WORST_CASE(Omega(0),?)

Initial ITS
Start location: l31
   0: l0 -> l2 : __disjvr_1^0'=__disjvr_1^post0, ct_18^0'=ct_18^post0, __disjvr_9^0'=__disjvr_9^post0, temp_33^0'=temp_33^post0, result_11^0'=result_11^post0, __disjvr_10^0'=__disjvr_10^post0, x_32^0'=x_32^post0, a_152^0'=a_152^post0, __disjvr_6^0'=__disjvr_6^post0, r_37^0'=r_37^post0, i_111^0'=i_111^post0, x_15^0'=x_15^post0, t_24^0'=t_24^post0, __disjvr_3^0'=__disjvr_3^post0, __disjvr_12^0'=__disjvr_12^post0, y_20^0'=y_20^post0, a_28^0'=a_28^post0, __disjvr_8^0'=__disjvr_8^post0, rcd_63^0'=rcd_63^post0, len_14^0'=len_14^post0, __disjvr_0^0'=__disjvr_0^post0, x_21^0'=x_21^post0, temp0_31^0'=temp0_31^post0, __disjvr_5^0'=__disjvr_5^post0, __disjvr_2^0'=__disjvr_2^post0, d_29^0'=d_29^post0, a_130^0'=a_130^post0, tmp_27^0'=tmp_27^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0, __disjvr_11^0'=__disjvr_11^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, a_175^0'=a_175^post0, __disjvr_7^0'=__disjvr_7^post0, rcd_100^0'=rcd_100^post0, i_13^0'=i_13^post0, x_17^0'=x_17^post0, temp0_16^0'=temp0_16^post0, __disjvr_4^0'=__disjvr_4^post0, (0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ i_111^0-i_111^post0 == 0 /\ __disjvr_1^0-__disjvr_1^post0 == 0 /\ -d_29^post0+d_29^0 == 0 /\ y_20^0-x_21^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post0 == 0 /\ a_130^0-a_130^post0 == 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ -rcd_100^post0+rcd_100^0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -y_20^0+x_21^0 <= 0 /\ r_37^0-r_37^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ -a_175^post0+a_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ -tmp_27^post0+tmp_27^0 == 0 /\ -__disjvr_4^post0+__disjvr_4^0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -a_28^post0+a_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^0 <= 0 /\ x_32^0-x_32^post0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ temp_33^0-temp_33^post0 == 0 /\ rcd_63^0-rcd_63^post0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -a_152^post0+a_152^0 == 0 /\ result_11^post0-temp0_16^0 == 0), cost: 1
   3: l0 -> l5 : __disjvr_1^0'=__disjvr_1^post3, ct_18^0'=ct_18^post3, __disjvr_9^0'=__disjvr_9^post3, temp_33^0'=temp_33^post3, result_11^0'=result_11^post3, __disjvr_10^0'=__disjvr_10^post3, x_32^0'=x_32^post3, a_152^0'=a_152^post3, __disjvr_6^0'=__disjvr_6^post3, r_37^0'=r_37^post3, i_111^0'=i_111^post3, x_15^0'=x_15^post3, t_24^0'=t_24^post3, __disjvr_3^0'=__disjvr_3^post3, __disjvr_12^0'=__disjvr_12^post3, y_20^0'=y_20^post3, a_28^0'=a_28^post3, __disjvr_8^0'=__disjvr_8^post3, rcd_63^0'=rcd_63^post3, len_14^0'=len_14^post3, __disjvr_0^0'=__disjvr_0^post3, x_21^0'=x_21^post3, temp0_31^0'=temp0_31^post3, __disjvr_5^0'=__disjvr_5^post3, __disjvr_2^0'=__disjvr_2^post3, d_29^0'=d_29^post3, a_130^0'=a_130^post3, tmp_27^0'=tmp_27^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3, __disjvr_11^0'=__disjvr_11^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, a_175^0'=a_175^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_100^0'=rcd_100^post3, i_13^0'=i_13^post3, x_17^0'=x_17^post3, temp0_16^0'=temp0_16^post3, __disjvr_4^0'=__disjvr_4^post3, (0 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ -__disjvr_3^post3+__disjvr_3^0 == 0 /\ -rcd_63^post3+rcd_63^0 == 0 /\ temp_33^0-temp_33^post3 == 0 /\ -a_130^post3+a_130^0 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ y_20^0-y_20^post3 == 0 /\ x_32^0-x_32^post3 == 0 /\ __disjvr_5^0-__disjvr_5^post3 == 0 /\ __disjvr_7^0-__disjvr_7^post3 == 0 /\ -a_28^post3+a_28^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ -i_111^post3+i_111^0 == 0 /\ -x_21^post3+x_21^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ d_29^0-d_29^post3 == 0 /\ -a_130^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ -a_175^post3+a_175^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -rcd_100^post3+rcd_100^0 == 0 /\ -__disjvr_0^post3+__disjvr_0^0 == 0 /\ -result_11^post3+result_11^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ a_152^0-a_152^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0), cost: 1
   1: l2 -> l3 : __disjvr_1^0'=__disjvr_1^post1, ct_18^0'=ct_18^post1, __disjvr_9^0'=__disjvr_9^post1, temp_33^0'=temp_33^post1, result_11^0'=result_11^post1, __disjvr_10^0'=__disjvr_10^post1, x_32^0'=x_32^post1, a_152^0'=a_152^post1, __disjvr_6^0'=__disjvr_6^post1, r_37^0'=r_37^post1, i_111^0'=i_111^post1, x_15^0'=x_15^post1, t_24^0'=t_24^post1, __disjvr_3^0'=__disjvr_3^post1, __disjvr_12^0'=__disjvr_12^post1, y_20^0'=y_20^post1, a_28^0'=a_28^post1, __disjvr_8^0'=__disjvr_8^post1, rcd_63^0'=rcd_63^post1, len_14^0'=len_14^post1, __disjvr_0^0'=__disjvr_0^post1, x_21^0'=x_21^post1, temp0_31^0'=temp0_31^post1, __disjvr_5^0'=__disjvr_5^post1, __disjvr_2^0'=__disjvr_2^post1, d_29^0'=d_29^post1, a_130^0'=a_130^post1, tmp_27^0'=tmp_27^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1, __disjvr_11^0'=__disjvr_11^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, a_175^0'=a_175^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_100^0'=rcd_100^post1, i_13^0'=i_13^post1, x_17^0'=x_17^post1, temp0_16^0'=temp0_16^post1, __disjvr_4^0'=__disjvr_4^post1, (rcd_63^0-rcd_63^post1 == 0 /\ a_175^0-a_175^post1 == 0 /\ -x_17^post1+x_17^0 == 0 /\ -x_SLAM_f_19^post1+x_SLAM_f_19^0 == 0 /\ len_14^0-len_14^post1 == 0 /\ result_11^0-result_11^post1 == 0 /\ x_15^0-x_15^post1 == 0 /\ -i_13^post1+i_13^0 == 0 /\ t_24^0-t_24^post1 == 0 /\ -a_152^post1+a_152^0 == 0 /\ -y_20^post1+y_20^0 == 0 /\ -a_130^post1+a_130^0 == 0 /\ a_28^0-a_28^post1 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ x_21^0-x_21^post1 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ r_37^0-r_37^post1 == 0 /\ -tmp_27^post1+tmp_27^0 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ -__disjvr_0^post1+__disjvr_0^0 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1 == 0 /\ -d_29^post1+d_29^0 == 0 /\ -__disjvr_11^post1+__disjvr_11^0 == 0 /\ temp_33^0-temp_33^post1 == 0 /\ i_111^0-i_111^post1 == 0 /\ __disjvr_1^0-__disjvr_1^post1 == 0 /\ ct_18^0-ct_18^post1 == 0 /\ __disjvr_0^post1-__disjvr_0^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ x_32^0-x_32^post1 == 0 /\ -rcd_100^post1+rcd_100^0 == 0 /\ -temp0_16^post1+temp0_16^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0), cost: 1
   2: l3 -> l1 : __disjvr_1^0'=__disjvr_1^post2, ct_18^0'=ct_18^post2, __disjvr_9^0'=__disjvr_9^post2, temp_33^0'=temp_33^post2, result_11^0'=result_11^post2, __disjvr_10^0'=__disjvr_10^post2, x_32^0'=x_32^post2, a_152^0'=a_152^post2, __disjvr_6^0'=__disjvr_6^post2, r_37^0'=r_37^post2, i_111^0'=i_111^post2, x_15^0'=x_15^post2, t_24^0'=t_24^post2, __disjvr_3^0'=__disjvr_3^post2, __disjvr_12^0'=__disjvr_12^post2, y_20^0'=y_20^post2, a_28^0'=a_28^post2, __disjvr_8^0'=__disjvr_8^post2, rcd_63^0'=rcd_63^post2, len_14^0'=len_14^post2, __disjvr_0^0'=__disjvr_0^post2, x_21^0'=x_21^post2, temp0_31^0'=temp0_31^post2, __disjvr_5^0'=__disjvr_5^post2, __disjvr_2^0'=__disjvr_2^post2, d_29^0'=d_29^post2, a_130^0'=a_130^post2, tmp_27^0'=tmp_27^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2, __disjvr_11^0'=__disjvr_11^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_175^0'=a_175^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_100^0'=rcd_100^post2, i_13^0'=i_13^post2, x_17^0'=x_17^post2, temp0_16^0'=temp0_16^post2, __disjvr_4^0'=__disjvr_4^post2, (-__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post2 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ -a_28^post2+a_28^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post2+x_SLAM_f_19^0 == 0 /\ ct_18^0-ct_18^post2 == 0 /\ r_37^0-r_37^post2 == 0 /\ -tmp_27^post2+tmp_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post2 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ x_15^0-x_15^post2 == 0 /\ len_14^0-i_13^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ a_130^0-a_130^post2 == 0 /\ i_111^0-i_111^post2 == 0 /\ -i_13^post2+i_13^0 == 0 /\ 2-len_14^0 <= 0 /\ -d_29^post2+d_29^0 == 0 /\ -x_17^post2+x_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -a_152^post2+a_152^0 == 0 /\ -a_175^post2+a_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post2 == 0 /\ -len_14^post2+len_14^0 == 0 /\ x_32^0-x_32^post2 == 0 /\ x_21^0-x_21^post2 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ 1-len_14^0 <= 0 /\ rcd_63^0-rcd_63^post2 == 0 /\ y_20^0-y_20^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ rcd_100^0-rcd_100^post2 == 0), cost: 1
   4: l5 -> l6 : __disjvr_1^0'=__disjvr_1^post4, ct_18^0'=ct_18^post4, __disjvr_9^0'=__disjvr_9^post4, temp_33^0'=temp_33^post4, result_11^0'=result_11^post4, __disjvr_10^0'=__disjvr_10^post4, x_32^0'=x_32^post4, a_152^0'=a_152^post4, __disjvr_6^0'=__disjvr_6^post4, r_37^0'=r_37^post4, i_111^0'=i_111^post4, x_15^0'=x_15^post4, t_24^0'=t_24^post4, __disjvr_3^0'=__disjvr_3^post4, __disjvr_12^0'=__disjvr_12^post4, y_20^0'=y_20^post4, a_28^0'=a_28^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_63^0'=rcd_63^post4, len_14^0'=len_14^post4, __disjvr_0^0'=__disjvr_0^post4, x_21^0'=x_21^post4, temp0_31^0'=temp0_31^post4, __disjvr_5^0'=__disjvr_5^post4, __disjvr_2^0'=__disjvr_2^post4, d_29^0'=d_29^post4, a_130^0'=a_130^post4, tmp_27^0'=tmp_27^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, __disjvr_11^0'=__disjvr_11^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, a_175^0'=a_175^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_100^0'=rcd_100^post4, i_13^0'=i_13^post4, x_17^0'=x_17^post4, temp0_16^0'=temp0_16^post4, __disjvr_4^0'=__disjvr_4^post4, (x_SLAM_f_19^0-x_SLAM_f_19^post4 == 0 /\ -tmp_27^post4+tmp_27^0 == 0 /\ -y_20^post4+y_20^0 == 0 /\ -t_24^post4+t_24^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -__disjvr_8^post4+__disjvr_8^0 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -rcd_100^post4+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ i_111^0-i_111^post4 == 0 /\ len_14^0-len_14^post4 == 0 /\ r_37^0-r_37^post4 == 0 /\ -a_175^post4+a_175^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ a_152^0-a_152^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ -x_21^post4+x_21^0 == 0 /\ -rcd_63^post4+rcd_63^0 == 0 /\ x_15^0-x_15^post4 == 0 /\ -__disjvr_1^0+__disjvr_1^post4 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ -d_29^post4+d_29^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ a_28^0-a_28^post4 == 0 /\ -a_130^post4+a_130^0 == 0 /\ x_32^0-x_32^post4 == 0 /\ temp_33^0-temp_33^post4 == 0 /\ -i_13^post4+i_13^0 == 0 /\ -__disjvr_0^post4+__disjvr_0^0 == 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ __disjvr_10^0-__disjvr_10^post4 == 0), cost: 1
   5: l6 -> l7 : __disjvr_1^0'=__disjvr_1^post5, ct_18^0'=ct_18^post5, __disjvr_9^0'=__disjvr_9^post5, temp_33^0'=temp_33^post5, result_11^0'=result_11^post5, __disjvr_10^0'=__disjvr_10^post5, x_32^0'=x_32^post5, a_152^0'=a_152^post5, __disjvr_6^0'=__disjvr_6^post5, r_37^0'=r_37^post5, i_111^0'=i_111^post5, x_15^0'=x_15^post5, t_24^0'=t_24^post5, __disjvr_3^0'=__disjvr_3^post5, __disjvr_12^0'=__disjvr_12^post5, y_20^0'=y_20^post5, a_28^0'=a_28^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_63^0'=rcd_63^post5, len_14^0'=len_14^post5, __disjvr_0^0'=__disjvr_0^post5, x_21^0'=x_21^post5, temp0_31^0'=temp0_31^post5, __disjvr_5^0'=__disjvr_5^post5, __disjvr_2^0'=__disjvr_2^post5, d_29^0'=d_29^post5, a_130^0'=a_130^post5, tmp_27^0'=tmp_27^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, __disjvr_11^0'=__disjvr_11^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, a_175^0'=a_175^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_100^0'=rcd_100^post5, i_13^0'=i_13^post5, x_17^0'=x_17^post5, temp0_16^0'=temp0_16^post5, __disjvr_4^0'=__disjvr_4^post5, (-x_15^0+x_SLAM_f_19^0 <= 0 /\ -y_20^0 <= 0 /\ ct_18^0 <= 0 /\ -d_29^post5+d_29^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -tmp_27^post5+tmp_27^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ x_15^0-x_17^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ ct_18^0-ct_18^post5 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -rcd_100^post5+rcd_100^0 == 0 /\ -__disjvr_0^post5+__disjvr_0^0 == 0 /\ r_37^0-r_37^post5 == 0 /\ -x_21^0+t_24^post5 == 0 /\ x_21^0-x_21^post5 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ temp_33^0-temp_33^post5 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -a_175^post5+a_175^0 == 0 /\ y_20^0 <= 0 /\ x_15^0-x_15^post5 == 0 /\ -x_15^0+x_17^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ i_111^0-i_111^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5 == 0 /\ a_28^0-a_28^post5 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ len_14^0-len_14^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -a_130^post5+a_130^0 == 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -a_152^post5+a_152^0 == 0 /\ x_32^0-x_32^post5 == 0 /\ rcd_63^0-rcd_63^post5 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -i_13^post5+i_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ y_20^0-y_20^post5 == 0 /\ __disjvr_1^0-__disjvr_1^post5 == 0 /\ -ct_18^0 <= 0), cost: 1
   6: l7 -> l8 : __disjvr_1^0'=__disjvr_1^post6, ct_18^0'=ct_18^post6, __disjvr_9^0'=__disjvr_9^post6, temp_33^0'=temp_33^post6, result_11^0'=result_11^post6, __disjvr_10^0'=__disjvr_10^post6, x_32^0'=x_32^post6, a_152^0'=a_152^post6, __disjvr_6^0'=__disjvr_6^post6, r_37^0'=r_37^post6, i_111^0'=i_111^post6, x_15^0'=x_15^post6, t_24^0'=t_24^post6, __disjvr_3^0'=__disjvr_3^post6, __disjvr_12^0'=__disjvr_12^post6, y_20^0'=y_20^post6, a_28^0'=a_28^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_63^0'=rcd_63^post6, len_14^0'=len_14^post6, __disjvr_0^0'=__disjvr_0^post6, x_21^0'=x_21^post6, temp0_31^0'=temp0_31^post6, __disjvr_5^0'=__disjvr_5^post6, __disjvr_2^0'=__disjvr_2^post6, d_29^0'=d_29^post6, a_130^0'=a_130^post6, tmp_27^0'=tmp_27^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, __disjvr_11^0'=__disjvr_11^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, a_175^0'=a_175^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_100^0'=rcd_100^post6, i_13^0'=i_13^post6, x_17^0'=x_17^post6, temp0_16^0'=temp0_16^post6, __disjvr_4^0'=__disjvr_4^post6, (-tmp_27^post6+tmp_27^0 == 0 /\ -x_SLAM_f_19^post6+x_SLAM_f_19^0 == 0 /\ -i_13^post6+i_13^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ -rcd_63^post6+rcd_63^0 == 0 /\ temp_33^0-temp_33^post6 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_2^0+__disjvr_2^post6 == 0 /\ -x_15^post6+x_15^0 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -len_14^post6+len_14^0 == 0 /\ y_20^0-y_20^post6 == 0 /\ i_111^0-i_111^post6 == 0 /\ x_32^0-x_32^post6 == 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ __disjvr_1^0-__disjvr_1^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -d_29^post6+d_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -x_21^post6+x_21^0 == 0 /\ -a_28^post6+a_28^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ -r_37^post6+r_37^0 == 0 /\ rcd_100^0-rcd_100^post6 == 0 /\ a_152^0-a_152^post6 == 0 /\ a_130^0-a_130^post6 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ -a_175^post6+a_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0), cost: 1
   7: l8 -> l9 : __disjvr_1^0'=__disjvr_1^post7, ct_18^0'=ct_18^post7, __disjvr_9^0'=__disjvr_9^post7, temp_33^0'=temp_33^post7, result_11^0'=result_11^post7, __disjvr_10^0'=__disjvr_10^post7, x_32^0'=x_32^post7, a_152^0'=a_152^post7, __disjvr_6^0'=__disjvr_6^post7, r_37^0'=r_37^post7, i_111^0'=i_111^post7, x_15^0'=x_15^post7, t_24^0'=t_24^post7, __disjvr_3^0'=__disjvr_3^post7, __disjvr_12^0'=__disjvr_12^post7, y_20^0'=y_20^post7, a_28^0'=a_28^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_63^0'=rcd_63^post7, len_14^0'=len_14^post7, __disjvr_0^0'=__disjvr_0^post7, x_21^0'=x_21^post7, temp0_31^0'=temp0_31^post7, __disjvr_5^0'=__disjvr_5^post7, __disjvr_2^0'=__disjvr_2^post7, d_29^0'=d_29^post7, a_130^0'=a_130^post7, tmp_27^0'=tmp_27^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, __disjvr_11^0'=__disjvr_11^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, a_175^0'=a_175^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_100^0'=rcd_100^post7, i_13^0'=i_13^post7, x_17^0'=x_17^post7, temp0_16^0'=temp0_16^post7, __disjvr_4^0'=__disjvr_4^post7, (-d_29^post7+d_29^0 == 0 /\ -x_17^post7+x_17^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ ct_18^0-ct_18^post7 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ -len_14^post7+len_14^0 == 0 /\ a_152^0-a_152^post7 == 0 /\ x_15^0-x_15^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post7 == 0 /\ -rcd_100^post7+rcd_100^0 == 0 /\ t_24^0-t_24^post7 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -r_37^post7+r_37^0 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ __disjvr_12^0-__disjvr_12^post7 == 0 /\ -a_175^post7+a_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ tmp_27^0-tmp_27^post7 == 0 /\ -rcd_63^post7+rcd_63^0 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ temp_33^0-temp_33^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ a_28^0-a_28^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ -__disjvr_0^post7+__disjvr_0^0 == 0 /\ -a_130^post7+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_20^0-y_20^post7 == 0 /\ -x_21^post7+x_21^0 == 0 /\ x_32^0-x_32^post7 == 0 /\ -i_111^post7+i_111^0 == 0 /\ -i_13^post7+i_13^0 == 0 /\ __disjvr_1^0-__disjvr_1^post7 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0), cost: 1
   8: l9 -> l4 : __disjvr_1^0'=__disjvr_1^post8, ct_18^0'=ct_18^post8, __disjvr_9^0'=__disjvr_9^post8, temp_33^0'=temp_33^post8, result_11^0'=result_11^post8, __disjvr_10^0'=__disjvr_10^post8, x_32^0'=x_32^post8, a_152^0'=a_152^post8, __disjvr_6^0'=__disjvr_6^post8, r_37^0'=r_37^post8, i_111^0'=i_111^post8, x_15^0'=x_15^post8, t_24^0'=t_24^post8, __disjvr_3^0'=__disjvr_3^post8, __disjvr_12^0'=__disjvr_12^post8, y_20^0'=y_20^post8, a_28^0'=a_28^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_63^0'=rcd_63^post8, len_14^0'=len_14^post8, __disjvr_0^0'=__disjvr_0^post8, x_21^0'=x_21^post8, temp0_31^0'=temp0_31^post8, __disjvr_5^0'=__disjvr_5^post8, __disjvr_2^0'=__disjvr_2^post8, d_29^0'=d_29^post8, a_130^0'=a_130^post8, tmp_27^0'=tmp_27^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, __disjvr_11^0'=__disjvr_11^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, a_175^0'=a_175^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_100^0'=rcd_100^post8, i_13^0'=i_13^post8, x_17^0'=x_17^post8, temp0_16^0'=temp0_16^post8, __disjvr_4^0'=__disjvr_4^post8, (-d_29^post8+d_29^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ len_14^0-len_14^post8 == 0 /\ -temp0_16^post8+temp0_16^0 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -x_32^post8+x_32^0 == 0 /\ a_28^0-a_28^post8 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -rcd_100^post8+rcd_100^0 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ -a_175^post8+a_175^0 == 0 /\ i_111^0-i_111^post8 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ len_14^0-i_13^0 <= 0 /\ -i_13^post8+i_13^0 == 0 /\ -__disjvr_0^post8+__disjvr_0^0 == 0 /\ -tmp_27^post8+tmp_27^0 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ -rcd_63^post8+rcd_63^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ 2-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ -t_24^post8+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ a_152^0-a_152^post8 == 0 /\ x_15^0-x_15^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ -a_130^post8+a_130^0 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ 1-len_14^0 <= 0 /\ -y_20^post8+y_20^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ __disjvr_12^0-__disjvr_12^post8 == 0), cost: 1
  17: l4 -> l1 : __disjvr_1^0'=__disjvr_1^post17, ct_18^0'=ct_18^post17, __disjvr_9^0'=__disjvr_9^post17, temp_33^0'=temp_33^post17, result_11^0'=result_11^post17, __disjvr_10^0'=__disjvr_10^post17, x_32^0'=x_32^post17, a_152^0'=a_152^post17, __disjvr_6^0'=__disjvr_6^post17, r_37^0'=r_37^post17, i_111^0'=i_111^post17, x_15^0'=x_15^post17, t_24^0'=t_24^post17, __disjvr_3^0'=__disjvr_3^post17, __disjvr_12^0'=__disjvr_12^post17, y_20^0'=y_20^post17, a_28^0'=a_28^post17, __disjvr_8^0'=__disjvr_8^post17, rcd_63^0'=rcd_63^post17, len_14^0'=len_14^post17, __disjvr_0^0'=__disjvr_0^post17, x_21^0'=x_21^post17, temp0_31^0'=temp0_31^post17, __disjvr_5^0'=__disjvr_5^post17, __disjvr_2^0'=__disjvr_2^post17, d_29^0'=d_29^post17, a_130^0'=a_130^post17, tmp_27^0'=tmp_27^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17, __disjvr_11^0'=__disjvr_11^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, a_175^0'=a_175^post17, __disjvr_7^0'=__disjvr_7^post17, rcd_100^0'=rcd_100^post17, i_13^0'=i_13^post17, x_17^0'=x_17^post17, temp0_16^0'=temp0_16^post17, __disjvr_4^0'=__disjvr_4^post17, (0 == 0 /\ __disjvr_12^0-__disjvr_12^post17 == 0 /\ y_20^0-x_21^0 <= 0 /\ 2-len_14^post17 <= 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ __disjvr_1^0-__disjvr_1^post17 == 0 /\ x_32^0-x_32^post17 == 0 /\ r_37^0-r_37^post17 == 0 /\ -i_111^post17+i_111^0 == 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ a_152^0-a_152^post17 == 0 /\ -y_20^0+x_21^0 <= 0 /\ x_15^0-x_15^post17 == 0 /\ -rcd_63^post17+rcd_63^0 == 0 /\ 1-len_14^post17 <= 0 /\ -rcd_100^post17+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ -i_13^post17+i_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -a_175^post17+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ d_29^0-d_29^post17 == 0 /\ temp_33^0-temp_33^post17 == 0 /\ -a_152^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ -temp0_16^post17+temp0_16^0 == 0 /\ a_130^0-a_130^post17 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -tmp_27^post17+tmp_27^0 == 0 /\ -a_28^post17+a_28^0 == 0 /\ result_11^post17-temp0_16^0 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ -__disjvr_4^post17+__disjvr_4^0 == 0), cost: 1
  18: l4 -> l20 : __disjvr_1^0'=__disjvr_1^post18, ct_18^0'=ct_18^post18, __disjvr_9^0'=__disjvr_9^post18, temp_33^0'=temp_33^post18, result_11^0'=result_11^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, __disjvr_6^0'=__disjvr_6^post18, r_37^0'=r_37^post18, i_111^0'=i_111^post18, x_15^0'=x_15^post18, t_24^0'=t_24^post18, __disjvr_3^0'=__disjvr_3^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, a_28^0'=a_28^post18, __disjvr_8^0'=__disjvr_8^post18, rcd_63^0'=rcd_63^post18, len_14^0'=len_14^post18, __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, temp0_31^0'=temp0_31^post18, __disjvr_5^0'=__disjvr_5^post18, __disjvr_2^0'=__disjvr_2^post18, d_29^0'=d_29^post18, a_130^0'=a_130^post18, tmp_27^0'=tmp_27^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=a_175^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_100^0'=rcd_100^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, temp0_16^0'=temp0_16^post18, __disjvr_4^0'=__disjvr_4^post18, (0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -rcd_100^post18+rcd_100^0 == 0 /\ -__disjvr_0^post18+__disjvr_0^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ d_29^0-d_29^post18 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ a_28^0-a_28^post18 == 0 /\ -a_152^0 <= 0 /\ -result_11^post18+result_11^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ -a_175^post18+a_175^0 == 0 /\ -i_111^post18+i_111^0 == 0 /\ a_152^0-a_152^post18 == 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ y_20^0-y_20^post18 == 0 /\ -x_21^post18+x_21^0 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ -a_130^post18+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_63^post18+rcd_63^0 == 0 /\ t_24^0-t_24^post18 == 0 /\ -temp0_31^post18+temp0_31^0 == 0), cost: 1
   9: l10 -> l11 : __disjvr_1^0'=__disjvr_1^post9, ct_18^0'=ct_18^post9, __disjvr_9^0'=__disjvr_9^post9, temp_33^0'=temp_33^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, __disjvr_6^0'=__disjvr_6^post9, r_37^0'=r_37^post9, i_111^0'=i_111^post9, x_15^0'=x_15^post9, t_24^0'=t_24^post9, __disjvr_3^0'=__disjvr_3^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, a_28^0'=a_28^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_63^0'=rcd_63^post9, len_14^0'=len_14^post9, __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, temp0_31^0'=temp0_31^post9, __disjvr_5^0'=__disjvr_5^post9, __disjvr_2^0'=__disjvr_2^post9, d_29^0'=d_29^post9, a_130^0'=a_130^post9, tmp_27^0'=tmp_27^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_175^0'=a_175^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_100^0'=rcd_100^post9, i_13^0'=i_13^post9, x_17^0'=x_17^post9, temp0_16^0'=temp0_16^post9, __disjvr_4^0'=__disjvr_4^post9, (-x_15^post9 <= 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ -i_13^post9 <= 0 /\ -tmp_27^post9+tmp_27^0 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -d_29^post9+d_29^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ a_28^0-a_28^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ x_32^0-x_32^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ len_14^0-len_14^post9 == 0 /\ a_152^0-a_152^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ i_111^0-i_111^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ -x_17^post9+x_17^0 == 0 /\ -a_130^post9+a_130^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0), cost: 1
  33: l11 -> l1 : __disjvr_1^0'=__disjvr_1^post33, ct_18^0'=ct_18^post33, __disjvr_9^0'=__disjvr_9^post33, temp_33^0'=temp_33^post33, result_11^0'=result_11^post33, __disjvr_10^0'=__disjvr_10^post33, x_32^0'=x_32^post33, a_152^0'=a_152^post33, __disjvr_6^0'=__disjvr_6^post33, r_37^0'=r_37^post33, i_111^0'=i_111^post33, x_15^0'=x_15^post33, t_24^0'=t_24^post33, __disjvr_3^0'=__disjvr_3^post33, __disjvr_12^0'=__disjvr_12^post33, y_20^0'=y_20^post33, a_28^0'=a_28^post33, __disjvr_8^0'=__disjvr_8^post33, rcd_63^0'=rcd_63^post33, len_14^0'=len_14^post33, __disjvr_0^0'=__disjvr_0^post33, x_21^0'=x_21^post33, temp0_31^0'=temp0_31^post33, __disjvr_5^0'=__disjvr_5^post33, __disjvr_2^0'=__disjvr_2^post33, d_29^0'=d_29^post33, a_130^0'=a_130^post33, tmp_27^0'=tmp_27^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, __disjvr_11^0'=__disjvr_11^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, a_175^0'=a_175^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_100^0'=rcd_100^post33, i_13^0'=i_13^post33, x_17^0'=x_17^post33, temp0_16^0'=temp0_16^post33, __disjvr_4^0'=__disjvr_4^post33, (0 == 0 /\ -x_17^120+x_SLAM_f_19^150 <= 0 /\ -x_17^120+x_SLAM_f_19^150 == 0 /\ -x_21^130+x_SLAM_f_19^150 <= 0 /\ x_17^120 <= 0 /\ -tmp_27^post33+tmp_27^0 == 0 /\ -i_13^0 <= 0 /\ len_14^post33 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_SLAM_f_19^150 <= 0 /\ -a_28^post33+a_28^0 == 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -a_175^post33+a_175^0 == 0 /\ y_20^130 <= 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -ct_18^15 <= 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ x_17^120-x_15^0 <= 0 /\ x_17^120-x_15^0 == 0 /\ __disjvr_1^0-__disjvr_1^post33 == 0 /\ x_17^120-x_SLAM_f_19^150 <= 0 /\ x_21^130-x_SLAM_f_19^150 <= 0 /\ x_21^130-x_SLAM_f_19^150 == 0 /\ x_21^130 <= 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ -x_21^130 <= 0 /\ x_15^0 <= 0 /\ -d_29^post33+d_29^0 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ x_32^0-x_32^post33 == 0 /\ x_SLAM_f_19^150 <= 0 /\ r_37^0-r_37^post33 == 0 /\ -x_15^0 <= 0 /\ temp_33^0-temp_33^post33 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_17^120+x_15^0 <= 0 /\ -rcd_100^post33+rcd_100^0 == 0 /\ -y_20^130 <= 0 /\ -i_13^post33+i_13^0 == 0 /\ -y_20^130+ct_18^15 <= 0 /\ i_111^0-i_111^post33 == 0 /\ -__disjvr_11^post33+__disjvr_11^0 == 0 /\ x_15^0-x_15^post33 == 0 /\ y_20^130-x_21^130 <= 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -__disjvr_0^post33+__disjvr_0^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ result_11^post33-temp0_16^0 == 0 /\ y_20^130-ct_18^15 <= 0 /\ y_20^130-ct_18^15 == 0 /\ -x_17^120 <= 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ __disjvr_12^0-__disjvr_12^post33 == 0 /\ -a_130^post33+a_130^0 == 0 /\ a_152^0-a_152^post33 == 0 /\ i_13^0 <= 0 /\ -__disjvr_10^post33+__disjvr_10^0 == 0 /\ -y_20^130+x_21^130 <= 0 /\ ct_18^15 <= 0 /\ ct_18^15 == 0), cost: 1
  34: l11 -> l12 : __disjvr_1^0'=__disjvr_1^post34, ct_18^0'=ct_18^post34, __disjvr_9^0'=__disjvr_9^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, __disjvr_6^0'=__disjvr_6^post34, r_37^0'=r_37^post34, i_111^0'=i_111^post34, x_15^0'=x_15^post34, t_24^0'=t_24^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, a_28^0'=a_28^post34, __disjvr_8^0'=__disjvr_8^post34, rcd_63^0'=rcd_63^post34, len_14^0'=len_14^post34, __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_2^0'=__disjvr_2^post34, d_29^0'=d_29^post34, a_130^0'=a_130^post34, tmp_27^0'=tmp_27^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_175^0'=a_175^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_100^0'=rcd_100^post34, i_13^0'=i_13^post34, x_17^0'=x_17^post34, temp0_16^0'=temp0_16^post34, __disjvr_4^0'=__disjvr_4^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ i_111^0-i_111^post34 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -t_24^post34+t_24^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -rcd_100^post34+rcd_100^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_130^post34+a_130^0 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ -1+i_13^post34-i_13^0 == 0 /\ -__disjvr_4^post34+__disjvr_4^0 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ x_32^120-temp_33^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -result_11^120+tmp_27^post34 == 0 /\ x_15^post34-tmp_27^post34 <= 0 /\ x_15^post34-tmp_27^post34 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ ct_18^0-ct_18^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -x_15^post34+tmp_27^post34 <= 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ __disjvr_12^0-__disjvr_12^post34 == 0 /\ a_28^12-i_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ 1-len_14^0 <= 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0), cost: 1
  10: l12 -> l13 : __disjvr_1^0'=__disjvr_1^post10, ct_18^0'=ct_18^post10, __disjvr_9^0'=__disjvr_9^post10, temp_33^0'=temp_33^post10, result_11^0'=result_11^post10, __disjvr_10^0'=__disjvr_10^post10, x_32^0'=x_32^post10, a_152^0'=a_152^post10, __disjvr_6^0'=__disjvr_6^post10, r_37^0'=r_37^post10, i_111^0'=i_111^post10, x_15^0'=x_15^post10, t_24^0'=t_24^post10, __disjvr_3^0'=__disjvr_3^post10, __disjvr_12^0'=__disjvr_12^post10, y_20^0'=y_20^post10, a_28^0'=a_28^post10, __disjvr_8^0'=__disjvr_8^post10, rcd_63^0'=rcd_63^post10, len_14^0'=len_14^post10, __disjvr_0^0'=__disjvr_0^post10, x_21^0'=x_21^post10, temp0_31^0'=temp0_31^post10, __disjvr_5^0'=__disjvr_5^post10, __disjvr_2^0'=__disjvr_2^post10, d_29^0'=d_29^post10, a_130^0'=a_130^post10, tmp_27^0'=tmp_27^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, __disjvr_11^0'=__disjvr_11^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, a_175^0'=a_175^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_100^0'=rcd_100^post10, i_13^0'=i_13^post10, x_17^0'=x_17^post10, temp0_16^0'=temp0_16^post10, __disjvr_4^0'=__disjvr_4^post10, (0 == 0 /\ y_20^post10-ct_18^11 <= 0 /\ y_20^post10-ct_18^11 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ -a_175^post10+a_175^0 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -ct_18^11 <= 0 /\ -x_SLAM_f_19^110+x_17^10 <= 0 /\ -x_21^post10+x_15^0 <= 0 /\ 1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ -a_130^post10+a_130^0 == 0 /\ r_37^0-r_37^post10 == 0 /\ -y_20^post10+ct_18^11 <= 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ t_24^0-t_24^post10 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ x_SLAM_f_19^110-x_17^10 <= 0 /\ x_SLAM_f_19^110-x_17^10 == 0 /\ x_21^post10-x_15^0 <= 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ len_14^0-i_13^0 <= 0 /\ -__disjvr_0^post10+__disjvr_0^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -rcd_100^post10+rcd_100^0 == 0 /\ x_21^post10-x_SLAM_f_19^110 <= 0 /\ x_21^post10-x_SLAM_f_19^110 == 0 /\ -tmp_27^10+x_15^0 <= 0 /\ x_15^0-x_SLAM_f_19^110 <= 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ y_20^post10 <= 0 /\ x_15^0-x_17^10 <= 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ __disjvr_12^0-__disjvr_12^post10 == 0 /\ -a_152^post10+a_152^0 == 0 /\ a_28^0-a_28^post10 == 0 /\ -x_21^post10+x_SLAM_f_19^110 <= 0 /\ d_29^0-d_29^post10 == 0 /\ tmp_27^10-x_15^0 <= 0 /\ -x_15^0+x_SLAM_f_19^110 <= 0 /\ x_32^0-x_32^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ rcd_63^0-rcd_63^post10 == 0 /\ -y_20^post10 <= 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ -x_15^0+x_17^10 <= 0 /\ -x_15^0+x_17^10 == 0 /\ __disjvr_1^0-__disjvr_1^post10 == 0 /\ ct_18^11 <= 0 /\ ct_18^11 == 0), cost: 1
  16: l12 -> l18 : __disjvr_1^0'=__disjvr_1^post16, ct_18^0'=ct_18^post16, __disjvr_9^0'=__disjvr_9^post16, temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, __disjvr_6^0'=__disjvr_6^post16, r_37^0'=r_37^post16, i_111^0'=i_111^post16, x_15^0'=x_15^post16, t_24^0'=t_24^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, a_28^0'=a_28^post16, __disjvr_8^0'=__disjvr_8^post16, rcd_63^0'=rcd_63^post16, len_14^0'=len_14^post16, __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_2^0'=__disjvr_2^post16, d_29^0'=d_29^post16, a_130^0'=a_130^post16, tmp_27^0'=tmp_27^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, a_175^0'=a_175^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_100^0'=rcd_100^post16, i_13^0'=i_13^post16, x_17^0'=x_17^post16, temp0_16^0'=temp0_16^post16, __disjvr_4^0'=__disjvr_4^post16, (0 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_21^post16+x_21^0 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post16+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -a_175^post16+a_175^0 == 0 /\ -1+i_13^post16-i_13^0 == 0 /\ a_152^0-a_152^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -2+i_13^post16 <= 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ len_14^0-len_14^post16 == 0 /\ -x_SLAM_f_19^post16+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ -tmp_27^post16+x_15^post16 <= 0 /\ -tmp_27^post16+x_15^post16 == 0 /\ -a_130^post16+a_130^0 == 0 /\ __disjvr_5^0-__disjvr_5^post16 == 0 /\ 2-len_14^0 <= 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -y_20^post16+y_20^0 == 0 /\ a_28^10-i_13^0 == 0 /\ tmp_27^post16-x_15^post16 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ -result_11^10+tmp_27^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ 2-i_13^post16 <= 0 /\ d_29^10-x_15^0 == 0), cost: 1
  11: l13 -> l14 : __disjvr_1^0'=__disjvr_1^post11, ct_18^0'=ct_18^post11, __disjvr_9^0'=__disjvr_9^post11, temp_33^0'=temp_33^post11, result_11^0'=result_11^post11, __disjvr_10^0'=__disjvr_10^post11, x_32^0'=x_32^post11, a_152^0'=a_152^post11, __disjvr_6^0'=__disjvr_6^post11, r_37^0'=r_37^post11, i_111^0'=i_111^post11, x_15^0'=x_15^post11, t_24^0'=t_24^post11, __disjvr_3^0'=__disjvr_3^post11, __disjvr_12^0'=__disjvr_12^post11, y_20^0'=y_20^post11, a_28^0'=a_28^post11, __disjvr_8^0'=__disjvr_8^post11, rcd_63^0'=rcd_63^post11, len_14^0'=len_14^post11, __disjvr_0^0'=__disjvr_0^post11, x_21^0'=x_21^post11, temp0_31^0'=temp0_31^post11, __disjvr_5^0'=__disjvr_5^post11, __disjvr_2^0'=__disjvr_2^post11, d_29^0'=d_29^post11, a_130^0'=a_130^post11, tmp_27^0'=tmp_27^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, __disjvr_11^0'=__disjvr_11^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, a_175^0'=a_175^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_100^0'=rcd_100^post11, i_13^0'=i_13^post11, x_17^0'=x_17^post11, temp0_16^0'=temp0_16^post11, __disjvr_4^0'=__disjvr_4^post11, (-rcd_63^post11+rcd_63^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post11 == 0 /\ temp_33^0-temp_33^post11 == 0 /\ __disjvr_12^0-__disjvr_12^post11 == 0 /\ -temp0_16^post11+temp0_16^0 == 0 /\ x_15^0-x_15^post11 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ __disjvr_4^post11-__disjvr_4^0 == 0 /\ -x_17^post11+x_17^0 == 0 /\ -__disjvr_0^post11+__disjvr_0^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_37^0-r_37^post11 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ ct_18^0-ct_18^post11 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ -a_130^post11+a_130^0 == 0 /\ -i_111^post11+i_111^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ -y_20^post11+y_20^0 == 0 /\ -i_13^post11+i_13^0 == 0 /\ -x_21^post11+x_21^0 == 0 /\ a_152^0-a_152^post11 == 0 /\ -len_14^post11+len_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ -d_29^post11+d_29^0 == 0 /\ -t_24^post11+t_24^0 == 0 /\ __disjvr_5^0-__disjvr_5^post11 == 0 /\ __disjvr_1^0-__disjvr_1^post11 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ x_32^0-x_32^post11 == 0 /\ -rcd_100^post11+rcd_100^0 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ tmp_27^0-tmp_27^post11 == 0 /\ -a_175^post11+a_175^0 == 0 /\ a_28^0-a_28^post11 == 0), cost: 1
  12: l14 -> l15 : __disjvr_1^0'=__disjvr_1^post12, ct_18^0'=ct_18^post12, __disjvr_9^0'=__disjvr_9^post12, temp_33^0'=temp_33^post12, result_11^0'=result_11^post12, __disjvr_10^0'=__disjvr_10^post12, x_32^0'=x_32^post12, a_152^0'=a_152^post12, __disjvr_6^0'=__disjvr_6^post12, r_37^0'=r_37^post12, i_111^0'=i_111^post12, x_15^0'=x_15^post12, t_24^0'=t_24^post12, __disjvr_3^0'=__disjvr_3^post12, __disjvr_12^0'=__disjvr_12^post12, y_20^0'=y_20^post12, a_28^0'=a_28^post12, __disjvr_8^0'=__disjvr_8^post12, rcd_63^0'=rcd_63^post12, len_14^0'=len_14^post12, __disjvr_0^0'=__disjvr_0^post12, x_21^0'=x_21^post12, temp0_31^0'=temp0_31^post12, __disjvr_5^0'=__disjvr_5^post12, __disjvr_2^0'=__disjvr_2^post12, d_29^0'=d_29^post12, a_130^0'=a_130^post12, tmp_27^0'=tmp_27^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, __disjvr_11^0'=__disjvr_11^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, a_175^0'=a_175^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_100^0'=rcd_100^post12, i_13^0'=i_13^post12, x_17^0'=x_17^post12, temp0_16^0'=temp0_16^post12, __disjvr_4^0'=__disjvr_4^post12, (-x_15^0+x_SLAM_f_19^0 <= 0 /\ -d_29^post12+d_29^0 == 0 /\ -y_20^0 <= 0 /\ x_21^0-x_21^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ ct_18^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post12 == 0 /\ ct_18^0-y_20^0 <= 0 /\ rcd_63^0-rcd_63^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ 1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ x_15^0-t_24^post12 <= 0 /\ x_15^0-x_17^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ x_15^0-x_15^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -rcd_100^post12+rcd_100^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -x_21^0+t_24^post12 == 0 /\ a_28^0-a_28^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ y_20^0 <= 0 /\ -x_15^0+t_24^post12 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ -i_13^post12+i_13^0 == 0 /\ -a_152^post12+a_152^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ -a_175^post12+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12 == 0 /\ -tmp_27^post12+tmp_27^0 == 0 /\ x_32^0-x_32^post12 == 0 /\ -x_SLAM_f_19^post12+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post12 == 0 /\ x_21^0 <= 0 /\ r_37^0-r_37^post12 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ -__disjvr_11^post12+__disjvr_11^0 == 0 /\ len_14^0-len_14^post12 == 0 /\ a_130^0-a_130^post12 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ temp_33^0-temp_33^post12 == 0 /\ ct_18^0-ct_18^post12 == 0 /\ i_111^0-i_111^post12 == 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -x_21^0 <= 0 /\ -ct_18^0 <= 0), cost: 1
  13: l15 -> l16 : __disjvr_1^0'=__disjvr_1^post13, ct_18^0'=ct_18^post13, __disjvr_9^0'=__disjvr_9^post13, temp_33^0'=temp_33^post13, result_11^0'=result_11^post13, __disjvr_10^0'=__disjvr_10^post13, x_32^0'=x_32^post13, a_152^0'=a_152^post13, __disjvr_6^0'=__disjvr_6^post13, r_37^0'=r_37^post13, i_111^0'=i_111^post13, x_15^0'=x_15^post13, t_24^0'=t_24^post13, __disjvr_3^0'=__disjvr_3^post13, __disjvr_12^0'=__disjvr_12^post13, y_20^0'=y_20^post13, a_28^0'=a_28^post13, __disjvr_8^0'=__disjvr_8^post13, rcd_63^0'=rcd_63^post13, len_14^0'=len_14^post13, __disjvr_0^0'=__disjvr_0^post13, x_21^0'=x_21^post13, temp0_31^0'=temp0_31^post13, __disjvr_5^0'=__disjvr_5^post13, __disjvr_2^0'=__disjvr_2^post13, d_29^0'=d_29^post13, a_130^0'=a_130^post13, tmp_27^0'=tmp_27^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, __disjvr_11^0'=__disjvr_11^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, a_175^0'=a_175^post13, __disjvr_7^0'=__disjvr_7^post13, rcd_100^0'=rcd_100^post13, i_13^0'=i_13^post13, x_17^0'=x_17^post13, temp0_16^0'=temp0_16^post13, __disjvr_4^0'=__disjvr_4^post13, (x_32^0-x_32^post13 == 0 /\ y_20^0-y_20^post13 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ temp_33^0-temp_33^post13 == 0 /\ -__disjvr_4^post13+__disjvr_4^0 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ -x_15^post13+x_15^0 == 0 /\ a_130^0-a_130^post13 == 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ i_111^0-i_111^post13 == 0 /\ -x_17^post13+x_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ -x_21^post13+x_21^0 == 0 /\ -i_13^post13+i_13^0 == 0 /\ -a_28^post13+a_28^0 == 0 /\ -__disjvr_11^post13+__disjvr_11^0 == 0 /\ -a_175^post13+a_175^0 == 0 /\ -__disjvr_5^0+__disjvr_5^post13 == 0 /\ ct_18^0-ct_18^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ t_24^0-t_24^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ -tmp_27^post13+tmp_27^0 == 0 /\ -x_SLAM_f_19^post13+x_SLAM_f_19^0 == 0 /\ rcd_63^0-rcd_63^post13 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -len_14^post13+len_14^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ a_152^0-a_152^post13 == 0 /\ __disjvr_12^0-__disjvr_12^post13 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ rcd_100^0-rcd_100^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ d_29^0-d_29^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0), cost: 1
  14: l16 -> l17 : __disjvr_1^0'=__disjvr_1^post14, ct_18^0'=ct_18^post14, __disjvr_9^0'=__disjvr_9^post14, temp_33^0'=temp_33^post14, result_11^0'=result_11^post14, __disjvr_10^0'=__disjvr_10^post14, x_32^0'=x_32^post14, a_152^0'=a_152^post14, __disjvr_6^0'=__disjvr_6^post14, r_37^0'=r_37^post14, i_111^0'=i_111^post14, x_15^0'=x_15^post14, t_24^0'=t_24^post14, __disjvr_3^0'=__disjvr_3^post14, __disjvr_12^0'=__disjvr_12^post14, y_20^0'=y_20^post14, a_28^0'=a_28^post14, __disjvr_8^0'=__disjvr_8^post14, rcd_63^0'=rcd_63^post14, len_14^0'=len_14^post14, __disjvr_0^0'=__disjvr_0^post14, x_21^0'=x_21^post14, temp0_31^0'=temp0_31^post14, __disjvr_5^0'=__disjvr_5^post14, __disjvr_2^0'=__disjvr_2^post14, d_29^0'=d_29^post14, a_130^0'=a_130^post14, tmp_27^0'=tmp_27^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14, __disjvr_11^0'=__disjvr_11^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, a_175^0'=a_175^post14, __disjvr_7^0'=__disjvr_7^post14, rcd_100^0'=rcd_100^post14, i_13^0'=i_13^post14, x_17^0'=x_17^post14, temp0_16^0'=temp0_16^post14, __disjvr_4^0'=__disjvr_4^post14, (0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ temp_33^0-temp_33^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ y_20^0-x_21^0 <= 0 /\ -rcd_100^post14+rcd_100^0 == 0 /\ result_11^post14-temp0_16^0 == 0 /\ a_152^0-a_152^post14 == 0 /\ -__disjvr_4^post14+__disjvr_4^0 == 0 /\ -tmp_27^post14+tmp_27^0 == 0 /\ -i_13^post14+i_13^0 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ i_111^0-i_111^post14 == 0 /\ -y_20^0+x_21^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -len_14^post14+len_14^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -a_28^post14+a_28^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ -r_37^post14+r_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ x_32^0-x_32^post14 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ __disjvr_12^0-__disjvr_12^post14 == 0 /\ -a_175^post14+a_175^0 == 0 /\ -rcd_63^post14+rcd_63^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ 1-len_14^0 <= 0 /\ a_130^0-a_130^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ -d_29^post14+d_29^0 == 0), cost: 1
  15: l17 -> l1 : __disjvr_1^0'=__disjvr_1^post15, ct_18^0'=ct_18^post15, __disjvr_9^0'=__disjvr_9^post15, temp_33^0'=temp_33^post15, result_11^0'=result_11^post15, __disjvr_10^0'=__disjvr_10^post15, x_32^0'=x_32^post15, a_152^0'=a_152^post15, __disjvr_6^0'=__disjvr_6^post15, r_37^0'=r_37^post15, i_111^0'=i_111^post15, x_15^0'=x_15^post15, t_24^0'=t_24^post15, __disjvr_3^0'=__disjvr_3^post15, __disjvr_12^0'=__disjvr_12^post15, y_20^0'=y_20^post15, a_28^0'=a_28^post15, __disjvr_8^0'=__disjvr_8^post15, rcd_63^0'=rcd_63^post15, len_14^0'=len_14^post15, __disjvr_0^0'=__disjvr_0^post15, x_21^0'=x_21^post15, temp0_31^0'=temp0_31^post15, __disjvr_5^0'=__disjvr_5^post15, __disjvr_2^0'=__disjvr_2^post15, d_29^0'=d_29^post15, a_130^0'=a_130^post15, tmp_27^0'=tmp_27^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15, __disjvr_11^0'=__disjvr_11^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, a_175^0'=a_175^post15, __disjvr_7^0'=__disjvr_7^post15, rcd_100^0'=rcd_100^post15, i_13^0'=i_13^post15, x_17^0'=x_17^post15, temp0_16^0'=temp0_16^post15, __disjvr_4^0'=__disjvr_4^post15, (-tmp_27^post15+tmp_27^0 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_4^post15+__disjvr_4^0 == 0 /\ a_175^0-a_175^post15 == 0 /\ -x_SLAM_f_19^post15+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post15 == 0 /\ i_111^0-i_111^post15 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ __disjvr_1^0-__disjvr_1^post15 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ __disjvr_10^0-__disjvr_10^post15 == 0 /\ x_21^0-x_21^post15 == 0 /\ -x_17^post15+x_17^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ rcd_63^0-rcd_63^post15 == 0 /\ -y_20^post15+y_20^0 == 0 /\ -i_13^post15+i_13^0 == 0 /\ -__disjvr_6^0+__disjvr_6^post15 == 0 /\ -d_29^post15+d_29^0 == 0 /\ temp_33^0-temp_33^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ -x_32^post15+x_32^0 == 0 /\ ct_18^0-ct_18^post15 == 0 /\ a_28^0-a_28^post15 == 0 /\ -a_130^post15+a_130^0 == 0 /\ x_15^0-x_15^post15 == 0 /\ -rcd_100^post15+rcd_100^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15 == 0 /\ len_14^0-len_14^post15 == 0 /\ r_37^0-r_37^post15 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ a_152^0-a_152^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0), cost: 1
  25: l18 -> l25 : __disjvr_1^0'=__disjvr_1^post25, ct_18^0'=ct_18^post25, __disjvr_9^0'=__disjvr_9^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, __disjvr_6^0'=__disjvr_6^post25, r_37^0'=r_37^post25, i_111^0'=i_111^post25, x_15^0'=x_15^post25, t_24^0'=t_24^post25, __disjvr_3^0'=__disjvr_3^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, a_28^0'=a_28^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_63^0'=rcd_63^post25, len_14^0'=len_14^post25, __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, temp0_31^0'=temp0_31^post25, __disjvr_5^0'=__disjvr_5^post25, __disjvr_2^0'=__disjvr_2^post25, d_29^0'=d_29^post25, a_130^0'=a_130^post25, tmp_27^0'=tmp_27^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_175^0'=a_175^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_100^0'=rcd_100^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, temp0_16^0'=temp0_16^post25, __disjvr_4^0'=__disjvr_4^post25, (0 == 0 /\ y_20^post25-ct_18^14 == 0 /\ -i_13^0 <= 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ i_111^0-i_111^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ -a_28^post25+a_28^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post25+a_130^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ __disjvr_7^0-__disjvr_7^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_32^0-x_32^post25 == 0 /\ a_152^0-a_152^post25 == 0 /\ ct_18^14 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -__disjvr_3^post25+__disjvr_3^0 == 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0), cost: 1
  31: l18 -> l30 : __disjvr_1^0'=__disjvr_1^post31, ct_18^0'=ct_18^post31, __disjvr_9^0'=__disjvr_9^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, __disjvr_6^0'=__disjvr_6^post31, r_37^0'=r_37^post31, i_111^0'=i_111^post31, x_15^0'=x_15^post31, t_24^0'=t_24^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, a_28^0'=a_28^post31, __disjvr_8^0'=__disjvr_8^post31, rcd_63^0'=rcd_63^post31, len_14^0'=len_14^post31, __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_2^0'=__disjvr_2^post31, d_29^0'=d_29^post31, a_130^0'=a_130^post31, tmp_27^0'=tmp_27^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_175^0'=a_175^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_100^0'=rcd_100^post31, i_13^0'=i_13^post31, x_17^0'=x_17^post31, temp0_16^0'=temp0_16^post31, __disjvr_4^0'=__disjvr_4^post31, (0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -i_13^0 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ ct_18^0-ct_18^post31 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ -a_130^post31+a_130^0 == 0 /\ a_152^0-a_152^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ tmp_27^post31-result_11^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ x_32^110-temp_33^0 == 0 /\ -temp0_31^110+result_11^110 == 0 /\ -x_21^post31+x_21^0 == 0 /\ rcd_63^0-rcd_63^post31 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -len_14^post31+len_14^0 == 0 /\ -x_15^0+d_29^110 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ a_28^11-i_13^0 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0), cost: 1
  19: l20 -> l21 : __disjvr_1^0'=__disjvr_1^post19, ct_18^0'=ct_18^post19, __disjvr_9^0'=__disjvr_9^post19, temp_33^0'=temp_33^post19, result_11^0'=result_11^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, __disjvr_6^0'=__disjvr_6^post19, r_37^0'=r_37^post19, i_111^0'=i_111^post19, x_15^0'=x_15^post19, t_24^0'=t_24^post19, __disjvr_3^0'=__disjvr_3^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, a_28^0'=a_28^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_63^0'=rcd_63^post19, len_14^0'=len_14^post19, __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, temp0_31^0'=temp0_31^post19, __disjvr_5^0'=__disjvr_5^post19, __disjvr_2^0'=__disjvr_2^post19, d_29^0'=d_29^post19, a_130^0'=a_130^post19, tmp_27^0'=tmp_27^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, a_175^0'=a_175^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_100^0'=rcd_100^post19, i_13^0'=i_13^post19, x_17^0'=x_17^post19, temp0_16^0'=temp0_16^post19, __disjvr_4^0'=__disjvr_4^post19, (-rcd_100^post19+rcd_100^0 == 0 /\ a_28^0-a_28^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ ct_18^0-ct_18^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ a_152^0-a_152^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ x_15^0-x_15^post19 == 0 /\ -a_130^post19+a_130^0 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -x_17^post19+x_17^0 == 0 /\ __disjvr_7^post19-__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -a_175^post19+a_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -__disjvr_0^post19+__disjvr_0^0 == 0 /\ -x_32^post19+x_32^0 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -temp_33^post19+temp_33^0 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ r_37^0-r_37^post19 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -len_14^post19+len_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -temp0_31^post19+temp0_31^0 == 0), cost: 1
  20: l21 -> l22 : __disjvr_1^0'=__disjvr_1^post20, ct_18^0'=ct_18^post20, __disjvr_9^0'=__disjvr_9^post20, temp_33^0'=temp_33^post20, result_11^0'=result_11^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, __disjvr_6^0'=__disjvr_6^post20, r_37^0'=r_37^post20, i_111^0'=i_111^post20, x_15^0'=x_15^post20, t_24^0'=t_24^post20, __disjvr_3^0'=__disjvr_3^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, a_28^0'=a_28^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_63^0'=rcd_63^post20, len_14^0'=len_14^post20, __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, temp0_31^0'=temp0_31^post20, __disjvr_5^0'=__disjvr_5^post20, __disjvr_2^0'=__disjvr_2^post20, d_29^0'=d_29^post20, a_130^0'=a_130^post20, tmp_27^0'=tmp_27^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, a_175^0'=a_175^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_100^0'=rcd_100^post20, i_13^0'=i_13^post20, x_17^0'=x_17^post20, temp0_16^0'=temp0_16^post20, __disjvr_4^0'=__disjvr_4^post20, (0 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -y_20^0 <= 0 /\ -a_152^post20+a_152^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ -a_130^post20+a_130^0 == 0 /\ ct_18^0 <= 0 /\ x_15^0-x_15^post20 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -y_20^post20+y_20^0 == 0 /\ -i_13^post20+i_13^0 == 0 /\ len_14^0-len_14^post20 == 0 /\ x_15^0-x_17^0 <= 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -1+a_152^0-a_175^post20 <= 0 /\ -x_17^post20+x_17^0 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post20 == 0 /\ x_21^0-x_21^post20 == 0 /\ -__disjvr_0^post20+__disjvr_0^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ temp_33^0-temp_33^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ i_111^0-i_111^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ ct_18^0-ct_18^post20 == 0 /\ -x_SLAM_f_19^post20+x_SLAM_f_19^0 == 0 /\ -d_29^post20+d_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ 1-a_152^0+a_175^post20 <= 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_32^0-x_32^post20 == 0 /\ -ct_18^0 <= 0), cost: 1
  21: l22 -> l23 : __disjvr_1^0'=__disjvr_1^post21, ct_18^0'=ct_18^post21, __disjvr_9^0'=__disjvr_9^post21, temp_33^0'=temp_33^post21, result_11^0'=result_11^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, __disjvr_6^0'=__disjvr_6^post21, r_37^0'=r_37^post21, i_111^0'=i_111^post21, x_15^0'=x_15^post21, t_24^0'=t_24^post21, __disjvr_3^0'=__disjvr_3^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, a_28^0'=a_28^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_63^0'=rcd_63^post21, len_14^0'=len_14^post21, __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, temp0_31^0'=temp0_31^post21, __disjvr_5^0'=__disjvr_5^post21, __disjvr_2^0'=__disjvr_2^post21, d_29^0'=d_29^post21, a_130^0'=a_130^post21, tmp_27^0'=tmp_27^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, a_175^0'=a_175^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_100^0'=rcd_100^post21, i_13^0'=i_13^post21, x_17^0'=x_17^post21, temp0_16^0'=temp0_16^post21, __disjvr_4^0'=__disjvr_4^post21, (-a_28^post21+a_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post21+x_17^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_15^0-x_15^post21 == 0 /\ -a_175^post21+a_175^0 == 0 /\ -i_13^post21+i_13^0 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ t_24^0-t_24^post21 == 0 /\ -d_29^post21+d_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -tmp_27^post21+tmp_27^0 == 0 /\ -rcd_100^post21+rcd_100^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ a_130^0-a_130^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ x_32^0-x_32^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ i_111^0-i_111^post21 == 0 /\ __disjvr_1^0-__disjvr_1^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ -len_14^post21+len_14^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ a_152^0-a_152^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ x_21^0-x_21^post21 == 0), cost: 1
  22: l23 -> l24 : __disjvr_1^0'=__disjvr_1^post22, ct_18^0'=ct_18^post22, __disjvr_9^0'=__disjvr_9^post22, temp_33^0'=temp_33^post22, result_11^0'=result_11^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, __disjvr_6^0'=__disjvr_6^post22, r_37^0'=r_37^post22, i_111^0'=i_111^post22, x_15^0'=x_15^post22, t_24^0'=t_24^post22, __disjvr_3^0'=__disjvr_3^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, a_28^0'=a_28^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_63^0'=rcd_63^post22, len_14^0'=len_14^post22, __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, temp0_31^0'=temp0_31^post22, __disjvr_5^0'=__disjvr_5^post22, __disjvr_2^0'=__disjvr_2^post22, d_29^0'=d_29^post22, a_130^0'=a_130^post22, tmp_27^0'=tmp_27^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_175^0'=a_175^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_100^0'=rcd_100^post22, i_13^0'=i_13^post22, x_17^0'=x_17^post22, temp0_16^0'=temp0_16^post22, __disjvr_4^0'=__disjvr_4^post22, (-x_17^post22+x_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -a_28^post22+a_28^0 == 0 /\ i_111^0-i_111^post22 == 0 /\ -len_14^post22+len_14^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ t_24^0-t_24^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -rcd_100^post22+rcd_100^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_3^post22+__disjvr_3^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_152^0-a_152^post22 == 0 /\ -__disjvr_9^0+__disjvr_9^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ -tmp_27^post22+tmp_27^0 == 0), cost: 1
  23: l24 -> l19 : __disjvr_1^0'=__disjvr_1^post23, ct_18^0'=ct_18^post23, __disjvr_9^0'=__disjvr_9^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, __disjvr_6^0'=__disjvr_6^post23, r_37^0'=r_37^post23, i_111^0'=i_111^post23, x_15^0'=x_15^post23, t_24^0'=t_24^post23, __disjvr_3^0'=__disjvr_3^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, a_28^0'=a_28^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_63^0'=rcd_63^post23, len_14^0'=len_14^post23, __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, temp0_31^0'=temp0_31^post23, __disjvr_5^0'=__disjvr_5^post23, __disjvr_2^0'=__disjvr_2^post23, d_29^0'=d_29^post23, a_130^0'=a_130^post23, tmp_27^0'=tmp_27^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_175^0'=a_175^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_100^0'=rcd_100^post23, i_13^0'=i_13^post23, x_17^0'=x_17^post23, temp0_16^0'=temp0_16^post23, __disjvr_4^0'=__disjvr_4^post23, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ -__disjvr_0^post23+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -x_21^post23+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -a_175^post23+a_175^0 == 0 /\ -len_14^post23+len_14^0 == 0 /\ x_15^0-x_15^post23 == 0 /\ d_29^0-d_29^post23 == 0 /\ temp_33^0-temp_33^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -r_37^post23+r_37^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -i_13^post23+i_13^0 == 0 /\ -a_152^post23+a_175^0 <= 0 /\ x_32^0-x_32^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ 2-len_14^0 <= 0 /\ -rcd_63^post23+rcd_63^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ -a_130^post23+a_130^0 == 0 /\ -y_20^post23+y_20^0 == 0 /\ a_152^post23-a_175^0 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ 1-len_14^0 <= 0 /\ tmp_27^0-tmp_27^post23 == 0 /\ ct_18^0-ct_18^post23 == 0), cost: 1
  24: l19 -> l4 : __disjvr_1^0'=__disjvr_1^post24, ct_18^0'=ct_18^post24, __disjvr_9^0'=__disjvr_9^post24, temp_33^0'=temp_33^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, __disjvr_6^0'=__disjvr_6^post24, r_37^0'=r_37^post24, i_111^0'=i_111^post24, x_15^0'=x_15^post24, t_24^0'=t_24^post24, __disjvr_3^0'=__disjvr_3^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, a_28^0'=a_28^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_63^0'=rcd_63^post24, len_14^0'=len_14^post24, __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, temp0_31^0'=temp0_31^post24, __disjvr_5^0'=__disjvr_5^post24, __disjvr_2^0'=__disjvr_2^post24, d_29^0'=d_29^post24, a_130^0'=a_130^post24, tmp_27^0'=tmp_27^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_175^0'=a_175^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_100^0'=rcd_100^post24, i_13^0'=i_13^post24, x_17^0'=x_17^post24, temp0_16^0'=temp0_16^post24, __disjvr_4^0'=__disjvr_4^post24, (a_28^0-a_28^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_0^post24+__disjvr_0^0 == 0 /\ x_15^0-x_15^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ len_14^0-len_14^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ ct_18^0-ct_18^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -i_13^post24+i_13^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -a_130^post24+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -d_29^post24+d_29^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ i_111^0-i_111^post24 == 0 /\ a_152^0-a_152^post24 == 0 /\ -rcd_100^post24+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ -tmp_27^post24+tmp_27^0 == 0 /\ -a_175^post24+a_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -temp_33^post24+temp_33^0 == 0), cost: 1
  26: l25 -> l26 : __disjvr_1^0'=__disjvr_1^post26, ct_18^0'=ct_18^post26, __disjvr_9^0'=__disjvr_9^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, __disjvr_6^0'=__disjvr_6^post26, r_37^0'=r_37^post26, i_111^0'=i_111^post26, x_15^0'=x_15^post26, t_24^0'=t_24^post26, __disjvr_3^0'=__disjvr_3^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, a_28^0'=a_28^post26, __disjvr_8^0'=__disjvr_8^post26, rcd_63^0'=rcd_63^post26, len_14^0'=len_14^post26, __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, temp0_31^0'=temp0_31^post26, __disjvr_5^0'=__disjvr_5^post26, __disjvr_2^0'=__disjvr_2^post26, d_29^0'=d_29^post26, a_130^0'=a_130^post26, tmp_27^0'=tmp_27^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_175^0'=a_175^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_100^0'=rcd_100^post26, i_13^0'=i_13^post26, x_17^0'=x_17^post26, temp0_16^0'=temp0_16^post26, __disjvr_4^0'=__disjvr_4^post26, (-__disjvr_5^post26+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ x_21^0-x_21^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ temp_33^0-temp_33^post26 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_152^0-a_152^post26 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ x_15^0-x_15^post26 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ -__disjvr_0^post26+__disjvr_0^0 == 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ -x_32^post26+x_32^0 == 0 /\ -tmp_27^post26+tmp_27^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ result_11^0-result_11^post26 == 0 /\ -rcd_63^post26+rcd_63^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post26 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -t_24^post26+t_24^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0), cost: 1
  27: l26 -> l27 : __disjvr_1^0'=__disjvr_1^post27, ct_18^0'=ct_18^post27, __disjvr_9^0'=__disjvr_9^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, __disjvr_6^0'=__disjvr_6^post27, r_37^0'=r_37^post27, i_111^0'=i_111^post27, x_15^0'=x_15^post27, t_24^0'=t_24^post27, __disjvr_3^0'=__disjvr_3^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, a_28^0'=a_28^post27, __disjvr_8^0'=__disjvr_8^post27, rcd_63^0'=rcd_63^post27, len_14^0'=len_14^post27, __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, temp0_31^0'=temp0_31^post27, __disjvr_5^0'=__disjvr_5^post27, __disjvr_2^0'=__disjvr_2^post27, d_29^0'=d_29^post27, a_130^0'=a_130^post27, tmp_27^0'=tmp_27^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_175^0'=a_175^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_100^0'=rcd_100^post27, i_13^0'=i_13^post27, x_17^0'=x_17^post27, temp0_16^0'=temp0_16^post27, __disjvr_4^0'=__disjvr_4^post27, (0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -y_20^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ x_15^0-t_24^post27 <= 0 /\ ct_18^0 <= 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_15^0-x_15^post27 == 0 /\ -a_28^post27+a_28^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ x_15^0-x_17^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -x_15^0+t_24^post27 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ -x_21^0+t_24^post27 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post27 == 0 /\ a_152^0-a_130^post27 <= 0 /\ i_111^0-i_111^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ len_14^0-len_14^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -d_29^post27+d_29^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_32^0-x_32^post27 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -ct_18^0 <= 0), cost: 1
  28: l27 -> l28 : __disjvr_1^0'=__disjvr_1^post28, ct_18^0'=ct_18^post28, __disjvr_9^0'=__disjvr_9^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, __disjvr_6^0'=__disjvr_6^post28, r_37^0'=r_37^post28, i_111^0'=i_111^post28, x_15^0'=x_15^post28, t_24^0'=t_24^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, a_28^0'=a_28^post28, __disjvr_8^0'=__disjvr_8^post28, rcd_63^0'=rcd_63^post28, len_14^0'=len_14^post28, __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_2^0'=__disjvr_2^post28, d_29^0'=d_29^post28, a_130^0'=a_130^post28, tmp_27^0'=tmp_27^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_175^0'=a_175^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_100^0'=rcd_100^post28, i_13^0'=i_13^post28, x_17^0'=x_17^post28, temp0_16^0'=temp0_16^post28, __disjvr_4^0'=__disjvr_4^post28, (-__disjvr_2^post28+__disjvr_2^0 == 0 /\ -x_21^post28+x_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ i_111^0-i_111^post28 == 0 /\ -x_15^post28+x_15^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ -len_14^post28+len_14^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ t_24^0-t_24^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ __disjvr_11^post28-__disjvr_11^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -r_37^post28+r_37^0 == 0 /\ -a_28^post28+a_28^0 == 0 /\ rcd_63^0-rcd_63^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -d_29^post28+d_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ -a_175^post28+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ rcd_100^0-rcd_100^post28 == 0), cost: 1
  29: l28 -> l29 : __disjvr_1^0'=__disjvr_1^post29, ct_18^0'=ct_18^post29, __disjvr_9^0'=__disjvr_9^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, __disjvr_6^0'=__disjvr_6^post29, r_37^0'=r_37^post29, i_111^0'=i_111^post29, x_15^0'=x_15^post29, t_24^0'=t_24^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, a_28^0'=a_28^post29, __disjvr_8^0'=__disjvr_8^post29, rcd_63^0'=rcd_63^post29, len_14^0'=len_14^post29, __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_2^0'=__disjvr_2^post29, d_29^0'=d_29^post29, a_130^0'=a_130^post29, tmp_27^0'=tmp_27^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_175^0'=a_175^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_100^0'=rcd_100^post29, i_13^0'=i_13^post29, x_17^0'=x_17^post29, temp0_16^0'=temp0_16^post29, __disjvr_4^0'=__disjvr_4^post29, (-temp0_31^post29+temp0_31^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ t_24^0-t_24^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -x_21^post29+x_21^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_12^0+__disjvr_12^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ x_15^0-x_15^post29 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ r_37^0-r_37^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ d_29^0-d_29^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ tmp_27^0-tmp_27^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -a_130^post29+a_130^0 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -len_14^post29+len_14^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_32^0-x_32^post29 == 0 /\ -__disjvr_6^post29+__disjvr_6^0 == 0 /\ -ct_18^post29+ct_18^0 == 0), cost: 1
  30: l29 -> l4 : __disjvr_1^0'=__disjvr_1^post30, ct_18^0'=ct_18^post30, __disjvr_9^0'=__disjvr_9^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, __disjvr_6^0'=__disjvr_6^post30, r_37^0'=r_37^post30, i_111^0'=i_111^post30, x_15^0'=x_15^post30, t_24^0'=t_24^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, a_28^0'=a_28^post30, __disjvr_8^0'=__disjvr_8^post30, rcd_63^0'=rcd_63^post30, len_14^0'=len_14^post30, __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_2^0'=__disjvr_2^post30, d_29^0'=d_29^post30, a_130^0'=a_130^post30, tmp_27^0'=tmp_27^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_175^0'=a_175^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_100^0'=rcd_100^post30, i_13^0'=i_13^post30, x_17^0'=x_17^post30, temp0_16^0'=temp0_16^post30, __disjvr_4^0'=__disjvr_4^post30, (0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ -1+i_13^post30-a_130^0 <= 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ 2-len_14^0 <= 0 /\ -x_21^post30+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ 1-i_13^post30+a_130^0 <= 0 /\ result_11^0-result_11^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ __disjvr_12^0-__disjvr_12^post30 == 0 /\ r_37^0-r_37^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -x_32^post30+x_32^0 == 0 /\ 1-len_14^0 <= 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -t_24^post30+t_24^0 == 0), cost: 1
  32: l30 -> l18 : __disjvr_1^0'=__disjvr_1^post32, ct_18^0'=ct_18^post32, __disjvr_9^0'=__disjvr_9^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, __disjvr_6^0'=__disjvr_6^post32, r_37^0'=r_37^post32, i_111^0'=i_111^post32, x_15^0'=x_15^post32, t_24^0'=t_24^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, a_28^0'=a_28^post32, __disjvr_8^0'=__disjvr_8^post32, rcd_63^0'=rcd_63^post32, len_14^0'=len_14^post32, __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_2^0'=__disjvr_2^post32, d_29^0'=d_29^post32, a_130^0'=a_130^post32, tmp_27^0'=tmp_27^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_175^0'=a_175^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_100^0'=rcd_100^post32, i_13^0'=i_13^post32, x_17^0'=x_17^post32, temp0_16^0'=temp0_16^post32, __disjvr_4^0'=__disjvr_4^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -a_152^post32+a_152^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -t_24^post32+t_24^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ r_37^0-r_37^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -a_130^post32+a_130^0 == 0 /\ i_111^0-i_111^post32 == 0 /\ -i_13^post32+i_13^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ x_21^0-x_21^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ -tmp_27^post32+tmp_27^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -d_29^post32+d_29^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ y_20^0-y_20^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ len_14^0-len_14^post32 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_16^post32+temp0_16^0 == 0), cost: 1
  35: l31 -> l10 : __disjvr_1^0'=__disjvr_1^post35, ct_18^0'=ct_18^post35, __disjvr_9^0'=__disjvr_9^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, __disjvr_6^0'=__disjvr_6^post35, r_37^0'=r_37^post35, i_111^0'=i_111^post35, x_15^0'=x_15^post35, t_24^0'=t_24^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, a_28^0'=a_28^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_63^0'=rcd_63^post35, len_14^0'=len_14^post35, __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_2^0'=__disjvr_2^post35, d_29^0'=d_29^post35, a_130^0'=a_130^post35, tmp_27^0'=tmp_27^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_175^0'=a_175^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_100^0'=rcd_100^post35, i_13^0'=i_13^post35, x_17^0'=x_17^post35, temp0_16^0'=temp0_16^post35, __disjvr_4^0'=__disjvr_4^post35, (-__disjvr_3^post35+__disjvr_3^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ ct_18^0-ct_18^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -x_SLAM_f_19^post35+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ t_24^0-t_24^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ -tmp_27^post35+tmp_27^0 == 0 /\ x_15^0-x_15^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ x_21^0-x_21^post35 == 0 /\ a_130^0-a_130^post35 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -d_29^post35+d_29^0 == 0 /\ -x_17^post35+x_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ y_20^0-y_20^post35 == 0 /\ -a_152^post35+a_152^0 == 0 /\ -a_175^post35+a_175^0 == 0 /\ x_32^0-x_32^post35 == 0 /\ -len_14^post35+len_14^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l31
  18: l4 -> l20 : __disjvr_1^0'=__disjvr_1^post18, ct_18^0'=ct_18^post18, __disjvr_9^0'=__disjvr_9^post18, temp_33^0'=temp_33^post18, result_11^0'=result_11^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, __disjvr_6^0'=__disjvr_6^post18, r_37^0'=r_37^post18, i_111^0'=i_111^post18, x_15^0'=x_15^post18, t_24^0'=t_24^post18, __disjvr_3^0'=__disjvr_3^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, a_28^0'=a_28^post18, __disjvr_8^0'=__disjvr_8^post18, rcd_63^0'=rcd_63^post18, len_14^0'=len_14^post18, __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, temp0_31^0'=temp0_31^post18, __disjvr_5^0'=__disjvr_5^post18, __disjvr_2^0'=__disjvr_2^post18, d_29^0'=d_29^post18, a_130^0'=a_130^post18, tmp_27^0'=tmp_27^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=a_175^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_100^0'=rcd_100^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, temp0_16^0'=temp0_16^post18, __disjvr_4^0'=__disjvr_4^post18, (0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -rcd_100^post18+rcd_100^0 == 0 /\ -__disjvr_0^post18+__disjvr_0^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ d_29^0-d_29^post18 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ a_28^0-a_28^post18 == 0 /\ -a_152^0 <= 0 /\ -result_11^post18+result_11^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ -a_175^post18+a_175^0 == 0 /\ -i_111^post18+i_111^0 == 0 /\ a_152^0-a_152^post18 == 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ y_20^0-y_20^post18 == 0 /\ -x_21^post18+x_21^0 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ -a_130^post18+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_63^post18+rcd_63^0 == 0 /\ t_24^0-t_24^post18 == 0 /\ -temp0_31^post18+temp0_31^0 == 0), cost: 1
   9: l10 -> l11 : __disjvr_1^0'=__disjvr_1^post9, ct_18^0'=ct_18^post9, __disjvr_9^0'=__disjvr_9^post9, temp_33^0'=temp_33^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, __disjvr_6^0'=__disjvr_6^post9, r_37^0'=r_37^post9, i_111^0'=i_111^post9, x_15^0'=x_15^post9, t_24^0'=t_24^post9, __disjvr_3^0'=__disjvr_3^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, a_28^0'=a_28^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_63^0'=rcd_63^post9, len_14^0'=len_14^post9, __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, temp0_31^0'=temp0_31^post9, __disjvr_5^0'=__disjvr_5^post9, __disjvr_2^0'=__disjvr_2^post9, d_29^0'=d_29^post9, a_130^0'=a_130^post9, tmp_27^0'=tmp_27^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_175^0'=a_175^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_100^0'=rcd_100^post9, i_13^0'=i_13^post9, x_17^0'=x_17^post9, temp0_16^0'=temp0_16^post9, __disjvr_4^0'=__disjvr_4^post9, (-x_15^post9 <= 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ -i_13^post9 <= 0 /\ -tmp_27^post9+tmp_27^0 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -d_29^post9+d_29^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ a_28^0-a_28^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ x_32^0-x_32^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ len_14^0-len_14^post9 == 0 /\ a_152^0-a_152^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ i_111^0-i_111^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ -x_17^post9+x_17^0 == 0 /\ -a_130^post9+a_130^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0), cost: 1
  34: l11 -> l12 : __disjvr_1^0'=__disjvr_1^post34, ct_18^0'=ct_18^post34, __disjvr_9^0'=__disjvr_9^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, __disjvr_6^0'=__disjvr_6^post34, r_37^0'=r_37^post34, i_111^0'=i_111^post34, x_15^0'=x_15^post34, t_24^0'=t_24^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, a_28^0'=a_28^post34, __disjvr_8^0'=__disjvr_8^post34, rcd_63^0'=rcd_63^post34, len_14^0'=len_14^post34, __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_2^0'=__disjvr_2^post34, d_29^0'=d_29^post34, a_130^0'=a_130^post34, tmp_27^0'=tmp_27^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_175^0'=a_175^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_100^0'=rcd_100^post34, i_13^0'=i_13^post34, x_17^0'=x_17^post34, temp0_16^0'=temp0_16^post34, __disjvr_4^0'=__disjvr_4^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ i_111^0-i_111^post34 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -t_24^post34+t_24^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -rcd_100^post34+rcd_100^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_130^post34+a_130^0 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ -1+i_13^post34-i_13^0 == 0 /\ -__disjvr_4^post34+__disjvr_4^0 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ x_32^120-temp_33^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -result_11^120+tmp_27^post34 == 0 /\ x_15^post34-tmp_27^post34 <= 0 /\ x_15^post34-tmp_27^post34 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ ct_18^0-ct_18^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -x_15^post34+tmp_27^post34 <= 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ __disjvr_12^0-__disjvr_12^post34 == 0 /\ a_28^12-i_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ 1-len_14^0 <= 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0), cost: 1
  16: l12 -> l18 : __disjvr_1^0'=__disjvr_1^post16, ct_18^0'=ct_18^post16, __disjvr_9^0'=__disjvr_9^post16, temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, __disjvr_6^0'=__disjvr_6^post16, r_37^0'=r_37^post16, i_111^0'=i_111^post16, x_15^0'=x_15^post16, t_24^0'=t_24^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, a_28^0'=a_28^post16, __disjvr_8^0'=__disjvr_8^post16, rcd_63^0'=rcd_63^post16, len_14^0'=len_14^post16, __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_2^0'=__disjvr_2^post16, d_29^0'=d_29^post16, a_130^0'=a_130^post16, tmp_27^0'=tmp_27^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, a_175^0'=a_175^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_100^0'=rcd_100^post16, i_13^0'=i_13^post16, x_17^0'=x_17^post16, temp0_16^0'=temp0_16^post16, __disjvr_4^0'=__disjvr_4^post16, (0 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_21^post16+x_21^0 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post16+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -a_175^post16+a_175^0 == 0 /\ -1+i_13^post16-i_13^0 == 0 /\ a_152^0-a_152^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -2+i_13^post16 <= 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ len_14^0-len_14^post16 == 0 /\ -x_SLAM_f_19^post16+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ -tmp_27^post16+x_15^post16 <= 0 /\ -tmp_27^post16+x_15^post16 == 0 /\ -a_130^post16+a_130^0 == 0 /\ __disjvr_5^0-__disjvr_5^post16 == 0 /\ 2-len_14^0 <= 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -y_20^post16+y_20^0 == 0 /\ a_28^10-i_13^0 == 0 /\ tmp_27^post16-x_15^post16 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ -result_11^10+tmp_27^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ 2-i_13^post16 <= 0 /\ d_29^10-x_15^0 == 0), cost: 1
  25: l18 -> l25 : __disjvr_1^0'=__disjvr_1^post25, ct_18^0'=ct_18^post25, __disjvr_9^0'=__disjvr_9^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, __disjvr_6^0'=__disjvr_6^post25, r_37^0'=r_37^post25, i_111^0'=i_111^post25, x_15^0'=x_15^post25, t_24^0'=t_24^post25, __disjvr_3^0'=__disjvr_3^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, a_28^0'=a_28^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_63^0'=rcd_63^post25, len_14^0'=len_14^post25, __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, temp0_31^0'=temp0_31^post25, __disjvr_5^0'=__disjvr_5^post25, __disjvr_2^0'=__disjvr_2^post25, d_29^0'=d_29^post25, a_130^0'=a_130^post25, tmp_27^0'=tmp_27^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_175^0'=a_175^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_100^0'=rcd_100^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, temp0_16^0'=temp0_16^post25, __disjvr_4^0'=__disjvr_4^post25, (0 == 0 /\ y_20^post25-ct_18^14 == 0 /\ -i_13^0 <= 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ i_111^0-i_111^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ -a_28^post25+a_28^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post25+a_130^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ __disjvr_7^0-__disjvr_7^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_32^0-x_32^post25 == 0 /\ a_152^0-a_152^post25 == 0 /\ ct_18^14 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -__disjvr_3^post25+__disjvr_3^0 == 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0), cost: 1
  31: l18 -> l30 : __disjvr_1^0'=__disjvr_1^post31, ct_18^0'=ct_18^post31, __disjvr_9^0'=__disjvr_9^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, __disjvr_6^0'=__disjvr_6^post31, r_37^0'=r_37^post31, i_111^0'=i_111^post31, x_15^0'=x_15^post31, t_24^0'=t_24^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, a_28^0'=a_28^post31, __disjvr_8^0'=__disjvr_8^post31, rcd_63^0'=rcd_63^post31, len_14^0'=len_14^post31, __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_2^0'=__disjvr_2^post31, d_29^0'=d_29^post31, a_130^0'=a_130^post31, tmp_27^0'=tmp_27^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_175^0'=a_175^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_100^0'=rcd_100^post31, i_13^0'=i_13^post31, x_17^0'=x_17^post31, temp0_16^0'=temp0_16^post31, __disjvr_4^0'=__disjvr_4^post31, (0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -i_13^0 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ ct_18^0-ct_18^post31 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ -a_130^post31+a_130^0 == 0 /\ a_152^0-a_152^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ tmp_27^post31-result_11^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ x_32^110-temp_33^0 == 0 /\ -temp0_31^110+result_11^110 == 0 /\ -x_21^post31+x_21^0 == 0 /\ rcd_63^0-rcd_63^post31 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -len_14^post31+len_14^0 == 0 /\ -x_15^0+d_29^110 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ a_28^11-i_13^0 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0), cost: 1
  19: l20 -> l21 : __disjvr_1^0'=__disjvr_1^post19, ct_18^0'=ct_18^post19, __disjvr_9^0'=__disjvr_9^post19, temp_33^0'=temp_33^post19, result_11^0'=result_11^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, __disjvr_6^0'=__disjvr_6^post19, r_37^0'=r_37^post19, i_111^0'=i_111^post19, x_15^0'=x_15^post19, t_24^0'=t_24^post19, __disjvr_3^0'=__disjvr_3^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, a_28^0'=a_28^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_63^0'=rcd_63^post19, len_14^0'=len_14^post19, __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, temp0_31^0'=temp0_31^post19, __disjvr_5^0'=__disjvr_5^post19, __disjvr_2^0'=__disjvr_2^post19, d_29^0'=d_29^post19, a_130^0'=a_130^post19, tmp_27^0'=tmp_27^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, a_175^0'=a_175^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_100^0'=rcd_100^post19, i_13^0'=i_13^post19, x_17^0'=x_17^post19, temp0_16^0'=temp0_16^post19, __disjvr_4^0'=__disjvr_4^post19, (-rcd_100^post19+rcd_100^0 == 0 /\ a_28^0-a_28^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ ct_18^0-ct_18^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ a_152^0-a_152^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ x_15^0-x_15^post19 == 0 /\ -a_130^post19+a_130^0 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -x_17^post19+x_17^0 == 0 /\ __disjvr_7^post19-__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -a_175^post19+a_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -__disjvr_0^post19+__disjvr_0^0 == 0 /\ -x_32^post19+x_32^0 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -temp_33^post19+temp_33^0 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ r_37^0-r_37^post19 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -len_14^post19+len_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -temp0_31^post19+temp0_31^0 == 0), cost: 1
  20: l21 -> l22 : __disjvr_1^0'=__disjvr_1^post20, ct_18^0'=ct_18^post20, __disjvr_9^0'=__disjvr_9^post20, temp_33^0'=temp_33^post20, result_11^0'=result_11^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, __disjvr_6^0'=__disjvr_6^post20, r_37^0'=r_37^post20, i_111^0'=i_111^post20, x_15^0'=x_15^post20, t_24^0'=t_24^post20, __disjvr_3^0'=__disjvr_3^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, a_28^0'=a_28^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_63^0'=rcd_63^post20, len_14^0'=len_14^post20, __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, temp0_31^0'=temp0_31^post20, __disjvr_5^0'=__disjvr_5^post20, __disjvr_2^0'=__disjvr_2^post20, d_29^0'=d_29^post20, a_130^0'=a_130^post20, tmp_27^0'=tmp_27^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, a_175^0'=a_175^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_100^0'=rcd_100^post20, i_13^0'=i_13^post20, x_17^0'=x_17^post20, temp0_16^0'=temp0_16^post20, __disjvr_4^0'=__disjvr_4^post20, (0 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -y_20^0 <= 0 /\ -a_152^post20+a_152^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ -a_130^post20+a_130^0 == 0 /\ ct_18^0 <= 0 /\ x_15^0-x_15^post20 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -y_20^post20+y_20^0 == 0 /\ -i_13^post20+i_13^0 == 0 /\ len_14^0-len_14^post20 == 0 /\ x_15^0-x_17^0 <= 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -1+a_152^0-a_175^post20 <= 0 /\ -x_17^post20+x_17^0 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post20 == 0 /\ x_21^0-x_21^post20 == 0 /\ -__disjvr_0^post20+__disjvr_0^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ temp_33^0-temp_33^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ i_111^0-i_111^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ ct_18^0-ct_18^post20 == 0 /\ -x_SLAM_f_19^post20+x_SLAM_f_19^0 == 0 /\ -d_29^post20+d_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ 1-a_152^0+a_175^post20 <= 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_32^0-x_32^post20 == 0 /\ -ct_18^0 <= 0), cost: 1
  21: l22 -> l23 : __disjvr_1^0'=__disjvr_1^post21, ct_18^0'=ct_18^post21, __disjvr_9^0'=__disjvr_9^post21, temp_33^0'=temp_33^post21, result_11^0'=result_11^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, __disjvr_6^0'=__disjvr_6^post21, r_37^0'=r_37^post21, i_111^0'=i_111^post21, x_15^0'=x_15^post21, t_24^0'=t_24^post21, __disjvr_3^0'=__disjvr_3^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, a_28^0'=a_28^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_63^0'=rcd_63^post21, len_14^0'=len_14^post21, __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, temp0_31^0'=temp0_31^post21, __disjvr_5^0'=__disjvr_5^post21, __disjvr_2^0'=__disjvr_2^post21, d_29^0'=d_29^post21, a_130^0'=a_130^post21, tmp_27^0'=tmp_27^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, a_175^0'=a_175^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_100^0'=rcd_100^post21, i_13^0'=i_13^post21, x_17^0'=x_17^post21, temp0_16^0'=temp0_16^post21, __disjvr_4^0'=__disjvr_4^post21, (-a_28^post21+a_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post21+x_17^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_15^0-x_15^post21 == 0 /\ -a_175^post21+a_175^0 == 0 /\ -i_13^post21+i_13^0 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ t_24^0-t_24^post21 == 0 /\ -d_29^post21+d_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -tmp_27^post21+tmp_27^0 == 0 /\ -rcd_100^post21+rcd_100^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ a_130^0-a_130^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ x_32^0-x_32^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ i_111^0-i_111^post21 == 0 /\ __disjvr_1^0-__disjvr_1^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ -len_14^post21+len_14^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ a_152^0-a_152^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ x_21^0-x_21^post21 == 0), cost: 1
  22: l23 -> l24 : __disjvr_1^0'=__disjvr_1^post22, ct_18^0'=ct_18^post22, __disjvr_9^0'=__disjvr_9^post22, temp_33^0'=temp_33^post22, result_11^0'=result_11^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, __disjvr_6^0'=__disjvr_6^post22, r_37^0'=r_37^post22, i_111^0'=i_111^post22, x_15^0'=x_15^post22, t_24^0'=t_24^post22, __disjvr_3^0'=__disjvr_3^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, a_28^0'=a_28^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_63^0'=rcd_63^post22, len_14^0'=len_14^post22, __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, temp0_31^0'=temp0_31^post22, __disjvr_5^0'=__disjvr_5^post22, __disjvr_2^0'=__disjvr_2^post22, d_29^0'=d_29^post22, a_130^0'=a_130^post22, tmp_27^0'=tmp_27^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_175^0'=a_175^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_100^0'=rcd_100^post22, i_13^0'=i_13^post22, x_17^0'=x_17^post22, temp0_16^0'=temp0_16^post22, __disjvr_4^0'=__disjvr_4^post22, (-x_17^post22+x_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -a_28^post22+a_28^0 == 0 /\ i_111^0-i_111^post22 == 0 /\ -len_14^post22+len_14^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ t_24^0-t_24^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -rcd_100^post22+rcd_100^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_3^post22+__disjvr_3^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_152^0-a_152^post22 == 0 /\ -__disjvr_9^0+__disjvr_9^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ -tmp_27^post22+tmp_27^0 == 0), cost: 1
  23: l24 -> l19 : __disjvr_1^0'=__disjvr_1^post23, ct_18^0'=ct_18^post23, __disjvr_9^0'=__disjvr_9^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, __disjvr_6^0'=__disjvr_6^post23, r_37^0'=r_37^post23, i_111^0'=i_111^post23, x_15^0'=x_15^post23, t_24^0'=t_24^post23, __disjvr_3^0'=__disjvr_3^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, a_28^0'=a_28^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_63^0'=rcd_63^post23, len_14^0'=len_14^post23, __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, temp0_31^0'=temp0_31^post23, __disjvr_5^0'=__disjvr_5^post23, __disjvr_2^0'=__disjvr_2^post23, d_29^0'=d_29^post23, a_130^0'=a_130^post23, tmp_27^0'=tmp_27^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_175^0'=a_175^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_100^0'=rcd_100^post23, i_13^0'=i_13^post23, x_17^0'=x_17^post23, temp0_16^0'=temp0_16^post23, __disjvr_4^0'=__disjvr_4^post23, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ -__disjvr_0^post23+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -x_21^post23+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -a_175^post23+a_175^0 == 0 /\ -len_14^post23+len_14^0 == 0 /\ x_15^0-x_15^post23 == 0 /\ d_29^0-d_29^post23 == 0 /\ temp_33^0-temp_33^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -r_37^post23+r_37^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -i_13^post23+i_13^0 == 0 /\ -a_152^post23+a_175^0 <= 0 /\ x_32^0-x_32^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ 2-len_14^0 <= 0 /\ -rcd_63^post23+rcd_63^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ -a_130^post23+a_130^0 == 0 /\ -y_20^post23+y_20^0 == 0 /\ a_152^post23-a_175^0 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ 1-len_14^0 <= 0 /\ tmp_27^0-tmp_27^post23 == 0 /\ ct_18^0-ct_18^post23 == 0), cost: 1
  24: l19 -> l4 : __disjvr_1^0'=__disjvr_1^post24, ct_18^0'=ct_18^post24, __disjvr_9^0'=__disjvr_9^post24, temp_33^0'=temp_33^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, __disjvr_6^0'=__disjvr_6^post24, r_37^0'=r_37^post24, i_111^0'=i_111^post24, x_15^0'=x_15^post24, t_24^0'=t_24^post24, __disjvr_3^0'=__disjvr_3^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, a_28^0'=a_28^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_63^0'=rcd_63^post24, len_14^0'=len_14^post24, __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, temp0_31^0'=temp0_31^post24, __disjvr_5^0'=__disjvr_5^post24, __disjvr_2^0'=__disjvr_2^post24, d_29^0'=d_29^post24, a_130^0'=a_130^post24, tmp_27^0'=tmp_27^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_175^0'=a_175^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_100^0'=rcd_100^post24, i_13^0'=i_13^post24, x_17^0'=x_17^post24, temp0_16^0'=temp0_16^post24, __disjvr_4^0'=__disjvr_4^post24, (a_28^0-a_28^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_0^post24+__disjvr_0^0 == 0 /\ x_15^0-x_15^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ len_14^0-len_14^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ ct_18^0-ct_18^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -i_13^post24+i_13^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -a_130^post24+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -d_29^post24+d_29^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ i_111^0-i_111^post24 == 0 /\ a_152^0-a_152^post24 == 0 /\ -rcd_100^post24+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ -tmp_27^post24+tmp_27^0 == 0 /\ -a_175^post24+a_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -temp_33^post24+temp_33^0 == 0), cost: 1
  26: l25 -> l26 : __disjvr_1^0'=__disjvr_1^post26, ct_18^0'=ct_18^post26, __disjvr_9^0'=__disjvr_9^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, __disjvr_6^0'=__disjvr_6^post26, r_37^0'=r_37^post26, i_111^0'=i_111^post26, x_15^0'=x_15^post26, t_24^0'=t_24^post26, __disjvr_3^0'=__disjvr_3^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, a_28^0'=a_28^post26, __disjvr_8^0'=__disjvr_8^post26, rcd_63^0'=rcd_63^post26, len_14^0'=len_14^post26, __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, temp0_31^0'=temp0_31^post26, __disjvr_5^0'=__disjvr_5^post26, __disjvr_2^0'=__disjvr_2^post26, d_29^0'=d_29^post26, a_130^0'=a_130^post26, tmp_27^0'=tmp_27^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_175^0'=a_175^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_100^0'=rcd_100^post26, i_13^0'=i_13^post26, x_17^0'=x_17^post26, temp0_16^0'=temp0_16^post26, __disjvr_4^0'=__disjvr_4^post26, (-__disjvr_5^post26+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ x_21^0-x_21^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ temp_33^0-temp_33^post26 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_152^0-a_152^post26 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ x_15^0-x_15^post26 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ -__disjvr_0^post26+__disjvr_0^0 == 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ -x_32^post26+x_32^0 == 0 /\ -tmp_27^post26+tmp_27^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ result_11^0-result_11^post26 == 0 /\ -rcd_63^post26+rcd_63^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post26 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -t_24^post26+t_24^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0), cost: 1
  27: l26 -> l27 : __disjvr_1^0'=__disjvr_1^post27, ct_18^0'=ct_18^post27, __disjvr_9^0'=__disjvr_9^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, __disjvr_6^0'=__disjvr_6^post27, r_37^0'=r_37^post27, i_111^0'=i_111^post27, x_15^0'=x_15^post27, t_24^0'=t_24^post27, __disjvr_3^0'=__disjvr_3^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, a_28^0'=a_28^post27, __disjvr_8^0'=__disjvr_8^post27, rcd_63^0'=rcd_63^post27, len_14^0'=len_14^post27, __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, temp0_31^0'=temp0_31^post27, __disjvr_5^0'=__disjvr_5^post27, __disjvr_2^0'=__disjvr_2^post27, d_29^0'=d_29^post27, a_130^0'=a_130^post27, tmp_27^0'=tmp_27^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_175^0'=a_175^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_100^0'=rcd_100^post27, i_13^0'=i_13^post27, x_17^0'=x_17^post27, temp0_16^0'=temp0_16^post27, __disjvr_4^0'=__disjvr_4^post27, (0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -y_20^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ x_15^0-t_24^post27 <= 0 /\ ct_18^0 <= 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_15^0-x_15^post27 == 0 /\ -a_28^post27+a_28^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ x_15^0-x_17^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -x_15^0+t_24^post27 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ -x_21^0+t_24^post27 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post27 == 0 /\ a_152^0-a_130^post27 <= 0 /\ i_111^0-i_111^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ len_14^0-len_14^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -d_29^post27+d_29^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_32^0-x_32^post27 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -ct_18^0 <= 0), cost: 1
  28: l27 -> l28 : __disjvr_1^0'=__disjvr_1^post28, ct_18^0'=ct_18^post28, __disjvr_9^0'=__disjvr_9^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, __disjvr_6^0'=__disjvr_6^post28, r_37^0'=r_37^post28, i_111^0'=i_111^post28, x_15^0'=x_15^post28, t_24^0'=t_24^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, a_28^0'=a_28^post28, __disjvr_8^0'=__disjvr_8^post28, rcd_63^0'=rcd_63^post28, len_14^0'=len_14^post28, __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_2^0'=__disjvr_2^post28, d_29^0'=d_29^post28, a_130^0'=a_130^post28, tmp_27^0'=tmp_27^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_175^0'=a_175^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_100^0'=rcd_100^post28, i_13^0'=i_13^post28, x_17^0'=x_17^post28, temp0_16^0'=temp0_16^post28, __disjvr_4^0'=__disjvr_4^post28, (-__disjvr_2^post28+__disjvr_2^0 == 0 /\ -x_21^post28+x_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ i_111^0-i_111^post28 == 0 /\ -x_15^post28+x_15^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ -len_14^post28+len_14^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ t_24^0-t_24^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ __disjvr_11^post28-__disjvr_11^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -r_37^post28+r_37^0 == 0 /\ -a_28^post28+a_28^0 == 0 /\ rcd_63^0-rcd_63^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -d_29^post28+d_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ -a_175^post28+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ rcd_100^0-rcd_100^post28 == 0), cost: 1
  29: l28 -> l29 : __disjvr_1^0'=__disjvr_1^post29, ct_18^0'=ct_18^post29, __disjvr_9^0'=__disjvr_9^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, __disjvr_6^0'=__disjvr_6^post29, r_37^0'=r_37^post29, i_111^0'=i_111^post29, x_15^0'=x_15^post29, t_24^0'=t_24^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, a_28^0'=a_28^post29, __disjvr_8^0'=__disjvr_8^post29, rcd_63^0'=rcd_63^post29, len_14^0'=len_14^post29, __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_2^0'=__disjvr_2^post29, d_29^0'=d_29^post29, a_130^0'=a_130^post29, tmp_27^0'=tmp_27^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_175^0'=a_175^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_100^0'=rcd_100^post29, i_13^0'=i_13^post29, x_17^0'=x_17^post29, temp0_16^0'=temp0_16^post29, __disjvr_4^0'=__disjvr_4^post29, (-temp0_31^post29+temp0_31^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ t_24^0-t_24^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -x_21^post29+x_21^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_12^0+__disjvr_12^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ x_15^0-x_15^post29 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ r_37^0-r_37^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ d_29^0-d_29^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ tmp_27^0-tmp_27^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -a_130^post29+a_130^0 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -len_14^post29+len_14^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_32^0-x_32^post29 == 0 /\ -__disjvr_6^post29+__disjvr_6^0 == 0 /\ -ct_18^post29+ct_18^0 == 0), cost: 1
  30: l29 -> l4 : __disjvr_1^0'=__disjvr_1^post30, ct_18^0'=ct_18^post30, __disjvr_9^0'=__disjvr_9^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, __disjvr_6^0'=__disjvr_6^post30, r_37^0'=r_37^post30, i_111^0'=i_111^post30, x_15^0'=x_15^post30, t_24^0'=t_24^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, a_28^0'=a_28^post30, __disjvr_8^0'=__disjvr_8^post30, rcd_63^0'=rcd_63^post30, len_14^0'=len_14^post30, __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_2^0'=__disjvr_2^post30, d_29^0'=d_29^post30, a_130^0'=a_130^post30, tmp_27^0'=tmp_27^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_175^0'=a_175^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_100^0'=rcd_100^post30, i_13^0'=i_13^post30, x_17^0'=x_17^post30, temp0_16^0'=temp0_16^post30, __disjvr_4^0'=__disjvr_4^post30, (0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ -1+i_13^post30-a_130^0 <= 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ 2-len_14^0 <= 0 /\ -x_21^post30+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ 1-i_13^post30+a_130^0 <= 0 /\ result_11^0-result_11^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ __disjvr_12^0-__disjvr_12^post30 == 0 /\ r_37^0-r_37^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -x_32^post30+x_32^0 == 0 /\ 1-len_14^0 <= 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -t_24^post30+t_24^0 == 0), cost: 1
  32: l30 -> l18 : __disjvr_1^0'=__disjvr_1^post32, ct_18^0'=ct_18^post32, __disjvr_9^0'=__disjvr_9^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, __disjvr_6^0'=__disjvr_6^post32, r_37^0'=r_37^post32, i_111^0'=i_111^post32, x_15^0'=x_15^post32, t_24^0'=t_24^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, a_28^0'=a_28^post32, __disjvr_8^0'=__disjvr_8^post32, rcd_63^0'=rcd_63^post32, len_14^0'=len_14^post32, __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_2^0'=__disjvr_2^post32, d_29^0'=d_29^post32, a_130^0'=a_130^post32, tmp_27^0'=tmp_27^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_175^0'=a_175^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_100^0'=rcd_100^post32, i_13^0'=i_13^post32, x_17^0'=x_17^post32, temp0_16^0'=temp0_16^post32, __disjvr_4^0'=__disjvr_4^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -a_152^post32+a_152^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -t_24^post32+t_24^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ r_37^0-r_37^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -a_130^post32+a_130^0 == 0 /\ i_111^0-i_111^post32 == 0 /\ -i_13^post32+i_13^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ x_21^0-x_21^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ -tmp_27^post32+tmp_27^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -d_29^post32+d_29^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ y_20^0-y_20^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ len_14^0-len_14^post32 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_16^post32+temp0_16^0 == 0), cost: 1
  35: l31 -> l10 : __disjvr_1^0'=__disjvr_1^post35, ct_18^0'=ct_18^post35, __disjvr_9^0'=__disjvr_9^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, __disjvr_6^0'=__disjvr_6^post35, r_37^0'=r_37^post35, i_111^0'=i_111^post35, x_15^0'=x_15^post35, t_24^0'=t_24^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, a_28^0'=a_28^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_63^0'=rcd_63^post35, len_14^0'=len_14^post35, __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_2^0'=__disjvr_2^post35, d_29^0'=d_29^post35, a_130^0'=a_130^post35, tmp_27^0'=tmp_27^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_175^0'=a_175^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_100^0'=rcd_100^post35, i_13^0'=i_13^post35, x_17^0'=x_17^post35, temp0_16^0'=temp0_16^post35, __disjvr_4^0'=__disjvr_4^post35, (-__disjvr_3^post35+__disjvr_3^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ ct_18^0-ct_18^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -x_SLAM_f_19^post35+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ t_24^0-t_24^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ -tmp_27^post35+tmp_27^0 == 0 /\ x_15^0-x_15^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ x_21^0-x_21^post35 == 0 /\ a_130^0-a_130^post35 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -d_29^post35+d_29^0 == 0 /\ -x_17^post35+x_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ y_20^0-y_20^post35 == 0 /\ -a_152^post35+a_152^0 == 0 /\ -a_175^post35+a_175^0 == 0 /\ x_32^0-x_32^post35 == 0 /\ -len_14^post35+len_14^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0), cost: 1


Applied preprocessing
Original rule:
l10 -> l11 : __disjvr_1^0'=__disjvr_1^post9, ct_18^0'=ct_18^post9, __disjvr_9^0'=__disjvr_9^post9, temp_33^0'=temp_33^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, __disjvr_6^0'=__disjvr_6^post9, r_37^0'=r_37^post9, i_111^0'=i_111^post9, x_15^0'=x_15^post9, t_24^0'=t_24^post9, __disjvr_3^0'=__disjvr_3^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, a_28^0'=a_28^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_63^0'=rcd_63^post9, len_14^0'=len_14^post9, __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, temp0_31^0'=temp0_31^post9, __disjvr_5^0'=__disjvr_5^post9, __disjvr_2^0'=__disjvr_2^post9, d_29^0'=d_29^post9, a_130^0'=a_130^post9, tmp_27^0'=tmp_27^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, a_175^0'=a_175^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_100^0'=rcd_100^post9, i_13^0'=i_13^post9, x_17^0'=x_17^post9, temp0_16^0'=temp0_16^post9, __disjvr_4^0'=__disjvr_4^post9, (-x_15^post9 <= 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ -i_13^post9 <= 0 /\ -tmp_27^post9+tmp_27^0 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -d_29^post9+d_29^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ a_28^0-a_28^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ x_32^0-x_32^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ len_14^0-len_14^post9 == 0 /\ a_152^0-a_152^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ i_111^0-i_111^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ -x_17^post9+x_17^0 == 0 /\ -a_130^post9+a_130^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0), cost: 1
New rule:
l10 -> l11 : x_15^0'=0, i_13^0'=0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l18 : __disjvr_1^0'=__disjvr_1^post16, ct_18^0'=ct_18^post16, __disjvr_9^0'=__disjvr_9^post16, temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, __disjvr_6^0'=__disjvr_6^post16, r_37^0'=r_37^post16, i_111^0'=i_111^post16, x_15^0'=x_15^post16, t_24^0'=t_24^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, a_28^0'=a_28^post16, __disjvr_8^0'=__disjvr_8^post16, rcd_63^0'=rcd_63^post16, len_14^0'=len_14^post16, __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_2^0'=__disjvr_2^post16, d_29^0'=d_29^post16, a_130^0'=a_130^post16, tmp_27^0'=tmp_27^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, a_175^0'=a_175^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_100^0'=rcd_100^post16, i_13^0'=i_13^post16, x_17^0'=x_17^post16, temp0_16^0'=temp0_16^post16, __disjvr_4^0'=__disjvr_4^post16, (0 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_21^post16+x_21^0 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post16+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -a_175^post16+a_175^0 == 0 /\ -1+i_13^post16-i_13^0 == 0 /\ a_152^0-a_152^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -2+i_13^post16 <= 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ len_14^0-len_14^post16 == 0 /\ -x_SLAM_f_19^post16+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ -tmp_27^post16+x_15^post16 <= 0 /\ -tmp_27^post16+x_15^post16 == 0 /\ -a_130^post16+a_130^0 == 0 /\ __disjvr_5^0-__disjvr_5^post16 == 0 /\ 2-len_14^0 <= 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -y_20^post16+y_20^0 == 0 /\ a_28^10-i_13^0 == 0 /\ tmp_27^post16-x_15^post16 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ -result_11^10+tmp_27^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ 2-i_13^post16 <= 0 /\ d_29^10-x_15^0 == 0), cost: 1
New rule:
l12 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^0, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=1+i_13^0, (-2+len_14^0 >= 0 /\ -1+i_13^0 == 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l20 : __disjvr_1^0'=__disjvr_1^post18, ct_18^0'=ct_18^post18, __disjvr_9^0'=__disjvr_9^post18, temp_33^0'=temp_33^post18, result_11^0'=result_11^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, __disjvr_6^0'=__disjvr_6^post18, r_37^0'=r_37^post18, i_111^0'=i_111^post18, x_15^0'=x_15^post18, t_24^0'=t_24^post18, __disjvr_3^0'=__disjvr_3^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, a_28^0'=a_28^post18, __disjvr_8^0'=__disjvr_8^post18, rcd_63^0'=rcd_63^post18, len_14^0'=len_14^post18, __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, temp0_31^0'=temp0_31^post18, __disjvr_5^0'=__disjvr_5^post18, __disjvr_2^0'=__disjvr_2^post18, d_29^0'=d_29^post18, a_130^0'=a_130^post18, tmp_27^0'=tmp_27^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=a_175^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_100^0'=rcd_100^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, temp0_16^0'=temp0_16^post18, __disjvr_4^0'=__disjvr_4^post18, (0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -rcd_100^post18+rcd_100^0 == 0 /\ -__disjvr_0^post18+__disjvr_0^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ d_29^0-d_29^post18 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ a_28^0-a_28^post18 == 0 /\ -a_152^0 <= 0 /\ -result_11^post18+result_11^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ -a_175^post18+a_175^0 == 0 /\ -i_111^post18+i_111^0 == 0 /\ a_152^0-a_152^post18 == 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ y_20^0-y_20^post18 == 0 /\ -x_21^post18+x_21^0 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ -a_130^post18+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_63^post18+rcd_63^0 == 0 /\ t_24^0-t_24^post18 == 0 /\ -temp0_31^post18+temp0_31^0 == 0), cost: 1
New rule:
l4 -> l20 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, a_152^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : __disjvr_1^0'=__disjvr_1^post19, ct_18^0'=ct_18^post19, __disjvr_9^0'=__disjvr_9^post19, temp_33^0'=temp_33^post19, result_11^0'=result_11^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, __disjvr_6^0'=__disjvr_6^post19, r_37^0'=r_37^post19, i_111^0'=i_111^post19, x_15^0'=x_15^post19, t_24^0'=t_24^post19, __disjvr_3^0'=__disjvr_3^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, a_28^0'=a_28^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_63^0'=rcd_63^post19, len_14^0'=len_14^post19, __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, temp0_31^0'=temp0_31^post19, __disjvr_5^0'=__disjvr_5^post19, __disjvr_2^0'=__disjvr_2^post19, d_29^0'=d_29^post19, a_130^0'=a_130^post19, tmp_27^0'=tmp_27^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, a_175^0'=a_175^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_100^0'=rcd_100^post19, i_13^0'=i_13^post19, x_17^0'=x_17^post19, temp0_16^0'=temp0_16^post19, __disjvr_4^0'=__disjvr_4^post19, (-rcd_100^post19+rcd_100^0 == 0 /\ a_28^0-a_28^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ ct_18^0-ct_18^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ a_152^0-a_152^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ x_15^0-x_15^post19 == 0 /\ -a_130^post19+a_130^0 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -x_17^post19+x_17^0 == 0 /\ __disjvr_7^post19-__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -a_175^post19+a_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -__disjvr_0^post19+__disjvr_0^0 == 0 /\ -x_32^post19+x_32^0 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -temp_33^post19+temp_33^0 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ r_37^0-r_37^post19 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -len_14^post19+len_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -temp0_31^post19+temp0_31^0 == 0), cost: 1
New rule:
l20 -> l21 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : __disjvr_1^0'=__disjvr_1^post20, ct_18^0'=ct_18^post20, __disjvr_9^0'=__disjvr_9^post20, temp_33^0'=temp_33^post20, result_11^0'=result_11^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, __disjvr_6^0'=__disjvr_6^post20, r_37^0'=r_37^post20, i_111^0'=i_111^post20, x_15^0'=x_15^post20, t_24^0'=t_24^post20, __disjvr_3^0'=__disjvr_3^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, a_28^0'=a_28^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_63^0'=rcd_63^post20, len_14^0'=len_14^post20, __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, temp0_31^0'=temp0_31^post20, __disjvr_5^0'=__disjvr_5^post20, __disjvr_2^0'=__disjvr_2^post20, d_29^0'=d_29^post20, a_130^0'=a_130^post20, tmp_27^0'=tmp_27^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, a_175^0'=a_175^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_100^0'=rcd_100^post20, i_13^0'=i_13^post20, x_17^0'=x_17^post20, temp0_16^0'=temp0_16^post20, __disjvr_4^0'=__disjvr_4^post20, (0 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -y_20^0 <= 0 /\ -a_152^post20+a_152^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ -a_130^post20+a_130^0 == 0 /\ ct_18^0 <= 0 /\ x_15^0-x_15^post20 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -y_20^post20+y_20^0 == 0 /\ -i_13^post20+i_13^0 == 0 /\ len_14^0-len_14^post20 == 0 /\ x_15^0-x_17^0 <= 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -1+a_152^0-a_175^post20 <= 0 /\ -x_17^post20+x_17^0 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post20 == 0 /\ x_21^0-x_21^post20 == 0 /\ -__disjvr_0^post20+__disjvr_0^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ temp_33^0-temp_33^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ i_111^0-i_111^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ ct_18^0-ct_18^post20 == 0 /\ -x_SLAM_f_19^post20+x_SLAM_f_19^0 == 0 /\ -d_29^post20+d_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ 1-a_152^0+a_175^post20 <= 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_32^0-x_32^post20 == 0 /\ -ct_18^0 <= 0), cost: 1
New rule:
l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : __disjvr_1^0'=__disjvr_1^post21, ct_18^0'=ct_18^post21, __disjvr_9^0'=__disjvr_9^post21, temp_33^0'=temp_33^post21, result_11^0'=result_11^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, __disjvr_6^0'=__disjvr_6^post21, r_37^0'=r_37^post21, i_111^0'=i_111^post21, x_15^0'=x_15^post21, t_24^0'=t_24^post21, __disjvr_3^0'=__disjvr_3^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, a_28^0'=a_28^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_63^0'=rcd_63^post21, len_14^0'=len_14^post21, __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, temp0_31^0'=temp0_31^post21, __disjvr_5^0'=__disjvr_5^post21, __disjvr_2^0'=__disjvr_2^post21, d_29^0'=d_29^post21, a_130^0'=a_130^post21, tmp_27^0'=tmp_27^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, a_175^0'=a_175^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_100^0'=rcd_100^post21, i_13^0'=i_13^post21, x_17^0'=x_17^post21, temp0_16^0'=temp0_16^post21, __disjvr_4^0'=__disjvr_4^post21, (-a_28^post21+a_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post21+x_17^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_15^0-x_15^post21 == 0 /\ -a_175^post21+a_175^0 == 0 /\ -i_13^post21+i_13^0 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ t_24^0-t_24^post21 == 0 /\ -d_29^post21+d_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -tmp_27^post21+tmp_27^0 == 0 /\ -rcd_100^post21+rcd_100^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ a_130^0-a_130^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ x_32^0-x_32^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ i_111^0-i_111^post21 == 0 /\ __disjvr_1^0-__disjvr_1^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ -len_14^post21+len_14^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ a_152^0-a_152^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ x_21^0-x_21^post21 == 0), cost: 1
New rule:
l22 -> l23 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : __disjvr_1^0'=__disjvr_1^post22, ct_18^0'=ct_18^post22, __disjvr_9^0'=__disjvr_9^post22, temp_33^0'=temp_33^post22, result_11^0'=result_11^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, __disjvr_6^0'=__disjvr_6^post22, r_37^0'=r_37^post22, i_111^0'=i_111^post22, x_15^0'=x_15^post22, t_24^0'=t_24^post22, __disjvr_3^0'=__disjvr_3^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, a_28^0'=a_28^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_63^0'=rcd_63^post22, len_14^0'=len_14^post22, __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, temp0_31^0'=temp0_31^post22, __disjvr_5^0'=__disjvr_5^post22, __disjvr_2^0'=__disjvr_2^post22, d_29^0'=d_29^post22, a_130^0'=a_130^post22, tmp_27^0'=tmp_27^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, a_175^0'=a_175^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_100^0'=rcd_100^post22, i_13^0'=i_13^post22, x_17^0'=x_17^post22, temp0_16^0'=temp0_16^post22, __disjvr_4^0'=__disjvr_4^post22, (-x_17^post22+x_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -a_28^post22+a_28^0 == 0 /\ i_111^0-i_111^post22 == 0 /\ -len_14^post22+len_14^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ t_24^0-t_24^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -rcd_100^post22+rcd_100^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_3^post22+__disjvr_3^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_152^0-a_152^post22 == 0 /\ -__disjvr_9^0+__disjvr_9^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ -tmp_27^post22+tmp_27^0 == 0), cost: 1
New rule:
l23 -> l24 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l19 : __disjvr_1^0'=__disjvr_1^post23, ct_18^0'=ct_18^post23, __disjvr_9^0'=__disjvr_9^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, __disjvr_6^0'=__disjvr_6^post23, r_37^0'=r_37^post23, i_111^0'=i_111^post23, x_15^0'=x_15^post23, t_24^0'=t_24^post23, __disjvr_3^0'=__disjvr_3^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, a_28^0'=a_28^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_63^0'=rcd_63^post23, len_14^0'=len_14^post23, __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, temp0_31^0'=temp0_31^post23, __disjvr_5^0'=__disjvr_5^post23, __disjvr_2^0'=__disjvr_2^post23, d_29^0'=d_29^post23, a_130^0'=a_130^post23, tmp_27^0'=tmp_27^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, a_175^0'=a_175^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_100^0'=rcd_100^post23, i_13^0'=i_13^post23, x_17^0'=x_17^post23, temp0_16^0'=temp0_16^post23, __disjvr_4^0'=__disjvr_4^post23, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ -__disjvr_0^post23+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -x_21^post23+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -a_175^post23+a_175^0 == 0 /\ -len_14^post23+len_14^0 == 0 /\ x_15^0-x_15^post23 == 0 /\ d_29^0-d_29^post23 == 0 /\ temp_33^0-temp_33^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -r_37^post23+r_37^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -i_13^post23+i_13^0 == 0 /\ -a_152^post23+a_175^0 <= 0 /\ x_32^0-x_32^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ 2-len_14^0 <= 0 /\ -rcd_63^post23+rcd_63^0 == 0 /\ -x_17^post23+x_17^0 == 0 /\ -a_130^post23+a_130^0 == 0 /\ -y_20^post23+y_20^0 == 0 /\ a_152^post23-a_175^0 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ 1-len_14^0 <= 0 /\ tmp_27^0-tmp_27^post23 == 0 /\ ct_18^0-ct_18^post23 == 0), cost: 1
New rule:
l24 -> l19 : a_152^0'=a_175^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l19 -> l4 : __disjvr_1^0'=__disjvr_1^post24, ct_18^0'=ct_18^post24, __disjvr_9^0'=__disjvr_9^post24, temp_33^0'=temp_33^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, __disjvr_6^0'=__disjvr_6^post24, r_37^0'=r_37^post24, i_111^0'=i_111^post24, x_15^0'=x_15^post24, t_24^0'=t_24^post24, __disjvr_3^0'=__disjvr_3^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, a_28^0'=a_28^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_63^0'=rcd_63^post24, len_14^0'=len_14^post24, __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, temp0_31^0'=temp0_31^post24, __disjvr_5^0'=__disjvr_5^post24, __disjvr_2^0'=__disjvr_2^post24, d_29^0'=d_29^post24, a_130^0'=a_130^post24, tmp_27^0'=tmp_27^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, a_175^0'=a_175^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_100^0'=rcd_100^post24, i_13^0'=i_13^post24, x_17^0'=x_17^post24, temp0_16^0'=temp0_16^post24, __disjvr_4^0'=__disjvr_4^post24, (a_28^0-a_28^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_0^post24+__disjvr_0^0 == 0 /\ x_15^0-x_15^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ len_14^0-len_14^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ ct_18^0-ct_18^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -i_13^post24+i_13^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -a_130^post24+a_130^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -d_29^post24+d_29^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ i_111^0-i_111^post24 == 0 /\ a_152^0-a_152^post24 == 0 /\ -rcd_100^post24+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ -tmp_27^post24+tmp_27^0 == 0 /\ -a_175^post24+a_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -temp_33^post24+temp_33^0 == 0), cost: 1
New rule:
l19 -> l4 : TRUE, cost: 1

Applied preprocessing
Original rule:
l18 -> l25 : __disjvr_1^0'=__disjvr_1^post25, ct_18^0'=ct_18^post25, __disjvr_9^0'=__disjvr_9^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, __disjvr_6^0'=__disjvr_6^post25, r_37^0'=r_37^post25, i_111^0'=i_111^post25, x_15^0'=x_15^post25, t_24^0'=t_24^post25, __disjvr_3^0'=__disjvr_3^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, a_28^0'=a_28^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_63^0'=rcd_63^post25, len_14^0'=len_14^post25, __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, temp0_31^0'=temp0_31^post25, __disjvr_5^0'=__disjvr_5^post25, __disjvr_2^0'=__disjvr_2^post25, d_29^0'=d_29^post25, a_130^0'=a_130^post25, tmp_27^0'=tmp_27^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, a_175^0'=a_175^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_100^0'=rcd_100^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, temp0_16^0'=temp0_16^post25, __disjvr_4^0'=__disjvr_4^post25, (0 == 0 /\ y_20^post25-ct_18^14 == 0 /\ -i_13^0 <= 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ i_111^0-i_111^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ -a_28^post25+a_28^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post25+a_130^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ __disjvr_7^0-__disjvr_7^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_32^0-x_32^post25 == 0 /\ a_152^0-a_152^post25 == 0 /\ ct_18^14 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -__disjvr_3^post25+__disjvr_3^0 == 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0), cost: 1
New rule:
l18 -> l25 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : __disjvr_1^0'=__disjvr_1^post26, ct_18^0'=ct_18^post26, __disjvr_9^0'=__disjvr_9^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, __disjvr_6^0'=__disjvr_6^post26, r_37^0'=r_37^post26, i_111^0'=i_111^post26, x_15^0'=x_15^post26, t_24^0'=t_24^post26, __disjvr_3^0'=__disjvr_3^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, a_28^0'=a_28^post26, __disjvr_8^0'=__disjvr_8^post26, rcd_63^0'=rcd_63^post26, len_14^0'=len_14^post26, __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, temp0_31^0'=temp0_31^post26, __disjvr_5^0'=__disjvr_5^post26, __disjvr_2^0'=__disjvr_2^post26, d_29^0'=d_29^post26, a_130^0'=a_130^post26, tmp_27^0'=tmp_27^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, a_175^0'=a_175^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_100^0'=rcd_100^post26, i_13^0'=i_13^post26, x_17^0'=x_17^post26, temp0_16^0'=temp0_16^post26, __disjvr_4^0'=__disjvr_4^post26, (-__disjvr_5^post26+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ x_21^0-x_21^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ temp_33^0-temp_33^post26 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_152^0-a_152^post26 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ x_15^0-x_15^post26 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ -__disjvr_0^post26+__disjvr_0^0 == 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ -x_32^post26+x_32^0 == 0 /\ -tmp_27^post26+tmp_27^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ result_11^0-result_11^post26 == 0 /\ -rcd_63^post26+rcd_63^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post26 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -t_24^post26+t_24^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0), cost: 1
New rule:
l25 -> l26 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : __disjvr_1^0'=__disjvr_1^post27, ct_18^0'=ct_18^post27, __disjvr_9^0'=__disjvr_9^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, __disjvr_6^0'=__disjvr_6^post27, r_37^0'=r_37^post27, i_111^0'=i_111^post27, x_15^0'=x_15^post27, t_24^0'=t_24^post27, __disjvr_3^0'=__disjvr_3^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, a_28^0'=a_28^post27, __disjvr_8^0'=__disjvr_8^post27, rcd_63^0'=rcd_63^post27, len_14^0'=len_14^post27, __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, temp0_31^0'=temp0_31^post27, __disjvr_5^0'=__disjvr_5^post27, __disjvr_2^0'=__disjvr_2^post27, d_29^0'=d_29^post27, a_130^0'=a_130^post27, tmp_27^0'=tmp_27^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, a_175^0'=a_175^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_100^0'=rcd_100^post27, i_13^0'=i_13^post27, x_17^0'=x_17^post27, temp0_16^0'=temp0_16^post27, __disjvr_4^0'=__disjvr_4^post27, (0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -y_20^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ x_15^0-t_24^post27 <= 0 /\ ct_18^0 <= 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_15^0-x_15^post27 == 0 /\ -a_28^post27+a_28^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ x_15^0-x_17^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -x_15^0+t_24^post27 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ -x_21^0+t_24^post27 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ y_20^0 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ r_37^0-r_37^post27 == 0 /\ a_152^0-a_130^post27 <= 0 /\ i_111^0-i_111^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ x_15^0-tmp_27^0 <= 0 /\ len_14^0-len_14^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -d_29^post27+d_29^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_32^0-x_32^post27 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -ct_18^0 <= 0), cost: 1
New rule:
l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0 /\ x_15^0-x_21^0 == 0), cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : __disjvr_1^0'=__disjvr_1^post28, ct_18^0'=ct_18^post28, __disjvr_9^0'=__disjvr_9^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, __disjvr_6^0'=__disjvr_6^post28, r_37^0'=r_37^post28, i_111^0'=i_111^post28, x_15^0'=x_15^post28, t_24^0'=t_24^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, a_28^0'=a_28^post28, __disjvr_8^0'=__disjvr_8^post28, rcd_63^0'=rcd_63^post28, len_14^0'=len_14^post28, __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_2^0'=__disjvr_2^post28, d_29^0'=d_29^post28, a_130^0'=a_130^post28, tmp_27^0'=tmp_27^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, a_175^0'=a_175^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_100^0'=rcd_100^post28, i_13^0'=i_13^post28, x_17^0'=x_17^post28, temp0_16^0'=temp0_16^post28, __disjvr_4^0'=__disjvr_4^post28, (-__disjvr_2^post28+__disjvr_2^0 == 0 /\ -x_21^post28+x_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ i_111^0-i_111^post28 == 0 /\ -x_15^post28+x_15^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ -len_14^post28+len_14^0 == 0 /\ y_20^0-y_20^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ t_24^0-t_24^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ __disjvr_11^post28-__disjvr_11^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -r_37^post28+r_37^0 == 0 /\ -a_28^post28+a_28^0 == 0 /\ rcd_63^0-rcd_63^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ -d_29^post28+d_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ -a_175^post28+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ rcd_100^0-rcd_100^post28 == 0), cost: 1
New rule:
l27 -> l28 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : __disjvr_1^0'=__disjvr_1^post29, ct_18^0'=ct_18^post29, __disjvr_9^0'=__disjvr_9^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, __disjvr_6^0'=__disjvr_6^post29, r_37^0'=r_37^post29, i_111^0'=i_111^post29, x_15^0'=x_15^post29, t_24^0'=t_24^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, a_28^0'=a_28^post29, __disjvr_8^0'=__disjvr_8^post29, rcd_63^0'=rcd_63^post29, len_14^0'=len_14^post29, __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_2^0'=__disjvr_2^post29, d_29^0'=d_29^post29, a_130^0'=a_130^post29, tmp_27^0'=tmp_27^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, a_175^0'=a_175^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_100^0'=rcd_100^post29, i_13^0'=i_13^post29, x_17^0'=x_17^post29, temp0_16^0'=temp0_16^post29, __disjvr_4^0'=__disjvr_4^post29, (-temp0_31^post29+temp0_31^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ t_24^0-t_24^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -x_21^post29+x_21^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_12^0+__disjvr_12^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ x_15^0-x_15^post29 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ r_37^0-r_37^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ d_29^0-d_29^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ tmp_27^0-tmp_27^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -a_130^post29+a_130^0 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -len_14^post29+len_14^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_32^0-x_32^post29 == 0 /\ -__disjvr_6^post29+__disjvr_6^0 == 0 /\ -ct_18^post29+ct_18^0 == 0), cost: 1
New rule:
l28 -> l29 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l4 : __disjvr_1^0'=__disjvr_1^post30, ct_18^0'=ct_18^post30, __disjvr_9^0'=__disjvr_9^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, __disjvr_6^0'=__disjvr_6^post30, r_37^0'=r_37^post30, i_111^0'=i_111^post30, x_15^0'=x_15^post30, t_24^0'=t_24^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, a_28^0'=a_28^post30, __disjvr_8^0'=__disjvr_8^post30, rcd_63^0'=rcd_63^post30, len_14^0'=len_14^post30, __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_2^0'=__disjvr_2^post30, d_29^0'=d_29^post30, a_130^0'=a_130^post30, tmp_27^0'=tmp_27^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, a_175^0'=a_175^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_100^0'=rcd_100^post30, i_13^0'=i_13^post30, x_17^0'=x_17^post30, temp0_16^0'=temp0_16^post30, __disjvr_4^0'=__disjvr_4^post30, (0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ -1+i_13^post30-a_130^0 <= 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ 2-len_14^0 <= 0 /\ -x_21^post30+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ 1-i_13^post30+a_130^0 <= 0 /\ result_11^0-result_11^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ __disjvr_12^0-__disjvr_12^post30 == 0 /\ r_37^0-r_37^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -x_32^post30+x_32^0 == 0 /\ 1-len_14^0 <= 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -t_24^post30+t_24^0 == 0), cost: 1
New rule:
l29 -> l4 : i_13^0'=1+a_130^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l18 -> l30 : __disjvr_1^0'=__disjvr_1^post31, ct_18^0'=ct_18^post31, __disjvr_9^0'=__disjvr_9^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, __disjvr_6^0'=__disjvr_6^post31, r_37^0'=r_37^post31, i_111^0'=i_111^post31, x_15^0'=x_15^post31, t_24^0'=t_24^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, a_28^0'=a_28^post31, __disjvr_8^0'=__disjvr_8^post31, rcd_63^0'=rcd_63^post31, len_14^0'=len_14^post31, __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_2^0'=__disjvr_2^post31, d_29^0'=d_29^post31, a_130^0'=a_130^post31, tmp_27^0'=tmp_27^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, a_175^0'=a_175^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_100^0'=rcd_100^post31, i_13^0'=i_13^post31, x_17^0'=x_17^post31, temp0_16^0'=temp0_16^post31, __disjvr_4^0'=__disjvr_4^post31, (0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -i_13^0 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ ct_18^0-ct_18^post31 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ -a_130^post31+a_130^0 == 0 /\ a_152^0-a_152^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ tmp_27^post31-result_11^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ x_32^110-temp_33^0 == 0 /\ -temp0_31^110+result_11^110 == 0 /\ -x_21^post31+x_21^0 == 0 /\ rcd_63^0-rcd_63^post31 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ -y_20^post31+y_20^0 == 0 /\ -len_14^post31+len_14^0 == 0 /\ -x_15^0+d_29^110 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ a_28^11-i_13^0 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0), cost: 1
New rule:
l18 -> l30 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l30 -> l18 : __disjvr_1^0'=__disjvr_1^post32, ct_18^0'=ct_18^post32, __disjvr_9^0'=__disjvr_9^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, __disjvr_6^0'=__disjvr_6^post32, r_37^0'=r_37^post32, i_111^0'=i_111^post32, x_15^0'=x_15^post32, t_24^0'=t_24^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, a_28^0'=a_28^post32, __disjvr_8^0'=__disjvr_8^post32, rcd_63^0'=rcd_63^post32, len_14^0'=len_14^post32, __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_2^0'=__disjvr_2^post32, d_29^0'=d_29^post32, a_130^0'=a_130^post32, tmp_27^0'=tmp_27^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, a_175^0'=a_175^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_100^0'=rcd_100^post32, i_13^0'=i_13^post32, x_17^0'=x_17^post32, temp0_16^0'=temp0_16^post32, __disjvr_4^0'=__disjvr_4^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -a_152^post32+a_152^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -t_24^post32+t_24^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ r_37^0-r_37^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -a_130^post32+a_130^0 == 0 /\ i_111^0-i_111^post32 == 0 /\ -i_13^post32+i_13^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ x_21^0-x_21^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ -tmp_27^post32+tmp_27^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -d_29^post32+d_29^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ y_20^0-y_20^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ len_14^0-len_14^post32 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_16^post32+temp0_16^0 == 0), cost: 1
New rule:
l30 -> l18 : TRUE, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : __disjvr_1^0'=__disjvr_1^post34, ct_18^0'=ct_18^post34, __disjvr_9^0'=__disjvr_9^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, __disjvr_6^0'=__disjvr_6^post34, r_37^0'=r_37^post34, i_111^0'=i_111^post34, x_15^0'=x_15^post34, t_24^0'=t_24^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, a_28^0'=a_28^post34, __disjvr_8^0'=__disjvr_8^post34, rcd_63^0'=rcd_63^post34, len_14^0'=len_14^post34, __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_2^0'=__disjvr_2^post34, d_29^0'=d_29^post34, a_130^0'=a_130^post34, tmp_27^0'=tmp_27^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, a_175^0'=a_175^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_100^0'=rcd_100^post34, i_13^0'=i_13^post34, x_17^0'=x_17^post34, temp0_16^0'=temp0_16^post34, __disjvr_4^0'=__disjvr_4^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ i_111^0-i_111^post34 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -t_24^post34+t_24^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -rcd_100^post34+rcd_100^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_130^post34+a_130^0 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ -1+i_13^post34-i_13^0 == 0 /\ -__disjvr_4^post34+__disjvr_4^0 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ x_32^120-temp_33^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -result_11^120+tmp_27^post34 == 0 /\ x_15^post34-tmp_27^post34 <= 0 /\ x_15^post34-tmp_27^post34 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ ct_18^0-ct_18^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -x_15^post34+tmp_27^post34 <= 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ __disjvr_12^0-__disjvr_12^post34 == 0 /\ a_28^12-i_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ 1-len_14^0 <= 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0), cost: 1
New rule:
l11 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, (i_13^0 == 0 /\ -1+len_14^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l31 -> l10 : __disjvr_1^0'=__disjvr_1^post35, ct_18^0'=ct_18^post35, __disjvr_9^0'=__disjvr_9^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, __disjvr_6^0'=__disjvr_6^post35, r_37^0'=r_37^post35, i_111^0'=i_111^post35, x_15^0'=x_15^post35, t_24^0'=t_24^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, a_28^0'=a_28^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_63^0'=rcd_63^post35, len_14^0'=len_14^post35, __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_2^0'=__disjvr_2^post35, d_29^0'=d_29^post35, a_130^0'=a_130^post35, tmp_27^0'=tmp_27^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, a_175^0'=a_175^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_100^0'=rcd_100^post35, i_13^0'=i_13^post35, x_17^0'=x_17^post35, temp0_16^0'=temp0_16^post35, __disjvr_4^0'=__disjvr_4^post35, (-__disjvr_3^post35+__disjvr_3^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ ct_18^0-ct_18^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -x_SLAM_f_19^post35+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ t_24^0-t_24^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ -tmp_27^post35+tmp_27^0 == 0 /\ x_15^0-x_15^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ x_21^0-x_21^post35 == 0 /\ a_130^0-a_130^post35 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -d_29^post35+d_29^0 == 0 /\ -x_17^post35+x_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ y_20^0-y_20^post35 == 0 /\ -a_152^post35+a_152^0 == 0 /\ -a_175^post35+a_175^0 == 0 /\ x_32^0-x_32^post35 == 0 /\ -len_14^post35+len_14^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0), cost: 1
New rule:
l31 -> l10 : TRUE, cost: 1

Simplified rules
Start location: l31
  38: l4 -> l20 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, a_152^0 >= 0, cost: 1
  36: l10 -> l11 : x_15^0'=0, i_13^0'=0, 0 == 0, cost: 1
  53: l11 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, (i_13^0 == 0 /\ -1+len_14^0 >= 0), cost: 1
  37: l12 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^0, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=1+i_13^0, (-2+len_14^0 >= 0 /\ -1+i_13^0 == 0), cost: 1
  45: l18 -> l25 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1
  51: l18 -> l30 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1
  39: l20 -> l21 : 0 == 0, cost: 1
  40: l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0), cost: 1
  41: l22 -> l23 : 0 == 0, cost: 1
  42: l23 -> l24 : 0 == 0, cost: 1
  43: l24 -> l19 : a_152^0'=a_175^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1
  44: l19 -> l4 : TRUE, cost: 1
  46: l25 -> l26 : 0 == 0, cost: 1
  47: l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0 /\ x_15^0-x_21^0 == 0), cost: 1
  48: l27 -> l28 : 0 == 0, cost: 1
  49: l28 -> l29 : 0 == 0, cost: 1
  50: l29 -> l4 : i_13^0'=1+a_130^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1
  52: l30 -> l18 : TRUE, cost: 1
  54: l31 -> l10 : TRUE, cost: 1


Eliminating location l10 by chaining:

Applied chaining
First rule:
l31 -> l10 : TRUE, cost: 1
Second rule:
l10 -> l11 : x_15^0'=0, i_13^0'=0, 0 == 0, cost: 1
New rule:
l31 -> l11 : x_15^0'=0, i_13^0'=0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 36 54

Eliminating location l11 by chaining:

Applied chaining
First rule:
l31 -> l11 : x_15^0'=0, i_13^0'=0, 0 == 0, cost: 2
Second rule:
l11 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, (i_13^0 == 0 /\ -1+len_14^0 >= 0), cost: 1
New rule:
l31 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, (0 == 0 /\ -1+len_14^0 >= 0), cost: 3

Applied simplification
Original rule:
l31 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, (0 == 0 /\ -1+len_14^0 >= 0), cost: 3
New rule:
l31 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, -1+len_14^0 >= 0, cost: 3

Applied deletion
Removed the following rules: 53 55

Eliminating location l12 by chaining:

Applied chaining
First rule:
l31 -> l12 : temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, x_32^0'=x_32^post34, x_15^0'=temp_33^0, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, d_29^0'=d_29^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, i_13^0'=1, -1+len_14^0 >= 0, cost: 3
Second rule:
l12 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^0, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=1+i_13^0, (-2+len_14^0 >= 0 /\ -1+i_13^0 == 0), cost: 1
New rule:
l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, (0 == 0 /\ -2+len_14^0 >= 0 /\ -1+len_14^0 >= 0), cost: 4

Applied simplification
Original rule:
l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, (0 == 0 /\ -2+len_14^0 >= 0 /\ -1+len_14^0 >= 0), cost: 4
New rule:
l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4

Applied deletion
Removed the following rules: 37 56

Eliminating location l25 by chaining:

Applied chaining
First rule:
l18 -> l25 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1
Second rule:
l25 -> l26 : 0 == 0, cost: 1
New rule:
l18 -> l26 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2

Applied simplification
Original rule:
l18 -> l26 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
New rule:
l18 -> l26 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 45 46

Eliminating location l30 by chaining:

Applied chaining
First rule:
l18 -> l30 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1
Second rule:
l30 -> l18 : TRUE, cost: 1
New rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 51 52

Eliminating location l26 by chaining:

Applied chaining
First rule:
l18 -> l26 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (len_14^0-i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
Second rule:
l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0 /\ x_15^0-x_21^0 == 0), cost: 1
New rule:
l18 -> l27 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 47 58

Eliminating location l27 by chaining:

Applied chaining
First rule:
l18 -> l27 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 3
Second rule:
l27 -> l28 : 0 == 0, cost: 1
New rule:
l18 -> l28 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 4

Applied simplification
Original rule:
l18 -> l28 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 4
New rule:
l18 -> l28 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 4

Applied deletion
Removed the following rules: 48 60

Eliminating location l28 by chaining:

Applied chaining
First rule:
l18 -> l28 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 4
Second rule:
l28 -> l29 : 0 == 0, cost: 1
New rule:
l18 -> l29 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 5

Applied simplification
Original rule:
l18 -> l29 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (0 == 0 /\ x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 5
New rule:
l18 -> l29 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 5

Applied deletion
Removed the following rules: 49 61

Eliminating location l29 by chaining:

Applied chaining
First rule:
l18 -> l29 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0), cost: 5
Second rule:
l29 -> l4 : i_13^0'=1+a_130^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1
New rule:
l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6

Applied deletion
Removed the following rules: 50 62

Eliminating location l20 by chaining:

Applied chaining
First rule:
l4 -> l20 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, a_152^0 >= 0, cost: 1
Second rule:
l20 -> l21 : 0 == 0, cost: 1
New rule:
l4 -> l21 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ a_152^0 >= 0), cost: 2

Applied simplification
Original rule:
l4 -> l21 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ a_152^0 >= 0), cost: 2
New rule:
l4 -> l21 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, a_152^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 38 39

Eliminating location l21 by chaining:

Applied chaining
First rule:
l4 -> l21 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_13^0'=i_13^post18, x_17^0'=x_17^post18, a_152^0 >= 0, cost: 2
Second rule:
l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (ct_18^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_15^0-x_17^0 == 0 /\ x_15^0-tmp_27^0 == 0), cost: 1
New rule:
l4 -> l22 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 3

Applied deletion
Removed the following rules: 40 64

Eliminating location l22 by chaining:

Applied chaining
First rule:
l4 -> l22 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 3
Second rule:
l22 -> l23 : 0 == 0, cost: 1
New rule:
l4 -> l23 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 4

Applied simplification
Original rule:
l4 -> l23 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 4
New rule:
l4 -> l23 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 4

Applied deletion
Removed the following rules: 41 65

Eliminating location l23 by chaining:

Applied chaining
First rule:
l4 -> l23 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 4
Second rule:
l23 -> l24 : 0 == 0, cost: 1
New rule:
l4 -> l24 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 5

Applied simplification
Original rule:
l4 -> l24 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (0 == 0 /\ ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 5
New rule:
l4 -> l24 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 5

Applied deletion
Removed the following rules: 42 66

Eliminating location l24 by chaining:

Applied chaining
First rule:
l4 -> l24 : ct_18^0'=ct_18^post18, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ ct_18^post18-y_20^0 == 0), cost: 5
Second rule:
l24 -> l19 : a_152^0'=a_175^0, (-2+len_14^0 >= 0 /\ len_14^0-i_13^0 <= 0), cost: 1
New rule:
l4 -> l19 : ct_18^0'=ct_18^post18, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -2+len_14^post18 >= 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ len_14^post18-i_13^post18 <= 0 /\ ct_18^post18-y_20^0 == 0), cost: 6

Applied deletion
Removed the following rules: 43 67

Eliminating location l19 by chaining:

Applied chaining
First rule:
l4 -> l19 : ct_18^0'=ct_18^post18, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -2+len_14^post18 >= 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ len_14^post18-i_13^post18 <= 0 /\ ct_18^post18-y_20^0 == 0), cost: 6
Second rule:
l19 -> l4 : TRUE, cost: 1
New rule:
l4 -> l4 : ct_18^0'=ct_18^post18, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -2+len_14^post18 >= 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ len_14^post18-i_13^post18 <= 0 /\ ct_18^post18-y_20^0 == 0), cost: 7

Applied deletion
Removed the following rules: 44 68

Eliminated locations on linear paths
Start location: l31
  69: l4 -> l4 : ct_18^0'=ct_18^post18, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -2+len_14^post18 >= 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ len_14^post18-i_13^post18 <= 0 /\ ct_18^post18-y_20^0 == 0), cost: 7
  59: l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
  63: l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6
  57: l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4


Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=ct_18^post18, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=tmp_27^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_17^post18, (ct_18^post18 == 0 /\ a_152^0 >= 0 /\ -x_SLAM_f_19^post18+x_17^post18 == 0 /\ -2+len_14^post18 >= 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ -x_17^post18+x_15^post18 == 0 /\ len_14^post18-i_13^post18 <= 0 /\ ct_18^post18-y_20^0 == 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 == 0 /\ len_14^post18-i_13^post18 <= 0), cost: 7

Simplified simple loops
Start location: l31
  70: l4 -> l4 : ct_18^0'=0, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 == 0 /\ len_14^post18-i_13^post18 <= 0), cost: 7
  59: l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
  63: l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6
  57: l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4


Applied acceleration
Original rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1+a_152^0, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 == 0 /\ len_14^post18-i_13^post18 <= 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=a_152^0-n, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=a_152^0-n, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (-y_20^0 >= 0 /\ -1+n >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ 1+a_152^0-n >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7*n
Sub-proof via acceration calculus written to file:///tmp/tmpnam_cpkinf.txt

Applied instantiation
Original rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=a_152^0-n, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=a_152^0-n, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (-y_20^0 >= 0 /\ -1+n >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ 1+a_152^0-n >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7*n
New rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (0 >= 0 /\ -y_20^0 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7+7*a_152^0

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (0 >= 0 /\ -y_20^0 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7+7*a_152^0
New rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7+7*a_152^0

Applied deletion
Removed the following rules: 70

Applied acceleration
Original rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
New rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+n0+i_13^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=n0+i_13^0, (-2+n0 >= 0 /\ i_13^0 >= 0 /\ -n0+len_14^0-i_13^0 >= 0), cost: 2*n0
Sub-proof via acceration calculus written to file:///tmp/tmpnam_JGEAfh.txt

Applied instantiation
Original rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+n0+i_13^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=n0+i_13^0, (-2+n0 >= 0 /\ i_13^0 >= 0 /\ -n0+len_14^0-i_13^0 >= 0), cost: 2*n0
New rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, (0 >= 0 /\ -2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0

Applied simplification
Original rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, (0 >= 0 /\ -2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0
New rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0

Accelerated simple loops
Start location: l31
  72: l4 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7+7*a_152^0
  59: l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
  63: l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6
  74: l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0
  57: l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4


Applied chaining
First rule:
l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6
Second rule:
l4 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_21^0, len_14^0'=len_14^post18, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -len_14^post18+i_13^post18 >= 0), cost: 7+7*a_152^0
New rule:
l18 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_15^0, y_20^0'=0, len_14^0'=len_14^post18, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ len_14^0-i_13^0 <= 0 /\ -len_14^post18+i_13^post18 >= 0 /\ i_13^0 >= 0), cost: 13+7*a_152^0

Applied deletion
Removed the following rules: 72

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
Second rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=i_13^0, x_15^0'=temp_33^0, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
New rule:
l31 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=2, x_15^0'=temp_33^post16, a_28^0'=a_28^post31, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=3, -3+len_14^0 >= 0, cost: 6

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
Second rule:
l18 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0
New rule:
l31 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0

Applied deletion
Removed the following rules: 59 74

Chained accelerated rules with incoming rules
Start location: l31
  63: l18 -> l4 : ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, t_24^0'=x_15^post25, y_20^0'=0, len_14^0'=len_14^post25, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_13^0'=1+a_152^0, x_17^0'=x_17^post25, (x_15^post25-x_15^0 == 0 /\ x_15^post25-tmp_27^post25 == 0 /\ ct_18^post25 == 0 /\ -2+len_14^post25 >= 0 /\ len_14^0-i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -x_SLAM_f_19^post25+x_17^post25 == 0 /\ i_13^0 >= 0 /\ len_14^post25-i_13^post25 <= 0), cost: 6
  75: l18 -> l4 : ct_18^0'=0, a_152^0'=-1, r_37^0'=r_37^post18, x_15^0'=x_15^post18, t_24^0'=x_15^0, y_20^0'=0, len_14^0'=len_14^post18, x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=x_15^post18, x_SLAM_f_19^0'=x_15^post18, a_175^0'=-1, i_13^0'=i_13^post18, x_17^0'=x_15^post18, (a_152^0 >= 0 /\ -2+len_14^post18 >= 0 /\ len_14^0-i_13^0 <= 0 /\ -len_14^post18+i_13^post18 >= 0 /\ i_13^0 >= 0), cost: 13+7*a_152^0
  57: l31 -> l18 : temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, x_32^0'=x_32^post16, x_15^0'=temp_33^post34, a_28^0'=a_28^post16, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post16, d_29^0'=d_29^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
  76: l31 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=2, x_15^0'=temp_33^post16, a_28^0'=a_28^post31, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=3, -3+len_14^0 >= 0, cost: 6
  77: l31 -> l18 : temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, x_32^0'=x_32^post31, i_111^0'=-1+len_14^0, x_15^0'=temp_33^post31, a_28^0'=a_28^post31, rcd_63^0'=rcd_63^post16, temp0_31^0'=temp0_31^post31, d_29^0'=d_29^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0


Removed unreachable locations and irrelevant leafs
Start location: l31
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0