ -i_27^post263+i_27^0 == 0 /\ i_229^0-i_229^post263 == 0), cost: 1 264: l165 -> l120 : a_1089^0'=a_1089^post264, f_847^0'=f_847^post264, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post264, a_394^0'=a_394^post264, x_156^0'=x_156^post264, a_632^0'=a_632^post264, r_192^0'=r_192^post264, a_176^0'=a_176^post264, i_106^0'=i_106^post264, a_430^0'=a_430^post264, t_458^0'=t_458^post264, len_161^0'=len_161^post264, x_975^0'=x_975^post264, a_902^0'=a_902^post264, a_947^0'=a_947^post264, rcd_88^0'=rcd_88^post264, a_311^0'=a_311^post264, i_140^0'=i_140^post264, a_577^0'=a_577^post264, x_14^0'=x_14^post264, nondet_12^0'=nondet_12^post264, a_121^0'=a_121^post264, head_15^0'=head_15^post264, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post264, i_27^0'=i_27^post264, x_21^0'=x_21^post264, a_634^0'=a_634^post264, r_39^0'=r_39^post264, a_263^0'=a_263^post264, i_113^0'=i_113^post264, a_432^0'=a_432^post264, temp0_31^0'=temp0_31^post264, len_262^0'=len_262^post264, y_20^0'=y_20^post264, f_248^0'=f_248^post264, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post264, a_393^0'=a_393^post264, i_229^0'=i_229^post264, a_610^0'=a_610^post264, r_151^0'=r_151^post264, a_144^0'=a_144^post264, i_1053^0'=i_1053^post264, a_417^0'=a_417^post264, t_24^0'=t_24^post264, i_94^0'=i_94^post264, x_852^0'=x_852^post264, a_862^0'=a_862^post264, rcd_1249^0'=rcd_1249^post264, rcd_58^0'=rcd_58^post264, a_310^0'=a_310^post264, i_127^0'=i_127^post264, a_576^0'=a_576^post264, tmp_34^0'=tmp_34^post264, length_29^0'=length_29^post264, a_1162^0'=a_1162^post264, f_969^0'=f_969^post264, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post264, a_395^0'=a_395^post264, x_17^0'=x_17^post264, a_633^0'=a_633^post264, r_224^0'=r_224^post264, a_239^0'=a_239^post264, i_107^0'=i_107^post264, a_431^0'=a_431^post264, temp0_16^0'=temp0_16^post264, len_238^0'=len_238^post264, x_SLAM_f_19^0'=x_SLAM_f_19^post264, a_924^0'=a_924^post264, ct_18^0'=ct_18^post264, result_11^0'=result_11^post264, a_392^0'=a_392^post264, i_197^0'=i_197^post264, a_579^0'=a_579^post264, r_143^0'=r_143^post264, a_1236^0'=a_1236^post264, head_32^0'=head_32^post264, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post264, i_30^0'=i_30^post264, x_253^0'=x_253^post264, a_635^0'=a_635^post264, r_970^0'=r_970^post264, rcd_47^0'=rcd_47^post264, a_309^0'=a_309^post264, i_1248^0'=i_1248^post264, a_575^0'=a_575^post264, temp_35^0'=temp_35^post264, len_861^0'=len_861^post264, (a_924^0-a_924^post264 == 0 /\ i_106^0-i_106^post264 == 0 /\ a_632^0-a_632^post264 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post264 == 0 /\ a_393^0-a_393^post264 == 0 /\ -x_SLAM_f_19^post264+x_SLAM_f_19^0 == 0 /\ a_432^0-a_432^post264 == 0 /\ a_430^0-a_430^post264 == 0 /\ x_975^0-x_975^post264 == 0 /\ -a_576^post264+a_576^0 == 0 /\ r_151^0-r_151^post264 == 0 /\ y_20^0-y_20^post264 == 0 /\ a_1162^0-a_1162^post264 == 0 /\ a_577^0-a_577^post264 == 0 /\ -r_143^post264+r_143^0 == 0 /\ -a_144^post264+a_144^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_634^post264+a_634^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post264+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post264+a_1236^0 == 0 /\ -i_27^post264+i_27^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ a_310^0-a_310^post264 == 0 /\ -a_392^post264+a_392^0 == 0 /\ -temp0_31^post264+temp0_31^0 == 0 /\ -a_633^post264+a_633^0 == 0 /\ -f_969^post264+f_969^0 == 0 /\ i_1053^0-i_1053^post264 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post264 == 0 /\ a_394^0-a_394^post264 == 0 /\ -a_610^post264+a_610^0 == 0 /\ a_579^0-a_579^post264 == 0 /\ -head_32^post264+head_32^0 == 0 /\ i_140^0-i_140^post264 == 0 /\ a_176^0-a_176^post264 == 0 /\ t_458^0-t_458^post264 == 0 /\ -rcd_47^post264+rcd_47^0 == 0 /\ f_847^0-f_847^post264 == 0 /\ t_24^0-t_24^post264 == 0 /\ i_197^0-i_197^post264 == 0 /\ -len_238^post264+len_238^0 == 0 /\ -r_970^post264+r_970^0 == 0 /\ -len_262^post264+len_262^0 == 0 /\ -i_1248^post264+i_1248^0 == 0 /\ -a_239^post264+a_239^0 == 0 /\ -rcd_58^post264+rcd_58^0 == 0 /\ i_107^0-i_107^post264 == 0 /\ i_94^0-i_94^post264 == 0 /\ -temp0_16^post264+temp0_16^0 == 0 /\ -i_127^post264+i_127^0 == 0 /\ -ct_18^post264+ct_18^0 == 0 /\ -head_15^post264+head_15^0 == 0 /\ -r_192^post264+r_192^0 == 0 /\ r_39^0-r_39^post264 == 0 /\ -x_253^post264+x_253^0 == 0 /\ -temp_35^post264+temp_35^0 == 0 /\ a_121^0-a_121^post264 == 0 /\ a_902^0-a_902^post264 == 0 /\ i_113^0-i_113^post264 == 0 /\ x_156^0-x_156^post264 == 0 /\ -f_248^post264+f_248^0 == 0 /\ nondet_12^0-nondet_12^post264 == 0 /\ -a_431^post264+a_431^0 == 0 /\ i_229^0-i_229^post264 == 0 /\ x_21^0-x_21^post264 == 0 /\ a_862^0-a_862^post264 == 0 /\ -len_161^post264+len_161^0 == 0 /\ -a_417^post264+a_417^0 == 0 /\ -a_309^post264+a_309^0 == 0 /\ a_1089^0-a_1089^post264 == 0 /\ x_14^0-x_14^post264 == 0 /\ -tmp_34^post264+tmp_34^0 == 0 /\ -result_11^post264+result_11^0 == 0 /\ -rcd_1249^post264+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post264 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post264+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post264+a_575^0 == 0 /\ length_29^0-length_29^post264 == 0 /\ -len_861^post264+len_861^0 == 0 /\ -i_30^post264+i_30^0 == 0 /\ -x_852^post264+x_852^0 == 0 /\ a_395^0-a_395^post264 == 0 /\ -a_635^post264+a_635^0 == 0 /\ -a_947^post264+a_947^0 == 0 /\ a_263^0-a_263^post264 == 0 /\ -r_224^post264+r_224^0 == 0 /\ -x_17^post264+x_17^0 == 0 /\ rcd_88^0-rcd_88^post264 == 0 /\ a_311^0-a_311^post264 == 0), cost: 1 266: l166 -> l167 : a_1089^0'=a_1089^post266, f_847^0'=f_847^post266, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post266, a_394^0'=a_394^post266, x_156^0'=x_156^post266, a_632^0'=a_632^post266, r_192^0'=r_192^post266, a_176^0'=a_176^post266, i_106^0'=i_106^post266, a_430^0'=a_430^post266, t_458^0'=t_458^post266, len_161^0'=len_161^post266, x_975^0'=x_975^post266, a_902^0'=a_902^post266, a_947^0'=a_947^post266, rcd_88^0'=rcd_88^post266, a_311^0'=a_311^post266, i_140^0'=i_140^post266, a_577^0'=a_577^post266, x_14^0'=x_14^post266, nondet_12^0'=nondet_12^post266, a_121^0'=a_121^post266, head_15^0'=head_15^post266, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post266, i_27^0'=i_27^post266, x_21^0'=x_21^post266, a_634^0'=a_634^post266, r_39^0'=r_39^post266, a_263^0'=a_263^post266, i_113^0'=i_113^post266, a_432^0'=a_432^post266, temp0_31^0'=temp0_31^post266, len_262^0'=len_262^post266, y_20^0'=y_20^post266, f_248^0'=f_248^post266, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post266, a_393^0'=a_393^post266, i_229^0'=i_229^post266, a_610^0'=a_610^post266, r_151^0'=r_151^post266, a_144^0'=a_144^post266, i_1053^0'=i_1053^post266, a_417^0'=a_417^post266, t_24^0'=t_24^post266, i_94^0'=i_94^post266, x_852^0'=x_852^post266, a_862^0'=a_862^post266, rcd_1249^0'=rcd_1249^post266, rcd_58^0'=rcd_58^post266, a_310^0'=a_310^post266, i_127^0'=i_127^post266, a_576^0'=a_576^post266, tmp_34^0'=tmp_34^post266, length_29^0'=length_29^post266, a_1162^0'=a_1162^post266, f_969^0'=f_969^post266, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post266, a_395^0'=a_395^post266, x_17^0'=x_17^post266, a_633^0'=a_633^post266, r_224^0'=r_224^post266, a_239^0'=a_239^post266, i_107^0'=i_107^post266, a_431^0'=a_431^post266, temp0_16^0'=temp0_16^post266, len_238^0'=len_238^post266, x_SLAM_f_19^0'=x_SLAM_f_19^post266, a_924^0'=a_924^post266, ct_18^0'=ct_18^post266, result_11^0'=result_11^post266, a_392^0'=a_392^post266, i_197^0'=i_197^post266, a_579^0'=a_579^post266, r_143^0'=r_143^post266, a_1236^0'=a_1236^post266, head_32^0'=head_32^post266, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post266, i_30^0'=i_30^post266, x_253^0'=x_253^post266, a_635^0'=a_635^post266, r_970^0'=r_970^post266, rcd_47^0'=rcd_47^post266, a_309^0'=a_309^post266, i_1248^0'=i_1248^post266, a_575^0'=a_575^post266, temp_35^0'=temp_35^post266, len_861^0'=len_861^post266, (a_311^0-a_311^post266 == 0 /\ -a_1162^post266+a_1162^0 == 0 /\ -tmp_34^post266+tmp_34^0 == 0 /\ f_248^0-f_248^post266 == 0 /\ rcd_1249^0-rcd_1249^post266 == 0 /\ f_969^0-f_969^post266 == 0 /\ a_902^0-a_902^post266 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post266+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ rcd_88^0-rcd_88^post266 == 0 /\ -result_11^post266+result_11^0 == 0 /\ i_106^0-i_106^post266 == 0 /\ i_127^0-i_127^post266 == 0 /\ -rcd_47^post266+rcd_47^0 == 0 /\ len_161^0-len_161^post266 == 0 /\ -x_21^post266+x_21^0 == 0 /\ t_458^0-t_458^post266 == 0 /\ -a_924^post266+a_924^0 == 0 /\ a_632^0-a_632^post266 == 0 /\ x_14^0-x_14^post266 == 0 /\ a_430^0-a_430^post266 == 0 /\ i_140^0-i_140^post266 == 0 /\ len_262^0-len_262^post266 == 0 /\ a_1236^0-a_1236^post266 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post266+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_852^0-x_852^post266 == 0 /\ -r_970^post266+r_970^0 == 0 /\ -x_253^post266+x_253^0 == 0 /\ temp0_31^0-temp0_31^post266 == 0 /\ f_847^0-f_847^post266 == 0 /\ -r_143^post266+r_143^0 == 0 /\ -y_20^post266+y_20^0 == 0 /\ -a_432^post266+a_432^0 == 0 /\ -i_229^post266+i_229^0 == 0 /\ a_394^0-a_394^post266 == 0 /\ -temp_35^post266+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post266+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post266+i_113^0 == 0 /\ -x_SLAM_f_19^post266+x_SLAM_f_19^0 == 0 /\ a_176^0-a_176^post266 == 0 /\ -a_431^post266+a_431^0 == 0 /\ -a_310^post266+a_310^0 == 0 /\ -a_395^post266+a_395^0 == 0 /\ a_610^0-a_610^post266 == 0 /\ -r_39^post266+r_39^0 == 0 /\ a_239^0-a_239^post266 == 0 /\ -len_861^post266+len_861^0 == 0 /\ r_192^0-r_192^post266 == 0 /\ head_15^0-head_15^post266 == 0 /\ a_633^0-a_633^post266 == 0 /\ -a_862^post266+a_862^0 == 0 /\ -r_224^post266+r_224^0 == 0 /\ -a_577^post266+a_577^0 == 0 /\ a_1089^0-a_1089^post266 == 0 /\ a_635^0-a_635^post266 == 0 /\ a_393^0-a_393^post266 == 0 /\ -i_94^post266+i_94^0 == 0 /\ -x_17^post266+x_17^0 == 0 /\ -i_1248^post266+i_1248^0 == 0 /\ temp0_16^0-temp0_16^post266 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post266 == 0 /\ -x_156^post266+x_156^0 == 0 /\ -i_1053^post266+i_1053^0 == 0 /\ -length_29^post266+length_29^0 == 0 /\ i_27^0-i_27^post266 == 0 /\ -a_392^post266+a_392^0 == 0 /\ a_576^0-a_576^post266 == 0 /\ a_121^0-a_121^post266 == 0 /\ -i_107^post266+i_107^0 == 0 /\ -ct_18^post266+ct_18^0 == 0 /\ -a_575^post266+a_575^0 == 0 /\ -t_24^post266+t_24^0 == 0 /\ -i_197^post266+i_197^0 == 0 /\ -a_579^post266+a_579^0 == 0 /\ 1-head_15^0 <= 0 /\ -i_30^post266+i_30^0 == 0 /\ -a_263^post266+a_263^0 == 0 /\ -head_32^post266+head_32^0 == 0 /\ a_144^0-a_144^post266 == 0 /\ nondet_12^0-nondet_12^post266 == 0 /\ a_634^0-a_634^post266 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post266+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_151^0-r_151^post266 == 0 /\ a_417^0-a_417^post266 == 0 /\ a_947^0-a_947^post266 == 0 /\ len_238^0-len_238^post266 == 0 /\ -a_309^post266+a_309^0 == 0 /\ x_975^0-x_975^post266 == 0 /\ -rcd_58^post266+rcd_58^0 == 0), cost: 1 267: l166 -> l167 : a_1089^0'=a_1089^post267, f_847^0'=f_847^post267, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post267, a_394^0'=a_394^post267, x_156^0'=x_156^post267, a_632^0'=a_632^post267, r_192^0'=r_192^post267, a_176^0'=a_176^post267, i_106^0'=i_106^post267, a_430^0'=a_430^post267, t_458^0'=t_458^post267, len_161^0'=len_161^post267, x_975^0'=x_975^post267, a_902^0'=a_902^post267, a_947^0'=a_947^post267, rcd_88^0'=rcd_88^post267, a_311^0'=a_311^post267, i_140^0'=i_140^post267, a_577^0'=a_577^post267, x_14^0'=x_14^post267, nondet_12^0'=nondet_12^post267, a_121^0'=a_121^post267, head_15^0'=head_15^post267, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post267, i_27^0'=i_27^post267, x_21^0'=x_21^post267, a_634^0'=a_634^post267, r_39^0'=r_39^post267, a_263^0'=a_263^post267, i_113^0'=i_113^post267, a_432^0'=a_432^post267, temp0_31^0'=temp0_31^post267, len_262^0'=len_262^post267, y_20^0'=y_20^post267, f_248^0'=f_248^post267, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post267, a_393^0'=a_393^post267, i_229^0'=i_229^post267, a_610^0'=a_610^post267, r_151^0'=r_151^post267, a_144^0'=a_144^post267, i_1053^0'=i_1053^post267, a_417^0'=a_417^post267, t_24^0'=t_24^post267, i_94^0'=i_94^post267, x_852^0'=x_852^post267, a_862^0'=a_862^post267, rcd_1249^0'=rcd_1249^post267, rcd_58^0'=rcd_58^post267, a_310^0'=a_310^post267, i_127^0'=i_127^post267, a_576^0'=a_576^post267, tmp_34^0'=tmp_34^post267, length_29^0'=length_29^post267, a_1162^0'=a_1162^post267, f_969^0'=f_969^post267, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post267, a_395^0'=a_395^post267, x_17^0'=x_17^post267, a_633^0'=a_633^post267, r_224^0'=r_224^post267, a_239^0'=a_239^post267, i_107^0'=i_107^post267, a_431^0'=a_431^post267, temp0_16^0'=temp0_16^post267, len_238^0'=len_238^post267, x_SLAM_f_19^0'=x_SLAM_f_19^post267, a_924^0'=a_924^post267, ct_18^0'=ct_18^post267, result_11^0'=result_11^post267, a_392^0'=a_392^post267, i_197^0'=i_197^post267, a_579^0'=a_579^post267, r_143^0'=r_143^post267, a_1236^0'=a_1236^post267, head_32^0'=head_32^post267, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post267, i_30^0'=i_30^post267, x_253^0'=x_253^post267, a_635^0'=a_635^post267, r_970^0'=r_970^post267, rcd_47^0'=rcd_47^post267, a_309^0'=a_309^post267, i_1248^0'=i_1248^post267, a_575^0'=a_575^post267, temp_35^0'=temp_35^post267, len_861^0'=len_861^post267, (x_852^0-x_852^post267 == 0 /\ nondet_12^0-nondet_12^post267 == 0 /\ a_263^0-a_263^post267 == 0 /\ x_21^0-x_21^post267 == 0 /\ 1+head_15^0 <= 0 /\ -length_29^post267+length_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post267+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post267+i_107^0 == 0 /\ -r_39^post267+r_39^0 == 0 /\ -a_392^post267+a_392^0 == 0 /\ -a_862^post267+a_862^0 == 0 /\ a_576^0-a_576^post267 == 0 /\ f_847^0-f_847^post267 == 0 /\ -i_1248^post267+i_1248^0 == 0 /\ -len_861^post267+len_861^0 == 0 /\ x_17^0-x_17^post267 == 0 /\ tmp_34^0-tmp_34^post267 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post267 == 0 /\ -head_32^post267+head_32^0 == 0 /\ a_144^0-a_144^post267 == 0 /\ a_394^0-a_394^post267 == 0 /\ -a_393^post267+a_393^0 == 0 /\ -a_635^post267+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post267 == 0 /\ -i_30^post267+i_30^0 == 0 /\ -a_310^post267+a_310^0 == 0 /\ t_458^0-t_458^post267 == 0 /\ r_143^0-r_143^post267 == 0 /\ a_610^0-a_610^post267 == 0 /\ rcd_1249^0-rcd_1249^post267 == 0 /\ a_577^0-a_577^post267 == 0 /\ i_106^0-i_106^post267 == 0 /\ ct_18^0-ct_18^post267 == 0 /\ -t_24^post267+t_24^0 == 0 /\ -a_633^post267+a_633^0 == 0 /\ -a_579^post267+a_579^0 == 0 /\ -a_575^post267+a_575^0 == 0 /\ len_161^0-len_161^post267 == 0 /\ -i_197^post267+i_197^0 == 0 /\ -a_417^post267+a_417^0 == 0 /\ -i_127^post267+i_127^0 == 0 /\ -x_975^post267+x_975^0 == 0 /\ -a_309^post267+a_309^0 == 0 /\ i_27^0-i_27^post267 == 0 /\ a_1236^0-a_1236^post267 == 0 /\ a_121^0-a_121^post267 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post267 == 0 /\ len_262^0-len_262^post267 == 0 /\ temp0_31^0-temp0_31^post267 == 0 /\ x_156^0-x_156^post267 == 0 /\ -a_924^post267+a_924^0 == 0 /\ -rcd_47^post267+rcd_47^0 == 0 /\ a_634^0-a_634^post267 == 0 /\ x_253^0-x_253^post267 == 0 /\ -i_140^post267+i_140^0 == 0 /\ a_947^0-a_947^post267 == 0 /\ f_248^0-f_248^post267 == 0 /\ len_238^0-len_238^post267 == 0 /\ rcd_58^0-rcd_58^post267 == 0 /\ -a_1162^post267+a_1162^0 == 0 /\ -result_11^post267+result_11^0 == 0 /\ -f_969^post267+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post267 == 0 /\ -r_970^post267+r_970^0 == 0 /\ a_176^0-a_176^post267 == 0 /\ r_151^0-r_151^post267 == 0 /\ -r_224^post267+r_224^0 == 0 /\ -temp_35^post267+temp_35^0 == 0 /\ a_239^0-a_239^post267 == 0 /\ a_902^0-a_902^post267 == 0 /\ -x_SLAM_f_19^post267+x_SLAM_f_19^0 == 0 /\ -y_20^post267+y_20^0 == 0 /\ -temp0_16^post267+temp0_16^0 == 0 /\ head_15^0-head_15^post267 == 0 /\ rcd_88^0-rcd_88^post267 == 0 /\ a_311^0-a_311^post267 == 0 /\ i_1053^0-i_1053^post267 == 0 /\ -i_113^post267+i_113^0 == 0 /\ -i_94^post267+i_94^0 == 0 /\ -a_395^post267+a_395^0 == 0 /\ a_1089^0-a_1089^post267 == 0 /\ a_632^0-a_632^post267 == 0 /\ x_14^0-x_14^post267 == 0 /\ a_430^0-a_430^post267 == 0 /\ -i_229^post267+i_229^0 == 0 /\ -a_431^post267+a_431^0 == 0 /\ -a_432^post267+a_432^0 == 0 /\ r_192^0-r_192^post267 == 0), cost: 1 268: l167 -> l168 : a_1089^0'=a_1089^post268, f_847^0'=f_847^post268, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post268, a_394^0'=a_394^post268, x_156^0'=x_156^post268, a_632^0'=a_632^post268, r_192^0'=r_192^post268, a_176^0'=a_176^post268, i_106^0'=i_106^post268, a_430^0'=a_430^post268, t_458^0'=t_458^post268, len_161^0'=len_161^post268, x_975^0'=x_975^post268, a_902^0'=a_902^post268, a_947^0'=a_947^post268, rcd_88^0'=rcd_88^post268, a_311^0'=a_311^post268, i_140^0'=i_140^post268, a_577^0'=a_577^post268, x_14^0'=x_14^post268, nondet_12^0'=nondet_12^post268, a_121^0'=a_121^post268, head_15^0'=head_15^post268, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post268, i_27^0'=i_27^post268, x_21^0'=x_21^post268, a_634^0'=a_634^post268, r_39^0'=r_39^post268, a_263^0'=a_263^post268, i_113^0'=i_113^post268, a_432^0'=a_432^post268, temp0_31^0'=temp0_31^post268, len_262^0'=len_262^post268, y_20^0'=y_20^post268, f_248^0'=f_248^post268, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post268, a_393^0'=a_393^post268, i_229^0'=i_229^post268, a_610^0'=a_610^post268, r_151^0'=r_151^post268, a_144^0'=a_144^post268, i_1053^0'=i_1053^post268, a_417^0'=a_417^post268, t_24^0'=t_24^post268, i_94^0'=i_94^post268, x_852^0'=x_852^post268, a_862^0'=a_862^post268, rcd_1249^0'=rcd_1249^post268, rcd_58^0'=rcd_58^post268, a_310^0'=a_310^post268, i_127^0'=i_127^post268, a_576^0'=a_576^post268, tmp_34^0'=tmp_34^post268, length_29^0'=length_29^post268, a_1162^0'=a_1162^post268, f_969^0'=f_969^post268, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post268, a_395^0'=a_395^post268, x_17^0'=x_17^post268, a_633^0'=a_633^post268, r_224^0'=r_224^post268, a_239^0'=a_239^post268, i_107^0'=i_107^post268, a_431^0'=a_431^post268, temp0_16^0'=temp0_16^post268, len_238^0'=len_238^post268, x_SLAM_f_19^0'=x_SLAM_f_19^post268, a_924^0'=a_924^post268, ct_18^0'=ct_18^post268, result_11^0'=result_11^post268, a_392^0'=a_392^post268, i_197^0'=i_197^post268, a_579^0'=a_579^post268, r_143^0'=r_143^post268, a_1236^0'=a_1236^post268, head_32^0'=head_32^post268, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post268, i_30^0'=i_30^post268, x_253^0'=x_253^post268, a_635^0'=a_635^post268, r_970^0'=r_970^post268, rcd_47^0'=rcd_47^post268, a_309^0'=a_309^post268, i_1248^0'=i_1248^post268, a_575^0'=a_575^post268, temp_35^0'=temp_35^post268, len_861^0'=len_861^post268, (f_969^0-f_969^post268 == 0 /\ x_975^0-x_975^post268 == 0 /\ -a_924^post268+a_924^0 == 0 /\ -a_431^post268+a_431^0 == 0 /\ a_176^0-a_176^post268 == 0 /\ length_29^0-length_29^post268 == 0 /\ r_192^0-r_192^post268 == 0 /\ -x_21^post268+x_21^0 == 0 /\ -a_1162^post268+a_1162^0 == 0 /\ -result_11^post268+result_11^0 == 0 /\ -x_253^post268+x_253^0 == 0 /\ i_27^0-i_27^post268 == 0 /\ t_24^0-t_24^post268 == 0 /\ len_161^0-len_161^post268 == 0 /\ r_39^0-r_39^post268 == 0 /\ a_393^0-a_393^post268 == 0 /\ -a_610^post268+a_610^0 == 0 /\ a_430^0-a_430^post268 == 0 /\ a_263^0-a_263^post268 == 0 /\ -r_970^post268+r_970^0 == 0 /\ 1-t_24^0 <= 0 /\ -f_248^post268+f_248^0 == 0 /\ a_432^0-a_432^post268 == 0 /\ x_156^0-x_156^post268 == 0 /\ -r_143^post268+r_143^0 == 0 /\ a_144^0-a_144^post268 == 0 /\ -i_94^post268+i_94^0 == 0 /\ f_847^0-f_847^post268 == 0 /\ -i_229^post268+i_229^0 == 0 /\ i_140^0-i_140^post268 == 0 /\ a_579^0-a_579^post268 == 0 /\ a_394^0-a_394^post268 == 0 /\ head_15^0-head_15^post268 == 0 /\ rcd_58^0-rcd_58^post268 == 0 /\ a_862^0-a_862^post268 == 0 /\ r_151^0-r_151^post268 == 0 /\ i_113^0-i_113^post268 == 0 /\ a_902^0-a_902^post268 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post268+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post268+temp_35^0 == 0 /\ -rcd_1249^post268+rcd_1249^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post268 == 0 /\ head_32^0-head_32^post268 == 0 /\ -a_576^post268+a_576^0 == 0 /\ rcd_88^0-rcd_88^post268 == 0 /\ -i_30^post268+i_30^0 == 0 /\ -a_1236^post268+a_1236^0 == 0 /\ -a_947^post268+a_947^0 == 0 /\ a_311^0-a_311^post268 == 0 /\ a_239^0-a_239^post268 == 0 /\ a_635^0-a_635^post268 == 0 /\ a_395^0-a_395^post268 == 0 /\ -x_17^post268+x_17^0 == 0 /\ i_106^0-i_106^post268 == 0 /\ -a_577^post268+a_577^0 == 0 /\ a_632^0-a_632^post268 == 0 /\ -a_392^post268+a_392^0 == 0 /\ -i_1248^post268+i_1248^0 == 0 /\ -x_SLAM_f_19^post268+x_SLAM_f_19^0 == 0 /\ -a_310^post268+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post268 == 0 /\ a_1089^0-a_1089^post268 == 0 /\ -r_224^post268+r_224^0 == 0 /\ -temp0_16^post268+temp0_16^0 == 0 /\ t_458^0-t_458^post268 == 0 /\ x_852^0-x_852^post268 == 0 /\ -len_861^post268+len_861^0 == 0 /\ -rcd_47^post268+rcd_47^0 == 0 /\ y_20^0-y_20^post268 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post268 == 0 /\ -i_197^post268+i_197^0 == 0 /\ -temp0_31^post268+temp0_31^0 == 0 /\ -len_262^post268+len_262^0 == 0 /\ a_633^0-a_633^post268 == 0 /\ a_634^0-a_634^post268 == 0 /\ -len_238^post268+len_238^0 == 0 /\ nondet_12^0-nondet_12^post268 == 0 /\ i_1053^0-i_1053^post268 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post268+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post268+a_309^0 == 0 /\ a_121^0-a_121^post268 == 0 /\ tmp_34^0-tmp_34^post268 == 0 /\ -i_107^post268+i_107^0 == 0 /\ a_417^0-a_417^post268 == 0 /\ -a_575^post268+a_575^0 == 0 /\ -x_14^post268+x_14^0 == 0 /\ -ct_18^post268+ct_18^0 == 0 /\ -i_127^post268+i_127^0 == 0), cost: 1 269: l167 -> l168 : a_1089^0'=a_1089^post269, f_847^0'=f_847^post269, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post269, a_394^0'=a_394^post269, x_156^0'=x_156^post269, a_632^0'=a_632^post269, r_192^0'=r_192^post269, a_176^0'=a_176^post269, i_106^0'=i_106^post269, a_430^0'=a_430^post269, t_458^0'=t_458^post269, len_161^0'=len_161^post269, x_975^0'=x_975^post269, a_902^0'=a_902^post269, a_947^0'=a_947^post269, rcd_88^0'=rcd_88^post269, a_311^0'=a_311^post269, i_140^0'=i_140^post269, a_577^0'=a_577^post269, x_14^0'=x_14^post269, nondet_12^0'=nondet_12^post269, a_121^0'=a_121^post269, head_15^0'=head_15^post269, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post269, i_27^0'=i_27^post269, x_21^0'=x_21^post269, a_634^0'=a_634^post269, r_39^0'=r_39^post269, a_263^0'=a_263^post269, i_113^0'=i_113^post269, a_432^0'=a_432^post269, temp0_31^0'=temp0_31^post269, len_262^0'=len_262^post269, y_20^0'=y_20^post269, f_248^0'=f_248^post269, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post269, a_393^0'=a_393^post269, i_229^0'=i_229^post269, a_610^0'=a_610^post269, r_151^0'=r_151^post269, a_144^0'=a_144^post269, i_1053^0'=i_1053^post269, a_417^0'=a_417^post269, t_24^0'=t_24^post269, i_94^0'=i_94^post269, x_852^0'=x_852^post269, a_862^0'=a_862^post269, rcd_1249^0'=rcd_1249^post269, rcd_58^0'=rcd_58^post269, a_310^0'=a_310^post269, i_127^0'=i_127^post269, a_576^0'=a_576^post269, tmp_34^0'=tmp_34^post269, length_29^0'=length_29^post269, a_1162^0'=a_1162^post269, f_969^0'=f_969^post269, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post269, a_395^0'=a_395^post269, x_17^0'=x_17^post269, a_633^0'=a_633^post269, r_224^0'=r_224^post269, a_239^0'=a_239^post269, i_107^0'=i_107^post269, a_431^0'=a_431^post269, temp0_16^0'=temp0_16^post269, len_238^0'=len_238^post269, x_SLAM_f_19^0'=x_SLAM_f_19^post269, a_924^0'=a_924^post269, ct_18^0'=ct_18^post269, result_11^0'=result_11^post269, a_392^0'=a_392^post269, i_197^0'=i_197^post269, a_579^0'=a_579^post269, r_143^0'=r_143^post269, a_1236^0'=a_1236^post269, head_32^0'=head_32^post269, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post269, i_30^0'=i_30^post269, x_253^0'=x_253^post269, a_635^0'=a_635^post269, r_970^0'=r_970^post269, rcd_47^0'=rcd_47^post269, a_309^0'=a_309^post269, i_1248^0'=i_1248^post269, a_575^0'=a_575^post269, temp_35^0'=temp_35^post269, len_861^0'=len_861^post269, (-a_576^post269+a_576^0 == 0 /\ x_156^0-x_156^post269 == 0 /\ f_847^0-f_847^post269 == 0 /\ a_432^0-a_432^post269 == 0 /\ a_263^0-a_263^post269 == 0 /\ x_21^0-x_21^post269 == 0 /\ a_862^0-a_862^post269 == 0 /\ -a_309^post269+a_309^0 == 0 /\ -a_635^post269+a_635^0 == 0 /\ tmp_34^0-tmp_34^post269 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post269 == 0 /\ a_417^0-a_417^post269 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post269 == 0 /\ -a_310^post269+a_310^0 == 0 /\ -len_861^post269+len_861^0 == 0 /\ head_15^0-head_15^post269 == 0 /\ a_144^0-a_144^post269 == 0 /\ -x_17^post269+x_17^0 == 0 /\ -temp0_16^post269+temp0_16^0 == 0 /\ -len_262^post269+len_262^0 == 0 /\ -a_1236^post269+a_1236^0 == 0 /\ i_94^0-i_94^post269 == 0 /\ a_394^0-a_394^post269 == 0 /\ i_113^0-i_113^post269 == 0 /\ -i_30^post269+i_30^0 == 0 /\ a_311^0-a_311^post269 == 0 /\ a_902^0-a_902^post269 == 0 /\ rcd_88^0-rcd_88^post269 == 0 /\ -temp0_31^post269+temp0_31^0 == 0 /\ -i_127^post269+i_127^0 == 0 /\ -i_107^post269+i_107^0 == 0 /\ -x_14^post269+x_14^0 == 0 /\ a_1089^0-a_1089^post269 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post269 == 0 /\ i_106^0-i_106^post269 == 0 /\ -a_579^post269+a_579^0 == 0 /\ -a_575^post269+a_575^0 == 0 /\ a_430^0-a_430^post269 == 0 /\ i_27^0-i_27^post269 == 0 /\ -i_197^post269+i_197^0 == 0 /\ -head_32^post269+head_32^0 == 0 /\ -a_633^post269+a_633^0 == 0 /\ a_392^0-a_392^post269 == 0 /\ t_458^0-t_458^post269 == 0 /\ r_39^0-r_39^post269 == 0 /\ -result_11^post269+result_11^0 == 0 /\ 1+t_24^0 <= 0 /\ i_140^0-i_140^post269 == 0 /\ -temp_35^post269+temp_35^0 == 0 /\ x_253^0-x_253^post269 == 0 /\ -a_431^post269+a_431^0 == 0 /\ -nondet_12^post269+nondet_12^0 == 0 /\ -f_969^post269+f_969^0 == 0 /\ -a_121^post269+a_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post269 == 0 /\ -ct_18^post269+ct_18^0 == 0 /\ i_1053^0-i_1053^post269 == 0 /\ -a_1162^post269+a_1162^0 == 0 /\ -len_238^post269+len_238^0 == 0 /\ -t_24^post269+t_24^0 == 0 /\ -r_970^post269+r_970^0 == 0 /\ x_975^0-x_975^post269 == 0 /\ -rcd_58^post269+rcd_58^0 == 0 /\ r_151^0-r_151^post269 == 0 /\ y_20^0-y_20^post269 == 0 /\ a_947^0-a_947^post269 == 0 /\ f_248^0-f_248^post269 == 0 /\ a_577^0-a_577^post269 == 0 /\ -rcd_47^post269+rcd_47^0 == 0 /\ a_176^0-a_176^post269 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post269+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post269+r_224^0 == 0 /\ -i_1248^post269+i_1248^0 == 0 /\ r_192^0-r_192^post269 == 0 /\ -a_239^post269+a_239^0 == 0 /\ rcd_1249^0-rcd_1249^post269 == 0 /\ a_610^0-a_610^post269 == 0 /\ -x_SLAM_f_19^post269+x_SLAM_f_19^0 == 0 /\ -a_634^post269+a_634^0 == 0 /\ -i_229^post269+i_229^0 == 0 /\ a_632^0-a_632^post269 == 0 /\ length_29^0-length_29^post269 == 0 /\ -a_395^post269+a_395^0 == 0 /\ a_393^0-a_393^post269 == 0 /\ -a_924^post269+a_924^0 == 0 /\ x_852^0-x_852^post269 == 0 /\ -r_143^post269+r_143^0 == 0 /\ len_161^0-len_161^post269 == 0), cost: 1 270: l168 -> l50 : a_1089^0'=a_1089^post270, f_847^0'=f_847^post270, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post270, a_394^0'=a_394^post270, x_156^0'=x_156^post270, a_632^0'=a_632^post270, r_192^0'=r_192^post270, a_176^0'=a_176^post270, i_106^0'=i_106^post270, a_430^0'=a_430^post270, t_458^0'=t_458^post270, len_161^0'=len_161^post270, x_975^0'=x_975^post270, a_902^0'=a_902^post270, a_947^0'=a_947^post270, rcd_88^0'=rcd_88^post270, a_311^0'=a_311^post270, i_140^0'=i_140^post270, a_577^0'=a_577^post270, x_14^0'=x_14^post270, nondet_12^0'=nondet_12^post270, a_121^0'=a_121^post270, head_15^0'=head_15^post270, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post270, i_27^0'=i_27^post270, x_21^0'=x_21^post270, a_634^0'=a_634^post270, r_39^0'=r_39^post270, a_263^0'=a_263^post270, i_113^0'=i_113^post270, a_432^0'=a_432^post270, temp0_31^0'=temp0_31^post270, len_262^0'=len_262^post270, y_20^0'=y_20^post270, f_248^0'=f_248^post270, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post270, a_393^0'=a_393^post270, i_229^0'=i_229^post270, a_610^0'=a_610^post270, r_151^0'=r_151^post270, a_144^0'=a_144^post270, i_1053^0'=i_1053^post270, a_417^0'=a_417^post270, t_24^0'=t_24^post270, i_94^0'=i_94^post270, x_852^0'=x_852^post270, a_862^0'=a_862^post270, rcd_1249^0'=rcd_1249^post270, rcd_58^0'=rcd_58^post270, a_310^0'=a_310^post270, i_127^0'=i_127^post270, a_576^0'=a_576^post270, tmp_34^0'=tmp_34^post270, length_29^0'=length_29^post270, a_1162^0'=a_1162^post270, f_969^0'=f_969^post270, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post270, a_395^0'=a_395^post270, x_17^0'=x_17^post270, a_633^0'=a_633^post270, r_224^0'=r_224^post270, a_239^0'=a_239^post270, i_107^0'=i_107^post270, a_431^0'=a_431^post270, temp0_16^0'=temp0_16^post270, len_238^0'=len_238^post270, x_SLAM_f_19^0'=x_SLAM_f_19^post270, a_924^0'=a_924^post270, ct_18^0'=ct_18^post270, result_11^0'=result_11^post270, a_392^0'=a_392^post270, i_197^0'=i_197^post270, a_579^0'=a_579^post270, r_143^0'=r_143^post270, a_1236^0'=a_1236^post270, head_32^0'=head_32^post270, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post270, i_30^0'=i_30^post270, x_253^0'=x_253^post270, a_635^0'=a_635^post270, r_970^0'=r_970^post270, rcd_47^0'=rcd_47^post270, a_309^0'=a_309^post270, i_1248^0'=i_1248^post270, a_575^0'=a_575^post270, temp_35^0'=temp_35^post270, len_861^0'=len_861^post270, (-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post270+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_310^0-a_310^post270 == 0 /\ -i_197^post270+i_197^0 == 0 /\ i_1053^0-i_1053^post270 == 0 /\ r_192^0-r_192^post270 == 0 /\ -i_127^post270+i_127^0 == 0 /\ i_113^0-i_113^post270 == 0 /\ a_176^0-a_176^post270 == 0 /\ -a_579^post270+a_579^0 == 0 /\ -f_969^post270+f_969^0 == 0 /\ -x_253^post270+x_253^0 == 0 /\ length_29^0-length_29^post270 == 0 /\ a_395^0-a_395^post270 == 0 /\ -result_11^post270+result_11^0 == 0 /\ -a_610^post270+a_610^0 == 0 /\ -f_248^post270+f_248^0 == 0 /\ -rcd_58^post270+rcd_58^0 == 0 /\ -x_21^post270+x_21^0 == 0 /\ i_27^0-i_27^post270 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post270 == 0 /\ t_24^0-t_24^post270 == 0 /\ r_39^0-r_39^post270 == 0 /\ a_393^0-a_393^post270 == 0 /\ -rcd_47^post270+rcd_47^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_970^post270+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post270 == 0 /\ a_432^0-a_432^post270 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_239^post270+a_239^0 == 0 /\ -tmp_34^post270+tmp_34^0 == 0 /\ -temp0_16^post270+temp0_16^0 == 0 /\ a_1162^0-a_1162^post270 == 0 /\ -len_861^post270+len_861^0 == 0 /\ -i_229^post270+i_229^0 == 0 /\ i_140^0-i_140^post270 == 0 /\ head_15^0-head_15^post270 == 0 /\ -temp_35^post270+temp_35^0 == 0 /\ a_634^0-a_634^post270 == 0 /\ -nondet_12^post270+nondet_12^0 == 0 /\ -rcd_1249^post270+rcd_1249^0 == 0 /\ r_151^0-r_151^post270 == 0 /\ -a_924^post270+a_924^0 == 0 /\ a_902^0-a_902^post270 == 0 /\ -a_576^post270+a_576^0 == 0 /\ a_417^0-a_417^post270 == 0 /\ x_156^0-x_156^post270 == 0 /\ head_32^0-head_32^post270 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post270+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_143^post270+r_143^0 == 0 /\ -a_575^post270+a_575^0 == 0 /\ i_30^0-i_30^post270 == 0 /\ a_577^0-a_577^post270 == 0 /\ -a_309^post270+a_309^0 == 0 /\ a_311^0-a_311^post270 == 0 /\ -a_1236^post270+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post270 == 0 /\ -a_947^post270+a_947^0 == 0 /\ i_106^0-i_106^post270 == 0 /\ -temp0_31^post270+temp0_31^0 == 0 /\ a_632^0-a_632^post270 == 0 /\ -x_17^post270+x_17^0 == 0 /\ len_161^0-len_161^post270 == 0 /\ -a_635^post270+a_635^0 == 0 /\ t_458^0-t_458^post270 == 0 /\ x_852^0-x_852^post270 == 0 /\ a_263^0-a_263^post270 == 0 /\ -a_144^post270+a_144^0 == 0 /\ i_107^0-i_107^post270 == 0 /\ -i_94^post270+i_94^0 == 0 /\ -i_1248^post270+i_1248^0 == 0 /\ a_1089^0-a_1089^post270 == 0 /\ -a_430^post270+a_430^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_633^post270+a_633^0 == 0 /\ -ct_18^post270+ct_18^0 == 0 /\ -len_262^post270+len_262^0 == 0 /\ f_847^0-f_847^post270 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post270+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post270 == 0 /\ a_862^0-a_862^post270 == 0 /\ -x_975^post270+x_975^0 == 0 /\ a_431^0-a_431^post270 == 0 /\ -len_238^post270+len_238^0 == 0 /\ y_20^0-y_20^post270 == 0 /\ -x_14^post270+x_14^0 == 0 /\ a_121^0-a_121^post270 == 0 /\ -a_392^post270+a_392^0 == 0 /\ r_224^0-r_224^post270 == 0 /\ a_394^0-a_394^post270 == 0), cost: 1 272: l170 -> l171 : a_1089^0'=a_1089^post272, f_847^0'=f_847^post272, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post272, a_394^0'=a_394^post272, x_156^0'=x_156^post272, a_632^0'=a_632^post272, r_192^0'=r_192^post272, a_176^0'=a_176^post272, i_106^0'=i_106^post272, a_430^0'=a_430^post272, t_458^0'=t_458^post272, len_161^0'=len_161^post272, x_975^0'=x_975^post272, a_902^0'=a_902^post272, a_947^0'=a_947^post272, rcd_88^0'=rcd_88^post272, a_311^0'=a_311^post272, i_140^0'=i_140^post272, a_577^0'=a_577^post272, x_14^0'=x_14^post272, nondet_12^0'=nondet_12^post272, a_121^0'=a_121^post272, head_15^0'=head_15^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272, i_27^0'=i_27^post272, x_21^0'=x_21^post272, a_634^0'=a_634^post272, r_39^0'=r_39^post272, a_263^0'=a_263^post272, i_113^0'=i_113^post272, a_432^0'=a_432^post272, temp0_31^0'=temp0_31^post272, len_262^0'=len_262^post272, y_20^0'=y_20^post272, f_248^0'=f_248^post272, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272, a_393^0'=a_393^post272, i_229^0'=i_229^post272, a_610^0'=a_610^post272, r_151^0'=r_151^post272, a_144^0'=a_144^post272, i_1053^0'=i_1053^post272, a_417^0'=a_417^post272, t_24^0'=t_24^post272, i_94^0'=i_94^post272, x_852^0'=x_852^post272, a_862^0'=a_862^post272, rcd_1249^0'=rcd_1249^post272, rcd_58^0'=rcd_58^post272, a_310^0'=a_310^post272, i_127^0'=i_127^post272, a_576^0'=a_576^post272, tmp_34^0'=tmp_34^post272, length_29^0'=length_29^post272, a_1162^0'=a_1162^post272, f_969^0'=f_969^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272, a_395^0'=a_395^post272, x_17^0'=x_17^post272, a_633^0'=a_633^post272, r_224^0'=r_224^post272, a_239^0'=a_239^post272, i_107^0'=i_107^post272, a_431^0'=a_431^post272, temp0_16^0'=temp0_16^post272, len_238^0'=len_238^post272, x_SLAM_f_19^0'=x_SLAM_f_19^post272, a_924^0'=a_924^post272, ct_18^0'=ct_18^post272, result_11^0'=result_11^post272, a_392^0'=a_392^post272, i_197^0'=i_197^post272, a_579^0'=a_579^post272, r_143^0'=r_143^post272, a_1236^0'=a_1236^post272, head_32^0'=head_32^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272, i_30^0'=i_30^post272, x_253^0'=x_253^post272, a_635^0'=a_635^post272, r_970^0'=r_970^post272, rcd_47^0'=rcd_47^post272, a_309^0'=a_309^post272, i_1248^0'=i_1248^post272, a_575^0'=a_575^post272, temp_35^0'=temp_35^post272, len_861^0'=len_861^post272, (-i_127^post272+i_127^0 == 0 /\ rcd_88^0-rcd_88^post272 == 0 /\ -x_253^post272+x_253^0 == 0 /\ a_310^0-a_310^post272 == 0 /\ -head_15^post272+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post272+r_970^0 == 0 /\ -rcd_58^post272+rcd_58^0 == 0 /\ -i_197^post272+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post272 == 0 /\ a_176^0-a_176^post272 == 0 /\ a_395^0-a_395^post272 == 0 /\ -x_852^post272+x_852^0 == 0 /\ i_27^0-i_27^post272 == 0 /\ t_458^0-t_458^post272 == 0 /\ i_140^0-i_140^post272 == 0 /\ r_39^0-r_39^post272 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post272 == 0 /\ a_1089^0-a_1089^post272 == 0 /\ a_311^0-a_311^post272 == 0 /\ -temp_35^post272+temp_35^0 == 0 /\ -ct_18^post272+ct_18^0 == 0 /\ -tmp_34^post272+tmp_34^0 == 0 /\ y_20^0-y_20^post272 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272 == 0 /\ a_924^0-a_924^post272 == 0 /\ -a_417^post272+a_417^0 == 0 /\ -f_248^post272+f_248^0 == 0 /\ a_632^0-a_632^post272 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ r_192^0-r_192^post272 == 0 /\ x_975^0-x_975^post272 == 0 /\ -result_11^post272+result_11^0 == 0 /\ temp0_31^0-temp0_31^post272 == 0 /\ -i_1053^post272+i_1053^0 == 0 /\ -i_1248^post272+i_1248^0 == 0 /\ a_121^0-a_121^post272 == 0 /\ -len_861^post272+len_861^0 == 0 /\ -a_239^post272+a_239^0 == 0 /\ len_262^0-len_262^post272 == 0 /\ -rcd_1249^post272+rcd_1249^0 == 0 /\ nondet_12^0-nondet_12^post272 == 0 /\ a_634^0-a_634^post272 == 0 /\ -a_635^post272+a_635^0 == 0 /\ a_394^0-a_394^post272 == 0 /\ a_947^0-a_947^post272 == 0 /\ i_30^0-i_30^post272 == 0 /\ -a_576^post272+a_576^0 == 0 /\ -x_17^post272+x_17^0 == 0 /\ len_161^0-len_161^post272 == 0 /\ -r_143^post272+r_143^0 == 0 /\ x_14^0-x_14^post272 == 0 /\ -i_107^post272+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post272+a_575^0 == 0 /\ -a_1236^post272+a_1236^0 == 0 /\ i_106^0-i_106^post272 == 0 /\ a_263^0-a_263^post272 == 0 /\ -a_309^post272+a_309^0 == 0 /\ f_847^0-f_847^post272 == 0 /\ -a_144^post272+a_144^0 == 0 /\ t_24^0-t_24^post272 == 0 /\ a_393^0-a_393^post272 == 0 /\ -rcd_47^post272+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post272 == 0 /\ i_94^0-i_94^post272 == 0 /\ -len_238^post272+len_238^0 == 0 /\ i_229^0-i_229^post272 == 0 /\ a_432^0-a_432^post272 == 0 /\ -a_610^post272+a_610^0 == 0 /\ -length_29^post272+length_29^0 == 0 /\ a_430^0-a_430^post272 == 0 /\ -a_633^post272+a_633^0 == 0 /\ a_862^0-a_862^post272 == 0 /\ -f_969^post272+f_969^0 == 0 /\ -r_151^post272+r_151^0 == 0 /\ -a_392^post272+a_392^0 == 0 /\ a_431^0-a_431^post272 == 0 /\ a_577^0-a_577^post272 == 0 /\ x_21^0-x_21^post272 == 0 /\ -head_32^post272+head_32^0 == 0 /\ x_156^0-x_156^post272 == 0 /\ -a_579^post272+a_579^0 == 0 /\ i_113^0-i_113^post272 == 0 /\ a_1162^0-a_1162^post272 == 0 /\ a_902^0-a_902^post272 == 0 /\ r_224^0-r_224^post272 == 0), cost: 1 273: l170 -> l171 : a_1089^0'=a_1089^post273, f_847^0'=f_847^post273, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post273, a_394^0'=a_394^post273, x_156^0'=x_156^post273, a_632^0'=a_632^post273, r_192^0'=r_192^post273, a_176^0'=a_176^post273, i_106^0'=i_106^post273, a_430^0'=a_430^post273, t_458^0'=t_458^post273, len_161^0'=len_161^post273, x_975^0'=x_975^post273, a_902^0'=a_902^post273, a_947^0'=a_947^post273, rcd_88^0'=rcd_88^post273, a_311^0'=a_311^post273, i_140^0'=i_140^post273, a_577^0'=a_577^post273, x_14^0'=x_14^post273, nondet_12^0'=nondet_12^post273, a_121^0'=a_121^post273, head_15^0'=head_15^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273, i_27^0'=i_27^post273, x_21^0'=x_21^post273, a_634^0'=a_634^post273, r_39^0'=r_39^post273, a_263^0'=a_263^post273, i_113^0'=i_113^post273, a_432^0'=a_432^post273, temp0_31^0'=temp0_31^post273, len_262^0'=len_262^post273, y_20^0'=y_20^post273, f_248^0'=f_248^post273, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273, a_393^0'=a_393^post273, i_229^0'=i_229^post273, a_610^0'=a_610^post273, r_151^0'=r_151^post273, a_144^0'=a_144^post273, i_1053^0'=i_1053^post273, a_417^0'=a_417^post273, t_24^0'=t_24^post273, i_94^0'=i_94^post273, x_852^0'=x_852^post273, a_862^0'=a_862^post273, rcd_1249^0'=rcd_1249^post273, rcd_58^0'=rcd_58^post273, a_310^0'=a_310^post273, i_127^0'=i_127^post273, a_576^0'=a_576^post273, tmp_34^0'=tmp_34^post273, length_29^0'=length_29^post273, a_1162^0'=a_1162^post273, f_969^0'=f_969^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273, a_395^0'=a_395^post273, x_17^0'=x_17^post273, a_633^0'=a_633^post273, r_224^0'=r_224^post273, a_239^0'=a_239^post273, i_107^0'=i_107^post273, a_431^0'=a_431^post273, temp0_16^0'=temp0_16^post273, len_238^0'=len_238^post273, x_SLAM_f_19^0'=x_SLAM_f_19^post273, a_924^0'=a_924^post273, ct_18^0'=ct_18^post273, result_11^0'=result_11^post273, a_392^0'=a_392^post273, i_197^0'=i_197^post273, a_579^0'=a_579^post273, r_143^0'=r_143^post273, a_1236^0'=a_1236^post273, head_32^0'=head_32^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273, i_30^0'=i_30^post273, x_253^0'=x_253^post273, a_635^0'=a_635^post273, r_970^0'=r_970^post273, rcd_47^0'=rcd_47^post273, a_309^0'=a_309^post273, i_1248^0'=i_1248^post273, a_575^0'=a_575^post273, temp_35^0'=temp_35^post273, len_861^0'=len_861^post273, (-r_143^post273+r_143^0 == 0 /\ i_229^0-i_229^post273 == 0 /\ a_1162^0-a_1162^post273 == 0 /\ -a_635^post273+a_635^0 == 0 /\ -x_SLAM_f_19^post273+x_SLAM_f_19^0 == 0 /\ -a_576^post273+a_576^0 == 0 /\ -r_151^post273+r_151^0 == 0 /\ -a_309^post273+a_309^0 == 0 /\ f_248^0-f_248^post273 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -a_417^post273+a_417^0 == 0 /\ -i_107^post273+i_107^0 == 0 /\ temp0_31^0-temp0_31^post273 == 0 /\ -a_575^post273+a_575^0 == 0 /\ i_127^0-i_127^post273 == 0 /\ len_262^0-len_262^post273 == 0 /\ x_975^0-x_975^post273 == 0 /\ -a_1236^post273+a_1236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_634^0-a_634^post273 == 0 /\ a_577^0-a_577^post273 == 0 /\ a_902^0-a_902^post273 == 0 /\ -a_862^post273+a_862^0 == 0 /\ a_394^0-a_394^post273 == 0 /\ -length_29^post273+length_29^0 == 0 /\ -rcd_47^post273+rcd_47^0 == 0 /\ r_192^0-r_192^post273 == 0 /\ -a_431^post273+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post273+a_392^0 == 0 /\ a_176^0-a_176^post273 == 0 /\ -head_32^post273+head_32^0 == 0 /\ -a_310^post273+a_310^0 == 0 /\ -i_27^post273+i_27^0 == 0 /\ -i_140^post273+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post273+x_253^0 == 0 /\ a_632^0-a_632^post273 == 0 /\ rcd_1249^0-rcd_1249^post273 == 0 /\ y_20^0-y_20^post273 == 0 /\ f_847^0-f_847^post273 == 0 /\ -x_852^post273+x_852^0 == 0 /\ -temp_35^post273+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post273 == 0 /\ -r_224^post273+r_224^0 == 0 /\ head_15^0-head_15^post273 == 0 /\ -f_969^post273+f_969^0 == 0 /\ a_432^0-a_432^post273 == 0 /\ x_21^0-x_21^post273 == 0 /\ -i_1053^post273+i_1053^0 == 0 /\ -rcd_58^post273+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post273 == 0 /\ -a_395^post273+a_395^0 == 0 /\ -a_579^post273+a_579^0 == 0 /\ r_970^0-r_970^post273 == 0 /\ -i_197^post273+i_197^0 == 0 /\ -ct_18^post273+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273 == 0 /\ a_633^0-a_633^post273 == 0 /\ i_94^0-i_94^post273 == 0 /\ -rcd_88^post273+rcd_88^0 == 0 /\ -a_263^post273+a_263^0 == 0 /\ x_156^0-x_156^post273 == 0 /\ a_610^0-a_610^post273 == 0 /\ i_113^0-i_113^post273 == 0 /\ x_17^0-x_17^post273 == 0 /\ a_144^0-a_144^post273 == 0 /\ len_238^0-len_238^post273 == 0 /\ x_14^0-x_14^post273 == 0 /\ a_947^0-a_947^post273 == 0 /\ a_121^0-a_121^post273 == 0 /\ -a_924^post273+a_924^0 == 0 /\ -i_1248^post273+i_1248^0 == 0 /\ a_1089^0-a_1089^post273 == 0 /\ -len_161^post273+len_161^0 == 0 /\ t_458^0-t_458^post273 == 0 /\ -a_239^post273+a_239^0 == 0 /\ r_39^0-r_39^post273 == 0 /\ a_430^0-a_430^post273 == 0 /\ -tmp_34^post273+tmp_34^0 == 0 /\ -t_24^post273+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post273 == 0 /\ a_311^0-a_311^post273 == 0 /\ -len_861^post273+len_861^0 == 0 /\ i_106^0-i_106^post273 == 0 /\ -i_30^post273+i_30^0 == 0 /\ -result_11^post273+result_11^0 == 0 /\ -a_393^post273+a_393^0 == 0), cost: 1 274: l171 -> l172 : a_1089^0'=a_1089^post274, f_847^0'=f_847^post274, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post274, a_394^0'=a_394^post274, x_156^0'=x_156^post274, a_632^0'=a_632^post274, r_192^0'=r_192^post274, a_176^0'=a_176^post274, i_106^0'=i_106^post274, a_430^0'=a_430^post274, t_458^0'=t_458^post274, len_161^0'=len_161^post274, x_975^0'=x_975^post274, a_902^0'=a_902^post274, a_947^0'=a_947^post274, rcd_88^0'=rcd_88^post274, a_311^0'=a_311^post274, i_140^0'=i_140^post274, a_577^0'=a_577^post274, x_14^0'=x_14^post274, nondet_12^0'=nondet_12^post274, a_121^0'=a_121^post274, head_15^0'=head_15^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274, i_27^0'=i_27^post274, x_21^0'=x_21^post274, a_634^0'=a_634^post274, r_39^0'=r_39^post274, a_263^0'=a_263^post274, i_113^0'=i_113^post274, a_432^0'=a_432^post274, temp0_31^0'=temp0_31^post274, len_262^0'=len_262^post274, y_20^0'=y_20^post274, f_248^0'=f_248^post274, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274, a_393^0'=a_393^post274, i_229^0'=i_229^post274, a_610^0'=a_610^post274, r_151^0'=r_151^post274, a_144^0'=a_144^post274, i_1053^0'=i_1053^post274, a_417^0'=a_417^post274, t_24^0'=t_24^post274, i_94^0'=i_94^post274, x_852^0'=x_852^post274, a_862^0'=a_862^post274, rcd_1249^0'=rcd_1249^post274, rcd_58^0'=rcd_58^post274, a_310^0'=a_310^post274, i_127^0'=i_127^post274, a_576^0'=a_576^post274, tmp_34^0'=tmp_34^post274, length_29^0'=length_29^post274, a_1162^0'=a_1162^post274, f_969^0'=f_969^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274, a_395^0'=a_395^post274, x_17^0'=x_17^post274, a_633^0'=a_633^post274, r_224^0'=r_224^post274, a_239^0'=a_239^post274, i_107^0'=i_107^post274, a_431^0'=a_431^post274, temp0_16^0'=temp0_16^post274, len_238^0'=len_238^post274, x_SLAM_f_19^0'=x_SLAM_f_19^post274, a_924^0'=a_924^post274, ct_18^0'=ct_18^post274, result_11^0'=result_11^post274, a_392^0'=a_392^post274, i_197^0'=i_197^post274, a_579^0'=a_579^post274, r_143^0'=r_143^post274, a_1236^0'=a_1236^post274, head_32^0'=head_32^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274, i_30^0'=i_30^post274, x_253^0'=x_253^post274, a_635^0'=a_635^post274, r_970^0'=r_970^post274, rcd_47^0'=rcd_47^post274, a_309^0'=a_309^post274, i_1248^0'=i_1248^post274, a_575^0'=a_575^post274, temp_35^0'=temp_35^post274, len_861^0'=len_861^post274, (0 == 0 /\ -i_1248^post274+i_1248^0 == 0 /\ -head_32^post274+head_32^0 == 0 /\ x_852^0-x_852^post274 == 0 /\ -i_229^post274+i_229^0 == 0 /\ -a_263^post274+a_263^0 == 0 /\ -a_579^post274+a_579^0 == 0 /\ -x_253^post274+x_253^0 == 0 /\ a_394^0-a_394^post274 == 0 /\ -i_197^post274+i_197^0 == 0 /\ a_1089^0-a_1089^post274 == 0 /\ -temp_35^post274+temp_35^0 == 0 /\ -rcd_58^post274+rcd_58^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ rcd_88^0-rcd_88^post274 == 0 /\ a_576^0-a_576^post274 == 0 /\ a_311^0-a_311^post274 == 0 /\ rcd_1249^0-rcd_1249^post274 == 0 /\ f_847^0-f_847^post274 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274 == 0 /\ -r_39^post274+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post274+a_395^0 == 0 /\ -a_862^post274+a_862^0 == 0 /\ -1-a_947^post274+a_924^0 <= 0 /\ i_106^0-i_106^post274 == 0 /\ -a_417^post274+a_417^0 == 0 /\ -a_309^post274+a_309^0 == 0 /\ -a_393^post274+a_393^0 == 0 /\ a_924^0-a_924^post274 == 0 /\ t_458^0-t_458^post274 == 0 /\ -tmp_34^post274+tmp_34^0 == 0 /\ -result_11^post274+result_11^0 == 0 /\ -x_17^post274+x_17^0 == 0 /\ y_20^0 <= 0 /\ -i_30^post274+i_30^0 == 0 /\ -i_1053^post274+i_1053^0 == 0 /\ x_975^0-x_975^post274 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-ct_18^post274 == 0 /\ a_1236^0-a_1236^post274 == 0 /\ i_127^0-i_127^post274 == 0 /\ x_21^0-x_21^post274 == 0 /\ -r_224^post274+r_224^0 == 0 /\ -len_861^post274+len_861^0 == 0 /\ a_610^0-a_610^post274 == 0 /\ -a_577^post274+a_577^0 == 0 /\ temp0_31^0-temp0_31^post274 == 0 /\ x_14^0-x_14^post274 == 0 /\ i_27^0-i_27^post274 == 0 /\ a_310^0-a_310^post274 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post274 == 0 /\ -a_635^post274+a_635^0 == 0 /\ -r_143^post274+r_143^0 == 0 /\ -a_632^post274+a_632^0 == 0 /\ a_121^0-a_121^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post274 == 0 /\ len_262^0-len_262^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ a_430^0-a_430^post274 == 0 /\ a_176^0-a_176^post274 == 0 /\ -i_107^post274+i_107^0 == 0 /\ len_161^0-len_161^post274 == 0 /\ t_24^post274-x_21^0 == 0 /\ len_238^0-len_238^post274 == 0 /\ head_15^0-x_17^0 <= 0 /\ -a_575^post274+a_575^0 == 0 /\ -i_113^post274+i_113^0 == 0 /\ 1+a_947^post274-a_924^0 <= 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ head_15^0-head_15^post274 == 0 /\ ct_18^0 <= 0 /\ -a_633^post274+a_633^0 == 0 /\ temp0_16^0-temp0_16^post274 == 0 /\ -a_432^post274+a_432^0 == 0 /\ r_151^0-r_151^post274 == 0 /\ f_248^0-f_248^post274 == 0 /\ -ct_18^0 <= 0 /\ a_239^0-a_239^post274 == 0 /\ a_902^0-a_902^post274 == 0 /\ -a_431^post274+a_431^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_392^post274+a_392^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post274+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post274 == 0 /\ -y_20^post274+y_20^0 == 0 /\ -f_969^post274+f_969^0 == 0 /\ -length_29^post274+length_29^0 == 0 /\ a_144^0-a_144^post274 == 0 /\ x_156^0-x_156^post274 == 0 /\ -rcd_47^post274+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post274 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1162^0-a_1162^post274 == 0 /\ -i_94^post274+i_94^0 == 0 /\ -r_970^post274+r_970^0 == 0 /\ -head_15^0+x_17^0 <= 0 /\ -i_140^post274+i_140^0 == 0), cost: 1 275: l172 -> l173 : a_1089^0'=a_1089^post275, f_847^0'=f_847^post275, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post275, a_394^0'=a_394^post275, x_156^0'=x_156^post275, a_632^0'=a_632^post275, r_192^0'=r_192^post275, a_176^0'=a_176^post275, i_106^0'=i_106^post275, a_430^0'=a_430^post275, t_458^0'=t_458^post275, len_161^0'=len_161^post275, x_975^0'=x_975^post275, a_902^0'=a_902^post275, a_947^0'=a_947^post275, rcd_88^0'=rcd_88^post275, a_311^0'=a_311^post275, i_140^0'=i_140^post275, a_577^0'=a_577^post275, x_14^0'=x_14^post275, nondet_12^0'=nondet_12^post275, a_121^0'=a_121^post275, head_15^0'=head_15^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275, i_27^0'=i_27^post275, x_21^0'=x_21^post275, a_634^0'=a_634^post275, r_39^0'=r_39^post275, a_263^0'=a_263^post275, i_113^0'=i_113^post275, a_432^0'=a_432^post275, temp0_31^0'=temp0_31^post275, len_262^0'=len_262^post275, y_20^0'=y_20^post275, f_248^0'=f_248^post275, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275, a_393^0'=a_393^post275, i_229^0'=i_229^post275, a_610^0'=a_610^post275, r_151^0'=r_151^post275, a_144^0'=a_144^post275, i_1053^0'=i_1053^post275, a_417^0'=a_417^post275, t_24^0'=t_24^post275, i_94^0'=i_94^post275, x_852^0'=x_852^post275, a_862^0'=a_862^post275, rcd_1249^0'=rcd_1249^post275, rcd_58^0'=rcd_58^post275, a_310^0'=a_310^post275, i_127^0'=i_127^post275, a_576^0'=a_576^post275, tmp_34^0'=tmp_34^post275, length_29^0'=length_29^post275, a_1162^0'=a_1162^post275, f_969^0'=f_969^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275, a_395^0'=a_395^post275, x_17^0'=x_17^post275, a_633^0'=a_633^post275, r_224^0'=r_224^post275, a_239^0'=a_239^post275, i_107^0'=i_107^post275, a_431^0'=a_431^post275, temp0_16^0'=temp0_16^post275, len_238^0'=len_238^post275, x_SLAM_f_19^0'=x_SLAM_f_19^post275, a_924^0'=a_924^post275, ct_18^0'=ct_18^post275, result_11^0'=result_11^post275, a_392^0'=a_392^post275, i_197^0'=i_197^post275, a_579^0'=a_579^post275, r_143^0'=r_143^post275, a_1236^0'=a_1236^post275, head_32^0'=head_32^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275, i_30^0'=i_30^post275, x_253^0'=x_253^post275, a_635^0'=a_635^post275, r_970^0'=r_970^post275, rcd_47^0'=rcd_47^post275, a_309^0'=a_309^post275, i_1248^0'=i_1248^post275, a_575^0'=a_575^post275, temp_35^0'=temp_35^post275, len_861^0'=len_861^post275, (-x_SLAM_f_19^post275+x_SLAM_f_19^0 == 0 /\ a_430^0-a_430^post275 == 0 /\ -r_151^post275+r_151^0 == 0 /\ x_975^0-x_975^post275 == 0 /\ f_248^0-f_248^post275 == 0 /\ r_192^0-r_192^post275 == 0 /\ -a_432^post275+a_432^0 == 0 /\ -a_924^post275+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_633^0-a_633^post275 == 0 /\ -i_113^post275+i_113^0 == 0 /\ i_127^0-i_127^post275 == 0 /\ x_21^0-x_21^post275 == 0 /\ f_969^0-f_969^post275 == 0 /\ -r_143^post275+r_143^0 == 0 /\ result_11^0-result_11^post275 == 0 /\ -x_253^post275+x_253^0 == 0 /\ a_144^0-a_144^post275 == 0 /\ a_947^0-a_947^post275 == 0 /\ -a_392^post275+a_392^0 == 0 /\ -a_862^post275+a_862^0 == 0 /\ -a_1236^post275+a_1236^0 == 0 /\ -temp_35^post275+temp_35^0 == 0 /\ len_161^0-len_161^post275 == 0 /\ i_27^0-i_27^post275 == 0 /\ -r_970^post275+r_970^0 == 0 /\ a_576^0-a_576^post275 == 0 /\ -rcd_47^post275+rcd_47^0 == 0 /\ r_39^0-r_39^post275 == 0 /\ -a_310^post275+a_310^0 == 0 /\ f_847^0-f_847^post275 == 0 /\ t_458^0-t_458^post275 == 0 /\ -i_140^post275+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_58^0-rcd_58^post275 == 0 /\ i_106^0-i_106^post275 == 0 /\ -i_94^post275+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post275 == 0 /\ -length_29^post275+length_29^0 == 0 /\ -y_20^post275+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275 == 0 /\ -a_577^post275+a_577^0 == 0 /\ -i_1248^post275+i_1248^0 == 0 /\ head_15^0-head_15^post275 == 0 /\ -a_579^post275+a_579^0 == 0 /\ -t_24^post275+t_24^0 == 0 /\ -r_224^post275+r_224^0 == 0 /\ -head_32^post275+head_32^0 == 0 /\ -x_852^post275+x_852^0 == 0 /\ -temp0_16^post275+temp0_16^0 == 0 /\ a_632^0-a_632^post275 == 0 /\ -ct_18^post275+ct_18^0 == 0 /\ -len_861^post275+len_861^0 == 0 /\ a_239^0-a_239^post275 == 0 /\ len_262^0-len_262^post275 == 0 /\ x_156^0-x_156^post275 == 0 /\ -a_431^post275+a_431^0 == 0 /\ a_610^0-a_610^post275 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_263^post275+a_263^0 == 0 /\ a_902^0-a_902^post275 == 0 /\ -a_395^post275+a_395^0 == 0 /\ temp0_31^0-temp0_31^post275 == 0 /\ -i_197^post275+i_197^0 == 0 /\ i_229^0-i_229^post275 == 0 /\ a_634^0-a_634^post275 == 0 /\ -i_30^post275+i_30^0 == 0 /\ a_417^0-a_417^post275 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post275 == 0 /\ a_394^0-a_394^post275 == 0 /\ -a_309^post275+a_309^0 == 0 /\ x_17^0-x_17^post275 == 0 /\ a_1089^0-a_1089^post275 == 0 /\ x_14^0-x_14^post275 == 0 /\ len_238^0-len_238^post275 == 0 /\ 1-head_15^0 <= 0 /\ -i_107^post275+i_107^0 == 0 /\ nondet_12^0-nondet_12^post275 == 0 /\ -a_575^post275+a_575^0 == 0 /\ a_176^0-a_176^post275 == 0 /\ -tmp_34^post275+tmp_34^0 == 0 /\ a_121^0-a_121^post275 == 0 /\ -a_635^post275+a_635^0 == 0 /\ a_311^0-a_311^post275 == 0 /\ -a_393^post275+a_393^0 == 0 /\ i_1053^0-i_1053^post275 == 0 /\ rcd_88^0-rcd_88^post275 == 0 /\ -a_1162^post275+a_1162^0 == 0), cost: 1 276: l172 -> l173 : a_1089^0'=a_1089^post276, f_847^0'=f_847^post276, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post276, a_394^0'=a_394^post276, x_156^0'=x_156^post276, a_632^0'=a_632^post276, r_192^0'=r_192^post276, a_176^0'=a_176^post276, i_106^0'=i_106^post276, a_430^0'=a_430^post276, t_458^0'=t_458^post276, len_161^0'=len_161^post276, x_975^0'=x_975^post276, a_902^0'=a_902^post276, a_947^0'=a_947^post276, rcd_88^0'=rcd_88^post276, a_311^0'=a_311^post276, i_140^0'=i_140^post276, a_577^0'=a_577^post276, x_14^0'=x_14^post276, nondet_12^0'=nondet_12^post276, a_121^0'=a_121^post276, head_15^0'=head_15^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276, i_27^0'=i_27^post276, x_21^0'=x_21^post276, a_634^0'=a_634^post276, r_39^0'=r_39^post276, a_263^0'=a_263^post276, i_113^0'=i_113^post276, a_432^0'=a_432^post276, temp0_31^0'=temp0_31^post276, len_262^0'=len_262^post276, y_20^0'=y_20^post276, f_248^0'=f_248^post276, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276, a_393^0'=a_393^post276, i_229^0'=i_229^post276, a_610^0'=a_610^post276, r_151^0'=r_151^post276, a_144^0'=a_144^post276, i_1053^0'=i_1053^post276, a_417^0'=a_417^post276, t_24^0'=t_24^post276, i_94^0'=i_94^post276, x_852^0'=x_852^post276, a_862^0'=a_862^post276, rcd_1249^0'=rcd_1249^post276, rcd_58^0'=rcd_58^post276, a_310^0'=a_310^post276, i_127^0'=i_127^post276, a_576^0'=a_576^post276, tmp_34^0'=tmp_34^post276, length_29^0'=length_29^post276, a_1162^0'=a_1162^post276, f_969^0'=f_969^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276, a_395^0'=a_395^post276, x_17^0'=x_17^post276, a_633^0'=a_633^post276, r_224^0'=r_224^post276, a_239^0'=a_239^post276, i_107^0'=i_107^post276, a_431^0'=a_431^post276, temp0_16^0'=temp0_16^post276, len_238^0'=len_238^post276, x_SLAM_f_19^0'=x_SLAM_f_19^post276, a_924^0'=a_924^post276, ct_18^0'=ct_18^post276, result_11^0'=result_11^post276, a_392^0'=a_392^post276, i_197^0'=i_197^post276, a_579^0'=a_579^post276, r_143^0'=r_143^post276, a_1236^0'=a_1236^post276, head_32^0'=head_32^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276, i_30^0'=i_30^post276, x_253^0'=x_253^post276, a_635^0'=a_635^post276, r_970^0'=r_970^post276, rcd_47^0'=rcd_47^post276, a_309^0'=a_309^post276, i_1248^0'=i_1248^post276, a_575^0'=a_575^post276, temp_35^0'=temp_35^post276, len_861^0'=len_861^post276, (rcd_58^0-rcd_58^post276 == 0 /\ a_862^0-a_862^post276 == 0 /\ -a_310^post276+a_310^0 == 0 /\ -i_229^post276+i_229^0 == 0 /\ len_161^0-len_161^post276 == 0 /\ 1+head_15^0 <= 0 /\ -temp0_16^post276+temp0_16^0 == 0 /\ -len_262^post276+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276 == 0 /\ x_852^0-x_852^post276 == 0 /\ a_394^0-a_394^post276 == 0 /\ a_144^0-a_144^post276 == 0 /\ a_263^0-a_263^post276 == 0 /\ t_24^0-t_24^post276 == 0 /\ -head_32^post276+head_32^0 == 0 /\ -f_248^post276+f_248^0 == 0 /\ a_576^0-a_576^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post276+r_224^0 == 0 /\ a_947^0-a_947^post276 == 0 /\ -i_197^post276+i_197^0 == 0 /\ -temp_35^post276+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post276 == 0 /\ -r_39^post276+r_39^0 == 0 /\ f_847^0-f_847^post276 == 0 /\ -a_579^post276+a_579^0 == 0 /\ i_106^0-i_106^post276 == 0 /\ -i_107^post276+i_107^0 == 0 /\ -i_127^post276+i_127^0 == 0 /\ -x_14^post276+x_14^0 == 0 /\ r_151^0-r_151^post276 == 0 /\ -a_575^post276+a_575^0 == 0 /\ -x_17^post276+x_17^0 == 0 /\ -a_1162^post276+a_1162^0 == 0 /\ a_430^0-a_430^post276 == 0 /\ -a_924^post276+a_924^0 == 0 /\ a_311^0-a_311^post276 == 0 /\ t_458^0-t_458^post276 == 0 /\ -i_30^post276+i_30^0 == 0 /\ head_15^0-head_15^post276 == 0 /\ a_902^0-a_902^post276 == 0 /\ -result_11^post276+result_11^0 == 0 /\ -a_417^post276+a_417^0 == 0 /\ ct_18^0-ct_18^post276 == 0 /\ x_21^0-x_21^post276 == 0 /\ a_432^0-a_432^post276 == 0 /\ a_1236^0-a_1236^post276 == 0 /\ x_156^0-x_156^post276 == 0 /\ -len_861^post276+len_861^0 == 0 /\ -a_635^post276+a_635^0 == 0 /\ -a_577^post276+a_577^0 == 0 /\ -i_1248^post276+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post276 == 0 /\ i_140^0-i_140^post276 == 0 /\ a_634^0-a_634^post276 == 0 /\ i_27^0-i_27^post276 == 0 /\ -len_238^post276+len_238^0 == 0 /\ -a_610^post276+a_610^0 == 0 /\ a_176^0-a_176^post276 == 0 /\ a_1089^0-a_1089^post276 == 0 /\ -a_633^post276+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post276 == 0 /\ -rcd_47^post276+rcd_47^0 == 0 /\ -r_143^post276+r_143^0 == 0 /\ rcd_88^0-rcd_88^post276 == 0 /\ x_253^0-x_253^post276 == 0 /\ y_20^0-y_20^post276 == 0 /\ -rcd_1249^post276+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276 == 0 /\ -a_632^post276+a_632^0 == 0 /\ a_395^0-a_395^post276 == 0 /\ i_1053^0-i_1053^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post276+i_113^0 == 0 /\ -a_309^post276+a_309^0 == 0 /\ -a_431^post276+a_431^0 == 0 /\ a_239^0-a_239^post276 == 0 /\ x_975^0-x_975^post276 == 0 /\ a_393^0-a_393^post276 == 0 /\ -a_392^post276+a_392^0 == 0 /\ -i_94^post276+i_94^0 == 0 /\ f_969^0-f_969^post276 == 0 /\ r_192^0-r_192^post276 == 0 /\ -r_970^post276+r_970^0 == 0 /\ -length_29^post276+length_29^0 == 0 /\ nondet_12^0-nondet_12^post276 == 0 /\ -a_121^post276+a_121^0 == 0 /\ -x_SLAM_f_19^post276+x_SLAM_f_19^0 == 0), cost: 1 277: l173 -> l174 : a_1089^0'=a_1089^post277, f_847^0'=f_847^post277, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post277, a_394^0'=a_394^post277, x_156^0'=x_156^post277, a_632^0'=a_632^post277, r_192^0'=r_192^post277, a_176^0'=a_176^post277, i_106^0'=i_106^post277, a_430^0'=a_430^post277, t_458^0'=t_458^post277, len_161^0'=len_161^post277, x_975^0'=x_975^post277, a_902^0'=a_902^post277, a_947^0'=a_947^post277, rcd_88^0'=rcd_88^post277, a_311^0'=a_311^post277, i_140^0'=i_140^post277, a_577^0'=a_577^post277, x_14^0'=x_14^post277, nondet_12^0'=nondet_12^post277, a_121^0'=a_121^post277, head_15^0'=head_15^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277, i_27^0'=i_27^post277, x_21^0'=x_21^post277, a_634^0'=a_634^post277, r_39^0'=r_39^post277, a_263^0'=a_263^post277, i_113^0'=i_113^post277, a_432^0'=a_432^post277, temp0_31^0'=temp0_31^post277, len_262^0'=len_262^post277, y_20^0'=y_20^post277, f_248^0'=f_248^post277, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277, a_393^0'=a_393^post277, i_229^0'=i_229^post277, a_610^0'=a_610^post277, r_151^0'=r_151^post277, a_144^0'=a_144^post277, i_1053^0'=i_1053^post277, a_417^0'=a_417^post277, t_24^0'=t_24^post277, i_94^0'=i_94^post277, x_852^0'=x_852^post277, a_862^0'=a_862^post277, rcd_1249^0'=rcd_1249^post277, rcd_58^0'=rcd_58^post277, a_310^0'=a_310^post277, i_127^0'=i_127^post277, a_576^0'=a_576^post277, tmp_34^0'=tmp_34^post277, length_29^0'=length_29^post277, a_1162^0'=a_1162^post277, f_969^0'=f_969^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277, a_395^0'=a_395^post277, x_17^0'=x_17^post277, a_633^0'=a_633^post277, r_224^0'=r_224^post277, a_239^0'=a_239^post277, i_107^0'=i_107^post277, a_431^0'=a_431^post277, temp0_16^0'=temp0_16^post277, len_238^0'=len_238^post277, x_SLAM_f_19^0'=x_SLAM_f_19^post277, a_924^0'=a_924^post277, ct_18^0'=ct_18^post277, result_11^0'=result_11^post277, a_392^0'=a_392^post277, i_197^0'=i_197^post277, a_579^0'=a_579^post277, r_143^0'=r_143^post277, a_1236^0'=a_1236^post277, head_32^0'=head_32^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277, i_30^0'=i_30^post277, x_253^0'=x_253^post277, a_635^0'=a_635^post277, r_970^0'=r_970^post277, rcd_47^0'=rcd_47^post277, a_309^0'=a_309^post277, i_1248^0'=i_1248^post277, a_575^0'=a_575^post277, temp_35^0'=temp_35^post277, len_861^0'=len_861^post277, (length_29^0-length_29^post277 == 0 /\ r_39^0-r_39^post277 == 0 /\ r_151^0-r_151^post277 == 0 /\ -rcd_47^post277+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post277 == 0 /\ a_632^0-a_632^post277 == 0 /\ a_430^0-a_430^post277 == 0 /\ x_975^0-x_975^post277 == 0 /\ -a_634^post277+a_634^0 == 0 /\ t_458^0-t_458^post277 == 0 /\ -len_238^post277+len_238^0 == 0 /\ i_94^0-i_94^post277 == 0 /\ i_113^0-i_113^post277 == 0 /\ a_577^0-a_577^post277 == 0 /\ a_902^0-a_902^post277 == 0 /\ a_393^0-a_393^post277 == 0 /\ -r_143^post277+r_143^0 == 0 /\ a_633^0-a_633^post277 == 0 /\ f_969^0-f_969^post277 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_144^0-a_144^post277 == 0 /\ -a_392^post277+a_392^0 == 0 /\ x_14^0-x_14^post277 == 0 /\ rcd_58^0-rcd_58^post277 == 0 /\ a_417^0-a_417^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post277 == 0 /\ len_262^0-len_262^post277 == 0 /\ a_394^0-a_394^post277 == 0 /\ -a_431^post277+a_431^0 == 0 /\ -temp_35^post277+temp_35^0 == 0 /\ -a_576^post277+a_576^0 == 0 /\ -i_27^post277+i_27^0 == 0 /\ a_263^0-a_263^post277 == 0 /\ -x_SLAM_f_19^post277+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post277 == 0 /\ -r_970^post277+r_970^0 == 0 /\ -i_229^post277+i_229^0 == 0 /\ -a_310^post277+a_310^0 == 0 /\ -a_610^post277+a_610^0 == 0 /\ -a_311^post277+a_311^0 == 0 /\ -x_253^post277+x_253^0 == 0 /\ -a_1236^post277+a_1236^0 == 0 /\ f_248^0-f_248^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277 == 0 /\ -len_161^post277+len_161^0 == 0 /\ i_106^0-i_106^post277 == 0 /\ -i_1248^post277+i_1248^0 == 0 /\ -temp0_31^post277+temp0_31^0 == 0 /\ -temp0_16^post277+temp0_16^0 == 0 /\ -a_239^post277+a_239^0 == 0 /\ -r_224^post277+r_224^0 == 0 /\ -a_395^post277+a_395^0 == 0 /\ -ct_18^post277+ct_18^0 == 0 /\ rcd_88^0-rcd_88^post277 == 0 /\ -r_192^post277+r_192^0 == 0 /\ -a_579^post277+a_579^0 == 0 /\ a_432^0-a_432^post277 == 0 /\ x_156^0-x_156^post277 == 0 /\ -a_947^post277+a_947^0 == 0 /\ -head_32^post277+head_32^0 == 0 /\ -i_127^post277+i_127^0 == 0 /\ -a_862^post277+a_862^0 == 0 /\ -i_197^post277+i_197^0 == 0 /\ x_21^0-x_21^post277 == 0 /\ a_121^0-a_121^post277 == 0 /\ -result_11^post277+result_11^0 == 0 /\ x_852^0-x_852^post277 == 0 /\ i_140^0-i_140^post277 == 0 /\ a_1089^0-a_1089^post277 == 0 /\ -x_17^post277+x_17^0 == 0 /\ nondet_12^0-nondet_12^post277 == 0 /\ -i_107^post277+i_107^0 == 0 /\ -head_15^post277+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277 == 0 /\ -a_309^post277+a_309^0 == 0 /\ -a_575^post277+a_575^0 == 0 /\ -a_924^post277+a_924^0 == 0 /\ -a_635^post277+a_635^0 == 0 /\ f_847^0-f_847^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277 == 0 /\ -len_861^post277+len_861^0 == 0 /\ -a_1162^post277+a_1162^0 == 0 /\ -i_30^post277+i_30^0 == 0 /\ i_1053^0-i_1053^post277 == 0 /\ a_176^0-a_176^post277 == 0 /\ rcd_1249^0-rcd_1249^post277 == 0 /\ -t_24^post277+t_24^0 == 0), cost: 1 278: l173 -> l174 : a_1089^0'=a_1089^post278, f_847^0'=f_847^post278, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post278, a_394^0'=a_394^post278, x_156^0'=x_156^post278, a_632^0'=a_632^post278, r_192^0'=r_192^post278, a_176^0'=a_176^post278, i_106^0'=i_106^post278, a_430^0'=a_430^post278, t_458^0'=t_458^post278, len_161^0'=len_161^post278, x_975^0'=x_975^post278, a_902^0'=a_902^post278, a_947^0'=a_947^post278, rcd_88^0'=rcd_88^post278, a_311^0'=a_311^post278, i_140^0'=i_140^post278, a_577^0'=a_577^post278, x_14^0'=x_14^post278, nondet_12^0'=nondet_12^post278, a_121^0'=a_121^post278, head_15^0'=head_15^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278, i_27^0'=i_27^post278, x_21^0'=x_21^post278, a_634^0'=a_634^post278, r_39^0'=r_39^post278, a_263^0'=a_263^post278, i_113^0'=i_113^post278, a_432^0'=a_432^post278, temp0_31^0'=temp0_31^post278, len_262^0'=len_262^post278, y_20^0'=y_20^post278, f_248^0'=f_248^post278, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278, a_393^0'=a_393^post278, i_229^0'=i_229^post278, a_610^0'=a_610^post278, r_151^0'=r_151^post278, a_144^0'=a_144^post278, i_1053^0'=i_1053^post278, a_417^0'=a_417^post278, t_24^0'=t_24^post278, i_94^0'=i_94^post278, x_852^0'=x_852^post278, a_862^0'=a_862^post278, rcd_1249^0'=rcd_1249^post278, rcd_58^0'=rcd_58^post278, a_310^0'=a_310^post278, i_127^0'=i_127^post278, a_576^0'=a_576^post278, tmp_34^0'=tmp_34^post278, length_29^0'=length_29^post278, a_1162^0'=a_1162^post278, f_969^0'=f_969^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278, a_395^0'=a_395^post278, x_17^0'=x_17^post278, a_633^0'=a_633^post278, r_224^0'=r_224^post278, a_239^0'=a_239^post278, i_107^0'=i_107^post278, a_431^0'=a_431^post278, temp0_16^0'=temp0_16^post278, len_238^0'=len_238^post278, x_SLAM_f_19^0'=x_SLAM_f_19^post278, a_924^0'=a_924^post278, ct_18^0'=ct_18^post278, result_11^0'=result_11^post278, a_392^0'=a_392^post278, i_197^0'=i_197^post278, a_579^0'=a_579^post278, r_143^0'=r_143^post278, a_1236^0'=a_1236^post278, head_32^0'=head_32^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278, i_30^0'=i_30^post278, x_253^0'=x_253^post278, a_635^0'=a_635^post278, r_970^0'=r_970^post278, rcd_47^0'=rcd_47^post278, a_309^0'=a_309^post278, i_1248^0'=i_1248^post278, a_575^0'=a_575^post278, temp_35^0'=temp_35^post278, len_861^0'=len_861^post278, (-head_32^post278+head_32^0 == 0 /\ -a_395^post278+a_395^0 == 0 /\ -len_861^post278+len_861^0 == 0 /\ -ct_18^post278+ct_18^0 == 0 /\ i_197^0-i_197^post278 == 0 /\ a_310^0-a_310^post278 == 0 /\ -i_1248^post278+i_1248^0 == 0 /\ -len_262^post278+len_262^0 == 0 /\ a_1089^0-a_1089^post278 == 0 /\ a_417^0-a_417^post278 == 0 /\ a_394^0-a_394^post278 == 0 /\ -a_239^post278+a_239^0 == 0 /\ -temp_35^post278+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post278 == 0 /\ a_311^0-a_311^post278 == 0 /\ -i_127^post278+i_127^0 == 0 /\ f_847^0-f_847^post278 == 0 /\ a_924^0-a_924^post278 == 0 /\ -i_1053^post278+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post278 == 0 /\ -a_392^post278+a_392^0 == 0 /\ i_140^0-i_140^post278 == 0 /\ i_106^0-i_106^post278 == 0 /\ -rcd_1249^post278+rcd_1249^0 == 0 /\ -i_107^post278+i_107^0 == 0 /\ i_94^0-i_94^post278 == 0 /\ -a_579^post278+a_579^0 == 0 /\ -a_575^post278+a_575^0 == 0 /\ x_975^0-x_975^post278 == 0 /\ t_458^0-t_458^post278 == 0 /\ a_393^0-a_393^post278 == 0 /\ -result_11^post278+result_11^0 == 0 /\ -a_309^post278+a_309^0 == 0 /\ y_20^0-y_20^post278 == 0 /\ r_39^0-r_39^post278 == 0 /\ -i_30^post278+i_30^0 == 0 /\ -a_635^post278+a_635^0 == 0 /\ r_224^0-r_224^post278 == 0 /\ x_21^0-x_21^post278 == 0 /\ -x_852^post278+x_852^0 == 0 /\ -x_17^post278+x_17^0 == 0 /\ a_577^0-a_577^post278 == 0 /\ temp0_31^0-temp0_31^post278 == 0 /\ -a_144^post278+a_144^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -rcd_58^post278+rcd_58^0 == 0 /\ -head_15^post278+head_15^0 == 0 /\ -a_633^post278+a_633^0 == 0 /\ -tmp_34^post278+tmp_34^0 == 0 /\ t_24^0-t_24^post278 == 0 /\ x_14^0-x_14^post278 == 0 /\ a_121^0-a_121^post278 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post278+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post278 == 0 /\ len_161^0-len_161^post278 == 0 /\ x_156^0-x_156^post278 == 0 /\ a_947^0-a_947^post278 == 0 /\ -a_176^post278+a_176^0 == 0 /\ a_263^0-a_263^post278 == 0 /\ -a_634^post278+a_634^0 == 0 /\ -a_576^post278+a_576^0 == 0 /\ -r_143^post278+r_143^0 == 0 /\ length_29^0-length_29^post278 == 0 /\ -i_27^post278+i_27^0 == 0 /\ a_430^0-a_430^post278 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post278 == 0 /\ -a_1236^post278+a_1236^0 == 0 /\ -x_253^post278+x_253^0 == 0 /\ r_151^0-r_151^post278 == 0 /\ -r_970^post278+r_970^0 == 0 /\ a_632^0-a_632^post278 == 0 /\ -f_969^post278+f_969^0 == 0 /\ -a_431^post278+a_431^0 == 0 /\ -a_610^post278+a_610^0 == 0 /\ a_432^0-a_432^post278 == 0 /\ a_902^0-a_902^post278 == 0 /\ i_113^0-i_113^post278 == 0 /\ r_192^0-r_192^post278 == 0 /\ a_1162^0-a_1162^post278 == 0 /\ a_862^0-a_862^post278 == 0 /\ temp0_16^0-temp0_16^post278 == 0 /\ nondet_12^0-nondet_12^post278 == 0 /\ -rcd_47^post278+rcd_47^0 == 0 /\ i_229^0-i_229^post278 == 0), cost: 1 279: l174 -> l175 : a_1089^0'=a_1089^post279, f_847^0'=f_847^post279, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post279, a_394^0'=a_394^post279, x_156^0'=x_156^post279, a_632^0'=a_632^post279, r_192^0'=r_192^post279, a_176^0'=a_176^post279, i_106^0'=i_106^post279, a_430^0'=a_430^post279, t_458^0'=t_458^post279, len_161^0'=len_161^post279, x_975^0'=x_975^post279, a_902^0'=a_902^post279, a_947^0'=a_947^post279, rcd_88^0'=rcd_88^post279, a_311^0'=a_311^post279, i_140^0'=i_140^post279, a_577^0'=a_577^post279, x_14^0'=x_14^post279, nondet_12^0'=nondet_12^post279, a_121^0'=a_121^post279, head_15^0'=head_15^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279, i_27^0'=i_27^post279, x_21^0'=x_21^post279, a_634^0'=a_634^post279, r_39^0'=r_39^post279, a_263^0'=a_263^post279, i_113^0'=i_113^post279, a_432^0'=a_432^post279, temp0_31^0'=temp0_31^post279, len_262^0'=len_262^post279, y_20^0'=y_20^post279, f_248^0'=f_248^post279, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279, a_393^0'=a_393^post279, i_229^0'=i_229^post279, a_610^0'=a_610^post279, r_151^0'=r_151^post279, a_144^0'=a_144^post279, i_1053^0'=i_1053^post279, a_417^0'=a_417^post279, t_24^0'=t_24^post279, i_94^0'=i_94^post279, x_852^0'=x_852^post279, a_862^0'=a_862^post279, rcd_1249^0'=rcd_1249^post279, rcd_58^0'=rcd_58^post279, a_310^0'=a_310^post279, i_127^0'=i_127^post279, a_576^0'=a_576^post279, tmp_34^0'=tmp_34^post279, length_29^0'=length_29^post279, a_1162^0'=a_1162^post279, f_969^0'=f_969^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279, a_395^0'=a_395^post279, x_17^0'=x_17^post279, a_633^0'=a_633^post279, r_224^0'=r_224^post279, a_239^0'=a_239^post279, i_107^0'=i_107^post279, a_431^0'=a_431^post279, temp0_16^0'=temp0_16^post279, len_238^0'=len_238^post279, x_SLAM_f_19^0'=x_SLAM_f_19^post279, a_924^0'=a_924^post279, ct_18^0'=ct_18^post279, result_11^0'=result_11^post279, a_392^0'=a_392^post279, i_197^0'=i_197^post279, a_579^0'=a_579^post279, r_143^0'=r_143^post279, a_1236^0'=a_1236^post279, head_32^0'=head_32^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279, i_30^0'=i_30^post279, x_253^0'=x_253^post279, a_635^0'=a_635^post279, r_970^0'=r_970^post279, rcd_47^0'=rcd_47^post279, a_309^0'=a_309^post279, i_1248^0'=i_1248^post279, a_575^0'=a_575^post279, temp_35^0'=temp_35^post279, len_861^0'=len_861^post279, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_924^0-a_924^post279 == 0 /\ a_632^0-a_632^post279 == 0 /\ -tmp_34^post279+tmp_34^0 == 0 /\ rcd_1249^0-rcd_1249^post279 == 0 /\ -rcd_47^post279+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_430^0-a_430^post279 == 0 /\ x_975^0-x_975^post279 == 0 /\ i_127^0-i_127^post279 == 0 /\ a_577^0-a_577^post279 == 0 /\ a_1162^0-a_1162^post279 == 0 /\ -a_634^post279+a_634^0 == 0 /\ -r_143^post279+r_143^0 == 0 /\ x_14^0-x_14^post279 == 0 /\ a_432^0-a_432^post279 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post279+r_151^0 == 0 /\ r_192^0-r_192^post279 == 0 /\ -a_392^post279+a_392^0 == 0 /\ -x_SLAM_f_19^post279+x_SLAM_f_19^0 == 0 /\ -y_20^post279+y_20^0 == 0 /\ i_140^0-i_140^post279 == 0 /\ -i_27^post279+i_27^0 == 0 /\ -f_969^post279+f_969^0 == 0 /\ i_229^0-i_229^post279 == 0 /\ -x_253^post279+x_253^0 == 0 /\ a_576^0-a_576^post279 == 0 /\ -temp_35^post279+temp_35^0 == 0 /\ -i_113^post279+i_113^0 == 0 /\ a_394^0-a_394^post279 == 0 /\ -a_1236^post279+a_1236^0 == 0 /\ -r_970^post279+r_970^0 == 0 /\ a_176^0-a_176^post279 == 0 /\ f_847^0-f_847^post279 == 0 /\ a_947^0-a_947^post279 == 0 /\ -a_431^post279+a_431^0 == 0 /\ i_197^0-i_197^post279 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post279+a_395^0 == 0 /\ a_902^0-a_902^post279 == 0 /\ -i_1053^post279+i_1053^0 == 0 /\ -i_1248^post279+i_1248^0 == 0 /\ -rcd_58^post279+rcd_58^0 == 0 /\ a_610^0-a_610^post279 == 0 /\ i_94^0-i_94^post279 == 0 /\ i_107^0-i_107^post279 == 0 /\ -a_239^post279+a_239^0 == 0 /\ -length_29^post279+length_29^0 == 0 /\ r_39^0-r_39^post279 == 0 /\ -ct_18^post279+ct_18^0 == 0 /\ head_15^0-head_15^post279 == 0 /\ -len_861^post279+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post279+a_862^0 == 0 /\ -a_310^post279+a_310^0 == 0 /\ -temp0_16^post279+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post279 == 0 /\ a_311^0-a_311^post279 == 0 /\ x_156^0-x_156^post279 == 0 /\ a_633^0-a_633^post279 == 0 /\ -head_32^post279+head_32^0 == 0 /\ a_1089^0-a_1089^post279 == 0 /\ -a_393^post279+a_393^0 == 0 /\ nondet_12^0-nondet_12^post279 == 0 /\ -len_161^post279+len_161^0 == 0 /\ -i_106^post279+i_106^0 == 0 /\ x_21^0-x_21^post279 == 0 /\ -t_458^post279+t_458^0 == 0 /\ -r_224^post279+r_224^0 == 0 /\ -t_24^post279+t_24^0 == 0 /\ -a_309^post279+a_309^0 == 0 /\ -a_579^post279+a_579^0 == 0 /\ a_121^0-a_121^post279 == 0 /\ -a_417^post279+a_417^0 == 0 /\ -result_11^post279+result_11^0 == 0 /\ len_262^0-len_262^post279 == 0 /\ -a_144^post279+a_144^0 == 0 /\ temp0_31^0-temp0_31^post279 == 0 /\ -a_575^post279+a_575^0 == 0 /\ -i_30^post279+i_30^0 == 0 /\ -a_263^post279+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post279 == 0 /\ x_17^0-x_17^post279 == 0 /\ len_238^0-len_238^post279 == 0 /\ -a_635^post279+a_635^0 == 0 /\ -x_852^post279+x_852^0 == 0 /\ f_248^0-f_248^post279 == 0), cost: 1 280: l174 -> l175 : a_1089^0'=a_1089^post280, f_847^0'=f_847^post280, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post280, a_394^0'=a_394^post280, x_156^0'=x_156^post280, a_632^0'=a_632^post280, r_192^0'=r_192^post280, a_176^0'=a_176^post280, i_106^0'=i_106^post280, a_430^0'=a_430^post280, t_458^0'=t_458^post280, len_161^0'=len_161^post280, x_975^0'=x_975^post280, a_902^0'=a_902^post280, a_947^0'=a_947^post280, rcd_88^0'=rcd_88^post280, a_311^0'=a_311^post280, i_140^0'=i_140^post280, a_577^0'=a_577^post280, x_14^0'=x_14^post280, nondet_12^0'=nondet_12^post280, a_121^0'=a_121^post280, head_15^0'=head_15^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280, i_27^0'=i_27^post280, x_21^0'=x_21^post280, a_634^0'=a_634^post280, r_39^0'=r_39^post280, a_263^0'=a_263^post280, i_113^0'=i_113^post280, a_432^0'=a_432^post280, temp0_31^0'=temp0_31^post280, len_262^0'=len_262^post280, y_20^0'=y_20^post280, f_248^0'=f_248^post280, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280, a_393^0'=a_393^post280, i_229^0'=i_229^post280, a_610^0'=a_610^post280, r_151^0'=r_151^post280, a_144^0'=a_144^post280, i_1053^0'=i_1053^post280, a_417^0'=a_417^post280, t_24^0'=t_24^post280, i_94^0'=i_94^post280, x_852^0'=x_852^post280, a_862^0'=a_862^post280, rcd_1249^0'=rcd_1249^post280, rcd_58^0'=rcd_58^post280, a_310^0'=a_310^post280, i_127^0'=i_127^post280, a_576^0'=a_576^post280, tmp_34^0'=tmp_34^post280, length_29^0'=length_29^post280, a_1162^0'=a_1162^post280, f_969^0'=f_969^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280, a_395^0'=a_395^post280, x_17^0'=x_17^post280, a_633^0'=a_633^post280, r_224^0'=r_224^post280, a_239^0'=a_239^post280, i_107^0'=i_107^post280, a_431^0'=a_431^post280, temp0_16^0'=temp0_16^post280, len_238^0'=len_238^post280, x_SLAM_f_19^0'=x_SLAM_f_19^post280, a_924^0'=a_924^post280, ct_18^0'=ct_18^post280, result_11^0'=result_11^post280, a_392^0'=a_392^post280, i_197^0'=i_197^post280, a_579^0'=a_579^post280, r_143^0'=r_143^post280, a_1236^0'=a_1236^post280, head_32^0'=head_32^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280, i_30^0'=i_30^post280, x_253^0'=x_253^post280, a_635^0'=a_635^post280, r_970^0'=r_970^post280, rcd_47^0'=rcd_47^post280, a_309^0'=a_309^post280, i_1248^0'=i_1248^post280, a_575^0'=a_575^post280, temp_35^0'=temp_35^post280, len_861^0'=len_861^post280, (-length_29^post280+length_29^0 == 0 /\ -r_39^post280+r_39^0 == 0 /\ a_576^0-a_576^post280 == 0 /\ x_21^0-x_21^post280 == 0 /\ x_852^0-x_852^post280 == 0 /\ -i_1053^post280+i_1053^0 == 0 /\ a_121^0-a_121^post280 == 0 /\ -a_395^post280+a_395^0 == 0 /\ x_156^0-x_156^post280 == 0 /\ -a_417^post280+a_417^0 == 0 /\ -len_861^post280+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post280+a_1236^0 == 0 /\ f_847^0-f_847^post280 == 0 /\ nondet_12^0-nondet_12^post280 == 0 /\ a_394^0-a_394^post280 == 0 /\ -i_1248^post280+i_1248^0 == 0 /\ -a_393^post280+a_393^0 == 0 /\ -a_862^post280+a_862^0 == 0 /\ -head_32^post280+head_32^0 == 0 /\ -a_579^post280+a_579^0 == 0 /\ -a_392^post280+a_392^0 == 0 /\ a_924^0-a_924^post280 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_635^post280+a_635^0 == 0 /\ -a_144^post280+a_144^0 == 0 /\ t_458^0-t_458^post280 == 0 /\ -i_107^post280+i_107^0 == 0 /\ a_577^0-a_577^post280 == 0 /\ -i_30^post280+i_30^0 == 0 /\ -a_263^post280+a_263^0 == 0 /\ -a_575^post280+a_575^0 == 0 /\ i_106^0-i_106^post280 == 0 /\ -i_197^post280+i_197^0 == 0 /\ r_224^0-r_224^post280 == 0 /\ ct_18^0-ct_18^post280 == 0 /\ i_127^0-i_127^post280 == 0 /\ head_15^0-head_15^post280 == 0 /\ -a_309^post280+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post280 == 0 /\ -t_24^post280+t_24^0 == 0 /\ -rcd_58^post280+rcd_58^0 == 0 /\ a_430^0-a_430^post280 == 0 /\ x_14^0-x_14^post280 == 0 /\ -tmp_34^post280+tmp_34^0 == 0 /\ i_27^0-i_27^post280 == 0 /\ len_262^0-len_262^post280 == 0 /\ -rcd_47^post280+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_238^post280+len_238^0 == 0 /\ i_140^0-i_140^post280 == 0 /\ a_431^0-a_431^post280 == 0 /\ temp0_31^0-temp0_31^post280 == 0 /\ x_17^0-x_17^post280 == 0 /\ a_1089^0-a_1089^post280 == 0 /\ -a_633^post280+a_633^0 == 0 /\ a_634^0-a_634^post280 == 0 /\ -a_1162^post280+a_1162^0 == 0 /\ -result_11^post280+result_11^0 == 0 /\ a_947^0-a_947^post280 == 0 /\ -r_151^post280+r_151^0 == 0 /\ -rcd_1249^post280+rcd_1249^0 == 0 /\ a_176^0-a_176^post280 == 0 /\ -r_970^post280+r_970^0 == 0 /\ f_969^0-f_969^post280 == 0 /\ a_902^0-a_902^post280 == 0 /\ x_975^0-x_975^post280 == 0 /\ -y_20^post280+y_20^0 == 0 /\ -x_253^post280+x_253^0 == 0 /\ r_192^0-r_192^post280 == 0 /\ f_248^0-f_248^post280 == 0 /\ a_239^0-a_239^post280 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post280+r_143^0 == 0 /\ rcd_88^0-rcd_88^post280 == 0 /\ -i_94^post280+i_94^0 == 0 /\ -x_SLAM_f_19^post280+x_SLAM_f_19^0 == 0 /\ -i_113^post280+i_113^0 == 0 /\ a_310^0-a_310^post280 == 0 /\ len_161^0-len_161^post280 == 0 /\ -a_432^post280+a_432^0 == 0 /\ temp0_16^0-temp0_16^post280 == 0 /\ a_610^0-a_610^post280 == 0 /\ a_632^0-a_632^post280 == 0 /\ -a_311^post280+a_311^0 == 0 /\ -temp_35^post280+temp_35^0 == 0 /\ -i_229^post280+i_229^0 == 0), cost: 1 281: l175 -> l169 : a_1089^0'=a_1089^post281, f_847^0'=f_847^post281, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post281, a_394^0'=a_394^post281, x_156^0'=x_156^post281, a_632^0'=a_632^post281, r_192^0'=r_192^post281, a_176^0'=a_176^post281, i_106^0'=i_106^post281, a_430^0'=a_430^post281, t_458^0'=t_458^post281, len_161^0'=len_161^post281, x_975^0'=x_975^post281, a_902^0'=a_902^post281, a_947^0'=a_947^post281, rcd_88^0'=rcd_88^post281, a_311^0'=a_311^post281, i_140^0'=i_140^post281, a_577^0'=a_577^post281, x_14^0'=x_14^post281, nondet_12^0'=nondet_12^post281, a_121^0'=a_121^post281, head_15^0'=head_15^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281, i_27^0'=i_27^post281, x_21^0'=x_21^post281, a_634^0'=a_634^post281, r_39^0'=r_39^post281, a_263^0'=a_263^post281, i_113^0'=i_113^post281, a_432^0'=a_432^post281, temp0_31^0'=temp0_31^post281, len_262^0'=len_262^post281, y_20^0'=y_20^post281, f_248^0'=f_248^post281, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281, a_393^0'=a_393^post281, i_229^0'=i_229^post281, a_610^0'=a_610^post281, r_151^0'=r_151^post281, a_144^0'=a_144^post281, i_1053^0'=i_1053^post281, a_417^0'=a_417^post281, t_24^0'=t_24^post281, i_94^0'=i_94^post281, x_852^0'=x_852^post281, a_862^0'=a_862^post281, rcd_1249^0'=rcd_1249^post281, rcd_58^0'=rcd_58^post281, a_310^0'=a_310^post281, i_127^0'=i_127^post281, a_576^0'=a_576^post281, tmp_34^0'=tmp_34^post281, length_29^0'=length_29^post281, a_1162^0'=a_1162^post281, f_969^0'=f_969^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281, a_395^0'=a_395^post281, x_17^0'=x_17^post281, a_633^0'=a_633^post281, r_224^0'=r_224^post281, a_239^0'=a_239^post281, i_107^0'=i_107^post281, a_431^0'=a_431^post281, temp0_16^0'=temp0_16^post281, len_238^0'=len_238^post281, x_SLAM_f_19^0'=x_SLAM_f_19^post281, a_924^0'=a_924^post281, ct_18^0'=ct_18^post281, result_11^0'=result_11^post281, a_392^0'=a_392^post281, i_197^0'=i_197^post281, a_579^0'=a_579^post281, r_143^0'=r_143^post281, a_1236^0'=a_1236^post281, head_32^0'=head_32^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281, i_30^0'=i_30^post281, x_253^0'=x_253^post281, a_635^0'=a_635^post281, r_970^0'=r_970^post281, rcd_47^0'=rcd_47^post281, a_309^0'=a_309^post281, i_1248^0'=i_1248^post281, a_575^0'=a_575^post281, temp_35^0'=temp_35^post281, len_861^0'=len_861^post281, (0 == 0 /\ r_39^0-r_39^post281 == 0 /\ -a_1162^post281+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post281 == 0 /\ ct_18^0-ct_18^post281 == 0 /\ -rcd_47^post281+rcd_47^0 == 0 /\ -a_947^0+a_924^post281 <= 0 /\ len_161^0-len_161^post281 == 0 /\ -x_253^post281+x_253^0 == 0 /\ -r_151^post281+r_151^0 == 0 /\ x_21^0-x_21^post281 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_14^0-x_14^post281 == 0 /\ a_430^0-a_430^post281 == 0 /\ r_192^0-r_192^post281 == 0 /\ -result_11^post281+result_11^0 == 0 /\ -i_94^post281+i_94^0 == 0 /\ i_140^0-i_140^post281 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ nondet_12^0-nondet_12^post281 == 0 /\ -r_224^post281+r_224^0 == 0 /\ i_27^0-i_27^post281 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post281 == 0 /\ -temp_35^post281+temp_35^0 == 0 /\ a_263^0-a_263^post281 == 0 /\ a_576^0-a_576^post281 == 0 /\ a_634^0-a_634^post281 == 0 /\ x_156^0-x_156^post281 == 0 /\ -i_113^post281+i_113^0 == 0 /\ -r_970^post281+r_970^0 == 0 /\ -r_143^post281+r_143^0 == 0 /\ a_947^0-a_924^post281 <= 0 /\ -x_SLAM_f_19^post281+x_SLAM_f_19^0 == 0 /\ rcd_58^0-rcd_58^post281 == 0 /\ tmp_34^0-tmp_34^post281 == 0 /\ a_144^0-a_144^post281 == 0 /\ -a_1236^post281+a_1236^0 == 0 /\ a_947^0-a_947^post281 == 0 /\ -a_395^post281+a_395^0 == 0 /\ -y_20^post281+y_20^0 == 0 /\ -a_432^post281+a_432^0 == 0 /\ f_248^0-f_248^post281 == 0 /\ -a_431^post281+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post281+i_106^0 == 0 /\ a_610^0-a_610^post281 == 0 /\ a_632^0-a_632^post281 == 0 /\ x_975^0-x_975^post281 == 0 /\ i_127^0-i_127^post281 == 0 /\ -a_392^post281+a_392^0 == 0 /\ a_577^0-a_577^post281 == 0 /\ -length_29^post281+length_29^0 == 0 /\ a_902^0-a_902^post281 == 0 /\ rcd_1249^0-rcd_1249^post281 == 0 /\ rcd_88^0-rcd_88^post281 == 0 /\ -i_1248^post281+i_1248^0 == 0 /\ head_15^0-head_15^post281 == 0 /\ a_311^0-a_311^post281 == 0 /\ -a_239^post281+a_239^0 == 0 /\ -a_862^post281+a_862^0 == 0 /\ -a_310^post281+a_310^0 == 0 /\ -len_861^post281+len_861^0 == 0 /\ a_1089^0-a_1089^post281 == 0 /\ a_635^0-a_635^post281 == 0 /\ i_229^0-i_229^post281 == 0 /\ -temp0_16^post281+temp0_16^0 == 0 /\ -t_458^post281+t_458^0 == 0 /\ -i_30^post281+i_30^0 == 0 /\ -a_393^post281+a_393^0 == 0 /\ -head_32^post281+head_32^0 == 0 /\ a_121^0-a_121^post281 == 0 /\ 1-i_27^0 <= 0 /\ -x_852^post281+x_852^0 == 0 /\ -t_24^post281+t_24^0 == 0 /\ temp0_31^0-temp0_31^post281 == 0 /\ -a_579^post281+a_579^0 == 0 /\ len_262^0-len_262^post281 == 0 /\ -a_309^post281+a_309^0 == 0 /\ x_17^0-x_17^post281 == 0 /\ a_633^0-a_633^post281 == 0 /\ a_176^0-a_176^post281 == 0 /\ len_238^0-len_238^post281 == 0 /\ f_847^0-f_847^post281 == 0 /\ i_1053^0-i_1053^post281 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281 == 0 /\ -i_107^post281+i_107^0 == 0 /\ a_394^0-a_394^post281 == 0 /\ -a_575^post281+a_575^0 == 0 /\ -i_197^post281+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post281+a_417^0 == 0), cost: 1 282: l169 -> l1 : a_1089^0'=a_1089^post282, f_847^0'=f_847^post282, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post282, a_394^0'=a_394^post282, x_156^0'=x_156^post282, a_632^0'=a_632^post282, r_192^0'=r_192^post282, a_176^0'=a_176^post282, i_106^0'=i_106^post282, a_430^0'=a_430^post282, t_458^0'=t_458^post282, len_161^0'=len_161^post282, x_975^0'=x_975^post282, a_902^0'=a_902^post282, a_947^0'=a_947^post282, rcd_88^0'=rcd_88^post282, a_311^0'=a_311^post282, i_140^0'=i_140^post282, a_577^0'=a_577^post282, x_14^0'=x_14^post282, nondet_12^0'=nondet_12^post282, a_121^0'=a_121^post282, head_15^0'=head_15^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282, i_27^0'=i_27^post282, x_21^0'=x_21^post282, a_634^0'=a_634^post282, r_39^0'=r_39^post282, a_263^0'=a_263^post282, i_113^0'=i_113^post282, a_432^0'=a_432^post282, temp0_31^0'=temp0_31^post282, len_262^0'=len_262^post282, y_20^0'=y_20^post282, f_248^0'=f_248^post282, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282, a_393^0'=a_393^post282, i_229^0'=i_229^post282, a_610^0'=a_610^post282, r_151^0'=r_151^post282, a_144^0'=a_144^post282, i_1053^0'=i_1053^post282, a_417^0'=a_417^post282, t_24^0'=t_24^post282, i_94^0'=i_94^post282, x_852^0'=x_852^post282, a_862^0'=a_862^post282, rcd_1249^0'=rcd_1249^post282, rcd_58^0'=rcd_58^post282, a_310^0'=a_310^post282, i_127^0'=i_127^post282, a_576^0'=a_576^post282, tmp_34^0'=tmp_34^post282, length_29^0'=length_29^post282, a_1162^0'=a_1162^post282, f_969^0'=f_969^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282, a_395^0'=a_395^post282, x_17^0'=x_17^post282, a_633^0'=a_633^post282, r_224^0'=r_224^post282, a_239^0'=a_239^post282, i_107^0'=i_107^post282, a_431^0'=a_431^post282, temp0_16^0'=temp0_16^post282, len_238^0'=len_238^post282, x_SLAM_f_19^0'=x_SLAM_f_19^post282, a_924^0'=a_924^post282, ct_18^0'=ct_18^post282, result_11^0'=result_11^post282, a_392^0'=a_392^post282, i_197^0'=i_197^post282, a_579^0'=a_579^post282, r_143^0'=r_143^post282, a_1236^0'=a_1236^post282, head_32^0'=head_32^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282, i_30^0'=i_30^post282, x_253^0'=x_253^post282, a_635^0'=a_635^post282, r_970^0'=r_970^post282, rcd_47^0'=rcd_47^post282, a_309^0'=a_309^post282, i_1248^0'=i_1248^post282, a_575^0'=a_575^post282, temp_35^0'=temp_35^post282, len_861^0'=len_861^post282, (nondet_12^0-nondet_12^post282 == 0 /\ a_263^0-a_263^post282 == 0 /\ -len_861^post282+len_861^0 == 0 /\ -a_1236^post282+a_1236^0 == 0 /\ -a_432^post282+a_432^0 == 0 /\ result_11^0-result_11^post282 == 0 /\ len_161^0-len_161^post282 == 0 /\ x_156^0-x_156^post282 == 0 /\ -a_392^post282+a_392^0 == 0 /\ -i_1248^post282+i_1248^0 == 0 /\ f_847^0-f_847^post282 == 0 /\ head_15^0-head_15^post282 == 0 /\ tmp_34^0-tmp_34^post282 == 0 /\ -x_17^post282+x_17^0 == 0 /\ a_634^0-a_634^post282 == 0 /\ a_862^0-a_862^post282 == 0 /\ -temp0_31^post282+temp0_31^0 == 0 /\ -temp0_16^post282+temp0_16^0 == 0 /\ a_902^0-a_902^post282 == 0 /\ -i_1053^post282+i_1053^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282 == 0 /\ -r_224^post282+r_224^0 == 0 /\ -i_94^post282+i_94^0 == 0 /\ -a_310^post282+a_310^0 == 0 /\ a_947^0-a_947^post282 == 0 /\ rcd_58^0-rcd_58^post282 == 0 /\ -head_32^post282+head_32^0 == 0 /\ a_430^0-a_430^post282 == 0 /\ a_311^0-a_311^post282 == 0 /\ -a_635^post282+a_635^0 == 0 /\ r_192^0-r_192^post282 == 0 /\ i_113^0-i_113^post282 == 0 /\ a_176^0-a_176^post282 == 0 /\ rcd_88^0-rcd_88^post282 == 0 /\ -len_262^post282+len_262^0 == 0 /\ a_577^0-a_577^post282 == 0 /\ length_29^0-length_29^post282 == 0 /\ -len_238^post282+len_238^0 == 0 /\ -i_30^post282+i_30^0 == 0 /\ ct_18^0-ct_18^post282 == 0 /\ -i_197^post282+i_197^0 == 0 /\ a_632^0-a_632^post282 == 0 /\ -a_579^post282+a_579^0 == 0 /\ -a_417^post282+a_417^0 == 0 /\ -x_14^post282+x_14^0 == 0 /\ -a_309^post282+a_309^0 == 0 /\ x_852^0-x_852^post282 == 0 /\ -r_39^post282+r_39^0 == 0 /\ -i_107^post282+i_107^0 == 0 /\ -i_127^post282+i_127^0 == 0 /\ -a_575^post282+a_575^0 == 0 /\ a_1089^0-a_1089^post282 == 0 /\ -a_121^post282+a_121^0 == 0 /\ a_576^0-a_576^post282 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post282 == 0 /\ a_144^0-a_144^post282 == 0 /\ -a_431^post282+a_431^0 == 0 /\ -a_1162^post282+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282 == 0 /\ i_140^0-i_140^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_24^post282+t_24^0 == 0 /\ -x_21^post282+x_21^0 == 0 /\ f_248^0-f_248^post282 == 0 /\ y_20^0-y_20^post282 == 0 /\ r_151^0-r_151^post282 == 0 /\ -rcd_47^post282+rcd_47^0 == 0 /\ a_394^0-a_394^post282 == 0 /\ -a_924^post282+a_924^0 == 0 /\ a_239^0-a_239^post282 == 0 /\ -temp_35^post282+temp_35^0 == 0 /\ f_969^0-f_969^post282 == 0 /\ x_975^0-x_975^post282 == 0 /\ -r_143^post282+r_143^0 == 0 /\ -i_229^post282+i_229^0 == 0 /\ -x_SLAM_f_19^post282+x_SLAM_f_19^0 == 0 /\ -r_970^post282+r_970^0 == 0 /\ -x_253^post282+x_253^0 == 0 /\ rcd_1249^0-rcd_1249^post282 == 0 /\ a_610^0-a_610^post282 == 0 /\ i_106^0-i_106^post282 == 0 /\ i_27^0-i_27^post282 == 0 /\ a_633^0-a_633^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_458^0-t_458^post282 == 0 /\ a_393^0-a_393^post282 == 0 /\ -a_395^post282+a_395^0 == 0), cost: 1 283: l176 -> l177 : a_1089^0'=a_1089^post283, f_847^0'=f_847^post283, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post283, a_394^0'=a_394^post283, x_156^0'=x_156^post283, a_632^0'=a_632^post283, r_192^0'=r_192^post283, a_176^0'=a_176^post283, i_106^0'=i_106^post283, a_430^0'=a_430^post283, t_458^0'=t_458^post283, len_161^0'=len_161^post283, x_975^0'=x_975^post283, a_902^0'=a_902^post283, a_947^0'=a_947^post283, rcd_88^0'=rcd_88^post283, a_311^0'=a_311^post283, i_140^0'=i_140^post283, a_577^0'=a_577^post283, x_14^0'=x_14^post283, nondet_12^0'=nondet_12^post283, a_121^0'=a_121^post283, head_15^0'=head_15^post283, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post283, i_27^0'=i_27^post283, x_21^0'=x_21^post283, a_634^0'=a_634^post283, r_39^0'=r_39^post283, a_263^0'=a_263^post283, i_113^0'=i_113^post283, a_432^0'=a_432^post283, temp0_31^0'=temp0_31^post283, len_262^0'=len_262^post283, y_20^0'=y_20^post283, f_248^0'=f_248^post283, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post283, a_393^0'=a_393^post283, i_229^0'=i_229^post283, a_610^0'=a_610^post283, r_151^0'=r_151^post283, a_144^0'=a_144^post283, i_1053^0'=i_1053^post283, a_417^0'=a_417^post283, t_24^0'=t_24^post283, i_94^0'=i_94^post283, x_852^0'=x_852^post283, a_862^0'=a_862^post283, rcd_1249^0'=rcd_1249^post283, rcd_58^0'=rcd_58^post283, a_310^0'=a_310^post283, i_127^0'=i_127^post283, a_576^0'=a_576^post283, tmp_34^0'=tmp_34^post283, length_29^0'=length_29^post283, a_1162^0'=a_1162^post283, f_969^0'=f_969^post283, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post283, a_395^0'=a_395^post283, x_17^0'=x_17^post283, a_633^0'=a_633^post283, r_224^0'=r_224^post283, a_239^0'=a_239^post283, i_107^0'=i_107^post283, a_431^0'=a_431^post283, temp0_16^0'=temp0_16^post283, len_238^0'=len_238^post283, x_SLAM_f_19^0'=x_SLAM_f_19^post283, a_924^0'=a_924^post283, ct_18^0'=ct_18^post283, result_11^0'=result_11^post283, a_392^0'=a_392^post283, i_197^0'=i_197^post283, a_579^0'=a_579^post283, r_143^0'=r_143^post283, a_1236^0'=a_1236^post283, head_32^0'=head_32^post283, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post283, i_30^0'=i_30^post283, x_253^0'=x_253^post283, a_635^0'=a_635^post283, r_970^0'=r_970^post283, rcd_47^0'=rcd_47^post283, a_309^0'=a_309^post283, i_1248^0'=i_1248^post283, a_575^0'=a_575^post283, temp_35^0'=temp_35^post283, len_861^0'=len_861^post283, (0 == 0 /\ -a_310^post283+a_310^0 == 0 /\ a_862^0-a_862^post283 == 0 /\ a_634^0-a_634^post283 == 0 /\ x_21^0-y_20^0 <= 0 /\ -temp0_31^post283+temp0_31^0 == 0 /\ -i_229^post283+i_229^0 == 0 /\ r_192^0-r_192^post283 == 0 /\ -a_902^0 <= 0 /\ a_263^0-a_263^post283 == 0 /\ -x_253^post283+x_253^0 == 0 /\ f_248^0-f_248^post283 == 0 /\ a_947^0-a_947^post283 == 0 /\ r_39^0-r_39^post283 == 0 /\ -a_610^post283+a_610^0 == 0 /\ -temp_35^post283+temp_35^0 == 0 /\ -r_970^post283+r_970^0 == 0 /\ r_151^0-r_151^post283 == 0 /\ -x_21^0+y_20^0 <= 0 /\ length_29^0-length_29^post283 == 0 /\ a_432^0-a_432^post283 == 0 /\ -i_127^post283+i_127^0 == 0 /\ -r_143^post283+r_143^0 == 0 /\ f_847^0-f_847^post283 == 0 /\ i_113^0-i_113^post283 == 0 /\ rcd_88^0-rcd_88^post283 == 0 /\ -a_417^post283+a_417^0 == 0 /\ -x_852^post283+x_852^0 == 0 /\ head_32^0-head_32^post283 == 0 /\ -i_1248^post283+i_1248^0 == 0 /\ a_577^0-a_577^post283 == 0 /\ a_924^0-a_924^post283 == 0 /\ a_902^0-a_902^post283 == 0 /\ -a_579^post283+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post283+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_969^0-f_969^post283 == 0 /\ -a_176^post283+a_176^0 == 0 /\ x_975^0-x_975^post283 == 0 /\ -len_238^post283+len_238^0 == 0 /\ -a_395^post283+a_395^0 == 0 /\ -a_309^post283+a_309^0 == 0 /\ -i_1053^post283+i_1053^0 == 0 /\ -x_156^post283+x_156^0 == 0 /\ a_632^0-a_632^post283 == 0 /\ i_140^0-i_140^post283 == 0 /\ -a_392^post283+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post283 == 0 /\ -rcd_1249^post283+rcd_1249^0 == 0 /\ len_161^0-len_161^post283 == 0 /\ temp0_16^0-temp0_16^post283 == 0 /\ -i_30^post283+i_30^0 == 0 /\ a_1089^0-a_1089^post283 == 0 /\ a_311^0-a_311^post283 == 0 /\ -a_239^post283+a_239^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post283 == 0 /\ -r_224^post283+r_224^0 == 0 /\ t_458^0-t_458^post283 == 0 /\ a_430^0-a_430^post283 == 0 /\ -a_1236^post283+a_1236^0 == 0 /\ -len_861^post283+len_861^0 == 0 /\ -tmp_34^post283+tmp_34^0 == 0 /\ -a_635^post283+a_635^0 == 0 /\ i_94^0-i_94^post283 == 0 /\ -rcd_47^post283+rcd_47^0 == 0 /\ -temp0_16^0+result_11^post283 == 0 /\ -len_262^post283+len_262^0 == 0 /\ i_106^0-i_106^post283 == 0 /\ -a_576^post283+a_576^0 == 0 /\ -rcd_58^post283+rcd_58^0 == 0 /\ a_144^0-a_144^post283 == 0 /\ a_1162^0-a_1162^post283 == 0 /\ -i_197^post283+i_197^0 == 0 /\ a_393^0-a_393^post283 == 0 /\ nondet_12^0-nondet_12^post283 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post283+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_121^post283+a_121^0 == 0 /\ -i_107^post283+i_107^0 == 0 /\ -a_633^post283+a_633^0 == 0 /\ a_394^0-a_394^post283 == 0 /\ -a_575^post283+a_575^0 == 0 /\ -a_431^post283+a_431^0 == 0 /\ -x_14^post283+x_14^0 == 0), cost: 1 287: l176 -> l179 : a_1089^0'=a_1089^post287, f_847^0'=f_847^post287, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post287, a_394^0'=a_394^post287, x_156^0'=x_156^post287, a_632^0'=a_632^post287, r_192^0'=r_192^post287, a_176^0'=a_176^post287, i_106^0'=i_106^post287, a_430^0'=a_430^post287, t_458^0'=t_458^post287, len_161^0'=len_161^post287, x_975^0'=x_975^post287, a_902^0'=a_902^post287, a_947^0'=a_947^post287, rcd_88^0'=rcd_88^post287, a_311^0'=a_311^post287, i_140^0'=i_140^post287, a_577^0'=a_577^post287, x_14^0'=x_14^post287, nondet_12^0'=nondet_12^post287, a_121^0'=a_121^post287, head_15^0'=head_15^post287, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post287, i_27^0'=i_27^post287, x_21^0'=x_21^post287, a_634^0'=a_634^post287, r_39^0'=r_39^post287, a_263^0'=a_263^post287, i_113^0'=i_113^post287, a_432^0'=a_432^post287, temp0_31^0'=temp0_31^post287, len_262^0'=len_262^post287, y_20^0'=y_20^post287, f_248^0'=f_248^post287, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post287, a_393^0'=a_393^post287, i_229^0'=i_229^post287, a_610^0'=a_610^post287, r_151^0'=r_151^post287, a_144^0'=a_144^post287, i_1053^0'=i_1053^post287, a_417^0'=a_417^post287, t_24^0'=t_24^post287, i_94^0'=i_94^post287, x_852^0'=x_852^post287, a_862^0'=a_862^post287, rcd_1249^0'=rcd_1249^post287, rcd_58^0'=rcd_58^post287, a_310^0'=a_310^post287, i_127^0'=i_127^post287, a_576^0'=a_576^post287, tmp_34^0'=tmp_34^post287, length_29^0'=length_29^post287, a_1162^0'=a_1162^post287, f_969^0'=f_969^post287, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post287, a_395^0'=a_395^post287, x_17^0'=x_17^post287, a_633^0'=a_633^post287, r_224^0'=r_224^post287, a_239^0'=a_239^post287, i_107^0'=i_107^post287, a_431^0'=a_431^post287, temp0_16^0'=temp0_16^post287, len_238^0'=len_238^post287, x_SLAM_f_19^0'=x_SLAM_f_19^post287, a_924^0'=a_924^post287, ct_18^0'=ct_18^post287, result_11^0'=result_11^post287, a_392^0'=a_392^post287, i_197^0'=i_197^post287, a_579^0'=a_579^post287, r_143^0'=r_143^post287, a_1236^0'=a_1236^post287, head_32^0'=head_32^post287, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post287, i_30^0'=i_30^post287, x_253^0'=x_253^post287, a_635^0'=a_635^post287, r_970^0'=r_970^post287, rcd_47^0'=rcd_47^post287, a_309^0'=a_309^post287, i_1248^0'=i_1248^post287, a_575^0'=a_575^post287, temp_35^0'=temp_35^post287, len_861^0'=len_861^post287, (0 == 0 /\ a_634^0-a_634^post287 == 0 /\ -i_229^post287+i_229^0 == 0 /\ -r_970^post287+r_970^0 == 0 /\ -a_310^post287+a_310^0 == 0 /\ -a_395^post287+a_395^0 == 0 /\ -a_902^0 <= 0 /\ a_576^0-a_576^post287 == 0 /\ a_1089^0-a_1089^post287 == 0 /\ -rcd_58^post287+rcd_58^0 == 0 /\ -length_29^post287+length_29^0 == 0 /\ -x_852^post287+x_852^0 == 0 /\ rcd_88^0-rcd_88^post287 == 0 /\ -a_862^post287+a_862^0 == 0 /\ r_39^0-r_39^post287 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post287 == 0 /\ -i_197^post287+i_197^0 == 0 /\ -head_32^post287+head_32^0 == 0 /\ -temp_35^post287+temp_35^0 == 0 /\ -a_579^post287+a_579^0 == 0 /\ -a_263^post287+a_263^0 == 0 /\ rcd_1249^0-rcd_1249^post287 == 0 /\ i_106^0-i_106^post287 == 0 /\ a_924^0-a_924^post287 == 0 /\ f_248^0-f_248^post287 == 0 /\ -i_30^post287+i_30^0 == 0 /\ r_224^0-r_224^post287 == 0 /\ -a_393^post287+a_393^0 == 0 /\ tmp_34^0-tmp_34^post287 == 0 /\ -result_11^post287+result_11^0 == 0 /\ -a_417^post287+a_417^0 == 0 /\ a_632^0-a_632^post287 == 0 /\ t_458^0-t_458^post287 == 0 /\ -a_144^post287+a_144^0 == 0 /\ x_975^0-x_975^post287 == 0 /\ -i_1053^post287+i_1053^0 == 0 /\ -i_1248^post287+i_1248^0 == 0 /\ a_1236^0-a_1236^post287 == 0 /\ -t_24^post287+t_24^0 == 0 /\ a_610^0-a_610^post287 == 0 /\ -len_861^post287+len_861^0 == 0 /\ -a_635^post287+a_635^0 == 0 /\ -a_239^post287+a_239^0 == 0 /\ nondet_12^0-nondet_12^post287 == 0 /\ x_21^0-x_21^post287 == 0 /\ -rcd_47^post287+rcd_47^0 == 0 /\ a_394^0-a_394^post287 == 0 /\ temp0_31^0-temp0_31^post287 == 0 /\ len_161^0-len_161^post287 == 0 /\ -i_140^post287+i_140^0 == 0 /\ a_121^0-a_121^post287 == 0 /\ len_262^0-len_262^post287 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post287 == 0 /\ a_947^0-a_947^post287 == 0 /\ -r_143^post287+r_143^0 == 0 /\ a_176^0-a_176^post287 == 0 /\ -i_107^post287+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post287+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post287+a_575^0 == 0 /\ f_847^0-f_847^post287 == 0 /\ len_238^0-len_238^post287 == 0 /\ -a_309^post287+a_309^0 == 0 /\ temp0_16^0-temp0_16^post287 == 0 /\ -a_431^post287+a_431^0 == 0 /\ -a_432^post287+a_432^0 == 0 /\ -x_253^post287+x_253^0 == 0 /\ i_94^0-i_94^post287 == 0 /\ r_151^0-r_151^post287 == 0 /\ -i_113^post287+i_113^0 == 0 /\ a_311^0-a_311^post287 == 0 /\ -a_392^post287+a_392^0 == 0 /\ a_430^0-a_430^post287 == 0 /\ i_127^0-i_127^post287 == 0 /\ a_902^0-a_902^post287 == 0 /\ -y_20^post287+y_20^0 == 0 /\ a_577^0-a_577^post287 == 0 /\ a_633^0-a_633^post287 == 0 /\ r_192^0-r_192^post287 == 0 /\ x_156^0-x_156^post287 == 0 /\ -f_969^post287+f_969^0 == 0 /\ a_1162^0-a_1162^post287 == 0), cost: 1 284: l177 -> l178 : a_1089^0'=a_1089^post284, f_847^0'=f_847^post284, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post284, a_394^0'=a_394^post284, x_156^0'=x_156^post284, a_632^0'=a_632^post284, r_192^0'=r_192^post284, a_176^0'=a_176^post284, i_106^0'=i_106^post284, a_430^0'=a_430^post284, t_458^0'=t_458^post284, len_161^0'=len_161^post284, x_975^0'=x_975^post284, a_902^0'=a_902^post284, a_947^0'=a_947^post284, rcd_88^0'=rcd_88^post284, a_311^0'=a_311^post284, i_140^0'=i_140^post284, a_577^0'=a_577^post284, x_14^0'=x_14^post284, nondet_12^0'=nondet_12^post284, a_121^0'=a_121^post284, head_15^0'=head_15^post284, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post284, i_27^0'=i_27^post284, x_21^0'=x_21^post284, a_634^0'=a_634^post284, r_39^0'=r_39^post284, a_263^0'=a_263^post284, i_113^0'=i_113^post284, a_432^0'=a_432^post284, temp0_31^0'=temp0_31^post284, len_262^0'=len_262^post284, y_20^0'=y_20^post284, f_248^0'=f_248^post284, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post284, a_393^0'=a_393^post284, i_229^0'=i_229^post284, a_610^0'=a_610^post284, r_151^0'=r_151^post284, a_144^0'=a_144^post284, i_1053^0'=i_1053^post284, a_417^0'=a_417^post284, t_24^0'=t_24^post284, i_94^0'=i_94^post284, x_852^0'=x_852^post284, a_862^0'=a_862^post284, rcd_1249^0'=rcd_1249^post284, rcd_58^0'=rcd_58^post284, a_310^0'=a_310^post284, i_127^0'=i_127^post284, a_576^0'=a_576^post284, tmp_34^0'=tmp_34^post284, length_29^0'=length_29^post284, a_1162^0'=a_1162^post284, f_969^0'=f_969^post284, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post284, a_395^0'=a_395^post284, x_17^0'=x_17^post284, a_633^0'=a_633^post284, r_224^0'=r_224^post284, a_239^0'=a_239^post284, i_107^0'=i_107^post284, a_431^0'=a_431^post284, temp0_16^0'=temp0_16^post284, len_238^0'=len_238^post284, x_SLAM_f_19^0'=x_SLAM_f_19^post284, a_924^0'=a_924^post284, ct_18^0'=ct_18^post284, result_11^0'=result_11^post284, a_392^0'=a_392^post284, i_197^0'=i_197^post284, a_579^0'=a_579^post284, r_143^0'=r_143^post284, a_1236^0'=a_1236^post284, head_32^0'=head_32^post284, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post284, i_30^0'=i_30^post284, x_253^0'=x_253^post284, a_635^0'=a_635^post284, r_970^0'=r_970^post284, rcd_47^0'=rcd_47^post284, a_309^0'=a_309^post284, i_1248^0'=i_1248^post284, a_575^0'=a_575^post284, temp_35^0'=temp_35^post284, len_861^0'=len_861^post284, (f_847^0-f_847^post284 == 0 /\ -a_576^post284+a_576^0 == 0 /\ -r_151^post284+r_151^0 == 0 /\ -a_575^post284+a_575^0 == 0 /\ head_15^0-head_15^post284 == 0 /\ -a_309^post284+a_309^0 == 0 /\ x_21^0-x_21^post284 == 0 /\ -a_635^post284+a_635^0 == 0 /\ -a_144^post284+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post284+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_262^0-len_262^post284 == 0 /\ a_417^0-a_417^post284 == 0 /\ a_902^0-a_902^post284 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post284 == 0 /\ i_94^0-i_94^post284 == 0 /\ -a_1236^post284+a_1236^0 == 0 /\ i_229^0-i_229^post284 == 0 /\ i_113^0-i_113^post284 == 0 /\ x_156^0-x_156^post284 == 0 /\ -a_633^post284+a_633^0 == 0 /\ a_1089^0-a_1089^post284 == 0 /\ x_14^0-x_14^post284 == 0 /\ -a_862^post284+a_862^0 == 0 /\ -a_610^post284+a_610^0 == 0 /\ -temp0_31^post284+temp0_31^0 == 0 /\ a_121^0-a_121^post284 == 0 /\ -rcd_47^post284+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post284 == 0 /\ -x_253^post284+x_253^0 == 0 /\ a_263^0-a_263^post284 == 0 /\ -len_238^post284+len_238^0 == 0 /\ i_27^0-i_27^post284 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post284+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_106^0-i_106^post284 == 0 /\ a_430^0-a_430^post284 == 0 /\ i_107^0-i_107^post284 == 0 /\ a_392^0-a_392^post284 == 0 /\ -head_32^post284+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post284 == 0 /\ r_39^0-r_39^post284 == 0 /\ -length_29^post284+length_29^0 == 0 /\ -i_197^post284+i_197^0 == 0 /\ r_224^0-r_224^post284 == 0 /\ -temp_35^post284+temp_35^0 == 0 /\ y_20^0-y_20^post284 == 0 /\ -nondet_12^post284+nondet_12^0 == 0 /\ -r_970^post284+r_970^0 == 0 /\ -a_579^post284+a_579^0 == 0 /\ a_432^0-a_432^post284 == 0 /\ f_248^0-f_248^post284 == 0 /\ -a_311^post284+a_311^0 == 0 /\ -f_969^post284+f_969^0 == 0 /\ -i_127^post284+i_127^0 == 0 /\ -ct_18^post284+ct_18^0 == 0 /\ -a_1162^post284+a_1162^0 == 0 /\ -rcd_88^post284+rcd_88^0 == 0 /\ x_975^0-x_975^post284 == 0 /\ -a_395^post284+a_395^0 == 0 /\ -rcd_58^post284+rcd_58^0 == 0 /\ a_577^0-a_577^post284 == 0 /\ -a_394^post284+a_394^0 == 0 /\ a_431^0-a_431^post284 == 0 /\ a_176^0-a_176^post284 == 0 /\ -len_861^post284+len_861^0 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post284+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_24^0-t_24^post284 == 0 /\ -i_1248^post284+i_1248^0 == 0 /\ -rcd_1249^post284+rcd_1249^0 == 0 /\ a_310^0-a_310^post284 == 0 /\ a_947^0-a_947^post284 == 0 /\ r_192^0-r_192^post284 == 0 /\ -a_634^post284+a_634^0 == 0 /\ -a_239^post284+a_239^0 == 0 /\ -tmp_34^post284+tmp_34^0 == 0 /\ -temp0_16^post284+temp0_16^0 == 0 /\ -a_393^post284+a_393^0 == 0 /\ x_852^0-x_852^post284 == 0 /\ -a_924^post284+a_924^0 == 0 /\ -i_30^post284+i_30^0 == 0 /\ -i_1053^post284+i_1053^0 == 0 /\ t_458^0-t_458^post284 == 0 /\ -x_17^post284+x_17^0 == 0 /\ a_632^0-a_632^post284 == 0 /\ i_140^0-i_140^post284 == 0 /\ len_161^0-len_161^post284 == 0 /\ -result_11^post284+result_11^0 == 0 /\ -r_143^post284+r_143^0 == 0), cost: 1 285: l177 -> l178 : a_1089^0'=a_1089^post285, f_847^0'=f_847^post285, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post285, a_394^0'=a_394^post285, x_156^0'=x_156^post285, a_632^0'=a_632^post285, r_192^0'=r_192^post285, a_176^0'=a_176^post285, i_106^0'=i_106^post285, a_430^0'=a_430^post285, t_458^0'=t_458^post285, len_161^0'=len_161^post285, x_975^0'=x_975^post285, a_902^0'=a_902^post285, a_947^0'=a_947^post285, rcd_88^0'=rcd_88^post285, a_311^0'=a_311^post285, i_140^0'=i_140^post285, a_577^0'=a_577^post285, x_14^0'=x_14^post285, nondet_12^0'=nondet_12^post285, a_121^0'=a_121^post285, head_15^0'=head_15^post285, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post285, i_27^0'=i_27^post285, x_21^0'=x_21^post285, a_634^0'=a_634^post285, r_39^0'=r_39^post285, a_263^0'=a_263^post285, i_113^0'=i_113^post285, a_432^0'=a_432^post285, temp0_31^0'=temp0_31^post285, len_262^0'=len_262^post285, y_20^0'=y_20^post285, f_248^0'=f_248^post285, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post285, a_393^0'=a_393^post285, i_229^0'=i_229^post285, a_610^0'=a_610^post285, r_151^0'=r_151^post285, a_144^0'=a_144^post285, i_1053^0'=i_1053^post285, a_417^0'=a_417^post285, t_24^0'=t_24^post285, i_94^0'=i_94^post285, x_852^0'=x_852^post285, a_862^0'=a_862^post285, rcd_1249^0'=rcd_1249^post285, rcd_58^0'=rcd_58^post285, a_310^0'=a_310^post285, i_127^0'=i_127^post285, a_576^0'=a_576^post285, tmp_34^0'=tmp_34^post285, length_29^0'=length_29^post285, a_1162^0'=a_1162^post285, f_969^0'=f_969^post285, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post285, a_395^0'=a_395^post285, x_17^0'=x_17^post285, a_633^0'=a_633^post285, r_224^0'=r_224^post285, a_239^0'=a_239^post285, i_107^0'=i_107^post285, a_431^0'=a_431^post285, temp0_16^0'=temp0_16^post285, len_238^0'=len_238^post285, x_SLAM_f_19^0'=x_SLAM_f_19^post285, a_924^0'=a_924^post285, ct_18^0'=ct_18^post285, result_11^0'=result_11^post285, a_392^0'=a_392^post285, i_197^0'=i_197^post285, a_579^0'=a_579^post285, r_143^0'=r_143^post285, a_1236^0'=a_1236^post285, head_32^0'=head_32^post285, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post285, i_30^0'=i_30^post285, x_253^0'=x_253^post285, a_635^0'=a_635^post285, r_970^0'=r_970^post285, rcd_47^0'=rcd_47^post285, a_309^0'=a_309^post285, i_1248^0'=i_1248^post285, a_575^0'=a_575^post285, temp_35^0'=temp_35^post285, len_861^0'=len_861^post285, (-a_579^post285+a_579^0 == 0 /\ a_310^0-a_310^post285 == 0 /\ -a_239^post285+a_239^0 == 0 /\ -head_32^post285+head_32^0 == 0 /\ -i_197^post285+i_197^0 == 0 /\ a_634^0-a_634^post285 == 0 /\ i_27^0-i_27^post285 == 0 /\ 1+head_15^0 <= 0 /\ -ct_18^post285+ct_18^0 == 0 /\ x_14^0-x_14^post285 == 0 /\ a_1089^0-a_1089^post285 == 0 /\ i_1053^0-i_1053^post285 == 0 /\ a_395^0-a_395^post285 == 0 /\ a_121^0-a_121^post285 == 0 /\ a_176^0-a_176^post285 == 0 /\ -y_20^post285+y_20^0 == 0 /\ -x_253^post285+x_253^0 == 0 /\ -i_127^post285+i_127^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post285 == 0 /\ len_262^0-len_262^post285 == 0 /\ a_947^0-a_947^post285 == 0 /\ -f_248^post285+f_248^0 == 0 /\ -rcd_58^post285+rcd_58^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post285+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post285 == 0 /\ -temp_35^post285+temp_35^0 == 0 /\ -a_417^post285+a_417^0 == 0 /\ head_15^0-head_15^post285 == 0 /\ -len_861^post285+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post285 == 0 /\ -tmp_34^post285+tmp_34^0 == 0 /\ -result_11^post285+result_11^0 == 0 /\ -a_393^post285+a_393^0 == 0 /\ x_975^0-x_975^post285 == 0 /\ a_632^0-a_632^post285 == 0 /\ -rcd_1249^post285+rcd_1249^0 == 0 /\ -x_852^post285+x_852^0 == 0 /\ a_432^0-a_432^post285 == 0 /\ i_113^0-i_113^post285 == 0 /\ r_192^0-r_192^post285 == 0 /\ -a_635^post285+a_635^0 == 0 /\ a_1162^0-a_1162^post285 == 0 /\ -temp0_16^post285+temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post285 == 0 /\ -i_1248^post285+i_1248^0 == 0 /\ i_229^0-i_229^post285 == 0 /\ -a_924^post285+a_924^0 == 0 /\ x_156^0-x_156^post285 == 0 /\ -a_575^post285+a_575^0 == 0 /\ i_30^0-i_30^post285 == 0 /\ len_161^0-len_161^post285 == 0 /\ -r_143^post285+r_143^0 == 0 /\ x_17^0-x_17^post285 == 0 /\ a_394^0-a_394^post285 == 0 /\ -r_151^post285+r_151^0 == 0 /\ rcd_88^0-rcd_88^post285 == 0 /\ a_311^0-a_311^post285 == 0 /\ a_263^0-a_263^post285 == 0 /\ -a_144^post285+a_144^0 == 0 /\ f_847^0-f_847^post285 == 0 /\ -a_576^post285+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post285+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post285+a_309^0 == 0 /\ t_24^0-t_24^post285 == 0 /\ i_107^0-i_107^post285 == 0 /\ i_106^0-i_106^post285 == 0 /\ i_140^0-i_140^post285 == 0 /\ -a_610^post285+a_610^0 == 0 /\ i_94^0-i_94^post285 == 0 /\ -a_1236^post285+a_1236^0 == 0 /\ -a_633^post285+a_633^0 == 0 /\ t_458^0-t_458^post285 == 0 /\ r_39^0-r_39^post285 == 0 /\ a_430^0-a_430^post285 == 0 /\ -a_902^post285+a_902^0 == 0 /\ -a_392^post285+a_392^0 == 0 /\ x_21^0-x_21^post285 == 0 /\ a_577^0-a_577^post285 == 0 /\ -r_970^post285+r_970^0 == 0 /\ -f_969^post285+f_969^0 == 0 /\ -length_29^post285+length_29^0 == 0 /\ r_224^0-r_224^post285 == 0 /\ a_431^0-a_431^post285 == 0 /\ -len_238^post285+len_238^0 == 0 /\ temp0_31^0-temp0_31^post285 == 0 /\ -rcd_47^post285+rcd_47^0 == 0 /\ a_862^0-a_862^post285 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post285+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1 286: l178 -> l50 : a_1089^0'=a_1089^post286, f_847^0'=f_847^post286, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post286, a_394^0'=a_394^post286, x_156^0'=x_156^post286, a_632^0'=a_632^post286, r_192^0'=r_192^post286, a_176^0'=a_176^post286, i_106^0'=i_106^post286, a_430^0'=a_430^post286, t_458^0'=t_458^post286, len_161^0'=len_161^post286, x_975^0'=x_975^post286, a_902^0'=a_902^post286, a_947^0'=a_947^post286, rcd_88^0'=rcd_88^post286, a_311^0'=a_311^post286, i_140^0'=i_140^post286, a_577^0'=a_577^post286, x_14^0'=x_14^post286, nondet_12^0'=nondet_12^post286, a_121^0'=a_121^post286, head_15^0'=head_15^post286, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post286, i_27^0'=i_27^post286, x_21^0'=x_21^post286, a_634^0'=a_634^post286, r_39^0'=r_39^post286, a_263^0'=a_263^post286, i_113^0'=i_113^post286, a_432^0'=a_432^post286, temp0_31^0'=temp0_31^post286, len_262^0'=len_262^post286, y_20^0'=y_20^post286, f_248^0'=f_248^post286, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post286, a_393^0'=a_393^post286, i_229^0'=i_229^post286, a_610^0'=a_610^post286, r_151^0'=r_151^post286, a_144^0'=a_144^post286, i_1053^0'=i_1053^post286, a_417^0'=a_417^post286, t_24^0'=t_24^post286, i_94^0'=i_94^post286, x_852^0'=x_852^post286, a_862^0'=a_862^post286, rcd_1249^0'=rcd_1249^post286, rcd_58^0'=rcd_58^post286, a_310^0'=a_310^post286, i_127^0'=i_127^post286, a_576^0'=a_576^post286, tmp_34^0'=tmp_34^post286, length_29^0'=length_29^post286, a_1162^0'=a_1162^post286, f_969^0'=f_969^post286, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post286, a_395^0'=a_395^post286, x_17^0'=x_17^post286, a_633^0'=a_633^post286, r_224^0'=r_224^post286, a_239^0'=a_239^post286, i_107^0'=i_107^post286, a_431^0'=a_431^post286, temp0_16^0'=temp0_16^post286, len_238^0'=len_238^post286, x_SLAM_f_19^0'=x_SLAM_f_19^post286, a_924^0'=a_924^post286, ct_18^0'=ct_18^post286, result_11^0'=result_11^post286, a_392^0'=a_392^post286, i_197^0'=i_197^post286, a_579^0'=a_579^post286, r_143^0'=r_143^post286, a_1236^0'=a_1236^post286, head_32^0'=head_32^post286, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post286, i_30^0'=i_30^post286, x_253^0'=x_253^post286, a_635^0'=a_635^post286, r_970^0'=r_970^post286, rcd_47^0'=rcd_47^post286, a_309^0'=a_309^post286, i_1248^0'=i_1248^post286, a_575^0'=a_575^post286, temp_35^0'=temp_35^post286, len_861^0'=len_861^post286, (-r_151^post286+r_151^0 == 0 /\ f_248^0-f_248^post286 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post286+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post286 == 0 /\ -a_576^post286+a_576^0 == 0 /\ a_902^0-a_902^post286 == 0 /\ len_262^0-len_262^post286 == 0 /\ i_127^0-i_127^post286 == 0 /\ a_577^0-a_577^post286 == 0 /\ x_156^0-x_156^post286 == 0 /\ -a_417^post286+a_417^0 == 0 /\ -r_143^post286+r_143^0 == 0 /\ head_15^0-head_15^post286 == 0 /\ temp0_31^0-temp0_31^post286 == 0 /\ i_229^0-i_229^post286 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_634^0-a_634^post286 == 0 /\ a_394^0-a_394^post286 == 0 /\ a_1089^0-a_1089^post286 == 0 /\ -a_392^post286+a_392^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -length_29^post286+length_29^0 == 0 /\ -a_862^post286+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post286+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post286 == 0 /\ -a_1236^post286+a_1236^0 == 0 /\ a_176^0-a_176^post286 == 0 /\ -a_610^post286+a_610^0 == 0 /\ a_121^0-a_121^post286 == 0 /\ -len_238^post286+len_238^0 == 0 /\ -rcd_47^post286+rcd_47^0 == 0 /\ a_263^0-a_263^post286 == 0 /\ -head_32^post286+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post286 == 0 /\ -i_27^post286+i_27^0 == 0 /\ -r_970^post286+r_970^0 == 0 /\ -x_253^post286+x_253^0 == 0 /\ f_847^0-f_847^post286 == 0 /\ -rcd_58^post286+rcd_58^0 == 0 /\ -a_239^post286+a_239^0 == 0 /\ -r_192^post286+r_192^0 == 0 /\ -a_311^post286+a_311^0 == 0 /\ a_430^0-a_430^post286 == 0 /\ x_975^0-x_975^post286 == 0 /\ -x_852^post286+x_852^0 == 0 /\ -r_224^post286+r_224^0 == 0 /\ y_20^0-y_20^post286 == 0 /\ -len_861^post286+len_861^0 == 0 /\ -a_395^post286+a_395^0 == 0 /\ -i_1053^post286+i_1053^0 == 0 /\ a_432^0-a_432^post286 == 0 /\ nondet_12^0-nondet_12^post286 == 0 /\ -rcd_88^post286+rcd_88^0 == 0 /\ i_113^0-i_113^post286 == 0 /\ -a_579^post286+a_579^0 == 0 /\ x_21^0-x_21^post286 == 0 /\ a_633^0-a_633^post286 == 0 /\ f_969^0-f_969^post286 == 0 /\ i_94^0-i_94^post286 == 0 /\ -temp_35^post286+temp_35^0 == 0 /\ -ct_18^post286+ct_18^0 == 0 /\ a_431^0-a_431^post286 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post286 == 0 /\ -i_197^post286+i_197^0 == 0 /\ temp0_16^0-temp0_16^post286 == 0 /\ len_161^0-len_161^post286 == 0 /\ a_144^0-a_144^post286 == 0 /\ -a_309^post286+a_309^0 == 0 /\ a_947^0-a_947^post286 == 0 /\ a_310^0-a_310^post286 == 0 /\ 1-i_27^0 <= 0 /\ -i_30^post286+i_30^0 == 0 /\ -i_107^post286+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post286 == 0 /\ -a_575^post286+a_575^0 == 0 /\ -a_924^post286+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post286+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_1249^post286+rcd_1249^0 == 0 /\ -a_393^post286+a_393^0 == 0 /\ -a_635^post286+a_635^0 == 0 /\ i_140^0-i_140^post286 == 0 /\ -i_1248^post286+i_1248^0 == 0 /\ r_39^0-r_39^post286 == 0 /\ -result_11^post286+result_11^0 == 0 /\ t_458^0-t_458^post286 == 0 /\ -x_17^post286+x_17^0 == 0 /\ -tmp_34^post286+tmp_34^0 == 0 /\ i_106^0-i_106^post286 == 0 /\ t_24^0-t_24^post286 == 0 /\ -a_1162^post286+a_1162^0 == 0), cost: 1 288: l179 -> l180 : a_1089^0'=a_1089^post288, f_847^0'=f_847^post288, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post288, a_394^0'=a_394^post288, x_156^0'=x_156^post288, a_632^0'=a_632^post288, r_192^0'=r_192^post288, a_176^0'=a_176^post288, i_106^0'=i_106^post288, a_430^0'=a_430^post288, t_458^0'=t_458^post288, len_161^0'=len_161^post288, x_975^0'=x_975^post288, a_902^0'=a_902^post288, a_947^0'=a_947^post288, rcd_88^0'=rcd_88^post288, a_311^0'=a_311^post288, i_140^0'=i_140^post288, a_577^0'=a_577^post288, x_14^0'=x_14^post288, nondet_12^0'=nondet_12^post288, a_121^0'=a_121^post288, head_15^0'=head_15^post288, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post288, i_27^0'=i_27^post288, x_21^0'=x_21^post288, a_634^0'=a_634^post288, r_39^0'=r_39^post288, a_263^0'=a_263^post288, i_113^0'=i_113^post288, a_432^0'=a_432^post288, temp0_31^0'=temp0_31^post288, len_262^0'=len_262^post288, y_20^0'=y_20^post288, f_248^0'=f_248^post288, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post288, a_393^0'=a_393^post288, i_229^0'=i_229^post288, a_610^0'=a_610^post288, r_151^0'=r_151^post288, a_144^0'=a_144^post288, i_1053^0'=i_1053^post288, a_417^0'=a_417^post288, t_24^0'=t_24^post288, i_94^0'=i_94^post288, x_852^0'=x_852^post288, a_862^0'=a_862^post288, rcd_1249^0'=rcd_1249^post288, rcd_58^0'=rcd_58^post288, a_310^0'=a_310^post288, i_127^0'=i_127^post288, a_576^0'=a_576^post288, tmp_34^0'=tmp_34^post288, length_29^0'=length_29^post288, a_1162^0'=a_1162^post288, f_969^0'=f_969^post288, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post288, a_395^0'=a_395^post288, x_17^0'=x_17^post288, a_633^0'=a_633^post288, r_224^0'=r_224^post288, a_239^0'=a_239^post288, i_107^0'=i_107^post288, a_431^0'=a_431^post288, temp0_16^0'=temp0_16^post288, len_238^0'=len_238^post288, x_SLAM_f_19^0'=x_SLAM_f_19^post288, a_924^0'=a_924^post288, ct_18^0'=ct_18^post288, result_11^0'=result_11^post288, a_392^0'=a_392^post288, i_197^0'=i_197^post288, a_579^0'=a_579^post288, r_143^0'=r_143^post288, a_1236^0'=a_1236^post288, head_32^0'=head_32^post288, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post288, i_30^0'=i_30^post288, x_253^0'=x_253^post288, a_635^0'=a_635^post288, r_970^0'=r_970^post288, rcd_47^0'=rcd_47^post288, a_309^0'=a_309^post288, i_1248^0'=i_1248^post288, a_575^0'=a_575^post288, temp_35^0'=temp_35^post288, len_861^0'=len_861^post288, (a_430^0-a_430^post288 == 0 /\ f_248^0-f_248^post288 == 0 /\ t_458^0-t_458^post288 == 0 /\ x_975^0-x_975^post288 == 0 /\ i_106^0-i_106^post288 == 0 /\ a_632^0-a_632^post288 == 0 /\ -x_SLAM_f_19^post288+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post288 == 0 /\ a_902^0-a_902^post288 == 0 /\ -r_151^post288+r_151^0 == 0 /\ -a_575^post288+a_575^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post288+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_127^0-i_127^post288 == 0 /\ f_969^0-f_969^post288 == 0 /\ a_1236^0-a_1236^post288 == 0 /\ -r_143^post288+r_143^0 == 0 /\ -result_11^post288+result_11^0 == 0 /\ -i_94^post288+i_94^0 == 0 /\ x_852^0-x_852^post288 == 0 /\ -temp_35^post288+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post288 == 0 /\ -i_113^post288+i_113^0 == 0 /\ len_262^0-len_262^post288 == 0 /\ -r_970^post288+r_970^0 == 0 /\ len_161^0-len_161^post288 == 0 /\ x_156^0-x_156^post288 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post288+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -a_431^post288+a_431^0 == 0 /\ a_176^0-a_176^post288 == 0 /\ f_847^0-f_847^post288 == 0 /\ a_394^0-a_394^post288 == 0 /\ -x_253^post288+x_253^0 == 0 /\ -rcd_47^post288+rcd_47^0 == 0 /\ -a_432^post288+a_432^0 == 0 /\ -i_140^post288+i_140^0 == 0 /\ rcd_1249^0-rcd_1249^post288 == 0 /\ -a_310^post288+a_310^0 == 0 /\ -rcd_58^post288+rcd_58^0 == 0 /\ -r_224^post288+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post288+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post288 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post288 == 0 /\ -r_39^post288+r_39^0 == 0 /\ -i_1053^post288+i_1053^0 == 0 /\ -y_20^post288+y_20^0 == 0 /\ -length_29^post288+length_29^0 == 0 /\ -a_577^post288+a_577^0 == 0 /\ a_239^0-a_239^post288 == 0 /\ -i_1248^post288+i_1248^0 == 0 /\ a_635^0-a_635^post288 == 0 /\ a_393^0-a_393^post288 == 0 /\ -a_395^post288+a_395^0 == 0 /\ i_229^0-i_229^post288 == 0 /\ -a_579^post288+a_579^0 == 0 /\ a_633^0-a_633^post288 == 0 /\ -a_263^post288+a_263^0 == 0 /\ temp0_16^0-temp0_16^post288 == 0 /\ -head_32^post288+head_32^0 == 0 /\ a_610^0-a_610^post288 == 0 /\ -a_392^post288+a_392^0 == 0 /\ -a_862^post288+a_862^0 == 0 /\ r_192^0-r_192^post288 == 0 /\ -x_21^post288+x_21^0 == 0 /\ a_417^0-a_417^post288 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post288 == 0 /\ -i_197^post288+i_197^0 == 0 /\ i_27^0-i_27^post288 == 0 /\ nondet_12^0-nondet_12^post288 == 0 /\ x_17^0-x_17^post288 == 0 /\ a_144^0-a_144^post288 == 0 /\ x_14^0-x_14^post288 == 0 /\ a_121^0-a_121^post288 == 0 /\ a_576^0-a_576^post288 == 0 /\ -a_309^post288+a_309^0 == 0 /\ a_634^0-a_634^post288 == 0 /\ -a_924^post288+a_924^0 == 0 /\ a_1089^0-a_1089^post288 == 0 /\ -i_107^post288+i_107^0 == 0 /\ -len_861^post288+len_861^0 == 0 /\ -t_24^post288+t_24^0 == 0 /\ a_311^0-a_311^post288 == 0 /\ -ct_18^post288+ct_18^0 == 0 /\ -a_1162^post288+a_1162^0 == 0 /\ a_947^0-a_947^post288 == 0 /\ -tmp_34^post288+tmp_34^0 == 0 /\ len_238^0-len_238^post288 == 0 /\ -i_30^post288+i_30^0 == 0), cost: 1 289: l179 -> l180 : a_1089^0'=a_1089^post289, f_847^0'=f_847^post289, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post289, a_394^0'=a_394^post289, x_156^0'=x_156^post289, a_632^0'=a_632^post289, r_192^0'=r_192^post289, a_176^0'=a_176^post289, i_106^0'=i_106^post289, a_430^0'=a_430^post289, t_458^0'=t_458^post289, len_161^0'=len_161^post289, x_975^0'=x_975^post289, a_902^0'=a_902^post289, a_947^0'=a_947^post289, rcd_88^0'=rcd_88^post289, a_311^0'=a_311^post289, i_140^0'=i_140^post289, a_577^0'=a_577^post289, x_14^0'=x_14^post289, nondet_12^0'=nondet_12^post289, a_121^0'=a_121^post289, head_15^0'=head_15^post289, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post289, i_27^0'=i_27^post289, x_21^0'=x_21^post289, a_634^0'=a_634^post289, r_39^0'=r_39^post289, a_263^0'=a_263^post289, i_113^0'=i_113^post289, a_432^0'=a_432^post289, temp0_31^0'=temp0_31^post289, len_262^0'=len_262^post289, y_20^0'=y_20^post289, f_248^0'=f_248^post289, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post289, a_393^0'=a_393^post289, i_229^0'=i_229^post289, a_610^0'=a_610^post289, r_151^0'=r_151^post289, a_144^0'=a_144^post289, i_1053^0'=i_1053^post289, a_417^0'=a_417^post289, t_24^0'=t_24^post289, i_94^0'=i_94^post289, x_852^0'=x_852^post289, a_862^0'=a_862^post289, rcd_1249^0'=rcd_1249^post289, rcd_58^0'=rcd_58^post289, a_310^0'=a_310^post289, i_127^0'=i_127^post289, a_576^0'=a_576^post289, tmp_34^0'=tmp_34^post289, length_29^0'=length_29^post289, a_1162^0'=a_1162^post289, f_969^0'=f_969^post289, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post289, a_395^0'=a_395^post289, x_17^0'=x_17^post289, a_633^0'=a_633^post289, r_224^0'=r_224^post289, a_239^0'=a_239^post289, i_107^0'=i_107^post289, a_431^0'=a_431^post289, temp0_16^0'=temp0_16^post289, len_238^0'=len_238^post289, x_SLAM_f_19^0'=x_SLAM_f_19^post289, a_924^0'=a_924^post289, ct_18^0'=ct_18^post289, result_11^0'=result_11^post289, a_392^0'=a_392^post289, i_197^0'=i_197^post289, a_579^0'=a_579^post289, r_143^0'=r_143^post289, a_1236^0'=a_1236^post289, head_32^0'=head_32^post289, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post289, i_30^0'=i_30^post289, x_253^0'=x_253^post289, a_635^0'=a_635^post289, r_970^0'=r_970^post289, rcd_47^0'=rcd_47^post289, a_309^0'=a_309^post289, i_1248^0'=i_1248^post289, a_575^0'=a_575^post289, temp_35^0'=temp_35^post289, len_861^0'=len_861^post289, (-i_1248^post289+i_1248^0 == 0 /\ -len_861^post289+len_861^0 == 0 /\ -head_32^post289+head_32^0 == 0 /\ a_144^0-a_144^post289 == 0 /\ a_263^0-a_263^post289 == 0 /\ a_394^0-a_394^post289 == 0 /\ a_1089^0-a_1089^post289 == 0 /\ -a_310^post289+a_310^0 == 0 /\ -i_229^post289+i_229^0 == 0 /\ a_862^0-a_862^post289 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ x_852^0-x_852^post289 == 0 /\ rcd_88^0-rcd_88^post289 == 0 /\ -a_392^post289+a_392^0 == 0 /\ a_576^0-a_576^post289 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post289 == 0 /\ a_311^0-a_311^post289 == 0 /\ f_847^0-f_847^post289 == 0 /\ -temp0_16^post289+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post289 == 0 /\ tmp_34^0-tmp_34^post289 == 0 /\ -r_224^post289+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post289+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_39^post289+r_39^0 == 0 /\ i_106^0-i_106^post289 == 0 /\ -a_309^post289+a_309^0 == 0 /\ -a_579^post289+a_579^0 == 0 /\ -result_11^post289+result_11^0 == 0 /\ -a_417^post289+a_417^0 == 0 /\ r_143^0-r_143^post289 == 0 /\ -i_127^post289+i_127^0 == 0 /\ -a_393^post289+a_393^0 == 0 /\ -i_30^post289+i_30^0 == 0 /\ -i_197^post289+i_197^0 == 0 /\ t_458^0-t_458^post289 == 0 /\ -x_17^post289+x_17^0 == 0 /\ -a_635^post289+a_635^0 == 0 /\ ct_18^0-ct_18^post289 == 0 /\ a_1236^0-a_1236^post289 == 0 /\ a_610^0-a_610^post289 == 0 /\ -i_107^post289+i_107^0 == 0 /\ -a_577^post289+a_577^0 == 0 /\ -t_24^post289+t_24^0 == 0 /\ x_21^0-x_21^post289 == 0 /\ temp0_31^0-temp0_31^post289 == 0 /\ -a_575^post289+a_575^0 == 0 /\ i_27^0-i_27^post289 == 0 /\ x_14^0-x_14^post289 == 0 /\ a_634^0-a_634^post289 == 0 /\ -rcd_47^post289+rcd_47^0 == 0 /\ -a_633^post289+a_633^0 == 0 /\ a_947^0-a_947^post289 == 0 /\ -a_1162^post289+a_1162^0 == 0 /\ a_121^0-a_121^post289 == 0 /\ len_161^0-len_161^post289 == 0 /\ -a_632^post289+a_632^0 == 0 /\ len_262^0-len_262^post289 == 0 /\ x_156^0-x_156^post289 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post289 == 0 /\ -rcd_1249^post289+rcd_1249^0 == 0 /\ -f_969^post289+f_969^0 == 0 /\ a_176^0-a_176^post289 == 0 /\ x_253^0-x_253^post289 == 0 /\ i_1053^0-i_1053^post289 == 0 /\ len_238^0-len_238^post289 == 0 /\ -a_924^post289+a_924^0 == 0 /\ rcd_58^0-rcd_58^post289 == 0 /\ head_15^0-head_15^post289 == 0 /\ -i_113^post289+i_113^0 == 0 /\ a_430^0-a_430^post289 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post289 == 0 /\ -x_SLAM_f_19^post289+x_SLAM_f_19^0 == 0 /\ -a_431^post289+a_431^0 == 0 /\ -a_432^post289+a_432^0 == 0 /\ r_151^0-r_151^post289 == 0 /\ a_239^0-a_239^post289 == 0 /\ a_902^0-a_902^post289 == 0 /\ x_975^0-x_975^post289 == 0 /\ -temp_35^post289+temp_35^0 == 0 /\ -length_29^post289+length_29^0 == 0 /\ -r_970^post289+r_970^0 == 0 /\ -y_20^post289+y_20^0 == 0 /\ -f_248^post289+f_248^0 == 0 /\ -i_140^post289+i_140^0 == 0 /\ -i_94^post289+i_94^0 == 0 /\ nondet_12^0-nondet_12^post289 == 0 /\ r_192^0-r_192^post289 == 0 /\ -a_395^post289+a_395^0 == 0), cost: 1 290: l180 -> l181 : a_1089^0'=a_1089^post290, f_847^0'=f_847^post290, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post290, a_394^0'=a_394^post290, x_156^0'=x_156^post290, a_632^0'=a_632^post290, r_192^0'=r_192^post290, a_176^0'=a_176^post290, i_106^0'=i_106^post290, a_430^0'=a_430^post290, t_458^0'=t_458^post290, len_161^0'=len_161^post290, x_975^0'=x_975^post290, a_902^0'=a_902^post290, a_947^0'=a_947^post290, rcd_88^0'=rcd_88^post290, a_311^0'=a_311^post290, i_140^0'=i_140^post290, a_577^0'=a_577^post290, x_14^0'=x_14^post290, nondet_12^0'=nondet_12^post290, a_121^0'=a_121^post290, head_15^0'=head_15^post290, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post290, i_27^0'=i_27^post290, x_21^0'=x_21^post290, a_634^0'=a_634^post290, r_39^0'=r_39^post290, a_263^0'=a_263^post290, i_113^0'=i_113^post290, a_432^0'=a_432^post290, temp0_31^0'=temp0_31^post290, len_262^0'=len_262^post290, y_20^0'=y_20^post290, f_248^0'=f_248^post290, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post290, a_393^0'=a_393^post290, i_229^0'=i_229^post290, a_610^0'=a_610^post290, r_151^0'=r_151^post290, a_144^0'=a_144^post290, i_1053^0'=i_1053^post290, a_417^0'=a_417^post290, t_24^0'=t_24^post290, i_94^0'=i_94^post290, x_852^0'=x_852^post290, a_862^0'=a_862^post290, rcd_1249^0'=rcd_1249^post290, rcd_58^0'=rcd_58^post290, a_310^0'=a_310^post290, i_127^0'=i_127^post290, a_576^0'=a_576^post290, tmp_34^0'=tmp_34^post290, length_29^0'=length_29^post290, a_1162^0'=a_1162^post290, f_969^0'=f_969^post290, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post290, a_395^0'=a_395^post290, x_17^0'=x_17^post290, a_633^0'=a_633^post290, r_224^0'=r_224^post290, a_239^0'=a_239^post290, i_107^0'=i_107^post290, a_431^0'=a_431^post290, temp0_16^0'=temp0_16^post290, len_238^0'=len_238^post290, x_SLAM_f_19^0'=x_SLAM_f_19^post290, a_924^0'=a_924^post290, ct_18^0'=ct_18^post290, result_11^0'=result_11^post290, a_392^0'=a_392^post290, i_197^0'=i_197^post290, a_579^0'=a_579^post290, r_143^0'=r_143^post290, a_1236^0'=a_1236^post290, head_32^0'=head_32^post290, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post290, i_30^0'=i_30^post290, x_253^0'=x_253^post290, a_635^0'=a_635^post290, r_970^0'=r_970^post290, rcd_47^0'=rcd_47^post290, a_309^0'=a_309^post290, i_1248^0'=i_1248^post290, a_575^0'=a_575^post290, temp_35^0'=temp_35^post290, len_861^0'=len_861^post290, (r_192^0-r_192^post290 == 0 /\ i_113^0-i_113^post290 == 0 /\ length_29^0-length_29^post290 == 0 /\ r_39^0-r_39^post290 == 0 /\ a_430^0-a_430^post290 == 0 /\ -rcd_1249^post290+rcd_1249^0 == 0 /\ x_975^0-x_975^post290 == 0 /\ -a_610^post290+a_610^0 == 0 /\ i_94^0-i_94^post290 == 0 /\ -result_11^post290+result_11^0 == 0 /\ -len_238^post290+len_238^0 == 0 /\ a_393^0-a_393^post290 == 0 /\ -rcd_47^post290+rcd_47^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ a_633^0-a_633^post290 == 0 /\ -head_15^post290+head_15^0 == 0 /\ -a_924^post290+a_924^0 == 0 /\ -x_21^0+t_24^post290 == 0 /\ -r_143^post290+r_143^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -x_21^post290+x_21^0 == 0 /\ a_432^0-a_432^post290 == 0 /\ f_969^0-f_969^post290 == 0 /\ i_27^0-i_27^post290 == 0 /\ -x_253^post290+x_253^0 == 0 /\ -x_SLAM_f_19^post290+x_SLAM_f_19^0 == 0 /\ a_144^0-a_144^post290 == 0 /\ a_579^0-a_579^post290 == 0 /\ -temp_35^post290+temp_35^0 == 0 /\ i_140^0-i_140^post290 == 0 /\ a_862^0-a_862^post290 == 0 /\ a_634^0-a_634^post290 == 0 /\ len_161^0-len_161^post290 == 0 /\ y_20^0 <= 0 /\ -a_576^post290+a_576^0 == 0 /\ f_847^0-f_847^post290 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -a_431^post290+a_431^0 == 0 /\ -r_970^post290+r_970^0 == 0 /\ -f_248^post290+f_248^0 == 0 /\ a_417^0-a_417^post290 == 0 /\ head_32^0-head_32^post290 == 0 /\ rcd_58^0-rcd_58^post290 == 0 /\ r_151^0-r_151^post290 == 0 /\ -i_229^post290+i_229^0 == 0 /\ a_311^0-a_311^post290 == 0 /\ a_902^0-a_902^post290 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post290 == 0 /\ -temp0_16^post290+temp0_16^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ t_458^0-t_458^post290 == 0 /\ -a_577^post290+a_577^0 == 0 /\ -a_395^post290+a_395^0 == 0 /\ rcd_88^0-rcd_88^post290 == 0 /\ -i_1248^post290+i_1248^0 == 0 /\ -len_861^post290+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post290+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_106^0-i_106^post290 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_1236^post290+a_1236^0 == 0 /\ -y_20^0 <= 0 /\ a_239^0-a_239^post290 == 0 /\ a_1089^0-a_1089^post290 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ x_156^0-x_156^post290 == 0 /\ -a_947^post290+a_947^0 == 0 /\ -len_262^post290+len_262^0 == 0 /\ -r_224^post290+r_224^0 == 0 /\ -a_310^post290+a_310^0 == 0 /\ -i_197^post290+i_197^0 == 0 /\ -a_392^post290+a_392^0 == 0 /\ -x_17^post290+x_17^0 == 0 /\ a_632^0-a_632^post290 == 0 /\ head_15^0-x_17^0 <= 0 /\ -temp0_31^post290+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post290 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -i_30^post290+i_30^0 == 0 /\ -i_107^post290+i_107^0 == 0 /\ x_852^0-x_852^post290 == 0 /\ nondet_12^0-nondet_12^post290 == 0 /\ a_263^0-a_263^post290 == 0 /\ -a_575^post290+a_575^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post290 == 0 /\ -ct_18^0 <= 0 /\ -x_14^post290+x_14^0 == 0 /\ -a_309^post290+a_309^0 == 0 /\ -i_127^post290+i_127^0 == 0 /\ -a_635^post290+a_635^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post290 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_1162^post290+a_1162^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ a_394^0-a_394^post290 == 0 /\ i_1053^0-i_1053^post290 == 0 /\ a_176^0-a_176^post290 == 0 /\ a_121^0-a_121^post290 == 0 /\ y_20^0-y_20^post290 == 0 /\ -head_15^0+x_17^0 <= 0 /\ tmp_34^0-tmp_34^post290 == 0 /\ -ct_18^post290+ct_18^0 == 0), cost: 1 291: l181 -> l182 : a_1089^0'=a_1089^post291, f_847^0'=f_847^post291, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post291, a_394^0'=a_394^post291, x_156^0'=x_156^post291, a_632^0'=a_632^post291, r_192^0'=r_192^post291, a_176^0'=a_176^post291, i_106^0'=i_106^post291, a_430^0'=a_430^post291, t_458^0'=t_458^post291, len_161^0'=len_161^post291, x_975^0'=x_975^post291, a_902^0'=a_902^post291, a_947^0'=a_947^post291, rcd_88^0'=rcd_88^post291, a_311^0'=a_311^post291, i_140^0'=i_140^post291, a_577^0'=a_577^post291, x_14^0'=x_14^post291, nondet_12^0'=nondet_12^post291, a_121^0'=a_121^post291, head_15^0'=head_15^post291, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post291, i_27^0'=i_27^post291, x_21^0'=x_21^post291, a_634^0'=a_634^post291, r_39^0'=r_39^post291, a_263^0'=a_263^post291, i_113^0'=i_113^post291, a_432^0'=a_432^post291, temp0_31^0'=temp0_31^post291, len_262^0'=len_262^post291, y_20^0'=y_20^post291, f_248^0'=f_248^post291, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post291, a_393^0'=a_393^post291, i_229^0'=i_229^post291, a_610^0'=a_610^post291, r_151^0'=r_151^post291, a_144^0'=a_144^post291, i_1053^0'=i_1053^post291, a_417^0'=a_417^post291, t_24^0'=t_24^post291, i_94^0'=i_94^post291, x_852^0'=x_852^post291, a_862^0'=a_862^post291, rcd_1249^0'=rcd_1249^post291, rcd_58^0'=rcd_58^post291, a_310^0'=a_310^post291, i_127^0'=i_127^post291, a_576^0'=a_576^post291, tmp_34^0'=tmp_34^post291, length_29^0'=length_29^post291, a_1162^0'=a_1162^post291, f_969^0'=f_969^post291, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post291, a_395^0'=a_395^post291, x_17^0'=x_17^post291, a_633^0'=a_633^post291, r_224^0'=r_224^post291, a_239^0'=a_239^post291, i_107^0'=i_107^post291, a_431^0'=a_431^post291, temp0_16^0'=temp0_16^post291, len_238^0'=len_238^post291, x_SLAM_f_19^0'=x_SLAM_f_19^post291, a_924^0'=a_924^post291, ct_18^0'=ct_18^post291, result_11^0'=result_11^post291, a_392^0'=a_392^post291, i_197^0'=i_197^post291, a_579^0'=a_579^post291, r_143^0'=r_143^post291, a_1236^0'=a_1236^post291, head_32^0'=head_32^post291, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post291, i_30^0'=i_30^post291, x_253^0'=x_253^post291, a_635^0'=a_635^post291, r_970^0'=r_970^post291, rcd_47^0'=rcd_47^post291, a_309^0'=a_309^post291, i_1248^0'=i_1248^post291, a_575^0'=a_575^post291, temp_35^0'=temp_35^post291, len_861^0'=len_861^post291, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post291+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_862^0-a_862^post291 == 0 /\ -a_310^post291+a_310^0 == 0 /\ x_21^0-x_21^post291 == 0 /\ x_156^0-x_156^post291 == 0 /\ -i_229^post291+i_229^0 == 0 /\ -a_392^post291+a_392^0 == 0 /\ a_263^0-a_263^post291 == 0 /\ -a_1236^post291+a_1236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post291 == 0 /\ f_847^0-f_847^post291 == 0 /\ t_24^0-t_24^post291 == 0 /\ a_144^0-a_144^post291 == 0 /\ -r_224^post291+r_224^0 == 0 /\ i_94^0-i_94^post291 == 0 /\ -len_861^post291+len_861^0 == 0 /\ -temp0_16^post291+temp0_16^0 == 0 /\ a_947^0-a_947^post291 == 0 /\ tmp_34^0-tmp_34^post291 == 0 /\ -len_262^post291+len_262^0 == 0 /\ -i_1248^post291+i_1248^0 == 0 /\ a_417^0-a_417^post291 == 0 /\ -temp0_31^post291+temp0_31^0 == 0 /\ a_394^0-a_394^post291 == 0 /\ -a_635^post291+a_635^0 == 0 /\ -a_239^post291+a_239^0 == 0 /\ -x_17^post291+x_17^0 == 0 /\ r_151^0-r_151^post291 == 0 /\ -ct_18^post291+ct_18^0 == 0 /\ a_577^0-a_577^post291 == 0 /\ -i_127^post291+i_127^0 == 0 /\ r_39^0-r_39^post291 == 0 /\ length_29^0-length_29^post291 == 0 /\ -a_579^post291+a_579^0 == 0 /\ -x_14^post291+x_14^0 == 0 /\ -i_30^post291+i_30^0 == 0 /\ a_902^0-a_902^post291 == 0 /\ -rcd_58^post291+rcd_58^0 == 0 /\ rcd_88^0-rcd_88^post291 == 0 /\ a_311^0-a_311^post291 == 0 /\ i_106^0-i_106^post291 == 0 /\ -head_32^post291+head_32^0 == 0 /\ head_15^0-head_15^post291 == 0 /\ a_1089^0-a_1089^post291 == 0 /\ -a_575^post291+a_575^0 == 0 /\ -i_197^post291+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post291+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post291+a_309^0 == 0 /\ a_432^0-a_432^post291 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post291 == 0 /\ i_27^0-i_27^post291 == 0 /\ -i_107^post291+i_107^0 == 0 /\ a_430^0-a_430^post291 == 0 /\ i_140^0-i_140^post291 == 0 /\ -a_633^post291+a_633^0 == 0 /\ -a_1162^post291+a_1162^0 == 0 /\ -a_924^post291+a_924^0 == 0 /\ -result_11^post291+result_11^0 == 0 /\ -rcd_47^post291+rcd_47^0 == 0 /\ y_20^0-y_20^post291 == 0 /\ -x_852^post291+x_852^0 == 0 /\ x_253^0-x_253^post291 == 0 /\ i_1053^0-i_1053^post291 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post291 == 0 /\ -rcd_1249^post291+rcd_1249^0 == 0 /\ -len_238^post291+len_238^0 == 0 /\ a_395^0-a_395^post291 == 0 /\ a_176^0-a_176^post291 == 0 /\ -r_970^post291+r_970^0 == 0 /\ x_975^0-x_975^post291 == 0 /\ -f_969^post291+f_969^0 == 0 /\ t_458^0-t_458^post291 == 0 /\ a_610^0-a_610^post291 == 0 /\ i_113^0-i_113^post291 == 0 /\ 1-head_15^0 <= 0 /\ -a_576^post291+a_576^0 == 0 /\ r_192^0-r_192^post291 == 0 /\ -r_143^post291+r_143^0 == 0 /\ a_393^0-a_393^post291 == 0 /\ -f_248^post291+f_248^0 == 0 /\ -a_121^post291+a_121^0 == 0 /\ len_161^0-len_161^post291 == 0 /\ -temp_35^post291+temp_35^0 == 0 /\ -x_SLAM_f_19^post291+x_SLAM_f_19^0 == 0 /\ -nondet_12^post291+nondet_12^0 == 0 /\ -a_634^post291+a_634^0 == 0 /\ -a_431^post291+a_431^0 == 0 /\ a_632^0-a_632^post291 == 0), cost: 1 292: l181 -> l182 : a_1089^0'=a_1089^post292, f_847^0'=f_847^post292, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post292, a_394^0'=a_394^post292, x_156^0'=x_156^post292, a_632^0'=a_632^post292, r_192^0'=r_192^post292, a_176^0'=a_176^post292, i_106^0'=i_106^post292, a_430^0'=a_430^post292, t_458^0'=t_458^post292, len_161^0'=len_161^post292, x_975^0'=x_975^post292, a_902^0'=a_902^post292, a_947^0'=a_947^post292, rcd_88^0'=rcd_88^post292, a_311^0'=a_311^post292, i_140^0'=i_140^post292, a_577^0'=a_577^post292, x_14^0'=x_14^post292, nondet_12^0'=nondet_12^post292, a_121^0'=a_121^post292, head_15^0'=head_15^post292, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post292, i_27^0'=i_27^post292, x_21^0'=x_21^post292, a_634^0'=a_634^post292, r_39^0'=r_39^post292, a_263^0'=a_263^post292, i_113^0'=i_113^post292, a_432^0'=a_432^post292, temp0_31^0'=temp0_31^post292, len_262^0'=len_262^post292, y_20^0'=y_20^post292, f_248^0'=f_248^post292, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post292, a_393^0'=a_393^post292, i_229^0'=i_229^post292, a_610^0'=a_610^post292, r_151^0'=r_151^post292, a_144^0'=a_144^post292, i_1053^0'=i_1053^post292, a_417^0'=a_417^post292, t_24^0'=t_24^post292, i_94^0'=i_94^post292, x_852^0'=x_852^post292, a_862^0'=a_862^post292, rcd_1249^0'=rcd_1249^post292, rcd_58^0'=rcd_58^post292, a_310^0'=a_310^post292, i_127^0'=i_127^post292, a_576^0'=a_576^post292, tmp_34^0'=tmp_34^post292, length_29^0'=length_29^post292, a_1162^0'=a_1162^post292, f_969^0'=f_969^post292, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post292, a_395^0'=a_395^post292, x_17^0'=x_17^post292, a_633^0'=a_633^post292, r_224^0'=r_224^post292, a_239^0'=a_239^post292, i_107^0'=i_107^post292, a_431^0'=a_431^post292, temp0_16^0'=temp0_16^post292, len_238^0'=len_238^post292, x_SLAM_f_19^0'=x_SLAM_f_19^post292, a_924^0'=a_924^post292, ct_18^0'=ct_18^post292, result_11^0'=result_11^post292, a_392^0'=a_392^post292, i_197^0'=i_197^post292, a_579^0'=a_579^post292, r_143^0'=r_143^post292, a_1236^0'=a_1236^post292, head_32^0'=head_32^post292, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post292, i_30^0'=i_30^post292, x_253^0'=x_253^post292, a_635^0'=a_635^post292, r_970^0'=r_970^post292, rcd_47^0'=rcd_47^post292, a_309^0'=a_309^post292, i_1248^0'=i_1248^post292, a_575^0'=a_575^post292, temp_35^0'=temp_35^post292, len_861^0'=len_861^post292, (i_113^0-i_113^post292 == 0 /\ length_29^0-length_29^post292 == 0 /\ -rcd_1249^post292+rcd_1249^0 == 0 /\ r_39^0-r_39^post292 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post292 == 0 /\ 1+head_15^0 <= 0 /\ -rcd_47^post292+rcd_47^0 == 0 /\ -a_1162^post292+a_1162^0 == 0 /\ -a_924^post292+a_924^0 == 0 /\ i_94^0-i_94^post292 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post292+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_1053^0-i_1053^post292 == 0 /\ -a_610^post292+a_610^0 == 0 /\ a_393^0-a_393^post292 == 0 /\ -result_11^post292+result_11^0 == 0 /\ -f_969^post292+f_969^0 == 0 /\ -tmp_34^post292+tmp_34^0 == 0 /\ a_432^0-a_432^post292 == 0 /\ a_310^0-a_310^post292 == 0 /\ i_27^0-i_27^post292 == 0 /\ -x_253^post292+x_253^0 == 0 /\ -head_15^post292+head_15^0 == 0 /\ r_192^0-r_192^post292 == 0 /\ a_1089^0-a_1089^post292 == 0 /\ -x_21^post292+x_21^0 == 0 /\ a_263^0-a_263^post292 == 0 /\ -temp_35^post292+temp_35^0 == 0 /\ -f_248^post292+f_248^0 == 0 /\ -nondet_12^post292+nondet_12^0 == 0 /\ i_140^0-i_140^post292 == 0 /\ a_417^0-a_417^post292 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post292 == 0 /\ head_32^0-head_32^post292 == 0 /\ x_156^0-x_156^post292 == 0 /\ -temp0_16^post292+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post292 == 0 /\ a_634^0-a_634^post292 == 0 /\ -a_576^post292+a_576^0 == 0 /\ i_197^0-i_197^post292 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post292 == 0 /\ -r_970^post292+r_970^0 == 0 /\ -a_395^post292+a_395^0 == 0 /\ -a_1236^post292+a_1236^0 == 0 /\ -r_143^post292+r_143^0 == 0 /\ -i_229^post292+i_229^0 == 0 /\ r_151^0-r_151^post292 == 0 /\ -a_392^post292+a_392^0 == 0 /\ a_902^0-a_902^post292 == 0 /\ -temp0_31^post292+temp0_31^0 == 0 /\ x_975^0-x_975^post292 == 0 /\ t_458^0-t_458^post292 == 0 /\ i_30^0-i_30^post292 == 0 /\ -a_144^post292+a_144^0 == 0 /\ a_577^0-a_577^post292 == 0 /\ i_106^0-i_106^post292 == 0 /\ rcd_88^0-rcd_88^post292 == 0 /\ a_311^0-a_311^post292 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post292+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post292 == 0 /\ -i_1248^post292+i_1248^0 == 0 /\ -len_861^post292+len_861^0 == 0 /\ -a_430^post292+a_430^0 == 0 /\ -a_239^post292+a_239^0 == 0 /\ i_107^0-i_107^post292 == 0 /\ t_24^0-t_24^post292 == 0 /\ -a_947^post292+a_947^0 == 0 /\ a_632^0-a_632^post292 == 0 /\ -x_17^post292+x_17^0 == 0 /\ -len_262^post292+len_262^0 == 0 /\ x_852^0-x_852^post292 == 0 /\ a_121^0-a_121^post292 == 0 /\ -rcd_58^post292+rcd_58^0 == 0 /\ -a_635^post292+a_635^0 == 0 /\ len_161^0-len_161^post292 == 0 /\ -len_238^post292+len_238^0 == 0 /\ f_847^0-f_847^post292 == 0 /\ -a_579^post292+a_579^0 == 0 /\ -a_575^post292+a_575^0 == 0 /\ r_224^0-r_224^post292 == 0 /\ a_431^0-a_431^post292 == 0 /\ -a_633^post292+a_633^0 == 0 /\ -a_309^post292+a_309^0 == 0 /\ a_862^0-a_862^post292 == 0 /\ a_394^0-a_394^post292 == 0 /\ -ct_18^post292+ct_18^0 == 0 /\ -i_127^post292+i_127^0 == 0 /\ a_176^0-a_176^post292 == 0 /\ y_20^0-y_20^post292 == 0), cost: 1 293: l182 -> l183 : a_1089^0'=a_1089^post293, f_847^0'=f_847^post293, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post293, a_394^0'=a_394^post293, x_156^0'=x_156^post293, a_632^0'=a_632^post293, r_192^0'=r_192^post293, a_176^0'=a_176^post293, i_106^0'=i_106^post293, a_430^0'=a_430^post293, t_458^0'=t_458^post293, len_161^0'=len_161^post293, x_975^0'=x_975^post293, a_902^0'=a_902^post293, a_947^0'=a_947^post293, rcd_88^0'=rcd_88^post293, a_311^0'=a_311^post293, i_140^0'=i_140^post293, a_577^0'=a_577^post293, x_14^0'=x_14^post293, nondet_12^0'=nondet_12^post293, a_121^0'=a_121^post293, head_15^0'=head_15^post293, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post293, i_27^0'=i_27^post293, x_21^0'=x_21^post293, a_634^0'=a_634^post293, r_39^0'=r_39^post293, a_263^0'=a_263^post293, i_113^0'=i_113^post293, a_432^0'=a_432^post293, temp0_31^0'=temp0_31^post293, len_262^0'=len_262^post293, y_20^0'=y_20^post293, f_248^0'=f_248^post293, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post293, a_393^0'=a_393^post293, i_229^0'=i_229^post293, a_610^0'=a_610^post293, r_151^0'=r_151^post293, a_144^0'=a_144^post293, i_1053^0'=i_1053^post293, a_417^0'=a_417^post293, t_24^0'=t_24^post293, i_94^0'=i_94^post293, x_852^0'=x_852^post293, a_862^0'=a_862^post293, rcd_1249^0'=rcd_1249^post293, rcd_58^0'=rcd_58^post293, a_310^0'=a_310^post293, i_127^0'=i_127^post293, a_576^0'=a_576^post293, tmp_34^0'=tmp_34^post293, length_29^0'=length_29^post293, a_1162^0'=a_1162^post293, f_969^0'=f_969^post293, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post293, a_395^0'=a_395^post293, x_17^0'=x_17^post293, a_633^0'=a_633^post293, r_224^0'=r_224^post293, a_239^0'=a_239^post293, i_107^0'=i_107^post293, a_431^0'=a_431^post293, temp0_16^0'=temp0_16^post293, len_238^0'=len_238^post293, x_SLAM_f_19^0'=x_SLAM_f_19^post293, a_924^0'=a_924^post293, ct_18^0'=ct_18^post293, result_11^0'=result_11^post293, a_392^0'=a_392^post293, i_197^0'=i_197^post293, a_579^0'=a_579^post293, r_143^0'=r_143^post293, a_1236^0'=a_1236^post293, head_32^0'=head_32^post293, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post293, i_30^0'=i_30^post293, x_253^0'=x_253^post293, a_635^0'=a_635^post293, r_970^0'=r_970^post293, rcd_47^0'=rcd_47^post293, a_309^0'=a_309^post293, i_1248^0'=i_1248^post293, a_575^0'=a_575^post293, temp_35^0'=temp_35^post293, len_861^0'=len_861^post293, (i_229^0-i_229^post293 == 0 /\ -a_309^post293+a_309^0 == 0 /\ a_579^0-a_579^post293 == 0 /\ -a_393^post293+a_393^0 == 0 /\ -i_27^post293+i_27^0 == 0 /\ -a_417^post293+a_417^0 == 0 /\ x_156^0-x_156^post293 == 0 /\ temp0_31^0-temp0_31^post293 == 0 /\ head_15^0-head_15^post293 == 0 /\ -x_SLAM_f_19^post293+x_SLAM_f_19^0 == 0 /\ -temp0_16^post293+temp0_16^0 == 0 /\ i_1053^0-i_1053^post293 == 0 /\ -length_29^post293+length_29^0 == 0 /\ -a_392^post293+a_392^0 == 0 /\ a_634^0-a_634^post293 == 0 /\ a_121^0-a_121^post293 == 0 /\ -i_30^post293+i_30^0 == 0 /\ -len_861^post293+len_861^0 == 0 /\ a_947^0-a_947^post293 == 0 /\ -a_239^post293+a_239^0 == 0 /\ -a_1236^post293+a_1236^0 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_577^0-a_577^post293 == 0 /\ len_262^0-len_262^post293 == 0 /\ -len_238^post293+len_238^0 == 0 /\ -a_635^post293+a_635^0 == 0 /\ a_176^0-a_176^post293 == 0 /\ -rcd_47^post293+rcd_47^0 == 0 /\ -head_32^post293+head_32^0 == 0 /\ -rcd_58^post293+rcd_58^0 == 0 /\ -i_197^post293+i_197^0 == 0 /\ r_192^0-r_192^post293 == 0 /\ -i_127^post293+i_127^0 == 0 /\ -ct_18^post293+ct_18^0 == 0 /\ -r_151^post293+r_151^0 == 0 /\ a_632^0-a_632^post293 == 0 /\ x_14^0-x_14^post293 == 0 /\ -a_144^post293+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post293+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_902^post293+a_902^0 == 0 /\ a_1089^0-a_1089^post293 == 0 /\ -a_575^post293+a_575^0 == 0 /\ -a_633^post293+a_633^0 == 0 /\ -a_862^post293+a_862^0 == 0 /\ a_430^0-a_430^post293 == 0 /\ a_310^0-a_310^post293 == 0 /\ a_263^0-a_263^post293 == 0 /\ -a_924^post293+a_924^0 == 0 /\ -a_1162^post293+a_1162^0 == 0 /\ y_20^0-y_20^post293 == 0 /\ f_847^0-f_847^post293 == 0 /\ a_432^0-a_432^post293 == 0 /\ -result_11^post293+result_11^0 == 0 /\ nondet_12^0-nondet_12^post293 == 0 /\ -temp_35^post293+temp_35^0 == 0 /\ i_140^0-i_140^post293 == 0 /\ -tmp_34^post293+tmp_34^0 == 0 /\ x_21^0-x_21^post293 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post293 == 0 /\ -x_253^post293+x_253^0 == 0 /\ -f_969^post293+f_969^0 == 0 /\ i_94^0-i_94^post293 == 0 /\ a_431^0-a_431^post293 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post293 == 0 /\ -a_311^post293+a_311^0 == 0 /\ a_394^0-a_394^post293 == 0 /\ i_113^0-i_113^post293 == 0 /\ x_17^0-x_17^post293 == 0 /\ -x_852^post293+x_852^0 == 0 /\ -rcd_88^post293+rcd_88^0 == 0 /\ -r_970^post293+r_970^0 == 0 /\ x_975^0-x_975^post293 == 0 /\ a_395^0-a_395^post293 == 0 /\ -i_1248^post293+i_1248^0 == 0 /\ a_610^0-a_610^post293 == 0 /\ i_107^0-i_107^post293 == 0 /\ r_224^0-r_224^post293 == 0 /\ -r_143^post293+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post293 == 0 /\ i_106^0-i_106^post293 == 0 /\ t_24^0-t_24^post293 == 0 /\ len_161^0-len_161^post293 == 0 /\ -f_248^post293+f_248^0 == 0 /\ r_39^0-r_39^post293 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post293+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_1249^post293+rcd_1249^0 == 0 /\ -a_576^post293+a_576^0 == 0 /\ t_458^0-t_458^post293 == 0), cost: 1 294: l182 -> l183 : a_1089^0'=a_1089^post294, f_847^0'=f_847^post294, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post294, a_394^0'=a_394^post294, x_156^0'=x_156^post294, a_632^0'=a_632^post294, r_192^0'=r_192^post294, a_176^0'=a_176^post294, i_106^0'=i_106^post294, a_430^0'=a_430^post294, t_458^0'=t_458^post294, len_161^0'=len_161^post294, x_975^0'=x_975^post294, a_902^0'=a_902^post294, a_947^0'=a_947^post294, rcd_88^0'=rcd_88^post294, a_311^0'=a_311^post294, i_140^0'=i_140^post294, a_577^0'=a_577^post294, x_14^0'=x_14^post294, nondet_12^0'=nondet_12^post294, a_121^0'=a_121^post294, head_15^0'=head_15^post294, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post294, i_27^0'=i_27^post294, x_21^0'=x_21^post294, a_634^0'=a_634^post294, r_39^0'=r_39^post294, a_263^0'=a_263^post294, i_113^0'=i_113^post294, a_432^0'=a_432^post294, temp0_31^0'=temp0_31^post294, len_262^0'=len_262^post294, y_20^0'=y_20^post294, f_248^0'=f_248^post294, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post294, a_393^0'=a_393^post294, i_229^0'=i_229^post294, a_610^0'=a_610^post294, r_151^0'=r_151^post294, a_144^0'=a_144^post294, i_1053^0'=i_1053^post294, a_417^0'=a_417^post294, t_24^0'=t_24^post294, i_94^0'=i_94^post294, x_852^0'=x_852^post294, a_862^0'=a_862^post294, rcd_1249^0'=rcd_1249^post294, rcd_58^0'=rcd_58^post294, a_310^0'=a_310^post294, i_127^0'=i_127^post294, a_576^0'=a_576^post294, tmp_34^0'=tmp_34^post294, length_29^0'=length_29^post294, a_1162^0'=a_1162^post294, f_969^0'=f_969^post294, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post294, a_395^0'=a_395^post294, x_17^0'=x_17^post294, a_633^0'=a_633^post294, r_224^0'=r_224^post294, a_239^0'=a_239^post294, i_107^0'=i_107^post294, a_431^0'=a_431^post294, temp0_16^0'=temp0_16^post294, len_238^0'=len_238^post294, x_SLAM_f_19^0'=x_SLAM_f_19^post294, a_924^0'=a_924^post294, ct_18^0'=ct_18^post294, result_11^0'=result_11^post294, a_392^0'=a_392^post294, i_197^0'=i_197^post294, a_579^0'=a_579^post294, r_143^0'=r_143^post294, a_1236^0'=a_1236^post294, head_32^0'=head_32^post294, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post294, i_30^0'=i_30^post294, x_253^0'=x_253^post294, a_635^0'=a_635^post294, r_970^0'=r_970^post294, rcd_47^0'=rcd_47^post294, a_309^0'=a_309^post294, i_1248^0'=i_1248^post294, a_575^0'=a_575^post294, temp_35^0'=temp_35^post294, len_861^0'=len_861^post294, (-x_253^post294+x_253^0 == 0 /\ a_902^0-a_902^post294 == 0 /\ -rcd_1249^post294+rcd_1249^0 == 0 /\ -i_197^post294+i_197^0 == 0 /\ -temp_35^post294+temp_35^0 == 0 /\ i_106^0-i_106^post294 == 0 /\ -head_15^post294+head_15^0 == 0 /\ -ct_18^post294+ct_18^0 == 0 /\ -tmp_34^post294+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post294+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^post294 == 0 /\ -r_970^post294+r_970^0 == 0 /\ -a_610^post294+a_610^0 == 0 /\ i_27^0-i_27^post294 == 0 /\ -len_238^post294+len_238^0 == 0 /\ t_458^0-t_458^post294 == 0 /\ -rcd_58^post294+rcd_58^0 == 0 /\ a_1089^0-a_1089^post294 == 0 /\ a_310^0-a_310^post294 == 0 /\ -rcd_47^post294+rcd_47^0 == 0 /\ -x_852^post294+x_852^0 == 0 /\ a_632^0-a_632^post294 == 0 /\ x_21^0-x_21^post294 == 0 /\ len_262^0-len_262^post294 == 0 /\ a_263^0-a_263^post294 == 0 /\ -i_1053^post294+i_1053^0 == 0 /\ -i_1248^post294+i_1248^0 == 0 /\ -len_861^post294+len_861^0 == 0 /\ -rcd_88^post294+rcd_88^0 == 0 /\ a_924^0-a_924^post294 == 0 /\ temp0_31^0-temp0_31^post294 == 0 /\ -a_239^post294+a_239^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post294 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post294 == 0 /\ -a_311^post294+a_311^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post294+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post294+a_395^0 == 0 /\ -r_224^post294+r_224^0 == 0 /\ nondet_12^0-nondet_12^post294 == 0 /\ x_975^0-x_975^post294 == 0 /\ -a_576^post294+a_576^0 == 0 /\ a_634^0-a_634^post294 == 0 /\ a_176^0-a_176^post294 == 0 /\ a_121^0-a_121^post294 == 0 /\ y_20^0-y_20^post294 == 0 /\ -result_11^post294+result_11^0 == 0 /\ -r_143^post294+r_143^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -f_248^post294+f_248^0 == 0 /\ -i_107^post294+i_107^0 == 0 /\ i_113^0-i_113^post294 == 0 /\ r_39^0-r_39^post294 == 0 /\ r_192^0-r_192^post294 == 0 /\ -a_575^post294+a_575^0 == 0 /\ i_30^0-i_30^post294 == 0 /\ -a_1236^post294+a_1236^0 == 0 /\ -a_635^post294+a_635^0 == 0 /\ -a_309^post294+a_309^0 == 0 /\ f_969^0-f_969^post294 == 0 /\ a_430^0-a_430^post294 == 0 /\ x_14^0-x_14^post294 == 0 /\ -x_17^post294+x_17^0 == 0 /\ a_393^0-a_393^post294 == 0 /\ t_24^0-t_24^post294 == 0 /\ -length_29^post294+length_29^0 == 0 /\ -a_417^post294+a_417^0 == 0 /\ len_161^0-len_161^post294 == 0 /\ x_156^0-x_156^post294 == 0 /\ a_432^0-a_432^post294 == 0 /\ a_1162^0-a_1162^post294 == 0 /\ f_847^0-f_847^post294 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post294+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post294 == 0 /\ temp0_16^0-temp0_16^post294 == 0 /\ a_862^0-a_862^post294 == 0 /\ -r_151^post294+r_151^0 == 0 /\ -head_32^post294+head_32^0 == 0 /\ i_229^0-i_229^post294 == 0 /\ a_431^0-a_431^post294 == 0 /\ -a_579^post294+a_579^0 == 0 /\ -i_127^post294+i_127^0 == 0 /\ -a_392^post294+a_392^0 == 0 /\ a_394^0-a_394^post294 == 0 /\ i_94^0-i_94^post294 == 0 /\ a_577^0-a_577^post294 == 0 /\ a_144^0-a_144^post294 == 0 /\ a_947^0-a_947^post294 == 0 /\ -a_633^post294+a_633^0 == 0), cost: 1 295: l183 -> l184 : a_1089^0'=a_1089^post295, f_847^0'=f_847^post295, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post295, a_394^0'=a_394^post295, x_156^0'=x_156^post295, a_632^0'=a_632^post295, r_192^0'=r_192^post295, a_176^0'=a_176^post295, i_106^0'=i_106^post295, a_430^0'=a_430^post295, t_458^0'=t_458^post295, len_161^0'=len_161^post295, x_975^0'=x_975^post295, a_902^0'=a_902^post295, a_947^0'=a_947^post295, rcd_88^0'=rcd_88^post295, a_311^0'=a_311^post295, i_140^0'=i_140^post295, a_577^0'=a_577^post295, x_14^0'=x_14^post295, nondet_12^0'=nondet_12^post295, a_121^0'=a_121^post295, head_15^0'=head_15^post295, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post295, i_27^0'=i_27^post295, x_21^0'=x_21^post295, a_634^0'=a_634^post295, r_39^0'=r_39^post295, a_263^0'=a_263^post295, i_113^0'=i_113^post295, a_432^0'=a_432^post295, temp0_31^0'=temp0_31^post295, len_262^0'=len_262^post295, y_20^0'=y_20^post295, f_248^0'=f_248^post295, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post295, a_393^0'=a_393^post295, i_229^0'=i_229^post295, a_610^0'=a_610^post295, r_151^0'=r_151^post295, a_144^0'=a_144^post295, i_1053^0'=i_1053^post295, a_417^0'=a_417^post295, t_24^0'=t_24^post295, i_94^0'=i_94^post295, x_852^0'=x_852^post295, a_862^0'=a_862^post295, rcd_1249^0'=rcd_1249^post295, rcd_58^0'=rcd_58^post295, a_310^0'=a_310^post295, i_127^0'=i_127^post295, a_576^0'=a_576^post295, tmp_34^0'=tmp_34^post295, length_29^0'=length_29^post295, a_1162^0'=a_1162^post295, f_969^0'=f_969^post295, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post295, a_395^0'=a_395^post295, x_17^0'=x_17^post295, a_633^0'=a_633^post295, r_224^0'=r_224^post295, a_239^0'=a_239^post295, i_107^0'=i_107^post295, a_431^0'=a_431^post295, temp0_16^0'=temp0_16^post295, len_238^0'=len_238^post295, x_SLAM_f_19^0'=x_SLAM_f_19^post295, a_924^0'=a_924^post295, ct_18^0'=ct_18^post295, result_11^0'=result_11^post295, a_392^0'=a_392^post295, i_197^0'=i_197^post295, a_579^0'=a_579^post295, r_143^0'=r_143^post295, a_1236^0'=a_1236^post295, head_32^0'=head_32^post295, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post295, i_30^0'=i_30^post295, x_253^0'=x_253^post295, a_635^0'=a_635^post295, r_970^0'=r_970^post295, rcd_47^0'=rcd_47^post295, a_309^0'=a_309^post295, i_1248^0'=i_1248^post295, a_575^0'=a_575^post295, temp_35^0'=temp_35^post295, len_861^0'=len_861^post295, (a_1162^0-a_1162^post295 == 0 /\ -a_1236^post295+a_1236^0 == 0 /\ -a_575^post295+a_575^0 == 0 /\ -i_27^post295+i_27^0 == 0 /\ -a_392^post295+a_392^0 == 0 /\ -a_417^post295+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post295 == 0 /\ -a_309^post295+a_309^0 == 0 /\ f_248^0-f_248^post295 == 0 /\ i_197^0-i_197^post295 == 0 /\ temp0_31^0-temp0_31^post295 == 0 /\ -i_30^post295+i_30^0 == 0 /\ a_634^0-a_634^post295 == 0 /\ -a_635^post295+a_635^0 == 0 /\ -length_29^post295+length_29^0 == 0 /\ -x_SLAM_f_19^post295+x_SLAM_f_19^0 == 0 /\ len_262^0-len_262^post295 == 0 /\ x_975^0-x_975^post295 == 0 /\ i_127^0-i_127^post295 == 0 /\ x_17^0-x_17^post295 == 0 /\ a_947^0-a_947^post295 == 0 /\ -i_107^post295+i_107^0 == 0 /\ -head_32^post295+head_32^0 == 0 /\ -rcd_58^post295+rcd_58^0 == 0 /\ r_192^0-r_192^post295 == 0 /\ a_176^0-a_176^post295 == 0 /\ i_113^0-i_113^post295 == 0 /\ -ct_18^post295+ct_18^0 == 0 /\ -rcd_47^post295+rcd_47^0 == 0 /\ -i_140^post295+i_140^0 == 0 /\ -a_310^post295+a_310^0 == 0 /\ -a_862^post295+a_862^0 == 0 /\ a_632^0-a_632^post295 == 0 /\ rcd_1249^0-rcd_1249^post295 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post295+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post295+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post295+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post295 == 0 /\ a_633^0-a_633^post295 == 0 /\ -t_24^post295+t_24^0 == 0 /\ -f_969^post295+f_969^0 == 0 /\ temp0_16^0-temp0_16^post295 == 0 /\ -a_579^post295+a_579^0 == 0 /\ x_156^0-x_156^post295 == 0 /\ f_847^0-f_847^post295 == 0 /\ -x_253^post295+x_253^0 == 0 /\ -a_263^post295+a_263^0 == 0 /\ nondet_12^0-nondet_12^post295 == 0 /\ -result_11^post295+result_11^0 == 0 /\ x_21^0-x_21^post295 == 0 /\ a_121^0-a_121^post295 == 0 /\ -x_852^post295+x_852^0 == 0 /\ i_94^0-i_94^post295 == 0 /\ a_610^0-a_610^post295 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post295 == 0 /\ -y_20^post295+y_20^0 == 0 /\ i_229^0-i_229^post295 == 0 /\ head_15^0-head_15^post295 == 0 /\ a_902^0-a_902^post295 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post295+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_144^0-a_144^post295 == 0 /\ a_394^0-a_394^post295 == 0 /\ r_970^0-r_970^post295 == 0 /\ -a_431^post295+a_431^0 == 0 /\ -len_861^post295+len_861^0 == 0 /\ a_577^0-a_577^post295 == 0 /\ len_238^0-len_238^post295 == 0 /\ -a_395^post295+a_395^0 == 0 /\ -i_1248^post295+i_1248^0 == 0 /\ -a_239^post295+a_239^0 == 0 /\ a_1089^0-a_1089^post295 == 0 /\ -tmp_34^post295+tmp_34^0 == 0 /\ -rcd_88^post295+rcd_88^0 == 0 /\ x_14^0-x_14^post295 == 0 /\ -r_224^post295+r_224^0 == 0 /\ -temp_35^post295+temp_35^0 == 0 /\ i_106^0-i_106^post295 == 0 /\ -r_143^post295+r_143^0 == 0 /\ -i_1053^post295+i_1053^0 == 0 /\ t_458^0-t_458^post295 == 0 /\ -a_924^post295+a_924^0 == 0 /\ -a_576^post295+a_576^0 == 0 /\ a_430^0-a_430^post295 == 0 /\ r_39^0-r_39^post295 == 0 /\ a_311^0-a_311^post295 == 0 /\ -a_393^post295+a_393^0 == 0 /\ -len_161^post295+len_161^0 == 0), cost: 1 296: l183 -> l184 : a_1089^0'=a_1089^post296, f_847^0'=f_847^post296, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post296, a_394^0'=a_394^post296, x_156^0'=x_156^post296, a_632^0'=a_632^post296, r_192^0'=r_192^post296, a_176^0'=a_176^post296, i_106^0'=i_106^post296, a_430^0'=a_430^post296, t_458^0'=t_458^post296, len_161^0'=len_161^post296, x_975^0'=x_975^post296, a_902^0'=a_902^post296, a_947^0'=a_947^post296, rcd_88^0'=rcd_88^post296, a_311^0'=a_311^post296, i_140^0'=i_140^post296, a_577^0'=a_577^post296, x_14^0'=x_14^post296, nondet_12^0'=nondet_12^post296, a_121^0'=a_121^post296, head_15^0'=head_15^post296, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post296, i_27^0'=i_27^post296, x_21^0'=x_21^post296, a_634^0'=a_634^post296, r_39^0'=r_39^post296, a_263^0'=a_263^post296, i_113^0'=i_113^post296, a_432^0'=a_432^post296, temp0_31^0'=temp0_31^post296, len_262^0'=len_262^post296, y_20^0'=y_20^post296, f_248^0'=f_248^post296, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post296, a_393^0'=a_393^post296, i_229^0'=i_229^post296, a_610^0'=a_610^post296, r_151^0'=r_151^post296, a_144^0'=a_144^post296, i_1053^0'=i_1053^post296, a_417^0'=a_417^post296, t_24^0'=t_24^post296, i_94^0'=i_94^post296, x_852^0'=x_852^post296, a_862^0'=a_862^post296, rcd_1249^0'=rcd_1249^post296, rcd_58^0'=rcd_58^post296, a_310^0'=a_310^post296, i_127^0'=i_127^post296, a_576^0'=a_576^post296, tmp_34^0'=tmp_34^post296, length_29^0'=length_29^post296, a_1162^0'=a_1162^post296, f_969^0'=f_969^post296, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post296, a_395^0'=a_395^post296, x_17^0'=x_17^post296, a_633^0'=a_633^post296, r_224^0'=r_224^post296, a_239^0'=a_239^post296, i_107^0'=i_107^post296, a_431^0'=a_431^post296, temp0_16^0'=temp0_16^post296, len_238^0'=len_238^post296, x_SLAM_f_19^0'=x_SLAM_f_19^post296, a_924^0'=a_924^post296, ct_18^0'=ct_18^post296, result_11^0'=result_11^post296, a_392^0'=a_392^post296, i_197^0'=i_197^post296, a_579^0'=a_579^post296, r_143^0'=r_143^post296, a_1236^0'=a_1236^post296, head_32^0'=head_32^post296, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post296, i_30^0'=i_30^post296, x_253^0'=x_253^post296, a_635^0'=a_635^post296, r_970^0'=r_970^post296, rcd_47^0'=rcd_47^post296, a_309^0'=a_309^post296, i_1248^0'=i_1248^post296, a_575^0'=a_575^post296, temp_35^0'=temp_35^post296, len_861^0'=len_861^post296, (a_394^0-a_394^post296 == 0 /\ i_127^0-i_127^post296 == 0 /\ a_1089^0-a_1089^post296 == 0 /\ -a_263^post296+a_263^0 == 0 /\ -r_970^post296+r_970^0 == 0 /\ -y_20^post296+y_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post296+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_24^post296+t_24^0 == 0 /\ rcd_1249^0-rcd_1249^post296 == 0 /\ -a_431^post296+a_431^0 == 0 /\ t_458^0-t_458^post296 == 0 /\ x_852^0-x_852^post296 == 0 /\ len_161^0-len_161^post296 == 0 /\ i_106^0-i_106^post296 == 0 /\ rcd_88^0-rcd_88^post296 == 0 /\ -ct_18^post296+ct_18^0 == 0 /\ -tmp_34^post296+tmp_34^0 == 0 /\ -i_229^post296+i_229^0 == 0 /\ a_576^0-a_576^post296 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ a_311^0-a_311^post296 == 0 /\ -temp_35^post296+temp_35^0 == 0 /\ -x_253^post296+x_253^0 == 0 /\ f_847^0-f_847^post296 == 0 /\ -i_1053^post296+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post296 == 0 /\ -r_224^post296+r_224^0 == 0 /\ -a_395^post296+a_395^0 == 0 /\ -a_577^post296+a_577^0 == 0 /\ a_924^0-a_924^post296 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post296+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1236^0-a_1236^post296 == 0 /\ -len_861^post296+len_861^0 == 0 /\ a_610^0-a_610^post296 == 0 /\ a_121^0-a_121^post296 == 0 /\ -i_1248^post296+i_1248^0 == 0 /\ x_21^0-x_21^post296 == 0 /\ len_262^0-len_262^post296 == 0 /\ -result_11^post296+result_11^0 == 0 /\ temp0_31^0-temp0_31^post296 == 0 /\ -r_143^post296+r_143^0 == 0 /\ -a_393^post296+a_393^0 == 0 /\ -x_17^post296+x_17^0 == 0 /\ -i_30^post296+i_30^0 == 0 /\ a_947^0-a_947^post296 == 0 /\ -a_392^post296+a_392^0 == 0 /\ -i_107^post296+i_107^0 == 0 /\ i_27^0-i_27^post296 == 0 /\ f_969^0-f_969^post296 == 0 /\ -i_94^post296+i_94^0 == 0 /\ x_14^0-x_14^post296 == 0 /\ -a_575^post296+a_575^0 == 0 /\ a_176^0-a_176^post296 == 0 /\ -x_SLAM_f_19^post296+x_SLAM_f_19^0 == 0 /\ -i_113^post296+i_113^0 == 0 /\ -a_309^post296+a_309^0 == 0 /\ a_430^0-a_430^post296 == 0 /\ -a_432^post296+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post296 == 0 /\ -a_310^post296+a_310^0 == 0 /\ a_635^0-a_635^post296 == 0 /\ -a_632^post296+a_632^0 == 0 /\ -len_238^post296+len_238^0 == 0 /\ x_156^0-x_156^post296 == 0 /\ -length_29^post296+length_29^0 == 0 /\ a_1162^0-a_1162^post296 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post296+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -rcd_58^post296+rcd_58^0 == 0 /\ -i_140^post296+i_140^0 == 0 /\ -a_633^post296+a_633^0 == 0 /\ -r_39^post296+r_39^0 == 0 /\ temp0_16^0-temp0_16^post296 == 0 /\ r_151^0-r_151^post296 == 0 /\ a_239^0-a_239^post296 == 0 /\ nondet_12^0-nondet_12^post296 == 0 /\ a_902^0-a_902^post296 == 0 /\ r_192^0-r_192^post296 == 0 /\ a_144^0-a_144^post296 == 0 /\ x_975^0-x_975^post296 == 0 /\ -head_32^post296+head_32^0 == 0 /\ -rcd_47^post296+rcd_47^0 == 0 /\ a_417^0-a_417^post296 == 0 /\ f_248^0-f_248^post296 == 0 /\ head_15^0-head_15^post296 == 0 /\ -a_862^post296+a_862^0 == 0 /\ -i_197^post296+i_197^0 == 0 /\ a_634^0-a_634^post296 == 0 /\ -a_579^post296+a_579^0 == 0), cost: 1 297: l184 -> l1 : a_1089^0'=a_1089^post297, f_847^0'=f_847^post297, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post297, a_394^0'=a_394^post297, x_156^0'=x_156^post297, a_632^0'=a_632^post297, r_192^0'=r_192^post297, a_176^0'=a_176^post297, i_106^0'=i_106^post297, a_430^0'=a_430^post297, t_458^0'=t_458^post297, len_161^0'=len_161^post297, x_975^0'=x_975^post297, a_902^0'=a_902^post297, a_947^0'=a_947^post297, rcd_88^0'=rcd_88^post297, a_311^0'=a_311^post297, i_140^0'=i_140^post297, a_577^0'=a_577^post297, x_14^0'=x_14^post297, nondet_12^0'=nondet_12^post297, a_121^0'=a_121^post297, head_15^0'=head_15^post297, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post297, i_27^0'=i_27^post297, x_21^0'=x_21^post297, a_634^0'=a_634^post297, r_39^0'=r_39^post297, a_263^0'=a_263^post297, i_113^0'=i_113^post297, a_432^0'=a_432^post297, temp0_31^0'=temp0_31^post297, len_262^0'=len_262^post297, y_20^0'=y_20^post297, f_248^0'=f_248^post297, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post297, a_393^0'=a_393^post297, i_229^0'=i_229^post297, a_610^0'=a_610^post297, r_151^0'=r_151^post297, a_144^0'=a_144^post297, i_1053^0'=i_1053^post297, a_417^0'=a_417^post297, t_24^0'=t_24^post297, i_94^0'=i_94^post297, x_852^0'=x_852^post297, a_862^0'=a_862^post297, rcd_1249^0'=rcd_1249^post297, rcd_58^0'=rcd_58^post297, a_310^0'=a_310^post297, i_127^0'=i_127^post297, a_576^0'=a_576^post297, tmp_34^0'=tmp_34^post297, length_29^0'=length_29^post297, a_1162^0'=a_1162^post297, f_969^0'=f_969^post297, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post297, a_395^0'=a_395^post297, x_17^0'=x_17^post297, a_633^0'=a_633^post297, r_224^0'=r_224^post297, a_239^0'=a_239^post297, i_107^0'=i_107^post297, a_431^0'=a_431^post297, temp0_16^0'=temp0_16^post297, len_238^0'=len_238^post297, x_SLAM_f_19^0'=x_SLAM_f_19^post297, a_924^0'=a_924^post297, ct_18^0'=ct_18^post297, result_11^0'=result_11^post297, a_392^0'=a_392^post297, i_197^0'=i_197^post297, a_579^0'=a_579^post297, r_143^0'=r_143^post297, a_1236^0'=a_1236^post297, head_32^0'=head_32^post297, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post297, i_30^0'=i_30^post297, x_253^0'=x_253^post297, a_635^0'=a_635^post297, r_970^0'=r_970^post297, rcd_47^0'=rcd_47^post297, a_309^0'=a_309^post297, i_1248^0'=i_1248^post297, a_575^0'=a_575^post297, temp_35^0'=temp_35^post297, len_861^0'=len_861^post297, (-a_393^post297+a_393^0 == 0 /\ -a_432^post297+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post297 == 0 /\ -i_94^post297+i_94^0 == 0 /\ -i_113^post297+i_113^0 == 0 /\ x_21^0-x_21^post297 == 0 /\ -r_143^post297+r_143^0 == 0 /\ a_430^0-a_430^post297 == 0 /\ x_975^0-x_975^post297 == 0 /\ f_969^0-f_969^post297 == 0 /\ nondet_12^0-nondet_12^post297 == 0 /\ -i_107^post297+i_107^0 == 0 /\ -a_575^post297+a_575^0 == 0 /\ ct_18^0-ct_18^post297 == 0 /\ -a_1236^post297+a_1236^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post297 == 0 /\ a_394^0-a_394^post297 == 0 /\ x_17^0-x_17^post297 == 0 /\ -a_417^post297+a_417^0 == 0 /\ -a_309^post297+a_309^0 == 0 /\ a_633^0-a_633^post297 == 0 /\ i_127^0-i_127^post297 == 0 /\ -x_SLAM_f_19^post297+x_SLAM_f_19^0 == 0 /\ -i_140^post297+i_140^0 == 0 /\ -a_310^post297+a_310^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_58^0-rcd_58^post297 == 0 /\ a_947^0-a_947^post297 == 0 /\ len_161^0-len_161^post297 == 0 /\ -a_392^post297+a_392^0 == 0 /\ -length_29^post297+length_29^0 == 0 /\ -rcd_47^post297+rcd_47^0 == 0 /\ -x_253^post297+x_253^0 == 0 /\ t_458^0-t_458^post297 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post297 == 0 /\ -a_862^post297+a_862^0 == 0 /\ rcd_1249^0-rcd_1249^post297 == 0 /\ i_27^0-i_27^post297 == 0 /\ i_106^0-i_106^post297 == 0 /\ a_576^0-a_576^post297 == 0 /\ -a_579^post297+a_579^0 == 0 /\ -r_151^post297+r_151^0 == 0 /\ f_847^0-f_847^post297 == 0 /\ -head_32^post297+head_32^0 == 0 /\ r_39^0-r_39^post297 == 0 /\ -a_431^post297+a_431^0 == 0 /\ -a_263^post297+a_263^0 == 0 /\ -t_24^post297+t_24^0 == 0 /\ -r_970^post297+r_970^0 == 0 /\ -r_224^post297+r_224^0 == 0 /\ -i_197^post297+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post297 == 0 /\ f_248^0-f_248^post297 == 0 /\ temp0_31^0-temp0_31^post297 == 0 /\ a_610^0-a_610^post297 == 0 /\ a_121^0-a_121^post297 == 0 /\ a_239^0-a_239^post297 == 0 /\ a_634^0-a_634^post297 == 0 /\ -a_395^post297+a_395^0 == 0 /\ -temp_35^post297+temp_35^0 == 0 /\ x_156^0-x_156^post297 == 0 /\ len_262^0-len_262^post297 == 0 /\ head_15^0-head_15^post297 == 0 /\ -x_852^post297+x_852^0 == 0 /\ -y_20^post297+y_20^0 == 0 /\ a_902^0-a_902^post297 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post297 == 0 /\ -a_1162^post297+a_1162^0 == 0 /\ -tmp_34^post297+tmp_34^0 == 0 /\ a_176^0-a_176^post297 == 0 /\ rcd_88^0-rcd_88^post297 == 0 /\ 1-i_27^0 <= 0 /\ i_1053^0-i_1053^post297 == 0 /\ -i_229^post297+i_229^0 == 0 /\ -a_924^post297+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post297+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post297 == 0 /\ r_192^0-r_192^post297 == 0 /\ len_238^0-len_238^post297 == 0 /\ -temp0_16^post297+temp0_16^0 == 0 /\ a_632^0-a_632^post297 == 0 /\ -i_30^post297+i_30^0 == 0 /\ -i_1248^post297+i_1248^0 == 0 /\ -a_577^post297+a_577^0 == 0 /\ a_1089^0-a_1089^post297 == 0 /\ -len_861^post297+len_861^0 == 0 /\ a_311^0-a_311^post297 == 0 /\ -result_11^post297+result_11^0 == 0 /\ -a_635^post297+a_635^0 == 0), cost: 1 298: l185 -> l50 : a_1089^0'=a_1089^post298, f_847^0'=f_847^post298, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post298, a_394^0'=a_394^post298, x_156^0'=x_156^post298, a_632^0'=a_632^post298, r_192^0'=r_192^post298, a_176^0'=a_176^post298, i_106^0'=i_106^post298, a_430^0'=a_430^post298, t_458^0'=t_458^post298, len_161^0'=len_161^post298, x_975^0'=x_975^post298, a_902^0'=a_902^post298, a_947^0'=a_947^post298, rcd_88^0'=rcd_88^post298, a_311^0'=a_311^post298, i_140^0'=i_140^post298, a_577^0'=a_577^post298, x_14^0'=x_14^post298, nondet_12^0'=nondet_12^post298, a_121^0'=a_121^post298, head_15^0'=head_15^post298, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post298, i_27^0'=i_27^post298, x_21^0'=x_21^post298, a_634^0'=a_634^post298, r_39^0'=r_39^post298, a_263^0'=a_263^post298, i_113^0'=i_113^post298, a_432^0'=a_432^post298, temp0_31^0'=temp0_31^post298, len_262^0'=len_262^post298, y_20^0'=y_20^post298, f_248^0'=f_248^post298, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post298, a_393^0'=a_393^post298, i_229^0'=i_229^post298, a_610^0'=a_610^post298, r_151^0'=r_151^post298, a_144^0'=a_144^post298, i_1053^0'=i_1053^post298, a_417^0'=a_417^post298, t_24^0'=t_24^post298, i_94^0'=i_94^post298, x_852^0'=x_852^post298, a_862^0'=a_862^post298, rcd_1249^0'=rcd_1249^post298, rcd_58^0'=rcd_58^post298, a_310^0'=a_310^post298, i_127^0'=i_127^post298, a_576^0'=a_576^post298, tmp_34^0'=tmp_34^post298, length_29^0'=length_29^post298, a_1162^0'=a_1162^post298, f_969^0'=f_969^post298, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post298, a_395^0'=a_395^post298, x_17^0'=x_17^post298, a_633^0'=a_633^post298, r_224^0'=r_224^post298, a_239^0'=a_239^post298, i_107^0'=i_107^post298, a_431^0'=a_431^post298, temp0_16^0'=temp0_16^post298, len_238^0'=len_238^post298, x_SLAM_f_19^0'=x_SLAM_f_19^post298, a_924^0'=a_924^post298, ct_18^0'=ct_18^post298, result_11^0'=result_11^post298, a_392^0'=a_392^post298, i_197^0'=i_197^post298, a_579^0'=a_579^post298, r_143^0'=r_143^post298, a_1236^0'=a_1236^post298, head_32^0'=head_32^post298, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post298, i_30^0'=i_30^post298, x_253^0'=x_253^post298, a_635^0'=a_635^post298, r_970^0'=r_970^post298, rcd_47^0'=rcd_47^post298, a_309^0'=a_309^post298, i_1248^0'=i_1248^post298, a_575^0'=a_575^post298, temp_35^0'=temp_35^post298, len_861^0'=len_861^post298, (0 == 0 /\ a_577^0-a_577^post298 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post298+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ a_263^0-a_263^post298 == 0 /\ -a_862^post298+a_862^0 == 0 /\ i_27^0-i_27^post298 == 0 /\ r_192^0-r_192^post298 == 0 /\ x_14^0-x_14^post298 == 0 /\ a_576^0-a_576^post298 == 0 /\ -r_143^post298+r_143^0 == 0 /\ x_156^0-x_156^post298 == 0 /\ -a_431^post298+a_431^0 == 0 /\ rcd_88^0-rcd_88^post298 == 0 /\ i_106^0-i_106^post298 == 0 /\ -x_852^post298+x_852^0 == 0 /\ -i_229^post298+i_229^0 == 0 /\ -r_970^post298+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post298 == 0 /\ -i_1248^post298+i_1248^0 == 0 /\ -a_392^post298+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post298+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -a_239^post298+a_239^0 == 0 /\ i_127^0-i_127^post298 == 0 /\ a_632^0-a_632^post298 == 0 /\ a_432^0-a_432^post298 == 0 /\ -temp_35^post298+temp_35^0 == 0 /\ a_579^0-a_579^post298 == 0 /\ -a_393^post298+a_393^0 == 0 /\ a_634^0-a_634^post298 == 0 /\ temp0_31^0-temp0_31^post298 == 0 /\ f_248^0-f_248^post298 == 0 /\ -x_253^post298+x_253^0 == 0 /\ a_947^0-a_947^post298 == 0 /\ -rcd_58^post298+rcd_58^0 == 0 /\ len_238^0-len_238^post298 == 0 /\ a_394^0-a_394^post298 == 0 /\ -a_309^post298+a_309^0 == 0 /\ a_430^0-a_430^post298 == 0 /\ a_121^0-a_121^post298 == 0 /\ a_176^0-a_176^post298 == 0 /\ -r_224^post298+r_224^0 == 0 /\ -len_861^post298+len_861^0 == 0 /\ -i_1053^post298+i_1053^0 == 0 /\ -a_395^post298+a_395^0 == 0 /\ -rcd_1249^post298+rcd_1249^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post298 <= 0 /\ -i_113^post298+i_113^0 == 0 /\ i_140^0-i_140^post298 == 0 /\ -a_1236^post298+a_1236^0 == 0 /\ -a_635^post298+a_635^0 == 0 /\ -a_417^post298+a_417^0 == 0 /\ a_633^0-a_633^post298 == 0 /\ f_969^0-f_969^post298 == 0 /\ a_311^0-a_311^post298 == 0 /\ -i_197^post298+i_197^0 == 0 /\ temp0_16^0-temp0_16^post298 == 0 /\ -length_29^post298+length_29^0 == 0 /\ len_161^0-len_161^post298 == 0 /\ a_144^0-a_144^post298 == 0 /\ -a_902^post298+a_902^0 == 0 /\ -r_39^post298+r_39^0 == 0 /\ -i_30^post298+i_30^0 == 0 /\ f_847^0-f_847^post298 == 0 /\ head_15^0-head_15^post298 == 0 /\ -i_107^post298+i_107^0 == 0 /\ -tmp_34^post298+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post298 == 0 /\ -rcd_47^post298+rcd_47^0 == 0 /\ r_151^0-r_151^post298 == 0 /\ -a_575^post298+a_575^0 == 0 /\ -a_924^post298+a_924^0 == 0 /\ result_11^post298-temp0_16^0 == 0 /\ -head_32^post298+head_32^0 == 0 /\ a_310^0-a_310^post298 == 0 /\ a_1089^0-a_1089^post298 == 0 /\ len_262^0-len_262^post298 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post298 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post298 <= 0 /\ a_610^0-a_610^post298 == 0 /\ i_94^0-i_94^post298 == 0 /\ -t_458^post298+t_458^0 == 0 /\ -a_1162^post298+a_1162^0 == 0 /\ x_975^0-x_975^post298 == 0), cost: 1 299: l186 -> l187 : a_1089^0'=a_1089^post299, f_847^0'=f_847^post299, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post299, a_394^0'=a_394^post299, x_156^0'=x_156^post299, a_632^0'=a_632^post299, r_192^0'=r_192^post299, a_176^0'=a_176^post299, i_106^0'=i_106^post299, a_430^0'=a_430^post299, t_458^0'=t_458^post299, len_161^0'=len_161^post299, x_975^0'=x_975^post299, a_902^0'=a_902^post299, a_947^0'=a_947^post299, rcd_88^0'=rcd_88^post299, a_311^0'=a_311^post299, i_140^0'=i_140^post299, a_577^0'=a_577^post299, x_14^0'=x_14^post299, nondet_12^0'=nondet_12^post299, a_121^0'=a_121^post299, head_15^0'=head_15^post299, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post299, i_27^0'=i_27^post299, x_21^0'=x_21^post299, a_634^0'=a_634^post299, r_39^0'=r_39^post299, a_263^0'=a_263^post299, i_113^0'=i_113^post299, a_432^0'=a_432^post299, temp0_31^0'=temp0_31^post299, len_262^0'=len_262^post299, y_20^0'=y_20^post299, f_248^0'=f_248^post299, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post299, a_393^0'=a_393^post299, i_229^0'=i_229^post299, a_610^0'=a_610^post299, r_151^0'=r_151^post299, a_144^0'=a_144^post299, i_1053^0'=i_1053^post299, a_417^0'=a_417^post299, t_24^0'=t_24^post299, i_94^0'=i_94^post299, x_852^0'=x_852^post299, a_862^0'=a_862^post299, rcd_1249^0'=rcd_1249^post299, rcd_58^0'=rcd_58^post299, a_310^0'=a_310^post299, i_127^0'=i_127^post299, a_576^0'=a_576^post299, tmp_34^0'=tmp_34^post299, length_29^0'=length_29^post299, a_1162^0'=a_1162^post299, f_969^0'=f_969^post299, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post299, a_395^0'=a_395^post299, x_17^0'=x_17^post299, a_633^0'=a_633^post299, r_224^0'=r_224^post299, a_239^0'=a_239^post299, i_107^0'=i_107^post299, a_431^0'=a_431^post299, temp0_16^0'=temp0_16^post299, len_238^0'=len_238^post299, x_SLAM_f_19^0'=x_SLAM_f_19^post299, a_924^0'=a_924^post299, ct_18^0'=ct_18^post299, result_11^0'=result_11^post299, a_392^0'=a_392^post299, i_197^0'=i_197^post299, a_579^0'=a_579^post299, r_143^0'=r_143^post299, a_1236^0'=a_1236^post299, head_32^0'=head_32^post299, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post299, i_30^0'=i_30^post299, x_253^0'=x_253^post299, a_635^0'=a_635^post299, r_970^0'=r_970^post299, rcd_47^0'=rcd_47^post299, a_309^0'=a_309^post299, i_1248^0'=i_1248^post299, a_575^0'=a_575^post299, temp_35^0'=temp_35^post299, len_861^0'=len_861^post299, (0 == 0 /\ -i_30^post299+i_30^0 == 0 /\ x_156^0-x_156^post299 == 0 /\ a_902^0-a_902^post299 == 0 /\ -a_144^post299+a_144^0 == 0 /\ -a_309^post299+a_309^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ i_127^0-i_127^post299 == 0 /\ t_458^0-t_458^post299 == 0 /\ -a_575^post299+a_575^0 == 0 /\ -a_579^post299+a_579^0 == 0 /\ i_94^0-i_94^post299 == 0 /\ -a_431^post299+a_431^0 == 0 /\ -a_610^post299+a_610^0 == 0 /\ rcd_1249^0-rcd_1249^post299 == 0 /\ -a_634^post299+a_634^0 == 0 /\ a_1089^0-a_1089^post299 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post299 == 0 /\ a_395^0-a_395^post299 == 0 /\ -a_635^post299+a_635^0 == 0 /\ -rcd_47^post299+rcd_47^0 == 0 /\ -i_113^post299+i_113^0 == 0 /\ a_632^0-a_632^post299 == 0 /\ -f_248^post299+f_248^0 == 0 /\ a_576^0-a_576^post299 == 0 /\ a_417^0-a_417^post299 == 0 /\ a_392^0-a_392^post299 == 0 /\ -x_21^0+y_20^0 <= 0 /\ len_262^0-len_262^post299 == 0 /\ result_11^post299-temp0_16^0 == 0 /\ -rcd_58^post299+rcd_58^0 == 0 /\ i_1053^0-i_1053^post299 == 0 /\ a_176^0-a_176^post299 == 0 /\ -a_633^post299+a_633^0 == 0 /\ -temp_35^post299+temp_35^0 == 0 /\ i_229^0-i_229^post299 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post299+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post299+tmp_34^0 == 0 /\ -a_1236^post299+a_1236^0 == 0 /\ a_430^0-a_430^post299 == 0 /\ -a_311^post299+a_311^0 == 0 /\ -i_197^post299+i_197^0 == 0 /\ a_947^0-a_947^post299 == 0 /\ -f_969^post299+f_969^0 == 0 /\ -a_862^post299+a_862^0 == 0 /\ rcd_88^0-rcd_88^post299 == 0 /\ -r_970^post299+r_970^0 == 0 /\ -a_393^post299+a_393^0 == 0 /\ -a_310^post299+a_310^0 == 0 /\ -head_32^post299+head_32^0 == 0 /\ -r_39^post299+r_39^0 == 0 /\ nondet_12^0-nondet_12^post299 == 0 /\ x_975^0-x_975^post299 == 0 /\ -length_29^post299+length_29^0 == 0 /\ -a_1162^post299+a_1162^0 == 0 /\ a_432^0-a_432^post299 == 0 /\ -x_253^post299+x_253^0 == 0 /\ a_394^0-a_394^post299 == 0 /\ x_852^0-x_852^post299 == 0 /\ -r_192^post299+r_192^0 == 0 /\ -i_1248^post299+i_1248^0 == 0 /\ i_140^0-i_140^post299 == 0 /\ -a_239^post299+a_239^0 == 0 /\ -r_224^post299+r_224^0 == 0 /\ -r_151^post299+r_151^0 == 0 /\ temp0_31^0-temp0_31^post299 == 0 /\ -temp0_16^post299+temp0_16^0 == 0 /\ -len_861^post299+len_861^0 == 0 /\ i_107^0-i_107^post299 == 0 /\ len_161^0-len_161^post299 == 0 /\ -a_924^post299+a_924^0 == 0 /\ f_847^0-f_847^post299 == 0 /\ -a_263^post299+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post299+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_238^0-len_238^post299 == 0 /\ -r_143^post299+r_143^0 == 0 /\ -a_577^post299+a_577^0 == 0 /\ a_121^0-a_121^post299 == 0 /\ i_106^0-i_106^post299 == 0), cost: 1 309: l186 -> l192 : a_1089^0'=a_1089^post309, f_847^0'=f_847^post309, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post309, a_394^0'=a_394^post309, x_156^0'=x_156^post309, a_632^0'=a_632^post309, r_192^0'=r_192^post309, a_176^0'=a_176^post309, i_106^0'=i_106^post309, a_430^0'=a_430^post309, t_458^0'=t_458^post309, len_161^0'=len_161^post309, x_975^0'=x_975^post309, a_902^0'=a_902^post309, a_947^0'=a_947^post309, rcd_88^0'=rcd_88^post309, a_311^0'=a_311^post309, i_140^0'=i_140^post309, a_577^0'=a_577^post309, x_14^0'=x_14^post309, nondet_12^0'=nondet_12^post309, a_121^0'=a_121^post309, head_15^0'=head_15^post309, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post309, i_27^0'=i_27^post309, x_21^0'=x_21^post309, a_634^0'=a_634^post309, r_39^0'=r_39^post309, a_263^0'=a_263^post309, i_113^0'=i_113^post309, a_432^0'=a_432^post309, temp0_31^0'=temp0_31^post309, len_262^0'=len_262^post309, y_20^0'=y_20^post309, f_248^0'=f_248^post309, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post309, a_393^0'=a_393^post309, i_229^0'=i_229^post309, a_610^0'=a_610^post309, r_151^0'=r_151^post309, a_144^0'=a_144^post309, i_1053^0'=i_1053^post309, a_417^0'=a_417^post309, t_24^0'=t_24^post309, i_94^0'=i_94^post309, x_852^0'=x_852^post309, a_862^0'=a_862^post309, rcd_1249^0'=rcd_1249^post309, rcd_58^0'=rcd_58^post309, a_310^0'=a_310^post309, i_127^0'=i_127^post309, a_576^0'=a_576^post309, tmp_34^0'=tmp_34^post309, length_29^0'=length_29^post309, a_1162^0'=a_1162^post309, f_969^0'=f_969^post309, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post309, a_395^0'=a_395^post309, x_17^0'=x_17^post309, a_633^0'=a_633^post309, r_224^0'=r_224^post309, a_239^0'=a_239^post309, i_107^0'=i_107^post309, a_431^0'=a_431^post309, temp0_16^0'=temp0_16^post309, len_238^0'=len_238^post309, x_SLAM_f_19^0'=x_SLAM_f_19^post309, a_924^0'=a_924^post309, ct_18^0'=ct_18^post309, result_11^0'=result_11^post309, a_392^0'=a_392^post309, i_197^0'=i_197^post309, a_579^0'=a_579^post309, r_143^0'=r_143^post309, a_1236^0'=a_1236^post309, head_32^0'=head_32^post309, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post309, i_30^0'=i_30^post309, x_253^0'=x_253^post309, a_635^0'=a_635^post309, r_970^0'=r_970^post309, rcd_47^0'=rcd_47^post309, a_309^0'=a_309^post309, i_1248^0'=i_1248^post309, a_575^0'=a_575^post309, temp_35^0'=temp_35^post309, len_861^0'=len_861^post309, (0 == 0 /\ -a_862^post309+a_862^0 == 0 /\ len_262^0-len_262^post309 == 0 /\ -temp0_16^post309+temp0_16^0 == 0 /\ -len_861^post309+len_861^0 == 0 /\ -a_1236^post309+a_1236^0 == 0 /\ temp0_31^0-temp0_31^post309 == 0 /\ x_156^0-x_156^post309 == 0 /\ len_161^0-len_161^post309 == 0 /\ -a_417^post309+a_417^0 == 0 /\ i_229^0-i_229^post309 == 0 /\ a_634^0-a_634^post309 == 0 /\ -a_393^post309+a_393^0 == 0 /\ i_1053^0-i_1053^post309 == 0 /\ a_176^0-a_176^post309 == 0 /\ a_395^0-a_395^post309 == 0 /\ -i_1248^post309+i_1248^0 == 0 /\ -a_239^post309+a_239^0 == 0 /\ a_947^0-a_947^post309 == 0 /\ -length_29^post309+length_29^0 == 0 /\ a_121^0-a_121^post309 == 0 /\ -a_392^post309+a_392^0 == 0 /\ a_430^0-a_430^post309 == 0 /\ -a_575^post309+a_575^0 == 0 /\ i_113^0-i_113^post309 == 0 /\ -i_197^post309+i_197^0 == 0 /\ -a_579^post309+a_579^0 == 0 /\ -i_127^post309+i_127^0 == 0 /\ r_192^0-r_192^post309 == 0 /\ -i_30^post309+i_30^0 == 0 /\ -a_635^post309+a_635^0 == 0 /\ -r_151^post309+r_151^0 == 0 /\ -head_32^post309+head_32^0 == 0 /\ a_1089^0-a_1089^post309 == 0 /\ a_310^0-a_310^post309 == 0 /\ a_1162^0-a_1162^post309 == 0 /\ -a_309^post309+a_309^0 == 0 /\ a_432^0-a_432^post309 == 0 /\ -a_144^post309+a_144^0 == 0 /\ -rcd_58^post309+rcd_58^0 == 0 /\ a_632^0-a_632^post309 == 0 /\ x_21^0-x_21^post309 == 0 /\ r_970^0-r_970^post309 == 0 /\ -a_633^post309+a_633^0 == 0 /\ -tmp_34^post309+tmp_34^0 == 0 /\ i_140^0-i_140^post309 == 0 /\ a_263^0-a_263^post309 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post309+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_847^0-f_847^post309 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post309 == 0 /\ nondet_12^0-nondet_12^post309 == 0 /\ -a_902^post309+a_902^0 == 0 /\ -result_11^post309+result_11^0 == 0 /\ a_431^0-a_431^post309 == 0 /\ -x_852^post309+x_852^0 == 0 /\ i_94^0-i_94^post309 == 0 /\ a_394^0-a_394^post309 == 0 /\ -rcd_1249^post309+rcd_1249^0 == 0 /\ -len_238^post309+len_238^0 == 0 /\ -a_924^post309+a_924^0 == 0 /\ y_20^0-y_20^post309 == 0 /\ -rcd_47^post309+rcd_47^0 == 0 /\ -r_143^post309+r_143^0 == 0 /\ a_577^0-a_577^post309 == 0 /\ x_975^0-x_975^post309 == 0 /\ r_39^0-r_39^post309 == 0 /\ -x_253^post309+x_253^0 == 0 /\ -f_969^post309+f_969^0 == 0 /\ i_107^0-i_107^post309 == 0 /\ r_224^0-r_224^post309 == 0 /\ a_610^0-a_610^post309 == 0 /\ i_106^0-i_106^post309 == 0 /\ -a_311^post309+a_311^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post309+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -f_248^post309+f_248^0 == 0 /\ -a_576^post309+a_576^0 == 0 /\ -rcd_88^post309+rcd_88^0 == 0 /\ t_24^0-t_24^post309 == 0 /\ -temp_35^post309+temp_35^0 == 0), cost: 1 300: l187 -> l188 : a_1089^0'=a_1089^post300, f_847^0'=f_847^post300, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post300, a_394^0'=a_394^post300, x_156^0'=x_156^post300, a_632^0'=a_632^post300, r_192^0'=r_192^post300, a_176^0'=a_176^post300, i_106^0'=i_106^post300, a_430^0'=a_430^post300, t_458^0'=t_458^post300, len_161^0'=len_161^post300, x_975^0'=x_975^post300, a_902^0'=a_902^post300, a_947^0'=a_947^post300, rcd_88^0'=rcd_88^post300, a_311^0'=a_311^post300, i_140^0'=i_140^post300, a_577^0'=a_577^post300, x_14^0'=x_14^post300, nondet_12^0'=nondet_12^post300, a_121^0'=a_121^post300, head_15^0'=head_15^post300, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post300, i_27^0'=i_27^post300, x_21^0'=x_21^post300, a_634^0'=a_634^post300, r_39^0'=r_39^post300, a_263^0'=a_263^post300, i_113^0'=i_113^post300, a_432^0'=a_432^post300, temp0_31^0'=temp0_31^post300, len_262^0'=len_262^post300, y_20^0'=y_20^post300, f_248^0'=f_248^post300, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post300, a_393^0'=a_393^post300, i_229^0'=i_229^post300, a_610^0'=a_610^post300, r_151^0'=r_151^post300, a_144^0'=a_144^post300, i_1053^0'=i_1053^post300, a_417^0'=a_417^post300, t_24^0'=t_24^post300, i_94^0'=i_94^post300, x_852^0'=x_852^post300, a_862^0'=a_862^post300, rcd_1249^0'=rcd_1249^post300, rcd_58^0'=rcd_58^post300, a_310^0'=a_310^post300, i_127^0'=i_127^post300, a_576^0'=a_576^post300, tmp_34^0'=tmp_34^post300, length_29^0'=length_29^post300, a_1162^0'=a_1162^post300, f_969^0'=f_969^post300, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post300, a_395^0'=a_395^post300, x_17^0'=x_17^post300, a_633^0'=a_633^post300, r_224^0'=r_224^post300, a_239^0'=a_239^post300, i_107^0'=i_107^post300, a_431^0'=a_431^post300, temp0_16^0'=temp0_16^post300, len_238^0'=len_238^post300, x_SLAM_f_19^0'=x_SLAM_f_19^post300, a_924^0'=a_924^post300, ct_18^0'=ct_18^post300, result_11^0'=result_11^post300, a_392^0'=a_392^post300, i_197^0'=i_197^post300, a_579^0'=a_579^post300, r_143^0'=r_143^post300, a_1236^0'=a_1236^post300, head_32^0'=head_32^post300, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post300, i_30^0'=i_30^post300, x_253^0'=x_253^post300, a_635^0'=a_635^post300, r_970^0'=r_970^post300, rcd_47^0'=rcd_47^post300, a_309^0'=a_309^post300, i_1248^0'=i_1248^post300, a_575^0'=a_575^post300, temp_35^0'=temp_35^post300, len_861^0'=len_861^post300, (i_197^0-i_197^post300 == 0 /\ -a_393^post300+a_393^0 == 0 /\ -i_30^post300+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post300 == 0 /\ -a_1236^post300+a_1236^0 == 0 /\ -a_392^post300+a_392^0 == 0 /\ -a_417^post300+a_417^0 == 0 /\ a_1162^0-a_1162^post300 == 0 /\ a_634^0-a_634^post300 == 0 /\ 1-x_14^0 <= 0 /\ -length_29^post300+length_29^0 == 0 /\ a_902^0-a_902^post300 == 0 /\ -x_SLAM_f_19^post300+x_SLAM_f_19^0 == 0 /\ len_262^0-len_262^post300 == 0 /\ a_924^0-a_924^post300 == 0 /\ f_248^0-f_248^post300 == 0 /\ -i_1248^post300+i_1248^0 == 0 /\ -a_239^post300+a_239^0 == 0 /\ x_17^0-x_17^post300 == 0 /\ -i_27^post300+i_27^0 == 0 /\ a_176^0-a_176^post300 == 0 /\ -len_861^post300+len_861^0 == 0 /\ -a_635^post300+a_635^0 == 0 /\ x_975^0-x_975^post300 == 0 /\ -ct_18^post300+ct_18^0 == 0 /\ r_192^0-r_192^post300 == 0 /\ i_113^0-i_113^post300 == 0 /\ -a_610^post300+a_610^0 == 0 /\ a_1089^0-a_1089^post300 == 0 /\ -a_310^post300+a_310^0 == 0 /\ -rcd_58^post300+rcd_58^0 == 0 /\ -rcd_47^post300+rcd_47^0 == 0 /\ x_14^0-x_14^post300 == 0 /\ -x_852^post300+x_852^0 == 0 /\ -head_32^post300+head_32^0 == 0 /\ -i_107^post300+i_107^0 == 0 /\ rcd_1249^0-rcd_1249^post300 == 0 /\ -a_575^post300+a_575^0 == 0 /\ -r_151^post300+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post300+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post300+a_862^0 == 0 /\ a_576^0-a_576^post300 == 0 /\ a_632^0-a_632^post300 == 0 /\ -a_579^post300+a_579^0 == 0 /\ -a_309^post300+a_309^0 == 0 /\ x_21^0-x_21^post300 == 0 /\ y_20^0-y_20^post300 == 0 /\ -x_253^post300+x_253^0 == 0 /\ -a_263^post300+a_263^0 == 0 /\ r_970^0-r_970^post300 == 0 /\ a_633^0-a_633^post300 == 0 /\ -a_431^post300+a_431^0 == 0 /\ a_432^0-a_432^post300 == 0 /\ x_156^0-x_156^post300 == 0 /\ f_847^0-f_847^post300 == 0 /\ nondet_12^0-nondet_12^post300 == 0 /\ temp0_31^0-temp0_31^post300 == 0 /\ i_94^0-i_94^post300 == 0 /\ a_394^0-a_394^post300 == 0 /\ a_144^0-a_144^post300 == 0 /\ -result_11^post300+result_11^0 == 0 /\ -a_311^post300+a_311^0 == 0 /\ a_121^0-a_121^post300 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post300+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post300 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post300 == 0 /\ a_947^0-a_947^post300 == 0 /\ -t_24^post300+t_24^0 == 0 /\ -f_969^post300+f_969^0 == 0 /\ -tmp_34^post300+tmp_34^0 == 0 /\ head_15^0-head_15^post300 == 0 /\ rcd_88^0-rcd_88^post300 == 0 /\ -i_229^post300+i_229^0 == 0 /\ i_127^0-i_127^post300 == 0 /\ -i_1053^post300+i_1053^0 == 0 /\ a_577^0-a_577^post300 == 0 /\ r_39^0-r_39^post300 == 0 /\ -r_224^post300+r_224^0 == 0 /\ -a_395^post300+a_395^0 == 0 /\ len_238^0-len_238^post300 == 0 /\ i_106^0-i_106^post300 == 0 /\ -r_143^post300+r_143^0 == 0 /\ t_458^0-t_458^post300 == 0 /\ temp0_16^0-temp0_16^post300 == 0 /\ -len_161^post300+len_161^0 == 0 /\ i_140^0-i_140^post300 == 0 /\ -temp_35^post300+temp_35^0 == 0 /\ a_430^0-a_430^post300 == 0), cost: 1 301: l187 -> l188 : a_1089^0'=a_1089^post301, f_847^0'=f_847^post301, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post301, a_394^0'=a_394^post301, x_156^0'=x_156^post301, a_632^0'=a_632^post301, r_192^0'=r_192^post301, a_176^0'=a_176^post301, i_106^0'=i_106^post301, a_430^0'=a_430^post301, t_458^0'=t_458^post301, len_161^0'=len_161^post301, x_975^0'=x_975^post301, a_902^0'=a_902^post301, a_947^0'=a_947^post301, rcd_88^0'=rcd_88^post301, a_311^0'=a_311^post301, i_140^0'=i_140^post301, a_577^0'=a_577^post301, x_14^0'=x_14^post301, nondet_12^0'=nondet_12^post301, a_121^0'=a_121^post301, head_15^0'=head_15^post301, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post301, i_27^0'=i_27^post301, x_21^0'=x_21^post301, a_634^0'=a_634^post301, r_39^0'=r_39^post301, a_263^0'=a_263^post301, i_113^0'=i_113^post301, a_432^0'=a_432^post301, temp0_31^0'=temp0_31^post301, len_262^0'=len_262^post301, y_20^0'=y_20^post301, f_248^0'=f_248^post301, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post301, a_393^0'=a_393^post301, i_229^0'=i_229^post301, a_610^0'=a_610^post301, r_151^0'=r_151^post301, a_144^0'=a_144^post301, i_1053^0'=i_1053^post301, a_417^0'=a_417^post301, t_24^0'=t_24^post301, i_94^0'=i_94^post301, x_852^0'=x_852^post301, a_862^0'=a_862^post301, rcd_1249^0'=rcd_1249^post301, rcd_58^0'=rcd_58^post301, a_310^0'=a_310^post301, i_127^0'=i_127^post301, a_576^0'=a_576^post301, tmp_34^0'=tmp_34^post301, length_29^0'=length_29^post301, a_1162^0'=a_1162^post301, f_969^0'=f_969^post301, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post301, a_395^0'=a_395^post301, x_17^0'=x_17^post301, a_633^0'=a_633^post301, r_224^0'=r_224^post301, a_239^0'=a_239^post301, i_107^0'=i_107^post301, a_431^0'=a_431^post301, temp0_16^0'=temp0_16^post301, len_238^0'=len_238^post301, x_SLAM_f_19^0'=x_SLAM_f_19^post301, a_924^0'=a_924^post301, ct_18^0'=ct_18^post301, result_11^0'=result_11^post301, a_392^0'=a_392^post301, i_197^0'=i_197^post301, a_579^0'=a_579^post301, r_143^0'=r_143^post301, a_1236^0'=a_1236^post301, head_32^0'=head_32^post301, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post301, i_30^0'=i_30^post301, x_253^0'=x_253^post301, a_635^0'=a_635^post301, r_970^0'=r_970^post301, rcd_47^0'=rcd_47^post301, a_309^0'=a_309^post301, i_1248^0'=i_1248^post301, a_575^0'=a_575^post301, temp_35^0'=temp_35^post301, len_861^0'=len_861^post301, (-x_253^post301+x_253^0 == 0 /\ a_947^0-a_947^post301 == 0 /\ -r_970^post301+r_970^0 == 0 /\ -y_20^post301+y_20^0 == 0 /\ a_310^0-a_310^post301 == 0 /\ -head_15^post301+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post301 == 0 /\ i_1053^0-i_1053^post301 == 0 /\ i_27^0-i_27^post301 == 0 /\ -x_852^post301+x_852^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post301+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_395^0-a_395^post301 == 0 /\ a_176^0-a_176^post301 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post301 == 0 /\ r_39^0-r_39^post301 == 0 /\ i_140^0-i_140^post301 == 0 /\ a_1089^0-a_1089^post301 == 0 /\ -rcd_58^post301+rcd_58^0 == 0 /\ -a_610^post301+a_610^0 == 0 /\ -ct_18^post301+ct_18^0 == 0 /\ -tmp_34^post301+tmp_34^0 == 0 /\ -temp_35^post301+temp_35^0 == 0 /\ x_156^0-x_156^post301 == 0 /\ i_197^0-i_197^post301 == 0 /\ -f_248^post301+f_248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post301 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post301+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post301 == 0 /\ -temp0_16^post301+temp0_16^0 == 0 /\ a_432^0-a_432^post301 == 0 /\ -len_861^post301+len_861^0 == 0 /\ nondet_12^0-nondet_12^post301 == 0 /\ i_113^0-i_113^post301 == 0 /\ -a_924^post301+a_924^0 == 0 /\ x_975^0-x_975^post301 == 0 /\ r_192^0-r_192^post301 == 0 /\ -i_1248^post301+i_1248^0 == 0 /\ a_121^0-a_121^post301 == 0 /\ -result_11^post301+result_11^0 == 0 /\ -a_239^post301+a_239^0 == 0 /\ -rcd_1249^post301+rcd_1249^0 == 0 /\ i_229^0-i_229^post301 == 0 /\ -a_393^post301+a_393^0 == 0 /\ a_634^0-a_634^post301 == 0 /\ a_394^0-a_394^post301 == 0 /\ x_17^0-x_17^post301 == 0 /\ -r_151^post301+r_151^0 == 0 /\ -a_635^post301+a_635^0 == 0 /\ -a_144^post301+a_144^0 == 0 /\ -a_392^post301+a_392^0 == 0 /\ i_30^0-i_30^post301 == 0 /\ -r_143^post301+r_143^0 == 0 /\ -a_575^post301+a_575^0 == 0 /\ -a_576^post301+a_576^0 == 0 /\ t_24^0-t_24^post301 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post301+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_107^0-i_107^post301 == 0 /\ -a_309^post301+a_309^0 == 0 /\ x_14^0-x_14^post301 == 0 /\ -a_1236^post301+a_1236^0 == 0 /\ -a_417^post301+a_417^0 == 0 /\ rcd_88^0-rcd_88^post301 == 0 /\ len_161^0-len_161^post301 == 0 /\ f_847^0-f_847^post301 == 0 /\ a_311^0-a_311^post301 == 0 /\ a_263^0-a_263^post301 == 0 /\ -len_238^post301+len_238^0 == 0 /\ -length_29^post301+length_29^0 == 0 /\ -a_902^post301+a_902^0 == 0 /\ -a_633^post301+a_633^0 == 0 /\ a_430^0-a_430^post301 == 0 /\ 1+x_14^0 <= 0 /\ r_224^0-r_224^post301 == 0 /\ -t_458^post301+t_458^0 == 0 /\ a_862^0-a_862^post301 == 0 /\ x_21^0-x_21^post301 == 0 /\ a_431^0-a_431^post301 == 0 /\ len_262^0-len_262^post301 == 0 /\ -rcd_47^post301+rcd_47^0 == 0 /\ -f_969^post301+f_969^0 == 0 /\ -head_32^post301+head_32^0 == 0 /\ a_577^0-a_577^post301 == 0 /\ temp0_31^0-temp0_31^post301 == 0 /\ a_1162^0-a_1162^post301 == 0 /\ i_94^0-i_94^post301 == 0 /\ -i_127^post301+i_127^0 == 0 /\ -a_579^post301+a_579^0 == 0 /\ -i_106^post301+i_106^0 == 0), cost: 1 302: l188 -> l189 : a_1089^0'=a_1089^post302, f_847^0'=f_847^post302, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post302, a_394^0'=a_394^post302, x_156^0'=x_156^post302, a_632^0'=a_632^post302, r_192^0'=r_192^post302, a_176^0'=a_176^post302, i_106^0'=i_106^post302, a_430^0'=a_430^post302, t_458^0'=t_458^post302, len_161^0'=len_161^post302, x_975^0'=x_975^post302, a_902^0'=a_902^post302, a_947^0'=a_947^post302, rcd_88^0'=rcd_88^post302, a_311^0'=a_311^post302, i_140^0'=i_140^post302, a_577^0'=a_577^post302, x_14^0'=x_14^post302, nondet_12^0'=nondet_12^post302, a_121^0'=a_121^post302, head_15^0'=head_15^post302, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post302, i_27^0'=i_27^post302, x_21^0'=x_21^post302, a_634^0'=a_634^post302, r_39^0'=r_39^post302, a_263^0'=a_263^post302, i_113^0'=i_113^post302, a_432^0'=a_432^post302, temp0_31^0'=temp0_31^post302, len_262^0'=len_262^post302, y_20^0'=y_20^post302, f_248^0'=f_248^post302, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post302, a_393^0'=a_393^post302, i_229^0'=i_229^post302, a_610^0'=a_610^post302, r_151^0'=r_151^post302, a_144^0'=a_144^post302, i_1053^0'=i_1053^post302, a_417^0'=a_417^post302, t_24^0'=t_24^post302, i_94^0'=i_94^post302, x_852^0'=x_852^post302, a_862^0'=a_862^post302, rcd_1249^0'=rcd_1249^post302, rcd_58^0'=rcd_58^post302, a_310^0'=a_310^post302, i_127^0'=i_127^post302, a_576^0'=a_576^post302, tmp_34^0'=tmp_34^post302, length_29^0'=length_29^post302, a_1162^0'=a_1162^post302, f_969^0'=f_969^post302, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post302, a_395^0'=a_395^post302, x_17^0'=x_17^post302, a_633^0'=a_633^post302, r_224^0'=r_224^post302, a_239^0'=a_239^post302, i_107^0'=i_107^post302, a_431^0'=a_431^post302, temp0_16^0'=temp0_16^post302, len_238^0'=len_238^post302, x_SLAM_f_19^0'=x_SLAM_f_19^post302, a_924^0'=a_924^post302, ct_18^0'=ct_18^post302, result_11^0'=result_11^post302, a_392^0'=a_392^post302, i_197^0'=i_197^post302, a_579^0'=a_579^post302, r_143^0'=r_143^post302, a_1236^0'=a_1236^post302, head_32^0'=head_32^post302, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post302, i_30^0'=i_30^post302, x_253^0'=x_253^post302, a_635^0'=a_635^post302, r_970^0'=r_970^post302, rcd_47^0'=rcd_47^post302, a_309^0'=a_309^post302, i_1248^0'=i_1248^post302, a_575^0'=a_575^post302, temp_35^0'=temp_35^post302, len_861^0'=len_861^post302, (-a_393^post302+a_393^0 == 0 /\ -a_576^post302+a_576^0 == 0 /\ i_229^0-i_229^post302 == 0 /\ -a_309^post302+a_309^0 == 0 /\ -r_143^post302+r_143^0 == 0 /\ f_248^0-f_248^post302 == 0 /\ -i_27^post302+i_27^0 == 0 /\ -i_107^post302+i_107^0 == 0 /\ temp0_31^0-temp0_31^post302 == 0 /\ a_121^0-a_121^post302 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post302+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post302+a_575^0 == 0 /\ i_127^0-i_127^post302 == 0 /\ a_634^0-a_634^post302 == 0 /\ -a_1236^post302+a_1236^0 == 0 /\ x_156^0-x_156^post302 == 0 /\ len_262^0-len_262^post302 == 0 /\ head_15^0-head_15^post302 == 0 /\ -a_417^post302+a_417^0 == 0 /\ a_577^0-a_577^post302 == 0 /\ a_176^0-a_176^post302 == 0 /\ -len_238^post302+len_238^0 == 0 /\ -a_610^post302+a_610^0 == 0 /\ -a_392^post302+a_392^0 == 0 /\ x_14^0-x_14^post302 == 0 /\ -length_29^post302+length_29^0 == 0 /\ r_192^0-r_192^post302 == 0 /\ -rcd_47^post302+rcd_47^0 == 0 /\ -x_253^post302+x_253^0 == 0 /\ -a_862^post302+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post302+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_310^post302+a_310^0 == 0 /\ a_632^0-a_632^post302 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post302 == 0 /\ a_1089^0-a_1089^post302 == 0 /\ -r_151^post302+r_151^0 == 0 /\ -a_902^post302+a_902^0 == 0 /\ -head_32^post302+head_32^0 == 0 /\ temp0_16^0-temp0_16^post302 == 0 /\ -x_852^post302+x_852^0 == 0 /\ y_20^0-y_20^post302 == 0 /\ f_847^0-f_847^post302 == 0 /\ a_432^0-a_432^post302 == 0 /\ -r_224^post302+r_224^0 == 0 /\ -temp_35^post302+temp_35^0 == 0 /\ -r_970^post302+r_970^0 == 0 /\ -i_197^post302+i_197^0 == 0 /\ -a_579^post302+a_579^0 == 0 /\ x_21^0-x_21^post302 == 0 /\ -rcd_58^post302+rcd_58^0 == 0 /\ a_430^0-a_430^post302 == 0 /\ x_975^0-x_975^post302 == 0 /\ -ct_18^post302+ct_18^0 == 0 /\ nondet_12^0-nondet_12^post302 == 0 /\ -a_263^post302+a_263^0 == 0 /\ f_969^0-f_969^post302 == 0 /\ -a_395^post302+a_395^0 == 0 /\ a_431^0-a_431^post302 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post302 == 0 /\ -rcd_88^post302+rcd_88^0 == 0 /\ i_94^0-i_94^post302 == 0 /\ a_394^0-a_394^post302 == 0 /\ a_144^0-a_144^post302 == 0 /\ x_17^0-x_17^post302 == 0 /\ i_113^0-i_113^post302 == 0 /\ -a_311^post302+a_311^0 == 0 /\ a_633^0-a_633^post302 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post302+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post302+a_1162^0 == 0 /\ a_947^0-a_947^post302 == 0 /\ 1-head_15^0 <= 0 /\ len_161^0-len_161^post302 == 0 /\ -a_924^post302+a_924^0 == 0 /\ -i_1248^post302+i_1248^0 == 0 /\ -a_239^post302+a_239^0 == 0 /\ -tmp_34^post302+tmp_34^0 == 0 /\ i_140^0-i_140^post302 == 0 /\ t_458^0-t_458^post302 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post302 == 0 /\ -rcd_1249^post302+rcd_1249^0 == 0 /\ -i_30^post302+i_30^0 == 0 /\ i_106^0-i_106^post302 == 0 /\ -i_1053^post302+i_1053^0 == 0 /\ -len_861^post302+len_861^0 == 0 /\ -result_11^post302+result_11^0 == 0 /\ t_24^0-t_24^post302 == 0 /\ r_39^0-r_39^post302 == 0 /\ -a_635^post302+a_635^0 == 0), cost: 1 303: l188 -> l189 : a_1089^0'=a_1089^post303, f_847^0'=f_847^post303, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post303, a_394^0'=a_394^post303, x_156^0'=x_156^post303, a_632^0'=a_632^post303, r_192^0'=r_192^post303, a_176^0'=a_176^post303, i_106^0'=i_106^post303, a_430^0'=a_430^post303, t_458^0'=t_458^post303, len_161^0'=len_161^post303, x_975^0'=x_975^post303, a_902^0'=a_902^post303, a_947^0'=a_947^post303, rcd_88^0'=rcd_88^post303, a_311^0'=a_311^post303, i_140^0'=i_140^post303, a_577^0'=a_577^post303, x_14^0'=x_14^post303, nondet_12^0'=nondet_12^post303, a_121^0'=a_121^post303, head_15^0'=head_15^post303, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post303, i_27^0'=i_27^post303, x_21^0'=x_21^post303, a_634^0'=a_634^post303, r_39^0'=r_39^post303, a_263^0'=a_263^post303, i_113^0'=i_113^post303, a_432^0'=a_432^post303, temp0_31^0'=temp0_31^post303, len_262^0'=len_262^post303, y_20^0'=y_20^post303, f_248^0'=f_248^post303, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post303, a_393^0'=a_393^post303, i_229^0'=i_229^post303, a_610^0'=a_610^post303, r_151^0'=r_151^post303, a_144^0'=a_144^post303, i_1053^0'=i_1053^post303, a_417^0'=a_417^post303, t_24^0'=t_24^post303, i_94^0'=i_94^post303, x_852^0'=x_852^post303, a_862^0'=a_862^post303, rcd_1249^0'=rcd_1249^post303, rcd_58^0'=rcd_58^post303, a_310^0'=a_310^post303, i_127^0'=i_127^post303, a_576^0'=a_576^post303, tmp_34^0'=tmp_34^post303, length_29^0'=length_29^post303, a_1162^0'=a_1162^post303, f_969^0'=f_969^post303, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post303, a_395^0'=a_395^post303, x_17^0'=x_17^post303, a_633^0'=a_633^post303, r_224^0'=r_224^post303, a_239^0'=a_239^post303, i_107^0'=i_107^post303, a_431^0'=a_431^post303, temp0_16^0'=temp0_16^post303, len_238^0'=len_238^post303, x_SLAM_f_19^0'=x_SLAM_f_19^post303, a_924^0'=a_924^post303, ct_18^0'=ct_18^post303, result_11^0'=result_11^post303, a_392^0'=a_392^post303, i_197^0'=i_197^post303, a_579^0'=a_579^post303, r_143^0'=r_143^post303, a_1236^0'=a_1236^post303, head_32^0'=head_32^post303, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post303, i_30^0'=i_30^post303, x_253^0'=x_253^post303, a_635^0'=a_635^post303, r_970^0'=r_970^post303, rcd_47^0'=rcd_47^post303, a_309^0'=a_309^post303, i_1248^0'=i_1248^post303, a_575^0'=a_575^post303, temp_35^0'=temp_35^post303, len_861^0'=len_861^post303, (-i_197^post303+i_197^0 == 0 /\ -temp_35^post303+temp_35^0 == 0 /\ 1+head_15^0 <= 0 /\ -x_253^post303+x_253^0 == 0 /\ -y_20^post303+y_20^0 == 0 /\ x_852^0-x_852^post303 == 0 /\ a_1089^0-a_1089^post303 == 0 /\ -r_970^post303+r_970^0 == 0 /\ -head_32^post303+head_32^0 == 0 /\ -a_395^post303+a_395^0 == 0 /\ -rcd_58^post303+rcd_58^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post303+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post303 == 0 /\ a_311^0-a_311^post303 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post303 == 0 /\ a_576^0-a_576^post303 == 0 /\ -i_229^post303+i_229^0 == 0 /\ -a_579^post303+a_579^0 == 0 /\ -ct_18^post303+ct_18^0 == 0 /\ -r_39^post303+r_39^0 == 0 /\ -a_263^post303+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post303 == 0 /\ i_106^0-i_106^post303 == 0 /\ -len_861^post303+len_861^0 == 0 /\ tmp_34^0-tmp_34^post303 == 0 /\ f_248^0-f_248^post303 == 0 /\ t_458^0-t_458^post303 == 0 /\ a_924^0-a_924^post303 == 0 /\ -a_393^post303+a_393^0 == 0 /\ -i_1248^post303+i_1248^0 == 0 /\ -x_17^post303+x_17^0 == 0 /\ x_21^0-x_21^post303 == 0 /\ nondet_12^0-nondet_12^post303 == 0 /\ -a_239^post303+a_239^0 == 0 /\ -t_24^post303+t_24^0 == 0 /\ x_975^0-x_975^post303 == 0 /\ a_1236^0-a_1236^post303 == 0 /\ -i_30^post303+i_30^0 == 0 /\ -result_11^post303+result_11^0 == 0 /\ a_634^0-a_634^post303 == 0 /\ temp0_31^0-temp0_31^post303 == 0 /\ -i_1053^post303+i_1053^0 == 0 /\ -r_224^post303+r_224^0 == 0 /\ a_610^0-a_610^post303 == 0 /\ -a_575^post303+a_575^0 == 0 /\ i_27^0-i_27^post303 == 0 /\ -r_143^post303+r_143^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post303 == 0 /\ a_394^0-a_394^post303 == 0 /\ -a_635^post303+a_635^0 == 0 /\ x_14^0-x_14^post303 == 0 /\ a_176^0-a_176^post303 == 0 /\ -x_SLAM_f_19^post303+x_SLAM_f_19^0 == 0 /\ a_121^0-a_121^post303 == 0 /\ f_969^0-f_969^post303 == 0 /\ len_262^0-len_262^post303 == 0 /\ a_947^0-a_947^post303 == 0 /\ a_430^0-a_430^post303 == 0 /\ -a_417^post303+a_417^0 == 0 /\ -a_309^post303+a_309^0 == 0 /\ -a_632^post303+a_632^0 == 0 /\ len_238^0-len_238^post303 == 0 /\ len_161^0-len_161^post303 == 0 /\ -i_113^post303+i_113^0 == 0 /\ rcd_1249^0-rcd_1249^post303 == 0 /\ -i_107^post303+i_107^0 == 0 /\ -a_862^post303+a_862^0 == 0 /\ -a_633^post303+a_633^0 == 0 /\ f_847^0-f_847^post303 == 0 /\ head_15^0-head_15^post303 == 0 /\ temp0_16^0-temp0_16^post303 == 0 /\ r_151^0-r_151^post303 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post303+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_431^post303+a_431^0 == 0 /\ -a_432^post303+a_432^0 == 0 /\ -i_140^post303+i_140^0 == 0 /\ -a_392^post303+a_392^0 == 0 /\ i_127^0-i_127^post303 == 0 /\ a_902^0-a_902^post303 == 0 /\ r_192^0-r_192^post303 == 0 /\ -length_29^post303+length_29^0 == 0 /\ a_1162^0-a_1162^post303 == 0 /\ a_577^0-a_577^post303 == 0 /\ -rcd_47^post303+rcd_47^0 == 0 /\ -a_310^post303+a_310^0 == 0 /\ i_94^0-i_94^post303 == 0 /\ a_144^0-a_144^post303 == 0 /\ x_156^0-x_156^post303 == 0), cost: 1 304: l189 -> l190 : a_1089^0'=a_1089^post304, f_847^0'=f_847^post304, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post304, a_394^0'=a_394^post304, x_156^0'=x_156^post304, a_632^0'=a_632^post304, r_192^0'=r_192^post304, a_176^0'=a_176^post304, i_106^0'=i_106^post304, a_430^0'=a_430^post304, t_458^0'=t_458^post304, len_161^0'=len_161^post304, x_975^0'=x_975^post304, a_902^0'=a_902^post304, a_947^0'=a_947^post304, rcd_88^0'=rcd_88^post304, a_311^0'=a_311^post304, i_140^0'=i_140^post304, a_577^0'=a_577^post304, x_14^0'=x_14^post304, nondet_12^0'=nondet_12^post304, a_121^0'=a_121^post304, head_15^0'=head_15^post304, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post304, i_27^0'=i_27^post304, x_21^0'=x_21^post304, a_634^0'=a_634^post304, r_39^0'=r_39^post304, a_263^0'=a_263^post304, i_113^0'=i_113^post304, a_432^0'=a_432^post304, temp0_31^0'=temp0_31^post304, len_262^0'=len_262^post304, y_20^0'=y_20^post304, f_248^0'=f_248^post304, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post304, a_393^0'=a_393^post304, i_229^0'=i_229^post304, a_610^0'=a_610^post304, r_151^0'=r_151^post304, a_144^0'=a_144^post304, i_1053^0'=i_1053^post304, a_417^0'=a_417^post304, t_24^0'=t_24^post304, i_94^0'=i_94^post304, x_852^0'=x_852^post304, a_862^0'=a_862^post304, rcd_1249^0'=rcd_1249^post304, rcd_58^0'=rcd_58^post304, a_310^0'=a_310^post304, i_127^0'=i_127^post304, a_576^0'=a_576^post304, tmp_34^0'=tmp_34^post304, length_29^0'=length_29^post304, a_1162^0'=a_1162^post304, f_969^0'=f_969^post304, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post304, a_395^0'=a_395^post304, x_17^0'=x_17^post304, a_633^0'=a_633^post304, r_224^0'=r_224^post304, a_239^0'=a_239^post304, i_107^0'=i_107^post304, a_431^0'=a_431^post304, temp0_16^0'=temp0_16^post304, len_238^0'=len_238^post304, x_SLAM_f_19^0'=x_SLAM_f_19^post304, a_924^0'=a_924^post304, ct_18^0'=ct_18^post304, result_11^0'=result_11^post304, a_392^0'=a_392^post304, i_197^0'=i_197^post304, a_579^0'=a_579^post304, r_143^0'=r_143^post304, a_1236^0'=a_1236^post304, head_32^0'=head_32^post304, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post304, i_30^0'=i_30^post304, x_253^0'=x_253^post304, a_635^0'=a_635^post304, r_970^0'=r_970^post304, rcd_47^0'=rcd_47^post304, a_309^0'=a_309^post304, i_1248^0'=i_1248^post304, a_575^0'=a_575^post304, temp_35^0'=temp_35^post304, len_861^0'=len_861^post304, (a_632^0-a_632^post304 == 0 /\ -r_151^post304+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post304 == 0 /\ -x_SLAM_f_19^post304+x_SLAM_f_19^0 == 0 /\ i_106^0-i_106^post304 == 0 /\ f_248^0-f_248^post304 == 0 /\ a_430^0-a_430^post304 == 0 /\ x_975^0-x_975^post304 == 0 /\ t_458^0-t_458^post304 == 0 /\ -r_143^post304+r_143^0 == 0 /\ -i_107^post304+i_107^0 == 0 /\ i_127^0-i_127^post304 == 0 /\ f_969^0-f_969^post304 == 0 /\ -a_575^post304+a_575^0 == 0 /\ result_11^0-result_11^post304 == 0 /\ temp0_31^0-temp0_31^post304 == 0 /\ len_161^0-len_161^post304 == 0 /\ -i_113^post304+i_113^0 == 0 /\ -a_392^post304+a_392^0 == 0 /\ -a_1236^post304+a_1236^0 == 0 /\ rcd_58^0-rcd_58^post304 == 0 /\ 1-t_24^0 <= 0 /\ x_852^0-x_852^post304 == 0 /\ -a_862^post304+a_862^0 == 0 /\ -a_310^post304+a_310^0 == 0 /\ -a_432^post304+a_432^0 == 0 /\ -i_140^post304+i_140^0 == 0 /\ -temp_35^post304+temp_35^0 == 0 /\ a_394^0-a_394^post304 == 0 /\ -rcd_47^post304+rcd_47^0 == 0 /\ a_176^0-a_176^post304 == 0 /\ f_847^0-f_847^post304 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post304+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_1249^0-rcd_1249^post304 == 0 /\ length_29^0-length_29^post304 == 0 /\ -r_970^post304+r_970^0 == 0 /\ -i_94^post304+i_94^0 == 0 /\ -y_20^post304+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post304 == 0 /\ -i_1248^post304+i_1248^0 == 0 /\ -head_32^post304+head_32^0 == 0 /\ temp0_16^0-temp0_16^post304 == 0 /\ a_239^0-a_239^post304 == 0 /\ -ct_18^post304+ct_18^0 == 0 /\ -a_579^post304+a_579^0 == 0 /\ -t_24^post304+t_24^0 == 0 /\ -x_253^post304+x_253^0 == 0 /\ a_610^0-a_610^post304 == 0 /\ a_902^0-a_902^post304 == 0 /\ -a_263^post304+a_263^0 == 0 /\ -a_431^post304+a_431^0 == 0 /\ x_156^0-x_156^post304 == 0 /\ len_262^0-len_262^post304 == 0 /\ a_144^0-a_144^post304 == 0 /\ nondet_12^0-nondet_12^post304 == 0 /\ head_15^0-head_15^post304 == 0 /\ r_192^0-r_192^post304 == 0 /\ i_229^0-i_229^post304 == 0 /\ -a_395^post304+a_395^0 == 0 /\ a_633^0-a_633^post304 == 0 /\ -r_39^post304+r_39^0 == 0 /\ -i_197^post304+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post304+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1089^0-a_1089^post304 == 0 /\ i_27^0-i_27^post304 == 0 /\ x_17^0-x_17^post304 == 0 /\ a_634^0-a_634^post304 == 0 /\ len_238^0-len_238^post304 == 0 /\ -a_309^post304+a_309^0 == 0 /\ a_947^0-a_947^post304 == 0 /\ x_14^0-x_14^post304 == 0 /\ -tmp_34^post304+tmp_34^0 == 0 /\ -x_21^post304+x_21^0 == 0 /\ a_121^0-a_121^post304 == 0 /\ -a_924^post304+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post304 == 0 /\ a_417^0-a_417^post304 == 0 /\ -i_30^post304+i_30^0 == 0 /\ a_311^0-a_311^post304 == 0 /\ -i_1053^post304+i_1053^0 == 0 /\ -a_393^post304+a_393^0 == 0 /\ -a_635^post304+a_635^0 == 0 /\ a_576^0-a_576^post304 == 0 /\ rcd_88^0-rcd_88^post304 == 0 /\ -r_224^post304+r_224^0 == 0 /\ -a_1162^post304+a_1162^0 == 0 /\ -a_577^post304+a_577^0 == 0 /\ -len_861^post304+len_861^0 == 0), cost: 1 305: l189 -> l190 : a_1089^0'=a_1089^post305, f_847^0'=f_847^post305, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post305, a_394^0'=a_394^post305, x_156^0'=x_156^post305, a_632^0'=a_632^post305, r_192^0'=r_192^post305, a_176^0'=a_176^post305, i_106^0'=i_106^post305, a_430^0'=a_430^post305, t_458^0'=t_458^post305, len_161^0'=len_161^post305, x_975^0'=x_975^post305, a_902^0'=a_902^post305, a_947^0'=a_947^post305, rcd_88^0'=rcd_88^post305, a_311^0'=a_311^post305, i_140^0'=i_140^post305, a_577^0'=a_577^post305, x_14^0'=x_14^post305, nondet_12^0'=nondet_12^post305, a_121^0'=a_121^post305, head_15^0'=head_15^post305, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post305, i_27^0'=i_27^post305, x_21^0'=x_21^post305, a_634^0'=a_634^post305, r_39^0'=r_39^post305, a_263^0'=a_263^post305, i_113^0'=i_113^post305, a_432^0'=a_432^post305, temp0_31^0'=temp0_31^post305, len_262^0'=len_262^post305, y_20^0'=y_20^post305, f_248^0'=f_248^post305, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post305, a_393^0'=a_393^post305, i_229^0'=i_229^post305, a_610^0'=a_610^post305, r_151^0'=r_151^post305, a_144^0'=a_144^post305, i_1053^0'=i_1053^post305, a_417^0'=a_417^post305, t_24^0'=t_24^post305, i_94^0'=i_94^post305, x_852^0'=x_852^post305, a_862^0'=a_862^post305, rcd_1249^0'=rcd_1249^post305, rcd_58^0'=rcd_58^post305, a_310^0'=a_310^post305, i_127^0'=i_127^post305, a_576^0'=a_576^post305, tmp_34^0'=tmp_34^post305, length_29^0'=length_29^post305, a_1162^0'=a_1162^post305, f_969^0'=f_969^post305, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post305, a_395^0'=a_395^post305, x_17^0'=x_17^post305, a_633^0'=a_633^post305, r_224^0'=r_224^post305, a_239^0'=a_239^post305, i_107^0'=i_107^post305, a_431^0'=a_431^post305, temp0_16^0'=temp0_16^post305, len_238^0'=len_238^post305, x_SLAM_f_19^0'=x_SLAM_f_19^post305, a_924^0'=a_924^post305, ct_18^0'=ct_18^post305, result_11^0'=result_11^post305, a_392^0'=a_392^post305, i_197^0'=i_197^post305, a_579^0'=a_579^post305, r_143^0'=r_143^post305, a_1236^0'=a_1236^post305, head_32^0'=head_32^post305, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post305, i_30^0'=i_30^post305, x_253^0'=x_253^post305, a_635^0'=a_635^post305, r_970^0'=r_970^post305, rcd_47^0'=rcd_47^post305, a_309^0'=a_309^post305, i_1248^0'=i_1248^post305, a_575^0'=a_575^post305, temp_35^0'=temp_35^post305, len_861^0'=len_861^post305, (-temp0_16^post305+temp0_16^0 == 0 /\ a_1089^0-a_1089^post305 == 0 /\ a_144^0-a_144^post305 == 0 /\ a_394^0-a_394^post305 == 0 /\ a_862^0-a_862^post305 == 0 /\ -r_970^post305+r_970^0 == 0 /\ -a_310^post305+a_310^0 == 0 /\ len_161^0-len_161^post305 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post305 == 0 /\ -r_224^post305+r_224^0 == 0 /\ -len_861^post305+len_861^0 == 0 /\ -f_248^post305+f_248^0 == 0 /\ -head_32^post305+head_32^0 == 0 /\ a_263^0-a_263^post305 == 0 /\ -y_20^post305+y_20^0 == 0 /\ a_576^0-a_576^post305 == 0 /\ a_392^0-a_392^post305 == 0 /\ a_311^0-a_311^post305 == 0 /\ -i_229^post305+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post305+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_852^0-x_852^post305 == 0 /\ -temp_35^post305+temp_35^0 == 0 /\ -i_197^post305+i_197^0 == 0 /\ -a_579^post305+a_579^0 == 0 /\ rcd_88^0-rcd_88^post305 == 0 /\ i_106^0-i_106^post305 == 0 /\ f_847^0-f_847^post305 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post305 == 0 /\ -i_127^post305+i_127^0 == 0 /\ -i_107^post305+i_107^0 == 0 /\ -i_30^post305+i_30^0 == 0 /\ -a_575^post305+a_575^0 == 0 /\ t_458^0-t_458^post305 == 0 /\ -a_417^post305+a_417^0 == 0 /\ -result_11^post305+result_11^0 == 0 /\ a_430^0-a_430^post305 == 0 /\ x_21^0-x_21^post305 == 0 /\ -a_1162^post305+a_1162^0 == 0 /\ -a_393^post305+a_393^0 == 0 /\ ct_18^0-ct_18^post305 == 0 /\ a_1236^0-a_1236^post305 == 0 /\ len_262^0-len_262^post305 == 0 /\ -x_17^post305+x_17^0 == 0 /\ r_143^0-r_143^post305 == 0 /\ -a_577^post305+a_577^0 == 0 /\ -t_24^post305+t_24^0 == 0 /\ -i_1248^post305+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post305 == 0 /\ -a_635^post305+a_635^0 == 0 /\ a_610^0-a_610^post305 == 0 /\ a_634^0-a_634^post305 == 0 /\ -len_238^post305+len_238^0 == 0 /\ x_14^0-x_14^post305 == 0 /\ 1+t_24^0 <= 0 /\ -a_633^post305+a_633^0 == 0 /\ a_176^0-a_176^post305 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post305 == 0 /\ a_947^0-a_947^post305 == 0 /\ i_27^0-i_27^post305 == 0 /\ a_121^0-a_121^post305 == 0 /\ -a_924^post305+a_924^0 == 0 /\ x_253^0-x_253^post305 == 0 /\ -a_632^post305+a_632^0 == 0 /\ -a_432^post305+a_432^0 == 0 /\ -i_113^post305+i_113^0 == 0 /\ -rcd_1249^post305+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post305 == 0 /\ i_1053^0-i_1053^post305 == 0 /\ a_395^0-a_395^post305 == 0 /\ -a_309^post305+a_309^0 == 0 /\ -a_431^post305+a_431^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post305 == 0 /\ -f_969^post305+f_969^0 == 0 /\ -r_39^post305+r_39^0 == 0 /\ head_15^0-head_15^post305 == 0 /\ tmp_34^0-tmp_34^post305 == 0 /\ r_151^0-r_151^post305 == 0 /\ x_975^0-x_975^post305 == 0 /\ -rcd_47^post305+rcd_47^0 == 0 /\ r_192^0-r_192^post305 == 0 /\ -x_SLAM_f_19^post305+x_SLAM_f_19^0 == 0 /\ x_156^0-x_156^post305 == 0 /\ a_239^0-a_239^post305 == 0 /\ a_902^0-a_902^post305 == 0 /\ -i_140^post305+i_140^0 == 0 /\ -i_94^post305+i_94^0 == 0 /\ -length_29^post305+length_29^0 == 0 /\ nondet_12^0-nondet_12^post305 == 0), cost: 1 306: l190 -> l191 : a_1089^0'=a_1089^post306, f_847^0'=f_847^post306, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post306, a_394^0'=a_394^post306, x_156^0'=x_156^post306, a_632^0'=a_632^post306, r_192^0'=r_192^post306, a_176^0'=a_176^post306, i_106^0'=i_106^post306, a_430^0'=a_430^post306, t_458^0'=t_458^post306, len_161^0'=len_161^post306, x_975^0'=x_975^post306, a_902^0'=a_902^post306, a_947^0'=a_947^post306, rcd_88^0'=rcd_88^post306, a_311^0'=a_311^post306, i_140^0'=i_140^post306, a_577^0'=a_577^post306, x_14^0'=x_14^post306, nondet_12^0'=nondet_12^post306, a_121^0'=a_121^post306, head_15^0'=head_15^post306, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post306, i_27^0'=i_27^post306, x_21^0'=x_21^post306, a_634^0'=a_634^post306, r_39^0'=r_39^post306, a_263^0'=a_263^post306, i_113^0'=i_113^post306, a_432^0'=a_432^post306, temp0_31^0'=temp0_31^post306, len_262^0'=len_262^post306, y_20^0'=y_20^post306, f_248^0'=f_248^post306, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post306, a_393^0'=a_393^post306, i_229^0'=i_229^post306, a_610^0'=a_610^post306, r_151^0'=r_151^post306, a_144^0'=a_144^post306, i_1053^0'=i_1053^post306, a_417^0'=a_417^post306, t_24^0'=t_24^post306, i_94^0'=i_94^post306, x_852^0'=x_852^post306, a_862^0'=a_862^post306, rcd_1249^0'=rcd_1249^post306, rcd_58^0'=rcd_58^post306, a_310^0'=a_310^post306, i_127^0'=i_127^post306, a_576^0'=a_576^post306, tmp_34^0'=tmp_34^post306, length_29^0'=length_29^post306, a_1162^0'=a_1162^post306, f_969^0'=f_969^post306, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post306, a_395^0'=a_395^post306, x_17^0'=x_17^post306, a_633^0'=a_633^post306, r_224^0'=r_224^post306, a_239^0'=a_239^post306, i_107^0'=i_107^post306, a_431^0'=a_431^post306, temp0_16^0'=temp0_16^post306, len_238^0'=len_238^post306, x_SLAM_f_19^0'=x_SLAM_f_19^post306, a_924^0'=a_924^post306, ct_18^0'=ct_18^post306, result_11^0'=result_11^post306, a_392^0'=a_392^post306, i_197^0'=i_197^post306, a_579^0'=a_579^post306, r_143^0'=r_143^post306, a_1236^0'=a_1236^post306, head_32^0'=head_32^post306, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post306, i_30^0'=i_30^post306, x_253^0'=x_253^post306, a_635^0'=a_635^post306, r_970^0'=r_970^post306, rcd_47^0'=rcd_47^post306, a_309^0'=a_309^post306, i_1248^0'=i_1248^post306, a_575^0'=a_575^post306, temp_35^0'=temp_35^post306, len_861^0'=len_861^post306, (r_151^0-r_151^post306 == 0 /\ -a_610^post306+a_610^0 == 0 /\ length_29^0-length_29^post306 == 0 /\ -len_238^post306+len_238^0 == 0 /\ i_94^0-i_94^post306 == 0 /\ a_430^0-a_430^post306 == 0 /\ i_113^0-i_113^post306 == 0 /\ x_975^0-x_975^post306 == 0 /\ r_39^0-r_39^post306 == 0 /\ -rcd_47^post306+rcd_47^0 == 0 /\ -a_634^post306+a_634^0 == 0 /\ a_393^0-a_393^post306 == 0 /\ -r_143^post306+r_143^0 == 0 /\ -a_575^post306+a_575^0 == 0 /\ f_969^0-f_969^post306 == 0 /\ -rcd_1249^post306+rcd_1249^0 == 0 /\ x_21^0-x_21^post306 == 0 /\ a_633^0-a_633^post306 == 0 /\ -a_309^post306+a_309^0 == 0 /\ a_432^0-a_432^post306 == 0 /\ r_192^0-r_192^post306 == 0 /\ -result_11^post306+result_11^0 == 0 /\ a_862^0-a_862^post306 == 0 /\ i_140^0-i_140^post306 == 0 /\ a_417^0-a_417^post306 == 0 /\ len_161^0-len_161^post306 == 0 /\ head_32^0-head_32^post306 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post306 == 0 /\ i_27^0-i_27^post306 == 0 /\ rcd_58^0-rcd_58^post306 == 0 /\ a_144^0-a_144^post306 == 0 /\ -a_576^post306+a_576^0 == 0 /\ -nondet_12^post306+nondet_12^0 == 0 /\ -a_392^post306+a_392^0 == 0 /\ t_24^0-t_24^post306 == 0 /\ -a_1236^post306+a_1236^0 == 0 /\ -x_253^post306+x_253^0 == 0 /\ -x_SLAM_f_19^post306+x_SLAM_f_19^0 == 0 /\ -r_970^post306+r_970^0 == 0 /\ -a_431^post306+a_431^0 == 0 /\ -a_310^post306+a_310^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post306+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post306+r_224^0 == 0 /\ t_458^0-t_458^post306 == 0 /\ f_248^0-f_248^post306 == 0 /\ -temp0_31^post306+temp0_31^0 == 0 /\ -len_262^post306+len_262^0 == 0 /\ i_106^0-i_106^post306 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_632^0-a_632^post306 == 0 /\ a_577^0-a_577^post306 == 0 /\ a_239^0-a_239^post306 == 0 /\ rcd_88^0-rcd_88^post306 == 0 /\ a_311^0-a_311^post306 == 0 /\ a_902^0-a_902^post306 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post306 == 0 /\ -a_395^post306+a_395^0 == 0 /\ -i_197^post306+i_197^0 == 0 /\ -temp_35^post306+temp_35^0 == 0 /\ x_156^0-x_156^post306 == 0 /\ a_1089^0-a_1089^post306 == 0 /\ -a_579^post306+a_579^0 == 0 /\ i_229^0-i_229^post306 == 0 /\ -a_947^post306+a_947^0 == 0 /\ -x_17^post306+x_17^0 == 0 /\ a_121^0-a_121^post306 == 0 /\ -head_15^post306+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post306 == 0 /\ x_852^0-x_852^post306 == 0 /\ -x_14^post306+x_14^0 == 0 /\ -a_1162^post306+a_1162^0 == 0 /\ -i_127^post306+i_127^0 == 0 /\ -a_924^post306+a_924^0 == 0 /\ a_263^0-a_263^post306 == 0 /\ -i_107^post306+i_107^0 == 0 /\ -len_861^post306+len_861^0 == 0 /\ a_176^0-a_176^post306 == 0 /\ f_847^0-f_847^post306 == 0 /\ y_20^0-y_20^post306 == 0 /\ -ct_18^post306+ct_18^0 == 0 /\ a_394^0-a_394^post306 == 0 /\ -temp0_16^post306+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post306 == 0 /\ -a_635^post306+a_635^0 == 0 /\ tmp_34^0-tmp_34^post306 == 0 /\ -i_1248^post306+i_1248^0 == 0 /\ i_1053^0-i_1053^post306 == 0 /\ -i_30^post306+i_30^0 == 0), cost: 1 307: l190 -> l191 : a_1089^0'=a_1089^post307, f_847^0'=f_847^post307, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post307, a_394^0'=a_394^post307, x_156^0'=x_156^post307, a_632^0'=a_632^post307, r_192^0'=r_192^post307, a_176^0'=a_176^post307, i_106^0'=i_106^post307, a_430^0'=a_430^post307, t_458^0'=t_458^post307, len_161^0'=len_161^post307, x_975^0'=x_975^post307, a_902^0'=a_902^post307, a_947^0'=a_947^post307, rcd_88^0'=rcd_88^post307, a_311^0'=a_311^post307, i_140^0'=i_140^post307, a_577^0'=a_577^post307, x_14^0'=x_14^post307, nondet_12^0'=nondet_12^post307, a_121^0'=a_121^post307, head_15^0'=head_15^post307, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post307, i_27^0'=i_27^post307, x_21^0'=x_21^post307, a_634^0'=a_634^post307, r_39^0'=r_39^post307, a_263^0'=a_263^post307, i_113^0'=i_113^post307, a_432^0'=a_432^post307, temp0_31^0'=temp0_31^post307, len_262^0'=len_262^post307, y_20^0'=y_20^post307, f_248^0'=f_248^post307, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post307, a_393^0'=a_393^post307, i_229^0'=i_229^post307, a_610^0'=a_610^post307, r_151^0'=r_151^post307, a_144^0'=a_144^post307, i_1053^0'=i_1053^post307, a_417^0'=a_417^post307, t_24^0'=t_24^post307, i_94^0'=i_94^post307, x_852^0'=x_852^post307, a_862^0'=a_862^post307, rcd_1249^0'=rcd_1249^post307, rcd_58^0'=rcd_58^post307, a_310^0'=a_310^post307, i_127^0'=i_127^post307, a_576^0'=a_576^post307, tmp_34^0'=tmp_34^post307, length_29^0'=length_29^post307, a_1162^0'=a_1162^post307, f_969^0'=f_969^post307, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post307, a_395^0'=a_395^post307, x_17^0'=x_17^post307, a_633^0'=a_633^post307, r_224^0'=r_224^post307, a_239^0'=a_239^post307, i_107^0'=i_107^post307, a_431^0'=a_431^post307, temp0_16^0'=temp0_16^post307, len_238^0'=len_238^post307, x_SLAM_f_19^0'=x_SLAM_f_19^post307, a_924^0'=a_924^post307, ct_18^0'=ct_18^post307, result_11^0'=result_11^post307, a_392^0'=a_392^post307, i_197^0'=i_197^post307, a_579^0'=a_579^post307, r_143^0'=r_143^post307, a_1236^0'=a_1236^post307, head_32^0'=head_32^post307, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post307, i_30^0'=i_30^post307, x_253^0'=x_253^post307, a_635^0'=a_635^post307, r_970^0'=r_970^post307, rcd_47^0'=rcd_47^post307, a_309^0'=a_309^post307, i_1248^0'=i_1248^post307, a_575^0'=a_575^post307, temp_35^0'=temp_35^post307, len_861^0'=len_861^post307, (a_144^0-a_144^post307 == 0 /\ -len_861^post307+len_861^0 == 0 /\ t_24^0-t_24^post307 == 0 /\ a_417^0-a_417^post307 == 0 /\ x_21^0-x_21^post307 == 0 /\ -head_32^post307+head_32^0 == 0 /\ a_862^0-a_862^post307 == 0 /\ -f_248^post307+f_248^0 == 0 /\ a_947^0-a_947^post307 == 0 /\ len_161^0-len_161^post307 == 0 /\ -i_229^post307+i_229^0 == 0 /\ -r_224^post307+r_224^0 == 0 /\ -len_262^post307+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post307 == 0 /\ x_156^0-x_156^post307 == 0 /\ f_847^0-f_847^post307 == 0 /\ -i_1248^post307+i_1248^0 == 0 /\ a_263^0-a_263^post307 == 0 /\ -a_392^post307+a_392^0 == 0 /\ -a_239^post307+a_239^0 == 0 /\ -i_27^post307+i_27^0 == 0 /\ i_1053^0-i_1053^post307 == 0 /\ a_394^0-a_394^post307 == 0 /\ -i_127^post307+i_127^0 == 0 /\ -temp0_16^post307+temp0_16^0 == 0 /\ length_29^0-length_29^post307 == 0 /\ -a_579^post307+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post307+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post307 == 0 /\ -i_197^post307+i_197^0 == 0 /\ -i_30^post307+i_30^0 == 0 /\ a_430^0-a_430^post307 == 0 /\ r_39^0-r_39^post307 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_151^0-r_151^post307 == 0 /\ -x_852^post307+x_852^0 == 0 /\ -a_635^post307+a_635^0 == 0 /\ a_577^0-a_577^post307 == 0 /\ i_113^0-i_113^post307 == 0 /\ i_106^0-i_106^post307 == 0 /\ a_902^0-a_902^post307 == 0 /\ i_94^0-i_94^post307 == 0 /\ -x_17^post307+x_17^0 == 0 /\ -rcd_58^post307+rcd_58^0 == 0 /\ -a_309^post307+a_309^0 == 0 /\ a_432^0-a_432^post307 == 0 /\ -ct_18^post307+ct_18^0 == 0 /\ -a_575^post307+a_575^0 == 0 /\ -a_634^post307+a_634^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post307 == 0 /\ -rcd_47^post307+rcd_47^0 == 0 /\ -a_1162^post307+a_1162^0 == 0 /\ a_1089^0-a_1089^post307 == 0 /\ -len_238^post307+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post307+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ rcd_88^0-rcd_88^post307 == 0 /\ -a_633^post307+a_633^0 == 0 /\ -f_969^post307+f_969^0 == 0 /\ a_311^0-a_311^post307 == 0 /\ y_20^0-y_20^post307 == 0 /\ -x_14^post307+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post307 == 0 /\ -result_11^post307+result_11^0 == 0 /\ -a_576^post307+a_576^0 == 0 /\ i_140^0-i_140^post307 == 0 /\ -rcd_1249^post307+rcd_1249^0 == 0 /\ -a_924^post307+a_924^0 == 0 /\ a_395^0-a_395^post307 == 0 /\ a_176^0-a_176^post307 == 0 /\ -temp_35^post307+temp_35^0 == 0 /\ -a_1236^post307+a_1236^0 == 0 /\ -a_431^post307+a_431^0 == 0 /\ x_975^0-x_975^post307 == 0 /\ -nondet_12^post307+nondet_12^0 == 0 /\ tmp_34^0-tmp_34^post307 == 0 /\ -r_143^post307+r_143^0 == 0 /\ -a_121^post307+a_121^0 == 0 /\ a_393^0-a_393^post307 == 0 /\ -r_970^post307+r_970^0 == 0 /\ i_107^0-i_107^post307 == 0 /\ t_458^0-t_458^post307 == 0 /\ -temp0_31^post307+temp0_31^0 == 0 /\ -x_SLAM_f_19^post307+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post307 == 0 /\ -a_310^post307+a_310^0 == 0 /\ -x_253^post307+x_253^0 == 0 /\ r_192^0-r_192^post307 == 0 /\ -a_610^post307+a_610^0 == 0), cost: 1 308: l191 -> l50 : a_1089^0'=a_1089^post308, f_847^0'=f_847^post308, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post308, a_394^0'=a_394^post308, x_156^0'=x_156^post308, a_632^0'=a_632^post308, r_192^0'=r_192^post308, a_176^0'=a_176^post308, i_106^0'=i_106^post308, a_430^0'=a_430^post308, t_458^0'=t_458^post308, len_161^0'=len_161^post308, x_975^0'=x_975^post308, a_902^0'=a_902^post308, a_947^0'=a_947^post308, rcd_88^0'=rcd_88^post308, a_311^0'=a_311^post308, i_140^0'=i_140^post308, a_577^0'=a_577^post308, x_14^0'=x_14^post308, nondet_12^0'=nondet_12^post308, a_121^0'=a_121^post308, head_15^0'=head_15^post308, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post308, i_27^0'=i_27^post308, x_21^0'=x_21^post308, a_634^0'=a_634^post308, r_39^0'=r_39^post308, a_263^0'=a_263^post308, i_113^0'=i_113^post308, a_432^0'=a_432^post308, temp0_31^0'=temp0_31^post308, len_262^0'=len_262^post308, y_20^0'=y_20^post308, f_248^0'=f_248^post308, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post308, a_393^0'=a_393^post308, i_229^0'=i_229^post308, a_610^0'=a_610^post308, r_151^0'=r_151^post308, a_144^0'=a_144^post308, i_1053^0'=i_1053^post308, a_417^0'=a_417^post308, t_24^0'=t_24^post308, i_94^0'=i_94^post308, x_852^0'=x_852^post308, a_862^0'=a_862^post308, rcd_1249^0'=rcd_1249^post308, rcd_58^0'=rcd_58^post308, a_310^0'=a_310^post308, i_127^0'=i_127^post308, a_576^0'=a_576^post308, tmp_34^0'=tmp_34^post308, length_29^0'=length_29^post308, a_1162^0'=a_1162^post308, f_969^0'=f_969^post308, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post308, a_395^0'=a_395^post308, x_17^0'=x_17^post308, a_633^0'=a_633^post308, r_224^0'=r_224^post308, a_239^0'=a_239^post308, i_107^0'=i_107^post308, a_431^0'=a_431^post308, temp0_16^0'=temp0_16^post308, len_238^0'=len_238^post308, x_SLAM_f_19^0'=x_SLAM_f_19^post308, a_924^0'=a_924^post308, ct_18^0'=ct_18^post308, result_11^0'=result_11^post308, a_392^0'=a_392^post308, i_197^0'=i_197^post308, a_579^0'=a_579^post308, r_143^0'=r_143^post308, a_1236^0'=a_1236^post308, head_32^0'=head_32^post308, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post308, i_30^0'=i_30^post308, x_253^0'=x_253^post308, a_635^0'=a_635^post308, r_970^0'=r_970^post308, rcd_47^0'=rcd_47^post308, a_309^0'=a_309^post308, i_1248^0'=i_1248^post308, a_575^0'=a_575^post308, temp_35^0'=temp_35^post308, len_861^0'=len_861^post308, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post308 == 0 /\ -a_924^post308+a_924^0 == 0 /\ -rcd_47^post308+rcd_47^0 == 0 /\ length_29^0-length_29^post308 == 0 /\ -a_610^post308+a_610^0 == 0 /\ i_94^0-i_94^post308 == 0 /\ i_113^0-i_113^post308 == 0 /\ r_39^0-r_39^post308 == 0 /\ -tmp_34^post308+tmp_34^0 == 0 /\ a_393^0-a_393^post308 == 0 /\ -rcd_1249^post308+rcd_1249^0 == 0 /\ -x_253^post308+x_253^0 == 0 /\ a_1089^0-a_1089^post308 == 0 /\ -len_238^post308+len_238^0 == 0 /\ x_156^0-x_156^post308 == 0 /\ -a_634^post308+a_634^0 == 0 /\ a_432^0-a_432^post308 == 0 /\ -head_15^post308+head_15^0 == 0 /\ r_192^0-r_192^post308 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post308+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post308+r_143^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_310^0-a_310^post308 == 0 /\ x_21^0-x_21^post308 == 0 /\ i_197^0-i_197^post308 == 0 /\ a_417^0-a_417^post308 == 0 /\ head_32^0-head_32^post308 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post308 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_969^post308+f_969^0 == 0 /\ i_27^0 <= 0 /\ -a_576^post308+a_576^0 == 0 /\ i_27^0-i_27^post308 == 0 /\ a_263^0-a_263^post308 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post308 == 0 /\ -a_311^post308+a_311^0 == 0 /\ -temp_35^post308+temp_35^0 == 0 /\ -nondet_12^post308+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post308 == 0 /\ -r_970^post308+r_970^0 == 0 /\ -a_1236^post308+a_1236^0 == 0 /\ -f_248^post308+f_248^0 == 0 /\ -a_395^post308+a_395^0 == 0 /\ a_121^0-a_121^post308 == 0 /\ -len_262^post308+len_262^0 == 0 /\ i_106^0-i_106^post308 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post308+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post308 == 0 /\ -i_1248^post308+i_1248^0 == 0 /\ x_975^0-x_975^post308 == 0 /\ i_107^0-i_107^post308 == 0 /\ -temp0_31^post308+temp0_31^0 == 0 /\ r_224^0-r_224^post308 == 0 /\ -a_239^post308+a_239^0 == 0 /\ a_577^0-a_577^post308 == 0 /\ t_458^0-t_458^post308 == 0 /\ i_30^0-i_30^post308 == 0 /\ a_902^0-a_902^post308 == 0 /\ -a_392^post308+a_392^0 == 0 /\ i_229^0-i_229^post308 == 0 /\ x_14^0-x_14^post308 == 0 /\ -temp0_16^post308+temp0_16^0 == 0 /\ -a_430^post308+a_430^0 == 0 /\ -len_861^post308+len_861^0 == 0 /\ -r_151^post308+r_151^0 == 0 /\ -a_947^post308+a_947^0 == 0 /\ -result_11^post308+result_11^0 == 0 /\ t_24^0-t_24^post308 == 0 /\ -rcd_58^post308+rcd_58^0 == 0 /\ a_394^0-a_394^post308 == 0 /\ i_140^0-i_140^post308 == 0 /\ -x_17^post308+x_17^0 == 0 /\ a_862^0-a_862^post308 == 0 /\ -a_309^post308+a_309^0 == 0 /\ -i_127^post308+i_127^0 == 0 /\ x_852^0-x_852^post308 == 0 /\ a_431^0-a_431^post308 == 0 /\ -a_579^post308+a_579^0 == 0 /\ -a_635^post308+a_635^0 == 0 /\ len_161^0-len_161^post308 == 0 /\ i_1053^0-i_1053^post308 == 0 /\ -ct_18^post308+ct_18^0 == 0 /\ -a_1162^post308+a_1162^0 == 0 /\ -a_144^post308+a_144^0 == 0 /\ rcd_88^0-rcd_88^post308 == 0 /\ a_176^0-a_176^post308 == 0 /\ f_847^0-f_847^post308 == 0 /\ y_20^0-y_20^post308 == 0 /\ -a_633^post308+a_633^0 == 0 /\ -a_575^post308+a_575^0 == 0), cost: 1 310: l192 -> l193 : a_1089^0'=a_1089^post310, f_847^0'=f_847^post310, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post310, a_394^0'=a_394^post310, x_156^0'=x_156^post310, a_632^0'=a_632^post310, r_192^0'=r_192^post310, a_176^0'=a_176^post310, i_106^0'=i_106^post310, a_430^0'=a_430^post310, t_458^0'=t_458^post310, len_161^0'=len_161^post310, x_975^0'=x_975^post310, a_902^0'=a_902^post310, a_947^0'=a_947^post310, rcd_88^0'=rcd_88^post310, a_311^0'=a_311^post310, i_140^0'=i_140^post310, a_577^0'=a_577^post310, x_14^0'=x_14^post310, nondet_12^0'=nondet_12^post310, a_121^0'=a_121^post310, head_15^0'=head_15^post310, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post310, i_27^0'=i_27^post310, x_21^0'=x_21^post310, a_634^0'=a_634^post310, r_39^0'=r_39^post310, a_263^0'=a_263^post310, i_113^0'=i_113^post310, a_432^0'=a_432^post310, temp0_31^0'=temp0_31^post310, len_262^0'=len_262^post310, y_20^0'=y_20^post310, f_248^0'=f_248^post310, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post310, a_393^0'=a_393^post310, i_229^0'=i_229^post310, a_610^0'=a_610^post310, r_151^0'=r_151^post310, a_144^0'=a_144^post310, i_1053^0'=i_1053^post310, a_417^0'=a_417^post310, t_24^0'=t_24^post310, i_94^0'=i_94^post310, x_852^0'=x_852^post310, a_862^0'=a_862^post310, rcd_1249^0'=rcd_1249^post310, rcd_58^0'=rcd_58^post310, a_310^0'=a_310^post310, i_127^0'=i_127^post310, a_576^0'=a_576^post310, tmp_34^0'=tmp_34^post310, length_29^0'=length_29^post310, a_1162^0'=a_1162^post310, f_969^0'=f_969^post310, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post310, a_395^0'=a_395^post310, x_17^0'=x_17^post310, a_633^0'=a_633^post310, r_224^0'=r_224^post310, a_239^0'=a_239^post310, i_107^0'=i_107^post310, a_431^0'=a_431^post310, temp0_16^0'=temp0_16^post310, len_238^0'=len_238^post310, x_SLAM_f_19^0'=x_SLAM_f_19^post310, a_924^0'=a_924^post310, ct_18^0'=ct_18^post310, result_11^0'=result_11^post310, a_392^0'=a_392^post310, i_197^0'=i_197^post310, a_579^0'=a_579^post310, r_143^0'=r_143^post310, a_1236^0'=a_1236^post310, head_32^0'=head_32^post310, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post310, i_30^0'=i_30^post310, x_253^0'=x_253^post310, a_635^0'=a_635^post310, r_970^0'=r_970^post310, rcd_47^0'=rcd_47^post310, a_309^0'=a_309^post310, i_1248^0'=i_1248^post310, a_575^0'=a_575^post310, temp_35^0'=temp_35^post310, len_861^0'=len_861^post310, (a_902^0-a_902^post310 == 0 /\ ct_18^0-ct_18^post310 == 0 /\ -a_634^post310+a_634^0 == 0 /\ t_458^0-t_458^post310 == 0 /\ -rcd_47^post310+rcd_47^0 == 0 /\ i_106^0-i_106^post310 == 0 /\ head_15^0-head_15^post310 == 0 /\ -tmp_34^post310+tmp_34^0 == 0 /\ -result_11^post310+result_11^0 == 0 /\ -a_610^post310+a_610^0 == 0 /\ -rcd_1249^post310+rcd_1249^0 == 0 /\ a_310^0-a_310^post310 == 0 /\ a_1089^0-a_1089^post310 == 0 /\ a_632^0-a_632^post310 == 0 /\ -x_253^post310+x_253^0 == 0 /\ -r_151^post310+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post310+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post310+len_238^0 == 0 /\ -r_970^post310+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post310 == 0 /\ a_121^0-a_121^post310 == 0 /\ -a_239^post310+a_239^0 == 0 /\ x_21^0-x_21^post310 == 0 /\ temp0_31^0-temp0_31^post310 == 0 /\ len_262^0-len_262^post310 == 0 /\ a_263^0-a_263^post310 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post310 == 0 /\ nondet_12^0-nondet_12^post310 == 0 /\ -a_576^post310+a_576^0 == 0 /\ -i_1053^post310+i_1053^0 == 0 /\ -r_224^post310+r_224^0 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -a_1236^post310+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post310 == 0 /\ a_924^0-a_924^post310 == 0 /\ -temp_35^post310+temp_35^0 == 0 /\ -r_143^post310+r_143^0 == 0 /\ -f_248^post310+f_248^0 == 0 /\ -a_311^post310+a_311^0 == 0 /\ a_394^0-a_394^post310 == 0 /\ -rcd_88^post310+rcd_88^0 == 0 /\ x_975^0-x_975^post310 == 0 /\ a_176^0-a_176^post310 == 0 /\ -a_395^post310+a_395^0 == 0 /\ y_20^0-y_20^post310 == 0 /\ -a_392^post310+a_392^0 == 0 /\ -a_417^post310+a_417^0 == 0 /\ a_577^0-a_577^post310 == 0 /\ r_39^0-r_39^post310 == 0 /\ -a_309^post310+a_309^0 == 0 /\ -length_29^post310+length_29^0 == 0 /\ f_969^0-f_969^post310 == 0 /\ -i_107^post310+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post310 == 0 /\ -x_156^post310+x_156^0 == 0 /\ i_113^0-i_113^post310 == 0 /\ -len_861^post310+len_861^0 == 0 /\ a_393^0-a_393^post310 == 0 /\ len_161^0-len_161^post310 == 0 /\ -head_32^post310+head_32^0 == 0 /\ -i_27^post310+i_27^0 == 0 /\ -a_635^post310+a_635^0 == 0 /\ a_432^0-a_432^post310 == 0 /\ x_14^0-x_14^post310 == 0 /\ a_430^0-a_430^post310 == 0 /\ -r_192^post310+r_192^0 == 0 /\ -x_17^post310+x_17^0 == 0 /\ -i_1248^post310+i_1248^0 == 0 /\ -i_30^post310+i_30^0 == 0 /\ -rcd_58^post310+rcd_58^0 == 0 /\ a_1162^0-a_1162^post310 == 0 /\ -a_579^post310+a_579^0 == 0 /\ -x_852^post310+x_852^0 == 0 /\ i_140^0-i_140^post310 == 0 /\ i_229^0-i_229^post310 == 0 /\ -i_127^post310+i_127^0 == 0 /\ f_847^0-f_847^post310 == 0 /\ t_24^0-t_24^post310 == 0 /\ a_431^0-a_431^post310 == 0 /\ temp0_16^0-temp0_16^post310 == 0 /\ a_862^0-a_862^post310 == 0 /\ a_947^0-a_947^post310 == 0 /\ -a_575^post310+a_575^0 == 0 /\ -i_197^post310+i_197^0 == 0 /\ -a_633^post310+a_633^0 == 0 /\ i_94^0-i_94^post310 == 0 /\ a_144^0-a_144^post310 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post310+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 311: l192 -> l193 : a_1089^0'=a_1089^post311, f_847^0'=f_847^post311, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post311, a_394^0'=a_394^post311, x_156^0'=x_156^post311, a_632^0'=a_632^post311, r_192^0'=r_192^post311, a_176^0'=a_176^post311, i_106^0'=i_106^post311, a_430^0'=a_430^post311, t_458^0'=t_458^post311, len_161^0'=len_161^post311, x_975^0'=x_975^post311, a_902^0'=a_902^post311, a_947^0'=a_947^post311, rcd_88^0'=rcd_88^post311, a_311^0'=a_311^post311, i_140^0'=i_140^post311, a_577^0'=a_577^post311, x_14^0'=x_14^post311, nondet_12^0'=nondet_12^post311, a_121^0'=a_121^post311, head_15^0'=head_15^post311, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post311, i_27^0'=i_27^post311, x_21^0'=x_21^post311, a_634^0'=a_634^post311, r_39^0'=r_39^post311, a_263^0'=a_263^post311, i_113^0'=i_113^post311, a_432^0'=a_432^post311, temp0_31^0'=temp0_31^post311, len_262^0'=len_262^post311, y_20^0'=y_20^post311, f_248^0'=f_248^post311, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post311, a_393^0'=a_393^post311, i_229^0'=i_229^post311, a_610^0'=a_610^post311, r_151^0'=r_151^post311, a_144^0'=a_144^post311, i_1053^0'=i_1053^post311, a_417^0'=a_417^post311, t_24^0'=t_24^post311, i_94^0'=i_94^post311, x_852^0'=x_852^post311, a_862^0'=a_862^post311, rcd_1249^0'=rcd_1249^post311, rcd_58^0'=rcd_58^post311, a_310^0'=a_310^post311, i_127^0'=i_127^post311, a_576^0'=a_576^post311, tmp_34^0'=tmp_34^post311, length_29^0'=length_29^post311, a_1162^0'=a_1162^post311, f_969^0'=f_969^post311, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post311, a_395^0'=a_395^post311, x_17^0'=x_17^post311, a_633^0'=a_633^post311, r_224^0'=r_224^post311, a_239^0'=a_239^post311, i_107^0'=i_107^post311, a_431^0'=a_431^post311, temp0_16^0'=temp0_16^post311, len_238^0'=len_238^post311, x_SLAM_f_19^0'=x_SLAM_f_19^post311, a_924^0'=a_924^post311, ct_18^0'=ct_18^post311, result_11^0'=result_11^post311, a_392^0'=a_392^post311, i_197^0'=i_197^post311, a_579^0'=a_579^post311, r_143^0'=r_143^post311, a_1236^0'=a_1236^post311, head_32^0'=head_32^post311, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post311, i_30^0'=i_30^post311, x_253^0'=x_253^post311, a_635^0'=a_635^post311, r_970^0'=r_970^post311, rcd_47^0'=rcd_47^post311, a_309^0'=a_309^post311, i_1248^0'=i_1248^post311, a_575^0'=a_575^post311, temp_35^0'=temp_35^post311, len_861^0'=len_861^post311, (i_197^0-i_197^post311 == 0 /\ -i_30^post311+i_30^0 == 0 /\ -length_29^post311+length_29^0 == 0 /\ -a_432^post311+a_432^0 == 0 /\ temp0_31^0-temp0_31^post311 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post311 == 0 /\ -a_417^post311+a_417^0 == 0 /\ -i_107^post311+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post311+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_393^post311+a_393^0 == 0 /\ -a_575^post311+a_575^0 == 0 /\ a_1162^0-a_1162^post311 == 0 /\ a_634^0-a_634^post311 == 0 /\ -a_1236^post311+a_1236^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ f_248^0-f_248^post311 == 0 /\ -x_SLAM_f_19^post311+x_SLAM_f_19^0 == 0 /\ -a_392^post311+a_392^0 == 0 /\ a_924^0-a_924^post311 == 0 /\ -i_1248^post311+i_1248^0 == 0 /\ -a_310^post311+a_310^0 == 0 /\ -i_27^post311+i_27^0 == 0 /\ -a_239^post311+a_239^0 == 0 /\ -len_861^post311+len_861^0 == 0 /\ x_17^0-x_17^post311 == 0 /\ a_176^0-a_176^post311 == 0 /\ r_192^0-r_192^post311 == 0 /\ -a_635^post311+a_635^0 == 0 /\ x_975^0-x_975^post311 == 0 /\ i_113^0-i_113^post311 == 0 /\ -rcd_47^post311+rcd_47^0 == 0 /\ -head_32^post311+head_32^0 == 0 /\ a_610^0-a_610^post311 == 0 /\ -rcd_58^post311+rcd_58^0 == 0 /\ -x_852^post311+x_852^0 == 0 /\ -r_151^post311+r_151^0 == 0 /\ rcd_1249^0-rcd_1249^post311 == 0 /\ -a_309^post311+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post311+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post311+a_862^0 == 0 /\ a_632^0-a_632^post311 == 0 /\ -a_579^post311+a_579^0 == 0 /\ -ct_18^post311+ct_18^0 == 0 /\ r_970^0-r_970^post311 == 0 /\ -a_263^post311+a_263^0 == 0 /\ a_633^0-a_633^post311 == 0 /\ -a_431^post311+a_431^0 == 0 /\ x_21^0-x_21^post311 == 0 /\ x_156^0-x_156^post311 == 0 /\ f_847^0-f_847^post311 == 0 /\ temp0_16^0-temp0_16^post311 == 0 /\ nondet_12^0-nondet_12^post311 == 0 /\ head_15^0-head_15^post311 == 0 /\ a_394^0-a_394^post311 == 0 /\ a_144^0-a_144^post311 == 0 /\ -result_11^post311+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post311+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_969^post311+f_969^0 == 0 /\ -y_20^post311+y_20^0 == 0 /\ a_121^0-a_121^post311 == 0 /\ a_902^0-a_902^post311 == 0 /\ a_947^0-a_947^post311 == 0 /\ -tmp_34^post311+tmp_34^0 == 0 /\ -i_140^post311+i_140^0 == 0 /\ -t_24^post311+t_24^0 == 0 /\ len_262^0-len_262^post311 == 0 /\ -x_253^post311+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post311 == 0 /\ rcd_88^0-rcd_88^post311 == 0 /\ i_127^0-i_127^post311 == 0 /\ -i_1053^post311+i_1053^0 == 0 /\ t_458^0-t_458^post311 == 0 /\ r_39^0-r_39^post311 == 0 /\ a_577^0-a_577^post311 == 0 /\ -r_143^post311+r_143^0 == 0 /\ -r_224^post311+r_224^0 == 0 /\ len_238^0-len_238^post311 == 0 /\ i_106^0-i_106^post311 == 0 /\ -a_395^post311+a_395^0 == 0 /\ i_94^0-i_94^post311 == 0 /\ -i_229^post311+i_229^0 == 0 /\ -a_576^post311+a_576^0 == 0 /\ x_14^0-x_14^post311 == 0 /\ -len_161^post311+len_161^0 == 0 /\ a_1089^0-a_1089^post311 == 0 /\ a_311^0-a_311^post311 == 0 /\ -temp_35^post311+temp_35^0 == 0 /\ a_430^0-a_430^post311 == 0), cost: 1 312: l193 -> l194 : a_1089^0'=a_1089^post312, f_847^0'=f_847^post312, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post312, a_394^0'=a_394^post312, x_156^0'=x_156^post312, a_632^0'=a_632^post312, r_192^0'=r_192^post312, a_176^0'=a_176^post312, i_106^0'=i_106^post312, a_430^0'=a_430^post312, t_458^0'=t_458^post312, len_161^0'=len_161^post312, x_975^0'=x_975^post312, a_902^0'=a_902^post312, a_947^0'=a_947^post312, rcd_88^0'=rcd_88^post312, a_311^0'=a_311^post312, i_140^0'=i_140^post312, a_577^0'=a_577^post312, x_14^0'=x_14^post312, nondet_12^0'=nondet_12^post312, a_121^0'=a_121^post312, head_15^0'=head_15^post312, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post312, i_27^0'=i_27^post312, x_21^0'=x_21^post312, a_634^0'=a_634^post312, r_39^0'=r_39^post312, a_263^0'=a_263^post312, i_113^0'=i_113^post312, a_432^0'=a_432^post312, temp0_31^0'=temp0_31^post312, len_262^0'=len_262^post312, y_20^0'=y_20^post312, f_248^0'=f_248^post312, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post312, a_393^0'=a_393^post312, i_229^0'=i_229^post312, a_610^0'=a_610^post312, r_151^0'=r_151^post312, a_144^0'=a_144^post312, i_1053^0'=i_1053^post312, a_417^0'=a_417^post312, t_24^0'=t_24^post312, i_94^0'=i_94^post312, x_852^0'=x_852^post312, a_862^0'=a_862^post312, rcd_1249^0'=rcd_1249^post312, rcd_58^0'=rcd_58^post312, a_310^0'=a_310^post312, i_127^0'=i_127^post312, a_576^0'=a_576^post312, tmp_34^0'=tmp_34^post312, length_29^0'=length_29^post312, a_1162^0'=a_1162^post312, f_969^0'=f_969^post312, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post312, a_395^0'=a_395^post312, x_17^0'=x_17^post312, a_633^0'=a_633^post312, r_224^0'=r_224^post312, a_239^0'=a_239^post312, i_107^0'=i_107^post312, a_431^0'=a_431^post312, temp0_16^0'=temp0_16^post312, len_238^0'=len_238^post312, x_SLAM_f_19^0'=x_SLAM_f_19^post312, a_924^0'=a_924^post312, ct_18^0'=ct_18^post312, result_11^0'=result_11^post312, a_392^0'=a_392^post312, i_197^0'=i_197^post312, a_579^0'=a_579^post312, r_143^0'=r_143^post312, a_1236^0'=a_1236^post312, head_32^0'=head_32^post312, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post312, i_30^0'=i_30^post312, x_253^0'=x_253^post312, a_635^0'=a_635^post312, r_970^0'=r_970^post312, rcd_47^0'=rcd_47^post312, a_309^0'=a_309^post312, i_1248^0'=i_1248^post312, a_575^0'=a_575^post312, temp_35^0'=temp_35^post312, len_861^0'=len_861^post312, (0 == 0 /\ rcd_88^0-rcd_88^post312 == 0 /\ i_127^0-i_127^post312 == 0 /\ -temp_35^post312+temp_35^0 == 0 /\ a_610^0-a_610^post312 == 0 /\ rcd_1249^0-rcd_1249^post312 == 0 /\ -a_431^post312+a_431^0 == 0 /\ -ct_18^post312+ct_18^0 == 0 /\ -tmp_34^post312+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post312+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_632^0-a_632^post312 == 0 /\ i_106^0-i_106^post312 == 0 /\ -r_970^post312+r_970^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ -x_253^post312+x_253^0 == 0 /\ a_430^0-a_430^post312 == 0 /\ a_311^0-a_311^post312 == 0 /\ x_852^0-x_852^post312 == 0 /\ t_458^0-t_458^post312 == 0 /\ -a_121^post312+a_121^0 == 0 /\ -y_20^post312+y_20^0 == 0 /\ len_161^0-len_161^post312 == 0 /\ -i_229^post312+i_229^0 == 0 /\ -r_224^post312+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post312+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post312 == 0 /\ -x_21^0+t_24^post312 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post312 == 0 /\ x_21^0-x_21^post312 == 0 /\ -i_1248^post312+i_1248^0 == 0 /\ -i_1053^post312+i_1053^0 == 0 /\ a_1236^0-a_1236^post312 == 0 /\ -x_SLAM_f_19^post312+x_SLAM_f_19^0 == 0 /\ -r_143^post312+r_143^0 == 0 /\ y_20^0 <= 0 /\ temp0_31^0-temp0_31^post312 == 0 /\ -a_395^post312+a_395^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ a_924^0-a_924^post312 == 0 /\ len_262^0-len_262^post312 == 0 /\ a_394^0-a_394^post312 == 0 /\ -result_11^post312+result_11^0 == 0 /\ a_176^0-a_176^post312 == 0 /\ -a_862^post312+a_862^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -a_432^post312+a_432^0 == 0 /\ a_947^0-a_947^post312 == 0 /\ -x_17^post312+x_17^0 == 0 /\ f_969^0-f_969^post312 == 0 /\ -i_94^post312+i_94^0 == 0 /\ -i_113^post312+i_113^0 == 0 /\ r_192^0-r_192^post312 == 0 /\ -x_156^post312+x_156^0 == 0 /\ x_14^0-x_14^post312 == 0 /\ -y_20^0 <= 0 /\ -a_392^post312+a_392^0 == 0 /\ -a_309^post312+a_309^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post312 == 0 /\ -a_310^post312+a_310^0 == 0 /\ temp0_16^0-temp0_16^post312 == 0 /\ -len_861^post312+len_861^0 == 0 /\ i_27^0-i_27^post312 == 0 /\ -i_30^post312+i_30^0 == 0 /\ a_635^0-a_635^post312 == 0 /\ head_15^0-x_17^0 <= 0 /\ a_1089^0-a_1089^post312 == 0 /\ a_393^0-a_393^post312 == 0 /\ -rcd_47^post312+rcd_47^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -i_140^post312+i_140^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post312+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -ct_18^0 <= 0 /\ -length_29^post312+length_29^0 == 0 /\ -rcd_58^post312+rcd_58^0 == 0 /\ a_1162^0-a_1162^post312 == 0 /\ a_417^0-a_417^post312 == 0 /\ -i_107^post312+i_107^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -r_39^post312+r_39^0 == 0 /\ r_151^0-r_151^post312 == 0 /\ -a_263^post312+a_263^0 == 0 /\ a_144^0-a_144^post312 == 0 /\ -i_197^post312+i_197^0 == 0 /\ nondet_12^0-nondet_12^post312 == 0 /\ len_238^0-len_238^post312 == 0 /\ x_975^0-x_975^post312 == 0 /\ a_634^0-a_634^post312 == 0 /\ -head_32^post312+head_32^0 == 0 /\ f_248^0-f_248^post312 == 0 /\ -head_15^0+x_17^0 <= 0 /\ a_239^0-a_239^post312 == 0 /\ -a_633^post312+a_633^0 == 0 /\ a_902^0-a_902^post312 == 0 /\ head_15^0-head_15^post312 == 0), cost: 1 313: l194 -> l195 : a_1089^0'=a_1089^post313, f_847^0'=f_847^post313, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post313, a_394^0'=a_394^post313, x_156^0'=x_156^post313, a_632^0'=a_632^post313, r_192^0'=r_192^post313, a_176^0'=a_176^post313, i_106^0'=i_106^post313, a_430^0'=a_430^post313, t_458^0'=t_458^post313, len_161^0'=len_161^post313, x_975^0'=x_975^post313, a_902^0'=a_902^post313, a_947^0'=a_947^post313, rcd_88^0'=rcd_88^post313, a_311^0'=a_311^post313, i_140^0'=i_140^post313, a_577^0'=a_577^post313, x_14^0'=x_14^post313, nondet_12^0'=nondet_12^post313, a_121^0'=a_121^post313, head_15^0'=head_15^post313, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post313, i_27^0'=i_27^post313, x_21^0'=x_21^post313, a_634^0'=a_634^post313, r_39^0'=r_39^post313, a_263^0'=a_263^post313, i_113^0'=i_113^post313, a_432^0'=a_432^post313, temp0_31^0'=temp0_31^post313, len_262^0'=len_262^post313, y_20^0'=y_20^post313, f_248^0'=f_248^post313, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post313, a_393^0'=a_393^post313, i_229^0'=i_229^post313, a_610^0'=a_610^post313, r_151^0'=r_151^post313, a_144^0'=a_144^post313, i_1053^0'=i_1053^post313, a_417^0'=a_417^post313, t_24^0'=t_24^post313, i_94^0'=i_94^post313, x_852^0'=x_852^post313, a_862^0'=a_862^post313, rcd_1249^0'=rcd_1249^post313, rcd_58^0'=rcd_58^post313, a_310^0'=a_310^post313, i_127^0'=i_127^post313, a_576^0'=a_576^post313, tmp_34^0'=tmp_34^post313, length_29^0'=length_29^post313, a_1162^0'=a_1162^post313, f_969^0'=f_969^post313, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post313, a_395^0'=a_395^post313, x_17^0'=x_17^post313, a_633^0'=a_633^post313, r_224^0'=r_224^post313, a_239^0'=a_239^post313, i_107^0'=i_107^post313, a_431^0'=a_431^post313, temp0_16^0'=temp0_16^post313, len_238^0'=len_238^post313, x_SLAM_f_19^0'=x_SLAM_f_19^post313, a_924^0'=a_924^post313, ct_18^0'=ct_18^post313, result_11^0'=result_11^post313, a_392^0'=a_392^post313, i_197^0'=i_197^post313, a_579^0'=a_579^post313, r_143^0'=r_143^post313, a_1236^0'=a_1236^post313, head_32^0'=head_32^post313, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post313, i_30^0'=i_30^post313, x_253^0'=x_253^post313, a_635^0'=a_635^post313, r_970^0'=r_970^post313, rcd_47^0'=rcd_47^post313, a_309^0'=a_309^post313, i_1248^0'=i_1248^post313, a_575^0'=a_575^post313, temp_35^0'=temp_35^post313, len_861^0'=len_861^post313, (-a_1236^post313+a_1236^0 == 0 /\ -r_143^post313+r_143^0 == 0 /\ -a_575^post313+a_575^0 == 0 /\ -a_417^post313+a_417^0 == 0 /\ x_21^0-x_21^post313 == 0 /\ a_576^0-a_576^post313 == 0 /\ f_847^0-f_847^post313 == 0 /\ -a_635^post313+a_635^0 == 0 /\ -a_432^post313+a_432^0 == 0 /\ tmp_34^0-tmp_34^post313 == 0 /\ nondet_12^0-nondet_12^post313 == 0 /\ -a_309^post313+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post313 == 0 /\ -i_30^post313+i_30^0 == 0 /\ -a_393^post313+a_393^0 == 0 /\ 1-x_14^0 <= 0 /\ x_975^0-x_975^post313 == 0 /\ -x_SLAM_f_19^post313+x_SLAM_f_19^0 == 0 /\ -length_29^post313+length_29^0 == 0 /\ x_17^0-x_17^post313 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post313 == 0 /\ -a_310^post313+a_310^0 == 0 /\ -i_94^post313+i_94^0 == 0 /\ a_144^0-a_144^post313 == 0 /\ a_394^0-a_394^post313 == 0 /\ -i_107^post313+i_107^0 == 0 /\ -a_633^post313+a_633^0 == 0 /\ a_577^0-a_577^post313 == 0 /\ -head_32^post313+head_32^0 == 0 /\ ct_18^0-ct_18^post313 == 0 /\ -r_151^post313+r_151^0 == 0 /\ rcd_58^0-rcd_58^post313 == 0 /\ a_610^0-a_610^post313 == 0 /\ rcd_1249^0-rcd_1249^post313 == 0 /\ i_106^0-i_106^post313 == 0 /\ i_27^0-i_27^post313 == 0 /\ r_39^0-r_39^post313 == 0 /\ t_458^0-t_458^post313 == 0 /\ len_161^0-len_161^post313 == 0 /\ -a_392^post313+a_392^0 == 0 /\ -a_862^post313+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post313 == 0 /\ -a_263^post313+a_263^0 == 0 /\ -i_197^post313+i_197^0 == 0 /\ x_253^0-x_253^post313 == 0 /\ -a_579^post313+a_579^0 == 0 /\ -f_969^post313+f_969^0 == 0 /\ -a_431^post313+a_431^0 == 0 /\ -r_970^post313+r_970^0 == 0 /\ -result_11^post313+result_11^0 == 0 /\ f_248^0-f_248^post313 == 0 /\ temp0_31^0-temp0_31^post313 == 0 /\ -t_24^post313+t_24^0 == 0 /\ head_15^0-head_15^post313 == 0 /\ a_634^0-a_634^post313 == 0 /\ a_239^0-a_239^post313 == 0 /\ -x_852^post313+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post313 == 0 /\ -a_1162^post313+a_1162^0 == 0 /\ -rcd_47^post313+rcd_47^0 == 0 /\ a_121^0-a_121^post313 == 0 /\ a_902^0-a_902^post313 == 0 /\ x_156^0-x_156^post313 == 0 /\ len_262^0-len_262^post313 == 0 /\ -i_140^post313+i_140^0 == 0 /\ a_947^0-a_947^post313 == 0 /\ -len_861^post313+len_861^0 == 0 /\ -a_395^post313+a_395^0 == 0 /\ i_127^0-i_127^post313 == 0 /\ i_1053^0-i_1053^post313 == 0 /\ -temp0_16^post313+temp0_16^0 == 0 /\ r_192^0-r_192^post313 == 0 /\ rcd_88^0-rcd_88^post313 == 0 /\ a_176^0-a_176^post313 == 0 /\ a_311^0-a_311^post313 == 0 /\ len_238^0-len_238^post313 == 0 /\ -y_20^post313+y_20^0 == 0 /\ -i_229^post313+i_229^0 == 0 /\ -i_1248^post313+i_1248^0 == 0 /\ -temp_35^post313+temp_35^0 == 0 /\ x_14^0-x_14^post313 == 0 /\ a_632^0-a_632^post313 == 0 /\ a_430^0-a_430^post313 == 0 /\ -r_224^post313+r_224^0 == 0 /\ -a_924^post313+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post313+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post313+i_113^0 == 0 /\ a_1089^0-a_1089^post313 == 0), cost: 1 314: l194 -> l195 : a_1089^0'=a_1089^post314, f_847^0'=f_847^post314, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post314, a_394^0'=a_394^post314, x_156^0'=x_156^post314, a_632^0'=a_632^post314, r_192^0'=r_192^post314, a_176^0'=a_176^post314, i_106^0'=i_106^post314, a_430^0'=a_430^post314, t_458^0'=t_458^post314, len_161^0'=len_161^post314, x_975^0'=x_975^post314, a_902^0'=a_902^post314, a_947^0'=a_947^post314, rcd_88^0'=rcd_88^post314, a_311^0'=a_311^post314, i_140^0'=i_140^post314, a_577^0'=a_577^post314, x_14^0'=x_14^post314, nondet_12^0'=nondet_12^post314, a_121^0'=a_121^post314, head_15^0'=head_15^post314, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post314, i_27^0'=i_27^post314, x_21^0'=x_21^post314, a_634^0'=a_634^post314, r_39^0'=r_39^post314, a_263^0'=a_263^post314, i_113^0'=i_113^post314, a_432^0'=a_432^post314, temp0_31^0'=temp0_31^post314, len_262^0'=len_262^post314, y_20^0'=y_20^post314, f_248^0'=f_248^post314, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post314, a_393^0'=a_393^post314, i_229^0'=i_229^post314, a_610^0'=a_610^post314, r_151^0'=r_151^post314, a_144^0'=a_144^post314, i_1053^0'=i_1053^post314, a_417^0'=a_417^post314, t_24^0'=t_24^post314, i_94^0'=i_94^post314, x_852^0'=x_852^post314, a_862^0'=a_862^post314, rcd_1249^0'=rcd_1249^post314, rcd_58^0'=rcd_58^post314, a_310^0'=a_310^post314, i_127^0'=i_127^post314, a_576^0'=a_576^post314, tmp_34^0'=tmp_34^post314, length_29^0'=length_29^post314, a_1162^0'=a_1162^post314, f_969^0'=f_969^post314, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post314, a_395^0'=a_395^post314, x_17^0'=x_17^post314, a_633^0'=a_633^post314, r_224^0'=r_224^post314, a_239^0'=a_239^post314, i_107^0'=i_107^post314, a_431^0'=a_431^post314, temp0_16^0'=temp0_16^post314, len_238^0'=len_238^post314, x_SLAM_f_19^0'=x_SLAM_f_19^post314, a_924^0'=a_924^post314, ct_18^0'=ct_18^post314, result_11^0'=result_11^post314, a_392^0'=a_392^post314, i_197^0'=i_197^post314, a_579^0'=a_579^post314, r_143^0'=r_143^post314, a_1236^0'=a_1236^post314, head_32^0'=head_32^post314, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post314, i_30^0'=i_30^post314, x_253^0'=x_253^post314, a_635^0'=a_635^post314, r_970^0'=r_970^post314, rcd_47^0'=rcd_47^post314, a_309^0'=a_309^post314, i_1248^0'=i_1248^post314, a_575^0'=a_575^post314, temp_35^0'=temp_35^post314, len_861^0'=len_861^post314, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post314 == 0 /\ -result_11^post314+result_11^0 == 0 /\ -i_127^post314+i_127^0 == 0 /\ f_969^0-f_969^post314 == 0 /\ -temp_35^post314+temp_35^0 == 0 /\ -a_579^post314+a_579^0 == 0 /\ -x_253^post314+x_253^0 == 0 /\ -r_970^post314+r_970^0 == 0 /\ length_29^0-length_29^post314 == 0 /\ len_161^0-len_161^post314 == 0 /\ a_632^0-a_632^post314 == 0 /\ -a_431^post314+a_431^0 == 0 /\ a_430^0-a_430^post314 == 0 /\ -f_248^post314+f_248^0 == 0 /\ a_263^0-a_263^post314 == 0 /\ t_24^0-t_24^post314 == 0 /\ -i_229^post314+i_229^0 == 0 /\ -a_1162^post314+a_1162^0 == 0 /\ x_852^0-x_852^post314 == 0 /\ x_156^0-x_156^post314 == 0 /\ -i_1053^post314+i_1053^0 == 0 /\ -a_577^post314+a_577^0 == 0 /\ -i_1248^post314+i_1248^0 == 0 /\ f_847^0-f_847^post314 == 0 /\ a_432^0-a_432^post314 == 0 /\ -temp0_16^post314+temp0_16^0 == 0 /\ -rcd_1249^post314+rcd_1249^0 == 0 /\ x_21^0-x_21^post314 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post314+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post314+len_861^0 == 0 /\ r_151^0-r_151^post314 == 0 /\ i_113^0-i_113^post314 == 0 /\ a_902^0-a_902^post314 == 0 /\ a_144^0-a_144^post314 == 0 /\ -a_924^post314+a_924^0 == 0 /\ -i_30^post314+i_30^0 == 0 /\ r_192^0-r_192^post314 == 0 /\ -a_947^post314+a_947^0 == 0 /\ rcd_58^0-rcd_58^post314 == 0 /\ head_32^0-head_32^post314 == 0 /\ head_15^0-head_15^post314 == 0 /\ a_394^0-a_394^post314 == 0 /\ -r_143^post314+r_143^0 == 0 /\ -r_224^post314+r_224^0 == 0 /\ a_862^0-a_862^post314 == 0 /\ -x_17^post314+x_17^0 == 0 /\ -a_309^post314+a_309^0 == 0 /\ a_176^0-a_176^post314 == 0 /\ -i_107^post314+i_107^0 == 0 /\ a_1089^0-a_1089^post314 == 0 /\ -a_392^post314+a_392^0 == 0 /\ -x_SLAM_f_19^post314+x_SLAM_f_19^0 == 0 /\ -x_14^post314+x_14^0 == 0 /\ -a_575^post314+a_575^0 == 0 /\ -a_576^post314+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post314 == 0 /\ a_635^0-a_635^post314 == 0 /\ -a_1236^post314+a_1236^0 == 0 /\ i_140^0-i_140^post314 == 0 /\ a_395^0-a_395^post314 == 0 /\ t_458^0-t_458^post314 == 0 /\ i_27^0-i_27^post314 == 0 /\ -i_94^post314+i_94^0 == 0 /\ rcd_88^0-rcd_88^post314 == 0 /\ i_106^0-i_106^post314 == 0 /\ a_311^0-a_311^post314 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post314 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post314+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_393^0-a_393^post314 == 0 /\ -temp0_31^post314+temp0_31^0 == 0 /\ -a_633^post314+a_633^0 == 0 /\ nondet_12^0-nondet_12^post314 == 0 /\ -a_310^post314+a_310^0 == 0 /\ tmp_34^0-tmp_34^post314 == 0 /\ -ct_18^post314+ct_18^0 == 0 /\ y_20^0-y_20^post314 == 0 /\ -a_610^post314+a_610^0 == 0 /\ -r_39^post314+r_39^0 == 0 /\ 1+x_14^0 <= 0 /\ a_121^0-a_121^post314 == 0 /\ a_634^0-a_634^post314 == 0 /\ -rcd_47^post314+rcd_47^0 == 0 /\ x_975^0-x_975^post314 == 0 /\ -len_262^post314+len_262^0 == 0 /\ -i_197^post314+i_197^0 == 0 /\ -len_238^post314+len_238^0 == 0 /\ a_417^0-a_417^post314 == 0 /\ a_239^0-a_239^post314 == 0), cost: 1 315: l195 -> l196 : a_1089^0'=a_1089^post315, f_847^0'=f_847^post315, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post315, a_394^0'=a_394^post315, x_156^0'=x_156^post315, a_632^0'=a_632^post315, r_192^0'=r_192^post315, a_176^0'=a_176^post315, i_106^0'=i_106^post315, a_430^0'=a_430^post315, t_458^0'=t_458^post315, len_161^0'=len_161^post315, x_975^0'=x_975^post315, a_902^0'=a_902^post315, a_947^0'=a_947^post315, rcd_88^0'=rcd_88^post315, a_311^0'=a_311^post315, i_140^0'=i_140^post315, a_577^0'=a_577^post315, x_14^0'=x_14^post315, nondet_12^0'=nondet_12^post315, a_121^0'=a_121^post315, head_15^0'=head_15^post315, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post315, i_27^0'=i_27^post315, x_21^0'=x_21^post315, a_634^0'=a_634^post315, r_39^0'=r_39^post315, a_263^0'=a_263^post315, i_113^0'=i_113^post315, a_432^0'=a_432^post315, temp0_31^0'=temp0_31^post315, len_262^0'=len_262^post315, y_20^0'=y_20^post315, f_248^0'=f_248^post315, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post315, a_393^0'=a_393^post315, i_229^0'=i_229^post315, a_610^0'=a_610^post315, r_151^0'=r_151^post315, a_144^0'=a_144^post315, i_1053^0'=i_1053^post315, a_417^0'=a_417^post315, t_24^0'=t_24^post315, i_94^0'=i_94^post315, x_852^0'=x_852^post315, a_862^0'=a_862^post315, rcd_1249^0'=rcd_1249^post315, rcd_58^0'=rcd_58^post315, a_310^0'=a_310^post315, i_127^0'=i_127^post315, a_576^0'=a_576^post315, tmp_34^0'=tmp_34^post315, length_29^0'=length_29^post315, a_1162^0'=a_1162^post315, f_969^0'=f_969^post315, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post315, a_395^0'=a_395^post315, x_17^0'=x_17^post315, a_633^0'=a_633^post315, r_224^0'=r_224^post315, a_239^0'=a_239^post315, i_107^0'=i_107^post315, a_431^0'=a_431^post315, temp0_16^0'=temp0_16^post315, len_238^0'=len_238^post315, x_SLAM_f_19^0'=x_SLAM_f_19^post315, a_924^0'=a_924^post315, ct_18^0'=ct_18^post315, result_11^0'=result_11^post315, a_392^0'=a_392^post315, i_197^0'=i_197^post315, a_579^0'=a_579^post315, r_143^0'=r_143^post315, a_1236^0'=a_1236^post315, head_32^0'=head_32^post315, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post315, i_30^0'=i_30^post315, x_253^0'=x_253^post315, a_635^0'=a_635^post315, r_970^0'=r_970^post315, rcd_47^0'=rcd_47^post315, a_309^0'=a_309^post315, i_1248^0'=i_1248^post315, a_575^0'=a_575^post315, temp_35^0'=temp_35^post315, len_861^0'=len_861^post315, (-x_14^post315+x_14^0 == 0 /\ i_94^0-i_94^post315 == 0 /\ -i_107^post315+i_107^0 == 0 /\ -i_30^post315+i_30^0 == 0 /\ a_393^0-a_393^post315 == 0 /\ -x_17^post315+x_17^0 == 0 /\ -a_575^post315+a_575^0 == 0 /\ tmp_34^0-tmp_34^post315 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post315 == 0 /\ -r_143^post315+r_143^0 == 0 /\ a_432^0-a_432^post315 == 0 /\ y_20^0-y_20^post315 == 0 /\ r_192^0-r_192^post315 == 0 /\ a_862^0-a_862^post315 == 0 /\ i_113^0-i_113^post315 == 0 /\ -a_576^post315+a_576^0 == 0 /\ a_610^0-a_610^post315 == 0 /\ x_21^0-x_21^post315 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post315 == 0 /\ x_156^0-x_156^post315 == 0 /\ head_15^0-head_15^post315 == 0 /\ -a_309^post315+a_309^0 == 0 /\ a_144^0-a_144^post315 == 0 /\ -x_SLAM_f_19^post315+x_SLAM_f_19^0 == 0 /\ -rcd_47^post315+rcd_47^0 == 0 /\ -a_310^post315+a_310^0 == 0 /\ -len_238^post315+len_238^0 == 0 /\ rcd_58^0-rcd_58^post315 == 0 /\ a_417^0-a_417^post315 == 0 /\ head_32^0-head_32^post315 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post315 == 0 /\ -a_633^post315+a_633^0 == 0 /\ i_27^0-i_27^post315 == 0 /\ -a_1236^post315+a_1236^0 == 0 /\ -len_262^post315+len_262^0 == 0 /\ -f_969^post315+f_969^0 == 0 /\ r_39^0-r_39^post315 == 0 /\ t_458^0-t_458^post315 == 0 /\ -a_392^post315+a_392^0 == 0 /\ -temp0_31^post315+temp0_31^0 == 0 /\ -a_579^post315+a_579^0 == 0 /\ a_1089^0-a_1089^post315 == 0 /\ i_106^0-i_106^post315 == 0 /\ a_311^0-a_311^post315 == 0 /\ a_263^0-a_263^post315 == 0 /\ -ct_18^post315+ct_18^0 == 0 /\ -i_127^post315+i_127^0 == 0 /\ x_253^0-x_253^post315 == 0 /\ -a_431^post315+a_431^0 == 0 /\ -r_970^post315+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post315 == 0 /\ -t_24^post315+t_24^0 == 0 /\ -a_430^post315+a_430^0 == 0 /\ -i_197^post315+i_197^0 == 0 /\ a_632^0-a_632^post315 == 0 /\ x_975^0-x_975^post315 == 0 /\ -a_394^post315+a_394^0 == 0 /\ r_151^0-r_151^post315 == 0 /\ f_248^0-f_248^post315 == 0 /\ -f_847^post315+f_847^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post315+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_577^0-a_577^post315 == 0 /\ a_902^0-a_902^post315 == 0 /\ -temp_35^post315+temp_35^0 == 0 /\ -a_121^post315+a_121^0 == 0 /\ i_229^0-i_229^post315 == 0 /\ -nondet_12^post315+nondet_12^0 == 0 /\ -temp0_16^post315+temp0_16^0 == 0 /\ -a_1162^post315+a_1162^0 == 0 /\ -a_634^post315+a_634^0 == 0 /\ 1-head_15^0 <= 0 /\ -a_395^post315+a_395^0 == 0 /\ len_161^0-len_161^post315 == 0 /\ i_1053^0-i_1053^post315 == 0 /\ a_176^0-a_176^post315 == 0 /\ -len_861^post315+len_861^0 == 0 /\ -a_947^post315+a_947^0 == 0 /\ i_140^0-i_140^post315 == 0 /\ -result_11^post315+result_11^0 == 0 /\ rcd_1249^0-rcd_1249^post315 == 0 /\ x_852^0-x_852^post315 == 0 /\ -a_924^post315+a_924^0 == 0 /\ -r_224^post315+r_224^0 == 0 /\ -i_1248^post315+i_1248^0 == 0 /\ -a_239^post315+a_239^0 == 0 /\ rcd_88^0-rcd_88^post315 == 0 /\ length_29^0-length_29^post315 == 0 /\ -a_635^post315+a_635^0 == 0), cost: 1 316: l195 -> l196 : a_1089^0'=a_1089^post316, f_847^0'=f_847^post316, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post316, a_394^0'=a_394^post316, x_156^0'=x_156^post316, a_632^0'=a_632^post316, r_192^0'=r_192^post316, a_176^0'=a_176^post316, i_106^0'=i_106^post316, a_430^0'=a_430^post316, t_458^0'=t_458^post316, len_161^0'=len_161^post316, x_975^0'=x_975^post316, a_902^0'=a_902^post316, a_947^0'=a_947^post316, rcd_88^0'=rcd_88^post316, a_311^0'=a_311^post316, i_140^0'=i_140^post316, a_577^0'=a_577^post316, x_14^0'=x_14^post316, nondet_12^0'=nondet_12^post316, a_121^0'=a_121^post316, head_15^0'=head_15^post316, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post316, i_27^0'=i_27^post316, x_21^0'=x_21^post316, a_634^0'=a_634^post316, r_39^0'=r_39^post316, a_263^0'=a_263^post316, i_113^0'=i_113^post316, a_432^0'=a_432^post316, temp0_31^0'=temp0_31^post316, len_262^0'=len_262^post316, y_20^0'=y_20^post316, f_248^0'=f_248^post316, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post316, a_393^0'=a_393^post316, i_229^0'=i_229^post316, a_610^0'=a_610^post316, r_151^0'=r_151^post316, a_144^0'=a_144^post316, i_1053^0'=i_1053^post316, a_417^0'=a_417^post316, t_24^0'=t_24^post316, i_94^0'=i_94^post316, x_852^0'=x_852^post316, a_862^0'=a_862^post316, rcd_1249^0'=rcd_1249^post316, rcd_58^0'=rcd_58^post316, a_310^0'=a_310^post316, i_127^0'=i_127^post316, a_576^0'=a_576^post316, tmp_34^0'=tmp_34^post316, length_29^0'=length_29^post316, a_1162^0'=a_1162^post316, f_969^0'=f_969^post316, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post316, a_395^0'=a_395^post316, x_17^0'=x_17^post316, a_633^0'=a_633^post316, r_224^0'=r_224^post316, a_239^0'=a_239^post316, i_107^0'=i_107^post316, a_431^0'=a_431^post316, temp0_16^0'=temp0_16^post316, len_238^0'=len_238^post316, x_SLAM_f_19^0'=x_SLAM_f_19^post316, a_924^0'=a_924^post316, ct_18^0'=ct_18^post316, result_11^0'=result_11^post316, a_392^0'=a_392^post316, i_197^0'=i_197^post316, a_579^0'=a_579^post316, r_143^0'=r_143^post316, a_1236^0'=a_1236^post316, head_32^0'=head_32^post316, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post316, i_30^0'=i_30^post316, x_253^0'=x_253^post316, a_635^0'=a_635^post316, r_970^0'=r_970^post316, rcd_47^0'=rcd_47^post316, a_309^0'=a_309^post316, i_1248^0'=i_1248^post316, a_575^0'=a_575^post316, temp_35^0'=temp_35^post316, len_861^0'=len_861^post316, (-x_21^post316+x_21^0 == 0 /\ -f_248^post316+f_248^0 == 0 /\ -temp_35^post316+temp_35^0 == 0 /\ len_161^0-len_161^post316 == 0 /\ 1+head_15^0 <= 0 /\ -nondet_12^post316+nondet_12^0 == 0 /\ -r_970^post316+r_970^0 == 0 /\ i_27^0-i_27^post316 == 0 /\ r_192^0-r_192^post316 == 0 /\ -rcd_58^post316+rcd_58^0 == 0 /\ a_310^0-a_310^post316 == 0 /\ a_176^0-a_176^post316 == 0 /\ r_39^0-r_39^post316 == 0 /\ a_395^0-a_395^post316 == 0 /\ -i_197^post316+i_197^0 == 0 /\ -a_579^post316+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post316 == 0 /\ -i_127^post316+i_127^0 == 0 /\ -ct_18^post316+ct_18^0 == 0 /\ length_29^0-length_29^post316 == 0 /\ -a_431^post316+a_431^0 == 0 /\ -i_229^post316+i_229^0 == 0 /\ t_24^0-t_24^post316 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post316 == 0 /\ i_1053^0-i_1053^post316 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post316+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_1249^post316+rcd_1249^0 == 0 /\ a_430^0-a_430^post316 == 0 /\ a_632^0-a_632^post316 == 0 /\ a_432^0-a_432^post316 == 0 /\ -a_924^post316+a_924^0 == 0 /\ -a_144^post316+a_144^0 == 0 /\ -i_1248^post316+i_1248^0 == 0 /\ r_151^0-r_151^post316 == 0 /\ a_902^0-a_902^post316 == 0 /\ -a_239^post316+a_239^0 == 0 /\ result_11^0-result_11^post316 == 0 /\ -tmp_34^post316+tmp_34^0 == 0 /\ -temp0_16^post316+temp0_16^0 == 0 /\ head_32^0-head_32^post316 == 0 /\ x_156^0-x_156^post316 == 0 /\ a_417^0-a_417^post316 == 0 /\ -len_861^post316+len_861^0 == 0 /\ -i_30^post316+i_30^0 == 0 /\ a_634^0-a_634^post316 == 0 /\ head_15^0-head_15^post316 == 0 /\ -a_635^post316+a_635^0 == 0 /\ -a_947^post316+a_947^0 == 0 /\ a_1162^0-a_1162^post316 == 0 /\ i_113^0-i_113^post316 == 0 /\ a_862^0-a_862^post316 == 0 /\ -x_17^post316+x_17^0 == 0 /\ -i_94^post316+i_94^0 == 0 /\ a_1089^0-a_1089^post316 == 0 /\ -x_14^post316+x_14^0 == 0 /\ a_394^0-a_394^post316 == 0 /\ -a_576^post316+a_576^0 == 0 /\ -r_143^post316+r_143^0 == 0 /\ t_458^0-t_458^post316 == 0 /\ x_852^0-x_852^post316 == 0 /\ a_263^0-a_263^post316 == 0 /\ -a_633^post316+a_633^0 == 0 /\ -a_575^post316+a_575^0 == 0 /\ i_140^0-i_140^post316 == 0 /\ -a_1236^post316+a_1236^0 == 0 /\ i_106^0-i_106^post316 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post316+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_311^0-a_311^post316 == 0 /\ rcd_88^0-rcd_88^post316 == 0 /\ y_20^0-y_20^post316 == 0 /\ f_847^0-f_847^post316 == 0 /\ a_393^0-a_393^post316 == 0 /\ -a_610^post316+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post316 == 0 /\ i_107^0-i_107^post316 == 0 /\ r_224^0-r_224^post316 == 0 /\ -x_975^post316+x_975^0 == 0 /\ -temp0_31^post316+temp0_31^0 == 0 /\ a_309^0-a_309^post316 == 0 /\ -rcd_47^post316+rcd_47^0 == 0 /\ -a_392^post316+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post316+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_121^0-a_121^post316 == 0 /\ -x_253^post316+x_253^0 == 0 /\ -f_969^post316+f_969^0 == 0 /\ -len_238^post316+len_238^0 == 0 /\ -len_262^post316+len_262^0 == 0 /\ a_577^0-a_577^post316 == 0), cost: 1 317: l196 -> l197 : a_1089^0'=a_1089^post317, f_847^0'=f_847^post317, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post317, a_394^0'=a_394^post317, x_156^0'=x_156^post317, a_632^0'=a_632^post317, r_192^0'=r_192^post317, a_176^0'=a_176^post317, i_106^0'=i_106^post317, a_430^0'=a_430^post317, t_458^0'=t_458^post317, len_161^0'=len_161^post317, x_975^0'=x_975^post317, a_902^0'=a_902^post317, a_947^0'=a_947^post317, rcd_88^0'=rcd_88^post317, a_311^0'=a_311^post317, i_140^0'=i_140^post317, a_577^0'=a_577^post317, x_14^0'=x_14^post317, nondet_12^0'=nondet_12^post317, a_121^0'=a_121^post317, head_15^0'=head_15^post317, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post317, i_27^0'=i_27^post317, x_21^0'=x_21^post317, a_634^0'=a_634^post317, r_39^0'=r_39^post317, a_263^0'=a_263^post317, i_113^0'=i_113^post317, a_432^0'=a_432^post317, temp0_31^0'=temp0_31^post317, len_262^0'=len_262^post317, y_20^0'=y_20^post317, f_248^0'=f_248^post317, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post317, a_393^0'=a_393^post317, i_229^0'=i_229^post317, a_610^0'=a_610^post317, r_151^0'=r_151^post317, a_144^0'=a_144^post317, i_1053^0'=i_1053^post317, a_417^0'=a_417^post317, t_24^0'=t_24^post317, i_94^0'=i_94^post317, x_852^0'=x_852^post317, a_862^0'=a_862^post317, rcd_1249^0'=rcd_1249^post317, rcd_58^0'=rcd_58^post317, a_310^0'=a_310^post317, i_127^0'=i_127^post317, a_576^0'=a_576^post317, tmp_34^0'=tmp_34^post317, length_29^0'=length_29^post317, a_1162^0'=a_1162^post317, f_969^0'=f_969^post317, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post317, a_395^0'=a_395^post317, x_17^0'=x_17^post317, a_633^0'=a_633^post317, r_224^0'=r_224^post317, a_239^0'=a_239^post317, i_107^0'=i_107^post317, a_431^0'=a_431^post317, temp0_16^0'=temp0_16^post317, len_238^0'=len_238^post317, x_SLAM_f_19^0'=x_SLAM_f_19^post317, a_924^0'=a_924^post317, ct_18^0'=ct_18^post317, result_11^0'=result_11^post317, a_392^0'=a_392^post317, i_197^0'=i_197^post317, a_579^0'=a_579^post317, r_143^0'=r_143^post317, a_1236^0'=a_1236^post317, head_32^0'=head_32^post317, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post317, i_30^0'=i_30^post317, x_253^0'=x_253^post317, a_635^0'=a_635^post317, r_970^0'=r_970^post317, rcd_47^0'=rcd_47^post317, a_309^0'=a_309^post317, i_1248^0'=i_1248^post317, a_575^0'=a_575^post317, temp_35^0'=temp_35^post317, len_861^0'=len_861^post317, (a_632^0-a_632^post317 == 0 /\ i_106^0-i_106^post317 == 0 /\ head_15^0-head_15^post317 == 0 /\ -a_635^post317+a_635^0 == 0 /\ -r_143^post317+r_143^0 == 0 /\ a_902^0-a_902^post317 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post317 == 0 /\ -r_151^post317+r_151^0 == 0 /\ -len_238^post317+len_238^0 == 0 /\ t_458^0-t_458^post317 == 0 /\ -a_309^post317+a_309^0 == 0 /\ i_229^0-i_229^post317 == 0 /\ -a_144^post317+a_144^0 == 0 /\ -a_634^post317+a_634^0 == 0 /\ a_417^0-a_417^post317 == 0 /\ x_156^0-x_156^post317 == 0 /\ -a_575^post317+a_575^0 == 0 /\ -a_576^post317+a_576^0 == 0 /\ temp0_31^0-temp0_31^post317 == 0 /\ x_14^0-x_14^post317 == 0 /\ i_1053^0-i_1053^post317 == 0 /\ -a_1236^post317+a_1236^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post317 == 0 /\ -i_27^post317+i_27^0 == 0 /\ -a_633^post317+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post317 == 0 /\ a_121^0-a_121^post317 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post317+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post317 == 0 /\ a_394^0-a_394^post317 == 0 /\ len_262^0-len_262^post317 == 0 /\ a_263^0-a_263^post317 == 0 /\ a_430^0-a_430^post317 == 0 /\ -length_29^post317+length_29^0 == 0 /\ a_176^0-a_176^post317 == 0 /\ -f_969^post317+f_969^0 == 0 /\ y_20^0-y_20^post317 == 0 /\ -rcd_47^post317+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post317 == 0 /\ a_392^0-a_392^post317 == 0 /\ -a_610^post317+a_610^0 == 0 /\ f_248^0-f_248^post317 == 0 /\ -r_970^post317+r_970^0 == 0 /\ -nondet_12^post317+nondet_12^0 == 0 /\ -head_32^post317+head_32^0 == 0 /\ -a_311^post317+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post317 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_94^0-i_94^post317 == 0 /\ -r_192^post317+r_192^0 == 0 /\ r_39^0-r_39^post317 == 0 /\ -rcd_88^post317+rcd_88^0 == 0 /\ -i_197^post317+i_197^0 == 0 /\ -x_253^post317+x_253^0 == 0 /\ a_432^0-a_432^post317 == 0 /\ -f_847^post317+f_847^0 == 0 /\ x_975^0-x_975^post317 == 0 /\ -a_579^post317+a_579^0 == 0 /\ -rcd_58^post317+rcd_58^0 == 0 /\ i_113^0-i_113^post317 == 0 /\ a_577^0-a_577^post317 == 0 /\ -i_127^post317+i_127^0 == 0 /\ -ct_18^post317+ct_18^0 == 0 /\ x_21^0-x_21^post317 == 0 /\ -a_862^post317+a_862^0 == 0 /\ -temp_35^post317+temp_35^0 == 0 /\ t_24^0-t_24^post317 == 0 /\ a_431^0-a_431^post317 == 0 /\ -rcd_1249^post317+rcd_1249^0 == 0 /\ -result_11^post317+result_11^0 == 0 /\ a_947^0-a_947^post317 == 0 /\ -a_393^post317+a_393^0 == 0 /\ a_310^0-a_310^post317 == 0 /\ -a_1162^post317+a_1162^0 == 0 /\ -x_17^post317+x_17^0 == 0 /\ -i_1248^post317+i_1248^0 == 0 /\ -i_30^post317+i_30^0 == 0 /\ a_395^0-a_395^post317 == 0 /\ -x_852^post317+x_852^0 == 0 /\ -a_239^post317+a_239^0 == 0 /\ -tmp_34^post317+tmp_34^0 == 0 /\ len_161^0-len_161^post317 == 0 /\ -r_224^post317+r_224^0 == 0 /\ -a_924^post317+a_924^0 == 0 /\ -len_861^post317+len_861^0 == 0 /\ i_140^0-i_140^post317 == 0 /\ i_107^0-i_107^post317 == 0 /\ -temp0_16^post317+temp0_16^0 == 0), cost: 1 318: l196 -> l197 : a_1089^0'=a_1089^post318, f_847^0'=f_847^post318, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post318, a_394^0'=a_394^post318, x_156^0'=x_156^post318, a_632^0'=a_632^post318, r_192^0'=r_192^post318, a_176^0'=a_176^post318, i_106^0'=i_106^post318, a_430^0'=a_430^post318, t_458^0'=t_458^post318, len_161^0'=len_161^post318, x_975^0'=x_975^post318, a_902^0'=a_902^post318, a_947^0'=a_947^post318, rcd_88^0'=rcd_88^post318, a_311^0'=a_311^post318, i_140^0'=i_140^post318, a_577^0'=a_577^post318, x_14^0'=x_14^post318, nondet_12^0'=nondet_12^post318, a_121^0'=a_121^post318, head_15^0'=head_15^post318, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post318, i_27^0'=i_27^post318, x_21^0'=x_21^post318, a_634^0'=a_634^post318, r_39^0'=r_39^post318, a_263^0'=a_263^post318, i_113^0'=i_113^post318, a_432^0'=a_432^post318, temp0_31^0'=temp0_31^post318, len_262^0'=len_262^post318, y_20^0'=y_20^post318, f_248^0'=f_248^post318, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post318, a_393^0'=a_393^post318, i_229^0'=i_229^post318, a_610^0'=a_610^post318, r_151^0'=r_151^post318, a_144^0'=a_144^post318, i_1053^0'=i_1053^post318, a_417^0'=a_417^post318, t_24^0'=t_24^post318, i_94^0'=i_94^post318, x_852^0'=x_852^post318, a_862^0'=a_862^post318, rcd_1249^0'=rcd_1249^post318, rcd_58^0'=rcd_58^post318, a_310^0'=a_310^post318, i_127^0'=i_127^post318, a_576^0'=a_576^post318, tmp_34^0'=tmp_34^post318, length_29^0'=length_29^post318, a_1162^0'=a_1162^post318, f_969^0'=f_969^post318, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post318, a_395^0'=a_395^post318, x_17^0'=x_17^post318, a_633^0'=a_633^post318, r_224^0'=r_224^post318, a_239^0'=a_239^post318, i_107^0'=i_107^post318, a_431^0'=a_431^post318, temp0_16^0'=temp0_16^post318, len_238^0'=len_238^post318, x_SLAM_f_19^0'=x_SLAM_f_19^post318, a_924^0'=a_924^post318, ct_18^0'=ct_18^post318, result_11^0'=result_11^post318, a_392^0'=a_392^post318, i_197^0'=i_197^post318, a_579^0'=a_579^post318, r_143^0'=r_143^post318, a_1236^0'=a_1236^post318, head_32^0'=head_32^post318, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post318, i_30^0'=i_30^post318, x_253^0'=x_253^post318, a_635^0'=a_635^post318, r_970^0'=r_970^post318, rcd_47^0'=rcd_47^post318, a_309^0'=a_309^post318, i_1248^0'=i_1248^post318, a_575^0'=a_575^post318, temp_35^0'=temp_35^post318, len_861^0'=len_861^post318, (temp0_31^0-temp0_31^post318 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post318 == 0 /\ a_1089^0-a_1089^post318 == 0 /\ i_1053^0-i_1053^post318 == 0 /\ a_634^0-a_634^post318 == 0 /\ i_27^0-i_27^post318 == 0 /\ -i_1248^post318+i_1248^0 == 0 /\ -a_239^post318+a_239^0 == 0 /\ -len_861^post318+len_861^0 == 0 /\ -a_579^post318+a_579^0 == 0 /\ a_310^0-a_310^post318 == 0 /\ -ct_18^post318+ct_18^0 == 0 /\ -i_127^post318+i_127^0 == 0 /\ a_176^0-a_176^post318 == 0 /\ a_395^0-a_395^post318 == 0 /\ a_311^0-a_311^post318 == 0 /\ t_458^0-t_458^post318 == 0 /\ -head_32^post318+head_32^0 == 0 /\ -f_248^post318+f_248^0 == 0 /\ -i_197^post318+i_197^0 == 0 /\ rcd_88^0-rcd_88^post318 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post318+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_140^0-i_140^post318 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post318 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post318 == 0 /\ a_924^0-a_924^post318 == 0 /\ -result_11^post318+result_11^0 == 0 /\ a_632^0-a_632^post318 == 0 /\ -a_309^post318+a_309^0 == 0 /\ a_393^0-a_393^post318 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_575^post318+a_575^0 == 0 /\ x_975^0-x_975^post318 == 0 /\ y_20^0-y_20^post318 == 0 /\ i_113^0-i_113^post318 == 0 /\ -rcd_1249^post318+rcd_1249^0 == 0 /\ -tmp_34^post318+tmp_34^0 == 0 /\ -a_635^post318+a_635^0 == 0 /\ -temp0_16^post318+temp0_16^0 == 0 /\ len_262^0-len_262^post318 == 0 /\ -head_15^post318+head_15^0 == 0 /\ -x_17^post318+x_17^0 == 0 /\ -i_30^post318+i_30^0 == 0 /\ r_192^0-r_192^post318 == 0 /\ -a_417^post318+a_417^0 == 0 /\ -rcd_58^post318+rcd_58^0 == 0 /\ -x_852^post318+x_852^0 == 0 /\ a_947^0-a_947^post318 == 0 /\ x_14^0-x_14^post318 == 0 /\ -r_151^post318+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post318+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ nondet_12^0-nondet_12^post318 == 0 /\ a_394^0-a_394^post318 == 0 /\ len_161^0-len_161^post318 == 0 /\ a_121^0-a_121^post318 == 0 /\ -a_144^post318+a_144^0 == 0 /\ a_263^0-a_263^post318 == 0 /\ f_847^0-f_847^post318 == 0 /\ -r_143^post318+r_143^0 == 0 /\ t_24^0-t_24^post318 == 0 /\ i_107^0-i_107^post318 == 0 /\ -a_633^post318+a_633^0 == 0 /\ -a_576^post318+a_576^0 == 0 /\ -f_969^post318+f_969^0 == 0 /\ i_106^0-i_106^post318 == 0 /\ i_94^0-i_94^post318 == 0 /\ -a_392^post318+a_392^0 == 0 /\ a_430^0-a_430^post318 == 0 /\ r_224^0-r_224^post318 == 0 /\ -a_610^post318+a_610^0 == 0 /\ -temp_35^post318+temp_35^0 == 0 /\ r_39^0-r_39^post318 == 0 /\ a_432^0-a_432^post318 == 0 /\ a_577^0-a_577^post318 == 0 /\ x_156^0-x_156^post318 == 0 /\ -rcd_47^post318+rcd_47^0 == 0 /\ -r_970^post318+r_970^0 == 0 /\ a_1162^0-a_1162^post318 == 0 /\ -x_253^post318+x_253^0 == 0 /\ -len_238^post318+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post318+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_902^0-a_902^post318 == 0 /\ a_862^0-a_862^post318 == 0 /\ i_229^0-i_229^post318 == 0 /\ -a_1236^post318+a_1236^0 == 0 /\ x_21^0-x_21^post318 == 0 /\ a_431^0-a_431^post318 == 0 /\ -length_29^post318+length_29^0 == 0), cost: 1 319: l197 -> l198 : a_1089^0'=a_1089^post319, f_847^0'=f_847^post319, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post319, a_394^0'=a_394^post319, x_156^0'=x_156^post319, a_632^0'=a_632^post319, r_192^0'=r_192^post319, a_176^0'=a_176^post319, i_106^0'=i_106^post319, a_430^0'=a_430^post319, t_458^0'=t_458^post319, len_161^0'=len_161^post319, x_975^0'=x_975^post319, a_902^0'=a_902^post319, a_947^0'=a_947^post319, rcd_88^0'=rcd_88^post319, a_311^0'=a_311^post319, i_140^0'=i_140^post319, a_577^0'=a_577^post319, x_14^0'=x_14^post319, nondet_12^0'=nondet_12^post319, a_121^0'=a_121^post319, head_15^0'=head_15^post319, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post319, i_27^0'=i_27^post319, x_21^0'=x_21^post319, a_634^0'=a_634^post319, r_39^0'=r_39^post319, a_263^0'=a_263^post319, i_113^0'=i_113^post319, a_432^0'=a_432^post319, temp0_31^0'=temp0_31^post319, len_262^0'=len_262^post319, y_20^0'=y_20^post319, f_248^0'=f_248^post319, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post319, a_393^0'=a_393^post319, i_229^0'=i_229^post319, a_610^0'=a_610^post319, r_151^0'=r_151^post319, a_144^0'=a_144^post319, i_1053^0'=i_1053^post319, a_417^0'=a_417^post319, t_24^0'=t_24^post319, i_94^0'=i_94^post319, x_852^0'=x_852^post319, a_862^0'=a_862^post319, rcd_1249^0'=rcd_1249^post319, rcd_58^0'=rcd_58^post319, a_310^0'=a_310^post319, i_127^0'=i_127^post319, a_576^0'=a_576^post319, tmp_34^0'=tmp_34^post319, length_29^0'=length_29^post319, a_1162^0'=a_1162^post319, f_969^0'=f_969^post319, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post319, a_395^0'=a_395^post319, x_17^0'=x_17^post319, a_633^0'=a_633^post319, r_224^0'=r_224^post319, a_239^0'=a_239^post319, i_107^0'=i_107^post319, a_431^0'=a_431^post319, temp0_16^0'=temp0_16^post319, len_238^0'=len_238^post319, x_SLAM_f_19^0'=x_SLAM_f_19^post319, a_924^0'=a_924^post319, ct_18^0'=ct_18^post319, result_11^0'=result_11^post319, a_392^0'=a_392^post319, i_197^0'=i_197^post319, a_579^0'=a_579^post319, r_143^0'=r_143^post319, a_1236^0'=a_1236^post319, head_32^0'=head_32^post319, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post319, i_30^0'=i_30^post319, x_253^0'=x_253^post319, a_635^0'=a_635^post319, r_970^0'=r_970^post319, rcd_47^0'=rcd_47^post319, a_309^0'=a_309^post319, i_1248^0'=i_1248^post319, a_575^0'=a_575^post319, temp_35^0'=temp_35^post319, len_861^0'=len_861^post319, (-tmp_34^post319+tmp_34^0 == 0 /\ rcd_1249^0-rcd_1249^post319 == 0 /\ f_248^0-f_248^post319 == 0 /\ head_15^0-head_15^post319 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post319+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_430^0-a_430^post319 == 0 /\ t_458^0-t_458^post319 == 0 /\ -r_151^post319+r_151^0 == 0 /\ x_975^0-x_975^post319 == 0 /\ a_632^0-a_632^post319 == 0 /\ i_127^0-i_127^post319 == 0 /\ a_577^0-a_577^post319 == 0 /\ -a_924^post319+a_924^0 == 0 /\ a_902^0-a_902^post319 == 0 /\ -a_576^post319+a_576^0 == 0 /\ -a_634^post319+a_634^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post319+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post319+a_309^0 == 0 /\ temp0_31^0-temp0_31^post319 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ i_229^0-i_229^post319 == 0 /\ -r_143^post319+r_143^0 == 0 /\ -i_27^post319+i_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post319+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post319+a_1236^0 == 0 /\ -x_253^post319+x_253^0 == 0 /\ x_14^0-x_14^post319 == 0 /\ a_176^0-a_176^post319 == 0 /\ a_121^0-a_121^post319 == 0 /\ len_262^0-len_262^post319 == 0 /\ a_394^0-a_394^post319 == 0 /\ -length_29^post319+length_29^0 == 0 /\ -f_969^post319+f_969^0 == 0 /\ -r_970^post319+r_970^0 == 0 /\ f_847^0-f_847^post319 == 0 /\ -rcd_47^post319+rcd_47^0 == 0 /\ -a_431^post319+a_431^0 == 0 /\ -x_SLAM_f_19^post319+x_SLAM_f_19^0 == 0 /\ -a_239^post319+a_239^0 == 0 /\ i_94^0-i_94^post319 == 0 /\ -a_311^post319+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post319 == 0 /\ -a_310^post319+a_310^0 == 0 /\ -a_395^post319+a_395^0 == 0 /\ a_610^0-a_610^post319 == 0 /\ -len_861^post319+len_861^0 == 0 /\ -ct_18^post319+ct_18^0 == 0 /\ y_20^0-y_20^post319 == 0 /\ -rcd_88^post319+rcd_88^0 == 0 /\ r_39^0-r_39^post319 == 0 /\ -r_192^post319+r_192^0 == 0 /\ -head_32^post319+head_32^0 == 0 /\ -len_161^post319+len_161^0 == 0 /\ x_21^0-x_21^post319 == 0 /\ a_432^0-a_432^post319 == 0 /\ -a_862^post319+a_862^0 == 0 /\ -r_224^post319+r_224^0 == 0 /\ -temp_35^post319+temp_35^0 == 0 /\ i_113^0-i_113^post319 == 0 /\ a_1089^0-a_1089^post319 == 0 /\ a_633^0-a_633^post319 == 0 /\ -a_392^post319+a_392^0 == 0 /\ -x_156^post319+x_156^0 == 0 /\ -i_1053^post319+i_1053^0 == 0 /\ temp0_16^0-temp0_16^post319 == 0 /\ nondet_12^0-nondet_12^post319 == 0 /\ -a_417^post319+a_417^0 == 0 /\ -i_107^post319+i_107^0 == 0 /\ -a_263^post319+a_263^0 == 0 /\ -a_575^post319+a_575^0 == 0 /\ -i_197^post319+i_197^0 == 0 /\ -a_579^post319+a_579^0 == 0 /\ -t_24^post319+t_24^0 == 0 /\ -result_11^post319+result_11^0 == 0 /\ -i_30^post319+i_30^0 == 0 /\ -a_393^post319+a_393^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post319 == 0 /\ a_144^0-a_144^post319 == 0 /\ a_947^0-a_947^post319 == 0 /\ -x_17^post319+x_17^0 == 0 /\ -x_852^post319+x_852^0 == 0 /\ -a_1162^post319+a_1162^0 == 0 /\ i_140^0-i_140^post319 == 0 /\ -a_635^post319+a_635^0 == 0 /\ -rcd_58^post319+rcd_58^0 == 0 /\ -i_1248^post319+i_1248^0 == 0 /\ i_106^0-i_106^post319 == 0 /\ len_238^0-len_238^post319 == 0), cost: 1 320: l197 -> l198 : a_1089^0'=a_1089^post320, f_847^0'=f_847^post320, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post320, a_394^0'=a_394^post320, x_156^0'=x_156^post320, a_632^0'=a_632^post320, r_192^0'=r_192^post320, a_176^0'=a_176^post320, i_106^0'=i_106^post320, a_430^0'=a_430^post320, t_458^0'=t_458^post320, len_161^0'=len_161^post320, x_975^0'=x_975^post320, a_902^0'=a_902^post320, a_947^0'=a_947^post320, rcd_88^0'=rcd_88^post320, a_311^0'=a_311^post320, i_140^0'=i_140^post320, a_577^0'=a_577^post320, x_14^0'=x_14^post320, nondet_12^0'=nondet_12^post320, a_121^0'=a_121^post320, head_15^0'=head_15^post320, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post320, i_27^0'=i_27^post320, x_21^0'=x_21^post320, a_634^0'=a_634^post320, r_39^0'=r_39^post320, a_263^0'=a_263^post320, i_113^0'=i_113^post320, a_432^0'=a_432^post320, temp0_31^0'=temp0_31^post320, len_262^0'=len_262^post320, y_20^0'=y_20^post320, f_248^0'=f_248^post320, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post320, a_393^0'=a_393^post320, i_229^0'=i_229^post320, a_610^0'=a_610^post320, r_151^0'=r_151^post320, a_144^0'=a_144^post320, i_1053^0'=i_1053^post320, a_417^0'=a_417^post320, t_24^0'=t_24^post320, i_94^0'=i_94^post320, x_852^0'=x_852^post320, a_862^0'=a_862^post320, rcd_1249^0'=rcd_1249^post320, rcd_58^0'=rcd_58^post320, a_310^0'=a_310^post320, i_127^0'=i_127^post320, a_576^0'=a_576^post320, tmp_34^0'=tmp_34^post320, length_29^0'=length_29^post320, a_1162^0'=a_1162^post320, f_969^0'=f_969^post320, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post320, a_395^0'=a_395^post320, x_17^0'=x_17^post320, a_633^0'=a_633^post320, r_224^0'=r_224^post320, a_239^0'=a_239^post320, i_107^0'=i_107^post320, a_431^0'=a_431^post320, temp0_16^0'=temp0_16^post320, len_238^0'=len_238^post320, x_SLAM_f_19^0'=x_SLAM_f_19^post320, a_924^0'=a_924^post320, ct_18^0'=ct_18^post320, result_11^0'=result_11^post320, a_392^0'=a_392^post320, i_197^0'=i_197^post320, a_579^0'=a_579^post320, r_143^0'=r_143^post320, a_1236^0'=a_1236^post320, head_32^0'=head_32^post320, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post320, i_30^0'=i_30^post320, x_253^0'=x_253^post320, a_635^0'=a_635^post320, r_970^0'=r_970^post320, rcd_47^0'=rcd_47^post320, a_309^0'=a_309^post320, i_1248^0'=i_1248^post320, a_575^0'=a_575^post320, temp_35^0'=temp_35^post320, len_861^0'=len_861^post320, (x_852^0-x_852^post320 == 0 /\ nondet_12^0-nondet_12^post320 == 0 /\ -a_239^post320+a_239^0 == 0 /\ -rcd_58^post320+rcd_58^0 == 0 /\ -length_29^post320+length_29^0 == 0 /\ -r_39^post320+r_39^0 == 0 /\ -a_310^post320+a_310^0 == 0 /\ -len_861^post320+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post320+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post320+a_395^0 == 0 /\ -i_1053^post320+i_1053^0 == 0 /\ -i_1248^post320+i_1248^0 == 0 /\ -a_862^post320+a_862^0 == 0 /\ a_576^0-a_576^post320 == 0 /\ f_847^0-f_847^post320 == 0 /\ x_17^0-x_17^post320 == 0 /\ -a_579^post320+a_579^0 == 0 /\ -head_32^post320+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post320 == 0 /\ a_394^0-a_394^post320 == 0 /\ -i_197^post320+i_197^0 == 0 /\ -a_393^post320+a_393^0 == 0 /\ -t_24^post320+t_24^0 == 0 /\ t_458^0-t_458^post320 == 0 /\ a_924^0-a_924^post320 == 0 /\ r_224^0-r_224^post320 == 0 /\ -i_30^post320+i_30^0 == 0 /\ a_610^0-a_610^post320 == 0 /\ -a_309^post320+a_309^0 == 0 /\ -a_144^post320+a_144^0 == 0 /\ rcd_1249^0-rcd_1249^post320 == 0 /\ a_577^0-a_577^post320 == 0 /\ i_106^0-i_106^post320 == 0 /\ x_975^0-x_975^post320 == 0 /\ -i_107^post320+i_107^0 == 0 /\ ct_18^0-ct_18^post320 == 0 /\ -a_575^post320+a_575^0 == 0 /\ -a_263^post320+a_263^0 == 0 /\ i_127^0-i_127^post320 == 0 /\ -a_417^post320+a_417^0 == 0 /\ -a_635^post320+a_635^0 == 0 /\ -tmp_34^post320+tmp_34^0 == 0 /\ i_27^0-i_27^post320 == 0 /\ x_21^0-x_21^post320 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ a_1236^0-a_1236^post320 == 0 /\ len_161^0-len_161^post320 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post320+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_121^0-a_121^post320 == 0 /\ len_262^0-len_262^post320 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post320 == 0 /\ temp0_31^0-temp0_31^post320 == 0 /\ -rcd_47^post320+rcd_47^0 == 0 /\ a_634^0-a_634^post320 == 0 /\ -i_140^post320+i_140^0 == 0 /\ len_238^0-len_238^post320 == 0 /\ -a_633^post320+a_633^0 == 0 /\ -r_143^post320+r_143^0 == 0 /\ a_947^0-a_947^post320 == 0 /\ -result_11^post320+result_11^0 == 0 /\ a_176^0-a_176^post320 == 0 /\ r_151^0-r_151^post320 == 0 /\ -a_392^post320+a_392^0 == 0 /\ f_248^0-f_248^post320 == 0 /\ -temp_35^post320+temp_35^0 == 0 /\ a_902^0-a_902^post320 == 0 /\ -f_969^post320+f_969^0 == 0 /\ head_15^0-head_15^post320 == 0 /\ a_430^0-a_430^post320 == 0 /\ -i_94^post320+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post320+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_113^post320+i_113^0 == 0 /\ rcd_88^0-rcd_88^post320 == 0 /\ a_311^0-a_311^post320 == 0 /\ a_1162^0-a_1162^post320 == 0 /\ x_156^0-x_156^post320 == 0 /\ a_1089^0-a_1089^post320 == 0 /\ x_14^0-x_14^post320 == 0 /\ -y_20^post320+y_20^0 == 0 /\ -a_432^post320+a_432^0 == 0 /\ -i_229^post320+i_229^0 == 0 /\ -a_431^post320+a_431^0 == 0 /\ a_632^0-a_632^post320 == 0 /\ -x_SLAM_f_19^post320+x_SLAM_f_19^0 == 0 /\ temp0_16^0-temp0_16^post320 == 0 /\ r_192^0-r_192^post320 == 0 /\ -x_253^post320+x_253^0 == 0 /\ -r_970^post320+r_970^0 == 0), cost: 1 321: l198 -> l199 : a_1089^0'=a_1089^post321, f_847^0'=f_847^post321, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post321, a_394^0'=a_394^post321, x_156^0'=x_156^post321, a_632^0'=a_632^post321, r_192^0'=r_192^post321, a_176^0'=a_176^post321, i_106^0'=i_106^post321, a_430^0'=a_430^post321, t_458^0'=t_458^post321, len_161^0'=len_161^post321, x_975^0'=x_975^post321, a_902^0'=a_902^post321, a_947^0'=a_947^post321, rcd_88^0'=rcd_88^post321, a_311^0'=a_311^post321, i_140^0'=i_140^post321, a_577^0'=a_577^post321, x_14^0'=x_14^post321, nondet_12^0'=nondet_12^post321, a_121^0'=a_121^post321, head_15^0'=head_15^post321, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post321, i_27^0'=i_27^post321, x_21^0'=x_21^post321, a_634^0'=a_634^post321, r_39^0'=r_39^post321, a_263^0'=a_263^post321, i_113^0'=i_113^post321, a_432^0'=a_432^post321, temp0_31^0'=temp0_31^post321, len_262^0'=len_262^post321, y_20^0'=y_20^post321, f_248^0'=f_248^post321, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post321, a_393^0'=a_393^post321, i_229^0'=i_229^post321, a_610^0'=a_610^post321, r_151^0'=r_151^post321, a_144^0'=a_144^post321, i_1053^0'=i_1053^post321, a_417^0'=a_417^post321, t_24^0'=t_24^post321, i_94^0'=i_94^post321, x_852^0'=x_852^post321, a_862^0'=a_862^post321, rcd_1249^0'=rcd_1249^post321, rcd_58^0'=rcd_58^post321, a_310^0'=a_310^post321, i_127^0'=i_127^post321, a_576^0'=a_576^post321, tmp_34^0'=tmp_34^post321, length_29^0'=length_29^post321, a_1162^0'=a_1162^post321, f_969^0'=f_969^post321, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post321, a_395^0'=a_395^post321, x_17^0'=x_17^post321, a_633^0'=a_633^post321, r_224^0'=r_224^post321, a_239^0'=a_239^post321, i_107^0'=i_107^post321, a_431^0'=a_431^post321, temp0_16^0'=temp0_16^post321, len_238^0'=len_238^post321, x_SLAM_f_19^0'=x_SLAM_f_19^post321, a_924^0'=a_924^post321, ct_18^0'=ct_18^post321, result_11^0'=result_11^post321, a_392^0'=a_392^post321, i_197^0'=i_197^post321, a_579^0'=a_579^post321, r_143^0'=r_143^post321, a_1236^0'=a_1236^post321, head_32^0'=head_32^post321, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post321, i_30^0'=i_30^post321, x_253^0'=x_253^post321, a_635^0'=a_635^post321, r_970^0'=r_970^post321, rcd_47^0'=rcd_47^post321, a_309^0'=a_309^post321, i_1248^0'=i_1248^post321, a_575^0'=a_575^post321, temp_35^0'=temp_35^post321, len_861^0'=len_861^post321, (f_969^0-f_969^post321 == 0 /\ rcd_1249^0-rcd_1249^post321 == 0 /\ -a_924^post321+a_924^0 == 0 /\ x_975^0-x_975^post321 == 0 /\ -rcd_47^post321+rcd_47^0 == 0 /\ -i_140^post321+i_140^0 == 0 /\ f_248^0-f_248^post321 == 0 /\ -a_1162^post321+a_1162^0 == 0 /\ i_127^0-i_127^post321 == 0 /\ -r_151^post321+r_151^0 == 0 /\ -result_11^post321+result_11^0 == 0 /\ r_192^0-r_192^post321 == 0 /\ a_632^0-a_632^post321 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post321+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_430^0-a_430^post321 == 0 /\ x_21^0-x_21^post321 == 0 /\ -a_431^post321+a_431^0 == 0 /\ -x_253^post321+x_253^0 == 0 /\ -r_970^post321+r_970^0 == 0 /\ -i_113^post321+i_113^0 == 0 /\ -a_432^post321+a_432^0 == 0 /\ x_852^0-x_852^post321 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post321+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_94^post321+i_94^0 == 0 /\ x_156^0-x_156^post321 == 0 /\ len_161^0-len_161^post321 == 0 /\ -r_143^post321+r_143^0 == 0 /\ a_144^0-a_144^post321 == 0 /\ a_947^0-a_947^post321 == 0 /\ a_576^0-a_576^post321 == 0 /\ f_847^0-f_847^post321 == 0 /\ a_394^0-a_394^post321 == 0 /\ -y_20^post321+y_20^0 == 0 /\ -length_29^post321+length_29^0 == 0 /\ -x_SLAM_f_19^post321+x_SLAM_f_19^0 == 0 /\ -temp_35^post321+temp_35^0 == 0 /\ rcd_58^0-rcd_58^post321 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_1236^post321+a_1236^0 == 0 /\ -r_39^post321+r_39^0 == 0 /\ -t_458^post321+t_458^0 == 0 /\ -a_310^post321+a_310^0 == 0 /\ a_239^0-a_239^post321 == 0 /\ a_311^0-a_311^post321 == 0 /\ -a_395^post321+a_395^0 == 0 /\ a_635^0-a_635^post321 == 0 /\ -i_106^post321+i_106^0 == 0 /\ head_15^0-head_15^post321 == 0 /\ a_902^0-a_902^post321 == 0 /\ -a_577^post321+a_577^0 == 0 /\ -i_1248^post321+i_1248^0 == 0 /\ a_633^0-a_633^post321 == 0 /\ i_229^0-i_229^post321 == 0 /\ -a_392^post321+a_392^0 == 0 /\ -a_862^post321+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post321 == 0 /\ -a_579^post321+a_579^0 == 0 /\ -head_32^post321+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post321+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post321+r_224^0 == 0 /\ a_610^0-a_610^post321 == 0 /\ -temp0_16^post321+temp0_16^0 == 0 /\ -len_861^post321+len_861^0 == 0 /\ i_27^0-i_27^post321 == 0 /\ -a_263^post321+a_263^0 == 0 /\ nondet_12^0-nondet_12^post321 == 0 /\ temp0_31^0-temp0_31^post321 == 0 /\ x_14^0-x_14^post321 == 0 /\ a_121^0-a_121^post321 == 0 /\ -i_30^post321+i_30^0 == 0 /\ a_417^0-a_417^post321 == 0 /\ -a_393^post321+a_393^0 == 0 /\ len_262^0-len_262^post321 == 0 /\ a_1089^0-a_1089^post321 == 0 /\ x_17^0-x_17^post321 == 0 /\ -i_197^post321+i_197^0 == 0 /\ a_634^0-a_634^post321 == 0 /\ i_1053^0-i_1053^post321 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post321+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post321+a_309^0 == 0 /\ rcd_88^0-rcd_88^post321 == 0 /\ a_176^0-a_176^post321 == 0 /\ -i_107^post321+i_107^0 == 0 /\ -t_24^post321+t_24^0 == 0 /\ -a_575^post321+a_575^0 == 0 /\ len_238^0-len_238^post321 == 0 /\ -ct_18^post321+ct_18^0 == 0 /\ -tmp_34^post321+tmp_34^0 == 0), cost: 1 322: l198 -> l199 : a_1089^0'=a_1089^post322, f_847^0'=f_847^post322, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post322, a_394^0'=a_394^post322, x_156^0'=x_156^post322, a_632^0'=a_632^post322, r_192^0'=r_192^post322, a_176^0'=a_176^post322, i_106^0'=i_106^post322, a_430^0'=a_430^post322, t_458^0'=t_458^post322, len_161^0'=len_161^post322, x_975^0'=x_975^post322, a_902^0'=a_902^post322, a_947^0'=a_947^post322, rcd_88^0'=rcd_88^post322, a_311^0'=a_311^post322, i_140^0'=i_140^post322, a_577^0'=a_577^post322, x_14^0'=x_14^post322, nondet_12^0'=nondet_12^post322, a_121^0'=a_121^post322, head_15^0'=head_15^post322, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post322, i_27^0'=i_27^post322, x_21^0'=x_21^post322, a_634^0'=a_634^post322, r_39^0'=r_39^post322, a_263^0'=a_263^post322, i_113^0'=i_113^post322, a_432^0'=a_432^post322, temp0_31^0'=temp0_31^post322, len_262^0'=len_262^post322, y_20^0'=y_20^post322, f_248^0'=f_248^post322, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post322, a_393^0'=a_393^post322, i_229^0'=i_229^post322, a_610^0'=a_610^post322, r_151^0'=r_151^post322, a_144^0'=a_144^post322, i_1053^0'=i_1053^post322, a_417^0'=a_417^post322, t_24^0'=t_24^post322, i_94^0'=i_94^post322, x_852^0'=x_852^post322, a_862^0'=a_862^post322, rcd_1249^0'=rcd_1249^post322, rcd_58^0'=rcd_58^post322, a_310^0'=a_310^post322, i_127^0'=i_127^post322, a_576^0'=a_576^post322, tmp_34^0'=tmp_34^post322, length_29^0'=length_29^post322, a_1162^0'=a_1162^post322, f_969^0'=f_969^post322, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post322, a_395^0'=a_395^post322, x_17^0'=x_17^post322, a_633^0'=a_633^post322, r_224^0'=r_224^post322, a_239^0'=a_239^post322, i_107^0'=i_107^post322, a_431^0'=a_431^post322, temp0_16^0'=temp0_16^post322, len_238^0'=len_238^post322, x_SLAM_f_19^0'=x_SLAM_f_19^post322, a_924^0'=a_924^post322, ct_18^0'=ct_18^post322, result_11^0'=result_11^post322, a_392^0'=a_392^post322, i_197^0'=i_197^post322, a_579^0'=a_579^post322, r_143^0'=r_143^post322, a_1236^0'=a_1236^post322, head_32^0'=head_32^post322, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post322, i_30^0'=i_30^post322, x_253^0'=x_253^post322, a_635^0'=a_635^post322, r_970^0'=r_970^post322, rcd_47^0'=rcd_47^post322, a_309^0'=a_309^post322, i_1248^0'=i_1248^post322, a_575^0'=a_575^post322, temp_35^0'=temp_35^post322, len_861^0'=len_861^post322, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post322+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_852^0-x_852^post322 == 0 /\ nondet_12^0-nondet_12^post322 == 0 /\ a_263^0-a_263^post322 == 0 /\ a_576^0-a_576^post322 == 0 /\ a_862^0-a_862^post322 == 0 /\ -i_1248^post322+i_1248^0 == 0 /\ -length_29^post322+length_29^0 == 0 /\ -a_577^post322+a_577^0 == 0 /\ len_161^0-len_161^post322 == 0 /\ x_156^0-x_156^post322 == 0 /\ tmp_34^0-tmp_34^post322 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post322 == 0 /\ -temp0_16^post322+temp0_16^0 == 0 /\ f_847^0-f_847^post322 == 0 /\ -a_310^post322+a_310^0 == 0 /\ a_394^0-a_394^post322 == 0 /\ a_144^0-a_144^post322 == 0 /\ head_15^0-head_15^post322 == 0 /\ -i_30^post322+i_30^0 == 0 /\ -x_17^post322+x_17^0 == 0 /\ -r_39^post322+r_39^0 == 0 /\ -len_861^post322+len_861^0 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_392^post322+a_392^0 == 0 /\ -head_32^post322+head_32^0 == 0 /\ a_430^0-a_430^post322 == 0 /\ -a_393^post322+a_393^0 == 0 /\ t_458^0-t_458^post322 == 0 /\ a_311^0-a_311^post322 == 0 /\ i_106^0-i_106^post322 == 0 /\ -i_197^post322+i_197^0 == 0 /\ -a_309^post322+a_309^0 == 0 /\ ct_18^0-ct_18^post322 == 0 /\ -a_635^post322+a_635^0 == 0 /\ -a_579^post322+a_579^0 == 0 /\ -x_14^post322+x_14^0 == 0 /\ -i_127^post322+i_127^0 == 0 /\ a_1089^0-a_1089^post322 == 0 /\ -i_107^post322+i_107^0 == 0 /\ -a_1162^post322+a_1162^0 == 0 /\ -a_575^post322+a_575^0 == 0 /\ x_21^0-x_21^post322 == 0 /\ a_1236^0-a_1236^post322 == 0 /\ -a_633^post322+a_633^0 == 0 /\ -a_417^post322+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post322 == 0 /\ i_27^0-i_27^post322 == 0 /\ temp0_31^0-temp0_31^post322 == 0 /\ -a_632^post322+a_632^0 == 0 /\ -a_924^post322+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post322+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post322 == 0 /\ a_634^0-a_634^post322 == 0 /\ x_253^0-x_253^post322 == 0 /\ len_262^0-len_262^post322 == 0 /\ -a_121^post322+a_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post322 == 0 /\ rcd_58^0-rcd_58^post322 == 0 /\ -rcd_47^post322+rcd_47^0 == 0 /\ a_176^0-a_176^post322 == 0 /\ i_1053^0-i_1053^post322 == 0 /\ a_947^0-a_947^post322 == 0 /\ -len_238^post322+len_238^0 == 0 /\ -t_24^post322+t_24^0 == 0 /\ y_20^0-y_20^post322 == 0 /\ r_151^0-r_151^post322 == 0 /\ f_248^0-f_248^post322 == 0 /\ -result_11^post322+result_11^0 == 0 /\ -r_143^post322+r_143^0 == 0 /\ -i_94^post322+i_94^0 == 0 /\ -r_224^post322+r_224^0 == 0 /\ x_975^0-x_975^post322 == 0 /\ -temp_35^post322+temp_35^0 == 0 /\ -i_113^post322+i_113^0 == 0 /\ -r_970^post322+r_970^0 == 0 /\ rcd_1249^0-rcd_1249^post322 == 0 /\ a_239^0-a_239^post322 == 0 /\ -x_SLAM_f_19^post322+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post322 == 0 /\ a_902^0-a_902^post322 == 0 /\ a_610^0-a_610^post322 == 0 /\ -a_431^post322+a_431^0 == 0 /\ -i_229^post322+i_229^0 == 0 /\ -a_395^post322+a_395^0 == 0 /\ -a_432^post322+a_432^0 == 0 /\ r_192^0-r_192^post322 == 0 /\ f_969^0-f_969^post322 == 0), cost: 1 323: l199 -> l200 : a_1089^0'=a_1089^post323, f_847^0'=f_847^post323, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post323, a_394^0'=a_394^post323, x_156^0'=x_156^post323, a_632^0'=a_632^post323, r_192^0'=r_192^post323, a_176^0'=a_176^post323, i_106^0'=i_106^post323, a_430^0'=a_430^post323, t_458^0'=t_458^post323, len_161^0'=len_161^post323, x_975^0'=x_975^post323, a_902^0'=a_902^post323, a_947^0'=a_947^post323, rcd_88^0'=rcd_88^post323, a_311^0'=a_311^post323, i_140^0'=i_140^post323, a_577^0'=a_577^post323, x_14^0'=x_14^post323, nondet_12^0'=nondet_12^post323, a_121^0'=a_121^post323, head_15^0'=head_15^post323, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post323, i_27^0'=i_27^post323, x_21^0'=x_21^post323, a_634^0'=a_634^post323, r_39^0'=r_39^post323, a_263^0'=a_263^post323, i_113^0'=i_113^post323, a_432^0'=a_432^post323, temp0_31^0'=temp0_31^post323, len_262^0'=len_262^post323, y_20^0'=y_20^post323, f_248^0'=f_248^post323, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post323, a_393^0'=a_393^post323, i_229^0'=i_229^post323, a_610^0'=a_610^post323, r_151^0'=r_151^post323, a_144^0'=a_144^post323, i_1053^0'=i_1053^post323, a_417^0'=a_417^post323, t_24^0'=t_24^post323, i_94^0'=i_94^post323, x_852^0'=x_852^post323, a_862^0'=a_862^post323, rcd_1249^0'=rcd_1249^post323, rcd_58^0'=rcd_58^post323, a_310^0'=a_310^post323, i_127^0'=i_127^post323, a_576^0'=a_576^post323, tmp_34^0'=tmp_34^post323, length_29^0'=length_29^post323, a_1162^0'=a_1162^post323, f_969^0'=f_969^post323, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post323, a_395^0'=a_395^post323, x_17^0'=x_17^post323, a_633^0'=a_633^post323, r_224^0'=r_224^post323, a_239^0'=a_239^post323, i_107^0'=i_107^post323, a_431^0'=a_431^post323, temp0_16^0'=temp0_16^post323, len_238^0'=len_238^post323, x_SLAM_f_19^0'=x_SLAM_f_19^post323, a_924^0'=a_924^post323, ct_18^0'=ct_18^post323, result_11^0'=result_11^post323, a_392^0'=a_392^post323, i_197^0'=i_197^post323, a_579^0'=a_579^post323, r_143^0'=r_143^post323, a_1236^0'=a_1236^post323, head_32^0'=head_32^post323, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post323, i_30^0'=i_30^post323, x_253^0'=x_253^post323, a_635^0'=a_635^post323, r_970^0'=r_970^post323, rcd_47^0'=rcd_47^post323, a_309^0'=a_309^post323, i_1248^0'=i_1248^post323, a_575^0'=a_575^post323, temp_35^0'=temp_35^post323, len_861^0'=len_861^post323, (1-t_458^0+y_20^0 <= 0 /\ a_430^0-a_430^post323 == 0 /\ f_969^0-f_969^post323 == 0 /\ r_192^0-r_192^post323 == 0 /\ i_113^0-i_113^post323 == 0 /\ a_176^0-a_176^post323 == 0 /\ -result_11^post323+result_11^0 == 0 /\ -a_1162^post323+a_1162^0 == 0 /\ length_29^0-length_29^post323 == 0 /\ -a_431^post323+a_431^0 == 0 /\ -x_21^post323+x_21^0 == 0 /\ a_633^0-a_633^post323 == 0 /\ -a_610^post323+a_610^0 == 0 /\ i_27^0-i_27^post323 == 0 /\ t_24^0-t_24^post323 == 0 /\ r_39^0-r_39^post323 == 0 /\ -r_970^post323+r_970^0 == 0 /\ a_393^0-a_393^post323 == 0 /\ -rcd_47^post323+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post323 == 0 /\ -a_924^post323+a_924^0 == 0 /\ -a_239^post323+a_239^0 == 0 /\ a_432^0-a_432^post323 == 0 /\ -r_143^post323+r_143^0 == 0 /\ -x_SLAM_f_19^post323+x_SLAM_f_19^0 == 0 /\ a_263^0-a_263^post323 == 0 /\ -i_229^post323+i_229^0 == 0 /\ -x_253^post323+x_253^0 == 0 /\ len_161^0-len_161^post323 == 0 /\ i_140^0-i_140^post323 == 0 /\ x_156^0-x_156^post323 == 0 /\ a_144^0-a_144^post323 == 0 /\ a_634^0-a_634^post323 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post323+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post323+temp_35^0 == 0 /\ head_15^0-head_15^post323 == 0 /\ -nondet_12^post323+nondet_12^0 == 0 /\ -a_576^post323+a_576^0 == 0 /\ r_151^0-r_151^post323 == 0 /\ f_248^0-f_248^post323 == 0 /\ tmp_34^0-tmp_34^post323 == 0 /\ head_32^0-head_32^post323 == 0 /\ a_417^0-a_417^post323 == 0 /\ -a_395^post323+a_395^0 == 0 /\ rcd_58^0-rcd_58^post323 == 0 /\ -len_861^post323+len_861^0 == 0 /\ a_577^0-a_577^post323 == 0 /\ rcd_88^0-rcd_88^post323 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post323 == 0 /\ a_311^0-a_311^post323 == 0 /\ a_902^0-a_902^post323 == 0 /\ -a_309^post323+a_309^0 == 0 /\ -a_1236^post323+a_1236^0 == 0 /\ rcd_1249^0-rcd_1249^post323 == 0 /\ i_127^0-i_127^post323 == 0 /\ -a_947^post323+a_947^0 == 0 /\ -a_310^post323+a_310^0 == 0 /\ -a_862^post323+a_862^0 == 0 /\ i_106^0-i_106^post323 == 0 /\ a_632^0-a_632^post323 == 0 /\ -x_17^post323+x_17^0 == 0 /\ -i_94^post323+i_94^0 == 0 /\ -a_392^post323+a_392^0 == 0 /\ -temp0_31^post323+temp0_31^0 == 0 /\ -temp0_16^post323+temp0_16^0 == 0 /\ t_458^0-t_458^post323 == 0 /\ -a_635^post323+a_635^0 == 0 /\ x_852^0-x_852^post323 == 0 /\ a_1089^0-a_1089^post323 == 0 /\ -r_224^post323+r_224^0 == 0 /\ -i_1248^post323+i_1248^0 == 0 /\ -i_197^post323+i_197^0 == 0 /\ -a_579^post323+a_579^0 == 0 /\ -ct_18^post323+ct_18^0 == 0 /\ f_847^0-f_847^post323 == 0 /\ -len_238^post323+len_238^0 == 0 /\ -len_262^post323+len_262^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post323 == 0 /\ -i_30^post323+i_30^0 == 0 /\ -x_14^post323+x_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post323 == 0 /\ -x_975^post323+x_975^0 == 0 /\ i_1053^0-i_1053^post323 == 0 /\ a_121^0-a_121^post323 == 0 /\ y_20^0-y_20^post323 == 0 /\ -i_107^post323+i_107^0 == 0 /\ a_394^0-a_394^post323 == 0 /\ -a_575^post323+a_575^0 == 0), cost: 1 324: l199 -> l200 : a_1089^0'=a_1089^post324, f_847^0'=f_847^post324, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post324, a_394^0'=a_394^post324, x_156^0'=x_156^post324, a_632^0'=a_632^post324, r_192^0'=r_192^post324, a_176^0'=a_176^post324, i_106^0'=i_106^post324, a_430^0'=a_430^post324, t_458^0'=t_458^post324, len_161^0'=len_161^post324, x_975^0'=x_975^post324, a_902^0'=a_902^post324, a_947^0'=a_947^post324, rcd_88^0'=rcd_88^post324, a_311^0'=a_311^post324, i_140^0'=i_140^post324, a_577^0'=a_577^post324, x_14^0'=x_14^post324, nondet_12^0'=nondet_12^post324, a_121^0'=a_121^post324, head_15^0'=head_15^post324, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post324, i_27^0'=i_27^post324, x_21^0'=x_21^post324, a_634^0'=a_634^post324, r_39^0'=r_39^post324, a_263^0'=a_263^post324, i_113^0'=i_113^post324, a_432^0'=a_432^post324, temp0_31^0'=temp0_31^post324, len_262^0'=len_262^post324, y_20^0'=y_20^post324, f_248^0'=f_248^post324, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post324, a_393^0'=a_393^post324, i_229^0'=i_229^post324, a_610^0'=a_610^post324, r_151^0'=r_151^post324, a_144^0'=a_144^post324, i_1053^0'=i_1053^post324, a_417^0'=a_417^post324, t_24^0'=t_24^post324, i_94^0'=i_94^post324, x_852^0'=x_852^post324, a_862^0'=a_862^post324, rcd_1249^0'=rcd_1249^post324, rcd_58^0'=rcd_58^post324, a_310^0'=a_310^post324, i_127^0'=i_127^post324, a_576^0'=a_576^post324, tmp_34^0'=tmp_34^post324, length_29^0'=length_29^post324, a_1162^0'=a_1162^post324, f_969^0'=f_969^post324, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post324, a_395^0'=a_395^post324, x_17^0'=x_17^post324, a_633^0'=a_633^post324, r_224^0'=r_224^post324, a_239^0'=a_239^post324, i_107^0'=i_107^post324, a_431^0'=a_431^post324, temp0_16^0'=temp0_16^post324, len_238^0'=len_238^post324, x_SLAM_f_19^0'=x_SLAM_f_19^post324, a_924^0'=a_924^post324, ct_18^0'=ct_18^post324, result_11^0'=result_11^post324, a_392^0'=a_392^post324, i_197^0'=i_197^post324, a_579^0'=a_579^post324, r_143^0'=r_143^post324, a_1236^0'=a_1236^post324, head_32^0'=head_32^post324, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post324, i_30^0'=i_30^post324, x_253^0'=x_253^post324, a_635^0'=a_635^post324, r_970^0'=r_970^post324, rcd_47^0'=rcd_47^post324, a_309^0'=a_309^post324, i_1248^0'=i_1248^post324, a_575^0'=a_575^post324, temp_35^0'=temp_35^post324, len_861^0'=len_861^post324, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post324+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_140^0-i_140^post324 == 0 /\ -r_39^post324+r_39^0 == 0 /\ a_263^0-a_263^post324 == 0 /\ f_847^0-f_847^post324 == 0 /\ t_24^0-t_24^post324 == 0 /\ -a_392^post324+a_392^0 == 0 /\ -a_144^post324+a_144^0 == 0 /\ a_862^0-a_862^post324 == 0 /\ i_197^0-i_197^post324 == 0 /\ a_634^0-a_634^post324 == 0 /\ a_1162^0-a_1162^post324 == 0 /\ y_20^0-y_20^post324 == 0 /\ -i_27^post324+i_27^0 == 0 /\ a_947^0-a_947^post324 == 0 /\ -len_861^post324+len_861^0 == 0 /\ a_924^0-a_924^post324 == 0 /\ a_394^0-a_394^post324 == 0 /\ head_15^0-head_15^post324 == 0 /\ -a_310^post324+a_310^0 == 0 /\ -x_17^post324+x_17^0 == 0 /\ -i_30^post324+i_30^0 == 0 /\ -len_262^post324+len_262^0 == 0 /\ -i_1248^post324+i_1248^0 == 0 /\ a_176^0-a_176^post324 == 0 /\ -a_635^post324+a_635^0 == 0 /\ -temp0_31^post324+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post324 == 0 /\ -head_32^post324+head_32^0 == 0 /\ x_975^0-x_975^post324 == 0 /\ -a_239^post324+a_239^0 == 0 /\ 1+t_458^0-y_20^0 <= 0 /\ i_113^0-i_113^post324 == 0 /\ length_29^0-length_29^post324 == 0 /\ t_458^0-t_458^post324 == 0 /\ rcd_88^0-rcd_88^post324 == 0 /\ -rcd_58^post324+rcd_58^0 == 0 /\ -i_127^post324+i_127^0 == 0 /\ -a_579^post324+a_579^0 == 0 /\ -i_107^post324+i_107^0 == 0 /\ -a_575^post324+a_575^0 == 0 /\ -ct_18^post324+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post324+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post324+a_309^0 == 0 /\ x_21^0-x_21^post324 == 0 /\ -a_633^post324+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post324 == 0 /\ a_576^0-a_576^post324 == 0 /\ -a_610^post324+a_610^0 == 0 /\ x_156^0-x_156^post324 == 0 /\ x_852^0-x_852^post324 == 0 /\ -a_121^post324+a_121^0 == 0 /\ nondet_12^0-nondet_12^post324 == 0 /\ -rcd_1249^post324+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post324 == 0 /\ -len_238^post324+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post324+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post324+x_253^0 == 0 /\ r_224^0-r_224^post324 == 0 /\ a_417^0-a_417^post324 == 0 /\ r_970^0-r_970^post324 == 0 /\ r_151^0-r_151^post324 == 0 /\ -result_11^post324+result_11^0 == 0 /\ -f_969^post324+f_969^0 == 0 /\ -x_SLAM_f_19^post324+x_SLAM_f_19^0 == 0 /\ rcd_47^0-rcd_47^post324 == 0 /\ a_577^0-a_577^post324 == 0 /\ a_632^0-a_632^post324 == 0 /\ i_106^0-i_106^post324 == 0 /\ -i_1053^post324+i_1053^0 == 0 /\ -i_94^post324+i_94^0 == 0 /\ a_902^0-a_902^post324 == 0 /\ a_311^0-a_311^post324 == 0 /\ -r_143^post324+r_143^0 == 0 /\ -len_161^post324+len_161^0 == 0 /\ temp0_16^0-temp0_16^post324 == 0 /\ a_393^0-a_393^post324 == 0 /\ a_1089^0-a_1089^post324 == 0 /\ -a_395^post324+a_395^0 == 0 /\ -a_1236^post324+a_1236^0 == 0 /\ -temp_35^post324+temp_35^0 == 0 /\ -a_431^post324+a_431^0 == 0 /\ -f_248^post324+f_248^0 == 0 /\ a_432^0-a_432^post324 == 0 /\ x_14^0-x_14^post324 == 0 /\ r_192^0-r_192^post324 == 0 /\ a_430^0-a_430^post324 == 0 /\ -i_229^post324+i_229^0 == 0), cost: 1 325: l200 -> l185 : a_1089^0'=a_1089^post325, f_847^0'=f_847^post325, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post325, a_394^0'=a_394^post325, x_156^0'=x_156^post325, a_632^0'=a_632^post325, r_192^0'=r_192^post325, a_176^0'=a_176^post325, i_106^0'=i_106^post325, a_430^0'=a_430^post325, t_458^0'=t_458^post325, len_161^0'=len_161^post325, x_975^0'=x_975^post325, a_902^0'=a_902^post325, a_947^0'=a_947^post325, rcd_88^0'=rcd_88^post325, a_311^0'=a_311^post325, i_140^0'=i_140^post325, a_577^0'=a_577^post325, x_14^0'=x_14^post325, nondet_12^0'=nondet_12^post325, a_121^0'=a_121^post325, head_15^0'=head_15^post325, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post325, i_27^0'=i_27^post325, x_21^0'=x_21^post325, a_634^0'=a_634^post325, r_39^0'=r_39^post325, a_263^0'=a_263^post325, i_113^0'=i_113^post325, a_432^0'=a_432^post325, temp0_31^0'=temp0_31^post325, len_262^0'=len_262^post325, y_20^0'=y_20^post325, f_248^0'=f_248^post325, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post325, a_393^0'=a_393^post325, i_229^0'=i_229^post325, a_610^0'=a_610^post325, r_151^0'=r_151^post325, a_144^0'=a_144^post325, i_1053^0'=i_1053^post325, a_417^0'=a_417^post325, t_24^0'=t_24^post325, i_94^0'=i_94^post325, x_852^0'=x_852^post325, a_862^0'=a_862^post325, rcd_1249^0'=rcd_1249^post325, rcd_58^0'=rcd_58^post325, a_310^0'=a_310^post325, i_127^0'=i_127^post325, a_576^0'=a_576^post325, tmp_34^0'=tmp_34^post325, length_29^0'=length_29^post325, a_1162^0'=a_1162^post325, f_969^0'=f_969^post325, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post325, a_395^0'=a_395^post325, x_17^0'=x_17^post325, a_633^0'=a_633^post325, r_224^0'=r_224^post325, a_239^0'=a_239^post325, i_107^0'=i_107^post325, a_431^0'=a_431^post325, temp0_16^0'=temp0_16^post325, len_238^0'=len_238^post325, x_SLAM_f_19^0'=x_SLAM_f_19^post325, a_924^0'=a_924^post325, ct_18^0'=ct_18^post325, result_11^0'=result_11^post325, a_392^0'=a_392^post325, i_197^0'=i_197^post325, a_579^0'=a_579^post325, r_143^0'=r_143^post325, a_1236^0'=a_1236^post325, head_32^0'=head_32^post325, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post325, i_30^0'=i_30^post325, x_253^0'=x_253^post325, a_635^0'=a_635^post325, r_970^0'=r_970^post325, rcd_47^0'=rcd_47^post325, a_309^0'=a_309^post325, i_1248^0'=i_1248^post325, a_575^0'=a_575^post325, temp_35^0'=temp_35^post325, len_861^0'=len_861^post325, (0 == 0 /\ -len_861^post325+len_861^0 == 0 /\ x_852^0-x_852^post325 == 0 /\ -1-a_577^0+a_393^post325 <= 0 /\ a_263^0-a_263^post325 == 0 /\ nondet_12^0-nondet_12^post325 == 0 /\ a_862^0-a_862^post325 == 0 /\ len_161^0-len_161^post325 == 0 /\ -r_39^post325+r_39^0 == 0 /\ x_156^0-x_156^post325 == 0 /\ -i_27^post325+i_27^0 == 0 /\ -i_1248^post325+i_1248^0 == 0 /\ -a_310^post325+a_310^0 == 0 /\ -x_17^post325+x_17^0 == 0 /\ 1+a_576^0-a_176^10 <= 0 /\ tmp_34^0-tmp_34^post325 == 0 /\ f_847^0-f_847^post325 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post325 == 0 /\ -a_432^post325+a_432^0 == 0 /\ -temp0_31^post325+temp0_31^0 == 0 /\ head_15^0-head_15^post325 == 0 /\ a_176^post325-a_579^0 <= 0 /\ a_144^0-a_144^post325 == 0 /\ a_394^0-a_394^post325 == 0 /\ r_192^0-r_192^post325 == 0 /\ -i_30^post325+i_30^0 == 0 /\ -i_1053^post325+i_1053^0 == 0 /\ -temp0_16^post325+temp0_16^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_947^0-a_947^post325 == 0 /\ rcd_58^0-rcd_58^post325 == 0 /\ a_430^0-a_430^post325 == 0 /\ -a_575^post325+a_575^0 == 0 /\ -i_197^post325+i_197^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ 1-a_392^post325+a_575^0 <= 0 /\ i_113^0-i_113^post325 == 0 /\ rcd_88^0-rcd_88^post325 == 0 /\ i_106^0-i_106^post325 == 0 /\ -a_635^post325+a_635^0 == 0 /\ -a_1236^post325+a_1236^0 == 0 /\ -a_309^post325+a_309^0 == 0 /\ ct_18^0-ct_18^post325 == 0 /\ a_577^0-a_577^post325 == 0 /\ length_29^0-length_29^post325 == 0 /\ -i_140^post325+i_140^0 == 0 /\ -a_417^post325+a_417^0 == 0 /\ -a_633^post325+a_633^0 == 0 /\ -a_579^post325+a_579^0 == 0 /\ -a_176^post325+a_579^0 <= 0 /\ a_632^0-a_632^post325 == 0 /\ -i_127^post325+i_127^0 == 0 /\ -rcd_47^post325+rcd_47^0 == 0 /\ -i_107^post325+i_107^0 == 0 /\ a_576^0-a_576^post325 == 0 /\ -a_121^post325+a_121^0 == 0 /\ 1+a_577^0-a_393^post325 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post325 == 0 /\ -t_458^post325+t_458^0 == 0 /\ -a_1162^post325+a_1162^0 == 0 /\ a_634^0-a_634^post325 == 0 /\ x_21^0-x_21^post325 == 0 /\ x_253^0-x_253^post325 == 0 /\ -head_32^post325+head_32^0 == 0 /\ -y_20^post325+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post325 == 0 /\ -a_431^post325+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post325+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -1-a_576^0+a_176^10 <= 0 /\ len_262^0-len_262^post325 == 0 /\ -t_24^post325+t_24^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post325+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post325 == 0 /\ -len_238^post325+len_238^0 == 0 /\ -result_11^post325+result_11^0 == 0 /\ -a_924^post325+a_924^0 == 0 /\ r_151^0-r_151^post325 == 0 /\ f_248^0-f_248^post325 == 0 /\ a_610^0-a_610^post325 == 0 /\ -r_143^post325+r_143^0 == 0 /\ -i_94^post325+i_94^0 == 0 /\ -temp_35^post325+temp_35^0 == 0 /\ -r_224^post325+r_224^0 == 0 /\ a_1089^0-a_1089^post325 == 0 /\ a_239^0-a_239^post325 == 0 /\ -1+a_392^post325-a_575^0 <= 0 /\ x_14^0-x_14^post325 == 0 /\ x_975^0-x_975^post325 == 0 /\ -x_SLAM_f_19^post325+x_SLAM_f_19^0 == 0 /\ -r_970^post325+r_970^0 == 0 /\ rcd_1249^0-rcd_1249^post325 == 0 /\ a_311^0-a_311^post325 == 0 /\ -a_395^post325+a_395^0 == 0 /\ -i_229^post325+i_229^0 == 0 /\ f_969^0-f_969^post325 == 0), cost: 1 326: l201 -> l202 : a_1089^0'=a_1089^post326, f_847^0'=f_847^post326, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post326, a_394^0'=a_394^post326, x_156^0'=x_156^post326, a_632^0'=a_632^post326, r_192^0'=r_192^post326, a_176^0'=a_176^post326, i_106^0'=i_106^post326, a_430^0'=a_430^post326, t_458^0'=t_458^post326, len_161^0'=len_161^post326, x_975^0'=x_975^post326, a_902^0'=a_902^post326, a_947^0'=a_947^post326, rcd_88^0'=rcd_88^post326, a_311^0'=a_311^post326, i_140^0'=i_140^post326, a_577^0'=a_577^post326, x_14^0'=x_14^post326, nondet_12^0'=nondet_12^post326, a_121^0'=a_121^post326, head_15^0'=head_15^post326, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post326, i_27^0'=i_27^post326, x_21^0'=x_21^post326, a_634^0'=a_634^post326, r_39^0'=r_39^post326, a_263^0'=a_263^post326, i_113^0'=i_113^post326, a_432^0'=a_432^post326, temp0_31^0'=temp0_31^post326, len_262^0'=len_262^post326, y_20^0'=y_20^post326, f_248^0'=f_248^post326, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post326, a_393^0'=a_393^post326, i_229^0'=i_229^post326, a_610^0'=a_610^post326, r_151^0'=r_151^post326, a_144^0'=a_144^post326, i_1053^0'=i_1053^post326, a_417^0'=a_417^post326, t_24^0'=t_24^post326, i_94^0'=i_94^post326, x_852^0'=x_852^post326, a_862^0'=a_862^post326, rcd_1249^0'=rcd_1249^post326, rcd_58^0'=rcd_58^post326, a_310^0'=a_310^post326, i_127^0'=i_127^post326, a_576^0'=a_576^post326, tmp_34^0'=tmp_34^post326, length_29^0'=length_29^post326, a_1162^0'=a_1162^post326, f_969^0'=f_969^post326, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post326, a_395^0'=a_395^post326, x_17^0'=x_17^post326, a_633^0'=a_633^post326, r_224^0'=r_224^post326, a_239^0'=a_239^post326, i_107^0'=i_107^post326, a_431^0'=a_431^post326, temp0_16^0'=temp0_16^post326, len_238^0'=len_238^post326, x_SLAM_f_19^0'=x_SLAM_f_19^post326, a_924^0'=a_924^post326, ct_18^0'=ct_18^post326, result_11^0'=result_11^post326, a_392^0'=a_392^post326, i_197^0'=i_197^post326, a_579^0'=a_579^post326, r_143^0'=r_143^post326, a_1236^0'=a_1236^post326, head_32^0'=head_32^post326, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post326, i_30^0'=i_30^post326, x_253^0'=x_253^post326, a_635^0'=a_635^post326, r_970^0'=r_970^post326, rcd_47^0'=rcd_47^post326, a_309^0'=a_309^post326, i_1248^0'=i_1248^post326, a_575^0'=a_575^post326, temp_35^0'=temp_35^post326, len_861^0'=len_861^post326, (0 == 0 /\ -i_229^post326+i_229^0 == 0 /\ a_862^0-a_862^post326 == 0 /\ -head_32^post326+head_32^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ i_1053^0-i_1053^post326 == 0 /\ a_947^0-a_947^post326 == 0 /\ a_263^0-a_263^post326 == 0 /\ -r_970^post326+r_970^0 == 0 /\ a_1089^0-a_1089^post326 == 0 /\ -i_1248^post326+i_1248^0 == 0 /\ -i_197^post326+i_197^0 == 0 /\ a_430^0-a_430^post326 == 0 /\ -rcd_58^post326+rcd_58^0 == 0 /\ a_311^0-a_311^post326 == 0 /\ head_15^post326-x_14^post326 <= 0 /\ a_417^0-a_417^post326 == 0 /\ len_161^0-len_161^post326 == 0 /\ -x_253^post326+x_253^0 == 0 /\ -temp0_31^post326+temp0_31^0 == 0 /\ -len_861^post326+len_861^0 == 0 /\ r_151^0-r_151^post326 == 0 /\ -x_21^0+y_20^0 <= 0 /\ length_29^0-length_29^post326 == 0 /\ r_39^0-r_39^post326 == 0 /\ -a_310^post326+a_310^0 == 0 /\ -x_852^post326+x_852^0 == 0 /\ -r_224^post326+r_224^0 == 0 /\ i_106^0-i_106^post326 == 0 /\ i_94^0-i_94^post326 == 0 /\ t_458^0-t_458^post326 == 0 /\ -a_309^post326+a_309^0 == 0 /\ -a_239^post326+a_239^0 == 0 /\ a_1236^0-a_1236^post326 == 0 /\ -head_15^post326+x_14^post326 <= 0 /\ a_1162^0-a_1162^post326 == 0 /\ -temp0_16^post326+temp0_16^0 == 0 /\ a_632^0-a_632^post326 == 0 /\ a_610^0-a_610^post326 == 0 /\ -a_924^post326+a_924^0 == 0 /\ x_156^0-x_156^post326 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post326 == 0 /\ -a_634^post326+a_634^0 == 0 /\ -i_30^post326+i_30^0 == 0 /\ nondet_12^0-nondet_12^post326 == 0 /\ -a_144^post326+a_144^0 == 0 /\ -len_238^post326+len_238^0 == 0 /\ -r_143^post326+r_143^0 == 0 /\ f_248^0-f_248^post326 == 0 /\ -a_635^post326+a_635^0 == 0 /\ a_395^0-a_395^post326 == 0 /\ -temp0_16^0+result_11^post326 == 0 /\ len_262^0-len_262^post326 == 0 /\ rcd_88^0-rcd_88^post326 == 0 /\ a_394^0-a_394^post326 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post326 == 0 /\ -rcd_1249^post326+rcd_1249^0 == 0 /\ a_176^0-a_176^post326 == 0 /\ f_847^0-f_847^post326 == 0 /\ i_107^0-i_107^post326 == 0 /\ -a_575^post326+a_575^0 == 0 /\ -a_579^post326+a_579^0 == 0 /\ i_127^0-i_127^post326 == 0 /\ -a_431^post326+a_431^0 == 0 /\ i_113^0-i_113^post326 == 0 /\ -temp_35^post326+temp_35^0 == 0 /\ a_902^0-a_902^post326 == 0 /\ a_577^0-a_577^post326 == 0 /\ -a_432^post326+a_432^0 == 0 /\ a_393^0-a_393^post326 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post326+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_576^post326+a_576^0 == 0 /\ -a_392^post326+a_392^0 == 0 /\ x_975^0-x_975^post326 == 0 /\ r_192^0-r_192^post326 == 0 /\ -f_969^post326+f_969^0 == 0 /\ -a_633^post326+a_633^0 == 0 /\ -rcd_47^post326+rcd_47^0 == 0 /\ -tmp_34^post326+tmp_34^0 == 0 /\ -i_140^post326+i_140^0 == 0 /\ -a_121^post326+a_121^0 == 0), cost: 1 334: l201 -> l206 : a_1089^0'=a_1089^post334, f_847^0'=f_847^post334, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post334, a_394^0'=a_394^post334, x_156^0'=x_156^post334, a_632^0'=a_632^post334, r_192^0'=r_192^post334, a_176^0'=a_176^post334, i_106^0'=i_106^post334, a_430^0'=a_430^post334, t_458^0'=t_458^post334, len_161^0'=len_161^post334, x_975^0'=x_975^post334, a_902^0'=a_902^post334, a_947^0'=a_947^post334, rcd_88^0'=rcd_88^post334, a_311^0'=a_311^post334, i_140^0'=i_140^post334, a_577^0'=a_577^post334, x_14^0'=x_14^post334, nondet_12^0'=nondet_12^post334, a_121^0'=a_121^post334, head_15^0'=head_15^post334, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post334, i_27^0'=i_27^post334, x_21^0'=x_21^post334, a_634^0'=a_634^post334, r_39^0'=r_39^post334, a_263^0'=a_263^post334, i_113^0'=i_113^post334, a_432^0'=a_432^post334, temp0_31^0'=temp0_31^post334, len_262^0'=len_262^post334, y_20^0'=y_20^post334, f_248^0'=f_248^post334, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post334, a_393^0'=a_393^post334, i_229^0'=i_229^post334, a_610^0'=a_610^post334, r_151^0'=r_151^post334, a_144^0'=a_144^post334, i_1053^0'=i_1053^post334, a_417^0'=a_417^post334, t_24^0'=t_24^post334, i_94^0'=i_94^post334, x_852^0'=x_852^post334, a_862^0'=a_862^post334, rcd_1249^0'=rcd_1249^post334, rcd_58^0'=rcd_58^post334, a_310^0'=a_310^post334, i_127^0'=i_127^post334, a_576^0'=a_576^post334, tmp_34^0'=tmp_34^post334, length_29^0'=length_29^post334, a_1162^0'=a_1162^post334, f_969^0'=f_969^post334, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post334, a_395^0'=a_395^post334, x_17^0'=x_17^post334, a_633^0'=a_633^post334, r_224^0'=r_224^post334, a_239^0'=a_239^post334, i_107^0'=i_107^post334, a_431^0'=a_431^post334, temp0_16^0'=temp0_16^post334, len_238^0'=len_238^post334, x_SLAM_f_19^0'=x_SLAM_f_19^post334, a_924^0'=a_924^post334, ct_18^0'=ct_18^post334, result_11^0'=result_11^post334, a_392^0'=a_392^post334, i_197^0'=i_197^post334, a_579^0'=a_579^post334, r_143^0'=r_143^post334, a_1236^0'=a_1236^post334, head_32^0'=head_32^post334, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post334, i_30^0'=i_30^post334, x_253^0'=x_253^post334, a_635^0'=a_635^post334, r_970^0'=r_970^post334, rcd_47^0'=rcd_47^post334, a_309^0'=a_309^post334, i_1248^0'=i_1248^post334, a_575^0'=a_575^post334, temp_35^0'=temp_35^post334, len_861^0'=len_861^post334, (0 == 0 /\ -i_30^post334+i_30^0 == 0 /\ -i_107^post334+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post334 == 0 /\ -a_575^post334+a_575^0 == 0 /\ -r_143^post334+r_143^0 == 0 /\ -i_94^post334+i_94^0 == 0 /\ a_430^0-a_430^post334 == 0 /\ f_969^0-f_969^post334 == 0 /\ a_902^0-a_902^post334 == 0 /\ x_975^0-x_975^post334 == 0 /\ -a_309^post334+a_309^0 == 0 /\ -i_113^post334+i_113^0 == 0 /\ f_248^0-f_248^post334 == 0 /\ -a_432^post334+a_432^0 == 0 /\ result_11^0-result_11^post334 == 0 /\ i_127^0-i_127^post334 == 0 /\ -r_39^post334+r_39^0 == 0 /\ -rcd_47^post334+rcd_47^0 == 0 /\ a_394^0-a_394^post334 == 0 /\ -a_310^post334+a_310^0 == 0 /\ len_161^0-len_161^post334 == 0 /\ -i_140^post334+i_140^0 == 0 /\ a_176^0-a_176^post334 == 0 /\ -a_1236^post334+a_1236^0 == 0 /\ length_29^0-length_29^post334 == 0 /\ rcd_1249^0-rcd_1249^post334 == 0 /\ -len_262^post334+len_262^0 == 0 /\ -a_392^post334+a_392^0 == 0 /\ -r_151^post334+r_151^0 == 0 /\ -a_862^post334+a_862^0 == 0 /\ x_852^0-x_852^post334 == 0 /\ rcd_88^0-rcd_88^post334 == 0 /\ -a_579^post334+a_579^0 == 0 /\ f_847^0-f_847^post334 == 0 /\ -temp0_31^post334+temp0_31^0 == 0 /\ -a_431^post334+a_431^0 == 0 /\ -r_970^post334+r_970^0 == 0 /\ -x_253^post334+x_253^0 == 0 /\ a_393^0-a_393^post334 == 0 /\ -a_263^post334+a_263^0 == 0 /\ -head_32^post334+head_32^0 == 0 /\ temp0_16^0-temp0_16^post334 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post334 == 0 /\ -i_197^post334+i_197^0 == 0 /\ r_192^0-r_192^post334 == 0 /\ -y_20^post334+y_20^0 == 0 /\ a_144^0-a_144^post334 == 0 /\ a_121^0-a_121^post334 == 0 /\ a_239^0-a_239^post334 == 0 /\ x_156^0-x_156^post334 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post334 == 0 /\ -t_24^post334+t_24^0 == 0 /\ -temp_35^post334+temp_35^0 == 0 /\ -rcd_58^post334+rcd_58^0 == 0 /\ -tmp_34^post334+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post334 == 0 /\ -i_229^post334+i_229^0 == 0 /\ a_947^0-a_947^post334 == 0 /\ -a_395^post334+a_395^0 == 0 /\ -i_1053^post334+i_1053^0 == 0 /\ a_417^0-a_417^post334 == 0 /\ -len_861^post334+len_861^0 == 0 /\ len_238^0-len_238^post334 == 0 /\ -a_1162^post334+a_1162^0 == 0 /\ -a_577^post334+a_577^0 == 0 /\ a_576^0-a_576^post334 == 0 /\ t_458^0-t_458^post334 == 0 /\ -i_1248^post334+i_1248^0 == 0 /\ -r_224^post334+r_224^0 == 0 /\ -a_924^post334+a_924^0 == 0 /\ a_1089^0-a_1089^post334 == 0 /\ a_311^0-a_311^post334 == 0 /\ -x_21^post334+x_21^0 == 0 /\ i_106^0-i_106^post334 == 0), cost: 1 327: l202 -> l203 : a_1089^0'=a_1089^post327, f_847^0'=f_847^post327, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post327, a_394^0'=a_394^post327, x_156^0'=x_156^post327, a_632^0'=a_632^post327, r_192^0'=r_192^post327, a_176^0'=a_176^post327, i_106^0'=i_106^post327, a_430^0'=a_430^post327, t_458^0'=t_458^post327, len_161^0'=len_161^post327, x_975^0'=x_975^post327, a_902^0'=a_902^post327, a_947^0'=a_947^post327, rcd_88^0'=rcd_88^post327, a_311^0'=a_311^post327, i_140^0'=i_140^post327, a_577^0'=a_577^post327, x_14^0'=x_14^post327, nondet_12^0'=nondet_12^post327, a_121^0'=a_121^post327, head_15^0'=head_15^post327, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post327, i_27^0'=i_27^post327, x_21^0'=x_21^post327, a_634^0'=a_634^post327, r_39^0'=r_39^post327, a_263^0'=a_263^post327, i_113^0'=i_113^post327, a_432^0'=a_432^post327, temp0_31^0'=temp0_31^post327, len_262^0'=len_262^post327, y_20^0'=y_20^post327, f_248^0'=f_248^post327, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post327, a_393^0'=a_393^post327, i_229^0'=i_229^post327, a_610^0'=a_610^post327, r_151^0'=r_151^post327, a_144^0'=a_144^post327, i_1053^0'=i_1053^post327, a_417^0'=a_417^post327, t_24^0'=t_24^post327, i_94^0'=i_94^post327, x_852^0'=x_852^post327, a_862^0'=a_862^post327, rcd_1249^0'=rcd_1249^post327, rcd_58^0'=rcd_58^post327, a_310^0'=a_310^post327, i_127^0'=i_127^post327, a_576^0'=a_576^post327, tmp_34^0'=tmp_34^post327, length_29^0'=length_29^post327, a_1162^0'=a_1162^post327, f_969^0'=f_969^post327, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post327, a_395^0'=a_395^post327, x_17^0'=x_17^post327, a_633^0'=a_633^post327, r_224^0'=r_224^post327, a_239^0'=a_239^post327, i_107^0'=i_107^post327, a_431^0'=a_431^post327, temp0_16^0'=temp0_16^post327, len_238^0'=len_238^post327, x_SLAM_f_19^0'=x_SLAM_f_19^post327, a_924^0'=a_924^post327, ct_18^0'=ct_18^post327, result_11^0'=result_11^post327, a_392^0'=a_392^post327, i_197^0'=i_197^post327, a_579^0'=a_579^post327, r_143^0'=r_143^post327, a_1236^0'=a_1236^post327, head_32^0'=head_32^post327, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post327, i_30^0'=i_30^post327, x_253^0'=x_253^post327, a_635^0'=a_635^post327, r_970^0'=r_970^post327, rcd_47^0'=rcd_47^post327, a_309^0'=a_309^post327, i_1248^0'=i_1248^post327, a_575^0'=a_575^post327, temp_35^0'=temp_35^post327, len_861^0'=len_861^post327, (a_632^0-a_632^post327 == 0 /\ -a_924^post327+a_924^0 == 0 /\ i_106^0-i_106^post327 == 0 /\ a_430^0-a_430^post327 == 0 /\ a_902^0-a_902^post327 == 0 /\ x_975^0-x_975^post327 == 0 /\ a_392^0-a_392^post327 == 0 /\ -a_610^post327+a_610^0 == 0 /\ t_458^0-t_458^post327 == 0 /\ -rcd_1249^post327+rcd_1249^0 == 0 /\ 1-x_14^0 <= 0 /\ -rcd_47^post327+rcd_47^0 == 0 /\ -r_143^post327+r_143^0 == 0 /\ f_969^0-f_969^post327 == 0 /\ -len_238^post327+len_238^0 == 0 /\ result_11^0-result_11^post327 == 0 /\ temp0_31^0-temp0_31^post327 == 0 /\ -x_SLAM_f_19^post327+x_SLAM_f_19^0 == 0 /\ -i_113^post327+i_113^0 == 0 /\ i_140^0-i_140^post327 == 0 /\ -a_432^post327+a_432^0 == 0 /\ a_579^0-a_579^post327 == 0 /\ len_262^0-len_262^post327 == 0 /\ a_394^0-a_394^post327 == 0 /\ -temp_35^post327+temp_35^0 == 0 /\ t_24^0-t_24^post327 == 0 /\ a_862^0-a_862^post327 == 0 /\ x_852^0-x_852^post327 == 0 /\ len_161^0-len_161^post327 == 0 /\ -x_253^post327+x_253^0 == 0 /\ rcd_88^0-rcd_88^post327 == 0 /\ i_1053^0-i_1053^post327 == 0 /\ -r_970^post327+r_970^0 == 0 /\ -y_20^post327+y_20^0 == 0 /\ a_176^0-a_176^post327 == 0 /\ f_847^0-f_847^post327 == 0 /\ -a_431^post327+a_431^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post327 == 0 /\ -f_248^post327+f_248^0 == 0 /\ -i_94^post327+i_94^0 == 0 /\ length_29^0-length_29^post327 == 0 /\ -a_1236^post327+a_1236^0 == 0 /\ r_151^0-r_151^post327 == 0 /\ -i_229^post327+i_229^0 == 0 /\ -a_577^post327+a_577^0 == 0 /\ a_311^0-a_311^post327 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post327 == 0 /\ a_395^0-a_395^post327 == 0 /\ -i_1248^post327+i_1248^0 == 0 /\ -a_310^post327+a_310^0 == 0 /\ a_393^0-a_393^post327 == 0 /\ -ct_18^post327+ct_18^0 == 0 /\ a_239^0-a_239^post327 == 0 /\ x_156^0-x_156^post327 == 0 /\ -i_30^post327+i_30^0 == 0 /\ -r_39^post327+r_39^0 == 0 /\ a_1089^0-a_1089^post327 == 0 /\ -head_32^post327+head_32^0 == 0 /\ r_192^0-r_192^post327 == 0 /\ -x_17^post327+x_17^0 == 0 /\ -i_197^post327+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post327+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post327+r_224^0 == 0 /\ -len_861^post327+len_861^0 == 0 /\ -temp0_16^post327+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post327 == 0 /\ a_417^0-a_417^post327 == 0 /\ -a_309^post327+a_309^0 == 0 /\ a_634^0-a_634^post327 == 0 /\ a_263^0-a_263^post327 == 0 /\ nondet_12^0-nondet_12^post327 == 0 /\ i_27^0-i_27^post327 == 0 /\ -x_21^post327+x_21^0 == 0 /\ -head_15^post327+head_15^0 == 0 /\ a_947^0-a_947^post327 == 0 /\ a_576^0-a_576^post327 == 0 /\ -x_14^post327+x_14^0 == 0 /\ -i_127^post327+i_127^0 == 0 /\ -a_635^post327+a_635^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post327 == 0 /\ -a_144^post327+a_144^0 == 0 /\ -i_107^post327+i_107^0 == 0 /\ -a_633^post327+a_633^0 == 0 /\ -a_575^post327+a_575^0 == 0 /\ tmp_34^0-tmp_34^post327 == 0 /\ rcd_58^0-rcd_58^post327 == 0 /\ a_121^0-a_121^post327 == 0 /\ -a_1162^post327+a_1162^0 == 0), cost: 1 328: l202 -> l203 : a_1089^0'=a_1089^post328, f_847^0'=f_847^post328, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post328, a_394^0'=a_394^post328, x_156^0'=x_156^post328, a_632^0'=a_632^post328, r_192^0'=r_192^post328, a_176^0'=a_176^post328, i_106^0'=i_106^post328, a_430^0'=a_430^post328, t_458^0'=t_458^post328, len_161^0'=len_161^post328, x_975^0'=x_975^post328, a_902^0'=a_902^post328, a_947^0'=a_947^post328, rcd_88^0'=rcd_88^post328, a_311^0'=a_311^post328, i_140^0'=i_140^post328, a_577^0'=a_577^post328, x_14^0'=x_14^post328, nondet_12^0'=nondet_12^post328, a_121^0'=a_121^post328, head_15^0'=head_15^post328, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post328, i_27^0'=i_27^post328, x_21^0'=x_21^post328, a_634^0'=a_634^post328, r_39^0'=r_39^post328, a_263^0'=a_263^post328, i_113^0'=i_113^post328, a_432^0'=a_432^post328, temp0_31^0'=temp0_31^post328, len_262^0'=len_262^post328, y_20^0'=y_20^post328, f_248^0'=f_248^post328, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post328, a_393^0'=a_393^post328, i_229^0'=i_229^post328, a_610^0'=a_610^post328, r_151^0'=r_151^post328, a_144^0'=a_144^post328, i_1053^0'=i_1053^post328, a_417^0'=a_417^post328, t_24^0'=t_24^post328, i_94^0'=i_94^post328, x_852^0'=x_852^post328, a_862^0'=a_862^post328, rcd_1249^0'=rcd_1249^post328, rcd_58^0'=rcd_58^post328, a_310^0'=a_310^post328, i_127^0'=i_127^post328, a_576^0'=a_576^post328, tmp_34^0'=tmp_34^post328, length_29^0'=length_29^post328, a_1162^0'=a_1162^post328, f_969^0'=f_969^post328, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post328, a_395^0'=a_395^post328, x_17^0'=x_17^post328, a_633^0'=a_633^post328, r_224^0'=r_224^post328, a_239^0'=a_239^post328, i_107^0'=i_107^post328, a_431^0'=a_431^post328, temp0_16^0'=temp0_16^post328, len_238^0'=len_238^post328, x_SLAM_f_19^0'=x_SLAM_f_19^post328, a_924^0'=a_924^post328, ct_18^0'=ct_18^post328, result_11^0'=result_11^post328, a_392^0'=a_392^post328, i_197^0'=i_197^post328, a_579^0'=a_579^post328, r_143^0'=r_143^post328, a_1236^0'=a_1236^post328, head_32^0'=head_32^post328, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post328, i_30^0'=i_30^post328, x_253^0'=x_253^post328, a_635^0'=a_635^post328, r_970^0'=r_970^post328, rcd_47^0'=rcd_47^post328, a_309^0'=a_309^post328, i_1248^0'=i_1248^post328, a_575^0'=a_575^post328, temp_35^0'=temp_35^post328, len_861^0'=len_861^post328, (x_21^0-x_21^post328 == 0 /\ -a_310^post328+a_310^0 == 0 /\ -len_861^post328+len_861^0 == 0 /\ -temp0_16^post328+temp0_16^0 == 0 /\ -a_1236^post328+a_1236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post328 == 0 /\ i_140^0-i_140^post328 == 0 /\ f_847^0-f_847^post328 == 0 /\ a_144^0-a_144^post328 == 0 /\ a_263^0-a_263^post328 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post328 == 0 /\ -f_248^post328+f_248^0 == 0 /\ i_94^0-i_94^post328 == 0 /\ a_394^0-a_394^post328 == 0 /\ -r_224^post328+r_224^0 == 0 /\ -x_17^post328+x_17^0 == 0 /\ -len_262^post328+len_262^0 == 0 /\ a_417^0-a_417^post328 == 0 /\ -temp0_31^post328+temp0_31^0 == 0 /\ -i_1248^post328+i_1248^0 == 0 /\ -a_392^post328+a_392^0 == 0 /\ tmp_34^0-tmp_34^post328 == 0 /\ y_20^0-y_20^post328 == 0 /\ r_151^0-r_151^post328 == 0 /\ -i_27^post328+i_27^0 == 0 /\ -a_239^post328+a_239^0 == 0 /\ -i_127^post328+i_127^0 == 0 /\ -i_107^post328+i_107^0 == 0 /\ -ct_18^post328+ct_18^0 == 0 /\ a_577^0-a_577^post328 == 0 /\ -a_575^post328+a_575^0 == 0 /\ -i_197^post328+i_197^0 == 0 /\ -a_579^post328+a_579^0 == 0 /\ t_458^0-t_458^post328 == 0 /\ r_39^0-r_39^post328 == 0 /\ -i_30^post328+i_30^0 == 0 /\ -head_32^post328+head_32^0 == 0 /\ i_106^0-i_106^post328 == 0 /\ -a_635^post328+a_635^0 == 0 /\ -x_852^post328+x_852^0 == 0 /\ r_143^0-r_143^post328 == 0 /\ -a_1162^post328+a_1162^0 == 0 /\ t_24^0-t_24^post328 == 0 /\ a_393^0-a_393^post328 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post328 == 0 /\ -a_309^post328+a_309^0 == 0 /\ -a_610^post328+a_610^0 == 0 /\ a_862^0-a_862^post328 == 0 /\ i_229^0-i_229^post328 == 0 /\ len_161^0-len_161^post328 == 0 /\ -a_633^post328+a_633^0 == 0 /\ x_156^0-x_156^post328 == 0 /\ x_253^0-x_253^post328 == 0 /\ -result_11^post328+result_11^0 == 0 /\ -a_924^post328+a_924^0 == 0 /\ -len_238^post328+len_238^0 == 0 /\ -head_15^post328+head_15^0 == 0 /\ -rcd_1249^post328+rcd_1249^0 == 0 /\ i_1053^0-i_1053^post328 == 0 /\ rcd_58^0-rcd_58^post328 == 0 /\ a_395^0-a_395^post328 == 0 /\ a_176^0-a_176^post328 == 0 /\ a_947^0-a_947^post328 == 0 /\ a_121^0-a_121^post328 == 0 /\ x_975^0-x_975^post328 == 0 /\ r_192^0-r_192^post328 == 0 /\ a_311^0-a_311^post328 == 0 /\ i_113^0-i_113^post328 == 0 /\ -r_970^post328+r_970^0 == 0 /\ a_902^0-a_902^post328 == 0 /\ a_430^0-a_430^post328 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post328 == 0 /\ rcd_88^0-rcd_88^post328 == 0 /\ length_29^0-length_29^post328 == 0 /\ rcd_47^0-rcd_47^post328 == 0 /\ -f_969^post328+f_969^0 == 0 /\ 1+x_14^0 <= 0 /\ -a_576^post328+a_576^0 == 0 /\ -a_431^post328+a_431^0 == 0 /\ a_1089^0-a_1089^post328 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post328+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post328 == 0 /\ -temp_35^post328+temp_35^0 == 0 /\ a_632^0-a_632^post328 == 0 /\ -a_634^post328+a_634^0 == 0 /\ -nondet_12^post328+nondet_12^0 == 0 /\ a_432^0-a_432^post328 == 0 /\ -x_SLAM_f_19^post328+x_SLAM_f_19^0 == 0), cost: 1 329: l203 -> l204 : a_1089^0'=a_1089^post329, f_847^0'=f_847^post329, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post329, a_394^0'=a_394^post329, x_156^0'=x_156^post329, a_632^0'=a_632^post329, r_192^0'=r_192^post329, a_176^0'=a_176^post329, i_106^0'=i_106^post329, a_430^0'=a_430^post329, t_458^0'=t_458^post329, len_161^0'=len_161^post329, x_975^0'=x_975^post329, a_902^0'=a_902^post329, a_947^0'=a_947^post329, rcd_88^0'=rcd_88^post329, a_311^0'=a_311^post329, i_140^0'=i_140^post329, a_577^0'=a_577^post329, x_14^0'=x_14^post329, nondet_12^0'=nondet_12^post329, a_121^0'=a_121^post329, head_15^0'=head_15^post329, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post329, i_27^0'=i_27^post329, x_21^0'=x_21^post329, a_634^0'=a_634^post329, r_39^0'=r_39^post329, a_263^0'=a_263^post329, i_113^0'=i_113^post329, a_432^0'=a_432^post329, temp0_31^0'=temp0_31^post329, len_262^0'=len_262^post329, y_20^0'=y_20^post329, f_248^0'=f_248^post329, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post329, a_393^0'=a_393^post329, i_229^0'=i_229^post329, a_610^0'=a_610^post329, r_151^0'=r_151^post329, a_144^0'=a_144^post329, i_1053^0'=i_1053^post329, a_417^0'=a_417^post329, t_24^0'=t_24^post329, i_94^0'=i_94^post329, x_852^0'=x_852^post329, a_862^0'=a_862^post329, rcd_1249^0'=rcd_1249^post329, rcd_58^0'=rcd_58^post329, a_310^0'=a_310^post329, i_127^0'=i_127^post329, a_576^0'=a_576^post329, tmp_34^0'=tmp_34^post329, length_29^0'=length_29^post329, a_1162^0'=a_1162^post329, f_969^0'=f_969^post329, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post329, a_395^0'=a_395^post329, x_17^0'=x_17^post329, a_633^0'=a_633^post329, r_224^0'=r_224^post329, a_239^0'=a_239^post329, i_107^0'=i_107^post329, a_431^0'=a_431^post329, temp0_16^0'=temp0_16^post329, len_238^0'=len_238^post329, x_SLAM_f_19^0'=x_SLAM_f_19^post329, a_924^0'=a_924^post329, ct_18^0'=ct_18^post329, result_11^0'=result_11^post329, a_392^0'=a_392^post329, i_197^0'=i_197^post329, a_579^0'=a_579^post329, r_143^0'=r_143^post329, a_1236^0'=a_1236^post329, head_32^0'=head_32^post329, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post329, i_30^0'=i_30^post329, x_253^0'=x_253^post329, a_635^0'=a_635^post329, r_970^0'=r_970^post329, rcd_47^0'=rcd_47^post329, a_309^0'=a_309^post329, i_1248^0'=i_1248^post329, a_575^0'=a_575^post329, temp_35^0'=temp_35^post329, len_861^0'=len_861^post329, (-a_610^post329+a_610^0 == 0 /\ length_29^0-length_29^post329 == 0 /\ r_39^0-r_39^post329 == 0 /\ r_151^0-r_151^post329 == 0 /\ a_577^0-a_577^post329 == 0 /\ -a_924^post329+a_924^0 == 0 /\ -rcd_47^post329+rcd_47^0 == 0 /\ -a_634^post329+a_634^0 == 0 /\ i_1053^0-i_1053^post329 == 0 /\ i_94^0-i_94^post329 == 0 /\ i_113^0-i_113^post329 == 0 /\ a_393^0-a_393^post329 == 0 /\ len_161^0-len_161^post329 == 0 /\ -rcd_1249^post329+rcd_1249^0 == 0 /\ -x_253^post329+x_253^0 == 0 /\ -r_970^post329+r_970^0 == 0 /\ -f_969^post329+f_969^0 == 0 /\ a_432^0-a_432^post329 == 0 /\ a_430^0-a_430^post329 == 0 /\ -result_11^post329+result_11^0 == 0 /\ i_27^0-i_27^post329 == 0 /\ x_21^0-x_21^post329 == 0 /\ -len_238^post329+len_238^0 == 0 /\ r_192^0-r_192^post329 == 0 /\ -a_239^post329+a_239^0 == 0 /\ a_579^0-a_579^post329 == 0 /\ x_156^0-x_156^post329 == 0 /\ head_32^0-head_32^post329 == 0 /\ i_140^0-i_140^post329 == 0 /\ f_847^0-f_847^post329 == 0 /\ -a_576^post329+a_576^0 == 0 /\ i_197^0-i_197^post329 == 0 /\ t_24^0-t_24^post329 == 0 /\ a_1162^0-a_1162^post329 == 0 /\ a_862^0-a_862^post329 == 0 /\ -a_1236^post329+a_1236^0 == 0 /\ -r_143^post329+r_143^0 == 0 /\ -a_395^post329+a_395^0 == 0 /\ -f_248^post329+f_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post329 == 0 /\ -temp_35^post329+temp_35^0 == 0 /\ -i_229^post329+i_229^0 == 0 /\ -a_431^post329+a_431^0 == 0 /\ -x_SLAM_f_19^post329+x_SLAM_f_19^0 == 0 /\ -temp0_31^post329+temp0_31^0 == 0 /\ -a_417^post329+a_417^0 == 0 /\ t_458^0-t_458^post329 == 0 /\ a_902^0-a_902^post329 == 0 /\ i_106^0-i_106^post329 == 0 /\ i_30^0-i_30^post329 == 0 /\ -a_144^post329+a_144^0 == 0 /\ -a_392^post329+a_392^0 == 0 /\ -a_310^post329+a_310^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post329+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post329 == 0 /\ a_311^0-a_311^post329 == 0 /\ i_107^0-i_107^post329 == 0 /\ -temp0_16^post329+temp0_16^0 == 0 /\ -len_861^post329+len_861^0 == 0 /\ a_1089^0-a_1089^post329 == 0 /\ -a_635^post329+a_635^0 == 0 /\ -a_947^post329+a_947^0 == 0 /\ -len_262^post329+len_262^0 == 0 /\ a_632^0-a_632^post329 == 0 /\ -x_17^post329+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post329 == 0 /\ -rcd_58^post329+rcd_58^0 == 0 /\ x_852^0-x_852^post329 == 0 /\ a_121^0-a_121^post329 == 0 /\ i_1248^0-i_1248^post329 == 0 /\ 1-head_15^0 <= 0 /\ -ct_18^post329+ct_18^0 == 0 /\ a_263^0-a_263^post329 == 0 /\ -x_14^post329+x_14^0 == 0 /\ -i_127^post329+i_127^0 == 0 /\ nondet_12^0-nondet_12^post329 == 0 /\ -head_15^post329+head_15^0 == 0 /\ -a_633^post329+a_633^0 == 0 /\ y_20^0-y_20^post329 == 0 /\ -a_575^post329+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post329 == 0 /\ r_224^0-r_224^post329 == 0 /\ a_394^0-a_394^post329 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post329+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post329+a_309^0 == 0 /\ tmp_34^0-tmp_34^post329 == 0 /\ x_975^0-x_975^post329 == 0 /\ a_176^0-a_176^post329 == 0), cost: 1 330: l203 -> l204 : a_1089^0'=a_1089^post330, f_847^0'=f_847^post330, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post330, a_394^0'=a_394^post330, x_156^0'=x_156^post330, a_632^0'=a_632^post330, r_192^0'=r_192^post330, a_176^0'=a_176^post330, i_106^0'=i_106^post330, a_430^0'=a_430^post330, t_458^0'=t_458^post330, len_161^0'=len_161^post330, x_975^0'=x_975^post330, a_902^0'=a_902^post330, a_947^0'=a_947^post330, rcd_88^0'=rcd_88^post330, a_311^0'=a_311^post330, i_140^0'=i_140^post330, a_577^0'=a_577^post330, x_14^0'=x_14^post330, nondet_12^0'=nondet_12^post330, a_121^0'=a_121^post330, head_15^0'=head_15^post330, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post330, i_27^0'=i_27^post330, x_21^0'=x_21^post330, a_634^0'=a_634^post330, r_39^0'=r_39^post330, a_263^0'=a_263^post330, i_113^0'=i_113^post330, a_432^0'=a_432^post330, temp0_31^0'=temp0_31^post330, len_262^0'=len_262^post330, y_20^0'=y_20^post330, f_248^0'=f_248^post330, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post330, a_393^0'=a_393^post330, i_229^0'=i_229^post330, a_610^0'=a_610^post330, r_151^0'=r_151^post330, a_144^0'=a_144^post330, i_1053^0'=i_1053^post330, a_417^0'=a_417^post330, t_24^0'=t_24^post330, i_94^0'=i_94^post330, x_852^0'=x_852^post330, a_862^0'=a_862^post330, rcd_1249^0'=rcd_1249^post330, rcd_58^0'=rcd_58^post330, a_310^0'=a_310^post330, i_127^0'=i_127^post330, a_576^0'=a_576^post330, tmp_34^0'=tmp_34^post330, length_29^0'=length_29^post330, a_1162^0'=a_1162^post330, f_969^0'=f_969^post330, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post330, a_395^0'=a_395^post330, x_17^0'=x_17^post330, a_633^0'=a_633^post330, r_224^0'=r_224^post330, a_239^0'=a_239^post330, i_107^0'=i_107^post330, a_431^0'=a_431^post330, temp0_16^0'=temp0_16^post330, len_238^0'=len_238^post330, x_SLAM_f_19^0'=x_SLAM_f_19^post330, a_924^0'=a_924^post330, ct_18^0'=ct_18^post330, result_11^0'=result_11^post330, a_392^0'=a_392^post330, i_197^0'=i_197^post330, a_579^0'=a_579^post330, r_143^0'=r_143^post330, a_1236^0'=a_1236^post330, head_32^0'=head_32^post330, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post330, i_30^0'=i_30^post330, x_253^0'=x_253^post330, a_635^0'=a_635^post330, r_970^0'=r_970^post330, rcd_47^0'=rcd_47^post330, a_309^0'=a_309^post330, i_1248^0'=i_1248^post330, a_575^0'=a_575^post330, temp_35^0'=temp_35^post330, len_861^0'=len_861^post330, (a_263^0-a_263^post330 == 0 /\ i_229^0-i_229^post330 == 0 /\ -i_30^post330+i_30^0 == 0 /\ 1+head_15^0 <= 0 /\ a_417^0-a_417^post330 == 0 /\ x_21^0-x_21^post330 == 0 /\ -a_144^post330+a_144^0 == 0 /\ -i_107^post330+i_107^0 == 0 /\ x_156^0-x_156^post330 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post330+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_161^0-len_161^post330 == 0 /\ -a_393^post330+a_393^0 == 0 /\ -a_1236^post330+a_1236^0 == 0 /\ f_847^0-f_847^post330 == 0 /\ a_394^0-a_394^post330 == 0 /\ head_15^0-head_15^post330 == 0 /\ -i_1248^post330+i_1248^0 == 0 /\ -length_29^post330+length_29^0 == 0 /\ -a_392^post330+a_392^0 == 0 /\ -head_32^post330+head_32^0 == 0 /\ -x_SLAM_f_19^post330+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post330 == 0 /\ -i_27^post330+i_27^0 == 0 /\ -a_239^post330+a_239^0 == 0 /\ a_121^0-a_121^post330 == 0 /\ -temp0_31^post330+temp0_31^0 == 0 /\ -len_861^post330+len_861^0 == 0 /\ len_262^0-len_262^post330 == 0 /\ i_127^0-i_127^post330 == 0 /\ -a_635^post330+a_635^0 == 0 /\ r_39^0-r_39^post330 == 0 /\ a_577^0-a_577^post330 == 0 /\ -rcd_47^post330+rcd_47^0 == 0 /\ i_106^0-i_106^post330 == 0 /\ -x_852^post330+x_852^0 == 0 /\ i_94^0-i_94^post330 == 0 /\ -i_197^post330+i_197^0 == 0 /\ -len_238^post330+len_238^0 == 0 /\ x_14^0-x_14^post330 == 0 /\ -a_579^post330+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post330+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post330+r_151^0 == 0 /\ -a_309^post330+a_309^0 == 0 /\ -a_633^post330+a_633^0 == 0 /\ -a_902^post330+a_902^0 == 0 /\ -rcd_58^post330+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post330 == 0 /\ -a_575^post330+a_575^0 == 0 /\ -a_862^post330+a_862^0 == 0 /\ a_430^0-a_430^post330 == 0 /\ -ct_18^post330+ct_18^0 == 0 /\ a_1089^0-a_1089^post330 == 0 /\ a_432^0-a_432^post330 == 0 /\ -a_634^post330+a_634^0 == 0 /\ -a_924^post330+a_924^0 == 0 /\ y_20^0-y_20^post330 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post330+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_140^0-i_140^post330 == 0 /\ -a_1162^post330+a_1162^0 == 0 /\ f_248^0-f_248^post330 == 0 /\ -f_969^post330+f_969^0 == 0 /\ r_224^0-r_224^post330 == 0 /\ a_431^0-a_431^post330 == 0 /\ -result_11^post330+result_11^0 == 0 /\ x_17^0-x_17^post330 == 0 /\ -tmp_34^post330+tmp_34^0 == 0 /\ a_176^0-a_176^post330 == 0 /\ -x_253^post330+x_253^0 == 0 /\ -nondet_12^post330+nondet_12^0 == 0 /\ i_113^0-i_113^post330 == 0 /\ x_975^0-x_975^post330 == 0 /\ -rcd_88^post330+rcd_88^0 == 0 /\ -r_970^post330+r_970^0 == 0 /\ r_192^0-r_192^post330 == 0 /\ -a_311^post330+a_311^0 == 0 /\ a_610^0-a_610^post330 == 0 /\ -r_143^post330+r_143^0 == 0 /\ -i_1053^post330+i_1053^0 == 0 /\ -a_395^post330+a_395^0 == 0 /\ -a_576^post330+a_576^0 == 0 /\ -temp0_16^post330+temp0_16^0 == 0 /\ t_24^0-t_24^post330 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post330+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post330 == 0 /\ a_310^0-a_310^post330 == 0 /\ -temp_35^post330+temp_35^0 == 0 /\ -rcd_1249^post330+rcd_1249^0 == 0 /\ t_458^0-t_458^post330 == 0), cost: 1 331: l204 -> l205 : a_1089^0'=a_1089^post331, f_847^0'=f_847^post331, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post331, a_394^0'=a_394^post331, x_156^0'=x_156^post331, a_632^0'=a_632^post331, r_192^0'=r_192^post331, a_176^0'=a_176^post331, i_106^0'=i_106^post331, a_430^0'=a_430^post331, t_458^0'=t_458^post331, len_161^0'=len_161^post331, x_975^0'=x_975^post331, a_902^0'=a_902^post331, a_947^0'=a_947^post331, rcd_88^0'=rcd_88^post331, a_311^0'=a_311^post331, i_140^0'=i_140^post331, a_577^0'=a_577^post331, x_14^0'=x_14^post331, nondet_12^0'=nondet_12^post331, a_121^0'=a_121^post331, head_15^0'=head_15^post331, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post331, i_27^0'=i_27^post331, x_21^0'=x_21^post331, a_634^0'=a_634^post331, r_39^0'=r_39^post331, a_263^0'=a_263^post331, i_113^0'=i_113^post331, a_432^0'=a_432^post331, temp0_31^0'=temp0_31^post331, len_262^0'=len_262^post331, y_20^0'=y_20^post331, f_248^0'=f_248^post331, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post331, a_393^0'=a_393^post331, i_229^0'=i_229^post331, a_610^0'=a_610^post331, r_151^0'=r_151^post331, a_144^0'=a_144^post331, i_1053^0'=i_1053^post331, a_417^0'=a_417^post331, t_24^0'=t_24^post331, i_94^0'=i_94^post331, x_852^0'=x_852^post331, a_862^0'=a_862^post331, rcd_1249^0'=rcd_1249^post331, rcd_58^0'=rcd_58^post331, a_310^0'=a_310^post331, i_127^0'=i_127^post331, a_576^0'=a_576^post331, tmp_34^0'=tmp_34^post331, length_29^0'=length_29^post331, a_1162^0'=a_1162^post331, f_969^0'=f_969^post331, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post331, a_395^0'=a_395^post331, x_17^0'=x_17^post331, a_633^0'=a_633^post331, r_224^0'=r_224^post331, a_239^0'=a_239^post331, i_107^0'=i_107^post331, a_431^0'=a_431^post331, temp0_16^0'=temp0_16^post331, len_238^0'=len_238^post331, x_SLAM_f_19^0'=x_SLAM_f_19^post331, a_924^0'=a_924^post331, ct_18^0'=ct_18^post331, result_11^0'=result_11^post331, a_392^0'=a_392^post331, i_197^0'=i_197^post331, a_579^0'=a_579^post331, r_143^0'=r_143^post331, a_1236^0'=a_1236^post331, head_32^0'=head_32^post331, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post331, i_30^0'=i_30^post331, x_253^0'=x_253^post331, a_635^0'=a_635^post331, r_970^0'=r_970^post331, rcd_47^0'=rcd_47^post331, a_309^0'=a_309^post331, i_1248^0'=i_1248^post331, a_575^0'=a_575^post331, temp_35^0'=temp_35^post331, len_861^0'=len_861^post331, (-result_11^post331+result_11^0 == 0 /\ a_176^0-a_176^post331 == 0 /\ -a_924^post331+a_924^0 == 0 /\ r_192^0-r_192^post331 == 0 /\ -rcd_1249^post331+rcd_1249^0 == 0 /\ -temp_35^post331+temp_35^0 == 0 /\ x_14^0-x_14^post331 == 0 /\ -ct_18^post331+ct_18^0 == 0 /\ -y_20^post331+y_20^0 == 0 /\ -tmp_34^post331+tmp_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post331 == 0 /\ a_1089^0-a_1089^post331 == 0 /\ -x_253^post331+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post331+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post331+len_238^0 == 0 /\ -r_970^post331+r_970^0 == 0 /\ i_27^0-i_27^post331 == 0 /\ -a_610^post331+a_610^0 == 0 /\ r_39^0-r_39^post331 == 0 /\ -x_852^post331+x_852^0 == 0 /\ a_310^0-a_310^post331 == 0 /\ i_229^0-i_229^post331 == 0 /\ a_432^0-a_432^post331 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post331+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post331 == 0 /\ -i_1248^post331+i_1248^0 == 0 /\ x_156^0-x_156^post331 == 0 /\ -a_239^post331+a_239^0 == 0 /\ -r_143^post331+r_143^0 == 0 /\ a_1162^0-a_1162^post331 == 0 /\ i_197^0-i_197^post331 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post331 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post331 == 0 /\ -a_395^post331+a_395^0 == 0 /\ nondet_12^0-nondet_12^post331 == 0 /\ a_634^0-a_634^post331 == 0 /\ x_975^0-x_975^post331 == 0 /\ i_113^0-i_113^post331 == 0 /\ a_947^0-a_947^post331 == 0 /\ -f_248^post331+f_248^0 == 0 /\ head_15^0-head_15^post331 == 0 /\ rcd_88^0-rcd_88^post331 == 0 /\ -a_576^post331+a_576^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_393^post331+a_393^0 == 0 /\ -a_392^post331+a_392^0 == 0 /\ f_969^0-f_969^post331 == 0 /\ i_107^0-i_107^post331 == 0 /\ -a_309^post331+a_309^0 == 0 /\ i_30^0-i_30^post331 == 0 /\ -a_635^post331+a_635^0 == 0 /\ -a_144^post331+a_144^0 == 0 /\ -temp0_16^post331+temp0_16^0 == 0 /\ i_140^0-i_140^post331 == 0 /\ a_430^0-a_430^post331 == 0 /\ a_632^0-a_632^post331 == 0 /\ t_24^0-t_24^post331 == 0 /\ a_311^0-a_311^post331 == 0 /\ -a_417^post331+a_417^0 == 0 /\ -len_861^post331+len_861^0 == 0 /\ len_161^0-len_161^post331 == 0 /\ -a_1236^post331+a_1236^0 == 0 /\ -rcd_47^post331+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post331+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_847^0-f_847^post331 == 0 /\ -t_458^post331+t_458^0 == 0 /\ a_862^0-a_862^post331 == 0 /\ -a_579^post331+a_579^0 == 0 /\ -i_106^post331+i_106^0 == 0 /\ -rcd_58^post331+rcd_58^0 == 0 /\ -length_29^post331+length_29^0 == 0 /\ x_21^0-x_21^post331 == 0 /\ a_431^0-a_431^post331 == 0 /\ -i_127^post331+i_127^0 == 0 /\ i_1053^0-i_1053^post331 == 0 /\ temp0_31^0-temp0_31^post331 == 0 /\ -a_575^post331+a_575^0 == 0 /\ -r_151^post331+r_151^0 == 0 /\ a_121^0-a_121^post331 == 0 /\ r_224^0-r_224^post331 == 0 /\ len_262^0-len_262^post331 == 0 /\ -a_902^post331+a_902^0 == 0 /\ -head_32^post331+head_32^0 == 0 /\ a_394^0-a_394^post331 == 0 /\ x_17^0-x_17^post331 == 0 /\ i_94^0-i_94^post331 == 0 /\ -a_633^post331+a_633^0 == 0 /\ a_577^0-a_577^post331 == 0), cost: 1 332: l204 -> l205 : a_1089^0'=a_1089^post332, f_847^0'=f_847^post332, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post332, a_394^0'=a_394^post332, x_156^0'=x_156^post332, a_632^0'=a_632^post332, r_192^0'=r_192^post332, a_176^0'=a_176^post332, i_106^0'=i_106^post332, a_430^0'=a_430^post332, t_458^0'=t_458^post332, len_161^0'=len_161^post332, x_975^0'=x_975^post332, a_902^0'=a_902^post332, a_947^0'=a_947^post332, rcd_88^0'=rcd_88^post332, a_311^0'=a_311^post332, i_140^0'=i_140^post332, a_577^0'=a_577^post332, x_14^0'=x_14^post332, nondet_12^0'=nondet_12^post332, a_121^0'=a_121^post332, head_15^0'=head_15^post332, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post332, i_27^0'=i_27^post332, x_21^0'=x_21^post332, a_634^0'=a_634^post332, r_39^0'=r_39^post332, a_263^0'=a_263^post332, i_113^0'=i_113^post332, a_432^0'=a_432^post332, temp0_31^0'=temp0_31^post332, len_262^0'=len_262^post332, y_20^0'=y_20^post332, f_248^0'=f_248^post332, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post332, a_393^0'=a_393^post332, i_229^0'=i_229^post332, a_610^0'=a_610^post332, r_151^0'=r_151^post332, a_144^0'=a_144^post332, i_1053^0'=i_1053^post332, a_417^0'=a_417^post332, t_24^0'=t_24^post332, i_94^0'=i_94^post332, x_852^0'=x_852^post332, a_862^0'=a_862^post332, rcd_1249^0'=rcd_1249^post332, rcd_58^0'=rcd_58^post332, a_310^0'=a_310^post332, i_127^0'=i_127^post332, a_576^0'=a_576^post332, tmp_34^0'=tmp_34^post332, length_29^0'=length_29^post332, a_1162^0'=a_1162^post332, f_969^0'=f_969^post332, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post332, a_395^0'=a_395^post332, x_17^0'=x_17^post332, a_633^0'=a_633^post332, r_224^0'=r_224^post332, a_239^0'=a_239^post332, i_107^0'=i_107^post332, a_431^0'=a_431^post332, temp0_16^0'=temp0_16^post332, len_238^0'=len_238^post332, x_SLAM_f_19^0'=x_SLAM_f_19^post332, a_924^0'=a_924^post332, ct_18^0'=ct_18^post332, result_11^0'=result_11^post332, a_392^0'=a_392^post332, i_197^0'=i_197^post332, a_579^0'=a_579^post332, r_143^0'=r_143^post332, a_1236^0'=a_1236^post332, head_32^0'=head_32^post332, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post332, i_30^0'=i_30^post332, x_253^0'=x_253^post332, a_635^0'=a_635^post332, r_970^0'=r_970^post332, rcd_47^0'=rcd_47^post332, a_309^0'=a_309^post332, i_1248^0'=i_1248^post332, a_575^0'=a_575^post332, temp_35^0'=temp_35^post332, len_861^0'=len_861^post332, (-i_27^post332+i_27^0 == 0 /\ -i_107^post332+i_107^0 == 0 /\ -a_417^post332+a_417^0 == 0 /\ i_229^0-i_229^post332 == 0 /\ a_263^0-a_263^post332 == 0 /\ -a_575^post332+a_575^0 == 0 /\ -a_1236^post332+a_1236^0 == 0 /\ -a_309^post332+a_309^0 == 0 /\ -i_30^post332+i_30^0 == 0 /\ -a_635^post332+a_635^0 == 0 /\ temp0_31^0-temp0_31^post332 == 0 /\ -a_393^post332+a_393^0 == 0 /\ a_634^0-a_634^post332 == 0 /\ head_15^0-head_15^post332 == 0 /\ f_248^0-f_248^post332 == 0 /\ a_121^0-a_121^post332 == 0 /\ -length_29^post332+length_29^0 == 0 /\ x_156^0-x_156^post332 == 0 /\ i_127^0-i_127^post332 == 0 /\ len_262^0-len_262^post332 == 0 /\ a_947^0-a_947^post332 == 0 /\ -i_1248^post332+i_1248^0 == 0 /\ -head_32^post332+head_32^0 == 0 /\ r_192^0-r_192^post332 == 0 /\ i_113^0-i_113^post332 == 0 /\ -ct_18^post332+ct_18^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_176^0-a_176^post332 == 0 /\ -len_238^post332+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post332+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post332+r_151^0 == 0 /\ a_430^0-a_430^post332 == 0 /\ a_632^0-a_632^post332 == 0 /\ -a_902^post332+a_902^0 == 0 /\ x_14^0-x_14^post332 == 0 /\ a_1089^0-a_1089^post332 == 0 /\ -a_392^post332+a_392^0 == 0 /\ -a_862^post332+a_862^0 == 0 /\ a_633^0-a_633^post332 == 0 /\ -rcd_1249^post332+rcd_1249^0 == 0 /\ a_432^0-a_432^post332 == 0 /\ x_21^0-x_21^post332 == 0 /\ -i_197^post332+i_197^0 == 0 /\ -a_579^post332+a_579^0 == 0 /\ -x_253^post332+x_253^0 == 0 /\ f_847^0-f_847^post332 == 0 /\ -result_11^post332+result_11^0 == 0 /\ temp0_16^0-temp0_16^post332 == 0 /\ -r_970^post332+r_970^0 == 0 /\ nondet_12^0-nondet_12^post332 == 0 /\ i_140^0-i_140^post332 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post332 == 0 /\ i_94^0-i_94^post332 == 0 /\ a_431^0-a_431^post332 == 0 /\ -x_852^post332+x_852^0 == 0 /\ x_17^0-x_17^post332 == 0 /\ -a_1162^post332+a_1162^0 == 0 /\ x_975^0-x_975^post332 == 0 /\ y_20^0-y_20^post332 == 0 /\ -rcd_47^post332+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post332+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post332 == 0 /\ a_394^0-a_394^post332 == 0 /\ a_144^0-a_144^post332 == 0 /\ -rcd_58^post332+rcd_58^0 == 0 /\ -a_311^post332+a_311^0 == 0 /\ -tmp_34^post332+tmp_34^0 == 0 /\ -a_395^post332+a_395^0 == 0 /\ a_577^0-a_577^post332 == 0 /\ -len_861^post332+len_861^0 == 0 /\ -rcd_88^post332+rcd_88^0 == 0 /\ -x_SLAM_f_19^post332+x_SLAM_f_19^0 == 0 /\ f_969^0-f_969^post332 == 0 /\ -a_239^post332+a_239^0 == 0 /\ a_610^0-a_610^post332 == 0 /\ i_106^0-i_106^post332 == 0 /\ -r_224^post332+r_224^0 == 0 /\ -temp_35^post332+temp_35^0 == 0 /\ t_24^0-t_24^post332 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post332+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post332 == 0 /\ r_39^0-r_39^post332 == 0 /\ -a_576^post332+a_576^0 == 0 /\ a_310^0-a_310^post332 == 0 /\ -i_1053^post332+i_1053^0 == 0 /\ -a_924^post332+a_924^0 == 0 /\ len_161^0-len_161^post332 == 0 /\ -r_143^post332+r_143^0 == 0), cost: 1 333: l205 -> l50 : a_1089^0'=a_1089^post333, f_847^0'=f_847^post333, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post333, a_394^0'=a_394^post333, x_156^0'=x_156^post333, a_632^0'=a_632^post333, r_192^0'=r_192^post333, a_176^0'=a_176^post333, i_106^0'=i_106^post333, a_430^0'=a_430^post333, t_458^0'=t_458^post333, len_161^0'=len_161^post333, x_975^0'=x_975^post333, a_902^0'=a_902^post333, a_947^0'=a_947^post333, rcd_88^0'=rcd_88^post333, a_311^0'=a_311^post333, i_140^0'=i_140^post333, a_577^0'=a_577^post333, x_14^0'=x_14^post333, nondet_12^0'=nondet_12^post333, a_121^0'=a_121^post333, head_15^0'=head_15^post333, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post333, i_27^0'=i_27^post333, x_21^0'=x_21^post333, a_634^0'=a_634^post333, r_39^0'=r_39^post333, a_263^0'=a_263^post333, i_113^0'=i_113^post333, a_432^0'=a_432^post333, temp0_31^0'=temp0_31^post333, len_262^0'=len_262^post333, y_20^0'=y_20^post333, f_248^0'=f_248^post333, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post333, a_393^0'=a_393^post333, i_229^0'=i_229^post333, a_610^0'=a_610^post333, r_151^0'=r_151^post333, a_144^0'=a_144^post333, i_1053^0'=i_1053^post333, a_417^0'=a_417^post333, t_24^0'=t_24^post333, i_94^0'=i_94^post333, x_852^0'=x_852^post333, a_862^0'=a_862^post333, rcd_1249^0'=rcd_1249^post333, rcd_58^0'=rcd_58^post333, a_310^0'=a_310^post333, i_127^0'=i_127^post333, a_576^0'=a_576^post333, tmp_34^0'=tmp_34^post333, length_29^0'=length_29^post333, a_1162^0'=a_1162^post333, f_969^0'=f_969^post333, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post333, a_395^0'=a_395^post333, x_17^0'=x_17^post333, a_633^0'=a_633^post333, r_224^0'=r_224^post333, a_239^0'=a_239^post333, i_107^0'=i_107^post333, a_431^0'=a_431^post333, temp0_16^0'=temp0_16^post333, len_238^0'=len_238^post333, x_SLAM_f_19^0'=x_SLAM_f_19^post333, a_924^0'=a_924^post333, ct_18^0'=ct_18^post333, result_11^0'=result_11^post333, a_392^0'=a_392^post333, i_197^0'=i_197^post333, a_579^0'=a_579^post333, r_143^0'=r_143^post333, a_1236^0'=a_1236^post333, head_32^0'=head_32^post333, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post333, i_30^0'=i_30^post333, x_253^0'=x_253^post333, a_635^0'=a_635^post333, r_970^0'=r_970^post333, rcd_47^0'=rcd_47^post333, a_309^0'=a_309^post333, i_1248^0'=i_1248^post333, a_575^0'=a_575^post333, temp_35^0'=temp_35^post333, len_861^0'=len_861^post333, (-a_579^post333+a_579^0 == 0 /\ ct_18^0-ct_18^post333 == 0 /\ -result_11^post333+result_11^0 == 0 /\ a_1089^0-a_1089^post333 == 0 /\ -y_20^post333+y_20^0 == 0 /\ -x_253^post333+x_253^0 == 0 /\ -a_263^post333+a_263^0 == 0 /\ -t_24^post333+t_24^0 == 0 /\ -temp_35^post333+temp_35^0 == 0 /\ i_27^0-i_27^post333 == 0 /\ -r_970^post333+r_970^0 == 0 /\ t_458^0-t_458^post333 == 0 /\ i_106^0-i_106^post333 == 0 /\ -x_852^post333+x_852^0 == 0 /\ r_39^0-r_39^post333 == 0 /\ -a_431^post333+a_431^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_229^post333+i_229^0 == 0 /\ a_576^0-a_576^post333 == 0 /\ rcd_88^0-rcd_88^post333 == 0 /\ -a_395^post333+a_395^0 == 0 /\ a_311^0-a_311^post333 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post333 == 0 /\ -i_1053^post333+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post333 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_1248^post333+i_1248^0 == 0 /\ i_27^0 <= 0 /\ -a_239^post333+a_239^0 == 0 /\ nondet_12^0-nondet_12^post333 == 0 /\ f_248^0-f_248^post333 == 0 /\ -r_224^post333+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post333+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ tmp_34^0-tmp_34^post333 == 0 /\ -len_861^post333+len_861^0 == 0 /\ a_1236^0-a_1236^post333 == 0 /\ a_924^0-a_924^post333 == 0 /\ a_610^0-a_610^post333 == 0 /\ a_121^0-a_121^post333 == 0 /\ x_21^0-x_21^post333 == 0 /\ a_634^0-a_634^post333 == 0 /\ -r_143^post333+r_143^0 == 0 /\ len_262^0-len_262^post333 == 0 /\ temp0_31^0-temp0_31^post333 == 0 /\ -a_393^post333+a_393^0 == 0 /\ x_975^0-x_975^post333 == 0 /\ -x_17^post333+x_17^0 == 0 /\ a_947^0-a_947^post333 == 0 /\ a_577^0-a_577^post333 == 0 /\ -a_309^post333+a_309^0 == 0 /\ -x_156^post333+x_156^0 == 0 /\ len_238^0-len_238^post333 == 0 /\ -x_SLAM_f_19^post333+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post333 == 0 /\ -a_392^post333+a_392^0 == 0 /\ -a_417^post333+a_417^0 == 0 /\ -i_107^post333+i_107^0 == 0 /\ x_14^0-x_14^post333 == 0 /\ f_969^0-f_969^post333 == 0 /\ -i_30^post333+i_30^0 == 0 /\ -a_575^post333+a_575^0 == 0 /\ r_192^0-r_192^post333 == 0 /\ a_176^0-a_176^post333 == 0 /\ -i_113^post333+i_113^0 == 0 /\ len_161^0-len_161^post333 == 0 /\ -a_635^post333+a_635^0 == 0 /\ a_632^0-a_632^post333 == 0 /\ rcd_1249^0-rcd_1249^post333 == 0 /\ a_430^0-a_430^post333 == 0 /\ -a_432^post333+a_432^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post333+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post333 == 0 /\ a_1162^0-a_1162^post333 == 0 /\ -length_29^post333+length_29^0 == 0 /\ -rcd_58^post333+rcd_58^0 == 0 /\ f_847^0-f_847^post333 == 0 /\ -rcd_47^post333+rcd_47^0 == 0 /\ -a_862^post333+a_862^0 == 0 /\ -a_310^post333+a_310^0 == 0 /\ -i_140^post333+i_140^0 == 0 /\ temp0_16^0-temp0_16^post333 == 0 /\ r_151^0-r_151^post333 == 0 /\ a_144^0-a_144^post333 == 0 /\ a_902^0-a_902^post333 == 0 /\ -head_32^post333+head_32^0 == 0 /\ i_94^0-i_94^post333 == 0 /\ a_394^0-a_394^post333 == 0 /\ i_127^0-i_127^post333 == 0 /\ head_15^0-head_15^post333 == 0 /\ -i_197^post333+i_197^0 == 0), cost: 1 335: l206 -> l207 : a_1089^0'=a_1089^post335, f_847^0'=f_847^post335, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post335, a_394^0'=a_394^post335, x_156^0'=x_156^post335, a_632^0'=a_632^post335, r_192^0'=r_192^post335, a_176^0'=a_176^post335, i_106^0'=i_106^post335, a_430^0'=a_430^post335, t_458^0'=t_458^post335, len_161^0'=len_161^post335, x_975^0'=x_975^post335, a_902^0'=a_902^post335, a_947^0'=a_947^post335, rcd_88^0'=rcd_88^post335, a_311^0'=a_311^post335, i_140^0'=i_140^post335, a_577^0'=a_577^post335, x_14^0'=x_14^post335, nondet_12^0'=nondet_12^post335, a_121^0'=a_121^post335, head_15^0'=head_15^post335, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post335, i_27^0'=i_27^post335, x_21^0'=x_21^post335, a_634^0'=a_634^post335, r_39^0'=r_39^post335, a_263^0'=a_263^post335, i_113^0'=i_113^post335, a_432^0'=a_432^post335, temp0_31^0'=temp0_31^post335, len_262^0'=len_262^post335, y_20^0'=y_20^post335, f_248^0'=f_248^post335, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post335, a_393^0'=a_393^post335, i_229^0'=i_229^post335, a_610^0'=a_610^post335, r_151^0'=r_151^post335, a_144^0'=a_144^post335, i_1053^0'=i_1053^post335, a_417^0'=a_417^post335, t_24^0'=t_24^post335, i_94^0'=i_94^post335, x_852^0'=x_852^post335, a_862^0'=a_862^post335, rcd_1249^0'=rcd_1249^post335, rcd_58^0'=rcd_58^post335, a_310^0'=a_310^post335, i_127^0'=i_127^post335, a_576^0'=a_576^post335, tmp_34^0'=tmp_34^post335, length_29^0'=length_29^post335, a_1162^0'=a_1162^post335, f_969^0'=f_969^post335, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post335, a_395^0'=a_395^post335, x_17^0'=x_17^post335, a_633^0'=a_633^post335, r_224^0'=r_224^post335, a_239^0'=a_239^post335, i_107^0'=i_107^post335, a_431^0'=a_431^post335, temp0_16^0'=temp0_16^post335, len_238^0'=len_238^post335, x_SLAM_f_19^0'=x_SLAM_f_19^post335, a_924^0'=a_924^post335, ct_18^0'=ct_18^post335, result_11^0'=result_11^post335, a_392^0'=a_392^post335, i_197^0'=i_197^post335, a_579^0'=a_579^post335, r_143^0'=r_143^post335, a_1236^0'=a_1236^post335, head_32^0'=head_32^post335, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post335, i_30^0'=i_30^post335, x_253^0'=x_253^post335, a_635^0'=a_635^post335, r_970^0'=r_970^post335, rcd_47^0'=rcd_47^post335, a_309^0'=a_309^post335, i_1248^0'=i_1248^post335, a_575^0'=a_575^post335, temp_35^0'=temp_35^post335, len_861^0'=len_861^post335, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post335 == 0 /\ -t_24^post335+t_24^0 == 0 /\ a_1089^0-a_1089^post335 == 0 /\ a_144^0-a_144^post335 == 0 /\ -r_224^post335+r_224^0 == 0 /\ -temp_35^post335+temp_35^0 == 0 /\ a_394^0-a_394^post335 == 0 /\ -r_970^post335+r_970^0 == 0 /\ -i_127^post335+i_127^0 == 0 /\ x_852^0-x_852^post335 == 0 /\ -a_121^post335+a_121^0 == 0 /\ t_458^0-t_458^post335 == 0 /\ a_392^0-a_392^post335 == 0 /\ a_263^0-a_263^post335 == 0 /\ -a_579^post335+a_579^0 == 0 /\ -ct_18^post335+ct_18^0 == 0 /\ a_632^0-a_632^post335 == 0 /\ i_106^0-i_106^post335 == 0 /\ -i_197^post335+i_197^0 == 0 /\ a_576^0-a_576^post335 == 0 /\ -y_20^post335+y_20^0 == 0 /\ rcd_88^0-rcd_88^post335 == 0 /\ a_311^0-a_311^post335 == 0 /\ -a_431^post335+a_431^0 == 0 /\ -f_248^post335+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post335+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post335 == 0 /\ -a_924^post335+a_924^0 == 0 /\ -a_1162^post335+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post335 == 0 /\ -rcd_1249^post335+rcd_1249^0 == 0 /\ -i_229^post335+i_229^0 == 0 /\ -a_577^post335+a_577^0 == 0 /\ x_21^0-x_21^post335 == 0 /\ a_1236^0-a_1236^post335 == 0 /\ -i_1248^post335+i_1248^0 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ a_610^0-a_610^post335 == 0 /\ len_262^0-len_262^post335 == 0 /\ -len_861^post335+len_861^0 == 0 /\ temp0_31^0-temp0_31^post335 == 0 /\ -temp0_16^post335+temp0_16^0 == 0 /\ a_862^0-a_862^post335 == 0 /\ -i_30^post335+i_30^0 == 0 /\ r_143^0-r_143^post335 == 0 /\ -a_393^post335+a_393^0 == 0 /\ -result_11^post335+result_11^0 == 0 /\ rcd_58^0-rcd_58^post335 == 0 /\ a_176^0-a_176^post335 == 0 /\ -x_17^post335+x_17^0 == 0 /\ len_238^0-len_238^post335 == 0 /\ -i_94^post335+i_94^0 == 0 /\ len_161^0-len_161^post335 == 0 /\ a_947^0-a_947^post335 == 0 /\ -i_113^post335+i_113^0 == 0 /\ i_27^0-i_27^post335 == 0 /\ -a_309^post335+a_309^0 == 0 /\ x_14^0-x_14^post335 == 0 /\ r_192^0-r_192^post335 == 0 /\ -x_SLAM_f_19^post335+x_SLAM_f_19^0 == 0 /\ -i_107^post335+i_107^0 == 0 /\ a_395^0-a_395^post335 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post335 == 0 /\ -a_575^post335+a_575^0 == 0 /\ -a_633^post335+a_633^0 == 0 /\ i_1053^0-i_1053^post335 == 0 /\ a_635^0-a_635^post335 == 0 /\ -a_432^post335+a_432^0 == 0 /\ tmp_34^0-tmp_34^post335 == 0 /\ -i_140^post335+i_140^0 == 0 /\ -length_29^post335+length_29^0 == 0 /\ -r_39^post335+r_39^0 == 0 /\ -rcd_47^post335+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post335 == 0 /\ a_430^0-a_430^post335 == 0 /\ a_417^0-a_417^post335 == 0 /\ r_151^0-r_151^post335 == 0 /\ a_239^0-a_239^post335 == 0 /\ -a_310^post335+a_310^0 == 0 /\ nondet_12^0-nondet_12^post335 == 0 /\ x_975^0-x_975^post335 == 0 /\ -x_253^post335+x_253^0 == 0 /\ x_156^0-x_156^post335 == 0 /\ a_634^0-a_634^post335 == 0 /\ a_902^0-a_902^post335 == 0 /\ head_15^0-head_15^post335 == 0 /\ -head_32^post335+head_32^0 == 0 /\ -f_969^post335+f_969^0 == 0), cost: 1 336: l206 -> l207 : a_1089^0'=a_1089^post336, f_847^0'=f_847^post336, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post336, a_394^0'=a_394^post336, x_156^0'=x_156^post336, a_632^0'=a_632^post336, r_192^0'=r_192^post336, a_176^0'=a_176^post336, i_106^0'=i_106^post336, a_430^0'=a_430^post336, t_458^0'=t_458^post336, len_161^0'=len_161^post336, x_975^0'=x_975^post336, a_902^0'=a_902^post336, a_947^0'=a_947^post336, rcd_88^0'=rcd_88^post336, a_311^0'=a_311^post336, i_140^0'=i_140^post336, a_577^0'=a_577^post336, x_14^0'=x_14^post336, nondet_12^0'=nondet_12^post336, a_121^0'=a_121^post336, head_15^0'=head_15^post336, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post336, i_27^0'=i_27^post336, x_21^0'=x_21^post336, a_634^0'=a_634^post336, r_39^0'=r_39^post336, a_263^0'=a_263^post336, i_113^0'=i_113^post336, a_432^0'=a_432^post336, temp0_31^0'=temp0_31^post336, len_262^0'=len_262^post336, y_20^0'=y_20^post336, f_248^0'=f_248^post336, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post336, a_393^0'=a_393^post336, i_229^0'=i_229^post336, a_610^0'=a_610^post336, r_151^0'=r_151^post336, a_144^0'=a_144^post336, i_1053^0'=i_1053^post336, a_417^0'=a_417^post336, t_24^0'=t_24^post336, i_94^0'=i_94^post336, x_852^0'=x_852^post336, a_862^0'=a_862^post336, rcd_1249^0'=rcd_1249^post336, rcd_58^0'=rcd_58^post336, a_310^0'=a_310^post336, i_127^0'=i_127^post336, a_576^0'=a_576^post336, tmp_34^0'=tmp_34^post336, length_29^0'=length_29^post336, a_1162^0'=a_1162^post336, f_969^0'=f_969^post336, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post336, a_395^0'=a_395^post336, x_17^0'=x_17^post336, a_633^0'=a_633^post336, r_224^0'=r_224^post336, a_239^0'=a_239^post336, i_107^0'=i_107^post336, a_431^0'=a_431^post336, temp0_16^0'=temp0_16^post336, len_238^0'=len_238^post336, x_SLAM_f_19^0'=x_SLAM_f_19^post336, a_924^0'=a_924^post336, ct_18^0'=ct_18^post336, result_11^0'=result_11^post336, a_392^0'=a_392^post336, i_197^0'=i_197^post336, a_579^0'=a_579^post336, r_143^0'=r_143^post336, a_1236^0'=a_1236^post336, head_32^0'=head_32^post336, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post336, i_30^0'=i_30^post336, x_253^0'=x_253^post336, a_635^0'=a_635^post336, r_970^0'=r_970^post336, rcd_47^0'=rcd_47^post336, a_309^0'=a_309^post336, i_1248^0'=i_1248^post336, a_575^0'=a_575^post336, temp_35^0'=temp_35^post336, len_861^0'=len_861^post336, (a_633^0-a_633^post336 == 0 /\ -a_635^post336+a_635^0 == 0 /\ -r_143^post336+r_143^0 == 0 /\ i_94^0-i_94^post336 == 0 /\ r_151^0-r_151^post336 == 0 /\ r_39^0-r_39^post336 == 0 /\ a_393^0-a_393^post336 == 0 /\ y_20^0-y_20^post336 == 0 /\ -x_SLAM_f_19^post336+x_SLAM_f_19^0 == 0 /\ -len_238^post336+len_238^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_432^0-a_432^post336 == 0 /\ x_975^0-x_975^post336 == 0 /\ x_21^0-x_21^post336 == 0 /\ r_192^0-r_192^post336 == 0 /\ -a_309^post336+a_309^0 == 0 /\ i_113^0-i_113^post336 == 0 /\ a_144^0-a_144^post336 == 0 /\ -i_107^post336+i_107^0 == 0 /\ -a_576^post336+a_576^0 == 0 /\ -a_634^post336+a_634^0 == 0 /\ -a_575^post336+a_575^0 == 0 /\ i_27^0-i_27^post336 == 0 /\ t_24^0-t_24^post336 == 0 /\ a_862^0-a_862^post336 == 0 /\ -a_1236^post336+a_1236^0 == 0 /\ a_310^0-a_310^post336 == 0 /\ -a_431^post336+a_431^0 == 0 /\ rcd_58^0-rcd_58^post336 == 0 /\ a_417^0-a_417^post336 == 0 /\ head_32^0-head_32^post336 == 0 /\ -a_392^post336+a_392^0 == 0 /\ -a_610^post336+a_610^0 == 0 /\ -temp0_31^post336+temp0_31^0 == 0 /\ -f_969^post336+f_969^0 == 0 /\ len_161^0-len_161^post336 == 0 /\ a_579^0-a_579^post336 == 0 /\ -rcd_47^post336+rcd_47^0 == 0 /\ i_106^0-i_106^post336 == 0 /\ f_847^0-f_847^post336 == 0 /\ i_140^0-i_140^post336 == 0 /\ -temp_35^post336+temp_35^0 == 0 /\ a_632^0-a_632^post336 == 0 /\ -f_248^post336+f_248^0 == 0 /\ tmp_34^0-tmp_34^post336 == 0 /\ x_253^0-x_253^post336 == 0 /\ -ct_18^post336+ct_18^0 == 0 /\ t_458^0-t_458^post336 == 0 /\ -len_262^post336+len_262^0 == 0 /\ a_902^0-a_902^post336 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post336 == 0 /\ -r_970^post336+r_970^0 == 0 /\ -i_197^post336+i_197^0 == 0 /\ i_229^0-i_229^post336 == 0 /\ a_239^0-a_239^post336 == 0 /\ nondet_12^0-nondet_12^post336 == 0 /\ -i_127^post336+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post336+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post336 == 0 /\ -a_395^post336+a_395^0 == 0 /\ x_14^0-x_14^post336 == 0 /\ -rcd_1249^post336+rcd_1249^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post336 == 0 /\ i_1053^0-i_1053^post336 == 0 /\ -a_947^post336+a_947^0 == 0 /\ x_852^0-x_852^post336 == 0 /\ -result_11^post336+result_11^0 == 0 /\ -a_1162^post336+a_1162^0 == 0 /\ a_121^0-a_121^post336 == 0 /\ -a_577^post336+a_577^0 == 0 /\ a_394^0-a_394^post336 == 0 /\ a_1089^0-a_1089^post336 == 0 /\ -i_1248^post336+i_1248^0 == 0 /\ a_263^0-a_263^post336 == 0 /\ -i_30^post336+i_30^0 == 0 /\ -x_17^post336+x_17^0 == 0 /\ a_430^0-a_430^post336 == 0 /\ a_311^0-a_311^post336 == 0 /\ rcd_88^0-rcd_88^post336 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post336 == 0 /\ a_176^0-a_176^post336 == 0 /\ length_29^0-length_29^post336 == 0 /\ -temp0_16^post336+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post336 == 0 /\ -len_861^post336+len_861^0 == 0 /\ -a_924^post336+a_924^0 == 0 /\ -head_15^post336+head_15^0 == 0 /\ -r_224^post336+r_224^0 == 0), cost: 1 337: l207 -> l208 : a_1089^0'=a_1089^post337, f_847^0'=f_847^post337, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post337, a_394^0'=a_394^post337, x_156^0'=x_156^post337, a_632^0'=a_632^post337, r_192^0'=r_192^post337, a_176^0'=a_176^post337, i_106^0'=i_106^post337, a_430^0'=a_430^post337, t_458^0'=t_458^post337, len_161^0'=len_161^post337, x_975^0'=x_975^post337, a_902^0'=a_902^post337, a_947^0'=a_947^post337, rcd_88^0'=rcd_88^post337, a_311^0'=a_311^post337, i_140^0'=i_140^post337, a_577^0'=a_577^post337, x_14^0'=x_14^post337, nondet_12^0'=nondet_12^post337, a_121^0'=a_121^post337, head_15^0'=head_15^post337, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post337, i_27^0'=i_27^post337, x_21^0'=x_21^post337, a_634^0'=a_634^post337, r_39^0'=r_39^post337, a_263^0'=a_263^post337, i_113^0'=i_113^post337, a_432^0'=a_432^post337, temp0_31^0'=temp0_31^post337, len_262^0'=len_262^post337, y_20^0'=y_20^post337, f_248^0'=f_248^post337, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post337, a_393^0'=a_393^post337, i_229^0'=i_229^post337, a_610^0'=a_610^post337, r_151^0'=r_151^post337, a_144^0'=a_144^post337, i_1053^0'=i_1053^post337, a_417^0'=a_417^post337, t_24^0'=t_24^post337, i_94^0'=i_94^post337, x_852^0'=x_852^post337, a_862^0'=a_862^post337, rcd_1249^0'=rcd_1249^post337, rcd_58^0'=rcd_58^post337, a_310^0'=a_310^post337, i_127^0'=i_127^post337, a_576^0'=a_576^post337, tmp_34^0'=tmp_34^post337, length_29^0'=length_29^post337, a_1162^0'=a_1162^post337, f_969^0'=f_969^post337, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post337, a_395^0'=a_395^post337, x_17^0'=x_17^post337, a_633^0'=a_633^post337, r_224^0'=r_224^post337, a_239^0'=a_239^post337, i_107^0'=i_107^post337, a_431^0'=a_431^post337, temp0_16^0'=temp0_16^post337, len_238^0'=len_238^post337, x_SLAM_f_19^0'=x_SLAM_f_19^post337, a_924^0'=a_924^post337, ct_18^0'=ct_18^post337, result_11^0'=result_11^post337, a_392^0'=a_392^post337, i_197^0'=i_197^post337, a_579^0'=a_579^post337, r_143^0'=r_143^post337, a_1236^0'=a_1236^post337, head_32^0'=head_32^post337, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post337, i_30^0'=i_30^post337, x_253^0'=x_253^post337, a_635^0'=a_635^post337, r_970^0'=r_970^post337, rcd_47^0'=rcd_47^post337, a_309^0'=a_309^post337, i_1248^0'=i_1248^post337, a_575^0'=a_575^post337, temp_35^0'=temp_35^post337, len_861^0'=len_861^post337, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post337 == 0 /\ len_161^0-len_161^post337 == 0 /\ -i_1248^post337+i_1248^0 == 0 /\ -rcd_58^post337+rcd_58^0 == 0 /\ -head_32^post337+head_32^0 == 0 /\ -a_579^post337+a_579^0 == 0 /\ -a_239^post337+a_239^0 == 0 /\ -i_127^post337+i_127^0 == 0 /\ -temp0_16^post337+temp0_16^0 == 0 /\ -ct_18^post337+ct_18^0 == 0 /\ -temp0_31^post337+temp0_31^0 == 0 /\ -len_861^post337+len_861^0 == 0 /\ a_417^0-a_417^post337 == 0 /\ -a_431^post337+a_431^0 == 0 /\ -i_229^post337+i_229^0 == 0 /\ length_29^0-length_29^post337 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ f_847^0-f_847^post337 == 0 /\ a_263^0-a_263^post337 == 0 /\ -f_248^post337+f_248^0 == 0 /\ -i_197^post337+i_197^0 == 0 /\ i_106^0-i_106^post337 == 0 /\ -a_309^post337+a_309^0 == 0 /\ i_94^0-i_94^post337 == 0 /\ a_430^0-a_430^post337 == 0 /\ head_15^0-head_15^post337 == 0 /\ -result_11^post337+result_11^0 == 0 /\ -rcd_1249^post337+rcd_1249^0 == 0 /\ -x_21^0+t_24^post337 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post337+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post337+a_575^0 == 0 /\ r_151^0-r_151^post337 == 0 /\ r_39^0-r_39^post337 == 0 /\ a_432^0-a_432^post337 == 0 /\ a_577^0-a_577^post337 == 0 /\ y_20^0 <= 0 /\ x_156^0-x_156^post337 == 0 /\ a_1162^0-a_1162^post337 == 0 /\ -a_635^post337+a_635^0 == 0 /\ -a_947^post337+a_947^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ a_902^0-a_902^post337 == 0 /\ -i_30^post337+i_30^0 == 0 /\ -r_224^post337+r_224^0 == 0 /\ -x_17^post337+x_17^0 == 0 /\ -x_852^post337+x_852^0 == 0 /\ a_862^0-a_862^post337 == 0 /\ x_21^0-x_21^post337 == 0 /\ a_1089^0-a_1089^post337 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post337 == 0 /\ i_1053^0-i_1053^post337 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post337+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post337+x_SLAM_f_19^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -x_14^post337+x_14^0 == 0 /\ -y_20^0 <= 0 /\ -a_576^post337+a_576^0 == 0 /\ a_311^0-a_311^post337 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -a_924^post337+a_924^0 == 0 /\ -i_107^post337+i_107^0 == 0 /\ t_458^0-t_458^post337 == 0 /\ -a_634^post337+a_634^0 == 0 /\ -a_633^post337+a_633^0 == 0 /\ -r_143^post337+r_143^0 == 0 /\ i_140^0-i_140^post337 == 0 /\ rcd_88^0-rcd_88^post337 == 0 /\ head_15^0-x_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post337 == 0 /\ -f_969^post337+f_969^0 == 0 /\ a_632^0-a_632^post337 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -i_27^post337+i_27^0 == 0 /\ -ct_18^0 <= 0 /\ -a_176^post337+a_176^0 == 0 /\ i_113^0-i_113^post337 == 0 /\ -a_121^post337+a_121^0 == 0 /\ x_975^0-x_975^post337 == 0 /\ -a_610^post337+a_610^0 == 0 /\ -temp_35^post337+temp_35^0 == 0 /\ y_20^0-y_20^post337 == 0 /\ tmp_34^0-tmp_34^post337 == 0 /\ -len_262^post337+len_262^0 == 0 /\ -x_253^post337+x_253^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -len_238^post337+len_238^0 == 0 /\ -r_970^post337+r_970^0 == 0 /\ -rcd_47^post337+rcd_47^0 == 0 /\ -a_310^post337+a_310^0 == 0 /\ nondet_12^0-nondet_12^post337 == 0 /\ a_144^0-a_144^post337 == 0 /\ r_192^0-r_192^post337 == 0 /\ -a_1236^post337+a_1236^0 == 0 /\ -head_15^0+x_17^0 <= 0), cost: 1 338: l208 -> l209 : a_1089^0'=a_1089^post338, f_847^0'=f_847^post338, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post338, a_394^0'=a_394^post338, x_156^0'=x_156^post338, a_632^0'=a_632^post338, r_192^0'=r_192^post338, a_176^0'=a_176^post338, i_106^0'=i_106^post338, a_430^0'=a_430^post338, t_458^0'=t_458^post338, len_161^0'=len_161^post338, x_975^0'=x_975^post338, a_902^0'=a_902^post338, a_947^0'=a_947^post338, rcd_88^0'=rcd_88^post338, a_311^0'=a_311^post338, i_140^0'=i_140^post338, a_577^0'=a_577^post338, x_14^0'=x_14^post338, nondet_12^0'=nondet_12^post338, a_121^0'=a_121^post338, head_15^0'=head_15^post338, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post338, i_27^0'=i_27^post338, x_21^0'=x_21^post338, a_634^0'=a_634^post338, r_39^0'=r_39^post338, a_263^0'=a_263^post338, i_113^0'=i_113^post338, a_432^0'=a_432^post338, temp0_31^0'=temp0_31^post338, len_262^0'=len_262^post338, y_20^0'=y_20^post338, f_248^0'=f_248^post338, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post338, a_393^0'=a_393^post338, i_229^0'=i_229^post338, a_610^0'=a_610^post338, r_151^0'=r_151^post338, a_144^0'=a_144^post338, i_1053^0'=i_1053^post338, a_417^0'=a_417^post338, t_24^0'=t_24^post338, i_94^0'=i_94^post338, x_852^0'=x_852^post338, a_862^0'=a_862^post338, rcd_1249^0'=rcd_1249^post338, rcd_58^0'=rcd_58^post338, a_310^0'=a_310^post338, i_127^0'=i_127^post338, a_576^0'=a_576^post338, tmp_34^0'=tmp_34^post338, length_29^0'=length_29^post338, a_1162^0'=a_1162^post338, f_969^0'=f_969^post338, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post338, a_395^0'=a_395^post338, x_17^0'=x_17^post338, a_633^0'=a_633^post338, r_224^0'=r_224^post338, a_239^0'=a_239^post338, i_107^0'=i_107^post338, a_431^0'=a_431^post338, temp0_16^0'=temp0_16^post338, len_238^0'=len_238^post338, x_SLAM_f_19^0'=x_SLAM_f_19^post338, a_924^0'=a_924^post338, ct_18^0'=ct_18^post338, result_11^0'=result_11^post338, a_392^0'=a_392^post338, i_197^0'=i_197^post338, a_579^0'=a_579^post338, r_143^0'=r_143^post338, a_1236^0'=a_1236^post338, head_32^0'=head_32^post338, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post338, i_30^0'=i_30^post338, x_253^0'=x_253^post338, a_635^0'=a_635^post338, r_970^0'=r_970^post338, rcd_47^0'=rcd_47^post338, a_309^0'=a_309^post338, i_1248^0'=i_1248^post338, a_575^0'=a_575^post338, temp_35^0'=temp_35^post338, len_861^0'=len_861^post338, (-tmp_34^post338+tmp_34^0 == 0 /\ i_94^0-i_94^post338 == 0 /\ -len_238^post338+len_238^0 == 0 /\ -a_610^post338+a_610^0 == 0 /\ a_393^0-a_393^post338 == 0 /\ r_151^0-r_151^post338 == 0 /\ y_20^0-y_20^post338 == 0 /\ head_15^0-head_15^post338 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post338 == 0 /\ -a_633^post338+a_633^0 == 0 /\ 1-x_14^0 <= 0 /\ x_21^0-x_21^post338 == 0 /\ a_432^0-a_432^post338 == 0 /\ i_113^0-i_113^post338 == 0 /\ r_192^0-r_192^post338 == 0 /\ -a_924^post338+a_924^0 == 0 /\ a_310^0-a_310^post338 == 0 /\ -a_576^post338+a_576^0 == 0 /\ -a_309^post338+a_309^0 == 0 /\ -rcd_1249^post338+rcd_1249^0 == 0 /\ -r_143^post338+r_143^0 == 0 /\ -a_634^post338+a_634^0 == 0 /\ -x_253^post338+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post338+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post338 == 0 /\ i_197^0-i_197^post338 == 0 /\ a_417^0-a_417^post338 == 0 /\ a_1089^0-a_1089^post338 == 0 /\ head_32^0-head_32^post338 == 0 /\ -a_1236^post338+a_1236^0 == 0 /\ a_263^0-a_263^post338 == 0 /\ i_27^0-i_27^post338 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post338 == 0 /\ -len_262^post338+len_262^0 == 0 /\ -temp0_31^post338+temp0_31^0 == 0 /\ r_39^0-r_39^post338 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post338 == 0 /\ i_140^0-i_140^post338 == 0 /\ -r_970^post338+r_970^0 == 0 /\ i_106^0-i_106^post338 == 0 /\ -f_969^post338+f_969^0 == 0 /\ -rcd_47^post338+rcd_47^0 == 0 /\ -temp0_16^post338+temp0_16^0 == 0 /\ i_107^0-i_107^post338 == 0 /\ -i_1053^post338+i_1053^0 == 0 /\ -ct_18^post338+ct_18^0 == 0 /\ f_248^0-f_248^post338 == 0 /\ -a_395^post338+a_395^0 == 0 /\ t_458^0-t_458^post338 == 0 /\ -len_861^post338+len_861^0 == 0 /\ -a_430^post338+a_430^0 == 0 /\ x_975^0-x_975^post338 == 0 /\ -a_394^post338+a_394^0 == 0 /\ r_224^0-r_224^post338 == 0 /\ a_632^0-a_632^post338 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post338+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post338 == 0 /\ -a_862^post338+a_862^0 == 0 /\ i_30^0-i_30^post338 == 0 /\ a_577^0-a_577^post338 == 0 /\ a_902^0-a_902^post338 == 0 /\ -temp_35^post338+temp_35^0 == 0 /\ -a_392^post338+a_392^0 == 0 /\ -nondet_12^post338+nondet_12^0 == 0 /\ -a_579^post338+a_579^0 == 0 /\ x_14^0-x_14^post338 == 0 /\ i_229^0-i_229^post338 == 0 /\ -i_127^post338+i_127^0 == 0 /\ len_161^0-len_161^post338 == 0 /\ -a_1162^post338+a_1162^0 == 0 /\ -a_575^post338+a_575^0 == 0 /\ a_431^0-a_431^post338 == 0 /\ a_121^0-a_121^post338 == 0 /\ a_176^0-a_176^post338 == 0 /\ x_852^0-x_852^post338 == 0 /\ -a_947^post338+a_947^0 == 0 /\ -result_11^post338+result_11^0 == 0 /\ t_24^0-t_24^post338 == 0 /\ a_311^0-a_311^post338 == 0 /\ rcd_88^0-rcd_88^post338 == 0 /\ -x_17^post338+x_17^0 == 0 /\ f_847^0-f_847^post338 == 0 /\ -a_635^post338+a_635^0 == 0 /\ -i_1248^post338+i_1248^0 == 0 /\ -rcd_58^post338+rcd_58^0 == 0 /\ length_29^0-length_29^post338 == 0 /\ -a_239^post338+a_239^0 == 0 /\ -a_144^post338+a_144^0 == 0), cost: 1 339: l208 -> l209 : a_1089^0'=a_1089^post339, f_847^0'=f_847^post339, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post339, a_394^0'=a_394^post339, x_156^0'=x_156^post339, a_632^0'=a_632^post339, r_192^0'=r_192^post339, a_176^0'=a_176^post339, i_106^0'=i_106^post339, a_430^0'=a_430^post339, t_458^0'=t_458^post339, len_161^0'=len_161^post339, x_975^0'=x_975^post339, a_902^0'=a_902^post339, a_947^0'=a_947^post339, rcd_88^0'=rcd_88^post339, a_311^0'=a_311^post339, i_140^0'=i_140^post339, a_577^0'=a_577^post339, x_14^0'=x_14^post339, nondet_12^0'=nondet_12^post339, a_121^0'=a_121^post339, head_15^0'=head_15^post339, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post339, i_27^0'=i_27^post339, x_21^0'=x_21^post339, a_634^0'=a_634^post339, r_39^0'=r_39^post339, a_263^0'=a_263^post339, i_113^0'=i_113^post339, a_432^0'=a_432^post339, temp0_31^0'=temp0_31^post339, len_262^0'=len_262^post339, y_20^0'=y_20^post339, f_248^0'=f_248^post339, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post339, a_393^0'=a_393^post339, i_229^0'=i_229^post339, a_610^0'=a_610^post339, r_151^0'=r_151^post339, a_144^0'=a_144^post339, i_1053^0'=i_1053^post339, a_417^0'=a_417^post339, t_24^0'=t_24^post339, i_94^0'=i_94^post339, x_852^0'=x_852^post339, a_862^0'=a_862^post339, rcd_1249^0'=rcd_1249^post339, rcd_58^0'=rcd_58^post339, a_310^0'=a_310^post339, i_127^0'=i_127^post339, a_576^0'=a_576^post339, tmp_34^0'=tmp_34^post339, length_29^0'=length_29^post339, a_1162^0'=a_1162^post339, f_969^0'=f_969^post339, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post339, a_395^0'=a_395^post339, x_17^0'=x_17^post339, a_633^0'=a_633^post339, r_224^0'=r_224^post339, a_239^0'=a_239^post339, i_107^0'=i_107^post339, a_431^0'=a_431^post339, temp0_16^0'=temp0_16^post339, len_238^0'=len_238^post339, x_SLAM_f_19^0'=x_SLAM_f_19^post339, a_924^0'=a_924^post339, ct_18^0'=ct_18^post339, result_11^0'=result_11^post339, a_392^0'=a_392^post339, i_197^0'=i_197^post339, a_579^0'=a_579^post339, r_143^0'=r_143^post339, a_1236^0'=a_1236^post339, head_32^0'=head_32^post339, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post339, i_30^0'=i_30^post339, x_253^0'=x_253^post339, a_635^0'=a_635^post339, r_970^0'=r_970^post339, rcd_47^0'=rcd_47^post339, a_309^0'=a_309^post339, i_1248^0'=i_1248^post339, a_575^0'=a_575^post339, temp_35^0'=temp_35^post339, len_861^0'=len_861^post339, (a_121^0-a_121^post339 == 0 /\ -rcd_58^post339+rcd_58^0 == 0 /\ -a_239^post339+a_239^0 == 0 /\ len_161^0-len_161^post339 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post339+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ temp0_31^0-temp0_31^post339 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post339 == 0 /\ len_262^0-len_262^post339 == 0 /\ -f_248^post339+f_248^0 == 0 /\ a_310^0-a_310^post339 == 0 /\ -temp0_16^post339+temp0_16^0 == 0 /\ -length_29^post339+length_29^0 == 0 /\ i_229^0-i_229^post339 == 0 /\ a_634^0-a_634^post339 == 0 /\ a_263^0-a_263^post339 == 0 /\ -i_1248^post339+i_1248^0 == 0 /\ -a_862^post339+a_862^0 == 0 /\ -head_32^post339+head_32^0 == 0 /\ -i_27^post339+i_27^0 == 0 /\ -i_197^post339+i_197^0 == 0 /\ -a_579^post339+a_579^0 == 0 /\ a_947^0-a_947^post339 == 0 /\ -i_127^post339+i_127^0 == 0 /\ -a_393^post339+a_393^0 == 0 /\ i_1053^0-i_1053^post339 == 0 /\ a_176^0-a_176^post339 == 0 /\ a_395^0-a_395^post339 == 0 /\ -x_852^post339+x_852^0 == 0 /\ -t_24^post339+t_24^0 == 0 /\ a_632^0-a_632^post339 == 0 /\ -a_144^post339+a_144^0 == 0 /\ a_430^0-a_430^post339 == 0 /\ -a_309^post339+a_309^0 == 0 /\ head_15^0-head_15^post339 == 0 /\ i_113^0-i_113^post339 == 0 /\ -a_924^post339+a_924^0 == 0 /\ -a_575^post339+a_575^0 == 0 /\ a_1162^0-a_1162^post339 == 0 /\ -a_417^post339+a_417^0 == 0 /\ -len_861^post339+len_861^0 == 0 /\ a_1089^0-a_1089^post339 == 0 /\ -a_635^post339+a_635^0 == 0 /\ -ct_18^post339+ct_18^0 == 0 /\ x_156^0-x_156^post339 == 0 /\ -tmp_34^post339+tmp_34^0 == 0 /\ a_432^0-a_432^post339 == 0 /\ r_192^0-r_192^post339 == 0 /\ -i_30^post339+i_30^0 == 0 /\ x_14^0-x_14^post339 == 0 /\ nondet_12^0-nondet_12^post339 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post339+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post339 == 0 /\ a_431^0-a_431^post339 == 0 /\ -rcd_47^post339+rcd_47^0 == 0 /\ x_17^0-x_17^post339 == 0 /\ -rcd_1249^post339+rcd_1249^0 == 0 /\ y_20^0-y_20^post339 == 0 /\ f_847^0-f_847^post339 == 0 /\ -r_143^post339+r_143^0 == 0 /\ a_394^0-a_394^post339 == 0 /\ -a_633^post339+a_633^0 == 0 /\ -len_238^post339+len_238^0 == 0 /\ -result_11^post339+result_11^0 == 0 /\ -a_902^post339+a_902^0 == 0 /\ -r_151^post339+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post339+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post339 == 0 /\ r_39^0-r_39^post339 == 0 /\ -temp_35^post339+temp_35^0 == 0 /\ r_224^0-r_224^post339 == 0 /\ -a_392^post339+a_392^0 == 0 /\ -f_969^post339+f_969^0 == 0 /\ i_107^0-i_107^post339 == 0 /\ a_610^0-a_610^post339 == 0 /\ i_106^0-i_106^post339 == 0 /\ -a_576^post339+a_576^0 == 0 /\ i_94^0-i_94^post339 == 0 /\ a_577^0-a_577^post339 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post339+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_975^0-x_975^post339 == 0 /\ 1+x_14^0 <= 0 /\ -a_311^post339+a_311^0 == 0 /\ -a_1236^post339+a_1236^0 == 0 /\ -rcd_88^post339+rcd_88^0 == 0 /\ -x_SLAM_f_19^post339+x_SLAM_f_19^0 == 0 /\ -x_253^post339+x_253^0 == 0 /\ x_21^0-x_21^post339 == 0 /\ -r_970^post339+r_970^0 == 0), cost: 1 340: l209 -> l210 : a_1089^0'=a_1089^post340, f_847^0'=f_847^post340, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post340, a_394^0'=a_394^post340, x_156^0'=x_156^post340, a_632^0'=a_632^post340, r_192^0'=r_192^post340, a_176^0'=a_176^post340, i_106^0'=i_106^post340, a_430^0'=a_430^post340, t_458^0'=t_458^post340, len_161^0'=len_161^post340, x_975^0'=x_975^post340, a_902^0'=a_902^post340, a_947^0'=a_947^post340, rcd_88^0'=rcd_88^post340, a_311^0'=a_311^post340, i_140^0'=i_140^post340, a_577^0'=a_577^post340, x_14^0'=x_14^post340, nondet_12^0'=nondet_12^post340, a_121^0'=a_121^post340, head_15^0'=head_15^post340, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post340, i_27^0'=i_27^post340, x_21^0'=x_21^post340, a_634^0'=a_634^post340, r_39^0'=r_39^post340, a_263^0'=a_263^post340, i_113^0'=i_113^post340, a_432^0'=a_432^post340, temp0_31^0'=temp0_31^post340, len_262^0'=len_262^post340, y_20^0'=y_20^post340, f_248^0'=f_248^post340, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post340, a_393^0'=a_393^post340, i_229^0'=i_229^post340, a_610^0'=a_610^post340, r_151^0'=r_151^post340, a_144^0'=a_144^post340, i_1053^0'=i_1053^post340, a_417^0'=a_417^post340, t_24^0'=t_24^post340, i_94^0'=i_94^post340, x_852^0'=x_852^post340, a_862^0'=a_862^post340, rcd_1249^0'=rcd_1249^post340, rcd_58^0'=rcd_58^post340, a_310^0'=a_310^post340, i_127^0'=i_127^post340, a_576^0'=a_576^post340, tmp_34^0'=tmp_34^post340, length_29^0'=length_29^post340, a_1162^0'=a_1162^post340, f_969^0'=f_969^post340, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post340, a_395^0'=a_395^post340, x_17^0'=x_17^post340, a_633^0'=a_633^post340, r_224^0'=r_224^post340, a_239^0'=a_239^post340, i_107^0'=i_107^post340, a_431^0'=a_431^post340, temp0_16^0'=temp0_16^post340, len_238^0'=len_238^post340, x_SLAM_f_19^0'=x_SLAM_f_19^post340, a_924^0'=a_924^post340, ct_18^0'=ct_18^post340, result_11^0'=result_11^post340, a_392^0'=a_392^post340, i_197^0'=i_197^post340, a_579^0'=a_579^post340, r_143^0'=r_143^post340, a_1236^0'=a_1236^post340, head_32^0'=head_32^post340, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post340, i_30^0'=i_30^post340, x_253^0'=x_253^post340, a_635^0'=a_635^post340, r_970^0'=r_970^post340, rcd_47^0'=rcd_47^post340, a_309^0'=a_309^post340, i_1248^0'=i_1248^post340, a_575^0'=a_575^post340, temp_35^0'=temp_35^post340, len_861^0'=len_861^post340, (-len_238^post340+len_238^0 == 0 /\ a_632^0-a_632^post340 == 0 /\ i_106^0-i_106^post340 == 0 /\ -rcd_47^post340+rcd_47^0 == 0 /\ a_902^0-a_902^post340 == 0 /\ -a_633^post340+a_633^0 == 0 /\ t_458^0-t_458^post340 == 0 /\ ct_18^0-ct_18^post340 == 0 /\ head_15^0-head_15^post340 == 0 /\ -r_151^post340+r_151^0 == 0 /\ i_229^0-i_229^post340 == 0 /\ a_310^0-a_310^post340 == 0 /\ -result_11^post340+result_11^0 == 0 /\ i_27^0-i_27^post340 == 0 /\ -rcd_1249^post340+rcd_1249^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post340 == 0 /\ nondet_12^0-nondet_12^post340 == 0 /\ temp0_31^0-temp0_31^post340 == 0 /\ -a_576^post340+a_576^0 == 0 /\ -r_970^post340+r_970^0 == 0 /\ x_14^0-x_14^post340 == 0 /\ a_121^0-a_121^post340 == 0 /\ -r_143^post340+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post340 == 0 /\ a_1089^0-a_1089^post340 == 0 /\ len_262^0-len_262^post340 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post340+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_94^post340+i_94^0 == 0 /\ a_634^0-a_634^post340 == 0 /\ -x_253^post340+x_253^0 == 0 /\ a_263^0-a_263^post340 == 0 /\ -length_29^post340+length_29^0 == 0 /\ a_176^0-a_176^post340 == 0 /\ y_20^0-y_20^post340 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post340 == 0 /\ a_924^0-a_924^post340 == 0 /\ -a_311^post340+a_311^0 == 0 /\ -a_610^post340+a_610^0 == 0 /\ -a_1236^post340+a_1236^0 == 0 /\ -temp_35^post340+temp_35^0 == 0 /\ -rcd_88^post340+rcd_88^0 == 0 /\ x_975^0-x_975^post340 == 0 /\ f_969^0-f_969^post340 == 0 /\ a_430^0-a_430^post340 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post340 == 0 /\ -head_32^post340+head_32^0 == 0 /\ f_248^0-f_248^post340 == 0 /\ a_577^0-a_577^post340 == 0 /\ i_113^0-i_113^post340 == 0 /\ -a_395^post340+a_395^0 == 0 /\ a_393^0-a_393^post340 == 0 /\ r_39^0-r_39^post340 == 0 /\ -a_392^post340+a_392^0 == 0 /\ -x_156^post340+x_156^0 == 0 /\ -i_1248^post340+i_1248^0 == 0 /\ -i_1053^post340+i_1053^0 == 0 /\ -r_192^post340+r_192^0 == 0 /\ a_432^0-a_432^post340 == 0 /\ -a_239^post340+a_239^0 == 0 /\ i_30^0-i_30^post340 == 0 /\ temp0_16^0-temp0_16^post340 == 0 /\ -a_862^post340+a_862^0 == 0 /\ -r_224^post340+r_224^0 == 0 /\ -len_861^post340+len_861^0 == 0 /\ -i_127^post340+i_127^0 == 0 /\ x_21^0-x_21^post340 == 0 /\ -a_579^post340+a_579^0 == 0 /\ t_24^0-t_24^post340 == 0 /\ a_431^0-a_431^post340 == 0 /\ 1-head_15^0 <= 0 /\ -a_635^post340+a_635^0 == 0 /\ len_161^0-len_161^post340 == 0 /\ a_144^0-a_144^post340 == 0 /\ -x_852^post340+x_852^0 == 0 /\ -x_17^post340+x_17^0 == 0 /\ a_947^0-a_947^post340 == 0 /\ a_1162^0-a_1162^post340 == 0 /\ -i_197^post340+i_197^0 == 0 /\ f_847^0-f_847^post340 == 0 /\ a_394^0-a_394^post340 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post340+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post340+a_309^0 == 0 /\ -rcd_58^post340+rcd_58^0 == 0 /\ -a_417^post340+a_417^0 == 0 /\ -i_107^post340+i_107^0 == 0 /\ -tmp_34^post340+tmp_34^0 == 0 /\ -a_575^post340+a_575^0 == 0 /\ i_140^0-i_140^post340 == 0), cost: 1 341: l209 -> l210 : a_1089^0'=a_1089^post341, f_847^0'=f_847^post341, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post341, a_394^0'=a_394^post341, x_156^0'=x_156^post341, a_632^0'=a_632^post341, r_192^0'=r_192^post341, a_176^0'=a_176^post341, i_106^0'=i_106^post341, a_430^0'=a_430^post341, t_458^0'=t_458^post341, len_161^0'=len_161^post341, x_975^0'=x_975^post341, a_902^0'=a_902^post341, a_947^0'=a_947^post341, rcd_88^0'=rcd_88^post341, a_311^0'=a_311^post341, i_140^0'=i_140^post341, a_577^0'=a_577^post341, x_14^0'=x_14^post341, nondet_12^0'=nondet_12^post341, a_121^0'=a_121^post341, head_15^0'=head_15^post341, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post341, i_27^0'=i_27^post341, x_21^0'=x_21^post341, a_634^0'=a_634^post341, r_39^0'=r_39^post341, a_263^0'=a_263^post341, i_113^0'=i_113^post341, a_432^0'=a_432^post341, temp0_31^0'=temp0_31^post341, len_262^0'=len_262^post341, y_20^0'=y_20^post341, f_248^0'=f_248^post341, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post341, a_393^0'=a_393^post341, i_229^0'=i_229^post341, a_610^0'=a_610^post341, r_151^0'=r_151^post341, a_144^0'=a_144^post341, i_1053^0'=i_1053^post341, a_417^0'=a_417^post341, t_24^0'=t_24^post341, i_94^0'=i_94^post341, x_852^0'=x_852^post341, a_862^0'=a_862^post341, rcd_1249^0'=rcd_1249^post341, rcd_58^0'=rcd_58^post341, a_310^0'=a_310^post341, i_127^0'=i_127^post341, a_576^0'=a_576^post341, tmp_34^0'=tmp_34^post341, length_29^0'=length_29^post341, a_1162^0'=a_1162^post341, f_969^0'=f_969^post341, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post341, a_395^0'=a_395^post341, x_17^0'=x_17^post341, a_633^0'=a_633^post341, r_224^0'=r_224^post341, a_239^0'=a_239^post341, i_107^0'=i_107^post341, a_431^0'=a_431^post341, temp0_16^0'=temp0_16^post341, len_238^0'=len_238^post341, x_SLAM_f_19^0'=x_SLAM_f_19^post341, a_924^0'=a_924^post341, ct_18^0'=ct_18^post341, result_11^0'=result_11^post341, a_392^0'=a_392^post341, i_197^0'=i_197^post341, a_579^0'=a_579^post341, r_143^0'=r_143^post341, a_1236^0'=a_1236^post341, head_32^0'=head_32^post341, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post341, i_30^0'=i_30^post341, x_253^0'=x_253^post341, a_635^0'=a_635^post341, r_970^0'=r_970^post341, rcd_47^0'=rcd_47^post341, a_309^0'=a_309^post341, i_1248^0'=i_1248^post341, a_575^0'=a_575^post341, temp_35^0'=temp_35^post341, len_861^0'=len_861^post341, (temp0_31^0-temp0_31^post341 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post341 == 0 /\ i_27^0-i_27^post341 == 0 /\ 1+head_15^0 <= 0 /\ -a_862^post341+a_862^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post341+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_634^0-a_634^post341 == 0 /\ len_262^0-len_262^post341 == 0 /\ -i_1248^post341+i_1248^0 == 0 /\ -a_239^post341+a_239^0 == 0 /\ -length_29^post341+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post341 == 0 /\ a_176^0-a_176^post341 == 0 /\ -temp0_16^post341+temp0_16^0 == 0 /\ -a_310^post341+a_310^0 == 0 /\ a_947^0-a_947^post341 == 0 /\ x_17^0-x_17^post341 == 0 /\ -i_30^post341+i_30^0 == 0 /\ -i_1053^post341+i_1053^0 == 0 /\ -a_393^post341+a_393^0 == 0 /\ -a_392^post341+a_392^0 == 0 /\ -len_861^post341+len_861^0 == 0 /\ -head_32^post341+head_32^0 == 0 /\ f_248^0-f_248^post341 == 0 /\ a_610^0-a_610^post341 == 0 /\ a_632^0-a_632^post341 == 0 /\ -r_151^post341+r_151^0 == 0 /\ -i_197^post341+i_197^0 == 0 /\ x_975^0-x_975^post341 == 0 /\ -t_24^post341+t_24^0 == 0 /\ -a_579^post341+a_579^0 == 0 /\ rcd_1249^0-rcd_1249^post341 == 0 /\ i_113^0-i_113^post341 == 0 /\ -a_635^post341+a_635^0 == 0 /\ -a_309^post341+a_309^0 == 0 /\ -ct_18^post341+ct_18^0 == 0 /\ a_432^0-a_432^post341 == 0 /\ -i_107^post341+i_107^0 == 0 /\ -a_263^post341+a_263^0 == 0 /\ -a_575^post341+a_575^0 == 0 /\ -a_417^post341+a_417^0 == 0 /\ -rcd_58^post341+rcd_58^0 == 0 /\ -x_852^post341+x_852^0 == 0 /\ r_192^0-r_192^post341 == 0 /\ nondet_12^0-nondet_12^post341 == 0 /\ -a_924^post341+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post341+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_144^0-a_144^post341 == 0 /\ a_394^0-a_394^post341 == 0 /\ len_161^0-len_161^post341 == 0 /\ a_633^0-a_633^post341 == 0 /\ -tmp_34^post341+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post341 == 0 /\ rcd_88^0-rcd_88^post341 == 0 /\ -rcd_47^post341+rcd_47^0 == 0 /\ -x_253^post341+x_253^0 == 0 /\ f_847^0-f_847^post341 == 0 /\ len_238^0-len_238^post341 == 0 /\ head_15^0-head_15^post341 == 0 /\ -i_140^post341+i_140^0 == 0 /\ -r_143^post341+r_143^0 == 0 /\ -result_11^post341+result_11^0 == 0 /\ a_121^0-a_121^post341 == 0 /\ -y_20^post341+y_20^0 == 0 /\ t_458^0-t_458^post341 == 0 /\ a_311^0-a_311^post341 == 0 /\ -a_576^post341+a_576^0 == 0 /\ i_106^0-i_106^post341 == 0 /\ -temp_35^post341+temp_35^0 == 0 /\ i_127^0-i_127^post341 == 0 /\ a_902^0-a_902^post341 == 0 /\ -r_224^post341+r_224^0 == 0 /\ a_430^0-a_430^post341 == 0 /\ i_94^0-i_94^post341 == 0 /\ -x_SLAM_f_19^post341+x_SLAM_f_19^0 == 0 /\ a_577^0-a_577^post341 == 0 /\ r_39^0-r_39^post341 == 0 /\ -f_969^post341+f_969^0 == 0 /\ -i_229^post341+i_229^0 == 0 /\ -a_431^post341+a_431^0 == 0 /\ x_156^0-x_156^post341 == 0 /\ a_1089^0-a_1089^post341 == 0 /\ x_14^0-x_14^post341 == 0 /\ a_1162^0-a_1162^post341 == 0 /\ -r_970^post341+r_970^0 == 0 /\ -a_395^post341+a_395^0 == 0 /\ x_21^0-x_21^post341 == 0 /\ -a_1236^post341+a_1236^0 == 0), cost: 1 342: l210 -> l211 : a_1089^0'=a_1089^post342, f_847^0'=f_847^post342, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post342, a_394^0'=a_394^post342, x_156^0'=x_156^post342, a_632^0'=a_632^post342, r_192^0'=r_192^post342, a_176^0'=a_176^post342, i_106^0'=i_106^post342, a_430^0'=a_430^post342, t_458^0'=t_458^post342, len_161^0'=len_161^post342, x_975^0'=x_975^post342, a_902^0'=a_902^post342, a_947^0'=a_947^post342, rcd_88^0'=rcd_88^post342, a_311^0'=a_311^post342, i_140^0'=i_140^post342, a_577^0'=a_577^post342, x_14^0'=x_14^post342, nondet_12^0'=nondet_12^post342, a_121^0'=a_121^post342, head_15^0'=head_15^post342, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post342, i_27^0'=i_27^post342, x_21^0'=x_21^post342, a_634^0'=a_634^post342, r_39^0'=r_39^post342, a_263^0'=a_263^post342, i_113^0'=i_113^post342, a_432^0'=a_432^post342, temp0_31^0'=temp0_31^post342, len_262^0'=len_262^post342, y_20^0'=y_20^post342, f_248^0'=f_248^post342, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post342, a_393^0'=a_393^post342, i_229^0'=i_229^post342, a_610^0'=a_610^post342, r_151^0'=r_151^post342, a_144^0'=a_144^post342, i_1053^0'=i_1053^post342, a_417^0'=a_417^post342, t_24^0'=t_24^post342, i_94^0'=i_94^post342, x_852^0'=x_852^post342, a_862^0'=a_862^post342, rcd_1249^0'=rcd_1249^post342, rcd_58^0'=rcd_58^post342, a_310^0'=a_310^post342, i_127^0'=i_127^post342, a_576^0'=a_576^post342, tmp_34^0'=tmp_34^post342, length_29^0'=length_29^post342, a_1162^0'=a_1162^post342, f_969^0'=f_969^post342, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post342, a_395^0'=a_395^post342, x_17^0'=x_17^post342, a_633^0'=a_633^post342, r_224^0'=r_224^post342, a_239^0'=a_239^post342, i_107^0'=i_107^post342, a_431^0'=a_431^post342, temp0_16^0'=temp0_16^post342, len_238^0'=len_238^post342, x_SLAM_f_19^0'=x_SLAM_f_19^post342, a_924^0'=a_924^post342, ct_18^0'=ct_18^post342, result_11^0'=result_11^post342, a_392^0'=a_392^post342, i_197^0'=i_197^post342, a_579^0'=a_579^post342, r_143^0'=r_143^post342, a_1236^0'=a_1236^post342, head_32^0'=head_32^post342, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post342, i_30^0'=i_30^post342, x_253^0'=x_253^post342, a_635^0'=a_635^post342, r_970^0'=r_970^post342, rcd_47^0'=rcd_47^post342, a_309^0'=a_309^post342, i_1248^0'=i_1248^post342, a_575^0'=a_575^post342, temp_35^0'=temp_35^post342, len_861^0'=len_861^post342, (-a_121^post342+a_121^0 == 0 /\ a_902^0-a_902^post342 == 0 /\ rcd_88^0-rcd_88^post342 == 0 /\ a_311^0-a_311^post342 == 0 /\ -tmp_34^post342+tmp_34^0 == 0 /\ rcd_1249^0-rcd_1249^post342 == 0 /\ a_610^0-a_610^post342 == 0 /\ i_127^0-i_127^post342 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post342+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_431^post342+a_431^0 == 0 /\ i_106^0-i_106^post342 == 0 /\ -result_11^post342+result_11^0 == 0 /\ -x_21^post342+x_21^0 == 0 /\ -t_24^post342+t_24^0 == 0 /\ len_161^0-len_161^post342 == 0 /\ -r_970^post342+r_970^0 == 0 /\ x_852^0-x_852^post342 == 0 /\ t_458^0-t_458^post342 == 0 /\ a_1089^0-a_1089^post342 == 0 /\ -rcd_47^post342+rcd_47^0 == 0 /\ a_632^0-a_632^post342 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post342+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post342+r_143^0 == 0 /\ a_1236^0-a_1236^post342 == 0 /\ -x_253^post342+x_253^0 == 0 /\ f_847^0-f_847^post342 == 0 /\ -y_20^post342+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post342 == 0 /\ temp0_31^0-temp0_31^post342 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post342+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post342+temp_35^0 == 0 /\ -i_229^post342+i_229^0 == 0 /\ a_176^0-a_176^post342 == 0 /\ -x_SLAM_f_19^post342+x_SLAM_f_19^0 == 0 /\ -i_113^post342+i_113^0 == 0 /\ a_924^0-a_924^post342 == 0 /\ len_262^0-len_262^post342 == 0 /\ a_394^0-a_394^post342 == 0 /\ -a_395^post342+a_395^0 == 0 /\ a_430^0-a_430^post342 == 0 /\ -len_861^post342+len_861^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post342 == 0 /\ -a_432^post342+a_432^0 == 0 /\ -a_862^post342+a_862^0 == 0 /\ -a_310^post342+a_310^0 == 0 /\ -x_17^post342+x_17^0 == 0 /\ -i_94^post342+i_94^0 == 0 /\ -r_224^post342+r_224^0 == 0 /\ a_633^0-a_633^post342 == 0 /\ i_27^0-i_27^post342 == 0 /\ temp0_16^0-temp0_16^post342 == 0 /\ x_14^0-x_14^post342 == 0 /\ a_635^0-a_635^post342 == 0 /\ a_393^0-a_393^post342 == 0 /\ -a_577^post342+a_577^0 == 0 /\ -length_29^post342+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post342 == 0 /\ -i_1248^post342+i_1248^0 == 0 /\ -a_392^post342+a_392^0 == 0 /\ f_969^0-f_969^post342 == 0 /\ -x_156^post342+x_156^0 == 0 /\ -i_1053^post342+i_1053^0 == 0 /\ a_576^0-a_576^post342 == 0 /\ -a_575^post342+a_575^0 == 0 /\ -i_197^post342+i_197^0 == 0 /\ -a_579^post342+a_579^0 == 0 /\ -ct_18^post342+ct_18^0 == 0 /\ -a_263^post342+a_263^0 == 0 /\ a_1162^0-a_1162^post342 == 0 /\ i_140^0-i_140^post342 == 0 /\ nondet_12^0-nondet_12^post342 == 0 /\ -i_30^post342+i_30^0 == 0 /\ a_144^0-a_144^post342 == 0 /\ -head_32^post342+head_32^0 == 0 /\ -rcd_58^post342+rcd_58^0 == 0 /\ len_238^0-len_238^post342 == 0 /\ a_634^0-a_634^post342 == 0 /\ head_15^0-head_15^post342 == 0 /\ -r_39^post342+r_39^0 == 0 /\ a_417^0-a_417^post342 == 0 /\ r_151^0-r_151^post342 == 0 /\ f_248^0-f_248^post342 == 0 /\ a_239^0-a_239^post342 == 0 /\ -a_309^post342+a_309^0 == 0 /\ -i_107^post342+i_107^0 == 0 /\ a_947^0-a_947^post342 == 0 /\ x_975^0-x_975^post342 == 0), cost: 1 343: l210 -> l211 : a_1089^0'=a_1089^post343, f_847^0'=f_847^post343, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post343, a_394^0'=a_394^post343, x_156^0'=x_156^post343, a_632^0'=a_632^post343, r_192^0'=r_192^post343, a_176^0'=a_176^post343, i_106^0'=i_106^post343, a_430^0'=a_430^post343, t_458^0'=t_458^post343, len_161^0'=len_161^post343, x_975^0'=x_975^post343, a_902^0'=a_902^post343, a_947^0'=a_947^post343, rcd_88^0'=rcd_88^post343, a_311^0'=a_311^post343, i_140^0'=i_140^post343, a_577^0'=a_577^post343, x_14^0'=x_14^post343, nondet_12^0'=nondet_12^post343, a_121^0'=a_121^post343, head_15^0'=head_15^post343, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post343, i_27^0'=i_27^post343, x_21^0'=x_21^post343, a_634^0'=a_634^post343, r_39^0'=r_39^post343, a_263^0'=a_263^post343, i_113^0'=i_113^post343, a_432^0'=a_432^post343, temp0_31^0'=temp0_31^post343, len_262^0'=len_262^post343, y_20^0'=y_20^post343, f_248^0'=f_248^post343, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post343, a_393^0'=a_393^post343, i_229^0'=i_229^post343, a_610^0'=a_610^post343, r_151^0'=r_151^post343, a_144^0'=a_144^post343, i_1053^0'=i_1053^post343, a_417^0'=a_417^post343, t_24^0'=t_24^post343, i_94^0'=i_94^post343, x_852^0'=x_852^post343, a_862^0'=a_862^post343, rcd_1249^0'=rcd_1249^post343, rcd_58^0'=rcd_58^post343, a_310^0'=a_310^post343, i_127^0'=i_127^post343, a_576^0'=a_576^post343, tmp_34^0'=tmp_34^post343, length_29^0'=length_29^post343, a_1162^0'=a_1162^post343, f_969^0'=f_969^post343, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post343, a_395^0'=a_395^post343, x_17^0'=x_17^post343, a_633^0'=a_633^post343, r_224^0'=r_224^post343, a_239^0'=a_239^post343, i_107^0'=i_107^post343, a_431^0'=a_431^post343, temp0_16^0'=temp0_16^post343, len_238^0'=len_238^post343, x_SLAM_f_19^0'=x_SLAM_f_19^post343, a_924^0'=a_924^post343, ct_18^0'=ct_18^post343, result_11^0'=result_11^post343, a_392^0'=a_392^post343, i_197^0'=i_197^post343, a_579^0'=a_579^post343, r_143^0'=r_143^post343, a_1236^0'=a_1236^post343, head_32^0'=head_32^post343, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post343, i_30^0'=i_30^post343, x_253^0'=x_253^post343, a_635^0'=a_635^post343, r_970^0'=r_970^post343, rcd_47^0'=rcd_47^post343, a_309^0'=a_309^post343, i_1248^0'=i_1248^post343, a_575^0'=a_575^post343, temp_35^0'=temp_35^post343, len_861^0'=len_861^post343, (-a_392^post343+a_392^0 == 0 /\ nondet_12^0-nondet_12^post343 == 0 /\ -length_29^post343+length_29^0 == 0 /\ x_21^0-x_21^post343 == 0 /\ -a_309^post343+a_309^0 == 0 /\ x_852^0-x_852^post343 == 0 /\ -a_310^post343+a_310^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post343+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post343+a_862^0 == 0 /\ -i_107^post343+i_107^0 == 0 /\ -a_1236^post343+a_1236^0 == 0 /\ a_576^0-a_576^post343 == 0 /\ -a_575^post343+a_575^0 == 0 /\ -r_39^post343+r_39^0 == 0 /\ a_144^0-a_144^post343 == 0 /\ x_17^0-x_17^post343 == 0 /\ a_394^0-a_394^post343 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post343 == 0 /\ -len_861^post343+len_861^0 == 0 /\ -a_635^post343+a_635^0 == 0 /\ -head_32^post343+head_32^0 == 0 /\ x_975^0-x_975^post343 == 0 /\ -a_393^post343+a_393^0 == 0 /\ -i_30^post343+i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post343 == 0 /\ a_610^0-a_610^post343 == 0 /\ -r_151^post343+r_151^0 == 0 /\ r_143^0-r_143^post343 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ t_458^0-t_458^post343 == 0 /\ rcd_1249^0-rcd_1249^post343 == 0 /\ i_106^0-i_106^post343 == 0 /\ -a_579^post343+a_579^0 == 0 /\ -t_24^post343+t_24^0 == 0 /\ ct_18^0-ct_18^post343 == 0 /\ len_161^0-len_161^post343 == 0 /\ -a_263^post343+a_263^0 == 0 /\ -a_633^post343+a_633^0 == 0 /\ -a_417^post343+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post343 == 0 /\ i_27^0-i_27^post343 == 0 /\ -i_197^post343+i_197^0 == 0 /\ -f_969^post343+f_969^0 == 0 /\ len_262^0-len_262^post343 == 0 /\ x_156^0-x_156^post343 == 0 /\ f_847^0-f_847^post343 == 0 /\ temp0_31^0-temp0_31^post343 == 0 /\ -tmp_34^post343+tmp_34^0 == 0 /\ -i_140^post343+i_140^0 == 0 /\ a_634^0-a_634^post343 == 0 /\ -a_924^post343+a_924^0 == 0 /\ x_253^0-x_253^post343 == 0 /\ f_248^0-f_248^post343 == 0 /\ a_947^0-a_947^post343 == 0 /\ len_238^0-len_238^post343 == 0 /\ rcd_58^0-rcd_58^post343 == 0 /\ -result_11^post343+result_11^0 == 0 /\ -rcd_47^post343+rcd_47^0 == 0 /\ a_239^0-a_239^post343 == 0 /\ -a_1162^post343+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post343 == 0 /\ -r_970^post343+r_970^0 == 0 /\ a_121^0-a_121^post343 == 0 /\ a_176^0-a_176^post343 == 0 /\ -i_1248^post343+i_1248^0 == 0 /\ a_577^0-a_577^post343 == 0 /\ a_311^0-a_311^post343 == 0 /\ a_902^0-a_902^post343 == 0 /\ r_192^0-r_192^post343 == 0 /\ -y_20^post343+y_20^0 == 0 /\ -x_SLAM_f_19^post343+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post343 == 0 /\ rcd_88^0-rcd_88^post343 == 0 /\ head_15^0-head_15^post343 == 0 /\ -i_94^post343+i_94^0 == 0 /\ -temp0_16^post343+temp0_16^0 == 0 /\ -r_224^post343+r_224^0 == 0 /\ -a_395^post343+a_395^0 == 0 /\ i_1053^0-i_1053^post343 == 0 /\ -temp_35^post343+temp_35^0 == 0 /\ a_1089^0-a_1089^post343 == 0 /\ -i_113^post343+i_113^0 == 0 /\ -a_432^post343+a_432^0 == 0 /\ -a_431^post343+a_431^0 == 0 /\ x_14^0-x_14^post343 == 0 /\ a_632^0-a_632^post343 == 0 /\ a_430^0-a_430^post343 == 0 /\ -i_229^post343+i_229^0 == 0), cost: 1 344: l211 -> l212 : a_1089^0'=a_1089^post344, f_847^0'=f_847^post344, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post344, a_394^0'=a_394^post344, x_156^0'=x_156^post344, a_632^0'=a_632^post344, r_192^0'=r_192^post344, a_176^0'=a_176^post344, i_106^0'=i_106^post344, a_430^0'=a_430^post344, t_458^0'=t_458^post344, len_161^0'=len_161^post344, x_975^0'=x_975^post344, a_902^0'=a_902^post344, a_947^0'=a_947^post344, rcd_88^0'=rcd_88^post344, a_311^0'=a_311^post344, i_140^0'=i_140^post344, a_577^0'=a_577^post344, x_14^0'=x_14^post344, nondet_12^0'=nondet_12^post344, a_121^0'=a_121^post344, head_15^0'=head_15^post344, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post344, i_27^0'=i_27^post344, x_21^0'=x_21^post344, a_634^0'=a_634^post344, r_39^0'=r_39^post344, a_263^0'=a_263^post344, i_113^0'=i_113^post344, a_432^0'=a_432^post344, temp0_31^0'=temp0_31^post344, len_262^0'=len_262^post344, y_20^0'=y_20^post344, f_248^0'=f_248^post344, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post344, a_393^0'=a_393^post344, i_229^0'=i_229^post344, a_610^0'=a_610^post344, r_151^0'=r_151^post344, a_144^0'=a_144^post344, i_1053^0'=i_1053^post344, a_417^0'=a_417^post344, t_24^0'=t_24^post344, i_94^0'=i_94^post344, x_852^0'=x_852^post344, a_862^0'=a_862^post344, rcd_1249^0'=rcd_1249^post344, rcd_58^0'=rcd_58^post344, a_310^0'=a_310^post344, i_127^0'=i_127^post344, a_576^0'=a_576^post344, tmp_34^0'=tmp_34^post344, length_29^0'=length_29^post344, a_1162^0'=a_1162^post344, f_969^0'=f_969^post344, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post344, a_395^0'=a_395^post344, x_17^0'=x_17^post344, a_633^0'=a_633^post344, r_224^0'=r_224^post344, a_239^0'=a_239^post344, i_107^0'=i_107^post344, a_431^0'=a_431^post344, temp0_16^0'=temp0_16^post344, len_238^0'=len_238^post344, x_SLAM_f_19^0'=x_SLAM_f_19^post344, a_924^0'=a_924^post344, ct_18^0'=ct_18^post344, result_11^0'=result_11^post344, a_392^0'=a_392^post344, i_197^0'=i_197^post344, a_579^0'=a_579^post344, r_143^0'=r_143^post344, a_1236^0'=a_1236^post344, head_32^0'=head_32^post344, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post344, i_30^0'=i_30^post344, x_253^0'=x_253^post344, a_635^0'=a_635^post344, r_970^0'=r_970^post344, rcd_47^0'=rcd_47^post344, a_309^0'=a_309^post344, i_1248^0'=i_1248^post344, a_575^0'=a_575^post344, temp_35^0'=temp_35^post344, len_861^0'=len_861^post344, (x_975^0-x_975^post344 == 0 /\ -x_253^post344+x_253^0 == 0 /\ -a_1162^post344+a_1162^0 == 0 /\ -a_924^post344+a_924^0 == 0 /\ f_969^0-f_969^post344 == 0 /\ -a_431^post344+a_431^0 == 0 /\ length_29^0-length_29^post344 == 0 /\ i_106^0-i_106^post344 == 0 /\ t_24^0-t_24^post344 == 0 /\ -result_11^post344+result_11^0 == 0 /\ -x_21^post344+x_21^0 == 0 /\ len_161^0-len_161^post344 == 0 /\ -a_610^post344+a_610^0 == 0 /\ a_632^0-a_632^post344 == 0 /\ a_393^0-a_393^post344 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_430^0-a_430^post344 == 0 /\ a_263^0-a_263^post344 == 0 /\ -i_229^post344+i_229^0 == 0 /\ a_1236^0-a_1236^post344 == 0 /\ x_852^0-x_852^post344 == 0 /\ a_432^0-a_432^post344 == 0 /\ -r_970^post344+r_970^0 == 0 /\ -r_224^post344+r_224^0 == 0 /\ x_156^0-x_156^post344 == 0 /\ -f_248^post344+f_248^0 == 0 /\ f_847^0-f_847^post344 == 0 /\ -r_143^post344+r_143^0 == 0 /\ a_579^0-a_579^post344 == 0 /\ head_32^0-head_32^post344 == 0 /\ a_394^0-a_394^post344 == 0 /\ a_862^0-a_862^post344 == 0 /\ rcd_58^0-rcd_58^post344 == 0 /\ r_151^0-r_151^post344 == 0 /\ -i_113^post344+i_113^0 == 0 /\ -temp_35^post344+temp_35^0 == 0 /\ -rcd_1249^post344+rcd_1249^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post344 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post344+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_176^0-a_176^post344 == 0 /\ head_15^0-head_15^post344 == 0 /\ a_902^0-a_902^post344 == 0 /\ -a_576^post344+a_576^0 == 0 /\ r_192^0-r_192^post344 == 0 /\ rcd_88^0-rcd_88^post344 == 0 /\ -a_144^post344+a_144^0 == 0 /\ -a_947^post344+a_947^0 == 0 /\ -r_39^post344+r_39^0 == 0 /\ a_239^0-a_239^post344 == 0 /\ -i_30^post344+i_30^0 == 0 /\ i_1053^0-i_1053^post344 == 0 /\ -x_17^post344+x_17^0 == 0 /\ -a_392^post344+a_392^0 == 0 /\ a_395^0-a_395^post344 == 0 /\ -temp0_16^post344+temp0_16^0 == 0 /\ i_140^0-i_140^post344 == 0 /\ -x_SLAM_f_19^post344+x_SLAM_f_19^0 == 0 /\ a_635^0-a_635^post344 == 0 /\ -i_94^post344+i_94^0 == 0 /\ -a_577^post344+a_577^0 == 0 /\ a_1089^0-a_1089^post344 == 0 /\ a_311^0-a_311^post344 == 0 /\ -i_1248^post344+i_1248^0 == 0 /\ -len_861^post344+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post344 == 0 /\ t_458^0-t_458^post344 == 0 /\ i_27^0-i_27^post344 == 0 /\ -ct_18^post344+ct_18^0 == 0 /\ -len_238^post344+len_238^0 == 0 /\ -len_262^post344+len_262^0 == 0 /\ -rcd_47^post344+rcd_47^0 == 0 /\ y_20^0-y_20^post344 == 0 /\ -a_310^post344+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post344 == 0 /\ -i_197^post344+i_197^0 == 0 /\ -a_633^post344+a_633^0 == 0 /\ nondet_12^0-nondet_12^post344 == 0 /\ a_634^0-a_634^post344 == 0 /\ -temp0_31^post344+temp0_31^0 == 0 /\ -i_107^post344+i_107^0 == 0 /\ a_121^0-a_121^post344 == 0 /\ tmp_34^0-tmp_34^post344 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post344+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post344+a_575^0 == 0 /\ a_417^0-a_417^post344 == 0 /\ -i_127^post344+i_127^0 == 0 /\ -x_14^post344+x_14^0 == 0 /\ -a_309^post344+a_309^0 == 0), cost: 1 345: l211 -> l212 : a_1089^0'=a_1089^post345, f_847^0'=f_847^post345, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post345, a_394^0'=a_394^post345, x_156^0'=x_156^post345, a_632^0'=a_632^post345, r_192^0'=r_192^post345, a_176^0'=a_176^post345, i_106^0'=i_106^post345, a_430^0'=a_430^post345, t_458^0'=t_458^post345, len_161^0'=len_161^post345, x_975^0'=x_975^post345, a_902^0'=a_902^post345, a_947^0'=a_947^post345, rcd_88^0'=rcd_88^post345, a_311^0'=a_311^post345, i_140^0'=i_140^post345, a_577^0'=a_577^post345, x_14^0'=x_14^post345, nondet_12^0'=nondet_12^post345, a_121^0'=a_121^post345, head_15^0'=head_15^post345, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post345, i_27^0'=i_27^post345, x_21^0'=x_21^post345, a_634^0'=a_634^post345, r_39^0'=r_39^post345, a_263^0'=a_263^post345, i_113^0'=i_113^post345, a_432^0'=a_432^post345, temp0_31^0'=temp0_31^post345, len_262^0'=len_262^post345, y_20^0'=y_20^post345, f_248^0'=f_248^post345, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post345, a_393^0'=a_393^post345, i_229^0'=i_229^post345, a_610^0'=a_610^post345, r_151^0'=r_151^post345, a_144^0'=a_144^post345, i_1053^0'=i_1053^post345, a_417^0'=a_417^post345, t_24^0'=t_24^post345, i_94^0'=i_94^post345, x_852^0'=x_852^post345, a_862^0'=a_862^post345, rcd_1249^0'=rcd_1249^post345, rcd_58^0'=rcd_58^post345, a_310^0'=a_310^post345, i_127^0'=i_127^post345, a_576^0'=a_576^post345, tmp_34^0'=tmp_34^post345, length_29^0'=length_29^post345, a_1162^0'=a_1162^post345, f_969^0'=f_969^post345, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post345, a_395^0'=a_395^post345, x_17^0'=x_17^post345, a_633^0'=a_633^post345, r_224^0'=r_224^post345, a_239^0'=a_239^post345, i_107^0'=i_107^post345, a_431^0'=a_431^post345, temp0_16^0'=temp0_16^post345, len_238^0'=len_238^post345, x_SLAM_f_19^0'=x_SLAM_f_19^post345, a_924^0'=a_924^post345, ct_18^0'=ct_18^post345, result_11^0'=result_11^post345, a_392^0'=a_392^post345, i_197^0'=i_197^post345, a_579^0'=a_579^post345, r_143^0'=r_143^post345, a_1236^0'=a_1236^post345, head_32^0'=head_32^post345, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post345, i_30^0'=i_30^post345, x_253^0'=x_253^post345, a_635^0'=a_635^post345, r_970^0'=r_970^post345, rcd_47^0'=rcd_47^post345, a_309^0'=a_309^post345, i_1248^0'=i_1248^post345, a_575^0'=a_575^post345, temp_35^0'=temp_35^post345, len_861^0'=len_861^post345, (y_20^0-y_20^post345 == 0 /\ a_263^0-a_263^post345 == 0 /\ f_847^0-f_847^post345 == 0 /\ -x_17^post345+x_17^0 == 0 /\ -a_576^post345+a_576^0 == 0 /\ -a_309^post345+a_309^0 == 0 /\ a_862^0-a_862^post345 == 0 /\ x_21^0-x_21^post345 == 0 /\ -a_635^post345+a_635^0 == 0 /\ a_432^0-a_432^post345 == 0 /\ -a_392^post345+a_392^0 == 0 /\ -i_107^post345+i_107^0 == 0 /\ a_417^0-a_417^post345 == 0 /\ head_15^0-head_15^post345 == 0 /\ tmp_34^0-tmp_34^post345 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post345 == 0 /\ r_151^0-r_151^post345 == 0 /\ -temp0_16^post345+temp0_16^0 == 0 /\ a_144^0-a_144^post345 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post345 == 0 /\ -len_861^post345+len_861^0 == 0 /\ -i_30^post345+i_30^0 == 0 /\ i_94^0-i_94^post345 == 0 /\ -a_1236^post345+a_1236^0 == 0 /\ i_113^0-i_113^post345 == 0 /\ -a_310^post345+a_310^0 == 0 /\ -len_262^post345+len_262^0 == 0 /\ -temp0_31^post345+temp0_31^0 == 0 /\ -len_238^post345+len_238^0 == 0 /\ -rcd_47^post345+rcd_47^0 == 0 /\ -a_575^post345+a_575^0 == 0 /\ t_458^0-t_458^post345 == 0 /\ -i_197^post345+i_197^0 == 0 /\ -a_633^post345+a_633^0 == 0 /\ -x_14^post345+x_14^0 == 0 /\ i_27^0-i_27^post345 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post345 == 0 /\ i_106^0-i_106^post345 == 0 /\ -i_127^post345+i_127^0 == 0 /\ a_430^0-a_430^post345 == 0 /\ -a_579^post345+a_579^0 == 0 /\ a_1089^0-a_1089^post345 == 0 /\ -head_32^post345+head_32^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ r_39^0-r_39^post345 == 0 /\ a_393^0-a_393^post345 == 0 /\ -a_121^post345+a_121^0 == 0 /\ x_156^0-x_156^post345 == 0 /\ i_229^0-i_229^post345 == 0 /\ -temp_35^post345+temp_35^0 == 0 /\ i_140^0-i_140^post345 == 0 /\ -nondet_12^post345+nondet_12^0 == 0 /\ -r_970^post345+r_970^0 == 0 /\ -a_924^post345+a_924^0 == 0 /\ x_253^0-x_253^post345 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post345 == 0 /\ -f_969^post345+f_969^0 == 0 /\ -a_431^post345+a_431^0 == 0 /\ f_248^0-f_248^post345 == 0 /\ -t_24^post345+t_24^0 == 0 /\ -ct_18^post345+ct_18^0 == 0 /\ -a_1162^post345+a_1162^0 == 0 /\ rcd_58^0-rcd_58^post345 == 0 /\ x_975^0-x_975^post345 == 0 /\ a_577^0-a_577^post345 == 0 /\ a_902^0-a_902^post345 == 0 /\ -a_394^post345+a_394^0 == 0 /\ a_176^0-a_176^post345 == 0 /\ -r_224^post345+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post345+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -x_SLAM_f_19^post345+x_SLAM_f_19^0 == 0 /\ -i_1248^post345+i_1248^0 == 0 /\ i_1053^0-i_1053^post345 == 0 /\ rcd_1249^0-rcd_1249^post345 == 0 /\ r_192^0-r_192^post345 == 0 /\ -a_634^post345+a_634^0 == 0 /\ -a_239^post345+a_239^0 == 0 /\ a_610^0-a_610^post345 == 0 /\ -a_395^post345+a_395^0 == 0 /\ x_852^0-x_852^post345 == 0 /\ length_29^0-length_29^post345 == 0 /\ a_632^0-a_632^post345 == 0 /\ a_311^0-a_311^post345 == 0 /\ -a_947^post345+a_947^0 == 0 /\ len_161^0-len_161^post345 == 0 /\ rcd_88^0-rcd_88^post345 == 0 /\ -result_11^post345+result_11^0 == 0 /\ -r_143^post345+r_143^0 == 0), cost: 1 346: l212 -> l213 : a_1089^0'=a_1089^post346, f_847^0'=f_847^post346, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post346, a_394^0'=a_394^post346, x_156^0'=x_156^post346, a_632^0'=a_632^post346, r_192^0'=r_192^post346, a_176^0'=a_176^post346, i_106^0'=i_106^post346, a_430^0'=a_430^post346, t_458^0'=t_458^post346, len_161^0'=len_161^post346, x_975^0'=x_975^post346, a_902^0'=a_902^post346, a_947^0'=a_947^post346, rcd_88^0'=rcd_88^post346, a_311^0'=a_311^post346, i_140^0'=i_140^post346, a_577^0'=a_577^post346, x_14^0'=x_14^post346, nondet_12^0'=nondet_12^post346, a_121^0'=a_121^post346, head_15^0'=head_15^post346, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post346, i_27^0'=i_27^post346, x_21^0'=x_21^post346, a_634^0'=a_634^post346, r_39^0'=r_39^post346, a_263^0'=a_263^post346, i_113^0'=i_113^post346, a_432^0'=a_432^post346, temp0_31^0'=temp0_31^post346, len_262^0'=len_262^post346, y_20^0'=y_20^post346, f_248^0'=f_248^post346, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post346, a_393^0'=a_393^post346, i_229^0'=i_229^post346, a_610^0'=a_610^post346, r_151^0'=r_151^post346, a_144^0'=a_144^post346, i_1053^0'=i_1053^post346, a_417^0'=a_417^post346, t_24^0'=t_24^post346, i_94^0'=i_94^post346, x_852^0'=x_852^post346, a_862^0'=a_862^post346, rcd_1249^0'=rcd_1249^post346, rcd_58^0'=rcd_58^post346, a_310^0'=a_310^post346, i_127^0'=i_127^post346, a_576^0'=a_576^post346, tmp_34^0'=tmp_34^post346, length_29^0'=length_29^post346, a_1162^0'=a_1162^post346, f_969^0'=f_969^post346, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post346, a_395^0'=a_395^post346, x_17^0'=x_17^post346, a_633^0'=a_633^post346, r_224^0'=r_224^post346, a_239^0'=a_239^post346, i_107^0'=i_107^post346, a_431^0'=a_431^post346, temp0_16^0'=temp0_16^post346, len_238^0'=len_238^post346, x_SLAM_f_19^0'=x_SLAM_f_19^post346, a_924^0'=a_924^post346, ct_18^0'=ct_18^post346, result_11^0'=result_11^post346, a_392^0'=a_392^post346, i_197^0'=i_197^post346, a_579^0'=a_579^post346, r_143^0'=r_143^post346, a_1236^0'=a_1236^post346, head_32^0'=head_32^post346, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post346, i_30^0'=i_30^post346, x_253^0'=x_253^post346, a_635^0'=a_635^post346, r_970^0'=r_970^post346, rcd_47^0'=rcd_47^post346, a_309^0'=a_309^post346, i_1248^0'=i_1248^post346, a_575^0'=a_575^post346, temp_35^0'=temp_35^post346, len_861^0'=len_861^post346, (-i_197^post346+i_197^0 == 0 /\ -a_579^post346+a_579^0 == 0 /\ a_310^0-a_310^post346 == 0 /\ a_176^0-a_176^post346 == 0 /\ i_1053^0-i_1053^post346 == 0 /\ length_29^0-length_29^post346 == 0 /\ r_192^0-r_192^post346 == 0 /\ -i_127^post346+i_127^0 == 0 /\ -x_253^post346+x_253^0 == 0 /\ -a_431^post346+a_431^0 == 0 /\ -x_21^post346+x_21^0 == 0 /\ -temp_35^post346+temp_35^0 == 0 /\ -r_970^post346+r_970^0 == 0 /\ i_27^0-i_27^post346 == 0 /\ -f_248^post346+f_248^0 == 0 /\ t_24^0-t_24^post346 == 0 /\ a_430^0-a_430^post346 == 0 /\ -rcd_58^post346+rcd_58^0 == 0 /\ a_395^0-a_395^post346 == 0 /\ r_39^0-r_39^post346 == 0 /\ len_161^0-len_161^post346 == 0 /\ a_393^0-a_393^post346 == 0 /\ -a_610^post346+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post346 == 0 /\ a_432^0-a_432^post346 == 0 /\ -len_861^post346+len_861^0 == 0 /\ -i_1248^post346+i_1248^0 == 0 /\ -a_239^post346+a_239^0 == 0 /\ -tmp_34^post346+tmp_34^0 == 0 /\ -i_229^post346+i_229^0 == 0 /\ i_140^0-i_140^post346 == 0 /\ result_11^0-result_11^post346 == 0 /\ head_15^0-head_15^post346 == 0 /\ -nondet_12^post346+nondet_12^0 == 0 /\ a_634^0-a_634^post346 == 0 /\ a_862^0-a_862^post346 == 0 /\ r_151^0-r_151^post346 == 0 /\ i_113^0-i_113^post346 == 0 /\ -temp0_16^post346+temp0_16^0 == 0 /\ a_1162^0-a_1162^post346 == 0 /\ a_902^0-a_902^post346 == 0 /\ -a_576^post346+a_576^0 == 0 /\ -rcd_1249^post346+rcd_1249^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post346+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post346 == 0 /\ head_32^0-head_32^post346 == 0 /\ a_417^0-a_417^post346 == 0 /\ -a_924^post346+a_924^0 == 0 /\ -a_309^post346+a_309^0 == 0 /\ i_30^0-i_30^post346 == 0 /\ a_577^0-a_577^post346 == 0 /\ -r_143^post346+r_143^0 == 0 /\ -a_1236^post346+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post346 == 0 /\ a_311^0-a_311^post346 == 0 /\ -a_635^post346+a_635^0 == 0 /\ -a_947^post346+a_947^0 == 0 /\ -x_17^post346+x_17^0 == 0 /\ i_106^0-i_106^post346 == 0 /\ a_632^0-a_632^post346 == 0 /\ -temp0_31^post346+temp0_31^0 == 0 /\ -x_SLAM_f_19^post346+x_SLAM_f_19^0 == 0 /\ x_852^0-x_852^post346 == 0 /\ a_263^0-a_263^post346 == 0 /\ -a_144^post346+a_144^0 == 0 /\ i_107^0-i_107^post346 == 0 /\ -i_94^post346+i_94^0 == 0 /\ a_1089^0-a_1089^post346 == 0 /\ t_458^0-t_458^post346 == 0 /\ -a_575^post346+a_575^0 == 0 /\ -a_633^post346+a_633^0 == 0 /\ -rcd_47^post346+rcd_47^0 == 0 /\ y_20^0-y_20^post346 == 0 /\ f_847^0-f_847^post346 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post346 == 0 /\ -ct_18^post346+ct_18^0 == 0 /\ -len_238^post346+len_238^0 == 0 /\ -len_262^post346+len_262^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post346+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post346+a_392^0 == 0 /\ x_975^0-x_975^post346 == 0 /\ -f_969^post346+f_969^0 == 0 /\ -x_14^post346+x_14^0 == 0 /\ a_121^0-a_121^post346 == 0 /\ r_224^0-r_224^post346 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post346+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_394^0-a_394^post346 == 0), cost: 1 347: l212 -> l213 : a_1089^0'=a_1089^post347, f_847^0'=f_847^post347, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post347, a_394^0'=a_394^post347, x_156^0'=x_156^post347, a_632^0'=a_632^post347, r_192^0'=r_192^post347, a_176^0'=a_176^post347, i_106^0'=i_106^post347, a_430^0'=a_430^post347, t_458^0'=t_458^post347, len_161^0'=len_161^post347, x_975^0'=x_975^post347, a_902^0'=a_902^post347, a_947^0'=a_947^post347, rcd_88^0'=rcd_88^post347, a_311^0'=a_311^post347, i_140^0'=i_140^post347, a_577^0'=a_577^post347, x_14^0'=x_14^post347, nondet_12^0'=nondet_12^post347, a_121^0'=a_121^post347, head_15^0'=head_15^post347, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post347, i_27^0'=i_27^post347, x_21^0'=x_21^post347, a_634^0'=a_634^post347, r_39^0'=r_39^post347, a_263^0'=a_263^post347, i_113^0'=i_113^post347, a_432^0'=a_432^post347, temp0_31^0'=temp0_31^post347, len_262^0'=len_262^post347, y_20^0'=y_20^post347, f_248^0'=f_248^post347, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post347, a_393^0'=a_393^post347, i_229^0'=i_229^post347, a_610^0'=a_610^post347, r_151^0'=r_151^post347, a_144^0'=a_144^post347, i_1053^0'=i_1053^post347, a_417^0'=a_417^post347, t_24^0'=t_24^post347, i_94^0'=i_94^post347, x_852^0'=x_852^post347, a_862^0'=a_862^post347, rcd_1249^0'=rcd_1249^post347, rcd_58^0'=rcd_58^post347, a_310^0'=a_310^post347, i_127^0'=i_127^post347, a_576^0'=a_576^post347, tmp_34^0'=tmp_34^post347, length_29^0'=length_29^post347, a_1162^0'=a_1162^post347, f_969^0'=f_969^post347, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post347, a_395^0'=a_395^post347, x_17^0'=x_17^post347, a_633^0'=a_633^post347, r_224^0'=r_224^post347, a_239^0'=a_239^post347, i_107^0'=i_107^post347, a_431^0'=a_431^post347, temp0_16^0'=temp0_16^post347, len_238^0'=len_238^post347, x_SLAM_f_19^0'=x_SLAM_f_19^post347, a_924^0'=a_924^post347, ct_18^0'=ct_18^post347, result_11^0'=result_11^post347, a_392^0'=a_392^post347, i_197^0'=i_197^post347, a_579^0'=a_579^post347, r_143^0'=r_143^post347, a_1236^0'=a_1236^post347, head_32^0'=head_32^post347, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post347, i_30^0'=i_30^post347, x_253^0'=x_253^post347, a_635^0'=a_635^post347, r_970^0'=r_970^post347, rcd_47^0'=rcd_47^post347, a_309^0'=a_309^post347, i_1248^0'=i_1248^post347, a_575^0'=a_575^post347, temp_35^0'=temp_35^post347, len_861^0'=len_861^post347, (-a_144^post347+a_144^0 == 0 /\ -r_151^post347+r_151^0 == 0 /\ x_156^0-x_156^post347 == 0 /\ f_847^0-f_847^post347 == 0 /\ -a_575^post347+a_575^0 == 0 /\ y_20^0-y_20^post347 == 0 /\ -a_309^post347+a_309^0 == 0 /\ -a_635^post347+a_635^0 == 0 /\ -a_576^post347+a_576^0 == 0 /\ a_417^0-a_417^post347 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post347 == 0 /\ x_21^0-x_21^post347 == 0 /\ a_432^0-a_432^post347 == 0 /\ r_192^0-r_192^post347 == 0 /\ temp0_31^0-temp0_31^post347 == 0 /\ head_15^0-head_15^post347 == 0 /\ a_394^0-a_394^post347 == 0 /\ i_229^0-i_229^post347 == 0 /\ i_94^0-i_94^post347 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -length_29^post347+length_29^0 == 0 /\ i_27^0-i_27^post347 == 0 /\ -a_1236^post347+a_1236^0 == 0 /\ -a_862^post347+a_862^0 == 0 /\ -a_633^post347+a_633^0 == 0 /\ head_32^0-head_32^post347 == 0 /\ i_1053^0-i_1053^post347 == 0 /\ a_176^0-a_176^post347 == 0 /\ a_121^0-a_121^post347 == 0 /\ -ct_18^post347+ct_18^0 == 0 /\ -len_238^post347+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post347 == 0 /\ -a_610^post347+a_610^0 == 0 /\ a_430^0-a_430^post347 == 0 /\ a_263^0-a_263^post347 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post347 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post347+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_140^0-i_140^post347 == 0 /\ -i_197^post347+i_197^0 == 0 /\ -rcd_47^post347+rcd_47^0 == 0 /\ a_392^0-a_392^post347 == 0 /\ -x_253^post347+x_253^0 == 0 /\ -f_969^post347+f_969^0 == 0 /\ -result_11^post347+result_11^0 == 0 /\ t_458^0-t_458^post347 == 0 /\ -len_262^post347+len_262^0 == 0 /\ -temp_35^post347+temp_35^0 == 0 /\ -x_852^post347+x_852^0 == 0 /\ -i_127^post347+i_127^0 == 0 /\ -nondet_12^post347+nondet_12^0 == 0 /\ a_632^0-a_632^post347 == 0 /\ -a_579^post347+a_579^0 == 0 /\ f_248^0-f_248^post347 == 0 /\ -rcd_88^post347+rcd_88^0 == 0 /\ -a_1162^post347+a_1162^0 == 0 /\ i_113^0-i_113^post347 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post347+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post347 == 0 /\ -r_970^post347+r_970^0 == 0 /\ x_975^0-x_975^post347 == 0 /\ -rcd_58^post347+rcd_58^0 == 0 /\ -a_395^post347+a_395^0 == 0 /\ a_431^0-a_431^post347 == 0 /\ a_577^0-a_577^post347 == 0 /\ a_310^0-a_310^post347 == 0 /\ a_947^0-a_947^post347 == 0 /\ -temp0_16^post347+temp0_16^0 == 0 /\ -i_1248^post347+i_1248^0 == 0 /\ x_14^0-x_14^post347 == 0 /\ -len_861^post347+len_861^0 == 0 /\ -a_239^post347+a_239^0 == 0 /\ -tmp_34^post347+tmp_34^0 == 0 /\ a_1089^0-a_1089^post347 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post347+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_1249^post347+rcd_1249^0 == 0 /\ -i_30^post347+i_30^0 == 0 /\ -a_924^post347+a_924^0 == 0 /\ i_107^0-i_107^post347 == 0 /\ -a_634^post347+a_634^0 == 0 /\ -a_393^post347+a_393^0 == 0 /\ a_311^0-a_311^post347 == 0 /\ r_39^0-r_39^post347 == 0 /\ -r_224^post347+r_224^0 == 0 /\ t_24^0-t_24^post347 == 0 /\ -x_17^post347+x_17^0 == 0 /\ i_106^0-i_106^post347 == 0 /\ -r_143^post347+r_143^0 == 0 /\ len_161^0-len_161^post347 == 0), cost: 1 348: l213 -> l185 : a_1089^0'=a_1089^post348, f_847^0'=f_847^post348, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post348, a_394^0'=a_394^post348, x_156^0'=x_156^post348, a_632^0'=a_632^post348, r_192^0'=r_192^post348, a_176^0'=a_176^post348, i_106^0'=i_106^post348, a_430^0'=a_430^post348, t_458^0'=t_458^post348, len_161^0'=len_161^post348, x_975^0'=x_975^post348, a_902^0'=a_902^post348, a_947^0'=a_947^post348, rcd_88^0'=rcd_88^post348, a_311^0'=a_311^post348, i_140^0'=i_140^post348, a_577^0'=a_577^post348, x_14^0'=x_14^post348, nondet_12^0'=nondet_12^post348, a_121^0'=a_121^post348, head_15^0'=head_15^post348, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post348, i_27^0'=i_27^post348, x_21^0'=x_21^post348, a_634^0'=a_634^post348, r_39^0'=r_39^post348, a_263^0'=a_263^post348, i_113^0'=i_113^post348, a_432^0'=a_432^post348, temp0_31^0'=temp0_31^post348, len_262^0'=len_262^post348, y_20^0'=y_20^post348, f_248^0'=f_248^post348, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post348, a_393^0'=a_393^post348, i_229^0'=i_229^post348, a_610^0'=a_610^post348, r_151^0'=r_151^post348, a_144^0'=a_144^post348, i_1053^0'=i_1053^post348, a_417^0'=a_417^post348, t_24^0'=t_24^post348, i_94^0'=i_94^post348, x_852^0'=x_852^post348, a_862^0'=a_862^post348, rcd_1249^0'=rcd_1249^post348, rcd_58^0'=rcd_58^post348, a_310^0'=a_310^post348, i_127^0'=i_127^post348, a_576^0'=a_576^post348, tmp_34^0'=tmp_34^post348, length_29^0'=length_29^post348, a_1162^0'=a_1162^post348, f_969^0'=f_969^post348, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post348, a_395^0'=a_395^post348, x_17^0'=x_17^post348, a_633^0'=a_633^post348, r_224^0'=r_224^post348, a_239^0'=a_239^post348, i_107^0'=i_107^post348, a_431^0'=a_431^post348, temp0_16^0'=temp0_16^post348, len_238^0'=len_238^post348, x_SLAM_f_19^0'=x_SLAM_f_19^post348, a_924^0'=a_924^post348, ct_18^0'=ct_18^post348, result_11^0'=result_11^post348, a_392^0'=a_392^post348, i_197^0'=i_197^post348, a_579^0'=a_579^post348, r_143^0'=r_143^post348, a_1236^0'=a_1236^post348, head_32^0'=head_32^post348, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post348, i_30^0'=i_30^post348, x_253^0'=x_253^post348, a_635^0'=a_635^post348, r_970^0'=r_970^post348, rcd_47^0'=rcd_47^post348, a_309^0'=a_309^post348, i_1248^0'=i_1248^post348, a_575^0'=a_575^post348, temp_35^0'=temp_35^post348, len_861^0'=len_861^post348, (0 == 0 /\ len_161^0-len_161^post348 == 0 /\ -a_1236^post348+a_1236^0 == 0 /\ -1+a_176^11-a_393^0 <= 0 /\ -i_1248^post348+i_1248^0 == 0 /\ -a_239^post348+a_239^0 == 0 /\ -rcd_58^post348+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post348 == 0 /\ -ct_18^post348+ct_18^0 == 0 /\ -a_579^post348+a_579^0 == 0 /\ -i_127^post348+i_127^0 == 0 /\ -x_253^post348+x_253^0 == 0 /\ a_394^0-a_394^post348 == 0 /\ a_417^0-a_417^post348 == 0 /\ 1-a_309^post348+a_392^0 <= 0 /\ -a_431^post348+a_431^0 == 0 /\ a_263^0-a_263^post348 == 0 /\ f_847^0-f_847^post348 == 0 /\ -f_248^post348+f_248^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ t_24^0-t_24^post348 == 0 /\ -i_197^post348+i_197^0 == 0 /\ -i_229^post348+i_229^0 == 0 /\ a_610^0-a_610^post348 == 0 /\ i_106^0-i_106^post348 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -head_32^post348+head_32^0 == 0 /\ -result_11^post348+result_11^0 == 0 /\ r_192^0-r_192^post348 == 0 /\ i_94^0-i_94^post348 == 0 /\ r_39^0-r_39^post348 == 0 /\ a_430^0-a_430^post348 == 0 /\ -a_924^post348+a_924^0 == 0 /\ r_151^0-r_151^post348 == 0 /\ -rcd_1249^post348+rcd_1249^0 == 0 /\ a_632^0-a_632^post348 == 0 /\ a_577^0-a_577^post348 == 0 /\ -i_30^post348+i_30^0 == 0 /\ a_1162^0-a_1162^post348 == 0 /\ -a_635^post348+a_635^0 == 0 /\ -x_852^post348+x_852^0 == 0 /\ x_156^0-x_156^post348 == 0 /\ -x_17^post348+x_17^0 == 0 /\ -1-a_394^0+a_310^post348 <= 0 /\ head_15^0-head_15^post348 == 0 /\ -r_224^post348+r_224^0 == 0 /\ -temp0_16^post348+temp0_16^0 == 0 /\ a_862^0-a_862^post348 == 0 /\ temp0_31^0-temp0_31^post348 == 0 /\ -len_861^post348+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post348+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_1053^0-i_1053^post348 == 0 /\ -x_SLAM_f_19^post348+x_SLAM_f_19^0 == 0 /\ 1-a_176^11+a_393^0 <= 0 /\ len_262^0-len_262^post348 == 0 /\ -i_140^post348+i_140^0 == 0 /\ a_947^0-a_947^post348 == 0 /\ -x_21^post348+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post348 == 0 /\ -r_143^post348+r_143^0 == 0 /\ -1+a_309^post348-a_392^0 <= 0 /\ a_395^0-a_395^post348 == 0 /\ -a_634^post348+a_634^0 == 0 /\ -i_107^post348+i_107^0 == 0 /\ -rcd_47^post348+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post348 == 0 /\ length_29^0-length_29^post348 == 0 /\ -a_633^post348+a_633^0 == 0 /\ -a_575^post348+a_575^0 == 0 /\ -a_176^post348+a_395^0 <= 0 /\ -a_576^post348+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post348 == 0 /\ a_902^0-a_902^post348 == 0 /\ -a_392^post348+a_392^0 == 0 /\ a_393^0-a_393^post348 == 0 /\ -y_20^post348+y_20^0 == 0 /\ -f_969^post348+f_969^0 == 0 /\ i_113^0-i_113^post348 == 0 /\ -a_121^post348+a_121^0 == 0 /\ x_975^0-x_975^post348 == 0 /\ tmp_34^0-tmp_34^post348 == 0 /\ -temp_35^post348+temp_35^0 == 0 /\ a_311^0-a_311^post348 == 0 /\ -len_238^post348+len_238^0 == 0 /\ i_27^0-i_27^post348 == 0 /\ a_1089^0-a_1089^post348 == 0 /\ 1+a_394^0-a_310^post348 <= 0 /\ x_14^0-x_14^post348 == 0 /\ nondet_12^0-nondet_12^post348 == 0 /\ t_458^0-t_458^post348 == 0 /\ a_144^0-a_144^post348 == 0 /\ -a_432^post348+a_432^0 == 0 /\ a_176^post348-a_395^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post348+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_970^post348+r_970^0 == 0), cost: 1 350: l214 -> l215 : a_1089^0'=a_1089^post350, f_847^0'=f_847^post350, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post350, a_394^0'=a_394^post350, x_156^0'=x_156^post350, a_632^0'=a_632^post350, r_192^0'=r_192^post350, a_176^0'=a_176^post350, i_106^0'=i_106^post350, a_430^0'=a_430^post350, t_458^0'=t_458^post350, len_161^0'=len_161^post350, x_975^0'=x_975^post350, a_902^0'=a_902^post350, a_947^0'=a_947^post350, rcd_88^0'=rcd_88^post350, a_311^0'=a_311^post350, i_140^0'=i_140^post350, a_577^0'=a_577^post350, x_14^0'=x_14^post350, nondet_12^0'=nondet_12^post350, a_121^0'=a_121^post350, head_15^0'=head_15^post350, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post350, i_27^0'=i_27^post350, x_21^0'=x_21^post350, a_634^0'=a_634^post350, r_39^0'=r_39^post350, a_263^0'=a_263^post350, i_113^0'=i_113^post350, a_432^0'=a_432^post350, temp0_31^0'=temp0_31^post350, len_262^0'=len_262^post350, y_20^0'=y_20^post350, f_248^0'=f_248^post350, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post350, a_393^0'=a_393^post350, i_229^0'=i_229^post350, a_610^0'=a_610^post350, r_151^0'=r_151^post350, a_144^0'=a_144^post350, i_1053^0'=i_1053^post350, a_417^0'=a_417^post350, t_24^0'=t_24^post350, i_94^0'=i_94^post350, x_852^0'=x_852^post350, a_862^0'=a_862^post350, rcd_1249^0'=rcd_1249^post350, rcd_58^0'=rcd_58^post350, a_310^0'=a_310^post350, i_127^0'=i_127^post350, a_576^0'=a_576^post350, tmp_34^0'=tmp_34^post350, length_29^0'=length_29^post350, a_1162^0'=a_1162^post350, f_969^0'=f_969^post350, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post350, a_395^0'=a_395^post350, x_17^0'=x_17^post350, a_633^0'=a_633^post350, r_224^0'=r_224^post350, a_239^0'=a_239^post350, i_107^0'=i_107^post350, a_431^0'=a_431^post350, temp0_16^0'=temp0_16^post350, len_238^0'=len_238^post350, x_SLAM_f_19^0'=x_SLAM_f_19^post350, a_924^0'=a_924^post350, ct_18^0'=ct_18^post350, result_11^0'=result_11^post350, a_392^0'=a_392^post350, i_197^0'=i_197^post350, a_579^0'=a_579^post350, r_143^0'=r_143^post350, a_1236^0'=a_1236^post350, head_32^0'=head_32^post350, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post350, i_30^0'=i_30^post350, x_253^0'=x_253^post350, a_635^0'=a_635^post350, r_970^0'=r_970^post350, rcd_47^0'=rcd_47^post350, a_309^0'=a_309^post350, i_1248^0'=i_1248^post350, a_575^0'=a_575^post350, temp_35^0'=temp_35^post350, len_861^0'=len_861^post350, (f_847^0-f_847^post350 == 0 /\ y_20^0-y_20^post350 == 0 /\ a_432^0-a_432^post350 == 0 /\ -a_576^post350+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post350 == 0 /\ -x_17^post350+x_17^0 == 0 /\ x_21^0-x_21^post350 == 0 /\ -a_392^post350+a_392^0 == 0 /\ tmp_34^0-tmp_34^post350 == 0 /\ r_151^0-r_151^post350 == 0 /\ a_417^0-a_417^post350 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post350 == 0 /\ -temp0_16^post350+temp0_16^0 == 0 /\ a_144^0-a_144^post350 == 0 /\ -len_861^post350+len_861^0 == 0 /\ -i_30^post350+i_30^0 == 0 /\ -a_1236^post350+a_1236^0 == 0 /\ -a_635^post350+a_635^0 == 0 /\ i_94^0-i_94^post350 == 0 /\ a_394^0-a_394^post350 == 0 /\ i_113^0-i_113^post350 == 0 /\ -i_1248^post350+i_1248^0 == 0 /\ -x_SLAM_f_19^post350+x_SLAM_f_19^0 == 0 /\ a_239^0-a_239^post350 == 0 /\ -len_238^post350+len_238^0 == 0 /\ -len_262^post350+len_262^0 == 0 /\ a_310^0-a_310^post350 == 0 /\ -a_610^post350+a_610^0 == 0 /\ -temp0_31^post350+temp0_31^0 == 0 /\ r_143^0-r_143^post350 == 0 /\ -rcd_47^post350+rcd_47^0 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ i_140^0-i_140^post350 == 0 /\ -x_975^post350+x_975^0 == 0 /\ -i_107^post350+i_107^0 == 0 /\ -a_633^post350+a_633^0 == 0 /\ t_458^0-t_458^post350 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post350 == 0 /\ -a_575^post350+a_575^0 == 0 /\ -i_197^post350+i_197^0 == 0 /\ -a_579^post350+a_579^0 == 0 /\ len_161^0-len_161^post350 == 0 /\ i_27^0-i_27^post350 == 0 /\ i_106^0-i_106^post350 == 0 /\ -a_309^post350+a_309^0 == 0 /\ -head_32^post350+head_32^0 == 0 /\ t_24^0-t_24^post350 == 0 /\ a_393^0-a_393^post350 == 0 /\ r_39^0-r_39^post350 == 0 /\ -i_127^post350+i_127^0 == 0 /\ -head_15^post350+head_15^0 == 0 /\ -a_431^post350+a_431^0 == 0 /\ x_156^0-x_156^post350 == 0 /\ -temp_35^post350+temp_35^0 == 0 /\ -a_1162^post350+a_1162^0 == 0 /\ i_229^0-i_229^post350 == 0 /\ -nondet_12^post350+nondet_12^0 == 0 /\ -a_924^post350+a_924^0 == 0 /\ x_253^0-x_253^post350 == 0 /\ a_862^0-a_862^post350 == 0 /\ rcd_58^0-rcd_58^post350 == 0 /\ -ct_18^post350+ct_18^0 == 0 /\ f_248^0-f_248^post350 == 0 /\ a_121^0-a_121^post350 == 0 /\ -f_969^post350+f_969^0 == 0 /\ -r_970^post350+r_970^0 == 0 /\ a_577^0-a_577^post350 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post350 == 0 /\ a_902^0-a_902^post350 == 0 /\ a_176^0-a_176^post350 == 0 /\ -r_224^post350+r_224^0 == 0 /\ rcd_88^0-rcd_88^post350 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post350+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post350 == 0 /\ i_1053^0-i_1053^post350 == 0 /\ -a_634^post350+a_634^0 == 0 /\ r_192^0-r_192^post350 == 0 /\ -a_395^post350+a_395^0 == 0 /\ a_632^0-a_632^post350 == 0 /\ -rcd_1249^post350+rcd_1249^0 == 0 /\ length_29^0-length_29^post350 == 0 /\ a_430^0-a_430^post350 == 0 /\ a_1089^0-a_1089^post350 == 0 /\ a_311^0-a_311^post350 == 0 /\ x_852^0-x_852^post350 == 0 /\ a_263^0-a_263^post350 == 0 /\ -result_11^post350+result_11^0 == 0 /\ -a_947^post350+a_947^0 == 0), cost: 1 351: l214 -> l215 : a_1089^0'=a_1089^post351, f_847^0'=f_847^post351, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post351, a_394^0'=a_394^post351, x_156^0'=x_156^post351, a_632^0'=a_632^post351, r_192^0'=r_192^post351, a_176^0'=a_176^post351, i_106^0'=i_106^post351, a_430^0'=a_430^post351, t_458^0'=t_458^post351, len_161^0'=len_161^post351, x_975^0'=x_975^post351, a_902^0'=a_902^post351, a_947^0'=a_947^post351, rcd_88^0'=rcd_88^post351, a_311^0'=a_311^post351, i_140^0'=i_140^post351, a_577^0'=a_577^post351, x_14^0'=x_14^post351, nondet_12^0'=nondet_12^post351, a_121^0'=a_121^post351, head_15^0'=head_15^post351, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post351, i_27^0'=i_27^post351, x_21^0'=x_21^post351, a_634^0'=a_634^post351, r_39^0'=r_39^post351, a_263^0'=a_263^post351, i_113^0'=i_113^post351, a_432^0'=a_432^post351, temp0_31^0'=temp0_31^post351, len_262^0'=len_262^post351, y_20^0'=y_20^post351, f_248^0'=f_248^post351, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post351, a_393^0'=a_393^post351, i_229^0'=i_229^post351, a_610^0'=a_610^post351, r_151^0'=r_151^post351, a_144^0'=a_144^post351, i_1053^0'=i_1053^post351, a_417^0'=a_417^post351, t_24^0'=t_24^post351, i_94^0'=i_94^post351, x_852^0'=x_852^post351, a_862^0'=a_862^post351, rcd_1249^0'=rcd_1249^post351, rcd_58^0'=rcd_58^post351, a_310^0'=a_310^post351, i_127^0'=i_127^post351, a_576^0'=a_576^post351, tmp_34^0'=tmp_34^post351, length_29^0'=length_29^post351, a_1162^0'=a_1162^post351, f_969^0'=f_969^post351, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post351, a_395^0'=a_395^post351, x_17^0'=x_17^post351, a_633^0'=a_633^post351, r_224^0'=r_224^post351, a_239^0'=a_239^post351, i_107^0'=i_107^post351, a_431^0'=a_431^post351, temp0_16^0'=temp0_16^post351, len_238^0'=len_238^post351, x_SLAM_f_19^0'=x_SLAM_f_19^post351, a_924^0'=a_924^post351, ct_18^0'=ct_18^post351, result_11^0'=result_11^post351, a_392^0'=a_392^post351, i_197^0'=i_197^post351, a_579^0'=a_579^post351, r_143^0'=r_143^post351, a_1236^0'=a_1236^post351, head_32^0'=head_32^post351, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post351, i_30^0'=i_30^post351, x_253^0'=x_253^post351, a_635^0'=a_635^post351, r_970^0'=r_970^post351, rcd_47^0'=rcd_47^post351, a_309^0'=a_309^post351, i_1248^0'=i_1248^post351, a_575^0'=a_575^post351, temp_35^0'=temp_35^post351, len_861^0'=len_861^post351, (-i_197^post351+i_197^0 == 0 /\ -temp_35^post351+temp_35^0 == 0 /\ -rcd_1249^post351+rcd_1249^0 == 0 /\ r_192^0-r_192^post351 == 0 /\ -x_852^post351+x_852^0 == 0 /\ a_394^0-a_394^post351 == 0 /\ i_1053^0-i_1053^post351 == 0 /\ i_113^0-i_113^post351 == 0 /\ length_29^0-length_29^post351 == 0 /\ -f_969^post351+f_969^0 == 0 /\ -a_431^post351+a_431^0 == 0 /\ -r_970^post351+r_970^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -rcd_58^post351+rcd_58^0 == 0 /\ a_430^0-a_430^post351 == 0 /\ t_24^0-t_24^post351 == 0 /\ -ct_18^post351+ct_18^0 == 0 /\ -rcd_47^post351+rcd_47^0 == 0 /\ len_161^0-len_161^post351 == 0 /\ a_393^0-a_393^post351 == 0 /\ -x_253^post351+x_253^0 == 0 /\ -a_610^post351+a_610^0 == 0 /\ a_432^0-a_432^post351 == 0 /\ -len_861^post351+len_861^0 == 0 /\ f_847^0-f_847^post351 == 0 /\ -f_248^post351+f_248^0 == 0 /\ a_579^0-a_579^post351 == 0 /\ -a_634^post351+a_634^0 == 0 /\ x_21^0-x_21^post351 == 0 /\ -i_229^post351+i_229^0 == 0 /\ -r_224^post351+r_224^0 == 0 /\ -i_1248^post351+i_1248^0 == 0 /\ i_140^0-i_140^post351 == 0 /\ head_15^0-head_15^post351 == 0 /\ -a_239^post351+a_239^0 == 0 /\ a_862^0-a_862^post351 == 0 /\ -a_924^post351+a_924^0 == 0 /\ r_151^0-r_151^post351 == 0 /\ a_1162^0-a_1162^post351 == 0 /\ -temp0_16^post351+temp0_16^0 == 0 /\ a_902^0-a_902^post351 == 0 /\ -result_11^post351+result_11^0 == 0 /\ a_577^0-a_577^post351 == 0 /\ head_32^0-head_32^post351 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post351+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post351 == 0 /\ -a_576^post351+a_576^0 == 0 /\ i_94^0-i_94^post351 == 0 /\ x_156^0-x_156^post351 == 0 /\ -a_575^post351+a_575^0 == 0 /\ -a_1236^post351+a_1236^0 == 0 /\ -r_143^post351+r_143^0 == 0 /\ -a_947^post351+a_947^0 == 0 /\ rcd_88^0-rcd_88^post351 == 0 /\ a_311^0-a_311^post351 == 0 /\ -a_635^post351+a_635^0 == 0 /\ -x_17^post351+x_17^0 == 0 /\ a_395^0-a_395^post351 == 0 /\ i_106^0-i_106^post351 == 0 /\ r_39^0-r_39^post351 == 0 /\ -temp0_31^post351+temp0_31^0 == 0 /\ -a_417^post351+a_417^0 == 0 /\ -x_SLAM_f_19^post351+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post351 == 0 /\ -a_309^post351+a_309^0 == 0 /\ -a_144^post351+a_144^0 == 0 /\ -i_30^post351+i_30^0 == 0 /\ -a_310^post351+a_310^0 == 0 /\ i_107^0-i_107^post351 == 0 /\ t_458^0-t_458^post351 == 0 /\ -a_176^post351+a_176^0 == 0 /\ a_1089^0-a_1089^post351 == 0 /\ a_263^0-a_263^post351 == 0 /\ y_20^0-y_20^post351 == 0 /\ a_632^0-a_632^post351 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post351 == 0 /\ -len_238^post351+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post351+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_262^post351+len_262^0 == 0 /\ -i_27^post351+i_27^0 == 0 /\ nondet_12^0-nondet_12^post351 == 0 /\ x_975^0-x_975^post351 == 0 /\ tmp_34^0-tmp_34^post351 == 0 /\ -a_633^post351+a_633^0 == 0 /\ -i_127^post351+i_127^0 == 0 /\ a_121^0-a_121^post351 == 0 /\ -x_14^post351+x_14^0 == 0 /\ -a_392^post351+a_392^0 == 0), cost: 1 352: l215 -> l216 : a_1089^0'=a_1089^post352, f_847^0'=f_847^post352, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post352, a_394^0'=a_394^post352, x_156^0'=x_156^post352, a_632^0'=a_632^post352, r_192^0'=r_192^post352, a_176^0'=a_176^post352, i_106^0'=i_106^post352, a_430^0'=a_430^post352, t_458^0'=t_458^post352, len_161^0'=len_161^post352, x_975^0'=x_975^post352, a_902^0'=a_902^post352, a_947^0'=a_947^post352, rcd_88^0'=rcd_88^post352, a_311^0'=a_311^post352, i_140^0'=i_140^post352, a_577^0'=a_577^post352, x_14^0'=x_14^post352, nondet_12^0'=nondet_12^post352, a_121^0'=a_121^post352, head_15^0'=head_15^post352, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post352, i_27^0'=i_27^post352, x_21^0'=x_21^post352, a_634^0'=a_634^post352, r_39^0'=r_39^post352, a_263^0'=a_263^post352, i_113^0'=i_113^post352, a_432^0'=a_432^post352, temp0_31^0'=temp0_31^post352, len_262^0'=len_262^post352, y_20^0'=y_20^post352, f_248^0'=f_248^post352, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post352, a_393^0'=a_393^post352, i_229^0'=i_229^post352, a_610^0'=a_610^post352, r_151^0'=r_151^post352, a_144^0'=a_144^post352, i_1053^0'=i_1053^post352, a_417^0'=a_417^post352, t_24^0'=t_24^post352, i_94^0'=i_94^post352, x_852^0'=x_852^post352, a_862^0'=a_862^post352, rcd_1249^0'=rcd_1249^post352, rcd_58^0'=rcd_58^post352, a_310^0'=a_310^post352, i_127^0'=i_127^post352, a_576^0'=a_576^post352, tmp_34^0'=tmp_34^post352, length_29^0'=length_29^post352, a_1162^0'=a_1162^post352, f_969^0'=f_969^post352, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post352, a_395^0'=a_395^post352, x_17^0'=x_17^post352, a_633^0'=a_633^post352, r_224^0'=r_224^post352, a_239^0'=a_239^post352, i_107^0'=i_107^post352, a_431^0'=a_431^post352, temp0_16^0'=temp0_16^post352, len_238^0'=len_238^post352, x_SLAM_f_19^0'=x_SLAM_f_19^post352, a_924^0'=a_924^post352, ct_18^0'=ct_18^post352, result_11^0'=result_11^post352, a_392^0'=a_392^post352, i_197^0'=i_197^post352, a_579^0'=a_579^post352, r_143^0'=r_143^post352, a_1236^0'=a_1236^post352, head_32^0'=head_32^post352, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post352, i_30^0'=i_30^post352, x_253^0'=x_253^post352, a_635^0'=a_635^post352, r_970^0'=r_970^post352, rcd_47^0'=rcd_47^post352, a_309^0'=a_309^post352, i_1248^0'=i_1248^post352, a_575^0'=a_575^post352, temp_35^0'=temp_35^post352, len_861^0'=len_861^post352, (0 == 0 /\ x_156^0-x_156^post352 == 0 /\ -a_576^post352+a_576^0 == 0 /\ -r_151^post352+r_151^0 == 0 /\ y_20^0-y_20^post352 == 0 /\ f_847^0-f_847^post352 == 0 /\ a_432^0-a_432^post352 == 0 /\ a_924^0-a_924^post352 == 0 /\ x_21^0-x_21^post352 == 0 /\ -a_635^post352+a_635^0 == 0 /\ a_417^0-a_417^post352 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post352 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ i_94^0-i_94^post352 == 0 /\ -a_144^post352+a_144^0 == 0 /\ head_15^0-head_15^post352 == 0 /\ a_394^0-a_394^post352 == 0 /\ -a_633^post352+a_633^0 == 0 /\ i_113^0-i_113^post352 == 0 /\ -a_575^post352+a_575^0 == 0 /\ -a_1236^post352+a_1236^0 == 0 /\ a_1089^0-a_1089^post352 == 0 /\ -len_262^post352+len_262^0 == 0 /\ -a_862^post352+a_862^0 == 0 /\ x_14^0-x_14^post352 == 0 /\ -a_610^post352+a_610^0 == 0 /\ a_121^0-a_121^post352 == 0 /\ -temp0_31^post352+temp0_31^0 == 0 /\ -ct_18^post352+ct_18^0 == 0 /\ y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post352 == 0 /\ i_106^0-i_106^post352 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ a_430^0-a_430^post352 == 0 /\ -a_392^post352+a_392^0 == 0 /\ -rcd_47^post352+rcd_47^0 == 0 /\ a_263^0-a_263^post352 == 0 /\ i_27^0-i_27^post352 == 0 /\ -head_32^post352+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post352 == 0 /\ -i_197^post352+i_197^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post352+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_393^0-a_393^post352 == 0 /\ t_458^0-t_458^post352 == 0 /\ r_39^0-r_39^post352 == 0 /\ -len_238^post352+len_238^0 == 0 /\ i_107^0-i_107^post352 == 0 /\ -result_11^post352+result_11^0 == 0 /\ -f_969^post352+f_969^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ i_229^0-i_229^post352 == 0 /\ f_248^0-f_248^post352 == 0 /\ -x_21^0+t_24^post352 == 0 /\ -temp_35^post352+temp_35^0 == 0 /\ -a_579^post352+a_579^0 == 0 /\ -y_20^0 <= 0 /\ -x_253^post352+x_253^0 == 0 /\ -nondet_12^post352+nondet_12^0 == 0 /\ -i_127^post352+i_127^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -r_970^post352+r_970^0 == 0 /\ -rcd_58^post352+rcd_58^0 == 0 /\ r_224^0-r_224^post352 == 0 /\ a_902^0-a_902^post352 == 0 /\ x_975^0-x_975^post352 == 0 /\ -x_852^post352+x_852^0 == 0 /\ a_947^0-a_947^post352 == 0 /\ -a_395^post352+a_395^0 == 0 /\ -head_15^0+t_24^post352 <= 0 /\ a_431^0-a_431^post352 == 0 /\ head_15^0-x_17^0 <= 0 /\ -a_1162^post352+a_1162^0 == 0 /\ a_577^0-a_577^post352 == 0 /\ rcd_88^0-rcd_88^post352 == 0 /\ a_176^0-a_176^post352 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -i_1248^post352+i_1248^0 == 0 /\ -a_239^post352+a_239^0 == 0 /\ r_192^0-r_192^post352 == 0 /\ -ct_18^0 <= 0 /\ -tmp_34^post352+tmp_34^0 == 0 /\ length_29^0-length_29^post352 == 0 /\ -rcd_1249^post352+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post352+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_634^post352+a_634^0 == 0 /\ -i_30^post352+i_30^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ a_632^0-a_632^post352 == 0 /\ -i_1053^post352+i_1053^0 == 0 /\ i_140^0-i_140^post352 == 0 /\ -r_143^post352+r_143^0 == 0 /\ -x_17^post352+x_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post352+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-t_24^post352 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ len_161^0-len_161^post352 == 0 /\ -len_861^post352+len_861^0 == 0 /\ -temp0_16^post352+temp0_16^0 == 0), cost: 1 353: l216 -> l217 : a_1089^0'=a_1089^post353, f_847^0'=f_847^post353, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post353, a_394^0'=a_394^post353, x_156^0'=x_156^post353, a_632^0'=a_632^post353, r_192^0'=r_192^post353, a_176^0'=a_176^post353, i_106^0'=i_106^post353, a_430^0'=a_430^post353, t_458^0'=t_458^post353, len_161^0'=len_161^post353, x_975^0'=x_975^post353, a_902^0'=a_902^post353, a_947^0'=a_947^post353, rcd_88^0'=rcd_88^post353, a_311^0'=a_311^post353, i_140^0'=i_140^post353, a_577^0'=a_577^post353, x_14^0'=x_14^post353, nondet_12^0'=nondet_12^post353, a_121^0'=a_121^post353, head_15^0'=head_15^post353, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post353, i_27^0'=i_27^post353, x_21^0'=x_21^post353, a_634^0'=a_634^post353, r_39^0'=r_39^post353, a_263^0'=a_263^post353, i_113^0'=i_113^post353, a_432^0'=a_432^post353, temp0_31^0'=temp0_31^post353, len_262^0'=len_262^post353, y_20^0'=y_20^post353, f_248^0'=f_248^post353, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post353, a_393^0'=a_393^post353, i_229^0'=i_229^post353, a_610^0'=a_610^post353, r_151^0'=r_151^post353, a_144^0'=a_144^post353, i_1053^0'=i_1053^post353, a_417^0'=a_417^post353, t_24^0'=t_24^post353, i_94^0'=i_94^post353, x_852^0'=x_852^post353, a_862^0'=a_862^post353, rcd_1249^0'=rcd_1249^post353, rcd_58^0'=rcd_58^post353, a_310^0'=a_310^post353, i_127^0'=i_127^post353, a_576^0'=a_576^post353, tmp_34^0'=tmp_34^post353, length_29^0'=length_29^post353, a_1162^0'=a_1162^post353, f_969^0'=f_969^post353, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post353, a_395^0'=a_395^post353, x_17^0'=x_17^post353, a_633^0'=a_633^post353, r_224^0'=r_224^post353, a_239^0'=a_239^post353, i_107^0'=i_107^post353, a_431^0'=a_431^post353, temp0_16^0'=temp0_16^post353, len_238^0'=len_238^post353, x_SLAM_f_19^0'=x_SLAM_f_19^post353, a_924^0'=a_924^post353, ct_18^0'=ct_18^post353, result_11^0'=result_11^post353, a_392^0'=a_392^post353, i_197^0'=i_197^post353, a_579^0'=a_579^post353, r_143^0'=r_143^post353, a_1236^0'=a_1236^post353, head_32^0'=head_32^post353, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post353, i_30^0'=i_30^post353, x_253^0'=x_253^post353, a_635^0'=a_635^post353, r_970^0'=r_970^post353, rcd_47^0'=rcd_47^post353, a_309^0'=a_309^post353, i_1248^0'=i_1248^post353, a_575^0'=a_575^post353, temp_35^0'=temp_35^post353, len_861^0'=len_861^post353, (-i_127^post353+i_127^0 == 0 /\ a_634^0-a_634^post353 == 0 /\ -ct_18^post353+ct_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post353+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post353+r_970^0 == 0 /\ x_14^0-x_14^post353 == 0 /\ -i_197^post353+i_197^0 == 0 /\ -a_579^post353+a_579^0 == 0 /\ i_1053^0-i_1053^post353 == 0 /\ -x_253^post353+x_253^0 == 0 /\ a_310^0-a_310^post353 == 0 /\ a_395^0-a_395^post353 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post353 == 0 /\ a_176^0-a_176^post353 == 0 /\ -head_32^post353+head_32^0 == 0 /\ a_947^0-a_947^post353 == 0 /\ i_27^0-i_27^post353 == 0 /\ -x_852^post353+x_852^0 == 0 /\ a_121^0-a_121^post353 == 0 /\ -f_969^post353+f_969^0 == 0 /\ -y_20^post353+y_20^0 == 0 /\ 1-x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post353+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_430^0-a_430^post353 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post353 == 0 /\ r_39^0-r_39^post353 == 0 /\ -temp_35^post353+temp_35^0 == 0 /\ -rcd_58^post353+rcd_58^0 == 0 /\ len_161^0-len_161^post353 == 0 /\ -tmp_34^post353+tmp_34^0 == 0 /\ -len_861^post353+len_861^0 == 0 /\ -temp0_16^post353+temp0_16^0 == 0 /\ a_1162^0-a_1162^post353 == 0 /\ head_15^0-head_15^post353 == 0 /\ -a_417^post353+a_417^0 == 0 /\ a_632^0-a_632^post353 == 0 /\ a_432^0-a_432^post353 == 0 /\ -f_248^post353+f_248^0 == 0 /\ x_975^0-x_975^post353 == 0 /\ -a_393^post353+a_393^0 == 0 /\ r_192^0-r_192^post353 == 0 /\ -result_11^post353+result_11^0 == 0 /\ i_113^0-i_113^post353 == 0 /\ -a_924^post353+a_924^0 == 0 /\ -rcd_1249^post353+rcd_1249^0 == 0 /\ -t_24^post353+t_24^0 == 0 /\ -i_1248^post353+i_1248^0 == 0 /\ i_229^0-i_229^post353 == 0 /\ x_156^0-x_156^post353 == 0 /\ -a_239^post353+a_239^0 == 0 /\ nondet_12^0-nondet_12^post353 == 0 /\ a_431^0-a_431^post353 == 0 /\ -r_143^post353+r_143^0 == 0 /\ i_30^0-i_30^post353 == 0 /\ a_1089^0-a_1089^post353 == 0 /\ a_394^0-a_394^post353 == 0 /\ -r_151^post353+r_151^0 == 0 /\ -a_575^post353+a_575^0 == 0 /\ x_17^0-x_17^post353 == 0 /\ -a_635^post353+a_635^0 == 0 /\ -a_576^post353+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post353+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_311^0-a_311^post353 == 0 /\ i_107^0-i_107^post353 == 0 /\ t_458^0-t_458^post353 == 0 /\ rcd_88^0-rcd_88^post353 == 0 /\ i_140^0-i_140^post353 == 0 /\ -a_144^post353+a_144^0 == 0 /\ i_106^0-i_106^post353 == 0 /\ f_847^0-f_847^post353 == 0 /\ a_263^0-a_263^post353 == 0 /\ -a_309^post353+a_309^0 == 0 /\ i_94^0-i_94^post353 == 0 /\ -a_862^post353+a_862^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post353+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post353+a_1236^0 == 0 /\ -a_902^post353+a_902^0 == 0 /\ -a_633^post353+a_633^0 == 0 /\ x_21^0-x_21^post353 == 0 /\ -rcd_47^post353+rcd_47^0 == 0 /\ a_610^0-a_610^post353 == 0 /\ len_262^0-len_262^post353 == 0 /\ a_577^0-a_577^post353 == 0 /\ -len_238^post353+len_238^0 == 0 /\ -a_392^post353+a_392^0 == 0 /\ temp0_31^0-temp0_31^post353 == 0 /\ r_224^0-r_224^post353 == 0 /\ -length_29^post353+length_29^0 == 0), cost: 1 354: l216 -> l217 : a_1089^0'=a_1089^post354, f_847^0'=f_847^post354, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post354, a_394^0'=a_394^post354, x_156^0'=x_156^post354, a_632^0'=a_632^post354, r_192^0'=r_192^post354, a_176^0'=a_176^post354, i_106^0'=i_106^post354, a_430^0'=a_430^post354, t_458^0'=t_458^post354, len_161^0'=len_161^post354, x_975^0'=x_975^post354, a_902^0'=a_902^post354, a_947^0'=a_947^post354, rcd_88^0'=rcd_88^post354, a_311^0'=a_311^post354, i_140^0'=i_140^post354, a_577^0'=a_577^post354, x_14^0'=x_14^post354, nondet_12^0'=nondet_12^post354, a_121^0'=a_121^post354, head_15^0'=head_15^post354, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post354, i_27^0'=i_27^post354, x_21^0'=x_21^post354, a_634^0'=a_634^post354, r_39^0'=r_39^post354, a_263^0'=a_263^post354, i_113^0'=i_113^post354, a_432^0'=a_432^post354, temp0_31^0'=temp0_31^post354, len_262^0'=len_262^post354, y_20^0'=y_20^post354, f_248^0'=f_248^post354, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post354, a_393^0'=a_393^post354, i_229^0'=i_229^post354, a_610^0'=a_610^post354, r_151^0'=r_151^post354, a_144^0'=a_144^post354, i_1053^0'=i_1053^post354, a_417^0'=a_417^post354, t_24^0'=t_24^post354, i_94^0'=i_94^post354, x_852^0'=x_852^post354, a_862^0'=a_862^post354, rcd_1249^0'=rcd_1249^post354, rcd_58^0'=rcd_58^post354, a_310^0'=a_310^post354, i_127^0'=i_127^post354, a_576^0'=a_576^post354, tmp_34^0'=tmp_34^post354, length_29^0'=length_29^post354, a_1162^0'=a_1162^post354, f_969^0'=f_969^post354, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post354, a_395^0'=a_395^post354, x_17^0'=x_17^post354, a_633^0'=a_633^post354, r_224^0'=r_224^post354, a_239^0'=a_239^post354, i_107^0'=i_107^post354, a_431^0'=a_431^post354, temp0_16^0'=temp0_16^post354, len_238^0'=len_238^post354, x_SLAM_f_19^0'=x_SLAM_f_19^post354, a_924^0'=a_924^post354, ct_18^0'=ct_18^post354, result_11^0'=result_11^post354, a_392^0'=a_392^post354, i_197^0'=i_197^post354, a_579^0'=a_579^post354, r_143^0'=r_143^post354, a_1236^0'=a_1236^post354, head_32^0'=head_32^post354, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post354, i_30^0'=i_30^post354, x_253^0'=x_253^post354, a_635^0'=a_635^post354, r_970^0'=r_970^post354, rcd_47^0'=rcd_47^post354, a_309^0'=a_309^post354, i_1248^0'=i_1248^post354, a_575^0'=a_575^post354, temp_35^0'=temp_35^post354, len_861^0'=len_861^post354, (a_632^0-a_632^post354 == 0 /\ -a_576^post354+a_576^0 == 0 /\ -a_1236^post354+a_1236^0 == 0 /\ -r_143^post354+r_143^0 == 0 /\ -a_575^post354+a_575^0 == 0 /\ ct_18^0-ct_18^post354 == 0 /\ a_121^0-a_121^post354 == 0 /\ a_902^0-a_902^post354 == 0 /\ len_262^0-len_262^post354 == 0 /\ x_156^0-x_156^post354 == 0 /\ temp0_31^0-temp0_31^post354 == 0 /\ i_229^0-i_229^post354 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post354+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post354+a_309^0 == 0 /\ a_634^0-a_634^post354 == 0 /\ head_15^0-head_15^post354 == 0 /\ nondet_12^0-nondet_12^post354 == 0 /\ -a_610^post354+a_610^0 == 0 /\ -length_29^post354+length_29^0 == 0 /\ a_394^0-a_394^post354 == 0 /\ a_1089^0-a_1089^post354 == 0 /\ x_14^0-x_14^post354 == 0 /\ -rcd_47^post354+rcd_47^0 == 0 /\ -a_392^post354+a_392^0 == 0 /\ r_192^0-r_192^post354 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post354 == 0 /\ -a_862^post354+a_862^0 == 0 /\ a_176^0-a_176^post354 == 0 /\ -head_32^post354+head_32^0 == 0 /\ -i_27^post354+i_27^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post354 == 0 /\ -x_253^post354+x_253^0 == 0 /\ -r_970^post354+r_970^0 == 0 /\ a_263^0-a_263^post354 == 0 /\ -len_238^post354+len_238^0 == 0 /\ -r_151^post354+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post354+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post354+a_579^0 == 0 /\ -a_239^post354+a_239^0 == 0 /\ -rcd_58^post354+rcd_58^0 == 0 /\ y_20^0-y_20^post354 == 0 /\ -r_224^post354+r_224^0 == 0 /\ temp0_16^0-temp0_16^post354 == 0 /\ -x_852^post354+x_852^0 == 0 /\ -i_1053^post354+i_1053^0 == 0 /\ a_432^0-a_432^post354 == 0 /\ a_430^0-a_430^post354 == 0 /\ f_248^0-f_248^post354 == 0 /\ x_21^0-x_21^post354 == 0 /\ -i_127^post354+i_127^0 == 0 /\ x_975^0-x_975^post354 == 0 /\ -a_395^post354+a_395^0 == 0 /\ a_577^0-a_577^post354 == 0 /\ -i_197^post354+i_197^0 == 0 /\ f_969^0-f_969^post354 == 0 /\ -a_311^post354+a_311^0 == 0 /\ a_633^0-a_633^post354 == 0 /\ a_431^0-a_431^post354 == 0 /\ i_94^0-i_94^post354 == 0 /\ x_17^0-x_17^post354 == 0 /\ i_113^0-i_113^post354 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post354 == 0 /\ -rcd_88^post354+rcd_88^0 == 0 /\ -a_417^post354+a_417^0 == 0 /\ a_310^0-a_310^post354 == 0 /\ len_161^0-len_161^post354 == 0 /\ a_144^0-a_144^post354 == 0 /\ -tmp_34^post354+tmp_34^0 == 0 /\ a_947^0-a_947^post354 == 0 /\ -a_1162^post354+a_1162^0 == 0 /\ -a_924^post354+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post354+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_107^post354+i_107^0 == 0 /\ r_39^0-r_39^post354 == 0 /\ 1+x_14^0 <= 0 /\ t_458^0-t_458^post354 == 0 /\ -rcd_1249^post354+rcd_1249^0 == 0 /\ -len_861^post354+len_861^0 == 0 /\ i_140^0-i_140^post354 == 0 /\ -a_635^post354+a_635^0 == 0 /\ -i_30^post354+i_30^0 == 0 /\ i_106^0-i_106^post354 == 0 /\ f_847^0-f_847^post354 == 0 /\ temp_35^0-temp_35^post354 == 0 /\ -result_11^post354+result_11^0 == 0 /\ -i_1248^post354+i_1248^0 == 0 /\ t_24^0-t_24^post354 == 0 /\ -a_393^post354+a_393^0 == 0), cost: 1 355: l217 -> l218 : a_1089^0'=a_1089^post355, f_847^0'=f_847^post355, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post355, a_394^0'=a_394^post355, x_156^0'=x_156^post355, a_632^0'=a_632^post355, r_192^0'=r_192^post355, a_176^0'=a_176^post355, i_106^0'=i_106^post355, a_430^0'=a_430^post355, t_458^0'=t_458^post355, len_161^0'=len_161^post355, x_975^0'=x_975^post355, a_902^0'=a_902^post355, a_947^0'=a_947^post355, rcd_88^0'=rcd_88^post355, a_311^0'=a_311^post355, i_140^0'=i_140^post355, a_577^0'=a_577^post355, x_14^0'=x_14^post355, nondet_12^0'=nondet_12^post355, a_121^0'=a_121^post355, head_15^0'=head_15^post355, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post355, i_27^0'=i_27^post355, x_21^0'=x_21^post355, a_634^0'=a_634^post355, r_39^0'=r_39^post355, a_263^0'=a_263^post355, i_113^0'=i_113^post355, a_432^0'=a_432^post355, temp0_31^0'=temp0_31^post355, len_262^0'=len_262^post355, y_20^0'=y_20^post355, f_248^0'=f_248^post355, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post355, a_393^0'=a_393^post355, i_229^0'=i_229^post355, a_610^0'=a_610^post355, r_151^0'=r_151^post355, a_144^0'=a_144^post355, i_1053^0'=i_1053^post355, a_417^0'=a_417^post355, t_24^0'=t_24^post355, i_94^0'=i_94^post355, x_852^0'=x_852^post355, a_862^0'=a_862^post355, rcd_1249^0'=rcd_1249^post355, rcd_58^0'=rcd_58^post355, a_310^0'=a_310^post355, i_127^0'=i_127^post355, a_576^0'=a_576^post355, tmp_34^0'=tmp_34^post355, length_29^0'=length_29^post355, a_1162^0'=a_1162^post355, f_969^0'=f_969^post355, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post355, a_395^0'=a_395^post355, x_17^0'=x_17^post355, a_633^0'=a_633^post355, r_224^0'=r_224^post355, a_239^0'=a_239^post355, i_107^0'=i_107^post355, a_431^0'=a_431^post355, temp0_16^0'=temp0_16^post355, len_238^0'=len_238^post355, x_SLAM_f_19^0'=x_SLAM_f_19^post355, a_924^0'=a_924^post355, ct_18^0'=ct_18^post355, result_11^0'=result_11^post355, a_392^0'=a_392^post355, i_197^0'=i_197^post355, a_579^0'=a_579^post355, r_143^0'=r_143^post355, a_1236^0'=a_1236^post355, head_32^0'=head_32^post355, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post355, i_30^0'=i_30^post355, x_253^0'=x_253^post355, a_635^0'=a_635^post355, r_970^0'=r_970^post355, rcd_47^0'=rcd_47^post355, a_309^0'=a_309^post355, i_1248^0'=i_1248^post355, a_575^0'=a_575^post355, temp_35^0'=temp_35^post355, len_861^0'=len_861^post355, (-r_970^post355+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post355 == 0 /\ -x_852^post355+x_852^0 == 0 /\ -r_224^post355+r_224^0 == 0 /\ -i_197^post355+i_197^0 == 0 /\ -i_229^post355+i_229^0 == 0 /\ a_176^0-a_176^post355 == 0 /\ -a_395^post355+a_395^0 == 0 /\ -i_1053^post355+i_1053^0 == 0 /\ a_1089^0-a_1089^post355 == 0 /\ -temp0_16^post355+temp0_16^0 == 0 /\ i_27^0-i_27^post355 == 0 /\ rcd_88^0-rcd_88^post355 == 0 /\ -a_579^post355+a_579^0 == 0 /\ r_39^0-r_39^post355 == 0 /\ -rcd_58^post355+rcd_58^0 == 0 /\ a_311^0-a_311^post355 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post355 == 0 /\ -a_862^post355+a_862^0 == 0 /\ -a_263^post355+a_263^0 == 0 /\ -temp_35^post355+temp_35^0 == 0 /\ -ct_18^post355+ct_18^0 == 0 /\ f_248^0-f_248^post355 == 0 /\ rcd_1249^0-rcd_1249^post355 == 0 /\ -i_30^post355+i_30^0 == 0 /\ tmp_34^0-tmp_34^post355 == 0 /\ a_924^0-a_924^post355 == 0 /\ -i_107^post355+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post355+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post355 == 0 /\ -a_393^post355+a_393^0 == 0 /\ -x_17^post355+x_17^0 == 0 /\ t_458^0-t_458^post355 == 0 /\ nondet_12^0-nondet_12^post355 == 0 /\ i_113^0-i_113^post355 == 0 /\ x_975^0-x_975^post355 == 0 /\ r_192^0-r_192^post355 == 0 /\ -i_1248^post355+i_1248^0 == 0 /\ -result_11^post355+result_11^0 == 0 /\ a_610^0-a_610^post355 == 0 /\ -a_239^post355+a_239^0 == 0 /\ a_634^0-a_634^post355 == 0 /\ -len_861^post355+len_861^0 == 0 /\ -t_24^post355+t_24^0 == 0 /\ a_394^0-a_394^post355 == 0 /\ a_144^0-a_144^post355 == 0 /\ x_14^0-x_14^post355 == 0 /\ -a_635^post355+a_635^0 == 0 /\ -rcd_47^post355+rcd_47^0 == 0 /\ a_947^0-a_947^post355 == 0 /\ -r_143^post355+r_143^0 == 0 /\ a_121^0-a_121^post355 == 0 /\ -a_576^post355+a_576^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post355 == 0 /\ len_262^0-len_262^post355 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post355+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post355+a_309^0 == 0 /\ -a_417^post355+a_417^0 == 0 /\ len_161^0-len_161^post355 == 0 /\ len_238^0-len_238^post355 == 0 /\ -a_575^post355+a_575^0 == 0 /\ f_847^0-f_847^post355 == 0 /\ head_15^0-head_15^post355 == 0 /\ 1-head_15^0 <= 0 /\ r_151^0-r_151^post355 == 0 /\ a_902^0-a_902^post355 == 0 /\ -a_432^post355+a_432^0 == 0 /\ -a_431^post355+a_431^0 == 0 /\ a_430^0-a_430^post355 == 0 /\ -a_1236^post355+a_1236^0 == 0 /\ -f_969^post355+f_969^0 == 0 /\ i_127^0-i_127^post355 == 0 /\ -y_20^post355+y_20^0 == 0 /\ -length_29^post355+length_29^0 == 0 /\ x_21^0-x_21^post355 == 0 /\ a_577^0-a_577^post355 == 0 /\ -a_392^post355+a_392^0 == 0 /\ -x_SLAM_f_19^post355+x_SLAM_f_19^0 == 0 /\ -head_32^post355+head_32^0 == 0 /\ -i_106^post355+i_106^0 == 0 /\ x_156^0-x_156^post355 == 0 /\ -i_140^post355+i_140^0 == 0 /\ temp0_31^0-temp0_31^post355 == 0 /\ a_1162^0-a_1162^post355 == 0 /\ a_633^0-a_633^post355 == 0 /\ -a_310^post355+a_310^0 == 0 /\ i_94^0-i_94^post355 == 0 /\ -x_253^post355+x_253^0 == 0), cost: 1 356: l217 -> l218 : a_1089^0'=a_1089^post356, f_847^0'=f_847^post356, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post356, a_394^0'=a_394^post356, x_156^0'=x_156^post356, a_632^0'=a_632^post356, r_192^0'=r_192^post356, a_176^0'=a_176^post356, i_106^0'=i_106^post356, a_430^0'=a_430^post356, t_458^0'=t_458^post356, len_161^0'=len_161^post356, x_975^0'=x_975^post356, a_902^0'=a_902^post356, a_947^0'=a_947^post356, rcd_88^0'=rcd_88^post356, a_311^0'=a_311^post356, i_140^0'=i_140^post356, a_577^0'=a_577^post356, x_14^0'=x_14^post356, nondet_12^0'=nondet_12^post356, a_121^0'=a_121^post356, head_15^0'=head_15^post356, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post356, i_27^0'=i_27^post356, x_21^0'=x_21^post356, a_634^0'=a_634^post356, r_39^0'=r_39^post356, a_263^0'=a_263^post356, i_113^0'=i_113^post356, a_432^0'=a_432^post356, temp0_31^0'=temp0_31^post356, len_262^0'=len_262^post356, y_20^0'=y_20^post356, f_248^0'=f_248^post356, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post356, a_393^0'=a_393^post356, i_229^0'=i_229^post356, a_610^0'=a_610^post356, r_151^0'=r_151^post356, a_144^0'=a_144^post356, i_1053^0'=i_1053^post356, a_417^0'=a_417^post356, t_24^0'=t_24^post356, i_94^0'=i_94^post356, x_852^0'=x_852^post356, a_862^0'=a_862^post356, rcd_1249^0'=rcd_1249^post356, rcd_58^0'=rcd_58^post356, a_310^0'=a_310^post356, i_127^0'=i_127^post356, a_576^0'=a_576^post356, tmp_34^0'=tmp_34^post356, length_29^0'=length_29^post356, a_1162^0'=a_1162^post356, f_969^0'=f_969^post356, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post356, a_395^0'=a_395^post356, x_17^0'=x_17^post356, a_633^0'=a_633^post356, r_224^0'=r_224^post356, a_239^0'=a_239^post356, i_107^0'=i_107^post356, a_431^0'=a_431^post356, temp0_16^0'=temp0_16^post356, len_238^0'=len_238^post356, x_SLAM_f_19^0'=x_SLAM_f_19^post356, a_924^0'=a_924^post356, ct_18^0'=ct_18^post356, result_11^0'=result_11^post356, a_392^0'=a_392^post356, i_197^0'=i_197^post356, a_579^0'=a_579^post356, r_143^0'=r_143^post356, a_1236^0'=a_1236^post356, head_32^0'=head_32^post356, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post356, i_30^0'=i_30^post356, x_253^0'=x_253^post356, a_635^0'=a_635^post356, r_970^0'=r_970^post356, rcd_47^0'=rcd_47^post356, a_309^0'=a_309^post356, i_1248^0'=i_1248^post356, a_575^0'=a_575^post356, temp_35^0'=temp_35^post356, len_861^0'=len_861^post356, (-rcd_47^post356+rcd_47^0 == 0 /\ i_106^0-i_106^post356 == 0 /\ a_430^0-a_430^post356 == 0 /\ 1+head_15^0 <= 0 /\ a_632^0-a_632^post356 == 0 /\ x_975^0-x_975^post356 == 0 /\ a_311^0-a_311^post356 == 0 /\ -r_143^post356+r_143^0 == 0 /\ -x_SLAM_f_19^post356+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post356 == 0 /\ t_458^0-t_458^post356 == 0 /\ head_15^0-head_15^post356 == 0 /\ a_902^0-a_902^post356 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post356+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_107^post356+i_107^0 == 0 /\ i_127^0-i_127^post356 == 0 /\ -a_575^post356+a_575^0 == 0 /\ f_969^0-f_969^post356 == 0 /\ x_156^0-x_156^post356 == 0 /\ result_11^0-result_11^post356 == 0 /\ -a_432^post356+a_432^0 == 0 /\ temp0_31^0-temp0_31^post356 == 0 /\ -a_862^post356+a_862^0 == 0 /\ -i_94^post356+i_94^0 == 0 /\ -i_113^post356+i_113^0 == 0 /\ len_262^0-len_262^post356 == 0 /\ -a_392^post356+a_392^0 == 0 /\ a_394^0-a_394^post356 == 0 /\ -temp_35^post356+temp_35^0 == 0 /\ x_852^0-x_852^post356 == 0 /\ len_161^0-len_161^post356 == 0 /\ -y_20^post356+y_20^0 == 0 /\ -a_310^post356+a_310^0 == 0 /\ a_176^0-a_176^post356 == 0 /\ rcd_88^0-rcd_88^post356 == 0 /\ -x_253^post356+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post356+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_847^0-f_847^post356 == 0 /\ -r_970^post356+r_970^0 == 0 /\ -a_121^post356+a_121^0 == 0 /\ rcd_1249^0-rcd_1249^post356 == 0 /\ -a_1236^post356+a_1236^0 == 0 /\ temp0_16^0-temp0_16^post356 == 0 /\ -a_577^post356+a_577^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post356 == 0 /\ -i_229^post356+i_229^0 == 0 /\ -r_224^post356+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post356+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_151^0-r_151^post356 == 0 /\ -i_1248^post356+i_1248^0 == 0 /\ -a_579^post356+a_579^0 == 0 /\ a_393^0-a_393^post356 == 0 /\ -rcd_58^post356+rcd_58^0 == 0 /\ a_239^0-a_239^post356 == 0 /\ -length_29^post356+length_29^0 == 0 /\ -a_431^post356+a_431^0 == 0 /\ -r_39^post356+r_39^0 == 0 /\ -a_263^post356+a_263^0 == 0 /\ -a_395^post356+a_395^0 == 0 /\ -i_197^post356+i_197^0 == 0 /\ r_192^0-r_192^post356 == 0 /\ -head_32^post356+head_32^0 == 0 /\ x_14^0-x_14^post356 == 0 /\ a_610^0-a_610^post356 == 0 /\ a_633^0-a_633^post356 == 0 /\ a_417^0-a_417^post356 == 0 /\ i_140^0-i_140^post356 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post356 == 0 /\ a_1089^0-a_1089^post356 == 0 /\ -a_1162^post356+a_1162^0 == 0 /\ a_144^0-a_144^post356 == 0 /\ i_27^0-i_27^post356 == 0 /\ -a_924^post356+a_924^0 == 0 /\ len_238^0-len_238^post356 == 0 /\ nondet_12^0-nondet_12^post356 == 0 /\ a_634^0-a_634^post356 == 0 /\ -x_21^post356+x_21^0 == 0 /\ a_576^0-a_576^post356 == 0 /\ a_947^0-a_947^post356 == 0 /\ -x_17^post356+x_17^0 == 0 /\ -a_309^post356+a_309^0 == 0 /\ -a_635^post356+a_635^0 == 0 /\ -ct_18^post356+ct_18^0 == 0 /\ -tmp_34^post356+tmp_34^0 == 0 /\ -i_1053^post356+i_1053^0 == 0 /\ -i_30^post356+i_30^0 == 0 /\ -t_24^post356+t_24^0 == 0 /\ -len_861^post356+len_861^0 == 0), cost: 1 357: l218 -> l219 : a_1089^0'=a_1089^post357, f_847^0'=f_847^post357, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post357, a_394^0'=a_394^post357, x_156^0'=x_156^post357, a_632^0'=a_632^post357, r_192^0'=r_192^post357, a_176^0'=a_176^post357, i_106^0'=i_106^post357, a_430^0'=a_430^post357, t_458^0'=t_458^post357, len_161^0'=len_161^post357, x_975^0'=x_975^post357, a_902^0'=a_902^post357, a_947^0'=a_947^post357, rcd_88^0'=rcd_88^post357, a_311^0'=a_311^post357, i_140^0'=i_140^post357, a_577^0'=a_577^post357, x_14^0'=x_14^post357, nondet_12^0'=nondet_12^post357, a_121^0'=a_121^post357, head_15^0'=head_15^post357, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post357, i_27^0'=i_27^post357, x_21^0'=x_21^post357, a_634^0'=a_634^post357, r_39^0'=r_39^post357, a_263^0'=a_263^post357, i_113^0'=i_113^post357, a_432^0'=a_432^post357, temp0_31^0'=temp0_31^post357, len_262^0'=len_262^post357, y_20^0'=y_20^post357, f_248^0'=f_248^post357, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post357, a_393^0'=a_393^post357, i_229^0'=i_229^post357, a_610^0'=a_610^post357, r_151^0'=r_151^post357, a_144^0'=a_144^post357, i_1053^0'=i_1053^post357, a_417^0'=a_417^post357, t_24^0'=t_24^post357, i_94^0'=i_94^post357, x_852^0'=x_852^post357, a_862^0'=a_862^post357, rcd_1249^0'=rcd_1249^post357, rcd_58^0'=rcd_58^post357, a_310^0'=a_310^post357, i_127^0'=i_127^post357, a_576^0'=a_576^post357, tmp_34^0'=tmp_34^post357, length_29^0'=length_29^post357, a_1162^0'=a_1162^post357, f_969^0'=f_969^post357, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post357, a_395^0'=a_395^post357, x_17^0'=x_17^post357, a_633^0'=a_633^post357, r_224^0'=r_224^post357, a_239^0'=a_239^post357, i_107^0'=i_107^post357, a_431^0'=a_431^post357, temp0_16^0'=temp0_16^post357, len_238^0'=len_238^post357, x_SLAM_f_19^0'=x_SLAM_f_19^post357, a_924^0'=a_924^post357, ct_18^0'=ct_18^post357, result_11^0'=result_11^post357, a_392^0'=a_392^post357, i_197^0'=i_197^post357, a_579^0'=a_579^post357, r_143^0'=r_143^post357, a_1236^0'=a_1236^post357, head_32^0'=head_32^post357, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post357, i_30^0'=i_30^post357, x_253^0'=x_253^post357, a_635^0'=a_635^post357, r_970^0'=r_970^post357, rcd_47^0'=rcd_47^post357, a_309^0'=a_309^post357, i_1248^0'=i_1248^post357, a_575^0'=a_575^post357, temp_35^0'=temp_35^post357, len_861^0'=len_861^post357, (-head_32^post357+head_32^0 == 0 /\ -temp0_16^post357+temp0_16^0 == 0 /\ -len_861^post357+len_861^0 == 0 /\ -i_229^post357+i_229^0 == 0 /\ -y_20^post357+y_20^0 == 0 /\ x_852^0-x_852^post357 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post357 == 0 /\ a_1089^0-a_1089^post357 == 0 /\ a_394^0-a_394^post357 == 0 /\ a_144^0-a_144^post357 == 0 /\ -f_248^post357+f_248^0 == 0 /\ -r_224^post357+r_224^0 == 0 /\ -temp_35^post357+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post357+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post357 == 0 /\ a_311^0-a_311^post357 == 0 /\ a_576^0-a_576^post357 == 0 /\ tmp_34^0-tmp_34^post357 == 0 /\ f_847^0-f_847^post357 == 0 /\ -a_263^post357+a_263^0 == 0 /\ -r_39^post357+r_39^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post357 == 0 /\ i_106^0-i_106^post357 == 0 /\ -a_392^post357+a_392^0 == 0 /\ -a_862^post357+a_862^0 == 0 /\ -i_107^post357+i_107^0 == 0 /\ -a_417^post357+a_417^0 == 0 /\ -a_575^post357+a_575^0 == 0 /\ -i_197^post357+i_197^0 == 0 /\ -a_579^post357+a_579^0 == 0 /\ -i_127^post357+i_127^0 == 0 /\ t_458^0-t_458^post357 == 0 /\ -a_309^post357+a_309^0 == 0 /\ -i_30^post357+i_30^0 == 0 /\ -result_11^post357+result_11^0 == 0 /\ -a_635^post357+a_635^0 == 0 /\ a_239^0-a_239^post357 == 0 /\ -a_393^post357+a_393^0 == 0 /\ -x_17^post357+x_17^0 == 0 /\ -t_24^post357+t_24^0 == 0 /\ x_21^0-x_21^post357 == 0 /\ ct_18^0-ct_18^post357 == 0 /\ r_143^0-r_143^post357 == 0 /\ -a_1162^post357+a_1162^0 == 0 /\ a_1236^0-a_1236^post357 == 0 /\ -a_577^post357+a_577^0 == 0 /\ temp0_31^0-temp0_31^post357 == 0 /\ a_610^0-a_610^post357 == 0 /\ -i_1248^post357+i_1248^0 == 0 /\ -x_975^post357+x_975^0 == 0 /\ a_634^0-a_634^post357 == 0 /\ -a_633^post357+a_633^0 == 0 /\ i_27^0-i_27^post357 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ x_14^0-x_14^post357 == 0 /\ a_121^0-a_121^post357 == 0 /\ -x_SLAM_f_19^post357+x_SLAM_f_19^0 == 0 /\ len_161^0-len_161^post357 == 0 /\ x_156^0-x_156^post357 == 0 /\ len_262^0-len_262^post357 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post357 == 0 /\ a_947^0-a_947^post357 == 0 /\ x_253^0-x_253^post357 == 0 /\ i_1053^0-i_1053^post357 == 0 /\ -a_632^post357+a_632^0 == 0 /\ a_176^0-a_176^post357 == 0 /\ len_238^0-len_238^post357 == 0 /\ rcd_58^0-rcd_58^post357 == 0 /\ a_395^0-a_395^post357 == 0 /\ -a_924^post357+a_924^0 == 0 /\ -i_113^post357+i_113^0 == 0 /\ rcd_1249^0-rcd_1249^post357 == 0 /\ a_430^0-a_430^post357 == 0 /\ head_15^0-head_15^post357 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post357 == 0 /\ -f_969^post357+f_969^0 == 0 /\ r_151^0-r_151^post357 == 0 /\ -r_970^post357+r_970^0 == 0 /\ -a_432^post357+a_432^0 == 0 /\ -a_431^post357+a_431^0 == 0 /\ -i_94^post357+i_94^0 == 0 /\ r_192^0-r_192^post357 == 0 /\ a_902^0-a_902^post357 == 0 /\ -length_29^post357+length_29^0 == 0 /\ -rcd_47^post357+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post357 == 0 /\ -i_140^post357+i_140^0 == 0 /\ -a_310^post357+a_310^0 == 0), cost: 1 358: l218 -> l219 : a_1089^0'=a_1089^post358, f_847^0'=f_847^post358, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post358, a_394^0'=a_394^post358, x_156^0'=x_156^post358, a_632^0'=a_632^post358, r_192^0'=r_192^post358, a_176^0'=a_176^post358, i_106^0'=i_106^post358, a_430^0'=a_430^post358, t_458^0'=t_458^post358, len_161^0'=len_161^post358, x_975^0'=x_975^post358, a_902^0'=a_902^post358, a_947^0'=a_947^post358, rcd_88^0'=rcd_88^post358, a_311^0'=a_311^post358, i_140^0'=i_140^post358, a_577^0'=a_577^post358, x_14^0'=x_14^post358, nondet_12^0'=nondet_12^post358, a_121^0'=a_121^post358, head_15^0'=head_15^post358, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post358, i_27^0'=i_27^post358, x_21^0'=x_21^post358, a_634^0'=a_634^post358, r_39^0'=r_39^post358, a_263^0'=a_263^post358, i_113^0'=i_113^post358, a_432^0'=a_432^post358, temp0_31^0'=temp0_31^post358, len_262^0'=len_262^post358, y_20^0'=y_20^post358, f_248^0'=f_248^post358, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post358, a_393^0'=a_393^post358, i_229^0'=i_229^post358, a_610^0'=a_610^post358, r_151^0'=r_151^post358, a_144^0'=a_144^post358, i_1053^0'=i_1053^post358, a_417^0'=a_417^post358, t_24^0'=t_24^post358, i_94^0'=i_94^post358, x_852^0'=x_852^post358, a_862^0'=a_862^post358, rcd_1249^0'=rcd_1249^post358, rcd_58^0'=rcd_58^post358, a_310^0'=a_310^post358, i_127^0'=i_127^post358, a_576^0'=a_576^post358, tmp_34^0'=tmp_34^post358, length_29^0'=length_29^post358, a_1162^0'=a_1162^post358, f_969^0'=f_969^post358, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post358, a_395^0'=a_395^post358, x_17^0'=x_17^post358, a_633^0'=a_633^post358, r_224^0'=r_224^post358, a_239^0'=a_239^post358, i_107^0'=i_107^post358, a_431^0'=a_431^post358, temp0_16^0'=temp0_16^post358, len_238^0'=len_238^post358, x_SLAM_f_19^0'=x_SLAM_f_19^post358, a_924^0'=a_924^post358, ct_18^0'=ct_18^post358, result_11^0'=result_11^post358, a_392^0'=a_392^post358, i_197^0'=i_197^post358, a_579^0'=a_579^post358, r_143^0'=r_143^post358, a_1236^0'=a_1236^post358, head_32^0'=head_32^post358, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post358, i_30^0'=i_30^post358, x_253^0'=x_253^post358, a_635^0'=a_635^post358, r_970^0'=r_970^post358, rcd_47^0'=rcd_47^post358, a_309^0'=a_309^post358, i_1248^0'=i_1248^post358, a_575^0'=a_575^post358, temp_35^0'=temp_35^post358, len_861^0'=len_861^post358, (r_151^0-r_151^post358 == 0 /\ -a_610^post358+a_610^0 == 0 /\ length_29^0-length_29^post358 == 0 /\ a_632^0-a_632^post358 == 0 /\ -a_633^post358+a_633^0 == 0 /\ -rcd_47^post358+rcd_47^0 == 0 /\ x_975^0-x_975^post358 == 0 /\ a_430^0-a_430^post358 == 0 /\ i_113^0-i_113^post358 == 0 /\ a_393^0-a_393^post358 == 0 /\ -rcd_1249^post358+rcd_1249^0 == 0 /\ -r_143^post358+r_143^0 == 0 /\ a_432^0-a_432^post358 == 0 /\ f_969^0-f_969^post358 == 0 /\ -len_238^post358+len_238^0 == 0 /\ result_11^0-result_11^post358 == 0 /\ r_192^0-r_192^post358 == 0 /\ -x_21^post358+x_21^0 == 0 /\ len_161^0-len_161^post358 == 0 /\ a_579^0-a_579^post358 == 0 /\ a_144^0-a_144^post358 == 0 /\ head_32^0-head_32^post358 == 0 /\ -x_SLAM_f_19^post358+x_SLAM_f_19^0 == 0 /\ rcd_58^0-rcd_58^post358 == 0 /\ -a_392^post358+a_392^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_140^0-i_140^post358 == 0 /\ a_394^0-a_394^post358 == 0 /\ -a_576^post358+a_576^0 == 0 /\ t_24^0-t_24^post358 == 0 /\ -x_253^post358+x_253^0 == 0 /\ a_862^0-a_862^post358 == 0 /\ -temp_35^post358+temp_35^0 == 0 /\ x_852^0-x_852^post358 == 0 /\ -a_1236^post358+a_1236^0 == 0 /\ -r_970^post358+r_970^0 == 0 /\ -f_248^post358+f_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post358 == 0 /\ f_847^0-f_847^post358 == 0 /\ -i_94^post358+i_94^0 == 0 /\ -a_431^post358+a_431^0 == 0 /\ -i_229^post358+i_229^0 == 0 /\ -temp0_31^post358+temp0_31^0 == 0 /\ a_902^0-a_902^post358 == 0 /\ -i_1248^post358+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post358 == 0 /\ t_458^0-t_458^post358 == 0 /\ a_395^0-a_395^post358 == 0 /\ a_239^0-a_239^post358 == 0 /\ i_106^0-i_106^post358 == 0 /\ -r_224^post358+r_224^0 == 0 /\ -ct_18^post358+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post358+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_310^post358+a_310^0 == 0 /\ -len_861^post358+len_861^0 == 0 /\ -temp0_16^post358+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post358 == 0 /\ a_311^0-a_311^post358 == 0 /\ x_156^0-x_156^post358 == 0 /\ -a_947^post358+a_947^0 == 0 /\ a_1089^0-a_1089^post358 == 0 /\ nondet_12^0-nondet_12^post358 == 0 /\ -i_197^post358+i_197^0 == 0 /\ -x_17^post358+x_17^0 == 0 /\ -r_39^post358+r_39^0 == 0 /\ -len_262^post358+len_262^0 == 0 /\ i_27^0-i_27^post358 == 0 /\ -a_309^post358+a_309^0 == 0 /\ a_121^0-a_121^post358 == 0 /\ a_634^0-a_634^post358 == 0 /\ a_263^0-a_263^post358 == 0 /\ -i_107^post358+i_107^0 == 0 /\ -i_127^post358+i_127^0 == 0 /\ -x_14^post358+x_14^0 == 0 /\ -i_30^post358+i_30^0 == 0 /\ -a_575^post358+a_575^0 == 0 /\ -head_15^post358+head_15^0 == 0 /\ -a_924^post358+a_924^0 == 0 /\ a_417^0-a_417^post358 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post358 == 0 /\ -a_635^post358+a_635^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post358 == 0 /\ i_1053^0-i_1053^post358 == 0 /\ -a_1162^post358+a_1162^0 == 0 /\ tmp_34^0-tmp_34^post358 == 0 /\ -a_577^post358+a_577^0 == 0 /\ a_176^0-a_176^post358 == 0 /\ y_20^0-y_20^post358 == 0), cost: 1 359: l219 -> l220 : a_1089^0'=a_1089^post359, f_847^0'=f_847^post359, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post359, a_394^0'=a_394^post359, x_156^0'=x_156^post359, a_632^0'=a_632^post359, r_192^0'=r_192^post359, a_176^0'=a_176^post359, i_106^0'=i_106^post359, a_430^0'=a_430^post359, t_458^0'=t_458^post359, len_161^0'=len_161^post359, x_975^0'=x_975^post359, a_902^0'=a_902^post359, a_947^0'=a_947^post359, rcd_88^0'=rcd_88^post359, a_311^0'=a_311^post359, i_140^0'=i_140^post359, a_577^0'=a_577^post359, x_14^0'=x_14^post359, nondet_12^0'=nondet_12^post359, a_121^0'=a_121^post359, head_15^0'=head_15^post359, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post359, i_27^0'=i_27^post359, x_21^0'=x_21^post359, a_634^0'=a_634^post359, r_39^0'=r_39^post359, a_263^0'=a_263^post359, i_113^0'=i_113^post359, a_432^0'=a_432^post359, temp0_31^0'=temp0_31^post359, len_262^0'=len_262^post359, y_20^0'=y_20^post359, f_248^0'=f_248^post359, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post359, a_393^0'=a_393^post359, i_229^0'=i_229^post359, a_610^0'=a_610^post359, r_151^0'=r_151^post359, a_144^0'=a_144^post359, i_1053^0'=i_1053^post359, a_417^0'=a_417^post359, t_24^0'=t_24^post359, i_94^0'=i_94^post359, x_852^0'=x_852^post359, a_862^0'=a_862^post359, rcd_1249^0'=rcd_1249^post359, rcd_58^0'=rcd_58^post359, a_310^0'=a_310^post359, i_127^0'=i_127^post359, a_576^0'=a_576^post359, tmp_34^0'=tmp_34^post359, length_29^0'=length_29^post359, a_1162^0'=a_1162^post359, f_969^0'=f_969^post359, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post359, a_395^0'=a_395^post359, x_17^0'=x_17^post359, a_633^0'=a_633^post359, r_224^0'=r_224^post359, a_239^0'=a_239^post359, i_107^0'=i_107^post359, a_431^0'=a_431^post359, temp0_16^0'=temp0_16^post359, len_238^0'=len_238^post359, x_SLAM_f_19^0'=x_SLAM_f_19^post359, a_924^0'=a_924^post359, ct_18^0'=ct_18^post359, result_11^0'=result_11^post359, a_392^0'=a_392^post359, i_197^0'=i_197^post359, a_579^0'=a_579^post359, r_143^0'=r_143^post359, a_1236^0'=a_1236^post359, head_32^0'=head_32^post359, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post359, i_30^0'=i_30^post359, x_253^0'=x_253^post359, a_635^0'=a_635^post359, r_970^0'=r_970^post359, rcd_47^0'=rcd_47^post359, a_309^0'=a_309^post359, i_1248^0'=i_1248^post359, a_575^0'=a_575^post359, temp_35^0'=temp_35^post359, len_861^0'=len_861^post359, (t_24^0-t_24^post359 == 0 /\ -i_229^post359+i_229^0 == 0 /\ -temp0_16^post359+temp0_16^0 == 0 /\ a_862^0-a_862^post359 == 0 /\ a_144^0-a_144^post359 == 0 /\ -a_310^post359+a_310^0 == 0 /\ x_21^0-x_21^post359 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post359 == 0 /\ x_156^0-x_156^post359 == 0 /\ -len_861^post359+len_861^0 == 0 /\ -f_248^post359+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post359+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post359 == 0 /\ f_847^0-f_847^post359 == 0 /\ -a_1236^post359+a_1236^0 == 0 /\ a_394^0-a_394^post359 == 0 /\ -len_262^post359+len_262^0 == 0 /\ -i_1248^post359+i_1248^0 == 0 /\ -a_392^post359+a_392^0 == 0 /\ -r_224^post359+r_224^0 == 0 /\ -a_579^post359+a_579^0 == 0 /\ -i_27^post359+i_27^0 == 0 /\ -a_239^post359+a_239^0 == 0 /\ a_417^0-a_417^post359 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ -temp0_31^post359+temp0_31^0 == 0 /\ -a_635^post359+a_635^0 == 0 /\ -x_14^post359+x_14^0 == 0 /\ -i_127^post359+i_127^0 == 0 /\ r_151^0-r_151^post359 == 0 /\ t_458^0-t_458^post359 == 0 /\ -x_17^post359+x_17^0 == 0 /\ -i_30^post359+i_30^0 == 0 /\ r_39^0-r_39^post359 == 0 /\ -i_107^post359+i_107^0 == 0 /\ a_577^0-a_577^post359 == 0 /\ -a_575^post359+a_575^0 == 0 /\ -head_32^post359+head_32^0 == 0 /\ -i_197^post359+i_197^0 == 0 /\ -x_852^post359+x_852^0 == 0 /\ a_311^0-a_311^post359 == 0 /\ i_106^0-i_106^post359 == 0 /\ i_94^0-i_94^post359 == 0 /\ head_15^0-head_15^post359 == 0 /\ -a_309^post359+a_309^0 == 0 /\ a_393^0-a_393^post359 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post359+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post359 == 0 /\ a_430^0-a_430^post359 == 0 /\ -ct_18^post359+ct_18^0 == 0 /\ -a_634^post359+a_634^0 == 0 /\ -rcd_47^post359+rcd_47^0 == 0 /\ -len_238^post359+len_238^0 == 0 /\ i_140^0-i_140^post359 == 0 /\ a_1089^0-a_1089^post359 == 0 /\ -a_633^post359+a_633^0 == 0 /\ -a_1162^post359+a_1162^0 == 0 /\ -result_11^post359+result_11^0 == 0 /\ -f_969^post359+f_969^0 == 0 /\ x_253^0-x_253^post359 == 0 /\ a_947^0-a_947^post359 == 0 /\ y_20^0-y_20^post359 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post359 == 0 /\ -a_924^post359+a_924^0 == 0 /\ -rcd_1249^post359+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post359 == 0 /\ a_395^0-a_395^post359 == 0 /\ i_1053^0-i_1053^post359 == 0 /\ a_176^0-a_176^post359 == 0 /\ r_192^0-r_192^post359 == 0 /\ a_902^0-a_902^post359 == 0 /\ x_975^0-x_975^post359 == 0 /\ -a_431^post359+a_431^0 == 0 /\ -r_970^post359+r_970^0 == 0 /\ i_113^0-i_113^post359 == 0 /\ length_29^0-length_29^post359 == 0 /\ tmp_34^0-tmp_34^post359 == 0 /\ rcd_88^0-rcd_88^post359 == 0 /\ -r_143^post359+r_143^0 == 0 /\ -a_576^post359+a_576^0 == 0 /\ len_161^0-len_161^post359 == 0 /\ -a_610^post359+a_610^0 == 0 /\ -temp_35^post359+temp_35^0 == 0 /\ a_632^0-a_632^post359 == 0 /\ -x_SLAM_f_19^post359+x_SLAM_f_19^0 == 0 /\ -a_121^post359+a_121^0 == 0 /\ a_432^0-a_432^post359 == 0 /\ -nondet_12^post359+nondet_12^0 == 0), cost: 1 360: l219 -> l220 : a_1089^0'=a_1089^post360, f_847^0'=f_847^post360, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post360, a_394^0'=a_394^post360, x_156^0'=x_156^post360, a_632^0'=a_632^post360, r_192^0'=r_192^post360, a_176^0'=a_176^post360, i_106^0'=i_106^post360, a_430^0'=a_430^post360, t_458^0'=t_458^post360, len_161^0'=len_161^post360, x_975^0'=x_975^post360, a_902^0'=a_902^post360, a_947^0'=a_947^post360, rcd_88^0'=rcd_88^post360, a_311^0'=a_311^post360, i_140^0'=i_140^post360, a_577^0'=a_577^post360, x_14^0'=x_14^post360, nondet_12^0'=nondet_12^post360, a_121^0'=a_121^post360, head_15^0'=head_15^post360, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post360, i_27^0'=i_27^post360, x_21^0'=x_21^post360, a_634^0'=a_634^post360, r_39^0'=r_39^post360, a_263^0'=a_263^post360, i_113^0'=i_113^post360, a_432^0'=a_432^post360, temp0_31^0'=temp0_31^post360, len_262^0'=len_262^post360, y_20^0'=y_20^post360, f_248^0'=f_248^post360, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post360, a_393^0'=a_393^post360, i_229^0'=i_229^post360, a_610^0'=a_610^post360, r_151^0'=r_151^post360, a_144^0'=a_144^post360, i_1053^0'=i_1053^post360, a_417^0'=a_417^post360, t_24^0'=t_24^post360, i_94^0'=i_94^post360, x_852^0'=x_852^post360, a_862^0'=a_862^post360, rcd_1249^0'=rcd_1249^post360, rcd_58^0'=rcd_58^post360, a_310^0'=a_310^post360, i_127^0'=i_127^post360, a_576^0'=a_576^post360, tmp_34^0'=tmp_34^post360, length_29^0'=length_29^post360, a_1162^0'=a_1162^post360, f_969^0'=f_969^post360, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post360, a_395^0'=a_395^post360, x_17^0'=x_17^post360, a_633^0'=a_633^post360, r_224^0'=r_224^post360, a_239^0'=a_239^post360, i_107^0'=i_107^post360, a_431^0'=a_431^post360, temp0_16^0'=temp0_16^post360, len_238^0'=len_238^post360, x_SLAM_f_19^0'=x_SLAM_f_19^post360, a_924^0'=a_924^post360, ct_18^0'=ct_18^post360, result_11^0'=result_11^post360, a_392^0'=a_392^post360, i_197^0'=i_197^post360, a_579^0'=a_579^post360, r_143^0'=r_143^post360, a_1236^0'=a_1236^post360, head_32^0'=head_32^post360, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post360, i_30^0'=i_30^post360, x_253^0'=x_253^post360, a_635^0'=a_635^post360, r_970^0'=r_970^post360, rcd_47^0'=rcd_47^post360, a_309^0'=a_309^post360, i_1248^0'=i_1248^post360, a_575^0'=a_575^post360, temp_35^0'=temp_35^post360, len_861^0'=len_861^post360, (r_39^0-r_39^post360 == 0 /\ r_151^0-r_151^post360 == 0 /\ -a_924^post360+a_924^0 == 0 /\ -a_610^post360+a_610^0 == 0 /\ -rcd_1249^post360+rcd_1249^0 == 0 /\ length_29^0-length_29^post360 == 0 /\ -a_634^post360+a_634^0 == 0 /\ i_94^0-i_94^post360 == 0 /\ i_1053^0-i_1053^post360 == 0 /\ -rcd_47^post360+rcd_47^0 == 0 /\ i_113^0-i_113^post360 == 0 /\ a_393^0-a_393^post360 == 0 /\ -tmp_34^post360+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post360+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_161^0-len_161^post360 == 0 /\ -x_253^post360+x_253^0 == 0 /\ -len_238^post360+len_238^0 == 0 /\ a_432^0-a_432^post360 == 0 /\ x_21^0-x_21^post360 == 0 /\ i_27^0-i_27^post360 == 0 /\ a_310^0-a_310^post360 == 0 /\ -result_11^post360+result_11^0 == 0 /\ a_430^0-a_430^post360 == 0 /\ -f_969^post360+f_969^0 == 0 /\ r_192^0-r_192^post360 == 0 /\ i_140^0-i_140^post360 == 0 /\ head_32^0-head_32^post360 == 0 /\ a_417^0-a_417^post360 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post360 == 0 /\ -temp_35^post360+temp_35^0 == 0 /\ a_263^0-a_263^post360 == 0 /\ x_156^0-x_156^post360 == 0 /\ -a_576^post360+a_576^0 == 0 /\ -r_970^post360+r_970^0 == 0 /\ -nondet_12^post360+nondet_12^0 == 0 /\ t_24^0-t_24^post360 == 0 /\ i_197^0-i_197^post360 == 0 /\ a_1162^0-a_1162^post360 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post360 == 0 /\ -r_143^post360+r_143^0 == 0 /\ -a_395^post360+a_395^0 == 0 /\ -a_1236^post360+a_1236^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -a_431^post360+a_431^0 == 0 /\ -f_248^post360+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post360+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_458^0-t_458^post360 == 0 /\ -temp0_31^post360+temp0_31^0 == 0 /\ a_632^0-a_632^post360 == 0 /\ i_106^0-i_106^post360 == 0 /\ x_975^0-x_975^post360 == 0 /\ -a_392^post360+a_392^0 == 0 /\ a_577^0-a_577^post360 == 0 /\ i_30^0-i_30^post360 == 0 /\ i_107^0-i_107^post360 == 0 /\ a_902^0-a_902^post360 == 0 /\ rcd_88^0-rcd_88^post360 == 0 /\ a_311^0-a_311^post360 == 0 /\ -i_1248^post360+i_1248^0 == 0 /\ -a_144^post360+a_144^0 == 0 /\ -a_239^post360+a_239^0 == 0 /\ a_1089^0-a_1089^post360 == 0 /\ -len_861^post360+len_861^0 == 0 /\ -temp0_16^post360+temp0_16^0 == 0 /\ i_229^0-i_229^post360 == 0 /\ -a_947^post360+a_947^0 == 0 /\ -len_262^post360+len_262^0 == 0 /\ -head_15^post360+head_15^0 == 0 /\ -x_17^post360+x_17^0 == 0 /\ a_121^0-a_121^post360 == 0 /\ x_852^0-x_852^post360 == 0 /\ -x_14^post360+x_14^0 == 0 /\ a_862^0-a_862^post360 == 0 /\ -a_635^post360+a_635^0 == 0 /\ -a_309^post360+a_309^0 == 0 /\ -rcd_58^post360+rcd_58^0 == 0 /\ y_20^0-y_20^post360 == 0 /\ -i_127^post360+i_127^0 == 0 /\ a_176^0-a_176^post360 == 0 /\ f_847^0-f_847^post360 == 0 /\ -a_579^post360+a_579^0 == 0 /\ -a_575^post360+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post360 == 0 /\ a_394^0-a_394^post360 == 0 /\ -ct_18^post360+ct_18^0 == 0 /\ r_224^0-r_224^post360 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post360+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post360+a_633^0 == 0), cost: 1 361: l220 -> l221 : a_1089^0'=a_1089^post361, f_847^0'=f_847^post361, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post361, a_394^0'=a_394^post361, x_156^0'=x_156^post361, a_632^0'=a_632^post361, r_192^0'=r_192^post361, a_176^0'=a_176^post361, i_106^0'=i_106^post361, a_430^0'=a_430^post361, t_458^0'=t_458^post361, len_161^0'=len_161^post361, x_975^0'=x_975^post361, a_902^0'=a_902^post361, a_947^0'=a_947^post361, rcd_88^0'=rcd_88^post361, a_311^0'=a_311^post361, i_140^0'=i_140^post361, a_577^0'=a_577^post361, x_14^0'=x_14^post361, nondet_12^0'=nondet_12^post361, a_121^0'=a_121^post361, head_15^0'=head_15^post361, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post361, i_27^0'=i_27^post361, x_21^0'=x_21^post361, a_634^0'=a_634^post361, r_39^0'=r_39^post361, a_263^0'=a_263^post361, i_113^0'=i_113^post361, a_432^0'=a_432^post361, temp0_31^0'=temp0_31^post361, len_262^0'=len_262^post361, y_20^0'=y_20^post361, f_248^0'=f_248^post361, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post361, a_393^0'=a_393^post361, i_229^0'=i_229^post361, a_610^0'=a_610^post361, r_151^0'=r_151^post361, a_144^0'=a_144^post361, i_1053^0'=i_1053^post361, a_417^0'=a_417^post361, t_24^0'=t_24^post361, i_94^0'=i_94^post361, x_852^0'=x_852^post361, a_862^0'=a_862^post361, rcd_1249^0'=rcd_1249^post361, rcd_58^0'=rcd_58^post361, a_310^0'=a_310^post361, i_127^0'=i_127^post361, a_576^0'=a_576^post361, tmp_34^0'=tmp_34^post361, length_29^0'=length_29^post361, a_1162^0'=a_1162^post361, f_969^0'=f_969^post361, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post361, a_395^0'=a_395^post361, x_17^0'=x_17^post361, a_633^0'=a_633^post361, r_224^0'=r_224^post361, a_239^0'=a_239^post361, i_107^0'=i_107^post361, a_431^0'=a_431^post361, temp0_16^0'=temp0_16^post361, len_238^0'=len_238^post361, x_SLAM_f_19^0'=x_SLAM_f_19^post361, a_924^0'=a_924^post361, ct_18^0'=ct_18^post361, result_11^0'=result_11^post361, a_392^0'=a_392^post361, i_197^0'=i_197^post361, a_579^0'=a_579^post361, r_143^0'=r_143^post361, a_1236^0'=a_1236^post361, head_32^0'=head_32^post361, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post361, i_30^0'=i_30^post361, x_253^0'=x_253^post361, a_635^0'=a_635^post361, r_970^0'=r_970^post361, rcd_47^0'=rcd_47^post361, a_309^0'=a_309^post361, i_1248^0'=i_1248^post361, a_575^0'=a_575^post361, temp_35^0'=temp_35^post361, len_861^0'=len_861^post361, (a_263^0-a_263^post361 == 0 /\ i_229^0-i_229^post361 == 0 /\ -a_417^post361+a_417^0 == 0 /\ -i_27^post361+i_27^0 == 0 /\ -len_861^post361+len_861^0 == 0 /\ -a_1236^post361+a_1236^0 == 0 /\ len_161^0-len_161^post361 == 0 /\ x_156^0-x_156^post361 == 0 /\ f_847^0-f_847^post361 == 0 /\ -a_393^post361+a_393^0 == 0 /\ temp0_31^0-temp0_31^post361 == 0 /\ -a_392^post361+a_392^0 == 0 /\ -i_1248^post361+i_1248^0 == 0 /\ -i_30^post361+i_30^0 == 0 /\ head_15^0-head_15^post361 == 0 /\ a_634^0-a_634^post361 == 0 /\ -a_239^post361+a_239^0 == 0 /\ -length_29^post361+length_29^0 == 0 /\ i_1053^0-i_1053^post361 == 0 /\ -temp0_16^post361+temp0_16^0 == 0 /\ a_121^0-a_121^post361 == 0 /\ len_262^0-len_262^post361 == 0 /\ a_947^0-a_947^post361 == 0 /\ -head_32^post361+head_32^0 == 0 /\ i_127^0-i_127^post361 == 0 /\ a_430^0-a_430^post361 == 0 /\ r_192^0-r_192^post361 == 0 /\ -a_635^post361+a_635^0 == 0 /\ i_113^0-i_113^post361 == 0 /\ a_176^0-a_176^post361 == 0 /\ -ct_18^post361+ct_18^0 == 0 /\ a_577^0-a_577^post361 == 0 /\ -len_238^post361+len_238^0 == 0 /\ -r_151^post361+r_151^0 == 0 /\ -i_197^post361+i_197^0 == 0 /\ x_14^0-x_14^post361 == 0 /\ -a_579^post361+a_579^0 == 0 /\ -a_902^post361+a_902^0 == 0 /\ a_632^0-a_632^post361 == 0 /\ -rcd_58^post361+rcd_58^0 == 0 /\ -a_309^post361+a_309^0 == 0 /\ -a_144^post361+a_144^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_575^post361+a_575^0 == 0 /\ -a_862^post361+a_862^0 == 0 /\ a_1089^0-a_1089^post361 == 0 /\ a_432^0-a_432^post361 == 0 /\ -rcd_1249^post361+rcd_1249^0 == 0 /\ x_21^0-x_21^post361 == 0 /\ -a_633^post361+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post361 == 0 /\ -result_11^post361+result_11^0 == 0 /\ -a_1162^post361+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post361+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post361 == 0 /\ f_248^0-f_248^post361 == 0 /\ a_431^0-a_431^post361 == 0 /\ -f_969^post361+f_969^0 == 0 /\ -x_852^post361+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post361 == 0 /\ -tmp_34^post361+tmp_34^0 == 0 /\ x_17^0-x_17^post361 == 0 /\ i_94^0-i_94^post361 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post361 == 0 /\ y_20^0-y_20^post361 == 0 /\ -rcd_47^post361+rcd_47^0 == 0 /\ -a_924^post361+a_924^0 == 0 /\ a_394^0-a_394^post361 == 0 /\ -temp_35^post361+temp_35^0 == 0 /\ x_975^0-x_975^post361 == 0 /\ -a_311^post361+a_311^0 == 0 /\ -nondet_12^post361+nondet_12^0 == 0 /\ -r_143^post361+r_143^0 == 0 /\ a_395^0-a_395^post361 == 0 /\ -x_SLAM_f_19^post361+x_SLAM_f_19^0 == 0 /\ r_224^0-r_224^post361 == 0 /\ -x_253^post361+x_253^0 == 0 /\ -r_970^post361+r_970^0 == 0 /\ i_107^0-i_107^post361 == 0 /\ a_610^0-a_610^post361 == 0 /\ i_106^0-i_106^post361 == 0 /\ -rcd_88^post361+rcd_88^0 == 0 /\ t_24^0-t_24^post361 == 0 /\ r_39^0-r_39^post361 == 0 /\ a_310^0-a_310^post361 == 0 /\ t_458^0-t_458^post361 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post361+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post361+a_576^0 == 0), cost: 1 362: l220 -> l221 : a_1089^0'=a_1089^post362, f_847^0'=f_847^post362, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post362, a_394^0'=a_394^post362, x_156^0'=x_156^post362, a_632^0'=a_632^post362, r_192^0'=r_192^post362, a_176^0'=a_176^post362, i_106^0'=i_106^post362, a_430^0'=a_430^post362, t_458^0'=t_458^post362, len_161^0'=len_161^post362, x_975^0'=x_975^post362, a_902^0'=a_902^post362, a_947^0'=a_947^post362, rcd_88^0'=rcd_88^post362, a_311^0'=a_311^post362, i_140^0'=i_140^post362, a_577^0'=a_577^post362, x_14^0'=x_14^post362, nondet_12^0'=nondet_12^post362, a_121^0'=a_121^post362, head_15^0'=head_15^post362, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post362, i_27^0'=i_27^post362, x_21^0'=x_21^post362, a_634^0'=a_634^post362, r_39^0'=r_39^post362, a_263^0'=a_263^post362, i_113^0'=i_113^post362, a_432^0'=a_432^post362, temp0_31^0'=temp0_31^post362, len_262^0'=len_262^post362, y_20^0'=y_20^post362, f_248^0'=f_248^post362, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post362, a_393^0'=a_393^post362, i_229^0'=i_229^post362, a_610^0'=a_610^post362, r_151^0'=r_151^post362, a_144^0'=a_144^post362, i_1053^0'=i_1053^post362, a_417^0'=a_417^post362, t_24^0'=t_24^post362, i_94^0'=i_94^post362, x_852^0'=x_852^post362, a_862^0'=a_862^post362, rcd_1249^0'=rcd_1249^post362, rcd_58^0'=rcd_58^post362, a_310^0'=a_310^post362, i_127^0'=i_127^post362, a_576^0'=a_576^post362, tmp_34^0'=tmp_34^post362, length_29^0'=length_29^post362, a_1162^0'=a_1162^post362, f_969^0'=f_969^post362, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post362, a_395^0'=a_395^post362, x_17^0'=x_17^post362, a_633^0'=a_633^post362, r_224^0'=r_224^post362, a_239^0'=a_239^post362, i_107^0'=i_107^post362, a_431^0'=a_431^post362, temp0_16^0'=temp0_16^post362, len_238^0'=len_238^post362, x_SLAM_f_19^0'=x_SLAM_f_19^post362, a_924^0'=a_924^post362, ct_18^0'=ct_18^post362, result_11^0'=result_11^post362, a_392^0'=a_392^post362, i_197^0'=i_197^post362, a_579^0'=a_579^post362, r_143^0'=r_143^post362, a_1236^0'=a_1236^post362, head_32^0'=head_32^post362, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post362, i_30^0'=i_30^post362, x_253^0'=x_253^post362, a_635^0'=a_635^post362, r_970^0'=r_970^post362, rcd_47^0'=rcd_47^post362, a_309^0'=a_309^post362, i_1248^0'=i_1248^post362, a_575^0'=a_575^post362, temp_35^0'=temp_35^post362, len_861^0'=len_861^post362, (a_176^0-a_176^post362 == 0 /\ t_458^0-t_458^post362 == 0 /\ ct_18^0-ct_18^post362 == 0 /\ a_902^0-a_902^post362 == 0 /\ -result_11^post362+result_11^0 == 0 /\ -rcd_1249^post362+rcd_1249^0 == 0 /\ -a_610^post362+a_610^0 == 0 /\ r_192^0-r_192^post362 == 0 /\ -temp_35^post362+temp_35^0 == 0 /\ -tmp_34^post362+tmp_34^0 == 0 /\ a_1089^0-a_1089^post362 == 0 /\ i_27^0-i_27^post362 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post362 == 0 /\ -x_253^post362+x_253^0 == 0 /\ -len_238^post362+len_238^0 == 0 /\ -r_970^post362+r_970^0 == 0 /\ -rcd_47^post362+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post362+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post362+head_15^0 == 0 /\ -x_852^post362+x_852^0 == 0 /\ a_310^0-a_310^post362 == 0 /\ r_39^0-r_39^post362 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ len_262^0-len_262^post362 == 0 /\ -i_1248^post362+i_1248^0 == 0 /\ -a_239^post362+a_239^0 == 0 /\ a_263^0-a_263^post362 == 0 /\ nondet_12^0-nondet_12^post362 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post362 == 0 /\ -a_311^post362+a_311^0 == 0 /\ a_924^0-a_924^post362 == 0 /\ -len_861^post362+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post362 == 0 /\ -a_576^post362+a_576^0 == 0 /\ a_634^0-a_634^post362 == 0 /\ -rcd_88^post362+rcd_88^0 == 0 /\ i_113^0-i_113^post362 == 0 /\ -a_395^post362+a_395^0 == 0 /\ -r_143^post362+r_143^0 == 0 /\ x_975^0-x_975^post362 == 0 /\ -f_248^post362+f_248^0 == 0 /\ a_121^0-a_121^post362 == 0 /\ y_20^0-y_20^post362 == 0 /\ -length_29^post362+length_29^0 == 0 /\ -a_309^post362+a_309^0 == 0 /\ -x_156^post362+x_156^0 == 0 /\ -a_417^post362+a_417^0 == 0 /\ -a_392^post362+a_392^0 == 0 /\ f_969^0-f_969^post362 == 0 /\ i_107^0-i_107^post362 == 0 /\ r_224^0-r_224^post362 == 0 /\ -a_575^post362+a_575^0 == 0 /\ i_30^0-i_30^post362 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post362 == 0 /\ len_161^0-len_161^post362 == 0 /\ a_632^0-a_632^post362 == 0 /\ -a_635^post362+a_635^0 == 0 /\ a_430^0-a_430^post362 == 0 /\ a_393^0-a_393^post362 == 0 /\ -x_17^post362+x_17^0 == 0 /\ x_14^0-x_14^post362 == 0 /\ -a_1236^post362+a_1236^0 == 0 /\ a_432^0-a_432^post362 == 0 /\ a_1162^0-a_1162^post362 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post362+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -rcd_58^post362+rcd_58^0 == 0 /\ -head_32^post362+head_32^0 == 0 /\ f_847^0-f_847^post362 == 0 /\ -r_151^post362+r_151^0 == 0 /\ t_24^0-t_24^post362 == 0 /\ -i_106^post362+i_106^0 == 0 /\ -a_579^post362+a_579^0 == 0 /\ i_140^0-i_140^post362 == 0 /\ a_862^0-a_862^post362 == 0 /\ -i_127^post362+i_127^0 == 0 /\ i_229^0-i_229^post362 == 0 /\ a_431^0-a_431^post362 == 0 /\ x_21^0-x_21^post362 == 0 /\ temp0_16^0-temp0_16^post362 == 0 /\ i_1053^0-i_1053^post362 == 0 /\ temp0_31^0-temp0_31^post362 == 0 /\ a_947^0-a_947^post362 == 0 /\ -a_144^post362+a_144^0 == 0 /\ i_94^0-i_94^post362 == 0 /\ a_394^0-a_394^post362 == 0 /\ -a_633^post362+a_633^0 == 0 /\ -i_197^post362+i_197^0 == 0 /\ a_577^0-a_577^post362 == 0), cost: 1 363: l221 -> l185 : a_1089^0'=a_1089^post363, f_847^0'=f_847^post363, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post363, a_394^0'=a_394^post363, x_156^0'=x_156^post363, a_632^0'=a_632^post363, r_192^0'=r_192^post363, a_176^0'=a_176^post363, i_106^0'=i_106^post363, a_430^0'=a_430^post363, t_458^0'=t_458^post363, len_161^0'=len_161^post363, x_975^0'=x_975^post363, a_902^0'=a_902^post363, a_947^0'=a_947^post363, rcd_88^0'=rcd_88^post363, a_311^0'=a_311^post363, i_140^0'=i_140^post363, a_577^0'=a_577^post363, x_14^0'=x_14^post363, nondet_12^0'=nondet_12^post363, a_121^0'=a_121^post363, head_15^0'=head_15^post363, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post363, i_27^0'=i_27^post363, x_21^0'=x_21^post363, a_634^0'=a_634^post363, r_39^0'=r_39^post363, a_263^0'=a_263^post363, i_113^0'=i_113^post363, a_432^0'=a_432^post363, temp0_31^0'=temp0_31^post363, len_262^0'=len_262^post363, y_20^0'=y_20^post363, f_248^0'=f_248^post363, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post363, a_393^0'=a_393^post363, i_229^0'=i_229^post363, a_610^0'=a_610^post363, r_151^0'=r_151^post363, a_144^0'=a_144^post363, i_1053^0'=i_1053^post363, a_417^0'=a_417^post363, t_24^0'=t_24^post363, i_94^0'=i_94^post363, x_852^0'=x_852^post363, a_862^0'=a_862^post363, rcd_1249^0'=rcd_1249^post363, rcd_58^0'=rcd_58^post363, a_310^0'=a_310^post363, i_127^0'=i_127^post363, a_576^0'=a_576^post363, tmp_34^0'=tmp_34^post363, length_29^0'=length_29^post363, a_1162^0'=a_1162^post363, f_969^0'=f_969^post363, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post363, a_395^0'=a_395^post363, x_17^0'=x_17^post363, a_633^0'=a_633^post363, r_224^0'=r_224^post363, a_239^0'=a_239^post363, i_107^0'=i_107^post363, a_431^0'=a_431^post363, temp0_16^0'=temp0_16^post363, len_238^0'=len_238^post363, x_SLAM_f_19^0'=x_SLAM_f_19^post363, a_924^0'=a_924^post363, ct_18^0'=ct_18^post363, result_11^0'=result_11^post363, a_392^0'=a_392^post363, i_197^0'=i_197^post363, a_579^0'=a_579^post363, r_143^0'=r_143^post363, a_1236^0'=a_1236^post363, head_32^0'=head_32^post363, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post363, i_30^0'=i_30^post363, x_253^0'=x_253^post363, a_635^0'=a_635^post363, r_970^0'=r_970^post363, rcd_47^0'=rcd_47^post363, a_309^0'=a_309^post363, i_1248^0'=i_1248^post363, a_575^0'=a_575^post363, temp_35^0'=temp_35^post363, len_861^0'=len_861^post363, (0 == 0 /\ -i_107^post363+i_107^0 == 0 /\ x_156^0-x_156^post363 == 0 /\ -1+a_176^12-a_310^0 <= 0 /\ -i_30^post363+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post363 == 0 /\ -a_575^post363+a_575^0 == 0 /\ y_20^0-y_20^post363 == 0 /\ a_432^0-a_432^post363 == 0 /\ temp0_31^0-temp0_31^post363 == 0 /\ -a_417^post363+a_417^0 == 0 /\ i_229^0-i_229^post363 == 0 /\ a_1162^0-a_1162^post363 == 0 /\ x_21^0-x_21^post363 == 0 /\ r_192^0-r_192^post363 == 0 /\ a_634^0-a_634^post363 == 0 /\ -a_393^post363+a_393^0 == 0 /\ f_248^0-f_248^post363 == 0 /\ a_121^0-a_121^post363 == 0 /\ -a_635^post363+a_635^0 == 0 /\ -i_1248^post363+i_1248^0 == 0 /\ -length_29^post363+length_29^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_19^post363+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post363 == 0 /\ x_975^0-x_975^post363 == 0 /\ i_127^0-i_127^post363 == 0 /\ -a_239^post363+a_239^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_310^post363+a_310^0 == 0 /\ i_27^0 <= 0 /\ -ct_18^post363+ct_18^0 == 0 /\ i_113^0-i_113^post363 == 0 /\ 1-len_161^post363+a_309^0 <= 0 /\ -a_1236^post363+a_1236^0 == 0 /\ -r_151^post363+r_151^0 == 0 /\ a_1089^0-a_1089^post363 == 0 /\ head_32^0-head_32^post363 == 0 /\ i_27^0-i_27^post363 == 0 /\ -rcd_47^post363+rcd_47^0 == 0 /\ rcd_1249^0-rcd_1249^post363 == 0 /\ -a_862^post363+a_862^0 == 0 /\ -len_262^post363+len_262^0 == 0 /\ -a_309^post363+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post363+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post363+a_392^0 == 0 /\ -a_610^post363+a_610^0 == 0 /\ -a_579^post363+a_579^0 == 0 /\ -a_431^post363+a_431^0 == 0 /\ 1-a_176^12+a_310^0 <= 0 /\ -x_253^post363+x_253^0 == 0 /\ a_633^0-a_633^post363 == 0 /\ -a_263^post363+a_263^0 == 0 /\ -i_197^post363+i_197^0 == 0 /\ -t_24^post363+t_24^0 == 0 /\ temp0_16^0-temp0_16^post363 == 0 /\ t_458^0-t_458^post363 == 0 /\ f_847^0-f_847^post363 == 0 /\ a_632^0-a_632^post363 == 0 /\ nondet_12^0-nondet_12^post363 == 0 /\ -result_11^post363+result_11^0 == 0 /\ -x_852^post363+x_852^0 == 0 /\ i_94^0-i_94^post363 == 0 /\ x_17^0-x_17^post363 == 0 /\ a_902^0-a_902^post363 == 0 /\ -a_311^0+a_176^post363 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post363+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post363+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post363 == 0 /\ -rcd_58^post363+rcd_58^0 == 0 /\ a_394^0-a_394^post363 == 0 /\ a_144^0-a_144^post363 == 0 /\ x_14^0-x_14^post363 == 0 /\ head_15^0-head_15^post363 == 0 /\ r_970^0-r_970^post363 == 0 /\ -f_969^post363+f_969^0 == 0 /\ -tmp_34^post363+tmp_34^0 == 0 /\ i_140^0-i_140^post363 == 0 /\ -i_1053^post363+i_1053^0 == 0 /\ a_577^0-a_577^post363 == 0 /\ r_39^0-r_39^post363 == 0 /\ -a_395^post363+a_395^0 == 0 /\ -1+len_161^post363-a_309^0 <= 0 /\ -rcd_88^post363+rcd_88^0 == 0 /\ -len_861^post363+len_861^0 == 0 /\ i_106^0-i_106^post363 == 0 /\ len_238^0-len_238^post363 == 0 /\ a_311^0-a_311^post363 == 0 /\ -r_224^post363+r_224^0 == 0 /\ -a_924^post363+a_924^0 == 0 /\ a_311^0-a_176^post363 <= 0 /\ -temp_35^post363+temp_35^0 == 0 /\ -a_576^post363+a_576^0 == 0 /\ -r_143^post363+r_143^0 == 0 /\ a_430^0-a_430^post363 == 0), cost: 1 366: l222 -> l146 : a_1089^0'=a_1089^post366, f_847^0'=f_847^post366, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post366, a_394^0'=a_394^post366, x_156^0'=x_156^post366, a_632^0'=a_632^post366, r_192^0'=r_192^post366, a_176^0'=a_176^post366, i_106^0'=i_106^post366, a_430^0'=a_430^post366, t_458^0'=t_458^post366, len_161^0'=len_161^post366, x_975^0'=x_975^post366, a_902^0'=a_902^post366, a_947^0'=a_947^post366, rcd_88^0'=rcd_88^post366, a_311^0'=a_311^post366, i_140^0'=i_140^post366, a_577^0'=a_577^post366, x_14^0'=x_14^post366, nondet_12^0'=nondet_12^post366, a_121^0'=a_121^post366, head_15^0'=head_15^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366, i_27^0'=i_27^post366, x_21^0'=x_21^post366, a_634^0'=a_634^post366, r_39^0'=r_39^post366, a_263^0'=a_263^post366, i_113^0'=i_113^post366, a_432^0'=a_432^post366, temp0_31^0'=temp0_31^post366, len_262^0'=len_262^post366, y_20^0'=y_20^post366, f_248^0'=f_248^post366, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366, a_393^0'=a_393^post366, i_229^0'=i_229^post366, a_610^0'=a_610^post366, r_151^0'=r_151^post366, a_144^0'=a_144^post366, i_1053^0'=i_1053^post366, a_417^0'=a_417^post366, t_24^0'=t_24^post366, i_94^0'=i_94^post366, x_852^0'=x_852^post366, a_862^0'=a_862^post366, rcd_1249^0'=rcd_1249^post366, rcd_58^0'=rcd_58^post366, a_310^0'=a_310^post366, i_127^0'=i_127^post366, a_576^0'=a_576^post366, tmp_34^0'=tmp_34^post366, length_29^0'=length_29^post366, a_1162^0'=a_1162^post366, f_969^0'=f_969^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366, a_395^0'=a_395^post366, x_17^0'=x_17^post366, a_633^0'=a_633^post366, r_224^0'=r_224^post366, a_239^0'=a_239^post366, i_107^0'=i_107^post366, a_431^0'=a_431^post366, temp0_16^0'=temp0_16^post366, len_238^0'=len_238^post366, x_SLAM_f_19^0'=x_SLAM_f_19^post366, a_924^0'=a_924^post366, ct_18^0'=ct_18^post366, result_11^0'=result_11^post366, a_392^0'=a_392^post366, i_197^0'=i_197^post366, a_579^0'=a_579^post366, r_143^0'=r_143^post366, a_1236^0'=a_1236^post366, head_32^0'=head_32^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366, i_30^0'=i_30^post366, x_253^0'=x_253^post366, a_635^0'=a_635^post366, r_970^0'=r_970^post366, rcd_47^0'=rcd_47^post366, a_309^0'=a_309^post366, i_1248^0'=i_1248^post366, a_575^0'=a_575^post366, temp_35^0'=temp_35^post366, len_861^0'=len_861^post366, (-a_579^post366+a_579^0 == 0 /\ -result_11^post366+result_11^0 == 0 /\ ct_18^0-ct_18^post366 == 0 /\ a_176^0-a_176^post366 == 0 /\ a_1089^0-a_1089^post366 == 0 /\ -y_20^post366+y_20^0 == 0 /\ r_192^0-r_192^post366 == 0 /\ -x_253^post366+x_253^0 == 0 /\ -a_263^post366+a_263^0 == 0 /\ -temp_35^post366+temp_35^0 == 0 /\ -t_24^post366+t_24^0 == 0 /\ i_27^0-i_27^post366 == 0 /\ t_458^0-t_458^post366 == 0 /\ -r_970^post366+r_970^0 == 0 /\ -x_852^post366+x_852^0 == 0 /\ -a_431^post366+a_431^0 == 0 /\ -i_229^post366+i_229^0 == 0 /\ r_39^0-r_39^post366 == 0 /\ rcd_88^0-rcd_88^post366 == 0 /\ a_576^0-a_576^post366 == 0 /\ -a_395^post366+a_395^0 == 0 /\ a_311^0-a_311^post366 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post366 == 0 /\ -i_1248^post366+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366 == 0 /\ -a_239^post366+a_239^0 == 0 /\ nondet_12^0-nondet_12^post366 == 0 /\ f_248^0-f_248^post366 == 0 /\ tmp_34^0-tmp_34^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post366+len_861^0 == 0 /\ a_924^0-a_924^post366 == 0 /\ a_121^0-a_121^post366 == 0 /\ a_634^0-a_634^post366 == 0 /\ a_610^0-a_610^post366 == 0 /\ len_262^0-len_262^post366 == 0 /\ -r_143^post366+r_143^0 == 0 /\ -a_393^post366+a_393^0 == 0 /\ i_113^0-i_113^post366 == 0 /\ x_975^0-x_975^post366 == 0 /\ -x_17^post366+x_17^0 == 0 /\ -i_1053^post366+i_1053^0 == 0 /\ -r_224^post366+r_224^0 == 0 /\ a_144^0-a_144^post366 == 0 /\ a_947^0-a_947^post366 == 0 /\ a_577^0-a_577^post366 == 0 /\ -a_392^post366+a_392^0 == 0 /\ -a_309^post366+a_309^0 == 0 /\ -x_156^post366+x_156^0 == 0 /\ -a_1236^post366+a_1236^0 == 0 /\ len_238^0-len_238^post366 == 0 /\ -a_417^post366+a_417^0 == 0 /\ -x_SLAM_f_19^post366+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366 == 0 /\ x_14^0-x_14^post366 == 0 /\ f_969^0-f_969^post366 == 0 /\ -i_30^post366+i_30^0 == 0 /\ -a_575^post366+a_575^0 == 0 /\ len_161^0-len_161^post366 == 0 /\ a_632^0-a_632^post366 == 0 /\ -a_635^post366+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post366 == 0 /\ -a_432^post366+a_432^0 == 0 /\ -i_107^post366+i_107^0 == 0 /\ a_430^0-a_430^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post366 == 0 /\ a_1162^0-a_1162^post366 == 0 /\ -rcd_58^post366+rcd_58^0 == 0 /\ -head_32^post366+head_32^0 == 0 /\ f_847^0-f_847^post366 == 0 /\ -length_29^post366+length_29^0 == 0 /\ -rcd_47^post366+rcd_47^0 == 0 /\ -a_310^post366+a_310^0 == 0 /\ -a_862^post366+a_862^0 == 0 /\ x_21^0-x_21^post366 == 0 /\ -i_140^post366+i_140^0 == 0 /\ temp0_31^0-temp0_31^post366 == 0 /\ -i_106^post366+i_106^0 == 0 /\ temp0_16^0-temp0_16^post366 == 0 /\ r_151^0-r_151^post366 == 0 /\ a_902^0-a_902^post366 == 0 /\ i_94^0-i_94^post366 == 0 /\ a_394^0-a_394^post366 == 0 /\ i_127^0-i_127^post366 == 0 /\ head_15^0-head_15^post366 == 0 /\ -i_197^post366+i_197^0 == 0), cost: 1 369: l223 -> l143 : a_1089^0'=a_1089^post369, f_847^0'=f_847^post369, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post369, a_394^0'=a_394^post369, x_156^0'=x_156^post369, a_632^0'=a_632^post369, r_192^0'=r_192^post369, a_176^0'=a_176^post369, i_106^0'=i_106^post369, a_430^0'=a_430^post369, t_458^0'=t_458^post369, len_161^0'=len_161^post369, x_975^0'=x_975^post369, a_902^0'=a_902^post369, a_947^0'=a_947^post369, rcd_88^0'=rcd_88^post369, a_311^0'=a_311^post369, i_140^0'=i_140^post369, a_577^0'=a_577^post369, x_14^0'=x_14^post369, nondet_12^0'=nondet_12^post369, a_121^0'=a_121^post369, head_15^0'=head_15^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369, i_27^0'=i_27^post369, x_21^0'=x_21^post369, a_634^0'=a_634^post369, r_39^0'=r_39^post369, a_263^0'=a_263^post369, i_113^0'=i_113^post369, a_432^0'=a_432^post369, temp0_31^0'=temp0_31^post369, len_262^0'=len_262^post369, y_20^0'=y_20^post369, f_248^0'=f_248^post369, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369, a_393^0'=a_393^post369, i_229^0'=i_229^post369, a_610^0'=a_610^post369, r_151^0'=r_151^post369, a_144^0'=a_144^post369, i_1053^0'=i_1053^post369, a_417^0'=a_417^post369, t_24^0'=t_24^post369, i_94^0'=i_94^post369, x_852^0'=x_852^post369, a_862^0'=a_862^post369, rcd_1249^0'=rcd_1249^post369, rcd_58^0'=rcd_58^post369, a_310^0'=a_310^post369, i_127^0'=i_127^post369, a_576^0'=a_576^post369, tmp_34^0'=tmp_34^post369, length_29^0'=length_29^post369, a_1162^0'=a_1162^post369, f_969^0'=f_969^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369, a_395^0'=a_395^post369, x_17^0'=x_17^post369, a_633^0'=a_633^post369, r_224^0'=r_224^post369, a_239^0'=a_239^post369, i_107^0'=i_107^post369, a_431^0'=a_431^post369, temp0_16^0'=temp0_16^post369, len_238^0'=len_238^post369, x_SLAM_f_19^0'=x_SLAM_f_19^post369, a_924^0'=a_924^post369, ct_18^0'=ct_18^post369, result_11^0'=result_11^post369, a_392^0'=a_392^post369, i_197^0'=i_197^post369, a_579^0'=a_579^post369, r_143^0'=r_143^post369, a_1236^0'=a_1236^post369, head_32^0'=head_32^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369, i_30^0'=i_30^post369, x_253^0'=x_253^post369, a_635^0'=a_635^post369, r_970^0'=r_970^post369, rcd_47^0'=rcd_47^post369, a_309^0'=a_309^post369, i_1248^0'=i_1248^post369, a_575^0'=a_575^post369, temp_35^0'=temp_35^post369, len_861^0'=len_861^post369, (a_176^0-a_176^post369 == 0 /\ rcd_58^0-rcd_58^post369 == 0 /\ -a_431^post369+a_431^0 == 0 /\ a_947^0-a_947^post369 == 0 /\ -a_263^post369+a_263^0 == 0 /\ -t_24^post369+t_24^0 == 0 /\ -temp_35^post369+temp_35^0 == 0 /\ len_161^0-len_161^post369 == 0 /\ -r_224^post369+r_224^0 == 0 /\ -r_970^post369+r_970^0 == 0 /\ -i_197^post369+i_197^0 == 0 /\ -a_579^post369+a_579^0 == 0 /\ x_14^0-x_14^post369 == 0 /\ r_192^0-r_192^post369 == 0 /\ -ct_18^post369+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post369 == 0 /\ rcd_1249^0-rcd_1249^post369 == 0 /\ i_27^0-i_27^post369 == 0 /\ -a_395^post369+a_395^0 == 0 /\ -x_852^post369+x_852^0 == 0 /\ -y_20^post369+y_20^0 == 0 /\ r_39^0-r_39^post369 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post369+a_1162^0 == 0 /\ a_432^0-a_432^post369 == 0 /\ -a_924^post369+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_229^0-i_229^post369 == 0 /\ -i_1248^post369+i_1248^0 == 0 /\ f_248^0-f_248^post369 == 0 /\ a_430^0-a_430^post369 == 0 /\ tmp_34^0-tmp_34^post369 == 0 /\ -temp0_16^post369+temp0_16^0 == 0 /\ -i_30^post369+i_30^0 == 0 /\ nondet_12^0-nondet_12^post369 == 0 /\ -i_1053^post369+i_1053^0 == 0 /\ a_634^0-a_634^post369 == 0 /\ -len_861^post369+len_861^0 == 0 /\ x_156^0-x_156^post369 == 0 /\ a_144^0-a_144^post369 == 0 /\ head_15^0-head_15^post369 == 0 /\ i_113^0-i_113^post369 == 0 /\ -result_11^post369+result_11^0 == 0 /\ -a_635^post369+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369 == 0 /\ -a_393^post369+a_393^0 == 0 /\ rcd_88^0-rcd_88^post369 == 0 /\ -a_576^post369+a_576^0 == 0 /\ a_310^0-a_310^post369 == 0 /\ -r_143^post369+r_143^0 == 0 /\ i_140^0-i_140^post369 == 0 /\ a_632^0-a_632^post369 == 0 /\ -i_107^post369+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post369+a_1236^0 == 0 /\ a_1089^0-a_1089^post369 == 0 /\ a_311^0-a_311^post369 == 0 /\ -a_309^post369+a_309^0 == 0 /\ -a_417^post369+a_417^0 == 0 /\ -x_SLAM_f_19^post369+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post369 == 0 /\ -len_238^post369+len_238^0 == 0 /\ -i_106^post369+i_106^0 == 0 /\ x_21^0-x_21^post369 == 0 /\ -a_392^post369+a_392^0 == 0 /\ -length_29^post369+length_29^0 == 0 /\ -rcd_47^post369+rcd_47^0 == 0 /\ x_975^0-x_975^post369 == 0 /\ f_969^0-f_969^post369 == 0 /\ temp0_31^0-temp0_31^post369 == 0 /\ -x_253^post369+x_253^0 == 0 /\ -a_862^post369+a_862^0 == 0 /\ a_610^0-a_610^post369 == 0 /\ a_121^0-a_121^post369 == 0 /\ a_239^0-a_239^post369 == 0 /\ i_127^0-i_127^post369 == 0 /\ -t_458^post369+t_458^0 == 0 /\ -a_902^post369+a_902^0 == 0 /\ i_94^0-i_94^post369 == 0 /\ len_262^0-len_262^post369 == 0 /\ a_575^0-a_575^post369 == 0 /\ -r_151^post369+r_151^0 == 0 /\ a_394^0-a_394^post369 == 0 /\ x_17^0-x_17^post369 == 0 /\ -head_32^post369+head_32^0 == 0 /\ a_577^0-a_577^post369 == 0 /\ a_633^0-a_633^post369 == 0), cost: 1 Removed unreachable rules and leafs Start location: l223 0: l0 -> l2 : a_1089^0'=a_1089^post0, f_847^0'=f_847^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_394^0'=a_394^post0, x_156^0'=x_156^post0, a_632^0'=a_632^post0, r_192^0'=r_192^post0, a_176^0'=a_176^post0, i_106^0'=i_106^post0, a_430^0'=a_430^post0, t_458^0'=t_458^post0, len_161^0'=len_161^post0, x_975^0'=x_975^post0, a_902^0'=a_902^post0, a_947^0'=a_947^post0, rcd_88^0'=rcd_88^post0, a_311^0'=a_311^post0, i_140^0'=i_140^post0, a_577^0'=a_577^post0, x_14^0'=x_14^post0, nondet_12^0'=nondet_12^post0, a_121^0'=a_121^post0, head_15^0'=head_15^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0, i_27^0'=i_27^post0, x_21^0'=x_21^post0, a_634^0'=a_634^post0, r_39^0'=r_39^post0, a_263^0'=a_263^post0, i_113^0'=i_113^post0, a_432^0'=a_432^post0, temp0_31^0'=temp0_31^post0, len_262^0'=len_262^post0, y_20^0'=y_20^post0, f_248^0'=f_248^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_393^0'=a_393^post0, i_229^0'=i_229^post0, a_610^0'=a_610^post0, r_151^0'=r_151^post0, a_144^0'=a_144^post0, i_1053^0'=i_1053^post0, a_417^0'=a_417^post0, t_24^0'=t_24^post0, i_94^0'=i_94^post0, x_852^0'=x_852^post0, a_862^0'=a_862^post0, rcd_1249^0'=rcd_1249^post0, rcd_58^0'=rcd_58^post0, a_310^0'=a_310^post0, i_127^0'=i_127^post0, a_576^0'=a_576^post0, tmp_34^0'=tmp_34^post0, length_29^0'=length_29^post0, a_1162^0'=a_1162^post0, f_969^0'=f_969^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0, a_395^0'=a_395^post0, x_17^0'=x_17^post0, a_633^0'=a_633^post0, r_224^0'=r_224^post0, a_239^0'=a_239^post0, i_107^0'=i_107^post0, a_431^0'=a_431^post0, temp0_16^0'=temp0_16^post0, len_238^0'=len_238^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, a_924^0'=a_924^post0, ct_18^0'=ct_18^post0, result_11^0'=result_11^post0, a_392^0'=a_392^post0, i_197^0'=i_197^post0, a_579^0'=a_579^post0, r_143^0'=r_143^post0, a_1236^0'=a_1236^post0, head_32^0'=head_32^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, i_30^0'=i_30^post0, x_253^0'=x_253^post0, a_635^0'=a_635^post0, r_970^0'=r_970^post0, rcd_47^0'=rcd_47^post0, a_309^0'=a_309^post0, i_1248^0'=i_1248^post0, a_575^0'=a_575^post0, temp_35^0'=temp_35^post0, len_861^0'=len_861^post0, (0 == 0 /\ -r_151^post0+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post0 == 0 /\ t_458^0-t_458^post0 == 0 /\ a_632^0-a_632^post0 == 0 /\ -len_161^0 <= 0 /\ -a_924^post0+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_262^0-len_262^post0 == 0 /\ x_156^0-x_156^post0 == 0 /\ -a_576^post0+a_576^0 == 0 /\ a_902^0-a_902^post0 == 0 /\ -r_143^post0+r_143^0 == 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ i_229^0-i_229^post0 == 0 /\ -a_634^post0+a_634^0 == 0 /\ -x_253^post0+x_253^0 == 0 /\ a_1089^0-a_1089^post0 == 0 /\ a_394^0-a_394^post0 == 0 /\ -a_862^post0+a_862^0 == 0 /\ -a_392^post0+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post0+a_1236^0 == 0 /\ a_176^0-a_176^post0 == 0 /\ -temp_35^post0+temp_35^0 == 0 /\ a_121^0-a_121^post0 == 0 /\ -rcd_47^post0+rcd_47^0 == 0 /\ -len_238^post0+len_238^0 == 0 /\ a_263^0-a_263^post0 == 0 /\ -r_970^post0+r_970^0 == 0 /\ -a_610^post0+a_610^0 == 0 /\ -length_29^post0+length_29^0 == 0 /\ -r_192^post0+r_192^0 == 0 /\ i_94^0-i_94^post0 == 0 /\ a_430^0-a_430^post0 == 0 /\ -i_1053^post0+i_1053^0 == 0 /\ -i_1248^post0+i_1248^0 == 0 /\ x_975^0-x_975^post0 == 0 /\ -a_395^post0+a_395^0 == 0 /\ -r_224^post0+r_224^0 == 0 /\ -len_861^post0+len_861^0 == 0 /\ y_20^0-y_20^post0 == 0 /\ -a_239^post0+a_239^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -a_579^post0+a_579^0 == 0 /\ a_432^0-a_432^post0 == 0 /\ -a_311^post0+a_311^0 == 0 /\ a_577^0-a_577^post0 == 0 /\ -x_852^post0+x_852^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ -i_127^post0+i_127^0 == 0 /\ i_113^0-i_113^post0 == 0 /\ -rcd_88^post0+rcd_88^0 == 0 /\ a_633^0-a_633^post0 == 0 /\ -i_197^post0+i_197^0 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ f_969^0-f_969^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_431^0-a_431^post0 == 0 /\ a_144^0-a_144^post0 == 0 /\ -i_107^post0+i_107^0 == 0 /\ -i_30^post0+i_30^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -a_575^post0+a_575^0 == 0 /\ -rcd_1249^post0+rcd_1249^0 == 0 /\ a_310^0-a_310^post0 == 0 /\ a_947^0-a_947^post0 == 0 /\ -a_417^post0+a_417^0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -a_309^post0+a_309^0 == 0 /\ len_161^0-len_161^post0 == 0 /\ -tmp_34^post0+tmp_34^0 == 0 /\ -a_1162^post0+a_1162^0 == 0 /\ -a_393^post0+a_393^0 == 0 /\ -a_635^post0+a_635^0 == 0 /\ f_847^0-f_847^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -rcd_58^post0+rcd_58^0 == 0 /\ i_140^0-i_140^post0 == 0 /\ i_106^0-i_106^post0 == 0), cost: 1 1: l2 -> l3 : a_1089^0'=a_1089^post1, f_847^0'=f_847^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_394^0'=a_394^post1, x_156^0'=x_156^post1, a_632^0'=a_632^post1, r_192^0'=r_192^post1, a_176^0'=a_176^post1, i_106^0'=i_106^post1, a_430^0'=a_430^post1, t_458^0'=t_458^post1, len_161^0'=len_161^post1, x_975^0'=x_975^post1, a_902^0'=a_902^post1, a_947^0'=a_947^post1, rcd_88^0'=rcd_88^post1, a_311^0'=a_311^post1, i_140^0'=i_140^post1, a_577^0'=a_577^post1, x_14^0'=x_14^post1, nondet_12^0'=nondet_12^post1, a_121^0'=a_121^post1, head_15^0'=head_15^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1, i_27^0'=i_27^post1, x_21^0'=x_21^post1, a_634^0'=a_634^post1, r_39^0'=r_39^post1, a_263^0'=a_263^post1, i_113^0'=i_113^post1, a_432^0'=a_432^post1, temp0_31^0'=temp0_31^post1, len_262^0'=len_262^post1, y_20^0'=y_20^post1, f_248^0'=f_248^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_393^0'=a_393^post1, i_229^0'=i_229^post1, a_610^0'=a_610^post1, r_151^0'=r_151^post1, a_144^0'=a_144^post1, i_1053^0'=i_1053^post1, a_417^0'=a_417^post1, t_24^0'=t_24^post1, i_94^0'=i_94^post1, x_852^0'=x_852^post1, a_862^0'=a_862^post1, rcd_1249^0'=rcd_1249^post1, rcd_58^0'=rcd_58^post1, a_310^0'=a_310^post1, i_127^0'=i_127^post1, a_576^0'=a_576^post1, tmp_34^0'=tmp_34^post1, length_29^0'=length_29^post1, a_1162^0'=a_1162^post1, f_969^0'=f_969^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1, a_395^0'=a_395^post1, x_17^0'=x_17^post1, a_633^0'=a_633^post1, r_224^0'=r_224^post1, a_239^0'=a_239^post1, i_107^0'=i_107^post1, a_431^0'=a_431^post1, temp0_16^0'=temp0_16^post1, len_238^0'=len_238^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, a_924^0'=a_924^post1, ct_18^0'=ct_18^post1, result_11^0'=result_11^post1, a_392^0'=a_392^post1, i_197^0'=i_197^post1, a_579^0'=a_579^post1, r_143^0'=r_143^post1, a_1236^0'=a_1236^post1, head_32^0'=head_32^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1, i_30^0'=i_30^post1, x_253^0'=x_253^post1, a_635^0'=a_635^post1, r_970^0'=r_970^post1, rcd_47^0'=rcd_47^post1, a_309^0'=a_309^post1, i_1248^0'=i_1248^post1, a_575^0'=a_575^post1, temp_35^0'=temp_35^post1, len_861^0'=len_861^post1, (-a_310^post1+a_310^0 == 0 /\ -a_239^post1+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ a_634^0-a_634^post1 == 0 /\ i_27^0-i_27^post1 == 0 /\ -a_395^post1+a_395^0 == 0 /\ -i_229^post1+i_229^0 == 0 /\ -ct_18^post1+ct_18^0 == 0 /\ a_576^0-a_576^post1 == 0 /\ -length_29^post1+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ x_17^0-x_17^post1 == 0 /\ -i_197^post1+i_197^0 == 0 /\ -a_862^post1+a_862^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ -r_224^post1+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1 == 0 /\ a_176^0-a_176^post1 == 0 /\ -i_1053^post1+i_1053^0 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -a_417^post1+a_417^0 == 0 /\ t_458^0-t_458^post1 == 0 /\ a_924^0-a_924^post1 == 0 /\ -a_393^post1+a_393^0 == 0 /\ -t_24^post1+t_24^0 == 0 /\ -a_579^post1+a_579^0 == 0 /\ f_248^0-f_248^post1 == 0 /\ a_610^0-a_610^post1 == 0 /\ rcd_1249^0-rcd_1249^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -a_263^post1+a_263^0 == 0 /\ x_975^0-x_975^post1 == 0 /\ a_632^0-a_632^post1 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_107^post1+i_107^0 == 0 /\ -len_861^post1+len_861^0 == 0 /\ -x_852^post1+x_852^0 == 0 /\ r_192^0-r_192^post1 == 0 /\ i_113^0-i_113^post1 == 0 /\ -a_635^post1+a_635^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -i_1248^post1+i_1248^0 == 0 /\ a_121^0-a_121^post1 == 0 /\ len_161^0-len_161^post1 == 0 /\ -i_140^post1+i_140^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ len_262^0-len_262^post1 == 0 /\ a_144^0-a_144^post1 == 0 /\ a_394^0-a_394^post1 == 0 /\ -rcd_47^post1+rcd_47^0 == 0 /\ -r_143^post1+r_143^0 == 0 /\ -a_575^post1+a_575^0 == 0 /\ a_947^0-a_947^post1 == 0 /\ -a_1089^post1+a_1089^0 == 0 /\ f_847^0-f_847^post1 == 0 /\ -a_309^post1+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post1 == 0 /\ i_106^0-i_106^post1 == 0 /\ i_94^0-i_94^post1 == 0 /\ r_151^0-r_151^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -a_1236^post1+a_1236^0 == 0 /\ -x_253^post1+x_253^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ a_430^0-a_430^post1 == 0 /\ -a_392^post1+a_392^0 == 0 /\ i_127^0-i_127^post1 == 0 /\ head_15^0-head_15^post1 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ a_311^0-a_311^post1 == 0 /\ a_902^0-a_902^post1 == 0 /\ a_633^0-a_633^post1 == 0 /\ x_21^0-x_21^post1 == 0 /\ a_577^0-a_577^post1 == 0 /\ x_156^0-x_156^post1 == 0 /\ -f_969^post1+f_969^0 == 0 /\ -r_970^post1+r_970^0 == 0 /\ -y_20^post1+y_20^0 == 0 /\ -a_432^post1+a_432^0 == 0 /\ -a_431^post1+a_431^0 == 0 /\ x_14^0-x_14^post1 == 0 /\ a_1162^0-a_1162^post1 == 0 /\ -x_SLAM_f_19^post1+x_SLAM_f_19^0 == 0), cost: 1 2: l2 -> l3 : a_1089^0'=a_1089^post2, f_847^0'=f_847^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_394^0'=a_394^post2, x_156^0'=x_156^post2, a_632^0'=a_632^post2, r_192^0'=r_192^post2, a_176^0'=a_176^post2, i_106^0'=i_106^post2, a_430^0'=a_430^post2, t_458^0'=t_458^post2, len_161^0'=len_161^post2, x_975^0'=x_975^post2, a_902^0'=a_902^post2, a_947^0'=a_947^post2, rcd_88^0'=rcd_88^post2, a_311^0'=a_311^post2, i_140^0'=i_140^post2, a_577^0'=a_577^post2, x_14^0'=x_14^post2, nondet_12^0'=nondet_12^post2, a_121^0'=a_121^post2, head_15^0'=head_15^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2, i_27^0'=i_27^post2, x_21^0'=x_21^post2, a_634^0'=a_634^post2, r_39^0'=r_39^post2, a_263^0'=a_263^post2, i_113^0'=i_113^post2, a_432^0'=a_432^post2, temp0_31^0'=temp0_31^post2, len_262^0'=len_262^post2, y_20^0'=y_20^post2, f_248^0'=f_248^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_393^0'=a_393^post2, i_229^0'=i_229^post2, a_610^0'=a_610^post2, r_151^0'=r_151^post2, a_144^0'=a_144^post2, i_1053^0'=i_1053^post2, a_417^0'=a_417^post2, t_24^0'=t_24^post2, i_94^0'=i_94^post2, x_852^0'=x_852^post2, a_862^0'=a_862^post2, rcd_1249^0'=rcd_1249^post2, rcd_58^0'=rcd_58^post2, a_310^0'=a_310^post2, i_127^0'=i_127^post2, a_576^0'=a_576^post2, tmp_34^0'=tmp_34^post2, length_29^0'=length_29^post2, a_1162^0'=a_1162^post2, f_969^0'=f_969^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2, a_395^0'=a_395^post2, x_17^0'=x_17^post2, a_633^0'=a_633^post2, r_224^0'=r_224^post2, a_239^0'=a_239^post2, i_107^0'=i_107^post2, a_431^0'=a_431^post2, temp0_16^0'=temp0_16^post2, len_238^0'=len_238^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_924^0'=a_924^post2, ct_18^0'=ct_18^post2, result_11^0'=result_11^post2, a_392^0'=a_392^post2, i_197^0'=i_197^post2, a_579^0'=a_579^post2, r_143^0'=r_143^post2, a_1236^0'=a_1236^post2, head_32^0'=head_32^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2, i_30^0'=i_30^post2, x_253^0'=x_253^post2, a_635^0'=a_635^post2, r_970^0'=r_970^post2, rcd_47^0'=rcd_47^post2, a_309^0'=a_309^post2, i_1248^0'=i_1248^post2, a_575^0'=a_575^post2, temp_35^0'=temp_35^post2, len_861^0'=len_861^post2, (rcd_1249^0-rcd_1249^post2 == 0 /\ f_248^0-f_248^post2 == 0 /\ t_458^0-t_458^post2 == 0 /\ a_902^0-a_902^post2 == 0 /\ a_430^0-a_430^post2 == 0 /\ f_969^0-f_969^post2 == 0 /\ x_975^0-x_975^post2 == 0 /\ i_106^0-i_106^post2 == 0 /\ -rcd_47^post2+rcd_47^0 == 0 /\ -a_1162^post2+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_311^0-a_311^post2 == 0 /\ x_156^0-x_156^post2 == 0 /\ i_127^0-i_127^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post2 == 0 /\ -result_11^post2+result_11^0 == 0 /\ a_1236^0-a_1236^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ x_852^0-x_852^post2 == 0 /\ -a_392^post2+a_392^0 == 0 /\ -a_431^post2+a_431^0 == 0 /\ -r_143^post2+r_143^0 == 0 /\ len_262^0-len_262^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_161^0-len_161^post2 == 0 /\ -r_970^post2+r_970^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ -i_113^post2+i_113^0 == 0 /\ f_847^0-f_847^post2 == 0 /\ a_394^0-a_394^post2 == 0 /\ -x_SLAM_f_19^post2+x_SLAM_f_19^0 == 0 /\ -i_140^post2+i_140^0 == 0 /\ -a_432^post2+a_432^0 == 0 /\ -i_229^post2+i_229^0 == 0 /\ -a_310^post2+a_310^0 == 0 /\ -x_253^post2+x_253^0 == 0 /\ a_176^0-a_176^post2 == 0 /\ head_15^0-head_15^post2 == 0 /\ r_151^0-r_151^post2 == 0 /\ a_239^0-a_239^post2 == 0 /\ -i_1053^post2+i_1053^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2 == 0 /\ -length_29^post2+length_29^0 == 0 /\ a_635^0-a_635^post2 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post2+r_224^0 == 0 /\ -a_395^post2+a_395^0 == 0 /\ -len_861^post2+len_861^0 == 0 /\ -a_577^post2+a_577^0 == 0 /\ -i_1248^post2+i_1248^0 == 0 /\ a_393^0-a_393^post2 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_610^0-a_610^post2 == 0 /\ i_27^0-i_27^post2 == 0 /\ -a_862^post2+a_862^0 == 0 /\ a_633^0-a_633^post2 == 0 /\ -a_263^post2+a_263^0 == 0 /\ -x_17^post2+x_17^0 == 0 /\ -a_579^post2+a_579^0 == 0 /\ r_192^0-r_192^post2 == 0 /\ -i_197^post2+i_197^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ x_14^0-x_14^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_417^0-a_417^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -i_107^post2+i_107^0 == 0 /\ a_121^0-a_121^post2 == 0 /\ -a_924^post2+a_924^0 == 0 /\ a_634^0-a_634^post2 == 0 /\ -a_575^post2+a_575^0 == 0 /\ a_1089^0-a_1089^post2 == 0 /\ a_576^0-a_576^post2 == 0 /\ a_947^0-a_947^post2 == 0 /\ -a_309^post2+a_309^0 == 0 /\ -ct_18^post2+ct_18^0 == 0 /\ -tmp_34^post2+tmp_34^0 == 0 /\ len_238^0-len_238^post2 == 0 /\ -t_24^post2+t_24^0 == 0), cost: 1 3: l3 -> l4 : a_1089^0'=a_1089^post3, f_847^0'=f_847^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, a_394^0'=a_394^post3, x_156^0'=x_156^post3, a_632^0'=a_632^post3, r_192^0'=r_192^post3, a_176^0'=a_176^post3, i_106^0'=i_106^post3, a_430^0'=a_430^post3, t_458^0'=t_458^post3, len_161^0'=len_161^post3, x_975^0'=x_975^post3, a_902^0'=a_902^post3, a_947^0'=a_947^post3, rcd_88^0'=rcd_88^post3, a_311^0'=a_311^post3, i_140^0'=i_140^post3, a_577^0'=a_577^post3, x_14^0'=x_14^post3, nondet_12^0'=nondet_12^post3, a_121^0'=a_121^post3, head_15^0'=head_15^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3, i_27^0'=i_27^post3, x_21^0'=x_21^post3, a_634^0'=a_634^post3, r_39^0'=r_39^post3, a_263^0'=a_263^post3, i_113^0'=i_113^post3, a_432^0'=a_432^post3, temp0_31^0'=temp0_31^post3, len_262^0'=len_262^post3, y_20^0'=y_20^post3, f_248^0'=f_248^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, a_393^0'=a_393^post3, i_229^0'=i_229^post3, a_610^0'=a_610^post3, r_151^0'=r_151^post3, a_144^0'=a_144^post3, i_1053^0'=i_1053^post3, a_417^0'=a_417^post3, t_24^0'=t_24^post3, i_94^0'=i_94^post3, x_852^0'=x_852^post3, a_862^0'=a_862^post3, rcd_1249^0'=rcd_1249^post3, rcd_58^0'=rcd_58^post3, a_310^0'=a_310^post3, i_127^0'=i_127^post3, a_576^0'=a_576^post3, tmp_34^0'=tmp_34^post3, length_29^0'=length_29^post3, a_1162^0'=a_1162^post3, f_969^0'=f_969^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3, a_395^0'=a_395^post3, x_17^0'=x_17^post3, a_633^0'=a_633^post3, r_224^0'=r_224^post3, a_239^0'=a_239^post3, i_107^0'=i_107^post3, a_431^0'=a_431^post3, temp0_16^0'=temp0_16^post3, len_238^0'=len_238^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, a_924^0'=a_924^post3, ct_18^0'=ct_18^post3, result_11^0'=result_11^post3, a_392^0'=a_392^post3, i_197^0'=i_197^post3, a_579^0'=a_579^post3, r_143^0'=r_143^post3, a_1236^0'=a_1236^post3, head_32^0'=head_32^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3, i_30^0'=i_30^post3, x_253^0'=x_253^post3, a_635^0'=a_635^post3, r_970^0'=r_970^post3, rcd_47^0'=rcd_47^post3, a_309^0'=a_309^post3, i_1248^0'=i_1248^post3, a_575^0'=a_575^post3, temp_35^0'=temp_35^post3, len_861^0'=len_861^post3, (0 == 0 /\ -i_229^post3+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post3+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -a_577^post3+a_577^0 == 0 /\ a_263^0-a_263^post3 == 0 /\ a_394^0-a_394^post3 == 0 /\ a_144^0-a_144^post3 == 0 /\ -a_924^0+a_902^post3 <= 0 /\ a_576^0-a_576^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ a_1089^0-a_1089^post3 == 0 /\ x_852^0-x_852^post3 == 0 /\ -length_29^post3+length_29^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -r_39^post3+r_39^0 == 0 /\ f_847^0-f_847^post3 == 0 /\ -a_392^post3+a_392^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ -a_862^post3+a_862^0 == 0 /\ -a_310^post3+a_310^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3 == 0 /\ -r_224^post3+r_224^0 == 0 /\ -head_32^post3+head_32^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ -len_861^post3+len_861^0 == 0 /\ -a_635^post3+a_635^0 == 0 /\ -result_11^post3+result_11^0 == 0 /\ i_106^0-i_106^post3 == 0 /\ rcd_1249^0-rcd_1249^post3 == 0 /\ -a_393^post3+a_393^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ a_924^0-a_902^post3 <= 0 /\ -i_197^post3+i_197^0 == 0 /\ -a_309^post3+a_309^0 == 0 /\ -i_127^post3+i_127^0 == 0 /\ t_458^0-t_458^post3 == 0 /\ -a_579^post3+a_579^0 == 0 /\ r_143^0-r_143^post3 == 0 /\ y_20^0 <= 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ len_161^0-len_161^post3 == 0 /\ -i_107^post3+i_107^0 == 0 /\ -a_633^post3+a_633^0 == 0 /\ -a_417^post3+a_417^0 == 0 /\ -a_575^post3+a_575^0 == 0 /\ a_1236^0-a_1236^post3 == 0 /\ a_610^0-a_610^post3 == 0 /\ x_21^0-x_21^post3 == 0 /\ -a_924^post3+a_924^0 == 0 /\ -a_632^post3+a_632^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ -rcd_47^post3+rcd_47^0 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ i_27^0-i_27^post3 == 0 /\ a_121^0-a_121^post3 == 0 /\ a_634^0-a_634^post3 == 0 /\ -i_140^post3+i_140^0 == 0 /\ x_253^0-x_253^post3 == 0 /\ len_262^0-len_262^post3 == 0 /\ x_156^0-x_156^post3 == 0 /\ a_947^0-a_947^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ -x_975^post3+x_975^0 == 0 /\ -a_1162^post3+a_1162^0 == 0 /\ i_1053^0-i_1053^post3 == 0 /\ t_24^post3-x_21^0 == 0 /\ -f_969^post3+f_969^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ a_176^0-a_176^post3 == 0 /\ t_24^post3-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3 == 0 /\ len_238^0-len_238^post3 == 0 /\ head_15^0-x_17^0 <= 0 /\ -r_970^post3+r_970^0 == 0 /\ -a_432^post3+a_432^0 == 0 /\ -a_431^post3+a_431^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ r_151^0-r_151^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -i_113^post3+i_113^0 == 0 /\ a_311^0-a_311^post3 == 0 /\ -ct_18^0 <= 0 /\ -temp_35^post3+temp_35^0 == 0 /\ a_239^0-a_239^post3 == 0 /\ head_15^0-head_15^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post3 == 0 /\ -f_248^post3+f_248^0 == 0 /\ -t_24^post3+head_15^0 <= 0 /\ -a_395^post3+a_395^0 == 0 /\ x_14^0-x_14^post3 == 0 /\ a_430^0-a_430^post3 == 0 /\ -head_15^0+x_17^0 <= 0), cost: 1 4: l4 -> l5 : a_1089^0'=a_1089^post4, f_847^0'=f_847^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_394^0'=a_394^post4, x_156^0'=x_156^post4, a_632^0'=a_632^post4, r_192^0'=r_192^post4, a_176^0'=a_176^post4, i_106^0'=i_106^post4, a_430^0'=a_430^post4, t_458^0'=t_458^post4, len_161^0'=len_161^post4, x_975^0'=x_975^post4, a_902^0'=a_902^post4, a_947^0'=a_947^post4, rcd_88^0'=rcd_88^post4, a_311^0'=a_311^post4, i_140^0'=i_140^post4, a_577^0'=a_577^post4, x_14^0'=x_14^post4, nondet_12^0'=nondet_12^post4, a_121^0'=a_121^post4, head_15^0'=head_15^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4, i_27^0'=i_27^post4, x_21^0'=x_21^post4, a_634^0'=a_634^post4, r_39^0'=r_39^post4, a_263^0'=a_263^post4, i_113^0'=i_113^post4, a_432^0'=a_432^post4, temp0_31^0'=temp0_31^post4, len_262^0'=len_262^post4, y_20^0'=y_20^post4, f_248^0'=f_248^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_393^0'=a_393^post4, i_229^0'=i_229^post4, a_610^0'=a_610^post4, r_151^0'=r_151^post4, a_144^0'=a_144^post4, i_1053^0'=i_1053^post4, a_417^0'=a_417^post4, t_24^0'=t_24^post4, i_94^0'=i_94^post4, x_852^0'=x_852^post4, a_862^0'=a_862^post4, rcd_1249^0'=rcd_1249^post4, rcd_58^0'=rcd_58^post4, a_310^0'=a_310^post4, i_127^0'=i_127^post4, a_576^0'=a_576^post4, tmp_34^0'=tmp_34^post4, length_29^0'=length_29^post4, a_1162^0'=a_1162^post4, f_969^0'=f_969^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4, a_395^0'=a_395^post4, x_17^0'=x_17^post4, a_633^0'=a_633^post4, r_224^0'=r_224^post4, a_239^0'=a_239^post4, i_107^0'=i_107^post4, a_431^0'=a_431^post4, temp0_16^0'=temp0_16^post4, len_238^0'=len_238^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, a_924^0'=a_924^post4, ct_18^0'=ct_18^post4, result_11^0'=result_11^post4, a_392^0'=a_392^post4, i_197^0'=i_197^post4, a_579^0'=a_579^post4, r_143^0'=r_143^post4, a_1236^0'=a_1236^post4, head_32^0'=head_32^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4, i_30^0'=i_30^post4, x_253^0'=x_253^post4, a_635^0'=a_635^post4, r_970^0'=r_970^post4, rcd_47^0'=rcd_47^post4, a_309^0'=a_309^post4, i_1248^0'=i_1248^post4, a_575^0'=a_575^post4, temp_35^0'=temp_35^post4, len_861^0'=len_861^post4, (a_430^0-a_430^post4 == 0 /\ i_113^0-i_113^post4 == 0 /\ -rcd_1249^post4+rcd_1249^0 == 0 /\ x_975^0-x_975^post4 == 0 /\ r_192^0-r_192^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ length_29^0-length_29^post4 == 0 /\ a_633^0-a_633^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ -len_238^post4+len_238^0 == 0 /\ -a_610^post4+a_610^0 == 0 /\ a_393^0-a_393^post4 == 0 /\ -a_924^post4+a_924^0 == 0 /\ a_432^0-a_432^post4 == 0 /\ f_969^0-f_969^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -rcd_47^post4+rcd_47^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ -r_143^post4+r_143^0 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_579^0-a_579^post4 == 0 /\ -x_253^post4+x_253^0 == 0 /\ i_140^0-i_140^post4 == 0 /\ a_862^0-a_862^post4 == 0 /\ -r_970^post4+r_970^0 == 0 /\ x_156^0-x_156^post4 == 0 /\ len_161^0-len_161^post4 == 0 /\ a_144^0-a_144^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 == 0 /\ -a_431^post4+a_431^0 == 0 /\ a_394^0-a_394^post4 == 0 /\ -i_229^post4+i_229^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ -a_576^post4+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_58^0-rcd_58^post4 == 0 /\ r_151^0-r_151^post4 == 0 /\ head_32^0-head_32^post4 == 0 /\ -f_248^post4+f_248^0 == 0 /\ a_395^0-a_395^post4 == 0 /\ a_311^0-a_311^post4 == 0 /\ a_239^0-a_239^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ a_902^0-a_902^post4 == 0 /\ -len_861^post4+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ -a_1236^post4+a_1236^0 == 0 /\ -a_577^post4+a_577^0 == 0 /\ -i_1248^post4+i_1248^0 == 0 /\ i_106^0-i_106^post4 == 0 /\ a_635^0-a_635^post4 == 0 /\ -a_947^post4+a_947^0 == 0 /\ a_1089^0-a_1089^post4 == 0 /\ -r_224^post4+r_224^0 == 0 /\ -a_310^post4+a_310^0 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -len_262^post4+len_262^0 == 0 /\ t_458^0-t_458^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ -i_30^post4+i_30^0 == 0 /\ x_852^0-x_852^post4 == 0 /\ a_632^0-a_632^post4 == 0 /\ -a_392^post4+a_392^0 == 0 /\ a_417^0-a_417^post4 == 0 /\ -a_575^post4+a_575^0 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ -i_197^post4+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ a_263^0-a_263^post4 == 0 /\ 1-head_15^0 <= 0 /\ a_634^0-a_634^post4 == 0 /\ -a_309^post4+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -i_127^post4+i_127^0 == 0 /\ -x_14^post4+x_14^0 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ i_1053^0-i_1053^post4 == 0 /\ -a_1162^post4+a_1162^0 == 0 /\ a_176^0-a_176^post4 == 0 /\ y_20^0-y_20^post4 == 0 /\ -i_107^post4+i_107^0 == 0 /\ a_121^0-a_121^post4 == 0), cost: 1 5: l4 -> l5 : a_1089^0'=a_1089^post5, f_847^0'=f_847^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, a_394^0'=a_394^post5, x_156^0'=x_156^post5, a_632^0'=a_632^post5, r_192^0'=r_192^post5, a_176^0'=a_176^post5, i_106^0'=i_106^post5, a_430^0'=a_430^post5, t_458^0'=t_458^post5, len_161^0'=len_161^post5, x_975^0'=x_975^post5, a_902^0'=a_902^post5, a_947^0'=a_947^post5, rcd_88^0'=rcd_88^post5, a_311^0'=a_311^post5, i_140^0'=i_140^post5, a_577^0'=a_577^post5, x_14^0'=x_14^post5, nondet_12^0'=nondet_12^post5, a_121^0'=a_121^post5, head_15^0'=head_15^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5, i_27^0'=i_27^post5, x_21^0'=x_21^post5, a_634^0'=a_634^post5, r_39^0'=r_39^post5, a_263^0'=a_263^post5, i_113^0'=i_113^post5, a_432^0'=a_432^post5, temp0_31^0'=temp0_31^post5, len_262^0'=len_262^post5, y_20^0'=y_20^post5, f_248^0'=f_248^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, a_393^0'=a_393^post5, i_229^0'=i_229^post5, a_610^0'=a_610^post5, r_151^0'=r_151^post5, a_144^0'=a_144^post5, i_1053^0'=i_1053^post5, a_417^0'=a_417^post5, t_24^0'=t_24^post5, i_94^0'=i_94^post5, x_852^0'=x_852^post5, a_862^0'=a_862^post5, rcd_1249^0'=rcd_1249^post5, rcd_58^0'=rcd_58^post5, a_310^0'=a_310^post5, i_127^0'=i_127^post5, a_576^0'=a_576^post5, tmp_34^0'=tmp_34^post5, length_29^0'=length_29^post5, a_1162^0'=a_1162^post5, f_969^0'=f_969^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5, a_395^0'=a_395^post5, x_17^0'=x_17^post5, a_633^0'=a_633^post5, r_224^0'=r_224^post5, a_239^0'=a_239^post5, i_107^0'=i_107^post5, a_431^0'=a_431^post5, temp0_16^0'=temp0_16^post5, len_238^0'=len_238^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, a_924^0'=a_924^post5, ct_18^0'=ct_18^post5, result_11^0'=result_11^post5, a_392^0'=a_392^post5, i_197^0'=i_197^post5, a_579^0'=a_579^post5, r_143^0'=r_143^post5, a_1236^0'=a_1236^post5, head_32^0'=head_32^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5, i_30^0'=i_30^post5, x_253^0'=x_253^post5, a_635^0'=a_635^post5, r_970^0'=r_970^post5, rcd_47^0'=rcd_47^post5, a_309^0'=a_309^post5, i_1248^0'=i_1248^post5, a_575^0'=a_575^post5, temp_35^0'=temp_35^post5, len_861^0'=len_861^post5, (a_432^0-a_432^post5 == 0 /\ -a_392^post5+a_392^0 == 0 /\ x_21^0-x_21^post5 == 0 /\ -len_861^post5+len_861^0 == 0 /\ 1+head_15^0 <= 0 /\ -a_309^post5+a_309^0 == 0 /\ -a_1236^post5+a_1236^0 == 0 /\ x_156^0-x_156^post5 == 0 /\ a_263^0-a_263^post5 == 0 /\ a_144^0-a_144^post5 == 0 /\ f_847^0-f_847^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ -a_310^post5+a_310^0 == 0 /\ a_862^0-a_862^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -a_635^post5+a_635^0 == 0 /\ i_94^0-i_94^post5 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ a_417^0-a_417^post5 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -r_224^post5+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5 == 0 /\ a_394^0-a_394^post5 == 0 /\ -len_262^post5+len_262^0 == 0 /\ -i_1248^post5+i_1248^0 == 0 /\ r_151^0-r_151^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ -head_32^post5+head_32^0 == 0 /\ a_902^0-a_902^post5 == 0 /\ a_577^0-a_577^post5 == 0 /\ -a_579^post5+a_579^0 == 0 /\ -x_14^post5+x_14^0 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ -i_127^post5+i_127^0 == 0 /\ -i_30^post5+i_30^0 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ i_106^0-i_106^post5 == 0 /\ a_311^0-a_311^post5 == 0 /\ -i_197^post5+i_197^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ a_1089^0-a_1089^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ a_430^0-a_430^post5 == 0 /\ t_458^0-t_458^post5 == 0 /\ -i_107^post5+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ -a_575^post5+a_575^0 == 0 /\ i_140^0-i_140^post5 == 0 /\ -a_633^post5+a_633^0 == 0 /\ -rcd_47^post5+rcd_47^0 == 0 /\ -a_924^post5+a_924^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5 == 0 /\ -rcd_1249^post5+rcd_1249^0 == 0 /\ -x_852^post5+x_852^0 == 0 /\ x_253^0-x_253^post5 == 0 /\ i_1053^0-i_1053^post5 == 0 /\ -a_1162^post5+a_1162^0 == 0 /\ -f_969^post5+f_969^0 == 0 /\ x_975^0-x_975^post5 == 0 /\ -len_238^post5+len_238^0 == 0 /\ -r_970^post5+r_970^0 == 0 /\ y_20^0-y_20^post5 == 0 /\ a_947^0-a_947^post5 == 0 /\ a_610^0-a_610^post5 == 0 /\ -a_239^post5+a_239^0 == 0 /\ r_192^0-r_192^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ i_113^0-i_113^post5 == 0 /\ a_176^0-a_176^post5 == 0 /\ length_29^0-length_29^post5 == 0 /\ a_632^0-a_632^post5 == 0 /\ a_393^0-a_393^post5 == 0 /\ len_161^0-len_161^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ -r_143^post5+r_143^0 == 0 /\ -a_121^post5+a_121^0 == 0 /\ -f_248^post5+f_248^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -a_634^post5+a_634^0 == 0 /\ -a_431^post5+a_431^0 == 0 /\ -i_229^post5+i_229^0 == 0 /\ -a_576^post5+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post5+a_395^0 == 0), cost: 1 6: l5 -> l6 : a_1089^0'=a_1089^post6, f_847^0'=f_847^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_394^0'=a_394^post6, x_156^0'=x_156^post6, a_632^0'=a_632^post6, r_192^0'=r_192^post6, a_176^0'=a_176^post6, i_106^0'=i_106^post6, a_430^0'=a_430^post6, t_458^0'=t_458^post6, len_161^0'=len_161^post6, x_975^0'=x_975^post6, a_902^0'=a_902^post6, a_947^0'=a_947^post6, rcd_88^0'=rcd_88^post6, a_311^0'=a_311^post6, i_140^0'=i_140^post6, a_577^0'=a_577^post6, x_14^0'=x_14^post6, nondet_12^0'=nondet_12^post6, a_121^0'=a_121^post6, head_15^0'=head_15^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6, i_27^0'=i_27^post6, x_21^0'=x_21^post6, a_634^0'=a_634^post6, r_39^0'=r_39^post6, a_263^0'=a_263^post6, i_113^0'=i_113^post6, a_432^0'=a_432^post6, temp0_31^0'=temp0_31^post6, len_262^0'=len_262^post6, y_20^0'=y_20^post6, f_248^0'=f_248^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_393^0'=a_393^post6, i_229^0'=i_229^post6, a_610^0'=a_610^post6, r_151^0'=r_151^post6, a_144^0'=a_144^post6, i_1053^0'=i_1053^post6, a_417^0'=a_417^post6, t_24^0'=t_24^post6, i_94^0'=i_94^post6, x_852^0'=x_852^post6, a_862^0'=a_862^post6, rcd_1249^0'=rcd_1249^post6, rcd_58^0'=rcd_58^post6, a_310^0'=a_310^post6, i_127^0'=i_127^post6, a_576^0'=a_576^post6, tmp_34^0'=tmp_34^post6, length_29^0'=length_29^post6, a_1162^0'=a_1162^post6, f_969^0'=f_969^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6, a_395^0'=a_395^post6, x_17^0'=x_17^post6, a_633^0'=a_633^post6, r_224^0'=r_224^post6, a_239^0'=a_239^post6, i_107^0'=i_107^post6, a_431^0'=a_431^post6, temp0_16^0'=temp0_16^post6, len_238^0'=len_238^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, a_924^0'=a_924^post6, ct_18^0'=ct_18^post6, result_11^0'=result_11^post6, a_392^0'=a_392^post6, i_197^0'=i_197^post6, a_579^0'=a_579^post6, r_143^0'=r_143^post6, a_1236^0'=a_1236^post6, head_32^0'=head_32^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6, i_30^0'=i_30^post6, x_253^0'=x_253^post6, a_635^0'=a_635^post6, r_970^0'=r_970^post6, rcd_47^0'=rcd_47^post6, a_309^0'=a_309^post6, i_1248^0'=i_1248^post6, a_575^0'=a_575^post6, temp_35^0'=temp_35^post6, len_861^0'=len_861^post6, (r_192^0-r_192^post6 == 0 /\ -f_969^post6+f_969^0 == 0 /\ i_113^0-i_113^post6 == 0 /\ length_29^0-length_29^post6 == 0 /\ r_39^0-r_39^post6 == 0 /\ i_1053^0-i_1053^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post6+a_610^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ a_395^0-a_395^post6 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_47^post6+rcd_47^0 == 0 /\ a_393^0-a_393^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ -x_21^post6+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_310^0-a_310^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_432^0-a_432^post6 == 0 /\ -x_253^post6+x_253^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ x_156^0-x_156^post6 == 0 /\ -r_970^post6+r_970^0 == 0 /\ a_1162^0-a_1162^post6 == 0 /\ -f_248^post6+f_248^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ i_140^0-i_140^post6 == 0 /\ i_197^0-i_197^post6 == 0 /\ -len_861^post6+len_861^0 == 0 /\ a_634^0-a_634^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -a_576^post6+a_576^0 == 0 /\ -i_229^post6+i_229^0 == 0 /\ -a_924^post6+a_924^0 == 0 /\ -r_143^post6+r_143^0 == 0 /\ head_32^0-head_32^post6 == 0 /\ a_417^0-a_417^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ r_151^0-r_151^post6 == 0 /\ -rcd_1249^post6+rcd_1249^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ a_311^0-a_311^post6 == 0 /\ a_902^0-a_902^post6 == 0 /\ x_975^0-x_975^post6 == 0 /\ t_458^0-t_458^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ -a_392^post6+a_392^0 == 0 /\ a_577^0-a_577^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post6+a_575^0 == 0 /\ i_106^0-i_106^post6 == 0 /\ -a_1236^post6+a_1236^0 == 0 /\ a_1089^0-a_1089^post6 == 0 /\ -len_262^post6+len_262^0 == 0 /\ -a_947^post6+a_947^0 == 0 /\ len_161^0-len_161^post6 == 0 /\ i_107^0-i_107^post6 == 0 /\ -i_1248^post6+i_1248^0 == 0 /\ -a_239^post6+a_239^0 == 0 /\ a_632^0-a_632^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ a_263^0-a_263^post6 == 0 /\ -a_635^post6+a_635^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_852^0-x_852^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -a_430^post6+a_430^0 == 0 /\ -a_633^post6+a_633^0 == 0 /\ -x_14^post6+x_14^0 == 0 /\ f_847^0-f_847^post6 == 0 /\ -len_238^post6+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6 == 0 /\ r_224^0-r_224^post6 == 0 /\ a_394^0-a_394^post6 == 0 /\ -a_309^post6+a_309^0 == 0 /\ a_862^0-a_862^post6 == 0 /\ a_431^0-a_431^post6 == 0 /\ a_176^0-a_176^post6 == 0 /\ a_121^0-a_121^post6 == 0 /\ -a_579^post6+a_579^0 == 0 /\ y_20^0-y_20^post6 == 0 /\ -i_127^post6+i_127^0 == 0 /\ -ct_18^post6+ct_18^0 == 0), cost: 1 7: l5 -> l6 : a_1089^0'=a_1089^post7, f_847^0'=f_847^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_394^0'=a_394^post7, x_156^0'=x_156^post7, a_632^0'=a_632^post7, r_192^0'=r_192^post7, a_176^0'=a_176^post7, i_106^0'=i_106^post7, a_430^0'=a_430^post7, t_458^0'=t_458^post7, len_161^0'=len_161^post7, x_975^0'=x_975^post7, a_902^0'=a_902^post7, a_947^0'=a_947^post7, rcd_88^0'=rcd_88^post7, a_311^0'=a_311^post7, i_140^0'=i_140^post7, a_577^0'=a_577^post7, x_14^0'=x_14^post7, nondet_12^0'=nondet_12^post7, a_121^0'=a_121^post7, head_15^0'=head_15^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7, i_27^0'=i_27^post7, x_21^0'=x_21^post7, a_634^0'=a_634^post7, r_39^0'=r_39^post7, a_263^0'=a_263^post7, i_113^0'=i_113^post7, a_432^0'=a_432^post7, temp0_31^0'=temp0_31^post7, len_262^0'=len_262^post7, y_20^0'=y_20^post7, f_248^0'=f_248^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_393^0'=a_393^post7, i_229^0'=i_229^post7, a_610^0'=a_610^post7, r_151^0'=r_151^post7, a_144^0'=a_144^post7, i_1053^0'=i_1053^post7, a_417^0'=a_417^post7, t_24^0'=t_24^post7, i_94^0'=i_94^post7, x_852^0'=x_852^post7, a_862^0'=a_862^post7, rcd_1249^0'=rcd_1249^post7, rcd_58^0'=rcd_58^post7, a_310^0'=a_310^post7, i_127^0'=i_127^post7, a_576^0'=a_576^post7, tmp_34^0'=tmp_34^post7, length_29^0'=length_29^post7, a_1162^0'=a_1162^post7, f_969^0'=f_969^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7, a_395^0'=a_395^post7, x_17^0'=x_17^post7, a_633^0'=a_633^post7, r_224^0'=r_224^post7, a_239^0'=a_239^post7, i_107^0'=i_107^post7, a_431^0'=a_431^post7, temp0_16^0'=temp0_16^post7, len_238^0'=len_238^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, a_924^0'=a_924^post7, ct_18^0'=ct_18^post7, result_11^0'=result_11^post7, a_392^0'=a_392^post7, i_197^0'=i_197^post7, a_579^0'=a_579^post7, r_143^0'=r_143^post7, a_1236^0'=a_1236^post7, head_32^0'=head_32^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7, i_30^0'=i_30^post7, x_253^0'=x_253^post7, a_635^0'=a_635^post7, r_970^0'=r_970^post7, rcd_47^0'=rcd_47^post7, a_309^0'=a_309^post7, i_1248^0'=i_1248^post7, a_575^0'=a_575^post7, temp_35^0'=temp_35^post7, len_861^0'=len_861^post7, (-a_393^post7+a_393^0 == 0 /\ -a_576^post7+a_576^0 == 0 /\ i_229^0-i_229^post7 == 0 /\ x_156^0-x_156^post7 == 0 /\ a_579^0-a_579^post7 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -i_27^post7+i_27^0 == 0 /\ -a_392^post7+a_392^0 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ -len_861^post7+len_861^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ a_121^0-a_121^post7 == 0 /\ a_634^0-a_634^post7 == 0 /\ -a_1236^post7+a_1236^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -i_1248^post7+i_1248^0 == 0 /\ len_262^0-len_262^post7 == 0 /\ -a_417^post7+a_417^0 == 0 /\ a_577^0-a_577^post7 == 0 /\ -a_635^post7+a_635^0 == 0 /\ -a_239^post7+a_239^0 == 0 /\ head_15^0-head_15^post7 == 0 /\ -rcd_47^post7+rcd_47^0 == 0 /\ a_176^0-a_176^post7 == 0 /\ -len_238^post7+len_238^0 == 0 /\ r_192^0-r_192^post7 == 0 /\ -length_29^post7+length_29^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ x_14^0-x_14^post7 == 0 /\ i_1053^0-i_1053^post7 == 0 /\ a_632^0-a_632^post7 == 0 /\ -a_575^post7+a_575^0 == 0 /\ -r_151^post7+r_151^0 == 0 /\ -a_862^post7+a_862^0 == 0 /\ -i_197^post7+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post7+a_309^0 == 0 /\ a_1089^0-a_1089^post7 == 0 /\ -a_902^post7+a_902^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ a_263^0-a_263^post7 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -a_633^post7+a_633^0 == 0 /\ a_430^0-a_430^post7 == 0 /\ y_20^0-y_20^post7 == 0 /\ -i_127^post7+i_127^0 == 0 /\ -a_1162^post7+a_1162^0 == 0 /\ f_847^0-f_847^post7 == 0 /\ -a_924^post7+a_924^0 == 0 /\ a_432^0-a_432^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_253^post7+x_253^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ a_431^0-a_431^post7 == 0 /\ -r_970^post7+r_970^0 == 0 /\ a_394^0-a_394^post7 == 0 /\ i_113^0-i_113^post7 == 0 /\ i_94^0-i_94^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7 == 0 /\ -a_311^post7+a_311^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -f_969^post7+f_969^0 == 0 /\ x_975^0-x_975^post7 == 0 /\ -x_852^post7+x_852^0 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_395^0-a_395^post7 == 0 /\ -r_224^post7+r_224^0 == 0 /\ a_310^0-a_310^post7 == 0 /\ a_947^0-a_947^post7 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ a_610^0-a_610^post7 == 0 /\ i_107^0-i_107^post7 == 0 /\ -r_143^post7+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ i_140^0-i_140^post7 == 0 /\ i_106^0-i_106^post7 == 0 /\ len_161^0-len_161^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -rcd_1249^post7+rcd_1249^0 == 0 /\ -result_11^post7+result_11^0 == 0 /\ t_458^0-t_458^post7 == 0 /\ t_24^0-t_24^post7 == 0 /\ -f_248^post7+f_248^0 == 0 /\ r_39^0-r_39^post7 == 0), cost: 1 8: l6 -> l7 : a_1089^0'=a_1089^post8, f_847^0'=f_847^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_394^0'=a_394^post8, x_156^0'=x_156^post8, a_632^0'=a_632^post8, r_192^0'=r_192^post8, a_176^0'=a_176^post8, i_106^0'=i_106^post8, a_430^0'=a_430^post8, t_458^0'=t_458^post8, len_161^0'=len_161^post8, x_975^0'=x_975^post8, a_902^0'=a_902^post8, a_947^0'=a_947^post8, rcd_88^0'=rcd_88^post8, a_311^0'=a_311^post8, i_140^0'=i_140^post8, a_577^0'=a_577^post8, x_14^0'=x_14^post8, nondet_12^0'=nondet_12^post8, a_121^0'=a_121^post8, head_15^0'=head_15^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8, i_27^0'=i_27^post8, x_21^0'=x_21^post8, a_634^0'=a_634^post8, r_39^0'=r_39^post8, a_263^0'=a_263^post8, i_113^0'=i_113^post8, a_432^0'=a_432^post8, temp0_31^0'=temp0_31^post8, len_262^0'=len_262^post8, y_20^0'=y_20^post8, f_248^0'=f_248^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_393^0'=a_393^post8, i_229^0'=i_229^post8, a_610^0'=a_610^post8, r_151^0'=r_151^post8, a_144^0'=a_144^post8, i_1053^0'=i_1053^post8, a_417^0'=a_417^post8, t_24^0'=t_24^post8, i_94^0'=i_94^post8, x_852^0'=x_852^post8, a_862^0'=a_862^post8, rcd_1249^0'=rcd_1249^post8, rcd_58^0'=rcd_58^post8, a_310^0'=a_310^post8, i_127^0'=i_127^post8, a_576^0'=a_576^post8, tmp_34^0'=tmp_34^post8, length_29^0'=length_29^post8, a_1162^0'=a_1162^post8, f_969^0'=f_969^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8, a_395^0'=a_395^post8, x_17^0'=x_17^post8, a_633^0'=a_633^post8, r_224^0'=r_224^post8, a_239^0'=a_239^post8, i_107^0'=i_107^post8, a_431^0'=a_431^post8, temp0_16^0'=temp0_16^post8, len_238^0'=len_238^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, a_924^0'=a_924^post8, ct_18^0'=ct_18^post8, result_11^0'=result_11^post8, a_392^0'=a_392^post8, i_197^0'=i_197^post8, a_579^0'=a_579^post8, r_143^0'=r_143^post8, a_1236^0'=a_1236^post8, head_32^0'=head_32^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8, i_30^0'=i_30^post8, x_253^0'=x_253^post8, a_635^0'=a_635^post8, r_970^0'=r_970^post8, rcd_47^0'=rcd_47^post8, a_309^0'=a_309^post8, i_1248^0'=i_1248^post8, a_575^0'=a_575^post8, temp_35^0'=temp_35^post8, len_861^0'=len_861^post8, (a_176^0-a_176^post8 == 0 /\ -rcd_1249^post8+rcd_1249^0 == 0 /\ -x_852^post8+x_852^0 == 0 /\ -i_197^post8+i_197^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ -r_970^post8+r_970^0 == 0 /\ i_27^0-i_27^post8 == 0 /\ r_192^0-r_192^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post8+a_610^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post8 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -ct_18^post8+ct_18^0 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ a_310^0-a_310^post8 == 0 /\ t_458^0-t_458^post8 == 0 /\ -rcd_47^post8+rcd_47^0 == 0 /\ -x_253^post8+x_253^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ a_1089^0-a_1089^post8 == 0 /\ -len_861^post8+len_861^0 == 0 /\ a_263^0-a_263^post8 == 0 /\ -f_248^post8+f_248^0 == 0 /\ -a_311^post8+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8 == 0 /\ a_924^0-a_924^post8 == 0 /\ -i_1248^post8+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ -a_395^post8+a_395^0 == 0 /\ -a_239^post8+a_239^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ x_975^0-x_975^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ y_20^0-y_20^post8 == 0 /\ -i_1053^post8+i_1053^0 == 0 /\ a_634^0-a_634^post8 == 0 /\ -a_576^post8+a_576^0 == 0 /\ a_121^0-a_121^post8 == 0 /\ len_262^0-len_262^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_1236^post8+a_1236^0 == 0 /\ -r_143^post8+r_143^0 == 0 /\ -a_575^post8+a_575^0 == 0 /\ a_394^0-a_394^post8 == 0 /\ i_113^0-i_113^post8 == 0 /\ -a_635^post8+a_635^0 == 0 /\ -a_144^post8+a_144^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -a_309^post8+a_309^0 == 0 /\ f_969^0-f_969^post8 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -a_417^post8+a_417^0 == 0 /\ x_14^0-x_14^post8 == 0 /\ a_430^0-a_430^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ a_632^0-a_632^post8 == 0 /\ -length_29^post8+length_29^0 == 0 /\ a_393^0-a_393^post8 == 0 /\ len_161^0-len_161^post8 == 0 /\ -i_107^post8+i_107^0 == 0 /\ f_847^0-f_847^post8 == 0 /\ i_229^0-i_229^post8 == 0 /\ a_432^0-a_432^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -i_106^post8+i_106^0 == 0 /\ a_1162^0-a_1162^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ x_21^0-x_21^post8 == 0 /\ -len_238^post8+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post8+r_151^0 == 0 /\ i_140^0-i_140^post8 == 0 /\ -a_579^post8+a_579^0 == 0 /\ r_224^0-r_224^post8 == 0 /\ a_431^0-a_431^post8 == 0 /\ -a_633^post8+a_633^0 == 0 /\ a_862^0-a_862^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -i_127^post8+i_127^0 == 0 /\ a_577^0-a_577^post8 == 0 /\ a_902^0-a_902^post8 == 0 /\ -a_392^post8+a_392^0 == 0 /\ x_156^0-x_156^post8 == 0 /\ a_947^0-a_947^post8 == 0), cost: 1 9: l6 -> l7 : a_1089^0'=a_1089^post9, f_847^0'=f_847^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_394^0'=a_394^post9, x_156^0'=x_156^post9, a_632^0'=a_632^post9, r_192^0'=r_192^post9, a_176^0'=a_176^post9, i_106^0'=i_106^post9, a_430^0'=a_430^post9, t_458^0'=t_458^post9, len_161^0'=len_161^post9, x_975^0'=x_975^post9, a_902^0'=a_902^post9, a_947^0'=a_947^post9, rcd_88^0'=rcd_88^post9, a_311^0'=a_311^post9, i_140^0'=i_140^post9, a_577^0'=a_577^post9, x_14^0'=x_14^post9, nondet_12^0'=nondet_12^post9, a_121^0'=a_121^post9, head_15^0'=head_15^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9, i_27^0'=i_27^post9, x_21^0'=x_21^post9, a_634^0'=a_634^post9, r_39^0'=r_39^post9, a_263^0'=a_263^post9, i_113^0'=i_113^post9, a_432^0'=a_432^post9, temp0_31^0'=temp0_31^post9, len_262^0'=len_262^post9, y_20^0'=y_20^post9, f_248^0'=f_248^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_393^0'=a_393^post9, i_229^0'=i_229^post9, a_610^0'=a_610^post9, r_151^0'=r_151^post9, a_144^0'=a_144^post9, i_1053^0'=i_1053^post9, a_417^0'=a_417^post9, t_24^0'=t_24^post9, i_94^0'=i_94^post9, x_852^0'=x_852^post9, a_862^0'=a_862^post9, rcd_1249^0'=rcd_1249^post9, rcd_58^0'=rcd_58^post9, a_310^0'=a_310^post9, i_127^0'=i_127^post9, a_576^0'=a_576^post9, tmp_34^0'=tmp_34^post9, length_29^0'=length_29^post9, a_1162^0'=a_1162^post9, f_969^0'=f_969^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9, a_395^0'=a_395^post9, x_17^0'=x_17^post9, a_633^0'=a_633^post9, r_224^0'=r_224^post9, a_239^0'=a_239^post9, i_107^0'=i_107^post9, a_431^0'=a_431^post9, temp0_16^0'=temp0_16^post9, len_238^0'=len_238^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_924^0'=a_924^post9, ct_18^0'=ct_18^post9, result_11^0'=result_11^post9, a_392^0'=a_392^post9, i_197^0'=i_197^post9, a_579^0'=a_579^post9, r_143^0'=r_143^post9, a_1236^0'=a_1236^post9, head_32^0'=head_32^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9, i_30^0'=i_30^post9, x_253^0'=x_253^post9, a_635^0'=a_635^post9, r_970^0'=r_970^post9, rcd_47^0'=rcd_47^post9, a_309^0'=a_309^post9, i_1248^0'=i_1248^post9, a_575^0'=a_575^post9, temp_35^0'=temp_35^post9, len_861^0'=len_861^post9, (a_1162^0-a_1162^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9 == 0 /\ i_229^0-i_229^post9 == 0 /\ -r_151^post9+r_151^0 == 0 /\ -a_309^post9+a_309^0 == 0 /\ -a_393^post9+a_393^0 == 0 /\ -a_417^post9+a_417^0 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post9 == 0 /\ -i_27^post9+i_27^0 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ -a_635^post9+a_635^0 == 0 /\ -length_29^post9+length_29^0 == 0 /\ a_634^0-a_634^post9 == 0 /\ -i_107^post9+i_107^0 == 0 /\ len_262^0-len_262^post9 == 0 /\ a_947^0-a_947^post9 == 0 /\ x_975^0-x_975^post9 == 0 /\ i_127^0-i_127^post9 == 0 /\ -a_575^post9+a_575^0 == 0 /\ -a_1236^post9+a_1236^0 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ a_577^0-a_577^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_176^0-a_176^post9 == 0 /\ -rcd_47^post9+rcd_47^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_140^post9+i_140^0 == 0 /\ -a_862^post9+a_862^0 == 0 /\ -a_310^post9+a_310^0 == 0 /\ r_192^0-r_192^post9 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -a_392^post9+a_392^0 == 0 /\ a_632^0-a_632^post9 == 0 /\ -a_902^post9+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post9 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_156^0-x_156^post9 == 0 /\ -f_969^post9+f_969^0 == 0 /\ a_633^0-a_633^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ f_847^0-f_847^post9 == 0 /\ a_432^0-a_432^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_263^post9+a_263^0 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -a_579^post9+a_579^0 == 0 /\ -x_253^post9+x_253^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ -i_197^post9+i_197^0 == 0 /\ a_610^0-a_610^post9 == 0 /\ a_121^0-a_121^post9 == 0 /\ -a_431^post9+a_431^0 == 0 /\ i_94^0-i_94^post9 == 0 /\ -rcd_58^post9+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9 == 0 /\ r_970^0-r_970^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ a_394^0-a_394^post9 == 0 /\ i_113^0-i_113^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -x_852^post9+x_852^0 == 0 /\ -a_395^post9+a_395^0 == 0 /\ -rcd_88^post9+rcd_88^0 == 0 /\ len_238^0-len_238^post9 == 0 /\ -i_1248^post9+i_1248^0 == 0 /\ a_1089^0-a_1089^post9 == 0 /\ -tmp_34^post9+tmp_34^0 == 0 /\ x_14^0-x_14^post9 == 0 /\ -a_239^post9+a_239^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ i_106^0-i_106^post9 == 0 /\ -i_1053^post9+i_1053^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ a_430^0-a_430^post9 == 0 /\ -len_161^post9+len_161^0 == 0 /\ -r_143^post9+r_143^0 == 0 /\ -a_924^post9+a_924^0 == 0 /\ -r_224^post9+r_224^0 == 0 /\ -len_861^post9+len_861^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -a_576^post9+a_576^0 == 0 /\ a_311^0-a_311^post9 == 0 /\ t_458^0-t_458^post9 == 0), cost: 1 10: l7 -> l1 : a_1089^0'=a_1089^post10, f_847^0'=f_847^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_394^0'=a_394^post10, x_156^0'=x_156^post10, a_632^0'=a_632^post10, r_192^0'=r_192^post10, a_176^0'=a_176^post10, i_106^0'=i_106^post10, a_430^0'=a_430^post10, t_458^0'=t_458^post10, len_161^0'=len_161^post10, x_975^0'=x_975^post10, a_902^0'=a_902^post10, a_947^0'=a_947^post10, rcd_88^0'=rcd_88^post10, a_311^0'=a_311^post10, i_140^0'=i_140^post10, a_577^0'=a_577^post10, x_14^0'=x_14^post10, nondet_12^0'=nondet_12^post10, a_121^0'=a_121^post10, head_15^0'=head_15^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10, i_27^0'=i_27^post10, x_21^0'=x_21^post10, a_634^0'=a_634^post10, r_39^0'=r_39^post10, a_263^0'=a_263^post10, i_113^0'=i_113^post10, a_432^0'=a_432^post10, temp0_31^0'=temp0_31^post10, len_262^0'=len_262^post10, y_20^0'=y_20^post10, f_248^0'=f_248^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_393^0'=a_393^post10, i_229^0'=i_229^post10, a_610^0'=a_610^post10, r_151^0'=r_151^post10, a_144^0'=a_144^post10, i_1053^0'=i_1053^post10, a_417^0'=a_417^post10, t_24^0'=t_24^post10, i_94^0'=i_94^post10, x_852^0'=x_852^post10, a_862^0'=a_862^post10, rcd_1249^0'=rcd_1249^post10, rcd_58^0'=rcd_58^post10, a_310^0'=a_310^post10, i_127^0'=i_127^post10, a_576^0'=a_576^post10, tmp_34^0'=tmp_34^post10, length_29^0'=length_29^post10, a_1162^0'=a_1162^post10, f_969^0'=f_969^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10, a_395^0'=a_395^post10, x_17^0'=x_17^post10, a_633^0'=a_633^post10, r_224^0'=r_224^post10, a_239^0'=a_239^post10, i_107^0'=i_107^post10, a_431^0'=a_431^post10, temp0_16^0'=temp0_16^post10, len_238^0'=len_238^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, a_924^0'=a_924^post10, ct_18^0'=ct_18^post10, result_11^0'=result_11^post10, a_392^0'=a_392^post10, i_197^0'=i_197^post10, a_579^0'=a_579^post10, r_143^0'=r_143^post10, a_1236^0'=a_1236^post10, head_32^0'=head_32^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10, i_30^0'=i_30^post10, x_253^0'=x_253^post10, a_635^0'=a_635^post10, r_970^0'=r_970^post10, rcd_47^0'=rcd_47^post10, a_309^0'=a_309^post10, i_1248^0'=i_1248^post10, a_575^0'=a_575^post10, temp_35^0'=temp_35^post10, len_861^0'=len_861^post10, (0 == 0 /\ -y_20^post10+y_20^0 == 0 /\ a_394^0-a_394^post10 == 0 /\ a_1089^0-a_1089^post10 == 0 /\ -x_253^post10+x_253^0 == 0 /\ -a_263^post10+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post10+r_970^0 == 0 /\ -i_197^post10+i_197^0 == 0 /\ -t_24^post10+t_24^0 == 0 /\ -head_32^post10+head_32^0 == 0 /\ a_311^0-a_311^post10 == 0 /\ -a_431^post10+a_431^0 == 0 /\ -i_229^post10+i_229^0 == 0 /\ a_576^0-a_576^post10 == 0 /\ rcd_1249^0-rcd_1249^post10 == 0 /\ t_458^0-t_458^post10 == 0 /\ x_852^0-x_852^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -1-a_902^0+len_161^post10 <= 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ i_106^0-i_106^post10 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post10+temp_35^0 == 0 /\ f_847^0-f_847^post10 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_1053^post10+i_1053^0 == 0 /\ -a_395^post10+a_395^0 == 0 /\ -a_417^post10+a_417^0 == 0 /\ -len_861^post10+len_861^0 == 0 /\ a_924^0-a_924^post10 == 0 /\ ct_18^0-ct_18^post10 == 0 /\ len_262^0-len_262^post10 == 0 /\ -a_577^post10+a_577^0 == 0 /\ a_1236^0-a_1236^post10 == 0 /\ -result_11^post10+result_11^0 == 0 /\ a_610^0-a_610^post10 == 0 /\ -r_224^post10+r_224^0 == 0 /\ -i_1248^post10+i_1248^0 == 0 /\ -a_393^post10+a_393^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ x_975^0-x_975^post10 == 0 /\ -x_17^post10+x_17^0 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -r_143^post10+r_143^0 == 0 /\ i_127^0-i_127^post10 == 0 /\ -x_SLAM_f_19^post10+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post10 == 0 /\ -i_107^post10+i_107^0 == 0 /\ len_238^0-len_238^post10 == 0 /\ x_14^0-x_14^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -a_575^post10+a_575^0 == 0 /\ a_310^0-a_310^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_176^0-a_176^post10 == 0 /\ -a_635^post10+a_635^0 == 0 /\ i_27^0-i_27^post10 == 0 /\ f_969^0-f_969^post10 == 0 /\ a_121^0-a_121^post10 == 0 /\ -a_432^post10+a_432^0 == 0 /\ -a_632^post10+a_632^0 == 0 /\ -i_113^post10+i_113^0 == 0 /\ a_430^0-a_430^post10 == 0 /\ 1+a_902^0-len_161^post10 <= 0 /\ -a_309^post10+a_309^0 == 0 /\ x_156^0-x_156^post10 == 0 /\ 1-i_27^0 <= 0 /\ -r_39^post10+r_39^0 == 0 /\ a_1162^0-a_1162^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post10+a_862^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ -a_633^post10+a_633^0 == 0 /\ r_151^0-r_151^post10 == 0 /\ r_192^0-r_192^post10 == 0 /\ -rcd_47^post10+rcd_47^0 == 0 /\ f_248^0-f_248^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ a_239^0-a_239^post10 == 0 /\ -i_140^post10+i_140^0 == 0 /\ a_902^0-a_902^post10 == 0 /\ -a_392^post10+a_392^0 == 0 /\ -a_579^post10+a_579^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ -length_29^post10+length_29^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ a_634^0-a_634^post10 == 0), cost: 1 271: l1 -> l170 : a_1089^0'=a_1089^post271, f_847^0'=f_847^post271, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_394^0'=a_394^post271, x_156^0'=x_156^post271, a_632^0'=a_632^post271, r_192^0'=r_192^post271, a_176^0'=a_176^post271, i_106^0'=i_106^post271, a_430^0'=a_430^post271, t_458^0'=t_458^post271, len_161^0'=len_161^post271, x_975^0'=x_975^post271, a_902^0'=a_902^post271, a_947^0'=a_947^post271, rcd_88^0'=rcd_88^post271, a_311^0'=a_311^post271, i_140^0'=i_140^post271, a_577^0'=a_577^post271, x_14^0'=x_14^post271, nondet_12^0'=nondet_12^post271, a_121^0'=a_121^post271, head_15^0'=head_15^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271, i_27^0'=i_27^post271, x_21^0'=x_21^post271, a_634^0'=a_634^post271, r_39^0'=r_39^post271, a_263^0'=a_263^post271, i_113^0'=i_113^post271, a_432^0'=a_432^post271, temp0_31^0'=temp0_31^post271, len_262^0'=len_262^post271, y_20^0'=y_20^post271, f_248^0'=f_248^post271, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271, a_393^0'=a_393^post271, i_229^0'=i_229^post271, a_610^0'=a_610^post271, r_151^0'=r_151^post271, a_144^0'=a_144^post271, i_1053^0'=i_1053^post271, a_417^0'=a_417^post271, t_24^0'=t_24^post271, i_94^0'=i_94^post271, x_852^0'=x_852^post271, a_862^0'=a_862^post271, rcd_1249^0'=rcd_1249^post271, rcd_58^0'=rcd_58^post271, a_310^0'=a_310^post271, i_127^0'=i_127^post271, a_576^0'=a_576^post271, tmp_34^0'=tmp_34^post271, length_29^0'=length_29^post271, a_1162^0'=a_1162^post271, f_969^0'=f_969^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271, a_395^0'=a_395^post271, x_17^0'=x_17^post271, a_633^0'=a_633^post271, r_224^0'=r_224^post271, a_239^0'=a_239^post271, i_107^0'=i_107^post271, a_431^0'=a_431^post271, temp0_16^0'=temp0_16^post271, len_238^0'=len_238^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=a_924^post271, ct_18^0'=ct_18^post271, result_11^0'=result_11^post271, a_392^0'=a_392^post271, i_197^0'=i_197^post271, a_579^0'=a_579^post271, r_143^0'=r_143^post271, a_1236^0'=a_1236^post271, head_32^0'=head_32^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, i_30^0'=i_30^post271, x_253^0'=x_253^post271, a_635^0'=a_635^post271, r_970^0'=r_970^post271, rcd_47^0'=rcd_47^post271, a_309^0'=a_309^post271, i_1248^0'=i_1248^post271, a_575^0'=a_575^post271, temp_35^0'=temp_35^post271, len_861^0'=len_861^post271, (0 == 0 /\ x_156^0-x_156^post271 == 0 /\ -i_30^post271+i_30^0 == 0 /\ -a_309^post271+a_309^0 == 0 /\ -r_151^post271+r_151^0 == 0 /\ -a_144^post271+a_144^0 == 0 /\ a_632^0-a_632^post271 == 0 /\ -a_575^post271+a_575^0 == 0 /\ -a_576^post271+a_576^0 == 0 /\ a_579^0-a_579^post271 == 0 /\ -a_1236^post271+a_1236^0 == 0 /\ a_121^0-a_121^post271 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271 == 0 /\ a_902^0-a_902^post271 == 0 /\ -a_635^post271+a_635^0 == 0 /\ -a_417^post271+a_417^0 == 0 /\ temp0_31^0-temp0_31^post271 == 0 /\ len_262^0-len_262^post271 == 0 /\ a_577^0-a_577^post271 == 0 /\ i_229^0-i_229^post271 == 0 /\ a_634^0-a_634^post271 == 0 /\ a_392^0-a_392^post271 == 0 /\ -length_29^post271+length_29^0 == 0 /\ a_1089^0-a_1089^post271 == 0 /\ a_394^0-a_394^post271 == 0 /\ -rcd_58^post271+rcd_58^0 == 0 /\ i_1053^0-i_1053^post271 == 0 /\ -a_633^post271+a_633^0 == 0 /\ -a_862^post271+a_862^0 == 0 /\ a_176^0-a_176^post271 == 0 /\ -a_610^post271+a_610^0 == 0 /\ -head_32^post271+head_32^0 == 0 /\ a_430^0-a_430^post271 == 0 /\ -rcd_47^post271+rcd_47^0 == 0 /\ a_263^0-a_263^post271 == 0 /\ -i_197^post271+i_197^0 == 0 /\ -len_238^post271+len_238^0 == 0 /\ f_847^0-f_847^post271 == 0 /\ -f_969^post271+f_969^0 == 0 /\ -r_192^post271+r_192^0 == 0 /\ -x_852^post271+x_852^0 == 0 /\ a_432^0-a_432^post271 == 0 /\ -i_127^post271+i_127^0 == 0 /\ -temp_35^post271+temp_35^0 == 0 /\ y_20^0-y_20^post271 == 0 /\ i_113^0-i_113^post271 == 0 /\ nondet_12^0-nondet_12^post271 == 0 /\ -r_970^post271+r_970^0 == 0 /\ x_21^0-x_21^post271 == 0 /\ -a_311^post271+a_311^0 == 0 /\ x_975^0-x_975^post271 == 0 /\ a_431^0-a_431^post271 == 0 /\ -rcd_88^post271+rcd_88^0 == 0 /\ -a_1162^post271+a_1162^0 == 0 /\ i_94^0-i_94^post271 == 0 /\ -x_253^post271+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271 == 0 /\ a_947^0-a_947^post271 == 0 /\ a_310^0-a_310^post271 == 0 /\ -i_1248^post271+i_1248^0 == 0 /\ -f_248^post271+f_248^0 == 0 /\ -a_239^post271+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post271+tmp_34^0 == 0 /\ -a_924^0 <= 0 /\ -r_224^post271+r_224^0 == 0 /\ -rcd_1249^post271+rcd_1249^0 == 0 /\ -temp0_16^post271+temp0_16^0 == 0 /\ a_395^0-a_395^post271 == 0 /\ -len_861^post271+len_861^0 == 0 /\ len_161^0-len_161^post271 == 0 /\ -a_924^post271+a_924^0 == 0 /\ i_140^0-i_140^post271 == 0 /\ -result_11^post271+result_11^0 == 0 /\ -r_143^post271+r_143^0 == 0 /\ t_458^0-t_458^post271 == 0 /\ i_107^0-i_107^post271 == 0 /\ -a_393^post271+a_393^0 == 0 /\ i_106^0-i_106^post271 == 0 /\ t_24^0-t_24^post271 == 0), cost: 1 22: l8 -> l17 : a_1089^0'=a_1089^post22, f_847^0'=f_847^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_394^0'=a_394^post22, x_156^0'=x_156^post22, a_632^0'=a_632^post22, r_192^0'=r_192^post22, a_176^0'=a_176^post22, i_106^0'=i_106^post22, a_430^0'=a_430^post22, t_458^0'=t_458^post22, len_161^0'=len_161^post22, x_975^0'=x_975^post22, a_902^0'=a_902^post22, a_947^0'=a_947^post22, rcd_88^0'=rcd_88^post22, a_311^0'=a_311^post22, i_140^0'=i_140^post22, a_577^0'=a_577^post22, x_14^0'=x_14^post22, nondet_12^0'=nondet_12^post22, a_121^0'=a_121^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=i_27^post22, x_21^0'=x_21^post22, a_634^0'=a_634^post22, r_39^0'=r_39^post22, a_263^0'=a_263^post22, i_113^0'=i_113^post22, a_432^0'=a_432^post22, temp0_31^0'=temp0_31^post22, len_262^0'=len_262^post22, y_20^0'=y_20^post22, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_393^0'=a_393^post22, i_229^0'=i_229^post22, a_610^0'=a_610^post22, r_151^0'=r_151^post22, a_144^0'=a_144^post22, i_1053^0'=i_1053^post22, a_417^0'=a_417^post22, t_24^0'=t_24^post22, i_94^0'=i_94^post22, x_852^0'=x_852^post22, a_862^0'=a_862^post22, rcd_1249^0'=rcd_1249^post22, rcd_58^0'=rcd_58^post22, a_310^0'=a_310^post22, i_127^0'=i_127^post22, a_576^0'=a_576^post22, tmp_34^0'=tmp_34^post22, length_29^0'=length_29^post22, a_1162^0'=a_1162^post22, f_969^0'=f_969^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22, a_395^0'=a_395^post22, x_17^0'=x_17^post22, a_633^0'=a_633^post22, r_224^0'=r_224^post22, a_239^0'=a_239^post22, i_107^0'=i_107^post22, a_431^0'=a_431^post22, temp0_16^0'=temp0_16^post22, len_238^0'=len_238^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_924^0'=a_924^post22, ct_18^0'=ct_18^post22, result_11^0'=result_11^post22, a_392^0'=a_392^post22, i_197^0'=i_197^post22, a_579^0'=a_579^post22, r_143^0'=r_143^post22, a_1236^0'=a_1236^post22, head_32^0'=head_32^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22, i_30^0'=i_30^post22, x_253^0'=x_253^post22, a_635^0'=a_635^post22, r_970^0'=r_970^post22, rcd_47^0'=rcd_47^post22, a_309^0'=a_309^post22, i_1248^0'=i_1248^post22, a_575^0'=a_575^post22, temp_35^0'=temp_35^post22, len_861^0'=len_861^post22, (0 == 0 /\ -i_30^post22+i_30^0 == 0 /\ x_21^0-x_21^post22 == 0 /\ -i_113^post22+i_113^0 == 0 /\ -r_143^post22+r_143^0 == 0 /\ a_632^0-a_632^post22 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post22 == 0 /\ x_975^0-x_975^post22 == 0 /\ -i_107^post22+i_107^0 == 0 /\ -a_1236^post22+a_1236^0 == 0 /\ -a_575^post22+a_575^0 == 0 /\ f_969^0-f_969^post22 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -a_432^post22+a_432^0 == 0 /\ i_127^0-i_127^post22 == 0 /\ -a_309^post22+a_309^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -a_310^post22+a_310^0 == 0 /\ -i_140^post22+i_140^0 == 0 /\ a_394^0-a_394^post22 == 0 /\ len_161^0-len_161^post22 == 0 /\ a_144^0-a_144^post22 == 0 /\ a_947^0-a_947^post22 == 0 /\ -a_392^post22+a_392^0 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -rcd_47^post22+rcd_47^0 == 0 /\ -a_862^post22+a_862^0 == 0 /\ t_458^0-t_458^post22 == 0 /\ x_852^0-x_852^post22 == 0 /\ rcd_1249^0-rcd_1249^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ i_106^0-i_106^post22 == 0 /\ -a_176^0 <= 0 /\ a_576^0-a_576^post22 == 0 /\ -r_151^post22+r_151^0 == 0 /\ f_847^0-f_847^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ a_633^0-a_633^post22 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -r_224^post22+r_224^0 == 0 /\ -a_579^post22+a_579^0 == 0 /\ -t_24^post22+t_24^0 == 0 /\ -r_970^post22+r_970^0 == 0 /\ i_229^0-i_229^post22 == 0 /\ -a_263^post22+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22 == 0 /\ a_121^0-a_121^post22 == 0 /\ a_610^0-a_610^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ a_239^0-a_239^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ -i_197^post22+i_197^0 == 0 /\ x_156^0-x_156^post22 == 0 /\ len_262^0-len_262^post22 == 0 /\ -y_20^post22+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ -a_431^post22+a_431^0 == 0 /\ a_902^0-a_902^post22 == 0 /\ a_634^0-a_634^post22 == 0 /\ a_176^0-a_176^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_238^0-len_238^post22 == 0 /\ i_1053^0-i_1053^post22 == 0 /\ -a_1162^post22+a_1162^0 == 0 /\ -a_395^post22+a_395^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ a_1089^0-a_1089^post22 == 0 /\ -a_924^post22+a_924^0 == 0 /\ a_417^0-a_417^post22 == 0 /\ i_27^0-i_27^post22 == 0 /\ x_14^0-x_14^post22 == 0 /\ r_192^0-r_192^post22 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -len_861^post22+len_861^0 == 0 /\ -a_577^post22+a_577^0 == 0 /\ -i_1248^post22+i_1248^0 == 0 /\ -a_393^post22+a_393^0 == 0 /\ -a_635^post22+a_635^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ a_311^0-a_311^post22 == 0), cost: 1 33: l8 -> l24 : a_1089^0'=a_1089^post33, f_847^0'=f_847^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_394^0'=a_394^post33, x_156^0'=x_156^post33, a_632^0'=a_632^post33, r_192^0'=r_192^post33, a_176^0'=a_176^post33, i_106^0'=i_106^post33, a_430^0'=a_430^post33, t_458^0'=t_458^post33, len_161^0'=len_161^post33, x_975^0'=x_975^post33, a_902^0'=a_902^post33, a_947^0'=a_947^post33, rcd_88^0'=rcd_88^post33, a_311^0'=a_311^post33, i_140^0'=i_140^post33, a_577^0'=a_577^post33, x_14^0'=x_14^post33, nondet_12^0'=nondet_12^post33, a_121^0'=a_121^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^post33, x_21^0'=x_21^post33, a_634^0'=a_634^post33, r_39^0'=r_39^post33, a_263^0'=a_263^post33, i_113^0'=i_113^post33, a_432^0'=a_432^post33, temp0_31^0'=temp0_31^post33, len_262^0'=len_262^post33, y_20^0'=y_20^post33, f_248^0'=f_248^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_393^0'=a_393^post33, i_229^0'=i_229^post33, a_610^0'=a_610^post33, r_151^0'=r_151^post33, a_144^0'=a_144^post33, i_1053^0'=i_1053^post33, a_417^0'=a_417^post33, t_24^0'=t_24^post33, i_94^0'=i_94^post33, x_852^0'=x_852^post33, a_862^0'=a_862^post33, rcd_1249^0'=rcd_1249^post33, rcd_58^0'=rcd_58^post33, a_310^0'=a_310^post33, i_127^0'=i_127^post33, a_576^0'=a_576^post33, tmp_34^0'=tmp_34^post33, length_29^0'=length_29^post33, a_1162^0'=a_1162^post33, f_969^0'=f_969^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33, a_395^0'=a_395^post33, x_17^0'=x_17^post33, a_633^0'=a_633^post33, r_224^0'=r_224^post33, a_239^0'=a_239^post33, i_107^0'=i_107^post33, a_431^0'=a_431^post33, temp0_16^0'=temp0_16^post33, len_238^0'=len_238^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, a_924^0'=a_924^post33, ct_18^0'=ct_18^post33, result_11^0'=result_11^post33, a_392^0'=a_392^post33, i_197^0'=i_197^post33, a_579^0'=a_579^post33, r_143^0'=r_143^post33, a_1236^0'=a_1236^post33, head_32^0'=head_32^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33, i_30^0'=i_30^post33, x_253^0'=x_253^post33, a_635^0'=a_635^post33, r_970^0'=r_970^post33, rcd_47^0'=rcd_47^post33, a_309^0'=a_309^post33, i_1248^0'=i_1248^post33, a_575^0'=a_575^post33, temp_35^0'=temp_35^post33, len_861^0'=len_861^post33, (0 == 0 /\ a_417^0-a_417^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -len_861^post33+len_861^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ t_24^0-t_24^post33 == 0 /\ a_176^0-a_176^post33 == 0 /\ -i_1248^post33+i_1248^0 == 0 /\ a_394^0-a_394^post33 == 0 /\ -a_239^post33+a_239^0 == 0 /\ len_161^0-len_161^post33 == 0 /\ a_947^0-a_947^post33 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -len_161^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post33 == 0 /\ f_847^0-f_847^post33 == 0 /\ -a_579^post33+a_579^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ -a_392^post33+a_392^0 == 0 /\ i_1053^0-i_1053^post33 == 0 /\ -f_248^post33+f_248^0 == 0 /\ length_29^0-length_29^post33 == 0 /\ -a_575^post33+a_575^0 == 0 /\ -i_197^post33+i_197^0 == 0 /\ -rcd_1249^post33+rcd_1249^0 == 0 /\ a_430^0-a_430^post33 == 0 /\ r_151^0-r_151^post33 == 0 /\ i_94^0-i_94^post33 == 0 /\ -a_635^post33+a_635^0 == 0 /\ a_577^0-a_577^post33 == 0 /\ -a_309^post33+a_309^0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -x_17^post33+x_17^0 == 0 /\ -x_21^post33+x_21^0 == 0 /\ x_156^0-x_156^post33 == 0 /\ a_432^0-a_432^post33 == 0 /\ -ct_18^post33+ct_18^0 == 0 /\ a_1162^0-a_1162^post33 == 0 /\ i_113^0-i_113^post33 == 0 /\ a_902^0-a_902^post33 == 0 /\ -a_176^0 <= 0 /\ r_192^0-r_192^post33 == 0 /\ a_862^0-a_862^post33 == 0 /\ -i_30^post33+i_30^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0 /\ -x_852^post33+x_852^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_238^post33+len_238^0 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post33 == 0 /\ -a_634^post33+a_634^0 == 0 /\ a_395^0-a_395^post33 == 0 /\ -a_633^post33+a_633^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ a_311^0-a_311^post33 == 0 /\ -a_924^post33+a_924^0 == 0 /\ -a_576^post33+a_576^0 == 0 /\ -x_14^post33+x_14^0 == 0 /\ i_140^0-i_140^post33 == 0 /\ -r_143^post33+r_143^0 == 0 /\ -result_11^post33+result_11^0 == 0 /\ i_106^0-i_106^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ i_107^0-i_107^post33 == 0 /\ -a_121^post33+a_121^0 == 0 /\ a_632^0-a_632^post33 == 0 /\ -a_1236^post33+a_1236^0 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ x_975^0-x_975^post33 == 0 /\ y_20^0-y_20^post33 == 0 /\ a_393^0-a_393^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ t_458^0-t_458^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -a_431^post33+a_431^0 == 0 /\ -f_969^post33+f_969^0 == 0 /\ r_224^0-r_224^post33 == 0 /\ -a_310^post33+a_310^0 == 0 /\ -len_262^post33+len_262^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -a_610^post33+a_610^0 == 0 /\ -r_970^post33+r_970^0 == 0 /\ -x_253^post33+x_253^0 == 0 /\ -rcd_47^post33+rcd_47^0 == 0), cost: 1 23: l17 -> l18 : a_1089^0'=a_1089^post23, f_847^0'=f_847^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_394^0'=a_394^post23, x_156^0'=x_156^post23, a_632^0'=a_632^post23, r_192^0'=r_192^post23, a_176^0'=a_176^post23, i_106^0'=i_106^post23, a_430^0'=a_430^post23, t_458^0'=t_458^post23, len_161^0'=len_161^post23, x_975^0'=x_975^post23, a_902^0'=a_902^post23, a_947^0'=a_947^post23, rcd_88^0'=rcd_88^post23, a_311^0'=a_311^post23, i_140^0'=i_140^post23, a_577^0'=a_577^post23, x_14^0'=x_14^post23, nondet_12^0'=nondet_12^post23, a_121^0'=a_121^post23, head_15^0'=head_15^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23, i_27^0'=i_27^post23, x_21^0'=x_21^post23, a_634^0'=a_634^post23, r_39^0'=r_39^post23, a_263^0'=a_263^post23, i_113^0'=i_113^post23, a_432^0'=a_432^post23, temp0_31^0'=temp0_31^post23, len_262^0'=len_262^post23, y_20^0'=y_20^post23, f_248^0'=f_248^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_393^0'=a_393^post23, i_229^0'=i_229^post23, a_610^0'=a_610^post23, r_151^0'=r_151^post23, a_144^0'=a_144^post23, i_1053^0'=i_1053^post23, a_417^0'=a_417^post23, t_24^0'=t_24^post23, i_94^0'=i_94^post23, x_852^0'=x_852^post23, a_862^0'=a_862^post23, rcd_1249^0'=rcd_1249^post23, rcd_58^0'=rcd_58^post23, a_310^0'=a_310^post23, i_127^0'=i_127^post23, a_576^0'=a_576^post23, tmp_34^0'=tmp_34^post23, length_29^0'=length_29^post23, a_1162^0'=a_1162^post23, f_969^0'=f_969^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23, a_395^0'=a_395^post23, x_17^0'=x_17^post23, a_633^0'=a_633^post23, r_224^0'=r_224^post23, a_239^0'=a_239^post23, i_107^0'=i_107^post23, a_431^0'=a_431^post23, temp0_16^0'=temp0_16^post23, len_238^0'=len_238^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_924^0'=a_924^post23, ct_18^0'=ct_18^post23, result_11^0'=result_11^post23, a_392^0'=a_392^post23, i_197^0'=i_197^post23, a_579^0'=a_579^post23, r_143^0'=r_143^post23, a_1236^0'=a_1236^post23, head_32^0'=head_32^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23, i_30^0'=i_30^post23, x_253^0'=x_253^post23, a_635^0'=a_635^post23, r_970^0'=r_970^post23, rcd_47^0'=rcd_47^post23, a_309^0'=a_309^post23, i_1248^0'=i_1248^post23, a_575^0'=a_575^post23, temp_35^0'=temp_35^post23, len_861^0'=len_861^post23, (-r_224^post23+r_224^0 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ -f_248^post23+f_248^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ a_144^0-a_144^post23 == 0 /\ a_394^0-a_394^post23 == 0 /\ a_862^0-a_862^post23 == 0 /\ -i_229^post23+i_229^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ -r_970^post23+r_970^0 == 0 /\ -i_197^post23+i_197^0 == 0 /\ 1-x_14^0 <= 0 /\ x_852^0-x_852^post23 == 0 /\ -a_579^post23+a_579^0 == 0 /\ a_430^0-a_430^post23 == 0 /\ a_263^0-a_263^post23 == 0 /\ t_458^0-t_458^post23 == 0 /\ i_106^0-i_106^post23 == 0 /\ -ct_18^post23+ct_18^0 == 0 /\ -i_127^post23+i_127^0 == 0 /\ len_161^0-len_161^post23 == 0 /\ a_576^0-a_576^post23 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_847^0-f_847^post23 == 0 /\ -rcd_1249^post23+rcd_1249^0 == 0 /\ head_15^0-head_15^post23 == 0 /\ -a_924^post23+a_924^0 == 0 /\ r_151^0-r_151^post23 == 0 /\ -a_1162^post23+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post23+i_107^0 == 0 /\ a_1236^0-a_1236^post23 == 0 /\ -a_577^post23+a_577^0 == 0 /\ -i_1248^post23+i_1248^0 == 0 /\ -len_861^post23+len_861^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ len_262^0-len_262^post23 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ -a_393^post23+a_393^0 == 0 /\ -i_30^post23+i_30^0 == 0 /\ x_156^0-x_156^post23 == 0 /\ a_947^0-a_947^post23 == 0 /\ -r_143^post23+r_143^0 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ i_27^0-i_27^post23 == 0 /\ -len_238^post23+len_238^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ a_176^0-a_176^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ -i_113^post23+i_113^0 == 0 /\ a_1089^0-a_1089^post23 == 0 /\ a_395^0-a_395^post23 == 0 /\ -a_575^post23+a_575^0 == 0 /\ -a_633^post23+a_633^0 == 0 /\ a_311^0-a_311^post23 == 0 /\ -x_14^post23+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -a_309^post23+a_309^0 == 0 /\ a_635^0-a_635^post23 == 0 /\ -a_632^post23+a_632^0 == 0 /\ -a_432^post23+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23 == 0 /\ i_140^0-i_140^post23 == 0 /\ i_1053^0-i_1053^post23 == 0 /\ -a_121^post23+a_121^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_431^post23+a_431^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ -r_39^post23+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post23+a_392^0 == 0 /\ a_239^0-a_239^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ f_969^0-f_969^post23 == 0 /\ a_902^0-a_902^post23 == 0 /\ -a_610^post23+a_610^0 == 0 /\ -head_32^post23+head_32^0 == 0 /\ x_975^0-x_975^post23 == 0 /\ a_417^0-a_417^post23 == 0 /\ -x_253^post23+x_253^0 == 0 /\ -rcd_47^post23+rcd_47^0 == 0 /\ a_634^0-a_634^post23 == 0 /\ -a_310^post23+a_310^0 == 0), cost: 1 24: l17 -> l18 : a_1089^0'=a_1089^post24, f_847^0'=f_847^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_394^0'=a_394^post24, x_156^0'=x_156^post24, a_632^0'=a_632^post24, r_192^0'=r_192^post24, a_176^0'=a_176^post24, i_106^0'=i_106^post24, a_430^0'=a_430^post24, t_458^0'=t_458^post24, len_161^0'=len_161^post24, x_975^0'=x_975^post24, a_902^0'=a_902^post24, a_947^0'=a_947^post24, rcd_88^0'=rcd_88^post24, a_311^0'=a_311^post24, i_140^0'=i_140^post24, a_577^0'=a_577^post24, x_14^0'=x_14^post24, nondet_12^0'=nondet_12^post24, a_121^0'=a_121^post24, head_15^0'=head_15^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24, i_27^0'=i_27^post24, x_21^0'=x_21^post24, a_634^0'=a_634^post24, r_39^0'=r_39^post24, a_263^0'=a_263^post24, i_113^0'=i_113^post24, a_432^0'=a_432^post24, temp0_31^0'=temp0_31^post24, len_262^0'=len_262^post24, y_20^0'=y_20^post24, f_248^0'=f_248^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_393^0'=a_393^post24, i_229^0'=i_229^post24, a_610^0'=a_610^post24, r_151^0'=r_151^post24, a_144^0'=a_144^post24, i_1053^0'=i_1053^post24, a_417^0'=a_417^post24, t_24^0'=t_24^post24, i_94^0'=i_94^post24, x_852^0'=x_852^post24, a_862^0'=a_862^post24, rcd_1249^0'=rcd_1249^post24, rcd_58^0'=rcd_58^post24, a_310^0'=a_310^post24, i_127^0'=i_127^post24, a_576^0'=a_576^post24, tmp_34^0'=tmp_34^post24, length_29^0'=length_29^post24, a_1162^0'=a_1162^post24, f_969^0'=f_969^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24, a_395^0'=a_395^post24, x_17^0'=x_17^post24, a_633^0'=a_633^post24, r_224^0'=r_224^post24, a_239^0'=a_239^post24, i_107^0'=i_107^post24, a_431^0'=a_431^post24, temp0_16^0'=temp0_16^post24, len_238^0'=len_238^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_924^0'=a_924^post24, ct_18^0'=ct_18^post24, result_11^0'=result_11^post24, a_392^0'=a_392^post24, i_197^0'=i_197^post24, a_579^0'=a_579^post24, r_143^0'=r_143^post24, a_1236^0'=a_1236^post24, head_32^0'=head_32^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24, i_30^0'=i_30^post24, x_253^0'=x_253^post24, a_635^0'=a_635^post24, r_970^0'=r_970^post24, rcd_47^0'=rcd_47^post24, a_309^0'=a_309^post24, i_1248^0'=i_1248^post24, a_575^0'=a_575^post24, temp_35^0'=temp_35^post24, len_861^0'=len_861^post24, (-x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ i_94^0-i_94^post24 == 0 /\ r_151^0-r_151^post24 == 0 /\ -rcd_47^post24+rcd_47^0 == 0 /\ -r_143^post24+r_143^0 == 0 /\ i_113^0-i_113^post24 == 0 /\ r_39^0-r_39^post24 == 0 /\ a_393^0-a_393^post24 == 0 /\ a_430^0-a_430^post24 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ -len_238^post24+len_238^0 == 0 /\ f_969^0-f_969^post24 == 0 /\ a_432^0-a_432^post24 == 0 /\ -a_634^post24+a_634^0 == 0 /\ -i_107^post24+i_107^0 == 0 /\ -a_575^post24+a_575^0 == 0 /\ r_192^0-r_192^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ a_862^0-a_862^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_633^0-a_633^post24 == 0 /\ -a_576^post24+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ i_27^0-i_27^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ t_24^0-t_24^post24 == 0 /\ -a_431^post24+a_431^0 == 0 /\ len_161^0-len_161^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ a_417^0-a_417^post24 == 0 /\ head_32^0-head_32^post24 == 0 /\ -x_253^post24+x_253^0 == 0 /\ -r_970^post24+r_970^0 == 0 /\ -a_392^post24+a_392^0 == 0 /\ -a_310^post24+a_310^0 == 0 /\ a_263^0-a_263^post24 == 0 /\ -a_610^post24+a_610^0 == 0 /\ -a_1236^post24+a_1236^0 == 0 /\ i_140^0-i_140^post24 == 0 /\ -i_1248^post24+i_1248^0 == 0 /\ i_106^0-i_106^post24 == 0 /\ a_632^0-a_632^post24 == 0 /\ -a_239^post24+a_239^0 == 0 /\ a_311^0-a_311^post24 == 0 /\ a_902^0-a_902^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24 == 0 /\ x_975^0-x_975^post24 == 0 /\ -i_197^post24+i_197^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -i_127^post24+i_127^0 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ -len_262^post24+len_262^0 == 0 /\ -a_579^post24+a_579^0 == 0 /\ a_577^0-a_577^post24 == 0 /\ t_458^0-t_458^post24 == 0 /\ f_248^0-f_248^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ i_229^0-i_229^post24 == 0 /\ x_156^0-x_156^post24 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post24+a_395^0 == 0 /\ -a_309^post24+a_309^0 == 0 /\ i_1053^0-i_1053^post24 == 0 /\ -a_924^post24+a_924^0 == 0 /\ x_14^0-x_14^post24 == 0 /\ a_121^0-a_121^post24 == 0 /\ -a_947^post24+a_947^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ a_394^0-a_394^post24 == 0 /\ a_1089^0-a_1089^post24 == 0 /\ x_852^0-x_852^post24 == 0 /\ -a_1162^post24+a_1162^0 == 0 /\ 1+x_14^0 <= 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -a_635^post24+a_635^0 == 0 /\ a_176^0-a_176^post24 == 0 /\ f_847^0-f_847^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ y_20^0-y_20^post24 == 0 /\ -len_861^post24+len_861^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24 == 0 /\ -r_224^post24+r_224^0 == 0 /\ length_29^0-length_29^post24 == 0 /\ rcd_1249^0-rcd_1249^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0), cost: 1 25: l18 -> l19 : a_1089^0'=a_1089^post25, f_847^0'=f_847^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_394^0'=a_394^post25, x_156^0'=x_156^post25, a_632^0'=a_632^post25, r_192^0'=r_192^post25, a_176^0'=a_176^post25, i_106^0'=i_106^post25, a_430^0'=a_430^post25, t_458^0'=t_458^post25, len_161^0'=len_161^post25, x_975^0'=x_975^post25, a_902^0'=a_902^post25, a_947^0'=a_947^post25, rcd_88^0'=rcd_88^post25, a_311^0'=a_311^post25, i_140^0'=i_140^post25, a_577^0'=a_577^post25, x_14^0'=x_14^post25, nondet_12^0'=nondet_12^post25, a_121^0'=a_121^post25, head_15^0'=head_15^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25, i_27^0'=i_27^post25, x_21^0'=x_21^post25, a_634^0'=a_634^post25, r_39^0'=r_39^post25, a_263^0'=a_263^post25, i_113^0'=i_113^post25, a_432^0'=a_432^post25, temp0_31^0'=temp0_31^post25, len_262^0'=len_262^post25, y_20^0'=y_20^post25, f_248^0'=f_248^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_393^0'=a_393^post25, i_229^0'=i_229^post25, a_610^0'=a_610^post25, r_151^0'=r_151^post25, a_144^0'=a_144^post25, i_1053^0'=i_1053^post25, a_417^0'=a_417^post25, t_24^0'=t_24^post25, i_94^0'=i_94^post25, x_852^0'=x_852^post25, a_862^0'=a_862^post25, rcd_1249^0'=rcd_1249^post25, rcd_58^0'=rcd_58^post25, a_310^0'=a_310^post25, i_127^0'=i_127^post25, a_576^0'=a_576^post25, tmp_34^0'=tmp_34^post25, length_29^0'=length_29^post25, a_1162^0'=a_1162^post25, f_969^0'=f_969^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25, a_395^0'=a_395^post25, x_17^0'=x_17^post25, a_633^0'=a_633^post25, r_224^0'=r_224^post25, a_239^0'=a_239^post25, i_107^0'=i_107^post25, a_431^0'=a_431^post25, temp0_16^0'=temp0_16^post25, len_238^0'=len_238^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_924^0'=a_924^post25, ct_18^0'=ct_18^post25, result_11^0'=result_11^post25, a_392^0'=a_392^post25, i_197^0'=i_197^post25, a_579^0'=a_579^post25, r_143^0'=r_143^post25, a_1236^0'=a_1236^post25, head_32^0'=head_32^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25, i_30^0'=i_30^post25, x_253^0'=x_253^post25, a_635^0'=a_635^post25, r_970^0'=r_970^post25, rcd_47^0'=rcd_47^post25, a_309^0'=a_309^post25, i_1248^0'=i_1248^post25, a_575^0'=a_575^post25, temp_35^0'=temp_35^post25, len_861^0'=len_861^post25, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-a_176^0+a_263^post25 <= 0 /\ -r_151^post25+r_151^0 == 0 /\ head_15^0-head_15^post25 == 0 /\ f_248^0-f_248^post25 == 0 /\ -a_610^post25+a_610^0 == 0 /\ a_632^0-a_632^post25 == 0 /\ x_156^0-x_156^post25 == 0 /\ -a_924^post25+a_924^0 == 0 /\ -a_576^post25+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_47^post25+rcd_47^0 == 0 /\ a_577^0-a_577^post25 == 0 /\ a_902^0-a_902^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -r_143^post25+r_143^0 == 0 /\ i_229^0-i_229^post25 == 0 /\ a_634^0-a_634^post25 == 0 /\ -1-len_161^0+len_262^post25 <= 0 /\ a_394^0-a_394^post25 == 0 /\ -a_392^post25+a_392^0 == 0 /\ i_140^0-i_140^post25 == 0 /\ -a_862^post25+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_176^0-a_176^post25 == 0 /\ a_121^0-a_121^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -a_1236^post25+a_1236^0 == 0 /\ -r_970^post25+r_970^0 == 0 /\ -len_238^post25+len_238^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -i_27^post25+i_27^0 == 0 /\ f_847^0-f_847^post25 == 0 /\ -length_29^post25+length_29^0 == 0 /\ -x_253^post25+x_253^0 == 0 /\ -r_192^post25+r_192^0 == 0 /\ -i_1053^post25+i_1053^0 == 0 /\ -ct_18^post25+ct_18^0 == 0 /\ a_311^0-a_311^post25 == 0 /\ i_94^0-i_94^post25 == 0 /\ a_430^0-a_430^post25 == 0 /\ -i_1248^post25+i_1248^0 == 0 /\ -1+a_176^0-a_263^post25 <= 0 /\ -rcd_58^post25+rcd_58^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -r_224^post25+r_224^0 == 0 /\ -a_239^post25+a_239^0 == 0 /\ x_975^0-x_975^post25 == 0 /\ -a_395^post25+a_395^0 == 0 /\ -x_852^post25+x_852^0 == 0 /\ a_432^0-a_432^post25 == 0 /\ -len_861^post25+len_861^0 == 0 /\ a_1089^0-a_1089^post25 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 == 0 /\ i_113^0-i_113^post25 == 0 /\ -i_127^post25+i_127^0 == 0 /\ a_633^0-a_633^post25 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ f_969^0-f_969^post25 == 0 /\ -x_14^0+f_248^0 <= 0 /\ -i_197^post25+i_197^0 == 0 /\ a_431^0-a_431^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ -a_579^post25+a_579^0 == 0 /\ -i_30^post25+i_30^0 == 0 /\ 1+len_161^0-len_262^post25 <= 0 /\ len_161^0-len_161^post25 == 0 /\ a_144^0-a_144^post25 == 0 /\ a_947^0-a_947^post25 == 0 /\ 1-i_27^0 <= 0 /\ -a_309^post25+a_309^0 == 0 /\ -i_107^post25+i_107^0 == 0 /\ -rcd_1249^post25+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ -a_417^post25+a_417^0 == 0 /\ -a_575^post25+a_575^0 == 0 /\ -x_14^post25+x_14^0 == 0 /\ a_310^0-a_310^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -a_635^post25+a_635^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ r_39^0-r_39^post25 == 0 /\ t_458^0-t_458^post25 == 0 /\ -a_393^post25+a_393^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ t_24^0-t_24^post25 == 0 /\ x_14^0-f_248^0 <= 0 /\ i_106^0-i_106^post25 == 0 /\ -x_17^post25+x_17^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -a_1162^post25+a_1162^0 == 0), cost: 1 26: l19 -> l20 : a_1089^0'=a_1089^post26, f_847^0'=f_847^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, a_394^0'=a_394^post26, x_156^0'=x_156^post26, a_632^0'=a_632^post26, r_192^0'=r_192^post26, a_176^0'=a_176^post26, i_106^0'=i_106^post26, a_430^0'=a_430^post26, t_458^0'=t_458^post26, len_161^0'=len_161^post26, x_975^0'=x_975^post26, a_902^0'=a_902^post26, a_947^0'=a_947^post26, rcd_88^0'=rcd_88^post26, a_311^0'=a_311^post26, i_140^0'=i_140^post26, a_577^0'=a_577^post26, x_14^0'=x_14^post26, nondet_12^0'=nondet_12^post26, a_121^0'=a_121^post26, head_15^0'=head_15^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26, i_27^0'=i_27^post26, x_21^0'=x_21^post26, a_634^0'=a_634^post26, r_39^0'=r_39^post26, a_263^0'=a_263^post26, i_113^0'=i_113^post26, a_432^0'=a_432^post26, temp0_31^0'=temp0_31^post26, len_262^0'=len_262^post26, y_20^0'=y_20^post26, f_248^0'=f_248^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, a_393^0'=a_393^post26, i_229^0'=i_229^post26, a_610^0'=a_610^post26, r_151^0'=r_151^post26, a_144^0'=a_144^post26, i_1053^0'=i_1053^post26, a_417^0'=a_417^post26, t_24^0'=t_24^post26, i_94^0'=i_94^post26, x_852^0'=x_852^post26, a_862^0'=a_862^post26, rcd_1249^0'=rcd_1249^post26, rcd_58^0'=rcd_58^post26, a_310^0'=a_310^post26, i_127^0'=i_127^post26, a_576^0'=a_576^post26, tmp_34^0'=tmp_34^post26, length_29^0'=length_29^post26, a_1162^0'=a_1162^post26, f_969^0'=f_969^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26, a_395^0'=a_395^post26, x_17^0'=x_17^post26, a_633^0'=a_633^post26, r_224^0'=r_224^post26, a_239^0'=a_239^post26, i_107^0'=i_107^post26, a_431^0'=a_431^post26, temp0_16^0'=temp0_16^post26, len_238^0'=len_238^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_924^0'=a_924^post26, ct_18^0'=ct_18^post26, result_11^0'=result_11^post26, a_392^0'=a_392^post26, i_197^0'=i_197^post26, a_579^0'=a_579^post26, r_143^0'=r_143^post26, a_1236^0'=a_1236^post26, head_32^0'=head_32^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26, i_30^0'=i_30^post26, x_253^0'=x_253^post26, a_635^0'=a_635^post26, r_970^0'=r_970^post26, rcd_47^0'=rcd_47^post26, a_309^0'=a_309^post26, i_1248^0'=i_1248^post26, a_575^0'=a_575^post26, temp_35^0'=temp_35^post26, len_861^0'=len_861^post26, (x_21^0-x_21^post26 == 0 /\ -a_576^post26+a_576^0 == 0 /\ i_229^0-i_229^post26 == 0 /\ -i_30^post26+i_30^0 == 0 /\ -a_393^post26+a_393^0 == 0 /\ -a_392^post26+a_392^0 == 0 /\ x_156^0-x_156^post26 == 0 /\ f_847^0-f_847^post26 == 0 /\ -a_144^post26+a_144^0 == 0 /\ i_1053^0-i_1053^post26 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ i_94^0-i_94^post26 == 0 /\ a_394^0-a_394^post26 == 0 /\ -len_861^post26+len_861^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ a_121^0-a_121^post26 == 0 /\ len_262^0-len_262^post26 == 0 /\ -a_1236^post26+a_1236^0 == 0 /\ a_947^0-a_947^post26 == 0 /\ -i_1248^post26+i_1248^0 == 0 /\ a_417^0-a_417^post26 == 0 /\ -a_239^post26+a_239^0 == 0 /\ -a_635^post26+a_635^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -rcd_47^post26+rcd_47^0 == 0 /\ -len_238^post26+len_238^0 == 0 /\ -ct_18^post26+ct_18^0 == 0 /\ a_577^0-a_577^post26 == 0 /\ r_39^0-r_39^post26 == 0 /\ r_192^0-r_192^post26 == 0 /\ -rcd_58^post26+rcd_58^0 == 0 /\ x_14^0-x_14^post26 == 0 /\ -x_852^post26+x_852^0 == 0 /\ -a_633^post26+a_633^0 == 0 /\ -length_29^post26+length_29^0 == 0 /\ -r_151^post26+r_151^0 == 0 /\ -a_575^post26+a_575^0 == 0 /\ -a_862^post26+a_862^0 == 0 /\ -i_197^post26+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ -a_902^post26+a_902^0 == 0 /\ -a_579^post26+a_579^0 == 0 /\ -a_309^post26+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post26+head_32^0 == 0 /\ a_1089^0-a_1089^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ a_263^0-a_263^post26 == 0 /\ i_27^0-i_27^post26 == 0 /\ a_430^0-a_430^post26 == 0 /\ y_20^0-y_20^post26 == 0 /\ -i_127^post26+i_127^0 == 0 /\ -x_253^post26+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1162^post26+a_1162^0 == 0 /\ a_432^0-a_432^post26 == 0 /\ -a_924^post26+a_924^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ f_248^0-f_248^post26 == 0 /\ a_431^0-a_431^post26 == 0 /\ a_176^0-a_176^post26 == 0 /\ i_113^0-i_113^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26 == 0 /\ -a_311^post26+a_311^0 == 0 /\ x_17^0-x_17^post26 == 0 /\ r_224^0-r_224^post26 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -f_969^post26+f_969^0 == 0 /\ x_975^0-x_975^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_310^0-a_310^post26 == 0 /\ -r_970^post26+r_970^0 == 0 /\ 1-head_15^0 <= 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ -a_395^post26+a_395^0 == 0 /\ i_107^0-i_107^post26 == 0 /\ a_610^0-a_610^post26 == 0 /\ -r_143^post26+r_143^0 == 0 /\ t_24^0-t_24^post26 == 0 /\ i_140^0-i_140^post26 == 0 /\ len_161^0-len_161^post26 == 0 /\ i_106^0-i_106^post26 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ -rcd_1249^post26+rcd_1249^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ -a_634^post26+a_634^0 == 0 /\ t_458^0-t_458^post26 == 0 /\ a_632^0-a_632^post26 == 0), cost: 1 27: l19 -> l20 : a_1089^0'=a_1089^post27, f_847^0'=f_847^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, a_394^0'=a_394^post27, x_156^0'=x_156^post27, a_632^0'=a_632^post27, r_192^0'=r_192^post27, a_176^0'=a_176^post27, i_106^0'=i_106^post27, a_430^0'=a_430^post27, t_458^0'=t_458^post27, len_161^0'=len_161^post27, x_975^0'=x_975^post27, a_902^0'=a_902^post27, a_947^0'=a_947^post27, rcd_88^0'=rcd_88^post27, a_311^0'=a_311^post27, i_140^0'=i_140^post27, a_577^0'=a_577^post27, x_14^0'=x_14^post27, nondet_12^0'=nondet_12^post27, a_121^0'=a_121^post27, head_15^0'=head_15^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27, i_27^0'=i_27^post27, x_21^0'=x_21^post27, a_634^0'=a_634^post27, r_39^0'=r_39^post27, a_263^0'=a_263^post27, i_113^0'=i_113^post27, a_432^0'=a_432^post27, temp0_31^0'=temp0_31^post27, len_262^0'=len_262^post27, y_20^0'=y_20^post27, f_248^0'=f_248^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, a_393^0'=a_393^post27, i_229^0'=i_229^post27, a_610^0'=a_610^post27, r_151^0'=r_151^post27, a_144^0'=a_144^post27, i_1053^0'=i_1053^post27, a_417^0'=a_417^post27, t_24^0'=t_24^post27, i_94^0'=i_94^post27, x_852^0'=x_852^post27, a_862^0'=a_862^post27, rcd_1249^0'=rcd_1249^post27, rcd_58^0'=rcd_58^post27, a_310^0'=a_310^post27, i_127^0'=i_127^post27, a_576^0'=a_576^post27, tmp_34^0'=tmp_34^post27, length_29^0'=length_29^post27, a_1162^0'=a_1162^post27, f_969^0'=f_969^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27, a_395^0'=a_395^post27, x_17^0'=x_17^post27, a_633^0'=a_633^post27, r_224^0'=r_224^post27, a_239^0'=a_239^post27, i_107^0'=i_107^post27, a_431^0'=a_431^post27, temp0_16^0'=temp0_16^post27, len_238^0'=len_238^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_924^0'=a_924^post27, ct_18^0'=ct_18^post27, result_11^0'=result_11^post27, a_392^0'=a_392^post27, i_197^0'=i_197^post27, a_579^0'=a_579^post27, r_143^0'=r_143^post27, a_1236^0'=a_1236^post27, head_32^0'=head_32^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27, i_30^0'=i_30^post27, x_253^0'=x_253^post27, a_635^0'=a_635^post27, r_970^0'=r_970^post27, rcd_47^0'=rcd_47^post27, a_309^0'=a_309^post27, i_1248^0'=i_1248^post27, a_575^0'=a_575^post27, temp_35^0'=temp_35^post27, len_861^0'=len_861^post27, (a_176^0-a_176^post27 == 0 /\ -rcd_1249^post27+rcd_1249^0 == 0 /\ -i_197^post27+i_197^0 == 0 /\ -x_852^post27+x_852^0 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ 1+head_15^0 <= 0 /\ a_947^0-a_947^post27 == 0 /\ -r_970^post27+r_970^0 == 0 /\ -a_924^post27+a_924^0 == 0 /\ i_27^0-i_27^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ i_1053^0-i_1053^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post27+a_610^0 == 0 /\ r_39^0-r_39^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ a_310^0-a_310^post27 == 0 /\ -x_253^post27+x_253^0 == 0 /\ -rcd_47^post27+rcd_47^0 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -head_15^post27+head_15^0 == 0 /\ a_1089^0-a_1089^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post27 == 0 /\ -f_248^post27+f_248^0 == 0 /\ -a_311^post27+a_311^0 == 0 /\ i_229^0-i_229^post27 == 0 /\ a_432^0-a_432^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -i_1248^post27+i_1248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -a_395^post27+a_395^0 == 0 /\ -a_239^post27+a_239^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ x_975^0-x_975^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_121^0-a_121^post27 == 0 /\ a_634^0-a_634^post27 == 0 /\ -a_393^post27+a_393^0 == 0 /\ i_113^0-i_113^post27 == 0 /\ -r_143^post27+r_143^0 == 0 /\ -a_392^post27+a_392^0 == 0 /\ a_394^0-a_394^post27 == 0 /\ -a_576^post27+a_576^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ -a_144^post27+a_144^0 == 0 /\ -a_309^post27+a_309^0 == 0 /\ -a_635^post27+a_635^0 == 0 /\ f_969^0-f_969^post27 == 0 /\ a_430^0-a_430^post27 == 0 /\ -a_417^post27+a_417^0 == 0 /\ -len_861^post27+len_861^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -a_1236^post27+a_1236^0 == 0 /\ t_24^0-t_24^post27 == 0 /\ i_107^0-i_107^post27 == 0 /\ a_632^0-a_632^post27 == 0 /\ x_14^0-x_14^post27 == 0 /\ rcd_88^0-rcd_88^post27 == 0 /\ len_161^0-len_161^post27 == 0 /\ -rcd_58^post27+rcd_58^0 == 0 /\ -i_106^post27+i_106^0 == 0 /\ f_847^0-f_847^post27 == 0 /\ a_1162^0-a_1162^post27 == 0 /\ -length_29^post27+length_29^0 == 0 /\ -len_238^post27+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post27 == 0 /\ -r_151^post27+r_151^0 == 0 /\ i_140^0-i_140^post27 == 0 /\ -a_575^post27+a_575^0 == 0 /\ -a_579^post27+a_579^0 == 0 /\ -a_633^post27+a_633^0 == 0 /\ a_431^0-a_431^post27 == 0 /\ r_224^0-r_224^post27 == 0 /\ len_262^0-len_262^post27 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ a_862^0-a_862^post27 == 0 /\ i_94^0-i_94^post27 == 0 /\ a_577^0-a_577^post27 == 0 /\ -i_127^post27+i_127^0 == 0 /\ x_156^0-x_156^post27 == 0 /\ -t_458^post27+t_458^0 == 0 /\ -a_902^post27+a_902^0 == 0 /\ -head_32^post27+head_32^0 == 0), cost: 1 28: l20 -> l21 : a_1089^0'=a_1089^post28, f_847^0'=f_847^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, a_394^0'=a_394^post28, x_156^0'=x_156^post28, a_632^0'=a_632^post28, r_192^0'=r_192^post28, a_176^0'=a_176^post28, i_106^0'=i_106^post28, a_430^0'=a_430^post28, t_458^0'=t_458^post28, len_161^0'=len_161^post28, x_975^0'=x_975^post28, a_902^0'=a_902^post28, a_947^0'=a_947^post28, rcd_88^0'=rcd_88^post28, a_311^0'=a_311^post28, i_140^0'=i_140^post28, a_577^0'=a_577^post28, x_14^0'=x_14^post28, nondet_12^0'=nondet_12^post28, a_121^0'=a_121^post28, head_15^0'=head_15^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28, i_27^0'=i_27^post28, x_21^0'=x_21^post28, a_634^0'=a_634^post28, r_39^0'=r_39^post28, a_263^0'=a_263^post28, i_113^0'=i_113^post28, a_432^0'=a_432^post28, temp0_31^0'=temp0_31^post28, len_262^0'=len_262^post28, y_20^0'=y_20^post28, f_248^0'=f_248^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, a_393^0'=a_393^post28, i_229^0'=i_229^post28, a_610^0'=a_610^post28, r_151^0'=r_151^post28, a_144^0'=a_144^post28, i_1053^0'=i_1053^post28, a_417^0'=a_417^post28, t_24^0'=t_24^post28, i_94^0'=i_94^post28, x_852^0'=x_852^post28, a_862^0'=a_862^post28, rcd_1249^0'=rcd_1249^post28, rcd_58^0'=rcd_58^post28, a_310^0'=a_310^post28, i_127^0'=i_127^post28, a_576^0'=a_576^post28, tmp_34^0'=tmp_34^post28, length_29^0'=length_29^post28, a_1162^0'=a_1162^post28, f_969^0'=f_969^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28, a_395^0'=a_395^post28, x_17^0'=x_17^post28, a_633^0'=a_633^post28, r_224^0'=r_224^post28, a_239^0'=a_239^post28, i_107^0'=i_107^post28, a_431^0'=a_431^post28, temp0_16^0'=temp0_16^post28, len_238^0'=len_238^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_924^0'=a_924^post28, ct_18^0'=ct_18^post28, result_11^0'=result_11^post28, a_392^0'=a_392^post28, i_197^0'=i_197^post28, a_579^0'=a_579^post28, r_143^0'=r_143^post28, a_1236^0'=a_1236^post28, head_32^0'=head_32^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28, i_30^0'=i_30^post28, x_253^0'=x_253^post28, a_635^0'=a_635^post28, r_970^0'=r_970^post28, rcd_47^0'=rcd_47^post28, a_309^0'=a_309^post28, i_1248^0'=i_1248^post28, a_575^0'=a_575^post28, temp_35^0'=temp_35^post28, len_861^0'=len_861^post28, (-a_309^post28+a_309^0 == 0 /\ i_229^0-i_229^post28 == 0 /\ -a_635^post28+a_635^0 == 0 /\ -r_143^post28+r_143^0 == 0 /\ -i_27^post28+i_27^0 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -a_417^post28+a_417^0 == 0 /\ f_248^0-f_248^post28 == 0 /\ -a_393^post28+a_393^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post28+length_29^0 == 0 /\ a_634^0-a_634^post28 == 0 /\ a_121^0-a_121^post28 == 0 /\ a_947^0-a_947^post28 == 0 /\ i_127^0-i_127^post28 == 0 /\ x_975^0-x_975^post28 == 0 /\ -i_107^post28+i_107^0 == 0 /\ -a_1236^post28+a_1236^0 == 0 /\ -a_575^post28+a_575^0 == 0 /\ x_156^0-x_156^post28 == 0 /\ a_577^0-a_577^post28 == 0 /\ len_262^0-len_262^post28 == 0 /\ a_176^0-a_176^post28 == 0 /\ -rcd_47^post28+rcd_47^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -a_310^post28+a_310^0 == 0 /\ r_192^0-r_192^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -len_238^post28+len_238^0 == 0 /\ -a_392^post28+a_392^0 == 0 /\ -r_151^post28+r_151^0 == 0 /\ x_14^0-x_14^post28 == 0 /\ a_632^0-a_632^post28 == 0 /\ a_430^0-a_430^post28 == 0 /\ -a_902^post28+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post28 == 0 /\ a_1089^0-a_1089^post28 == 0 /\ -a_862^post28+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post28+a_579^0 == 0 /\ a_633^0-a_633^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ f_847^0-f_847^post28 == 0 /\ a_432^0-a_432^post28 == 0 /\ -result_11^post28+result_11^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -x_253^post28+x_253^0 == 0 /\ x_21^0-x_21^post28 == 0 /\ i_140^0-i_140^post28 == 0 /\ -a_263^post28+a_263^0 == 0 /\ -i_197^post28+i_197^0 == 0 /\ f_969^0-f_969^post28 == 0 /\ i_94^0-i_94^post28 == 0 /\ a_431^0-a_431^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -x_852^post28+x_852^0 == 0 /\ a_144^0-a_144^post28 == 0 /\ -a_311^post28+a_311^0 == 0 /\ a_394^0-a_394^post28 == 0 /\ i_113^0-i_113^post28 == 0 /\ r_970^0-r_970^post28 == 0 /\ x_17^0-x_17^post28 == 0 /\ -a_395^post28+a_395^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -i_1248^post28+i_1248^0 == 0 /\ -a_239^post28+a_239^0 == 0 /\ a_610^0-a_610^post28 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -a_1162^post28+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ i_106^0-i_106^post28 == 0 /\ t_24^0-t_24^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ len_161^0-len_161^post28 == 0 /\ r_39^0-r_39^post28 == 0 /\ -len_861^post28+len_861^0 == 0 /\ -a_924^post28+a_924^0 == 0 /\ -r_224^post28+r_224^0 == 0 /\ -i_1053^post28+i_1053^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post28+a_576^0 == 0 /\ t_458^0-t_458^post28 == 0), cost: 1 29: l20 -> l21 : a_1089^0'=a_1089^post29, f_847^0'=f_847^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, a_394^0'=a_394^post29, x_156^0'=x_156^post29, a_632^0'=a_632^post29, r_192^0'=r_192^post29, a_176^0'=a_176^post29, i_106^0'=i_106^post29, a_430^0'=a_430^post29, t_458^0'=t_458^post29, len_161^0'=len_161^post29, x_975^0'=x_975^post29, a_902^0'=a_902^post29, a_947^0'=a_947^post29, rcd_88^0'=rcd_88^post29, a_311^0'=a_311^post29, i_140^0'=i_140^post29, a_577^0'=a_577^post29, x_14^0'=x_14^post29, nondet_12^0'=nondet_12^post29, a_121^0'=a_121^post29, head_15^0'=head_15^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29, i_27^0'=i_27^post29, x_21^0'=x_21^post29, a_634^0'=a_634^post29, r_39^0'=r_39^post29, a_263^0'=a_263^post29, i_113^0'=i_113^post29, a_432^0'=a_432^post29, temp0_31^0'=temp0_31^post29, len_262^0'=len_262^post29, y_20^0'=y_20^post29, f_248^0'=f_248^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, a_393^0'=a_393^post29, i_229^0'=i_229^post29, a_610^0'=a_610^post29, r_151^0'=r_151^post29, a_144^0'=a_144^post29, i_1053^0'=i_1053^post29, a_417^0'=a_417^post29, t_24^0'=t_24^post29, i_94^0'=i_94^post29, x_852^0'=x_852^post29, a_862^0'=a_862^post29, rcd_1249^0'=rcd_1249^post29, rcd_58^0'=rcd_58^post29, a_310^0'=a_310^post29, i_127^0'=i_127^post29, a_576^0'=a_576^post29, tmp_34^0'=tmp_34^post29, length_29^0'=length_29^post29, a_1162^0'=a_1162^post29, f_969^0'=f_969^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29, a_395^0'=a_395^post29, x_17^0'=x_17^post29, a_633^0'=a_633^post29, r_224^0'=r_224^post29, a_239^0'=a_239^post29, i_107^0'=i_107^post29, a_431^0'=a_431^post29, temp0_16^0'=temp0_16^post29, len_238^0'=len_238^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_924^0'=a_924^post29, ct_18^0'=ct_18^post29, result_11^0'=result_11^post29, a_392^0'=a_392^post29, i_197^0'=i_197^post29, a_579^0'=a_579^post29, r_143^0'=r_143^post29, a_1236^0'=a_1236^post29, head_32^0'=head_32^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29, i_30^0'=i_30^post29, x_253^0'=x_253^post29, a_635^0'=a_635^post29, r_970^0'=r_970^post29, rcd_47^0'=rcd_47^post29, a_309^0'=a_309^post29, i_1248^0'=i_1248^post29, a_575^0'=a_575^post29, temp_35^0'=temp_35^post29, len_861^0'=len_861^post29, (a_1089^0-a_1089^post29 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ a_394^0-a_394^post29 == 0 /\ -x_253^post29+x_253^0 == 0 /\ -i_197^post29+i_197^0 == 0 /\ -a_579^post29+a_579^0 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ -a_263^post29+a_263^0 == 0 /\ -i_229^post29+i_229^0 == 0 /\ a_311^0-a_311^post29 == 0 /\ -a_431^post29+a_431^0 == 0 /\ -ct_18^post29+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ a_576^0-a_576^post29 == 0 /\ t_458^0-t_458^post29 == 0 /\ -r_970^post29+r_970^0 == 0 /\ x_852^0-x_852^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ i_106^0-i_106^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29 == 0 /\ -i_1053^post29+i_1053^0 == 0 /\ -a_395^post29+a_395^0 == 0 /\ -i_1248^post29+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post29+len_861^0 == 0 /\ a_924^0-a_924^post29 == 0 /\ -a_239^post29+a_239^0 == 0 /\ f_248^0-f_248^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ len_262^0-len_262^post29 == 0 /\ a_1236^0-a_1236^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ a_610^0-a_610^post29 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_393^post29+a_393^0 == 0 /\ -r_224^post29+r_224^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ x_975^0-x_975^post29 == 0 /\ temp0_31^0-temp0_31^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -r_143^post29+r_143^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -i_107^post29+i_107^0 == 0 /\ a_947^0-a_947^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -i_30^post29+i_30^0 == 0 /\ len_238^0-len_238^post29 == 0 /\ -a_575^post29+a_575^0 == 0 /\ -i_94^post29+i_94^0 == 0 /\ x_14^0-x_14^post29 == 0 /\ a_176^0-a_176^post29 == 0 /\ a_121^0-a_121^post29 == 0 /\ i_27^0-i_27^post29 == 0 /\ f_969^0-f_969^post29 == 0 /\ -a_309^post29+a_309^0 == 0 /\ -a_635^post29+a_635^0 == 0 /\ -a_632^post29+a_632^0 == 0 /\ -i_113^post29+i_113^0 == 0 /\ -a_432^post29+a_432^0 == 0 /\ a_430^0-a_430^post29 == 0 /\ rcd_1249^0-rcd_1249^post29 == 0 /\ -a_417^post29+a_417^0 == 0 /\ len_161^0-len_161^post29 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ x_156^0-x_156^post29 == 0 /\ a_1162^0-a_1162^post29 == 0 /\ f_847^0-f_847^post29 == 0 /\ head_15^0-head_15^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post29+a_862^0 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ r_151^0-r_151^post29 == 0 /\ -a_633^post29+a_633^0 == 0 /\ r_192^0-r_192^post29 == 0 /\ -rcd_47^post29+rcd_47^0 == 0 /\ -i_140^post29+i_140^0 == 0 /\ a_902^0-a_902^post29 == 0 /\ -a_310^post29+a_310^0 == 0 /\ i_127^0-i_127^post29 == 0 /\ -a_392^post29+a_392^0 == 0 /\ a_144^0-a_144^post29 == 0 /\ a_577^0-a_577^post29 == 0 /\ a_634^0-a_634^post29 == 0), cost: 1 30: l21 -> l22 : a_1089^0'=a_1089^post30, f_847^0'=f_847^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, a_394^0'=a_394^post30, x_156^0'=x_156^post30, a_632^0'=a_632^post30, r_192^0'=r_192^post30, a_176^0'=a_176^post30, i_106^0'=i_106^post30, a_430^0'=a_430^post30, t_458^0'=t_458^post30, len_161^0'=len_161^post30, x_975^0'=x_975^post30, a_902^0'=a_902^post30, a_947^0'=a_947^post30, rcd_88^0'=rcd_88^post30, a_311^0'=a_311^post30, i_140^0'=i_140^post30, a_577^0'=a_577^post30, x_14^0'=x_14^post30, nondet_12^0'=nondet_12^post30, a_121^0'=a_121^post30, head_15^0'=head_15^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30, i_27^0'=i_27^post30, x_21^0'=x_21^post30, a_634^0'=a_634^post30, r_39^0'=r_39^post30, a_263^0'=a_263^post30, i_113^0'=i_113^post30, a_432^0'=a_432^post30, temp0_31^0'=temp0_31^post30, len_262^0'=len_262^post30, y_20^0'=y_20^post30, f_248^0'=f_248^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, a_393^0'=a_393^post30, i_229^0'=i_229^post30, a_610^0'=a_610^post30, r_151^0'=r_151^post30, a_144^0'=a_144^post30, i_1053^0'=i_1053^post30, a_417^0'=a_417^post30, t_24^0'=t_24^post30, i_94^0'=i_94^post30, x_852^0'=x_852^post30, a_862^0'=a_862^post30, rcd_1249^0'=rcd_1249^post30, rcd_58^0'=rcd_58^post30, a_310^0'=a_310^post30, i_127^0'=i_127^post30, a_576^0'=a_576^post30, tmp_34^0'=tmp_34^post30, length_29^0'=length_29^post30, a_1162^0'=a_1162^post30, f_969^0'=f_969^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30, a_395^0'=a_395^post30, x_17^0'=x_17^post30, a_633^0'=a_633^post30, r_224^0'=r_224^post30, a_239^0'=a_239^post30, i_107^0'=i_107^post30, a_431^0'=a_431^post30, temp0_16^0'=temp0_16^post30, len_238^0'=len_238^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_924^0'=a_924^post30, ct_18^0'=ct_18^post30, result_11^0'=result_11^post30, a_392^0'=a_392^post30, i_197^0'=i_197^post30, a_579^0'=a_579^post30, r_143^0'=r_143^post30, a_1236^0'=a_1236^post30, head_32^0'=head_32^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30, i_30^0'=i_30^post30, x_253^0'=x_253^post30, a_635^0'=a_635^post30, r_970^0'=r_970^post30, rcd_47^0'=rcd_47^post30, a_309^0'=a_309^post30, i_1248^0'=i_1248^post30, a_575^0'=a_575^post30, temp_35^0'=temp_35^post30, len_861^0'=len_861^post30, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30 == 0 /\ a_430^0-a_430^post30 == 0 /\ f_248^0-f_248^post30 == 0 /\ x_975^0-x_975^post30 == 0 /\ -r_143^post30+r_143^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ a_632^0-a_632^post30 == 0 /\ -a_575^post30+a_575^0 == 0 /\ f_969^0-f_969^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -i_113^post30+i_113^0 == 0 /\ i_127^0-i_127^post30 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -i_107^post30+i_107^0 == 0 /\ -a_432^post30+a_432^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ len_161^0-len_161^post30 == 0 /\ a_947^0-a_947^post30 == 0 /\ -r_39^post30+r_39^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ a_176^0-a_176^post30 == 0 /\ x_852^0-x_852^post30 == 0 /\ -a_1236^post30+a_1236^0 == 0 /\ a_394^0-a_394^post30 == 0 /\ -rcd_47^post30+rcd_47^0 == 0 /\ -i_140^post30+i_140^0 == 0 /\ -a_392^post30+a_392^0 == 0 /\ -a_310^post30+a_310^0 == 0 /\ t_458^0-t_458^post30 == 0 /\ -a_862^post30+a_862^0 == 0 /\ -i_94^post30+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post30 == 0 /\ f_847^0-f_847^post30 == 0 /\ -r_970^post30+r_970^0 == 0 /\ -r_151^post30+r_151^0 == 0 /\ a_633^0-a_633^post30 == 0 /\ -t_24^post30+t_24^0 == 0 /\ 1-x_253^0 <= 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -a_579^post30+a_579^0 == 0 /\ i_229^0-i_229^post30 == 0 /\ -x_253^post30+x_253^0 == 0 /\ -a_263^post30+a_263^0 == 0 /\ temp0_16^0-temp0_16^post30 == 0 /\ -head_32^post30+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30 == 0 /\ a_121^0-a_121^post30 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_239^0-a_239^post30 == 0 /\ len_262^0-len_262^post30 == 0 /\ -i_197^post30+i_197^0 == 0 /\ x_156^0-x_156^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ a_610^0-a_610^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ a_902^0-a_902^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ a_144^0-a_144^post30 == 0 /\ -a_431^post30+a_431^0 == 0 /\ len_238^0-len_238^post30 == 0 /\ a_634^0-a_634^post30 == 0 /\ -a_395^post30+a_395^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ a_1089^0-a_1089^post30 == 0 /\ -a_1162^post30+a_1162^0 == 0 /\ a_417^0-a_417^post30 == 0 /\ -a_924^post30+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ i_27^0-i_27^post30 == 0 /\ x_14^0-x_14^post30 == 0 /\ a_576^0-a_576^post30 == 0 /\ -r_224^post30+r_224^0 == 0 /\ -len_861^post30+len_861^0 == 0 /\ -x_21^post30+x_21^0 == 0 /\ -i_1053^post30+i_1053^0 == 0 /\ -a_635^post30+a_635^0 == 0 /\ -i_1248^post30+i_1248^0 == 0 /\ -a_577^post30+a_577^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ a_311^0-a_311^post30 == 0 /\ i_106^0-i_106^post30 == 0 /\ -a_393^post30+a_393^0 == 0), cost: 1 31: l21 -> l22 : a_1089^0'=a_1089^post31, f_847^0'=f_847^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, a_394^0'=a_394^post31, x_156^0'=x_156^post31, a_632^0'=a_632^post31, r_192^0'=r_192^post31, a_176^0'=a_176^post31, i_106^0'=i_106^post31, a_430^0'=a_430^post31, t_458^0'=t_458^post31, len_161^0'=len_161^post31, x_975^0'=x_975^post31, a_902^0'=a_902^post31, a_947^0'=a_947^post31, rcd_88^0'=rcd_88^post31, a_311^0'=a_311^post31, i_140^0'=i_140^post31, a_577^0'=a_577^post31, x_14^0'=x_14^post31, nondet_12^0'=nondet_12^post31, a_121^0'=a_121^post31, head_15^0'=head_15^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31, i_27^0'=i_27^post31, x_21^0'=x_21^post31, a_634^0'=a_634^post31, r_39^0'=r_39^post31, a_263^0'=a_263^post31, i_113^0'=i_113^post31, a_432^0'=a_432^post31, temp0_31^0'=temp0_31^post31, len_262^0'=len_262^post31, y_20^0'=y_20^post31, f_248^0'=f_248^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, a_393^0'=a_393^post31, i_229^0'=i_229^post31, a_610^0'=a_610^post31, r_151^0'=r_151^post31, a_144^0'=a_144^post31, i_1053^0'=i_1053^post31, a_417^0'=a_417^post31, t_24^0'=t_24^post31, i_94^0'=i_94^post31, x_852^0'=x_852^post31, a_862^0'=a_862^post31, rcd_1249^0'=rcd_1249^post31, rcd_58^0'=rcd_58^post31, a_310^0'=a_310^post31, i_127^0'=i_127^post31, a_576^0'=a_576^post31, tmp_34^0'=tmp_34^post31, length_29^0'=length_29^post31, a_1162^0'=a_1162^post31, f_969^0'=f_969^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31, a_395^0'=a_395^post31, x_17^0'=x_17^post31, a_633^0'=a_633^post31, r_224^0'=r_224^post31, a_239^0'=a_239^post31, i_107^0'=i_107^post31, a_431^0'=a_431^post31, temp0_16^0'=temp0_16^post31, len_238^0'=len_238^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_924^0'=a_924^post31, ct_18^0'=ct_18^post31, result_11^0'=result_11^post31, a_392^0'=a_392^post31, i_197^0'=i_197^post31, a_579^0'=a_579^post31, r_143^0'=r_143^post31, a_1236^0'=a_1236^post31, head_32^0'=head_32^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31, i_30^0'=i_30^post31, x_253^0'=x_253^post31, a_635^0'=a_635^post31, r_970^0'=r_970^post31, rcd_47^0'=rcd_47^post31, a_309^0'=a_309^post31, i_1248^0'=i_1248^post31, a_575^0'=a_575^post31, temp_35^0'=temp_35^post31, len_861^0'=len_861^post31, (t_24^0-t_24^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -f_248^post31+f_248^0 == 0 /\ a_862^0-a_862^post31 == 0 /\ a_394^0-a_394^post31 == 0 /\ a_144^0-a_144^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ -r_970^post31+r_970^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -r_224^post31+r_224^0 == 0 /\ a_263^0-a_263^post31 == 0 /\ -i_197^post31+i_197^0 == 0 /\ -a_579^post31+a_579^0 == 0 /\ a_392^0-a_392^post31 == 0 /\ a_430^0-a_430^post31 == 0 /\ t_458^0-t_458^post31 == 0 /\ x_852^0-x_852^post31 == 0 /\ len_161^0-len_161^post31 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ i_106^0-i_106^post31 == 0 /\ -i_127^post31+i_127^0 == 0 /\ -ct_18^post31+ct_18^0 == 0 /\ -i_229^post31+i_229^0 == 0 /\ a_576^0-a_576^post31 == 0 /\ -temp_35^post31+temp_35^0 == 0 /\ a_311^0-a_311^post31 == 0 /\ f_847^0-f_847^post31 == 0 /\ 1+x_253^0 <= 0 /\ -rcd_1249^post31+rcd_1249^0 == 0 /\ -i_107^post31+i_107^0 == 0 /\ -a_577^post31+a_577^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post31+a_575^0 == 0 /\ -a_924^post31+a_924^0 == 0 /\ a_1236^0-a_1236^post31 == 0 /\ r_143^0-r_143^post31 == 0 /\ a_121^0-a_121^post31 == 0 /\ -len_861^post31+len_861^0 == 0 /\ -i_1248^post31+i_1248^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ len_262^0-len_262^post31 == 0 /\ temp0_31^0-temp0_31^post31 == 0 /\ -a_393^post31+a_393^0 == 0 /\ -a_1162^post31+a_1162^0 == 0 /\ -i_30^post31+i_30^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ a_947^0-a_947^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ i_27^0-i_27^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -len_238^post31+len_238^0 == 0 /\ a_176^0-a_176^post31 == 0 /\ -i_94^post31+i_94^0 == 0 /\ a_1089^0-a_1089^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post31+i_113^0 == 0 /\ -a_309^post31+a_309^0 == 0 /\ -a_633^post31+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ a_635^0-a_635^post31 == 0 /\ -a_432^post31+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31 == 0 /\ -a_632^post31+a_632^0 == 0 /\ i_1053^0-i_1053^post31 == 0 /\ a_395^0-a_395^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -i_140^post31+i_140^0 == 0 /\ -a_431^post31+a_431^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ r_151^0-r_151^post31 == 0 /\ a_239^0-a_239^post31 == 0 /\ a_902^0-a_902^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -a_610^post31+a_610^0 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_975^0-x_975^post31 == 0 /\ f_969^0-f_969^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ -head_32^post31+head_32^0 == 0 /\ x_156^0-x_156^post31 == 0 /\ a_417^0-a_417^post31 == 0 /\ -rcd_47^post31+rcd_47^0 == 0 /\ head_15^0-head_15^post31 == 0 /\ -x_253^post31+x_253^0 == 0 /\ a_634^0-a_634^post31 == 0 /\ -a_310^post31+a_310^0 == 0), cost: 1 32: l22 -> l16 : a_1089^0'=a_1089^post32, f_847^0'=f_847^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, a_394^0'=a_394^post32, x_156^0'=x_156^post32, a_632^0'=a_632^post32, r_192^0'=r_192^post32, a_176^0'=a_176^post32, i_106^0'=i_106^post32, a_430^0'=a_430^post32, t_458^0'=t_458^post32, len_161^0'=len_161^post32, x_975^0'=x_975^post32, a_902^0'=a_902^post32, a_947^0'=a_947^post32, rcd_88^0'=rcd_88^post32, a_311^0'=a_311^post32, i_140^0'=i_140^post32, a_577^0'=a_577^post32, x_14^0'=x_14^post32, nondet_12^0'=nondet_12^post32, a_121^0'=a_121^post32, head_15^0'=head_15^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32, i_27^0'=i_27^post32, x_21^0'=x_21^post32, a_634^0'=a_634^post32, r_39^0'=r_39^post32, a_263^0'=a_263^post32, i_113^0'=i_113^post32, a_432^0'=a_432^post32, temp0_31^0'=temp0_31^post32, len_262^0'=len_262^post32, y_20^0'=y_20^post32, f_248^0'=f_248^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, a_393^0'=a_393^post32, i_229^0'=i_229^post32, a_610^0'=a_610^post32, r_151^0'=r_151^post32, a_144^0'=a_144^post32, i_1053^0'=i_1053^post32, a_417^0'=a_417^post32, t_24^0'=t_24^post32, i_94^0'=i_94^post32, x_852^0'=x_852^post32, a_862^0'=a_862^post32, rcd_1249^0'=rcd_1249^post32, rcd_58^0'=rcd_58^post32, a_310^0'=a_310^post32, i_127^0'=i_127^post32, a_576^0'=a_576^post32, tmp_34^0'=tmp_34^post32, length_29^0'=length_29^post32, a_1162^0'=a_1162^post32, f_969^0'=f_969^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32, a_395^0'=a_395^post32, x_17^0'=x_17^post32, a_633^0'=a_633^post32, r_224^0'=r_224^post32, a_239^0'=a_239^post32, i_107^0'=i_107^post32, a_431^0'=a_431^post32, temp0_16^0'=temp0_16^post32, len_238^0'=len_238^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_924^0'=a_924^post32, ct_18^0'=ct_18^post32, result_11^0'=result_11^post32, a_392^0'=a_392^post32, i_197^0'=i_197^post32, a_579^0'=a_579^post32, r_143^0'=r_143^post32, a_1236^0'=a_1236^post32, head_32^0'=head_32^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32, i_30^0'=i_30^post32, x_253^0'=x_253^post32, a_635^0'=a_635^post32, r_970^0'=r_970^post32, rcd_47^0'=rcd_47^post32, a_309^0'=a_309^post32, i_1248^0'=i_1248^post32, a_575^0'=a_575^post32, temp_35^0'=temp_35^post32, len_861^0'=len_861^post32, (0 == 0 /\ -len_238^post32+len_238^0 == 0 /\ -rcd_47^post32+rcd_47^0 == 0 /\ i_94^0-i_94^post32 == 0 /\ r_151^0-r_151^post32 == 0 /\ i_113^0-i_113^post32 == 0 /\ -r_143^post32+r_143^0 == 0 /\ a_393^0-a_393^post32 == 0 /\ a_430^0-a_430^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ x_975^0-x_975^post32 == 0 /\ -a_634^post32+a_634^0 == 0 /\ f_969^0-f_969^post32 == 0 /\ -i_107^post32+i_107^0 == 0 /\ a_432^0-a_432^post32 == 0 /\ -a_575^post32+a_575^0 == 0 /\ r_192^0-r_192^post32 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ -a_309^post32+a_309^0 == 0 /\ a_633^0-a_633^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -rcd_1249^post32+rcd_1249^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ a_417^0-a_417^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -a_576^post32+a_576^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ a_862^0-a_862^post32 == 0 /\ -a_431^post32+a_431^0 == 0 /\ i_27^0-i_27^post32 == 0 /\ -a_392^post32+a_392^0 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ head_32^0-head_32^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -x_253^post32+x_253^0 == 0 /\ -a_610^post32+a_610^0 == 0 /\ i_140^0-i_140^post32 == 0 /\ -a_1236^post32+a_1236^0 == 0 /\ i_106^0-i_106^post32 == 0 /\ -len_262^post32+len_262^0 == 0 /\ a_632^0-a_632^post32 == 0 /\ a_176^post32-a_263^0 <= 0 /\ -i_1248^post32+i_1248^0 == 0 /\ -r_970^post32+r_970^0 == 0 /\ -a_310^post32+a_310^0 == 0 /\ -r_224^post32+r_224^0 == 0 /\ a_902^0-a_902^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32 == 0 /\ a_311^0-a_311^post32 == 0 /\ -i_197^post32+i_197^0 == 0 /\ -a_579^post32+a_579^0 == 0 /\ t_458^0-t_458^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ f_248^0-f_248^post32 == 0 /\ a_577^0-a_577^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ i_229^0-i_229^post32 == 0 /\ -i_127^post32+i_127^0 == 0 /\ a_239^0-a_239^post32 == 0 /\ -a_395^post32+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post32 == 0 /\ len_262^0-len_161^post32 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ -a_924^post32+a_924^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -a_1162^post32+a_1162^0 == 0 /\ -a_947^post32+a_947^0 == 0 /\ x_14^0-x_14^post32 == 0 /\ 1-i_27^0 <= 0 /\ i_1053^0-i_1053^post32 == 0 /\ -a_176^post32+a_263^0 <= 0 /\ a_121^0-a_121^post32 == 0 /\ -head_15^post32+head_15^0 == 0 /\ a_1089^0-a_1089^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ a_394^0-a_394^post32 == 0 /\ a_263^0-a_263^post32 == 0 /\ x_852^0-x_852^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ y_20^0-y_20^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ f_847^0-f_847^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32 == 0 /\ -len_861^post32+len_861^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_262^0+len_161^post32 <= 0 /\ -a_635^post32+a_635^0 == 0), cost: 1 50: l16 -> l33 : a_1089^0'=a_1089^post50, f_847^0'=f_847^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_394^0'=a_394^post50, x_156^0'=x_156^post50, a_632^0'=a_632^post50, r_192^0'=r_192^post50, a_176^0'=a_176^post50, i_106^0'=i_106^post50, a_430^0'=a_430^post50, t_458^0'=t_458^post50, len_161^0'=len_161^post50, x_975^0'=x_975^post50, a_902^0'=a_902^post50, a_947^0'=a_947^post50, rcd_88^0'=rcd_88^post50, a_311^0'=a_311^post50, i_140^0'=i_140^post50, a_577^0'=a_577^post50, x_14^0'=x_14^post50, nondet_12^0'=nondet_12^post50, a_121^0'=a_121^post50, head_15^0'=head_15^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50, i_27^0'=i_27^post50, x_21^0'=x_21^post50, a_634^0'=a_634^post50, r_39^0'=r_39^post50, a_263^0'=a_263^post50, i_113^0'=i_113^post50, a_432^0'=a_432^post50, temp0_31^0'=temp0_31^post50, len_262^0'=len_262^post50, y_20^0'=y_20^post50, f_248^0'=f_248^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_393^0'=a_393^post50, i_229^0'=i_229^post50, a_610^0'=a_610^post50, r_151^0'=r_151^post50, a_144^0'=a_144^post50, i_1053^0'=i_1053^post50, a_417^0'=a_417^post50, t_24^0'=t_24^post50, i_94^0'=i_94^post50, x_852^0'=x_852^post50, a_862^0'=a_862^post50, rcd_1249^0'=rcd_1249^post50, rcd_58^0'=rcd_58^post50, a_310^0'=a_310^post50, i_127^0'=i_127^post50, a_576^0'=a_576^post50, tmp_34^0'=tmp_34^post50, length_29^0'=length_29^post50, a_1162^0'=a_1162^post50, f_969^0'=f_969^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50, a_395^0'=a_395^post50, x_17^0'=x_17^post50, a_633^0'=a_633^post50, r_224^0'=r_224^post50, a_239^0'=a_239^post50, i_107^0'=i_107^post50, a_431^0'=a_431^post50, temp0_16^0'=temp0_16^post50, len_238^0'=len_238^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, a_924^0'=a_924^post50, ct_18^0'=ct_18^post50, result_11^0'=result_11^post50, a_392^0'=a_392^post50, i_197^0'=i_197^post50, a_579^0'=a_579^post50, r_143^0'=r_143^post50, a_1236^0'=a_1236^post50, head_32^0'=head_32^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50, i_30^0'=i_30^post50, x_253^0'=x_253^post50, a_635^0'=a_635^post50, r_970^0'=r_970^post50, rcd_47^0'=rcd_47^post50, a_309^0'=a_309^post50, i_1248^0'=i_1248^post50, a_575^0'=a_575^post50, temp_35^0'=temp_35^post50, len_861^0'=len_861^post50, (0 == 0 /\ -x_14^post50 <= 0 /\ -i_113^post50+i_113^0 == 0 /\ -a_432^post50+a_432^0 == 0 /\ -a_635^post50+a_635^0 == 0 /\ -r_143^post50+r_143^0 == 0 /\ x_SLAM_f_19^post50-x_17^post50 <= 0 /\ x_SLAM_f_19^post50-x_17^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50 == 0 /\ head_15^0-x_17^post50 <= 0 /\ result_11^0-result_11^post50 == 0 /\ -len_161^0 <= 0 /\ -a_309^post50+a_309^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ -head_15^0+x_SLAM_f_19^post50 <= 0 /\ a_862^0-a_862^post50 == 0 /\ a_634^0-a_634^post50 == 0 /\ x_14^post50 <= 0 /\ -a_144^post50+a_144^0 == 0 /\ a_902^0-a_902^post50 == 0 /\ -ct_18^post50+y_20^post50 <= 0 /\ -ct_18^post50+y_20^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ a_947^0-a_947^post50 == 0 /\ -a_310^post50+a_310^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -a_1236^post50+a_1236^0 == 0 /\ -a_575^post50+a_575^0 == 0 /\ x_156^0-x_156^post50 == 0 /\ rcd_88^0-rcd_88^post50 == 0 /\ -len_238^post50+len_238^0 == 0 /\ -len_262^post50+len_262^0 == 0 /\ a_176^0-a_176^post50 == 0 /\ -a_633^post50+a_633^0 == 0 /\ -rcd_47^post50+rcd_47^0 == 0 /\ i_1053^0-i_1053^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -x_SLAM_f_19^post50+x_17^post50 <= 0 /\ length_29^0-length_29^post50 == 0 /\ r_192^0-r_192^post50 == 0 /\ -head_15^0+x_17^post50 <= 0 /\ -head_15^0+x_17^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -ct_18^post50 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_579^0-a_579^post50 == 0 /\ a_632^0-a_632^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ a_430^0-a_430^post50 == 0 /\ head_15^0-x_SLAM_f_19^post50 <= 0 /\ -a_176^0 <= 0 /\ -f_969^post50+f_969^0 == 0 /\ ct_18^post50-y_20^post50 <= 0 /\ a_392^0-a_392^post50 == 0 /\ a_1089^0-a_1089^post50 == 0 /\ a_311^0-a_311^post50 == 0 /\ -i_127^post50+i_127^0 == 0 /\ a_263^0-a_263^post50 == 0 /\ x_852^0-x_852^post50 == 0 /\ -x_21^post50+x_SLAM_f_19^post50 <= 0 /\ -x_21^post50+head_15^0 <= 0 /\ a_576^0-a_576^post50 == 0 /\ -a_431^post50+a_431^0 == 0 /\ f_847^0-f_847^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50 == 0 /\ -temp_35^post50+temp_35^0 == 0 /\ -r_970^post50+r_970^0 == 0 /\ -x_253^post50+x_253^0 == 0 /\ i_140^0-i_140^post50 == 0 /\ -i_197^post50+i_197^0 == 0 /\ ct_18^post50 <= 0 /\ ct_18^post50 == 0 /\ x_975^0-x_975^post50 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ r_151^0-r_151^post50 == 0 /\ -f_248^post50+f_248^0 == 0 /\ a_394^0-a_394^post50 == 0 /\ -a_121^post50+a_121^0 == 0 /\ -y_20^post50 <= 0 /\ -t_24^post50+t_24^0 == 0 /\ a_417^0-a_417^post50 == 0 /\ x_21^post50-x_SLAM_f_19^post50 <= 0 /\ x_21^post50-x_SLAM_f_19^post50 == 0 /\ -a_577^post50+a_577^0 == 0 /\ x_21^post50-head_15^0 <= 0 /\ a_610^0-a_610^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -a_1162^post50+a_1162^0 == 0 /\ -i_229^post50+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post50 == 0 /\ i_106^0-i_106^post50 == 0 /\ -i_30^post50+i_30^0 == 0 /\ -i_1248^post50+i_1248^0 == 0 /\ a_395^0-a_395^post50 == 0 /\ -a_239^post50+a_239^0 == 0 /\ len_161^0-len_161^post50 == 0 /\ y_20^post50 <= 0 /\ -r_224^post50+r_224^0 == 0 /\ -len_861^post50+len_861^0 == 0 /\ a_393^0-a_393^post50 == 0 /\ -a_924^post50+a_924^0 == 0 /\ -temp0_16^post50+temp0_16^0 == 0 /\ t_458^0-t_458^post50 == 0 /\ i_107^0-i_107^post50 == 0), cost: 1 54: l16 -> l36 : a_1089^0'=a_1089^post54, f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_394^0'=a_394^post54, x_156^0'=x_156^post54, a_632^0'=a_632^post54, r_192^0'=r_192^post54, a_176^0'=a_176^post54, i_106^0'=i_106^post54, a_430^0'=a_430^post54, t_458^0'=t_458^post54, len_161^0'=len_161^post54, x_975^0'=x_975^post54, a_902^0'=a_902^post54, a_947^0'=a_947^post54, rcd_88^0'=rcd_88^post54, a_311^0'=a_311^post54, i_140^0'=i_140^post54, a_577^0'=a_577^post54, x_14^0'=x_14^post54, nondet_12^0'=nondet_12^post54, a_121^0'=a_121^post54, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54, i_27^0'=i_27^post54, x_21^0'=x_21^post54, a_634^0'=a_634^post54, r_39^0'=r_39^post54, a_263^0'=a_263^post54, i_113^0'=i_113^post54, a_432^0'=a_432^post54, temp0_31^0'=temp0_31^post54, len_262^0'=len_262^post54, y_20^0'=y_20^post54, f_248^0'=f_248^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_393^0'=a_393^post54, i_229^0'=i_229^post54, a_610^0'=a_610^post54, r_151^0'=r_151^post54, a_144^0'=a_144^post54, i_1053^0'=i_1053^post54, a_417^0'=a_417^post54, t_24^0'=t_24^post54, i_94^0'=i_94^post54, x_852^0'=x_852^post54, a_862^0'=a_862^post54, rcd_1249^0'=rcd_1249^post54, rcd_58^0'=rcd_58^post54, a_310^0'=a_310^post54, i_127^0'=i_127^post54, a_576^0'=a_576^post54, tmp_34^0'=tmp_34^post54, length_29^0'=length_29^post54, a_1162^0'=a_1162^post54, f_969^0'=f_969^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54, a_395^0'=a_395^post54, x_17^0'=x_17^post54, a_633^0'=a_633^post54, r_224^0'=r_224^post54, a_239^0'=a_239^post54, i_107^0'=i_107^post54, a_431^0'=a_431^post54, temp0_16^0'=temp0_16^post54, len_238^0'=len_238^post54, x_SLAM_f_19^0'=x_SLAM_f_19^post54, a_924^0'=a_924^post54, ct_18^0'=ct_18^post54, result_11^0'=result_11^post54, a_392^0'=a_392^post54, i_197^0'=i_197^post54, a_579^0'=a_579^post54, r_143^0'=r_143^post54, a_1236^0'=a_1236^post54, head_32^0'=head_32^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54, i_30^0'=i_30^post54, x_253^0'=x_253^post54, a_635^0'=a_635^post54, r_970^0'=r_970^post54, rcd_47^0'=rcd_47^post54, a_309^0'=a_309^post54, i_1248^0'=i_1248^post54, a_575^0'=a_575^post54, temp_35^0'=temp_35^post54, len_861^0'=len_861^post54, (0 == 0 /\ rcd_1249^0-rcd_1249^post54 == 0 /\ -rcd_47^post54+rcd_47^0 == 0 /\ a_924^0-a_924^post54 == 0 /\ -i_140^post54+i_140^0 == 0 /\ f_248^0-f_248^post54 == 0 /\ -r_143^post54+r_143^0 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post54 == 0 /\ i_127^0-i_127^post54 == 0 /\ x_975^0-x_975^post54 == 0 /\ -a_144^post54+a_144^0 == 0 /\ a_577^0-a_577^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post54+a_575^0 == 0 /\ -r_151^post54+r_151^0 == 0 /\ r_192^0-r_192^post54 == 0 /\ -a_309^post54+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_1162^0-a_1162^post54 == 0 /\ x_21^0-x_21^post54 == 0 /\ -a_633^post54+a_633^0 == 0 /\ -i_113^post54+i_113^0 == 0 /\ a_634^0-a_634^post54 == 0 /\ -a_432^post54+a_432^0 == 0 /\ -a_431^post54+a_431^0 == 0 /\ i_27^0-i_27^post54 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_392^post54+a_392^0 == 0 /\ a_947^0-a_947^post54 == 0 /\ a_576^0-a_576^post54 == 0 /\ -length_29^post54+length_29^0 == 0 /\ i_197^0-i_197^post54 == 0 /\ -y_20^post54+y_20^0 == 0 /\ -x_253^post54+x_253^0 == 0 /\ -x_SLAM_f_19^post54+x_SLAM_f_19^0 == 0 /\ -a_176^0 <= 0 /\ i_107^0-i_107^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -f_969^post54+f_969^0 == 0 /\ -a_1236^post54+a_1236^0 == 0 /\ -ct_18^post54+ct_18^0 == 0 /\ a_632^0-a_632^post54 == 0 /\ -t_458^post54+t_458^0 == 0 /\ -a_310^post54+a_310^0 == 0 /\ r_224^0-r_224^post54 == 0 /\ a_311^0-a_311^post54 == 0 /\ a_902^0-a_902^post54 == 0 /\ -i_106^post54+i_106^0 == 0 /\ -rcd_58^post54+rcd_58^0 == 0 /\ i_229^0-i_229^post54 == 0 /\ r_970^0-r_970^post54 == 0 /\ -len_161^post54+len_161^0 == 0 /\ -a_395^post54+a_395^0 == 0 /\ -a_862^post54+a_862^0 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ x_156^0-x_156^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_610^0-a_610^post54 == 0 /\ -a_579^post54+a_579^0 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ temp0_31^0-temp0_31^post54 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -a_263^post54+a_263^0 == 0 /\ x_14^0-x_14^post54 == 0 /\ a_121^0-a_121^post54 == 0 /\ -a_393^post54+a_393^0 == 0 /\ a_1089^0-a_1089^post54 == 0 /\ len_262^0-len_262^post54 == 0 /\ a_394^0-a_394^post54 == 0 /\ x_17^0-x_17^post54 == 0 /\ -a_417^post54+a_417^0 == 0 /\ rcd_88^0-rcd_88^post54 == 0 /\ -temp0_16^post54+temp0_16^0 == 0 /\ a_176^0-a_176^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -i_1053^post54+i_1053^0 == 0 /\ -i_1248^post54+i_1248^0 == 0 /\ -len_861^post54+len_861^0 == 0 /\ -a_239^post54+a_239^0 == 0 /\ -t_24^post54+t_24^0 == 0 /\ len_238^0-len_238^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_635^post54+a_635^0 == 0), cost: 1 64: l16 -> l41 : a_1089^0'=a_1089^post64, f_847^0'=f_847^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_394^0'=a_394^post64, x_156^0'=x_156^post64, a_632^0'=a_632^post64, r_192^0'=r_192^post64, a_176^0'=a_176^post64, i_106^0'=i_106^post64, a_430^0'=a_430^post64, t_458^0'=t_458^post64, len_161^0'=len_161^post64, x_975^0'=x_975^post64, a_902^0'=a_902^post64, a_947^0'=a_947^post64, rcd_88^0'=rcd_88^post64, a_311^0'=a_311^post64, i_140^0'=i_140^post64, a_577^0'=a_577^post64, x_14^0'=x_14^post64, nondet_12^0'=nondet_12^post64, a_121^0'=a_121^post64, head_15^0'=head_15^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64, i_27^0'=i_27^post64, x_21^0'=x_21^post64, a_634^0'=a_634^post64, r_39^0'=r_39^post64, a_263^0'=a_263^post64, i_113^0'=i_113^post64, a_432^0'=a_432^post64, temp0_31^0'=temp0_31^post64, len_262^0'=len_262^post64, y_20^0'=y_20^post64, f_248^0'=f_248^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_393^0'=a_393^post64, i_229^0'=i_229^post64, a_610^0'=a_610^post64, r_151^0'=r_151^post64, a_144^0'=a_144^post64, i_1053^0'=i_1053^post64, a_417^0'=a_417^post64, t_24^0'=t_24^post64, i_94^0'=i_94^post64, x_852^0'=x_852^post64, a_862^0'=a_862^post64, rcd_1249^0'=rcd_1249^post64, rcd_58^0'=rcd_58^post64, a_310^0'=a_310^post64, i_127^0'=i_127^post64, a_576^0'=a_576^post64, tmp_34^0'=tmp_34^post64, length_29^0'=length_29^post64, a_1162^0'=a_1162^post64, f_969^0'=f_969^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64, a_395^0'=a_395^post64, x_17^0'=x_17^post64, a_633^0'=a_633^post64, r_224^0'=r_224^post64, a_239^0'=a_239^post64, i_107^0'=i_107^post64, a_431^0'=a_431^post64, temp0_16^0'=temp0_16^post64, len_238^0'=len_238^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, a_924^0'=a_924^post64, ct_18^0'=ct_18^post64, result_11^0'=result_11^post64, a_392^0'=a_392^post64, i_197^0'=i_197^post64, a_579^0'=a_579^post64, r_143^0'=r_143^post64, a_1236^0'=a_1236^post64, head_32^0'=head_32^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64, i_30^0'=i_30^post64, x_253^0'=x_253^post64, a_635^0'=a_635^post64, r_970^0'=r_970^post64, rcd_47^0'=rcd_47^post64, a_309^0'=a_309^post64, i_1248^0'=i_1248^post64, a_575^0'=a_575^post64, temp_35^0'=temp_35^post64, len_861^0'=len_861^post64, (0 == 0 /\ -len_262^post64+len_262^0 == 0 /\ a_417^0-a_417^post64 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ i_140^0-i_140^post64 == 0 /\ a_263^0-a_263^post64 == 0 /\ -i_1248^post64+i_1248^0 == 0 /\ a_1089^0-a_1089^post64 == 0 /\ a_394^0-a_394^post64 == 0 /\ a_1162^0-a_1162^post64 == 0 /\ -a_239^post64+a_239^0 == 0 /\ -len_161^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -i_1053^post64+i_1053^0 == 0 /\ -i_30^post64+i_30^0 == 0 /\ rcd_88^0-rcd_88^post64 == 0 /\ y_20^0-y_20^post64 == 0 /\ f_847^0-f_847^post64 == 0 /\ a_924^0-a_924^post64 == 0 /\ -a_392^post64+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post64+len_861^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ x_975^0-x_975^post64 == 0 /\ i_106^0-i_106^post64 == 0 /\ -a_635^post64+a_635^0 == 0 /\ i_94^0-i_94^post64 == 0 /\ r_224^0-r_224^post64 == 0 /\ i_127^0-i_127^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ t_458^0-t_458^post64 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_309^post64+a_309^0 == 0 /\ a_393^0-a_393^post64 == 0 /\ a_577^0-a_577^post64 == 0 /\ -a_579^post64+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -i_107^post64+i_107^0 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -a_176^0 <= 0 /\ -a_575^post64+a_575^0 == 0 /\ -a_633^post64+a_633^0 == 0 /\ -x_852^post64+x_852^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ -len_238^post64+len_238^0 == 0 /\ a_862^0-a_862^post64 == 0 /\ x_14^0-x_14^post64 == 0 /\ a_121^0-a_121^post64 == 0 /\ x_156^0-x_156^post64 == 0 /\ len_161^0-len_161^post64 == 0 /\ a_947^0-a_947^post64 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ -f_969^post64+f_969^0 == 0 /\ -a_634^post64+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post64+rcd_1249^0 == 0 /\ length_29^0-length_29^post64 == 0 /\ f_248^0-f_248^post64 == 0 /\ -a_576^post64+a_576^0 == 0 /\ -a_431^post64+a_431^0 == 0 /\ -r_970^post64+r_970^0 == 0 /\ rcd_47^0-rcd_47^post64 == 0 /\ a_632^0-a_632^post64 == 0 /\ r_151^0-r_151^post64 == 0 /\ -a_176^post64+a_176^0 == 0 /\ a_311^0-a_311^post64 == 0 /\ -r_143^post64+r_143^0 == 0 /\ i_113^0-i_113^post64 == 0 /\ -temp_35^post64+temp_35^0 == 0 /\ -i_27^post64+i_27^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ a_902^0-a_902^post64 == 0 /\ -x_253^post64+x_253^0 == 0 /\ a_310^0-a_310^post64 == 0 /\ i_229^0-i_229^post64 == 0 /\ a_432^0-a_432^post64 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ r_192^0-r_192^post64 == 0 /\ -a_395^post64+a_395^0 == 0 /\ -a_610^post64+a_610^0 == 0 /\ a_430^0-a_430^post64 == 0 /\ -a_1236^post64+a_1236^0 == 0), cost: 1 34: l24 -> l25 : a_1089^0'=a_1089^post34, f_847^0'=f_847^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_394^0'=a_394^post34, x_156^0'=x_156^post34, a_632^0'=a_632^post34, r_192^0'=r_192^post34, a_176^0'=a_176^post34, i_106^0'=i_106^post34, a_430^0'=a_430^post34, t_458^0'=t_458^post34, len_161^0'=len_161^post34, x_975^0'=x_975^post34, a_902^0'=a_902^post34, a_947^0'=a_947^post34, rcd_88^0'=rcd_88^post34, a_311^0'=a_311^post34, i_140^0'=i_140^post34, a_577^0'=a_577^post34, x_14^0'=x_14^post34, nondet_12^0'=nondet_12^post34, a_121^0'=a_121^post34, head_15^0'=head_15^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34, i_27^0'=i_27^post34, x_21^0'=x_21^post34, a_634^0'=a_634^post34, r_39^0'=r_39^post34, a_263^0'=a_263^post34, i_113^0'=i_113^post34, a_432^0'=a_432^post34, temp0_31^0'=temp0_31^post34, len_262^0'=len_262^post34, y_20^0'=y_20^post34, f_248^0'=f_248^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_393^0'=a_393^post34, i_229^0'=i_229^post34, a_610^0'=a_610^post34, r_151^0'=r_151^post34, a_144^0'=a_144^post34, i_1053^0'=i_1053^post34, a_417^0'=a_417^post34, t_24^0'=t_24^post34, i_94^0'=i_94^post34, x_852^0'=x_852^post34, a_862^0'=a_862^post34, rcd_1249^0'=rcd_1249^post34, rcd_58^0'=rcd_58^post34, a_310^0'=a_310^post34, i_127^0'=i_127^post34, a_576^0'=a_576^post34, tmp_34^0'=tmp_34^post34, length_29^0'=length_29^post34, a_1162^0'=a_1162^post34, f_969^0'=f_969^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34, a_395^0'=a_395^post34, x_17^0'=x_17^post34, a_633^0'=a_633^post34, r_224^0'=r_224^post34, a_239^0'=a_239^post34, i_107^0'=i_107^post34, a_431^0'=a_431^post34, temp0_16^0'=temp0_16^post34, len_238^0'=len_238^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_924^0'=a_924^post34, ct_18^0'=ct_18^post34, result_11^0'=result_11^post34, a_392^0'=a_392^post34, i_197^0'=i_197^post34, a_579^0'=a_579^post34, r_143^0'=r_143^post34, a_1236^0'=a_1236^post34, head_32^0'=head_32^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34, i_30^0'=i_30^post34, x_253^0'=x_253^post34, a_635^0'=a_635^post34, r_970^0'=r_970^post34, rcd_47^0'=rcd_47^post34, a_309^0'=a_309^post34, i_1248^0'=i_1248^post34, a_575^0'=a_575^post34, temp_35^0'=temp_35^post34, len_861^0'=len_861^post34, (-a_633^post34+a_633^0 == 0 /\ -a_610^post34+a_610^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ i_94^0-i_94^post34 == 0 /\ -rcd_47^post34+rcd_47^0 == 0 /\ head_15^0-head_15^post34 == 0 /\ a_393^0-a_393^post34 == 0 /\ r_39^0-r_39^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34 == 0 /\ 1-x_14^0 <= 0 /\ a_432^0-a_432^post34 == 0 /\ a_310^0-a_310^post34 == 0 /\ -rcd_1249^post34+rcd_1249^0 == 0 /\ -a_634^post34+a_634^0 == 0 /\ -r_143^post34+r_143^0 == 0 /\ r_192^0-r_192^post34 == 0 /\ x_156^0-x_156^post34 == 0 /\ i_113^0-i_113^post34 == 0 /\ a_1089^0-a_1089^post34 == 0 /\ -a_924^post34+a_924^0 == 0 /\ -len_238^post34+len_238^0 == 0 /\ x_21^0-x_21^post34 == 0 /\ -a_576^post34+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post34+r_151^0 == 0 /\ a_121^0-a_121^post34 == 0 /\ i_27^0-i_27^post34 == 0 /\ -a_1236^post34+a_1236^0 == 0 /\ -f_969^post34+f_969^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ -x_253^post34+x_253^0 == 0 /\ a_263^0-a_263^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ a_417^0-a_417^post34 == 0 /\ a_392^0-a_392^post34 == 0 /\ y_20^0-y_20^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -f_248^post34+f_248^0 == 0 /\ -a_311^post34+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34 == 0 /\ -r_970^post34+r_970^0 == 0 /\ a_632^0-a_632^post34 == 0 /\ i_106^0-i_106^post34 == 0 /\ -i_1248^post34+i_1248^0 == 0 /\ -a_395^post34+a_395^0 == 0 /\ -len_861^post34+len_861^0 == 0 /\ -a_239^post34+a_239^0 == 0 /\ -a_430^post34+a_430^0 == 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_224^0-r_224^post34 == 0 /\ a_902^0-a_902^post34 == 0 /\ x_975^0-x_975^post34 == 0 /\ i_107^0-i_107^post34 == 0 /\ -len_262^post34+len_262^0 == 0 /\ t_458^0-t_458^post34 == 0 /\ a_577^0-a_577^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post34+i_1053^0 == 0 /\ -i_197^post34+i_197^0 == 0 /\ x_14^0-x_14^post34 == 0 /\ -a_575^post34+a_575^0 == 0 /\ -a_579^post34+a_579^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ len_161^0-len_161^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ i_140^0-i_140^post34 == 0 /\ -a_947^post34+a_947^0 == 0 /\ -a_309^post34+a_309^0 == 0 /\ x_852^0-x_852^post34 == 0 /\ i_229^0-i_229^post34 == 0 /\ a_431^0-a_431^post34 == 0 /\ -i_127^post34+i_127^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ a_394^0-a_394^post34 == 0 /\ a_862^0-a_862^post34 == 0 /\ -rcd_58^post34+rcd_58^0 == 0 /\ -a_635^post34+a_635^0 == 0 /\ a_176^0-a_176^post34 == 0 /\ rcd_88^0-rcd_88^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ f_847^0-f_847^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ -a_1162^post34+a_1162^0 == 0), cost: 1 35: l24 -> l25 : a_1089^0'=a_1089^post35, f_847^0'=f_847^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_394^0'=a_394^post35, x_156^0'=x_156^post35, a_632^0'=a_632^post35, r_192^0'=r_192^post35, a_176^0'=a_176^post35, i_106^0'=i_106^post35, a_430^0'=a_430^post35, t_458^0'=t_458^post35, len_161^0'=len_161^post35, x_975^0'=x_975^post35, a_902^0'=a_902^post35, a_947^0'=a_947^post35, rcd_88^0'=rcd_88^post35, a_311^0'=a_311^post35, i_140^0'=i_140^post35, a_577^0'=a_577^post35, x_14^0'=x_14^post35, nondet_12^0'=nondet_12^post35, a_121^0'=a_121^post35, head_15^0'=head_15^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35, i_27^0'=i_27^post35, x_21^0'=x_21^post35, a_634^0'=a_634^post35, r_39^0'=r_39^post35, a_263^0'=a_263^post35, i_113^0'=i_113^post35, a_432^0'=a_432^post35, temp0_31^0'=temp0_31^post35, len_262^0'=len_262^post35, y_20^0'=y_20^post35, f_248^0'=f_248^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_393^0'=a_393^post35, i_229^0'=i_229^post35, a_610^0'=a_610^post35, r_151^0'=r_151^post35, a_144^0'=a_144^post35, i_1053^0'=i_1053^post35, a_417^0'=a_417^post35, t_24^0'=t_24^post35, i_94^0'=i_94^post35, x_852^0'=x_852^post35, a_862^0'=a_862^post35, rcd_1249^0'=rcd_1249^post35, rcd_58^0'=rcd_58^post35, a_310^0'=a_310^post35, i_127^0'=i_127^post35, a_576^0'=a_576^post35, tmp_34^0'=tmp_34^post35, length_29^0'=length_29^post35, a_1162^0'=a_1162^post35, f_969^0'=f_969^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35, a_395^0'=a_395^post35, x_17^0'=x_17^post35, a_633^0'=a_633^post35, r_224^0'=r_224^post35, a_239^0'=a_239^post35, i_107^0'=i_107^post35, a_431^0'=a_431^post35, temp0_16^0'=temp0_16^post35, len_238^0'=len_238^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_924^0'=a_924^post35, ct_18^0'=ct_18^post35, result_11^0'=result_11^post35, a_392^0'=a_392^post35, i_197^0'=i_197^post35, a_579^0'=a_579^post35, r_143^0'=r_143^post35, a_1236^0'=a_1236^post35, head_32^0'=head_32^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35, i_30^0'=i_30^post35, x_253^0'=x_253^post35, a_635^0'=a_635^post35, r_970^0'=r_970^post35, rcd_47^0'=rcd_47^post35, a_309^0'=a_309^post35, i_1248^0'=i_1248^post35, a_575^0'=a_575^post35, temp_35^0'=temp_35^post35, len_861^0'=len_861^post35, (x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -length_29^post35+length_29^0 == 0 /\ len_262^0-len_262^post35 == 0 /\ -len_861^post35+len_861^0 == 0 /\ -f_248^post35+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ i_229^0-i_229^post35 == 0 /\ -a_1236^post35+a_1236^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ a_634^0-a_634^post35 == 0 /\ len_161^0-len_161^post35 == 0 /\ a_947^0-a_947^post35 == 0 /\ -i_1248^post35+i_1248^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -i_27^post35+i_27^0 == 0 /\ -a_239^post35+a_239^0 == 0 /\ i_1053^0-i_1053^post35 == 0 /\ -i_197^post35+i_197^0 == 0 /\ -a_393^post35+a_393^0 == 0 /\ -i_127^post35+i_127^0 == 0 /\ a_395^0-a_395^post35 == 0 /\ a_121^0-a_121^post35 == 0 /\ a_176^0-a_176^post35 == 0 /\ -a_579^post35+a_579^0 == 0 /\ i_113^0-i_113^post35 == 0 /\ -r_151^post35+r_151^0 == 0 /\ x_975^0-x_975^post35 == 0 /\ -a_635^post35+a_635^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ r_192^0-r_192^post35 == 0 /\ a_430^0-a_430^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ -x_852^post35+x_852^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -a_575^post35+a_575^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_156^0-x_156^post35 == 0 /\ -a_309^post35+a_309^0 == 0 /\ a_1089^0-a_1089^post35 == 0 /\ a_1162^0-a_1162^post35 == 0 /\ a_310^0-a_310^post35 == 0 /\ -a_417^post35+a_417^0 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ x_14^0-x_14^post35 == 0 /\ a_632^0-a_632^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ a_432^0-a_432^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_902^post35+a_902^0 == 0 /\ a_862^0-a_862^post35 == 0 /\ x_21^0-x_21^post35 == 0 /\ i_140^0-i_140^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post35+a_633^0 == 0 /\ a_431^0-a_431^post35 == 0 /\ f_847^0-f_847^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ a_263^0-a_263^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post35 == 0 /\ -a_924^post35+a_924^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_47^post35+rcd_47^0 == 0 /\ -r_143^post35+r_143^0 == 0 /\ -rcd_1249^post35+rcd_1249^0 == 0 /\ -len_238^post35+len_238^0 == 0 /\ y_20^0-y_20^post35 == 0 /\ i_107^0-i_107^post35 == 0 /\ a_610^0-a_610^post35 == 0 /\ -x_253^post35+x_253^0 == 0 /\ r_224^0-r_224^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -f_969^post35+f_969^0 == 0 /\ -r_970^post35+r_970^0 == 0 /\ -a_392^post35+a_392^0 == 0 /\ a_577^0-a_577^post35 == 0 /\ t_458^0-t_458^post35 == 0 /\ -a_311^post35+a_311^0 == 0 /\ i_106^0-i_106^post35 == 0 /\ i_94^0-i_94^post35 == 0 /\ -a_576^post35+a_576^0 == 0 /\ 1+x_14^0 <= 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -temp_35^post35+temp_35^0 == 0), cost: 1 36: l25 -> l26 : a_1089^0'=a_1089^post36, f_847^0'=f_847^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_394^0'=a_394^post36, x_156^0'=x_156^post36, a_632^0'=a_632^post36, r_192^0'=r_192^post36, a_176^0'=a_176^post36, i_106^0'=i_106^post36, a_430^0'=a_430^post36, t_458^0'=t_458^post36, len_161^0'=len_161^post36, x_975^0'=x_975^post36, a_902^0'=a_902^post36, a_947^0'=a_947^post36, rcd_88^0'=rcd_88^post36, a_311^0'=a_311^post36, i_140^0'=i_140^post36, a_577^0'=a_577^post36, x_14^0'=x_14^post36, nondet_12^0'=nondet_12^post36, a_121^0'=a_121^post36, head_15^0'=head_15^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36, i_27^0'=i_27^post36, x_21^0'=x_21^post36, a_634^0'=a_634^post36, r_39^0'=r_39^post36, a_263^0'=a_263^post36, i_113^0'=i_113^post36, a_432^0'=a_432^post36, temp0_31^0'=temp0_31^post36, len_262^0'=len_262^post36, y_20^0'=y_20^post36, f_248^0'=f_248^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_393^0'=a_393^post36, i_229^0'=i_229^post36, a_610^0'=a_610^post36, r_151^0'=r_151^post36, a_144^0'=a_144^post36, i_1053^0'=i_1053^post36, a_417^0'=a_417^post36, t_24^0'=t_24^post36, i_94^0'=i_94^post36, x_852^0'=x_852^post36, a_862^0'=a_862^post36, rcd_1249^0'=rcd_1249^post36, rcd_58^0'=rcd_58^post36, a_310^0'=a_310^post36, i_127^0'=i_127^post36, a_576^0'=a_576^post36, tmp_34^0'=tmp_34^post36, length_29^0'=length_29^post36, a_1162^0'=a_1162^post36, f_969^0'=f_969^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36, a_395^0'=a_395^post36, x_17^0'=x_17^post36, a_633^0'=a_633^post36, r_224^0'=r_224^post36, a_239^0'=a_239^post36, i_107^0'=i_107^post36, a_431^0'=a_431^post36, temp0_16^0'=temp0_16^post36, len_238^0'=len_238^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, a_924^0'=a_924^post36, ct_18^0'=ct_18^post36, result_11^0'=result_11^post36, a_392^0'=a_392^post36, i_197^0'=i_197^post36, a_579^0'=a_579^post36, r_143^0'=r_143^post36, a_1236^0'=a_1236^post36, head_32^0'=head_32^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36, i_30^0'=i_30^post36, x_253^0'=x_253^post36, a_635^0'=a_635^post36, r_970^0'=r_970^post36, rcd_47^0'=rcd_47^post36, a_309^0'=a_309^post36, i_1248^0'=i_1248^post36, a_575^0'=a_575^post36, temp_35^0'=temp_35^post36, len_861^0'=len_861^post36, (0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ t_458^0-t_458^post36 == 0 /\ i_106^0-i_106^post36 == 0 /\ -len_238^post36+len_238^0 == 0 /\ a_632^0-a_632^post36 == 0 /\ head_15^0-head_15^post36 == 0 /\ a_902^0-a_902^post36 == 0 /\ -a_634^post36+a_634^0 == 0 /\ -x_253^post36+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post36+rcd_1249^0 == 0 /\ a_310^0-a_310^post36 == 0 /\ i_229^0-i_229^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_151^post36+r_151^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -a_576^post36+a_576^0 == 0 /\ -r_970^post36+r_970^0 == 0 /\ -nondet_12^11+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36 == 0 /\ -r_224^post36+r_224^0 == 0 /\ a_121^0-a_121^post36 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ len_262^0-len_262^post36 == 0 /\ a_263^0-a_263^post36 == 0 /\ -r_143^post36+r_143^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ a_176^0-a_176^post36 == 0 /\ a_394^0-a_394^post36 == 0 /\ a_924^0-a_924^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36 == 0 /\ -a_395^post36+a_395^0 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ -a_1236^post36+a_1236^0 == 0 /\ x_975^0-x_975^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ a_577^0-a_577^post36 == 0 /\ f_248^0-f_248^post36 == 0 /\ f_969^0-f_969^post36 == 0 /\ i_94^0-i_94^post36 == 0 /\ -a_392^post36+a_392^0 == 0 /\ i_113^0-i_113^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_393^0-a_393^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ i_140^0-i_140^post36 == 0 /\ -a_862^post36+a_862^0 == 0 /\ -i_30^post36+i_30^0 == 0 /\ -i_1053^post36+i_1053^0 == 0 /\ -x_156^post36+x_156^0 == 0 /\ len_161^0-len_161^post36 == 0 /\ -i_1248^post36+i_1248^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ a_1089^0-a_1089^post36 == 0 /\ a_311^0-a_311^post36 == 0 /\ -len_861^post36+len_861^0 == 0 /\ a_432^0-a_432^post36 == 0 /\ -r_192^post36+r_192^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ -a_239^post36+a_239^0 == 0 /\ a_430^0-a_430^post36 == 0 /\ -a_635^post36+a_635^0 == 0 /\ -rcd_47^post36+rcd_47^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -x_852^post36+x_852^0 == 0 /\ y_20^0-y_20^post36 == 0 /\ 1-i_27^0 <= 0 /\ -a_579^post36+a_579^0 == 0 /\ -a_610^post36+a_610^0 == 0 /\ -x_17^post36+x_17^0 == 0 /\ a_431^0-a_431^post36 == 0 /\ -i_197^post36+i_197^0 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ a_144^0-a_144^post36 == 0 /\ a_1162^0-a_1162^post36 == 0 /\ f_847^0-f_847^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -i_107^post36+i_107^0 == 0 /\ -ct_18^post36+ct_18^0 == 0 /\ a_947^0-a_947^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post36+a_575^0 == 0 /\ -a_417^post36+a_417^0 == 0 /\ -a_633^post36+a_633^0 == 0 /\ -a_309^post36+a_309^0 == 0), cost: 1 37: l26 -> l27 : a_1089^0'=a_1089^post37, f_847^0'=f_847^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_394^0'=a_394^post37, x_156^0'=x_156^post37, a_632^0'=a_632^post37, r_192^0'=r_192^post37, a_176^0'=a_176^post37, i_106^0'=i_106^post37, a_430^0'=a_430^post37, t_458^0'=t_458^post37, len_161^0'=len_161^post37, x_975^0'=x_975^post37, a_902^0'=a_902^post37, a_947^0'=a_947^post37, rcd_88^0'=rcd_88^post37, a_311^0'=a_311^post37, i_140^0'=i_140^post37, a_577^0'=a_577^post37, x_14^0'=x_14^post37, nondet_12^0'=nondet_12^post37, a_121^0'=a_121^post37, head_15^0'=head_15^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37, i_27^0'=i_27^post37, x_21^0'=x_21^post37, a_634^0'=a_634^post37, r_39^0'=r_39^post37, a_263^0'=a_263^post37, i_113^0'=i_113^post37, a_432^0'=a_432^post37, temp0_31^0'=temp0_31^post37, len_262^0'=len_262^post37, y_20^0'=y_20^post37, f_248^0'=f_248^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_393^0'=a_393^post37, i_229^0'=i_229^post37, a_610^0'=a_610^post37, r_151^0'=r_151^post37, a_144^0'=a_144^post37, i_1053^0'=i_1053^post37, a_417^0'=a_417^post37, t_24^0'=t_24^post37, i_94^0'=i_94^post37, x_852^0'=x_852^post37, a_862^0'=a_862^post37, rcd_1249^0'=rcd_1249^post37, rcd_58^0'=rcd_58^post37, a_310^0'=a_310^post37, i_127^0'=i_127^post37, a_576^0'=a_576^post37, tmp_34^0'=tmp_34^post37, length_29^0'=length_29^post37, a_1162^0'=a_1162^post37, f_969^0'=f_969^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37, a_395^0'=a_395^post37, x_17^0'=x_17^post37, a_633^0'=a_633^post37, r_224^0'=r_224^post37, a_239^0'=a_239^post37, i_107^0'=i_107^post37, a_431^0'=a_431^post37, temp0_16^0'=temp0_16^post37, len_238^0'=len_238^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, a_924^0'=a_924^post37, ct_18^0'=ct_18^post37, result_11^0'=result_11^post37, a_392^0'=a_392^post37, i_197^0'=i_197^post37, a_579^0'=a_579^post37, r_143^0'=r_143^post37, a_1236^0'=a_1236^post37, head_32^0'=head_32^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37, i_30^0'=i_30^post37, x_253^0'=x_253^post37, a_635^0'=a_635^post37, r_970^0'=r_970^post37, rcd_47^0'=rcd_47^post37, a_309^0'=a_309^post37, i_1248^0'=i_1248^post37, a_575^0'=a_575^post37, temp_35^0'=temp_35^post37, len_861^0'=len_861^post37, (-r_143^post37+r_143^0 == 0 /\ f_847^0-f_847^post37 == 0 /\ -a_575^post37+a_575^0 == 0 /\ head_15^0-head_15^post37 == 0 /\ -a_635^post37+a_635^0 == 0 /\ -r_151^post37+r_151^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -a_309^post37+a_309^0 == 0 /\ t_458^0-t_458^post37 == 0 /\ -a_633^post37+a_633^0 == 0 /\ len_262^0-len_262^post37 == 0 /\ a_417^0-a_417^post37 == 0 /\ a_902^0-a_902^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37 == 0 /\ -a_1236^post37+a_1236^0 == 0 /\ -a_576^post37+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_94^0-i_94^post37 == 0 /\ x_156^0-x_156^post37 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ i_113^0-i_113^post37 == 0 /\ i_229^0-i_229^post37 == 0 /\ -a_862^post37+a_862^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ a_121^0-a_121^post37 == 0 /\ i_27^0-i_27^post37 == 0 /\ a_1089^0-a_1089^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ a_430^0-a_430^post37 == 0 /\ a_263^0-a_263^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post37+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -x_253^post37+x_253^0 == 0 /\ -len_238^post37+len_238^0 == 0 /\ i_106^0-i_106^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ a_392^0-a_392^post37 == 0 /\ -rcd_47^post37+rcd_47^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post37 == 0 /\ -a_311^post37+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37 == 0 /\ -i_197^post37+i_197^0 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ r_224^0-r_224^post37 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -f_969^post37+f_969^0 == 0 /\ -r_970^post37+r_970^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -i_1053^post37+i_1053^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ f_248^0-f_248^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -rcd_58^post37+rcd_58^0 == 0 /\ a_432^0-a_432^post37 == 0 /\ -a_395^post37+a_395^0 == 0 /\ -a_579^post37+a_579^0 == 0 /\ x_975^0-x_975^post37 == 0 /\ -ct_18^post37+ct_18^0 == 0 /\ -a_1162^post37+a_1162^0 == 0 /\ -i_127^post37+i_127^0 == 0 /\ a_577^0-a_577^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ -a_394^post37+a_394^0 == 0 /\ -len_861^post37+len_861^0 == 0 /\ a_176^0-a_176^post37 == 0 /\ a_431^0-a_431^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -rcd_1249^post37+rcd_1249^0 == 0 /\ t_24^0-t_24^post37 == 0 /\ -a_634^post37+a_634^0 == 0 /\ -i_1248^post37+i_1248^0 == 0 /\ r_192^0-r_192^post37 == 0 /\ -a_144^post37+a_144^0 == 0 /\ a_947^0-a_947^post37 == 0 /\ a_310^0-a_310^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -a_239^post37+a_239^0 == 0 /\ x_852^0-x_852^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -a_393^post37+a_393^0 == 0 /\ a_632^0-a_632^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -a_924^post37+a_924^0 == 0 /\ i_140^0-i_140^post37 == 0 /\ len_161^0-len_161^post37 == 0 /\ i_107^0-i_107^post37 == 0), cost: 1 38: l26 -> l27 : a_1089^0'=a_1089^post38, f_847^0'=f_847^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_394^0'=a_394^post38, x_156^0'=x_156^post38, a_632^0'=a_632^post38, r_192^0'=r_192^post38, a_176^0'=a_176^post38, i_106^0'=i_106^post38, a_430^0'=a_430^post38, t_458^0'=t_458^post38, len_161^0'=len_161^post38, x_975^0'=x_975^post38, a_902^0'=a_902^post38, a_947^0'=a_947^post38, rcd_88^0'=rcd_88^post38, a_311^0'=a_311^post38, i_140^0'=i_140^post38, a_577^0'=a_577^post38, x_14^0'=x_14^post38, nondet_12^0'=nondet_12^post38, a_121^0'=a_121^post38, head_15^0'=head_15^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38, i_27^0'=i_27^post38, x_21^0'=x_21^post38, a_634^0'=a_634^post38, r_39^0'=r_39^post38, a_263^0'=a_263^post38, i_113^0'=i_113^post38, a_432^0'=a_432^post38, temp0_31^0'=temp0_31^post38, len_262^0'=len_262^post38, y_20^0'=y_20^post38, f_248^0'=f_248^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_393^0'=a_393^post38, i_229^0'=i_229^post38, a_610^0'=a_610^post38, r_151^0'=r_151^post38, a_144^0'=a_144^post38, i_1053^0'=i_1053^post38, a_417^0'=a_417^post38, t_24^0'=t_24^post38, i_94^0'=i_94^post38, x_852^0'=x_852^post38, a_862^0'=a_862^post38, rcd_1249^0'=rcd_1249^post38, rcd_58^0'=rcd_58^post38, a_310^0'=a_310^post38, i_127^0'=i_127^post38, a_576^0'=a_576^post38, tmp_34^0'=tmp_34^post38, length_29^0'=length_29^post38, a_1162^0'=a_1162^post38, f_969^0'=f_969^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38, a_395^0'=a_395^post38, x_17^0'=x_17^post38, a_633^0'=a_633^post38, r_224^0'=r_224^post38, a_239^0'=a_239^post38, i_107^0'=i_107^post38, a_431^0'=a_431^post38, temp0_16^0'=temp0_16^post38, len_238^0'=len_238^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, a_924^0'=a_924^post38, ct_18^0'=ct_18^post38, result_11^0'=result_11^post38, a_392^0'=a_392^post38, i_197^0'=i_197^post38, a_579^0'=a_579^post38, r_143^0'=r_143^post38, a_1236^0'=a_1236^post38, head_32^0'=head_32^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38, i_30^0'=i_30^post38, x_253^0'=x_253^post38, a_635^0'=a_635^post38, r_970^0'=r_970^post38, rcd_47^0'=rcd_47^post38, a_309^0'=a_309^post38, i_1248^0'=i_1248^post38, a_575^0'=a_575^post38, temp_35^0'=temp_35^post38, len_861^0'=len_861^post38, (i_1053^0-i_1053^post38 == 0 /\ i_27^0-i_27^post38 == 0 /\ -i_1248^post38+i_1248^0 == 0 /\ a_310^0-a_310^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_634^0-a_634^post38 == 0 /\ -a_239^post38+a_239^0 == 0 /\ a_1089^0-a_1089^post38 == 0 /\ -i_127^post38+i_127^0 == 0 /\ a_947^0-a_947^post38 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ -head_15^post38+head_15^0 == 0 /\ -a_579^post38+a_579^0 == 0 /\ -x_253^post38+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ -i_197^post38+i_197^0 == 0 /\ len_262^0-len_262^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ i_140^0-i_140^post38 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ a_395^0-a_395^post38 == 0 /\ a_176^0-a_176^post38 == 0 /\ -f_248^post38+f_248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38 == 0 /\ -a_417^post38+a_417^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_309^post38+a_309^0 == 0 /\ -a_393^post38+a_393^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ x_975^0-x_975^post38 == 0 /\ -rcd_1249^post38+rcd_1249^0 == 0 /\ i_229^0-i_229^post38 == 0 /\ a_432^0-a_432^post38 == 0 /\ -i_30^post38+i_30^0 == 0 /\ a_121^0-a_121^post38 == 0 /\ r_192^0-r_192^post38 == 0 /\ i_113^0-i_113^post38 == 0 /\ -x_852^post38+x_852^0 == 0 /\ -a_635^post38+a_635^0 == 0 /\ x_156^0-x_156^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_924^post38+a_924^0 == 0 /\ -len_861^post38+len_861^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ len_161^0-len_161^post38 == 0 /\ x_17^0-x_17^post38 == 0 /\ x_14^0-x_14^post38 == 0 /\ -r_151^post38+r_151^0 == 0 /\ a_394^0-a_394^post38 == 0 /\ -a_902^post38+a_902^0 == 0 /\ -r_143^post38+r_143^0 == 0 /\ rcd_88^0-rcd_88^post38 == 0 /\ a_311^0-a_311^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ f_847^0-f_847^post38 == 0 /\ a_263^0-a_263^post38 == 0 /\ -a_576^post38+a_576^0 == 0 /\ t_24^0-t_24^post38 == 0 /\ -a_575^post38+a_575^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_107^0-i_107^post38 == 0 /\ i_106^0-i_106^post38 == 0 /\ -a_1236^post38+a_1236^0 == 0 /\ -a_633^post38+a_633^0 == 0 /\ -f_969^post38+f_969^0 == 0 /\ i_94^0-i_94^post38 == 0 /\ t_458^0-t_458^post38 == 0 /\ a_430^0-a_430^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ -a_610^post38+a_610^0 == 0 /\ a_577^0-a_577^post38 == 0 /\ a_1162^0-a_1162^post38 == 0 /\ -a_392^post38+a_392^0 == 0 /\ -y_20^post38+y_20^0 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -rcd_47^post38+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_224^0-r_224^post38 == 0 /\ a_431^0-a_431^post38 == 0 /\ x_21^0-x_21^post38 == 0 /\ a_862^0-a_862^post38 == 0 /\ -len_238^post38+len_238^0 == 0 /\ -r_970^post38+r_970^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0), cost: 1 39: l27 -> l28 : a_1089^0'=a_1089^post39, f_847^0'=f_847^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_394^0'=a_394^post39, x_156^0'=x_156^post39, a_632^0'=a_632^post39, r_192^0'=r_192^post39, a_176^0'=a_176^post39, i_106^0'=i_106^post39, a_430^0'=a_430^post39, t_458^0'=t_458^post39, len_161^0'=len_161^post39, x_975^0'=x_975^post39, a_902^0'=a_902^post39, a_947^0'=a_947^post39, rcd_88^0'=rcd_88^post39, a_311^0'=a_311^post39, i_140^0'=i_140^post39, a_577^0'=a_577^post39, x_14^0'=x_14^post39, nondet_12^0'=nondet_12^post39, a_121^0'=a_121^post39, head_15^0'=head_15^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39, i_27^0'=i_27^post39, x_21^0'=x_21^post39, a_634^0'=a_634^post39, r_39^0'=r_39^post39, a_263^0'=a_263^post39, i_113^0'=i_113^post39, a_432^0'=a_432^post39, temp0_31^0'=temp0_31^post39, len_262^0'=len_262^post39, y_20^0'=y_20^post39, f_248^0'=f_248^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_393^0'=a_393^post39, i_229^0'=i_229^post39, a_610^0'=a_610^post39, r_151^0'=r_151^post39, a_144^0'=a_144^post39, i_1053^0'=i_1053^post39, a_417^0'=a_417^post39, t_24^0'=t_24^post39, i_94^0'=i_94^post39, x_852^0'=x_852^post39, a_862^0'=a_862^post39, rcd_1249^0'=rcd_1249^post39, rcd_58^0'=rcd_58^post39, a_310^0'=a_310^post39, i_127^0'=i_127^post39, a_576^0'=a_576^post39, tmp_34^0'=tmp_34^post39, length_29^0'=length_29^post39, a_1162^0'=a_1162^post39, f_969^0'=f_969^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39, a_395^0'=a_395^post39, x_17^0'=x_17^post39, a_633^0'=a_633^post39, r_224^0'=r_224^post39, a_239^0'=a_239^post39, i_107^0'=i_107^post39, a_431^0'=a_431^post39, temp0_16^0'=temp0_16^post39, len_238^0'=len_238^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, a_924^0'=a_924^post39, ct_18^0'=ct_18^post39, result_11^0'=result_11^post39, a_392^0'=a_392^post39, i_197^0'=i_197^post39, a_579^0'=a_579^post39, r_143^0'=r_143^post39, a_1236^0'=a_1236^post39, head_32^0'=head_32^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39, i_30^0'=i_30^post39, x_253^0'=x_253^post39, a_635^0'=a_635^post39, r_970^0'=r_970^post39, rcd_47^0'=rcd_47^post39, a_309^0'=a_309^post39, i_1248^0'=i_1248^post39, a_575^0'=a_575^post39, temp_35^0'=temp_35^post39, len_861^0'=len_861^post39, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post39+r_151^0 == 0 /\ f_248^0-f_248^post39 == 0 /\ head_15^0-head_15^post39 == 0 /\ a_176^0-a_239^post39 <= 0 /\ a_632^0-a_632^post39 == 0 /\ i_127^0-i_127^post39 == 0 /\ len_262^0-len_262^post39 == 0 /\ x_156^0-x_156^post39 == 0 /\ -a_924^post39+a_924^0 == 0 /\ 1+i_27^post39-i_27^0 == 0 /\ -a_576^post39+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post39 == 0 /\ a_902^0-a_902^post39 == 0 /\ -r_143^post39+r_143^0 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ len_161^0-len_238^post39 <= 0 /\ -a_309^post39+a_309^0 == 0 /\ i_229^0-i_229^post39 == 0 /\ a_634^0-a_634^post39 == 0 /\ -x_253^post39+x_253^0 == 0 /\ a_394^0-a_394^post39 == 0 /\ a_1089^0-a_1089^post39 == 0 /\ x_14^0-x_14^post39 == 0 /\ -a_392^post39+a_392^0 == 0 /\ -a_862^post39+a_862^0 == 0 /\ -a_610^post39+a_610^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_176^0+a_239^post39 <= 0 /\ a_176^0-a_176^post39 == 0 /\ a_121^0-a_121^post39 == 0 /\ -a_1236^post39+a_1236^0 == 0 /\ -r_970^post39+r_970^0 == 0 /\ -rcd_47^post39+rcd_47^0 == 0 /\ 1+i_27^post39-i_229^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -len_161^0+len_238^post39 <= 0 /\ f_847^0-f_847^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ -i_1053^post39+i_1053^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ i_94^0-i_94^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39 == 0 /\ a_430^0-a_430^post39 == 0 /\ -a_310^post39+a_310^0 == 0 /\ x_975^0-x_975^post39 == 0 /\ -r_224^post39+r_224^0 == 0 /\ -a_395^post39+a_395^0 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -a_311^post39+a_311^0 == 0 /\ -x_852^post39+x_852^0 == 0 /\ y_20^0-y_20^post39 == 0 /\ a_432^0-a_432^post39 == 0 /\ -len_861^post39+len_861^0 == 0 /\ i_113^0-i_113^post39 == 0 /\ a_633^0-a_633^post39 == 0 /\ x_21^0-x_21^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ f_969^0-f_969^post39 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -i_197^post39+i_197^0 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ a_431^0-a_431^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -a_579^post39+a_579^0 == 0 /\ -i_30^post39+i_30^0 == 0 /\ -a_263^post39+a_263^0 == 0 /\ a_144^0-a_144^post39 == 0 /\ a_947^0-a_947^post39 == 0 /\ -i_107^post39+i_107^0 == 0 /\ -a_417^post39+a_417^0 == 0 /\ -rcd_1249^post39+rcd_1249^0 == 0 /\ -a_575^post39+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ len_161^0-len_161^post39 == 0 /\ -a_635^post39+a_635^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ t_458^0-t_458^post39 == 0 /\ -i_1248^post39+i_1248^0 == 0 /\ -a_393^post39+a_393^0 == 0 /\ -1-i_27^post39+i_229^0 <= 0 /\ -rcd_58^post39+rcd_58^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ i_106^0-i_106^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ i_140^0-i_140^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_1162^post39+a_1162^0 == 0), cost: 1 40: l28 -> l29 : a_1089^0'=a_1089^post40, f_847^0'=f_847^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_394^0'=a_394^post40, x_156^0'=x_156^post40, a_632^0'=a_632^post40, r_192^0'=r_192^post40, a_176^0'=a_176^post40, i_106^0'=i_106^post40, a_430^0'=a_430^post40, t_458^0'=t_458^post40, len_161^0'=len_161^post40, x_975^0'=x_975^post40, a_902^0'=a_902^post40, a_947^0'=a_947^post40, rcd_88^0'=rcd_88^post40, a_311^0'=a_311^post40, i_140^0'=i_140^post40, a_577^0'=a_577^post40, x_14^0'=x_14^post40, nondet_12^0'=nondet_12^post40, a_121^0'=a_121^post40, head_15^0'=head_15^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40, i_27^0'=i_27^post40, x_21^0'=x_21^post40, a_634^0'=a_634^post40, r_39^0'=r_39^post40, a_263^0'=a_263^post40, i_113^0'=i_113^post40, a_432^0'=a_432^post40, temp0_31^0'=temp0_31^post40, len_262^0'=len_262^post40, y_20^0'=y_20^post40, f_248^0'=f_248^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_393^0'=a_393^post40, i_229^0'=i_229^post40, a_610^0'=a_610^post40, r_151^0'=r_151^post40, a_144^0'=a_144^post40, i_1053^0'=i_1053^post40, a_417^0'=a_417^post40, t_24^0'=t_24^post40, i_94^0'=i_94^post40, x_852^0'=x_852^post40, a_862^0'=a_862^post40, rcd_1249^0'=rcd_1249^post40, rcd_58^0'=rcd_58^post40, a_310^0'=a_310^post40, i_127^0'=i_127^post40, a_576^0'=a_576^post40, tmp_34^0'=tmp_34^post40, length_29^0'=length_29^post40, a_1162^0'=a_1162^post40, f_969^0'=f_969^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40, a_395^0'=a_395^post40, x_17^0'=x_17^post40, a_633^0'=a_633^post40, r_224^0'=r_224^post40, a_239^0'=a_239^post40, i_107^0'=i_107^post40, a_431^0'=a_431^post40, temp0_16^0'=temp0_16^post40, len_238^0'=len_238^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, a_924^0'=a_924^post40, ct_18^0'=ct_18^post40, result_11^0'=result_11^post40, a_392^0'=a_392^post40, i_197^0'=i_197^post40, a_579^0'=a_579^post40, r_143^0'=r_143^post40, a_1236^0'=a_1236^post40, head_32^0'=head_32^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40, i_30^0'=i_30^post40, x_253^0'=x_253^post40, a_635^0'=a_635^post40, r_970^0'=r_970^post40, rcd_47^0'=rcd_47^post40, a_309^0'=a_309^post40, i_1248^0'=i_1248^post40, a_575^0'=a_575^post40, temp_35^0'=temp_35^post40, len_861^0'=len_861^post40, (a_634^0-a_634^post40 == 0 /\ -a_239^post40+a_239^0 == 0 /\ -a_310^post40+a_310^0 == 0 /\ -i_229^post40+i_229^0 == 0 /\ -ct_18^post40+ct_18^0 == 0 /\ -a_395^post40+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post40 == 0 /\ a_1089^0-a_1089^post40 == 0 /\ -i_1053^post40+i_1053^0 == 0 /\ x_852^0-x_852^post40 == 0 /\ x_17^0-x_17^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -length_29^post40+length_29^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ 1-x_14^0 <= 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -a_862^post40+a_862^0 == 0 /\ -i_197^post40+i_197^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -a_579^post40+a_579^0 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -a_393^post40+a_393^0 == 0 /\ a_924^0-a_924^post40 == 0 /\ t_458^0-t_458^post40 == 0 /\ rcd_1249^0-rcd_1249^post40 == 0 /\ f_248^0-f_248^post40 == 0 /\ r_224^0-r_224^post40 == 0 /\ a_610^0-a_610^post40 == 0 /\ i_106^0-i_106^post40 == 0 /\ -a_263^post40+a_263^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ -i_30^post40+i_30^0 == 0 /\ -a_144^post40+a_144^0 == 0 /\ -i_107^post40+i_107^0 == 0 /\ x_975^0-x_975^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -a_417^post40+a_417^0 == 0 /\ -len_861^post40+len_861^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ -a_635^post40+a_635^0 == 0 /\ a_1236^0-a_1236^post40 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -i_1248^post40+i_1248^0 == 0 /\ -i_140^post40+i_140^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -a_632^post40+a_632^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ len_161^0-len_161^post40 == 0 /\ a_121^0-a_121^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ len_262^0-len_262^post40 == 0 /\ a_394^0-a_394^post40 == 0 /\ -rcd_47^post40+rcd_47^0 == 0 /\ -r_143^post40+r_143^0 == 0 /\ a_176^0-a_176^post40 == 0 /\ -a_633^post40+a_633^0 == 0 /\ -a_575^post40+a_575^0 == 0 /\ a_947^0-a_947^post40 == 0 /\ f_847^0-f_847^post40 == 0 /\ -a_309^post40+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post40 == 0 /\ i_94^0-i_94^post40 == 0 /\ -a_432^post40+a_432^0 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ r_151^0-r_151^post40 == 0 /\ -a_431^post40+a_431^0 == 0 /\ a_430^0-a_430^post40 == 0 /\ -i_113^post40+i_113^0 == 0 /\ a_311^0-a_311^post40 == 0 /\ head_15^0-head_15^post40 == 0 /\ a_902^0-a_902^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -a_392^post40+a_392^0 == 0 /\ a_577^0-a_577^post40 == 0 /\ x_156^0-x_156^post40 == 0 /\ -x_253^post40+x_253^0 == 0 /\ -f_969^post40+f_969^0 == 0 /\ -r_970^post40+r_970^0 == 0 /\ -y_20^post40+y_20^0 == 0 /\ x_14^0-x_14^post40 == 0 /\ a_1162^0-a_1162^post40 == 0 /\ r_192^0-r_192^post40 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1 41: l28 -> l29 : a_1089^0'=a_1089^post41, f_847^0'=f_847^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_394^0'=a_394^post41, x_156^0'=x_156^post41, a_632^0'=a_632^post41, r_192^0'=r_192^post41, a_176^0'=a_176^post41, i_106^0'=i_106^post41, a_430^0'=a_430^post41, t_458^0'=t_458^post41, len_161^0'=len_161^post41, x_975^0'=x_975^post41, a_902^0'=a_902^post41, a_947^0'=a_947^post41, rcd_88^0'=rcd_88^post41, a_311^0'=a_311^post41, i_140^0'=i_140^post41, a_577^0'=a_577^post41, x_14^0'=x_14^post41, nondet_12^0'=nondet_12^post41, a_121^0'=a_121^post41, head_15^0'=head_15^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41, i_27^0'=i_27^post41, x_21^0'=x_21^post41, a_634^0'=a_634^post41, r_39^0'=r_39^post41, a_263^0'=a_263^post41, i_113^0'=i_113^post41, a_432^0'=a_432^post41, temp0_31^0'=temp0_31^post41, len_262^0'=len_262^post41, y_20^0'=y_20^post41, f_248^0'=f_248^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_393^0'=a_393^post41, i_229^0'=i_229^post41, a_610^0'=a_610^post41, r_151^0'=r_151^post41, a_144^0'=a_144^post41, i_1053^0'=i_1053^post41, a_417^0'=a_417^post41, t_24^0'=t_24^post41, i_94^0'=i_94^post41, x_852^0'=x_852^post41, a_862^0'=a_862^post41, rcd_1249^0'=rcd_1249^post41, rcd_58^0'=rcd_58^post41, a_310^0'=a_310^post41, i_127^0'=i_127^post41, a_576^0'=a_576^post41, tmp_34^0'=tmp_34^post41, length_29^0'=length_29^post41, a_1162^0'=a_1162^post41, f_969^0'=f_969^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41, a_395^0'=a_395^post41, x_17^0'=x_17^post41, a_633^0'=a_633^post41, r_224^0'=r_224^post41, a_239^0'=a_239^post41, i_107^0'=i_107^post41, a_431^0'=a_431^post41, temp0_16^0'=temp0_16^post41, len_238^0'=len_238^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, a_924^0'=a_924^post41, ct_18^0'=ct_18^post41, result_11^0'=result_11^post41, a_392^0'=a_392^post41, i_197^0'=i_197^post41, a_579^0'=a_579^post41, r_143^0'=r_143^post41, a_1236^0'=a_1236^post41, head_32^0'=head_32^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41, i_30^0'=i_30^post41, x_253^0'=x_253^post41, a_635^0'=a_635^post41, r_970^0'=r_970^post41, rcd_47^0'=rcd_47^post41, a_309^0'=a_309^post41, i_1248^0'=i_1248^post41, a_575^0'=a_575^post41, temp_35^0'=temp_35^post41, len_861^0'=len_861^post41, (f_248^0-f_248^post41 == 0 /\ a_430^0-a_430^post41 == 0 /\ t_458^0-t_458^post41 == 0 /\ x_975^0-x_975^post41 == 0 /\ i_106^0-i_106^post41 == 0 /\ -a_1162^post41+a_1162^0 == 0 /\ -r_151^post41+r_151^0 == 0 /\ i_127^0-i_127^post41 == 0 /\ -a_924^post41+a_924^0 == 0 /\ a_632^0-a_632^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ f_969^0-f_969^post41 == 0 /\ a_1236^0-a_1236^post41 == 0 /\ x_852^0-x_852^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -r_143^post41+r_143^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -a_431^post41+a_431^0 == 0 /\ len_161^0-len_161^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_113^post41+i_113^0 == 0 /\ -r_970^post41+r_970^0 == 0 /\ x_156^0-x_156^post41 == 0 /\ f_847^0-f_847^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -y_20^post41+y_20^0 == 0 /\ a_394^0-a_394^post41 == 0 /\ -rcd_47^post41+rcd_47^0 == 0 /\ -a_432^post41+a_432^0 == 0 /\ -a_310^post41+a_310^0 == 0 /\ -x_253^post41+x_253^0 == 0 /\ -i_140^post41+i_140^0 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ rcd_1249^0-rcd_1249^post41 == 0 /\ a_176^0-a_176^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ a_239^0-a_239^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ a_635^0-a_635^post41 == 0 /\ -a_577^post41+a_577^0 == 0 /\ a_902^0-a_902^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -i_1053^post41+i_1053^0 == 0 /\ -r_224^post41+r_224^0 == 0 /\ -a_395^post41+a_395^0 == 0 /\ -i_1248^post41+i_1248^0 == 0 /\ i_229^0-i_229^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -a_392^post41+a_392^0 == 0 /\ -a_579^post41+a_579^0 == 0 /\ a_610^0-a_610^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ a_633^0-a_633^post41 == 0 /\ r_192^0-r_192^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0 /\ -a_862^post41+a_862^0 == 0 /\ -a_263^post41+a_263^0 == 0 /\ a_144^0-a_144^post41 == 0 /\ x_14^0-x_14^post41 == 0 /\ -x_21^post41+x_21^0 == 0 /\ -i_197^post41+i_197^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_417^0-a_417^post41 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -a_393^post41+a_393^0 == 0 /\ x_17^0-x_17^post41 == 0 /\ -i_107^post41+i_107^0 == 0 /\ a_121^0-a_121^post41 == 0 /\ a_634^0-a_634^post41 == 0 /\ a_576^0-a_576^post41 == 0 /\ a_1089^0-a_1089^post41 == 0 /\ -a_575^post41+a_575^0 == 0 /\ len_262^0-len_262^post41 == 0 /\ 1+x_14^0 <= 0 /\ -len_861^post41+len_861^0 == 0 /\ -a_309^post41+a_309^0 == 0 /\ rcd_88^0-rcd_88^post41 == 0 /\ a_947^0-a_947^post41 == 0 /\ a_311^0-a_311^post41 == 0 /\ -ct_18^post41+ct_18^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ len_238^0-len_238^post41 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -t_24^post41+t_24^0 == 0), cost: 1 42: l29 -> l30 : a_1089^0'=a_1089^post42, f_847^0'=f_847^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_394^0'=a_394^post42, x_156^0'=x_156^post42, a_632^0'=a_632^post42, r_192^0'=r_192^post42, a_176^0'=a_176^post42, i_106^0'=i_106^post42, a_430^0'=a_430^post42, t_458^0'=t_458^post42, len_161^0'=len_161^post42, x_975^0'=x_975^post42, a_902^0'=a_902^post42, a_947^0'=a_947^post42, rcd_88^0'=rcd_88^post42, a_311^0'=a_311^post42, i_140^0'=i_140^post42, a_577^0'=a_577^post42, x_14^0'=x_14^post42, nondet_12^0'=nondet_12^post42, a_121^0'=a_121^post42, head_15^0'=head_15^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42, i_27^0'=i_27^post42, x_21^0'=x_21^post42, a_634^0'=a_634^post42, r_39^0'=r_39^post42, a_263^0'=a_263^post42, i_113^0'=i_113^post42, a_432^0'=a_432^post42, temp0_31^0'=temp0_31^post42, len_262^0'=len_262^post42, y_20^0'=y_20^post42, f_248^0'=f_248^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_393^0'=a_393^post42, i_229^0'=i_229^post42, a_610^0'=a_610^post42, r_151^0'=r_151^post42, a_144^0'=a_144^post42, i_1053^0'=i_1053^post42, a_417^0'=a_417^post42, t_24^0'=t_24^post42, i_94^0'=i_94^post42, x_852^0'=x_852^post42, a_862^0'=a_862^post42, rcd_1249^0'=rcd_1249^post42, rcd_58^0'=rcd_58^post42, a_310^0'=a_310^post42, i_127^0'=i_127^post42, a_576^0'=a_576^post42, tmp_34^0'=tmp_34^post42, length_29^0'=length_29^post42, a_1162^0'=a_1162^post42, f_969^0'=f_969^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42, a_395^0'=a_395^post42, x_17^0'=x_17^post42, a_633^0'=a_633^post42, r_224^0'=r_224^post42, a_239^0'=a_239^post42, i_107^0'=i_107^post42, a_431^0'=a_431^post42, temp0_16^0'=temp0_16^post42, len_238^0'=len_238^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, a_924^0'=a_924^post42, ct_18^0'=ct_18^post42, result_11^0'=result_11^post42, a_392^0'=a_392^post42, i_197^0'=i_197^post42, a_579^0'=a_579^post42, r_143^0'=r_143^post42, a_1236^0'=a_1236^post42, head_32^0'=head_32^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42, i_30^0'=i_30^post42, x_253^0'=x_253^post42, a_635^0'=a_635^post42, r_970^0'=r_970^post42, rcd_47^0'=rcd_47^post42, a_309^0'=a_309^post42, i_1248^0'=i_1248^post42, a_575^0'=a_575^post42, temp_35^0'=temp_35^post42, len_861^0'=len_861^post42, (-i_229^post42+i_229^0 == 0 /\ -a_577^post42+a_577^0 == 0 /\ a_263^0-a_263^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_1248^post42+i_1248^0 == 0 /\ -a_310^post42+a_310^0 == 0 /\ a_1089^0-a_1089^post42 == 0 /\ a_144^0-a_144^post42 == 0 /\ a_394^0-a_394^post42 == 0 /\ a_576^0-a_576^post42 == 0 /\ a_862^0-a_862^post42 == 0 /\ x_852^0-x_852^post42 == 0 /\ len_161^0-len_161^post42 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -r_39^post42+r_39^0 == 0 /\ f_847^0-f_847^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -a_392^post42+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ -r_224^post42+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -len_861^post42+len_861^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -a_309^post42+a_309^0 == 0 /\ i_106^0-i_106^post42 == 0 /\ -a_393^post42+a_393^0 == 0 /\ a_430^0-a_430^post42 == 0 /\ r_143^0-r_143^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ -i_197^post42+i_197^0 == 0 /\ -a_579^post42+a_579^0 == 0 /\ t_458^0-t_458^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -a_635^post42+a_635^0 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -a_417^post42+a_417^0 == 0 /\ -i_107^post42+i_107^0 == 0 /\ a_1236^0-a_1236^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ -a_633^post42+a_633^0 == 0 /\ a_610^0-a_610^post42 == 0 /\ -a_575^post42+a_575^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ -rcd_47^post42+rcd_47^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ -a_924^post42+a_924^0 == 0 /\ a_121^0-a_121^post42 == 0 /\ -i_140^post42+i_140^0 == 0 /\ a_634^0-a_634^post42 == 0 /\ i_27^0-i_27^post42 == 0 /\ x_156^0-x_156^post42 == 0 /\ len_262^0-len_262^post42 == 0 /\ a_947^0-a_947^post42 == 0 /\ -a_1162^post42+a_1162^0 == 0 /\ -rcd_1249^post42+rcd_1249^0 == 0 /\ -a_632^post42+a_632^0 == 0 /\ -f_969^post42+f_969^0 == 0 /\ i_1053^0-i_1053^post42 == 0 /\ a_176^0-a_176^post42 == 0 /\ x_253^0-x_253^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -len_238^post42+len_238^0 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -i_113^post42+i_113^0 == 0 /\ r_151^0-r_151^post42 == 0 /\ 1-head_15^0 <= 0 /\ -a_432^post42+a_432^0 == 0 /\ a_311^0-a_311^post42 == 0 /\ a_902^0-a_902^post42 == 0 /\ x_975^0-x_975^post42 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ head_15^0-head_15^post42 == 0 /\ a_239^0-a_239^post42 == 0 /\ -r_970^post42+r_970^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -a_431^post42+a_431^0 == 0 /\ -f_248^post42+f_248^0 == 0 /\ r_192^0-r_192^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ -a_395^post42+a_395^0 == 0), cost: 1 43: l29 -> l30 : a_1089^0'=a_1089^post43, f_847^0'=f_847^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_394^0'=a_394^post43, x_156^0'=x_156^post43, a_632^0'=a_632^post43, r_192^0'=r_192^post43, a_176^0'=a_176^post43, i_106^0'=i_106^post43, a_430^0'=a_430^post43, t_458^0'=t_458^post43, len_161^0'=len_161^post43, x_975^0'=x_975^post43, a_902^0'=a_902^post43, a_947^0'=a_947^post43, rcd_88^0'=rcd_88^post43, a_311^0'=a_311^post43, i_140^0'=i_140^post43, a_577^0'=a_577^post43, x_14^0'=x_14^post43, nondet_12^0'=nondet_12^post43, a_121^0'=a_121^post43, head_15^0'=head_15^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43, i_27^0'=i_27^post43, x_21^0'=x_21^post43, a_634^0'=a_634^post43, r_39^0'=r_39^post43, a_263^0'=a_263^post43, i_113^0'=i_113^post43, a_432^0'=a_432^post43, temp0_31^0'=temp0_31^post43, len_262^0'=len_262^post43, y_20^0'=y_20^post43, f_248^0'=f_248^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_393^0'=a_393^post43, i_229^0'=i_229^post43, a_610^0'=a_610^post43, r_151^0'=r_151^post43, a_144^0'=a_144^post43, i_1053^0'=i_1053^post43, a_417^0'=a_417^post43, t_24^0'=t_24^post43, i_94^0'=i_94^post43, x_852^0'=x_852^post43, a_862^0'=a_862^post43, rcd_1249^0'=rcd_1249^post43, rcd_58^0'=rcd_58^post43, a_310^0'=a_310^post43, i_127^0'=i_127^post43, a_576^0'=a_576^post43, tmp_34^0'=tmp_34^post43, length_29^0'=length_29^post43, a_1162^0'=a_1162^post43, f_969^0'=f_969^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43, a_395^0'=a_395^post43, x_17^0'=x_17^post43, a_633^0'=a_633^post43, r_224^0'=r_224^post43, a_239^0'=a_239^post43, i_107^0'=i_107^post43, a_431^0'=a_431^post43, temp0_16^0'=temp0_16^post43, len_238^0'=len_238^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, a_924^0'=a_924^post43, ct_18^0'=ct_18^post43, result_11^0'=result_11^post43, a_392^0'=a_392^post43, i_197^0'=i_197^post43, a_579^0'=a_579^post43, r_143^0'=r_143^post43, a_1236^0'=a_1236^post43, head_32^0'=head_32^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43, i_30^0'=i_30^post43, x_253^0'=x_253^post43, a_635^0'=a_635^post43, r_970^0'=r_970^post43, rcd_47^0'=rcd_47^post43, a_309^0'=a_309^post43, i_1248^0'=i_1248^post43, a_575^0'=a_575^post43, temp_35^0'=temp_35^post43, len_861^0'=len_861^post43, (-a_610^post43+a_610^0 == 0 /\ t_458^0-t_458^post43 == 0 /\ a_902^0-a_902^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_106^0-i_106^post43 == 0 /\ a_577^0-a_577^post43 == 0 /\ -rcd_47^post43+rcd_47^0 == 0 /\ -a_634^post43+a_634^0 == 0 /\ head_15^0-head_15^post43 == 0 /\ a_310^0-a_310^post43 == 0 /\ x_156^0-x_156^post43 == 0 /\ -rcd_1249^post43+rcd_1249^0 == 0 /\ -a_633^post43+a_633^0 == 0 /\ a_1089^0-a_1089^post43 == 0 /\ -r_143^post43+r_143^0 == 0 /\ a_632^0-a_632^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ -len_238^post43+len_238^0 == 0 /\ -r_151^post43+r_151^0 == 0 /\ a_121^0-a_121^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ len_262^0-len_262^post43 == 0 /\ -f_969^post43+f_969^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ a_263^0-a_263^post43 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post43 == 0 /\ -a_576^post43+a_576^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -a_1236^post43+a_1236^0 == 0 /\ f_847^0-f_847^post43 == 0 /\ a_392^0-a_392^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43 == 0 /\ -a_311^post43+a_311^0 == 0 /\ a_394^0-a_394^post43 == 0 /\ i_1053^0-i_1053^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -x_253^post43+x_253^0 == 0 /\ -r_970^post43+r_970^0 == 0 /\ a_579^0-a_579^post43 == 0 /\ y_20^0-y_20^post43 == 0 /\ a_176^0-a_176^post43 == 0 /\ -i_1248^post43+i_1248^0 == 0 /\ r_39^0-r_39^post43 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ -a_430^post43+a_430^0 == 0 /\ -a_239^post43+a_239^0 == 0 /\ -f_248^post43+f_248^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ x_975^0-x_975^post43 == 0 /\ -r_224^post43+r_224^0 == 0 /\ -len_861^post43+len_861^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ i_94^0-i_94^post43 == 0 /\ i_113^0-i_113^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43 == 0 /\ a_393^0-a_393^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -i_27^post43+i_27^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ a_432^0-a_432^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ -i_197^post43+i_197^0 == 0 /\ len_161^0-len_161^post43 == 0 /\ -a_309^post43+a_309^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -i_30^post43+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ i_140^0-i_140^post43 == 0 /\ -x_852^post43+x_852^0 == 0 /\ -a_144^post43+a_144^0 == 0 /\ -i_107^post43+i_107^0 == 0 /\ i_229^0-i_229^post43 == 0 /\ -i_127^post43+i_127^0 == 0 /\ a_431^0-a_431^post43 == 0 /\ -a_924^post43+a_924^0 == 0 /\ -a_575^post43+a_575^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ a_862^0-a_862^post43 == 0 /\ -a_417^post43+a_417^0 == 0 /\ -a_635^post43+a_635^0 == 0 /\ a_947^0-a_947^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_1162^post43+a_1162^0 == 0 /\ a_395^0-a_395^post43 == 0), cost: 1 44: l30 -> l31 : a_1089^0'=a_1089^post44, f_847^0'=f_847^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_394^0'=a_394^post44, x_156^0'=x_156^post44, a_632^0'=a_632^post44, r_192^0'=r_192^post44, a_176^0'=a_176^post44, i_106^0'=i_106^post44, a_430^0'=a_430^post44, t_458^0'=t_458^post44, len_161^0'=len_161^post44, x_975^0'=x_975^post44, a_902^0'=a_902^post44, a_947^0'=a_947^post44, rcd_88^0'=rcd_88^post44, a_311^0'=a_311^post44, i_140^0'=i_140^post44, a_577^0'=a_577^post44, x_14^0'=x_14^post44, nondet_12^0'=nondet_12^post44, a_121^0'=a_121^post44, head_15^0'=head_15^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44, i_27^0'=i_27^post44, x_21^0'=x_21^post44, a_634^0'=a_634^post44, r_39^0'=r_39^post44, a_263^0'=a_263^post44, i_113^0'=i_113^post44, a_432^0'=a_432^post44, temp0_31^0'=temp0_31^post44, len_262^0'=len_262^post44, y_20^0'=y_20^post44, f_248^0'=f_248^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_393^0'=a_393^post44, i_229^0'=i_229^post44, a_610^0'=a_610^post44, r_151^0'=r_151^post44, a_144^0'=a_144^post44, i_1053^0'=i_1053^post44, a_417^0'=a_417^post44, t_24^0'=t_24^post44, i_94^0'=i_94^post44, x_852^0'=x_852^post44, a_862^0'=a_862^post44, rcd_1249^0'=rcd_1249^post44, rcd_58^0'=rcd_58^post44, a_310^0'=a_310^post44, i_127^0'=i_127^post44, a_576^0'=a_576^post44, tmp_34^0'=tmp_34^post44, length_29^0'=length_29^post44, a_1162^0'=a_1162^post44, f_969^0'=f_969^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44, a_395^0'=a_395^post44, x_17^0'=x_17^post44, a_633^0'=a_633^post44, r_224^0'=r_224^post44, a_239^0'=a_239^post44, i_107^0'=i_107^post44, a_431^0'=a_431^post44, temp0_16^0'=temp0_16^post44, len_238^0'=len_238^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, a_924^0'=a_924^post44, ct_18^0'=ct_18^post44, result_11^0'=result_11^post44, a_392^0'=a_392^post44, i_197^0'=i_197^post44, a_579^0'=a_579^post44, r_143^0'=r_143^post44, a_1236^0'=a_1236^post44, head_32^0'=head_32^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44, i_30^0'=i_30^post44, x_253^0'=x_253^post44, a_635^0'=a_635^post44, r_970^0'=r_970^post44, rcd_47^0'=rcd_47^post44, a_309^0'=a_309^post44, i_1248^0'=i_1248^post44, a_575^0'=a_575^post44, temp_35^0'=temp_35^post44, len_861^0'=len_861^post44, (i_197^0-i_197^post44 == 0 /\ -len_262^post44+len_262^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0 /\ i_140^0-i_140^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_417^post44+a_417^0 == 0 /\ -f_248^post44+f_248^0 == 0 /\ a_1162^0-a_1162^post44 == 0 /\ a_1089^0-a_1089^post44 == 0 /\ a_634^0-a_634^post44 == 0 /\ -i_1053^post44+i_1053^0 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -i_1248^post44+i_1248^0 == 0 /\ -a_392^post44+a_392^0 == 0 /\ y_20^0-y_20^post44 == 0 /\ a_924^0-a_924^post44 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44 == 0 /\ -i_27^post44+i_27^0 == 0 /\ -a_239^post44+a_239^0 == 0 /\ -a_579^post44+a_579^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ a_395^0-a_395^post44 == 0 /\ a_176^0-a_176^post44 == 0 /\ -len_861^post44+len_861^0 == 0 /\ -a_635^post44+a_635^0 == 0 /\ -a_144^post44+a_144^0 == 0 /\ x_975^0-x_975^post44 == 0 /\ -i_127^post44+i_127^0 == 0 /\ r_192^0-r_192^post44 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44+i_30^0 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_852^post44+x_852^0 == 0 /\ a_393^0-a_393^post44 == 0 /\ t_458^0-t_458^post44 == 0 /\ -a_309^post44+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_310^0-a_310^post44 == 0 /\ -i_107^post44+i_107^0 == 0 /\ -a_575^post44+a_575^0 == 0 /\ a_632^0-a_632^post44 == 0 /\ -ct_18^post44+ct_18^0 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ r_970^0-r_970^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ a_862^0-a_862^post44 == 0 /\ -len_238^post44+len_238^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_121^0-a_121^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ x_156^0-x_156^post44 == 0 /\ a_947^0-a_947^post44 == 0 /\ a_263^0-a_263^post44 == 0 /\ -a_633^post44+a_633^0 == 0 /\ f_847^0-f_847^post44 == 0 /\ -f_969^post44+f_969^0 == 0 /\ -result_11^post44+result_11^0 == 0 /\ a_394^0-a_394^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_1249^post44+rcd_1249^0 == 0 /\ -a_431^post44+a_431^0 == 0 /\ -x_253^post44+x_253^0 == 0 /\ -a_576^post44+a_576^0 == 0 /\ length_29^0-length_29^post44 == 0 /\ rcd_47^0-rcd_47^post44 == 0 /\ r_39^0-r_39^post44 == 0 /\ r_151^0-r_151^post44 == 0 /\ a_577^0-a_577^post44 == 0 /\ a_311^0-a_311^post44 == 0 /\ -r_143^post44+r_143^0 == 0 /\ i_106^0-i_106^post44 == 0 /\ i_113^0-i_113^post44 == 0 /\ i_94^0-i_94^post44 == 0 /\ r_224^0-r_224^post44 == 0 /\ a_902^0-a_902^post44 == 0 /\ i_229^0-i_229^post44 == 0 /\ a_432^0-a_432^post44 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -len_161^post44+len_161^0 == 0 /\ -a_610^post44+a_610^0 == 0 /\ a_430^0-a_430^post44 == 0 /\ x_14^0-x_14^post44 == 0 /\ -temp_35^post44+temp_35^0 == 0 /\ -a_1236^post44+a_1236^0 == 0), cost: 1 45: l30 -> l31 : a_1089^0'=a_1089^post45, f_847^0'=f_847^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_394^0'=a_394^post45, x_156^0'=x_156^post45, a_632^0'=a_632^post45, r_192^0'=r_192^post45, a_176^0'=a_176^post45, i_106^0'=i_106^post45, a_430^0'=a_430^post45, t_458^0'=t_458^post45, len_161^0'=len_161^post45, x_975^0'=x_975^post45, a_902^0'=a_902^post45, a_947^0'=a_947^post45, rcd_88^0'=rcd_88^post45, a_311^0'=a_311^post45, i_140^0'=i_140^post45, a_577^0'=a_577^post45, x_14^0'=x_14^post45, nondet_12^0'=nondet_12^post45, a_121^0'=a_121^post45, head_15^0'=head_15^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45, i_27^0'=i_27^post45, x_21^0'=x_21^post45, a_634^0'=a_634^post45, r_39^0'=r_39^post45, a_263^0'=a_263^post45, i_113^0'=i_113^post45, a_432^0'=a_432^post45, temp0_31^0'=temp0_31^post45, len_262^0'=len_262^post45, y_20^0'=y_20^post45, f_248^0'=f_248^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_393^0'=a_393^post45, i_229^0'=i_229^post45, a_610^0'=a_610^post45, r_151^0'=r_151^post45, a_144^0'=a_144^post45, i_1053^0'=i_1053^post45, a_417^0'=a_417^post45, t_24^0'=t_24^post45, i_94^0'=i_94^post45, x_852^0'=x_852^post45, a_862^0'=a_862^post45, rcd_1249^0'=rcd_1249^post45, rcd_58^0'=rcd_58^post45, a_310^0'=a_310^post45, i_127^0'=i_127^post45, a_576^0'=a_576^post45, tmp_34^0'=tmp_34^post45, length_29^0'=length_29^post45, a_1162^0'=a_1162^post45, f_969^0'=f_969^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45, a_395^0'=a_395^post45, x_17^0'=x_17^post45, a_633^0'=a_633^post45, r_224^0'=r_224^post45, a_239^0'=a_239^post45, i_107^0'=i_107^post45, a_431^0'=a_431^post45, temp0_16^0'=temp0_16^post45, len_238^0'=len_238^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, a_924^0'=a_924^post45, ct_18^0'=ct_18^post45, result_11^0'=result_11^post45, a_392^0'=a_392^post45, i_197^0'=i_197^post45, a_579^0'=a_579^post45, r_143^0'=r_143^post45, a_1236^0'=a_1236^post45, head_32^0'=head_32^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45, i_30^0'=i_30^post45, x_253^0'=x_253^post45, a_635^0'=a_635^post45, r_970^0'=r_970^post45, rcd_47^0'=rcd_47^post45, a_309^0'=a_309^post45, i_1248^0'=i_1248^post45, a_575^0'=a_575^post45, temp_35^0'=temp_35^post45, len_861^0'=len_861^post45, (a_430^0-a_430^post45 == 0 /\ t_458^0-t_458^post45 == 0 /\ a_632^0-a_632^post45 == 0 /\ i_106^0-i_106^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ x_975^0-x_975^post45 == 0 /\ a_577^0-a_577^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_902^0-a_902^post45 == 0 /\ rcd_1249^0-rcd_1249^post45 == 0 /\ -rcd_47^post45+rcd_47^0 == 0 /\ -a_634^post45+a_634^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post45+x_253^0 == 0 /\ x_14^0-x_14^post45 == 0 /\ a_1162^0-a_1162^post45 == 0 /\ i_229^0-i_229^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -r_143^post45+r_143^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -r_224^post45+r_224^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -a_576^post45+a_576^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_140^0-i_140^post45 == 0 /\ -f_969^post45+f_969^0 == 0 /\ len_262^0-len_262^post45 == 0 /\ -r_970^post45+r_970^0 == 0 /\ x_156^0-x_156^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post45 == 0 /\ f_847^0-f_847^post45 == 0 /\ -a_431^post45+a_431^0 == 0 /\ a_394^0-a_394^post45 == 0 /\ -a_1236^post45+a_1236^0 == 0 /\ head_15^0-head_15^post45 == 0 /\ -a_395^post45+a_395^0 == 0 /\ a_924^0-a_924^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ -len_161^post45+len_161^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ a_311^0-a_311^post45 == 0 /\ -a_862^post45+a_862^0 == 0 /\ i_94^0-i_94^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45 == 0 /\ -a_392^post45+a_392^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ a_610^0-a_610^post45 == 0 /\ i_113^0-i_113^post45 == 0 /\ -a_239^post45+a_239^0 == 0 /\ a_393^0-a_393^post45 == 0 /\ a_1089^0-a_1089^post45 == 0 /\ -a_310^post45+a_310^0 == 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -len_861^post45+len_861^0 == 0 /\ -i_1053^post45+i_1053^0 == 0 /\ x_21^0-x_21^post45 == 0 /\ a_432^0-a_432^post45 == 0 /\ -i_30^post45+i_30^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -r_192^post45+r_192^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ -x_852^post45+x_852^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -a_579^post45+a_579^0 == 0 /\ -a_635^post45+a_635^0 == 0 /\ -r_151^post45+r_151^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ i_1248^0-i_1248^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ -i_107^post45+i_107^0 == 0 /\ a_144^0-a_144^post45 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -a_263^post45+a_263^0 == 0 /\ a_947^0-a_947^post45 == 0 /\ -a_575^post45+a_575^0 == 0 /\ -i_197^post45+i_197^0 == 0 /\ len_238^0-len_238^post45 == 0 /\ -a_633^post45+a_633^0 == 0 /\ f_248^0-f_248^post45 == 0 /\ a_121^0-a_121^post45 == 0 /\ -a_417^post45+a_417^0 == 0), cost: 1 46: l31 -> l32 : a_1089^0'=a_1089^post46, f_847^0'=f_847^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_394^0'=a_394^post46, x_156^0'=x_156^post46, a_632^0'=a_632^post46, r_192^0'=r_192^post46, a_176^0'=a_176^post46, i_106^0'=i_106^post46, a_430^0'=a_430^post46, t_458^0'=t_458^post46, len_161^0'=len_161^post46, x_975^0'=x_975^post46, a_902^0'=a_902^post46, a_947^0'=a_947^post46, rcd_88^0'=rcd_88^post46, a_311^0'=a_311^post46, i_140^0'=i_140^post46, a_577^0'=a_577^post46, x_14^0'=x_14^post46, nondet_12^0'=nondet_12^post46, a_121^0'=a_121^post46, head_15^0'=head_15^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46, i_27^0'=i_27^post46, x_21^0'=x_21^post46, a_634^0'=a_634^post46, r_39^0'=r_39^post46, a_263^0'=a_263^post46, i_113^0'=i_113^post46, a_432^0'=a_432^post46, temp0_31^0'=temp0_31^post46, len_262^0'=len_262^post46, y_20^0'=y_20^post46, f_248^0'=f_248^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_393^0'=a_393^post46, i_229^0'=i_229^post46, a_610^0'=a_610^post46, r_151^0'=r_151^post46, a_144^0'=a_144^post46, i_1053^0'=i_1053^post46, a_417^0'=a_417^post46, t_24^0'=t_24^post46, i_94^0'=i_94^post46, x_852^0'=x_852^post46, a_862^0'=a_862^post46, rcd_1249^0'=rcd_1249^post46, rcd_58^0'=rcd_58^post46, a_310^0'=a_310^post46, i_127^0'=i_127^post46, a_576^0'=a_576^post46, tmp_34^0'=tmp_34^post46, length_29^0'=length_29^post46, a_1162^0'=a_1162^post46, f_969^0'=f_969^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46, a_395^0'=a_395^post46, x_17^0'=x_17^post46, a_633^0'=a_633^post46, r_224^0'=r_224^post46, a_239^0'=a_239^post46, i_107^0'=i_107^post46, a_431^0'=a_431^post46, temp0_16^0'=temp0_16^post46, len_238^0'=len_238^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, a_924^0'=a_924^post46, ct_18^0'=ct_18^post46, result_11^0'=result_11^post46, a_392^0'=a_392^post46, i_197^0'=i_197^post46, a_579^0'=a_579^post46, r_143^0'=r_143^post46, a_1236^0'=a_1236^post46, head_32^0'=head_32^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46, i_30^0'=i_30^post46, x_253^0'=x_253^post46, a_635^0'=a_635^post46, r_970^0'=r_970^post46, rcd_47^0'=rcd_47^post46, a_309^0'=a_309^post46, i_1248^0'=i_1248^post46, a_575^0'=a_575^post46, temp_35^0'=temp_35^post46, len_861^0'=len_861^post46, (i_197^0-i_197^post46 == 0 /\ -a_417^post46+a_417^0 == 0 /\ x_21^0-x_21^post46 == 0 /\ -len_861^post46+len_861^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ -a_1236^post46+a_1236^0 == 0 /\ a_576^0-a_576^post46 == 0 /\ a_263^0-a_263^post46 == 0 /\ a_1162^0-a_1162^post46 == 0 /\ -a_432^post46+a_432^0 == 0 /\ f_847^0-f_847^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46 == 0 /\ -a_393^post46+a_393^0 == 0 /\ -a_392^post46+a_392^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ x_17^0-x_17^post46 == 0 /\ a_924^0-a_924^post46 == 0 /\ -i_1053^post46+i_1053^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ a_394^0-a_394^post46 == 0 /\ -i_1248^post46+i_1248^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ a_577^0-a_577^post46 == 0 /\ x_975^0-x_975^post46 == 0 /\ -a_579^post46+a_579^0 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ -a_635^post46+a_635^0 == 0 /\ i_127^0-i_127^post46 == 0 /\ r_224^0-r_224^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ -r_151^post46+r_151^0 == 0 /\ a_610^0-a_610^post46 == 0 /\ i_106^0-i_106^post46 == 0 /\ i_27^0-i_27^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ -a_144^post46+a_144^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ t_458^0-t_458^post46 == 0 /\ -i_107^post46+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -a_575^post46+a_575^0 == 0 /\ -a_862^post46+a_862^0 == 0 /\ -a_633^post46+a_633^0 == 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ -a_431^post46+a_431^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ len_161^0-len_161^post46 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ head_15^0-head_15^post46 == 0 /\ a_634^0-a_634^post46 == 0 /\ -rcd_1249^post46+rcd_1249^0 == 0 /\ -f_969^post46+f_969^0 == 0 /\ -x_852^post46+x_852^0 == 0 /\ a_121^0-a_121^post46 == 0 /\ f_248^0-f_248^post46 == 0 /\ -rcd_47^post46+rcd_47^0 == 0 /\ a_902^0-a_902^post46 == 0 /\ len_262^0-len_262^post46 == 0 /\ -i_140^post46+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post46+r_970^0 == 0 /\ a_947^0-a_947^post46 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ a_430^0-a_430^post46 == 0 /\ -a_239^post46+a_239^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ a_311^0-a_311^post46 == 0 /\ -r_143^post46+r_143^0 == 0 /\ a_176^0-a_176^post46 == 0 /\ rcd_88^0-rcd_88^post46 == 0 /\ len_238^0-len_238^post46 == 0 /\ -i_229^post46+i_229^0 == 0 /\ -y_20^post46+y_20^0 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -x_253^post46+x_253^0 == 0 /\ a_632^0-a_632^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post46+temp_35^0 == 0 /\ a_310^0-a_310^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ -i_113^post46+i_113^0 == 0 /\ -a_395^post46+a_395^0 == 0 /\ a_1089^0-a_1089^post46 == 0), cost: 1 47: l31 -> l32 : a_1089^0'=a_1089^post47, f_847^0'=f_847^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_394^0'=a_394^post47, x_156^0'=x_156^post47, a_632^0'=a_632^post47, r_192^0'=r_192^post47, a_176^0'=a_176^post47, i_106^0'=i_106^post47, a_430^0'=a_430^post47, t_458^0'=t_458^post47, len_161^0'=len_161^post47, x_975^0'=x_975^post47, a_902^0'=a_902^post47, a_947^0'=a_947^post47, rcd_88^0'=rcd_88^post47, a_311^0'=a_311^post47, i_140^0'=i_140^post47, a_577^0'=a_577^post47, x_14^0'=x_14^post47, nondet_12^0'=nondet_12^post47, a_121^0'=a_121^post47, head_15^0'=head_15^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47, i_27^0'=i_27^post47, x_21^0'=x_21^post47, a_634^0'=a_634^post47, r_39^0'=r_39^post47, a_263^0'=a_263^post47, i_113^0'=i_113^post47, a_432^0'=a_432^post47, temp0_31^0'=temp0_31^post47, len_262^0'=len_262^post47, y_20^0'=y_20^post47, f_248^0'=f_248^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_393^0'=a_393^post47, i_229^0'=i_229^post47, a_610^0'=a_610^post47, r_151^0'=r_151^post47, a_144^0'=a_144^post47, i_1053^0'=i_1053^post47, a_417^0'=a_417^post47, t_24^0'=t_24^post47, i_94^0'=i_94^post47, x_852^0'=x_852^post47, a_862^0'=a_862^post47, rcd_1249^0'=rcd_1249^post47, rcd_58^0'=rcd_58^post47, a_310^0'=a_310^post47, i_127^0'=i_127^post47, a_576^0'=a_576^post47, tmp_34^0'=tmp_34^post47, length_29^0'=length_29^post47, a_1162^0'=a_1162^post47, f_969^0'=f_969^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47, a_395^0'=a_395^post47, x_17^0'=x_17^post47, a_633^0'=a_633^post47, r_224^0'=r_224^post47, a_239^0'=a_239^post47, i_107^0'=i_107^post47, a_431^0'=a_431^post47, temp0_16^0'=temp0_16^post47, len_238^0'=len_238^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, a_924^0'=a_924^post47, ct_18^0'=ct_18^post47, result_11^0'=result_11^post47, a_392^0'=a_392^post47, i_197^0'=i_197^post47, a_579^0'=a_579^post47, r_143^0'=r_143^post47, a_1236^0'=a_1236^post47, head_32^0'=head_32^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47, i_30^0'=i_30^post47, x_253^0'=x_253^post47, a_635^0'=a_635^post47, r_970^0'=r_970^post47, rcd_47^0'=rcd_47^post47, a_309^0'=a_309^post47, i_1248^0'=i_1248^post47, a_575^0'=a_575^post47, temp_35^0'=temp_35^post47, len_861^0'=len_861^post47, (r_192^0-r_192^post47 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ i_113^0-i_113^post47 == 0 /\ r_39^0-r_39^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_127^0-i_127^post47 == 0 /\ rcd_1249^0-rcd_1249^post47 == 0 /\ f_969^0-f_969^post47 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ len_161^0-len_161^post47 == 0 /\ -rcd_47^post47+rcd_47^0 == 0 /\ -r_970^post47+r_970^0 == 0 /\ a_430^0-a_430^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post47 == 0 /\ -a_1162^post47+a_1162^0 == 0 /\ a_432^0-a_432^post47 == 0 /\ -x_253^post47+x_253^0 == 0 /\ i_27^0-i_27^post47 == 0 /\ x_156^0-x_156^post47 == 0 /\ -i_1248^post47+i_1248^0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -a_577^post47+a_577^0 == 0 /\ a_576^0-a_576^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ -i_1053^post47+i_1053^0 == 0 /\ f_847^0-f_847^post47 == 0 /\ i_140^0-i_140^post47 == 0 /\ -r_224^post47+r_224^0 == 0 /\ i_229^0-i_229^post47 == 0 /\ a_634^0-a_634^post47 == 0 /\ -len_861^post47+len_861^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ a_947^0-a_947^post47 == 0 /\ -a_924^post47+a_924^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ -r_143^post47+r_143^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -a_431^post47+a_431^0 == 0 /\ -a_395^post47+a_395^0 == 0 /\ a_311^0-a_311^post47 == 0 /\ -a_309^post47+a_309^0 == 0 /\ a_902^0-a_902^post47 == 0 /\ -i_30^post47+i_30^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ a_610^0-a_610^post47 == 0 /\ -a_392^post47+a_392^0 == 0 /\ -a_862^post47+a_862^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ -i_107^post47+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post47+a_575^0 == 0 /\ -a_1236^post47+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ a_1089^0-a_1089^post47 == 0 /\ a_635^0-a_635^post47 == 0 /\ -t_458^post47+t_458^0 == 0 /\ -a_393^post47+a_393^0 == 0 /\ -a_310^post47+a_310^0 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -i_106^post47+i_106^0 == 0 /\ a_632^0-a_632^post47 == 0 /\ len_262^0-len_262^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post47 == 0 /\ x_21^0-x_21^post47 == 0 /\ -r_151^post47+r_151^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -head_32^post47+head_32^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ -x_852^post47+x_852^0 == 0 /\ -ct_18^post47+ct_18^0 == 0 /\ -a_579^post47+a_579^0 == 0 /\ a_394^0-a_394^post47 == 0 /\ -a_263^post47+a_263^0 == 0 /\ x_17^0-x_17^post47 == 0 /\ len_238^0-len_238^post47 == 0 /\ a_239^0-a_239^post47 == 0 /\ x_975^0-x_975^post47 == 0 /\ a_176^0-a_176^post47 == 0 /\ -i_197^post47+i_197^0 == 0 /\ a_121^0-a_121^post47 == 0 /\ a_417^0-a_417^post47 == 0 /\ f_248^0-f_248^post47 == 0), cost: 1 48: l32 -> l23 : a_1089^0'=a_1089^post48, f_847^0'=f_847^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_394^0'=a_394^post48, x_156^0'=x_156^post48, a_632^0'=a_632^post48, r_192^0'=r_192^post48, a_176^0'=a_176^post48, i_106^0'=i_106^post48, a_430^0'=a_430^post48, t_458^0'=t_458^post48, len_161^0'=len_161^post48, x_975^0'=x_975^post48, a_902^0'=a_902^post48, a_947^0'=a_947^post48, rcd_88^0'=rcd_88^post48, a_311^0'=a_311^post48, i_140^0'=i_140^post48, a_577^0'=a_577^post48, x_14^0'=x_14^post48, nondet_12^0'=nondet_12^post48, a_121^0'=a_121^post48, head_15^0'=head_15^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48, i_27^0'=i_27^post48, x_21^0'=x_21^post48, a_634^0'=a_634^post48, r_39^0'=r_39^post48, a_263^0'=a_263^post48, i_113^0'=i_113^post48, a_432^0'=a_432^post48, temp0_31^0'=temp0_31^post48, len_262^0'=len_262^post48, y_20^0'=y_20^post48, f_248^0'=f_248^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_393^0'=a_393^post48, i_229^0'=i_229^post48, a_610^0'=a_610^post48, r_151^0'=r_151^post48, a_144^0'=a_144^post48, i_1053^0'=i_1053^post48, a_417^0'=a_417^post48, t_24^0'=t_24^post48, i_94^0'=i_94^post48, x_852^0'=x_852^post48, a_862^0'=a_862^post48, rcd_1249^0'=rcd_1249^post48, rcd_58^0'=rcd_58^post48, a_310^0'=a_310^post48, i_127^0'=i_127^post48, a_576^0'=a_576^post48, tmp_34^0'=tmp_34^post48, length_29^0'=length_29^post48, a_1162^0'=a_1162^post48, f_969^0'=f_969^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48, a_395^0'=a_395^post48, x_17^0'=x_17^post48, a_633^0'=a_633^post48, r_224^0'=r_224^post48, a_239^0'=a_239^post48, i_107^0'=i_107^post48, a_431^0'=a_431^post48, temp0_16^0'=temp0_16^post48, len_238^0'=len_238^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, a_924^0'=a_924^post48, ct_18^0'=ct_18^post48, result_11^0'=result_11^post48, a_392^0'=a_392^post48, i_197^0'=i_197^post48, a_579^0'=a_579^post48, r_143^0'=r_143^post48, a_1236^0'=a_1236^post48, head_32^0'=head_32^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48, i_30^0'=i_30^post48, x_253^0'=x_253^post48, a_635^0'=a_635^post48, r_970^0'=r_970^post48, rcd_47^0'=rcd_47^post48, a_309^0'=a_309^post48, i_1248^0'=i_1248^post48, a_575^0'=a_575^post48, temp_35^0'=temp_35^post48, len_861^0'=len_861^post48, (0 == 0 /\ a_576^0-a_576^post48 == 0 /\ x_21^0-x_21^post48 == 0 /\ -i_107^post48+i_107^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -a_432^post48+a_432^0 == 0 /\ -i_30^post48+i_30^0 == 0 /\ x_156^0-x_156^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -a_575^post48+a_575^0 == 0 /\ tmp_34^0-tmp_34^post48 == 0 /\ -a_392^post48+a_392^0 == 0 /\ -a_1236^post48+a_1236^0 == 0 /\ f_847^0-f_847^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_417^post48+a_417^0 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ -i_94^post48+i_94^0 == 0 /\ a_862^0-a_862^post48 == 0 /\ a_144^0-a_144^post48 == 0 /\ -len_861^post48+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -i_1248^post48+i_1248^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_394^0-a_394^post48 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ -a_635^post48+a_635^0 == 0 /\ a_902^0-a_902^post48 == 0 /\ head_15^0-head_15^post48 == 0 /\ -rcd_47^post48+rcd_47^0 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ rcd_88^0-rcd_88^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_238^post48+len_238^0 == 0 /\ a_577^0-a_577^post48 == 0 /\ -a_310^post48+a_310^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -len_262^post48+len_262^0 == 0 /\ i_106^0-i_106^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ -a_633^post48+a_633^0 == 0 /\ -i_197^post48+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post48+a_309^0 == 0 /\ t_458^0-t_458^post48 == 0 /\ a_311^0-a_311^post48 == 0 /\ a_1089^0-a_1089^post48 == 0 /\ -a_579^post48+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ a_263^0-a_263^post48 == 0 /\ i_27^0-i_27^post48 == 0 /\ a_430^0-a_430^post48 == 0 /\ x_253^0-x_253^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ -i_127^post48+i_127^0 == 0 /\ -a_431^post48+a_431^0 == 0 /\ -a_1162^post48+a_1162^0 == 0 /\ -a_924^post48+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ 1-i_229^0 <= 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ len_238^0-len_161^post48 <= 0 /\ -result_11^post48+result_11^0 == 0 /\ -x_852^post48+x_852^0 == 0 /\ a_634^0-a_634^post48 == 0 /\ r_151^0-r_151^post48 == 0 /\ f_248^0-f_248^post48 == 0 /\ -r_970^post48+r_970^0 == 0 /\ -a_176^post48+a_239^0 <= 0 /\ x_975^0-x_975^post48 == 0 /\ -a_121^post48+a_121^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -i_229^post48+i_229^0 == 0 /\ a_239^0-a_239^post48 == 0 /\ a_947^0-a_947^post48 == 0 /\ r_192^0-r_192^post48 == 0 /\ -a_395^post48+a_395^0 == 0 /\ f_969^0-f_969^post48 == 0 /\ a_610^0-a_610^post48 == 0 /\ i_1053^0-i_1053^post48 == 0 /\ -len_238^0+len_161^post48 <= 0 /\ -r_143^post48+r_143^0 == 0 /\ i_140^0-i_140^post48 == 0 /\ rcd_1249^0-rcd_1249^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post48+r_224^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -i_113^post48+i_113^0 == 0 /\ a_176^post48-a_239^0 <= 0 /\ a_393^0-a_393^post48 == 0 /\ a_632^0-a_632^post48 == 0), cost: 1 49: l23 -> l8 : a_1089^0'=a_1089^post49, f_847^0'=f_847^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_394^0'=a_394^post49, x_156^0'=x_156^post49, a_632^0'=a_632^post49, r_192^0'=r_192^post49, a_176^0'=a_176^post49, i_106^0'=i_106^post49, a_430^0'=a_430^post49, t_458^0'=t_458^post49, len_161^0'=len_161^post49, x_975^0'=x_975^post49, a_902^0'=a_902^post49, a_947^0'=a_947^post49, rcd_88^0'=rcd_88^post49, a_311^0'=a_311^post49, i_140^0'=i_140^post49, a_577^0'=a_577^post49, x_14^0'=x_14^post49, nondet_12^0'=nondet_12^post49, a_121^0'=a_121^post49, head_15^0'=head_15^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49, i_27^0'=i_27^post49, x_21^0'=x_21^post49, a_634^0'=a_634^post49, r_39^0'=r_39^post49, a_263^0'=a_263^post49, i_113^0'=i_113^post49, a_432^0'=a_432^post49, temp0_31^0'=temp0_31^post49, len_262^0'=len_262^post49, y_20^0'=y_20^post49, f_248^0'=f_248^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_393^0'=a_393^post49, i_229^0'=i_229^post49, a_610^0'=a_610^post49, r_151^0'=r_151^post49, a_144^0'=a_144^post49, i_1053^0'=i_1053^post49, a_417^0'=a_417^post49, t_24^0'=t_24^post49, i_94^0'=i_94^post49, x_852^0'=x_852^post49, a_862^0'=a_862^post49, rcd_1249^0'=rcd_1249^post49, rcd_58^0'=rcd_58^post49, a_310^0'=a_310^post49, i_127^0'=i_127^post49, a_576^0'=a_576^post49, tmp_34^0'=tmp_34^post49, length_29^0'=length_29^post49, a_1162^0'=a_1162^post49, f_969^0'=f_969^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49, a_395^0'=a_395^post49, x_17^0'=x_17^post49, a_633^0'=a_633^post49, r_224^0'=r_224^post49, a_239^0'=a_239^post49, i_107^0'=i_107^post49, a_431^0'=a_431^post49, temp0_16^0'=temp0_16^post49, len_238^0'=len_238^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, a_924^0'=a_924^post49, ct_18^0'=ct_18^post49, result_11^0'=result_11^post49, a_392^0'=a_392^post49, i_197^0'=i_197^post49, a_579^0'=a_579^post49, r_143^0'=r_143^post49, a_1236^0'=a_1236^post49, head_32^0'=head_32^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49, i_30^0'=i_30^post49, x_253^0'=x_253^post49, a_635^0'=a_635^post49, r_970^0'=r_970^post49, rcd_47^0'=rcd_47^post49, a_309^0'=a_309^post49, i_1248^0'=i_1248^post49, a_575^0'=a_575^post49, temp_35^0'=temp_35^post49, len_861^0'=len_861^post49, (a_176^0-a_176^post49 == 0 /\ -x_21^post49+x_21^0 == 0 /\ f_969^0-f_969^post49 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -r_970^post49+r_970^0 == 0 /\ -a_431^post49+a_431^0 == 0 /\ i_27^0-i_27^post49 == 0 /\ -a_924^post49+a_924^0 == 0 /\ r_192^0-r_192^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -ct_18^post49+ct_18^0 == 0 /\ length_29^0-length_29^post49 == 0 /\ -a_1162^post49+a_1162^0 == 0 /\ -x_253^post49+x_253^0 == 0 /\ a_1089^0-a_1089^post49 == 0 /\ a_263^0-a_263^post49 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post49 == 0 /\ -i_229^post49+i_229^0 == 0 /\ a_432^0-a_432^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ -temp0_16^post49+temp0_16^0 == 0 /\ -i_1248^post49+i_1248^0 == 0 /\ -i_1053^post49+i_1053^0 == 0 /\ -r_224^post49+r_224^0 == 0 /\ -a_395^post49+a_395^0 == 0 /\ -a_239^post49+a_239^0 == 0 /\ r_151^0-r_151^post49 == 0 /\ f_248^0-f_248^post49 == 0 /\ -r_143^post49+r_143^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_417^0-a_417^post49 == 0 /\ head_32^0-head_32^post49 == 0 /\ rcd_58^0-rcd_58^post49 == 0 /\ a_144^0-a_144^post49 == 0 /\ a_634^0-a_634^post49 == 0 /\ head_15^0-head_15^post49 == 0 /\ -a_947^post49+a_947^0 == 0 /\ a_902^0-a_902^post49 == 0 /\ i_113^0-i_113^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -a_392^post49+a_392^0 == 0 /\ i_127^0-i_127^post49 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -x_14^post49+x_14^0 == 0 /\ a_394^0-a_394^post49 == 0 /\ len_238^0-len_238^post49 == 0 /\ -a_635^post49+a_635^0 == 0 /\ -a_576^post49+a_576^0 == 0 /\ -i_107^post49+i_107^0 == 0 /\ rcd_1249^0-rcd_1249^post49 == 0 /\ t_458^0-t_458^post49 == 0 /\ -len_861^post49+len_861^0 == 0 /\ x_852^0-x_852^post49 == 0 /\ -a_1236^post49+a_1236^0 == 0 /\ i_106^0-i_106^post49 == 0 /\ a_632^0-a_632^post49 == 0 /\ i_140^0-i_140^post49 == 0 /\ len_161^0-len_161^post49 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -a_310^post49+a_310^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ a_311^0-a_311^post49 == 0 /\ a_393^0-a_393^post49 == 0 /\ y_20^0-y_20^post49 == 0 /\ f_847^0-f_847^post49 == 0 /\ -a_610^post49+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49 == 0 /\ a_309^0-a_309^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -x_975^post49+x_975^0 == 0 /\ a_633^0-a_633^post49 == 0 /\ -rcd_47^post49+rcd_47^0 == 0 /\ -a_579^post49+a_579^0 == 0 /\ a_121^0-a_121^post49 == 0 /\ -a_575^post49+a_575^0 == 0 /\ -a_430^post49+a_430^0 == 0 /\ -i_197^post49+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49 == 0 /\ a_577^0-a_577^post49 == 0 /\ -len_262^post49+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ -a_862^post49+a_862^0 == 0), cost: 1 51: l33 -> l34 : a_1089^0'=a_1089^post51, f_847^0'=f_847^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_394^0'=a_394^post51, x_156^0'=x_156^post51, a_632^0'=a_632^post51, r_192^0'=r_192^post51, a_176^0'=a_176^post51, i_106^0'=i_106^post51, a_430^0'=a_430^post51, t_458^0'=t_458^post51, len_161^0'=len_161^post51, x_975^0'=x_975^post51, a_902^0'=a_902^post51, a_947^0'=a_947^post51, rcd_88^0'=rcd_88^post51, a_311^0'=a_311^post51, i_140^0'=i_140^post51, a_577^0'=a_577^post51, x_14^0'=x_14^post51, nondet_12^0'=nondet_12^post51, a_121^0'=a_121^post51, head_15^0'=head_15^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51, i_27^0'=i_27^post51, x_21^0'=x_21^post51, a_634^0'=a_634^post51, r_39^0'=r_39^post51, a_263^0'=a_263^post51, i_113^0'=i_113^post51, a_432^0'=a_432^post51, temp0_31^0'=temp0_31^post51, len_262^0'=len_262^post51, y_20^0'=y_20^post51, f_248^0'=f_248^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_393^0'=a_393^post51, i_229^0'=i_229^post51, a_610^0'=a_610^post51, r_151^0'=r_151^post51, a_144^0'=a_144^post51, i_1053^0'=i_1053^post51, a_417^0'=a_417^post51, t_24^0'=t_24^post51, i_94^0'=i_94^post51, x_852^0'=x_852^post51, a_862^0'=a_862^post51, rcd_1249^0'=rcd_1249^post51, rcd_58^0'=rcd_58^post51, a_310^0'=a_310^post51, i_127^0'=i_127^post51, a_576^0'=a_576^post51, tmp_34^0'=tmp_34^post51, length_29^0'=length_29^post51, a_1162^0'=a_1162^post51, f_969^0'=f_969^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51, a_395^0'=a_395^post51, x_17^0'=x_17^post51, a_633^0'=a_633^post51, r_224^0'=r_224^post51, a_239^0'=a_239^post51, i_107^0'=i_107^post51, a_431^0'=a_431^post51, temp0_16^0'=temp0_16^post51, len_238^0'=len_238^post51, x_SLAM_f_19^0'=x_SLAM_f_19^post51, a_924^0'=a_924^post51, ct_18^0'=ct_18^post51, result_11^0'=result_11^post51, a_392^0'=a_392^post51, i_197^0'=i_197^post51, a_579^0'=a_579^post51, r_143^0'=r_143^post51, a_1236^0'=a_1236^post51, head_32^0'=head_32^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51, i_30^0'=i_30^post51, x_253^0'=x_253^post51, a_635^0'=a_635^post51, r_970^0'=r_970^post51, rcd_47^0'=rcd_47^post51, a_309^0'=a_309^post51, i_1248^0'=i_1248^post51, a_575^0'=a_575^post51, temp_35^0'=temp_35^post51, len_861^0'=len_861^post51, (a_176^0-a_176^post51 == 0 /\ a_1089^0-a_1089^post51 == 0 /\ r_143^0-r_143^post51 == 0 /\ -x_21^post51+x_21^0 == 0 /\ -i_197^post51+i_197^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -a_579^post51+a_579^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ -f_969^post51+f_969^0 == 0 /\ a_310^0-a_310^post51 == 0 /\ a_311^0-a_311^post51 == 0 /\ -ct_18^post51+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 == 0 /\ -a_1162^post51+a_1162^0 == 0 /\ -i_127^post51+i_127^0 == 0 /\ -r_970^post51+r_970^0 == 0 /\ a_395^0-a_395^post51 == 0 /\ i_27^0-i_27^post51 == 0 /\ t_458^0-t_458^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post51 == 0 /\ i_140^0-i_140^post51 == 0 /\ -f_248^post51+f_248^0 == 0 /\ i_106^0-i_106^post51 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ a_392^0-a_392^post51 == 0 /\ r_39^0-r_39^post51 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51 == 0 /\ -temp0_16^post51+temp0_16^0 == 0 /\ a_393^0-a_393^post51 == 0 /\ -i_1248^post51+i_1248^0 == 0 /\ -rcd_1249^post51+rcd_1249^0 == 0 /\ -len_861^post51+len_861^0 == 0 /\ -a_239^post51+a_239^0 == 0 /\ y_20^0-y_20^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ len_262^0-len_262^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ a_417^0-a_417^post51 == 0 /\ -head_15^post51+head_15^0 == 0 /\ -a_924^post51+a_924^0 == 0 /\ -i_30^post51+i_30^0 == 0 /\ a_634^0-a_634^post51 == 0 /\ -x_17^post51+x_17^0 == 0 /\ temp0_31^0-temp0_31^post51 == 0 /\ a_947^0-a_947^post51 == 0 /\ -i_107^post51+i_107^0 == 0 /\ x_14^0-x_14^post51 == 0 /\ -r_151^post51+r_151^0 == 0 /\ -a_575^post51+a_575^0 == 0 /\ -i_94^post51+i_94^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ i_1053^0-i_1053^post51 == 0 /\ -a_635^post51+a_635^0 == 0 /\ a_121^0-a_121^post51 == 0 /\ -a_576^post51+a_576^0 == 0 /\ a_632^0-a_632^post51 == 0 /\ a_263^0-a_263^post51 == 0 /\ -a_633^post51+a_633^0 == 0 /\ t_24^0-t_24^post51 == 0 /\ len_161^0-len_161^post51 == 0 /\ x_852^0-x_852^post51 == 0 /\ -a_144^post51+a_144^0 == 0 /\ x_156^0-x_156^post51 == 0 /\ -x_975^post51+x_975^0 == 0 /\ f_847^0-f_847^post51 == 0 /\ 1-head_15^0 <= 0 /\ r_224^0-r_224^post51 == 0 /\ a_309^0-a_309^post51 == 0 /\ -a_610^post51+a_610^0 == 0 /\ a_432^0-a_432^post51 == 0 /\ -a_1236^post51+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ -rcd_47^post51+rcd_47^0 == 0 /\ -x_253^post51+x_253^0 == 0 /\ i_113^0-i_113^post51 == 0 /\ -len_238^post51+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_902^0-a_902^post51 == 0 /\ a_394^0-a_394^post51 == 0 /\ a_862^0-a_862^post51 == 0 /\ a_577^0-a_577^post51 == 0 /\ i_229^0-i_229^post51 == 0 /\ a_431^0-a_431^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -a_430^post51+a_430^0 == 0), cost: 1 52: l33 -> l34 : a_1089^0'=a_1089^post52, f_847^0'=f_847^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_394^0'=a_394^post52, x_156^0'=x_156^post52, a_632^0'=a_632^post52, r_192^0'=r_192^post52, a_176^0'=a_176^post52, i_106^0'=i_106^post52, a_430^0'=a_430^post52, t_458^0'=t_458^post52, len_161^0'=len_161^post52, x_975^0'=x_975^post52, a_902^0'=a_902^post52, a_947^0'=a_947^post52, rcd_88^0'=rcd_88^post52, a_311^0'=a_311^post52, i_140^0'=i_140^post52, a_577^0'=a_577^post52, x_14^0'=x_14^post52, nondet_12^0'=nondet_12^post52, a_121^0'=a_121^post52, head_15^0'=head_15^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52, i_27^0'=i_27^post52, x_21^0'=x_21^post52, a_634^0'=a_634^post52, r_39^0'=r_39^post52, a_263^0'=a_263^post52, i_113^0'=i_113^post52, a_432^0'=a_432^post52, temp0_31^0'=temp0_31^post52, len_262^0'=len_262^post52, y_20^0'=y_20^post52, f_248^0'=f_248^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_393^0'=a_393^post52, i_229^0'=i_229^post52, a_610^0'=a_610^post52, r_151^0'=r_151^post52, a_144^0'=a_144^post52, i_1053^0'=i_1053^post52, a_417^0'=a_417^post52, t_24^0'=t_24^post52, i_94^0'=i_94^post52, x_852^0'=x_852^post52, a_862^0'=a_862^post52, rcd_1249^0'=rcd_1249^post52, rcd_58^0'=rcd_58^post52, a_310^0'=a_310^post52, i_127^0'=i_127^post52, a_576^0'=a_576^post52, tmp_34^0'=tmp_34^post52, length_29^0'=length_29^post52, a_1162^0'=a_1162^post52, f_969^0'=f_969^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52, a_395^0'=a_395^post52, x_17^0'=x_17^post52, a_633^0'=a_633^post52, r_224^0'=r_224^post52, a_239^0'=a_239^post52, i_107^0'=i_107^post52, a_431^0'=a_431^post52, temp0_16^0'=temp0_16^post52, len_238^0'=len_238^post52, x_SLAM_f_19^0'=x_SLAM_f_19^post52, a_924^0'=a_924^post52, ct_18^0'=ct_18^post52, result_11^0'=result_11^post52, a_392^0'=a_392^post52, i_197^0'=i_197^post52, a_579^0'=a_579^post52, r_143^0'=r_143^post52, a_1236^0'=a_1236^post52, head_32^0'=head_32^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52, i_30^0'=i_30^post52, x_253^0'=x_253^post52, a_635^0'=a_635^post52, r_970^0'=r_970^post52, rcd_47^0'=rcd_47^post52, a_309^0'=a_309^post52, i_1248^0'=i_1248^post52, a_575^0'=a_575^post52, temp_35^0'=temp_35^post52, len_861^0'=len_861^post52, (-a_575^post52+a_575^0 == 0 /\ -x_17^post52+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52 == 0 /\ 1+head_15^0 <= 0 /\ a_430^0-a_430^post52 == 0 /\ t_458^0-t_458^post52 == 0 /\ -r_143^post52+r_143^0 == 0 /\ x_975^0-x_975^post52 == 0 /\ a_632^0-a_632^post52 == 0 /\ -i_30^post52+i_30^0 == 0 /\ r_151^0-r_151^post52 == 0 /\ a_577^0-a_577^post52 == 0 /\ len_262^0-len_262^post52 == 0 /\ a_902^0-a_902^post52 == 0 /\ -a_576^post52+a_576^0 == 0 /\ -a_309^post52+a_309^0 == 0 /\ -x_SLAM_f_19^post52+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post52+a_144^0 == 0 /\ temp0_31^0-temp0_31^post52 == 0 /\ a_1162^0-a_1162^post52 == 0 /\ i_229^0-i_229^post52 == 0 /\ -a_634^post52+a_634^0 == 0 /\ -a_633^post52+a_633^0 == 0 /\ a_310^0-a_310^post52 == 0 /\ -a_610^post52+a_610^0 == 0 /\ i_1053^0-i_1053^post52 == 0 /\ -a_1236^post52+a_1236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0 /\ a_176^0-a_176^post52 == 0 /\ -rcd_47^post52+rcd_47^0 == 0 /\ a_394^0-a_394^post52 == 0 /\ a_579^0-a_579^post52 == 0 /\ i_140^0-i_140^post52 == 0 /\ -f_969^post52+f_969^0 == 0 /\ f_847^0-f_847^post52 == 0 /\ -len_238^post52+len_238^0 == 0 /\ -r_970^post52+r_970^0 == 0 /\ -length_29^post52+length_29^0 == 0 /\ t_24^0-t_24^post52 == 0 /\ -i_27^post52+i_27^0 == 0 /\ a_392^0-a_392^post52 == 0 /\ i_197^0-i_197^post52 == 0 /\ i_94^0-i_94^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52 == 0 /\ -i_127^post52+i_127^0 == 0 /\ -ct_18^post52+ct_18^0 == 0 /\ y_20^0-y_20^post52 == 0 /\ -x_253^post52+x_253^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -rcd_88^post52+rcd_88^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ -head_15^post52+head_15^0 == 0 /\ -r_192^post52+r_192^0 == 0 /\ -rcd_58^post52+rcd_58^0 == 0 /\ a_121^0-a_121^post52 == 0 /\ -len_161^post52+len_161^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ a_432^0-a_432^post52 == 0 /\ -f_248^post52+f_248^0 == 0 /\ -temp_35^post52+temp_35^0 == 0 /\ i_113^0-i_113^post52 == 0 /\ x_156^0-x_156^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ a_862^0-a_862^post52 == 0 /\ -a_431^post52+a_431^0 == 0 /\ -len_861^post52+len_861^0 == 0 /\ a_1089^0-a_1089^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ a_395^0-a_395^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ a_947^0-a_947^post52 == 0 /\ x_14^0-x_14^post52 == 0 /\ -a_417^post52+a_417^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ -x_852^post52+x_852^0 == 0 /\ -r_224^post52+r_224^0 == 0 /\ -rcd_1249^post52+rcd_1249^0 == 0 /\ -a_393^post52+a_393^0 == 0 /\ -a_924^post52+a_924^0 == 0 /\ -temp0_16^post52+temp0_16^0 == 0 /\ -a_635^post52+a_635^0 == 0 /\ a_263^0-a_263^post52 == 0 /\ i_107^0-i_107^post52 == 0 /\ a_311^0-a_311^post52 == 0 /\ -i_1248^post52+i_1248^0 == 0 /\ -a_239^post52+a_239^0 == 0 /\ i_106^0-i_106^post52 == 0), cost: 1 53: l34 -> l0 : a_1089^0'=a_1089^post53, f_847^0'=f_847^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_394^0'=a_394^post53, x_156^0'=x_156^post53, a_632^0'=a_632^post53, r_192^0'=r_192^post53, a_176^0'=a_176^post53, i_106^0'=i_106^post53, a_430^0'=a_430^post53, t_458^0'=t_458^post53, len_161^0'=len_161^post53, x_975^0'=x_975^post53, a_902^0'=a_902^post53, a_947^0'=a_947^post53, rcd_88^0'=rcd_88^post53, a_311^0'=a_311^post53, i_140^0'=i_140^post53, a_577^0'=a_577^post53, x_14^0'=x_14^post53, nondet_12^0'=nondet_12^post53, a_121^0'=a_121^post53, head_15^0'=head_15^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53, i_27^0'=i_27^post53, x_21^0'=x_21^post53, a_634^0'=a_634^post53, r_39^0'=r_39^post53, a_263^0'=a_263^post53, i_113^0'=i_113^post53, a_432^0'=a_432^post53, temp0_31^0'=temp0_31^post53, len_262^0'=len_262^post53, y_20^0'=y_20^post53, f_248^0'=f_248^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_393^0'=a_393^post53, i_229^0'=i_229^post53, a_610^0'=a_610^post53, r_151^0'=r_151^post53, a_144^0'=a_144^post53, i_1053^0'=i_1053^post53, a_417^0'=a_417^post53, t_24^0'=t_24^post53, i_94^0'=i_94^post53, x_852^0'=x_852^post53, a_862^0'=a_862^post53, rcd_1249^0'=rcd_1249^post53, rcd_58^0'=rcd_58^post53, a_310^0'=a_310^post53, i_127^0'=i_127^post53, a_576^0'=a_576^post53, tmp_34^0'=tmp_34^post53, length_29^0'=length_29^post53, a_1162^0'=a_1162^post53, f_969^0'=f_969^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53, a_395^0'=a_395^post53, x_17^0'=x_17^post53, a_633^0'=a_633^post53, r_224^0'=r_224^post53, a_239^0'=a_239^post53, i_107^0'=i_107^post53, a_431^0'=a_431^post53, temp0_16^0'=temp0_16^post53, len_238^0'=len_238^post53, x_SLAM_f_19^0'=x_SLAM_f_19^post53, a_924^0'=a_924^post53, ct_18^0'=ct_18^post53, result_11^0'=result_11^post53, a_392^0'=a_392^post53, i_197^0'=i_197^post53, a_579^0'=a_579^post53, r_143^0'=r_143^post53, a_1236^0'=a_1236^post53, head_32^0'=head_32^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53, i_30^0'=i_30^post53, x_253^0'=x_253^post53, a_635^0'=a_635^post53, r_970^0'=r_970^post53, rcd_47^0'=rcd_47^post53, a_309^0'=a_309^post53, i_1248^0'=i_1248^post53, a_575^0'=a_575^post53, temp_35^0'=temp_35^post53, len_861^0'=len_861^post53, (a_394^0-a_394^post53 == 0 /\ a_1089^0-a_1089^post53 == 0 /\ -r_970^post53+r_970^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ -x_852^post53+x_852^0 == 0 /\ -head_15^post53+head_15^0 == 0 /\ -i_1053^post53+i_1053^0 == 0 /\ -a_395^post53+a_395^0 == 0 /\ -a_579^post53+a_579^0 == 0 /\ i_140^0-i_140^post53 == 0 /\ t_458^0-t_458^post53 == 0 /\ i_106^0-i_106^post53 == 0 /\ rcd_88^0-rcd_88^post53 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post53+ct_18^0 == 0 /\ a_311^0-a_311^post53 == 0 /\ -a_263^post53+a_263^0 == 0 /\ -temp_35^post53+temp_35^0 == 0 /\ -i_197^post53+i_197^0 == 0 /\ rcd_1249^0-rcd_1249^post53 == 0 /\ f_847^0-f_847^post53 == 0 /\ a_924^0-a_924^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_224^0-r_224^post53 == 0 /\ a_393^0-a_393^post53 == 0 /\ -a_144^post53+a_144^0 == 0 /\ -a_634^post53+a_634^0 == 0 /\ -i_107^post53+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post53+a_575^0 == 0 /\ y_20^0-y_20^post53 == 0 /\ i_127^0-i_127^post53 == 0 /\ -i_1248^post53+i_1248^0 == 0 /\ a_121^0-a_121^post53 == 0 /\ -len_861^post53+len_861^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ len_262^0-len_262^post53 == 0 /\ temp0_31^0-temp0_31^post53 == 0 /\ -result_11^post53+result_11^0 == 0 /\ -a_239^post53+a_239^0 == 0 /\ -a_635^post53+a_635^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ a_577^0-a_577^post53 == 0 /\ -i_30^post53+i_30^0 == 0 /\ i_94^0-i_94^post53 == 0 /\ -x_17^post53+x_17^0 == 0 /\ a_947^0-a_947^post53 == 0 /\ -r_151^post53+r_151^0 == 0 /\ len_161^0-len_161^post53 == 0 /\ a_310^0-a_310^post53 == 0 /\ x_14^0-x_14^post53 == 0 /\ -a_576^post53+a_576^0 == 0 /\ -a_309^post53+a_309^0 == 0 /\ r_39^0-r_39^post53 == 0 /\ -a_1236^post53+a_1236^0 == 0 /\ -r_143^post53+r_143^0 == 0 /\ -a_417^post53+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -a_633^post53+a_633^0 == 0 /\ -a_176^post53+a_176^0 == 0 /\ t_24^0-t_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post53+a_392^0 == 0 /\ -f_969^post53+f_969^0 == 0 /\ a_430^0-a_430^post53 == 0 /\ a_632^0-a_632^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post53+a_610^0 == 0 /\ a_432^0-a_432^post53 == 0 /\ a_1162^0-a_1162^post53 == 0 /\ i_113^0-i_113^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_902^0-a_902^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ x_975^0-x_975^post53 == 0 /\ -x_SLAM_f_19^post53+x_SLAM_f_19^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -rcd_47^post53+rcd_47^0 == 0 /\ x_156^0-x_156^post53 == 0 /\ -i_27^post53+i_27^0 == 0 /\ i_229^0-i_229^post53 == 0 /\ -x_253^post53+x_253^0 == 0 /\ a_431^0-a_431^post53 == 0 /\ temp0_16^0-temp0_16^post53 == 0 /\ a_862^0-a_862^post53 == 0 /\ -len_238^post53+len_238^0 == 0), cost: 1 55: l36 -> l37 : a_1089^0'=a_1089^post55, f_847^0'=f_847^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_394^0'=a_394^post55, x_156^0'=x_156^post55, a_632^0'=a_632^post55, r_192^0'=r_192^post55, a_176^0'=a_176^post55, i_106^0'=i_106^post55, a_430^0'=a_430^post55, t_458^0'=t_458^post55, len_161^0'=len_161^post55, x_975^0'=x_975^post55, a_902^0'=a_902^post55, a_947^0'=a_947^post55, rcd_88^0'=rcd_88^post55, a_311^0'=a_311^post55, i_140^0'=i_140^post55, a_577^0'=a_577^post55, x_14^0'=x_14^post55, nondet_12^0'=nondet_12^post55, a_121^0'=a_121^post55, head_15^0'=head_15^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55, i_27^0'=i_27^post55, x_21^0'=x_21^post55, a_634^0'=a_634^post55, r_39^0'=r_39^post55, a_263^0'=a_263^post55, i_113^0'=i_113^post55, a_432^0'=a_432^post55, temp0_31^0'=temp0_31^post55, len_262^0'=len_262^post55, y_20^0'=y_20^post55, f_248^0'=f_248^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_393^0'=a_393^post55, i_229^0'=i_229^post55, a_610^0'=a_610^post55, r_151^0'=r_151^post55, a_144^0'=a_144^post55, i_1053^0'=i_1053^post55, a_417^0'=a_417^post55, t_24^0'=t_24^post55, i_94^0'=i_94^post55, x_852^0'=x_852^post55, a_862^0'=a_862^post55, rcd_1249^0'=rcd_1249^post55, rcd_58^0'=rcd_58^post55, a_310^0'=a_310^post55, i_127^0'=i_127^post55, a_576^0'=a_576^post55, tmp_34^0'=tmp_34^post55, length_29^0'=length_29^post55, a_1162^0'=a_1162^post55, f_969^0'=f_969^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55, a_395^0'=a_395^post55, x_17^0'=x_17^post55, a_633^0'=a_633^post55, r_224^0'=r_224^post55, a_239^0'=a_239^post55, i_107^0'=i_107^post55, a_431^0'=a_431^post55, temp0_16^0'=temp0_16^post55, len_238^0'=len_238^post55, x_SLAM_f_19^0'=x_SLAM_f_19^post55, a_924^0'=a_924^post55, ct_18^0'=ct_18^post55, result_11^0'=result_11^post55, a_392^0'=a_392^post55, i_197^0'=i_197^post55, a_579^0'=a_579^post55, r_143^0'=r_143^post55, a_1236^0'=a_1236^post55, head_32^0'=head_32^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55, i_30^0'=i_30^post55, x_253^0'=x_253^post55, a_635^0'=a_635^post55, r_970^0'=r_970^post55, rcd_47^0'=rcd_47^post55, a_309^0'=a_309^post55, i_1248^0'=i_1248^post55, a_575^0'=a_575^post55, temp_35^0'=temp_35^post55, len_861^0'=len_861^post55, (x_852^0-x_852^post55 == 0 /\ -a_577^post55+a_577^0 == 0 /\ -len_861^post55+len_861^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post55 == 0 /\ -i_1053^post55+i_1053^0 == 0 /\ a_576^0-a_576^post55 == 0 /\ a_121^0-a_121^post55 == 0 /\ -i_1248^post55+i_1248^0 == 0 /\ -y_20^post55+y_20^0 == 0 /\ len_161^0-len_161^post55 == 0 /\ len_262^0-len_262^post55 == 0 /\ x_156^0-x_156^post55 == 0 /\ a_947^0-a_947^post55 == 0 /\ 1-x_14^0 <= 0 /\ -a_395^post55+a_395^0 == 0 /\ f_847^0-f_847^post55 == 0 /\ a_394^0-a_394^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_579^post55+a_579^0 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ -a_392^post55+a_392^0 == 0 /\ -a_263^post55+a_263^0 == 0 /\ rcd_1249^0-rcd_1249^post55 == 0 /\ -head_32^post55+head_32^0 == 0 /\ r_224^0-r_224^post55 == 0 /\ -a_575^post55+a_575^0 == 0 /\ i_106^0-i_106^post55 == 0 /\ head_15^0-head_15^post55 == 0 /\ -i_197^post55+i_197^0 == 0 /\ a_430^0-a_430^post55 == 0 /\ -a_309^post55+a_309^0 == 0 /\ ct_18^0-ct_18^post55 == 0 /\ -a_144^post55+a_144^0 == 0 /\ -a_393^post55+a_393^0 == 0 /\ -a_635^post55+a_635^0 == 0 /\ -i_107^post55+i_107^0 == 0 /\ a_432^0-a_432^post55 == 0 /\ -t_24^post55+t_24^0 == 0 /\ -a_1162^post55+a_1162^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ i_127^0-i_127^post55 == 0 /\ -i_30^post55+i_30^0 == 0 /\ x_21^0-x_21^post55 == 0 /\ a_1236^0-a_1236^post55 == 0 /\ -a_417^post55+a_417^0 == 0 /\ i_229^0-i_229^post55 == 0 /\ a_431^0-a_431^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ i_27^0-i_27^post55 == 0 /\ -a_632^post55+a_632^0 == 0 /\ x_17^0-x_17^post55 == 0 /\ -len_238^post55+len_238^0 == 0 /\ -x_SLAM_f_19^post55+x_SLAM_f_19^0 == 0 /\ -r_151^post55+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_634^0-a_634^post55 == 0 /\ a_1089^0-a_1089^post55 == 0 /\ a_310^0-a_310^post55 == 0 /\ a_176^0-a_176^post55 == 0 /\ -a_633^post55+a_633^0 == 0 /\ -a_924^post55+a_924^0 == 0 /\ rcd_88^0-rcd_88^post55 == 0 /\ a_311^0-a_311^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -r_143^post55+r_143^0 == 0 /\ -a_862^post55+a_862^0 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ f_248^0-f_248^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ -temp_35^post55+temp_35^0 == 0 /\ x_975^0-x_975^post55 == 0 /\ -i_113^post55+i_113^0 == 0 /\ -r_970^post55+r_970^0 == 0 /\ t_458^0-t_458^post55 == 0 /\ a_239^0-a_239^post55 == 0 /\ -a_902^post55+a_902^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post55+x_253^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ a_610^0-a_610^post55 == 0 /\ -rcd_47^post55+rcd_47^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ f_969^0-f_969^post55 == 0), cost: 1 56: l36 -> l37 : a_1089^0'=a_1089^post56, f_847^0'=f_847^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_394^0'=a_394^post56, x_156^0'=x_156^post56, a_632^0'=a_632^post56, r_192^0'=r_192^post56, a_176^0'=a_176^post56, i_106^0'=i_106^post56, a_430^0'=a_430^post56, t_458^0'=t_458^post56, len_161^0'=len_161^post56, x_975^0'=x_975^post56, a_902^0'=a_902^post56, a_947^0'=a_947^post56, rcd_88^0'=rcd_88^post56, a_311^0'=a_311^post56, i_140^0'=i_140^post56, a_577^0'=a_577^post56, x_14^0'=x_14^post56, nondet_12^0'=nondet_12^post56, a_121^0'=a_121^post56, head_15^0'=head_15^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56, i_27^0'=i_27^post56, x_21^0'=x_21^post56, a_634^0'=a_634^post56, r_39^0'=r_39^post56, a_263^0'=a_263^post56, i_113^0'=i_113^post56, a_432^0'=a_432^post56, temp0_31^0'=temp0_31^post56, len_262^0'=len_262^post56, y_20^0'=y_20^post56, f_248^0'=f_248^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_393^0'=a_393^post56, i_229^0'=i_229^post56, a_610^0'=a_610^post56, r_151^0'=r_151^post56, a_144^0'=a_144^post56, i_1053^0'=i_1053^post56, a_417^0'=a_417^post56, t_24^0'=t_24^post56, i_94^0'=i_94^post56, x_852^0'=x_852^post56, a_862^0'=a_862^post56, rcd_1249^0'=rcd_1249^post56, rcd_58^0'=rcd_58^post56, a_310^0'=a_310^post56, i_127^0'=i_127^post56, a_576^0'=a_576^post56, tmp_34^0'=tmp_34^post56, length_29^0'=length_29^post56, a_1162^0'=a_1162^post56, f_969^0'=f_969^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56, a_395^0'=a_395^post56, x_17^0'=x_17^post56, a_633^0'=a_633^post56, r_224^0'=r_224^post56, a_239^0'=a_239^post56, i_107^0'=i_107^post56, a_431^0'=a_431^post56, temp0_16^0'=temp0_16^post56, len_238^0'=len_238^post56, x_SLAM_f_19^0'=x_SLAM_f_19^post56, a_924^0'=a_924^post56, ct_18^0'=ct_18^post56, result_11^0'=result_11^post56, a_392^0'=a_392^post56, i_197^0'=i_197^post56, a_579^0'=a_579^post56, r_143^0'=r_143^post56, a_1236^0'=a_1236^post56, head_32^0'=head_32^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56, i_30^0'=i_30^post56, x_253^0'=x_253^post56, a_635^0'=a_635^post56, r_970^0'=r_970^post56, rcd_47^0'=rcd_47^post56, a_309^0'=a_309^post56, i_1248^0'=i_1248^post56, a_575^0'=a_575^post56, temp_35^0'=temp_35^post56, len_861^0'=len_861^post56, (a_610^0-a_610^post56 == 0 /\ -a_1162^post56+a_1162^0 == 0 /\ r_39^0-r_39^post56 == 0 /\ a_633^0-a_633^post56 == 0 /\ -r_151^post56+r_151^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ ct_18^0-ct_18^post56 == 0 /\ a_1089^0-a_1089^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -len_238^post56+len_238^0 == 0 /\ x_21^0-x_21^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_924^post56+a_924^0 == 0 /\ -i_113^post56+i_113^0 == 0 /\ i_27^0-i_27^post56 == 0 /\ -a_1236^post56+a_1236^0 == 0 /\ -r_143^post56+r_143^0 == 0 /\ a_634^0-a_634^post56 == 0 /\ a_947^0-a_947^post56 == 0 /\ a_263^0-a_263^post56 == 0 /\ -x_253^post56+x_253^0 == 0 /\ -a_432^post56+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_144^0-a_144^post56 == 0 /\ x_156^0-x_156^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ a_576^0-a_576^post56 == 0 /\ -y_20^post56+y_20^0 == 0 /\ -rcd_47^post56+rcd_47^0 == 0 /\ -i_140^post56+i_140^0 == 0 /\ -a_431^post56+a_431^0 == 0 /\ f_248^0-f_248^post56 == 0 /\ -x_SLAM_f_19^post56+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post56 == 0 /\ -r_970^post56+r_970^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -i_94^post56+i_94^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -i_1248^post56+i_1248^0 == 0 /\ -a_395^post56+a_395^0 == 0 /\ a_632^0-a_632^post56 == 0 /\ -t_458^post56+t_458^0 == 0 /\ -len_861^post56+len_861^0 == 0 /\ -head_32^post56+head_32^0 == 0 /\ -a_239^post56+a_239^0 == 0 /\ rcd_1249^0-rcd_1249^post56 == 0 /\ a_902^0-a_902^post56 == 0 /\ x_975^0-x_975^post56 == 0 /\ a_430^0-a_430^post56 == 0 /\ -a_310^post56+a_310^0 == 0 /\ -i_106^post56+i_106^0 == 0 /\ -a_862^post56+a_862^0 == 0 /\ i_229^0-i_229^post56 == 0 /\ a_577^0-a_577^post56 == 0 /\ -a_392^post56+a_392^0 == 0 /\ f_969^0-f_969^post56 == 0 /\ -temp0_16^post56+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post56+r_224^0 == 0 /\ len_161^0-len_161^post56 == 0 /\ -a_579^post56+a_579^0 == 0 /\ -a_575^post56+a_575^0 == 0 /\ x_14^0-x_14^post56 == 0 /\ -t_24^post56+t_24^0 == 0 /\ -i_197^post56+i_197^0 == 0 /\ -a_417^post56+a_417^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -a_309^post56+a_309^0 == 0 /\ x_17^0-x_17^post56 == 0 /\ -a_393^post56+a_393^0 == 0 /\ a_121^0-a_121^post56 == 0 /\ -i_127^post56+i_127^0 == 0 /\ -i_30^post56+i_30^0 == 0 /\ len_262^0-len_262^post56 == 0 /\ a_394^0-a_394^post56 == 0 /\ 1+x_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -a_635^post56+a_635^0 == 0 /\ rcd_88^0-rcd_88^post56 == 0 /\ a_176^0-a_176^post56 == 0 /\ -x_852^post56+x_852^0 == 0 /\ a_311^0-a_311^post56 == 0 /\ f_847^0-f_847^post56 == 0 /\ i_1053^0-i_1053^post56 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -i_107^post56+i_107^0 == 0), cost: 1 57: l37 -> l38 : a_1089^0'=a_1089^post57, f_847^0'=f_847^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_394^0'=a_394^post57, x_156^0'=x_156^post57, a_632^0'=a_632^post57, r_192^0'=r_192^post57, a_176^0'=a_176^post57, i_106^0'=i_106^post57, a_430^0'=a_430^post57, t_458^0'=t_458^post57, len_161^0'=len_161^post57, x_975^0'=x_975^post57, a_902^0'=a_902^post57, a_947^0'=a_947^post57, rcd_88^0'=rcd_88^post57, a_311^0'=a_311^post57, i_140^0'=i_140^post57, a_577^0'=a_577^post57, x_14^0'=x_14^post57, nondet_12^0'=nondet_12^post57, a_121^0'=a_121^post57, head_15^0'=head_15^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57, i_27^0'=i_27^post57, x_21^0'=x_21^post57, a_634^0'=a_634^post57, r_39^0'=r_39^post57, a_263^0'=a_263^post57, i_113^0'=i_113^post57, a_432^0'=a_432^post57, temp0_31^0'=temp0_31^post57, len_262^0'=len_262^post57, y_20^0'=y_20^post57, f_248^0'=f_248^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_393^0'=a_393^post57, i_229^0'=i_229^post57, a_610^0'=a_610^post57, r_151^0'=r_151^post57, a_144^0'=a_144^post57, i_1053^0'=i_1053^post57, a_417^0'=a_417^post57, t_24^0'=t_24^post57, i_94^0'=i_94^post57, x_852^0'=x_852^post57, a_862^0'=a_862^post57, rcd_1249^0'=rcd_1249^post57, rcd_58^0'=rcd_58^post57, a_310^0'=a_310^post57, i_127^0'=i_127^post57, a_576^0'=a_576^post57, tmp_34^0'=tmp_34^post57, length_29^0'=length_29^post57, a_1162^0'=a_1162^post57, f_969^0'=f_969^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57, a_395^0'=a_395^post57, x_17^0'=x_17^post57, a_633^0'=a_633^post57, r_224^0'=r_224^post57, a_239^0'=a_239^post57, i_107^0'=i_107^post57, a_431^0'=a_431^post57, temp0_16^0'=temp0_16^post57, len_238^0'=len_238^post57, x_SLAM_f_19^0'=x_SLAM_f_19^post57, a_924^0'=a_924^post57, ct_18^0'=ct_18^post57, result_11^0'=result_11^post57, a_392^0'=a_392^post57, i_197^0'=i_197^post57, a_579^0'=a_579^post57, r_143^0'=r_143^post57, a_1236^0'=a_1236^post57, head_32^0'=head_32^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57, i_30^0'=i_30^post57, x_253^0'=x_253^post57, a_635^0'=a_635^post57, r_970^0'=r_970^post57, rcd_47^0'=rcd_47^post57, a_309^0'=a_309^post57, i_1248^0'=i_1248^post57, a_575^0'=a_575^post57, temp_35^0'=temp_35^post57, len_861^0'=len_861^post57, (0 == 0 /\ -r_39^post57+r_39^0 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_263^0-a_263^post57 == 0 /\ -i_1053^post57+i_1053^0 == 0 /\ 1-a_176^0+a_862^post57 <= 0 /\ -r_224^post57+r_224^0 == 0 /\ -a_395^post57+a_395^0 == 0 /\ -a_310^post57+a_310^0 == 0 /\ t_24^0-t_24^post57 == 0 /\ -a_1236^post57+a_1236^0 == 0 /\ a_634^0-a_634^post57 == 0 /\ len_161^0-len_161^post57 == 0 /\ a_947^0-a_947^post57 == 0 /\ -i_1248^post57+i_1248^0 == 0 /\ -head_32^post57+head_32^0 == 0 /\ -x_17^post57+x_17^0 == 0 /\ -a_579^post57+a_579^0 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ -i_197^post57+i_197^0 == 0 /\ a_176^0-a_176^post57 == 0 /\ -len_262^post57+len_262^0 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ a_902^0-a_902^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57-nondet_12^12 == 0 /\ i_113^0-i_113^post57 == 0 /\ length_29^0-length_29^post57 == 0 /\ r_192^0-r_192^post57 == 0 /\ -i_107^post57+i_107^0 == 0 /\ a_430^0-a_430^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ f_248^0-f_248^post57 == 0 /\ -i_30^post57+i_30^0 == 0 /\ -i_140^post57+i_140^0 == 0 /\ rcd_88^0-rcd_88^post57 == 0 /\ -a_575^post57+a_575^0 == 0 /\ head_15^0-head_15^post57 == 0 /\ -a_309^post57+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ -1-len_161^0+len_861^post57 <= 0 /\ x_156^0-x_156^post57 == 0 /\ -a_1162^post57+a_1162^0 == 0 /\ -a_635^post57+a_635^0 == 0 /\ -rcd_47^post57+rcd_47^0 == 0 /\ a_632^0-a_632^post57 == 0 /\ -ct_18^post57+ct_18^0 == 0 /\ a_432^0-a_432^post57 == 0 /\ a_144^0-a_144^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^post57+y_20^0 == 0 /\ a_417^0-a_417^post57 == 0 /\ x_852^0-x_852^post57 == 0 /\ -1+a_176^0-a_862^post57 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ f_847^0-x_14^0 <= 0 /\ -a_121^post57+a_121^0 == 0 /\ a_576^0-a_576^post57 == 0 /\ f_847^0-f_847^post57 == 0 /\ -rcd_1249^post57+rcd_1249^0 == 0 /\ -a_924^post57+a_924^0 == 0 /\ a_394^0-a_394^post57 == 0 /\ -len_238^post57+len_238^0 == 0 /\ a_610^0-a_610^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ -r_143^post57+r_143^0 == 0 /\ r_151^0-r_151^post57 == 0 /\ -x_253^post57+x_253^0 == 0 /\ -x_SLAM_f_19^post57+x_SLAM_f_19^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post57+a_392^0 == 0 /\ a_1089^0-a_1089^post57 == 0 /\ a_577^0-a_577^post57 == 0 /\ t_458^0-t_458^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ x_975^0-x_975^post57 == 0 /\ i_106^0-i_106^post57 == 0 /\ -f_847^0+x_14^0 <= 0 /\ a_239^0-a_239^post57 == 0 /\ 1+len_161^0-len_861^post57 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ i_127^0-i_127^post57 == 0 /\ -r_970^post57+r_970^0 == 0 /\ a_393^0-a_393^post57 == 0 /\ a_633^0-a_633^post57 == 0 /\ -a_431^post57+a_431^0 == 0 /\ i_27^0-i_27^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ f_969^0-f_969^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -i_229^post57+i_229^0 == 0 /\ a_311^0-a_311^post57 == 0), cost: 1 58: l38 -> l39 : a_1089^0'=a_1089^post58, f_847^0'=f_847^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_394^0'=a_394^post58, x_156^0'=x_156^post58, a_632^0'=a_632^post58, r_192^0'=r_192^post58, a_176^0'=a_176^post58, i_106^0'=i_106^post58, a_430^0'=a_430^post58, t_458^0'=t_458^post58, len_161^0'=len_161^post58, x_975^0'=x_975^post58, a_902^0'=a_902^post58, a_947^0'=a_947^post58, rcd_88^0'=rcd_88^post58, a_311^0'=a_311^post58, i_140^0'=i_140^post58, a_577^0'=a_577^post58, x_14^0'=x_14^post58, nondet_12^0'=nondet_12^post58, a_121^0'=a_121^post58, head_15^0'=head_15^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58, i_27^0'=i_27^post58, x_21^0'=x_21^post58, a_634^0'=a_634^post58, r_39^0'=r_39^post58, a_263^0'=a_263^post58, i_113^0'=i_113^post58, a_432^0'=a_432^post58, temp0_31^0'=temp0_31^post58, len_262^0'=len_262^post58, y_20^0'=y_20^post58, f_248^0'=f_248^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_393^0'=a_393^post58, i_229^0'=i_229^post58, a_610^0'=a_610^post58, r_151^0'=r_151^post58, a_144^0'=a_144^post58, i_1053^0'=i_1053^post58, a_417^0'=a_417^post58, t_24^0'=t_24^post58, i_94^0'=i_94^post58, x_852^0'=x_852^post58, a_862^0'=a_862^post58, rcd_1249^0'=rcd_1249^post58, rcd_58^0'=rcd_58^post58, a_310^0'=a_310^post58, i_127^0'=i_127^post58, a_576^0'=a_576^post58, tmp_34^0'=tmp_34^post58, length_29^0'=length_29^post58, a_1162^0'=a_1162^post58, f_969^0'=f_969^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58, a_395^0'=a_395^post58, x_17^0'=x_17^post58, a_633^0'=a_633^post58, r_224^0'=r_224^post58, a_239^0'=a_239^post58, i_107^0'=i_107^post58, a_431^0'=a_431^post58, temp0_16^0'=temp0_16^post58, len_238^0'=len_238^post58, x_SLAM_f_19^0'=x_SLAM_f_19^post58, a_924^0'=a_924^post58, ct_18^0'=ct_18^post58, result_11^0'=result_11^post58, a_392^0'=a_392^post58, i_197^0'=i_197^post58, a_579^0'=a_579^post58, r_143^0'=r_143^post58, a_1236^0'=a_1236^post58, head_32^0'=head_32^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58, i_30^0'=i_30^post58, x_253^0'=x_253^post58, a_635^0'=a_635^post58, r_970^0'=r_970^post58, rcd_47^0'=rcd_47^post58, a_309^0'=a_309^post58, i_1248^0'=i_1248^post58, a_575^0'=a_575^post58, temp_35^0'=temp_35^post58, len_861^0'=len_861^post58, (a_394^0-a_394^post58 == 0 /\ a_176^0-a_176^post58 == 0 /\ -a_431^post58+a_431^0 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ a_947^0-a_947^post58 == 0 /\ -a_263^post58+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post58+r_970^0 == 0 /\ len_161^0-len_161^post58 == 0 /\ -t_24^post58+t_24^0 == 0 /\ -r_224^post58+r_224^0 == 0 /\ r_192^0-r_192^post58 == 0 /\ -i_197^post58+i_197^0 == 0 /\ x_14^0-x_14^post58 == 0 /\ rcd_1249^0-rcd_1249^post58 == 0 /\ x_852^0-x_852^post58 == 0 /\ -temp_35^post58+temp_35^0 == 0 /\ f_847^0-f_847^post58 == 0 /\ -y_20^post58+y_20^0 == 0 /\ r_39^0-r_39^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post58+a_1162^0 == 0 /\ i_229^0-i_229^post58 == 0 /\ a_432^0-a_432^post58 == 0 /\ -a_395^post58+a_395^0 == 0 /\ -a_924^post58+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_417^post58+a_417^0 == 0 /\ a_430^0-a_430^post58 == 0 /\ ct_18^0-ct_18^post58 == 0 /\ -a_577^post58+a_577^0 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -temp0_16^post58+temp0_16^0 == 0 /\ -i_1248^post58+i_1248^0 == 0 /\ -i_1053^post58+i_1053^0 == 0 /\ -len_861^post58+len_861^0 == 0 /\ a_144^0-a_144^post58 == 0 /\ x_156^0-x_156^post58 == 0 /\ i_113^0-i_113^post58 == 0 /\ head_15^0-head_15^post58 == 0 /\ i_127^0-i_127^post58 == 0 /\ -a_635^post58+a_635^0 == 0 /\ -a_393^post58+a_393^0 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -a_576^post58+a_576^0 == 0 /\ a_310^0-a_310^post58 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ -r_143^post58+r_143^0 == 0 /\ -i_30^post58+i_30^0 == 0 /\ i_27^0-i_27^post58 == 0 /\ i_140^0-i_140^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post58 == 0 /\ -i_107^post58+i_107^0 == 0 /\ -a_1236^post58+a_1236^0 == 0 /\ a_1089^0-a_1089^post58 == 0 /\ a_311^0-a_311^post58 == 0 /\ -a_309^post58+a_309^0 == 0 /\ -x_SLAM_f_19^post58+x_SLAM_f_19^0 == 0 /\ -rcd_47^post58+rcd_47^0 == 0 /\ -len_238^post58+len_238^0 == 0 /\ -i_106^post58+i_106^0 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post58 == 0 /\ -a_392^post58+a_392^0 == 0 /\ -a_633^post58+a_633^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ x_975^0-x_975^post58 == 0 /\ f_969^0-f_969^post58 == 0 /\ -x_253^post58+x_253^0 == 0 /\ temp0_31^0-temp0_31^post58 == 0 /\ -a_862^post58+a_862^0 == 0 /\ f_248^0-f_248^post58 == 0 /\ a_610^0-a_610^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ a_121^0-a_121^post58 == 0 /\ a_239^0-a_239^post58 == 0 /\ -t_458^post58+t_458^0 == 0 /\ -a_579^post58+a_579^0 == 0 /\ -a_902^post58+a_902^0 == 0 /\ len_262^0-len_262^post58 == 0 /\ -r_151^post58+r_151^0 == 0 /\ a_575^0-a_575^post58 == 0 /\ -head_32^post58+head_32^0 == 0 /\ x_17^0-x_17^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ a_634^0-a_634^post58 == 0), cost: 1 59: l38 -> l39 : a_1089^0'=a_1089^post59, f_847^0'=f_847^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_394^0'=a_394^post59, x_156^0'=x_156^post59, a_632^0'=a_632^post59, r_192^0'=r_192^post59, a_176^0'=a_176^post59, i_106^0'=i_106^post59, a_430^0'=a_430^post59, t_458^0'=t_458^post59, len_161^0'=len_161^post59, x_975^0'=x_975^post59, a_902^0'=a_902^post59, a_947^0'=a_947^post59, rcd_88^0'=rcd_88^post59, a_311^0'=a_311^post59, i_140^0'=i_140^post59, a_577^0'=a_577^post59, x_14^0'=x_14^post59, nondet_12^0'=nondet_12^post59, a_121^0'=a_121^post59, head_15^0'=head_15^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59, i_27^0'=i_27^post59, x_21^0'=x_21^post59, a_634^0'=a_634^post59, r_39^0'=r_39^post59, a_263^0'=a_263^post59, i_113^0'=i_113^post59, a_432^0'=a_432^post59, temp0_31^0'=temp0_31^post59, len_262^0'=len_262^post59, y_20^0'=y_20^post59, f_248^0'=f_248^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_393^0'=a_393^post59, i_229^0'=i_229^post59, a_610^0'=a_610^post59, r_151^0'=r_151^post59, a_144^0'=a_144^post59, i_1053^0'=i_1053^post59, a_417^0'=a_417^post59, t_24^0'=t_24^post59, i_94^0'=i_94^post59, x_852^0'=x_852^post59, a_862^0'=a_862^post59, rcd_1249^0'=rcd_1249^post59, rcd_58^0'=rcd_58^post59, a_310^0'=a_310^post59, i_127^0'=i_127^post59, a_576^0'=a_576^post59, tmp_34^0'=tmp_34^post59, length_29^0'=length_29^post59, a_1162^0'=a_1162^post59, f_969^0'=f_969^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59, a_395^0'=a_395^post59, x_17^0'=x_17^post59, a_633^0'=a_633^post59, r_224^0'=r_224^post59, a_239^0'=a_239^post59, i_107^0'=i_107^post59, a_431^0'=a_431^post59, temp0_16^0'=temp0_16^post59, len_238^0'=len_238^post59, x_SLAM_f_19^0'=x_SLAM_f_19^post59, a_924^0'=a_924^post59, ct_18^0'=ct_18^post59, result_11^0'=result_11^post59, a_392^0'=a_392^post59, i_197^0'=i_197^post59, a_579^0'=a_579^post59, r_143^0'=r_143^post59, a_1236^0'=a_1236^post59, head_32^0'=head_32^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59, i_30^0'=i_30^post59, x_253^0'=x_253^post59, a_635^0'=a_635^post59, r_970^0'=r_970^post59, rcd_47^0'=rcd_47^post59, a_309^0'=a_309^post59, i_1248^0'=i_1248^post59, a_575^0'=a_575^post59, temp_35^0'=temp_35^post59, len_861^0'=len_861^post59, (tmp_34^0-tmp_34^post59 == 0 /\ f_847^0-f_847^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -r_143^post59+r_143^0 == 0 /\ 1+head_15^0 <= 0 /\ head_15^0-head_15^post59 == 0 /\ -len_238^post59+len_238^0 == 0 /\ -a_635^post59+a_635^0 == 0 /\ -x_SLAM_f_19^post59+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post59 == 0 /\ -i_113^post59+i_113^0 == 0 /\ -a_417^post59+a_417^0 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ -a_575^post59+a_575^0 == 0 /\ a_902^0-a_902^post59 == 0 /\ -a_309^post59+a_309^0 == 0 /\ -a_1236^post59+a_1236^0 == 0 /\ a_633^0-a_633^post59 == 0 /\ a_862^0-a_862^post59 == 0 /\ ct_18^0-ct_18^post59 == 0 /\ x_156^0-x_156^post59 == 0 /\ a_610^0-a_610^post59 == 0 /\ -a_432^post59+a_432^0 == 0 /\ -a_121^post59+a_121^0 == 0 /\ a_144^0-a_144^post59 == 0 /\ x_14^0-x_14^post59 == 0 /\ a_947^0-a_947^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ i_27^0-i_27^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post59 == 0 /\ -a_431^post59+a_431^0 == 0 /\ t_458^0-t_458^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ a_430^0-a_430^post59 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -a_310^post59+a_310^0 == 0 /\ a_263^0-a_263^post59 == 0 /\ a_311^0-a_311^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -x_253^post59+x_253^0 == 0 /\ i_106^0-i_106^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59 == 0 /\ -rcd_47^post59+rcd_47^0 == 0 /\ -a_392^post59+a_392^0 == 0 /\ a_576^0-a_576^post59 == 0 /\ -r_224^post59+r_224^0 == 0 /\ -i_197^post59+i_197^0 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ f_248^0-f_248^post59 == 0 /\ -x_852^post59+x_852^0 == 0 /\ y_20^0-y_20^post59 == 0 /\ a_393^0-a_393^post59 == 0 /\ -r_970^post59+r_970^0 == 0 /\ a_632^0-a_632^post59 == 0 /\ r_151^0-r_151^post59 == 0 /\ -rcd_58^post59+rcd_58^0 == 0 /\ -a_395^post59+a_395^0 == 0 /\ temp0_31^0-temp0_31^post59 == 0 /\ -a_579^post59+a_579^0 == 0 /\ x_975^0-x_975^post59 == 0 /\ len_262^0-len_262^post59 == 0 /\ -i_229^post59+i_229^0 == 0 /\ -i_127^post59+i_127^0 == 0 /\ a_634^0-a_634^post59 == 0 /\ a_577^0-a_577^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 == 0 /\ a_394^0-a_394^post59 == 0 /\ -a_1162^post59+a_1162^0 == 0 /\ -a_924^post59+a_924^0 == 0 /\ r_192^0-r_192^post59 == 0 /\ f_969^0-f_969^post59 == 0 /\ -i_107^post59+i_107^0 == 0 /\ -i_1248^post59+i_1248^0 == 0 /\ a_176^0-a_176^post59 == 0 /\ -x_17^post59+x_17^0 == 0 /\ -a_239^post59+a_239^0 == 0 /\ -t_24^post59+t_24^0 == 0 /\ -temp0_16^post59+temp0_16^0 == 0 /\ -len_861^post59+len_861^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ i_140^0-i_140^post59 == 0 /\ -i_30^post59+i_30^0 == 0 /\ len_161^0-len_161^post59 == 0 /\ rcd_1249^0-rcd_1249^post59 == 0 /\ i_1053^0-i_1053^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0), cost: 1 60: l39 -> l40 : a_1089^0'=a_1089^post60, f_847^0'=f_847^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_394^0'=a_394^post60, x_156^0'=x_156^post60, a_632^0'=a_632^post60, r_192^0'=r_192^post60, a_176^0'=a_176^post60, i_106^0'=i_106^post60, a_430^0'=a_430^post60, t_458^0'=t_458^post60, len_161^0'=len_161^post60, x_975^0'=x_975^post60, a_902^0'=a_902^post60, a_947^0'=a_947^post60, rcd_88^0'=rcd_88^post60, a_311^0'=a_311^post60, i_140^0'=i_140^post60, a_577^0'=a_577^post60, x_14^0'=x_14^post60, nondet_12^0'=nondet_12^post60, a_121^0'=a_121^post60, head_15^0'=head_15^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60, i_27^0'=i_27^post60, x_21^0'=x_21^post60, a_634^0'=a_634^post60, r_39^0'=r_39^post60, a_263^0'=a_263^post60, i_113^0'=i_113^post60, a_432^0'=a_432^post60, temp0_31^0'=temp0_31^post60, len_262^0'=len_262^post60, y_20^0'=y_20^post60, f_248^0'=f_248^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_393^0'=a_393^post60, i_229^0'=i_229^post60, a_610^0'=a_610^post60, r_151^0'=r_151^post60, a_144^0'=a_144^post60, i_1053^0'=i_1053^post60, a_417^0'=a_417^post60, t_24^0'=t_24^post60, i_94^0'=i_94^post60, x_852^0'=x_852^post60, a_862^0'=a_862^post60, rcd_1249^0'=rcd_1249^post60, rcd_58^0'=rcd_58^post60, a_310^0'=a_310^post60, i_127^0'=i_127^post60, a_576^0'=a_576^post60, tmp_34^0'=tmp_34^post60, length_29^0'=length_29^post60, a_1162^0'=a_1162^post60, f_969^0'=f_969^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60, a_395^0'=a_395^post60, x_17^0'=x_17^post60, a_633^0'=a_633^post60, r_224^0'=r_224^post60, a_239^0'=a_239^post60, i_107^0'=i_107^post60, a_431^0'=a_431^post60, temp0_16^0'=temp0_16^post60, len_238^0'=len_238^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, a_924^0'=a_924^post60, ct_18^0'=ct_18^post60, result_11^0'=result_11^post60, a_392^0'=a_392^post60, i_197^0'=i_197^post60, a_579^0'=a_579^post60, r_143^0'=r_143^post60, a_1236^0'=a_1236^post60, head_32^0'=head_32^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60, i_30^0'=i_30^post60, x_253^0'=x_253^post60, a_635^0'=a_635^post60, r_970^0'=r_970^post60, rcd_47^0'=rcd_47^post60, a_309^0'=a_309^post60, i_1248^0'=i_1248^post60, a_575^0'=a_575^post60, temp_35^0'=temp_35^post60, len_861^0'=len_861^post60, (-i_1248^post60+i_1248^0 == 0 /\ i_27^0-i_27^post60 == 0 /\ t_24^0-t_24^post60 == 0 /\ -head_32^post60+head_32^0 == 0 /\ a_634^0-a_634^post60 == 0 /\ -a_239^post60+a_239^0 == 0 /\ a_947^0-a_947^post60 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ -i_229^post60+i_229^0 == 0 /\ -a_263^post60+a_263^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ -i_197^post60+i_197^0 == 0 /\ -a_579^post60+a_579^0 == 0 /\ -len_262^post60+len_262^0 == 0 /\ -x_253^post60+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ a_430^0-a_430^post60 == 0 /\ a_176^0-a_176^post60 == 0 /\ length_29^0-length_29^post60 == 0 /\ -a_395^post60+a_395^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post60 == 0 /\ head_15^0-head_15^post60 == 0 /\ 1-x_852^0 <= 0 /\ -a_309^post60+a_309^0 == 0 /\ f_248^0-f_248^post60 == 0 /\ r_151^0-r_151^post60 == 0 /\ a_902^0-a_902^post60 == 0 /\ -a_1162^post60+a_1162^0 == 0 /\ -x_17^post60+x_17^0 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -x_21^post60+x_21^0 == 0 /\ a_432^0-a_432^post60 == 0 /\ -i_1053^post60+i_1053^0 == 0 /\ -i_30^post60+i_30^0 == 0 /\ -a_635^post60+a_635^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ i_113^0-i_113^post60 == 0 /\ a_144^0-a_144^post60 == 0 /\ x_156^0-x_156^post60 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -r_224^post60+r_224^0 == 0 /\ -a_924^post60+a_924^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ -len_861^post60+len_861^0 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ len_238^0-len_238^post60 == 0 /\ len_161^0-len_161^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -x_SLAM_f_19^post60+x_SLAM_f_19^0 == 0 /\ -r_143^post60+r_143^0 == 0 /\ x_852^0-x_852^post60 == 0 /\ a_1089^0-a_1089^post60 == 0 /\ a_394^0-a_394^post60 == 0 /\ a_417^0-a_417^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ y_20^0-y_20^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_311^0-a_311^post60 == 0 /\ rcd_1249^0-rcd_1249^post60 == 0 /\ f_847^0-f_847^post60 == 0 /\ -i_107^post60+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60 == 0 /\ -x_14^post60+x_14^0 == 0 /\ -x_975^post60+x_975^0 == 0 /\ -a_576^post60+a_576^0 == 0 /\ i_140^0-i_140^post60 == 0 /\ i_106^0-i_106^post60 == 0 /\ -a_1236^post60+a_1236^0 == 0 /\ a_633^0-a_633^post60 == 0 /\ -a_121^post60+a_121^0 == 0 /\ -a_310^post60+a_310^0 == 0 /\ a_393^0-a_393^post60 == 0 /\ -a_862^post60+a_862^0 == 0 /\ -a_431^post60+a_431^0 == 0 /\ t_458^0-t_458^post60 == 0 /\ a_577^0-a_577^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ f_969^0-f_969^post60 == 0 /\ -a_392^post60+a_392^0 == 0 /\ -rcd_47^post60+rcd_47^0 == 0 /\ i_127^0-i_127^post60 == 0 /\ -r_970^post60+r_970^0 == 0 /\ a_575^0-a_575^post60 == 0 /\ -a_610^post60+a_610^0 == 0 /\ -i_94^post60+i_94^0 == 0), cost: 1 61: l39 -> l40 : a_1089^0'=a_1089^post61, f_847^0'=f_847^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_394^0'=a_394^post61, x_156^0'=x_156^post61, a_632^0'=a_632^post61, r_192^0'=r_192^post61, a_176^0'=a_176^post61, i_106^0'=i_106^post61, a_430^0'=a_430^post61, t_458^0'=t_458^post61, len_161^0'=len_161^post61, x_975^0'=x_975^post61, a_902^0'=a_902^post61, a_947^0'=a_947^post61, rcd_88^0'=rcd_88^post61, a_311^0'=a_311^post61, i_140^0'=i_140^post61, a_577^0'=a_577^post61, x_14^0'=x_14^post61, nondet_12^0'=nondet_12^post61, a_121^0'=a_121^post61, head_15^0'=head_15^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61, i_27^0'=i_27^post61, x_21^0'=x_21^post61, a_634^0'=a_634^post61, r_39^0'=r_39^post61, a_263^0'=a_263^post61, i_113^0'=i_113^post61, a_432^0'=a_432^post61, temp0_31^0'=temp0_31^post61, len_262^0'=len_262^post61, y_20^0'=y_20^post61, f_248^0'=f_248^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_393^0'=a_393^post61, i_229^0'=i_229^post61, a_610^0'=a_610^post61, r_151^0'=r_151^post61, a_144^0'=a_144^post61, i_1053^0'=i_1053^post61, a_417^0'=a_417^post61, t_24^0'=t_24^post61, i_94^0'=i_94^post61, x_852^0'=x_852^post61, a_862^0'=a_862^post61, rcd_1249^0'=rcd_1249^post61, rcd_58^0'=rcd_58^post61, a_310^0'=a_310^post61, i_127^0'=i_127^post61, a_576^0'=a_576^post61, tmp_34^0'=tmp_34^post61, length_29^0'=length_29^post61, a_1162^0'=a_1162^post61, f_969^0'=f_969^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61, a_395^0'=a_395^post61, x_17^0'=x_17^post61, a_633^0'=a_633^post61, r_224^0'=r_224^post61, a_239^0'=a_239^post61, i_107^0'=i_107^post61, a_431^0'=a_431^post61, temp0_16^0'=temp0_16^post61, len_238^0'=len_238^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, a_924^0'=a_924^post61, ct_18^0'=ct_18^post61, result_11^0'=result_11^post61, a_392^0'=a_392^post61, i_197^0'=i_197^post61, a_579^0'=a_579^post61, r_143^0'=r_143^post61, a_1236^0'=a_1236^post61, head_32^0'=head_32^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61, i_30^0'=i_30^post61, x_253^0'=x_253^post61, a_635^0'=a_635^post61, r_970^0'=r_970^post61, rcd_47^0'=rcd_47^post61, a_309^0'=a_309^post61, i_1248^0'=i_1248^post61, a_575^0'=a_575^post61, temp_35^0'=temp_35^post61, len_861^0'=len_861^post61, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61 == 0 /\ head_15^0-head_15^post61 == 0 /\ -a_633^post61+a_633^0 == 0 /\ -x_SLAM_f_19^post61+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post61 == 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ x_156^0-x_156^post61 == 0 /\ -a_432^post61+a_432^0 == 0 /\ len_262^0-len_262^post61 == 0 /\ -a_924^post61+a_924^0 == 0 /\ a_610^0-a_610^post61 == 0 /\ -i_113^post61+i_113^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ a_902^0-a_902^post61 == 0 /\ -r_143^post61+r_143^0 == 0 /\ a_862^0-a_862^post61 == 0 /\ a_634^0-a_634^post61 == 0 /\ -x_253^post61+x_253^0 == 0 /\ a_394^0-a_394^post61 == 0 /\ a_1089^0-a_1089^post61 == 0 /\ -f_969^post61+f_969^0 == 0 /\ x_14^0-x_14^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ -a_1236^post61+a_1236^0 == 0 /\ -temp_35^post61+temp_35^0 == 0 /\ a_176^0-a_176^post61 == 0 /\ -a_121^post61+a_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ -rcd_47^post61+rcd_47^0 == 0 /\ -r_970^post61+r_970^0 == 0 /\ a_392^0-a_392^post61 == 0 /\ -len_238^post61+len_238^0 == 0 /\ a_311^0-a_311^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ a_263^0-a_263^post61 == 0 /\ x_852^0-x_852^post61 == 0 /\ -a_310^post61+a_310^0 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ i_1053^0-i_1053^post61 == 0 /\ rcd_88^0-rcd_88^post61 == 0 /\ length_29^0-length_29^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61 == 0 /\ -ct_18^post61+ct_18^0 == 0 /\ 1+x_852^0 <= 0 /\ a_393^0-a_393^post61 == 0 /\ -i_1248^post61+i_1248^0 == 0 /\ -len_861^post61+len_861^0 == 0 /\ -a_239^post61+a_239^0 == 0 /\ -f_248^post61+f_248^0 == 0 /\ -r_224^post61+r_224^0 == 0 /\ -a_579^post61+a_579^0 == 0 /\ -t_24^post61+t_24^0 == 0 /\ x_975^0-x_975^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ y_20^0-y_20^post61 == 0 /\ r_151^0-r_151^post61 == 0 /\ -temp0_16^post61+temp0_16^0 == 0 /\ a_577^0-a_577^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ -a_431^post61+a_431^0 == 0 /\ -i_127^post61+i_127^0 == 0 /\ -i_229^post61+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_430^post61+a_430^0 == 0 /\ -i_197^post61+i_197^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -a_309^post61+a_309^0 == 0 /\ -a_144^post61+a_144^0 == 0 /\ a_947^0-a_947^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ -i_107^post61+i_107^0 == 0 /\ a_417^0-a_417^post61 == 0 /\ -a_575^post61+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ len_161^0-len_161^post61 == 0 /\ i_27^0-i_27^post61 == 0 /\ -a_635^post61+a_635^0 == 0 /\ a_576^0-a_576^post61 == 0 /\ -x_17^post61+x_17^0 == 0 /\ f_847^0-f_847^post61 == 0 /\ t_458^0-t_458^post61 == 0 /\ -x_21^post61+x_21^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ rcd_1249^0-rcd_1249^post61 == 0 /\ i_140^0-i_140^post61 == 0 /\ i_106^0-i_106^post61 == 0 /\ a_395^0-a_395^post61 == 0 /\ -a_1162^post61+a_1162^0 == 0), cost: 1 62: l40 -> l35 : a_1089^0'=a_1089^post62, f_847^0'=f_847^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_394^0'=a_394^post62, x_156^0'=x_156^post62, a_632^0'=a_632^post62, r_192^0'=r_192^post62, a_176^0'=a_176^post62, i_106^0'=i_106^post62, a_430^0'=a_430^post62, t_458^0'=t_458^post62, len_161^0'=len_161^post62, x_975^0'=x_975^post62, a_902^0'=a_902^post62, a_947^0'=a_947^post62, rcd_88^0'=rcd_88^post62, a_311^0'=a_311^post62, i_140^0'=i_140^post62, a_577^0'=a_577^post62, x_14^0'=x_14^post62, nondet_12^0'=nondet_12^post62, a_121^0'=a_121^post62, head_15^0'=head_15^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62, i_27^0'=i_27^post62, x_21^0'=x_21^post62, a_634^0'=a_634^post62, r_39^0'=r_39^post62, a_263^0'=a_263^post62, i_113^0'=i_113^post62, a_432^0'=a_432^post62, temp0_31^0'=temp0_31^post62, len_262^0'=len_262^post62, y_20^0'=y_20^post62, f_248^0'=f_248^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_393^0'=a_393^post62, i_229^0'=i_229^post62, a_610^0'=a_610^post62, r_151^0'=r_151^post62, a_144^0'=a_144^post62, i_1053^0'=i_1053^post62, a_417^0'=a_417^post62, t_24^0'=t_24^post62, i_94^0'=i_94^post62, x_852^0'=x_852^post62, a_862^0'=a_862^post62, rcd_1249^0'=rcd_1249^post62, rcd_58^0'=rcd_58^post62, a_310^0'=a_310^post62, i_127^0'=i_127^post62, a_576^0'=a_576^post62, tmp_34^0'=tmp_34^post62, length_29^0'=length_29^post62, a_1162^0'=a_1162^post62, f_969^0'=f_969^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62, a_395^0'=a_395^post62, x_17^0'=x_17^post62, a_633^0'=a_633^post62, r_224^0'=r_224^post62, a_239^0'=a_239^post62, i_107^0'=i_107^post62, a_431^0'=a_431^post62, temp0_16^0'=temp0_16^post62, len_238^0'=len_238^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, a_924^0'=a_924^post62, ct_18^0'=ct_18^post62, result_11^0'=result_11^post62, a_392^0'=a_392^post62, i_197^0'=i_197^post62, a_579^0'=a_579^post62, r_143^0'=r_143^post62, a_1236^0'=a_1236^post62, head_32^0'=head_32^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62, i_30^0'=i_30^post62, x_253^0'=x_253^post62, a_635^0'=a_635^post62, r_970^0'=r_970^post62, rcd_47^0'=rcd_47^post62, a_309^0'=a_309^post62, i_1248^0'=i_1248^post62, a_575^0'=a_575^post62, temp_35^0'=temp_35^post62, len_861^0'=len_861^post62, (0 == 0 /\ i_140^0-i_140^post62 == 0 /\ -a_239^post62+a_239^0 == 0 /\ a_634^0-a_634^post62 == 0 /\ i_27^0-i_27^post62 == 0 /\ -len_262^post62+len_262^0 == 0 /\ -ct_18^post62+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ -f_248^post62+f_248^0 == 0 /\ y_20^0-y_20^post62 == 0 /\ -i_197^post62+i_197^0 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ i_1053^0-i_1053^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62 == 0 /\ a_392^0-a_392^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ a_395^0-a_395^post62 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post62+head_32^0 == 0 /\ -i_127^post62+i_127^0 == 0 /\ t_458^0-t_458^post62 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_579^post62+a_579^0 == 0 /\ -a_1162^post62+a_1162^0 == 0 /\ -x_17^post62+x_17^0 == 0 /\ -i_30^post62+i_30^0 == 0 /\ -a_924^post62+a_924^0 == 0 /\ a_632^0-a_632^post62 == 0 /\ -i_107^post62+i_107^0 == 0 /\ a_393^0-a_393^post62 == 0 /\ -x_21^post62+x_21^0 == 0 /\ r_143^0-r_143^post62 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ i_113^0-i_113^post62 == 0 /\ r_192^0-r_192^post62 == 0 /\ -len_861^post62+len_861^0 == 0 /\ a_310^0-a_310^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -a_635^post62+a_635^0 == 0 /\ -a_144^post62+a_144^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -i_1248^post62+i_1248^0 == 0 /\ -a_176^post62+a_862^0 <= 0 /\ a_862^0-a_862^post62 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ -len_238^post62+len_238^0 == 0 /\ a_121^0-a_121^post62 == 0 /\ -a_610^post62+a_610^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ x_852^0-x_852^post62 == 0 /\ -len_161^post62+len_861^0 <= 0 /\ a_263^0-a_263^post62 == 0 /\ -a_633^post62+a_633^0 == 0 /\ a_394^0-a_394^post62 == 0 /\ a_417^0-a_417^post62 == 0 /\ t_24^0-t_24^post62 == 0 /\ -a_575^post62+a_575^0 == 0 /\ -rcd_1249^post62+rcd_1249^0 == 0 /\ a_947^0-a_947^post62 == 0 /\ -x_975^post62+x_975^0 == 0 /\ f_847^0-f_847^post62 == 0 /\ i_106^0-i_106^post62 == 0 /\ a_176^post62-a_862^0 <= 0 /\ rcd_47^0-rcd_47^post62 == 0 /\ 1-i_27^0 <= 0 /\ r_151^0-r_151^post62 == 0 /\ -a_576^post62+a_576^0 == 0 /\ -a_1236^post62+a_1236^0 == 0 /\ -x_253^post62+x_253^0 == 0 /\ length_29^0-length_29^post62 == 0 /\ a_430^0-a_430^post62 == 0 /\ a_311^0-a_311^post62 == 0 /\ len_161^post62-len_861^0 <= 0 /\ a_309^0-a_309^post62 == 0 /\ a_902^0-a_902^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62 == 0 /\ r_224^0-r_224^post62 == 0 /\ a_577^0-a_577^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ x_156^0-x_156^post62 == 0 /\ a_1089^0-a_1089^post62 == 0 /\ i_229^0-i_229^post62 == 0 /\ -f_969^post62+f_969^0 == 0 /\ -r_970^post62+r_970^0 == 0 /\ a_432^0-a_432^post62 == 0 /\ -a_431^post62+a_431^0 == 0 /\ x_14^0-x_14^post62 == 0), cost: 1 63: l35 -> l16 : a_1089^0'=a_1089^post63, f_847^0'=f_847^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_394^0'=a_394^post63, x_156^0'=x_156^post63, a_632^0'=a_632^post63, r_192^0'=r_192^post63, a_176^0'=a_176^post63, i_106^0'=i_106^post63, a_430^0'=a_430^post63, t_458^0'=t_458^post63, len_161^0'=len_161^post63, x_975^0'=x_975^post63, a_902^0'=a_902^post63, a_947^0'=a_947^post63, rcd_88^0'=rcd_88^post63, a_311^0'=a_311^post63, i_140^0'=i_140^post63, a_577^0'=a_577^post63, x_14^0'=x_14^post63, nondet_12^0'=nondet_12^post63, a_121^0'=a_121^post63, head_15^0'=head_15^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63, i_27^0'=i_27^post63, x_21^0'=x_21^post63, a_634^0'=a_634^post63, r_39^0'=r_39^post63, a_263^0'=a_263^post63, i_113^0'=i_113^post63, a_432^0'=a_432^post63, temp0_31^0'=temp0_31^post63, len_262^0'=len_262^post63, y_20^0'=y_20^post63, f_248^0'=f_248^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_393^0'=a_393^post63, i_229^0'=i_229^post63, a_610^0'=a_610^post63, r_151^0'=r_151^post63, a_144^0'=a_144^post63, i_1053^0'=i_1053^post63, a_417^0'=a_417^post63, t_24^0'=t_24^post63, i_94^0'=i_94^post63, x_852^0'=x_852^post63, a_862^0'=a_862^post63, rcd_1249^0'=rcd_1249^post63, rcd_58^0'=rcd_58^post63, a_310^0'=a_310^post63, i_127^0'=i_127^post63, a_576^0'=a_576^post63, tmp_34^0'=tmp_34^post63, length_29^0'=length_29^post63, a_1162^0'=a_1162^post63, f_969^0'=f_969^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63, a_395^0'=a_395^post63, x_17^0'=x_17^post63, a_633^0'=a_633^post63, r_224^0'=r_224^post63, a_239^0'=a_239^post63, i_107^0'=i_107^post63, a_431^0'=a_431^post63, temp0_16^0'=temp0_16^post63, len_238^0'=len_238^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, a_924^0'=a_924^post63, ct_18^0'=ct_18^post63, result_11^0'=result_11^post63, a_392^0'=a_392^post63, i_197^0'=i_197^post63, a_579^0'=a_579^post63, r_143^0'=r_143^post63, a_1236^0'=a_1236^post63, head_32^0'=head_32^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63, i_30^0'=i_30^post63, x_253^0'=x_253^post63, a_635^0'=a_635^post63, r_970^0'=r_970^post63, rcd_47^0'=rcd_47^post63, a_309^0'=a_309^post63, i_1248^0'=i_1248^post63, a_575^0'=a_575^post63, temp_35^0'=temp_35^post63, len_861^0'=len_861^post63, (t_458^0-t_458^post63 == 0 /\ a_430^0-a_430^post63 == 0 /\ a_902^0-a_902^post63 == 0 /\ x_975^0-x_975^post63 == 0 /\ a_577^0-a_577^post63 == 0 /\ i_106^0-i_106^post63 == 0 /\ -rcd_47^post63+rcd_47^0 == 0 /\ -a_634^post63+a_634^0 == 0 /\ -len_238^post63+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post63+a_633^0 == 0 /\ x_156^0-x_156^post63 == 0 /\ a_632^0-a_632^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -rcd_1249^post63+rcd_1249^0 == 0 /\ -r_151^post63+r_151^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ -r_143^post63+r_143^0 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ len_262^0-len_262^post63 == 0 /\ a_862^0-a_862^post63 == 0 /\ temp0_31^0-temp0_31^post63 == 0 /\ a_1162^0-a_1162^post63 == 0 /\ -f_969^post63+f_969^0 == 0 /\ -a_576^post63+a_576^0 == 0 /\ -a_431^post63+a_431^0 == 0 /\ a_310^0-a_310^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ -r_970^post63+r_970^0 == 0 /\ f_847^0-f_847^post63 == 0 /\ -a_1236^post63+a_1236^0 == 0 /\ a_392^0-a_392^post63 == 0 /\ y_20^0-y_20^post63 == 0 /\ -a_311^post63+a_311^0 == 0 /\ a_394^0-a_394^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ a_579^0-a_579^post63 == 0 /\ -x_253^post63+x_253^0 == 0 /\ i_140^0-i_140^post63 == 0 /\ -a_610^post63+a_610^0 == 0 /\ i_1053^0-i_1053^post63 == 0 /\ a_176^0-a_176^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ r_39^0-r_39^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ -f_248^post63+f_248^0 == 0 /\ -rcd_58^post63+rcd_58^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0 /\ -len_861^post63+len_861^0 == 0 /\ -len_161^post63+len_161^0 == 0 /\ -r_224^post63+r_224^0 == 0 /\ i_94^0-i_94^post63 == 0 /\ i_113^0-i_113^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63 == 0 /\ a_393^0-a_393^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ -a_239^post63+a_239^0 == 0 /\ -i_27^post63+i_27^0 == 0 /\ -r_192^post63+r_192^0 == 0 /\ a_432^0-a_432^post63 == 0 /\ -i_127^post63+i_127^0 == 0 /\ x_21^0-x_21^post63 == 0 /\ -x_17^post63+x_17^0 == 0 /\ -i_197^post63+i_197^0 == 0 /\ x_14^0-x_14^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -i_30^post63+i_30^0 == 0 /\ -x_852^post63+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_635^post63+a_635^0 == 0 /\ -a_144^post63+a_144^0 == 0 /\ i_229^0-i_229^post63 == 0 /\ a_121^0-a_121^post63 == 0 /\ -i_107^post63+i_107^0 == 0 /\ i_1248^0-i_1248^post63 == 0 /\ -a_924^post63+a_924^0 == 0 /\ -a_575^post63+a_575^0 == 0 /\ a_1089^0-a_1089^post63 == 0 /\ a_263^0-a_263^post63 == 0 /\ -a_417^post63+a_417^0 == 0 /\ -a_309^post63+a_309^0 == 0 /\ a_947^0-a_947^post63 == 0 /\ -ct_18^post63+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63 == 0 /\ -head_15^post63+head_15^0 == 0 /\ a_395^0-a_395^post63 == 0), cost: 1 65: l41 -> l42 : a_1089^0'=a_1089^post65, f_847^0'=f_847^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_394^0'=a_394^post65, x_156^0'=x_156^post65, a_632^0'=a_632^post65, r_192^0'=r_192^post65, a_176^0'=a_176^post65, i_106^0'=i_106^post65, a_430^0'=a_430^post65, t_458^0'=t_458^post65, len_161^0'=len_161^post65, x_975^0'=x_975^post65, a_902^0'=a_902^post65, a_947^0'=a_947^post65, rcd_88^0'=rcd_88^post65, a_311^0'=a_311^post65, i_140^0'=i_140^post65, a_577^0'=a_577^post65, x_14^0'=x_14^post65, nondet_12^0'=nondet_12^post65, a_121^0'=a_121^post65, head_15^0'=head_15^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65, i_27^0'=i_27^post65, x_21^0'=x_21^post65, a_634^0'=a_634^post65, r_39^0'=r_39^post65, a_263^0'=a_263^post65, i_113^0'=i_113^post65, a_432^0'=a_432^post65, temp0_31^0'=temp0_31^post65, len_262^0'=len_262^post65, y_20^0'=y_20^post65, f_248^0'=f_248^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_393^0'=a_393^post65, i_229^0'=i_229^post65, a_610^0'=a_610^post65, r_151^0'=r_151^post65, a_144^0'=a_144^post65, i_1053^0'=i_1053^post65, a_417^0'=a_417^post65, t_24^0'=t_24^post65, i_94^0'=i_94^post65, x_852^0'=x_852^post65, a_862^0'=a_862^post65, rcd_1249^0'=rcd_1249^post65, rcd_58^0'=rcd_58^post65, a_310^0'=a_310^post65, i_127^0'=i_127^post65, a_576^0'=a_576^post65, tmp_34^0'=tmp_34^post65, length_29^0'=length_29^post65, a_1162^0'=a_1162^post65, f_969^0'=f_969^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65, a_395^0'=a_395^post65, x_17^0'=x_17^post65, a_633^0'=a_633^post65, r_224^0'=r_224^post65, a_239^0'=a_239^post65, i_107^0'=i_107^post65, a_431^0'=a_431^post65, temp0_16^0'=temp0_16^post65, len_238^0'=len_238^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, a_924^0'=a_924^post65, ct_18^0'=ct_18^post65, result_11^0'=result_11^post65, a_392^0'=a_392^post65, i_197^0'=i_197^post65, a_579^0'=a_579^post65, r_143^0'=r_143^post65, a_1236^0'=a_1236^post65, head_32^0'=head_32^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65, i_30^0'=i_30^post65, x_253^0'=x_253^post65, a_635^0'=a_635^post65, r_970^0'=r_970^post65, rcd_47^0'=rcd_47^post65, a_309^0'=a_309^post65, i_1248^0'=i_1248^post65, a_575^0'=a_575^post65, temp_35^0'=temp_35^post65, len_861^0'=len_861^post65, (a_430^0-a_430^post65 == 0 /\ r_192^0-r_192^post65 == 0 /\ -a_633^post65+a_633^0 == 0 /\ i_113^0-i_113^post65 == 0 /\ x_975^0-x_975^post65 == 0 /\ i_127^0-i_127^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post65 == 0 /\ rcd_1249^0-rcd_1249^post65 == 0 /\ -a_634^post65+a_634^0 == 0 /\ 1-x_14^0 <= 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -rcd_47^post65+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post65 == 0 /\ -t_24^post65+t_24^0 == 0 /\ a_1162^0-a_1162^post65 == 0 /\ -a_924^post65+a_924^0 == 0 /\ a_432^0-a_432^post65 == 0 /\ i_27^0-i_27^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_143^post65+r_143^0 == 0 /\ a_576^0-a_576^post65 == 0 /\ -x_253^post65+x_253^0 == 0 /\ i_197^0-i_197^post65 == 0 /\ -temp_35^post65+temp_35^0 == 0 /\ i_140^0-i_140^post65 == 0 /\ -r_970^post65+r_970^0 == 0 /\ i_229^0-i_229^post65 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ x_156^0-x_156^post65 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -f_969^post65+f_969^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_847^0-f_847^post65 == 0 /\ -a_431^post65+a_431^0 == 0 /\ a_394^0-a_394^post65 == 0 /\ head_15^0-head_15^post65 == 0 /\ -a_395^post65+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_947^0-a_947^post65 == 0 /\ -len_161^post65+len_161^0 == 0 /\ i_107^0-i_107^post65 == 0 /\ a_311^0-a_311^post65 == 0 /\ -a_862^post65+a_862^0 == 0 /\ -len_861^post65+len_861^0 == 0 /\ a_902^0-a_902^post65 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ i_94^0-i_94^post65 == 0 /\ -a_1236^post65+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_1248^post65+i_1248^0 == 0 /\ r_224^0-r_224^post65 == 0 /\ a_610^0-a_610^post65 == 0 /\ -a_239^post65+a_239^0 == 0 /\ -a_393^post65+a_393^0 == 0 /\ a_1089^0-a_1089^post65 == 0 /\ -a_310^post65+a_310^0 == 0 /\ -i_30^post65+i_30^0 == 0 /\ -i_106^post65+i_106^0 == 0 /\ -i_1053^post65+i_1053^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ a_632^0-a_632^post65 == 0 /\ -a_392^post65+a_392^0 == 0 /\ x_21^0-x_21^post65 == 0 /\ len_262^0-len_262^post65 == 0 /\ -a_575^post65+a_575^0 == 0 /\ -r_151^post65+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ -t_458^post65+t_458^0 == 0 /\ temp0_31^0-temp0_31^post65 == 0 /\ -a_635^post65+a_635^0 == 0 /\ -a_579^post65+a_579^0 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -x_852^post65+x_852^0 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -a_263^post65+a_263^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ len_238^0-len_238^post65 == 0 /\ a_176^0-a_176^post65 == 0 /\ -a_144^post65+a_144^0 == 0 /\ f_248^0-f_248^post65 == 0 /\ -a_417^post65+a_417^0 == 0 /\ a_121^0-a_121^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0), cost: 1 66: l41 -> l42 : a_1089^0'=a_1089^post66, f_847^0'=f_847^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_394^0'=a_394^post66, x_156^0'=x_156^post66, a_632^0'=a_632^post66, r_192^0'=r_192^post66, a_176^0'=a_176^post66, i_106^0'=i_106^post66, a_430^0'=a_430^post66, t_458^0'=t_458^post66, len_161^0'=len_161^post66, x_975^0'=x_975^post66, a_902^0'=a_902^post66, a_947^0'=a_947^post66, rcd_88^0'=rcd_88^post66, a_311^0'=a_311^post66, i_140^0'=i_140^post66, a_577^0'=a_577^post66, x_14^0'=x_14^post66, nondet_12^0'=nondet_12^post66, a_121^0'=a_121^post66, head_15^0'=head_15^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66, i_27^0'=i_27^post66, x_21^0'=x_21^post66, a_634^0'=a_634^post66, r_39^0'=r_39^post66, a_263^0'=a_263^post66, i_113^0'=i_113^post66, a_432^0'=a_432^post66, temp0_31^0'=temp0_31^post66, len_262^0'=len_262^post66, y_20^0'=y_20^post66, f_248^0'=f_248^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_393^0'=a_393^post66, i_229^0'=i_229^post66, a_610^0'=a_610^post66, r_151^0'=r_151^post66, a_144^0'=a_144^post66, i_1053^0'=i_1053^post66, a_417^0'=a_417^post66, t_24^0'=t_24^post66, i_94^0'=i_94^post66, x_852^0'=x_852^post66, a_862^0'=a_862^post66, rcd_1249^0'=rcd_1249^post66, rcd_58^0'=rcd_58^post66, a_310^0'=a_310^post66, i_127^0'=i_127^post66, a_576^0'=a_576^post66, tmp_34^0'=tmp_34^post66, length_29^0'=length_29^post66, a_1162^0'=a_1162^post66, f_969^0'=f_969^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66, a_395^0'=a_395^post66, x_17^0'=x_17^post66, a_633^0'=a_633^post66, r_224^0'=r_224^post66, a_239^0'=a_239^post66, i_107^0'=i_107^post66, a_431^0'=a_431^post66, temp0_16^0'=temp0_16^post66, len_238^0'=len_238^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, a_924^0'=a_924^post66, ct_18^0'=ct_18^post66, result_11^0'=result_11^post66, a_392^0'=a_392^post66, i_197^0'=i_197^post66, a_579^0'=a_579^post66, r_143^0'=r_143^post66, a_1236^0'=a_1236^post66, head_32^0'=head_32^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66, i_30^0'=i_30^post66, x_253^0'=x_253^post66, a_635^0'=a_635^post66, r_970^0'=r_970^post66, rcd_47^0'=rcd_47^post66, a_309^0'=a_309^post66, i_1248^0'=i_1248^post66, a_575^0'=a_575^post66, temp_35^0'=temp_35^post66, len_861^0'=len_861^post66, (-a_417^post66+a_417^0 == 0 /\ -len_861^post66+len_861^0 == 0 /\ a_121^0-a_121^post66 == 0 /\ a_1162^0-a_1162^post66 == 0 /\ -a_392^post66+a_392^0 == 0 /\ a_576^0-a_576^post66 == 0 /\ a_263^0-a_263^post66 == 0 /\ i_197^0-i_197^post66 == 0 /\ i_229^0-i_229^post66 == 0 /\ f_847^0-f_847^post66 == 0 /\ i_140^0-i_140^post66 == 0 /\ -i_27^post66+i_27^0 == 0 /\ -a_309^post66+a_309^0 == 0 /\ -a_862^post66+a_862^0 == 0 /\ a_924^0-a_924^post66 == 0 /\ -a_635^post66+a_635^0 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -len_262^post66+len_262^0 == 0 /\ -a_393^post66+a_393^0 == 0 /\ -length_29^post66+length_29^0 == 0 /\ x_975^0-x_975^post66 == 0 /\ y_20^0-y_20^post66 == 0 /\ a_577^0-a_577^post66 == 0 /\ -a_1236^post66+a_1236^0 == 0 /\ -i_1053^post66+i_1053^0 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -a_579^post66+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_192^0-r_192^post66 == 0 /\ r_224^0-r_224^post66 == 0 /\ i_127^0-i_127^post66 == 0 /\ head_15^0-head_15^post66 == 0 /\ -i_30^post66+i_30^0 == 0 /\ i_106^0-i_106^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ a_632^0-a_632^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -i_107^post66+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ -a_575^post66+a_575^0 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -f_969^post66+f_969^0 == 0 /\ x_156^0-x_156^post66 == 0 /\ a_432^0-a_432^post66 == 0 /\ -a_633^post66+a_633^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ -a_610^post66+a_610^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ a_431^0-a_431^post66 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ x_21^0-x_21^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ -x_852^post66+x_852^0 == 0 /\ a_634^0-a_634^post66 == 0 /\ -rcd_1249^post66+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ f_248^0-f_248^post66 == 0 /\ a_394^0-a_394^post66 == 0 /\ r_970^0-r_970^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post66+len_238^0 == 0 /\ -r_151^post66+r_151^0 == 0 /\ a_947^0-a_947^post66 == 0 /\ a_311^0-a_311^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post66 == 0 /\ -len_161^post66+len_161^0 == 0 /\ -i_1248^post66+i_1248^0 == 0 /\ a_176^0-a_176^post66 == 0 /\ -x_253^post66+x_253^0 == 0 /\ -a_239^post66+a_239^0 == 0 /\ rcd_47^0-rcd_47^post66 == 0 /\ a_310^0-a_310^post66 == 0 /\ 1+x_14^0 <= 0 /\ a_1089^0-a_1089^post66 == 0 /\ temp0_16^0-temp0_16^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ a_430^0-a_430^post66 == 0 /\ -r_143^post66+r_143^0 == 0 /\ t_458^0-t_458^post66 == 0 /\ -rcd_88^post66+rcd_88^0 == 0 /\ -i_113^post66+i_113^0 == 0 /\ -a_395^post66+a_395^0 == 0), cost: 1 67: l42 -> l43 : a_1089^0'=a_1089^post67, f_847^0'=f_847^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, a_394^0'=a_394^post67, x_156^0'=x_156^post67, a_632^0'=a_632^post67, r_192^0'=r_192^post67, a_176^0'=a_176^post67, i_106^0'=i_106^post67, a_430^0'=a_430^post67, t_458^0'=t_458^post67, len_161^0'=len_161^post67, x_975^0'=x_975^post67, a_902^0'=a_902^post67, a_947^0'=a_947^post67, rcd_88^0'=rcd_88^post67, a_311^0'=a_311^post67, i_140^0'=i_140^post67, a_577^0'=a_577^post67, x_14^0'=x_14^post67, nondet_12^0'=nondet_12^post67, a_121^0'=a_121^post67, head_15^0'=head_15^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67, i_27^0'=i_27^post67, x_21^0'=x_21^post67, a_634^0'=a_634^post67, r_39^0'=r_39^post67, a_263^0'=a_263^post67, i_113^0'=i_113^post67, a_432^0'=a_432^post67, temp0_31^0'=temp0_31^post67, len_262^0'=len_262^post67, y_20^0'=y_20^post67, f_248^0'=f_248^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, a_393^0'=a_393^post67, i_229^0'=i_229^post67, a_610^0'=a_610^post67, r_151^0'=r_151^post67, a_144^0'=a_144^post67, i_1053^0'=i_1053^post67, a_417^0'=a_417^post67, t_24^0'=t_24^post67, i_94^0'=i_94^post67, x_852^0'=x_852^post67, a_862^0'=a_862^post67, rcd_1249^0'=rcd_1249^post67, rcd_58^0'=rcd_58^post67, a_310^0'=a_310^post67, i_127^0'=i_127^post67, a_576^0'=a_576^post67, tmp_34^0'=tmp_34^post67, length_29^0'=length_29^post67, a_1162^0'=a_1162^post67, f_969^0'=f_969^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67, a_395^0'=a_395^post67, x_17^0'=x_17^post67, a_633^0'=a_633^post67, r_224^0'=r_224^post67, a_239^0'=a_239^post67, i_107^0'=i_107^post67, a_431^0'=a_431^post67, temp0_16^0'=temp0_16^post67, len_238^0'=len_238^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, a_924^0'=a_924^post67, ct_18^0'=ct_18^post67, result_11^0'=result_11^post67, a_392^0'=a_392^post67, i_197^0'=i_197^post67, a_579^0'=a_579^post67, r_143^0'=r_143^post67, a_1236^0'=a_1236^post67, head_32^0'=head_32^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67, i_30^0'=i_30^post67, x_253^0'=x_253^post67, a_635^0'=a_635^post67, r_970^0'=r_970^post67, rcd_47^0'=rcd_47^post67, a_309^0'=a_309^post67, i_1248^0'=i_1248^post67, a_575^0'=a_575^post67, temp_35^0'=temp_35^post67, len_861^0'=len_861^post67, (0 == 0 /\ a_577^0-a_577^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post67+a_579^0 == 0 /\ a_902^0-a_902^post67 == 0 /\ -i_197^post67+i_197^0 == 0 /\ -x_253^post67+x_253^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ a_1089^0-a_1089^post67 == 0 /\ -a_263^post67+a_263^0 == 0 /\ i_106^0-i_106^post67 == 0 /\ len_161^0-len_161^post67 == 0 /\ -x_852^post67+x_852^0 == 0 /\ rcd_1249^0-rcd_1249^post67 == 0 /\ t_458^0-t_458^post67 == 0 /\ -r_970^post67+r_970^0 == 0 /\ a_430^0-a_430^post67 == 0 /\ -a_431^post67+a_431^0 == 0 /\ a_632^0-a_632^post67 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -a_239^post67+a_239^0 == 0 /\ x_21^0-x_21^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ -a_395^post67+a_395^0 == 0 /\ -len_861^post67+len_861^0 == 0 /\ f_847^0-f_847^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ a_924^0-a_924^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67 == 0 /\ i_94^0-i_94^post67 == 0 /\ -r_224^post67+r_224^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ a_121^0-a_121^post67 == 0 /\ a_176^0-a_176^post67 == 0 /\ -a_576^post67+a_576^0 == 0 /\ -a_634^post67+a_634^0 == 0 /\ -i_1053^post67+i_1053^0 == 0 /\ i_127^0-i_127^post67 == 0 /\ len_262^0-len_262^post67 == 0 /\ a_394^0-a_394^post67 == 0 /\ -r_143^post67+r_143^0 == 0 /\ -a_417^post67+a_417^0 == 0 /\ -i_27^post67+i_27^0 == 0 /\ -i_107^post67+i_107^0 == 0 /\ -a_575^post67+a_575^0 == 0 /\ i_113^0-i_113^post67 == 0 /\ -a_1236^post67+a_1236^0 == 0 /\ a_310^0-a_310^post67 == 0 /\ r_192^0-r_192^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ f_969^0-f_969^post67 == 0 /\ -x_17^post67+x_17^0 == 0 /\ t_24^0-t_24^post67 == 0 /\ a_311^0-a_311^post67 == 0 /\ -x_14^post67+x_14^0 == 0 /\ a_393^0-a_393^post67 == 0 /\ -a_635^post67+a_635^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ i_140^0-i_140^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -a_633^post67+a_633^0 == 0 /\ a_432^0-a_432^post67 == 0 /\ 1-i_27^0 <= 0 /\ i_1248^0-i_1248^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ -len_238^post67+len_238^0 == 0 /\ a_1162^0-a_1162^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post67 == 0 /\ y_20^0-y_20^post67 == 0 /\ i_229^0-i_229^post67 == 0 /\ -r_151^post67+r_151^0 == 0 /\ -a_862^post67+a_862^0 == 0 /\ f_248^0-f_248^post67 == 0 /\ -a_610^post67+a_610^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ x_975^0-x_975^post67 == 0 /\ -rcd_47^post67+rcd_47^0 == 0 /\ a_144^0-a_144^post67 == 0 /\ x_156^0-x_156^post67 == 0 /\ -a_392^post67+a_392^0 == 0 /\ a_947^0-a_947^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67-nondet_12^13 == 0), cost: 1 68: l43 -> l44 : a_1089^0'=a_1089^post68, f_847^0'=f_847^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, a_394^0'=a_394^post68, x_156^0'=x_156^post68, a_632^0'=a_632^post68, r_192^0'=r_192^post68, a_176^0'=a_176^post68, i_106^0'=i_106^post68, a_430^0'=a_430^post68, t_458^0'=t_458^post68, len_161^0'=len_161^post68, x_975^0'=x_975^post68, a_902^0'=a_902^post68, a_947^0'=a_947^post68, rcd_88^0'=rcd_88^post68, a_311^0'=a_311^post68, i_140^0'=i_140^post68, a_577^0'=a_577^post68, x_14^0'=x_14^post68, nondet_12^0'=nondet_12^post68, a_121^0'=a_121^post68, head_15^0'=head_15^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68, i_27^0'=i_27^post68, x_21^0'=x_21^post68, a_634^0'=a_634^post68, r_39^0'=r_39^post68, a_263^0'=a_263^post68, i_113^0'=i_113^post68, a_432^0'=a_432^post68, temp0_31^0'=temp0_31^post68, len_262^0'=len_262^post68, y_20^0'=y_20^post68, f_248^0'=f_248^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, a_393^0'=a_393^post68, i_229^0'=i_229^post68, a_610^0'=a_610^post68, r_151^0'=r_151^post68, a_144^0'=a_144^post68, i_1053^0'=i_1053^post68, a_417^0'=a_417^post68, t_24^0'=t_24^post68, i_94^0'=i_94^post68, x_852^0'=x_852^post68, a_862^0'=a_862^post68, rcd_1249^0'=rcd_1249^post68, rcd_58^0'=rcd_58^post68, a_310^0'=a_310^post68, i_127^0'=i_127^post68, a_576^0'=a_576^post68, tmp_34^0'=tmp_34^post68, length_29^0'=length_29^post68, a_1162^0'=a_1162^post68, f_969^0'=f_969^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68, a_395^0'=a_395^post68, x_17^0'=x_17^post68, a_633^0'=a_633^post68, r_224^0'=r_224^post68, a_239^0'=a_239^post68, i_107^0'=i_107^post68, a_431^0'=a_431^post68, temp0_16^0'=temp0_16^post68, len_238^0'=len_238^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, a_924^0'=a_924^post68, ct_18^0'=ct_18^post68, result_11^0'=result_11^post68, a_392^0'=a_392^post68, i_197^0'=i_197^post68, a_579^0'=a_579^post68, r_143^0'=r_143^post68, a_1236^0'=a_1236^post68, head_32^0'=head_32^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68, i_30^0'=i_30^post68, x_253^0'=x_253^post68, a_635^0'=a_635^post68, r_970^0'=r_970^post68, rcd_47^0'=rcd_47^post68, a_309^0'=a_309^post68, i_1248^0'=i_1248^post68, a_575^0'=a_575^post68, temp_35^0'=temp_35^post68, len_861^0'=len_861^post68, (t_458^0-t_458^post68 == 0 /\ a_902^0-a_902^post68 == 0 /\ -a_610^post68+a_610^0 == 0 /\ i_106^0-i_106^post68 == 0 /\ -a_634^post68+a_634^0 == 0 /\ head_15^0-head_15^post68 == 0 /\ a_577^0-a_577^post68 == 0 /\ -rcd_47^post68+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68 == 0 /\ -rcd_1249^post68+rcd_1249^0 == 0 /\ a_310^0-a_310^post68 == 0 /\ a_1089^0-a_1089^post68 == 0 /\ -r_143^post68+r_143^0 == 0 /\ x_156^0-x_156^post68 == 0 /\ -a_633^post68+a_633^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ a_632^0-a_632^post68 == 0 /\ -len_238^post68+len_238^0 == 0 /\ -r_151^post68+r_151^0 == 0 /\ a_121^0-a_121^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ len_262^0-len_262^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post68 == 0 /\ -f_969^post68+f_969^0 == 0 /\ -a_576^post68+a_576^0 == 0 /\ a_263^0-a_263^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ y_20^0-y_20^post68 == 0 /\ f_847^0-f_847^post68 == 0 /\ a_392^0-a_392^post68 == 0 /\ -a_311^post68+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68 == 0 /\ a_394^0-a_394^post68 == 0 /\ -a_1236^post68+a_1236^0 == 0 /\ a_579^0-a_579^post68 == 0 /\ -x_253^post68+x_253^0 == 0 /\ -r_970^post68+r_970^0 == 0 /\ i_1053^0-i_1053^post68 == 0 /\ -rcd_88^post68+rcd_88^0 == 0 /\ a_176^0-a_176^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -i_1248^post68+i_1248^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -f_248^post68+f_248^0 == 0 /\ -a_239^post68+a_239^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_430^post68+a_430^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68 == 0 /\ i_94^0-i_94^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ x_975^0-x_975^post68 == 0 /\ i_113^0-i_113^post68 == 0 /\ -r_224^post68+r_224^0 == 0 /\ -i_197^post68+i_197^0 == 0 /\ a_393^0-a_393^post68 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -i_27^post68+i_27^0 == 0 /\ -r_192^post68+r_192^0 == 0 /\ a_432^0-a_432^post68 == 0 /\ x_21^0-x_21^post68 == 0 /\ x_14^0-x_14^post68 == 0 /\ -x_17^post68+x_17^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ len_161^0-len_161^post68 == 0 /\ -i_127^post68+i_127^0 == 0 /\ -x_852^post68+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ i_140^0-i_140^post68 == 0 /\ -a_309^post68+a_309^0 == 0 /\ i_229^0-i_229^post68 == 0 /\ -i_107^post68+i_107^0 == 0 /\ a_431^0-a_431^post68 == 0 /\ t_24^0-t_24^post68 == 0 /\ -a_924^post68+a_924^0 == 0 /\ -a_575^post68+a_575^0 == 0 /\ a_862^0-a_862^post68 == 0 /\ -a_417^post68+a_417^0 == 0 /\ -len_861^post68+len_861^0 == 0 /\ a_947^0-a_947^post68 == 0 /\ -a_635^post68+a_635^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ -a_1162^post68+a_1162^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ a_395^0-a_395^post68 == 0), cost: 1 69: l43 -> l44 : a_1089^0'=a_1089^post69, f_847^0'=f_847^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, a_394^0'=a_394^post69, x_156^0'=x_156^post69, a_632^0'=a_632^post69, r_192^0'=r_192^post69, a_176^0'=a_176^post69, i_106^0'=i_106^post69, a_430^0'=a_430^post69, t_458^0'=t_458^post69, len_161^0'=len_161^post69, x_975^0'=x_975^post69, a_902^0'=a_902^post69, a_947^0'=a_947^post69, rcd_88^0'=rcd_88^post69, a_311^0'=a_311^post69, i_140^0'=i_140^post69, a_577^0'=a_577^post69, x_14^0'=x_14^post69, nondet_12^0'=nondet_12^post69, a_121^0'=a_121^post69, head_15^0'=head_15^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69, i_27^0'=i_27^post69, x_21^0'=x_21^post69, a_634^0'=a_634^post69, r_39^0'=r_39^post69, a_263^0'=a_263^post69, i_113^0'=i_113^post69, a_432^0'=a_432^post69, temp0_31^0'=temp0_31^post69, len_262^0'=len_262^post69, y_20^0'=y_20^post69, f_248^0'=f_248^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, a_393^0'=a_393^post69, i_229^0'=i_229^post69, a_610^0'=a_610^post69, r_151^0'=r_151^post69, a_144^0'=a_144^post69, i_1053^0'=i_1053^post69, a_417^0'=a_417^post69, t_24^0'=t_24^post69, i_94^0'=i_94^post69, x_852^0'=x_852^post69, a_862^0'=a_862^post69, rcd_1249^0'=rcd_1249^post69, rcd_58^0'=rcd_58^post69, a_310^0'=a_310^post69, i_127^0'=i_127^post69, a_576^0'=a_576^post69, tmp_34^0'=tmp_34^post69, length_29^0'=length_29^post69, a_1162^0'=a_1162^post69, f_969^0'=f_969^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69, a_395^0'=a_395^post69, x_17^0'=x_17^post69, a_633^0'=a_633^post69, r_224^0'=r_224^post69, a_239^0'=a_239^post69, i_107^0'=i_107^post69, a_431^0'=a_431^post69, temp0_16^0'=temp0_16^post69, len_238^0'=len_238^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, a_924^0'=a_924^post69, ct_18^0'=ct_18^post69, result_11^0'=result_11^post69, a_392^0'=a_392^post69, i_197^0'=i_197^post69, a_579^0'=a_579^post69, r_143^0'=r_143^post69, a_1236^0'=a_1236^post69, head_32^0'=head_32^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69, i_30^0'=i_30^post69, x_253^0'=x_253^post69, a_635^0'=a_635^post69, r_970^0'=r_970^post69, rcd_47^0'=rcd_47^post69, a_309^0'=a_309^post69, i_1248^0'=i_1248^post69, a_575^0'=a_575^post69, temp_35^0'=temp_35^post69, len_861^0'=len_861^post69, (x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_140^0-i_140^post69 == 0 /\ i_197^0-i_197^post69 == 0 /\ -len_262^post69+len_262^0 == 0 /\ -f_248^post69+f_248^0 == 0 /\ a_1089^0-a_1089^post69 == 0 /\ a_1162^0-a_1162^post69 == 0 /\ a_634^0-a_634^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ -i_1053^post69+i_1053^0 == 0 /\ -i_1248^post69+i_1248^0 == 0 /\ y_20^0-y_20^post69 == 0 /\ -i_27^post69+i_27^0 == 0 /\ -a_239^post69+a_239^0 == 0 /\ -a_392^post69+a_392^0 == 0 /\ a_924^0-a_924^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post69 == 0 /\ -i_127^post69+i_127^0 == 0 /\ a_176^0-a_176^post69 == 0 /\ -len_861^post69+len_861^0 == 0 /\ -a_579^post69+a_579^0 == 0 /\ -i_30^post69+i_30^0 == 0 /\ i_106^0-i_106^post69 == 0 /\ x_975^0-x_975^post69 == 0 /\ -a_635^post69+a_635^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post69+head_15^0 == 0 /\ -x_852^post69+x_852^0 == 0 /\ -x_17^post69+x_17^0 == 0 /\ t_458^0-t_458^post69 == 0 /\ a_393^0-a_393^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post69+a_309^0 == 0 /\ -a_144^post69+a_144^0 == 0 /\ a_310^0-a_310^post69 == 0 /\ -a_417^post69+a_417^0 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -i_107^post69+i_107^0 == 0 /\ a_632^0-a_632^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -a_575^post69+a_575^0 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -len_238^post69+len_238^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ a_121^0-a_121^post69 == 0 /\ a_862^0-a_862^post69 == 0 /\ x_21^0-x_21^post69 == 0 /\ -a_633^post69+a_633^0 == 0 /\ len_161^0-len_161^post69 == 0 /\ x_156^0-x_156^post69 == 0 /\ a_947^0-a_947^post69 == 0 /\ f_847^0-f_847^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ a_263^0-a_263^post69 == 0 /\ a_394^0-a_394^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -f_969^post69+f_969^0 == 0 /\ -rcd_1249^post69+rcd_1249^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -x_253^post69+x_253^0 == 0 /\ -a_576^post69+a_576^0 == 0 /\ r_224^0-r_224^post69 == 0 /\ -r_970^post69+r_970^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ a_430^0-a_430^post69 == 0 /\ r_151^0-r_151^post69 == 0 /\ -r_143^post69+r_143^0 == 0 /\ -a_431^post69+a_431^0 == 0 /\ rcd_47^0-rcd_47^post69 == 0 /\ a_902^0-a_902^post69 == 0 /\ a_311^0-a_311^post69 == 0 /\ a_577^0-a_577^post69 == 0 /\ i_113^0-i_113^post69 == 0 /\ i_94^0-i_94^post69 == 0 /\ i_229^0-i_229^post69 == 0 /\ a_432^0-a_432^post69 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ -a_610^post69+a_610^0 == 0 /\ r_192^0-r_192^post69 == 0 /\ -a_1236^post69+a_1236^0 == 0 /\ -temp_35^post69+temp_35^0 == 0), cost: 1 70: l44 -> l45 : a_1089^0'=a_1089^post70, f_847^0'=f_847^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, a_394^0'=a_394^post70, x_156^0'=x_156^post70, a_632^0'=a_632^post70, r_192^0'=r_192^post70, a_176^0'=a_176^post70, i_106^0'=i_106^post70, a_430^0'=a_430^post70, t_458^0'=t_458^post70, len_161^0'=len_161^post70, x_975^0'=x_975^post70, a_902^0'=a_902^post70, a_947^0'=a_947^post70, rcd_88^0'=rcd_88^post70, a_311^0'=a_311^post70, i_140^0'=i_140^post70, a_577^0'=a_577^post70, x_14^0'=x_14^post70, nondet_12^0'=nondet_12^post70, a_121^0'=a_121^post70, head_15^0'=head_15^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70, i_27^0'=i_27^post70, x_21^0'=x_21^post70, a_634^0'=a_634^post70, r_39^0'=r_39^post70, a_263^0'=a_263^post70, i_113^0'=i_113^post70, a_432^0'=a_432^post70, temp0_31^0'=temp0_31^post70, len_262^0'=len_262^post70, y_20^0'=y_20^post70, f_248^0'=f_248^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, a_393^0'=a_393^post70, i_229^0'=i_229^post70, a_610^0'=a_610^post70, r_151^0'=r_151^post70, a_144^0'=a_144^post70, i_1053^0'=i_1053^post70, a_417^0'=a_417^post70, t_24^0'=t_24^post70, i_94^0'=i_94^post70, x_852^0'=x_852^post70, a_862^0'=a_862^post70, rcd_1249^0'=rcd_1249^post70, rcd_58^0'=rcd_58^post70, a_310^0'=a_310^post70, i_127^0'=i_127^post70, a_576^0'=a_576^post70, tmp_34^0'=tmp_34^post70, length_29^0'=length_29^post70, a_1162^0'=a_1162^post70, f_969^0'=f_969^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70, a_395^0'=a_395^post70, x_17^0'=x_17^post70, a_633^0'=a_633^post70, r_224^0'=r_224^post70, a_239^0'=a_239^post70, i_107^0'=i_107^post70, a_431^0'=a_431^post70, temp0_16^0'=temp0_16^post70, len_238^0'=len_238^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, a_924^0'=a_924^post70, ct_18^0'=ct_18^post70, result_11^0'=result_11^post70, a_392^0'=a_392^post70, i_197^0'=i_197^post70, a_579^0'=a_579^post70, r_143^0'=r_143^post70, a_1236^0'=a_1236^post70, head_32^0'=head_32^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70, i_30^0'=i_30^post70, x_253^0'=x_253^post70, a_635^0'=a_635^post70, r_970^0'=r_970^post70, rcd_47^0'=rcd_47^post70, a_309^0'=a_309^post70, i_1248^0'=i_1248^post70, a_575^0'=a_575^post70, temp_35^0'=temp_35^post70, len_861^0'=len_861^post70, (t_458^0-t_458^post70 == 0 /\ i_106^0-i_106^post70 == 0 /\ a_632^0-a_632^post70 == 0 /\ 1+i_27^post70-i_27^0 == 0 /\ a_430^0-a_430^post70 == 0 /\ x_975^0-x_975^post70 == 0 /\ i_127^0-i_127^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ rcd_1249^0-rcd_1249^post70 == 0 /\ a_902^0-a_902^post70 == 0 /\ -a_634^post70+a_634^0 == 0 /\ a_577^0-a_577^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ -rcd_47^post70+rcd_47^0 == 0 /\ 1+i_27^post70-i_197^0 <= 0 /\ -x_253^post70+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post70 == 0 /\ a_1162^0-a_1162^post70 == 0 /\ i_229^0-i_229^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ -r_143^post70+r_143^0 == 0 /\ temp0_31^0-temp0_31^post70 == 0 /\ -a_576^post70+a_576^0 == 0 /\ -r_224^post70+r_224^0 == 0 /\ i_197^0-i_197^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ a_394^0-a_394^post70 == 0 /\ i_140^0-i_140^post70 == 0 /\ len_262^0-len_262^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ -f_969^post70+f_969^0 == 0 /\ a_176^0-a_176^post70 == 0 /\ -a_431^post70+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ y_20^0-y_20^post70 == 0 /\ f_847^0-f_847^post70 == 0 /\ a_924^0-a_924^post70 == 0 /\ -r_970^post70+r_970^0 == 0 /\ -a_395^post70+a_395^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -a_1236^post70+a_1236^0 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ -len_161^post70+len_161^0 == 0 /\ a_610^0-a_610^post70 == 0 /\ a_311^0-a_311^post70 == 0 /\ -a_862^post70+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70 == 0 /\ i_94^0-i_94^post70 == 0 /\ -i_1248^post70+i_1248^0 == 0 /\ -a_392^post70+a_392^0 == 0 /\ i_113^0-i_113^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ -a_239^post70+a_239^0 == 0 /\ a_393^0-a_393^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -1-i_27^post70+i_197^0 <= 0 /\ x_156^0-x_156^post70 == 0 /\ a_1089^0-a_1089^post70 == 0 /\ a_432^0-a_432^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -a_310^post70+a_310^0 == 0 /\ -i_1053^post70+i_1053^0 == 0 /\ x_21^0-x_21^post70 == 0 /\ -len_861^post70+len_861^0 == 0 /\ -r_192^post70+r_192^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -x_852^post70+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ -r_151^post70+r_151^0 == 0 /\ -t_24^post70+t_24^0 == 0 /\ -a_579^post70+a_579^0 == 0 /\ -a_309^post70+a_309^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -a_635^post70+a_635^0 == 0 /\ -i_107^post70+i_107^0 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ a_947^0-a_947^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ -a_575^post70+a_575^0 == 0 /\ len_238^0-len_238^post70 == 0 /\ -a_263^post70+a_263^0 == 0 /\ f_248^0-f_248^post70 == 0 /\ -a_417^post70+a_417^0 == 0 /\ -a_633^post70+a_633^0 == 0 /\ a_121^0-a_121^post70 == 0), cost: 1 71: l45 -> l46 : a_1089^0'=a_1089^post71, f_847^0'=f_847^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, a_394^0'=a_394^post71, x_156^0'=x_156^post71, a_632^0'=a_632^post71, r_192^0'=r_192^post71, a_176^0'=a_176^post71, i_106^0'=i_106^post71, a_430^0'=a_430^post71, t_458^0'=t_458^post71, len_161^0'=len_161^post71, x_975^0'=x_975^post71, a_902^0'=a_902^post71, a_947^0'=a_947^post71, rcd_88^0'=rcd_88^post71, a_311^0'=a_311^post71, i_140^0'=i_140^post71, a_577^0'=a_577^post71, x_14^0'=x_14^post71, nondet_12^0'=nondet_12^post71, a_121^0'=a_121^post71, head_15^0'=head_15^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71, i_27^0'=i_27^post71, x_21^0'=x_21^post71, a_634^0'=a_634^post71, r_39^0'=r_39^post71, a_263^0'=a_263^post71, i_113^0'=i_113^post71, a_432^0'=a_432^post71, temp0_31^0'=temp0_31^post71, len_262^0'=len_262^post71, y_20^0'=y_20^post71, f_248^0'=f_248^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, a_393^0'=a_393^post71, i_229^0'=i_229^post71, a_610^0'=a_610^post71, r_151^0'=r_151^post71, a_144^0'=a_144^post71, i_1053^0'=i_1053^post71, a_417^0'=a_417^post71, t_24^0'=t_24^post71, i_94^0'=i_94^post71, x_852^0'=x_852^post71, a_862^0'=a_862^post71, rcd_1249^0'=rcd_1249^post71, rcd_58^0'=rcd_58^post71, a_310^0'=a_310^post71, i_127^0'=i_127^post71, a_576^0'=a_576^post71, tmp_34^0'=tmp_34^post71, length_29^0'=length_29^post71, a_1162^0'=a_1162^post71, f_969^0'=f_969^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71, a_395^0'=a_395^post71, x_17^0'=x_17^post71, a_633^0'=a_633^post71, r_224^0'=r_224^post71, a_239^0'=a_239^post71, i_107^0'=i_107^post71, a_431^0'=a_431^post71, temp0_16^0'=temp0_16^post71, len_238^0'=len_238^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, a_924^0'=a_924^post71, ct_18^0'=ct_18^post71, result_11^0'=result_11^post71, a_392^0'=a_392^post71, i_197^0'=i_197^post71, a_579^0'=a_579^post71, r_143^0'=r_143^post71, a_1236^0'=a_1236^post71, head_32^0'=head_32^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71, i_30^0'=i_30^post71, x_253^0'=x_253^post71, a_635^0'=a_635^post71, r_970^0'=r_970^post71, rcd_47^0'=rcd_47^post71, a_309^0'=a_309^post71, i_1248^0'=i_1248^post71, a_575^0'=a_575^post71, temp_35^0'=temp_35^post71, len_861^0'=len_861^post71, (-a_395^post71+a_395^0 == 0 /\ -a_417^post71+a_417^0 == 0 /\ -a_862^post71+a_862^0 == 0 /\ -len_861^post71+len_861^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ i_197^0-i_197^post71 == 0 /\ -a_1236^post71+a_1236^0 == 0 /\ a_576^0-a_576^post71 == 0 /\ a_1162^0-a_1162^post71 == 0 /\ f_847^0-f_847^post71 == 0 /\ a_263^0-a_263^post71 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71 == 0 /\ -a_393^post71+a_393^0 == 0 /\ -a_432^post71+a_432^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_392^post71+a_392^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ x_17^0-x_17^post71 == 0 /\ -length_29^post71+length_29^0 == 0 /\ a_924^0-a_924^post71 == 0 /\ -i_1248^post71+i_1248^0 == 0 /\ a_394^0-a_394^post71 == 0 /\ -i_1053^post71+i_1053^0 == 0 /\ -a_575^post71+a_575^0 == 0 /\ -a_579^post71+a_579^0 == 0 /\ a_577^0-a_577^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ -a_635^post71+a_635^0 == 0 /\ -r_151^post71+r_151^0 == 0 /\ r_224^0-r_224^post71 == 0 /\ i_127^0-i_127^post71 == 0 /\ i_106^0-i_106^post71 == 0 /\ -i_30^post71+i_30^0 == 0 /\ -head_32^post71+head_32^0 == 0 /\ a_610^0-a_610^post71 == 0 /\ i_27^0-i_27^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ t_458^0-t_458^post71 == 0 /\ -a_144^post71+a_144^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -a_309^post71+a_309^0 == 0 /\ -i_107^post71+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -a_633^post71+a_633^0 == 0 /\ -tmp_34^post71+tmp_34^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ len_161^0-len_161^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -a_431^post71+a_431^0 == 0 /\ x_156^0-x_156^post71 == 0 /\ -rcd_1249^post71+rcd_1249^0 == 0 /\ head_15^0-head_15^post71 == 0 /\ -i_140^post71+i_140^0 == 0 /\ a_634^0-a_634^post71 == 0 /\ -x_852^post71+x_852^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -r_970^post71+r_970^0 == 0 /\ a_176^0-a_176^post71 == 0 /\ a_121^0-a_121^post71 == 0 /\ f_248^0-f_248^post71 == 0 /\ -rcd_47^post71+rcd_47^0 == 0 /\ x_975^0-x_975^post71 == 0 /\ len_262^0-len_262^post71 == 0 /\ a_947^0-a_947^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post71 == 0 /\ -a_239^post71+a_239^0 == 0 /\ -r_143^post71+r_143^0 == 0 /\ a_902^0-a_902^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ a_311^0-a_311^post71 == 0 /\ r_192^0-r_192^post71 == 0 /\ len_238^0-len_238^post71 == 0 /\ -f_969^post71+f_969^0 == 0 /\ -x_253^post71+x_253^0 == 0 /\ -y_20^post71+y_20^0 == 0 /\ a_310^0-a_310^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ x_14^0-x_14^post71 == 0 /\ -i_229^post71+i_229^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ -i_113^post71+i_113^0 == 0 /\ a_1089^0-a_1089^post71 == 0 /\ a_632^0-a_632^post71 == 0), cost: 1 72: l45 -> l46 : a_1089^0'=a_1089^post72, f_847^0'=f_847^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, a_394^0'=a_394^post72, x_156^0'=x_156^post72, a_632^0'=a_632^post72, r_192^0'=r_192^post72, a_176^0'=a_176^post72, i_106^0'=i_106^post72, a_430^0'=a_430^post72, t_458^0'=t_458^post72, len_161^0'=len_161^post72, x_975^0'=x_975^post72, a_902^0'=a_902^post72, a_947^0'=a_947^post72, rcd_88^0'=rcd_88^post72, a_311^0'=a_311^post72, i_140^0'=i_140^post72, a_577^0'=a_577^post72, x_14^0'=x_14^post72, nondet_12^0'=nondet_12^post72, a_121^0'=a_121^post72, head_15^0'=head_15^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72, i_27^0'=i_27^post72, x_21^0'=x_21^post72, a_634^0'=a_634^post72, r_39^0'=r_39^post72, a_263^0'=a_263^post72, i_113^0'=i_113^post72, a_432^0'=a_432^post72, temp0_31^0'=temp0_31^post72, len_262^0'=len_262^post72, y_20^0'=y_20^post72, f_248^0'=f_248^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, a_393^0'=a_393^post72, i_229^0'=i_229^post72, a_610^0'=a_610^post72, r_151^0'=r_151^post72, a_144^0'=a_144^post72, i_1053^0'=i_1053^post72, a_417^0'=a_417^post72, t_24^0'=t_24^post72, i_94^0'=i_94^post72, x_852^0'=x_852^post72, a_862^0'=a_862^post72, rcd_1249^0'=rcd_1249^post72, rcd_58^0'=rcd_58^post72, a_310^0'=a_310^post72, i_127^0'=i_127^post72, a_576^0'=a_576^post72, tmp_34^0'=tmp_34^post72, length_29^0'=length_29^post72, a_1162^0'=a_1162^post72, f_969^0'=f_969^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72, a_395^0'=a_395^post72, x_17^0'=x_17^post72, a_633^0'=a_633^post72, r_224^0'=r_224^post72, a_239^0'=a_239^post72, i_107^0'=i_107^post72, a_431^0'=a_431^post72, temp0_16^0'=temp0_16^post72, len_238^0'=len_238^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, a_924^0'=a_924^post72, ct_18^0'=ct_18^post72, result_11^0'=result_11^post72, a_392^0'=a_392^post72, i_197^0'=i_197^post72, a_579^0'=a_579^post72, r_143^0'=r_143^post72, a_1236^0'=a_1236^post72, head_32^0'=head_32^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72, i_30^0'=i_30^post72, x_253^0'=x_253^post72, a_635^0'=a_635^post72, r_970^0'=r_970^post72, rcd_47^0'=rcd_47^post72, a_309^0'=a_309^post72, i_1248^0'=i_1248^post72, a_575^0'=a_575^post72, temp_35^0'=temp_35^post72, len_861^0'=len_861^post72, (i_113^0-i_113^post72 == 0 /\ r_192^0-r_192^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ rcd_1249^0-rcd_1249^post72 == 0 /\ i_127^0-i_127^post72 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ f_969^0-f_969^post72 == 0 /\ -a_924^post72+a_924^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_161^0-len_161^post72 == 0 /\ -rcd_47^post72+rcd_47^0 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_27^0-i_27^post72 == 0 /\ x_14^0-x_14^post72 == 0 /\ -a_1162^post72+a_1162^0 == 0 /\ a_430^0-a_430^post72 == 0 /\ -x_253^post72+x_253^0 == 0 /\ -r_970^post72+r_970^0 == 0 /\ a_432^0-a_432^post72 == 0 /\ -x_SLAM_f_19^post72+x_SLAM_f_19^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -i_1248^post72+i_1248^0 == 0 /\ i_140^0-i_140^post72 == 0 /\ x_156^0-x_156^post72 == 0 /\ f_847^0-f_847^post72 == 0 /\ -i_94^post72+i_94^0 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_229^0-i_229^post72 == 0 /\ -len_861^post72+len_861^0 == 0 /\ -r_224^post72+r_224^0 == 0 /\ a_576^0-a_576^post72 == 0 /\ -i_1053^post72+i_1053^0 == 0 /\ a_634^0-a_634^post72 == 0 /\ -a_395^post72+a_395^0 == 0 /\ a_144^0-a_144^post72 == 0 /\ a_947^0-a_947^post72 == 0 /\ -r_143^post72+r_143^0 == 0 /\ rcd_58^0-rcd_58^post72 == 0 /\ -a_431^post72+a_431^0 == 0 /\ a_610^0-a_610^post72 == 0 /\ -a_392^post72+a_392^0 == 0 /\ a_311^0-a_311^post72 == 0 /\ a_902^0-a_902^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -a_309^post72+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ -a_310^post72+a_310^0 == 0 /\ -a_862^post72+a_862^0 == 0 /\ head_15^0-head_15^post72 == 0 /\ -i_107^post72+i_107^0 == 0 /\ -a_1236^post72+a_1236^0 == 0 /\ -a_575^post72+a_575^0 == 0 /\ a_635^0-a_635^post72 == 0 /\ a_1089^0-a_1089^post72 == 0 /\ -t_458^post72+t_458^0 == 0 /\ -a_393^post72+a_393^0 == 0 /\ -head_32^post72+head_32^0 == 0 /\ -i_106^post72+i_106^0 == 0 /\ a_632^0-a_632^post72 == 0 /\ -a_577^post72+a_577^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ -r_151^post72+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post72 == 0 /\ len_262^0-len_262^post72 == 0 /\ -x_852^post72+x_852^0 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_633^0-a_633^post72 == 0 /\ -a_579^post72+a_579^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ 1+x_14^0 <= 0 /\ a_394^0-a_394^post72 == 0 /\ len_238^0-len_238^post72 == 0 /\ x_17^0-x_17^post72 == 0 /\ -a_263^post72+a_263^0 == 0 /\ f_248^0-f_248^post72 == 0 /\ a_239^0-a_239^post72 == 0 /\ x_975^0-x_975^post72 == 0 /\ a_176^0-a_176^post72 == 0 /\ a_121^0-a_121^post72 == 0 /\ -i_197^post72+i_197^0 == 0 /\ a_417^0-a_417^post72 == 0), cost: 1 73: l46 -> l47 : a_1089^0'=a_1089^post73, f_847^0'=f_847^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, a_394^0'=a_394^post73, x_156^0'=x_156^post73, a_632^0'=a_632^post73, r_192^0'=r_192^post73, a_176^0'=a_176^post73, i_106^0'=i_106^post73, a_430^0'=a_430^post73, t_458^0'=t_458^post73, len_161^0'=len_161^post73, x_975^0'=x_975^post73, a_902^0'=a_902^post73, a_947^0'=a_947^post73, rcd_88^0'=rcd_88^post73, a_311^0'=a_311^post73, i_140^0'=i_140^post73, a_577^0'=a_577^post73, x_14^0'=x_14^post73, nondet_12^0'=nondet_12^post73, a_121^0'=a_121^post73, head_15^0'=head_15^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73, i_27^0'=i_27^post73, x_21^0'=x_21^post73, a_634^0'=a_634^post73, r_39^0'=r_39^post73, a_263^0'=a_263^post73, i_113^0'=i_113^post73, a_432^0'=a_432^post73, temp0_31^0'=temp0_31^post73, len_262^0'=len_262^post73, y_20^0'=y_20^post73, f_248^0'=f_248^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, a_393^0'=a_393^post73, i_229^0'=i_229^post73, a_610^0'=a_610^post73, r_151^0'=r_151^post73, a_144^0'=a_144^post73, i_1053^0'=i_1053^post73, a_417^0'=a_417^post73, t_24^0'=t_24^post73, i_94^0'=i_94^post73, x_852^0'=x_852^post73, a_862^0'=a_862^post73, rcd_1249^0'=rcd_1249^post73, rcd_58^0'=rcd_58^post73, a_310^0'=a_310^post73, i_127^0'=i_127^post73, a_576^0'=a_576^post73, tmp_34^0'=tmp_34^post73, length_29^0'=length_29^post73, a_1162^0'=a_1162^post73, f_969^0'=f_969^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73, a_395^0'=a_395^post73, x_17^0'=x_17^post73, a_633^0'=a_633^post73, r_224^0'=r_224^post73, a_239^0'=a_239^post73, i_107^0'=i_107^post73, a_431^0'=a_431^post73, temp0_16^0'=temp0_16^post73, len_238^0'=len_238^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, a_924^0'=a_924^post73, ct_18^0'=ct_18^post73, result_11^0'=result_11^post73, a_392^0'=a_392^post73, i_197^0'=i_197^post73, a_579^0'=a_579^post73, r_143^0'=r_143^post73, a_1236^0'=a_1236^post73, head_32^0'=head_32^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73, i_30^0'=i_30^post73, x_253^0'=x_253^post73, a_635^0'=a_635^post73, r_970^0'=r_970^post73, rcd_47^0'=rcd_47^post73, a_309^0'=a_309^post73, i_1248^0'=i_1248^post73, a_575^0'=a_575^post73, temp_35^0'=temp_35^post73, len_861^0'=len_861^post73, (x_21^0-x_21^post73 == 0 /\ -a_432^post73+a_432^0 == 0 /\ a_576^0-a_576^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ x_852^0-x_852^post73 == 0 /\ -i_107^post73+i_107^0 == 0 /\ -i_30^post73+i_30^0 == 0 /\ -a_392^post73+a_392^0 == 0 /\ -a_1236^post73+a_1236^0 == 0 /\ x_156^0-x_156^post73 == 0 /\ -x_17^post73+x_17^0 == 0 /\ -a_417^post73+a_417^0 == 0 /\ f_847^0-f_847^post73 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -x_SLAM_f_19^post73+x_SLAM_f_19^0 == 0 /\ a_144^0-a_144^post73 == 0 /\ a_394^0-a_394^post73 == 0 /\ a_862^0-a_862^post73 == 0 /\ rcd_58^0-rcd_58^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -i_1248^post73+i_1248^0 == 0 /\ -len_861^post73+len_861^0 == 0 /\ a_947^0-a_947^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ a_902^0-a_902^post73 == 0 /\ -a_635^post73+a_635^0 == 0 /\ ct_18^0-ct_18^post73 == 0 /\ -len_262^post73+len_262^0 == 0 /\ -len_238^post73+len_238^0 == 0 /\ -rcd_47^post73+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ a_577^0-a_577^post73 == 0 /\ -a_310^post73+a_310^0 == 0 /\ -a_633^post73+a_633^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ i_106^0-i_106^post73 == 0 /\ length_29^0-length_29^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post73+a_575^0 == 0 /\ -i_197^post73+i_197^0 == 0 /\ a_311^0-a_311^post73 == 0 /\ -a_579^post73+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ a_1089^0-a_1089^post73 == 0 /\ -i_127^post73+i_127^0 == 0 /\ i_27^0-i_27^post73 == 0 /\ -x_14^post73+x_14^0 == 0 /\ a_430^0-a_430^post73 == 0 /\ a_263^0-a_263^post73 == 0 /\ -a_309^post73+a_309^0 == 0 /\ -a_431^post73+a_431^0 == 0 /\ x_253^0-x_253^post73 == 0 /\ -a_1162^post73+a_1162^0 == 0 /\ y_20^0-y_20^post73 == 0 /\ -a_924^post73+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ a_634^0-a_634^post73 == 0 /\ r_151^0-r_151^post73 == 0 /\ f_248^0-f_248^post73 == 0 /\ -a_121^post73+a_121^0 == 0 /\ -t_24^post73+t_24^0 == 0 /\ a_176^0-a_176^post73 == 0 /\ x_975^0-x_975^post73 == 0 /\ -i_229^post73+i_229^0 == 0 /\ r_192^0-r_192^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ -r_970^post73+r_970^0 == 0 /\ a_239^0-a_239^post73 == 0 /\ 1-head_15^0 <= 0 /\ f_969^0-f_969^post73 == 0 /\ -r_224^post73+r_224^0 == 0 /\ -a_395^post73+a_395^0 == 0 /\ a_610^0-a_610^post73 == 0 /\ i_1053^0-i_1053^post73 == 0 /\ -r_143^post73+r_143^0 == 0 /\ i_140^0-i_140^post73 == 0 /\ rcd_1249^0-rcd_1249^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post73+i_113^0 == 0 /\ len_161^0-len_161^post73 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ a_632^0-a_632^post73 == 0 /\ t_458^0-t_458^post73 == 0 /\ a_393^0-a_393^post73 == 0), cost: 1 74: l46 -> l47 : a_1089^0'=a_1089^post74, f_847^0'=f_847^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, a_394^0'=a_394^post74, x_156^0'=x_156^post74, a_632^0'=a_632^post74, r_192^0'=r_192^post74, a_176^0'=a_176^post74, i_106^0'=i_106^post74, a_430^0'=a_430^post74, t_458^0'=t_458^post74, len_161^0'=len_161^post74, x_975^0'=x_975^post74, a_902^0'=a_902^post74, a_947^0'=a_947^post74, rcd_88^0'=rcd_88^post74, a_311^0'=a_311^post74, i_140^0'=i_140^post74, a_577^0'=a_577^post74, x_14^0'=x_14^post74, nondet_12^0'=nondet_12^post74, a_121^0'=a_121^post74, head_15^0'=head_15^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74, i_27^0'=i_27^post74, x_21^0'=x_21^post74, a_634^0'=a_634^post74, r_39^0'=r_39^post74, a_263^0'=a_263^post74, i_113^0'=i_113^post74, a_432^0'=a_432^post74, temp0_31^0'=temp0_31^post74, len_262^0'=len_262^post74, y_20^0'=y_20^post74, f_248^0'=f_248^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, a_393^0'=a_393^post74, i_229^0'=i_229^post74, a_610^0'=a_610^post74, r_151^0'=r_151^post74, a_144^0'=a_144^post74, i_1053^0'=i_1053^post74, a_417^0'=a_417^post74, t_24^0'=t_24^post74, i_94^0'=i_94^post74, x_852^0'=x_852^post74, a_862^0'=a_862^post74, rcd_1249^0'=rcd_1249^post74, rcd_58^0'=rcd_58^post74, a_310^0'=a_310^post74, i_127^0'=i_127^post74, a_576^0'=a_576^post74, tmp_34^0'=tmp_34^post74, length_29^0'=length_29^post74, a_1162^0'=a_1162^post74, f_969^0'=f_969^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74, a_395^0'=a_395^post74, x_17^0'=x_17^post74, a_633^0'=a_633^post74, r_224^0'=r_224^post74, a_239^0'=a_239^post74, i_107^0'=i_107^post74, a_431^0'=a_431^post74, temp0_16^0'=temp0_16^post74, len_238^0'=len_238^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, a_924^0'=a_924^post74, ct_18^0'=ct_18^post74, result_11^0'=result_11^post74, a_392^0'=a_392^post74, i_197^0'=i_197^post74, a_579^0'=a_579^post74, r_143^0'=r_143^post74, a_1236^0'=a_1236^post74, head_32^0'=head_32^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74, i_30^0'=i_30^post74, x_253^0'=x_253^post74, a_635^0'=a_635^post74, r_970^0'=r_970^post74, rcd_47^0'=rcd_47^post74, a_309^0'=a_309^post74, i_1248^0'=i_1248^post74, a_575^0'=a_575^post74, temp_35^0'=temp_35^post74, len_861^0'=len_861^post74, (a_176^0-a_176^post74 == 0 /\ 1+head_15^0 <= 0 /\ -x_21^post74+x_21^0 == 0 /\ -a_1162^post74+a_1162^0 == 0 /\ -temp_35^post74+temp_35^0 == 0 /\ -a_924^post74+a_924^0 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -r_970^post74+r_970^0 == 0 /\ r_192^0-r_192^post74 == 0 /\ -f_969^post74+f_969^0 == 0 /\ -a_431^post74+a_431^0 == 0 /\ a_610^0-a_610^post74 == 0 /\ -t_24^post74+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post74 == 0 /\ -ct_18^post74+ct_18^0 == 0 /\ i_27^0-i_27^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -x_253^post74+x_253^0 == 0 /\ a_1089^0-a_1089^post74 == 0 /\ r_39^0-r_39^post74 == 0 /\ a_393^0-a_393^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post74+r_224^0 == 0 /\ a_263^0-a_263^post74 == 0 /\ x_156^0-x_156^post74 == 0 /\ -i_229^post74+i_229^0 == 0 /\ -i_1053^post74+i_1053^0 == 0 /\ -i_1248^post74+i_1248^0 == 0 /\ a_432^0-a_432^post74 == 0 /\ -x_SLAM_f_19^post74+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74 == 0 /\ -a_239^post74+a_239^0 == 0 /\ -r_143^post74+r_143^0 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_395^post74+a_395^0 == 0 /\ a_417^0-a_417^post74 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ r_151^0-r_151^post74 == 0 /\ head_32^0-head_32^post74 == 0 /\ f_248^0-f_248^post74 == 0 /\ rcd_58^0-rcd_58^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ a_634^0-a_634^post74 == 0 /\ head_15^0-head_15^post74 == 0 /\ -a_947^post74+a_947^0 == 0 /\ i_113^0-i_113^post74 == 0 /\ a_902^0-a_902^post74 == 0 /\ -a_862^post74+a_862^0 == 0 /\ -x_17^post74+x_17^0 == 0 /\ -i_94^post74+i_94^0 == 0 /\ i_127^0-i_127^post74 == 0 /\ a_394^0-a_394^post74 == 0 /\ -x_14^post74+x_14^0 == 0 /\ -a_576^post74+a_576^0 == 0 /\ len_238^0-len_238^post74 == 0 /\ -a_635^post74+a_635^0 == 0 /\ -a_392^post74+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post74 == 0 /\ -i_107^post74+i_107^0 == 0 /\ -len_861^post74+len_861^0 == 0 /\ i_140^0-i_140^post74 == 0 /\ t_458^0-t_458^post74 == 0 /\ x_852^0-x_852^post74 == 0 /\ -a_1236^post74+a_1236^0 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ i_106^0-i_106^post74 == 0 /\ a_632^0-a_632^post74 == 0 /\ len_161^0-len_161^post74 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ a_311^0-a_311^post74 == 0 /\ -a_310^post74+a_310^0 == 0 /\ -i_30^post74+i_30^0 == 0 /\ -x_975^post74+x_975^0 == 0 /\ f_847^0-f_847^post74 == 0 /\ y_20^0-y_20^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ -len_262^post74+len_262^0 == 0 /\ a_633^0-a_633^post74 == 0 /\ -rcd_47^post74+rcd_47^0 == 0 /\ a_121^0-a_121^post74 == 0 /\ -a_575^post74+a_575^0 == 0 /\ -i_197^post74+i_197^0 == 0 /\ -a_430^post74+a_430^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0 /\ -a_579^post74+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74 == 0 /\ a_577^0-a_577^post74 == 0), cost: 1 75: l47 -> l48 : a_1089^0'=a_1089^post75, f_847^0'=f_847^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, a_394^0'=a_394^post75, x_156^0'=x_156^post75, a_632^0'=a_632^post75, r_192^0'=r_192^post75, a_176^0'=a_176^post75, i_106^0'=i_106^post75, a_430^0'=a_430^post75, t_458^0'=t_458^post75, len_161^0'=len_161^post75, x_975^0'=x_975^post75, a_902^0'=a_902^post75, a_947^0'=a_947^post75, rcd_88^0'=rcd_88^post75, a_311^0'=a_311^post75, i_140^0'=i_140^post75, a_577^0'=a_577^post75, x_14^0'=x_14^post75, nondet_12^0'=nondet_12^post75, a_121^0'=a_121^post75, head_15^0'=head_15^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75, i_27^0'=i_27^post75, x_21^0'=x_21^post75, a_634^0'=a_634^post75, r_39^0'=r_39^post75, a_263^0'=a_263^post75, i_113^0'=i_113^post75, a_432^0'=a_432^post75, temp0_31^0'=temp0_31^post75, len_262^0'=len_262^post75, y_20^0'=y_20^post75, f_248^0'=f_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, a_393^0'=a_393^post75, i_229^0'=i_229^post75, a_610^0'=a_610^post75, r_151^0'=r_151^post75, a_144^0'=a_144^post75, i_1053^0'=i_1053^post75, a_417^0'=a_417^post75, t_24^0'=t_24^post75, i_94^0'=i_94^post75, x_852^0'=x_852^post75, a_862^0'=a_862^post75, rcd_1249^0'=rcd_1249^post75, rcd_58^0'=rcd_58^post75, a_310^0'=a_310^post75, i_127^0'=i_127^post75, a_576^0'=a_576^post75, tmp_34^0'=tmp_34^post75, length_29^0'=length_29^post75, a_1162^0'=a_1162^post75, f_969^0'=f_969^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75, a_395^0'=a_395^post75, x_17^0'=x_17^post75, a_633^0'=a_633^post75, r_224^0'=r_224^post75, a_239^0'=a_239^post75, i_107^0'=i_107^post75, a_431^0'=a_431^post75, temp0_16^0'=temp0_16^post75, len_238^0'=len_238^post75, x_SLAM_f_19^0'=x_SLAM_f_19^post75, a_924^0'=a_924^post75, ct_18^0'=ct_18^post75, result_11^0'=result_11^post75, a_392^0'=a_392^post75, i_197^0'=i_197^post75, a_579^0'=a_579^post75, r_143^0'=r_143^post75, a_1236^0'=a_1236^post75, head_32^0'=head_32^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75, i_30^0'=i_30^post75, x_253^0'=x_253^post75, a_635^0'=a_635^post75, r_970^0'=r_970^post75, rcd_47^0'=rcd_47^post75, a_309^0'=a_309^post75, i_1248^0'=i_1248^post75, a_575^0'=a_575^post75, temp_35^0'=temp_35^post75, len_861^0'=len_861^post75, (a_263^0-a_263^post75 == 0 /\ -i_113^post75+i_113^0 == 0 /\ -a_1236^post75+a_1236^0 == 0 /\ -r_143^post75+r_143^0 == 0 /\ -a_635^post75+a_635^0 == 0 /\ -a_432^post75+a_432^0 == 0 /\ result_11^0-result_11^post75 == 0 /\ -i_30^post75+i_30^0 == 0 /\ -x_17^post75+x_17^0 == 0 /\ head_15^0-head_15^post75 == 0 /\ -temp0_31^post75+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75 == 0 /\ a_634^0-a_634^post75 == 0 /\ a_862^0-a_862^post75 == 0 /\ -a_309^post75+a_309^0 == 0 /\ -x_SLAM_f_19^post75+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post75 == 0 /\ a_947^0-a_947^post75 == 0 /\ -a_144^post75+a_144^0 == 0 /\ -a_310^post75+a_310^0 == 0 /\ -i_94^post75+i_94^0 == 0 /\ x_156^0-x_156^post75 == 0 /\ -a_575^post75+a_575^0 == 0 /\ rcd_88^0-rcd_88^post75 == 0 /\ -head_32^post75+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75 == 0 /\ a_176^0-a_176^post75 == 0 /\ a_311^0-a_311^post75 == 0 /\ i_1053^0-i_1053^post75 == 0 /\ -a_633^post75+a_633^0 == 0 /\ -rcd_47^post75+rcd_47^0 == 0 /\ length_29^0-length_29^post75 == 0 /\ r_192^0-r_192^post75 == 0 /\ -ct_18^post75+ct_18^0 == 0 /\ -len_262^post75+len_262^0 == 0 /\ -len_238^post75+len_238^0 == 0 /\ a_579^0-a_579^post75 == 0 /\ a_430^0-a_430^post75 == 0 /\ a_632^0-a_632^post75 == 0 /\ -f_969^post75+f_969^0 == 0 /\ -x_14^post75+x_14^0 == 0 /\ a_392^0-a_392^post75 == 0 /\ a_1089^0-a_1089^post75 == 0 /\ -r_39^post75+r_39^0 == 0 /\ x_852^0-x_852^post75 == 0 /\ -i_197^post75+i_197^0 == 0 /\ -a_431^post75+a_431^0 == 0 /\ -a_121^post75+a_121^0 == 0 /\ a_576^0-a_576^post75 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-y_20^post75 == 0 /\ f_847^0-f_847^post75 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -i_127^post75+i_127^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75 == 0 /\ -x_253^post75+x_253^0 == 0 /\ i_140^0-i_140^post75 == 0 /\ -x_21^post75+x_21^0 == 0 /\ -temp_35^post75+temp_35^0 == 0 /\ -r_970^post75+r_970^0 == 0 /\ -rcd_58^post75+rcd_58^0 == 0 /\ x_975^0-x_975^post75 == 0 /\ -f_248^post75+f_248^0 == 0 /\ r_151^0-r_151^post75 == 0 /\ a_394^0-a_394^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_417^0-a_417^post75 == 0 /\ a_577^0-a_577^post75 == 0 /\ -len_861^post75+len_861^0 == 0 /\ -i_1248^post75+i_1248^0 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ a_610^0-a_610^post75 == 0 /\ -a_1162^post75+a_1162^0 == 0 /\ -i_229^post75+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post75 == 0 /\ i_27^0-i_27^post75 == 0 /\ i_106^0-i_106^post75 == 0 /\ -a_239^post75+a_239^0 == 0 /\ a_395^0-a_395^post75 == 0 /\ -temp0_16^post75+temp0_16^0 == 0 /\ len_161^0-len_161^post75 == 0 /\ a_393^0-a_393^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post75+a_924^0 == 0 /\ i_107^0-i_107^post75 == 0 /\ -r_224^post75+r_224^0 == 0 /\ t_458^0-t_458^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0), cost: 1 76: l47 -> l48 : a_1089^0'=a_1089^post76, f_847^0'=f_847^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, a_394^0'=a_394^post76, x_156^0'=x_156^post76, a_632^0'=a_632^post76, r_192^0'=r_192^post76, a_176^0'=a_176^post76, i_106^0'=i_106^post76, a_430^0'=a_430^post76, t_458^0'=t_458^post76, len_161^0'=len_161^post76, x_975^0'=x_975^post76, a_902^0'=a_902^post76, a_947^0'=a_947^post76, rcd_88^0'=rcd_88^post76, a_311^0'=a_311^post76, i_140^0'=i_140^post76, a_577^0'=a_577^post76, x_14^0'=x_14^post76, nondet_12^0'=nondet_12^post76, a_121^0'=a_121^post76, head_15^0'=head_15^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76, i_27^0'=i_27^post76, x_21^0'=x_21^post76, a_634^0'=a_634^post76, r_39^0'=r_39^post76, a_263^0'=a_263^post76, i_113^0'=i_113^post76, a_432^0'=a_432^post76, temp0_31^0'=temp0_31^post76, len_262^0'=len_262^post76, y_20^0'=y_20^post76, f_248^0'=f_248^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, a_393^0'=a_393^post76, i_229^0'=i_229^post76, a_610^0'=a_610^post76, r_151^0'=r_151^post76, a_144^0'=a_144^post76, i_1053^0'=i_1053^post76, a_417^0'=a_417^post76, t_24^0'=t_24^post76, i_94^0'=i_94^post76, x_852^0'=x_852^post76, a_862^0'=a_862^post76, rcd_1249^0'=rcd_1249^post76, rcd_58^0'=rcd_58^post76, a_310^0'=a_310^post76, i_127^0'=i_127^post76, a_576^0'=a_576^post76, tmp_34^0'=tmp_34^post76, length_29^0'=length_29^post76, a_1162^0'=a_1162^post76, f_969^0'=f_969^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76, a_395^0'=a_395^post76, x_17^0'=x_17^post76, a_633^0'=a_633^post76, r_224^0'=r_224^post76, a_239^0'=a_239^post76, i_107^0'=i_107^post76, a_431^0'=a_431^post76, temp0_16^0'=temp0_16^post76, len_238^0'=len_238^post76, x_SLAM_f_19^0'=x_SLAM_f_19^post76, a_924^0'=a_924^post76, ct_18^0'=ct_18^post76, result_11^0'=result_11^post76, a_392^0'=a_392^post76, i_197^0'=i_197^post76, a_579^0'=a_579^post76, r_143^0'=r_143^post76, a_1236^0'=a_1236^post76, head_32^0'=head_32^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76, i_30^0'=i_30^post76, x_253^0'=x_253^post76, a_635^0'=a_635^post76, r_970^0'=r_970^post76, rcd_47^0'=rcd_47^post76, a_309^0'=a_309^post76, i_1248^0'=i_1248^post76, a_575^0'=a_575^post76, temp_35^0'=temp_35^post76, len_861^0'=len_861^post76, (a_1089^0-a_1089^post76 == 0 /\ -f_969^post76+f_969^0 == 0 /\ r_143^0-r_143^post76 == 0 /\ -head_32^post76+head_32^0 == 0 /\ -temp_35^post76+temp_35^0 == 0 /\ -i_127^post76+i_127^0 == 0 /\ a_310^0-a_310^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -a_579^post76+a_579^0 == 0 /\ -ct_18^post76+ct_18^0 == 0 /\ a_311^0-a_311^post76 == 0 /\ -a_1162^post76+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ t_458^0-t_458^post76 == 0 /\ a_395^0-a_395^post76 == 0 /\ -r_970^post76+r_970^0 == 0 /\ i_27^0-i_27^post76 == 0 /\ rcd_88^0-rcd_88^post76 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post76 == 0 /\ -f_248^post76+f_248^0 == 0 /\ i_106^0-i_106^post76 == 0 /\ i_140^0-i_140^post76 == 0 /\ r_39^0-r_39^post76 == 0 /\ a_392^0-a_392^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76 == 0 /\ -temp0_16^post76+temp0_16^0 == 0 /\ a_393^0-a_393^post76 == 0 /\ -i_1248^post76+i_1248^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -len_861^post76+len_861^0 == 0 /\ -a_239^post76+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ y_20^0-y_20^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -rcd_1249^post76+rcd_1249^0 == 0 /\ a_417^0-a_417^post76 == 0 /\ -i_30^post76+i_30^0 == 0 /\ len_262^0-len_262^post76 == 0 /\ x_21^0-x_21^post76 == 0 /\ a_634^0-a_634^post76 == 0 /\ -head_15^post76+head_15^0 == 0 /\ -a_924^post76+a_924^0 == 0 /\ -r_224^post76+r_224^0 == 0 /\ temp0_31^0-temp0_31^post76 == 0 /\ -x_17^post76+x_17^0 == 0 /\ -r_151^post76+r_151^0 == 0 /\ -a_144^post76+a_144^0 == 0 /\ a_947^0-a_947^post76 == 0 /\ -i_107^post76+i_107^0 == 0 /\ -i_94^post76+i_94^0 == 0 /\ -a_575^post76+a_575^0 == 0 /\ x_14^0-x_14^post76 == 0 /\ rcd_58^0-rcd_58^post76 == 0 /\ i_1053^0-i_1053^post76 == 0 /\ a_121^0-a_121^post76 == 0 /\ -a_635^post76+a_635^0 == 0 /\ -a_576^post76+a_576^0 == 0 /\ a_632^0-a_632^post76 == 0 /\ a_263^0-a_263^post76 == 0 /\ -a_633^post76+a_633^0 == 0 /\ -a_176^post76+a_176^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ x_852^0-x_852^post76 == 0 /\ len_161^0-len_161^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ x_156^0-x_156^post76 == 0 /\ f_847^0-f_847^post76 == 0 /\ a_309^0-a_309^post76 == 0 /\ -a_610^post76+a_610^0 == 0 /\ -a_1236^post76+a_1236^0 == 0 /\ a_432^0-a_432^post76 == 0 /\ -x_253^post76+x_253^0 == 0 /\ a_902^0-a_902^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76 == 0 /\ -len_238^post76+len_238^0 == 0 /\ i_113^0-i_113^post76 == 0 /\ r_192^0-r_192^post76 == 0 /\ -rcd_47^post76+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post76+i_197^0 == 0 /\ a_394^0-a_394^post76 == 0 /\ i_229^0-i_229^post76 == 0 /\ a_862^0-a_862^post76 == 0 /\ a_577^0-a_577^post76 == 0 /\ -x_975^post76+x_975^0 == 0 /\ a_431^0-a_431^post76 == 0 /\ -a_430^post76+a_430^0 == 0), cost: 1 77: l48 -> l8 : a_1089^0'=a_1089^post77, f_847^0'=f_847^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, a_394^0'=a_394^post77, x_156^0'=x_156^post77, a_632^0'=a_632^post77, r_192^0'=r_192^post77, a_176^0'=a_176^post77, i_106^0'=i_106^post77, a_430^0'=a_430^post77, t_458^0'=t_458^post77, len_161^0'=len_161^post77, x_975^0'=x_975^post77, a_902^0'=a_902^post77, a_947^0'=a_947^post77, rcd_88^0'=rcd_88^post77, a_311^0'=a_311^post77, i_140^0'=i_140^post77, a_577^0'=a_577^post77, x_14^0'=x_14^post77, nondet_12^0'=nondet_12^post77, a_121^0'=a_121^post77, head_15^0'=head_15^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77, i_27^0'=i_27^post77, x_21^0'=x_21^post77, a_634^0'=a_634^post77, r_39^0'=r_39^post77, a_263^0'=a_263^post77, i_113^0'=i_113^post77, a_432^0'=a_432^post77, temp0_31^0'=temp0_31^post77, len_262^0'=len_262^post77, y_20^0'=y_20^post77, f_248^0'=f_248^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, a_393^0'=a_393^post77, i_229^0'=i_229^post77, a_610^0'=a_610^post77, r_151^0'=r_151^post77, a_144^0'=a_144^post77, i_1053^0'=i_1053^post77, a_417^0'=a_417^post77, t_24^0'=t_24^post77, i_94^0'=i_94^post77, x_852^0'=x_852^post77, a_862^0'=a_862^post77, rcd_1249^0'=rcd_1249^post77, rcd_58^0'=rcd_58^post77, a_310^0'=a_310^post77, i_127^0'=i_127^post77, a_576^0'=a_576^post77, tmp_34^0'=tmp_34^post77, length_29^0'=length_29^post77, a_1162^0'=a_1162^post77, f_969^0'=f_969^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77, a_395^0'=a_395^post77, x_17^0'=x_17^post77, a_633^0'=a_633^post77, r_224^0'=r_224^post77, a_239^0'=a_239^post77, i_107^0'=i_107^post77, a_431^0'=a_431^post77, temp0_16^0'=temp0_16^post77, len_238^0'=len_238^post77, x_SLAM_f_19^0'=x_SLAM_f_19^post77, a_924^0'=a_924^post77, ct_18^0'=ct_18^post77, result_11^0'=result_11^post77, a_392^0'=a_392^post77, i_197^0'=i_197^post77, a_579^0'=a_579^post77, r_143^0'=r_143^post77, a_1236^0'=a_1236^post77, head_32^0'=head_32^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77, i_30^0'=i_30^post77, x_253^0'=x_253^post77, a_635^0'=a_635^post77, r_970^0'=r_970^post77, rcd_47^0'=rcd_47^post77, a_309^0'=a_309^post77, i_1248^0'=i_1248^post77, a_575^0'=a_575^post77, temp_35^0'=temp_35^post77, len_861^0'=len_861^post77, (-x_17^post77+x_17^0 == 0 /\ y_20^0-y_20^post77 == 0 /\ -a_575^post77+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77 == 0 /\ -i_30^post77+i_30^0 == 0 /\ t_458^0-t_458^post77 == 0 /\ -r_143^post77+r_143^0 == 0 /\ a_632^0-a_632^post77 == 0 /\ a_430^0-a_430^post77 == 0 /\ x_975^0-x_975^post77 == 0 /\ r_151^0-r_151^post77 == 0 /\ len_262^0-len_262^post77 == 0 /\ -a_576^post77+a_576^0 == 0 /\ a_902^0-a_902^post77 == 0 /\ a_577^0-a_577^post77 == 0 /\ -a_309^post77+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post77+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post77 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_144^post77+a_144^0 == 0 /\ -a_634^post77+a_634^0 == 0 /\ a_1162^0-a_1162^post77 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post77+a_633^0 == 0 /\ a_394^0-a_394^post77 == 0 /\ i_1053^0-i_1053^post77 == 0 /\ -a_610^post77+a_610^0 == 0 /\ a_310^0-a_310^post77 == 0 /\ a_176^0-a_176^post77 == 0 /\ -a_392^post77+a_392^0 == 0 /\ -a_1236^post77+a_1236^0 == 0 /\ -rcd_47^post77+rcd_47^0 == 0 /\ i_140^0-i_140^post77 == 0 /\ a_579^0-a_579^post77 == 0 /\ -len_238^post77+len_238^0 == 0 /\ f_847^0-f_847^post77 == 0 /\ -i_27^post77+i_27^0 == 0 /\ -length_29^post77+length_29^0 == 0 /\ i_197^0-i_197^post77 == 0 /\ -f_969^post77+f_969^0 == 0 /\ t_24^0-t_24^post77 == 0 /\ -head_15^post77+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77 == 0 /\ -ct_18^post77+ct_18^0 == 0 /\ i_94^0-i_94^post77 == 0 /\ -i_127^post77+i_127^0 == 0 /\ i_229^0-i_229^post77 == 0 /\ -x_253^post77+x_253^0 == 0 /\ a_432^0-a_432^post77 == 0 /\ -head_32^post77+head_32^0 == 0 /\ -r_192^post77+r_192^0 == 0 /\ -x_852^post77+x_852^0 == 0 /\ a_862^0-a_862^post77 == 0 /\ a_121^0-a_121^post77 == 0 /\ x_21^0-x_21^post77 == 0 /\ -f_248^post77+f_248^0 == 0 /\ -len_161^post77+len_161^0 == 0 /\ r_970^0-r_970^post77 == 0 /\ i_113^0-i_113^post77 == 0 /\ -rcd_88^post77+rcd_88^0 == 0 /\ -temp_35^post77+temp_35^0 == 0 /\ x_156^0-x_156^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ nondet_12^0-nondet_12^post77 == 0 /\ -a_431^post77+a_431^0 == 0 /\ -rcd_58^post77+rcd_58^0 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ -temp0_16^post77+temp0_16^0 == 0 /\ a_1089^0-a_1089^post77 == 0 /\ -len_861^post77+len_861^0 == 0 /\ a_395^0-a_395^post77 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post77 == 0 /\ a_947^0-a_947^post77 == 0 /\ -a_417^post77+a_417^0 == 0 /\ -result_11^post77+result_11^0 == 0 /\ x_14^0-x_14^post77 == 0 /\ -a_393^post77+a_393^0 == 0 /\ -r_224^post77+r_224^0 == 0 /\ 1-i_197^0 <= 0 /\ -rcd_1249^post77+rcd_1249^0 == 0 /\ r_39^0-r_39^post77 == 0 /\ a_263^0-a_263^post77 == 0 /\ -a_924^post77+a_924^0 == 0 /\ -i_1248^post77+i_1248^0 == 0 /\ -a_239^post77+a_239^0 == 0 /\ i_107^0-i_107^post77 == 0 /\ -a_635^post77+a_635^0 == 0 /\ i_106^0-i_106^post77 == 0 /\ a_311^0-a_311^post77 == 0), cost: 1 95: l49 -> l62 : a_1089^0'=a_1089^post95, f_847^0'=f_847^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_394^0'=a_394^post95, x_156^0'=x_156^post95, a_632^0'=a_632^post95, r_192^0'=r_192^post95, a_176^0'=a_176^post95, i_106^0'=i_106^post95, a_430^0'=a_430^post95, t_458^0'=t_458^post95, len_161^0'=len_161^post95, x_975^0'=x_975^post95, a_902^0'=a_902^post95, a_947^0'=a_947^post95, rcd_88^0'=rcd_88^post95, a_311^0'=a_311^post95, i_140^0'=i_140^post95, a_577^0'=a_577^post95, x_14^0'=x_14^post95, nondet_12^0'=nondet_12^post95, a_121^0'=a_121^post95, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95, i_27^0'=i_27^post95, x_21^0'=x_21^post95, a_634^0'=a_634^post95, r_39^0'=r_39^post95, a_263^0'=a_263^post95, i_113^0'=i_113^post95, a_432^0'=a_432^post95, temp0_31^0'=temp0_31^post95, len_262^0'=len_262^post95, y_20^0'=y_20^post95, f_248^0'=f_248^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_393^0'=a_393^post95, i_229^0'=i_229^post95, a_610^0'=a_610^post95, r_151^0'=r_151^post95, a_144^0'=a_144^post95, i_1053^0'=i_1053^post95, a_417^0'=a_417^post95, t_24^0'=t_24^post95, i_94^0'=i_94^post95, x_852^0'=x_852^post95, a_862^0'=a_862^post95, rcd_1249^0'=rcd_1249^post95, rcd_58^0'=rcd_58^post95, a_310^0'=a_310^post95, i_127^0'=i_127^post95, a_576^0'=a_576^post95, tmp_34^0'=tmp_34^post95, length_29^0'=length_29^post95, a_1162^0'=a_1162^post95, f_969^0'=f_969^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95, a_395^0'=a_395^post95, x_17^0'=x_17^post95, a_633^0'=a_633^post95, r_224^0'=r_224^post95, a_239^0'=a_239^post95, i_107^0'=i_107^post95, a_431^0'=a_431^post95, temp0_16^0'=temp0_16^post95, len_238^0'=len_238^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, a_924^0'=a_924^post95, ct_18^0'=ct_18^post95, result_11^0'=result_11^post95, a_392^0'=a_392^post95, i_197^0'=i_197^post95, a_579^0'=a_579^post95, r_143^0'=r_143^post95, a_1236^0'=a_1236^post95, head_32^0'=head_32^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95, i_30^0'=i_30^post95, x_253^0'=x_253^post95, a_635^0'=a_635^post95, r_970^0'=r_970^post95, rcd_47^0'=rcd_47^post95, a_309^0'=a_309^post95, i_1248^0'=i_1248^post95, a_575^0'=a_575^post95, temp_35^0'=temp_35^post95, len_861^0'=len_861^post95, (0 == 0 /\ r_39^0-r_39^post95 == 0 /\ r_151^0-r_151^post95 == 0 /\ -a_610^post95+a_610^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_634^post95+a_634^0 == 0 /\ a_430^0-a_430^post95 == 0 /\ -rcd_47^post95+rcd_47^0 == 0 /\ x_975^0-x_975^post95 == 0 /\ i_113^0-i_113^post95 == 0 /\ -rcd_1249^post95+rcd_1249^0 == 0 /\ a_393^0-a_393^post95 == 0 /\ -r_143^post95+r_143^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ a_432^0-a_432^post95 == 0 /\ a_633^0-a_633^post95 == 0 /\ i_27^0-i_27^post95 == 0 /\ -len_238^post95+len_238^0 == 0 /\ f_969^0-f_969^post95 == 0 /\ x_21^0-x_21^post95 == 0 /\ r_192^0-r_192^post95 == 0 /\ a_579^0-a_579^post95 == 0 /\ -a_392^post95+a_392^0 == 0 /\ len_161^0-len_161^post95 == 0 /\ head_32^0-head_32^post95 == 0 /\ i_140^0-i_140^post95 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ a_144^0-a_144^post95 == 0 /\ -a_576^post95+a_576^0 == 0 /\ t_24^0-t_24^post95 == 0 /\ a_862^0-a_862^post95 == 0 /\ -f_248^post95+f_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -a_1236^post95+a_1236^0 == 0 /\ -a_431^post95+a_431^0 == 0 /\ -i_229^post95+i_229^0 == 0 /\ f_847^0-f_847^post95 == 0 /\ -x_253^post95+x_253^0 == 0 /\ -x_SLAM_f_19^post95+x_SLAM_f_19^0 == 0 /\ -r_970^post95+r_970^0 == 0 /\ t_458^0-t_458^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post95 == 0 /\ i_106^0-i_106^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ a_239^0-a_239^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95 == 0 /\ a_311^0-a_311^post95 == 0 /\ -r_224^post95+r_224^0 == 0 /\ -a_395^post95+a_395^0 == 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -a_310^post95+a_310^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -i_197^post95+i_197^0 == 0 /\ a_1089^0-a_1089^post95 == 0 /\ x_156^0-x_156^post95 == 0 /\ a_632^0-a_632^post95 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ -len_262^post95+len_262^0 == 0 /\ -a_947^post95+a_947^0 == 0 /\ a_121^0-a_121^post95 == 0 /\ x_852^0-x_852^post95 == 0 /\ -x_17^post95+x_17^0 == 0 /\ -i_127^post95+i_127^0 == 0 /\ -x_14^post95+x_14^0 == 0 /\ -a_309^post95+a_309^0 == 0 /\ -i_107^post95+i_107^0 == 0 /\ a_263^0-a_263^post95 == 0 /\ a_417^0-a_417^post95 == 0 /\ -a_924^post95+a_924^0 == 0 /\ -a_575^post95+a_575^0 == 0 /\ y_20^0-y_20^post95 == 0 /\ -len_861^post95+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95 == 0 /\ a_394^0-a_394^post95 == 0 /\ -a_635^post95+a_635^0 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -a_1162^post95+a_1162^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ i_1053^0-i_1053^post95 == 0 /\ -a_577^post95+a_577^0 == 0 /\ a_176^0-a_176^post95 == 0), cost: 1 96: l62 -> l63 : a_1089^0'=a_1089^post96, f_847^0'=f_847^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_394^0'=a_394^post96, x_156^0'=x_156^post96, a_632^0'=a_632^post96, r_192^0'=r_192^post96, a_176^0'=a_176^post96, i_106^0'=i_106^post96, a_430^0'=a_430^post96, t_458^0'=t_458^post96, len_161^0'=len_161^post96, x_975^0'=x_975^post96, a_902^0'=a_902^post96, a_947^0'=a_947^post96, rcd_88^0'=rcd_88^post96, a_311^0'=a_311^post96, i_140^0'=i_140^post96, a_577^0'=a_577^post96, x_14^0'=x_14^post96, nondet_12^0'=nondet_12^post96, a_121^0'=a_121^post96, head_15^0'=head_15^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96, i_27^0'=i_27^post96, x_21^0'=x_21^post96, a_634^0'=a_634^post96, r_39^0'=r_39^post96, a_263^0'=a_263^post96, i_113^0'=i_113^post96, a_432^0'=a_432^post96, temp0_31^0'=temp0_31^post96, len_262^0'=len_262^post96, y_20^0'=y_20^post96, f_248^0'=f_248^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_393^0'=a_393^post96, i_229^0'=i_229^post96, a_610^0'=a_610^post96, r_151^0'=r_151^post96, a_144^0'=a_144^post96, i_1053^0'=i_1053^post96, a_417^0'=a_417^post96, t_24^0'=t_24^post96, i_94^0'=i_94^post96, x_852^0'=x_852^post96, a_862^0'=a_862^post96, rcd_1249^0'=rcd_1249^post96, rcd_58^0'=rcd_58^post96, a_310^0'=a_310^post96, i_127^0'=i_127^post96, a_576^0'=a_576^post96, tmp_34^0'=tmp_34^post96, length_29^0'=length_29^post96, a_1162^0'=a_1162^post96, f_969^0'=f_969^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96, a_395^0'=a_395^post96, x_17^0'=x_17^post96, a_633^0'=a_633^post96, r_224^0'=r_224^post96, a_239^0'=a_239^post96, i_107^0'=i_107^post96, a_431^0'=a_431^post96, temp0_16^0'=temp0_16^post96, len_238^0'=len_238^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, a_924^0'=a_924^post96, ct_18^0'=ct_18^post96, result_11^0'=result_11^post96, a_392^0'=a_392^post96, i_197^0'=i_197^post96, a_579^0'=a_579^post96, r_143^0'=r_143^post96, a_1236^0'=a_1236^post96, head_32^0'=head_32^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96, i_30^0'=i_30^post96, x_253^0'=x_253^post96, a_635^0'=a_635^post96, r_970^0'=r_970^post96, rcd_47^0'=rcd_47^post96, a_309^0'=a_309^post96, i_1248^0'=i_1248^post96, a_575^0'=a_575^post96, temp_35^0'=temp_35^post96, len_861^0'=len_861^post96, (t_24^0-t_24^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ -len_262^post96+len_262^0 == 0 /\ a_862^0-a_862^post96 == 0 /\ x_21^0-x_21^post96 == 0 /\ a_417^0-a_417^post96 == 0 /\ -a_310^post96+a_310^0 == 0 /\ -f_248^post96+f_248^0 == 0 /\ len_161^0-len_161^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post96+r_224^0 == 0 /\ x_156^0-x_156^post96 == 0 /\ a_947^0-a_947^post96 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ -i_229^post96+i_229^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ f_847^0-f_847^post96 == 0 /\ a_263^0-a_263^post96 == 0 /\ a_394^0-a_394^post96 == 0 /\ 1-x_14^0 <= 0 /\ -i_1248^post96+i_1248^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ -a_392^post96+a_392^0 == 0 /\ -i_27^post96+i_27^0 == 0 /\ -a_239^post96+a_239^0 == 0 /\ length_29^0-length_29^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -i_127^post96+i_127^0 == 0 /\ -len_861^post96+len_861^0 == 0 /\ -a_579^post96+a_579^0 == 0 /\ -i_30^post96+i_30^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -a_635^post96+a_635^0 == 0 /\ a_430^0-a_430^post96 == 0 /\ r_151^0-r_151^post96 == 0 /\ -i_107^post96+i_107^0 == 0 /\ a_902^0-a_902^post96 == 0 /\ -x_852^post96+x_852^0 == 0 /\ i_106^0-i_106^post96 == 0 /\ a_311^0-a_311^post96 == 0 /\ a_577^0-a_577^post96 == 0 /\ -x_17^post96+x_17^0 == 0 /\ i_94^0-i_94^post96 == 0 /\ -i_197^post96+i_197^0 == 0 /\ head_15^0-head_15^post96 == 0 /\ -a_309^post96+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ -a_575^post96+a_575^0 == 0 /\ -len_238^post96+len_238^0 == 0 /\ i_140^0-i_140^post96 == 0 /\ -rcd_47^post96+rcd_47^0 == 0 /\ -a_634^post96+a_634^0 == 0 /\ -a_633^post96+a_633^0 == 0 /\ a_1089^0-a_1089^post96 == 0 /\ -a_1162^post96+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ x_253^0-x_253^post96 == 0 /\ y_20^0-y_20^post96 == 0 /\ -f_969^post96+f_969^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ i_1053^0-i_1053^post96 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ -a_924^post96+a_924^0 == 0 /\ a_395^0-a_395^post96 == 0 /\ a_176^0-a_176^post96 == 0 /\ -rcd_1249^post96+rcd_1249^0 == 0 /\ i_113^0-i_113^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -r_970^post96+r_970^0 == 0 /\ x_975^0-x_975^post96 == 0 /\ r_192^0-r_192^post96 == 0 /\ -r_143^post96+r_143^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -a_431^post96+a_431^0 == 0 /\ a_393^0-a_393^post96 == 0 /\ t_458^0-t_458^post96 == 0 /\ -a_576^post96+a_576^0 == 0 /\ -x_SLAM_f_19^post96+x_SLAM_f_19^0 == 0 /\ -a_1236^post96+a_1236^0 == 0 /\ -a_121^post96+a_121^0 == 0 /\ -a_610^post96+a_610^0 == 0 /\ a_632^0-a_632^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0), cost: 1 97: l62 -> l63 : a_1089^0'=a_1089^post97, f_847^0'=f_847^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_394^0'=a_394^post97, x_156^0'=x_156^post97, a_632^0'=a_632^post97, r_192^0'=r_192^post97, a_176^0'=a_176^post97, i_106^0'=i_106^post97, a_430^0'=a_430^post97, t_458^0'=t_458^post97, len_161^0'=len_161^post97, x_975^0'=x_975^post97, a_902^0'=a_902^post97, a_947^0'=a_947^post97, rcd_88^0'=rcd_88^post97, a_311^0'=a_311^post97, i_140^0'=i_140^post97, a_577^0'=a_577^post97, x_14^0'=x_14^post97, nondet_12^0'=nondet_12^post97, a_121^0'=a_121^post97, head_15^0'=head_15^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97, i_27^0'=i_27^post97, x_21^0'=x_21^post97, a_634^0'=a_634^post97, r_39^0'=r_39^post97, a_263^0'=a_263^post97, i_113^0'=i_113^post97, a_432^0'=a_432^post97, temp0_31^0'=temp0_31^post97, len_262^0'=len_262^post97, y_20^0'=y_20^post97, f_248^0'=f_248^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_393^0'=a_393^post97, i_229^0'=i_229^post97, a_610^0'=a_610^post97, r_151^0'=r_151^post97, a_144^0'=a_144^post97, i_1053^0'=i_1053^post97, a_417^0'=a_417^post97, t_24^0'=t_24^post97, i_94^0'=i_94^post97, x_852^0'=x_852^post97, a_862^0'=a_862^post97, rcd_1249^0'=rcd_1249^post97, rcd_58^0'=rcd_58^post97, a_310^0'=a_310^post97, i_127^0'=i_127^post97, a_576^0'=a_576^post97, tmp_34^0'=tmp_34^post97, length_29^0'=length_29^post97, a_1162^0'=a_1162^post97, f_969^0'=f_969^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97, a_395^0'=a_395^post97, x_17^0'=x_17^post97, a_633^0'=a_633^post97, r_224^0'=r_224^post97, a_239^0'=a_239^post97, i_107^0'=i_107^post97, a_431^0'=a_431^post97, temp0_16^0'=temp0_16^post97, len_238^0'=len_238^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, a_924^0'=a_924^post97, ct_18^0'=ct_18^post97, result_11^0'=result_11^post97, a_392^0'=a_392^post97, i_197^0'=i_197^post97, a_579^0'=a_579^post97, r_143^0'=r_143^post97, a_1236^0'=a_1236^post97, head_32^0'=head_32^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97, i_30^0'=i_30^post97, x_253^0'=x_253^post97, a_635^0'=a_635^post97, r_970^0'=r_970^post97, rcd_47^0'=rcd_47^post97, a_309^0'=a_309^post97, i_1248^0'=i_1248^post97, a_575^0'=a_575^post97, temp_35^0'=temp_35^post97, len_861^0'=len_861^post97, (r_151^0-r_151^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -a_924^post97+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97 == 0 /\ -a_610^post97+a_610^0 == 0 /\ -rcd_1249^post97+rcd_1249^0 == 0 /\ i_94^0-i_94^post97 == 0 /\ i_113^0-i_113^post97 == 0 /\ -a_634^post97+a_634^0 == 0 /\ r_39^0-r_39^post97 == 0 /\ -rcd_47^post97+rcd_47^0 == 0 /\ a_393^0-a_393^post97 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ -x_253^post97+x_253^0 == 0 /\ a_1089^0-a_1089^post97 == 0 /\ a_432^0-a_432^post97 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post97+len_238^0 == 0 /\ x_21^0-x_21^post97 == 0 /\ a_310^0-a_310^post97 == 0 /\ -result_11^post97+result_11^0 == 0 /\ r_192^0-r_192^post97 == 0 /\ i_140^0-i_140^post97 == 0 /\ i_197^0-i_197^post97 == 0 /\ head_32^0-head_32^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ a_417^0-a_417^post97 == 0 /\ a_263^0-a_263^post97 == 0 /\ -a_576^post97+a_576^0 == 0 /\ i_27^0-i_27^post97 == 0 /\ -temp_35^post97+temp_35^0 == 0 /\ -r_143^post97+r_143^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ x_156^0-x_156^post97 == 0 /\ a_1162^0-a_1162^post97 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ -f_969^post97+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97 == 0 /\ -r_970^post97+r_970^0 == 0 /\ -a_395^post97+a_395^0 == 0 /\ -f_248^post97+f_248^0 == 0 /\ -a_1236^post97+a_1236^0 == 0 /\ t_458^0-t_458^post97 == 0 /\ i_106^0-i_106^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post97 == 0 /\ -len_262^post97+len_262^0 == 0 /\ x_975^0-x_975^post97 == 0 /\ i_107^0-i_107^post97 == 0 /\ a_311^0-a_311^post97 == 0 /\ -a_392^post97+a_392^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ -i_1248^post97+i_1248^0 == 0 /\ -a_239^post97+a_239^0 == 0 /\ a_902^0-a_902^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ a_577^0-a_577^post97 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ i_229^0-i_229^post97 == 0 /\ -len_861^post97+len_861^0 == 0 /\ -a_430^post97+a_430^0 == 0 /\ -a_947^post97+a_947^0 == 0 /\ -x_14^post97+x_14^0 == 0 /\ -head_15^post97+head_15^0 == 0 /\ x_852^0-x_852^post97 == 0 /\ -x_17^post97+x_17^0 == 0 /\ a_121^0-a_121^post97 == 0 /\ -a_579^post97+a_579^0 == 0 /\ -a_309^post97+a_309^0 == 0 /\ t_24^0-t_24^post97 == 0 /\ a_862^0-a_862^post97 == 0 /\ a_394^0-a_394^post97 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ len_161^0-len_161^post97 == 0 /\ -a_635^post97+a_635^0 == 0 /\ a_431^0-a_431^post97 == 0 /\ 1+x_14^0 <= 0 /\ -a_144^post97+a_144^0 == 0 /\ a_176^0-a_176^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -i_127^post97+i_127^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ f_847^0-f_847^post97 == 0 /\ y_20^0-y_20^post97 == 0 /\ i_1053^0-i_1053^post97 == 0 /\ r_224^0-r_224^post97 == 0 /\ -a_575^post97+a_575^0 == 0 /\ -a_633^post97+a_633^0 == 0), cost: 1 98: l63 -> l64 : a_1089^0'=a_1089^post98, f_847^0'=f_847^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_394^0'=a_394^post98, x_156^0'=x_156^post98, a_632^0'=a_632^post98, r_192^0'=r_192^post98, a_176^0'=a_176^post98, i_106^0'=i_106^post98, a_430^0'=a_430^post98, t_458^0'=t_458^post98, len_161^0'=len_161^post98, x_975^0'=x_975^post98, a_902^0'=a_902^post98, a_947^0'=a_947^post98, rcd_88^0'=rcd_88^post98, a_311^0'=a_311^post98, i_140^0'=i_140^post98, a_577^0'=a_577^post98, x_14^0'=x_14^post98, nondet_12^0'=nondet_12^post98, a_121^0'=a_121^post98, head_15^0'=head_15^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98, i_27^0'=i_27^post98, x_21^0'=x_21^post98, a_634^0'=a_634^post98, r_39^0'=r_39^post98, a_263^0'=a_263^post98, i_113^0'=i_113^post98, a_432^0'=a_432^post98, temp0_31^0'=temp0_31^post98, len_262^0'=len_262^post98, y_20^0'=y_20^post98, f_248^0'=f_248^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_393^0'=a_393^post98, i_229^0'=i_229^post98, a_610^0'=a_610^post98, r_151^0'=r_151^post98, a_144^0'=a_144^post98, i_1053^0'=i_1053^post98, a_417^0'=a_417^post98, t_24^0'=t_24^post98, i_94^0'=i_94^post98, x_852^0'=x_852^post98, a_862^0'=a_862^post98, rcd_1249^0'=rcd_1249^post98, rcd_58^0'=rcd_58^post98, a_310^0'=a_310^post98, i_127^0'=i_127^post98, a_576^0'=a_576^post98, tmp_34^0'=tmp_34^post98, length_29^0'=length_29^post98, a_1162^0'=a_1162^post98, f_969^0'=f_969^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98, a_395^0'=a_395^post98, x_17^0'=x_17^post98, a_633^0'=a_633^post98, r_224^0'=r_224^post98, a_239^0'=a_239^post98, i_107^0'=i_107^post98, a_431^0'=a_431^post98, temp0_16^0'=temp0_16^post98, len_238^0'=len_238^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, a_924^0'=a_924^post98, ct_18^0'=ct_18^post98, result_11^0'=result_11^post98, a_392^0'=a_392^post98, i_197^0'=i_197^post98, a_579^0'=a_579^post98, r_143^0'=r_143^post98, a_1236^0'=a_1236^post98, head_32^0'=head_32^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98, i_30^0'=i_30^post98, x_253^0'=x_253^post98, a_635^0'=a_635^post98, r_970^0'=r_970^post98, rcd_47^0'=rcd_47^post98, a_309^0'=a_309^post98, i_1248^0'=i_1248^post98, a_575^0'=a_575^post98, temp_35^0'=temp_35^post98, len_861^0'=len_861^post98, (0 == 0 /\ -a_417^post98+a_417^0 == 0 /\ -a_862^post98+a_862^0 == 0 /\ -i_27^post98+i_27^0 == 0 /\ -len_861^post98+len_861^0 == 0 /\ a_263^0-a_263^post98 == 0 /\ -a_1236^post98+a_1236^0 == 0 /\ len_161^0-len_161^post98 == 0 /\ y_20^0-y_20^post98 == 0 /\ -a_393^post98+a_393^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ i_229^0-i_229^post98 == 0 /\ x_156^0-x_156^post98 == 0 /\ -a_392^post98+a_392^0 == 0 /\ a_634^0-a_634^post98 == 0 /\ -a_239^post98+a_239^0 == 0 /\ head_15^0-head_15^post98 == 0 /\ i_1053^0-i_1053^post98 == 0 /\ a_176^0-a_176^post98 == 0 /\ a_395^0-a_395^post98 == 0 /\ -length_29^post98+length_29^0 == 0 /\ a_121^0-a_121^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ -i_1248^post98+i_1248^0 == 0 /\ len_262^0-len_262^post98 == 0 /\ a_947^0-a_947^post98 == 0 /\ -a_575^post98+a_575^0 == 0 /\ a_430^0-a_430^post98 == 0 /\ -i_197^post98+i_197^0 == 0 /\ -a_579^post98+a_579^0 == 0 /\ -ct_18^post98+ct_18^0 == 0 /\ i_113^0-i_113^post98 == 0 /\ -a_635^post98+a_635^0 == 0 /\ r_192^0-r_192^post98 == 0 /\ -r_151^post98+r_151^0 == 0 /\ -len_238^post98+len_238^0 == 0 /\ -i_127^post98+i_127^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ -a_309^post98+a_309^0 == 0 /\ -a_610^post98+a_610^0 == 0 /\ i_140^0-i_140^post98 == 0 /\ -a_144^post98+a_144^0 == 0 /\ a_632^0-a_632^post98 == 0 /\ -rcd_47^post98+rcd_47^0 == 0 /\ -a_633^post98+a_633^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_432^0-a_432^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ -rcd_1249^post98+rcd_1249^0 == 0 /\ -result_11^post98+result_11^0 == 0 /\ -a_1162^post98+a_1162^0 == 0 /\ f_847^0-f_847^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_902^post98+a_902^0 == 0 /\ a_431^0-a_431^post98 == 0 /\ i_94^0-i_94^post98 == 0 /\ -x_852^post98+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ x_17^0-x_17^post98 == 0 /\ -a_924^post98+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post98 == 0 /\ a_577^0-a_577^post98 == 0 /\ 1-i_27^0 <= 0 /\ -r_143^post98+r_143^0 == 0 /\ x_975^0-x_975^post98 == 0 /\ x_14^0-x_14^post98 == 0 /\ -x_SLAM_f_19^post98+x_SLAM_f_19^0 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -nondet_12^14+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98 == 0 /\ r_224^0-r_224^post98 == 0 /\ -x_253^post98+x_253^0 == 0 /\ -f_969^post98+f_969^0 == 0 /\ a_1089^0-a_1089^post98 == 0 /\ i_107^0-i_107^post98 == 0 /\ -r_970^post98+r_970^0 == 0 /\ i_106^0-i_106^post98 == 0 /\ a_311^0-a_311^post98 == 0 /\ -f_248^post98+f_248^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post98 == 0 /\ r_39^0-r_39^post98 == 0 /\ -a_576^post98+a_576^0 == 0 /\ a_310^0-a_310^post98 == 0), cost: 1 99: l64 -> l65 : a_1089^0'=a_1089^post99, f_847^0'=f_847^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_394^0'=a_394^post99, x_156^0'=x_156^post99, a_632^0'=a_632^post99, r_192^0'=r_192^post99, a_176^0'=a_176^post99, i_106^0'=i_106^post99, a_430^0'=a_430^post99, t_458^0'=t_458^post99, len_161^0'=len_161^post99, x_975^0'=x_975^post99, a_902^0'=a_902^post99, a_947^0'=a_947^post99, rcd_88^0'=rcd_88^post99, a_311^0'=a_311^post99, i_140^0'=i_140^post99, a_577^0'=a_577^post99, x_14^0'=x_14^post99, nondet_12^0'=nondet_12^post99, a_121^0'=a_121^post99, head_15^0'=head_15^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99, i_27^0'=i_27^post99, x_21^0'=x_21^post99, a_634^0'=a_634^post99, r_39^0'=r_39^post99, a_263^0'=a_263^post99, i_113^0'=i_113^post99, a_432^0'=a_432^post99, temp0_31^0'=temp0_31^post99, len_262^0'=len_262^post99, y_20^0'=y_20^post99, f_248^0'=f_248^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_393^0'=a_393^post99, i_229^0'=i_229^post99, a_610^0'=a_610^post99, r_151^0'=r_151^post99, a_144^0'=a_144^post99, i_1053^0'=i_1053^post99, a_417^0'=a_417^post99, t_24^0'=t_24^post99, i_94^0'=i_94^post99, x_852^0'=x_852^post99, a_862^0'=a_862^post99, rcd_1249^0'=rcd_1249^post99, rcd_58^0'=rcd_58^post99, a_310^0'=a_310^post99, i_127^0'=i_127^post99, a_576^0'=a_576^post99, tmp_34^0'=tmp_34^post99, length_29^0'=length_29^post99, a_1162^0'=a_1162^post99, f_969^0'=f_969^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99, a_395^0'=a_395^post99, x_17^0'=x_17^post99, a_633^0'=a_633^post99, r_224^0'=r_224^post99, a_239^0'=a_239^post99, i_107^0'=i_107^post99, a_431^0'=a_431^post99, temp0_16^0'=temp0_16^post99, len_238^0'=len_238^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, a_924^0'=a_924^post99, ct_18^0'=ct_18^post99, result_11^0'=result_11^post99, a_392^0'=a_392^post99, i_197^0'=i_197^post99, a_579^0'=a_579^post99, r_143^0'=r_143^post99, a_1236^0'=a_1236^post99, head_32^0'=head_32^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99, i_30^0'=i_30^post99, x_253^0'=x_253^post99, a_635^0'=a_635^post99, r_970^0'=r_970^post99, rcd_47^0'=rcd_47^post99, a_309^0'=a_309^post99, i_1248^0'=i_1248^post99, a_575^0'=a_575^post99, temp_35^0'=temp_35^post99, len_861^0'=len_861^post99, (-i_1248^post99+i_1248^0 == 0 /\ -a_239^post99+a_239^0 == 0 /\ -a_579^post99+a_579^0 == 0 /\ len_161^0-len_161^post99 == 0 /\ -rcd_58^post99+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -i_127^post99+i_127^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ a_417^0-a_417^post99 == 0 /\ a_176^0-a_176^post99 == 0 /\ a_394^0-a_394^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ -i_197^post99+i_197^0 == 0 /\ length_29^0-length_29^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -f_248^post99+f_248^0 == 0 /\ f_847^0-f_847^post99 == 0 /\ a_263^0-a_263^post99 == 0 /\ t_24^0-t_24^post99 == 0 /\ -a_431^post99+a_431^0 == 0 /\ -i_229^post99+i_229^0 == 0 /\ i_1053^0-i_1053^post99 == 0 /\ -a_309^post99+a_309^0 == 0 /\ i_94^0-i_94^post99 == 0 /\ a_432^0-a_432^post99 == 0 /\ -a_144^post99+a_144^0 == 0 /\ a_430^0-a_430^post99 == 0 /\ a_632^0-a_632^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -rcd_1249^post99+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_151^0-r_151^post99 == 0 /\ -a_575^post99+a_575^0 == 0 /\ -a_924^post99+a_924^0 == 0 /\ i_113^0-i_113^post99 == 0 /\ a_577^0-a_577^post99 == 0 /\ a_1162^0-a_1162^post99 == 0 /\ -len_861^post99+len_861^0 == 0 /\ r_192^0-r_192^post99 == 0 /\ a_902^0-a_902^post99 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -x_852^post99+x_852^0 == 0 /\ -a_635^post99+a_635^0 == 0 /\ x_156^0-x_156^post99 == 0 /\ head_32^0-head_32^post99 == 0 /\ -a_947^post99+a_947^0 == 0 /\ head_15^0-head_15^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_862^0-a_862^post99 == 0 /\ -x_17^post99+x_17^0 == 0 /\ a_1089^0-a_1089^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -x_SLAM_f_19^post99+x_SLAM_f_19^0 == 0 /\ -x_14^post99+x_14^0 == 0 /\ -a_576^post99+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ -r_143^post99+r_143^0 == 0 /\ -a_1236^post99+a_1236^0 == 0 /\ i_140^0-i_140^post99 == 0 /\ t_458^0-t_458^post99 == 0 /\ a_395^0-a_395^post99 == 0 /\ i_106^0-i_106^post99 == 0 /\ -a_634^post99+a_634^0 == 0 /\ rcd_88^0-rcd_88^post99 == 0 /\ a_311^0-a_311^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99 == 0 /\ -i_27^post99+i_27^0 == 0 /\ r_224^0-r_224^post99 == 0 /\ -a_392^post99+a_392^0 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ a_393^0-a_393^post99 == 0 /\ -a_633^post99+a_633^0 == 0 /\ i_107^0-i_107^post99 == 0 /\ -f_969^post99+f_969^0 == 0 /\ -a_310^post99+a_310^0 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ x_975^0-x_975^post99 == 0 /\ y_20^0-y_20^post99 == 0 /\ -a_610^post99+a_610^0 == 0 /\ a_121^0-a_121^post99 == 0 /\ -rcd_47^post99+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -x_253^post99+x_253^0 == 0 /\ -len_238^post99+len_238^0 == 0 /\ -r_970^post99+r_970^0 == 0 /\ -len_262^post99+len_262^0 == 0), cost: 1 100: l64 -> l65 : a_1089^0'=a_1089^post100, f_847^0'=f_847^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_394^0'=a_394^post100, x_156^0'=x_156^post100, a_632^0'=a_632^post100, r_192^0'=r_192^post100, a_176^0'=a_176^post100, i_106^0'=i_106^post100, a_430^0'=a_430^post100, t_458^0'=t_458^post100, len_161^0'=len_161^post100, x_975^0'=x_975^post100, a_902^0'=a_902^post100, a_947^0'=a_947^post100, rcd_88^0'=rcd_88^post100, a_311^0'=a_311^post100, i_140^0'=i_140^post100, a_577^0'=a_577^post100, x_14^0'=x_14^post100, nondet_12^0'=nondet_12^post100, a_121^0'=a_121^post100, head_15^0'=head_15^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100, i_27^0'=i_27^post100, x_21^0'=x_21^post100, a_634^0'=a_634^post100, r_39^0'=r_39^post100, a_263^0'=a_263^post100, i_113^0'=i_113^post100, a_432^0'=a_432^post100, temp0_31^0'=temp0_31^post100, len_262^0'=len_262^post100, y_20^0'=y_20^post100, f_248^0'=f_248^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_393^0'=a_393^post100, i_229^0'=i_229^post100, a_610^0'=a_610^post100, r_151^0'=r_151^post100, a_144^0'=a_144^post100, i_1053^0'=i_1053^post100, a_417^0'=a_417^post100, t_24^0'=t_24^post100, i_94^0'=i_94^post100, x_852^0'=x_852^post100, a_862^0'=a_862^post100, rcd_1249^0'=rcd_1249^post100, rcd_58^0'=rcd_58^post100, a_310^0'=a_310^post100, i_127^0'=i_127^post100, a_576^0'=a_576^post100, tmp_34^0'=tmp_34^post100, length_29^0'=length_29^post100, a_1162^0'=a_1162^post100, f_969^0'=f_969^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100, a_395^0'=a_395^post100, x_17^0'=x_17^post100, a_633^0'=a_633^post100, r_224^0'=r_224^post100, a_239^0'=a_239^post100, i_107^0'=i_107^post100, a_431^0'=a_431^post100, temp0_16^0'=temp0_16^post100, len_238^0'=len_238^post100, x_SLAM_f_19^0'=x_SLAM_f_19^post100, a_924^0'=a_924^post100, ct_18^0'=ct_18^post100, result_11^0'=result_11^post100, a_392^0'=a_392^post100, i_197^0'=i_197^post100, a_579^0'=a_579^post100, r_143^0'=r_143^post100, a_1236^0'=a_1236^post100, head_32^0'=head_32^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100, i_30^0'=i_30^post100, x_253^0'=x_253^post100, a_635^0'=a_635^post100, r_970^0'=r_970^post100, rcd_47^0'=rcd_47^post100, a_309^0'=a_309^post100, i_1248^0'=i_1248^post100, a_575^0'=a_575^post100, temp_35^0'=temp_35^post100, len_861^0'=len_861^post100, (-len_238^post100+len_238^0 == 0 /\ head_15^0-head_15^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -rcd_47^post100+rcd_47^0 == 0 /\ a_902^0-a_902^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100 == 0 /\ -r_143^post100+r_143^0 == 0 /\ -a_633^post100+a_633^0 == 0 /\ a_432^0-a_432^post100 == 0 /\ r_192^0-r_192^post100 == 0 /\ -r_151^post100+r_151^0 == 0 /\ i_229^0-i_229^post100 == 0 /\ i_113^0-i_113^post100 == 0 /\ -a_924^post100+a_924^0 == 0 /\ -a_576^post100+a_576^0 == 0 /\ x_21^0-x_21^post100 == 0 /\ x_156^0-x_156^post100 == 0 /\ -a_309^post100+a_309^0 == 0 /\ -rcd_1249^post100+rcd_1249^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post100 == 0 /\ x_14^0-x_14^post100 == 0 /\ a_121^0-a_121^post100 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_417^0-a_417^post100 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ i_27^0-i_27^post100 == 0 /\ a_263^0-a_263^post100 == 0 /\ -a_1236^post100+a_1236^0 == 0 /\ -len_262^post100+len_262^0 == 0 /\ -f_969^post100+f_969^0 == 0 /\ y_20^0-y_20^post100 == 0 /\ r_39^0-r_39^post100 == 0 /\ a_392^0-a_392^post100 == 0 /\ t_458^0-t_458^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100 == 0 /\ -a_311^post100+a_311^0 == 0 /\ i_106^0-i_106^post100 == 0 /\ -a_610^post100+a_610^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ -x_253^post100+x_253^0 == 0 /\ -ct_18^post100+ct_18^0 == 0 /\ -i_1053^post100+i_1053^0 == 0 /\ i_107^0-i_107^post100 == 0 /\ r_224^0-r_224^post100 == 0 /\ -r_970^post100+r_970^0 == 0 /\ f_248^0-f_248^post100 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -i_197^post100+i_197^0 == 0 /\ -a_430^post100+a_430^0 == 0 /\ -a_395^post100+a_395^0 == 0 /\ -temp0_16^post100+temp0_16^0 == 0 /\ a_393^0-a_393^post100 == 0 /\ a_632^0-a_632^post100 == 0 /\ -len_861^post100+len_861^0 == 0 /\ x_975^0-x_975^post100 == 0 /\ -a_394^post100+a_394^0 == 0 /\ -f_847^post100+f_847^0 == 0 /\ a_577^0-a_577^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ -a_862^post100+a_862^0 == 0 /\ -temp_35^post100+temp_35^0 == 0 /\ -i_127^post100+i_127^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -a_579^post100+a_579^0 == 0 /\ -a_1162^post100+a_1162^0 == 0 /\ t_24^0-t_24^post100 == 0 /\ -a_144^post100+a_144^0 == 0 /\ -a_634^post100+a_634^0 == 0 /\ a_431^0-a_431^post100 == 0 /\ len_161^0-len_161^post100 == 0 /\ -x_17^post100+x_17^0 == 0 /\ a_310^0-a_310^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post100+a_575^0 == 0 /\ a_176^0-a_176^post100 == 0 /\ -a_947^post100+a_947^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ x_852^0-x_852^post100 == 0 /\ -i_1248^post100+i_1248^0 == 0 /\ -a_239^post100+a_239^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ length_29^0-length_29^post100 == 0 /\ i_140^0-i_140^post100 == 0 /\ -a_635^post100+a_635^0 == 0), cost: 1 101: l65 -> l66 : a_1089^0'=a_1089^post101, f_847^0'=f_847^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, a_394^0'=a_394^post101, x_156^0'=x_156^post101, a_632^0'=a_632^post101, r_192^0'=r_192^post101, a_176^0'=a_176^post101, i_106^0'=i_106^post101, a_430^0'=a_430^post101, t_458^0'=t_458^post101, len_161^0'=len_161^post101, x_975^0'=x_975^post101, a_902^0'=a_902^post101, a_947^0'=a_947^post101, rcd_88^0'=rcd_88^post101, a_311^0'=a_311^post101, i_140^0'=i_140^post101, a_577^0'=a_577^post101, x_14^0'=x_14^post101, nondet_12^0'=nondet_12^post101, a_121^0'=a_121^post101, head_15^0'=head_15^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101, i_27^0'=i_27^post101, x_21^0'=x_21^post101, a_634^0'=a_634^post101, r_39^0'=r_39^post101, a_263^0'=a_263^post101, i_113^0'=i_113^post101, a_432^0'=a_432^post101, temp0_31^0'=temp0_31^post101, len_262^0'=len_262^post101, y_20^0'=y_20^post101, f_248^0'=f_248^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, a_393^0'=a_393^post101, i_229^0'=i_229^post101, a_610^0'=a_610^post101, r_151^0'=r_151^post101, a_144^0'=a_144^post101, i_1053^0'=i_1053^post101, a_417^0'=a_417^post101, t_24^0'=t_24^post101, i_94^0'=i_94^post101, x_852^0'=x_852^post101, a_862^0'=a_862^post101, rcd_1249^0'=rcd_1249^post101, rcd_58^0'=rcd_58^post101, a_310^0'=a_310^post101, i_127^0'=i_127^post101, a_576^0'=a_576^post101, tmp_34^0'=tmp_34^post101, length_29^0'=length_29^post101, a_1162^0'=a_1162^post101, f_969^0'=f_969^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101, a_395^0'=a_395^post101, x_17^0'=x_17^post101, a_633^0'=a_633^post101, r_224^0'=r_224^post101, a_239^0'=a_239^post101, i_107^0'=i_107^post101, a_431^0'=a_431^post101, temp0_16^0'=temp0_16^post101, len_238^0'=len_238^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, a_924^0'=a_924^post101, ct_18^0'=ct_18^post101, result_11^0'=result_11^post101, a_392^0'=a_392^post101, i_197^0'=i_197^post101, a_579^0'=a_579^post101, r_143^0'=r_143^post101, a_1236^0'=a_1236^post101, head_32^0'=head_32^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101, i_30^0'=i_30^post101, x_253^0'=x_253^post101, a_635^0'=a_635^post101, r_970^0'=r_970^post101, rcd_47^0'=rcd_47^post101, a_309^0'=a_309^post101, i_1248^0'=i_1248^post101, a_575^0'=a_575^post101, temp_35^0'=temp_35^post101, len_861^0'=len_861^post101, (0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ a_121^0-a_121^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_634^0-a_634^post101 == 0 /\ -i_1248^post101+i_1248^0 == 0 /\ len_262^0-len_262^post101 == 0 /\ -a_239^post101+a_239^0 == 0 /\ -length_29^post101+length_29^0 == 0 /\ -1+i_1248^0-i_27^post101 <= 0 /\ a_310^0-a_310^post101 == 0 /\ -rcd_58^post101+rcd_58^0 == 0 /\ a_395^0-a_395^post101 == 0 /\ a_176^0-a_176^post101 == 0 /\ -i_197^post101+i_197^0 == 0 /\ -a_579^post101+a_579^0 == 0 /\ a_947^0-a_947^post101 == 0 /\ -i_127^post101+i_127^0 == 0 /\ -head_32^post101+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post101 == 0 /\ i_1053^0-i_1053^post101 == 0 /\ -f_248^post101+f_248^0 == 0 /\ -a_393^post101+a_393^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post101 == 0 /\ -t_24^post101+t_24^0 == 0 /\ x_975^0-x_975^post101 == 0 /\ a_430^0-a_430^post101 == 0 /\ -a_924^post101+a_924^0 == 0 /\ head_15^0-head_15^post101 == 0 /\ i_113^0-i_113^post101 == 0 /\ -a_635^post101+a_635^0 == 0 /\ -a_144^post101+a_144^0 == 0 /\ -a_309^post101+a_309^0 == 0 /\ 1-i_27^0+i_27^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ i_229^0-i_229^post101 == 0 /\ a_432^0-a_432^post101 == 0 /\ x_156^0-x_156^post101 == 0 /\ -len_861^post101+len_861^0 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ -i_30^post101+i_30^0 == 0 /\ -a_417^post101+a_417^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ -x_852^post101+x_852^0 == 0 /\ r_192^0-r_192^post101 == 0 /\ a_1162^0-a_1162^post101 == 0 /\ -rcd_47^post101+rcd_47^0 == 0 /\ i_140^0-i_140^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ nondet_12^0-nondet_12^post101 == 0 /\ a_431^0-a_431^post101 == 0 /\ a_1089^0-a_1089^post101 == 0 /\ a_394^0-a_394^post101 == 0 /\ x_17^0-x_17^post101 == 0 /\ len_161^0-len_161^post101 == 0 /\ -r_143^post101+r_143^0 == 0 /\ 1-i_1248^0+i_27^post101 <= 0 /\ rcd_88^0-rcd_88^post101 == 0 /\ y_20^0-y_20^post101 == 0 /\ a_263^0-a_263^post101 == 0 /\ -a_633^post101+a_633^0 == 0 /\ f_847^0-f_847^post101 == 0 /\ -a_575^post101+a_575^0 == 0 /\ -a_902^post101+a_902^0 == 0 /\ i_107^0-i_107^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post101+r_151^0 == 0 /\ -result_11^post101+result_11^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ -rcd_1249^post101+rcd_47^0 <= 0 /\ t_458^0-t_458^post101 == 0 /\ r_224^0-r_224^post101 == 0 /\ -a_576^post101+a_576^0 == 0 /\ a_610^0-a_610^post101 == 0 /\ i_106^0-i_106^post101 == 0 /\ -temp_35^post101+temp_35^0 == 0 /\ i_94^0-i_94^post101 == 0 /\ a_577^0-a_577^post101 == 0 /\ -a_392^post101+a_392^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post101+r_970^0 == 0 /\ -x_253^post101+x_253^0 == 0 /\ -len_238^post101+len_238^0 == 0 /\ x_21^0-x_21^post101 == 0 /\ -f_969^post101+f_969^0 == 0 /\ a_862^0-a_862^post101 == 0 /\ -a_1236^post101+a_1236^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ rcd_1249^post101-rcd_47^0 <= 0 /\ -a_311^post101+a_311^0 == 0), cost: 1 102: l66 -> l67 : a_1089^0'=a_1089^post102, f_847^0'=f_847^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_394^0'=a_394^post102, x_156^0'=x_156^post102, a_632^0'=a_632^post102, r_192^0'=r_192^post102, a_176^0'=a_176^post102, i_106^0'=i_106^post102, a_430^0'=a_430^post102, t_458^0'=t_458^post102, len_161^0'=len_161^post102, x_975^0'=x_975^post102, a_902^0'=a_902^post102, a_947^0'=a_947^post102, rcd_88^0'=rcd_88^post102, a_311^0'=a_311^post102, i_140^0'=i_140^post102, a_577^0'=a_577^post102, x_14^0'=x_14^post102, nondet_12^0'=nondet_12^post102, a_121^0'=a_121^post102, head_15^0'=head_15^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102, i_27^0'=i_27^post102, x_21^0'=x_21^post102, a_634^0'=a_634^post102, r_39^0'=r_39^post102, a_263^0'=a_263^post102, i_113^0'=i_113^post102, a_432^0'=a_432^post102, temp0_31^0'=temp0_31^post102, len_262^0'=len_262^post102, y_20^0'=y_20^post102, f_248^0'=f_248^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_393^0'=a_393^post102, i_229^0'=i_229^post102, a_610^0'=a_610^post102, r_151^0'=r_151^post102, a_144^0'=a_144^post102, i_1053^0'=i_1053^post102, a_417^0'=a_417^post102, t_24^0'=t_24^post102, i_94^0'=i_94^post102, x_852^0'=x_852^post102, a_862^0'=a_862^post102, rcd_1249^0'=rcd_1249^post102, rcd_58^0'=rcd_58^post102, a_310^0'=a_310^post102, i_127^0'=i_127^post102, a_576^0'=a_576^post102, tmp_34^0'=tmp_34^post102, length_29^0'=length_29^post102, a_1162^0'=a_1162^post102, f_969^0'=f_969^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102, a_395^0'=a_395^post102, x_17^0'=x_17^post102, a_633^0'=a_633^post102, r_224^0'=r_224^post102, a_239^0'=a_239^post102, i_107^0'=i_107^post102, a_431^0'=a_431^post102, temp0_16^0'=temp0_16^post102, len_238^0'=len_238^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, a_924^0'=a_924^post102, ct_18^0'=ct_18^post102, result_11^0'=result_11^post102, a_392^0'=a_392^post102, i_197^0'=i_197^post102, a_579^0'=a_579^post102, r_143^0'=r_143^post102, a_1236^0'=a_1236^post102, head_32^0'=head_32^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102, i_30^0'=i_30^post102, x_253^0'=x_253^post102, a_635^0'=a_635^post102, r_970^0'=r_970^post102, rcd_47^0'=rcd_47^post102, a_309^0'=a_309^post102, i_1248^0'=i_1248^post102, a_575^0'=a_575^post102, temp_35^0'=temp_35^post102, len_861^0'=len_861^post102, (a_632^0-a_632^post102 == 0 /\ i_106^0-i_106^post102 == 0 /\ head_15^0-head_15^post102 == 0 /\ t_458^0-t_458^post102 == 0 /\ a_902^0-a_902^post102 == 0 /\ -len_238^post102+len_238^0 == 0 /\ -r_151^post102+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-x_14^0 <= 0 /\ i_229^0-i_229^post102 == 0 /\ -a_634^post102+a_634^0 == 0 /\ -a_576^post102+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ x_14^0-x_14^post102 == 0 /\ -a_1236^post102+a_1236^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post102 == 0 /\ -temp_35^post102+temp_35^0 == 0 /\ -r_143^post102+r_143^0 == 0 /\ -i_27^post102+i_27^0 == 0 /\ -x_253^post102+x_253^0 == 0 /\ a_121^0-a_121^post102 == 0 /\ -r_970^post102+r_970^0 == 0 /\ a_1089^0-a_1089^post102 == 0 /\ len_262^0-len_262^post102 == 0 /\ a_394^0-a_394^post102 == 0 /\ a_263^0-a_263^post102 == 0 /\ -a_610^post102+a_610^0 == 0 /\ -length_29^post102+length_29^0 == 0 /\ y_20^0-y_20^post102 == 0 /\ a_176^0-a_176^post102 == 0 /\ -rcd_47^post102+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102 == 0 /\ a_924^0-a_924^post102 == 0 /\ -a_395^post102+a_395^0 == 0 /\ -len_861^post102+len_861^0 == 0 /\ a_430^0-a_430^post102 == 0 /\ -head_32^post102+head_32^0 == 0 /\ x_975^0-x_975^post102 == 0 /\ -a_311^post102+a_311^0 == 0 /\ i_94^0-i_94^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ -r_192^post102+r_192^0 == 0 /\ a_577^0-a_577^post102 == 0 /\ r_39^0-r_39^post102 == 0 /\ -rcd_88^post102+rcd_88^0 == 0 /\ -i_1248^post102+i_1248^0 == 0 /\ -r_224^post102+r_224^0 == 0 /\ a_432^0-a_432^post102 == 0 /\ a_633^0-a_633^post102 == 0 /\ -a_579^post102+a_579^0 == 0 /\ -a_239^post102+a_239^0 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ i_113^0-i_113^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -i_127^post102+i_127^0 == 0 /\ x_21^0-x_21^post102 == 0 /\ -a_392^post102+a_392^0 == 0 /\ -a_862^post102+a_862^0 == 0 /\ f_969^0-f_969^post102 == 0 /\ -i_1053^post102+i_1053^0 == 0 /\ -x_156^post102+x_156^0 == 0 /\ -a_575^post102+a_575^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -i_197^post102+i_197^0 == 0 /\ -rcd_1249^post102+rcd_1249^0 == 0 /\ -a_417^post102+a_417^0 == 0 /\ a_431^0-a_431^post102 == 0 /\ a_310^0-a_310^post102 == 0 /\ a_947^0-a_947^post102 == 0 /\ -a_393^post102+a_393^0 == 0 /\ a_1162^0-a_1162^post102 == 0 /\ -a_635^post102+a_635^0 == 0 /\ len_161^0-len_161^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_17^post102+x_17^0 == 0 /\ -i_30^post102+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 == 0 /\ a_144^0-a_144^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ f_847^0-f_847^post102 == 0 /\ -a_309^post102+a_309^0 == 0 /\ -x_852^post102+x_852^0 == 0 /\ -tmp_34^post102+tmp_34^0 == 0 /\ f_248^0-f_248^post102 == 0 /\ -i_107^post102+i_107^0 == 0 /\ i_140^0-i_140^post102 == 0), cost: 1 103: l66 -> l67 : a_1089^0'=a_1089^post103, f_847^0'=f_847^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_394^0'=a_394^post103, x_156^0'=x_156^post103, a_632^0'=a_632^post103, r_192^0'=r_192^post103, a_176^0'=a_176^post103, i_106^0'=i_106^post103, a_430^0'=a_430^post103, t_458^0'=t_458^post103, len_161^0'=len_161^post103, x_975^0'=x_975^post103, a_902^0'=a_902^post103, a_947^0'=a_947^post103, rcd_88^0'=rcd_88^post103, a_311^0'=a_311^post103, i_140^0'=i_140^post103, a_577^0'=a_577^post103, x_14^0'=x_14^post103, nondet_12^0'=nondet_12^post103, a_121^0'=a_121^post103, head_15^0'=head_15^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103, i_27^0'=i_27^post103, x_21^0'=x_21^post103, a_634^0'=a_634^post103, r_39^0'=r_39^post103, a_263^0'=a_263^post103, i_113^0'=i_113^post103, a_432^0'=a_432^post103, temp0_31^0'=temp0_31^post103, len_262^0'=len_262^post103, y_20^0'=y_20^post103, f_248^0'=f_248^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_393^0'=a_393^post103, i_229^0'=i_229^post103, a_610^0'=a_610^post103, r_151^0'=r_151^post103, a_144^0'=a_144^post103, i_1053^0'=i_1053^post103, a_417^0'=a_417^post103, t_24^0'=t_24^post103, i_94^0'=i_94^post103, x_852^0'=x_852^post103, a_862^0'=a_862^post103, rcd_1249^0'=rcd_1249^post103, rcd_58^0'=rcd_58^post103, a_310^0'=a_310^post103, i_127^0'=i_127^post103, a_576^0'=a_576^post103, tmp_34^0'=tmp_34^post103, length_29^0'=length_29^post103, a_1162^0'=a_1162^post103, f_969^0'=f_969^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103, a_395^0'=a_395^post103, x_17^0'=x_17^post103, a_633^0'=a_633^post103, r_224^0'=r_224^post103, a_239^0'=a_239^post103, i_107^0'=i_107^post103, a_431^0'=a_431^post103, temp0_16^0'=temp0_16^post103, len_238^0'=len_238^post103, x_SLAM_f_19^0'=x_SLAM_f_19^post103, a_924^0'=a_924^post103, ct_18^0'=ct_18^post103, result_11^0'=result_11^post103, a_392^0'=a_392^post103, i_197^0'=i_197^post103, a_579^0'=a_579^post103, r_143^0'=r_143^post103, a_1236^0'=a_1236^post103, head_32^0'=head_32^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103, i_30^0'=i_30^post103, x_253^0'=x_253^post103, a_635^0'=a_635^post103, r_970^0'=r_970^post103, rcd_47^0'=rcd_47^post103, a_309^0'=a_309^post103, i_1248^0'=i_1248^post103, a_575^0'=a_575^post103, temp_35^0'=temp_35^post103, len_861^0'=len_861^post103, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ -i_1248^post103+i_1248^0 == 0 /\ a_634^0-a_634^post103 == 0 /\ i_27^0-i_27^post103 == 0 /\ -len_861^post103+len_861^0 == 0 /\ -a_310^post103+a_310^0 == 0 /\ -a_239^post103+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post103+a_862^0 == 0 /\ a_576^0-a_576^post103 == 0 /\ -ct_18^post103+ct_18^0 == 0 /\ x_17^0-x_17^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103 == 0 /\ -i_30^post103+i_30^0 == 0 /\ -i_1053^post103+i_1053^0 == 0 /\ a_176^0-a_176^post103 == 0 /\ -head_32^post103+head_32^0 == 0 /\ f_248^0-f_248^post103 == 0 /\ -a_393^post103+a_393^0 == 0 /\ -r_224^post103+r_224^0 == 0 /\ -i_197^post103+i_197^0 == 0 /\ a_924^0-a_924^post103 == 0 /\ -result_11^post103+result_11^0 == 0 /\ a_610^0-a_610^post103 == 0 /\ -r_151^post103+r_151^0 == 0 /\ -a_309^post103+a_309^0 == 0 /\ a_632^0-a_632^post103 == 0 /\ -i_107^post103+i_107^0 == 0 /\ t_458^0-t_458^post103 == 0 /\ rcd_1249^0-rcd_1249^post103 == 0 /\ x_975^0-x_975^post103 == 0 /\ i_113^0-i_113^post103 == 0 /\ -a_575^post103+a_575^0 == 0 /\ -a_579^post103+a_579^0 == 0 /\ -t_24^post103+t_24^0 == 0 /\ -a_635^post103+a_635^0 == 0 /\ -a_263^post103+a_263^0 == 0 /\ -a_417^post103+a_417^0 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ -x_852^post103+x_852^0 == 0 /\ r_192^0-r_192^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_262^0-len_262^post103 == 0 /\ nondet_12^0-nondet_12^post103 == 0 /\ temp0_31^0-temp0_31^post103 == 0 /\ a_144^0-a_144^post103 == 0 /\ a_394^0-a_394^post103 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -i_140^post103+i_140^0 == 0 /\ a_633^0-a_633^post103 == 0 /\ len_161^0-len_161^post103 == 0 /\ a_947^0-a_947^post103 == 0 /\ len_238^0-len_238^post103 == 0 /\ f_847^0-f_847^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103 == 0 /\ -rcd_47^post103+rcd_47^0 == 0 /\ -r_143^post103+r_143^0 == 0 /\ a_121^0-a_121^post103 == 0 /\ -f_969^post103+f_969^0 == 0 /\ a_902^0-a_902^post103 == 0 /\ i_106^0-i_106^post103 == 0 /\ -a_392^post103+a_392^0 == 0 /\ -y_20^post103+y_20^0 == 0 /\ i_94^0-i_94^post103 == 0 /\ a_430^0-a_430^post103 == 0 /\ -x_SLAM_f_19^post103+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ i_127^0-i_127^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ -temp_35^post103+temp_35^0 == 0 /\ a_311^0-a_311^post103 == 0 /\ -x_253^post103+x_253^0 == 0 /\ a_577^0-a_577^post103 == 0 /\ x_156^0-x_156^post103 == 0 /\ 1+x_14^0 <= 0 /\ -r_970^post103+r_970^0 == 0 /\ a_1089^0-a_1089^post103 == 0 /\ a_1162^0-a_1162^post103 == 0 /\ -a_432^post103+a_432^0 == 0 /\ -a_431^post103+a_431^0 == 0 /\ x_14^0-x_14^post103 == 0 /\ -a_395^post103+a_395^0 == 0 /\ -i_229^post103+i_229^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ x_21^0-x_21^post103 == 0 /\ -a_1236^post103+a_1236^0 == 0), cost: 1 104: l67 -> l68 : a_1089^0'=a_1089^post104, f_847^0'=f_847^post104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post104, a_394^0'=a_394^post104, x_156^0'=x_156^post104, a_632^0'=a_632^post104, r_192^0'=r_192^post104, a_176^0'=a_176^post104, i_106^0'=i_106^post104, a_430^0'=a_430^post104, t_458^0'=t_458^post104, len_161^0'=len_161^post104, x_975^0'=x_975^post104, a_902^0'=a_902^post104, a_947^0'=a_947^post104, rcd_88^0'=rcd_88^post104, a_311^0'=a_311^post104, i_140^0'=i_140^post104, a_577^0'=a_577^post104, x_14^0'=x_14^post104, nondet_12^0'=nondet_12^post104, a_121^0'=a_121^post104, head_15^0'=head_15^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104, i_27^0'=i_27^post104, x_21^0'=x_21^post104, a_634^0'=a_634^post104, r_39^0'=r_39^post104, a_263^0'=a_263^post104, i_113^0'=i_113^post104, a_432^0'=a_432^post104, temp0_31^0'=temp0_31^post104, len_262^0'=len_262^post104, y_20^0'=y_20^post104, f_248^0'=f_248^post104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104, a_393^0'=a_393^post104, i_229^0'=i_229^post104, a_610^0'=a_610^post104, r_151^0'=r_151^post104, a_144^0'=a_144^post104, i_1053^0'=i_1053^post104, a_417^0'=a_417^post104, t_24^0'=t_24^post104, i_94^0'=i_94^post104, x_852^0'=x_852^post104, a_862^0'=a_862^post104, rcd_1249^0'=rcd_1249^post104, rcd_58^0'=rcd_58^post104, a_310^0'=a_310^post104, i_127^0'=i_127^post104, a_576^0'=a_576^post104, tmp_34^0'=tmp_34^post104, length_29^0'=length_29^post104, a_1162^0'=a_1162^post104, f_969^0'=f_969^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104, a_395^0'=a_395^post104, x_17^0'=x_17^post104, a_633^0'=a_633^post104, r_224^0'=r_224^post104, a_239^0'=a_239^post104, i_107^0'=i_107^post104, a_431^0'=a_431^post104, temp0_16^0'=temp0_16^post104, len_238^0'=len_238^post104, x_SLAM_f_19^0'=x_SLAM_f_19^post104, a_924^0'=a_924^post104, ct_18^0'=ct_18^post104, result_11^0'=result_11^post104, a_392^0'=a_392^post104, i_197^0'=i_197^post104, a_579^0'=a_579^post104, r_143^0'=r_143^post104, a_1236^0'=a_1236^post104, head_32^0'=head_32^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104, i_30^0'=i_30^post104, x_253^0'=x_253^post104, a_635^0'=a_635^post104, r_970^0'=r_970^post104, rcd_47^0'=rcd_47^post104, a_309^0'=a_309^post104, i_1248^0'=i_1248^post104, a_575^0'=a_575^post104, temp_35^0'=temp_35^post104, len_861^0'=len_861^post104, (-i_140^post104+i_140^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post104 == 0 /\ -tmp_34^post104+tmp_34^0 == 0 /\ -a_1162^post104+a_1162^0 == 0 /\ a_311^0-a_311^post104 == 0 /\ f_248^0-f_248^post104 == 0 /\ rcd_1249^0-rcd_1249^post104 == 0 /\ t_458^0-t_458^post104 == 0 /\ a_902^0-a_902^post104 == 0 /\ f_969^0-f_969^post104 == 0 /\ rcd_88^0-rcd_88^post104 == 0 /\ i_106^0-i_106^post104 == 0 /\ i_127^0-i_127^post104 == 0 /\ -rcd_47^post104+rcd_47^0 == 0 /\ x_156^0-x_156^post104 == 0 /\ -result_11^post104+result_11^0 == 0 /\ -a_924^post104+a_924^0 == 0 /\ -x_21^post104+x_21^0 == 0 /\ len_161^0-len_161^post104 == 0 /\ a_632^0-a_632^post104 == 0 /\ x_14^0-x_14^post104 == 0 /\ a_430^0-a_430^post104 == 0 /\ len_262^0-len_262^post104 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1236^0-a_1236^post104 == 0 /\ x_852^0-x_852^post104 == 0 /\ -x_253^post104+x_253^0 == 0 /\ -r_970^post104+r_970^0 == 0 /\ temp0_31^0-temp0_31^post104 == 0 /\ f_847^0-f_847^post104 == 0 /\ -r_143^post104+r_143^0 == 0 /\ -y_20^post104+y_20^0 == 0 /\ -a_432^post104+a_432^0 == 0 /\ a_394^0-a_394^post104 == 0 /\ -i_229^post104+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post104+i_113^0 == 0 /\ -temp_35^post104+temp_35^0 == 0 /\ a_176^0-a_176^post104 == 0 /\ -a_431^post104+a_431^0 == 0 /\ -x_SLAM_f_19^post104+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post104 == 0 /\ -a_310^post104+a_310^0 == 0 /\ -len_861^post104+len_861^0 == 0 /\ -r_39^post104+r_39^0 == 0 /\ a_610^0-a_610^post104 == 0 /\ -a_395^post104+a_395^0 == 0 /\ a_239^0-a_239^post104 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ head_15^0-head_15^post104 == 0 /\ -a_862^post104+a_862^0 == 0 /\ -x_17^post104+x_17^0 == 0 /\ a_635^0-a_635^post104 == 0 /\ -r_224^post104+r_224^0 == 0 /\ -i_94^post104+i_94^0 == 0 /\ a_393^0-a_393^post104 == 0 /\ a_633^0-a_633^post104 == 0 /\ -a_577^post104+a_577^0 == 0 /\ -a_392^post104+a_392^0 == 0 /\ -i_1248^post104+i_1248^0 == 0 /\ -i_1053^post104+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post104 == 0 /\ temp0_16^0-temp0_16^post104 == 0 /\ i_27^0-i_27^post104 == 0 /\ -length_29^post104+length_29^0 == 0 /\ -i_107^post104+i_107^0 == 0 /\ -ct_18^post104+ct_18^0 == 0 /\ a_576^0-a_576^post104 == 0 /\ -a_263^post104+a_263^0 == 0 /\ -a_579^post104+a_579^0 == 0 /\ -a_575^post104+a_575^0 == 0 /\ -t_24^post104+t_24^0 == 0 /\ a_121^0-a_121^post104 == 0 /\ -i_197^post104+i_197^0 == 0 /\ a_1089^0-a_1089^post104 == 0 /\ -i_30^post104+i_30^0 == 0 /\ -head_32^post104+head_32^0 == 0 /\ a_144^0-a_144^post104 == 0 /\ nondet_12^0-nondet_12^post104 == 0 /\ a_634^0-a_634^post104 == 0 /\ a_947^0-a_947^post104 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_417^0-a_417^post104 == 0 /\ r_151^0-r_151^post104 == 0 /\ -rcd_58^post104+rcd_58^0 == 0 /\ len_238^0-len_238^post104 == 0 /\ -a_309^post104+a_309^0 == 0), cost: 1 105: l67 -> l68 : a_1089^0'=a_1089^post105, f_847^0'=f_847^post105, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post105, a_394^0'=a_394^post105, x_156^0'=x_156^post105, a_632^0'=a_632^post105, r_192^0'=r_192^post105, a_176^0'=a_176^post105, i_106^0'=i_106^post105, a_430^0'=a_430^post105, t_458^0'=t_458^post105, len_161^0'=len_161^post105, x_975^0'=x_975^post105, a_902^0'=a_902^post105, a_947^0'=a_947^post105, rcd_88^0'=rcd_88^post105, a_311^0'=a_311^post105, i_140^0'=i_140^post105, a_577^0'=a_577^post105, x_14^0'=x_14^post105, nondet_12^0'=nondet_12^post105, a_121^0'=a_121^post105, head_15^0'=head_15^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105, i_27^0'=i_27^post105, x_21^0'=x_21^post105, a_634^0'=a_634^post105, r_39^0'=r_39^post105, a_263^0'=a_263^post105, i_113^0'=i_113^post105, a_432^0'=a_432^post105, temp0_31^0'=temp0_31^post105, len_262^0'=len_262^post105, y_20^0'=y_20^post105, f_248^0'=f_248^post105, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105, a_393^0'=a_393^post105, i_229^0'=i_229^post105, a_610^0'=a_610^post105, r_151^0'=r_151^post105, a_144^0'=a_144^post105, i_1053^0'=i_1053^post105, a_417^0'=a_417^post105, t_24^0'=t_24^post105, i_94^0'=i_94^post105, x_852^0'=x_852^post105, a_862^0'=a_862^post105, rcd_1249^0'=rcd_1249^post105, rcd_58^0'=rcd_58^post105, a_310^0'=a_310^post105, i_127^0'=i_127^post105, a_576^0'=a_576^post105, tmp_34^0'=tmp_34^post105, length_29^0'=length_29^post105, a_1162^0'=a_1162^post105, f_969^0'=f_969^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105, a_395^0'=a_395^post105, x_17^0'=x_17^post105, a_633^0'=a_633^post105, r_224^0'=r_224^post105, a_239^0'=a_239^post105, i_107^0'=i_107^post105, a_431^0'=a_431^post105, temp0_16^0'=temp0_16^post105, len_238^0'=len_238^post105, x_SLAM_f_19^0'=x_SLAM_f_19^post105, a_924^0'=a_924^post105, ct_18^0'=ct_18^post105, result_11^0'=result_11^post105, a_392^0'=a_392^post105, i_197^0'=i_197^post105, a_579^0'=a_579^post105, r_143^0'=r_143^post105, a_1236^0'=a_1236^post105, head_32^0'=head_32^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105, i_30^0'=i_30^post105, x_253^0'=x_253^post105, a_635^0'=a_635^post105, r_970^0'=r_970^post105, rcd_47^0'=rcd_47^post105, a_309^0'=a_309^post105, i_1248^0'=i_1248^post105, a_575^0'=a_575^post105, temp_35^0'=temp_35^post105, len_861^0'=len_861^post105, (x_852^0-x_852^post105 == 0 /\ a_263^0-a_263^post105 == 0 /\ nondet_12^0-nondet_12^post105 == 0 /\ -length_29^post105+length_29^0 == 0 /\ -r_39^post105+r_39^0 == 0 /\ -a_392^post105+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post105 == 0 /\ -i_1248^post105+i_1248^0 == 0 /\ -a_862^post105+a_862^0 == 0 /\ -i_107^post105+i_107^0 == 0 /\ x_17^0-x_17^post105 == 0 /\ f_847^0-f_847^post105 == 0 /\ -head_32^post105+head_32^0 == 0 /\ tmp_34^0-tmp_34^post105 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105 == 0 /\ -temp0_16^post105+temp0_16^0 == 0 /\ a_394^0-a_394^post105 == 0 /\ a_144^0-a_144^post105 == 0 /\ -len_861^post105+len_861^0 == 0 /\ -a_635^post105+a_635^0 == 0 /\ -i_30^post105+i_30^0 == 0 /\ -a_310^post105+a_310^0 == 0 /\ -a_393^post105+a_393^0 == 0 /\ t_458^0-t_458^post105 == 0 /\ -t_24^post105+t_24^0 == 0 /\ r_143^0-r_143^post105 == 0 /\ rcd_1249^0-rcd_1249^post105 == 0 /\ a_610^0-a_610^post105 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_106^0-i_106^post105 == 0 /\ a_577^0-a_577^post105 == 0 /\ ct_18^0-ct_18^post105 == 0 /\ -a_575^post105+a_575^0 == 0 /\ -a_417^post105+a_417^0 == 0 /\ -i_197^post105+i_197^0 == 0 /\ -a_633^post105+a_633^0 == 0 /\ -a_309^post105+a_309^0 == 0 /\ -i_127^post105+i_127^0 == 0 /\ len_161^0-len_161^post105 == 0 /\ -a_579^post105+a_579^0 == 0 /\ -x_975^post105+x_975^0 == 0 /\ i_27^0-i_27^post105 == 0 /\ x_21^0-x_21^post105 == 0 /\ a_1236^0-a_1236^post105 == 0 /\ a_121^0-a_121^post105 == 0 /\ len_262^0-len_262^post105 == 0 /\ x_156^0-x_156^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post105 == 0 /\ temp0_31^0-temp0_31^post105 == 0 /\ -a_1162^post105+a_1162^0 == 0 /\ -a_924^post105+a_924^0 == 0 /\ -rcd_47^post105+rcd_47^0 == 0 /\ a_634^0-a_634^post105 == 0 /\ x_253^0-x_253^post105 == 0 /\ -i_140^post105+i_140^0 == 0 /\ len_238^0-len_238^post105 == 0 /\ f_248^0-f_248^post105 == 0 /\ rcd_58^0-rcd_58^post105 == 0 /\ a_947^0-a_947^post105 == 0 /\ -r_970^post105+r_970^0 == 0 /\ -f_969^post105+f_969^0 == 0 /\ -result_11^post105+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105 == 0 /\ a_176^0-a_176^post105 == 0 /\ -r_224^post105+r_224^0 == 0 /\ r_151^0-r_151^post105 == 0 /\ a_239^0-a_239^post105 == 0 /\ a_902^0-a_902^post105 == 0 /\ -temp_35^post105+temp_35^0 == 0 /\ head_15^0-head_15^post105 == 0 /\ i_1053^0-i_1053^post105 == 0 /\ a_311^0-a_311^post105 == 0 /\ -i_113^post105+i_113^0 == 0 /\ -i_94^post105+i_94^0 == 0 /\ rcd_88^0-rcd_88^post105 == 0 /\ -a_395^post105+a_395^0 == 0 /\ a_1089^0-a_1089^post105 == 0 /\ a_430^0-a_430^post105 == 0 /\ x_14^0-x_14^post105 == 0 /\ -y_20^post105+y_20^0 == 0 /\ -a_431^post105+a_431^0 == 0 /\ -a_432^post105+a_432^0 == 0 /\ -i_229^post105+i_229^0 == 0 /\ a_632^0-a_632^post105 == 0 /\ -x_SLAM_f_19^post105+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post105 == 0), cost: 1 106: l68 -> l61 : a_1089^0'=a_1089^post106, f_847^0'=f_847^post106, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post106, a_394^0'=a_394^post106, x_156^0'=x_156^post106, a_632^0'=a_632^post106, r_192^0'=r_192^post106, a_176^0'=a_176^post106, i_106^0'=i_106^post106, a_430^0'=a_430^post106, t_458^0'=t_458^post106, len_161^0'=len_161^post106, x_975^0'=x_975^post106, a_902^0'=a_902^post106, a_947^0'=a_947^post106, rcd_88^0'=rcd_88^post106, a_311^0'=a_311^post106, i_140^0'=i_140^post106, a_577^0'=a_577^post106, x_14^0'=x_14^post106, nondet_12^0'=nondet_12^post106, a_121^0'=a_121^post106, head_15^0'=head_15^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106, i_27^0'=i_27^post106, x_21^0'=x_21^post106, a_634^0'=a_634^post106, r_39^0'=r_39^post106, a_263^0'=a_263^post106, i_113^0'=i_113^post106, a_432^0'=a_432^post106, temp0_31^0'=temp0_31^post106, len_262^0'=len_262^post106, y_20^0'=y_20^post106, f_248^0'=f_248^post106, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106, a_393^0'=a_393^post106, i_229^0'=i_229^post106, a_610^0'=a_610^post106, r_151^0'=r_151^post106, a_144^0'=a_144^post106, i_1053^0'=i_1053^post106, a_417^0'=a_417^post106, t_24^0'=t_24^post106, i_94^0'=i_94^post106, x_852^0'=x_852^post106, a_862^0'=a_862^post106, rcd_1249^0'=rcd_1249^post106, rcd_58^0'=rcd_58^post106, a_310^0'=a_310^post106, i_127^0'=i_127^post106, a_576^0'=a_576^post106, tmp_34^0'=tmp_34^post106, length_29^0'=length_29^post106, a_1162^0'=a_1162^post106, f_969^0'=f_969^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106, a_395^0'=a_395^post106, x_17^0'=x_17^post106, a_633^0'=a_633^post106, r_224^0'=r_224^post106, a_239^0'=a_239^post106, i_107^0'=i_107^post106, a_431^0'=a_431^post106, temp0_16^0'=temp0_16^post106, len_238^0'=len_238^post106, x_SLAM_f_19^0'=x_SLAM_f_19^post106, a_924^0'=a_924^post106, ct_18^0'=ct_18^post106, result_11^0'=result_11^post106, a_392^0'=a_392^post106, i_197^0'=i_197^post106, a_579^0'=a_579^post106, r_143^0'=r_143^post106, a_1236^0'=a_1236^post106, head_32^0'=head_32^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106, i_30^0'=i_30^post106, x_253^0'=x_253^post106, a_635^0'=a_635^post106, r_970^0'=r_970^post106, rcd_47^0'=rcd_47^post106, a_309^0'=a_309^post106, i_1248^0'=i_1248^post106, a_575^0'=a_575^post106, temp_35^0'=temp_35^post106, len_861^0'=len_861^post106, (0 == 0 /\ f_969^0-f_969^post106 == 0 /\ x_975^0-x_975^post106 == 0 /\ -a_924^post106+a_924^0 == 0 /\ a_176^0-a_176^post106 == 0 /\ length_29^0-length_29^post106 == 0 /\ r_192^0-r_192^post106 == 0 /\ -a_431^post106+a_431^0 == 0 /\ -x_21^post106+x_21^0 == 0 /\ -a_1162^post106+a_1162^0 == 0 /\ i_27^0-i_27^post106 == 0 /\ t_24^0-t_24^post106 == 0 /\ -result_11^post106+result_11^0 == 0 /\ a_393^0-a_393^post106 == 0 /\ r_39^0-r_39^post106 == 0 /\ -rcd_47^post106+rcd_1249^0 <= 0 /\ a_430^0-a_430^post106 == 0 /\ -a_610^post106+a_610^0 == 0 /\ a_432^0-a_432^post106 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_970^post106+r_970^0 == 0 /\ -f_248^post106+f_248^0 == 0 /\ -r_143^post106+r_143^0 == 0 /\ -i_94^post106+i_94^0 == 0 /\ len_161^0-len_161^post106 == 0 /\ x_156^0-x_156^post106 == 0 /\ a_144^0-a_144^post106 == 0 /\ a_579^0-a_579^post106 == 0 /\ i_140^0-i_140^post106 == 0 /\ -i_229^post106+i_229^0 == 0 /\ f_847^0-f_847^post106 == 0 /\ -x_253^post106+x_253^0 == 0 /\ a_394^0-a_394^post106 == 0 /\ head_15^0-head_15^post106 == 0 /\ a_862^0-a_862^post106 == 0 /\ r_151^0-r_151^post106 == 0 /\ i_113^0-i_113^post106 == 0 /\ a_902^0-a_902^post106 == 0 /\ -temp_35^post106+temp_35^0 == 0 /\ rcd_47^post106-rcd_1249^0 <= 0 /\ -a_576^post106+a_576^0 == 0 /\ -rcd_1249^post106+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post106 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_32^0-head_32^post106 == 0 /\ a_239^0-a_239^post106 == 0 /\ -a_1236^post106+a_1236^0 == 0 /\ -i_30^post106+i_30^0 == 0 /\ rcd_88^0-rcd_88^post106 == 0 /\ a_311^0-a_311^post106 == 0 /\ -a_947^post106+a_947^0 == 0 /\ a_635^0-a_635^post106 == 0 /\ a_395^0-a_395^post106 == 0 /\ -x_17^post106+x_17^0 == 0 /\ a_632^0-a_632^post106 == 0 /\ i_106^0-i_106^post106 == 0 /\ -temp0_31^post106+temp0_31^0 == 0 /\ 1-i_1248^0 <= 0 /\ -a_577^post106+a_577^0 == 0 /\ -i_1248^post106+i_1248^0 == 0 /\ -x_SLAM_f_19^post106+x_SLAM_f_19^0 == 0 /\ -a_392^post106+a_392^0 == 0 /\ x_852^0-x_852^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post106 == 0 /\ -a_310^post106+a_310^0 == 0 /\ -r_224^post106+r_224^0 == 0 /\ -temp0_16^post106+temp0_16^0 == 0 /\ a_1089^0-a_1089^post106 == 0 /\ -len_861^post106+len_861^0 == 0 /\ t_458^0-t_458^post106 == 0 /\ nondet_12^0-nondet_12^post106 == 0 /\ a_263^0-a_263^post106 == 0 /\ a_417^0-a_417^post106 == 0 /\ y_20^0-y_20^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106 == 0 /\ -i_197^post106+i_197^0 == 0 /\ a_633^0-a_633^post106 == 0 /\ -len_238^post106+len_238^0 == 0 /\ a_634^0-a_634^post106 == 0 /\ -len_262^post106+len_262^0 == 0 /\ i_1053^0-i_1053^post106 == 0 /\ -a_309^post106+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post106 == 0 /\ -i_127^post106+i_127^0 == 0 /\ -x_14^post106+x_14^0 == 0 /\ -i_107^post106+i_107^0 == 0 /\ a_121^0-a_121^post106 == 0 /\ -a_575^post106+a_575^0 == 0 /\ -ct_18^post106+ct_18^0 == 0), cost: 1 107: l61 -> l49 : a_1089^0'=a_1089^post107, f_847^0'=f_847^post107, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post107, a_394^0'=a_394^post107, x_156^0'=x_156^post107, a_632^0'=a_632^post107, r_192^0'=r_192^post107, a_176^0'=a_176^post107, i_106^0'=i_106^post107, a_430^0'=a_430^post107, t_458^0'=t_458^post107, len_161^0'=len_161^post107, x_975^0'=x_975^post107, a_902^0'=a_902^post107, a_947^0'=a_947^post107, rcd_88^0'=rcd_88^post107, a_311^0'=a_311^post107, i_140^0'=i_140^post107, a_577^0'=a_577^post107, x_14^0'=x_14^post107, nondet_12^0'=nondet_12^post107, a_121^0'=a_121^post107, head_15^0'=head_15^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107, i_27^0'=i_27^post107, x_21^0'=x_21^post107, a_634^0'=a_634^post107, r_39^0'=r_39^post107, a_263^0'=a_263^post107, i_113^0'=i_113^post107, a_432^0'=a_432^post107, temp0_31^0'=temp0_31^post107, len_262^0'=len_262^post107, y_20^0'=y_20^post107, f_248^0'=f_248^post107, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107, a_393^0'=a_393^post107, i_229^0'=i_229^post107, a_610^0'=a_610^post107, r_151^0'=r_151^post107, a_144^0'=a_144^post107, i_1053^0'=i_1053^post107, a_417^0'=a_417^post107, t_24^0'=t_24^post107, i_94^0'=i_94^post107, x_852^0'=x_852^post107, a_862^0'=a_862^post107, rcd_1249^0'=rcd_1249^post107, rcd_58^0'=rcd_58^post107, a_310^0'=a_310^post107, i_127^0'=i_127^post107, a_576^0'=a_576^post107, tmp_34^0'=tmp_34^post107, length_29^0'=length_29^post107, a_1162^0'=a_1162^post107, f_969^0'=f_969^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107, a_395^0'=a_395^post107, x_17^0'=x_17^post107, a_633^0'=a_633^post107, r_224^0'=r_224^post107, a_239^0'=a_239^post107, i_107^0'=i_107^post107, a_431^0'=a_431^post107, temp0_16^0'=temp0_16^post107, len_238^0'=len_238^post107, x_SLAM_f_19^0'=x_SLAM_f_19^post107, a_924^0'=a_924^post107, ct_18^0'=ct_18^post107, result_11^0'=result_11^post107, a_392^0'=a_392^post107, i_197^0'=i_197^post107, a_579^0'=a_579^post107, r_143^0'=r_143^post107, a_1236^0'=a_1236^post107, head_32^0'=head_32^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107, i_30^0'=i_30^post107, x_253^0'=x_253^post107, a_635^0'=a_635^post107, r_970^0'=r_970^post107, rcd_47^0'=rcd_47^post107, a_309^0'=a_309^post107, i_1248^0'=i_1248^post107, a_575^0'=a_575^post107, temp_35^0'=temp_35^post107, len_861^0'=len_861^post107, (-a_576^post107+a_576^0 == 0 /\ x_156^0-x_156^post107 == 0 /\ a_263^0-a_263^post107 == 0 /\ a_432^0-a_432^post107 == 0 /\ f_847^0-f_847^post107 == 0 /\ a_862^0-a_862^post107 == 0 /\ -a_309^post107+a_309^0 == 0 /\ x_21^0-x_21^post107 == 0 /\ -temp0_16^post107+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post107 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107 == 0 /\ a_417^0-a_417^post107 == 0 /\ -a_635^post107+a_635^0 == 0 /\ -i_30^post107+i_30^0 == 0 /\ a_144^0-a_144^post107 == 0 /\ head_15^0-head_15^post107 == 0 /\ -a_310^post107+a_310^0 == 0 /\ -x_17^post107+x_17^0 == 0 /\ -len_262^post107+len_262^0 == 0 /\ a_394^0-a_394^post107 == 0 /\ i_94^0-i_94^post107 == 0 /\ i_113^0-i_113^post107 == 0 /\ -len_861^post107+len_861^0 == 0 /\ -a_1236^post107+a_1236^0 == 0 /\ a_392^0-a_392^post107 == 0 /\ a_311^0-a_311^post107 == 0 /\ a_902^0-a_902^post107 == 0 /\ rcd_88^0-rcd_88^post107 == 0 /\ -a_579^post107+a_579^0 == 0 /\ -temp0_31^post107+temp0_31^0 == 0 /\ -ct_18^post107+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post107 == 0 /\ -i_127^post107+i_127^0 == 0 /\ -i_107^post107+i_107^0 == 0 /\ a_1089^0-a_1089^post107 == 0 /\ i_106^0-i_106^post107 == 0 /\ -x_14^post107+x_14^0 == 0 /\ a_430^0-a_430^post107 == 0 /\ i_27^0-i_27^post107 == 0 /\ -a_575^post107+a_575^0 == 0 /\ -i_197^post107+i_197^0 == 0 /\ -head_32^post107+head_32^0 == 0 /\ r_39^0-r_39^post107 == 0 /\ t_458^0-t_458^post107 == 0 /\ -a_633^post107+a_633^0 == 0 /\ -f_969^post107+f_969^0 == 0 /\ -result_11^post107+result_11^0 == 0 /\ x_253^0-x_253^post107 == 0 /\ i_140^0-i_140^post107 == 0 /\ -temp_35^post107+temp_35^0 == 0 /\ -nondet_12^post107+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107 == 0 /\ -a_121^post107+a_121^0 == 0 /\ -rcd_47^post107+rcd_47^0 == 0 /\ -a_1162^post107+a_1162^0 == 0 /\ i_1053^0-i_1053^post107 == 0 /\ -len_238^post107+len_238^0 == 0 /\ -r_970^post107+r_970^0 == 0 /\ -t_24^post107+t_24^0 == 0 /\ x_975^0-x_975^post107 == 0 /\ -rcd_58^post107+rcd_58^0 == 0 /\ y_20^0-y_20^post107 == 0 /\ a_947^0-a_947^post107 == 0 /\ r_151^0-r_151^post107 == 0 /\ f_248^0-f_248^post107 == 0 /\ a_577^0-a_577^post107 == 0 /\ a_176^0-a_176^post107 == 0 /\ -r_224^post107+r_224^0 == 0 /\ -i_1248^post107+i_1248^0 == 0 /\ r_192^0-r_192^post107 == 0 /\ rcd_1249^0-rcd_1249^post107 == 0 /\ -a_239^post107+a_239^0 == 0 /\ -x_SLAM_f_19^post107+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post107 == 0 /\ -a_924^post107+a_924^0 == 0 /\ -a_634^post107+a_634^0 == 0 /\ -a_431^post107+a_431^0 == 0 /\ -i_229^post107+i_229^0 == 0 /\ length_29^0-length_29^post107 == 0 /\ a_632^0-a_632^post107 == 0 /\ -a_395^post107+a_395^0 == 0 /\ a_393^0-a_393^post107 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_143^post107+r_143^0 == 0 /\ x_852^0-x_852^post107 == 0 /\ len_161^0-len_161^post107 == 0), cost: 1 192: l119 -> l121 : a_1089^0'=a_1089^post192, f_847^0'=f_847^post192, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post192, a_394^0'=a_394^post192, x_156^0'=x_156^post192, a_632^0'=a_632^post192, r_192^0'=r_192^post192, a_176^0'=a_176^post192, i_106^0'=i_106^post192, a_430^0'=a_430^post192, t_458^0'=t_458^post192, len_161^0'=len_161^post192, x_975^0'=x_975^post192, a_902^0'=a_902^post192, a_947^0'=a_947^post192, rcd_88^0'=rcd_88^post192, a_311^0'=a_311^post192, i_140^0'=i_140^post192, a_577^0'=a_577^post192, x_14^0'=x_14^post192, nondet_12^0'=nondet_12^post192, a_121^0'=a_121^post192, head_15^0'=head_15^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192, i_27^0'=i_27^post192, x_21^0'=x_21^post192, a_634^0'=a_634^post192, r_39^0'=r_39^post192, a_263^0'=a_263^post192, i_113^0'=i_113^post192, a_432^0'=a_432^post192, temp0_31^0'=temp0_31^post192, len_262^0'=len_262^post192, y_20^0'=y_20^post192, f_248^0'=f_248^post192, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192, a_393^0'=a_393^post192, i_229^0'=i_229^post192, a_610^0'=a_610^post192, r_151^0'=r_151^post192, a_144^0'=a_144^post192, i_1053^0'=i_1053^post192, a_417^0'=a_417^post192, t_24^0'=t_24^post192, i_94^0'=i_94^post192, x_852^0'=x_852^post192, a_862^0'=a_862^post192, rcd_1249^0'=rcd_1249^post192, rcd_58^0'=rcd_58^post192, a_310^0'=a_310^post192, i_127^0'=i_127^post192, a_576^0'=a_576^post192, tmp_34^0'=tmp_34^post192, length_29^0'=length_29^post192, a_1162^0'=a_1162^post192, f_969^0'=f_969^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192, a_395^0'=a_395^post192, x_17^0'=x_17^post192, a_633^0'=a_633^post192, r_224^0'=r_224^post192, a_239^0'=a_239^post192, i_107^0'=i_107^post192, a_431^0'=a_431^post192, temp0_16^0'=temp0_16^post192, len_238^0'=len_238^post192, x_SLAM_f_19^0'=x_SLAM_f_19^post192, a_924^0'=a_924^post192, ct_18^0'=ct_18^post192, result_11^0'=result_11^post192, a_392^0'=a_392^post192, i_197^0'=i_197^post192, a_579^0'=a_579^post192, r_143^0'=r_143^post192, a_1236^0'=a_1236^post192, head_32^0'=head_32^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192, i_30^0'=i_30^post192, x_253^0'=x_253^post192, a_635^0'=a_635^post192, r_970^0'=r_970^post192, rcd_47^0'=rcd_47^post192, a_309^0'=a_309^post192, i_1248^0'=i_1248^post192, a_575^0'=a_575^post192, temp_35^0'=temp_35^post192, len_861^0'=len_861^post192, (-a_432^post192+a_432^0 == 0 /\ -a_393^post192+a_393^0 == 0 /\ f_847^0-f_847^post192 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192 == 0 /\ -i_94^post192+i_94^0 == 0 /\ -i_113^post192+i_113^0 == 0 /\ -a_309^post192+a_309^0 == 0 /\ x_21^0-x_21^post192 == 0 /\ -a_144^post192+a_144^0 == 0 /\ -i_107^post192+i_107^0 == 0 /\ a_1162^0-a_1162^post192 == 0 /\ -a_392^post192+a_392^0 == 0 /\ i_197^0-i_197^post192 == 0 /\ a_924^0-a_924^post192 == 0 /\ nondet_12^0-nondet_12^post192 == 0 /\ -len_861^post192+len_861^0 == 0 /\ -i_30^post192+i_30^0 == 0 /\ ct_18^0-ct_18^post192 == 0 /\ -a_1236^post192+a_1236^0 == 0 /\ a_394^0-a_394^post192 == 0 /\ -a_635^post192+a_635^0 == 0 /\ x_17^0-x_17^post192 == 0 /\ -a_417^post192+a_417^0 == 0 /\ x_975^0-x_975^post192 == 0 /\ -x_SLAM_f_19^post192+x_SLAM_f_19^0 == 0 /\ -i_140^post192+i_140^0 == 0 /\ a_947^0-a_947^post192 == 0 /\ i_127^0-i_127^post192 == 0 /\ -length_29^post192+length_29^0 == 0 /\ -rcd_58^post192+rcd_58^0 == 0 /\ -rcd_47^post192+rcd_47^0 == 0 /\ t_458^0-t_458^post192 == 0 /\ -a_575^post192+a_575^0 == 0 /\ -a_862^post192+a_862^0 == 0 /\ -a_633^post192+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post192 == 0 /\ i_27^0-i_27^post192 == 0 /\ rcd_1249^0-rcd_1249^post192 == 0 /\ i_106^0-i_106^post192 == 0 /\ -a_579^post192+a_579^0 == 0 /\ a_576^0-a_576^post192 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post192+r_151^0 == 0 /\ -head_32^post192+head_32^0 == 0 /\ r_39^0-r_39^post192 == 0 /\ -x_852^post192+x_852^0 == 0 /\ -a_263^post192+a_263^0 == 0 /\ x_156^0-x_156^post192 == 0 /\ -t_24^post192+t_24^0 == 0 /\ -temp_35^post192+temp_35^0 == 0 /\ -i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post192 == 0 /\ -tmp_34^post192+tmp_34^0 == 0 /\ f_248^0-f_248^post192 == 0 /\ r_224^0-r_224^post192 == 0 /\ a_610^0-a_610^post192 == 0 /\ a_121^0-a_121^post192 == 0 /\ -x_253^post192+x_253^0 == 0 /\ a_634^0-a_634^post192 == 0 /\ -f_969^post192+f_969^0 == 0 /\ len_262^0-len_262^post192 == 0 /\ -a_431^post192+a_431^0 == 0 /\ r_970^0-r_970^post192 == 0 /\ head_15^0-head_15^post192 == 0 /\ a_902^0-a_902^post192 == 0 /\ -y_20^post192+y_20^0 == 0 /\ a_577^0-a_577^post192 == 0 /\ -a_239^post192+a_239^0 == 0 /\ a_176^0-a_176^post192 == 0 /\ -i_229^post192+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post192+i_1053^0 == 0 /\ -i_1248^post192+i_1248^0 == 0 /\ x_14^0-x_14^post192 == 0 /\ len_238^0-len_238^post192 == 0 /\ r_192^0-r_192^post192 == 0 /\ -len_161^post192+len_161^0 == 0 /\ -r_143^post192+r_143^0 == 0 /\ temp0_16^0-temp0_16^post192 == 0 /\ -a_395^post192+a_395^0 == 0 /\ a_632^0-a_632^post192 == 0 /\ a_430^0-a_430^post192 == 0 /\ a_1089^0-a_1089^post192 == 0 /\ a_311^0-a_311^post192 == 0 /\ -result_11^post192+result_11^0 == 0 /\ rcd_88^0-rcd_88^post192 == 0 /\ a_310^0-a_310^post192 == 0), cost: 1 209: l119 -> l132 : a_1089^0'=a_1089^post209, f_847^0'=f_847^post209, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, a_394^0'=a_394^post209, x_156^0'=x_156^post209, a_632^0'=a_632^post209, r_192^0'=r_192^post209, a_176^0'=a_176^post209, i_106^0'=i_106^post209, a_430^0'=a_430^post209, t_458^0'=t_458^post209, len_161^0'=len_161^post209, x_975^0'=x_975^post209, a_902^0'=a_902^post209, a_947^0'=a_947^post209, rcd_88^0'=rcd_88^post209, a_311^0'=a_311^post209, i_140^0'=i_140^post209, a_577^0'=a_577^post209, x_14^0'=x_14^post209, nondet_12^0'=nondet_12^post209, a_121^0'=a_121^post209, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209, i_27^0'=i_27^post209, x_21^0'=x_21^post209, a_634^0'=a_634^post209, r_39^0'=r_39^post209, a_263^0'=a_263^post209, i_113^0'=i_113^post209, a_432^0'=a_432^post209, temp0_31^0'=temp0_31^post209, len_262^0'=len_262^post209, y_20^0'=y_20^post209, f_248^0'=f_248^post209, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209, a_393^0'=a_393^post209, i_229^0'=i_229^post209, a_610^0'=a_610^post209, r_151^0'=r_151^post209, a_144^0'=a_144^post209, i_1053^0'=i_1053^post209, a_417^0'=a_417^post209, t_24^0'=t_24^post209, i_94^0'=i_94^post209, x_852^0'=x_852^post209, a_862^0'=a_862^post209, rcd_1249^0'=rcd_1249^post209, rcd_58^0'=rcd_58^post209, a_310^0'=a_310^post209, i_127^0'=i_127^post209, a_576^0'=a_576^post209, tmp_34^0'=tmp_34^post209, length_29^0'=length_29^post209, a_1162^0'=a_1162^post209, f_969^0'=f_969^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209, a_395^0'=a_395^post209, x_17^0'=x_17^post209, a_633^0'=a_633^post209, r_224^0'=r_224^post209, a_239^0'=a_239^post209, i_107^0'=i_107^post209, a_431^0'=a_431^post209, temp0_16^0'=temp0_16^post209, len_238^0'=len_238^post209, x_SLAM_f_19^0'=x_SLAM_f_19^post209, a_924^0'=a_924^post209, ct_18^0'=ct_18^post209, result_11^0'=result_11^post209, a_392^0'=a_392^post209, i_197^0'=i_197^post209, a_579^0'=a_579^post209, r_143^0'=r_143^post209, a_1236^0'=a_1236^post209, head_32^0'=head_32^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209, i_30^0'=i_30^post209, x_253^0'=x_253^post209, a_635^0'=a_635^post209, r_970^0'=r_970^post209, rcd_47^0'=rcd_47^post209, a_309^0'=a_309^post209, i_1248^0'=i_1248^post209, a_575^0'=a_575^post209, temp_35^0'=temp_35^post209, len_861^0'=len_861^post209, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post209+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post209 == 0 /\ a_430^0-a_430^post209 == 0 /\ -rcd_47^post209+rcd_47^0 == 0 /\ a_902^0-a_902^post209 == 0 /\ x_975^0-x_975^post209 == 0 /\ -r_143^post209+r_143^0 == 0 /\ t_458^0-t_458^post209 == 0 /\ a_577^0-a_577^post209 == 0 /\ -r_151^post209+r_151^0 == 0 /\ -a_634^post209+a_634^0 == 0 /\ -a_144^post209+a_144^0 == 0 /\ i_229^0-i_229^post209 == 0 /\ -a_575^post209+a_575^0 == 0 /\ x_156^0-x_156^post209 == 0 /\ -a_633^post209+a_633^0 == 0 /\ temp0_31^0-temp0_31^post209 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209 == 0 /\ -a_576^post209+a_576^0 == 0 /\ i_1053^0-i_1053^post209 == 0 /\ x_14^0-x_14^post209 == 0 /\ a_121^0-a_121^post209 == 0 /\ a_394^0-a_394^post209 == 0 /\ -i_27^post209+i_27^0 == 0 /\ len_262^0-len_262^post209 == 0 /\ a_310^0-a_310^post209 == 0 /\ -temp_35^post209+temp_35^0 == 0 /\ -r_970^post209+r_970^0 == 0 /\ -length_29^post209+length_29^0 == 0 /\ -x_253^post209+x_253^0 == 0 /\ -f_969^post209+f_969^0 == 0 /\ -len_238^post209+len_238^0 == 0 /\ a_176^0-a_176^post209 == 0 /\ a_579^0-a_579^post209 == 0 /\ y_20^0-y_20^post209 == 0 /\ a_392^0-a_392^post209 == 0 /\ f_847^0-f_847^post209 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209 == 0 /\ -a_311^post209+a_311^0 == 0 /\ t_24^0-t_24^post209 == 0 /\ -a_610^post209+a_610^0 == 0 /\ -a_1236^post209+a_1236^0 == 0 /\ -rcd_88^post209+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209 == 0 /\ -i_1248^post209+i_1248^0 == 0 /\ i_94^0-i_94^post209 == 0 /\ -len_161^post209+len_161^0 == 0 /\ -r_224^post209+r_224^0 == 0 /\ -a_239^post209+a_239^0 == 0 /\ -i_197^post209+i_197^0 == 0 /\ i_113^0-i_113^post209 == 0 /\ -i_30^0 <= 0 /\ -rcd_58^post209+rcd_58^0 == 0 /\ a_393^0-a_393^post209 == 0 /\ r_39^0-r_39^post209 == 0 /\ -ct_18^post209+ct_18^0 == 0 /\ -a_431^post209+a_431^0 == 0 /\ -i_127^post209+i_127^0 == 0 /\ a_432^0-a_432^post209 == 0 /\ -r_192^post209+r_192^0 == 0 /\ -head_32^post209+head_32^0 == 0 /\ -f_248^post209+f_248^0 == 0 /\ a_862^0-a_862^post209 == 0 /\ x_21^0-x_21^post209 == 0 /\ -result_11^post209+result_11^0 == 0 /\ -a_1162^post209+a_1162^0 == 0 /\ -a_309^post209+a_309^0 == 0 /\ a_1089^0-a_1089^post209 == 0 /\ -a_924^post209+a_924^0 == 0 /\ nondet_12^0-nondet_12^post209 == 0 /\ -x_17^post209+x_17^0 == 0 /\ -rcd_1249^post209+rcd_1249^0 == 0 /\ a_947^0-a_947^post209 == 0 /\ -tmp_34^post209+tmp_34^0 == 0 /\ -a_635^post209+a_635^0 == 0 /\ -temp0_16^post209+temp0_16^0 == 0 /\ a_395^0-a_395^post209 == 0 /\ a_263^0-a_263^post209 == 0 /\ -i_30^post209+i_30^0 == 0 /\ -a_417^post209+a_417^0 == 0 /\ i_107^0-i_107^post209 == 0 /\ -len_861^post209+len_861^0 == 0 /\ -x_852^post209+x_852^0 == 0 /\ i_140^0-i_140^post209 == 0), cost: 1 222: l119 -> l139 : a_1089^0'=a_1089^post222, f_847^0'=f_847^post222, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, a_394^0'=a_394^post222, x_156^0'=x_156^post222, a_632^0'=a_632^post222, r_192^0'=r_192^post222, a_176^0'=a_176^post222, i_106^0'=i_106^post222, a_430^0'=a_430^post222, t_458^0'=t_458^post222, len_161^0'=len_161^post222, x_975^0'=x_975^post222, a_902^0'=a_902^post222, a_947^0'=a_947^post222, rcd_88^0'=rcd_88^post222, a_311^0'=a_311^post222, i_140^0'=i_140^post222, a_577^0'=a_577^post222, x_14^0'=x_14^post222, nondet_12^0'=nondet_12^post222, a_121^0'=a_121^post222, head_15^0'=head_15^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222, i_27^0'=i_27^post222, x_21^0'=x_21^post222, a_634^0'=a_634^post222, r_39^0'=r_39^post222, a_263^0'=a_263^post222, i_113^0'=i_113^post222, a_432^0'=a_432^post222, temp0_31^0'=temp0_31^post222, len_262^0'=len_262^post222, y_20^0'=y_20^post222, f_248^0'=f_248^post222, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222, a_393^0'=a_393^post222, i_229^0'=i_229^post222, a_610^0'=a_610^post222, r_151^0'=r_151^post222, a_144^0'=a_144^post222, i_1053^0'=i_1053^post222, a_417^0'=a_417^post222, t_24^0'=t_24^post222, i_94^0'=i_94^post222, x_852^0'=x_852^post222, a_862^0'=a_862^post222, rcd_1249^0'=rcd_1249^post222, rcd_58^0'=rcd_58^post222, a_310^0'=a_310^post222, i_127^0'=i_127^post222, a_576^0'=a_576^post222, tmp_34^0'=tmp_34^post222, length_29^0'=length_29^post222, a_1162^0'=a_1162^post222, f_969^0'=f_969^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222, a_395^0'=a_395^post222, x_17^0'=x_17^post222, a_633^0'=a_633^post222, r_224^0'=r_224^post222, a_239^0'=a_239^post222, i_107^0'=i_107^post222, a_431^0'=a_431^post222, temp0_16^0'=temp0_16^post222, len_238^0'=len_238^post222, x_SLAM_f_19^0'=x_SLAM_f_19^post222, a_924^0'=a_924^post222, ct_18^0'=ct_18^post222, result_11^0'=result_11^post222, a_392^0'=a_392^post222, i_197^0'=i_197^post222, a_579^0'=a_579^post222, r_143^0'=r_143^post222, a_1236^0'=a_1236^post222, head_32^0'=head_32^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222, i_30^0'=i_30^post222, x_253^0'=x_253^post222, a_635^0'=a_635^post222, r_970^0'=r_970^post222, rcd_47^0'=rcd_47^post222, a_309^0'=a_309^post222, i_1248^0'=i_1248^post222, a_575^0'=a_575^post222, temp_35^0'=temp_35^post222, len_861^0'=len_861^post222, (0 == 0 /\ -a_634^post222+a_634^0 == 0 /\ -a_924^post222+a_924^0 == 0 /\ x_975^0-x_975^post222 == 0 /\ i_127^0-i_127^post222 == 0 /\ -a_431^post222+a_431^0 == 0 /\ a_577^0-a_577^post222 == 0 /\ i_106^0-i_106^post222 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_1249^0-rcd_1249^post222 == 0 /\ -f_969^post222+f_969^0 == 0 /\ x_14^0-x_14^post222 == 0 /\ -y_20^post222+y_20^0 == 0 /\ -result_11^post222+result_11^0 == 0 /\ a_632^0-a_632^post222 == 0 /\ -tmp_34^post222+tmp_34^0 == 0 /\ a_430^0-a_430^post222 == 0 /\ -t_24^post222+t_24^0 == 0 /\ -x_253^post222+x_253^0 == 0 /\ a_432^0-a_432^post222 == 0 /\ i_197^0-i_197^post222 == 0 /\ -r_970^post222+r_970^0 == 0 /\ -i_1053^post222+i_1053^0 == 0 /\ i_229^0-i_229^post222 == 0 /\ a_576^0-a_576^post222 == 0 /\ x_21^0-x_21^post222 == 0 /\ x_156^0-x_156^post222 == 0 /\ -r_143^post222+r_143^0 == 0 /\ a_1162^0-a_1162^post222 == 0 /\ i_140^0-i_140^post222 == 0 /\ -r_224^post222+r_224^0 == 0 /\ -a_395^post222+a_395^0 == 0 /\ f_847^0-f_847^post222 == 0 /\ a_394^0-a_394^post222 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post222 == 0 /\ a_176^0-a_176^post222 == 0 /\ -temp_35^post222+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post222 == 0 /\ -i_30^post222+i_30^0 == 0 /\ a_311^0-a_311^post222 == 0 /\ -len_161^post222+len_161^0 == 0 /\ i_107^0-i_107^post222 == 0 /\ a_610^0-a_610^post222 == 0 /\ -i_30^0 <= 0 /\ -a_393^post222+a_393^0 == 0 /\ -a_1236^post222+a_1236^0 == 0 /\ i_94^0-i_94^post222 == 0 /\ -length_29^post222+length_29^0 == 0 /\ -a_392^post222+a_392^0 == 0 /\ -x_SLAM_f_19^post222+x_SLAM_f_19^0 == 0 /\ -i_27^post222+i_27^0 == 0 /\ -a_239^post222+a_239^0 == 0 /\ -a_310^post222+a_310^0 == 0 /\ -temp0_16^post222+temp0_16^0 == 0 /\ a_1089^0-a_1089^post222 == 0 /\ -len_861^post222+len_861^0 == 0 /\ nondet_12^0-nondet_12^post222 == 0 /\ -t_458^post222+t_458^0 == 0 /\ i_1248^0-i_1248^post222 == 0 /\ -a_635^post222+a_635^0 == 0 /\ -head_32^post222+head_32^0 == 0 /\ -rcd_47^post222+rcd_47^0 == 0 /\ -x_852^post222+x_852^0 == 0 /\ -len_238^post222+len_238^0 == 0 /\ temp0_31^0-temp0_31^post222 == 0 /\ f_248^0-f_248^post222 == 0 /\ a_144^0-a_144^post222 == 0 /\ -r_151^post222+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post222+a_309^0 == 0 /\ -a_633^post222+a_633^0 == 0 /\ -a_902^post222+a_902^0 == 0 /\ -rcd_58^post222+rcd_58^0 == 0 /\ -a_417^post222+a_417^0 == 0 /\ x_17^0-x_17^post222 == 0 /\ a_121^0-a_121^post222 == 0 /\ -a_575^post222+a_575^0 == 0 /\ -a_862^post222+a_862^0 == 0 /\ -a_263^post222+a_263^0 == 0 /\ -a_579^post222+a_579^0 == 0 /\ -ct_18^post222+ct_18^0 == 0 /\ len_262^0-len_262^post222 == 0), cost: 1 193: l121 -> l122 : a_1089^0'=a_1089^post193, f_847^0'=f_847^post193, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post193, a_394^0'=a_394^post193, x_156^0'=x_156^post193, a_632^0'=a_632^post193, r_192^0'=r_192^post193, a_176^0'=a_176^post193, i_106^0'=i_106^post193, a_430^0'=a_430^post193, t_458^0'=t_458^post193, len_161^0'=len_161^post193, x_975^0'=x_975^post193, a_902^0'=a_902^post193, a_947^0'=a_947^post193, rcd_88^0'=rcd_88^post193, a_311^0'=a_311^post193, i_140^0'=i_140^post193, a_577^0'=a_577^post193, x_14^0'=x_14^post193, nondet_12^0'=nondet_12^post193, a_121^0'=a_121^post193, head_15^0'=head_15^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193, i_27^0'=i_27^post193, x_21^0'=x_21^post193, a_634^0'=a_634^post193, r_39^0'=r_39^post193, a_263^0'=a_263^post193, i_113^0'=i_113^post193, a_432^0'=a_432^post193, temp0_31^0'=temp0_31^post193, len_262^0'=len_262^post193, y_20^0'=y_20^post193, f_248^0'=f_248^post193, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193, a_393^0'=a_393^post193, i_229^0'=i_229^post193, a_610^0'=a_610^post193, r_151^0'=r_151^post193, a_144^0'=a_144^post193, i_1053^0'=i_1053^post193, a_417^0'=a_417^post193, t_24^0'=t_24^post193, i_94^0'=i_94^post193, x_852^0'=x_852^post193, a_862^0'=a_862^post193, rcd_1249^0'=rcd_1249^post193, rcd_58^0'=rcd_58^post193, a_310^0'=a_310^post193, i_127^0'=i_127^post193, a_576^0'=a_576^post193, tmp_34^0'=tmp_34^post193, length_29^0'=length_29^post193, a_1162^0'=a_1162^post193, f_969^0'=f_969^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193, a_395^0'=a_395^post193, x_17^0'=x_17^post193, a_633^0'=a_633^post193, r_224^0'=r_224^post193, a_239^0'=a_239^post193, i_107^0'=i_107^post193, a_431^0'=a_431^post193, temp0_16^0'=temp0_16^post193, len_238^0'=len_238^post193, x_SLAM_f_19^0'=x_SLAM_f_19^post193, a_924^0'=a_924^post193, ct_18^0'=ct_18^post193, result_11^0'=result_11^post193, a_392^0'=a_392^post193, i_197^0'=i_197^post193, a_579^0'=a_579^post193, r_143^0'=r_143^post193, a_1236^0'=a_1236^post193, head_32^0'=head_32^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193, i_30^0'=i_30^post193, x_253^0'=x_253^post193, a_635^0'=a_635^post193, r_970^0'=r_970^post193, rcd_47^0'=rcd_47^post193, a_309^0'=a_309^post193, i_1248^0'=i_1248^post193, a_575^0'=a_575^post193, temp_35^0'=temp_35^post193, len_861^0'=len_861^post193, (-i_197^post193+i_197^0 == 0 /\ i_127^0-i_127^post193 == 0 /\ -temp_35^post193+temp_35^0 == 0 /\ r_192^0-r_192^post193 == 0 /\ a_394^0-a_394^post193 == 0 /\ a_176^0-a_176^post193 == 0 /\ -x_253^post193+x_253^0 == 0 /\ -a_431^post193+a_431^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post193 == 0 /\ -r_970^post193+r_970^0 == 0 /\ rcd_58^0-rcd_58^post193 == 0 /\ rcd_1249^0-rcd_1249^post193 == 0 /\ 1-x_14^0 <= 0 /\ a_430^0-a_430^post193 == 0 /\ x_14^0-x_14^post193 == 0 /\ x_852^0-x_852^post193 == 0 /\ -y_20^post193+y_20^0 == 0 /\ -ct_18^post193+ct_18^0 == 0 /\ -tmp_34^post193+tmp_34^0 == 0 /\ -rcd_47^post193+rcd_47^0 == 0 /\ len_161^0-len_161^post193 == 0 /\ r_39^0-r_39^post193 == 0 /\ -t_24^post193+t_24^0 == 0 /\ i_229^0-i_229^post193 == 0 /\ a_432^0-a_432^post193 == 0 /\ f_847^0-f_847^post193 == 0 /\ -len_861^post193+len_861^0 == 0 /\ a_576^0-a_576^post193 == 0 /\ -a_577^post193+a_577^0 == 0 /\ -a_1162^post193+a_1162^0 == 0 /\ i_140^0-i_140^post193 == 0 /\ -a_395^post193+a_395^0 == 0 /\ -i_1248^post193+i_1248^0 == 0 /\ head_15^0-head_15^post193 == 0 /\ i_113^0-i_113^post193 == 0 /\ a_947^0-a_947^post193 == 0 /\ -a_924^post193+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post193+result_11^0 == 0 /\ -temp0_16^post193+temp0_16^0 == 0 /\ -i_1053^post193+i_1053^0 == 0 /\ -r_224^post193+r_224^0 == 0 /\ a_144^0-a_144^post193 == 0 /\ x_156^0-x_156^post193 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post193+a_575^0 == 0 /\ -a_1236^post193+a_1236^0 == 0 /\ -r_143^post193+r_143^0 == 0 /\ rcd_88^0-rcd_88^post193 == 0 /\ a_311^0-a_311^post193 == 0 /\ -a_393^post193+a_393^0 == 0 /\ a_610^0-a_610^post193 == 0 /\ i_27^0-i_27^post193 == 0 /\ -i_94^post193+i_94^0 == 0 /\ a_632^0-a_632^post193 == 0 /\ -a_309^post193+a_309^0 == 0 /\ -length_29^post193+length_29^0 == 0 /\ -x_SLAM_f_19^post193+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post193 == 0 /\ a_635^0-a_635^post193 == 0 /\ -a_310^post193+a_310^0 == 0 /\ -i_30^post193+i_30^0 == 0 /\ -i_107^post193+i_107^0 == 0 /\ a_1089^0-a_1089^post193 == 0 /\ -t_458^post193+t_458^0 == 0 /\ -head_32^post193+head_32^0 == 0 /\ x_21^0-x_21^post193 == 0 /\ -r_151^post193+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_106^post193+i_106^0 == 0 /\ -len_238^post193+len_238^0 == 0 /\ temp0_31^0-temp0_31^post193 == 0 /\ f_248^0-f_248^post193 == 0 /\ a_239^0-a_239^post193 == 0 /\ -a_579^post193+a_579^0 == 0 /\ -a_902^post193+a_902^0 == 0 /\ nondet_12^0-nondet_12^post193 == 0 /\ -a_392^post193+a_392^0 == 0 /\ x_975^0-x_975^post193 == 0 /\ a_417^0-a_417^post193 == 0 /\ -a_633^post193+a_633^0 == 0 /\ x_17^0-x_17^post193 == 0 /\ a_121^0-a_121^post193 == 0 /\ a_634^0-a_634^post193 == 0 /\ -a_862^post193+a_862^0 == 0 /\ -a_263^post193+a_263^0 == 0 /\ len_262^0-len_262^post193 == 0), cost: 1 194: l121 -> l122 : a_1089^0'=a_1089^post194, f_847^0'=f_847^post194, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post194, a_394^0'=a_394^post194, x_156^0'=x_156^post194, a_632^0'=a_632^post194, r_192^0'=r_192^post194, a_176^0'=a_176^post194, i_106^0'=i_106^post194, a_430^0'=a_430^post194, t_458^0'=t_458^post194, len_161^0'=len_161^post194, x_975^0'=x_975^post194, a_902^0'=a_902^post194, a_947^0'=a_947^post194, rcd_88^0'=rcd_88^post194, a_311^0'=a_311^post194, i_140^0'=i_140^post194, a_577^0'=a_577^post194, x_14^0'=x_14^post194, nondet_12^0'=nondet_12^post194, a_121^0'=a_121^post194, head_15^0'=head_15^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194, i_27^0'=i_27^post194, x_21^0'=x_21^post194, a_634^0'=a_634^post194, r_39^0'=r_39^post194, a_263^0'=a_263^post194, i_113^0'=i_113^post194, a_432^0'=a_432^post194, temp0_31^0'=temp0_31^post194, len_262^0'=len_262^post194, y_20^0'=y_20^post194, f_248^0'=f_248^post194, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194, a_393^0'=a_393^post194, i_229^0'=i_229^post194, a_610^0'=a_610^post194, r_151^0'=r_151^post194, a_144^0'=a_144^post194, i_1053^0'=i_1053^post194, a_417^0'=a_417^post194, t_24^0'=t_24^post194, i_94^0'=i_94^post194, x_852^0'=x_852^post194, a_862^0'=a_862^post194, rcd_1249^0'=rcd_1249^post194, rcd_58^0'=rcd_58^post194, a_310^0'=a_310^post194, i_127^0'=i_127^post194, a_576^0'=a_576^post194, tmp_34^0'=tmp_34^post194, length_29^0'=length_29^post194, a_1162^0'=a_1162^post194, f_969^0'=f_969^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194, a_395^0'=a_395^post194, x_17^0'=x_17^post194, a_633^0'=a_633^post194, r_224^0'=r_224^post194, a_239^0'=a_239^post194, i_107^0'=i_107^post194, a_431^0'=a_431^post194, temp0_16^0'=temp0_16^post194, len_238^0'=len_238^post194, x_SLAM_f_19^0'=x_SLAM_f_19^post194, a_924^0'=a_924^post194, ct_18^0'=ct_18^post194, result_11^0'=result_11^post194, a_392^0'=a_392^post194, i_197^0'=i_197^post194, a_579^0'=a_579^post194, r_143^0'=r_143^post194, a_1236^0'=a_1236^post194, head_32^0'=head_32^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194, i_30^0'=i_30^post194, x_253^0'=x_253^post194, a_635^0'=a_635^post194, r_970^0'=r_970^post194, rcd_47^0'=rcd_47^post194, a_309^0'=a_309^post194, i_1248^0'=i_1248^post194, a_575^0'=a_575^post194, temp_35^0'=temp_35^post194, len_861^0'=len_861^post194, (x_156^0-x_156^post194 == 0 /\ -x_SLAM_f_19^post194+x_SLAM_f_19^0 == 0 /\ -i_113^post194+i_113^0 == 0 /\ f_847^0-f_847^post194 == 0 /\ -a_392^post194+a_392^0 == 0 /\ -a_432^post194+a_432^0 == 0 /\ -a_309^post194+a_309^0 == 0 /\ tmp_34^0-tmp_34^post194 == 0 /\ x_21^0-x_21^post194 == 0 /\ a_610^0-a_610^post194 == 0 /\ -a_635^post194+a_635^0 == 0 /\ -length_29^post194+length_29^0 == 0 /\ a_902^0-a_902^post194 == 0 /\ nondet_12^0-nondet_12^post194 == 0 /\ -i_107^post194+i_107^0 == 0 /\ a_394^0-a_394^post194 == 0 /\ a_144^0-a_144^post194 == 0 /\ -a_417^post194+a_417^0 == 0 /\ head_15^0-head_15^post194 == 0 /\ -i_94^post194+i_94^0 == 0 /\ -a_575^post194+a_575^0 == 0 /\ a_862^0-a_862^post194 == 0 /\ a_633^0-a_633^post194 == 0 /\ -a_1236^post194+a_1236^0 == 0 /\ a_1089^0-a_1089^post194 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post194 == 0 /\ -a_310^post194+a_310^0 == 0 /\ x_14^0-x_14^post194 == 0 /\ -a_121^post194+a_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post194 == 0 /\ a_311^0-a_311^post194 == 0 /\ i_106^0-i_106^post194 == 0 /\ -rcd_47^post194+rcd_47^0 == 0 /\ a_430^0-a_430^post194 == 0 /\ a_263^0-a_263^post194 == 0 /\ i_27^0-i_27^post194 == 0 /\ -head_32^post194+head_32^0 == 0 /\ -i_197^post194+i_197^0 == 0 /\ a_576^0-a_576^post194 == 0 /\ t_458^0-t_458^post194 == 0 /\ r_39^0-r_39^post194 == 0 /\ -len_238^post194+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194 == 0 /\ -result_11^post194+result_11^0 == 0 /\ a_393^0-a_393^post194 == 0 /\ x_253^0-x_253^post194 == 0 /\ f_248^0-f_248^post194 == 0 /\ -temp_35^post194+temp_35^0 == 0 /\ y_20^0-y_20^post194 == 0 /\ -a_579^post194+a_579^0 == 0 /\ -t_24^post194+t_24^0 == 0 /\ r_151^0-r_151^post194 == 0 /\ -i_127^post194+i_127^0 == 0 /\ -a_1162^post194+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post194 == 0 /\ -r_970^post194+r_970^0 == 0 /\ -a_431^post194+a_431^0 == 0 /\ a_634^0-a_634^post194 == 0 /\ -rcd_58^post194+rcd_58^0 == 0 /\ x_975^0-x_975^post194 == 0 /\ len_262^0-len_262^post194 == 0 /\ a_947^0-a_947^post194 == 0 /\ -a_395^post194+a_395^0 == 0 /\ -x_852^post194+x_852^0 == 0 /\ -i_229^post194+i_229^0 == 0 /\ a_577^0-a_577^post194 == 0 /\ rcd_88^0-rcd_88^post194 == 0 /\ i_1053^0-i_1053^post194 == 0 /\ -a_924^post194+a_924^0 == 0 /\ a_176^0-a_176^post194 == 0 /\ -i_1248^post194+i_1248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194 == 0 /\ -a_239^post194+a_239^0 == 0 /\ r_192^0-r_192^post194 == 0 /\ f_969^0-f_969^post194 == 0 /\ 1+x_14^0 <= 0 /\ -i_30^post194+i_30^0 == 0 /\ a_632^0-a_632^post194 == 0 /\ i_140^0-i_140^post194 == 0 /\ -r_143^post194+r_143^0 == 0 /\ -x_17^post194+x_17^0 == 0 /\ rcd_1249^0-rcd_1249^post194 == 0 /\ -r_224^post194+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_16^post194+temp0_16^0 == 0 /\ len_161^0-len_161^post194 == 0 /\ -len_861^post194+len_861^0 == 0), cost: 1 195: l122 -> l123 : a_1089^0'=a_1089^post195, f_847^0'=f_847^post195, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, a_394^0'=a_394^post195, x_156^0'=x_156^post195, a_632^0'=a_632^post195, r_192^0'=r_192^post195, a_176^0'=a_176^post195, i_106^0'=i_106^post195, a_430^0'=a_430^post195, t_458^0'=t_458^post195, len_161^0'=len_161^post195, x_975^0'=x_975^post195, a_902^0'=a_902^post195, a_947^0'=a_947^post195, rcd_88^0'=rcd_88^post195, a_311^0'=a_311^post195, i_140^0'=i_140^post195, a_577^0'=a_577^post195, x_14^0'=x_14^post195, nondet_12^0'=nondet_12^post195, a_121^0'=a_121^post195, head_15^0'=head_15^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195, i_27^0'=i_27^post195, x_21^0'=x_21^post195, a_634^0'=a_634^post195, r_39^0'=r_39^post195, a_263^0'=a_263^post195, i_113^0'=i_113^post195, a_432^0'=a_432^post195, temp0_31^0'=temp0_31^post195, len_262^0'=len_262^post195, y_20^0'=y_20^post195, f_248^0'=f_248^post195, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195, a_393^0'=a_393^post195, i_229^0'=i_229^post195, a_610^0'=a_610^post195, r_151^0'=r_151^post195, a_144^0'=a_144^post195, i_1053^0'=i_1053^post195, a_417^0'=a_417^post195, t_24^0'=t_24^post195, i_94^0'=i_94^post195, x_852^0'=x_852^post195, a_862^0'=a_862^post195, rcd_1249^0'=rcd_1249^post195, rcd_58^0'=rcd_58^post195, a_310^0'=a_310^post195, i_127^0'=i_127^post195, a_576^0'=a_576^post195, tmp_34^0'=tmp_34^post195, length_29^0'=length_29^post195, a_1162^0'=a_1162^post195, f_969^0'=f_969^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195, a_395^0'=a_395^post195, x_17^0'=x_17^post195, a_633^0'=a_633^post195, r_224^0'=r_224^post195, a_239^0'=a_239^post195, i_107^0'=i_107^post195, a_431^0'=a_431^post195, temp0_16^0'=temp0_16^post195, len_238^0'=len_238^post195, x_SLAM_f_19^0'=x_SLAM_f_19^post195, a_924^0'=a_924^post195, ct_18^0'=ct_18^post195, result_11^0'=result_11^post195, a_392^0'=a_392^post195, i_197^0'=i_197^post195, a_579^0'=a_579^post195, r_143^0'=r_143^post195, a_1236^0'=a_1236^post195, head_32^0'=head_32^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195, i_30^0'=i_30^post195, x_253^0'=x_253^post195, a_635^0'=a_635^post195, r_970^0'=r_970^post195, rcd_47^0'=rcd_47^post195, a_309^0'=a_309^post195, i_1248^0'=i_1248^post195, a_575^0'=a_575^post195, temp_35^0'=temp_35^post195, len_861^0'=len_861^post195, (0 == 0 /\ a_634^0-a_634^post195 == 0 /\ -x_14^post195+x_17^post195 <= 0 /\ -x_14^post195+x_SLAM_f_19^post195 <= 0 /\ -a_263^post195+a_263^0 == 0 /\ -r_970^post195+r_970^0 == 0 /\ -i_197^post195+i_197^0 == 0 /\ -a_579^post195+a_579^0 == 0 /\ -x_253^post195+x_253^0 == 0 /\ t_24^0-t_24^post195 == 0 /\ x_14^post195-head_15^0 <= 0 /\ rcd_58^0-rcd_58^post195 == 0 /\ a_176^0-a_176^post195 == 0 /\ -head_32^post195+head_32^0 == 0 /\ f_969^0-f_969^post195 == 0 /\ -a_431^post195+a_431^0 == 0 /\ head_15^0-x_17^post195 <= 0 /\ -i_229^post195+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1162^post195+a_1162^0 == 0 /\ a_430^0-a_430^post195 == 0 /\ r_39^0-r_39^post195 == 0 /\ -temp_35^post195+temp_35^0 == 0 /\ -ct_18^post195+y_20^post195 <= 0 /\ -ct_18^post195+y_20^post195 == 0 /\ -x_21^post195+x_SLAM_f_19^post195 <= 0 /\ length_29^0-length_29^post195 == 0 /\ x_14^post195-x_17^post195 <= 0 /\ i_27^0 <= 0 /\ x_14^post195-x_SLAM_f_19^post195 <= 0 /\ -a_395^post195+a_395^0 == 0 /\ -len_861^post195+len_861^0 == 0 /\ -ct_18^post195 <= 0 /\ -x_14^post195+head_15^0 <= 0 /\ head_15^0-head_15^post195 == 0 /\ -temp0_16^post195+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post195 == 0 /\ a_632^0-a_632^post195 == 0 /\ r_151^0-r_151^post195 == 0 /\ a_432^0-a_432^post195 == 0 /\ -a_947^post195+a_947^0 == 0 /\ r_192^0-r_192^post195 == 0 /\ -head_15^0+x_17^post195 <= 0 /\ -head_15^0+x_17^post195 == 0 /\ -r_224^post195+r_224^0 == 0 /\ i_113^0-i_113^post195 == 0 /\ f_248^0-f_248^post195 == 0 /\ -a_924^post195+a_924^0 == 0 /\ a_902^0-a_902^post195 == 0 /\ -i_1248^post195+i_1248^0 == 0 /\ result_11^0-result_11^post195 == 0 /\ -i_1053^post195+i_1053^0 == 0 /\ ct_18^post195-y_20^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 == 0 /\ a_144^0-a_144^post195 == 0 /\ -a_239^post195+a_239^0 == 0 /\ x_156^0-x_156^post195 == 0 /\ nondet_12^0-nondet_12^post195 == 0 /\ -r_143^post195+r_143^0 == 0 /\ -a_635^post195+a_635^0 == 0 /\ -i_107^post195+i_107^0 == 0 /\ a_1089^0-a_1089^post195 == 0 /\ a_394^0-a_394^post195 == 0 /\ ct_18^post195 <= 0 /\ ct_18^post195 == 0 /\ -a_575^post195+a_575^0 == 0 /\ x_21^post195-x_14^post195 <= 0 /\ len_161^0-len_161^post195 == 0 /\ -i_30^0 <= 0 /\ -i_30^post195+i_30^0 == 0 /\ a_417^0-a_417^post195 == 0 /\ len_238^0-len_238^post195 == 0 /\ a_311^0-a_311^post195 == 0 /\ -x_975^post195+x_975^0 == 0 /\ rcd_1249^0-rcd_1249^post195 == 0 /\ x_852^0-x_852^post195 == 0 /\ -a_576^post195+a_576^0 == 0 /\ rcd_88^0-rcd_88^post195 == 0 /\ x_17^post195-x_SLAM_f_19^post195 <= 0 /\ i_140^0-i_140^post195 == 0 /\ i_106^0-i_106^post195 == 0 /\ f_847^0-f_847^post195 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195 == 0 /\ -a_310^post195+a_310^0 == 0 /\ -x_21^post195+x_14^post195 <= 0 /\ a_393^0-a_393^post195 == 0 /\ a_633^0-a_633^post195 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post195+a_1236^0 == 0 /\ t_458^0-t_458^post195 == 0 /\ y_20^post195 <= 0 /\ a_309^0-a_309^post195 == 0 /\ -a_121^post195+a_121^0 == 0 /\ -rcd_47^post195+rcd_47^0 == 0 /\ -y_20^post195 <= 0 /\ -a_862^post195+a_862^0 == 0 /\ a_577^0-a_577^post195 == 0 /\ -len_262^post195+len_262^0 == 0 /\ -a_610^post195+a_610^0 == 0 /\ -i_94^post195+i_94^0 == 0 /\ -temp0_31^post195+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195 == 0 /\ -x_17^post195+x_SLAM_f_19^post195 <= 0 /\ -x_17^post195+x_SLAM_f_19^post195 == 0 /\ i_127^0-i_127^post195 == 0 /\ -a_392^post195+a_392^0 == 0), cost: 1 196: l123 -> l124 : a_1089^0'=a_1089^post196, f_847^0'=f_847^post196, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post196, a_394^0'=a_394^post196, x_156^0'=x_156^post196, a_632^0'=a_632^post196, r_192^0'=r_192^post196, a_176^0'=a_176^post196, i_106^0'=i_106^post196, a_430^0'=a_430^post196, t_458^0'=t_458^post196, len_161^0'=len_161^post196, x_975^0'=x_975^post196, a_902^0'=a_902^post196, a_947^0'=a_947^post196, rcd_88^0'=rcd_88^post196, a_311^0'=a_311^post196, i_140^0'=i_140^post196, a_577^0'=a_577^post196, x_14^0'=x_14^post196, nondet_12^0'=nondet_12^post196, a_121^0'=a_121^post196, head_15^0'=head_15^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196, i_27^0'=i_27^post196, x_21^0'=x_21^post196, a_634^0'=a_634^post196, r_39^0'=r_39^post196, a_263^0'=a_263^post196, i_113^0'=i_113^post196, a_432^0'=a_432^post196, temp0_31^0'=temp0_31^post196, len_262^0'=len_262^post196, y_20^0'=y_20^post196, f_248^0'=f_248^post196, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196, a_393^0'=a_393^post196, i_229^0'=i_229^post196, a_610^0'=a_610^post196, r_151^0'=r_151^post196, a_144^0'=a_144^post196, i_1053^0'=i_1053^post196, a_417^0'=a_417^post196, t_24^0'=t_24^post196, i_94^0'=i_94^post196, x_852^0'=x_852^post196, a_862^0'=a_862^post196, rcd_1249^0'=rcd_1249^post196, rcd_58^0'=rcd_58^post196, a_310^0'=a_310^post196, i_127^0'=i_127^post196, a_576^0'=a_576^post196, tmp_34^0'=tmp_34^post196, length_29^0'=length_29^post196, a_1162^0'=a_1162^post196, f_969^0'=f_969^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196, a_395^0'=a_395^post196, x_17^0'=x_17^post196, a_633^0'=a_633^post196, r_224^0'=r_224^post196, a_239^0'=a_239^post196, i_107^0'=i_107^post196, a_431^0'=a_431^post196, temp0_16^0'=temp0_16^post196, len_238^0'=len_238^post196, x_SLAM_f_19^0'=x_SLAM_f_19^post196, a_924^0'=a_924^post196, ct_18^0'=ct_18^post196, result_11^0'=result_11^post196, a_392^0'=a_392^post196, i_197^0'=i_197^post196, a_579^0'=a_579^post196, r_143^0'=r_143^post196, a_1236^0'=a_1236^post196, head_32^0'=head_32^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196, i_30^0'=i_30^post196, x_253^0'=x_253^post196, a_635^0'=a_635^post196, r_970^0'=r_970^post196, rcd_47^0'=rcd_47^post196, a_309^0'=a_309^post196, i_1248^0'=i_1248^post196, a_575^0'=a_575^post196, temp_35^0'=temp_35^post196, len_861^0'=len_861^post196, (-x_SLAM_f_19^post196+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post196 == 0 /\ -x_14^post196+x_14^0 == 0 /\ tmp_34^0-tmp_34^post196 == 0 /\ -i_94^post196+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196 == 0 /\ -i_113^post196+i_113^0 == 0 /\ -r_143^post196+r_143^0 == 0 /\ -a_1236^post196+a_1236^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_633^post196+a_633^0 == 0 /\ -a_575^post196+a_575^0 == 0 /\ result_11^0-result_11^post196 == 0 /\ a_902^0-a_902^post196 == 0 /\ x_156^0-x_156^post196 == 0 /\ a_610^0-a_610^post196 == 0 /\ -a_432^post196+a_432^0 == 0 /\ -a_309^post196+a_309^0 == 0 /\ head_15^0-head_15^post196 == 0 /\ a_634^0-a_634^post196 == 0 /\ a_862^0-a_862^post196 == 0 /\ -temp0_31^post196+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196 == 0 /\ a_394^0-a_394^post196 == 0 /\ a_1089^0-a_1089^post196 == 0 /\ -rcd_47^post196+rcd_47^0 == 0 /\ -r_39^post196+r_39^0 == 0 /\ -a_310^post196+a_310^0 == 0 /\ r_192^0-r_192^post196 == 0 /\ a_176^0-a_176^post196 == 0 /\ length_29^0-length_29^post196 == 0 /\ x_852^0-x_852^post196 == 0 /\ -head_32^post196+head_32^0 == 0 /\ a_392^0-a_392^post196 == 0 /\ -f_969^post196+f_969^0 == 0 /\ -x_253^post196+x_253^0 == 0 /\ a_263^0-a_263^post196 == 0 /\ -len_262^post196+len_262^0 == 0 /\ -r_970^post196+r_970^0 == 0 /\ -len_238^post196+len_238^0 == 0 /\ i_1053^0-i_1053^post196 == 0 /\ rcd_88^0-rcd_88^post196 == 0 /\ a_311^0-a_311^post196 == 0 /\ -t_24^post196+t_24^0 == 0 /\ -a_239^post196+a_239^0 == 0 /\ -a_430^post196+a_430^0 == 0 /\ -f_248^post196+f_248^0 == 0 /\ -a_579^post196+a_579^0 == 0 /\ a_393^0-a_393^post196 == 0 /\ -rcd_58^post196+rcd_58^0 == 0 /\ y_20^0-y_20^post196 == 0 /\ -r_224^post196+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196 == 0 /\ -i_127^post196+i_127^0 == 0 /\ x_975^0-x_975^post196 == 0 /\ r_151^0-r_151^post196 == 0 /\ -i_197^post196+i_197^0 == 0 /\ -temp_35^post196+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post196 == 0 /\ a_577^0-a_577^post196 == 0 /\ a_417^0-a_417^post196 == 0 /\ -a_121^post196+a_121^0 == 0 /\ -ct_18^post196+ct_18^0 == 0 /\ -a_431^post196+a_431^0 == 0 /\ -i_229^post196+i_229^0 == 0 /\ len_161^0-len_161^post196 == 0 /\ -a_1162^post196+a_1162^0 == 0 /\ a_947^0-a_947^post196 == 0 /\ -a_924^post196+a_924^0 == 0 /\ i_27^0-i_27^post196 == 0 /\ -a_144^post196+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post196+i_107^0 == 0 /\ -len_861^post196+len_861^0 == 0 /\ a_395^0-a_395^post196 == 0 /\ t_458^0-t_458^post196 == 0 /\ -temp0_16^post196+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post196 == 0 /\ i_140^0-i_140^post196 == 0 /\ rcd_1249^0-rcd_1249^post196 == 0 /\ -a_635^post196+a_635^0 == 0 /\ i_106^0-i_106^post196 == 0 /\ f_847^0-f_847^post196 == 0 /\ -i_1248^post196+i_1248^0 == 0 /\ -x_17^post196+x_17^0 == 0 /\ -x_21^post196+x_21^0 == 0 /\ a_576^0-a_576^post196 == 0 /\ -i_30^post196+i_30^0 == 0), cost: 1 197: l123 -> l124 : a_1089^0'=a_1089^post197, f_847^0'=f_847^post197, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post197, a_394^0'=a_394^post197, x_156^0'=x_156^post197, a_632^0'=a_632^post197, r_192^0'=r_192^post197, a_176^0'=a_176^post197, i_106^0'=i_106^post197, a_430^0'=a_430^post197, t_458^0'=t_458^post197, len_161^0'=len_161^post197, x_975^0'=x_975^post197, a_902^0'=a_902^post197, a_947^0'=a_947^post197, rcd_88^0'=rcd_88^post197, a_311^0'=a_311^post197, i_140^0'=i_140^post197, a_577^0'=a_577^post197, x_14^0'=x_14^post197, nondet_12^0'=nondet_12^post197, a_121^0'=a_121^post197, head_15^0'=head_15^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197, i_27^0'=i_27^post197, x_21^0'=x_21^post197, a_634^0'=a_634^post197, r_39^0'=r_39^post197, a_263^0'=a_263^post197, i_113^0'=i_113^post197, a_432^0'=a_432^post197, temp0_31^0'=temp0_31^post197, len_262^0'=len_262^post197, y_20^0'=y_20^post197, f_248^0'=f_248^post197, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197, a_393^0'=a_393^post197, i_229^0'=i_229^post197, a_610^0'=a_610^post197, r_151^0'=r_151^post197, a_144^0'=a_144^post197, i_1053^0'=i_1053^post197, a_417^0'=a_417^post197, t_24^0'=t_24^post197, i_94^0'=i_94^post197, x_852^0'=x_852^post197, a_862^0'=a_862^post197, rcd_1249^0'=rcd_1249^post197, rcd_58^0'=rcd_58^post197, a_310^0'=a_310^post197, i_127^0'=i_127^post197, a_576^0'=a_576^post197, tmp_34^0'=tmp_34^post197, length_29^0'=length_29^post197, a_1162^0'=a_1162^post197, f_969^0'=f_969^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197, a_395^0'=a_395^post197, x_17^0'=x_17^post197, a_633^0'=a_633^post197, r_224^0'=r_224^post197, a_239^0'=a_239^post197, i_107^0'=i_107^post197, a_431^0'=a_431^post197, temp0_16^0'=temp0_16^post197, len_238^0'=len_238^post197, x_SLAM_f_19^0'=x_SLAM_f_19^post197, a_924^0'=a_924^post197, ct_18^0'=ct_18^post197, result_11^0'=result_11^post197, a_392^0'=a_392^post197, i_197^0'=i_197^post197, a_579^0'=a_579^post197, r_143^0'=r_143^post197, a_1236^0'=a_1236^post197, head_32^0'=head_32^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197, i_30^0'=i_30^post197, x_253^0'=x_253^post197, a_635^0'=a_635^post197, r_970^0'=r_970^post197, rcd_47^0'=rcd_47^post197, a_309^0'=a_309^post197, i_1248^0'=i_1248^post197, a_575^0'=a_575^post197, temp_35^0'=temp_35^post197, len_861^0'=len_861^post197, (-nondet_12^post197+nondet_12^0 == 0 /\ -r_970^post197+r_970^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post197 == 0 /\ -head_32^post197+head_32^0 == 0 /\ -f_248^post197+f_248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post197 == 0 /\ -i_197^post197+i_197^0 == 0 /\ a_310^0-a_310^post197 == 0 /\ a_176^0-a_176^post197 == 0 /\ -len_262^post197+len_262^0 == 0 /\ a_1089^0-a_1089^post197 == 0 /\ i_27^0-i_27^post197 == 0 /\ rcd_88^0-rcd_88^post197 == 0 /\ r_39^0-r_39^post197 == 0 /\ a_311^0-a_311^post197 == 0 /\ y_20^0-y_20^post197 == 0 /\ -i_127^post197+i_127^0 == 0 /\ i_1053^0-i_1053^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197 == 0 /\ a_392^0-a_392^post197 == 0 /\ i_140^0-i_140^post197 == 0 /\ -a_579^post197+a_579^0 == 0 /\ -temp_35^post197+temp_35^0 == 0 /\ -ct_18^post197+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post197 == 0 /\ -a_924^post197+a_924^0 == 0 /\ -i_30^post197+i_30^0 == 0 /\ -a_144^post197+a_144^0 == 0 /\ a_632^0-a_632^post197 == 0 /\ a_393^0-a_393^post197 == 0 /\ -a_1162^post197+a_1162^0 == 0 /\ t_458^0-t_458^post197 == 0 /\ -x_17^post197+x_17^0 == 0 /\ i_113^0-i_113^post197 == 0 /\ r_192^0-r_192^post197 == 0 /\ -i_1248^post197+i_1248^0 == 0 /\ a_417^0-a_417^post197 == 0 /\ result_11^0-result_11^post197 == 0 /\ -a_239^post197+a_239^0 == 0 /\ -tmp_34^post197+tmp_34^0 == 0 /\ -head_15^post197+head_15^0 == 0 /\ -x_21^post197+x_21^0 == 0 /\ -temp0_16^post197+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post197 == 0 /\ a_634^0-a_634^post197 == 0 /\ r_143^0-r_143^post197 == 0 /\ -len_861^post197+len_861^0 == 0 /\ a_394^0-a_394^post197 == 0 /\ x_14^0-x_14^post197 == 0 /\ t_24^0-t_24^post197 == 0 /\ -a_635^post197+a_635^0 == 0 /\ a_862^0-a_862^post197 == 0 /\ -rcd_47^post197+rcd_47^0 == 0 /\ a_947^0-a_947^post197 == 0 /\ a_121^0-a_121^post197 == 0 /\ -i_94^post197+i_94^0 == 0 /\ rcd_58^0-rcd_58^post197 == 0 /\ -len_238^post197+len_238^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197 == 0 /\ a_263^0-a_263^post197 == 0 /\ -a_633^post197+a_633^0 == 0 /\ x_852^0-x_852^post197 == 0 /\ -i_107^post197+i_107^0 == 0 /\ length_29^0-length_29^post197 == 0 /\ len_161^0-len_161^post197 == 0 /\ i_106^0-i_106^post197 == 0 /\ -a_575^post197+a_575^0 == 0 /\ -a_576^post197+a_576^0 == 0 /\ -rcd_1249^post197+rcd_1249^0 == 0 /\ f_847^0-f_847^post197 == 0 /\ r_224^0-r_224^post197 == 0 /\ -a_431^post197+a_431^0 == 0 /\ r_151^0-r_151^post197 == 0 /\ a_309^0-a_309^post197 == 0 /\ a_902^0-a_902^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197 == 0 /\ a_430^0-a_430^post197 == 0 /\ -a_1236^post197+a_1236^0 == 0 /\ -x_975^post197+x_975^0 == 0 /\ 1+x_14^0 <= 0 /\ -f_969^post197+f_969^0 == 0 /\ i_229^0-i_229^post197 == 0 /\ a_577^0-a_577^post197 == 0 /\ a_432^0-a_432^post197 == 0 /\ x_156^0-x_156^post197 == 0 /\ -x_253^post197+x_253^0 == 0 /\ -a_610^post197+a_610^0 == 0), cost: 1 198: l124 -> l125 : a_1089^0'=a_1089^post198, f_847^0'=f_847^post198, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, a_394^0'=a_394^post198, x_156^0'=x_156^post198, a_632^0'=a_632^post198, r_192^0'=r_192^post198, a_176^0'=a_176^post198, i_106^0'=i_106^post198, a_430^0'=a_430^post198, t_458^0'=t_458^post198, len_161^0'=len_161^post198, x_975^0'=x_975^post198, a_902^0'=a_902^post198, a_947^0'=a_947^post198, rcd_88^0'=rcd_88^post198, a_311^0'=a_311^post198, i_140^0'=i_140^post198, a_577^0'=a_577^post198, x_14^0'=x_14^post198, nondet_12^0'=nondet_12^post198, a_121^0'=a_121^post198, head_15^0'=head_15^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198, i_27^0'=i_27^post198, x_21^0'=x_21^post198, a_634^0'=a_634^post198, r_39^0'=r_39^post198, a_263^0'=a_263^post198, i_113^0'=i_113^post198, a_432^0'=a_432^post198, temp0_31^0'=temp0_31^post198, len_262^0'=len_262^post198, y_20^0'=y_20^post198, f_248^0'=f_248^post198, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198, a_393^0'=a_393^post198, i_229^0'=i_229^post198, a_610^0'=a_610^post198, r_151^0'=r_151^post198, a_144^0'=a_144^post198, i_1053^0'=i_1053^post198, a_417^0'=a_417^post198, t_24^0'=t_24^post198, i_94^0'=i_94^post198, x_852^0'=x_852^post198, a_862^0'=a_862^post198, rcd_1249^0'=rcd_1249^post198, rcd_58^0'=rcd_58^post198, a_310^0'=a_310^post198, i_127^0'=i_127^post198, a_576^0'=a_576^post198, tmp_34^0'=tmp_34^post198, length_29^0'=length_29^post198, a_1162^0'=a_1162^post198, f_969^0'=f_969^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198, a_395^0'=a_395^post198, x_17^0'=x_17^post198, a_633^0'=a_633^post198, r_224^0'=r_224^post198, a_239^0'=a_239^post198, i_107^0'=i_107^post198, a_431^0'=a_431^post198, temp0_16^0'=temp0_16^post198, len_238^0'=len_238^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, a_924^0'=a_924^post198, ct_18^0'=ct_18^post198, result_11^0'=result_11^post198, a_392^0'=a_392^post198, i_197^0'=i_197^post198, a_579^0'=a_579^post198, r_143^0'=r_143^post198, a_1236^0'=a_1236^post198, head_32^0'=head_32^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198, i_30^0'=i_30^post198, x_253^0'=x_253^post198, a_635^0'=a_635^post198, r_970^0'=r_970^post198, rcd_47^0'=rcd_47^post198, a_309^0'=a_309^post198, i_1248^0'=i_1248^post198, a_575^0'=a_575^post198, temp_35^0'=temp_35^post198, len_861^0'=len_861^post198, (0 == 0 /\ -rcd_47^post198+rcd_47^0 == 0 /\ i_106^0-i_106^post198 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post198 == 0 /\ a_430^0-a_430^post198 == 0 /\ x_975^0-x_975^post198 == 0 /\ a_577^0-a_577^post198 == 0 /\ t_458^0-t_458^post198 == 0 /\ a_902^0-a_902^post198 == 0 /\ -a_634^post198+a_634^0 == 0 /\ i_229^0-i_229^post198 == 0 /\ -r_151^post198+r_151^0 == 0 /\ a_1162^0-a_1162^post198 == 0 /\ -a_575^post198+a_575^0 == 0 /\ x_156^0-x_156^post198 == 0 /\ -r_143^post198+r_143^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post198+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_969^post198+f_969^0 == 0 /\ i_27^0 <= 0 /\ -a_576^post198+a_576^0 == 0 /\ temp0_31^0-temp0_31^post198 == 0 /\ t_24^0-t_24^post198 == 0 /\ len_262^0-len_262^post198 == 0 /\ a_394^0-a_394^post198 == 0 /\ -temp_35^post198+temp_35^0 == 0 /\ a_310^0-a_310^post198 == 0 /\ a_176^0-a_176^post198 == 0 /\ f_847^0-f_847^post198 == 0 /\ a_392^0-a_392^post198 == 0 /\ -x_253^post198+x_253^0 == 0 /\ -len_238^post198+len_238^0 == 0 /\ y_20^0-y_20^post198 == 0 /\ a_579^0-a_579^post198 == 0 /\ -a_610^post198+a_610^0 == 0 /\ -r_970^post198+r_970^0 == 0 /\ -a_1236^post198+a_1236^0 == 0 /\ i_140^0-i_140^post198 == 0 /\ -a_311^post198+a_311^0 == 0 /\ tmp_34^0-tmp_34^post198 == 0 /\ -len_161^post198+len_161^0 == 0 /\ -r_224^post198+r_224^0 == 0 /\ -i_1248^post198+i_1248^0 == 0 /\ -rcd_88^post198+rcd_88^0 == 0 /\ -i_30^0 <= 0 /\ -a_239^post198+a_239^0 == 0 /\ i_94^0-i_94^post198 == 0 /\ i_113^0-i_113^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198 == 0 /\ r_39^0-r_39^post198 == 0 /\ a_393^0-a_393^post198 == 0 /\ -rcd_58^post198+rcd_58^0 == 0 /\ -length_29^post198+length_29^0 == 0 /\ -r_192^post198+r_192^0 == 0 /\ -i_127^post198+i_127^0 == 0 /\ -a_431^post198+a_431^0 == 0 /\ a_432^0-a_432^post198 == 0 /\ -i_197^post198+i_197^0 == 0 /\ a_862^0-a_862^post198 == 0 /\ -head_32^post198+head_32^0 == 0 /\ -f_248^post198+f_248^0 == 0 /\ x_21^0-x_21^post198 == 0 /\ -result_11^post198+result_11^0 == 0 /\ a_1089^0-a_1089^post198 == 0 /\ -rcd_1249^post198+rcd_1249^0 == 0 /\ -a_924^post198+a_924^0 == 0 /\ nondet_12^0-nondet_12^post198 == 0 /\ a_947^0-a_947^post198 == 0 /\ -a_309^post198+a_309^0 == 0 /\ a_121^0-a_121^post198 == 0 /\ -a_635^post198+a_635^0 == 0 /\ -a_144^post198+a_144^0 == 0 /\ -temp0_16^post198+temp0_16^0 == 0 /\ a_395^0-a_395^post198 == 0 /\ -len_861^post198+len_861^0 == 0 /\ a_263^0-a_263^post198 == 0 /\ i_107^0-i_107^post198 == 0 /\ -a_417^post198+a_417^0 == 0 /\ -i_30^post198+i_30^0 == 0 /\ -x_852^post198+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198 == 0), cost: 1 199: l125 -> l126 : a_1089^0'=a_1089^post199, f_847^0'=f_847^post199, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post199, a_394^0'=a_394^post199, x_156^0'=x_156^post199, a_632^0'=a_632^post199, r_192^0'=r_192^post199, a_176^0'=a_176^post199, i_106^0'=i_106^post199, a_430^0'=a_430^post199, t_458^0'=t_458^post199, len_161^0'=len_161^post199, x_975^0'=x_975^post199, a_902^0'=a_902^post199, a_947^0'=a_947^post199, rcd_88^0'=rcd_88^post199, a_311^0'=a_311^post199, i_140^0'=i_140^post199, a_577^0'=a_577^post199, x_14^0'=x_14^post199, nondet_12^0'=nondet_12^post199, a_121^0'=a_121^post199, head_15^0'=head_15^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199, i_27^0'=i_27^post199, x_21^0'=x_21^post199, a_634^0'=a_634^post199, r_39^0'=r_39^post199, a_263^0'=a_263^post199, i_113^0'=i_113^post199, a_432^0'=a_432^post199, temp0_31^0'=temp0_31^post199, len_262^0'=len_262^post199, y_20^0'=y_20^post199, f_248^0'=f_248^post199, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199, a_393^0'=a_393^post199, i_229^0'=i_229^post199, a_610^0'=a_610^post199, r_151^0'=r_151^post199, a_144^0'=a_144^post199, i_1053^0'=i_1053^post199, a_417^0'=a_417^post199, t_24^0'=t_24^post199, i_94^0'=i_94^post199, x_852^0'=x_852^post199, a_862^0'=a_862^post199, rcd_1249^0'=rcd_1249^post199, rcd_58^0'=rcd_58^post199, a_310^0'=a_310^post199, i_127^0'=i_127^post199, a_576^0'=a_576^post199, tmp_34^0'=tmp_34^post199, length_29^0'=length_29^post199, a_1162^0'=a_1162^post199, f_969^0'=f_969^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199, a_395^0'=a_395^post199, x_17^0'=x_17^post199, a_633^0'=a_633^post199, r_224^0'=r_224^post199, a_239^0'=a_239^post199, i_107^0'=i_107^post199, a_431^0'=a_431^post199, temp0_16^0'=temp0_16^post199, len_238^0'=len_238^post199, x_SLAM_f_19^0'=x_SLAM_f_19^post199, a_924^0'=a_924^post199, ct_18^0'=ct_18^post199, result_11^0'=result_11^post199, a_392^0'=a_392^post199, i_197^0'=i_197^post199, a_579^0'=a_579^post199, r_143^0'=r_143^post199, a_1236^0'=a_1236^post199, head_32^0'=head_32^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199, i_30^0'=i_30^post199, x_253^0'=x_253^post199, a_635^0'=a_635^post199, r_970^0'=r_970^post199, rcd_47^0'=rcd_47^post199, a_309^0'=a_309^post199, i_1248^0'=i_1248^post199, a_575^0'=a_575^post199, temp_35^0'=temp_35^post199, len_861^0'=len_861^post199, (-head_32^post199+head_32^0 == 0 /\ -a_395^post199+a_395^0 == 0 /\ -a_239^post199+a_239^0 == 0 /\ -len_861^post199+len_861^0 == 0 /\ -ct_18^post199+ct_18^0 == 0 /\ i_197^0-i_197^post199 == 0 /\ -len_262^post199+len_262^0 == 0 /\ a_1089^0-a_1089^post199 == 0 /\ a_394^0-a_394^post199 == 0 /\ a_417^0-a_417^post199 == 0 /\ -temp_35^post199+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_311^0-a_311^post199 == 0 /\ rcd_88^0-rcd_88^post199 == 0 /\ f_847^0-f_847^post199 == 0 /\ a_924^0-a_924^post199 == 0 /\ -i_1053^post199+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post199 == 0 /\ i_140^0-i_140^post199 == 0 /\ i_106^0-i_106^post199 == 0 /\ -a_392^post199+a_392^0 == 0 /\ -rcd_1249^post199+rcd_1249^0 == 0 /\ i_94^0-i_94^post199 == 0 /\ -a_575^post199+a_575^0 == 0 /\ -a_579^post199+a_579^0 == 0 /\ -a_309^post199+a_309^0 == 0 /\ x_975^0-x_975^post199 == 0 /\ t_458^0-t_458^post199 == 0 /\ r_39^0-r_39^post199 == 0 /\ y_20^0-y_20^post199 == 0 /\ -result_11^post199+result_11^0 == 0 /\ -i_30^post199+i_30^0 == 0 /\ a_393^0-a_393^post199 == 0 /\ -a_263^post199+a_263^0 == 0 /\ -a_635^post199+a_635^0 == 0 /\ r_224^0-r_224^post199 == 0 /\ i_127^0-i_127^post199 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -x_17^post199+x_17^0 == 0 /\ a_577^0-a_577^post199 == 0 /\ x_21^0-x_21^post199 == 0 /\ -x_852^post199+x_852^0 == 0 /\ temp0_31^0-temp0_31^post199 == 0 /\ -a_144^post199+a_144^0 == 0 /\ -rcd_58^post199+rcd_58^0 == 0 /\ -i_107^post199+i_107^0 == 0 /\ -head_15^post199+head_15^0 == 0 /\ -i_1248^post199+i_1248^0 == 0 /\ -a_633^post199+a_633^0 == 0 /\ -tmp_34^post199+tmp_34^0 == 0 /\ t_24^0-t_24^post199 == 0 /\ x_14^0-x_14^post199 == 0 /\ a_862^0-a_862^post199 == 0 /\ a_121^0-a_121^post199 == 0 /\ -len_238^post199+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post199 == 0 /\ len_161^0-len_161^post199 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post199 == 0 /\ a_947^0-a_947^post199 == 0 /\ -a_576^post199+a_576^0 == 0 /\ -a_634^post199+a_634^0 == 0 /\ f_248^0-f_248^post199 == 0 /\ length_29^0-length_29^post199 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post199 == 0 /\ a_632^0-a_632^post199 == 0 /\ -r_143^post199+r_143^0 == 0 /\ -i_27^post199+i_27^0 == 0 /\ -x_253^post199+x_253^0 == 0 /\ -a_1236^post199+a_1236^0 == 0 /\ -a_431^post199+a_431^0 == 0 /\ r_151^0-r_151^post199 == 0 /\ -f_969^post199+f_969^0 == 0 /\ a_902^0-a_902^post199 == 0 /\ -r_970^post199+r_970^0 == 0 /\ -a_176^post199+a_176^0 == 0 /\ i_229^0-i_229^post199 == 0 /\ a_432^0-a_432^post199 == 0 /\ -a_610^post199+a_610^0 == 0 /\ r_192^0-r_192^post199 == 0 /\ a_310^0-a_310^post199 == 0 /\ a_1162^0-a_1162^post199 == 0 /\ i_113^0-i_113^post199 == 0 /\ temp0_16^0-temp0_16^post199 == 0 /\ nondet_12^0-nondet_12^post199 == 0 /\ -rcd_47^post199+rcd_47^0 == 0), cost: 1 200: l125 -> l126 : a_1089^0'=a_1089^post200, f_847^0'=f_847^post200, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post200, a_394^0'=a_394^post200, x_156^0'=x_156^post200, a_632^0'=a_632^post200, r_192^0'=r_192^post200, a_176^0'=a_176^post200, i_106^0'=i_106^post200, a_430^0'=a_430^post200, t_458^0'=t_458^post200, len_161^0'=len_161^post200, x_975^0'=x_975^post200, a_902^0'=a_902^post200, a_947^0'=a_947^post200, rcd_88^0'=rcd_88^post200, a_311^0'=a_311^post200, i_140^0'=i_140^post200, a_577^0'=a_577^post200, x_14^0'=x_14^post200, nondet_12^0'=nondet_12^post200, a_121^0'=a_121^post200, head_15^0'=head_15^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200, i_27^0'=i_27^post200, x_21^0'=x_21^post200, a_634^0'=a_634^post200, r_39^0'=r_39^post200, a_263^0'=a_263^post200, i_113^0'=i_113^post200, a_432^0'=a_432^post200, temp0_31^0'=temp0_31^post200, len_262^0'=len_262^post200, y_20^0'=y_20^post200, f_248^0'=f_248^post200, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200, a_393^0'=a_393^post200, i_229^0'=i_229^post200, a_610^0'=a_610^post200, r_151^0'=r_151^post200, a_144^0'=a_144^post200, i_1053^0'=i_1053^post200, a_417^0'=a_417^post200, t_24^0'=t_24^post200, i_94^0'=i_94^post200, x_852^0'=x_852^post200, a_862^0'=a_862^post200, rcd_1249^0'=rcd_1249^post200, rcd_58^0'=rcd_58^post200, a_310^0'=a_310^post200, i_127^0'=i_127^post200, a_576^0'=a_576^post200, tmp_34^0'=tmp_34^post200, length_29^0'=length_29^post200, a_1162^0'=a_1162^post200, f_969^0'=f_969^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200, a_395^0'=a_395^post200, x_17^0'=x_17^post200, a_633^0'=a_633^post200, r_224^0'=r_224^post200, a_239^0'=a_239^post200, i_107^0'=i_107^post200, a_431^0'=a_431^post200, temp0_16^0'=temp0_16^post200, len_238^0'=len_238^post200, x_SLAM_f_19^0'=x_SLAM_f_19^post200, a_924^0'=a_924^post200, ct_18^0'=ct_18^post200, result_11^0'=result_11^post200, a_392^0'=a_392^post200, i_197^0'=i_197^post200, a_579^0'=a_579^post200, r_143^0'=r_143^post200, a_1236^0'=a_1236^post200, head_32^0'=head_32^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200, i_30^0'=i_30^post200, x_253^0'=x_253^post200, a_635^0'=a_635^post200, r_970^0'=r_970^post200, rcd_47^0'=rcd_47^post200, a_309^0'=a_309^post200, i_1248^0'=i_1248^post200, a_575^0'=a_575^post200, temp_35^0'=temp_35^post200, len_861^0'=len_861^post200, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_39^0-r_39^post200 == 0 /\ rcd_1249^0-rcd_1249^post200 == 0 /\ -rcd_47^post200+rcd_47^0 == 0 /\ -tmp_34^post200+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post200 == 0 /\ i_127^0-i_127^post200 == 0 /\ -a_633^post200+a_633^0 == 0 /\ a_430^0-a_430^post200 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_577^0-a_577^post200 == 0 /\ -a_924^post200+a_924^0 == 0 /\ a_1162^0-a_1162^post200 == 0 /\ -r_143^post200+r_143^0 == 0 /\ -a_634^post200+a_634^0 == 0 /\ a_432^0-a_432^post200 == 0 /\ x_14^0-x_14^post200 == 0 /\ i_27^0-i_27^post200 == 0 /\ -r_151^post200+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_192^0-r_192^post200 == 0 /\ -x_SLAM_f_19^post200+x_SLAM_f_19^0 == 0 /\ -y_20^post200+y_20^0 == 0 /\ -a_392^post200+a_392^0 == 0 /\ -f_969^post200+f_969^0 == 0 /\ i_140^0-i_140^post200 == 0 /\ a_394^0-a_394^post200 == 0 /\ i_229^0-i_229^post200 == 0 /\ a_576^0-a_576^post200 == 0 /\ -temp_35^post200+temp_35^0 == 0 /\ -i_113^post200+i_113^0 == 0 /\ a_947^0-a_947^post200 == 0 /\ -a_1236^post200+a_1236^0 == 0 /\ -r_970^post200+r_970^0 == 0 /\ f_847^0-f_847^post200 == 0 /\ -a_431^post200+a_431^0 == 0 /\ i_197^0-i_197^post200 == 0 /\ -x_253^post200+x_253^0 == 0 /\ -a_395^post200+a_395^0 == 0 /\ r_224^0-r_224^post200 == 0 /\ a_610^0-a_610^post200 == 0 /\ -i_1053^post200+i_1053^0 == 0 /\ a_902^0-a_902^post200 == 0 /\ -i_1248^post200+i_1248^0 == 0 /\ -length_29^post200+length_29^0 == 0 /\ i_94^0-i_94^post200 == 0 /\ -a_239^post200+a_239^0 == 0 /\ -rcd_58^post200+rcd_58^0 == 0 /\ i_107^0-i_107^post200 == 0 /\ head_15^0-head_15^post200 == 0 /\ -a_310^post200+a_310^0 == 0 /\ -ct_18^post200+ct_18^0 == 0 /\ -a_862^post200+a_862^0 == 0 /\ -len_861^post200+len_861^0 == 0 /\ rcd_88^0-rcd_88^post200 == 0 /\ a_311^0-a_311^post200 == 0 /\ -temp0_16^post200+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -t_458^post200+t_458^0 == 0 /\ x_156^0-x_156^post200 == 0 /\ -head_32^post200+head_32^0 == 0 /\ a_1089^0-a_1089^post200 == 0 /\ nondet_12^0-nondet_12^post200 == 0 /\ a_632^0-a_632^post200 == 0 /\ -len_161^post200+len_161^0 == 0 /\ -a_393^post200+a_393^0 == 0 /\ -i_106^post200+i_106^0 == 0 /\ -a_309^post200+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post200 == 0 /\ a_121^0-a_121^post200 == 0 /\ -a_579^post200+a_579^0 == 0 /\ x_21^0-x_21^post200 == 0 /\ -a_144^post200+a_144^0 == 0 /\ -result_11^post200+result_11^0 == 0 /\ temp0_31^0-temp0_31^post200 == 0 /\ -a_417^post200+a_417^0 == 0 /\ -x_852^post200+x_852^0 == 0 /\ len_262^0-len_262^post200 == 0 /\ -a_575^post200+a_575^0 == 0 /\ -i_30^post200+i_30^0 == 0 /\ -a_263^post200+a_263^0 == 0 /\ -t_24^post200+t_24^0 == 0 /\ x_17^0-x_17^post200 == 0 /\ -a_635^post200+a_635^0 == 0 /\ len_238^0-len_238^post200 == 0 /\ f_248^0-f_248^post200 == 0 /\ a_176^0-a_176^post200 == 0), cost: 1 201: l126 -> l127 : a_1089^0'=a_1089^post201, f_847^0'=f_847^post201, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post201, a_394^0'=a_394^post201, x_156^0'=x_156^post201, a_632^0'=a_632^post201, r_192^0'=r_192^post201, a_176^0'=a_176^post201, i_106^0'=i_106^post201, a_430^0'=a_430^post201, t_458^0'=t_458^post201, len_161^0'=len_161^post201, x_975^0'=x_975^post201, a_902^0'=a_902^post201, a_947^0'=a_947^post201, rcd_88^0'=rcd_88^post201, a_311^0'=a_311^post201, i_140^0'=i_140^post201, a_577^0'=a_577^post201, x_14^0'=x_14^post201, nondet_12^0'=nondet_12^post201, a_121^0'=a_121^post201, head_15^0'=head_15^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201, i_27^0'=i_27^post201, x_21^0'=x_21^post201, a_634^0'=a_634^post201, r_39^0'=r_39^post201, a_263^0'=a_263^post201, i_113^0'=i_113^post201, a_432^0'=a_432^post201, temp0_31^0'=temp0_31^post201, len_262^0'=len_262^post201, y_20^0'=y_20^post201, f_248^0'=f_248^post201, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201, a_393^0'=a_393^post201, i_229^0'=i_229^post201, a_610^0'=a_610^post201, r_151^0'=r_151^post201, a_144^0'=a_144^post201, i_1053^0'=i_1053^post201, a_417^0'=a_417^post201, t_24^0'=t_24^post201, i_94^0'=i_94^post201, x_852^0'=x_852^post201, a_862^0'=a_862^post201, rcd_1249^0'=rcd_1249^post201, rcd_58^0'=rcd_58^post201, a_310^0'=a_310^post201, i_127^0'=i_127^post201, a_576^0'=a_576^post201, tmp_34^0'=tmp_34^post201, length_29^0'=length_29^post201, a_1162^0'=a_1162^post201, f_969^0'=f_969^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201, a_395^0'=a_395^post201, x_17^0'=x_17^post201, a_633^0'=a_633^post201, r_224^0'=r_224^post201, a_239^0'=a_239^post201, i_107^0'=i_107^post201, a_431^0'=a_431^post201, temp0_16^0'=temp0_16^post201, len_238^0'=len_238^post201, x_SLAM_f_19^0'=x_SLAM_f_19^post201, a_924^0'=a_924^post201, ct_18^0'=ct_18^post201, result_11^0'=result_11^post201, a_392^0'=a_392^post201, i_197^0'=i_197^post201, a_579^0'=a_579^post201, r_143^0'=r_143^post201, a_1236^0'=a_1236^post201, head_32^0'=head_32^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201, i_30^0'=i_30^post201, x_253^0'=x_253^post201, a_635^0'=a_635^post201, r_970^0'=r_970^post201, rcd_47^0'=rcd_47^post201, a_309^0'=a_309^post201, i_1248^0'=i_1248^post201, a_575^0'=a_575^post201, temp_35^0'=temp_35^post201, len_861^0'=len_861^post201, (0 == 0 /\ -length_29^post201+length_29^0 == 0 /\ -r_39^post201+r_39^0 == 0 /\ a_576^0-a_576^post201 == 0 /\ x_852^0-x_852^post201 == 0 /\ -i_1053^post201+i_1053^0 == 0 /\ x_21^0-x_21^post201 == 0 /\ -a_395^post201+a_395^0 == 0 /\ a_121^0-a_121^post201 == 0 /\ x_156^0-x_156^post201 == 0 /\ len_262^0-len_262^post201 == 0 /\ -a_417^post201+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post201+len_861^0 == 0 /\ f_847^0-f_847^post201 == 0 /\ -a_1236^post201+a_1236^0 == 0 /\ nondet_12^0-nondet_12^post201 == 0 /\ a_394^0-a_394^post201 == 0 /\ rcd_58^0-rcd_58^post201 == 0 /\ a_1089^post201-a_1162^0 <= 0 /\ -a_392^post201+a_392^0 == 0 /\ -a_862^post201+a_862^0 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -i_1248^post201+i_1248^0 == 0 /\ -a_579^post201+a_579^0 == 0 /\ -a_393^post201+a_393^0 == 0 /\ -a_635^post201+a_635^0 == 0 /\ -a_144^post201+a_144^0 == 0 /\ t_458^0-t_458^post201 == 0 /\ -i_107^post201+i_107^0 == 0 /\ -i_30^post201+i_30^0 == 0 /\ -a_575^post201+a_575^0 == 0 /\ -a_263^post201+a_263^0 == 0 /\ a_577^0-a_577^post201 == 0 /\ -head_32^post201+head_32^0 == 0 /\ -i_197^post201+i_197^0 == 0 /\ i_106^0-i_106^post201 == 0 /\ r_224^0-r_224^post201 == 0 /\ ct_18^0-ct_18^post201 == 0 /\ i_127^0-i_127^post201 == 0 /\ head_15^0-head_15^post201 == 0 /\ y_20^0 <= 0 /\ -a_309^post201+a_309^0 == 0 /\ -x_21^0+t_24^post201 == 0 /\ i_229^0-i_229^post201 == 0 /\ -a_1089^post201+a_1162^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_14^0-x_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post201 == 0 /\ x_14^0-x_14^post201 == 0 /\ a_430^0-a_430^post201 == 0 /\ i_27^0-i_27^post201 == 0 /\ -tmp_34^post201+tmp_34^0 == 0 /\ -a_1162^post201+a_1162^0 == 0 /\ -rcd_47^post201+rcd_47^0 == 0 /\ -a_924^post201+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post201 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -len_238^post201+len_238^0 == 0 /\ a_431^0-a_431^post201 == 0 /\ temp0_31^0-temp0_31^post201 == 0 /\ -x_14^0+t_24^post201 <= 0 /\ x_17^0-x_17^post201 == 0 /\ a_634^0-a_634^post201 == 0 /\ -y_20^0 <= 0 /\ -a_633^post201+a_633^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -result_11^post201+result_11^0 == 0 /\ y_20^0-y_20^post201 == 0 /\ a_947^0-a_947^post201 == 0 /\ rcd_88^0-rcd_88^post201 == 0 /\ -r_151^post201+r_151^0 == 0 /\ -rcd_1249^post201+rcd_1249^0 == 0 /\ a_176^0-a_176^post201 == 0 /\ -a_902^post201+a_902^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ r_192^0-r_192^post201 == 0 /\ -r_970^post201+r_970^0 == 0 /\ f_969^0-f_969^post201 == 0 /\ x_975^0-x_975^post201 == 0 /\ -x_253^post201+x_253^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post201 == 0 /\ a_239^0-a_239^post201 == 0 /\ -r_143^post201+r_143^0 == 0 /\ -ct_18^0 <= 0 /\ -i_94^post201+i_94^0 == 0 /\ x_14^0-t_24^post201 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ a_310^0-a_310^post201 == 0 /\ -i_113^post201+i_113^0 == 0 /\ len_161^0-len_161^post201 == 0 /\ -a_432^post201+a_432^0 == 0 /\ temp0_16^0-temp0_16^post201 == 0 /\ -temp_35^post201+temp_35^0 == 0 /\ a_610^0-a_610^post201 == 0 /\ a_632^0-a_632^post201 == 0 /\ -a_311^post201+a_311^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post201+x_SLAM_f_19^0 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0), cost: 1 202: l127 -> l128 : a_1089^0'=a_1089^post202, f_847^0'=f_847^post202, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post202, a_394^0'=a_394^post202, x_156^0'=x_156^post202, a_632^0'=a_632^post202, r_192^0'=r_192^post202, a_176^0'=a_176^post202, i_106^0'=i_106^post202, a_430^0'=a_430^post202, t_458^0'=t_458^post202, len_161^0'=len_161^post202, x_975^0'=x_975^post202, a_902^0'=a_902^post202, a_947^0'=a_947^post202, rcd_88^0'=rcd_88^post202, a_311^0'=a_311^post202, i_140^0'=i_140^post202, a_577^0'=a_577^post202, x_14^0'=x_14^post202, nondet_12^0'=nondet_12^post202, a_121^0'=a_121^post202, head_15^0'=head_15^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202, i_27^0'=i_27^post202, x_21^0'=x_21^post202, a_634^0'=a_634^post202, r_39^0'=r_39^post202, a_263^0'=a_263^post202, i_113^0'=i_113^post202, a_432^0'=a_432^post202, temp0_31^0'=temp0_31^post202, len_262^0'=len_262^post202, y_20^0'=y_20^post202, f_248^0'=f_248^post202, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202, a_393^0'=a_393^post202, i_229^0'=i_229^post202, a_610^0'=a_610^post202, r_151^0'=r_151^post202, a_144^0'=a_144^post202, i_1053^0'=i_1053^post202, a_417^0'=a_417^post202, t_24^0'=t_24^post202, i_94^0'=i_94^post202, x_852^0'=x_852^post202, a_862^0'=a_862^post202, rcd_1249^0'=rcd_1249^post202, rcd_58^0'=rcd_58^post202, a_310^0'=a_310^post202, i_127^0'=i_127^post202, a_576^0'=a_576^post202, tmp_34^0'=tmp_34^post202, length_29^0'=length_29^post202, a_1162^0'=a_1162^post202, f_969^0'=f_969^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202, a_395^0'=a_395^post202, x_17^0'=x_17^post202, a_633^0'=a_633^post202, r_224^0'=r_224^post202, a_239^0'=a_239^post202, i_107^0'=i_107^post202, a_431^0'=a_431^post202, temp0_16^0'=temp0_16^post202, len_238^0'=len_238^post202, x_SLAM_f_19^0'=x_SLAM_f_19^post202, a_924^0'=a_924^post202, ct_18^0'=ct_18^post202, result_11^0'=result_11^post202, a_392^0'=a_392^post202, i_197^0'=i_197^post202, a_579^0'=a_579^post202, r_143^0'=r_143^post202, a_1236^0'=a_1236^post202, head_32^0'=head_32^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202, i_30^0'=i_30^post202, x_253^0'=x_253^post202, a_635^0'=a_635^post202, r_970^0'=r_970^post202, rcd_47^0'=rcd_47^post202, a_309^0'=a_309^post202, i_1248^0'=i_1248^post202, a_575^0'=a_575^post202, temp_35^0'=temp_35^post202, len_861^0'=len_861^post202, (r_39^0-r_39^post202 == 0 /\ -a_1162^post202+a_1162^0 == 0 /\ -a_924^post202+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post202 == 0 /\ ct_18^0-ct_18^post202 == 0 /\ -rcd_47^post202+rcd_47^0 == 0 /\ -a_431^post202+a_431^0 == 0 /\ 1-x_14^0 <= 0 /\ -x_253^post202+x_253^0 == 0 /\ -r_151^post202+r_151^0 == 0 /\ -result_11^post202+result_11^0 == 0 /\ x_21^0-x_21^post202 == 0 /\ i_27^0-i_27^post202 == 0 /\ x_14^0-x_14^post202 == 0 /\ r_192^0-r_192^post202 == 0 /\ i_140^0-i_140^post202 == 0 /\ -i_94^post202+i_94^0 == 0 /\ -r_224^post202+r_224^0 == 0 /\ nondet_12^0-nondet_12^post202 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post202 == 0 /\ -temp_35^post202+temp_35^0 == 0 /\ a_263^0-a_263^post202 == 0 /\ x_156^0-x_156^post202 == 0 /\ -r_970^post202+r_970^0 == 0 /\ -i_1053^post202+i_1053^0 == 0 /\ a_634^0-a_634^post202 == 0 /\ -i_113^post202+i_113^0 == 0 /\ -x_SLAM_f_19^post202+x_SLAM_f_19^0 == 0 /\ -r_143^post202+r_143^0 == 0 /\ a_576^0-a_576^post202 == 0 /\ rcd_58^0-rcd_58^post202 == 0 /\ tmp_34^0-tmp_34^post202 == 0 /\ -a_395^post202+a_395^0 == 0 /\ a_144^0-a_144^post202 == 0 /\ -a_1236^post202+a_1236^0 == 0 /\ a_947^0-a_947^post202 == 0 /\ len_238^0-len_238^post202 == 0 /\ -y_20^post202+y_20^0 == 0 /\ f_248^0-f_248^post202 == 0 /\ -a_432^post202+a_432^0 == 0 /\ a_430^0-a_430^post202 == 0 /\ -i_106^post202+i_106^0 == 0 /\ -a_862^post202+a_862^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_975^0-x_975^post202 == 0 /\ i_127^0-i_127^post202 == 0 /\ a_632^0-a_632^post202 == 0 /\ a_610^0-a_610^post202 == 0 /\ -length_29^post202+length_29^0 == 0 /\ a_577^0-a_577^post202 == 0 /\ head_15^0-head_15^post202 == 0 /\ rcd_1249^0-rcd_1249^post202 == 0 /\ a_902^0-a_902^post202 == 0 /\ -i_1248^post202+i_1248^0 == 0 /\ rcd_88^0-rcd_88^post202 == 0 /\ a_311^0-a_311^post202 == 0 /\ -a_392^post202+a_392^0 == 0 /\ -a_239^post202+a_239^0 == 0 /\ -a_310^post202+a_310^0 == 0 /\ a_1089^0-a_1089^post202 == 0 /\ -len_861^post202+len_861^0 == 0 /\ -temp0_16^post202+temp0_16^0 == 0 /\ i_229^0-i_229^post202 == 0 /\ -i_30^post202+i_30^0 == 0 /\ -t_458^post202+t_458^0 == 0 /\ -a_393^post202+a_393^0 == 0 /\ -head_32^post202+head_32^0 == 0 /\ a_121^0-a_121^post202 == 0 /\ -x_852^post202+x_852^0 == 0 /\ -t_24^post202+t_24^0 == 0 /\ len_262^0-len_262^post202 == 0 /\ temp0_31^0-temp0_31^post202 == 0 /\ -a_635^post202+a_635^0 == 0 /\ -a_309^post202+a_309^0 == 0 /\ len_161^0-len_161^post202 == 0 /\ a_633^0-a_633^post202 == 0 /\ x_17^0-x_17^post202 == 0 /\ a_176^0-a_176^post202 == 0 /\ -a_417^post202+a_417^0 == 0 /\ -i_107^post202+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202 == 0 /\ f_847^0-f_847^post202 == 0 /\ -a_575^post202+a_575^0 == 0 /\ -i_197^post202+i_197^0 == 0 /\ a_394^0-a_394^post202 == 0 /\ -a_579^post202+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 203: l127 -> l128 : a_1089^0'=a_1089^post203, f_847^0'=f_847^post203, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post203, a_394^0'=a_394^post203, x_156^0'=x_156^post203, a_632^0'=a_632^post203, r_192^0'=r_192^post203, a_176^0'=a_176^post203, i_106^0'=i_106^post203, a_430^0'=a_430^post203, t_458^0'=t_458^post203, len_161^0'=len_161^post203, x_975^0'=x_975^post203, a_902^0'=a_902^post203, a_947^0'=a_947^post203, rcd_88^0'=rcd_88^post203, a_311^0'=a_311^post203, i_140^0'=i_140^post203, a_577^0'=a_577^post203, x_14^0'=x_14^post203, nondet_12^0'=nondet_12^post203, a_121^0'=a_121^post203, head_15^0'=head_15^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203, i_27^0'=i_27^post203, x_21^0'=x_21^post203, a_634^0'=a_634^post203, r_39^0'=r_39^post203, a_263^0'=a_263^post203, i_113^0'=i_113^post203, a_432^0'=a_432^post203, temp0_31^0'=temp0_31^post203, len_262^0'=len_262^post203, y_20^0'=y_20^post203, f_248^0'=f_248^post203, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203, a_393^0'=a_393^post203, i_229^0'=i_229^post203, a_610^0'=a_610^post203, r_151^0'=r_151^post203, a_144^0'=a_144^post203, i_1053^0'=i_1053^post203, a_417^0'=a_417^post203, t_24^0'=t_24^post203, i_94^0'=i_94^post203, x_852^0'=x_852^post203, a_862^0'=a_862^post203, rcd_1249^0'=rcd_1249^post203, rcd_58^0'=rcd_58^post203, a_310^0'=a_310^post203, i_127^0'=i_127^post203, a_576^0'=a_576^post203, tmp_34^0'=tmp_34^post203, length_29^0'=length_29^post203, a_1162^0'=a_1162^post203, f_969^0'=f_969^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203, a_395^0'=a_395^post203, x_17^0'=x_17^post203, a_633^0'=a_633^post203, r_224^0'=r_224^post203, a_239^0'=a_239^post203, i_107^0'=i_107^post203, a_431^0'=a_431^post203, temp0_16^0'=temp0_16^post203, len_238^0'=len_238^post203, x_SLAM_f_19^0'=x_SLAM_f_19^post203, a_924^0'=a_924^post203, ct_18^0'=ct_18^post203, result_11^0'=result_11^post203, a_392^0'=a_392^post203, i_197^0'=i_197^post203, a_579^0'=a_579^post203, r_143^0'=r_143^post203, a_1236^0'=a_1236^post203, head_32^0'=head_32^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203, i_30^0'=i_30^post203, x_253^0'=x_253^post203, a_635^0'=a_635^post203, r_970^0'=r_970^post203, rcd_47^0'=rcd_47^post203, a_309^0'=a_309^post203, i_1248^0'=i_1248^post203, a_575^0'=a_575^post203, temp_35^0'=temp_35^post203, len_861^0'=len_861^post203, (-a_1236^post203+a_1236^0 == 0 /\ a_263^0-a_263^post203 == 0 /\ len_161^0-len_161^post203 == 0 /\ -a_432^post203+a_432^0 == 0 /\ result_11^0-result_11^post203 == 0 /\ -x_17^post203+x_17^0 == 0 /\ x_156^0-x_156^post203 == 0 /\ -temp0_31^post203+temp0_31^0 == 0 /\ -a_392^post203+a_392^0 == 0 /\ head_15^0-head_15^post203 == 0 /\ a_634^0-a_634^post203 == 0 /\ tmp_34^0-tmp_34^post203 == 0 /\ -i_30^post203+i_30^0 == 0 /\ -i_1248^post203+i_1248^0 == 0 /\ -x_SLAM_f_19^post203+x_SLAM_f_19^0 == 0 /\ a_862^0-a_862^post203 == 0 /\ -temp0_16^post203+temp0_16^0 == 0 /\ f_248^0-f_248^post203 == 0 /\ a_902^0-a_902^post203 == 0 /\ -a_310^post203+a_310^0 == 0 /\ -len_861^post203+len_861^0 == 0 /\ -r_224^post203+r_224^0 == 0 /\ -i_94^post203+i_94^0 == 0 /\ rcd_58^0-rcd_58^post203 == 0 /\ -i_1053^post203+i_1053^0 == 0 /\ a_947^0-a_947^post203 == 0 /\ -head_32^post203+head_32^0 == 0 /\ -a_579^post203+a_579^0 == 0 /\ a_430^0-a_430^post203 == 0 /\ -a_635^post203+a_635^0 == 0 /\ r_192^0-r_192^post203 == 0 /\ i_113^0-i_113^post203 == 0 /\ rcd_88^0-rcd_88^post203 == 0 /\ a_176^0-a_176^post203 == 0 /\ a_311^0-a_311^post203 == 0 /\ length_29^0-length_29^post203 == 0 /\ -ct_18^post203+ct_18^0 == 0 /\ -len_262^post203+len_262^0 == 0 /\ -len_238^post203+len_238^0 == 0 /\ -i_197^post203+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post203 == 0 /\ -a_309^post203+a_309^0 == 0 /\ x_852^0-x_852^post203 == 0 /\ -x_14^post203+x_14^0 == 0 /\ -r_39^post203+r_39^0 == 0 /\ -i_127^post203+i_127^0 == 0 /\ -i_107^post203+i_107^0 == 0 /\ -a_575^post203+a_575^0 == 0 /\ a_1089^0-a_1089^post203 == 0 /\ -a_121^post203+a_121^0 == 0 /\ a_576^0-a_576^post203 == 0 /\ f_847^0-f_847^post203 == 0 /\ a_144^0-a_144^post203 == 0 /\ -a_431^post203+a_431^0 == 0 /\ nondet_12^0-nondet_12^post203 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203 == 0 /\ -a_1162^post203+a_1162^0 == 0 /\ i_140^0-i_140^post203 == 0 /\ -t_24^post203+t_24^0 == 0 /\ -x_21^post203+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203 == 0 /\ r_151^0-r_151^post203 == 0 /\ -rcd_47^post203+rcd_47^0 == 0 /\ y_20^0-y_20^post203 == 0 /\ a_417^0-a_417^post203 == 0 /\ -a_924^post203+a_924^0 == 0 /\ a_394^0-a_394^post203 == 0 /\ a_577^0-a_577^post203 == 0 /\ a_239^0-a_239^post203 == 0 /\ f_969^0-f_969^post203 == 0 /\ x_975^0-x_975^post203 == 0 /\ -r_143^post203+r_143^0 == 0 /\ -i_229^post203+i_229^0 == 0 /\ -x_253^post203+x_253^0 == 0 /\ -r_970^post203+r_970^0 == 0 /\ a_610^0-a_610^post203 == 0 /\ rcd_1249^0-rcd_1249^post203 == 0 /\ 1+x_14^0 <= 0 /\ i_106^0-i_106^post203 == 0 /\ i_27^0-i_27^post203 == 0 /\ a_633^0-a_633^post203 == 0 /\ t_458^0-t_458^post203 == 0 /\ a_393^0-a_393^post203 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post203+a_395^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post203 == 0 /\ -temp_35^post203+temp_35^0 == 0), cost: 1 204: l128 -> l129 : a_1089^0'=a_1089^post204, f_847^0'=f_847^post204, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post204, a_394^0'=a_394^post204, x_156^0'=x_156^post204, a_632^0'=a_632^post204, r_192^0'=r_192^post204, a_176^0'=a_176^post204, i_106^0'=i_106^post204, a_430^0'=a_430^post204, t_458^0'=t_458^post204, len_161^0'=len_161^post204, x_975^0'=x_975^post204, a_902^0'=a_902^post204, a_947^0'=a_947^post204, rcd_88^0'=rcd_88^post204, a_311^0'=a_311^post204, i_140^0'=i_140^post204, a_577^0'=a_577^post204, x_14^0'=x_14^post204, nondet_12^0'=nondet_12^post204, a_121^0'=a_121^post204, head_15^0'=head_15^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204, i_27^0'=i_27^post204, x_21^0'=x_21^post204, a_634^0'=a_634^post204, r_39^0'=r_39^post204, a_263^0'=a_263^post204, i_113^0'=i_113^post204, a_432^0'=a_432^post204, temp0_31^0'=temp0_31^post204, len_262^0'=len_262^post204, y_20^0'=y_20^post204, f_248^0'=f_248^post204, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204, a_393^0'=a_393^post204, i_229^0'=i_229^post204, a_610^0'=a_610^post204, r_151^0'=r_151^post204, a_144^0'=a_144^post204, i_1053^0'=i_1053^post204, a_417^0'=a_417^post204, t_24^0'=t_24^post204, i_94^0'=i_94^post204, x_852^0'=x_852^post204, a_862^0'=a_862^post204, rcd_1249^0'=rcd_1249^post204, rcd_58^0'=rcd_58^post204, a_310^0'=a_310^post204, i_127^0'=i_127^post204, a_576^0'=a_576^post204, tmp_34^0'=tmp_34^post204, length_29^0'=length_29^post204, a_1162^0'=a_1162^post204, f_969^0'=f_969^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204, a_395^0'=a_395^post204, x_17^0'=x_17^post204, a_633^0'=a_633^post204, r_224^0'=r_224^post204, a_239^0'=a_239^post204, i_107^0'=i_107^post204, a_431^0'=a_431^post204, temp0_16^0'=temp0_16^post204, len_238^0'=len_238^post204, x_SLAM_f_19^0'=x_SLAM_f_19^post204, a_924^0'=a_924^post204, ct_18^0'=ct_18^post204, result_11^0'=result_11^post204, a_392^0'=a_392^post204, i_197^0'=i_197^post204, a_579^0'=a_579^post204, r_143^0'=r_143^post204, a_1236^0'=a_1236^post204, head_32^0'=head_32^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204, i_30^0'=i_30^post204, x_253^0'=x_253^post204, a_635^0'=a_635^post204, r_970^0'=r_970^post204, rcd_47^0'=rcd_47^post204, a_309^0'=a_309^post204, i_1248^0'=i_1248^post204, a_575^0'=a_575^post204, temp_35^0'=temp_35^post204, len_861^0'=len_861^post204, (a_311^0-a_311^post204 == 0 /\ -f_969^post204+f_969^0 == 0 /\ a_610^0-a_610^post204 == 0 /\ a_392^0-a_392^post204 == 0 /\ t_458^0-t_458^post204 == 0 /\ a_176^0-a_176^post204 == 0 /\ a_902^0-a_902^post204 == 0 /\ r_143^0-r_143^post204 == 0 /\ -a_121^post204+a_121^0 == 0 /\ -x_21^post204+x_21^0 == 0 /\ rcd_88^0-rcd_88^post204 == 0 /\ r_192^0-r_192^post204 == 0 /\ -temp_35^post204+temp_35^0 == 0 /\ -r_970^post204+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post204 == 0 /\ -x_253^post204+x_253^0 == 0 /\ -len_238^post204+len_238^0 == 0 /\ -rcd_47^post204+rcd_47^0 == 0 /\ a_1089^0-a_1089^post204 == 0 /\ i_27^0-i_27^post204 == 0 /\ r_39^0-r_39^post204 == 0 /\ -a_1162^post204+a_1162^0 == 0 /\ len_262^0-len_262^post204 == 0 /\ a_1236^0-a_1236^post204 == 0 /\ -y_20^post204+y_20^0 == 0 /\ -x_SLAM_f_19^post204+x_SLAM_f_19^0 == 0 /\ -i_1248^post204+i_1248^0 == 0 /\ a_263^0-a_263^post204 == 0 /\ temp0_31^0-temp0_31^post204 == 0 /\ -a_239^post204+a_239^0 == 0 /\ a_144^0-a_144^post204 == 0 /\ -temp0_16^post204+temp0_16^0 == 0 /\ result_11^0-result_11^post204 == 0 /\ -len_861^post204+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204 == 0 /\ -i_229^post204+i_229^0 == 0 /\ -a_431^post204+a_431^0 == 0 /\ -nondet_12^post204+nondet_12^0 == 0 /\ -a_432^post204+a_432^0 == 0 /\ -a_924^post204+a_924^0 == 0 /\ -i_113^post204+i_113^0 == 0 /\ a_634^0-a_634^post204 == 0 /\ -a_395^post204+a_395^0 == 0 /\ a_417^0-a_417^post204 == 0 /\ f_248^0-f_248^post204 == 0 /\ tmp_34^0-tmp_34^post204 == 0 /\ -i_107^post204+i_107^0 == 0 /\ -a_862^post204+a_862^0 == 0 /\ i_1053^0-i_1053^post204 == 0 /\ i_127^0-i_127^post204 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post204 == 0 /\ -a_575^post204+a_575^0 == 0 /\ len_161^0-len_161^post204 == 0 /\ i_106^0-i_106^post204 == 0 /\ a_632^0-a_632^post204 == 0 /\ -a_635^post204+a_635^0 == 0 /\ a_393^0-a_393^post204 == 0 /\ -i_30^post204+i_30^0 == 0 /\ -a_310^post204+a_310^0 == 0 /\ -i_94^post204+i_94^0 == 0 /\ -r_224^post204+r_224^0 == 0 /\ -x_17^post204+x_17^0 == 0 /\ x_14^0-x_14^post204 == 0 /\ -length_29^post204+length_29^0 == 0 /\ x_852^0-x_852^post204 == 0 /\ x_156^0-x_156^post204 == 0 /\ a_309^0-a_309^post204 == 0 /\ a_576^0-a_576^post204 == 0 /\ f_847^0-f_847^post204 == 0 /\ -a_579^post204+a_579^0 == 0 /\ -t_24^post204+t_24^0 == 0 /\ -head_32^post204+head_32^0 == 0 /\ i_140^0-i_140^post204 == 0 /\ a_633^0-a_633^post204 == 0 /\ -ct_18^post204+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204 == 0 /\ a_947^0-a_947^post204 == 0 /\ rcd_58^0-rcd_58^post204 == 0 /\ head_15^0-head_15^post204 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ -x_975^post204+x_975^0 == 0 /\ a_394^0-a_394^post204 == 0 /\ -a_430^post204+a_430^0 == 0 /\ -i_197^post204+i_197^0 == 0 /\ r_151^0-r_151^post204 == 0 /\ a_577^0-a_577^post204 == 0), cost: 1 205: l128 -> l129 : a_1089^0'=a_1089^post205, f_847^0'=f_847^post205, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post205, a_394^0'=a_394^post205, x_156^0'=x_156^post205, a_632^0'=a_632^post205, r_192^0'=r_192^post205, a_176^0'=a_176^post205, i_106^0'=i_106^post205, a_430^0'=a_430^post205, t_458^0'=t_458^post205, len_161^0'=len_161^post205, x_975^0'=x_975^post205, a_902^0'=a_902^post205, a_947^0'=a_947^post205, rcd_88^0'=rcd_88^post205, a_311^0'=a_311^post205, i_140^0'=i_140^post205, a_577^0'=a_577^post205, x_14^0'=x_14^post205, nondet_12^0'=nondet_12^post205, a_121^0'=a_121^post205, head_15^0'=head_15^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205, i_27^0'=i_27^post205, x_21^0'=x_21^post205, a_634^0'=a_634^post205, r_39^0'=r_39^post205, a_263^0'=a_263^post205, i_113^0'=i_113^post205, a_432^0'=a_432^post205, temp0_31^0'=temp0_31^post205, len_262^0'=len_262^post205, y_20^0'=y_20^post205, f_248^0'=f_248^post205, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205, a_393^0'=a_393^post205, i_229^0'=i_229^post205, a_610^0'=a_610^post205, r_151^0'=r_151^post205, a_144^0'=a_144^post205, i_1053^0'=i_1053^post205, a_417^0'=a_417^post205, t_24^0'=t_24^post205, i_94^0'=i_94^post205, x_852^0'=x_852^post205, a_862^0'=a_862^post205, rcd_1249^0'=rcd_1249^post205, rcd_58^0'=rcd_58^post205, a_310^0'=a_310^post205, i_127^0'=i_127^post205, a_576^0'=a_576^post205, tmp_34^0'=tmp_34^post205, length_29^0'=length_29^post205, a_1162^0'=a_1162^post205, f_969^0'=f_969^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205, a_395^0'=a_395^post205, x_17^0'=x_17^post205, a_633^0'=a_633^post205, r_224^0'=r_224^post205, a_239^0'=a_239^post205, i_107^0'=i_107^post205, a_431^0'=a_431^post205, temp0_16^0'=temp0_16^post205, len_238^0'=len_238^post205, x_SLAM_f_19^0'=x_SLAM_f_19^post205, a_924^0'=a_924^post205, ct_18^0'=ct_18^post205, result_11^0'=result_11^post205, a_392^0'=a_392^post205, i_197^0'=i_197^post205, a_579^0'=a_579^post205, r_143^0'=r_143^post205, a_1236^0'=a_1236^post205, head_32^0'=head_32^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205, i_30^0'=i_30^post205, x_253^0'=x_253^post205, a_635^0'=a_635^post205, r_970^0'=r_970^post205, rcd_47^0'=rcd_47^post205, a_309^0'=a_309^post205, i_1248^0'=i_1248^post205, a_575^0'=a_575^post205, temp_35^0'=temp_35^post205, len_861^0'=len_861^post205, (-a_1236^post205+a_1236^0 == 0 /\ -i_30^post205+i_30^0 == 0 /\ -a_575^post205+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205 == 0 /\ -r_39^post205+r_39^0 == 0 /\ result_11^0-result_11^post205 == 0 /\ -a_432^post205+a_432^0 == 0 /\ a_579^0-a_579^post205 == 0 /\ a_634^0-a_634^post205 == 0 /\ -i_94^post205+i_94^0 == 0 /\ r_151^0-r_151^post205 == 0 /\ -temp0_31^post205+temp0_31^0 == 0 /\ -len_262^post205+len_262^0 == 0 /\ -x_17^post205+x_17^0 == 0 /\ a_176^0-a_176^post205 == 0 /\ -i_1248^post205+i_1248^0 == 0 /\ -a_635^post205+a_635^0 == 0 /\ -x_SLAM_f_19^post205+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post205 == 0 /\ -a_144^post205+a_144^0 == 0 /\ -ct_18^post205+ct_18^0 == 0 /\ a_239^0-a_239^post205 == 0 /\ rcd_88^0-rcd_88^post205 == 0 /\ i_113^0-i_113^post205 == 0 /\ -len_238^post205+len_238^0 == 0 /\ a_902^0-a_902^post205 == 0 /\ -a_610^post205+a_610^0 == 0 /\ r_192^0-r_192^post205 == 0 /\ a_310^0-a_310^post205 == 0 /\ i_1053^0-i_1053^post205 == 0 /\ -a_633^post205+a_633^0 == 0 /\ r_143^0-r_143^post205 == 0 /\ length_29^0-length_29^post205 == 0 /\ -head_32^post205+head_32^0 == 0 /\ i_140^0-i_140^post205 == 0 /\ -x_975^post205+x_975^0 == 0 /\ len_161^0-len_161^post205 == 0 /\ -a_309^post205+a_309^0 == 0 /\ x_852^0-x_852^post205 == 0 /\ a_392^0-a_392^post205 == 0 /\ t_24^0-t_24^post205 == 0 /\ a_632^0-a_632^post205 == 0 /\ a_576^0-a_576^post205 == 0 /\ -i_127^post205+i_127^0 == 0 /\ -a_431^post205+a_431^0 == 0 /\ -head_15^post205+head_15^0 == 0 /\ -x_253^post205+x_253^0 == 0 /\ -a_1162^post205+a_1162^0 == 0 /\ x_156^0-x_156^post205 == 0 /\ -i_197^post205+i_197^0 == 0 /\ f_847^0-f_847^post205 == 0 /\ nondet_12^0-nondet_12^post205 == 0 /\ a_862^0-a_862^post205 == 0 /\ -x_21^post205+x_21^0 == 0 /\ a_121^0-a_121^post205 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205 == 0 /\ a_417^0-a_417^post205 == 0 /\ -r_970^post205+r_970^0 == 0 /\ y_20^0-y_20^post205 == 0 /\ a_394^0-a_394^post205 == 0 /\ -rcd_58^post205+rcd_58^0 == 0 /\ -rcd_47^post205+rcd_47^0 == 0 /\ -f_969^post205+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205 == 0 /\ -tmp_34^post205+tmp_34^0 == 0 /\ -temp0_16^post205+temp0_16^0 == 0 /\ a_577^0-a_577^post205 == 0 /\ a_395^0-a_395^post205 == 0 /\ -len_861^post205+len_861^0 == 0 /\ -f_248^post205+f_248^0 == 0 /\ x_14^0-x_14^post205 == 0 /\ i_106^0-i_106^post205 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_107^0-i_107^post205 == 0 /\ -rcd_1249^post205+rcd_1249^0 == 0 /\ -i_229^post205+i_229^0 == 0 /\ -a_924^post205+a_924^0 == 0 /\ -r_224^post205+r_224^0 == 0 /\ a_393^0-a_393^post205 == 0 /\ -temp_35^post205+temp_35^0 == 0 /\ a_430^0-a_430^post205 == 0 /\ a_1089^0-a_1089^post205 == 0 /\ t_458^0-t_458^post205 == 0 /\ a_311^0-a_311^post205 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post205 == 0 /\ i_27^0-i_27^post205 == 0 /\ a_263^0-a_263^post205 == 0), cost: 1 206: l129 -> l130 : a_1089^0'=a_1089^post206, f_847^0'=f_847^post206, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post206, a_394^0'=a_394^post206, x_156^0'=x_156^post206, a_632^0'=a_632^post206, r_192^0'=r_192^post206, a_176^0'=a_176^post206, i_106^0'=i_106^post206, a_430^0'=a_430^post206, t_458^0'=t_458^post206, len_161^0'=len_161^post206, x_975^0'=x_975^post206, a_902^0'=a_902^post206, a_947^0'=a_947^post206, rcd_88^0'=rcd_88^post206, a_311^0'=a_311^post206, i_140^0'=i_140^post206, a_577^0'=a_577^post206, x_14^0'=x_14^post206, nondet_12^0'=nondet_12^post206, a_121^0'=a_121^post206, head_15^0'=head_15^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206, i_27^0'=i_27^post206, x_21^0'=x_21^post206, a_634^0'=a_634^post206, r_39^0'=r_39^post206, a_263^0'=a_263^post206, i_113^0'=i_113^post206, a_432^0'=a_432^post206, temp0_31^0'=temp0_31^post206, len_262^0'=len_262^post206, y_20^0'=y_20^post206, f_248^0'=f_248^post206, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206, a_393^0'=a_393^post206, i_229^0'=i_229^post206, a_610^0'=a_610^post206, r_151^0'=r_151^post206, a_144^0'=a_144^post206, i_1053^0'=i_1053^post206, a_417^0'=a_417^post206, t_24^0'=t_24^post206, i_94^0'=i_94^post206, x_852^0'=x_852^post206, a_862^0'=a_862^post206, rcd_1249^0'=rcd_1249^post206, rcd_58^0'=rcd_58^post206, a_310^0'=a_310^post206, i_127^0'=i_127^post206, a_576^0'=a_576^post206, tmp_34^0'=tmp_34^post206, length_29^0'=length_29^post206, a_1162^0'=a_1162^post206, f_969^0'=f_969^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206, a_395^0'=a_395^post206, x_17^0'=x_17^post206, a_633^0'=a_633^post206, r_224^0'=r_224^post206, a_239^0'=a_239^post206, i_107^0'=i_107^post206, a_431^0'=a_431^post206, temp0_16^0'=temp0_16^post206, len_238^0'=len_238^post206, x_SLAM_f_19^0'=x_SLAM_f_19^post206, a_924^0'=a_924^post206, ct_18^0'=ct_18^post206, result_11^0'=result_11^post206, a_392^0'=a_392^post206, i_197^0'=i_197^post206, a_579^0'=a_579^post206, r_143^0'=r_143^post206, a_1236^0'=a_1236^post206, head_32^0'=head_32^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206, i_30^0'=i_30^post206, x_253^0'=x_253^post206, a_635^0'=a_635^post206, r_970^0'=r_970^post206, rcd_47^0'=rcd_47^post206, a_309^0'=a_309^post206, i_1248^0'=i_1248^post206, a_575^0'=a_575^post206, temp_35^0'=temp_35^post206, len_861^0'=len_861^post206, (r_143^0-r_143^post206 == 0 /\ a_392^0-a_392^post206 == 0 /\ -temp_35^post206+temp_35^0 == 0 /\ -rcd_1249^post206+rcd_1249^0 == 0 /\ a_1089^0-a_1089^post206 == 0 /\ a_394^0-a_394^post206 == 0 /\ -x_852^post206+x_852^0 == 0 /\ -f_969^post206+f_969^0 == 0 /\ -r_970^post206+r_970^0 == 0 /\ -head_15^post206+head_15^0 == 0 /\ -a_924^post206+a_924^0 == 0 /\ t_458^0-t_458^post206 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post206 == 0 /\ i_140^0-i_140^post206 == 0 /\ -ct_18^post206+ct_18^0 == 0 /\ i_106^0-i_106^post206 == 0 /\ -a_1162^post206+a_1162^0 == 0 /\ -x_253^post206+x_253^0 == 0 /\ a_311^0-a_311^post206 == 0 /\ rcd_88^0-rcd_88^post206 == 0 /\ y_20^0-y_20^post206 == 0 /\ f_847^0-f_847^post206 == 0 /\ a_393^0-a_393^post206 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206 == 0 /\ -f_248^post206+f_248^0 == 0 /\ -temp0_16^post206+temp0_16^0 == 0 /\ a_579^0-a_579^post206 == 0 /\ -a_634^post206+a_634^0 == 0 /\ x_21^0-x_21^post206 == 0 /\ -r_224^post206+r_224^0 == 0 /\ -i_1248^post206+i_1248^0 == 0 /\ a_121^0-a_121^post206 == 0 /\ -a_239^post206+a_239^0 == 0 /\ temp0_31^0-temp0_31^post206 == 0 /\ len_262^0-len_262^post206 == 0 /\ -result_11^post206+result_11^0 == 0 /\ i_94^0-i_94^post206 == 0 /\ a_577^0-a_577^post206 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -x_17^post206+x_17^0 == 0 /\ a_947^0-a_947^post206 == 0 /\ -a_576^post206+a_576^0 == 0 /\ -a_144^post206+a_144^0 == 0 /\ -i_107^post206+i_107^0 == 0 /\ r_192^0-r_192^post206 == 0 /\ i_1053^0-i_1053^post206 == 0 /\ -a_575^post206+a_575^0 == 0 /\ x_14^0-x_14^post206 == 0 /\ a_395^0-a_395^post206 == 0 /\ r_39^0-r_39^post206 == 0 /\ -a_417^post206+a_417^0 == 0 /\ len_161^0-len_161^post206 == 0 /\ -a_309^post206+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post206 == 0 /\ -a_1236^post206+a_1236^0 == 0 /\ -a_635^post206+a_635^0 == 0 /\ t_24^0-t_24^post206 == 0 /\ -a_310^post206+a_310^0 == 0 /\ -i_30^post206+i_30^0 == 0 /\ -a_176^post206+a_176^0 == 0 /\ a_263^0-a_263^post206 == 0 /\ -a_610^post206+a_610^0 == 0 /\ x_156^0-x_156^post206 == 0 /\ -a_430^post206+a_430^0 == 0 /\ a_632^0-a_632^post206 == 0 /\ -length_29^post206+length_29^0 == 0 /\ a_432^0-a_432^post206 == 0 /\ -rcd_47^post206+rcd_47^0 == 0 /\ -i_27^post206+i_27^0 == 0 /\ -i_197^post206+i_197^0 == 0 /\ -head_32^post206+head_32^0 == 0 /\ a_902^0-a_902^post206 == 0 /\ tmp_34^0-tmp_34^post206 == 0 /\ nondet_12^0-nondet_12^post206 == 0 /\ -x_975^post206+x_975^0 == 0 /\ -a_633^post206+a_633^0 == 0 /\ rcd_58^0-rcd_58^post206 == 0 /\ i_229^0-i_229^post206 == 0 /\ -i_127^post206+i_127^0 == 0 /\ a_431^0-a_431^post206 == 0 /\ -len_238^post206+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206 == 0 /\ i_113^0-i_113^post206 == 0 /\ -r_151^post206+r_151^0 == 0 /\ len_861^0-len_861^post206 == 0 /\ a_862^0-a_862^post206 == 0), cost: 1 207: l129 -> l130 : a_1089^0'=a_1089^post207, f_847^0'=f_847^post207, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post207, a_394^0'=a_394^post207, x_156^0'=x_156^post207, a_632^0'=a_632^post207, r_192^0'=r_192^post207, a_176^0'=a_176^post207, i_106^0'=i_106^post207, a_430^0'=a_430^post207, t_458^0'=t_458^post207, len_161^0'=len_161^post207, x_975^0'=x_975^post207, a_902^0'=a_902^post207, a_947^0'=a_947^post207, rcd_88^0'=rcd_88^post207, a_311^0'=a_311^post207, i_140^0'=i_140^post207, a_577^0'=a_577^post207, x_14^0'=x_14^post207, nondet_12^0'=nondet_12^post207, a_121^0'=a_121^post207, head_15^0'=head_15^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207, i_27^0'=i_27^post207, x_21^0'=x_21^post207, a_634^0'=a_634^post207, r_39^0'=r_39^post207, a_263^0'=a_263^post207, i_113^0'=i_113^post207, a_432^0'=a_432^post207, temp0_31^0'=temp0_31^post207, len_262^0'=len_262^post207, y_20^0'=y_20^post207, f_248^0'=f_248^post207, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207, a_393^0'=a_393^post207, i_229^0'=i_229^post207, a_610^0'=a_610^post207, r_151^0'=r_151^post207, a_144^0'=a_144^post207, i_1053^0'=i_1053^post207, a_417^0'=a_417^post207, t_24^0'=t_24^post207, i_94^0'=i_94^post207, x_852^0'=x_852^post207, a_862^0'=a_862^post207, rcd_1249^0'=rcd_1249^post207, rcd_58^0'=rcd_58^post207, a_310^0'=a_310^post207, i_127^0'=i_127^post207, a_576^0'=a_576^post207, tmp_34^0'=tmp_34^post207, length_29^0'=length_29^post207, a_1162^0'=a_1162^post207, f_969^0'=f_969^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207, a_395^0'=a_395^post207, x_17^0'=x_17^post207, a_633^0'=a_633^post207, r_224^0'=r_224^post207, a_239^0'=a_239^post207, i_107^0'=i_107^post207, a_431^0'=a_431^post207, temp0_16^0'=temp0_16^post207, len_238^0'=len_238^post207, x_SLAM_f_19^0'=x_SLAM_f_19^post207, a_924^0'=a_924^post207, ct_18^0'=ct_18^post207, result_11^0'=result_11^post207, a_392^0'=a_392^post207, i_197^0'=i_197^post207, a_579^0'=a_579^post207, r_143^0'=r_143^post207, a_1236^0'=a_1236^post207, head_32^0'=head_32^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207, i_30^0'=i_30^post207, x_253^0'=x_253^post207, a_635^0'=a_635^post207, r_970^0'=r_970^post207, rcd_47^0'=rcd_47^post207, a_309^0'=a_309^post207, i_1248^0'=i_1248^post207, a_575^0'=a_575^post207, temp_35^0'=temp_35^post207, len_861^0'=len_861^post207, (-a_576^post207+a_576^0 == 0 /\ -x_14^post207+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207 == 0 /\ -x_17^post207+x_17^0 == 0 /\ -r_143^post207+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207 == 0 /\ a_579^0-a_579^post207 == 0 /\ -x_SLAM_f_19^post207+x_SLAM_f_19^0 == 0 /\ -a_633^post207+a_633^0 == 0 /\ -a_575^post207+a_575^0 == 0 /\ x_156^0-x_156^post207 == 0 /\ -a_1236^post207+a_1236^0 == 0 /\ -a_417^post207+a_417^0 == 0 /\ r_151^0-r_151^post207 == 0 /\ a_610^0-a_610^post207 == 0 /\ -a_309^post207+a_309^0 == 0 /\ i_113^0-i_113^post207 == 0 /\ a_902^0-a_902^post207 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_432^post207+a_432^0 == 0 /\ -len_238^post207+len_238^0 == 0 /\ a_1089^0-a_1089^post207 == 0 /\ a_394^0-a_394^post207 == 0 /\ a_310^0-a_310^post207 == 0 /\ -rcd_47^post207+rcd_47^0 == 0 /\ r_192^0-r_192^post207 == 0 /\ -temp0_31^post207+temp0_31^0 == 0 /\ -head_32^post207+head_32^0 == 0 /\ t_24^0-t_24^post207 == 0 /\ i_106^0-i_106^post207 == 0 /\ a_632^0-a_632^post207 == 0 /\ -x_253^post207+x_253^0 == 0 /\ a_392^0-a_392^post207 == 0 /\ -r_970^post207+r_970^0 == 0 /\ -len_262^post207+len_262^0 == 0 /\ a_393^0-a_393^post207 == 0 /\ a_311^0-a_311^post207 == 0 /\ -i_127^post207+i_127^0 == 0 /\ r_39^0-r_39^post207 == 0 /\ i_1053^0-i_1053^post207 == 0 /\ -f_969^post207+f_969^0 == 0 /\ f_847^0-f_847^post207 == 0 /\ y_20^0-y_20^post207 == 0 /\ -a_430^post207+a_430^0 == 0 /\ i_229^0-i_229^post207 == 0 /\ -r_224^post207+r_224^0 == 0 /\ -x_21^post207+x_21^0 == 0 /\ -ct_18^post207+ct_18^0 == 0 /\ -a_431^post207+a_431^0 == 0 /\ -head_15^post207+head_15^0 == 0 /\ x_975^0-x_975^post207 == 0 /\ -rcd_58^post207+rcd_58^0 == 0 /\ a_577^0-a_577^post207 == 0 /\ a_862^0-a_862^post207 == 0 /\ a_121^0-a_121^post207 == 0 /\ -i_197^post207+i_197^0 == 0 /\ -temp_35^post207+temp_35^0 == 0 /\ -nondet_12^post207+nondet_12^0 == 0 /\ a_947^0-a_947^post207 == 0 /\ -x_852^post207+x_852^0 == 0 /\ -tmp_34^post207+tmp_34^0 == 0 /\ i_94^0-i_94^post207 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207 == 0 /\ rcd_88^0-rcd_88^post207 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_176^0-a_176^post207 == 0 /\ -a_1162^post207+a_1162^0 == 0 /\ len_161^0-len_161^post207 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post207 == 0 /\ -f_248^post207+f_248^0 == 0 /\ length_29^0-length_29^post207 == 0 /\ -a_924^post207+a_924^0 == 0 /\ i_27^0-i_27^post207 == 0 /\ -a_144^post207+a_144^0 == 0 /\ a_395^0-a_395^post207 == 0 /\ -result_11^post207+result_11^0 == 0 /\ t_458^0-t_458^post207 == 0 /\ -a_634^post207+a_634^0 == 0 /\ -len_861^post207+len_861^0 == 0 /\ i_140^0-i_140^post207 == 0 /\ -temp0_16^post207+temp0_16^0 == 0 /\ -i_30^post207+i_30^0 == 0 /\ -i_1248^post207+i_1248^0 == 0 /\ -a_635^post207+a_635^0 == 0 /\ i_107^0-i_107^post207 == 0 /\ -a_239^post207+a_239^0 == 0 /\ -rcd_1249^post207+rcd_1249^0 == 0 /\ a_263^0-a_263^post207 == 0), cost: 1 208: l130 -> l120 : a_1089^0'=a_1089^post208, f_847^0'=f_847^post208, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post208, a_394^0'=a_394^post208, x_156^0'=x_156^post208, a_632^0'=a_632^post208, r_192^0'=r_192^post208, a_176^0'=a_176^post208, i_106^0'=i_106^post208, a_430^0'=a_430^post208, t_458^0'=t_458^post208, len_161^0'=len_161^post208, x_975^0'=x_975^post208, a_902^0'=a_902^post208, a_947^0'=a_947^post208, rcd_88^0'=rcd_88^post208, a_311^0'=a_311^post208, i_140^0'=i_140^post208, a_577^0'=a_577^post208, x_14^0'=x_14^post208, nondet_12^0'=nondet_12^post208, a_121^0'=a_121^post208, head_15^0'=head_15^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208, i_27^0'=i_27^post208, x_21^0'=x_21^post208, a_634^0'=a_634^post208, r_39^0'=r_39^post208, a_263^0'=a_263^post208, i_113^0'=i_113^post208, a_432^0'=a_432^post208, temp0_31^0'=temp0_31^post208, len_262^0'=len_262^post208, y_20^0'=y_20^post208, f_248^0'=f_248^post208, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208, a_393^0'=a_393^post208, i_229^0'=i_229^post208, a_610^0'=a_610^post208, r_151^0'=r_151^post208, a_144^0'=a_144^post208, i_1053^0'=i_1053^post208, a_417^0'=a_417^post208, t_24^0'=t_24^post208, i_94^0'=i_94^post208, x_852^0'=x_852^post208, a_862^0'=a_862^post208, rcd_1249^0'=rcd_1249^post208, rcd_58^0'=rcd_58^post208, a_310^0'=a_310^post208, i_127^0'=i_127^post208, a_576^0'=a_576^post208, tmp_34^0'=tmp_34^post208, length_29^0'=length_29^post208, a_1162^0'=a_1162^post208, f_969^0'=f_969^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208, a_395^0'=a_395^post208, x_17^0'=x_17^post208, a_633^0'=a_633^post208, r_224^0'=r_224^post208, a_239^0'=a_239^post208, i_107^0'=i_107^post208, a_431^0'=a_431^post208, temp0_16^0'=temp0_16^post208, len_238^0'=len_238^post208, x_SLAM_f_19^0'=x_SLAM_f_19^post208, a_924^0'=a_924^post208, ct_18^0'=ct_18^post208, result_11^0'=result_11^post208, a_392^0'=a_392^post208, i_197^0'=i_197^post208, a_579^0'=a_579^post208, r_143^0'=r_143^post208, a_1236^0'=a_1236^post208, head_32^0'=head_32^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208, i_30^0'=i_30^post208, x_253^0'=x_253^post208, a_635^0'=a_635^post208, r_970^0'=r_970^post208, rcd_47^0'=rcd_47^post208, a_309^0'=a_309^post208, i_1248^0'=i_1248^post208, a_575^0'=a_575^post208, temp_35^0'=temp_35^post208, len_861^0'=len_861^post208, (0 == 0 /\ -r_970^post208+r_970^0 == 0 /\ -nondet_12^post208+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ -f_248^post208+f_248^0 == 0 /\ i_27^0-i_27^post208 == 0 /\ a_310^0-a_310^post208 == 0 /\ -temp0_16^post208+temp0_16^0 == 0 /\ a_176^0-a_176^post208 == 0 /\ -len_262^post208+len_262^0 == 0 /\ -i_197^post208+i_197^0 == 0 /\ a_1089^0-a_1089^post208 == 0 /\ length_29^0-length_29^post208 == 0 /\ r_39^0-r_39^post208 == 0 /\ -a_579^post208+a_579^0 == 0 /\ y_20^0-y_20^post208 == 0 /\ rcd_88^0-rcd_88^post208 == 0 /\ a_311^0-a_311^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post208 == 0 /\ a_392^0-a_392^post208 == 0 /\ -i_127^post208+i_127^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208 == 0 /\ -ct_18^post208+ct_18^0 == 0 /\ -temp_35^post208+temp_35^0 == 0 /\ i_140^0-i_140^post208 == 0 /\ a_395^0-a_395^post208 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_1249^post208+rcd_1249^0 == 0 /\ i_27^0 <= 0 /\ -a_144^post208+a_144^0 == 0 /\ a_393^0-a_393^post208 == 0 /\ a_632^0-a_632^post208 == 0 /\ -a_1162^post208+a_1162^0 == 0 /\ -x_17^post208+x_17^0 == 0 /\ -1-a_1089^0+i_1053^post208 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post208+a_575^0 == 0 /\ i_113^0-i_113^post208 == 0 /\ r_192^0-r_192^post208 == 0 /\ -i_1248^post208+i_1248^0 == 0 /\ result_11^0-result_11^post208 == 0 /\ head_32^0-head_32^post208 == 0 /\ -tmp_34^post208+tmp_34^0 == 0 /\ a_417^0-a_417^post208 == 0 /\ -a_239^post208+a_239^0 == 0 /\ r_143^0-r_143^post208 == 0 /\ -head_15^post208+head_15^0 == 0 /\ -a_924^post208+a_924^0 == 0 /\ -x_21^post208+x_21^0 == 0 /\ -len_861^post208+len_861^0 == 0 /\ a_634^0-a_634^post208 == 0 /\ -i_30^post208+i_30^0 == 0 /\ x_14^0-x_14^post208 == 0 /\ t_24^0-t_24^post208 == 0 /\ -a_635^post208+a_635^0 == 0 /\ a_862^0-a_862^post208 == 0 /\ a_394^0-a_394^post208 == 0 /\ a_121^0-a_121^post208 == 0 /\ -a_576^post208+a_576^0 == 0 /\ rcd_58^0-rcd_58^post208 == 0 /\ -len_238^post208+len_238^0 == 0 /\ -i_94^post208+i_94^0 == 0 /\ a_947^0-a_947^post208 == 0 /\ a_263^0-a_263^post208 == 0 /\ -a_1236^post208+a_1236^0 == 0 /\ a_430^0-a_430^post208 == 0 /\ t_458^0-t_458^post208 == 0 /\ -a_633^post208+a_633^0 == 0 /\ x_852^0-x_852^post208 == 0 /\ len_161^0-len_161^post208 == 0 /\ i_106^0-i_106^post208 == 0 /\ f_847^0-f_847^post208 == 0 /\ r_224^0-r_224^post208 == 0 /\ -temp0_31^post208+temp0_31^0 == 0 /\ i_107^0-i_107^post208 == 0 /\ a_309^0-a_309^post208 == 0 /\ r_151^0-r_151^post208 == 0 /\ -a_431^post208+a_431^0 == 0 /\ a_902^0-a_902^post208 == 0 /\ -x_975^post208+x_975^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1+a_1089^0-i_1053^post208 <= 0 /\ i_229^0-i_229^post208 == 0 /\ a_432^0-a_432^post208 == 0 /\ -a_610^post208+a_610^0 == 0 /\ -f_969^post208+f_969^0 == 0 /\ a_577^0-a_577^post208 == 0 /\ x_156^0-x_156^post208 == 0 /\ -rcd_47^post208+rcd_47^0 == 0 /\ -x_253^post208+x_253^0 == 0), cost: 1 238: l120 -> l151 : a_1089^0'=a_1089^post238, f_847^0'=f_847^post238, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, a_394^0'=a_394^post238, x_156^0'=x_156^post238, a_632^0'=a_632^post238, r_192^0'=r_192^post238, a_176^0'=a_176^post238, i_106^0'=i_106^post238, a_430^0'=a_430^post238, t_458^0'=t_458^post238, len_161^0'=len_161^post238, x_975^0'=x_975^post238, a_902^0'=a_902^post238, a_947^0'=a_947^post238, rcd_88^0'=rcd_88^post238, a_311^0'=a_311^post238, i_140^0'=i_140^post238, a_577^0'=a_577^post238, x_14^0'=x_14^post238, nondet_12^0'=nondet_12^post238, a_121^0'=a_121^post238, head_15^0'=head_15^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238, i_27^0'=i_27^post238, x_21^0'=x_21^post238, a_634^0'=a_634^post238, r_39^0'=r_39^post238, a_263^0'=a_263^post238, i_113^0'=i_113^post238, a_432^0'=a_432^post238, temp0_31^0'=temp0_31^post238, len_262^0'=len_262^post238, y_20^0'=y_20^post238, f_248^0'=f_248^post238, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238, a_393^0'=a_393^post238, i_229^0'=i_229^post238, a_610^0'=a_610^post238, r_151^0'=r_151^post238, a_144^0'=a_144^post238, i_1053^0'=i_1053^post238, a_417^0'=a_417^post238, t_24^0'=t_24^post238, i_94^0'=i_94^post238, x_852^0'=x_852^post238, a_862^0'=a_862^post238, rcd_1249^0'=rcd_1249^post238, rcd_58^0'=rcd_58^post238, a_310^0'=a_310^post238, i_127^0'=i_127^post238, a_576^0'=a_576^post238, tmp_34^0'=tmp_34^post238, length_29^0'=length_29^post238, a_1162^0'=a_1162^post238, f_969^0'=f_969^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238, a_395^0'=a_395^post238, x_17^0'=x_17^post238, a_633^0'=a_633^post238, r_224^0'=r_224^post238, a_239^0'=a_239^post238, i_107^0'=i_107^post238, a_431^0'=a_431^post238, temp0_16^0'=temp0_16^post238, len_238^0'=len_238^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, a_924^0'=a_924^post238, ct_18^0'=ct_18^post238, result_11^0'=result_11^post238, a_392^0'=a_392^post238, i_197^0'=i_197^post238, a_579^0'=a_579^post238, r_143^0'=r_143^post238, a_1236^0'=a_1236^post238, head_32^0'=head_32^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238, i_30^0'=i_30^post238, x_253^0'=x_253^post238, a_635^0'=a_635^post238, r_970^0'=r_970^post238, rcd_47^0'=rcd_47^post238, a_309^0'=a_309^post238, i_1248^0'=i_1248^post238, a_575^0'=a_575^post238, temp_35^0'=temp_35^post238, len_861^0'=len_861^post238, (0 == 0 /\ -a_393^post238+a_393^0 == 0 /\ x_21^0-x_21^post238 == 0 /\ i_229^0-i_229^post238 == 0 /\ -a_576^post238+a_576^0 == 0 /\ x_156^0-x_156^post238 == 0 /\ f_847^0-f_847^post238 == 0 /\ -i_30^post238+i_30^0 == 0 /\ -a_392^post238+a_392^0 == 0 /\ i_94^0-i_94^post238 == 0 /\ temp0_31^0-temp0_31^post238 == 0 /\ a_121^0-a_121^post238 == 0 /\ -len_861^post238+len_861^0 == 0 /\ -temp0_16^post238+temp0_16^0 == 0 /\ a_417^0-a_417^post238 == 0 /\ -i_1248^post238+i_1248^0 == 0 /\ -a_1236^post238+a_1236^0 == 0 /\ -a_635^post238+a_635^0 == 0 /\ len_262^0-len_262^post238 == 0 /\ a_394^0-a_394^post238 == 0 /\ -a_144^post238+a_144^0 == 0 /\ -a_239^post238+a_239^0 == 0 /\ -rcd_47^post238+rcd_47^0 == 0 /\ a_577^0-a_577^post238 == 0 /\ -len_238^post238+len_238^0 == 0 /\ -a_610^post238+a_610^0 == 0 /\ -a_633^post238+a_633^0 == 0 /\ -length_29^post238+length_29^0 == 0 /\ i_1053^0-i_1053^post238 == 0 /\ i_106^0-i_106^post238 == 0 /\ -rcd_58^post238+rcd_58^0 == 0 /\ -a_1162^0 <= 0 /\ -a_575^post238+a_575^0 == 0 /\ -a_862^post238+a_862^0 == 0 /\ -i_197^post238+i_197^0 == 0 /\ -a_309^post238+a_309^0 == 0 /\ a_430^0-a_430^post238 == 0 /\ -a_579^post238+a_579^0 == 0 /\ a_1089^0-a_1089^post238 == 0 /\ -a_902^post238+a_902^0 == 0 /\ -r_151^post238+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post238+head_32^0 == 0 /\ a_263^0-a_263^post238 == 0 /\ -i_127^post238+i_127^0 == 0 /\ y_20^0-y_20^post238 == 0 /\ -x_253^post238+x_253^0 == 0 /\ a_432^0-a_432^post238 == 0 /\ -a_1162^post238+a_1162^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_924^post238+a_924^0 == 0 /\ -result_11^post238+result_11^0 == 0 /\ -x_852^post238+x_852^0 == 0 /\ f_248^0-f_248^post238 == 0 /\ a_431^0-a_431^post238 == 0 /\ a_176^0-a_176^post238 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238 == 0 /\ -r_970^post238+r_970^0 == 0 /\ i_113^0-i_113^post238 == 0 /\ -a_311^post238+a_311^0 == 0 /\ x_975^0-x_975^post238 == 0 /\ -f_969^post238+f_969^0 == 0 /\ r_224^0-r_224^post238 == 0 /\ -tmp_34^post238+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post238 == 0 /\ -rcd_88^post238+rcd_88^0 == 0 /\ -a_395^post238+a_395^0 == 0 /\ r_192^0-r_192^post238 == 0 /\ a_310^0-a_310^post238 == 0 /\ i_107^0-i_107^post238 == 0 /\ -r_143^post238+r_143^0 == 0 /\ i_140^0-i_140^post238 == 0 /\ t_458^0-t_458^post238 == 0 /\ -temp_35^post238+temp_35^0 == 0 /\ -rcd_1249^post238+rcd_1249^0 == 0 /\ len_161^0-len_161^post238 == 0 /\ -nondet_12^post238+nondet_12^0 == 0 /\ t_24^0-t_24^post238 == 0 /\ -a_634^post238+a_634^0 == 0 /\ a_632^0-a_632^post238 == 0), cost: 1 210: l132 -> l133 : a_1089^0'=a_1089^post210, f_847^0'=f_847^post210, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post210, a_394^0'=a_394^post210, x_156^0'=x_156^post210, a_632^0'=a_632^post210, r_192^0'=r_192^post210, a_176^0'=a_176^post210, i_106^0'=i_106^post210, a_430^0'=a_430^post210, t_458^0'=t_458^post210, len_161^0'=len_161^post210, x_975^0'=x_975^post210, a_902^0'=a_902^post210, a_947^0'=a_947^post210, rcd_88^0'=rcd_88^post210, a_311^0'=a_311^post210, i_140^0'=i_140^post210, a_577^0'=a_577^post210, x_14^0'=x_14^post210, nondet_12^0'=nondet_12^post210, a_121^0'=a_121^post210, head_15^0'=head_15^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210, i_27^0'=i_27^post210, x_21^0'=x_21^post210, a_634^0'=a_634^post210, r_39^0'=r_39^post210, a_263^0'=a_263^post210, i_113^0'=i_113^post210, a_432^0'=a_432^post210, temp0_31^0'=temp0_31^post210, len_262^0'=len_262^post210, y_20^0'=y_20^post210, f_248^0'=f_248^post210, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210, a_393^0'=a_393^post210, i_229^0'=i_229^post210, a_610^0'=a_610^post210, r_151^0'=r_151^post210, a_144^0'=a_144^post210, i_1053^0'=i_1053^post210, a_417^0'=a_417^post210, t_24^0'=t_24^post210, i_94^0'=i_94^post210, x_852^0'=x_852^post210, a_862^0'=a_862^post210, rcd_1249^0'=rcd_1249^post210, rcd_58^0'=rcd_58^post210, a_310^0'=a_310^post210, i_127^0'=i_127^post210, a_576^0'=a_576^post210, tmp_34^0'=tmp_34^post210, length_29^0'=length_29^post210, a_1162^0'=a_1162^post210, f_969^0'=f_969^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210, a_395^0'=a_395^post210, x_17^0'=x_17^post210, a_633^0'=a_633^post210, r_224^0'=r_224^post210, a_239^0'=a_239^post210, i_107^0'=i_107^post210, a_431^0'=a_431^post210, temp0_16^0'=temp0_16^post210, len_238^0'=len_238^post210, x_SLAM_f_19^0'=x_SLAM_f_19^post210, a_924^0'=a_924^post210, ct_18^0'=ct_18^post210, result_11^0'=result_11^post210, a_392^0'=a_392^post210, i_197^0'=i_197^post210, a_579^0'=a_579^post210, r_143^0'=r_143^post210, a_1236^0'=a_1236^post210, head_32^0'=head_32^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210, i_30^0'=i_30^post210, x_253^0'=x_253^post210, a_635^0'=a_635^post210, r_970^0'=r_970^post210, rcd_47^0'=rcd_47^post210, a_309^0'=a_309^post210, i_1248^0'=i_1248^post210, a_575^0'=a_575^post210, temp_35^0'=temp_35^post210, len_861^0'=len_861^post210, (-len_861^post210+len_861^0 == 0 /\ -i_1053^post210+i_1053^0 == 0 /\ -ct_18^post210+ct_18^0 == 0 /\ -a_395^post210+a_395^0 == 0 /\ a_417^0-a_417^post210 == 0 /\ -i_1248^post210+i_1248^0 == 0 /\ -a_239^post210+a_239^0 == 0 /\ a_394^0-a_394^post210 == 0 /\ a_1089^0-a_1089^post210 == 0 /\ a_310^0-a_310^post210 == 0 /\ -head_32^post210+head_32^0 == 0 /\ 1-x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post210+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post210 == 0 /\ a_311^0-a_311^post210 == 0 /\ -i_127^post210+i_127^0 == 0 /\ -a_392^post210+a_392^0 == 0 /\ i_140^0-i_140^post210 == 0 /\ f_847^0-f_847^post210 == 0 /\ -a_579^post210+a_579^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post210 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210 == 0 /\ a_924^0-a_924^post210 == 0 /\ i_106^0-i_106^post210 == 0 /\ i_94^0-i_94^post210 == 0 /\ -i_107^post210+i_107^0 == 0 /\ -a_575^post210+a_575^0 == 0 /\ -i_197^post210+i_197^0 == 0 /\ -rcd_1249^post210+rcd_1249^0 == 0 /\ x_975^0-x_975^post210 == 0 /\ y_20^0-y_20^post210 == 0 /\ a_393^0-a_393^post210 == 0 /\ -a_309^post210+a_309^0 == 0 /\ r_39^0-r_39^post210 == 0 /\ t_458^0-t_458^post210 == 0 /\ -i_30^post210+i_30^0 == 0 /\ -a_635^post210+a_635^0 == 0 /\ r_224^0-r_224^post210 == 0 /\ -result_11^post210+result_11^0 == 0 /\ -x_17^post210+x_17^0 == 0 /\ -head_15^post210+head_15^0 == 0 /\ x_21^0-x_21^post210 == 0 /\ len_262^0-len_262^post210 == 0 /\ a_577^0-a_577^post210 == 0 /\ -x_852^post210+x_852^0 == 0 /\ -rcd_58^post210+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post210 == 0 /\ -a_144^post210+a_144^0 == 0 /\ -tmp_34^post210+tmp_34^0 == 0 /\ x_14^0-x_14^post210 == 0 /\ t_24^0-t_24^post210 == 0 /\ -len_238^post210+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_121^0-a_121^post210 == 0 /\ len_161^0-len_161^post210 == 0 /\ -a_633^post210+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post210 == 0 /\ a_947^0-a_947^post210 == 0 /\ -a_176^post210+a_176^0 == 0 /\ a_263^0-a_263^post210 == 0 /\ -a_576^post210+a_576^0 == 0 /\ -r_143^post210+r_143^0 == 0 /\ length_29^0-length_29^post210 == 0 /\ -a_634^post210+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post210+a_1236^0 == 0 /\ -x_253^post210+x_253^0 == 0 /\ f_248^0-f_248^post210 == 0 /\ a_430^0-a_430^post210 == 0 /\ r_151^0-r_151^post210 == 0 /\ -a_431^post210+a_431^0 == 0 /\ a_632^0-a_632^post210 == 0 /\ -f_969^post210+f_969^0 == 0 /\ x_156^0-x_156^post210 == 0 /\ a_432^0-a_432^post210 == 0 /\ a_902^0-a_902^post210 == 0 /\ -r_970^post210+r_970^0 == 0 /\ i_113^0-i_113^post210 == 0 /\ -a_610^post210+a_610^0 == 0 /\ a_1162^0-a_1162^post210 == 0 /\ r_192^0-r_192^post210 == 0 /\ a_862^0-a_862^post210 == 0 /\ temp0_16^0-temp0_16^post210 == 0 /\ nondet_12^0-nondet_12^post210 == 0 /\ -rcd_47^post210+rcd_47^0 == 0 /\ -i_27^post210+i_27^0 == 0 /\ i_229^0-i_229^post210 == 0), cost: 1 211: l132 -> l133 : a_1089^0'=a_1089^post211, f_847^0'=f_847^post211, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post211, a_394^0'=a_394^post211, x_156^0'=x_156^post211, a_632^0'=a_632^post211, r_192^0'=r_192^post211, a_176^0'=a_176^post211, i_106^0'=i_106^post211, a_430^0'=a_430^post211, t_458^0'=t_458^post211, len_161^0'=len_161^post211, x_975^0'=x_975^post211, a_902^0'=a_902^post211, a_947^0'=a_947^post211, rcd_88^0'=rcd_88^post211, a_311^0'=a_311^post211, i_140^0'=i_140^post211, a_577^0'=a_577^post211, x_14^0'=x_14^post211, nondet_12^0'=nondet_12^post211, a_121^0'=a_121^post211, head_15^0'=head_15^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211, i_27^0'=i_27^post211, x_21^0'=x_21^post211, a_634^0'=a_634^post211, r_39^0'=r_39^post211, a_263^0'=a_263^post211, i_113^0'=i_113^post211, a_432^0'=a_432^post211, temp0_31^0'=temp0_31^post211, len_262^0'=len_262^post211, y_20^0'=y_20^post211, f_248^0'=f_248^post211, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211, a_393^0'=a_393^post211, i_229^0'=i_229^post211, a_610^0'=a_610^post211, r_151^0'=r_151^post211, a_144^0'=a_144^post211, i_1053^0'=i_1053^post211, a_417^0'=a_417^post211, t_24^0'=t_24^post211, i_94^0'=i_94^post211, x_852^0'=x_852^post211, a_862^0'=a_862^post211, rcd_1249^0'=rcd_1249^post211, rcd_58^0'=rcd_58^post211, a_310^0'=a_310^post211, i_127^0'=i_127^post211, a_576^0'=a_576^post211, tmp_34^0'=tmp_34^post211, length_29^0'=length_29^post211, a_1162^0'=a_1162^post211, f_969^0'=f_969^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211, a_395^0'=a_395^post211, x_17^0'=x_17^post211, a_633^0'=a_633^post211, r_224^0'=r_224^post211, a_239^0'=a_239^post211, i_107^0'=i_107^post211, a_431^0'=a_431^post211, temp0_16^0'=temp0_16^post211, len_238^0'=len_238^post211, x_SLAM_f_19^0'=x_SLAM_f_19^post211, a_924^0'=a_924^post211, ct_18^0'=ct_18^post211, result_11^0'=result_11^post211, a_392^0'=a_392^post211, i_197^0'=i_197^post211, a_579^0'=a_579^post211, r_143^0'=r_143^post211, a_1236^0'=a_1236^post211, head_32^0'=head_32^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211, i_30^0'=i_30^post211, x_253^0'=x_253^post211, a_635^0'=a_635^post211, r_970^0'=r_970^post211, rcd_47^0'=rcd_47^post211, a_309^0'=a_309^post211, i_1248^0'=i_1248^post211, a_575^0'=a_575^post211, temp_35^0'=temp_35^post211, len_861^0'=len_861^post211, (a_924^0-a_924^post211 == 0 /\ a_632^0-a_632^post211 == 0 /\ rcd_1249^0-rcd_1249^post211 == 0 /\ -tmp_34^post211+tmp_34^0 == 0 /\ a_430^0-a_430^post211 == 0 /\ -rcd_47^post211+rcd_47^0 == 0 /\ x_975^0-x_975^post211 == 0 /\ i_127^0-i_127^post211 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post211 == 0 /\ a_1162^0-a_1162^post211 == 0 /\ -a_634^post211+a_634^0 == 0 /\ -r_143^post211+r_143^0 == 0 /\ a_432^0-a_432^post211 == 0 /\ r_192^0-r_192^post211 == 0 /\ -r_151^post211+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post211 == 0 /\ -a_392^post211+a_392^0 == 0 /\ -f_969^post211+f_969^0 == 0 /\ -i_27^post211+i_27^0 == 0 /\ i_140^0-i_140^post211 == 0 /\ i_229^0-i_229^post211 == 0 /\ -x_253^post211+x_253^0 == 0 /\ -i_113^post211+i_113^0 == 0 /\ a_576^0-a_576^post211 == 0 /\ a_394^0-a_394^post211 == 0 /\ a_176^0-a_176^post211 == 0 /\ a_947^0-a_947^post211 == 0 /\ -a_1236^post211+a_1236^0 == 0 /\ -y_20^post211+y_20^0 == 0 /\ -a_431^post211+a_431^0 == 0 /\ f_847^0-f_847^post211 == 0 /\ -x_SLAM_f_19^post211+x_SLAM_f_19^0 == 0 /\ i_197^0-i_197^post211 == 0 /\ -r_970^post211+r_970^0 == 0 /\ -a_395^post211+a_395^0 == 0 /\ -i_1248^post211+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post211+i_106^0 == 0 /\ a_902^0-a_902^post211 == 0 /\ -rcd_58^post211+rcd_58^0 == 0 /\ -a_239^post211+a_239^0 == 0 /\ -length_29^post211+length_29^0 == 0 /\ i_107^0-i_107^post211 == 0 /\ a_610^0-a_610^post211 == 0 /\ i_94^0-i_94^post211 == 0 /\ -temp0_16^post211+temp0_16^0 == 0 /\ -ct_18^post211+ct_18^0 == 0 /\ head_15^0-head_15^post211 == 0 /\ r_39^0-r_39^post211 == 0 /\ a_311^0-a_311^post211 == 0 /\ -i_1053^post211+i_1053^0 == 0 /\ -a_862^post211+a_862^0 == 0 /\ -a_310^post211+a_310^0 == 0 /\ rcd_88^0-rcd_88^post211 == 0 /\ a_633^0-a_633^post211 == 0 /\ -temp_35^post211+temp_35^0 == 0 /\ -head_32^post211+head_32^0 == 0 /\ x_156^0-x_156^post211 == 0 /\ a_1089^0-a_1089^post211 == 0 /\ nondet_12^0-nondet_12^post211 == 0 /\ x_21^0-x_21^post211 == 0 /\ -len_161^post211+len_161^0 == 0 /\ -a_393^post211+a_393^0 == 0 /\ -r_224^post211+r_224^0 == 0 /\ -t_458^post211+t_458^0 == 0 /\ a_121^0-a_121^post211 == 0 /\ -t_24^post211+t_24^0 == 0 /\ -a_579^post211+a_579^0 == 0 /\ len_262^0-len_262^post211 == 0 /\ temp0_31^0-temp0_31^post211 == 0 /\ -result_11^post211+result_11^0 == 0 /\ -a_417^post211+a_417^0 == 0 /\ -a_309^post211+a_309^0 == 0 /\ -a_144^post211+a_144^0 == 0 /\ -a_263^post211+a_263^0 == 0 /\ -i_30^post211+i_30^0 == 0 /\ x_17^0-x_17^post211 == 0 /\ -a_575^post211+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post211 == 0 /\ 1+x_14^0 <= 0 /\ len_238^0-len_238^post211 == 0 /\ -len_861^post211+len_861^0 == 0 /\ -a_635^post211+a_635^0 == 0 /\ -x_852^post211+x_852^0 == 0 /\ f_248^0-f_248^post211 == 0), cost: 1 212: l133 -> l134 : a_1089^0'=a_1089^post212, f_847^0'=f_847^post212, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post212, a_394^0'=a_394^post212, x_156^0'=x_156^post212, a_632^0'=a_632^post212, r_192^0'=r_192^post212, a_176^0'=a_176^post212, i_106^0'=i_106^post212, a_430^0'=a_430^post212, t_458^0'=t_458^post212, len_161^0'=len_161^post212, x_975^0'=x_975^post212, a_902^0'=a_902^post212, a_947^0'=a_947^post212, rcd_88^0'=rcd_88^post212, a_311^0'=a_311^post212, i_140^0'=i_140^post212, a_577^0'=a_577^post212, x_14^0'=x_14^post212, nondet_12^0'=nondet_12^post212, a_121^0'=a_121^post212, head_15^0'=head_15^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212, i_27^0'=i_27^post212, x_21^0'=x_21^post212, a_634^0'=a_634^post212, r_39^0'=r_39^post212, a_263^0'=a_263^post212, i_113^0'=i_113^post212, a_432^0'=a_432^post212, temp0_31^0'=temp0_31^post212, len_262^0'=len_262^post212, y_20^0'=y_20^post212, f_248^0'=f_248^post212, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212, a_393^0'=a_393^post212, i_229^0'=i_229^post212, a_610^0'=a_610^post212, r_151^0'=r_151^post212, a_144^0'=a_144^post212, i_1053^0'=i_1053^post212, a_417^0'=a_417^post212, t_24^0'=t_24^post212, i_94^0'=i_94^post212, x_852^0'=x_852^post212, a_862^0'=a_862^post212, rcd_1249^0'=rcd_1249^post212, rcd_58^0'=rcd_58^post212, a_310^0'=a_310^post212, i_127^0'=i_127^post212, a_576^0'=a_576^post212, tmp_34^0'=tmp_34^post212, length_29^0'=length_29^post212, a_1162^0'=a_1162^post212, f_969^0'=f_969^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212, a_395^0'=a_395^post212, x_17^0'=x_17^post212, a_633^0'=a_633^post212, r_224^0'=r_224^post212, a_239^0'=a_239^post212, i_107^0'=i_107^post212, a_431^0'=a_431^post212, temp0_16^0'=temp0_16^post212, len_238^0'=len_238^post212, x_SLAM_f_19^0'=x_SLAM_f_19^post212, a_924^0'=a_924^post212, ct_18^0'=ct_18^post212, result_11^0'=result_11^post212, a_392^0'=a_392^post212, i_197^0'=i_197^post212, a_579^0'=a_579^post212, r_143^0'=r_143^post212, a_1236^0'=a_1236^post212, head_32^0'=head_32^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212, i_30^0'=i_30^post212, x_253^0'=x_253^post212, a_635^0'=a_635^post212, r_970^0'=r_970^post212, rcd_47^0'=rcd_47^post212, a_309^0'=a_309^post212, i_1248^0'=i_1248^post212, a_575^0'=a_575^post212, temp_35^0'=temp_35^post212, len_861^0'=len_861^post212, (0 == 0 /\ -i_1053^post212+i_1053^0 == 0 /\ -length_29^post212+length_29^0 == 0 /\ y_20^0-y_20^post212 == 0 /\ a_121^0-a_121^post212 == 0 /\ x_21^0-x_21^post212 == 0 /\ x_852^0-x_852^post212 == 0 /\ -len_861^post212+len_861^0 == 0 /\ x_156^0-x_156^post212 == 0 /\ len_161^0-len_161^post212 == 0 /\ -a_395^post212+a_395^0 == 0 /\ -a_1236^post212+a_1236^0 == 0 /\ a_576^0-a_576^post212 == 0 /\ i_140^0-i_140^post212 == 0 /\ f_847^0-f_847^post212 == 0 /\ -r_39^post212+r_39^0 == 0 /\ a_394^0-a_394^post212 == 0 /\ -i_1248^post212+i_1248^0 == 0 /\ -head_32^post212+head_32^0 == 0 /\ -a_862^post212+a_862^0 == 0 /\ -nondet_12^110+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212 == 0 /\ -a_393^post212+a_393^0 == 0 /\ -a_579^post212+a_579^0 == 0 /\ a_924^0-a_924^post212 == 0 /\ r_224^0-r_224^post212 == 0 /\ -a_263^post212+a_263^0 == 0 /\ -a_635^post212+a_635^0 == 0 /\ -a_144^post212+a_144^0 == 0 /\ -rcd_47^post212+rcd_47^0 == 0 /\ a_577^0-a_577^post212 == 0 /\ -i_30^post212+i_30^0 == 0 /\ -i_107^post212+i_107^0 == 0 /\ t_458^0-t_458^post212 == 0 /\ -a_575^post212+a_575^0 == 0 /\ i_106^0-i_106^post212 == 0 /\ -i_197^post212+i_197^0 == 0 /\ ct_18^0-ct_18^post212 == 0 /\ head_15^0-head_15^post212 == 0 /\ -a_309^post212+a_309^0 == 0 /\ i_127^0-i_127^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post212+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post212 == 0 /\ i_27^0-i_27^post212 == 0 /\ -rcd_58^post212+rcd_58^0 == 0 /\ -t_24^post212+t_24^0 == 0 /\ a_430^0-a_430^post212 == 0 /\ -tmp_34^post212+tmp_34^0 == 0 /\ -len_238^post212+len_238^0 == 0 /\ a_431^0-a_431^post212 == 0 /\ len_262^0-len_262^post212 == 0 /\ -a_633^post212+a_633^0 == 0 /\ temp0_31^0-temp0_31^post212 == 0 /\ x_17^0-x_17^post212 == 0 /\ a_634^0-a_634^post212 == 0 /\ -a_1162^post212+a_1162^0 == 0 /\ a_947^0-a_947^post212 == 0 /\ -r_151^post212+r_151^0 == 0 /\ -result_11^post212+result_11^0 == 0 /\ -rcd_1249^post212+rcd_1249^0 == 0 /\ a_176^0-a_176^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_610^post212+a_610^0 == 0 /\ f_969^0-f_969^post212 == 0 /\ a_239^0-a_239^post212 == 0 /\ -x_253^post212+x_253^0 == 0 /\ a_902^0-a_902^post212 == 0 /\ x_975^0-x_975^post212 == 0 /\ 1-i_27^0 <= 0 /\ r_192^0-r_192^post212 == 0 /\ -r_970^post212+r_970^0 == 0 /\ -a_392^post212+a_392^0 == 0 /\ -r_143^post212+r_143^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post212 == 0 /\ -i_94^post212+i_94^0 == 0 /\ rcd_88^0-rcd_88^post212 == 0 /\ -i_113^post212+i_113^0 == 0 /\ x_14^0-x_14^post212 == 0 /\ -x_SLAM_f_19^post212+x_SLAM_f_19^0 == 0 /\ -a_432^post212+a_432^0 == 0 /\ a_310^0-a_310^post212 == 0 /\ a_1089^0-a_1089^post212 == 0 /\ a_311^0-a_311^post212 == 0 /\ a_632^0-a_632^post212 == 0 /\ -temp_35^post212+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post212 == 0 /\ -i_229^post212+i_229^0 == 0), cost: 1 213: l134 -> l135 : a_1089^0'=a_1089^post213, f_847^0'=f_847^post213, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post213, a_394^0'=a_394^post213, x_156^0'=x_156^post213, a_632^0'=a_632^post213, r_192^0'=r_192^post213, a_176^0'=a_176^post213, i_106^0'=i_106^post213, a_430^0'=a_430^post213, t_458^0'=t_458^post213, len_161^0'=len_161^post213, x_975^0'=x_975^post213, a_902^0'=a_902^post213, a_947^0'=a_947^post213, rcd_88^0'=rcd_88^post213, a_311^0'=a_311^post213, i_140^0'=i_140^post213, a_577^0'=a_577^post213, x_14^0'=x_14^post213, nondet_12^0'=nondet_12^post213, a_121^0'=a_121^post213, head_15^0'=head_15^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213, i_27^0'=i_27^post213, x_21^0'=x_21^post213, a_634^0'=a_634^post213, r_39^0'=r_39^post213, a_263^0'=a_263^post213, i_113^0'=i_113^post213, a_432^0'=a_432^post213, temp0_31^0'=temp0_31^post213, len_262^0'=len_262^post213, y_20^0'=y_20^post213, f_248^0'=f_248^post213, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213, a_393^0'=a_393^post213, i_229^0'=i_229^post213, a_610^0'=a_610^post213, r_151^0'=r_151^post213, a_144^0'=a_144^post213, i_1053^0'=i_1053^post213, a_417^0'=a_417^post213, t_24^0'=t_24^post213, i_94^0'=i_94^post213, x_852^0'=x_852^post213, a_862^0'=a_862^post213, rcd_1249^0'=rcd_1249^post213, rcd_58^0'=rcd_58^post213, a_310^0'=a_310^post213, i_127^0'=i_127^post213, a_576^0'=a_576^post213, tmp_34^0'=tmp_34^post213, length_29^0'=length_29^post213, a_1162^0'=a_1162^post213, f_969^0'=f_969^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213, a_395^0'=a_395^post213, x_17^0'=x_17^post213, a_633^0'=a_633^post213, r_224^0'=r_224^post213, a_239^0'=a_239^post213, i_107^0'=i_107^post213, a_431^0'=a_431^post213, temp0_16^0'=temp0_16^post213, len_238^0'=len_238^post213, x_SLAM_f_19^0'=x_SLAM_f_19^post213, a_924^0'=a_924^post213, ct_18^0'=ct_18^post213, result_11^0'=result_11^post213, a_392^0'=a_392^post213, i_197^0'=i_197^post213, a_579^0'=a_579^post213, r_143^0'=r_143^post213, a_1236^0'=a_1236^post213, head_32^0'=head_32^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213, i_30^0'=i_30^post213, x_253^0'=x_253^post213, a_635^0'=a_635^post213, r_970^0'=r_970^post213, rcd_47^0'=rcd_47^post213, a_309^0'=a_309^post213, i_1248^0'=i_1248^post213, a_575^0'=a_575^post213, temp_35^0'=temp_35^post213, len_861^0'=len_861^post213, (rcd_88^0-rcd_88^post213 == 0 /\ -head_15^post213+head_15^0 == 0 /\ -r_224^post213+r_224^0 == 0 /\ -rcd_58^post213+rcd_58^0 == 0 /\ -temp_35^post213+temp_35^0 == 0 /\ -i_197^post213+i_197^0 == 0 /\ -a_579^post213+a_579^0 == 0 /\ -a_263^post213+a_263^0 == 0 /\ -ct_18^post213+ct_18^0 == 0 /\ t_458^0-t_458^post213 == 0 /\ i_140^0-i_140^post213 == 0 /\ a_632^0-a_632^post213 == 0 /\ -r_970^post213+r_970^0 == 0 /\ i_106^0-i_106^post213 == 0 /\ -a_395^post213+a_395^0 == 0 /\ rcd_1249^0-rcd_1249^post213 == 0 /\ a_1089^0-a_1089^post213 == 0 /\ a_311^0-a_311^post213 == 0 /\ -x_852^post213+x_852^0 == 0 /\ y_20^0-y_20^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post213 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213 == 0 /\ a_924^0-a_924^post213 == 0 /\ x_21^0-x_21^post213 == 0 /\ -i_1248^post213+i_1248^0 == 0 /\ -a_634^post213+a_634^0 == 0 /\ -a_239^post213+a_239^0 == 0 /\ -tmp_34^post213+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post213 == 0 /\ -i_30^post213+i_30^0 == 0 /\ -i_1053^post213+i_1053^0 == 0 /\ i_127^0-i_127^post213 == 0 /\ a_121^0-a_121^post213 == 0 /\ -len_861^post213+len_861^0 == 0 /\ a_394^0-a_394^post213 == 0 /\ len_262^0-len_262^post213 == 0 /\ i_94^0-i_94^post213 == 0 /\ a_577^0-a_577^post213 == 0 /\ -result_11^post213+result_11^0 == 0 /\ -x_SLAM_f_19^post213+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post213 == 0 /\ -a_176^post213+a_176^0 == 0 /\ -a_576^post213+a_576^0 == 0 /\ -x_17^post213+x_17^0 == 0 /\ len_161^0-len_161^post213 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post213 == 0 /\ -r_143^post213+r_143^0 == 0 /\ -a_635^post213+a_635^0 == 0 /\ x_14^0-x_14^post213 == 0 /\ -i_27^post213+i_27^0 == 0 /\ a_310^0-a_310^post213 == 0 /\ -a_309^post213+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_107^post213+i_107^0 == 0 /\ -a_575^post213+a_575^0 == 0 /\ -a_633^post213+a_633^0 == 0 /\ -a_1236^post213+a_1236^0 == 0 /\ -a_417^post213+a_417^0 == 0 /\ t_24^0-t_24^post213 == 0 /\ a_393^0-a_393^post213 == 0 /\ r_39^0-r_39^post213 == 0 /\ -rcd_47^post213+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post213 == 0 /\ -len_238^post213+len_238^0 == 0 /\ i_229^0-i_229^post213 == 0 /\ a_432^0-a_432^post213 == 0 /\ -a_862^post213+a_862^0 == 0 /\ -a_610^post213+a_610^0 == 0 /\ -a_392^post213+a_392^0 == 0 /\ -length_29^post213+length_29^0 == 0 /\ a_430^0-a_430^post213 == 0 /\ f_248^0-f_248^post213 == 0 /\ -x_253^post213+x_253^0 == 0 /\ -f_969^post213+f_969^0 == 0 /\ -r_151^post213+r_151^0 == 0 /\ nondet_12^0-nondet_12^post213 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_431^0-a_431^post213 == 0 /\ x_975^0-x_975^post213 == 0 /\ -head_32^post213+head_32^0 == 0 /\ a_144^0-a_144^post213 == 0 /\ x_156^0-x_156^post213 == 0 /\ i_113^0-i_113^post213 == 0 /\ a_1162^0-a_1162^post213 == 0 /\ a_902^0-a_902^post213 == 0), cost: 1 214: l134 -> l135 : a_1089^0'=a_1089^post214, f_847^0'=f_847^post214, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post214, a_394^0'=a_394^post214, x_156^0'=x_156^post214, a_632^0'=a_632^post214, r_192^0'=r_192^post214, a_176^0'=a_176^post214, i_106^0'=i_106^post214, a_430^0'=a_430^post214, t_458^0'=t_458^post214, len_161^0'=len_161^post214, x_975^0'=x_975^post214, a_902^0'=a_902^post214, a_947^0'=a_947^post214, rcd_88^0'=rcd_88^post214, a_311^0'=a_311^post214, i_140^0'=i_140^post214, a_577^0'=a_577^post214, x_14^0'=x_14^post214, nondet_12^0'=nondet_12^post214, a_121^0'=a_121^post214, head_15^0'=head_15^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214, i_27^0'=i_27^post214, x_21^0'=x_21^post214, a_634^0'=a_634^post214, r_39^0'=r_39^post214, a_263^0'=a_263^post214, i_113^0'=i_113^post214, a_432^0'=a_432^post214, temp0_31^0'=temp0_31^post214, len_262^0'=len_262^post214, y_20^0'=y_20^post214, f_248^0'=f_248^post214, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214, a_393^0'=a_393^post214, i_229^0'=i_229^post214, a_610^0'=a_610^post214, r_151^0'=r_151^post214, a_144^0'=a_144^post214, i_1053^0'=i_1053^post214, a_417^0'=a_417^post214, t_24^0'=t_24^post214, i_94^0'=i_94^post214, x_852^0'=x_852^post214, a_862^0'=a_862^post214, rcd_1249^0'=rcd_1249^post214, rcd_58^0'=rcd_58^post214, a_310^0'=a_310^post214, i_127^0'=i_127^post214, a_576^0'=a_576^post214, tmp_34^0'=tmp_34^post214, length_29^0'=length_29^post214, a_1162^0'=a_1162^post214, f_969^0'=f_969^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214, a_395^0'=a_395^post214, x_17^0'=x_17^post214, a_633^0'=a_633^post214, r_224^0'=r_224^post214, a_239^0'=a_239^post214, i_107^0'=i_107^post214, a_431^0'=a_431^post214, temp0_16^0'=temp0_16^post214, len_238^0'=len_238^post214, x_SLAM_f_19^0'=x_SLAM_f_19^post214, a_924^0'=a_924^post214, ct_18^0'=ct_18^post214, result_11^0'=result_11^post214, a_392^0'=a_392^post214, i_197^0'=i_197^post214, a_579^0'=a_579^post214, r_143^0'=r_143^post214, a_1236^0'=a_1236^post214, head_32^0'=head_32^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214, i_30^0'=i_30^post214, x_253^0'=x_253^post214, a_635^0'=a_635^post214, r_970^0'=r_970^post214, rcd_47^0'=rcd_47^post214, a_309^0'=a_309^post214, i_1248^0'=i_1248^post214, a_575^0'=a_575^post214, temp_35^0'=temp_35^post214, len_861^0'=len_861^post214, (-r_143^post214+r_143^0 == 0 /\ -a_575^post214+a_575^0 == 0 /\ a_1162^0-a_1162^post214 == 0 /\ -a_635^post214+a_635^0 == 0 /\ -x_SLAM_f_19^post214+x_SLAM_f_19^0 == 0 /\ -r_151^post214+r_151^0 == 0 /\ -a_309^post214+a_309^0 == 0 /\ a_924^0-a_924^post214 == 0 /\ f_248^0-f_248^post214 == 0 /\ -i_30^post214+i_30^0 == 0 /\ x_21^0-x_21^post214 == 0 /\ ct_18^0-ct_18^post214 == 0 /\ i_127^0-i_127^post214 == 0 /\ x_975^0-x_975^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ r_192^0-r_192^post214 == 0 /\ -i_113^post214+i_113^0 == 0 /\ -a_144^post214+a_144^0 == 0 /\ a_577^0-a_577^post214 == 0 /\ -i_107^post214+i_107^0 == 0 /\ -a_633^post214+a_633^0 == 0 /\ a_634^0-a_634^post214 == 0 /\ -a_862^post214+a_862^0 == 0 /\ -a_1236^post214+a_1236^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_27^0-i_27^post214 == 0 /\ -a_432^post214+a_432^0 == 0 /\ -a_431^post214+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_947^0-a_947^post214 == 0 /\ a_576^0-a_576^post214 == 0 /\ -i_94^post214+i_94^0 == 0 /\ -a_310^post214+a_310^0 == 0 /\ -i_140^post214+i_140^0 == 0 /\ i_197^0-i_197^post214 == 0 /\ r_39^0-r_39^post214 == 0 /\ -length_29^post214+length_29^0 == 0 /\ -a_392^post214+a_392^0 == 0 /\ -rcd_47^post214+rcd_47^0 == 0 /\ rcd_1249^0-rcd_1249^post214 == 0 /\ i_106^0-i_106^post214 == 0 /\ f_847^0-f_847^post214 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp_35^post214+temp_35^0 == 0 /\ head_15^0-head_15^post214 == 0 /\ -x_253^post214+x_253^0 == 0 /\ -f_969^post214+f_969^0 == 0 /\ -t_458^post214+t_458^0 == 0 /\ -y_20^post214+y_20^0 == 0 /\ -head_32^post214+head_32^0 == 0 /\ a_632^0-a_632^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post214+rcd_58^0 == 0 /\ len_262^0-len_262^post214 == 0 /\ nondet_12^0-nondet_12^post214 == 0 /\ -a_579^post214+a_579^0 == 0 /\ r_970^0-r_970^post214 == 0 /\ a_902^0-a_902^post214 == 0 /\ -a_263^post214+a_263^0 == 0 /\ x_156^0-x_156^post214 == 0 /\ a_610^0-a_610^post214 == 0 /\ temp0_31^0-temp0_31^post214 == 0 /\ r_224^0-r_224^post214 == 0 /\ i_229^0-i_229^post214 == 0 /\ -len_861^post214+len_861^0 == 0 /\ -a_395^post214+a_395^0 == 0 /\ -temp0_16^post214+temp0_16^0 == 0 /\ len_238^0-len_238^post214 == 0 /\ x_14^0-x_14^post214 == 0 /\ x_17^0-x_17^post214 == 0 /\ a_121^0-a_121^post214 == 0 /\ a_176^0-a_176^post214 == 0 /\ a_394^0-a_394^post214 == 0 /\ a_1089^0-a_1089^post214 == 0 /\ -result_11^post214+result_11^0 == 0 /\ -a_417^post214+a_417^0 == 0 /\ -len_161^post214+len_161^0 == 0 /\ -i_1248^post214+i_1248^0 == 0 /\ -a_239^post214+a_239^0 == 0 /\ -x_852^post214+x_852^0 == 0 /\ a_430^0-a_430^post214 == 0 /\ -tmp_34^post214+tmp_34^0 == 0 /\ -a_393^post214+a_393^0 == 0 /\ -t_24^post214+t_24^0 == 0 /\ rcd_88^0-rcd_88^post214 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post214 == 0 /\ a_311^0-a_311^post214 == 0 /\ -i_1053^post214+i_1053^0 == 0), cost: 1 215: l135 -> l136 : a_1089^0'=a_1089^post215, f_847^0'=f_847^post215, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post215, a_394^0'=a_394^post215, x_156^0'=x_156^post215, a_632^0'=a_632^post215, r_192^0'=r_192^post215, a_176^0'=a_176^post215, i_106^0'=i_106^post215, a_430^0'=a_430^post215, t_458^0'=t_458^post215, len_161^0'=len_161^post215, x_975^0'=x_975^post215, a_902^0'=a_902^post215, a_947^0'=a_947^post215, rcd_88^0'=rcd_88^post215, a_311^0'=a_311^post215, i_140^0'=i_140^post215, a_577^0'=a_577^post215, x_14^0'=x_14^post215, nondet_12^0'=nondet_12^post215, a_121^0'=a_121^post215, head_15^0'=head_15^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215, i_27^0'=i_27^post215, x_21^0'=x_21^post215, a_634^0'=a_634^post215, r_39^0'=r_39^post215, a_263^0'=a_263^post215, i_113^0'=i_113^post215, a_432^0'=a_432^post215, temp0_31^0'=temp0_31^post215, len_262^0'=len_262^post215, y_20^0'=y_20^post215, f_248^0'=f_248^post215, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215, a_393^0'=a_393^post215, i_229^0'=i_229^post215, a_610^0'=a_610^post215, r_151^0'=r_151^post215, a_144^0'=a_144^post215, i_1053^0'=i_1053^post215, a_417^0'=a_417^post215, t_24^0'=t_24^post215, i_94^0'=i_94^post215, x_852^0'=x_852^post215, a_862^0'=a_862^post215, rcd_1249^0'=rcd_1249^post215, rcd_58^0'=rcd_58^post215, a_310^0'=a_310^post215, i_127^0'=i_127^post215, a_576^0'=a_576^post215, tmp_34^0'=tmp_34^post215, length_29^0'=length_29^post215, a_1162^0'=a_1162^post215, f_969^0'=f_969^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215, a_395^0'=a_395^post215, x_17^0'=x_17^post215, a_633^0'=a_633^post215, r_224^0'=r_224^post215, a_239^0'=a_239^post215, i_107^0'=i_107^post215, a_431^0'=a_431^post215, temp0_16^0'=temp0_16^post215, len_238^0'=len_238^post215, x_SLAM_f_19^0'=x_SLAM_f_19^post215, a_924^0'=a_924^post215, ct_18^0'=ct_18^post215, result_11^0'=result_11^post215, a_392^0'=a_392^post215, i_197^0'=i_197^post215, a_579^0'=a_579^post215, r_143^0'=r_143^post215, a_1236^0'=a_1236^post215, head_32^0'=head_32^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215, i_30^0'=i_30^post215, x_253^0'=x_253^post215, a_635^0'=a_635^post215, r_970^0'=r_970^post215, rcd_47^0'=rcd_47^post215, a_309^0'=a_309^post215, i_1248^0'=i_1248^post215, a_575^0'=a_575^post215, temp_35^0'=temp_35^post215, len_861^0'=len_861^post215, (0 == 0 /\ -i_1248^post215+i_1248^0 == 0 /\ a_947^0-a_947^post215 == 0 /\ -head_32^post215+head_32^0 == 0 /\ len_161^0-len_161^post215 == 0 /\ -i_107^post215+i_30^0 <= 0 /\ -y_20^post215+y_20^0 == 0 /\ rcd_58^0-rcd_58^post215 == 0 /\ -temp0_16^post215+temp0_16^0 == 0 /\ x_852^0-x_852^post215 == 0 /\ x_14^0-x_14^post215 == 0 /\ -a_263^post215+a_263^0 == 0 /\ -a_579^post215+a_579^0 == 0 /\ -t_24^post215+t_24^0 == 0 /\ -x_253^post215+x_253^0 == 0 /\ a_394^0-a_394^post215 == 0 /\ -temp_35^post215+temp_35^0 == 0 /\ -i_197^post215+i_197^0 == 0 /\ -1+i_106^0-i_27^post215 <= 0 /\ rcd_1249^0-rcd_1249^post215 == 0 /\ f_847^0-f_847^post215 == 0 /\ -r_39^post215+r_39^0 == 0 /\ -a_395^post215+a_395^0 == 0 /\ i_106^0-i_106^post215 == 0 /\ -a_417^post215+a_417^0 == 0 /\ i_107^post215-i_30^0 <= 0 /\ -a_309^post215+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post215+tmp_34^0 == 0 /\ a_430^0-a_430^post215 == 0 /\ -result_11^post215+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post215+a_924^0 == 0 /\ -a_575^post215+a_575^0 == 0 /\ a_432^0-a_432^post215 == 0 /\ -i_30^post215+i_30^0 == 0 /\ -i_1053^post215+i_1053^0 == 0 /\ -len_861^post215+len_861^0 == 0 /\ ct_18^0-ct_18^post215 == 0 /\ a_1236^0-a_1236^post215 == 0 /\ x_156^0-x_156^post215 == 0 /\ -a_635^post215+a_635^0 == 0 /\ head_15^0-head_15^post215 == 0 /\ -a_1162^post215+a_1162^0 == 0 /\ i_127^0-i_127^post215 == 0 /\ -a_393^post215+a_393^0 == 0 /\ i_229^0-i_229^post215 == 0 /\ a_431^0-a_431^post215 == 0 /\ x_21^0-x_21^post215 == 0 /\ -r_224^post215+r_224^0 == 0 /\ -a_577^post215+a_577^0 == 0 /\ temp0_31^0-temp0_31^post215 == 0 /\ x_17^0-x_17^post215 == 0 /\ a_1089^0-a_1089^post215 == 0 /\ -r_151^post215+r_151^0 == 0 /\ a_310^0-a_310^post215 == 0 /\ a_634^0-a_634^post215 == 0 /\ -x_SLAM_f_19^post215+x_SLAM_f_19^0 == 0 /\ -a_632^post215+a_632^0 == 0 /\ -a_576^post215+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post215 == 0 /\ 1-i_106^0+i_27^post215 <= 0 /\ i_140^0-i_140^post215 == 0 /\ -r_143^post215+r_143^0 == 0 /\ a_176^0-a_176^post215 == 0 /\ rcd_88^0-rcd_88^post215 == 0 /\ x_14^0-head_15^0 <= 0 /\ a_311^0-a_311^post215 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post215+i_113^0 == 0 /\ -length_29^post215+length_29^0 == 0 /\ -a_392^post215+a_392^0 == 0 /\ -a_633^post215+a_633^0 == 0 /\ -a_902^post215+a_902^0 == 0 /\ f_248^0-f_248^post215 == 0 /\ a_239^0-a_239^post215 == 0 /\ 1-i_27^0+i_27^post215 == 0 /\ -a_862^post215+a_862^0 == 0 /\ x_975^0-x_975^post215 == 0 /\ -t_458^post215+t_458^0 == 0 /\ a_610^0-a_610^post215 == 0 /\ a_121^0-a_121^post215 == 0 /\ r_192^0-r_192^post215 == 0 /\ len_262^0-len_262^post215 == 0 /\ -rcd_47^post215+rcd_47^0 == 0 /\ a_144^0-a_144^post215 == 0 /\ nondet_12^0-nondet_12^post215 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post215 == 0 /\ -i_94^post215+i_94^0 == 0 /\ -r_970^post215+r_970^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -len_238^post215+len_238^0 == 0), cost: 1 216: l136 -> l137 : a_1089^0'=a_1089^post216, f_847^0'=f_847^post216, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post216, a_394^0'=a_394^post216, x_156^0'=x_156^post216, a_632^0'=a_632^post216, r_192^0'=r_192^post216, a_176^0'=a_176^post216, i_106^0'=i_106^post216, a_430^0'=a_430^post216, t_458^0'=t_458^post216, len_161^0'=len_161^post216, x_975^0'=x_975^post216, a_902^0'=a_902^post216, a_947^0'=a_947^post216, rcd_88^0'=rcd_88^post216, a_311^0'=a_311^post216, i_140^0'=i_140^post216, a_577^0'=a_577^post216, x_14^0'=x_14^post216, nondet_12^0'=nondet_12^post216, a_121^0'=a_121^post216, head_15^0'=head_15^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216, i_27^0'=i_27^post216, x_21^0'=x_21^post216, a_634^0'=a_634^post216, r_39^0'=r_39^post216, a_263^0'=a_263^post216, i_113^0'=i_113^post216, a_432^0'=a_432^post216, temp0_31^0'=temp0_31^post216, len_262^0'=len_262^post216, y_20^0'=y_20^post216, f_248^0'=f_248^post216, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216, a_393^0'=a_393^post216, i_229^0'=i_229^post216, a_610^0'=a_610^post216, r_151^0'=r_151^post216, a_144^0'=a_144^post216, i_1053^0'=i_1053^post216, a_417^0'=a_417^post216, t_24^0'=t_24^post216, i_94^0'=i_94^post216, x_852^0'=x_852^post216, a_862^0'=a_862^post216, rcd_1249^0'=rcd_1249^post216, rcd_58^0'=rcd_58^post216, a_310^0'=a_310^post216, i_127^0'=i_127^post216, a_576^0'=a_576^post216, tmp_34^0'=tmp_34^post216, length_29^0'=length_29^post216, a_1162^0'=a_1162^post216, f_969^0'=f_969^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216, a_395^0'=a_395^post216, x_17^0'=x_17^post216, a_633^0'=a_633^post216, r_224^0'=r_224^post216, a_239^0'=a_239^post216, i_107^0'=i_107^post216, a_431^0'=a_431^post216, temp0_16^0'=temp0_16^post216, len_238^0'=len_238^post216, x_SLAM_f_19^0'=x_SLAM_f_19^post216, a_924^0'=a_924^post216, ct_18^0'=ct_18^post216, result_11^0'=result_11^post216, a_392^0'=a_392^post216, i_197^0'=i_197^post216, a_579^0'=a_579^post216, r_143^0'=r_143^post216, a_1236^0'=a_1236^post216, head_32^0'=head_32^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216, i_30^0'=i_30^post216, x_253^0'=x_253^post216, a_635^0'=a_635^post216, r_970^0'=r_970^post216, rcd_47^0'=rcd_47^post216, a_309^0'=a_309^post216, i_1248^0'=i_1248^post216, a_575^0'=a_575^post216, temp_35^0'=temp_35^post216, len_861^0'=len_861^post216, (-len_238^post216+len_238^0 == 0 /\ -r_151^post216+r_151^0 == 0 /\ tmp_34^0-tmp_34^post216 == 0 /\ head_15^0-head_15^post216 == 0 /\ r_192^0-r_192^post216 == 0 /\ ct_18^0-ct_18^post216 == 0 /\ 1-x_14^0 <= 0 /\ -a_432^post216+a_432^0 == 0 /\ -a_924^post216+a_924^0 == 0 /\ a_633^0-a_633^post216 == 0 /\ -i_113^post216+i_113^0 == 0 /\ x_21^0-x_21^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_143^post216+r_143^0 == 0 /\ a_610^0-a_610^post216 == 0 /\ -a_309^post216+a_309^0 == 0 /\ nondet_12^0-nondet_12^post216 == 0 /\ -x_253^post216+x_253^0 == 0 /\ a_144^0-a_144^post216 == 0 /\ x_14^0-x_14^post216 == 0 /\ a_947^0-a_947^post216 == 0 /\ -a_392^post216+a_392^0 == 0 /\ -a_431^post216+a_431^0 == 0 /\ -a_1236^post216+a_1236^0 == 0 /\ a_1089^0-a_1089^post216 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post216 == 0 /\ i_27^0-i_27^post216 == 0 /\ a_263^0-a_263^post216 == 0 /\ -x_SLAM_f_19^post216+x_SLAM_f_19^0 == 0 /\ a_576^0-a_576^post216 == 0 /\ -rcd_47^post216+rcd_47^0 == 0 /\ r_39^0-r_39^post216 == 0 /\ t_458^0-t_458^post216 == 0 /\ -i_94^post216+i_94^0 == 0 /\ -i_140^post216+i_140^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216 == 0 /\ rcd_58^0-rcd_58^post216 == 0 /\ i_106^0-i_106^post216 == 0 /\ -length_29^post216+length_29^0 == 0 /\ -y_20^post216+y_20^0 == 0 /\ rcd_1249^0-rcd_1249^post216 == 0 /\ -a_310^post216+a_310^0 == 0 /\ f_248^0-f_248^post216 == 0 /\ -r_970^post216+r_970^0 == 0 /\ -r_224^post216+r_224^0 == 0 /\ -a_395^post216+a_395^0 == 0 /\ -head_32^post216+head_32^0 == 0 /\ -x_852^post216+x_852^0 == 0 /\ -temp0_16^post216+temp0_16^0 == 0 /\ a_632^0-a_632^post216 == 0 /\ a_430^0-a_430^post216 == 0 /\ -len_861^post216+len_861^0 == 0 /\ x_975^0-x_975^post216 == 0 /\ x_156^0-x_156^post216 == 0 /\ len_262^0-len_262^post216 == 0 /\ f_969^0-f_969^post216 == 0 /\ a_577^0-a_577^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post216 == 0 /\ -a_862^post216+a_862^0 == 0 /\ temp0_31^0-temp0_31^post216 == 0 /\ -i_197^post216+i_197^0 == 0 /\ i_229^0-i_229^post216 == 0 /\ -i_127^post216+i_127^0 == 0 /\ -a_579^post216+a_579^0 == 0 /\ a_634^0-a_634^post216 == 0 /\ -i_30^post216+i_30^0 == 0 /\ -a_1162^post216+a_1162^0 == 0 /\ x_17^0-x_17^post216 == 0 /\ a_394^0-a_394^post216 == 0 /\ len_161^0-len_161^post216 == 0 /\ -i_107^post216+i_107^0 == 0 /\ -a_417^post216+a_417^0 == 0 /\ -a_575^post216+a_575^0 == 0 /\ a_176^0-a_176^post216 == 0 /\ a_121^0-a_121^post216 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216 == 0 /\ -result_11^post216+result_11^0 == 0 /\ a_311^0-a_311^post216 == 0 /\ -i_1248^post216+i_1248^0 == 0 /\ -a_393^post216+a_393^0 == 0 /\ i_1053^0-i_1053^post216 == 0 /\ -a_239^post216+a_239^0 == 0 /\ rcd_88^0-rcd_88^post216 == 0 /\ -t_24^post216+t_24^0 == 0 /\ f_847^0-f_847^post216 == 0 /\ temp_35^0-temp_35^post216 == 0 /\ -a_635^post216+a_635^0 == 0), cost: 1 217: l136 -> l137 : a_1089^0'=a_1089^post217, f_847^0'=f_847^post217, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post217, a_394^0'=a_394^post217, x_156^0'=x_156^post217, a_632^0'=a_632^post217, r_192^0'=r_192^post217, a_176^0'=a_176^post217, i_106^0'=i_106^post217, a_430^0'=a_430^post217, t_458^0'=t_458^post217, len_161^0'=len_161^post217, x_975^0'=x_975^post217, a_902^0'=a_902^post217, a_947^0'=a_947^post217, rcd_88^0'=rcd_88^post217, a_311^0'=a_311^post217, i_140^0'=i_140^post217, a_577^0'=a_577^post217, x_14^0'=x_14^post217, nondet_12^0'=nondet_12^post217, a_121^0'=a_121^post217, head_15^0'=head_15^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217, i_27^0'=i_27^post217, x_21^0'=x_21^post217, a_634^0'=a_634^post217, r_39^0'=r_39^post217, a_263^0'=a_263^post217, i_113^0'=i_113^post217, a_432^0'=a_432^post217, temp0_31^0'=temp0_31^post217, len_262^0'=len_262^post217, y_20^0'=y_20^post217, f_248^0'=f_248^post217, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217, a_393^0'=a_393^post217, i_229^0'=i_229^post217, a_610^0'=a_610^post217, r_151^0'=r_151^post217, a_144^0'=a_144^post217, i_1053^0'=i_1053^post217, a_417^0'=a_417^post217, t_24^0'=t_24^post217, i_94^0'=i_94^post217, x_852^0'=x_852^post217, a_862^0'=a_862^post217, rcd_1249^0'=rcd_1249^post217, rcd_58^0'=rcd_58^post217, a_310^0'=a_310^post217, i_127^0'=i_127^post217, a_576^0'=a_576^post217, tmp_34^0'=tmp_34^post217, length_29^0'=length_29^post217, a_1162^0'=a_1162^post217, f_969^0'=f_969^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217, a_395^0'=a_395^post217, x_17^0'=x_17^post217, a_633^0'=a_633^post217, r_224^0'=r_224^post217, a_239^0'=a_239^post217, i_107^0'=i_107^post217, a_431^0'=a_431^post217, temp0_16^0'=temp0_16^post217, len_238^0'=len_238^post217, x_SLAM_f_19^0'=x_SLAM_f_19^post217, a_924^0'=a_924^post217, ct_18^0'=ct_18^post217, result_11^0'=result_11^post217, a_392^0'=a_392^post217, i_197^0'=i_197^post217, a_579^0'=a_579^post217, r_143^0'=r_143^post217, a_1236^0'=a_1236^post217, head_32^0'=head_32^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217, i_30^0'=i_30^post217, x_253^0'=x_253^post217, a_635^0'=a_635^post217, r_970^0'=r_970^post217, rcd_47^0'=rcd_47^post217, a_309^0'=a_309^post217, i_1248^0'=i_1248^post217, a_575^0'=a_575^post217, temp_35^0'=temp_35^post217, len_861^0'=len_861^post217, (a_862^0-a_862^post217 == 0 /\ rcd_58^0-rcd_58^post217 == 0 /\ result_11^0-result_11^post217 == 0 /\ -r_224^post217+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post217 == 0 /\ -i_229^post217+i_229^0 == 0 /\ len_161^0-len_161^post217 == 0 /\ i_27^0-i_27^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_262^post217+len_262^0 == 0 /\ a_634^0-a_634^post217 == 0 /\ -i_1053^post217+i_1053^0 == 0 /\ -i_1248^post217+i_1248^0 == 0 /\ -temp0_31^post217+temp0_31^0 == 0 /\ a_263^0-a_263^post217 == 0 /\ t_24^0-t_24^post217 == 0 /\ a_176^0-a_176^post217 == 0 /\ -a_395^post217+a_395^0 == 0 /\ a_947^0-a_947^post217 == 0 /\ -i_197^post217+i_197^0 == 0 /\ -r_39^post217+r_39^0 == 0 /\ -a_579^post217+a_579^0 == 0 /\ -head_32^post217+head_32^0 == 0 /\ -x_14^post217+x_14^0 == 0 /\ tmp_34^0-tmp_34^post217 == 0 /\ r_151^0-r_151^post217 == 0 /\ f_248^0-f_248^post217 == 0 /\ -x_21^post217+x_21^0 == 0 /\ length_29^0-length_29^post217 == 0 /\ -x_17^post217+x_17^0 == 0 /\ -a_1162^post217+a_1162^0 == 0 /\ a_632^0-a_632^post217 == 0 /\ a_430^0-a_430^post217 == 0 /\ -a_309^post217+a_309^0 == 0 /\ -a_924^post217+a_924^0 == 0 /\ a_311^0-a_311^post217 == 0 /\ i_113^0-i_113^post217 == 0 /\ head_15^0-head_15^post217 == 0 /\ a_902^0-a_902^post217 == 0 /\ rcd_88^0-rcd_88^post217 == 0 /\ -i_107^post217+i_107^0 == 0 /\ -ct_18^post217+ct_18^0 == 0 /\ a_432^0-a_432^post217 == 0 /\ -temp0_16^post217+temp0_16^0 == 0 /\ x_156^0-x_156^post217 == 0 /\ -len_861^post217+len_861^0 == 0 /\ -i_30^post217+i_30^0 == 0 /\ -a_635^post217+a_635^0 == 0 /\ r_192^0-r_192^post217 == 0 /\ i_140^0-i_140^post217 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217 == 0 /\ a_417^0-a_417^post217 == 0 /\ x_852^0-x_852^post217 == 0 /\ nondet_12^0-nondet_12^post217 == 0 /\ a_144^0-a_144^post217 == 0 /\ -len_238^post217+len_238^0 == 0 /\ -a_610^post217+a_610^0 == 0 /\ a_1089^0-a_1089^post217 == 0 /\ a_394^0-a_394^post217 == 0 /\ -rcd_47^post217+rcd_47^0 == 0 /\ -r_143^post217+r_143^0 == 0 /\ y_20^0-y_20^post217 == 0 /\ f_847^0-f_847^post217 == 0 /\ -rcd_1249^post217+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post217 == 0 /\ -a_576^post217+a_576^0 == 0 /\ i_106^0-i_106^post217 == 0 /\ -i_94^post217+i_94^0 == 0 /\ -temp_35^post217+temp_35^0 == 0 /\ a_239^0-a_239^post217 == 0 /\ a_577^0-a_577^post217 == 0 /\ x_975^0-x_975^post217 == 0 /\ -a_392^post217+a_392^0 == 0 /\ a_393^0-a_393^post217 == 0 /\ 1+x_14^0 <= 0 /\ -a_310^post217+a_310^0 == 0 /\ f_969^0-f_969^post217 == 0 /\ i_127^0-i_127^post217 == 0 /\ -x_253^post217+x_253^0 == 0 /\ a_633^0-a_633^post217 == 0 /\ a_575^0-a_575^post217 == 0 /\ -a_1236^post217+a_1236^0 == 0 /\ -r_970^post217+r_970^0 == 0 /\ -a_431^post217+a_431^0 == 0 /\ -a_121^post217+a_121^0 == 0 /\ -x_SLAM_f_19^post217+x_SLAM_f_19^0 == 0), cost: 1 218: l137 -> l138 : a_1089^0'=a_1089^post218, f_847^0'=f_847^post218, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post218, a_394^0'=a_394^post218, x_156^0'=x_156^post218, a_632^0'=a_632^post218, r_192^0'=r_192^post218, a_176^0'=a_176^post218, i_106^0'=i_106^post218, a_430^0'=a_430^post218, t_458^0'=t_458^post218, len_161^0'=len_161^post218, x_975^0'=x_975^post218, a_902^0'=a_902^post218, a_947^0'=a_947^post218, rcd_88^0'=rcd_88^post218, a_311^0'=a_311^post218, i_140^0'=i_140^post218, a_577^0'=a_577^post218, x_14^0'=x_14^post218, nondet_12^0'=nondet_12^post218, a_121^0'=a_121^post218, head_15^0'=head_15^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218, i_27^0'=i_27^post218, x_21^0'=x_21^post218, a_634^0'=a_634^post218, r_39^0'=r_39^post218, a_263^0'=a_263^post218, i_113^0'=i_113^post218, a_432^0'=a_432^post218, temp0_31^0'=temp0_31^post218, len_262^0'=len_262^post218, y_20^0'=y_20^post218, f_248^0'=f_248^post218, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218, a_393^0'=a_393^post218, i_229^0'=i_229^post218, a_610^0'=a_610^post218, r_151^0'=r_151^post218, a_144^0'=a_144^post218, i_1053^0'=i_1053^post218, a_417^0'=a_417^post218, t_24^0'=t_24^post218, i_94^0'=i_94^post218, x_852^0'=x_852^post218, a_862^0'=a_862^post218, rcd_1249^0'=rcd_1249^post218, rcd_58^0'=rcd_58^post218, a_310^0'=a_310^post218, i_127^0'=i_127^post218, a_576^0'=a_576^post218, tmp_34^0'=tmp_34^post218, length_29^0'=length_29^post218, a_1162^0'=a_1162^post218, f_969^0'=f_969^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218, a_395^0'=a_395^post218, x_17^0'=x_17^post218, a_633^0'=a_633^post218, r_224^0'=r_224^post218, a_239^0'=a_239^post218, i_107^0'=i_107^post218, a_431^0'=a_431^post218, temp0_16^0'=temp0_16^post218, len_238^0'=len_238^post218, x_SLAM_f_19^0'=x_SLAM_f_19^post218, a_924^0'=a_924^post218, ct_18^0'=ct_18^post218, result_11^0'=result_11^post218, a_392^0'=a_392^post218, i_197^0'=i_197^post218, a_579^0'=a_579^post218, r_143^0'=r_143^post218, a_1236^0'=a_1236^post218, head_32^0'=head_32^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218, i_30^0'=i_30^post218, x_253^0'=x_253^post218, a_635^0'=a_635^post218, r_970^0'=r_970^post218, rcd_47^0'=rcd_47^post218, a_309^0'=a_309^post218, i_1248^0'=i_1248^post218, a_575^0'=a_575^post218, temp_35^0'=temp_35^post218, len_861^0'=len_861^post218, (i_106^0-i_106^post218 == 0 /\ head_15^0-head_15^post218 == 0 /\ a_632^0-a_632^post218 == 0 /\ tmp_34^0-tmp_34^post218 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218 == 0 /\ a_392^0-a_392^post218 == 0 /\ -a_1162^post218+a_1162^0 == 0 /\ a_902^0-a_902^post218 == 0 /\ -a_634^post218+a_634^0 == 0 /\ -len_238^post218+len_238^0 == 0 /\ t_458^0-t_458^post218 == 0 /\ i_94^0-i_94^post218 == 0 /\ -a_924^post218+a_924^0 == 0 /\ a_610^0-a_610^post218 == 0 /\ i_27^0-i_27^post218 == 0 /\ -result_11^post218+result_11^0 == 0 /\ a_633^0-a_633^post218 == 0 /\ temp0_31^0-temp0_31^post218 == 0 /\ -i_113^post218+i_113^0 == 0 /\ x_14^0-x_14^post218 == 0 /\ -a_1236^post218+a_1236^0 == 0 /\ -r_143^post218+r_143^0 == 0 /\ -temp_35^post218+temp_35^0 == 0 /\ a_417^0-a_417^post218 == 0 /\ -a_121^post218+a_121^0 == 0 /\ -nondet_12^post218+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post218 == 0 /\ -f_969^post218+f_969^0 == 0 /\ -x_253^post218+x_253^0 == 0 /\ -a_431^post218+a_431^0 == 0 /\ -a_432^post218+a_432^0 == 0 /\ -r_970^post218+r_970^0 == 0 /\ a_1089^0-a_1089^post218 == 0 /\ len_262^0-len_262^post218 == 0 /\ a_263^0-a_263^post218 == 0 /\ -x_SLAM_f_19^post218+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post218 == 0 /\ a_176^0-a_176^post218 == 0 /\ -y_20^post218+y_20^0 == 0 /\ i_1053^0-i_1053^post218 == 0 /\ a_311^0-a_311^post218 == 0 /\ -rcd_47^post218+rcd_47^0 == 0 /\ length_29^0-length_29^post218 == 0 /\ -a_310^post218+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218 == 0 /\ f_248^0-f_248^post218 == 0 /\ -len_861^post218+len_861^0 == 0 /\ x_975^0-x_975^post218 == 0 /\ -head_32^post218+head_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_151^0-r_151^post218 == 0 /\ a_393^0-a_393^post218 == 0 /\ a_577^0-a_577^post218 == 0 /\ -i_229^post218+i_229^0 == 0 /\ -a_395^post218+a_395^0 == 0 /\ -i_1248^post218+i_1248^0 == 0 /\ -a_430^post218+a_430^0 == 0 /\ -a_239^post218+a_239^0 == 0 /\ -a_579^post218+a_579^0 == 0 /\ r_192^0-r_192^post218 == 0 /\ -i_127^post218+i_127^0 == 0 /\ -temp0_16^post218+temp0_16^0 == 0 /\ -a_862^post218+a_862^0 == 0 /\ -r_39^post218+r_39^0 == 0 /\ -r_224^post218+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post218+a_575^0 == 0 /\ -i_197^post218+i_197^0 == 0 /\ x_852^0-x_852^post218 == 0 /\ -a_635^post218+a_635^0 == 0 /\ a_947^0-a_947^post218 == 0 /\ len_161^0-len_161^post218 == 0 /\ -x_17^post218+x_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218 == 0 /\ -x_21^post218+x_21^0 == 0 /\ x_156^0-x_156^post218 == 0 /\ f_847^0-f_847^post218 == 0 /\ -a_309^post218+a_309^0 == 0 /\ a_576^0-a_576^post218 == 0 /\ a_394^0-a_394^post218 == 0 /\ -ct_18^post218+ct_18^0 == 0 /\ -a_144^post218+a_144^0 == 0 /\ -i_107^post218+i_107^0 == 0 /\ -i_30^post218+i_30^0 == 0 /\ i_140^0-i_140^post218 == 0 /\ rcd_58^0-rcd_58^post218 == 0 /\ rcd_1249^0-rcd_1249^post218 == 0 /\ -t_24^post218+t_24^0 == 0), cost: 1 219: l137 -> l138 : a_1089^0'=a_1089^post219, f_847^0'=f_847^post219, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post219, a_394^0'=a_394^post219, x_156^0'=x_156^post219, a_632^0'=a_632^post219, r_192^0'=r_192^post219, a_176^0'=a_176^post219, i_106^0'=i_106^post219, a_430^0'=a_430^post219, t_458^0'=t_458^post219, len_161^0'=len_161^post219, x_975^0'=x_975^post219, a_902^0'=a_902^post219, a_947^0'=a_947^post219, rcd_88^0'=rcd_88^post219, a_311^0'=a_311^post219, i_140^0'=i_140^post219, a_577^0'=a_577^post219, x_14^0'=x_14^post219, nondet_12^0'=nondet_12^post219, a_121^0'=a_121^post219, head_15^0'=head_15^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219, i_27^0'=i_27^post219, x_21^0'=x_21^post219, a_634^0'=a_634^post219, r_39^0'=r_39^post219, a_263^0'=a_263^post219, i_113^0'=i_113^post219, a_432^0'=a_432^post219, temp0_31^0'=temp0_31^post219, len_262^0'=len_262^post219, y_20^0'=y_20^post219, f_248^0'=f_248^post219, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219, a_393^0'=a_393^post219, i_229^0'=i_229^post219, a_610^0'=a_610^post219, r_151^0'=r_151^post219, a_144^0'=a_144^post219, i_1053^0'=i_1053^post219, a_417^0'=a_417^post219, t_24^0'=t_24^post219, i_94^0'=i_94^post219, x_852^0'=x_852^post219, a_862^0'=a_862^post219, rcd_1249^0'=rcd_1249^post219, rcd_58^0'=rcd_58^post219, a_310^0'=a_310^post219, i_127^0'=i_127^post219, a_576^0'=a_576^post219, tmp_34^0'=tmp_34^post219, length_29^0'=length_29^post219, a_1162^0'=a_1162^post219, f_969^0'=f_969^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219, a_395^0'=a_395^post219, x_17^0'=x_17^post219, a_633^0'=a_633^post219, r_224^0'=r_224^post219, a_239^0'=a_239^post219, i_107^0'=i_107^post219, a_431^0'=a_431^post219, temp0_16^0'=temp0_16^post219, len_238^0'=len_238^post219, x_SLAM_f_19^0'=x_SLAM_f_19^post219, a_924^0'=a_924^post219, ct_18^0'=ct_18^post219, result_11^0'=result_11^post219, a_392^0'=a_392^post219, i_197^0'=i_197^post219, a_579^0'=a_579^post219, r_143^0'=r_143^post219, a_1236^0'=a_1236^post219, head_32^0'=head_32^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219, i_30^0'=i_30^post219, x_253^0'=x_253^post219, a_635^0'=a_635^post219, r_970^0'=r_970^post219, rcd_47^0'=rcd_47^post219, a_309^0'=a_309^post219, i_1248^0'=i_1248^post219, a_575^0'=a_575^post219, temp_35^0'=temp_35^post219, len_861^0'=len_861^post219, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post219 == 0 /\ -len_262^post219+len_262^0 == 0 /\ i_140^0-i_140^post219 == 0 /\ a_634^0-a_634^post219 == 0 /\ a_579^0-a_579^post219 == 0 /\ -i_1248^post219+i_1248^0 == 0 /\ i_27^0-i_27^post219 == 0 /\ -a_239^post219+a_239^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post219 == 0 /\ a_947^0-a_947^post219 == 0 /\ -ct_18^post219+ct_18^0 == 0 /\ -temp0_31^post219+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219 == 0 /\ i_1053^0-i_1053^post219 == 0 /\ -i_30^post219+i_30^0 == 0 /\ a_392^0-a_392^post219 == 0 /\ -r_39^post219+r_39^0 == 0 /\ a_176^0-a_176^post219 == 0 /\ -head_32^post219+head_32^0 == 0 /\ -x_17^post219+x_17^0 == 0 /\ -i_197^post219+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ length_29^0-length_29^post219 == 0 /\ y_20^0-y_20^post219 == 0 /\ -temp0_16^post219+temp0_16^0 == 0 /\ -len_861^post219+len_861^0 == 0 /\ r_151^0-r_151^post219 == 0 /\ a_632^0-a_632^post219 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post219+head_15^0 == 0 /\ -x_21^post219+x_21^0 == 0 /\ i_113^0-i_113^post219 == 0 /\ -a_309^post219+a_309^0 == 0 /\ -i_127^post219+i_127^0 == 0 /\ -a_1162^post219+a_1162^0 == 0 /\ -a_635^post219+a_635^0 == 0 /\ a_310^0-a_310^post219 == 0 /\ a_393^0-a_393^post219 == 0 /\ -a_144^post219+a_144^0 == 0 /\ a_432^0-a_432^post219 == 0 /\ r_143^0-r_143^post219 == 0 /\ r_192^0-r_192^post219 == 0 /\ -a_633^post219+a_633^0 == 0 /\ -a_575^post219+a_575^0 == 0 /\ result_11^0-result_11^post219 == 0 /\ a_417^0-a_417^post219 == 0 /\ -a_924^post219+a_924^0 == 0 /\ a_263^0-a_263^post219 == 0 /\ nondet_12^0-nondet_12^post219 == 0 /\ a_394^0-a_394^post219 == 0 /\ i_229^0-i_229^post219 == 0 /\ -tmp_34^post219+tmp_34^0 == 0 /\ t_24^0-t_24^post219 == 0 /\ a_862^0-a_862^post219 == 0 /\ -a_610^post219+a_610^0 == 0 /\ x_852^0-x_852^post219 == 0 /\ len_161^0-len_161^post219 == 0 /\ -rcd_1249^post219+rcd_1249^0 == 0 /\ rcd_88^0-rcd_88^post219 == 0 /\ f_847^0-f_847^post219 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219 == 0 /\ rcd_58^0-rcd_58^post219 == 0 /\ a_121^0-a_121^post219 == 0 /\ -x_975^post219+x_975^0 == 0 /\ -len_238^post219+len_238^0 == 0 /\ -a_576^post219+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219 == 0 /\ a_311^0-a_311^post219 == 0 /\ a_902^0-a_902^post219 == 0 /\ -f_969^post219+f_969^0 == 0 /\ i_106^0-i_106^post219 == 0 /\ a_430^0-a_430^post219 == 0 /\ a_395^0-a_395^post219 == 0 /\ r_224^0-r_224^post219 == 0 /\ -temp_35^post219+temp_35^0 == 0 /\ t_458^0-t_458^post219 == 0 /\ -x_253^post219+x_253^0 == 0 /\ i_107^0-i_107^post219 == 0 /\ rcd_47^0-rcd_47^post219 == 0 /\ a_577^0-a_577^post219 == 0 /\ x_156^0-x_156^post219 == 0 /\ -r_970^post219+r_970^0 == 0 /\ a_1089^0-a_1089^post219 == 0 /\ -a_431^post219+a_431^0 == 0 /\ -f_248^post219+f_248^0 == 0 /\ x_14^0-x_14^post219 == 0 /\ -i_94^post219+i_94^0 == 0 /\ -a_1236^post219+a_1236^0 == 0), cost: 1 220: l138 -> l131 : a_1089^0'=a_1089^post220, f_847^0'=f_847^post220, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post220, a_394^0'=a_394^post220, x_156^0'=x_156^post220, a_632^0'=a_632^post220, r_192^0'=r_192^post220, a_176^0'=a_176^post220, i_106^0'=i_106^post220, a_430^0'=a_430^post220, t_458^0'=t_458^post220, len_161^0'=len_161^post220, x_975^0'=x_975^post220, a_902^0'=a_902^post220, a_947^0'=a_947^post220, rcd_88^0'=rcd_88^post220, a_311^0'=a_311^post220, i_140^0'=i_140^post220, a_577^0'=a_577^post220, x_14^0'=x_14^post220, nondet_12^0'=nondet_12^post220, a_121^0'=a_121^post220, head_15^0'=head_15^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220, i_27^0'=i_27^post220, x_21^0'=x_21^post220, a_634^0'=a_634^post220, r_39^0'=r_39^post220, a_263^0'=a_263^post220, i_113^0'=i_113^post220, a_432^0'=a_432^post220, temp0_31^0'=temp0_31^post220, len_262^0'=len_262^post220, y_20^0'=y_20^post220, f_248^0'=f_248^post220, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220, a_393^0'=a_393^post220, i_229^0'=i_229^post220, a_610^0'=a_610^post220, r_151^0'=r_151^post220, a_144^0'=a_144^post220, i_1053^0'=i_1053^post220, a_417^0'=a_417^post220, t_24^0'=t_24^post220, i_94^0'=i_94^post220, x_852^0'=x_852^post220, a_862^0'=a_862^post220, rcd_1249^0'=rcd_1249^post220, rcd_58^0'=rcd_58^post220, a_310^0'=a_310^post220, i_127^0'=i_127^post220, a_576^0'=a_576^post220, tmp_34^0'=tmp_34^post220, length_29^0'=length_29^post220, a_1162^0'=a_1162^post220, f_969^0'=f_969^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220, a_395^0'=a_395^post220, x_17^0'=x_17^post220, a_633^0'=a_633^post220, r_224^0'=r_224^post220, a_239^0'=a_239^post220, i_107^0'=i_107^post220, a_431^0'=a_431^post220, temp0_16^0'=temp0_16^post220, len_238^0'=len_238^post220, x_SLAM_f_19^0'=x_SLAM_f_19^post220, a_924^0'=a_924^post220, ct_18^0'=ct_18^post220, result_11^0'=result_11^post220, a_392^0'=a_392^post220, i_197^0'=i_197^post220, a_579^0'=a_579^post220, r_143^0'=r_143^post220, a_1236^0'=a_1236^post220, head_32^0'=head_32^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220, i_30^0'=i_30^post220, x_253^0'=x_253^post220, a_635^0'=a_635^post220, r_970^0'=r_970^post220, rcd_47^0'=rcd_47^post220, a_309^0'=a_309^post220, i_1248^0'=i_1248^post220, a_575^0'=a_575^post220, temp_35^0'=temp_35^post220, len_861^0'=len_861^post220, (0 == 0 /\ a_577^0-a_577^post220 == 0 /\ -len_238^post220+len_238^0 == 0 /\ a_902^0-a_902^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220 == 0 /\ i_106^0-i_106^post220 == 0 /\ -result_11^post220+result_11^0 == 0 /\ -a_633^post220+a_633^0 == 0 /\ a_392^0-a_392^post220 == 0 /\ -rcd_47^post220+rcd_47^0 == 0 /\ a_1089^0-a_1089^post220 == 0 /\ -a_924^post220+a_924^0 == 0 /\ -head_15^post220+head_15^0 == 0 /\ -rcd_1249^post220+rcd_1249^0 == 0 /\ -a_610^post220+a_610^0 == 0 /\ len_161^0-len_161^post220 == 0 /\ i_30^post220-i_107^0 <= 0 /\ t_458^0-t_458^post220 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -r_143^post220+r_143^0 == 0 /\ x_21^0-x_21^post220 == 0 /\ a_862^0-a_862^post220 == 0 /\ a_579^0-a_579^post220 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_262^0-len_262^post220 == 0 /\ -r_970^post220+r_970^0 == 0 /\ -x_253^post220+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220 == 0 /\ temp0_31^0-temp0_31^post220 == 0 /\ f_847^0-f_847^post220 == 0 /\ -a_311^post220+a_311^0 == 0 /\ -f_969^post220+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220 == 0 /\ -a_576^post220+a_576^0 == 0 /\ a_394^0-a_394^post220 == 0 /\ i_94^0-i_94^post220 == 0 /\ -rcd_88^post220+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_1053^0-i_1053^post220 == 0 /\ -i_30^post220+i_107^0 <= 0 /\ -temp_35^post220+temp_35^0 == 0 /\ a_176^0-a_176^post220 == 0 /\ y_20^0-y_20^post220 == 0 /\ -a_634^post220+a_634^0 == 0 /\ -x_SLAM_f_19^post220+x_SLAM_f_19^0 == 0 /\ 1-i_106^0 <= 0 /\ a_121^0-a_121^post220 == 0 /\ r_192^0-r_192^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -a_310^post220+a_310^0 == 0 /\ i_113^0-i_113^post220 == 0 /\ -len_861^post220+len_861^0 == 0 /\ r_39^0-r_39^post220 == 0 /\ -temp0_16^post220+temp0_16^0 == 0 /\ -a_1236^post220+a_1236^0 == 0 /\ -a_417^post220+a_417^0 == 0 /\ -f_248^post220+f_248^0 == 0 /\ -r_224^post220+r_224^0 == 0 /\ x_14^0-x_14^post220 == 0 /\ -x_17^post220+x_17^0 == 0 /\ t_24^0-t_24^post220 == 0 /\ a_393^0-a_393^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post220 == 0 /\ -length_29^post220+length_29^0 == 0 /\ a_432^0-a_432^post220 == 0 /\ -a_239^post220+a_239^0 == 0 /\ -i_27^post220+i_27^0 == 0 /\ -a_430^post220+a_430^0 == 0 /\ -a_635^post220+a_635^0 == 0 /\ -i_107^post220+i_107^0 == 0 /\ -ct_18^post220+ct_18^0 == 0 /\ -r_151^post220+r_151^0 == 0 /\ -a_575^post220+a_575^0 == 0 /\ -i_197^post220+i_197^0 == 0 /\ i_1248^0-i_1248^post220 == 0 /\ -i_127^post220+i_127^0 == 0 /\ i_140^0-i_140^post220 == 0 /\ -head_32^post220+head_32^0 == 0 /\ i_229^0-i_229^post220 == 0 /\ a_263^0-a_263^post220 == 0 /\ x_156^0-x_156^post220 == 0 /\ nondet_12^0-nondet_12^post220 == 0 /\ a_431^0-a_431^post220 == 0 /\ -x_852^post220+x_852^0 == 0 /\ -a_1162^post220+a_1162^0 == 0 /\ rcd_58^0-rcd_58^post220 == 0 /\ tmp_34^0-tmp_34^post220 == 0 /\ a_395^0-a_395^post220 == 0 /\ -a_144^post220+a_144^0 == 0 /\ a_947^0-a_947^post220 == 0 /\ x_975^0-x_975^post220 == 0 /\ -a_309^post220+a_309^0 == 0), cost: 1 221: l131 -> l119 : a_1089^0'=a_1089^post221, f_847^0'=f_847^post221, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post221, a_394^0'=a_394^post221, x_156^0'=x_156^post221, a_632^0'=a_632^post221, r_192^0'=r_192^post221, a_176^0'=a_176^post221, i_106^0'=i_106^post221, a_430^0'=a_430^post221, t_458^0'=t_458^post221, len_161^0'=len_161^post221, x_975^0'=x_975^post221, a_902^0'=a_902^post221, a_947^0'=a_947^post221, rcd_88^0'=rcd_88^post221, a_311^0'=a_311^post221, i_140^0'=i_140^post221, a_577^0'=a_577^post221, x_14^0'=x_14^post221, nondet_12^0'=nondet_12^post221, a_121^0'=a_121^post221, head_15^0'=head_15^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221, i_27^0'=i_27^post221, x_21^0'=x_21^post221, a_634^0'=a_634^post221, r_39^0'=r_39^post221, a_263^0'=a_263^post221, i_113^0'=i_113^post221, a_432^0'=a_432^post221, temp0_31^0'=temp0_31^post221, len_262^0'=len_262^post221, y_20^0'=y_20^post221, f_248^0'=f_248^post221, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221, a_393^0'=a_393^post221, i_229^0'=i_229^post221, a_610^0'=a_610^post221, r_151^0'=r_151^post221, a_144^0'=a_144^post221, i_1053^0'=i_1053^post221, a_417^0'=a_417^post221, t_24^0'=t_24^post221, i_94^0'=i_94^post221, x_852^0'=x_852^post221, a_862^0'=a_862^post221, rcd_1249^0'=rcd_1249^post221, rcd_58^0'=rcd_58^post221, a_310^0'=a_310^post221, i_127^0'=i_127^post221, a_576^0'=a_576^post221, tmp_34^0'=tmp_34^post221, length_29^0'=length_29^post221, a_1162^0'=a_1162^post221, f_969^0'=f_969^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221, a_395^0'=a_395^post221, x_17^0'=x_17^post221, a_633^0'=a_633^post221, r_224^0'=r_224^post221, a_239^0'=a_239^post221, i_107^0'=i_107^post221, a_431^0'=a_431^post221, temp0_16^0'=temp0_16^post221, len_238^0'=len_238^post221, x_SLAM_f_19^0'=x_SLAM_f_19^post221, a_924^0'=a_924^post221, ct_18^0'=ct_18^post221, result_11^0'=result_11^post221, a_392^0'=a_392^post221, i_197^0'=i_197^post221, a_579^0'=a_579^post221, r_143^0'=r_143^post221, a_1236^0'=a_1236^post221, head_32^0'=head_32^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221, i_30^0'=i_30^post221, x_253^0'=x_253^post221, a_635^0'=a_635^post221, r_970^0'=r_970^post221, rcd_47^0'=rcd_47^post221, a_309^0'=a_309^post221, i_1248^0'=i_1248^post221, a_575^0'=a_575^post221, temp_35^0'=temp_35^post221, len_861^0'=len_861^post221, (-temp0_31^post221+temp0_31^0 == 0 /\ a_417^0-a_417^post221 == 0 /\ i_140^0-i_140^post221 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post221 == 0 /\ -a_144^post221+a_144^0 == 0 /\ -a_392^post221+a_392^0 == 0 /\ i_197^0-i_197^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1162^0-a_1162^post221 == 0 /\ -i_107^post221+i_107^0 == 0 /\ -len_861^post221+len_861^0 == 0 /\ y_20^0-y_20^post221 == 0 /\ -i_27^post221+i_27^0 == 0 /\ -head_32^post221+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221 == 0 /\ a_924^0-a_924^post221 == 0 /\ a_394^0-a_394^post221 == 0 /\ -a_635^post221+a_635^0 == 0 /\ -len_262^post221+len_262^0 == 0 /\ -i_1248^post221+i_1248^0 == 0 /\ -x_17^post221+x_17^0 == 0 /\ x_975^0-x_975^post221 == 0 /\ -i_30^post221+i_30^0 == 0 /\ r_39^0-r_39^post221 == 0 /\ -a_579^post221+a_579^0 == 0 /\ -rcd_58^post221+rcd_58^0 == 0 /\ t_458^0-t_458^post221 == 0 /\ -x_852^post221+x_852^0 == 0 /\ i_106^0-i_106^post221 == 0 /\ -i_127^post221+i_127^0 == 0 /\ -head_15^post221+head_15^0 == 0 /\ i_94^0-i_94^post221 == 0 /\ -a_633^post221+a_633^0 == 0 /\ a_310^0-a_310^post221 == 0 /\ a_393^0-a_393^post221 == 0 /\ -a_575^post221+a_575^0 == 0 /\ -ct_18^post221+ct_18^0 == 0 /\ -a_309^post221+a_309^0 == 0 /\ x_21^0-x_21^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_610^post221+a_610^0 == 0 /\ a_121^0-a_121^post221 == 0 /\ x_156^0-x_156^post221 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post221 == 0 /\ -tmp_34^post221+tmp_34^0 == 0 /\ a_263^0-a_263^post221 == 0 /\ i_229^0-i_229^post221 == 0 /\ f_847^0-f_847^post221 == 0 /\ -a_634^post221+a_634^0 == 0 /\ t_24^0-t_24^post221 == 0 /\ a_862^0-a_862^post221 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post221+rcd_1249^0 == 0 /\ f_248^0-f_248^post221 == 0 /\ r_224^0-r_224^post221 == 0 /\ a_947^0-a_947^post221 == 0 /\ -f_969^post221+f_969^0 == 0 /\ -x_253^post221+x_253^0 == 0 /\ -len_238^post221+len_238^0 == 0 /\ -result_11^post221+result_11^0 == 0 /\ r_970^0-r_970^post221 == 0 /\ a_176^0-a_176^post221 == 0 /\ r_151^0-r_151^post221 == 0 /\ length_29^0-length_29^post221 == 0 /\ -a_239^post221+a_239^0 == 0 /\ rcd_47^0-rcd_47^post221 == 0 /\ a_577^0-a_577^post221 == 0 /\ a_902^0-a_902^post221 == 0 /\ -nondet_12^post221+nondet_12^0 == 0 /\ -i_1053^post221+i_1053^0 == 0 /\ -a_576^post221+a_576^0 == 0 /\ rcd_88^0-rcd_88^post221 == 0 /\ i_113^0-i_113^post221 == 0 /\ a_311^0-a_311^post221 == 0 /\ -a_1236^post221+a_1236^0 == 0 /\ -r_143^post221+r_143^0 == 0 /\ -a_395^post221+a_395^0 == 0 /\ temp0_16^0-temp0_16^post221 == 0 /\ -temp_35^post221+temp_35^0 == 0 /\ a_1089^0-a_1089^post221 == 0 /\ x_14^0-x_14^post221 == 0 /\ a_432^0-a_432^post221 == 0 /\ -a_431^post221+a_431^0 == 0 /\ a_632^0-a_632^post221 == 0 /\ a_430^0-a_430^post221 == 0 /\ r_192^0-r_192^post221 == 0 /\ -len_161^post221+len_161^0 == 0), cost: 1 223: l139 -> l140 : a_1089^0'=a_1089^post223, f_847^0'=f_847^post223, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post223, a_394^0'=a_394^post223, x_156^0'=x_156^post223, a_632^0'=a_632^post223, r_192^0'=r_192^post223, a_176^0'=a_176^post223, i_106^0'=i_106^post223, a_430^0'=a_430^post223, t_458^0'=t_458^post223, len_161^0'=len_161^post223, x_975^0'=x_975^post223, a_902^0'=a_902^post223, a_947^0'=a_947^post223, rcd_88^0'=rcd_88^post223, a_311^0'=a_311^post223, i_140^0'=i_140^post223, a_577^0'=a_577^post223, x_14^0'=x_14^post223, nondet_12^0'=nondet_12^post223, a_121^0'=a_121^post223, head_15^0'=head_15^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223, i_27^0'=i_27^post223, x_21^0'=x_21^post223, a_634^0'=a_634^post223, r_39^0'=r_39^post223, a_263^0'=a_263^post223, i_113^0'=i_113^post223, a_432^0'=a_432^post223, temp0_31^0'=temp0_31^post223, len_262^0'=len_262^post223, y_20^0'=y_20^post223, f_248^0'=f_248^post223, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223, a_393^0'=a_393^post223, i_229^0'=i_229^post223, a_610^0'=a_610^post223, r_151^0'=r_151^post223, a_144^0'=a_144^post223, i_1053^0'=i_1053^post223, a_417^0'=a_417^post223, t_24^0'=t_24^post223, i_94^0'=i_94^post223, x_852^0'=x_852^post223, a_862^0'=a_862^post223, rcd_1249^0'=rcd_1249^post223, rcd_58^0'=rcd_58^post223, a_310^0'=a_310^post223, i_127^0'=i_127^post223, a_576^0'=a_576^post223, tmp_34^0'=tmp_34^post223, length_29^0'=length_29^post223, a_1162^0'=a_1162^post223, f_969^0'=f_969^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223, a_395^0'=a_395^post223, x_17^0'=x_17^post223, a_633^0'=a_633^post223, r_224^0'=r_224^post223, a_239^0'=a_239^post223, i_107^0'=i_107^post223, a_431^0'=a_431^post223, temp0_16^0'=temp0_16^post223, len_238^0'=len_238^post223, x_SLAM_f_19^0'=x_SLAM_f_19^post223, a_924^0'=a_924^post223, ct_18^0'=ct_18^post223, result_11^0'=result_11^post223, a_392^0'=a_392^post223, i_197^0'=i_197^post223, a_579^0'=a_579^post223, r_143^0'=r_143^post223, a_1236^0'=a_1236^post223, head_32^0'=head_32^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223, i_30^0'=i_30^post223, x_253^0'=x_253^post223, a_635^0'=a_635^post223, r_970^0'=r_970^post223, rcd_47^0'=rcd_47^post223, a_309^0'=a_309^post223, i_1248^0'=i_1248^post223, a_575^0'=a_575^post223, temp_35^0'=temp_35^post223, len_861^0'=len_861^post223, (-a_432^post223+a_432^0 == 0 /\ f_847^0-f_847^post223 == 0 /\ -a_862^post223+a_862^0 == 0 /\ -i_94^post223+i_94^0 == 0 /\ a_263^0-a_263^post223 == 0 /\ -i_113^post223+i_113^0 == 0 /\ -a_393^post223+a_393^0 == 0 /\ -a_392^post223+a_392^0 == 0 /\ -a_309^post223+a_309^0 == 0 /\ i_197^0-i_197^post223 == 0 /\ -a_635^post223+a_635^0 == 0 /\ -a_144^post223+a_144^0 == 0 /\ x_21^0-x_21^post223 == 0 /\ 1-x_14^0 <= 0 /\ head_15^0-head_15^post223 == 0 /\ -len_861^post223+len_861^0 == 0 /\ -i_1053^post223+i_1053^0 == 0 /\ a_924^0-a_924^post223 == 0 /\ nondet_12^0-nondet_12^post223 == 0 /\ ct_18^0-ct_18^post223 == 0 /\ -a_417^post223+a_417^0 == 0 /\ a_394^0-a_394^post223 == 0 /\ x_17^0-x_17^post223 == 0 /\ -i_30^post223+i_30^0 == 0 /\ a_121^0-a_121^post223 == 0 /\ -a_1236^post223+a_1236^0 == 0 /\ -rcd_47^post223+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_127^0-i_127^post223 == 0 /\ -a_579^post223+a_579^0 == 0 /\ -rcd_58^post223+rcd_58^0 == 0 /\ -length_29^post223+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post223 == 0 /\ a_1089^0-a_1089^post223 == 0 /\ i_106^0-i_106^post223 == 0 /\ -i_107^post223+i_107^0 == 0 /\ x_14^0-x_14^post223 == 0 /\ -r_151^post223+r_151^0 == 0 /\ -a_575^post223+a_575^0 == 0 /\ i_27^0-i_27^post223 == 0 /\ a_430^0-a_430^post223 == 0 /\ a_576^0-a_576^post223 == 0 /\ -head_32^post223+head_32^0 == 0 /\ -a_633^post223+a_633^0 == 0 /\ r_39^0-r_39^post223 == 0 /\ t_458^0-t_458^post223 == 0 /\ -result_11^post223+result_11^0 == 0 /\ -rcd_1249^post223+rcd_1249^0 == 0 /\ i_140^0-i_140^post223 == 0 /\ x_156^0-x_156^post223 == 0 /\ -temp_35^post223+temp_35^0 == 0 /\ a_431^0-a_431^post223 == 0 /\ -y_20^post223+y_20^0 == 0 /\ -tmp_34^post223+tmp_34^0 == 0 /\ -a_1162^post223+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post223 == 0 /\ -x_253^post223+x_253^0 == 0 /\ -len_238^post223+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_24^post223+t_24^0 == 0 /\ -r_970^post223+r_970^0 == 0 /\ a_634^0-a_634^post223 == 0 /\ r_224^0-r_224^post223 == 0 /\ x_975^0-x_975^post223 == 0 /\ len_262^0-len_262^post223 == 0 /\ a_947^0-a_947^post223 == 0 /\ a_577^0-a_577^post223 == 0 /\ -x_852^post223+x_852^0 == 0 /\ f_248^0-f_248^post223 == 0 /\ a_902^0-a_902^post223 == 0 /\ -i_229^post223+i_229^0 == 0 /\ rcd_88^0-rcd_88^post223 == 0 /\ a_176^0-a_176^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post223+i_1248^0 == 0 /\ r_192^0-r_192^post223 == 0 /\ f_969^0-f_969^post223 == 0 /\ -a_239^post223+a_239^0 == 0 /\ -x_SLAM_f_19^post223+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post223 == 0 /\ temp0_16^0-temp0_16^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post223 == 0 /\ -a_395^post223+a_395^0 == 0 /\ a_311^0-a_311^post223 == 0 /\ -r_143^post223+r_143^0 == 0 /\ len_161^0-len_161^post223 == 0 /\ a_310^0-a_310^post223 == 0), cost: 1 224: l139 -> l140 : a_1089^0'=a_1089^post224, f_847^0'=f_847^post224, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post224, a_394^0'=a_394^post224, x_156^0'=x_156^post224, a_632^0'=a_632^post224, r_192^0'=r_192^post224, a_176^0'=a_176^post224, i_106^0'=i_106^post224, a_430^0'=a_430^post224, t_458^0'=t_458^post224, len_161^0'=len_161^post224, x_975^0'=x_975^post224, a_902^0'=a_902^post224, a_947^0'=a_947^post224, rcd_88^0'=rcd_88^post224, a_311^0'=a_311^post224, i_140^0'=i_140^post224, a_577^0'=a_577^post224, x_14^0'=x_14^post224, nondet_12^0'=nondet_12^post224, a_121^0'=a_121^post224, head_15^0'=head_15^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224, i_27^0'=i_27^post224, x_21^0'=x_21^post224, a_634^0'=a_634^post224, r_39^0'=r_39^post224, a_263^0'=a_263^post224, i_113^0'=i_113^post224, a_432^0'=a_432^post224, temp0_31^0'=temp0_31^post224, len_262^0'=len_262^post224, y_20^0'=y_20^post224, f_248^0'=f_248^post224, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224, a_393^0'=a_393^post224, i_229^0'=i_229^post224, a_610^0'=a_610^post224, r_151^0'=r_151^post224, a_144^0'=a_144^post224, i_1053^0'=i_1053^post224, a_417^0'=a_417^post224, t_24^0'=t_24^post224, i_94^0'=i_94^post224, x_852^0'=x_852^post224, a_862^0'=a_862^post224, rcd_1249^0'=rcd_1249^post224, rcd_58^0'=rcd_58^post224, a_310^0'=a_310^post224, i_127^0'=i_127^post224, a_576^0'=a_576^post224, tmp_34^0'=tmp_34^post224, length_29^0'=length_29^post224, a_1162^0'=a_1162^post224, f_969^0'=f_969^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224, a_395^0'=a_395^post224, x_17^0'=x_17^post224, a_633^0'=a_633^post224, r_224^0'=r_224^post224, a_239^0'=a_239^post224, i_107^0'=i_107^post224, a_431^0'=a_431^post224, temp0_16^0'=temp0_16^post224, len_238^0'=len_238^post224, x_SLAM_f_19^0'=x_SLAM_f_19^post224, a_924^0'=a_924^post224, ct_18^0'=ct_18^post224, result_11^0'=result_11^post224, a_392^0'=a_392^post224, i_197^0'=i_197^post224, a_579^0'=a_579^post224, r_143^0'=r_143^post224, a_1236^0'=a_1236^post224, head_32^0'=head_32^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224, i_30^0'=i_30^post224, x_253^0'=x_253^post224, a_635^0'=a_635^post224, r_970^0'=r_970^post224, rcd_47^0'=rcd_47^post224, a_309^0'=a_309^post224, i_1248^0'=i_1248^post224, a_575^0'=a_575^post224, temp_35^0'=temp_35^post224, len_861^0'=len_861^post224, (ct_18^0-ct_18^post224 == 0 /\ -i_197^post224+i_197^0 == 0 /\ -a_579^post224+a_579^0 == 0 /\ r_192^0-r_192^post224 == 0 /\ i_113^0-i_113^post224 == 0 /\ -x_253^post224+x_253^0 == 0 /\ a_176^0-a_176^post224 == 0 /\ -a_431^post224+a_431^0 == 0 /\ -result_11^post224+result_11^0 == 0 /\ rcd_58^0-rcd_58^post224 == 0 /\ -a_263^post224+a_263^0 == 0 /\ -r_970^post224+r_970^0 == 0 /\ f_969^0-f_969^post224 == 0 /\ rcd_1249^0-rcd_1249^post224 == 0 /\ a_430^0-a_430^post224 == 0 /\ i_27^0-i_27^post224 == 0 /\ -t_24^post224+t_24^0 == 0 /\ -x_852^post224+x_852^0 == 0 /\ -a_1162^post224+a_1162^0 == 0 /\ x_14^0-x_14^post224 == 0 /\ r_39^0-r_39^post224 == 0 /\ -rcd_47^post224+rcd_47^0 == 0 /\ len_161^0-len_161^post224 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post224 == 0 /\ i_229^0-i_229^post224 == 0 /\ a_432^0-a_432^post224 == 0 /\ -a_395^post224+a_395^0 == 0 /\ -a_239^post224+a_239^0 == 0 /\ -temp0_16^post224+temp0_16^0 == 0 /\ -len_861^post224+len_861^0 == 0 /\ a_576^0-a_576^post224 == 0 /\ tmp_34^0-tmp_34^post224 == 0 /\ -y_20^post224+y_20^0 == 0 /\ nondet_12^0-nondet_12^post224 == 0 /\ -x_SLAM_f_19^post224+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post224 == 0 /\ i_140^0-i_140^post224 == 0 /\ a_634^0-a_634^post224 == 0 /\ -r_224^post224+r_224^0 == 0 /\ -temp_35^post224+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post224 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_1053^post224+i_1053^0 == 0 /\ -a_924^post224+a_924^0 == 0 /\ x_156^0-x_156^post224 == 0 /\ a_144^0-a_144^post224 == 0 /\ a_947^0-a_947^post224 == 0 /\ -a_417^post224+a_417^0 == 0 /\ -r_143^post224+r_143^0 == 0 /\ -a_575^post224+a_575^0 == 0 /\ a_577^0-a_577^post224 == 0 /\ a_311^0-a_311^post224 == 0 /\ -a_309^post224+a_309^0 == 0 /\ -a_1236^post224+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post224 == 0 /\ -i_30^post224+i_30^0 == 0 /\ -a_393^post224+a_393^0 == 0 /\ a_610^0-a_610^post224 == 0 /\ a_632^0-a_632^post224 == 0 /\ -i_106^post224+i_106^0 == 0 /\ -length_29^post224+length_29^0 == 0 /\ a_1089^0-a_1089^post224 == 0 /\ -i_107^post224+i_107^0 == 0 /\ a_635^0-a_635^post224 == 0 /\ -i_1248^post224+i_1248^0 == 0 /\ a_633^0-a_633^post224 == 0 /\ -a_310^post224+a_310^0 == 0 /\ -head_32^post224+head_32^0 == 0 /\ x_21^0-x_21^post224 == 0 /\ f_847^0-f_847^post224 == 0 /\ -len_238^post224+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post224+t_458^0 == 0 /\ temp0_31^0-temp0_31^post224 == 0 /\ -r_151^post224+r_151^0 == 0 /\ 1+x_14^0 <= 0 /\ i_94^0-i_94^post224 == 0 /\ -a_902^post224+a_902^0 == 0 /\ x_17^0-x_17^post224 == 0 /\ x_975^0-x_975^post224 == 0 /\ a_121^0-a_121^post224 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224 == 0 /\ len_262^0-len_262^post224 == 0 /\ a_394^0-a_394^post224 == 0 /\ i_127^0-i_127^post224 == 0 /\ -a_862^post224+a_862^0 == 0 /\ -a_392^post224+a_392^0 == 0), cost: 1 225: l140 -> l141 : a_1089^0'=a_1089^post225, f_847^0'=f_847^post225, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post225, a_394^0'=a_394^post225, x_156^0'=x_156^post225, a_632^0'=a_632^post225, r_192^0'=r_192^post225, a_176^0'=a_176^post225, i_106^0'=i_106^post225, a_430^0'=a_430^post225, t_458^0'=t_458^post225, len_161^0'=len_161^post225, x_975^0'=x_975^post225, a_902^0'=a_902^post225, a_947^0'=a_947^post225, rcd_88^0'=rcd_88^post225, a_311^0'=a_311^post225, i_140^0'=i_140^post225, a_577^0'=a_577^post225, x_14^0'=x_14^post225, nondet_12^0'=nondet_12^post225, a_121^0'=a_121^post225, head_15^0'=head_15^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225, i_27^0'=i_27^post225, x_21^0'=x_21^post225, a_634^0'=a_634^post225, r_39^0'=r_39^post225, a_263^0'=a_263^post225, i_113^0'=i_113^post225, a_432^0'=a_432^post225, temp0_31^0'=temp0_31^post225, len_262^0'=len_262^post225, y_20^0'=y_20^post225, f_248^0'=f_248^post225, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225, a_393^0'=a_393^post225, i_229^0'=i_229^post225, a_610^0'=a_610^post225, r_151^0'=r_151^post225, a_144^0'=a_144^post225, i_1053^0'=i_1053^post225, a_417^0'=a_417^post225, t_24^0'=t_24^post225, i_94^0'=i_94^post225, x_852^0'=x_852^post225, a_862^0'=a_862^post225, rcd_1249^0'=rcd_1249^post225, rcd_58^0'=rcd_58^post225, a_310^0'=a_310^post225, i_127^0'=i_127^post225, a_576^0'=a_576^post225, tmp_34^0'=tmp_34^post225, length_29^0'=length_29^post225, a_1162^0'=a_1162^post225, f_969^0'=f_969^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225, a_395^0'=a_395^post225, x_17^0'=x_17^post225, a_633^0'=a_633^post225, r_224^0'=r_224^post225, a_239^0'=a_239^post225, i_107^0'=i_107^post225, a_431^0'=a_431^post225, temp0_16^0'=temp0_16^post225, len_238^0'=len_238^post225, x_SLAM_f_19^0'=x_SLAM_f_19^post225, a_924^0'=a_924^post225, ct_18^0'=ct_18^post225, result_11^0'=result_11^post225, a_392^0'=a_392^post225, i_197^0'=i_197^post225, a_579^0'=a_579^post225, r_143^0'=r_143^post225, a_1236^0'=a_1236^post225, head_32^0'=head_32^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225, i_30^0'=i_30^post225, x_253^0'=x_253^post225, a_635^0'=a_635^post225, r_970^0'=r_970^post225, rcd_47^0'=rcd_47^post225, a_309^0'=a_309^post225, i_1248^0'=i_1248^post225, a_575^0'=a_575^post225, temp_35^0'=temp_35^post225, len_861^0'=len_861^post225, (0 == 0 /\ -a_309^post225+a_309^0 == 0 /\ x_156^0-x_156^post225 == 0 /\ -x_SLAM_f_19^post225+x_SLAM_f_19^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -a_392^post225+a_392^0 == 0 /\ -a_417^post225+a_417^0 == 0 /\ f_847^0-f_847^post225 == 0 /\ a_632^0-a_632^post225 == 0 /\ -i_107^post225+i_107^0 == 0 /\ -rcd_47^post225+rcd_47^0 == 0 /\ -a_575^post225+a_575^0 == 0 /\ -i_30^post225+i_30^0 == 0 /\ tmp_34^0-tmp_34^post225 == 0 /\ -i_113^post225+i_113^0 == 0 /\ -a_1236^post225+a_1236^0 == 0 /\ -a_635^post225+a_635^0 == 0 /\ a_902^0-a_902^post225 == 0 /\ rcd_58^0-rcd_58^post225 == 0 /\ x_14^0-x_14^post225 == 0 /\ a_394^0-a_394^post225 == 0 /\ head_15^0-head_15^post225 == 0 /\ -i_94^post225+i_94^0 == 0 /\ -a_432^post225+a_432^0 == 0 /\ a_862^0-a_862^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post225 == 0 /\ -temp0_31^post225+temp0_31^0 == 0 /\ ct_18^0-ct_18^post225 == 0 /\ i_140^0-i_140^post225 == 0 /\ -a_310^post225+a_310^0 == 0 /\ r_192^0-r_192^post225 == 0 /\ -r_39^post225+r_39^0 == 0 /\ a_176^0-a_176^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post225 == 0 /\ x_852^0-x_852^post225 == 0 /\ length_29^0-length_29^post225 == 0 /\ -head_32^post225+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ a_263^0-a_263^post225 == 0 /\ -y_20^post225+y_20^0 == 0 /\ a_430^0-a_430^post225 == 0 /\ -i_197^post225+i_197^0 == 0 /\ -len_238^post225+len_238^0 == 0 /\ -len_262^post225+len_262^0 == 0 /\ rcd_88^0-rcd_88^post225 == 0 /\ a_393^0-a_393^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ -a_579^post225+a_579^0 == 0 /\ a_610^0-a_610^post225 == 0 /\ -result_11^post225+result_11^0 == 0 /\ -i_127^post225+i_127^0 == 0 /\ f_248^0-f_248^post225 == 0 /\ a_633^0-a_633^post225 == 0 /\ a_311^0-a_311^post225 == 0 /\ -a_924^post225+a_924^0 == 0 /\ temp0_16^0-temp0_16^post225 == 0 /\ -temp_35^post225+temp_35^0 == 0 /\ -t_24^post225+t_24^0 == 0 /\ r_151^0-r_151^post225 == 0 /\ a_144^0-a_144^post225 == 0 /\ -r_970^post225+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225-nondet_12^111 == 0 /\ a_634^0-a_634^post225 == 0 /\ a_1089^0-a_1089^post225 == 0 /\ a_176^0-a_121^post225 <= 0 /\ x_975^0-x_975^post225 == 0 /\ -a_431^post225+a_431^0 == 0 /\ -i_229^post225+i_229^0 == 0 /\ -a_1162^post225+a_1162^0 == 0 /\ -x_253^post225+x_253^0 == 0 /\ -a_395^post225+a_395^0 == 0 /\ a_947^0-a_947^post225 == 0 /\ -i_1053^post225+i_1053^0 == 0 /\ -i_1248^post225+i_1248^0 == 0 /\ 1-i_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225 == 0 /\ -a_239^post225+a_239^0 == 0 /\ i_27^0-i_27^post225 == 0 /\ f_969^0-f_969^post225 == 0 /\ -r_224^post225+r_224^0 == 0 /\ -len_861^post225+len_861^0 == 0 /\ len_161^0-len_161^post225 == 0 /\ t_458^0-t_458^post225 == 0 /\ -r_143^post225+r_143^0 == 0 /\ rcd_1249^0-rcd_1249^post225 == 0 /\ i_106^0-i_106^post225 == 0 /\ -a_176^0+a_121^post225 <= 0 /\ a_576^0-a_576^post225 == 0 /\ -x_17^post225+x_17^0 == 0 /\ -x_21^post225+x_21^0 == 0), cost: 1 226: l141 -> l142 : a_1089^0'=a_1089^post226, f_847^0'=f_847^post226, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post226, a_394^0'=a_394^post226, x_156^0'=x_156^post226, a_632^0'=a_632^post226, r_192^0'=r_192^post226, a_176^0'=a_176^post226, i_106^0'=i_106^post226, a_430^0'=a_430^post226, t_458^0'=t_458^post226, len_161^0'=len_161^post226, x_975^0'=x_975^post226, a_902^0'=a_902^post226, a_947^0'=a_947^post226, rcd_88^0'=rcd_88^post226, a_311^0'=a_311^post226, i_140^0'=i_140^post226, a_577^0'=a_577^post226, x_14^0'=x_14^post226, nondet_12^0'=nondet_12^post226, a_121^0'=a_121^post226, head_15^0'=head_15^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226, i_27^0'=i_27^post226, x_21^0'=x_21^post226, a_634^0'=a_634^post226, r_39^0'=r_39^post226, a_263^0'=a_263^post226, i_113^0'=i_113^post226, a_432^0'=a_432^post226, temp0_31^0'=temp0_31^post226, len_262^0'=len_262^post226, y_20^0'=y_20^post226, f_248^0'=f_248^post226, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226, a_393^0'=a_393^post226, i_229^0'=i_229^post226, a_610^0'=a_610^post226, r_151^0'=r_151^post226, a_144^0'=a_144^post226, i_1053^0'=i_1053^post226, a_417^0'=a_417^post226, t_24^0'=t_24^post226, i_94^0'=i_94^post226, x_852^0'=x_852^post226, a_862^0'=a_862^post226, rcd_1249^0'=rcd_1249^post226, rcd_58^0'=rcd_58^post226, a_310^0'=a_310^post226, i_127^0'=i_127^post226, a_576^0'=a_576^post226, tmp_34^0'=tmp_34^post226, length_29^0'=length_29^post226, a_1162^0'=a_1162^post226, f_969^0'=f_969^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226, a_395^0'=a_395^post226, x_17^0'=x_17^post226, a_633^0'=a_633^post226, r_224^0'=r_224^post226, a_239^0'=a_239^post226, i_107^0'=i_107^post226, a_431^0'=a_431^post226, temp0_16^0'=temp0_16^post226, len_238^0'=len_238^post226, x_SLAM_f_19^0'=x_SLAM_f_19^post226, a_924^0'=a_924^post226, ct_18^0'=ct_18^post226, result_11^0'=result_11^post226, a_392^0'=a_392^post226, i_197^0'=i_197^post226, a_579^0'=a_579^post226, r_143^0'=r_143^post226, a_1236^0'=a_1236^post226, head_32^0'=head_32^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226, i_30^0'=i_30^post226, x_253^0'=x_253^post226, a_635^0'=a_635^post226, r_970^0'=r_970^post226, rcd_47^0'=rcd_47^post226, a_309^0'=a_309^post226, i_1248^0'=i_1248^post226, a_575^0'=a_575^post226, temp_35^0'=temp_35^post226, len_861^0'=len_861^post226, (nondet_12^0-nondet_12^post226 == 0 /\ -r_39^post226+r_39^0 == 0 /\ -i_1053^post226+i_1053^0 == 0 /\ x_14^0-x_14^post226 == 0 /\ -length_29^post226+length_29^0 == 0 /\ a_121^0-a_121^post226 == 0 /\ x_21^0-x_21^post226 == 0 /\ x_852^0-x_852^post226 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post226 == 0 /\ -a_395^post226+a_395^0 == 0 /\ len_161^0-len_161^post226 == 0 /\ len_262^0-len_262^post226 == 0 /\ a_947^0-a_947^post226 == 0 /\ a_576^0-a_576^post226 == 0 /\ -a_1236^post226+a_1236^0 == 0 /\ f_847^0-f_847^post226 == 0 /\ a_394^0-a_394^post226 == 0 /\ -i_1248^post226+i_1248^0 == 0 /\ -head_32^post226+head_32^0 == 0 /\ -a_862^post226+a_862^0 == 0 /\ -a_392^post226+a_392^0 == 0 /\ rcd_58^0-rcd_58^post226 == 0 /\ -a_579^post226+a_579^0 == 0 /\ -len_861^post226+len_861^0 == 0 /\ -a_263^post226+a_263^0 == 0 /\ r_224^0-r_224^post226 == 0 /\ -a_635^post226+a_635^0 == 0 /\ -a_144^post226+a_144^0 == 0 /\ -i_107^post226+i_107^0 == 0 /\ -a_393^post226+a_393^0 == 0 /\ a_577^0-a_577^post226 == 0 /\ -i_30^post226+i_30^0 == 0 /\ t_458^0-t_458^post226 == 0 /\ -a_575^post226+a_575^0 == 0 /\ i_106^0-i_106^post226 == 0 /\ -i_197^post226+i_197^0 == 0 /\ ct_18^0-ct_18^post226 == 0 /\ head_15^0-head_15^post226 == 0 /\ i_127^0-i_127^post226 == 0 /\ -a_309^post226+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post226 == 0 /\ a_432^0-a_432^post226 == 0 /\ -a_417^post226+a_417^0 == 0 /\ i_27^0-i_27^post226 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post226 == 0 /\ -t_24^post226+t_24^0 == 0 /\ a_430^0-a_430^post226 == 0 /\ -tmp_34^post226+tmp_34^0 == 0 /\ i_140^0-i_140^post226 == 0 /\ -len_238^post226+len_238^0 == 0 /\ -a_924^post226+a_924^0 == 0 /\ -rcd_47^post226+rcd_47^0 == 0 /\ a_431^0-a_431^post226 == 0 /\ a_1089^0-a_1089^post226 == 0 /\ -a_633^post226+a_633^0 == 0 /\ temp0_31^0-temp0_31^post226 == 0 /\ x_17^0-x_17^post226 == 0 /\ a_634^0-a_634^post226 == 0 /\ -a_1162^post226+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post226 == 0 /\ y_20^0-y_20^post226 == 0 /\ -r_151^post226+r_151^0 == 0 /\ -result_11^post226+result_11^0 == 0 /\ -rcd_1249^post226+rcd_1249^0 == 0 /\ -a_902^post226+a_902^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post226 == 0 /\ a_239^0-a_239^post226 == 0 /\ f_969^0-f_969^post226 == 0 /\ -x_253^post226+x_253^0 == 0 /\ x_975^0-x_975^post226 == 0 /\ -r_970^post226+r_970^0 == 0 /\ r_192^0-r_192^post226 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post226+r_143^0 == 0 /\ f_248^0-f_248^post226 == 0 /\ -i_94^post226+i_94^0 == 0 /\ -i_113^post226+i_113^0 == 0 /\ -x_SLAM_f_19^post226+x_SLAM_f_19^0 == 0 /\ a_310^0-a_310^post226 == 0 /\ temp0_16^0-temp0_16^post226 == 0 /\ -a_311^post226+a_311^0 == 0 /\ a_632^0-a_632^post226 == 0 /\ a_610^0-a_610^post226 == 0 /\ -temp_35^post226+temp_35^0 == 0), cost: 1 227: l141 -> l142 : a_1089^0'=a_1089^post227, f_847^0'=f_847^post227, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post227, a_394^0'=a_394^post227, x_156^0'=x_156^post227, a_632^0'=a_632^post227, r_192^0'=r_192^post227, a_176^0'=a_176^post227, i_106^0'=i_106^post227, a_430^0'=a_430^post227, t_458^0'=t_458^post227, len_161^0'=len_161^post227, x_975^0'=x_975^post227, a_902^0'=a_902^post227, a_947^0'=a_947^post227, rcd_88^0'=rcd_88^post227, a_311^0'=a_311^post227, i_140^0'=i_140^post227, a_577^0'=a_577^post227, x_14^0'=x_14^post227, nondet_12^0'=nondet_12^post227, a_121^0'=a_121^post227, head_15^0'=head_15^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227, i_27^0'=i_27^post227, x_21^0'=x_21^post227, a_634^0'=a_634^post227, r_39^0'=r_39^post227, a_263^0'=a_263^post227, i_113^0'=i_113^post227, a_432^0'=a_432^post227, temp0_31^0'=temp0_31^post227, len_262^0'=len_262^post227, y_20^0'=y_20^post227, f_248^0'=f_248^post227, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227, a_393^0'=a_393^post227, i_229^0'=i_229^post227, a_610^0'=a_610^post227, r_151^0'=r_151^post227, a_144^0'=a_144^post227, i_1053^0'=i_1053^post227, a_417^0'=a_417^post227, t_24^0'=t_24^post227, i_94^0'=i_94^post227, x_852^0'=x_852^post227, a_862^0'=a_862^post227, rcd_1249^0'=rcd_1249^post227, rcd_58^0'=rcd_58^post227, a_310^0'=a_310^post227, i_127^0'=i_127^post227, a_576^0'=a_576^post227, tmp_34^0'=tmp_34^post227, length_29^0'=length_29^post227, a_1162^0'=a_1162^post227, f_969^0'=f_969^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227, a_395^0'=a_395^post227, x_17^0'=x_17^post227, a_633^0'=a_633^post227, r_224^0'=r_224^post227, a_239^0'=a_239^post227, i_107^0'=i_107^post227, a_431^0'=a_431^post227, temp0_16^0'=temp0_16^post227, len_238^0'=len_238^post227, x_SLAM_f_19^0'=x_SLAM_f_19^post227, a_924^0'=a_924^post227, ct_18^0'=ct_18^post227, result_11^0'=result_11^post227, a_392^0'=a_392^post227, i_197^0'=i_197^post227, a_579^0'=a_579^post227, r_143^0'=r_143^post227, a_1236^0'=a_1236^post227, head_32^0'=head_32^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227, i_30^0'=i_30^post227, x_253^0'=x_253^post227, a_635^0'=a_635^post227, r_970^0'=r_970^post227, rcd_47^0'=rcd_47^post227, a_309^0'=a_309^post227, i_1248^0'=i_1248^post227, a_575^0'=a_575^post227, temp_35^0'=temp_35^post227, len_861^0'=len_861^post227, (-a_1162^post227+a_1162^0 == 0 /\ 1+head_15^0 <= 0 /\ f_969^0-f_969^post227 == 0 /\ -a_924^post227+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post227 == 0 /\ -rcd_47^post227+rcd_47^0 == 0 /\ r_39^0-r_39^post227 == 0 /\ a_1089^0-a_1089^post227 == 0 /\ -len_238^post227+len_238^0 == 0 /\ -x_253^post227+x_253^0 == 0 /\ -t_24^post227+t_24^0 == 0 /\ x_21^0-x_21^post227 == 0 /\ -r_151^post227+r_151^0 == 0 /\ x_14^0-x_14^post227 == 0 /\ r_192^0-r_192^post227 == 0 /\ -result_11^post227+result_11^0 == 0 /\ i_140^0-i_140^post227 == 0 /\ -i_94^post227+i_94^0 == 0 /\ a_263^0-a_263^post227 == 0 /\ i_27^0-i_27^post227 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post227 == 0 /\ -r_224^post227+r_224^0 == 0 /\ nondet_12^0-nondet_12^post227 == 0 /\ -temp_35^post227+temp_35^0 == 0 /\ a_576^0-a_576^post227 == 0 /\ a_634^0-a_634^post227 == 0 /\ -i_113^post227+i_113^0 == 0 /\ -r_970^post227+r_970^0 == 0 /\ x_156^0-x_156^post227 == 0 /\ -x_SLAM_f_19^post227+x_SLAM_f_19^0 == 0 /\ -r_143^post227+r_143^0 == 0 /\ tmp_34^0-tmp_34^post227 == 0 /\ -a_431^post227+a_431^0 == 0 /\ rcd_58^0-rcd_58^post227 == 0 /\ a_144^0-a_144^post227 == 0 /\ a_947^0-a_947^post227 == 0 /\ -a_395^post227+a_395^0 == 0 /\ -a_1236^post227+a_1236^0 == 0 /\ -y_20^post227+y_20^0 == 0 /\ -a_432^post227+a_432^0 == 0 /\ f_248^0-f_248^post227 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post227+a_862^0 == 0 /\ a_610^0-a_610^post227 == 0 /\ x_975^0-x_975^post227 == 0 /\ i_127^0-i_127^post227 == 0 /\ a_430^0-a_430^post227 == 0 /\ a_632^0-a_632^post227 == 0 /\ -i_106^post227+i_106^0 == 0 /\ -a_392^post227+a_392^0 == 0 /\ a_311^0-a_311^post227 == 0 /\ -length_29^post227+length_29^0 == 0 /\ -i_1248^post227+i_1248^0 == 0 /\ rcd_1249^0-rcd_1249^post227 == 0 /\ head_15^0-head_15^post227 == 0 /\ a_577^0-a_577^post227 == 0 /\ a_902^0-a_902^post227 == 0 /\ rcd_88^0-rcd_88^post227 == 0 /\ -a_239^post227+a_239^0 == 0 /\ -temp0_16^post227+temp0_16^0 == 0 /\ -a_310^post227+a_310^0 == 0 /\ -i_30^post227+i_30^0 == 0 /\ i_229^0-i_229^post227 == 0 /\ -t_458^post227+t_458^0 == 0 /\ -len_861^post227+len_861^0 == 0 /\ -head_32^post227+head_32^0 == 0 /\ -x_852^post227+x_852^0 == 0 /\ a_121^0-a_121^post227 == 0 /\ -a_393^post227+a_393^0 == 0 /\ temp0_31^0-temp0_31^post227 == 0 /\ -a_309^post227+a_309^0 == 0 /\ len_262^0-len_262^post227 == 0 /\ -a_635^post227+a_635^0 == 0 /\ -a_579^post227+a_579^0 == 0 /\ x_17^0-x_17^post227 == 0 /\ len_161^0-len_161^post227 == 0 /\ a_633^0-a_633^post227 == 0 /\ a_176^0-a_176^post227 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227 == 0 /\ i_1053^0-i_1053^post227 == 0 /\ -i_107^post227+i_107^0 == 0 /\ f_847^0-f_847^post227 == 0 /\ a_394^0-a_394^post227 == 0 /\ -a_575^post227+a_575^0 == 0 /\ -i_197^post227+i_197^0 == 0 /\ -a_417^post227+a_417^0 == 0), cost: 1 228: l142 -> l16 : a_1089^0'=a_1089^post228, f_847^0'=f_847^post228, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post228, a_394^0'=a_394^post228, x_156^0'=x_156^post228, a_632^0'=a_632^post228, r_192^0'=r_192^post228, a_176^0'=a_176^post228, i_106^0'=i_106^post228, a_430^0'=a_430^post228, t_458^0'=t_458^post228, len_161^0'=len_161^post228, x_975^0'=x_975^post228, a_902^0'=a_902^post228, a_947^0'=a_947^post228, rcd_88^0'=rcd_88^post228, a_311^0'=a_311^post228, i_140^0'=i_140^post228, a_577^0'=a_577^post228, x_14^0'=x_14^post228, nondet_12^0'=nondet_12^post228, a_121^0'=a_121^post228, head_15^0'=head_15^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228, i_27^0'=i_27^post228, x_21^0'=x_21^post228, a_634^0'=a_634^post228, r_39^0'=r_39^post228, a_263^0'=a_263^post228, i_113^0'=i_113^post228, a_432^0'=a_432^post228, temp0_31^0'=temp0_31^post228, len_262^0'=len_262^post228, y_20^0'=y_20^post228, f_248^0'=f_248^post228, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228, a_393^0'=a_393^post228, i_229^0'=i_229^post228, a_610^0'=a_610^post228, r_151^0'=r_151^post228, a_144^0'=a_144^post228, i_1053^0'=i_1053^post228, a_417^0'=a_417^post228, t_24^0'=t_24^post228, i_94^0'=i_94^post228, x_852^0'=x_852^post228, a_862^0'=a_862^post228, rcd_1249^0'=rcd_1249^post228, rcd_58^0'=rcd_58^post228, a_310^0'=a_310^post228, i_127^0'=i_127^post228, a_576^0'=a_576^post228, tmp_34^0'=tmp_34^post228, length_29^0'=length_29^post228, a_1162^0'=a_1162^post228, f_969^0'=f_969^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228, a_395^0'=a_395^post228, x_17^0'=x_17^post228, a_633^0'=a_633^post228, r_224^0'=r_224^post228, a_239^0'=a_239^post228, i_107^0'=i_107^post228, a_431^0'=a_431^post228, temp0_16^0'=temp0_16^post228, len_238^0'=len_238^post228, x_SLAM_f_19^0'=x_SLAM_f_19^post228, a_924^0'=a_924^post228, ct_18^0'=ct_18^post228, result_11^0'=result_11^post228, a_392^0'=a_392^post228, i_197^0'=i_197^post228, a_579^0'=a_579^post228, r_143^0'=r_143^post228, a_1236^0'=a_1236^post228, head_32^0'=head_32^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228, i_30^0'=i_30^post228, x_253^0'=x_253^post228, a_635^0'=a_635^post228, r_970^0'=r_970^post228, rcd_47^0'=rcd_47^post228, a_309^0'=a_309^post228, i_1248^0'=i_1248^post228, a_575^0'=a_575^post228, temp_35^0'=temp_35^post228, len_861^0'=len_861^post228, (0 == 0 /\ -len_861^post228+len_861^0 == 0 /\ a_263^0-a_263^post228 == 0 /\ -a_1236^post228+a_1236^0 == 0 /\ len_161^0-len_161^post228 == 0 /\ result_11^0-result_11^post228 == 0 /\ -a_432^post228+a_432^0 == 0 /\ x_156^0-x_156^post228 == 0 /\ -i_1248^post228+i_1248^0 == 0 /\ head_15^0-head_15^post228 == 0 /\ a_634^0-a_634^post228 == 0 /\ -i_94^post228+i_94^0 == 0 /\ -x_17^post228+x_17^0 == 0 /\ -a_392^post228+a_392^0 == 0 /\ -temp0_31^post228+temp0_31^0 == 0 /\ a_862^0-a_862^post228 == 0 /\ -temp0_16^post228+temp0_16^0 == 0 /\ f_248^0-f_248^post228 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_224^post228+r_224^0 == 0 /\ -a_310^post228+a_310^0 == 0 /\ a_947^0-a_947^post228 == 0 /\ -i_1053^post228+i_1053^0 == 0 /\ rcd_58^0-rcd_58^post228 == 0 /\ -i_197^post228+i_197^0 == 0 /\ -head_32^post228+head_32^0 == 0 /\ -a_579^post228+a_579^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_430^0-a_430^post228 == 0 /\ rcd_88^0-rcd_88^post228 == 0 /\ r_192^0-r_192^post228 == 0 /\ a_311^0-a_311^post228 == 0 /\ a_902^0-a_902^post228 == 0 /\ -ct_18^post228+ct_18^0 == 0 /\ -a_635^post228+a_635^0 == 0 /\ a_176^0-a_176^post228 == 0 /\ -len_238^post228+len_238^0 == 0 /\ -len_262^post228+len_262^0 == 0 /\ -i_30^post228+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ length_29^0-length_29^post228 == 0 /\ -i_127^post228+i_127^0 == 0 /\ -x_14^post228+x_14^0 == 0 /\ -a_309^post228+a_309^0 == 0 /\ -1-a_121^0+i_113^post228 <= 0 /\ -r_39^post228+r_39^0 == 0 /\ x_852^0-x_852^post228 == 0 /\ a_1089^0-a_1089^post228 == 0 /\ -i_107^post228+i_107^0 == 0 /\ a_632^0-a_632^post228 == 0 /\ -a_575^post228+a_575^0 == 0 /\ -a_121^post228+a_121^0 == 0 /\ -tmp_34^post228+tmp_34^0 == 0 /\ a_576^0-a_576^post228 == 0 /\ f_847^0-f_847^post228 == 0 /\ -a_1162^post228+a_1162^0 == 0 /\ nondet_12^0-nondet_12^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228 == 0 /\ i_140^0-i_140^post228 == 0 /\ -a_431^post228+a_431^0 == 0 /\ a_144^0-a_144^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_21^post228+x_21^0 == 0 /\ -t_24^post228+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228 == 0 /\ y_20^0-y_20^post228 == 0 /\ r_151^0-r_151^post228 == 0 /\ -rcd_47^post228+rcd_47^0 == 0 /\ a_394^0-a_394^post228 == 0 /\ a_417^0-a_417^post228 == 0 /\ -a_924^post228+a_924^0 == 0 /\ -r_143^post228+r_143^0 == 0 /\ f_969^0-f_969^post228 == 0 /\ a_239^0-a_239^post228 == 0 /\ 1-i_27^0 <= 0 /\ a_577^0-a_577^post228 == 0 /\ x_975^0-x_975^post228 == 0 /\ -i_229^post228+i_229^0 == 0 /\ -x_253^post228+x_253^0 == 0 /\ -x_SLAM_f_19^post228+x_SLAM_f_19^0 == 0 /\ rcd_1249^0-rcd_1249^post228 == 0 /\ -r_970^post228+r_970^0 == 0 /\ a_610^0-a_610^post228 == 0 /\ i_106^0-i_106^post228 == 0 /\ -temp_35^post228+temp_35^0 == 0 /\ a_633^0-a_633^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_27^0-i_27^post228 == 0 /\ a_393^0-a_393^post228 == 0 /\ 1+a_121^0-i_113^post228 <= 0 /\ t_458^0-t_458^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post228 == 0 /\ -a_395^post228+a_395^0 == 0), cost: 1 229: l143 -> l144 : a_1089^0'=a_1089^post229, f_847^0'=f_847^post229, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post229, a_394^0'=a_394^post229, x_156^0'=x_156^post229, a_632^0'=a_632^post229, r_192^0'=r_192^post229, a_176^0'=a_176^post229, i_106^0'=i_106^post229, a_430^0'=a_430^post229, t_458^0'=t_458^post229, len_161^0'=len_161^post229, x_975^0'=x_975^post229, a_902^0'=a_902^post229, a_947^0'=a_947^post229, rcd_88^0'=rcd_88^post229, a_311^0'=a_311^post229, i_140^0'=i_140^post229, a_577^0'=a_577^post229, x_14^0'=x_14^post229, nondet_12^0'=nondet_12^post229, a_121^0'=a_121^post229, head_15^0'=head_15^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229, i_27^0'=i_27^post229, x_21^0'=x_21^post229, a_634^0'=a_634^post229, r_39^0'=r_39^post229, a_263^0'=a_263^post229, i_113^0'=i_113^post229, a_432^0'=a_432^post229, temp0_31^0'=temp0_31^post229, len_262^0'=len_262^post229, y_20^0'=y_20^post229, f_248^0'=f_248^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229, a_393^0'=a_393^post229, i_229^0'=i_229^post229, a_610^0'=a_610^post229, r_151^0'=r_151^post229, a_144^0'=a_144^post229, i_1053^0'=i_1053^post229, a_417^0'=a_417^post229, t_24^0'=t_24^post229, i_94^0'=i_94^post229, x_852^0'=x_852^post229, a_862^0'=a_862^post229, rcd_1249^0'=rcd_1249^post229, rcd_58^0'=rcd_58^post229, a_310^0'=a_310^post229, i_127^0'=i_127^post229, a_576^0'=a_576^post229, tmp_34^0'=tmp_34^post229, length_29^0'=length_29^post229, a_1162^0'=a_1162^post229, f_969^0'=f_969^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229, a_395^0'=a_395^post229, x_17^0'=x_17^post229, a_633^0'=a_633^post229, r_224^0'=r_224^post229, a_239^0'=a_239^post229, i_107^0'=i_107^post229, a_431^0'=a_431^post229, temp0_16^0'=temp0_16^post229, len_238^0'=len_238^post229, x_SLAM_f_19^0'=x_SLAM_f_19^post229, a_924^0'=a_924^post229, ct_18^0'=ct_18^post229, result_11^0'=result_11^post229, a_392^0'=a_392^post229, i_197^0'=i_197^post229, a_579^0'=a_579^post229, r_143^0'=r_143^post229, a_1236^0'=a_1236^post229, head_32^0'=head_32^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229, i_30^0'=i_30^post229, x_253^0'=x_253^post229, a_635^0'=a_635^post229, r_970^0'=r_970^post229, rcd_47^0'=rcd_47^post229, a_309^0'=a_309^post229, i_1248^0'=i_1248^post229, a_575^0'=a_575^post229, temp_35^0'=temp_35^post229, len_861^0'=len_861^post229, (0 == 0 /\ r_143^0-r_143^post229 == 0 /\ a_902^0-a_902^post229 == 0 /\ a_392^0-a_392^post229 == 0 /\ -head_32^post229 <= 0 /\ -y_20^post229+y_20^0 == 0 /\ t_458^0-t_458^post229 == 0 /\ a_176^0-a_176^post229 == 0 /\ -f_969^post229+f_969^0 == 0 /\ rcd_88^0-rcd_88^post229 == 0 /\ head_15^0-head_15^post229 == 0 /\ x_14^0-x_14^post229 == 0 /\ i_106^0-i_106^post229 == 0 /\ -a_121^post229+a_121^0 == 0 /\ -a_924^post229+a_924^0 == 0 /\ -x_21^post229+x_21^0 == 0 /\ -temp_35^post229+temp_35^0 == 0 /\ -len_238^post229+len_238^0 == 0 /\ i_27^0-i_27^post229 == 0 /\ -r_970^post229+r_970^0 == 0 /\ head_32^post229 <= 0 /\ head_32^post229 == 0 /\ r_39^0-r_39^post229 == 0 /\ -a_1162^post229+a_1162^0 == 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_1236^0-a_1236^post229 == 0 /\ -x_SLAM_f_19^post229+x_SLAM_f_19^0 == 0 /\ len_262^0-len_262^post229 == 0 /\ -i_1248^post229+i_1248^0 == 0 /\ -nondet_12^112+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_263^0-a_263^post229 == 0 /\ -a_239^post229+a_239^0 == 0 /\ temp0_31^0-temp0_31^post229 == 0 /\ -len_861^post229+len_861^0 == 0 /\ result_11^0-result_11^post229 == 0 /\ -temp0_16^post229+temp0_16^0 == 0 /\ -x_253^post229+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229 == 0 /\ -i_113^post229+i_113^0 == 0 /\ a_634^0-a_634^post229 == 0 /\ -a_431^post229+a_431^0 == 0 /\ -a_432^post229+a_432^0 == 0 /\ i_30^post229 <= 0 /\ i_30^post229 == 0 /\ -a_395^post229+a_395^0 == 0 /\ -length_29^post229+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ tmp_34^0-tmp_34^post229 == 0 /\ a_417^0-a_417^post229 == 0 /\ f_248^0-f_248^post229 == 0 /\ -i_229^post229+i_229^0 == 0 /\ a_577^0-a_577^post229 == 0 /\ -a_309^post229+a_309^0 == 0 /\ a_1089^0-a_1089^post229 == 0 /\ r_192^0-r_192^post229 == 0 /\ -a_144^post229+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_127^0-i_127^post229 == 0 /\ -a_862^post229+a_862^0 == 0 /\ -i_107^post229+i_107^0 == 0 /\ -a_310^post229+a_310^0 == 0 /\ rcd_1249^0-rcd_1249^post229 == 0 /\ i_1053^0-i_1053^post229 == 0 /\ -a_575^post229+a_575^0 == 0 /\ len_161^0-len_161^post229 == 0 /\ a_632^0-a_632^post229 == 0 /\ i_140^0-i_140^post229 == 0 /\ a_393^0-a_393^post229 == 0 /\ -a_635^post229+a_635^0 == 0 /\ -r_224^post229+r_224^0 == 0 /\ -i_94^post229+i_94^0 == 0 /\ -x_17^post229+x_17^0 == 0 /\ a_311^0-a_311^post229 == 0 /\ -i_30^post229 <= 0 /\ x_852^0-x_852^post229 == 0 /\ x_156^0-x_156^post229 == 0 /\ -a_430^post229+a_430^0 == 0 /\ f_847^0-f_847^post229 == 0 /\ -t_24^post229+t_24^0 == 0 /\ -ct_18^post229+ct_18^0 == 0 /\ a_633^0-a_633^post229 == 0 /\ a_576^0-a_576^post229 == 0 /\ -a_579^post229+a_579^0 == 0 /\ a_610^0-a_610^post229 == 0 /\ a_947^0-a_947^post229 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229 == 0 /\ rcd_58^0-rcd_58^post229 == 0 /\ -rcd_47^post229+rcd_47^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229 == 0 /\ a_394^0-a_394^post229 == 0 /\ -x_975^post229+x_975^0 == 0 /\ -i_197^post229+i_197^0 == 0 /\ r_151^0-r_151^post229 == 0), cost: 1 368: l144 -> l145 : a_1089^0'=a_1089^post368, f_847^0'=f_847^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post368, a_394^0'=a_394^post368, x_156^0'=x_156^post368, a_632^0'=a_632^post368, r_192^0'=r_192^post368, a_176^0'=a_176^post368, i_106^0'=i_106^post368, a_430^0'=a_430^post368, t_458^0'=t_458^post368, len_161^0'=len_161^post368, x_975^0'=x_975^post368, a_902^0'=a_902^post368, a_947^0'=a_947^post368, rcd_88^0'=rcd_88^post368, a_311^0'=a_311^post368, i_140^0'=i_140^post368, a_577^0'=a_577^post368, x_14^0'=x_14^post368, nondet_12^0'=nondet_12^post368, a_121^0'=a_121^post368, head_15^0'=head_15^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368, i_27^0'=i_27^post368, x_21^0'=x_21^post368, a_634^0'=a_634^post368, r_39^0'=r_39^post368, a_263^0'=a_263^post368, i_113^0'=i_113^post368, a_432^0'=a_432^post368, temp0_31^0'=temp0_31^post368, len_262^0'=len_262^post368, y_20^0'=y_20^post368, f_248^0'=f_248^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368, a_393^0'=a_393^post368, i_229^0'=i_229^post368, a_610^0'=a_610^post368, r_151^0'=r_151^post368, a_144^0'=a_144^post368, i_1053^0'=i_1053^post368, a_417^0'=a_417^post368, t_24^0'=t_24^post368, i_94^0'=i_94^post368, x_852^0'=x_852^post368, a_862^0'=a_862^post368, rcd_1249^0'=rcd_1249^post368, rcd_58^0'=rcd_58^post368, a_310^0'=a_310^post368, i_127^0'=i_127^post368, a_576^0'=a_576^post368, tmp_34^0'=tmp_34^post368, length_29^0'=length_29^post368, a_1162^0'=a_1162^post368, f_969^0'=f_969^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368, a_395^0'=a_395^post368, x_17^0'=x_17^post368, a_633^0'=a_633^post368, r_224^0'=r_224^post368, a_239^0'=a_239^post368, i_107^0'=i_107^post368, a_431^0'=a_431^post368, temp0_16^0'=temp0_16^post368, len_238^0'=len_238^post368, x_SLAM_f_19^0'=x_SLAM_f_19^post368, a_924^0'=a_924^post368, ct_18^0'=ct_18^post368, result_11^0'=result_11^post368, a_392^0'=a_392^post368, i_197^0'=i_197^post368, a_579^0'=a_579^post368, r_143^0'=r_143^post368, a_1236^0'=a_1236^post368, head_32^0'=head_32^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368, i_30^0'=i_30^post368, x_253^0'=x_253^post368, a_635^0'=a_635^post368, r_970^0'=r_970^post368, rcd_47^0'=rcd_47^post368, a_309^0'=a_309^post368, i_1248^0'=i_1248^post368, a_575^0'=a_575^post368, temp_35^0'=temp_35^post368, len_861^0'=len_861^post368, (0 == 0 /\ -r_151^post368+r_151^0 == 0 /\ -a_144^post368+a_144^0 == 0 /\ a_1162^0-a_1162^post368 == 0 /\ -a_392^post368+a_392^0 == 0 /\ -a_635^post368+a_635^0 == 0 /\ -i_107^post368+i_107^0 == 0 /\ i_197^0-i_197^post368 == 0 /\ -i_94^post368+i_94^0 == 0 /\ -a_575^post368+a_575^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ 1-length_29^0+i_30^0 <= 0 /\ a_924^0-a_924^post368 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ nondet_12^0-nondet_12^post368 == 0 /\ -i_113^post368+i_113^0 == 0 /\ -a_309^post368+a_309^0 == 0 /\ r_192^0-r_192^post368 == 0 /\ tmp_34^post368-temp_35^0 == 0 /\ -a_1236^post368+a_1236^0 == 0 /\ -tmp_34^post368+head_32^post368 <= 0 /\ -tmp_34^post368+head_32^post368 == 0 /\ -a_432^post368+a_432^0 == 0 /\ x_21^0-x_21^post368 == 0 /\ -a_417^post368+a_417^0 == 0 /\ ct_18^0-ct_18^post368 == 0 /\ -len_238^post368+len_238^0 == 0 /\ i_127^0-i_127^post368 == 0 /\ a_947^0-a_947^post368 == 0 /\ -length_29^post368+length_29^0 == 0 /\ -rcd_58^post368+rcd_58^0 == 0 /\ i_27^0-i_27^post368 == 0 /\ -i_140^post368+i_140^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ -a_633^post368+a_633^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post368 == 0 /\ r_39^0-r_39^post368 == 0 /\ a_430^0-a_430^post368 == 0 /\ tmp_34^post368-head_32^post368 <= 0 /\ -rcd_47^post368+rcd_47^0 == 0 /\ t_458^0-t_458^post368 == 0 /\ -a_862^post368+a_862^0 == 0 /\ a_1089^0-a_1089^post368 == 0 /\ i_106^0-i_106^post368 == 0 /\ 1-length_29^0 <= 0 /\ a_576^0-a_576^post368 == 0 /\ a_263^0-a_263^post368 == 0 /\ -a_579^post368+a_579^0 == 0 /\ x_156^0-x_156^post368 == 0 /\ -r_970^post368+r_970^0 == 0 /\ -y_20^post368+y_20^0 == 0 /\ -x_852^post368+x_852^0 == 0 /\ a_632^0-a_632^post368 == 0 /\ -1+i_30^post368-i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-tmp_34^post368 <= 0 /\ r_224^0-r_224^post368 == 0 /\ a_902^0-a_902^post368 == 0 /\ x_975^0-x_975^post368 == 0 /\ a_121^0-a_121^post368 == 0 /\ f_969^0-f_969^post368 == 0 /\ a_431^0-a_431^post368 == 0 /\ len_262^0-len_262^post368 == 0 /\ temp0_31^0-temp0_31^post368 == 0 /\ f_248^0-f_248^post368 == 0 /\ head_15^0-head_15^post368 == 0 /\ a_577^0-a_577^post368 == 0 /\ i_229^0-i_229^post368 == 0 /\ a_634^0-a_634^post368 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-head_32^post368 <= 0 /\ -x_253^post368+x_253^0 == 0 /\ -i_1053^post368+i_1053^0 == 0 /\ a_394^0-a_394^post368 == 0 /\ x_17^0-x_17^post368 == 0 /\ a_310^0-a_310^post368 == 0 /\ x_14^0-x_14^post368 == 0 /\ -a_395^post368+a_395^0 == 0 /\ a_610^0-a_610^post368 == 0 /\ a_176^0-a_176^post368 == 0 /\ -temp0_16^post368+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+tmp_34^post368 <= 0 /\ -len_861^post368+len_861^0 == 0 /\ t_24^0-t_24^post368 == 0 /\ -i_1248^post368+i_1248^0 == 0 /\ -result_11^post368+result_11^0 == 0 /\ -a_239^post368+a_239^0 == 0 /\ len_161^0-len_161^post368 == 0 /\ -r_143^post368+r_143^0 == 0 /\ rcd_88^0-rcd_88^post368 == 0 /\ -a_393^post368+a_393^0 == 0 /\ 1-i_30^post368 <= 0 /\ -1+i_30^post368 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+head_32^post368 <= 0 /\ a_311^0-a_311^post368 == 0 /\ f_847^0-f_847^post368 == 0 /\ -rcd_1249^post368+rcd_1249^0 == 0), cost: 1 230: l145 -> l49 : a_1089^0'=a_1089^post230, f_847^0'=f_847^post230, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post230, a_394^0'=a_394^post230, x_156^0'=x_156^post230, a_632^0'=a_632^post230, r_192^0'=r_192^post230, a_176^0'=a_176^post230, i_106^0'=i_106^post230, a_430^0'=a_430^post230, t_458^0'=t_458^post230, len_161^0'=len_161^post230, x_975^0'=x_975^post230, a_902^0'=a_902^post230, a_947^0'=a_947^post230, rcd_88^0'=rcd_88^post230, a_311^0'=a_311^post230, i_140^0'=i_140^post230, a_577^0'=a_577^post230, x_14^0'=x_14^post230, nondet_12^0'=nondet_12^post230, a_121^0'=a_121^post230, head_15^0'=head_15^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230, i_27^0'=i_27^post230, x_21^0'=x_21^post230, a_634^0'=a_634^post230, r_39^0'=r_39^post230, a_263^0'=a_263^post230, i_113^0'=i_113^post230, a_432^0'=a_432^post230, temp0_31^0'=temp0_31^post230, len_262^0'=len_262^post230, y_20^0'=y_20^post230, f_248^0'=f_248^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, a_393^0'=a_393^post230, i_229^0'=i_229^post230, a_610^0'=a_610^post230, r_151^0'=r_151^post230, a_144^0'=a_144^post230, i_1053^0'=i_1053^post230, a_417^0'=a_417^post230, t_24^0'=t_24^post230, i_94^0'=i_94^post230, x_852^0'=x_852^post230, a_862^0'=a_862^post230, rcd_1249^0'=rcd_1249^post230, rcd_58^0'=rcd_58^post230, a_310^0'=a_310^post230, i_127^0'=i_127^post230, a_576^0'=a_576^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, a_1162^0'=a_1162^post230, f_969^0'=f_969^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230, a_395^0'=a_395^post230, x_17^0'=x_17^post230, a_633^0'=a_633^post230, r_224^0'=r_224^post230, a_239^0'=a_239^post230, i_107^0'=i_107^post230, a_431^0'=a_431^post230, temp0_16^0'=temp0_16^post230, len_238^0'=len_238^post230, x_SLAM_f_19^0'=x_SLAM_f_19^post230, a_924^0'=a_924^post230, ct_18^0'=ct_18^post230, result_11^0'=result_11^post230, a_392^0'=a_392^post230, i_197^0'=i_197^post230, a_579^0'=a_579^post230, r_143^0'=r_143^post230, a_1236^0'=a_1236^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230, i_30^0'=i_30^post230, x_253^0'=x_253^post230, a_635^0'=a_635^post230, r_970^0'=r_970^post230, rcd_47^0'=rcd_47^post230, a_309^0'=a_309^post230, i_1248^0'=i_1248^post230, a_575^0'=a_575^post230, temp_35^0'=temp_35^post230, len_861^0'=len_861^post230, (0 == 0 /\ a_1089^0-a_1089^post230 == 0 /\ -i_197^post230+i_197^0 == 0 /\ a_394^0-a_394^post230 == 0 /\ -head_15^post230+x_14^post230 <= 0 /\ -head_15^post230+x_14^post230 == 0 /\ -rcd_1249^post230+rcd_1249^0 == 0 /\ -r_970^post230+r_970^0 == 0 /\ i_1053^0-i_1053^post230 == 0 /\ f_969^0-f_969^post230 == 0 /\ rcd_58^0-rcd_58^post230 == 0 /\ a_430^0-a_430^post230 == 0 /\ -a_417^post230+a_417^0 == 0 /\ i_140^0-i_140^post230 == 0 /\ -ct_18^post230+ct_18^0 == 0 /\ t_458^0-t_458^post230 == 0 /\ a_632^0-a_632^post230 == 0 /\ -a_1162^post230+a_1162^0 == 0 /\ -x_253^post230+x_253^0 == 0 /\ len_161^0-len_161^post230 == 0 /\ result_11^10-temp0_31^10 == 0 /\ a_634^0-a_634^post230 == 0 /\ a_310^0-a_310^post230 == 0 /\ a_311^0-a_311^post230 == 0 /\ length_29^0-i_30^0 <= 0 /\ -f_248^post230+f_248^0 == 0 /\ a_263^0-a_263^post230 == 0 /\ head_15^post230-x_14^post230 <= 0 /\ -len_861^post230+len_861^0 == 0 /\ -rcd_88^post230+rcd_88^0 == 0 /\ x_21^0-x_21^post230 == 0 /\ -a_577^post230+a_577^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ a_1236^0-a_1236^post230 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post230 == 0 /\ -i_1248^post230+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230 == 0 /\ a_176^0-a_176^post230 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ y_20^0-y_20^post230 == 0 /\ -a_395^post230+a_395^0 == 0 /\ len_262^0-len_262^post230 == 0 /\ -a_576^post230+a_576^0 == 0 /\ a_121^0-a_121^post230 == 0 /\ -a_924^post230+a_924^0 == 0 /\ x_156^0-x_156^post230 == 0 /\ -r_143^post230+r_143^0 == 0 /\ f_847^0-f_847^post230 == 0 /\ -a_575^post230+a_575^0 == 0 /\ -x_852^post230+x_852^0 == 0 /\ -a_309^post230+a_309^0 == 0 /\ -a_144^post230+a_144^0 == 0 /\ i_27^0-i_27^post230 == 0 /\ r_192^0-r_192^post230 == 0 /\ -x_17^post230+x_17^0 == 0 /\ t_24^0-t_24^post230 == 0 /\ i_107^0-i_107^post230 == 0 /\ head_15^post230-result_11^10 == 0 /\ a_393^0-a_393^post230 == 0 /\ -temp0_16^post230+temp0_16^0 == 0 /\ a_635^0-a_635^post230 == 0 /\ i_94^0-i_94^post230 == 0 /\ i_113^0-i_113^post230 == 0 /\ temp0_31^10-head_32^0 == 0 /\ a_862^0-a_862^post230 == 0 /\ -len_238^post230+len_238^0 == 0 /\ -r_151^post230+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post230 == 0 /\ -a_610^post230+a_610^0 == 0 /\ a_432^0-a_432^post230 == 0 /\ a_431^0-a_431^post230 == 0 /\ a_902^0-a_902^post230 == 0 /\ a_239^0-a_239^post230 == 0 /\ r_39^0-r_39^post230 == 0 /\ nondet_12^0-nondet_12^post230 == 0 /\ -a_633^post230+a_633^0 == 0 /\ r_224^0-r_224^post230 == 0 /\ x_975^0-x_975^post230 == 0 /\ -i_127^post230+i_127^0 == 0 /\ -rcd_47^post230+rcd_47^0 == 0 /\ -a_579^post230+a_579^0 == 0 /\ i_106^0-i_106^post230 == 0 /\ -a_392^post230+a_392^0 == 0 /\ a_947^0-a_947^post230 == 0), cost: 1 231: l145 -> l146 : a_1089^0'=a_1089^post231, f_847^0'=f_847^post231, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post231, a_394^0'=a_394^post231, x_156^0'=x_156^post231, a_632^0'=a_632^post231, r_192^0'=r_192^post231, a_176^0'=a_176^post231, i_106^0'=i_106^post231, a_430^0'=a_430^post231, t_458^0'=t_458^post231, len_161^0'=len_161^post231, x_975^0'=x_975^post231, a_902^0'=a_902^post231, a_947^0'=a_947^post231, rcd_88^0'=rcd_88^post231, a_311^0'=a_311^post231, i_140^0'=i_140^post231, a_577^0'=a_577^post231, x_14^0'=x_14^post231, nondet_12^0'=nondet_12^post231, a_121^0'=a_121^post231, head_15^0'=head_15^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231, i_27^0'=i_27^post231, x_21^0'=x_21^post231, a_634^0'=a_634^post231, r_39^0'=r_39^post231, a_263^0'=a_263^post231, i_113^0'=i_113^post231, a_432^0'=a_432^post231, temp0_31^0'=temp0_31^post231, len_262^0'=len_262^post231, y_20^0'=y_20^post231, f_248^0'=f_248^post231, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231, a_393^0'=a_393^post231, i_229^0'=i_229^post231, a_610^0'=a_610^post231, r_151^0'=r_151^post231, a_144^0'=a_144^post231, i_1053^0'=i_1053^post231, a_417^0'=a_417^post231, t_24^0'=t_24^post231, i_94^0'=i_94^post231, x_852^0'=x_852^post231, a_862^0'=a_862^post231, rcd_1249^0'=rcd_1249^post231, rcd_58^0'=rcd_58^post231, a_310^0'=a_310^post231, i_127^0'=i_127^post231, a_576^0'=a_576^post231, tmp_34^0'=tmp_34^post231, length_29^0'=length_29^post231, a_1162^0'=a_1162^post231, f_969^0'=f_969^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231, a_395^0'=a_395^post231, x_17^0'=x_17^post231, a_633^0'=a_633^post231, r_224^0'=r_224^post231, a_239^0'=a_239^post231, i_107^0'=i_107^post231, a_431^0'=a_431^post231, temp0_16^0'=temp0_16^post231, len_238^0'=len_238^post231, x_SLAM_f_19^0'=x_SLAM_f_19^post231, a_924^0'=a_924^post231, ct_18^0'=ct_18^post231, result_11^0'=result_11^post231, a_392^0'=a_392^post231, i_197^0'=i_197^post231, a_579^0'=a_579^post231, r_143^0'=r_143^post231, a_1236^0'=a_1236^post231, head_32^0'=head_32^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231, i_30^0'=i_30^post231, x_253^0'=x_253^post231, a_635^0'=a_635^post231, r_970^0'=r_970^post231, rcd_47^0'=rcd_47^post231, a_309^0'=a_309^post231, i_1248^0'=i_1248^post231, a_575^0'=a_575^post231, temp_35^0'=temp_35^post231, len_861^0'=len_861^post231, (0 == 0 /\ 2-i_30^post231 <= 0 /\ x_156^0-x_156^post231 == 0 /\ 2-length_29^0 <= 0 /\ -r_151^post231+r_151^0 == 0 /\ -a_575^post231+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231 == 0 /\ -r_143^post231+r_143^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+head_32^post231 <= 0 /\ a_579^0-a_579^post231 == 0 /\ a_632^0-a_632^post231 == 0 /\ a_430^0-a_430^post231 == 0 /\ x_975^0-x_975^post231 == 0 /\ len_262^0-len_262^post231 == 0 /\ -a_576^post231+a_576^0 == 0 /\ a_577^0-a_577^post231 == 0 /\ a_902^0-a_902^post231 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post231 == 0 /\ -a_309^post231+a_309^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-tmp_34^post231 <= 0 /\ i_229^0-i_229^post231 == 0 /\ a_1162^0-a_1162^post231 == 0 /\ a_634^0-a_634^post231 == 0 /\ -a_144^post231+a_144^0 == 0 /\ -x_SLAM_f_19^post231+x_SLAM_f_19^0 == 0 /\ a_394^0-a_394^post231 == 0 /\ -len_238^post231+len_238^0 == 0 /\ -a_610^post231+a_610^0 == 0 /\ a_310^0-a_310^post231 == 0 /\ -a_1236^post231+a_1236^0 == 0 /\ i_1053^0-i_1053^post231 == 0 /\ a_176^0-a_176^post231 == 0 /\ -a_633^post231+a_633^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-head_32^post231 <= 0 /\ tmp_34^post231-temp_35^0 == 0 /\ i_140^0-i_140^post231 == 0 /\ -rcd_47^post231+rcd_47^0 == 0 /\ -f_969^post231+f_969^0 == 0 /\ -i_27^post231+i_27^0 == 0 /\ f_847^0-f_847^post231 == 0 /\ a_392^0-a_392^post231 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+tmp_34^post231 <= 0 /\ 1-length_29^0 <= 0 /\ t_24^0-t_24^post231 == 0 /\ -length_29^post231+length_29^0 == 0 /\ -1+i_30^post231-i_30^0 == 0 /\ -r_192^post231+r_192^0 == 0 /\ -ct_18^post231+ct_18^0 == 0 /\ -2+i_30^post231 <= 0 /\ -i_127^post231+i_127^0 == 0 /\ i_94^0-i_94^post231 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231 == 0 /\ -a_431^post231+a_431^0 == 0 /\ -head_15^post231+head_15^0 == 0 /\ -x_253^post231+x_253^0 == 0 /\ -i_197^post231+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post231-length_29^0 <= 0 /\ -x_852^post231+x_852^0 == 0 /\ -a_311^post231+a_311^0 == 0 /\ y_20^0-y_20^post231 == 0 /\ a_432^0-a_432^post231 == 0 /\ a_862^0-a_862^post231 == 0 /\ i_113^0-i_113^post231 == 0 /\ r_970^0-r_970^post231 == 0 /\ -len_161^post231+len_161^0 == 0 /\ a_121^0-a_121^post231 == 0 /\ x_21^0-x_21^post231 == 0 /\ -rcd_88^post231+rcd_88^0 == 0 /\ -tmp_34^post231+head_32^post231 <= 0 /\ -tmp_34^post231+head_32^post231 == 0 /\ nondet_12^0-nondet_12^post231 == 0 /\ -temp0_16^post231+temp0_16^0 == 0 /\ a_947^0-a_947^post231 == 0 /\ -len_861^post231+len_861^0 == 0 /\ -a_417^post231+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post231+length_29^0 <= 0 /\ a_395^0-a_395^post231 == 0 /\ -f_248^post231+f_248^0 == 0 /\ x_14^0-x_14^post231 == 0 /\ -result_11^post231+result_11^0 == 0 /\ i_107^0-i_107^post231 == 0 /\ -rcd_1249^post231+rcd_1249^0 == 0 /\ r_39^0-r_39^post231 == 0 /\ t_458^0-t_458^post231 == 0 /\ -a_924^post231+a_924^0 == 0 /\ -r_224^post231+r_224^0 == 0 /\ -i_1248^post231+i_1248^0 == 0 /\ tmp_34^post231-head_32^post231 <= 0 /\ -a_393^post231+a_393^0 == 0 /\ a_1089^0-a_1089^post231 == 0 /\ -a_239^post231+a_239^0 == 0 /\ -x_17^post231+x_17^0 == 0 /\ i_106^0-i_106^post231 == 0 /\ a_263^0-a_263^post231 == 0 /\ -a_635^post231+a_635^0 == 0), cost: 1 364: l146 -> l119 : a_1089^0'=a_1089^post364, f_847^0'=f_847^post364, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, a_394^0'=a_394^post364, x_156^0'=x_156^post364, a_632^0'=a_632^post364, r_192^0'=r_192^post364, a_176^0'=a_176^post364, i_106^0'=i_106^post364, a_430^0'=a_430^post364, t_458^0'=t_458^post364, len_161^0'=len_161^post364, x_975^0'=x_975^post364, a_902^0'=a_902^post364, a_947^0'=a_947^post364, rcd_88^0'=rcd_88^post364, a_311^0'=a_311^post364, i_140^0'=i_140^post364, a_577^0'=a_577^post364, x_14^0'=x_14^post364, nondet_12^0'=nondet_12^post364, a_121^0'=a_121^post364, head_15^0'=head_15^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364, i_27^0'=i_27^post364, x_21^0'=x_21^post364, a_634^0'=a_634^post364, r_39^0'=r_39^post364, a_263^0'=a_263^post364, i_113^0'=i_113^post364, a_432^0'=a_432^post364, temp0_31^0'=temp0_31^post364, len_262^0'=len_262^post364, y_20^0'=y_20^post364, f_248^0'=f_248^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, a_393^0'=a_393^post364, i_229^0'=i_229^post364, a_610^0'=a_610^post364, r_151^0'=r_151^post364, a_144^0'=a_144^post364, i_1053^0'=i_1053^post364, a_417^0'=a_417^post364, t_24^0'=t_24^post364, i_94^0'=i_94^post364, x_852^0'=x_852^post364, a_862^0'=a_862^post364, rcd_1249^0'=rcd_1249^post364, rcd_58^0'=rcd_58^post364, a_310^0'=a_310^post364, i_127^0'=i_127^post364, a_576^0'=a_576^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, a_1162^0'=a_1162^post364, f_969^0'=f_969^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364, a_395^0'=a_395^post364, x_17^0'=x_17^post364, a_633^0'=a_633^post364, r_224^0'=r_224^post364, a_239^0'=a_239^post364, i_107^0'=i_107^post364, a_431^0'=a_431^post364, temp0_16^0'=temp0_16^post364, len_238^0'=len_238^post364, x_SLAM_f_19^0'=x_SLAM_f_19^post364, a_924^0'=a_924^post364, ct_18^0'=ct_18^post364, result_11^0'=result_11^post364, a_392^0'=a_392^post364, i_197^0'=i_197^post364, a_579^0'=a_579^post364, r_143^0'=r_143^post364, a_1236^0'=a_1236^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364, i_30^0'=i_30^post364, x_253^0'=x_253^post364, a_635^0'=a_635^post364, r_970^0'=r_970^post364, rcd_47^0'=rcd_47^post364, a_309^0'=a_309^post364, i_1248^0'=i_1248^post364, a_575^0'=a_575^post364, temp_35^0'=temp_35^post364, len_861^0'=len_861^post364, (0 == 0 /\ f_847^0-f_847^post364 == 0 /\ -len_238^post364+len_238^0 == 0 /\ ct_18^0-ct_18^post364 == 0 /\ r_192^0-r_192^post364 == 0 /\ head_15^post364-x_14^post364 <= 0 /\ f_248^0-f_248^post364 == 0 /\ -x_SLAM_f_19^post364+x_SLAM_f_19^0 == 0 /\ -r_143^post364+r_143^0 == 0 /\ -i_107^post364+i_107^0 == 0 /\ -y_20^post364+y_20^0 == 0 /\ a_417^0-a_417^post364 == 0 /\ -a_575^post364+a_575^0 == 0 /\ x_156^0-x_156^post364 == 0 /\ i_27^0-i_27^post364 == 0 /\ i_127^0-i_127^post364 == 0 /\ -r_970^post364+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_94^0-i_94^post364 == 0 /\ i_113^0-i_113^post364 == 0 /\ length_29^0-i_30^0 <= 0 /\ -a_431^post364+a_431^0 == 0 /\ a_432^0-a_432^post364 == 0 /\ -i_1248^post364+i_1248^0 == 0 /\ -a_392^post364+a_392^0 == 0 /\ -a_239^post364+a_239^0 == 0 /\ -head_15^post364+x_14^post364 <= 0 /\ -head_15^post364+x_14^post364 == 0 /\ rcd_88^0-rcd_88^post364 == 0 /\ -a_310^post364+a_310^0 == 0 /\ -x_253^post364+x_253^0 == 0 /\ i_106^0-i_106^post364 == 0 /\ nondet_12^0-nondet_12^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364 == 0 /\ x_975^0-x_975^post364 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post364 == 0 /\ r_39^0-r_39^post364 == 0 /\ -a_121^post364+a_121^0 == 0 /\ -i_229^post364+i_229^0 == 0 /\ temp0_16^0-temp0_16^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ r_151^0-r_151^post364 == 0 /\ -r_224^post364+r_224^0 == 0 /\ -i_30^0 <= 0 /\ -i_1053^post364+i_1053^0 == 0 /\ a_610^0-a_610^post364 == 0 /\ -rcd_58^post364+rcd_58^0 == 0 /\ -a_309^post364+a_309^0 == 0 /\ a_393^0-a_393^post364 == 0 /\ a_430^0-a_430^post364 == 0 /\ -a_635^post364+a_635^0 == 0 /\ i_140^0-i_140^post364 == 0 /\ -a_395^post364+a_395^0 == 0 /\ -a_263^post364+a_263^0 == 0 /\ -i_197^post364+i_197^0 == 0 /\ a_632^0-a_632^post364 == 0 /\ -a_579^post364+a_579^0 == 0 /\ -a_862^post364+a_862^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ f_969^0-f_969^post364 == 0 /\ a_311^0-a_311^post364 == 0 /\ a_1089^0-a_1089^post364 == 0 /\ -a_1236^post364+a_1236^0 == 0 /\ a_633^0-a_633^post364 == 0 /\ a_176^0-a_176^post364 == 0 /\ -rcd_47^post364+rcd_47^0 == 0 /\ -a_924^post364+a_924^0 == 0 /\ -a_1162^post364+a_1162^0 == 0 /\ len_161^0-len_161^post364 == 0 /\ a_144^0-a_144^post364 == 0 /\ -x_17^post364+x_17^0 == 0 /\ -t_458^post364+t_458^0 == 0 /\ -t_24^post364+t_24^0 == 0 /\ a_576^0-a_576^post364 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -result_11^11+head_15^post364 == 0 /\ -a_634^post364+a_634^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ x_21^0-x_21^post364 == 0 /\ x_852^0-x_852^post364 == 0 /\ a_947^0-a_947^post364 == 0 /\ -len_861^post364+len_861^0 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ len_262^0-len_262^post364 == 0 /\ -a_902^post364+a_902^0 == 0 /\ a_394^0-a_394^post364 == 0 /\ a_577^0-a_577^post364 == 0), cost: 1 365: l146 -> l222 : a_1089^0'=a_1089^post365, f_847^0'=f_847^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post365, a_394^0'=a_394^post365, x_156^0'=x_156^post365, a_632^0'=a_632^post365, r_192^0'=r_192^post365, a_176^0'=a_176^post365, i_106^0'=i_106^post365, a_430^0'=a_430^post365, t_458^0'=t_458^post365, len_161^0'=len_161^post365, x_975^0'=x_975^post365, a_902^0'=a_902^post365, a_947^0'=a_947^post365, rcd_88^0'=rcd_88^post365, a_311^0'=a_311^post365, i_140^0'=i_140^post365, a_577^0'=a_577^post365, x_14^0'=x_14^post365, nondet_12^0'=nondet_12^post365, a_121^0'=a_121^post365, head_15^0'=head_15^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365, i_27^0'=i_27^post365, x_21^0'=x_21^post365, a_634^0'=a_634^post365, r_39^0'=r_39^post365, a_263^0'=a_263^post365, i_113^0'=i_113^post365, a_432^0'=a_432^post365, temp0_31^0'=temp0_31^post365, len_262^0'=len_262^post365, y_20^0'=y_20^post365, f_248^0'=f_248^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365, a_393^0'=a_393^post365, i_229^0'=i_229^post365, a_610^0'=a_610^post365, r_151^0'=r_151^post365, a_144^0'=a_144^post365, i_1053^0'=i_1053^post365, a_417^0'=a_417^post365, t_24^0'=t_24^post365, i_94^0'=i_94^post365, x_852^0'=x_852^post365, a_862^0'=a_862^post365, rcd_1249^0'=rcd_1249^post365, rcd_58^0'=rcd_58^post365, a_310^0'=a_310^post365, i_127^0'=i_127^post365, a_576^0'=a_576^post365, tmp_34^0'=tmp_34^post365, length_29^0'=length_29^post365, a_1162^0'=a_1162^post365, f_969^0'=f_969^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365, a_395^0'=a_395^post365, x_17^0'=x_17^post365, a_633^0'=a_633^post365, r_224^0'=r_224^post365, a_239^0'=a_239^post365, i_107^0'=i_107^post365, a_431^0'=a_431^post365, temp0_16^0'=temp0_16^post365, len_238^0'=len_238^post365, x_SLAM_f_19^0'=x_SLAM_f_19^post365, a_924^0'=a_924^post365, ct_18^0'=ct_18^post365, result_11^0'=result_11^post365, a_392^0'=a_392^post365, i_197^0'=i_197^post365, a_579^0'=a_579^post365, r_143^0'=r_143^post365, a_1236^0'=a_1236^post365, head_32^0'=head_32^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365, i_30^0'=i_30^post365, x_253^0'=x_253^post365, a_635^0'=a_635^post365, r_970^0'=r_970^post365, rcd_47^0'=rcd_47^post365, a_309^0'=a_309^post365, i_1248^0'=i_1248^post365, a_575^0'=a_575^post365, temp_35^0'=temp_35^post365, len_861^0'=len_861^post365, (0 == 0 /\ -a_862^post365+a_862^0 == 0 /\ -a_417^post365+a_417^0 == 0 /\ -i_27^post365+i_27^0 == 0 /\ -i_107^post365+i_107^0 == 0 /\ f_847^0-f_847^post365 == 0 /\ a_263^0-a_263^post365 == 0 /\ -a_575^post365+a_575^0 == 0 /\ -1+i_30^post365-i_94^post365 <= 0 /\ -a_1236^post365+a_1236^0 == 0 /\ -a_309^post365+a_309^0 == 0 /\ -a_635^post365+a_635^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ temp0_31^0-temp0_31^post365 == 0 /\ -a_393^post365+a_393^0 == 0 /\ i_229^0-i_229^post365 == 0 /\ a_634^0-a_634^post365 == 0 /\ head_15^0-head_15^post365 == 0 /\ nondet_12^0-nondet_12^post365 == 0 /\ a_121^0-a_121^post365 == 0 /\ -length_29^post365+length_29^0 == 0 /\ tmp_34^post365-temp_35^0 == 0 /\ x_156^0-x_156^post365 == 0 /\ len_262^0-len_262^post365 == 0 /\ a_947^0-a_947^post365 == 0 /\ r_192^0-r_192^post365 == 0 /\ i_127^0-i_127^post365 == 0 /\ i_113^0-i_113^post365 == 0 /\ -ct_18^post365+ct_18^0 == 0 /\ a_176^0-a_176^post365 == 0 /\ -len_238^post365+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post365+r_151^0 == 0 /\ a_430^0-a_430^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post365 == 0 /\ -a_579^post365+a_579^0 == 0 /\ x_14^0-x_14^post365 == 0 /\ a_1089^0-a_1089^post365 == 0 /\ -a_392^post365+a_392^0 == 0 /\ a_632^0-a_632^post365 == 0 /\ -rcd_1249^post365+rcd_1249^0 == 0 /\ a_633^0-a_633^post365 == 0 /\ a_432^0-a_432^post365 == 0 /\ -1+i_30^post365-i_30^0 == 0 /\ x_21^0-x_21^post365 == 0 /\ -i_197^post365+i_197^0 == 0 /\ 1-i_30^post365+i_94^post365 <= 0 /\ -x_253^post365+x_253^0 == 0 /\ -result_11^post365+result_11^0 == 0 /\ -i_30^0 <= 0 /\ temp0_16^0-temp0_16^post365 == 0 /\ -r_970^post365+r_970^0 == 0 /\ 1-length_29^0+i_94^post365 <= 0 /\ -a_902^post365+a_902^0 == 0 /\ i_140^0-i_140^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365 == 0 /\ a_431^0-a_431^post365 == 0 /\ -x_852^post365+x_852^0 == 0 /\ f_248^0-f_248^post365 == 0 /\ -a_1162^post365+a_1162^0 == 0 /\ x_975^0-x_975^post365 == 0 /\ x_17^0-x_17^post365 == 0 /\ -tmp_34^post365+head_32^post365 == 0 /\ y_20^0-y_20^post365 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365 == 0 /\ a_577^0-a_577^post365 == 0 /\ -rcd_47^post365+rcd_47^0 == 0 /\ a_144^0-a_144^post365 == 0 /\ a_394^0-a_394^post365 == 0 /\ -rcd_58^post365+rcd_58^0 == 0 /\ -a_311^post365+a_311^0 == 0 /\ -a_395^post365+a_395^0 == 0 /\ -len_861^post365+len_861^0 == 0 /\ -i_1248^post365+i_1248^0 == 0 /\ -x_SLAM_f_19^post365+x_SLAM_f_19^0 == 0 /\ -a_239^post365+a_239^0 == 0 /\ f_969^0-f_969^post365 == 0 /\ a_610^0-a_610^post365 == 0 /\ i_106^0-i_106^post365 == 0 /\ -r_224^post365+r_224^0 == 0 /\ t_24^0-t_24^post365 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post365 == 0 /\ r_39^0-r_39^post365 == 0 /\ -a_576^post365+a_576^0 == 0 /\ a_310^0-a_310^post365 == 0 /\ -a_924^post365+a_924^0 == 0 /\ -i_1053^post365+i_1053^0 == 0 /\ len_161^0-len_161^post365 == 0 /\ -r_143^post365+r_143^0 == 0), cost: 1 239: l151 -> l152 : a_1089^0'=a_1089^post239, f_847^0'=f_847^post239, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post239, a_394^0'=a_394^post239, x_156^0'=x_156^post239, a_632^0'=a_632^post239, r_192^0'=r_192^post239, a_176^0'=a_176^post239, i_106^0'=i_106^post239, a_430^0'=a_430^post239, t_458^0'=t_458^post239, len_161^0'=len_161^post239, x_975^0'=x_975^post239, a_902^0'=a_902^post239, a_947^0'=a_947^post239, rcd_88^0'=rcd_88^post239, a_311^0'=a_311^post239, i_140^0'=i_140^post239, a_577^0'=a_577^post239, x_14^0'=x_14^post239, nondet_12^0'=nondet_12^post239, a_121^0'=a_121^post239, head_15^0'=head_15^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239, i_27^0'=i_27^post239, x_21^0'=x_21^post239, a_634^0'=a_634^post239, r_39^0'=r_39^post239, a_263^0'=a_263^post239, i_113^0'=i_113^post239, a_432^0'=a_432^post239, temp0_31^0'=temp0_31^post239, len_262^0'=len_262^post239, y_20^0'=y_20^post239, f_248^0'=f_248^post239, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239, a_393^0'=a_393^post239, i_229^0'=i_229^post239, a_610^0'=a_610^post239, r_151^0'=r_151^post239, a_144^0'=a_144^post239, i_1053^0'=i_1053^post239, a_417^0'=a_417^post239, t_24^0'=t_24^post239, i_94^0'=i_94^post239, x_852^0'=x_852^post239, a_862^0'=a_862^post239, rcd_1249^0'=rcd_1249^post239, rcd_58^0'=rcd_58^post239, a_310^0'=a_310^post239, i_127^0'=i_127^post239, a_576^0'=a_576^post239, tmp_34^0'=tmp_34^post239, length_29^0'=length_29^post239, a_1162^0'=a_1162^post239, f_969^0'=f_969^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239, a_395^0'=a_395^post239, x_17^0'=x_17^post239, a_633^0'=a_633^post239, r_224^0'=r_224^post239, a_239^0'=a_239^post239, i_107^0'=i_107^post239, a_431^0'=a_431^post239, temp0_16^0'=temp0_16^post239, len_238^0'=len_238^post239, x_SLAM_f_19^0'=x_SLAM_f_19^post239, a_924^0'=a_924^post239, ct_18^0'=ct_18^post239, result_11^0'=result_11^post239, a_392^0'=a_392^post239, i_197^0'=i_197^post239, a_579^0'=a_579^post239, r_143^0'=r_143^post239, a_1236^0'=a_1236^post239, head_32^0'=head_32^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239, i_30^0'=i_30^post239, x_253^0'=x_253^post239, a_635^0'=a_635^post239, r_970^0'=r_970^post239, rcd_47^0'=rcd_47^post239, a_309^0'=a_309^post239, i_1248^0'=i_1248^post239, a_575^0'=a_575^post239, temp_35^0'=temp_35^post239, len_861^0'=len_861^post239, (-temp_35^post239+temp_35^0 == 0 /\ -rcd_1249^post239+rcd_1249^0 == 0 /\ -x_852^post239+x_852^0 == 0 /\ a_947^0-a_947^post239 == 0 /\ -r_970^post239+r_970^0 == 0 /\ i_27^0-i_27^post239 == 0 /\ r_192^0-r_192^post239 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_1053^0-i_1053^post239 == 0 /\ -a_924^post239+a_924^0 == 0 /\ a_395^0-a_395^post239 == 0 /\ a_176^0-a_176^post239 == 0 /\ r_39^0-r_39^post239 == 0 /\ -a_610^post239+a_610^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post239 == 0 /\ -ct_18^post239+ct_18^0 == 0 /\ -tmp_34^post239+tmp_34^0 == 0 /\ a_310^0-a_310^post239 == 0 /\ -y_20^post239+y_20^0 == 0 /\ -x_253^post239+x_253^0 == 0 /\ -head_15^post239+head_15^0 == 0 /\ a_1089^0-a_1089^post239 == 0 /\ a_263^0-a_263^post239 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_311^post239+a_311^0 == 0 /\ -f_248^post239+f_248^0 == 0 /\ -temp0_16^post239+temp0_16^0 == 0 /\ a_632^0-a_632^post239 == 0 /\ a_432^0-a_432^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239 == 0 /\ i_197^0-i_197^post239 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_1248^post239+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post239 == 0 /\ -a_239^post239+a_239^0 == 0 /\ x_975^0-x_975^post239 == 0 /\ -result_11^post239+result_11^0 == 0 /\ i_229^0-i_229^post239 == 0 /\ a_634^0-a_634^post239 == 0 /\ a_121^0-a_121^post239 == 0 /\ -a_393^post239+a_393^0 == 0 /\ i_113^0-i_113^post239 == 0 /\ -a_392^post239+a_392^0 == 0 /\ -r_143^post239+r_143^0 == 0 /\ a_394^0-a_394^post239 == 0 /\ -a_576^post239+a_576^0 == 0 /\ i_30^0-i_30^post239 == 0 /\ -a_635^post239+a_635^0 == 0 /\ -a_144^post239+a_144^0 == 0 /\ f_969^0-f_969^post239 == 0 /\ -a_575^post239+a_575^0 == 0 /\ x_14^0-x_14^post239 == 0 /\ -a_417^post239+a_417^0 == 0 /\ a_430^0-a_430^post239 == 0 /\ -len_861^post239+len_861^0 == 0 /\ -a_309^post239+a_309^0 == 0 /\ t_24^0-t_24^post239 == 0 /\ i_107^0-i_107^post239 == 0 /\ -a_1236^post239+a_1236^0 == 0 /\ len_161^0-len_161^post239 == 0 /\ rcd_88^0-rcd_88^post239 == 0 /\ f_847^0-f_847^post239 == 0 /\ -a_902^post239+a_902^0 == 0 /\ -rcd_58^post239+rcd_58^0 == 0 /\ -i_106^post239+i_106^0 == 0 /\ -length_29^post239+length_29^0 == 0 /\ x_21^0-x_21^post239 == 0 /\ -rcd_47^post239+rcd_47^0 == 0 /\ -len_238^post239+len_238^0 == 0 /\ -r_151^post239+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post239 == 0 /\ -head_32^post239+head_32^0 == 0 /\ r_224^0-r_224^post239 == 0 /\ -a_579^post239+a_579^0 == 0 /\ a_431^0-a_431^post239 == 0 /\ temp0_31^0-temp0_31^post239 == 0 /\ len_262^0-len_262^post239 == 0 /\ a_862^0-a_862^post239 == 0 /\ -a_633^post239+a_633^0 == 0 /\ i_94^0-i_94^post239 == 0 /\ a_1162^0-a_1162^post239 == 0 /\ -i_127^post239+i_127^0 == 0 /\ a_577^0-a_577^post239 == 0 /\ x_156^0-x_156^post239 == 0 /\ -t_458^post239+t_458^0 == 0 /\ x_17^0-x_17^post239 == 0), cost: 1 240: l151 -> l152 : a_1089^0'=a_1089^post240, f_847^0'=f_847^post240, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post240, a_394^0'=a_394^post240, x_156^0'=x_156^post240, a_632^0'=a_632^post240, r_192^0'=r_192^post240, a_176^0'=a_176^post240, i_106^0'=i_106^post240, a_430^0'=a_430^post240, t_458^0'=t_458^post240, len_161^0'=len_161^post240, x_975^0'=x_975^post240, a_902^0'=a_902^post240, a_947^0'=a_947^post240, rcd_88^0'=rcd_88^post240, a_311^0'=a_311^post240, i_140^0'=i_140^post240, a_577^0'=a_577^post240, x_14^0'=x_14^post240, nondet_12^0'=nondet_12^post240, a_121^0'=a_121^post240, head_15^0'=head_15^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240, i_27^0'=i_27^post240, x_21^0'=x_21^post240, a_634^0'=a_634^post240, r_39^0'=r_39^post240, a_263^0'=a_263^post240, i_113^0'=i_113^post240, a_432^0'=a_432^post240, temp0_31^0'=temp0_31^post240, len_262^0'=len_262^post240, y_20^0'=y_20^post240, f_248^0'=f_248^post240, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240, a_393^0'=a_393^post240, i_229^0'=i_229^post240, a_610^0'=a_610^post240, r_151^0'=r_151^post240, a_144^0'=a_144^post240, i_1053^0'=i_1053^post240, a_417^0'=a_417^post240, t_24^0'=t_24^post240, i_94^0'=i_94^post240, x_852^0'=x_852^post240, a_862^0'=a_862^post240, rcd_1249^0'=rcd_1249^post240, rcd_58^0'=rcd_58^post240, a_310^0'=a_310^post240, i_127^0'=i_127^post240, a_576^0'=a_576^post240, tmp_34^0'=tmp_34^post240, length_29^0'=length_29^post240, a_1162^0'=a_1162^post240, f_969^0'=f_969^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240, a_395^0'=a_395^post240, x_17^0'=x_17^post240, a_633^0'=a_633^post240, r_224^0'=r_224^post240, a_239^0'=a_239^post240, i_107^0'=i_107^post240, a_431^0'=a_431^post240, temp0_16^0'=temp0_16^post240, len_238^0'=len_238^post240, x_SLAM_f_19^0'=x_SLAM_f_19^post240, a_924^0'=a_924^post240, ct_18^0'=ct_18^post240, result_11^0'=result_11^post240, a_392^0'=a_392^post240, i_197^0'=i_197^post240, a_579^0'=a_579^post240, r_143^0'=r_143^post240, a_1236^0'=a_1236^post240, head_32^0'=head_32^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240, i_30^0'=i_30^post240, x_253^0'=x_253^post240, a_635^0'=a_635^post240, r_970^0'=r_970^post240, rcd_47^0'=rcd_47^post240, a_309^0'=a_309^post240, i_1248^0'=i_1248^post240, a_575^0'=a_575^post240, temp_35^0'=temp_35^post240, len_861^0'=len_861^post240, (-a_576^post240+a_576^0 == 0 /\ i_229^0-i_229^post240 == 0 /\ -a_309^post240+a_309^0 == 0 /\ -a_635^post240+a_635^0 == 0 /\ -a_393^post240+a_393^0 == 0 /\ -r_143^post240+r_143^0 == 0 /\ f_248^0-f_248^post240 == 0 /\ -i_27^post240+i_27^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post240+length_29^0 == 0 /\ a_121^0-a_121^post240 == 0 /\ a_634^0-a_634^post240 == 0 /\ -a_417^post240+a_417^0 == 0 /\ i_127^0-i_127^post240 == 0 /\ -i_107^post240+i_107^0 == 0 /\ len_262^0-len_262^post240 == 0 /\ x_156^0-x_156^post240 == 0 /\ a_947^0-a_947^post240 == 0 /\ -a_575^post240+a_575^0 == 0 /\ -a_1236^post240+a_1236^0 == 0 /\ head_15^0-head_15^post240 == 0 /\ a_577^0-a_577^post240 == 0 /\ -len_238^post240+len_238^0 == 0 /\ a_176^0-a_176^post240 == 0 /\ -rcd_47^post240+rcd_47^0 == 0 /\ -a_310^post240+a_310^0 == 0 /\ r_192^0-r_192^post240 == 0 /\ -ct_18^post240+ct_18^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post240 == 0 /\ -r_151^post240+r_151^0 == 0 /\ a_632^0-a_632^post240 == 0 /\ x_14^0-x_14^post240 == 0 /\ a_430^0-a_430^post240 == 0 /\ -a_902^post240+a_902^0 == 0 /\ -a_392^post240+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post240 == 0 /\ a_1089^0-a_1089^post240 == 0 /\ -a_862^post240+a_862^0 == 0 /\ -head_32^post240+head_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post240+result_11^0 == 0 /\ a_633^0-a_633^post240 == 0 /\ y_20^0-y_20^post240 == 0 /\ f_847^0-f_847^post240 == 0 /\ a_432^0-a_432^post240 == 0 /\ temp0_16^0-temp0_16^post240 == 0 /\ -i_197^post240+i_197^0 == 0 /\ -a_579^post240+a_579^0 == 0 /\ -temp_35^post240+temp_35^0 == 0 /\ -x_253^post240+x_253^0 == 0 /\ x_21^0-x_21^post240 == 0 /\ x_975^0-x_975^post240 == 0 /\ f_969^0-f_969^post240 == 0 /\ -a_263^post240+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240 == 0 /\ a_431^0-a_431^post240 == 0 /\ i_94^0-i_94^post240 == 0 /\ -rcd_58^post240+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post240 == 0 /\ r_970^0-r_970^post240 == 0 /\ a_394^0-a_394^post240 == 0 /\ -a_311^post240+a_311^0 == 0 /\ a_144^0-a_144^post240 == 0 /\ i_113^0-i_113^post240 == 0 /\ -x_852^post240+x_852^0 == 0 /\ x_17^0-x_17^post240 == 0 /\ -a_395^post240+a_395^0 == 0 /\ -rcd_88^post240+rcd_88^0 == 0 /\ -i_1248^post240+i_1248^0 == 0 /\ -a_239^post240+a_239^0 == 0 /\ -tmp_34^post240+tmp_34^0 == 0 /\ a_610^0-a_610^post240 == 0 /\ -a_1162^post240+a_1162^0 == 0 /\ t_24^0-t_24^post240 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post240 == 0 /\ i_106^0-i_106^post240 == 0 /\ -i_1053^post240+i_1053^0 == 0 /\ i_140^0-i_140^post240 == 0 /\ -i_30^post240+i_30^0 == 0 /\ len_161^0-len_161^post240 == 0 /\ -r_224^post240+r_224^0 == 0 /\ t_458^0-t_458^post240 == 0 /\ -a_924^post240+a_924^0 == 0 /\ r_39^0-r_39^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_861^post240+len_861^0 == 0), cost: 1 241: l152 -> l153 : a_1089^0'=a_1089^post241, f_847^0'=f_847^post241, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post241, a_394^0'=a_394^post241, x_156^0'=x_156^post241, a_632^0'=a_632^post241, r_192^0'=r_192^post241, a_176^0'=a_176^post241, i_106^0'=i_106^post241, a_430^0'=a_430^post241, t_458^0'=t_458^post241, len_161^0'=len_161^post241, x_975^0'=x_975^post241, a_902^0'=a_902^post241, a_947^0'=a_947^post241, rcd_88^0'=rcd_88^post241, a_311^0'=a_311^post241, i_140^0'=i_140^post241, a_577^0'=a_577^post241, x_14^0'=x_14^post241, nondet_12^0'=nondet_12^post241, a_121^0'=a_121^post241, head_15^0'=head_15^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241, i_27^0'=i_27^post241, x_21^0'=x_21^post241, a_634^0'=a_634^post241, r_39^0'=r_39^post241, a_263^0'=a_263^post241, i_113^0'=i_113^post241, a_432^0'=a_432^post241, temp0_31^0'=temp0_31^post241, len_262^0'=len_262^post241, y_20^0'=y_20^post241, f_248^0'=f_248^post241, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241, a_393^0'=a_393^post241, i_229^0'=i_229^post241, a_610^0'=a_610^post241, r_151^0'=r_151^post241, a_144^0'=a_144^post241, i_1053^0'=i_1053^post241, a_417^0'=a_417^post241, t_24^0'=t_24^post241, i_94^0'=i_94^post241, x_852^0'=x_852^post241, a_862^0'=a_862^post241, rcd_1249^0'=rcd_1249^post241, rcd_58^0'=rcd_58^post241, a_310^0'=a_310^post241, i_127^0'=i_127^post241, a_576^0'=a_576^post241, tmp_34^0'=tmp_34^post241, length_29^0'=length_29^post241, a_1162^0'=a_1162^post241, f_969^0'=f_969^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241, a_395^0'=a_395^post241, x_17^0'=x_17^post241, a_633^0'=a_633^post241, r_224^0'=r_224^post241, a_239^0'=a_239^post241, i_107^0'=i_107^post241, a_431^0'=a_431^post241, temp0_16^0'=temp0_16^post241, len_238^0'=len_238^post241, x_SLAM_f_19^0'=x_SLAM_f_19^post241, a_924^0'=a_924^post241, ct_18^0'=ct_18^post241, result_11^0'=result_11^post241, a_392^0'=a_392^post241, i_197^0'=i_197^post241, a_579^0'=a_579^post241, r_143^0'=r_143^post241, a_1236^0'=a_1236^post241, head_32^0'=head_32^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241, i_30^0'=i_30^post241, x_253^0'=x_253^post241, a_635^0'=a_635^post241, r_970^0'=r_970^post241, rcd_47^0'=rcd_47^post241, a_309^0'=a_309^post241, i_1248^0'=i_1248^post241, a_575^0'=a_575^post241, temp_35^0'=temp_35^post241, len_861^0'=len_861^post241, (0 == 0 /\ a_394^0-a_394^post241 == 0 /\ a_1089^0-a_1089^post241 == 0 /\ -x_253^post241+x_253^0 == 0 /\ -i_197^post241+i_197^0 == 0 /\ -temp_35^post241+temp_35^0 == 0 /\ -a_579^post241+a_579^0 == 0 /\ -head_32^post241+head_32^0 == 0 /\ -y_20^post241+y_20^0 == 0 /\ 1-a_1162^0+a_1236^post241 <= 0 /\ -a_431^post241+a_431^0 == 0 /\ -i_229^post241+i_229^0 == 0 /\ a_576^0-a_576^post241 == 0 /\ -ct_18^post241+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post241 == 0 /\ a_311^0-a_311^post241 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_852^0-x_852^post241 == 0 /\ -r_970^post241+r_970^0 == 0 /\ t_458^0-t_458^post241 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -a_263^post241+a_263^0 == 0 /\ -a_395^post241+a_395^0 == 0 /\ rcd_88^0-rcd_88^post241 == 0 /\ -rcd_58^post241+rcd_58^0 == 0 /\ i_106^0-i_106^post241 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241 == 0 /\ -len_861^post241+len_861^0 == 0 /\ -i_1053^post241+i_1053^0 == 0 /\ -i_1248^post241+i_1248^0 == 0 /\ -a_239^post241+a_239^0 == 0 /\ a_924^0-a_924^post241 == 0 /\ f_248^0-f_248^post241 == 0 /\ tmp_34^0-tmp_34^post241 == 0 /\ y_20^0 <= 0 /\ -a_393^post241+a_393^0 == 0 /\ x_21^0-x_21^post241 == 0 /\ len_262^0-len_262^post241 == 0 /\ a_610^0-a_610^post241 == 0 /\ -r_224^post241+r_224^0 == 0 /\ -x_17^post241+x_17^0 == 0 /\ nondet_12^0-nondet_12^post241 == 0 /\ x_14^0-x_17^0 <= 0 /\ x_975^0-x_975^post241 == 0 /\ temp0_31^0-temp0_31^post241 == 0 /\ -r_143^post241+r_143^0 == 0 /\ -result_11^post241+result_11^0 == 0 /\ -i_107^post241+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241 == 0 /\ a_947^0-a_947^post241 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ x_14^0-x_14^post241 == 0 /\ len_238^0-len_238^post241 == 0 /\ -a_575^post241+a_575^0 == 0 /\ -a_309^post241+a_309^0 == 0 /\ a_176^0-a_176^post241 == 0 /\ -i_30^post241+i_30^0 == 0 /\ -x_SLAM_f_19^post241+x_SLAM_f_19^0 == 0 /\ -a_635^post241+a_635^0 == 0 /\ -y_20^0 <= 0 /\ i_27^0-i_27^post241 == 0 /\ a_121^0-a_121^post241 == 0 /\ f_969^0-f_969^post241 == 0 /\ -1+a_1162^0-a_1236^post241 <= 0 /\ -a_432^post241+a_432^0 == 0 /\ -a_632^post241+a_632^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -i_113^post241+i_113^0 == 0 /\ a_430^0-a_430^post241 == 0 /\ rcd_1249^0-rcd_1249^post241 == 0 /\ len_161^0-len_161^post241 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ -a_417^post241+a_417^0 == 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ t_24^post241-x_21^0 == 0 /\ x_156^0-x_156^post241 == 0 /\ f_847^0-f_847^post241 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -r_39^post241+r_39^0 == 0 /\ -a_862^post241+a_862^0 == 0 /\ a_1162^0-a_1162^post241 == 0 /\ head_15^0-head_15^post241 == 0 /\ -ct_18^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post241 == 0 /\ r_151^0-r_151^post241 == 0 /\ -a_633^post241+a_633^0 == 0 /\ -rcd_47^post241+rcd_47^0 == 0 /\ r_192^0-r_192^post241 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -a_310^post241+a_310^0 == 0 /\ -i_140^post241+i_140^0 == 0 /\ i_127^0-i_127^post241 == 0 /\ a_902^0-a_902^post241 == 0 /\ -a_392^post241+a_392^0 == 0 /\ i_94^0-i_94^post241 == 0 /\ a_144^0-a_144^post241 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ a_577^0-a_577^post241 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post241 == 0 /\ -length_29^post241+length_29^0 == 0), cost: 1 242: l153 -> l154 : a_1089^0'=a_1089^post242, f_847^0'=f_847^post242, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post242, a_394^0'=a_394^post242, x_156^0'=x_156^post242, a_632^0'=a_632^post242, r_192^0'=r_192^post242, a_176^0'=a_176^post242, i_106^0'=i_106^post242, a_430^0'=a_430^post242, t_458^0'=t_458^post242, len_161^0'=len_161^post242, x_975^0'=x_975^post242, a_902^0'=a_902^post242, a_947^0'=a_947^post242, rcd_88^0'=rcd_88^post242, a_311^0'=a_311^post242, i_140^0'=i_140^post242, a_577^0'=a_577^post242, x_14^0'=x_14^post242, nondet_12^0'=nondet_12^post242, a_121^0'=a_121^post242, head_15^0'=head_15^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242, i_27^0'=i_27^post242, x_21^0'=x_21^post242, a_634^0'=a_634^post242, r_39^0'=r_39^post242, a_263^0'=a_263^post242, i_113^0'=i_113^post242, a_432^0'=a_432^post242, temp0_31^0'=temp0_31^post242, len_262^0'=len_262^post242, y_20^0'=y_20^post242, f_248^0'=f_248^post242, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242, a_393^0'=a_393^post242, i_229^0'=i_229^post242, a_610^0'=a_610^post242, r_151^0'=r_151^post242, a_144^0'=a_144^post242, i_1053^0'=i_1053^post242, a_417^0'=a_417^post242, t_24^0'=t_24^post242, i_94^0'=i_94^post242, x_852^0'=x_852^post242, a_862^0'=a_862^post242, rcd_1249^0'=rcd_1249^post242, rcd_58^0'=rcd_58^post242, a_310^0'=a_310^post242, i_127^0'=i_127^post242, a_576^0'=a_576^post242, tmp_34^0'=tmp_34^post242, length_29^0'=length_29^post242, a_1162^0'=a_1162^post242, f_969^0'=f_969^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242, a_395^0'=a_395^post242, x_17^0'=x_17^post242, a_633^0'=a_633^post242, r_224^0'=r_224^post242, a_239^0'=a_239^post242, i_107^0'=i_107^post242, a_431^0'=a_431^post242, temp0_16^0'=temp0_16^post242, len_238^0'=len_238^post242, x_SLAM_f_19^0'=x_SLAM_f_19^post242, a_924^0'=a_924^post242, ct_18^0'=ct_18^post242, result_11^0'=result_11^post242, a_392^0'=a_392^post242, i_197^0'=i_197^post242, a_579^0'=a_579^post242, r_143^0'=r_143^post242, a_1236^0'=a_1236^post242, head_32^0'=head_32^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242, i_30^0'=i_30^post242, x_253^0'=x_253^post242, a_635^0'=a_635^post242, r_970^0'=r_970^post242, rcd_47^0'=rcd_47^post242, a_309^0'=a_309^post242, i_1248^0'=i_1248^post242, a_575^0'=a_575^post242, temp_35^0'=temp_35^post242, len_861^0'=len_861^post242, (-a_575^post242+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242 == 0 /\ a_430^0-a_430^post242 == 0 /\ t_458^0-t_458^post242 == 0 /\ f_248^0-f_248^post242 == 0 /\ x_975^0-x_975^post242 == 0 /\ a_632^0-a_632^post242 == 0 /\ -i_30^post242+i_30^0 == 0 /\ 1-x_14^0 <= 0 /\ -r_143^post242+r_143^0 == 0 /\ f_969^0-f_969^post242 == 0 /\ -a_432^post242+a_432^0 == 0 /\ -x_SLAM_f_19^post242+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post242 == 0 /\ result_11^0-result_11^post242 == 0 /\ -i_113^post242+i_113^0 == 0 /\ -a_309^post242+a_309^0 == 0 /\ -i_107^post242+i_107^0 == 0 /\ temp0_31^0-temp0_31^post242 == 0 /\ x_17^0-x_17^post242 == 0 /\ rcd_58^0-rcd_58^post242 == 0 /\ -a_1236^post242+a_1236^0 == 0 /\ len_161^0-len_161^post242 == 0 /\ a_947^0-a_947^post242 == 0 /\ a_176^0-a_176^post242 == 0 /\ -rcd_47^post242+rcd_47^0 == 0 /\ x_852^0-x_852^post242 == 0 /\ -i_140^post242+i_140^0 == 0 /\ -a_392^post242+a_392^0 == 0 /\ -a_310^post242+a_310^0 == 0 /\ a_394^0-a_394^post242 == 0 /\ -a_862^post242+a_862^0 == 0 /\ -i_94^post242+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post242 == 0 /\ -r_970^post242+r_970^0 == 0 /\ f_847^0-f_847^post242 == 0 /\ -r_151^post242+r_151^0 == 0 /\ length_29^0-length_29^post242 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_633^0-a_633^post242 == 0 /\ -a_579^post242+a_579^0 == 0 /\ -t_24^post242+t_24^0 == 0 /\ temp0_16^0-temp0_16^post242 == 0 /\ -ct_18^post242+ct_18^0 == 0 /\ -a_263^post242+a_263^0 == 0 /\ -x_253^post242+x_253^0 == 0 /\ a_239^0-a_239^post242 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242 == 0 /\ -head_32^post242+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_121^0-a_121^post242 == 0 /\ -i_197^post242+i_197^0 == 0 /\ a_902^0-a_902^post242 == 0 /\ len_262^0-len_262^post242 == 0 /\ x_156^0-x_156^post242 == 0 /\ -temp_35^post242+temp_35^0 == 0 /\ a_610^0-a_610^post242 == 0 /\ r_192^0-r_192^post242 == 0 /\ -y_20^post242+y_20^0 == 0 /\ -r_39^post242+r_39^0 == 0 /\ -a_431^post242+a_431^0 == 0 /\ i_229^0-i_229^post242 == 0 /\ head_15^0-head_15^post242 == 0 /\ nondet_12^0-nondet_12^post242 == 0 /\ a_144^0-a_144^post242 == 0 /\ -a_395^post242+a_395^0 == 0 /\ len_238^0-len_238^post242 == 0 /\ a_634^0-a_634^post242 == 0 /\ i_27^0-i_27^post242 == 0 /\ -tmp_34^post242+tmp_34^0 == 0 /\ -a_1162^post242+a_1162^0 == 0 /\ a_1089^0-a_1089^post242 == 0 /\ -a_924^post242+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post242 == 0 /\ a_417^0-a_417^post242 == 0 /\ x_14^0-x_14^post242 == 0 /\ -x_21^post242+x_21^0 == 0 /\ a_576^0-a_576^post242 == 0 /\ -len_861^post242+len_861^0 == 0 /\ -a_577^post242+a_577^0 == 0 /\ -a_635^post242+a_635^0 == 0 /\ a_311^0-a_311^post242 == 0 /\ -i_1248^post242+i_1248^0 == 0 /\ -i_1053^post242+i_1053^0 == 0 /\ i_106^0-i_106^post242 == 0 /\ -r_224^post242+r_224^0 == 0 /\ -a_393^post242+a_393^0 == 0 /\ rcd_88^0-rcd_88^post242 == 0), cost: 1 243: l153 -> l154 : a_1089^0'=a_1089^post243, f_847^0'=f_847^post243, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post243, a_394^0'=a_394^post243, x_156^0'=x_156^post243, a_632^0'=a_632^post243, r_192^0'=r_192^post243, a_176^0'=a_176^post243, i_106^0'=i_106^post243, a_430^0'=a_430^post243, t_458^0'=t_458^post243, len_161^0'=len_161^post243, x_975^0'=x_975^post243, a_902^0'=a_902^post243, a_947^0'=a_947^post243, rcd_88^0'=rcd_88^post243, a_311^0'=a_311^post243, i_140^0'=i_140^post243, a_577^0'=a_577^post243, x_14^0'=x_14^post243, nondet_12^0'=nondet_12^post243, a_121^0'=a_121^post243, head_15^0'=head_15^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243, i_27^0'=i_27^post243, x_21^0'=x_21^post243, a_634^0'=a_634^post243, r_39^0'=r_39^post243, a_263^0'=a_263^post243, i_113^0'=i_113^post243, a_432^0'=a_432^post243, temp0_31^0'=temp0_31^post243, len_262^0'=len_262^post243, y_20^0'=y_20^post243, f_248^0'=f_248^post243, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243, a_393^0'=a_393^post243, i_229^0'=i_229^post243, a_610^0'=a_610^post243, r_151^0'=r_151^post243, a_144^0'=a_144^post243, i_1053^0'=i_1053^post243, a_417^0'=a_417^post243, t_24^0'=t_24^post243, i_94^0'=i_94^post243, x_852^0'=x_852^post243, a_862^0'=a_862^post243, rcd_1249^0'=rcd_1249^post243, rcd_58^0'=rcd_58^post243, a_310^0'=a_310^post243, i_127^0'=i_127^post243, a_576^0'=a_576^post243, tmp_34^0'=tmp_34^post243, length_29^0'=length_29^post243, a_1162^0'=a_1162^post243, f_969^0'=f_969^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243, a_395^0'=a_395^post243, x_17^0'=x_17^post243, a_633^0'=a_633^post243, r_224^0'=r_224^post243, a_239^0'=a_239^post243, i_107^0'=i_107^post243, a_431^0'=a_431^post243, temp0_16^0'=temp0_16^post243, len_238^0'=len_238^post243, x_SLAM_f_19^0'=x_SLAM_f_19^post243, a_924^0'=a_924^post243, ct_18^0'=ct_18^post243, result_11^0'=result_11^post243, a_392^0'=a_392^post243, i_197^0'=i_197^post243, a_579^0'=a_579^post243, r_143^0'=r_143^post243, a_1236^0'=a_1236^post243, head_32^0'=head_32^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243, i_30^0'=i_30^post243, x_253^0'=x_253^post243, a_635^0'=a_635^post243, r_970^0'=r_970^post243, rcd_47^0'=rcd_47^post243, a_309^0'=a_309^post243, i_1248^0'=i_1248^post243, a_575^0'=a_575^post243, temp_35^0'=temp_35^post243, len_861^0'=len_861^post243, (a_144^0-a_144^post243 == 0 /\ a_394^0-a_394^post243 == 0 /\ t_24^0-t_24^post243 == 0 /\ -r_970^post243+r_970^0 == 0 /\ -f_248^post243+f_248^0 == 0 /\ -y_20^post243+y_20^0 == 0 /\ a_862^0-a_862^post243 == 0 /\ -temp0_16^post243+temp0_16^0 == 0 /\ -len_861^post243+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243 == 0 /\ -r_224^post243+r_224^0 == 0 /\ a_392^0-a_392^post243 == 0 /\ a_311^0-a_311^post243 == 0 /\ a_263^0-a_263^post243 == 0 /\ -a_579^post243+a_579^0 == 0 /\ x_852^0-x_852^post243 == 0 /\ t_458^0-t_458^post243 == 0 /\ len_161^0-len_161^post243 == 0 /\ rcd_88^0-rcd_88^post243 == 0 /\ -i_127^post243+i_127^0 == 0 /\ i_106^0-i_106^post243 == 0 /\ -temp_35^post243+temp_35^0 == 0 /\ a_576^0-a_576^post243 == 0 /\ -ct_18^post243+ct_18^0 == 0 /\ -i_197^post243+i_197^0 == 0 /\ f_847^0-f_847^post243 == 0 /\ -i_229^post243+i_229^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243 == 0 /\ -i_30^post243+i_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post243+i_107^0 == 0 /\ a_430^0-a_430^post243 == 0 /\ -a_924^post243+a_924^0 == 0 /\ -a_575^post243+a_575^0 == 0 /\ a_610^0-a_610^post243 == 0 /\ a_1236^0-a_1236^post243 == 0 /\ r_143^0-r_143^post243 == 0 /\ -a_577^post243+a_577^0 == 0 /\ -i_1248^post243+i_1248^0 == 0 /\ x_21^0-x_21^post243 == 0 /\ len_262^0-len_262^post243 == 0 /\ -result_11^post243+result_11^0 == 0 /\ -x_17^post243+x_17^0 == 0 /\ temp0_31^0-temp0_31^post243 == 0 /\ -a_1162^post243+a_1162^0 == 0 /\ -a_393^post243+a_393^0 == 0 /\ a_947^0-a_947^post243 == 0 /\ rcd_58^0-rcd_58^post243 == 0 /\ -i_94^post243+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post243 == 0 /\ i_27^0-i_27^post243 == 0 /\ x_14^0-x_14^post243 == 0 /\ a_176^0-a_176^post243 == 0 /\ -len_238^post243+len_238^0 == 0 /\ a_121^0-a_121^post243 == 0 /\ a_1089^0-a_1089^post243 == 0 /\ -a_309^post243+a_309^0 == 0 /\ -i_113^post243+i_113^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_432^post243+a_432^0 == 0 /\ -a_633^post243+a_633^0 == 0 /\ a_635^0-a_635^post243 == 0 /\ -rcd_1249^post243+rcd_1249^0 == 0 /\ -a_632^post243+a_632^0 == 0 /\ i_1053^0-i_1053^post243 == 0 /\ a_395^0-a_395^post243 == 0 /\ -length_29^post243+length_29^0 == 0 /\ tmp_34^0-tmp_34^post243 == 0 /\ -f_969^post243+f_969^0 == 0 /\ -a_431^post243+a_431^0 == 0 /\ -i_140^post243+i_140^0 == 0 /\ r_151^0-r_151^post243 == 0 /\ -r_39^post243+r_39^0 == 0 /\ nondet_12^0-nondet_12^post243 == 0 /\ 1+x_14^0 <= 0 /\ a_239^0-a_239^post243 == 0 /\ a_902^0-a_902^post243 == 0 /\ x_975^0-x_975^post243 == 0 /\ r_192^0-r_192^post243 == 0 /\ -rcd_47^post243+rcd_47^0 == 0 /\ x_156^0-x_156^post243 == 0 /\ -head_32^post243+head_32^0 == 0 /\ a_417^0-a_417^post243 == 0 /\ -x_SLAM_f_19^post243+x_SLAM_f_19^0 == 0 /\ head_15^0-head_15^post243 == 0 /\ -a_310^post243+a_310^0 == 0 /\ -x_253^post243+x_253^0 == 0 /\ a_634^0-a_634^post243 == 0), cost: 1 244: l154 -> l155 : a_1089^0'=a_1089^post244, f_847^0'=f_847^post244, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post244, a_394^0'=a_394^post244, x_156^0'=x_156^post244, a_632^0'=a_632^post244, r_192^0'=r_192^post244, a_176^0'=a_176^post244, i_106^0'=i_106^post244, a_430^0'=a_430^post244, t_458^0'=t_458^post244, len_161^0'=len_161^post244, x_975^0'=x_975^post244, a_902^0'=a_902^post244, a_947^0'=a_947^post244, rcd_88^0'=rcd_88^post244, a_311^0'=a_311^post244, i_140^0'=i_140^post244, a_577^0'=a_577^post244, x_14^0'=x_14^post244, nondet_12^0'=nondet_12^post244, a_121^0'=a_121^post244, head_15^0'=head_15^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244, i_27^0'=i_27^post244, x_21^0'=x_21^post244, a_634^0'=a_634^post244, r_39^0'=r_39^post244, a_263^0'=a_263^post244, i_113^0'=i_113^post244, a_432^0'=a_432^post244, temp0_31^0'=temp0_31^post244, len_262^0'=len_262^post244, y_20^0'=y_20^post244, f_248^0'=f_248^post244, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244, a_393^0'=a_393^post244, i_229^0'=i_229^post244, a_610^0'=a_610^post244, r_151^0'=r_151^post244, a_144^0'=a_144^post244, i_1053^0'=i_1053^post244, a_417^0'=a_417^post244, t_24^0'=t_24^post244, i_94^0'=i_94^post244, x_852^0'=x_852^post244, a_862^0'=a_862^post244, rcd_1249^0'=rcd_1249^post244, rcd_58^0'=rcd_58^post244, a_310^0'=a_310^post244, i_127^0'=i_127^post244, a_576^0'=a_576^post244, tmp_34^0'=tmp_34^post244, length_29^0'=length_29^post244, a_1162^0'=a_1162^post244, f_969^0'=f_969^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244, a_395^0'=a_395^post244, x_17^0'=x_17^post244, a_633^0'=a_633^post244, r_224^0'=r_224^post244, a_239^0'=a_239^post244, i_107^0'=i_107^post244, a_431^0'=a_431^post244, temp0_16^0'=temp0_16^post244, len_238^0'=len_238^post244, x_SLAM_f_19^0'=x_SLAM_f_19^post244, a_924^0'=a_924^post244, ct_18^0'=ct_18^post244, result_11^0'=result_11^post244, a_392^0'=a_392^post244, i_197^0'=i_197^post244, a_579^0'=a_579^post244, r_143^0'=r_143^post244, a_1236^0'=a_1236^post244, head_32^0'=head_32^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244, i_30^0'=i_30^post244, x_253^0'=x_253^post244, a_635^0'=a_635^post244, r_970^0'=r_970^post244, rcd_47^0'=rcd_47^post244, a_309^0'=a_309^post244, i_1248^0'=i_1248^post244, a_575^0'=a_575^post244, temp_35^0'=temp_35^post244, len_861^0'=len_861^post244, (tmp_34^0-tmp_34^post244 == 0 /\ -len_238^post244+len_238^0 == 0 /\ -rcd_47^post244+rcd_47^0 == 0 /\ i_94^0-i_94^post244 == 0 /\ r_151^0-r_151^post244 == 0 /\ i_113^0-i_113^post244 == 0 /\ r_39^0-r_39^post244 == 0 /\ -r_143^post244+r_143^0 == 0 /\ a_393^0-a_393^post244 == 0 /\ a_430^0-a_430^post244 == 0 /\ x_975^0-x_975^post244 == 0 /\ -a_634^post244+a_634^0 == 0 /\ -i_107^post244+i_107^0 == 0 /\ a_432^0-a_432^post244 == 0 /\ f_969^0-f_969^post244 == 0 /\ -a_575^post244+a_575^0 == 0 /\ r_192^0-r_192^post244 == 0 /\ -rcd_1249^post244+rcd_1249^0 == 0 /\ a_633^0-a_633^post244 == 0 /\ -a_309^post244+a_309^0 == 0 /\ x_21^0-x_21^post244 == 0 /\ -a_576^post244+a_576^0 == 0 /\ -a_431^post244+a_431^0 == 0 /\ head_32^0-head_32^post244 == 0 /\ t_24^0-t_24^post244 == 0 /\ a_417^0-a_417^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post244 == 0 /\ i_140^0-i_140^post244 == 0 /\ rcd_58^0-rcd_58^post244 == 0 /\ a_862^0-a_862^post244 == 0 /\ a_144^0-a_144^post244 == 0 /\ i_27^0-i_27^post244 == 0 /\ len_161^0-len_161^post244 == 0 /\ -temp_35^post244+temp_35^0 == 0 /\ -a_392^post244+a_392^0 == 0 /\ -nondet_12^post244+nondet_12^0 == 0 /\ -x_253^post244+x_253^0 == 0 /\ -x_SLAM_f_19^post244+x_SLAM_f_19^0 == 0 /\ -a_610^post244+a_610^0 == 0 /\ -a_1236^post244+a_1236^0 == 0 /\ -len_262^post244+len_262^0 == 0 /\ i_106^0-i_106^post244 == 0 /\ -r_970^post244+r_970^0 == 0 /\ a_632^0-a_632^post244 == 0 /\ -r_224^post244+r_224^0 == 0 /\ -a_310^post244+a_310^0 == 0 /\ a_311^0-a_311^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244 == 0 /\ -a_579^post244+a_579^0 == 0 /\ t_458^0-t_458^post244 == 0 /\ f_248^0-f_248^post244 == 0 /\ a_577^0-a_577^post244 == 0 /\ -temp0_31^post244+temp0_31^0 == 0 /\ a_902^0-a_902^post244 == 0 /\ -ct_18^post244+ct_18^0 == 0 /\ a_239^0-a_239^post244 == 0 /\ i_229^0-i_229^post244 == 0 /\ -a_395^post244+a_395^0 == 0 /\ -i_197^post244+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post244 == 0 /\ -i_127^post244+i_127^0 == 0 /\ -a_947^post244+a_947^0 == 0 /\ -result_11^post244+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244 == 0 /\ -a_1162^post244+a_1162^0 == 0 /\ i_1053^0-i_1053^post244 == 0 /\ x_14^0-x_14^post244 == 0 /\ a_121^0-a_121^post244 == 0 /\ -a_924^post244+a_924^0 == 0 /\ -head_15^post244+head_15^0 == 0 /\ a_1089^0-a_1089^post244 == 0 /\ a_394^0-a_394^post244 == 0 /\ -x_17^post244+x_17^0 == 0 /\ x_852^0-x_852^post244 == 0 /\ a_263^0-a_263^post244 == 0 /\ -temp0_16^post244+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post244 == 0 /\ a_176^0-a_176^post244 == 0 /\ -i_30^post244+i_30^0 == 0 /\ y_20^0-y_20^post244 == 0 /\ f_847^0-f_847^post244 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244 == 0 /\ -i_1248^post244+i_1248^0 == 0 /\ -len_861^post244+len_861^0 == 0 /\ length_29^0-length_29^post244 == 0 /\ -a_635^post244+a_635^0 == 0), cost: 1 245: l154 -> l155 : a_1089^0'=a_1089^post245, f_847^0'=f_847^post245, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post245, a_394^0'=a_394^post245, x_156^0'=x_156^post245, a_632^0'=a_632^post245, r_192^0'=r_192^post245, a_176^0'=a_176^post245, i_106^0'=i_106^post245, a_430^0'=a_430^post245, t_458^0'=t_458^post245, len_161^0'=len_161^post245, x_975^0'=x_975^post245, a_902^0'=a_902^post245, a_947^0'=a_947^post245, rcd_88^0'=rcd_88^post245, a_311^0'=a_311^post245, i_140^0'=i_140^post245, a_577^0'=a_577^post245, x_14^0'=x_14^post245, nondet_12^0'=nondet_12^post245, a_121^0'=a_121^post245, head_15^0'=head_15^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245, i_27^0'=i_27^post245, x_21^0'=x_21^post245, a_634^0'=a_634^post245, r_39^0'=r_39^post245, a_263^0'=a_263^post245, i_113^0'=i_113^post245, a_432^0'=a_432^post245, temp0_31^0'=temp0_31^post245, len_262^0'=len_262^post245, y_20^0'=y_20^post245, f_248^0'=f_248^post245, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245, a_393^0'=a_393^post245, i_229^0'=i_229^post245, a_610^0'=a_610^post245, r_151^0'=r_151^post245, a_144^0'=a_144^post245, i_1053^0'=i_1053^post245, a_417^0'=a_417^post245, t_24^0'=t_24^post245, i_94^0'=i_94^post245, x_852^0'=x_852^post245, a_862^0'=a_862^post245, rcd_1249^0'=rcd_1249^post245, rcd_58^0'=rcd_58^post245, a_310^0'=a_310^post245, i_127^0'=i_127^post245, a_576^0'=a_576^post245, tmp_34^0'=tmp_34^post245, length_29^0'=length_29^post245, a_1162^0'=a_1162^post245, f_969^0'=f_969^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245, a_395^0'=a_395^post245, x_17^0'=x_17^post245, a_633^0'=a_633^post245, r_224^0'=r_224^post245, a_239^0'=a_239^post245, i_107^0'=i_107^post245, a_431^0'=a_431^post245, temp0_16^0'=temp0_16^post245, len_238^0'=len_238^post245, x_SLAM_f_19^0'=x_SLAM_f_19^post245, a_924^0'=a_924^post245, ct_18^0'=ct_18^post245, result_11^0'=result_11^post245, a_392^0'=a_392^post245, i_197^0'=i_197^post245, a_579^0'=a_579^post245, r_143^0'=r_143^post245, a_1236^0'=a_1236^post245, head_32^0'=head_32^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245, i_30^0'=i_30^post245, x_253^0'=x_253^post245, a_635^0'=a_635^post245, r_970^0'=r_970^post245, rcd_47^0'=rcd_47^post245, a_309^0'=a_309^post245, i_1248^0'=i_1248^post245, a_575^0'=a_575^post245, temp_35^0'=temp_35^post245, len_861^0'=len_861^post245, (-head_32^post245+head_32^0 == 0 /\ -f_248^post245+f_248^0 == 0 /\ -r_224^post245+r_224^0 == 0 /\ a_417^0-a_417^post245 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245 == 0 /\ t_24^0-t_24^post245 == 0 /\ -len_861^post245+len_861^0 == 0 /\ -temp0_16^post245+temp0_16^0 == 0 /\ -i_1248^post245+i_1248^0 == 0 /\ -len_262^post245+len_262^0 == 0 /\ len_161^0-len_161^post245 == 0 /\ x_156^0-x_156^post245 == 0 /\ -a_239^post245+a_239^0 == 0 /\ a_947^0-a_947^post245 == 0 /\ f_847^0-f_847^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post245 == 0 /\ a_394^0-a_394^post245 == 0 /\ -i_127^post245+i_127^0 == 0 /\ i_1053^0-i_1053^post245 == 0 /\ -a_579^post245+a_579^0 == 0 /\ -i_229^post245+i_229^0 == 0 /\ -a_392^post245+a_392^0 == 0 /\ length_29^0-length_29^post245 == 0 /\ -rcd_1249^post245+rcd_1249^0 == 0 /\ -x_852^post245+x_852^0 == 0 /\ a_430^0-a_430^post245 == 0 /\ head_15^0-head_15^post245 == 0 /\ -a_575^post245+a_575^0 == 0 /\ -i_197^post245+i_197^0 == 0 /\ -a_309^post245+a_309^0 == 0 /\ i_94^0-i_94^post245 == 0 /\ r_151^0-r_151^post245 == 0 /\ a_577^0-a_577^post245 == 0 /\ -a_635^post245+a_635^0 == 0 /\ r_39^0-r_39^post245 == 0 /\ a_432^0-a_432^post245 == 0 /\ -x_17^post245+x_17^0 == 0 /\ -ct_18^post245+ct_18^0 == 0 /\ a_902^0-a_902^post245 == 0 /\ i_113^0-i_113^post245 == 0 /\ r_192^0-r_192^post245 == 0 /\ a_1162^0-a_1162^post245 == 0 /\ a_862^0-a_862^post245 == 0 /\ x_21^0-x_21^post245 == 0 /\ -a_144^post245+a_144^0 == 0 /\ -rcd_58^post245+rcd_58^0 == 0 /\ -i_30^post245+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post245+x_SLAM_f_19^0 == 0 /\ -len_238^post245+len_238^0 == 0 /\ a_1089^0-a_1089^post245 == 0 /\ -a_634^post245+a_634^0 == 0 /\ -a_633^post245+a_633^0 == 0 /\ a_395^0-a_395^post245 == 0 /\ rcd_88^0-rcd_88^post245 == 0 /\ a_311^0-a_311^post245 == 0 /\ -x_14^post245+x_14^0 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ -a_576^post245+a_576^0 == 0 /\ -a_924^post245+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245 == 0 /\ -result_11^post245+result_11^0 == 0 /\ -r_143^post245+r_143^0 == 0 /\ i_140^0-i_140^post245 == 0 /\ i_106^0-i_106^post245 == 0 /\ -a_121^post245+a_121^0 == 0 /\ tmp_34^0-tmp_34^post245 == 0 /\ -a_176^post245+a_176^0 == 0 /\ i_107^0-i_107^post245 == 0 /\ x_975^0-x_975^post245 == 0 /\ -a_1236^post245+a_1236^0 == 0 /\ -temp_35^post245+temp_35^0 == 0 /\ a_632^0-a_632^post245 == 0 /\ t_458^0-t_458^post245 == 0 /\ a_393^0-a_393^post245 == 0 /\ y_20^0-y_20^post245 == 0 /\ -nondet_12^post245+nondet_12^0 == 0 /\ -r_970^post245+r_970^0 == 0 /\ -i_27^post245+i_27^0 == 0 /\ -f_969^post245+f_969^0 == 0 /\ -a_431^post245+a_431^0 == 0 /\ -a_610^post245+a_610^0 == 0 /\ -temp0_31^post245+temp0_31^0 == 0 /\ -x_253^post245+x_253^0 == 0 /\ -rcd_47^post245+rcd_47^0 == 0 /\ -a_310^post245+a_310^0 == 0), cost: 1 246: l155 -> l156 : a_1089^0'=a_1089^post246, f_847^0'=f_847^post246, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post246, a_394^0'=a_394^post246, x_156^0'=x_156^post246, a_632^0'=a_632^post246, r_192^0'=r_192^post246, a_176^0'=a_176^post246, i_106^0'=i_106^post246, a_430^0'=a_430^post246, t_458^0'=t_458^post246, len_161^0'=len_161^post246, x_975^0'=x_975^post246, a_902^0'=a_902^post246, a_947^0'=a_947^post246, rcd_88^0'=rcd_88^post246, a_311^0'=a_311^post246, i_140^0'=i_140^post246, a_577^0'=a_577^post246, x_14^0'=x_14^post246, nondet_12^0'=nondet_12^post246, a_121^0'=a_121^post246, head_15^0'=head_15^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246, i_27^0'=i_27^post246, x_21^0'=x_21^post246, a_634^0'=a_634^post246, r_39^0'=r_39^post246, a_263^0'=a_263^post246, i_113^0'=i_113^post246, a_432^0'=a_432^post246, temp0_31^0'=temp0_31^post246, len_262^0'=len_262^post246, y_20^0'=y_20^post246, f_248^0'=f_248^post246, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246, a_393^0'=a_393^post246, i_229^0'=i_229^post246, a_610^0'=a_610^post246, r_151^0'=r_151^post246, a_144^0'=a_144^post246, i_1053^0'=i_1053^post246, a_417^0'=a_417^post246, t_24^0'=t_24^post246, i_94^0'=i_94^post246, x_852^0'=x_852^post246, a_862^0'=a_862^post246, rcd_1249^0'=rcd_1249^post246, rcd_58^0'=rcd_58^post246, a_310^0'=a_310^post246, i_127^0'=i_127^post246, a_576^0'=a_576^post246, tmp_34^0'=tmp_34^post246, length_29^0'=length_29^post246, a_1162^0'=a_1162^post246, f_969^0'=f_969^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246, a_395^0'=a_395^post246, x_17^0'=x_17^post246, a_633^0'=a_633^post246, r_224^0'=r_224^post246, a_239^0'=a_239^post246, i_107^0'=i_107^post246, a_431^0'=a_431^post246, temp0_16^0'=temp0_16^post246, len_238^0'=len_238^post246, x_SLAM_f_19^0'=x_SLAM_f_19^post246, a_924^0'=a_924^post246, ct_18^0'=ct_18^post246, result_11^0'=result_11^post246, a_392^0'=a_392^post246, i_197^0'=i_197^post246, a_579^0'=a_579^post246, r_143^0'=r_143^post246, a_1236^0'=a_1236^post246, head_32^0'=head_32^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246, i_30^0'=i_30^post246, x_253^0'=x_253^post246, a_635^0'=a_635^post246, r_970^0'=r_970^post246, rcd_47^0'=rcd_47^post246, a_309^0'=a_309^post246, i_1248^0'=i_1248^post246, a_575^0'=a_575^post246, temp_35^0'=temp_35^post246, len_861^0'=len_861^post246, (-a_610^post246+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246 == 0 /\ i_94^0-i_94^post246 == 0 /\ -a_633^post246+a_633^0 == 0 /\ -tmp_34^post246+tmp_34^0 == 0 /\ i_113^0-i_113^post246 == 0 /\ -rcd_47^post246+rcd_47^0 == 0 /\ r_39^0-r_39^post246 == 0 /\ a_393^0-a_393^post246 == 0 /\ head_15^0-head_15^post246 == 0 /\ a_432^0-a_432^post246 == 0 /\ a_310^0-a_310^post246 == 0 /\ x_156^0-x_156^post246 == 0 /\ -rcd_1249^post246+rcd_1249^0 == 0 /\ -a_634^post246+a_634^0 == 0 /\ a_1089^0-a_1089^post246 == 0 /\ -r_143^post246+r_143^0 == 0 /\ r_192^0-r_192^post246 == 0 /\ -a_576^post246+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post246+len_238^0 == 0 /\ -r_151^post246+r_151^0 == 0 /\ x_21^0-x_21^post246 == 0 /\ -a_924^post246+a_924^0 == 0 /\ i_27^0-i_27^post246 == 0 /\ -a_1236^post246+a_1236^0 == 0 /\ a_121^0-a_121^post246 == 0 /\ -f_969^post246+f_969^0 == 0 /\ a_263^0-a_263^post246 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post246 == 0 /\ -x_253^post246+x_253^0 == 0 /\ -temp_35^post246+temp_35^0 == 0 /\ head_32^0-head_32^post246 == 0 /\ a_417^0-a_417^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246 == 0 /\ -temp0_31^post246+temp0_31^0 == 0 /\ -a_311^post246+a_311^0 == 0 /\ -f_248^post246+f_248^0 == 0 /\ -r_970^post246+r_970^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post246+a_395^0 == 0 /\ i_106^0-i_106^post246 == 0 /\ -len_861^post246+len_861^0 == 0 /\ a_632^0-a_632^post246 == 0 /\ -i_1248^post246+i_1248^0 == 0 /\ -a_430^post246+a_430^0 == 0 /\ -a_239^post246+a_239^0 == 0 /\ a_902^0-a_902^post246 == 0 /\ r_224^0-r_224^post246 == 0 /\ -ct_18^post246+ct_18^0 == 0 /\ x_975^0-x_975^post246 == 0 /\ -len_262^post246+len_262^0 == 0 /\ t_458^0-t_458^post246 == 0 /\ i_107^0-i_107^post246 == 0 /\ a_577^0-a_577^post246 == 0 /\ i_30^0-i_30^post246 == 0 /\ -nondet_12^post246+nondet_12^0 == 0 /\ i_229^0-i_229^post246 == 0 /\ -a_392^post246+a_392^0 == 0 /\ -temp0_16^post246+temp0_16^0 == 0 /\ x_14^0-x_14^post246 == 0 /\ -x_17^post246+x_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_197^post246+i_197^0 == 0 /\ -i_1053^post246+i_1053^0 == 0 /\ len_161^0-len_161^post246 == 0 /\ -a_579^post246+a_579^0 == 0 /\ -a_309^post246+a_309^0 == 0 /\ -result_11^post246+result_11^0 == 0 /\ i_140^0-i_140^post246 == 0 /\ -a_947^post246+a_947^0 == 0 /\ -i_127^post246+i_127^0 == 0 /\ a_431^0-a_431^post246 == 0 /\ t_24^0-t_24^post246 == 0 /\ a_862^0-a_862^post246 == 0 /\ a_394^0-a_394^post246 == 0 /\ x_852^0-x_852^post246 == 0 /\ rcd_88^0-rcd_88^post246 == 0 /\ -rcd_58^post246+rcd_58^0 == 0 /\ -a_635^post246+a_635^0 == 0 /\ a_176^0-a_176^post246 == 0 /\ y_20^0-y_20^post246 == 0 /\ f_847^0-f_847^post246 == 0 /\ length_29^0-length_29^post246 == 0 /\ -a_144^post246+a_144^0 == 0 /\ -a_1162^post246+a_1162^0 == 0 /\ -a_575^post246+a_575^0 == 0), cost: 1 247: l155 -> l156 : a_1089^0'=a_1089^post247, f_847^0'=f_847^post247, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post247, a_394^0'=a_394^post247, x_156^0'=x_156^post247, a_632^0'=a_632^post247, r_192^0'=r_192^post247, a_176^0'=a_176^post247, i_106^0'=i_106^post247, a_430^0'=a_430^post247, t_458^0'=t_458^post247, len_161^0'=len_161^post247, x_975^0'=x_975^post247, a_902^0'=a_902^post247, a_947^0'=a_947^post247, rcd_88^0'=rcd_88^post247, a_311^0'=a_311^post247, i_140^0'=i_140^post247, a_577^0'=a_577^post247, x_14^0'=x_14^post247, nondet_12^0'=nondet_12^post247, a_121^0'=a_121^post247, head_15^0'=head_15^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247, i_27^0'=i_27^post247, x_21^0'=x_21^post247, a_634^0'=a_634^post247, r_39^0'=r_39^post247, a_263^0'=a_263^post247, i_113^0'=i_113^post247, a_432^0'=a_432^post247, temp0_31^0'=temp0_31^post247, len_262^0'=len_262^post247, y_20^0'=y_20^post247, f_248^0'=f_248^post247, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247, a_393^0'=a_393^post247, i_229^0'=i_229^post247, a_610^0'=a_610^post247, r_151^0'=r_151^post247, a_144^0'=a_144^post247, i_1053^0'=i_1053^post247, a_417^0'=a_417^post247, t_24^0'=t_24^post247, i_94^0'=i_94^post247, x_852^0'=x_852^post247, a_862^0'=a_862^post247, rcd_1249^0'=rcd_1249^post247, rcd_58^0'=rcd_58^post247, a_310^0'=a_310^post247, i_127^0'=i_127^post247, a_576^0'=a_576^post247, tmp_34^0'=tmp_34^post247, length_29^0'=length_29^post247, a_1162^0'=a_1162^post247, f_969^0'=f_969^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247, a_395^0'=a_395^post247, x_17^0'=x_17^post247, a_633^0'=a_633^post247, r_224^0'=r_224^post247, a_239^0'=a_239^post247, i_107^0'=i_107^post247, a_431^0'=a_431^post247, temp0_16^0'=temp0_16^post247, len_238^0'=len_238^post247, x_SLAM_f_19^0'=x_SLAM_f_19^post247, a_924^0'=a_924^post247, ct_18^0'=ct_18^post247, result_11^0'=result_11^post247, a_392^0'=a_392^post247, i_197^0'=i_197^post247, a_579^0'=a_579^post247, r_143^0'=r_143^post247, a_1236^0'=a_1236^post247, head_32^0'=head_32^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247, i_30^0'=i_30^post247, x_253^0'=x_253^post247, a_635^0'=a_635^post247, r_970^0'=r_970^post247, rcd_47^0'=rcd_47^post247, a_309^0'=a_309^post247, i_1248^0'=i_1248^post247, a_575^0'=a_575^post247, temp_35^0'=temp_35^post247, len_861^0'=len_861^post247, (-length_29^post247+length_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post247 == 0 /\ len_262^0-len_262^post247 == 0 /\ -temp0_16^post247+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post247 == 0 /\ -a_862^post247+a_862^0 == 0 /\ -a_417^post247+a_417^0 == 0 /\ -len_861^post247+len_861^0 == 0 /\ i_229^0-i_229^post247 == 0 /\ -f_248^post247+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post247+a_1236^0 == 0 /\ a_634^0-a_634^post247 == 0 /\ len_161^0-len_161^post247 == 0 /\ a_947^0-a_947^post247 == 0 /\ -i_1248^post247+i_1248^0 == 0 /\ -a_393^post247+a_393^0 == 0 /\ head_15^0-head_15^post247 == 0 /\ -head_32^post247+head_32^0 == 0 /\ -i_27^post247+i_27^0 == 0 /\ -a_239^post247+a_239^0 == 0 /\ -i_197^post247+i_197^0 == 0 /\ -a_579^post247+a_579^0 == 0 /\ -a_392^post247+a_392^0 == 0 /\ i_1053^0-i_1053^post247 == 0 /\ a_395^0-a_395^post247 == 0 /\ a_121^0-a_121^post247 == 0 /\ a_176^0-a_176^post247 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -r_151^post247+r_151^0 == 0 /\ -a_144^post247+a_144^0 == 0 /\ x_975^0-x_975^post247 == 0 /\ i_113^0-i_113^post247 == 0 /\ -i_127^post247+i_127^0 == 0 /\ r_192^0-r_192^post247 == 0 /\ a_430^0-a_430^post247 == 0 /\ -i_30^post247+i_30^0 == 0 /\ -a_575^post247+a_575^0 == 0 /\ -x_852^post247+x_852^0 == 0 /\ -t_24^post247+t_24^0 == 0 /\ -a_635^post247+a_635^0 == 0 /\ a_1089^0-a_1089^post247 == 0 /\ -a_309^post247+a_309^0 == 0 /\ x_156^0-x_156^post247 == 0 /\ a_310^0-a_310^post247 == 0 /\ a_1162^0-a_1162^post247 == 0 /\ a_632^0-a_632^post247 == 0 /\ -rcd_58^post247+rcd_58^0 == 0 /\ x_14^0-x_14^post247 == 0 /\ -ct_18^post247+ct_18^0 == 0 /\ a_432^0-a_432^post247 == 0 /\ -tmp_34^post247+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post247 == 0 /\ r_970^0-r_970^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post247 == 0 /\ x_21^0-x_21^post247 == 0 /\ -a_902^post247+a_902^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247 == 0 /\ a_263^0-a_263^post247 == 0 /\ a_431^0-a_431^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_633^post247+a_633^0 == 0 /\ f_847^0-f_847^post247 == 0 /\ -result_11^post247+result_11^0 == 0 /\ a_394^0-a_394^post247 == 0 /\ -len_238^post247+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post247+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post247 == 0 /\ -rcd_47^post247+rcd_47^0 == 0 /\ -a_924^post247+a_924^0 == 0 /\ -rcd_1249^post247+rcd_1249^0 == 0 /\ -r_143^post247+r_143^0 == 0 /\ y_20^0-y_20^post247 == 0 /\ i_107^0-i_107^post247 == 0 /\ -x_253^post247+x_253^0 == 0 /\ -f_969^post247+f_969^0 == 0 /\ a_610^0-a_610^post247 == 0 /\ t_458^0-t_458^post247 == 0 /\ r_39^0-r_39^post247 == 0 /\ a_577^0-a_577^post247 == 0 /\ -a_311^post247+a_311^0 == 0 /\ i_106^0-i_106^post247 == 0 /\ i_94^0-i_94^post247 == 0 /\ r_224^0-r_224^post247 == 0 /\ -rcd_88^post247+rcd_88^0 == 0 /\ -a_576^post247+a_576^0 == 0 /\ -temp_35^post247+temp_35^0 == 0), cost: 1 248: l156 -> l150 : a_1089^0'=a_1089^post248, f_847^0'=f_847^post248, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post248, a_394^0'=a_394^post248, x_156^0'=x_156^post248, a_632^0'=a_632^post248, r_192^0'=r_192^post248, a_176^0'=a_176^post248, i_106^0'=i_106^post248, a_430^0'=a_430^post248, t_458^0'=t_458^post248, len_161^0'=len_161^post248, x_975^0'=x_975^post248, a_902^0'=a_902^post248, a_947^0'=a_947^post248, rcd_88^0'=rcd_88^post248, a_311^0'=a_311^post248, i_140^0'=i_140^post248, a_577^0'=a_577^post248, x_14^0'=x_14^post248, nondet_12^0'=nondet_12^post248, a_121^0'=a_121^post248, head_15^0'=head_15^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248, i_27^0'=i_27^post248, x_21^0'=x_21^post248, a_634^0'=a_634^post248, r_39^0'=r_39^post248, a_263^0'=a_263^post248, i_113^0'=i_113^post248, a_432^0'=a_432^post248, temp0_31^0'=temp0_31^post248, len_262^0'=len_262^post248, y_20^0'=y_20^post248, f_248^0'=f_248^post248, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248, a_393^0'=a_393^post248, i_229^0'=i_229^post248, a_610^0'=a_610^post248, r_151^0'=r_151^post248, a_144^0'=a_144^post248, i_1053^0'=i_1053^post248, a_417^0'=a_417^post248, t_24^0'=t_24^post248, i_94^0'=i_94^post248, x_852^0'=x_852^post248, a_862^0'=a_862^post248, rcd_1249^0'=rcd_1249^post248, rcd_58^0'=rcd_58^post248, a_310^0'=a_310^post248, i_127^0'=i_127^post248, a_576^0'=a_576^post248, tmp_34^0'=tmp_34^post248, length_29^0'=length_29^post248, a_1162^0'=a_1162^post248, f_969^0'=f_969^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248, a_395^0'=a_395^post248, x_17^0'=x_17^post248, a_633^0'=a_633^post248, r_224^0'=r_224^post248, a_239^0'=a_239^post248, i_107^0'=i_107^post248, a_431^0'=a_431^post248, temp0_16^0'=temp0_16^post248, len_238^0'=len_238^post248, x_SLAM_f_19^0'=x_SLAM_f_19^post248, a_924^0'=a_924^post248, ct_18^0'=ct_18^post248, result_11^0'=result_11^post248, a_392^0'=a_392^post248, i_197^0'=i_197^post248, a_579^0'=a_579^post248, r_143^0'=r_143^post248, a_1236^0'=a_1236^post248, head_32^0'=head_32^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248, i_30^0'=i_30^post248, x_253^0'=x_253^post248, a_635^0'=a_635^post248, r_970^0'=r_970^post248, rcd_47^0'=rcd_47^post248, a_309^0'=a_309^post248, i_1248^0'=i_1248^post248, a_575^0'=a_575^post248, temp_35^0'=temp_35^post248, len_861^0'=len_861^post248, (0 == 0 /\ ct_18^0-ct_18^post248 == 0 /\ t_458^0-t_458^post248 == 0 /\ -tmp_34^post248+tmp_34^0 == 0 /\ -a_610^post248+a_610^0 == 0 /\ a_632^0-a_632^post248 == 0 /\ i_106^0-i_106^post248 == 0 /\ a_902^0-a_902^post248 == 0 /\ -rcd_47^post248+rcd_47^0 == 0 /\ head_15^0-head_15^post248 == 0 /\ -a_634^post248+a_634^0 == 0 /\ -x_253^post248+x_253^0 == 0 /\ a_1089^0-a_1089^post248 == 0 /\ a_310^0-a_310^post248 == 0 /\ i_229^0-i_229^post248 == 0 /\ -rcd_1249^post248+rcd_1249^0 == 0 /\ -len_238^post248+len_238^0 == 0 /\ -r_151^post248+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post248 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_11^post248+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_121^0-a_121^post248 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -r_224^post248+r_224^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post248 == 0 /\ -r_970^post248+r_970^0 == 0 /\ temp0_31^0-temp0_31^post248 == 0 /\ -a_576^post248+a_576^0 == 0 /\ a_263^0-a_263^post248 == 0 /\ len_262^0-len_262^post248 == 0 /\ -r_143^post248+r_143^0 == 0 /\ nondet_12^0-nondet_12^post248 == 0 /\ -i_27^post248+i_27^0 == 0 /\ y_20^0-y_20^post248 == 0 /\ -a_311^post248+a_311^0 == 0 /\ a_176^0-a_176^post248 == 0 /\ -f_248^post248+f_248^0 == 0 /\ a_394^0-a_394^post248 == 0 /\ -a_1236^post248+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248 == 0 /\ -a_395^post248+a_395^0 == 0 /\ a_924^0-a_924^post248 == 0 /\ -temp_35^post248+temp_35^0 == 0 /\ -rcd_88^post248+rcd_88^0 == 0 /\ x_975^0-x_975^post248 == 0 /\ -a_1162^post248+a_1236^0 <= 0 /\ r_39^0-r_39^post248 == 0 /\ a_577^0-a_577^post248 == 0 /\ f_969^0-f_969^post248 == 0 /\ i_94^0-i_94^post248 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248 == 0 /\ -a_392^post248+a_392^0 == 0 /\ -length_29^post248+length_29^0 == 0 /\ i_113^0-i_113^post248 == 0 /\ -a_417^post248+a_417^0 == 0 /\ a_393^0-a_393^post248 == 0 /\ -a_862^post248+a_862^0 == 0 /\ temp0_16^0-temp0_16^post248 == 0 /\ len_161^0-len_161^post248 == 0 /\ -len_861^post248+len_861^0 == 0 /\ -i_1053^post248+i_1053^0 == 0 /\ -x_156^post248+x_156^0 == 0 /\ x_21^0-x_21^post248 == 0 /\ a_432^0-a_432^post248 == 0 /\ -i_30^post248+i_30^0 == 0 /\ -i_1248^post248+i_1248^0 == 0 /\ -a_239^post248+a_239^0 == 0 /\ -a_635^post248+a_635^0 == 0 /\ -head_32^post248+head_32^0 == 0 /\ x_14^0-x_14^post248 == 0 /\ -r_192^post248+r_192^0 == 0 /\ a_430^0-a_430^post248 == 0 /\ -x_852^post248+x_852^0 == 0 /\ -x_17^post248+x_17^0 == 0 /\ a_1162^post248-a_1236^0 <= 0 /\ i_140^0-i_140^post248 == 0 /\ -a_579^post248+a_579^0 == 0 /\ -i_127^post248+i_127^0 == 0 /\ a_431^0-a_431^post248 == 0 /\ f_847^0-f_847^post248 == 0 /\ -rcd_58^post248+rcd_58^0 == 0 /\ t_24^0-t_24^post248 == 0 /\ -i_107^post248+i_107^0 == 0 /\ a_144^0-a_144^post248 == 0 /\ a_947^0-a_947^post248 == 0 /\ -a_575^post248+a_575^0 == 0 /\ -i_197^post248+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post248+a_633^0 == 0 /\ -a_309^post248+a_309^0 == 0), cost: 1 249: l150 -> l120 : a_1089^0'=a_1089^post249, f_847^0'=f_847^post249, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post249, a_394^0'=a_394^post249, x_156^0'=x_156^post249, a_632^0'=a_632^post249, r_192^0'=r_192^post249, a_176^0'=a_176^post249, i_106^0'=i_106^post249, a_430^0'=a_430^post249, t_458^0'=t_458^post249, len_161^0'=len_161^post249, x_975^0'=x_975^post249, a_902^0'=a_902^post249, a_947^0'=a_947^post249, rcd_88^0'=rcd_88^post249, a_311^0'=a_311^post249, i_140^0'=i_140^post249, a_577^0'=a_577^post249, x_14^0'=x_14^post249, nondet_12^0'=nondet_12^post249, a_121^0'=a_121^post249, head_15^0'=head_15^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249, i_27^0'=i_27^post249, x_21^0'=x_21^post249, a_634^0'=a_634^post249, r_39^0'=r_39^post249, a_263^0'=a_263^post249, i_113^0'=i_113^post249, a_432^0'=a_432^post249, temp0_31^0'=temp0_31^post249, len_262^0'=len_262^post249, y_20^0'=y_20^post249, f_248^0'=f_248^post249, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249, a_393^0'=a_393^post249, i_229^0'=i_229^post249, a_610^0'=a_610^post249, r_151^0'=r_151^post249, a_144^0'=a_144^post249, i_1053^0'=i_1053^post249, a_417^0'=a_417^post249, t_24^0'=t_24^post249, i_94^0'=i_94^post249, x_852^0'=x_852^post249, a_862^0'=a_862^post249, rcd_1249^0'=rcd_1249^post249, rcd_58^0'=rcd_58^post249, a_310^0'=a_310^post249, i_127^0'=i_127^post249, a_576^0'=a_576^post249, tmp_34^0'=tmp_34^post249, length_29^0'=length_29^post249, a_1162^0'=a_1162^post249, f_969^0'=f_969^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249, a_395^0'=a_395^post249, x_17^0'=x_17^post249, a_633^0'=a_633^post249, r_224^0'=r_224^post249, a_239^0'=a_239^post249, i_107^0'=i_107^post249, a_431^0'=a_431^post249, temp0_16^0'=temp0_16^post249, len_238^0'=len_238^post249, x_SLAM_f_19^0'=x_SLAM_f_19^post249, a_924^0'=a_924^post249, ct_18^0'=ct_18^post249, result_11^0'=result_11^post249, a_392^0'=a_392^post249, i_197^0'=i_197^post249, a_579^0'=a_579^post249, r_143^0'=r_143^post249, a_1236^0'=a_1236^post249, head_32^0'=head_32^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249, i_30^0'=i_30^post249, x_253^0'=x_253^post249, a_635^0'=a_635^post249, r_970^0'=r_970^post249, rcd_47^0'=rcd_47^post249, a_309^0'=a_309^post249, i_1248^0'=i_1248^post249, a_575^0'=a_575^post249, temp_35^0'=temp_35^post249, len_861^0'=len_861^post249, (i_197^0-i_197^post249 == 0 /\ -len_861^post249+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post249 == 0 /\ temp0_31^0-temp0_31^post249 == 0 /\ a_1162^0-a_1162^post249 == 0 /\ -a_432^post249+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post249+i_107^0 == 0 /\ a_634^0-a_634^post249 == 0 /\ -a_393^post249+a_393^0 == 0 /\ -a_392^post249+a_392^0 == 0 /\ -i_1248^post249+i_1248^0 == 0 /\ f_248^0-f_248^post249 == 0 /\ -head_32^post249+head_32^0 == 0 /\ -a_239^post249+a_239^0 == 0 /\ -i_27^post249+i_27^0 == 0 /\ -length_29^post249+length_29^0 == 0 /\ x_17^0-x_17^post249 == 0 /\ a_924^0-a_924^post249 == 0 /\ -i_30^post249+i_30^0 == 0 /\ a_176^0-a_176^post249 == 0 /\ -a_310^post249+a_310^0 == 0 /\ x_975^0-x_975^post249 == 0 /\ -a_635^post249+a_635^0 == 0 /\ -x_852^post249+x_852^0 == 0 /\ -r_151^post249+r_151^0 == 0 /\ rcd_1249^0-rcd_1249^post249 == 0 /\ a_610^0-a_610^post249 == 0 /\ i_113^0-i_113^post249 == 0 /\ -a_579^post249+a_579^0 == 0 /\ -rcd_58^post249+rcd_58^0 == 0 /\ -a_417^post249+a_417^0 == 0 /\ -a_309^post249+a_309^0 == 0 /\ a_632^0-a_632^post249 == 0 /\ -a_263^post249+a_263^0 == 0 /\ t_458^0-t_458^post249 == 0 /\ -ct_18^post249+ct_18^0 == 0 /\ r_192^0-r_192^post249 == 0 /\ -a_575^post249+a_575^0 == 0 /\ -a_862^post249+a_862^0 == 0 /\ nondet_12^0-nondet_12^post249 == 0 /\ x_21^0-x_21^post249 == 0 /\ -a_431^post249+a_431^0 == 0 /\ a_633^0-a_633^post249 == 0 /\ len_161^0-len_161^post249 == 0 /\ temp0_16^0-temp0_16^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post249 == 0 /\ f_847^0-f_847^post249 == 0 /\ -t_24^post249+t_24^0 == 0 /\ head_15^0-head_15^post249 == 0 /\ -f_969^post249+f_969^0 == 0 /\ -result_11^post249+result_11^0 == 0 /\ -tmp_34^post249+tmp_34^0 == 0 /\ a_144^0-a_144^post249 == 0 /\ a_394^0-a_394^post249 == 0 /\ a_121^0-a_121^post249 == 0 /\ -x_253^post249+x_253^0 == 0 /\ -rcd_47^post249+rcd_47^0 == 0 /\ a_902^0-a_902^post249 == 0 /\ len_262^0-len_262^post249 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249 == 0 /\ -i_140^post249+i_140^0 == 0 /\ a_947^0-a_947^post249 == 0 /\ -temp_35^post249+temp_35^0 == 0 /\ a_430^0-a_430^post249 == 0 /\ r_39^0-r_39^post249 == 0 /\ i_127^0-i_127^post249 == 0 /\ a_311^0-a_311^post249 == 0 /\ -r_143^post249+r_143^0 == 0 /\ rcd_88^0-rcd_88^post249 == 0 /\ a_577^0-a_577^post249 == 0 /\ i_106^0-i_106^post249 == 0 /\ len_238^0-len_238^post249 == 0 /\ -i_229^post249+i_229^0 == 0 /\ -y_20^post249+y_20^0 == 0 /\ -x_SLAM_f_19^post249+x_SLAM_f_19^0 == 0 /\ -r_970^post249+r_970^0 == 0 /\ -a_576^post249+a_576^0 == 0 /\ -i_1053^post249+i_1053^0 == 0 /\ -r_224^post249+r_224^0 == 0 /\ i_94^0-i_94^post249 == 0 /\ -a_395^post249+a_395^0 == 0 /\ -a_1236^post249+a_1236^0 == 0 /\ x_14^0-x_14^post249 == 0 /\ a_1089^0-a_1089^post249 == 0), cost: 1 272: l170 -> l171 : a_1089^0'=a_1089^post272, f_847^0'=f_847^post272, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post272, a_394^0'=a_394^post272, x_156^0'=x_156^post272, a_632^0'=a_632^post272, r_192^0'=r_192^post272, a_176^0'=a_176^post272, i_106^0'=i_106^post272, a_430^0'=a_430^post272, t_458^0'=t_458^post272, len_161^0'=len_161^post272, x_975^0'=x_975^post272, a_902^0'=a_902^post272, a_947^0'=a_947^post272, rcd_88^0'=rcd_88^post272, a_311^0'=a_311^post272, i_140^0'=i_140^post272, a_577^0'=a_577^post272, x_14^0'=x_14^post272, nondet_12^0'=nondet_12^post272, a_121^0'=a_121^post272, head_15^0'=head_15^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272, i_27^0'=i_27^post272, x_21^0'=x_21^post272, a_634^0'=a_634^post272, r_39^0'=r_39^post272, a_263^0'=a_263^post272, i_113^0'=i_113^post272, a_432^0'=a_432^post272, temp0_31^0'=temp0_31^post272, len_262^0'=len_262^post272, y_20^0'=y_20^post272, f_248^0'=f_248^post272, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272, a_393^0'=a_393^post272, i_229^0'=i_229^post272, a_610^0'=a_610^post272, r_151^0'=r_151^post272, a_144^0'=a_144^post272, i_1053^0'=i_1053^post272, a_417^0'=a_417^post272, t_24^0'=t_24^post272, i_94^0'=i_94^post272, x_852^0'=x_852^post272, a_862^0'=a_862^post272, rcd_1249^0'=rcd_1249^post272, rcd_58^0'=rcd_58^post272, a_310^0'=a_310^post272, i_127^0'=i_127^post272, a_576^0'=a_576^post272, tmp_34^0'=tmp_34^post272, length_29^0'=length_29^post272, a_1162^0'=a_1162^post272, f_969^0'=f_969^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272, a_395^0'=a_395^post272, x_17^0'=x_17^post272, a_633^0'=a_633^post272, r_224^0'=r_224^post272, a_239^0'=a_239^post272, i_107^0'=i_107^post272, a_431^0'=a_431^post272, temp0_16^0'=temp0_16^post272, len_238^0'=len_238^post272, x_SLAM_f_19^0'=x_SLAM_f_19^post272, a_924^0'=a_924^post272, ct_18^0'=ct_18^post272, result_11^0'=result_11^post272, a_392^0'=a_392^post272, i_197^0'=i_197^post272, a_579^0'=a_579^post272, r_143^0'=r_143^post272, a_1236^0'=a_1236^post272, head_32^0'=head_32^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272, i_30^0'=i_30^post272, x_253^0'=x_253^post272, a_635^0'=a_635^post272, r_970^0'=r_970^post272, rcd_47^0'=rcd_47^post272, a_309^0'=a_309^post272, i_1248^0'=i_1248^post272, a_575^0'=a_575^post272, temp_35^0'=temp_35^post272, len_861^0'=len_861^post272, (-i_127^post272+i_127^0 == 0 /\ rcd_88^0-rcd_88^post272 == 0 /\ -x_253^post272+x_253^0 == 0 /\ a_310^0-a_310^post272 == 0 /\ -head_15^post272+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post272+r_970^0 == 0 /\ -rcd_58^post272+rcd_58^0 == 0 /\ -i_197^post272+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post272 == 0 /\ a_176^0-a_176^post272 == 0 /\ a_395^0-a_395^post272 == 0 /\ -x_852^post272+x_852^0 == 0 /\ i_27^0-i_27^post272 == 0 /\ t_458^0-t_458^post272 == 0 /\ i_140^0-i_140^post272 == 0 /\ r_39^0-r_39^post272 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post272 == 0 /\ a_1089^0-a_1089^post272 == 0 /\ a_311^0-a_311^post272 == 0 /\ -temp_35^post272+temp_35^0 == 0 /\ -ct_18^post272+ct_18^0 == 0 /\ -tmp_34^post272+tmp_34^0 == 0 /\ y_20^0-y_20^post272 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272 == 0 /\ a_924^0-a_924^post272 == 0 /\ -a_417^post272+a_417^0 == 0 /\ -f_248^post272+f_248^0 == 0 /\ a_632^0-a_632^post272 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ r_192^0-r_192^post272 == 0 /\ x_975^0-x_975^post272 == 0 /\ -result_11^post272+result_11^0 == 0 /\ temp0_31^0-temp0_31^post272 == 0 /\ -i_1053^post272+i_1053^0 == 0 /\ -i_1248^post272+i_1248^0 == 0 /\ a_121^0-a_121^post272 == 0 /\ -len_861^post272+len_861^0 == 0 /\ -a_239^post272+a_239^0 == 0 /\ len_262^0-len_262^post272 == 0 /\ -rcd_1249^post272+rcd_1249^0 == 0 /\ nondet_12^0-nondet_12^post272 == 0 /\ a_634^0-a_634^post272 == 0 /\ -a_635^post272+a_635^0 == 0 /\ a_394^0-a_394^post272 == 0 /\ a_947^0-a_947^post272 == 0 /\ i_30^0-i_30^post272 == 0 /\ -a_576^post272+a_576^0 == 0 /\ -x_17^post272+x_17^0 == 0 /\ len_161^0-len_161^post272 == 0 /\ -r_143^post272+r_143^0 == 0 /\ x_14^0-x_14^post272 == 0 /\ -i_107^post272+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post272+a_575^0 == 0 /\ -a_1236^post272+a_1236^0 == 0 /\ i_106^0-i_106^post272 == 0 /\ a_263^0-a_263^post272 == 0 /\ -a_309^post272+a_309^0 == 0 /\ f_847^0-f_847^post272 == 0 /\ -a_144^post272+a_144^0 == 0 /\ t_24^0-t_24^post272 == 0 /\ a_393^0-a_393^post272 == 0 /\ -rcd_47^post272+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post272 == 0 /\ i_94^0-i_94^post272 == 0 /\ -len_238^post272+len_238^0 == 0 /\ i_229^0-i_229^post272 == 0 /\ a_432^0-a_432^post272 == 0 /\ -a_610^post272+a_610^0 == 0 /\ -length_29^post272+length_29^0 == 0 /\ a_430^0-a_430^post272 == 0 /\ -a_633^post272+a_633^0 == 0 /\ a_862^0-a_862^post272 == 0 /\ -f_969^post272+f_969^0 == 0 /\ -r_151^post272+r_151^0 == 0 /\ -a_392^post272+a_392^0 == 0 /\ a_431^0-a_431^post272 == 0 /\ a_577^0-a_577^post272 == 0 /\ x_21^0-x_21^post272 == 0 /\ -head_32^post272+head_32^0 == 0 /\ x_156^0-x_156^post272 == 0 /\ -a_579^post272+a_579^0 == 0 /\ i_113^0-i_113^post272 == 0 /\ a_1162^0-a_1162^post272 == 0 /\ a_902^0-a_902^post272 == 0 /\ r_224^0-r_224^post272 == 0), cost: 1 273: l170 -> l171 : a_1089^0'=a_1089^post273, f_847^0'=f_847^post273, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post273, a_394^0'=a_394^post273, x_156^0'=x_156^post273, a_632^0'=a_632^post273, r_192^0'=r_192^post273, a_176^0'=a_176^post273, i_106^0'=i_106^post273, a_430^0'=a_430^post273, t_458^0'=t_458^post273, len_161^0'=len_161^post273, x_975^0'=x_975^post273, a_902^0'=a_902^post273, a_947^0'=a_947^post273, rcd_88^0'=rcd_88^post273, a_311^0'=a_311^post273, i_140^0'=i_140^post273, a_577^0'=a_577^post273, x_14^0'=x_14^post273, nondet_12^0'=nondet_12^post273, a_121^0'=a_121^post273, head_15^0'=head_15^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273, i_27^0'=i_27^post273, x_21^0'=x_21^post273, a_634^0'=a_634^post273, r_39^0'=r_39^post273, a_263^0'=a_263^post273, i_113^0'=i_113^post273, a_432^0'=a_432^post273, temp0_31^0'=temp0_31^post273, len_262^0'=len_262^post273, y_20^0'=y_20^post273, f_248^0'=f_248^post273, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273, a_393^0'=a_393^post273, i_229^0'=i_229^post273, a_610^0'=a_610^post273, r_151^0'=r_151^post273, a_144^0'=a_144^post273, i_1053^0'=i_1053^post273, a_417^0'=a_417^post273, t_24^0'=t_24^post273, i_94^0'=i_94^post273, x_852^0'=x_852^post273, a_862^0'=a_862^post273, rcd_1249^0'=rcd_1249^post273, rcd_58^0'=rcd_58^post273, a_310^0'=a_310^post273, i_127^0'=i_127^post273, a_576^0'=a_576^post273, tmp_34^0'=tmp_34^post273, length_29^0'=length_29^post273, a_1162^0'=a_1162^post273, f_969^0'=f_969^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273, a_395^0'=a_395^post273, x_17^0'=x_17^post273, a_633^0'=a_633^post273, r_224^0'=r_224^post273, a_239^0'=a_239^post273, i_107^0'=i_107^post273, a_431^0'=a_431^post273, temp0_16^0'=temp0_16^post273, len_238^0'=len_238^post273, x_SLAM_f_19^0'=x_SLAM_f_19^post273, a_924^0'=a_924^post273, ct_18^0'=ct_18^post273, result_11^0'=result_11^post273, a_392^0'=a_392^post273, i_197^0'=i_197^post273, a_579^0'=a_579^post273, r_143^0'=r_143^post273, a_1236^0'=a_1236^post273, head_32^0'=head_32^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273, i_30^0'=i_30^post273, x_253^0'=x_253^post273, a_635^0'=a_635^post273, r_970^0'=r_970^post273, rcd_47^0'=rcd_47^post273, a_309^0'=a_309^post273, i_1248^0'=i_1248^post273, a_575^0'=a_575^post273, temp_35^0'=temp_35^post273, len_861^0'=len_861^post273, (-r_143^post273+r_143^0 == 0 /\ i_229^0-i_229^post273 == 0 /\ a_1162^0-a_1162^post273 == 0 /\ -a_635^post273+a_635^0 == 0 /\ -x_SLAM_f_19^post273+x_SLAM_f_19^0 == 0 /\ -a_576^post273+a_576^0 == 0 /\ -r_151^post273+r_151^0 == 0 /\ -a_309^post273+a_309^0 == 0 /\ f_248^0-f_248^post273 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -a_417^post273+a_417^0 == 0 /\ -i_107^post273+i_107^0 == 0 /\ temp0_31^0-temp0_31^post273 == 0 /\ -a_575^post273+a_575^0 == 0 /\ i_127^0-i_127^post273 == 0 /\ len_262^0-len_262^post273 == 0 /\ x_975^0-x_975^post273 == 0 /\ -a_1236^post273+a_1236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_634^0-a_634^post273 == 0 /\ a_577^0-a_577^post273 == 0 /\ a_902^0-a_902^post273 == 0 /\ -a_862^post273+a_862^0 == 0 /\ a_394^0-a_394^post273 == 0 /\ -length_29^post273+length_29^0 == 0 /\ -rcd_47^post273+rcd_47^0 == 0 /\ r_192^0-r_192^post273 == 0 /\ -a_431^post273+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post273+a_392^0 == 0 /\ a_176^0-a_176^post273 == 0 /\ -head_32^post273+head_32^0 == 0 /\ -a_310^post273+a_310^0 == 0 /\ -i_27^post273+i_27^0 == 0 /\ -i_140^post273+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post273+x_253^0 == 0 /\ a_632^0-a_632^post273 == 0 /\ rcd_1249^0-rcd_1249^post273 == 0 /\ y_20^0-y_20^post273 == 0 /\ f_847^0-f_847^post273 == 0 /\ -x_852^post273+x_852^0 == 0 /\ -temp_35^post273+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post273 == 0 /\ -r_224^post273+r_224^0 == 0 /\ head_15^0-head_15^post273 == 0 /\ -f_969^post273+f_969^0 == 0 /\ a_432^0-a_432^post273 == 0 /\ x_21^0-x_21^post273 == 0 /\ -i_1053^post273+i_1053^0 == 0 /\ -rcd_58^post273+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post273 == 0 /\ -a_395^post273+a_395^0 == 0 /\ -a_579^post273+a_579^0 == 0 /\ r_970^0-r_970^post273 == 0 /\ -i_197^post273+i_197^0 == 0 /\ -ct_18^post273+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273 == 0 /\ a_633^0-a_633^post273 == 0 /\ i_94^0-i_94^post273 == 0 /\ -rcd_88^post273+rcd_88^0 == 0 /\ -a_263^post273+a_263^0 == 0 /\ x_156^0-x_156^post273 == 0 /\ a_610^0-a_610^post273 == 0 /\ i_113^0-i_113^post273 == 0 /\ x_17^0-x_17^post273 == 0 /\ a_144^0-a_144^post273 == 0 /\ len_238^0-len_238^post273 == 0 /\ x_14^0-x_14^post273 == 0 /\ a_947^0-a_947^post273 == 0 /\ a_121^0-a_121^post273 == 0 /\ -a_924^post273+a_924^0 == 0 /\ -i_1248^post273+i_1248^0 == 0 /\ a_1089^0-a_1089^post273 == 0 /\ -len_161^post273+len_161^0 == 0 /\ t_458^0-t_458^post273 == 0 /\ -a_239^post273+a_239^0 == 0 /\ r_39^0-r_39^post273 == 0 /\ a_430^0-a_430^post273 == 0 /\ -tmp_34^post273+tmp_34^0 == 0 /\ -t_24^post273+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post273 == 0 /\ a_311^0-a_311^post273 == 0 /\ -len_861^post273+len_861^0 == 0 /\ i_106^0-i_106^post273 == 0 /\ -i_30^post273+i_30^0 == 0 /\ -result_11^post273+result_11^0 == 0 /\ -a_393^post273+a_393^0 == 0), cost: 1 274: l171 -> l172 : a_1089^0'=a_1089^post274, f_847^0'=f_847^post274, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post274, a_394^0'=a_394^post274, x_156^0'=x_156^post274, a_632^0'=a_632^post274, r_192^0'=r_192^post274, a_176^0'=a_176^post274, i_106^0'=i_106^post274, a_430^0'=a_430^post274, t_458^0'=t_458^post274, len_161^0'=len_161^post274, x_975^0'=x_975^post274, a_902^0'=a_902^post274, a_947^0'=a_947^post274, rcd_88^0'=rcd_88^post274, a_311^0'=a_311^post274, i_140^0'=i_140^post274, a_577^0'=a_577^post274, x_14^0'=x_14^post274, nondet_12^0'=nondet_12^post274, a_121^0'=a_121^post274, head_15^0'=head_15^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274, i_27^0'=i_27^post274, x_21^0'=x_21^post274, a_634^0'=a_634^post274, r_39^0'=r_39^post274, a_263^0'=a_263^post274, i_113^0'=i_113^post274, a_432^0'=a_432^post274, temp0_31^0'=temp0_31^post274, len_262^0'=len_262^post274, y_20^0'=y_20^post274, f_248^0'=f_248^post274, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274, a_393^0'=a_393^post274, i_229^0'=i_229^post274, a_610^0'=a_610^post274, r_151^0'=r_151^post274, a_144^0'=a_144^post274, i_1053^0'=i_1053^post274, a_417^0'=a_417^post274, t_24^0'=t_24^post274, i_94^0'=i_94^post274, x_852^0'=x_852^post274, a_862^0'=a_862^post274, rcd_1249^0'=rcd_1249^post274, rcd_58^0'=rcd_58^post274, a_310^0'=a_310^post274, i_127^0'=i_127^post274, a_576^0'=a_576^post274, tmp_34^0'=tmp_34^post274, length_29^0'=length_29^post274, a_1162^0'=a_1162^post274, f_969^0'=f_969^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274, a_395^0'=a_395^post274, x_17^0'=x_17^post274, a_633^0'=a_633^post274, r_224^0'=r_224^post274, a_239^0'=a_239^post274, i_107^0'=i_107^post274, a_431^0'=a_431^post274, temp0_16^0'=temp0_16^post274, len_238^0'=len_238^post274, x_SLAM_f_19^0'=x_SLAM_f_19^post274, a_924^0'=a_924^post274, ct_18^0'=ct_18^post274, result_11^0'=result_11^post274, a_392^0'=a_392^post274, i_197^0'=i_197^post274, a_579^0'=a_579^post274, r_143^0'=r_143^post274, a_1236^0'=a_1236^post274, head_32^0'=head_32^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274, i_30^0'=i_30^post274, x_253^0'=x_253^post274, a_635^0'=a_635^post274, r_970^0'=r_970^post274, rcd_47^0'=rcd_47^post274, a_309^0'=a_309^post274, i_1248^0'=i_1248^post274, a_575^0'=a_575^post274, temp_35^0'=temp_35^post274, len_861^0'=len_861^post274, (0 == 0 /\ -i_1248^post274+i_1248^0 == 0 /\ -head_32^post274+head_32^0 == 0 /\ x_852^0-x_852^post274 == 0 /\ -i_229^post274+i_229^0 == 0 /\ -a_263^post274+a_263^0 == 0 /\ -a_579^post274+a_579^0 == 0 /\ -x_253^post274+x_253^0 == 0 /\ a_394^0-a_394^post274 == 0 /\ -i_197^post274+i_197^0 == 0 /\ a_1089^0-a_1089^post274 == 0 /\ -temp_35^post274+temp_35^0 == 0 /\ -rcd_58^post274+rcd_58^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ rcd_88^0-rcd_88^post274 == 0 /\ a_576^0-a_576^post274 == 0 /\ a_311^0-a_311^post274 == 0 /\ rcd_1249^0-rcd_1249^post274 == 0 /\ f_847^0-f_847^post274 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274 == 0 /\ -r_39^post274+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post274+a_395^0 == 0 /\ -a_862^post274+a_862^0 == 0 /\ -1-a_947^post274+a_924^0 <= 0 /\ i_106^0-i_106^post274 == 0 /\ -a_417^post274+a_417^0 == 0 /\ -a_309^post274+a_309^0 == 0 /\ -a_393^post274+a_393^0 == 0 /\ a_924^0-a_924^post274 == 0 /\ t_458^0-t_458^post274 == 0 /\ -tmp_34^post274+tmp_34^0 == 0 /\ -result_11^post274+result_11^0 == 0 /\ -x_17^post274+x_17^0 == 0 /\ y_20^0 <= 0 /\ -i_30^post274+i_30^0 == 0 /\ -i_1053^post274+i_1053^0 == 0 /\ x_975^0-x_975^post274 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-ct_18^post274 == 0 /\ a_1236^0-a_1236^post274 == 0 /\ i_127^0-i_127^post274 == 0 /\ x_21^0-x_21^post274 == 0 /\ -r_224^post274+r_224^0 == 0 /\ -len_861^post274+len_861^0 == 0 /\ a_610^0-a_610^post274 == 0 /\ -a_577^post274+a_577^0 == 0 /\ temp0_31^0-temp0_31^post274 == 0 /\ x_14^0-x_14^post274 == 0 /\ i_27^0-i_27^post274 == 0 /\ a_310^0-a_310^post274 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post274 == 0 /\ -a_635^post274+a_635^0 == 0 /\ -r_143^post274+r_143^0 == 0 /\ -a_632^post274+a_632^0 == 0 /\ a_121^0-a_121^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post274 == 0 /\ len_262^0-len_262^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ a_430^0-a_430^post274 == 0 /\ a_176^0-a_176^post274 == 0 /\ -i_107^post274+i_107^0 == 0 /\ len_161^0-len_161^post274 == 0 /\ t_24^post274-x_21^0 == 0 /\ len_238^0-len_238^post274 == 0 /\ head_15^0-x_17^0 <= 0 /\ -a_575^post274+a_575^0 == 0 /\ -i_113^post274+i_113^0 == 0 /\ 1+a_947^post274-a_924^0 <= 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ head_15^0-head_15^post274 == 0 /\ ct_18^0 <= 0 /\ -a_633^post274+a_633^0 == 0 /\ temp0_16^0-temp0_16^post274 == 0 /\ -a_432^post274+a_432^0 == 0 /\ r_151^0-r_151^post274 == 0 /\ f_248^0-f_248^post274 == 0 /\ -ct_18^0 <= 0 /\ a_239^0-a_239^post274 == 0 /\ a_902^0-a_902^post274 == 0 /\ -a_431^post274+a_431^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_392^post274+a_392^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post274+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post274 == 0 /\ -y_20^post274+y_20^0 == 0 /\ -f_969^post274+f_969^0 == 0 /\ -length_29^post274+length_29^0 == 0 /\ a_144^0-a_144^post274 == 0 /\ x_156^0-x_156^post274 == 0 /\ -rcd_47^post274+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post274 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1162^0-a_1162^post274 == 0 /\ -i_94^post274+i_94^0 == 0 /\ -r_970^post274+r_970^0 == 0 /\ -head_15^0+x_17^0 <= 0 /\ -i_140^post274+i_140^0 == 0), cost: 1 275: l172 -> l173 : a_1089^0'=a_1089^post275, f_847^0'=f_847^post275, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post275, a_394^0'=a_394^post275, x_156^0'=x_156^post275, a_632^0'=a_632^post275, r_192^0'=r_192^post275, a_176^0'=a_176^post275, i_106^0'=i_106^post275, a_430^0'=a_430^post275, t_458^0'=t_458^post275, len_161^0'=len_161^post275, x_975^0'=x_975^post275, a_902^0'=a_902^post275, a_947^0'=a_947^post275, rcd_88^0'=rcd_88^post275, a_311^0'=a_311^post275, i_140^0'=i_140^post275, a_577^0'=a_577^post275, x_14^0'=x_14^post275, nondet_12^0'=nondet_12^post275, a_121^0'=a_121^post275, head_15^0'=head_15^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275, i_27^0'=i_27^post275, x_21^0'=x_21^post275, a_634^0'=a_634^post275, r_39^0'=r_39^post275, a_263^0'=a_263^post275, i_113^0'=i_113^post275, a_432^0'=a_432^post275, temp0_31^0'=temp0_31^post275, len_262^0'=len_262^post275, y_20^0'=y_20^post275, f_248^0'=f_248^post275, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275, a_393^0'=a_393^post275, i_229^0'=i_229^post275, a_610^0'=a_610^post275, r_151^0'=r_151^post275, a_144^0'=a_144^post275, i_1053^0'=i_1053^post275, a_417^0'=a_417^post275, t_24^0'=t_24^post275, i_94^0'=i_94^post275, x_852^0'=x_852^post275, a_862^0'=a_862^post275, rcd_1249^0'=rcd_1249^post275, rcd_58^0'=rcd_58^post275, a_310^0'=a_310^post275, i_127^0'=i_127^post275, a_576^0'=a_576^post275, tmp_34^0'=tmp_34^post275, length_29^0'=length_29^post275, a_1162^0'=a_1162^post275, f_969^0'=f_969^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275, a_395^0'=a_395^post275, x_17^0'=x_17^post275, a_633^0'=a_633^post275, r_224^0'=r_224^post275, a_239^0'=a_239^post275, i_107^0'=i_107^post275, a_431^0'=a_431^post275, temp0_16^0'=temp0_16^post275, len_238^0'=len_238^post275, x_SLAM_f_19^0'=x_SLAM_f_19^post275, a_924^0'=a_924^post275, ct_18^0'=ct_18^post275, result_11^0'=result_11^post275, a_392^0'=a_392^post275, i_197^0'=i_197^post275, a_579^0'=a_579^post275, r_143^0'=r_143^post275, a_1236^0'=a_1236^post275, head_32^0'=head_32^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275, i_30^0'=i_30^post275, x_253^0'=x_253^post275, a_635^0'=a_635^post275, r_970^0'=r_970^post275, rcd_47^0'=rcd_47^post275, a_309^0'=a_309^post275, i_1248^0'=i_1248^post275, a_575^0'=a_575^post275, temp_35^0'=temp_35^post275, len_861^0'=len_861^post275, (-x_SLAM_f_19^post275+x_SLAM_f_19^0 == 0 /\ a_430^0-a_430^post275 == 0 /\ -r_151^post275+r_151^0 == 0 /\ x_975^0-x_975^post275 == 0 /\ f_248^0-f_248^post275 == 0 /\ r_192^0-r_192^post275 == 0 /\ -a_432^post275+a_432^0 == 0 /\ -a_924^post275+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_633^0-a_633^post275 == 0 /\ -i_113^post275+i_113^0 == 0 /\ i_127^0-i_127^post275 == 0 /\ x_21^0-x_21^post275 == 0 /\ f_969^0-f_969^post275 == 0 /\ -r_143^post275+r_143^0 == 0 /\ result_11^0-result_11^post275 == 0 /\ -x_253^post275+x_253^0 == 0 /\ a_144^0-a_144^post275 == 0 /\ a_947^0-a_947^post275 == 0 /\ -a_392^post275+a_392^0 == 0 /\ -a_862^post275+a_862^0 == 0 /\ -a_1236^post275+a_1236^0 == 0 /\ -temp_35^post275+temp_35^0 == 0 /\ len_161^0-len_161^post275 == 0 /\ i_27^0-i_27^post275 == 0 /\ -r_970^post275+r_970^0 == 0 /\ a_576^0-a_576^post275 == 0 /\ -rcd_47^post275+rcd_47^0 == 0 /\ r_39^0-r_39^post275 == 0 /\ -a_310^post275+a_310^0 == 0 /\ f_847^0-f_847^post275 == 0 /\ t_458^0-t_458^post275 == 0 /\ -i_140^post275+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_58^0-rcd_58^post275 == 0 /\ i_106^0-i_106^post275 == 0 /\ -i_94^post275+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post275 == 0 /\ -length_29^post275+length_29^0 == 0 /\ -y_20^post275+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275 == 0 /\ -a_577^post275+a_577^0 == 0 /\ -i_1248^post275+i_1248^0 == 0 /\ head_15^0-head_15^post275 == 0 /\ -a_579^post275+a_579^0 == 0 /\ -t_24^post275+t_24^0 == 0 /\ -r_224^post275+r_224^0 == 0 /\ -head_32^post275+head_32^0 == 0 /\ -x_852^post275+x_852^0 == 0 /\ -temp0_16^post275+temp0_16^0 == 0 /\ a_632^0-a_632^post275 == 0 /\ -ct_18^post275+ct_18^0 == 0 /\ -len_861^post275+len_861^0 == 0 /\ a_239^0-a_239^post275 == 0 /\ len_262^0-len_262^post275 == 0 /\ x_156^0-x_156^post275 == 0 /\ -a_431^post275+a_431^0 == 0 /\ a_610^0-a_610^post275 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_263^post275+a_263^0 == 0 /\ a_902^0-a_902^post275 == 0 /\ -a_395^post275+a_395^0 == 0 /\ temp0_31^0-temp0_31^post275 == 0 /\ -i_197^post275+i_197^0 == 0 /\ i_229^0-i_229^post275 == 0 /\ a_634^0-a_634^post275 == 0 /\ -i_30^post275+i_30^0 == 0 /\ a_417^0-a_417^post275 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post275 == 0 /\ a_394^0-a_394^post275 == 0 /\ -a_309^post275+a_309^0 == 0 /\ x_17^0-x_17^post275 == 0 /\ a_1089^0-a_1089^post275 == 0 /\ x_14^0-x_14^post275 == 0 /\ len_238^0-len_238^post275 == 0 /\ 1-head_15^0 <= 0 /\ -i_107^post275+i_107^0 == 0 /\ nondet_12^0-nondet_12^post275 == 0 /\ -a_575^post275+a_575^0 == 0 /\ a_176^0-a_176^post275 == 0 /\ -tmp_34^post275+tmp_34^0 == 0 /\ a_121^0-a_121^post275 == 0 /\ -a_635^post275+a_635^0 == 0 /\ a_311^0-a_311^post275 == 0 /\ -a_393^post275+a_393^0 == 0 /\ i_1053^0-i_1053^post275 == 0 /\ rcd_88^0-rcd_88^post275 == 0 /\ -a_1162^post275+a_1162^0 == 0), cost: 1 276: l172 -> l173 : a_1089^0'=a_1089^post276, f_847^0'=f_847^post276, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post276, a_394^0'=a_394^post276, x_156^0'=x_156^post276, a_632^0'=a_632^post276, r_192^0'=r_192^post276, a_176^0'=a_176^post276, i_106^0'=i_106^post276, a_430^0'=a_430^post276, t_458^0'=t_458^post276, len_161^0'=len_161^post276, x_975^0'=x_975^post276, a_902^0'=a_902^post276, a_947^0'=a_947^post276, rcd_88^0'=rcd_88^post276, a_311^0'=a_311^post276, i_140^0'=i_140^post276, a_577^0'=a_577^post276, x_14^0'=x_14^post276, nondet_12^0'=nondet_12^post276, a_121^0'=a_121^post276, head_15^0'=head_15^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276, i_27^0'=i_27^post276, x_21^0'=x_21^post276, a_634^0'=a_634^post276, r_39^0'=r_39^post276, a_263^0'=a_263^post276, i_113^0'=i_113^post276, a_432^0'=a_432^post276, temp0_31^0'=temp0_31^post276, len_262^0'=len_262^post276, y_20^0'=y_20^post276, f_248^0'=f_248^post276, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276, a_393^0'=a_393^post276, i_229^0'=i_229^post276, a_610^0'=a_610^post276, r_151^0'=r_151^post276, a_144^0'=a_144^post276, i_1053^0'=i_1053^post276, a_417^0'=a_417^post276, t_24^0'=t_24^post276, i_94^0'=i_94^post276, x_852^0'=x_852^post276, a_862^0'=a_862^post276, rcd_1249^0'=rcd_1249^post276, rcd_58^0'=rcd_58^post276, a_310^0'=a_310^post276, i_127^0'=i_127^post276, a_576^0'=a_576^post276, tmp_34^0'=tmp_34^post276, length_29^0'=length_29^post276, a_1162^0'=a_1162^post276, f_969^0'=f_969^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276, a_395^0'=a_395^post276, x_17^0'=x_17^post276, a_633^0'=a_633^post276, r_224^0'=r_224^post276, a_239^0'=a_239^post276, i_107^0'=i_107^post276, a_431^0'=a_431^post276, temp0_16^0'=temp0_16^post276, len_238^0'=len_238^post276, x_SLAM_f_19^0'=x_SLAM_f_19^post276, a_924^0'=a_924^post276, ct_18^0'=ct_18^post276, result_11^0'=result_11^post276, a_392^0'=a_392^post276, i_197^0'=i_197^post276, a_579^0'=a_579^post276, r_143^0'=r_143^post276, a_1236^0'=a_1236^post276, head_32^0'=head_32^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276, i_30^0'=i_30^post276, x_253^0'=x_253^post276, a_635^0'=a_635^post276, r_970^0'=r_970^post276, rcd_47^0'=rcd_47^post276, a_309^0'=a_309^post276, i_1248^0'=i_1248^post276, a_575^0'=a_575^post276, temp_35^0'=temp_35^post276, len_861^0'=len_861^post276, (rcd_58^0-rcd_58^post276 == 0 /\ a_862^0-a_862^post276 == 0 /\ -a_310^post276+a_310^0 == 0 /\ -i_229^post276+i_229^0 == 0 /\ len_161^0-len_161^post276 == 0 /\ 1+head_15^0 <= 0 /\ -temp0_16^post276+temp0_16^0 == 0 /\ -len_262^post276+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276 == 0 /\ x_852^0-x_852^post276 == 0 /\ a_394^0-a_394^post276 == 0 /\ a_144^0-a_144^post276 == 0 /\ a_263^0-a_263^post276 == 0 /\ t_24^0-t_24^post276 == 0 /\ -head_32^post276+head_32^0 == 0 /\ -f_248^post276+f_248^0 == 0 /\ a_576^0-a_576^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post276+r_224^0 == 0 /\ a_947^0-a_947^post276 == 0 /\ -i_197^post276+i_197^0 == 0 /\ -temp_35^post276+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post276 == 0 /\ -r_39^post276+r_39^0 == 0 /\ f_847^0-f_847^post276 == 0 /\ -a_579^post276+a_579^0 == 0 /\ i_106^0-i_106^post276 == 0 /\ -i_107^post276+i_107^0 == 0 /\ -i_127^post276+i_127^0 == 0 /\ -x_14^post276+x_14^0 == 0 /\ r_151^0-r_151^post276 == 0 /\ -a_575^post276+a_575^0 == 0 /\ -x_17^post276+x_17^0 == 0 /\ -a_1162^post276+a_1162^0 == 0 /\ a_430^0-a_430^post276 == 0 /\ -a_924^post276+a_924^0 == 0 /\ a_311^0-a_311^post276 == 0 /\ t_458^0-t_458^post276 == 0 /\ -i_30^post276+i_30^0 == 0 /\ head_15^0-head_15^post276 == 0 /\ a_902^0-a_902^post276 == 0 /\ -result_11^post276+result_11^0 == 0 /\ -a_417^post276+a_417^0 == 0 /\ ct_18^0-ct_18^post276 == 0 /\ x_21^0-x_21^post276 == 0 /\ a_432^0-a_432^post276 == 0 /\ a_1236^0-a_1236^post276 == 0 /\ x_156^0-x_156^post276 == 0 /\ -len_861^post276+len_861^0 == 0 /\ -a_635^post276+a_635^0 == 0 /\ -a_577^post276+a_577^0 == 0 /\ -i_1248^post276+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post276 == 0 /\ i_140^0-i_140^post276 == 0 /\ a_634^0-a_634^post276 == 0 /\ i_27^0-i_27^post276 == 0 /\ -len_238^post276+len_238^0 == 0 /\ -a_610^post276+a_610^0 == 0 /\ a_176^0-a_176^post276 == 0 /\ a_1089^0-a_1089^post276 == 0 /\ -a_633^post276+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post276 == 0 /\ -rcd_47^post276+rcd_47^0 == 0 /\ -r_143^post276+r_143^0 == 0 /\ rcd_88^0-rcd_88^post276 == 0 /\ x_253^0-x_253^post276 == 0 /\ y_20^0-y_20^post276 == 0 /\ -rcd_1249^post276+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276 == 0 /\ -a_632^post276+a_632^0 == 0 /\ a_395^0-a_395^post276 == 0 /\ i_1053^0-i_1053^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post276+i_113^0 == 0 /\ -a_309^post276+a_309^0 == 0 /\ -a_431^post276+a_431^0 == 0 /\ a_239^0-a_239^post276 == 0 /\ x_975^0-x_975^post276 == 0 /\ a_393^0-a_393^post276 == 0 /\ -a_392^post276+a_392^0 == 0 /\ -i_94^post276+i_94^0 == 0 /\ f_969^0-f_969^post276 == 0 /\ r_192^0-r_192^post276 == 0 /\ -r_970^post276+r_970^0 == 0 /\ -length_29^post276+length_29^0 == 0 /\ nondet_12^0-nondet_12^post276 == 0 /\ -a_121^post276+a_121^0 == 0 /\ -x_SLAM_f_19^post276+x_SLAM_f_19^0 == 0), cost: 1 277: l173 -> l174 : a_1089^0'=a_1089^post277, f_847^0'=f_847^post277, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post277, a_394^0'=a_394^post277, x_156^0'=x_156^post277, a_632^0'=a_632^post277, r_192^0'=r_192^post277, a_176^0'=a_176^post277, i_106^0'=i_106^post277, a_430^0'=a_430^post277, t_458^0'=t_458^post277, len_161^0'=len_161^post277, x_975^0'=x_975^post277, a_902^0'=a_902^post277, a_947^0'=a_947^post277, rcd_88^0'=rcd_88^post277, a_311^0'=a_311^post277, i_140^0'=i_140^post277, a_577^0'=a_577^post277, x_14^0'=x_14^post277, nondet_12^0'=nondet_12^post277, a_121^0'=a_121^post277, head_15^0'=head_15^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277, i_27^0'=i_27^post277, x_21^0'=x_21^post277, a_634^0'=a_634^post277, r_39^0'=r_39^post277, a_263^0'=a_263^post277, i_113^0'=i_113^post277, a_432^0'=a_432^post277, temp0_31^0'=temp0_31^post277, len_262^0'=len_262^post277, y_20^0'=y_20^post277, f_248^0'=f_248^post277, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277, a_393^0'=a_393^post277, i_229^0'=i_229^post277, a_610^0'=a_610^post277, r_151^0'=r_151^post277, a_144^0'=a_144^post277, i_1053^0'=i_1053^post277, a_417^0'=a_417^post277, t_24^0'=t_24^post277, i_94^0'=i_94^post277, x_852^0'=x_852^post277, a_862^0'=a_862^post277, rcd_1249^0'=rcd_1249^post277, rcd_58^0'=rcd_58^post277, a_310^0'=a_310^post277, i_127^0'=i_127^post277, a_576^0'=a_576^post277, tmp_34^0'=tmp_34^post277, length_29^0'=length_29^post277, a_1162^0'=a_1162^post277, f_969^0'=f_969^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277, a_395^0'=a_395^post277, x_17^0'=x_17^post277, a_633^0'=a_633^post277, r_224^0'=r_224^post277, a_239^0'=a_239^post277, i_107^0'=i_107^post277, a_431^0'=a_431^post277, temp0_16^0'=temp0_16^post277, len_238^0'=len_238^post277, x_SLAM_f_19^0'=x_SLAM_f_19^post277, a_924^0'=a_924^post277, ct_18^0'=ct_18^post277, result_11^0'=result_11^post277, a_392^0'=a_392^post277, i_197^0'=i_197^post277, a_579^0'=a_579^post277, r_143^0'=r_143^post277, a_1236^0'=a_1236^post277, head_32^0'=head_32^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277, i_30^0'=i_30^post277, x_253^0'=x_253^post277, a_635^0'=a_635^post277, r_970^0'=r_970^post277, rcd_47^0'=rcd_47^post277, a_309^0'=a_309^post277, i_1248^0'=i_1248^post277, a_575^0'=a_575^post277, temp_35^0'=temp_35^post277, len_861^0'=len_861^post277, (length_29^0-length_29^post277 == 0 /\ r_39^0-r_39^post277 == 0 /\ r_151^0-r_151^post277 == 0 /\ -rcd_47^post277+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post277 == 0 /\ a_632^0-a_632^post277 == 0 /\ a_430^0-a_430^post277 == 0 /\ x_975^0-x_975^post277 == 0 /\ -a_634^post277+a_634^0 == 0 /\ t_458^0-t_458^post277 == 0 /\ -len_238^post277+len_238^0 == 0 /\ i_94^0-i_94^post277 == 0 /\ i_113^0-i_113^post277 == 0 /\ a_577^0-a_577^post277 == 0 /\ a_902^0-a_902^post277 == 0 /\ a_393^0-a_393^post277 == 0 /\ -r_143^post277+r_143^0 == 0 /\ a_633^0-a_633^post277 == 0 /\ f_969^0-f_969^post277 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_144^0-a_144^post277 == 0 /\ -a_392^post277+a_392^0 == 0 /\ x_14^0-x_14^post277 == 0 /\ rcd_58^0-rcd_58^post277 == 0 /\ a_417^0-a_417^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post277 == 0 /\ len_262^0-len_262^post277 == 0 /\ a_394^0-a_394^post277 == 0 /\ -a_431^post277+a_431^0 == 0 /\ -temp_35^post277+temp_35^0 == 0 /\ -a_576^post277+a_576^0 == 0 /\ -i_27^post277+i_27^0 == 0 /\ a_263^0-a_263^post277 == 0 /\ -x_SLAM_f_19^post277+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post277 == 0 /\ -r_970^post277+r_970^0 == 0 /\ -i_229^post277+i_229^0 == 0 /\ -a_310^post277+a_310^0 == 0 /\ -a_610^post277+a_610^0 == 0 /\ -a_311^post277+a_311^0 == 0 /\ -x_253^post277+x_253^0 == 0 /\ -a_1236^post277+a_1236^0 == 0 /\ f_248^0-f_248^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277 == 0 /\ -len_161^post277+len_161^0 == 0 /\ i_106^0-i_106^post277 == 0 /\ -i_1248^post277+i_1248^0 == 0 /\ -temp0_31^post277+temp0_31^0 == 0 /\ -temp0_16^post277+temp0_16^0 == 0 /\ -a_239^post277+a_239^0 == 0 /\ -r_224^post277+r_224^0 == 0 /\ -a_395^post277+a_395^0 == 0 /\ -ct_18^post277+ct_18^0 == 0 /\ rcd_88^0-rcd_88^post277 == 0 /\ -r_192^post277+r_192^0 == 0 /\ -a_579^post277+a_579^0 == 0 /\ a_432^0-a_432^post277 == 0 /\ x_156^0-x_156^post277 == 0 /\ -a_947^post277+a_947^0 == 0 /\ -head_32^post277+head_32^0 == 0 /\ -i_127^post277+i_127^0 == 0 /\ -a_862^post277+a_862^0 == 0 /\ -i_197^post277+i_197^0 == 0 /\ x_21^0-x_21^post277 == 0 /\ a_121^0-a_121^post277 == 0 /\ -result_11^post277+result_11^0 == 0 /\ x_852^0-x_852^post277 == 0 /\ i_140^0-i_140^post277 == 0 /\ a_1089^0-a_1089^post277 == 0 /\ -x_17^post277+x_17^0 == 0 /\ nondet_12^0-nondet_12^post277 == 0 /\ -i_107^post277+i_107^0 == 0 /\ -head_15^post277+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277 == 0 /\ -a_309^post277+a_309^0 == 0 /\ -a_575^post277+a_575^0 == 0 /\ -a_924^post277+a_924^0 == 0 /\ -a_635^post277+a_635^0 == 0 /\ f_847^0-f_847^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277 == 0 /\ -len_861^post277+len_861^0 == 0 /\ -a_1162^post277+a_1162^0 == 0 /\ -i_30^post277+i_30^0 == 0 /\ i_1053^0-i_1053^post277 == 0 /\ a_176^0-a_176^post277 == 0 /\ rcd_1249^0-rcd_1249^post277 == 0 /\ -t_24^post277+t_24^0 == 0), cost: 1 278: l173 -> l174 : a_1089^0'=a_1089^post278, f_847^0'=f_847^post278, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post278, a_394^0'=a_394^post278, x_156^0'=x_156^post278, a_632^0'=a_632^post278, r_192^0'=r_192^post278, a_176^0'=a_176^post278, i_106^0'=i_106^post278, a_430^0'=a_430^post278, t_458^0'=t_458^post278, len_161^0'=len_161^post278, x_975^0'=x_975^post278, a_902^0'=a_902^post278, a_947^0'=a_947^post278, rcd_88^0'=rcd_88^post278, a_311^0'=a_311^post278, i_140^0'=i_140^post278, a_577^0'=a_577^post278, x_14^0'=x_14^post278, nondet_12^0'=nondet_12^post278, a_121^0'=a_121^post278, head_15^0'=head_15^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278, i_27^0'=i_27^post278, x_21^0'=x_21^post278, a_634^0'=a_634^post278, r_39^0'=r_39^post278, a_263^0'=a_263^post278, i_113^0'=i_113^post278, a_432^0'=a_432^post278, temp0_31^0'=temp0_31^post278, len_262^0'=len_262^post278, y_20^0'=y_20^post278, f_248^0'=f_248^post278, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278, a_393^0'=a_393^post278, i_229^0'=i_229^post278, a_610^0'=a_610^post278, r_151^0'=r_151^post278, a_144^0'=a_144^post278, i_1053^0'=i_1053^post278, a_417^0'=a_417^post278, t_24^0'=t_24^post278, i_94^0'=i_94^post278, x_852^0'=x_852^post278, a_862^0'=a_862^post278, rcd_1249^0'=rcd_1249^post278, rcd_58^0'=rcd_58^post278, a_310^0'=a_310^post278, i_127^0'=i_127^post278, a_576^0'=a_576^post278, tmp_34^0'=tmp_34^post278, length_29^0'=length_29^post278, a_1162^0'=a_1162^post278, f_969^0'=f_969^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278, a_395^0'=a_395^post278, x_17^0'=x_17^post278, a_633^0'=a_633^post278, r_224^0'=r_224^post278, a_239^0'=a_239^post278, i_107^0'=i_107^post278, a_431^0'=a_431^post278, temp0_16^0'=temp0_16^post278, len_238^0'=len_238^post278, x_SLAM_f_19^0'=x_SLAM_f_19^post278, a_924^0'=a_924^post278, ct_18^0'=ct_18^post278, result_11^0'=result_11^post278, a_392^0'=a_392^post278, i_197^0'=i_197^post278, a_579^0'=a_579^post278, r_143^0'=r_143^post278, a_1236^0'=a_1236^post278, head_32^0'=head_32^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278, i_30^0'=i_30^post278, x_253^0'=x_253^post278, a_635^0'=a_635^post278, r_970^0'=r_970^post278, rcd_47^0'=rcd_47^post278, a_309^0'=a_309^post278, i_1248^0'=i_1248^post278, a_575^0'=a_575^post278, temp_35^0'=temp_35^post278, len_861^0'=len_861^post278, (-head_32^post278+head_32^0 == 0 /\ -a_395^post278+a_395^0 == 0 /\ -len_861^post278+len_861^0 == 0 /\ -ct_18^post278+ct_18^0 == 0 /\ i_197^0-i_197^post278 == 0 /\ a_310^0-a_310^post278 == 0 /\ -i_1248^post278+i_1248^0 == 0 /\ -len_262^post278+len_262^0 == 0 /\ a_1089^0-a_1089^post278 == 0 /\ a_417^0-a_417^post278 == 0 /\ a_394^0-a_394^post278 == 0 /\ -a_239^post278+a_239^0 == 0 /\ -temp_35^post278+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post278 == 0 /\ a_311^0-a_311^post278 == 0 /\ -i_127^post278+i_127^0 == 0 /\ f_847^0-f_847^post278 == 0 /\ a_924^0-a_924^post278 == 0 /\ -i_1053^post278+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post278 == 0 /\ -a_392^post278+a_392^0 == 0 /\ i_140^0-i_140^post278 == 0 /\ i_106^0-i_106^post278 == 0 /\ -rcd_1249^post278+rcd_1249^0 == 0 /\ -i_107^post278+i_107^0 == 0 /\ i_94^0-i_94^post278 == 0 /\ -a_579^post278+a_579^0 == 0 /\ -a_575^post278+a_575^0 == 0 /\ x_975^0-x_975^post278 == 0 /\ t_458^0-t_458^post278 == 0 /\ a_393^0-a_393^post278 == 0 /\ -result_11^post278+result_11^0 == 0 /\ -a_309^post278+a_309^0 == 0 /\ y_20^0-y_20^post278 == 0 /\ r_39^0-r_39^post278 == 0 /\ -i_30^post278+i_30^0 == 0 /\ -a_635^post278+a_635^0 == 0 /\ r_224^0-r_224^post278 == 0 /\ x_21^0-x_21^post278 == 0 /\ -x_852^post278+x_852^0 == 0 /\ -x_17^post278+x_17^0 == 0 /\ a_577^0-a_577^post278 == 0 /\ temp0_31^0-temp0_31^post278 == 0 /\ -a_144^post278+a_144^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -rcd_58^post278+rcd_58^0 == 0 /\ -head_15^post278+head_15^0 == 0 /\ -a_633^post278+a_633^0 == 0 /\ -tmp_34^post278+tmp_34^0 == 0 /\ t_24^0-t_24^post278 == 0 /\ x_14^0-x_14^post278 == 0 /\ a_121^0-a_121^post278 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post278+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post278 == 0 /\ len_161^0-len_161^post278 == 0 /\ x_156^0-x_156^post278 == 0 /\ a_947^0-a_947^post278 == 0 /\ -a_176^post278+a_176^0 == 0 /\ a_263^0-a_263^post278 == 0 /\ -a_634^post278+a_634^0 == 0 /\ -a_576^post278+a_576^0 == 0 /\ -r_143^post278+r_143^0 == 0 /\ length_29^0-length_29^post278 == 0 /\ -i_27^post278+i_27^0 == 0 /\ a_430^0-a_430^post278 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post278 == 0 /\ -a_1236^post278+a_1236^0 == 0 /\ -x_253^post278+x_253^0 == 0 /\ r_151^0-r_151^post278 == 0 /\ -r_970^post278+r_970^0 == 0 /\ a_632^0-a_632^post278 == 0 /\ -f_969^post278+f_969^0 == 0 /\ -a_431^post278+a_431^0 == 0 /\ -a_610^post278+a_610^0 == 0 /\ a_432^0-a_432^post278 == 0 /\ a_902^0-a_902^post278 == 0 /\ i_113^0-i_113^post278 == 0 /\ r_192^0-r_192^post278 == 0 /\ a_1162^0-a_1162^post278 == 0 /\ a_862^0-a_862^post278 == 0 /\ temp0_16^0-temp0_16^post278 == 0 /\ nondet_12^0-nondet_12^post278 == 0 /\ -rcd_47^post278+rcd_47^0 == 0 /\ i_229^0-i_229^post278 == 0), cost: 1 279: l174 -> l175 : a_1089^0'=a_1089^post279, f_847^0'=f_847^post279, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post279, a_394^0'=a_394^post279, x_156^0'=x_156^post279, a_632^0'=a_632^post279, r_192^0'=r_192^post279, a_176^0'=a_176^post279, i_106^0'=i_106^post279, a_430^0'=a_430^post279, t_458^0'=t_458^post279, len_161^0'=len_161^post279, x_975^0'=x_975^post279, a_902^0'=a_902^post279, a_947^0'=a_947^post279, rcd_88^0'=rcd_88^post279, a_311^0'=a_311^post279, i_140^0'=i_140^post279, a_577^0'=a_577^post279, x_14^0'=x_14^post279, nondet_12^0'=nondet_12^post279, a_121^0'=a_121^post279, head_15^0'=head_15^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279, i_27^0'=i_27^post279, x_21^0'=x_21^post279, a_634^0'=a_634^post279, r_39^0'=r_39^post279, a_263^0'=a_263^post279, i_113^0'=i_113^post279, a_432^0'=a_432^post279, temp0_31^0'=temp0_31^post279, len_262^0'=len_262^post279, y_20^0'=y_20^post279, f_248^0'=f_248^post279, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279, a_393^0'=a_393^post279, i_229^0'=i_229^post279, a_610^0'=a_610^post279, r_151^0'=r_151^post279, a_144^0'=a_144^post279, i_1053^0'=i_1053^post279, a_417^0'=a_417^post279, t_24^0'=t_24^post279, i_94^0'=i_94^post279, x_852^0'=x_852^post279, a_862^0'=a_862^post279, rcd_1249^0'=rcd_1249^post279, rcd_58^0'=rcd_58^post279, a_310^0'=a_310^post279, i_127^0'=i_127^post279, a_576^0'=a_576^post279, tmp_34^0'=tmp_34^post279, length_29^0'=length_29^post279, a_1162^0'=a_1162^post279, f_969^0'=f_969^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279, a_395^0'=a_395^post279, x_17^0'=x_17^post279, a_633^0'=a_633^post279, r_224^0'=r_224^post279, a_239^0'=a_239^post279, i_107^0'=i_107^post279, a_431^0'=a_431^post279, temp0_16^0'=temp0_16^post279, len_238^0'=len_238^post279, x_SLAM_f_19^0'=x_SLAM_f_19^post279, a_924^0'=a_924^post279, ct_18^0'=ct_18^post279, result_11^0'=result_11^post279, a_392^0'=a_392^post279, i_197^0'=i_197^post279, a_579^0'=a_579^post279, r_143^0'=r_143^post279, a_1236^0'=a_1236^post279, head_32^0'=head_32^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279, i_30^0'=i_30^post279, x_253^0'=x_253^post279, a_635^0'=a_635^post279, r_970^0'=r_970^post279, rcd_47^0'=rcd_47^post279, a_309^0'=a_309^post279, i_1248^0'=i_1248^post279, a_575^0'=a_575^post279, temp_35^0'=temp_35^post279, len_861^0'=len_861^post279, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_924^0-a_924^post279 == 0 /\ a_632^0-a_632^post279 == 0 /\ -tmp_34^post279+tmp_34^0 == 0 /\ rcd_1249^0-rcd_1249^post279 == 0 /\ -rcd_47^post279+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_430^0-a_430^post279 == 0 /\ x_975^0-x_975^post279 == 0 /\ i_127^0-i_127^post279 == 0 /\ a_577^0-a_577^post279 == 0 /\ a_1162^0-a_1162^post279 == 0 /\ -a_634^post279+a_634^0 == 0 /\ -r_143^post279+r_143^0 == 0 /\ x_14^0-x_14^post279 == 0 /\ a_432^0-a_432^post279 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post279+r_151^0 == 0 /\ r_192^0-r_192^post279 == 0 /\ -a_392^post279+a_392^0 == 0 /\ -x_SLAM_f_19^post279+x_SLAM_f_19^0 == 0 /\ -y_20^post279+y_20^0 == 0 /\ i_140^0-i_140^post279 == 0 /\ -i_27^post279+i_27^0 == 0 /\ -f_969^post279+f_969^0 == 0 /\ i_229^0-i_229^post279 == 0 /\ -x_253^post279+x_253^0 == 0 /\ a_576^0-a_576^post279 == 0 /\ -temp_35^post279+temp_35^0 == 0 /\ -i_113^post279+i_113^0 == 0 /\ a_394^0-a_394^post279 == 0 /\ -a_1236^post279+a_1236^0 == 0 /\ -r_970^post279+r_970^0 == 0 /\ a_176^0-a_176^post279 == 0 /\ f_847^0-f_847^post279 == 0 /\ a_947^0-a_947^post279 == 0 /\ -a_431^post279+a_431^0 == 0 /\ i_197^0-i_197^post279 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post279+a_395^0 == 0 /\ a_902^0-a_902^post279 == 0 /\ -i_1053^post279+i_1053^0 == 0 /\ -i_1248^post279+i_1248^0 == 0 /\ -rcd_58^post279+rcd_58^0 == 0 /\ a_610^0-a_610^post279 == 0 /\ i_94^0-i_94^post279 == 0 /\ i_107^0-i_107^post279 == 0 /\ -a_239^post279+a_239^0 == 0 /\ -length_29^post279+length_29^0 == 0 /\ r_39^0-r_39^post279 == 0 /\ -ct_18^post279+ct_18^0 == 0 /\ head_15^0-head_15^post279 == 0 /\ -len_861^post279+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post279+a_862^0 == 0 /\ -a_310^post279+a_310^0 == 0 /\ -temp0_16^post279+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post279 == 0 /\ a_311^0-a_311^post279 == 0 /\ x_156^0-x_156^post279 == 0 /\ a_633^0-a_633^post279 == 0 /\ -head_32^post279+head_32^0 == 0 /\ a_1089^0-a_1089^post279 == 0 /\ -a_393^post279+a_393^0 == 0 /\ nondet_12^0-nondet_12^post279 == 0 /\ -len_161^post279+len_161^0 == 0 /\ -i_106^post279+i_106^0 == 0 /\ x_21^0-x_21^post279 == 0 /\ -t_458^post279+t_458^0 == 0 /\ -r_224^post279+r_224^0 == 0 /\ -t_24^post279+t_24^0 == 0 /\ -a_309^post279+a_309^0 == 0 /\ -a_579^post279+a_579^0 == 0 /\ a_121^0-a_121^post279 == 0 /\ -a_417^post279+a_417^0 == 0 /\ -result_11^post279+result_11^0 == 0 /\ len_262^0-len_262^post279 == 0 /\ -a_144^post279+a_144^0 == 0 /\ temp0_31^0-temp0_31^post279 == 0 /\ -a_575^post279+a_575^0 == 0 /\ -i_30^post279+i_30^0 == 0 /\ -a_263^post279+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post279 == 0 /\ x_17^0-x_17^post279 == 0 /\ len_238^0-len_238^post279 == 0 /\ -a_635^post279+a_635^0 == 0 /\ -x_852^post279+x_852^0 == 0 /\ f_248^0-f_248^post279 == 0), cost: 1 280: l174 -> l175 : a_1089^0'=a_1089^post280, f_847^0'=f_847^post280, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post280, a_394^0'=a_394^post280, x_156^0'=x_156^post280, a_632^0'=a_632^post280, r_192^0'=r_192^post280, a_176^0'=a_176^post280, i_106^0'=i_106^post280, a_430^0'=a_430^post280, t_458^0'=t_458^post280, len_161^0'=len_161^post280, x_975^0'=x_975^post280, a_902^0'=a_902^post280, a_947^0'=a_947^post280, rcd_88^0'=rcd_88^post280, a_311^0'=a_311^post280, i_140^0'=i_140^post280, a_577^0'=a_577^post280, x_14^0'=x_14^post280, nondet_12^0'=nondet_12^post280, a_121^0'=a_121^post280, head_15^0'=head_15^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280, i_27^0'=i_27^post280, x_21^0'=x_21^post280, a_634^0'=a_634^post280, r_39^0'=r_39^post280, a_263^0'=a_263^post280, i_113^0'=i_113^post280, a_432^0'=a_432^post280, temp0_31^0'=temp0_31^post280, len_262^0'=len_262^post280, y_20^0'=y_20^post280, f_248^0'=f_248^post280, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280, a_393^0'=a_393^post280, i_229^0'=i_229^post280, a_610^0'=a_610^post280, r_151^0'=r_151^post280, a_144^0'=a_144^post280, i_1053^0'=i_1053^post280, a_417^0'=a_417^post280, t_24^0'=t_24^post280, i_94^0'=i_94^post280, x_852^0'=x_852^post280, a_862^0'=a_862^post280, rcd_1249^0'=rcd_1249^post280, rcd_58^0'=rcd_58^post280, a_310^0'=a_310^post280, i_127^0'=i_127^post280, a_576^0'=a_576^post280, tmp_34^0'=tmp_34^post280, length_29^0'=length_29^post280, a_1162^0'=a_1162^post280, f_969^0'=f_969^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280, a_395^0'=a_395^post280, x_17^0'=x_17^post280, a_633^0'=a_633^post280, r_224^0'=r_224^post280, a_239^0'=a_239^post280, i_107^0'=i_107^post280, a_431^0'=a_431^post280, temp0_16^0'=temp0_16^post280, len_238^0'=len_238^post280, x_SLAM_f_19^0'=x_SLAM_f_19^post280, a_924^0'=a_924^post280, ct_18^0'=ct_18^post280, result_11^0'=result_11^post280, a_392^0'=a_392^post280, i_197^0'=i_197^post280, a_579^0'=a_579^post280, r_143^0'=r_143^post280, a_1236^0'=a_1236^post280, head_32^0'=head_32^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280, i_30^0'=i_30^post280, x_253^0'=x_253^post280, a_635^0'=a_635^post280, r_970^0'=r_970^post280, rcd_47^0'=rcd_47^post280, a_309^0'=a_309^post280, i_1248^0'=i_1248^post280, a_575^0'=a_575^post280, temp_35^0'=temp_35^post280, len_861^0'=len_861^post280, (-length_29^post280+length_29^0 == 0 /\ -r_39^post280+r_39^0 == 0 /\ a_576^0-a_576^post280 == 0 /\ x_21^0-x_21^post280 == 0 /\ x_852^0-x_852^post280 == 0 /\ -i_1053^post280+i_1053^0 == 0 /\ a_121^0-a_121^post280 == 0 /\ -a_395^post280+a_395^0 == 0 /\ x_156^0-x_156^post280 == 0 /\ -a_417^post280+a_417^0 == 0 /\ -len_861^post280+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post280+a_1236^0 == 0 /\ f_847^0-f_847^post280 == 0 /\ nondet_12^0-nondet_12^post280 == 0 /\ a_394^0-a_394^post280 == 0 /\ -i_1248^post280+i_1248^0 == 0 /\ -a_393^post280+a_393^0 == 0 /\ -a_862^post280+a_862^0 == 0 /\ -head_32^post280+head_32^0 == 0 /\ -a_579^post280+a_579^0 == 0 /\ -a_392^post280+a_392^0 == 0 /\ a_924^0-a_924^post280 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_635^post280+a_635^0 == 0 /\ -a_144^post280+a_144^0 == 0 /\ t_458^0-t_458^post280 == 0 /\ -i_107^post280+i_107^0 == 0 /\ a_577^0-a_577^post280 == 0 /\ -i_30^post280+i_30^0 == 0 /\ -a_263^post280+a_263^0 == 0 /\ -a_575^post280+a_575^0 == 0 /\ i_106^0-i_106^post280 == 0 /\ -i_197^post280+i_197^0 == 0 /\ r_224^0-r_224^post280 == 0 /\ ct_18^0-ct_18^post280 == 0 /\ i_127^0-i_127^post280 == 0 /\ head_15^0-head_15^post280 == 0 /\ -a_309^post280+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post280 == 0 /\ -t_24^post280+t_24^0 == 0 /\ -rcd_58^post280+rcd_58^0 == 0 /\ a_430^0-a_430^post280 == 0 /\ x_14^0-x_14^post280 == 0 /\ -tmp_34^post280+tmp_34^0 == 0 /\ i_27^0-i_27^post280 == 0 /\ len_262^0-len_262^post280 == 0 /\ -rcd_47^post280+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_238^post280+len_238^0 == 0 /\ i_140^0-i_140^post280 == 0 /\ a_431^0-a_431^post280 == 0 /\ temp0_31^0-temp0_31^post280 == 0 /\ x_17^0-x_17^post280 == 0 /\ a_1089^0-a_1089^post280 == 0 /\ -a_633^post280+a_633^0 == 0 /\ a_634^0-a_634^post280 == 0 /\ -a_1162^post280+a_1162^0 == 0 /\ -result_11^post280+result_11^0 == 0 /\ a_947^0-a_947^post280 == 0 /\ -r_151^post280+r_151^0 == 0 /\ -rcd_1249^post280+rcd_1249^0 == 0 /\ a_176^0-a_176^post280 == 0 /\ -r_970^post280+r_970^0 == 0 /\ f_969^0-f_969^post280 == 0 /\ a_902^0-a_902^post280 == 0 /\ x_975^0-x_975^post280 == 0 /\ -y_20^post280+y_20^0 == 0 /\ -x_253^post280+x_253^0 == 0 /\ r_192^0-r_192^post280 == 0 /\ f_248^0-f_248^post280 == 0 /\ a_239^0-a_239^post280 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post280+r_143^0 == 0 /\ rcd_88^0-rcd_88^post280 == 0 /\ -i_94^post280+i_94^0 == 0 /\ -x_SLAM_f_19^post280+x_SLAM_f_19^0 == 0 /\ -i_113^post280+i_113^0 == 0 /\ a_310^0-a_310^post280 == 0 /\ len_161^0-len_161^post280 == 0 /\ -a_432^post280+a_432^0 == 0 /\ temp0_16^0-temp0_16^post280 == 0 /\ a_610^0-a_610^post280 == 0 /\ a_632^0-a_632^post280 == 0 /\ -a_311^post280+a_311^0 == 0 /\ -temp_35^post280+temp_35^0 == 0 /\ -i_229^post280+i_229^0 == 0), cost: 1 281: l175 -> l169 : a_1089^0'=a_1089^post281, f_847^0'=f_847^post281, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post281, a_394^0'=a_394^post281, x_156^0'=x_156^post281, a_632^0'=a_632^post281, r_192^0'=r_192^post281, a_176^0'=a_176^post281, i_106^0'=i_106^post281, a_430^0'=a_430^post281, t_458^0'=t_458^post281, len_161^0'=len_161^post281, x_975^0'=x_975^post281, a_902^0'=a_902^post281, a_947^0'=a_947^post281, rcd_88^0'=rcd_88^post281, a_311^0'=a_311^post281, i_140^0'=i_140^post281, a_577^0'=a_577^post281, x_14^0'=x_14^post281, nondet_12^0'=nondet_12^post281, a_121^0'=a_121^post281, head_15^0'=head_15^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281, i_27^0'=i_27^post281, x_21^0'=x_21^post281, a_634^0'=a_634^post281, r_39^0'=r_39^post281, a_263^0'=a_263^post281, i_113^0'=i_113^post281, a_432^0'=a_432^post281, temp0_31^0'=temp0_31^post281, len_262^0'=len_262^post281, y_20^0'=y_20^post281, f_248^0'=f_248^post281, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281, a_393^0'=a_393^post281, i_229^0'=i_229^post281, a_610^0'=a_610^post281, r_151^0'=r_151^post281, a_144^0'=a_144^post281, i_1053^0'=i_1053^post281, a_417^0'=a_417^post281, t_24^0'=t_24^post281, i_94^0'=i_94^post281, x_852^0'=x_852^post281, a_862^0'=a_862^post281, rcd_1249^0'=rcd_1249^post281, rcd_58^0'=rcd_58^post281, a_310^0'=a_310^post281, i_127^0'=i_127^post281, a_576^0'=a_576^post281, tmp_34^0'=tmp_34^post281, length_29^0'=length_29^post281, a_1162^0'=a_1162^post281, f_969^0'=f_969^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281, a_395^0'=a_395^post281, x_17^0'=x_17^post281, a_633^0'=a_633^post281, r_224^0'=r_224^post281, a_239^0'=a_239^post281, i_107^0'=i_107^post281, a_431^0'=a_431^post281, temp0_16^0'=temp0_16^post281, len_238^0'=len_238^post281, x_SLAM_f_19^0'=x_SLAM_f_19^post281, a_924^0'=a_924^post281, ct_18^0'=ct_18^post281, result_11^0'=result_11^post281, a_392^0'=a_392^post281, i_197^0'=i_197^post281, a_579^0'=a_579^post281, r_143^0'=r_143^post281, a_1236^0'=a_1236^post281, head_32^0'=head_32^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281, i_30^0'=i_30^post281, x_253^0'=x_253^post281, a_635^0'=a_635^post281, r_970^0'=r_970^post281, rcd_47^0'=rcd_47^post281, a_309^0'=a_309^post281, i_1248^0'=i_1248^post281, a_575^0'=a_575^post281, temp_35^0'=temp_35^post281, len_861^0'=len_861^post281, (0 == 0 /\ r_39^0-r_39^post281 == 0 /\ -a_1162^post281+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post281 == 0 /\ ct_18^0-ct_18^post281 == 0 /\ -rcd_47^post281+rcd_47^0 == 0 /\ -a_947^0+a_924^post281 <= 0 /\ len_161^0-len_161^post281 == 0 /\ -x_253^post281+x_253^0 == 0 /\ -r_151^post281+r_151^0 == 0 /\ x_21^0-x_21^post281 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_14^0-x_14^post281 == 0 /\ a_430^0-a_430^post281 == 0 /\ r_192^0-r_192^post281 == 0 /\ -result_11^post281+result_11^0 == 0 /\ -i_94^post281+i_94^0 == 0 /\ i_140^0-i_140^post281 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ nondet_12^0-nondet_12^post281 == 0 /\ -r_224^post281+r_224^0 == 0 /\ i_27^0-i_27^post281 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post281 == 0 /\ -temp_35^post281+temp_35^0 == 0 /\ a_263^0-a_263^post281 == 0 /\ a_576^0-a_576^post281 == 0 /\ a_634^0-a_634^post281 == 0 /\ x_156^0-x_156^post281 == 0 /\ -i_113^post281+i_113^0 == 0 /\ -r_970^post281+r_970^0 == 0 /\ -r_143^post281+r_143^0 == 0 /\ a_947^0-a_924^post281 <= 0 /\ -x_SLAM_f_19^post281+x_SLAM_f_19^0 == 0 /\ rcd_58^0-rcd_58^post281 == 0 /\ tmp_34^0-tmp_34^post281 == 0 /\ a_144^0-a_144^post281 == 0 /\ -a_1236^post281+a_1236^0 == 0 /\ a_947^0-a_947^post281 == 0 /\ -a_395^post281+a_395^0 == 0 /\ -y_20^post281+y_20^0 == 0 /\ -a_432^post281+a_432^0 == 0 /\ f_248^0-f_248^post281 == 0 /\ -a_431^post281+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post281+i_106^0 == 0 /\ a_610^0-a_610^post281 == 0 /\ a_632^0-a_632^post281 == 0 /\ x_975^0-x_975^post281 == 0 /\ i_127^0-i_127^post281 == 0 /\ -a_392^post281+a_392^0 == 0 /\ a_577^0-a_577^post281 == 0 /\ -length_29^post281+length_29^0 == 0 /\ a_902^0-a_902^post281 == 0 /\ rcd_1249^0-rcd_1249^post281 == 0 /\ rcd_88^0-rcd_88^post281 == 0 /\ -i_1248^post281+i_1248^0 == 0 /\ head_15^0-head_15^post281 == 0 /\ a_311^0-a_311^post281 == 0 /\ -a_239^post281+a_239^0 == 0 /\ -a_862^post281+a_862^0 == 0 /\ -a_310^post281+a_310^0 == 0 /\ -len_861^post281+len_861^0 == 0 /\ a_1089^0-a_1089^post281 == 0 /\ a_635^0-a_635^post281 == 0 /\ i_229^0-i_229^post281 == 0 /\ -temp0_16^post281+temp0_16^0 == 0 /\ -t_458^post281+t_458^0 == 0 /\ -i_30^post281+i_30^0 == 0 /\ -a_393^post281+a_393^0 == 0 /\ -head_32^post281+head_32^0 == 0 /\ a_121^0-a_121^post281 == 0 /\ 1-i_27^0 <= 0 /\ -x_852^post281+x_852^0 == 0 /\ -t_24^post281+t_24^0 == 0 /\ temp0_31^0-temp0_31^post281 == 0 /\ -a_579^post281+a_579^0 == 0 /\ len_262^0-len_262^post281 == 0 /\ -a_309^post281+a_309^0 == 0 /\ x_17^0-x_17^post281 == 0 /\ a_633^0-a_633^post281 == 0 /\ a_176^0-a_176^post281 == 0 /\ len_238^0-len_238^post281 == 0 /\ f_847^0-f_847^post281 == 0 /\ i_1053^0-i_1053^post281 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281 == 0 /\ -i_107^post281+i_107^0 == 0 /\ a_394^0-a_394^post281 == 0 /\ -a_575^post281+a_575^0 == 0 /\ -i_197^post281+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post281+a_417^0 == 0), cost: 1 282: l169 -> l1 : a_1089^0'=a_1089^post282, f_847^0'=f_847^post282, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post282, a_394^0'=a_394^post282, x_156^0'=x_156^post282, a_632^0'=a_632^post282, r_192^0'=r_192^post282, a_176^0'=a_176^post282, i_106^0'=i_106^post282, a_430^0'=a_430^post282, t_458^0'=t_458^post282, len_161^0'=len_161^post282, x_975^0'=x_975^post282, a_902^0'=a_902^post282, a_947^0'=a_947^post282, rcd_88^0'=rcd_88^post282, a_311^0'=a_311^post282, i_140^0'=i_140^post282, a_577^0'=a_577^post282, x_14^0'=x_14^post282, nondet_12^0'=nondet_12^post282, a_121^0'=a_121^post282, head_15^0'=head_15^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282, i_27^0'=i_27^post282, x_21^0'=x_21^post282, a_634^0'=a_634^post282, r_39^0'=r_39^post282, a_263^0'=a_263^post282, i_113^0'=i_113^post282, a_432^0'=a_432^post282, temp0_31^0'=temp0_31^post282, len_262^0'=len_262^post282, y_20^0'=y_20^post282, f_248^0'=f_248^post282, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282, a_393^0'=a_393^post282, i_229^0'=i_229^post282, a_610^0'=a_610^post282, r_151^0'=r_151^post282, a_144^0'=a_144^post282, i_1053^0'=i_1053^post282, a_417^0'=a_417^post282, t_24^0'=t_24^post282, i_94^0'=i_94^post282, x_852^0'=x_852^post282, a_862^0'=a_862^post282, rcd_1249^0'=rcd_1249^post282, rcd_58^0'=rcd_58^post282, a_310^0'=a_310^post282, i_127^0'=i_127^post282, a_576^0'=a_576^post282, tmp_34^0'=tmp_34^post282, length_29^0'=length_29^post282, a_1162^0'=a_1162^post282, f_969^0'=f_969^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282, a_395^0'=a_395^post282, x_17^0'=x_17^post282, a_633^0'=a_633^post282, r_224^0'=r_224^post282, a_239^0'=a_239^post282, i_107^0'=i_107^post282, a_431^0'=a_431^post282, temp0_16^0'=temp0_16^post282, len_238^0'=len_238^post282, x_SLAM_f_19^0'=x_SLAM_f_19^post282, a_924^0'=a_924^post282, ct_18^0'=ct_18^post282, result_11^0'=result_11^post282, a_392^0'=a_392^post282, i_197^0'=i_197^post282, a_579^0'=a_579^post282, r_143^0'=r_143^post282, a_1236^0'=a_1236^post282, head_32^0'=head_32^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282, i_30^0'=i_30^post282, x_253^0'=x_253^post282, a_635^0'=a_635^post282, r_970^0'=r_970^post282, rcd_47^0'=rcd_47^post282, a_309^0'=a_309^post282, i_1248^0'=i_1248^post282, a_575^0'=a_575^post282, temp_35^0'=temp_35^post282, len_861^0'=len_861^post282, (nondet_12^0-nondet_12^post282 == 0 /\ a_263^0-a_263^post282 == 0 /\ -len_861^post282+len_861^0 == 0 /\ -a_1236^post282+a_1236^0 == 0 /\ -a_432^post282+a_432^0 == 0 /\ result_11^0-result_11^post282 == 0 /\ len_161^0-len_161^post282 == 0 /\ x_156^0-x_156^post282 == 0 /\ -a_392^post282+a_392^0 == 0 /\ -i_1248^post282+i_1248^0 == 0 /\ f_847^0-f_847^post282 == 0 /\ head_15^0-head_15^post282 == 0 /\ tmp_34^0-tmp_34^post282 == 0 /\ -x_17^post282+x_17^0 == 0 /\ a_634^0-a_634^post282 == 0 /\ a_862^0-a_862^post282 == 0 /\ -temp0_31^post282+temp0_31^0 == 0 /\ -temp0_16^post282+temp0_16^0 == 0 /\ a_902^0-a_902^post282 == 0 /\ -i_1053^post282+i_1053^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282 == 0 /\ -r_224^post282+r_224^0 == 0 /\ -i_94^post282+i_94^0 == 0 /\ -a_310^post282+a_310^0 == 0 /\ a_947^0-a_947^post282 == 0 /\ rcd_58^0-rcd_58^post282 == 0 /\ -head_32^post282+head_32^0 == 0 /\ a_430^0-a_430^post282 == 0 /\ a_311^0-a_311^post282 == 0 /\ -a_635^post282+a_635^0 == 0 /\ r_192^0-r_192^post282 == 0 /\ i_113^0-i_113^post282 == 0 /\ a_176^0-a_176^post282 == 0 /\ rcd_88^0-rcd_88^post282 == 0 /\ -len_262^post282+len_262^0 == 0 /\ a_577^0-a_577^post282 == 0 /\ length_29^0-length_29^post282 == 0 /\ -len_238^post282+len_238^0 == 0 /\ -i_30^post282+i_30^0 == 0 /\ ct_18^0-ct_18^post282 == 0 /\ -i_197^post282+i_197^0 == 0 /\ a_632^0-a_632^post282 == 0 /\ -a_579^post282+a_579^0 == 0 /\ -a_417^post282+a_417^0 == 0 /\ -x_14^post282+x_14^0 == 0 /\ -a_309^post282+a_309^0 == 0 /\ x_852^0-x_852^post282 == 0 /\ -r_39^post282+r_39^0 == 0 /\ -i_107^post282+i_107^0 == 0 /\ -i_127^post282+i_127^0 == 0 /\ -a_575^post282+a_575^0 == 0 /\ a_1089^0-a_1089^post282 == 0 /\ -a_121^post282+a_121^0 == 0 /\ a_576^0-a_576^post282 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post282 == 0 /\ a_144^0-a_144^post282 == 0 /\ -a_431^post282+a_431^0 == 0 /\ -a_1162^post282+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282 == 0 /\ i_140^0-i_140^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_24^post282+t_24^0 == 0 /\ -x_21^post282+x_21^0 == 0 /\ f_248^0-f_248^post282 == 0 /\ y_20^0-y_20^post282 == 0 /\ r_151^0-r_151^post282 == 0 /\ -rcd_47^post282+rcd_47^0 == 0 /\ a_394^0-a_394^post282 == 0 /\ -a_924^post282+a_924^0 == 0 /\ a_239^0-a_239^post282 == 0 /\ -temp_35^post282+temp_35^0 == 0 /\ f_969^0-f_969^post282 == 0 /\ x_975^0-x_975^post282 == 0 /\ -r_143^post282+r_143^0 == 0 /\ -i_229^post282+i_229^0 == 0 /\ -x_SLAM_f_19^post282+x_SLAM_f_19^0 == 0 /\ -r_970^post282+r_970^0 == 0 /\ -x_253^post282+x_253^0 == 0 /\ rcd_1249^0-rcd_1249^post282 == 0 /\ a_610^0-a_610^post282 == 0 /\ i_106^0-i_106^post282 == 0 /\ i_27^0-i_27^post282 == 0 /\ a_633^0-a_633^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_458^0-t_458^post282 == 0 /\ a_393^0-a_393^post282 == 0 /\ -a_395^post282+a_395^0 == 0), cost: 1 366: l222 -> l146 : a_1089^0'=a_1089^post366, f_847^0'=f_847^post366, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post366, a_394^0'=a_394^post366, x_156^0'=x_156^post366, a_632^0'=a_632^post366, r_192^0'=r_192^post366, a_176^0'=a_176^post366, i_106^0'=i_106^post366, a_430^0'=a_430^post366, t_458^0'=t_458^post366, len_161^0'=len_161^post366, x_975^0'=x_975^post366, a_902^0'=a_902^post366, a_947^0'=a_947^post366, rcd_88^0'=rcd_88^post366, a_311^0'=a_311^post366, i_140^0'=i_140^post366, a_577^0'=a_577^post366, x_14^0'=x_14^post366, nondet_12^0'=nondet_12^post366, a_121^0'=a_121^post366, head_15^0'=head_15^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366, i_27^0'=i_27^post366, x_21^0'=x_21^post366, a_634^0'=a_634^post366, r_39^0'=r_39^post366, a_263^0'=a_263^post366, i_113^0'=i_113^post366, a_432^0'=a_432^post366, temp0_31^0'=temp0_31^post366, len_262^0'=len_262^post366, y_20^0'=y_20^post366, f_248^0'=f_248^post366, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366, a_393^0'=a_393^post366, i_229^0'=i_229^post366, a_610^0'=a_610^post366, r_151^0'=r_151^post366, a_144^0'=a_144^post366, i_1053^0'=i_1053^post366, a_417^0'=a_417^post366, t_24^0'=t_24^post366, i_94^0'=i_94^post366, x_852^0'=x_852^post366, a_862^0'=a_862^post366, rcd_1249^0'=rcd_1249^post366, rcd_58^0'=rcd_58^post366, a_310^0'=a_310^post366, i_127^0'=i_127^post366, a_576^0'=a_576^post366, tmp_34^0'=tmp_34^post366, length_29^0'=length_29^post366, a_1162^0'=a_1162^post366, f_969^0'=f_969^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366, a_395^0'=a_395^post366, x_17^0'=x_17^post366, a_633^0'=a_633^post366, r_224^0'=r_224^post366, a_239^0'=a_239^post366, i_107^0'=i_107^post366, a_431^0'=a_431^post366, temp0_16^0'=temp0_16^post366, len_238^0'=len_238^post366, x_SLAM_f_19^0'=x_SLAM_f_19^post366, a_924^0'=a_924^post366, ct_18^0'=ct_18^post366, result_11^0'=result_11^post366, a_392^0'=a_392^post366, i_197^0'=i_197^post366, a_579^0'=a_579^post366, r_143^0'=r_143^post366, a_1236^0'=a_1236^post366, head_32^0'=head_32^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366, i_30^0'=i_30^post366, x_253^0'=x_253^post366, a_635^0'=a_635^post366, r_970^0'=r_970^post366, rcd_47^0'=rcd_47^post366, a_309^0'=a_309^post366, i_1248^0'=i_1248^post366, a_575^0'=a_575^post366, temp_35^0'=temp_35^post366, len_861^0'=len_861^post366, (-a_579^post366+a_579^0 == 0 /\ -result_11^post366+result_11^0 == 0 /\ ct_18^0-ct_18^post366 == 0 /\ a_176^0-a_176^post366 == 0 /\ a_1089^0-a_1089^post366 == 0 /\ -y_20^post366+y_20^0 == 0 /\ r_192^0-r_192^post366 == 0 /\ -x_253^post366+x_253^0 == 0 /\ -a_263^post366+a_263^0 == 0 /\ -temp_35^post366+temp_35^0 == 0 /\ -t_24^post366+t_24^0 == 0 /\ i_27^0-i_27^post366 == 0 /\ t_458^0-t_458^post366 == 0 /\ -r_970^post366+r_970^0 == 0 /\ -x_852^post366+x_852^0 == 0 /\ -a_431^post366+a_431^0 == 0 /\ -i_229^post366+i_229^0 == 0 /\ r_39^0-r_39^post366 == 0 /\ rcd_88^0-rcd_88^post366 == 0 /\ a_576^0-a_576^post366 == 0 /\ -a_395^post366+a_395^0 == 0 /\ a_311^0-a_311^post366 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post366 == 0 /\ -i_1248^post366+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366 == 0 /\ -a_239^post366+a_239^0 == 0 /\ nondet_12^0-nondet_12^post366 == 0 /\ f_248^0-f_248^post366 == 0 /\ tmp_34^0-tmp_34^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post366+len_861^0 == 0 /\ a_924^0-a_924^post366 == 0 /\ a_121^0-a_121^post366 == 0 /\ a_634^0-a_634^post366 == 0 /\ a_610^0-a_610^post366 == 0 /\ len_262^0-len_262^post366 == 0 /\ -r_143^post366+r_143^0 == 0 /\ -a_393^post366+a_393^0 == 0 /\ i_113^0-i_113^post366 == 0 /\ x_975^0-x_975^post366 == 0 /\ -x_17^post366+x_17^0 == 0 /\ -i_1053^post366+i_1053^0 == 0 /\ -r_224^post366+r_224^0 == 0 /\ a_144^0-a_144^post366 == 0 /\ a_947^0-a_947^post366 == 0 /\ a_577^0-a_577^post366 == 0 /\ -a_392^post366+a_392^0 == 0 /\ -a_309^post366+a_309^0 == 0 /\ -x_156^post366+x_156^0 == 0 /\ -a_1236^post366+a_1236^0 == 0 /\ len_238^0-len_238^post366 == 0 /\ -a_417^post366+a_417^0 == 0 /\ -x_SLAM_f_19^post366+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366 == 0 /\ x_14^0-x_14^post366 == 0 /\ f_969^0-f_969^post366 == 0 /\ -i_30^post366+i_30^0 == 0 /\ -a_575^post366+a_575^0 == 0 /\ len_161^0-len_161^post366 == 0 /\ a_632^0-a_632^post366 == 0 /\ -a_635^post366+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post366 == 0 /\ -a_432^post366+a_432^0 == 0 /\ -i_107^post366+i_107^0 == 0 /\ a_430^0-a_430^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post366 == 0 /\ a_1162^0-a_1162^post366 == 0 /\ -rcd_58^post366+rcd_58^0 == 0 /\ -head_32^post366+head_32^0 == 0 /\ f_847^0-f_847^post366 == 0 /\ -length_29^post366+length_29^0 == 0 /\ -rcd_47^post366+rcd_47^0 == 0 /\ -a_310^post366+a_310^0 == 0 /\ -a_862^post366+a_862^0 == 0 /\ x_21^0-x_21^post366 == 0 /\ -i_140^post366+i_140^0 == 0 /\ temp0_31^0-temp0_31^post366 == 0 /\ -i_106^post366+i_106^0 == 0 /\ temp0_16^0-temp0_16^post366 == 0 /\ r_151^0-r_151^post366 == 0 /\ a_902^0-a_902^post366 == 0 /\ i_94^0-i_94^post366 == 0 /\ a_394^0-a_394^post366 == 0 /\ i_127^0-i_127^post366 == 0 /\ head_15^0-head_15^post366 == 0 /\ -i_197^post366+i_197^0 == 0), cost: 1 369: l223 -> l143 : a_1089^0'=a_1089^post369, f_847^0'=f_847^post369, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post369, a_394^0'=a_394^post369, x_156^0'=x_156^post369, a_632^0'=a_632^post369, r_192^0'=r_192^post369, a_176^0'=a_176^post369, i_106^0'=i_106^post369, a_430^0'=a_430^post369, t_458^0'=t_458^post369, len_161^0'=len_161^post369, x_975^0'=x_975^post369, a_902^0'=a_902^post369, a_947^0'=a_947^post369, rcd_88^0'=rcd_88^post369, a_311^0'=a_311^post369, i_140^0'=i_140^post369, a_577^0'=a_577^post369, x_14^0'=x_14^post369, nondet_12^0'=nondet_12^post369, a_121^0'=a_121^post369, head_15^0'=head_15^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369, i_27^0'=i_27^post369, x_21^0'=x_21^post369, a_634^0'=a_634^post369, r_39^0'=r_39^post369, a_263^0'=a_263^post369, i_113^0'=i_113^post369, a_432^0'=a_432^post369, temp0_31^0'=temp0_31^post369, len_262^0'=len_262^post369, y_20^0'=y_20^post369, f_248^0'=f_248^post369, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369, a_393^0'=a_393^post369, i_229^0'=i_229^post369, a_610^0'=a_610^post369, r_151^0'=r_151^post369, a_144^0'=a_144^post369, i_1053^0'=i_1053^post369, a_417^0'=a_417^post369, t_24^0'=t_24^post369, i_94^0'=i_94^post369, x_852^0'=x_852^post369, a_862^0'=a_862^post369, rcd_1249^0'=rcd_1249^post369, rcd_58^0'=rcd_58^post369, a_310^0'=a_310^post369, i_127^0'=i_127^post369, a_576^0'=a_576^post369, tmp_34^0'=tmp_34^post369, length_29^0'=length_29^post369, a_1162^0'=a_1162^post369, f_969^0'=f_969^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369, a_395^0'=a_395^post369, x_17^0'=x_17^post369, a_633^0'=a_633^post369, r_224^0'=r_224^post369, a_239^0'=a_239^post369, i_107^0'=i_107^post369, a_431^0'=a_431^post369, temp0_16^0'=temp0_16^post369, len_238^0'=len_238^post369, x_SLAM_f_19^0'=x_SLAM_f_19^post369, a_924^0'=a_924^post369, ct_18^0'=ct_18^post369, result_11^0'=result_11^post369, a_392^0'=a_392^post369, i_197^0'=i_197^post369, a_579^0'=a_579^post369, r_143^0'=r_143^post369, a_1236^0'=a_1236^post369, head_32^0'=head_32^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369, i_30^0'=i_30^post369, x_253^0'=x_253^post369, a_635^0'=a_635^post369, r_970^0'=r_970^post369, rcd_47^0'=rcd_47^post369, a_309^0'=a_309^post369, i_1248^0'=i_1248^post369, a_575^0'=a_575^post369, temp_35^0'=temp_35^post369, len_861^0'=len_861^post369, (a_176^0-a_176^post369 == 0 /\ rcd_58^0-rcd_58^post369 == 0 /\ -a_431^post369+a_431^0 == 0 /\ a_947^0-a_947^post369 == 0 /\ -a_263^post369+a_263^0 == 0 /\ -t_24^post369+t_24^0 == 0 /\ -temp_35^post369+temp_35^0 == 0 /\ len_161^0-len_161^post369 == 0 /\ -r_224^post369+r_224^0 == 0 /\ -r_970^post369+r_970^0 == 0 /\ -i_197^post369+i_197^0 == 0 /\ -a_579^post369+a_579^0 == 0 /\ x_14^0-x_14^post369 == 0 /\ r_192^0-r_192^post369 == 0 /\ -ct_18^post369+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post369 == 0 /\ rcd_1249^0-rcd_1249^post369 == 0 /\ i_27^0-i_27^post369 == 0 /\ -a_395^post369+a_395^0 == 0 /\ -x_852^post369+x_852^0 == 0 /\ -y_20^post369+y_20^0 == 0 /\ r_39^0-r_39^post369 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post369+a_1162^0 == 0 /\ a_432^0-a_432^post369 == 0 /\ -a_924^post369+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_229^0-i_229^post369 == 0 /\ -i_1248^post369+i_1248^0 == 0 /\ f_248^0-f_248^post369 == 0 /\ a_430^0-a_430^post369 == 0 /\ tmp_34^0-tmp_34^post369 == 0 /\ -temp0_16^post369+temp0_16^0 == 0 /\ -i_30^post369+i_30^0 == 0 /\ nondet_12^0-nondet_12^post369 == 0 /\ -i_1053^post369+i_1053^0 == 0 /\ a_634^0-a_634^post369 == 0 /\ -len_861^post369+len_861^0 == 0 /\ x_156^0-x_156^post369 == 0 /\ a_144^0-a_144^post369 == 0 /\ head_15^0-head_15^post369 == 0 /\ i_113^0-i_113^post369 == 0 /\ -result_11^post369+result_11^0 == 0 /\ -a_635^post369+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369 == 0 /\ -a_393^post369+a_393^0 == 0 /\ rcd_88^0-rcd_88^post369 == 0 /\ -a_576^post369+a_576^0 == 0 /\ a_310^0-a_310^post369 == 0 /\ -r_143^post369+r_143^0 == 0 /\ i_140^0-i_140^post369 == 0 /\ a_632^0-a_632^post369 == 0 /\ -i_107^post369+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post369+a_1236^0 == 0 /\ a_1089^0-a_1089^post369 == 0 /\ a_311^0-a_311^post369 == 0 /\ -a_309^post369+a_309^0 == 0 /\ -a_417^post369+a_417^0 == 0 /\ -x_SLAM_f_19^post369+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post369 == 0 /\ -len_238^post369+len_238^0 == 0 /\ -i_106^post369+i_106^0 == 0 /\ x_21^0-x_21^post369 == 0 /\ -a_392^post369+a_392^0 == 0 /\ -length_29^post369+length_29^0 == 0 /\ -rcd_47^post369+rcd_47^0 == 0 /\ x_975^0-x_975^post369 == 0 /\ f_969^0-f_969^post369 == 0 /\ temp0_31^0-temp0_31^post369 == 0 /\ -x_253^post369+x_253^0 == 0 /\ -a_862^post369+a_862^0 == 0 /\ a_610^0-a_610^post369 == 0 /\ a_121^0-a_121^post369 == 0 /\ a_239^0-a_239^post369 == 0 /\ i_127^0-i_127^post369 == 0 /\ -t_458^post369+t_458^0 == 0 /\ -a_902^post369+a_902^0 == 0 /\ i_94^0-i_94^post369 == 0 /\ len_262^0-len_262^post369 == 0 /\ a_575^0-a_575^post369 == 0 /\ -r_151^post369+r_151^0 == 0 /\ a_394^0-a_394^post369 == 0 /\ x_17^0-x_17^post369 == 0 /\ -head_32^post369+head_32^0 == 0 /\ a_577^0-a_577^post369 == 0 /\ a_633^0-a_633^post369 == 0), cost: 1 Applied preprocessing Original rule: l0 -> l2 : a_1089^0'=a_1089^post0, f_847^0'=f_847^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_394^0'=a_394^post0, x_156^0'=x_156^post0, a_632^0'=a_632^post0, r_192^0'=r_192^post0, a_176^0'=a_176^post0, i_106^0'=i_106^post0, a_430^0'=a_430^post0, t_458^0'=t_458^post0, len_161^0'=len_161^post0, x_975^0'=x_975^post0, a_902^0'=a_902^post0, a_947^0'=a_947^post0, rcd_88^0'=rcd_88^post0, a_311^0'=a_311^post0, i_140^0'=i_140^post0, a_577^0'=a_577^post0, x_14^0'=x_14^post0, nondet_12^0'=nondet_12^post0, a_121^0'=a_121^post0, head_15^0'=head_15^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0, i_27^0'=i_27^post0, x_21^0'=x_21^post0, a_634^0'=a_634^post0, r_39^0'=r_39^post0, a_263^0'=a_263^post0, i_113^0'=i_113^post0, a_432^0'=a_432^post0, temp0_31^0'=temp0_31^post0, len_262^0'=len_262^post0, y_20^0'=y_20^post0, f_248^0'=f_248^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_393^0'=a_393^post0, i_229^0'=i_229^post0, a_610^0'=a_610^post0, r_151^0'=r_151^post0, a_144^0'=a_144^post0, i_1053^0'=i_1053^post0, a_417^0'=a_417^post0, t_24^0'=t_24^post0, i_94^0'=i_94^post0, x_852^0'=x_852^post0, a_862^0'=a_862^post0, rcd_1249^0'=rcd_1249^post0, rcd_58^0'=rcd_58^post0, a_310^0'=a_310^post0, i_127^0'=i_127^post0, a_576^0'=a_576^post0, tmp_34^0'=tmp_34^post0, length_29^0'=length_29^post0, a_1162^0'=a_1162^post0, f_969^0'=f_969^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0, a_395^0'=a_395^post0, x_17^0'=x_17^post0, a_633^0'=a_633^post0, r_224^0'=r_224^post0, a_239^0'=a_239^post0, i_107^0'=i_107^post0, a_431^0'=a_431^post0, temp0_16^0'=temp0_16^post0, len_238^0'=len_238^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, a_924^0'=a_924^post0, ct_18^0'=ct_18^post0, result_11^0'=result_11^post0, a_392^0'=a_392^post0, i_197^0'=i_197^post0, a_579^0'=a_579^post0, r_143^0'=r_143^post0, a_1236^0'=a_1236^post0, head_32^0'=head_32^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, i_30^0'=i_30^post0, x_253^0'=x_253^post0, a_635^0'=a_635^post0, r_970^0'=r_970^post0, rcd_47^0'=rcd_47^post0, a_309^0'=a_309^post0, i_1248^0'=i_1248^post0, a_575^0'=a_575^post0, temp_35^0'=temp_35^post0, len_861^0'=len_861^post0, (0 == 0 /\ -r_151^post0+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post0 == 0 /\ t_458^0-t_458^post0 == 0 /\ a_632^0-a_632^post0 == 0 /\ -len_161^0 <= 0 /\ -a_924^post0+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post0+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_262^0-len_262^post0 == 0 /\ x_156^0-x_156^post0 == 0 /\ -a_576^post0+a_576^0 == 0 /\ a_902^0-a_902^post0 == 0 /\ -r_143^post0+r_143^0 == 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ i_229^0-i_229^post0 == 0 /\ -a_634^post0+a_634^0 == 0 /\ -x_253^post0+x_253^0 == 0 /\ a_1089^0-a_1089^post0 == 0 /\ a_394^0-a_394^post0 == 0 /\ -a_862^post0+a_862^0 == 0 /\ -a_392^post0+a_392^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post0+a_1236^0 == 0 /\ a_176^0-a_176^post0 == 0 /\ -temp_35^post0+temp_35^0 == 0 /\ a_121^0-a_121^post0 == 0 /\ -rcd_47^post0+rcd_47^0 == 0 /\ -len_238^post0+len_238^0 == 0 /\ a_263^0-a_263^post0 == 0 /\ -r_970^post0+r_970^0 == 0 /\ -a_610^post0+a_610^0 == 0 /\ -length_29^post0+length_29^0 == 0 /\ -r_192^post0+r_192^0 == 0 /\ i_94^0-i_94^post0 == 0 /\ a_430^0-a_430^post0 == 0 /\ -i_1053^post0+i_1053^0 == 0 /\ -i_1248^post0+i_1248^0 == 0 /\ x_975^0-x_975^post0 == 0 /\ -a_395^post0+a_395^0 == 0 /\ -r_224^post0+r_224^0 == 0 /\ -len_861^post0+len_861^0 == 0 /\ y_20^0-y_20^post0 == 0 /\ -a_239^post0+a_239^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -a_579^post0+a_579^0 == 0 /\ a_432^0-a_432^post0 == 0 /\ -a_311^post0+a_311^0 == 0 /\ a_577^0-a_577^post0 == 0 /\ -x_852^post0+x_852^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ -i_127^post0+i_127^0 == 0 /\ i_113^0-i_113^post0 == 0 /\ -rcd_88^post0+rcd_88^0 == 0 /\ a_633^0-a_633^post0 == 0 /\ -i_197^post0+i_197^0 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ f_969^0-f_969^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_431^0-a_431^post0 == 0 /\ a_144^0-a_144^post0 == 0 /\ -i_107^post0+i_107^0 == 0 /\ -i_30^post0+i_30^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -a_575^post0+a_575^0 == 0 /\ -rcd_1249^post0+rcd_1249^0 == 0 /\ a_310^0-a_310^post0 == 0 /\ a_947^0-a_947^post0 == 0 /\ -a_417^post0+a_417^0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -a_309^post0+a_309^0 == 0 /\ len_161^0-len_161^post0 == 0 /\ -tmp_34^post0+tmp_34^0 == 0 /\ -a_1162^post0+a_1162^0 == 0 /\ -a_393^post0+a_393^0 == 0 /\ -a_635^post0+a_635^0 == 0 /\ f_847^0-f_847^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -rcd_58^post0+rcd_58^0 == 0 /\ i_140^0-i_140^post0 == 0 /\ i_106^0-i_106^post0 == 0), cost: 1 New rule: l0 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, len_161^0 >= 0, cost: 1 Applied preprocessing Original rule: l2 -> l3 : a_1089^0'=a_1089^post1, f_847^0'=f_847^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_394^0'=a_394^post1, x_156^0'=x_156^post1, a_632^0'=a_632^post1, r_192^0'=r_192^post1, a_176^0'=a_176^post1, i_106^0'=i_106^post1, a_430^0'=a_430^post1, t_458^0'=t_458^post1, len_161^0'=len_161^post1, x_975^0'=x_975^post1, a_902^0'=a_902^post1, a_947^0'=a_947^post1, rcd_88^0'=rcd_88^post1, a_311^0'=a_311^post1, i_140^0'=i_140^post1, a_577^0'=a_577^post1, x_14^0'=x_14^post1, nondet_12^0'=nondet_12^post1, a_121^0'=a_121^post1, head_15^0'=head_15^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1, i_27^0'=i_27^post1, x_21^0'=x_21^post1, a_634^0'=a_634^post1, r_39^0'=r_39^post1, a_263^0'=a_263^post1, i_113^0'=i_113^post1, a_432^0'=a_432^post1, temp0_31^0'=temp0_31^post1, len_262^0'=len_262^post1, y_20^0'=y_20^post1, f_248^0'=f_248^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_393^0'=a_393^post1, i_229^0'=i_229^post1, a_610^0'=a_610^post1, r_151^0'=r_151^post1, a_144^0'=a_144^post1, i_1053^0'=i_1053^post1, a_417^0'=a_417^post1, t_24^0'=t_24^post1, i_94^0'=i_94^post1, x_852^0'=x_852^post1, a_862^0'=a_862^post1, rcd_1249^0'=rcd_1249^post1, rcd_58^0'=rcd_58^post1, a_310^0'=a_310^post1, i_127^0'=i_127^post1, a_576^0'=a_576^post1, tmp_34^0'=tmp_34^post1, length_29^0'=length_29^post1, a_1162^0'=a_1162^post1, f_969^0'=f_969^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1, a_395^0'=a_395^post1, x_17^0'=x_17^post1, a_633^0'=a_633^post1, r_224^0'=r_224^post1, a_239^0'=a_239^post1, i_107^0'=i_107^post1, a_431^0'=a_431^post1, temp0_16^0'=temp0_16^post1, len_238^0'=len_238^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, a_924^0'=a_924^post1, ct_18^0'=ct_18^post1, result_11^0'=result_11^post1, a_392^0'=a_392^post1, i_197^0'=i_197^post1, a_579^0'=a_579^post1, r_143^0'=r_143^post1, a_1236^0'=a_1236^post1, head_32^0'=head_32^post1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1, i_30^0'=i_30^post1, x_253^0'=x_253^post1, a_635^0'=a_635^post1, r_970^0'=r_970^post1, rcd_47^0'=rcd_47^post1, a_309^0'=a_309^post1, i_1248^0'=i_1248^post1, a_575^0'=a_575^post1, temp_35^0'=temp_35^post1, len_861^0'=len_861^post1, (-a_310^post1+a_310^0 == 0 /\ -a_239^post1+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post1+rcd_58^0 == 0 /\ a_634^0-a_634^post1 == 0 /\ i_27^0-i_27^post1 == 0 /\ -a_395^post1+a_395^0 == 0 /\ -i_229^post1+i_229^0 == 0 /\ -ct_18^post1+ct_18^0 == 0 /\ a_576^0-a_576^post1 == 0 /\ -length_29^post1+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ x_17^0-x_17^post1 == 0 /\ -i_197^post1+i_197^0 == 0 /\ -a_862^post1+a_862^0 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ -r_224^post1+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post1 == 0 /\ a_176^0-a_176^post1 == 0 /\ -i_1053^post1+i_1053^0 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -a_417^post1+a_417^0 == 0 /\ t_458^0-t_458^post1 == 0 /\ a_924^0-a_924^post1 == 0 /\ -a_393^post1+a_393^0 == 0 /\ -t_24^post1+t_24^0 == 0 /\ -a_579^post1+a_579^0 == 0 /\ f_248^0-f_248^post1 == 0 /\ a_610^0-a_610^post1 == 0 /\ rcd_1249^0-rcd_1249^post1 == 0 /\ -i_30^post1+i_30^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -a_263^post1+a_263^0 == 0 /\ x_975^0-x_975^post1 == 0 /\ a_632^0-a_632^post1 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_107^post1+i_107^0 == 0 /\ -len_861^post1+len_861^0 == 0 /\ -x_852^post1+x_852^0 == 0 /\ r_192^0-r_192^post1 == 0 /\ i_113^0-i_113^post1 == 0 /\ -a_635^post1+a_635^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -i_1248^post1+i_1248^0 == 0 /\ a_121^0-a_121^post1 == 0 /\ len_161^0-len_161^post1 == 0 /\ -i_140^post1+i_140^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ len_262^0-len_262^post1 == 0 /\ a_144^0-a_144^post1 == 0 /\ a_394^0-a_394^post1 == 0 /\ -rcd_47^post1+rcd_47^0 == 0 /\ -r_143^post1+r_143^0 == 0 /\ -a_575^post1+a_575^0 == 0 /\ a_947^0-a_947^post1 == 0 /\ -a_1089^post1+a_1089^0 == 0 /\ f_847^0-f_847^post1 == 0 /\ -a_309^post1+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post1 == 0 /\ i_106^0-i_106^post1 == 0 /\ i_94^0-i_94^post1 == 0 /\ r_151^0-r_151^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -a_1236^post1+a_1236^0 == 0 /\ -x_253^post1+x_253^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ a_430^0-a_430^post1 == 0 /\ -a_392^post1+a_392^0 == 0 /\ i_127^0-i_127^post1 == 0 /\ head_15^0-head_15^post1 == 0 /\ rcd_88^0-rcd_88^post1 == 0 /\ a_311^0-a_311^post1 == 0 /\ a_902^0-a_902^post1 == 0 /\ a_633^0-a_633^post1 == 0 /\ x_21^0-x_21^post1 == 0 /\ a_577^0-a_577^post1 == 0 /\ x_156^0-x_156^post1 == 0 /\ -f_969^post1+f_969^0 == 0 /\ -r_970^post1+r_970^0 == 0 /\ -y_20^post1+y_20^0 == 0 /\ -a_432^post1+a_432^0 == 0 /\ -a_431^post1+a_431^0 == 0 /\ x_14^0-x_14^post1 == 0 /\ a_1162^0-a_1162^post1 == 0 /\ -x_SLAM_f_19^post1+x_SLAM_f_19^0 == 0), cost: 1 New rule: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l2 -> l3 : a_1089^0'=a_1089^post2, f_847^0'=f_847^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_394^0'=a_394^post2, x_156^0'=x_156^post2, a_632^0'=a_632^post2, r_192^0'=r_192^post2, a_176^0'=a_176^post2, i_106^0'=i_106^post2, a_430^0'=a_430^post2, t_458^0'=t_458^post2, len_161^0'=len_161^post2, x_975^0'=x_975^post2, a_902^0'=a_902^post2, a_947^0'=a_947^post2, rcd_88^0'=rcd_88^post2, a_311^0'=a_311^post2, i_140^0'=i_140^post2, a_577^0'=a_577^post2, x_14^0'=x_14^post2, nondet_12^0'=nondet_12^post2, a_121^0'=a_121^post2, head_15^0'=head_15^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2, i_27^0'=i_27^post2, x_21^0'=x_21^post2, a_634^0'=a_634^post2, r_39^0'=r_39^post2, a_263^0'=a_263^post2, i_113^0'=i_113^post2, a_432^0'=a_432^post2, temp0_31^0'=temp0_31^post2, len_262^0'=len_262^post2, y_20^0'=y_20^post2, f_248^0'=f_248^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_393^0'=a_393^post2, i_229^0'=i_229^post2, a_610^0'=a_610^post2, r_151^0'=r_151^post2, a_144^0'=a_144^post2, i_1053^0'=i_1053^post2, a_417^0'=a_417^post2, t_24^0'=t_24^post2, i_94^0'=i_94^post2, x_852^0'=x_852^post2, a_862^0'=a_862^post2, rcd_1249^0'=rcd_1249^post2, rcd_58^0'=rcd_58^post2, a_310^0'=a_310^post2, i_127^0'=i_127^post2, a_576^0'=a_576^post2, tmp_34^0'=tmp_34^post2, length_29^0'=length_29^post2, a_1162^0'=a_1162^post2, f_969^0'=f_969^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2, a_395^0'=a_395^post2, x_17^0'=x_17^post2, a_633^0'=a_633^post2, r_224^0'=r_224^post2, a_239^0'=a_239^post2, i_107^0'=i_107^post2, a_431^0'=a_431^post2, temp0_16^0'=temp0_16^post2, len_238^0'=len_238^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_924^0'=a_924^post2, ct_18^0'=ct_18^post2, result_11^0'=result_11^post2, a_392^0'=a_392^post2, i_197^0'=i_197^post2, a_579^0'=a_579^post2, r_143^0'=r_143^post2, a_1236^0'=a_1236^post2, head_32^0'=head_32^post2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2, i_30^0'=i_30^post2, x_253^0'=x_253^post2, a_635^0'=a_635^post2, r_970^0'=r_970^post2, rcd_47^0'=rcd_47^post2, a_309^0'=a_309^post2, i_1248^0'=i_1248^post2, a_575^0'=a_575^post2, temp_35^0'=temp_35^post2, len_861^0'=len_861^post2, (rcd_1249^0-rcd_1249^post2 == 0 /\ f_248^0-f_248^post2 == 0 /\ t_458^0-t_458^post2 == 0 /\ a_902^0-a_902^post2 == 0 /\ a_430^0-a_430^post2 == 0 /\ f_969^0-f_969^post2 == 0 /\ x_975^0-x_975^post2 == 0 /\ i_106^0-i_106^post2 == 0 /\ -rcd_47^post2+rcd_47^0 == 0 /\ -a_1162^post2+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_311^0-a_311^post2 == 0 /\ x_156^0-x_156^post2 == 0 /\ i_127^0-i_127^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post2 == 0 /\ -result_11^post2+result_11^0 == 0 /\ a_1236^0-a_1236^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ x_852^0-x_852^post2 == 0 /\ -a_392^post2+a_392^0 == 0 /\ -a_431^post2+a_431^0 == 0 /\ -r_143^post2+r_143^0 == 0 /\ len_262^0-len_262^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_161^0-len_161^post2 == 0 /\ -r_970^post2+r_970^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ -i_113^post2+i_113^0 == 0 /\ f_847^0-f_847^post2 == 0 /\ a_394^0-a_394^post2 == 0 /\ -x_SLAM_f_19^post2+x_SLAM_f_19^0 == 0 /\ -i_140^post2+i_140^0 == 0 /\ -a_432^post2+a_432^0 == 0 /\ -i_229^post2+i_229^0 == 0 /\ -a_310^post2+a_310^0 == 0 /\ -x_253^post2+x_253^0 == 0 /\ a_176^0-a_176^post2 == 0 /\ head_15^0-head_15^post2 == 0 /\ r_151^0-r_151^post2 == 0 /\ a_239^0-a_239^post2 == 0 /\ -i_1053^post2+i_1053^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post2 == 0 /\ -length_29^post2+length_29^0 == 0 /\ a_635^0-a_635^post2 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post2+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post2+r_224^0 == 0 /\ -a_395^post2+a_395^0 == 0 /\ -len_861^post2+len_861^0 == 0 /\ -a_577^post2+a_577^0 == 0 /\ -i_1248^post2+i_1248^0 == 0 /\ a_393^0-a_393^post2 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_610^0-a_610^post2 == 0 /\ i_27^0-i_27^post2 == 0 /\ -a_862^post2+a_862^0 == 0 /\ a_633^0-a_633^post2 == 0 /\ -a_263^post2+a_263^0 == 0 /\ -x_17^post2+x_17^0 == 0 /\ -a_579^post2+a_579^0 == 0 /\ r_192^0-r_192^post2 == 0 /\ -i_197^post2+i_197^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ x_14^0-x_14^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_417^0-a_417^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -i_107^post2+i_107^0 == 0 /\ a_121^0-a_121^post2 == 0 /\ -a_924^post2+a_924^0 == 0 /\ a_634^0-a_634^post2 == 0 /\ -a_575^post2+a_575^0 == 0 /\ a_1089^0-a_1089^post2 == 0 /\ a_576^0-a_576^post2 == 0 /\ a_947^0-a_947^post2 == 0 /\ -a_309^post2+a_309^0 == 0 /\ -ct_18^post2+ct_18^0 == 0 /\ -tmp_34^post2+tmp_34^0 == 0 /\ len_238^0-len_238^post2 == 0 /\ -t_24^post2+t_24^0 == 0), cost: 1 New rule: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l3 -> l4 : a_1089^0'=a_1089^post3, f_847^0'=f_847^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, a_394^0'=a_394^post3, x_156^0'=x_156^post3, a_632^0'=a_632^post3, r_192^0'=r_192^post3, a_176^0'=a_176^post3, i_106^0'=i_106^post3, a_430^0'=a_430^post3, t_458^0'=t_458^post3, len_161^0'=len_161^post3, x_975^0'=x_975^post3, a_902^0'=a_902^post3, a_947^0'=a_947^post3, rcd_88^0'=rcd_88^post3, a_311^0'=a_311^post3, i_140^0'=i_140^post3, a_577^0'=a_577^post3, x_14^0'=x_14^post3, nondet_12^0'=nondet_12^post3, a_121^0'=a_121^post3, head_15^0'=head_15^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3, i_27^0'=i_27^post3, x_21^0'=x_21^post3, a_634^0'=a_634^post3, r_39^0'=r_39^post3, a_263^0'=a_263^post3, i_113^0'=i_113^post3, a_432^0'=a_432^post3, temp0_31^0'=temp0_31^post3, len_262^0'=len_262^post3, y_20^0'=y_20^post3, f_248^0'=f_248^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, a_393^0'=a_393^post3, i_229^0'=i_229^post3, a_610^0'=a_610^post3, r_151^0'=r_151^post3, a_144^0'=a_144^post3, i_1053^0'=i_1053^post3, a_417^0'=a_417^post3, t_24^0'=t_24^post3, i_94^0'=i_94^post3, x_852^0'=x_852^post3, a_862^0'=a_862^post3, rcd_1249^0'=rcd_1249^post3, rcd_58^0'=rcd_58^post3, a_310^0'=a_310^post3, i_127^0'=i_127^post3, a_576^0'=a_576^post3, tmp_34^0'=tmp_34^post3, length_29^0'=length_29^post3, a_1162^0'=a_1162^post3, f_969^0'=f_969^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3, a_395^0'=a_395^post3, x_17^0'=x_17^post3, a_633^0'=a_633^post3, r_224^0'=r_224^post3, a_239^0'=a_239^post3, i_107^0'=i_107^post3, a_431^0'=a_431^post3, temp0_16^0'=temp0_16^post3, len_238^0'=len_238^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, a_924^0'=a_924^post3, ct_18^0'=ct_18^post3, result_11^0'=result_11^post3, a_392^0'=a_392^post3, i_197^0'=i_197^post3, a_579^0'=a_579^post3, r_143^0'=r_143^post3, a_1236^0'=a_1236^post3, head_32^0'=head_32^post3, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3, i_30^0'=i_30^post3, x_253^0'=x_253^post3, a_635^0'=a_635^post3, r_970^0'=r_970^post3, rcd_47^0'=rcd_47^post3, a_309^0'=a_309^post3, i_1248^0'=i_1248^post3, a_575^0'=a_575^post3, temp_35^0'=temp_35^post3, len_861^0'=len_861^post3, (0 == 0 /\ -i_229^post3+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post3+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post3+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -a_577^post3+a_577^0 == 0 /\ a_263^0-a_263^post3 == 0 /\ a_394^0-a_394^post3 == 0 /\ a_144^0-a_144^post3 == 0 /\ -a_924^0+a_902^post3 <= 0 /\ a_576^0-a_576^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ a_1089^0-a_1089^post3 == 0 /\ x_852^0-x_852^post3 == 0 /\ -length_29^post3+length_29^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ -r_39^post3+r_39^0 == 0 /\ f_847^0-f_847^post3 == 0 /\ -a_392^post3+a_392^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ -a_862^post3+a_862^0 == 0 /\ -a_310^post3+a_310^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post3 == 0 /\ -r_224^post3+r_224^0 == 0 /\ -head_32^post3+head_32^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ -len_861^post3+len_861^0 == 0 /\ -a_635^post3+a_635^0 == 0 /\ -result_11^post3+result_11^0 == 0 /\ i_106^0-i_106^post3 == 0 /\ rcd_1249^0-rcd_1249^post3 == 0 /\ -a_393^post3+a_393^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ a_924^0-a_902^post3 <= 0 /\ -i_197^post3+i_197^0 == 0 /\ -a_309^post3+a_309^0 == 0 /\ -i_127^post3+i_127^0 == 0 /\ t_458^0-t_458^post3 == 0 /\ -a_579^post3+a_579^0 == 0 /\ r_143^0-r_143^post3 == 0 /\ y_20^0 <= 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ len_161^0-len_161^post3 == 0 /\ -i_107^post3+i_107^0 == 0 /\ -a_633^post3+a_633^0 == 0 /\ -a_417^post3+a_417^0 == 0 /\ -a_575^post3+a_575^0 == 0 /\ a_1236^0-a_1236^post3 == 0 /\ a_610^0-a_610^post3 == 0 /\ x_21^0-x_21^post3 == 0 /\ -a_924^post3+a_924^0 == 0 /\ -a_632^post3+a_632^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ -rcd_47^post3+rcd_47^0 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ i_27^0-i_27^post3 == 0 /\ a_121^0-a_121^post3 == 0 /\ a_634^0-a_634^post3 == 0 /\ -i_140^post3+i_140^0 == 0 /\ x_253^0-x_253^post3 == 0 /\ len_262^0-len_262^post3 == 0 /\ x_156^0-x_156^post3 == 0 /\ a_947^0-a_947^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ -x_975^post3+x_975^0 == 0 /\ -a_1162^post3+a_1162^0 == 0 /\ i_1053^0-i_1053^post3 == 0 /\ t_24^post3-x_21^0 == 0 /\ -f_969^post3+f_969^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ a_176^0-a_176^post3 == 0 /\ t_24^post3-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post3 == 0 /\ len_238^0-len_238^post3 == 0 /\ head_15^0-x_17^0 <= 0 /\ -r_970^post3+r_970^0 == 0 /\ -a_432^post3+a_432^0 == 0 /\ -a_431^post3+a_431^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ r_151^0-r_151^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -i_113^post3+i_113^0 == 0 /\ a_311^0-a_311^post3 == 0 /\ -ct_18^0 <= 0 /\ -temp_35^post3+temp_35^0 == 0 /\ a_239^0-a_239^post3 == 0 /\ head_15^0-head_15^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post3 == 0 /\ -f_248^post3+f_248^0 == 0 /\ -t_24^post3+head_15^0 <= 0 /\ -a_395^post3+a_395^0 == 0 /\ x_14^0-x_14^post3 == 0 /\ a_430^0-a_430^post3 == 0 /\ -head_15^0+x_17^0 <= 0), cost: 1 New rule: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Applied preprocessing Original rule: l4 -> l5 : a_1089^0'=a_1089^post4, f_847^0'=f_847^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_394^0'=a_394^post4, x_156^0'=x_156^post4, a_632^0'=a_632^post4, r_192^0'=r_192^post4, a_176^0'=a_176^post4, i_106^0'=i_106^post4, a_430^0'=a_430^post4, t_458^0'=t_458^post4, len_161^0'=len_161^post4, x_975^0'=x_975^post4, a_902^0'=a_902^post4, a_947^0'=a_947^post4, rcd_88^0'=rcd_88^post4, a_311^0'=a_311^post4, i_140^0'=i_140^post4, a_577^0'=a_577^post4, x_14^0'=x_14^post4, nondet_12^0'=nondet_12^post4, a_121^0'=a_121^post4, head_15^0'=head_15^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4, i_27^0'=i_27^post4, x_21^0'=x_21^post4, a_634^0'=a_634^post4, r_39^0'=r_39^post4, a_263^0'=a_263^post4, i_113^0'=i_113^post4, a_432^0'=a_432^post4, temp0_31^0'=temp0_31^post4, len_262^0'=len_262^post4, y_20^0'=y_20^post4, f_248^0'=f_248^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_393^0'=a_393^post4, i_229^0'=i_229^post4, a_610^0'=a_610^post4, r_151^0'=r_151^post4, a_144^0'=a_144^post4, i_1053^0'=i_1053^post4, a_417^0'=a_417^post4, t_24^0'=t_24^post4, i_94^0'=i_94^post4, x_852^0'=x_852^post4, a_862^0'=a_862^post4, rcd_1249^0'=rcd_1249^post4, rcd_58^0'=rcd_58^post4, a_310^0'=a_310^post4, i_127^0'=i_127^post4, a_576^0'=a_576^post4, tmp_34^0'=tmp_34^post4, length_29^0'=length_29^post4, a_1162^0'=a_1162^post4, f_969^0'=f_969^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4, a_395^0'=a_395^post4, x_17^0'=x_17^post4, a_633^0'=a_633^post4, r_224^0'=r_224^post4, a_239^0'=a_239^post4, i_107^0'=i_107^post4, a_431^0'=a_431^post4, temp0_16^0'=temp0_16^post4, len_238^0'=len_238^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, a_924^0'=a_924^post4, ct_18^0'=ct_18^post4, result_11^0'=result_11^post4, a_392^0'=a_392^post4, i_197^0'=i_197^post4, a_579^0'=a_579^post4, r_143^0'=r_143^post4, a_1236^0'=a_1236^post4, head_32^0'=head_32^post4, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4, i_30^0'=i_30^post4, x_253^0'=x_253^post4, a_635^0'=a_635^post4, r_970^0'=r_970^post4, rcd_47^0'=rcd_47^post4, a_309^0'=a_309^post4, i_1248^0'=i_1248^post4, a_575^0'=a_575^post4, temp_35^0'=temp_35^post4, len_861^0'=len_861^post4, (a_430^0-a_430^post4 == 0 /\ i_113^0-i_113^post4 == 0 /\ -rcd_1249^post4+rcd_1249^0 == 0 /\ x_975^0-x_975^post4 == 0 /\ r_192^0-r_192^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ length_29^0-length_29^post4 == 0 /\ a_633^0-a_633^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ -len_238^post4+len_238^0 == 0 /\ -a_610^post4+a_610^0 == 0 /\ a_393^0-a_393^post4 == 0 /\ -a_924^post4+a_924^0 == 0 /\ a_432^0-a_432^post4 == 0 /\ f_969^0-f_969^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -rcd_47^post4+rcd_47^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ -r_143^post4+r_143^0 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_579^0-a_579^post4 == 0 /\ -x_253^post4+x_253^0 == 0 /\ i_140^0-i_140^post4 == 0 /\ a_862^0-a_862^post4 == 0 /\ -r_970^post4+r_970^0 == 0 /\ x_156^0-x_156^post4 == 0 /\ len_161^0-len_161^post4 == 0 /\ a_144^0-a_144^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 == 0 /\ -a_431^post4+a_431^0 == 0 /\ a_394^0-a_394^post4 == 0 /\ -i_229^post4+i_229^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ -a_576^post4+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post4+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_58^0-rcd_58^post4 == 0 /\ r_151^0-r_151^post4 == 0 /\ head_32^0-head_32^post4 == 0 /\ -f_248^post4+f_248^0 == 0 /\ a_395^0-a_395^post4 == 0 /\ a_311^0-a_311^post4 == 0 /\ a_239^0-a_239^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ a_902^0-a_902^post4 == 0 /\ -len_861^post4+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post4 == 0 /\ rcd_88^0-rcd_88^post4 == 0 /\ -a_1236^post4+a_1236^0 == 0 /\ -a_577^post4+a_577^0 == 0 /\ -i_1248^post4+i_1248^0 == 0 /\ i_106^0-i_106^post4 == 0 /\ a_635^0-a_635^post4 == 0 /\ -a_947^post4+a_947^0 == 0 /\ a_1089^0-a_1089^post4 == 0 /\ -r_224^post4+r_224^0 == 0 /\ -a_310^post4+a_310^0 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -len_262^post4+len_262^0 == 0 /\ t_458^0-t_458^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ -i_30^post4+i_30^0 == 0 /\ x_852^0-x_852^post4 == 0 /\ a_632^0-a_632^post4 == 0 /\ -a_392^post4+a_392^0 == 0 /\ a_417^0-a_417^post4 == 0 /\ -a_575^post4+a_575^0 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ -i_197^post4+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ a_263^0-a_263^post4 == 0 /\ 1-head_15^0 <= 0 /\ a_634^0-a_634^post4 == 0 /\ -a_309^post4+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -i_127^post4+i_127^0 == 0 /\ -x_14^post4+x_14^0 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ i_1053^0-i_1053^post4 == 0 /\ -a_1162^post4+a_1162^0 == 0 /\ a_176^0-a_176^post4 == 0 /\ y_20^0-y_20^post4 == 0 /\ -i_107^post4+i_107^0 == 0 /\ a_121^0-a_121^post4 == 0), cost: 1 New rule: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l4 -> l5 : a_1089^0'=a_1089^post5, f_847^0'=f_847^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, a_394^0'=a_394^post5, x_156^0'=x_156^post5, a_632^0'=a_632^post5, r_192^0'=r_192^post5, a_176^0'=a_176^post5, i_106^0'=i_106^post5, a_430^0'=a_430^post5, t_458^0'=t_458^post5, len_161^0'=len_161^post5, x_975^0'=x_975^post5, a_902^0'=a_902^post5, a_947^0'=a_947^post5, rcd_88^0'=rcd_88^post5, a_311^0'=a_311^post5, i_140^0'=i_140^post5, a_577^0'=a_577^post5, x_14^0'=x_14^post5, nondet_12^0'=nondet_12^post5, a_121^0'=a_121^post5, head_15^0'=head_15^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5, i_27^0'=i_27^post5, x_21^0'=x_21^post5, a_634^0'=a_634^post5, r_39^0'=r_39^post5, a_263^0'=a_263^post5, i_113^0'=i_113^post5, a_432^0'=a_432^post5, temp0_31^0'=temp0_31^post5, len_262^0'=len_262^post5, y_20^0'=y_20^post5, f_248^0'=f_248^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, a_393^0'=a_393^post5, i_229^0'=i_229^post5, a_610^0'=a_610^post5, r_151^0'=r_151^post5, a_144^0'=a_144^post5, i_1053^0'=i_1053^post5, a_417^0'=a_417^post5, t_24^0'=t_24^post5, i_94^0'=i_94^post5, x_852^0'=x_852^post5, a_862^0'=a_862^post5, rcd_1249^0'=rcd_1249^post5, rcd_58^0'=rcd_58^post5, a_310^0'=a_310^post5, i_127^0'=i_127^post5, a_576^0'=a_576^post5, tmp_34^0'=tmp_34^post5, length_29^0'=length_29^post5, a_1162^0'=a_1162^post5, f_969^0'=f_969^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5, a_395^0'=a_395^post5, x_17^0'=x_17^post5, a_633^0'=a_633^post5, r_224^0'=r_224^post5, a_239^0'=a_239^post5, i_107^0'=i_107^post5, a_431^0'=a_431^post5, temp0_16^0'=temp0_16^post5, len_238^0'=len_238^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, a_924^0'=a_924^post5, ct_18^0'=ct_18^post5, result_11^0'=result_11^post5, a_392^0'=a_392^post5, i_197^0'=i_197^post5, a_579^0'=a_579^post5, r_143^0'=r_143^post5, a_1236^0'=a_1236^post5, head_32^0'=head_32^post5, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5, i_30^0'=i_30^post5, x_253^0'=x_253^post5, a_635^0'=a_635^post5, r_970^0'=r_970^post5, rcd_47^0'=rcd_47^post5, a_309^0'=a_309^post5, i_1248^0'=i_1248^post5, a_575^0'=a_575^post5, temp_35^0'=temp_35^post5, len_861^0'=len_861^post5, (a_432^0-a_432^post5 == 0 /\ -a_392^post5+a_392^0 == 0 /\ x_21^0-x_21^post5 == 0 /\ -len_861^post5+len_861^0 == 0 /\ 1+head_15^0 <= 0 /\ -a_309^post5+a_309^0 == 0 /\ -a_1236^post5+a_1236^0 == 0 /\ x_156^0-x_156^post5 == 0 /\ a_263^0-a_263^post5 == 0 /\ a_144^0-a_144^post5 == 0 /\ f_847^0-f_847^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ -a_310^post5+a_310^0 == 0 /\ a_862^0-a_862^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -a_635^post5+a_635^0 == 0 /\ i_94^0-i_94^post5 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ a_417^0-a_417^post5 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -r_224^post5+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post5 == 0 /\ a_394^0-a_394^post5 == 0 /\ -len_262^post5+len_262^0 == 0 /\ -i_1248^post5+i_1248^0 == 0 /\ r_151^0-r_151^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ -head_32^post5+head_32^0 == 0 /\ a_902^0-a_902^post5 == 0 /\ a_577^0-a_577^post5 == 0 /\ -a_579^post5+a_579^0 == 0 /\ -x_14^post5+x_14^0 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ -i_127^post5+i_127^0 == 0 /\ -i_30^post5+i_30^0 == 0 /\ rcd_88^0-rcd_88^post5 == 0 /\ i_106^0-i_106^post5 == 0 /\ a_311^0-a_311^post5 == 0 /\ -i_197^post5+i_197^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ a_1089^0-a_1089^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ a_430^0-a_430^post5 == 0 /\ t_458^0-t_458^post5 == 0 /\ -i_107^post5+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ -a_575^post5+a_575^0 == 0 /\ i_140^0-i_140^post5 == 0 /\ -a_633^post5+a_633^0 == 0 /\ -rcd_47^post5+rcd_47^0 == 0 /\ -a_924^post5+a_924^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post5 == 0 /\ -rcd_1249^post5+rcd_1249^0 == 0 /\ -x_852^post5+x_852^0 == 0 /\ x_253^0-x_253^post5 == 0 /\ i_1053^0-i_1053^post5 == 0 /\ -a_1162^post5+a_1162^0 == 0 /\ -f_969^post5+f_969^0 == 0 /\ x_975^0-x_975^post5 == 0 /\ -len_238^post5+len_238^0 == 0 /\ -r_970^post5+r_970^0 == 0 /\ y_20^0-y_20^post5 == 0 /\ a_947^0-a_947^post5 == 0 /\ a_610^0-a_610^post5 == 0 /\ -a_239^post5+a_239^0 == 0 /\ r_192^0-r_192^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ i_113^0-i_113^post5 == 0 /\ a_176^0-a_176^post5 == 0 /\ length_29^0-length_29^post5 == 0 /\ a_632^0-a_632^post5 == 0 /\ a_393^0-a_393^post5 == 0 /\ len_161^0-len_161^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ -r_143^post5+r_143^0 == 0 /\ -a_121^post5+a_121^0 == 0 /\ -f_248^post5+f_248^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -a_634^post5+a_634^0 == 0 /\ -a_431^post5+a_431^0 == 0 /\ -i_229^post5+i_229^0 == 0 /\ -a_576^post5+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post5+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post5+a_395^0 == 0), cost: 1 New rule: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l5 -> l6 : a_1089^0'=a_1089^post6, f_847^0'=f_847^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_394^0'=a_394^post6, x_156^0'=x_156^post6, a_632^0'=a_632^post6, r_192^0'=r_192^post6, a_176^0'=a_176^post6, i_106^0'=i_106^post6, a_430^0'=a_430^post6, t_458^0'=t_458^post6, len_161^0'=len_161^post6, x_975^0'=x_975^post6, a_902^0'=a_902^post6, a_947^0'=a_947^post6, rcd_88^0'=rcd_88^post6, a_311^0'=a_311^post6, i_140^0'=i_140^post6, a_577^0'=a_577^post6, x_14^0'=x_14^post6, nondet_12^0'=nondet_12^post6, a_121^0'=a_121^post6, head_15^0'=head_15^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6, i_27^0'=i_27^post6, x_21^0'=x_21^post6, a_634^0'=a_634^post6, r_39^0'=r_39^post6, a_263^0'=a_263^post6, i_113^0'=i_113^post6, a_432^0'=a_432^post6, temp0_31^0'=temp0_31^post6, len_262^0'=len_262^post6, y_20^0'=y_20^post6, f_248^0'=f_248^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_393^0'=a_393^post6, i_229^0'=i_229^post6, a_610^0'=a_610^post6, r_151^0'=r_151^post6, a_144^0'=a_144^post6, i_1053^0'=i_1053^post6, a_417^0'=a_417^post6, t_24^0'=t_24^post6, i_94^0'=i_94^post6, x_852^0'=x_852^post6, a_862^0'=a_862^post6, rcd_1249^0'=rcd_1249^post6, rcd_58^0'=rcd_58^post6, a_310^0'=a_310^post6, i_127^0'=i_127^post6, a_576^0'=a_576^post6, tmp_34^0'=tmp_34^post6, length_29^0'=length_29^post6, a_1162^0'=a_1162^post6, f_969^0'=f_969^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6, a_395^0'=a_395^post6, x_17^0'=x_17^post6, a_633^0'=a_633^post6, r_224^0'=r_224^post6, a_239^0'=a_239^post6, i_107^0'=i_107^post6, a_431^0'=a_431^post6, temp0_16^0'=temp0_16^post6, len_238^0'=len_238^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, a_924^0'=a_924^post6, ct_18^0'=ct_18^post6, result_11^0'=result_11^post6, a_392^0'=a_392^post6, i_197^0'=i_197^post6, a_579^0'=a_579^post6, r_143^0'=r_143^post6, a_1236^0'=a_1236^post6, head_32^0'=head_32^post6, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6, i_30^0'=i_30^post6, x_253^0'=x_253^post6, a_635^0'=a_635^post6, r_970^0'=r_970^post6, rcd_47^0'=rcd_47^post6, a_309^0'=a_309^post6, i_1248^0'=i_1248^post6, a_575^0'=a_575^post6, temp_35^0'=temp_35^post6, len_861^0'=len_861^post6, (r_192^0-r_192^post6 == 0 /\ -f_969^post6+f_969^0 == 0 /\ i_113^0-i_113^post6 == 0 /\ length_29^0-length_29^post6 == 0 /\ r_39^0-r_39^post6 == 0 /\ i_1053^0-i_1053^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post6+a_610^0 == 0 /\ i_94^0-i_94^post6 == 0 /\ a_395^0-a_395^post6 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_47^post6+rcd_47^0 == 0 /\ a_393^0-a_393^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ -x_21^post6+x_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_310^0-a_310^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_432^0-a_432^post6 == 0 /\ -x_253^post6+x_253^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ x_156^0-x_156^post6 == 0 /\ -r_970^post6+r_970^0 == 0 /\ a_1162^0-a_1162^post6 == 0 /\ -f_248^post6+f_248^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ i_140^0-i_140^post6 == 0 /\ i_197^0-i_197^post6 == 0 /\ -len_861^post6+len_861^0 == 0 /\ a_634^0-a_634^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -a_576^post6+a_576^0 == 0 /\ -i_229^post6+i_229^0 == 0 /\ -a_924^post6+a_924^0 == 0 /\ -r_143^post6+r_143^0 == 0 /\ head_32^0-head_32^post6 == 0 /\ a_417^0-a_417^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ r_151^0-r_151^post6 == 0 /\ -rcd_1249^post6+rcd_1249^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ a_311^0-a_311^post6 == 0 /\ a_902^0-a_902^post6 == 0 /\ x_975^0-x_975^post6 == 0 /\ t_458^0-t_458^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ -a_392^post6+a_392^0 == 0 /\ a_577^0-a_577^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post6+a_575^0 == 0 /\ i_106^0-i_106^post6 == 0 /\ -a_1236^post6+a_1236^0 == 0 /\ a_1089^0-a_1089^post6 == 0 /\ -len_262^post6+len_262^0 == 0 /\ -a_947^post6+a_947^0 == 0 /\ len_161^0-len_161^post6 == 0 /\ i_107^0-i_107^post6 == 0 /\ -i_1248^post6+i_1248^0 == 0 /\ -a_239^post6+a_239^0 == 0 /\ a_632^0-a_632^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ a_263^0-a_263^post6 == 0 /\ -a_635^post6+a_635^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post6+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_852^0-x_852^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -a_430^post6+a_430^0 == 0 /\ -a_633^post6+a_633^0 == 0 /\ -x_14^post6+x_14^0 == 0 /\ f_847^0-f_847^post6 == 0 /\ -len_238^post6+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post6 == 0 /\ r_224^0-r_224^post6 == 0 /\ a_394^0-a_394^post6 == 0 /\ -a_309^post6+a_309^0 == 0 /\ a_862^0-a_862^post6 == 0 /\ a_431^0-a_431^post6 == 0 /\ a_176^0-a_176^post6 == 0 /\ a_121^0-a_121^post6 == 0 /\ -a_579^post6+a_579^0 == 0 /\ y_20^0-y_20^post6 == 0 /\ -i_127^post6+i_127^0 == 0 /\ -ct_18^post6+ct_18^0 == 0), cost: 1 New rule: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l5 -> l6 : a_1089^0'=a_1089^post7, f_847^0'=f_847^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_394^0'=a_394^post7, x_156^0'=x_156^post7, a_632^0'=a_632^post7, r_192^0'=r_192^post7, a_176^0'=a_176^post7, i_106^0'=i_106^post7, a_430^0'=a_430^post7, t_458^0'=t_458^post7, len_161^0'=len_161^post7, x_975^0'=x_975^post7, a_902^0'=a_902^post7, a_947^0'=a_947^post7, rcd_88^0'=rcd_88^post7, a_311^0'=a_311^post7, i_140^0'=i_140^post7, a_577^0'=a_577^post7, x_14^0'=x_14^post7, nondet_12^0'=nondet_12^post7, a_121^0'=a_121^post7, head_15^0'=head_15^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7, i_27^0'=i_27^post7, x_21^0'=x_21^post7, a_634^0'=a_634^post7, r_39^0'=r_39^post7, a_263^0'=a_263^post7, i_113^0'=i_113^post7, a_432^0'=a_432^post7, temp0_31^0'=temp0_31^post7, len_262^0'=len_262^post7, y_20^0'=y_20^post7, f_248^0'=f_248^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_393^0'=a_393^post7, i_229^0'=i_229^post7, a_610^0'=a_610^post7, r_151^0'=r_151^post7, a_144^0'=a_144^post7, i_1053^0'=i_1053^post7, a_417^0'=a_417^post7, t_24^0'=t_24^post7, i_94^0'=i_94^post7, x_852^0'=x_852^post7, a_862^0'=a_862^post7, rcd_1249^0'=rcd_1249^post7, rcd_58^0'=rcd_58^post7, a_310^0'=a_310^post7, i_127^0'=i_127^post7, a_576^0'=a_576^post7, tmp_34^0'=tmp_34^post7, length_29^0'=length_29^post7, a_1162^0'=a_1162^post7, f_969^0'=f_969^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7, a_395^0'=a_395^post7, x_17^0'=x_17^post7, a_633^0'=a_633^post7, r_224^0'=r_224^post7, a_239^0'=a_239^post7, i_107^0'=i_107^post7, a_431^0'=a_431^post7, temp0_16^0'=temp0_16^post7, len_238^0'=len_238^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, a_924^0'=a_924^post7, ct_18^0'=ct_18^post7, result_11^0'=result_11^post7, a_392^0'=a_392^post7, i_197^0'=i_197^post7, a_579^0'=a_579^post7, r_143^0'=r_143^post7, a_1236^0'=a_1236^post7, head_32^0'=head_32^post7, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7, i_30^0'=i_30^post7, x_253^0'=x_253^post7, a_635^0'=a_635^post7, r_970^0'=r_970^post7, rcd_47^0'=rcd_47^post7, a_309^0'=a_309^post7, i_1248^0'=i_1248^post7, a_575^0'=a_575^post7, temp_35^0'=temp_35^post7, len_861^0'=len_861^post7, (-a_393^post7+a_393^0 == 0 /\ -a_576^post7+a_576^0 == 0 /\ i_229^0-i_229^post7 == 0 /\ x_156^0-x_156^post7 == 0 /\ a_579^0-a_579^post7 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -i_27^post7+i_27^0 == 0 /\ -a_392^post7+a_392^0 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ -len_861^post7+len_861^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ a_121^0-a_121^post7 == 0 /\ a_634^0-a_634^post7 == 0 /\ -a_1236^post7+a_1236^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -i_1248^post7+i_1248^0 == 0 /\ len_262^0-len_262^post7 == 0 /\ -a_417^post7+a_417^0 == 0 /\ a_577^0-a_577^post7 == 0 /\ -a_635^post7+a_635^0 == 0 /\ -a_239^post7+a_239^0 == 0 /\ head_15^0-head_15^post7 == 0 /\ -rcd_47^post7+rcd_47^0 == 0 /\ a_176^0-a_176^post7 == 0 /\ -len_238^post7+len_238^0 == 0 /\ r_192^0-r_192^post7 == 0 /\ -length_29^post7+length_29^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ x_14^0-x_14^post7 == 0 /\ i_1053^0-i_1053^post7 == 0 /\ a_632^0-a_632^post7 == 0 /\ -a_575^post7+a_575^0 == 0 /\ -r_151^post7+r_151^0 == 0 /\ -a_862^post7+a_862^0 == 0 /\ -i_197^post7+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post7+a_309^0 == 0 /\ a_1089^0-a_1089^post7 == 0 /\ -a_902^post7+a_902^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ a_263^0-a_263^post7 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -a_633^post7+a_633^0 == 0 /\ a_430^0-a_430^post7 == 0 /\ y_20^0-y_20^post7 == 0 /\ -i_127^post7+i_127^0 == 0 /\ -a_1162^post7+a_1162^0 == 0 /\ f_847^0-f_847^post7 == 0 /\ -a_924^post7+a_924^0 == 0 /\ a_432^0-a_432^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ -x_253^post7+x_253^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ a_431^0-a_431^post7 == 0 /\ -r_970^post7+r_970^0 == 0 /\ a_394^0-a_394^post7 == 0 /\ i_113^0-i_113^post7 == 0 /\ i_94^0-i_94^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post7 == 0 /\ -a_311^post7+a_311^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -f_969^post7+f_969^0 == 0 /\ x_975^0-x_975^post7 == 0 /\ -x_852^post7+x_852^0 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post7+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_395^0-a_395^post7 == 0 /\ -r_224^post7+r_224^0 == 0 /\ a_310^0-a_310^post7 == 0 /\ a_947^0-a_947^post7 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ a_610^0-a_610^post7 == 0 /\ i_107^0-i_107^post7 == 0 /\ -r_143^post7+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ i_140^0-i_140^post7 == 0 /\ i_106^0-i_106^post7 == 0 /\ len_161^0-len_161^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -rcd_1249^post7+rcd_1249^0 == 0 /\ -result_11^post7+result_11^0 == 0 /\ t_458^0-t_458^post7 == 0 /\ t_24^0-t_24^post7 == 0 /\ -f_248^post7+f_248^0 == 0 /\ r_39^0-r_39^post7 == 0), cost: 1 New rule: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l6 -> l7 : a_1089^0'=a_1089^post8, f_847^0'=f_847^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_394^0'=a_394^post8, x_156^0'=x_156^post8, a_632^0'=a_632^post8, r_192^0'=r_192^post8, a_176^0'=a_176^post8, i_106^0'=i_106^post8, a_430^0'=a_430^post8, t_458^0'=t_458^post8, len_161^0'=len_161^post8, x_975^0'=x_975^post8, a_902^0'=a_902^post8, a_947^0'=a_947^post8, rcd_88^0'=rcd_88^post8, a_311^0'=a_311^post8, i_140^0'=i_140^post8, a_577^0'=a_577^post8, x_14^0'=x_14^post8, nondet_12^0'=nondet_12^post8, a_121^0'=a_121^post8, head_15^0'=head_15^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8, i_27^0'=i_27^post8, x_21^0'=x_21^post8, a_634^0'=a_634^post8, r_39^0'=r_39^post8, a_263^0'=a_263^post8, i_113^0'=i_113^post8, a_432^0'=a_432^post8, temp0_31^0'=temp0_31^post8, len_262^0'=len_262^post8, y_20^0'=y_20^post8, f_248^0'=f_248^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_393^0'=a_393^post8, i_229^0'=i_229^post8, a_610^0'=a_610^post8, r_151^0'=r_151^post8, a_144^0'=a_144^post8, i_1053^0'=i_1053^post8, a_417^0'=a_417^post8, t_24^0'=t_24^post8, i_94^0'=i_94^post8, x_852^0'=x_852^post8, a_862^0'=a_862^post8, rcd_1249^0'=rcd_1249^post8, rcd_58^0'=rcd_58^post8, a_310^0'=a_310^post8, i_127^0'=i_127^post8, a_576^0'=a_576^post8, tmp_34^0'=tmp_34^post8, length_29^0'=length_29^post8, a_1162^0'=a_1162^post8, f_969^0'=f_969^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8, a_395^0'=a_395^post8, x_17^0'=x_17^post8, a_633^0'=a_633^post8, r_224^0'=r_224^post8, a_239^0'=a_239^post8, i_107^0'=i_107^post8, a_431^0'=a_431^post8, temp0_16^0'=temp0_16^post8, len_238^0'=len_238^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, a_924^0'=a_924^post8, ct_18^0'=ct_18^post8, result_11^0'=result_11^post8, a_392^0'=a_392^post8, i_197^0'=i_197^post8, a_579^0'=a_579^post8, r_143^0'=r_143^post8, a_1236^0'=a_1236^post8, head_32^0'=head_32^post8, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8, i_30^0'=i_30^post8, x_253^0'=x_253^post8, a_635^0'=a_635^post8, r_970^0'=r_970^post8, rcd_47^0'=rcd_47^post8, a_309^0'=a_309^post8, i_1248^0'=i_1248^post8, a_575^0'=a_575^post8, temp_35^0'=temp_35^post8, len_861^0'=len_861^post8, (a_176^0-a_176^post8 == 0 /\ -rcd_1249^post8+rcd_1249^0 == 0 /\ -x_852^post8+x_852^0 == 0 /\ -i_197^post8+i_197^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ -r_970^post8+r_970^0 == 0 /\ i_27^0-i_27^post8 == 0 /\ r_192^0-r_192^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post8+a_610^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post8 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -ct_18^post8+ct_18^0 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ a_310^0-a_310^post8 == 0 /\ t_458^0-t_458^post8 == 0 /\ -rcd_47^post8+rcd_47^0 == 0 /\ -x_253^post8+x_253^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ a_1089^0-a_1089^post8 == 0 /\ -len_861^post8+len_861^0 == 0 /\ a_263^0-a_263^post8 == 0 /\ -f_248^post8+f_248^0 == 0 /\ -a_311^post8+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post8 == 0 /\ a_924^0-a_924^post8 == 0 /\ -i_1248^post8+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ -a_395^post8+a_395^0 == 0 /\ -a_239^post8+a_239^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ x_975^0-x_975^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ y_20^0-y_20^post8 == 0 /\ -i_1053^post8+i_1053^0 == 0 /\ a_634^0-a_634^post8 == 0 /\ -a_576^post8+a_576^0 == 0 /\ a_121^0-a_121^post8 == 0 /\ len_262^0-len_262^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_1236^post8+a_1236^0 == 0 /\ -r_143^post8+r_143^0 == 0 /\ -a_575^post8+a_575^0 == 0 /\ a_394^0-a_394^post8 == 0 /\ i_113^0-i_113^post8 == 0 /\ -a_635^post8+a_635^0 == 0 /\ -a_144^post8+a_144^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ -a_309^post8+a_309^0 == 0 /\ f_969^0-f_969^post8 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -a_417^post8+a_417^0 == 0 /\ x_14^0-x_14^post8 == 0 /\ a_430^0-a_430^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ a_632^0-a_632^post8 == 0 /\ -length_29^post8+length_29^0 == 0 /\ a_393^0-a_393^post8 == 0 /\ len_161^0-len_161^post8 == 0 /\ -i_107^post8+i_107^0 == 0 /\ f_847^0-f_847^post8 == 0 /\ i_229^0-i_229^post8 == 0 /\ a_432^0-a_432^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -i_106^post8+i_106^0 == 0 /\ a_1162^0-a_1162^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ x_21^0-x_21^post8 == 0 /\ -len_238^post8+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post8+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post8+r_151^0 == 0 /\ i_140^0-i_140^post8 == 0 /\ -a_579^post8+a_579^0 == 0 /\ r_224^0-r_224^post8 == 0 /\ a_431^0-a_431^post8 == 0 /\ -a_633^post8+a_633^0 == 0 /\ a_862^0-a_862^post8 == 0 /\ i_94^0-i_94^post8 == 0 /\ -i_127^post8+i_127^0 == 0 /\ a_577^0-a_577^post8 == 0 /\ a_902^0-a_902^post8 == 0 /\ -a_392^post8+a_392^0 == 0 /\ x_156^0-x_156^post8 == 0 /\ a_947^0-a_947^post8 == 0), cost: 1 New rule: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l6 -> l7 : a_1089^0'=a_1089^post9, f_847^0'=f_847^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_394^0'=a_394^post9, x_156^0'=x_156^post9, a_632^0'=a_632^post9, r_192^0'=r_192^post9, a_176^0'=a_176^post9, i_106^0'=i_106^post9, a_430^0'=a_430^post9, t_458^0'=t_458^post9, len_161^0'=len_161^post9, x_975^0'=x_975^post9, a_902^0'=a_902^post9, a_947^0'=a_947^post9, rcd_88^0'=rcd_88^post9, a_311^0'=a_311^post9, i_140^0'=i_140^post9, a_577^0'=a_577^post9, x_14^0'=x_14^post9, nondet_12^0'=nondet_12^post9, a_121^0'=a_121^post9, head_15^0'=head_15^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9, i_27^0'=i_27^post9, x_21^0'=x_21^post9, a_634^0'=a_634^post9, r_39^0'=r_39^post9, a_263^0'=a_263^post9, i_113^0'=i_113^post9, a_432^0'=a_432^post9, temp0_31^0'=temp0_31^post9, len_262^0'=len_262^post9, y_20^0'=y_20^post9, f_248^0'=f_248^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_393^0'=a_393^post9, i_229^0'=i_229^post9, a_610^0'=a_610^post9, r_151^0'=r_151^post9, a_144^0'=a_144^post9, i_1053^0'=i_1053^post9, a_417^0'=a_417^post9, t_24^0'=t_24^post9, i_94^0'=i_94^post9, x_852^0'=x_852^post9, a_862^0'=a_862^post9, rcd_1249^0'=rcd_1249^post9, rcd_58^0'=rcd_58^post9, a_310^0'=a_310^post9, i_127^0'=i_127^post9, a_576^0'=a_576^post9, tmp_34^0'=tmp_34^post9, length_29^0'=length_29^post9, a_1162^0'=a_1162^post9, f_969^0'=f_969^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9, a_395^0'=a_395^post9, x_17^0'=x_17^post9, a_633^0'=a_633^post9, r_224^0'=r_224^post9, a_239^0'=a_239^post9, i_107^0'=i_107^post9, a_431^0'=a_431^post9, temp0_16^0'=temp0_16^post9, len_238^0'=len_238^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_924^0'=a_924^post9, ct_18^0'=ct_18^post9, result_11^0'=result_11^post9, a_392^0'=a_392^post9, i_197^0'=i_197^post9, a_579^0'=a_579^post9, r_143^0'=r_143^post9, a_1236^0'=a_1236^post9, head_32^0'=head_32^post9, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9, i_30^0'=i_30^post9, x_253^0'=x_253^post9, a_635^0'=a_635^post9, r_970^0'=r_970^post9, rcd_47^0'=rcd_47^post9, a_309^0'=a_309^post9, i_1248^0'=i_1248^post9, a_575^0'=a_575^post9, temp_35^0'=temp_35^post9, len_861^0'=len_861^post9, (a_1162^0-a_1162^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post9 == 0 /\ i_229^0-i_229^post9 == 0 /\ -r_151^post9+r_151^0 == 0 /\ -a_309^post9+a_309^0 == 0 /\ -a_393^post9+a_393^0 == 0 /\ -a_417^post9+a_417^0 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post9 == 0 /\ -i_27^post9+i_27^0 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ -a_635^post9+a_635^0 == 0 /\ -length_29^post9+length_29^0 == 0 /\ a_634^0-a_634^post9 == 0 /\ -i_107^post9+i_107^0 == 0 /\ len_262^0-len_262^post9 == 0 /\ a_947^0-a_947^post9 == 0 /\ x_975^0-x_975^post9 == 0 /\ i_127^0-i_127^post9 == 0 /\ -a_575^post9+a_575^0 == 0 /\ -a_1236^post9+a_1236^0 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ a_577^0-a_577^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post9+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_176^0-a_176^post9 == 0 /\ -rcd_47^post9+rcd_47^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_140^post9+i_140^0 == 0 /\ -a_862^post9+a_862^0 == 0 /\ -a_310^post9+a_310^0 == 0 /\ r_192^0-r_192^post9 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -a_392^post9+a_392^0 == 0 /\ a_632^0-a_632^post9 == 0 /\ -a_902^post9+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post9 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_156^0-x_156^post9 == 0 /\ -f_969^post9+f_969^0 == 0 /\ a_633^0-a_633^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ f_847^0-f_847^post9 == 0 /\ a_432^0-a_432^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_263^post9+a_263^0 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -a_579^post9+a_579^0 == 0 /\ -x_253^post9+x_253^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ -i_197^post9+i_197^0 == 0 /\ a_610^0-a_610^post9 == 0 /\ a_121^0-a_121^post9 == 0 /\ -a_431^post9+a_431^0 == 0 /\ i_94^0-i_94^post9 == 0 /\ -rcd_58^post9+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post9 == 0 /\ r_970^0-r_970^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ a_394^0-a_394^post9 == 0 /\ i_113^0-i_113^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -x_852^post9+x_852^0 == 0 /\ -a_395^post9+a_395^0 == 0 /\ -rcd_88^post9+rcd_88^0 == 0 /\ len_238^0-len_238^post9 == 0 /\ -i_1248^post9+i_1248^0 == 0 /\ a_1089^0-a_1089^post9 == 0 /\ -tmp_34^post9+tmp_34^0 == 0 /\ x_14^0-x_14^post9 == 0 /\ -a_239^post9+a_239^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ i_106^0-i_106^post9 == 0 /\ -i_1053^post9+i_1053^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ a_430^0-a_430^post9 == 0 /\ -len_161^post9+len_161^0 == 0 /\ -r_143^post9+r_143^0 == 0 /\ -a_924^post9+a_924^0 == 0 /\ -r_224^post9+r_224^0 == 0 /\ -len_861^post9+len_861^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -a_576^post9+a_576^0 == 0 /\ a_311^0-a_311^post9 == 0 /\ t_458^0-t_458^post9 == 0), cost: 1 New rule: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l7 -> l1 : a_1089^0'=a_1089^post10, f_847^0'=f_847^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_394^0'=a_394^post10, x_156^0'=x_156^post10, a_632^0'=a_632^post10, r_192^0'=r_192^post10, a_176^0'=a_176^post10, i_106^0'=i_106^post10, a_430^0'=a_430^post10, t_458^0'=t_458^post10, len_161^0'=len_161^post10, x_975^0'=x_975^post10, a_902^0'=a_902^post10, a_947^0'=a_947^post10, rcd_88^0'=rcd_88^post10, a_311^0'=a_311^post10, i_140^0'=i_140^post10, a_577^0'=a_577^post10, x_14^0'=x_14^post10, nondet_12^0'=nondet_12^post10, a_121^0'=a_121^post10, head_15^0'=head_15^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10, i_27^0'=i_27^post10, x_21^0'=x_21^post10, a_634^0'=a_634^post10, r_39^0'=r_39^post10, a_263^0'=a_263^post10, i_113^0'=i_113^post10, a_432^0'=a_432^post10, temp0_31^0'=temp0_31^post10, len_262^0'=len_262^post10, y_20^0'=y_20^post10, f_248^0'=f_248^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_393^0'=a_393^post10, i_229^0'=i_229^post10, a_610^0'=a_610^post10, r_151^0'=r_151^post10, a_144^0'=a_144^post10, i_1053^0'=i_1053^post10, a_417^0'=a_417^post10, t_24^0'=t_24^post10, i_94^0'=i_94^post10, x_852^0'=x_852^post10, a_862^0'=a_862^post10, rcd_1249^0'=rcd_1249^post10, rcd_58^0'=rcd_58^post10, a_310^0'=a_310^post10, i_127^0'=i_127^post10, a_576^0'=a_576^post10, tmp_34^0'=tmp_34^post10, length_29^0'=length_29^post10, a_1162^0'=a_1162^post10, f_969^0'=f_969^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10, a_395^0'=a_395^post10, x_17^0'=x_17^post10, a_633^0'=a_633^post10, r_224^0'=r_224^post10, a_239^0'=a_239^post10, i_107^0'=i_107^post10, a_431^0'=a_431^post10, temp0_16^0'=temp0_16^post10, len_238^0'=len_238^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, a_924^0'=a_924^post10, ct_18^0'=ct_18^post10, result_11^0'=result_11^post10, a_392^0'=a_392^post10, i_197^0'=i_197^post10, a_579^0'=a_579^post10, r_143^0'=r_143^post10, a_1236^0'=a_1236^post10, head_32^0'=head_32^post10, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10, i_30^0'=i_30^post10, x_253^0'=x_253^post10, a_635^0'=a_635^post10, r_970^0'=r_970^post10, rcd_47^0'=rcd_47^post10, a_309^0'=a_309^post10, i_1248^0'=i_1248^post10, a_575^0'=a_575^post10, temp_35^0'=temp_35^post10, len_861^0'=len_861^post10, (0 == 0 /\ -y_20^post10+y_20^0 == 0 /\ a_394^0-a_394^post10 == 0 /\ a_1089^0-a_1089^post10 == 0 /\ -x_253^post10+x_253^0 == 0 /\ -a_263^post10+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post10+r_970^0 == 0 /\ -i_197^post10+i_197^0 == 0 /\ -t_24^post10+t_24^0 == 0 /\ -head_32^post10+head_32^0 == 0 /\ a_311^0-a_311^post10 == 0 /\ -a_431^post10+a_431^0 == 0 /\ -i_229^post10+i_229^0 == 0 /\ a_576^0-a_576^post10 == 0 /\ rcd_1249^0-rcd_1249^post10 == 0 /\ t_458^0-t_458^post10 == 0 /\ x_852^0-x_852^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -1-a_902^0+len_161^post10 <= 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ i_106^0-i_106^post10 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post10+temp_35^0 == 0 /\ f_847^0-f_847^post10 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_1053^post10+i_1053^0 == 0 /\ -a_395^post10+a_395^0 == 0 /\ -a_417^post10+a_417^0 == 0 /\ -len_861^post10+len_861^0 == 0 /\ a_924^0-a_924^post10 == 0 /\ ct_18^0-ct_18^post10 == 0 /\ len_262^0-len_262^post10 == 0 /\ -a_577^post10+a_577^0 == 0 /\ a_1236^0-a_1236^post10 == 0 /\ -result_11^post10+result_11^0 == 0 /\ a_610^0-a_610^post10 == 0 /\ -r_224^post10+r_224^0 == 0 /\ -i_1248^post10+i_1248^0 == 0 /\ -a_393^post10+a_393^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ x_975^0-x_975^post10 == 0 /\ -x_17^post10+x_17^0 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -r_143^post10+r_143^0 == 0 /\ i_127^0-i_127^post10 == 0 /\ -x_SLAM_f_19^post10+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post10 == 0 /\ -i_107^post10+i_107^0 == 0 /\ len_238^0-len_238^post10 == 0 /\ x_14^0-x_14^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -a_575^post10+a_575^0 == 0 /\ a_310^0-a_310^post10 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_176^0-a_176^post10 == 0 /\ -a_635^post10+a_635^0 == 0 /\ i_27^0-i_27^post10 == 0 /\ f_969^0-f_969^post10 == 0 /\ a_121^0-a_121^post10 == 0 /\ -a_432^post10+a_432^0 == 0 /\ -a_632^post10+a_632^0 == 0 /\ -i_113^post10+i_113^0 == 0 /\ a_430^0-a_430^post10 == 0 /\ 1+a_902^0-len_161^post10 <= 0 /\ -a_309^post10+a_309^0 == 0 /\ x_156^0-x_156^post10 == 0 /\ 1-i_27^0 <= 0 /\ -r_39^post10+r_39^0 == 0 /\ a_1162^0-a_1162^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post10+a_862^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ -a_633^post10+a_633^0 == 0 /\ r_151^0-r_151^post10 == 0 /\ r_192^0-r_192^post10 == 0 /\ -rcd_47^post10+rcd_47^0 == 0 /\ f_248^0-f_248^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ a_239^0-a_239^post10 == 0 /\ -i_140^post10+i_140^0 == 0 /\ a_902^0-a_902^post10 == 0 /\ -a_392^post10+a_392^0 == 0 /\ -a_579^post10+a_579^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ -length_29^post10+length_29^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ a_634^0-a_634^post10 == 0), cost: 1 New rule: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l8 -> l17 : a_1089^0'=a_1089^post22, f_847^0'=f_847^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_394^0'=a_394^post22, x_156^0'=x_156^post22, a_632^0'=a_632^post22, r_192^0'=r_192^post22, a_176^0'=a_176^post22, i_106^0'=i_106^post22, a_430^0'=a_430^post22, t_458^0'=t_458^post22, len_161^0'=len_161^post22, x_975^0'=x_975^post22, a_902^0'=a_902^post22, a_947^0'=a_947^post22, rcd_88^0'=rcd_88^post22, a_311^0'=a_311^post22, i_140^0'=i_140^post22, a_577^0'=a_577^post22, x_14^0'=x_14^post22, nondet_12^0'=nondet_12^post22, a_121^0'=a_121^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=i_27^post22, x_21^0'=x_21^post22, a_634^0'=a_634^post22, r_39^0'=r_39^post22, a_263^0'=a_263^post22, i_113^0'=i_113^post22, a_432^0'=a_432^post22, temp0_31^0'=temp0_31^post22, len_262^0'=len_262^post22, y_20^0'=y_20^post22, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_393^0'=a_393^post22, i_229^0'=i_229^post22, a_610^0'=a_610^post22, r_151^0'=r_151^post22, a_144^0'=a_144^post22, i_1053^0'=i_1053^post22, a_417^0'=a_417^post22, t_24^0'=t_24^post22, i_94^0'=i_94^post22, x_852^0'=x_852^post22, a_862^0'=a_862^post22, rcd_1249^0'=rcd_1249^post22, rcd_58^0'=rcd_58^post22, a_310^0'=a_310^post22, i_127^0'=i_127^post22, a_576^0'=a_576^post22, tmp_34^0'=tmp_34^post22, length_29^0'=length_29^post22, a_1162^0'=a_1162^post22, f_969^0'=f_969^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22, a_395^0'=a_395^post22, x_17^0'=x_17^post22, a_633^0'=a_633^post22, r_224^0'=r_224^post22, a_239^0'=a_239^post22, i_107^0'=i_107^post22, a_431^0'=a_431^post22, temp0_16^0'=temp0_16^post22, len_238^0'=len_238^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_924^0'=a_924^post22, ct_18^0'=ct_18^post22, result_11^0'=result_11^post22, a_392^0'=a_392^post22, i_197^0'=i_197^post22, a_579^0'=a_579^post22, r_143^0'=r_143^post22, a_1236^0'=a_1236^post22, head_32^0'=head_32^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22, i_30^0'=i_30^post22, x_253^0'=x_253^post22, a_635^0'=a_635^post22, r_970^0'=r_970^post22, rcd_47^0'=rcd_47^post22, a_309^0'=a_309^post22, i_1248^0'=i_1248^post22, a_575^0'=a_575^post22, temp_35^0'=temp_35^post22, len_861^0'=len_861^post22, (0 == 0 /\ -i_30^post22+i_30^0 == 0 /\ x_21^0-x_21^post22 == 0 /\ -i_113^post22+i_113^0 == 0 /\ -r_143^post22+r_143^0 == 0 /\ a_632^0-a_632^post22 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post22 == 0 /\ x_975^0-x_975^post22 == 0 /\ -i_107^post22+i_107^0 == 0 /\ -a_1236^post22+a_1236^0 == 0 /\ -a_575^post22+a_575^0 == 0 /\ f_969^0-f_969^post22 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -a_432^post22+a_432^0 == 0 /\ i_127^0-i_127^post22 == 0 /\ -a_309^post22+a_309^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -a_310^post22+a_310^0 == 0 /\ -i_140^post22+i_140^0 == 0 /\ a_394^0-a_394^post22 == 0 /\ len_161^0-len_161^post22 == 0 /\ a_144^0-a_144^post22 == 0 /\ a_947^0-a_947^post22 == 0 /\ -a_392^post22+a_392^0 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -rcd_47^post22+rcd_47^0 == 0 /\ -a_862^post22+a_862^0 == 0 /\ t_458^0-t_458^post22 == 0 /\ x_852^0-x_852^post22 == 0 /\ rcd_1249^0-rcd_1249^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ i_106^0-i_106^post22 == 0 /\ -a_176^0 <= 0 /\ a_576^0-a_576^post22 == 0 /\ -r_151^post22+r_151^0 == 0 /\ f_847^0-f_847^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ a_633^0-a_633^post22 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -r_224^post22+r_224^0 == 0 /\ -a_579^post22+a_579^0 == 0 /\ -t_24^post22+t_24^0 == 0 /\ -r_970^post22+r_970^0 == 0 /\ i_229^0-i_229^post22 == 0 /\ -a_263^post22+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post22 == 0 /\ a_121^0-a_121^post22 == 0 /\ a_610^0-a_610^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ a_239^0-a_239^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ -i_197^post22+i_197^0 == 0 /\ x_156^0-x_156^post22 == 0 /\ len_262^0-len_262^post22 == 0 /\ -y_20^post22+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ -a_431^post22+a_431^0 == 0 /\ a_902^0-a_902^post22 == 0 /\ a_634^0-a_634^post22 == 0 /\ a_176^0-a_176^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post22+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ len_238^0-len_238^post22 == 0 /\ i_1053^0-i_1053^post22 == 0 /\ -a_1162^post22+a_1162^0 == 0 /\ -a_395^post22+a_395^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ a_1089^0-a_1089^post22 == 0 /\ -a_924^post22+a_924^0 == 0 /\ a_417^0-a_417^post22 == 0 /\ i_27^0-i_27^post22 == 0 /\ x_14^0-x_14^post22 == 0 /\ r_192^0-r_192^post22 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -len_861^post22+len_861^0 == 0 /\ -a_577^post22+a_577^0 == 0 /\ -i_1248^post22+i_1248^0 == 0 /\ -a_393^post22+a_393^0 == 0 /\ -a_635^post22+a_635^0 == 0 /\ rcd_88^0-rcd_88^post22 == 0 /\ a_311^0-a_311^post22 == 0), cost: 1 New rule: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Applied preprocessing Original rule: l17 -> l18 : a_1089^0'=a_1089^post23, f_847^0'=f_847^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_394^0'=a_394^post23, x_156^0'=x_156^post23, a_632^0'=a_632^post23, r_192^0'=r_192^post23, a_176^0'=a_176^post23, i_106^0'=i_106^post23, a_430^0'=a_430^post23, t_458^0'=t_458^post23, len_161^0'=len_161^post23, x_975^0'=x_975^post23, a_902^0'=a_902^post23, a_947^0'=a_947^post23, rcd_88^0'=rcd_88^post23, a_311^0'=a_311^post23, i_140^0'=i_140^post23, a_577^0'=a_577^post23, x_14^0'=x_14^post23, nondet_12^0'=nondet_12^post23, a_121^0'=a_121^post23, head_15^0'=head_15^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23, i_27^0'=i_27^post23, x_21^0'=x_21^post23, a_634^0'=a_634^post23, r_39^0'=r_39^post23, a_263^0'=a_263^post23, i_113^0'=i_113^post23, a_432^0'=a_432^post23, temp0_31^0'=temp0_31^post23, len_262^0'=len_262^post23, y_20^0'=y_20^post23, f_248^0'=f_248^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_393^0'=a_393^post23, i_229^0'=i_229^post23, a_610^0'=a_610^post23, r_151^0'=r_151^post23, a_144^0'=a_144^post23, i_1053^0'=i_1053^post23, a_417^0'=a_417^post23, t_24^0'=t_24^post23, i_94^0'=i_94^post23, x_852^0'=x_852^post23, a_862^0'=a_862^post23, rcd_1249^0'=rcd_1249^post23, rcd_58^0'=rcd_58^post23, a_310^0'=a_310^post23, i_127^0'=i_127^post23, a_576^0'=a_576^post23, tmp_34^0'=tmp_34^post23, length_29^0'=length_29^post23, a_1162^0'=a_1162^post23, f_969^0'=f_969^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23, a_395^0'=a_395^post23, x_17^0'=x_17^post23, a_633^0'=a_633^post23, r_224^0'=r_224^post23, a_239^0'=a_239^post23, i_107^0'=i_107^post23, a_431^0'=a_431^post23, temp0_16^0'=temp0_16^post23, len_238^0'=len_238^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_924^0'=a_924^post23, ct_18^0'=ct_18^post23, result_11^0'=result_11^post23, a_392^0'=a_392^post23, i_197^0'=i_197^post23, a_579^0'=a_579^post23, r_143^0'=r_143^post23, a_1236^0'=a_1236^post23, head_32^0'=head_32^post23, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23, i_30^0'=i_30^post23, x_253^0'=x_253^post23, a_635^0'=a_635^post23, r_970^0'=r_970^post23, rcd_47^0'=rcd_47^post23, a_309^0'=a_309^post23, i_1248^0'=i_1248^post23, a_575^0'=a_575^post23, temp_35^0'=temp_35^post23, len_861^0'=len_861^post23, (-r_224^post23+r_224^0 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ -f_248^post23+f_248^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ a_144^0-a_144^post23 == 0 /\ a_394^0-a_394^post23 == 0 /\ a_862^0-a_862^post23 == 0 /\ -i_229^post23+i_229^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ -r_970^post23+r_970^0 == 0 /\ -i_197^post23+i_197^0 == 0 /\ 1-x_14^0 <= 0 /\ x_852^0-x_852^post23 == 0 /\ -a_579^post23+a_579^0 == 0 /\ a_430^0-a_430^post23 == 0 /\ a_263^0-a_263^post23 == 0 /\ t_458^0-t_458^post23 == 0 /\ i_106^0-i_106^post23 == 0 /\ -ct_18^post23+ct_18^0 == 0 /\ -i_127^post23+i_127^0 == 0 /\ len_161^0-len_161^post23 == 0 /\ a_576^0-a_576^post23 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ f_847^0-f_847^post23 == 0 /\ -rcd_1249^post23+rcd_1249^0 == 0 /\ head_15^0-head_15^post23 == 0 /\ -a_924^post23+a_924^0 == 0 /\ r_151^0-r_151^post23 == 0 /\ -a_1162^post23+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post23+i_107^0 == 0 /\ a_1236^0-a_1236^post23 == 0 /\ -a_577^post23+a_577^0 == 0 /\ -i_1248^post23+i_1248^0 == 0 /\ -len_861^post23+len_861^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ len_262^0-len_262^post23 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ -a_393^post23+a_393^0 == 0 /\ -i_30^post23+i_30^0 == 0 /\ x_156^0-x_156^post23 == 0 /\ a_947^0-a_947^post23 == 0 /\ -r_143^post23+r_143^0 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ i_27^0-i_27^post23 == 0 /\ -len_238^post23+len_238^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ a_176^0-a_176^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ -i_113^post23+i_113^0 == 0 /\ a_1089^0-a_1089^post23 == 0 /\ a_395^0-a_395^post23 == 0 /\ -a_575^post23+a_575^0 == 0 /\ -a_633^post23+a_633^0 == 0 /\ a_311^0-a_311^post23 == 0 /\ -x_14^post23+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -a_309^post23+a_309^0 == 0 /\ a_635^0-a_635^post23 == 0 /\ -a_632^post23+a_632^0 == 0 /\ -a_432^post23+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post23 == 0 /\ i_140^0-i_140^post23 == 0 /\ i_1053^0-i_1053^post23 == 0 /\ -a_121^post23+a_121^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -a_431^post23+a_431^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ -r_39^post23+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post23+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post23+a_392^0 == 0 /\ a_239^0-a_239^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ f_969^0-f_969^post23 == 0 /\ a_902^0-a_902^post23 == 0 /\ -a_610^post23+a_610^0 == 0 /\ -head_32^post23+head_32^0 == 0 /\ x_975^0-x_975^post23 == 0 /\ a_417^0-a_417^post23 == 0 /\ -x_253^post23+x_253^0 == 0 /\ -rcd_47^post23+rcd_47^0 == 0 /\ a_634^0-a_634^post23 == 0 /\ -a_310^post23+a_310^0 == 0), cost: 1 New rule: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l17 -> l18 : a_1089^0'=a_1089^post24, f_847^0'=f_847^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_394^0'=a_394^post24, x_156^0'=x_156^post24, a_632^0'=a_632^post24, r_192^0'=r_192^post24, a_176^0'=a_176^post24, i_106^0'=i_106^post24, a_430^0'=a_430^post24, t_458^0'=t_458^post24, len_161^0'=len_161^post24, x_975^0'=x_975^post24, a_902^0'=a_902^post24, a_947^0'=a_947^post24, rcd_88^0'=rcd_88^post24, a_311^0'=a_311^post24, i_140^0'=i_140^post24, a_577^0'=a_577^post24, x_14^0'=x_14^post24, nondet_12^0'=nondet_12^post24, a_121^0'=a_121^post24, head_15^0'=head_15^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24, i_27^0'=i_27^post24, x_21^0'=x_21^post24, a_634^0'=a_634^post24, r_39^0'=r_39^post24, a_263^0'=a_263^post24, i_113^0'=i_113^post24, a_432^0'=a_432^post24, temp0_31^0'=temp0_31^post24, len_262^0'=len_262^post24, y_20^0'=y_20^post24, f_248^0'=f_248^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_393^0'=a_393^post24, i_229^0'=i_229^post24, a_610^0'=a_610^post24, r_151^0'=r_151^post24, a_144^0'=a_144^post24, i_1053^0'=i_1053^post24, a_417^0'=a_417^post24, t_24^0'=t_24^post24, i_94^0'=i_94^post24, x_852^0'=x_852^post24, a_862^0'=a_862^post24, rcd_1249^0'=rcd_1249^post24, rcd_58^0'=rcd_58^post24, a_310^0'=a_310^post24, i_127^0'=i_127^post24, a_576^0'=a_576^post24, tmp_34^0'=tmp_34^post24, length_29^0'=length_29^post24, a_1162^0'=a_1162^post24, f_969^0'=f_969^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24, a_395^0'=a_395^post24, x_17^0'=x_17^post24, a_633^0'=a_633^post24, r_224^0'=r_224^post24, a_239^0'=a_239^post24, i_107^0'=i_107^post24, a_431^0'=a_431^post24, temp0_16^0'=temp0_16^post24, len_238^0'=len_238^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_924^0'=a_924^post24, ct_18^0'=ct_18^post24, result_11^0'=result_11^post24, a_392^0'=a_392^post24, i_197^0'=i_197^post24, a_579^0'=a_579^post24, r_143^0'=r_143^post24, a_1236^0'=a_1236^post24, head_32^0'=head_32^post24, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24, i_30^0'=i_30^post24, x_253^0'=x_253^post24, a_635^0'=a_635^post24, r_970^0'=r_970^post24, rcd_47^0'=rcd_47^post24, a_309^0'=a_309^post24, i_1248^0'=i_1248^post24, a_575^0'=a_575^post24, temp_35^0'=temp_35^post24, len_861^0'=len_861^post24, (-x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ i_94^0-i_94^post24 == 0 /\ r_151^0-r_151^post24 == 0 /\ -rcd_47^post24+rcd_47^0 == 0 /\ -r_143^post24+r_143^0 == 0 /\ i_113^0-i_113^post24 == 0 /\ r_39^0-r_39^post24 == 0 /\ a_393^0-a_393^post24 == 0 /\ a_430^0-a_430^post24 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ -len_238^post24+len_238^0 == 0 /\ f_969^0-f_969^post24 == 0 /\ a_432^0-a_432^post24 == 0 /\ -a_634^post24+a_634^0 == 0 /\ -i_107^post24+i_107^0 == 0 /\ -a_575^post24+a_575^0 == 0 /\ r_192^0-r_192^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ a_862^0-a_862^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_633^0-a_633^post24 == 0 /\ -a_576^post24+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ i_27^0-i_27^post24 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ t_24^0-t_24^post24 == 0 /\ -a_431^post24+a_431^0 == 0 /\ len_161^0-len_161^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ a_417^0-a_417^post24 == 0 /\ head_32^0-head_32^post24 == 0 /\ -x_253^post24+x_253^0 == 0 /\ -r_970^post24+r_970^0 == 0 /\ -a_392^post24+a_392^0 == 0 /\ -a_310^post24+a_310^0 == 0 /\ a_263^0-a_263^post24 == 0 /\ -a_610^post24+a_610^0 == 0 /\ -a_1236^post24+a_1236^0 == 0 /\ i_140^0-i_140^post24 == 0 /\ -i_1248^post24+i_1248^0 == 0 /\ i_106^0-i_106^post24 == 0 /\ a_632^0-a_632^post24 == 0 /\ -a_239^post24+a_239^0 == 0 /\ a_311^0-a_311^post24 == 0 /\ a_902^0-a_902^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post24 == 0 /\ x_975^0-x_975^post24 == 0 /\ -i_197^post24+i_197^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -i_127^post24+i_127^0 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ -len_262^post24+len_262^0 == 0 /\ -a_579^post24+a_579^0 == 0 /\ a_577^0-a_577^post24 == 0 /\ t_458^0-t_458^post24 == 0 /\ f_248^0-f_248^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ i_229^0-i_229^post24 == 0 /\ x_156^0-x_156^post24 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post24+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post24+a_395^0 == 0 /\ -a_309^post24+a_309^0 == 0 /\ i_1053^0-i_1053^post24 == 0 /\ -a_924^post24+a_924^0 == 0 /\ x_14^0-x_14^post24 == 0 /\ a_121^0-a_121^post24 == 0 /\ -a_947^post24+a_947^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ a_394^0-a_394^post24 == 0 /\ a_1089^0-a_1089^post24 == 0 /\ x_852^0-x_852^post24 == 0 /\ -a_1162^post24+a_1162^0 == 0 /\ 1+x_14^0 <= 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -a_635^post24+a_635^0 == 0 /\ a_176^0-a_176^post24 == 0 /\ f_847^0-f_847^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ y_20^0-y_20^post24 == 0 /\ -len_861^post24+len_861^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post24 == 0 /\ -r_224^post24+r_224^0 == 0 /\ length_29^0-length_29^post24 == 0 /\ rcd_1249^0-rcd_1249^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0), cost: 1 New rule: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l18 -> l19 : a_1089^0'=a_1089^post25, f_847^0'=f_847^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_394^0'=a_394^post25, x_156^0'=x_156^post25, a_632^0'=a_632^post25, r_192^0'=r_192^post25, a_176^0'=a_176^post25, i_106^0'=i_106^post25, a_430^0'=a_430^post25, t_458^0'=t_458^post25, len_161^0'=len_161^post25, x_975^0'=x_975^post25, a_902^0'=a_902^post25, a_947^0'=a_947^post25, rcd_88^0'=rcd_88^post25, a_311^0'=a_311^post25, i_140^0'=i_140^post25, a_577^0'=a_577^post25, x_14^0'=x_14^post25, nondet_12^0'=nondet_12^post25, a_121^0'=a_121^post25, head_15^0'=head_15^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25, i_27^0'=i_27^post25, x_21^0'=x_21^post25, a_634^0'=a_634^post25, r_39^0'=r_39^post25, a_263^0'=a_263^post25, i_113^0'=i_113^post25, a_432^0'=a_432^post25, temp0_31^0'=temp0_31^post25, len_262^0'=len_262^post25, y_20^0'=y_20^post25, f_248^0'=f_248^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_393^0'=a_393^post25, i_229^0'=i_229^post25, a_610^0'=a_610^post25, r_151^0'=r_151^post25, a_144^0'=a_144^post25, i_1053^0'=i_1053^post25, a_417^0'=a_417^post25, t_24^0'=t_24^post25, i_94^0'=i_94^post25, x_852^0'=x_852^post25, a_862^0'=a_862^post25, rcd_1249^0'=rcd_1249^post25, rcd_58^0'=rcd_58^post25, a_310^0'=a_310^post25, i_127^0'=i_127^post25, a_576^0'=a_576^post25, tmp_34^0'=tmp_34^post25, length_29^0'=length_29^post25, a_1162^0'=a_1162^post25, f_969^0'=f_969^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25, a_395^0'=a_395^post25, x_17^0'=x_17^post25, a_633^0'=a_633^post25, r_224^0'=r_224^post25, a_239^0'=a_239^post25, i_107^0'=i_107^post25, a_431^0'=a_431^post25, temp0_16^0'=temp0_16^post25, len_238^0'=len_238^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_924^0'=a_924^post25, ct_18^0'=ct_18^post25, result_11^0'=result_11^post25, a_392^0'=a_392^post25, i_197^0'=i_197^post25, a_579^0'=a_579^post25, r_143^0'=r_143^post25, a_1236^0'=a_1236^post25, head_32^0'=head_32^post25, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25, i_30^0'=i_30^post25, x_253^0'=x_253^post25, a_635^0'=a_635^post25, r_970^0'=r_970^post25, rcd_47^0'=rcd_47^post25, a_309^0'=a_309^post25, i_1248^0'=i_1248^post25, a_575^0'=a_575^post25, temp_35^0'=temp_35^post25, len_861^0'=len_861^post25, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-a_176^0+a_263^post25 <= 0 /\ -r_151^post25+r_151^0 == 0 /\ head_15^0-head_15^post25 == 0 /\ f_248^0-f_248^post25 == 0 /\ -a_610^post25+a_610^0 == 0 /\ a_632^0-a_632^post25 == 0 /\ x_156^0-x_156^post25 == 0 /\ -a_924^post25+a_924^0 == 0 /\ -a_576^post25+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post25+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -rcd_47^post25+rcd_47^0 == 0 /\ a_577^0-a_577^post25 == 0 /\ a_902^0-a_902^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -r_143^post25+r_143^0 == 0 /\ i_229^0-i_229^post25 == 0 /\ a_634^0-a_634^post25 == 0 /\ -1-len_161^0+len_262^post25 <= 0 /\ a_394^0-a_394^post25 == 0 /\ -a_392^post25+a_392^0 == 0 /\ i_140^0-i_140^post25 == 0 /\ -a_862^post25+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_176^0-a_176^post25 == 0 /\ a_121^0-a_121^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -a_1236^post25+a_1236^0 == 0 /\ -r_970^post25+r_970^0 == 0 /\ -len_238^post25+len_238^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -i_27^post25+i_27^0 == 0 /\ f_847^0-f_847^post25 == 0 /\ -length_29^post25+length_29^0 == 0 /\ -x_253^post25+x_253^0 == 0 /\ -r_192^post25+r_192^0 == 0 /\ -i_1053^post25+i_1053^0 == 0 /\ -ct_18^post25+ct_18^0 == 0 /\ a_311^0-a_311^post25 == 0 /\ i_94^0-i_94^post25 == 0 /\ a_430^0-a_430^post25 == 0 /\ -i_1248^post25+i_1248^0 == 0 /\ -1+a_176^0-a_263^post25 <= 0 /\ -rcd_58^post25+rcd_58^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -r_224^post25+r_224^0 == 0 /\ -a_239^post25+a_239^0 == 0 /\ x_975^0-x_975^post25 == 0 /\ -a_395^post25+a_395^0 == 0 /\ -x_852^post25+x_852^0 == 0 /\ a_432^0-a_432^post25 == 0 /\ -len_861^post25+len_861^0 == 0 /\ a_1089^0-a_1089^post25 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 == 0 /\ i_113^0-i_113^post25 == 0 /\ -i_127^post25+i_127^0 == 0 /\ a_633^0-a_633^post25 == 0 /\ -rcd_88^post25+rcd_88^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ f_969^0-f_969^post25 == 0 /\ -x_14^0+f_248^0 <= 0 /\ -i_197^post25+i_197^0 == 0 /\ a_431^0-a_431^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ -a_579^post25+a_579^0 == 0 /\ -i_30^post25+i_30^0 == 0 /\ 1+len_161^0-len_262^post25 <= 0 /\ len_161^0-len_161^post25 == 0 /\ a_144^0-a_144^post25 == 0 /\ a_947^0-a_947^post25 == 0 /\ 1-i_27^0 <= 0 /\ -a_309^post25+a_309^0 == 0 /\ -i_107^post25+i_107^0 == 0 /\ -rcd_1249^post25+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ -a_417^post25+a_417^0 == 0 /\ -a_575^post25+a_575^0 == 0 /\ -x_14^post25+x_14^0 == 0 /\ a_310^0-a_310^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ -a_635^post25+a_635^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ r_39^0-r_39^post25 == 0 /\ t_458^0-t_458^post25 == 0 /\ -a_393^post25+a_393^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post25 <= 0 /\ t_24^0-t_24^post25 == 0 /\ x_14^0-f_248^0 <= 0 /\ i_106^0-i_106^post25 == 0 /\ -x_17^post25+x_17^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -a_1162^post25+a_1162^0 == 0), cost: 1 New rule: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l19 -> l20 : a_1089^0'=a_1089^post26, f_847^0'=f_847^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, a_394^0'=a_394^post26, x_156^0'=x_156^post26, a_632^0'=a_632^post26, r_192^0'=r_192^post26, a_176^0'=a_176^post26, i_106^0'=i_106^post26, a_430^0'=a_430^post26, t_458^0'=t_458^post26, len_161^0'=len_161^post26, x_975^0'=x_975^post26, a_902^0'=a_902^post26, a_947^0'=a_947^post26, rcd_88^0'=rcd_88^post26, a_311^0'=a_311^post26, i_140^0'=i_140^post26, a_577^0'=a_577^post26, x_14^0'=x_14^post26, nondet_12^0'=nondet_12^post26, a_121^0'=a_121^post26, head_15^0'=head_15^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26, i_27^0'=i_27^post26, x_21^0'=x_21^post26, a_634^0'=a_634^post26, r_39^0'=r_39^post26, a_263^0'=a_263^post26, i_113^0'=i_113^post26, a_432^0'=a_432^post26, temp0_31^0'=temp0_31^post26, len_262^0'=len_262^post26, y_20^0'=y_20^post26, f_248^0'=f_248^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, a_393^0'=a_393^post26, i_229^0'=i_229^post26, a_610^0'=a_610^post26, r_151^0'=r_151^post26, a_144^0'=a_144^post26, i_1053^0'=i_1053^post26, a_417^0'=a_417^post26, t_24^0'=t_24^post26, i_94^0'=i_94^post26, x_852^0'=x_852^post26, a_862^0'=a_862^post26, rcd_1249^0'=rcd_1249^post26, rcd_58^0'=rcd_58^post26, a_310^0'=a_310^post26, i_127^0'=i_127^post26, a_576^0'=a_576^post26, tmp_34^0'=tmp_34^post26, length_29^0'=length_29^post26, a_1162^0'=a_1162^post26, f_969^0'=f_969^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26, a_395^0'=a_395^post26, x_17^0'=x_17^post26, a_633^0'=a_633^post26, r_224^0'=r_224^post26, a_239^0'=a_239^post26, i_107^0'=i_107^post26, a_431^0'=a_431^post26, temp0_16^0'=temp0_16^post26, len_238^0'=len_238^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_924^0'=a_924^post26, ct_18^0'=ct_18^post26, result_11^0'=result_11^post26, a_392^0'=a_392^post26, i_197^0'=i_197^post26, a_579^0'=a_579^post26, r_143^0'=r_143^post26, a_1236^0'=a_1236^post26, head_32^0'=head_32^post26, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26, i_30^0'=i_30^post26, x_253^0'=x_253^post26, a_635^0'=a_635^post26, r_970^0'=r_970^post26, rcd_47^0'=rcd_47^post26, a_309^0'=a_309^post26, i_1248^0'=i_1248^post26, a_575^0'=a_575^post26, temp_35^0'=temp_35^post26, len_861^0'=len_861^post26, (x_21^0-x_21^post26 == 0 /\ -a_576^post26+a_576^0 == 0 /\ i_229^0-i_229^post26 == 0 /\ -i_30^post26+i_30^0 == 0 /\ -a_393^post26+a_393^0 == 0 /\ -a_392^post26+a_392^0 == 0 /\ x_156^0-x_156^post26 == 0 /\ f_847^0-f_847^post26 == 0 /\ -a_144^post26+a_144^0 == 0 /\ i_1053^0-i_1053^post26 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ i_94^0-i_94^post26 == 0 /\ a_394^0-a_394^post26 == 0 /\ -len_861^post26+len_861^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ a_121^0-a_121^post26 == 0 /\ len_262^0-len_262^post26 == 0 /\ -a_1236^post26+a_1236^0 == 0 /\ a_947^0-a_947^post26 == 0 /\ -i_1248^post26+i_1248^0 == 0 /\ a_417^0-a_417^post26 == 0 /\ -a_239^post26+a_239^0 == 0 /\ -a_635^post26+a_635^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -rcd_47^post26+rcd_47^0 == 0 /\ -len_238^post26+len_238^0 == 0 /\ -ct_18^post26+ct_18^0 == 0 /\ a_577^0-a_577^post26 == 0 /\ r_39^0-r_39^post26 == 0 /\ r_192^0-r_192^post26 == 0 /\ -rcd_58^post26+rcd_58^0 == 0 /\ x_14^0-x_14^post26 == 0 /\ -x_852^post26+x_852^0 == 0 /\ -a_633^post26+a_633^0 == 0 /\ -length_29^post26+length_29^0 == 0 /\ -r_151^post26+r_151^0 == 0 /\ -a_575^post26+a_575^0 == 0 /\ -a_862^post26+a_862^0 == 0 /\ -i_197^post26+i_197^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ -a_902^post26+a_902^0 == 0 /\ -a_579^post26+a_579^0 == 0 /\ -a_309^post26+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post26+head_32^0 == 0 /\ a_1089^0-a_1089^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ a_263^0-a_263^post26 == 0 /\ i_27^0-i_27^post26 == 0 /\ a_430^0-a_430^post26 == 0 /\ y_20^0-y_20^post26 == 0 /\ -i_127^post26+i_127^0 == 0 /\ -x_253^post26+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1162^post26+a_1162^0 == 0 /\ a_432^0-a_432^post26 == 0 /\ -a_924^post26+a_924^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ f_248^0-f_248^post26 == 0 /\ a_431^0-a_431^post26 == 0 /\ a_176^0-a_176^post26 == 0 /\ i_113^0-i_113^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post26 == 0 /\ -a_311^post26+a_311^0 == 0 /\ x_17^0-x_17^post26 == 0 /\ r_224^0-r_224^post26 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -f_969^post26+f_969^0 == 0 /\ x_975^0-x_975^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post26+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_310^0-a_310^post26 == 0 /\ -r_970^post26+r_970^0 == 0 /\ 1-head_15^0 <= 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ -a_395^post26+a_395^0 == 0 /\ i_107^0-i_107^post26 == 0 /\ a_610^0-a_610^post26 == 0 /\ -r_143^post26+r_143^0 == 0 /\ t_24^0-t_24^post26 == 0 /\ i_140^0-i_140^post26 == 0 /\ len_161^0-len_161^post26 == 0 /\ i_106^0-i_106^post26 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ -rcd_1249^post26+rcd_1249^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ -a_634^post26+a_634^0 == 0 /\ t_458^0-t_458^post26 == 0 /\ a_632^0-a_632^post26 == 0), cost: 1 New rule: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l19 -> l20 : a_1089^0'=a_1089^post27, f_847^0'=f_847^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, a_394^0'=a_394^post27, x_156^0'=x_156^post27, a_632^0'=a_632^post27, r_192^0'=r_192^post27, a_176^0'=a_176^post27, i_106^0'=i_106^post27, a_430^0'=a_430^post27, t_458^0'=t_458^post27, len_161^0'=len_161^post27, x_975^0'=x_975^post27, a_902^0'=a_902^post27, a_947^0'=a_947^post27, rcd_88^0'=rcd_88^post27, a_311^0'=a_311^post27, i_140^0'=i_140^post27, a_577^0'=a_577^post27, x_14^0'=x_14^post27, nondet_12^0'=nondet_12^post27, a_121^0'=a_121^post27, head_15^0'=head_15^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27, i_27^0'=i_27^post27, x_21^0'=x_21^post27, a_634^0'=a_634^post27, r_39^0'=r_39^post27, a_263^0'=a_263^post27, i_113^0'=i_113^post27, a_432^0'=a_432^post27, temp0_31^0'=temp0_31^post27, len_262^0'=len_262^post27, y_20^0'=y_20^post27, f_248^0'=f_248^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, a_393^0'=a_393^post27, i_229^0'=i_229^post27, a_610^0'=a_610^post27, r_151^0'=r_151^post27, a_144^0'=a_144^post27, i_1053^0'=i_1053^post27, a_417^0'=a_417^post27, t_24^0'=t_24^post27, i_94^0'=i_94^post27, x_852^0'=x_852^post27, a_862^0'=a_862^post27, rcd_1249^0'=rcd_1249^post27, rcd_58^0'=rcd_58^post27, a_310^0'=a_310^post27, i_127^0'=i_127^post27, a_576^0'=a_576^post27, tmp_34^0'=tmp_34^post27, length_29^0'=length_29^post27, a_1162^0'=a_1162^post27, f_969^0'=f_969^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27, a_395^0'=a_395^post27, x_17^0'=x_17^post27, a_633^0'=a_633^post27, r_224^0'=r_224^post27, a_239^0'=a_239^post27, i_107^0'=i_107^post27, a_431^0'=a_431^post27, temp0_16^0'=temp0_16^post27, len_238^0'=len_238^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_924^0'=a_924^post27, ct_18^0'=ct_18^post27, result_11^0'=result_11^post27, a_392^0'=a_392^post27, i_197^0'=i_197^post27, a_579^0'=a_579^post27, r_143^0'=r_143^post27, a_1236^0'=a_1236^post27, head_32^0'=head_32^post27, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27, i_30^0'=i_30^post27, x_253^0'=x_253^post27, a_635^0'=a_635^post27, r_970^0'=r_970^post27, rcd_47^0'=rcd_47^post27, a_309^0'=a_309^post27, i_1248^0'=i_1248^post27, a_575^0'=a_575^post27, temp_35^0'=temp_35^post27, len_861^0'=len_861^post27, (a_176^0-a_176^post27 == 0 /\ -rcd_1249^post27+rcd_1249^0 == 0 /\ -i_197^post27+i_197^0 == 0 /\ -x_852^post27+x_852^0 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ 1+head_15^0 <= 0 /\ a_947^0-a_947^post27 == 0 /\ -r_970^post27+r_970^0 == 0 /\ -a_924^post27+a_924^0 == 0 /\ i_27^0-i_27^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ i_1053^0-i_1053^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post27+a_610^0 == 0 /\ r_39^0-r_39^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ a_310^0-a_310^post27 == 0 /\ -x_253^post27+x_253^0 == 0 /\ -rcd_47^post27+rcd_47^0 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -head_15^post27+head_15^0 == 0 /\ a_1089^0-a_1089^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post27 == 0 /\ -f_248^post27+f_248^0 == 0 /\ -a_311^post27+a_311^0 == 0 /\ i_229^0-i_229^post27 == 0 /\ a_432^0-a_432^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -i_1248^post27+i_1248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -a_395^post27+a_395^0 == 0 /\ -a_239^post27+a_239^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ x_975^0-x_975^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_121^0-a_121^post27 == 0 /\ a_634^0-a_634^post27 == 0 /\ -a_393^post27+a_393^0 == 0 /\ i_113^0-i_113^post27 == 0 /\ -r_143^post27+r_143^0 == 0 /\ -a_392^post27+a_392^0 == 0 /\ a_394^0-a_394^post27 == 0 /\ -a_576^post27+a_576^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ -a_144^post27+a_144^0 == 0 /\ -a_309^post27+a_309^0 == 0 /\ -a_635^post27+a_635^0 == 0 /\ f_969^0-f_969^post27 == 0 /\ a_430^0-a_430^post27 == 0 /\ -a_417^post27+a_417^0 == 0 /\ -len_861^post27+len_861^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -a_1236^post27+a_1236^0 == 0 /\ t_24^0-t_24^post27 == 0 /\ i_107^0-i_107^post27 == 0 /\ a_632^0-a_632^post27 == 0 /\ x_14^0-x_14^post27 == 0 /\ rcd_88^0-rcd_88^post27 == 0 /\ len_161^0-len_161^post27 == 0 /\ -rcd_58^post27+rcd_58^0 == 0 /\ -i_106^post27+i_106^0 == 0 /\ f_847^0-f_847^post27 == 0 /\ a_1162^0-a_1162^post27 == 0 /\ -length_29^post27+length_29^0 == 0 /\ -len_238^post27+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post27+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post27 == 0 /\ -r_151^post27+r_151^0 == 0 /\ i_140^0-i_140^post27 == 0 /\ -a_575^post27+a_575^0 == 0 /\ -a_579^post27+a_579^0 == 0 /\ -a_633^post27+a_633^0 == 0 /\ a_431^0-a_431^post27 == 0 /\ r_224^0-r_224^post27 == 0 /\ len_262^0-len_262^post27 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ a_862^0-a_862^post27 == 0 /\ i_94^0-i_94^post27 == 0 /\ a_577^0-a_577^post27 == 0 /\ -i_127^post27+i_127^0 == 0 /\ x_156^0-x_156^post27 == 0 /\ -t_458^post27+t_458^0 == 0 /\ -a_902^post27+a_902^0 == 0 /\ -head_32^post27+head_32^0 == 0), cost: 1 New rule: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l20 -> l21 : a_1089^0'=a_1089^post28, f_847^0'=f_847^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, a_394^0'=a_394^post28, x_156^0'=x_156^post28, a_632^0'=a_632^post28, r_192^0'=r_192^post28, a_176^0'=a_176^post28, i_106^0'=i_106^post28, a_430^0'=a_430^post28, t_458^0'=t_458^post28, len_161^0'=len_161^post28, x_975^0'=x_975^post28, a_902^0'=a_902^post28, a_947^0'=a_947^post28, rcd_88^0'=rcd_88^post28, a_311^0'=a_311^post28, i_140^0'=i_140^post28, a_577^0'=a_577^post28, x_14^0'=x_14^post28, nondet_12^0'=nondet_12^post28, a_121^0'=a_121^post28, head_15^0'=head_15^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28, i_27^0'=i_27^post28, x_21^0'=x_21^post28, a_634^0'=a_634^post28, r_39^0'=r_39^post28, a_263^0'=a_263^post28, i_113^0'=i_113^post28, a_432^0'=a_432^post28, temp0_31^0'=temp0_31^post28, len_262^0'=len_262^post28, y_20^0'=y_20^post28, f_248^0'=f_248^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, a_393^0'=a_393^post28, i_229^0'=i_229^post28, a_610^0'=a_610^post28, r_151^0'=r_151^post28, a_144^0'=a_144^post28, i_1053^0'=i_1053^post28, a_417^0'=a_417^post28, t_24^0'=t_24^post28, i_94^0'=i_94^post28, x_852^0'=x_852^post28, a_862^0'=a_862^post28, rcd_1249^0'=rcd_1249^post28, rcd_58^0'=rcd_58^post28, a_310^0'=a_310^post28, i_127^0'=i_127^post28, a_576^0'=a_576^post28, tmp_34^0'=tmp_34^post28, length_29^0'=length_29^post28, a_1162^0'=a_1162^post28, f_969^0'=f_969^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28, a_395^0'=a_395^post28, x_17^0'=x_17^post28, a_633^0'=a_633^post28, r_224^0'=r_224^post28, a_239^0'=a_239^post28, i_107^0'=i_107^post28, a_431^0'=a_431^post28, temp0_16^0'=temp0_16^post28, len_238^0'=len_238^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_924^0'=a_924^post28, ct_18^0'=ct_18^post28, result_11^0'=result_11^post28, a_392^0'=a_392^post28, i_197^0'=i_197^post28, a_579^0'=a_579^post28, r_143^0'=r_143^post28, a_1236^0'=a_1236^post28, head_32^0'=head_32^post28, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28, i_30^0'=i_30^post28, x_253^0'=x_253^post28, a_635^0'=a_635^post28, r_970^0'=r_970^post28, rcd_47^0'=rcd_47^post28, a_309^0'=a_309^post28, i_1248^0'=i_1248^post28, a_575^0'=a_575^post28, temp_35^0'=temp_35^post28, len_861^0'=len_861^post28, (-a_309^post28+a_309^0 == 0 /\ i_229^0-i_229^post28 == 0 /\ -a_635^post28+a_635^0 == 0 /\ -r_143^post28+r_143^0 == 0 /\ -i_27^post28+i_27^0 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -a_417^post28+a_417^0 == 0 /\ f_248^0-f_248^post28 == 0 /\ -a_393^post28+a_393^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post28+length_29^0 == 0 /\ a_634^0-a_634^post28 == 0 /\ a_121^0-a_121^post28 == 0 /\ a_947^0-a_947^post28 == 0 /\ i_127^0-i_127^post28 == 0 /\ x_975^0-x_975^post28 == 0 /\ -i_107^post28+i_107^0 == 0 /\ -a_1236^post28+a_1236^0 == 0 /\ -a_575^post28+a_575^0 == 0 /\ x_156^0-x_156^post28 == 0 /\ a_577^0-a_577^post28 == 0 /\ len_262^0-len_262^post28 == 0 /\ a_176^0-a_176^post28 == 0 /\ -rcd_47^post28+rcd_47^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -a_310^post28+a_310^0 == 0 /\ r_192^0-r_192^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -len_238^post28+len_238^0 == 0 /\ -a_392^post28+a_392^0 == 0 /\ -r_151^post28+r_151^0 == 0 /\ x_14^0-x_14^post28 == 0 /\ a_632^0-a_632^post28 == 0 /\ a_430^0-a_430^post28 == 0 /\ -a_902^post28+a_902^0 == 0 /\ rcd_1249^0-rcd_1249^post28 == 0 /\ a_1089^0-a_1089^post28 == 0 /\ -a_862^post28+a_862^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post28+a_579^0 == 0 /\ a_633^0-a_633^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ f_847^0-f_847^post28 == 0 /\ a_432^0-a_432^post28 == 0 /\ -result_11^post28+result_11^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -x_253^post28+x_253^0 == 0 /\ x_21^0-x_21^post28 == 0 /\ i_140^0-i_140^post28 == 0 /\ -a_263^post28+a_263^0 == 0 /\ -i_197^post28+i_197^0 == 0 /\ f_969^0-f_969^post28 == 0 /\ i_94^0-i_94^post28 == 0 /\ a_431^0-a_431^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -x_852^post28+x_852^0 == 0 /\ a_144^0-a_144^post28 == 0 /\ -a_311^post28+a_311^0 == 0 /\ a_394^0-a_394^post28 == 0 /\ i_113^0-i_113^post28 == 0 /\ r_970^0-r_970^post28 == 0 /\ x_17^0-x_17^post28 == 0 /\ -a_395^post28+a_395^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -i_1248^post28+i_1248^0 == 0 /\ -a_239^post28+a_239^0 == 0 /\ a_610^0-a_610^post28 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -a_1162^post28+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ i_106^0-i_106^post28 == 0 /\ t_24^0-t_24^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ len_161^0-len_161^post28 == 0 /\ r_39^0-r_39^post28 == 0 /\ -len_861^post28+len_861^0 == 0 /\ -a_924^post28+a_924^0 == 0 /\ -r_224^post28+r_224^0 == 0 /\ -i_1053^post28+i_1053^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post28+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_576^post28+a_576^0 == 0 /\ t_458^0-t_458^post28 == 0), cost: 1 New rule: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 Applied preprocessing Original rule: l20 -> l21 : a_1089^0'=a_1089^post29, f_847^0'=f_847^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, a_394^0'=a_394^post29, x_156^0'=x_156^post29, a_632^0'=a_632^post29, r_192^0'=r_192^post29, a_176^0'=a_176^post29, i_106^0'=i_106^post29, a_430^0'=a_430^post29, t_458^0'=t_458^post29, len_161^0'=len_161^post29, x_975^0'=x_975^post29, a_902^0'=a_902^post29, a_947^0'=a_947^post29, rcd_88^0'=rcd_88^post29, a_311^0'=a_311^post29, i_140^0'=i_140^post29, a_577^0'=a_577^post29, x_14^0'=x_14^post29, nondet_12^0'=nondet_12^post29, a_121^0'=a_121^post29, head_15^0'=head_15^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29, i_27^0'=i_27^post29, x_21^0'=x_21^post29, a_634^0'=a_634^post29, r_39^0'=r_39^post29, a_263^0'=a_263^post29, i_113^0'=i_113^post29, a_432^0'=a_432^post29, temp0_31^0'=temp0_31^post29, len_262^0'=len_262^post29, y_20^0'=y_20^post29, f_248^0'=f_248^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, a_393^0'=a_393^post29, i_229^0'=i_229^post29, a_610^0'=a_610^post29, r_151^0'=r_151^post29, a_144^0'=a_144^post29, i_1053^0'=i_1053^post29, a_417^0'=a_417^post29, t_24^0'=t_24^post29, i_94^0'=i_94^post29, x_852^0'=x_852^post29, a_862^0'=a_862^post29, rcd_1249^0'=rcd_1249^post29, rcd_58^0'=rcd_58^post29, a_310^0'=a_310^post29, i_127^0'=i_127^post29, a_576^0'=a_576^post29, tmp_34^0'=tmp_34^post29, length_29^0'=length_29^post29, a_1162^0'=a_1162^post29, f_969^0'=f_969^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29, a_395^0'=a_395^post29, x_17^0'=x_17^post29, a_633^0'=a_633^post29, r_224^0'=r_224^post29, a_239^0'=a_239^post29, i_107^0'=i_107^post29, a_431^0'=a_431^post29, temp0_16^0'=temp0_16^post29, len_238^0'=len_238^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_924^0'=a_924^post29, ct_18^0'=ct_18^post29, result_11^0'=result_11^post29, a_392^0'=a_392^post29, i_197^0'=i_197^post29, a_579^0'=a_579^post29, r_143^0'=r_143^post29, a_1236^0'=a_1236^post29, head_32^0'=head_32^post29, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29, i_30^0'=i_30^post29, x_253^0'=x_253^post29, a_635^0'=a_635^post29, r_970^0'=r_970^post29, rcd_47^0'=rcd_47^post29, a_309^0'=a_309^post29, i_1248^0'=i_1248^post29, a_575^0'=a_575^post29, temp_35^0'=temp_35^post29, len_861^0'=len_861^post29, (a_1089^0-a_1089^post29 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ a_394^0-a_394^post29 == 0 /\ -x_253^post29+x_253^0 == 0 /\ -i_197^post29+i_197^0 == 0 /\ -a_579^post29+a_579^0 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ -a_263^post29+a_263^0 == 0 /\ -i_229^post29+i_229^0 == 0 /\ a_311^0-a_311^post29 == 0 /\ -a_431^post29+a_431^0 == 0 /\ -ct_18^post29+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ a_576^0-a_576^post29 == 0 /\ t_458^0-t_458^post29 == 0 /\ -r_970^post29+r_970^0 == 0 /\ x_852^0-x_852^post29 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ i_106^0-i_106^post29 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post29 == 0 /\ -i_1053^post29+i_1053^0 == 0 /\ -a_395^post29+a_395^0 == 0 /\ -i_1248^post29+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post29+len_861^0 == 0 /\ a_924^0-a_924^post29 == 0 /\ -a_239^post29+a_239^0 == 0 /\ f_248^0-f_248^post29 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ len_262^0-len_262^post29 == 0 /\ a_1236^0-a_1236^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ a_610^0-a_610^post29 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ -a_393^post29+a_393^0 == 0 /\ -r_224^post29+r_224^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ x_975^0-x_975^post29 == 0 /\ temp0_31^0-temp0_31^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -r_143^post29+r_143^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -i_107^post29+i_107^0 == 0 /\ a_947^0-a_947^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -i_30^post29+i_30^0 == 0 /\ len_238^0-len_238^post29 == 0 /\ -a_575^post29+a_575^0 == 0 /\ -i_94^post29+i_94^0 == 0 /\ x_14^0-x_14^post29 == 0 /\ a_176^0-a_176^post29 == 0 /\ a_121^0-a_121^post29 == 0 /\ i_27^0-i_27^post29 == 0 /\ f_969^0-f_969^post29 == 0 /\ -a_309^post29+a_309^0 == 0 /\ -a_635^post29+a_635^0 == 0 /\ -a_632^post29+a_632^0 == 0 /\ -i_113^post29+i_113^0 == 0 /\ -a_432^post29+a_432^0 == 0 /\ a_430^0-a_430^post29 == 0 /\ rcd_1249^0-rcd_1249^post29 == 0 /\ -a_417^post29+a_417^0 == 0 /\ len_161^0-len_161^post29 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ x_156^0-x_156^post29 == 0 /\ a_1162^0-a_1162^post29 == 0 /\ f_847^0-f_847^post29 == 0 /\ head_15^0-head_15^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post29+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_862^post29+a_862^0 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ r_151^0-r_151^post29 == 0 /\ -a_633^post29+a_633^0 == 0 /\ r_192^0-r_192^post29 == 0 /\ -rcd_47^post29+rcd_47^0 == 0 /\ -i_140^post29+i_140^0 == 0 /\ a_902^0-a_902^post29 == 0 /\ -a_310^post29+a_310^0 == 0 /\ i_127^0-i_127^post29 == 0 /\ -a_392^post29+a_392^0 == 0 /\ a_144^0-a_144^post29 == 0 /\ a_577^0-a_577^post29 == 0 /\ a_634^0-a_634^post29 == 0), cost: 1 New rule: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 Applied preprocessing Original rule: l21 -> l22 : a_1089^0'=a_1089^post30, f_847^0'=f_847^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, a_394^0'=a_394^post30, x_156^0'=x_156^post30, a_632^0'=a_632^post30, r_192^0'=r_192^post30, a_176^0'=a_176^post30, i_106^0'=i_106^post30, a_430^0'=a_430^post30, t_458^0'=t_458^post30, len_161^0'=len_161^post30, x_975^0'=x_975^post30, a_902^0'=a_902^post30, a_947^0'=a_947^post30, rcd_88^0'=rcd_88^post30, a_311^0'=a_311^post30, i_140^0'=i_140^post30, a_577^0'=a_577^post30, x_14^0'=x_14^post30, nondet_12^0'=nondet_12^post30, a_121^0'=a_121^post30, head_15^0'=head_15^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30, i_27^0'=i_27^post30, x_21^0'=x_21^post30, a_634^0'=a_634^post30, r_39^0'=r_39^post30, a_263^0'=a_263^post30, i_113^0'=i_113^post30, a_432^0'=a_432^post30, temp0_31^0'=temp0_31^post30, len_262^0'=len_262^post30, y_20^0'=y_20^post30, f_248^0'=f_248^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, a_393^0'=a_393^post30, i_229^0'=i_229^post30, a_610^0'=a_610^post30, r_151^0'=r_151^post30, a_144^0'=a_144^post30, i_1053^0'=i_1053^post30, a_417^0'=a_417^post30, t_24^0'=t_24^post30, i_94^0'=i_94^post30, x_852^0'=x_852^post30, a_862^0'=a_862^post30, rcd_1249^0'=rcd_1249^post30, rcd_58^0'=rcd_58^post30, a_310^0'=a_310^post30, i_127^0'=i_127^post30, a_576^0'=a_576^post30, tmp_34^0'=tmp_34^post30, length_29^0'=length_29^post30, a_1162^0'=a_1162^post30, f_969^0'=f_969^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30, a_395^0'=a_395^post30, x_17^0'=x_17^post30, a_633^0'=a_633^post30, r_224^0'=r_224^post30, a_239^0'=a_239^post30, i_107^0'=i_107^post30, a_431^0'=a_431^post30, temp0_16^0'=temp0_16^post30, len_238^0'=len_238^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_924^0'=a_924^post30, ct_18^0'=ct_18^post30, result_11^0'=result_11^post30, a_392^0'=a_392^post30, i_197^0'=i_197^post30, a_579^0'=a_579^post30, r_143^0'=r_143^post30, a_1236^0'=a_1236^post30, head_32^0'=head_32^post30, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30, i_30^0'=i_30^post30, x_253^0'=x_253^post30, a_635^0'=a_635^post30, r_970^0'=r_970^post30, rcd_47^0'=rcd_47^post30, a_309^0'=a_309^post30, i_1248^0'=i_1248^post30, a_575^0'=a_575^post30, temp_35^0'=temp_35^post30, len_861^0'=len_861^post30, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post30 == 0 /\ a_430^0-a_430^post30 == 0 /\ f_248^0-f_248^post30 == 0 /\ x_975^0-x_975^post30 == 0 /\ -r_143^post30+r_143^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ a_632^0-a_632^post30 == 0 /\ -a_575^post30+a_575^0 == 0 /\ f_969^0-f_969^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -i_113^post30+i_113^0 == 0 /\ i_127^0-i_127^post30 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -i_107^post30+i_107^0 == 0 /\ -a_432^post30+a_432^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ len_161^0-len_161^post30 == 0 /\ a_947^0-a_947^post30 == 0 /\ -r_39^post30+r_39^0 == 0 /\ -length_29^post30+length_29^0 == 0 /\ a_176^0-a_176^post30 == 0 /\ x_852^0-x_852^post30 == 0 /\ -a_1236^post30+a_1236^0 == 0 /\ a_394^0-a_394^post30 == 0 /\ -rcd_47^post30+rcd_47^0 == 0 /\ -i_140^post30+i_140^0 == 0 /\ -a_392^post30+a_392^0 == 0 /\ -a_310^post30+a_310^0 == 0 /\ t_458^0-t_458^post30 == 0 /\ -a_862^post30+a_862^0 == 0 /\ -i_94^post30+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post30 == 0 /\ f_847^0-f_847^post30 == 0 /\ -r_970^post30+r_970^0 == 0 /\ -r_151^post30+r_151^0 == 0 /\ a_633^0-a_633^post30 == 0 /\ -t_24^post30+t_24^0 == 0 /\ 1-x_253^0 <= 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -a_579^post30+a_579^0 == 0 /\ i_229^0-i_229^post30 == 0 /\ -x_253^post30+x_253^0 == 0 /\ -a_263^post30+a_263^0 == 0 /\ temp0_16^0-temp0_16^post30 == 0 /\ -head_32^post30+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post30 == 0 /\ a_121^0-a_121^post30 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post30+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_239^0-a_239^post30 == 0 /\ len_262^0-len_262^post30 == 0 /\ -i_197^post30+i_197^0 == 0 /\ x_156^0-x_156^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ a_610^0-a_610^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ a_902^0-a_902^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ a_144^0-a_144^post30 == 0 /\ -a_431^post30+a_431^0 == 0 /\ len_238^0-len_238^post30 == 0 /\ a_634^0-a_634^post30 == 0 /\ -a_395^post30+a_395^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ a_1089^0-a_1089^post30 == 0 /\ -a_1162^post30+a_1162^0 == 0 /\ a_417^0-a_417^post30 == 0 /\ -a_924^post30+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ i_27^0-i_27^post30 == 0 /\ x_14^0-x_14^post30 == 0 /\ a_576^0-a_576^post30 == 0 /\ -r_224^post30+r_224^0 == 0 /\ -len_861^post30+len_861^0 == 0 /\ -x_21^post30+x_21^0 == 0 /\ -i_1053^post30+i_1053^0 == 0 /\ -a_635^post30+a_635^0 == 0 /\ -i_1248^post30+i_1248^0 == 0 /\ -a_577^post30+a_577^0 == 0 /\ rcd_88^0-rcd_88^post30 == 0 /\ a_311^0-a_311^post30 == 0 /\ i_106^0-i_106^post30 == 0 /\ -a_393^post30+a_393^0 == 0), cost: 1 New rule: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 Applied preprocessing Original rule: l21 -> l22 : a_1089^0'=a_1089^post31, f_847^0'=f_847^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, a_394^0'=a_394^post31, x_156^0'=x_156^post31, a_632^0'=a_632^post31, r_192^0'=r_192^post31, a_176^0'=a_176^post31, i_106^0'=i_106^post31, a_430^0'=a_430^post31, t_458^0'=t_458^post31, len_161^0'=len_161^post31, x_975^0'=x_975^post31, a_902^0'=a_902^post31, a_947^0'=a_947^post31, rcd_88^0'=rcd_88^post31, a_311^0'=a_311^post31, i_140^0'=i_140^post31, a_577^0'=a_577^post31, x_14^0'=x_14^post31, nondet_12^0'=nondet_12^post31, a_121^0'=a_121^post31, head_15^0'=head_15^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31, i_27^0'=i_27^post31, x_21^0'=x_21^post31, a_634^0'=a_634^post31, r_39^0'=r_39^post31, a_263^0'=a_263^post31, i_113^0'=i_113^post31, a_432^0'=a_432^post31, temp0_31^0'=temp0_31^post31, len_262^0'=len_262^post31, y_20^0'=y_20^post31, f_248^0'=f_248^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, a_393^0'=a_393^post31, i_229^0'=i_229^post31, a_610^0'=a_610^post31, r_151^0'=r_151^post31, a_144^0'=a_144^post31, i_1053^0'=i_1053^post31, a_417^0'=a_417^post31, t_24^0'=t_24^post31, i_94^0'=i_94^post31, x_852^0'=x_852^post31, a_862^0'=a_862^post31, rcd_1249^0'=rcd_1249^post31, rcd_58^0'=rcd_58^post31, a_310^0'=a_310^post31, i_127^0'=i_127^post31, a_576^0'=a_576^post31, tmp_34^0'=tmp_34^post31, length_29^0'=length_29^post31, a_1162^0'=a_1162^post31, f_969^0'=f_969^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31, a_395^0'=a_395^post31, x_17^0'=x_17^post31, a_633^0'=a_633^post31, r_224^0'=r_224^post31, a_239^0'=a_239^post31, i_107^0'=i_107^post31, a_431^0'=a_431^post31, temp0_16^0'=temp0_16^post31, len_238^0'=len_238^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_924^0'=a_924^post31, ct_18^0'=ct_18^post31, result_11^0'=result_11^post31, a_392^0'=a_392^post31, i_197^0'=i_197^post31, a_579^0'=a_579^post31, r_143^0'=r_143^post31, a_1236^0'=a_1236^post31, head_32^0'=head_32^post31, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31, i_30^0'=i_30^post31, x_253^0'=x_253^post31, a_635^0'=a_635^post31, r_970^0'=r_970^post31, rcd_47^0'=rcd_47^post31, a_309^0'=a_309^post31, i_1248^0'=i_1248^post31, a_575^0'=a_575^post31, temp_35^0'=temp_35^post31, len_861^0'=len_861^post31, (t_24^0-t_24^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -f_248^post31+f_248^0 == 0 /\ a_862^0-a_862^post31 == 0 /\ a_394^0-a_394^post31 == 0 /\ a_144^0-a_144^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ -r_970^post31+r_970^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -r_224^post31+r_224^0 == 0 /\ a_263^0-a_263^post31 == 0 /\ -i_197^post31+i_197^0 == 0 /\ -a_579^post31+a_579^0 == 0 /\ a_392^0-a_392^post31 == 0 /\ a_430^0-a_430^post31 == 0 /\ t_458^0-t_458^post31 == 0 /\ x_852^0-x_852^post31 == 0 /\ len_161^0-len_161^post31 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ i_106^0-i_106^post31 == 0 /\ -i_127^post31+i_127^0 == 0 /\ -ct_18^post31+ct_18^0 == 0 /\ -i_229^post31+i_229^0 == 0 /\ a_576^0-a_576^post31 == 0 /\ -temp_35^post31+temp_35^0 == 0 /\ a_311^0-a_311^post31 == 0 /\ f_847^0-f_847^post31 == 0 /\ 1+x_253^0 <= 0 /\ -rcd_1249^post31+rcd_1249^0 == 0 /\ -i_107^post31+i_107^0 == 0 /\ -a_577^post31+a_577^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post31+a_575^0 == 0 /\ -a_924^post31+a_924^0 == 0 /\ a_1236^0-a_1236^post31 == 0 /\ r_143^0-r_143^post31 == 0 /\ a_121^0-a_121^post31 == 0 /\ -len_861^post31+len_861^0 == 0 /\ -i_1248^post31+i_1248^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ len_262^0-len_262^post31 == 0 /\ temp0_31^0-temp0_31^post31 == 0 /\ -a_393^post31+a_393^0 == 0 /\ -a_1162^post31+a_1162^0 == 0 /\ -i_30^post31+i_30^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ a_947^0-a_947^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ i_27^0-i_27^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -len_238^post31+len_238^0 == 0 /\ a_176^0-a_176^post31 == 0 /\ -i_94^post31+i_94^0 == 0 /\ a_1089^0-a_1089^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post31+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post31+i_113^0 == 0 /\ -a_309^post31+a_309^0 == 0 /\ -a_633^post31+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ a_635^0-a_635^post31 == 0 /\ -a_432^post31+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post31 == 0 /\ -a_632^post31+a_632^0 == 0 /\ i_1053^0-i_1053^post31 == 0 /\ a_395^0-a_395^post31 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -i_140^post31+i_140^0 == 0 /\ -a_431^post31+a_431^0 == 0 /\ -r_39^post31+r_39^0 == 0 /\ r_151^0-r_151^post31 == 0 /\ a_239^0-a_239^post31 == 0 /\ a_902^0-a_902^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -a_610^post31+a_610^0 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_975^0-x_975^post31 == 0 /\ f_969^0-f_969^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ -head_32^post31+head_32^0 == 0 /\ x_156^0-x_156^post31 == 0 /\ a_417^0-a_417^post31 == 0 /\ -rcd_47^post31+rcd_47^0 == 0 /\ head_15^0-head_15^post31 == 0 /\ -x_253^post31+x_253^0 == 0 /\ a_634^0-a_634^post31 == 0 /\ -a_310^post31+a_310^0 == 0), cost: 1 New rule: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 Applied preprocessing Original rule: l22 -> l16 : a_1089^0'=a_1089^post32, f_847^0'=f_847^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, a_394^0'=a_394^post32, x_156^0'=x_156^post32, a_632^0'=a_632^post32, r_192^0'=r_192^post32, a_176^0'=a_176^post32, i_106^0'=i_106^post32, a_430^0'=a_430^post32, t_458^0'=t_458^post32, len_161^0'=len_161^post32, x_975^0'=x_975^post32, a_902^0'=a_902^post32, a_947^0'=a_947^post32, rcd_88^0'=rcd_88^post32, a_311^0'=a_311^post32, i_140^0'=i_140^post32, a_577^0'=a_577^post32, x_14^0'=x_14^post32, nondet_12^0'=nondet_12^post32, a_121^0'=a_121^post32, head_15^0'=head_15^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32, i_27^0'=i_27^post32, x_21^0'=x_21^post32, a_634^0'=a_634^post32, r_39^0'=r_39^post32, a_263^0'=a_263^post32, i_113^0'=i_113^post32, a_432^0'=a_432^post32, temp0_31^0'=temp0_31^post32, len_262^0'=len_262^post32, y_20^0'=y_20^post32, f_248^0'=f_248^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, a_393^0'=a_393^post32, i_229^0'=i_229^post32, a_610^0'=a_610^post32, r_151^0'=r_151^post32, a_144^0'=a_144^post32, i_1053^0'=i_1053^post32, a_417^0'=a_417^post32, t_24^0'=t_24^post32, i_94^0'=i_94^post32, x_852^0'=x_852^post32, a_862^0'=a_862^post32, rcd_1249^0'=rcd_1249^post32, rcd_58^0'=rcd_58^post32, a_310^0'=a_310^post32, i_127^0'=i_127^post32, a_576^0'=a_576^post32, tmp_34^0'=tmp_34^post32, length_29^0'=length_29^post32, a_1162^0'=a_1162^post32, f_969^0'=f_969^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32, a_395^0'=a_395^post32, x_17^0'=x_17^post32, a_633^0'=a_633^post32, r_224^0'=r_224^post32, a_239^0'=a_239^post32, i_107^0'=i_107^post32, a_431^0'=a_431^post32, temp0_16^0'=temp0_16^post32, len_238^0'=len_238^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_924^0'=a_924^post32, ct_18^0'=ct_18^post32, result_11^0'=result_11^post32, a_392^0'=a_392^post32, i_197^0'=i_197^post32, a_579^0'=a_579^post32, r_143^0'=r_143^post32, a_1236^0'=a_1236^post32, head_32^0'=head_32^post32, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32, i_30^0'=i_30^post32, x_253^0'=x_253^post32, a_635^0'=a_635^post32, r_970^0'=r_970^post32, rcd_47^0'=rcd_47^post32, a_309^0'=a_309^post32, i_1248^0'=i_1248^post32, a_575^0'=a_575^post32, temp_35^0'=temp_35^post32, len_861^0'=len_861^post32, (0 == 0 /\ -len_238^post32+len_238^0 == 0 /\ -rcd_47^post32+rcd_47^0 == 0 /\ i_94^0-i_94^post32 == 0 /\ r_151^0-r_151^post32 == 0 /\ i_113^0-i_113^post32 == 0 /\ -r_143^post32+r_143^0 == 0 /\ a_393^0-a_393^post32 == 0 /\ a_430^0-a_430^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ x_975^0-x_975^post32 == 0 /\ -a_634^post32+a_634^0 == 0 /\ f_969^0-f_969^post32 == 0 /\ -i_107^post32+i_107^0 == 0 /\ a_432^0-a_432^post32 == 0 /\ -a_575^post32+a_575^0 == 0 /\ r_192^0-r_192^post32 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ -a_309^post32+a_309^0 == 0 /\ a_633^0-a_633^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -rcd_1249^post32+rcd_1249^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ a_417^0-a_417^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -a_576^post32+a_576^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ a_862^0-a_862^post32 == 0 /\ -a_431^post32+a_431^0 == 0 /\ i_27^0-i_27^post32 == 0 /\ -a_392^post32+a_392^0 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ head_32^0-head_32^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -x_253^post32+x_253^0 == 0 /\ -a_610^post32+a_610^0 == 0 /\ i_140^0-i_140^post32 == 0 /\ -a_1236^post32+a_1236^0 == 0 /\ i_106^0-i_106^post32 == 0 /\ -len_262^post32+len_262^0 == 0 /\ a_632^0-a_632^post32 == 0 /\ a_176^post32-a_263^0 <= 0 /\ -i_1248^post32+i_1248^0 == 0 /\ -r_970^post32+r_970^0 == 0 /\ -a_310^post32+a_310^0 == 0 /\ -r_224^post32+r_224^0 == 0 /\ a_902^0-a_902^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post32 == 0 /\ a_311^0-a_311^post32 == 0 /\ -i_197^post32+i_197^0 == 0 /\ -a_579^post32+a_579^0 == 0 /\ t_458^0-t_458^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ f_248^0-f_248^post32 == 0 /\ a_577^0-a_577^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ i_229^0-i_229^post32 == 0 /\ -i_127^post32+i_127^0 == 0 /\ a_239^0-a_239^post32 == 0 /\ -a_395^post32+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post32+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post32 == 0 /\ len_262^0-len_161^post32 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ -a_924^post32+a_924^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -a_1162^post32+a_1162^0 == 0 /\ -a_947^post32+a_947^0 == 0 /\ x_14^0-x_14^post32 == 0 /\ 1-i_27^0 <= 0 /\ i_1053^0-i_1053^post32 == 0 /\ -a_176^post32+a_263^0 <= 0 /\ a_121^0-a_121^post32 == 0 /\ -head_15^post32+head_15^0 == 0 /\ a_1089^0-a_1089^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ a_394^0-a_394^post32 == 0 /\ a_263^0-a_263^post32 == 0 /\ x_852^0-x_852^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ y_20^0-y_20^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ f_847^0-f_847^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post32 == 0 /\ -len_861^post32+len_861^0 == 0 /\ length_29^0-length_29^post32 == 0 /\ -len_262^0+len_161^post32 <= 0 /\ -a_635^post32+a_635^0 == 0), cost: 1 New rule: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l8 -> l24 : a_1089^0'=a_1089^post33, f_847^0'=f_847^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_394^0'=a_394^post33, x_156^0'=x_156^post33, a_632^0'=a_632^post33, r_192^0'=r_192^post33, a_176^0'=a_176^post33, i_106^0'=i_106^post33, a_430^0'=a_430^post33, t_458^0'=t_458^post33, len_161^0'=len_161^post33, x_975^0'=x_975^post33, a_902^0'=a_902^post33, a_947^0'=a_947^post33, rcd_88^0'=rcd_88^post33, a_311^0'=a_311^post33, i_140^0'=i_140^post33, a_577^0'=a_577^post33, x_14^0'=x_14^post33, nondet_12^0'=nondet_12^post33, a_121^0'=a_121^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^post33, x_21^0'=x_21^post33, a_634^0'=a_634^post33, r_39^0'=r_39^post33, a_263^0'=a_263^post33, i_113^0'=i_113^post33, a_432^0'=a_432^post33, temp0_31^0'=temp0_31^post33, len_262^0'=len_262^post33, y_20^0'=y_20^post33, f_248^0'=f_248^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_393^0'=a_393^post33, i_229^0'=i_229^post33, a_610^0'=a_610^post33, r_151^0'=r_151^post33, a_144^0'=a_144^post33, i_1053^0'=i_1053^post33, a_417^0'=a_417^post33, t_24^0'=t_24^post33, i_94^0'=i_94^post33, x_852^0'=x_852^post33, a_862^0'=a_862^post33, rcd_1249^0'=rcd_1249^post33, rcd_58^0'=rcd_58^post33, a_310^0'=a_310^post33, i_127^0'=i_127^post33, a_576^0'=a_576^post33, tmp_34^0'=tmp_34^post33, length_29^0'=length_29^post33, a_1162^0'=a_1162^post33, f_969^0'=f_969^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33, a_395^0'=a_395^post33, x_17^0'=x_17^post33, a_633^0'=a_633^post33, r_224^0'=r_224^post33, a_239^0'=a_239^post33, i_107^0'=i_107^post33, a_431^0'=a_431^post33, temp0_16^0'=temp0_16^post33, len_238^0'=len_238^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, a_924^0'=a_924^post33, ct_18^0'=ct_18^post33, result_11^0'=result_11^post33, a_392^0'=a_392^post33, i_197^0'=i_197^post33, a_579^0'=a_579^post33, r_143^0'=r_143^post33, a_1236^0'=a_1236^post33, head_32^0'=head_32^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33, i_30^0'=i_30^post33, x_253^0'=x_253^post33, a_635^0'=a_635^post33, r_970^0'=r_970^post33, rcd_47^0'=rcd_47^post33, a_309^0'=a_309^post33, i_1248^0'=i_1248^post33, a_575^0'=a_575^post33, temp_35^0'=temp_35^post33, len_861^0'=len_861^post33, (0 == 0 /\ a_417^0-a_417^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -len_861^post33+len_861^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ t_24^0-t_24^post33 == 0 /\ a_176^0-a_176^post33 == 0 /\ -i_1248^post33+i_1248^0 == 0 /\ a_394^0-a_394^post33 == 0 /\ -a_239^post33+a_239^0 == 0 /\ len_161^0-len_161^post33 == 0 /\ a_947^0-a_947^post33 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -len_161^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post33 == 0 /\ f_847^0-f_847^post33 == 0 /\ -a_579^post33+a_579^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ -a_392^post33+a_392^0 == 0 /\ i_1053^0-i_1053^post33 == 0 /\ -f_248^post33+f_248^0 == 0 /\ length_29^0-length_29^post33 == 0 /\ -a_575^post33+a_575^0 == 0 /\ -i_197^post33+i_197^0 == 0 /\ -rcd_1249^post33+rcd_1249^0 == 0 /\ a_430^0-a_430^post33 == 0 /\ r_151^0-r_151^post33 == 0 /\ i_94^0-i_94^post33 == 0 /\ -a_635^post33+a_635^0 == 0 /\ a_577^0-a_577^post33 == 0 /\ -a_309^post33+a_309^0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -x_17^post33+x_17^0 == 0 /\ -x_21^post33+x_21^0 == 0 /\ x_156^0-x_156^post33 == 0 /\ a_432^0-a_432^post33 == 0 /\ -ct_18^post33+ct_18^0 == 0 /\ a_1162^0-a_1162^post33 == 0 /\ i_113^0-i_113^post33 == 0 /\ a_902^0-a_902^post33 == 0 /\ -a_176^0 <= 0 /\ r_192^0-r_192^post33 == 0 /\ a_862^0-a_862^post33 == 0 /\ -i_30^post33+i_30^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0 /\ -x_852^post33+x_852^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_238^post33+len_238^0 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post33+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post33 == 0 /\ -a_634^post33+a_634^0 == 0 /\ a_395^0-a_395^post33 == 0 /\ -a_633^post33+a_633^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ a_311^0-a_311^post33 == 0 /\ -a_924^post33+a_924^0 == 0 /\ -a_576^post33+a_576^0 == 0 /\ -x_14^post33+x_14^0 == 0 /\ i_140^0-i_140^post33 == 0 /\ -r_143^post33+r_143^0 == 0 /\ -result_11^post33+result_11^0 == 0 /\ i_106^0-i_106^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ i_107^0-i_107^post33 == 0 /\ -a_121^post33+a_121^0 == 0 /\ a_632^0-a_632^post33 == 0 /\ -a_1236^post33+a_1236^0 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ x_975^0-x_975^post33 == 0 /\ y_20^0-y_20^post33 == 0 /\ a_393^0-a_393^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ t_458^0-t_458^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -a_431^post33+a_431^0 == 0 /\ -f_969^post33+f_969^0 == 0 /\ r_224^0-r_224^post33 == 0 /\ -a_310^post33+a_310^0 == 0 /\ -len_262^post33+len_262^0 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -a_610^post33+a_610^0 == 0 /\ -r_970^post33+r_970^0 == 0 /\ -x_253^post33+x_253^0 == 0 /\ -rcd_47^post33+rcd_47^0 == 0), cost: 1 New rule: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Applied preprocessing Original rule: l24 -> l25 : a_1089^0'=a_1089^post34, f_847^0'=f_847^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_394^0'=a_394^post34, x_156^0'=x_156^post34, a_632^0'=a_632^post34, r_192^0'=r_192^post34, a_176^0'=a_176^post34, i_106^0'=i_106^post34, a_430^0'=a_430^post34, t_458^0'=t_458^post34, len_161^0'=len_161^post34, x_975^0'=x_975^post34, a_902^0'=a_902^post34, a_947^0'=a_947^post34, rcd_88^0'=rcd_88^post34, a_311^0'=a_311^post34, i_140^0'=i_140^post34, a_577^0'=a_577^post34, x_14^0'=x_14^post34, nondet_12^0'=nondet_12^post34, a_121^0'=a_121^post34, head_15^0'=head_15^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34, i_27^0'=i_27^post34, x_21^0'=x_21^post34, a_634^0'=a_634^post34, r_39^0'=r_39^post34, a_263^0'=a_263^post34, i_113^0'=i_113^post34, a_432^0'=a_432^post34, temp0_31^0'=temp0_31^post34, len_262^0'=len_262^post34, y_20^0'=y_20^post34, f_248^0'=f_248^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_393^0'=a_393^post34, i_229^0'=i_229^post34, a_610^0'=a_610^post34, r_151^0'=r_151^post34, a_144^0'=a_144^post34, i_1053^0'=i_1053^post34, a_417^0'=a_417^post34, t_24^0'=t_24^post34, i_94^0'=i_94^post34, x_852^0'=x_852^post34, a_862^0'=a_862^post34, rcd_1249^0'=rcd_1249^post34, rcd_58^0'=rcd_58^post34, a_310^0'=a_310^post34, i_127^0'=i_127^post34, a_576^0'=a_576^post34, tmp_34^0'=tmp_34^post34, length_29^0'=length_29^post34, a_1162^0'=a_1162^post34, f_969^0'=f_969^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34, a_395^0'=a_395^post34, x_17^0'=x_17^post34, a_633^0'=a_633^post34, r_224^0'=r_224^post34, a_239^0'=a_239^post34, i_107^0'=i_107^post34, a_431^0'=a_431^post34, temp0_16^0'=temp0_16^post34, len_238^0'=len_238^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_924^0'=a_924^post34, ct_18^0'=ct_18^post34, result_11^0'=result_11^post34, a_392^0'=a_392^post34, i_197^0'=i_197^post34, a_579^0'=a_579^post34, r_143^0'=r_143^post34, a_1236^0'=a_1236^post34, head_32^0'=head_32^post34, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34, i_30^0'=i_30^post34, x_253^0'=x_253^post34, a_635^0'=a_635^post34, r_970^0'=r_970^post34, rcd_47^0'=rcd_47^post34, a_309^0'=a_309^post34, i_1248^0'=i_1248^post34, a_575^0'=a_575^post34, temp_35^0'=temp_35^post34, len_861^0'=len_861^post34, (-a_633^post34+a_633^0 == 0 /\ -a_610^post34+a_610^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ i_94^0-i_94^post34 == 0 /\ -rcd_47^post34+rcd_47^0 == 0 /\ head_15^0-head_15^post34 == 0 /\ a_393^0-a_393^post34 == 0 /\ r_39^0-r_39^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post34 == 0 /\ 1-x_14^0 <= 0 /\ a_432^0-a_432^post34 == 0 /\ a_310^0-a_310^post34 == 0 /\ -rcd_1249^post34+rcd_1249^0 == 0 /\ -a_634^post34+a_634^0 == 0 /\ -r_143^post34+r_143^0 == 0 /\ r_192^0-r_192^post34 == 0 /\ x_156^0-x_156^post34 == 0 /\ i_113^0-i_113^post34 == 0 /\ a_1089^0-a_1089^post34 == 0 /\ -a_924^post34+a_924^0 == 0 /\ -len_238^post34+len_238^0 == 0 /\ x_21^0-x_21^post34 == 0 /\ -a_576^post34+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post34+r_151^0 == 0 /\ a_121^0-a_121^post34 == 0 /\ i_27^0-i_27^post34 == 0 /\ -a_1236^post34+a_1236^0 == 0 /\ -f_969^post34+f_969^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ -x_253^post34+x_253^0 == 0 /\ a_263^0-a_263^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ a_417^0-a_417^post34 == 0 /\ a_392^0-a_392^post34 == 0 /\ y_20^0-y_20^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -f_248^post34+f_248^0 == 0 /\ -a_311^post34+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post34 == 0 /\ -r_970^post34+r_970^0 == 0 /\ a_632^0-a_632^post34 == 0 /\ i_106^0-i_106^post34 == 0 /\ -i_1248^post34+i_1248^0 == 0 /\ -a_395^post34+a_395^0 == 0 /\ -len_861^post34+len_861^0 == 0 /\ -a_239^post34+a_239^0 == 0 /\ -a_430^post34+a_430^0 == 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_224^0-r_224^post34 == 0 /\ a_902^0-a_902^post34 == 0 /\ x_975^0-x_975^post34 == 0 /\ i_107^0-i_107^post34 == 0 /\ -len_262^post34+len_262^0 == 0 /\ t_458^0-t_458^post34 == 0 /\ a_577^0-a_577^post34 == 0 /\ i_30^0-i_30^post34 == 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post34+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post34+i_1053^0 == 0 /\ -i_197^post34+i_197^0 == 0 /\ x_14^0-x_14^post34 == 0 /\ -a_575^post34+a_575^0 == 0 /\ -a_579^post34+a_579^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ len_161^0-len_161^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ i_140^0-i_140^post34 == 0 /\ -a_947^post34+a_947^0 == 0 /\ -a_309^post34+a_309^0 == 0 /\ x_852^0-x_852^post34 == 0 /\ i_229^0-i_229^post34 == 0 /\ a_431^0-a_431^post34 == 0 /\ -i_127^post34+i_127^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ a_394^0-a_394^post34 == 0 /\ a_862^0-a_862^post34 == 0 /\ -rcd_58^post34+rcd_58^0 == 0 /\ -a_635^post34+a_635^0 == 0 /\ a_176^0-a_176^post34 == 0 /\ rcd_88^0-rcd_88^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ f_847^0-f_847^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ -a_1162^post34+a_1162^0 == 0), cost: 1 New rule: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l24 -> l25 : a_1089^0'=a_1089^post35, f_847^0'=f_847^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_394^0'=a_394^post35, x_156^0'=x_156^post35, a_632^0'=a_632^post35, r_192^0'=r_192^post35, a_176^0'=a_176^post35, i_106^0'=i_106^post35, a_430^0'=a_430^post35, t_458^0'=t_458^post35, len_161^0'=len_161^post35, x_975^0'=x_975^post35, a_902^0'=a_902^post35, a_947^0'=a_947^post35, rcd_88^0'=rcd_88^post35, a_311^0'=a_311^post35, i_140^0'=i_140^post35, a_577^0'=a_577^post35, x_14^0'=x_14^post35, nondet_12^0'=nondet_12^post35, a_121^0'=a_121^post35, head_15^0'=head_15^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35, i_27^0'=i_27^post35, x_21^0'=x_21^post35, a_634^0'=a_634^post35, r_39^0'=r_39^post35, a_263^0'=a_263^post35, i_113^0'=i_113^post35, a_432^0'=a_432^post35, temp0_31^0'=temp0_31^post35, len_262^0'=len_262^post35, y_20^0'=y_20^post35, f_248^0'=f_248^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_393^0'=a_393^post35, i_229^0'=i_229^post35, a_610^0'=a_610^post35, r_151^0'=r_151^post35, a_144^0'=a_144^post35, i_1053^0'=i_1053^post35, a_417^0'=a_417^post35, t_24^0'=t_24^post35, i_94^0'=i_94^post35, x_852^0'=x_852^post35, a_862^0'=a_862^post35, rcd_1249^0'=rcd_1249^post35, rcd_58^0'=rcd_58^post35, a_310^0'=a_310^post35, i_127^0'=i_127^post35, a_576^0'=a_576^post35, tmp_34^0'=tmp_34^post35, length_29^0'=length_29^post35, a_1162^0'=a_1162^post35, f_969^0'=f_969^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35, a_395^0'=a_395^post35, x_17^0'=x_17^post35, a_633^0'=a_633^post35, r_224^0'=r_224^post35, a_239^0'=a_239^post35, i_107^0'=i_107^post35, a_431^0'=a_431^post35, temp0_16^0'=temp0_16^post35, len_238^0'=len_238^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_924^0'=a_924^post35, ct_18^0'=ct_18^post35, result_11^0'=result_11^post35, a_392^0'=a_392^post35, i_197^0'=i_197^post35, a_579^0'=a_579^post35, r_143^0'=r_143^post35, a_1236^0'=a_1236^post35, head_32^0'=head_32^post35, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35, i_30^0'=i_30^post35, x_253^0'=x_253^post35, a_635^0'=a_635^post35, r_970^0'=r_970^post35, rcd_47^0'=rcd_47^post35, a_309^0'=a_309^post35, i_1248^0'=i_1248^post35, a_575^0'=a_575^post35, temp_35^0'=temp_35^post35, len_861^0'=len_861^post35, (x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -length_29^post35+length_29^0 == 0 /\ len_262^0-len_262^post35 == 0 /\ -len_861^post35+len_861^0 == 0 /\ -f_248^post35+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ i_229^0-i_229^post35 == 0 /\ -a_1236^post35+a_1236^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ a_634^0-a_634^post35 == 0 /\ len_161^0-len_161^post35 == 0 /\ a_947^0-a_947^post35 == 0 /\ -i_1248^post35+i_1248^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -i_27^post35+i_27^0 == 0 /\ -a_239^post35+a_239^0 == 0 /\ i_1053^0-i_1053^post35 == 0 /\ -i_197^post35+i_197^0 == 0 /\ -a_393^post35+a_393^0 == 0 /\ -i_127^post35+i_127^0 == 0 /\ a_395^0-a_395^post35 == 0 /\ a_121^0-a_121^post35 == 0 /\ a_176^0-a_176^post35 == 0 /\ -a_579^post35+a_579^0 == 0 /\ i_113^0-i_113^post35 == 0 /\ -r_151^post35+r_151^0 == 0 /\ x_975^0-x_975^post35 == 0 /\ -a_635^post35+a_635^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ r_192^0-r_192^post35 == 0 /\ a_430^0-a_430^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ -x_852^post35+x_852^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -a_575^post35+a_575^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_156^0-x_156^post35 == 0 /\ -a_309^post35+a_309^0 == 0 /\ a_1089^0-a_1089^post35 == 0 /\ a_1162^0-a_1162^post35 == 0 /\ a_310^0-a_310^post35 == 0 /\ -a_417^post35+a_417^0 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ x_14^0-x_14^post35 == 0 /\ a_632^0-a_632^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ a_432^0-a_432^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_902^post35+a_902^0 == 0 /\ a_862^0-a_862^post35 == 0 /\ x_21^0-x_21^post35 == 0 /\ i_140^0-i_140^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post35+a_633^0 == 0 /\ a_431^0-a_431^post35 == 0 /\ f_847^0-f_847^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post35+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ a_263^0-a_263^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post35 == 0 /\ -a_924^post35+a_924^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_47^post35+rcd_47^0 == 0 /\ -r_143^post35+r_143^0 == 0 /\ -rcd_1249^post35+rcd_1249^0 == 0 /\ -len_238^post35+len_238^0 == 0 /\ y_20^0-y_20^post35 == 0 /\ i_107^0-i_107^post35 == 0 /\ a_610^0-a_610^post35 == 0 /\ -x_253^post35+x_253^0 == 0 /\ r_224^0-r_224^post35 == 0 /\ r_39^0-r_39^post35 == 0 /\ -f_969^post35+f_969^0 == 0 /\ -r_970^post35+r_970^0 == 0 /\ -a_392^post35+a_392^0 == 0 /\ a_577^0-a_577^post35 == 0 /\ t_458^0-t_458^post35 == 0 /\ -a_311^post35+a_311^0 == 0 /\ i_106^0-i_106^post35 == 0 /\ i_94^0-i_94^post35 == 0 /\ -a_576^post35+a_576^0 == 0 /\ 1+x_14^0 <= 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -temp_35^post35+temp_35^0 == 0), cost: 1 New rule: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l25 -> l26 : a_1089^0'=a_1089^post36, f_847^0'=f_847^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_394^0'=a_394^post36, x_156^0'=x_156^post36, a_632^0'=a_632^post36, r_192^0'=r_192^post36, a_176^0'=a_176^post36, i_106^0'=i_106^post36, a_430^0'=a_430^post36, t_458^0'=t_458^post36, len_161^0'=len_161^post36, x_975^0'=x_975^post36, a_902^0'=a_902^post36, a_947^0'=a_947^post36, rcd_88^0'=rcd_88^post36, a_311^0'=a_311^post36, i_140^0'=i_140^post36, a_577^0'=a_577^post36, x_14^0'=x_14^post36, nondet_12^0'=nondet_12^post36, a_121^0'=a_121^post36, head_15^0'=head_15^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36, i_27^0'=i_27^post36, x_21^0'=x_21^post36, a_634^0'=a_634^post36, r_39^0'=r_39^post36, a_263^0'=a_263^post36, i_113^0'=i_113^post36, a_432^0'=a_432^post36, temp0_31^0'=temp0_31^post36, len_262^0'=len_262^post36, y_20^0'=y_20^post36, f_248^0'=f_248^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_393^0'=a_393^post36, i_229^0'=i_229^post36, a_610^0'=a_610^post36, r_151^0'=r_151^post36, a_144^0'=a_144^post36, i_1053^0'=i_1053^post36, a_417^0'=a_417^post36, t_24^0'=t_24^post36, i_94^0'=i_94^post36, x_852^0'=x_852^post36, a_862^0'=a_862^post36, rcd_1249^0'=rcd_1249^post36, rcd_58^0'=rcd_58^post36, a_310^0'=a_310^post36, i_127^0'=i_127^post36, a_576^0'=a_576^post36, tmp_34^0'=tmp_34^post36, length_29^0'=length_29^post36, a_1162^0'=a_1162^post36, f_969^0'=f_969^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36, a_395^0'=a_395^post36, x_17^0'=x_17^post36, a_633^0'=a_633^post36, r_224^0'=r_224^post36, a_239^0'=a_239^post36, i_107^0'=i_107^post36, a_431^0'=a_431^post36, temp0_16^0'=temp0_16^post36, len_238^0'=len_238^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, a_924^0'=a_924^post36, ct_18^0'=ct_18^post36, result_11^0'=result_11^post36, a_392^0'=a_392^post36, i_197^0'=i_197^post36, a_579^0'=a_579^post36, r_143^0'=r_143^post36, a_1236^0'=a_1236^post36, head_32^0'=head_32^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36, i_30^0'=i_30^post36, x_253^0'=x_253^post36, a_635^0'=a_635^post36, r_970^0'=r_970^post36, rcd_47^0'=rcd_47^post36, a_309^0'=a_309^post36, i_1248^0'=i_1248^post36, a_575^0'=a_575^post36, temp_35^0'=temp_35^post36, len_861^0'=len_861^post36, (0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ t_458^0-t_458^post36 == 0 /\ i_106^0-i_106^post36 == 0 /\ -len_238^post36+len_238^0 == 0 /\ a_632^0-a_632^post36 == 0 /\ head_15^0-head_15^post36 == 0 /\ a_902^0-a_902^post36 == 0 /\ -a_634^post36+a_634^0 == 0 /\ -x_253^post36+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post36+rcd_1249^0 == 0 /\ a_310^0-a_310^post36 == 0 /\ i_229^0-i_229^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_151^post36+r_151^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -a_576^post36+a_576^0 == 0 /\ -r_970^post36+r_970^0 == 0 /\ -nondet_12^11+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post36 == 0 /\ -r_224^post36+r_224^0 == 0 /\ a_121^0-a_121^post36 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ len_262^0-len_262^post36 == 0 /\ a_263^0-a_263^post36 == 0 /\ -r_143^post36+r_143^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ a_176^0-a_176^post36 == 0 /\ a_394^0-a_394^post36 == 0 /\ a_924^0-a_924^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post36 == 0 /\ -a_395^post36+a_395^0 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ -a_1236^post36+a_1236^0 == 0 /\ x_975^0-x_975^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ a_577^0-a_577^post36 == 0 /\ f_248^0-f_248^post36 == 0 /\ f_969^0-f_969^post36 == 0 /\ i_94^0-i_94^post36 == 0 /\ -a_392^post36+a_392^0 == 0 /\ i_113^0-i_113^post36 == 0 /\ -length_29^post36+length_29^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ a_393^0-a_393^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ i_140^0-i_140^post36 == 0 /\ -a_862^post36+a_862^0 == 0 /\ -i_30^post36+i_30^0 == 0 /\ -i_1053^post36+i_1053^0 == 0 /\ -x_156^post36+x_156^0 == 0 /\ len_161^0-len_161^post36 == 0 /\ -i_1248^post36+i_1248^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ a_1089^0-a_1089^post36 == 0 /\ a_311^0-a_311^post36 == 0 /\ -len_861^post36+len_861^0 == 0 /\ a_432^0-a_432^post36 == 0 /\ -r_192^post36+r_192^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ -a_239^post36+a_239^0 == 0 /\ a_430^0-a_430^post36 == 0 /\ -a_635^post36+a_635^0 == 0 /\ -rcd_47^post36+rcd_47^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -x_852^post36+x_852^0 == 0 /\ y_20^0-y_20^post36 == 0 /\ 1-i_27^0 <= 0 /\ -a_579^post36+a_579^0 == 0 /\ -a_610^post36+a_610^0 == 0 /\ -x_17^post36+x_17^0 == 0 /\ a_431^0-a_431^post36 == 0 /\ -i_197^post36+i_197^0 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ a_144^0-a_144^post36 == 0 /\ a_1162^0-a_1162^post36 == 0 /\ f_847^0-f_847^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -i_107^post36+i_107^0 == 0 /\ -ct_18^post36+ct_18^0 == 0 /\ a_947^0-a_947^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post36+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post36+a_575^0 == 0 /\ -a_417^post36+a_417^0 == 0 /\ -a_633^post36+a_633^0 == 0 /\ -a_309^post36+a_309^0 == 0), cost: 1 New rule: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l26 -> l27 : a_1089^0'=a_1089^post37, f_847^0'=f_847^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_394^0'=a_394^post37, x_156^0'=x_156^post37, a_632^0'=a_632^post37, r_192^0'=r_192^post37, a_176^0'=a_176^post37, i_106^0'=i_106^post37, a_430^0'=a_430^post37, t_458^0'=t_458^post37, len_161^0'=len_161^post37, x_975^0'=x_975^post37, a_902^0'=a_902^post37, a_947^0'=a_947^post37, rcd_88^0'=rcd_88^post37, a_311^0'=a_311^post37, i_140^0'=i_140^post37, a_577^0'=a_577^post37, x_14^0'=x_14^post37, nondet_12^0'=nondet_12^post37, a_121^0'=a_121^post37, head_15^0'=head_15^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37, i_27^0'=i_27^post37, x_21^0'=x_21^post37, a_634^0'=a_634^post37, r_39^0'=r_39^post37, a_263^0'=a_263^post37, i_113^0'=i_113^post37, a_432^0'=a_432^post37, temp0_31^0'=temp0_31^post37, len_262^0'=len_262^post37, y_20^0'=y_20^post37, f_248^0'=f_248^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_393^0'=a_393^post37, i_229^0'=i_229^post37, a_610^0'=a_610^post37, r_151^0'=r_151^post37, a_144^0'=a_144^post37, i_1053^0'=i_1053^post37, a_417^0'=a_417^post37, t_24^0'=t_24^post37, i_94^0'=i_94^post37, x_852^0'=x_852^post37, a_862^0'=a_862^post37, rcd_1249^0'=rcd_1249^post37, rcd_58^0'=rcd_58^post37, a_310^0'=a_310^post37, i_127^0'=i_127^post37, a_576^0'=a_576^post37, tmp_34^0'=tmp_34^post37, length_29^0'=length_29^post37, a_1162^0'=a_1162^post37, f_969^0'=f_969^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37, a_395^0'=a_395^post37, x_17^0'=x_17^post37, a_633^0'=a_633^post37, r_224^0'=r_224^post37, a_239^0'=a_239^post37, i_107^0'=i_107^post37, a_431^0'=a_431^post37, temp0_16^0'=temp0_16^post37, len_238^0'=len_238^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, a_924^0'=a_924^post37, ct_18^0'=ct_18^post37, result_11^0'=result_11^post37, a_392^0'=a_392^post37, i_197^0'=i_197^post37, a_579^0'=a_579^post37, r_143^0'=r_143^post37, a_1236^0'=a_1236^post37, head_32^0'=head_32^post37, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37, i_30^0'=i_30^post37, x_253^0'=x_253^post37, a_635^0'=a_635^post37, r_970^0'=r_970^post37, rcd_47^0'=rcd_47^post37, a_309^0'=a_309^post37, i_1248^0'=i_1248^post37, a_575^0'=a_575^post37, temp_35^0'=temp_35^post37, len_861^0'=len_861^post37, (-r_143^post37+r_143^0 == 0 /\ f_847^0-f_847^post37 == 0 /\ -a_575^post37+a_575^0 == 0 /\ head_15^0-head_15^post37 == 0 /\ -a_635^post37+a_635^0 == 0 /\ -r_151^post37+r_151^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -a_309^post37+a_309^0 == 0 /\ t_458^0-t_458^post37 == 0 /\ -a_633^post37+a_633^0 == 0 /\ len_262^0-len_262^post37 == 0 /\ a_417^0-a_417^post37 == 0 /\ a_902^0-a_902^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post37 == 0 /\ -a_1236^post37+a_1236^0 == 0 /\ -a_576^post37+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post37+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_94^0-i_94^post37 == 0 /\ x_156^0-x_156^post37 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ i_113^0-i_113^post37 == 0 /\ i_229^0-i_229^post37 == 0 /\ -a_862^post37+a_862^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ a_121^0-a_121^post37 == 0 /\ i_27^0-i_27^post37 == 0 /\ a_1089^0-a_1089^post37 == 0 /\ r_39^0-r_39^post37 == 0 /\ a_430^0-a_430^post37 == 0 /\ a_263^0-a_263^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post37+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -x_253^post37+x_253^0 == 0 /\ -len_238^post37+len_238^0 == 0 /\ i_106^0-i_106^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ a_392^0-a_392^post37 == 0 /\ -rcd_47^post37+rcd_47^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post37 == 0 /\ -a_311^post37+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post37 == 0 /\ -i_197^post37+i_197^0 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ r_224^0-r_224^post37 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -f_969^post37+f_969^0 == 0 /\ -r_970^post37+r_970^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -i_1053^post37+i_1053^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ f_248^0-f_248^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -rcd_58^post37+rcd_58^0 == 0 /\ a_432^0-a_432^post37 == 0 /\ -a_395^post37+a_395^0 == 0 /\ -a_579^post37+a_579^0 == 0 /\ x_975^0-x_975^post37 == 0 /\ -ct_18^post37+ct_18^0 == 0 /\ -a_1162^post37+a_1162^0 == 0 /\ -i_127^post37+i_127^0 == 0 /\ a_577^0-a_577^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ -a_394^post37+a_394^0 == 0 /\ -len_861^post37+len_861^0 == 0 /\ a_176^0-a_176^post37 == 0 /\ a_431^0-a_431^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -rcd_1249^post37+rcd_1249^0 == 0 /\ t_24^0-t_24^post37 == 0 /\ -a_634^post37+a_634^0 == 0 /\ -i_1248^post37+i_1248^0 == 0 /\ r_192^0-r_192^post37 == 0 /\ -a_144^post37+a_144^0 == 0 /\ a_947^0-a_947^post37 == 0 /\ a_310^0-a_310^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -a_239^post37+a_239^0 == 0 /\ x_852^0-x_852^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -a_393^post37+a_393^0 == 0 /\ a_632^0-a_632^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -a_924^post37+a_924^0 == 0 /\ i_140^0-i_140^post37 == 0 /\ len_161^0-len_161^post37 == 0 /\ i_107^0-i_107^post37 == 0), cost: 1 New rule: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l26 -> l27 : a_1089^0'=a_1089^post38, f_847^0'=f_847^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_394^0'=a_394^post38, x_156^0'=x_156^post38, a_632^0'=a_632^post38, r_192^0'=r_192^post38, a_176^0'=a_176^post38, i_106^0'=i_106^post38, a_430^0'=a_430^post38, t_458^0'=t_458^post38, len_161^0'=len_161^post38, x_975^0'=x_975^post38, a_902^0'=a_902^post38, a_947^0'=a_947^post38, rcd_88^0'=rcd_88^post38, a_311^0'=a_311^post38, i_140^0'=i_140^post38, a_577^0'=a_577^post38, x_14^0'=x_14^post38, nondet_12^0'=nondet_12^post38, a_121^0'=a_121^post38, head_15^0'=head_15^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38, i_27^0'=i_27^post38, x_21^0'=x_21^post38, a_634^0'=a_634^post38, r_39^0'=r_39^post38, a_263^0'=a_263^post38, i_113^0'=i_113^post38, a_432^0'=a_432^post38, temp0_31^0'=temp0_31^post38, len_262^0'=len_262^post38, y_20^0'=y_20^post38, f_248^0'=f_248^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_393^0'=a_393^post38, i_229^0'=i_229^post38, a_610^0'=a_610^post38, r_151^0'=r_151^post38, a_144^0'=a_144^post38, i_1053^0'=i_1053^post38, a_417^0'=a_417^post38, t_24^0'=t_24^post38, i_94^0'=i_94^post38, x_852^0'=x_852^post38, a_862^0'=a_862^post38, rcd_1249^0'=rcd_1249^post38, rcd_58^0'=rcd_58^post38, a_310^0'=a_310^post38, i_127^0'=i_127^post38, a_576^0'=a_576^post38, tmp_34^0'=tmp_34^post38, length_29^0'=length_29^post38, a_1162^0'=a_1162^post38, f_969^0'=f_969^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38, a_395^0'=a_395^post38, x_17^0'=x_17^post38, a_633^0'=a_633^post38, r_224^0'=r_224^post38, a_239^0'=a_239^post38, i_107^0'=i_107^post38, a_431^0'=a_431^post38, temp0_16^0'=temp0_16^post38, len_238^0'=len_238^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, a_924^0'=a_924^post38, ct_18^0'=ct_18^post38, result_11^0'=result_11^post38, a_392^0'=a_392^post38, i_197^0'=i_197^post38, a_579^0'=a_579^post38, r_143^0'=r_143^post38, a_1236^0'=a_1236^post38, head_32^0'=head_32^post38, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38, i_30^0'=i_30^post38, x_253^0'=x_253^post38, a_635^0'=a_635^post38, r_970^0'=r_970^post38, rcd_47^0'=rcd_47^post38, a_309^0'=a_309^post38, i_1248^0'=i_1248^post38, a_575^0'=a_575^post38, temp_35^0'=temp_35^post38, len_861^0'=len_861^post38, (i_1053^0-i_1053^post38 == 0 /\ i_27^0-i_27^post38 == 0 /\ -i_1248^post38+i_1248^0 == 0 /\ a_310^0-a_310^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ a_634^0-a_634^post38 == 0 /\ -a_239^post38+a_239^0 == 0 /\ a_1089^0-a_1089^post38 == 0 /\ -i_127^post38+i_127^0 == 0 /\ a_947^0-a_947^post38 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ -head_15^post38+head_15^0 == 0 /\ -a_579^post38+a_579^0 == 0 /\ -x_253^post38+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ -i_197^post38+i_197^0 == 0 /\ len_262^0-len_262^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ i_140^0-i_140^post38 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ a_395^0-a_395^post38 == 0 /\ a_176^0-a_176^post38 == 0 /\ -f_248^post38+f_248^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post38 == 0 /\ -a_417^post38+a_417^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_309^post38+a_309^0 == 0 /\ -a_393^post38+a_393^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ x_975^0-x_975^post38 == 0 /\ -rcd_1249^post38+rcd_1249^0 == 0 /\ i_229^0-i_229^post38 == 0 /\ a_432^0-a_432^post38 == 0 /\ -i_30^post38+i_30^0 == 0 /\ a_121^0-a_121^post38 == 0 /\ r_192^0-r_192^post38 == 0 /\ i_113^0-i_113^post38 == 0 /\ -x_852^post38+x_852^0 == 0 /\ -a_635^post38+a_635^0 == 0 /\ x_156^0-x_156^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -a_924^post38+a_924^0 == 0 /\ -len_861^post38+len_861^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ len_161^0-len_161^post38 == 0 /\ x_17^0-x_17^post38 == 0 /\ x_14^0-x_14^post38 == 0 /\ -r_151^post38+r_151^0 == 0 /\ a_394^0-a_394^post38 == 0 /\ -a_902^post38+a_902^0 == 0 /\ -r_143^post38+r_143^0 == 0 /\ rcd_88^0-rcd_88^post38 == 0 /\ a_311^0-a_311^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ f_847^0-f_847^post38 == 0 /\ a_263^0-a_263^post38 == 0 /\ -a_576^post38+a_576^0 == 0 /\ t_24^0-t_24^post38 == 0 /\ -a_575^post38+a_575^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post38+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_107^0-i_107^post38 == 0 /\ i_106^0-i_106^post38 == 0 /\ -a_1236^post38+a_1236^0 == 0 /\ -a_633^post38+a_633^0 == 0 /\ -f_969^post38+f_969^0 == 0 /\ i_94^0-i_94^post38 == 0 /\ t_458^0-t_458^post38 == 0 /\ a_430^0-a_430^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ -a_610^post38+a_610^0 == 0 /\ a_577^0-a_577^post38 == 0 /\ a_1162^0-a_1162^post38 == 0 /\ -a_392^post38+a_392^0 == 0 /\ -y_20^post38+y_20^0 == 0 /\ -length_29^post38+length_29^0 == 0 /\ -rcd_47^post38+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_224^0-r_224^post38 == 0 /\ a_431^0-a_431^post38 == 0 /\ x_21^0-x_21^post38 == 0 /\ a_862^0-a_862^post38 == 0 /\ -len_238^post38+len_238^0 == 0 /\ -r_970^post38+r_970^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0), cost: 1 New rule: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l27 -> l28 : a_1089^0'=a_1089^post39, f_847^0'=f_847^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_394^0'=a_394^post39, x_156^0'=x_156^post39, a_632^0'=a_632^post39, r_192^0'=r_192^post39, a_176^0'=a_176^post39, i_106^0'=i_106^post39, a_430^0'=a_430^post39, t_458^0'=t_458^post39, len_161^0'=len_161^post39, x_975^0'=x_975^post39, a_902^0'=a_902^post39, a_947^0'=a_947^post39, rcd_88^0'=rcd_88^post39, a_311^0'=a_311^post39, i_140^0'=i_140^post39, a_577^0'=a_577^post39, x_14^0'=x_14^post39, nondet_12^0'=nondet_12^post39, a_121^0'=a_121^post39, head_15^0'=head_15^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39, i_27^0'=i_27^post39, x_21^0'=x_21^post39, a_634^0'=a_634^post39, r_39^0'=r_39^post39, a_263^0'=a_263^post39, i_113^0'=i_113^post39, a_432^0'=a_432^post39, temp0_31^0'=temp0_31^post39, len_262^0'=len_262^post39, y_20^0'=y_20^post39, f_248^0'=f_248^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_393^0'=a_393^post39, i_229^0'=i_229^post39, a_610^0'=a_610^post39, r_151^0'=r_151^post39, a_144^0'=a_144^post39, i_1053^0'=i_1053^post39, a_417^0'=a_417^post39, t_24^0'=t_24^post39, i_94^0'=i_94^post39, x_852^0'=x_852^post39, a_862^0'=a_862^post39, rcd_1249^0'=rcd_1249^post39, rcd_58^0'=rcd_58^post39, a_310^0'=a_310^post39, i_127^0'=i_127^post39, a_576^0'=a_576^post39, tmp_34^0'=tmp_34^post39, length_29^0'=length_29^post39, a_1162^0'=a_1162^post39, f_969^0'=f_969^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39, a_395^0'=a_395^post39, x_17^0'=x_17^post39, a_633^0'=a_633^post39, r_224^0'=r_224^post39, a_239^0'=a_239^post39, i_107^0'=i_107^post39, a_431^0'=a_431^post39, temp0_16^0'=temp0_16^post39, len_238^0'=len_238^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, a_924^0'=a_924^post39, ct_18^0'=ct_18^post39, result_11^0'=result_11^post39, a_392^0'=a_392^post39, i_197^0'=i_197^post39, a_579^0'=a_579^post39, r_143^0'=r_143^post39, a_1236^0'=a_1236^post39, head_32^0'=head_32^post39, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39, i_30^0'=i_30^post39, x_253^0'=x_253^post39, a_635^0'=a_635^post39, r_970^0'=r_970^post39, rcd_47^0'=rcd_47^post39, a_309^0'=a_309^post39, i_1248^0'=i_1248^post39, a_575^0'=a_575^post39, temp_35^0'=temp_35^post39, len_861^0'=len_861^post39, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post39+r_151^0 == 0 /\ f_248^0-f_248^post39 == 0 /\ head_15^0-head_15^post39 == 0 /\ a_176^0-a_239^post39 <= 0 /\ a_632^0-a_632^post39 == 0 /\ i_127^0-i_127^post39 == 0 /\ len_262^0-len_262^post39 == 0 /\ x_156^0-x_156^post39 == 0 /\ -a_924^post39+a_924^0 == 0 /\ 1+i_27^post39-i_27^0 == 0 /\ -a_576^post39+a_576^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post39+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post39 == 0 /\ a_902^0-a_902^post39 == 0 /\ -r_143^post39+r_143^0 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ len_161^0-len_238^post39 <= 0 /\ -a_309^post39+a_309^0 == 0 /\ i_229^0-i_229^post39 == 0 /\ a_634^0-a_634^post39 == 0 /\ -x_253^post39+x_253^0 == 0 /\ a_394^0-a_394^post39 == 0 /\ a_1089^0-a_1089^post39 == 0 /\ x_14^0-x_14^post39 == 0 /\ -a_392^post39+a_392^0 == 0 /\ -a_862^post39+a_862^0 == 0 /\ -a_610^post39+a_610^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_176^0+a_239^post39 <= 0 /\ a_176^0-a_176^post39 == 0 /\ a_121^0-a_121^post39 == 0 /\ -a_1236^post39+a_1236^0 == 0 /\ -r_970^post39+r_970^0 == 0 /\ -rcd_47^post39+rcd_47^0 == 0 /\ 1+i_27^post39-i_229^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -len_161^0+len_238^post39 <= 0 /\ f_847^0-f_847^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ -i_1053^post39+i_1053^0 == 0 /\ -r_192^post39+r_192^0 == 0 /\ i_94^0-i_94^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post39 == 0 /\ a_430^0-a_430^post39 == 0 /\ -a_310^post39+a_310^0 == 0 /\ x_975^0-x_975^post39 == 0 /\ -r_224^post39+r_224^0 == 0 /\ -a_395^post39+a_395^0 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -a_311^post39+a_311^0 == 0 /\ -x_852^post39+x_852^0 == 0 /\ y_20^0-y_20^post39 == 0 /\ a_432^0-a_432^post39 == 0 /\ -len_861^post39+len_861^0 == 0 /\ i_113^0-i_113^post39 == 0 /\ a_633^0-a_633^post39 == 0 /\ x_21^0-x_21^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ f_969^0-f_969^post39 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -i_197^post39+i_197^0 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ a_431^0-a_431^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -a_579^post39+a_579^0 == 0 /\ -i_30^post39+i_30^0 == 0 /\ -a_263^post39+a_263^0 == 0 /\ a_144^0-a_144^post39 == 0 /\ a_947^0-a_947^post39 == 0 /\ -i_107^post39+i_107^0 == 0 /\ -a_417^post39+a_417^0 == 0 /\ -rcd_1249^post39+rcd_1249^0 == 0 /\ -a_575^post39+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ len_161^0-len_161^post39 == 0 /\ -a_635^post39+a_635^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ t_458^0-t_458^post39 == 0 /\ -i_1248^post39+i_1248^0 == 0 /\ -a_393^post39+a_393^0 == 0 /\ -1-i_27^post39+i_229^0 <= 0 /\ -rcd_58^post39+rcd_58^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ i_106^0-i_106^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ i_140^0-i_140^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_1162^post39+a_1162^0 == 0), cost: 1 New rule: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : a_1089^0'=a_1089^post40, f_847^0'=f_847^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_394^0'=a_394^post40, x_156^0'=x_156^post40, a_632^0'=a_632^post40, r_192^0'=r_192^post40, a_176^0'=a_176^post40, i_106^0'=i_106^post40, a_430^0'=a_430^post40, t_458^0'=t_458^post40, len_161^0'=len_161^post40, x_975^0'=x_975^post40, a_902^0'=a_902^post40, a_947^0'=a_947^post40, rcd_88^0'=rcd_88^post40, a_311^0'=a_311^post40, i_140^0'=i_140^post40, a_577^0'=a_577^post40, x_14^0'=x_14^post40, nondet_12^0'=nondet_12^post40, a_121^0'=a_121^post40, head_15^0'=head_15^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40, i_27^0'=i_27^post40, x_21^0'=x_21^post40, a_634^0'=a_634^post40, r_39^0'=r_39^post40, a_263^0'=a_263^post40, i_113^0'=i_113^post40, a_432^0'=a_432^post40, temp0_31^0'=temp0_31^post40, len_262^0'=len_262^post40, y_20^0'=y_20^post40, f_248^0'=f_248^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_393^0'=a_393^post40, i_229^0'=i_229^post40, a_610^0'=a_610^post40, r_151^0'=r_151^post40, a_144^0'=a_144^post40, i_1053^0'=i_1053^post40, a_417^0'=a_417^post40, t_24^0'=t_24^post40, i_94^0'=i_94^post40, x_852^0'=x_852^post40, a_862^0'=a_862^post40, rcd_1249^0'=rcd_1249^post40, rcd_58^0'=rcd_58^post40, a_310^0'=a_310^post40, i_127^0'=i_127^post40, a_576^0'=a_576^post40, tmp_34^0'=tmp_34^post40, length_29^0'=length_29^post40, a_1162^0'=a_1162^post40, f_969^0'=f_969^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40, a_395^0'=a_395^post40, x_17^0'=x_17^post40, a_633^0'=a_633^post40, r_224^0'=r_224^post40, a_239^0'=a_239^post40, i_107^0'=i_107^post40, a_431^0'=a_431^post40, temp0_16^0'=temp0_16^post40, len_238^0'=len_238^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, a_924^0'=a_924^post40, ct_18^0'=ct_18^post40, result_11^0'=result_11^post40, a_392^0'=a_392^post40, i_197^0'=i_197^post40, a_579^0'=a_579^post40, r_143^0'=r_143^post40, a_1236^0'=a_1236^post40, head_32^0'=head_32^post40, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40, i_30^0'=i_30^post40, x_253^0'=x_253^post40, a_635^0'=a_635^post40, r_970^0'=r_970^post40, rcd_47^0'=rcd_47^post40, a_309^0'=a_309^post40, i_1248^0'=i_1248^post40, a_575^0'=a_575^post40, temp_35^0'=temp_35^post40, len_861^0'=len_861^post40, (a_634^0-a_634^post40 == 0 /\ -a_239^post40+a_239^0 == 0 /\ -a_310^post40+a_310^0 == 0 /\ -i_229^post40+i_229^0 == 0 /\ -ct_18^post40+ct_18^0 == 0 /\ -a_395^post40+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post40 == 0 /\ a_1089^0-a_1089^post40 == 0 /\ -i_1053^post40+i_1053^0 == 0 /\ x_852^0-x_852^post40 == 0 /\ x_17^0-x_17^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -length_29^post40+length_29^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ 1-x_14^0 <= 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -a_862^post40+a_862^0 == 0 /\ -i_197^post40+i_197^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -a_579^post40+a_579^0 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -a_393^post40+a_393^0 == 0 /\ a_924^0-a_924^post40 == 0 /\ t_458^0-t_458^post40 == 0 /\ rcd_1249^0-rcd_1249^post40 == 0 /\ f_248^0-f_248^post40 == 0 /\ r_224^0-r_224^post40 == 0 /\ a_610^0-a_610^post40 == 0 /\ i_106^0-i_106^post40 == 0 /\ -a_263^post40+a_263^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ -i_30^post40+i_30^0 == 0 /\ -a_144^post40+a_144^0 == 0 /\ -i_107^post40+i_107^0 == 0 /\ x_975^0-x_975^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -a_417^post40+a_417^0 == 0 /\ -len_861^post40+len_861^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ -a_635^post40+a_635^0 == 0 /\ a_1236^0-a_1236^post40 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -i_1248^post40+i_1248^0 == 0 /\ -i_140^post40+i_140^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -a_632^post40+a_632^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ len_161^0-len_161^post40 == 0 /\ a_121^0-a_121^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ len_262^0-len_262^post40 == 0 /\ a_394^0-a_394^post40 == 0 /\ -rcd_47^post40+rcd_47^0 == 0 /\ -r_143^post40+r_143^0 == 0 /\ a_176^0-a_176^post40 == 0 /\ -a_633^post40+a_633^0 == 0 /\ -a_575^post40+a_575^0 == 0 /\ a_947^0-a_947^post40 == 0 /\ f_847^0-f_847^post40 == 0 /\ -a_309^post40+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post40+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_238^0-len_238^post40 == 0 /\ i_94^0-i_94^post40 == 0 /\ -a_432^post40+a_432^0 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ r_151^0-r_151^post40 == 0 /\ -a_431^post40+a_431^0 == 0 /\ a_430^0-a_430^post40 == 0 /\ -i_113^post40+i_113^0 == 0 /\ a_311^0-a_311^post40 == 0 /\ head_15^0-head_15^post40 == 0 /\ a_902^0-a_902^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -a_392^post40+a_392^0 == 0 /\ a_577^0-a_577^post40 == 0 /\ x_156^0-x_156^post40 == 0 /\ -x_253^post40+x_253^0 == 0 /\ -f_969^post40+f_969^0 == 0 /\ -r_970^post40+r_970^0 == 0 /\ -y_20^post40+y_20^0 == 0 /\ x_14^0-x_14^post40 == 0 /\ a_1162^0-a_1162^post40 == 0 /\ r_192^0-r_192^post40 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1 New rule: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : a_1089^0'=a_1089^post41, f_847^0'=f_847^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_394^0'=a_394^post41, x_156^0'=x_156^post41, a_632^0'=a_632^post41, r_192^0'=r_192^post41, a_176^0'=a_176^post41, i_106^0'=i_106^post41, a_430^0'=a_430^post41, t_458^0'=t_458^post41, len_161^0'=len_161^post41, x_975^0'=x_975^post41, a_902^0'=a_902^post41, a_947^0'=a_947^post41, rcd_88^0'=rcd_88^post41, a_311^0'=a_311^post41, i_140^0'=i_140^post41, a_577^0'=a_577^post41, x_14^0'=x_14^post41, nondet_12^0'=nondet_12^post41, a_121^0'=a_121^post41, head_15^0'=head_15^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41, i_27^0'=i_27^post41, x_21^0'=x_21^post41, a_634^0'=a_634^post41, r_39^0'=r_39^post41, a_263^0'=a_263^post41, i_113^0'=i_113^post41, a_432^0'=a_432^post41, temp0_31^0'=temp0_31^post41, len_262^0'=len_262^post41, y_20^0'=y_20^post41, f_248^0'=f_248^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_393^0'=a_393^post41, i_229^0'=i_229^post41, a_610^0'=a_610^post41, r_151^0'=r_151^post41, a_144^0'=a_144^post41, i_1053^0'=i_1053^post41, a_417^0'=a_417^post41, t_24^0'=t_24^post41, i_94^0'=i_94^post41, x_852^0'=x_852^post41, a_862^0'=a_862^post41, rcd_1249^0'=rcd_1249^post41, rcd_58^0'=rcd_58^post41, a_310^0'=a_310^post41, i_127^0'=i_127^post41, a_576^0'=a_576^post41, tmp_34^0'=tmp_34^post41, length_29^0'=length_29^post41, a_1162^0'=a_1162^post41, f_969^0'=f_969^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41, a_395^0'=a_395^post41, x_17^0'=x_17^post41, a_633^0'=a_633^post41, r_224^0'=r_224^post41, a_239^0'=a_239^post41, i_107^0'=i_107^post41, a_431^0'=a_431^post41, temp0_16^0'=temp0_16^post41, len_238^0'=len_238^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, a_924^0'=a_924^post41, ct_18^0'=ct_18^post41, result_11^0'=result_11^post41, a_392^0'=a_392^post41, i_197^0'=i_197^post41, a_579^0'=a_579^post41, r_143^0'=r_143^post41, a_1236^0'=a_1236^post41, head_32^0'=head_32^post41, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41, i_30^0'=i_30^post41, x_253^0'=x_253^post41, a_635^0'=a_635^post41, r_970^0'=r_970^post41, rcd_47^0'=rcd_47^post41, a_309^0'=a_309^post41, i_1248^0'=i_1248^post41, a_575^0'=a_575^post41, temp_35^0'=temp_35^post41, len_861^0'=len_861^post41, (f_248^0-f_248^post41 == 0 /\ a_430^0-a_430^post41 == 0 /\ t_458^0-t_458^post41 == 0 /\ x_975^0-x_975^post41 == 0 /\ i_106^0-i_106^post41 == 0 /\ -a_1162^post41+a_1162^0 == 0 /\ -r_151^post41+r_151^0 == 0 /\ i_127^0-i_127^post41 == 0 /\ -a_924^post41+a_924^0 == 0 /\ a_632^0-a_632^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ f_969^0-f_969^post41 == 0 /\ a_1236^0-a_1236^post41 == 0 /\ x_852^0-x_852^post41 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ -r_143^post41+r_143^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -a_431^post41+a_431^0 == 0 /\ len_161^0-len_161^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_113^post41+i_113^0 == 0 /\ -r_970^post41+r_970^0 == 0 /\ x_156^0-x_156^post41 == 0 /\ f_847^0-f_847^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -y_20^post41+y_20^0 == 0 /\ a_394^0-a_394^post41 == 0 /\ -rcd_47^post41+rcd_47^0 == 0 /\ -a_432^post41+a_432^0 == 0 /\ -a_310^post41+a_310^0 == 0 /\ -x_253^post41+x_253^0 == 0 /\ -i_140^post41+i_140^0 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ rcd_1249^0-rcd_1249^post41 == 0 /\ a_176^0-a_176^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ a_239^0-a_239^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post41+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ a_635^0-a_635^post41 == 0 /\ -a_577^post41+a_577^0 == 0 /\ a_902^0-a_902^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -i_1053^post41+i_1053^0 == 0 /\ -r_224^post41+r_224^0 == 0 /\ -a_395^post41+a_395^0 == 0 /\ -i_1248^post41+i_1248^0 == 0 /\ i_229^0-i_229^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -a_392^post41+a_392^0 == 0 /\ -a_579^post41+a_579^0 == 0 /\ a_610^0-a_610^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ a_633^0-a_633^post41 == 0 /\ r_192^0-r_192^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0 /\ -a_862^post41+a_862^0 == 0 /\ -a_263^post41+a_263^0 == 0 /\ a_144^0-a_144^post41 == 0 /\ x_14^0-x_14^post41 == 0 /\ -x_21^post41+x_21^0 == 0 /\ -i_197^post41+i_197^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_417^0-a_417^post41 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ -a_393^post41+a_393^0 == 0 /\ x_17^0-x_17^post41 == 0 /\ -i_107^post41+i_107^0 == 0 /\ a_121^0-a_121^post41 == 0 /\ a_634^0-a_634^post41 == 0 /\ a_576^0-a_576^post41 == 0 /\ a_1089^0-a_1089^post41 == 0 /\ -a_575^post41+a_575^0 == 0 /\ len_262^0-len_262^post41 == 0 /\ 1+x_14^0 <= 0 /\ -len_861^post41+len_861^0 == 0 /\ -a_309^post41+a_309^0 == 0 /\ rcd_88^0-rcd_88^post41 == 0 /\ a_947^0-a_947^post41 == 0 /\ a_311^0-a_311^post41 == 0 /\ -ct_18^post41+ct_18^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ len_238^0-len_238^post41 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -t_24^post41+t_24^0 == 0), cost: 1 New rule: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l29 -> l30 : a_1089^0'=a_1089^post42, f_847^0'=f_847^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_394^0'=a_394^post42, x_156^0'=x_156^post42, a_632^0'=a_632^post42, r_192^0'=r_192^post42, a_176^0'=a_176^post42, i_106^0'=i_106^post42, a_430^0'=a_430^post42, t_458^0'=t_458^post42, len_161^0'=len_161^post42, x_975^0'=x_975^post42, a_902^0'=a_902^post42, a_947^0'=a_947^post42, rcd_88^0'=rcd_88^post42, a_311^0'=a_311^post42, i_140^0'=i_140^post42, a_577^0'=a_577^post42, x_14^0'=x_14^post42, nondet_12^0'=nondet_12^post42, a_121^0'=a_121^post42, head_15^0'=head_15^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42, i_27^0'=i_27^post42, x_21^0'=x_21^post42, a_634^0'=a_634^post42, r_39^0'=r_39^post42, a_263^0'=a_263^post42, i_113^0'=i_113^post42, a_432^0'=a_432^post42, temp0_31^0'=temp0_31^post42, len_262^0'=len_262^post42, y_20^0'=y_20^post42, f_248^0'=f_248^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_393^0'=a_393^post42, i_229^0'=i_229^post42, a_610^0'=a_610^post42, r_151^0'=r_151^post42, a_144^0'=a_144^post42, i_1053^0'=i_1053^post42, a_417^0'=a_417^post42, t_24^0'=t_24^post42, i_94^0'=i_94^post42, x_852^0'=x_852^post42, a_862^0'=a_862^post42, rcd_1249^0'=rcd_1249^post42, rcd_58^0'=rcd_58^post42, a_310^0'=a_310^post42, i_127^0'=i_127^post42, a_576^0'=a_576^post42, tmp_34^0'=tmp_34^post42, length_29^0'=length_29^post42, a_1162^0'=a_1162^post42, f_969^0'=f_969^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42, a_395^0'=a_395^post42, x_17^0'=x_17^post42, a_633^0'=a_633^post42, r_224^0'=r_224^post42, a_239^0'=a_239^post42, i_107^0'=i_107^post42, a_431^0'=a_431^post42, temp0_16^0'=temp0_16^post42, len_238^0'=len_238^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, a_924^0'=a_924^post42, ct_18^0'=ct_18^post42, result_11^0'=result_11^post42, a_392^0'=a_392^post42, i_197^0'=i_197^post42, a_579^0'=a_579^post42, r_143^0'=r_143^post42, a_1236^0'=a_1236^post42, head_32^0'=head_32^post42, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42, i_30^0'=i_30^post42, x_253^0'=x_253^post42, a_635^0'=a_635^post42, r_970^0'=r_970^post42, rcd_47^0'=rcd_47^post42, a_309^0'=a_309^post42, i_1248^0'=i_1248^post42, a_575^0'=a_575^post42, temp_35^0'=temp_35^post42, len_861^0'=len_861^post42, (-i_229^post42+i_229^0 == 0 /\ -a_577^post42+a_577^0 == 0 /\ a_263^0-a_263^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_1248^post42+i_1248^0 == 0 /\ -a_310^post42+a_310^0 == 0 /\ a_1089^0-a_1089^post42 == 0 /\ a_144^0-a_144^post42 == 0 /\ a_394^0-a_394^post42 == 0 /\ a_576^0-a_576^post42 == 0 /\ a_862^0-a_862^post42 == 0 /\ x_852^0-x_852^post42 == 0 /\ len_161^0-len_161^post42 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -r_39^post42+r_39^0 == 0 /\ f_847^0-f_847^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -a_392^post42+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ -r_224^post42+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post42+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ -len_861^post42+len_861^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -a_309^post42+a_309^0 == 0 /\ i_106^0-i_106^post42 == 0 /\ -a_393^post42+a_393^0 == 0 /\ a_430^0-a_430^post42 == 0 /\ r_143^0-r_143^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ -i_197^post42+i_197^0 == 0 /\ -a_579^post42+a_579^0 == 0 /\ t_458^0-t_458^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -a_635^post42+a_635^0 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -a_417^post42+a_417^0 == 0 /\ -i_107^post42+i_107^0 == 0 /\ a_1236^0-a_1236^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ -a_633^post42+a_633^0 == 0 /\ a_610^0-a_610^post42 == 0 /\ -a_575^post42+a_575^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ -rcd_47^post42+rcd_47^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ -a_924^post42+a_924^0 == 0 /\ a_121^0-a_121^post42 == 0 /\ -i_140^post42+i_140^0 == 0 /\ a_634^0-a_634^post42 == 0 /\ i_27^0-i_27^post42 == 0 /\ x_156^0-x_156^post42 == 0 /\ len_262^0-len_262^post42 == 0 /\ a_947^0-a_947^post42 == 0 /\ -a_1162^post42+a_1162^0 == 0 /\ -rcd_1249^post42+rcd_1249^0 == 0 /\ -a_632^post42+a_632^0 == 0 /\ -f_969^post42+f_969^0 == 0 /\ i_1053^0-i_1053^post42 == 0 /\ a_176^0-a_176^post42 == 0 /\ x_253^0-x_253^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -len_238^post42+len_238^0 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -i_113^post42+i_113^0 == 0 /\ r_151^0-r_151^post42 == 0 /\ 1-head_15^0 <= 0 /\ -a_432^post42+a_432^0 == 0 /\ a_311^0-a_311^post42 == 0 /\ a_902^0-a_902^post42 == 0 /\ x_975^0-x_975^post42 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ head_15^0-head_15^post42 == 0 /\ a_239^0-a_239^post42 == 0 /\ -r_970^post42+r_970^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -a_431^post42+a_431^0 == 0 /\ -f_248^post42+f_248^0 == 0 /\ r_192^0-r_192^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ -a_395^post42+a_395^0 == 0), cost: 1 New rule: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l29 -> l30 : a_1089^0'=a_1089^post43, f_847^0'=f_847^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_394^0'=a_394^post43, x_156^0'=x_156^post43, a_632^0'=a_632^post43, r_192^0'=r_192^post43, a_176^0'=a_176^post43, i_106^0'=i_106^post43, a_430^0'=a_430^post43, t_458^0'=t_458^post43, len_161^0'=len_161^post43, x_975^0'=x_975^post43, a_902^0'=a_902^post43, a_947^0'=a_947^post43, rcd_88^0'=rcd_88^post43, a_311^0'=a_311^post43, i_140^0'=i_140^post43, a_577^0'=a_577^post43, x_14^0'=x_14^post43, nondet_12^0'=nondet_12^post43, a_121^0'=a_121^post43, head_15^0'=head_15^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43, i_27^0'=i_27^post43, x_21^0'=x_21^post43, a_634^0'=a_634^post43, r_39^0'=r_39^post43, a_263^0'=a_263^post43, i_113^0'=i_113^post43, a_432^0'=a_432^post43, temp0_31^0'=temp0_31^post43, len_262^0'=len_262^post43, y_20^0'=y_20^post43, f_248^0'=f_248^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_393^0'=a_393^post43, i_229^0'=i_229^post43, a_610^0'=a_610^post43, r_151^0'=r_151^post43, a_144^0'=a_144^post43, i_1053^0'=i_1053^post43, a_417^0'=a_417^post43, t_24^0'=t_24^post43, i_94^0'=i_94^post43, x_852^0'=x_852^post43, a_862^0'=a_862^post43, rcd_1249^0'=rcd_1249^post43, rcd_58^0'=rcd_58^post43, a_310^0'=a_310^post43, i_127^0'=i_127^post43, a_576^0'=a_576^post43, tmp_34^0'=tmp_34^post43, length_29^0'=length_29^post43, a_1162^0'=a_1162^post43, f_969^0'=f_969^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43, a_395^0'=a_395^post43, x_17^0'=x_17^post43, a_633^0'=a_633^post43, r_224^0'=r_224^post43, a_239^0'=a_239^post43, i_107^0'=i_107^post43, a_431^0'=a_431^post43, temp0_16^0'=temp0_16^post43, len_238^0'=len_238^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, a_924^0'=a_924^post43, ct_18^0'=ct_18^post43, result_11^0'=result_11^post43, a_392^0'=a_392^post43, i_197^0'=i_197^post43, a_579^0'=a_579^post43, r_143^0'=r_143^post43, a_1236^0'=a_1236^post43, head_32^0'=head_32^post43, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43, i_30^0'=i_30^post43, x_253^0'=x_253^post43, a_635^0'=a_635^post43, r_970^0'=r_970^post43, rcd_47^0'=rcd_47^post43, a_309^0'=a_309^post43, i_1248^0'=i_1248^post43, a_575^0'=a_575^post43, temp_35^0'=temp_35^post43, len_861^0'=len_861^post43, (-a_610^post43+a_610^0 == 0 /\ t_458^0-t_458^post43 == 0 /\ a_902^0-a_902^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post43 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_106^0-i_106^post43 == 0 /\ a_577^0-a_577^post43 == 0 /\ -rcd_47^post43+rcd_47^0 == 0 /\ -a_634^post43+a_634^0 == 0 /\ head_15^0-head_15^post43 == 0 /\ a_310^0-a_310^post43 == 0 /\ x_156^0-x_156^post43 == 0 /\ -rcd_1249^post43+rcd_1249^0 == 0 /\ -a_633^post43+a_633^0 == 0 /\ a_1089^0-a_1089^post43 == 0 /\ -r_143^post43+r_143^0 == 0 /\ a_632^0-a_632^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ -len_238^post43+len_238^0 == 0 /\ -r_151^post43+r_151^0 == 0 /\ a_121^0-a_121^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ len_262^0-len_262^post43 == 0 /\ -f_969^post43+f_969^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ a_263^0-a_263^post43 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post43 == 0 /\ -a_576^post43+a_576^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -a_1236^post43+a_1236^0 == 0 /\ f_847^0-f_847^post43 == 0 /\ a_392^0-a_392^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post43 == 0 /\ -a_311^post43+a_311^0 == 0 /\ a_394^0-a_394^post43 == 0 /\ i_1053^0-i_1053^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ -x_253^post43+x_253^0 == 0 /\ -r_970^post43+r_970^0 == 0 /\ a_579^0-a_579^post43 == 0 /\ y_20^0-y_20^post43 == 0 /\ a_176^0-a_176^post43 == 0 /\ -i_1248^post43+i_1248^0 == 0 /\ r_39^0-r_39^post43 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ -a_430^post43+a_430^0 == 0 /\ -a_239^post43+a_239^0 == 0 /\ -f_248^post43+f_248^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ x_975^0-x_975^post43 == 0 /\ -r_224^post43+r_224^0 == 0 /\ -len_861^post43+len_861^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ i_94^0-i_94^post43 == 0 /\ i_113^0-i_113^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post43 == 0 /\ a_393^0-a_393^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -i_27^post43+i_27^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ a_432^0-a_432^post43 == 0 /\ -r_192^post43+r_192^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ -i_197^post43+i_197^0 == 0 /\ len_161^0-len_161^post43 == 0 /\ -a_309^post43+a_309^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -i_30^post43+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ i_140^0-i_140^post43 == 0 /\ -x_852^post43+x_852^0 == 0 /\ -a_144^post43+a_144^0 == 0 /\ -i_107^post43+i_107^0 == 0 /\ i_229^0-i_229^post43 == 0 /\ -i_127^post43+i_127^0 == 0 /\ a_431^0-a_431^post43 == 0 /\ -a_924^post43+a_924^0 == 0 /\ -a_575^post43+a_575^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ a_862^0-a_862^post43 == 0 /\ -a_417^post43+a_417^0 == 0 /\ -a_635^post43+a_635^0 == 0 /\ a_947^0-a_947^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_1162^post43+a_1162^0 == 0 /\ a_395^0-a_395^post43 == 0), cost: 1 New rule: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l30 -> l31 : a_1089^0'=a_1089^post44, f_847^0'=f_847^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_394^0'=a_394^post44, x_156^0'=x_156^post44, a_632^0'=a_632^post44, r_192^0'=r_192^post44, a_176^0'=a_176^post44, i_106^0'=i_106^post44, a_430^0'=a_430^post44, t_458^0'=t_458^post44, len_161^0'=len_161^post44, x_975^0'=x_975^post44, a_902^0'=a_902^post44, a_947^0'=a_947^post44, rcd_88^0'=rcd_88^post44, a_311^0'=a_311^post44, i_140^0'=i_140^post44, a_577^0'=a_577^post44, x_14^0'=x_14^post44, nondet_12^0'=nondet_12^post44, a_121^0'=a_121^post44, head_15^0'=head_15^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44, i_27^0'=i_27^post44, x_21^0'=x_21^post44, a_634^0'=a_634^post44, r_39^0'=r_39^post44, a_263^0'=a_263^post44, i_113^0'=i_113^post44, a_432^0'=a_432^post44, temp0_31^0'=temp0_31^post44, len_262^0'=len_262^post44, y_20^0'=y_20^post44, f_248^0'=f_248^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_393^0'=a_393^post44, i_229^0'=i_229^post44, a_610^0'=a_610^post44, r_151^0'=r_151^post44, a_144^0'=a_144^post44, i_1053^0'=i_1053^post44, a_417^0'=a_417^post44, t_24^0'=t_24^post44, i_94^0'=i_94^post44, x_852^0'=x_852^post44, a_862^0'=a_862^post44, rcd_1249^0'=rcd_1249^post44, rcd_58^0'=rcd_58^post44, a_310^0'=a_310^post44, i_127^0'=i_127^post44, a_576^0'=a_576^post44, tmp_34^0'=tmp_34^post44, length_29^0'=length_29^post44, a_1162^0'=a_1162^post44, f_969^0'=f_969^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44, a_395^0'=a_395^post44, x_17^0'=x_17^post44, a_633^0'=a_633^post44, r_224^0'=r_224^post44, a_239^0'=a_239^post44, i_107^0'=i_107^post44, a_431^0'=a_431^post44, temp0_16^0'=temp0_16^post44, len_238^0'=len_238^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, a_924^0'=a_924^post44, ct_18^0'=ct_18^post44, result_11^0'=result_11^post44, a_392^0'=a_392^post44, i_197^0'=i_197^post44, a_579^0'=a_579^post44, r_143^0'=r_143^post44, a_1236^0'=a_1236^post44, head_32^0'=head_32^post44, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44, i_30^0'=i_30^post44, x_253^0'=x_253^post44, a_635^0'=a_635^post44, r_970^0'=r_970^post44, rcd_47^0'=rcd_47^post44, a_309^0'=a_309^post44, i_1248^0'=i_1248^post44, a_575^0'=a_575^post44, temp_35^0'=temp_35^post44, len_861^0'=len_861^post44, (i_197^0-i_197^post44 == 0 /\ -len_262^post44+len_262^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0 /\ i_140^0-i_140^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_417^post44+a_417^0 == 0 /\ -f_248^post44+f_248^0 == 0 /\ a_1162^0-a_1162^post44 == 0 /\ a_1089^0-a_1089^post44 == 0 /\ a_634^0-a_634^post44 == 0 /\ -i_1053^post44+i_1053^0 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -i_1248^post44+i_1248^0 == 0 /\ -a_392^post44+a_392^0 == 0 /\ y_20^0-y_20^post44 == 0 /\ a_924^0-a_924^post44 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post44 == 0 /\ -i_27^post44+i_27^0 == 0 /\ -a_239^post44+a_239^0 == 0 /\ -a_579^post44+a_579^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ a_395^0-a_395^post44 == 0 /\ a_176^0-a_176^post44 == 0 /\ -len_861^post44+len_861^0 == 0 /\ -a_635^post44+a_635^0 == 0 /\ -a_144^post44+a_144^0 == 0 /\ x_975^0-x_975^post44 == 0 /\ -i_127^post44+i_127^0 == 0 /\ r_192^0-r_192^post44 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44+i_30^0 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_852^post44+x_852^0 == 0 /\ a_393^0-a_393^post44 == 0 /\ t_458^0-t_458^post44 == 0 /\ -a_309^post44+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post44+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_310^0-a_310^post44 == 0 /\ -i_107^post44+i_107^0 == 0 /\ -a_575^post44+a_575^0 == 0 /\ a_632^0-a_632^post44 == 0 /\ -ct_18^post44+ct_18^0 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ r_970^0-r_970^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ a_862^0-a_862^post44 == 0 /\ -len_238^post44+len_238^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_121^0-a_121^post44 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ x_156^0-x_156^post44 == 0 /\ a_947^0-a_947^post44 == 0 /\ a_263^0-a_263^post44 == 0 /\ -a_633^post44+a_633^0 == 0 /\ f_847^0-f_847^post44 == 0 /\ -f_969^post44+f_969^0 == 0 /\ -result_11^post44+result_11^0 == 0 /\ a_394^0-a_394^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_1249^post44+rcd_1249^0 == 0 /\ -a_431^post44+a_431^0 == 0 /\ -x_253^post44+x_253^0 == 0 /\ -a_576^post44+a_576^0 == 0 /\ length_29^0-length_29^post44 == 0 /\ rcd_47^0-rcd_47^post44 == 0 /\ r_39^0-r_39^post44 == 0 /\ r_151^0-r_151^post44 == 0 /\ a_577^0-a_577^post44 == 0 /\ a_311^0-a_311^post44 == 0 /\ -r_143^post44+r_143^0 == 0 /\ i_106^0-i_106^post44 == 0 /\ i_113^0-i_113^post44 == 0 /\ i_94^0-i_94^post44 == 0 /\ r_224^0-r_224^post44 == 0 /\ a_902^0-a_902^post44 == 0 /\ i_229^0-i_229^post44 == 0 /\ a_432^0-a_432^post44 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -len_161^post44+len_161^0 == 0 /\ -a_610^post44+a_610^0 == 0 /\ a_430^0-a_430^post44 == 0 /\ x_14^0-x_14^post44 == 0 /\ -temp_35^post44+temp_35^0 == 0 /\ -a_1236^post44+a_1236^0 == 0), cost: 1 New rule: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l30 -> l31 : a_1089^0'=a_1089^post45, f_847^0'=f_847^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_394^0'=a_394^post45, x_156^0'=x_156^post45, a_632^0'=a_632^post45, r_192^0'=r_192^post45, a_176^0'=a_176^post45, i_106^0'=i_106^post45, a_430^0'=a_430^post45, t_458^0'=t_458^post45, len_161^0'=len_161^post45, x_975^0'=x_975^post45, a_902^0'=a_902^post45, a_947^0'=a_947^post45, rcd_88^0'=rcd_88^post45, a_311^0'=a_311^post45, i_140^0'=i_140^post45, a_577^0'=a_577^post45, x_14^0'=x_14^post45, nondet_12^0'=nondet_12^post45, a_121^0'=a_121^post45, head_15^0'=head_15^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45, i_27^0'=i_27^post45, x_21^0'=x_21^post45, a_634^0'=a_634^post45, r_39^0'=r_39^post45, a_263^0'=a_263^post45, i_113^0'=i_113^post45, a_432^0'=a_432^post45, temp0_31^0'=temp0_31^post45, len_262^0'=len_262^post45, y_20^0'=y_20^post45, f_248^0'=f_248^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_393^0'=a_393^post45, i_229^0'=i_229^post45, a_610^0'=a_610^post45, r_151^0'=r_151^post45, a_144^0'=a_144^post45, i_1053^0'=i_1053^post45, a_417^0'=a_417^post45, t_24^0'=t_24^post45, i_94^0'=i_94^post45, x_852^0'=x_852^post45, a_862^0'=a_862^post45, rcd_1249^0'=rcd_1249^post45, rcd_58^0'=rcd_58^post45, a_310^0'=a_310^post45, i_127^0'=i_127^post45, a_576^0'=a_576^post45, tmp_34^0'=tmp_34^post45, length_29^0'=length_29^post45, a_1162^0'=a_1162^post45, f_969^0'=f_969^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45, a_395^0'=a_395^post45, x_17^0'=x_17^post45, a_633^0'=a_633^post45, r_224^0'=r_224^post45, a_239^0'=a_239^post45, i_107^0'=i_107^post45, a_431^0'=a_431^post45, temp0_16^0'=temp0_16^post45, len_238^0'=len_238^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, a_924^0'=a_924^post45, ct_18^0'=ct_18^post45, result_11^0'=result_11^post45, a_392^0'=a_392^post45, i_197^0'=i_197^post45, a_579^0'=a_579^post45, r_143^0'=r_143^post45, a_1236^0'=a_1236^post45, head_32^0'=head_32^post45, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45, i_30^0'=i_30^post45, x_253^0'=x_253^post45, a_635^0'=a_635^post45, r_970^0'=r_970^post45, rcd_47^0'=rcd_47^post45, a_309^0'=a_309^post45, i_1248^0'=i_1248^post45, a_575^0'=a_575^post45, temp_35^0'=temp_35^post45, len_861^0'=len_861^post45, (a_430^0-a_430^post45 == 0 /\ t_458^0-t_458^post45 == 0 /\ a_632^0-a_632^post45 == 0 /\ i_106^0-i_106^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ x_975^0-x_975^post45 == 0 /\ a_577^0-a_577^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_902^0-a_902^post45 == 0 /\ rcd_1249^0-rcd_1249^post45 == 0 /\ -rcd_47^post45+rcd_47^0 == 0 /\ -a_634^post45+a_634^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post45+x_253^0 == 0 /\ x_14^0-x_14^post45 == 0 /\ a_1162^0-a_1162^post45 == 0 /\ i_229^0-i_229^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -r_143^post45+r_143^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -r_224^post45+r_224^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -a_576^post45+a_576^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_140^0-i_140^post45 == 0 /\ -f_969^post45+f_969^0 == 0 /\ len_262^0-len_262^post45 == 0 /\ -r_970^post45+r_970^0 == 0 /\ x_156^0-x_156^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post45+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post45 == 0 /\ f_847^0-f_847^post45 == 0 /\ -a_431^post45+a_431^0 == 0 /\ a_394^0-a_394^post45 == 0 /\ -a_1236^post45+a_1236^0 == 0 /\ head_15^0-head_15^post45 == 0 /\ -a_395^post45+a_395^0 == 0 /\ a_924^0-a_924^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ -len_161^post45+len_161^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ a_311^0-a_311^post45 == 0 /\ -a_862^post45+a_862^0 == 0 /\ i_94^0-i_94^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post45 == 0 /\ -a_392^post45+a_392^0 == 0 /\ -length_29^post45+length_29^0 == 0 /\ a_610^0-a_610^post45 == 0 /\ i_113^0-i_113^post45 == 0 /\ -a_239^post45+a_239^0 == 0 /\ a_393^0-a_393^post45 == 0 /\ a_1089^0-a_1089^post45 == 0 /\ -a_310^post45+a_310^0 == 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -len_861^post45+len_861^0 == 0 /\ -i_1053^post45+i_1053^0 == 0 /\ x_21^0-x_21^post45 == 0 /\ a_432^0-a_432^post45 == 0 /\ -i_30^post45+i_30^0 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -r_192^post45+r_192^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ -x_852^post45+x_852^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -a_579^post45+a_579^0 == 0 /\ -a_635^post45+a_635^0 == 0 /\ -r_151^post45+r_151^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ i_1248^0-i_1248^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ -i_107^post45+i_107^0 == 0 /\ a_144^0-a_144^post45 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -a_263^post45+a_263^0 == 0 /\ a_947^0-a_947^post45 == 0 /\ -a_575^post45+a_575^0 == 0 /\ -i_197^post45+i_197^0 == 0 /\ len_238^0-len_238^post45 == 0 /\ -a_633^post45+a_633^0 == 0 /\ f_248^0-f_248^post45 == 0 /\ a_121^0-a_121^post45 == 0 /\ -a_417^post45+a_417^0 == 0), cost: 1 New rule: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l31 -> l32 : a_1089^0'=a_1089^post46, f_847^0'=f_847^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_394^0'=a_394^post46, x_156^0'=x_156^post46, a_632^0'=a_632^post46, r_192^0'=r_192^post46, a_176^0'=a_176^post46, i_106^0'=i_106^post46, a_430^0'=a_430^post46, t_458^0'=t_458^post46, len_161^0'=len_161^post46, x_975^0'=x_975^post46, a_902^0'=a_902^post46, a_947^0'=a_947^post46, rcd_88^0'=rcd_88^post46, a_311^0'=a_311^post46, i_140^0'=i_140^post46, a_577^0'=a_577^post46, x_14^0'=x_14^post46, nondet_12^0'=nondet_12^post46, a_121^0'=a_121^post46, head_15^0'=head_15^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46, i_27^0'=i_27^post46, x_21^0'=x_21^post46, a_634^0'=a_634^post46, r_39^0'=r_39^post46, a_263^0'=a_263^post46, i_113^0'=i_113^post46, a_432^0'=a_432^post46, temp0_31^0'=temp0_31^post46, len_262^0'=len_262^post46, y_20^0'=y_20^post46, f_248^0'=f_248^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_393^0'=a_393^post46, i_229^0'=i_229^post46, a_610^0'=a_610^post46, r_151^0'=r_151^post46, a_144^0'=a_144^post46, i_1053^0'=i_1053^post46, a_417^0'=a_417^post46, t_24^0'=t_24^post46, i_94^0'=i_94^post46, x_852^0'=x_852^post46, a_862^0'=a_862^post46, rcd_1249^0'=rcd_1249^post46, rcd_58^0'=rcd_58^post46, a_310^0'=a_310^post46, i_127^0'=i_127^post46, a_576^0'=a_576^post46, tmp_34^0'=tmp_34^post46, length_29^0'=length_29^post46, a_1162^0'=a_1162^post46, f_969^0'=f_969^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46, a_395^0'=a_395^post46, x_17^0'=x_17^post46, a_633^0'=a_633^post46, r_224^0'=r_224^post46, a_239^0'=a_239^post46, i_107^0'=i_107^post46, a_431^0'=a_431^post46, temp0_16^0'=temp0_16^post46, len_238^0'=len_238^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, a_924^0'=a_924^post46, ct_18^0'=ct_18^post46, result_11^0'=result_11^post46, a_392^0'=a_392^post46, i_197^0'=i_197^post46, a_579^0'=a_579^post46, r_143^0'=r_143^post46, a_1236^0'=a_1236^post46, head_32^0'=head_32^post46, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46, i_30^0'=i_30^post46, x_253^0'=x_253^post46, a_635^0'=a_635^post46, r_970^0'=r_970^post46, rcd_47^0'=rcd_47^post46, a_309^0'=a_309^post46, i_1248^0'=i_1248^post46, a_575^0'=a_575^post46, temp_35^0'=temp_35^post46, len_861^0'=len_861^post46, (i_197^0-i_197^post46 == 0 /\ -a_417^post46+a_417^0 == 0 /\ x_21^0-x_21^post46 == 0 /\ -len_861^post46+len_861^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ -a_1236^post46+a_1236^0 == 0 /\ a_576^0-a_576^post46 == 0 /\ a_263^0-a_263^post46 == 0 /\ a_1162^0-a_1162^post46 == 0 /\ -a_432^post46+a_432^0 == 0 /\ f_847^0-f_847^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post46 == 0 /\ -a_393^post46+a_393^0 == 0 /\ -a_392^post46+a_392^0 == 0 /\ -length_29^post46+length_29^0 == 0 /\ x_17^0-x_17^post46 == 0 /\ a_924^0-a_924^post46 == 0 /\ -i_1053^post46+i_1053^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ a_394^0-a_394^post46 == 0 /\ -i_1248^post46+i_1248^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ a_577^0-a_577^post46 == 0 /\ x_975^0-x_975^post46 == 0 /\ -a_579^post46+a_579^0 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ -a_635^post46+a_635^0 == 0 /\ i_127^0-i_127^post46 == 0 /\ r_224^0-r_224^post46 == 0 /\ -i_30^post46+i_30^0 == 0 /\ -r_151^post46+r_151^0 == 0 /\ a_610^0-a_610^post46 == 0 /\ i_106^0-i_106^post46 == 0 /\ i_27^0-i_27^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ -a_144^post46+a_144^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ t_458^0-t_458^post46 == 0 /\ -i_107^post46+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ -a_575^post46+a_575^0 == 0 /\ -a_862^post46+a_862^0 == 0 /\ -a_633^post46+a_633^0 == 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ -a_431^post46+a_431^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ len_161^0-len_161^post46 == 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ head_15^0-head_15^post46 == 0 /\ a_634^0-a_634^post46 == 0 /\ -rcd_1249^post46+rcd_1249^0 == 0 /\ -f_969^post46+f_969^0 == 0 /\ -x_852^post46+x_852^0 == 0 /\ a_121^0-a_121^post46 == 0 /\ f_248^0-f_248^post46 == 0 /\ -rcd_47^post46+rcd_47^0 == 0 /\ a_902^0-a_902^post46 == 0 /\ len_262^0-len_262^post46 == 0 /\ -i_140^post46+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post46+r_970^0 == 0 /\ a_947^0-a_947^post46 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ a_430^0-a_430^post46 == 0 /\ -a_239^post46+a_239^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ a_311^0-a_311^post46 == 0 /\ -r_143^post46+r_143^0 == 0 /\ a_176^0-a_176^post46 == 0 /\ rcd_88^0-rcd_88^post46 == 0 /\ len_238^0-len_238^post46 == 0 /\ -i_229^post46+i_229^0 == 0 /\ -y_20^post46+y_20^0 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -x_253^post46+x_253^0 == 0 /\ a_632^0-a_632^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post46+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post46+temp_35^0 == 0 /\ a_310^0-a_310^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ -i_113^post46+i_113^0 == 0 /\ -a_395^post46+a_395^0 == 0 /\ a_1089^0-a_1089^post46 == 0), cost: 1 New rule: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 Applied preprocessing Original rule: l31 -> l32 : a_1089^0'=a_1089^post47, f_847^0'=f_847^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_394^0'=a_394^post47, x_156^0'=x_156^post47, a_632^0'=a_632^post47, r_192^0'=r_192^post47, a_176^0'=a_176^post47, i_106^0'=i_106^post47, a_430^0'=a_430^post47, t_458^0'=t_458^post47, len_161^0'=len_161^post47, x_975^0'=x_975^post47, a_902^0'=a_902^post47, a_947^0'=a_947^post47, rcd_88^0'=rcd_88^post47, a_311^0'=a_311^post47, i_140^0'=i_140^post47, a_577^0'=a_577^post47, x_14^0'=x_14^post47, nondet_12^0'=nondet_12^post47, a_121^0'=a_121^post47, head_15^0'=head_15^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47, i_27^0'=i_27^post47, x_21^0'=x_21^post47, a_634^0'=a_634^post47, r_39^0'=r_39^post47, a_263^0'=a_263^post47, i_113^0'=i_113^post47, a_432^0'=a_432^post47, temp0_31^0'=temp0_31^post47, len_262^0'=len_262^post47, y_20^0'=y_20^post47, f_248^0'=f_248^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_393^0'=a_393^post47, i_229^0'=i_229^post47, a_610^0'=a_610^post47, r_151^0'=r_151^post47, a_144^0'=a_144^post47, i_1053^0'=i_1053^post47, a_417^0'=a_417^post47, t_24^0'=t_24^post47, i_94^0'=i_94^post47, x_852^0'=x_852^post47, a_862^0'=a_862^post47, rcd_1249^0'=rcd_1249^post47, rcd_58^0'=rcd_58^post47, a_310^0'=a_310^post47, i_127^0'=i_127^post47, a_576^0'=a_576^post47, tmp_34^0'=tmp_34^post47, length_29^0'=length_29^post47, a_1162^0'=a_1162^post47, f_969^0'=f_969^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47, a_395^0'=a_395^post47, x_17^0'=x_17^post47, a_633^0'=a_633^post47, r_224^0'=r_224^post47, a_239^0'=a_239^post47, i_107^0'=i_107^post47, a_431^0'=a_431^post47, temp0_16^0'=temp0_16^post47, len_238^0'=len_238^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, a_924^0'=a_924^post47, ct_18^0'=ct_18^post47, result_11^0'=result_11^post47, a_392^0'=a_392^post47, i_197^0'=i_197^post47, a_579^0'=a_579^post47, r_143^0'=r_143^post47, a_1236^0'=a_1236^post47, head_32^0'=head_32^post47, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47, i_30^0'=i_30^post47, x_253^0'=x_253^post47, a_635^0'=a_635^post47, r_970^0'=r_970^post47, rcd_47^0'=rcd_47^post47, a_309^0'=a_309^post47, i_1248^0'=i_1248^post47, a_575^0'=a_575^post47, temp_35^0'=temp_35^post47, len_861^0'=len_861^post47, (r_192^0-r_192^post47 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ i_113^0-i_113^post47 == 0 /\ r_39^0-r_39^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_127^0-i_127^post47 == 0 /\ rcd_1249^0-rcd_1249^post47 == 0 /\ f_969^0-f_969^post47 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ len_161^0-len_161^post47 == 0 /\ -rcd_47^post47+rcd_47^0 == 0 /\ -r_970^post47+r_970^0 == 0 /\ a_430^0-a_430^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post47 == 0 /\ -a_1162^post47+a_1162^0 == 0 /\ a_432^0-a_432^post47 == 0 /\ -x_253^post47+x_253^0 == 0 /\ i_27^0-i_27^post47 == 0 /\ x_156^0-x_156^post47 == 0 /\ -i_1248^post47+i_1248^0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -a_577^post47+a_577^0 == 0 /\ a_576^0-a_576^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ -i_1053^post47+i_1053^0 == 0 /\ f_847^0-f_847^post47 == 0 /\ i_140^0-i_140^post47 == 0 /\ -r_224^post47+r_224^0 == 0 /\ i_229^0-i_229^post47 == 0 /\ a_634^0-a_634^post47 == 0 /\ -len_861^post47+len_861^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ a_947^0-a_947^post47 == 0 /\ -a_924^post47+a_924^0 == 0 /\ rcd_58^0-rcd_58^post47 == 0 /\ -r_143^post47+r_143^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -a_431^post47+a_431^0 == 0 /\ -a_395^post47+a_395^0 == 0 /\ a_311^0-a_311^post47 == 0 /\ -a_309^post47+a_309^0 == 0 /\ a_902^0-a_902^post47 == 0 /\ -i_30^post47+i_30^0 == 0 /\ -length_29^post47+length_29^0 == 0 /\ a_610^0-a_610^post47 == 0 /\ -a_392^post47+a_392^0 == 0 /\ -a_862^post47+a_862^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ -i_107^post47+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post47+a_575^0 == 0 /\ -a_1236^post47+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ a_1089^0-a_1089^post47 == 0 /\ a_635^0-a_635^post47 == 0 /\ -t_458^post47+t_458^0 == 0 /\ -a_393^post47+a_393^0 == 0 /\ -a_310^post47+a_310^0 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -i_106^post47+i_106^0 == 0 /\ a_632^0-a_632^post47 == 0 /\ len_262^0-len_262^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post47+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post47 == 0 /\ x_21^0-x_21^post47 == 0 /\ -r_151^post47+r_151^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -head_32^post47+head_32^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ -x_852^post47+x_852^0 == 0 /\ -ct_18^post47+ct_18^0 == 0 /\ -a_579^post47+a_579^0 == 0 /\ a_394^0-a_394^post47 == 0 /\ -a_263^post47+a_263^0 == 0 /\ x_17^0-x_17^post47 == 0 /\ len_238^0-len_238^post47 == 0 /\ a_239^0-a_239^post47 == 0 /\ x_975^0-x_975^post47 == 0 /\ a_176^0-a_176^post47 == 0 /\ -i_197^post47+i_197^0 == 0 /\ a_121^0-a_121^post47 == 0 /\ a_417^0-a_417^post47 == 0 /\ f_248^0-f_248^post47 == 0), cost: 1 New rule: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 Applied preprocessing Original rule: l32 -> l23 : a_1089^0'=a_1089^post48, f_847^0'=f_847^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_394^0'=a_394^post48, x_156^0'=x_156^post48, a_632^0'=a_632^post48, r_192^0'=r_192^post48, a_176^0'=a_176^post48, i_106^0'=i_106^post48, a_430^0'=a_430^post48, t_458^0'=t_458^post48, len_161^0'=len_161^post48, x_975^0'=x_975^post48, a_902^0'=a_902^post48, a_947^0'=a_947^post48, rcd_88^0'=rcd_88^post48, a_311^0'=a_311^post48, i_140^0'=i_140^post48, a_577^0'=a_577^post48, x_14^0'=x_14^post48, nondet_12^0'=nondet_12^post48, a_121^0'=a_121^post48, head_15^0'=head_15^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48, i_27^0'=i_27^post48, x_21^0'=x_21^post48, a_634^0'=a_634^post48, r_39^0'=r_39^post48, a_263^0'=a_263^post48, i_113^0'=i_113^post48, a_432^0'=a_432^post48, temp0_31^0'=temp0_31^post48, len_262^0'=len_262^post48, y_20^0'=y_20^post48, f_248^0'=f_248^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_393^0'=a_393^post48, i_229^0'=i_229^post48, a_610^0'=a_610^post48, r_151^0'=r_151^post48, a_144^0'=a_144^post48, i_1053^0'=i_1053^post48, a_417^0'=a_417^post48, t_24^0'=t_24^post48, i_94^0'=i_94^post48, x_852^0'=x_852^post48, a_862^0'=a_862^post48, rcd_1249^0'=rcd_1249^post48, rcd_58^0'=rcd_58^post48, a_310^0'=a_310^post48, i_127^0'=i_127^post48, a_576^0'=a_576^post48, tmp_34^0'=tmp_34^post48, length_29^0'=length_29^post48, a_1162^0'=a_1162^post48, f_969^0'=f_969^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48, a_395^0'=a_395^post48, x_17^0'=x_17^post48, a_633^0'=a_633^post48, r_224^0'=r_224^post48, a_239^0'=a_239^post48, i_107^0'=i_107^post48, a_431^0'=a_431^post48, temp0_16^0'=temp0_16^post48, len_238^0'=len_238^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, a_924^0'=a_924^post48, ct_18^0'=ct_18^post48, result_11^0'=result_11^post48, a_392^0'=a_392^post48, i_197^0'=i_197^post48, a_579^0'=a_579^post48, r_143^0'=r_143^post48, a_1236^0'=a_1236^post48, head_32^0'=head_32^post48, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48, i_30^0'=i_30^post48, x_253^0'=x_253^post48, a_635^0'=a_635^post48, r_970^0'=r_970^post48, rcd_47^0'=rcd_47^post48, a_309^0'=a_309^post48, i_1248^0'=i_1248^post48, a_575^0'=a_575^post48, temp_35^0'=temp_35^post48, len_861^0'=len_861^post48, (0 == 0 /\ a_576^0-a_576^post48 == 0 /\ x_21^0-x_21^post48 == 0 /\ -i_107^post48+i_107^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -a_432^post48+a_432^0 == 0 /\ -i_30^post48+i_30^0 == 0 /\ x_156^0-x_156^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -a_575^post48+a_575^0 == 0 /\ tmp_34^0-tmp_34^post48 == 0 /\ -a_392^post48+a_392^0 == 0 /\ -a_1236^post48+a_1236^0 == 0 /\ f_847^0-f_847^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_417^post48+a_417^0 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ -i_94^post48+i_94^0 == 0 /\ a_862^0-a_862^post48 == 0 /\ a_144^0-a_144^post48 == 0 /\ -len_861^post48+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -i_1248^post48+i_1248^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_394^0-a_394^post48 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ -a_635^post48+a_635^0 == 0 /\ a_902^0-a_902^post48 == 0 /\ head_15^0-head_15^post48 == 0 /\ -rcd_47^post48+rcd_47^0 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ rcd_88^0-rcd_88^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_238^post48+len_238^0 == 0 /\ a_577^0-a_577^post48 == 0 /\ -a_310^post48+a_310^0 == 0 /\ r_39^0-r_39^post48 == 0 /\ -len_262^post48+len_262^0 == 0 /\ i_106^0-i_106^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ -a_633^post48+a_633^0 == 0 /\ -i_197^post48+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post48+a_309^0 == 0 /\ t_458^0-t_458^post48 == 0 /\ a_311^0-a_311^post48 == 0 /\ a_1089^0-a_1089^post48 == 0 /\ -a_579^post48+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ a_263^0-a_263^post48 == 0 /\ i_27^0-i_27^post48 == 0 /\ a_430^0-a_430^post48 == 0 /\ x_253^0-x_253^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ -i_127^post48+i_127^0 == 0 /\ -a_431^post48+a_431^0 == 0 /\ -a_1162^post48+a_1162^0 == 0 /\ -a_924^post48+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ 1-i_229^0 <= 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ len_238^0-len_161^post48 <= 0 /\ -result_11^post48+result_11^0 == 0 /\ -x_852^post48+x_852^0 == 0 /\ a_634^0-a_634^post48 == 0 /\ r_151^0-r_151^post48 == 0 /\ f_248^0-f_248^post48 == 0 /\ -r_970^post48+r_970^0 == 0 /\ -a_176^post48+a_239^0 <= 0 /\ x_975^0-x_975^post48 == 0 /\ -a_121^post48+a_121^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -i_229^post48+i_229^0 == 0 /\ a_239^0-a_239^post48 == 0 /\ a_947^0-a_947^post48 == 0 /\ r_192^0-r_192^post48 == 0 /\ -a_395^post48+a_395^0 == 0 /\ f_969^0-f_969^post48 == 0 /\ a_610^0-a_610^post48 == 0 /\ i_1053^0-i_1053^post48 == 0 /\ -len_238^0+len_161^post48 <= 0 /\ -r_143^post48+r_143^0 == 0 /\ i_140^0-i_140^post48 == 0 /\ rcd_1249^0-rcd_1249^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post48+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post48+r_224^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -i_113^post48+i_113^0 == 0 /\ a_176^post48-a_239^0 <= 0 /\ a_393^0-a_393^post48 == 0 /\ a_632^0-a_632^post48 == 0), cost: 1 New rule: l32 -> l23 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l23 -> l8 : a_1089^0'=a_1089^post49, f_847^0'=f_847^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_394^0'=a_394^post49, x_156^0'=x_156^post49, a_632^0'=a_632^post49, r_192^0'=r_192^post49, a_176^0'=a_176^post49, i_106^0'=i_106^post49, a_430^0'=a_430^post49, t_458^0'=t_458^post49, len_161^0'=len_161^post49, x_975^0'=x_975^post49, a_902^0'=a_902^post49, a_947^0'=a_947^post49, rcd_88^0'=rcd_88^post49, a_311^0'=a_311^post49, i_140^0'=i_140^post49, a_577^0'=a_577^post49, x_14^0'=x_14^post49, nondet_12^0'=nondet_12^post49, a_121^0'=a_121^post49, head_15^0'=head_15^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49, i_27^0'=i_27^post49, x_21^0'=x_21^post49, a_634^0'=a_634^post49, r_39^0'=r_39^post49, a_263^0'=a_263^post49, i_113^0'=i_113^post49, a_432^0'=a_432^post49, temp0_31^0'=temp0_31^post49, len_262^0'=len_262^post49, y_20^0'=y_20^post49, f_248^0'=f_248^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_393^0'=a_393^post49, i_229^0'=i_229^post49, a_610^0'=a_610^post49, r_151^0'=r_151^post49, a_144^0'=a_144^post49, i_1053^0'=i_1053^post49, a_417^0'=a_417^post49, t_24^0'=t_24^post49, i_94^0'=i_94^post49, x_852^0'=x_852^post49, a_862^0'=a_862^post49, rcd_1249^0'=rcd_1249^post49, rcd_58^0'=rcd_58^post49, a_310^0'=a_310^post49, i_127^0'=i_127^post49, a_576^0'=a_576^post49, tmp_34^0'=tmp_34^post49, length_29^0'=length_29^post49, a_1162^0'=a_1162^post49, f_969^0'=f_969^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49, a_395^0'=a_395^post49, x_17^0'=x_17^post49, a_633^0'=a_633^post49, r_224^0'=r_224^post49, a_239^0'=a_239^post49, i_107^0'=i_107^post49, a_431^0'=a_431^post49, temp0_16^0'=temp0_16^post49, len_238^0'=len_238^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, a_924^0'=a_924^post49, ct_18^0'=ct_18^post49, result_11^0'=result_11^post49, a_392^0'=a_392^post49, i_197^0'=i_197^post49, a_579^0'=a_579^post49, r_143^0'=r_143^post49, a_1236^0'=a_1236^post49, head_32^0'=head_32^post49, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49, i_30^0'=i_30^post49, x_253^0'=x_253^post49, a_635^0'=a_635^post49, r_970^0'=r_970^post49, rcd_47^0'=rcd_47^post49, a_309^0'=a_309^post49, i_1248^0'=i_1248^post49, a_575^0'=a_575^post49, temp_35^0'=temp_35^post49, len_861^0'=len_861^post49, (a_176^0-a_176^post49 == 0 /\ -x_21^post49+x_21^0 == 0 /\ f_969^0-f_969^post49 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -r_970^post49+r_970^0 == 0 /\ -a_431^post49+a_431^0 == 0 /\ i_27^0-i_27^post49 == 0 /\ -a_924^post49+a_924^0 == 0 /\ r_192^0-r_192^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -ct_18^post49+ct_18^0 == 0 /\ length_29^0-length_29^post49 == 0 /\ -a_1162^post49+a_1162^0 == 0 /\ -x_253^post49+x_253^0 == 0 /\ a_1089^0-a_1089^post49 == 0 /\ a_263^0-a_263^post49 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post49+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post49 == 0 /\ -i_229^post49+i_229^0 == 0 /\ a_432^0-a_432^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ -temp0_16^post49+temp0_16^0 == 0 /\ -i_1248^post49+i_1248^0 == 0 /\ -i_1053^post49+i_1053^0 == 0 /\ -r_224^post49+r_224^0 == 0 /\ -a_395^post49+a_395^0 == 0 /\ -a_239^post49+a_239^0 == 0 /\ r_151^0-r_151^post49 == 0 /\ f_248^0-f_248^post49 == 0 /\ -r_143^post49+r_143^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_417^0-a_417^post49 == 0 /\ head_32^0-head_32^post49 == 0 /\ rcd_58^0-rcd_58^post49 == 0 /\ a_144^0-a_144^post49 == 0 /\ a_634^0-a_634^post49 == 0 /\ head_15^0-head_15^post49 == 0 /\ -a_947^post49+a_947^0 == 0 /\ a_902^0-a_902^post49 == 0 /\ i_113^0-i_113^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -a_392^post49+a_392^0 == 0 /\ i_127^0-i_127^post49 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -x_14^post49+x_14^0 == 0 /\ a_394^0-a_394^post49 == 0 /\ len_238^0-len_238^post49 == 0 /\ -a_635^post49+a_635^0 == 0 /\ -a_576^post49+a_576^0 == 0 /\ -i_107^post49+i_107^0 == 0 /\ rcd_1249^0-rcd_1249^post49 == 0 /\ t_458^0-t_458^post49 == 0 /\ -len_861^post49+len_861^0 == 0 /\ x_852^0-x_852^post49 == 0 /\ -a_1236^post49+a_1236^0 == 0 /\ i_106^0-i_106^post49 == 0 /\ a_632^0-a_632^post49 == 0 /\ i_140^0-i_140^post49 == 0 /\ len_161^0-len_161^post49 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -a_310^post49+a_310^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ a_311^0-a_311^post49 == 0 /\ a_393^0-a_393^post49 == 0 /\ y_20^0-y_20^post49 == 0 /\ f_847^0-f_847^post49 == 0 /\ -a_610^post49+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post49 == 0 /\ a_309^0-a_309^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -x_975^post49+x_975^0 == 0 /\ a_633^0-a_633^post49 == 0 /\ -rcd_47^post49+rcd_47^0 == 0 /\ -a_579^post49+a_579^0 == 0 /\ a_121^0-a_121^post49 == 0 /\ -a_575^post49+a_575^0 == 0 /\ -a_430^post49+a_430^0 == 0 /\ -i_197^post49+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post49 == 0 /\ a_577^0-a_577^post49 == 0 /\ -len_262^post49+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ -a_862^post49+a_862^0 == 0), cost: 1 New rule: l23 -> l8 : TRUE, cost: 1 Applied preprocessing Original rule: l16 -> l33 : a_1089^0'=a_1089^post50, f_847^0'=f_847^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_394^0'=a_394^post50, x_156^0'=x_156^post50, a_632^0'=a_632^post50, r_192^0'=r_192^post50, a_176^0'=a_176^post50, i_106^0'=i_106^post50, a_430^0'=a_430^post50, t_458^0'=t_458^post50, len_161^0'=len_161^post50, x_975^0'=x_975^post50, a_902^0'=a_902^post50, a_947^0'=a_947^post50, rcd_88^0'=rcd_88^post50, a_311^0'=a_311^post50, i_140^0'=i_140^post50, a_577^0'=a_577^post50, x_14^0'=x_14^post50, nondet_12^0'=nondet_12^post50, a_121^0'=a_121^post50, head_15^0'=head_15^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50, i_27^0'=i_27^post50, x_21^0'=x_21^post50, a_634^0'=a_634^post50, r_39^0'=r_39^post50, a_263^0'=a_263^post50, i_113^0'=i_113^post50, a_432^0'=a_432^post50, temp0_31^0'=temp0_31^post50, len_262^0'=len_262^post50, y_20^0'=y_20^post50, f_248^0'=f_248^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_393^0'=a_393^post50, i_229^0'=i_229^post50, a_610^0'=a_610^post50, r_151^0'=r_151^post50, a_144^0'=a_144^post50, i_1053^0'=i_1053^post50, a_417^0'=a_417^post50, t_24^0'=t_24^post50, i_94^0'=i_94^post50, x_852^0'=x_852^post50, a_862^0'=a_862^post50, rcd_1249^0'=rcd_1249^post50, rcd_58^0'=rcd_58^post50, a_310^0'=a_310^post50, i_127^0'=i_127^post50, a_576^0'=a_576^post50, tmp_34^0'=tmp_34^post50, length_29^0'=length_29^post50, a_1162^0'=a_1162^post50, f_969^0'=f_969^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50, a_395^0'=a_395^post50, x_17^0'=x_17^post50, a_633^0'=a_633^post50, r_224^0'=r_224^post50, a_239^0'=a_239^post50, i_107^0'=i_107^post50, a_431^0'=a_431^post50, temp0_16^0'=temp0_16^post50, len_238^0'=len_238^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, a_924^0'=a_924^post50, ct_18^0'=ct_18^post50, result_11^0'=result_11^post50, a_392^0'=a_392^post50, i_197^0'=i_197^post50, a_579^0'=a_579^post50, r_143^0'=r_143^post50, a_1236^0'=a_1236^post50, head_32^0'=head_32^post50, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50, i_30^0'=i_30^post50, x_253^0'=x_253^post50, a_635^0'=a_635^post50, r_970^0'=r_970^post50, rcd_47^0'=rcd_47^post50, a_309^0'=a_309^post50, i_1248^0'=i_1248^post50, a_575^0'=a_575^post50, temp_35^0'=temp_35^post50, len_861^0'=len_861^post50, (0 == 0 /\ -x_14^post50 <= 0 /\ -i_113^post50+i_113^0 == 0 /\ -a_432^post50+a_432^0 == 0 /\ -a_635^post50+a_635^0 == 0 /\ -r_143^post50+r_143^0 == 0 /\ x_SLAM_f_19^post50-x_17^post50 <= 0 /\ x_SLAM_f_19^post50-x_17^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post50 == 0 /\ head_15^0-x_17^post50 <= 0 /\ result_11^0-result_11^post50 == 0 /\ -len_161^0 <= 0 /\ -a_309^post50+a_309^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ -head_15^0+x_SLAM_f_19^post50 <= 0 /\ a_862^0-a_862^post50 == 0 /\ a_634^0-a_634^post50 == 0 /\ x_14^post50 <= 0 /\ -a_144^post50+a_144^0 == 0 /\ a_902^0-a_902^post50 == 0 /\ -ct_18^post50+y_20^post50 <= 0 /\ -ct_18^post50+y_20^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ a_947^0-a_947^post50 == 0 /\ -a_310^post50+a_310^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ -a_1236^post50+a_1236^0 == 0 /\ -a_575^post50+a_575^0 == 0 /\ x_156^0-x_156^post50 == 0 /\ rcd_88^0-rcd_88^post50 == 0 /\ -len_238^post50+len_238^0 == 0 /\ -len_262^post50+len_262^0 == 0 /\ a_176^0-a_176^post50 == 0 /\ -a_633^post50+a_633^0 == 0 /\ -rcd_47^post50+rcd_47^0 == 0 /\ i_1053^0-i_1053^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -x_SLAM_f_19^post50+x_17^post50 <= 0 /\ length_29^0-length_29^post50 == 0 /\ r_192^0-r_192^post50 == 0 /\ -head_15^0+x_17^post50 <= 0 /\ -head_15^0+x_17^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -ct_18^post50 <= 0 /\ -r_39^post50+r_39^0 == 0 /\ a_579^0-a_579^post50 == 0 /\ a_632^0-a_632^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ a_430^0-a_430^post50 == 0 /\ head_15^0-x_SLAM_f_19^post50 <= 0 /\ -a_176^0 <= 0 /\ -f_969^post50+f_969^0 == 0 /\ ct_18^post50-y_20^post50 <= 0 /\ a_392^0-a_392^post50 == 0 /\ a_1089^0-a_1089^post50 == 0 /\ a_311^0-a_311^post50 == 0 /\ -i_127^post50+i_127^0 == 0 /\ a_263^0-a_263^post50 == 0 /\ x_852^0-x_852^post50 == 0 /\ -x_21^post50+x_SLAM_f_19^post50 <= 0 /\ -x_21^post50+head_15^0 <= 0 /\ a_576^0-a_576^post50 == 0 /\ -a_431^post50+a_431^0 == 0 /\ f_847^0-f_847^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post50 <= 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post50 == 0 /\ -temp_35^post50+temp_35^0 == 0 /\ -r_970^post50+r_970^0 == 0 /\ -x_253^post50+x_253^0 == 0 /\ i_140^0-i_140^post50 == 0 /\ -i_197^post50+i_197^0 == 0 /\ ct_18^post50 <= 0 /\ ct_18^post50 == 0 /\ x_975^0-x_975^post50 == 0 /\ -rcd_58^post50+rcd_58^0 == 0 /\ r_151^0-r_151^post50 == 0 /\ -f_248^post50+f_248^0 == 0 /\ a_394^0-a_394^post50 == 0 /\ -a_121^post50+a_121^0 == 0 /\ -y_20^post50 <= 0 /\ -t_24^post50+t_24^0 == 0 /\ a_417^0-a_417^post50 == 0 /\ x_21^post50-x_SLAM_f_19^post50 <= 0 /\ x_21^post50-x_SLAM_f_19^post50 == 0 /\ -a_577^post50+a_577^0 == 0 /\ x_21^post50-head_15^0 <= 0 /\ a_610^0-a_610^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -a_1162^post50+a_1162^0 == 0 /\ -i_229^post50+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post50 == 0 /\ i_106^0-i_106^post50 == 0 /\ -i_30^post50+i_30^0 == 0 /\ -i_1248^post50+i_1248^0 == 0 /\ a_395^0-a_395^post50 == 0 /\ -a_239^post50+a_239^0 == 0 /\ len_161^0-len_161^post50 == 0 /\ y_20^post50 <= 0 /\ -r_224^post50+r_224^0 == 0 /\ -len_861^post50+len_861^0 == 0 /\ a_393^0-a_393^post50 == 0 /\ -a_924^post50+a_924^0 == 0 /\ -temp0_16^post50+temp0_16^0 == 0 /\ t_458^0-t_458^post50 == 0 /\ i_107^0-i_107^post50 == 0), cost: 1 New rule: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 Applied preprocessing Original rule: l33 -> l34 : a_1089^0'=a_1089^post51, f_847^0'=f_847^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_394^0'=a_394^post51, x_156^0'=x_156^post51, a_632^0'=a_632^post51, r_192^0'=r_192^post51, a_176^0'=a_176^post51, i_106^0'=i_106^post51, a_430^0'=a_430^post51, t_458^0'=t_458^post51, len_161^0'=len_161^post51, x_975^0'=x_975^post51, a_902^0'=a_902^post51, a_947^0'=a_947^post51, rcd_88^0'=rcd_88^post51, a_311^0'=a_311^post51, i_140^0'=i_140^post51, a_577^0'=a_577^post51, x_14^0'=x_14^post51, nondet_12^0'=nondet_12^post51, a_121^0'=a_121^post51, head_15^0'=head_15^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51, i_27^0'=i_27^post51, x_21^0'=x_21^post51, a_634^0'=a_634^post51, r_39^0'=r_39^post51, a_263^0'=a_263^post51, i_113^0'=i_113^post51, a_432^0'=a_432^post51, temp0_31^0'=temp0_31^post51, len_262^0'=len_262^post51, y_20^0'=y_20^post51, f_248^0'=f_248^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_393^0'=a_393^post51, i_229^0'=i_229^post51, a_610^0'=a_610^post51, r_151^0'=r_151^post51, a_144^0'=a_144^post51, i_1053^0'=i_1053^post51, a_417^0'=a_417^post51, t_24^0'=t_24^post51, i_94^0'=i_94^post51, x_852^0'=x_852^post51, a_862^0'=a_862^post51, rcd_1249^0'=rcd_1249^post51, rcd_58^0'=rcd_58^post51, a_310^0'=a_310^post51, i_127^0'=i_127^post51, a_576^0'=a_576^post51, tmp_34^0'=tmp_34^post51, length_29^0'=length_29^post51, a_1162^0'=a_1162^post51, f_969^0'=f_969^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51, a_395^0'=a_395^post51, x_17^0'=x_17^post51, a_633^0'=a_633^post51, r_224^0'=r_224^post51, a_239^0'=a_239^post51, i_107^0'=i_107^post51, a_431^0'=a_431^post51, temp0_16^0'=temp0_16^post51, len_238^0'=len_238^post51, x_SLAM_f_19^0'=x_SLAM_f_19^post51, a_924^0'=a_924^post51, ct_18^0'=ct_18^post51, result_11^0'=result_11^post51, a_392^0'=a_392^post51, i_197^0'=i_197^post51, a_579^0'=a_579^post51, r_143^0'=r_143^post51, a_1236^0'=a_1236^post51, head_32^0'=head_32^post51, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51, i_30^0'=i_30^post51, x_253^0'=x_253^post51, a_635^0'=a_635^post51, r_970^0'=r_970^post51, rcd_47^0'=rcd_47^post51, a_309^0'=a_309^post51, i_1248^0'=i_1248^post51, a_575^0'=a_575^post51, temp_35^0'=temp_35^post51, len_861^0'=len_861^post51, (a_176^0-a_176^post51 == 0 /\ a_1089^0-a_1089^post51 == 0 /\ r_143^0-r_143^post51 == 0 /\ -x_21^post51+x_21^0 == 0 /\ -i_197^post51+i_197^0 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -a_579^post51+a_579^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ -f_969^post51+f_969^0 == 0 /\ a_310^0-a_310^post51 == 0 /\ a_311^0-a_311^post51 == 0 /\ -ct_18^post51+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 == 0 /\ -a_1162^post51+a_1162^0 == 0 /\ -i_127^post51+i_127^0 == 0 /\ -r_970^post51+r_970^0 == 0 /\ a_395^0-a_395^post51 == 0 /\ i_27^0-i_27^post51 == 0 /\ t_458^0-t_458^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post51+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post51 == 0 /\ i_140^0-i_140^post51 == 0 /\ -f_248^post51+f_248^0 == 0 /\ i_106^0-i_106^post51 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ a_392^0-a_392^post51 == 0 /\ r_39^0-r_39^post51 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post51 == 0 /\ -temp0_16^post51+temp0_16^0 == 0 /\ a_393^0-a_393^post51 == 0 /\ -i_1248^post51+i_1248^0 == 0 /\ -rcd_1249^post51+rcd_1249^0 == 0 /\ -len_861^post51+len_861^0 == 0 /\ -a_239^post51+a_239^0 == 0 /\ y_20^0-y_20^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ len_262^0-len_262^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ a_417^0-a_417^post51 == 0 /\ -head_15^post51+head_15^0 == 0 /\ -a_924^post51+a_924^0 == 0 /\ -i_30^post51+i_30^0 == 0 /\ a_634^0-a_634^post51 == 0 /\ -x_17^post51+x_17^0 == 0 /\ temp0_31^0-temp0_31^post51 == 0 /\ a_947^0-a_947^post51 == 0 /\ -i_107^post51+i_107^0 == 0 /\ x_14^0-x_14^post51 == 0 /\ -r_151^post51+r_151^0 == 0 /\ -a_575^post51+a_575^0 == 0 /\ -i_94^post51+i_94^0 == 0 /\ rcd_58^0-rcd_58^post51 == 0 /\ i_1053^0-i_1053^post51 == 0 /\ -a_635^post51+a_635^0 == 0 /\ a_121^0-a_121^post51 == 0 /\ -a_576^post51+a_576^0 == 0 /\ a_632^0-a_632^post51 == 0 /\ a_263^0-a_263^post51 == 0 /\ -a_633^post51+a_633^0 == 0 /\ t_24^0-t_24^post51 == 0 /\ len_161^0-len_161^post51 == 0 /\ x_852^0-x_852^post51 == 0 /\ -a_144^post51+a_144^0 == 0 /\ x_156^0-x_156^post51 == 0 /\ -x_975^post51+x_975^0 == 0 /\ f_847^0-f_847^post51 == 0 /\ 1-head_15^0 <= 0 /\ r_224^0-r_224^post51 == 0 /\ a_309^0-a_309^post51 == 0 /\ -a_610^post51+a_610^0 == 0 /\ a_432^0-a_432^post51 == 0 /\ -a_1236^post51+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ -rcd_47^post51+rcd_47^0 == 0 /\ -x_253^post51+x_253^0 == 0 /\ i_113^0-i_113^post51 == 0 /\ -len_238^post51+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_902^0-a_902^post51 == 0 /\ a_394^0-a_394^post51 == 0 /\ a_862^0-a_862^post51 == 0 /\ a_577^0-a_577^post51 == 0 /\ i_229^0-i_229^post51 == 0 /\ a_431^0-a_431^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -a_430^post51+a_430^0 == 0), cost: 1 New rule: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l33 -> l34 : a_1089^0'=a_1089^post52, f_847^0'=f_847^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_394^0'=a_394^post52, x_156^0'=x_156^post52, a_632^0'=a_632^post52, r_192^0'=r_192^post52, a_176^0'=a_176^post52, i_106^0'=i_106^post52, a_430^0'=a_430^post52, t_458^0'=t_458^post52, len_161^0'=len_161^post52, x_975^0'=x_975^post52, a_902^0'=a_902^post52, a_947^0'=a_947^post52, rcd_88^0'=rcd_88^post52, a_311^0'=a_311^post52, i_140^0'=i_140^post52, a_577^0'=a_577^post52, x_14^0'=x_14^post52, nondet_12^0'=nondet_12^post52, a_121^0'=a_121^post52, head_15^0'=head_15^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52, i_27^0'=i_27^post52, x_21^0'=x_21^post52, a_634^0'=a_634^post52, r_39^0'=r_39^post52, a_263^0'=a_263^post52, i_113^0'=i_113^post52, a_432^0'=a_432^post52, temp0_31^0'=temp0_31^post52, len_262^0'=len_262^post52, y_20^0'=y_20^post52, f_248^0'=f_248^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_393^0'=a_393^post52, i_229^0'=i_229^post52, a_610^0'=a_610^post52, r_151^0'=r_151^post52, a_144^0'=a_144^post52, i_1053^0'=i_1053^post52, a_417^0'=a_417^post52, t_24^0'=t_24^post52, i_94^0'=i_94^post52, x_852^0'=x_852^post52, a_862^0'=a_862^post52, rcd_1249^0'=rcd_1249^post52, rcd_58^0'=rcd_58^post52, a_310^0'=a_310^post52, i_127^0'=i_127^post52, a_576^0'=a_576^post52, tmp_34^0'=tmp_34^post52, length_29^0'=length_29^post52, a_1162^0'=a_1162^post52, f_969^0'=f_969^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52, a_395^0'=a_395^post52, x_17^0'=x_17^post52, a_633^0'=a_633^post52, r_224^0'=r_224^post52, a_239^0'=a_239^post52, i_107^0'=i_107^post52, a_431^0'=a_431^post52, temp0_16^0'=temp0_16^post52, len_238^0'=len_238^post52, x_SLAM_f_19^0'=x_SLAM_f_19^post52, a_924^0'=a_924^post52, ct_18^0'=ct_18^post52, result_11^0'=result_11^post52, a_392^0'=a_392^post52, i_197^0'=i_197^post52, a_579^0'=a_579^post52, r_143^0'=r_143^post52, a_1236^0'=a_1236^post52, head_32^0'=head_32^post52, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52, i_30^0'=i_30^post52, x_253^0'=x_253^post52, a_635^0'=a_635^post52, r_970^0'=r_970^post52, rcd_47^0'=rcd_47^post52, a_309^0'=a_309^post52, i_1248^0'=i_1248^post52, a_575^0'=a_575^post52, temp_35^0'=temp_35^post52, len_861^0'=len_861^post52, (-a_575^post52+a_575^0 == 0 /\ -x_17^post52+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post52 == 0 /\ 1+head_15^0 <= 0 /\ a_430^0-a_430^post52 == 0 /\ t_458^0-t_458^post52 == 0 /\ -r_143^post52+r_143^0 == 0 /\ x_975^0-x_975^post52 == 0 /\ a_632^0-a_632^post52 == 0 /\ -i_30^post52+i_30^0 == 0 /\ r_151^0-r_151^post52 == 0 /\ a_577^0-a_577^post52 == 0 /\ len_262^0-len_262^post52 == 0 /\ a_902^0-a_902^post52 == 0 /\ -a_576^post52+a_576^0 == 0 /\ -a_309^post52+a_309^0 == 0 /\ -x_SLAM_f_19^post52+x_SLAM_f_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post52+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post52+a_144^0 == 0 /\ temp0_31^0-temp0_31^post52 == 0 /\ a_1162^0-a_1162^post52 == 0 /\ i_229^0-i_229^post52 == 0 /\ -a_634^post52+a_634^0 == 0 /\ -a_633^post52+a_633^0 == 0 /\ a_310^0-a_310^post52 == 0 /\ -a_610^post52+a_610^0 == 0 /\ i_1053^0-i_1053^post52 == 0 /\ -a_1236^post52+a_1236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0 /\ a_176^0-a_176^post52 == 0 /\ -rcd_47^post52+rcd_47^0 == 0 /\ a_394^0-a_394^post52 == 0 /\ a_579^0-a_579^post52 == 0 /\ i_140^0-i_140^post52 == 0 /\ -f_969^post52+f_969^0 == 0 /\ f_847^0-f_847^post52 == 0 /\ -len_238^post52+len_238^0 == 0 /\ -r_970^post52+r_970^0 == 0 /\ -length_29^post52+length_29^0 == 0 /\ t_24^0-t_24^post52 == 0 /\ -i_27^post52+i_27^0 == 0 /\ a_392^0-a_392^post52 == 0 /\ i_197^0-i_197^post52 == 0 /\ i_94^0-i_94^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post52 == 0 /\ -i_127^post52+i_127^0 == 0 /\ -ct_18^post52+ct_18^0 == 0 /\ y_20^0-y_20^post52 == 0 /\ -x_253^post52+x_253^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -rcd_88^post52+rcd_88^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ -head_15^post52+head_15^0 == 0 /\ -r_192^post52+r_192^0 == 0 /\ -rcd_58^post52+rcd_58^0 == 0 /\ a_121^0-a_121^post52 == 0 /\ -len_161^post52+len_161^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ a_432^0-a_432^post52 == 0 /\ -f_248^post52+f_248^0 == 0 /\ -temp_35^post52+temp_35^0 == 0 /\ i_113^0-i_113^post52 == 0 /\ x_156^0-x_156^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ a_862^0-a_862^post52 == 0 /\ -a_431^post52+a_431^0 == 0 /\ -len_861^post52+len_861^0 == 0 /\ a_1089^0-a_1089^post52 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ a_395^0-a_395^post52 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ a_947^0-a_947^post52 == 0 /\ x_14^0-x_14^post52 == 0 /\ -a_417^post52+a_417^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ -x_852^post52+x_852^0 == 0 /\ -r_224^post52+r_224^0 == 0 /\ -rcd_1249^post52+rcd_1249^0 == 0 /\ -a_393^post52+a_393^0 == 0 /\ -a_924^post52+a_924^0 == 0 /\ -temp0_16^post52+temp0_16^0 == 0 /\ -a_635^post52+a_635^0 == 0 /\ a_263^0-a_263^post52 == 0 /\ i_107^0-i_107^post52 == 0 /\ a_311^0-a_311^post52 == 0 /\ -i_1248^post52+i_1248^0 == 0 /\ -a_239^post52+a_239^0 == 0 /\ i_106^0-i_106^post52 == 0), cost: 1 New rule: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l34 -> l0 : a_1089^0'=a_1089^post53, f_847^0'=f_847^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_394^0'=a_394^post53, x_156^0'=x_156^post53, a_632^0'=a_632^post53, r_192^0'=r_192^post53, a_176^0'=a_176^post53, i_106^0'=i_106^post53, a_430^0'=a_430^post53, t_458^0'=t_458^post53, len_161^0'=len_161^post53, x_975^0'=x_975^post53, a_902^0'=a_902^post53, a_947^0'=a_947^post53, rcd_88^0'=rcd_88^post53, a_311^0'=a_311^post53, i_140^0'=i_140^post53, a_577^0'=a_577^post53, x_14^0'=x_14^post53, nondet_12^0'=nondet_12^post53, a_121^0'=a_121^post53, head_15^0'=head_15^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53, i_27^0'=i_27^post53, x_21^0'=x_21^post53, a_634^0'=a_634^post53, r_39^0'=r_39^post53, a_263^0'=a_263^post53, i_113^0'=i_113^post53, a_432^0'=a_432^post53, temp0_31^0'=temp0_31^post53, len_262^0'=len_262^post53, y_20^0'=y_20^post53, f_248^0'=f_248^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_393^0'=a_393^post53, i_229^0'=i_229^post53, a_610^0'=a_610^post53, r_151^0'=r_151^post53, a_144^0'=a_144^post53, i_1053^0'=i_1053^post53, a_417^0'=a_417^post53, t_24^0'=t_24^post53, i_94^0'=i_94^post53, x_852^0'=x_852^post53, a_862^0'=a_862^post53, rcd_1249^0'=rcd_1249^post53, rcd_58^0'=rcd_58^post53, a_310^0'=a_310^post53, i_127^0'=i_127^post53, a_576^0'=a_576^post53, tmp_34^0'=tmp_34^post53, length_29^0'=length_29^post53, a_1162^0'=a_1162^post53, f_969^0'=f_969^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53, a_395^0'=a_395^post53, x_17^0'=x_17^post53, a_633^0'=a_633^post53, r_224^0'=r_224^post53, a_239^0'=a_239^post53, i_107^0'=i_107^post53, a_431^0'=a_431^post53, temp0_16^0'=temp0_16^post53, len_238^0'=len_238^post53, x_SLAM_f_19^0'=x_SLAM_f_19^post53, a_924^0'=a_924^post53, ct_18^0'=ct_18^post53, result_11^0'=result_11^post53, a_392^0'=a_392^post53, i_197^0'=i_197^post53, a_579^0'=a_579^post53, r_143^0'=r_143^post53, a_1236^0'=a_1236^post53, head_32^0'=head_32^post53, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53, i_30^0'=i_30^post53, x_253^0'=x_253^post53, a_635^0'=a_635^post53, r_970^0'=r_970^post53, rcd_47^0'=rcd_47^post53, a_309^0'=a_309^post53, i_1248^0'=i_1248^post53, a_575^0'=a_575^post53, temp_35^0'=temp_35^post53, len_861^0'=len_861^post53, (a_394^0-a_394^post53 == 0 /\ a_1089^0-a_1089^post53 == 0 /\ -r_970^post53+r_970^0 == 0 /\ -rcd_58^post53+rcd_58^0 == 0 /\ -x_852^post53+x_852^0 == 0 /\ -head_15^post53+head_15^0 == 0 /\ -i_1053^post53+i_1053^0 == 0 /\ -a_395^post53+a_395^0 == 0 /\ -a_579^post53+a_579^0 == 0 /\ i_140^0-i_140^post53 == 0 /\ t_458^0-t_458^post53 == 0 /\ i_106^0-i_106^post53 == 0 /\ rcd_88^0-rcd_88^post53 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post53+ct_18^0 == 0 /\ a_311^0-a_311^post53 == 0 /\ -a_263^post53+a_263^0 == 0 /\ -temp_35^post53+temp_35^0 == 0 /\ -i_197^post53+i_197^0 == 0 /\ rcd_1249^0-rcd_1249^post53 == 0 /\ f_847^0-f_847^post53 == 0 /\ a_924^0-a_924^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_224^0-r_224^post53 == 0 /\ a_393^0-a_393^post53 == 0 /\ -a_144^post53+a_144^0 == 0 /\ -a_634^post53+a_634^0 == 0 /\ -i_107^post53+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post53+a_575^0 == 0 /\ y_20^0-y_20^post53 == 0 /\ i_127^0-i_127^post53 == 0 /\ -i_1248^post53+i_1248^0 == 0 /\ a_121^0-a_121^post53 == 0 /\ -len_861^post53+len_861^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ len_262^0-len_262^post53 == 0 /\ temp0_31^0-temp0_31^post53 == 0 /\ -result_11^post53+result_11^0 == 0 /\ -a_239^post53+a_239^0 == 0 /\ -a_635^post53+a_635^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ a_577^0-a_577^post53 == 0 /\ -i_30^post53+i_30^0 == 0 /\ i_94^0-i_94^post53 == 0 /\ -x_17^post53+x_17^0 == 0 /\ a_947^0-a_947^post53 == 0 /\ -r_151^post53+r_151^0 == 0 /\ len_161^0-len_161^post53 == 0 /\ a_310^0-a_310^post53 == 0 /\ x_14^0-x_14^post53 == 0 /\ -a_576^post53+a_576^0 == 0 /\ -a_309^post53+a_309^0 == 0 /\ r_39^0-r_39^post53 == 0 /\ -a_1236^post53+a_1236^0 == 0 /\ -r_143^post53+r_143^0 == 0 /\ -a_417^post53+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -a_633^post53+a_633^0 == 0 /\ -a_176^post53+a_176^0 == 0 /\ t_24^0-t_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post53+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ f_248^0-f_248^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post53+a_392^0 == 0 /\ -f_969^post53+f_969^0 == 0 /\ a_430^0-a_430^post53 == 0 /\ a_632^0-a_632^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_610^post53+a_610^0 == 0 /\ a_432^0-a_432^post53 == 0 /\ a_1162^0-a_1162^post53 == 0 /\ i_113^0-i_113^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_902^0-a_902^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ x_975^0-x_975^post53 == 0 /\ -x_SLAM_f_19^post53+x_SLAM_f_19^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -rcd_47^post53+rcd_47^0 == 0 /\ x_156^0-x_156^post53 == 0 /\ -i_27^post53+i_27^0 == 0 /\ i_229^0-i_229^post53 == 0 /\ -x_253^post53+x_253^0 == 0 /\ a_431^0-a_431^post53 == 0 /\ temp0_16^0-temp0_16^post53 == 0 /\ a_862^0-a_862^post53 == 0 /\ -len_238^post53+len_238^0 == 0), cost: 1 New rule: l34 -> l0 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l16 -> l36 : a_1089^0'=a_1089^post54, f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_394^0'=a_394^post54, x_156^0'=x_156^post54, a_632^0'=a_632^post54, r_192^0'=r_192^post54, a_176^0'=a_176^post54, i_106^0'=i_106^post54, a_430^0'=a_430^post54, t_458^0'=t_458^post54, len_161^0'=len_161^post54, x_975^0'=x_975^post54, a_902^0'=a_902^post54, a_947^0'=a_947^post54, rcd_88^0'=rcd_88^post54, a_311^0'=a_311^post54, i_140^0'=i_140^post54, a_577^0'=a_577^post54, x_14^0'=x_14^post54, nondet_12^0'=nondet_12^post54, a_121^0'=a_121^post54, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54, i_27^0'=i_27^post54, x_21^0'=x_21^post54, a_634^0'=a_634^post54, r_39^0'=r_39^post54, a_263^0'=a_263^post54, i_113^0'=i_113^post54, a_432^0'=a_432^post54, temp0_31^0'=temp0_31^post54, len_262^0'=len_262^post54, y_20^0'=y_20^post54, f_248^0'=f_248^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_393^0'=a_393^post54, i_229^0'=i_229^post54, a_610^0'=a_610^post54, r_151^0'=r_151^post54, a_144^0'=a_144^post54, i_1053^0'=i_1053^post54, a_417^0'=a_417^post54, t_24^0'=t_24^post54, i_94^0'=i_94^post54, x_852^0'=x_852^post54, a_862^0'=a_862^post54, rcd_1249^0'=rcd_1249^post54, rcd_58^0'=rcd_58^post54, a_310^0'=a_310^post54, i_127^0'=i_127^post54, a_576^0'=a_576^post54, tmp_34^0'=tmp_34^post54, length_29^0'=length_29^post54, a_1162^0'=a_1162^post54, f_969^0'=f_969^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54, a_395^0'=a_395^post54, x_17^0'=x_17^post54, a_633^0'=a_633^post54, r_224^0'=r_224^post54, a_239^0'=a_239^post54, i_107^0'=i_107^post54, a_431^0'=a_431^post54, temp0_16^0'=temp0_16^post54, len_238^0'=len_238^post54, x_SLAM_f_19^0'=x_SLAM_f_19^post54, a_924^0'=a_924^post54, ct_18^0'=ct_18^post54, result_11^0'=result_11^post54, a_392^0'=a_392^post54, i_197^0'=i_197^post54, a_579^0'=a_579^post54, r_143^0'=r_143^post54, a_1236^0'=a_1236^post54, head_32^0'=head_32^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54, i_30^0'=i_30^post54, x_253^0'=x_253^post54, a_635^0'=a_635^post54, r_970^0'=r_970^post54, rcd_47^0'=rcd_47^post54, a_309^0'=a_309^post54, i_1248^0'=i_1248^post54, a_575^0'=a_575^post54, temp_35^0'=temp_35^post54, len_861^0'=len_861^post54, (0 == 0 /\ rcd_1249^0-rcd_1249^post54 == 0 /\ -rcd_47^post54+rcd_47^0 == 0 /\ a_924^0-a_924^post54 == 0 /\ -i_140^post54+i_140^0 == 0 /\ f_248^0-f_248^post54 == 0 /\ -r_143^post54+r_143^0 == 0 /\ -len_161^0 <= 0 /\ a_430^0-a_430^post54 == 0 /\ i_127^0-i_127^post54 == 0 /\ x_975^0-x_975^post54 == 0 /\ -a_144^post54+a_144^0 == 0 /\ a_577^0-a_577^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post54+a_575^0 == 0 /\ -r_151^post54+r_151^0 == 0 /\ r_192^0-r_192^post54 == 0 /\ -a_309^post54+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_1162^0-a_1162^post54 == 0 /\ x_21^0-x_21^post54 == 0 /\ -a_633^post54+a_633^0 == 0 /\ -i_113^post54+i_113^0 == 0 /\ a_634^0-a_634^post54 == 0 /\ -a_432^post54+a_432^0 == 0 /\ -a_431^post54+a_431^0 == 0 /\ i_27^0-i_27^post54 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_392^post54+a_392^0 == 0 /\ a_947^0-a_947^post54 == 0 /\ a_576^0-a_576^post54 == 0 /\ -length_29^post54+length_29^0 == 0 /\ i_197^0-i_197^post54 == 0 /\ -y_20^post54+y_20^0 == 0 /\ -x_253^post54+x_253^0 == 0 /\ -x_SLAM_f_19^post54+x_SLAM_f_19^0 == 0 /\ -a_176^0 <= 0 /\ i_107^0-i_107^post54 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -f_969^post54+f_969^0 == 0 /\ -a_1236^post54+a_1236^0 == 0 /\ -ct_18^post54+ct_18^0 == 0 /\ a_632^0-a_632^post54 == 0 /\ -t_458^post54+t_458^0 == 0 /\ -a_310^post54+a_310^0 == 0 /\ r_224^0-r_224^post54 == 0 /\ a_311^0-a_311^post54 == 0 /\ a_902^0-a_902^post54 == 0 /\ -i_106^post54+i_106^0 == 0 /\ -rcd_58^post54+rcd_58^0 == 0 /\ i_229^0-i_229^post54 == 0 /\ r_970^0-r_970^post54 == 0 /\ -len_161^post54+len_161^0 == 0 /\ -a_395^post54+a_395^0 == 0 /\ -a_862^post54+a_862^0 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -head_32^post54+head_32^0 == 0 /\ x_156^0-x_156^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post54+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_610^0-a_610^post54 == 0 /\ -a_579^post54+a_579^0 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ temp0_31^0-temp0_31^post54 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -a_263^post54+a_263^0 == 0 /\ x_14^0-x_14^post54 == 0 /\ a_121^0-a_121^post54 == 0 /\ -a_393^post54+a_393^0 == 0 /\ a_1089^0-a_1089^post54 == 0 /\ len_262^0-len_262^post54 == 0 /\ a_394^0-a_394^post54 == 0 /\ x_17^0-x_17^post54 == 0 /\ -a_417^post54+a_417^0 == 0 /\ rcd_88^0-rcd_88^post54 == 0 /\ -temp0_16^post54+temp0_16^0 == 0 /\ a_176^0-a_176^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -i_1053^post54+i_1053^0 == 0 /\ -i_1248^post54+i_1248^0 == 0 /\ -len_861^post54+len_861^0 == 0 /\ -a_239^post54+a_239^0 == 0 /\ -t_24^post54+t_24^0 == 0 /\ len_238^0-len_238^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_635^post54+a_635^0 == 0), cost: 1 New rule: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Applied preprocessing Original rule: l36 -> l37 : a_1089^0'=a_1089^post55, f_847^0'=f_847^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_394^0'=a_394^post55, x_156^0'=x_156^post55, a_632^0'=a_632^post55, r_192^0'=r_192^post55, a_176^0'=a_176^post55, i_106^0'=i_106^post55, a_430^0'=a_430^post55, t_458^0'=t_458^post55, len_161^0'=len_161^post55, x_975^0'=x_975^post55, a_902^0'=a_902^post55, a_947^0'=a_947^post55, rcd_88^0'=rcd_88^post55, a_311^0'=a_311^post55, i_140^0'=i_140^post55, a_577^0'=a_577^post55, x_14^0'=x_14^post55, nondet_12^0'=nondet_12^post55, a_121^0'=a_121^post55, head_15^0'=head_15^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55, i_27^0'=i_27^post55, x_21^0'=x_21^post55, a_634^0'=a_634^post55, r_39^0'=r_39^post55, a_263^0'=a_263^post55, i_113^0'=i_113^post55, a_432^0'=a_432^post55, temp0_31^0'=temp0_31^post55, len_262^0'=len_262^post55, y_20^0'=y_20^post55, f_248^0'=f_248^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_393^0'=a_393^post55, i_229^0'=i_229^post55, a_610^0'=a_610^post55, r_151^0'=r_151^post55, a_144^0'=a_144^post55, i_1053^0'=i_1053^post55, a_417^0'=a_417^post55, t_24^0'=t_24^post55, i_94^0'=i_94^post55, x_852^0'=x_852^post55, a_862^0'=a_862^post55, rcd_1249^0'=rcd_1249^post55, rcd_58^0'=rcd_58^post55, a_310^0'=a_310^post55, i_127^0'=i_127^post55, a_576^0'=a_576^post55, tmp_34^0'=tmp_34^post55, length_29^0'=length_29^post55, a_1162^0'=a_1162^post55, f_969^0'=f_969^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55, a_395^0'=a_395^post55, x_17^0'=x_17^post55, a_633^0'=a_633^post55, r_224^0'=r_224^post55, a_239^0'=a_239^post55, i_107^0'=i_107^post55, a_431^0'=a_431^post55, temp0_16^0'=temp0_16^post55, len_238^0'=len_238^post55, x_SLAM_f_19^0'=x_SLAM_f_19^post55, a_924^0'=a_924^post55, ct_18^0'=ct_18^post55, result_11^0'=result_11^post55, a_392^0'=a_392^post55, i_197^0'=i_197^post55, a_579^0'=a_579^post55, r_143^0'=r_143^post55, a_1236^0'=a_1236^post55, head_32^0'=head_32^post55, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55, i_30^0'=i_30^post55, x_253^0'=x_253^post55, a_635^0'=a_635^post55, r_970^0'=r_970^post55, rcd_47^0'=rcd_47^post55, a_309^0'=a_309^post55, i_1248^0'=i_1248^post55, a_575^0'=a_575^post55, temp_35^0'=temp_35^post55, len_861^0'=len_861^post55, (x_852^0-x_852^post55 == 0 /\ -a_577^post55+a_577^0 == 0 /\ -len_861^post55+len_861^0 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_14^0-x_14^post55 == 0 /\ -i_1053^post55+i_1053^0 == 0 /\ a_576^0-a_576^post55 == 0 /\ a_121^0-a_121^post55 == 0 /\ -i_1248^post55+i_1248^0 == 0 /\ -y_20^post55+y_20^0 == 0 /\ len_161^0-len_161^post55 == 0 /\ len_262^0-len_262^post55 == 0 /\ x_156^0-x_156^post55 == 0 /\ a_947^0-a_947^post55 == 0 /\ 1-x_14^0 <= 0 /\ -a_395^post55+a_395^0 == 0 /\ f_847^0-f_847^post55 == 0 /\ a_394^0-a_394^post55 == 0 /\ -r_39^post55+r_39^0 == 0 /\ -a_579^post55+a_579^0 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ -a_392^post55+a_392^0 == 0 /\ -a_263^post55+a_263^0 == 0 /\ rcd_1249^0-rcd_1249^post55 == 0 /\ -head_32^post55+head_32^0 == 0 /\ r_224^0-r_224^post55 == 0 /\ -a_575^post55+a_575^0 == 0 /\ i_106^0-i_106^post55 == 0 /\ head_15^0-head_15^post55 == 0 /\ -i_197^post55+i_197^0 == 0 /\ a_430^0-a_430^post55 == 0 /\ -a_309^post55+a_309^0 == 0 /\ ct_18^0-ct_18^post55 == 0 /\ -a_144^post55+a_144^0 == 0 /\ -a_393^post55+a_393^0 == 0 /\ -a_635^post55+a_635^0 == 0 /\ -i_107^post55+i_107^0 == 0 /\ a_432^0-a_432^post55 == 0 /\ -t_24^post55+t_24^0 == 0 /\ -a_1162^post55+a_1162^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ i_127^0-i_127^post55 == 0 /\ -i_30^post55+i_30^0 == 0 /\ x_21^0-x_21^post55 == 0 /\ a_1236^0-a_1236^post55 == 0 /\ -a_417^post55+a_417^0 == 0 /\ i_229^0-i_229^post55 == 0 /\ a_431^0-a_431^post55 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ i_27^0-i_27^post55 == 0 /\ -a_632^post55+a_632^0 == 0 /\ x_17^0-x_17^post55 == 0 /\ -len_238^post55+len_238^0 == 0 /\ -x_SLAM_f_19^post55+x_SLAM_f_19^0 == 0 /\ -r_151^post55+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_634^0-a_634^post55 == 0 /\ a_1089^0-a_1089^post55 == 0 /\ a_310^0-a_310^post55 == 0 /\ a_176^0-a_176^post55 == 0 /\ -a_633^post55+a_633^0 == 0 /\ -a_924^post55+a_924^0 == 0 /\ rcd_88^0-rcd_88^post55 == 0 /\ a_311^0-a_311^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post55+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -r_143^post55+r_143^0 == 0 /\ -a_862^post55+a_862^0 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ f_248^0-f_248^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ -temp_35^post55+temp_35^0 == 0 /\ x_975^0-x_975^post55 == 0 /\ -i_113^post55+i_113^0 == 0 /\ -r_970^post55+r_970^0 == 0 /\ t_458^0-t_458^post55 == 0 /\ a_239^0-a_239^post55 == 0 /\ -a_902^post55+a_902^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post55+x_253^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ a_610^0-a_610^post55 == 0 /\ -rcd_47^post55+rcd_47^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ f_969^0-f_969^post55 == 0), cost: 1 New rule: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l36 -> l37 : a_1089^0'=a_1089^post56, f_847^0'=f_847^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_394^0'=a_394^post56, x_156^0'=x_156^post56, a_632^0'=a_632^post56, r_192^0'=r_192^post56, a_176^0'=a_176^post56, i_106^0'=i_106^post56, a_430^0'=a_430^post56, t_458^0'=t_458^post56, len_161^0'=len_161^post56, x_975^0'=x_975^post56, a_902^0'=a_902^post56, a_947^0'=a_947^post56, rcd_88^0'=rcd_88^post56, a_311^0'=a_311^post56, i_140^0'=i_140^post56, a_577^0'=a_577^post56, x_14^0'=x_14^post56, nondet_12^0'=nondet_12^post56, a_121^0'=a_121^post56, head_15^0'=head_15^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56, i_27^0'=i_27^post56, x_21^0'=x_21^post56, a_634^0'=a_634^post56, r_39^0'=r_39^post56, a_263^0'=a_263^post56, i_113^0'=i_113^post56, a_432^0'=a_432^post56, temp0_31^0'=temp0_31^post56, len_262^0'=len_262^post56, y_20^0'=y_20^post56, f_248^0'=f_248^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_393^0'=a_393^post56, i_229^0'=i_229^post56, a_610^0'=a_610^post56, r_151^0'=r_151^post56, a_144^0'=a_144^post56, i_1053^0'=i_1053^post56, a_417^0'=a_417^post56, t_24^0'=t_24^post56, i_94^0'=i_94^post56, x_852^0'=x_852^post56, a_862^0'=a_862^post56, rcd_1249^0'=rcd_1249^post56, rcd_58^0'=rcd_58^post56, a_310^0'=a_310^post56, i_127^0'=i_127^post56, a_576^0'=a_576^post56, tmp_34^0'=tmp_34^post56, length_29^0'=length_29^post56, a_1162^0'=a_1162^post56, f_969^0'=f_969^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56, a_395^0'=a_395^post56, x_17^0'=x_17^post56, a_633^0'=a_633^post56, r_224^0'=r_224^post56, a_239^0'=a_239^post56, i_107^0'=i_107^post56, a_431^0'=a_431^post56, temp0_16^0'=temp0_16^post56, len_238^0'=len_238^post56, x_SLAM_f_19^0'=x_SLAM_f_19^post56, a_924^0'=a_924^post56, ct_18^0'=ct_18^post56, result_11^0'=result_11^post56, a_392^0'=a_392^post56, i_197^0'=i_197^post56, a_579^0'=a_579^post56, r_143^0'=r_143^post56, a_1236^0'=a_1236^post56, head_32^0'=head_32^post56, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56, i_30^0'=i_30^post56, x_253^0'=x_253^post56, a_635^0'=a_635^post56, r_970^0'=r_970^post56, rcd_47^0'=rcd_47^post56, a_309^0'=a_309^post56, i_1248^0'=i_1248^post56, a_575^0'=a_575^post56, temp_35^0'=temp_35^post56, len_861^0'=len_861^post56, (a_610^0-a_610^post56 == 0 /\ -a_1162^post56+a_1162^0 == 0 /\ r_39^0-r_39^post56 == 0 /\ a_633^0-a_633^post56 == 0 /\ -r_151^post56+r_151^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ ct_18^0-ct_18^post56 == 0 /\ a_1089^0-a_1089^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -len_238^post56+len_238^0 == 0 /\ x_21^0-x_21^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_924^post56+a_924^0 == 0 /\ -i_113^post56+i_113^0 == 0 /\ i_27^0-i_27^post56 == 0 /\ -a_1236^post56+a_1236^0 == 0 /\ -r_143^post56+r_143^0 == 0 /\ a_634^0-a_634^post56 == 0 /\ a_947^0-a_947^post56 == 0 /\ a_263^0-a_263^post56 == 0 /\ -x_253^post56+x_253^0 == 0 /\ -a_432^post56+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_144^0-a_144^post56 == 0 /\ x_156^0-x_156^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ a_576^0-a_576^post56 == 0 /\ -y_20^post56+y_20^0 == 0 /\ -rcd_47^post56+rcd_47^0 == 0 /\ -i_140^post56+i_140^0 == 0 /\ -a_431^post56+a_431^0 == 0 /\ f_248^0-f_248^post56 == 0 /\ -x_SLAM_f_19^post56+x_SLAM_f_19^0 == 0 /\ tmp_34^0-tmp_34^post56 == 0 /\ -r_970^post56+r_970^0 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -i_94^post56+i_94^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -i_1248^post56+i_1248^0 == 0 /\ -a_395^post56+a_395^0 == 0 /\ a_632^0-a_632^post56 == 0 /\ -t_458^post56+t_458^0 == 0 /\ -len_861^post56+len_861^0 == 0 /\ -head_32^post56+head_32^0 == 0 /\ -a_239^post56+a_239^0 == 0 /\ rcd_1249^0-rcd_1249^post56 == 0 /\ a_902^0-a_902^post56 == 0 /\ x_975^0-x_975^post56 == 0 /\ a_430^0-a_430^post56 == 0 /\ -a_310^post56+a_310^0 == 0 /\ -i_106^post56+i_106^0 == 0 /\ -a_862^post56+a_862^0 == 0 /\ i_229^0-i_229^post56 == 0 /\ a_577^0-a_577^post56 == 0 /\ -a_392^post56+a_392^0 == 0 /\ f_969^0-f_969^post56 == 0 /\ -temp0_16^post56+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post56+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post56+r_224^0 == 0 /\ len_161^0-len_161^post56 == 0 /\ -a_579^post56+a_579^0 == 0 /\ -a_575^post56+a_575^0 == 0 /\ x_14^0-x_14^post56 == 0 /\ -t_24^post56+t_24^0 == 0 /\ -i_197^post56+i_197^0 == 0 /\ -a_417^post56+a_417^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -a_309^post56+a_309^0 == 0 /\ x_17^0-x_17^post56 == 0 /\ -a_393^post56+a_393^0 == 0 /\ a_121^0-a_121^post56 == 0 /\ -i_127^post56+i_127^0 == 0 /\ -i_30^post56+i_30^0 == 0 /\ len_262^0-len_262^post56 == 0 /\ a_394^0-a_394^post56 == 0 /\ 1+x_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -a_635^post56+a_635^0 == 0 /\ rcd_88^0-rcd_88^post56 == 0 /\ a_176^0-a_176^post56 == 0 /\ -x_852^post56+x_852^0 == 0 /\ a_311^0-a_311^post56 == 0 /\ f_847^0-f_847^post56 == 0 /\ i_1053^0-i_1053^post56 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -i_107^post56+i_107^0 == 0), cost: 1 New rule: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l37 -> l38 : a_1089^0'=a_1089^post57, f_847^0'=f_847^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_394^0'=a_394^post57, x_156^0'=x_156^post57, a_632^0'=a_632^post57, r_192^0'=r_192^post57, a_176^0'=a_176^post57, i_106^0'=i_106^post57, a_430^0'=a_430^post57, t_458^0'=t_458^post57, len_161^0'=len_161^post57, x_975^0'=x_975^post57, a_902^0'=a_902^post57, a_947^0'=a_947^post57, rcd_88^0'=rcd_88^post57, a_311^0'=a_311^post57, i_140^0'=i_140^post57, a_577^0'=a_577^post57, x_14^0'=x_14^post57, nondet_12^0'=nondet_12^post57, a_121^0'=a_121^post57, head_15^0'=head_15^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57, i_27^0'=i_27^post57, x_21^0'=x_21^post57, a_634^0'=a_634^post57, r_39^0'=r_39^post57, a_263^0'=a_263^post57, i_113^0'=i_113^post57, a_432^0'=a_432^post57, temp0_31^0'=temp0_31^post57, len_262^0'=len_262^post57, y_20^0'=y_20^post57, f_248^0'=f_248^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_393^0'=a_393^post57, i_229^0'=i_229^post57, a_610^0'=a_610^post57, r_151^0'=r_151^post57, a_144^0'=a_144^post57, i_1053^0'=i_1053^post57, a_417^0'=a_417^post57, t_24^0'=t_24^post57, i_94^0'=i_94^post57, x_852^0'=x_852^post57, a_862^0'=a_862^post57, rcd_1249^0'=rcd_1249^post57, rcd_58^0'=rcd_58^post57, a_310^0'=a_310^post57, i_127^0'=i_127^post57, a_576^0'=a_576^post57, tmp_34^0'=tmp_34^post57, length_29^0'=length_29^post57, a_1162^0'=a_1162^post57, f_969^0'=f_969^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57, a_395^0'=a_395^post57, x_17^0'=x_17^post57, a_633^0'=a_633^post57, r_224^0'=r_224^post57, a_239^0'=a_239^post57, i_107^0'=i_107^post57, a_431^0'=a_431^post57, temp0_16^0'=temp0_16^post57, len_238^0'=len_238^post57, x_SLAM_f_19^0'=x_SLAM_f_19^post57, a_924^0'=a_924^post57, ct_18^0'=ct_18^post57, result_11^0'=result_11^post57, a_392^0'=a_392^post57, i_197^0'=i_197^post57, a_579^0'=a_579^post57, r_143^0'=r_143^post57, a_1236^0'=a_1236^post57, head_32^0'=head_32^post57, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57, i_30^0'=i_30^post57, x_253^0'=x_253^post57, a_635^0'=a_635^post57, r_970^0'=r_970^post57, rcd_47^0'=rcd_47^post57, a_309^0'=a_309^post57, i_1248^0'=i_1248^post57, a_575^0'=a_575^post57, temp_35^0'=temp_35^post57, len_861^0'=len_861^post57, (0 == 0 /\ -r_39^post57+r_39^0 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_263^0-a_263^post57 == 0 /\ -i_1053^post57+i_1053^0 == 0 /\ 1-a_176^0+a_862^post57 <= 0 /\ -r_224^post57+r_224^0 == 0 /\ -a_395^post57+a_395^0 == 0 /\ -a_310^post57+a_310^0 == 0 /\ t_24^0-t_24^post57 == 0 /\ -a_1236^post57+a_1236^0 == 0 /\ a_634^0-a_634^post57 == 0 /\ len_161^0-len_161^post57 == 0 /\ a_947^0-a_947^post57 == 0 /\ -i_1248^post57+i_1248^0 == 0 /\ -head_32^post57+head_32^0 == 0 /\ -x_17^post57+x_17^0 == 0 /\ -a_579^post57+a_579^0 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ -i_197^post57+i_197^0 == 0 /\ a_176^0-a_176^post57 == 0 /\ -len_262^post57+len_262^0 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ a_902^0-a_902^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57-nondet_12^12 == 0 /\ i_113^0-i_113^post57 == 0 /\ length_29^0-length_29^post57 == 0 /\ r_192^0-r_192^post57 == 0 /\ -i_107^post57+i_107^0 == 0 /\ a_430^0-a_430^post57 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ f_248^0-f_248^post57 == 0 /\ -i_30^post57+i_30^0 == 0 /\ -i_140^post57+i_140^0 == 0 /\ rcd_88^0-rcd_88^post57 == 0 /\ -a_575^post57+a_575^0 == 0 /\ head_15^0-head_15^post57 == 0 /\ -a_309^post57+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ -1-len_161^0+len_861^post57 <= 0 /\ x_156^0-x_156^post57 == 0 /\ -a_1162^post57+a_1162^0 == 0 /\ -a_635^post57+a_635^0 == 0 /\ -rcd_47^post57+rcd_47^0 == 0 /\ a_632^0-a_632^post57 == 0 /\ -ct_18^post57+ct_18^0 == 0 /\ a_432^0-a_432^post57 == 0 /\ a_144^0-a_144^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post57+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^post57+y_20^0 == 0 /\ a_417^0-a_417^post57 == 0 /\ x_852^0-x_852^post57 == 0 /\ -1+a_176^0-a_862^post57 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ f_847^0-x_14^0 <= 0 /\ -a_121^post57+a_121^0 == 0 /\ a_576^0-a_576^post57 == 0 /\ f_847^0-f_847^post57 == 0 /\ -rcd_1249^post57+rcd_1249^0 == 0 /\ -a_924^post57+a_924^0 == 0 /\ a_394^0-a_394^post57 == 0 /\ -len_238^post57+len_238^0 == 0 /\ a_610^0-a_610^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ -r_143^post57+r_143^0 == 0 /\ r_151^0-r_151^post57 == 0 /\ -x_253^post57+x_253^0 == 0 /\ -x_SLAM_f_19^post57+x_SLAM_f_19^0 == 0 /\ 1-i_27^0 <= 0 /\ -a_392^post57+a_392^0 == 0 /\ a_1089^0-a_1089^post57 == 0 /\ a_577^0-a_577^post57 == 0 /\ t_458^0-t_458^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ x_975^0-x_975^post57 == 0 /\ i_106^0-i_106^post57 == 0 /\ -f_847^0+x_14^0 <= 0 /\ a_239^0-a_239^post57 == 0 /\ 1+len_161^0-len_861^post57 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post57 <= 0 /\ i_127^0-i_127^post57 == 0 /\ -r_970^post57+r_970^0 == 0 /\ a_393^0-a_393^post57 == 0 /\ a_633^0-a_633^post57 == 0 /\ -a_431^post57+a_431^0 == 0 /\ i_27^0-i_27^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ f_969^0-f_969^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -i_229^post57+i_229^0 == 0 /\ a_311^0-a_311^post57 == 0), cost: 1 New rule: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l38 -> l39 : a_1089^0'=a_1089^post58, f_847^0'=f_847^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_394^0'=a_394^post58, x_156^0'=x_156^post58, a_632^0'=a_632^post58, r_192^0'=r_192^post58, a_176^0'=a_176^post58, i_106^0'=i_106^post58, a_430^0'=a_430^post58, t_458^0'=t_458^post58, len_161^0'=len_161^post58, x_975^0'=x_975^post58, a_902^0'=a_902^post58, a_947^0'=a_947^post58, rcd_88^0'=rcd_88^post58, a_311^0'=a_311^post58, i_140^0'=i_140^post58, a_577^0'=a_577^post58, x_14^0'=x_14^post58, nondet_12^0'=nondet_12^post58, a_121^0'=a_121^post58, head_15^0'=head_15^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58, i_27^0'=i_27^post58, x_21^0'=x_21^post58, a_634^0'=a_634^post58, r_39^0'=r_39^post58, a_263^0'=a_263^post58, i_113^0'=i_113^post58, a_432^0'=a_432^post58, temp0_31^0'=temp0_31^post58, len_262^0'=len_262^post58, y_20^0'=y_20^post58, f_248^0'=f_248^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_393^0'=a_393^post58, i_229^0'=i_229^post58, a_610^0'=a_610^post58, r_151^0'=r_151^post58, a_144^0'=a_144^post58, i_1053^0'=i_1053^post58, a_417^0'=a_417^post58, t_24^0'=t_24^post58, i_94^0'=i_94^post58, x_852^0'=x_852^post58, a_862^0'=a_862^post58, rcd_1249^0'=rcd_1249^post58, rcd_58^0'=rcd_58^post58, a_310^0'=a_310^post58, i_127^0'=i_127^post58, a_576^0'=a_576^post58, tmp_34^0'=tmp_34^post58, length_29^0'=length_29^post58, a_1162^0'=a_1162^post58, f_969^0'=f_969^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58, a_395^0'=a_395^post58, x_17^0'=x_17^post58, a_633^0'=a_633^post58, r_224^0'=r_224^post58, a_239^0'=a_239^post58, i_107^0'=i_107^post58, a_431^0'=a_431^post58, temp0_16^0'=temp0_16^post58, len_238^0'=len_238^post58, x_SLAM_f_19^0'=x_SLAM_f_19^post58, a_924^0'=a_924^post58, ct_18^0'=ct_18^post58, result_11^0'=result_11^post58, a_392^0'=a_392^post58, i_197^0'=i_197^post58, a_579^0'=a_579^post58, r_143^0'=r_143^post58, a_1236^0'=a_1236^post58, head_32^0'=head_32^post58, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58, i_30^0'=i_30^post58, x_253^0'=x_253^post58, a_635^0'=a_635^post58, r_970^0'=r_970^post58, rcd_47^0'=rcd_47^post58, a_309^0'=a_309^post58, i_1248^0'=i_1248^post58, a_575^0'=a_575^post58, temp_35^0'=temp_35^post58, len_861^0'=len_861^post58, (a_394^0-a_394^post58 == 0 /\ a_176^0-a_176^post58 == 0 /\ -a_431^post58+a_431^0 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ a_947^0-a_947^post58 == 0 /\ -a_263^post58+a_263^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post58+r_970^0 == 0 /\ len_161^0-len_161^post58 == 0 /\ -t_24^post58+t_24^0 == 0 /\ -r_224^post58+r_224^0 == 0 /\ r_192^0-r_192^post58 == 0 /\ -i_197^post58+i_197^0 == 0 /\ x_14^0-x_14^post58 == 0 /\ rcd_1249^0-rcd_1249^post58 == 0 /\ x_852^0-x_852^post58 == 0 /\ -temp_35^post58+temp_35^0 == 0 /\ f_847^0-f_847^post58 == 0 /\ -y_20^post58+y_20^0 == 0 /\ r_39^0-r_39^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post58+a_1162^0 == 0 /\ i_229^0-i_229^post58 == 0 /\ a_432^0-a_432^post58 == 0 /\ -a_395^post58+a_395^0 == 0 /\ -a_924^post58+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_417^post58+a_417^0 == 0 /\ a_430^0-a_430^post58 == 0 /\ ct_18^0-ct_18^post58 == 0 /\ -a_577^post58+a_577^0 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -temp0_16^post58+temp0_16^0 == 0 /\ -i_1248^post58+i_1248^0 == 0 /\ -i_1053^post58+i_1053^0 == 0 /\ -len_861^post58+len_861^0 == 0 /\ a_144^0-a_144^post58 == 0 /\ x_156^0-x_156^post58 == 0 /\ i_113^0-i_113^post58 == 0 /\ head_15^0-head_15^post58 == 0 /\ i_127^0-i_127^post58 == 0 /\ -a_635^post58+a_635^0 == 0 /\ -a_393^post58+a_393^0 == 0 /\ rcd_88^0-rcd_88^post58 == 0 /\ -a_576^post58+a_576^0 == 0 /\ a_310^0-a_310^post58 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ -r_143^post58+r_143^0 == 0 /\ -i_30^post58+i_30^0 == 0 /\ i_27^0-i_27^post58 == 0 /\ i_140^0-i_140^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post58+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post58 == 0 /\ -i_107^post58+i_107^0 == 0 /\ -a_1236^post58+a_1236^0 == 0 /\ a_1089^0-a_1089^post58 == 0 /\ a_311^0-a_311^post58 == 0 /\ -a_309^post58+a_309^0 == 0 /\ -x_SLAM_f_19^post58+x_SLAM_f_19^0 == 0 /\ -rcd_47^post58+rcd_47^0 == 0 /\ -len_238^post58+len_238^0 == 0 /\ -i_106^post58+i_106^0 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post58 == 0 /\ -a_392^post58+a_392^0 == 0 /\ -a_633^post58+a_633^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ x_975^0-x_975^post58 == 0 /\ f_969^0-f_969^post58 == 0 /\ -x_253^post58+x_253^0 == 0 /\ temp0_31^0-temp0_31^post58 == 0 /\ -a_862^post58+a_862^0 == 0 /\ f_248^0-f_248^post58 == 0 /\ a_610^0-a_610^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ a_121^0-a_121^post58 == 0 /\ a_239^0-a_239^post58 == 0 /\ -t_458^post58+t_458^0 == 0 /\ -a_579^post58+a_579^0 == 0 /\ -a_902^post58+a_902^0 == 0 /\ len_262^0-len_262^post58 == 0 /\ -r_151^post58+r_151^0 == 0 /\ a_575^0-a_575^post58 == 0 /\ -head_32^post58+head_32^0 == 0 /\ x_17^0-x_17^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ a_634^0-a_634^post58 == 0), cost: 1 New rule: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l38 -> l39 : a_1089^0'=a_1089^post59, f_847^0'=f_847^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_394^0'=a_394^post59, x_156^0'=x_156^post59, a_632^0'=a_632^post59, r_192^0'=r_192^post59, a_176^0'=a_176^post59, i_106^0'=i_106^post59, a_430^0'=a_430^post59, t_458^0'=t_458^post59, len_161^0'=len_161^post59, x_975^0'=x_975^post59, a_902^0'=a_902^post59, a_947^0'=a_947^post59, rcd_88^0'=rcd_88^post59, a_311^0'=a_311^post59, i_140^0'=i_140^post59, a_577^0'=a_577^post59, x_14^0'=x_14^post59, nondet_12^0'=nondet_12^post59, a_121^0'=a_121^post59, head_15^0'=head_15^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59, i_27^0'=i_27^post59, x_21^0'=x_21^post59, a_634^0'=a_634^post59, r_39^0'=r_39^post59, a_263^0'=a_263^post59, i_113^0'=i_113^post59, a_432^0'=a_432^post59, temp0_31^0'=temp0_31^post59, len_262^0'=len_262^post59, y_20^0'=y_20^post59, f_248^0'=f_248^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_393^0'=a_393^post59, i_229^0'=i_229^post59, a_610^0'=a_610^post59, r_151^0'=r_151^post59, a_144^0'=a_144^post59, i_1053^0'=i_1053^post59, a_417^0'=a_417^post59, t_24^0'=t_24^post59, i_94^0'=i_94^post59, x_852^0'=x_852^post59, a_862^0'=a_862^post59, rcd_1249^0'=rcd_1249^post59, rcd_58^0'=rcd_58^post59, a_310^0'=a_310^post59, i_127^0'=i_127^post59, a_576^0'=a_576^post59, tmp_34^0'=tmp_34^post59, length_29^0'=length_29^post59, a_1162^0'=a_1162^post59, f_969^0'=f_969^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59, a_395^0'=a_395^post59, x_17^0'=x_17^post59, a_633^0'=a_633^post59, r_224^0'=r_224^post59, a_239^0'=a_239^post59, i_107^0'=i_107^post59, a_431^0'=a_431^post59, temp0_16^0'=temp0_16^post59, len_238^0'=len_238^post59, x_SLAM_f_19^0'=x_SLAM_f_19^post59, a_924^0'=a_924^post59, ct_18^0'=ct_18^post59, result_11^0'=result_11^post59, a_392^0'=a_392^post59, i_197^0'=i_197^post59, a_579^0'=a_579^post59, r_143^0'=r_143^post59, a_1236^0'=a_1236^post59, head_32^0'=head_32^post59, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59, i_30^0'=i_30^post59, x_253^0'=x_253^post59, a_635^0'=a_635^post59, r_970^0'=r_970^post59, rcd_47^0'=rcd_47^post59, a_309^0'=a_309^post59, i_1248^0'=i_1248^post59, a_575^0'=a_575^post59, temp_35^0'=temp_35^post59, len_861^0'=len_861^post59, (tmp_34^0-tmp_34^post59 == 0 /\ f_847^0-f_847^post59 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -r_143^post59+r_143^0 == 0 /\ 1+head_15^0 <= 0 /\ head_15^0-head_15^post59 == 0 /\ -len_238^post59+len_238^0 == 0 /\ -a_635^post59+a_635^0 == 0 /\ -x_SLAM_f_19^post59+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post59 == 0 /\ -i_113^post59+i_113^0 == 0 /\ -a_417^post59+a_417^0 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ -a_575^post59+a_575^0 == 0 /\ a_902^0-a_902^post59 == 0 /\ -a_309^post59+a_309^0 == 0 /\ -a_1236^post59+a_1236^0 == 0 /\ a_633^0-a_633^post59 == 0 /\ a_862^0-a_862^post59 == 0 /\ ct_18^0-ct_18^post59 == 0 /\ x_156^0-x_156^post59 == 0 /\ a_610^0-a_610^post59 == 0 /\ -a_432^post59+a_432^0 == 0 /\ -a_121^post59+a_121^0 == 0 /\ a_144^0-a_144^post59 == 0 /\ x_14^0-x_14^post59 == 0 /\ a_947^0-a_947^post59 == 0 /\ -length_29^post59+length_29^0 == 0 /\ i_27^0-i_27^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_1089^0-a_1089^post59 == 0 /\ -a_431^post59+a_431^0 == 0 /\ t_458^0-t_458^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ a_430^0-a_430^post59 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -a_310^post59+a_310^0 == 0 /\ a_263^0-a_263^post59 == 0 /\ a_311^0-a_311^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -x_253^post59+x_253^0 == 0 /\ i_106^0-i_106^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post59 == 0 /\ -rcd_47^post59+rcd_47^0 == 0 /\ -a_392^post59+a_392^0 == 0 /\ a_576^0-a_576^post59 == 0 /\ -r_224^post59+r_224^0 == 0 /\ -i_197^post59+i_197^0 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ f_248^0-f_248^post59 == 0 /\ -x_852^post59+x_852^0 == 0 /\ y_20^0-y_20^post59 == 0 /\ a_393^0-a_393^post59 == 0 /\ -r_970^post59+r_970^0 == 0 /\ a_632^0-a_632^post59 == 0 /\ r_151^0-r_151^post59 == 0 /\ -rcd_58^post59+rcd_58^0 == 0 /\ -a_395^post59+a_395^0 == 0 /\ temp0_31^0-temp0_31^post59 == 0 /\ -a_579^post59+a_579^0 == 0 /\ x_975^0-x_975^post59 == 0 /\ len_262^0-len_262^post59 == 0 /\ -i_229^post59+i_229^0 == 0 /\ -i_127^post59+i_127^0 == 0 /\ a_634^0-a_634^post59 == 0 /\ a_577^0-a_577^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post59+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 == 0 /\ a_394^0-a_394^post59 == 0 /\ -a_1162^post59+a_1162^0 == 0 /\ -a_924^post59+a_924^0 == 0 /\ r_192^0-r_192^post59 == 0 /\ f_969^0-f_969^post59 == 0 /\ -i_107^post59+i_107^0 == 0 /\ -i_1248^post59+i_1248^0 == 0 /\ a_176^0-a_176^post59 == 0 /\ -x_17^post59+x_17^0 == 0 /\ -a_239^post59+a_239^0 == 0 /\ -t_24^post59+t_24^0 == 0 /\ -temp0_16^post59+temp0_16^0 == 0 /\ -len_861^post59+len_861^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ i_140^0-i_140^post59 == 0 /\ -i_30^post59+i_30^0 == 0 /\ len_161^0-len_161^post59 == 0 /\ rcd_1249^0-rcd_1249^post59 == 0 /\ i_1053^0-i_1053^post59 == 0 /\ rcd_88^0-rcd_88^post59 == 0), cost: 1 New rule: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l39 -> l40 : a_1089^0'=a_1089^post60, f_847^0'=f_847^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_394^0'=a_394^post60, x_156^0'=x_156^post60, a_632^0'=a_632^post60, r_192^0'=r_192^post60, a_176^0'=a_176^post60, i_106^0'=i_106^post60, a_430^0'=a_430^post60, t_458^0'=t_458^post60, len_161^0'=len_161^post60, x_975^0'=x_975^post60, a_902^0'=a_902^post60, a_947^0'=a_947^post60, rcd_88^0'=rcd_88^post60, a_311^0'=a_311^post60, i_140^0'=i_140^post60, a_577^0'=a_577^post60, x_14^0'=x_14^post60, nondet_12^0'=nondet_12^post60, a_121^0'=a_121^post60, head_15^0'=head_15^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60, i_27^0'=i_27^post60, x_21^0'=x_21^post60, a_634^0'=a_634^post60, r_39^0'=r_39^post60, a_263^0'=a_263^post60, i_113^0'=i_113^post60, a_432^0'=a_432^post60, temp0_31^0'=temp0_31^post60, len_262^0'=len_262^post60, y_20^0'=y_20^post60, f_248^0'=f_248^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_393^0'=a_393^post60, i_229^0'=i_229^post60, a_610^0'=a_610^post60, r_151^0'=r_151^post60, a_144^0'=a_144^post60, i_1053^0'=i_1053^post60, a_417^0'=a_417^post60, t_24^0'=t_24^post60, i_94^0'=i_94^post60, x_852^0'=x_852^post60, a_862^0'=a_862^post60, rcd_1249^0'=rcd_1249^post60, rcd_58^0'=rcd_58^post60, a_310^0'=a_310^post60, i_127^0'=i_127^post60, a_576^0'=a_576^post60, tmp_34^0'=tmp_34^post60, length_29^0'=length_29^post60, a_1162^0'=a_1162^post60, f_969^0'=f_969^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60, a_395^0'=a_395^post60, x_17^0'=x_17^post60, a_633^0'=a_633^post60, r_224^0'=r_224^post60, a_239^0'=a_239^post60, i_107^0'=i_107^post60, a_431^0'=a_431^post60, temp0_16^0'=temp0_16^post60, len_238^0'=len_238^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, a_924^0'=a_924^post60, ct_18^0'=ct_18^post60, result_11^0'=result_11^post60, a_392^0'=a_392^post60, i_197^0'=i_197^post60, a_579^0'=a_579^post60, r_143^0'=r_143^post60, a_1236^0'=a_1236^post60, head_32^0'=head_32^post60, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60, i_30^0'=i_30^post60, x_253^0'=x_253^post60, a_635^0'=a_635^post60, r_970^0'=r_970^post60, rcd_47^0'=rcd_47^post60, a_309^0'=a_309^post60, i_1248^0'=i_1248^post60, a_575^0'=a_575^post60, temp_35^0'=temp_35^post60, len_861^0'=len_861^post60, (-i_1248^post60+i_1248^0 == 0 /\ i_27^0-i_27^post60 == 0 /\ t_24^0-t_24^post60 == 0 /\ -head_32^post60+head_32^0 == 0 /\ a_634^0-a_634^post60 == 0 /\ -a_239^post60+a_239^0 == 0 /\ a_947^0-a_947^post60 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ -i_229^post60+i_229^0 == 0 /\ -a_263^post60+a_263^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ -i_197^post60+i_197^0 == 0 /\ -a_579^post60+a_579^0 == 0 /\ -len_262^post60+len_262^0 == 0 /\ -x_253^post60+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ a_430^0-a_430^post60 == 0 /\ a_176^0-a_176^post60 == 0 /\ length_29^0-length_29^post60 == 0 /\ -a_395^post60+a_395^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post60 == 0 /\ head_15^0-head_15^post60 == 0 /\ 1-x_852^0 <= 0 /\ -a_309^post60+a_309^0 == 0 /\ f_248^0-f_248^post60 == 0 /\ r_151^0-r_151^post60 == 0 /\ a_902^0-a_902^post60 == 0 /\ -a_1162^post60+a_1162^0 == 0 /\ -x_17^post60+x_17^0 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -x_21^post60+x_21^0 == 0 /\ a_432^0-a_432^post60 == 0 /\ -i_1053^post60+i_1053^0 == 0 /\ -i_30^post60+i_30^0 == 0 /\ -a_635^post60+a_635^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ i_113^0-i_113^post60 == 0 /\ a_144^0-a_144^post60 == 0 /\ x_156^0-x_156^post60 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -r_224^post60+r_224^0 == 0 /\ -a_924^post60+a_924^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ -len_861^post60+len_861^0 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ len_238^0-len_238^post60 == 0 /\ len_161^0-len_161^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -x_SLAM_f_19^post60+x_SLAM_f_19^0 == 0 /\ -r_143^post60+r_143^0 == 0 /\ x_852^0-x_852^post60 == 0 /\ a_1089^0-a_1089^post60 == 0 /\ a_394^0-a_394^post60 == 0 /\ a_417^0-a_417^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post60+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ y_20^0-y_20^post60 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ a_311^0-a_311^post60 == 0 /\ rcd_1249^0-rcd_1249^post60 == 0 /\ f_847^0-f_847^post60 == 0 /\ -i_107^post60+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post60 == 0 /\ -x_14^post60+x_14^0 == 0 /\ -x_975^post60+x_975^0 == 0 /\ -a_576^post60+a_576^0 == 0 /\ i_140^0-i_140^post60 == 0 /\ i_106^0-i_106^post60 == 0 /\ -a_1236^post60+a_1236^0 == 0 /\ a_633^0-a_633^post60 == 0 /\ -a_121^post60+a_121^0 == 0 /\ -a_310^post60+a_310^0 == 0 /\ a_393^0-a_393^post60 == 0 /\ -a_862^post60+a_862^0 == 0 /\ -a_431^post60+a_431^0 == 0 /\ t_458^0-t_458^post60 == 0 /\ a_577^0-a_577^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ f_969^0-f_969^post60 == 0 /\ -a_392^post60+a_392^0 == 0 /\ -rcd_47^post60+rcd_47^0 == 0 /\ i_127^0-i_127^post60 == 0 /\ -r_970^post60+r_970^0 == 0 /\ a_575^0-a_575^post60 == 0 /\ -a_610^post60+a_610^0 == 0 /\ -i_94^post60+i_94^0 == 0), cost: 1 New rule: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 Applied preprocessing Original rule: l39 -> l40 : a_1089^0'=a_1089^post61, f_847^0'=f_847^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_394^0'=a_394^post61, x_156^0'=x_156^post61, a_632^0'=a_632^post61, r_192^0'=r_192^post61, a_176^0'=a_176^post61, i_106^0'=i_106^post61, a_430^0'=a_430^post61, t_458^0'=t_458^post61, len_161^0'=len_161^post61, x_975^0'=x_975^post61, a_902^0'=a_902^post61, a_947^0'=a_947^post61, rcd_88^0'=rcd_88^post61, a_311^0'=a_311^post61, i_140^0'=i_140^post61, a_577^0'=a_577^post61, x_14^0'=x_14^post61, nondet_12^0'=nondet_12^post61, a_121^0'=a_121^post61, head_15^0'=head_15^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61, i_27^0'=i_27^post61, x_21^0'=x_21^post61, a_634^0'=a_634^post61, r_39^0'=r_39^post61, a_263^0'=a_263^post61, i_113^0'=i_113^post61, a_432^0'=a_432^post61, temp0_31^0'=temp0_31^post61, len_262^0'=len_262^post61, y_20^0'=y_20^post61, f_248^0'=f_248^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_393^0'=a_393^post61, i_229^0'=i_229^post61, a_610^0'=a_610^post61, r_151^0'=r_151^post61, a_144^0'=a_144^post61, i_1053^0'=i_1053^post61, a_417^0'=a_417^post61, t_24^0'=t_24^post61, i_94^0'=i_94^post61, x_852^0'=x_852^post61, a_862^0'=a_862^post61, rcd_1249^0'=rcd_1249^post61, rcd_58^0'=rcd_58^post61, a_310^0'=a_310^post61, i_127^0'=i_127^post61, a_576^0'=a_576^post61, tmp_34^0'=tmp_34^post61, length_29^0'=length_29^post61, a_1162^0'=a_1162^post61, f_969^0'=f_969^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61, a_395^0'=a_395^post61, x_17^0'=x_17^post61, a_633^0'=a_633^post61, r_224^0'=r_224^post61, a_239^0'=a_239^post61, i_107^0'=i_107^post61, a_431^0'=a_431^post61, temp0_16^0'=temp0_16^post61, len_238^0'=len_238^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, a_924^0'=a_924^post61, ct_18^0'=ct_18^post61, result_11^0'=result_11^post61, a_392^0'=a_392^post61, i_197^0'=i_197^post61, a_579^0'=a_579^post61, r_143^0'=r_143^post61, a_1236^0'=a_1236^post61, head_32^0'=head_32^post61, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61, i_30^0'=i_30^post61, x_253^0'=x_253^post61, a_635^0'=a_635^post61, r_970^0'=r_970^post61, rcd_47^0'=rcd_47^post61, a_309^0'=a_309^post61, i_1248^0'=i_1248^post61, a_575^0'=a_575^post61, temp_35^0'=temp_35^post61, len_861^0'=len_861^post61, (result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post61 == 0 /\ head_15^0-head_15^post61 == 0 /\ -a_633^post61+a_633^0 == 0 /\ -x_SLAM_f_19^post61+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post61 == 0 /\ tmp_34^0-tmp_34^post61 == 0 /\ x_156^0-x_156^post61 == 0 /\ -a_432^post61+a_432^0 == 0 /\ len_262^0-len_262^post61 == 0 /\ -a_924^post61+a_924^0 == 0 /\ a_610^0-a_610^post61 == 0 /\ -i_113^post61+i_113^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ a_902^0-a_902^post61 == 0 /\ -r_143^post61+r_143^0 == 0 /\ a_862^0-a_862^post61 == 0 /\ a_634^0-a_634^post61 == 0 /\ -x_253^post61+x_253^0 == 0 /\ a_394^0-a_394^post61 == 0 /\ a_1089^0-a_1089^post61 == 0 /\ -f_969^post61+f_969^0 == 0 /\ x_14^0-x_14^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ -a_1236^post61+a_1236^0 == 0 /\ -temp_35^post61+temp_35^0 == 0 /\ a_176^0-a_176^post61 == 0 /\ -a_121^post61+a_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ -rcd_47^post61+rcd_47^0 == 0 /\ -r_970^post61+r_970^0 == 0 /\ a_392^0-a_392^post61 == 0 /\ -len_238^post61+len_238^0 == 0 /\ a_311^0-a_311^post61 == 0 /\ -i_94^post61+i_94^0 == 0 /\ a_263^0-a_263^post61 == 0 /\ x_852^0-x_852^post61 == 0 /\ -a_310^post61+a_310^0 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ i_1053^0-i_1053^post61 == 0 /\ rcd_88^0-rcd_88^post61 == 0 /\ length_29^0-length_29^post61 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post61 == 0 /\ -ct_18^post61+ct_18^0 == 0 /\ 1+x_852^0 <= 0 /\ a_393^0-a_393^post61 == 0 /\ -i_1248^post61+i_1248^0 == 0 /\ -len_861^post61+len_861^0 == 0 /\ -a_239^post61+a_239^0 == 0 /\ -f_248^post61+f_248^0 == 0 /\ -r_224^post61+r_224^0 == 0 /\ -a_579^post61+a_579^0 == 0 /\ -t_24^post61+t_24^0 == 0 /\ x_975^0-x_975^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ y_20^0-y_20^post61 == 0 /\ r_151^0-r_151^post61 == 0 /\ -temp0_16^post61+temp0_16^0 == 0 /\ a_577^0-a_577^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ -a_431^post61+a_431^0 == 0 /\ -i_127^post61+i_127^0 == 0 /\ -i_229^post61+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post61+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_430^post61+a_430^0 == 0 /\ -i_197^post61+i_197^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -a_309^post61+a_309^0 == 0 /\ -a_144^post61+a_144^0 == 0 /\ a_947^0-a_947^post61 == 0 /\ -i_30^post61+i_30^0 == 0 /\ -i_107^post61+i_107^0 == 0 /\ a_417^0-a_417^post61 == 0 /\ -a_575^post61+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ len_161^0-len_161^post61 == 0 /\ i_27^0-i_27^post61 == 0 /\ -a_635^post61+a_635^0 == 0 /\ a_576^0-a_576^post61 == 0 /\ -x_17^post61+x_17^0 == 0 /\ f_847^0-f_847^post61 == 0 /\ t_458^0-t_458^post61 == 0 /\ -x_21^post61+x_21^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ rcd_1249^0-rcd_1249^post61 == 0 /\ i_140^0-i_140^post61 == 0 /\ i_106^0-i_106^post61 == 0 /\ a_395^0-a_395^post61 == 0 /\ -a_1162^post61+a_1162^0 == 0), cost: 1 New rule: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 Applied preprocessing Original rule: l40 -> l35 : a_1089^0'=a_1089^post62, f_847^0'=f_847^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_394^0'=a_394^post62, x_156^0'=x_156^post62, a_632^0'=a_632^post62, r_192^0'=r_192^post62, a_176^0'=a_176^post62, i_106^0'=i_106^post62, a_430^0'=a_430^post62, t_458^0'=t_458^post62, len_161^0'=len_161^post62, x_975^0'=x_975^post62, a_902^0'=a_902^post62, a_947^0'=a_947^post62, rcd_88^0'=rcd_88^post62, a_311^0'=a_311^post62, i_140^0'=i_140^post62, a_577^0'=a_577^post62, x_14^0'=x_14^post62, nondet_12^0'=nondet_12^post62, a_121^0'=a_121^post62, head_15^0'=head_15^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62, i_27^0'=i_27^post62, x_21^0'=x_21^post62, a_634^0'=a_634^post62, r_39^0'=r_39^post62, a_263^0'=a_263^post62, i_113^0'=i_113^post62, a_432^0'=a_432^post62, temp0_31^0'=temp0_31^post62, len_262^0'=len_262^post62, y_20^0'=y_20^post62, f_248^0'=f_248^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_393^0'=a_393^post62, i_229^0'=i_229^post62, a_610^0'=a_610^post62, r_151^0'=r_151^post62, a_144^0'=a_144^post62, i_1053^0'=i_1053^post62, a_417^0'=a_417^post62, t_24^0'=t_24^post62, i_94^0'=i_94^post62, x_852^0'=x_852^post62, a_862^0'=a_862^post62, rcd_1249^0'=rcd_1249^post62, rcd_58^0'=rcd_58^post62, a_310^0'=a_310^post62, i_127^0'=i_127^post62, a_576^0'=a_576^post62, tmp_34^0'=tmp_34^post62, length_29^0'=length_29^post62, a_1162^0'=a_1162^post62, f_969^0'=f_969^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62, a_395^0'=a_395^post62, x_17^0'=x_17^post62, a_633^0'=a_633^post62, r_224^0'=r_224^post62, a_239^0'=a_239^post62, i_107^0'=i_107^post62, a_431^0'=a_431^post62, temp0_16^0'=temp0_16^post62, len_238^0'=len_238^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, a_924^0'=a_924^post62, ct_18^0'=ct_18^post62, result_11^0'=result_11^post62, a_392^0'=a_392^post62, i_197^0'=i_197^post62, a_579^0'=a_579^post62, r_143^0'=r_143^post62, a_1236^0'=a_1236^post62, head_32^0'=head_32^post62, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62, i_30^0'=i_30^post62, x_253^0'=x_253^post62, a_635^0'=a_635^post62, r_970^0'=r_970^post62, rcd_47^0'=rcd_47^post62, a_309^0'=a_309^post62, i_1248^0'=i_1248^post62, a_575^0'=a_575^post62, temp_35^0'=temp_35^post62, len_861^0'=len_861^post62, (0 == 0 /\ i_140^0-i_140^post62 == 0 /\ -a_239^post62+a_239^0 == 0 /\ a_634^0-a_634^post62 == 0 /\ i_27^0-i_27^post62 == 0 /\ -len_262^post62+len_262^0 == 0 /\ -ct_18^post62+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post62+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ -f_248^post62+f_248^0 == 0 /\ y_20^0-y_20^post62 == 0 /\ -i_197^post62+i_197^0 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ i_1053^0-i_1053^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post62 == 0 /\ a_392^0-a_392^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ a_395^0-a_395^post62 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post62+head_32^0 == 0 /\ -i_127^post62+i_127^0 == 0 /\ t_458^0-t_458^post62 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_579^post62+a_579^0 == 0 /\ -a_1162^post62+a_1162^0 == 0 /\ -x_17^post62+x_17^0 == 0 /\ -i_30^post62+i_30^0 == 0 /\ -a_924^post62+a_924^0 == 0 /\ a_632^0-a_632^post62 == 0 /\ -i_107^post62+i_107^0 == 0 /\ a_393^0-a_393^post62 == 0 /\ -x_21^post62+x_21^0 == 0 /\ r_143^0-r_143^post62 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ i_113^0-i_113^post62 == 0 /\ r_192^0-r_192^post62 == 0 /\ -len_861^post62+len_861^0 == 0 /\ a_310^0-a_310^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -a_635^post62+a_635^0 == 0 /\ -a_144^post62+a_144^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -i_1248^post62+i_1248^0 == 0 /\ -a_176^post62+a_862^0 <= 0 /\ a_862^0-a_862^post62 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ -len_238^post62+len_238^0 == 0 /\ a_121^0-a_121^post62 == 0 /\ -a_610^post62+a_610^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ x_852^0-x_852^post62 == 0 /\ -len_161^post62+len_861^0 <= 0 /\ a_263^0-a_263^post62 == 0 /\ -a_633^post62+a_633^0 == 0 /\ a_394^0-a_394^post62 == 0 /\ a_417^0-a_417^post62 == 0 /\ t_24^0-t_24^post62 == 0 /\ -a_575^post62+a_575^0 == 0 /\ -rcd_1249^post62+rcd_1249^0 == 0 /\ a_947^0-a_947^post62 == 0 /\ -x_975^post62+x_975^0 == 0 /\ f_847^0-f_847^post62 == 0 /\ i_106^0-i_106^post62 == 0 /\ a_176^post62-a_862^0 <= 0 /\ rcd_47^0-rcd_47^post62 == 0 /\ 1-i_27^0 <= 0 /\ r_151^0-r_151^post62 == 0 /\ -a_576^post62+a_576^0 == 0 /\ -a_1236^post62+a_1236^0 == 0 /\ -x_253^post62+x_253^0 == 0 /\ length_29^0-length_29^post62 == 0 /\ a_430^0-a_430^post62 == 0 /\ a_311^0-a_311^post62 == 0 /\ len_161^post62-len_861^0 <= 0 /\ a_309^0-a_309^post62 == 0 /\ a_902^0-a_902^post62 == 0 /\ rcd_88^0-rcd_88^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post62 == 0 /\ r_224^0-r_224^post62 == 0 /\ a_577^0-a_577^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ x_156^0-x_156^post62 == 0 /\ a_1089^0-a_1089^post62 == 0 /\ i_229^0-i_229^post62 == 0 /\ -f_969^post62+f_969^0 == 0 /\ -r_970^post62+r_970^0 == 0 /\ a_432^0-a_432^post62 == 0 /\ -a_431^post62+a_431^0 == 0 /\ x_14^0-x_14^post62 == 0), cost: 1 New rule: l40 -> l35 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l35 -> l16 : a_1089^0'=a_1089^post63, f_847^0'=f_847^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_394^0'=a_394^post63, x_156^0'=x_156^post63, a_632^0'=a_632^post63, r_192^0'=r_192^post63, a_176^0'=a_176^post63, i_106^0'=i_106^post63, a_430^0'=a_430^post63, t_458^0'=t_458^post63, len_161^0'=len_161^post63, x_975^0'=x_975^post63, a_902^0'=a_902^post63, a_947^0'=a_947^post63, rcd_88^0'=rcd_88^post63, a_311^0'=a_311^post63, i_140^0'=i_140^post63, a_577^0'=a_577^post63, x_14^0'=x_14^post63, nondet_12^0'=nondet_12^post63, a_121^0'=a_121^post63, head_15^0'=head_15^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63, i_27^0'=i_27^post63, x_21^0'=x_21^post63, a_634^0'=a_634^post63, r_39^0'=r_39^post63, a_263^0'=a_263^post63, i_113^0'=i_113^post63, a_432^0'=a_432^post63, temp0_31^0'=temp0_31^post63, len_262^0'=len_262^post63, y_20^0'=y_20^post63, f_248^0'=f_248^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_393^0'=a_393^post63, i_229^0'=i_229^post63, a_610^0'=a_610^post63, r_151^0'=r_151^post63, a_144^0'=a_144^post63, i_1053^0'=i_1053^post63, a_417^0'=a_417^post63, t_24^0'=t_24^post63, i_94^0'=i_94^post63, x_852^0'=x_852^post63, a_862^0'=a_862^post63, rcd_1249^0'=rcd_1249^post63, rcd_58^0'=rcd_58^post63, a_310^0'=a_310^post63, i_127^0'=i_127^post63, a_576^0'=a_576^post63, tmp_34^0'=tmp_34^post63, length_29^0'=length_29^post63, a_1162^0'=a_1162^post63, f_969^0'=f_969^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63, a_395^0'=a_395^post63, x_17^0'=x_17^post63, a_633^0'=a_633^post63, r_224^0'=r_224^post63, a_239^0'=a_239^post63, i_107^0'=i_107^post63, a_431^0'=a_431^post63, temp0_16^0'=temp0_16^post63, len_238^0'=len_238^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, a_924^0'=a_924^post63, ct_18^0'=ct_18^post63, result_11^0'=result_11^post63, a_392^0'=a_392^post63, i_197^0'=i_197^post63, a_579^0'=a_579^post63, r_143^0'=r_143^post63, a_1236^0'=a_1236^post63, head_32^0'=head_32^post63, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63, i_30^0'=i_30^post63, x_253^0'=x_253^post63, a_635^0'=a_635^post63, r_970^0'=r_970^post63, rcd_47^0'=rcd_47^post63, a_309^0'=a_309^post63, i_1248^0'=i_1248^post63, a_575^0'=a_575^post63, temp_35^0'=temp_35^post63, len_861^0'=len_861^post63, (t_458^0-t_458^post63 == 0 /\ a_430^0-a_430^post63 == 0 /\ a_902^0-a_902^post63 == 0 /\ x_975^0-x_975^post63 == 0 /\ a_577^0-a_577^post63 == 0 /\ i_106^0-i_106^post63 == 0 /\ -rcd_47^post63+rcd_47^0 == 0 /\ -a_634^post63+a_634^0 == 0 /\ -len_238^post63+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post63+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post63+a_633^0 == 0 /\ x_156^0-x_156^post63 == 0 /\ a_632^0-a_632^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -rcd_1249^post63+rcd_1249^0 == 0 /\ -r_151^post63+r_151^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ -r_143^post63+r_143^0 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ len_262^0-len_262^post63 == 0 /\ a_862^0-a_862^post63 == 0 /\ temp0_31^0-temp0_31^post63 == 0 /\ a_1162^0-a_1162^post63 == 0 /\ -f_969^post63+f_969^0 == 0 /\ -a_576^post63+a_576^0 == 0 /\ -a_431^post63+a_431^0 == 0 /\ a_310^0-a_310^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ -r_970^post63+r_970^0 == 0 /\ f_847^0-f_847^post63 == 0 /\ -a_1236^post63+a_1236^0 == 0 /\ a_392^0-a_392^post63 == 0 /\ y_20^0-y_20^post63 == 0 /\ -a_311^post63+a_311^0 == 0 /\ a_394^0-a_394^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ a_579^0-a_579^post63 == 0 /\ -x_253^post63+x_253^0 == 0 /\ i_140^0-i_140^post63 == 0 /\ -a_610^post63+a_610^0 == 0 /\ i_1053^0-i_1053^post63 == 0 /\ a_176^0-a_176^post63 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ r_39^0-r_39^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ -f_248^post63+f_248^0 == 0 /\ -rcd_58^post63+rcd_58^0 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0 /\ -len_861^post63+len_861^0 == 0 /\ -len_161^post63+len_161^0 == 0 /\ -r_224^post63+r_224^0 == 0 /\ i_94^0-i_94^post63 == 0 /\ i_113^0-i_113^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post63 == 0 /\ a_393^0-a_393^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ -a_239^post63+a_239^0 == 0 /\ -i_27^post63+i_27^0 == 0 /\ -r_192^post63+r_192^0 == 0 /\ a_432^0-a_432^post63 == 0 /\ -i_127^post63+i_127^0 == 0 /\ x_21^0-x_21^post63 == 0 /\ -x_17^post63+x_17^0 == 0 /\ -i_197^post63+i_197^0 == 0 /\ x_14^0-x_14^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -i_30^post63+i_30^0 == 0 /\ -x_852^post63+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_635^post63+a_635^0 == 0 /\ -a_144^post63+a_144^0 == 0 /\ i_229^0-i_229^post63 == 0 /\ a_121^0-a_121^post63 == 0 /\ -i_107^post63+i_107^0 == 0 /\ i_1248^0-i_1248^post63 == 0 /\ -a_924^post63+a_924^0 == 0 /\ -a_575^post63+a_575^0 == 0 /\ a_1089^0-a_1089^post63 == 0 /\ a_263^0-a_263^post63 == 0 /\ -a_417^post63+a_417^0 == 0 /\ -a_309^post63+a_309^0 == 0 /\ a_947^0-a_947^post63 == 0 /\ -ct_18^post63+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post63 == 0 /\ -head_15^post63+head_15^0 == 0 /\ a_395^0-a_395^post63 == 0), cost: 1 New rule: l35 -> l16 : TRUE, cost: 1 Applied preprocessing Original rule: l16 -> l41 : a_1089^0'=a_1089^post64, f_847^0'=f_847^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_394^0'=a_394^post64, x_156^0'=x_156^post64, a_632^0'=a_632^post64, r_192^0'=r_192^post64, a_176^0'=a_176^post64, i_106^0'=i_106^post64, a_430^0'=a_430^post64, t_458^0'=t_458^post64, len_161^0'=len_161^post64, x_975^0'=x_975^post64, a_902^0'=a_902^post64, a_947^0'=a_947^post64, rcd_88^0'=rcd_88^post64, a_311^0'=a_311^post64, i_140^0'=i_140^post64, a_577^0'=a_577^post64, x_14^0'=x_14^post64, nondet_12^0'=nondet_12^post64, a_121^0'=a_121^post64, head_15^0'=head_15^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64, i_27^0'=i_27^post64, x_21^0'=x_21^post64, a_634^0'=a_634^post64, r_39^0'=r_39^post64, a_263^0'=a_263^post64, i_113^0'=i_113^post64, a_432^0'=a_432^post64, temp0_31^0'=temp0_31^post64, len_262^0'=len_262^post64, y_20^0'=y_20^post64, f_248^0'=f_248^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_393^0'=a_393^post64, i_229^0'=i_229^post64, a_610^0'=a_610^post64, r_151^0'=r_151^post64, a_144^0'=a_144^post64, i_1053^0'=i_1053^post64, a_417^0'=a_417^post64, t_24^0'=t_24^post64, i_94^0'=i_94^post64, x_852^0'=x_852^post64, a_862^0'=a_862^post64, rcd_1249^0'=rcd_1249^post64, rcd_58^0'=rcd_58^post64, a_310^0'=a_310^post64, i_127^0'=i_127^post64, a_576^0'=a_576^post64, tmp_34^0'=tmp_34^post64, length_29^0'=length_29^post64, a_1162^0'=a_1162^post64, f_969^0'=f_969^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64, a_395^0'=a_395^post64, x_17^0'=x_17^post64, a_633^0'=a_633^post64, r_224^0'=r_224^post64, a_239^0'=a_239^post64, i_107^0'=i_107^post64, a_431^0'=a_431^post64, temp0_16^0'=temp0_16^post64, len_238^0'=len_238^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, a_924^0'=a_924^post64, ct_18^0'=ct_18^post64, result_11^0'=result_11^post64, a_392^0'=a_392^post64, i_197^0'=i_197^post64, a_579^0'=a_579^post64, r_143^0'=r_143^post64, a_1236^0'=a_1236^post64, head_32^0'=head_32^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64, i_30^0'=i_30^post64, x_253^0'=x_253^post64, a_635^0'=a_635^post64, r_970^0'=r_970^post64, rcd_47^0'=rcd_47^post64, a_309^0'=a_309^post64, i_1248^0'=i_1248^post64, a_575^0'=a_575^post64, temp_35^0'=temp_35^post64, len_861^0'=len_861^post64, (0 == 0 /\ -len_262^post64+len_262^0 == 0 /\ a_417^0-a_417^post64 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ i_140^0-i_140^post64 == 0 /\ a_263^0-a_263^post64 == 0 /\ -i_1248^post64+i_1248^0 == 0 /\ a_1089^0-a_1089^post64 == 0 /\ a_394^0-a_394^post64 == 0 /\ a_1162^0-a_1162^post64 == 0 /\ -a_239^post64+a_239^0 == 0 /\ -len_161^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -i_1053^post64+i_1053^0 == 0 /\ -i_30^post64+i_30^0 == 0 /\ rcd_88^0-rcd_88^post64 == 0 /\ y_20^0-y_20^post64 == 0 /\ f_847^0-f_847^post64 == 0 /\ a_924^0-a_924^post64 == 0 /\ -a_392^post64+a_392^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post64 == 0 /\ -head_32^post64+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post64+len_861^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ x_975^0-x_975^post64 == 0 /\ i_106^0-i_106^post64 == 0 /\ -a_635^post64+a_635^0 == 0 /\ i_94^0-i_94^post64 == 0 /\ r_224^0-r_224^post64 == 0 /\ i_127^0-i_127^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ t_458^0-t_458^post64 == 0 /\ r_39^0-r_39^post64 == 0 /\ -a_309^post64+a_309^0 == 0 /\ a_393^0-a_393^post64 == 0 /\ a_577^0-a_577^post64 == 0 /\ -a_579^post64+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post64+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -i_107^post64+i_107^0 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -a_176^0 <= 0 /\ -a_575^post64+a_575^0 == 0 /\ -a_633^post64+a_633^0 == 0 /\ -x_852^post64+x_852^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ -len_238^post64+len_238^0 == 0 /\ a_862^0-a_862^post64 == 0 /\ x_14^0-x_14^post64 == 0 /\ a_121^0-a_121^post64 == 0 /\ x_156^0-x_156^post64 == 0 /\ len_161^0-len_161^post64 == 0 /\ a_947^0-a_947^post64 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ -f_969^post64+f_969^0 == 0 /\ -a_634^post64+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post64+rcd_1249^0 == 0 /\ length_29^0-length_29^post64 == 0 /\ f_248^0-f_248^post64 == 0 /\ -a_576^post64+a_576^0 == 0 /\ -a_431^post64+a_431^0 == 0 /\ -r_970^post64+r_970^0 == 0 /\ rcd_47^0-rcd_47^post64 == 0 /\ a_632^0-a_632^post64 == 0 /\ r_151^0-r_151^post64 == 0 /\ -a_176^post64+a_176^0 == 0 /\ a_311^0-a_311^post64 == 0 /\ -r_143^post64+r_143^0 == 0 /\ i_113^0-i_113^post64 == 0 /\ -temp_35^post64+temp_35^0 == 0 /\ -i_27^post64+i_27^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ a_902^0-a_902^post64 == 0 /\ -x_253^post64+x_253^0 == 0 /\ a_310^0-a_310^post64 == 0 /\ i_229^0-i_229^post64 == 0 /\ a_432^0-a_432^post64 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ r_192^0-r_192^post64 == 0 /\ -a_395^post64+a_395^0 == 0 /\ -a_610^post64+a_610^0 == 0 /\ a_430^0-a_430^post64 == 0 /\ -a_1236^post64+a_1236^0 == 0), cost: 1 New rule: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Applied preprocessing Original rule: l41 -> l42 : a_1089^0'=a_1089^post65, f_847^0'=f_847^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_394^0'=a_394^post65, x_156^0'=x_156^post65, a_632^0'=a_632^post65, r_192^0'=r_192^post65, a_176^0'=a_176^post65, i_106^0'=i_106^post65, a_430^0'=a_430^post65, t_458^0'=t_458^post65, len_161^0'=len_161^post65, x_975^0'=x_975^post65, a_902^0'=a_902^post65, a_947^0'=a_947^post65, rcd_88^0'=rcd_88^post65, a_311^0'=a_311^post65, i_140^0'=i_140^post65, a_577^0'=a_577^post65, x_14^0'=x_14^post65, nondet_12^0'=nondet_12^post65, a_121^0'=a_121^post65, head_15^0'=head_15^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65, i_27^0'=i_27^post65, x_21^0'=x_21^post65, a_634^0'=a_634^post65, r_39^0'=r_39^post65, a_263^0'=a_263^post65, i_113^0'=i_113^post65, a_432^0'=a_432^post65, temp0_31^0'=temp0_31^post65, len_262^0'=len_262^post65, y_20^0'=y_20^post65, f_248^0'=f_248^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_393^0'=a_393^post65, i_229^0'=i_229^post65, a_610^0'=a_610^post65, r_151^0'=r_151^post65, a_144^0'=a_144^post65, i_1053^0'=i_1053^post65, a_417^0'=a_417^post65, t_24^0'=t_24^post65, i_94^0'=i_94^post65, x_852^0'=x_852^post65, a_862^0'=a_862^post65, rcd_1249^0'=rcd_1249^post65, rcd_58^0'=rcd_58^post65, a_310^0'=a_310^post65, i_127^0'=i_127^post65, a_576^0'=a_576^post65, tmp_34^0'=tmp_34^post65, length_29^0'=length_29^post65, a_1162^0'=a_1162^post65, f_969^0'=f_969^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65, a_395^0'=a_395^post65, x_17^0'=x_17^post65, a_633^0'=a_633^post65, r_224^0'=r_224^post65, a_239^0'=a_239^post65, i_107^0'=i_107^post65, a_431^0'=a_431^post65, temp0_16^0'=temp0_16^post65, len_238^0'=len_238^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, a_924^0'=a_924^post65, ct_18^0'=ct_18^post65, result_11^0'=result_11^post65, a_392^0'=a_392^post65, i_197^0'=i_197^post65, a_579^0'=a_579^post65, r_143^0'=r_143^post65, a_1236^0'=a_1236^post65, head_32^0'=head_32^post65, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65, i_30^0'=i_30^post65, x_253^0'=x_253^post65, a_635^0'=a_635^post65, r_970^0'=r_970^post65, rcd_47^0'=rcd_47^post65, a_309^0'=a_309^post65, i_1248^0'=i_1248^post65, a_575^0'=a_575^post65, temp_35^0'=temp_35^post65, len_861^0'=len_861^post65, (a_430^0-a_430^post65 == 0 /\ r_192^0-r_192^post65 == 0 /\ -a_633^post65+a_633^0 == 0 /\ i_113^0-i_113^post65 == 0 /\ x_975^0-x_975^post65 == 0 /\ i_127^0-i_127^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post65 == 0 /\ rcd_1249^0-rcd_1249^post65 == 0 /\ -a_634^post65+a_634^0 == 0 /\ 1-x_14^0 <= 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -rcd_47^post65+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post65 == 0 /\ -t_24^post65+t_24^0 == 0 /\ a_1162^0-a_1162^post65 == 0 /\ -a_924^post65+a_924^0 == 0 /\ a_432^0-a_432^post65 == 0 /\ i_27^0-i_27^post65 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -r_143^post65+r_143^0 == 0 /\ a_576^0-a_576^post65 == 0 /\ -x_253^post65+x_253^0 == 0 /\ i_197^0-i_197^post65 == 0 /\ -temp_35^post65+temp_35^0 == 0 /\ i_140^0-i_140^post65 == 0 /\ -r_970^post65+r_970^0 == 0 /\ i_229^0-i_229^post65 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ x_156^0-x_156^post65 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -f_969^post65+f_969^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_847^0-f_847^post65 == 0 /\ -a_431^post65+a_431^0 == 0 /\ a_394^0-a_394^post65 == 0 /\ head_15^0-head_15^post65 == 0 /\ -a_395^post65+a_395^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post65+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_947^0-a_947^post65 == 0 /\ -len_161^post65+len_161^0 == 0 /\ i_107^0-i_107^post65 == 0 /\ a_311^0-a_311^post65 == 0 /\ -a_862^post65+a_862^0 == 0 /\ -len_861^post65+len_861^0 == 0 /\ a_902^0-a_902^post65 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ i_94^0-i_94^post65 == 0 /\ -a_1236^post65+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_1248^post65+i_1248^0 == 0 /\ r_224^0-r_224^post65 == 0 /\ a_610^0-a_610^post65 == 0 /\ -a_239^post65+a_239^0 == 0 /\ -a_393^post65+a_393^0 == 0 /\ a_1089^0-a_1089^post65 == 0 /\ -a_310^post65+a_310^0 == 0 /\ -i_30^post65+i_30^0 == 0 /\ -i_106^post65+i_106^0 == 0 /\ -i_1053^post65+i_1053^0 == 0 /\ -length_29^post65+length_29^0 == 0 /\ a_632^0-a_632^post65 == 0 /\ -a_392^post65+a_392^0 == 0 /\ x_21^0-x_21^post65 == 0 /\ len_262^0-len_262^post65 == 0 /\ -a_575^post65+a_575^0 == 0 /\ -r_151^post65+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ -t_458^post65+t_458^0 == 0 /\ temp0_31^0-temp0_31^post65 == 0 /\ -a_635^post65+a_635^0 == 0 /\ -a_579^post65+a_579^0 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -x_852^post65+x_852^0 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -a_263^post65+a_263^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ len_238^0-len_238^post65 == 0 /\ a_176^0-a_176^post65 == 0 /\ -a_144^post65+a_144^0 == 0 /\ f_248^0-f_248^post65 == 0 /\ -a_417^post65+a_417^0 == 0 /\ a_121^0-a_121^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0), cost: 1 New rule: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l41 -> l42 : a_1089^0'=a_1089^post66, f_847^0'=f_847^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_394^0'=a_394^post66, x_156^0'=x_156^post66, a_632^0'=a_632^post66, r_192^0'=r_192^post66, a_176^0'=a_176^post66, i_106^0'=i_106^post66, a_430^0'=a_430^post66, t_458^0'=t_458^post66, len_161^0'=len_161^post66, x_975^0'=x_975^post66, a_902^0'=a_902^post66, a_947^0'=a_947^post66, rcd_88^0'=rcd_88^post66, a_311^0'=a_311^post66, i_140^0'=i_140^post66, a_577^0'=a_577^post66, x_14^0'=x_14^post66, nondet_12^0'=nondet_12^post66, a_121^0'=a_121^post66, head_15^0'=head_15^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66, i_27^0'=i_27^post66, x_21^0'=x_21^post66, a_634^0'=a_634^post66, r_39^0'=r_39^post66, a_263^0'=a_263^post66, i_113^0'=i_113^post66, a_432^0'=a_432^post66, temp0_31^0'=temp0_31^post66, len_262^0'=len_262^post66, y_20^0'=y_20^post66, f_248^0'=f_248^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_393^0'=a_393^post66, i_229^0'=i_229^post66, a_610^0'=a_610^post66, r_151^0'=r_151^post66, a_144^0'=a_144^post66, i_1053^0'=i_1053^post66, a_417^0'=a_417^post66, t_24^0'=t_24^post66, i_94^0'=i_94^post66, x_852^0'=x_852^post66, a_862^0'=a_862^post66, rcd_1249^0'=rcd_1249^post66, rcd_58^0'=rcd_58^post66, a_310^0'=a_310^post66, i_127^0'=i_127^post66, a_576^0'=a_576^post66, tmp_34^0'=tmp_34^post66, length_29^0'=length_29^post66, a_1162^0'=a_1162^post66, f_969^0'=f_969^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66, a_395^0'=a_395^post66, x_17^0'=x_17^post66, a_633^0'=a_633^post66, r_224^0'=r_224^post66, a_239^0'=a_239^post66, i_107^0'=i_107^post66, a_431^0'=a_431^post66, temp0_16^0'=temp0_16^post66, len_238^0'=len_238^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, a_924^0'=a_924^post66, ct_18^0'=ct_18^post66, result_11^0'=result_11^post66, a_392^0'=a_392^post66, i_197^0'=i_197^post66, a_579^0'=a_579^post66, r_143^0'=r_143^post66, a_1236^0'=a_1236^post66, head_32^0'=head_32^post66, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66, i_30^0'=i_30^post66, x_253^0'=x_253^post66, a_635^0'=a_635^post66, r_970^0'=r_970^post66, rcd_47^0'=rcd_47^post66, a_309^0'=a_309^post66, i_1248^0'=i_1248^post66, a_575^0'=a_575^post66, temp_35^0'=temp_35^post66, len_861^0'=len_861^post66, (-a_417^post66+a_417^0 == 0 /\ -len_861^post66+len_861^0 == 0 /\ a_121^0-a_121^post66 == 0 /\ a_1162^0-a_1162^post66 == 0 /\ -a_392^post66+a_392^0 == 0 /\ a_576^0-a_576^post66 == 0 /\ a_263^0-a_263^post66 == 0 /\ i_197^0-i_197^post66 == 0 /\ i_229^0-i_229^post66 == 0 /\ f_847^0-f_847^post66 == 0 /\ i_140^0-i_140^post66 == 0 /\ -i_27^post66+i_27^0 == 0 /\ -a_309^post66+a_309^0 == 0 /\ -a_862^post66+a_862^0 == 0 /\ a_924^0-a_924^post66 == 0 /\ -a_635^post66+a_635^0 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -len_262^post66+len_262^0 == 0 /\ -a_393^post66+a_393^0 == 0 /\ -length_29^post66+length_29^0 == 0 /\ x_975^0-x_975^post66 == 0 /\ y_20^0-y_20^post66 == 0 /\ a_577^0-a_577^post66 == 0 /\ -a_1236^post66+a_1236^0 == 0 /\ -i_1053^post66+i_1053^0 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -a_579^post66+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_192^0-r_192^post66 == 0 /\ r_224^0-r_224^post66 == 0 /\ i_127^0-i_127^post66 == 0 /\ head_15^0-head_15^post66 == 0 /\ -i_30^post66+i_30^0 == 0 /\ i_106^0-i_106^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ a_632^0-a_632^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -i_107^post66+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ -a_575^post66+a_575^0 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -f_969^post66+f_969^0 == 0 /\ x_156^0-x_156^post66 == 0 /\ a_432^0-a_432^post66 == 0 /\ -a_633^post66+a_633^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ -a_610^post66+a_610^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post66+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ a_431^0-a_431^post66 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ x_21^0-x_21^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ -x_852^post66+x_852^0 == 0 /\ a_634^0-a_634^post66 == 0 /\ -rcd_1249^post66+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post66 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ -rcd_58^post66+rcd_58^0 == 0 /\ f_248^0-f_248^post66 == 0 /\ a_394^0-a_394^post66 == 0 /\ r_970^0-r_970^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post66+len_238^0 == 0 /\ -r_151^post66+r_151^0 == 0 /\ a_947^0-a_947^post66 == 0 /\ a_311^0-a_311^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post66 == 0 /\ -len_161^post66+len_161^0 == 0 /\ -i_1248^post66+i_1248^0 == 0 /\ a_176^0-a_176^post66 == 0 /\ -x_253^post66+x_253^0 == 0 /\ -a_239^post66+a_239^0 == 0 /\ rcd_47^0-rcd_47^post66 == 0 /\ a_310^0-a_310^post66 == 0 /\ 1+x_14^0 <= 0 /\ a_1089^0-a_1089^post66 == 0 /\ temp0_16^0-temp0_16^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ a_430^0-a_430^post66 == 0 /\ -r_143^post66+r_143^0 == 0 /\ t_458^0-t_458^post66 == 0 /\ -rcd_88^post66+rcd_88^0 == 0 /\ -i_113^post66+i_113^0 == 0 /\ -a_395^post66+a_395^0 == 0), cost: 1 New rule: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l42 -> l43 : a_1089^0'=a_1089^post67, f_847^0'=f_847^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, a_394^0'=a_394^post67, x_156^0'=x_156^post67, a_632^0'=a_632^post67, r_192^0'=r_192^post67, a_176^0'=a_176^post67, i_106^0'=i_106^post67, a_430^0'=a_430^post67, t_458^0'=t_458^post67, len_161^0'=len_161^post67, x_975^0'=x_975^post67, a_902^0'=a_902^post67, a_947^0'=a_947^post67, rcd_88^0'=rcd_88^post67, a_311^0'=a_311^post67, i_140^0'=i_140^post67, a_577^0'=a_577^post67, x_14^0'=x_14^post67, nondet_12^0'=nondet_12^post67, a_121^0'=a_121^post67, head_15^0'=head_15^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67, i_27^0'=i_27^post67, x_21^0'=x_21^post67, a_634^0'=a_634^post67, r_39^0'=r_39^post67, a_263^0'=a_263^post67, i_113^0'=i_113^post67, a_432^0'=a_432^post67, temp0_31^0'=temp0_31^post67, len_262^0'=len_262^post67, y_20^0'=y_20^post67, f_248^0'=f_248^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, a_393^0'=a_393^post67, i_229^0'=i_229^post67, a_610^0'=a_610^post67, r_151^0'=r_151^post67, a_144^0'=a_144^post67, i_1053^0'=i_1053^post67, a_417^0'=a_417^post67, t_24^0'=t_24^post67, i_94^0'=i_94^post67, x_852^0'=x_852^post67, a_862^0'=a_862^post67, rcd_1249^0'=rcd_1249^post67, rcd_58^0'=rcd_58^post67, a_310^0'=a_310^post67, i_127^0'=i_127^post67, a_576^0'=a_576^post67, tmp_34^0'=tmp_34^post67, length_29^0'=length_29^post67, a_1162^0'=a_1162^post67, f_969^0'=f_969^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67, a_395^0'=a_395^post67, x_17^0'=x_17^post67, a_633^0'=a_633^post67, r_224^0'=r_224^post67, a_239^0'=a_239^post67, i_107^0'=i_107^post67, a_431^0'=a_431^post67, temp0_16^0'=temp0_16^post67, len_238^0'=len_238^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, a_924^0'=a_924^post67, ct_18^0'=ct_18^post67, result_11^0'=result_11^post67, a_392^0'=a_392^post67, i_197^0'=i_197^post67, a_579^0'=a_579^post67, r_143^0'=r_143^post67, a_1236^0'=a_1236^post67, head_32^0'=head_32^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67, i_30^0'=i_30^post67, x_253^0'=x_253^post67, a_635^0'=a_635^post67, r_970^0'=r_970^post67, rcd_47^0'=rcd_47^post67, a_309^0'=a_309^post67, i_1248^0'=i_1248^post67, a_575^0'=a_575^post67, temp_35^0'=temp_35^post67, len_861^0'=len_861^post67, (0 == 0 /\ a_577^0-a_577^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_579^post67+a_579^0 == 0 /\ a_902^0-a_902^post67 == 0 /\ -i_197^post67+i_197^0 == 0 /\ -x_253^post67+x_253^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ a_1089^0-a_1089^post67 == 0 /\ -a_263^post67+a_263^0 == 0 /\ i_106^0-i_106^post67 == 0 /\ len_161^0-len_161^post67 == 0 /\ -x_852^post67+x_852^0 == 0 /\ rcd_1249^0-rcd_1249^post67 == 0 /\ t_458^0-t_458^post67 == 0 /\ -r_970^post67+r_970^0 == 0 /\ a_430^0-a_430^post67 == 0 /\ -a_431^post67+a_431^0 == 0 /\ a_632^0-a_632^post67 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -a_239^post67+a_239^0 == 0 /\ x_21^0-x_21^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ -a_395^post67+a_395^0 == 0 /\ -len_861^post67+len_861^0 == 0 /\ f_847^0-f_847^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ a_924^0-a_924^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post67 == 0 /\ i_94^0-i_94^post67 == 0 /\ -r_224^post67+r_224^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ a_121^0-a_121^post67 == 0 /\ a_176^0-a_176^post67 == 0 /\ -a_576^post67+a_576^0 == 0 /\ -a_634^post67+a_634^0 == 0 /\ -i_1053^post67+i_1053^0 == 0 /\ i_127^0-i_127^post67 == 0 /\ len_262^0-len_262^post67 == 0 /\ a_394^0-a_394^post67 == 0 /\ -r_143^post67+r_143^0 == 0 /\ -a_417^post67+a_417^0 == 0 /\ -i_27^post67+i_27^0 == 0 /\ -i_107^post67+i_107^0 == 0 /\ -a_575^post67+a_575^0 == 0 /\ i_113^0-i_113^post67 == 0 /\ -a_1236^post67+a_1236^0 == 0 /\ a_310^0-a_310^post67 == 0 /\ r_192^0-r_192^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ f_969^0-f_969^post67 == 0 /\ -x_17^post67+x_17^0 == 0 /\ t_24^0-t_24^post67 == 0 /\ a_311^0-a_311^post67 == 0 /\ -x_14^post67+x_14^0 == 0 /\ a_393^0-a_393^post67 == 0 /\ -a_635^post67+a_635^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ i_140^0-i_140^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -a_633^post67+a_633^0 == 0 /\ a_432^0-a_432^post67 == 0 /\ 1-i_27^0 <= 0 /\ i_1248^0-i_1248^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ -len_238^post67+len_238^0 == 0 /\ a_1162^0-a_1162^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post67+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post67 == 0 /\ y_20^0-y_20^post67 == 0 /\ i_229^0-i_229^post67 == 0 /\ -r_151^post67+r_151^0 == 0 /\ -a_862^post67+a_862^0 == 0 /\ f_248^0-f_248^post67 == 0 /\ -a_610^post67+a_610^0 == 0 /\ -a_309^post67+a_309^0 == 0 /\ x_975^0-x_975^post67 == 0 /\ -rcd_47^post67+rcd_47^0 == 0 /\ a_144^0-a_144^post67 == 0 /\ x_156^0-x_156^post67 == 0 /\ -a_392^post67+a_392^0 == 0 /\ a_947^0-a_947^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post67-nondet_12^13 == 0), cost: 1 New rule: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l43 -> l44 : a_1089^0'=a_1089^post68, f_847^0'=f_847^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, a_394^0'=a_394^post68, x_156^0'=x_156^post68, a_632^0'=a_632^post68, r_192^0'=r_192^post68, a_176^0'=a_176^post68, i_106^0'=i_106^post68, a_430^0'=a_430^post68, t_458^0'=t_458^post68, len_161^0'=len_161^post68, x_975^0'=x_975^post68, a_902^0'=a_902^post68, a_947^0'=a_947^post68, rcd_88^0'=rcd_88^post68, a_311^0'=a_311^post68, i_140^0'=i_140^post68, a_577^0'=a_577^post68, x_14^0'=x_14^post68, nondet_12^0'=nondet_12^post68, a_121^0'=a_121^post68, head_15^0'=head_15^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68, i_27^0'=i_27^post68, x_21^0'=x_21^post68, a_634^0'=a_634^post68, r_39^0'=r_39^post68, a_263^0'=a_263^post68, i_113^0'=i_113^post68, a_432^0'=a_432^post68, temp0_31^0'=temp0_31^post68, len_262^0'=len_262^post68, y_20^0'=y_20^post68, f_248^0'=f_248^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, a_393^0'=a_393^post68, i_229^0'=i_229^post68, a_610^0'=a_610^post68, r_151^0'=r_151^post68, a_144^0'=a_144^post68, i_1053^0'=i_1053^post68, a_417^0'=a_417^post68, t_24^0'=t_24^post68, i_94^0'=i_94^post68, x_852^0'=x_852^post68, a_862^0'=a_862^post68, rcd_1249^0'=rcd_1249^post68, rcd_58^0'=rcd_58^post68, a_310^0'=a_310^post68, i_127^0'=i_127^post68, a_576^0'=a_576^post68, tmp_34^0'=tmp_34^post68, length_29^0'=length_29^post68, a_1162^0'=a_1162^post68, f_969^0'=f_969^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68, a_395^0'=a_395^post68, x_17^0'=x_17^post68, a_633^0'=a_633^post68, r_224^0'=r_224^post68, a_239^0'=a_239^post68, i_107^0'=i_107^post68, a_431^0'=a_431^post68, temp0_16^0'=temp0_16^post68, len_238^0'=len_238^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, a_924^0'=a_924^post68, ct_18^0'=ct_18^post68, result_11^0'=result_11^post68, a_392^0'=a_392^post68, i_197^0'=i_197^post68, a_579^0'=a_579^post68, r_143^0'=r_143^post68, a_1236^0'=a_1236^post68, head_32^0'=head_32^post68, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68, i_30^0'=i_30^post68, x_253^0'=x_253^post68, a_635^0'=a_635^post68, r_970^0'=r_970^post68, rcd_47^0'=rcd_47^post68, a_309^0'=a_309^post68, i_1248^0'=i_1248^post68, a_575^0'=a_575^post68, temp_35^0'=temp_35^post68, len_861^0'=len_861^post68, (t_458^0-t_458^post68 == 0 /\ a_902^0-a_902^post68 == 0 /\ -a_610^post68+a_610^0 == 0 /\ i_106^0-i_106^post68 == 0 /\ -a_634^post68+a_634^0 == 0 /\ head_15^0-head_15^post68 == 0 /\ a_577^0-a_577^post68 == 0 /\ -rcd_47^post68+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post68 == 0 /\ -rcd_1249^post68+rcd_1249^0 == 0 /\ a_310^0-a_310^post68 == 0 /\ a_1089^0-a_1089^post68 == 0 /\ -r_143^post68+r_143^0 == 0 /\ x_156^0-x_156^post68 == 0 /\ -a_633^post68+a_633^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ a_632^0-a_632^post68 == 0 /\ -len_238^post68+len_238^0 == 0 /\ -r_151^post68+r_151^0 == 0 /\ a_121^0-a_121^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ len_262^0-len_262^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post68 == 0 /\ -f_969^post68+f_969^0 == 0 /\ -a_576^post68+a_576^0 == 0 /\ a_263^0-a_263^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ y_20^0-y_20^post68 == 0 /\ f_847^0-f_847^post68 == 0 /\ a_392^0-a_392^post68 == 0 /\ -a_311^post68+a_311^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post68 == 0 /\ a_394^0-a_394^post68 == 0 /\ -a_1236^post68+a_1236^0 == 0 /\ a_579^0-a_579^post68 == 0 /\ -x_253^post68+x_253^0 == 0 /\ -r_970^post68+r_970^0 == 0 /\ i_1053^0-i_1053^post68 == 0 /\ -rcd_88^post68+rcd_88^0 == 0 /\ a_176^0-a_176^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -i_1248^post68+i_1248^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post68 == 0 /\ -f_248^post68+f_248^0 == 0 /\ -a_239^post68+a_239^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_430^post68+a_430^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post68 == 0 /\ i_94^0-i_94^post68 == 0 /\ -length_29^post68+length_29^0 == 0 /\ x_975^0-x_975^post68 == 0 /\ i_113^0-i_113^post68 == 0 /\ -r_224^post68+r_224^0 == 0 /\ -i_197^post68+i_197^0 == 0 /\ a_393^0-a_393^post68 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -i_27^post68+i_27^0 == 0 /\ -r_192^post68+r_192^0 == 0 /\ a_432^0-a_432^post68 == 0 /\ x_21^0-x_21^post68 == 0 /\ x_14^0-x_14^post68 == 0 /\ -x_17^post68+x_17^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ len_161^0-len_161^post68 == 0 /\ -i_127^post68+i_127^0 == 0 /\ -x_852^post68+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ i_140^0-i_140^post68 == 0 /\ -a_309^post68+a_309^0 == 0 /\ i_229^0-i_229^post68 == 0 /\ -i_107^post68+i_107^0 == 0 /\ a_431^0-a_431^post68 == 0 /\ t_24^0-t_24^post68 == 0 /\ -a_924^post68+a_924^0 == 0 /\ -a_575^post68+a_575^0 == 0 /\ a_862^0-a_862^post68 == 0 /\ -a_417^post68+a_417^0 == 0 /\ -len_861^post68+len_861^0 == 0 /\ a_947^0-a_947^post68 == 0 /\ -a_635^post68+a_635^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ -a_1162^post68+a_1162^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ a_395^0-a_395^post68 == 0), cost: 1 New rule: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l43 -> l44 : a_1089^0'=a_1089^post69, f_847^0'=f_847^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, a_394^0'=a_394^post69, x_156^0'=x_156^post69, a_632^0'=a_632^post69, r_192^0'=r_192^post69, a_176^0'=a_176^post69, i_106^0'=i_106^post69, a_430^0'=a_430^post69, t_458^0'=t_458^post69, len_161^0'=len_161^post69, x_975^0'=x_975^post69, a_902^0'=a_902^post69, a_947^0'=a_947^post69, rcd_88^0'=rcd_88^post69, a_311^0'=a_311^post69, i_140^0'=i_140^post69, a_577^0'=a_577^post69, x_14^0'=x_14^post69, nondet_12^0'=nondet_12^post69, a_121^0'=a_121^post69, head_15^0'=head_15^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69, i_27^0'=i_27^post69, x_21^0'=x_21^post69, a_634^0'=a_634^post69, r_39^0'=r_39^post69, a_263^0'=a_263^post69, i_113^0'=i_113^post69, a_432^0'=a_432^post69, temp0_31^0'=temp0_31^post69, len_262^0'=len_262^post69, y_20^0'=y_20^post69, f_248^0'=f_248^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, a_393^0'=a_393^post69, i_229^0'=i_229^post69, a_610^0'=a_610^post69, r_151^0'=r_151^post69, a_144^0'=a_144^post69, i_1053^0'=i_1053^post69, a_417^0'=a_417^post69, t_24^0'=t_24^post69, i_94^0'=i_94^post69, x_852^0'=x_852^post69, a_862^0'=a_862^post69, rcd_1249^0'=rcd_1249^post69, rcd_58^0'=rcd_58^post69, a_310^0'=a_310^post69, i_127^0'=i_127^post69, a_576^0'=a_576^post69, tmp_34^0'=tmp_34^post69, length_29^0'=length_29^post69, a_1162^0'=a_1162^post69, f_969^0'=f_969^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69, a_395^0'=a_395^post69, x_17^0'=x_17^post69, a_633^0'=a_633^post69, r_224^0'=r_224^post69, a_239^0'=a_239^post69, i_107^0'=i_107^post69, a_431^0'=a_431^post69, temp0_16^0'=temp0_16^post69, len_238^0'=len_238^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, a_924^0'=a_924^post69, ct_18^0'=ct_18^post69, result_11^0'=result_11^post69, a_392^0'=a_392^post69, i_197^0'=i_197^post69, a_579^0'=a_579^post69, r_143^0'=r_143^post69, a_1236^0'=a_1236^post69, head_32^0'=head_32^post69, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69, i_30^0'=i_30^post69, x_253^0'=x_253^post69, a_635^0'=a_635^post69, r_970^0'=r_970^post69, rcd_47^0'=rcd_47^post69, a_309^0'=a_309^post69, i_1248^0'=i_1248^post69, a_575^0'=a_575^post69, temp_35^0'=temp_35^post69, len_861^0'=len_861^post69, (x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_140^0-i_140^post69 == 0 /\ i_197^0-i_197^post69 == 0 /\ -len_262^post69+len_262^0 == 0 /\ -f_248^post69+f_248^0 == 0 /\ a_1089^0-a_1089^post69 == 0 /\ a_1162^0-a_1162^post69 == 0 /\ a_634^0-a_634^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ rcd_88^0-rcd_88^post69 == 0 /\ -i_1053^post69+i_1053^0 == 0 /\ -i_1248^post69+i_1248^0 == 0 /\ y_20^0-y_20^post69 == 0 /\ -i_27^post69+i_27^0 == 0 /\ -a_239^post69+a_239^0 == 0 /\ -a_392^post69+a_392^0 == 0 /\ a_924^0-a_924^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post69 == 0 /\ -i_127^post69+i_127^0 == 0 /\ a_176^0-a_176^post69 == 0 /\ -len_861^post69+len_861^0 == 0 /\ -a_579^post69+a_579^0 == 0 /\ -i_30^post69+i_30^0 == 0 /\ i_106^0-i_106^post69 == 0 /\ x_975^0-x_975^post69 == 0 /\ -a_635^post69+a_635^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post69+head_15^0 == 0 /\ -x_852^post69+x_852^0 == 0 /\ -x_17^post69+x_17^0 == 0 /\ t_458^0-t_458^post69 == 0 /\ a_393^0-a_393^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post69+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post69+a_309^0 == 0 /\ -a_144^post69+a_144^0 == 0 /\ a_310^0-a_310^post69 == 0 /\ -a_417^post69+a_417^0 == 0 /\ -rcd_58^post69+rcd_58^0 == 0 /\ -i_107^post69+i_107^0 == 0 /\ a_632^0-a_632^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -a_575^post69+a_575^0 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -len_238^post69+len_238^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ a_121^0-a_121^post69 == 0 /\ a_862^0-a_862^post69 == 0 /\ x_21^0-x_21^post69 == 0 /\ -a_633^post69+a_633^0 == 0 /\ len_161^0-len_161^post69 == 0 /\ x_156^0-x_156^post69 == 0 /\ a_947^0-a_947^post69 == 0 /\ f_847^0-f_847^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ a_263^0-a_263^post69 == 0 /\ a_394^0-a_394^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -f_969^post69+f_969^0 == 0 /\ -rcd_1249^post69+rcd_1249^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -x_253^post69+x_253^0 == 0 /\ -a_576^post69+a_576^0 == 0 /\ r_224^0-r_224^post69 == 0 /\ -r_970^post69+r_970^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ a_430^0-a_430^post69 == 0 /\ r_151^0-r_151^post69 == 0 /\ -r_143^post69+r_143^0 == 0 /\ -a_431^post69+a_431^0 == 0 /\ rcd_47^0-rcd_47^post69 == 0 /\ a_902^0-a_902^post69 == 0 /\ a_311^0-a_311^post69 == 0 /\ a_577^0-a_577^post69 == 0 /\ i_113^0-i_113^post69 == 0 /\ i_94^0-i_94^post69 == 0 /\ i_229^0-i_229^post69 == 0 /\ a_432^0-a_432^post69 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ -a_610^post69+a_610^0 == 0 /\ r_192^0-r_192^post69 == 0 /\ -a_1236^post69+a_1236^0 == 0 /\ -temp_35^post69+temp_35^0 == 0), cost: 1 New rule: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l44 -> l45 : a_1089^0'=a_1089^post70, f_847^0'=f_847^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, a_394^0'=a_394^post70, x_156^0'=x_156^post70, a_632^0'=a_632^post70, r_192^0'=r_192^post70, a_176^0'=a_176^post70, i_106^0'=i_106^post70, a_430^0'=a_430^post70, t_458^0'=t_458^post70, len_161^0'=len_161^post70, x_975^0'=x_975^post70, a_902^0'=a_902^post70, a_947^0'=a_947^post70, rcd_88^0'=rcd_88^post70, a_311^0'=a_311^post70, i_140^0'=i_140^post70, a_577^0'=a_577^post70, x_14^0'=x_14^post70, nondet_12^0'=nondet_12^post70, a_121^0'=a_121^post70, head_15^0'=head_15^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70, i_27^0'=i_27^post70, x_21^0'=x_21^post70, a_634^0'=a_634^post70, r_39^0'=r_39^post70, a_263^0'=a_263^post70, i_113^0'=i_113^post70, a_432^0'=a_432^post70, temp0_31^0'=temp0_31^post70, len_262^0'=len_262^post70, y_20^0'=y_20^post70, f_248^0'=f_248^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, a_393^0'=a_393^post70, i_229^0'=i_229^post70, a_610^0'=a_610^post70, r_151^0'=r_151^post70, a_144^0'=a_144^post70, i_1053^0'=i_1053^post70, a_417^0'=a_417^post70, t_24^0'=t_24^post70, i_94^0'=i_94^post70, x_852^0'=x_852^post70, a_862^0'=a_862^post70, rcd_1249^0'=rcd_1249^post70, rcd_58^0'=rcd_58^post70, a_310^0'=a_310^post70, i_127^0'=i_127^post70, a_576^0'=a_576^post70, tmp_34^0'=tmp_34^post70, length_29^0'=length_29^post70, a_1162^0'=a_1162^post70, f_969^0'=f_969^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70, a_395^0'=a_395^post70, x_17^0'=x_17^post70, a_633^0'=a_633^post70, r_224^0'=r_224^post70, a_239^0'=a_239^post70, i_107^0'=i_107^post70, a_431^0'=a_431^post70, temp0_16^0'=temp0_16^post70, len_238^0'=len_238^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, a_924^0'=a_924^post70, ct_18^0'=ct_18^post70, result_11^0'=result_11^post70, a_392^0'=a_392^post70, i_197^0'=i_197^post70, a_579^0'=a_579^post70, r_143^0'=r_143^post70, a_1236^0'=a_1236^post70, head_32^0'=head_32^post70, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70, i_30^0'=i_30^post70, x_253^0'=x_253^post70, a_635^0'=a_635^post70, r_970^0'=r_970^post70, rcd_47^0'=rcd_47^post70, a_309^0'=a_309^post70, i_1248^0'=i_1248^post70, a_575^0'=a_575^post70, temp_35^0'=temp_35^post70, len_861^0'=len_861^post70, (t_458^0-t_458^post70 == 0 /\ i_106^0-i_106^post70 == 0 /\ a_632^0-a_632^post70 == 0 /\ 1+i_27^post70-i_27^0 == 0 /\ a_430^0-a_430^post70 == 0 /\ x_975^0-x_975^post70 == 0 /\ i_127^0-i_127^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ rcd_1249^0-rcd_1249^post70 == 0 /\ a_902^0-a_902^post70 == 0 /\ -a_634^post70+a_634^0 == 0 /\ a_577^0-a_577^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ -rcd_47^post70+rcd_47^0 == 0 /\ 1+i_27^post70-i_197^0 <= 0 /\ -x_253^post70+x_253^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post70 == 0 /\ a_1162^0-a_1162^post70 == 0 /\ i_229^0-i_229^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ -r_143^post70+r_143^0 == 0 /\ temp0_31^0-temp0_31^post70 == 0 /\ -a_576^post70+a_576^0 == 0 /\ -r_224^post70+r_224^0 == 0 /\ i_197^0-i_197^post70 == 0 /\ -temp_35^post70+temp_35^0 == 0 /\ a_394^0-a_394^post70 == 0 /\ i_140^0-i_140^post70 == 0 /\ len_262^0-len_262^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ -f_969^post70+f_969^0 == 0 /\ a_176^0-a_176^post70 == 0 /\ -a_431^post70+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post70+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ y_20^0-y_20^post70 == 0 /\ f_847^0-f_847^post70 == 0 /\ a_924^0-a_924^post70 == 0 /\ -r_970^post70+r_970^0 == 0 /\ -a_395^post70+a_395^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -a_1236^post70+a_1236^0 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ -len_161^post70+len_161^0 == 0 /\ a_610^0-a_610^post70 == 0 /\ a_311^0-a_311^post70 == 0 /\ -a_862^post70+a_862^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post70 == 0 /\ i_94^0-i_94^post70 == 0 /\ -i_1248^post70+i_1248^0 == 0 /\ -a_392^post70+a_392^0 == 0 /\ i_113^0-i_113^post70 == 0 /\ -length_29^post70+length_29^0 == 0 /\ r_39^0-r_39^post70 == 0 /\ -a_239^post70+a_239^0 == 0 /\ a_393^0-a_393^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -1-i_27^post70+i_197^0 <= 0 /\ x_156^0-x_156^post70 == 0 /\ a_1089^0-a_1089^post70 == 0 /\ a_432^0-a_432^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -a_310^post70+a_310^0 == 0 /\ -i_1053^post70+i_1053^0 == 0 /\ x_21^0-x_21^post70 == 0 /\ -len_861^post70+len_861^0 == 0 /\ -r_192^post70+r_192^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -x_852^post70+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ -r_151^post70+r_151^0 == 0 /\ -t_24^post70+t_24^0 == 0 /\ -a_579^post70+a_579^0 == 0 /\ -a_309^post70+a_309^0 == 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -a_635^post70+a_635^0 == 0 /\ -i_107^post70+i_107^0 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ a_947^0-a_947^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ -a_575^post70+a_575^0 == 0 /\ len_238^0-len_238^post70 == 0 /\ -a_263^post70+a_263^0 == 0 /\ f_248^0-f_248^post70 == 0 /\ -a_417^post70+a_417^0 == 0 /\ -a_633^post70+a_633^0 == 0 /\ a_121^0-a_121^post70 == 0), cost: 1 New rule: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 Applied preprocessing Original rule: l45 -> l46 : a_1089^0'=a_1089^post71, f_847^0'=f_847^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, a_394^0'=a_394^post71, x_156^0'=x_156^post71, a_632^0'=a_632^post71, r_192^0'=r_192^post71, a_176^0'=a_176^post71, i_106^0'=i_106^post71, a_430^0'=a_430^post71, t_458^0'=t_458^post71, len_161^0'=len_161^post71, x_975^0'=x_975^post71, a_902^0'=a_902^post71, a_947^0'=a_947^post71, rcd_88^0'=rcd_88^post71, a_311^0'=a_311^post71, i_140^0'=i_140^post71, a_577^0'=a_577^post71, x_14^0'=x_14^post71, nondet_12^0'=nondet_12^post71, a_121^0'=a_121^post71, head_15^0'=head_15^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71, i_27^0'=i_27^post71, x_21^0'=x_21^post71, a_634^0'=a_634^post71, r_39^0'=r_39^post71, a_263^0'=a_263^post71, i_113^0'=i_113^post71, a_432^0'=a_432^post71, temp0_31^0'=temp0_31^post71, len_262^0'=len_262^post71, y_20^0'=y_20^post71, f_248^0'=f_248^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, a_393^0'=a_393^post71, i_229^0'=i_229^post71, a_610^0'=a_610^post71, r_151^0'=r_151^post71, a_144^0'=a_144^post71, i_1053^0'=i_1053^post71, a_417^0'=a_417^post71, t_24^0'=t_24^post71, i_94^0'=i_94^post71, x_852^0'=x_852^post71, a_862^0'=a_862^post71, rcd_1249^0'=rcd_1249^post71, rcd_58^0'=rcd_58^post71, a_310^0'=a_310^post71, i_127^0'=i_127^post71, a_576^0'=a_576^post71, tmp_34^0'=tmp_34^post71, length_29^0'=length_29^post71, a_1162^0'=a_1162^post71, f_969^0'=f_969^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71, a_395^0'=a_395^post71, x_17^0'=x_17^post71, a_633^0'=a_633^post71, r_224^0'=r_224^post71, a_239^0'=a_239^post71, i_107^0'=i_107^post71, a_431^0'=a_431^post71, temp0_16^0'=temp0_16^post71, len_238^0'=len_238^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, a_924^0'=a_924^post71, ct_18^0'=ct_18^post71, result_11^0'=result_11^post71, a_392^0'=a_392^post71, i_197^0'=i_197^post71, a_579^0'=a_579^post71, r_143^0'=r_143^post71, a_1236^0'=a_1236^post71, head_32^0'=head_32^post71, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71, i_30^0'=i_30^post71, x_253^0'=x_253^post71, a_635^0'=a_635^post71, r_970^0'=r_970^post71, rcd_47^0'=rcd_47^post71, a_309^0'=a_309^post71, i_1248^0'=i_1248^post71, a_575^0'=a_575^post71, temp_35^0'=temp_35^post71, len_861^0'=len_861^post71, (-a_395^post71+a_395^0 == 0 /\ -a_417^post71+a_417^0 == 0 /\ -a_862^post71+a_862^0 == 0 /\ -len_861^post71+len_861^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ i_197^0-i_197^post71 == 0 /\ -a_1236^post71+a_1236^0 == 0 /\ a_576^0-a_576^post71 == 0 /\ a_1162^0-a_1162^post71 == 0 /\ f_847^0-f_847^post71 == 0 /\ a_263^0-a_263^post71 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post71 == 0 /\ -a_393^post71+a_393^0 == 0 /\ -a_432^post71+a_432^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_392^post71+a_392^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ x_17^0-x_17^post71 == 0 /\ -length_29^post71+length_29^0 == 0 /\ a_924^0-a_924^post71 == 0 /\ -i_1248^post71+i_1248^0 == 0 /\ a_394^0-a_394^post71 == 0 /\ -i_1053^post71+i_1053^0 == 0 /\ -a_575^post71+a_575^0 == 0 /\ -a_579^post71+a_579^0 == 0 /\ a_577^0-a_577^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ -a_635^post71+a_635^0 == 0 /\ -r_151^post71+r_151^0 == 0 /\ r_224^0-r_224^post71 == 0 /\ i_127^0-i_127^post71 == 0 /\ i_106^0-i_106^post71 == 0 /\ -i_30^post71+i_30^0 == 0 /\ -head_32^post71+head_32^0 == 0 /\ a_610^0-a_610^post71 == 0 /\ i_27^0-i_27^post71 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ t_458^0-t_458^post71 == 0 /\ -a_144^post71+a_144^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -a_309^post71+a_309^0 == 0 /\ -i_107^post71+i_107^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -a_633^post71+a_633^0 == 0 /\ -tmp_34^post71+tmp_34^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ len_161^0-len_161^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post71 == 0 /\ -a_431^post71+a_431^0 == 0 /\ x_156^0-x_156^post71 == 0 /\ -rcd_1249^post71+rcd_1249^0 == 0 /\ head_15^0-head_15^post71 == 0 /\ -i_140^post71+i_140^0 == 0 /\ a_634^0-a_634^post71 == 0 /\ -x_852^post71+x_852^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -r_970^post71+r_970^0 == 0 /\ a_176^0-a_176^post71 == 0 /\ a_121^0-a_121^post71 == 0 /\ f_248^0-f_248^post71 == 0 /\ -rcd_47^post71+rcd_47^0 == 0 /\ x_975^0-x_975^post71 == 0 /\ len_262^0-len_262^post71 == 0 /\ a_947^0-a_947^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post71 == 0 /\ -a_239^post71+a_239^0 == 0 /\ -r_143^post71+r_143^0 == 0 /\ a_902^0-a_902^post71 == 0 /\ rcd_88^0-rcd_88^post71 == 0 /\ a_311^0-a_311^post71 == 0 /\ r_192^0-r_192^post71 == 0 /\ len_238^0-len_238^post71 == 0 /\ -f_969^post71+f_969^0 == 0 /\ -x_253^post71+x_253^0 == 0 /\ -y_20^post71+y_20^0 == 0 /\ a_310^0-a_310^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post71+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ x_14^0-x_14^post71 == 0 /\ -i_229^post71+i_229^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ -i_113^post71+i_113^0 == 0 /\ a_1089^0-a_1089^post71 == 0 /\ a_632^0-a_632^post71 == 0), cost: 1 New rule: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l45 -> l46 : a_1089^0'=a_1089^post72, f_847^0'=f_847^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, a_394^0'=a_394^post72, x_156^0'=x_156^post72, a_632^0'=a_632^post72, r_192^0'=r_192^post72, a_176^0'=a_176^post72, i_106^0'=i_106^post72, a_430^0'=a_430^post72, t_458^0'=t_458^post72, len_161^0'=len_161^post72, x_975^0'=x_975^post72, a_902^0'=a_902^post72, a_947^0'=a_947^post72, rcd_88^0'=rcd_88^post72, a_311^0'=a_311^post72, i_140^0'=i_140^post72, a_577^0'=a_577^post72, x_14^0'=x_14^post72, nondet_12^0'=nondet_12^post72, a_121^0'=a_121^post72, head_15^0'=head_15^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72, i_27^0'=i_27^post72, x_21^0'=x_21^post72, a_634^0'=a_634^post72, r_39^0'=r_39^post72, a_263^0'=a_263^post72, i_113^0'=i_113^post72, a_432^0'=a_432^post72, temp0_31^0'=temp0_31^post72, len_262^0'=len_262^post72, y_20^0'=y_20^post72, f_248^0'=f_248^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, a_393^0'=a_393^post72, i_229^0'=i_229^post72, a_610^0'=a_610^post72, r_151^0'=r_151^post72, a_144^0'=a_144^post72, i_1053^0'=i_1053^post72, a_417^0'=a_417^post72, t_24^0'=t_24^post72, i_94^0'=i_94^post72, x_852^0'=x_852^post72, a_862^0'=a_862^post72, rcd_1249^0'=rcd_1249^post72, rcd_58^0'=rcd_58^post72, a_310^0'=a_310^post72, i_127^0'=i_127^post72, a_576^0'=a_576^post72, tmp_34^0'=tmp_34^post72, length_29^0'=length_29^post72, a_1162^0'=a_1162^post72, f_969^0'=f_969^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72, a_395^0'=a_395^post72, x_17^0'=x_17^post72, a_633^0'=a_633^post72, r_224^0'=r_224^post72, a_239^0'=a_239^post72, i_107^0'=i_107^post72, a_431^0'=a_431^post72, temp0_16^0'=temp0_16^post72, len_238^0'=len_238^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, a_924^0'=a_924^post72, ct_18^0'=ct_18^post72, result_11^0'=result_11^post72, a_392^0'=a_392^post72, i_197^0'=i_197^post72, a_579^0'=a_579^post72, r_143^0'=r_143^post72, a_1236^0'=a_1236^post72, head_32^0'=head_32^post72, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72, i_30^0'=i_30^post72, x_253^0'=x_253^post72, a_635^0'=a_635^post72, r_970^0'=r_970^post72, rcd_47^0'=rcd_47^post72, a_309^0'=a_309^post72, i_1248^0'=i_1248^post72, a_575^0'=a_575^post72, temp_35^0'=temp_35^post72, len_861^0'=len_861^post72, (i_113^0-i_113^post72 == 0 /\ r_192^0-r_192^post72 == 0 /\ r_39^0-r_39^post72 == 0 /\ rcd_1249^0-rcd_1249^post72 == 0 /\ i_127^0-i_127^post72 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ f_969^0-f_969^post72 == 0 /\ -a_924^post72+a_924^0 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ len_161^0-len_161^post72 == 0 /\ -rcd_47^post72+rcd_47^0 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_27^0-i_27^post72 == 0 /\ x_14^0-x_14^post72 == 0 /\ -a_1162^post72+a_1162^0 == 0 /\ a_430^0-a_430^post72 == 0 /\ -x_253^post72+x_253^0 == 0 /\ -r_970^post72+r_970^0 == 0 /\ a_432^0-a_432^post72 == 0 /\ -x_SLAM_f_19^post72+x_SLAM_f_19^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -i_1248^post72+i_1248^0 == 0 /\ i_140^0-i_140^post72 == 0 /\ x_156^0-x_156^post72 == 0 /\ f_847^0-f_847^post72 == 0 /\ -i_94^post72+i_94^0 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_229^0-i_229^post72 == 0 /\ -len_861^post72+len_861^0 == 0 /\ -r_224^post72+r_224^0 == 0 /\ a_576^0-a_576^post72 == 0 /\ -i_1053^post72+i_1053^0 == 0 /\ a_634^0-a_634^post72 == 0 /\ -a_395^post72+a_395^0 == 0 /\ a_144^0-a_144^post72 == 0 /\ a_947^0-a_947^post72 == 0 /\ -r_143^post72+r_143^0 == 0 /\ rcd_58^0-rcd_58^post72 == 0 /\ -a_431^post72+a_431^0 == 0 /\ a_610^0-a_610^post72 == 0 /\ -a_392^post72+a_392^0 == 0 /\ a_311^0-a_311^post72 == 0 /\ a_902^0-a_902^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -a_309^post72+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ -a_310^post72+a_310^0 == 0 /\ -a_862^post72+a_862^0 == 0 /\ head_15^0-head_15^post72 == 0 /\ -i_107^post72+i_107^0 == 0 /\ -a_1236^post72+a_1236^0 == 0 /\ -a_575^post72+a_575^0 == 0 /\ a_635^0-a_635^post72 == 0 /\ a_1089^0-a_1089^post72 == 0 /\ -t_458^post72+t_458^0 == 0 /\ -a_393^post72+a_393^0 == 0 /\ -head_32^post72+head_32^0 == 0 /\ -i_106^post72+i_106^0 == 0 /\ a_632^0-a_632^post72 == 0 /\ -a_577^post72+a_577^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ -r_151^post72+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post72+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_21^0-x_21^post72 == 0 /\ len_262^0-len_262^post72 == 0 /\ -x_852^post72+x_852^0 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_633^0-a_633^post72 == 0 /\ -a_579^post72+a_579^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ 1+x_14^0 <= 0 /\ a_394^0-a_394^post72 == 0 /\ len_238^0-len_238^post72 == 0 /\ x_17^0-x_17^post72 == 0 /\ -a_263^post72+a_263^0 == 0 /\ f_248^0-f_248^post72 == 0 /\ a_239^0-a_239^post72 == 0 /\ x_975^0-x_975^post72 == 0 /\ a_176^0-a_176^post72 == 0 /\ a_121^0-a_121^post72 == 0 /\ -i_197^post72+i_197^0 == 0 /\ a_417^0-a_417^post72 == 0), cost: 1 New rule: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l46 -> l47 : a_1089^0'=a_1089^post73, f_847^0'=f_847^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, a_394^0'=a_394^post73, x_156^0'=x_156^post73, a_632^0'=a_632^post73, r_192^0'=r_192^post73, a_176^0'=a_176^post73, i_106^0'=i_106^post73, a_430^0'=a_430^post73, t_458^0'=t_458^post73, len_161^0'=len_161^post73, x_975^0'=x_975^post73, a_902^0'=a_902^post73, a_947^0'=a_947^post73, rcd_88^0'=rcd_88^post73, a_311^0'=a_311^post73, i_140^0'=i_140^post73, a_577^0'=a_577^post73, x_14^0'=x_14^post73, nondet_12^0'=nondet_12^post73, a_121^0'=a_121^post73, head_15^0'=head_15^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73, i_27^0'=i_27^post73, x_21^0'=x_21^post73, a_634^0'=a_634^post73, r_39^0'=r_39^post73, a_263^0'=a_263^post73, i_113^0'=i_113^post73, a_432^0'=a_432^post73, temp0_31^0'=temp0_31^post73, len_262^0'=len_262^post73, y_20^0'=y_20^post73, f_248^0'=f_248^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, a_393^0'=a_393^post73, i_229^0'=i_229^post73, a_610^0'=a_610^post73, r_151^0'=r_151^post73, a_144^0'=a_144^post73, i_1053^0'=i_1053^post73, a_417^0'=a_417^post73, t_24^0'=t_24^post73, i_94^0'=i_94^post73, x_852^0'=x_852^post73, a_862^0'=a_862^post73, rcd_1249^0'=rcd_1249^post73, rcd_58^0'=rcd_58^post73, a_310^0'=a_310^post73, i_127^0'=i_127^post73, a_576^0'=a_576^post73, tmp_34^0'=tmp_34^post73, length_29^0'=length_29^post73, a_1162^0'=a_1162^post73, f_969^0'=f_969^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73, a_395^0'=a_395^post73, x_17^0'=x_17^post73, a_633^0'=a_633^post73, r_224^0'=r_224^post73, a_239^0'=a_239^post73, i_107^0'=i_107^post73, a_431^0'=a_431^post73, temp0_16^0'=temp0_16^post73, len_238^0'=len_238^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, a_924^0'=a_924^post73, ct_18^0'=ct_18^post73, result_11^0'=result_11^post73, a_392^0'=a_392^post73, i_197^0'=i_197^post73, a_579^0'=a_579^post73, r_143^0'=r_143^post73, a_1236^0'=a_1236^post73, head_32^0'=head_32^post73, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73, i_30^0'=i_30^post73, x_253^0'=x_253^post73, a_635^0'=a_635^post73, r_970^0'=r_970^post73, rcd_47^0'=rcd_47^post73, a_309^0'=a_309^post73, i_1248^0'=i_1248^post73, a_575^0'=a_575^post73, temp_35^0'=temp_35^post73, len_861^0'=len_861^post73, (x_21^0-x_21^post73 == 0 /\ -a_432^post73+a_432^0 == 0 /\ a_576^0-a_576^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ x_852^0-x_852^post73 == 0 /\ -i_107^post73+i_107^0 == 0 /\ -i_30^post73+i_30^0 == 0 /\ -a_392^post73+a_392^0 == 0 /\ -a_1236^post73+a_1236^0 == 0 /\ x_156^0-x_156^post73 == 0 /\ -x_17^post73+x_17^0 == 0 /\ -a_417^post73+a_417^0 == 0 /\ f_847^0-f_847^post73 == 0 /\ nondet_12^0-nondet_12^post73 == 0 /\ -x_SLAM_f_19^post73+x_SLAM_f_19^0 == 0 /\ a_144^0-a_144^post73 == 0 /\ a_394^0-a_394^post73 == 0 /\ a_862^0-a_862^post73 == 0 /\ rcd_58^0-rcd_58^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -i_1248^post73+i_1248^0 == 0 /\ -len_861^post73+len_861^0 == 0 /\ a_947^0-a_947^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ a_902^0-a_902^post73 == 0 /\ -a_635^post73+a_635^0 == 0 /\ ct_18^0-ct_18^post73 == 0 /\ -len_262^post73+len_262^0 == 0 /\ -len_238^post73+len_238^0 == 0 /\ -rcd_47^post73+rcd_47^0 == 0 /\ rcd_88^0-rcd_88^post73 == 0 /\ a_577^0-a_577^post73 == 0 /\ -a_310^post73+a_310^0 == 0 /\ -a_633^post73+a_633^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ i_106^0-i_106^post73 == 0 /\ length_29^0-length_29^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post73+a_575^0 == 0 /\ -i_197^post73+i_197^0 == 0 /\ a_311^0-a_311^post73 == 0 /\ -a_579^post73+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ a_1089^0-a_1089^post73 == 0 /\ -i_127^post73+i_127^0 == 0 /\ i_27^0-i_27^post73 == 0 /\ -x_14^post73+x_14^0 == 0 /\ a_430^0-a_430^post73 == 0 /\ a_263^0-a_263^post73 == 0 /\ -a_309^post73+a_309^0 == 0 /\ -a_431^post73+a_431^0 == 0 /\ x_253^0-x_253^post73 == 0 /\ -a_1162^post73+a_1162^0 == 0 /\ y_20^0-y_20^post73 == 0 /\ -a_924^post73+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ a_634^0-a_634^post73 == 0 /\ r_151^0-r_151^post73 == 0 /\ f_248^0-f_248^post73 == 0 /\ -a_121^post73+a_121^0 == 0 /\ -t_24^post73+t_24^0 == 0 /\ a_176^0-a_176^post73 == 0 /\ x_975^0-x_975^post73 == 0 /\ -i_229^post73+i_229^0 == 0 /\ r_192^0-r_192^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ -r_970^post73+r_970^0 == 0 /\ a_239^0-a_239^post73 == 0 /\ 1-head_15^0 <= 0 /\ f_969^0-f_969^post73 == 0 /\ -r_224^post73+r_224^0 == 0 /\ -a_395^post73+a_395^0 == 0 /\ a_610^0-a_610^post73 == 0 /\ i_1053^0-i_1053^post73 == 0 /\ -r_143^post73+r_143^0 == 0 /\ i_140^0-i_140^post73 == 0 /\ rcd_1249^0-rcd_1249^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post73+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post73+i_113^0 == 0 /\ len_161^0-len_161^post73 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ a_632^0-a_632^post73 == 0 /\ t_458^0-t_458^post73 == 0 /\ a_393^0-a_393^post73 == 0), cost: 1 New rule: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l46 -> l47 : a_1089^0'=a_1089^post74, f_847^0'=f_847^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, a_394^0'=a_394^post74, x_156^0'=x_156^post74, a_632^0'=a_632^post74, r_192^0'=r_192^post74, a_176^0'=a_176^post74, i_106^0'=i_106^post74, a_430^0'=a_430^post74, t_458^0'=t_458^post74, len_161^0'=len_161^post74, x_975^0'=x_975^post74, a_902^0'=a_902^post74, a_947^0'=a_947^post74, rcd_88^0'=rcd_88^post74, a_311^0'=a_311^post74, i_140^0'=i_140^post74, a_577^0'=a_577^post74, x_14^0'=x_14^post74, nondet_12^0'=nondet_12^post74, a_121^0'=a_121^post74, head_15^0'=head_15^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74, i_27^0'=i_27^post74, x_21^0'=x_21^post74, a_634^0'=a_634^post74, r_39^0'=r_39^post74, a_263^0'=a_263^post74, i_113^0'=i_113^post74, a_432^0'=a_432^post74, temp0_31^0'=temp0_31^post74, len_262^0'=len_262^post74, y_20^0'=y_20^post74, f_248^0'=f_248^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, a_393^0'=a_393^post74, i_229^0'=i_229^post74, a_610^0'=a_610^post74, r_151^0'=r_151^post74, a_144^0'=a_144^post74, i_1053^0'=i_1053^post74, a_417^0'=a_417^post74, t_24^0'=t_24^post74, i_94^0'=i_94^post74, x_852^0'=x_852^post74, a_862^0'=a_862^post74, rcd_1249^0'=rcd_1249^post74, rcd_58^0'=rcd_58^post74, a_310^0'=a_310^post74, i_127^0'=i_127^post74, a_576^0'=a_576^post74, tmp_34^0'=tmp_34^post74, length_29^0'=length_29^post74, a_1162^0'=a_1162^post74, f_969^0'=f_969^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74, a_395^0'=a_395^post74, x_17^0'=x_17^post74, a_633^0'=a_633^post74, r_224^0'=r_224^post74, a_239^0'=a_239^post74, i_107^0'=i_107^post74, a_431^0'=a_431^post74, temp0_16^0'=temp0_16^post74, len_238^0'=len_238^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, a_924^0'=a_924^post74, ct_18^0'=ct_18^post74, result_11^0'=result_11^post74, a_392^0'=a_392^post74, i_197^0'=i_197^post74, a_579^0'=a_579^post74, r_143^0'=r_143^post74, a_1236^0'=a_1236^post74, head_32^0'=head_32^post74, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74, i_30^0'=i_30^post74, x_253^0'=x_253^post74, a_635^0'=a_635^post74, r_970^0'=r_970^post74, rcd_47^0'=rcd_47^post74, a_309^0'=a_309^post74, i_1248^0'=i_1248^post74, a_575^0'=a_575^post74, temp_35^0'=temp_35^post74, len_861^0'=len_861^post74, (a_176^0-a_176^post74 == 0 /\ 1+head_15^0 <= 0 /\ -x_21^post74+x_21^0 == 0 /\ -a_1162^post74+a_1162^0 == 0 /\ -temp_35^post74+temp_35^0 == 0 /\ -a_924^post74+a_924^0 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -r_970^post74+r_970^0 == 0 /\ r_192^0-r_192^post74 == 0 /\ -f_969^post74+f_969^0 == 0 /\ -a_431^post74+a_431^0 == 0 /\ a_610^0-a_610^post74 == 0 /\ -t_24^post74+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post74 == 0 /\ -ct_18^post74+ct_18^0 == 0 /\ i_27^0-i_27^post74 == 0 /\ length_29^0-length_29^post74 == 0 /\ -x_253^post74+x_253^0 == 0 /\ a_1089^0-a_1089^post74 == 0 /\ r_39^0-r_39^post74 == 0 /\ a_393^0-a_393^post74 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post74+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post74+r_224^0 == 0 /\ a_263^0-a_263^post74 == 0 /\ x_156^0-x_156^post74 == 0 /\ -i_229^post74+i_229^0 == 0 /\ -i_1053^post74+i_1053^0 == 0 /\ -i_1248^post74+i_1248^0 == 0 /\ a_432^0-a_432^post74 == 0 /\ -x_SLAM_f_19^post74+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post74 == 0 /\ -a_239^post74+a_239^0 == 0 /\ -r_143^post74+r_143^0 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_395^post74+a_395^0 == 0 /\ a_417^0-a_417^post74 == 0 /\ tmp_34^0-tmp_34^post74 == 0 /\ r_151^0-r_151^post74 == 0 /\ head_32^0-head_32^post74 == 0 /\ f_248^0-f_248^post74 == 0 /\ rcd_58^0-rcd_58^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ a_634^0-a_634^post74 == 0 /\ head_15^0-head_15^post74 == 0 /\ -a_947^post74+a_947^0 == 0 /\ i_113^0-i_113^post74 == 0 /\ a_902^0-a_902^post74 == 0 /\ -a_862^post74+a_862^0 == 0 /\ -x_17^post74+x_17^0 == 0 /\ -i_94^post74+i_94^0 == 0 /\ i_127^0-i_127^post74 == 0 /\ a_394^0-a_394^post74 == 0 /\ -x_14^post74+x_14^0 == 0 /\ -a_576^post74+a_576^0 == 0 /\ len_238^0-len_238^post74 == 0 /\ -a_635^post74+a_635^0 == 0 /\ -a_392^post74+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post74 == 0 /\ -i_107^post74+i_107^0 == 0 /\ -len_861^post74+len_861^0 == 0 /\ i_140^0-i_140^post74 == 0 /\ t_458^0-t_458^post74 == 0 /\ x_852^0-x_852^post74 == 0 /\ -a_1236^post74+a_1236^0 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ i_106^0-i_106^post74 == 0 /\ a_632^0-a_632^post74 == 0 /\ len_161^0-len_161^post74 == 0 /\ rcd_88^0-rcd_88^post74 == 0 /\ a_311^0-a_311^post74 == 0 /\ -a_310^post74+a_310^0 == 0 /\ -i_30^post74+i_30^0 == 0 /\ -x_975^post74+x_975^0 == 0 /\ f_847^0-f_847^post74 == 0 /\ y_20^0-y_20^post74 == 0 /\ a_309^0-a_309^post74 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ -len_262^post74+len_262^0 == 0 /\ a_633^0-a_633^post74 == 0 /\ -rcd_47^post74+rcd_47^0 == 0 /\ a_121^0-a_121^post74 == 0 /\ -a_575^post74+a_575^0 == 0 /\ -i_197^post74+i_197^0 == 0 /\ -a_430^post74+a_430^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0 /\ -a_579^post74+a_579^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post74 == 0 /\ a_577^0-a_577^post74 == 0), cost: 1 New rule: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l47 -> l48 : a_1089^0'=a_1089^post75, f_847^0'=f_847^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, a_394^0'=a_394^post75, x_156^0'=x_156^post75, a_632^0'=a_632^post75, r_192^0'=r_192^post75, a_176^0'=a_176^post75, i_106^0'=i_106^post75, a_430^0'=a_430^post75, t_458^0'=t_458^post75, len_161^0'=len_161^post75, x_975^0'=x_975^post75, a_902^0'=a_902^post75, a_947^0'=a_947^post75, rcd_88^0'=rcd_88^post75, a_311^0'=a_311^post75, i_140^0'=i_140^post75, a_577^0'=a_577^post75, x_14^0'=x_14^post75, nondet_12^0'=nondet_12^post75, a_121^0'=a_121^post75, head_15^0'=head_15^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75, i_27^0'=i_27^post75, x_21^0'=x_21^post75, a_634^0'=a_634^post75, r_39^0'=r_39^post75, a_263^0'=a_263^post75, i_113^0'=i_113^post75, a_432^0'=a_432^post75, temp0_31^0'=temp0_31^post75, len_262^0'=len_262^post75, y_20^0'=y_20^post75, f_248^0'=f_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, a_393^0'=a_393^post75, i_229^0'=i_229^post75, a_610^0'=a_610^post75, r_151^0'=r_151^post75, a_144^0'=a_144^post75, i_1053^0'=i_1053^post75, a_417^0'=a_417^post75, t_24^0'=t_24^post75, i_94^0'=i_94^post75, x_852^0'=x_852^post75, a_862^0'=a_862^post75, rcd_1249^0'=rcd_1249^post75, rcd_58^0'=rcd_58^post75, a_310^0'=a_310^post75, i_127^0'=i_127^post75, a_576^0'=a_576^post75, tmp_34^0'=tmp_34^post75, length_29^0'=length_29^post75, a_1162^0'=a_1162^post75, f_969^0'=f_969^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75, a_395^0'=a_395^post75, x_17^0'=x_17^post75, a_633^0'=a_633^post75, r_224^0'=r_224^post75, a_239^0'=a_239^post75, i_107^0'=i_107^post75, a_431^0'=a_431^post75, temp0_16^0'=temp0_16^post75, len_238^0'=len_238^post75, x_SLAM_f_19^0'=x_SLAM_f_19^post75, a_924^0'=a_924^post75, ct_18^0'=ct_18^post75, result_11^0'=result_11^post75, a_392^0'=a_392^post75, i_197^0'=i_197^post75, a_579^0'=a_579^post75, r_143^0'=r_143^post75, a_1236^0'=a_1236^post75, head_32^0'=head_32^post75, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75, i_30^0'=i_30^post75, x_253^0'=x_253^post75, a_635^0'=a_635^post75, r_970^0'=r_970^post75, rcd_47^0'=rcd_47^post75, a_309^0'=a_309^post75, i_1248^0'=i_1248^post75, a_575^0'=a_575^post75, temp_35^0'=temp_35^post75, len_861^0'=len_861^post75, (a_263^0-a_263^post75 == 0 /\ -i_113^post75+i_113^0 == 0 /\ -a_1236^post75+a_1236^0 == 0 /\ -r_143^post75+r_143^0 == 0 /\ -a_635^post75+a_635^0 == 0 /\ -a_432^post75+a_432^0 == 0 /\ result_11^0-result_11^post75 == 0 /\ -i_30^post75+i_30^0 == 0 /\ -x_17^post75+x_17^0 == 0 /\ head_15^0-head_15^post75 == 0 /\ -temp0_31^post75+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post75 == 0 /\ a_634^0-a_634^post75 == 0 /\ a_862^0-a_862^post75 == 0 /\ -a_309^post75+a_309^0 == 0 /\ -x_SLAM_f_19^post75+x_SLAM_f_19^0 == 0 /\ a_902^0-a_902^post75 == 0 /\ a_947^0-a_947^post75 == 0 /\ -a_144^post75+a_144^0 == 0 /\ -a_310^post75+a_310^0 == 0 /\ -i_94^post75+i_94^0 == 0 /\ x_156^0-x_156^post75 == 0 /\ -a_575^post75+a_575^0 == 0 /\ rcd_88^0-rcd_88^post75 == 0 /\ -head_32^post75+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75 == 0 /\ a_176^0-a_176^post75 == 0 /\ a_311^0-a_311^post75 == 0 /\ i_1053^0-i_1053^post75 == 0 /\ -a_633^post75+a_633^0 == 0 /\ -rcd_47^post75+rcd_47^0 == 0 /\ length_29^0-length_29^post75 == 0 /\ r_192^0-r_192^post75 == 0 /\ -ct_18^post75+ct_18^0 == 0 /\ -len_262^post75+len_262^0 == 0 /\ -len_238^post75+len_238^0 == 0 /\ a_579^0-a_579^post75 == 0 /\ a_430^0-a_430^post75 == 0 /\ a_632^0-a_632^post75 == 0 /\ -f_969^post75+f_969^0 == 0 /\ -x_14^post75+x_14^0 == 0 /\ a_392^0-a_392^post75 == 0 /\ a_1089^0-a_1089^post75 == 0 /\ -r_39^post75+r_39^0 == 0 /\ x_852^0-x_852^post75 == 0 /\ -i_197^post75+i_197^0 == 0 /\ -a_431^post75+a_431^0 == 0 /\ -a_121^post75+a_121^0 == 0 /\ a_576^0-a_576^post75 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ y_20^0-y_20^post75 == 0 /\ f_847^0-f_847^post75 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -i_127^post75+i_127^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post75 == 0 /\ -x_253^post75+x_253^0 == 0 /\ i_140^0-i_140^post75 == 0 /\ -x_21^post75+x_21^0 == 0 /\ -temp_35^post75+temp_35^0 == 0 /\ -r_970^post75+r_970^0 == 0 /\ -rcd_58^post75+rcd_58^0 == 0 /\ x_975^0-x_975^post75 == 0 /\ -f_248^post75+f_248^0 == 0 /\ r_151^0-r_151^post75 == 0 /\ a_394^0-a_394^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_417^0-a_417^post75 == 0 /\ a_577^0-a_577^post75 == 0 /\ -len_861^post75+len_861^0 == 0 /\ -i_1248^post75+i_1248^0 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ a_610^0-a_610^post75 == 0 /\ -a_1162^post75+a_1162^0 == 0 /\ -i_229^post75+i_229^0 == 0 /\ rcd_1249^0-rcd_1249^post75 == 0 /\ i_27^0-i_27^post75 == 0 /\ i_106^0-i_106^post75 == 0 /\ -a_239^post75+a_239^0 == 0 /\ a_395^0-a_395^post75 == 0 /\ -temp0_16^post75+temp0_16^0 == 0 /\ len_161^0-len_161^post75 == 0 /\ a_393^0-a_393^post75 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post75+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post75+a_924^0 == 0 /\ i_107^0-i_107^post75 == 0 /\ -r_224^post75+r_224^0 == 0 /\ t_458^0-t_458^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0), cost: 1 New rule: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l47 -> l48 : a_1089^0'=a_1089^post76, f_847^0'=f_847^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, a_394^0'=a_394^post76, x_156^0'=x_156^post76, a_632^0'=a_632^post76, r_192^0'=r_192^post76, a_176^0'=a_176^post76, i_106^0'=i_106^post76, a_430^0'=a_430^post76, t_458^0'=t_458^post76, len_161^0'=len_161^post76, x_975^0'=x_975^post76, a_902^0'=a_902^post76, a_947^0'=a_947^post76, rcd_88^0'=rcd_88^post76, a_311^0'=a_311^post76, i_140^0'=i_140^post76, a_577^0'=a_577^post76, x_14^0'=x_14^post76, nondet_12^0'=nondet_12^post76, a_121^0'=a_121^post76, head_15^0'=head_15^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76, i_27^0'=i_27^post76, x_21^0'=x_21^post76, a_634^0'=a_634^post76, r_39^0'=r_39^post76, a_263^0'=a_263^post76, i_113^0'=i_113^post76, a_432^0'=a_432^post76, temp0_31^0'=temp0_31^post76, len_262^0'=len_262^post76, y_20^0'=y_20^post76, f_248^0'=f_248^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, a_393^0'=a_393^post76, i_229^0'=i_229^post76, a_610^0'=a_610^post76, r_151^0'=r_151^post76, a_144^0'=a_144^post76, i_1053^0'=i_1053^post76, a_417^0'=a_417^post76, t_24^0'=t_24^post76, i_94^0'=i_94^post76, x_852^0'=x_852^post76, a_862^0'=a_862^post76, rcd_1249^0'=rcd_1249^post76, rcd_58^0'=rcd_58^post76, a_310^0'=a_310^post76, i_127^0'=i_127^post76, a_576^0'=a_576^post76, tmp_34^0'=tmp_34^post76, length_29^0'=length_29^post76, a_1162^0'=a_1162^post76, f_969^0'=f_969^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76, a_395^0'=a_395^post76, x_17^0'=x_17^post76, a_633^0'=a_633^post76, r_224^0'=r_224^post76, a_239^0'=a_239^post76, i_107^0'=i_107^post76, a_431^0'=a_431^post76, temp0_16^0'=temp0_16^post76, len_238^0'=len_238^post76, x_SLAM_f_19^0'=x_SLAM_f_19^post76, a_924^0'=a_924^post76, ct_18^0'=ct_18^post76, result_11^0'=result_11^post76, a_392^0'=a_392^post76, i_197^0'=i_197^post76, a_579^0'=a_579^post76, r_143^0'=r_143^post76, a_1236^0'=a_1236^post76, head_32^0'=head_32^post76, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76, i_30^0'=i_30^post76, x_253^0'=x_253^post76, a_635^0'=a_635^post76, r_970^0'=r_970^post76, rcd_47^0'=rcd_47^post76, a_309^0'=a_309^post76, i_1248^0'=i_1248^post76, a_575^0'=a_575^post76, temp_35^0'=temp_35^post76, len_861^0'=len_861^post76, (a_1089^0-a_1089^post76 == 0 /\ -f_969^post76+f_969^0 == 0 /\ r_143^0-r_143^post76 == 0 /\ -head_32^post76+head_32^0 == 0 /\ -temp_35^post76+temp_35^0 == 0 /\ -i_127^post76+i_127^0 == 0 /\ a_310^0-a_310^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -a_579^post76+a_579^0 == 0 /\ -ct_18^post76+ct_18^0 == 0 /\ a_311^0-a_311^post76 == 0 /\ -a_1162^post76+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ t_458^0-t_458^post76 == 0 /\ a_395^0-a_395^post76 == 0 /\ -r_970^post76+r_970^0 == 0 /\ i_27^0-i_27^post76 == 0 /\ rcd_88^0-rcd_88^post76 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post76 == 0 /\ -f_248^post76+f_248^0 == 0 /\ i_106^0-i_106^post76 == 0 /\ i_140^0-i_140^post76 == 0 /\ r_39^0-r_39^post76 == 0 /\ a_392^0-a_392^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post76 == 0 /\ -temp0_16^post76+temp0_16^0 == 0 /\ a_393^0-a_393^post76 == 0 /\ -i_1248^post76+i_1248^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -len_861^post76+len_861^0 == 0 /\ -a_239^post76+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post76+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ y_20^0-y_20^post76 == 0 /\ result_11^0-result_11^post76 == 0 /\ -rcd_1249^post76+rcd_1249^0 == 0 /\ a_417^0-a_417^post76 == 0 /\ -i_30^post76+i_30^0 == 0 /\ len_262^0-len_262^post76 == 0 /\ x_21^0-x_21^post76 == 0 /\ a_634^0-a_634^post76 == 0 /\ -head_15^post76+head_15^0 == 0 /\ -a_924^post76+a_924^0 == 0 /\ -r_224^post76+r_224^0 == 0 /\ temp0_31^0-temp0_31^post76 == 0 /\ -x_17^post76+x_17^0 == 0 /\ -r_151^post76+r_151^0 == 0 /\ -a_144^post76+a_144^0 == 0 /\ a_947^0-a_947^post76 == 0 /\ -i_107^post76+i_107^0 == 0 /\ -i_94^post76+i_94^0 == 0 /\ -a_575^post76+a_575^0 == 0 /\ x_14^0-x_14^post76 == 0 /\ rcd_58^0-rcd_58^post76 == 0 /\ i_1053^0-i_1053^post76 == 0 /\ a_121^0-a_121^post76 == 0 /\ -a_635^post76+a_635^0 == 0 /\ -a_576^post76+a_576^0 == 0 /\ a_632^0-a_632^post76 == 0 /\ a_263^0-a_263^post76 == 0 /\ -a_633^post76+a_633^0 == 0 /\ -a_176^post76+a_176^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ x_852^0-x_852^post76 == 0 /\ len_161^0-len_161^post76 == 0 /\ -length_29^post76+length_29^0 == 0 /\ x_156^0-x_156^post76 == 0 /\ f_847^0-f_847^post76 == 0 /\ a_309^0-a_309^post76 == 0 /\ -a_610^post76+a_610^0 == 0 /\ -a_1236^post76+a_1236^0 == 0 /\ a_432^0-a_432^post76 == 0 /\ -x_253^post76+x_253^0 == 0 /\ a_902^0-a_902^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post76 == 0 /\ -len_238^post76+len_238^0 == 0 /\ i_113^0-i_113^post76 == 0 /\ r_192^0-r_192^post76 == 0 /\ -rcd_47^post76+rcd_47^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -i_197^post76+i_197^0 == 0 /\ a_394^0-a_394^post76 == 0 /\ i_229^0-i_229^post76 == 0 /\ a_862^0-a_862^post76 == 0 /\ a_577^0-a_577^post76 == 0 /\ -x_975^post76+x_975^0 == 0 /\ a_431^0-a_431^post76 == 0 /\ -a_430^post76+a_430^0 == 0), cost: 1 New rule: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l48 -> l8 : a_1089^0'=a_1089^post77, f_847^0'=f_847^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, a_394^0'=a_394^post77, x_156^0'=x_156^post77, a_632^0'=a_632^post77, r_192^0'=r_192^post77, a_176^0'=a_176^post77, i_106^0'=i_106^post77, a_430^0'=a_430^post77, t_458^0'=t_458^post77, len_161^0'=len_161^post77, x_975^0'=x_975^post77, a_902^0'=a_902^post77, a_947^0'=a_947^post77, rcd_88^0'=rcd_88^post77, a_311^0'=a_311^post77, i_140^0'=i_140^post77, a_577^0'=a_577^post77, x_14^0'=x_14^post77, nondet_12^0'=nondet_12^post77, a_121^0'=a_121^post77, head_15^0'=head_15^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77, i_27^0'=i_27^post77, x_21^0'=x_21^post77, a_634^0'=a_634^post77, r_39^0'=r_39^post77, a_263^0'=a_263^post77, i_113^0'=i_113^post77, a_432^0'=a_432^post77, temp0_31^0'=temp0_31^post77, len_262^0'=len_262^post77, y_20^0'=y_20^post77, f_248^0'=f_248^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, a_393^0'=a_393^post77, i_229^0'=i_229^post77, a_610^0'=a_610^post77, r_151^0'=r_151^post77, a_144^0'=a_144^post77, i_1053^0'=i_1053^post77, a_417^0'=a_417^post77, t_24^0'=t_24^post77, i_94^0'=i_94^post77, x_852^0'=x_852^post77, a_862^0'=a_862^post77, rcd_1249^0'=rcd_1249^post77, rcd_58^0'=rcd_58^post77, a_310^0'=a_310^post77, i_127^0'=i_127^post77, a_576^0'=a_576^post77, tmp_34^0'=tmp_34^post77, length_29^0'=length_29^post77, a_1162^0'=a_1162^post77, f_969^0'=f_969^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77, a_395^0'=a_395^post77, x_17^0'=x_17^post77, a_633^0'=a_633^post77, r_224^0'=r_224^post77, a_239^0'=a_239^post77, i_107^0'=i_107^post77, a_431^0'=a_431^post77, temp0_16^0'=temp0_16^post77, len_238^0'=len_238^post77, x_SLAM_f_19^0'=x_SLAM_f_19^post77, a_924^0'=a_924^post77, ct_18^0'=ct_18^post77, result_11^0'=result_11^post77, a_392^0'=a_392^post77, i_197^0'=i_197^post77, a_579^0'=a_579^post77, r_143^0'=r_143^post77, a_1236^0'=a_1236^post77, head_32^0'=head_32^post77, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77, i_30^0'=i_30^post77, x_253^0'=x_253^post77, a_635^0'=a_635^post77, r_970^0'=r_970^post77, rcd_47^0'=rcd_47^post77, a_309^0'=a_309^post77, i_1248^0'=i_1248^post77, a_575^0'=a_575^post77, temp_35^0'=temp_35^post77, len_861^0'=len_861^post77, (-x_17^post77+x_17^0 == 0 /\ y_20^0-y_20^post77 == 0 /\ -a_575^post77+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post77 == 0 /\ -i_30^post77+i_30^0 == 0 /\ t_458^0-t_458^post77 == 0 /\ -r_143^post77+r_143^0 == 0 /\ a_632^0-a_632^post77 == 0 /\ a_430^0-a_430^post77 == 0 /\ x_975^0-x_975^post77 == 0 /\ r_151^0-r_151^post77 == 0 /\ len_262^0-len_262^post77 == 0 /\ -a_576^post77+a_576^0 == 0 /\ a_902^0-a_902^post77 == 0 /\ a_577^0-a_577^post77 == 0 /\ -a_309^post77+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post77+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post77+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post77 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_144^post77+a_144^0 == 0 /\ -a_634^post77+a_634^0 == 0 /\ a_1162^0-a_1162^post77 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post77+a_633^0 == 0 /\ a_394^0-a_394^post77 == 0 /\ i_1053^0-i_1053^post77 == 0 /\ -a_610^post77+a_610^0 == 0 /\ a_310^0-a_310^post77 == 0 /\ a_176^0-a_176^post77 == 0 /\ -a_392^post77+a_392^0 == 0 /\ -a_1236^post77+a_1236^0 == 0 /\ -rcd_47^post77+rcd_47^0 == 0 /\ i_140^0-i_140^post77 == 0 /\ a_579^0-a_579^post77 == 0 /\ -len_238^post77+len_238^0 == 0 /\ f_847^0-f_847^post77 == 0 /\ -i_27^post77+i_27^0 == 0 /\ -length_29^post77+length_29^0 == 0 /\ i_197^0-i_197^post77 == 0 /\ -f_969^post77+f_969^0 == 0 /\ t_24^0-t_24^post77 == 0 /\ -head_15^post77+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post77 == 0 /\ -ct_18^post77+ct_18^0 == 0 /\ i_94^0-i_94^post77 == 0 /\ -i_127^post77+i_127^0 == 0 /\ i_229^0-i_229^post77 == 0 /\ -x_253^post77+x_253^0 == 0 /\ a_432^0-a_432^post77 == 0 /\ -head_32^post77+head_32^0 == 0 /\ -r_192^post77+r_192^0 == 0 /\ -x_852^post77+x_852^0 == 0 /\ a_862^0-a_862^post77 == 0 /\ a_121^0-a_121^post77 == 0 /\ x_21^0-x_21^post77 == 0 /\ -f_248^post77+f_248^0 == 0 /\ -len_161^post77+len_161^0 == 0 /\ r_970^0-r_970^post77 == 0 /\ i_113^0-i_113^post77 == 0 /\ -rcd_88^post77+rcd_88^0 == 0 /\ -temp_35^post77+temp_35^0 == 0 /\ x_156^0-x_156^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ nondet_12^0-nondet_12^post77 == 0 /\ -a_431^post77+a_431^0 == 0 /\ -rcd_58^post77+rcd_58^0 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ -temp0_16^post77+temp0_16^0 == 0 /\ a_1089^0-a_1089^post77 == 0 /\ -len_861^post77+len_861^0 == 0 /\ a_395^0-a_395^post77 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post77 == 0 /\ a_947^0-a_947^post77 == 0 /\ -a_417^post77+a_417^0 == 0 /\ -result_11^post77+result_11^0 == 0 /\ x_14^0-x_14^post77 == 0 /\ -a_393^post77+a_393^0 == 0 /\ -r_224^post77+r_224^0 == 0 /\ 1-i_197^0 <= 0 /\ -rcd_1249^post77+rcd_1249^0 == 0 /\ r_39^0-r_39^post77 == 0 /\ a_263^0-a_263^post77 == 0 /\ -a_924^post77+a_924^0 == 0 /\ -i_1248^post77+i_1248^0 == 0 /\ -a_239^post77+a_239^0 == 0 /\ i_107^0-i_107^post77 == 0 /\ -a_635^post77+a_635^0 == 0 /\ i_106^0-i_106^post77 == 0 /\ a_311^0-a_311^post77 == 0), cost: 1 New rule: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 Applied preprocessing Original rule: l49 -> l62 : a_1089^0'=a_1089^post95, f_847^0'=f_847^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_394^0'=a_394^post95, x_156^0'=x_156^post95, a_632^0'=a_632^post95, r_192^0'=r_192^post95, a_176^0'=a_176^post95, i_106^0'=i_106^post95, a_430^0'=a_430^post95, t_458^0'=t_458^post95, len_161^0'=len_161^post95, x_975^0'=x_975^post95, a_902^0'=a_902^post95, a_947^0'=a_947^post95, rcd_88^0'=rcd_88^post95, a_311^0'=a_311^post95, i_140^0'=i_140^post95, a_577^0'=a_577^post95, x_14^0'=x_14^post95, nondet_12^0'=nondet_12^post95, a_121^0'=a_121^post95, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95, i_27^0'=i_27^post95, x_21^0'=x_21^post95, a_634^0'=a_634^post95, r_39^0'=r_39^post95, a_263^0'=a_263^post95, i_113^0'=i_113^post95, a_432^0'=a_432^post95, temp0_31^0'=temp0_31^post95, len_262^0'=len_262^post95, y_20^0'=y_20^post95, f_248^0'=f_248^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_393^0'=a_393^post95, i_229^0'=i_229^post95, a_610^0'=a_610^post95, r_151^0'=r_151^post95, a_144^0'=a_144^post95, i_1053^0'=i_1053^post95, a_417^0'=a_417^post95, t_24^0'=t_24^post95, i_94^0'=i_94^post95, x_852^0'=x_852^post95, a_862^0'=a_862^post95, rcd_1249^0'=rcd_1249^post95, rcd_58^0'=rcd_58^post95, a_310^0'=a_310^post95, i_127^0'=i_127^post95, a_576^0'=a_576^post95, tmp_34^0'=tmp_34^post95, length_29^0'=length_29^post95, a_1162^0'=a_1162^post95, f_969^0'=f_969^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95, a_395^0'=a_395^post95, x_17^0'=x_17^post95, a_633^0'=a_633^post95, r_224^0'=r_224^post95, a_239^0'=a_239^post95, i_107^0'=i_107^post95, a_431^0'=a_431^post95, temp0_16^0'=temp0_16^post95, len_238^0'=len_238^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, a_924^0'=a_924^post95, ct_18^0'=ct_18^post95, result_11^0'=result_11^post95, a_392^0'=a_392^post95, i_197^0'=i_197^post95, a_579^0'=a_579^post95, r_143^0'=r_143^post95, a_1236^0'=a_1236^post95, head_32^0'=head_32^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95, i_30^0'=i_30^post95, x_253^0'=x_253^post95, a_635^0'=a_635^post95, r_970^0'=r_970^post95, rcd_47^0'=rcd_47^post95, a_309^0'=a_309^post95, i_1248^0'=i_1248^post95, a_575^0'=a_575^post95, temp_35^0'=temp_35^post95, len_861^0'=len_861^post95, (0 == 0 /\ r_39^0-r_39^post95 == 0 /\ r_151^0-r_151^post95 == 0 /\ -a_610^post95+a_610^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ -a_634^post95+a_634^0 == 0 /\ a_430^0-a_430^post95 == 0 /\ -rcd_47^post95+rcd_47^0 == 0 /\ x_975^0-x_975^post95 == 0 /\ i_113^0-i_113^post95 == 0 /\ -rcd_1249^post95+rcd_1249^0 == 0 /\ a_393^0-a_393^post95 == 0 /\ -r_143^post95+r_143^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ a_432^0-a_432^post95 == 0 /\ a_633^0-a_633^post95 == 0 /\ i_27^0-i_27^post95 == 0 /\ -len_238^post95+len_238^0 == 0 /\ f_969^0-f_969^post95 == 0 /\ x_21^0-x_21^post95 == 0 /\ r_192^0-r_192^post95 == 0 /\ a_579^0-a_579^post95 == 0 /\ -a_392^post95+a_392^0 == 0 /\ len_161^0-len_161^post95 == 0 /\ head_32^0-head_32^post95 == 0 /\ i_140^0-i_140^post95 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ a_144^0-a_144^post95 == 0 /\ -a_576^post95+a_576^0 == 0 /\ t_24^0-t_24^post95 == 0 /\ a_862^0-a_862^post95 == 0 /\ -f_248^post95+f_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -a_1236^post95+a_1236^0 == 0 /\ -a_431^post95+a_431^0 == 0 /\ -i_229^post95+i_229^0 == 0 /\ f_847^0-f_847^post95 == 0 /\ -x_253^post95+x_253^0 == 0 /\ -x_SLAM_f_19^post95+x_SLAM_f_19^0 == 0 /\ -r_970^post95+r_970^0 == 0 /\ t_458^0-t_458^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post95+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post95 == 0 /\ i_106^0-i_106^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ a_239^0-a_239^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post95 == 0 /\ a_311^0-a_311^post95 == 0 /\ -r_224^post95+r_224^0 == 0 /\ -a_395^post95+a_395^0 == 0 /\ rcd_88^0-rcd_88^post95 == 0 /\ -a_310^post95+a_310^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -i_197^post95+i_197^0 == 0 /\ a_1089^0-a_1089^post95 == 0 /\ x_156^0-x_156^post95 == 0 /\ a_632^0-a_632^post95 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ -len_262^post95+len_262^0 == 0 /\ -a_947^post95+a_947^0 == 0 /\ a_121^0-a_121^post95 == 0 /\ x_852^0-x_852^post95 == 0 /\ -x_17^post95+x_17^0 == 0 /\ -i_127^post95+i_127^0 == 0 /\ -x_14^post95+x_14^0 == 0 /\ -a_309^post95+a_309^0 == 0 /\ -i_107^post95+i_107^0 == 0 /\ a_263^0-a_263^post95 == 0 /\ a_417^0-a_417^post95 == 0 /\ -a_924^post95+a_924^0 == 0 /\ -a_575^post95+a_575^0 == 0 /\ y_20^0-y_20^post95 == 0 /\ -len_861^post95+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post95 == 0 /\ a_394^0-a_394^post95 == 0 /\ -a_635^post95+a_635^0 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -a_1162^post95+a_1162^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ i_1053^0-i_1053^post95 == 0 /\ -a_577^post95+a_577^0 == 0 /\ a_176^0-a_176^post95 == 0), cost: 1 New rule: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 Applied preprocessing Original rule: l62 -> l63 : a_1089^0'=a_1089^post96, f_847^0'=f_847^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_394^0'=a_394^post96, x_156^0'=x_156^post96, a_632^0'=a_632^post96, r_192^0'=r_192^post96, a_176^0'=a_176^post96, i_106^0'=i_106^post96, a_430^0'=a_430^post96, t_458^0'=t_458^post96, len_161^0'=len_161^post96, x_975^0'=x_975^post96, a_902^0'=a_902^post96, a_947^0'=a_947^post96, rcd_88^0'=rcd_88^post96, a_311^0'=a_311^post96, i_140^0'=i_140^post96, a_577^0'=a_577^post96, x_14^0'=x_14^post96, nondet_12^0'=nondet_12^post96, a_121^0'=a_121^post96, head_15^0'=head_15^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96, i_27^0'=i_27^post96, x_21^0'=x_21^post96, a_634^0'=a_634^post96, r_39^0'=r_39^post96, a_263^0'=a_263^post96, i_113^0'=i_113^post96, a_432^0'=a_432^post96, temp0_31^0'=temp0_31^post96, len_262^0'=len_262^post96, y_20^0'=y_20^post96, f_248^0'=f_248^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_393^0'=a_393^post96, i_229^0'=i_229^post96, a_610^0'=a_610^post96, r_151^0'=r_151^post96, a_144^0'=a_144^post96, i_1053^0'=i_1053^post96, a_417^0'=a_417^post96, t_24^0'=t_24^post96, i_94^0'=i_94^post96, x_852^0'=x_852^post96, a_862^0'=a_862^post96, rcd_1249^0'=rcd_1249^post96, rcd_58^0'=rcd_58^post96, a_310^0'=a_310^post96, i_127^0'=i_127^post96, a_576^0'=a_576^post96, tmp_34^0'=tmp_34^post96, length_29^0'=length_29^post96, a_1162^0'=a_1162^post96, f_969^0'=f_969^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96, a_395^0'=a_395^post96, x_17^0'=x_17^post96, a_633^0'=a_633^post96, r_224^0'=r_224^post96, a_239^0'=a_239^post96, i_107^0'=i_107^post96, a_431^0'=a_431^post96, temp0_16^0'=temp0_16^post96, len_238^0'=len_238^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, a_924^0'=a_924^post96, ct_18^0'=ct_18^post96, result_11^0'=result_11^post96, a_392^0'=a_392^post96, i_197^0'=i_197^post96, a_579^0'=a_579^post96, r_143^0'=r_143^post96, a_1236^0'=a_1236^post96, head_32^0'=head_32^post96, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96, i_30^0'=i_30^post96, x_253^0'=x_253^post96, a_635^0'=a_635^post96, r_970^0'=r_970^post96, rcd_47^0'=rcd_47^post96, a_309^0'=a_309^post96, i_1248^0'=i_1248^post96, a_575^0'=a_575^post96, temp_35^0'=temp_35^post96, len_861^0'=len_861^post96, (t_24^0-t_24^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ -len_262^post96+len_262^0 == 0 /\ a_862^0-a_862^post96 == 0 /\ x_21^0-x_21^post96 == 0 /\ a_417^0-a_417^post96 == 0 /\ -a_310^post96+a_310^0 == 0 /\ -f_248^post96+f_248^0 == 0 /\ len_161^0-len_161^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post96+r_224^0 == 0 /\ x_156^0-x_156^post96 == 0 /\ a_947^0-a_947^post96 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ -i_229^post96+i_229^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ f_847^0-f_847^post96 == 0 /\ a_263^0-a_263^post96 == 0 /\ a_394^0-a_394^post96 == 0 /\ 1-x_14^0 <= 0 /\ -i_1248^post96+i_1248^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ -a_392^post96+a_392^0 == 0 /\ -i_27^post96+i_27^0 == 0 /\ -a_239^post96+a_239^0 == 0 /\ length_29^0-length_29^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -i_127^post96+i_127^0 == 0 /\ -len_861^post96+len_861^0 == 0 /\ -a_579^post96+a_579^0 == 0 /\ -i_30^post96+i_30^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -a_635^post96+a_635^0 == 0 /\ a_430^0-a_430^post96 == 0 /\ r_151^0-r_151^post96 == 0 /\ -i_107^post96+i_107^0 == 0 /\ a_902^0-a_902^post96 == 0 /\ -x_852^post96+x_852^0 == 0 /\ i_106^0-i_106^post96 == 0 /\ a_311^0-a_311^post96 == 0 /\ a_577^0-a_577^post96 == 0 /\ -x_17^post96+x_17^0 == 0 /\ i_94^0-i_94^post96 == 0 /\ -i_197^post96+i_197^0 == 0 /\ head_15^0-head_15^post96 == 0 /\ -a_309^post96+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post96+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_432^0-a_432^post96 == 0 /\ -rcd_58^post96+rcd_58^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ -a_575^post96+a_575^0 == 0 /\ -len_238^post96+len_238^0 == 0 /\ i_140^0-i_140^post96 == 0 /\ -rcd_47^post96+rcd_47^0 == 0 /\ -a_634^post96+a_634^0 == 0 /\ -a_633^post96+a_633^0 == 0 /\ a_1089^0-a_1089^post96 == 0 /\ -a_1162^post96+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ x_253^0-x_253^post96 == 0 /\ y_20^0-y_20^post96 == 0 /\ -f_969^post96+f_969^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ i_1053^0-i_1053^post96 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ -a_924^post96+a_924^0 == 0 /\ a_395^0-a_395^post96 == 0 /\ a_176^0-a_176^post96 == 0 /\ -rcd_1249^post96+rcd_1249^0 == 0 /\ i_113^0-i_113^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -r_970^post96+r_970^0 == 0 /\ x_975^0-x_975^post96 == 0 /\ r_192^0-r_192^post96 == 0 /\ -r_143^post96+r_143^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ -a_431^post96+a_431^0 == 0 /\ a_393^0-a_393^post96 == 0 /\ t_458^0-t_458^post96 == 0 /\ -a_576^post96+a_576^0 == 0 /\ -x_SLAM_f_19^post96+x_SLAM_f_19^0 == 0 /\ -a_1236^post96+a_1236^0 == 0 /\ -a_121^post96+a_121^0 == 0 /\ -a_610^post96+a_610^0 == 0 /\ a_632^0-a_632^post96 == 0 /\ -temp_35^post96+temp_35^0 == 0), cost: 1 New rule: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l62 -> l63 : a_1089^0'=a_1089^post97, f_847^0'=f_847^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_394^0'=a_394^post97, x_156^0'=x_156^post97, a_632^0'=a_632^post97, r_192^0'=r_192^post97, a_176^0'=a_176^post97, i_106^0'=i_106^post97, a_430^0'=a_430^post97, t_458^0'=t_458^post97, len_161^0'=len_161^post97, x_975^0'=x_975^post97, a_902^0'=a_902^post97, a_947^0'=a_947^post97, rcd_88^0'=rcd_88^post97, a_311^0'=a_311^post97, i_140^0'=i_140^post97, a_577^0'=a_577^post97, x_14^0'=x_14^post97, nondet_12^0'=nondet_12^post97, a_121^0'=a_121^post97, head_15^0'=head_15^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97, i_27^0'=i_27^post97, x_21^0'=x_21^post97, a_634^0'=a_634^post97, r_39^0'=r_39^post97, a_263^0'=a_263^post97, i_113^0'=i_113^post97, a_432^0'=a_432^post97, temp0_31^0'=temp0_31^post97, len_262^0'=len_262^post97, y_20^0'=y_20^post97, f_248^0'=f_248^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_393^0'=a_393^post97, i_229^0'=i_229^post97, a_610^0'=a_610^post97, r_151^0'=r_151^post97, a_144^0'=a_144^post97, i_1053^0'=i_1053^post97, a_417^0'=a_417^post97, t_24^0'=t_24^post97, i_94^0'=i_94^post97, x_852^0'=x_852^post97, a_862^0'=a_862^post97, rcd_1249^0'=rcd_1249^post97, rcd_58^0'=rcd_58^post97, a_310^0'=a_310^post97, i_127^0'=i_127^post97, a_576^0'=a_576^post97, tmp_34^0'=tmp_34^post97, length_29^0'=length_29^post97, a_1162^0'=a_1162^post97, f_969^0'=f_969^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97, a_395^0'=a_395^post97, x_17^0'=x_17^post97, a_633^0'=a_633^post97, r_224^0'=r_224^post97, a_239^0'=a_239^post97, i_107^0'=i_107^post97, a_431^0'=a_431^post97, temp0_16^0'=temp0_16^post97, len_238^0'=len_238^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, a_924^0'=a_924^post97, ct_18^0'=ct_18^post97, result_11^0'=result_11^post97, a_392^0'=a_392^post97, i_197^0'=i_197^post97, a_579^0'=a_579^post97, r_143^0'=r_143^post97, a_1236^0'=a_1236^post97, head_32^0'=head_32^post97, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97, i_30^0'=i_30^post97, x_253^0'=x_253^post97, a_635^0'=a_635^post97, r_970^0'=r_970^post97, rcd_47^0'=rcd_47^post97, a_309^0'=a_309^post97, i_1248^0'=i_1248^post97, a_575^0'=a_575^post97, temp_35^0'=temp_35^post97, len_861^0'=len_861^post97, (r_151^0-r_151^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -a_924^post97+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post97 == 0 /\ -a_610^post97+a_610^0 == 0 /\ -rcd_1249^post97+rcd_1249^0 == 0 /\ i_94^0-i_94^post97 == 0 /\ i_113^0-i_113^post97 == 0 /\ -a_634^post97+a_634^0 == 0 /\ r_39^0-r_39^post97 == 0 /\ -rcd_47^post97+rcd_47^0 == 0 /\ a_393^0-a_393^post97 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ -x_253^post97+x_253^0 == 0 /\ a_1089^0-a_1089^post97 == 0 /\ a_432^0-a_432^post97 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post97+len_238^0 == 0 /\ x_21^0-x_21^post97 == 0 /\ a_310^0-a_310^post97 == 0 /\ -result_11^post97+result_11^0 == 0 /\ r_192^0-r_192^post97 == 0 /\ i_140^0-i_140^post97 == 0 /\ i_197^0-i_197^post97 == 0 /\ head_32^0-head_32^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ a_417^0-a_417^post97 == 0 /\ a_263^0-a_263^post97 == 0 /\ -a_576^post97+a_576^0 == 0 /\ i_27^0-i_27^post97 == 0 /\ -temp_35^post97+temp_35^0 == 0 /\ -r_143^post97+r_143^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ x_156^0-x_156^post97 == 0 /\ a_1162^0-a_1162^post97 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ -f_969^post97+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post97 == 0 /\ -r_970^post97+r_970^0 == 0 /\ -a_395^post97+a_395^0 == 0 /\ -f_248^post97+f_248^0 == 0 /\ -a_1236^post97+a_1236^0 == 0 /\ t_458^0-t_458^post97 == 0 /\ i_106^0-i_106^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post97+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_632^0-a_632^post97 == 0 /\ -len_262^post97+len_262^0 == 0 /\ x_975^0-x_975^post97 == 0 /\ i_107^0-i_107^post97 == 0 /\ a_311^0-a_311^post97 == 0 /\ -a_392^post97+a_392^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ -i_1248^post97+i_1248^0 == 0 /\ -a_239^post97+a_239^0 == 0 /\ a_902^0-a_902^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ a_577^0-a_577^post97 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ i_229^0-i_229^post97 == 0 /\ -len_861^post97+len_861^0 == 0 /\ -a_430^post97+a_430^0 == 0 /\ -a_947^post97+a_947^0 == 0 /\ -x_14^post97+x_14^0 == 0 /\ -head_15^post97+head_15^0 == 0 /\ x_852^0-x_852^post97 == 0 /\ -x_17^post97+x_17^0 == 0 /\ a_121^0-a_121^post97 == 0 /\ -a_579^post97+a_579^0 == 0 /\ -a_309^post97+a_309^0 == 0 /\ t_24^0-t_24^post97 == 0 /\ a_862^0-a_862^post97 == 0 /\ a_394^0-a_394^post97 == 0 /\ -rcd_58^post97+rcd_58^0 == 0 /\ len_161^0-len_161^post97 == 0 /\ -a_635^post97+a_635^0 == 0 /\ a_431^0-a_431^post97 == 0 /\ 1+x_14^0 <= 0 /\ -a_144^post97+a_144^0 == 0 /\ a_176^0-a_176^post97 == 0 /\ rcd_88^0-rcd_88^post97 == 0 /\ -i_127^post97+i_127^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ f_847^0-f_847^post97 == 0 /\ y_20^0-y_20^post97 == 0 /\ i_1053^0-i_1053^post97 == 0 /\ r_224^0-r_224^post97 == 0 /\ -a_575^post97+a_575^0 == 0 /\ -a_633^post97+a_633^0 == 0), cost: 1 New rule: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l63 -> l64 : a_1089^0'=a_1089^post98, f_847^0'=f_847^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_394^0'=a_394^post98, x_156^0'=x_156^post98, a_632^0'=a_632^post98, r_192^0'=r_192^post98, a_176^0'=a_176^post98, i_106^0'=i_106^post98, a_430^0'=a_430^post98, t_458^0'=t_458^post98, len_161^0'=len_161^post98, x_975^0'=x_975^post98, a_902^0'=a_902^post98, a_947^0'=a_947^post98, rcd_88^0'=rcd_88^post98, a_311^0'=a_311^post98, i_140^0'=i_140^post98, a_577^0'=a_577^post98, x_14^0'=x_14^post98, nondet_12^0'=nondet_12^post98, a_121^0'=a_121^post98, head_15^0'=head_15^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98, i_27^0'=i_27^post98, x_21^0'=x_21^post98, a_634^0'=a_634^post98, r_39^0'=r_39^post98, a_263^0'=a_263^post98, i_113^0'=i_113^post98, a_432^0'=a_432^post98, temp0_31^0'=temp0_31^post98, len_262^0'=len_262^post98, y_20^0'=y_20^post98, f_248^0'=f_248^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_393^0'=a_393^post98, i_229^0'=i_229^post98, a_610^0'=a_610^post98, r_151^0'=r_151^post98, a_144^0'=a_144^post98, i_1053^0'=i_1053^post98, a_417^0'=a_417^post98, t_24^0'=t_24^post98, i_94^0'=i_94^post98, x_852^0'=x_852^post98, a_862^0'=a_862^post98, rcd_1249^0'=rcd_1249^post98, rcd_58^0'=rcd_58^post98, a_310^0'=a_310^post98, i_127^0'=i_127^post98, a_576^0'=a_576^post98, tmp_34^0'=tmp_34^post98, length_29^0'=length_29^post98, a_1162^0'=a_1162^post98, f_969^0'=f_969^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98, a_395^0'=a_395^post98, x_17^0'=x_17^post98, a_633^0'=a_633^post98, r_224^0'=r_224^post98, a_239^0'=a_239^post98, i_107^0'=i_107^post98, a_431^0'=a_431^post98, temp0_16^0'=temp0_16^post98, len_238^0'=len_238^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, a_924^0'=a_924^post98, ct_18^0'=ct_18^post98, result_11^0'=result_11^post98, a_392^0'=a_392^post98, i_197^0'=i_197^post98, a_579^0'=a_579^post98, r_143^0'=r_143^post98, a_1236^0'=a_1236^post98, head_32^0'=head_32^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98, i_30^0'=i_30^post98, x_253^0'=x_253^post98, a_635^0'=a_635^post98, r_970^0'=r_970^post98, rcd_47^0'=rcd_47^post98, a_309^0'=a_309^post98, i_1248^0'=i_1248^post98, a_575^0'=a_575^post98, temp_35^0'=temp_35^post98, len_861^0'=len_861^post98, (0 == 0 /\ -a_417^post98+a_417^0 == 0 /\ -a_862^post98+a_862^0 == 0 /\ -i_27^post98+i_27^0 == 0 /\ -len_861^post98+len_861^0 == 0 /\ a_263^0-a_263^post98 == 0 /\ -a_1236^post98+a_1236^0 == 0 /\ len_161^0-len_161^post98 == 0 /\ y_20^0-y_20^post98 == 0 /\ -a_393^post98+a_393^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ i_229^0-i_229^post98 == 0 /\ x_156^0-x_156^post98 == 0 /\ -a_392^post98+a_392^0 == 0 /\ a_634^0-a_634^post98 == 0 /\ -a_239^post98+a_239^0 == 0 /\ head_15^0-head_15^post98 == 0 /\ i_1053^0-i_1053^post98 == 0 /\ a_176^0-a_176^post98 == 0 /\ a_395^0-a_395^post98 == 0 /\ -length_29^post98+length_29^0 == 0 /\ a_121^0-a_121^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ -i_1248^post98+i_1248^0 == 0 /\ len_262^0-len_262^post98 == 0 /\ a_947^0-a_947^post98 == 0 /\ -a_575^post98+a_575^0 == 0 /\ a_430^0-a_430^post98 == 0 /\ -i_197^post98+i_197^0 == 0 /\ -a_579^post98+a_579^0 == 0 /\ -ct_18^post98+ct_18^0 == 0 /\ i_113^0-i_113^post98 == 0 /\ -a_635^post98+a_635^0 == 0 /\ r_192^0-r_192^post98 == 0 /\ -r_151^post98+r_151^0 == 0 /\ -len_238^post98+len_238^0 == 0 /\ -i_127^post98+i_127^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ -a_309^post98+a_309^0 == 0 /\ -a_610^post98+a_610^0 == 0 /\ i_140^0-i_140^post98 == 0 /\ -a_144^post98+a_144^0 == 0 /\ a_632^0-a_632^post98 == 0 /\ -rcd_47^post98+rcd_47^0 == 0 /\ -a_633^post98+a_633^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_432^0-a_432^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ -rcd_1249^post98+rcd_1249^0 == 0 /\ -result_11^post98+result_11^0 == 0 /\ -a_1162^post98+a_1162^0 == 0 /\ f_847^0-f_847^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_902^post98+a_902^0 == 0 /\ a_431^0-a_431^post98 == 0 /\ i_94^0-i_94^post98 == 0 /\ -x_852^post98+x_852^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ x_17^0-x_17^post98 == 0 /\ -a_924^post98+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_394^0-a_394^post98 == 0 /\ a_577^0-a_577^post98 == 0 /\ 1-i_27^0 <= 0 /\ -r_143^post98+r_143^0 == 0 /\ x_975^0-x_975^post98 == 0 /\ x_14^0-x_14^post98 == 0 /\ -x_SLAM_f_19^post98+x_SLAM_f_19^0 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -nondet_12^14+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post98 == 0 /\ r_224^0-r_224^post98 == 0 /\ -x_253^post98+x_253^0 == 0 /\ -f_969^post98+f_969^0 == 0 /\ a_1089^0-a_1089^post98 == 0 /\ i_107^0-i_107^post98 == 0 /\ -r_970^post98+r_970^0 == 0 /\ i_106^0-i_106^post98 == 0 /\ a_311^0-a_311^post98 == 0 /\ -f_248^post98+f_248^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post98+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post98 == 0 /\ r_39^0-r_39^post98 == 0 /\ -a_576^post98+a_576^0 == 0 /\ a_310^0-a_310^post98 == 0), cost: 1 New rule: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l64 -> l65 : a_1089^0'=a_1089^post99, f_847^0'=f_847^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_394^0'=a_394^post99, x_156^0'=x_156^post99, a_632^0'=a_632^post99, r_192^0'=r_192^post99, a_176^0'=a_176^post99, i_106^0'=i_106^post99, a_430^0'=a_430^post99, t_458^0'=t_458^post99, len_161^0'=len_161^post99, x_975^0'=x_975^post99, a_902^0'=a_902^post99, a_947^0'=a_947^post99, rcd_88^0'=rcd_88^post99, a_311^0'=a_311^post99, i_140^0'=i_140^post99, a_577^0'=a_577^post99, x_14^0'=x_14^post99, nondet_12^0'=nondet_12^post99, a_121^0'=a_121^post99, head_15^0'=head_15^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99, i_27^0'=i_27^post99, x_21^0'=x_21^post99, a_634^0'=a_634^post99, r_39^0'=r_39^post99, a_263^0'=a_263^post99, i_113^0'=i_113^post99, a_432^0'=a_432^post99, temp0_31^0'=temp0_31^post99, len_262^0'=len_262^post99, y_20^0'=y_20^post99, f_248^0'=f_248^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_393^0'=a_393^post99, i_229^0'=i_229^post99, a_610^0'=a_610^post99, r_151^0'=r_151^post99, a_144^0'=a_144^post99, i_1053^0'=i_1053^post99, a_417^0'=a_417^post99, t_24^0'=t_24^post99, i_94^0'=i_94^post99, x_852^0'=x_852^post99, a_862^0'=a_862^post99, rcd_1249^0'=rcd_1249^post99, rcd_58^0'=rcd_58^post99, a_310^0'=a_310^post99, i_127^0'=i_127^post99, a_576^0'=a_576^post99, tmp_34^0'=tmp_34^post99, length_29^0'=length_29^post99, a_1162^0'=a_1162^post99, f_969^0'=f_969^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99, a_395^0'=a_395^post99, x_17^0'=x_17^post99, a_633^0'=a_633^post99, r_224^0'=r_224^post99, a_239^0'=a_239^post99, i_107^0'=i_107^post99, a_431^0'=a_431^post99, temp0_16^0'=temp0_16^post99, len_238^0'=len_238^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, a_924^0'=a_924^post99, ct_18^0'=ct_18^post99, result_11^0'=result_11^post99, a_392^0'=a_392^post99, i_197^0'=i_197^post99, a_579^0'=a_579^post99, r_143^0'=r_143^post99, a_1236^0'=a_1236^post99, head_32^0'=head_32^post99, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99, i_30^0'=i_30^post99, x_253^0'=x_253^post99, a_635^0'=a_635^post99, r_970^0'=r_970^post99, rcd_47^0'=rcd_47^post99, a_309^0'=a_309^post99, i_1248^0'=i_1248^post99, a_575^0'=a_575^post99, temp_35^0'=temp_35^post99, len_861^0'=len_861^post99, (-i_1248^post99+i_1248^0 == 0 /\ -a_239^post99+a_239^0 == 0 /\ -a_579^post99+a_579^0 == 0 /\ len_161^0-len_161^post99 == 0 /\ -rcd_58^post99+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ -i_127^post99+i_127^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ a_417^0-a_417^post99 == 0 /\ a_176^0-a_176^post99 == 0 /\ a_394^0-a_394^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ -i_197^post99+i_197^0 == 0 /\ length_29^0-length_29^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -f_248^post99+f_248^0 == 0 /\ f_847^0-f_847^post99 == 0 /\ a_263^0-a_263^post99 == 0 /\ t_24^0-t_24^post99 == 0 /\ -a_431^post99+a_431^0 == 0 /\ -i_229^post99+i_229^0 == 0 /\ i_1053^0-i_1053^post99 == 0 /\ -a_309^post99+a_309^0 == 0 /\ i_94^0-i_94^post99 == 0 /\ a_432^0-a_432^post99 == 0 /\ -a_144^post99+a_144^0 == 0 /\ a_430^0-a_430^post99 == 0 /\ a_632^0-a_632^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -rcd_1249^post99+rcd_1249^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ r_151^0-r_151^post99 == 0 /\ -a_575^post99+a_575^0 == 0 /\ -a_924^post99+a_924^0 == 0 /\ i_113^0-i_113^post99 == 0 /\ a_577^0-a_577^post99 == 0 /\ a_1162^0-a_1162^post99 == 0 /\ -len_861^post99+len_861^0 == 0 /\ r_192^0-r_192^post99 == 0 /\ a_902^0-a_902^post99 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -x_852^post99+x_852^0 == 0 /\ -a_635^post99+a_635^0 == 0 /\ x_156^0-x_156^post99 == 0 /\ head_32^0-head_32^post99 == 0 /\ -a_947^post99+a_947^0 == 0 /\ head_15^0-head_15^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_862^0-a_862^post99 == 0 /\ -x_17^post99+x_17^0 == 0 /\ a_1089^0-a_1089^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -x_SLAM_f_19^post99+x_SLAM_f_19^0 == 0 /\ -x_14^post99+x_14^0 == 0 /\ -a_576^post99+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ -r_143^post99+r_143^0 == 0 /\ -a_1236^post99+a_1236^0 == 0 /\ i_140^0-i_140^post99 == 0 /\ t_458^0-t_458^post99 == 0 /\ a_395^0-a_395^post99 == 0 /\ i_106^0-i_106^post99 == 0 /\ -a_634^post99+a_634^0 == 0 /\ rcd_88^0-rcd_88^post99 == 0 /\ a_311^0-a_311^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post99+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post99 == 0 /\ -i_27^post99+i_27^0 == 0 /\ r_224^0-r_224^post99 == 0 /\ -a_392^post99+a_392^0 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ a_393^0-a_393^post99 == 0 /\ -a_633^post99+a_633^0 == 0 /\ i_107^0-i_107^post99 == 0 /\ -f_969^post99+f_969^0 == 0 /\ -a_310^post99+a_310^0 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ x_975^0-x_975^post99 == 0 /\ y_20^0-y_20^post99 == 0 /\ -a_610^post99+a_610^0 == 0 /\ a_121^0-a_121^post99 == 0 /\ -rcd_47^post99+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -x_253^post99+x_253^0 == 0 /\ -len_238^post99+len_238^0 == 0 /\ -r_970^post99+r_970^0 == 0 /\ -len_262^post99+len_262^0 == 0), cost: 1 New rule: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l64 -> l65 : a_1089^0'=a_1089^post100, f_847^0'=f_847^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_394^0'=a_394^post100, x_156^0'=x_156^post100, a_632^0'=a_632^post100, r_192^0'=r_192^post100, a_176^0'=a_176^post100, i_106^0'=i_106^post100, a_430^0'=a_430^post100, t_458^0'=t_458^post100, len_161^0'=len_161^post100, x_975^0'=x_975^post100, a_902^0'=a_902^post100, a_947^0'=a_947^post100, rcd_88^0'=rcd_88^post100, a_311^0'=a_311^post100, i_140^0'=i_140^post100, a_577^0'=a_577^post100, x_14^0'=x_14^post100, nondet_12^0'=nondet_12^post100, a_121^0'=a_121^post100, head_15^0'=head_15^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100, i_27^0'=i_27^post100, x_21^0'=x_21^post100, a_634^0'=a_634^post100, r_39^0'=r_39^post100, a_263^0'=a_263^post100, i_113^0'=i_113^post100, a_432^0'=a_432^post100, temp0_31^0'=temp0_31^post100, len_262^0'=len_262^post100, y_20^0'=y_20^post100, f_248^0'=f_248^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_393^0'=a_393^post100, i_229^0'=i_229^post100, a_610^0'=a_610^post100, r_151^0'=r_151^post100, a_144^0'=a_144^post100, i_1053^0'=i_1053^post100, a_417^0'=a_417^post100, t_24^0'=t_24^post100, i_94^0'=i_94^post100, x_852^0'=x_852^post100, a_862^0'=a_862^post100, rcd_1249^0'=rcd_1249^post100, rcd_58^0'=rcd_58^post100, a_310^0'=a_310^post100, i_127^0'=i_127^post100, a_576^0'=a_576^post100, tmp_34^0'=tmp_34^post100, length_29^0'=length_29^post100, a_1162^0'=a_1162^post100, f_969^0'=f_969^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100, a_395^0'=a_395^post100, x_17^0'=x_17^post100, a_633^0'=a_633^post100, r_224^0'=r_224^post100, a_239^0'=a_239^post100, i_107^0'=i_107^post100, a_431^0'=a_431^post100, temp0_16^0'=temp0_16^post100, len_238^0'=len_238^post100, x_SLAM_f_19^0'=x_SLAM_f_19^post100, a_924^0'=a_924^post100, ct_18^0'=ct_18^post100, result_11^0'=result_11^post100, a_392^0'=a_392^post100, i_197^0'=i_197^post100, a_579^0'=a_579^post100, r_143^0'=r_143^post100, a_1236^0'=a_1236^post100, head_32^0'=head_32^post100, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100, i_30^0'=i_30^post100, x_253^0'=x_253^post100, a_635^0'=a_635^post100, r_970^0'=r_970^post100, rcd_47^0'=rcd_47^post100, a_309^0'=a_309^post100, i_1248^0'=i_1248^post100, a_575^0'=a_575^post100, temp_35^0'=temp_35^post100, len_861^0'=len_861^post100, (-len_238^post100+len_238^0 == 0 /\ head_15^0-head_15^post100 == 0 /\ i_94^0-i_94^post100 == 0 /\ -rcd_47^post100+rcd_47^0 == 0 /\ a_902^0-a_902^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post100 == 0 /\ -r_143^post100+r_143^0 == 0 /\ -a_633^post100+a_633^0 == 0 /\ a_432^0-a_432^post100 == 0 /\ r_192^0-r_192^post100 == 0 /\ -r_151^post100+r_151^0 == 0 /\ i_229^0-i_229^post100 == 0 /\ i_113^0-i_113^post100 == 0 /\ -a_924^post100+a_924^0 == 0 /\ -a_576^post100+a_576^0 == 0 /\ x_21^0-x_21^post100 == 0 /\ x_156^0-x_156^post100 == 0 /\ -a_309^post100+a_309^0 == 0 /\ -rcd_1249^post100+rcd_1249^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post100 == 0 /\ x_14^0-x_14^post100 == 0 /\ a_121^0-a_121^post100 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ a_417^0-a_417^post100 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1089^0-a_1089^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ i_27^0-i_27^post100 == 0 /\ a_263^0-a_263^post100 == 0 /\ -a_1236^post100+a_1236^0 == 0 /\ -len_262^post100+len_262^0 == 0 /\ -f_969^post100+f_969^0 == 0 /\ y_20^0-y_20^post100 == 0 /\ r_39^0-r_39^post100 == 0 /\ a_392^0-a_392^post100 == 0 /\ t_458^0-t_458^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post100 == 0 /\ -a_311^post100+a_311^0 == 0 /\ i_106^0-i_106^post100 == 0 /\ -a_610^post100+a_610^0 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ -x_253^post100+x_253^0 == 0 /\ -ct_18^post100+ct_18^0 == 0 /\ -i_1053^post100+i_1053^0 == 0 /\ i_107^0-i_107^post100 == 0 /\ r_224^0-r_224^post100 == 0 /\ -r_970^post100+r_970^0 == 0 /\ f_248^0-f_248^post100 == 0 /\ -rcd_58^post100+rcd_58^0 == 0 /\ -i_197^post100+i_197^0 == 0 /\ -a_430^post100+a_430^0 == 0 /\ -a_395^post100+a_395^0 == 0 /\ -temp0_16^post100+temp0_16^0 == 0 /\ a_393^0-a_393^post100 == 0 /\ a_632^0-a_632^post100 == 0 /\ -len_861^post100+len_861^0 == 0 /\ x_975^0-x_975^post100 == 0 /\ -a_394^post100+a_394^0 == 0 /\ -f_847^post100+f_847^0 == 0 /\ a_577^0-a_577^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ -a_862^post100+a_862^0 == 0 /\ -temp_35^post100+temp_35^0 == 0 /\ -i_127^post100+i_127^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -a_579^post100+a_579^0 == 0 /\ -a_1162^post100+a_1162^0 == 0 /\ t_24^0-t_24^post100 == 0 /\ -a_144^post100+a_144^0 == 0 /\ -a_634^post100+a_634^0 == 0 /\ a_431^0-a_431^post100 == 0 /\ len_161^0-len_161^post100 == 0 /\ -x_17^post100+x_17^0 == 0 /\ a_310^0-a_310^post100 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post100+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post100+a_575^0 == 0 /\ a_176^0-a_176^post100 == 0 /\ -a_947^post100+a_947^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ x_852^0-x_852^post100 == 0 /\ -i_1248^post100+i_1248^0 == 0 /\ -a_239^post100+a_239^0 == 0 /\ rcd_88^0-rcd_88^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ length_29^0-length_29^post100 == 0 /\ i_140^0-i_140^post100 == 0 /\ -a_635^post100+a_635^0 == 0), cost: 1 New rule: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l65 -> l66 : a_1089^0'=a_1089^post101, f_847^0'=f_847^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, a_394^0'=a_394^post101, x_156^0'=x_156^post101, a_632^0'=a_632^post101, r_192^0'=r_192^post101, a_176^0'=a_176^post101, i_106^0'=i_106^post101, a_430^0'=a_430^post101, t_458^0'=t_458^post101, len_161^0'=len_161^post101, x_975^0'=x_975^post101, a_902^0'=a_902^post101, a_947^0'=a_947^post101, rcd_88^0'=rcd_88^post101, a_311^0'=a_311^post101, i_140^0'=i_140^post101, a_577^0'=a_577^post101, x_14^0'=x_14^post101, nondet_12^0'=nondet_12^post101, a_121^0'=a_121^post101, head_15^0'=head_15^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101, i_27^0'=i_27^post101, x_21^0'=x_21^post101, a_634^0'=a_634^post101, r_39^0'=r_39^post101, a_263^0'=a_263^post101, i_113^0'=i_113^post101, a_432^0'=a_432^post101, temp0_31^0'=temp0_31^post101, len_262^0'=len_262^post101, y_20^0'=y_20^post101, f_248^0'=f_248^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, a_393^0'=a_393^post101, i_229^0'=i_229^post101, a_610^0'=a_610^post101, r_151^0'=r_151^post101, a_144^0'=a_144^post101, i_1053^0'=i_1053^post101, a_417^0'=a_417^post101, t_24^0'=t_24^post101, i_94^0'=i_94^post101, x_852^0'=x_852^post101, a_862^0'=a_862^post101, rcd_1249^0'=rcd_1249^post101, rcd_58^0'=rcd_58^post101, a_310^0'=a_310^post101, i_127^0'=i_127^post101, a_576^0'=a_576^post101, tmp_34^0'=tmp_34^post101, length_29^0'=length_29^post101, a_1162^0'=a_1162^post101, f_969^0'=f_969^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101, a_395^0'=a_395^post101, x_17^0'=x_17^post101, a_633^0'=a_633^post101, r_224^0'=r_224^post101, a_239^0'=a_239^post101, i_107^0'=i_107^post101, a_431^0'=a_431^post101, temp0_16^0'=temp0_16^post101, len_238^0'=len_238^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, a_924^0'=a_924^post101, ct_18^0'=ct_18^post101, result_11^0'=result_11^post101, a_392^0'=a_392^post101, i_197^0'=i_197^post101, a_579^0'=a_579^post101, r_143^0'=r_143^post101, a_1236^0'=a_1236^post101, head_32^0'=head_32^post101, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101, i_30^0'=i_30^post101, x_253^0'=x_253^post101, a_635^0'=a_635^post101, r_970^0'=r_970^post101, rcd_47^0'=rcd_47^post101, a_309^0'=a_309^post101, i_1248^0'=i_1248^post101, a_575^0'=a_575^post101, temp_35^0'=temp_35^post101, len_861^0'=len_861^post101, (0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ a_121^0-a_121^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_634^0-a_634^post101 == 0 /\ -i_1248^post101+i_1248^0 == 0 /\ len_262^0-len_262^post101 == 0 /\ -a_239^post101+a_239^0 == 0 /\ -length_29^post101+length_29^0 == 0 /\ -1+i_1248^0-i_27^post101 <= 0 /\ a_310^0-a_310^post101 == 0 /\ -rcd_58^post101+rcd_58^0 == 0 /\ a_395^0-a_395^post101 == 0 /\ a_176^0-a_176^post101 == 0 /\ -i_197^post101+i_197^0 == 0 /\ -a_579^post101+a_579^0 == 0 /\ a_947^0-a_947^post101 == 0 /\ -i_127^post101+i_127^0 == 0 /\ -head_32^post101+head_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post101 == 0 /\ i_1053^0-i_1053^post101 == 0 /\ -f_248^post101+f_248^0 == 0 /\ -a_393^post101+a_393^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post101 == 0 /\ -t_24^post101+t_24^0 == 0 /\ x_975^0-x_975^post101 == 0 /\ a_430^0-a_430^post101 == 0 /\ -a_924^post101+a_924^0 == 0 /\ head_15^0-head_15^post101 == 0 /\ i_113^0-i_113^post101 == 0 /\ -a_635^post101+a_635^0 == 0 /\ -a_144^post101+a_144^0 == 0 /\ -a_309^post101+a_309^0 == 0 /\ 1-i_27^0+i_27^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ i_229^0-i_229^post101 == 0 /\ a_432^0-a_432^post101 == 0 /\ x_156^0-x_156^post101 == 0 /\ -len_861^post101+len_861^0 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ -i_30^post101+i_30^0 == 0 /\ -a_417^post101+a_417^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ -x_852^post101+x_852^0 == 0 /\ r_192^0-r_192^post101 == 0 /\ a_1162^0-a_1162^post101 == 0 /\ -rcd_47^post101+rcd_47^0 == 0 /\ i_140^0-i_140^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ nondet_12^0-nondet_12^post101 == 0 /\ a_431^0-a_431^post101 == 0 /\ a_1089^0-a_1089^post101 == 0 /\ a_394^0-a_394^post101 == 0 /\ x_17^0-x_17^post101 == 0 /\ len_161^0-len_161^post101 == 0 /\ -r_143^post101+r_143^0 == 0 /\ 1-i_1248^0+i_27^post101 <= 0 /\ rcd_88^0-rcd_88^post101 == 0 /\ y_20^0-y_20^post101 == 0 /\ a_263^0-a_263^post101 == 0 /\ -a_633^post101+a_633^0 == 0 /\ f_847^0-f_847^post101 == 0 /\ -a_575^post101+a_575^0 == 0 /\ -a_902^post101+a_902^0 == 0 /\ i_107^0-i_107^post101 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post101+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post101+r_151^0 == 0 /\ -result_11^post101+result_11^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ -rcd_1249^post101+rcd_47^0 <= 0 /\ t_458^0-t_458^post101 == 0 /\ r_224^0-r_224^post101 == 0 /\ -a_576^post101+a_576^0 == 0 /\ a_610^0-a_610^post101 == 0 /\ i_106^0-i_106^post101 == 0 /\ -temp_35^post101+temp_35^0 == 0 /\ i_94^0-i_94^post101 == 0 /\ a_577^0-a_577^post101 == 0 /\ -a_392^post101+a_392^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post101+r_970^0 == 0 /\ -x_253^post101+x_253^0 == 0 /\ -len_238^post101+len_238^0 == 0 /\ x_21^0-x_21^post101 == 0 /\ -f_969^post101+f_969^0 == 0 /\ a_862^0-a_862^post101 == 0 /\ -a_1236^post101+a_1236^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ rcd_1249^post101-rcd_47^0 <= 0 /\ -a_311^post101+a_311^0 == 0), cost: 1 New rule: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Applied preprocessing Original rule: l66 -> l67 : a_1089^0'=a_1089^post102, f_847^0'=f_847^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_394^0'=a_394^post102, x_156^0'=x_156^post102, a_632^0'=a_632^post102, r_192^0'=r_192^post102, a_176^0'=a_176^post102, i_106^0'=i_106^post102, a_430^0'=a_430^post102, t_458^0'=t_458^post102, len_161^0'=len_161^post102, x_975^0'=x_975^post102, a_902^0'=a_902^post102, a_947^0'=a_947^post102, rcd_88^0'=rcd_88^post102, a_311^0'=a_311^post102, i_140^0'=i_140^post102, a_577^0'=a_577^post102, x_14^0'=x_14^post102, nondet_12^0'=nondet_12^post102, a_121^0'=a_121^post102, head_15^0'=head_15^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102, i_27^0'=i_27^post102, x_21^0'=x_21^post102, a_634^0'=a_634^post102, r_39^0'=r_39^post102, a_263^0'=a_263^post102, i_113^0'=i_113^post102, a_432^0'=a_432^post102, temp0_31^0'=temp0_31^post102, len_262^0'=len_262^post102, y_20^0'=y_20^post102, f_248^0'=f_248^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_393^0'=a_393^post102, i_229^0'=i_229^post102, a_610^0'=a_610^post102, r_151^0'=r_151^post102, a_144^0'=a_144^post102, i_1053^0'=i_1053^post102, a_417^0'=a_417^post102, t_24^0'=t_24^post102, i_94^0'=i_94^post102, x_852^0'=x_852^post102, a_862^0'=a_862^post102, rcd_1249^0'=rcd_1249^post102, rcd_58^0'=rcd_58^post102, a_310^0'=a_310^post102, i_127^0'=i_127^post102, a_576^0'=a_576^post102, tmp_34^0'=tmp_34^post102, length_29^0'=length_29^post102, a_1162^0'=a_1162^post102, f_969^0'=f_969^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102, a_395^0'=a_395^post102, x_17^0'=x_17^post102, a_633^0'=a_633^post102, r_224^0'=r_224^post102, a_239^0'=a_239^post102, i_107^0'=i_107^post102, a_431^0'=a_431^post102, temp0_16^0'=temp0_16^post102, len_238^0'=len_238^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, a_924^0'=a_924^post102, ct_18^0'=ct_18^post102, result_11^0'=result_11^post102, a_392^0'=a_392^post102, i_197^0'=i_197^post102, a_579^0'=a_579^post102, r_143^0'=r_143^post102, a_1236^0'=a_1236^post102, head_32^0'=head_32^post102, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102, i_30^0'=i_30^post102, x_253^0'=x_253^post102, a_635^0'=a_635^post102, r_970^0'=r_970^post102, rcd_47^0'=rcd_47^post102, a_309^0'=a_309^post102, i_1248^0'=i_1248^post102, a_575^0'=a_575^post102, temp_35^0'=temp_35^post102, len_861^0'=len_861^post102, (a_632^0-a_632^post102 == 0 /\ i_106^0-i_106^post102 == 0 /\ head_15^0-head_15^post102 == 0 /\ t_458^0-t_458^post102 == 0 /\ a_902^0-a_902^post102 == 0 /\ -len_238^post102+len_238^0 == 0 /\ -r_151^post102+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post102+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ 1-x_14^0 <= 0 /\ i_229^0-i_229^post102 == 0 /\ -a_634^post102+a_634^0 == 0 /\ -a_576^post102+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post102 == 0 /\ x_14^0-x_14^post102 == 0 /\ -a_1236^post102+a_1236^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post102 == 0 /\ -temp_35^post102+temp_35^0 == 0 /\ -r_143^post102+r_143^0 == 0 /\ -i_27^post102+i_27^0 == 0 /\ -x_253^post102+x_253^0 == 0 /\ a_121^0-a_121^post102 == 0 /\ -r_970^post102+r_970^0 == 0 /\ a_1089^0-a_1089^post102 == 0 /\ len_262^0-len_262^post102 == 0 /\ a_394^0-a_394^post102 == 0 /\ a_263^0-a_263^post102 == 0 /\ -a_610^post102+a_610^0 == 0 /\ -length_29^post102+length_29^0 == 0 /\ y_20^0-y_20^post102 == 0 /\ a_176^0-a_176^post102 == 0 /\ -rcd_47^post102+rcd_47^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post102 == 0 /\ a_924^0-a_924^post102 == 0 /\ -a_395^post102+a_395^0 == 0 /\ -len_861^post102+len_861^0 == 0 /\ a_430^0-a_430^post102 == 0 /\ -head_32^post102+head_32^0 == 0 /\ x_975^0-x_975^post102 == 0 /\ -a_311^post102+a_311^0 == 0 /\ i_94^0-i_94^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post102 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ -r_192^post102+r_192^0 == 0 /\ a_577^0-a_577^post102 == 0 /\ r_39^0-r_39^post102 == 0 /\ -rcd_88^post102+rcd_88^0 == 0 /\ -i_1248^post102+i_1248^0 == 0 /\ -r_224^post102+r_224^0 == 0 /\ a_432^0-a_432^post102 == 0 /\ a_633^0-a_633^post102 == 0 /\ -a_579^post102+a_579^0 == 0 /\ -a_239^post102+a_239^0 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ i_113^0-i_113^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -i_127^post102+i_127^0 == 0 /\ x_21^0-x_21^post102 == 0 /\ -a_392^post102+a_392^0 == 0 /\ -a_862^post102+a_862^0 == 0 /\ f_969^0-f_969^post102 == 0 /\ -i_1053^post102+i_1053^0 == 0 /\ -x_156^post102+x_156^0 == 0 /\ -a_575^post102+a_575^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -i_197^post102+i_197^0 == 0 /\ -rcd_1249^post102+rcd_1249^0 == 0 /\ -a_417^post102+a_417^0 == 0 /\ a_431^0-a_431^post102 == 0 /\ a_310^0-a_310^post102 == 0 /\ a_947^0-a_947^post102 == 0 /\ -a_393^post102+a_393^0 == 0 /\ a_1162^0-a_1162^post102 == 0 /\ -a_635^post102+a_635^0 == 0 /\ len_161^0-len_161^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -x_17^post102+x_17^0 == 0 /\ -i_30^post102+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post102 == 0 /\ a_144^0-a_144^post102 == 0 /\ -rcd_58^post102+rcd_58^0 == 0 /\ f_847^0-f_847^post102 == 0 /\ -a_309^post102+a_309^0 == 0 /\ -x_852^post102+x_852^0 == 0 /\ -tmp_34^post102+tmp_34^0 == 0 /\ f_248^0-f_248^post102 == 0 /\ -i_107^post102+i_107^0 == 0 /\ i_140^0-i_140^post102 == 0), cost: 1 New rule: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l66 -> l67 : a_1089^0'=a_1089^post103, f_847^0'=f_847^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_394^0'=a_394^post103, x_156^0'=x_156^post103, a_632^0'=a_632^post103, r_192^0'=r_192^post103, a_176^0'=a_176^post103, i_106^0'=i_106^post103, a_430^0'=a_430^post103, t_458^0'=t_458^post103, len_161^0'=len_161^post103, x_975^0'=x_975^post103, a_902^0'=a_902^post103, a_947^0'=a_947^post103, rcd_88^0'=rcd_88^post103, a_311^0'=a_311^post103, i_140^0'=i_140^post103, a_577^0'=a_577^post103, x_14^0'=x_14^post103, nondet_12^0'=nondet_12^post103, a_121^0'=a_121^post103, head_15^0'=head_15^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103, i_27^0'=i_27^post103, x_21^0'=x_21^post103, a_634^0'=a_634^post103, r_39^0'=r_39^post103, a_263^0'=a_263^post103, i_113^0'=i_113^post103, a_432^0'=a_432^post103, temp0_31^0'=temp0_31^post103, len_262^0'=len_262^post103, y_20^0'=y_20^post103, f_248^0'=f_248^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_393^0'=a_393^post103, i_229^0'=i_229^post103, a_610^0'=a_610^post103, r_151^0'=r_151^post103, a_144^0'=a_144^post103, i_1053^0'=i_1053^post103, a_417^0'=a_417^post103, t_24^0'=t_24^post103, i_94^0'=i_94^post103, x_852^0'=x_852^post103, a_862^0'=a_862^post103, rcd_1249^0'=rcd_1249^post103, rcd_58^0'=rcd_58^post103, a_310^0'=a_310^post103, i_127^0'=i_127^post103, a_576^0'=a_576^post103, tmp_34^0'=tmp_34^post103, length_29^0'=length_29^post103, a_1162^0'=a_1162^post103, f_969^0'=f_969^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103, a_395^0'=a_395^post103, x_17^0'=x_17^post103, a_633^0'=a_633^post103, r_224^0'=r_224^post103, a_239^0'=a_239^post103, i_107^0'=i_107^post103, a_431^0'=a_431^post103, temp0_16^0'=temp0_16^post103, len_238^0'=len_238^post103, x_SLAM_f_19^0'=x_SLAM_f_19^post103, a_924^0'=a_924^post103, ct_18^0'=ct_18^post103, result_11^0'=result_11^post103, a_392^0'=a_392^post103, i_197^0'=i_197^post103, a_579^0'=a_579^post103, r_143^0'=r_143^post103, a_1236^0'=a_1236^post103, head_32^0'=head_32^post103, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103, i_30^0'=i_30^post103, x_253^0'=x_253^post103, a_635^0'=a_635^post103, r_970^0'=r_970^post103, rcd_47^0'=rcd_47^post103, a_309^0'=a_309^post103, i_1248^0'=i_1248^post103, a_575^0'=a_575^post103, temp_35^0'=temp_35^post103, len_861^0'=len_861^post103, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -length_29^post103+length_29^0 == 0 /\ -i_1248^post103+i_1248^0 == 0 /\ a_634^0-a_634^post103 == 0 /\ i_27^0-i_27^post103 == 0 /\ -len_861^post103+len_861^0 == 0 /\ -a_310^post103+a_310^0 == 0 /\ -a_239^post103+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post103+a_862^0 == 0 /\ a_576^0-a_576^post103 == 0 /\ -ct_18^post103+ct_18^0 == 0 /\ x_17^0-x_17^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post103 == 0 /\ -i_30^post103+i_30^0 == 0 /\ -i_1053^post103+i_1053^0 == 0 /\ a_176^0-a_176^post103 == 0 /\ -head_32^post103+head_32^0 == 0 /\ f_248^0-f_248^post103 == 0 /\ -a_393^post103+a_393^0 == 0 /\ -r_224^post103+r_224^0 == 0 /\ -i_197^post103+i_197^0 == 0 /\ a_924^0-a_924^post103 == 0 /\ -result_11^post103+result_11^0 == 0 /\ a_610^0-a_610^post103 == 0 /\ -r_151^post103+r_151^0 == 0 /\ -a_309^post103+a_309^0 == 0 /\ a_632^0-a_632^post103 == 0 /\ -i_107^post103+i_107^0 == 0 /\ t_458^0-t_458^post103 == 0 /\ rcd_1249^0-rcd_1249^post103 == 0 /\ x_975^0-x_975^post103 == 0 /\ i_113^0-i_113^post103 == 0 /\ -a_575^post103+a_575^0 == 0 /\ -a_579^post103+a_579^0 == 0 /\ -t_24^post103+t_24^0 == 0 /\ -a_635^post103+a_635^0 == 0 /\ -a_263^post103+a_263^0 == 0 /\ -a_417^post103+a_417^0 == 0 /\ -rcd_58^post103+rcd_58^0 == 0 /\ -x_852^post103+x_852^0 == 0 /\ r_192^0-r_192^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post103+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ len_262^0-len_262^post103 == 0 /\ nondet_12^0-nondet_12^post103 == 0 /\ temp0_31^0-temp0_31^post103 == 0 /\ a_144^0-a_144^post103 == 0 /\ a_394^0-a_394^post103 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -i_140^post103+i_140^0 == 0 /\ a_633^0-a_633^post103 == 0 /\ len_161^0-len_161^post103 == 0 /\ a_947^0-a_947^post103 == 0 /\ len_238^0-len_238^post103 == 0 /\ f_847^0-f_847^post103 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103 == 0 /\ -rcd_47^post103+rcd_47^0 == 0 /\ -r_143^post103+r_143^0 == 0 /\ a_121^0-a_121^post103 == 0 /\ -f_969^post103+f_969^0 == 0 /\ a_902^0-a_902^post103 == 0 /\ i_106^0-i_106^post103 == 0 /\ -a_392^post103+a_392^0 == 0 /\ -y_20^post103+y_20^0 == 0 /\ i_94^0-i_94^post103 == 0 /\ a_430^0-a_430^post103 == 0 /\ -x_SLAM_f_19^post103+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post103 == 0 /\ i_127^0-i_127^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ r_39^0-r_39^post103 == 0 /\ -temp_35^post103+temp_35^0 == 0 /\ a_311^0-a_311^post103 == 0 /\ -x_253^post103+x_253^0 == 0 /\ a_577^0-a_577^post103 == 0 /\ x_156^0-x_156^post103 == 0 /\ 1+x_14^0 <= 0 /\ -r_970^post103+r_970^0 == 0 /\ a_1089^0-a_1089^post103 == 0 /\ a_1162^0-a_1162^post103 == 0 /\ -a_432^post103+a_432^0 == 0 /\ -a_431^post103+a_431^0 == 0 /\ x_14^0-x_14^post103 == 0 /\ -a_395^post103+a_395^0 == 0 /\ -i_229^post103+i_229^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ x_21^0-x_21^post103 == 0 /\ -a_1236^post103+a_1236^0 == 0), cost: 1 New rule: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l67 -> l68 : a_1089^0'=a_1089^post104, f_847^0'=f_847^post104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post104, a_394^0'=a_394^post104, x_156^0'=x_156^post104, a_632^0'=a_632^post104, r_192^0'=r_192^post104, a_176^0'=a_176^post104, i_106^0'=i_106^post104, a_430^0'=a_430^post104, t_458^0'=t_458^post104, len_161^0'=len_161^post104, x_975^0'=x_975^post104, a_902^0'=a_902^post104, a_947^0'=a_947^post104, rcd_88^0'=rcd_88^post104, a_311^0'=a_311^post104, i_140^0'=i_140^post104, a_577^0'=a_577^post104, x_14^0'=x_14^post104, nondet_12^0'=nondet_12^post104, a_121^0'=a_121^post104, head_15^0'=head_15^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104, i_27^0'=i_27^post104, x_21^0'=x_21^post104, a_634^0'=a_634^post104, r_39^0'=r_39^post104, a_263^0'=a_263^post104, i_113^0'=i_113^post104, a_432^0'=a_432^post104, temp0_31^0'=temp0_31^post104, len_262^0'=len_262^post104, y_20^0'=y_20^post104, f_248^0'=f_248^post104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104, a_393^0'=a_393^post104, i_229^0'=i_229^post104, a_610^0'=a_610^post104, r_151^0'=r_151^post104, a_144^0'=a_144^post104, i_1053^0'=i_1053^post104, a_417^0'=a_417^post104, t_24^0'=t_24^post104, i_94^0'=i_94^post104, x_852^0'=x_852^post104, a_862^0'=a_862^post104, rcd_1249^0'=rcd_1249^post104, rcd_58^0'=rcd_58^post104, a_310^0'=a_310^post104, i_127^0'=i_127^post104, a_576^0'=a_576^post104, tmp_34^0'=tmp_34^post104, length_29^0'=length_29^post104, a_1162^0'=a_1162^post104, f_969^0'=f_969^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104, a_395^0'=a_395^post104, x_17^0'=x_17^post104, a_633^0'=a_633^post104, r_224^0'=r_224^post104, a_239^0'=a_239^post104, i_107^0'=i_107^post104, a_431^0'=a_431^post104, temp0_16^0'=temp0_16^post104, len_238^0'=len_238^post104, x_SLAM_f_19^0'=x_SLAM_f_19^post104, a_924^0'=a_924^post104, ct_18^0'=ct_18^post104, result_11^0'=result_11^post104, a_392^0'=a_392^post104, i_197^0'=i_197^post104, a_579^0'=a_579^post104, r_143^0'=r_143^post104, a_1236^0'=a_1236^post104, head_32^0'=head_32^post104, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104, i_30^0'=i_30^post104, x_253^0'=x_253^post104, a_635^0'=a_635^post104, r_970^0'=r_970^post104, rcd_47^0'=rcd_47^post104, a_309^0'=a_309^post104, i_1248^0'=i_1248^post104, a_575^0'=a_575^post104, temp_35^0'=temp_35^post104, len_861^0'=len_861^post104, (-i_140^post104+i_140^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post104 == 0 /\ -tmp_34^post104+tmp_34^0 == 0 /\ -a_1162^post104+a_1162^0 == 0 /\ a_311^0-a_311^post104 == 0 /\ f_248^0-f_248^post104 == 0 /\ rcd_1249^0-rcd_1249^post104 == 0 /\ t_458^0-t_458^post104 == 0 /\ a_902^0-a_902^post104 == 0 /\ f_969^0-f_969^post104 == 0 /\ rcd_88^0-rcd_88^post104 == 0 /\ i_106^0-i_106^post104 == 0 /\ i_127^0-i_127^post104 == 0 /\ -rcd_47^post104+rcd_47^0 == 0 /\ x_156^0-x_156^post104 == 0 /\ -result_11^post104+result_11^0 == 0 /\ -a_924^post104+a_924^0 == 0 /\ -x_21^post104+x_21^0 == 0 /\ len_161^0-len_161^post104 == 0 /\ a_632^0-a_632^post104 == 0 /\ x_14^0-x_14^post104 == 0 /\ a_430^0-a_430^post104 == 0 /\ len_262^0-len_262^post104 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post104+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1236^0-a_1236^post104 == 0 /\ x_852^0-x_852^post104 == 0 /\ -x_253^post104+x_253^0 == 0 /\ -r_970^post104+r_970^0 == 0 /\ temp0_31^0-temp0_31^post104 == 0 /\ f_847^0-f_847^post104 == 0 /\ -r_143^post104+r_143^0 == 0 /\ -y_20^post104+y_20^0 == 0 /\ -a_432^post104+a_432^0 == 0 /\ a_394^0-a_394^post104 == 0 /\ -i_229^post104+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_113^post104+i_113^0 == 0 /\ -temp_35^post104+temp_35^0 == 0 /\ a_176^0-a_176^post104 == 0 /\ -a_431^post104+a_431^0 == 0 /\ -x_SLAM_f_19^post104+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post104 == 0 /\ -a_310^post104+a_310^0 == 0 /\ -len_861^post104+len_861^0 == 0 /\ -r_39^post104+r_39^0 == 0 /\ a_610^0-a_610^post104 == 0 /\ -a_395^post104+a_395^0 == 0 /\ a_239^0-a_239^post104 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ head_15^0-head_15^post104 == 0 /\ -a_862^post104+a_862^0 == 0 /\ -x_17^post104+x_17^0 == 0 /\ a_635^0-a_635^post104 == 0 /\ -r_224^post104+r_224^0 == 0 /\ -i_94^post104+i_94^0 == 0 /\ a_393^0-a_393^post104 == 0 /\ a_633^0-a_633^post104 == 0 /\ -a_577^post104+a_577^0 == 0 /\ -a_392^post104+a_392^0 == 0 /\ -i_1248^post104+i_1248^0 == 0 /\ -i_1053^post104+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post104 == 0 /\ temp0_16^0-temp0_16^post104 == 0 /\ i_27^0-i_27^post104 == 0 /\ -length_29^post104+length_29^0 == 0 /\ -i_107^post104+i_107^0 == 0 /\ -ct_18^post104+ct_18^0 == 0 /\ a_576^0-a_576^post104 == 0 /\ -a_263^post104+a_263^0 == 0 /\ -a_579^post104+a_579^0 == 0 /\ -a_575^post104+a_575^0 == 0 /\ -t_24^post104+t_24^0 == 0 /\ a_121^0-a_121^post104 == 0 /\ -i_197^post104+i_197^0 == 0 /\ a_1089^0-a_1089^post104 == 0 /\ -i_30^post104+i_30^0 == 0 /\ -head_32^post104+head_32^0 == 0 /\ a_144^0-a_144^post104 == 0 /\ nondet_12^0-nondet_12^post104 == 0 /\ a_634^0-a_634^post104 == 0 /\ a_947^0-a_947^post104 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post104+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_417^0-a_417^post104 == 0 /\ r_151^0-r_151^post104 == 0 /\ -rcd_58^post104+rcd_58^0 == 0 /\ len_238^0-len_238^post104 == 0 /\ -a_309^post104+a_309^0 == 0), cost: 1 New rule: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l67 -> l68 : a_1089^0'=a_1089^post105, f_847^0'=f_847^post105, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post105, a_394^0'=a_394^post105, x_156^0'=x_156^post105, a_632^0'=a_632^post105, r_192^0'=r_192^post105, a_176^0'=a_176^post105, i_106^0'=i_106^post105, a_430^0'=a_430^post105, t_458^0'=t_458^post105, len_161^0'=len_161^post105, x_975^0'=x_975^post105, a_902^0'=a_902^post105, a_947^0'=a_947^post105, rcd_88^0'=rcd_88^post105, a_311^0'=a_311^post105, i_140^0'=i_140^post105, a_577^0'=a_577^post105, x_14^0'=x_14^post105, nondet_12^0'=nondet_12^post105, a_121^0'=a_121^post105, head_15^0'=head_15^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105, i_27^0'=i_27^post105, x_21^0'=x_21^post105, a_634^0'=a_634^post105, r_39^0'=r_39^post105, a_263^0'=a_263^post105, i_113^0'=i_113^post105, a_432^0'=a_432^post105, temp0_31^0'=temp0_31^post105, len_262^0'=len_262^post105, y_20^0'=y_20^post105, f_248^0'=f_248^post105, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105, a_393^0'=a_393^post105, i_229^0'=i_229^post105, a_610^0'=a_610^post105, r_151^0'=r_151^post105, a_144^0'=a_144^post105, i_1053^0'=i_1053^post105, a_417^0'=a_417^post105, t_24^0'=t_24^post105, i_94^0'=i_94^post105, x_852^0'=x_852^post105, a_862^0'=a_862^post105, rcd_1249^0'=rcd_1249^post105, rcd_58^0'=rcd_58^post105, a_310^0'=a_310^post105, i_127^0'=i_127^post105, a_576^0'=a_576^post105, tmp_34^0'=tmp_34^post105, length_29^0'=length_29^post105, a_1162^0'=a_1162^post105, f_969^0'=f_969^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105, a_395^0'=a_395^post105, x_17^0'=x_17^post105, a_633^0'=a_633^post105, r_224^0'=r_224^post105, a_239^0'=a_239^post105, i_107^0'=i_107^post105, a_431^0'=a_431^post105, temp0_16^0'=temp0_16^post105, len_238^0'=len_238^post105, x_SLAM_f_19^0'=x_SLAM_f_19^post105, a_924^0'=a_924^post105, ct_18^0'=ct_18^post105, result_11^0'=result_11^post105, a_392^0'=a_392^post105, i_197^0'=i_197^post105, a_579^0'=a_579^post105, r_143^0'=r_143^post105, a_1236^0'=a_1236^post105, head_32^0'=head_32^post105, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105, i_30^0'=i_30^post105, x_253^0'=x_253^post105, a_635^0'=a_635^post105, r_970^0'=r_970^post105, rcd_47^0'=rcd_47^post105, a_309^0'=a_309^post105, i_1248^0'=i_1248^post105, a_575^0'=a_575^post105, temp_35^0'=temp_35^post105, len_861^0'=len_861^post105, (x_852^0-x_852^post105 == 0 /\ a_263^0-a_263^post105 == 0 /\ nondet_12^0-nondet_12^post105 == 0 /\ -length_29^post105+length_29^0 == 0 /\ -r_39^post105+r_39^0 == 0 /\ -a_392^post105+a_392^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post105+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_576^0-a_576^post105 == 0 /\ -i_1248^post105+i_1248^0 == 0 /\ -a_862^post105+a_862^0 == 0 /\ -i_107^post105+i_107^0 == 0 /\ x_17^0-x_17^post105 == 0 /\ f_847^0-f_847^post105 == 0 /\ -head_32^post105+head_32^0 == 0 /\ tmp_34^0-tmp_34^post105 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post105 == 0 /\ -temp0_16^post105+temp0_16^0 == 0 /\ a_394^0-a_394^post105 == 0 /\ a_144^0-a_144^post105 == 0 /\ -len_861^post105+len_861^0 == 0 /\ -a_635^post105+a_635^0 == 0 /\ -i_30^post105+i_30^0 == 0 /\ -a_310^post105+a_310^0 == 0 /\ -a_393^post105+a_393^0 == 0 /\ t_458^0-t_458^post105 == 0 /\ -t_24^post105+t_24^0 == 0 /\ r_143^0-r_143^post105 == 0 /\ rcd_1249^0-rcd_1249^post105 == 0 /\ a_610^0-a_610^post105 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_106^0-i_106^post105 == 0 /\ a_577^0-a_577^post105 == 0 /\ ct_18^0-ct_18^post105 == 0 /\ -a_575^post105+a_575^0 == 0 /\ -a_417^post105+a_417^0 == 0 /\ -i_197^post105+i_197^0 == 0 /\ -a_633^post105+a_633^0 == 0 /\ -a_309^post105+a_309^0 == 0 /\ -i_127^post105+i_127^0 == 0 /\ len_161^0-len_161^post105 == 0 /\ -a_579^post105+a_579^0 == 0 /\ -x_975^post105+x_975^0 == 0 /\ i_27^0-i_27^post105 == 0 /\ x_21^0-x_21^post105 == 0 /\ a_1236^0-a_1236^post105 == 0 /\ a_121^0-a_121^post105 == 0 /\ len_262^0-len_262^post105 == 0 /\ x_156^0-x_156^post105 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post105 == 0 /\ temp0_31^0-temp0_31^post105 == 0 /\ -a_1162^post105+a_1162^0 == 0 /\ -a_924^post105+a_924^0 == 0 /\ -rcd_47^post105+rcd_47^0 == 0 /\ a_634^0-a_634^post105 == 0 /\ x_253^0-x_253^post105 == 0 /\ -i_140^post105+i_140^0 == 0 /\ len_238^0-len_238^post105 == 0 /\ f_248^0-f_248^post105 == 0 /\ rcd_58^0-rcd_58^post105 == 0 /\ a_947^0-a_947^post105 == 0 /\ -r_970^post105+r_970^0 == 0 /\ -f_969^post105+f_969^0 == 0 /\ -result_11^post105+result_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post105 == 0 /\ a_176^0-a_176^post105 == 0 /\ -r_224^post105+r_224^0 == 0 /\ r_151^0-r_151^post105 == 0 /\ a_239^0-a_239^post105 == 0 /\ a_902^0-a_902^post105 == 0 /\ -temp_35^post105+temp_35^0 == 0 /\ head_15^0-head_15^post105 == 0 /\ i_1053^0-i_1053^post105 == 0 /\ a_311^0-a_311^post105 == 0 /\ -i_113^post105+i_113^0 == 0 /\ -i_94^post105+i_94^0 == 0 /\ rcd_88^0-rcd_88^post105 == 0 /\ -a_395^post105+a_395^0 == 0 /\ a_1089^0-a_1089^post105 == 0 /\ a_430^0-a_430^post105 == 0 /\ x_14^0-x_14^post105 == 0 /\ -y_20^post105+y_20^0 == 0 /\ -a_431^post105+a_431^0 == 0 /\ -a_432^post105+a_432^0 == 0 /\ -i_229^post105+i_229^0 == 0 /\ a_632^0-a_632^post105 == 0 /\ -x_SLAM_f_19^post105+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post105 == 0), cost: 1 New rule: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l68 -> l61 : a_1089^0'=a_1089^post106, f_847^0'=f_847^post106, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post106, a_394^0'=a_394^post106, x_156^0'=x_156^post106, a_632^0'=a_632^post106, r_192^0'=r_192^post106, a_176^0'=a_176^post106, i_106^0'=i_106^post106, a_430^0'=a_430^post106, t_458^0'=t_458^post106, len_161^0'=len_161^post106, x_975^0'=x_975^post106, a_902^0'=a_902^post106, a_947^0'=a_947^post106, rcd_88^0'=rcd_88^post106, a_311^0'=a_311^post106, i_140^0'=i_140^post106, a_577^0'=a_577^post106, x_14^0'=x_14^post106, nondet_12^0'=nondet_12^post106, a_121^0'=a_121^post106, head_15^0'=head_15^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106, i_27^0'=i_27^post106, x_21^0'=x_21^post106, a_634^0'=a_634^post106, r_39^0'=r_39^post106, a_263^0'=a_263^post106, i_113^0'=i_113^post106, a_432^0'=a_432^post106, temp0_31^0'=temp0_31^post106, len_262^0'=len_262^post106, y_20^0'=y_20^post106, f_248^0'=f_248^post106, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106, a_393^0'=a_393^post106, i_229^0'=i_229^post106, a_610^0'=a_610^post106, r_151^0'=r_151^post106, a_144^0'=a_144^post106, i_1053^0'=i_1053^post106, a_417^0'=a_417^post106, t_24^0'=t_24^post106, i_94^0'=i_94^post106, x_852^0'=x_852^post106, a_862^0'=a_862^post106, rcd_1249^0'=rcd_1249^post106, rcd_58^0'=rcd_58^post106, a_310^0'=a_310^post106, i_127^0'=i_127^post106, a_576^0'=a_576^post106, tmp_34^0'=tmp_34^post106, length_29^0'=length_29^post106, a_1162^0'=a_1162^post106, f_969^0'=f_969^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106, a_395^0'=a_395^post106, x_17^0'=x_17^post106, a_633^0'=a_633^post106, r_224^0'=r_224^post106, a_239^0'=a_239^post106, i_107^0'=i_107^post106, a_431^0'=a_431^post106, temp0_16^0'=temp0_16^post106, len_238^0'=len_238^post106, x_SLAM_f_19^0'=x_SLAM_f_19^post106, a_924^0'=a_924^post106, ct_18^0'=ct_18^post106, result_11^0'=result_11^post106, a_392^0'=a_392^post106, i_197^0'=i_197^post106, a_579^0'=a_579^post106, r_143^0'=r_143^post106, a_1236^0'=a_1236^post106, head_32^0'=head_32^post106, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106, i_30^0'=i_30^post106, x_253^0'=x_253^post106, a_635^0'=a_635^post106, r_970^0'=r_970^post106, rcd_47^0'=rcd_47^post106, a_309^0'=a_309^post106, i_1248^0'=i_1248^post106, a_575^0'=a_575^post106, temp_35^0'=temp_35^post106, len_861^0'=len_861^post106, (0 == 0 /\ f_969^0-f_969^post106 == 0 /\ x_975^0-x_975^post106 == 0 /\ -a_924^post106+a_924^0 == 0 /\ a_176^0-a_176^post106 == 0 /\ length_29^0-length_29^post106 == 0 /\ r_192^0-r_192^post106 == 0 /\ -a_431^post106+a_431^0 == 0 /\ -x_21^post106+x_21^0 == 0 /\ -a_1162^post106+a_1162^0 == 0 /\ i_27^0-i_27^post106 == 0 /\ t_24^0-t_24^post106 == 0 /\ -result_11^post106+result_11^0 == 0 /\ a_393^0-a_393^post106 == 0 /\ r_39^0-r_39^post106 == 0 /\ -rcd_47^post106+rcd_1249^0 <= 0 /\ a_430^0-a_430^post106 == 0 /\ -a_610^post106+a_610^0 == 0 /\ a_432^0-a_432^post106 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_970^post106+r_970^0 == 0 /\ -f_248^post106+f_248^0 == 0 /\ -r_143^post106+r_143^0 == 0 /\ -i_94^post106+i_94^0 == 0 /\ len_161^0-len_161^post106 == 0 /\ x_156^0-x_156^post106 == 0 /\ a_144^0-a_144^post106 == 0 /\ a_579^0-a_579^post106 == 0 /\ i_140^0-i_140^post106 == 0 /\ -i_229^post106+i_229^0 == 0 /\ f_847^0-f_847^post106 == 0 /\ -x_253^post106+x_253^0 == 0 /\ a_394^0-a_394^post106 == 0 /\ head_15^0-head_15^post106 == 0 /\ a_862^0-a_862^post106 == 0 /\ r_151^0-r_151^post106 == 0 /\ i_113^0-i_113^post106 == 0 /\ a_902^0-a_902^post106 == 0 /\ -temp_35^post106+temp_35^0 == 0 /\ rcd_47^post106-rcd_1249^0 <= 0 /\ -a_576^post106+a_576^0 == 0 /\ -rcd_1249^post106+rcd_1249^0 == 0 /\ rcd_58^0-rcd_58^post106 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post106 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_32^0-head_32^post106 == 0 /\ a_239^0-a_239^post106 == 0 /\ -a_1236^post106+a_1236^0 == 0 /\ -i_30^post106+i_30^0 == 0 /\ rcd_88^0-rcd_88^post106 == 0 /\ a_311^0-a_311^post106 == 0 /\ -a_947^post106+a_947^0 == 0 /\ a_635^0-a_635^post106 == 0 /\ a_395^0-a_395^post106 == 0 /\ -x_17^post106+x_17^0 == 0 /\ a_632^0-a_632^post106 == 0 /\ i_106^0-i_106^post106 == 0 /\ -temp0_31^post106+temp0_31^0 == 0 /\ 1-i_1248^0 <= 0 /\ -a_577^post106+a_577^0 == 0 /\ -i_1248^post106+i_1248^0 == 0 /\ -x_SLAM_f_19^post106+x_SLAM_f_19^0 == 0 /\ -a_392^post106+a_392^0 == 0 /\ x_852^0-x_852^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post106 == 0 /\ -a_310^post106+a_310^0 == 0 /\ -r_224^post106+r_224^0 == 0 /\ -temp0_16^post106+temp0_16^0 == 0 /\ a_1089^0-a_1089^post106 == 0 /\ -len_861^post106+len_861^0 == 0 /\ t_458^0-t_458^post106 == 0 /\ nondet_12^0-nondet_12^post106 == 0 /\ a_263^0-a_263^post106 == 0 /\ a_417^0-a_417^post106 == 0 /\ y_20^0-y_20^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post106 == 0 /\ -i_197^post106+i_197^0 == 0 /\ a_633^0-a_633^post106 == 0 /\ -len_238^post106+len_238^0 == 0 /\ a_634^0-a_634^post106 == 0 /\ -len_262^post106+len_262^0 == 0 /\ i_1053^0-i_1053^post106 == 0 /\ -a_309^post106+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post106+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post106 == 0 /\ -i_127^post106+i_127^0 == 0 /\ -x_14^post106+x_14^0 == 0 /\ -i_107^post106+i_107^0 == 0 /\ a_121^0-a_121^post106 == 0 /\ -a_575^post106+a_575^0 == 0 /\ -ct_18^post106+ct_18^0 == 0), cost: 1 New rule: l68 -> l61 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 1 Applied preprocessing Original rule: l61 -> l49 : a_1089^0'=a_1089^post107, f_847^0'=f_847^post107, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post107, a_394^0'=a_394^post107, x_156^0'=x_156^post107, a_632^0'=a_632^post107, r_192^0'=r_192^post107, a_176^0'=a_176^post107, i_106^0'=i_106^post107, a_430^0'=a_430^post107, t_458^0'=t_458^post107, len_161^0'=len_161^post107, x_975^0'=x_975^post107, a_902^0'=a_902^post107, a_947^0'=a_947^post107, rcd_88^0'=rcd_88^post107, a_311^0'=a_311^post107, i_140^0'=i_140^post107, a_577^0'=a_577^post107, x_14^0'=x_14^post107, nondet_12^0'=nondet_12^post107, a_121^0'=a_121^post107, head_15^0'=head_15^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107, i_27^0'=i_27^post107, x_21^0'=x_21^post107, a_634^0'=a_634^post107, r_39^0'=r_39^post107, a_263^0'=a_263^post107, i_113^0'=i_113^post107, a_432^0'=a_432^post107, temp0_31^0'=temp0_31^post107, len_262^0'=len_262^post107, y_20^0'=y_20^post107, f_248^0'=f_248^post107, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107, a_393^0'=a_393^post107, i_229^0'=i_229^post107, a_610^0'=a_610^post107, r_151^0'=r_151^post107, a_144^0'=a_144^post107, i_1053^0'=i_1053^post107, a_417^0'=a_417^post107, t_24^0'=t_24^post107, i_94^0'=i_94^post107, x_852^0'=x_852^post107, a_862^0'=a_862^post107, rcd_1249^0'=rcd_1249^post107, rcd_58^0'=rcd_58^post107, a_310^0'=a_310^post107, i_127^0'=i_127^post107, a_576^0'=a_576^post107, tmp_34^0'=tmp_34^post107, length_29^0'=length_29^post107, a_1162^0'=a_1162^post107, f_969^0'=f_969^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107, a_395^0'=a_395^post107, x_17^0'=x_17^post107, a_633^0'=a_633^post107, r_224^0'=r_224^post107, a_239^0'=a_239^post107, i_107^0'=i_107^post107, a_431^0'=a_431^post107, temp0_16^0'=temp0_16^post107, len_238^0'=len_238^post107, x_SLAM_f_19^0'=x_SLAM_f_19^post107, a_924^0'=a_924^post107, ct_18^0'=ct_18^post107, result_11^0'=result_11^post107, a_392^0'=a_392^post107, i_197^0'=i_197^post107, a_579^0'=a_579^post107, r_143^0'=r_143^post107, a_1236^0'=a_1236^post107, head_32^0'=head_32^post107, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107, i_30^0'=i_30^post107, x_253^0'=x_253^post107, a_635^0'=a_635^post107, r_970^0'=r_970^post107, rcd_47^0'=rcd_47^post107, a_309^0'=a_309^post107, i_1248^0'=i_1248^post107, a_575^0'=a_575^post107, temp_35^0'=temp_35^post107, len_861^0'=len_861^post107, (-a_576^post107+a_576^0 == 0 /\ x_156^0-x_156^post107 == 0 /\ a_263^0-a_263^post107 == 0 /\ a_432^0-a_432^post107 == 0 /\ f_847^0-f_847^post107 == 0 /\ a_862^0-a_862^post107 == 0 /\ -a_309^post107+a_309^0 == 0 /\ x_21^0-x_21^post107 == 0 /\ -temp0_16^post107+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post107 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post107 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post107 == 0 /\ a_417^0-a_417^post107 == 0 /\ -a_635^post107+a_635^0 == 0 /\ -i_30^post107+i_30^0 == 0 /\ a_144^0-a_144^post107 == 0 /\ head_15^0-head_15^post107 == 0 /\ -a_310^post107+a_310^0 == 0 /\ -x_17^post107+x_17^0 == 0 /\ -len_262^post107+len_262^0 == 0 /\ a_394^0-a_394^post107 == 0 /\ i_94^0-i_94^post107 == 0 /\ i_113^0-i_113^post107 == 0 /\ -len_861^post107+len_861^0 == 0 /\ -a_1236^post107+a_1236^0 == 0 /\ a_392^0-a_392^post107 == 0 /\ a_311^0-a_311^post107 == 0 /\ a_902^0-a_902^post107 == 0 /\ rcd_88^0-rcd_88^post107 == 0 /\ -a_579^post107+a_579^0 == 0 /\ -temp0_31^post107+temp0_31^0 == 0 /\ -ct_18^post107+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post107 == 0 /\ -i_127^post107+i_127^0 == 0 /\ -i_107^post107+i_107^0 == 0 /\ a_1089^0-a_1089^post107 == 0 /\ i_106^0-i_106^post107 == 0 /\ -x_14^post107+x_14^0 == 0 /\ a_430^0-a_430^post107 == 0 /\ i_27^0-i_27^post107 == 0 /\ -a_575^post107+a_575^0 == 0 /\ -i_197^post107+i_197^0 == 0 /\ -head_32^post107+head_32^0 == 0 /\ r_39^0-r_39^post107 == 0 /\ t_458^0-t_458^post107 == 0 /\ -a_633^post107+a_633^0 == 0 /\ -f_969^post107+f_969^0 == 0 /\ -result_11^post107+result_11^0 == 0 /\ x_253^0-x_253^post107 == 0 /\ i_140^0-i_140^post107 == 0 /\ -temp_35^post107+temp_35^0 == 0 /\ -nondet_12^post107+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post107 == 0 /\ -a_121^post107+a_121^0 == 0 /\ -rcd_47^post107+rcd_47^0 == 0 /\ -a_1162^post107+a_1162^0 == 0 /\ i_1053^0-i_1053^post107 == 0 /\ -len_238^post107+len_238^0 == 0 /\ -r_970^post107+r_970^0 == 0 /\ -t_24^post107+t_24^0 == 0 /\ x_975^0-x_975^post107 == 0 /\ -rcd_58^post107+rcd_58^0 == 0 /\ y_20^0-y_20^post107 == 0 /\ a_947^0-a_947^post107 == 0 /\ r_151^0-r_151^post107 == 0 /\ f_248^0-f_248^post107 == 0 /\ a_577^0-a_577^post107 == 0 /\ a_176^0-a_176^post107 == 0 /\ -r_224^post107+r_224^0 == 0 /\ -i_1248^post107+i_1248^0 == 0 /\ r_192^0-r_192^post107 == 0 /\ rcd_1249^0-rcd_1249^post107 == 0 /\ -a_239^post107+a_239^0 == 0 /\ -x_SLAM_f_19^post107+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post107 == 0 /\ -a_924^post107+a_924^0 == 0 /\ -a_634^post107+a_634^0 == 0 /\ -a_431^post107+a_431^0 == 0 /\ -i_229^post107+i_229^0 == 0 /\ length_29^0-length_29^post107 == 0 /\ a_632^0-a_632^post107 == 0 /\ -a_395^post107+a_395^0 == 0 /\ a_393^0-a_393^post107 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post107+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_143^post107+r_143^0 == 0 /\ x_852^0-x_852^post107 == 0 /\ len_161^0-len_161^post107 == 0), cost: 1 New rule: l61 -> l49 : TRUE, cost: 1 Applied preprocessing Original rule: l119 -> l121 : a_1089^0'=a_1089^post192, f_847^0'=f_847^post192, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post192, a_394^0'=a_394^post192, x_156^0'=x_156^post192, a_632^0'=a_632^post192, r_192^0'=r_192^post192, a_176^0'=a_176^post192, i_106^0'=i_106^post192, a_430^0'=a_430^post192, t_458^0'=t_458^post192, len_161^0'=len_161^post192, x_975^0'=x_975^post192, a_902^0'=a_902^post192, a_947^0'=a_947^post192, rcd_88^0'=rcd_88^post192, a_311^0'=a_311^post192, i_140^0'=i_140^post192, a_577^0'=a_577^post192, x_14^0'=x_14^post192, nondet_12^0'=nondet_12^post192, a_121^0'=a_121^post192, head_15^0'=head_15^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192, i_27^0'=i_27^post192, x_21^0'=x_21^post192, a_634^0'=a_634^post192, r_39^0'=r_39^post192, a_263^0'=a_263^post192, i_113^0'=i_113^post192, a_432^0'=a_432^post192, temp0_31^0'=temp0_31^post192, len_262^0'=len_262^post192, y_20^0'=y_20^post192, f_248^0'=f_248^post192, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192, a_393^0'=a_393^post192, i_229^0'=i_229^post192, a_610^0'=a_610^post192, r_151^0'=r_151^post192, a_144^0'=a_144^post192, i_1053^0'=i_1053^post192, a_417^0'=a_417^post192, t_24^0'=t_24^post192, i_94^0'=i_94^post192, x_852^0'=x_852^post192, a_862^0'=a_862^post192, rcd_1249^0'=rcd_1249^post192, rcd_58^0'=rcd_58^post192, a_310^0'=a_310^post192, i_127^0'=i_127^post192, a_576^0'=a_576^post192, tmp_34^0'=tmp_34^post192, length_29^0'=length_29^post192, a_1162^0'=a_1162^post192, f_969^0'=f_969^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192, a_395^0'=a_395^post192, x_17^0'=x_17^post192, a_633^0'=a_633^post192, r_224^0'=r_224^post192, a_239^0'=a_239^post192, i_107^0'=i_107^post192, a_431^0'=a_431^post192, temp0_16^0'=temp0_16^post192, len_238^0'=len_238^post192, x_SLAM_f_19^0'=x_SLAM_f_19^post192, a_924^0'=a_924^post192, ct_18^0'=ct_18^post192, result_11^0'=result_11^post192, a_392^0'=a_392^post192, i_197^0'=i_197^post192, a_579^0'=a_579^post192, r_143^0'=r_143^post192, a_1236^0'=a_1236^post192, head_32^0'=head_32^post192, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192, i_30^0'=i_30^post192, x_253^0'=x_253^post192, a_635^0'=a_635^post192, r_970^0'=r_970^post192, rcd_47^0'=rcd_47^post192, a_309^0'=a_309^post192, i_1248^0'=i_1248^post192, a_575^0'=a_575^post192, temp_35^0'=temp_35^post192, len_861^0'=len_861^post192, (-a_432^post192+a_432^0 == 0 /\ -a_393^post192+a_393^0 == 0 /\ f_847^0-f_847^post192 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post192 == 0 /\ -i_94^post192+i_94^0 == 0 /\ -i_113^post192+i_113^0 == 0 /\ -a_309^post192+a_309^0 == 0 /\ x_21^0-x_21^post192 == 0 /\ -a_144^post192+a_144^0 == 0 /\ -i_107^post192+i_107^0 == 0 /\ a_1162^0-a_1162^post192 == 0 /\ -a_392^post192+a_392^0 == 0 /\ i_197^0-i_197^post192 == 0 /\ a_924^0-a_924^post192 == 0 /\ nondet_12^0-nondet_12^post192 == 0 /\ -len_861^post192+len_861^0 == 0 /\ -i_30^post192+i_30^0 == 0 /\ ct_18^0-ct_18^post192 == 0 /\ -a_1236^post192+a_1236^0 == 0 /\ a_394^0-a_394^post192 == 0 /\ -a_635^post192+a_635^0 == 0 /\ x_17^0-x_17^post192 == 0 /\ -a_417^post192+a_417^0 == 0 /\ x_975^0-x_975^post192 == 0 /\ -x_SLAM_f_19^post192+x_SLAM_f_19^0 == 0 /\ -i_140^post192+i_140^0 == 0 /\ a_947^0-a_947^post192 == 0 /\ i_127^0-i_127^post192 == 0 /\ -length_29^post192+length_29^0 == 0 /\ -rcd_58^post192+rcd_58^0 == 0 /\ -rcd_47^post192+rcd_47^0 == 0 /\ t_458^0-t_458^post192 == 0 /\ -a_575^post192+a_575^0 == 0 /\ -a_862^post192+a_862^0 == 0 /\ -a_633^post192+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post192 == 0 /\ i_27^0-i_27^post192 == 0 /\ rcd_1249^0-rcd_1249^post192 == 0 /\ i_106^0-i_106^post192 == 0 /\ -a_579^post192+a_579^0 == 0 /\ a_576^0-a_576^post192 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post192+r_151^0 == 0 /\ -head_32^post192+head_32^0 == 0 /\ r_39^0-r_39^post192 == 0 /\ -x_852^post192+x_852^0 == 0 /\ -a_263^post192+a_263^0 == 0 /\ x_156^0-x_156^post192 == 0 /\ -t_24^post192+t_24^0 == 0 /\ -temp_35^post192+temp_35^0 == 0 /\ -i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post192+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post192 == 0 /\ -tmp_34^post192+tmp_34^0 == 0 /\ f_248^0-f_248^post192 == 0 /\ r_224^0-r_224^post192 == 0 /\ a_610^0-a_610^post192 == 0 /\ a_121^0-a_121^post192 == 0 /\ -x_253^post192+x_253^0 == 0 /\ a_634^0-a_634^post192 == 0 /\ -f_969^post192+f_969^0 == 0 /\ len_262^0-len_262^post192 == 0 /\ -a_431^post192+a_431^0 == 0 /\ r_970^0-r_970^post192 == 0 /\ head_15^0-head_15^post192 == 0 /\ a_902^0-a_902^post192 == 0 /\ -y_20^post192+y_20^0 == 0 /\ a_577^0-a_577^post192 == 0 /\ -a_239^post192+a_239^0 == 0 /\ a_176^0-a_176^post192 == 0 /\ -i_229^post192+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post192+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1053^post192+i_1053^0 == 0 /\ -i_1248^post192+i_1248^0 == 0 /\ x_14^0-x_14^post192 == 0 /\ len_238^0-len_238^post192 == 0 /\ r_192^0-r_192^post192 == 0 /\ -len_161^post192+len_161^0 == 0 /\ -r_143^post192+r_143^0 == 0 /\ temp0_16^0-temp0_16^post192 == 0 /\ -a_395^post192+a_395^0 == 0 /\ a_632^0-a_632^post192 == 0 /\ a_430^0-a_430^post192 == 0 /\ a_1089^0-a_1089^post192 == 0 /\ a_311^0-a_311^post192 == 0 /\ -result_11^post192+result_11^0 == 0 /\ rcd_88^0-rcd_88^post192 == 0 /\ a_310^0-a_310^post192 == 0), cost: 1 New rule: l119 -> l121 : i_30^0 >= 0, cost: 1 Applied preprocessing Original rule: l121 -> l122 : a_1089^0'=a_1089^post193, f_847^0'=f_847^post193, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post193, a_394^0'=a_394^post193, x_156^0'=x_156^post193, a_632^0'=a_632^post193, r_192^0'=r_192^post193, a_176^0'=a_176^post193, i_106^0'=i_106^post193, a_430^0'=a_430^post193, t_458^0'=t_458^post193, len_161^0'=len_161^post193, x_975^0'=x_975^post193, a_902^0'=a_902^post193, a_947^0'=a_947^post193, rcd_88^0'=rcd_88^post193, a_311^0'=a_311^post193, i_140^0'=i_140^post193, a_577^0'=a_577^post193, x_14^0'=x_14^post193, nondet_12^0'=nondet_12^post193, a_121^0'=a_121^post193, head_15^0'=head_15^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193, i_27^0'=i_27^post193, x_21^0'=x_21^post193, a_634^0'=a_634^post193, r_39^0'=r_39^post193, a_263^0'=a_263^post193, i_113^0'=i_113^post193, a_432^0'=a_432^post193, temp0_31^0'=temp0_31^post193, len_262^0'=len_262^post193, y_20^0'=y_20^post193, f_248^0'=f_248^post193, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193, a_393^0'=a_393^post193, i_229^0'=i_229^post193, a_610^0'=a_610^post193, r_151^0'=r_151^post193, a_144^0'=a_144^post193, i_1053^0'=i_1053^post193, a_417^0'=a_417^post193, t_24^0'=t_24^post193, i_94^0'=i_94^post193, x_852^0'=x_852^post193, a_862^0'=a_862^post193, rcd_1249^0'=rcd_1249^post193, rcd_58^0'=rcd_58^post193, a_310^0'=a_310^post193, i_127^0'=i_127^post193, a_576^0'=a_576^post193, tmp_34^0'=tmp_34^post193, length_29^0'=length_29^post193, a_1162^0'=a_1162^post193, f_969^0'=f_969^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193, a_395^0'=a_395^post193, x_17^0'=x_17^post193, a_633^0'=a_633^post193, r_224^0'=r_224^post193, a_239^0'=a_239^post193, i_107^0'=i_107^post193, a_431^0'=a_431^post193, temp0_16^0'=temp0_16^post193, len_238^0'=len_238^post193, x_SLAM_f_19^0'=x_SLAM_f_19^post193, a_924^0'=a_924^post193, ct_18^0'=ct_18^post193, result_11^0'=result_11^post193, a_392^0'=a_392^post193, i_197^0'=i_197^post193, a_579^0'=a_579^post193, r_143^0'=r_143^post193, a_1236^0'=a_1236^post193, head_32^0'=head_32^post193, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193, i_30^0'=i_30^post193, x_253^0'=x_253^post193, a_635^0'=a_635^post193, r_970^0'=r_970^post193, rcd_47^0'=rcd_47^post193, a_309^0'=a_309^post193, i_1248^0'=i_1248^post193, a_575^0'=a_575^post193, temp_35^0'=temp_35^post193, len_861^0'=len_861^post193, (-i_197^post193+i_197^0 == 0 /\ i_127^0-i_127^post193 == 0 /\ -temp_35^post193+temp_35^0 == 0 /\ r_192^0-r_192^post193 == 0 /\ a_394^0-a_394^post193 == 0 /\ a_176^0-a_176^post193 == 0 /\ -x_253^post193+x_253^0 == 0 /\ -a_431^post193+a_431^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post193+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post193 == 0 /\ -r_970^post193+r_970^0 == 0 /\ rcd_58^0-rcd_58^post193 == 0 /\ rcd_1249^0-rcd_1249^post193 == 0 /\ 1-x_14^0 <= 0 /\ a_430^0-a_430^post193 == 0 /\ x_14^0-x_14^post193 == 0 /\ x_852^0-x_852^post193 == 0 /\ -y_20^post193+y_20^0 == 0 /\ -ct_18^post193+ct_18^0 == 0 /\ -tmp_34^post193+tmp_34^0 == 0 /\ -rcd_47^post193+rcd_47^0 == 0 /\ len_161^0-len_161^post193 == 0 /\ r_39^0-r_39^post193 == 0 /\ -t_24^post193+t_24^0 == 0 /\ i_229^0-i_229^post193 == 0 /\ a_432^0-a_432^post193 == 0 /\ f_847^0-f_847^post193 == 0 /\ -len_861^post193+len_861^0 == 0 /\ a_576^0-a_576^post193 == 0 /\ -a_577^post193+a_577^0 == 0 /\ -a_1162^post193+a_1162^0 == 0 /\ i_140^0-i_140^post193 == 0 /\ -a_395^post193+a_395^0 == 0 /\ -i_1248^post193+i_1248^0 == 0 /\ head_15^0-head_15^post193 == 0 /\ i_113^0-i_113^post193 == 0 /\ a_947^0-a_947^post193 == 0 /\ -a_924^post193+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_11^post193+result_11^0 == 0 /\ -temp0_16^post193+temp0_16^0 == 0 /\ -i_1053^post193+i_1053^0 == 0 /\ -r_224^post193+r_224^0 == 0 /\ a_144^0-a_144^post193 == 0 /\ x_156^0-x_156^post193 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post193+a_575^0 == 0 /\ -a_1236^post193+a_1236^0 == 0 /\ -r_143^post193+r_143^0 == 0 /\ rcd_88^0-rcd_88^post193 == 0 /\ a_311^0-a_311^post193 == 0 /\ -a_393^post193+a_393^0 == 0 /\ a_610^0-a_610^post193 == 0 /\ i_27^0-i_27^post193 == 0 /\ -i_94^post193+i_94^0 == 0 /\ a_632^0-a_632^post193 == 0 /\ -a_309^post193+a_309^0 == 0 /\ -length_29^post193+length_29^0 == 0 /\ -x_SLAM_f_19^post193+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post193 == 0 /\ a_635^0-a_635^post193 == 0 /\ -a_310^post193+a_310^0 == 0 /\ -i_30^post193+i_30^0 == 0 /\ -i_107^post193+i_107^0 == 0 /\ a_1089^0-a_1089^post193 == 0 /\ -t_458^post193+t_458^0 == 0 /\ -head_32^post193+head_32^0 == 0 /\ x_21^0-x_21^post193 == 0 /\ -r_151^post193+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post193+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_106^post193+i_106^0 == 0 /\ -len_238^post193+len_238^0 == 0 /\ temp0_31^0-temp0_31^post193 == 0 /\ f_248^0-f_248^post193 == 0 /\ a_239^0-a_239^post193 == 0 /\ -a_579^post193+a_579^0 == 0 /\ -a_902^post193+a_902^0 == 0 /\ nondet_12^0-nondet_12^post193 == 0 /\ -a_392^post193+a_392^0 == 0 /\ x_975^0-x_975^post193 == 0 /\ a_417^0-a_417^post193 == 0 /\ -a_633^post193+a_633^0 == 0 /\ x_17^0-x_17^post193 == 0 /\ a_121^0-a_121^post193 == 0 /\ a_634^0-a_634^post193 == 0 /\ -a_862^post193+a_862^0 == 0 /\ -a_263^post193+a_263^0 == 0 /\ len_262^0-len_262^post193 == 0), cost: 1 New rule: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l121 -> l122 : a_1089^0'=a_1089^post194, f_847^0'=f_847^post194, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post194, a_394^0'=a_394^post194, x_156^0'=x_156^post194, a_632^0'=a_632^post194, r_192^0'=r_192^post194, a_176^0'=a_176^post194, i_106^0'=i_106^post194, a_430^0'=a_430^post194, t_458^0'=t_458^post194, len_161^0'=len_161^post194, x_975^0'=x_975^post194, a_902^0'=a_902^post194, a_947^0'=a_947^post194, rcd_88^0'=rcd_88^post194, a_311^0'=a_311^post194, i_140^0'=i_140^post194, a_577^0'=a_577^post194, x_14^0'=x_14^post194, nondet_12^0'=nondet_12^post194, a_121^0'=a_121^post194, head_15^0'=head_15^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194, i_27^0'=i_27^post194, x_21^0'=x_21^post194, a_634^0'=a_634^post194, r_39^0'=r_39^post194, a_263^0'=a_263^post194, i_113^0'=i_113^post194, a_432^0'=a_432^post194, temp0_31^0'=temp0_31^post194, len_262^0'=len_262^post194, y_20^0'=y_20^post194, f_248^0'=f_248^post194, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194, a_393^0'=a_393^post194, i_229^0'=i_229^post194, a_610^0'=a_610^post194, r_151^0'=r_151^post194, a_144^0'=a_144^post194, i_1053^0'=i_1053^post194, a_417^0'=a_417^post194, t_24^0'=t_24^post194, i_94^0'=i_94^post194, x_852^0'=x_852^post194, a_862^0'=a_862^post194, rcd_1249^0'=rcd_1249^post194, rcd_58^0'=rcd_58^post194, a_310^0'=a_310^post194, i_127^0'=i_127^post194, a_576^0'=a_576^post194, tmp_34^0'=tmp_34^post194, length_29^0'=length_29^post194, a_1162^0'=a_1162^post194, f_969^0'=f_969^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194, a_395^0'=a_395^post194, x_17^0'=x_17^post194, a_633^0'=a_633^post194, r_224^0'=r_224^post194, a_239^0'=a_239^post194, i_107^0'=i_107^post194, a_431^0'=a_431^post194, temp0_16^0'=temp0_16^post194, len_238^0'=len_238^post194, x_SLAM_f_19^0'=x_SLAM_f_19^post194, a_924^0'=a_924^post194, ct_18^0'=ct_18^post194, result_11^0'=result_11^post194, a_392^0'=a_392^post194, i_197^0'=i_197^post194, a_579^0'=a_579^post194, r_143^0'=r_143^post194, a_1236^0'=a_1236^post194, head_32^0'=head_32^post194, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194, i_30^0'=i_30^post194, x_253^0'=x_253^post194, a_635^0'=a_635^post194, r_970^0'=r_970^post194, rcd_47^0'=rcd_47^post194, a_309^0'=a_309^post194, i_1248^0'=i_1248^post194, a_575^0'=a_575^post194, temp_35^0'=temp_35^post194, len_861^0'=len_861^post194, (x_156^0-x_156^post194 == 0 /\ -x_SLAM_f_19^post194+x_SLAM_f_19^0 == 0 /\ -i_113^post194+i_113^0 == 0 /\ f_847^0-f_847^post194 == 0 /\ -a_392^post194+a_392^0 == 0 /\ -a_432^post194+a_432^0 == 0 /\ -a_309^post194+a_309^0 == 0 /\ tmp_34^0-tmp_34^post194 == 0 /\ x_21^0-x_21^post194 == 0 /\ a_610^0-a_610^post194 == 0 /\ -a_635^post194+a_635^0 == 0 /\ -length_29^post194+length_29^0 == 0 /\ a_902^0-a_902^post194 == 0 /\ nondet_12^0-nondet_12^post194 == 0 /\ -i_107^post194+i_107^0 == 0 /\ a_394^0-a_394^post194 == 0 /\ a_144^0-a_144^post194 == 0 /\ -a_417^post194+a_417^0 == 0 /\ head_15^0-head_15^post194 == 0 /\ -i_94^post194+i_94^0 == 0 /\ -a_575^post194+a_575^0 == 0 /\ a_862^0-a_862^post194 == 0 /\ a_633^0-a_633^post194 == 0 /\ -a_1236^post194+a_1236^0 == 0 /\ a_1089^0-a_1089^post194 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post194 == 0 /\ -a_310^post194+a_310^0 == 0 /\ x_14^0-x_14^post194 == 0 /\ -a_121^post194+a_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post194 == 0 /\ a_311^0-a_311^post194 == 0 /\ i_106^0-i_106^post194 == 0 /\ -rcd_47^post194+rcd_47^0 == 0 /\ a_430^0-a_430^post194 == 0 /\ a_263^0-a_263^post194 == 0 /\ i_27^0-i_27^post194 == 0 /\ -head_32^post194+head_32^0 == 0 /\ -i_197^post194+i_197^0 == 0 /\ a_576^0-a_576^post194 == 0 /\ t_458^0-t_458^post194 == 0 /\ r_39^0-r_39^post194 == 0 /\ -len_238^post194+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post194 == 0 /\ -result_11^post194+result_11^0 == 0 /\ a_393^0-a_393^post194 == 0 /\ x_253^0-x_253^post194 == 0 /\ f_248^0-f_248^post194 == 0 /\ -temp_35^post194+temp_35^0 == 0 /\ y_20^0-y_20^post194 == 0 /\ -a_579^post194+a_579^0 == 0 /\ -t_24^post194+t_24^0 == 0 /\ r_151^0-r_151^post194 == 0 /\ -i_127^post194+i_127^0 == 0 /\ -a_1162^post194+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post194 == 0 /\ -r_970^post194+r_970^0 == 0 /\ -a_431^post194+a_431^0 == 0 /\ a_634^0-a_634^post194 == 0 /\ -rcd_58^post194+rcd_58^0 == 0 /\ x_975^0-x_975^post194 == 0 /\ len_262^0-len_262^post194 == 0 /\ a_947^0-a_947^post194 == 0 /\ -a_395^post194+a_395^0 == 0 /\ -x_852^post194+x_852^0 == 0 /\ -i_229^post194+i_229^0 == 0 /\ a_577^0-a_577^post194 == 0 /\ rcd_88^0-rcd_88^post194 == 0 /\ i_1053^0-i_1053^post194 == 0 /\ -a_924^post194+a_924^0 == 0 /\ a_176^0-a_176^post194 == 0 /\ -i_1248^post194+i_1248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post194 == 0 /\ -a_239^post194+a_239^0 == 0 /\ r_192^0-r_192^post194 == 0 /\ f_969^0-f_969^post194 == 0 /\ 1+x_14^0 <= 0 /\ -i_30^post194+i_30^0 == 0 /\ a_632^0-a_632^post194 == 0 /\ i_140^0-i_140^post194 == 0 /\ -r_143^post194+r_143^0 == 0 /\ -x_17^post194+x_17^0 == 0 /\ rcd_1249^0-rcd_1249^post194 == 0 /\ -r_224^post194+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post194+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp0_16^post194+temp0_16^0 == 0 /\ len_161^0-len_161^post194 == 0 /\ -len_861^post194+len_861^0 == 0), cost: 1 New rule: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l122 -> l123 : a_1089^0'=a_1089^post195, f_847^0'=f_847^post195, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, a_394^0'=a_394^post195, x_156^0'=x_156^post195, a_632^0'=a_632^post195, r_192^0'=r_192^post195, a_176^0'=a_176^post195, i_106^0'=i_106^post195, a_430^0'=a_430^post195, t_458^0'=t_458^post195, len_161^0'=len_161^post195, x_975^0'=x_975^post195, a_902^0'=a_902^post195, a_947^0'=a_947^post195, rcd_88^0'=rcd_88^post195, a_311^0'=a_311^post195, i_140^0'=i_140^post195, a_577^0'=a_577^post195, x_14^0'=x_14^post195, nondet_12^0'=nondet_12^post195, a_121^0'=a_121^post195, head_15^0'=head_15^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195, i_27^0'=i_27^post195, x_21^0'=x_21^post195, a_634^0'=a_634^post195, r_39^0'=r_39^post195, a_263^0'=a_263^post195, i_113^0'=i_113^post195, a_432^0'=a_432^post195, temp0_31^0'=temp0_31^post195, len_262^0'=len_262^post195, y_20^0'=y_20^post195, f_248^0'=f_248^post195, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195, a_393^0'=a_393^post195, i_229^0'=i_229^post195, a_610^0'=a_610^post195, r_151^0'=r_151^post195, a_144^0'=a_144^post195, i_1053^0'=i_1053^post195, a_417^0'=a_417^post195, t_24^0'=t_24^post195, i_94^0'=i_94^post195, x_852^0'=x_852^post195, a_862^0'=a_862^post195, rcd_1249^0'=rcd_1249^post195, rcd_58^0'=rcd_58^post195, a_310^0'=a_310^post195, i_127^0'=i_127^post195, a_576^0'=a_576^post195, tmp_34^0'=tmp_34^post195, length_29^0'=length_29^post195, a_1162^0'=a_1162^post195, f_969^0'=f_969^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195, a_395^0'=a_395^post195, x_17^0'=x_17^post195, a_633^0'=a_633^post195, r_224^0'=r_224^post195, a_239^0'=a_239^post195, i_107^0'=i_107^post195, a_431^0'=a_431^post195, temp0_16^0'=temp0_16^post195, len_238^0'=len_238^post195, x_SLAM_f_19^0'=x_SLAM_f_19^post195, a_924^0'=a_924^post195, ct_18^0'=ct_18^post195, result_11^0'=result_11^post195, a_392^0'=a_392^post195, i_197^0'=i_197^post195, a_579^0'=a_579^post195, r_143^0'=r_143^post195, a_1236^0'=a_1236^post195, head_32^0'=head_32^post195, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195, i_30^0'=i_30^post195, x_253^0'=x_253^post195, a_635^0'=a_635^post195, r_970^0'=r_970^post195, rcd_47^0'=rcd_47^post195, a_309^0'=a_309^post195, i_1248^0'=i_1248^post195, a_575^0'=a_575^post195, temp_35^0'=temp_35^post195, len_861^0'=len_861^post195, (0 == 0 /\ a_634^0-a_634^post195 == 0 /\ -x_14^post195+x_17^post195 <= 0 /\ -x_14^post195+x_SLAM_f_19^post195 <= 0 /\ -a_263^post195+a_263^0 == 0 /\ -r_970^post195+r_970^0 == 0 /\ -i_197^post195+i_197^0 == 0 /\ -a_579^post195+a_579^0 == 0 /\ -x_253^post195+x_253^0 == 0 /\ t_24^0-t_24^post195 == 0 /\ x_14^post195-head_15^0 <= 0 /\ rcd_58^0-rcd_58^post195 == 0 /\ a_176^0-a_176^post195 == 0 /\ -head_32^post195+head_32^0 == 0 /\ f_969^0-f_969^post195 == 0 /\ -a_431^post195+a_431^0 == 0 /\ head_15^0-x_17^post195 <= 0 /\ -i_229^post195+i_229^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1162^post195+a_1162^0 == 0 /\ a_430^0-a_430^post195 == 0 /\ r_39^0-r_39^post195 == 0 /\ -temp_35^post195+temp_35^0 == 0 /\ -ct_18^post195+y_20^post195 <= 0 /\ -ct_18^post195+y_20^post195 == 0 /\ -x_21^post195+x_SLAM_f_19^post195 <= 0 /\ length_29^0-length_29^post195 == 0 /\ x_14^post195-x_17^post195 <= 0 /\ i_27^0 <= 0 /\ x_14^post195-x_SLAM_f_19^post195 <= 0 /\ -a_395^post195+a_395^0 == 0 /\ -len_861^post195+len_861^0 == 0 /\ -ct_18^post195 <= 0 /\ -x_14^post195+head_15^0 <= 0 /\ head_15^0-head_15^post195 == 0 /\ -temp0_16^post195+temp0_16^0 == 0 /\ tmp_34^0-tmp_34^post195 == 0 /\ a_632^0-a_632^post195 == 0 /\ r_151^0-r_151^post195 == 0 /\ a_432^0-a_432^post195 == 0 /\ -a_947^post195+a_947^0 == 0 /\ r_192^0-r_192^post195 == 0 /\ -head_15^0+x_17^post195 <= 0 /\ -head_15^0+x_17^post195 == 0 /\ -r_224^post195+r_224^0 == 0 /\ i_113^0-i_113^post195 == 0 /\ f_248^0-f_248^post195 == 0 /\ -a_924^post195+a_924^0 == 0 /\ a_902^0-a_902^post195 == 0 /\ -i_1248^post195+i_1248^0 == 0 /\ result_11^0-result_11^post195 == 0 /\ -i_1053^post195+i_1053^0 == 0 /\ ct_18^post195-y_20^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 <= 0 /\ x_21^post195-x_SLAM_f_19^post195 == 0 /\ a_144^0-a_144^post195 == 0 /\ -a_239^post195+a_239^0 == 0 /\ x_156^0-x_156^post195 == 0 /\ nondet_12^0-nondet_12^post195 == 0 /\ -r_143^post195+r_143^0 == 0 /\ -a_635^post195+a_635^0 == 0 /\ -i_107^post195+i_107^0 == 0 /\ a_1089^0-a_1089^post195 == 0 /\ a_394^0-a_394^post195 == 0 /\ ct_18^post195 <= 0 /\ ct_18^post195 == 0 /\ -a_575^post195+a_575^0 == 0 /\ x_21^post195-x_14^post195 <= 0 /\ len_161^0-len_161^post195 == 0 /\ -i_30^0 <= 0 /\ -i_30^post195+i_30^0 == 0 /\ a_417^0-a_417^post195 == 0 /\ len_238^0-len_238^post195 == 0 /\ a_311^0-a_311^post195 == 0 /\ -x_975^post195+x_975^0 == 0 /\ rcd_1249^0-rcd_1249^post195 == 0 /\ x_852^0-x_852^post195 == 0 /\ -a_576^post195+a_576^0 == 0 /\ rcd_88^0-rcd_88^post195 == 0 /\ x_17^post195-x_SLAM_f_19^post195 <= 0 /\ i_140^0-i_140^post195 == 0 /\ i_106^0-i_106^post195 == 0 /\ f_847^0-f_847^post195 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post195 == 0 /\ -a_310^post195+a_310^0 == 0 /\ -x_21^post195+x_14^post195 <= 0 /\ a_393^0-a_393^post195 == 0 /\ a_633^0-a_633^post195 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post195+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post195+a_1236^0 == 0 /\ t_458^0-t_458^post195 == 0 /\ y_20^post195 <= 0 /\ a_309^0-a_309^post195 == 0 /\ -a_121^post195+a_121^0 == 0 /\ -rcd_47^post195+rcd_47^0 == 0 /\ -y_20^post195 <= 0 /\ -a_862^post195+a_862^0 == 0 /\ a_577^0-a_577^post195 == 0 /\ -len_262^post195+len_262^0 == 0 /\ -a_610^post195+a_610^0 == 0 /\ -i_94^post195+i_94^0 == 0 /\ -temp0_31^post195+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post195 == 0 /\ -x_17^post195+x_SLAM_f_19^post195 <= 0 /\ -x_17^post195+x_SLAM_f_19^post195 == 0 /\ i_127^0-i_127^post195 == 0 /\ -a_392^post195+a_392^0 == 0), cost: 1 New rule: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 Applied preprocessing Original rule: l123 -> l124 : a_1089^0'=a_1089^post196, f_847^0'=f_847^post196, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post196, a_394^0'=a_394^post196, x_156^0'=x_156^post196, a_632^0'=a_632^post196, r_192^0'=r_192^post196, a_176^0'=a_176^post196, i_106^0'=i_106^post196, a_430^0'=a_430^post196, t_458^0'=t_458^post196, len_161^0'=len_161^post196, x_975^0'=x_975^post196, a_902^0'=a_902^post196, a_947^0'=a_947^post196, rcd_88^0'=rcd_88^post196, a_311^0'=a_311^post196, i_140^0'=i_140^post196, a_577^0'=a_577^post196, x_14^0'=x_14^post196, nondet_12^0'=nondet_12^post196, a_121^0'=a_121^post196, head_15^0'=head_15^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196, i_27^0'=i_27^post196, x_21^0'=x_21^post196, a_634^0'=a_634^post196, r_39^0'=r_39^post196, a_263^0'=a_263^post196, i_113^0'=i_113^post196, a_432^0'=a_432^post196, temp0_31^0'=temp0_31^post196, len_262^0'=len_262^post196, y_20^0'=y_20^post196, f_248^0'=f_248^post196, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196, a_393^0'=a_393^post196, i_229^0'=i_229^post196, a_610^0'=a_610^post196, r_151^0'=r_151^post196, a_144^0'=a_144^post196, i_1053^0'=i_1053^post196, a_417^0'=a_417^post196, t_24^0'=t_24^post196, i_94^0'=i_94^post196, x_852^0'=x_852^post196, a_862^0'=a_862^post196, rcd_1249^0'=rcd_1249^post196, rcd_58^0'=rcd_58^post196, a_310^0'=a_310^post196, i_127^0'=i_127^post196, a_576^0'=a_576^post196, tmp_34^0'=tmp_34^post196, length_29^0'=length_29^post196, a_1162^0'=a_1162^post196, f_969^0'=f_969^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196, a_395^0'=a_395^post196, x_17^0'=x_17^post196, a_633^0'=a_633^post196, r_224^0'=r_224^post196, a_239^0'=a_239^post196, i_107^0'=i_107^post196, a_431^0'=a_431^post196, temp0_16^0'=temp0_16^post196, len_238^0'=len_238^post196, x_SLAM_f_19^0'=x_SLAM_f_19^post196, a_924^0'=a_924^post196, ct_18^0'=ct_18^post196, result_11^0'=result_11^post196, a_392^0'=a_392^post196, i_197^0'=i_197^post196, a_579^0'=a_579^post196, r_143^0'=r_143^post196, a_1236^0'=a_1236^post196, head_32^0'=head_32^post196, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196, i_30^0'=i_30^post196, x_253^0'=x_253^post196, a_635^0'=a_635^post196, r_970^0'=r_970^post196, rcd_47^0'=rcd_47^post196, a_309^0'=a_309^post196, i_1248^0'=i_1248^post196, a_575^0'=a_575^post196, temp_35^0'=temp_35^post196, len_861^0'=len_861^post196, (-x_SLAM_f_19^post196+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post196 == 0 /\ -x_14^post196+x_14^0 == 0 /\ tmp_34^0-tmp_34^post196 == 0 /\ -i_94^post196+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post196 == 0 /\ -i_113^post196+i_113^0 == 0 /\ -r_143^post196+r_143^0 == 0 /\ -a_1236^post196+a_1236^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_633^post196+a_633^0 == 0 /\ -a_575^post196+a_575^0 == 0 /\ result_11^0-result_11^post196 == 0 /\ a_902^0-a_902^post196 == 0 /\ x_156^0-x_156^post196 == 0 /\ a_610^0-a_610^post196 == 0 /\ -a_432^post196+a_432^0 == 0 /\ -a_309^post196+a_309^0 == 0 /\ head_15^0-head_15^post196 == 0 /\ a_634^0-a_634^post196 == 0 /\ a_862^0-a_862^post196 == 0 /\ -temp0_31^post196+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post196 == 0 /\ a_394^0-a_394^post196 == 0 /\ a_1089^0-a_1089^post196 == 0 /\ -rcd_47^post196+rcd_47^0 == 0 /\ -r_39^post196+r_39^0 == 0 /\ -a_310^post196+a_310^0 == 0 /\ r_192^0-r_192^post196 == 0 /\ a_176^0-a_176^post196 == 0 /\ length_29^0-length_29^post196 == 0 /\ x_852^0-x_852^post196 == 0 /\ -head_32^post196+head_32^0 == 0 /\ a_392^0-a_392^post196 == 0 /\ -f_969^post196+f_969^0 == 0 /\ -x_253^post196+x_253^0 == 0 /\ a_263^0-a_263^post196 == 0 /\ -len_262^post196+len_262^0 == 0 /\ -r_970^post196+r_970^0 == 0 /\ -len_238^post196+len_238^0 == 0 /\ i_1053^0-i_1053^post196 == 0 /\ rcd_88^0-rcd_88^post196 == 0 /\ a_311^0-a_311^post196 == 0 /\ -t_24^post196+t_24^0 == 0 /\ -a_239^post196+a_239^0 == 0 /\ -a_430^post196+a_430^0 == 0 /\ -f_248^post196+f_248^0 == 0 /\ -a_579^post196+a_579^0 == 0 /\ a_393^0-a_393^post196 == 0 /\ -rcd_58^post196+rcd_58^0 == 0 /\ y_20^0-y_20^post196 == 0 /\ -r_224^post196+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post196 == 0 /\ -i_127^post196+i_127^0 == 0 /\ x_975^0-x_975^post196 == 0 /\ r_151^0-r_151^post196 == 0 /\ -i_197^post196+i_197^0 == 0 /\ -temp_35^post196+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post196 == 0 /\ a_577^0-a_577^post196 == 0 /\ a_417^0-a_417^post196 == 0 /\ -a_121^post196+a_121^0 == 0 /\ -ct_18^post196+ct_18^0 == 0 /\ -a_431^post196+a_431^0 == 0 /\ -i_229^post196+i_229^0 == 0 /\ len_161^0-len_161^post196 == 0 /\ -a_1162^post196+a_1162^0 == 0 /\ a_947^0-a_947^post196 == 0 /\ -a_924^post196+a_924^0 == 0 /\ i_27^0-i_27^post196 == 0 /\ -a_144^post196+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post196+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post196+i_107^0 == 0 /\ -len_861^post196+len_861^0 == 0 /\ a_395^0-a_395^post196 == 0 /\ t_458^0-t_458^post196 == 0 /\ -temp0_16^post196+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post196 == 0 /\ i_140^0-i_140^post196 == 0 /\ rcd_1249^0-rcd_1249^post196 == 0 /\ -a_635^post196+a_635^0 == 0 /\ i_106^0-i_106^post196 == 0 /\ f_847^0-f_847^post196 == 0 /\ -i_1248^post196+i_1248^0 == 0 /\ -x_17^post196+x_17^0 == 0 /\ -x_21^post196+x_21^0 == 0 /\ a_576^0-a_576^post196 == 0 /\ -i_30^post196+i_30^0 == 0), cost: 1 New rule: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l123 -> l124 : a_1089^0'=a_1089^post197, f_847^0'=f_847^post197, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post197, a_394^0'=a_394^post197, x_156^0'=x_156^post197, a_632^0'=a_632^post197, r_192^0'=r_192^post197, a_176^0'=a_176^post197, i_106^0'=i_106^post197, a_430^0'=a_430^post197, t_458^0'=t_458^post197, len_161^0'=len_161^post197, x_975^0'=x_975^post197, a_902^0'=a_902^post197, a_947^0'=a_947^post197, rcd_88^0'=rcd_88^post197, a_311^0'=a_311^post197, i_140^0'=i_140^post197, a_577^0'=a_577^post197, x_14^0'=x_14^post197, nondet_12^0'=nondet_12^post197, a_121^0'=a_121^post197, head_15^0'=head_15^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197, i_27^0'=i_27^post197, x_21^0'=x_21^post197, a_634^0'=a_634^post197, r_39^0'=r_39^post197, a_263^0'=a_263^post197, i_113^0'=i_113^post197, a_432^0'=a_432^post197, temp0_31^0'=temp0_31^post197, len_262^0'=len_262^post197, y_20^0'=y_20^post197, f_248^0'=f_248^post197, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197, a_393^0'=a_393^post197, i_229^0'=i_229^post197, a_610^0'=a_610^post197, r_151^0'=r_151^post197, a_144^0'=a_144^post197, i_1053^0'=i_1053^post197, a_417^0'=a_417^post197, t_24^0'=t_24^post197, i_94^0'=i_94^post197, x_852^0'=x_852^post197, a_862^0'=a_862^post197, rcd_1249^0'=rcd_1249^post197, rcd_58^0'=rcd_58^post197, a_310^0'=a_310^post197, i_127^0'=i_127^post197, a_576^0'=a_576^post197, tmp_34^0'=tmp_34^post197, length_29^0'=length_29^post197, a_1162^0'=a_1162^post197, f_969^0'=f_969^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197, a_395^0'=a_395^post197, x_17^0'=x_17^post197, a_633^0'=a_633^post197, r_224^0'=r_224^post197, a_239^0'=a_239^post197, i_107^0'=i_107^post197, a_431^0'=a_431^post197, temp0_16^0'=temp0_16^post197, len_238^0'=len_238^post197, x_SLAM_f_19^0'=x_SLAM_f_19^post197, a_924^0'=a_924^post197, ct_18^0'=ct_18^post197, result_11^0'=result_11^post197, a_392^0'=a_392^post197, i_197^0'=i_197^post197, a_579^0'=a_579^post197, r_143^0'=r_143^post197, a_1236^0'=a_1236^post197, head_32^0'=head_32^post197, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197, i_30^0'=i_30^post197, x_253^0'=x_253^post197, a_635^0'=a_635^post197, r_970^0'=r_970^post197, rcd_47^0'=rcd_47^post197, a_309^0'=a_309^post197, i_1248^0'=i_1248^post197, a_575^0'=a_575^post197, temp_35^0'=temp_35^post197, len_861^0'=len_861^post197, (-nondet_12^post197+nondet_12^0 == 0 /\ -r_970^post197+r_970^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post197 == 0 /\ -head_32^post197+head_32^0 == 0 /\ -f_248^post197+f_248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post197 == 0 /\ -i_197^post197+i_197^0 == 0 /\ a_310^0-a_310^post197 == 0 /\ a_176^0-a_176^post197 == 0 /\ -len_262^post197+len_262^0 == 0 /\ a_1089^0-a_1089^post197 == 0 /\ i_27^0-i_27^post197 == 0 /\ rcd_88^0-rcd_88^post197 == 0 /\ r_39^0-r_39^post197 == 0 /\ a_311^0-a_311^post197 == 0 /\ y_20^0-y_20^post197 == 0 /\ -i_127^post197+i_127^0 == 0 /\ i_1053^0-i_1053^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post197 == 0 /\ a_392^0-a_392^post197 == 0 /\ i_140^0-i_140^post197 == 0 /\ -a_579^post197+a_579^0 == 0 /\ -temp_35^post197+temp_35^0 == 0 /\ -ct_18^post197+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post197+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_395^0-a_395^post197 == 0 /\ -a_924^post197+a_924^0 == 0 /\ -i_30^post197+i_30^0 == 0 /\ -a_144^post197+a_144^0 == 0 /\ a_632^0-a_632^post197 == 0 /\ a_393^0-a_393^post197 == 0 /\ -a_1162^post197+a_1162^0 == 0 /\ t_458^0-t_458^post197 == 0 /\ -x_17^post197+x_17^0 == 0 /\ i_113^0-i_113^post197 == 0 /\ r_192^0-r_192^post197 == 0 /\ -i_1248^post197+i_1248^0 == 0 /\ a_417^0-a_417^post197 == 0 /\ result_11^0-result_11^post197 == 0 /\ -a_239^post197+a_239^0 == 0 /\ -tmp_34^post197+tmp_34^0 == 0 /\ -head_15^post197+head_15^0 == 0 /\ -x_21^post197+x_21^0 == 0 /\ -temp0_16^post197+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post197 == 0 /\ a_634^0-a_634^post197 == 0 /\ r_143^0-r_143^post197 == 0 /\ -len_861^post197+len_861^0 == 0 /\ a_394^0-a_394^post197 == 0 /\ x_14^0-x_14^post197 == 0 /\ t_24^0-t_24^post197 == 0 /\ -a_635^post197+a_635^0 == 0 /\ a_862^0-a_862^post197 == 0 /\ -rcd_47^post197+rcd_47^0 == 0 /\ a_947^0-a_947^post197 == 0 /\ a_121^0-a_121^post197 == 0 /\ -i_94^post197+i_94^0 == 0 /\ rcd_58^0-rcd_58^post197 == 0 /\ -len_238^post197+len_238^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post197 == 0 /\ a_263^0-a_263^post197 == 0 /\ -a_633^post197+a_633^0 == 0 /\ x_852^0-x_852^post197 == 0 /\ -i_107^post197+i_107^0 == 0 /\ length_29^0-length_29^post197 == 0 /\ len_161^0-len_161^post197 == 0 /\ i_106^0-i_106^post197 == 0 /\ -a_575^post197+a_575^0 == 0 /\ -a_576^post197+a_576^0 == 0 /\ -rcd_1249^post197+rcd_1249^0 == 0 /\ f_847^0-f_847^post197 == 0 /\ r_224^0-r_224^post197 == 0 /\ -a_431^post197+a_431^0 == 0 /\ r_151^0-r_151^post197 == 0 /\ a_309^0-a_309^post197 == 0 /\ a_902^0-a_902^post197 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post197 == 0 /\ a_430^0-a_430^post197 == 0 /\ -a_1236^post197+a_1236^0 == 0 /\ -x_975^post197+x_975^0 == 0 /\ 1+x_14^0 <= 0 /\ -f_969^post197+f_969^0 == 0 /\ i_229^0-i_229^post197 == 0 /\ a_577^0-a_577^post197 == 0 /\ a_432^0-a_432^post197 == 0 /\ x_156^0-x_156^post197 == 0 /\ -x_253^post197+x_253^0 == 0 /\ -a_610^post197+a_610^0 == 0), cost: 1 New rule: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l124 -> l125 : a_1089^0'=a_1089^post198, f_847^0'=f_847^post198, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, a_394^0'=a_394^post198, x_156^0'=x_156^post198, a_632^0'=a_632^post198, r_192^0'=r_192^post198, a_176^0'=a_176^post198, i_106^0'=i_106^post198, a_430^0'=a_430^post198, t_458^0'=t_458^post198, len_161^0'=len_161^post198, x_975^0'=x_975^post198, a_902^0'=a_902^post198, a_947^0'=a_947^post198, rcd_88^0'=rcd_88^post198, a_311^0'=a_311^post198, i_140^0'=i_140^post198, a_577^0'=a_577^post198, x_14^0'=x_14^post198, nondet_12^0'=nondet_12^post198, a_121^0'=a_121^post198, head_15^0'=head_15^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198, i_27^0'=i_27^post198, x_21^0'=x_21^post198, a_634^0'=a_634^post198, r_39^0'=r_39^post198, a_263^0'=a_263^post198, i_113^0'=i_113^post198, a_432^0'=a_432^post198, temp0_31^0'=temp0_31^post198, len_262^0'=len_262^post198, y_20^0'=y_20^post198, f_248^0'=f_248^post198, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198, a_393^0'=a_393^post198, i_229^0'=i_229^post198, a_610^0'=a_610^post198, r_151^0'=r_151^post198, a_144^0'=a_144^post198, i_1053^0'=i_1053^post198, a_417^0'=a_417^post198, t_24^0'=t_24^post198, i_94^0'=i_94^post198, x_852^0'=x_852^post198, a_862^0'=a_862^post198, rcd_1249^0'=rcd_1249^post198, rcd_58^0'=rcd_58^post198, a_310^0'=a_310^post198, i_127^0'=i_127^post198, a_576^0'=a_576^post198, tmp_34^0'=tmp_34^post198, length_29^0'=length_29^post198, a_1162^0'=a_1162^post198, f_969^0'=f_969^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198, a_395^0'=a_395^post198, x_17^0'=x_17^post198, a_633^0'=a_633^post198, r_224^0'=r_224^post198, a_239^0'=a_239^post198, i_107^0'=i_107^post198, a_431^0'=a_431^post198, temp0_16^0'=temp0_16^post198, len_238^0'=len_238^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, a_924^0'=a_924^post198, ct_18^0'=ct_18^post198, result_11^0'=result_11^post198, a_392^0'=a_392^post198, i_197^0'=i_197^post198, a_579^0'=a_579^post198, r_143^0'=r_143^post198, a_1236^0'=a_1236^post198, head_32^0'=head_32^post198, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198, i_30^0'=i_30^post198, x_253^0'=x_253^post198, a_635^0'=a_635^post198, r_970^0'=r_970^post198, rcd_47^0'=rcd_47^post198, a_309^0'=a_309^post198, i_1248^0'=i_1248^post198, a_575^0'=a_575^post198, temp_35^0'=temp_35^post198, len_861^0'=len_861^post198, (0 == 0 /\ -rcd_47^post198+rcd_47^0 == 0 /\ i_106^0-i_106^post198 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post198+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post198 == 0 /\ a_430^0-a_430^post198 == 0 /\ x_975^0-x_975^post198 == 0 /\ a_577^0-a_577^post198 == 0 /\ t_458^0-t_458^post198 == 0 /\ a_902^0-a_902^post198 == 0 /\ -a_634^post198+a_634^0 == 0 /\ i_229^0-i_229^post198 == 0 /\ -r_151^post198+r_151^0 == 0 /\ a_1162^0-a_1162^post198 == 0 /\ -a_575^post198+a_575^0 == 0 /\ x_156^0-x_156^post198 == 0 /\ -r_143^post198+r_143^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_633^post198+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post198 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_969^post198+f_969^0 == 0 /\ i_27^0 <= 0 /\ -a_576^post198+a_576^0 == 0 /\ temp0_31^0-temp0_31^post198 == 0 /\ t_24^0-t_24^post198 == 0 /\ len_262^0-len_262^post198 == 0 /\ a_394^0-a_394^post198 == 0 /\ -temp_35^post198+temp_35^0 == 0 /\ a_310^0-a_310^post198 == 0 /\ a_176^0-a_176^post198 == 0 /\ f_847^0-f_847^post198 == 0 /\ a_392^0-a_392^post198 == 0 /\ -x_253^post198+x_253^0 == 0 /\ -len_238^post198+len_238^0 == 0 /\ y_20^0-y_20^post198 == 0 /\ a_579^0-a_579^post198 == 0 /\ -a_610^post198+a_610^0 == 0 /\ -r_970^post198+r_970^0 == 0 /\ -a_1236^post198+a_1236^0 == 0 /\ i_140^0-i_140^post198 == 0 /\ -a_311^post198+a_311^0 == 0 /\ tmp_34^0-tmp_34^post198 == 0 /\ -len_161^post198+len_161^0 == 0 /\ -r_224^post198+r_224^0 == 0 /\ -i_1248^post198+i_1248^0 == 0 /\ -rcd_88^post198+rcd_88^0 == 0 /\ -i_30^0 <= 0 /\ -a_239^post198+a_239^0 == 0 /\ i_94^0-i_94^post198 == 0 /\ i_113^0-i_113^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post198 == 0 /\ r_39^0-r_39^post198 == 0 /\ a_393^0-a_393^post198 == 0 /\ -rcd_58^post198+rcd_58^0 == 0 /\ -length_29^post198+length_29^0 == 0 /\ -r_192^post198+r_192^0 == 0 /\ -i_127^post198+i_127^0 == 0 /\ -a_431^post198+a_431^0 == 0 /\ a_432^0-a_432^post198 == 0 /\ -i_197^post198+i_197^0 == 0 /\ a_862^0-a_862^post198 == 0 /\ -head_32^post198+head_32^0 == 0 /\ -f_248^post198+f_248^0 == 0 /\ x_21^0-x_21^post198 == 0 /\ -result_11^post198+result_11^0 == 0 /\ a_1089^0-a_1089^post198 == 0 /\ -rcd_1249^post198+rcd_1249^0 == 0 /\ -a_924^post198+a_924^0 == 0 /\ nondet_12^0-nondet_12^post198 == 0 /\ a_947^0-a_947^post198 == 0 /\ -a_309^post198+a_309^0 == 0 /\ a_121^0-a_121^post198 == 0 /\ -a_635^post198+a_635^0 == 0 /\ -a_144^post198+a_144^0 == 0 /\ -temp0_16^post198+temp0_16^0 == 0 /\ a_395^0-a_395^post198 == 0 /\ -len_861^post198+len_861^0 == 0 /\ a_263^0-a_263^post198 == 0 /\ i_107^0-i_107^post198 == 0 /\ -a_417^post198+a_417^0 == 0 /\ -i_30^post198+i_30^0 == 0 /\ -x_852^post198+x_852^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post198 == 0), cost: 1 New rule: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l125 -> l126 : a_1089^0'=a_1089^post199, f_847^0'=f_847^post199, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post199, a_394^0'=a_394^post199, x_156^0'=x_156^post199, a_632^0'=a_632^post199, r_192^0'=r_192^post199, a_176^0'=a_176^post199, i_106^0'=i_106^post199, a_430^0'=a_430^post199, t_458^0'=t_458^post199, len_161^0'=len_161^post199, x_975^0'=x_975^post199, a_902^0'=a_902^post199, a_947^0'=a_947^post199, rcd_88^0'=rcd_88^post199, a_311^0'=a_311^post199, i_140^0'=i_140^post199, a_577^0'=a_577^post199, x_14^0'=x_14^post199, nondet_12^0'=nondet_12^post199, a_121^0'=a_121^post199, head_15^0'=head_15^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199, i_27^0'=i_27^post199, x_21^0'=x_21^post199, a_634^0'=a_634^post199, r_39^0'=r_39^post199, a_263^0'=a_263^post199, i_113^0'=i_113^post199, a_432^0'=a_432^post199, temp0_31^0'=temp0_31^post199, len_262^0'=len_262^post199, y_20^0'=y_20^post199, f_248^0'=f_248^post199, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199, a_393^0'=a_393^post199, i_229^0'=i_229^post199, a_610^0'=a_610^post199, r_151^0'=r_151^post199, a_144^0'=a_144^post199, i_1053^0'=i_1053^post199, a_417^0'=a_417^post199, t_24^0'=t_24^post199, i_94^0'=i_94^post199, x_852^0'=x_852^post199, a_862^0'=a_862^post199, rcd_1249^0'=rcd_1249^post199, rcd_58^0'=rcd_58^post199, a_310^0'=a_310^post199, i_127^0'=i_127^post199, a_576^0'=a_576^post199, tmp_34^0'=tmp_34^post199, length_29^0'=length_29^post199, a_1162^0'=a_1162^post199, f_969^0'=f_969^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199, a_395^0'=a_395^post199, x_17^0'=x_17^post199, a_633^0'=a_633^post199, r_224^0'=r_224^post199, a_239^0'=a_239^post199, i_107^0'=i_107^post199, a_431^0'=a_431^post199, temp0_16^0'=temp0_16^post199, len_238^0'=len_238^post199, x_SLAM_f_19^0'=x_SLAM_f_19^post199, a_924^0'=a_924^post199, ct_18^0'=ct_18^post199, result_11^0'=result_11^post199, a_392^0'=a_392^post199, i_197^0'=i_197^post199, a_579^0'=a_579^post199, r_143^0'=r_143^post199, a_1236^0'=a_1236^post199, head_32^0'=head_32^post199, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199, i_30^0'=i_30^post199, x_253^0'=x_253^post199, a_635^0'=a_635^post199, r_970^0'=r_970^post199, rcd_47^0'=rcd_47^post199, a_309^0'=a_309^post199, i_1248^0'=i_1248^post199, a_575^0'=a_575^post199, temp_35^0'=temp_35^post199, len_861^0'=len_861^post199, (-head_32^post199+head_32^0 == 0 /\ -a_395^post199+a_395^0 == 0 /\ -a_239^post199+a_239^0 == 0 /\ -len_861^post199+len_861^0 == 0 /\ -ct_18^post199+ct_18^0 == 0 /\ i_197^0-i_197^post199 == 0 /\ -len_262^post199+len_262^0 == 0 /\ a_1089^0-a_1089^post199 == 0 /\ a_394^0-a_394^post199 == 0 /\ a_417^0-a_417^post199 == 0 /\ -temp_35^post199+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_311^0-a_311^post199 == 0 /\ rcd_88^0-rcd_88^post199 == 0 /\ f_847^0-f_847^post199 == 0 /\ a_924^0-a_924^post199 == 0 /\ -i_1053^post199+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post199 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post199 == 0 /\ i_140^0-i_140^post199 == 0 /\ i_106^0-i_106^post199 == 0 /\ -a_392^post199+a_392^0 == 0 /\ -rcd_1249^post199+rcd_1249^0 == 0 /\ i_94^0-i_94^post199 == 0 /\ -a_575^post199+a_575^0 == 0 /\ -a_579^post199+a_579^0 == 0 /\ -a_309^post199+a_309^0 == 0 /\ x_975^0-x_975^post199 == 0 /\ t_458^0-t_458^post199 == 0 /\ r_39^0-r_39^post199 == 0 /\ y_20^0-y_20^post199 == 0 /\ -result_11^post199+result_11^0 == 0 /\ -i_30^post199+i_30^0 == 0 /\ a_393^0-a_393^post199 == 0 /\ -a_263^post199+a_263^0 == 0 /\ -a_635^post199+a_635^0 == 0 /\ r_224^0-r_224^post199 == 0 /\ i_127^0-i_127^post199 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -x_17^post199+x_17^0 == 0 /\ a_577^0-a_577^post199 == 0 /\ x_21^0-x_21^post199 == 0 /\ -x_852^post199+x_852^0 == 0 /\ temp0_31^0-temp0_31^post199 == 0 /\ -a_144^post199+a_144^0 == 0 /\ -rcd_58^post199+rcd_58^0 == 0 /\ -i_107^post199+i_107^0 == 0 /\ -head_15^post199+head_15^0 == 0 /\ -i_1248^post199+i_1248^0 == 0 /\ -a_633^post199+a_633^0 == 0 /\ -tmp_34^post199+tmp_34^0 == 0 /\ t_24^0-t_24^post199 == 0 /\ x_14^0-x_14^post199 == 0 /\ a_862^0-a_862^post199 == 0 /\ a_121^0-a_121^post199 == 0 /\ -len_238^post199+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post199+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post199 == 0 /\ len_161^0-len_161^post199 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post199 == 0 /\ a_947^0-a_947^post199 == 0 /\ -a_576^post199+a_576^0 == 0 /\ -a_634^post199+a_634^0 == 0 /\ f_248^0-f_248^post199 == 0 /\ length_29^0-length_29^post199 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post199+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_430^0-a_430^post199 == 0 /\ a_632^0-a_632^post199 == 0 /\ -r_143^post199+r_143^0 == 0 /\ -i_27^post199+i_27^0 == 0 /\ -x_253^post199+x_253^0 == 0 /\ -a_1236^post199+a_1236^0 == 0 /\ -a_431^post199+a_431^0 == 0 /\ r_151^0-r_151^post199 == 0 /\ -f_969^post199+f_969^0 == 0 /\ a_902^0-a_902^post199 == 0 /\ -r_970^post199+r_970^0 == 0 /\ -a_176^post199+a_176^0 == 0 /\ i_229^0-i_229^post199 == 0 /\ a_432^0-a_432^post199 == 0 /\ -a_610^post199+a_610^0 == 0 /\ r_192^0-r_192^post199 == 0 /\ a_310^0-a_310^post199 == 0 /\ a_1162^0-a_1162^post199 == 0 /\ i_113^0-i_113^post199 == 0 /\ temp0_16^0-temp0_16^post199 == 0 /\ nondet_12^0-nondet_12^post199 == 0 /\ -rcd_47^post199+rcd_47^0 == 0), cost: 1 New rule: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l125 -> l126 : a_1089^0'=a_1089^post200, f_847^0'=f_847^post200, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post200, a_394^0'=a_394^post200, x_156^0'=x_156^post200, a_632^0'=a_632^post200, r_192^0'=r_192^post200, a_176^0'=a_176^post200, i_106^0'=i_106^post200, a_430^0'=a_430^post200, t_458^0'=t_458^post200, len_161^0'=len_161^post200, x_975^0'=x_975^post200, a_902^0'=a_902^post200, a_947^0'=a_947^post200, rcd_88^0'=rcd_88^post200, a_311^0'=a_311^post200, i_140^0'=i_140^post200, a_577^0'=a_577^post200, x_14^0'=x_14^post200, nondet_12^0'=nondet_12^post200, a_121^0'=a_121^post200, head_15^0'=head_15^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200, i_27^0'=i_27^post200, x_21^0'=x_21^post200, a_634^0'=a_634^post200, r_39^0'=r_39^post200, a_263^0'=a_263^post200, i_113^0'=i_113^post200, a_432^0'=a_432^post200, temp0_31^0'=temp0_31^post200, len_262^0'=len_262^post200, y_20^0'=y_20^post200, f_248^0'=f_248^post200, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200, a_393^0'=a_393^post200, i_229^0'=i_229^post200, a_610^0'=a_610^post200, r_151^0'=r_151^post200, a_144^0'=a_144^post200, i_1053^0'=i_1053^post200, a_417^0'=a_417^post200, t_24^0'=t_24^post200, i_94^0'=i_94^post200, x_852^0'=x_852^post200, a_862^0'=a_862^post200, rcd_1249^0'=rcd_1249^post200, rcd_58^0'=rcd_58^post200, a_310^0'=a_310^post200, i_127^0'=i_127^post200, a_576^0'=a_576^post200, tmp_34^0'=tmp_34^post200, length_29^0'=length_29^post200, a_1162^0'=a_1162^post200, f_969^0'=f_969^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200, a_395^0'=a_395^post200, x_17^0'=x_17^post200, a_633^0'=a_633^post200, r_224^0'=r_224^post200, a_239^0'=a_239^post200, i_107^0'=i_107^post200, a_431^0'=a_431^post200, temp0_16^0'=temp0_16^post200, len_238^0'=len_238^post200, x_SLAM_f_19^0'=x_SLAM_f_19^post200, a_924^0'=a_924^post200, ct_18^0'=ct_18^post200, result_11^0'=result_11^post200, a_392^0'=a_392^post200, i_197^0'=i_197^post200, a_579^0'=a_579^post200, r_143^0'=r_143^post200, a_1236^0'=a_1236^post200, head_32^0'=head_32^post200, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200, i_30^0'=i_30^post200, x_253^0'=x_253^post200, a_635^0'=a_635^post200, r_970^0'=r_970^post200, rcd_47^0'=rcd_47^post200, a_309^0'=a_309^post200, i_1248^0'=i_1248^post200, a_575^0'=a_575^post200, temp_35^0'=temp_35^post200, len_861^0'=len_861^post200, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ r_39^0-r_39^post200 == 0 /\ rcd_1249^0-rcd_1249^post200 == 0 /\ -rcd_47^post200+rcd_47^0 == 0 /\ -tmp_34^post200+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ x_975^0-x_975^post200 == 0 /\ i_127^0-i_127^post200 == 0 /\ -a_633^post200+a_633^0 == 0 /\ a_430^0-a_430^post200 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ a_577^0-a_577^post200 == 0 /\ -a_924^post200+a_924^0 == 0 /\ a_1162^0-a_1162^post200 == 0 /\ -r_143^post200+r_143^0 == 0 /\ -a_634^post200+a_634^0 == 0 /\ a_432^0-a_432^post200 == 0 /\ x_14^0-x_14^post200 == 0 /\ i_27^0-i_27^post200 == 0 /\ -r_151^post200+r_151^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post200+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_192^0-r_192^post200 == 0 /\ -x_SLAM_f_19^post200+x_SLAM_f_19^0 == 0 /\ -y_20^post200+y_20^0 == 0 /\ -a_392^post200+a_392^0 == 0 /\ -f_969^post200+f_969^0 == 0 /\ i_140^0-i_140^post200 == 0 /\ a_394^0-a_394^post200 == 0 /\ i_229^0-i_229^post200 == 0 /\ a_576^0-a_576^post200 == 0 /\ -temp_35^post200+temp_35^0 == 0 /\ -i_113^post200+i_113^0 == 0 /\ a_947^0-a_947^post200 == 0 /\ -a_1236^post200+a_1236^0 == 0 /\ -r_970^post200+r_970^0 == 0 /\ f_847^0-f_847^post200 == 0 /\ -a_431^post200+a_431^0 == 0 /\ i_197^0-i_197^post200 == 0 /\ -x_253^post200+x_253^0 == 0 /\ -a_395^post200+a_395^0 == 0 /\ r_224^0-r_224^post200 == 0 /\ a_610^0-a_610^post200 == 0 /\ -i_1053^post200+i_1053^0 == 0 /\ a_902^0-a_902^post200 == 0 /\ -i_1248^post200+i_1248^0 == 0 /\ -length_29^post200+length_29^0 == 0 /\ i_94^0-i_94^post200 == 0 /\ -a_239^post200+a_239^0 == 0 /\ -rcd_58^post200+rcd_58^0 == 0 /\ i_107^0-i_107^post200 == 0 /\ head_15^0-head_15^post200 == 0 /\ -a_310^post200+a_310^0 == 0 /\ -ct_18^post200+ct_18^0 == 0 /\ -a_862^post200+a_862^0 == 0 /\ -len_861^post200+len_861^0 == 0 /\ rcd_88^0-rcd_88^post200 == 0 /\ a_311^0-a_311^post200 == 0 /\ -temp0_16^post200+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post200+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -t_458^post200+t_458^0 == 0 /\ x_156^0-x_156^post200 == 0 /\ -head_32^post200+head_32^0 == 0 /\ a_1089^0-a_1089^post200 == 0 /\ nondet_12^0-nondet_12^post200 == 0 /\ a_632^0-a_632^post200 == 0 /\ -len_161^post200+len_161^0 == 0 /\ -a_393^post200+a_393^0 == 0 /\ -i_106^post200+i_106^0 == 0 /\ -a_309^post200+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post200 == 0 /\ a_121^0-a_121^post200 == 0 /\ -a_579^post200+a_579^0 == 0 /\ x_21^0-x_21^post200 == 0 /\ -a_144^post200+a_144^0 == 0 /\ -result_11^post200+result_11^0 == 0 /\ temp0_31^0-temp0_31^post200 == 0 /\ -a_417^post200+a_417^0 == 0 /\ -x_852^post200+x_852^0 == 0 /\ len_262^0-len_262^post200 == 0 /\ -a_575^post200+a_575^0 == 0 /\ -i_30^post200+i_30^0 == 0 /\ -a_263^post200+a_263^0 == 0 /\ -t_24^post200+t_24^0 == 0 /\ x_17^0-x_17^post200 == 0 /\ -a_635^post200+a_635^0 == 0 /\ len_238^0-len_238^post200 == 0 /\ f_248^0-f_248^post200 == 0 /\ a_176^0-a_176^post200 == 0), cost: 1 New rule: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l126 -> l127 : a_1089^0'=a_1089^post201, f_847^0'=f_847^post201, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post201, a_394^0'=a_394^post201, x_156^0'=x_156^post201, a_632^0'=a_632^post201, r_192^0'=r_192^post201, a_176^0'=a_176^post201, i_106^0'=i_106^post201, a_430^0'=a_430^post201, t_458^0'=t_458^post201, len_161^0'=len_161^post201, x_975^0'=x_975^post201, a_902^0'=a_902^post201, a_947^0'=a_947^post201, rcd_88^0'=rcd_88^post201, a_311^0'=a_311^post201, i_140^0'=i_140^post201, a_577^0'=a_577^post201, x_14^0'=x_14^post201, nondet_12^0'=nondet_12^post201, a_121^0'=a_121^post201, head_15^0'=head_15^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201, i_27^0'=i_27^post201, x_21^0'=x_21^post201, a_634^0'=a_634^post201, r_39^0'=r_39^post201, a_263^0'=a_263^post201, i_113^0'=i_113^post201, a_432^0'=a_432^post201, temp0_31^0'=temp0_31^post201, len_262^0'=len_262^post201, y_20^0'=y_20^post201, f_248^0'=f_248^post201, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201, a_393^0'=a_393^post201, i_229^0'=i_229^post201, a_610^0'=a_610^post201, r_151^0'=r_151^post201, a_144^0'=a_144^post201, i_1053^0'=i_1053^post201, a_417^0'=a_417^post201, t_24^0'=t_24^post201, i_94^0'=i_94^post201, x_852^0'=x_852^post201, a_862^0'=a_862^post201, rcd_1249^0'=rcd_1249^post201, rcd_58^0'=rcd_58^post201, a_310^0'=a_310^post201, i_127^0'=i_127^post201, a_576^0'=a_576^post201, tmp_34^0'=tmp_34^post201, length_29^0'=length_29^post201, a_1162^0'=a_1162^post201, f_969^0'=f_969^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201, a_395^0'=a_395^post201, x_17^0'=x_17^post201, a_633^0'=a_633^post201, r_224^0'=r_224^post201, a_239^0'=a_239^post201, i_107^0'=i_107^post201, a_431^0'=a_431^post201, temp0_16^0'=temp0_16^post201, len_238^0'=len_238^post201, x_SLAM_f_19^0'=x_SLAM_f_19^post201, a_924^0'=a_924^post201, ct_18^0'=ct_18^post201, result_11^0'=result_11^post201, a_392^0'=a_392^post201, i_197^0'=i_197^post201, a_579^0'=a_579^post201, r_143^0'=r_143^post201, a_1236^0'=a_1236^post201, head_32^0'=head_32^post201, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201, i_30^0'=i_30^post201, x_253^0'=x_253^post201, a_635^0'=a_635^post201, r_970^0'=r_970^post201, rcd_47^0'=rcd_47^post201, a_309^0'=a_309^post201, i_1248^0'=i_1248^post201, a_575^0'=a_575^post201, temp_35^0'=temp_35^post201, len_861^0'=len_861^post201, (0 == 0 /\ -length_29^post201+length_29^0 == 0 /\ -r_39^post201+r_39^0 == 0 /\ a_576^0-a_576^post201 == 0 /\ x_852^0-x_852^post201 == 0 /\ -i_1053^post201+i_1053^0 == 0 /\ x_21^0-x_21^post201 == 0 /\ -a_395^post201+a_395^0 == 0 /\ a_121^0-a_121^post201 == 0 /\ x_156^0-x_156^post201 == 0 /\ len_262^0-len_262^post201 == 0 /\ -a_417^post201+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post201+len_861^0 == 0 /\ f_847^0-f_847^post201 == 0 /\ -a_1236^post201+a_1236^0 == 0 /\ nondet_12^0-nondet_12^post201 == 0 /\ a_394^0-a_394^post201 == 0 /\ rcd_58^0-rcd_58^post201 == 0 /\ a_1089^post201-a_1162^0 <= 0 /\ -a_392^post201+a_392^0 == 0 /\ -a_862^post201+a_862^0 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -i_1248^post201+i_1248^0 == 0 /\ -a_579^post201+a_579^0 == 0 /\ -a_393^post201+a_393^0 == 0 /\ -a_635^post201+a_635^0 == 0 /\ -a_144^post201+a_144^0 == 0 /\ t_458^0-t_458^post201 == 0 /\ -i_107^post201+i_107^0 == 0 /\ -i_30^post201+i_30^0 == 0 /\ -a_575^post201+a_575^0 == 0 /\ -a_263^post201+a_263^0 == 0 /\ a_577^0-a_577^post201 == 0 /\ -head_32^post201+head_32^0 == 0 /\ -i_197^post201+i_197^0 == 0 /\ i_106^0-i_106^post201 == 0 /\ r_224^0-r_224^post201 == 0 /\ ct_18^0-ct_18^post201 == 0 /\ i_127^0-i_127^post201 == 0 /\ head_15^0-head_15^post201 == 0 /\ y_20^0 <= 0 /\ -a_309^post201+a_309^0 == 0 /\ -x_21^0+t_24^post201 == 0 /\ i_229^0-i_229^post201 == 0 /\ -a_1089^post201+a_1162^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_14^0-x_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post201 == 0 /\ x_14^0-x_14^post201 == 0 /\ a_430^0-a_430^post201 == 0 /\ i_27^0-i_27^post201 == 0 /\ -tmp_34^post201+tmp_34^0 == 0 /\ -a_1162^post201+a_1162^0 == 0 /\ -rcd_47^post201+rcd_47^0 == 0 /\ -a_924^post201+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post201+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ i_140^0-i_140^post201 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -len_238^post201+len_238^0 == 0 /\ a_431^0-a_431^post201 == 0 /\ temp0_31^0-temp0_31^post201 == 0 /\ -x_14^0+t_24^post201 <= 0 /\ x_17^0-x_17^post201 == 0 /\ a_634^0-a_634^post201 == 0 /\ -y_20^0 <= 0 /\ -a_633^post201+a_633^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -result_11^post201+result_11^0 == 0 /\ y_20^0-y_20^post201 == 0 /\ a_947^0-a_947^post201 == 0 /\ rcd_88^0-rcd_88^post201 == 0 /\ -r_151^post201+r_151^0 == 0 /\ -rcd_1249^post201+rcd_1249^0 == 0 /\ a_176^0-a_176^post201 == 0 /\ -a_902^post201+a_902^0 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ r_192^0-r_192^post201 == 0 /\ -r_970^post201+r_970^0 == 0 /\ f_969^0-f_969^post201 == 0 /\ x_975^0-x_975^post201 == 0 /\ -x_253^post201+x_253^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post201+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post201 == 0 /\ a_239^0-a_239^post201 == 0 /\ -r_143^post201+r_143^0 == 0 /\ -ct_18^0 <= 0 /\ -i_94^post201+i_94^0 == 0 /\ x_14^0-t_24^post201 <= 0 /\ y_20^0-ct_18^0 <= 0 /\ a_310^0-a_310^post201 == 0 /\ -i_113^post201+i_113^0 == 0 /\ len_161^0-len_161^post201 == 0 /\ -a_432^post201+a_432^0 == 0 /\ temp0_16^0-temp0_16^post201 == 0 /\ -temp_35^post201+temp_35^0 == 0 /\ a_610^0-a_610^post201 == 0 /\ a_632^0-a_632^post201 == 0 /\ -a_311^post201+a_311^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post201+x_SLAM_f_19^0 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0), cost: 1 New rule: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 Applied preprocessing Original rule: l127 -> l128 : a_1089^0'=a_1089^post202, f_847^0'=f_847^post202, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post202, a_394^0'=a_394^post202, x_156^0'=x_156^post202, a_632^0'=a_632^post202, r_192^0'=r_192^post202, a_176^0'=a_176^post202, i_106^0'=i_106^post202, a_430^0'=a_430^post202, t_458^0'=t_458^post202, len_161^0'=len_161^post202, x_975^0'=x_975^post202, a_902^0'=a_902^post202, a_947^0'=a_947^post202, rcd_88^0'=rcd_88^post202, a_311^0'=a_311^post202, i_140^0'=i_140^post202, a_577^0'=a_577^post202, x_14^0'=x_14^post202, nondet_12^0'=nondet_12^post202, a_121^0'=a_121^post202, head_15^0'=head_15^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202, i_27^0'=i_27^post202, x_21^0'=x_21^post202, a_634^0'=a_634^post202, r_39^0'=r_39^post202, a_263^0'=a_263^post202, i_113^0'=i_113^post202, a_432^0'=a_432^post202, temp0_31^0'=temp0_31^post202, len_262^0'=len_262^post202, y_20^0'=y_20^post202, f_248^0'=f_248^post202, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202, a_393^0'=a_393^post202, i_229^0'=i_229^post202, a_610^0'=a_610^post202, r_151^0'=r_151^post202, a_144^0'=a_144^post202, i_1053^0'=i_1053^post202, a_417^0'=a_417^post202, t_24^0'=t_24^post202, i_94^0'=i_94^post202, x_852^0'=x_852^post202, a_862^0'=a_862^post202, rcd_1249^0'=rcd_1249^post202, rcd_58^0'=rcd_58^post202, a_310^0'=a_310^post202, i_127^0'=i_127^post202, a_576^0'=a_576^post202, tmp_34^0'=tmp_34^post202, length_29^0'=length_29^post202, a_1162^0'=a_1162^post202, f_969^0'=f_969^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202, a_395^0'=a_395^post202, x_17^0'=x_17^post202, a_633^0'=a_633^post202, r_224^0'=r_224^post202, a_239^0'=a_239^post202, i_107^0'=i_107^post202, a_431^0'=a_431^post202, temp0_16^0'=temp0_16^post202, len_238^0'=len_238^post202, x_SLAM_f_19^0'=x_SLAM_f_19^post202, a_924^0'=a_924^post202, ct_18^0'=ct_18^post202, result_11^0'=result_11^post202, a_392^0'=a_392^post202, i_197^0'=i_197^post202, a_579^0'=a_579^post202, r_143^0'=r_143^post202, a_1236^0'=a_1236^post202, head_32^0'=head_32^post202, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202, i_30^0'=i_30^post202, x_253^0'=x_253^post202, a_635^0'=a_635^post202, r_970^0'=r_970^post202, rcd_47^0'=rcd_47^post202, a_309^0'=a_309^post202, i_1248^0'=i_1248^post202, a_575^0'=a_575^post202, temp_35^0'=temp_35^post202, len_861^0'=len_861^post202, (r_39^0-r_39^post202 == 0 /\ -a_1162^post202+a_1162^0 == 0 /\ -a_924^post202+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post202 == 0 /\ ct_18^0-ct_18^post202 == 0 /\ -rcd_47^post202+rcd_47^0 == 0 /\ -a_431^post202+a_431^0 == 0 /\ 1-x_14^0 <= 0 /\ -x_253^post202+x_253^0 == 0 /\ -r_151^post202+r_151^0 == 0 /\ -result_11^post202+result_11^0 == 0 /\ x_21^0-x_21^post202 == 0 /\ i_27^0-i_27^post202 == 0 /\ x_14^0-x_14^post202 == 0 /\ r_192^0-r_192^post202 == 0 /\ i_140^0-i_140^post202 == 0 /\ -i_94^post202+i_94^0 == 0 /\ -r_224^post202+r_224^0 == 0 /\ nondet_12^0-nondet_12^post202 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post202 == 0 /\ -temp_35^post202+temp_35^0 == 0 /\ a_263^0-a_263^post202 == 0 /\ x_156^0-x_156^post202 == 0 /\ -r_970^post202+r_970^0 == 0 /\ -i_1053^post202+i_1053^0 == 0 /\ a_634^0-a_634^post202 == 0 /\ -i_113^post202+i_113^0 == 0 /\ -x_SLAM_f_19^post202+x_SLAM_f_19^0 == 0 /\ -r_143^post202+r_143^0 == 0 /\ a_576^0-a_576^post202 == 0 /\ rcd_58^0-rcd_58^post202 == 0 /\ tmp_34^0-tmp_34^post202 == 0 /\ -a_395^post202+a_395^0 == 0 /\ a_144^0-a_144^post202 == 0 /\ -a_1236^post202+a_1236^0 == 0 /\ a_947^0-a_947^post202 == 0 /\ len_238^0-len_238^post202 == 0 /\ -y_20^post202+y_20^0 == 0 /\ f_248^0-f_248^post202 == 0 /\ -a_432^post202+a_432^0 == 0 /\ a_430^0-a_430^post202 == 0 /\ -i_106^post202+i_106^0 == 0 /\ -a_862^post202+a_862^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_975^0-x_975^post202 == 0 /\ i_127^0-i_127^post202 == 0 /\ a_632^0-a_632^post202 == 0 /\ a_610^0-a_610^post202 == 0 /\ -length_29^post202+length_29^0 == 0 /\ a_577^0-a_577^post202 == 0 /\ head_15^0-head_15^post202 == 0 /\ rcd_1249^0-rcd_1249^post202 == 0 /\ a_902^0-a_902^post202 == 0 /\ -i_1248^post202+i_1248^0 == 0 /\ rcd_88^0-rcd_88^post202 == 0 /\ a_311^0-a_311^post202 == 0 /\ -a_392^post202+a_392^0 == 0 /\ -a_239^post202+a_239^0 == 0 /\ -a_310^post202+a_310^0 == 0 /\ a_1089^0-a_1089^post202 == 0 /\ -len_861^post202+len_861^0 == 0 /\ -temp0_16^post202+temp0_16^0 == 0 /\ i_229^0-i_229^post202 == 0 /\ -i_30^post202+i_30^0 == 0 /\ -t_458^post202+t_458^0 == 0 /\ -a_393^post202+a_393^0 == 0 /\ -head_32^post202+head_32^0 == 0 /\ a_121^0-a_121^post202 == 0 /\ -x_852^post202+x_852^0 == 0 /\ -t_24^post202+t_24^0 == 0 /\ len_262^0-len_262^post202 == 0 /\ temp0_31^0-temp0_31^post202 == 0 /\ -a_635^post202+a_635^0 == 0 /\ -a_309^post202+a_309^0 == 0 /\ len_161^0-len_161^post202 == 0 /\ a_633^0-a_633^post202 == 0 /\ x_17^0-x_17^post202 == 0 /\ a_176^0-a_176^post202 == 0 /\ -a_417^post202+a_417^0 == 0 /\ -i_107^post202+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post202 == 0 /\ f_847^0-f_847^post202 == 0 /\ -a_575^post202+a_575^0 == 0 /\ -i_197^post202+i_197^0 == 0 /\ a_394^0-a_394^post202 == 0 /\ -a_579^post202+a_579^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post202+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0), cost: 1 New rule: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l127 -> l128 : a_1089^0'=a_1089^post203, f_847^0'=f_847^post203, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post203, a_394^0'=a_394^post203, x_156^0'=x_156^post203, a_632^0'=a_632^post203, r_192^0'=r_192^post203, a_176^0'=a_176^post203, i_106^0'=i_106^post203, a_430^0'=a_430^post203, t_458^0'=t_458^post203, len_161^0'=len_161^post203, x_975^0'=x_975^post203, a_902^0'=a_902^post203, a_947^0'=a_947^post203, rcd_88^0'=rcd_88^post203, a_311^0'=a_311^post203, i_140^0'=i_140^post203, a_577^0'=a_577^post203, x_14^0'=x_14^post203, nondet_12^0'=nondet_12^post203, a_121^0'=a_121^post203, head_15^0'=head_15^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203, i_27^0'=i_27^post203, x_21^0'=x_21^post203, a_634^0'=a_634^post203, r_39^0'=r_39^post203, a_263^0'=a_263^post203, i_113^0'=i_113^post203, a_432^0'=a_432^post203, temp0_31^0'=temp0_31^post203, len_262^0'=len_262^post203, y_20^0'=y_20^post203, f_248^0'=f_248^post203, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203, a_393^0'=a_393^post203, i_229^0'=i_229^post203, a_610^0'=a_610^post203, r_151^0'=r_151^post203, a_144^0'=a_144^post203, i_1053^0'=i_1053^post203, a_417^0'=a_417^post203, t_24^0'=t_24^post203, i_94^0'=i_94^post203, x_852^0'=x_852^post203, a_862^0'=a_862^post203, rcd_1249^0'=rcd_1249^post203, rcd_58^0'=rcd_58^post203, a_310^0'=a_310^post203, i_127^0'=i_127^post203, a_576^0'=a_576^post203, tmp_34^0'=tmp_34^post203, length_29^0'=length_29^post203, a_1162^0'=a_1162^post203, f_969^0'=f_969^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203, a_395^0'=a_395^post203, x_17^0'=x_17^post203, a_633^0'=a_633^post203, r_224^0'=r_224^post203, a_239^0'=a_239^post203, i_107^0'=i_107^post203, a_431^0'=a_431^post203, temp0_16^0'=temp0_16^post203, len_238^0'=len_238^post203, x_SLAM_f_19^0'=x_SLAM_f_19^post203, a_924^0'=a_924^post203, ct_18^0'=ct_18^post203, result_11^0'=result_11^post203, a_392^0'=a_392^post203, i_197^0'=i_197^post203, a_579^0'=a_579^post203, r_143^0'=r_143^post203, a_1236^0'=a_1236^post203, head_32^0'=head_32^post203, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203, i_30^0'=i_30^post203, x_253^0'=x_253^post203, a_635^0'=a_635^post203, r_970^0'=r_970^post203, rcd_47^0'=rcd_47^post203, a_309^0'=a_309^post203, i_1248^0'=i_1248^post203, a_575^0'=a_575^post203, temp_35^0'=temp_35^post203, len_861^0'=len_861^post203, (-a_1236^post203+a_1236^0 == 0 /\ a_263^0-a_263^post203 == 0 /\ len_161^0-len_161^post203 == 0 /\ -a_432^post203+a_432^0 == 0 /\ result_11^0-result_11^post203 == 0 /\ -x_17^post203+x_17^0 == 0 /\ x_156^0-x_156^post203 == 0 /\ -temp0_31^post203+temp0_31^0 == 0 /\ -a_392^post203+a_392^0 == 0 /\ head_15^0-head_15^post203 == 0 /\ a_634^0-a_634^post203 == 0 /\ tmp_34^0-tmp_34^post203 == 0 /\ -i_30^post203+i_30^0 == 0 /\ -i_1248^post203+i_1248^0 == 0 /\ -x_SLAM_f_19^post203+x_SLAM_f_19^0 == 0 /\ a_862^0-a_862^post203 == 0 /\ -temp0_16^post203+temp0_16^0 == 0 /\ f_248^0-f_248^post203 == 0 /\ a_902^0-a_902^post203 == 0 /\ -a_310^post203+a_310^0 == 0 /\ -len_861^post203+len_861^0 == 0 /\ -r_224^post203+r_224^0 == 0 /\ -i_94^post203+i_94^0 == 0 /\ rcd_58^0-rcd_58^post203 == 0 /\ -i_1053^post203+i_1053^0 == 0 /\ a_947^0-a_947^post203 == 0 /\ -head_32^post203+head_32^0 == 0 /\ -a_579^post203+a_579^0 == 0 /\ a_430^0-a_430^post203 == 0 /\ -a_635^post203+a_635^0 == 0 /\ r_192^0-r_192^post203 == 0 /\ i_113^0-i_113^post203 == 0 /\ rcd_88^0-rcd_88^post203 == 0 /\ a_176^0-a_176^post203 == 0 /\ a_311^0-a_311^post203 == 0 /\ length_29^0-length_29^post203 == 0 /\ -ct_18^post203+ct_18^0 == 0 /\ -len_262^post203+len_262^0 == 0 /\ -len_238^post203+len_238^0 == 0 /\ -i_197^post203+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_632^0-a_632^post203 == 0 /\ -a_309^post203+a_309^0 == 0 /\ x_852^0-x_852^post203 == 0 /\ -x_14^post203+x_14^0 == 0 /\ -r_39^post203+r_39^0 == 0 /\ -i_127^post203+i_127^0 == 0 /\ -i_107^post203+i_107^0 == 0 /\ -a_575^post203+a_575^0 == 0 /\ a_1089^0-a_1089^post203 == 0 /\ -a_121^post203+a_121^0 == 0 /\ a_576^0-a_576^post203 == 0 /\ f_847^0-f_847^post203 == 0 /\ a_144^0-a_144^post203 == 0 /\ -a_431^post203+a_431^0 == 0 /\ nondet_12^0-nondet_12^post203 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post203 == 0 /\ -a_1162^post203+a_1162^0 == 0 /\ i_140^0-i_140^post203 == 0 /\ -t_24^post203+t_24^0 == 0 /\ -x_21^post203+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post203 == 0 /\ r_151^0-r_151^post203 == 0 /\ -rcd_47^post203+rcd_47^0 == 0 /\ y_20^0-y_20^post203 == 0 /\ a_417^0-a_417^post203 == 0 /\ -a_924^post203+a_924^0 == 0 /\ a_394^0-a_394^post203 == 0 /\ a_577^0-a_577^post203 == 0 /\ a_239^0-a_239^post203 == 0 /\ f_969^0-f_969^post203 == 0 /\ x_975^0-x_975^post203 == 0 /\ -r_143^post203+r_143^0 == 0 /\ -i_229^post203+i_229^0 == 0 /\ -x_253^post203+x_253^0 == 0 /\ -r_970^post203+r_970^0 == 0 /\ a_610^0-a_610^post203 == 0 /\ rcd_1249^0-rcd_1249^post203 == 0 /\ 1+x_14^0 <= 0 /\ i_106^0-i_106^post203 == 0 /\ i_27^0-i_27^post203 == 0 /\ a_633^0-a_633^post203 == 0 /\ t_458^0-t_458^post203 == 0 /\ a_393^0-a_393^post203 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post203+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post203+a_395^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post203 == 0 /\ -temp_35^post203+temp_35^0 == 0), cost: 1 New rule: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l128 -> l129 : a_1089^0'=a_1089^post204, f_847^0'=f_847^post204, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post204, a_394^0'=a_394^post204, x_156^0'=x_156^post204, a_632^0'=a_632^post204, r_192^0'=r_192^post204, a_176^0'=a_176^post204, i_106^0'=i_106^post204, a_430^0'=a_430^post204, t_458^0'=t_458^post204, len_161^0'=len_161^post204, x_975^0'=x_975^post204, a_902^0'=a_902^post204, a_947^0'=a_947^post204, rcd_88^0'=rcd_88^post204, a_311^0'=a_311^post204, i_140^0'=i_140^post204, a_577^0'=a_577^post204, x_14^0'=x_14^post204, nondet_12^0'=nondet_12^post204, a_121^0'=a_121^post204, head_15^0'=head_15^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204, i_27^0'=i_27^post204, x_21^0'=x_21^post204, a_634^0'=a_634^post204, r_39^0'=r_39^post204, a_263^0'=a_263^post204, i_113^0'=i_113^post204, a_432^0'=a_432^post204, temp0_31^0'=temp0_31^post204, len_262^0'=len_262^post204, y_20^0'=y_20^post204, f_248^0'=f_248^post204, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204, a_393^0'=a_393^post204, i_229^0'=i_229^post204, a_610^0'=a_610^post204, r_151^0'=r_151^post204, a_144^0'=a_144^post204, i_1053^0'=i_1053^post204, a_417^0'=a_417^post204, t_24^0'=t_24^post204, i_94^0'=i_94^post204, x_852^0'=x_852^post204, a_862^0'=a_862^post204, rcd_1249^0'=rcd_1249^post204, rcd_58^0'=rcd_58^post204, a_310^0'=a_310^post204, i_127^0'=i_127^post204, a_576^0'=a_576^post204, tmp_34^0'=tmp_34^post204, length_29^0'=length_29^post204, a_1162^0'=a_1162^post204, f_969^0'=f_969^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204, a_395^0'=a_395^post204, x_17^0'=x_17^post204, a_633^0'=a_633^post204, r_224^0'=r_224^post204, a_239^0'=a_239^post204, i_107^0'=i_107^post204, a_431^0'=a_431^post204, temp0_16^0'=temp0_16^post204, len_238^0'=len_238^post204, x_SLAM_f_19^0'=x_SLAM_f_19^post204, a_924^0'=a_924^post204, ct_18^0'=ct_18^post204, result_11^0'=result_11^post204, a_392^0'=a_392^post204, i_197^0'=i_197^post204, a_579^0'=a_579^post204, r_143^0'=r_143^post204, a_1236^0'=a_1236^post204, head_32^0'=head_32^post204, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204, i_30^0'=i_30^post204, x_253^0'=x_253^post204, a_635^0'=a_635^post204, r_970^0'=r_970^post204, rcd_47^0'=rcd_47^post204, a_309^0'=a_309^post204, i_1248^0'=i_1248^post204, a_575^0'=a_575^post204, temp_35^0'=temp_35^post204, len_861^0'=len_861^post204, (a_311^0-a_311^post204 == 0 /\ -f_969^post204+f_969^0 == 0 /\ a_610^0-a_610^post204 == 0 /\ a_392^0-a_392^post204 == 0 /\ t_458^0-t_458^post204 == 0 /\ a_176^0-a_176^post204 == 0 /\ a_902^0-a_902^post204 == 0 /\ r_143^0-r_143^post204 == 0 /\ -a_121^post204+a_121^0 == 0 /\ -x_21^post204+x_21^0 == 0 /\ rcd_88^0-rcd_88^post204 == 0 /\ r_192^0-r_192^post204 == 0 /\ -temp_35^post204+temp_35^0 == 0 /\ -r_970^post204+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post204 == 0 /\ -x_253^post204+x_253^0 == 0 /\ -len_238^post204+len_238^0 == 0 /\ -rcd_47^post204+rcd_47^0 == 0 /\ a_1089^0-a_1089^post204 == 0 /\ i_27^0-i_27^post204 == 0 /\ r_39^0-r_39^post204 == 0 /\ -a_1162^post204+a_1162^0 == 0 /\ len_262^0-len_262^post204 == 0 /\ a_1236^0-a_1236^post204 == 0 /\ -y_20^post204+y_20^0 == 0 /\ -x_SLAM_f_19^post204+x_SLAM_f_19^0 == 0 /\ -i_1248^post204+i_1248^0 == 0 /\ a_263^0-a_263^post204 == 0 /\ temp0_31^0-temp0_31^post204 == 0 /\ -a_239^post204+a_239^0 == 0 /\ a_144^0-a_144^post204 == 0 /\ -temp0_16^post204+temp0_16^0 == 0 /\ result_11^0-result_11^post204 == 0 /\ -len_861^post204+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post204 == 0 /\ -i_229^post204+i_229^0 == 0 /\ -a_431^post204+a_431^0 == 0 /\ -nondet_12^post204+nondet_12^0 == 0 /\ -a_432^post204+a_432^0 == 0 /\ -a_924^post204+a_924^0 == 0 /\ -i_113^post204+i_113^0 == 0 /\ a_634^0-a_634^post204 == 0 /\ -a_395^post204+a_395^0 == 0 /\ a_417^0-a_417^post204 == 0 /\ f_248^0-f_248^post204 == 0 /\ tmp_34^0-tmp_34^post204 == 0 /\ -i_107^post204+i_107^0 == 0 /\ -a_862^post204+a_862^0 == 0 /\ i_1053^0-i_1053^post204 == 0 /\ i_127^0-i_127^post204 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post204+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post204 == 0 /\ -a_575^post204+a_575^0 == 0 /\ len_161^0-len_161^post204 == 0 /\ i_106^0-i_106^post204 == 0 /\ a_632^0-a_632^post204 == 0 /\ -a_635^post204+a_635^0 == 0 /\ a_393^0-a_393^post204 == 0 /\ -i_30^post204+i_30^0 == 0 /\ -a_310^post204+a_310^0 == 0 /\ -i_94^post204+i_94^0 == 0 /\ -r_224^post204+r_224^0 == 0 /\ -x_17^post204+x_17^0 == 0 /\ x_14^0-x_14^post204 == 0 /\ -length_29^post204+length_29^0 == 0 /\ x_852^0-x_852^post204 == 0 /\ x_156^0-x_156^post204 == 0 /\ a_309^0-a_309^post204 == 0 /\ a_576^0-a_576^post204 == 0 /\ f_847^0-f_847^post204 == 0 /\ -a_579^post204+a_579^0 == 0 /\ -t_24^post204+t_24^0 == 0 /\ -head_32^post204+head_32^0 == 0 /\ i_140^0-i_140^post204 == 0 /\ a_633^0-a_633^post204 == 0 /\ -ct_18^post204+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post204 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post204 == 0 /\ a_947^0-a_947^post204 == 0 /\ rcd_58^0-rcd_58^post204 == 0 /\ head_15^0-head_15^post204 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ -x_975^post204+x_975^0 == 0 /\ a_394^0-a_394^post204 == 0 /\ -a_430^post204+a_430^0 == 0 /\ -i_197^post204+i_197^0 == 0 /\ r_151^0-r_151^post204 == 0 /\ a_577^0-a_577^post204 == 0), cost: 1 New rule: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l128 -> l129 : a_1089^0'=a_1089^post205, f_847^0'=f_847^post205, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post205, a_394^0'=a_394^post205, x_156^0'=x_156^post205, a_632^0'=a_632^post205, r_192^0'=r_192^post205, a_176^0'=a_176^post205, i_106^0'=i_106^post205, a_430^0'=a_430^post205, t_458^0'=t_458^post205, len_161^0'=len_161^post205, x_975^0'=x_975^post205, a_902^0'=a_902^post205, a_947^0'=a_947^post205, rcd_88^0'=rcd_88^post205, a_311^0'=a_311^post205, i_140^0'=i_140^post205, a_577^0'=a_577^post205, x_14^0'=x_14^post205, nondet_12^0'=nondet_12^post205, a_121^0'=a_121^post205, head_15^0'=head_15^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205, i_27^0'=i_27^post205, x_21^0'=x_21^post205, a_634^0'=a_634^post205, r_39^0'=r_39^post205, a_263^0'=a_263^post205, i_113^0'=i_113^post205, a_432^0'=a_432^post205, temp0_31^0'=temp0_31^post205, len_262^0'=len_262^post205, y_20^0'=y_20^post205, f_248^0'=f_248^post205, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205, a_393^0'=a_393^post205, i_229^0'=i_229^post205, a_610^0'=a_610^post205, r_151^0'=r_151^post205, a_144^0'=a_144^post205, i_1053^0'=i_1053^post205, a_417^0'=a_417^post205, t_24^0'=t_24^post205, i_94^0'=i_94^post205, x_852^0'=x_852^post205, a_862^0'=a_862^post205, rcd_1249^0'=rcd_1249^post205, rcd_58^0'=rcd_58^post205, a_310^0'=a_310^post205, i_127^0'=i_127^post205, a_576^0'=a_576^post205, tmp_34^0'=tmp_34^post205, length_29^0'=length_29^post205, a_1162^0'=a_1162^post205, f_969^0'=f_969^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205, a_395^0'=a_395^post205, x_17^0'=x_17^post205, a_633^0'=a_633^post205, r_224^0'=r_224^post205, a_239^0'=a_239^post205, i_107^0'=i_107^post205, a_431^0'=a_431^post205, temp0_16^0'=temp0_16^post205, len_238^0'=len_238^post205, x_SLAM_f_19^0'=x_SLAM_f_19^post205, a_924^0'=a_924^post205, ct_18^0'=ct_18^post205, result_11^0'=result_11^post205, a_392^0'=a_392^post205, i_197^0'=i_197^post205, a_579^0'=a_579^post205, r_143^0'=r_143^post205, a_1236^0'=a_1236^post205, head_32^0'=head_32^post205, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205, i_30^0'=i_30^post205, x_253^0'=x_253^post205, a_635^0'=a_635^post205, r_970^0'=r_970^post205, rcd_47^0'=rcd_47^post205, a_309^0'=a_309^post205, i_1248^0'=i_1248^post205, a_575^0'=a_575^post205, temp_35^0'=temp_35^post205, len_861^0'=len_861^post205, (-a_1236^post205+a_1236^0 == 0 /\ -i_30^post205+i_30^0 == 0 /\ -a_575^post205+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post205 == 0 /\ -r_39^post205+r_39^0 == 0 /\ result_11^0-result_11^post205 == 0 /\ -a_432^post205+a_432^0 == 0 /\ a_579^0-a_579^post205 == 0 /\ a_634^0-a_634^post205 == 0 /\ -i_94^post205+i_94^0 == 0 /\ r_151^0-r_151^post205 == 0 /\ -temp0_31^post205+temp0_31^0 == 0 /\ -len_262^post205+len_262^0 == 0 /\ -x_17^post205+x_17^0 == 0 /\ a_176^0-a_176^post205 == 0 /\ -i_1248^post205+i_1248^0 == 0 /\ -a_635^post205+a_635^0 == 0 /\ -x_SLAM_f_19^post205+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post205 == 0 /\ -a_144^post205+a_144^0 == 0 /\ -ct_18^post205+ct_18^0 == 0 /\ a_239^0-a_239^post205 == 0 /\ rcd_88^0-rcd_88^post205 == 0 /\ i_113^0-i_113^post205 == 0 /\ -len_238^post205+len_238^0 == 0 /\ a_902^0-a_902^post205 == 0 /\ -a_610^post205+a_610^0 == 0 /\ r_192^0-r_192^post205 == 0 /\ a_310^0-a_310^post205 == 0 /\ i_1053^0-i_1053^post205 == 0 /\ -a_633^post205+a_633^0 == 0 /\ r_143^0-r_143^post205 == 0 /\ length_29^0-length_29^post205 == 0 /\ -head_32^post205+head_32^0 == 0 /\ i_140^0-i_140^post205 == 0 /\ -x_975^post205+x_975^0 == 0 /\ len_161^0-len_161^post205 == 0 /\ -a_309^post205+a_309^0 == 0 /\ x_852^0-x_852^post205 == 0 /\ a_392^0-a_392^post205 == 0 /\ t_24^0-t_24^post205 == 0 /\ a_632^0-a_632^post205 == 0 /\ a_576^0-a_576^post205 == 0 /\ -i_127^post205+i_127^0 == 0 /\ -a_431^post205+a_431^0 == 0 /\ -head_15^post205+head_15^0 == 0 /\ -x_253^post205+x_253^0 == 0 /\ -a_1162^post205+a_1162^0 == 0 /\ x_156^0-x_156^post205 == 0 /\ -i_197^post205+i_197^0 == 0 /\ f_847^0-f_847^post205 == 0 /\ nondet_12^0-nondet_12^post205 == 0 /\ a_862^0-a_862^post205 == 0 /\ -x_21^post205+x_21^0 == 0 /\ a_121^0-a_121^post205 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post205 == 0 /\ a_417^0-a_417^post205 == 0 /\ -r_970^post205+r_970^0 == 0 /\ y_20^0-y_20^post205 == 0 /\ a_394^0-a_394^post205 == 0 /\ -rcd_58^post205+rcd_58^0 == 0 /\ -rcd_47^post205+rcd_47^0 == 0 /\ -f_969^post205+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post205 == 0 /\ -tmp_34^post205+tmp_34^0 == 0 /\ -temp0_16^post205+temp0_16^0 == 0 /\ a_577^0-a_577^post205 == 0 /\ a_395^0-a_395^post205 == 0 /\ -len_861^post205+len_861^0 == 0 /\ -f_248^post205+f_248^0 == 0 /\ x_14^0-x_14^post205 == 0 /\ i_106^0-i_106^post205 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post205+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_107^0-i_107^post205 == 0 /\ -rcd_1249^post205+rcd_1249^0 == 0 /\ -i_229^post205+i_229^0 == 0 /\ -a_924^post205+a_924^0 == 0 /\ -r_224^post205+r_224^0 == 0 /\ a_393^0-a_393^post205 == 0 /\ -temp_35^post205+temp_35^0 == 0 /\ a_430^0-a_430^post205 == 0 /\ a_1089^0-a_1089^post205 == 0 /\ t_458^0-t_458^post205 == 0 /\ a_311^0-a_311^post205 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post205 == 0 /\ i_27^0-i_27^post205 == 0 /\ a_263^0-a_263^post205 == 0), cost: 1 New rule: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l129 -> l130 : a_1089^0'=a_1089^post206, f_847^0'=f_847^post206, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post206, a_394^0'=a_394^post206, x_156^0'=x_156^post206, a_632^0'=a_632^post206, r_192^0'=r_192^post206, a_176^0'=a_176^post206, i_106^0'=i_106^post206, a_430^0'=a_430^post206, t_458^0'=t_458^post206, len_161^0'=len_161^post206, x_975^0'=x_975^post206, a_902^0'=a_902^post206, a_947^0'=a_947^post206, rcd_88^0'=rcd_88^post206, a_311^0'=a_311^post206, i_140^0'=i_140^post206, a_577^0'=a_577^post206, x_14^0'=x_14^post206, nondet_12^0'=nondet_12^post206, a_121^0'=a_121^post206, head_15^0'=head_15^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206, i_27^0'=i_27^post206, x_21^0'=x_21^post206, a_634^0'=a_634^post206, r_39^0'=r_39^post206, a_263^0'=a_263^post206, i_113^0'=i_113^post206, a_432^0'=a_432^post206, temp0_31^0'=temp0_31^post206, len_262^0'=len_262^post206, y_20^0'=y_20^post206, f_248^0'=f_248^post206, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206, a_393^0'=a_393^post206, i_229^0'=i_229^post206, a_610^0'=a_610^post206, r_151^0'=r_151^post206, a_144^0'=a_144^post206, i_1053^0'=i_1053^post206, a_417^0'=a_417^post206, t_24^0'=t_24^post206, i_94^0'=i_94^post206, x_852^0'=x_852^post206, a_862^0'=a_862^post206, rcd_1249^0'=rcd_1249^post206, rcd_58^0'=rcd_58^post206, a_310^0'=a_310^post206, i_127^0'=i_127^post206, a_576^0'=a_576^post206, tmp_34^0'=tmp_34^post206, length_29^0'=length_29^post206, a_1162^0'=a_1162^post206, f_969^0'=f_969^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206, a_395^0'=a_395^post206, x_17^0'=x_17^post206, a_633^0'=a_633^post206, r_224^0'=r_224^post206, a_239^0'=a_239^post206, i_107^0'=i_107^post206, a_431^0'=a_431^post206, temp0_16^0'=temp0_16^post206, len_238^0'=len_238^post206, x_SLAM_f_19^0'=x_SLAM_f_19^post206, a_924^0'=a_924^post206, ct_18^0'=ct_18^post206, result_11^0'=result_11^post206, a_392^0'=a_392^post206, i_197^0'=i_197^post206, a_579^0'=a_579^post206, r_143^0'=r_143^post206, a_1236^0'=a_1236^post206, head_32^0'=head_32^post206, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206, i_30^0'=i_30^post206, x_253^0'=x_253^post206, a_635^0'=a_635^post206, r_970^0'=r_970^post206, rcd_47^0'=rcd_47^post206, a_309^0'=a_309^post206, i_1248^0'=i_1248^post206, a_575^0'=a_575^post206, temp_35^0'=temp_35^post206, len_861^0'=len_861^post206, (r_143^0-r_143^post206 == 0 /\ a_392^0-a_392^post206 == 0 /\ -temp_35^post206+temp_35^0 == 0 /\ -rcd_1249^post206+rcd_1249^0 == 0 /\ a_1089^0-a_1089^post206 == 0 /\ a_394^0-a_394^post206 == 0 /\ -x_852^post206+x_852^0 == 0 /\ -f_969^post206+f_969^0 == 0 /\ -r_970^post206+r_970^0 == 0 /\ -head_15^post206+head_15^0 == 0 /\ -a_924^post206+a_924^0 == 0 /\ t_458^0-t_458^post206 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post206 == 0 /\ i_140^0-i_140^post206 == 0 /\ -ct_18^post206+ct_18^0 == 0 /\ i_106^0-i_106^post206 == 0 /\ -a_1162^post206+a_1162^0 == 0 /\ -x_253^post206+x_253^0 == 0 /\ a_311^0-a_311^post206 == 0 /\ rcd_88^0-rcd_88^post206 == 0 /\ y_20^0-y_20^post206 == 0 /\ f_847^0-f_847^post206 == 0 /\ a_393^0-a_393^post206 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post206+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post206 == 0 /\ -f_248^post206+f_248^0 == 0 /\ -temp0_16^post206+temp0_16^0 == 0 /\ a_579^0-a_579^post206 == 0 /\ -a_634^post206+a_634^0 == 0 /\ x_21^0-x_21^post206 == 0 /\ -r_224^post206+r_224^0 == 0 /\ -i_1248^post206+i_1248^0 == 0 /\ a_121^0-a_121^post206 == 0 /\ -a_239^post206+a_239^0 == 0 /\ temp0_31^0-temp0_31^post206 == 0 /\ len_262^0-len_262^post206 == 0 /\ -result_11^post206+result_11^0 == 0 /\ i_94^0-i_94^post206 == 0 /\ a_577^0-a_577^post206 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post206 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -x_17^post206+x_17^0 == 0 /\ a_947^0-a_947^post206 == 0 /\ -a_576^post206+a_576^0 == 0 /\ -a_144^post206+a_144^0 == 0 /\ -i_107^post206+i_107^0 == 0 /\ r_192^0-r_192^post206 == 0 /\ i_1053^0-i_1053^post206 == 0 /\ -a_575^post206+a_575^0 == 0 /\ x_14^0-x_14^post206 == 0 /\ a_395^0-a_395^post206 == 0 /\ r_39^0-r_39^post206 == 0 /\ -a_417^post206+a_417^0 == 0 /\ len_161^0-len_161^post206 == 0 /\ -a_309^post206+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post206 == 0 /\ -a_1236^post206+a_1236^0 == 0 /\ -a_635^post206+a_635^0 == 0 /\ t_24^0-t_24^post206 == 0 /\ -a_310^post206+a_310^0 == 0 /\ -i_30^post206+i_30^0 == 0 /\ -a_176^post206+a_176^0 == 0 /\ a_263^0-a_263^post206 == 0 /\ -a_610^post206+a_610^0 == 0 /\ x_156^0-x_156^post206 == 0 /\ -a_430^post206+a_430^0 == 0 /\ a_632^0-a_632^post206 == 0 /\ -length_29^post206+length_29^0 == 0 /\ a_432^0-a_432^post206 == 0 /\ -rcd_47^post206+rcd_47^0 == 0 /\ -i_27^post206+i_27^0 == 0 /\ -i_197^post206+i_197^0 == 0 /\ -head_32^post206+head_32^0 == 0 /\ a_902^0-a_902^post206 == 0 /\ tmp_34^0-tmp_34^post206 == 0 /\ nondet_12^0-nondet_12^post206 == 0 /\ -x_975^post206+x_975^0 == 0 /\ -a_633^post206+a_633^0 == 0 /\ rcd_58^0-rcd_58^post206 == 0 /\ i_229^0-i_229^post206 == 0 /\ -i_127^post206+i_127^0 == 0 /\ a_431^0-a_431^post206 == 0 /\ -len_238^post206+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post206 == 0 /\ i_113^0-i_113^post206 == 0 /\ -r_151^post206+r_151^0 == 0 /\ len_861^0-len_861^post206 == 0 /\ a_862^0-a_862^post206 == 0), cost: 1 New rule: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l129 -> l130 : a_1089^0'=a_1089^post207, f_847^0'=f_847^post207, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post207, a_394^0'=a_394^post207, x_156^0'=x_156^post207, a_632^0'=a_632^post207, r_192^0'=r_192^post207, a_176^0'=a_176^post207, i_106^0'=i_106^post207, a_430^0'=a_430^post207, t_458^0'=t_458^post207, len_161^0'=len_161^post207, x_975^0'=x_975^post207, a_902^0'=a_902^post207, a_947^0'=a_947^post207, rcd_88^0'=rcd_88^post207, a_311^0'=a_311^post207, i_140^0'=i_140^post207, a_577^0'=a_577^post207, x_14^0'=x_14^post207, nondet_12^0'=nondet_12^post207, a_121^0'=a_121^post207, head_15^0'=head_15^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207, i_27^0'=i_27^post207, x_21^0'=x_21^post207, a_634^0'=a_634^post207, r_39^0'=r_39^post207, a_263^0'=a_263^post207, i_113^0'=i_113^post207, a_432^0'=a_432^post207, temp0_31^0'=temp0_31^post207, len_262^0'=len_262^post207, y_20^0'=y_20^post207, f_248^0'=f_248^post207, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207, a_393^0'=a_393^post207, i_229^0'=i_229^post207, a_610^0'=a_610^post207, r_151^0'=r_151^post207, a_144^0'=a_144^post207, i_1053^0'=i_1053^post207, a_417^0'=a_417^post207, t_24^0'=t_24^post207, i_94^0'=i_94^post207, x_852^0'=x_852^post207, a_862^0'=a_862^post207, rcd_1249^0'=rcd_1249^post207, rcd_58^0'=rcd_58^post207, a_310^0'=a_310^post207, i_127^0'=i_127^post207, a_576^0'=a_576^post207, tmp_34^0'=tmp_34^post207, length_29^0'=length_29^post207, a_1162^0'=a_1162^post207, f_969^0'=f_969^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207, a_395^0'=a_395^post207, x_17^0'=x_17^post207, a_633^0'=a_633^post207, r_224^0'=r_224^post207, a_239^0'=a_239^post207, i_107^0'=i_107^post207, a_431^0'=a_431^post207, temp0_16^0'=temp0_16^post207, len_238^0'=len_238^post207, x_SLAM_f_19^0'=x_SLAM_f_19^post207, a_924^0'=a_924^post207, ct_18^0'=ct_18^post207, result_11^0'=result_11^post207, a_392^0'=a_392^post207, i_197^0'=i_197^post207, a_579^0'=a_579^post207, r_143^0'=r_143^post207, a_1236^0'=a_1236^post207, head_32^0'=head_32^post207, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207, i_30^0'=i_30^post207, x_253^0'=x_253^post207, a_635^0'=a_635^post207, r_970^0'=r_970^post207, rcd_47^0'=rcd_47^post207, a_309^0'=a_309^post207, i_1248^0'=i_1248^post207, a_575^0'=a_575^post207, temp_35^0'=temp_35^post207, len_861^0'=len_861^post207, (-a_576^post207+a_576^0 == 0 /\ -x_14^post207+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post207 == 0 /\ -x_17^post207+x_17^0 == 0 /\ -r_143^post207+r_143^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post207 == 0 /\ a_579^0-a_579^post207 == 0 /\ -x_SLAM_f_19^post207+x_SLAM_f_19^0 == 0 /\ -a_633^post207+a_633^0 == 0 /\ -a_575^post207+a_575^0 == 0 /\ x_156^0-x_156^post207 == 0 /\ -a_1236^post207+a_1236^0 == 0 /\ -a_417^post207+a_417^0 == 0 /\ r_151^0-r_151^post207 == 0 /\ a_610^0-a_610^post207 == 0 /\ -a_309^post207+a_309^0 == 0 /\ i_113^0-i_113^post207 == 0 /\ a_902^0-a_902^post207 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_432^post207+a_432^0 == 0 /\ -len_238^post207+len_238^0 == 0 /\ a_1089^0-a_1089^post207 == 0 /\ a_394^0-a_394^post207 == 0 /\ a_310^0-a_310^post207 == 0 /\ -rcd_47^post207+rcd_47^0 == 0 /\ r_192^0-r_192^post207 == 0 /\ -temp0_31^post207+temp0_31^0 == 0 /\ -head_32^post207+head_32^0 == 0 /\ t_24^0-t_24^post207 == 0 /\ i_106^0-i_106^post207 == 0 /\ a_632^0-a_632^post207 == 0 /\ -x_253^post207+x_253^0 == 0 /\ a_392^0-a_392^post207 == 0 /\ -r_970^post207+r_970^0 == 0 /\ -len_262^post207+len_262^0 == 0 /\ a_393^0-a_393^post207 == 0 /\ a_311^0-a_311^post207 == 0 /\ -i_127^post207+i_127^0 == 0 /\ r_39^0-r_39^post207 == 0 /\ i_1053^0-i_1053^post207 == 0 /\ -f_969^post207+f_969^0 == 0 /\ f_847^0-f_847^post207 == 0 /\ y_20^0-y_20^post207 == 0 /\ -a_430^post207+a_430^0 == 0 /\ i_229^0-i_229^post207 == 0 /\ -r_224^post207+r_224^0 == 0 /\ -x_21^post207+x_21^0 == 0 /\ -ct_18^post207+ct_18^0 == 0 /\ -a_431^post207+a_431^0 == 0 /\ -head_15^post207+head_15^0 == 0 /\ x_975^0-x_975^post207 == 0 /\ -rcd_58^post207+rcd_58^0 == 0 /\ a_577^0-a_577^post207 == 0 /\ a_862^0-a_862^post207 == 0 /\ a_121^0-a_121^post207 == 0 /\ -i_197^post207+i_197^0 == 0 /\ -temp_35^post207+temp_35^0 == 0 /\ -nondet_12^post207+nondet_12^0 == 0 /\ a_947^0-a_947^post207 == 0 /\ -x_852^post207+x_852^0 == 0 /\ -tmp_34^post207+tmp_34^0 == 0 /\ i_94^0-i_94^post207 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post207 == 0 /\ rcd_88^0-rcd_88^post207 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post207+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_176^0-a_176^post207 == 0 /\ -a_1162^post207+a_1162^0 == 0 /\ len_161^0-len_161^post207 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post207 == 0 /\ -f_248^post207+f_248^0 == 0 /\ length_29^0-length_29^post207 == 0 /\ -a_924^post207+a_924^0 == 0 /\ i_27^0-i_27^post207 == 0 /\ -a_144^post207+a_144^0 == 0 /\ a_395^0-a_395^post207 == 0 /\ -result_11^post207+result_11^0 == 0 /\ t_458^0-t_458^post207 == 0 /\ -a_634^post207+a_634^0 == 0 /\ -len_861^post207+len_861^0 == 0 /\ i_140^0-i_140^post207 == 0 /\ -temp0_16^post207+temp0_16^0 == 0 /\ -i_30^post207+i_30^0 == 0 /\ -i_1248^post207+i_1248^0 == 0 /\ -a_635^post207+a_635^0 == 0 /\ i_107^0-i_107^post207 == 0 /\ -a_239^post207+a_239^0 == 0 /\ -rcd_1249^post207+rcd_1249^0 == 0 /\ a_263^0-a_263^post207 == 0), cost: 1 New rule: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l130 -> l120 : a_1089^0'=a_1089^post208, f_847^0'=f_847^post208, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post208, a_394^0'=a_394^post208, x_156^0'=x_156^post208, a_632^0'=a_632^post208, r_192^0'=r_192^post208, a_176^0'=a_176^post208, i_106^0'=i_106^post208, a_430^0'=a_430^post208, t_458^0'=t_458^post208, len_161^0'=len_161^post208, x_975^0'=x_975^post208, a_902^0'=a_902^post208, a_947^0'=a_947^post208, rcd_88^0'=rcd_88^post208, a_311^0'=a_311^post208, i_140^0'=i_140^post208, a_577^0'=a_577^post208, x_14^0'=x_14^post208, nondet_12^0'=nondet_12^post208, a_121^0'=a_121^post208, head_15^0'=head_15^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208, i_27^0'=i_27^post208, x_21^0'=x_21^post208, a_634^0'=a_634^post208, r_39^0'=r_39^post208, a_263^0'=a_263^post208, i_113^0'=i_113^post208, a_432^0'=a_432^post208, temp0_31^0'=temp0_31^post208, len_262^0'=len_262^post208, y_20^0'=y_20^post208, f_248^0'=f_248^post208, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208, a_393^0'=a_393^post208, i_229^0'=i_229^post208, a_610^0'=a_610^post208, r_151^0'=r_151^post208, a_144^0'=a_144^post208, i_1053^0'=i_1053^post208, a_417^0'=a_417^post208, t_24^0'=t_24^post208, i_94^0'=i_94^post208, x_852^0'=x_852^post208, a_862^0'=a_862^post208, rcd_1249^0'=rcd_1249^post208, rcd_58^0'=rcd_58^post208, a_310^0'=a_310^post208, i_127^0'=i_127^post208, a_576^0'=a_576^post208, tmp_34^0'=tmp_34^post208, length_29^0'=length_29^post208, a_1162^0'=a_1162^post208, f_969^0'=f_969^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208, a_395^0'=a_395^post208, x_17^0'=x_17^post208, a_633^0'=a_633^post208, r_224^0'=r_224^post208, a_239^0'=a_239^post208, i_107^0'=i_107^post208, a_431^0'=a_431^post208, temp0_16^0'=temp0_16^post208, len_238^0'=len_238^post208, x_SLAM_f_19^0'=x_SLAM_f_19^post208, a_924^0'=a_924^post208, ct_18^0'=ct_18^post208, result_11^0'=result_11^post208, a_392^0'=a_392^post208, i_197^0'=i_197^post208, a_579^0'=a_579^post208, r_143^0'=r_143^post208, a_1236^0'=a_1236^post208, head_32^0'=head_32^post208, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208, i_30^0'=i_30^post208, x_253^0'=x_253^post208, a_635^0'=a_635^post208, r_970^0'=r_970^post208, rcd_47^0'=rcd_47^post208, a_309^0'=a_309^post208, i_1248^0'=i_1248^post208, a_575^0'=a_575^post208, temp_35^0'=temp_35^post208, len_861^0'=len_861^post208, (0 == 0 /\ -r_970^post208+r_970^0 == 0 /\ -nondet_12^post208+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ -f_248^post208+f_248^0 == 0 /\ i_27^0-i_27^post208 == 0 /\ a_310^0-a_310^post208 == 0 /\ -temp0_16^post208+temp0_16^0 == 0 /\ a_176^0-a_176^post208 == 0 /\ -len_262^post208+len_262^0 == 0 /\ -i_197^post208+i_197^0 == 0 /\ a_1089^0-a_1089^post208 == 0 /\ length_29^0-length_29^post208 == 0 /\ r_39^0-r_39^post208 == 0 /\ -a_579^post208+a_579^0 == 0 /\ y_20^0-y_20^post208 == 0 /\ rcd_88^0-rcd_88^post208 == 0 /\ a_311^0-a_311^post208 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post208 == 0 /\ a_392^0-a_392^post208 == 0 /\ -i_127^post208+i_127^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post208 == 0 /\ -ct_18^post208+ct_18^0 == 0 /\ -temp_35^post208+temp_35^0 == 0 /\ i_140^0-i_140^post208 == 0 /\ a_395^0-a_395^post208 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_1249^post208+rcd_1249^0 == 0 /\ i_27^0 <= 0 /\ -a_144^post208+a_144^0 == 0 /\ a_393^0-a_393^post208 == 0 /\ a_632^0-a_632^post208 == 0 /\ -a_1162^post208+a_1162^0 == 0 /\ -x_17^post208+x_17^0 == 0 /\ -1-a_1089^0+i_1053^post208 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post208+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post208+a_575^0 == 0 /\ i_113^0-i_113^post208 == 0 /\ r_192^0-r_192^post208 == 0 /\ -i_1248^post208+i_1248^0 == 0 /\ result_11^0-result_11^post208 == 0 /\ head_32^0-head_32^post208 == 0 /\ -tmp_34^post208+tmp_34^0 == 0 /\ a_417^0-a_417^post208 == 0 /\ -a_239^post208+a_239^0 == 0 /\ r_143^0-r_143^post208 == 0 /\ -head_15^post208+head_15^0 == 0 /\ -a_924^post208+a_924^0 == 0 /\ -x_21^post208+x_21^0 == 0 /\ -len_861^post208+len_861^0 == 0 /\ a_634^0-a_634^post208 == 0 /\ -i_30^post208+i_30^0 == 0 /\ x_14^0-x_14^post208 == 0 /\ t_24^0-t_24^post208 == 0 /\ -a_635^post208+a_635^0 == 0 /\ a_862^0-a_862^post208 == 0 /\ a_394^0-a_394^post208 == 0 /\ a_121^0-a_121^post208 == 0 /\ -a_576^post208+a_576^0 == 0 /\ rcd_58^0-rcd_58^post208 == 0 /\ -len_238^post208+len_238^0 == 0 /\ -i_94^post208+i_94^0 == 0 /\ a_947^0-a_947^post208 == 0 /\ a_263^0-a_263^post208 == 0 /\ -a_1236^post208+a_1236^0 == 0 /\ a_430^0-a_430^post208 == 0 /\ t_458^0-t_458^post208 == 0 /\ -a_633^post208+a_633^0 == 0 /\ x_852^0-x_852^post208 == 0 /\ len_161^0-len_161^post208 == 0 /\ i_106^0-i_106^post208 == 0 /\ f_847^0-f_847^post208 == 0 /\ r_224^0-r_224^post208 == 0 /\ -temp0_31^post208+temp0_31^0 == 0 /\ i_107^0-i_107^post208 == 0 /\ a_309^0-a_309^post208 == 0 /\ r_151^0-r_151^post208 == 0 /\ -a_431^post208+a_431^0 == 0 /\ a_902^0-a_902^post208 == 0 /\ -x_975^post208+x_975^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post208 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post208+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1+a_1089^0-i_1053^post208 <= 0 /\ i_229^0-i_229^post208 == 0 /\ a_432^0-a_432^post208 == 0 /\ -a_610^post208+a_610^0 == 0 /\ -f_969^post208+f_969^0 == 0 /\ a_577^0-a_577^post208 == 0 /\ x_156^0-x_156^post208 == 0 /\ -rcd_47^post208+rcd_47^0 == 0 /\ -x_253^post208+x_253^0 == 0), cost: 1 New rule: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l119 -> l132 : a_1089^0'=a_1089^post209, f_847^0'=f_847^post209, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, a_394^0'=a_394^post209, x_156^0'=x_156^post209, a_632^0'=a_632^post209, r_192^0'=r_192^post209, a_176^0'=a_176^post209, i_106^0'=i_106^post209, a_430^0'=a_430^post209, t_458^0'=t_458^post209, len_161^0'=len_161^post209, x_975^0'=x_975^post209, a_902^0'=a_902^post209, a_947^0'=a_947^post209, rcd_88^0'=rcd_88^post209, a_311^0'=a_311^post209, i_140^0'=i_140^post209, a_577^0'=a_577^post209, x_14^0'=x_14^post209, nondet_12^0'=nondet_12^post209, a_121^0'=a_121^post209, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209, i_27^0'=i_27^post209, x_21^0'=x_21^post209, a_634^0'=a_634^post209, r_39^0'=r_39^post209, a_263^0'=a_263^post209, i_113^0'=i_113^post209, a_432^0'=a_432^post209, temp0_31^0'=temp0_31^post209, len_262^0'=len_262^post209, y_20^0'=y_20^post209, f_248^0'=f_248^post209, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209, a_393^0'=a_393^post209, i_229^0'=i_229^post209, a_610^0'=a_610^post209, r_151^0'=r_151^post209, a_144^0'=a_144^post209, i_1053^0'=i_1053^post209, a_417^0'=a_417^post209, t_24^0'=t_24^post209, i_94^0'=i_94^post209, x_852^0'=x_852^post209, a_862^0'=a_862^post209, rcd_1249^0'=rcd_1249^post209, rcd_58^0'=rcd_58^post209, a_310^0'=a_310^post209, i_127^0'=i_127^post209, a_576^0'=a_576^post209, tmp_34^0'=tmp_34^post209, length_29^0'=length_29^post209, a_1162^0'=a_1162^post209, f_969^0'=f_969^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209, a_395^0'=a_395^post209, x_17^0'=x_17^post209, a_633^0'=a_633^post209, r_224^0'=r_224^post209, a_239^0'=a_239^post209, i_107^0'=i_107^post209, a_431^0'=a_431^post209, temp0_16^0'=temp0_16^post209, len_238^0'=len_238^post209, x_SLAM_f_19^0'=x_SLAM_f_19^post209, a_924^0'=a_924^post209, ct_18^0'=ct_18^post209, result_11^0'=result_11^post209, a_392^0'=a_392^post209, i_197^0'=i_197^post209, a_579^0'=a_579^post209, r_143^0'=r_143^post209, a_1236^0'=a_1236^post209, head_32^0'=head_32^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209, i_30^0'=i_30^post209, x_253^0'=x_253^post209, a_635^0'=a_635^post209, r_970^0'=r_970^post209, rcd_47^0'=rcd_47^post209, a_309^0'=a_309^post209, i_1248^0'=i_1248^post209, a_575^0'=a_575^post209, temp_35^0'=temp_35^post209, len_861^0'=len_861^post209, (0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post209+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post209+x_SLAM_f_19^0 == 0 /\ a_632^0-a_632^post209 == 0 /\ a_430^0-a_430^post209 == 0 /\ -rcd_47^post209+rcd_47^0 == 0 /\ a_902^0-a_902^post209 == 0 /\ x_975^0-x_975^post209 == 0 /\ -r_143^post209+r_143^0 == 0 /\ t_458^0-t_458^post209 == 0 /\ a_577^0-a_577^post209 == 0 /\ -r_151^post209+r_151^0 == 0 /\ -a_634^post209+a_634^0 == 0 /\ -a_144^post209+a_144^0 == 0 /\ i_229^0-i_229^post209 == 0 /\ -a_575^post209+a_575^0 == 0 /\ x_156^0-x_156^post209 == 0 /\ -a_633^post209+a_633^0 == 0 /\ temp0_31^0-temp0_31^post209 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post209 == 0 /\ -a_576^post209+a_576^0 == 0 /\ i_1053^0-i_1053^post209 == 0 /\ x_14^0-x_14^post209 == 0 /\ a_121^0-a_121^post209 == 0 /\ a_394^0-a_394^post209 == 0 /\ -i_27^post209+i_27^0 == 0 /\ len_262^0-len_262^post209 == 0 /\ a_310^0-a_310^post209 == 0 /\ -temp_35^post209+temp_35^0 == 0 /\ -r_970^post209+r_970^0 == 0 /\ -length_29^post209+length_29^0 == 0 /\ -x_253^post209+x_253^0 == 0 /\ -f_969^post209+f_969^0 == 0 /\ -len_238^post209+len_238^0 == 0 /\ a_176^0-a_176^post209 == 0 /\ a_579^0-a_579^post209 == 0 /\ y_20^0-y_20^post209 == 0 /\ a_392^0-a_392^post209 == 0 /\ f_847^0-f_847^post209 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post209 == 0 /\ -a_311^post209+a_311^0 == 0 /\ t_24^0-t_24^post209 == 0 /\ -a_610^post209+a_610^0 == 0 /\ -a_1236^post209+a_1236^0 == 0 /\ -rcd_88^post209+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post209 == 0 /\ -i_1248^post209+i_1248^0 == 0 /\ i_94^0-i_94^post209 == 0 /\ -len_161^post209+len_161^0 == 0 /\ -r_224^post209+r_224^0 == 0 /\ -a_239^post209+a_239^0 == 0 /\ -i_197^post209+i_197^0 == 0 /\ i_113^0-i_113^post209 == 0 /\ -i_30^0 <= 0 /\ -rcd_58^post209+rcd_58^0 == 0 /\ a_393^0-a_393^post209 == 0 /\ r_39^0-r_39^post209 == 0 /\ -ct_18^post209+ct_18^0 == 0 /\ -a_431^post209+a_431^0 == 0 /\ -i_127^post209+i_127^0 == 0 /\ a_432^0-a_432^post209 == 0 /\ -r_192^post209+r_192^0 == 0 /\ -head_32^post209+head_32^0 == 0 /\ -f_248^post209+f_248^0 == 0 /\ a_862^0-a_862^post209 == 0 /\ x_21^0-x_21^post209 == 0 /\ -result_11^post209+result_11^0 == 0 /\ -a_1162^post209+a_1162^0 == 0 /\ -a_309^post209+a_309^0 == 0 /\ a_1089^0-a_1089^post209 == 0 /\ -a_924^post209+a_924^0 == 0 /\ nondet_12^0-nondet_12^post209 == 0 /\ -x_17^post209+x_17^0 == 0 /\ -rcd_1249^post209+rcd_1249^0 == 0 /\ a_947^0-a_947^post209 == 0 /\ -tmp_34^post209+tmp_34^0 == 0 /\ -a_635^post209+a_635^0 == 0 /\ -temp0_16^post209+temp0_16^0 == 0 /\ a_395^0-a_395^post209 == 0 /\ a_263^0-a_263^post209 == 0 /\ -i_30^post209+i_30^0 == 0 /\ -a_417^post209+a_417^0 == 0 /\ i_107^0-i_107^post209 == 0 /\ -len_861^post209+len_861^0 == 0 /\ -x_852^post209+x_852^0 == 0 /\ i_140^0-i_140^post209 == 0), cost: 1 New rule: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 Applied preprocessing Original rule: l132 -> l133 : a_1089^0'=a_1089^post210, f_847^0'=f_847^post210, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post210, a_394^0'=a_394^post210, x_156^0'=x_156^post210, a_632^0'=a_632^post210, r_192^0'=r_192^post210, a_176^0'=a_176^post210, i_106^0'=i_106^post210, a_430^0'=a_430^post210, t_458^0'=t_458^post210, len_161^0'=len_161^post210, x_975^0'=x_975^post210, a_902^0'=a_902^post210, a_947^0'=a_947^post210, rcd_88^0'=rcd_88^post210, a_311^0'=a_311^post210, i_140^0'=i_140^post210, a_577^0'=a_577^post210, x_14^0'=x_14^post210, nondet_12^0'=nondet_12^post210, a_121^0'=a_121^post210, head_15^0'=head_15^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210, i_27^0'=i_27^post210, x_21^0'=x_21^post210, a_634^0'=a_634^post210, r_39^0'=r_39^post210, a_263^0'=a_263^post210, i_113^0'=i_113^post210, a_432^0'=a_432^post210, temp0_31^0'=temp0_31^post210, len_262^0'=len_262^post210, y_20^0'=y_20^post210, f_248^0'=f_248^post210, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210, a_393^0'=a_393^post210, i_229^0'=i_229^post210, a_610^0'=a_610^post210, r_151^0'=r_151^post210, a_144^0'=a_144^post210, i_1053^0'=i_1053^post210, a_417^0'=a_417^post210, t_24^0'=t_24^post210, i_94^0'=i_94^post210, x_852^0'=x_852^post210, a_862^0'=a_862^post210, rcd_1249^0'=rcd_1249^post210, rcd_58^0'=rcd_58^post210, a_310^0'=a_310^post210, i_127^0'=i_127^post210, a_576^0'=a_576^post210, tmp_34^0'=tmp_34^post210, length_29^0'=length_29^post210, a_1162^0'=a_1162^post210, f_969^0'=f_969^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210, a_395^0'=a_395^post210, x_17^0'=x_17^post210, a_633^0'=a_633^post210, r_224^0'=r_224^post210, a_239^0'=a_239^post210, i_107^0'=i_107^post210, a_431^0'=a_431^post210, temp0_16^0'=temp0_16^post210, len_238^0'=len_238^post210, x_SLAM_f_19^0'=x_SLAM_f_19^post210, a_924^0'=a_924^post210, ct_18^0'=ct_18^post210, result_11^0'=result_11^post210, a_392^0'=a_392^post210, i_197^0'=i_197^post210, a_579^0'=a_579^post210, r_143^0'=r_143^post210, a_1236^0'=a_1236^post210, head_32^0'=head_32^post210, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210, i_30^0'=i_30^post210, x_253^0'=x_253^post210, a_635^0'=a_635^post210, r_970^0'=r_970^post210, rcd_47^0'=rcd_47^post210, a_309^0'=a_309^post210, i_1248^0'=i_1248^post210, a_575^0'=a_575^post210, temp_35^0'=temp_35^post210, len_861^0'=len_861^post210, (-len_861^post210+len_861^0 == 0 /\ -i_1053^post210+i_1053^0 == 0 /\ -ct_18^post210+ct_18^0 == 0 /\ -a_395^post210+a_395^0 == 0 /\ a_417^0-a_417^post210 == 0 /\ -i_1248^post210+i_1248^0 == 0 /\ -a_239^post210+a_239^0 == 0 /\ a_394^0-a_394^post210 == 0 /\ a_1089^0-a_1089^post210 == 0 /\ a_310^0-a_310^post210 == 0 /\ -head_32^post210+head_32^0 == 0 /\ 1-x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -temp_35^post210+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post210 == 0 /\ a_311^0-a_311^post210 == 0 /\ -i_127^post210+i_127^0 == 0 /\ -a_392^post210+a_392^0 == 0 /\ i_140^0-i_140^post210 == 0 /\ f_847^0-f_847^post210 == 0 /\ -a_579^post210+a_579^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post210 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post210 == 0 /\ a_924^0-a_924^post210 == 0 /\ i_106^0-i_106^post210 == 0 /\ i_94^0-i_94^post210 == 0 /\ -i_107^post210+i_107^0 == 0 /\ -a_575^post210+a_575^0 == 0 /\ -i_197^post210+i_197^0 == 0 /\ -rcd_1249^post210+rcd_1249^0 == 0 /\ x_975^0-x_975^post210 == 0 /\ y_20^0-y_20^post210 == 0 /\ a_393^0-a_393^post210 == 0 /\ -a_309^post210+a_309^0 == 0 /\ r_39^0-r_39^post210 == 0 /\ t_458^0-t_458^post210 == 0 /\ -i_30^post210+i_30^0 == 0 /\ -a_635^post210+a_635^0 == 0 /\ r_224^0-r_224^post210 == 0 /\ -result_11^post210+result_11^0 == 0 /\ -x_17^post210+x_17^0 == 0 /\ -head_15^post210+head_15^0 == 0 /\ x_21^0-x_21^post210 == 0 /\ len_262^0-len_262^post210 == 0 /\ a_577^0-a_577^post210 == 0 /\ -x_852^post210+x_852^0 == 0 /\ -rcd_58^post210+rcd_58^0 == 0 /\ temp0_31^0-temp0_31^post210 == 0 /\ -a_144^post210+a_144^0 == 0 /\ -tmp_34^post210+tmp_34^0 == 0 /\ x_14^0-x_14^post210 == 0 /\ t_24^0-t_24^post210 == 0 /\ -len_238^post210+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post210+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_121^0-a_121^post210 == 0 /\ len_161^0-len_161^post210 == 0 /\ -a_633^post210+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post210 == 0 /\ a_947^0-a_947^post210 == 0 /\ -a_176^post210+a_176^0 == 0 /\ a_263^0-a_263^post210 == 0 /\ -a_576^post210+a_576^0 == 0 /\ -r_143^post210+r_143^0 == 0 /\ length_29^0-length_29^post210 == 0 /\ -a_634^post210+a_634^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post210+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_1236^post210+a_1236^0 == 0 /\ -x_253^post210+x_253^0 == 0 /\ f_248^0-f_248^post210 == 0 /\ a_430^0-a_430^post210 == 0 /\ r_151^0-r_151^post210 == 0 /\ -a_431^post210+a_431^0 == 0 /\ a_632^0-a_632^post210 == 0 /\ -f_969^post210+f_969^0 == 0 /\ x_156^0-x_156^post210 == 0 /\ a_432^0-a_432^post210 == 0 /\ a_902^0-a_902^post210 == 0 /\ -r_970^post210+r_970^0 == 0 /\ i_113^0-i_113^post210 == 0 /\ -a_610^post210+a_610^0 == 0 /\ a_1162^0-a_1162^post210 == 0 /\ r_192^0-r_192^post210 == 0 /\ a_862^0-a_862^post210 == 0 /\ temp0_16^0-temp0_16^post210 == 0 /\ nondet_12^0-nondet_12^post210 == 0 /\ -rcd_47^post210+rcd_47^0 == 0 /\ -i_27^post210+i_27^0 == 0 /\ i_229^0-i_229^post210 == 0), cost: 1 New rule: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l132 -> l133 : a_1089^0'=a_1089^post211, f_847^0'=f_847^post211, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post211, a_394^0'=a_394^post211, x_156^0'=x_156^post211, a_632^0'=a_632^post211, r_192^0'=r_192^post211, a_176^0'=a_176^post211, i_106^0'=i_106^post211, a_430^0'=a_430^post211, t_458^0'=t_458^post211, len_161^0'=len_161^post211, x_975^0'=x_975^post211, a_902^0'=a_902^post211, a_947^0'=a_947^post211, rcd_88^0'=rcd_88^post211, a_311^0'=a_311^post211, i_140^0'=i_140^post211, a_577^0'=a_577^post211, x_14^0'=x_14^post211, nondet_12^0'=nondet_12^post211, a_121^0'=a_121^post211, head_15^0'=head_15^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211, i_27^0'=i_27^post211, x_21^0'=x_21^post211, a_634^0'=a_634^post211, r_39^0'=r_39^post211, a_263^0'=a_263^post211, i_113^0'=i_113^post211, a_432^0'=a_432^post211, temp0_31^0'=temp0_31^post211, len_262^0'=len_262^post211, y_20^0'=y_20^post211, f_248^0'=f_248^post211, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211, a_393^0'=a_393^post211, i_229^0'=i_229^post211, a_610^0'=a_610^post211, r_151^0'=r_151^post211, a_144^0'=a_144^post211, i_1053^0'=i_1053^post211, a_417^0'=a_417^post211, t_24^0'=t_24^post211, i_94^0'=i_94^post211, x_852^0'=x_852^post211, a_862^0'=a_862^post211, rcd_1249^0'=rcd_1249^post211, rcd_58^0'=rcd_58^post211, a_310^0'=a_310^post211, i_127^0'=i_127^post211, a_576^0'=a_576^post211, tmp_34^0'=tmp_34^post211, length_29^0'=length_29^post211, a_1162^0'=a_1162^post211, f_969^0'=f_969^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211, a_395^0'=a_395^post211, x_17^0'=x_17^post211, a_633^0'=a_633^post211, r_224^0'=r_224^post211, a_239^0'=a_239^post211, i_107^0'=i_107^post211, a_431^0'=a_431^post211, temp0_16^0'=temp0_16^post211, len_238^0'=len_238^post211, x_SLAM_f_19^0'=x_SLAM_f_19^post211, a_924^0'=a_924^post211, ct_18^0'=ct_18^post211, result_11^0'=result_11^post211, a_392^0'=a_392^post211, i_197^0'=i_197^post211, a_579^0'=a_579^post211, r_143^0'=r_143^post211, a_1236^0'=a_1236^post211, head_32^0'=head_32^post211, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211, i_30^0'=i_30^post211, x_253^0'=x_253^post211, a_635^0'=a_635^post211, r_970^0'=r_970^post211, rcd_47^0'=rcd_47^post211, a_309^0'=a_309^post211, i_1248^0'=i_1248^post211, a_575^0'=a_575^post211, temp_35^0'=temp_35^post211, len_861^0'=len_861^post211, (a_924^0-a_924^post211 == 0 /\ a_632^0-a_632^post211 == 0 /\ rcd_1249^0-rcd_1249^post211 == 0 /\ -tmp_34^post211+tmp_34^0 == 0 /\ a_430^0-a_430^post211 == 0 /\ -rcd_47^post211+rcd_47^0 == 0 /\ x_975^0-x_975^post211 == 0 /\ i_127^0-i_127^post211 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_577^0-a_577^post211 == 0 /\ a_1162^0-a_1162^post211 == 0 /\ -a_634^post211+a_634^0 == 0 /\ -r_143^post211+r_143^0 == 0 /\ a_432^0-a_432^post211 == 0 /\ r_192^0-r_192^post211 == 0 /\ -r_151^post211+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post211+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_14^0-x_14^post211 == 0 /\ -a_392^post211+a_392^0 == 0 /\ -f_969^post211+f_969^0 == 0 /\ -i_27^post211+i_27^0 == 0 /\ i_140^0-i_140^post211 == 0 /\ i_229^0-i_229^post211 == 0 /\ -x_253^post211+x_253^0 == 0 /\ -i_113^post211+i_113^0 == 0 /\ a_576^0-a_576^post211 == 0 /\ a_394^0-a_394^post211 == 0 /\ a_176^0-a_176^post211 == 0 /\ a_947^0-a_947^post211 == 0 /\ -a_1236^post211+a_1236^0 == 0 /\ -y_20^post211+y_20^0 == 0 /\ -a_431^post211+a_431^0 == 0 /\ f_847^0-f_847^post211 == 0 /\ -x_SLAM_f_19^post211+x_SLAM_f_19^0 == 0 /\ i_197^0-i_197^post211 == 0 /\ -r_970^post211+r_970^0 == 0 /\ -a_395^post211+a_395^0 == 0 /\ -i_1248^post211+i_1248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post211+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post211+i_106^0 == 0 /\ a_902^0-a_902^post211 == 0 /\ -rcd_58^post211+rcd_58^0 == 0 /\ -a_239^post211+a_239^0 == 0 /\ -length_29^post211+length_29^0 == 0 /\ i_107^0-i_107^post211 == 0 /\ a_610^0-a_610^post211 == 0 /\ i_94^0-i_94^post211 == 0 /\ -temp0_16^post211+temp0_16^0 == 0 /\ -ct_18^post211+ct_18^0 == 0 /\ head_15^0-head_15^post211 == 0 /\ r_39^0-r_39^post211 == 0 /\ a_311^0-a_311^post211 == 0 /\ -i_1053^post211+i_1053^0 == 0 /\ -a_862^post211+a_862^0 == 0 /\ -a_310^post211+a_310^0 == 0 /\ rcd_88^0-rcd_88^post211 == 0 /\ a_633^0-a_633^post211 == 0 /\ -temp_35^post211+temp_35^0 == 0 /\ -head_32^post211+head_32^0 == 0 /\ x_156^0-x_156^post211 == 0 /\ a_1089^0-a_1089^post211 == 0 /\ nondet_12^0-nondet_12^post211 == 0 /\ x_21^0-x_21^post211 == 0 /\ -len_161^post211+len_161^0 == 0 /\ -a_393^post211+a_393^0 == 0 /\ -r_224^post211+r_224^0 == 0 /\ -t_458^post211+t_458^0 == 0 /\ a_121^0-a_121^post211 == 0 /\ -t_24^post211+t_24^0 == 0 /\ -a_579^post211+a_579^0 == 0 /\ len_262^0-len_262^post211 == 0 /\ temp0_31^0-temp0_31^post211 == 0 /\ -result_11^post211+result_11^0 == 0 /\ -a_417^post211+a_417^0 == 0 /\ -a_309^post211+a_309^0 == 0 /\ -a_144^post211+a_144^0 == 0 /\ -a_263^post211+a_263^0 == 0 /\ -i_30^post211+i_30^0 == 0 /\ x_17^0-x_17^post211 == 0 /\ -a_575^post211+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post211 == 0 /\ 1+x_14^0 <= 0 /\ len_238^0-len_238^post211 == 0 /\ -len_861^post211+len_861^0 == 0 /\ -a_635^post211+a_635^0 == 0 /\ -x_852^post211+x_852^0 == 0 /\ f_248^0-f_248^post211 == 0), cost: 1 New rule: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l133 -> l134 : a_1089^0'=a_1089^post212, f_847^0'=f_847^post212, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post212, a_394^0'=a_394^post212, x_156^0'=x_156^post212, a_632^0'=a_632^post212, r_192^0'=r_192^post212, a_176^0'=a_176^post212, i_106^0'=i_106^post212, a_430^0'=a_430^post212, t_458^0'=t_458^post212, len_161^0'=len_161^post212, x_975^0'=x_975^post212, a_902^0'=a_902^post212, a_947^0'=a_947^post212, rcd_88^0'=rcd_88^post212, a_311^0'=a_311^post212, i_140^0'=i_140^post212, a_577^0'=a_577^post212, x_14^0'=x_14^post212, nondet_12^0'=nondet_12^post212, a_121^0'=a_121^post212, head_15^0'=head_15^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212, i_27^0'=i_27^post212, x_21^0'=x_21^post212, a_634^0'=a_634^post212, r_39^0'=r_39^post212, a_263^0'=a_263^post212, i_113^0'=i_113^post212, a_432^0'=a_432^post212, temp0_31^0'=temp0_31^post212, len_262^0'=len_262^post212, y_20^0'=y_20^post212, f_248^0'=f_248^post212, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212, a_393^0'=a_393^post212, i_229^0'=i_229^post212, a_610^0'=a_610^post212, r_151^0'=r_151^post212, a_144^0'=a_144^post212, i_1053^0'=i_1053^post212, a_417^0'=a_417^post212, t_24^0'=t_24^post212, i_94^0'=i_94^post212, x_852^0'=x_852^post212, a_862^0'=a_862^post212, rcd_1249^0'=rcd_1249^post212, rcd_58^0'=rcd_58^post212, a_310^0'=a_310^post212, i_127^0'=i_127^post212, a_576^0'=a_576^post212, tmp_34^0'=tmp_34^post212, length_29^0'=length_29^post212, a_1162^0'=a_1162^post212, f_969^0'=f_969^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212, a_395^0'=a_395^post212, x_17^0'=x_17^post212, a_633^0'=a_633^post212, r_224^0'=r_224^post212, a_239^0'=a_239^post212, i_107^0'=i_107^post212, a_431^0'=a_431^post212, temp0_16^0'=temp0_16^post212, len_238^0'=len_238^post212, x_SLAM_f_19^0'=x_SLAM_f_19^post212, a_924^0'=a_924^post212, ct_18^0'=ct_18^post212, result_11^0'=result_11^post212, a_392^0'=a_392^post212, i_197^0'=i_197^post212, a_579^0'=a_579^post212, r_143^0'=r_143^post212, a_1236^0'=a_1236^post212, head_32^0'=head_32^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212, i_30^0'=i_30^post212, x_253^0'=x_253^post212, a_635^0'=a_635^post212, r_970^0'=r_970^post212, rcd_47^0'=rcd_47^post212, a_309^0'=a_309^post212, i_1248^0'=i_1248^post212, a_575^0'=a_575^post212, temp_35^0'=temp_35^post212, len_861^0'=len_861^post212, (0 == 0 /\ -i_1053^post212+i_1053^0 == 0 /\ -length_29^post212+length_29^0 == 0 /\ y_20^0-y_20^post212 == 0 /\ a_121^0-a_121^post212 == 0 /\ x_21^0-x_21^post212 == 0 /\ x_852^0-x_852^post212 == 0 /\ -len_861^post212+len_861^0 == 0 /\ x_156^0-x_156^post212 == 0 /\ len_161^0-len_161^post212 == 0 /\ -a_395^post212+a_395^0 == 0 /\ -a_1236^post212+a_1236^0 == 0 /\ a_576^0-a_576^post212 == 0 /\ i_140^0-i_140^post212 == 0 /\ f_847^0-f_847^post212 == 0 /\ -r_39^post212+r_39^0 == 0 /\ a_394^0-a_394^post212 == 0 /\ -i_1248^post212+i_1248^0 == 0 /\ -head_32^post212+head_32^0 == 0 /\ -a_862^post212+a_862^0 == 0 /\ -nondet_12^110+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post212 == 0 /\ -a_393^post212+a_393^0 == 0 /\ -a_579^post212+a_579^0 == 0 /\ a_924^0-a_924^post212 == 0 /\ r_224^0-r_224^post212 == 0 /\ -a_263^post212+a_263^0 == 0 /\ -a_635^post212+a_635^0 == 0 /\ -a_144^post212+a_144^0 == 0 /\ -rcd_47^post212+rcd_47^0 == 0 /\ a_577^0-a_577^post212 == 0 /\ -i_30^post212+i_30^0 == 0 /\ -i_107^post212+i_107^0 == 0 /\ t_458^0-t_458^post212 == 0 /\ -a_575^post212+a_575^0 == 0 /\ i_106^0-i_106^post212 == 0 /\ -i_197^post212+i_197^0 == 0 /\ ct_18^0-ct_18^post212 == 0 /\ head_15^0-head_15^post212 == 0 /\ -a_309^post212+a_309^0 == 0 /\ i_127^0-i_127^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post212+a_417^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post212 == 0 /\ i_27^0-i_27^post212 == 0 /\ -rcd_58^post212+rcd_58^0 == 0 /\ -t_24^post212+t_24^0 == 0 /\ a_430^0-a_430^post212 == 0 /\ -tmp_34^post212+tmp_34^0 == 0 /\ -len_238^post212+len_238^0 == 0 /\ a_431^0-a_431^post212 == 0 /\ len_262^0-len_262^post212 == 0 /\ -a_633^post212+a_633^0 == 0 /\ temp0_31^0-temp0_31^post212 == 0 /\ x_17^0-x_17^post212 == 0 /\ a_634^0-a_634^post212 == 0 /\ -a_1162^post212+a_1162^0 == 0 /\ a_947^0-a_947^post212 == 0 /\ -r_151^post212+r_151^0 == 0 /\ -result_11^post212+result_11^0 == 0 /\ -rcd_1249^post212+rcd_1249^0 == 0 /\ a_176^0-a_176^post212 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post212+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_610^post212+a_610^0 == 0 /\ f_969^0-f_969^post212 == 0 /\ a_239^0-a_239^post212 == 0 /\ -x_253^post212+x_253^0 == 0 /\ a_902^0-a_902^post212 == 0 /\ x_975^0-x_975^post212 == 0 /\ 1-i_27^0 <= 0 /\ r_192^0-r_192^post212 == 0 /\ -r_970^post212+r_970^0 == 0 /\ -a_392^post212+a_392^0 == 0 /\ -r_143^post212+r_143^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post212+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post212 == 0 /\ -i_94^post212+i_94^0 == 0 /\ rcd_88^0-rcd_88^post212 == 0 /\ -i_113^post212+i_113^0 == 0 /\ x_14^0-x_14^post212 == 0 /\ -x_SLAM_f_19^post212+x_SLAM_f_19^0 == 0 /\ -a_432^post212+a_432^0 == 0 /\ a_310^0-a_310^post212 == 0 /\ a_1089^0-a_1089^post212 == 0 /\ a_311^0-a_311^post212 == 0 /\ a_632^0-a_632^post212 == 0 /\ -temp_35^post212+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post212 == 0 /\ -i_229^post212+i_229^0 == 0), cost: 1 New rule: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 Applied preprocessing Original rule: l134 -> l135 : a_1089^0'=a_1089^post213, f_847^0'=f_847^post213, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post213, a_394^0'=a_394^post213, x_156^0'=x_156^post213, a_632^0'=a_632^post213, r_192^0'=r_192^post213, a_176^0'=a_176^post213, i_106^0'=i_106^post213, a_430^0'=a_430^post213, t_458^0'=t_458^post213, len_161^0'=len_161^post213, x_975^0'=x_975^post213, a_902^0'=a_902^post213, a_947^0'=a_947^post213, rcd_88^0'=rcd_88^post213, a_311^0'=a_311^post213, i_140^0'=i_140^post213, a_577^0'=a_577^post213, x_14^0'=x_14^post213, nondet_12^0'=nondet_12^post213, a_121^0'=a_121^post213, head_15^0'=head_15^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213, i_27^0'=i_27^post213, x_21^0'=x_21^post213, a_634^0'=a_634^post213, r_39^0'=r_39^post213, a_263^0'=a_263^post213, i_113^0'=i_113^post213, a_432^0'=a_432^post213, temp0_31^0'=temp0_31^post213, len_262^0'=len_262^post213, y_20^0'=y_20^post213, f_248^0'=f_248^post213, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213, a_393^0'=a_393^post213, i_229^0'=i_229^post213, a_610^0'=a_610^post213, r_151^0'=r_151^post213, a_144^0'=a_144^post213, i_1053^0'=i_1053^post213, a_417^0'=a_417^post213, t_24^0'=t_24^post213, i_94^0'=i_94^post213, x_852^0'=x_852^post213, a_862^0'=a_862^post213, rcd_1249^0'=rcd_1249^post213, rcd_58^0'=rcd_58^post213, a_310^0'=a_310^post213, i_127^0'=i_127^post213, a_576^0'=a_576^post213, tmp_34^0'=tmp_34^post213, length_29^0'=length_29^post213, a_1162^0'=a_1162^post213, f_969^0'=f_969^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213, a_395^0'=a_395^post213, x_17^0'=x_17^post213, a_633^0'=a_633^post213, r_224^0'=r_224^post213, a_239^0'=a_239^post213, i_107^0'=i_107^post213, a_431^0'=a_431^post213, temp0_16^0'=temp0_16^post213, len_238^0'=len_238^post213, x_SLAM_f_19^0'=x_SLAM_f_19^post213, a_924^0'=a_924^post213, ct_18^0'=ct_18^post213, result_11^0'=result_11^post213, a_392^0'=a_392^post213, i_197^0'=i_197^post213, a_579^0'=a_579^post213, r_143^0'=r_143^post213, a_1236^0'=a_1236^post213, head_32^0'=head_32^post213, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213, i_30^0'=i_30^post213, x_253^0'=x_253^post213, a_635^0'=a_635^post213, r_970^0'=r_970^post213, rcd_47^0'=rcd_47^post213, a_309^0'=a_309^post213, i_1248^0'=i_1248^post213, a_575^0'=a_575^post213, temp_35^0'=temp_35^post213, len_861^0'=len_861^post213, (rcd_88^0-rcd_88^post213 == 0 /\ -head_15^post213+head_15^0 == 0 /\ -r_224^post213+r_224^0 == 0 /\ -rcd_58^post213+rcd_58^0 == 0 /\ -temp_35^post213+temp_35^0 == 0 /\ -i_197^post213+i_197^0 == 0 /\ -a_579^post213+a_579^0 == 0 /\ -a_263^post213+a_263^0 == 0 /\ -ct_18^post213+ct_18^0 == 0 /\ t_458^0-t_458^post213 == 0 /\ i_140^0-i_140^post213 == 0 /\ a_632^0-a_632^post213 == 0 /\ -r_970^post213+r_970^0 == 0 /\ i_106^0-i_106^post213 == 0 /\ -a_395^post213+a_395^0 == 0 /\ rcd_1249^0-rcd_1249^post213 == 0 /\ a_1089^0-a_1089^post213 == 0 /\ a_311^0-a_311^post213 == 0 /\ -x_852^post213+x_852^0 == 0 /\ y_20^0-y_20^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ f_847^0-f_847^post213 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post213 == 0 /\ a_924^0-a_924^post213 == 0 /\ x_21^0-x_21^post213 == 0 /\ -i_1248^post213+i_1248^0 == 0 /\ -a_634^post213+a_634^0 == 0 /\ -a_239^post213+a_239^0 == 0 /\ -tmp_34^post213+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post213 == 0 /\ -i_30^post213+i_30^0 == 0 /\ -i_1053^post213+i_1053^0 == 0 /\ i_127^0-i_127^post213 == 0 /\ a_121^0-a_121^post213 == 0 /\ -len_861^post213+len_861^0 == 0 /\ a_394^0-a_394^post213 == 0 /\ len_262^0-len_262^post213 == 0 /\ i_94^0-i_94^post213 == 0 /\ a_577^0-a_577^post213 == 0 /\ -result_11^post213+result_11^0 == 0 /\ -x_SLAM_f_19^post213+x_SLAM_f_19^0 == 0 /\ a_947^0-a_947^post213 == 0 /\ -a_176^post213+a_176^0 == 0 /\ -a_576^post213+a_576^0 == 0 /\ -x_17^post213+x_17^0 == 0 /\ len_161^0-len_161^post213 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_192^0-r_192^post213 == 0 /\ -r_143^post213+r_143^0 == 0 /\ -a_635^post213+a_635^0 == 0 /\ x_14^0-x_14^post213 == 0 /\ -i_27^post213+i_27^0 == 0 /\ a_310^0-a_310^post213 == 0 /\ -a_309^post213+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post213 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post213+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_107^post213+i_107^0 == 0 /\ -a_575^post213+a_575^0 == 0 /\ -a_633^post213+a_633^0 == 0 /\ -a_1236^post213+a_1236^0 == 0 /\ -a_417^post213+a_417^0 == 0 /\ t_24^0-t_24^post213 == 0 /\ a_393^0-a_393^post213 == 0 /\ r_39^0-r_39^post213 == 0 /\ -rcd_47^post213+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post213 == 0 /\ -len_238^post213+len_238^0 == 0 /\ i_229^0-i_229^post213 == 0 /\ a_432^0-a_432^post213 == 0 /\ -a_862^post213+a_862^0 == 0 /\ -a_610^post213+a_610^0 == 0 /\ -a_392^post213+a_392^0 == 0 /\ -length_29^post213+length_29^0 == 0 /\ a_430^0-a_430^post213 == 0 /\ f_248^0-f_248^post213 == 0 /\ -x_253^post213+x_253^0 == 0 /\ -f_969^post213+f_969^0 == 0 /\ -r_151^post213+r_151^0 == 0 /\ nondet_12^0-nondet_12^post213 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post213+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_431^0-a_431^post213 == 0 /\ x_975^0-x_975^post213 == 0 /\ -head_32^post213+head_32^0 == 0 /\ a_144^0-a_144^post213 == 0 /\ x_156^0-x_156^post213 == 0 /\ i_113^0-i_113^post213 == 0 /\ a_1162^0-a_1162^post213 == 0 /\ a_902^0-a_902^post213 == 0), cost: 1 New rule: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l134 -> l135 : a_1089^0'=a_1089^post214, f_847^0'=f_847^post214, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post214, a_394^0'=a_394^post214, x_156^0'=x_156^post214, a_632^0'=a_632^post214, r_192^0'=r_192^post214, a_176^0'=a_176^post214, i_106^0'=i_106^post214, a_430^0'=a_430^post214, t_458^0'=t_458^post214, len_161^0'=len_161^post214, x_975^0'=x_975^post214, a_902^0'=a_902^post214, a_947^0'=a_947^post214, rcd_88^0'=rcd_88^post214, a_311^0'=a_311^post214, i_140^0'=i_140^post214, a_577^0'=a_577^post214, x_14^0'=x_14^post214, nondet_12^0'=nondet_12^post214, a_121^0'=a_121^post214, head_15^0'=head_15^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214, i_27^0'=i_27^post214, x_21^0'=x_21^post214, a_634^0'=a_634^post214, r_39^0'=r_39^post214, a_263^0'=a_263^post214, i_113^0'=i_113^post214, a_432^0'=a_432^post214, temp0_31^0'=temp0_31^post214, len_262^0'=len_262^post214, y_20^0'=y_20^post214, f_248^0'=f_248^post214, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214, a_393^0'=a_393^post214, i_229^0'=i_229^post214, a_610^0'=a_610^post214, r_151^0'=r_151^post214, a_144^0'=a_144^post214, i_1053^0'=i_1053^post214, a_417^0'=a_417^post214, t_24^0'=t_24^post214, i_94^0'=i_94^post214, x_852^0'=x_852^post214, a_862^0'=a_862^post214, rcd_1249^0'=rcd_1249^post214, rcd_58^0'=rcd_58^post214, a_310^0'=a_310^post214, i_127^0'=i_127^post214, a_576^0'=a_576^post214, tmp_34^0'=tmp_34^post214, length_29^0'=length_29^post214, a_1162^0'=a_1162^post214, f_969^0'=f_969^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214, a_395^0'=a_395^post214, x_17^0'=x_17^post214, a_633^0'=a_633^post214, r_224^0'=r_224^post214, a_239^0'=a_239^post214, i_107^0'=i_107^post214, a_431^0'=a_431^post214, temp0_16^0'=temp0_16^post214, len_238^0'=len_238^post214, x_SLAM_f_19^0'=x_SLAM_f_19^post214, a_924^0'=a_924^post214, ct_18^0'=ct_18^post214, result_11^0'=result_11^post214, a_392^0'=a_392^post214, i_197^0'=i_197^post214, a_579^0'=a_579^post214, r_143^0'=r_143^post214, a_1236^0'=a_1236^post214, head_32^0'=head_32^post214, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214, i_30^0'=i_30^post214, x_253^0'=x_253^post214, a_635^0'=a_635^post214, r_970^0'=r_970^post214, rcd_47^0'=rcd_47^post214, a_309^0'=a_309^post214, i_1248^0'=i_1248^post214, a_575^0'=a_575^post214, temp_35^0'=temp_35^post214, len_861^0'=len_861^post214, (-r_143^post214+r_143^0 == 0 /\ -a_575^post214+a_575^0 == 0 /\ a_1162^0-a_1162^post214 == 0 /\ -a_635^post214+a_635^0 == 0 /\ -x_SLAM_f_19^post214+x_SLAM_f_19^0 == 0 /\ -r_151^post214+r_151^0 == 0 /\ -a_309^post214+a_309^0 == 0 /\ a_924^0-a_924^post214 == 0 /\ f_248^0-f_248^post214 == 0 /\ -i_30^post214+i_30^0 == 0 /\ x_21^0-x_21^post214 == 0 /\ ct_18^0-ct_18^post214 == 0 /\ i_127^0-i_127^post214 == 0 /\ x_975^0-x_975^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ r_192^0-r_192^post214 == 0 /\ -i_113^post214+i_113^0 == 0 /\ -a_144^post214+a_144^0 == 0 /\ a_577^0-a_577^post214 == 0 /\ -i_107^post214+i_107^0 == 0 /\ -a_633^post214+a_633^0 == 0 /\ a_634^0-a_634^post214 == 0 /\ -a_862^post214+a_862^0 == 0 /\ -a_1236^post214+a_1236^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ i_27^0-i_27^post214 == 0 /\ -a_432^post214+a_432^0 == 0 /\ -a_431^post214+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_947^0-a_947^post214 == 0 /\ a_576^0-a_576^post214 == 0 /\ -i_94^post214+i_94^0 == 0 /\ -a_310^post214+a_310^0 == 0 /\ -i_140^post214+i_140^0 == 0 /\ i_197^0-i_197^post214 == 0 /\ r_39^0-r_39^post214 == 0 /\ -length_29^post214+length_29^0 == 0 /\ -a_392^post214+a_392^0 == 0 /\ -rcd_47^post214+rcd_47^0 == 0 /\ rcd_1249^0-rcd_1249^post214 == 0 /\ i_106^0-i_106^post214 == 0 /\ f_847^0-f_847^post214 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post214+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp_35^post214+temp_35^0 == 0 /\ head_15^0-head_15^post214 == 0 /\ -x_253^post214+x_253^0 == 0 /\ -f_969^post214+f_969^0 == 0 /\ -t_458^post214+t_458^0 == 0 /\ -y_20^post214+y_20^0 == 0 /\ -head_32^post214+head_32^0 == 0 /\ a_632^0-a_632^post214 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post214+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -rcd_58^post214+rcd_58^0 == 0 /\ len_262^0-len_262^post214 == 0 /\ nondet_12^0-nondet_12^post214 == 0 /\ -a_579^post214+a_579^0 == 0 /\ r_970^0-r_970^post214 == 0 /\ a_902^0-a_902^post214 == 0 /\ -a_263^post214+a_263^0 == 0 /\ x_156^0-x_156^post214 == 0 /\ a_610^0-a_610^post214 == 0 /\ temp0_31^0-temp0_31^post214 == 0 /\ r_224^0-r_224^post214 == 0 /\ i_229^0-i_229^post214 == 0 /\ -len_861^post214+len_861^0 == 0 /\ -a_395^post214+a_395^0 == 0 /\ -temp0_16^post214+temp0_16^0 == 0 /\ len_238^0-len_238^post214 == 0 /\ x_14^0-x_14^post214 == 0 /\ x_17^0-x_17^post214 == 0 /\ a_121^0-a_121^post214 == 0 /\ a_176^0-a_176^post214 == 0 /\ a_394^0-a_394^post214 == 0 /\ a_1089^0-a_1089^post214 == 0 /\ -result_11^post214+result_11^0 == 0 /\ -a_417^post214+a_417^0 == 0 /\ -len_161^post214+len_161^0 == 0 /\ -i_1248^post214+i_1248^0 == 0 /\ -a_239^post214+a_239^0 == 0 /\ -x_852^post214+x_852^0 == 0 /\ a_430^0-a_430^post214 == 0 /\ -tmp_34^post214+tmp_34^0 == 0 /\ -a_393^post214+a_393^0 == 0 /\ -t_24^post214+t_24^0 == 0 /\ rcd_88^0-rcd_88^post214 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post214 == 0 /\ a_311^0-a_311^post214 == 0 /\ -i_1053^post214+i_1053^0 == 0), cost: 1 New rule: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l135 -> l136 : a_1089^0'=a_1089^post215, f_847^0'=f_847^post215, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post215, a_394^0'=a_394^post215, x_156^0'=x_156^post215, a_632^0'=a_632^post215, r_192^0'=r_192^post215, a_176^0'=a_176^post215, i_106^0'=i_106^post215, a_430^0'=a_430^post215, t_458^0'=t_458^post215, len_161^0'=len_161^post215, x_975^0'=x_975^post215, a_902^0'=a_902^post215, a_947^0'=a_947^post215, rcd_88^0'=rcd_88^post215, a_311^0'=a_311^post215, i_140^0'=i_140^post215, a_577^0'=a_577^post215, x_14^0'=x_14^post215, nondet_12^0'=nondet_12^post215, a_121^0'=a_121^post215, head_15^0'=head_15^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215, i_27^0'=i_27^post215, x_21^0'=x_21^post215, a_634^0'=a_634^post215, r_39^0'=r_39^post215, a_263^0'=a_263^post215, i_113^0'=i_113^post215, a_432^0'=a_432^post215, temp0_31^0'=temp0_31^post215, len_262^0'=len_262^post215, y_20^0'=y_20^post215, f_248^0'=f_248^post215, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215, a_393^0'=a_393^post215, i_229^0'=i_229^post215, a_610^0'=a_610^post215, r_151^0'=r_151^post215, a_144^0'=a_144^post215, i_1053^0'=i_1053^post215, a_417^0'=a_417^post215, t_24^0'=t_24^post215, i_94^0'=i_94^post215, x_852^0'=x_852^post215, a_862^0'=a_862^post215, rcd_1249^0'=rcd_1249^post215, rcd_58^0'=rcd_58^post215, a_310^0'=a_310^post215, i_127^0'=i_127^post215, a_576^0'=a_576^post215, tmp_34^0'=tmp_34^post215, length_29^0'=length_29^post215, a_1162^0'=a_1162^post215, f_969^0'=f_969^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215, a_395^0'=a_395^post215, x_17^0'=x_17^post215, a_633^0'=a_633^post215, r_224^0'=r_224^post215, a_239^0'=a_239^post215, i_107^0'=i_107^post215, a_431^0'=a_431^post215, temp0_16^0'=temp0_16^post215, len_238^0'=len_238^post215, x_SLAM_f_19^0'=x_SLAM_f_19^post215, a_924^0'=a_924^post215, ct_18^0'=ct_18^post215, result_11^0'=result_11^post215, a_392^0'=a_392^post215, i_197^0'=i_197^post215, a_579^0'=a_579^post215, r_143^0'=r_143^post215, a_1236^0'=a_1236^post215, head_32^0'=head_32^post215, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215, i_30^0'=i_30^post215, x_253^0'=x_253^post215, a_635^0'=a_635^post215, r_970^0'=r_970^post215, rcd_47^0'=rcd_47^post215, a_309^0'=a_309^post215, i_1248^0'=i_1248^post215, a_575^0'=a_575^post215, temp_35^0'=temp_35^post215, len_861^0'=len_861^post215, (0 == 0 /\ -i_1248^post215+i_1248^0 == 0 /\ a_947^0-a_947^post215 == 0 /\ -head_32^post215+head_32^0 == 0 /\ len_161^0-len_161^post215 == 0 /\ -i_107^post215+i_30^0 <= 0 /\ -y_20^post215+y_20^0 == 0 /\ rcd_58^0-rcd_58^post215 == 0 /\ -temp0_16^post215+temp0_16^0 == 0 /\ x_852^0-x_852^post215 == 0 /\ x_14^0-x_14^post215 == 0 /\ -a_263^post215+a_263^0 == 0 /\ -a_579^post215+a_579^0 == 0 /\ -t_24^post215+t_24^0 == 0 /\ -x_253^post215+x_253^0 == 0 /\ a_394^0-a_394^post215 == 0 /\ -temp_35^post215+temp_35^0 == 0 /\ -i_197^post215+i_197^0 == 0 /\ -1+i_106^0-i_27^post215 <= 0 /\ rcd_1249^0-rcd_1249^post215 == 0 /\ f_847^0-f_847^post215 == 0 /\ -r_39^post215+r_39^0 == 0 /\ -a_395^post215+a_395^0 == 0 /\ i_106^0-i_106^post215 == 0 /\ -a_417^post215+a_417^0 == 0 /\ i_107^post215-i_30^0 <= 0 /\ -a_309^post215+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post215+tmp_34^0 == 0 /\ a_430^0-a_430^post215 == 0 /\ -result_11^post215+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_924^post215+a_924^0 == 0 /\ -a_575^post215+a_575^0 == 0 /\ a_432^0-a_432^post215 == 0 /\ -i_30^post215+i_30^0 == 0 /\ -i_1053^post215+i_1053^0 == 0 /\ -len_861^post215+len_861^0 == 0 /\ ct_18^0-ct_18^post215 == 0 /\ a_1236^0-a_1236^post215 == 0 /\ x_156^0-x_156^post215 == 0 /\ -a_635^post215+a_635^0 == 0 /\ head_15^0-head_15^post215 == 0 /\ -a_1162^post215+a_1162^0 == 0 /\ i_127^0-i_127^post215 == 0 /\ -a_393^post215+a_393^0 == 0 /\ i_229^0-i_229^post215 == 0 /\ a_431^0-a_431^post215 == 0 /\ x_21^0-x_21^post215 == 0 /\ -r_224^post215+r_224^0 == 0 /\ -a_577^post215+a_577^0 == 0 /\ temp0_31^0-temp0_31^post215 == 0 /\ x_17^0-x_17^post215 == 0 /\ a_1089^0-a_1089^post215 == 0 /\ -r_151^post215+r_151^0 == 0 /\ a_310^0-a_310^post215 == 0 /\ a_634^0-a_634^post215 == 0 /\ -x_SLAM_f_19^post215+x_SLAM_f_19^0 == 0 /\ -a_632^post215+a_632^0 == 0 /\ -a_576^post215+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post215 == 0 /\ 1-i_106^0+i_27^post215 <= 0 /\ i_140^0-i_140^post215 == 0 /\ -r_143^post215+r_143^0 == 0 /\ a_176^0-a_176^post215 == 0 /\ rcd_88^0-rcd_88^post215 == 0 /\ x_14^0-head_15^0 <= 0 /\ a_311^0-a_311^post215 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post215+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post215+i_113^0 == 0 /\ -length_29^post215+length_29^0 == 0 /\ -a_392^post215+a_392^0 == 0 /\ -a_633^post215+a_633^0 == 0 /\ -a_902^post215+a_902^0 == 0 /\ f_248^0-f_248^post215 == 0 /\ a_239^0-a_239^post215 == 0 /\ 1-i_27^0+i_27^post215 == 0 /\ -a_862^post215+a_862^0 == 0 /\ x_975^0-x_975^post215 == 0 /\ -t_458^post215+t_458^0 == 0 /\ a_610^0-a_610^post215 == 0 /\ a_121^0-a_121^post215 == 0 /\ r_192^0-r_192^post215 == 0 /\ len_262^0-len_262^post215 == 0 /\ -rcd_47^post215+rcd_47^0 == 0 /\ a_144^0-a_144^post215 == 0 /\ nondet_12^0-nondet_12^post215 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post215+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_969^0-f_969^post215 == 0 /\ -i_94^post215+i_94^0 == 0 /\ -r_970^post215+r_970^0 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -len_238^post215+len_238^0 == 0), cost: 1 New rule: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Applied preprocessing Original rule: l136 -> l137 : a_1089^0'=a_1089^post216, f_847^0'=f_847^post216, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post216, a_394^0'=a_394^post216, x_156^0'=x_156^post216, a_632^0'=a_632^post216, r_192^0'=r_192^post216, a_176^0'=a_176^post216, i_106^0'=i_106^post216, a_430^0'=a_430^post216, t_458^0'=t_458^post216, len_161^0'=len_161^post216, x_975^0'=x_975^post216, a_902^0'=a_902^post216, a_947^0'=a_947^post216, rcd_88^0'=rcd_88^post216, a_311^0'=a_311^post216, i_140^0'=i_140^post216, a_577^0'=a_577^post216, x_14^0'=x_14^post216, nondet_12^0'=nondet_12^post216, a_121^0'=a_121^post216, head_15^0'=head_15^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216, i_27^0'=i_27^post216, x_21^0'=x_21^post216, a_634^0'=a_634^post216, r_39^0'=r_39^post216, a_263^0'=a_263^post216, i_113^0'=i_113^post216, a_432^0'=a_432^post216, temp0_31^0'=temp0_31^post216, len_262^0'=len_262^post216, y_20^0'=y_20^post216, f_248^0'=f_248^post216, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216, a_393^0'=a_393^post216, i_229^0'=i_229^post216, a_610^0'=a_610^post216, r_151^0'=r_151^post216, a_144^0'=a_144^post216, i_1053^0'=i_1053^post216, a_417^0'=a_417^post216, t_24^0'=t_24^post216, i_94^0'=i_94^post216, x_852^0'=x_852^post216, a_862^0'=a_862^post216, rcd_1249^0'=rcd_1249^post216, rcd_58^0'=rcd_58^post216, a_310^0'=a_310^post216, i_127^0'=i_127^post216, a_576^0'=a_576^post216, tmp_34^0'=tmp_34^post216, length_29^0'=length_29^post216, a_1162^0'=a_1162^post216, f_969^0'=f_969^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216, a_395^0'=a_395^post216, x_17^0'=x_17^post216, a_633^0'=a_633^post216, r_224^0'=r_224^post216, a_239^0'=a_239^post216, i_107^0'=i_107^post216, a_431^0'=a_431^post216, temp0_16^0'=temp0_16^post216, len_238^0'=len_238^post216, x_SLAM_f_19^0'=x_SLAM_f_19^post216, a_924^0'=a_924^post216, ct_18^0'=ct_18^post216, result_11^0'=result_11^post216, a_392^0'=a_392^post216, i_197^0'=i_197^post216, a_579^0'=a_579^post216, r_143^0'=r_143^post216, a_1236^0'=a_1236^post216, head_32^0'=head_32^post216, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216, i_30^0'=i_30^post216, x_253^0'=x_253^post216, a_635^0'=a_635^post216, r_970^0'=r_970^post216, rcd_47^0'=rcd_47^post216, a_309^0'=a_309^post216, i_1248^0'=i_1248^post216, a_575^0'=a_575^post216, temp_35^0'=temp_35^post216, len_861^0'=len_861^post216, (-len_238^post216+len_238^0 == 0 /\ -r_151^post216+r_151^0 == 0 /\ tmp_34^0-tmp_34^post216 == 0 /\ head_15^0-head_15^post216 == 0 /\ r_192^0-r_192^post216 == 0 /\ ct_18^0-ct_18^post216 == 0 /\ 1-x_14^0 <= 0 /\ -a_432^post216+a_432^0 == 0 /\ -a_924^post216+a_924^0 == 0 /\ a_633^0-a_633^post216 == 0 /\ -i_113^post216+i_113^0 == 0 /\ x_21^0-x_21^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_143^post216+r_143^0 == 0 /\ a_610^0-a_610^post216 == 0 /\ -a_309^post216+a_309^0 == 0 /\ nondet_12^0-nondet_12^post216 == 0 /\ -x_253^post216+x_253^0 == 0 /\ a_144^0-a_144^post216 == 0 /\ x_14^0-x_14^post216 == 0 /\ a_947^0-a_947^post216 == 0 /\ -a_392^post216+a_392^0 == 0 /\ -a_431^post216+a_431^0 == 0 /\ -a_1236^post216+a_1236^0 == 0 /\ a_1089^0-a_1089^post216 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post216 == 0 /\ i_27^0-i_27^post216 == 0 /\ a_263^0-a_263^post216 == 0 /\ -x_SLAM_f_19^post216+x_SLAM_f_19^0 == 0 /\ a_576^0-a_576^post216 == 0 /\ -rcd_47^post216+rcd_47^0 == 0 /\ r_39^0-r_39^post216 == 0 /\ t_458^0-t_458^post216 == 0 /\ -i_94^post216+i_94^0 == 0 /\ -i_140^post216+i_140^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post216 == 0 /\ rcd_58^0-rcd_58^post216 == 0 /\ i_106^0-i_106^post216 == 0 /\ -length_29^post216+length_29^0 == 0 /\ -y_20^post216+y_20^0 == 0 /\ rcd_1249^0-rcd_1249^post216 == 0 /\ -a_310^post216+a_310^0 == 0 /\ f_248^0-f_248^post216 == 0 /\ -r_970^post216+r_970^0 == 0 /\ -r_224^post216+r_224^0 == 0 /\ -a_395^post216+a_395^0 == 0 /\ -head_32^post216+head_32^0 == 0 /\ -x_852^post216+x_852^0 == 0 /\ -temp0_16^post216+temp0_16^0 == 0 /\ a_632^0-a_632^post216 == 0 /\ a_430^0-a_430^post216 == 0 /\ -len_861^post216+len_861^0 == 0 /\ x_975^0-x_975^post216 == 0 /\ x_156^0-x_156^post216 == 0 /\ len_262^0-len_262^post216 == 0 /\ f_969^0-f_969^post216 == 0 /\ a_577^0-a_577^post216 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post216+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_902^0-a_902^post216 == 0 /\ -a_862^post216+a_862^0 == 0 /\ temp0_31^0-temp0_31^post216 == 0 /\ -i_197^post216+i_197^0 == 0 /\ i_229^0-i_229^post216 == 0 /\ -i_127^post216+i_127^0 == 0 /\ -a_579^post216+a_579^0 == 0 /\ a_634^0-a_634^post216 == 0 /\ -i_30^post216+i_30^0 == 0 /\ -a_1162^post216+a_1162^0 == 0 /\ x_17^0-x_17^post216 == 0 /\ a_394^0-a_394^post216 == 0 /\ len_161^0-len_161^post216 == 0 /\ -i_107^post216+i_107^0 == 0 /\ -a_417^post216+a_417^0 == 0 /\ -a_575^post216+a_575^0 == 0 /\ a_176^0-a_176^post216 == 0 /\ a_121^0-a_121^post216 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post216 == 0 /\ -result_11^post216+result_11^0 == 0 /\ a_311^0-a_311^post216 == 0 /\ -i_1248^post216+i_1248^0 == 0 /\ -a_393^post216+a_393^0 == 0 /\ i_1053^0-i_1053^post216 == 0 /\ -a_239^post216+a_239^0 == 0 /\ rcd_88^0-rcd_88^post216 == 0 /\ -t_24^post216+t_24^0 == 0 /\ f_847^0-f_847^post216 == 0 /\ temp_35^0-temp_35^post216 == 0 /\ -a_635^post216+a_635^0 == 0), cost: 1 New rule: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l136 -> l137 : a_1089^0'=a_1089^post217, f_847^0'=f_847^post217, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post217, a_394^0'=a_394^post217, x_156^0'=x_156^post217, a_632^0'=a_632^post217, r_192^0'=r_192^post217, a_176^0'=a_176^post217, i_106^0'=i_106^post217, a_430^0'=a_430^post217, t_458^0'=t_458^post217, len_161^0'=len_161^post217, x_975^0'=x_975^post217, a_902^0'=a_902^post217, a_947^0'=a_947^post217, rcd_88^0'=rcd_88^post217, a_311^0'=a_311^post217, i_140^0'=i_140^post217, a_577^0'=a_577^post217, x_14^0'=x_14^post217, nondet_12^0'=nondet_12^post217, a_121^0'=a_121^post217, head_15^0'=head_15^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217, i_27^0'=i_27^post217, x_21^0'=x_21^post217, a_634^0'=a_634^post217, r_39^0'=r_39^post217, a_263^0'=a_263^post217, i_113^0'=i_113^post217, a_432^0'=a_432^post217, temp0_31^0'=temp0_31^post217, len_262^0'=len_262^post217, y_20^0'=y_20^post217, f_248^0'=f_248^post217, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217, a_393^0'=a_393^post217, i_229^0'=i_229^post217, a_610^0'=a_610^post217, r_151^0'=r_151^post217, a_144^0'=a_144^post217, i_1053^0'=i_1053^post217, a_417^0'=a_417^post217, t_24^0'=t_24^post217, i_94^0'=i_94^post217, x_852^0'=x_852^post217, a_862^0'=a_862^post217, rcd_1249^0'=rcd_1249^post217, rcd_58^0'=rcd_58^post217, a_310^0'=a_310^post217, i_127^0'=i_127^post217, a_576^0'=a_576^post217, tmp_34^0'=tmp_34^post217, length_29^0'=length_29^post217, a_1162^0'=a_1162^post217, f_969^0'=f_969^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217, a_395^0'=a_395^post217, x_17^0'=x_17^post217, a_633^0'=a_633^post217, r_224^0'=r_224^post217, a_239^0'=a_239^post217, i_107^0'=i_107^post217, a_431^0'=a_431^post217, temp0_16^0'=temp0_16^post217, len_238^0'=len_238^post217, x_SLAM_f_19^0'=x_SLAM_f_19^post217, a_924^0'=a_924^post217, ct_18^0'=ct_18^post217, result_11^0'=result_11^post217, a_392^0'=a_392^post217, i_197^0'=i_197^post217, a_579^0'=a_579^post217, r_143^0'=r_143^post217, a_1236^0'=a_1236^post217, head_32^0'=head_32^post217, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217, i_30^0'=i_30^post217, x_253^0'=x_253^post217, a_635^0'=a_635^post217, r_970^0'=r_970^post217, rcd_47^0'=rcd_47^post217, a_309^0'=a_309^post217, i_1248^0'=i_1248^post217, a_575^0'=a_575^post217, temp_35^0'=temp_35^post217, len_861^0'=len_861^post217, (a_862^0-a_862^post217 == 0 /\ rcd_58^0-rcd_58^post217 == 0 /\ result_11^0-result_11^post217 == 0 /\ -r_224^post217+r_224^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post217 == 0 /\ -i_229^post217+i_229^0 == 0 /\ len_161^0-len_161^post217 == 0 /\ i_27^0-i_27^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_262^post217+len_262^0 == 0 /\ a_634^0-a_634^post217 == 0 /\ -i_1053^post217+i_1053^0 == 0 /\ -i_1248^post217+i_1248^0 == 0 /\ -temp0_31^post217+temp0_31^0 == 0 /\ a_263^0-a_263^post217 == 0 /\ t_24^0-t_24^post217 == 0 /\ a_176^0-a_176^post217 == 0 /\ -a_395^post217+a_395^0 == 0 /\ a_947^0-a_947^post217 == 0 /\ -i_197^post217+i_197^0 == 0 /\ -r_39^post217+r_39^0 == 0 /\ -a_579^post217+a_579^0 == 0 /\ -head_32^post217+head_32^0 == 0 /\ -x_14^post217+x_14^0 == 0 /\ tmp_34^0-tmp_34^post217 == 0 /\ r_151^0-r_151^post217 == 0 /\ f_248^0-f_248^post217 == 0 /\ -x_21^post217+x_21^0 == 0 /\ length_29^0-length_29^post217 == 0 /\ -x_17^post217+x_17^0 == 0 /\ -a_1162^post217+a_1162^0 == 0 /\ a_632^0-a_632^post217 == 0 /\ a_430^0-a_430^post217 == 0 /\ -a_309^post217+a_309^0 == 0 /\ -a_924^post217+a_924^0 == 0 /\ a_311^0-a_311^post217 == 0 /\ i_113^0-i_113^post217 == 0 /\ head_15^0-head_15^post217 == 0 /\ a_902^0-a_902^post217 == 0 /\ rcd_88^0-rcd_88^post217 == 0 /\ -i_107^post217+i_107^0 == 0 /\ -ct_18^post217+ct_18^0 == 0 /\ a_432^0-a_432^post217 == 0 /\ -temp0_16^post217+temp0_16^0 == 0 /\ x_156^0-x_156^post217 == 0 /\ -len_861^post217+len_861^0 == 0 /\ -i_30^post217+i_30^0 == 0 /\ -a_635^post217+a_635^0 == 0 /\ r_192^0-r_192^post217 == 0 /\ i_140^0-i_140^post217 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post217 == 0 /\ a_417^0-a_417^post217 == 0 /\ x_852^0-x_852^post217 == 0 /\ nondet_12^0-nondet_12^post217 == 0 /\ a_144^0-a_144^post217 == 0 /\ -len_238^post217+len_238^0 == 0 /\ -a_610^post217+a_610^0 == 0 /\ a_1089^0-a_1089^post217 == 0 /\ a_394^0-a_394^post217 == 0 /\ -rcd_47^post217+rcd_47^0 == 0 /\ -r_143^post217+r_143^0 == 0 /\ y_20^0-y_20^post217 == 0 /\ f_847^0-f_847^post217 == 0 /\ -rcd_1249^post217+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post217 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post217+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ t_458^0-t_458^post217 == 0 /\ -a_576^post217+a_576^0 == 0 /\ i_106^0-i_106^post217 == 0 /\ -i_94^post217+i_94^0 == 0 /\ -temp_35^post217+temp_35^0 == 0 /\ a_239^0-a_239^post217 == 0 /\ a_577^0-a_577^post217 == 0 /\ x_975^0-x_975^post217 == 0 /\ -a_392^post217+a_392^0 == 0 /\ a_393^0-a_393^post217 == 0 /\ 1+x_14^0 <= 0 /\ -a_310^post217+a_310^0 == 0 /\ f_969^0-f_969^post217 == 0 /\ i_127^0-i_127^post217 == 0 /\ -x_253^post217+x_253^0 == 0 /\ a_633^0-a_633^post217 == 0 /\ a_575^0-a_575^post217 == 0 /\ -a_1236^post217+a_1236^0 == 0 /\ -r_970^post217+r_970^0 == 0 /\ -a_431^post217+a_431^0 == 0 /\ -a_121^post217+a_121^0 == 0 /\ -x_SLAM_f_19^post217+x_SLAM_f_19^0 == 0), cost: 1 New rule: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l137 -> l138 : a_1089^0'=a_1089^post218, f_847^0'=f_847^post218, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post218, a_394^0'=a_394^post218, x_156^0'=x_156^post218, a_632^0'=a_632^post218, r_192^0'=r_192^post218, a_176^0'=a_176^post218, i_106^0'=i_106^post218, a_430^0'=a_430^post218, t_458^0'=t_458^post218, len_161^0'=len_161^post218, x_975^0'=x_975^post218, a_902^0'=a_902^post218, a_947^0'=a_947^post218, rcd_88^0'=rcd_88^post218, a_311^0'=a_311^post218, i_140^0'=i_140^post218, a_577^0'=a_577^post218, x_14^0'=x_14^post218, nondet_12^0'=nondet_12^post218, a_121^0'=a_121^post218, head_15^0'=head_15^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218, i_27^0'=i_27^post218, x_21^0'=x_21^post218, a_634^0'=a_634^post218, r_39^0'=r_39^post218, a_263^0'=a_263^post218, i_113^0'=i_113^post218, a_432^0'=a_432^post218, temp0_31^0'=temp0_31^post218, len_262^0'=len_262^post218, y_20^0'=y_20^post218, f_248^0'=f_248^post218, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218, a_393^0'=a_393^post218, i_229^0'=i_229^post218, a_610^0'=a_610^post218, r_151^0'=r_151^post218, a_144^0'=a_144^post218, i_1053^0'=i_1053^post218, a_417^0'=a_417^post218, t_24^0'=t_24^post218, i_94^0'=i_94^post218, x_852^0'=x_852^post218, a_862^0'=a_862^post218, rcd_1249^0'=rcd_1249^post218, rcd_58^0'=rcd_58^post218, a_310^0'=a_310^post218, i_127^0'=i_127^post218, a_576^0'=a_576^post218, tmp_34^0'=tmp_34^post218, length_29^0'=length_29^post218, a_1162^0'=a_1162^post218, f_969^0'=f_969^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218, a_395^0'=a_395^post218, x_17^0'=x_17^post218, a_633^0'=a_633^post218, r_224^0'=r_224^post218, a_239^0'=a_239^post218, i_107^0'=i_107^post218, a_431^0'=a_431^post218, temp0_16^0'=temp0_16^post218, len_238^0'=len_238^post218, x_SLAM_f_19^0'=x_SLAM_f_19^post218, a_924^0'=a_924^post218, ct_18^0'=ct_18^post218, result_11^0'=result_11^post218, a_392^0'=a_392^post218, i_197^0'=i_197^post218, a_579^0'=a_579^post218, r_143^0'=r_143^post218, a_1236^0'=a_1236^post218, head_32^0'=head_32^post218, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218, i_30^0'=i_30^post218, x_253^0'=x_253^post218, a_635^0'=a_635^post218, r_970^0'=r_970^post218, rcd_47^0'=rcd_47^post218, a_309^0'=a_309^post218, i_1248^0'=i_1248^post218, a_575^0'=a_575^post218, temp_35^0'=temp_35^post218, len_861^0'=len_861^post218, (i_106^0-i_106^post218 == 0 /\ head_15^0-head_15^post218 == 0 /\ a_632^0-a_632^post218 == 0 /\ tmp_34^0-tmp_34^post218 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post218 == 0 /\ a_392^0-a_392^post218 == 0 /\ -a_1162^post218+a_1162^0 == 0 /\ a_902^0-a_902^post218 == 0 /\ -a_634^post218+a_634^0 == 0 /\ -len_238^post218+len_238^0 == 0 /\ t_458^0-t_458^post218 == 0 /\ i_94^0-i_94^post218 == 0 /\ -a_924^post218+a_924^0 == 0 /\ a_610^0-a_610^post218 == 0 /\ i_27^0-i_27^post218 == 0 /\ -result_11^post218+result_11^0 == 0 /\ a_633^0-a_633^post218 == 0 /\ temp0_31^0-temp0_31^post218 == 0 /\ -i_113^post218+i_113^0 == 0 /\ x_14^0-x_14^post218 == 0 /\ -a_1236^post218+a_1236^0 == 0 /\ -r_143^post218+r_143^0 == 0 /\ -temp_35^post218+temp_35^0 == 0 /\ a_417^0-a_417^post218 == 0 /\ -a_121^post218+a_121^0 == 0 /\ -nondet_12^post218+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post218 == 0 /\ -f_969^post218+f_969^0 == 0 /\ -x_253^post218+x_253^0 == 0 /\ -a_431^post218+a_431^0 == 0 /\ -a_432^post218+a_432^0 == 0 /\ -r_970^post218+r_970^0 == 0 /\ a_1089^0-a_1089^post218 == 0 /\ len_262^0-len_262^post218 == 0 /\ a_263^0-a_263^post218 == 0 /\ -x_SLAM_f_19^post218+x_SLAM_f_19^0 == 0 /\ rcd_88^0-rcd_88^post218 == 0 /\ a_176^0-a_176^post218 == 0 /\ -y_20^post218+y_20^0 == 0 /\ i_1053^0-i_1053^post218 == 0 /\ a_311^0-a_311^post218 == 0 /\ -rcd_47^post218+rcd_47^0 == 0 /\ length_29^0-length_29^post218 == 0 /\ -a_310^post218+a_310^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post218 == 0 /\ f_248^0-f_248^post218 == 0 /\ -len_861^post218+len_861^0 == 0 /\ x_975^0-x_975^post218 == 0 /\ -head_32^post218+head_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ r_151^0-r_151^post218 == 0 /\ a_393^0-a_393^post218 == 0 /\ a_577^0-a_577^post218 == 0 /\ -i_229^post218+i_229^0 == 0 /\ -a_395^post218+a_395^0 == 0 /\ -i_1248^post218+i_1248^0 == 0 /\ -a_430^post218+a_430^0 == 0 /\ -a_239^post218+a_239^0 == 0 /\ -a_579^post218+a_579^0 == 0 /\ r_192^0-r_192^post218 == 0 /\ -i_127^post218+i_127^0 == 0 /\ -temp0_16^post218+temp0_16^0 == 0 /\ -a_862^post218+a_862^0 == 0 /\ -r_39^post218+r_39^0 == 0 /\ -r_224^post218+r_224^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post218+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_575^post218+a_575^0 == 0 /\ -i_197^post218+i_197^0 == 0 /\ x_852^0-x_852^post218 == 0 /\ -a_635^post218+a_635^0 == 0 /\ a_947^0-a_947^post218 == 0 /\ len_161^0-len_161^post218 == 0 /\ -x_17^post218+x_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post218 == 0 /\ -x_21^post218+x_21^0 == 0 /\ x_156^0-x_156^post218 == 0 /\ f_847^0-f_847^post218 == 0 /\ -a_309^post218+a_309^0 == 0 /\ a_576^0-a_576^post218 == 0 /\ a_394^0-a_394^post218 == 0 /\ -ct_18^post218+ct_18^0 == 0 /\ -a_144^post218+a_144^0 == 0 /\ -i_107^post218+i_107^0 == 0 /\ -i_30^post218+i_30^0 == 0 /\ i_140^0-i_140^post218 == 0 /\ rcd_58^0-rcd_58^post218 == 0 /\ rcd_1249^0-rcd_1249^post218 == 0 /\ -t_24^post218+t_24^0 == 0), cost: 1 New rule: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Applied preprocessing Original rule: l137 -> l138 : a_1089^0'=a_1089^post219, f_847^0'=f_847^post219, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post219, a_394^0'=a_394^post219, x_156^0'=x_156^post219, a_632^0'=a_632^post219, r_192^0'=r_192^post219, a_176^0'=a_176^post219, i_106^0'=i_106^post219, a_430^0'=a_430^post219, t_458^0'=t_458^post219, len_161^0'=len_161^post219, x_975^0'=x_975^post219, a_902^0'=a_902^post219, a_947^0'=a_947^post219, rcd_88^0'=rcd_88^post219, a_311^0'=a_311^post219, i_140^0'=i_140^post219, a_577^0'=a_577^post219, x_14^0'=x_14^post219, nondet_12^0'=nondet_12^post219, a_121^0'=a_121^post219, head_15^0'=head_15^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219, i_27^0'=i_27^post219, x_21^0'=x_21^post219, a_634^0'=a_634^post219, r_39^0'=r_39^post219, a_263^0'=a_263^post219, i_113^0'=i_113^post219, a_432^0'=a_432^post219, temp0_31^0'=temp0_31^post219, len_262^0'=len_262^post219, y_20^0'=y_20^post219, f_248^0'=f_248^post219, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219, a_393^0'=a_393^post219, i_229^0'=i_229^post219, a_610^0'=a_610^post219, r_151^0'=r_151^post219, a_144^0'=a_144^post219, i_1053^0'=i_1053^post219, a_417^0'=a_417^post219, t_24^0'=t_24^post219, i_94^0'=i_94^post219, x_852^0'=x_852^post219, a_862^0'=a_862^post219, rcd_1249^0'=rcd_1249^post219, rcd_58^0'=rcd_58^post219, a_310^0'=a_310^post219, i_127^0'=i_127^post219, a_576^0'=a_576^post219, tmp_34^0'=tmp_34^post219, length_29^0'=length_29^post219, a_1162^0'=a_1162^post219, f_969^0'=f_969^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219, a_395^0'=a_395^post219, x_17^0'=x_17^post219, a_633^0'=a_633^post219, r_224^0'=r_224^post219, a_239^0'=a_239^post219, i_107^0'=i_107^post219, a_431^0'=a_431^post219, temp0_16^0'=temp0_16^post219, len_238^0'=len_238^post219, x_SLAM_f_19^0'=x_SLAM_f_19^post219, a_924^0'=a_924^post219, ct_18^0'=ct_18^post219, result_11^0'=result_11^post219, a_392^0'=a_392^post219, i_197^0'=i_197^post219, a_579^0'=a_579^post219, r_143^0'=r_143^post219, a_1236^0'=a_1236^post219, head_32^0'=head_32^post219, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219, i_30^0'=i_30^post219, x_253^0'=x_253^post219, a_635^0'=a_635^post219, r_970^0'=r_970^post219, rcd_47^0'=rcd_47^post219, a_309^0'=a_309^post219, i_1248^0'=i_1248^post219, a_575^0'=a_575^post219, temp_35^0'=temp_35^post219, len_861^0'=len_861^post219, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post219 == 0 /\ -len_262^post219+len_262^0 == 0 /\ i_140^0-i_140^post219 == 0 /\ a_634^0-a_634^post219 == 0 /\ a_579^0-a_579^post219 == 0 /\ -i_1248^post219+i_1248^0 == 0 /\ i_27^0-i_27^post219 == 0 /\ -a_239^post219+a_239^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post219 == 0 /\ a_947^0-a_947^post219 == 0 /\ -ct_18^post219+ct_18^0 == 0 /\ -temp0_31^post219+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post219 == 0 /\ i_1053^0-i_1053^post219 == 0 /\ -i_30^post219+i_30^0 == 0 /\ a_392^0-a_392^post219 == 0 /\ -r_39^post219+r_39^0 == 0 /\ a_176^0-a_176^post219 == 0 /\ -head_32^post219+head_32^0 == 0 /\ -x_17^post219+x_17^0 == 0 /\ -i_197^post219+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post219+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ length_29^0-length_29^post219 == 0 /\ y_20^0-y_20^post219 == 0 /\ -temp0_16^post219+temp0_16^0 == 0 /\ -len_861^post219+len_861^0 == 0 /\ r_151^0-r_151^post219 == 0 /\ a_632^0-a_632^post219 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -head_15^post219+head_15^0 == 0 /\ -x_21^post219+x_21^0 == 0 /\ i_113^0-i_113^post219 == 0 /\ -a_309^post219+a_309^0 == 0 /\ -i_127^post219+i_127^0 == 0 /\ -a_1162^post219+a_1162^0 == 0 /\ -a_635^post219+a_635^0 == 0 /\ a_310^0-a_310^post219 == 0 /\ a_393^0-a_393^post219 == 0 /\ -a_144^post219+a_144^0 == 0 /\ a_432^0-a_432^post219 == 0 /\ r_143^0-r_143^post219 == 0 /\ r_192^0-r_192^post219 == 0 /\ -a_633^post219+a_633^0 == 0 /\ -a_575^post219+a_575^0 == 0 /\ result_11^0-result_11^post219 == 0 /\ a_417^0-a_417^post219 == 0 /\ -a_924^post219+a_924^0 == 0 /\ a_263^0-a_263^post219 == 0 /\ nondet_12^0-nondet_12^post219 == 0 /\ a_394^0-a_394^post219 == 0 /\ i_229^0-i_229^post219 == 0 /\ -tmp_34^post219+tmp_34^0 == 0 /\ t_24^0-t_24^post219 == 0 /\ a_862^0-a_862^post219 == 0 /\ -a_610^post219+a_610^0 == 0 /\ x_852^0-x_852^post219 == 0 /\ len_161^0-len_161^post219 == 0 /\ -rcd_1249^post219+rcd_1249^0 == 0 /\ rcd_88^0-rcd_88^post219 == 0 /\ f_847^0-f_847^post219 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post219 == 0 /\ rcd_58^0-rcd_58^post219 == 0 /\ a_121^0-a_121^post219 == 0 /\ -x_975^post219+x_975^0 == 0 /\ -len_238^post219+len_238^0 == 0 /\ -a_576^post219+a_576^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post219 == 0 /\ a_311^0-a_311^post219 == 0 /\ a_902^0-a_902^post219 == 0 /\ -f_969^post219+f_969^0 == 0 /\ i_106^0-i_106^post219 == 0 /\ a_430^0-a_430^post219 == 0 /\ a_395^0-a_395^post219 == 0 /\ r_224^0-r_224^post219 == 0 /\ -temp_35^post219+temp_35^0 == 0 /\ t_458^0-t_458^post219 == 0 /\ -x_253^post219+x_253^0 == 0 /\ i_107^0-i_107^post219 == 0 /\ rcd_47^0-rcd_47^post219 == 0 /\ a_577^0-a_577^post219 == 0 /\ x_156^0-x_156^post219 == 0 /\ -r_970^post219+r_970^0 == 0 /\ a_1089^0-a_1089^post219 == 0 /\ -a_431^post219+a_431^0 == 0 /\ -f_248^post219+f_248^0 == 0 /\ x_14^0-x_14^post219 == 0 /\ -i_94^post219+i_94^0 == 0 /\ -a_1236^post219+a_1236^0 == 0), cost: 1 New rule: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Applied preprocessing Original rule: l138 -> l131 : a_1089^0'=a_1089^post220, f_847^0'=f_847^post220, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post220, a_394^0'=a_394^post220, x_156^0'=x_156^post220, a_632^0'=a_632^post220, r_192^0'=r_192^post220, a_176^0'=a_176^post220, i_106^0'=i_106^post220, a_430^0'=a_430^post220, t_458^0'=t_458^post220, len_161^0'=len_161^post220, x_975^0'=x_975^post220, a_902^0'=a_902^post220, a_947^0'=a_947^post220, rcd_88^0'=rcd_88^post220, a_311^0'=a_311^post220, i_140^0'=i_140^post220, a_577^0'=a_577^post220, x_14^0'=x_14^post220, nondet_12^0'=nondet_12^post220, a_121^0'=a_121^post220, head_15^0'=head_15^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220, i_27^0'=i_27^post220, x_21^0'=x_21^post220, a_634^0'=a_634^post220, r_39^0'=r_39^post220, a_263^0'=a_263^post220, i_113^0'=i_113^post220, a_432^0'=a_432^post220, temp0_31^0'=temp0_31^post220, len_262^0'=len_262^post220, y_20^0'=y_20^post220, f_248^0'=f_248^post220, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220, a_393^0'=a_393^post220, i_229^0'=i_229^post220, a_610^0'=a_610^post220, r_151^0'=r_151^post220, a_144^0'=a_144^post220, i_1053^0'=i_1053^post220, a_417^0'=a_417^post220, t_24^0'=t_24^post220, i_94^0'=i_94^post220, x_852^0'=x_852^post220, a_862^0'=a_862^post220, rcd_1249^0'=rcd_1249^post220, rcd_58^0'=rcd_58^post220, a_310^0'=a_310^post220, i_127^0'=i_127^post220, a_576^0'=a_576^post220, tmp_34^0'=tmp_34^post220, length_29^0'=length_29^post220, a_1162^0'=a_1162^post220, f_969^0'=f_969^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220, a_395^0'=a_395^post220, x_17^0'=x_17^post220, a_633^0'=a_633^post220, r_224^0'=r_224^post220, a_239^0'=a_239^post220, i_107^0'=i_107^post220, a_431^0'=a_431^post220, temp0_16^0'=temp0_16^post220, len_238^0'=len_238^post220, x_SLAM_f_19^0'=x_SLAM_f_19^post220, a_924^0'=a_924^post220, ct_18^0'=ct_18^post220, result_11^0'=result_11^post220, a_392^0'=a_392^post220, i_197^0'=i_197^post220, a_579^0'=a_579^post220, r_143^0'=r_143^post220, a_1236^0'=a_1236^post220, head_32^0'=head_32^post220, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220, i_30^0'=i_30^post220, x_253^0'=x_253^post220, a_635^0'=a_635^post220, r_970^0'=r_970^post220, rcd_47^0'=rcd_47^post220, a_309^0'=a_309^post220, i_1248^0'=i_1248^post220, a_575^0'=a_575^post220, temp_35^0'=temp_35^post220, len_861^0'=len_861^post220, (0 == 0 /\ a_577^0-a_577^post220 == 0 /\ -len_238^post220+len_238^0 == 0 /\ a_902^0-a_902^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post220 == 0 /\ i_106^0-i_106^post220 == 0 /\ -result_11^post220+result_11^0 == 0 /\ -a_633^post220+a_633^0 == 0 /\ a_392^0-a_392^post220 == 0 /\ -rcd_47^post220+rcd_47^0 == 0 /\ a_1089^0-a_1089^post220 == 0 /\ -a_924^post220+a_924^0 == 0 /\ -head_15^post220+head_15^0 == 0 /\ -rcd_1249^post220+rcd_1249^0 == 0 /\ -a_610^post220+a_610^0 == 0 /\ len_161^0-len_161^post220 == 0 /\ i_30^post220-i_107^0 <= 0 /\ t_458^0-t_458^post220 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_632^0-a_632^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -r_143^post220+r_143^0 == 0 /\ x_21^0-x_21^post220 == 0 /\ a_862^0-a_862^post220 == 0 /\ a_579^0-a_579^post220 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_262^0-len_262^post220 == 0 /\ -r_970^post220+r_970^0 == 0 /\ -x_253^post220+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post220 == 0 /\ temp0_31^0-temp0_31^post220 == 0 /\ f_847^0-f_847^post220 == 0 /\ -a_311^post220+a_311^0 == 0 /\ -f_969^post220+f_969^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post220 == 0 /\ -a_576^post220+a_576^0 == 0 /\ a_394^0-a_394^post220 == 0 /\ i_94^0-i_94^post220 == 0 /\ -rcd_88^post220+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post220+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_1053^0-i_1053^post220 == 0 /\ -i_30^post220+i_107^0 <= 0 /\ -temp_35^post220+temp_35^0 == 0 /\ a_176^0-a_176^post220 == 0 /\ y_20^0-y_20^post220 == 0 /\ -a_634^post220+a_634^0 == 0 /\ -x_SLAM_f_19^post220+x_SLAM_f_19^0 == 0 /\ 1-i_106^0 <= 0 /\ a_121^0-a_121^post220 == 0 /\ r_192^0-r_192^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -a_310^post220+a_310^0 == 0 /\ i_113^0-i_113^post220 == 0 /\ -len_861^post220+len_861^0 == 0 /\ r_39^0-r_39^post220 == 0 /\ -temp0_16^post220+temp0_16^0 == 0 /\ -a_1236^post220+a_1236^0 == 0 /\ -a_417^post220+a_417^0 == 0 /\ -f_248^post220+f_248^0 == 0 /\ -r_224^post220+r_224^0 == 0 /\ x_14^0-x_14^post220 == 0 /\ -x_17^post220+x_17^0 == 0 /\ t_24^0-t_24^post220 == 0 /\ a_393^0-a_393^post220 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post220 == 0 /\ -length_29^post220+length_29^0 == 0 /\ a_432^0-a_432^post220 == 0 /\ -a_239^post220+a_239^0 == 0 /\ -i_27^post220+i_27^0 == 0 /\ -a_430^post220+a_430^0 == 0 /\ -a_635^post220+a_635^0 == 0 /\ -i_107^post220+i_107^0 == 0 /\ -ct_18^post220+ct_18^0 == 0 /\ -r_151^post220+r_151^0 == 0 /\ -a_575^post220+a_575^0 == 0 /\ -i_197^post220+i_197^0 == 0 /\ i_1248^0-i_1248^post220 == 0 /\ -i_127^post220+i_127^0 == 0 /\ i_140^0-i_140^post220 == 0 /\ -head_32^post220+head_32^0 == 0 /\ i_229^0-i_229^post220 == 0 /\ a_263^0-a_263^post220 == 0 /\ x_156^0-x_156^post220 == 0 /\ nondet_12^0-nondet_12^post220 == 0 /\ a_431^0-a_431^post220 == 0 /\ -x_852^post220+x_852^0 == 0 /\ -a_1162^post220+a_1162^0 == 0 /\ rcd_58^0-rcd_58^post220 == 0 /\ tmp_34^0-tmp_34^post220 == 0 /\ a_395^0-a_395^post220 == 0 /\ -a_144^post220+a_144^0 == 0 /\ a_947^0-a_947^post220 == 0 /\ x_975^0-x_975^post220 == 0 /\ -a_309^post220+a_309^0 == 0), cost: 1 New rule: l138 -> l131 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l131 -> l119 : a_1089^0'=a_1089^post221, f_847^0'=f_847^post221, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post221, a_394^0'=a_394^post221, x_156^0'=x_156^post221, a_632^0'=a_632^post221, r_192^0'=r_192^post221, a_176^0'=a_176^post221, i_106^0'=i_106^post221, a_430^0'=a_430^post221, t_458^0'=t_458^post221, len_161^0'=len_161^post221, x_975^0'=x_975^post221, a_902^0'=a_902^post221, a_947^0'=a_947^post221, rcd_88^0'=rcd_88^post221, a_311^0'=a_311^post221, i_140^0'=i_140^post221, a_577^0'=a_577^post221, x_14^0'=x_14^post221, nondet_12^0'=nondet_12^post221, a_121^0'=a_121^post221, head_15^0'=head_15^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221, i_27^0'=i_27^post221, x_21^0'=x_21^post221, a_634^0'=a_634^post221, r_39^0'=r_39^post221, a_263^0'=a_263^post221, i_113^0'=i_113^post221, a_432^0'=a_432^post221, temp0_31^0'=temp0_31^post221, len_262^0'=len_262^post221, y_20^0'=y_20^post221, f_248^0'=f_248^post221, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221, a_393^0'=a_393^post221, i_229^0'=i_229^post221, a_610^0'=a_610^post221, r_151^0'=r_151^post221, a_144^0'=a_144^post221, i_1053^0'=i_1053^post221, a_417^0'=a_417^post221, t_24^0'=t_24^post221, i_94^0'=i_94^post221, x_852^0'=x_852^post221, a_862^0'=a_862^post221, rcd_1249^0'=rcd_1249^post221, rcd_58^0'=rcd_58^post221, a_310^0'=a_310^post221, i_127^0'=i_127^post221, a_576^0'=a_576^post221, tmp_34^0'=tmp_34^post221, length_29^0'=length_29^post221, a_1162^0'=a_1162^post221, f_969^0'=f_969^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221, a_395^0'=a_395^post221, x_17^0'=x_17^post221, a_633^0'=a_633^post221, r_224^0'=r_224^post221, a_239^0'=a_239^post221, i_107^0'=i_107^post221, a_431^0'=a_431^post221, temp0_16^0'=temp0_16^post221, len_238^0'=len_238^post221, x_SLAM_f_19^0'=x_SLAM_f_19^post221, a_924^0'=a_924^post221, ct_18^0'=ct_18^post221, result_11^0'=result_11^post221, a_392^0'=a_392^post221, i_197^0'=i_197^post221, a_579^0'=a_579^post221, r_143^0'=r_143^post221, a_1236^0'=a_1236^post221, head_32^0'=head_32^post221, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221, i_30^0'=i_30^post221, x_253^0'=x_253^post221, a_635^0'=a_635^post221, r_970^0'=r_970^post221, rcd_47^0'=rcd_47^post221, a_309^0'=a_309^post221, i_1248^0'=i_1248^post221, a_575^0'=a_575^post221, temp_35^0'=temp_35^post221, len_861^0'=len_861^post221, (-temp0_31^post221+temp0_31^0 == 0 /\ a_417^0-a_417^post221 == 0 /\ i_140^0-i_140^post221 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post221 == 0 /\ -a_144^post221+a_144^0 == 0 /\ -a_392^post221+a_392^0 == 0 /\ i_197^0-i_197^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_1162^0-a_1162^post221 == 0 /\ -i_107^post221+i_107^0 == 0 /\ -len_861^post221+len_861^0 == 0 /\ y_20^0-y_20^post221 == 0 /\ -i_27^post221+i_27^0 == 0 /\ -head_32^post221+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post221 == 0 /\ a_924^0-a_924^post221 == 0 /\ a_394^0-a_394^post221 == 0 /\ -a_635^post221+a_635^0 == 0 /\ -len_262^post221+len_262^0 == 0 /\ -i_1248^post221+i_1248^0 == 0 /\ -x_17^post221+x_17^0 == 0 /\ x_975^0-x_975^post221 == 0 /\ -i_30^post221+i_30^0 == 0 /\ r_39^0-r_39^post221 == 0 /\ -a_579^post221+a_579^0 == 0 /\ -rcd_58^post221+rcd_58^0 == 0 /\ t_458^0-t_458^post221 == 0 /\ -x_852^post221+x_852^0 == 0 /\ i_106^0-i_106^post221 == 0 /\ -i_127^post221+i_127^0 == 0 /\ -head_15^post221+head_15^0 == 0 /\ i_94^0-i_94^post221 == 0 /\ -a_633^post221+a_633^0 == 0 /\ a_310^0-a_310^post221 == 0 /\ a_393^0-a_393^post221 == 0 /\ -a_575^post221+a_575^0 == 0 /\ -ct_18^post221+ct_18^0 == 0 /\ -a_309^post221+a_309^0 == 0 /\ x_21^0-x_21^post221 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post221+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_610^post221+a_610^0 == 0 /\ a_121^0-a_121^post221 == 0 /\ x_156^0-x_156^post221 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post221 == 0 /\ -tmp_34^post221+tmp_34^0 == 0 /\ a_263^0-a_263^post221 == 0 /\ i_229^0-i_229^post221 == 0 /\ f_847^0-f_847^post221 == 0 /\ -a_634^post221+a_634^0 == 0 /\ t_24^0-t_24^post221 == 0 /\ a_862^0-a_862^post221 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post221+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_1249^post221+rcd_1249^0 == 0 /\ f_248^0-f_248^post221 == 0 /\ r_224^0-r_224^post221 == 0 /\ a_947^0-a_947^post221 == 0 /\ -f_969^post221+f_969^0 == 0 /\ -x_253^post221+x_253^0 == 0 /\ -len_238^post221+len_238^0 == 0 /\ -result_11^post221+result_11^0 == 0 /\ r_970^0-r_970^post221 == 0 /\ a_176^0-a_176^post221 == 0 /\ r_151^0-r_151^post221 == 0 /\ length_29^0-length_29^post221 == 0 /\ -a_239^post221+a_239^0 == 0 /\ rcd_47^0-rcd_47^post221 == 0 /\ a_577^0-a_577^post221 == 0 /\ a_902^0-a_902^post221 == 0 /\ -nondet_12^post221+nondet_12^0 == 0 /\ -i_1053^post221+i_1053^0 == 0 /\ -a_576^post221+a_576^0 == 0 /\ rcd_88^0-rcd_88^post221 == 0 /\ i_113^0-i_113^post221 == 0 /\ a_311^0-a_311^post221 == 0 /\ -a_1236^post221+a_1236^0 == 0 /\ -r_143^post221+r_143^0 == 0 /\ -a_395^post221+a_395^0 == 0 /\ temp0_16^0-temp0_16^post221 == 0 /\ -temp_35^post221+temp_35^0 == 0 /\ a_1089^0-a_1089^post221 == 0 /\ x_14^0-x_14^post221 == 0 /\ a_432^0-a_432^post221 == 0 /\ -a_431^post221+a_431^0 == 0 /\ a_632^0-a_632^post221 == 0 /\ a_430^0-a_430^post221 == 0 /\ r_192^0-r_192^post221 == 0 /\ -len_161^post221+len_161^0 == 0), cost: 1 New rule: l131 -> l119 : TRUE, cost: 1 Applied preprocessing Original rule: l119 -> l139 : a_1089^0'=a_1089^post222, f_847^0'=f_847^post222, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, a_394^0'=a_394^post222, x_156^0'=x_156^post222, a_632^0'=a_632^post222, r_192^0'=r_192^post222, a_176^0'=a_176^post222, i_106^0'=i_106^post222, a_430^0'=a_430^post222, t_458^0'=t_458^post222, len_161^0'=len_161^post222, x_975^0'=x_975^post222, a_902^0'=a_902^post222, a_947^0'=a_947^post222, rcd_88^0'=rcd_88^post222, a_311^0'=a_311^post222, i_140^0'=i_140^post222, a_577^0'=a_577^post222, x_14^0'=x_14^post222, nondet_12^0'=nondet_12^post222, a_121^0'=a_121^post222, head_15^0'=head_15^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222, i_27^0'=i_27^post222, x_21^0'=x_21^post222, a_634^0'=a_634^post222, r_39^0'=r_39^post222, a_263^0'=a_263^post222, i_113^0'=i_113^post222, a_432^0'=a_432^post222, temp0_31^0'=temp0_31^post222, len_262^0'=len_262^post222, y_20^0'=y_20^post222, f_248^0'=f_248^post222, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222, a_393^0'=a_393^post222, i_229^0'=i_229^post222, a_610^0'=a_610^post222, r_151^0'=r_151^post222, a_144^0'=a_144^post222, i_1053^0'=i_1053^post222, a_417^0'=a_417^post222, t_24^0'=t_24^post222, i_94^0'=i_94^post222, x_852^0'=x_852^post222, a_862^0'=a_862^post222, rcd_1249^0'=rcd_1249^post222, rcd_58^0'=rcd_58^post222, a_310^0'=a_310^post222, i_127^0'=i_127^post222, a_576^0'=a_576^post222, tmp_34^0'=tmp_34^post222, length_29^0'=length_29^post222, a_1162^0'=a_1162^post222, f_969^0'=f_969^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222, a_395^0'=a_395^post222, x_17^0'=x_17^post222, a_633^0'=a_633^post222, r_224^0'=r_224^post222, a_239^0'=a_239^post222, i_107^0'=i_107^post222, a_431^0'=a_431^post222, temp0_16^0'=temp0_16^post222, len_238^0'=len_238^post222, x_SLAM_f_19^0'=x_SLAM_f_19^post222, a_924^0'=a_924^post222, ct_18^0'=ct_18^post222, result_11^0'=result_11^post222, a_392^0'=a_392^post222, i_197^0'=i_197^post222, a_579^0'=a_579^post222, r_143^0'=r_143^post222, a_1236^0'=a_1236^post222, head_32^0'=head_32^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222, i_30^0'=i_30^post222, x_253^0'=x_253^post222, a_635^0'=a_635^post222, r_970^0'=r_970^post222, rcd_47^0'=rcd_47^post222, a_309^0'=a_309^post222, i_1248^0'=i_1248^post222, a_575^0'=a_575^post222, temp_35^0'=temp_35^post222, len_861^0'=len_861^post222, (0 == 0 /\ -a_634^post222+a_634^0 == 0 /\ -a_924^post222+a_924^0 == 0 /\ x_975^0-x_975^post222 == 0 /\ i_127^0-i_127^post222 == 0 /\ -a_431^post222+a_431^0 == 0 /\ a_577^0-a_577^post222 == 0 /\ i_106^0-i_106^post222 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post222+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_1249^0-rcd_1249^post222 == 0 /\ -f_969^post222+f_969^0 == 0 /\ x_14^0-x_14^post222 == 0 /\ -y_20^post222+y_20^0 == 0 /\ -result_11^post222+result_11^0 == 0 /\ a_632^0-a_632^post222 == 0 /\ -tmp_34^post222+tmp_34^0 == 0 /\ a_430^0-a_430^post222 == 0 /\ -t_24^post222+t_24^0 == 0 /\ -x_253^post222+x_253^0 == 0 /\ a_432^0-a_432^post222 == 0 /\ i_197^0-i_197^post222 == 0 /\ -r_970^post222+r_970^0 == 0 /\ -i_1053^post222+i_1053^0 == 0 /\ i_229^0-i_229^post222 == 0 /\ a_576^0-a_576^post222 == 0 /\ x_21^0-x_21^post222 == 0 /\ x_156^0-x_156^post222 == 0 /\ -r_143^post222+r_143^0 == 0 /\ a_1162^0-a_1162^post222 == 0 /\ i_140^0-i_140^post222 == 0 /\ -r_224^post222+r_224^0 == 0 /\ -a_395^post222+a_395^0 == 0 /\ f_847^0-f_847^post222 == 0 /\ a_394^0-a_394^post222 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post222 == 0 /\ a_176^0-a_176^post222 == 0 /\ -temp_35^post222+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post222 == 0 /\ -i_30^post222+i_30^0 == 0 /\ a_311^0-a_311^post222 == 0 /\ -len_161^post222+len_161^0 == 0 /\ i_107^0-i_107^post222 == 0 /\ a_610^0-a_610^post222 == 0 /\ -i_30^0 <= 0 /\ -a_393^post222+a_393^0 == 0 /\ -a_1236^post222+a_1236^0 == 0 /\ i_94^0-i_94^post222 == 0 /\ -length_29^post222+length_29^0 == 0 /\ -a_392^post222+a_392^0 == 0 /\ -x_SLAM_f_19^post222+x_SLAM_f_19^0 == 0 /\ -i_27^post222+i_27^0 == 0 /\ -a_239^post222+a_239^0 == 0 /\ -a_310^post222+a_310^0 == 0 /\ -temp0_16^post222+temp0_16^0 == 0 /\ a_1089^0-a_1089^post222 == 0 /\ -len_861^post222+len_861^0 == 0 /\ nondet_12^0-nondet_12^post222 == 0 /\ -t_458^post222+t_458^0 == 0 /\ i_1248^0-i_1248^post222 == 0 /\ -a_635^post222+a_635^0 == 0 /\ -head_32^post222+head_32^0 == 0 /\ -rcd_47^post222+rcd_47^0 == 0 /\ -x_852^post222+x_852^0 == 0 /\ -len_238^post222+len_238^0 == 0 /\ temp0_31^0-temp0_31^post222 == 0 /\ f_248^0-f_248^post222 == 0 /\ a_144^0-a_144^post222 == 0 /\ -r_151^post222+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post222+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_309^post222+a_309^0 == 0 /\ -a_633^post222+a_633^0 == 0 /\ -a_902^post222+a_902^0 == 0 /\ -rcd_58^post222+rcd_58^0 == 0 /\ -a_417^post222+a_417^0 == 0 /\ x_17^0-x_17^post222 == 0 /\ a_121^0-a_121^post222 == 0 /\ -a_575^post222+a_575^0 == 0 /\ -a_862^post222+a_862^0 == 0 /\ -a_263^post222+a_263^0 == 0 /\ -a_579^post222+a_579^0 == 0 /\ -ct_18^post222+ct_18^0 == 0 /\ len_262^0-len_262^post222 == 0), cost: 1 New rule: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 Applied preprocessing Original rule: l139 -> l140 : a_1089^0'=a_1089^post223, f_847^0'=f_847^post223, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post223, a_394^0'=a_394^post223, x_156^0'=x_156^post223, a_632^0'=a_632^post223, r_192^0'=r_192^post223, a_176^0'=a_176^post223, i_106^0'=i_106^post223, a_430^0'=a_430^post223, t_458^0'=t_458^post223, len_161^0'=len_161^post223, x_975^0'=x_975^post223, a_902^0'=a_902^post223, a_947^0'=a_947^post223, rcd_88^0'=rcd_88^post223, a_311^0'=a_311^post223, i_140^0'=i_140^post223, a_577^0'=a_577^post223, x_14^0'=x_14^post223, nondet_12^0'=nondet_12^post223, a_121^0'=a_121^post223, head_15^0'=head_15^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223, i_27^0'=i_27^post223, x_21^0'=x_21^post223, a_634^0'=a_634^post223, r_39^0'=r_39^post223, a_263^0'=a_263^post223, i_113^0'=i_113^post223, a_432^0'=a_432^post223, temp0_31^0'=temp0_31^post223, len_262^0'=len_262^post223, y_20^0'=y_20^post223, f_248^0'=f_248^post223, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223, a_393^0'=a_393^post223, i_229^0'=i_229^post223, a_610^0'=a_610^post223, r_151^0'=r_151^post223, a_144^0'=a_144^post223, i_1053^0'=i_1053^post223, a_417^0'=a_417^post223, t_24^0'=t_24^post223, i_94^0'=i_94^post223, x_852^0'=x_852^post223, a_862^0'=a_862^post223, rcd_1249^0'=rcd_1249^post223, rcd_58^0'=rcd_58^post223, a_310^0'=a_310^post223, i_127^0'=i_127^post223, a_576^0'=a_576^post223, tmp_34^0'=tmp_34^post223, length_29^0'=length_29^post223, a_1162^0'=a_1162^post223, f_969^0'=f_969^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223, a_395^0'=a_395^post223, x_17^0'=x_17^post223, a_633^0'=a_633^post223, r_224^0'=r_224^post223, a_239^0'=a_239^post223, i_107^0'=i_107^post223, a_431^0'=a_431^post223, temp0_16^0'=temp0_16^post223, len_238^0'=len_238^post223, x_SLAM_f_19^0'=x_SLAM_f_19^post223, a_924^0'=a_924^post223, ct_18^0'=ct_18^post223, result_11^0'=result_11^post223, a_392^0'=a_392^post223, i_197^0'=i_197^post223, a_579^0'=a_579^post223, r_143^0'=r_143^post223, a_1236^0'=a_1236^post223, head_32^0'=head_32^post223, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223, i_30^0'=i_30^post223, x_253^0'=x_253^post223, a_635^0'=a_635^post223, r_970^0'=r_970^post223, rcd_47^0'=rcd_47^post223, a_309^0'=a_309^post223, i_1248^0'=i_1248^post223, a_575^0'=a_575^post223, temp_35^0'=temp_35^post223, len_861^0'=len_861^post223, (-a_432^post223+a_432^0 == 0 /\ f_847^0-f_847^post223 == 0 /\ -a_862^post223+a_862^0 == 0 /\ -i_94^post223+i_94^0 == 0 /\ a_263^0-a_263^post223 == 0 /\ -i_113^post223+i_113^0 == 0 /\ -a_393^post223+a_393^0 == 0 /\ -a_392^post223+a_392^0 == 0 /\ -a_309^post223+a_309^0 == 0 /\ i_197^0-i_197^post223 == 0 /\ -a_635^post223+a_635^0 == 0 /\ -a_144^post223+a_144^0 == 0 /\ x_21^0-x_21^post223 == 0 /\ 1-x_14^0 <= 0 /\ head_15^0-head_15^post223 == 0 /\ -len_861^post223+len_861^0 == 0 /\ -i_1053^post223+i_1053^0 == 0 /\ a_924^0-a_924^post223 == 0 /\ nondet_12^0-nondet_12^post223 == 0 /\ ct_18^0-ct_18^post223 == 0 /\ -a_417^post223+a_417^0 == 0 /\ a_394^0-a_394^post223 == 0 /\ x_17^0-x_17^post223 == 0 /\ -i_30^post223+i_30^0 == 0 /\ a_121^0-a_121^post223 == 0 /\ -a_1236^post223+a_1236^0 == 0 /\ -rcd_47^post223+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_127^0-i_127^post223 == 0 /\ -a_579^post223+a_579^0 == 0 /\ -rcd_58^post223+rcd_58^0 == 0 /\ -length_29^post223+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post223 == 0 /\ a_1089^0-a_1089^post223 == 0 /\ i_106^0-i_106^post223 == 0 /\ -i_107^post223+i_107^0 == 0 /\ x_14^0-x_14^post223 == 0 /\ -r_151^post223+r_151^0 == 0 /\ -a_575^post223+a_575^0 == 0 /\ i_27^0-i_27^post223 == 0 /\ a_430^0-a_430^post223 == 0 /\ a_576^0-a_576^post223 == 0 /\ -head_32^post223+head_32^0 == 0 /\ -a_633^post223+a_633^0 == 0 /\ r_39^0-r_39^post223 == 0 /\ t_458^0-t_458^post223 == 0 /\ -result_11^post223+result_11^0 == 0 /\ -rcd_1249^post223+rcd_1249^0 == 0 /\ i_140^0-i_140^post223 == 0 /\ x_156^0-x_156^post223 == 0 /\ -temp_35^post223+temp_35^0 == 0 /\ a_431^0-a_431^post223 == 0 /\ -y_20^post223+y_20^0 == 0 /\ -tmp_34^post223+tmp_34^0 == 0 /\ -a_1162^post223+a_1162^0 == 0 /\ temp0_31^0-temp0_31^post223 == 0 /\ -x_253^post223+x_253^0 == 0 /\ -len_238^post223+len_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post223+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -t_24^post223+t_24^0 == 0 /\ -r_970^post223+r_970^0 == 0 /\ a_634^0-a_634^post223 == 0 /\ r_224^0-r_224^post223 == 0 /\ x_975^0-x_975^post223 == 0 /\ len_262^0-len_262^post223 == 0 /\ a_947^0-a_947^post223 == 0 /\ a_577^0-a_577^post223 == 0 /\ -x_852^post223+x_852^0 == 0 /\ f_248^0-f_248^post223 == 0 /\ a_902^0-a_902^post223 == 0 /\ -i_229^post223+i_229^0 == 0 /\ rcd_88^0-rcd_88^post223 == 0 /\ a_176^0-a_176^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_1248^post223+i_1248^0 == 0 /\ r_192^0-r_192^post223 == 0 /\ f_969^0-f_969^post223 == 0 /\ -a_239^post223+a_239^0 == 0 /\ -x_SLAM_f_19^post223+x_SLAM_f_19^0 == 0 /\ a_610^0-a_610^post223 == 0 /\ temp0_16^0-temp0_16^post223 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post223+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_632^0-a_632^post223 == 0 /\ -a_395^post223+a_395^0 == 0 /\ a_311^0-a_311^post223 == 0 /\ -r_143^post223+r_143^0 == 0 /\ len_161^0-len_161^post223 == 0 /\ a_310^0-a_310^post223 == 0), cost: 1 New rule: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l139 -> l140 : a_1089^0'=a_1089^post224, f_847^0'=f_847^post224, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post224, a_394^0'=a_394^post224, x_156^0'=x_156^post224, a_632^0'=a_632^post224, r_192^0'=r_192^post224, a_176^0'=a_176^post224, i_106^0'=i_106^post224, a_430^0'=a_430^post224, t_458^0'=t_458^post224, len_161^0'=len_161^post224, x_975^0'=x_975^post224, a_902^0'=a_902^post224, a_947^0'=a_947^post224, rcd_88^0'=rcd_88^post224, a_311^0'=a_311^post224, i_140^0'=i_140^post224, a_577^0'=a_577^post224, x_14^0'=x_14^post224, nondet_12^0'=nondet_12^post224, a_121^0'=a_121^post224, head_15^0'=head_15^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224, i_27^0'=i_27^post224, x_21^0'=x_21^post224, a_634^0'=a_634^post224, r_39^0'=r_39^post224, a_263^0'=a_263^post224, i_113^0'=i_113^post224, a_432^0'=a_432^post224, temp0_31^0'=temp0_31^post224, len_262^0'=len_262^post224, y_20^0'=y_20^post224, f_248^0'=f_248^post224, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224, a_393^0'=a_393^post224, i_229^0'=i_229^post224, a_610^0'=a_610^post224, r_151^0'=r_151^post224, a_144^0'=a_144^post224, i_1053^0'=i_1053^post224, a_417^0'=a_417^post224, t_24^0'=t_24^post224, i_94^0'=i_94^post224, x_852^0'=x_852^post224, a_862^0'=a_862^post224, rcd_1249^0'=rcd_1249^post224, rcd_58^0'=rcd_58^post224, a_310^0'=a_310^post224, i_127^0'=i_127^post224, a_576^0'=a_576^post224, tmp_34^0'=tmp_34^post224, length_29^0'=length_29^post224, a_1162^0'=a_1162^post224, f_969^0'=f_969^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224, a_395^0'=a_395^post224, x_17^0'=x_17^post224, a_633^0'=a_633^post224, r_224^0'=r_224^post224, a_239^0'=a_239^post224, i_107^0'=i_107^post224, a_431^0'=a_431^post224, temp0_16^0'=temp0_16^post224, len_238^0'=len_238^post224, x_SLAM_f_19^0'=x_SLAM_f_19^post224, a_924^0'=a_924^post224, ct_18^0'=ct_18^post224, result_11^0'=result_11^post224, a_392^0'=a_392^post224, i_197^0'=i_197^post224, a_579^0'=a_579^post224, r_143^0'=r_143^post224, a_1236^0'=a_1236^post224, head_32^0'=head_32^post224, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224, i_30^0'=i_30^post224, x_253^0'=x_253^post224, a_635^0'=a_635^post224, r_970^0'=r_970^post224, rcd_47^0'=rcd_47^post224, a_309^0'=a_309^post224, i_1248^0'=i_1248^post224, a_575^0'=a_575^post224, temp_35^0'=temp_35^post224, len_861^0'=len_861^post224, (ct_18^0-ct_18^post224 == 0 /\ -i_197^post224+i_197^0 == 0 /\ -a_579^post224+a_579^0 == 0 /\ r_192^0-r_192^post224 == 0 /\ i_113^0-i_113^post224 == 0 /\ -x_253^post224+x_253^0 == 0 /\ a_176^0-a_176^post224 == 0 /\ -a_431^post224+a_431^0 == 0 /\ -result_11^post224+result_11^0 == 0 /\ rcd_58^0-rcd_58^post224 == 0 /\ -a_263^post224+a_263^0 == 0 /\ -r_970^post224+r_970^0 == 0 /\ f_969^0-f_969^post224 == 0 /\ rcd_1249^0-rcd_1249^post224 == 0 /\ a_430^0-a_430^post224 == 0 /\ i_27^0-i_27^post224 == 0 /\ -t_24^post224+t_24^0 == 0 /\ -x_852^post224+x_852^0 == 0 /\ -a_1162^post224+a_1162^0 == 0 /\ x_14^0-x_14^post224 == 0 /\ r_39^0-r_39^post224 == 0 /\ -rcd_47^post224+rcd_47^0 == 0 /\ len_161^0-len_161^post224 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post224 == 0 /\ i_229^0-i_229^post224 == 0 /\ a_432^0-a_432^post224 == 0 /\ -a_395^post224+a_395^0 == 0 /\ -a_239^post224+a_239^0 == 0 /\ -temp0_16^post224+temp0_16^0 == 0 /\ -len_861^post224+len_861^0 == 0 /\ a_576^0-a_576^post224 == 0 /\ tmp_34^0-tmp_34^post224 == 0 /\ -y_20^post224+y_20^0 == 0 /\ nondet_12^0-nondet_12^post224 == 0 /\ -x_SLAM_f_19^post224+x_SLAM_f_19^0 == 0 /\ f_248^0-f_248^post224 == 0 /\ i_140^0-i_140^post224 == 0 /\ a_634^0-a_634^post224 == 0 /\ -r_224^post224+r_224^0 == 0 /\ -temp_35^post224+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ head_15^0-head_15^post224 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -i_1053^post224+i_1053^0 == 0 /\ -a_924^post224+a_924^0 == 0 /\ x_156^0-x_156^post224 == 0 /\ a_144^0-a_144^post224 == 0 /\ a_947^0-a_947^post224 == 0 /\ -a_417^post224+a_417^0 == 0 /\ -r_143^post224+r_143^0 == 0 /\ -a_575^post224+a_575^0 == 0 /\ a_577^0-a_577^post224 == 0 /\ a_311^0-a_311^post224 == 0 /\ -a_309^post224+a_309^0 == 0 /\ -a_1236^post224+a_1236^0 == 0 /\ rcd_88^0-rcd_88^post224 == 0 /\ -i_30^post224+i_30^0 == 0 /\ -a_393^post224+a_393^0 == 0 /\ a_610^0-a_610^post224 == 0 /\ a_632^0-a_632^post224 == 0 /\ -i_106^post224+i_106^0 == 0 /\ -length_29^post224+length_29^0 == 0 /\ a_1089^0-a_1089^post224 == 0 /\ -i_107^post224+i_107^0 == 0 /\ a_635^0-a_635^post224 == 0 /\ -i_1248^post224+i_1248^0 == 0 /\ a_633^0-a_633^post224 == 0 /\ -a_310^post224+a_310^0 == 0 /\ -head_32^post224+head_32^0 == 0 /\ x_21^0-x_21^post224 == 0 /\ f_847^0-f_847^post224 == 0 /\ -len_238^post224+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post224+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_458^post224+t_458^0 == 0 /\ temp0_31^0-temp0_31^post224 == 0 /\ -r_151^post224+r_151^0 == 0 /\ 1+x_14^0 <= 0 /\ i_94^0-i_94^post224 == 0 /\ -a_902^post224+a_902^0 == 0 /\ x_17^0-x_17^post224 == 0 /\ x_975^0-x_975^post224 == 0 /\ a_121^0-a_121^post224 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post224 == 0 /\ len_262^0-len_262^post224 == 0 /\ a_394^0-a_394^post224 == 0 /\ i_127^0-i_127^post224 == 0 /\ -a_862^post224+a_862^0 == 0 /\ -a_392^post224+a_392^0 == 0), cost: 1 New rule: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l140 -> l141 : a_1089^0'=a_1089^post225, f_847^0'=f_847^post225, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post225, a_394^0'=a_394^post225, x_156^0'=x_156^post225, a_632^0'=a_632^post225, r_192^0'=r_192^post225, a_176^0'=a_176^post225, i_106^0'=i_106^post225, a_430^0'=a_430^post225, t_458^0'=t_458^post225, len_161^0'=len_161^post225, x_975^0'=x_975^post225, a_902^0'=a_902^post225, a_947^0'=a_947^post225, rcd_88^0'=rcd_88^post225, a_311^0'=a_311^post225, i_140^0'=i_140^post225, a_577^0'=a_577^post225, x_14^0'=x_14^post225, nondet_12^0'=nondet_12^post225, a_121^0'=a_121^post225, head_15^0'=head_15^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225, i_27^0'=i_27^post225, x_21^0'=x_21^post225, a_634^0'=a_634^post225, r_39^0'=r_39^post225, a_263^0'=a_263^post225, i_113^0'=i_113^post225, a_432^0'=a_432^post225, temp0_31^0'=temp0_31^post225, len_262^0'=len_262^post225, y_20^0'=y_20^post225, f_248^0'=f_248^post225, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225, a_393^0'=a_393^post225, i_229^0'=i_229^post225, a_610^0'=a_610^post225, r_151^0'=r_151^post225, a_144^0'=a_144^post225, i_1053^0'=i_1053^post225, a_417^0'=a_417^post225, t_24^0'=t_24^post225, i_94^0'=i_94^post225, x_852^0'=x_852^post225, a_862^0'=a_862^post225, rcd_1249^0'=rcd_1249^post225, rcd_58^0'=rcd_58^post225, a_310^0'=a_310^post225, i_127^0'=i_127^post225, a_576^0'=a_576^post225, tmp_34^0'=tmp_34^post225, length_29^0'=length_29^post225, a_1162^0'=a_1162^post225, f_969^0'=f_969^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225, a_395^0'=a_395^post225, x_17^0'=x_17^post225, a_633^0'=a_633^post225, r_224^0'=r_224^post225, a_239^0'=a_239^post225, i_107^0'=i_107^post225, a_431^0'=a_431^post225, temp0_16^0'=temp0_16^post225, len_238^0'=len_238^post225, x_SLAM_f_19^0'=x_SLAM_f_19^post225, a_924^0'=a_924^post225, ct_18^0'=ct_18^post225, result_11^0'=result_11^post225, a_392^0'=a_392^post225, i_197^0'=i_197^post225, a_579^0'=a_579^post225, r_143^0'=r_143^post225, a_1236^0'=a_1236^post225, head_32^0'=head_32^post225, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225, i_30^0'=i_30^post225, x_253^0'=x_253^post225, a_635^0'=a_635^post225, r_970^0'=r_970^post225, rcd_47^0'=rcd_47^post225, a_309^0'=a_309^post225, i_1248^0'=i_1248^post225, a_575^0'=a_575^post225, temp_35^0'=temp_35^post225, len_861^0'=len_861^post225, (0 == 0 /\ -a_309^post225+a_309^0 == 0 /\ x_156^0-x_156^post225 == 0 /\ -x_SLAM_f_19^post225+x_SLAM_f_19^0 == 0 /\ 1-len_161^0 <= 0 /\ -1+len_161^0 <= 0 /\ -a_392^post225+a_392^0 == 0 /\ -a_417^post225+a_417^0 == 0 /\ f_847^0-f_847^post225 == 0 /\ a_632^0-a_632^post225 == 0 /\ -i_107^post225+i_107^0 == 0 /\ -rcd_47^post225+rcd_47^0 == 0 /\ -a_575^post225+a_575^0 == 0 /\ -i_30^post225+i_30^0 == 0 /\ tmp_34^0-tmp_34^post225 == 0 /\ -i_113^post225+i_113^0 == 0 /\ -a_1236^post225+a_1236^0 == 0 /\ -a_635^post225+a_635^0 == 0 /\ a_902^0-a_902^post225 == 0 /\ rcd_58^0-rcd_58^post225 == 0 /\ x_14^0-x_14^post225 == 0 /\ a_394^0-a_394^post225 == 0 /\ head_15^0-head_15^post225 == 0 /\ -i_94^post225+i_94^0 == 0 /\ -a_432^post225+a_432^0 == 0 /\ a_862^0-a_862^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post225+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_577^0-a_577^post225 == 0 /\ -temp0_31^post225+temp0_31^0 == 0 /\ ct_18^0-ct_18^post225 == 0 /\ i_140^0-i_140^post225 == 0 /\ -a_310^post225+a_310^0 == 0 /\ r_192^0-r_192^post225 == 0 /\ -r_39^post225+r_39^0 == 0 /\ a_176^0-a_176^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post225 == 0 /\ x_852^0-x_852^post225 == 0 /\ length_29^0-length_29^post225 == 0 /\ -head_32^post225+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ a_263^0-a_263^post225 == 0 /\ -y_20^post225+y_20^0 == 0 /\ a_430^0-a_430^post225 == 0 /\ -i_197^post225+i_197^0 == 0 /\ -len_238^post225+len_238^0 == 0 /\ -len_262^post225+len_262^0 == 0 /\ rcd_88^0-rcd_88^post225 == 0 /\ a_393^0-a_393^post225 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post225 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225 <= 0 /\ -a_579^post225+a_579^0 == 0 /\ a_610^0-a_610^post225 == 0 /\ -result_11^post225+result_11^0 == 0 /\ -i_127^post225+i_127^0 == 0 /\ f_248^0-f_248^post225 == 0 /\ a_633^0-a_633^post225 == 0 /\ a_311^0-a_311^post225 == 0 /\ -a_924^post225+a_924^0 == 0 /\ temp0_16^0-temp0_16^post225 == 0 /\ -temp_35^post225+temp_35^0 == 0 /\ -t_24^post225+t_24^0 == 0 /\ r_151^0-r_151^post225 == 0 /\ a_144^0-a_144^post225 == 0 /\ -r_970^post225+r_970^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post225-nondet_12^111 == 0 /\ a_634^0-a_634^post225 == 0 /\ a_1089^0-a_1089^post225 == 0 /\ a_176^0-a_121^post225 <= 0 /\ x_975^0-x_975^post225 == 0 /\ -a_431^post225+a_431^0 == 0 /\ -i_229^post225+i_229^0 == 0 /\ -a_1162^post225+a_1162^0 == 0 /\ -x_253^post225+x_253^0 == 0 /\ -a_395^post225+a_395^0 == 0 /\ a_947^0-a_947^post225 == 0 /\ -i_1053^post225+i_1053^0 == 0 /\ -i_1248^post225+i_1248^0 == 0 /\ 1-i_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post225 == 0 /\ -a_239^post225+a_239^0 == 0 /\ i_27^0-i_27^post225 == 0 /\ f_969^0-f_969^post225 == 0 /\ -r_224^post225+r_224^0 == 0 /\ -len_861^post225+len_861^0 == 0 /\ len_161^0-len_161^post225 == 0 /\ t_458^0-t_458^post225 == 0 /\ -r_143^post225+r_143^0 == 0 /\ rcd_1249^0-rcd_1249^post225 == 0 /\ i_106^0-i_106^post225 == 0 /\ -a_176^0+a_121^post225 <= 0 /\ a_576^0-a_576^post225 == 0 /\ -x_17^post225+x_17^0 == 0 /\ -x_21^post225+x_21^0 == 0), cost: 1 New rule: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l141 -> l142 : a_1089^0'=a_1089^post226, f_847^0'=f_847^post226, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post226, a_394^0'=a_394^post226, x_156^0'=x_156^post226, a_632^0'=a_632^post226, r_192^0'=r_192^post226, a_176^0'=a_176^post226, i_106^0'=i_106^post226, a_430^0'=a_430^post226, t_458^0'=t_458^post226, len_161^0'=len_161^post226, x_975^0'=x_975^post226, a_902^0'=a_902^post226, a_947^0'=a_947^post226, rcd_88^0'=rcd_88^post226, a_311^0'=a_311^post226, i_140^0'=i_140^post226, a_577^0'=a_577^post226, x_14^0'=x_14^post226, nondet_12^0'=nondet_12^post226, a_121^0'=a_121^post226, head_15^0'=head_15^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226, i_27^0'=i_27^post226, x_21^0'=x_21^post226, a_634^0'=a_634^post226, r_39^0'=r_39^post226, a_263^0'=a_263^post226, i_113^0'=i_113^post226, a_432^0'=a_432^post226, temp0_31^0'=temp0_31^post226, len_262^0'=len_262^post226, y_20^0'=y_20^post226, f_248^0'=f_248^post226, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226, a_393^0'=a_393^post226, i_229^0'=i_229^post226, a_610^0'=a_610^post226, r_151^0'=r_151^post226, a_144^0'=a_144^post226, i_1053^0'=i_1053^post226, a_417^0'=a_417^post226, t_24^0'=t_24^post226, i_94^0'=i_94^post226, x_852^0'=x_852^post226, a_862^0'=a_862^post226, rcd_1249^0'=rcd_1249^post226, rcd_58^0'=rcd_58^post226, a_310^0'=a_310^post226, i_127^0'=i_127^post226, a_576^0'=a_576^post226, tmp_34^0'=tmp_34^post226, length_29^0'=length_29^post226, a_1162^0'=a_1162^post226, f_969^0'=f_969^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226, a_395^0'=a_395^post226, x_17^0'=x_17^post226, a_633^0'=a_633^post226, r_224^0'=r_224^post226, a_239^0'=a_239^post226, i_107^0'=i_107^post226, a_431^0'=a_431^post226, temp0_16^0'=temp0_16^post226, len_238^0'=len_238^post226, x_SLAM_f_19^0'=x_SLAM_f_19^post226, a_924^0'=a_924^post226, ct_18^0'=ct_18^post226, result_11^0'=result_11^post226, a_392^0'=a_392^post226, i_197^0'=i_197^post226, a_579^0'=a_579^post226, r_143^0'=r_143^post226, a_1236^0'=a_1236^post226, head_32^0'=head_32^post226, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226, i_30^0'=i_30^post226, x_253^0'=x_253^post226, a_635^0'=a_635^post226, r_970^0'=r_970^post226, rcd_47^0'=rcd_47^post226, a_309^0'=a_309^post226, i_1248^0'=i_1248^post226, a_575^0'=a_575^post226, temp_35^0'=temp_35^post226, len_861^0'=len_861^post226, (nondet_12^0-nondet_12^post226 == 0 /\ -r_39^post226+r_39^0 == 0 /\ -i_1053^post226+i_1053^0 == 0 /\ x_14^0-x_14^post226 == 0 /\ -length_29^post226+length_29^0 == 0 /\ a_121^0-a_121^post226 == 0 /\ x_21^0-x_21^post226 == 0 /\ x_852^0-x_852^post226 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post226 == 0 /\ -a_395^post226+a_395^0 == 0 /\ len_161^0-len_161^post226 == 0 /\ len_262^0-len_262^post226 == 0 /\ a_947^0-a_947^post226 == 0 /\ a_576^0-a_576^post226 == 0 /\ -a_1236^post226+a_1236^0 == 0 /\ f_847^0-f_847^post226 == 0 /\ a_394^0-a_394^post226 == 0 /\ -i_1248^post226+i_1248^0 == 0 /\ -head_32^post226+head_32^0 == 0 /\ -a_862^post226+a_862^0 == 0 /\ -a_392^post226+a_392^0 == 0 /\ rcd_58^0-rcd_58^post226 == 0 /\ -a_579^post226+a_579^0 == 0 /\ -len_861^post226+len_861^0 == 0 /\ -a_263^post226+a_263^0 == 0 /\ r_224^0-r_224^post226 == 0 /\ -a_635^post226+a_635^0 == 0 /\ -a_144^post226+a_144^0 == 0 /\ -i_107^post226+i_107^0 == 0 /\ -a_393^post226+a_393^0 == 0 /\ a_577^0-a_577^post226 == 0 /\ -i_30^post226+i_30^0 == 0 /\ t_458^0-t_458^post226 == 0 /\ -a_575^post226+a_575^0 == 0 /\ i_106^0-i_106^post226 == 0 /\ -i_197^post226+i_197^0 == 0 /\ ct_18^0-ct_18^post226 == 0 /\ head_15^0-head_15^post226 == 0 /\ i_127^0-i_127^post226 == 0 /\ -a_309^post226+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post226 == 0 /\ a_432^0-a_432^post226 == 0 /\ -a_417^post226+a_417^0 == 0 /\ i_27^0-i_27^post226 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post226 == 0 /\ -t_24^post226+t_24^0 == 0 /\ a_430^0-a_430^post226 == 0 /\ -tmp_34^post226+tmp_34^0 == 0 /\ i_140^0-i_140^post226 == 0 /\ -len_238^post226+len_238^0 == 0 /\ -a_924^post226+a_924^0 == 0 /\ -rcd_47^post226+rcd_47^0 == 0 /\ a_431^0-a_431^post226 == 0 /\ a_1089^0-a_1089^post226 == 0 /\ -a_633^post226+a_633^0 == 0 /\ temp0_31^0-temp0_31^post226 == 0 /\ x_17^0-x_17^post226 == 0 /\ a_634^0-a_634^post226 == 0 /\ -a_1162^post226+a_1162^0 == 0 /\ rcd_88^0-rcd_88^post226 == 0 /\ y_20^0-y_20^post226 == 0 /\ -r_151^post226+r_151^0 == 0 /\ -result_11^post226+result_11^0 == 0 /\ -rcd_1249^post226+rcd_1249^0 == 0 /\ -a_902^post226+a_902^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post226+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_176^0-a_176^post226 == 0 /\ a_239^0-a_239^post226 == 0 /\ f_969^0-f_969^post226 == 0 /\ -x_253^post226+x_253^0 == 0 /\ x_975^0-x_975^post226 == 0 /\ -r_970^post226+r_970^0 == 0 /\ r_192^0-r_192^post226 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post226+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post226+r_143^0 == 0 /\ f_248^0-f_248^post226 == 0 /\ -i_94^post226+i_94^0 == 0 /\ -i_113^post226+i_113^0 == 0 /\ -x_SLAM_f_19^post226+x_SLAM_f_19^0 == 0 /\ a_310^0-a_310^post226 == 0 /\ temp0_16^0-temp0_16^post226 == 0 /\ -a_311^post226+a_311^0 == 0 /\ a_632^0-a_632^post226 == 0 /\ a_610^0-a_610^post226 == 0 /\ -temp_35^post226+temp_35^0 == 0), cost: 1 New rule: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l141 -> l142 : a_1089^0'=a_1089^post227, f_847^0'=f_847^post227, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post227, a_394^0'=a_394^post227, x_156^0'=x_156^post227, a_632^0'=a_632^post227, r_192^0'=r_192^post227, a_176^0'=a_176^post227, i_106^0'=i_106^post227, a_430^0'=a_430^post227, t_458^0'=t_458^post227, len_161^0'=len_161^post227, x_975^0'=x_975^post227, a_902^0'=a_902^post227, a_947^0'=a_947^post227, rcd_88^0'=rcd_88^post227, a_311^0'=a_311^post227, i_140^0'=i_140^post227, a_577^0'=a_577^post227, x_14^0'=x_14^post227, nondet_12^0'=nondet_12^post227, a_121^0'=a_121^post227, head_15^0'=head_15^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227, i_27^0'=i_27^post227, x_21^0'=x_21^post227, a_634^0'=a_634^post227, r_39^0'=r_39^post227, a_263^0'=a_263^post227, i_113^0'=i_113^post227, a_432^0'=a_432^post227, temp0_31^0'=temp0_31^post227, len_262^0'=len_262^post227, y_20^0'=y_20^post227, f_248^0'=f_248^post227, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227, a_393^0'=a_393^post227, i_229^0'=i_229^post227, a_610^0'=a_610^post227, r_151^0'=r_151^post227, a_144^0'=a_144^post227, i_1053^0'=i_1053^post227, a_417^0'=a_417^post227, t_24^0'=t_24^post227, i_94^0'=i_94^post227, x_852^0'=x_852^post227, a_862^0'=a_862^post227, rcd_1249^0'=rcd_1249^post227, rcd_58^0'=rcd_58^post227, a_310^0'=a_310^post227, i_127^0'=i_127^post227, a_576^0'=a_576^post227, tmp_34^0'=tmp_34^post227, length_29^0'=length_29^post227, a_1162^0'=a_1162^post227, f_969^0'=f_969^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227, a_395^0'=a_395^post227, x_17^0'=x_17^post227, a_633^0'=a_633^post227, r_224^0'=r_224^post227, a_239^0'=a_239^post227, i_107^0'=i_107^post227, a_431^0'=a_431^post227, temp0_16^0'=temp0_16^post227, len_238^0'=len_238^post227, x_SLAM_f_19^0'=x_SLAM_f_19^post227, a_924^0'=a_924^post227, ct_18^0'=ct_18^post227, result_11^0'=result_11^post227, a_392^0'=a_392^post227, i_197^0'=i_197^post227, a_579^0'=a_579^post227, r_143^0'=r_143^post227, a_1236^0'=a_1236^post227, head_32^0'=head_32^post227, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227, i_30^0'=i_30^post227, x_253^0'=x_253^post227, a_635^0'=a_635^post227, r_970^0'=r_970^post227, rcd_47^0'=rcd_47^post227, a_309^0'=a_309^post227, i_1248^0'=i_1248^post227, a_575^0'=a_575^post227, temp_35^0'=temp_35^post227, len_861^0'=len_861^post227, (-a_1162^post227+a_1162^0 == 0 /\ 1+head_15^0 <= 0 /\ f_969^0-f_969^post227 == 0 /\ -a_924^post227+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ ct_18^0-ct_18^post227 == 0 /\ -rcd_47^post227+rcd_47^0 == 0 /\ r_39^0-r_39^post227 == 0 /\ a_1089^0-a_1089^post227 == 0 /\ -len_238^post227+len_238^0 == 0 /\ -x_253^post227+x_253^0 == 0 /\ -t_24^post227+t_24^0 == 0 /\ x_21^0-x_21^post227 == 0 /\ -r_151^post227+r_151^0 == 0 /\ x_14^0-x_14^post227 == 0 /\ r_192^0-r_192^post227 == 0 /\ -result_11^post227+result_11^0 == 0 /\ i_140^0-i_140^post227 == 0 /\ -i_94^post227+i_94^0 == 0 /\ a_263^0-a_263^post227 == 0 /\ i_27^0-i_27^post227 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post227 == 0 /\ -r_224^post227+r_224^0 == 0 /\ nondet_12^0-nondet_12^post227 == 0 /\ -temp_35^post227+temp_35^0 == 0 /\ a_576^0-a_576^post227 == 0 /\ a_634^0-a_634^post227 == 0 /\ -i_113^post227+i_113^0 == 0 /\ -r_970^post227+r_970^0 == 0 /\ x_156^0-x_156^post227 == 0 /\ -x_SLAM_f_19^post227+x_SLAM_f_19^0 == 0 /\ -r_143^post227+r_143^0 == 0 /\ tmp_34^0-tmp_34^post227 == 0 /\ -a_431^post227+a_431^0 == 0 /\ rcd_58^0-rcd_58^post227 == 0 /\ a_144^0-a_144^post227 == 0 /\ a_947^0-a_947^post227 == 0 /\ -a_395^post227+a_395^0 == 0 /\ -a_1236^post227+a_1236^0 == 0 /\ -y_20^post227+y_20^0 == 0 /\ -a_432^post227+a_432^0 == 0 /\ f_248^0-f_248^post227 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post227+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post227+a_862^0 == 0 /\ a_610^0-a_610^post227 == 0 /\ x_975^0-x_975^post227 == 0 /\ i_127^0-i_127^post227 == 0 /\ a_430^0-a_430^post227 == 0 /\ a_632^0-a_632^post227 == 0 /\ -i_106^post227+i_106^0 == 0 /\ -a_392^post227+a_392^0 == 0 /\ a_311^0-a_311^post227 == 0 /\ -length_29^post227+length_29^0 == 0 /\ -i_1248^post227+i_1248^0 == 0 /\ rcd_1249^0-rcd_1249^post227 == 0 /\ head_15^0-head_15^post227 == 0 /\ a_577^0-a_577^post227 == 0 /\ a_902^0-a_902^post227 == 0 /\ rcd_88^0-rcd_88^post227 == 0 /\ -a_239^post227+a_239^0 == 0 /\ -temp0_16^post227+temp0_16^0 == 0 /\ -a_310^post227+a_310^0 == 0 /\ -i_30^post227+i_30^0 == 0 /\ i_229^0-i_229^post227 == 0 /\ -t_458^post227+t_458^0 == 0 /\ -len_861^post227+len_861^0 == 0 /\ -head_32^post227+head_32^0 == 0 /\ -x_852^post227+x_852^0 == 0 /\ a_121^0-a_121^post227 == 0 /\ -a_393^post227+a_393^0 == 0 /\ temp0_31^0-temp0_31^post227 == 0 /\ -a_309^post227+a_309^0 == 0 /\ len_262^0-len_262^post227 == 0 /\ -a_635^post227+a_635^0 == 0 /\ -a_579^post227+a_579^0 == 0 /\ x_17^0-x_17^post227 == 0 /\ len_161^0-len_161^post227 == 0 /\ a_633^0-a_633^post227 == 0 /\ a_176^0-a_176^post227 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post227 == 0 /\ i_1053^0-i_1053^post227 == 0 /\ -i_107^post227+i_107^0 == 0 /\ f_847^0-f_847^post227 == 0 /\ a_394^0-a_394^post227 == 0 /\ -a_575^post227+a_575^0 == 0 /\ -i_197^post227+i_197^0 == 0 /\ -a_417^post227+a_417^0 == 0), cost: 1 New rule: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l142 -> l16 : a_1089^0'=a_1089^post228, f_847^0'=f_847^post228, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post228, a_394^0'=a_394^post228, x_156^0'=x_156^post228, a_632^0'=a_632^post228, r_192^0'=r_192^post228, a_176^0'=a_176^post228, i_106^0'=i_106^post228, a_430^0'=a_430^post228, t_458^0'=t_458^post228, len_161^0'=len_161^post228, x_975^0'=x_975^post228, a_902^0'=a_902^post228, a_947^0'=a_947^post228, rcd_88^0'=rcd_88^post228, a_311^0'=a_311^post228, i_140^0'=i_140^post228, a_577^0'=a_577^post228, x_14^0'=x_14^post228, nondet_12^0'=nondet_12^post228, a_121^0'=a_121^post228, head_15^0'=head_15^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228, i_27^0'=i_27^post228, x_21^0'=x_21^post228, a_634^0'=a_634^post228, r_39^0'=r_39^post228, a_263^0'=a_263^post228, i_113^0'=i_113^post228, a_432^0'=a_432^post228, temp0_31^0'=temp0_31^post228, len_262^0'=len_262^post228, y_20^0'=y_20^post228, f_248^0'=f_248^post228, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228, a_393^0'=a_393^post228, i_229^0'=i_229^post228, a_610^0'=a_610^post228, r_151^0'=r_151^post228, a_144^0'=a_144^post228, i_1053^0'=i_1053^post228, a_417^0'=a_417^post228, t_24^0'=t_24^post228, i_94^0'=i_94^post228, x_852^0'=x_852^post228, a_862^0'=a_862^post228, rcd_1249^0'=rcd_1249^post228, rcd_58^0'=rcd_58^post228, a_310^0'=a_310^post228, i_127^0'=i_127^post228, a_576^0'=a_576^post228, tmp_34^0'=tmp_34^post228, length_29^0'=length_29^post228, a_1162^0'=a_1162^post228, f_969^0'=f_969^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228, a_395^0'=a_395^post228, x_17^0'=x_17^post228, a_633^0'=a_633^post228, r_224^0'=r_224^post228, a_239^0'=a_239^post228, i_107^0'=i_107^post228, a_431^0'=a_431^post228, temp0_16^0'=temp0_16^post228, len_238^0'=len_238^post228, x_SLAM_f_19^0'=x_SLAM_f_19^post228, a_924^0'=a_924^post228, ct_18^0'=ct_18^post228, result_11^0'=result_11^post228, a_392^0'=a_392^post228, i_197^0'=i_197^post228, a_579^0'=a_579^post228, r_143^0'=r_143^post228, a_1236^0'=a_1236^post228, head_32^0'=head_32^post228, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228, i_30^0'=i_30^post228, x_253^0'=x_253^post228, a_635^0'=a_635^post228, r_970^0'=r_970^post228, rcd_47^0'=rcd_47^post228, a_309^0'=a_309^post228, i_1248^0'=i_1248^post228, a_575^0'=a_575^post228, temp_35^0'=temp_35^post228, len_861^0'=len_861^post228, (0 == 0 /\ -len_861^post228+len_861^0 == 0 /\ a_263^0-a_263^post228 == 0 /\ -a_1236^post228+a_1236^0 == 0 /\ len_161^0-len_161^post228 == 0 /\ result_11^0-result_11^post228 == 0 /\ -a_432^post228+a_432^0 == 0 /\ x_156^0-x_156^post228 == 0 /\ -i_1248^post228+i_1248^0 == 0 /\ head_15^0-head_15^post228 == 0 /\ a_634^0-a_634^post228 == 0 /\ -i_94^post228+i_94^0 == 0 /\ -x_17^post228+x_17^0 == 0 /\ -a_392^post228+a_392^0 == 0 /\ -temp0_31^post228+temp0_31^0 == 0 /\ a_862^0-a_862^post228 == 0 /\ -temp0_16^post228+temp0_16^0 == 0 /\ f_248^0-f_248^post228 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_224^post228+r_224^0 == 0 /\ -a_310^post228+a_310^0 == 0 /\ a_947^0-a_947^post228 == 0 /\ -i_1053^post228+i_1053^0 == 0 /\ rcd_58^0-rcd_58^post228 == 0 /\ -i_197^post228+i_197^0 == 0 /\ -head_32^post228+head_32^0 == 0 /\ -a_579^post228+a_579^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_430^0-a_430^post228 == 0 /\ rcd_88^0-rcd_88^post228 == 0 /\ r_192^0-r_192^post228 == 0 /\ a_311^0-a_311^post228 == 0 /\ a_902^0-a_902^post228 == 0 /\ -ct_18^post228+ct_18^0 == 0 /\ -a_635^post228+a_635^0 == 0 /\ a_176^0-a_176^post228 == 0 /\ -len_238^post228+len_238^0 == 0 /\ -len_262^post228+len_262^0 == 0 /\ -i_30^post228+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ length_29^0-length_29^post228 == 0 /\ -i_127^post228+i_127^0 == 0 /\ -x_14^post228+x_14^0 == 0 /\ -a_309^post228+a_309^0 == 0 /\ -1-a_121^0+i_113^post228 <= 0 /\ -r_39^post228+r_39^0 == 0 /\ x_852^0-x_852^post228 == 0 /\ a_1089^0-a_1089^post228 == 0 /\ -i_107^post228+i_107^0 == 0 /\ a_632^0-a_632^post228 == 0 /\ -a_575^post228+a_575^0 == 0 /\ -a_121^post228+a_121^0 == 0 /\ -tmp_34^post228+tmp_34^0 == 0 /\ a_576^0-a_576^post228 == 0 /\ f_847^0-f_847^post228 == 0 /\ -a_1162^post228+a_1162^0 == 0 /\ nondet_12^0-nondet_12^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post228 == 0 /\ i_140^0-i_140^post228 == 0 /\ -a_431^post228+a_431^0 == 0 /\ a_144^0-a_144^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_21^post228+x_21^0 == 0 /\ -t_24^post228+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post228 == 0 /\ y_20^0-y_20^post228 == 0 /\ r_151^0-r_151^post228 == 0 /\ -rcd_47^post228+rcd_47^0 == 0 /\ a_394^0-a_394^post228 == 0 /\ a_417^0-a_417^post228 == 0 /\ -a_924^post228+a_924^0 == 0 /\ -r_143^post228+r_143^0 == 0 /\ f_969^0-f_969^post228 == 0 /\ a_239^0-a_239^post228 == 0 /\ 1-i_27^0 <= 0 /\ a_577^0-a_577^post228 == 0 /\ x_975^0-x_975^post228 == 0 /\ -i_229^post228+i_229^0 == 0 /\ -x_253^post228+x_253^0 == 0 /\ -x_SLAM_f_19^post228+x_SLAM_f_19^0 == 0 /\ rcd_1249^0-rcd_1249^post228 == 0 /\ -r_970^post228+r_970^0 == 0 /\ a_610^0-a_610^post228 == 0 /\ i_106^0-i_106^post228 == 0 /\ -temp_35^post228+temp_35^0 == 0 /\ a_633^0-a_633^post228 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post228+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_27^0-i_27^post228 == 0 /\ a_393^0-a_393^post228 == 0 /\ 1+a_121^0-i_113^post228 <= 0 /\ t_458^0-t_458^post228 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post228 == 0 /\ -a_395^post228+a_395^0 == 0), cost: 1 New rule: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l143 -> l144 : a_1089^0'=a_1089^post229, f_847^0'=f_847^post229, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post229, a_394^0'=a_394^post229, x_156^0'=x_156^post229, a_632^0'=a_632^post229, r_192^0'=r_192^post229, a_176^0'=a_176^post229, i_106^0'=i_106^post229, a_430^0'=a_430^post229, t_458^0'=t_458^post229, len_161^0'=len_161^post229, x_975^0'=x_975^post229, a_902^0'=a_902^post229, a_947^0'=a_947^post229, rcd_88^0'=rcd_88^post229, a_311^0'=a_311^post229, i_140^0'=i_140^post229, a_577^0'=a_577^post229, x_14^0'=x_14^post229, nondet_12^0'=nondet_12^post229, a_121^0'=a_121^post229, head_15^0'=head_15^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229, i_27^0'=i_27^post229, x_21^0'=x_21^post229, a_634^0'=a_634^post229, r_39^0'=r_39^post229, a_263^0'=a_263^post229, i_113^0'=i_113^post229, a_432^0'=a_432^post229, temp0_31^0'=temp0_31^post229, len_262^0'=len_262^post229, y_20^0'=y_20^post229, f_248^0'=f_248^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229, a_393^0'=a_393^post229, i_229^0'=i_229^post229, a_610^0'=a_610^post229, r_151^0'=r_151^post229, a_144^0'=a_144^post229, i_1053^0'=i_1053^post229, a_417^0'=a_417^post229, t_24^0'=t_24^post229, i_94^0'=i_94^post229, x_852^0'=x_852^post229, a_862^0'=a_862^post229, rcd_1249^0'=rcd_1249^post229, rcd_58^0'=rcd_58^post229, a_310^0'=a_310^post229, i_127^0'=i_127^post229, a_576^0'=a_576^post229, tmp_34^0'=tmp_34^post229, length_29^0'=length_29^post229, a_1162^0'=a_1162^post229, f_969^0'=f_969^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229, a_395^0'=a_395^post229, x_17^0'=x_17^post229, a_633^0'=a_633^post229, r_224^0'=r_224^post229, a_239^0'=a_239^post229, i_107^0'=i_107^post229, a_431^0'=a_431^post229, temp0_16^0'=temp0_16^post229, len_238^0'=len_238^post229, x_SLAM_f_19^0'=x_SLAM_f_19^post229, a_924^0'=a_924^post229, ct_18^0'=ct_18^post229, result_11^0'=result_11^post229, a_392^0'=a_392^post229, i_197^0'=i_197^post229, a_579^0'=a_579^post229, r_143^0'=r_143^post229, a_1236^0'=a_1236^post229, head_32^0'=head_32^post229, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229, i_30^0'=i_30^post229, x_253^0'=x_253^post229, a_635^0'=a_635^post229, r_970^0'=r_970^post229, rcd_47^0'=rcd_47^post229, a_309^0'=a_309^post229, i_1248^0'=i_1248^post229, a_575^0'=a_575^post229, temp_35^0'=temp_35^post229, len_861^0'=len_861^post229, (0 == 0 /\ r_143^0-r_143^post229 == 0 /\ a_902^0-a_902^post229 == 0 /\ a_392^0-a_392^post229 == 0 /\ -head_32^post229 <= 0 /\ -y_20^post229+y_20^0 == 0 /\ t_458^0-t_458^post229 == 0 /\ a_176^0-a_176^post229 == 0 /\ -f_969^post229+f_969^0 == 0 /\ rcd_88^0-rcd_88^post229 == 0 /\ head_15^0-head_15^post229 == 0 /\ x_14^0-x_14^post229 == 0 /\ i_106^0-i_106^post229 == 0 /\ -a_121^post229+a_121^0 == 0 /\ -a_924^post229+a_924^0 == 0 /\ -x_21^post229+x_21^0 == 0 /\ -temp_35^post229+temp_35^0 == 0 /\ -len_238^post229+len_238^0 == 0 /\ i_27^0-i_27^post229 == 0 /\ -r_970^post229+r_970^0 == 0 /\ head_32^post229 <= 0 /\ head_32^post229 == 0 /\ r_39^0-r_39^post229 == 0 /\ -a_1162^post229+a_1162^0 == 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ length_29^post229-result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_1236^0-a_1236^post229 == 0 /\ -x_SLAM_f_19^post229+x_SLAM_f_19^0 == 0 /\ len_262^0-len_262^post229 == 0 /\ -i_1248^post229+i_1248^0 == 0 /\ -nondet_12^112+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 == 0 /\ a_263^0-a_263^post229 == 0 /\ -a_239^post229+a_239^0 == 0 /\ temp0_31^0-temp0_31^post229 == 0 /\ -len_861^post229+len_861^0 == 0 /\ result_11^0-result_11^post229 == 0 /\ -temp0_16^post229+temp0_16^0 == 0 /\ -x_253^post229+x_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post229 == 0 /\ -i_113^post229+i_113^0 == 0 /\ a_634^0-a_634^post229 == 0 /\ -a_431^post229+a_431^0 == 0 /\ -a_432^post229+a_432^0 == 0 /\ i_30^post229 <= 0 /\ i_30^post229 == 0 /\ -a_395^post229+a_395^0 == 0 /\ -length_29^post229+result_dot_nondet_sdv_special_RETURN_VALUE_13^post229 <= 0 /\ tmp_34^0-tmp_34^post229 == 0 /\ a_417^0-a_417^post229 == 0 /\ f_248^0-f_248^post229 == 0 /\ -i_229^post229+i_229^0 == 0 /\ a_577^0-a_577^post229 == 0 /\ -a_309^post229+a_309^0 == 0 /\ a_1089^0-a_1089^post229 == 0 /\ r_192^0-r_192^post229 == 0 /\ -a_144^post229+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post229+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_127^0-i_127^post229 == 0 /\ -a_862^post229+a_862^0 == 0 /\ -i_107^post229+i_107^0 == 0 /\ -a_310^post229+a_310^0 == 0 /\ rcd_1249^0-rcd_1249^post229 == 0 /\ i_1053^0-i_1053^post229 == 0 /\ -a_575^post229+a_575^0 == 0 /\ len_161^0-len_161^post229 == 0 /\ a_632^0-a_632^post229 == 0 /\ i_140^0-i_140^post229 == 0 /\ a_393^0-a_393^post229 == 0 /\ -a_635^post229+a_635^0 == 0 /\ -r_224^post229+r_224^0 == 0 /\ -i_94^post229+i_94^0 == 0 /\ -x_17^post229+x_17^0 == 0 /\ a_311^0-a_311^post229 == 0 /\ -i_30^post229 <= 0 /\ x_852^0-x_852^post229 == 0 /\ x_156^0-x_156^post229 == 0 /\ -a_430^post229+a_430^0 == 0 /\ f_847^0-f_847^post229 == 0 /\ -t_24^post229+t_24^0 == 0 /\ -ct_18^post229+ct_18^0 == 0 /\ a_633^0-a_633^post229 == 0 /\ a_576^0-a_576^post229 == 0 /\ -a_579^post229+a_579^0 == 0 /\ a_610^0-a_610^post229 == 0 /\ a_947^0-a_947^post229 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post229 == 0 /\ rcd_58^0-rcd_58^post229 == 0 /\ -rcd_47^post229+rcd_47^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post229 == 0 /\ a_394^0-a_394^post229 == 0 /\ -x_975^post229+x_975^0 == 0 /\ -i_197^post229+i_197^0 == 0 /\ r_151^0-r_151^post229 == 0), cost: 1 New rule: l143 -> l144 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, length_29^0'=nondet_12^112, head_32^0'=0, i_30^0'=0, 0 == 0, cost: 1 Applied preprocessing Original rule: l145 -> l49 : a_1089^0'=a_1089^post230, f_847^0'=f_847^post230, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post230, a_394^0'=a_394^post230, x_156^0'=x_156^post230, a_632^0'=a_632^post230, r_192^0'=r_192^post230, a_176^0'=a_176^post230, i_106^0'=i_106^post230, a_430^0'=a_430^post230, t_458^0'=t_458^post230, len_161^0'=len_161^post230, x_975^0'=x_975^post230, a_902^0'=a_902^post230, a_947^0'=a_947^post230, rcd_88^0'=rcd_88^post230, a_311^0'=a_311^post230, i_140^0'=i_140^post230, a_577^0'=a_577^post230, x_14^0'=x_14^post230, nondet_12^0'=nondet_12^post230, a_121^0'=a_121^post230, head_15^0'=head_15^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230, i_27^0'=i_27^post230, x_21^0'=x_21^post230, a_634^0'=a_634^post230, r_39^0'=r_39^post230, a_263^0'=a_263^post230, i_113^0'=i_113^post230, a_432^0'=a_432^post230, temp0_31^0'=temp0_31^post230, len_262^0'=len_262^post230, y_20^0'=y_20^post230, f_248^0'=f_248^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, a_393^0'=a_393^post230, i_229^0'=i_229^post230, a_610^0'=a_610^post230, r_151^0'=r_151^post230, a_144^0'=a_144^post230, i_1053^0'=i_1053^post230, a_417^0'=a_417^post230, t_24^0'=t_24^post230, i_94^0'=i_94^post230, x_852^0'=x_852^post230, a_862^0'=a_862^post230, rcd_1249^0'=rcd_1249^post230, rcd_58^0'=rcd_58^post230, a_310^0'=a_310^post230, i_127^0'=i_127^post230, a_576^0'=a_576^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, a_1162^0'=a_1162^post230, f_969^0'=f_969^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230, a_395^0'=a_395^post230, x_17^0'=x_17^post230, a_633^0'=a_633^post230, r_224^0'=r_224^post230, a_239^0'=a_239^post230, i_107^0'=i_107^post230, a_431^0'=a_431^post230, temp0_16^0'=temp0_16^post230, len_238^0'=len_238^post230, x_SLAM_f_19^0'=x_SLAM_f_19^post230, a_924^0'=a_924^post230, ct_18^0'=ct_18^post230, result_11^0'=result_11^post230, a_392^0'=a_392^post230, i_197^0'=i_197^post230, a_579^0'=a_579^post230, r_143^0'=r_143^post230, a_1236^0'=a_1236^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230, i_30^0'=i_30^post230, x_253^0'=x_253^post230, a_635^0'=a_635^post230, r_970^0'=r_970^post230, rcd_47^0'=rcd_47^post230, a_309^0'=a_309^post230, i_1248^0'=i_1248^post230, a_575^0'=a_575^post230, temp_35^0'=temp_35^post230, len_861^0'=len_861^post230, (0 == 0 /\ a_1089^0-a_1089^post230 == 0 /\ -i_197^post230+i_197^0 == 0 /\ a_394^0-a_394^post230 == 0 /\ -head_15^post230+x_14^post230 <= 0 /\ -head_15^post230+x_14^post230 == 0 /\ -rcd_1249^post230+rcd_1249^0 == 0 /\ -r_970^post230+r_970^0 == 0 /\ i_1053^0-i_1053^post230 == 0 /\ f_969^0-f_969^post230 == 0 /\ rcd_58^0-rcd_58^post230 == 0 /\ a_430^0-a_430^post230 == 0 /\ -a_417^post230+a_417^0 == 0 /\ i_140^0-i_140^post230 == 0 /\ -ct_18^post230+ct_18^0 == 0 /\ t_458^0-t_458^post230 == 0 /\ a_632^0-a_632^post230 == 0 /\ -a_1162^post230+a_1162^0 == 0 /\ -x_253^post230+x_253^0 == 0 /\ len_161^0-len_161^post230 == 0 /\ result_11^10-temp0_31^10 == 0 /\ a_634^0-a_634^post230 == 0 /\ a_310^0-a_310^post230 == 0 /\ a_311^0-a_311^post230 == 0 /\ length_29^0-i_30^0 <= 0 /\ -f_248^post230+f_248^0 == 0 /\ a_263^0-a_263^post230 == 0 /\ head_15^post230-x_14^post230 <= 0 /\ -len_861^post230+len_861^0 == 0 /\ -rcd_88^post230+rcd_88^0 == 0 /\ x_21^0-x_21^post230 == 0 /\ -a_577^post230+a_577^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post230 <= 0 /\ a_1236^0-a_1236^post230 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post230 == 0 /\ -i_1248^post230+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post230 == 0 /\ a_176^0-a_176^post230 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ y_20^0-y_20^post230 == 0 /\ -a_395^post230+a_395^0 == 0 /\ len_262^0-len_262^post230 == 0 /\ -a_576^post230+a_576^0 == 0 /\ a_121^0-a_121^post230 == 0 /\ -a_924^post230+a_924^0 == 0 /\ x_156^0-x_156^post230 == 0 /\ -r_143^post230+r_143^0 == 0 /\ f_847^0-f_847^post230 == 0 /\ -a_575^post230+a_575^0 == 0 /\ -x_852^post230+x_852^0 == 0 /\ -a_309^post230+a_309^0 == 0 /\ -a_144^post230+a_144^0 == 0 /\ i_27^0-i_27^post230 == 0 /\ r_192^0-r_192^post230 == 0 /\ -x_17^post230+x_17^0 == 0 /\ t_24^0-t_24^post230 == 0 /\ i_107^0-i_107^post230 == 0 /\ head_15^post230-result_11^10 == 0 /\ a_393^0-a_393^post230 == 0 /\ -temp0_16^post230+temp0_16^0 == 0 /\ a_635^0-a_635^post230 == 0 /\ i_94^0-i_94^post230 == 0 /\ i_113^0-i_113^post230 == 0 /\ temp0_31^10-head_32^0 == 0 /\ a_862^0-a_862^post230 == 0 /\ -len_238^post230+len_238^0 == 0 /\ -r_151^post230+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post230+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_229^0-i_229^post230 == 0 /\ -a_610^post230+a_610^0 == 0 /\ a_432^0-a_432^post230 == 0 /\ a_431^0-a_431^post230 == 0 /\ a_902^0-a_902^post230 == 0 /\ a_239^0-a_239^post230 == 0 /\ r_39^0-r_39^post230 == 0 /\ nondet_12^0-nondet_12^post230 == 0 /\ -a_633^post230+a_633^0 == 0 /\ r_224^0-r_224^post230 == 0 /\ x_975^0-x_975^post230 == 0 /\ -i_127^post230+i_127^0 == 0 /\ -rcd_47^post230+rcd_47^0 == 0 /\ -a_579^post230+a_579^0 == 0 /\ i_106^0-i_106^post230 == 0 /\ -a_392^post230+a_392^0 == 0 /\ a_947^0-a_947^post230 == 0), cost: 1 New rule: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 Applied preprocessing Original rule: l145 -> l146 : a_1089^0'=a_1089^post231, f_847^0'=f_847^post231, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post231, a_394^0'=a_394^post231, x_156^0'=x_156^post231, a_632^0'=a_632^post231, r_192^0'=r_192^post231, a_176^0'=a_176^post231, i_106^0'=i_106^post231, a_430^0'=a_430^post231, t_458^0'=t_458^post231, len_161^0'=len_161^post231, x_975^0'=x_975^post231, a_902^0'=a_902^post231, a_947^0'=a_947^post231, rcd_88^0'=rcd_88^post231, a_311^0'=a_311^post231, i_140^0'=i_140^post231, a_577^0'=a_577^post231, x_14^0'=x_14^post231, nondet_12^0'=nondet_12^post231, a_121^0'=a_121^post231, head_15^0'=head_15^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231, i_27^0'=i_27^post231, x_21^0'=x_21^post231, a_634^0'=a_634^post231, r_39^0'=r_39^post231, a_263^0'=a_263^post231, i_113^0'=i_113^post231, a_432^0'=a_432^post231, temp0_31^0'=temp0_31^post231, len_262^0'=len_262^post231, y_20^0'=y_20^post231, f_248^0'=f_248^post231, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231, a_393^0'=a_393^post231, i_229^0'=i_229^post231, a_610^0'=a_610^post231, r_151^0'=r_151^post231, a_144^0'=a_144^post231, i_1053^0'=i_1053^post231, a_417^0'=a_417^post231, t_24^0'=t_24^post231, i_94^0'=i_94^post231, x_852^0'=x_852^post231, a_862^0'=a_862^post231, rcd_1249^0'=rcd_1249^post231, rcd_58^0'=rcd_58^post231, a_310^0'=a_310^post231, i_127^0'=i_127^post231, a_576^0'=a_576^post231, tmp_34^0'=tmp_34^post231, length_29^0'=length_29^post231, a_1162^0'=a_1162^post231, f_969^0'=f_969^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231, a_395^0'=a_395^post231, x_17^0'=x_17^post231, a_633^0'=a_633^post231, r_224^0'=r_224^post231, a_239^0'=a_239^post231, i_107^0'=i_107^post231, a_431^0'=a_431^post231, temp0_16^0'=temp0_16^post231, len_238^0'=len_238^post231, x_SLAM_f_19^0'=x_SLAM_f_19^post231, a_924^0'=a_924^post231, ct_18^0'=ct_18^post231, result_11^0'=result_11^post231, a_392^0'=a_392^post231, i_197^0'=i_197^post231, a_579^0'=a_579^post231, r_143^0'=r_143^post231, a_1236^0'=a_1236^post231, head_32^0'=head_32^post231, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231, i_30^0'=i_30^post231, x_253^0'=x_253^post231, a_635^0'=a_635^post231, r_970^0'=r_970^post231, rcd_47^0'=rcd_47^post231, a_309^0'=a_309^post231, i_1248^0'=i_1248^post231, a_575^0'=a_575^post231, temp_35^0'=temp_35^post231, len_861^0'=len_861^post231, (0 == 0 /\ 2-i_30^post231 <= 0 /\ x_156^0-x_156^post231 == 0 /\ 2-length_29^0 <= 0 /\ -r_151^post231+r_151^0 == 0 /\ -a_575^post231+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post231 == 0 /\ -r_143^post231+r_143^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+head_32^post231 <= 0 /\ a_579^0-a_579^post231 == 0 /\ a_632^0-a_632^post231 == 0 /\ a_430^0-a_430^post231 == 0 /\ x_975^0-x_975^post231 == 0 /\ len_262^0-len_262^post231 == 0 /\ -a_576^post231+a_576^0 == 0 /\ a_577^0-a_577^post231 == 0 /\ a_902^0-a_902^post231 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post231+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_31^0-temp0_31^post231 == 0 /\ -a_309^post231+a_309^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-tmp_34^post231 <= 0 /\ i_229^0-i_229^post231 == 0 /\ a_1162^0-a_1162^post231 == 0 /\ a_634^0-a_634^post231 == 0 /\ -a_144^post231+a_144^0 == 0 /\ -x_SLAM_f_19^post231+x_SLAM_f_19^0 == 0 /\ a_394^0-a_394^post231 == 0 /\ -len_238^post231+len_238^0 == 0 /\ -a_610^post231+a_610^0 == 0 /\ a_310^0-a_310^post231 == 0 /\ -a_1236^post231+a_1236^0 == 0 /\ i_1053^0-i_1053^post231 == 0 /\ a_176^0-a_176^post231 == 0 /\ -a_633^post231+a_633^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231-head_32^post231 <= 0 /\ tmp_34^post231-temp_35^0 == 0 /\ i_140^0-i_140^post231 == 0 /\ -rcd_47^post231+rcd_47^0 == 0 /\ -f_969^post231+f_969^0 == 0 /\ -i_27^post231+i_27^0 == 0 /\ f_847^0-f_847^post231 == 0 /\ a_392^0-a_392^post231 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post231+tmp_34^post231 <= 0 /\ 1-length_29^0 <= 0 /\ t_24^0-t_24^post231 == 0 /\ -length_29^post231+length_29^0 == 0 /\ -1+i_30^post231-i_30^0 == 0 /\ -r_192^post231+r_192^0 == 0 /\ -ct_18^post231+ct_18^0 == 0 /\ -2+i_30^post231 <= 0 /\ -i_127^post231+i_127^0 == 0 /\ i_94^0-i_94^post231 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post231 == 0 /\ -a_431^post231+a_431^0 == 0 /\ -head_15^post231+head_15^0 == 0 /\ -x_253^post231+x_253^0 == 0 /\ -i_197^post231+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post231-length_29^0 <= 0 /\ -x_852^post231+x_852^0 == 0 /\ -a_311^post231+a_311^0 == 0 /\ y_20^0-y_20^post231 == 0 /\ a_432^0-a_432^post231 == 0 /\ a_862^0-a_862^post231 == 0 /\ i_113^0-i_113^post231 == 0 /\ r_970^0-r_970^post231 == 0 /\ -len_161^post231+len_161^0 == 0 /\ a_121^0-a_121^post231 == 0 /\ x_21^0-x_21^post231 == 0 /\ -rcd_88^post231+rcd_88^0 == 0 /\ -tmp_34^post231+head_32^post231 <= 0 /\ -tmp_34^post231+head_32^post231 == 0 /\ nondet_12^0-nondet_12^post231 == 0 /\ -temp0_16^post231+temp0_16^0 == 0 /\ a_947^0-a_947^post231 == 0 /\ -len_861^post231+len_861^0 == 0 /\ -a_417^post231+a_417^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post231+length_29^0 <= 0 /\ a_395^0-a_395^post231 == 0 /\ -f_248^post231+f_248^0 == 0 /\ x_14^0-x_14^post231 == 0 /\ -result_11^post231+result_11^0 == 0 /\ i_107^0-i_107^post231 == 0 /\ -rcd_1249^post231+rcd_1249^0 == 0 /\ r_39^0-r_39^post231 == 0 /\ t_458^0-t_458^post231 == 0 /\ -a_924^post231+a_924^0 == 0 /\ -r_224^post231+r_224^0 == 0 /\ -i_1248^post231+i_1248^0 == 0 /\ tmp_34^post231-head_32^post231 <= 0 /\ -a_393^post231+a_393^0 == 0 /\ a_1089^0-a_1089^post231 == 0 /\ -a_239^post231+a_239^0 == 0 /\ -x_17^post231+x_17^0 == 0 /\ i_106^0-i_106^post231 == 0 /\ a_263^0-a_263^post231 == 0 /\ -a_635^post231+a_635^0 == 0), cost: 1 New rule: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 Applied preprocessing Original rule: l120 -> l151 : a_1089^0'=a_1089^post238, f_847^0'=f_847^post238, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, a_394^0'=a_394^post238, x_156^0'=x_156^post238, a_632^0'=a_632^post238, r_192^0'=r_192^post238, a_176^0'=a_176^post238, i_106^0'=i_106^post238, a_430^0'=a_430^post238, t_458^0'=t_458^post238, len_161^0'=len_161^post238, x_975^0'=x_975^post238, a_902^0'=a_902^post238, a_947^0'=a_947^post238, rcd_88^0'=rcd_88^post238, a_311^0'=a_311^post238, i_140^0'=i_140^post238, a_577^0'=a_577^post238, x_14^0'=x_14^post238, nondet_12^0'=nondet_12^post238, a_121^0'=a_121^post238, head_15^0'=head_15^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238, i_27^0'=i_27^post238, x_21^0'=x_21^post238, a_634^0'=a_634^post238, r_39^0'=r_39^post238, a_263^0'=a_263^post238, i_113^0'=i_113^post238, a_432^0'=a_432^post238, temp0_31^0'=temp0_31^post238, len_262^0'=len_262^post238, y_20^0'=y_20^post238, f_248^0'=f_248^post238, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238, a_393^0'=a_393^post238, i_229^0'=i_229^post238, a_610^0'=a_610^post238, r_151^0'=r_151^post238, a_144^0'=a_144^post238, i_1053^0'=i_1053^post238, a_417^0'=a_417^post238, t_24^0'=t_24^post238, i_94^0'=i_94^post238, x_852^0'=x_852^post238, a_862^0'=a_862^post238, rcd_1249^0'=rcd_1249^post238, rcd_58^0'=rcd_58^post238, a_310^0'=a_310^post238, i_127^0'=i_127^post238, a_576^0'=a_576^post238, tmp_34^0'=tmp_34^post238, length_29^0'=length_29^post238, a_1162^0'=a_1162^post238, f_969^0'=f_969^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238, a_395^0'=a_395^post238, x_17^0'=x_17^post238, a_633^0'=a_633^post238, r_224^0'=r_224^post238, a_239^0'=a_239^post238, i_107^0'=i_107^post238, a_431^0'=a_431^post238, temp0_16^0'=temp0_16^post238, len_238^0'=len_238^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, a_924^0'=a_924^post238, ct_18^0'=ct_18^post238, result_11^0'=result_11^post238, a_392^0'=a_392^post238, i_197^0'=i_197^post238, a_579^0'=a_579^post238, r_143^0'=r_143^post238, a_1236^0'=a_1236^post238, head_32^0'=head_32^post238, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238, i_30^0'=i_30^post238, x_253^0'=x_253^post238, a_635^0'=a_635^post238, r_970^0'=r_970^post238, rcd_47^0'=rcd_47^post238, a_309^0'=a_309^post238, i_1248^0'=i_1248^post238, a_575^0'=a_575^post238, temp_35^0'=temp_35^post238, len_861^0'=len_861^post238, (0 == 0 /\ -a_393^post238+a_393^0 == 0 /\ x_21^0-x_21^post238 == 0 /\ i_229^0-i_229^post238 == 0 /\ -a_576^post238+a_576^0 == 0 /\ x_156^0-x_156^post238 == 0 /\ f_847^0-f_847^post238 == 0 /\ -i_30^post238+i_30^0 == 0 /\ -a_392^post238+a_392^0 == 0 /\ i_94^0-i_94^post238 == 0 /\ temp0_31^0-temp0_31^post238 == 0 /\ a_121^0-a_121^post238 == 0 /\ -len_861^post238+len_861^0 == 0 /\ -temp0_16^post238+temp0_16^0 == 0 /\ a_417^0-a_417^post238 == 0 /\ -i_1248^post238+i_1248^0 == 0 /\ -a_1236^post238+a_1236^0 == 0 /\ -a_635^post238+a_635^0 == 0 /\ len_262^0-len_262^post238 == 0 /\ a_394^0-a_394^post238 == 0 /\ -a_144^post238+a_144^0 == 0 /\ -a_239^post238+a_239^0 == 0 /\ -rcd_47^post238+rcd_47^0 == 0 /\ a_577^0-a_577^post238 == 0 /\ -len_238^post238+len_238^0 == 0 /\ -a_610^post238+a_610^0 == 0 /\ -a_633^post238+a_633^0 == 0 /\ -length_29^post238+length_29^0 == 0 /\ i_1053^0-i_1053^post238 == 0 /\ i_106^0-i_106^post238 == 0 /\ -rcd_58^post238+rcd_58^0 == 0 /\ -a_1162^0 <= 0 /\ -a_575^post238+a_575^0 == 0 /\ -a_862^post238+a_862^0 == 0 /\ -i_197^post238+i_197^0 == 0 /\ -a_309^post238+a_309^0 == 0 /\ a_430^0-a_430^post238 == 0 /\ -a_579^post238+a_579^0 == 0 /\ a_1089^0-a_1089^post238 == 0 /\ -a_902^post238+a_902^0 == 0 /\ -r_151^post238+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -head_32^post238+head_32^0 == 0 /\ a_263^0-a_263^post238 == 0 /\ -i_127^post238+i_127^0 == 0 /\ y_20^0-y_20^post238 == 0 /\ -x_253^post238+x_253^0 == 0 /\ a_432^0-a_432^post238 == 0 /\ -a_1162^post238+a_1162^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post238+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_924^post238+a_924^0 == 0 /\ -result_11^post238+result_11^0 == 0 /\ -x_852^post238+x_852^0 == 0 /\ f_248^0-f_248^post238 == 0 /\ a_431^0-a_431^post238 == 0 /\ a_176^0-a_176^post238 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post238 == 0 /\ -r_970^post238+r_970^0 == 0 /\ i_113^0-i_113^post238 == 0 /\ -a_311^post238+a_311^0 == 0 /\ x_975^0-x_975^post238 == 0 /\ -f_969^post238+f_969^0 == 0 /\ r_224^0-r_224^post238 == 0 /\ -tmp_34^post238+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post238+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_947^0-a_947^post238 == 0 /\ -rcd_88^post238+rcd_88^0 == 0 /\ -a_395^post238+a_395^0 == 0 /\ r_192^0-r_192^post238 == 0 /\ a_310^0-a_310^post238 == 0 /\ i_107^0-i_107^post238 == 0 /\ -r_143^post238+r_143^0 == 0 /\ i_140^0-i_140^post238 == 0 /\ t_458^0-t_458^post238 == 0 /\ -temp_35^post238+temp_35^0 == 0 /\ -rcd_1249^post238+rcd_1249^0 == 0 /\ len_161^0-len_161^post238 == 0 /\ -nondet_12^post238+nondet_12^0 == 0 /\ t_24^0-t_24^post238 == 0 /\ -a_634^post238+a_634^0 == 0 /\ a_632^0-a_632^post238 == 0), cost: 1 New rule: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 Applied preprocessing Original rule: l151 -> l152 : a_1089^0'=a_1089^post239, f_847^0'=f_847^post239, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post239, a_394^0'=a_394^post239, x_156^0'=x_156^post239, a_632^0'=a_632^post239, r_192^0'=r_192^post239, a_176^0'=a_176^post239, i_106^0'=i_106^post239, a_430^0'=a_430^post239, t_458^0'=t_458^post239, len_161^0'=len_161^post239, x_975^0'=x_975^post239, a_902^0'=a_902^post239, a_947^0'=a_947^post239, rcd_88^0'=rcd_88^post239, a_311^0'=a_311^post239, i_140^0'=i_140^post239, a_577^0'=a_577^post239, x_14^0'=x_14^post239, nondet_12^0'=nondet_12^post239, a_121^0'=a_121^post239, head_15^0'=head_15^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239, i_27^0'=i_27^post239, x_21^0'=x_21^post239, a_634^0'=a_634^post239, r_39^0'=r_39^post239, a_263^0'=a_263^post239, i_113^0'=i_113^post239, a_432^0'=a_432^post239, temp0_31^0'=temp0_31^post239, len_262^0'=len_262^post239, y_20^0'=y_20^post239, f_248^0'=f_248^post239, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239, a_393^0'=a_393^post239, i_229^0'=i_229^post239, a_610^0'=a_610^post239, r_151^0'=r_151^post239, a_144^0'=a_144^post239, i_1053^0'=i_1053^post239, a_417^0'=a_417^post239, t_24^0'=t_24^post239, i_94^0'=i_94^post239, x_852^0'=x_852^post239, a_862^0'=a_862^post239, rcd_1249^0'=rcd_1249^post239, rcd_58^0'=rcd_58^post239, a_310^0'=a_310^post239, i_127^0'=i_127^post239, a_576^0'=a_576^post239, tmp_34^0'=tmp_34^post239, length_29^0'=length_29^post239, a_1162^0'=a_1162^post239, f_969^0'=f_969^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239, a_395^0'=a_395^post239, x_17^0'=x_17^post239, a_633^0'=a_633^post239, r_224^0'=r_224^post239, a_239^0'=a_239^post239, i_107^0'=i_107^post239, a_431^0'=a_431^post239, temp0_16^0'=temp0_16^post239, len_238^0'=len_238^post239, x_SLAM_f_19^0'=x_SLAM_f_19^post239, a_924^0'=a_924^post239, ct_18^0'=ct_18^post239, result_11^0'=result_11^post239, a_392^0'=a_392^post239, i_197^0'=i_197^post239, a_579^0'=a_579^post239, r_143^0'=r_143^post239, a_1236^0'=a_1236^post239, head_32^0'=head_32^post239, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239, i_30^0'=i_30^post239, x_253^0'=x_253^post239, a_635^0'=a_635^post239, r_970^0'=r_970^post239, rcd_47^0'=rcd_47^post239, a_309^0'=a_309^post239, i_1248^0'=i_1248^post239, a_575^0'=a_575^post239, temp_35^0'=temp_35^post239, len_861^0'=len_861^post239, (-temp_35^post239+temp_35^0 == 0 /\ -rcd_1249^post239+rcd_1249^0 == 0 /\ -x_852^post239+x_852^0 == 0 /\ a_947^0-a_947^post239 == 0 /\ -r_970^post239+r_970^0 == 0 /\ i_27^0-i_27^post239 == 0 /\ r_192^0-r_192^post239 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post239+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_1053^0-i_1053^post239 == 0 /\ -a_924^post239+a_924^0 == 0 /\ a_395^0-a_395^post239 == 0 /\ a_176^0-a_176^post239 == 0 /\ r_39^0-r_39^post239 == 0 /\ -a_610^post239+a_610^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post239 == 0 /\ -ct_18^post239+ct_18^0 == 0 /\ -tmp_34^post239+tmp_34^0 == 0 /\ a_310^0-a_310^post239 == 0 /\ -y_20^post239+y_20^0 == 0 /\ -x_253^post239+x_253^0 == 0 /\ -head_15^post239+head_15^0 == 0 /\ a_1089^0-a_1089^post239 == 0 /\ a_263^0-a_263^post239 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_311^post239+a_311^0 == 0 /\ -f_248^post239+f_248^0 == 0 /\ -temp0_16^post239+temp0_16^0 == 0 /\ a_632^0-a_632^post239 == 0 /\ a_432^0-a_432^post239 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post239 == 0 /\ i_197^0-i_197^post239 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -i_1248^post239+i_1248^0 == 0 /\ nondet_12^0-nondet_12^post239 == 0 /\ -a_239^post239+a_239^0 == 0 /\ x_975^0-x_975^post239 == 0 /\ -result_11^post239+result_11^0 == 0 /\ i_229^0-i_229^post239 == 0 /\ a_634^0-a_634^post239 == 0 /\ a_121^0-a_121^post239 == 0 /\ -a_393^post239+a_393^0 == 0 /\ i_113^0-i_113^post239 == 0 /\ -a_392^post239+a_392^0 == 0 /\ -r_143^post239+r_143^0 == 0 /\ a_394^0-a_394^post239 == 0 /\ -a_576^post239+a_576^0 == 0 /\ i_30^0-i_30^post239 == 0 /\ -a_635^post239+a_635^0 == 0 /\ -a_144^post239+a_144^0 == 0 /\ f_969^0-f_969^post239 == 0 /\ -a_575^post239+a_575^0 == 0 /\ x_14^0-x_14^post239 == 0 /\ -a_417^post239+a_417^0 == 0 /\ a_430^0-a_430^post239 == 0 /\ -len_861^post239+len_861^0 == 0 /\ -a_309^post239+a_309^0 == 0 /\ t_24^0-t_24^post239 == 0 /\ i_107^0-i_107^post239 == 0 /\ -a_1236^post239+a_1236^0 == 0 /\ len_161^0-len_161^post239 == 0 /\ rcd_88^0-rcd_88^post239 == 0 /\ f_847^0-f_847^post239 == 0 /\ -a_902^post239+a_902^0 == 0 /\ -rcd_58^post239+rcd_58^0 == 0 /\ -i_106^post239+i_106^0 == 0 /\ -length_29^post239+length_29^0 == 0 /\ x_21^0-x_21^post239 == 0 /\ -rcd_47^post239+rcd_47^0 == 0 /\ -len_238^post239+len_238^0 == 0 /\ -r_151^post239+r_151^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post239+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post239 == 0 /\ -head_32^post239+head_32^0 == 0 /\ r_224^0-r_224^post239 == 0 /\ -a_579^post239+a_579^0 == 0 /\ a_431^0-a_431^post239 == 0 /\ temp0_31^0-temp0_31^post239 == 0 /\ len_262^0-len_262^post239 == 0 /\ a_862^0-a_862^post239 == 0 /\ -a_633^post239+a_633^0 == 0 /\ i_94^0-i_94^post239 == 0 /\ a_1162^0-a_1162^post239 == 0 /\ -i_127^post239+i_127^0 == 0 /\ a_577^0-a_577^post239 == 0 /\ x_156^0-x_156^post239 == 0 /\ -t_458^post239+t_458^0 == 0 /\ x_17^0-x_17^post239 == 0), cost: 1 New rule: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l151 -> l152 : a_1089^0'=a_1089^post240, f_847^0'=f_847^post240, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post240, a_394^0'=a_394^post240, x_156^0'=x_156^post240, a_632^0'=a_632^post240, r_192^0'=r_192^post240, a_176^0'=a_176^post240, i_106^0'=i_106^post240, a_430^0'=a_430^post240, t_458^0'=t_458^post240, len_161^0'=len_161^post240, x_975^0'=x_975^post240, a_902^0'=a_902^post240, a_947^0'=a_947^post240, rcd_88^0'=rcd_88^post240, a_311^0'=a_311^post240, i_140^0'=i_140^post240, a_577^0'=a_577^post240, x_14^0'=x_14^post240, nondet_12^0'=nondet_12^post240, a_121^0'=a_121^post240, head_15^0'=head_15^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240, i_27^0'=i_27^post240, x_21^0'=x_21^post240, a_634^0'=a_634^post240, r_39^0'=r_39^post240, a_263^0'=a_263^post240, i_113^0'=i_113^post240, a_432^0'=a_432^post240, temp0_31^0'=temp0_31^post240, len_262^0'=len_262^post240, y_20^0'=y_20^post240, f_248^0'=f_248^post240, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240, a_393^0'=a_393^post240, i_229^0'=i_229^post240, a_610^0'=a_610^post240, r_151^0'=r_151^post240, a_144^0'=a_144^post240, i_1053^0'=i_1053^post240, a_417^0'=a_417^post240, t_24^0'=t_24^post240, i_94^0'=i_94^post240, x_852^0'=x_852^post240, a_862^0'=a_862^post240, rcd_1249^0'=rcd_1249^post240, rcd_58^0'=rcd_58^post240, a_310^0'=a_310^post240, i_127^0'=i_127^post240, a_576^0'=a_576^post240, tmp_34^0'=tmp_34^post240, length_29^0'=length_29^post240, a_1162^0'=a_1162^post240, f_969^0'=f_969^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240, a_395^0'=a_395^post240, x_17^0'=x_17^post240, a_633^0'=a_633^post240, r_224^0'=r_224^post240, a_239^0'=a_239^post240, i_107^0'=i_107^post240, a_431^0'=a_431^post240, temp0_16^0'=temp0_16^post240, len_238^0'=len_238^post240, x_SLAM_f_19^0'=x_SLAM_f_19^post240, a_924^0'=a_924^post240, ct_18^0'=ct_18^post240, result_11^0'=result_11^post240, a_392^0'=a_392^post240, i_197^0'=i_197^post240, a_579^0'=a_579^post240, r_143^0'=r_143^post240, a_1236^0'=a_1236^post240, head_32^0'=head_32^post240, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240, i_30^0'=i_30^post240, x_253^0'=x_253^post240, a_635^0'=a_635^post240, r_970^0'=r_970^post240, rcd_47^0'=rcd_47^post240, a_309^0'=a_309^post240, i_1248^0'=i_1248^post240, a_575^0'=a_575^post240, temp_35^0'=temp_35^post240, len_861^0'=len_861^post240, (-a_576^post240+a_576^0 == 0 /\ i_229^0-i_229^post240 == 0 /\ -a_309^post240+a_309^0 == 0 /\ -a_635^post240+a_635^0 == 0 /\ -a_393^post240+a_393^0 == 0 /\ -r_143^post240+r_143^0 == 0 /\ f_248^0-f_248^post240 == 0 /\ -i_27^post240+i_27^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -length_29^post240+length_29^0 == 0 /\ a_121^0-a_121^post240 == 0 /\ a_634^0-a_634^post240 == 0 /\ -a_417^post240+a_417^0 == 0 /\ i_127^0-i_127^post240 == 0 /\ -i_107^post240+i_107^0 == 0 /\ len_262^0-len_262^post240 == 0 /\ x_156^0-x_156^post240 == 0 /\ a_947^0-a_947^post240 == 0 /\ -a_575^post240+a_575^0 == 0 /\ -a_1236^post240+a_1236^0 == 0 /\ head_15^0-head_15^post240 == 0 /\ a_577^0-a_577^post240 == 0 /\ -len_238^post240+len_238^0 == 0 /\ a_176^0-a_176^post240 == 0 /\ -rcd_47^post240+rcd_47^0 == 0 /\ -a_310^post240+a_310^0 == 0 /\ r_192^0-r_192^post240 == 0 /\ -ct_18^post240+ct_18^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post240 == 0 /\ -r_151^post240+r_151^0 == 0 /\ a_632^0-a_632^post240 == 0 /\ x_14^0-x_14^post240 == 0 /\ a_430^0-a_430^post240 == 0 /\ -a_902^post240+a_902^0 == 0 /\ -a_392^post240+a_392^0 == 0 /\ rcd_1249^0-rcd_1249^post240 == 0 /\ a_1089^0-a_1089^post240 == 0 /\ -a_862^post240+a_862^0 == 0 /\ -head_32^post240+head_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post240+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_11^post240+result_11^0 == 0 /\ a_633^0-a_633^post240 == 0 /\ y_20^0-y_20^post240 == 0 /\ f_847^0-f_847^post240 == 0 /\ a_432^0-a_432^post240 == 0 /\ temp0_16^0-temp0_16^post240 == 0 /\ -i_197^post240+i_197^0 == 0 /\ -a_579^post240+a_579^0 == 0 /\ -temp_35^post240+temp_35^0 == 0 /\ -x_253^post240+x_253^0 == 0 /\ x_21^0-x_21^post240 == 0 /\ x_975^0-x_975^post240 == 0 /\ f_969^0-f_969^post240 == 0 /\ -a_263^post240+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post240 == 0 /\ a_431^0-a_431^post240 == 0 /\ i_94^0-i_94^post240 == 0 /\ -rcd_58^post240+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post240 == 0 /\ r_970^0-r_970^post240 == 0 /\ a_394^0-a_394^post240 == 0 /\ -a_311^post240+a_311^0 == 0 /\ a_144^0-a_144^post240 == 0 /\ i_113^0-i_113^post240 == 0 /\ -x_852^post240+x_852^0 == 0 /\ x_17^0-x_17^post240 == 0 /\ -a_395^post240+a_395^0 == 0 /\ -rcd_88^post240+rcd_88^0 == 0 /\ -i_1248^post240+i_1248^0 == 0 /\ -a_239^post240+a_239^0 == 0 /\ -tmp_34^post240+tmp_34^0 == 0 /\ a_610^0-a_610^post240 == 0 /\ -a_1162^post240+a_1162^0 == 0 /\ t_24^0-t_24^post240 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post240 == 0 /\ i_106^0-i_106^post240 == 0 /\ -i_1053^post240+i_1053^0 == 0 /\ i_140^0-i_140^post240 == 0 /\ -i_30^post240+i_30^0 == 0 /\ len_161^0-len_161^post240 == 0 /\ -r_224^post240+r_224^0 == 0 /\ t_458^0-t_458^post240 == 0 /\ -a_924^post240+a_924^0 == 0 /\ r_39^0-r_39^post240 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post240+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_861^post240+len_861^0 == 0), cost: 1 New rule: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l152 -> l153 : a_1089^0'=a_1089^post241, f_847^0'=f_847^post241, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post241, a_394^0'=a_394^post241, x_156^0'=x_156^post241, a_632^0'=a_632^post241, r_192^0'=r_192^post241, a_176^0'=a_176^post241, i_106^0'=i_106^post241, a_430^0'=a_430^post241, t_458^0'=t_458^post241, len_161^0'=len_161^post241, x_975^0'=x_975^post241, a_902^0'=a_902^post241, a_947^0'=a_947^post241, rcd_88^0'=rcd_88^post241, a_311^0'=a_311^post241, i_140^0'=i_140^post241, a_577^0'=a_577^post241, x_14^0'=x_14^post241, nondet_12^0'=nondet_12^post241, a_121^0'=a_121^post241, head_15^0'=head_15^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241, i_27^0'=i_27^post241, x_21^0'=x_21^post241, a_634^0'=a_634^post241, r_39^0'=r_39^post241, a_263^0'=a_263^post241, i_113^0'=i_113^post241, a_432^0'=a_432^post241, temp0_31^0'=temp0_31^post241, len_262^0'=len_262^post241, y_20^0'=y_20^post241, f_248^0'=f_248^post241, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241, a_393^0'=a_393^post241, i_229^0'=i_229^post241, a_610^0'=a_610^post241, r_151^0'=r_151^post241, a_144^0'=a_144^post241, i_1053^0'=i_1053^post241, a_417^0'=a_417^post241, t_24^0'=t_24^post241, i_94^0'=i_94^post241, x_852^0'=x_852^post241, a_862^0'=a_862^post241, rcd_1249^0'=rcd_1249^post241, rcd_58^0'=rcd_58^post241, a_310^0'=a_310^post241, i_127^0'=i_127^post241, a_576^0'=a_576^post241, tmp_34^0'=tmp_34^post241, length_29^0'=length_29^post241, a_1162^0'=a_1162^post241, f_969^0'=f_969^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241, a_395^0'=a_395^post241, x_17^0'=x_17^post241, a_633^0'=a_633^post241, r_224^0'=r_224^post241, a_239^0'=a_239^post241, i_107^0'=i_107^post241, a_431^0'=a_431^post241, temp0_16^0'=temp0_16^post241, len_238^0'=len_238^post241, x_SLAM_f_19^0'=x_SLAM_f_19^post241, a_924^0'=a_924^post241, ct_18^0'=ct_18^post241, result_11^0'=result_11^post241, a_392^0'=a_392^post241, i_197^0'=i_197^post241, a_579^0'=a_579^post241, r_143^0'=r_143^post241, a_1236^0'=a_1236^post241, head_32^0'=head_32^post241, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241, i_30^0'=i_30^post241, x_253^0'=x_253^post241, a_635^0'=a_635^post241, r_970^0'=r_970^post241, rcd_47^0'=rcd_47^post241, a_309^0'=a_309^post241, i_1248^0'=i_1248^post241, a_575^0'=a_575^post241, temp_35^0'=temp_35^post241, len_861^0'=len_861^post241, (0 == 0 /\ a_394^0-a_394^post241 == 0 /\ a_1089^0-a_1089^post241 == 0 /\ -x_253^post241+x_253^0 == 0 /\ -i_197^post241+i_197^0 == 0 /\ -temp_35^post241+temp_35^0 == 0 /\ -a_579^post241+a_579^0 == 0 /\ -head_32^post241+head_32^0 == 0 /\ -y_20^post241+y_20^0 == 0 /\ 1-a_1162^0+a_1236^post241 <= 0 /\ -a_431^post241+a_431^0 == 0 /\ -i_229^post241+i_229^0 == 0 /\ a_576^0-a_576^post241 == 0 /\ -ct_18^post241+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post241 == 0 /\ a_311^0-a_311^post241 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_852^0-x_852^post241 == 0 /\ -r_970^post241+r_970^0 == 0 /\ t_458^0-t_458^post241 == 0 /\ -x_14^0+x_17^0 <= 0 /\ -a_263^post241+a_263^0 == 0 /\ -a_395^post241+a_395^0 == 0 /\ rcd_88^0-rcd_88^post241 == 0 /\ -rcd_58^post241+rcd_58^0 == 0 /\ i_106^0-i_106^post241 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post241 == 0 /\ -len_861^post241+len_861^0 == 0 /\ -i_1053^post241+i_1053^0 == 0 /\ -i_1248^post241+i_1248^0 == 0 /\ -a_239^post241+a_239^0 == 0 /\ a_924^0-a_924^post241 == 0 /\ f_248^0-f_248^post241 == 0 /\ tmp_34^0-tmp_34^post241 == 0 /\ y_20^0 <= 0 /\ -a_393^post241+a_393^0 == 0 /\ x_21^0-x_21^post241 == 0 /\ len_262^0-len_262^post241 == 0 /\ a_610^0-a_610^post241 == 0 /\ -r_224^post241+r_224^0 == 0 /\ -x_17^post241+x_17^0 == 0 /\ nondet_12^0-nondet_12^post241 == 0 /\ x_14^0-x_17^0 <= 0 /\ x_975^0-x_975^post241 == 0 /\ temp0_31^0-temp0_31^post241 == 0 /\ -r_143^post241+r_143^0 == 0 /\ -result_11^post241+result_11^0 == 0 /\ -i_107^post241+i_107^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post241 == 0 /\ a_947^0-a_947^post241 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ x_14^0-x_14^post241 == 0 /\ len_238^0-len_238^post241 == 0 /\ -a_575^post241+a_575^0 == 0 /\ -a_309^post241+a_309^0 == 0 /\ a_176^0-a_176^post241 == 0 /\ -i_30^post241+i_30^0 == 0 /\ -x_SLAM_f_19^post241+x_SLAM_f_19^0 == 0 /\ -a_635^post241+a_635^0 == 0 /\ -y_20^0 <= 0 /\ i_27^0-i_27^post241 == 0 /\ a_121^0-a_121^post241 == 0 /\ f_969^0-f_969^post241 == 0 /\ -1+a_1162^0-a_1236^post241 <= 0 /\ -a_432^post241+a_432^0 == 0 /\ -a_632^post241+a_632^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ -i_113^post241+i_113^0 == 0 /\ a_430^0-a_430^post241 == 0 /\ rcd_1249^0-rcd_1249^post241 == 0 /\ len_161^0-len_161^post241 == 0 /\ x_14^0-head_15^0 <= 0 /\ head_15^0-x_17^0 <= 0 /\ -a_417^post241+a_417^0 == 0 /\ x_14^0-x_SLAM_f_19^0 <= 0 /\ t_24^post241-x_21^0 == 0 /\ x_156^0-x_156^post241 == 0 /\ f_847^0-f_847^post241 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -r_39^post241+r_39^0 == 0 /\ -a_862^post241+a_862^0 == 0 /\ a_1162^0-a_1162^post241 == 0 /\ head_15^0-head_15^post241 == 0 /\ -ct_18^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post241+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ temp0_16^0-temp0_16^post241 == 0 /\ r_151^0-r_151^post241 == 0 /\ -a_633^post241+a_633^0 == 0 /\ -rcd_47^post241+rcd_47^0 == 0 /\ r_192^0-r_192^post241 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -a_310^post241+a_310^0 == 0 /\ -i_140^post241+i_140^0 == 0 /\ i_127^0-i_127^post241 == 0 /\ a_902^0-a_902^post241 == 0 /\ -a_392^post241+a_392^0 == 0 /\ i_94^0-i_94^post241 == 0 /\ a_144^0-a_144^post241 == 0 /\ -x_14^0+head_15^0 <= 0 /\ -head_15^0+x_17^0 <= 0 /\ a_577^0-a_577^post241 == 0 /\ -x_14^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post241 == 0 /\ -length_29^post241+length_29^0 == 0), cost: 1 New rule: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 Applied preprocessing Original rule: l153 -> l154 : a_1089^0'=a_1089^post242, f_847^0'=f_847^post242, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post242, a_394^0'=a_394^post242, x_156^0'=x_156^post242, a_632^0'=a_632^post242, r_192^0'=r_192^post242, a_176^0'=a_176^post242, i_106^0'=i_106^post242, a_430^0'=a_430^post242, t_458^0'=t_458^post242, len_161^0'=len_161^post242, x_975^0'=x_975^post242, a_902^0'=a_902^post242, a_947^0'=a_947^post242, rcd_88^0'=rcd_88^post242, a_311^0'=a_311^post242, i_140^0'=i_140^post242, a_577^0'=a_577^post242, x_14^0'=x_14^post242, nondet_12^0'=nondet_12^post242, a_121^0'=a_121^post242, head_15^0'=head_15^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242, i_27^0'=i_27^post242, x_21^0'=x_21^post242, a_634^0'=a_634^post242, r_39^0'=r_39^post242, a_263^0'=a_263^post242, i_113^0'=i_113^post242, a_432^0'=a_432^post242, temp0_31^0'=temp0_31^post242, len_262^0'=len_262^post242, y_20^0'=y_20^post242, f_248^0'=f_248^post242, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242, a_393^0'=a_393^post242, i_229^0'=i_229^post242, a_610^0'=a_610^post242, r_151^0'=r_151^post242, a_144^0'=a_144^post242, i_1053^0'=i_1053^post242, a_417^0'=a_417^post242, t_24^0'=t_24^post242, i_94^0'=i_94^post242, x_852^0'=x_852^post242, a_862^0'=a_862^post242, rcd_1249^0'=rcd_1249^post242, rcd_58^0'=rcd_58^post242, a_310^0'=a_310^post242, i_127^0'=i_127^post242, a_576^0'=a_576^post242, tmp_34^0'=tmp_34^post242, length_29^0'=length_29^post242, a_1162^0'=a_1162^post242, f_969^0'=f_969^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242, a_395^0'=a_395^post242, x_17^0'=x_17^post242, a_633^0'=a_633^post242, r_224^0'=r_224^post242, a_239^0'=a_239^post242, i_107^0'=i_107^post242, a_431^0'=a_431^post242, temp0_16^0'=temp0_16^post242, len_238^0'=len_238^post242, x_SLAM_f_19^0'=x_SLAM_f_19^post242, a_924^0'=a_924^post242, ct_18^0'=ct_18^post242, result_11^0'=result_11^post242, a_392^0'=a_392^post242, i_197^0'=i_197^post242, a_579^0'=a_579^post242, r_143^0'=r_143^post242, a_1236^0'=a_1236^post242, head_32^0'=head_32^post242, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242, i_30^0'=i_30^post242, x_253^0'=x_253^post242, a_635^0'=a_635^post242, r_970^0'=r_970^post242, rcd_47^0'=rcd_47^post242, a_309^0'=a_309^post242, i_1248^0'=i_1248^post242, a_575^0'=a_575^post242, temp_35^0'=temp_35^post242, len_861^0'=len_861^post242, (-a_575^post242+a_575^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post242 == 0 /\ a_430^0-a_430^post242 == 0 /\ t_458^0-t_458^post242 == 0 /\ f_248^0-f_248^post242 == 0 /\ x_975^0-x_975^post242 == 0 /\ a_632^0-a_632^post242 == 0 /\ -i_30^post242+i_30^0 == 0 /\ 1-x_14^0 <= 0 /\ -r_143^post242+r_143^0 == 0 /\ f_969^0-f_969^post242 == 0 /\ -a_432^post242+a_432^0 == 0 /\ -x_SLAM_f_19^post242+x_SLAM_f_19^0 == 0 /\ i_127^0-i_127^post242 == 0 /\ result_11^0-result_11^post242 == 0 /\ -i_113^post242+i_113^0 == 0 /\ -a_309^post242+a_309^0 == 0 /\ -i_107^post242+i_107^0 == 0 /\ temp0_31^0-temp0_31^post242 == 0 /\ x_17^0-x_17^post242 == 0 /\ rcd_58^0-rcd_58^post242 == 0 /\ -a_1236^post242+a_1236^0 == 0 /\ len_161^0-len_161^post242 == 0 /\ a_947^0-a_947^post242 == 0 /\ a_176^0-a_176^post242 == 0 /\ -rcd_47^post242+rcd_47^0 == 0 /\ x_852^0-x_852^post242 == 0 /\ -i_140^post242+i_140^0 == 0 /\ -a_392^post242+a_392^0 == 0 /\ -a_310^post242+a_310^0 == 0 /\ a_394^0-a_394^post242 == 0 /\ -a_862^post242+a_862^0 == 0 /\ -i_94^post242+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post242 == 0 /\ -r_970^post242+r_970^0 == 0 /\ f_847^0-f_847^post242 == 0 /\ -r_151^post242+r_151^0 == 0 /\ length_29^0-length_29^post242 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post242+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_633^0-a_633^post242 == 0 /\ -a_579^post242+a_579^0 == 0 /\ -t_24^post242+t_24^0 == 0 /\ temp0_16^0-temp0_16^post242 == 0 /\ -ct_18^post242+ct_18^0 == 0 /\ -a_263^post242+a_263^0 == 0 /\ -x_253^post242+x_253^0 == 0 /\ a_239^0-a_239^post242 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post242 == 0 /\ -head_32^post242+head_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post242+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_121^0-a_121^post242 == 0 /\ -i_197^post242+i_197^0 == 0 /\ a_902^0-a_902^post242 == 0 /\ len_262^0-len_262^post242 == 0 /\ x_156^0-x_156^post242 == 0 /\ -temp_35^post242+temp_35^0 == 0 /\ a_610^0-a_610^post242 == 0 /\ r_192^0-r_192^post242 == 0 /\ -y_20^post242+y_20^0 == 0 /\ -r_39^post242+r_39^0 == 0 /\ -a_431^post242+a_431^0 == 0 /\ i_229^0-i_229^post242 == 0 /\ head_15^0-head_15^post242 == 0 /\ nondet_12^0-nondet_12^post242 == 0 /\ a_144^0-a_144^post242 == 0 /\ -a_395^post242+a_395^0 == 0 /\ len_238^0-len_238^post242 == 0 /\ a_634^0-a_634^post242 == 0 /\ i_27^0-i_27^post242 == 0 /\ -tmp_34^post242+tmp_34^0 == 0 /\ -a_1162^post242+a_1162^0 == 0 /\ a_1089^0-a_1089^post242 == 0 /\ -a_924^post242+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post242 == 0 /\ a_417^0-a_417^post242 == 0 /\ x_14^0-x_14^post242 == 0 /\ -x_21^post242+x_21^0 == 0 /\ a_576^0-a_576^post242 == 0 /\ -len_861^post242+len_861^0 == 0 /\ -a_577^post242+a_577^0 == 0 /\ -a_635^post242+a_635^0 == 0 /\ a_311^0-a_311^post242 == 0 /\ -i_1248^post242+i_1248^0 == 0 /\ -i_1053^post242+i_1053^0 == 0 /\ i_106^0-i_106^post242 == 0 /\ -r_224^post242+r_224^0 == 0 /\ -a_393^post242+a_393^0 == 0 /\ rcd_88^0-rcd_88^post242 == 0), cost: 1 New rule: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l153 -> l154 : a_1089^0'=a_1089^post243, f_847^0'=f_847^post243, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post243, a_394^0'=a_394^post243, x_156^0'=x_156^post243, a_632^0'=a_632^post243, r_192^0'=r_192^post243, a_176^0'=a_176^post243, i_106^0'=i_106^post243, a_430^0'=a_430^post243, t_458^0'=t_458^post243, len_161^0'=len_161^post243, x_975^0'=x_975^post243, a_902^0'=a_902^post243, a_947^0'=a_947^post243, rcd_88^0'=rcd_88^post243, a_311^0'=a_311^post243, i_140^0'=i_140^post243, a_577^0'=a_577^post243, x_14^0'=x_14^post243, nondet_12^0'=nondet_12^post243, a_121^0'=a_121^post243, head_15^0'=head_15^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243, i_27^0'=i_27^post243, x_21^0'=x_21^post243, a_634^0'=a_634^post243, r_39^0'=r_39^post243, a_263^0'=a_263^post243, i_113^0'=i_113^post243, a_432^0'=a_432^post243, temp0_31^0'=temp0_31^post243, len_262^0'=len_262^post243, y_20^0'=y_20^post243, f_248^0'=f_248^post243, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243, a_393^0'=a_393^post243, i_229^0'=i_229^post243, a_610^0'=a_610^post243, r_151^0'=r_151^post243, a_144^0'=a_144^post243, i_1053^0'=i_1053^post243, a_417^0'=a_417^post243, t_24^0'=t_24^post243, i_94^0'=i_94^post243, x_852^0'=x_852^post243, a_862^0'=a_862^post243, rcd_1249^0'=rcd_1249^post243, rcd_58^0'=rcd_58^post243, a_310^0'=a_310^post243, i_127^0'=i_127^post243, a_576^0'=a_576^post243, tmp_34^0'=tmp_34^post243, length_29^0'=length_29^post243, a_1162^0'=a_1162^post243, f_969^0'=f_969^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243, a_395^0'=a_395^post243, x_17^0'=x_17^post243, a_633^0'=a_633^post243, r_224^0'=r_224^post243, a_239^0'=a_239^post243, i_107^0'=i_107^post243, a_431^0'=a_431^post243, temp0_16^0'=temp0_16^post243, len_238^0'=len_238^post243, x_SLAM_f_19^0'=x_SLAM_f_19^post243, a_924^0'=a_924^post243, ct_18^0'=ct_18^post243, result_11^0'=result_11^post243, a_392^0'=a_392^post243, i_197^0'=i_197^post243, a_579^0'=a_579^post243, r_143^0'=r_143^post243, a_1236^0'=a_1236^post243, head_32^0'=head_32^post243, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243, i_30^0'=i_30^post243, x_253^0'=x_253^post243, a_635^0'=a_635^post243, r_970^0'=r_970^post243, rcd_47^0'=rcd_47^post243, a_309^0'=a_309^post243, i_1248^0'=i_1248^post243, a_575^0'=a_575^post243, temp_35^0'=temp_35^post243, len_861^0'=len_861^post243, (a_144^0-a_144^post243 == 0 /\ a_394^0-a_394^post243 == 0 /\ t_24^0-t_24^post243 == 0 /\ -r_970^post243+r_970^0 == 0 /\ -f_248^post243+f_248^0 == 0 /\ -y_20^post243+y_20^0 == 0 /\ a_862^0-a_862^post243 == 0 /\ -temp0_16^post243+temp0_16^0 == 0 /\ -len_861^post243+len_861^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post243 == 0 /\ -r_224^post243+r_224^0 == 0 /\ a_392^0-a_392^post243 == 0 /\ a_311^0-a_311^post243 == 0 /\ a_263^0-a_263^post243 == 0 /\ -a_579^post243+a_579^0 == 0 /\ x_852^0-x_852^post243 == 0 /\ t_458^0-t_458^post243 == 0 /\ len_161^0-len_161^post243 == 0 /\ rcd_88^0-rcd_88^post243 == 0 /\ -i_127^post243+i_127^0 == 0 /\ i_106^0-i_106^post243 == 0 /\ -temp_35^post243+temp_35^0 == 0 /\ a_576^0-a_576^post243 == 0 /\ -ct_18^post243+ct_18^0 == 0 /\ -i_197^post243+i_197^0 == 0 /\ f_847^0-f_847^post243 == 0 /\ -i_229^post243+i_229^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post243 == 0 /\ -i_30^post243+i_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post243+i_107^0 == 0 /\ a_430^0-a_430^post243 == 0 /\ -a_924^post243+a_924^0 == 0 /\ -a_575^post243+a_575^0 == 0 /\ a_610^0-a_610^post243 == 0 /\ a_1236^0-a_1236^post243 == 0 /\ r_143^0-r_143^post243 == 0 /\ -a_577^post243+a_577^0 == 0 /\ -i_1248^post243+i_1248^0 == 0 /\ x_21^0-x_21^post243 == 0 /\ len_262^0-len_262^post243 == 0 /\ -result_11^post243+result_11^0 == 0 /\ -x_17^post243+x_17^0 == 0 /\ temp0_31^0-temp0_31^post243 == 0 /\ -a_1162^post243+a_1162^0 == 0 /\ -a_393^post243+a_393^0 == 0 /\ a_947^0-a_947^post243 == 0 /\ rcd_58^0-rcd_58^post243 == 0 /\ -i_94^post243+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post243 == 0 /\ i_27^0-i_27^post243 == 0 /\ x_14^0-x_14^post243 == 0 /\ a_176^0-a_176^post243 == 0 /\ -len_238^post243+len_238^0 == 0 /\ a_121^0-a_121^post243 == 0 /\ a_1089^0-a_1089^post243 == 0 /\ -a_309^post243+a_309^0 == 0 /\ -i_113^post243+i_113^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post243+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_432^post243+a_432^0 == 0 /\ -a_633^post243+a_633^0 == 0 /\ a_635^0-a_635^post243 == 0 /\ -rcd_1249^post243+rcd_1249^0 == 0 /\ -a_632^post243+a_632^0 == 0 /\ i_1053^0-i_1053^post243 == 0 /\ a_395^0-a_395^post243 == 0 /\ -length_29^post243+length_29^0 == 0 /\ tmp_34^0-tmp_34^post243 == 0 /\ -f_969^post243+f_969^0 == 0 /\ -a_431^post243+a_431^0 == 0 /\ -i_140^post243+i_140^0 == 0 /\ r_151^0-r_151^post243 == 0 /\ -r_39^post243+r_39^0 == 0 /\ nondet_12^0-nondet_12^post243 == 0 /\ 1+x_14^0 <= 0 /\ a_239^0-a_239^post243 == 0 /\ a_902^0-a_902^post243 == 0 /\ x_975^0-x_975^post243 == 0 /\ r_192^0-r_192^post243 == 0 /\ -rcd_47^post243+rcd_47^0 == 0 /\ x_156^0-x_156^post243 == 0 /\ -head_32^post243+head_32^0 == 0 /\ a_417^0-a_417^post243 == 0 /\ -x_SLAM_f_19^post243+x_SLAM_f_19^0 == 0 /\ head_15^0-head_15^post243 == 0 /\ -a_310^post243+a_310^0 == 0 /\ -x_253^post243+x_253^0 == 0 /\ a_634^0-a_634^post243 == 0), cost: 1 New rule: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 Applied preprocessing Original rule: l154 -> l155 : a_1089^0'=a_1089^post244, f_847^0'=f_847^post244, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post244, a_394^0'=a_394^post244, x_156^0'=x_156^post244, a_632^0'=a_632^post244, r_192^0'=r_192^post244, a_176^0'=a_176^post244, i_106^0'=i_106^post244, a_430^0'=a_430^post244, t_458^0'=t_458^post244, len_161^0'=len_161^post244, x_975^0'=x_975^post244, a_902^0'=a_902^post244, a_947^0'=a_947^post244, rcd_88^0'=rcd_88^post244, a_311^0'=a_311^post244, i_140^0'=i_140^post244, a_577^0'=a_577^post244, x_14^0'=x_14^post244, nondet_12^0'=nondet_12^post244, a_121^0'=a_121^post244, head_15^0'=head_15^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244, i_27^0'=i_27^post244, x_21^0'=x_21^post244, a_634^0'=a_634^post244, r_39^0'=r_39^post244, a_263^0'=a_263^post244, i_113^0'=i_113^post244, a_432^0'=a_432^post244, temp0_31^0'=temp0_31^post244, len_262^0'=len_262^post244, y_20^0'=y_20^post244, f_248^0'=f_248^post244, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244, a_393^0'=a_393^post244, i_229^0'=i_229^post244, a_610^0'=a_610^post244, r_151^0'=r_151^post244, a_144^0'=a_144^post244, i_1053^0'=i_1053^post244, a_417^0'=a_417^post244, t_24^0'=t_24^post244, i_94^0'=i_94^post244, x_852^0'=x_852^post244, a_862^0'=a_862^post244, rcd_1249^0'=rcd_1249^post244, rcd_58^0'=rcd_58^post244, a_310^0'=a_310^post244, i_127^0'=i_127^post244, a_576^0'=a_576^post244, tmp_34^0'=tmp_34^post244, length_29^0'=length_29^post244, a_1162^0'=a_1162^post244, f_969^0'=f_969^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244, a_395^0'=a_395^post244, x_17^0'=x_17^post244, a_633^0'=a_633^post244, r_224^0'=r_224^post244, a_239^0'=a_239^post244, i_107^0'=i_107^post244, a_431^0'=a_431^post244, temp0_16^0'=temp0_16^post244, len_238^0'=len_238^post244, x_SLAM_f_19^0'=x_SLAM_f_19^post244, a_924^0'=a_924^post244, ct_18^0'=ct_18^post244, result_11^0'=result_11^post244, a_392^0'=a_392^post244, i_197^0'=i_197^post244, a_579^0'=a_579^post244, r_143^0'=r_143^post244, a_1236^0'=a_1236^post244, head_32^0'=head_32^post244, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244, i_30^0'=i_30^post244, x_253^0'=x_253^post244, a_635^0'=a_635^post244, r_970^0'=r_970^post244, rcd_47^0'=rcd_47^post244, a_309^0'=a_309^post244, i_1248^0'=i_1248^post244, a_575^0'=a_575^post244, temp_35^0'=temp_35^post244, len_861^0'=len_861^post244, (tmp_34^0-tmp_34^post244 == 0 /\ -len_238^post244+len_238^0 == 0 /\ -rcd_47^post244+rcd_47^0 == 0 /\ i_94^0-i_94^post244 == 0 /\ r_151^0-r_151^post244 == 0 /\ i_113^0-i_113^post244 == 0 /\ r_39^0-r_39^post244 == 0 /\ -r_143^post244+r_143^0 == 0 /\ a_393^0-a_393^post244 == 0 /\ a_430^0-a_430^post244 == 0 /\ x_975^0-x_975^post244 == 0 /\ -a_634^post244+a_634^0 == 0 /\ -i_107^post244+i_107^0 == 0 /\ a_432^0-a_432^post244 == 0 /\ f_969^0-f_969^post244 == 0 /\ -a_575^post244+a_575^0 == 0 /\ r_192^0-r_192^post244 == 0 /\ -rcd_1249^post244+rcd_1249^0 == 0 /\ a_633^0-a_633^post244 == 0 /\ -a_309^post244+a_309^0 == 0 /\ x_21^0-x_21^post244 == 0 /\ -a_576^post244+a_576^0 == 0 /\ -a_431^post244+a_431^0 == 0 /\ head_32^0-head_32^post244 == 0 /\ t_24^0-t_24^post244 == 0 /\ a_417^0-a_417^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post244 == 0 /\ i_140^0-i_140^post244 == 0 /\ rcd_58^0-rcd_58^post244 == 0 /\ a_862^0-a_862^post244 == 0 /\ a_144^0-a_144^post244 == 0 /\ i_27^0-i_27^post244 == 0 /\ len_161^0-len_161^post244 == 0 /\ -temp_35^post244+temp_35^0 == 0 /\ -a_392^post244+a_392^0 == 0 /\ -nondet_12^post244+nondet_12^0 == 0 /\ -x_253^post244+x_253^0 == 0 /\ -x_SLAM_f_19^post244+x_SLAM_f_19^0 == 0 /\ -a_610^post244+a_610^0 == 0 /\ -a_1236^post244+a_1236^0 == 0 /\ -len_262^post244+len_262^0 == 0 /\ i_106^0-i_106^post244 == 0 /\ -r_970^post244+r_970^0 == 0 /\ a_632^0-a_632^post244 == 0 /\ -r_224^post244+r_224^0 == 0 /\ -a_310^post244+a_310^0 == 0 /\ a_311^0-a_311^post244 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post244 == 0 /\ -a_579^post244+a_579^0 == 0 /\ t_458^0-t_458^post244 == 0 /\ f_248^0-f_248^post244 == 0 /\ a_577^0-a_577^post244 == 0 /\ -temp0_31^post244+temp0_31^0 == 0 /\ a_902^0-a_902^post244 == 0 /\ -ct_18^post244+ct_18^0 == 0 /\ a_239^0-a_239^post244 == 0 /\ i_229^0-i_229^post244 == 0 /\ -a_395^post244+a_395^0 == 0 /\ -i_197^post244+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post244+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ x_156^0-x_156^post244 == 0 /\ -i_127^post244+i_127^0 == 0 /\ -a_947^post244+a_947^0 == 0 /\ -result_11^post244+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post244 == 0 /\ -a_1162^post244+a_1162^0 == 0 /\ i_1053^0-i_1053^post244 == 0 /\ x_14^0-x_14^post244 == 0 /\ a_121^0-a_121^post244 == 0 /\ -a_924^post244+a_924^0 == 0 /\ -head_15^post244+head_15^0 == 0 /\ a_1089^0-a_1089^post244 == 0 /\ a_394^0-a_394^post244 == 0 /\ -x_17^post244+x_17^0 == 0 /\ x_852^0-x_852^post244 == 0 /\ a_263^0-a_263^post244 == 0 /\ -temp0_16^post244+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post244 == 0 /\ a_176^0-a_176^post244 == 0 /\ -i_30^post244+i_30^0 == 0 /\ y_20^0-y_20^post244 == 0 /\ f_847^0-f_847^post244 == 0 /\ 1+x_14^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post244 == 0 /\ -i_1248^post244+i_1248^0 == 0 /\ -len_861^post244+len_861^0 == 0 /\ length_29^0-length_29^post244 == 0 /\ -a_635^post244+a_635^0 == 0), cost: 1 New rule: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l154 -> l155 : a_1089^0'=a_1089^post245, f_847^0'=f_847^post245, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post245, a_394^0'=a_394^post245, x_156^0'=x_156^post245, a_632^0'=a_632^post245, r_192^0'=r_192^post245, a_176^0'=a_176^post245, i_106^0'=i_106^post245, a_430^0'=a_430^post245, t_458^0'=t_458^post245, len_161^0'=len_161^post245, x_975^0'=x_975^post245, a_902^0'=a_902^post245, a_947^0'=a_947^post245, rcd_88^0'=rcd_88^post245, a_311^0'=a_311^post245, i_140^0'=i_140^post245, a_577^0'=a_577^post245, x_14^0'=x_14^post245, nondet_12^0'=nondet_12^post245, a_121^0'=a_121^post245, head_15^0'=head_15^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245, i_27^0'=i_27^post245, x_21^0'=x_21^post245, a_634^0'=a_634^post245, r_39^0'=r_39^post245, a_263^0'=a_263^post245, i_113^0'=i_113^post245, a_432^0'=a_432^post245, temp0_31^0'=temp0_31^post245, len_262^0'=len_262^post245, y_20^0'=y_20^post245, f_248^0'=f_248^post245, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245, a_393^0'=a_393^post245, i_229^0'=i_229^post245, a_610^0'=a_610^post245, r_151^0'=r_151^post245, a_144^0'=a_144^post245, i_1053^0'=i_1053^post245, a_417^0'=a_417^post245, t_24^0'=t_24^post245, i_94^0'=i_94^post245, x_852^0'=x_852^post245, a_862^0'=a_862^post245, rcd_1249^0'=rcd_1249^post245, rcd_58^0'=rcd_58^post245, a_310^0'=a_310^post245, i_127^0'=i_127^post245, a_576^0'=a_576^post245, tmp_34^0'=tmp_34^post245, length_29^0'=length_29^post245, a_1162^0'=a_1162^post245, f_969^0'=f_969^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245, a_395^0'=a_395^post245, x_17^0'=x_17^post245, a_633^0'=a_633^post245, r_224^0'=r_224^post245, a_239^0'=a_239^post245, i_107^0'=i_107^post245, a_431^0'=a_431^post245, temp0_16^0'=temp0_16^post245, len_238^0'=len_238^post245, x_SLAM_f_19^0'=x_SLAM_f_19^post245, a_924^0'=a_924^post245, ct_18^0'=ct_18^post245, result_11^0'=result_11^post245, a_392^0'=a_392^post245, i_197^0'=i_197^post245, a_579^0'=a_579^post245, r_143^0'=r_143^post245, a_1236^0'=a_1236^post245, head_32^0'=head_32^post245, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245, i_30^0'=i_30^post245, x_253^0'=x_253^post245, a_635^0'=a_635^post245, r_970^0'=r_970^post245, rcd_47^0'=rcd_47^post245, a_309^0'=a_309^post245, i_1248^0'=i_1248^post245, a_575^0'=a_575^post245, temp_35^0'=temp_35^post245, len_861^0'=len_861^post245, (-head_32^post245+head_32^0 == 0 /\ -f_248^post245+f_248^0 == 0 /\ -r_224^post245+r_224^0 == 0 /\ a_417^0-a_417^post245 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post245 == 0 /\ t_24^0-t_24^post245 == 0 /\ -len_861^post245+len_861^0 == 0 /\ -temp0_16^post245+temp0_16^0 == 0 /\ -i_1248^post245+i_1248^0 == 0 /\ -len_262^post245+len_262^0 == 0 /\ len_161^0-len_161^post245 == 0 /\ x_156^0-x_156^post245 == 0 /\ -a_239^post245+a_239^0 == 0 /\ a_947^0-a_947^post245 == 0 /\ f_847^0-f_847^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ a_263^0-a_263^post245 == 0 /\ a_394^0-a_394^post245 == 0 /\ -i_127^post245+i_127^0 == 0 /\ i_1053^0-i_1053^post245 == 0 /\ -a_579^post245+a_579^0 == 0 /\ -i_229^post245+i_229^0 == 0 /\ -a_392^post245+a_392^0 == 0 /\ length_29^0-length_29^post245 == 0 /\ -rcd_1249^post245+rcd_1249^0 == 0 /\ -x_852^post245+x_852^0 == 0 /\ a_430^0-a_430^post245 == 0 /\ head_15^0-head_15^post245 == 0 /\ -a_575^post245+a_575^0 == 0 /\ -i_197^post245+i_197^0 == 0 /\ -a_309^post245+a_309^0 == 0 /\ i_94^0-i_94^post245 == 0 /\ r_151^0-r_151^post245 == 0 /\ a_577^0-a_577^post245 == 0 /\ -a_635^post245+a_635^0 == 0 /\ r_39^0-r_39^post245 == 0 /\ a_432^0-a_432^post245 == 0 /\ -x_17^post245+x_17^0 == 0 /\ -ct_18^post245+ct_18^0 == 0 /\ a_902^0-a_902^post245 == 0 /\ i_113^0-i_113^post245 == 0 /\ r_192^0-r_192^post245 == 0 /\ a_1162^0-a_1162^post245 == 0 /\ a_862^0-a_862^post245 == 0 /\ x_21^0-x_21^post245 == 0 /\ -a_144^post245+a_144^0 == 0 /\ -rcd_58^post245+rcd_58^0 == 0 /\ -i_30^post245+i_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post245 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post245+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -x_SLAM_f_19^post245+x_SLAM_f_19^0 == 0 /\ -len_238^post245+len_238^0 == 0 /\ a_1089^0-a_1089^post245 == 0 /\ -a_634^post245+a_634^0 == 0 /\ -a_633^post245+a_633^0 == 0 /\ a_395^0-a_395^post245 == 0 /\ rcd_88^0-rcd_88^post245 == 0 /\ a_311^0-a_311^post245 == 0 /\ -x_14^post245+x_14^0 == 0 /\ 1-x_14^0+y_20^0 <= 0 /\ -a_576^post245+a_576^0 == 0 /\ -a_924^post245+a_924^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post245 == 0 /\ -result_11^post245+result_11^0 == 0 /\ -r_143^post245+r_143^0 == 0 /\ i_140^0-i_140^post245 == 0 /\ i_106^0-i_106^post245 == 0 /\ -a_121^post245+a_121^0 == 0 /\ tmp_34^0-tmp_34^post245 == 0 /\ -a_176^post245+a_176^0 == 0 /\ i_107^0-i_107^post245 == 0 /\ x_975^0-x_975^post245 == 0 /\ -a_1236^post245+a_1236^0 == 0 /\ -temp_35^post245+temp_35^0 == 0 /\ a_632^0-a_632^post245 == 0 /\ t_458^0-t_458^post245 == 0 /\ a_393^0-a_393^post245 == 0 /\ y_20^0-y_20^post245 == 0 /\ -nondet_12^post245+nondet_12^0 == 0 /\ -r_970^post245+r_970^0 == 0 /\ -i_27^post245+i_27^0 == 0 /\ -f_969^post245+f_969^0 == 0 /\ -a_431^post245+a_431^0 == 0 /\ -a_610^post245+a_610^0 == 0 /\ -temp0_31^post245+temp0_31^0 == 0 /\ -x_253^post245+x_253^0 == 0 /\ -rcd_47^post245+rcd_47^0 == 0 /\ -a_310^post245+a_310^0 == 0), cost: 1 New rule: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l155 -> l156 : a_1089^0'=a_1089^post246, f_847^0'=f_847^post246, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post246, a_394^0'=a_394^post246, x_156^0'=x_156^post246, a_632^0'=a_632^post246, r_192^0'=r_192^post246, a_176^0'=a_176^post246, i_106^0'=i_106^post246, a_430^0'=a_430^post246, t_458^0'=t_458^post246, len_161^0'=len_161^post246, x_975^0'=x_975^post246, a_902^0'=a_902^post246, a_947^0'=a_947^post246, rcd_88^0'=rcd_88^post246, a_311^0'=a_311^post246, i_140^0'=i_140^post246, a_577^0'=a_577^post246, x_14^0'=x_14^post246, nondet_12^0'=nondet_12^post246, a_121^0'=a_121^post246, head_15^0'=head_15^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246, i_27^0'=i_27^post246, x_21^0'=x_21^post246, a_634^0'=a_634^post246, r_39^0'=r_39^post246, a_263^0'=a_263^post246, i_113^0'=i_113^post246, a_432^0'=a_432^post246, temp0_31^0'=temp0_31^post246, len_262^0'=len_262^post246, y_20^0'=y_20^post246, f_248^0'=f_248^post246, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246, a_393^0'=a_393^post246, i_229^0'=i_229^post246, a_610^0'=a_610^post246, r_151^0'=r_151^post246, a_144^0'=a_144^post246, i_1053^0'=i_1053^post246, a_417^0'=a_417^post246, t_24^0'=t_24^post246, i_94^0'=i_94^post246, x_852^0'=x_852^post246, a_862^0'=a_862^post246, rcd_1249^0'=rcd_1249^post246, rcd_58^0'=rcd_58^post246, a_310^0'=a_310^post246, i_127^0'=i_127^post246, a_576^0'=a_576^post246, tmp_34^0'=tmp_34^post246, length_29^0'=length_29^post246, a_1162^0'=a_1162^post246, f_969^0'=f_969^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246, a_395^0'=a_395^post246, x_17^0'=x_17^post246, a_633^0'=a_633^post246, r_224^0'=r_224^post246, a_239^0'=a_239^post246, i_107^0'=i_107^post246, a_431^0'=a_431^post246, temp0_16^0'=temp0_16^post246, len_238^0'=len_238^post246, x_SLAM_f_19^0'=x_SLAM_f_19^post246, a_924^0'=a_924^post246, ct_18^0'=ct_18^post246, result_11^0'=result_11^post246, a_392^0'=a_392^post246, i_197^0'=i_197^post246, a_579^0'=a_579^post246, r_143^0'=r_143^post246, a_1236^0'=a_1236^post246, head_32^0'=head_32^post246, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246, i_30^0'=i_30^post246, x_253^0'=x_253^post246, a_635^0'=a_635^post246, r_970^0'=r_970^post246, rcd_47^0'=rcd_47^post246, a_309^0'=a_309^post246, i_1248^0'=i_1248^post246, a_575^0'=a_575^post246, temp_35^0'=temp_35^post246, len_861^0'=len_861^post246, (-a_610^post246+a_610^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post246 == 0 /\ i_94^0-i_94^post246 == 0 /\ -a_633^post246+a_633^0 == 0 /\ -tmp_34^post246+tmp_34^0 == 0 /\ i_113^0-i_113^post246 == 0 /\ -rcd_47^post246+rcd_47^0 == 0 /\ r_39^0-r_39^post246 == 0 /\ a_393^0-a_393^post246 == 0 /\ head_15^0-head_15^post246 == 0 /\ a_432^0-a_432^post246 == 0 /\ a_310^0-a_310^post246 == 0 /\ x_156^0-x_156^post246 == 0 /\ -rcd_1249^post246+rcd_1249^0 == 0 /\ -a_634^post246+a_634^0 == 0 /\ a_1089^0-a_1089^post246 == 0 /\ -r_143^post246+r_143^0 == 0 /\ r_192^0-r_192^post246 == 0 /\ -a_576^post246+a_576^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post246+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -len_238^post246+len_238^0 == 0 /\ -r_151^post246+r_151^0 == 0 /\ x_21^0-x_21^post246 == 0 /\ -a_924^post246+a_924^0 == 0 /\ i_27^0-i_27^post246 == 0 /\ -a_1236^post246+a_1236^0 == 0 /\ a_121^0-a_121^post246 == 0 /\ -f_969^post246+f_969^0 == 0 /\ a_263^0-a_263^post246 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post246 == 0 /\ -x_253^post246+x_253^0 == 0 /\ -temp_35^post246+temp_35^0 == 0 /\ head_32^0-head_32^post246 == 0 /\ a_417^0-a_417^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post246 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post246 == 0 /\ -temp0_31^post246+temp0_31^0 == 0 /\ -a_311^post246+a_311^0 == 0 /\ -f_248^post246+f_248^0 == 0 /\ -r_970^post246+r_970^0 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post246+a_395^0 == 0 /\ i_106^0-i_106^post246 == 0 /\ -len_861^post246+len_861^0 == 0 /\ a_632^0-a_632^post246 == 0 /\ -i_1248^post246+i_1248^0 == 0 /\ -a_430^post246+a_430^0 == 0 /\ -a_239^post246+a_239^0 == 0 /\ a_902^0-a_902^post246 == 0 /\ r_224^0-r_224^post246 == 0 /\ -ct_18^post246+ct_18^0 == 0 /\ x_975^0-x_975^post246 == 0 /\ -len_262^post246+len_262^0 == 0 /\ t_458^0-t_458^post246 == 0 /\ i_107^0-i_107^post246 == 0 /\ a_577^0-a_577^post246 == 0 /\ i_30^0-i_30^post246 == 0 /\ -nondet_12^post246+nondet_12^0 == 0 /\ i_229^0-i_229^post246 == 0 /\ -a_392^post246+a_392^0 == 0 /\ -temp0_16^post246+temp0_16^0 == 0 /\ x_14^0-x_14^post246 == 0 /\ -x_17^post246+x_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post246+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_197^post246+i_197^0 == 0 /\ -i_1053^post246+i_1053^0 == 0 /\ len_161^0-len_161^post246 == 0 /\ -a_579^post246+a_579^0 == 0 /\ -a_309^post246+a_309^0 == 0 /\ -result_11^post246+result_11^0 == 0 /\ i_140^0-i_140^post246 == 0 /\ -a_947^post246+a_947^0 == 0 /\ -i_127^post246+i_127^0 == 0 /\ a_431^0-a_431^post246 == 0 /\ t_24^0-t_24^post246 == 0 /\ a_862^0-a_862^post246 == 0 /\ a_394^0-a_394^post246 == 0 /\ x_852^0-x_852^post246 == 0 /\ rcd_88^0-rcd_88^post246 == 0 /\ -rcd_58^post246+rcd_58^0 == 0 /\ -a_635^post246+a_635^0 == 0 /\ a_176^0-a_176^post246 == 0 /\ y_20^0-y_20^post246 == 0 /\ f_847^0-f_847^post246 == 0 /\ length_29^0-length_29^post246 == 0 /\ -a_144^post246+a_144^0 == 0 /\ -a_1162^post246+a_1162^0 == 0 /\ -a_575^post246+a_575^0 == 0), cost: 1 New rule: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l155 -> l156 : a_1089^0'=a_1089^post247, f_847^0'=f_847^post247, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post247, a_394^0'=a_394^post247, x_156^0'=x_156^post247, a_632^0'=a_632^post247, r_192^0'=r_192^post247, a_176^0'=a_176^post247, i_106^0'=i_106^post247, a_430^0'=a_430^post247, t_458^0'=t_458^post247, len_161^0'=len_161^post247, x_975^0'=x_975^post247, a_902^0'=a_902^post247, a_947^0'=a_947^post247, rcd_88^0'=rcd_88^post247, a_311^0'=a_311^post247, i_140^0'=i_140^post247, a_577^0'=a_577^post247, x_14^0'=x_14^post247, nondet_12^0'=nondet_12^post247, a_121^0'=a_121^post247, head_15^0'=head_15^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247, i_27^0'=i_27^post247, x_21^0'=x_21^post247, a_634^0'=a_634^post247, r_39^0'=r_39^post247, a_263^0'=a_263^post247, i_113^0'=i_113^post247, a_432^0'=a_432^post247, temp0_31^0'=temp0_31^post247, len_262^0'=len_262^post247, y_20^0'=y_20^post247, f_248^0'=f_248^post247, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247, a_393^0'=a_393^post247, i_229^0'=i_229^post247, a_610^0'=a_610^post247, r_151^0'=r_151^post247, a_144^0'=a_144^post247, i_1053^0'=i_1053^post247, a_417^0'=a_417^post247, t_24^0'=t_24^post247, i_94^0'=i_94^post247, x_852^0'=x_852^post247, a_862^0'=a_862^post247, rcd_1249^0'=rcd_1249^post247, rcd_58^0'=rcd_58^post247, a_310^0'=a_310^post247, i_127^0'=i_127^post247, a_576^0'=a_576^post247, tmp_34^0'=tmp_34^post247, length_29^0'=length_29^post247, a_1162^0'=a_1162^post247, f_969^0'=f_969^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247, a_395^0'=a_395^post247, x_17^0'=x_17^post247, a_633^0'=a_633^post247, r_224^0'=r_224^post247, a_239^0'=a_239^post247, i_107^0'=i_107^post247, a_431^0'=a_431^post247, temp0_16^0'=temp0_16^post247, len_238^0'=len_238^post247, x_SLAM_f_19^0'=x_SLAM_f_19^post247, a_924^0'=a_924^post247, ct_18^0'=ct_18^post247, result_11^0'=result_11^post247, a_392^0'=a_392^post247, i_197^0'=i_197^post247, a_579^0'=a_579^post247, r_143^0'=r_143^post247, a_1236^0'=a_1236^post247, head_32^0'=head_32^post247, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247, i_30^0'=i_30^post247, x_253^0'=x_253^post247, a_635^0'=a_635^post247, r_970^0'=r_970^post247, rcd_47^0'=rcd_47^post247, a_309^0'=a_309^post247, i_1248^0'=i_1248^post247, a_575^0'=a_575^post247, temp_35^0'=temp_35^post247, len_861^0'=len_861^post247, (-length_29^post247+length_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post247 == 0 /\ len_262^0-len_262^post247 == 0 /\ -temp0_16^post247+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post247 == 0 /\ -a_862^post247+a_862^0 == 0 /\ -a_417^post247+a_417^0 == 0 /\ -len_861^post247+len_861^0 == 0 /\ i_229^0-i_229^post247 == 0 /\ -f_248^post247+f_248^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post247+a_1236^0 == 0 /\ a_634^0-a_634^post247 == 0 /\ len_161^0-len_161^post247 == 0 /\ a_947^0-a_947^post247 == 0 /\ -i_1248^post247+i_1248^0 == 0 /\ -a_393^post247+a_393^0 == 0 /\ head_15^0-head_15^post247 == 0 /\ -head_32^post247+head_32^0 == 0 /\ -i_27^post247+i_27^0 == 0 /\ -a_239^post247+a_239^0 == 0 /\ -i_197^post247+i_197^0 == 0 /\ -a_579^post247+a_579^0 == 0 /\ -a_392^post247+a_392^0 == 0 /\ i_1053^0-i_1053^post247 == 0 /\ a_395^0-a_395^post247 == 0 /\ a_121^0-a_121^post247 == 0 /\ a_176^0-a_176^post247 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -r_151^post247+r_151^0 == 0 /\ -a_144^post247+a_144^0 == 0 /\ x_975^0-x_975^post247 == 0 /\ i_113^0-i_113^post247 == 0 /\ -i_127^post247+i_127^0 == 0 /\ r_192^0-r_192^post247 == 0 /\ a_430^0-a_430^post247 == 0 /\ -i_30^post247+i_30^0 == 0 /\ -a_575^post247+a_575^0 == 0 /\ -x_852^post247+x_852^0 == 0 /\ -t_24^post247+t_24^0 == 0 /\ -a_635^post247+a_635^0 == 0 /\ a_1089^0-a_1089^post247 == 0 /\ -a_309^post247+a_309^0 == 0 /\ x_156^0-x_156^post247 == 0 /\ a_310^0-a_310^post247 == 0 /\ a_1162^0-a_1162^post247 == 0 /\ a_632^0-a_632^post247 == 0 /\ -rcd_58^post247+rcd_58^0 == 0 /\ x_14^0-x_14^post247 == 0 /\ -ct_18^post247+ct_18^0 == 0 /\ a_432^0-a_432^post247 == 0 /\ -tmp_34^post247+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post247 == 0 /\ r_970^0-r_970^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_140^0-i_140^post247 == 0 /\ x_21^0-x_21^post247 == 0 /\ -a_902^post247+a_902^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post247 == 0 /\ a_263^0-a_263^post247 == 0 /\ a_431^0-a_431^post247 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post247+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_633^post247+a_633^0 == 0 /\ f_847^0-f_847^post247 == 0 /\ -result_11^post247+result_11^0 == 0 /\ a_394^0-a_394^post247 == 0 /\ -len_238^post247+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post247+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post247 == 0 /\ -rcd_47^post247+rcd_47^0 == 0 /\ -a_924^post247+a_924^0 == 0 /\ -rcd_1249^post247+rcd_1249^0 == 0 /\ -r_143^post247+r_143^0 == 0 /\ y_20^0-y_20^post247 == 0 /\ i_107^0-i_107^post247 == 0 /\ -x_253^post247+x_253^0 == 0 /\ -f_969^post247+f_969^0 == 0 /\ a_610^0-a_610^post247 == 0 /\ t_458^0-t_458^post247 == 0 /\ r_39^0-r_39^post247 == 0 /\ a_577^0-a_577^post247 == 0 /\ -a_311^post247+a_311^0 == 0 /\ i_106^0-i_106^post247 == 0 /\ i_94^0-i_94^post247 == 0 /\ r_224^0-r_224^post247 == 0 /\ -rcd_88^post247+rcd_88^0 == 0 /\ -a_576^post247+a_576^0 == 0 /\ -temp_35^post247+temp_35^0 == 0), cost: 1 New rule: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l156 -> l150 : a_1089^0'=a_1089^post248, f_847^0'=f_847^post248, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post248, a_394^0'=a_394^post248, x_156^0'=x_156^post248, a_632^0'=a_632^post248, r_192^0'=r_192^post248, a_176^0'=a_176^post248, i_106^0'=i_106^post248, a_430^0'=a_430^post248, t_458^0'=t_458^post248, len_161^0'=len_161^post248, x_975^0'=x_975^post248, a_902^0'=a_902^post248, a_947^0'=a_947^post248, rcd_88^0'=rcd_88^post248, a_311^0'=a_311^post248, i_140^0'=i_140^post248, a_577^0'=a_577^post248, x_14^0'=x_14^post248, nondet_12^0'=nondet_12^post248, a_121^0'=a_121^post248, head_15^0'=head_15^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248, i_27^0'=i_27^post248, x_21^0'=x_21^post248, a_634^0'=a_634^post248, r_39^0'=r_39^post248, a_263^0'=a_263^post248, i_113^0'=i_113^post248, a_432^0'=a_432^post248, temp0_31^0'=temp0_31^post248, len_262^0'=len_262^post248, y_20^0'=y_20^post248, f_248^0'=f_248^post248, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248, a_393^0'=a_393^post248, i_229^0'=i_229^post248, a_610^0'=a_610^post248, r_151^0'=r_151^post248, a_144^0'=a_144^post248, i_1053^0'=i_1053^post248, a_417^0'=a_417^post248, t_24^0'=t_24^post248, i_94^0'=i_94^post248, x_852^0'=x_852^post248, a_862^0'=a_862^post248, rcd_1249^0'=rcd_1249^post248, rcd_58^0'=rcd_58^post248, a_310^0'=a_310^post248, i_127^0'=i_127^post248, a_576^0'=a_576^post248, tmp_34^0'=tmp_34^post248, length_29^0'=length_29^post248, a_1162^0'=a_1162^post248, f_969^0'=f_969^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248, a_395^0'=a_395^post248, x_17^0'=x_17^post248, a_633^0'=a_633^post248, r_224^0'=r_224^post248, a_239^0'=a_239^post248, i_107^0'=i_107^post248, a_431^0'=a_431^post248, temp0_16^0'=temp0_16^post248, len_238^0'=len_238^post248, x_SLAM_f_19^0'=x_SLAM_f_19^post248, a_924^0'=a_924^post248, ct_18^0'=ct_18^post248, result_11^0'=result_11^post248, a_392^0'=a_392^post248, i_197^0'=i_197^post248, a_579^0'=a_579^post248, r_143^0'=r_143^post248, a_1236^0'=a_1236^post248, head_32^0'=head_32^post248, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248, i_30^0'=i_30^post248, x_253^0'=x_253^post248, a_635^0'=a_635^post248, r_970^0'=r_970^post248, rcd_47^0'=rcd_47^post248, a_309^0'=a_309^post248, i_1248^0'=i_1248^post248, a_575^0'=a_575^post248, temp_35^0'=temp_35^post248, len_861^0'=len_861^post248, (0 == 0 /\ ct_18^0-ct_18^post248 == 0 /\ t_458^0-t_458^post248 == 0 /\ -tmp_34^post248+tmp_34^0 == 0 /\ -a_610^post248+a_610^0 == 0 /\ a_632^0-a_632^post248 == 0 /\ i_106^0-i_106^post248 == 0 /\ a_902^0-a_902^post248 == 0 /\ -rcd_47^post248+rcd_47^0 == 0 /\ head_15^0-head_15^post248 == 0 /\ -a_634^post248+a_634^0 == 0 /\ -x_253^post248+x_253^0 == 0 /\ a_1089^0-a_1089^post248 == 0 /\ a_310^0-a_310^post248 == 0 /\ i_229^0-i_229^post248 == 0 /\ -rcd_1249^post248+rcd_1249^0 == 0 /\ -len_238^post248+len_238^0 == 0 /\ -r_151^post248+r_151^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post248 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_11^post248+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post248+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_121^0-a_121^post248 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_27^0 <= 0 /\ -r_224^post248+r_224^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post248 == 0 /\ -r_970^post248+r_970^0 == 0 /\ temp0_31^0-temp0_31^post248 == 0 /\ -a_576^post248+a_576^0 == 0 /\ a_263^0-a_263^post248 == 0 /\ len_262^0-len_262^post248 == 0 /\ -r_143^post248+r_143^0 == 0 /\ nondet_12^0-nondet_12^post248 == 0 /\ -i_27^post248+i_27^0 == 0 /\ y_20^0-y_20^post248 == 0 /\ -a_311^post248+a_311^0 == 0 /\ a_176^0-a_176^post248 == 0 /\ -f_248^post248+f_248^0 == 0 /\ a_394^0-a_394^post248 == 0 /\ -a_1236^post248+a_1236^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post248 == 0 /\ -a_395^post248+a_395^0 == 0 /\ a_924^0-a_924^post248 == 0 /\ -temp_35^post248+temp_35^0 == 0 /\ -rcd_88^post248+rcd_88^0 == 0 /\ x_975^0-x_975^post248 == 0 /\ -a_1162^post248+a_1236^0 <= 0 /\ r_39^0-r_39^post248 == 0 /\ a_577^0-a_577^post248 == 0 /\ f_969^0-f_969^post248 == 0 /\ i_94^0-i_94^post248 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post248 == 0 /\ -a_392^post248+a_392^0 == 0 /\ -length_29^post248+length_29^0 == 0 /\ i_113^0-i_113^post248 == 0 /\ -a_417^post248+a_417^0 == 0 /\ a_393^0-a_393^post248 == 0 /\ -a_862^post248+a_862^0 == 0 /\ temp0_16^0-temp0_16^post248 == 0 /\ len_161^0-len_161^post248 == 0 /\ -len_861^post248+len_861^0 == 0 /\ -i_1053^post248+i_1053^0 == 0 /\ -x_156^post248+x_156^0 == 0 /\ x_21^0-x_21^post248 == 0 /\ a_432^0-a_432^post248 == 0 /\ -i_30^post248+i_30^0 == 0 /\ -i_1248^post248+i_1248^0 == 0 /\ -a_239^post248+a_239^0 == 0 /\ -a_635^post248+a_635^0 == 0 /\ -head_32^post248+head_32^0 == 0 /\ x_14^0-x_14^post248 == 0 /\ -r_192^post248+r_192^0 == 0 /\ a_430^0-a_430^post248 == 0 /\ -x_852^post248+x_852^0 == 0 /\ -x_17^post248+x_17^0 == 0 /\ a_1162^post248-a_1236^0 <= 0 /\ i_140^0-i_140^post248 == 0 /\ -a_579^post248+a_579^0 == 0 /\ -i_127^post248+i_127^0 == 0 /\ a_431^0-a_431^post248 == 0 /\ f_847^0-f_847^post248 == 0 /\ -rcd_58^post248+rcd_58^0 == 0 /\ t_24^0-t_24^post248 == 0 /\ -i_107^post248+i_107^0 == 0 /\ a_144^0-a_144^post248 == 0 /\ a_947^0-a_947^post248 == 0 /\ -a_575^post248+a_575^0 == 0 /\ -i_197^post248+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post248+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_633^post248+a_633^0 == 0 /\ -a_309^post248+a_309^0 == 0), cost: 1 New rule: l156 -> l150 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l150 -> l120 : a_1089^0'=a_1089^post249, f_847^0'=f_847^post249, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post249, a_394^0'=a_394^post249, x_156^0'=x_156^post249, a_632^0'=a_632^post249, r_192^0'=r_192^post249, a_176^0'=a_176^post249, i_106^0'=i_106^post249, a_430^0'=a_430^post249, t_458^0'=t_458^post249, len_161^0'=len_161^post249, x_975^0'=x_975^post249, a_902^0'=a_902^post249, a_947^0'=a_947^post249, rcd_88^0'=rcd_88^post249, a_311^0'=a_311^post249, i_140^0'=i_140^post249, a_577^0'=a_577^post249, x_14^0'=x_14^post249, nondet_12^0'=nondet_12^post249, a_121^0'=a_121^post249, head_15^0'=head_15^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249, i_27^0'=i_27^post249, x_21^0'=x_21^post249, a_634^0'=a_634^post249, r_39^0'=r_39^post249, a_263^0'=a_263^post249, i_113^0'=i_113^post249, a_432^0'=a_432^post249, temp0_31^0'=temp0_31^post249, len_262^0'=len_262^post249, y_20^0'=y_20^post249, f_248^0'=f_248^post249, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249, a_393^0'=a_393^post249, i_229^0'=i_229^post249, a_610^0'=a_610^post249, r_151^0'=r_151^post249, a_144^0'=a_144^post249, i_1053^0'=i_1053^post249, a_417^0'=a_417^post249, t_24^0'=t_24^post249, i_94^0'=i_94^post249, x_852^0'=x_852^post249, a_862^0'=a_862^post249, rcd_1249^0'=rcd_1249^post249, rcd_58^0'=rcd_58^post249, a_310^0'=a_310^post249, i_127^0'=i_127^post249, a_576^0'=a_576^post249, tmp_34^0'=tmp_34^post249, length_29^0'=length_29^post249, a_1162^0'=a_1162^post249, f_969^0'=f_969^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249, a_395^0'=a_395^post249, x_17^0'=x_17^post249, a_633^0'=a_633^post249, r_224^0'=r_224^post249, a_239^0'=a_239^post249, i_107^0'=i_107^post249, a_431^0'=a_431^post249, temp0_16^0'=temp0_16^post249, len_238^0'=len_238^post249, x_SLAM_f_19^0'=x_SLAM_f_19^post249, a_924^0'=a_924^post249, ct_18^0'=ct_18^post249, result_11^0'=result_11^post249, a_392^0'=a_392^post249, i_197^0'=i_197^post249, a_579^0'=a_579^post249, r_143^0'=r_143^post249, a_1236^0'=a_1236^post249, head_32^0'=head_32^post249, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249, i_30^0'=i_30^post249, x_253^0'=x_253^post249, a_635^0'=a_635^post249, r_970^0'=r_970^post249, rcd_47^0'=rcd_47^post249, a_309^0'=a_309^post249, i_1248^0'=i_1248^post249, a_575^0'=a_575^post249, temp_35^0'=temp_35^post249, len_861^0'=len_861^post249, (i_197^0-i_197^post249 == 0 /\ -len_861^post249+len_861^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post249 == 0 /\ temp0_31^0-temp0_31^post249 == 0 /\ a_1162^0-a_1162^post249 == 0 /\ -a_432^post249+a_432^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_107^post249+i_107^0 == 0 /\ a_634^0-a_634^post249 == 0 /\ -a_393^post249+a_393^0 == 0 /\ -a_392^post249+a_392^0 == 0 /\ -i_1248^post249+i_1248^0 == 0 /\ f_248^0-f_248^post249 == 0 /\ -head_32^post249+head_32^0 == 0 /\ -a_239^post249+a_239^0 == 0 /\ -i_27^post249+i_27^0 == 0 /\ -length_29^post249+length_29^0 == 0 /\ x_17^0-x_17^post249 == 0 /\ a_924^0-a_924^post249 == 0 /\ -i_30^post249+i_30^0 == 0 /\ a_176^0-a_176^post249 == 0 /\ -a_310^post249+a_310^0 == 0 /\ x_975^0-x_975^post249 == 0 /\ -a_635^post249+a_635^0 == 0 /\ -x_852^post249+x_852^0 == 0 /\ -r_151^post249+r_151^0 == 0 /\ rcd_1249^0-rcd_1249^post249 == 0 /\ a_610^0-a_610^post249 == 0 /\ i_113^0-i_113^post249 == 0 /\ -a_579^post249+a_579^0 == 0 /\ -rcd_58^post249+rcd_58^0 == 0 /\ -a_417^post249+a_417^0 == 0 /\ -a_309^post249+a_309^0 == 0 /\ a_632^0-a_632^post249 == 0 /\ -a_263^post249+a_263^0 == 0 /\ t_458^0-t_458^post249 == 0 /\ -ct_18^post249+ct_18^0 == 0 /\ r_192^0-r_192^post249 == 0 /\ -a_575^post249+a_575^0 == 0 /\ -a_862^post249+a_862^0 == 0 /\ nondet_12^0-nondet_12^post249 == 0 /\ x_21^0-x_21^post249 == 0 /\ -a_431^post249+a_431^0 == 0 /\ a_633^0-a_633^post249 == 0 /\ len_161^0-len_161^post249 == 0 /\ temp0_16^0-temp0_16^post249 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post249+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ x_156^0-x_156^post249 == 0 /\ f_847^0-f_847^post249 == 0 /\ -t_24^post249+t_24^0 == 0 /\ head_15^0-head_15^post249 == 0 /\ -f_969^post249+f_969^0 == 0 /\ -result_11^post249+result_11^0 == 0 /\ -tmp_34^post249+tmp_34^0 == 0 /\ a_144^0-a_144^post249 == 0 /\ a_394^0-a_394^post249 == 0 /\ a_121^0-a_121^post249 == 0 /\ -x_253^post249+x_253^0 == 0 /\ -rcd_47^post249+rcd_47^0 == 0 /\ a_902^0-a_902^post249 == 0 /\ len_262^0-len_262^post249 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post249 == 0 /\ -i_140^post249+i_140^0 == 0 /\ a_947^0-a_947^post249 == 0 /\ -temp_35^post249+temp_35^0 == 0 /\ a_430^0-a_430^post249 == 0 /\ r_39^0-r_39^post249 == 0 /\ i_127^0-i_127^post249 == 0 /\ a_311^0-a_311^post249 == 0 /\ -r_143^post249+r_143^0 == 0 /\ rcd_88^0-rcd_88^post249 == 0 /\ a_577^0-a_577^post249 == 0 /\ i_106^0-i_106^post249 == 0 /\ len_238^0-len_238^post249 == 0 /\ -i_229^post249+i_229^0 == 0 /\ -y_20^post249+y_20^0 == 0 /\ -x_SLAM_f_19^post249+x_SLAM_f_19^0 == 0 /\ -r_970^post249+r_970^0 == 0 /\ -a_576^post249+a_576^0 == 0 /\ -i_1053^post249+i_1053^0 == 0 /\ -r_224^post249+r_224^0 == 0 /\ i_94^0-i_94^post249 == 0 /\ -a_395^post249+a_395^0 == 0 /\ -a_1236^post249+a_1236^0 == 0 /\ x_14^0-x_14^post249 == 0 /\ a_1089^0-a_1089^post249 == 0), cost: 1 New rule: l150 -> l120 : TRUE, cost: 1 Applied preprocessing Original rule: l1 -> l170 : a_1089^0'=a_1089^post271, f_847^0'=f_847^post271, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_394^0'=a_394^post271, x_156^0'=x_156^post271, a_632^0'=a_632^post271, r_192^0'=r_192^post271, a_176^0'=a_176^post271, i_106^0'=i_106^post271, a_430^0'=a_430^post271, t_458^0'=t_458^post271, len_161^0'=len_161^post271, x_975^0'=x_975^post271, a_902^0'=a_902^post271, a_947^0'=a_947^post271, rcd_88^0'=rcd_88^post271, a_311^0'=a_311^post271, i_140^0'=i_140^post271, a_577^0'=a_577^post271, x_14^0'=x_14^post271, nondet_12^0'=nondet_12^post271, a_121^0'=a_121^post271, head_15^0'=head_15^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271, i_27^0'=i_27^post271, x_21^0'=x_21^post271, a_634^0'=a_634^post271, r_39^0'=r_39^post271, a_263^0'=a_263^post271, i_113^0'=i_113^post271, a_432^0'=a_432^post271, temp0_31^0'=temp0_31^post271, len_262^0'=len_262^post271, y_20^0'=y_20^post271, f_248^0'=f_248^post271, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271, a_393^0'=a_393^post271, i_229^0'=i_229^post271, a_610^0'=a_610^post271, r_151^0'=r_151^post271, a_144^0'=a_144^post271, i_1053^0'=i_1053^post271, a_417^0'=a_417^post271, t_24^0'=t_24^post271, i_94^0'=i_94^post271, x_852^0'=x_852^post271, a_862^0'=a_862^post271, rcd_1249^0'=rcd_1249^post271, rcd_58^0'=rcd_58^post271, a_310^0'=a_310^post271, i_127^0'=i_127^post271, a_576^0'=a_576^post271, tmp_34^0'=tmp_34^post271, length_29^0'=length_29^post271, a_1162^0'=a_1162^post271, f_969^0'=f_969^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271, a_395^0'=a_395^post271, x_17^0'=x_17^post271, a_633^0'=a_633^post271, r_224^0'=r_224^post271, a_239^0'=a_239^post271, i_107^0'=i_107^post271, a_431^0'=a_431^post271, temp0_16^0'=temp0_16^post271, len_238^0'=len_238^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=a_924^post271, ct_18^0'=ct_18^post271, result_11^0'=result_11^post271, a_392^0'=a_392^post271, i_197^0'=i_197^post271, a_579^0'=a_579^post271, r_143^0'=r_143^post271, a_1236^0'=a_1236^post271, head_32^0'=head_32^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, i_30^0'=i_30^post271, x_253^0'=x_253^post271, a_635^0'=a_635^post271, r_970^0'=r_970^post271, rcd_47^0'=rcd_47^post271, a_309^0'=a_309^post271, i_1248^0'=i_1248^post271, a_575^0'=a_575^post271, temp_35^0'=temp_35^post271, len_861^0'=len_861^post271, (0 == 0 /\ x_156^0-x_156^post271 == 0 /\ -i_30^post271+i_30^0 == 0 /\ -a_309^post271+a_309^0 == 0 /\ -r_151^post271+r_151^0 == 0 /\ -a_144^post271+a_144^0 == 0 /\ a_632^0-a_632^post271 == 0 /\ -a_575^post271+a_575^0 == 0 /\ -a_576^post271+a_576^0 == 0 /\ a_579^0-a_579^post271 == 0 /\ -a_1236^post271+a_1236^0 == 0 /\ a_121^0-a_121^post271 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post271 == 0 /\ a_902^0-a_902^post271 == 0 /\ -a_635^post271+a_635^0 == 0 /\ -a_417^post271+a_417^0 == 0 /\ temp0_31^0-temp0_31^post271 == 0 /\ len_262^0-len_262^post271 == 0 /\ a_577^0-a_577^post271 == 0 /\ i_229^0-i_229^post271 == 0 /\ a_634^0-a_634^post271 == 0 /\ a_392^0-a_392^post271 == 0 /\ -length_29^post271+length_29^0 == 0 /\ a_1089^0-a_1089^post271 == 0 /\ a_394^0-a_394^post271 == 0 /\ -rcd_58^post271+rcd_58^0 == 0 /\ i_1053^0-i_1053^post271 == 0 /\ -a_633^post271+a_633^0 == 0 /\ -a_862^post271+a_862^0 == 0 /\ a_176^0-a_176^post271 == 0 /\ -a_610^post271+a_610^0 == 0 /\ -head_32^post271+head_32^0 == 0 /\ a_430^0-a_430^post271 == 0 /\ -rcd_47^post271+rcd_47^0 == 0 /\ a_263^0-a_263^post271 == 0 /\ -i_197^post271+i_197^0 == 0 /\ -len_238^post271+len_238^0 == 0 /\ f_847^0-f_847^post271 == 0 /\ -f_969^post271+f_969^0 == 0 /\ -r_192^post271+r_192^0 == 0 /\ -x_852^post271+x_852^0 == 0 /\ a_432^0-a_432^post271 == 0 /\ -i_127^post271+i_127^0 == 0 /\ -temp_35^post271+temp_35^0 == 0 /\ y_20^0-y_20^post271 == 0 /\ i_113^0-i_113^post271 == 0 /\ nondet_12^0-nondet_12^post271 == 0 /\ -r_970^post271+r_970^0 == 0 /\ x_21^0-x_21^post271 == 0 /\ -a_311^post271+a_311^0 == 0 /\ x_975^0-x_975^post271 == 0 /\ a_431^0-a_431^post271 == 0 /\ -rcd_88^post271+rcd_88^0 == 0 /\ -a_1162^post271+a_1162^0 == 0 /\ i_94^0-i_94^post271 == 0 /\ -x_253^post271+x_253^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post271 == 0 /\ a_947^0-a_947^post271 == 0 /\ a_310^0-a_310^post271 == 0 /\ -i_1248^post271+i_1248^0 == 0 /\ -f_248^post271+f_248^0 == 0 /\ -a_239^post271+a_239^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post271+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -tmp_34^post271+tmp_34^0 == 0 /\ -a_924^0 <= 0 /\ -r_224^post271+r_224^0 == 0 /\ -rcd_1249^post271+rcd_1249^0 == 0 /\ -temp0_16^post271+temp0_16^0 == 0 /\ a_395^0-a_395^post271 == 0 /\ -len_861^post271+len_861^0 == 0 /\ len_161^0-len_161^post271 == 0 /\ -a_924^post271+a_924^0 == 0 /\ i_140^0-i_140^post271 == 0 /\ -result_11^post271+result_11^0 == 0 /\ -r_143^post271+r_143^0 == 0 /\ t_458^0-t_458^post271 == 0 /\ i_107^0-i_107^post271 == 0 /\ -a_393^post271+a_393^0 == 0 /\ i_106^0-i_106^post271 == 0 /\ t_24^0-t_24^post271 == 0), cost: 1 New rule: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 Applied preprocessing Original rule: l170 -> l171 : a_1089^0'=a_1089^post272, f_847^0'=f_847^post272, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post272, a_394^0'=a_394^post272, x_156^0'=x_156^post272, a_632^0'=a_632^post272, r_192^0'=r_192^post272, a_176^0'=a_176^post272, i_106^0'=i_106^post272, a_430^0'=a_430^post272, t_458^0'=t_458^post272, len_161^0'=len_161^post272, x_975^0'=x_975^post272, a_902^0'=a_902^post272, a_947^0'=a_947^post272, rcd_88^0'=rcd_88^post272, a_311^0'=a_311^post272, i_140^0'=i_140^post272, a_577^0'=a_577^post272, x_14^0'=x_14^post272, nondet_12^0'=nondet_12^post272, a_121^0'=a_121^post272, head_15^0'=head_15^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272, i_27^0'=i_27^post272, x_21^0'=x_21^post272, a_634^0'=a_634^post272, r_39^0'=r_39^post272, a_263^0'=a_263^post272, i_113^0'=i_113^post272, a_432^0'=a_432^post272, temp0_31^0'=temp0_31^post272, len_262^0'=len_262^post272, y_20^0'=y_20^post272, f_248^0'=f_248^post272, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272, a_393^0'=a_393^post272, i_229^0'=i_229^post272, a_610^0'=a_610^post272, r_151^0'=r_151^post272, a_144^0'=a_144^post272, i_1053^0'=i_1053^post272, a_417^0'=a_417^post272, t_24^0'=t_24^post272, i_94^0'=i_94^post272, x_852^0'=x_852^post272, a_862^0'=a_862^post272, rcd_1249^0'=rcd_1249^post272, rcd_58^0'=rcd_58^post272, a_310^0'=a_310^post272, i_127^0'=i_127^post272, a_576^0'=a_576^post272, tmp_34^0'=tmp_34^post272, length_29^0'=length_29^post272, a_1162^0'=a_1162^post272, f_969^0'=f_969^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272, a_395^0'=a_395^post272, x_17^0'=x_17^post272, a_633^0'=a_633^post272, r_224^0'=r_224^post272, a_239^0'=a_239^post272, i_107^0'=i_107^post272, a_431^0'=a_431^post272, temp0_16^0'=temp0_16^post272, len_238^0'=len_238^post272, x_SLAM_f_19^0'=x_SLAM_f_19^post272, a_924^0'=a_924^post272, ct_18^0'=ct_18^post272, result_11^0'=result_11^post272, a_392^0'=a_392^post272, i_197^0'=i_197^post272, a_579^0'=a_579^post272, r_143^0'=r_143^post272, a_1236^0'=a_1236^post272, head_32^0'=head_32^post272, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272, i_30^0'=i_30^post272, x_253^0'=x_253^post272, a_635^0'=a_635^post272, r_970^0'=r_970^post272, rcd_47^0'=rcd_47^post272, a_309^0'=a_309^post272, i_1248^0'=i_1248^post272, a_575^0'=a_575^post272, temp_35^0'=temp_35^post272, len_861^0'=len_861^post272, (-i_127^post272+i_127^0 == 0 /\ rcd_88^0-rcd_88^post272 == 0 /\ -x_253^post272+x_253^0 == 0 /\ a_310^0-a_310^post272 == 0 /\ -head_15^post272+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post272+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_970^post272+r_970^0 == 0 /\ -rcd_58^post272+rcd_58^0 == 0 /\ -i_197^post272+i_197^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post272 == 0 /\ a_176^0-a_176^post272 == 0 /\ a_395^0-a_395^post272 == 0 /\ -x_852^post272+x_852^0 == 0 /\ i_27^0-i_27^post272 == 0 /\ t_458^0-t_458^post272 == 0 /\ i_140^0-i_140^post272 == 0 /\ r_39^0-r_39^post272 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post272 == 0 /\ a_1089^0-a_1089^post272 == 0 /\ a_311^0-a_311^post272 == 0 /\ -temp_35^post272+temp_35^0 == 0 /\ -ct_18^post272+ct_18^0 == 0 /\ -tmp_34^post272+tmp_34^0 == 0 /\ y_20^0-y_20^post272 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post272 == 0 /\ a_924^0-a_924^post272 == 0 /\ -a_417^post272+a_417^0 == 0 /\ -f_248^post272+f_248^0 == 0 /\ a_632^0-a_632^post272 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ r_192^0-r_192^post272 == 0 /\ x_975^0-x_975^post272 == 0 /\ -result_11^post272+result_11^0 == 0 /\ temp0_31^0-temp0_31^post272 == 0 /\ -i_1053^post272+i_1053^0 == 0 /\ -i_1248^post272+i_1248^0 == 0 /\ a_121^0-a_121^post272 == 0 /\ -len_861^post272+len_861^0 == 0 /\ -a_239^post272+a_239^0 == 0 /\ len_262^0-len_262^post272 == 0 /\ -rcd_1249^post272+rcd_1249^0 == 0 /\ nondet_12^0-nondet_12^post272 == 0 /\ a_634^0-a_634^post272 == 0 /\ -a_635^post272+a_635^0 == 0 /\ a_394^0-a_394^post272 == 0 /\ a_947^0-a_947^post272 == 0 /\ i_30^0-i_30^post272 == 0 /\ -a_576^post272+a_576^0 == 0 /\ -x_17^post272+x_17^0 == 0 /\ len_161^0-len_161^post272 == 0 /\ -r_143^post272+r_143^0 == 0 /\ x_14^0-x_14^post272 == 0 /\ -i_107^post272+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post272+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_575^post272+a_575^0 == 0 /\ -a_1236^post272+a_1236^0 == 0 /\ i_106^0-i_106^post272 == 0 /\ a_263^0-a_263^post272 == 0 /\ -a_309^post272+a_309^0 == 0 /\ f_847^0-f_847^post272 == 0 /\ -a_144^post272+a_144^0 == 0 /\ t_24^0-t_24^post272 == 0 /\ a_393^0-a_393^post272 == 0 /\ -rcd_47^post272+rcd_47^0 == 0 /\ temp0_16^0-temp0_16^post272 == 0 /\ i_94^0-i_94^post272 == 0 /\ -len_238^post272+len_238^0 == 0 /\ i_229^0-i_229^post272 == 0 /\ a_432^0-a_432^post272 == 0 /\ -a_610^post272+a_610^0 == 0 /\ -length_29^post272+length_29^0 == 0 /\ a_430^0-a_430^post272 == 0 /\ -a_633^post272+a_633^0 == 0 /\ a_862^0-a_862^post272 == 0 /\ -f_969^post272+f_969^0 == 0 /\ -r_151^post272+r_151^0 == 0 /\ -a_392^post272+a_392^0 == 0 /\ a_431^0-a_431^post272 == 0 /\ a_577^0-a_577^post272 == 0 /\ x_21^0-x_21^post272 == 0 /\ -head_32^post272+head_32^0 == 0 /\ x_156^0-x_156^post272 == 0 /\ -a_579^post272+a_579^0 == 0 /\ i_113^0-i_113^post272 == 0 /\ a_1162^0-a_1162^post272 == 0 /\ a_902^0-a_902^post272 == 0 /\ r_224^0-r_224^post272 == 0), cost: 1 New rule: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l170 -> l171 : a_1089^0'=a_1089^post273, f_847^0'=f_847^post273, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post273, a_394^0'=a_394^post273, x_156^0'=x_156^post273, a_632^0'=a_632^post273, r_192^0'=r_192^post273, a_176^0'=a_176^post273, i_106^0'=i_106^post273, a_430^0'=a_430^post273, t_458^0'=t_458^post273, len_161^0'=len_161^post273, x_975^0'=x_975^post273, a_902^0'=a_902^post273, a_947^0'=a_947^post273, rcd_88^0'=rcd_88^post273, a_311^0'=a_311^post273, i_140^0'=i_140^post273, a_577^0'=a_577^post273, x_14^0'=x_14^post273, nondet_12^0'=nondet_12^post273, a_121^0'=a_121^post273, head_15^0'=head_15^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273, i_27^0'=i_27^post273, x_21^0'=x_21^post273, a_634^0'=a_634^post273, r_39^0'=r_39^post273, a_263^0'=a_263^post273, i_113^0'=i_113^post273, a_432^0'=a_432^post273, temp0_31^0'=temp0_31^post273, len_262^0'=len_262^post273, y_20^0'=y_20^post273, f_248^0'=f_248^post273, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273, a_393^0'=a_393^post273, i_229^0'=i_229^post273, a_610^0'=a_610^post273, r_151^0'=r_151^post273, a_144^0'=a_144^post273, i_1053^0'=i_1053^post273, a_417^0'=a_417^post273, t_24^0'=t_24^post273, i_94^0'=i_94^post273, x_852^0'=x_852^post273, a_862^0'=a_862^post273, rcd_1249^0'=rcd_1249^post273, rcd_58^0'=rcd_58^post273, a_310^0'=a_310^post273, i_127^0'=i_127^post273, a_576^0'=a_576^post273, tmp_34^0'=tmp_34^post273, length_29^0'=length_29^post273, a_1162^0'=a_1162^post273, f_969^0'=f_969^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273, a_395^0'=a_395^post273, x_17^0'=x_17^post273, a_633^0'=a_633^post273, r_224^0'=r_224^post273, a_239^0'=a_239^post273, i_107^0'=i_107^post273, a_431^0'=a_431^post273, temp0_16^0'=temp0_16^post273, len_238^0'=len_238^post273, x_SLAM_f_19^0'=x_SLAM_f_19^post273, a_924^0'=a_924^post273, ct_18^0'=ct_18^post273, result_11^0'=result_11^post273, a_392^0'=a_392^post273, i_197^0'=i_197^post273, a_579^0'=a_579^post273, r_143^0'=r_143^post273, a_1236^0'=a_1236^post273, head_32^0'=head_32^post273, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273, i_30^0'=i_30^post273, x_253^0'=x_253^post273, a_635^0'=a_635^post273, r_970^0'=r_970^post273, rcd_47^0'=rcd_47^post273, a_309^0'=a_309^post273, i_1248^0'=i_1248^post273, a_575^0'=a_575^post273, temp_35^0'=temp_35^post273, len_861^0'=len_861^post273, (-r_143^post273+r_143^0 == 0 /\ i_229^0-i_229^post273 == 0 /\ a_1162^0-a_1162^post273 == 0 /\ -a_635^post273+a_635^0 == 0 /\ -x_SLAM_f_19^post273+x_SLAM_f_19^0 == 0 /\ -a_576^post273+a_576^0 == 0 /\ -r_151^post273+r_151^0 == 0 /\ -a_309^post273+a_309^0 == 0 /\ f_248^0-f_248^post273 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -a_417^post273+a_417^0 == 0 /\ -i_107^post273+i_107^0 == 0 /\ temp0_31^0-temp0_31^post273 == 0 /\ -a_575^post273+a_575^0 == 0 /\ i_127^0-i_127^post273 == 0 /\ len_262^0-len_262^post273 == 0 /\ x_975^0-x_975^post273 == 0 /\ -a_1236^post273+a_1236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_634^0-a_634^post273 == 0 /\ a_577^0-a_577^post273 == 0 /\ a_902^0-a_902^post273 == 0 /\ -a_862^post273+a_862^0 == 0 /\ a_394^0-a_394^post273 == 0 /\ -length_29^post273+length_29^0 == 0 /\ -rcd_47^post273+rcd_47^0 == 0 /\ r_192^0-r_192^post273 == 0 /\ -a_431^post273+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post273+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_392^post273+a_392^0 == 0 /\ a_176^0-a_176^post273 == 0 /\ -head_32^post273+head_32^0 == 0 /\ -a_310^post273+a_310^0 == 0 /\ -i_27^post273+i_27^0 == 0 /\ -i_140^post273+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post273+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_253^post273+x_253^0 == 0 /\ a_632^0-a_632^post273 == 0 /\ rcd_1249^0-rcd_1249^post273 == 0 /\ y_20^0-y_20^post273 == 0 /\ f_847^0-f_847^post273 == 0 /\ -x_852^post273+x_852^0 == 0 /\ -temp_35^post273+temp_35^0 == 0 /\ temp0_16^0-temp0_16^post273 == 0 /\ -r_224^post273+r_224^0 == 0 /\ head_15^0-head_15^post273 == 0 /\ -f_969^post273+f_969^0 == 0 /\ a_432^0-a_432^post273 == 0 /\ x_21^0-x_21^post273 == 0 /\ -i_1053^post273+i_1053^0 == 0 /\ -rcd_58^post273+rcd_58^0 == 0 /\ nondet_12^0-nondet_12^post273 == 0 /\ -a_395^post273+a_395^0 == 0 /\ -a_579^post273+a_579^0 == 0 /\ r_970^0-r_970^post273 == 0 /\ -i_197^post273+i_197^0 == 0 /\ -ct_18^post273+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post273 == 0 /\ a_633^0-a_633^post273 == 0 /\ i_94^0-i_94^post273 == 0 /\ -rcd_88^post273+rcd_88^0 == 0 /\ -a_263^post273+a_263^0 == 0 /\ x_156^0-x_156^post273 == 0 /\ a_610^0-a_610^post273 == 0 /\ i_113^0-i_113^post273 == 0 /\ x_17^0-x_17^post273 == 0 /\ a_144^0-a_144^post273 == 0 /\ len_238^0-len_238^post273 == 0 /\ x_14^0-x_14^post273 == 0 /\ a_947^0-a_947^post273 == 0 /\ a_121^0-a_121^post273 == 0 /\ -a_924^post273+a_924^0 == 0 /\ -i_1248^post273+i_1248^0 == 0 /\ a_1089^0-a_1089^post273 == 0 /\ -len_161^post273+len_161^0 == 0 /\ t_458^0-t_458^post273 == 0 /\ -a_239^post273+a_239^0 == 0 /\ r_39^0-r_39^post273 == 0 /\ a_430^0-a_430^post273 == 0 /\ -tmp_34^post273+tmp_34^0 == 0 /\ -t_24^post273+t_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post273 == 0 /\ a_311^0-a_311^post273 == 0 /\ -len_861^post273+len_861^0 == 0 /\ i_106^0-i_106^post273 == 0 /\ -i_30^post273+i_30^0 == 0 /\ -result_11^post273+result_11^0 == 0 /\ -a_393^post273+a_393^0 == 0), cost: 1 New rule: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l171 -> l172 : a_1089^0'=a_1089^post274, f_847^0'=f_847^post274, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post274, a_394^0'=a_394^post274, x_156^0'=x_156^post274, a_632^0'=a_632^post274, r_192^0'=r_192^post274, a_176^0'=a_176^post274, i_106^0'=i_106^post274, a_430^0'=a_430^post274, t_458^0'=t_458^post274, len_161^0'=len_161^post274, x_975^0'=x_975^post274, a_902^0'=a_902^post274, a_947^0'=a_947^post274, rcd_88^0'=rcd_88^post274, a_311^0'=a_311^post274, i_140^0'=i_140^post274, a_577^0'=a_577^post274, x_14^0'=x_14^post274, nondet_12^0'=nondet_12^post274, a_121^0'=a_121^post274, head_15^0'=head_15^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274, i_27^0'=i_27^post274, x_21^0'=x_21^post274, a_634^0'=a_634^post274, r_39^0'=r_39^post274, a_263^0'=a_263^post274, i_113^0'=i_113^post274, a_432^0'=a_432^post274, temp0_31^0'=temp0_31^post274, len_262^0'=len_262^post274, y_20^0'=y_20^post274, f_248^0'=f_248^post274, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274, a_393^0'=a_393^post274, i_229^0'=i_229^post274, a_610^0'=a_610^post274, r_151^0'=r_151^post274, a_144^0'=a_144^post274, i_1053^0'=i_1053^post274, a_417^0'=a_417^post274, t_24^0'=t_24^post274, i_94^0'=i_94^post274, x_852^0'=x_852^post274, a_862^0'=a_862^post274, rcd_1249^0'=rcd_1249^post274, rcd_58^0'=rcd_58^post274, a_310^0'=a_310^post274, i_127^0'=i_127^post274, a_576^0'=a_576^post274, tmp_34^0'=tmp_34^post274, length_29^0'=length_29^post274, a_1162^0'=a_1162^post274, f_969^0'=f_969^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274, a_395^0'=a_395^post274, x_17^0'=x_17^post274, a_633^0'=a_633^post274, r_224^0'=r_224^post274, a_239^0'=a_239^post274, i_107^0'=i_107^post274, a_431^0'=a_431^post274, temp0_16^0'=temp0_16^post274, len_238^0'=len_238^post274, x_SLAM_f_19^0'=x_SLAM_f_19^post274, a_924^0'=a_924^post274, ct_18^0'=ct_18^post274, result_11^0'=result_11^post274, a_392^0'=a_392^post274, i_197^0'=i_197^post274, a_579^0'=a_579^post274, r_143^0'=r_143^post274, a_1236^0'=a_1236^post274, head_32^0'=head_32^post274, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274, i_30^0'=i_30^post274, x_253^0'=x_253^post274, a_635^0'=a_635^post274, r_970^0'=r_970^post274, rcd_47^0'=rcd_47^post274, a_309^0'=a_309^post274, i_1248^0'=i_1248^post274, a_575^0'=a_575^post274, temp_35^0'=temp_35^post274, len_861^0'=len_861^post274, (0 == 0 /\ -i_1248^post274+i_1248^0 == 0 /\ -head_32^post274+head_32^0 == 0 /\ x_852^0-x_852^post274 == 0 /\ -i_229^post274+i_229^0 == 0 /\ -a_263^post274+a_263^0 == 0 /\ -a_579^post274+a_579^0 == 0 /\ -x_253^post274+x_253^0 == 0 /\ a_394^0-a_394^post274 == 0 /\ -i_197^post274+i_197^0 == 0 /\ a_1089^0-a_1089^post274 == 0 /\ -temp_35^post274+temp_35^0 == 0 /\ -rcd_58^post274+rcd_58^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ rcd_88^0-rcd_88^post274 == 0 /\ a_576^0-a_576^post274 == 0 /\ a_311^0-a_311^post274 == 0 /\ rcd_1249^0-rcd_1249^post274 == 0 /\ f_847^0-f_847^post274 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post274 == 0 /\ -r_39^post274+r_39^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_395^post274+a_395^0 == 0 /\ -a_862^post274+a_862^0 == 0 /\ -1-a_947^post274+a_924^0 <= 0 /\ i_106^0-i_106^post274 == 0 /\ -a_417^post274+a_417^0 == 0 /\ -a_309^post274+a_309^0 == 0 /\ -a_393^post274+a_393^0 == 0 /\ a_924^0-a_924^post274 == 0 /\ t_458^0-t_458^post274 == 0 /\ -tmp_34^post274+tmp_34^0 == 0 /\ -result_11^post274+result_11^0 == 0 /\ -x_17^post274+x_17^0 == 0 /\ y_20^0 <= 0 /\ -i_30^post274+i_30^0 == 0 /\ -i_1053^post274+i_1053^0 == 0 /\ x_975^0-x_975^post274 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-ct_18^post274 == 0 /\ a_1236^0-a_1236^post274 == 0 /\ i_127^0-i_127^post274 == 0 /\ x_21^0-x_21^post274 == 0 /\ -r_224^post274+r_224^0 == 0 /\ -len_861^post274+len_861^0 == 0 /\ a_610^0-a_610^post274 == 0 /\ -a_577^post274+a_577^0 == 0 /\ temp0_31^0-temp0_31^post274 == 0 /\ x_14^0-x_14^post274 == 0 /\ i_27^0-i_27^post274 == 0 /\ a_310^0-a_310^post274 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_634^0-a_634^post274 == 0 /\ -a_635^post274+a_635^0 == 0 /\ -r_143^post274+r_143^0 == 0 /\ -a_632^post274+a_632^0 == 0 /\ a_121^0-a_121^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post274 == 0 /\ len_262^0-len_262^post274 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post274+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -y_20^0+ct_18^0 <= 0 /\ a_430^0-a_430^post274 == 0 /\ a_176^0-a_176^post274 == 0 /\ -i_107^post274+i_107^0 == 0 /\ len_161^0-len_161^post274 == 0 /\ t_24^post274-x_21^0 == 0 /\ len_238^0-len_238^post274 == 0 /\ head_15^0-x_17^0 <= 0 /\ -a_575^post274+a_575^0 == 0 /\ -i_113^post274+i_113^0 == 0 /\ 1+a_947^post274-a_924^0 <= 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ head_15^0-head_15^post274 == 0 /\ ct_18^0 <= 0 /\ -a_633^post274+a_633^0 == 0 /\ temp0_16^0-temp0_16^post274 == 0 /\ -a_432^post274+a_432^0 == 0 /\ r_151^0-r_151^post274 == 0 /\ f_248^0-f_248^post274 == 0 /\ -ct_18^0 <= 0 /\ a_239^0-a_239^post274 == 0 /\ a_902^0-a_902^post274 == 0 /\ -a_431^post274+a_431^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -a_392^post274+a_392^0 == 0 /\ y_20^0-ct_18^0 <= 0 /\ -x_SLAM_f_19^post274+x_SLAM_f_19^0 == 0 /\ r_192^0-r_192^post274 == 0 /\ -y_20^post274+y_20^0 == 0 /\ -f_969^post274+f_969^0 == 0 /\ -length_29^post274+length_29^0 == 0 /\ a_144^0-a_144^post274 == 0 /\ x_156^0-x_156^post274 == 0 /\ -rcd_47^post274+rcd_47^0 == 0 /\ nondet_12^0-nondet_12^post274 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post274+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_1162^0-a_1162^post274 == 0 /\ -i_94^post274+i_94^0 == 0 /\ -r_970^post274+r_970^0 == 0 /\ -head_15^0+x_17^0 <= 0 /\ -i_140^post274+i_140^0 == 0), cost: 1 New rule: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Applied preprocessing Original rule: l172 -> l173 : a_1089^0'=a_1089^post275, f_847^0'=f_847^post275, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post275, a_394^0'=a_394^post275, x_156^0'=x_156^post275, a_632^0'=a_632^post275, r_192^0'=r_192^post275, a_176^0'=a_176^post275, i_106^0'=i_106^post275, a_430^0'=a_430^post275, t_458^0'=t_458^post275, len_161^0'=len_161^post275, x_975^0'=x_975^post275, a_902^0'=a_902^post275, a_947^0'=a_947^post275, rcd_88^0'=rcd_88^post275, a_311^0'=a_311^post275, i_140^0'=i_140^post275, a_577^0'=a_577^post275, x_14^0'=x_14^post275, nondet_12^0'=nondet_12^post275, a_121^0'=a_121^post275, head_15^0'=head_15^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275, i_27^0'=i_27^post275, x_21^0'=x_21^post275, a_634^0'=a_634^post275, r_39^0'=r_39^post275, a_263^0'=a_263^post275, i_113^0'=i_113^post275, a_432^0'=a_432^post275, temp0_31^0'=temp0_31^post275, len_262^0'=len_262^post275, y_20^0'=y_20^post275, f_248^0'=f_248^post275, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275, a_393^0'=a_393^post275, i_229^0'=i_229^post275, a_610^0'=a_610^post275, r_151^0'=r_151^post275, a_144^0'=a_144^post275, i_1053^0'=i_1053^post275, a_417^0'=a_417^post275, t_24^0'=t_24^post275, i_94^0'=i_94^post275, x_852^0'=x_852^post275, a_862^0'=a_862^post275, rcd_1249^0'=rcd_1249^post275, rcd_58^0'=rcd_58^post275, a_310^0'=a_310^post275, i_127^0'=i_127^post275, a_576^0'=a_576^post275, tmp_34^0'=tmp_34^post275, length_29^0'=length_29^post275, a_1162^0'=a_1162^post275, f_969^0'=f_969^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275, a_395^0'=a_395^post275, x_17^0'=x_17^post275, a_633^0'=a_633^post275, r_224^0'=r_224^post275, a_239^0'=a_239^post275, i_107^0'=i_107^post275, a_431^0'=a_431^post275, temp0_16^0'=temp0_16^post275, len_238^0'=len_238^post275, x_SLAM_f_19^0'=x_SLAM_f_19^post275, a_924^0'=a_924^post275, ct_18^0'=ct_18^post275, result_11^0'=result_11^post275, a_392^0'=a_392^post275, i_197^0'=i_197^post275, a_579^0'=a_579^post275, r_143^0'=r_143^post275, a_1236^0'=a_1236^post275, head_32^0'=head_32^post275, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275, i_30^0'=i_30^post275, x_253^0'=x_253^post275, a_635^0'=a_635^post275, r_970^0'=r_970^post275, rcd_47^0'=rcd_47^post275, a_309^0'=a_309^post275, i_1248^0'=i_1248^post275, a_575^0'=a_575^post275, temp_35^0'=temp_35^post275, len_861^0'=len_861^post275, (-x_SLAM_f_19^post275+x_SLAM_f_19^0 == 0 /\ a_430^0-a_430^post275 == 0 /\ -r_151^post275+r_151^0 == 0 /\ x_975^0-x_975^post275 == 0 /\ f_248^0-f_248^post275 == 0 /\ r_192^0-r_192^post275 == 0 /\ -a_432^post275+a_432^0 == 0 /\ -a_924^post275+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_633^0-a_633^post275 == 0 /\ -i_113^post275+i_113^0 == 0 /\ i_127^0-i_127^post275 == 0 /\ x_21^0-x_21^post275 == 0 /\ f_969^0-f_969^post275 == 0 /\ -r_143^post275+r_143^0 == 0 /\ result_11^0-result_11^post275 == 0 /\ -x_253^post275+x_253^0 == 0 /\ a_144^0-a_144^post275 == 0 /\ a_947^0-a_947^post275 == 0 /\ -a_392^post275+a_392^0 == 0 /\ -a_862^post275+a_862^0 == 0 /\ -a_1236^post275+a_1236^0 == 0 /\ -temp_35^post275+temp_35^0 == 0 /\ len_161^0-len_161^post275 == 0 /\ i_27^0-i_27^post275 == 0 /\ -r_970^post275+r_970^0 == 0 /\ a_576^0-a_576^post275 == 0 /\ -rcd_47^post275+rcd_47^0 == 0 /\ r_39^0-r_39^post275 == 0 /\ -a_310^post275+a_310^0 == 0 /\ f_847^0-f_847^post275 == 0 /\ t_458^0-t_458^post275 == 0 /\ -i_140^post275+i_140^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post275+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ rcd_58^0-rcd_58^post275 == 0 /\ i_106^0-i_106^post275 == 0 /\ -i_94^post275+i_94^0 == 0 /\ rcd_1249^0-rcd_1249^post275 == 0 /\ -length_29^post275+length_29^0 == 0 /\ -y_20^post275+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post275 == 0 /\ -a_577^post275+a_577^0 == 0 /\ -i_1248^post275+i_1248^0 == 0 /\ head_15^0-head_15^post275 == 0 /\ -a_579^post275+a_579^0 == 0 /\ -t_24^post275+t_24^0 == 0 /\ -r_224^post275+r_224^0 == 0 /\ -head_32^post275+head_32^0 == 0 /\ -x_852^post275+x_852^0 == 0 /\ -temp0_16^post275+temp0_16^0 == 0 /\ a_632^0-a_632^post275 == 0 /\ -ct_18^post275+ct_18^0 == 0 /\ -len_861^post275+len_861^0 == 0 /\ a_239^0-a_239^post275 == 0 /\ len_262^0-len_262^post275 == 0 /\ x_156^0-x_156^post275 == 0 /\ -a_431^post275+a_431^0 == 0 /\ a_610^0-a_610^post275 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post275+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_263^post275+a_263^0 == 0 /\ a_902^0-a_902^post275 == 0 /\ -a_395^post275+a_395^0 == 0 /\ temp0_31^0-temp0_31^post275 == 0 /\ -i_197^post275+i_197^0 == 0 /\ i_229^0-i_229^post275 == 0 /\ a_634^0-a_634^post275 == 0 /\ -i_30^post275+i_30^0 == 0 /\ a_417^0-a_417^post275 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post275 == 0 /\ a_394^0-a_394^post275 == 0 /\ -a_309^post275+a_309^0 == 0 /\ x_17^0-x_17^post275 == 0 /\ a_1089^0-a_1089^post275 == 0 /\ x_14^0-x_14^post275 == 0 /\ len_238^0-len_238^post275 == 0 /\ 1-head_15^0 <= 0 /\ -i_107^post275+i_107^0 == 0 /\ nondet_12^0-nondet_12^post275 == 0 /\ -a_575^post275+a_575^0 == 0 /\ a_176^0-a_176^post275 == 0 /\ -tmp_34^post275+tmp_34^0 == 0 /\ a_121^0-a_121^post275 == 0 /\ -a_635^post275+a_635^0 == 0 /\ a_311^0-a_311^post275 == 0 /\ -a_393^post275+a_393^0 == 0 /\ i_1053^0-i_1053^post275 == 0 /\ rcd_88^0-rcd_88^post275 == 0 /\ -a_1162^post275+a_1162^0 == 0), cost: 1 New rule: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 Applied preprocessing Original rule: l172 -> l173 : a_1089^0'=a_1089^post276, f_847^0'=f_847^post276, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post276, a_394^0'=a_394^post276, x_156^0'=x_156^post276, a_632^0'=a_632^post276, r_192^0'=r_192^post276, a_176^0'=a_176^post276, i_106^0'=i_106^post276, a_430^0'=a_430^post276, t_458^0'=t_458^post276, len_161^0'=len_161^post276, x_975^0'=x_975^post276, a_902^0'=a_902^post276, a_947^0'=a_947^post276, rcd_88^0'=rcd_88^post276, a_311^0'=a_311^post276, i_140^0'=i_140^post276, a_577^0'=a_577^post276, x_14^0'=x_14^post276, nondet_12^0'=nondet_12^post276, a_121^0'=a_121^post276, head_15^0'=head_15^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276, i_27^0'=i_27^post276, x_21^0'=x_21^post276, a_634^0'=a_634^post276, r_39^0'=r_39^post276, a_263^0'=a_263^post276, i_113^0'=i_113^post276, a_432^0'=a_432^post276, temp0_31^0'=temp0_31^post276, len_262^0'=len_262^post276, y_20^0'=y_20^post276, f_248^0'=f_248^post276, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276, a_393^0'=a_393^post276, i_229^0'=i_229^post276, a_610^0'=a_610^post276, r_151^0'=r_151^post276, a_144^0'=a_144^post276, i_1053^0'=i_1053^post276, a_417^0'=a_417^post276, t_24^0'=t_24^post276, i_94^0'=i_94^post276, x_852^0'=x_852^post276, a_862^0'=a_862^post276, rcd_1249^0'=rcd_1249^post276, rcd_58^0'=rcd_58^post276, a_310^0'=a_310^post276, i_127^0'=i_127^post276, a_576^0'=a_576^post276, tmp_34^0'=tmp_34^post276, length_29^0'=length_29^post276, a_1162^0'=a_1162^post276, f_969^0'=f_969^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276, a_395^0'=a_395^post276, x_17^0'=x_17^post276, a_633^0'=a_633^post276, r_224^0'=r_224^post276, a_239^0'=a_239^post276, i_107^0'=i_107^post276, a_431^0'=a_431^post276, temp0_16^0'=temp0_16^post276, len_238^0'=len_238^post276, x_SLAM_f_19^0'=x_SLAM_f_19^post276, a_924^0'=a_924^post276, ct_18^0'=ct_18^post276, result_11^0'=result_11^post276, a_392^0'=a_392^post276, i_197^0'=i_197^post276, a_579^0'=a_579^post276, r_143^0'=r_143^post276, a_1236^0'=a_1236^post276, head_32^0'=head_32^post276, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276, i_30^0'=i_30^post276, x_253^0'=x_253^post276, a_635^0'=a_635^post276, r_970^0'=r_970^post276, rcd_47^0'=rcd_47^post276, a_309^0'=a_309^post276, i_1248^0'=i_1248^post276, a_575^0'=a_575^post276, temp_35^0'=temp_35^post276, len_861^0'=len_861^post276, (rcd_58^0-rcd_58^post276 == 0 /\ a_862^0-a_862^post276 == 0 /\ -a_310^post276+a_310^0 == 0 /\ -i_229^post276+i_229^0 == 0 /\ len_161^0-len_161^post276 == 0 /\ 1+head_15^0 <= 0 /\ -temp0_16^post276+temp0_16^0 == 0 /\ -len_262^post276+len_262^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post276 == 0 /\ x_852^0-x_852^post276 == 0 /\ a_394^0-a_394^post276 == 0 /\ a_144^0-a_144^post276 == 0 /\ a_263^0-a_263^post276 == 0 /\ t_24^0-t_24^post276 == 0 /\ -head_32^post276+head_32^0 == 0 /\ -f_248^post276+f_248^0 == 0 /\ a_576^0-a_576^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -r_224^post276+r_224^0 == 0 /\ a_947^0-a_947^post276 == 0 /\ -i_197^post276+i_197^0 == 0 /\ -temp_35^post276+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post276 == 0 /\ -r_39^post276+r_39^0 == 0 /\ f_847^0-f_847^post276 == 0 /\ -a_579^post276+a_579^0 == 0 /\ i_106^0-i_106^post276 == 0 /\ -i_107^post276+i_107^0 == 0 /\ -i_127^post276+i_127^0 == 0 /\ -x_14^post276+x_14^0 == 0 /\ r_151^0-r_151^post276 == 0 /\ -a_575^post276+a_575^0 == 0 /\ -x_17^post276+x_17^0 == 0 /\ -a_1162^post276+a_1162^0 == 0 /\ a_430^0-a_430^post276 == 0 /\ -a_924^post276+a_924^0 == 0 /\ a_311^0-a_311^post276 == 0 /\ t_458^0-t_458^post276 == 0 /\ -i_30^post276+i_30^0 == 0 /\ head_15^0-head_15^post276 == 0 /\ a_902^0-a_902^post276 == 0 /\ -result_11^post276+result_11^0 == 0 /\ -a_417^post276+a_417^0 == 0 /\ ct_18^0-ct_18^post276 == 0 /\ x_21^0-x_21^post276 == 0 /\ a_432^0-a_432^post276 == 0 /\ a_1236^0-a_1236^post276 == 0 /\ x_156^0-x_156^post276 == 0 /\ -len_861^post276+len_861^0 == 0 /\ -a_635^post276+a_635^0 == 0 /\ -a_577^post276+a_577^0 == 0 /\ -i_1248^post276+i_1248^0 == 0 /\ temp0_31^0-temp0_31^post276 == 0 /\ i_140^0-i_140^post276 == 0 /\ a_634^0-a_634^post276 == 0 /\ i_27^0-i_27^post276 == 0 /\ -len_238^post276+len_238^0 == 0 /\ -a_610^post276+a_610^0 == 0 /\ a_176^0-a_176^post276 == 0 /\ a_1089^0-a_1089^post276 == 0 /\ -a_633^post276+a_633^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post276 == 0 /\ -rcd_47^post276+rcd_47^0 == 0 /\ -r_143^post276+r_143^0 == 0 /\ rcd_88^0-rcd_88^post276 == 0 /\ x_253^0-x_253^post276 == 0 /\ y_20^0-y_20^post276 == 0 /\ -rcd_1249^post276+rcd_1249^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post276 == 0 /\ -a_632^post276+a_632^0 == 0 /\ a_395^0-a_395^post276 == 0 /\ i_1053^0-i_1053^post276 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post276+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -i_113^post276+i_113^0 == 0 /\ -a_309^post276+a_309^0 == 0 /\ -a_431^post276+a_431^0 == 0 /\ a_239^0-a_239^post276 == 0 /\ x_975^0-x_975^post276 == 0 /\ a_393^0-a_393^post276 == 0 /\ -a_392^post276+a_392^0 == 0 /\ -i_94^post276+i_94^0 == 0 /\ f_969^0-f_969^post276 == 0 /\ r_192^0-r_192^post276 == 0 /\ -r_970^post276+r_970^0 == 0 /\ -length_29^post276+length_29^0 == 0 /\ nondet_12^0-nondet_12^post276 == 0 /\ -a_121^post276+a_121^0 == 0 /\ -x_SLAM_f_19^post276+x_SLAM_f_19^0 == 0), cost: 1 New rule: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 Applied preprocessing Original rule: l173 -> l174 : a_1089^0'=a_1089^post277, f_847^0'=f_847^post277, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post277, a_394^0'=a_394^post277, x_156^0'=x_156^post277, a_632^0'=a_632^post277, r_192^0'=r_192^post277, a_176^0'=a_176^post277, i_106^0'=i_106^post277, a_430^0'=a_430^post277, t_458^0'=t_458^post277, len_161^0'=len_161^post277, x_975^0'=x_975^post277, a_902^0'=a_902^post277, a_947^0'=a_947^post277, rcd_88^0'=rcd_88^post277, a_311^0'=a_311^post277, i_140^0'=i_140^post277, a_577^0'=a_577^post277, x_14^0'=x_14^post277, nondet_12^0'=nondet_12^post277, a_121^0'=a_121^post277, head_15^0'=head_15^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277, i_27^0'=i_27^post277, x_21^0'=x_21^post277, a_634^0'=a_634^post277, r_39^0'=r_39^post277, a_263^0'=a_263^post277, i_113^0'=i_113^post277, a_432^0'=a_432^post277, temp0_31^0'=temp0_31^post277, len_262^0'=len_262^post277, y_20^0'=y_20^post277, f_248^0'=f_248^post277, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277, a_393^0'=a_393^post277, i_229^0'=i_229^post277, a_610^0'=a_610^post277, r_151^0'=r_151^post277, a_144^0'=a_144^post277, i_1053^0'=i_1053^post277, a_417^0'=a_417^post277, t_24^0'=t_24^post277, i_94^0'=i_94^post277, x_852^0'=x_852^post277, a_862^0'=a_862^post277, rcd_1249^0'=rcd_1249^post277, rcd_58^0'=rcd_58^post277, a_310^0'=a_310^post277, i_127^0'=i_127^post277, a_576^0'=a_576^post277, tmp_34^0'=tmp_34^post277, length_29^0'=length_29^post277, a_1162^0'=a_1162^post277, f_969^0'=f_969^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277, a_395^0'=a_395^post277, x_17^0'=x_17^post277, a_633^0'=a_633^post277, r_224^0'=r_224^post277, a_239^0'=a_239^post277, i_107^0'=i_107^post277, a_431^0'=a_431^post277, temp0_16^0'=temp0_16^post277, len_238^0'=len_238^post277, x_SLAM_f_19^0'=x_SLAM_f_19^post277, a_924^0'=a_924^post277, ct_18^0'=ct_18^post277, result_11^0'=result_11^post277, a_392^0'=a_392^post277, i_197^0'=i_197^post277, a_579^0'=a_579^post277, r_143^0'=r_143^post277, a_1236^0'=a_1236^post277, head_32^0'=head_32^post277, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277, i_30^0'=i_30^post277, x_253^0'=x_253^post277, a_635^0'=a_635^post277, r_970^0'=r_970^post277, rcd_47^0'=rcd_47^post277, a_309^0'=a_309^post277, i_1248^0'=i_1248^post277, a_575^0'=a_575^post277, temp_35^0'=temp_35^post277, len_861^0'=len_861^post277, (length_29^0-length_29^post277 == 0 /\ r_39^0-r_39^post277 == 0 /\ r_151^0-r_151^post277 == 0 /\ -rcd_47^post277+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post277+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ tmp_34^0-tmp_34^post277 == 0 /\ a_632^0-a_632^post277 == 0 /\ a_430^0-a_430^post277 == 0 /\ x_975^0-x_975^post277 == 0 /\ -a_634^post277+a_634^0 == 0 /\ t_458^0-t_458^post277 == 0 /\ -len_238^post277+len_238^0 == 0 /\ i_94^0-i_94^post277 == 0 /\ i_113^0-i_113^post277 == 0 /\ a_577^0-a_577^post277 == 0 /\ a_902^0-a_902^post277 == 0 /\ a_393^0-a_393^post277 == 0 /\ -r_143^post277+r_143^0 == 0 /\ a_633^0-a_633^post277 == 0 /\ f_969^0-f_969^post277 == 0 /\ 1+head_15^0-y_20^0 <= 0 /\ a_144^0-a_144^post277 == 0 /\ -a_392^post277+a_392^0 == 0 /\ x_14^0-x_14^post277 == 0 /\ rcd_58^0-rcd_58^post277 == 0 /\ a_417^0-a_417^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post277 == 0 /\ len_262^0-len_262^post277 == 0 /\ a_394^0-a_394^post277 == 0 /\ -a_431^post277+a_431^0 == 0 /\ -temp_35^post277+temp_35^0 == 0 /\ -a_576^post277+a_576^0 == 0 /\ -i_27^post277+i_27^0 == 0 /\ a_263^0-a_263^post277 == 0 /\ -x_SLAM_f_19^post277+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post277 == 0 /\ -r_970^post277+r_970^0 == 0 /\ -i_229^post277+i_229^0 == 0 /\ -a_310^post277+a_310^0 == 0 /\ -a_610^post277+a_610^0 == 0 /\ -a_311^post277+a_311^0 == 0 /\ -x_253^post277+x_253^0 == 0 /\ -a_1236^post277+a_1236^0 == 0 /\ f_248^0-f_248^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post277 == 0 /\ -len_161^post277+len_161^0 == 0 /\ i_106^0-i_106^post277 == 0 /\ -i_1248^post277+i_1248^0 == 0 /\ -temp0_31^post277+temp0_31^0 == 0 /\ -temp0_16^post277+temp0_16^0 == 0 /\ -a_239^post277+a_239^0 == 0 /\ -r_224^post277+r_224^0 == 0 /\ -a_395^post277+a_395^0 == 0 /\ -ct_18^post277+ct_18^0 == 0 /\ rcd_88^0-rcd_88^post277 == 0 /\ -r_192^post277+r_192^0 == 0 /\ -a_579^post277+a_579^0 == 0 /\ a_432^0-a_432^post277 == 0 /\ x_156^0-x_156^post277 == 0 /\ -a_947^post277+a_947^0 == 0 /\ -head_32^post277+head_32^0 == 0 /\ -i_127^post277+i_127^0 == 0 /\ -a_862^post277+a_862^0 == 0 /\ -i_197^post277+i_197^0 == 0 /\ x_21^0-x_21^post277 == 0 /\ a_121^0-a_121^post277 == 0 /\ -result_11^post277+result_11^0 == 0 /\ x_852^0-x_852^post277 == 0 /\ i_140^0-i_140^post277 == 0 /\ a_1089^0-a_1089^post277 == 0 /\ -x_17^post277+x_17^0 == 0 /\ nondet_12^0-nondet_12^post277 == 0 /\ -i_107^post277+i_107^0 == 0 /\ -head_15^post277+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post277 == 0 /\ -a_309^post277+a_309^0 == 0 /\ -a_575^post277+a_575^0 == 0 /\ -a_924^post277+a_924^0 == 0 /\ -a_635^post277+a_635^0 == 0 /\ f_847^0-f_847^post277 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post277 == 0 /\ -len_861^post277+len_861^0 == 0 /\ -a_1162^post277+a_1162^0 == 0 /\ -i_30^post277+i_30^0 == 0 /\ i_1053^0-i_1053^post277 == 0 /\ a_176^0-a_176^post277 == 0 /\ rcd_1249^0-rcd_1249^post277 == 0 /\ -t_24^post277+t_24^0 == 0), cost: 1 New rule: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l173 -> l174 : a_1089^0'=a_1089^post278, f_847^0'=f_847^post278, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post278, a_394^0'=a_394^post278, x_156^0'=x_156^post278, a_632^0'=a_632^post278, r_192^0'=r_192^post278, a_176^0'=a_176^post278, i_106^0'=i_106^post278, a_430^0'=a_430^post278, t_458^0'=t_458^post278, len_161^0'=len_161^post278, x_975^0'=x_975^post278, a_902^0'=a_902^post278, a_947^0'=a_947^post278, rcd_88^0'=rcd_88^post278, a_311^0'=a_311^post278, i_140^0'=i_140^post278, a_577^0'=a_577^post278, x_14^0'=x_14^post278, nondet_12^0'=nondet_12^post278, a_121^0'=a_121^post278, head_15^0'=head_15^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278, i_27^0'=i_27^post278, x_21^0'=x_21^post278, a_634^0'=a_634^post278, r_39^0'=r_39^post278, a_263^0'=a_263^post278, i_113^0'=i_113^post278, a_432^0'=a_432^post278, temp0_31^0'=temp0_31^post278, len_262^0'=len_262^post278, y_20^0'=y_20^post278, f_248^0'=f_248^post278, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278, a_393^0'=a_393^post278, i_229^0'=i_229^post278, a_610^0'=a_610^post278, r_151^0'=r_151^post278, a_144^0'=a_144^post278, i_1053^0'=i_1053^post278, a_417^0'=a_417^post278, t_24^0'=t_24^post278, i_94^0'=i_94^post278, x_852^0'=x_852^post278, a_862^0'=a_862^post278, rcd_1249^0'=rcd_1249^post278, rcd_58^0'=rcd_58^post278, a_310^0'=a_310^post278, i_127^0'=i_127^post278, a_576^0'=a_576^post278, tmp_34^0'=tmp_34^post278, length_29^0'=length_29^post278, a_1162^0'=a_1162^post278, f_969^0'=f_969^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278, a_395^0'=a_395^post278, x_17^0'=x_17^post278, a_633^0'=a_633^post278, r_224^0'=r_224^post278, a_239^0'=a_239^post278, i_107^0'=i_107^post278, a_431^0'=a_431^post278, temp0_16^0'=temp0_16^post278, len_238^0'=len_238^post278, x_SLAM_f_19^0'=x_SLAM_f_19^post278, a_924^0'=a_924^post278, ct_18^0'=ct_18^post278, result_11^0'=result_11^post278, a_392^0'=a_392^post278, i_197^0'=i_197^post278, a_579^0'=a_579^post278, r_143^0'=r_143^post278, a_1236^0'=a_1236^post278, head_32^0'=head_32^post278, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278, i_30^0'=i_30^post278, x_253^0'=x_253^post278, a_635^0'=a_635^post278, r_970^0'=r_970^post278, rcd_47^0'=rcd_47^post278, a_309^0'=a_309^post278, i_1248^0'=i_1248^post278, a_575^0'=a_575^post278, temp_35^0'=temp_35^post278, len_861^0'=len_861^post278, (-head_32^post278+head_32^0 == 0 /\ -a_395^post278+a_395^0 == 0 /\ -len_861^post278+len_861^0 == 0 /\ -ct_18^post278+ct_18^0 == 0 /\ i_197^0-i_197^post278 == 0 /\ a_310^0-a_310^post278 == 0 /\ -i_1248^post278+i_1248^0 == 0 /\ -len_262^post278+len_262^0 == 0 /\ a_1089^0-a_1089^post278 == 0 /\ a_417^0-a_417^post278 == 0 /\ a_394^0-a_394^post278 == 0 /\ -a_239^post278+a_239^0 == 0 /\ -temp_35^post278+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_88^0-rcd_88^post278 == 0 /\ a_311^0-a_311^post278 == 0 /\ -i_127^post278+i_127^0 == 0 /\ f_847^0-f_847^post278 == 0 /\ a_924^0-a_924^post278 == 0 /\ -i_1053^post278+i_1053^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post278 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post278 == 0 /\ -a_392^post278+a_392^0 == 0 /\ i_140^0-i_140^post278 == 0 /\ i_106^0-i_106^post278 == 0 /\ -rcd_1249^post278+rcd_1249^0 == 0 /\ -i_107^post278+i_107^0 == 0 /\ i_94^0-i_94^post278 == 0 /\ -a_579^post278+a_579^0 == 0 /\ -a_575^post278+a_575^0 == 0 /\ x_975^0-x_975^post278 == 0 /\ t_458^0-t_458^post278 == 0 /\ a_393^0-a_393^post278 == 0 /\ -result_11^post278+result_11^0 == 0 /\ -a_309^post278+a_309^0 == 0 /\ y_20^0-y_20^post278 == 0 /\ r_39^0-r_39^post278 == 0 /\ -i_30^post278+i_30^0 == 0 /\ -a_635^post278+a_635^0 == 0 /\ r_224^0-r_224^post278 == 0 /\ x_21^0-x_21^post278 == 0 /\ -x_852^post278+x_852^0 == 0 /\ -x_17^post278+x_17^0 == 0 /\ a_577^0-a_577^post278 == 0 /\ temp0_31^0-temp0_31^post278 == 0 /\ -a_144^post278+a_144^0 == 0 /\ 1-head_15^0+y_20^0 <= 0 /\ -rcd_58^post278+rcd_58^0 == 0 /\ -head_15^post278+head_15^0 == 0 /\ -a_633^post278+a_633^0 == 0 /\ -tmp_34^post278+tmp_34^0 == 0 /\ t_24^0-t_24^post278 == 0 /\ x_14^0-x_14^post278 == 0 /\ a_121^0-a_121^post278 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post278+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -len_238^post278+len_238^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post278 == 0 /\ len_161^0-len_161^post278 == 0 /\ x_156^0-x_156^post278 == 0 /\ a_947^0-a_947^post278 == 0 /\ -a_176^post278+a_176^0 == 0 /\ a_263^0-a_263^post278 == 0 /\ -a_634^post278+a_634^0 == 0 /\ -a_576^post278+a_576^0 == 0 /\ -r_143^post278+r_143^0 == 0 /\ length_29^0-length_29^post278 == 0 /\ -i_27^post278+i_27^0 == 0 /\ a_430^0-a_430^post278 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post278+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ f_248^0-f_248^post278 == 0 /\ -a_1236^post278+a_1236^0 == 0 /\ -x_253^post278+x_253^0 == 0 /\ r_151^0-r_151^post278 == 0 /\ -r_970^post278+r_970^0 == 0 /\ a_632^0-a_632^post278 == 0 /\ -f_969^post278+f_969^0 == 0 /\ -a_431^post278+a_431^0 == 0 /\ -a_610^post278+a_610^0 == 0 /\ a_432^0-a_432^post278 == 0 /\ a_902^0-a_902^post278 == 0 /\ i_113^0-i_113^post278 == 0 /\ r_192^0-r_192^post278 == 0 /\ a_1162^0-a_1162^post278 == 0 /\ a_862^0-a_862^post278 == 0 /\ temp0_16^0-temp0_16^post278 == 0 /\ nondet_12^0-nondet_12^post278 == 0 /\ -rcd_47^post278+rcd_47^0 == 0 /\ i_229^0-i_229^post278 == 0), cost: 1 New rule: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 Applied preprocessing Original rule: l174 -> l175 : a_1089^0'=a_1089^post279, f_847^0'=f_847^post279, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post279, a_394^0'=a_394^post279, x_156^0'=x_156^post279, a_632^0'=a_632^post279, r_192^0'=r_192^post279, a_176^0'=a_176^post279, i_106^0'=i_106^post279, a_430^0'=a_430^post279, t_458^0'=t_458^post279, len_161^0'=len_161^post279, x_975^0'=x_975^post279, a_902^0'=a_902^post279, a_947^0'=a_947^post279, rcd_88^0'=rcd_88^post279, a_311^0'=a_311^post279, i_140^0'=i_140^post279, a_577^0'=a_577^post279, x_14^0'=x_14^post279, nondet_12^0'=nondet_12^post279, a_121^0'=a_121^post279, head_15^0'=head_15^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279, i_27^0'=i_27^post279, x_21^0'=x_21^post279, a_634^0'=a_634^post279, r_39^0'=r_39^post279, a_263^0'=a_263^post279, i_113^0'=i_113^post279, a_432^0'=a_432^post279, temp0_31^0'=temp0_31^post279, len_262^0'=len_262^post279, y_20^0'=y_20^post279, f_248^0'=f_248^post279, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279, a_393^0'=a_393^post279, i_229^0'=i_229^post279, a_610^0'=a_610^post279, r_151^0'=r_151^post279, a_144^0'=a_144^post279, i_1053^0'=i_1053^post279, a_417^0'=a_417^post279, t_24^0'=t_24^post279, i_94^0'=i_94^post279, x_852^0'=x_852^post279, a_862^0'=a_862^post279, rcd_1249^0'=rcd_1249^post279, rcd_58^0'=rcd_58^post279, a_310^0'=a_310^post279, i_127^0'=i_127^post279, a_576^0'=a_576^post279, tmp_34^0'=tmp_34^post279, length_29^0'=length_29^post279, a_1162^0'=a_1162^post279, f_969^0'=f_969^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279, a_395^0'=a_395^post279, x_17^0'=x_17^post279, a_633^0'=a_633^post279, r_224^0'=r_224^post279, a_239^0'=a_239^post279, i_107^0'=i_107^post279, a_431^0'=a_431^post279, temp0_16^0'=temp0_16^post279, len_238^0'=len_238^post279, x_SLAM_f_19^0'=x_SLAM_f_19^post279, a_924^0'=a_924^post279, ct_18^0'=ct_18^post279, result_11^0'=result_11^post279, a_392^0'=a_392^post279, i_197^0'=i_197^post279, a_579^0'=a_579^post279, r_143^0'=r_143^post279, a_1236^0'=a_1236^post279, head_32^0'=head_32^post279, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279, i_30^0'=i_30^post279, x_253^0'=x_253^post279, a_635^0'=a_635^post279, r_970^0'=r_970^post279, rcd_47^0'=rcd_47^post279, a_309^0'=a_309^post279, i_1248^0'=i_1248^post279, a_575^0'=a_575^post279, temp_35^0'=temp_35^post279, len_861^0'=len_861^post279, (-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_924^0-a_924^post279 == 0 /\ a_632^0-a_632^post279 == 0 /\ -tmp_34^post279+tmp_34^0 == 0 /\ rcd_1249^0-rcd_1249^post279 == 0 /\ -rcd_47^post279+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ a_430^0-a_430^post279 == 0 /\ x_975^0-x_975^post279 == 0 /\ i_127^0-i_127^post279 == 0 /\ a_577^0-a_577^post279 == 0 /\ a_1162^0-a_1162^post279 == 0 /\ -a_634^post279+a_634^0 == 0 /\ -r_143^post279+r_143^0 == 0 /\ x_14^0-x_14^post279 == 0 /\ a_432^0-a_432^post279 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post279+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_151^post279+r_151^0 == 0 /\ r_192^0-r_192^post279 == 0 /\ -a_392^post279+a_392^0 == 0 /\ -x_SLAM_f_19^post279+x_SLAM_f_19^0 == 0 /\ -y_20^post279+y_20^0 == 0 /\ i_140^0-i_140^post279 == 0 /\ -i_27^post279+i_27^0 == 0 /\ -f_969^post279+f_969^0 == 0 /\ i_229^0-i_229^post279 == 0 /\ -x_253^post279+x_253^0 == 0 /\ a_576^0-a_576^post279 == 0 /\ -temp_35^post279+temp_35^0 == 0 /\ -i_113^post279+i_113^0 == 0 /\ a_394^0-a_394^post279 == 0 /\ -a_1236^post279+a_1236^0 == 0 /\ -r_970^post279+r_970^0 == 0 /\ a_176^0-a_176^post279 == 0 /\ f_847^0-f_847^post279 == 0 /\ a_947^0-a_947^post279 == 0 /\ -a_431^post279+a_431^0 == 0 /\ i_197^0-i_197^post279 == 0 /\ 1+y_20^0-t_24^0 <= 0 /\ -a_395^post279+a_395^0 == 0 /\ a_902^0-a_902^post279 == 0 /\ -i_1053^post279+i_1053^0 == 0 /\ -i_1248^post279+i_1248^0 == 0 /\ -rcd_58^post279+rcd_58^0 == 0 /\ a_610^0-a_610^post279 == 0 /\ i_94^0-i_94^post279 == 0 /\ i_107^0-i_107^post279 == 0 /\ -a_239^post279+a_239^0 == 0 /\ -length_29^post279+length_29^0 == 0 /\ r_39^0-r_39^post279 == 0 /\ -ct_18^post279+ct_18^0 == 0 /\ head_15^0-head_15^post279 == 0 /\ -len_861^post279+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post279+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_862^post279+a_862^0 == 0 /\ -a_310^post279+a_310^0 == 0 /\ -temp0_16^post279+temp0_16^0 == 0 /\ rcd_88^0-rcd_88^post279 == 0 /\ a_311^0-a_311^post279 == 0 /\ x_156^0-x_156^post279 == 0 /\ a_633^0-a_633^post279 == 0 /\ -head_32^post279+head_32^0 == 0 /\ a_1089^0-a_1089^post279 == 0 /\ -a_393^post279+a_393^0 == 0 /\ nondet_12^0-nondet_12^post279 == 0 /\ -len_161^post279+len_161^0 == 0 /\ -i_106^post279+i_106^0 == 0 /\ x_21^0-x_21^post279 == 0 /\ -t_458^post279+t_458^0 == 0 /\ -r_224^post279+r_224^0 == 0 /\ -t_24^post279+t_24^0 == 0 /\ -a_309^post279+a_309^0 == 0 /\ -a_579^post279+a_579^0 == 0 /\ a_121^0-a_121^post279 == 0 /\ -a_417^post279+a_417^0 == 0 /\ -result_11^post279+result_11^0 == 0 /\ len_262^0-len_262^post279 == 0 /\ -a_144^post279+a_144^0 == 0 /\ temp0_31^0-temp0_31^post279 == 0 /\ -a_575^post279+a_575^0 == 0 /\ -i_30^post279+i_30^0 == 0 /\ -a_263^post279+a_263^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post279 == 0 /\ x_17^0-x_17^post279 == 0 /\ len_238^0-len_238^post279 == 0 /\ -a_635^post279+a_635^0 == 0 /\ -x_852^post279+x_852^0 == 0 /\ f_248^0-f_248^post279 == 0), cost: 1 New rule: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l174 -> l175 : a_1089^0'=a_1089^post280, f_847^0'=f_847^post280, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post280, a_394^0'=a_394^post280, x_156^0'=x_156^post280, a_632^0'=a_632^post280, r_192^0'=r_192^post280, a_176^0'=a_176^post280, i_106^0'=i_106^post280, a_430^0'=a_430^post280, t_458^0'=t_458^post280, len_161^0'=len_161^post280, x_975^0'=x_975^post280, a_902^0'=a_902^post280, a_947^0'=a_947^post280, rcd_88^0'=rcd_88^post280, a_311^0'=a_311^post280, i_140^0'=i_140^post280, a_577^0'=a_577^post280, x_14^0'=x_14^post280, nondet_12^0'=nondet_12^post280, a_121^0'=a_121^post280, head_15^0'=head_15^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280, i_27^0'=i_27^post280, x_21^0'=x_21^post280, a_634^0'=a_634^post280, r_39^0'=r_39^post280, a_263^0'=a_263^post280, i_113^0'=i_113^post280, a_432^0'=a_432^post280, temp0_31^0'=temp0_31^post280, len_262^0'=len_262^post280, y_20^0'=y_20^post280, f_248^0'=f_248^post280, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280, a_393^0'=a_393^post280, i_229^0'=i_229^post280, a_610^0'=a_610^post280, r_151^0'=r_151^post280, a_144^0'=a_144^post280, i_1053^0'=i_1053^post280, a_417^0'=a_417^post280, t_24^0'=t_24^post280, i_94^0'=i_94^post280, x_852^0'=x_852^post280, a_862^0'=a_862^post280, rcd_1249^0'=rcd_1249^post280, rcd_58^0'=rcd_58^post280, a_310^0'=a_310^post280, i_127^0'=i_127^post280, a_576^0'=a_576^post280, tmp_34^0'=tmp_34^post280, length_29^0'=length_29^post280, a_1162^0'=a_1162^post280, f_969^0'=f_969^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280, a_395^0'=a_395^post280, x_17^0'=x_17^post280, a_633^0'=a_633^post280, r_224^0'=r_224^post280, a_239^0'=a_239^post280, i_107^0'=i_107^post280, a_431^0'=a_431^post280, temp0_16^0'=temp0_16^post280, len_238^0'=len_238^post280, x_SLAM_f_19^0'=x_SLAM_f_19^post280, a_924^0'=a_924^post280, ct_18^0'=ct_18^post280, result_11^0'=result_11^post280, a_392^0'=a_392^post280, i_197^0'=i_197^post280, a_579^0'=a_579^post280, r_143^0'=r_143^post280, a_1236^0'=a_1236^post280, head_32^0'=head_32^post280, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280, i_30^0'=i_30^post280, x_253^0'=x_253^post280, a_635^0'=a_635^post280, r_970^0'=r_970^post280, rcd_47^0'=rcd_47^post280, a_309^0'=a_309^post280, i_1248^0'=i_1248^post280, a_575^0'=a_575^post280, temp_35^0'=temp_35^post280, len_861^0'=len_861^post280, (-length_29^post280+length_29^0 == 0 /\ -r_39^post280+r_39^0 == 0 /\ a_576^0-a_576^post280 == 0 /\ x_21^0-x_21^post280 == 0 /\ x_852^0-x_852^post280 == 0 /\ -i_1053^post280+i_1053^0 == 0 /\ a_121^0-a_121^post280 == 0 /\ -a_395^post280+a_395^0 == 0 /\ x_156^0-x_156^post280 == 0 /\ -a_417^post280+a_417^0 == 0 /\ -len_861^post280+len_861^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -a_1236^post280+a_1236^0 == 0 /\ f_847^0-f_847^post280 == 0 /\ nondet_12^0-nondet_12^post280 == 0 /\ a_394^0-a_394^post280 == 0 /\ -i_1248^post280+i_1248^0 == 0 /\ -a_393^post280+a_393^0 == 0 /\ -a_862^post280+a_862^0 == 0 /\ -head_32^post280+head_32^0 == 0 /\ -a_579^post280+a_579^0 == 0 /\ -a_392^post280+a_392^0 == 0 /\ a_924^0-a_924^post280 == 0 /\ 1-y_20^0+t_24^0 <= 0 /\ -a_635^post280+a_635^0 == 0 /\ -a_144^post280+a_144^0 == 0 /\ t_458^0-t_458^post280 == 0 /\ -i_107^post280+i_107^0 == 0 /\ a_577^0-a_577^post280 == 0 /\ -i_30^post280+i_30^0 == 0 /\ -a_263^post280+a_263^0 == 0 /\ -a_575^post280+a_575^0 == 0 /\ i_106^0-i_106^post280 == 0 /\ -i_197^post280+i_197^0 == 0 /\ r_224^0-r_224^post280 == 0 /\ ct_18^0-ct_18^post280 == 0 /\ i_127^0-i_127^post280 == 0 /\ head_15^0-head_15^post280 == 0 /\ -a_309^post280+a_309^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post280 == 0 /\ -t_24^post280+t_24^0 == 0 /\ -rcd_58^post280+rcd_58^0 == 0 /\ a_430^0-a_430^post280 == 0 /\ x_14^0-x_14^post280 == 0 /\ -tmp_34^post280+tmp_34^0 == 0 /\ i_27^0-i_27^post280 == 0 /\ len_262^0-len_262^post280 == 0 /\ -rcd_47^post280+rcd_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post280+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -len_238^post280+len_238^0 == 0 /\ i_140^0-i_140^post280 == 0 /\ a_431^0-a_431^post280 == 0 /\ temp0_31^0-temp0_31^post280 == 0 /\ x_17^0-x_17^post280 == 0 /\ a_1089^0-a_1089^post280 == 0 /\ -a_633^post280+a_633^0 == 0 /\ a_634^0-a_634^post280 == 0 /\ -a_1162^post280+a_1162^0 == 0 /\ -result_11^post280+result_11^0 == 0 /\ a_947^0-a_947^post280 == 0 /\ -r_151^post280+r_151^0 == 0 /\ -rcd_1249^post280+rcd_1249^0 == 0 /\ a_176^0-a_176^post280 == 0 /\ -r_970^post280+r_970^0 == 0 /\ f_969^0-f_969^post280 == 0 /\ a_902^0-a_902^post280 == 0 /\ x_975^0-x_975^post280 == 0 /\ -y_20^post280+y_20^0 == 0 /\ -x_253^post280+x_253^0 == 0 /\ r_192^0-r_192^post280 == 0 /\ f_248^0-f_248^post280 == 0 /\ a_239^0-a_239^post280 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post280+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_143^post280+r_143^0 == 0 /\ rcd_88^0-rcd_88^post280 == 0 /\ -i_94^post280+i_94^0 == 0 /\ -x_SLAM_f_19^post280+x_SLAM_f_19^0 == 0 /\ -i_113^post280+i_113^0 == 0 /\ a_310^0-a_310^post280 == 0 /\ len_161^0-len_161^post280 == 0 /\ -a_432^post280+a_432^0 == 0 /\ temp0_16^0-temp0_16^post280 == 0 /\ a_610^0-a_610^post280 == 0 /\ a_632^0-a_632^post280 == 0 /\ -a_311^post280+a_311^0 == 0 /\ -temp_35^post280+temp_35^0 == 0 /\ -i_229^post280+i_229^0 == 0), cost: 1 New rule: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 Applied preprocessing Original rule: l175 -> l169 : a_1089^0'=a_1089^post281, f_847^0'=f_847^post281, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post281, a_394^0'=a_394^post281, x_156^0'=x_156^post281, a_632^0'=a_632^post281, r_192^0'=r_192^post281, a_176^0'=a_176^post281, i_106^0'=i_106^post281, a_430^0'=a_430^post281, t_458^0'=t_458^post281, len_161^0'=len_161^post281, x_975^0'=x_975^post281, a_902^0'=a_902^post281, a_947^0'=a_947^post281, rcd_88^0'=rcd_88^post281, a_311^0'=a_311^post281, i_140^0'=i_140^post281, a_577^0'=a_577^post281, x_14^0'=x_14^post281, nondet_12^0'=nondet_12^post281, a_121^0'=a_121^post281, head_15^0'=head_15^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281, i_27^0'=i_27^post281, x_21^0'=x_21^post281, a_634^0'=a_634^post281, r_39^0'=r_39^post281, a_263^0'=a_263^post281, i_113^0'=i_113^post281, a_432^0'=a_432^post281, temp0_31^0'=temp0_31^post281, len_262^0'=len_262^post281, y_20^0'=y_20^post281, f_248^0'=f_248^post281, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281, a_393^0'=a_393^post281, i_229^0'=i_229^post281, a_610^0'=a_610^post281, r_151^0'=r_151^post281, a_144^0'=a_144^post281, i_1053^0'=i_1053^post281, a_417^0'=a_417^post281, t_24^0'=t_24^post281, i_94^0'=i_94^post281, x_852^0'=x_852^post281, a_862^0'=a_862^post281, rcd_1249^0'=rcd_1249^post281, rcd_58^0'=rcd_58^post281, a_310^0'=a_310^post281, i_127^0'=i_127^post281, a_576^0'=a_576^post281, tmp_34^0'=tmp_34^post281, length_29^0'=length_29^post281, a_1162^0'=a_1162^post281, f_969^0'=f_969^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281, a_395^0'=a_395^post281, x_17^0'=x_17^post281, a_633^0'=a_633^post281, r_224^0'=r_224^post281, a_239^0'=a_239^post281, i_107^0'=i_107^post281, a_431^0'=a_431^post281, temp0_16^0'=temp0_16^post281, len_238^0'=len_238^post281, x_SLAM_f_19^0'=x_SLAM_f_19^post281, a_924^0'=a_924^post281, ct_18^0'=ct_18^post281, result_11^0'=result_11^post281, a_392^0'=a_392^post281, i_197^0'=i_197^post281, a_579^0'=a_579^post281, r_143^0'=r_143^post281, a_1236^0'=a_1236^post281, head_32^0'=head_32^post281, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281, i_30^0'=i_30^post281, x_253^0'=x_253^post281, a_635^0'=a_635^post281, r_970^0'=r_970^post281, rcd_47^0'=rcd_47^post281, a_309^0'=a_309^post281, i_1248^0'=i_1248^post281, a_575^0'=a_575^post281, temp_35^0'=temp_35^post281, len_861^0'=len_861^post281, (0 == 0 /\ r_39^0-r_39^post281 == 0 /\ -a_1162^post281+a_1162^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ f_969^0-f_969^post281 == 0 /\ ct_18^0-ct_18^post281 == 0 /\ -rcd_47^post281+rcd_47^0 == 0 /\ -a_947^0+a_924^post281 <= 0 /\ len_161^0-len_161^post281 == 0 /\ -x_253^post281+x_253^0 == 0 /\ -r_151^post281+r_151^0 == 0 /\ x_21^0-x_21^post281 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_14^0-x_14^post281 == 0 /\ a_430^0-a_430^post281 == 0 /\ r_192^0-r_192^post281 == 0 /\ -result_11^post281+result_11^0 == 0 /\ -i_94^post281+i_94^0 == 0 /\ i_140^0-i_140^post281 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ nondet_12^0-nondet_12^post281 == 0 /\ -r_224^post281+r_224^0 == 0 /\ i_27^0-i_27^post281 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post281 == 0 /\ -temp_35^post281+temp_35^0 == 0 /\ a_263^0-a_263^post281 == 0 /\ a_576^0-a_576^post281 == 0 /\ a_634^0-a_634^post281 == 0 /\ x_156^0-x_156^post281 == 0 /\ -i_113^post281+i_113^0 == 0 /\ -r_970^post281+r_970^0 == 0 /\ -r_143^post281+r_143^0 == 0 /\ a_947^0-a_924^post281 <= 0 /\ -x_SLAM_f_19^post281+x_SLAM_f_19^0 == 0 /\ rcd_58^0-rcd_58^post281 == 0 /\ tmp_34^0-tmp_34^post281 == 0 /\ a_144^0-a_144^post281 == 0 /\ -a_1236^post281+a_1236^0 == 0 /\ a_947^0-a_947^post281 == 0 /\ -a_395^post281+a_395^0 == 0 /\ -y_20^post281+y_20^0 == 0 /\ -a_432^post281+a_432^0 == 0 /\ f_248^0-f_248^post281 == 0 /\ -a_431^post281+a_431^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -i_106^post281+i_106^0 == 0 /\ a_610^0-a_610^post281 == 0 /\ a_632^0-a_632^post281 == 0 /\ x_975^0-x_975^post281 == 0 /\ i_127^0-i_127^post281 == 0 /\ -a_392^post281+a_392^0 == 0 /\ a_577^0-a_577^post281 == 0 /\ -length_29^post281+length_29^0 == 0 /\ a_902^0-a_902^post281 == 0 /\ rcd_1249^0-rcd_1249^post281 == 0 /\ rcd_88^0-rcd_88^post281 == 0 /\ -i_1248^post281+i_1248^0 == 0 /\ head_15^0-head_15^post281 == 0 /\ a_311^0-a_311^post281 == 0 /\ -a_239^post281+a_239^0 == 0 /\ -a_862^post281+a_862^0 == 0 /\ -a_310^post281+a_310^0 == 0 /\ -len_861^post281+len_861^0 == 0 /\ a_1089^0-a_1089^post281 == 0 /\ a_635^0-a_635^post281 == 0 /\ i_229^0-i_229^post281 == 0 /\ -temp0_16^post281+temp0_16^0 == 0 /\ -t_458^post281+t_458^0 == 0 /\ -i_30^post281+i_30^0 == 0 /\ -a_393^post281+a_393^0 == 0 /\ -head_32^post281+head_32^0 == 0 /\ a_121^0-a_121^post281 == 0 /\ 1-i_27^0 <= 0 /\ -x_852^post281+x_852^0 == 0 /\ -t_24^post281+t_24^0 == 0 /\ temp0_31^0-temp0_31^post281 == 0 /\ -a_579^post281+a_579^0 == 0 /\ len_262^0-len_262^post281 == 0 /\ -a_309^post281+a_309^0 == 0 /\ x_17^0-x_17^post281 == 0 /\ a_633^0-a_633^post281 == 0 /\ a_176^0-a_176^post281 == 0 /\ len_238^0-len_238^post281 == 0 /\ f_847^0-f_847^post281 == 0 /\ i_1053^0-i_1053^post281 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post281 == 0 /\ -i_107^post281+i_107^0 == 0 /\ a_394^0-a_394^post281 == 0 /\ -a_575^post281+a_575^0 == 0 /\ -i_197^post281+i_197^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post281+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_417^post281+a_417^0 == 0), cost: 1 New rule: l175 -> l169 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Applied preprocessing Original rule: l169 -> l1 : a_1089^0'=a_1089^post282, f_847^0'=f_847^post282, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post282, a_394^0'=a_394^post282, x_156^0'=x_156^post282, a_632^0'=a_632^post282, r_192^0'=r_192^post282, a_176^0'=a_176^post282, i_106^0'=i_106^post282, a_430^0'=a_430^post282, t_458^0'=t_458^post282, len_161^0'=len_161^post282, x_975^0'=x_975^post282, a_902^0'=a_902^post282, a_947^0'=a_947^post282, rcd_88^0'=rcd_88^post282, a_311^0'=a_311^post282, i_140^0'=i_140^post282, a_577^0'=a_577^post282, x_14^0'=x_14^post282, nondet_12^0'=nondet_12^post282, a_121^0'=a_121^post282, head_15^0'=head_15^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282, i_27^0'=i_27^post282, x_21^0'=x_21^post282, a_634^0'=a_634^post282, r_39^0'=r_39^post282, a_263^0'=a_263^post282, i_113^0'=i_113^post282, a_432^0'=a_432^post282, temp0_31^0'=temp0_31^post282, len_262^0'=len_262^post282, y_20^0'=y_20^post282, f_248^0'=f_248^post282, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282, a_393^0'=a_393^post282, i_229^0'=i_229^post282, a_610^0'=a_610^post282, r_151^0'=r_151^post282, a_144^0'=a_144^post282, i_1053^0'=i_1053^post282, a_417^0'=a_417^post282, t_24^0'=t_24^post282, i_94^0'=i_94^post282, x_852^0'=x_852^post282, a_862^0'=a_862^post282, rcd_1249^0'=rcd_1249^post282, rcd_58^0'=rcd_58^post282, a_310^0'=a_310^post282, i_127^0'=i_127^post282, a_576^0'=a_576^post282, tmp_34^0'=tmp_34^post282, length_29^0'=length_29^post282, a_1162^0'=a_1162^post282, f_969^0'=f_969^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282, a_395^0'=a_395^post282, x_17^0'=x_17^post282, a_633^0'=a_633^post282, r_224^0'=r_224^post282, a_239^0'=a_239^post282, i_107^0'=i_107^post282, a_431^0'=a_431^post282, temp0_16^0'=temp0_16^post282, len_238^0'=len_238^post282, x_SLAM_f_19^0'=x_SLAM_f_19^post282, a_924^0'=a_924^post282, ct_18^0'=ct_18^post282, result_11^0'=result_11^post282, a_392^0'=a_392^post282, i_197^0'=i_197^post282, a_579^0'=a_579^post282, r_143^0'=r_143^post282, a_1236^0'=a_1236^post282, head_32^0'=head_32^post282, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282, i_30^0'=i_30^post282, x_253^0'=x_253^post282, a_635^0'=a_635^post282, r_970^0'=r_970^post282, rcd_47^0'=rcd_47^post282, a_309^0'=a_309^post282, i_1248^0'=i_1248^post282, a_575^0'=a_575^post282, temp_35^0'=temp_35^post282, len_861^0'=len_861^post282, (nondet_12^0-nondet_12^post282 == 0 /\ a_263^0-a_263^post282 == 0 /\ -len_861^post282+len_861^0 == 0 /\ -a_1236^post282+a_1236^0 == 0 /\ -a_432^post282+a_432^0 == 0 /\ result_11^0-result_11^post282 == 0 /\ len_161^0-len_161^post282 == 0 /\ x_156^0-x_156^post282 == 0 /\ -a_392^post282+a_392^0 == 0 /\ -i_1248^post282+i_1248^0 == 0 /\ f_847^0-f_847^post282 == 0 /\ head_15^0-head_15^post282 == 0 /\ tmp_34^0-tmp_34^post282 == 0 /\ -x_17^post282+x_17^0 == 0 /\ a_634^0-a_634^post282 == 0 /\ a_862^0-a_862^post282 == 0 /\ -temp0_31^post282+temp0_31^0 == 0 /\ -temp0_16^post282+temp0_16^0 == 0 /\ a_902^0-a_902^post282 == 0 /\ -i_1053^post282+i_1053^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post282 == 0 /\ -r_224^post282+r_224^0 == 0 /\ -i_94^post282+i_94^0 == 0 /\ -a_310^post282+a_310^0 == 0 /\ a_947^0-a_947^post282 == 0 /\ rcd_58^0-rcd_58^post282 == 0 /\ -head_32^post282+head_32^0 == 0 /\ a_430^0-a_430^post282 == 0 /\ a_311^0-a_311^post282 == 0 /\ -a_635^post282+a_635^0 == 0 /\ r_192^0-r_192^post282 == 0 /\ i_113^0-i_113^post282 == 0 /\ a_176^0-a_176^post282 == 0 /\ rcd_88^0-rcd_88^post282 == 0 /\ -len_262^post282+len_262^0 == 0 /\ a_577^0-a_577^post282 == 0 /\ length_29^0-length_29^post282 == 0 /\ -len_238^post282+len_238^0 == 0 /\ -i_30^post282+i_30^0 == 0 /\ ct_18^0-ct_18^post282 == 0 /\ -i_197^post282+i_197^0 == 0 /\ a_632^0-a_632^post282 == 0 /\ -a_579^post282+a_579^0 == 0 /\ -a_417^post282+a_417^0 == 0 /\ -x_14^post282+x_14^0 == 0 /\ -a_309^post282+a_309^0 == 0 /\ x_852^0-x_852^post282 == 0 /\ -r_39^post282+r_39^0 == 0 /\ -i_107^post282+i_107^0 == 0 /\ -i_127^post282+i_127^0 == 0 /\ -a_575^post282+a_575^0 == 0 /\ a_1089^0-a_1089^post282 == 0 /\ -a_121^post282+a_121^0 == 0 /\ a_576^0-a_576^post282 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post282 == 0 /\ a_144^0-a_144^post282 == 0 /\ -a_431^post282+a_431^0 == 0 /\ -a_1162^post282+a_1162^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post282 == 0 /\ i_140^0-i_140^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -t_24^post282+t_24^0 == 0 /\ -x_21^post282+x_21^0 == 0 /\ f_248^0-f_248^post282 == 0 /\ y_20^0-y_20^post282 == 0 /\ r_151^0-r_151^post282 == 0 /\ -rcd_47^post282+rcd_47^0 == 0 /\ a_394^0-a_394^post282 == 0 /\ -a_924^post282+a_924^0 == 0 /\ a_239^0-a_239^post282 == 0 /\ -temp_35^post282+temp_35^0 == 0 /\ f_969^0-f_969^post282 == 0 /\ x_975^0-x_975^post282 == 0 /\ -r_143^post282+r_143^0 == 0 /\ -i_229^post282+i_229^0 == 0 /\ -x_SLAM_f_19^post282+x_SLAM_f_19^0 == 0 /\ -r_970^post282+r_970^0 == 0 /\ -x_253^post282+x_253^0 == 0 /\ rcd_1249^0-rcd_1249^post282 == 0 /\ a_610^0-a_610^post282 == 0 /\ i_106^0-i_106^post282 == 0 /\ i_27^0-i_27^post282 == 0 /\ a_633^0-a_633^post282 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post282+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ t_458^0-t_458^post282 == 0 /\ a_393^0-a_393^post282 == 0 /\ -a_395^post282+a_395^0 == 0), cost: 1 New rule: l169 -> l1 : TRUE, cost: 1 Applied preprocessing Original rule: l146 -> l119 : a_1089^0'=a_1089^post364, f_847^0'=f_847^post364, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, a_394^0'=a_394^post364, x_156^0'=x_156^post364, a_632^0'=a_632^post364, r_192^0'=r_192^post364, a_176^0'=a_176^post364, i_106^0'=i_106^post364, a_430^0'=a_430^post364, t_458^0'=t_458^post364, len_161^0'=len_161^post364, x_975^0'=x_975^post364, a_902^0'=a_902^post364, a_947^0'=a_947^post364, rcd_88^0'=rcd_88^post364, a_311^0'=a_311^post364, i_140^0'=i_140^post364, a_577^0'=a_577^post364, x_14^0'=x_14^post364, nondet_12^0'=nondet_12^post364, a_121^0'=a_121^post364, head_15^0'=head_15^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364, i_27^0'=i_27^post364, x_21^0'=x_21^post364, a_634^0'=a_634^post364, r_39^0'=r_39^post364, a_263^0'=a_263^post364, i_113^0'=i_113^post364, a_432^0'=a_432^post364, temp0_31^0'=temp0_31^post364, len_262^0'=len_262^post364, y_20^0'=y_20^post364, f_248^0'=f_248^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, a_393^0'=a_393^post364, i_229^0'=i_229^post364, a_610^0'=a_610^post364, r_151^0'=r_151^post364, a_144^0'=a_144^post364, i_1053^0'=i_1053^post364, a_417^0'=a_417^post364, t_24^0'=t_24^post364, i_94^0'=i_94^post364, x_852^0'=x_852^post364, a_862^0'=a_862^post364, rcd_1249^0'=rcd_1249^post364, rcd_58^0'=rcd_58^post364, a_310^0'=a_310^post364, i_127^0'=i_127^post364, a_576^0'=a_576^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, a_1162^0'=a_1162^post364, f_969^0'=f_969^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364, a_395^0'=a_395^post364, x_17^0'=x_17^post364, a_633^0'=a_633^post364, r_224^0'=r_224^post364, a_239^0'=a_239^post364, i_107^0'=i_107^post364, a_431^0'=a_431^post364, temp0_16^0'=temp0_16^post364, len_238^0'=len_238^post364, x_SLAM_f_19^0'=x_SLAM_f_19^post364, a_924^0'=a_924^post364, ct_18^0'=ct_18^post364, result_11^0'=result_11^post364, a_392^0'=a_392^post364, i_197^0'=i_197^post364, a_579^0'=a_579^post364, r_143^0'=r_143^post364, a_1236^0'=a_1236^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364, i_30^0'=i_30^post364, x_253^0'=x_253^post364, a_635^0'=a_635^post364, r_970^0'=r_970^post364, rcd_47^0'=rcd_47^post364, a_309^0'=a_309^post364, i_1248^0'=i_1248^post364, a_575^0'=a_575^post364, temp_35^0'=temp_35^post364, len_861^0'=len_861^post364, (0 == 0 /\ f_847^0-f_847^post364 == 0 /\ -len_238^post364+len_238^0 == 0 /\ ct_18^0-ct_18^post364 == 0 /\ r_192^0-r_192^post364 == 0 /\ head_15^post364-x_14^post364 <= 0 /\ f_248^0-f_248^post364 == 0 /\ -x_SLAM_f_19^post364+x_SLAM_f_19^0 == 0 /\ -r_143^post364+r_143^0 == 0 /\ -i_107^post364+i_107^0 == 0 /\ -y_20^post364+y_20^0 == 0 /\ a_417^0-a_417^post364 == 0 /\ -a_575^post364+a_575^0 == 0 /\ x_156^0-x_156^post364 == 0 /\ i_27^0-i_27^post364 == 0 /\ i_127^0-i_127^post364 == 0 /\ -r_970^post364+r_970^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ i_94^0-i_94^post364 == 0 /\ i_113^0-i_113^post364 == 0 /\ length_29^0-i_30^0 <= 0 /\ -a_431^post364+a_431^0 == 0 /\ a_432^0-a_432^post364 == 0 /\ -i_1248^post364+i_1248^0 == 0 /\ -a_392^post364+a_392^0 == 0 /\ -a_239^post364+a_239^0 == 0 /\ -head_15^post364+x_14^post364 <= 0 /\ -head_15^post364+x_14^post364 == 0 /\ rcd_88^0-rcd_88^post364 == 0 /\ -a_310^post364+a_310^0 == 0 /\ -x_253^post364+x_253^0 == 0 /\ i_106^0-i_106^post364 == 0 /\ nondet_12^0-nondet_12^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post364 == 0 /\ x_975^0-x_975^post364 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post364+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ rcd_1249^0-rcd_1249^post364 == 0 /\ r_39^0-r_39^post364 == 0 /\ -a_121^post364+a_121^0 == 0 /\ -i_229^post364+i_229^0 == 0 /\ temp0_16^0-temp0_16^post364 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ r_151^0-r_151^post364 == 0 /\ -r_224^post364+r_224^0 == 0 /\ -i_30^0 <= 0 /\ -i_1053^post364+i_1053^0 == 0 /\ a_610^0-a_610^post364 == 0 /\ -rcd_58^post364+rcd_58^0 == 0 /\ -a_309^post364+a_309^0 == 0 /\ a_393^0-a_393^post364 == 0 /\ a_430^0-a_430^post364 == 0 /\ -a_635^post364+a_635^0 == 0 /\ i_140^0-i_140^post364 == 0 /\ -a_395^post364+a_395^0 == 0 /\ -a_263^post364+a_263^0 == 0 /\ -i_197^post364+i_197^0 == 0 /\ a_632^0-a_632^post364 == 0 /\ -a_579^post364+a_579^0 == 0 /\ -a_862^post364+a_862^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ f_969^0-f_969^post364 == 0 /\ a_311^0-a_311^post364 == 0 /\ a_1089^0-a_1089^post364 == 0 /\ -a_1236^post364+a_1236^0 == 0 /\ a_633^0-a_633^post364 == 0 /\ a_176^0-a_176^post364 == 0 /\ -rcd_47^post364+rcd_47^0 == 0 /\ -a_924^post364+a_924^0 == 0 /\ -a_1162^post364+a_1162^0 == 0 /\ len_161^0-len_161^post364 == 0 /\ a_144^0-a_144^post364 == 0 /\ -x_17^post364+x_17^0 == 0 /\ -t_458^post364+t_458^0 == 0 /\ -t_24^post364+t_24^0 == 0 /\ a_576^0-a_576^post364 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -result_11^11+head_15^post364 == 0 /\ -a_634^post364+a_634^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 <= 0 /\ x_21^0-x_21^post364 == 0 /\ x_852^0-x_852^post364 == 0 /\ a_947^0-a_947^post364 == 0 /\ -len_861^post364+len_861^0 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ len_262^0-len_262^post364 == 0 /\ -a_902^post364+a_902^0 == 0 /\ a_394^0-a_394^post364 == 0 /\ a_577^0-a_577^post364 == 0), cost: 1 New rule: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 Applied preprocessing Original rule: l146 -> l222 : a_1089^0'=a_1089^post365, f_847^0'=f_847^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post365, a_394^0'=a_394^post365, x_156^0'=x_156^post365, a_632^0'=a_632^post365, r_192^0'=r_192^post365, a_176^0'=a_176^post365, i_106^0'=i_106^post365, a_430^0'=a_430^post365, t_458^0'=t_458^post365, len_161^0'=len_161^post365, x_975^0'=x_975^post365, a_902^0'=a_902^post365, a_947^0'=a_947^post365, rcd_88^0'=rcd_88^post365, a_311^0'=a_311^post365, i_140^0'=i_140^post365, a_577^0'=a_577^post365, x_14^0'=x_14^post365, nondet_12^0'=nondet_12^post365, a_121^0'=a_121^post365, head_15^0'=head_15^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365, i_27^0'=i_27^post365, x_21^0'=x_21^post365, a_634^0'=a_634^post365, r_39^0'=r_39^post365, a_263^0'=a_263^post365, i_113^0'=i_113^post365, a_432^0'=a_432^post365, temp0_31^0'=temp0_31^post365, len_262^0'=len_262^post365, y_20^0'=y_20^post365, f_248^0'=f_248^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365, a_393^0'=a_393^post365, i_229^0'=i_229^post365, a_610^0'=a_610^post365, r_151^0'=r_151^post365, a_144^0'=a_144^post365, i_1053^0'=i_1053^post365, a_417^0'=a_417^post365, t_24^0'=t_24^post365, i_94^0'=i_94^post365, x_852^0'=x_852^post365, a_862^0'=a_862^post365, rcd_1249^0'=rcd_1249^post365, rcd_58^0'=rcd_58^post365, a_310^0'=a_310^post365, i_127^0'=i_127^post365, a_576^0'=a_576^post365, tmp_34^0'=tmp_34^post365, length_29^0'=length_29^post365, a_1162^0'=a_1162^post365, f_969^0'=f_969^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365, a_395^0'=a_395^post365, x_17^0'=x_17^post365, a_633^0'=a_633^post365, r_224^0'=r_224^post365, a_239^0'=a_239^post365, i_107^0'=i_107^post365, a_431^0'=a_431^post365, temp0_16^0'=temp0_16^post365, len_238^0'=len_238^post365, x_SLAM_f_19^0'=x_SLAM_f_19^post365, a_924^0'=a_924^post365, ct_18^0'=ct_18^post365, result_11^0'=result_11^post365, a_392^0'=a_392^post365, i_197^0'=i_197^post365, a_579^0'=a_579^post365, r_143^0'=r_143^post365, a_1236^0'=a_1236^post365, head_32^0'=head_32^post365, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365, i_30^0'=i_30^post365, x_253^0'=x_253^post365, a_635^0'=a_635^post365, r_970^0'=r_970^post365, rcd_47^0'=rcd_47^post365, a_309^0'=a_309^post365, i_1248^0'=i_1248^post365, a_575^0'=a_575^post365, temp_35^0'=temp_35^post365, len_861^0'=len_861^post365, (0 == 0 /\ -a_862^post365+a_862^0 == 0 /\ -a_417^post365+a_417^0 == 0 /\ -i_27^post365+i_27^0 == 0 /\ -i_107^post365+i_107^0 == 0 /\ f_847^0-f_847^post365 == 0 /\ a_263^0-a_263^post365 == 0 /\ -a_575^post365+a_575^0 == 0 /\ -1+i_30^post365-i_94^post365 <= 0 /\ -a_1236^post365+a_1236^0 == 0 /\ -a_309^post365+a_309^0 == 0 /\ -a_635^post365+a_635^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ temp0_31^0-temp0_31^post365 == 0 /\ -a_393^post365+a_393^0 == 0 /\ i_229^0-i_229^post365 == 0 /\ a_634^0-a_634^post365 == 0 /\ head_15^0-head_15^post365 == 0 /\ nondet_12^0-nondet_12^post365 == 0 /\ a_121^0-a_121^post365 == 0 /\ -length_29^post365+length_29^0 == 0 /\ tmp_34^post365-temp_35^0 == 0 /\ x_156^0-x_156^post365 == 0 /\ len_262^0-len_262^post365 == 0 /\ a_947^0-a_947^post365 == 0 /\ r_192^0-r_192^post365 == 0 /\ i_127^0-i_127^post365 == 0 /\ i_113^0-i_113^post365 == 0 /\ -ct_18^post365+ct_18^0 == 0 /\ a_176^0-a_176^post365 == 0 /\ -len_238^post365+len_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -r_151^post365+r_151^0 == 0 /\ a_430^0-a_430^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post365 == 0 /\ -a_579^post365+a_579^0 == 0 /\ x_14^0-x_14^post365 == 0 /\ a_1089^0-a_1089^post365 == 0 /\ -a_392^post365+a_392^0 == 0 /\ a_632^0-a_632^post365 == 0 /\ -rcd_1249^post365+rcd_1249^0 == 0 /\ a_633^0-a_633^post365 == 0 /\ a_432^0-a_432^post365 == 0 /\ -1+i_30^post365-i_30^0 == 0 /\ x_21^0-x_21^post365 == 0 /\ -i_197^post365+i_197^0 == 0 /\ 1-i_30^post365+i_94^post365 <= 0 /\ -x_253^post365+x_253^0 == 0 /\ -result_11^post365+result_11^0 == 0 /\ -i_30^0 <= 0 /\ temp0_16^0-temp0_16^post365 == 0 /\ -r_970^post365+r_970^0 == 0 /\ 1-length_29^0+i_94^post365 <= 0 /\ -a_902^post365+a_902^0 == 0 /\ i_140^0-i_140^post365 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post365 == 0 /\ a_431^0-a_431^post365 == 0 /\ -x_852^post365+x_852^0 == 0 /\ f_248^0-f_248^post365 == 0 /\ -a_1162^post365+a_1162^0 == 0 /\ x_975^0-x_975^post365 == 0 /\ x_17^0-x_17^post365 == 0 /\ -tmp_34^post365+head_32^post365 == 0 /\ y_20^0-y_20^post365 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post365 == 0 /\ a_577^0-a_577^post365 == 0 /\ -rcd_47^post365+rcd_47^0 == 0 /\ a_144^0-a_144^post365 == 0 /\ a_394^0-a_394^post365 == 0 /\ -rcd_58^post365+rcd_58^0 == 0 /\ -a_311^post365+a_311^0 == 0 /\ -a_395^post365+a_395^0 == 0 /\ -len_861^post365+len_861^0 == 0 /\ -i_1248^post365+i_1248^0 == 0 /\ -x_SLAM_f_19^post365+x_SLAM_f_19^0 == 0 /\ -a_239^post365+a_239^0 == 0 /\ f_969^0-f_969^post365 == 0 /\ a_610^0-a_610^post365 == 0 /\ i_106^0-i_106^post365 == 0 /\ -r_224^post365+r_224^0 == 0 /\ t_24^0-t_24^post365 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post365+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ t_458^0-t_458^post365 == 0 /\ r_39^0-r_39^post365 == 0 /\ -a_576^post365+a_576^0 == 0 /\ a_310^0-a_310^post365 == 0 /\ -a_924^post365+a_924^0 == 0 /\ -i_1053^post365+i_1053^0 == 0 /\ len_161^0-len_161^post365 == 0 /\ -r_143^post365+r_143^0 == 0), cost: 1 New rule: l146 -> l222 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1 Applied preprocessing Original rule: l222 -> l146 : a_1089^0'=a_1089^post366, f_847^0'=f_847^post366, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post366, a_394^0'=a_394^post366, x_156^0'=x_156^post366, a_632^0'=a_632^post366, r_192^0'=r_192^post366, a_176^0'=a_176^post366, i_106^0'=i_106^post366, a_430^0'=a_430^post366, t_458^0'=t_458^post366, len_161^0'=len_161^post366, x_975^0'=x_975^post366, a_902^0'=a_902^post366, a_947^0'=a_947^post366, rcd_88^0'=rcd_88^post366, a_311^0'=a_311^post366, i_140^0'=i_140^post366, a_577^0'=a_577^post366, x_14^0'=x_14^post366, nondet_12^0'=nondet_12^post366, a_121^0'=a_121^post366, head_15^0'=head_15^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366, i_27^0'=i_27^post366, x_21^0'=x_21^post366, a_634^0'=a_634^post366, r_39^0'=r_39^post366, a_263^0'=a_263^post366, i_113^0'=i_113^post366, a_432^0'=a_432^post366, temp0_31^0'=temp0_31^post366, len_262^0'=len_262^post366, y_20^0'=y_20^post366, f_248^0'=f_248^post366, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366, a_393^0'=a_393^post366, i_229^0'=i_229^post366, a_610^0'=a_610^post366, r_151^0'=r_151^post366, a_144^0'=a_144^post366, i_1053^0'=i_1053^post366, a_417^0'=a_417^post366, t_24^0'=t_24^post366, i_94^0'=i_94^post366, x_852^0'=x_852^post366, a_862^0'=a_862^post366, rcd_1249^0'=rcd_1249^post366, rcd_58^0'=rcd_58^post366, a_310^0'=a_310^post366, i_127^0'=i_127^post366, a_576^0'=a_576^post366, tmp_34^0'=tmp_34^post366, length_29^0'=length_29^post366, a_1162^0'=a_1162^post366, f_969^0'=f_969^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366, a_395^0'=a_395^post366, x_17^0'=x_17^post366, a_633^0'=a_633^post366, r_224^0'=r_224^post366, a_239^0'=a_239^post366, i_107^0'=i_107^post366, a_431^0'=a_431^post366, temp0_16^0'=temp0_16^post366, len_238^0'=len_238^post366, x_SLAM_f_19^0'=x_SLAM_f_19^post366, a_924^0'=a_924^post366, ct_18^0'=ct_18^post366, result_11^0'=result_11^post366, a_392^0'=a_392^post366, i_197^0'=i_197^post366, a_579^0'=a_579^post366, r_143^0'=r_143^post366, a_1236^0'=a_1236^post366, head_32^0'=head_32^post366, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366, i_30^0'=i_30^post366, x_253^0'=x_253^post366, a_635^0'=a_635^post366, r_970^0'=r_970^post366, rcd_47^0'=rcd_47^post366, a_309^0'=a_309^post366, i_1248^0'=i_1248^post366, a_575^0'=a_575^post366, temp_35^0'=temp_35^post366, len_861^0'=len_861^post366, (-a_579^post366+a_579^0 == 0 /\ -result_11^post366+result_11^0 == 0 /\ ct_18^0-ct_18^post366 == 0 /\ a_176^0-a_176^post366 == 0 /\ a_1089^0-a_1089^post366 == 0 /\ -y_20^post366+y_20^0 == 0 /\ r_192^0-r_192^post366 == 0 /\ -x_253^post366+x_253^0 == 0 /\ -a_263^post366+a_263^0 == 0 /\ -temp_35^post366+temp_35^0 == 0 /\ -t_24^post366+t_24^0 == 0 /\ i_27^0-i_27^post366 == 0 /\ t_458^0-t_458^post366 == 0 /\ -r_970^post366+r_970^0 == 0 /\ -x_852^post366+x_852^0 == 0 /\ -a_431^post366+a_431^0 == 0 /\ -i_229^post366+i_229^0 == 0 /\ r_39^0-r_39^post366 == 0 /\ rcd_88^0-rcd_88^post366 == 0 /\ a_576^0-a_576^post366 == 0 /\ -a_395^post366+a_395^0 == 0 /\ a_311^0-a_311^post366 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post366 == 0 /\ -i_1248^post366+i_1248^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post366 == 0 /\ -a_239^post366+a_239^0 == 0 /\ nondet_12^0-nondet_12^post366 == 0 /\ f_248^0-f_248^post366 == 0 /\ tmp_34^0-tmp_34^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -len_861^post366+len_861^0 == 0 /\ a_924^0-a_924^post366 == 0 /\ a_121^0-a_121^post366 == 0 /\ a_634^0-a_634^post366 == 0 /\ a_610^0-a_610^post366 == 0 /\ len_262^0-len_262^post366 == 0 /\ -r_143^post366+r_143^0 == 0 /\ -a_393^post366+a_393^0 == 0 /\ i_113^0-i_113^post366 == 0 /\ x_975^0-x_975^post366 == 0 /\ -x_17^post366+x_17^0 == 0 /\ -i_1053^post366+i_1053^0 == 0 /\ -r_224^post366+r_224^0 == 0 /\ a_144^0-a_144^post366 == 0 /\ a_947^0-a_947^post366 == 0 /\ a_577^0-a_577^post366 == 0 /\ -a_392^post366+a_392^0 == 0 /\ -a_309^post366+a_309^0 == 0 /\ -x_156^post366+x_156^0 == 0 /\ -a_1236^post366+a_1236^0 == 0 /\ len_238^0-len_238^post366 == 0 /\ -a_417^post366+a_417^0 == 0 /\ -x_SLAM_f_19^post366+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post366 == 0 /\ x_14^0-x_14^post366 == 0 /\ f_969^0-f_969^post366 == 0 /\ -i_30^post366+i_30^0 == 0 /\ -a_575^post366+a_575^0 == 0 /\ len_161^0-len_161^post366 == 0 /\ a_632^0-a_632^post366 == 0 /\ -a_635^post366+a_635^0 == 0 /\ rcd_1249^0-rcd_1249^post366 == 0 /\ -a_432^post366+a_432^0 == 0 /\ -i_107^post366+i_107^0 == 0 /\ a_430^0-a_430^post366 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post366+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ a_633^0-a_633^post366 == 0 /\ a_1162^0-a_1162^post366 == 0 /\ -rcd_58^post366+rcd_58^0 == 0 /\ -head_32^post366+head_32^0 == 0 /\ f_847^0-f_847^post366 == 0 /\ -length_29^post366+length_29^0 == 0 /\ -rcd_47^post366+rcd_47^0 == 0 /\ -a_310^post366+a_310^0 == 0 /\ -a_862^post366+a_862^0 == 0 /\ x_21^0-x_21^post366 == 0 /\ -i_140^post366+i_140^0 == 0 /\ temp0_31^0-temp0_31^post366 == 0 /\ -i_106^post366+i_106^0 == 0 /\ temp0_16^0-temp0_16^post366 == 0 /\ r_151^0-r_151^post366 == 0 /\ a_902^0-a_902^post366 == 0 /\ i_94^0-i_94^post366 == 0 /\ a_394^0-a_394^post366 == 0 /\ i_127^0-i_127^post366 == 0 /\ head_15^0-head_15^post366 == 0 /\ -i_197^post366+i_197^0 == 0), cost: 1 New rule: l222 -> l146 : TRUE, cost: 1 Applied preprocessing Original rule: l144 -> l145 : a_1089^0'=a_1089^post368, f_847^0'=f_847^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post368, a_394^0'=a_394^post368, x_156^0'=x_156^post368, a_632^0'=a_632^post368, r_192^0'=r_192^post368, a_176^0'=a_176^post368, i_106^0'=i_106^post368, a_430^0'=a_430^post368, t_458^0'=t_458^post368, len_161^0'=len_161^post368, x_975^0'=x_975^post368, a_902^0'=a_902^post368, a_947^0'=a_947^post368, rcd_88^0'=rcd_88^post368, a_311^0'=a_311^post368, i_140^0'=i_140^post368, a_577^0'=a_577^post368, x_14^0'=x_14^post368, nondet_12^0'=nondet_12^post368, a_121^0'=a_121^post368, head_15^0'=head_15^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368, i_27^0'=i_27^post368, x_21^0'=x_21^post368, a_634^0'=a_634^post368, r_39^0'=r_39^post368, a_263^0'=a_263^post368, i_113^0'=i_113^post368, a_432^0'=a_432^post368, temp0_31^0'=temp0_31^post368, len_262^0'=len_262^post368, y_20^0'=y_20^post368, f_248^0'=f_248^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368, a_393^0'=a_393^post368, i_229^0'=i_229^post368, a_610^0'=a_610^post368, r_151^0'=r_151^post368, a_144^0'=a_144^post368, i_1053^0'=i_1053^post368, a_417^0'=a_417^post368, t_24^0'=t_24^post368, i_94^0'=i_94^post368, x_852^0'=x_852^post368, a_862^0'=a_862^post368, rcd_1249^0'=rcd_1249^post368, rcd_58^0'=rcd_58^post368, a_310^0'=a_310^post368, i_127^0'=i_127^post368, a_576^0'=a_576^post368, tmp_34^0'=tmp_34^post368, length_29^0'=length_29^post368, a_1162^0'=a_1162^post368, f_969^0'=f_969^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368, a_395^0'=a_395^post368, x_17^0'=x_17^post368, a_633^0'=a_633^post368, r_224^0'=r_224^post368, a_239^0'=a_239^post368, i_107^0'=i_107^post368, a_431^0'=a_431^post368, temp0_16^0'=temp0_16^post368, len_238^0'=len_238^post368, x_SLAM_f_19^0'=x_SLAM_f_19^post368, a_924^0'=a_924^post368, ct_18^0'=ct_18^post368, result_11^0'=result_11^post368, a_392^0'=a_392^post368, i_197^0'=i_197^post368, a_579^0'=a_579^post368, r_143^0'=r_143^post368, a_1236^0'=a_1236^post368, head_32^0'=head_32^post368, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368, i_30^0'=i_30^post368, x_253^0'=x_253^post368, a_635^0'=a_635^post368, r_970^0'=r_970^post368, rcd_47^0'=rcd_47^post368, a_309^0'=a_309^post368, i_1248^0'=i_1248^post368, a_575^0'=a_575^post368, temp_35^0'=temp_35^post368, len_861^0'=len_861^post368, (0 == 0 /\ -r_151^post368+r_151^0 == 0 /\ -a_144^post368+a_144^0 == 0 /\ a_1162^0-a_1162^post368 == 0 /\ -a_392^post368+a_392^0 == 0 /\ -a_635^post368+a_635^0 == 0 /\ -i_107^post368+i_107^0 == 0 /\ i_197^0-i_197^post368 == 0 /\ -i_94^post368+i_94^0 == 0 /\ -a_575^post368+a_575^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ 1-length_29^0+i_30^0 <= 0 /\ a_924^0-a_924^post368 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ nondet_12^0-nondet_12^post368 == 0 /\ -i_113^post368+i_113^0 == 0 /\ -a_309^post368+a_309^0 == 0 /\ r_192^0-r_192^post368 == 0 /\ tmp_34^post368-temp_35^0 == 0 /\ -a_1236^post368+a_1236^0 == 0 /\ -tmp_34^post368+head_32^post368 <= 0 /\ -tmp_34^post368+head_32^post368 == 0 /\ -a_432^post368+a_432^0 == 0 /\ x_21^0-x_21^post368 == 0 /\ -a_417^post368+a_417^0 == 0 /\ ct_18^0-ct_18^post368 == 0 /\ -len_238^post368+len_238^0 == 0 /\ i_127^0-i_127^post368 == 0 /\ a_947^0-a_947^post368 == 0 /\ -length_29^post368+length_29^0 == 0 /\ -rcd_58^post368+rcd_58^0 == 0 /\ i_27^0-i_27^post368 == 0 /\ -i_140^post368+i_140^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post368 <= 0 /\ -a_633^post368+a_633^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post368 == 0 /\ r_39^0-r_39^post368 == 0 /\ a_430^0-a_430^post368 == 0 /\ tmp_34^post368-head_32^post368 <= 0 /\ -rcd_47^post368+rcd_47^0 == 0 /\ t_458^0-t_458^post368 == 0 /\ -a_862^post368+a_862^0 == 0 /\ a_1089^0-a_1089^post368 == 0 /\ i_106^0-i_106^post368 == 0 /\ 1-length_29^0 <= 0 /\ a_576^0-a_576^post368 == 0 /\ a_263^0-a_263^post368 == 0 /\ -a_579^post368+a_579^0 == 0 /\ x_156^0-x_156^post368 == 0 /\ -r_970^post368+r_970^0 == 0 /\ -y_20^post368+y_20^0 == 0 /\ -x_852^post368+x_852^0 == 0 /\ a_632^0-a_632^post368 == 0 /\ -1+i_30^post368-i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-tmp_34^post368 <= 0 /\ r_224^0-r_224^post368 == 0 /\ a_902^0-a_902^post368 == 0 /\ x_975^0-x_975^post368 == 0 /\ a_121^0-a_121^post368 == 0 /\ f_969^0-f_969^post368 == 0 /\ a_431^0-a_431^post368 == 0 /\ len_262^0-len_262^post368 == 0 /\ temp0_31^0-temp0_31^post368 == 0 /\ f_248^0-f_248^post368 == 0 /\ head_15^0-head_15^post368 == 0 /\ a_577^0-a_577^post368 == 0 /\ i_229^0-i_229^post368 == 0 /\ a_634^0-a_634^post368 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368-head_32^post368 <= 0 /\ -x_253^post368+x_253^0 == 0 /\ -i_1053^post368+i_1053^0 == 0 /\ a_394^0-a_394^post368 == 0 /\ x_17^0-x_17^post368 == 0 /\ a_310^0-a_310^post368 == 0 /\ x_14^0-x_14^post368 == 0 /\ -a_395^post368+a_395^0 == 0 /\ a_610^0-a_610^post368 == 0 /\ a_176^0-a_176^post368 == 0 /\ -temp0_16^post368+temp0_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+tmp_34^post368 <= 0 /\ -len_861^post368+len_861^0 == 0 /\ t_24^0-t_24^post368 == 0 /\ -i_1248^post368+i_1248^0 == 0 /\ -result_11^post368+result_11^0 == 0 /\ -a_239^post368+a_239^0 == 0 /\ len_161^0-len_161^post368 == 0 /\ -r_143^post368+r_143^0 == 0 /\ rcd_88^0-rcd_88^post368 == 0 /\ -a_393^post368+a_393^0 == 0 /\ 1-i_30^post368 <= 0 /\ -1+i_30^post368 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post368+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post368+head_32^post368 <= 0 /\ a_311^0-a_311^post368 == 0 /\ f_847^0-f_847^post368 == 0 /\ -rcd_1249^post368+rcd_1249^0 == 0), cost: 1 New rule: l144 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post368, (-1+length_29^0 >= 0 /\ i_30^0 == 0), cost: 1 Applied preprocessing Original rule: l223 -> l143 : a_1089^0'=a_1089^post369, f_847^0'=f_847^post369, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post369, a_394^0'=a_394^post369, x_156^0'=x_156^post369, a_632^0'=a_632^post369, r_192^0'=r_192^post369, a_176^0'=a_176^post369, i_106^0'=i_106^post369, a_430^0'=a_430^post369, t_458^0'=t_458^post369, len_161^0'=len_161^post369, x_975^0'=x_975^post369, a_902^0'=a_902^post369, a_947^0'=a_947^post369, rcd_88^0'=rcd_88^post369, a_311^0'=a_311^post369, i_140^0'=i_140^post369, a_577^0'=a_577^post369, x_14^0'=x_14^post369, nondet_12^0'=nondet_12^post369, a_121^0'=a_121^post369, head_15^0'=head_15^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369, i_27^0'=i_27^post369, x_21^0'=x_21^post369, a_634^0'=a_634^post369, r_39^0'=r_39^post369, a_263^0'=a_263^post369, i_113^0'=i_113^post369, a_432^0'=a_432^post369, temp0_31^0'=temp0_31^post369, len_262^0'=len_262^post369, y_20^0'=y_20^post369, f_248^0'=f_248^post369, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369, a_393^0'=a_393^post369, i_229^0'=i_229^post369, a_610^0'=a_610^post369, r_151^0'=r_151^post369, a_144^0'=a_144^post369, i_1053^0'=i_1053^post369, a_417^0'=a_417^post369, t_24^0'=t_24^post369, i_94^0'=i_94^post369, x_852^0'=x_852^post369, a_862^0'=a_862^post369, rcd_1249^0'=rcd_1249^post369, rcd_58^0'=rcd_58^post369, a_310^0'=a_310^post369, i_127^0'=i_127^post369, a_576^0'=a_576^post369, tmp_34^0'=tmp_34^post369, length_29^0'=length_29^post369, a_1162^0'=a_1162^post369, f_969^0'=f_969^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369, a_395^0'=a_395^post369, x_17^0'=x_17^post369, a_633^0'=a_633^post369, r_224^0'=r_224^post369, a_239^0'=a_239^post369, i_107^0'=i_107^post369, a_431^0'=a_431^post369, temp0_16^0'=temp0_16^post369, len_238^0'=len_238^post369, x_SLAM_f_19^0'=x_SLAM_f_19^post369, a_924^0'=a_924^post369, ct_18^0'=ct_18^post369, result_11^0'=result_11^post369, a_392^0'=a_392^post369, i_197^0'=i_197^post369, a_579^0'=a_579^post369, r_143^0'=r_143^post369, a_1236^0'=a_1236^post369, head_32^0'=head_32^post369, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369, i_30^0'=i_30^post369, x_253^0'=x_253^post369, a_635^0'=a_635^post369, r_970^0'=r_970^post369, rcd_47^0'=rcd_47^post369, a_309^0'=a_309^post369, i_1248^0'=i_1248^post369, a_575^0'=a_575^post369, temp_35^0'=temp_35^post369, len_861^0'=len_861^post369, (a_176^0-a_176^post369 == 0 /\ rcd_58^0-rcd_58^post369 == 0 /\ -a_431^post369+a_431^0 == 0 /\ a_947^0-a_947^post369 == 0 /\ -a_263^post369+a_263^0 == 0 /\ -t_24^post369+t_24^0 == 0 /\ -temp_35^post369+temp_35^0 == 0 /\ len_161^0-len_161^post369 == 0 /\ -r_224^post369+r_224^0 == 0 /\ -r_970^post369+r_970^0 == 0 /\ -i_197^post369+i_197^0 == 0 /\ -a_579^post369+a_579^0 == 0 /\ x_14^0-x_14^post369 == 0 /\ r_192^0-r_192^post369 == 0 /\ -ct_18^post369+ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post369 == 0 /\ rcd_1249^0-rcd_1249^post369 == 0 /\ i_27^0-i_27^post369 == 0 /\ -a_395^post369+a_395^0 == 0 /\ -x_852^post369+x_852^0 == 0 /\ -y_20^post369+y_20^0 == 0 /\ r_39^0-r_39^post369 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 == 0 /\ -a_1162^post369+a_1162^0 == 0 /\ a_432^0-a_432^post369 == 0 /\ -a_924^post369+a_924^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ i_229^0-i_229^post369 == 0 /\ -i_1248^post369+i_1248^0 == 0 /\ f_248^0-f_248^post369 == 0 /\ a_430^0-a_430^post369 == 0 /\ tmp_34^0-tmp_34^post369 == 0 /\ -temp0_16^post369+temp0_16^0 == 0 /\ -i_30^post369+i_30^0 == 0 /\ nondet_12^0-nondet_12^post369 == 0 /\ -i_1053^post369+i_1053^0 == 0 /\ a_634^0-a_634^post369 == 0 /\ -len_861^post369+len_861^0 == 0 /\ x_156^0-x_156^post369 == 0 /\ a_144^0-a_144^post369 == 0 /\ head_15^0-head_15^post369 == 0 /\ i_113^0-i_113^post369 == 0 /\ -result_11^post369+result_11^0 == 0 /\ -a_635^post369+a_635^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post369 == 0 /\ -a_393^post369+a_393^0 == 0 /\ rcd_88^0-rcd_88^post369 == 0 /\ -a_576^post369+a_576^0 == 0 /\ a_310^0-a_310^post369 == 0 /\ -r_143^post369+r_143^0 == 0 /\ i_140^0-i_140^post369 == 0 /\ a_632^0-a_632^post369 == 0 /\ -i_107^post369+i_107^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^post369+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_139^0 == 0 /\ -a_1236^post369+a_1236^0 == 0 /\ a_1089^0-a_1089^post369 == 0 /\ a_311^0-a_311^post369 == 0 /\ -a_309^post369+a_309^0 == 0 /\ -a_417^post369+a_417^0 == 0 /\ -x_SLAM_f_19^post369+x_SLAM_f_19^0 == 0 /\ f_847^0-f_847^post369 == 0 /\ -len_238^post369+len_238^0 == 0 /\ -i_106^post369+i_106^0 == 0 /\ x_21^0-x_21^post369 == 0 /\ -a_392^post369+a_392^0 == 0 /\ -length_29^post369+length_29^0 == 0 /\ -rcd_47^post369+rcd_47^0 == 0 /\ x_975^0-x_975^post369 == 0 /\ f_969^0-f_969^post369 == 0 /\ temp0_31^0-temp0_31^post369 == 0 /\ -x_253^post369+x_253^0 == 0 /\ -a_862^post369+a_862^0 == 0 /\ a_610^0-a_610^post369 == 0 /\ a_121^0-a_121^post369 == 0 /\ a_239^0-a_239^post369 == 0 /\ i_127^0-i_127^post369 == 0 /\ -t_458^post369+t_458^0 == 0 /\ -a_902^post369+a_902^0 == 0 /\ i_94^0-i_94^post369 == 0 /\ len_262^0-len_262^post369 == 0 /\ a_575^0-a_575^post369 == 0 /\ -r_151^post369+r_151^0 == 0 /\ a_394^0-a_394^post369 == 0 /\ x_17^0-x_17^post369 == 0 /\ -head_32^post369+head_32^0 == 0 /\ a_577^0-a_577^post369 == 0 /\ a_633^0-a_633^post369 == 0), cost: 1 New rule: l223 -> l143 : TRUE, cost: 1 Simplified rules Start location: l223 370: l0 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, len_161^0 >= 0, cost: 1 371: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 372: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 373: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 374: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 375: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 376: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 377: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 378: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 379: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 502: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 381: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 392: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 382: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 383: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 384: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 385: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 386: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 387: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 388: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 389: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 390: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 409: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 413: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 423: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 393: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 394: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 395: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 396: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 397: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 398: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 399: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 400: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 401: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 402: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 403: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 404: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 405: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 406: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 407: l32 -> l23 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 408: l23 -> l8 : TRUE, cost: 1 410: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 411: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 412: l34 -> l0 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 414: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 415: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 416: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 417: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 418: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 419: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 420: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 421: l40 -> l35 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 422: l35 -> l16 : TRUE, cost: 1 424: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 425: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 426: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 427: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 428: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 429: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 430: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 431: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 432: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 433: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 434: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 435: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 437: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 438: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 439: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 440: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 441: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 442: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 443: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 444: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 445: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 446: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 447: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 448: l68 -> l61 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 1 449: l61 -> l49 : TRUE, cost: 1 450: l119 -> l121 : i_30^0 >= 0, cost: 1 467: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 480: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 451: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 452: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 453: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 454: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 455: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 456: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 457: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 458: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 459: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 460: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 461: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 462: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 463: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 464: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 465: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 490: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 468: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 469: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 470: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 471: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 472: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 473: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 474: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 475: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 476: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 477: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 478: l138 -> l131 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 479: l131 -> l119 : TRUE, cost: 1 481: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 482: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 483: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 484: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 485: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 487: l143 -> l144 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, length_29^0'=nondet_12^112, head_32^0'=0, i_30^0'=0, 0 == 0, cost: 1 517: l144 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post368, (-1+length_29^0 >= 0 /\ i_30^0 == 0), cost: 1 488: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 489: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 515: l146 -> l222 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1 491: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 492: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 493: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 494: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 495: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 496: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 497: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 498: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 499: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 500: l156 -> l150 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 501: l150 -> l120 : TRUE, cost: 1 503: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 504: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 505: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 506: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 507: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 508: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 509: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 510: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 511: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 512: l175 -> l169 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 513: l169 -> l1 : TRUE, cost: 1 516: l222 -> l146 : TRUE, cost: 1 518: l223 -> l143 : TRUE, cost: 1 Eliminating location l143 by chaining: Applied chaining First rule: l223 -> l143 : TRUE, cost: 1 Second rule: l143 -> l144 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, length_29^0'=nondet_12^112, head_32^0'=0, i_30^0'=0, 0 == 0, cost: 1 New rule: l223 -> l144 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, length_29^0'=nondet_12^112, head_32^0'=0, i_30^0'=0, 0 == 0, cost: 2 Applied deletion Removed the following rules: 487 518 Eliminating location l144 by chaining: Applied chaining First rule: l223 -> l144 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, length_29^0'=nondet_12^112, head_32^0'=0, i_30^0'=0, 0 == 0, cost: 2 Second rule: l144 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post368, (-1+length_29^0 >= 0 /\ i_30^0 == 0), cost: 1 New rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, (0 == 0 /\ -1+nondet_12^112 >= 0), cost: 3 Applied simplification Original rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, (0 == 0 /\ -1+nondet_12^112 >= 0), cost: 3 New rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Applied deletion Removed the following rules: 517 519 Eliminating location l61 by chaining: Applied chaining First rule: l68 -> l61 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 1 Second rule: l61 -> l49 : TRUE, cost: 1 New rule: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 Applied deletion Removed the following rules: 448 449 Eliminating location l222 by chaining: Applied chaining First rule: l146 -> l222 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1 Second rule: l222 -> l146 : TRUE, cost: 1 New rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2 Applied deletion Removed the following rules: 515 516 Eliminating location l150 by chaining: Applied chaining First rule: l156 -> l150 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Second rule: l150 -> l120 : TRUE, cost: 1 New rule: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 500 501 Eliminating location l131 by chaining: Applied chaining First rule: l138 -> l131 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Second rule: l131 -> l119 : TRUE, cost: 1 New rule: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 478 479 Eliminating location l0 by chaining: Applied chaining First rule: l34 -> l0 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l0 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, len_161^0 >= 0, cost: 1 New rule: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 370 412 Eliminating location l169 by chaining: Applied chaining First rule: l175 -> l169 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l169 -> l1 : TRUE, cost: 1 New rule: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 512 513 Eliminating location l35 by chaining: Applied chaining First rule: l40 -> l35 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l35 -> l16 : TRUE, cost: 1 New rule: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 421 422 Eliminating location l23 by chaining: Applied chaining First rule: l32 -> l23 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Second rule: l23 -> l8 : TRUE, cost: 1 New rule: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 407 408 Eliminated locations on linear paths Start location: l223 371: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 372: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 373: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 374: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 375: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 376: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 377: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 378: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 379: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 502: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 381: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 392: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 382: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 383: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 384: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 385: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 386: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 387: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 388: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 389: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 390: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 409: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 413: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 423: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 393: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 394: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 395: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 396: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 397: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 398: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 399: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 400: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 401: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 402: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 403: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 404: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 405: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 406: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 528: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 410: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 411: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 525: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 414: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 415: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 416: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 417: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 418: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 419: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 420: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 527: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 424: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 425: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 426: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 427: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 428: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 429: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 430: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 431: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 432: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 433: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 434: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 435: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 437: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 438: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 439: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 440: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 441: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 442: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 443: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 444: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 445: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 446: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 447: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 521: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 450: l119 -> l121 : i_30^0 >= 0, cost: 1 467: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 480: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 451: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 452: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 453: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 454: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 455: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 456: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 457: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 458: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 459: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 460: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 461: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 462: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 463: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 464: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 465: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 490: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 468: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 469: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 470: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 471: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 472: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 473: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 474: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 475: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 476: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 477: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 524: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 481: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 482: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 483: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 484: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 485: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 488: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 489: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 522: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2 491: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 492: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 493: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 494: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 495: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 496: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 497: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 498: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 499: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 523: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 503: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 504: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 505: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 506: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 507: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 508: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 509: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 510: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 511: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 526: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 520: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Applied acceleration Original rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=i_30^0, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post365, (1-length_29^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2 New rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+n0+i_30^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=n0+i_30^0, temp_35^0'=temp_35^post365, (-n0+length_29^0-i_30^0 >= 0 /\ -2+n0 >= 0 /\ i_30^0 >= 0), cost: 2*n0 Applied instantiation Original rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+n0+i_30^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=n0+i_30^0, temp_35^0'=temp_35^post365, (-n0+length_29^0-i_30^0 >= 0 /\ -2+n0 >= 0 /\ i_30^0 >= 0), cost: 2*n0 New rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+length_29^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (0 >= 0 /\ -2+length_29^0-i_30^0 >= 0 /\ i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0 Applied simplification Original rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+length_29^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (0 >= 0 /\ -2+length_29^0-i_30^0 >= 0 /\ i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0 New rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+length_29^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-2+length_29^0-i_30^0 >= 0 /\ i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0 Applied deletion Removed the following rules: 522 Accelerated simple loops Start location: l223 371: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 372: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 373: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 374: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 375: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 376: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 377: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 378: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 379: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 502: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 381: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 392: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 382: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 383: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 384: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 385: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 386: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 387: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 388: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 389: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 390: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 409: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 413: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 423: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 393: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 394: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 395: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 396: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 397: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 398: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 399: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 400: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 401: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 402: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 403: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 404: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 405: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 406: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 528: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 410: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 411: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 525: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 414: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 415: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 416: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 417: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 418: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 419: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 420: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 527: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 424: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 425: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 426: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 427: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 428: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 429: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 430: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 431: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 432: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 433: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 434: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 435: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 437: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 438: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 439: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 440: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 441: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 442: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 443: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 444: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 445: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 446: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 447: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 521: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 450: l119 -> l121 : i_30^0 >= 0, cost: 1 467: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 480: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 451: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 452: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 453: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 454: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 455: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 456: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 457: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 458: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 459: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 460: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 461: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 462: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 463: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 464: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 465: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 490: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 468: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 469: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 470: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 471: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 472: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 473: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 474: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 475: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 476: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 477: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 524: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 481: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 482: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 483: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 484: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 485: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 488: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 489: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 530: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+length_29^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-2+length_29^0-i_30^0 >= 0 /\ i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0 491: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 492: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 493: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 494: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 495: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 496: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 497: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 498: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 499: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 523: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 503: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 504: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 505: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 506: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 507: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 508: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 509: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 510: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 511: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 526: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 520: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Applied chaining First rule: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 Second rule: l146 -> l146 : rcd_88^0'=rcd_88^post365, i_94^0'=-1+length_29^0, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-2+length_29^0-i_30^0 >= 0 /\ i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0 New rule: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, rcd_88^0'=rcd_88^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_94^0'=-1+length_29^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-1+i_30^0 == 0 /\ -4+length_29^0 >= 0), cost: -3+2*length_29^0 Applied deletion Removed the following rules: 530 Chained accelerated rules with incoming rules Start location: l223 371: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 372: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 373: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 374: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 375: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 376: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 377: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 378: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 379: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 502: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 381: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 392: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 382: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 383: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 384: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 385: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 386: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 387: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 388: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 389: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 390: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 409: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 413: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 423: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 393: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 394: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 395: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 396: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 397: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 398: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 399: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 400: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 401: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 402: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 403: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 404: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 405: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 406: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 528: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 410: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 411: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 525: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 414: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 415: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 416: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 417: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 418: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 419: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 420: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 527: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 424: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 425: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 426: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 427: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 428: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 429: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 430: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 431: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 432: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 433: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 434: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 435: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 437: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 438: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 439: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 440: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 441: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 442: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 443: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 444: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 445: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 446: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 447: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 521: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 450: l119 -> l121 : i_30^0 >= 0, cost: 1 467: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 480: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 451: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 452: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 453: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 454: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 455: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 456: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 457: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 458: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 459: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 460: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 461: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 462: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 463: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 464: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 465: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 490: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 468: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 469: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 470: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 471: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 472: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 473: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 474: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 475: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 476: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 477: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 524: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 481: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 482: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 483: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 484: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 485: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 488: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 489: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 531: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, rcd_88^0'=rcd_88^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_94^0'=-1+length_29^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-1+i_30^0 == 0 /\ -4+length_29^0 >= 0), cost: -3+2*length_29^0 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 491: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 492: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 493: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 494: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 495: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 496: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 497: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 498: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 499: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 523: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 503: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 504: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 505: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 506: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 507: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 508: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 509: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 510: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 511: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 526: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 520: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Eliminating location l145 by chaining: Applied chaining First rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Second rule: l145 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, length_29^0-i_30^0 <= 0, cost: 1 New rule: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 Applied chaining First rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Second rule: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^0, head_32^0'=temp_35^0, i_30^0'=2, temp_35^0'=temp_35^post231, (1-length_29^0+i_30^0 <= 0 /\ -1+i_30^0 == 0), cost: 1 New rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, (0 == 0 /\ 2-nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 Applied simplification Original rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, (0 == 0 /\ 2-nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 New rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 Applied chaining First rule: l223 -> l145 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, length_29^0'=nondet_12^112, head_32^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post368, -1+nondet_12^112 >= 0, cost: 3 Second rule: l145 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, rcd_88^0'=rcd_88^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_94^0'=-1+length_29^0, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, head_32^0'=temp_35^post365, i_30^0'=length_29^0, temp_35^0'=temp_35^post365, (-1+i_30^0 == 0 /\ -4+length_29^0 >= 0), cost: -3+2*length_29^0 New rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, (0 == 0 /\ -1+nondet_12^112 >= 0 /\ -4+nondet_12^112 >= 0), cost: 2*nondet_12^112 Applied simplification Original rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, (0 == 0 /\ -1+nondet_12^112 >= 0 /\ -4+nondet_12^112 >= 0), cost: 2*nondet_12^112 New rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied deletion Removed the following rules: 488 489 520 531 Eliminating location l62 by chaining: Applied chaining First rule: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 Second rule: l62 -> l63 : -1+x_14^0 >= 0, cost: 1 New rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (0 == 0 /\ -1+x_14^0 >= 0), cost: 2 Applied simplification Original rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (0 == 0 /\ -1+x_14^0 >= 0), cost: 2 New rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, -1+x_14^0 >= 0, cost: 2 Applied chaining First rule: l49 -> l62 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 0 == 0, cost: 1 Second rule: l62 -> l63 : 1+x_14^0 <= 0, cost: 1 New rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied simplification Original rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (0 == 0 /\ 1+x_14^0 <= 0), cost: 2 New rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 1+x_14^0 <= 0, cost: 2 Applied deletion Removed the following rules: 437 438 439 Eliminating location l64 by chaining: Applied chaining First rule: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 Second rule: l64 -> l65 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied chaining First rule: l63 -> l64 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, -1+i_27^0 >= 0, cost: 1 Second rule: l64 -> l65 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 440 441 442 Eliminating location l66 by chaining: Applied chaining First rule: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Second rule: l66 -> l67 : -1+x_14^0 >= 0, cost: 1 New rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 2 Applied chaining First rule: l65 -> l66 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Second rule: l66 -> l67 : 1+x_14^0 <= 0, cost: 1 New rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 443 444 445 Eliminating location l68 by chaining: Applied chaining First rule: l67 -> l68 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Second rule: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 New rule: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 Applied chaining First rule: l67 -> l68 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Second rule: l68 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+i_1248^0 >= 0), cost: 2 New rule: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 Applied deletion Removed the following rules: 446 447 521 Eliminating location l121 by chaining: Applied chaining First rule: l119 -> l121 : i_30^0 >= 0, cost: 1 Second rule: l121 -> l122 : -1+x_14^0 >= 0, cost: 1 New rule: l119 -> l122 : (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 Applied chaining First rule: l119 -> l121 : i_30^0 >= 0, cost: 1 Second rule: l121 -> l122 : 1+x_14^0 <= 0, cost: 1 New rule: l119 -> l122 : (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 Applied deletion Removed the following rules: 450 451 452 Eliminating location l132 by chaining: Applied chaining First rule: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 Second rule: l132 -> l133 : -1+x_14^0 >= 0, cost: 1 New rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 Applied chaining First rule: l119 -> l132 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, i_30^0 >= 0, cost: 1 Second rule: l132 -> l133 : 1+x_14^0 <= 0, cost: 1 New rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 Applied deletion Removed the following rules: 467 468 469 Eliminating location l139 by chaining: Applied chaining First rule: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 Second rule: l139 -> l140 : -1+x_14^0 >= 0, cost: 1 New rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 Applied chaining First rule: l119 -> l139 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, i_30^0 >= 0, cost: 1 Second rule: l139 -> l140 : 1+x_14^0 <= 0, cost: 1 New rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 Applied deletion Removed the following rules: 480 481 482 Eliminating location l123 by chaining: Applied chaining First rule: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 Second rule: l123 -> l124 : -1+x_14^0 >= 0, cost: 1 New rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0), cost: 2 Applied chaining First rule: l122 -> l123 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ i_30^0 >= 0), cost: 1 Second rule: l123 -> l124 : 1+x_14^0 <= 0, cost: 1 New rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0), cost: 2 Applied deletion Removed the following rules: 453 454 455 Eliminating location l125 by chaining: Applied chaining First rule: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Second rule: l125 -> l126 : 1-x_21^0+y_20^0 <= 0, cost: 1 New rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied chaining First rule: l124 -> l125 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 Second rule: l125 -> l126 : 1+x_21^0-y_20^0 <= 0, cost: 1 New rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 456 457 458 Eliminating location l127 by chaining: Applied chaining First rule: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 Second rule: l127 -> l128 : -1+x_14^0 >= 0, cost: 1 New rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 2 Applied chaining First rule: l126 -> l127 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 1 Second rule: l127 -> l128 : 1+x_14^0 <= 0, cost: 1 New rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0), cost: 2 Applied deletion Removed the following rules: 459 460 461 Eliminating location l129 by chaining: Applied chaining First rule: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 Second rule: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 Applied chaining First rule: l128 -> l129 : 1+x_14^0-y_20^0 <= 0, cost: 1 Second rule: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 Applied chaining First rule: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 Second rule: l129 -> l130 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 Applied chaining First rule: l128 -> l129 : 1-x_14^0+y_20^0 <= 0, cost: 1 Second rule: l129 -> l130 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 Applied deletion Removed the following rules: 462 463 464 465 Eliminating location l151 by chaining: Applied chaining First rule: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 Second rule: l151 -> l152 : 1-x_21^0+y_20^0 <= 0, cost: 1 New rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 Applied chaining First rule: l120 -> l151 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1162^0 >= 0, cost: 1 Second rule: l151 -> l152 : 1+x_21^0-y_20^0 <= 0, cost: 1 New rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 Applied deletion Removed the following rules: 490 491 492 Eliminating location l153 by chaining: Applied chaining First rule: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 Second rule: l153 -> l154 : -1+x_14^0 >= 0, cost: 1 New rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 2 Applied chaining First rule: l152 -> l153 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 1 Second rule: l153 -> l154 : 1+x_14^0 <= 0, cost: 1 New rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 493 494 495 Eliminating location l155 by chaining: Applied chaining First rule: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 Second rule: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 Applied chaining First rule: l154 -> l155 : 1+x_14^0-y_20^0 <= 0, cost: 1 Second rule: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 Applied chaining First rule: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 Second rule: l155 -> l156 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 Applied chaining First rule: l154 -> l155 : 1-x_14^0+y_20^0 <= 0, cost: 1 Second rule: l155 -> l156 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 Applied deletion Removed the following rules: 496 497 498 499 Eliminating location l134 by chaining: Applied chaining First rule: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 Second rule: l134 -> l135 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied chaining First rule: l133 -> l134 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, -1+i_27^0 >= 0, cost: 1 Second rule: l134 -> l135 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0), cost: 2 Applied deletion Removed the following rules: 470 471 472 Eliminating location l136 by chaining: Applied chaining First rule: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Second rule: l136 -> l137 : -1+x_14^0 >= 0, cost: 1 New rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0), cost: 2 Applied chaining First rule: l135 -> l136 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 1 Second rule: l136 -> l137 : 1+x_14^0 <= 0, cost: 1 New rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 473 474 475 Eliminating location l138 by chaining: Applied chaining First rule: l137 -> l138 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 Second rule: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied chaining First rule: l137 -> l138 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 Second rule: l138 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied deletion Removed the following rules: 476 477 524 Eliminating location l141 by chaining: Applied chaining First rule: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l141 -> l142 : -1+head_15^0 >= 0, cost: 1 New rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l140 -> l141 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l141 -> l142 : 1+head_15^0 <= 0, cost: 1 New rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 483 484 485 Eliminating location l33 by chaining: Applied chaining First rule: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 Second rule: l33 -> l34 : -1+head_15^0 >= 0, cost: 1 New rule: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l16 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 1 Second rule: l33 -> l34 : 1+head_15^0 <= 0, cost: 1 New rule: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 2 Applied deletion Removed the following rules: 409 410 411 Eliminating location l36 by chaining: Applied chaining First rule: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l36 -> l37 : -1+x_14^0 >= 0, cost: 1 New rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 Applied chaining First rule: l16 -> l36 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l36 -> l37 : 1+x_14^0 <= 0, cost: 1 New rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 413 414 415 Eliminating location l41 by chaining: Applied chaining First rule: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l41 -> l42 : -1+x_14^0 >= 0, cost: 1 New rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 Applied chaining First rule: l16 -> l41 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l41 -> l42 : 1+x_14^0 <= 0, cost: 1 New rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 423 424 425 Eliminating location l2 by chaining: Applied chaining First rule: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Second rule: l2 -> l3 : 1-x_21^0+y_20^0 <= 0, cost: 1 New rule: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 Applied chaining First rule: l34 -> l2 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Second rule: l2 -> l3 : 1+x_21^0-y_20^0 <= 0, cost: 1 New rule: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 Applied deletion Removed the following rules: 371 372 525 Eliminating location l4 by chaining: Applied chaining First rule: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Second rule: l4 -> l5 : -1+head_15^0 >= 0, cost: 1 New rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 Applied chaining First rule: l3 -> l4 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Second rule: l4 -> l5 : 1+head_15^0 <= 0, cost: 1 New rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 Applied deletion Removed the following rules: 373 374 375 Eliminating location l6 by chaining: Applied chaining First rule: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 Second rule: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 Applied chaining First rule: l5 -> l6 : 1+head_15^0-y_20^0 <= 0, cost: 1 Second rule: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 Applied chaining First rule: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 Second rule: l6 -> l7 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l5 -> l7 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 Applied chaining First rule: l5 -> l6 : 1-head_15^0+y_20^0 <= 0, cost: 1 Second rule: l6 -> l7 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l5 -> l7 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 Applied deletion Removed the following rules: 376 377 378 379 Eliminating location l170 by chaining: Applied chaining First rule: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 Second rule: l170 -> l171 : 1-x_21^0+y_20^0 <= 0, cost: 1 New rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 Applied chaining First rule: l1 -> l170 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, a_924^0 >= 0, cost: 1 Second rule: l170 -> l171 : 1+x_21^0-y_20^0 <= 0, cost: 1 New rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 Applied deletion Removed the following rules: 502 503 504 Eliminating location l172 by chaining: Applied chaining First rule: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Second rule: l172 -> l173 : -1+head_15^0 >= 0, cost: 1 New rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 Applied chaining First rule: l171 -> l172 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 1 Second rule: l172 -> l173 : 1+head_15^0 <= 0, cost: 1 New rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 Applied deletion Removed the following rules: 505 506 507 Eliminating location l174 by chaining: Applied chaining First rule: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 Second rule: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 Applied chaining First rule: l173 -> l174 : 1+head_15^0-y_20^0 <= 0, cost: 1 Second rule: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 Applied chaining First rule: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 Second rule: l174 -> l175 : 1+y_20^0-t_24^0 <= 0, cost: 1 New rule: l173 -> l175 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 Applied chaining First rule: l173 -> l174 : 1-head_15^0+y_20^0 <= 0, cost: 1 Second rule: l174 -> l175 : 1-y_20^0+t_24^0 <= 0, cost: 1 New rule: l173 -> l175 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 Applied deletion Removed the following rules: 508 509 510 511 Eliminating location l38 by chaining: Applied chaining First rule: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l38 -> l39 : -1+head_15^0 >= 0, cost: 1 New rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l37 -> l38 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l38 -> l39 : 1+head_15^0 <= 0, cost: 1 New rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 416 417 418 Eliminating location l40 by chaining: Applied chaining First rule: l39 -> l40 : -1+x_852^0 >= 0, cost: 1 Second rule: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 New rule: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 Applied chaining First rule: l39 -> l40 : 1+x_852^0 <= 0, cost: 1 Second rule: l40 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 New rule: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 Applied deletion Removed the following rules: 419 420 527 Eliminating location l43 by chaining: Applied chaining First rule: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 Second rule: l43 -> l44 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied chaining First rule: l42 -> l43 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, -1+i_27^0 >= 0, cost: 1 Second rule: l43 -> l44 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 426 427 428 Eliminating location l45 by chaining: Applied chaining First rule: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 Second rule: l45 -> l46 : -1+x_14^0 >= 0, cost: 1 New rule: l44 -> l46 : i_27^0'=-1+i_27^0, (-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0), cost: 2 Applied chaining First rule: l44 -> l45 : i_27^0'=-1+i_27^0, i_27^0-i_197^0 == 0, cost: 1 Second rule: l45 -> l46 : 1+x_14^0 <= 0, cost: 1 New rule: l44 -> l46 : i_27^0'=-1+i_27^0, (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 429 430 431 Eliminating location l47 by chaining: Applied chaining First rule: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 Second rule: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l46 -> l48 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l46 -> l47 : -1+head_15^0 >= 0, cost: 1 Second rule: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l46 -> l48 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 Second rule: l47 -> l48 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l46 -> l48 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 Applied chaining First rule: l46 -> l47 : 1+head_15^0 <= 0, cost: 1 Second rule: l47 -> l48 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l46 -> l48 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 Applied deletion Removed the following rules: 432 433 434 435 Eliminating location l17 by chaining: Applied chaining First rule: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l17 -> l18 : -1+x_14^0 >= 0, cost: 1 New rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 Applied chaining First rule: l8 -> l17 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l17 -> l18 : 1+x_14^0 <= 0, cost: 1 New rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 381 382 383 Eliminating location l24 by chaining: Applied chaining First rule: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l24 -> l25 : -1+x_14^0 >= 0, cost: 1 New rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 Applied chaining First rule: l8 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0), cost: 1 Second rule: l24 -> l25 : 1+x_14^0 <= 0, cost: 1 New rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 392 393 394 Eliminating location l19 by chaining: Applied chaining First rule: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l19 -> l20 : -1+head_15^0 >= 0, cost: 1 New rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l18 -> l19 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 1 Second rule: l19 -> l20 : 1+head_15^0 <= 0, cost: 1 New rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 384 385 386 Eliminating location l21 by chaining: Applied chaining First rule: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 Second rule: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 New rule: l20 -> l22 : (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 Applied chaining First rule: l20 -> l21 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 Second rule: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 New rule: l20 -> l22 : (1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 Applied chaining First rule: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 Second rule: l21 -> l22 : -1+x_253^0 >= 0, cost: 1 New rule: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0), cost: 2 Applied chaining First rule: l20 -> l21 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 Second rule: l21 -> l22 : 1+x_253^0 <= 0, cost: 1 New rule: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0), cost: 2 Applied deletion Removed the following rules: 387 388 389 390 Eliminating location l26 by chaining: Applied chaining First rule: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 Second rule: l26 -> l27 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied chaining First rule: l25 -> l26 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, -1+i_27^0 >= 0, cost: 1 Second rule: l26 -> l27 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0), cost: 2 Applied deletion Removed the following rules: 395 396 397 Eliminating location l28 by chaining: Applied chaining First rule: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 Second rule: l28 -> l29 : -1+x_14^0 >= 0, cost: 1 New rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0), cost: 2 Applied chaining First rule: l27 -> l28 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, i_27^0-i_229^0 == 0, cost: 1 Second rule: l28 -> l29 : 1+x_14^0 <= 0, cost: 1 New rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 Applied deletion Removed the following rules: 398 399 400 Eliminating location l30 by chaining: Applied chaining First rule: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 Second rule: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l29 -> l31 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l29 -> l30 : -1+head_15^0 >= 0, cost: 1 Second rule: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l29 -> l31 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 Applied chaining First rule: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 Second rule: l30 -> l31 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0, cost: 1 New rule: l29 -> l31 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 Applied chaining First rule: l29 -> l30 : 1+head_15^0 <= 0, cost: 1 Second rule: l30 -> l31 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0, cost: 1 New rule: l29 -> l31 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 Applied deletion Removed the following rules: 401 402 403 404 Eliminating location l32 by chaining: Applied chaining First rule: l31 -> l32 : -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0, cost: 1 Second rule: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 Applied chaining First rule: l31 -> l32 : 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0, cost: 1 Second rule: l32 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 Applied deletion Removed the following rules: 405 406 528 Eliminated locations on tree-shaped paths Start location: l223 583: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 584: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 585: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 586: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 587: l5 -> l7 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 588: l5 -> l7 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 589: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 590: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 609: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 610: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 611: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 612: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 613: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 614: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 615: l20 -> l22 : (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 616: l20 -> l22 : (1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 617: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0), cost: 2 618: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0), cost: 2 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 575: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2 576: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 2 577: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 578: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 579: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 580: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 619: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0), cost: 2 620: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0), cost: 2 621: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0), cost: 2 622: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 623: l29 -> l31 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 624: l29 -> l31 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 625: l29 -> l31 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 626: l29 -> l31 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 597: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 598: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 601: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0), cost: 2 602: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0), cost: 2 603: l44 -> l46 : i_27^0'=-1+i_27^0, (-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0), cost: 2 604: l44 -> l46 : i_27^0'=-1+i_27^0, (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 605: l46 -> l48 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 606: l46 -> l48 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 607: l46 -> l48 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 608: l46 -> l48 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 535: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, -1+x_14^0 >= 0, cost: 2 536: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 1+x_14^0 <= 0, cost: 2 537: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0), cost: 2 538: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0), cost: 2 539: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 2 540: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 543: l119 -> l122 : (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 544: l119 -> l122 : (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 545: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 546: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 547: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 548: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 549: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0), cost: 2 550: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0), cost: 2 551: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 552: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 553: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 2 554: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0), cost: 2 555: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 556: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 557: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 558: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 559: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 560: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 567: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0), cost: 2 568: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0), cost: 2 569: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0), cost: 2 570: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 573: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 574: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0), cost: 2 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 561: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 2 562: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 563: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 564: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 565: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 566: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 523: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 591: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 592: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 593: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 594: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 595: l173 -> l175 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 596: l173 -> l175 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 526: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied merging first rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 second rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 new rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 Applied merging first rule: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 second rule: l5 -> l7 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 new rule: l5 -> l7 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 Applied merging first rule: l5 -> l7 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 second rule: l5 -> l7 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 new rule: l5 -> l7 : ((1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 Applied merging first rule: l5 -> l7 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 second rule: l5 -> l7 : ((1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 new rule: l5 -> l7 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 Applied merging first rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 second rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0), cost: 2 new rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0)), cost: 2 Applied merging first rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 second rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Applied merging first rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 second rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Applied merging first rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l20 -> l22 : (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 second rule: l20 -> l22 : (1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 2 new rule: l20 -> l22 : ((-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0) \/ (1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0)), cost: 2 Applied merging first rule: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0), cost: 2 second rule: l20 -> l22 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0), cost: 2 new rule: l20 -> l22 : ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0)), cost: 2 Applied merging first rule: l20 -> l22 : ((-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0) \/ (1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0)), cost: 2 second rule: l20 -> l22 : ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0)), cost: 2 new rule: l20 -> l22 : ((1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0) \/ (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0)), cost: 2 Applied merging first rule: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0), cost: 2 new rule: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 second rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Applied merging first rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2 second rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)), cost: 2 Applied merging first rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0), cost: 2 second rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 Applied merging first rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0), cost: 2 second rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0) \/ (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 Applied merging first rule: l29 -> l31 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l29 -> l31 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 new rule: l29 -> l31 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l29 -> l31 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 second rule: l29 -> l31 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 new rule: l29 -> l31 : ((1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0)), cost: 2 Applied merging first rule: l29 -> l31 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 second rule: l29 -> l31 : ((1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0)), cost: 2 new rule: l29 -> l31 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, ((f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0)), cost: 2 Applied merging first rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0), cost: 2 second rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 Applied merging first rule: l44 -> l46 : i_27^0'=-1+i_27^0, (-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0), cost: 2 second rule: l44 -> l46 : i_27^0'=-1+i_27^0, (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l44 -> l46 : i_27^0'=-1+i_27^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0) \/ (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 Applied merging first rule: l46 -> l48 : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l46 -> l48 : (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0), cost: 2 new rule: l46 -> l48 : ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l46 -> l48 : (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0), cost: 2 second rule: l46 -> l48 : (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0), cost: 2 new rule: l46 -> l48 : ((1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0)), cost: 2 Applied merging first rule: l46 -> l48 : ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 second rule: l46 -> l48 : ((1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0)), cost: 2 new rule: l46 -> l48 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, -1+x_14^0 >= 0, cost: 2 second rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, 1+x_14^0 <= 0, cost: 2 new rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0), cost: 2 Applied merging first rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0), cost: 2 second rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 Applied merging first rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0), cost: 2 second rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0)), cost: 2 Applied merging first rule: l119 -> l122 : (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 second rule: l119 -> l122 : (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 new rule: l119 -> l122 : ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 Applied merging first rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 second rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 new rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0)), cost: 2 Applied merging first rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (-1+x_14^0 >= 0 /\ i_30^0 >= 0), cost: 2 second rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, (1+x_14^0 <= 0 /\ i_30^0 >= 0), cost: 2 new rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 Applied merging first rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0), cost: 2 second rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0), cost: 2 new rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, ((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)), cost: 2 Applied merging first rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 second rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 new rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, ((result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0)), cost: 2 Applied merging first rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0), cost: 2 second rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0), cost: 2 new rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, ((-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0) \/ (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0)), cost: 2 Applied merging first rule: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 second rule: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 new rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 Applied merging first rule: l128 -> l130 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 second rule: l128 -> l130 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 new rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 Applied merging first rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 second rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 new rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 Applied merging first rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 second rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0), cost: 2 new rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, ((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)), cost: 2 Applied merging first rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0), cost: 2 second rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0), cost: 2 new rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0)), cost: 2 Applied merging first rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0), cost: 2 second rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, (i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, ((i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0)), cost: 2 Applied merging first rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0), cost: 2 second rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0), cost: 2 new rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 Applied merging first rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0), cost: 2 second rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0), cost: 2 new rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, ((-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0) \/ (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 Applied merging first rule: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 second rule: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0), cost: 2 new rule: l154 -> l156 : ((1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 Applied merging first rule: l154 -> l156 : (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 second rule: l154 -> l156 : (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0), cost: 2 new rule: l154 -> l156 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 Applied merging first rule: l154 -> l156 : ((1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 second rule: l154 -> l156 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 new rule: l154 -> l156 : ((1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 Applied merging first rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 second rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0), cost: 2 new rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, ((1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 Applied merging first rule: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 second rule: l173 -> l175 : (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0), cost: 2 new rule: l173 -> l175 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 Applied merging first rule: l173 -> l175 : (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0), cost: 2 second rule: l173 -> l175 : (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0), cost: 2 new rule: l173 -> l175 : ((1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 Applied merging first rule: l173 -> l175 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 second rule: l173 -> l175 : ((1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 new rule: l173 -> l175 : ((1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0)), cost: 2 Merged rules Start location: l223 629: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 632: l5 -> l7 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 380: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 633: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0)), cost: 2 634: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 635: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 636: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 639: l20 -> l22 : ((1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0) \/ (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0)), cost: 2 391: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 641: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 642: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)), cost: 2 643: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 644: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0) \/ (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 647: l29 -> l31 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 648: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, ((f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0)), cost: 2 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 649: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 650: l44 -> l46 : i_27^0'=-1+i_27^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0) \/ (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 653: l46 -> l48 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 436: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 654: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0), cost: 2 655: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 656: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0)), cost: 2 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 657: l119 -> l122 : ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 658: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0)), cost: 2 659: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 660: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, ((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)), cost: 2 661: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, ((result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0)), cost: 2 662: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, ((-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0) \/ (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0)), cost: 2 665: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 466: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 666: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, ((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)), cost: 2 667: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0)), cost: 2 668: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, ((i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0)), cost: 2 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 669: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 486: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 670: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, ((-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0) \/ (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 673: l154 -> l156 : ((1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 523: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 674: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, ((1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 677: l173 -> l175 : ((1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0)), cost: 2 526: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Eliminating location l63 by chaining: Applied chaining First rule: l49 -> l63 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_15^0'=head_15^post95, i_1248^0'=i_1248^post95, (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0), cost: 2 Second rule: l63 -> l65 : nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 New rule: l49 -> l65 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 4 Applied simplification Original rule: l49 -> l65 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 4 New rule: l49 -> l65 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, ((-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 654 655 Eliminating location l65 by chaining: Applied chaining First rule: l49 -> l65 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, ((-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Second rule: l65 -> l67 : i_27^0'=-1+i_1248^0, rcd_1249^0'=rcd_47^0, ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_27^0+i_1248^0 == 0 /\ x_14^0-head_15^0 == 0)), cost: 2 New rule: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (((-1+x_14^0 >= 0 /\ x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0) \/ (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ 1+x_14^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0))), cost: 6 Applied simplification Original rule: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (((-1+x_14^0 >= 0 /\ x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0) \/ (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ 1+x_14^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0))), cost: 6 New rule: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 Applied deletion Removed the following rules: 656 678 Eliminating location l122 by chaining: Applied chaining First rule: l119 -> l122 : ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 Second rule: l122 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, ((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)), cost: 2 New rule: l119 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0) \/ (1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0))), cost: 4 Applied simplification Original rule: l119 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0) \/ (1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0))), cost: 4 New rule: l119 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ 1+x_14^0 <= 0)), cost: 4 Applied deletion Removed the following rules: 657 660 Eliminating location l133 by chaining: Applied chaining First rule: l119 -> l133 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, head_15^0'=head_15^post209, ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0)), cost: 2 Second rule: l133 -> l135 : nondet_12^0'=nondet_12^post212, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0)), cost: 2 New rule: l119 -> l135 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 4 Applied simplification Original rule: l119 -> l135 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 4 New rule: l119 -> l135 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 658 667 Eliminating location l140 by chaining: Applied chaining First rule: l119 -> l140 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)), cost: 2 Second rule: l140 -> l142 : nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((-1+len_161^0 == 0 /\ 1+head_15^0 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 New rule: l119 -> l142 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied simplification Original rule: l119 -> l142 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0))), cost: 4 New rule: l119 -> l142 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 4 Applied deletion Removed the following rules: 659 669 Eliminating location l124 by chaining: Applied chaining First rule: l119 -> l124 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post195, x_14^0'=head_15^0, i_27^0'=i_27^post195, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, (((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ 1+x_14^0 <= 0)), cost: 4 Second rule: l124 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, ((result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0)), cost: 2 New rule: l119 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ 1-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ 1+x_14^0 <= 0)), cost: 6 Applied simplification Original rule: l119 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (((1+head_15^0 <= 0 /\ i_27^0 <= 0 /\ i_30^0 >= 0) \/ (i_27^0 <= 0 /\ -1+head_15^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ 1-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ 1+x_14^0 <= 0)), cost: 6 New rule: l119 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^0 <= 0 /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 6 Applied deletion Removed the following rules: 661 680 Eliminating location l135 by chaining: Applied chaining First rule: l119 -> l135 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Second rule: l135 -> l137 : i_27^0'=-1+i_106^0, i_107^0'=i_30^0, ((i_106^0-i_27^0 == 0 /\ x_14^0-head_15^0 == 0 /\ 1+x_14^0 <= 0) \/ (i_106^0-i_27^0 == 0 /\ -1+x_14^0 >= 0 /\ x_14^0-head_15^0 == 0)), cost: 2 New rule: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 Applied simplification Original rule: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0) \/ (-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 New rule: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 Applied deletion Removed the following rules: 668 681 Eliminating location l142 by chaining: Applied chaining First rule: l119 -> l142 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=i_113^post222, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 4 Second rule: l142 -> l16 : i_113^0'=1+a_121^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_113^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 New rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 5 Applied simplification Original rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+x_14^0 <= 0 /\ i_30^0 >= 0) \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 5 New rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 Applied deletion Removed the following rules: 486 682 Eliminating location l126 by chaining: Applied chaining First rule: l119 -> l126 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^0 <= 0 /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 6 Second rule: l126 -> l128 : a_1089^0'=a_1162^0, t_24^0'=x_21^0, ((-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0 /\ -x_14^0+x_21^0 == 0) \/ (-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ -x_14^0+x_21^0 == 0)), cost: 2 New rule: l119 -> l128 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^0 <= 0 /\ ((head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ 1+x_14^post198 <= 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0) \/ (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -1+x_14^post198 >= 0 /\ -x_17^post198+head_15^post198 == 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 8 Applied simplification Original rule: l119 -> l128 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^0 <= 0 /\ ((head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ 1+x_14^post198 <= 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0) \/ (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -1+x_14^post198 >= 0 /\ -x_17^post198+head_15^post198 == 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ i_30^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 8 New rule: l119 -> l128 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 8 Applied deletion Removed the following rules: 662 683 Eliminating location l128 by chaining: Applied chaining First rule: l119 -> l128 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 8 Second rule: l128 -> l130 : ((1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0)), cost: 2 New rule: l119 -> l130 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((1+x_14^post198 <= 0 /\ 1-head_15^0 <= 0) \/ (1+head_15^0 <= 0 /\ 1-x_14^post198 <= 0) \/ (1+head_15^0 <= 0 /\ 1+x_14^post198 <= 0) \/ (1-x_14^post198 <= 0 /\ 1-head_15^0 <= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 10 Applied simplification Original rule: l119 -> l130 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((1+x_14^post198 <= 0 /\ 1-head_15^0 <= 0) \/ (1+head_15^0 <= 0 /\ 1-x_14^post198 <= 0) \/ (1+head_15^0 <= 0 /\ 1+x_14^post198 <= 0) \/ (1-x_14^post198 <= 0 /\ 1-head_15^0 <= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 10 New rule: l119 -> l130 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 10 Applied deletion Removed the following rules: 665 686 Eliminating location l130 by chaining: Applied chaining First rule: l119 -> l130 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=i_1053^post198, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -head_15^post198+x_14^post198 == 0 /\ -x_17^post198+head_15^post198 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 10 Second rule: l130 -> l120 : i_1053^0'=1+a_1089^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_1053^0 <= 0 /\ i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1 New rule: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 11 Applied simplification Original rule: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0))), cost: 11 New rule: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 Applied deletion Removed the following rules: 466 687 Eliminating location l37 by chaining: Applied chaining First rule: l16 -> l37 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Second rule: l37 -> l39 : nondet_12^0'=nondet_12^post57, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, ((f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ f_847^0-x_14^0 == 0 /\ -1+i_27^0 >= 0)), cost: 2 New rule: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 Applied deletion Removed the following rules: 641 648 Eliminating location l42 by chaining: Applied chaining First rule: l16 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_15^0'=head_15^post64, i_197^0'=i_197^post64, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)), cost: 2 Second rule: l42 -> l44 : nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 New rule: l16 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 642 649 Eliminating location l44 by chaining: Applied chaining First rule: l16 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Second rule: l44 -> l46 : i_27^0'=-1+i_27^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_197^0 == 0) \/ (i_27^0-i_197^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 New rule: l16 -> l46 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0))), cost: 6 Applied simplification Original rule: l16 -> l46 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0))), cost: 6 New rule: l16 -> l46 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 6 Applied deletion Removed the following rules: 650 690 Eliminating location l46 by chaining: Applied chaining First rule: l16 -> l46 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 6 Second rule: l46 -> l48 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 New rule: l16 -> l48 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+head_15^post64 >= 0 /\ 1+nondet_12^13 <= 0) \/ (1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ (-1+nondet_12^13 >= 0 /\ 1+head_15^post64 <= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+head_15^post64 >= 0)) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 8 Applied simplification Original rule: l16 -> l48 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+head_15^post64 >= 0 /\ 1+nondet_12^13 <= 0) \/ (1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ (-1+nondet_12^13 >= 0 /\ 1+head_15^post64 <= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+head_15^post64 >= 0)) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 8 New rule: l16 -> l48 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ -1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 8 Applied deletion Removed the following rules: 653 691 Eliminating location l48 by chaining: Applied chaining First rule: l16 -> l48 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ -1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 8 Second rule: l48 -> l8 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_197^0 >= 0), cost: 1 New rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -1+i_197^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ -1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 9 Applied simplification Original rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -1+i_197^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0)) /\ ((1+nondet_12^13 <= 0 /\ 1+head_15^post64 <= 0) \/ -1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0))), cost: 9 New rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Applied deletion Removed the following rules: 436 692 Eliminating location l18 by chaining: Applied chaining First rule: l8 -> l18 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, f_248^0'=f_248^post22, x_253^0'=x_253^post22, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Second rule: l18 -> l20 : nondet_12^0'=nondet_12^post25, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ -x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^0 >= 0)), cost: 2 New rule: l8 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied simplification Original rule: l8 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0))), cost: 4 New rule: l8 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0))), cost: 4 Applied deletion Removed the following rules: 634 636 Eliminating location l25 by chaining: Applied chaining First rule: l8 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)), cost: 2 Second rule: l25 -> l27 : nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0)), cost: 2 New rule: l8 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied simplification Original rule: l8 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0))), cost: 4 New rule: l8 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 635 643 Eliminating location l20 by chaining: Applied chaining First rule: l8 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0))), cost: 4 Second rule: l20 -> l22 : ((1+x_253^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+x_253^0 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ 1+x_253^0 <= 0) \/ (-1+x_253^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0)), cost: 2 New rule: l8 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 6 Applied simplification Original rule: l8 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 6 New rule: l8 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 6 Applied deletion Removed the following rules: 639 694 Eliminating location l27 by chaining: Applied chaining First rule: l8 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_229^0'=i_229^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0))), cost: 4 Second rule: l27 -> l29 : i_27^0'=-1+i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, ((-1+x_14^0 >= 0 /\ i_27^0-i_229^0 == 0) \/ (i_27^0-i_229^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 New rule: l8 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 6 Applied simplification Original rule: l8 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 6 New rule: l8 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 6 Applied deletion Removed the following rules: 644 695 Eliminating location l22 by chaining: Applied chaining First rule: l8 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 6 Second rule: l22 -> l16 : a_176^0'=a_263^0, len_161^0'=len_262^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 New rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -1+i_27^0 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 Applied simplification Original rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -1+i_27^0 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 New rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 Applied deletion Removed the following rules: 391 696 Eliminating location l29 by chaining: Applied chaining First rule: l8 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 6 Second rule: l29 -> l31 : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+head_15^0 >= 0) \/ (1+head_15^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0) \/ (1+head_15^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+head_15^0 >= 0)), cost: 2 New rule: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 8 Applied simplification Original rule: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 8 New rule: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 Applied deletion Removed the following rules: 647 697 Eliminating location l5 by chaining: Applied chaining First rule: l3 -> l5 : a_902^0'=a_924^0, t_24^0'=x_21^0, ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 Second rule: l5 -> l7 : ((1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0) \/ (1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0)), cost: 2 New rule: l3 -> l7 : a_902^0'=a_924^0, t_24^0'=x_21^0, (((1-x_21^0+y_20^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+head_15^0-y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0)) /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 4 Applied simplification Original rule: l3 -> l7 : a_902^0'=a_924^0, t_24^0'=x_21^0, (((1-x_21^0+y_20^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+head_15^0-y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1-x_21^0+y_20^0 <= 0)) /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 4 New rule: l3 -> l7 : a_902^0'=a_924^0, t_24^0'=x_21^0, ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 4 Applied deletion Removed the following rules: 629 632 Eliminating location l7 by chaining: Applied chaining First rule: l3 -> l7 : a_902^0'=a_924^0, t_24^0'=x_21^0, ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 4 Second rule: l7 -> l1 : len_161^0'=1+a_902^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 1 New rule: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 Applied deletion Removed the following rules: 380 700 Eliminating location l171 by chaining: Applied chaining First rule: l1 -> l171 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0)), cost: 2 Second rule: l171 -> l173 : a_947^0'=-1+a_924^0, t_24^0'=x_21^0, ((1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0)), cost: 2 New rule: l1 -> l173 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 4 Applied simplification Original rule: l1 -> l173 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 4 New rule: l1 -> l173 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 4 Applied deletion Removed the following rules: 633 674 Eliminating location l173 by chaining: Applied chaining First rule: l1 -> l173 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 4 Second rule: l173 -> l175 : ((1-head_15^0+y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1+y_20^0-t_24^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-head_15^0+y_20^0 <= 0) \/ (1+head_15^0-y_20^0 <= 0 /\ 1-y_20^0+t_24^0 <= 0)), cost: 2 New rule: l1 -> l175 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+head_15^post271 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^post271 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+y_20^0-head_15^post271 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-y_20^0+head_15^post271 <= 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 6 Applied simplification Original rule: l1 -> l175 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (((ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ -1+head_15^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0) \/ (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ 1+head_15^post271 <= 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0)) /\ ((1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+head_15^post271 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^post271 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+y_20^0-head_15^post271 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-y_20^0+head_15^post271 <= 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 6 New rule: l1 -> l175 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0 /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0)) /\ (1+y_20^0-head_15^post271 <= 0 \/ 1-y_20^0+head_15^post271 <= 0)), cost: 6 Applied deletion Removed the following rules: 677 702 Eliminating location l175 by chaining: Applied chaining First rule: l1 -> l175 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -x_17^post271+head_15^post271 == 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0 /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0)) /\ (1+y_20^0-head_15^post271 <= 0 \/ 1-y_20^0+head_15^post271 <= 0)), cost: 6 Second rule: l175 -> l1 : a_924^0'=a_947^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 2 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=-1+a_924^0, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -1+i_27^post271 >= 0 /\ -x_17^post271+head_15^post271 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0 /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0)) /\ (1+y_20^0-head_15^post271 <= 0 \/ 1-y_20^0+head_15^post271 <= 0)), cost: 8 Applied deletion Removed the following rules: 526 703 Eliminating location l152 by chaining: Applied chaining First rule: l120 -> l152 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, ((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)), cost: 2 Second rule: l152 -> l154 : t_24^0'=x_21^0, a_1236^0'=-1+a_1162^0, ((-1+x_14^0 >= 0 /\ -y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0) \/ (-y_20^0+ct_18^0 == 0 /\ x_14^0-head_15^0 == 0 /\ head_15^0-x_17^0 == 0 /\ x_14^0-x_SLAM_f_19^0 == 0 /\ ct_18^0 == 0 /\ 1+x_14^0 <= 0)), cost: 2 New rule: l120 -> l154 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0) \/ (-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0))), cost: 4 Applied simplification Original rule: l120 -> l154 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0) \/ (-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0))), cost: 4 New rule: l120 -> l154 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0) \/ (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0))), cost: 4 Applied deletion Removed the following rules: 666 670 Eliminating location l154 by chaining: Applied chaining First rule: l120 -> l154 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0) \/ (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0))), cost: 4 Second rule: l154 -> l156 : ((1-y_20^0+t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1+x_14^0-y_20^0 <= 0) \/ (1+y_20^0-t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0) \/ (1-y_20^0+t_24^0 <= 0 /\ 1-x_14^0+y_20^0 <= 0)), cost: 2 New rule: l120 -> l156 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0) \/ (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0)) /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 6 Applied simplification Original rule: l120 -> l156 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (((1-x_21^0+y_20^0 <= 0 /\ a_1162^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_1162^0 >= 0)) /\ ((-1+x_14^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0) \/ (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ 1+x_14^post238 <= 0 /\ x_14^post238-head_15^post238 == 0)) /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 6 New rule: l120 -> l156 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 6 Applied deletion Removed the following rules: 673 705 Eliminating location l156 by chaining: Applied chaining First rule: l120 -> l156 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (ct_18^post238-y_20^0 == 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 6 Second rule: l156 -> l120 : a_1162^0'=a_1236^0, (i_27^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 8 Applied simplification Original rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 8 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8 Applied deletion Removed the following rules: 523 706 Eliminated locations on linear paths Start location: l223 701: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 704: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=-1+a_924^0, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -1+i_27^post271 >= 0 /\ -x_17^post271+head_15^post271 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0 /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0)) /\ (1+y_20^0-head_15^post271 <= 0 \/ 1-y_20^0+head_15^post271 <= 0)), cost: 8 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 688: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 707: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied simplification Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=x_14^post271, head_15^0'=head_15^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=x_17^post271, x_SLAM_f_19^0'=x_SLAM_f_19^post271, a_924^0'=-1+a_924^0, ct_18^0'=ct_18^post271, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271, (ct_18^post271 == 0 /\ -x_17^post271+x_SLAM_f_19^post271 == 0 /\ -1+i_27^post271 >= 0 /\ -x_17^post271+head_15^post271 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ x_14^post271 == 0 /\ ct_18^post271-y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post271 == 0 /\ ((1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0)) /\ (1+y_20^0-head_15^post271 <= 0 \/ 1-y_20^0+head_15^post271 <= 0)), cost: 8 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1+a_924^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 == 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 == 0 /\ (1-y_20^0+x_SLAM_f_19^post271 <= 0 \/ 1+y_20^0-x_SLAM_f_19^post271 <= 0) /\ ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 8 Simplified simple loops Start location: l223 701: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 708: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1+a_924^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 == 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 == 0 /\ (1-y_20^0+x_SLAM_f_19^post271 <= 0 \/ 1+y_20^0-x_SLAM_f_19^post271 <= 0) /\ ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 8 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 688: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 707: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied acceleration Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1+a_924^0, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1+a_924^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 == 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 == 0 /\ (1-y_20^0+x_SLAM_f_19^post271 <= 0 \/ 1+y_20^0-x_SLAM_f_19^post271 <= 0) /\ ((1+x_21^0-y_20^0 <= 0 /\ a_924^0 >= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ a_924^0 >= 0))), cost: 8 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-n3+a_924^0, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-n3+a_924^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+n3 >= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -y_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ ((-1+x_21^0-y_20^0 >= 0 /\ 1-n3+a_924^0 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ 1-n3+a_924^0 >= 0))), cost: 8*n3 Applied instantiation Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-n3+a_924^0, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-n3+a_924^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (-1+n3 >= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -y_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ ((-1+x_21^0-y_20^0 >= 0 /\ 1-n3+a_924^0 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ 1-n3+a_924^0 >= 0))), cost: 8*n3 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -y_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ ((0 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (0 >= 0 /\ -1-x_21^0+y_20^0 >= 0))), cost: 8+8*a_924^0 Applied simplification Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -y_20^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ ((0 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (0 >= 0 /\ -1-x_21^0+y_20^0 >= 0))), cost: 8+8*a_924^0 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0)), cost: 8+8*a_924^0 Applied deletion Removed the following rules: 708 Applied simplification Original rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=x_14^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=x_17^post238, x_SLAM_f_19^0'=x_SLAM_f_19^post238, ct_18^0'=ct_18^post238, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ ct_18^post238-y_20^0 == 0 /\ i_27^post238 <= 0 /\ ct_18^post238 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-x_SLAM_f_19^post238 == 0 /\ head_15^post238-x_17^post238 == 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+y_20^0-x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+x_14^post238 <= 0) \/ (1+y_20^0-x_14^post238 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-y_20^0+x_14^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+y_20^0-2*x_14^post238+head_15^post238 <= 0) \/ (1+y_20^0-2*x_14^post238+head_15^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0))), cost: 8 Simplified simple loops Start location: l223 701: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 710: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0)), cost: 8+8*a_924^0 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 688: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 711: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+y_20^0-2*x_14^post238+head_15^post238 <= 0) \/ (1+y_20^0-2*x_14^post238+head_15^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0))), cost: 8 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied acceleration Original rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1+a_1162^0, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 == 0 /\ a_1162^0 >= 0 /\ x_14^post238-head_15^post238 == 0 /\ ((1+x_21^0-y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+y_20^0-2*x_14^post238+head_15^post238 <= 0) \/ (1+y_20^0-2*x_14^post238+head_15^post238 <= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-y_20^0+2*x_14^post238-head_15^post238 <= 0))), cost: 8 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-n6+a_1162^0, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-n6+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ 1-n6+a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ -i_27^post238 >= 0 /\ -1+n6 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0))), cost: 8*n6 Applied instantiation Original rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-n6+a_1162^0, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-n6+a_1162^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ 1-n6+a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ -i_27^post238 >= 0 /\ -1+n6 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0))), cost: 8*n6 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ -i_27^post238 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0))), cost: 8+8*a_1162^0 Applied simplification Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0)), cost: 8+8*a_924^0 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ (-1-x_21^0+y_20^0 >= 0 \/ -1+x_21^0-y_20^0 >= 0)), cost: 8+8*a_924^0 Applied simplification Original rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ -i_27^post238 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0))), cost: 8+8*a_1162^0 New rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0))), cost: 8+8*a_1162^0 Applied deletion Removed the following rules: 711 Accelerated simple loops Start location: l223 701: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 713: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ (-1-x_21^0+y_20^0 >= 0 \/ -1+x_21^0-y_20^0 >= 0)), cost: 8+8*a_924^0 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 688: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 714: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0))), cost: 8+8*a_1162^0 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Applied chaining First rule: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 Second rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (y_20^0 <= 0 /\ y_20^0 >= 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ a_924^0 >= 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ (-1-x_21^0+y_20^0 >= 0 \/ -1+x_21^0-y_20^0 >= 0)), cost: 8+8*a_924^0 New rule: l3 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, len_161^0'=1+a_924^0, a_902^0'=a_924^0, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ head_15^0-x_17^0 == 0 /\ a_924^0 >= 0 /\ -1+i_27^0 >= 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ (-1-x_21^0+y_20^0 >= 0 \/ -1+x_21^0-y_20^0 >= 0)), cost: 13+8*a_924^0 Applied deletion Removed the following rules: 713 Applied chaining First rule: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 Second rule: l120 -> l120 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, r_39^0'=r_39^post238, t_24^0'=x_21^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^post238 <= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ x_14^post238-head_15^post238 >= 0 /\ ((-1-y_20^0+2*x_14^post238-head_15^post238 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1-y_20^0+2*x_14^post238-head_15^post238 >= 0) \/ (-1+x_21^0-y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0) \/ (-1-x_21^0+y_20^0 >= 0 /\ -1+y_20^0-2*x_14^post238+head_15^post238 >= 0))), cost: 8+8*a_1162^0 New rule: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, x_21^0'=head_15^0, r_39^0'=r_39^post238, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^0 <= 0 /\ i_27^post238 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ i_27^post195 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0 /\ x_14^post238-head_15^post238 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -1+2*x_14^post238-head_15^post238 >= 0) \/ (-1-head_15^0 >= 0 /\ -1-2*x_14^post238+head_15^post238 >= 0) \/ (-1+head_15^0 >= 0 /\ -1+2*x_14^post238-head_15^post238 >= 0) \/ (-1-2*x_14^post238+head_15^post238 >= 0 /\ -1+head_15^0 >= 0))), cost: 19+8*a_1162^0 Applied deletion Removed the following rules: 714 Chained accelerated rules with incoming rules Start location: l223 701: l3 -> l1 : len_161^0'=1+a_924^0, a_902^0'=a_924^0, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0) \/ (1+head_15^0 <= 0 /\ x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ head_15^0-x_17^0 == 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0))), cost: 5 715: l3 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post271, len_161^0'=1+a_924^0, a_902^0'=a_924^0, a_947^0'=-1, x_14^0'=0, head_15^0'=x_SLAM_f_19^post271, i_27^0'=i_27^post271, r_39^0'=r_39^post271, t_24^0'=x_21^0, x_17^0'=2*x_17^post271-x_SLAM_f_19^post271, x_SLAM_f_19^0'=x_17^post271, a_924^0'=-1, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (x_14^0 == 0 /\ -head_15^0+x_21^0 == 0 /\ 2*x_17^post271-2*x_SLAM_f_19^post271 >= 0 /\ -1+i_27^post271 >= 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ -y_20^0+ct_18^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post271 >= 0 /\ -2*x_17^post271+2*x_SLAM_f_19^post271 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ head_15^0-x_17^0 == 0 /\ a_924^0 >= 0 /\ -1+i_27^0 >= 0 /\ ct_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 == 0 /\ (-1+y_20^0-x_SLAM_f_19^post271 >= 0 \/ -1-y_20^0+x_SLAM_f_19^post271 >= 0) /\ (-1-x_21^0+y_20^0 >= 0 \/ -1+x_21^0-y_20^0 >= 0)), cost: 13+8*a_924^0 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 640: l16 -> l34 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, x_14^0'=0, i_27^0'=i_27^post50, x_21^0'=head_15^0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, ((1+head_15^0 <= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 581: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (len_161^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 582: l34 -> l3 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_14^0'=x_14^post0, head_15^0'=head_15^post0, i_27^0'=i_27^post0, x_17^0'=x_17^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, ct_18^0'=ct_18^post0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^post0, (1+x_21^0-y_20^0 <= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 688: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post198, x_14^0'=x_14^post198, head_15^0'=head_15^post198, i_27^0'=i_27^post198, x_21^0'=head_15^0, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, x_17^0'=x_17^post198, x_SLAM_f_19^0'=x_SLAM_f_19^post198, ct_18^0'=ct_18^post198, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ i_27^0 <= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0) \/ (1+head_15^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ i_27^post195 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11 716: l119 -> l120 : a_1089^0'=a_1162^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post238, x_14^0'=2*x_14^post238-head_15^post238, head_15^0'=head_15^post238, i_27^0'=i_27^post238, x_21^0'=head_15^0, r_39^0'=r_39^post238, y_20^0'=0, i_1053^0'=1+a_1162^0, t_24^0'=head_15^0, a_1162^0'=-1, x_17^0'=head_15^post238, x_SLAM_f_19^0'=x_14^post238, ct_18^0'=0, a_1236^0'=-1, (i_27^post198 <= 0 /\ head_15^0-x_14^post198 == 0 /\ ct_18^post198 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post238 >= 0 /\ i_27^0 <= 0 /\ i_27^post238 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post195 >= 0 /\ -x_SLAM_f_19^post198+x_14^post198 == 0 /\ i_27^post195 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post198 >= 0 /\ -head_15^post198+x_14^post198 == 0 /\ a_1162^0 >= 0 /\ -x_14^post238+head_15^post238 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post198-i_1053^post198 <= 0 /\ -x_17^post198+head_15^post198 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post195-i_30^0 <= 0 /\ x_14^post238-head_15^post238 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+head_15^0 <= 0 /\ -1+2*x_14^post238-head_15^post238 >= 0) \/ (-1-head_15^0 >= 0 /\ -1-2*x_14^post238+head_15^post238 >= 0) \/ (-1+head_15^0 >= 0 /\ -1+2*x_14^post238-head_15^post238 >= 0) \/ (-1-2*x_14^post238+head_15^post238 >= 0 /\ -1+head_15^0 >= 0))), cost: 19+8*a_1162^0 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Removed unreachable locations and irrelevant leafs Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 699: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 689: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 627: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 628: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 599: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 600: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 679: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 541: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 542: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 684: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 571: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 572: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 514: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 533: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 534: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Eliminating location l146 by chaining: Applied chaining First rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post368, length_29^0'=nondet_12^112, head_32^0'=temp_35^post368, i_30^0'=2, temp_35^0'=temp_35^post231, -2+nondet_12^112 >= 0, cost: 4 Second rule: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Applied simplification Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Applied chaining First rule: l223 -> l146 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^112, rcd_88^0'=rcd_88^post365, nondet_12^0'=nondet_12^post229, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post368, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=temp_35^post365, length_29^0'=nondet_12^112, head_32^0'=temp_35^post365, i_30^0'=nondet_12^112, temp_35^0'=temp_35^post365, -4+nondet_12^112 >= 0, cost: 2*nondet_12^112 Second rule: l146 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=head_32^0, head_15^0'=head_32^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ length_29^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -i_30^0 <= 0), cost: 1 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -nondet_12^112 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied simplification Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -nondet_12^112 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied deletion Removed the following rules: 514 533 534 Eliminating location l67 by chaining: Applied chaining First rule: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 Second rule: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -1+i_1248^0 >= 0), cost: 3 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_1248^post95 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 9 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_1248^post95 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 Applied chaining First rule: l49 -> l67 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 6 Second rule: l67 -> l49 : rcd_47^0'=rcd_1249^0, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_1248^0 >= 0), cost: 3 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_1248^post95 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 9 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_1248^post95 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0) \/ (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0))), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 Applied deletion Removed the following rules: 541 542 679 Eliminating location l137 by chaining: Applied chaining First rule: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 Second rule: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_106^post209 >= 0 /\ i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_106^post209 >= 0 /\ i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 Applied chaining First rule: l119 -> l137 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 6 Second rule: l137 -> l119 : i_30^0'=i_107^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_30^0 <= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0 <= 0 /\ -1+i_106^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_107^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_106^post209 >= 0 /\ 1+nondet_12^110 <= 0 /\ i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_106^post209 >= 0 /\ 1+nondet_12^110 <= 0 /\ i_30^0 >= 0 /\ ((-1+nondet_12^110 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0)) /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 Applied deletion Removed the following rules: 571 572 684 Eliminating location l39 by chaining: Applied chaining First rule: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 Second rule: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (-1+x_852^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 New rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1+i_27^0 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 Applied simplification Original rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1+i_27^0 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 Applied chaining First rule: l16 -> l39 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 4 Second rule: l39 -> l16 : a_176^0'=a_862^0, len_161^0'=len_861^0, (1+x_852^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+i_27^0 >= 0), cost: 3 New rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -1+i_27^0 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 Applied simplification Original rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -1+i_27^0 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 Applied deletion Removed the following rules: 599 600 689 Eliminating location l31 by chaining: Applied chaining First rule: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 Second rule: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (-1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 >= 0), cost: 3 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_229^post33 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_229^post33 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 Applied chaining First rule: l8 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 8 Second rule: l31 -> l8 : a_176^0'=a_239^0, len_161^0'=len_238^0, (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0 <= 0 /\ -1+i_229^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_229^post33 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_229^post33 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0) \/ (-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 Applied deletion Removed the following rules: 627 628 699 Eliminated locations on tree-shaped paths Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 725: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 726: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 723: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 724: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 719: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 720: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 721: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 722: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_176^0'=a_176^0, len_161^0'=len_161^0, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_229^post33, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0)) /\ ((-i_229^post33+i_27^0 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ -i_229^post33+i_27^0 == 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11 Simplified simple loops Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 727: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 728: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 723: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 724: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 719: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 720: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 721: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 722: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied acceleration Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^0-n10, i_229^0'=1+i_27^0-n10, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ -1+n10 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ i_27^0-n10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 11*n10 Applied instantiation Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^0-n10, i_229^0'=1+i_27^0-n10, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ -1+n10 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ i_27^0-n10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 11*n10 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0)) /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0))), cost: 11*i_27^0 Applied acceleration Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=-1+i_27^0, i_229^0'=i_27^0, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^0-n12, i_229^0'=1+i_27^0-n12, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+n12 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ i_27^0-n12 >= 0 /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 11*n12 Applied instantiation Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=i_27^0-n12, i_229^0'=1+i_27^0-n12, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+n12 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ i_27^0-n12 >= 0 /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 11*n12 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (0 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0)) /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (0 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0)) /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0))), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 11*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (0 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0)) /\ ((-1-head_15^post33 >= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ 1+nondet_12^11 <= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11*i_27^0 Applied deletion Removed the following rules: 727 728 Applied simplification Original rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0))), cost: 7 Applied simplification Original rule: l16 -> l16 : f_847^0'=f_847^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0 /\ -x_14^0+f_847^post54 == 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0 /\ -x_14^0+f_847^post54 == 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 Simplified simple loops Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 731: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 11*i_27^0 732: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ 1+nondet_12^11 <= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11*i_27^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 733: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0))), cost: 7 734: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 719: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 720: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 721: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 722: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied acceleration Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-n16+a_176^0, len_161^0'=n16+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-n16+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=n16+len_161^0, (-1+n16 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1-n16+a_176^0 >= 0 /\ -1-x_14^0 >= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1-n16+a_176^0 >= 0))), cost: 7*n16 Applied instantiation Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-n16+a_176^0, len_161^0'=n16+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-n16+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=n16+len_161^0, (-1+n16 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1-n16+a_176^0 >= 0 /\ -1-x_14^0 >= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1-n16+a_176^0 >= 0))), cost: 7*n16 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_176^0 Applied acceleration Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (0 == 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=a_176^0-n18, len_161^0'=len_161^0+n18, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=a_176^0-n18, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=len_161^0+n18, (-1+n18 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1-x_852^post54 >= 0 /\ ((0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_176^0-n18 >= 0) \/ (len_161^0 >= 0 /\ 1+a_176^0-n18 >= 0 /\ -1-x_14^0 >= 0))), cost: 7*n18 Applied instantiation Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=a_176^0-n18, len_161^0'=len_161^0+n18, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=a_176^0-n18, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=len_161^0+n18, (-1+n18 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1-x_852^post54 >= 0 /\ ((0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_176^0-n18 >= 0) \/ (len_161^0 >= 0 /\ 1+a_176^0-n18 >= 0 /\ -1-x_14^0 >= 0))), cost: 7*n18 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1-x_852^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1-head_15^post33 >= 0 /\ -1-nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0) /\ ((1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1-head_15^post33 >= 0 /\ 1+nondet_12^11 <= 0) \/ (-1-nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -1-x_852^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ -1-head_15^post54 >= 0) \/ (0 >= 0 /\ -1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 Applied deletion Removed the following rules: 733 734 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, nondet_12^0'=nondet_12^post98, head_15^0'=head_15^post95, i_27^0'=-1+i_1248^post95, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, rcd_47^0'=rcd_47^0, i_1248^0'=i_1248^post95, (x_14^0-head_15^post95 == 0 /\ -i_27^0+i_1248^post95 == 0 /\ 1+nondet_12^14 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post95 == 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 Simplified simple loops Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 737: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11*i_27^0 738: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 739: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_176^0 740: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 741: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 742: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 721: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 722: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied acceleration Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-n22+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1-n22+i_27^0, (-1+n22 >= 0 /\ -1+nondet_12^14 >= 0 /\ -n22+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*n22 Applied instantiation Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-n22+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1-n22+i_27^0, (-1+n22 >= 0 /\ -1+nondet_12^14 >= 0 /\ -n22+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*n22 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (0 >= 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*i_27^0 Applied acceleration Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=i_27^0, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-n24+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1-n24+i_27^0, (-1+n24 >= 0 /\ -1-nondet_12^14 >= 0 /\ -n24+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*n24 Applied instantiation Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=-n24+i_27^0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1-n24+i_27^0, (-1+n24 >= 0 /\ -1-nondet_12^14 >= 0 /\ -n24+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*n24 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (0 >= 0 /\ -1-nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0))), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (0 >= 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*i_27^0 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 Applied simplification Original rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (0 >= 0 /\ -1-nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ -1-x_14^0 >= 0)), cost: 9*i_27^0 New rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 Applied deletion Removed the following rules: 741 742 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0) \/ (-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0))), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_106^post209, nondet_12^0'=nondet_12^post212, head_15^0'=head_15^post209, i_27^0'=-1+i_106^post209, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((-1+x_14^0 >= 0 /\ i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0) \/ (i_106^post209-i_27^0 == 0 /\ x_14^0-head_15^post209 == 0 /\ 1+x_14^0 <= 0))), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 Simplified simple loops Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 745: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 746: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 747: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 748: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7+7*a_176^0 749: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 750: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 751: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 752: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied acceleration Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-1+nondet_12^110 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1+i_27^0-n28, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=i_27^0-n28, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_27^0-n28 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+n28 >= 0 /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 9*n28 Applied instantiation Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1+i_27^0-n28, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=i_27^0-n28, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (i_27^0-n28 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+n28 >= 0 /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 9*n28 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (0 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0))), cost: 9*i_27^0 Applied acceleration Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=i_27^0, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=-1+i_27^0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post209-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 == 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1+i_27^0-n30, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=i_27^0-n30, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ i_27^0-n30 >= 0 /\ -1+n30 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1-nondet_12^110 >= 0 /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 9*n30 Applied instantiation Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1+i_27^0-n30, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=i_27^0-n30, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ i_27^0-n30 >= 0 /\ -1+n30 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1-nondet_12^110 >= 0 /\ ((0 >= 0 /\ -1-x_14^0 >= 0) \/ -1+x_14^0 >= 0)), cost: 9*n30 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (0 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -1-nondet_12^110 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0))), cost: 9*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 Applied simplification Original rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 New rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (0 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0))), cost: 9*i_27^0 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 Applied simplification Original rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (0 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -1-nondet_12^110 >= 0 /\ (-1+x_14^0 >= 0 \/ (0 >= 0 /\ -1-x_14^0 >= 0))), cost: 9*i_27^0 New rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 Applied deletion Removed the following rules: 751 752 Accelerated simple loops Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 755: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 756: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 757: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 758: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 749: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 750: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 759: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 760: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Applied chaining First rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Second rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 New rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 Applied chaining First rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Second rule: l8 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0))), cost: 11*i_27^0 New rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 Applied deletion Removed the following rules: 755 756 Applied chaining First rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 12+7*a_176^0 Applied chaining First rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 Applied chaining First rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 12+7*a_176^0 Applied chaining First rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, r_39^0'=r_39^post54, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7+7*a_176^0 Applied deletion Removed the following rules: 757 758 Applied chaining First rule: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 Second rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (-1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 New rule: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post98, head_15^0'=temp_35^0, i_27^0'=0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, rcd_1249^0'=rcd_47^0, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_30^0'=i_30^post230, i_1248^0'=1, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^0 <= 0 \/ -1+temp_35^0 >= 0)), cost: 4+9*i_27^0 Applied chaining First rule: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 Second rule: l49 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, nondet_12^0'=nondet_12^post98, head_15^0'=x_14^0, i_27^0'=0, rcd_1249^0'=rcd_47^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_1248^0'=1, (1+nondet_12^14 <= 0 /\ -1+i_27^0 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 9*i_27^0 New rule: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post98, head_15^0'=temp_35^0, i_27^0'=0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, rcd_1249^0'=rcd_47^0, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_30^0'=i_30^post230, i_1248^0'=1, temp_35^0'=temp_35^post230, (1+nondet_12^14 <= 0 /\ -1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^0 <= 0 \/ -1+temp_35^0 >= 0)), cost: 4+9*i_27^0 Applied deletion Removed the following rules: 749 750 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Second rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Second rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Second rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Second rule: l119 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, nondet_12^0'=nondet_12^post212, head_15^0'=x_14^0, i_27^0'=0, i_107^0'=i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ ((0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 9*i_27^0 New rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Applied deletion Removed the following rules: 759 760 Chained accelerated rules with incoming rules Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 764: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 766: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7+7*a_176^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 761: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 762: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 763: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 12+7*a_176^0 765: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 12+7*a_176^0 532: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, i_30^0'=i_30^post230, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0), cost: 4 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 767: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post98, head_15^0'=temp_35^0, i_27^0'=0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, rcd_1249^0'=rcd_47^0, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_30^0'=i_30^post230, i_1248^0'=1, temp_35^0'=temp_35^post230, (-1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0 /\ -1+nondet_12^14 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^0 <= 0 \/ -1+temp_35^0 >= 0)), cost: 4+9*i_27^0 768: l223 -> l49 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=1, x_14^0'=temp_35^0, nondet_12^0'=nondet_12^post98, head_15^0'=temp_35^0, i_27^0'=0, temp0_31^0'=temp0_31^post230, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post230, rcd_1249^0'=rcd_47^0, tmp_34^0'=tmp_34^post230, length_29^0'=length_29^post230, result_11^0'=result_11^post230, head_32^0'=head_32^post230, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^14, i_30^0'=i_30^post230, i_1248^0'=1, temp_35^0'=temp_35^post230, (1+nondet_12^14 <= 0 /\ -1+nondet_12^112 <= 0 /\ -1+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^0 <= 0 \/ -1+temp_35^0 >= 0)), cost: 4+9*i_27^0 769: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 770: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 771: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 772: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Removed unreachable locations and irrelevant leafs Start location: l223 698: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 764: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 766: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7+7*a_176^0 693: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 761: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 762: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 685: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 763: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 12+7*a_176^0 765: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 12+7*a_176^0 717: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 718: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 769: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 770: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 771: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 772: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Eliminating location l119 by chaining: Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Second rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((i_30^post364 >= 0 /\ -1+temp_35^post368 >= 0) \/ (1+temp_35^post368 <= 0 /\ i_30^post364 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 10 Applied simplification Original rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((i_30^post364 >= 0 /\ -1+temp_35^post368 >= 0) \/ (1+temp_35^post368 <= 0 /\ i_30^post364 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 10 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Second rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 12+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^post364 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ (-1+temp_35^post368 >= 0 \/ (len_161^0 >= 0 /\ 1+temp_35^post368 <= 0))), cost: 17+7*a_176^0 Applied simplification Original rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^post364 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ (-1+temp_35^post368 >= 0 \/ (len_161^0 >= 0 /\ 1+temp_35^post368 <= 0))), cost: 17+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post368, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0), cost: 5 Second rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 12+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^post364 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ (len_161^0 >= 0 /\ -1+temp_35^post368 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 Applied simplification Original rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^post364 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ (len_161^0 >= 0 /\ -1+temp_35^post368 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Second rule: l119 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_14^0 >= 0 /\ i_30^0 >= 0) \/ (1+x_14^0 <= 0 /\ i_30^0 >= 0))), cost: 5 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+temp_35^post365 <= 0 /\ i_30^post364 >= 0) \/ (-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 6+2*nondet_12^112 Applied simplification Original rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+temp_35^post365 <= 0 /\ i_30^post364 >= 0) \/ (-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: 6+2*nondet_12^112 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Second rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ -1+x_14^0 >= 0)), cost: 12+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^post364 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+temp_35^post365 >= 0 \/ (len_161^0 >= 0 /\ 1+temp_35^post365 <= 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied simplification Original rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ i_30^post364 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+temp_35^post365 >= 0 \/ (len_161^0 >= 0 /\ 1+temp_35^post365 <= 0))), cost: 13+2*nondet_12^112+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied chaining First rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post364, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post229, head_15^0'=temp_35^post365, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -4+nondet_12^112 >= 0), cost: 1+2*nondet_12^112 Second rule: l119 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 12+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^post364 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (1+temp_35^post365 <= 0 \/ (len_161^0 >= 0 /\ -1+temp_35^post365 >= 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied simplification Original rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ i_30^post364 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (1+temp_35^post365 <= 0 \/ (len_161^0 >= 0 /\ -1+temp_35^post365 >= 0))), cost: 13+2*nondet_12^112+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied partial deletion Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 New rule: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 Applied partial deletion Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 New rule: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Applied partial deletion Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post368, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 New rule: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 Applied partial deletion Original rule: l223 -> l119 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post209, i_106^0'=1, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post212, head_15^0'=temp_35^post365, i_27^0'=0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, i_107^0'=i_30^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^110, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 New rule: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Applied deletion Removed the following rules: 685 717 718 763 765 769 770 771 772 Eliminating location l8 by chaining: Applied chaining First rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Second rule: l8 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16 Applied simplification Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 Applied chaining First rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Second rule: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0))), cost: 16+7*a_176^0 Applied chaining First rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, nondet_12^0'=nondet_12^post67, head_15^0'=head_15^post64, i_27^0'=-1+i_27^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^13, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 9 Second rule: l8 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ -1+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0) \/ 1+x_14^0 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0))), cost: 7+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0)) /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0))), cost: 16+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+x_14^0 >= 0 /\ i_27^0-i_197^post64 == 0) \/ (i_27^0-i_197^post64 == 0 /\ 1+x_14^0 <= 0)) /\ ((1+nondet_12^13 <= 0 /\ -1+i_27^0 >= 0) \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (1+x_14^0 <= 0 \/ (-1+x_14^0 >= 0 /\ 1+len_161^0 >= 0)) /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0))), cost: 16+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 Applied partial deletion Original rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 New rule: l16 -> [232] : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 Applied partial deletion Original rule: l16 -> l8 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, nondet_12^0'=nondet_12^post36, head_15^0'=head_15^post33, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33, i_27^0'=0, i_229^0'=1, a_239^0'=a_176^0, len_238^0'=len_161^0, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=nondet_12^11, (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 New rule: l16 -> [232] : (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 Applied deletion Removed the following rules: 693 698 761 762 764 766 Eliminated locations on tree-shaped paths Start location: l223 783: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 784: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0))), cost: 16+7*a_176^0 785: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 786: l16 -> [232] : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 787: l16 -> [232] : (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 777: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 13+2*nondet_12^112+7*a_176^0 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 779: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 780: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 781: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 782: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 Applied merging first rule: l16 -> [232] : (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0))), cost: -2+11*i_27^0 second rule: l16 -> [232] : (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ ((1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0)), cost: -2+11*i_27^0 new rule: l16 -> [232] : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (1+nondet_12^13 <= 0 \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)))), cost: -2+11*i_27^0 Applied merging first rule: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 second rule: l223 -> [231] : (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 new rule: l223 -> [231] : ((-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0))), cost: 5+9*i_27^0 Applied merging first rule: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)), cost: 5+9*i_27^0 second rule: l223 -> [231] : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)), cost: 1+2*nondet_12^112+9*i_27^0 new rule: l223 -> [231] : ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0))), cost: 5+9*i_27^0 Applied merging first rule: l223 -> [231] : ((-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0))), cost: 5+9*i_27^0 second rule: l223 -> [231] : ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0))), cost: 5+9*i_27^0 new rule: l223 -> [231] : ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0))), cost: 5+9*i_27^0 Merged rules Start location: l223 783: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 784: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0))), cost: 16+7*a_176^0 785: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 788: l16 -> [232] : ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 >= 0 /\ a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (1+nondet_12^13 <= 0 \/ (-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0)) /\ ((1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0) \/ (-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0))) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -2+i_27^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post33 <= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((-1+nondet_12^11 >= 0 /\ -1+head_15^post33 >= 0) \/ (1+nondet_12^11 <= 0 /\ -1+head_15^post33 >= 0) \/ (1+head_15^post33 <= 0 /\ 1+nondet_12^11 <= 0) \/ (1+head_15^post33 <= 0 /\ -1+nondet_12^11 >= 0)))), cost: -2+11*i_27^0 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 777: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 13+2*nondet_12^112+7*a_176^0 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 791: l223 -> [231] : ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0)) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ 1+nondet_12^110 <= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -1+i_27^0 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0)) \/ (-1+nondet_12^110 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post209+i_30^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post209 >= 0 /\ -1+i_27^0 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0))), cost: 5+9*i_27^0 Applied pruning (of leafs and parallel rules): Start location: l223 783: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 784: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0))), cost: 16+7*a_176^0 785: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied simplification Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (i_27^0-i_197^post64 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0 /\ -2+i_27^0 >= 0)) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=x_14^0, i_197^0'=i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 == 0 /\ -1+head_15^post22 >= 0 /\ -2+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0))), cost: 16+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 16+7*a_176^0 Applied simplification Original rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+nondet_12^13 >= 0 /\ -1+i_27^0 >= 0) \/ 1+nondet_12^13 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 16+7*a_176^0 New rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 16+7*a_176^0 Simplified simple loops Start location: l223 792: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=x_14^0, i_197^0'=i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 == 0 /\ -1+head_15^post22 >= 0 /\ -2+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 793: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 16+7*a_176^0 794: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 16+7*a_176^0 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied acceleration Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1+a_176^0, len_161^0'=1+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=x_14^0, i_197^0'=i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((a_176^0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (a_176^0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ -2+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 == 0 /\ -1+head_15^post22 >= 0 /\ -2+i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0))), cost: 16 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=a_176^0-n41, len_161^0'=len_161^0+n41, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-n41+i_27^0, r_39^0'=r_39^post22, a_263^0'=a_176^0-n41, len_262^0'=len_161^0+n41, f_248^0'=x_14^0, i_197^0'=1-n41+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-1+n41 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ -1+head_15^post22 >= 0 /\ -1-n41+i_27^0 >= 0) \/ (0 >= 0 /\ -1-n41+i_27^0 >= 0 /\ -1-head_15^post22 >= 0)) /\ ((len_161^0 >= 0 /\ -1-x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0)), cost: 16*n41 Applied instantiation Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=a_176^0-n41, len_161^0'=len_161^0+n41, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-n41+i_27^0, r_39^0'=r_39^post22, a_263^0'=a_176^0-n41, len_262^0'=len_161^0+n41, f_248^0'=x_14^0, i_197^0'=1-n41+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-1+n41 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ -1+head_15^post22 >= 0 /\ -1-n41+i_27^0 >= 0) \/ (0 >= 0 /\ -1-n41+i_27^0 >= 0 /\ -1-head_15^post22 >= 0)) /\ ((len_161^0 >= 0 /\ -1-x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0)), cost: 16*n41 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((0 >= 0 /\ -2-a_176^0+i_27^0 >= 0 /\ -1-head_15^post22 >= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0)), cost: 16+16*a_176^0 Applied instantiation Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=a_176^0-n41, len_161^0'=len_161^0+n41, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-n41+i_27^0, r_39^0'=r_39^post22, a_263^0'=a_176^0-n41, len_262^0'=len_161^0+n41, f_248^0'=x_14^0, i_197^0'=1-n41+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-1+n41 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ -1+head_15^post22 >= 0 /\ -1-n41+i_27^0 >= 0) \/ (0 >= 0 /\ -1-n41+i_27^0 >= 0 /\ -1-head_15^post22 >= 0)) /\ ((len_161^0 >= 0 /\ -1-x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_176^0-n41 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0)), cost: 16*n41 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((0 >= 0 /\ -1+head_15^post22 >= 0) \/ (0 >= 0 /\ -1-head_15^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0) \/ (len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ -1-x_14^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0)), cost: -16+16*i_27^0 Applied simplification Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((0 >= 0 /\ -2-a_176^0+i_27^0 >= 0 /\ -1-head_15^post22 >= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1-x_14^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0)), cost: 16+16*a_176^0 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16+16*a_176^0 Applied simplification Original rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((0 >= 0 /\ -1+head_15^post22 >= 0) \/ (0 >= 0 /\ -1-head_15^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ -1-nondet_12^13 >= 0) /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0)) /\ ((len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0) \/ (len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ -1-x_14^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ -1-head_15^post64 >= 0)), cost: -16+16*i_27^0 New rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ 1+head_15^post22 <= 0) \/ -1+head_15^post22 >= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: -16+16*i_27^0 Applied deletion Removed the following rules: 792 Accelerated simple loops Start location: l223 793: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 16+7*a_176^0 794: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 16+7*a_176^0 797: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16+16*a_176^0 798: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ 1+head_15^post22 <= 0) \/ -1+head_15^post22 >= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: -16+16*i_27^0 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 16+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post368 == 0) \/ (f_248^post22-temp_35^post368 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 26+7*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 16+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post365 == 0) \/ (f_248^post22-temp_35^post365 == 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 22+2*nondet_12^112+7*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 16+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((f_248^post22-temp_35^post368 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post368 == 0)) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 26+7*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 Second rule: l16 -> l16 : f_847^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post57, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, x_852^0'=x_852^post54, a_862^0'=-1, i_197^0'=i_197^post64, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, len_861^0'=1+a_176^0+len_161^0, (len_161^0 >= 0 /\ i_27^0-i_197^post64 == 0 /\ -1+a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ -x_14^0+f_248^post22 == 0) \/ (-x_14^0+f_248^post22 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+x_14^0 >= 0 \/ 1+x_14^0 <= 0)), cost: 16+7*a_176^0 New rule: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post365 == 0) \/ (f_248^post22-temp_35^post365 == 0 /\ 1+head_15^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 22+2*nondet_12^112+7*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 Second rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16+16*a_176^0 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+a_176^0+len_161^0, f_248^0'=temp_35^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=-a_176^0+i_27^0, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0))), cost: 26+16*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 Second rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, len_262^0'=1+a_176^0+len_161^0, f_248^0'=x_14^0, i_197^0'=-a_176^0+i_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (0 >= 0 /\ -1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((0 >= 0 /\ len_161^0 >= 0 /\ 1+x_14^0 <= 0) \/ (0 >= 0 /\ len_161^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 16+16*a_176^0 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+a_176^0+len_161^0, f_248^0'=temp_35^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=-a_176^0+i_27^0, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 22+2*nondet_12^112+16*a_176^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 Second rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ 1+head_15^post22 <= 0) \/ -1+head_15^post22 >= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: -16+16*i_27^0 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=temp_35^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=2, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -2+i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ (-1+head_15^post22 >= 0 \/ 1+head_15^post22 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: -6+16*i_27^0 Applied chaining First rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 Second rule: l16 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, nondet_12^0'=nondet_12^post25, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=x_14^0, i_197^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, x_253^0'=x_253^post22, (-2+i_27^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ ((len_161^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ 1+x_14^0 <= 0) \/ (len_161^0 >= 0 /\ -1+x_14^0 >= 0 /\ 2+a_176^0-i_27^0 >= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1-result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ -1-x_253^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ ((0 >= 0 /\ 1+head_15^post22 <= 0) \/ -1+head_15^post22 >= 0) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: -16+16*i_27^0 New rule: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=temp_35^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=2, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -2+i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ (-1+head_15^post22 >= 0 \/ 1+head_15^post22 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: -10+2*nondet_12^112+16*i_27^0 Applied deletion Removed the following rules: 793 794 797 798 Chained accelerated rules with incoming rules Start location: l223 773: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((1+temp_35^post368 <= 0 /\ i_30^post364 >= 0) \/ -1+temp_35^post368 >= 0)), cost: 10 774: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0))), cost: 17+7*a_176^0 775: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 17+7*a_176^0 776: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post222, r_192^0'=r_192^post222, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post225, a_121^0'=a_176^0, head_15^0'=head_15^post222, r_39^0'=r_39^post222, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+temp_35^post365 >= 0 /\ i_30^post364 >= 0) \/ 1+temp_35^post365 <= 0)), cost: 6+2*nondet_12^112 778: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, r_39^0'=r_39^post54, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+head_15^post54 >= 0 /\ -1+i_27^0 >= 0) \/ (-1+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0))), cost: 13+2*nondet_12^112+7*a_176^0 799: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post368 == 0) \/ (f_248^post22-temp_35^post368 == 0 /\ 1+head_15^post22 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 26+7*a_176^0 800: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+x_852^post54 >= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post365 == 0) \/ (f_248^post22-temp_35^post365 == 0 /\ 1+head_15^post22 <= 0)) /\ ((-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 22+2*nondet_12^112+7*a_176^0 801: l223 -> l16 : f_847^0'=temp_35^post368, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0)) /\ ((f_248^post22-temp_35^post368 == 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post368 == 0)) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0) \/ (-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0)), cost: 26+7*a_176^0 802: l223 -> l16 : f_847^0'=temp_35^post365, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post57, a_121^0'=a_176^0, head_15^0'=head_15^post54, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1+i_27^0, r_39^0'=r_39^post54, a_263^0'=-1+a_176^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+len_161^0, f_248^0'=f_248^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, x_852^0'=x_852^post54, a_862^0'=-1, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=i_197^post64, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, len_861^0'=1+a_176^0+len_161^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ i_27^0-i_197^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ -1+a_176^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ 1+x_852^post54 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ ((-1+head_15^post22 >= 0 /\ f_248^post22-temp_35^post365 == 0) \/ (f_248^post22-temp_35^post365 == 0 /\ 1+head_15^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2+i_27^0 >= 0 /\ -1+head_15^post54 >= 0) \/ (-2+i_27^0 >= 0 /\ 1+head_15^post54 <= 0)) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: 22+2*nondet_12^112+7*a_176^0 803: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+a_176^0+len_161^0, f_248^0'=temp_35^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=-a_176^0+i_27^0, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ ((-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0) \/ (1+head_15^post222 <= 0 /\ -1+len_161^0 == 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0))), cost: 26+16*a_176^0 804: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=-1, len_161^0'=1+a_176^0+len_161^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=-1-a_176^0+i_27^0, r_39^0'=r_39^post22, a_263^0'=-1, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=1+a_176^0+len_161^0, f_248^0'=temp_35^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=-a_176^0+i_27^0, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (a_176^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-2-a_176^0+i_27^0 >= 0 /\ 1+head_15^post22 <= 0) \/ (-1+head_15^post22 >= 0 /\ -2-a_176^0+i_27^0 >= 0)) /\ ((-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0))), cost: 22+2*nondet_12^112+16*a_176^0 805: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, x_14^0'=temp_35^post368, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=temp_35^post368, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=2, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -2+i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+nondet_12^112 <= 0 /\ -2+nondet_12^112 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ ((1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0) \/ (-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (1+temp_35^post368 <= 0 \/ -1+temp_35^post368 >= 0) /\ (-1+head_15^post22 >= 0 \/ 1+head_15^post22 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0) \/ (-1+len_161^0 == 0 /\ -1+i_27^0 >= 0 /\ -1+head_15^post222 >= 0))), cost: -6+16*i_27^0 806: l223 -> l16 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, r_192^0'=r_192^post222, a_176^0'=1+a_176^0-i_27^0, len_161^0'=-1+len_161^0+i_27^0, rcd_88^0'=rcd_88^post365, x_14^0'=temp_35^post365, nondet_12^0'=nondet_12^post25, a_121^0'=a_176^0, head_15^0'=head_15^post22, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^0'=result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22, i_27^0'=1, r_39^0'=r_39^post22, a_263^0'=1+a_176^0-i_27^0, i_113^0'=1+a_176^0, temp0_31^0'=temp0_31^post364, len_262^0'=-1+len_161^0+i_27^0, f_248^0'=temp_35^post365, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post364, i_94^0'=-1+nondet_12^112, rcd_58^0'=rcd_58^post231, tmp_34^0'=tmp_34^post364, length_29^0'=length_29^post364, result_11^0'=result_11^post364, i_197^0'=2, head_32^0'=head_32^post364, result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_28^0'=0, i_30^0'=i_30^post364, x_253^0'=x_253^post22, temp_35^0'=temp_35^post364, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post364 >= 0 /\ -2+i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post222-i_113^post222 <= 0 /\ 2+a_176^0-i_27^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post364-i_30^post364 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post222 >= 0 /\ -4+nondet_12^112 >= 0 /\ ((-1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 >= 0) \/ (1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0 /\ 1+x_253^post22 <= 0) \/ (-1+x_253^post22 >= 0 /\ 1+result_dot_nondet_sdv_special_RETURN_VALUE_sdv_unique_name_2_228^post22 <= 0)) /\ (1+temp_35^post365 <= 0 \/ -1+temp_35^post365 >= 0) /\ (-1+head_15^post22 >= 0 \/ 1+head_15^post22 <= 0) /\ ((1+head_15^post222 <= 0 /\ -1+len_161^0 == 0 /\ -1+i_27^0 >= 0) \/ (-1+len_161^0 == 0 /\ -1+head_15^post222 >= 0)) /\ (-1+nondet_12^13 >= 0 \/ 1+nondet_12^13 <= 0) /\ (-1+head_15^post64 >= 0 \/ 1+head_15^post64 <= 0)), cost: -10+2*nondet_12^112+16*i_27^0 Removed unreachable locations and irrelevant leafs Start location: l223 Computing asymptotic complexity Proved the following lower bound Complexity: Unknown Cpx degree: ? Solved cost: 0 Rule cost: 0