WORST_CASE(Omega(0),?)

Initial ITS
Start location: l31
   0: l0 -> l2 : ct_18^0'=ct_18^post0, temp_33^0'=temp_33^post0, result_11^0'=result_11^post0, a_152^0'=a_152^post0, t_24^0'=t_24^post0, r_37^0'=r_37^post0, x_32^0'=x_32^post0, x_15^0'=x_15^post0, i_111^0'=i_111^post0, a_28^0'=a_28^post0, temp0_31^0'=temp0_31^post0, rcd_63^0'=rcd_63^post0, y_20^0'=y_20^post0, x_21^0'=x_21^post0, a_130^0'=a_130^post0, len_14^0'=len_14^post0, d_29^0'=d_29^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, a_175^0'=a_175^post0, temp0_16^0'=temp0_16^post0, rcd_100^0'=rcd_100^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, x_17^0'=x_17^post0, i_13^0'=i_13^post0, (0 == 0 /\ -tmp_27^post0+tmp_27^0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ -x_32^post0+x_32^0 == 0 /\ a_152^0-a_152^post0 == 0 /\ -rcd_100^post0+rcd_100^0 == 0 /\ temp_33^0-temp_33^post0 == 0 /\ -a_175^post0+a_175^0 == 0 /\ a_130^0-a_130^post0 == 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 /\ result_11^post0-temp0_16^0 == 0 /\ y_20^0-x_21^0 <= 0 /\ r_37^0-r_37^post0 == 0 /\ -a_130^0 <= 0 /\ rcd_63^0-rcd_63^post0 == 0 /\ -d_29^post0+d_29^0 == 0 /\ -y_20^0+x_21^0 <= 0 /\ i_111^0-i_111^post0 == 0), cost: 1
   4: l0 -> l5 : ct_18^0'=ct_18^post4, temp_33^0'=temp_33^post4, result_11^0'=result_11^post4, a_152^0'=a_152^post4, t_24^0'=t_24^post4, r_37^0'=r_37^post4, x_32^0'=x_32^post4, x_15^0'=x_15^post4, i_111^0'=i_111^post4, a_28^0'=a_28^post4, temp0_31^0'=temp0_31^post4, rcd_63^0'=rcd_63^post4, y_20^0'=y_20^post4, x_21^0'=x_21^post4, a_130^0'=a_130^post4, len_14^0'=len_14^post4, d_29^0'=d_29^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, a_175^0'=a_175^post4, temp0_16^0'=temp0_16^post4, rcd_100^0'=rcd_100^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, x_17^0'=x_17^post4, i_13^0'=i_13^post4, (0 == 0 /\ -a_152^post4+a_152^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ -a_175^post4+a_175^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ r_37^0-r_37^post4 == 0 /\ -a_28^post4+a_28^0 == 0 /\ -x_21^post4+x_21^0 == 0 /\ -y_20^post4+y_20^0 == 0 /\ a_130^0-a_130^post4 == 0 /\ -rcd_100^post4+rcd_100^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4 == 0 /\ -x_32^post4+x_32^0 == 0 /\ i_111^0-i_111^post4 == 0 /\ -d_29^post4+d_29^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ -a_130^0 <= 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ temp_33^0-temp_33^post4 == 0 /\ rcd_63^0-rcd_63^post4 == 0), cost: 1
   1: l2 -> l3 : ct_18^0'=ct_18^post1, temp_33^0'=temp_33^post1, result_11^0'=result_11^post1, a_152^0'=a_152^post1, t_24^0'=t_24^post1, r_37^0'=r_37^post1, x_32^0'=x_32^post1, x_15^0'=x_15^post1, i_111^0'=i_111^post1, a_28^0'=a_28^post1, temp0_31^0'=temp0_31^post1, rcd_63^0'=rcd_63^post1, y_20^0'=y_20^post1, x_21^0'=x_21^post1, a_130^0'=a_130^post1, len_14^0'=len_14^post1, d_29^0'=d_29^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, a_175^0'=a_175^post1, temp0_16^0'=temp0_16^post1, rcd_100^0'=rcd_100^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, x_17^0'=x_17^post1, i_13^0'=i_13^post1, (-temp0_16^post1+temp0_16^0 == 0 /\ -d_29^post1+d_29^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ ct_18^0-ct_18^post1 == 0 /\ -a_130^post1+a_130^0 == 0 /\ temp_33^0-temp_33^post1 == 0 /\ -tmp_27^post1+tmp_27^0 == 0 /\ -rcd_100^post1+rcd_100^0 == 0 /\ y_20^0-y_20^post1 == 0 /\ rcd_63^0-rcd_63^post1 == 0 /\ -x_21^post1+x_21^0 == 0 /\ i_111^0-i_111^post1 == 0 /\ 1-x_15^0 <= 0 /\ r_37^0-r_37^post1 == 0 /\ -x_SLAM_f_19^post1+x_SLAM_f_19^0 == 0 /\ -a_175^post1+a_175^0 == 0 /\ a_28^0-a_28^post1 == 0 /\ -x_15^post1+x_15^0 == 0 /\ -i_13^post1+i_13^0 == 0 /\ t_24^0-t_24^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1 == 0 /\ -x_32^post1+x_32^0 == 0 /\ a_152^0-a_152^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -len_14^post1+len_14^0 == 0 /\ -x_17^post1+x_17^0 == 0), cost: 1
   2: l2 -> l3 : ct_18^0'=ct_18^post2, temp_33^0'=temp_33^post2, result_11^0'=result_11^post2, a_152^0'=a_152^post2, t_24^0'=t_24^post2, r_37^0'=r_37^post2, x_32^0'=x_32^post2, x_15^0'=x_15^post2, i_111^0'=i_111^post2, a_28^0'=a_28^post2, temp0_31^0'=temp0_31^post2, rcd_63^0'=rcd_63^post2, y_20^0'=y_20^post2, x_21^0'=x_21^post2, a_130^0'=a_130^post2, len_14^0'=len_14^post2, d_29^0'=d_29^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, a_175^0'=a_175^post2, temp0_16^0'=temp0_16^post2, rcd_100^0'=rcd_100^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, x_17^0'=x_17^post2, i_13^0'=i_13^post2, (x_21^0-x_21^post2 == 0 /\ a_28^0-a_28^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ -a_175^post2+a_175^0 == 0 /\ x_32^0-x_32^post2 == 0 /\ d_29^0-d_29^post2 == 0 /\ -x_15^post2+x_15^0 == 0 /\ ct_18^0-ct_18^post2 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ -len_14^post2+len_14^0 == 0 /\ -rcd_63^post2+rcd_63^0 == 0 /\ 1+x_15^0 <= 0 /\ a_152^0-a_152^post2 == 0 /\ -tmp_27^post2+tmp_27^0 == 0 /\ -rcd_100^post2+rcd_100^0 == 0 /\ x_17^0-x_17^post2 == 0 /\ -t_24^post2+t_24^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ -i_13^post2+i_13^0 == 0 /\ -a_130^post2+a_130^0 == 0 /\ r_37^0-r_37^post2 == 0 /\ y_20^0-y_20^post2 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post2 == 0 /\ i_111^0-i_111^post2 == 0), cost: 1
   3: l3 -> l1 : ct_18^0'=ct_18^post3, temp_33^0'=temp_33^post3, result_11^0'=result_11^post3, a_152^0'=a_152^post3, t_24^0'=t_24^post3, r_37^0'=r_37^post3, x_32^0'=x_32^post3, x_15^0'=x_15^post3, i_111^0'=i_111^post3, a_28^0'=a_28^post3, temp0_31^0'=temp0_31^post3, rcd_63^0'=rcd_63^post3, y_20^0'=y_20^post3, x_21^0'=x_21^post3, a_130^0'=a_130^post3, len_14^0'=len_14^post3, d_29^0'=d_29^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, a_175^0'=a_175^post3, temp0_16^0'=temp0_16^post3, rcd_100^0'=rcd_100^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, x_17^0'=x_17^post3, i_13^0'=i_13^post3, (len_14^0-i_13^0 <= 0 /\ temp_33^0-temp_33^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ a_130^0-a_130^post3 == 0 /\ x_15^0-x_15^post3 == 0 /\ temp0_16^0-temp0_16^post3 == 0 /\ a_152^0-a_152^post3 == 0 /\ -x_17^post3+x_17^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -d_29^post3+d_29^0 == 0 /\ -i_13^post3+i_13^0 == 0 /\ -temp0_31^post3+temp0_31^0 == 0 /\ -tmp_27^post3+tmp_27^0 == 0 /\ -a_28^post3+a_28^0 == 0 /\ x_32^0-x_32^post3 == 0 /\ -rcd_63^post3+rcd_63^0 == 0 /\ -len_14^post3+len_14^0 == 0 /\ 2-len_14^0 <= 0 /\ x_21^0-x_21^post3 == 0 /\ 1-len_14^0 <= 0 /\ r_37^0-r_37^post3 == 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ -a_175^post3+a_175^0 == 0 /\ -i_111^post3+i_111^0 == 0 /\ -rcd_100^post3+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ ct_18^0-ct_18^post3 == 0), cost: 1
   5: l5 -> l6 : ct_18^0'=ct_18^post5, temp_33^0'=temp_33^post5, result_11^0'=result_11^post5, a_152^0'=a_152^post5, t_24^0'=t_24^post5, r_37^0'=r_37^post5, x_32^0'=x_32^post5, x_15^0'=x_15^post5, i_111^0'=i_111^post5, a_28^0'=a_28^post5, temp0_31^0'=temp0_31^post5, rcd_63^0'=rcd_63^post5, y_20^0'=y_20^post5, x_21^0'=x_21^post5, a_130^0'=a_130^post5, len_14^0'=len_14^post5, d_29^0'=d_29^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, a_175^0'=a_175^post5, temp0_16^0'=temp0_16^post5, rcd_100^0'=rcd_100^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, x_17^0'=x_17^post5, i_13^0'=i_13^post5, (rcd_100^0-rcd_100^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ y_20^0-y_20^post5 == 0 /\ i_111^0-i_111^post5 == 0 /\ rcd_63^0-rcd_63^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ -x_32^post5+x_32^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_15^post5+x_15^0 == 0 /\ a_28^0-a_28^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -a_175^post5+a_175^0 == 0 /\ -d_29^post5+d_29^0 == 0 /\ -i_13^post5+i_13^0 == 0 /\ r_37^0-r_37^post5 == 0 /\ -a_130^post5+a_130^0 == 0 /\ a_152^0-a_152^post5 == 0 /\ -tmp_27^post5+tmp_27^0 == 0 /\ t_24^0-t_24^post5 == 0 /\ ct_18^0-ct_18^post5 == 0 /\ -len_14^post5+len_14^0 == 0), cost: 1
   6: l5 -> l6 : ct_18^0'=ct_18^post6, temp_33^0'=temp_33^post6, result_11^0'=result_11^post6, a_152^0'=a_152^post6, t_24^0'=t_24^post6, r_37^0'=r_37^post6, x_32^0'=x_32^post6, x_15^0'=x_15^post6, i_111^0'=i_111^post6, a_28^0'=a_28^post6, temp0_31^0'=temp0_31^post6, rcd_63^0'=rcd_63^post6, y_20^0'=y_20^post6, x_21^0'=x_21^post6, a_130^0'=a_130^post6, len_14^0'=len_14^post6, d_29^0'=d_29^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, a_175^0'=a_175^post6, temp0_16^0'=temp0_16^post6, rcd_100^0'=rcd_100^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, x_17^0'=x_17^post6, i_13^0'=i_13^post6, (-len_14^post6+len_14^0 == 0 /\ i_111^0-i_111^post6 == 0 /\ x_21^0-x_21^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -tmp_27^post6+tmp_27^0 == 0 /\ a_28^0-a_28^post6 == 0 /\ x_32^0-x_32^post6 == 0 /\ x_15^0-x_15^post6 == 0 /\ -rcd_100^post6+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_SLAM_f_19^post6+x_SLAM_f_19^0 == 0 /\ -a_175^post6+a_175^0 == 0 /\ -rcd_63^post6+rcd_63^0 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ a_152^0-a_152^post6 == 0 /\ -a_130^post6+a_130^0 == 0 /\ d_29^0-d_29^post6 == 0 /\ temp_33^0-temp_33^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ x_17^0-x_17^post6 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ y_20^0-y_20^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -i_13^post6+i_13^0 == 0 /\ r_37^0-r_37^post6 == 0), cost: 1
   7: l6 -> l7 : ct_18^0'=ct_18^post7, temp_33^0'=temp_33^post7, result_11^0'=result_11^post7, a_152^0'=a_152^post7, t_24^0'=t_24^post7, r_37^0'=r_37^post7, x_32^0'=x_32^post7, x_15^0'=x_15^post7, i_111^0'=i_111^post7, a_28^0'=a_28^post7, temp0_31^0'=temp0_31^post7, rcd_63^0'=rcd_63^post7, y_20^0'=y_20^post7, x_21^0'=x_21^post7, a_130^0'=a_130^post7, len_14^0'=len_14^post7, d_29^0'=d_29^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, a_175^0'=a_175^post7, temp0_16^0'=temp0_16^post7, rcd_100^0'=rcd_100^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, x_17^0'=x_17^post7, i_13^0'=i_13^post7, (ct_18^0 <= 0 /\ temp_33^0-temp_33^post7 == 0 /\ -y_20^post7+y_20^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ a_152^0-a_152^post7 == 0 /\ -x_15^0+x_17^0 <= 0 /\ a_130^0-a_130^post7 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ x_15^0-x_15^post7 == 0 /\ ct_18^0-ct_18^post7 == 0 /\ -x_21^0+t_24^post7 == 0 /\ -i_13^post7+i_13^0 == 0 /\ -d_29^post7+d_29^0 == 0 /\ x_15^0-x_17^0 <= 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ y_20^0 <= 0 /\ -a_28^post7+a_28^0 == 0 /\ -tmp_27^post7+tmp_27^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ -rcd_63^post7+rcd_63^0 == 0 /\ r_37^0-r_37^post7 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -len_14^post7+len_14^0 == 0 /\ x_32^0-x_32^post7 == 0 /\ -x_17^post7+x_17^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ x_21^0-x_21^post7 == 0 /\ -a_175^post7+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -ct_18^0 <= 0 /\ -rcd_100^post7+rcd_100^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -y_20^0 <= 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -i_111^post7+i_111^0 == 0 /\ x_15^0-tmp_27^0 <= 0), cost: 1
   8: l7 -> l8 : ct_18^0'=ct_18^post8, temp_33^0'=temp_33^post8, result_11^0'=result_11^post8, a_152^0'=a_152^post8, t_24^0'=t_24^post8, r_37^0'=r_37^post8, x_32^0'=x_32^post8, x_15^0'=x_15^post8, i_111^0'=i_111^post8, a_28^0'=a_28^post8, temp0_31^0'=temp0_31^post8, rcd_63^0'=rcd_63^post8, y_20^0'=y_20^post8, x_21^0'=x_21^post8, a_130^0'=a_130^post8, len_14^0'=len_14^post8, d_29^0'=d_29^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, a_175^0'=a_175^post8, temp0_16^0'=temp0_16^post8, rcd_100^0'=rcd_100^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, x_17^0'=x_17^post8, i_13^0'=i_13^post8, (-y_20^post8+y_20^0 == 0 /\ -x_17^post8+x_17^0 == 0 /\ result_11^0-result_11^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -a_175^post8+a_175^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ -d_29^post8+d_29^0 == 0 /\ -x_21^post8+x_21^0 == 0 /\ -a_28^post8+a_28^0 == 0 /\ len_14^0-len_14^post8 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ -i_13^post8+i_13^0 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ rcd_63^0-rcd_63^post8 == 0 /\ -x_32^post8+x_32^0 == 0 /\ x_15^0-x_15^post8 == 0 /\ a_152^0-a_152^post8 == 0 /\ i_111^0-i_111^post8 == 0 /\ tmp_27^0-tmp_27^post8 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ -a_130^post8+a_130^0 == 0 /\ -temp0_16^post8+temp0_16^0 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8 == 0 /\ -rcd_100^post8+rcd_100^0 == 0), cost: 1
   9: l7 -> l8 : ct_18^0'=ct_18^post9, temp_33^0'=temp_33^post9, result_11^0'=result_11^post9, a_152^0'=a_152^post9, t_24^0'=t_24^post9, r_37^0'=r_37^post9, x_32^0'=x_32^post9, x_15^0'=x_15^post9, i_111^0'=i_111^post9, a_28^0'=a_28^post9, temp0_31^0'=temp0_31^post9, rcd_63^0'=rcd_63^post9, y_20^0'=y_20^post9, x_21^0'=x_21^post9, a_130^0'=a_130^post9, len_14^0'=len_14^post9, d_29^0'=d_29^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, a_175^0'=a_175^post9, temp0_16^0'=temp0_16^post9, rcd_100^0'=rcd_100^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, x_17^0'=x_17^post9, i_13^0'=i_13^post9, (-x_17^post9+x_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ rcd_100^0-rcd_100^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ y_20^0-y_20^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ i_111^0-i_111^post9 == 0 /\ -x_15^post9+x_15^0 == 0 /\ -a_175^post9+a_175^0 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ -x_21^post9+x_21^0 == 0 /\ -len_14^post9+len_14^0 == 0 /\ a_28^0-a_28^post9 == 0 /\ x_32^0-x_32^post9 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ -i_13^post9+i_13^0 == 0 /\ -d_29^post9+d_29^0 == 0 /\ -a_130^post9+a_130^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ r_37^0-r_37^post9 == 0 /\ -tmp_27^post9+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0 /\ ct_18^0-ct_18^post9 == 0 /\ a_152^0-a_152^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0), cost: 1
  10: l8 -> l9 : ct_18^0'=ct_18^post10, temp_33^0'=temp_33^post10, result_11^0'=result_11^post10, a_152^0'=a_152^post10, t_24^0'=t_24^post10, r_37^0'=r_37^post10, x_32^0'=x_32^post10, x_15^0'=x_15^post10, i_111^0'=i_111^post10, a_28^0'=a_28^post10, temp0_31^0'=temp0_31^post10, rcd_63^0'=rcd_63^post10, y_20^0'=y_20^post10, x_21^0'=x_21^post10, a_130^0'=a_130^post10, len_14^0'=len_14^post10, d_29^0'=d_29^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, a_175^0'=a_175^post10, temp0_16^0'=temp0_16^post10, rcd_100^0'=rcd_100^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, x_17^0'=x_17^post10, i_13^0'=i_13^post10, (x_32^0-x_32^post10 == 0 /\ -x_SLAM_f_19^post10+x_SLAM_f_19^0 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ -r_37^post10+r_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_63^post10+rcd_63^0 == 0 /\ -i_13^post10+i_13^0 == 0 /\ ct_18^0-ct_18^post10 == 0 /\ -x_17^post10+x_17^0 == 0 /\ -a_28^post10+a_28^0 == 0 /\ a_175^0-a_175^post10 == 0 /\ -y_20^post10+y_20^0 == 0 /\ -a_130^post10+a_130^0 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ d_29^0-d_29^post10 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -rcd_100^post10+rcd_100^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ t_24^0-t_24^post10 == 0 /\ x_15^0-x_15^post10 == 0 /\ a_152^0-a_152^post10 == 0 /\ -len_14^post10+len_14^0 == 0 /\ -tmp_27^post10+tmp_27^0 == 0 /\ x_21^0-x_21^post10 == 0), cost: 1
  11: l8 -> l9 : ct_18^0'=ct_18^post11, temp_33^0'=temp_33^post11, result_11^0'=result_11^post11, a_152^0'=a_152^post11, t_24^0'=t_24^post11, r_37^0'=r_37^post11, x_32^0'=x_32^post11, x_15^0'=x_15^post11, i_111^0'=i_111^post11, a_28^0'=a_28^post11, temp0_31^0'=temp0_31^post11, rcd_63^0'=rcd_63^post11, y_20^0'=y_20^post11, x_21^0'=x_21^post11, a_130^0'=a_130^post11, len_14^0'=len_14^post11, d_29^0'=d_29^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, a_175^0'=a_175^post11, temp0_16^0'=temp0_16^post11, rcd_100^0'=rcd_100^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, x_17^0'=x_17^post11, i_13^0'=i_13^post11, (-x_SLAM_f_19^post11+x_SLAM_f_19^0 == 0 /\ -i_111^post11+i_111^0 == 0 /\ t_24^0-t_24^post11 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ x_32^0-x_32^post11 == 0 /\ -a_28^post11+a_28^0 == 0 /\ -x_21^post11+x_21^0 == 0 /\ -a_175^post11+a_175^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ len_14^0-len_14^post11 == 0 /\ rcd_63^0-rcd_63^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ x_15^0-x_15^post11 == 0 /\ a_130^0-a_130^post11 == 0 /\ -d_29^post11+d_29^0 == 0 /\ ct_18^0-ct_18^post11 == 0 /\ a_152^0-a_152^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ -rcd_100^post11+rcd_100^0 == 0 /\ temp_33^0-temp_33^post11 == 0 /\ -y_20^post11+y_20^0 == 0 /\ -i_13^post11+i_13^0 == 0 /\ tmp_27^0-tmp_27^post11 == 0 /\ r_37^0-r_37^post11 == 0 /\ -x_17^post11+x_17^0 == 0), cost: 1
  12: l9 -> l4 : ct_18^0'=ct_18^post12, temp_33^0'=temp_33^post12, result_11^0'=result_11^post12, a_152^0'=a_152^post12, t_24^0'=t_24^post12, r_37^0'=r_37^post12, x_32^0'=x_32^post12, x_15^0'=x_15^post12, i_111^0'=i_111^post12, a_28^0'=a_28^post12, temp0_31^0'=temp0_31^post12, rcd_63^0'=rcd_63^post12, y_20^0'=y_20^post12, x_21^0'=x_21^post12, a_130^0'=a_130^post12, len_14^0'=len_14^post12, d_29^0'=d_29^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, a_175^0'=a_175^post12, temp0_16^0'=temp0_16^post12, rcd_100^0'=rcd_100^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, x_17^0'=x_17^post12, i_13^0'=i_13^post12, (ct_18^0-ct_18^post12 == 0 /\ len_14^0-i_13^0 <= 0 /\ temp_33^0-temp_33^post12 == 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ -x_21^post12+x_21^0 == 0 /\ rcd_100^0-rcd_100^post12 == 0 /\ rcd_63^0-rcd_63^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ -i_13^post12+i_13^0 == 0 /\ -x_15^post12+x_15^0 == 0 /\ i_111^0-i_111^post12 == 0 /\ y_20^0-y_20^post12 == 0 /\ -d_29^post12+d_29^0 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ -len_14^post12+len_14^0 == 0 /\ -a_152^post12+a_152^0 == 0 /\ r_37^0-r_37^post12 == 0 /\ -tmp_27^post12+tmp_27^0 == 0 /\ 2-len_14^0 <= 0 /\ 1-len_14^0 <= 0 /\ -x_32^post12+x_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post12+a_130^0 == 0 /\ t_24^0-t_24^post12 == 0 /\ a_28^0-a_28^post12 == 0 /\ -x_SLAM_f_19^post12+x_SLAM_f_19^0 == 0 /\ -a_175^post12+a_175^0 == 0), cost: 1
  24: l4 -> l1 : ct_18^0'=ct_18^post24, temp_33^0'=temp_33^post24, result_11^0'=result_11^post24, a_152^0'=a_152^post24, t_24^0'=t_24^post24, r_37^0'=r_37^post24, x_32^0'=x_32^post24, x_15^0'=x_15^post24, i_111^0'=i_111^post24, a_28^0'=a_28^post24, temp0_31^0'=temp0_31^post24, rcd_63^0'=rcd_63^post24, y_20^0'=y_20^post24, x_21^0'=x_21^post24, a_130^0'=a_130^post24, len_14^0'=len_14^post24, d_29^0'=d_29^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, a_175^0'=a_175^post24, temp0_16^0'=temp0_16^post24, rcd_100^0'=rcd_100^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, x_17^0'=x_17^post24, i_13^0'=i_13^post24, (0 == 0 /\ temp_33^0-temp_33^post24 == 0 /\ a_130^0-a_130^post24 == 0 /\ 2-len_14^post24 <= 0 /\ -i_111^post24+i_111^0 == 0 /\ -x_32^post24+x_32^0 == 0 /\ a_175^0-a_175^post24 == 0 /\ 1-len_14^post24 <= 0 /\ a_28^0-a_28^post24 == 0 /\ result_11^post24-temp0_16^0 == 0 /\ r_37^0-r_37^post24 == 0 /\ -d_29^post24+d_29^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -a_152^0 <= 0 /\ a_152^0-a_152^post24 == 0 /\ y_20^0-x_21^0 <= 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ -i_13^post24+i_13^0 == 0 /\ -tmp_27^post24+tmp_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -y_20^0+x_21^0 <= 0 /\ x_15^0-x_15^post24 == 0 /\ -rcd_100^post24+rcd_100^0 == 0 /\ temp0_31^0-temp0_31^post24 == 0), cost: 1
  25: l4 -> l20 : ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, a_152^0'=a_152^post25, t_24^0'=t_24^post25, r_37^0'=r_37^post25, x_32^0'=x_32^post25, x_15^0'=x_15^post25, i_111^0'=i_111^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, rcd_63^0'=rcd_63^post25, y_20^0'=y_20^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, len_14^0'=len_14^post25, d_29^0'=d_29^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, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, rcd_100^0'=rcd_100^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ -rcd_63^post25+rcd_63^0 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -y_20^post25+y_20^0 == 0 /\ -a_152^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -d_29^post25+d_29^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ -a_28^post25+a_28^0 == 0 /\ a_152^0-a_152^post25 == 0), cost: 1
  13: l10 -> l11 : ct_18^0'=ct_18^post13, temp_33^0'=temp_33^post13, result_11^0'=result_11^post13, a_152^0'=a_152^post13, t_24^0'=t_24^post13, r_37^0'=r_37^post13, x_32^0'=x_32^post13, x_15^0'=x_15^post13, i_111^0'=i_111^post13, a_28^0'=a_28^post13, temp0_31^0'=temp0_31^post13, rcd_63^0'=rcd_63^post13, y_20^0'=y_20^post13, x_21^0'=x_21^post13, a_130^0'=a_130^post13, len_14^0'=len_14^post13, d_29^0'=d_29^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, a_175^0'=a_175^post13, temp0_16^0'=temp0_16^post13, rcd_100^0'=rcd_100^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, x_17^0'=x_17^post13, i_13^0'=i_13^post13, (x_15^post13 <= 0 /\ x_15^post13 == 0 /\ -rcd_63^post13+rcd_63^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ x_21^0-x_21^post13 == 0 /\ -a_130^post13+a_130^0 == 0 /\ -x_17^post13+x_17^0 == 0 /\ a_28^0-a_28^post13 == 0 /\ a_152^0-a_152^post13 == 0 /\ a_175^0-a_175^post13 == 0 /\ -i_111^post13+i_111^0 == 0 /\ ct_18^0-ct_18^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -tmp_27^post13+tmp_27^0 == 0 /\ i_13^post13 <= 0 /\ i_13^post13 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -len_14^post13+len_14^0 == 0 /\ d_29^0-d_29^post13 == 0 /\ -temp_33^post13+temp_33^0 == 0 /\ -x_15^post13 <= 0 /\ result_11^0-result_11^post13 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ x_32^0-x_32^post13 == 0 /\ -rcd_100^post13+rcd_100^0 == 0 /\ y_20^0-y_20^post13 == 0 /\ -i_13^post13 <= 0), cost: 1
  46: l11 -> l1 : ct_18^0'=ct_18^post46, temp_33^0'=temp_33^post46, result_11^0'=result_11^post46, a_152^0'=a_152^post46, t_24^0'=t_24^post46, r_37^0'=r_37^post46, x_32^0'=x_32^post46, x_15^0'=x_15^post46, i_111^0'=i_111^post46, a_28^0'=a_28^post46, temp0_31^0'=temp0_31^post46, rcd_63^0'=rcd_63^post46, y_20^0'=y_20^post46, x_21^0'=x_21^post46, a_130^0'=a_130^post46, len_14^0'=len_14^post46, d_29^0'=d_29^post46, tmp_27^0'=tmp_27^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post46, a_175^0'=a_175^post46, temp0_16^0'=temp0_16^post46, rcd_100^0'=rcd_100^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, x_17^0'=x_17^post46, i_13^0'=i_13^post46, (0 == 0 /\ rcd_100^0-rcd_100^post46 == 0 /\ x_15^0-x_15^post46 == 0 /\ result_11^post46-temp0_16^0 == 0 /\ -x_21^130 <= 0 /\ -x_17^120 <= 0 /\ len_14^0-i_13^0 <= 0 /\ x_32^0-x_32^post46 == 0 /\ ct_18^15-y_20^130 <= 0 /\ ct_18^15 <= 0 /\ ct_18^15 == 0 /\ -d_29^post46+d_29^0 == 0 /\ -y_20^130 <= 0 /\ -i_13^0 <= 0 /\ -x_SLAM_f_19^150 <= 0 /\ -x_15^0+x_17^120 <= 0 /\ -x_15^0+x_17^120 == 0 /\ len_14^post46 <= 0 /\ -r_37^post46+r_37^0 == 0 /\ -x_15^0 <= 0 /\ -i_13^post46+i_13^0 == 0 /\ x_15^0 <= 0 /\ -ct_18^15+y_20^130 <= 0 /\ -ct_18^15+y_20^130 == 0 /\ i_111^0-i_111^post46 == 0 /\ y_20^130 <= 0 /\ x_15^0-x_17^120 <= 0 /\ x_17^120 <= 0 /\ temp0_31^0-temp0_31^post46 == 0 /\ a_28^0-a_28^post46 == 0 /\ -temp0_16^post46+temp0_16^0 == 0 /\ -y_20^130+x_21^130 <= 0 /\ -x_21^130+x_SLAM_f_19^150 <= 0 /\ -x_17^120+x_SLAM_f_19^150 <= 0 /\ -x_17^120+x_SLAM_f_19^150 == 0 /\ -tmp_27^post46+tmp_27^0 == 0 /\ a_152^0-a_152^post46 == 0 /\ -a_130^post46+a_130^0 == 0 /\ y_20^130-x_21^130 <= 0 /\ x_21^130-x_SLAM_f_19^150 <= 0 /\ x_21^130-x_SLAM_f_19^150 == 0 /\ x_17^120-x_SLAM_f_19^150 <= 0 /\ -rcd_63^post46+rcd_63^0 == 0 /\ -a_175^post46+a_175^0 == 0 /\ temp_33^0-temp_33^post46 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_21^130 <= 0 /\ -ct_18^15 <= 0 /\ x_SLAM_f_19^150 <= 0 /\ i_13^0 <= 0), cost: 1
  47: l11 -> l12 : ct_18^0'=ct_18^post47, temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, a_152^0'=a_152^post47, t_24^0'=t_24^post47, r_37^0'=r_37^post47, x_32^0'=x_32^post47, x_15^0'=x_15^post47, i_111^0'=i_111^post47, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, rcd_63^0'=rcd_63^post47, y_20^0'=y_20^post47, x_21^0'=x_21^post47, a_130^0'=a_130^post47, len_14^0'=len_14^post47, d_29^0'=d_29^post47, tmp_27^0'=tmp_27^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_175^0'=a_175^post47, temp0_16^0'=temp0_16^post47, rcd_100^0'=rcd_100^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, x_17^0'=x_17^post47, i_13^0'=i_13^post47, (0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -x_17^post47+x_17^0 == 0 /\ -a_130^post47+a_130^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ -rcd_100^post47+rcd_100^0 == 0 /\ -x_15^post47+tmp_27^post47 <= 0 /\ a_152^0-a_152^post47 == 0 /\ -1+i_13^post47-i_13^0 == 0 /\ -a_175^post47+a_175^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -rcd_63^post47+rcd_63^0 == 0 /\ x_15^post47-tmp_27^post47 <= 0 /\ x_15^post47-tmp_27^post47 == 0 /\ -len_14^post47+len_14^0 == 0 /\ -t_24^post47+t_24^0 == 0 /\ 1-i_13^post47 <= 0 /\ -1+i_13^post47 <= 0 /\ -temp0_31^120+result_11^120 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -temp_33^0+x_32^120 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ a_28^12-i_13^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ 1-len_14^0 <= 0 /\ i_111^0-i_111^post47 == 0 /\ -result_11^120+tmp_27^post47 == 0), cost: 1
  14: l12 -> l13 : ct_18^0'=ct_18^post14, temp_33^0'=temp_33^post14, result_11^0'=result_11^post14, a_152^0'=a_152^post14, t_24^0'=t_24^post14, r_37^0'=r_37^post14, x_32^0'=x_32^post14, x_15^0'=x_15^post14, i_111^0'=i_111^post14, a_28^0'=a_28^post14, temp0_31^0'=temp0_31^post14, rcd_63^0'=rcd_63^post14, y_20^0'=y_20^post14, x_21^0'=x_21^post14, a_130^0'=a_130^post14, len_14^0'=len_14^post14, d_29^0'=d_29^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, a_175^0'=a_175^post14, temp0_16^0'=temp0_16^post14, rcd_100^0'=rcd_100^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, x_17^0'=x_17^post14, i_13^0'=i_13^post14, (0 == 0 /\ 1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ -y_20^post14 <= 0 /\ len_14^0-i_13^0 <= 0 /\ x_SLAM_f_19^110-x_15^0 <= 0 /\ -x_15^0+x_21^post14 <= 0 /\ -rcd_100^post14+rcd_100^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ i_111^0-i_111^post14 == 0 /\ ct_18^11 <= 0 /\ ct_18^11 == 0 /\ -t_24^post14+t_24^0 == 0 /\ -d_29^post14+d_29^0 == 0 /\ -x_SLAM_f_19^110+x_21^post14 <= 0 /\ -x_SLAM_f_19^110+x_21^post14 == 0 /\ -temp0_16^post14+temp0_16^0 == 0 /\ ct_18^11-y_20^post14 <= 0 /\ temp_33^0-temp_33^post14 == 0 /\ -a_175^post14+a_175^0 == 0 /\ -x_SLAM_f_19^110+x_15^0 <= 0 /\ x_15^0-x_21^post14 <= 0 /\ rcd_63^0-rcd_63^post14 == 0 /\ x_SLAM_f_19^110-x_21^post14 <= 0 /\ x_32^0-x_32^post14 == 0 /\ -ct_18^11+y_20^post14 <= 0 /\ -ct_18^11+y_20^post14 == 0 /\ -a_28^post14+a_28^0 == 0 /\ x_SLAM_f_19^110-x_17^10 <= 0 /\ x_SLAM_f_19^110-x_17^10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ a_152^0-a_152^post14 == 0 /\ tmp_27^10-x_15^0 <= 0 /\ x_15^0-x_17^10 <= 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ -x_SLAM_f_19^110+x_17^10 <= 0 /\ a_130^0-a_130^post14 == 0 /\ r_37^0-r_37^post14 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ y_20^post14 <= 0 /\ -ct_18^11 <= 0 /\ -tmp_27^10+x_15^0 <= 0 /\ -x_15^0+x_17^10 <= 0 /\ -x_15^0+x_17^10 == 0), cost: 1
  23: l12 -> l18 : ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=a_152^post23, t_24^0'=t_24^post23, r_37^0'=r_37^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post23, i_111^0'=i_111^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=y_20^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, len_14^0'=len_14^post23, d_29^0'=d_29^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, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, rcd_100^0'=rcd_100^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, x_17^0'=x_17^post23, i_13^0'=i_13^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ 2-i_13^post23 <= 0 /\ t_24^0-t_24^post23 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post23+x_17^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ tmp_27^post23-result_11^10 == 0 /\ -i_111^post23+i_111^0 == 0 /\ len_14^0-len_14^post23 == 0 /\ -x_21^post23+x_21^0 == 0 /\ -2+i_13^post23 <= 0 /\ r_37^0-r_37^post23 == 0 /\ x_15^post23-tmp_27^post23 <= 0 /\ x_15^post23-tmp_27^post23 == 0 /\ a_28^10-i_13^0 == 0 /\ 2-len_14^0 <= 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ d_29^10-x_15^0 == 0 /\ 1-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -x_15^post23+tmp_27^post23 <= 0 /\ a_152^0-a_152^post23 == 0 /\ -1+i_13^post23-i_13^0 == 0), cost: 1
  15: l13 -> l14 : ct_18^0'=ct_18^post15, temp_33^0'=temp_33^post15, result_11^0'=result_11^post15, a_152^0'=a_152^post15, t_24^0'=t_24^post15, r_37^0'=r_37^post15, x_32^0'=x_32^post15, x_15^0'=x_15^post15, i_111^0'=i_111^post15, a_28^0'=a_28^post15, temp0_31^0'=temp0_31^post15, rcd_63^0'=rcd_63^post15, y_20^0'=y_20^post15, x_21^0'=x_21^post15, a_130^0'=a_130^post15, len_14^0'=len_14^post15, d_29^0'=d_29^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, a_175^0'=a_175^post15, temp0_16^0'=temp0_16^post15, rcd_100^0'=rcd_100^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, x_17^0'=x_17^post15, i_13^0'=i_13^post15, (temp_33^0-temp_33^post15 == 0 /\ -x_32^post15+x_32^0 == 0 /\ rcd_100^0-rcd_100^post15 == 0 /\ rcd_63^0-rcd_63^post15 == 0 /\ ct_18^0-ct_18^post15 == 0 /\ -x_SLAM_f_19^post15+x_SLAM_f_19^0 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ -a_130^post15+a_130^0 == 0 /\ i_111^0-i_111^post15 == 0 /\ -x_21^post15+x_21^0 == 0 /\ y_20^0-y_20^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ r_37^0-r_37^post15 == 0 /\ -i_13^post15+i_13^0 == 0 /\ -a_152^post15+a_152^0 == 0 /\ a_28^0-a_28^post15 == 0 /\ -x_15^post15+x_15^0 == 0 /\ -x_17^post15+x_17^0 == 0 /\ -a_175^post15+a_175^0 == 0 /\ -d_29^post15+d_29^0 == 0 /\ -len_14^post15+len_14^0 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ -tmp_27^post15+tmp_27^0 == 0 /\ t_24^0-t_24^post15 == 0), cost: 1
  16: l13 -> l14 : ct_18^0'=ct_18^post16, temp_33^0'=temp_33^post16, result_11^0'=result_11^post16, a_152^0'=a_152^post16, t_24^0'=t_24^post16, r_37^0'=r_37^post16, x_32^0'=x_32^post16, x_15^0'=x_15^post16, i_111^0'=i_111^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, rcd_63^0'=rcd_63^post16, y_20^0'=y_20^post16, x_21^0'=x_21^post16, a_130^0'=a_130^post16, len_14^0'=len_14^post16, d_29^0'=d_29^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, a_175^0'=a_175^post16, temp0_16^0'=temp0_16^post16, rcd_100^0'=rcd_100^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, x_17^0'=x_17^post16, i_13^0'=i_13^post16, (-a_130^post16+a_130^0 == 0 /\ a_28^0-a_28^post16 == 0 /\ -a_175^post16+a_175^0 == 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ -i_13^post16+i_13^0 == 0 /\ x_32^0-x_32^post16 == 0 /\ x_15^0-x_15^post16 == 0 /\ a_152^0-a_152^post16 == 0 /\ -tmp_27^post16+tmp_27^0 == 0 /\ -rcd_63^post16+rcd_63^0 == 0 /\ x_21^0-x_21^post16 == 0 /\ temp0_31^0-temp0_31^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_SLAM_f_19^post16+x_SLAM_f_19^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ temp_33^0-temp_33^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ y_20^0-y_20^post16 == 0 /\ d_29^0-d_29^post16 == 0 /\ x_17^0-x_17^post16 == 0 /\ i_111^0-i_111^post16 == 0 /\ -len_14^post16+len_14^0 == 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ r_37^0-r_37^post16 == 0), cost: 1
  17: l14 -> l15 : ct_18^0'=ct_18^post17, temp_33^0'=temp_33^post17, result_11^0'=result_11^post17, a_152^0'=a_152^post17, t_24^0'=t_24^post17, r_37^0'=r_37^post17, x_32^0'=x_32^post17, x_15^0'=x_15^post17, i_111^0'=i_111^post17, a_28^0'=a_28^post17, temp0_31^0'=temp0_31^post17, rcd_63^0'=rcd_63^post17, y_20^0'=y_20^post17, x_21^0'=x_21^post17, a_130^0'=a_130^post17, len_14^0'=len_14^post17, d_29^0'=d_29^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, a_175^0'=a_175^post17, temp0_16^0'=temp0_16^post17, rcd_100^0'=rcd_100^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, x_17^0'=x_17^post17, i_13^0'=i_13^post17, (1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ -temp0_16^post17+temp0_16^0 == 0 /\ -x_SLAM_f_19^post17+x_SLAM_f_19^0 == 0 /\ ct_18^0 <= 0 /\ ct_18^0-ct_18^post17 == 0 /\ -i_111^post17+i_111^0 == 0 /\ result_11^0-result_11^post17 == 0 /\ a_152^0-a_152^post17 == 0 /\ a_130^0-a_130^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_21^0+t_24^post17 == 0 /\ -x_15^0+x_17^0 <= 0 /\ temp_33^0-temp_33^post17 == 0 /\ x_15^0-x_15^post17 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -x_15^0+t_24^post17 <= 0 /\ -a_28^post17+a_28^0 == 0 /\ x_15^0-x_17^0 <= 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ x_15^0-t_24^post17 <= 0 /\ -a_175^post17+a_175^0 == 0 /\ y_20^0 <= 0 /\ -len_14^post17+len_14^0 == 0 /\ x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -d_29^post17+d_29^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -r_37^post17+r_37^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -rcd_100^post17+rcd_100^0 == 0 /\ -y_20^post17+y_20^0 == 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ -x_21^0 <= 0 /\ -ct_18^0 <= 0 /\ -i_13^post17+i_13^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -tmp_27^post17+tmp_27^0 == 0 /\ x_32^0-x_32^post17 == 0 /\ -y_20^0 <= 0 /\ x_21^0-x_21^post17 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -rcd_63^post17+rcd_63^0 == 0 /\ -x_17^post17+x_17^0 == 0 /\ -temp0_31^post17+temp0_31^0 == 0), cost: 1
  18: l15 -> l16 : ct_18^0'=ct_18^post18, temp_33^0'=temp_33^post18, result_11^0'=result_11^post18, a_152^0'=a_152^post18, t_24^0'=t_24^post18, r_37^0'=r_37^post18, x_32^0'=x_32^post18, x_15^0'=x_15^post18, i_111^0'=i_111^post18, a_28^0'=a_28^post18, temp0_31^0'=temp0_31^post18, rcd_63^0'=rcd_63^post18, y_20^0'=y_20^post18, x_21^0'=x_21^post18, a_130^0'=a_130^post18, len_14^0'=len_14^post18, d_29^0'=d_29^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, a_175^0'=a_175^post18, temp0_16^0'=temp0_16^post18, rcd_100^0'=rcd_100^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, (-x_21^post18+x_21^0 == 0 /\ r_37^0-r_37^post18 == 0 /\ x_32^0-x_32^post18 == 0 /\ -y_20^post18+y_20^0 == 0 /\ len_14^0-len_14^post18 == 0 /\ ct_18^0-ct_18^post18 == 0 /\ -x_17^post18+x_17^0 == 0 /\ -i_13^post18+i_13^0 == 0 /\ t_24^0-t_24^post18 == 0 /\ -d_29^post18+d_29^0 == 0 /\ -a_28^post18+a_28^0 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ x_15^0-x_15^post18 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ a_152^0-a_152^post18 == 0 /\ tmp_27^0-tmp_27^post18 == 0 /\ rcd_63^0-rcd_63^post18 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ -rcd_100^post18+rcd_100^0 == 0 /\ -x_SLAM_f_19^post18+x_SLAM_f_19^0 == 0 /\ -a_130^post18+a_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -a_175^post18+a_175^0 == 0 /\ i_111^0-i_111^post18 == 0), cost: 1
  19: l15 -> l16 : ct_18^0'=ct_18^post19, temp_33^0'=temp_33^post19, result_11^0'=result_11^post19, a_152^0'=a_152^post19, t_24^0'=t_24^post19, r_37^0'=r_37^post19, x_32^0'=x_32^post19, x_15^0'=x_15^post19, i_111^0'=i_111^post19, a_28^0'=a_28^post19, temp0_31^0'=temp0_31^post19, rcd_63^0'=rcd_63^post19, y_20^0'=y_20^post19, x_21^0'=x_21^post19, a_130^0'=a_130^post19, len_14^0'=len_14^post19, d_29^0'=d_29^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, a_175^0'=a_175^post19, temp0_16^0'=temp0_16^post19, rcd_100^0'=rcd_100^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, x_17^0'=x_17^post19, i_13^0'=i_13^post19, (-x_21^post19+x_21^0 == 0 /\ y_20^0-y_20^post19 == 0 /\ t_24^0-t_24^post19 == 0 /\ -x_17^post19+x_17^0 == 0 /\ i_111^0-i_111^post19 == 0 /\ temp_33^0-temp_33^post19 == 0 /\ -x_15^post19+x_15^0 == 0 /\ -a_130^post19+a_130^0 == 0 /\ result_11^0-result_11^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_32^0-x_32^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ rcd_63^0-rcd_63^post19 == 0 /\ -rcd_100^post19+rcd_100^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -len_14^post19+len_14^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ -x_SLAM_f_19^post19+x_SLAM_f_19^0 == 0 /\ -a_175^post19+a_175^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ -d_29^post19+d_29^0 == 0 /\ a_28^0-a_28^post19 == 0 /\ a_152^0-a_152^post19 == 0 /\ 1-x_15^0+y_20^0 <= 0 /\ ct_18^0-ct_18^post19 == 0), cost: 1
  20: l16 -> l17 : ct_18^0'=ct_18^post20, temp_33^0'=temp_33^post20, result_11^0'=result_11^post20, a_152^0'=a_152^post20, t_24^0'=t_24^post20, r_37^0'=r_37^post20, x_32^0'=x_32^post20, x_15^0'=x_15^post20, i_111^0'=i_111^post20, a_28^0'=a_28^post20, temp0_31^0'=temp0_31^post20, rcd_63^0'=rcd_63^post20, y_20^0'=y_20^post20, x_21^0'=x_21^post20, a_130^0'=a_130^post20, len_14^0'=len_14^post20, d_29^0'=d_29^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, a_175^0'=a_175^post20, temp0_16^0'=temp0_16^post20, rcd_100^0'=rcd_100^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, x_17^0'=x_17^post20, i_13^0'=i_13^post20, (0 == 0 /\ -x_32^post20+x_32^0 == 0 /\ temp_33^0-temp_33^post20 == 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ -a_28^post20+a_28^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -i_13^post20+i_13^0 == 0 /\ len_14^0-len_14^post20 == 0 /\ -rcd_63^post20+rcd_63^0 == 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ result_11^post20-temp0_16^0 == 0 /\ -a_175^post20+a_175^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ a_130^0-a_130^post20 == 0 /\ i_111^0-i_111^post20 == 0 /\ r_37^0-r_37^post20 == 0 /\ y_20^0-x_21^0 <= 0 /\ -a_152^post20+a_152^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ tmp_27^0-tmp_27^post20 == 0 /\ 1-len_14^0 <= 0 /\ -y_20^0+x_21^0 <= 0 /\ -d_29^post20+d_29^0 == 0), cost: 1
  21: l17 -> l1 : ct_18^0'=ct_18^post21, temp_33^0'=temp_33^post21, result_11^0'=result_11^post21, a_152^0'=a_152^post21, t_24^0'=t_24^post21, r_37^0'=r_37^post21, x_32^0'=x_32^post21, x_15^0'=x_15^post21, i_111^0'=i_111^post21, a_28^0'=a_28^post21, temp0_31^0'=temp0_31^post21, rcd_63^0'=rcd_63^post21, y_20^0'=y_20^post21, x_21^0'=x_21^post21, a_130^0'=a_130^post21, len_14^0'=len_14^post21, d_29^0'=d_29^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, a_175^0'=a_175^post21, temp0_16^0'=temp0_16^post21, rcd_100^0'=rcd_100^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, x_17^0'=x_17^post21, i_13^0'=i_13^post21, (-i_13^post21+i_13^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ -x_21^post21+x_21^0 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ -a_175^post21+a_175^0 == 0 /\ -x_32^post21+x_32^0 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ tmp_27^0-tmp_27^post21 == 0 /\ -x_15^post21+x_15^0 == 0 /\ -d_29^post21+d_29^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ 1-x_15^0 <= 0 /\ y_20^0-y_20^post21 == 0 /\ i_111^0-i_111^post21 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ r_37^0-r_37^post21 == 0 /\ -x_17^post21+x_17^0 == 0 /\ -len_14^post21+len_14^0 == 0 /\ -a_152^post21+a_152^0 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ -a_130^post21+a_130^0 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ a_28^0-a_28^post21 == 0 /\ t_24^0-t_24^post21 == 0 /\ -rcd_100^post21+rcd_100^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0), cost: 1
  22: l17 -> l1 : ct_18^0'=ct_18^post22, temp_33^0'=temp_33^post22, result_11^0'=result_11^post22, a_152^0'=a_152^post22, t_24^0'=t_24^post22, r_37^0'=r_37^post22, x_32^0'=x_32^post22, x_15^0'=x_15^post22, i_111^0'=i_111^post22, a_28^0'=a_28^post22, temp0_31^0'=temp0_31^post22, rcd_63^0'=rcd_63^post22, y_20^0'=y_20^post22, x_21^0'=x_21^post22, a_130^0'=a_130^post22, len_14^0'=len_14^post22, d_29^0'=d_29^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, a_175^0'=a_175^post22, temp0_16^0'=temp0_16^post22, rcd_100^0'=rcd_100^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, x_17^0'=x_17^post22, i_13^0'=i_13^post22, (-x_17^post22+x_17^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ a_28^0-a_28^post22 == 0 /\ i_111^0-i_111^post22 == 0 /\ -a_130^post22+a_130^0 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ x_15^0-x_15^post22 == 0 /\ rcd_100^0-rcd_100^post22 == 0 /\ x_32^0-x_32^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ -tmp_27^post22+tmp_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ 1+x_15^0 <= 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ -rcd_63^post22+rcd_63^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_152^0-a_152^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -len_14^post22+len_14^0 == 0 /\ -t_24^post22+t_24^0 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ y_20^0-y_20^post22 == 0 /\ -temp0_16^post22+temp0_16^0 == 0), cost: 1
  35: l18 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, a_152^0'=a_152^post35, t_24^0'=t_24^post35, r_37^0'=r_37^post35, x_32^0'=x_32^post35, x_15^0'=x_15^post35, i_111^0'=i_111^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, rcd_63^0'=rcd_63^post35, y_20^0'=y_20^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, len_14^0'=len_14^post35, d_29^0'=d_29^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, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, rcd_100^0'=rcd_100^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ x_17^110-x_15^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post35+x_32^0 == 0 /\ -i_13^0 <= 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ -rcd_100^post35+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post35+a_130^0 == 0 /\ -ct_18^14+y_20^post35 == 0 /\ x_21^post35-x_SLAM_f_19^140 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_175^post35+a_175^0 == 0 /\ ct_18^14 == 0 /\ -a_152^post35+a_152^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ d_29^0-d_29^post35 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ t_24^0-t_24^post35 == 0), cost: 1
  44: l18 -> l30 : ct_18^0'=ct_18^post44, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=a_152^post44, t_24^0'=t_24^post44, r_37^0'=r_37^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post44, i_111^0'=i_111^post44, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post44, y_20^0'=y_20^post44, x_21^0'=x_21^post44, a_130^0'=a_130^post44, len_14^0'=len_14^post44, d_29^0'=d_29^post44, tmp_27^0'=tmp_27^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=a_175^post44, temp0_16^0'=temp0_16^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, x_17^0'=x_17^post44, i_13^0'=i_13^post44, (0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ a_28^11-i_13^0 == 0 /\ -i_13^0 <= 0 /\ len_14^0-len_14^post44 == 0 /\ x_15^post44-tmp_27^post44 == 0 /\ -x_15^0+d_29^110 == 0 /\ a_130^0-a_130^post44 == 0 /\ -rcd_63^post44+rcd_63^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -1-i_111^post44+i_13^post44 <= 0 /\ y_20^0-y_20^post44 == 0 /\ a_175^0-a_175^post44 == 0 /\ a_152^0-a_152^post44 == 0 /\ -temp0_16^post44+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ tmp_27^post44-result_11^110 == 0 /\ -t_24^post44+t_24^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -temp_33^0+x_32^110 == 0 /\ -1+i_13^post44-i_13^0 == 0 /\ 1+i_111^post44-len_14^0 <= 0 /\ r_37^0-r_37^post44 == 0 /\ 1+i_111^post44-i_13^post44 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0), cost: 1
  26: l20 -> l21 : ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, a_152^0'=a_152^post26, t_24^0'=t_24^post26, r_37^0'=r_37^post26, x_32^0'=x_32^post26, x_15^0'=x_15^post26, i_111^0'=i_111^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, rcd_63^0'=rcd_63^post26, y_20^0'=y_20^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, len_14^0'=len_14^post26, d_29^0'=d_29^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, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, rcd_100^0'=rcd_100^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, x_17^0'=x_17^post26, i_13^0'=i_13^post26, (x_15^0-x_15^post26 == 0 /\ x_32^0-x_32^post26 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0 /\ a_152^0-a_152^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ t_24^0-t_24^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ a_130^0-a_130^post26 == 0 /\ -a_175^post26+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ -x_21^post26+x_21^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -y_20^post26+y_20^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ temp_33^0-temp_33^post26 == 0), cost: 1
  27: l20 -> l21 : ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, a_152^0'=a_152^post27, t_24^0'=t_24^post27, r_37^0'=r_37^post27, x_32^0'=x_32^post27, x_15^0'=x_15^post27, i_111^0'=i_111^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, rcd_63^0'=rcd_63^post27, y_20^0'=y_20^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, len_14^0'=len_14^post27, d_29^0'=d_29^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, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, rcd_100^0'=rcd_100^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, x_17^0'=x_17^post27, i_13^0'=i_13^post27, (-len_14^post27+len_14^0 == 0 /\ -a_130^post27+a_130^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -i_13^post27+i_13^0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ i_111^0-i_111^post27 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -x_15^post27+x_15^0 == 0 /\ -x_21^post27+x_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_37^0-r_37^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ a_152^0-a_152^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ t_24^0-t_24^post27 == 0), cost: 1
  28: l21 -> l22 : ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, a_152^0'=a_152^post28, t_24^0'=t_24^post28, r_37^0'=r_37^post28, x_32^0'=x_32^post28, x_15^0'=x_15^post28, i_111^0'=i_111^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, rcd_63^0'=rcd_63^post28, y_20^0'=y_20^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, len_14^0'=len_14^post28, d_29^0'=d_29^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, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, rcd_100^0'=rcd_100^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, x_17^0'=x_17^post28, i_13^0'=i_13^post28, (0 == 0 /\ ct_18^0 <= 0 /\ x_21^0-x_21^post28 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -len_14^post28+len_14^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -x_21^0+t_24^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -x_15^0+x_17^0 <= 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post28+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ a_130^0-a_130^post28 == 0 /\ x_15^0-x_15^post28 == 0 /\ x_15^0-x_17^0 <= 0 /\ a_152^0-a_152^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -1+a_152^0-a_175^post28 <= 0 /\ -i_111^post28+i_111^0 == 0 /\ y_20^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ y_20^0-y_20^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post28+i_13^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -d_29^post28+d_29^0 == 0 /\ 1-a_152^0+a_175^post28 <= 0), cost: 1
  29: l22 -> l23 : ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, a_152^0'=a_152^post29, t_24^0'=t_24^post29, r_37^0'=r_37^post29, x_32^0'=x_32^post29, x_15^0'=x_15^post29, i_111^0'=i_111^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, rcd_63^0'=rcd_63^post29, y_20^0'=y_20^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, len_14^0'=len_14^post29, d_29^0'=d_29^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, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, rcd_100^0'=rcd_100^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, x_17^0'=x_17^post29, i_13^0'=i_13^post29, (-x_21^post29+x_21^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ a_130^0-a_130^post29 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -x_32^post29+x_32^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -d_29^post29+d_29^0 == 0 /\ x_15^0-x_15^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -a_28^post29+a_28^0 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ i_111^0-i_111^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ rcd_63^0-rcd_63^post29 == 0), cost: 1
  30: l22 -> l23 : ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, a_152^0'=a_152^post30, t_24^0'=t_24^post30, r_37^0'=r_37^post30, x_32^0'=x_32^post30, x_15^0'=x_15^post30, i_111^0'=i_111^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, rcd_63^0'=rcd_63^post30, y_20^0'=y_20^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, len_14^0'=len_14^post30, d_29^0'=d_29^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, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, rcd_100^0'=rcd_100^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, x_17^0'=x_17^post30, i_13^0'=i_13^post30, (y_20^0-y_20^post30 == 0 /\ -len_14^post30+len_14^0 == 0 /\ t_24^0-t_24^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ x_32^0-x_32^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -i_13^post30+i_13^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -x_21^post30+x_21^0 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -x_15^post30+x_15^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 1
  31: l23 -> l24 : ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, a_152^0'=a_152^post31, t_24^0'=t_24^post31, r_37^0'=r_37^post31, x_32^0'=x_32^post31, x_15^0'=x_15^post31, i_111^0'=i_111^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, rcd_63^0'=rcd_63^post31, y_20^0'=y_20^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, len_14^0'=len_14^post31, d_29^0'=d_29^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, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, rcd_100^0'=rcd_100^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, x_17^0'=x_17^post31, i_13^0'=i_13^post31, (1-t_24^0+y_20^0 <= 0 /\ x_15^0-x_15^post31 == 0 /\ -rcd_100^post31+rcd_100^0 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ x_32^0-x_32^post31 == 0 /\ x_21^0-x_21^post31 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -len_14^post31+len_14^0 == 0 /\ a_130^0-a_130^post31 == 0 /\ a_152^0-a_152^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ d_29^0-d_29^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post31+i_13^0 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ i_111^0-i_111^post31 == 0 /\ a_28^0-a_28^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -tmp_27^post31+tmp_27^0 == 0), cost: 1
  32: l23 -> l24 : ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, a_152^0'=a_152^post32, t_24^0'=t_24^post32, r_37^0'=r_37^post32, x_32^0'=x_32^post32, x_15^0'=x_15^post32, i_111^0'=i_111^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, rcd_63^0'=rcd_63^post32, y_20^0'=y_20^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, len_14^0'=len_14^post32, d_29^0'=d_29^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, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, rcd_100^0'=rcd_100^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, x_17^0'=x_17^post32, i_13^0'=i_13^post32, (-a_175^post32+a_175^0 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -d_29^post32+d_29^0 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -i_13^post32+i_13^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -rcd_63^post32+rcd_63^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -i_111^post32+i_111^0 == 0 /\ r_37^0-r_37^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ a_152^0-a_152^post32 == 0 /\ a_130^0-a_130^post32 == 0 /\ t_24^0-t_24^post32 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -len_14^post32+len_14^0 == 0), cost: 1
  33: l24 -> l19 : ct_18^0'=ct_18^post33, temp_33^0'=temp_33^post33, result_11^0'=result_11^post33, a_152^0'=a_152^post33, t_24^0'=t_24^post33, r_37^0'=r_37^post33, x_32^0'=x_32^post33, x_15^0'=x_15^post33, i_111^0'=i_111^post33, a_28^0'=a_28^post33, temp0_31^0'=temp0_31^post33, rcd_63^0'=rcd_63^post33, y_20^0'=y_20^post33, x_21^0'=x_21^post33, a_130^0'=a_130^post33, len_14^0'=len_14^post33, d_29^0'=d_29^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, a_175^0'=a_175^post33, temp0_16^0'=temp0_16^post33, rcd_100^0'=rcd_100^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, x_17^0'=x_17^post33, i_13^0'=i_13^post33, (0 == 0 /\ -a_152^post33+a_175^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^0-ct_18^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -a_28^post33+a_28^0 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ -rcd_100^post33+rcd_100^0 == 0 /\ a_152^post33-a_175^0 <= 0 /\ tmp_27^0-tmp_27^post33 == 0 /\ -a_175^post33+a_175^0 == 0 /\ x_15^0-x_15^post33 == 0 /\ r_37^0-r_37^post33 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ i_111^0-i_111^post33 == 0 /\ -d_29^post33+d_29^0 == 0 /\ len_14^0-len_14^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -x_21^post33+x_21^0 == 0 /\ a_130^0-a_130^post33 == 0 /\ temp0_31^0-temp0_31^post33 == 0 /\ 2-len_14^0 <= 0 /\ -y_20^post33+y_20^0 == 0 /\ -i_13^post33+i_13^0 == 0 /\ 1-len_14^0 <= 0 /\ rcd_63^0-rcd_63^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ -x_32^post33+x_32^0 == 0 /\ -x_17^post33+x_17^0 == 0), cost: 1
  34: l19 -> l4 : ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, a_152^0'=a_152^post34, t_24^0'=t_24^post34, r_37^0'=r_37^post34, x_32^0'=x_32^post34, x_15^0'=x_15^post34, i_111^0'=i_111^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, rcd_63^0'=rcd_63^post34, y_20^0'=y_20^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, len_14^0'=len_14^post34, d_29^0'=d_29^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, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, rcd_100^0'=rcd_100^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, x_17^0'=x_17^post34, i_13^0'=i_13^post34, (ct_18^0-ct_18^post34 == 0 /\ -x_21^post34+x_21^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ result_11^0-result_11^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ r_37^0-r_37^post34 == 0 /\ -i_13^post34+i_13^0 == 0 /\ y_20^0-y_20^post34 == 0 /\ -x_15^post34+x_15^0 == 0 /\ i_111^0-i_111^post34 == 0 /\ -tmp_27^post34+tmp_27^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_152^post34+a_152^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -x_32^post34+x_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ d_29^0-d_29^post34 == 0 /\ a_28^0-a_28^post34 == 0 /\ -a_130^post34+a_130^0 == 0), cost: 1
  36: l25 -> l26 : ct_18^0'=ct_18^post36, temp_33^0'=temp_33^post36, result_11^0'=result_11^post36, a_152^0'=a_152^post36, t_24^0'=t_24^post36, r_37^0'=r_37^post36, x_32^0'=x_32^post36, x_15^0'=x_15^post36, i_111^0'=i_111^post36, a_28^0'=a_28^post36, temp0_31^0'=temp0_31^post36, rcd_63^0'=rcd_63^post36, y_20^0'=y_20^post36, x_21^0'=x_21^post36, a_130^0'=a_130^post36, len_14^0'=len_14^post36, d_29^0'=d_29^post36, tmp_27^0'=tmp_27^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_175^0'=a_175^post36, temp0_16^0'=temp0_16^post36, rcd_100^0'=rcd_100^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, x_17^0'=x_17^post36, i_13^0'=i_13^post36, (-x_21^post36+x_21^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ -x_17^post36+x_17^0 == 0 /\ rcd_63^0-rcd_63^post36 == 0 /\ -a_152^post36+a_152^0 == 0 /\ r_37^0-r_37^post36 == 0 /\ y_20^0-y_20^post36 == 0 /\ -i_13^post36+i_13^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -a_130^post36+a_130^0 == 0 /\ -x_15^post36+x_15^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -len_14^post36+len_14^0 == 0 /\ -x_32^post36+x_32^0 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ i_111^0-i_111^post36 == 0 /\ tmp_27^0-tmp_27^post36 == 0 /\ -x_SLAM_f_19^post36+x_SLAM_f_19^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -a_175^post36+a_175^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -d_29^post36+d_29^0 == 0 /\ -rcd_100^post36+rcd_100^0 == 0 /\ a_28^0-a_28^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0), cost: 1
  37: l25 -> l26 : ct_18^0'=ct_18^post37, temp_33^0'=temp_33^post37, result_11^0'=result_11^post37, a_152^0'=a_152^post37, t_24^0'=t_24^post37, r_37^0'=r_37^post37, x_32^0'=x_32^post37, x_15^0'=x_15^post37, i_111^0'=i_111^post37, a_28^0'=a_28^post37, temp0_31^0'=temp0_31^post37, rcd_63^0'=rcd_63^post37, y_20^0'=y_20^post37, x_21^0'=x_21^post37, a_130^0'=a_130^post37, len_14^0'=len_14^post37, d_29^0'=d_29^post37, tmp_27^0'=tmp_27^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_175^0'=a_175^post37, temp0_16^0'=temp0_16^post37, rcd_100^0'=rcd_100^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, x_17^0'=x_17^post37, i_13^0'=i_13^post37, (-tmp_27^post37+tmp_27^0 == 0 /\ i_111^0-i_111^post37 == 0 /\ -x_15^post37+x_15^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -len_14^post37+len_14^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -a_130^post37+a_130^0 == 0 /\ a_175^0-a_175^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ a_28^0-a_28^post37 == 0 /\ rcd_63^0-rcd_63^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ -rcd_100^post37+rcd_100^0 == 0 /\ x_32^0-x_32^post37 == 0 /\ -i_13^post37+i_13^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ d_29^0-d_29^post37 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ r_37^0-r_37^post37 == 0 /\ -x_21^post37+x_21^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ a_152^0-a_152^post37 == 0), cost: 1
  38: l26 -> l27 : ct_18^0'=ct_18^post38, temp_33^0'=temp_33^post38, result_11^0'=result_11^post38, a_152^0'=a_152^post38, t_24^0'=t_24^post38, r_37^0'=r_37^post38, x_32^0'=x_32^post38, x_15^0'=x_15^post38, i_111^0'=i_111^post38, a_28^0'=a_28^post38, temp0_31^0'=temp0_31^post38, rcd_63^0'=rcd_63^post38, y_20^0'=y_20^post38, x_21^0'=x_21^post38, a_130^0'=a_130^post38, len_14^0'=len_14^post38, d_29^0'=d_29^post38, tmp_27^0'=tmp_27^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_175^0'=a_175^post38, temp0_16^0'=temp0_16^post38, rcd_100^0'=rcd_100^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, x_17^0'=x_17^post38, i_13^0'=i_13^post38, (0 == 0 /\ x_15^0-x_15^post38 == 0 /\ temp_33^0-temp_33^post38 == 0 /\ ct_18^0 <= 0 /\ a_152^0-a_152^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post38 == 0 /\ -x_15^0+t_24^post38 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post38 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -x_21^0+t_24^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ -len_14^post38+len_14^0 == 0 /\ x_15^0-t_24^post38 <= 0 /\ x_15^0-x_17^0 <= 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ y_20^0 <= 0 /\ r_37^0-r_37^post38 == 0 /\ -x_17^post38+x_17^0 == 0 /\ a_152^0-a_130^post38 <= 0 /\ -a_175^post38+a_175^0 == 0 /\ y_20^0-y_20^post38 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -i_13^post38+i_13^0 == 0 /\ -rcd_100^post38+rcd_100^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -d_29^post38+d_29^0 == 0 /\ x_32^0-x_32^post38 == 0 /\ -i_111^post38+i_111^0 == 0 /\ -a_152^0+a_130^post38 <= 0 /\ a_28^0-a_28^post38 == 0 /\ -ct_18^0 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -rcd_63^post38+rcd_63^0 == 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -tmp_27^post38+tmp_27^0 == 0), cost: 1
  39: l27 -> l28 : ct_18^0'=ct_18^post39, temp_33^0'=temp_33^post39, result_11^0'=result_11^post39, a_152^0'=a_152^post39, t_24^0'=t_24^post39, r_37^0'=r_37^post39, x_32^0'=x_32^post39, x_15^0'=x_15^post39, i_111^0'=i_111^post39, a_28^0'=a_28^post39, temp0_31^0'=temp0_31^post39, rcd_63^0'=rcd_63^post39, y_20^0'=y_20^post39, x_21^0'=x_21^post39, a_130^0'=a_130^post39, len_14^0'=len_14^post39, d_29^0'=d_29^post39, tmp_27^0'=tmp_27^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_175^0'=a_175^post39, temp0_16^0'=temp0_16^post39, rcd_100^0'=rcd_100^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, x_17^0'=x_17^post39, i_13^0'=i_13^post39, (-a_175^post39+a_175^0 == 0 /\ x_15^0-x_15^post39 == 0 /\ -d_29^post39+d_29^0 == 0 /\ rcd_63^0-rcd_63^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ -rcd_100^post39+rcd_100^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ ct_18^0-ct_18^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -x_SLAM_f_19^post39+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ -x_32^post39+x_32^0 == 0 /\ i_111^0-i_111^post39 == 0 /\ len_14^0-len_14^post39 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post39+i_13^0 == 0 /\ a_28^0-a_28^post39 == 0 /\ a_130^0-a_130^post39 == 0 /\ tmp_27^0-tmp_27^post39 == 0 /\ -a_152^post39+a_152^0 == 0 /\ -y_20^post39+y_20^0 == 0 /\ -temp0_16^post39+temp0_16^0 == 0), cost: 1
  40: l27 -> l28 : ct_18^0'=ct_18^post40, temp_33^0'=temp_33^post40, result_11^0'=result_11^post40, a_152^0'=a_152^post40, t_24^0'=t_24^post40, r_37^0'=r_37^post40, x_32^0'=x_32^post40, x_15^0'=x_15^post40, i_111^0'=i_111^post40, a_28^0'=a_28^post40, temp0_31^0'=temp0_31^post40, rcd_63^0'=rcd_63^post40, y_20^0'=y_20^post40, x_21^0'=x_21^post40, a_130^0'=a_130^post40, len_14^0'=len_14^post40, d_29^0'=d_29^post40, tmp_27^0'=tmp_27^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_175^0'=a_175^post40, temp0_16^0'=temp0_16^post40, rcd_100^0'=rcd_100^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, x_17^0'=x_17^post40, i_13^0'=i_13^post40, (-x_15^post40+x_15^0 == 0 /\ y_20^0-y_20^post40 == 0 /\ i_111^0-i_111^post40 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ rcd_100^0-rcd_100^post40 == 0 /\ a_28^0-a_28^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ -i_13^post40+i_13^0 == 0 /\ -x_32^post40+x_32^0 == 0 /\ -len_14^post40+len_14^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -d_29^post40+d_29^0 == 0 /\ a_152^0-a_152^post40 == 0 /\ -a_130^post40+a_130^0 == 0 /\ -tmp_27^post40+tmp_27^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ r_37^0-r_37^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -a_175^post40+a_175^0 == 0 /\ -rcd_63^post40+rcd_63^0 == 0 /\ 1-x_15^0+y_20^0 <= 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1
  41: l28 -> l29 : ct_18^0'=ct_18^post41, temp_33^0'=temp_33^post41, result_11^0'=result_11^post41, a_152^0'=a_152^post41, t_24^0'=t_24^post41, r_37^0'=r_37^post41, x_32^0'=x_32^post41, x_15^0'=x_15^post41, i_111^0'=i_111^post41, a_28^0'=a_28^post41, temp0_31^0'=temp0_31^post41, rcd_63^0'=rcd_63^post41, y_20^0'=y_20^post41, x_21^0'=x_21^post41, a_130^0'=a_130^post41, len_14^0'=len_14^post41, d_29^0'=d_29^post41, tmp_27^0'=tmp_27^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_175^0'=a_175^post41, temp0_16^0'=temp0_16^post41, rcd_100^0'=rcd_100^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, x_17^0'=x_17^post41, i_13^0'=i_13^post41, (-rcd_63^post41+rcd_63^0 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_32^0-x_32^post41 == 0 /\ -r_37^post41+r_37^0 == 0 /\ -rcd_100^post41+rcd_100^0 == 0 /\ ct_18^0-ct_18^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post41+x_17^0 == 0 /\ -i_13^post41+i_13^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ a_175^0-a_175^post41 == 0 /\ x_15^0-x_15^post41 == 0 /\ a_130^0-a_130^post41 == 0 /\ a_152^0-a_152^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ -tmp_27^post41+tmp_27^0 == 0 /\ -len_14^post41+len_14^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ y_20^0-y_20^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ x_21^0-x_21^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ a_28^0-a_28^post41 == 0 /\ -d_29^post41+d_29^0 == 0), cost: 1
  42: l28 -> l29 : ct_18^0'=ct_18^post42, temp_33^0'=temp_33^post42, result_11^0'=result_11^post42, a_152^0'=a_152^post42, t_24^0'=t_24^post42, r_37^0'=r_37^post42, x_32^0'=x_32^post42, x_15^0'=x_15^post42, i_111^0'=i_111^post42, a_28^0'=a_28^post42, temp0_31^0'=temp0_31^post42, rcd_63^0'=rcd_63^post42, y_20^0'=y_20^post42, x_21^0'=x_21^post42, a_130^0'=a_130^post42, len_14^0'=len_14^post42, d_29^0'=d_29^post42, tmp_27^0'=tmp_27^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_175^0'=a_175^post42, temp0_16^0'=temp0_16^post42, rcd_100^0'=rcd_100^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, x_17^0'=x_17^post42, i_13^0'=i_13^post42, (-temp0_31^post42+temp0_31^0 == 0 /\ r_37^0-r_37^post42 == 0 /\ len_14^0-len_14^post42 == 0 /\ -a_28^post42+a_28^0 == 0 /\ -rcd_63^post42+rcd_63^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ t_24^0-t_24^post42 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ temp_33^0-temp_33^post42 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -a_175^post42+a_175^0 == 0 /\ x_32^0-x_32^post42 == 0 /\ -i_111^post42+i_111^0 == 0 /\ -rcd_100^post42+rcd_100^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ -y_20^post42+y_20^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ a_130^0-a_130^post42 == 0 /\ -d_29^post42+d_29^0 == 0 /\ tmp_27^0-tmp_27^post42 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -i_13^post42+i_13^0 == 0 /\ x_15^0-x_15^post42 == 0 /\ a_152^0-a_152^post42 == 0), cost: 1
  43: l29 -> l4 : ct_18^0'=ct_18^post43, temp_33^0'=temp_33^post43, result_11^0'=result_11^post43, a_152^0'=a_152^post43, t_24^0'=t_24^post43, r_37^0'=r_37^post43, x_32^0'=x_32^post43, x_15^0'=x_15^post43, i_111^0'=i_111^post43, a_28^0'=a_28^post43, temp0_31^0'=temp0_31^post43, rcd_63^0'=rcd_63^post43, y_20^0'=y_20^post43, x_21^0'=x_21^post43, a_130^0'=a_130^post43, len_14^0'=len_14^post43, d_29^0'=d_29^post43, tmp_27^0'=tmp_27^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_175^0'=a_175^post43, temp0_16^0'=temp0_16^post43, rcd_100^0'=rcd_100^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, x_17^0'=x_17^post43, i_13^0'=i_13^post43, (0 == 0 /\ x_15^0-x_15^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post43+x_32^0 == 0 /\ -a_130^post43+a_130^0 == 0 /\ rcd_63^0-rcd_63^post43 == 0 /\ ct_18^0-ct_18^post43 == 0 /\ -d_29^post43+d_29^0 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ 1+a_130^0-i_13^post43 <= 0 /\ -rcd_100^post43+rcd_100^0 == 0 /\ -a_152^post43+a_152^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ -a_175^post43+a_175^0 == 0 /\ len_14^0-len_14^post43 == 0 /\ 2-len_14^0 <= 0 /\ -x_17^post43+x_17^0 == 0 /\ 1-len_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ a_28^0-a_28^post43 == 0 /\ -tmp_27^post43+tmp_27^0 == 0 /\ -1-a_130^0+i_13^post43 <= 0 /\ t_24^0-t_24^post43 == 0 /\ -x_21^post43+x_21^0 == 0 /\ -y_20^post43+y_20^0 == 0), cost: 1
  45: l30 -> l18 : ct_18^0'=ct_18^post45, temp_33^0'=temp_33^post45, result_11^0'=result_11^post45, a_152^0'=a_152^post45, t_24^0'=t_24^post45, r_37^0'=r_37^post45, x_32^0'=x_32^post45, x_15^0'=x_15^post45, i_111^0'=i_111^post45, a_28^0'=a_28^post45, temp0_31^0'=temp0_31^post45, rcd_63^0'=rcd_63^post45, y_20^0'=y_20^post45, x_21^0'=x_21^post45, a_130^0'=a_130^post45, len_14^0'=len_14^post45, d_29^0'=d_29^post45, tmp_27^0'=tmp_27^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_175^0'=a_175^post45, temp0_16^0'=temp0_16^post45, rcd_100^0'=rcd_100^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, x_17^0'=x_17^post45, i_13^0'=i_13^post45, (-a_130^post45+a_130^0 == 0 /\ -d_29^post45+d_29^0 == 0 /\ -rcd_100^post45+rcd_100^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ i_111^0-i_111^post45 == 0 /\ rcd_63^0-rcd_63^post45 == 0 /\ tmp_27^0-tmp_27^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_32^post45+x_32^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ -x_15^post45+x_15^0 == 0 /\ -a_175^post45+a_175^0 == 0 /\ -i_13^post45+i_13^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ a_28^0-a_28^post45 == 0 /\ a_152^0-a_152^post45 == 0 /\ t_24^0-t_24^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -x_21^post45+x_21^0 == 0 /\ ct_18^0-ct_18^post45 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -len_14^post45+len_14^0 == 0), cost: 1
  48: l31 -> l10 : ct_18^0'=ct_18^post48, temp_33^0'=temp_33^post48, result_11^0'=result_11^post48, a_152^0'=a_152^post48, t_24^0'=t_24^post48, r_37^0'=r_37^post48, x_32^0'=x_32^post48, x_15^0'=x_15^post48, i_111^0'=i_111^post48, a_28^0'=a_28^post48, temp0_31^0'=temp0_31^post48, rcd_63^0'=rcd_63^post48, y_20^0'=y_20^post48, x_21^0'=x_21^post48, a_130^0'=a_130^post48, len_14^0'=len_14^post48, d_29^0'=d_29^post48, tmp_27^0'=tmp_27^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_175^0'=a_175^post48, temp0_16^0'=temp0_16^post48, rcd_100^0'=rcd_100^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, x_17^0'=x_17^post48, i_13^0'=i_13^post48, (-tmp_27^post48+tmp_27^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ -len_14^post48+len_14^0 == 0 /\ -rcd_63^post48+rcd_63^0 == 0 /\ a_28^0-a_28^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -a_175^post48+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_100^post48+rcd_100^0 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post48 == 0 /\ a_130^0-a_130^post48 == 0 /\ -i_111^post48+i_111^0 == 0 /\ x_15^0-x_15^post48 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ t_24^0-t_24^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ -r_37^post48+r_37^0 == 0 /\ -i_13^post48+i_13^0 == 0 /\ -d_29^post48+d_29^0 == 0 /\ x_32^0-x_32^post48 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l31
  25: l4 -> l20 : ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, a_152^0'=a_152^post25, t_24^0'=t_24^post25, r_37^0'=r_37^post25, x_32^0'=x_32^post25, x_15^0'=x_15^post25, i_111^0'=i_111^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, rcd_63^0'=rcd_63^post25, y_20^0'=y_20^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, len_14^0'=len_14^post25, d_29^0'=d_29^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, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, rcd_100^0'=rcd_100^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ -rcd_63^post25+rcd_63^0 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -y_20^post25+y_20^0 == 0 /\ -a_152^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -d_29^post25+d_29^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ -a_28^post25+a_28^0 == 0 /\ a_152^0-a_152^post25 == 0), cost: 1
  13: l10 -> l11 : ct_18^0'=ct_18^post13, temp_33^0'=temp_33^post13, result_11^0'=result_11^post13, a_152^0'=a_152^post13, t_24^0'=t_24^post13, r_37^0'=r_37^post13, x_32^0'=x_32^post13, x_15^0'=x_15^post13, i_111^0'=i_111^post13, a_28^0'=a_28^post13, temp0_31^0'=temp0_31^post13, rcd_63^0'=rcd_63^post13, y_20^0'=y_20^post13, x_21^0'=x_21^post13, a_130^0'=a_130^post13, len_14^0'=len_14^post13, d_29^0'=d_29^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, a_175^0'=a_175^post13, temp0_16^0'=temp0_16^post13, rcd_100^0'=rcd_100^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, x_17^0'=x_17^post13, i_13^0'=i_13^post13, (x_15^post13 <= 0 /\ x_15^post13 == 0 /\ -rcd_63^post13+rcd_63^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ x_21^0-x_21^post13 == 0 /\ -a_130^post13+a_130^0 == 0 /\ -x_17^post13+x_17^0 == 0 /\ a_28^0-a_28^post13 == 0 /\ a_152^0-a_152^post13 == 0 /\ a_175^0-a_175^post13 == 0 /\ -i_111^post13+i_111^0 == 0 /\ ct_18^0-ct_18^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -tmp_27^post13+tmp_27^0 == 0 /\ i_13^post13 <= 0 /\ i_13^post13 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -len_14^post13+len_14^0 == 0 /\ d_29^0-d_29^post13 == 0 /\ -temp_33^post13+temp_33^0 == 0 /\ -x_15^post13 <= 0 /\ result_11^0-result_11^post13 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ x_32^0-x_32^post13 == 0 /\ -rcd_100^post13+rcd_100^0 == 0 /\ y_20^0-y_20^post13 == 0 /\ -i_13^post13 <= 0), cost: 1
  47: l11 -> l12 : ct_18^0'=ct_18^post47, temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, a_152^0'=a_152^post47, t_24^0'=t_24^post47, r_37^0'=r_37^post47, x_32^0'=x_32^post47, x_15^0'=x_15^post47, i_111^0'=i_111^post47, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, rcd_63^0'=rcd_63^post47, y_20^0'=y_20^post47, x_21^0'=x_21^post47, a_130^0'=a_130^post47, len_14^0'=len_14^post47, d_29^0'=d_29^post47, tmp_27^0'=tmp_27^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_175^0'=a_175^post47, temp0_16^0'=temp0_16^post47, rcd_100^0'=rcd_100^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, x_17^0'=x_17^post47, i_13^0'=i_13^post47, (0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -x_17^post47+x_17^0 == 0 /\ -a_130^post47+a_130^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ -rcd_100^post47+rcd_100^0 == 0 /\ -x_15^post47+tmp_27^post47 <= 0 /\ a_152^0-a_152^post47 == 0 /\ -1+i_13^post47-i_13^0 == 0 /\ -a_175^post47+a_175^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -rcd_63^post47+rcd_63^0 == 0 /\ x_15^post47-tmp_27^post47 <= 0 /\ x_15^post47-tmp_27^post47 == 0 /\ -len_14^post47+len_14^0 == 0 /\ -t_24^post47+t_24^0 == 0 /\ 1-i_13^post47 <= 0 /\ -1+i_13^post47 <= 0 /\ -temp0_31^120+result_11^120 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -temp_33^0+x_32^120 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ a_28^12-i_13^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ 1-len_14^0 <= 0 /\ i_111^0-i_111^post47 == 0 /\ -result_11^120+tmp_27^post47 == 0), cost: 1
  23: l12 -> l18 : ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=a_152^post23, t_24^0'=t_24^post23, r_37^0'=r_37^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post23, i_111^0'=i_111^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=y_20^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, len_14^0'=len_14^post23, d_29^0'=d_29^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, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, rcd_100^0'=rcd_100^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, x_17^0'=x_17^post23, i_13^0'=i_13^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ 2-i_13^post23 <= 0 /\ t_24^0-t_24^post23 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post23+x_17^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ tmp_27^post23-result_11^10 == 0 /\ -i_111^post23+i_111^0 == 0 /\ len_14^0-len_14^post23 == 0 /\ -x_21^post23+x_21^0 == 0 /\ -2+i_13^post23 <= 0 /\ r_37^0-r_37^post23 == 0 /\ x_15^post23-tmp_27^post23 <= 0 /\ x_15^post23-tmp_27^post23 == 0 /\ a_28^10-i_13^0 == 0 /\ 2-len_14^0 <= 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ d_29^10-x_15^0 == 0 /\ 1-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -x_15^post23+tmp_27^post23 <= 0 /\ a_152^0-a_152^post23 == 0 /\ -1+i_13^post23-i_13^0 == 0), cost: 1
  35: l18 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, a_152^0'=a_152^post35, t_24^0'=t_24^post35, r_37^0'=r_37^post35, x_32^0'=x_32^post35, x_15^0'=x_15^post35, i_111^0'=i_111^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, rcd_63^0'=rcd_63^post35, y_20^0'=y_20^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, len_14^0'=len_14^post35, d_29^0'=d_29^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, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, rcd_100^0'=rcd_100^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ x_17^110-x_15^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post35+x_32^0 == 0 /\ -i_13^0 <= 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ -rcd_100^post35+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post35+a_130^0 == 0 /\ -ct_18^14+y_20^post35 == 0 /\ x_21^post35-x_SLAM_f_19^140 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_175^post35+a_175^0 == 0 /\ ct_18^14 == 0 /\ -a_152^post35+a_152^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ d_29^0-d_29^post35 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ t_24^0-t_24^post35 == 0), cost: 1
  44: l18 -> l30 : ct_18^0'=ct_18^post44, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=a_152^post44, t_24^0'=t_24^post44, r_37^0'=r_37^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post44, i_111^0'=i_111^post44, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post44, y_20^0'=y_20^post44, x_21^0'=x_21^post44, a_130^0'=a_130^post44, len_14^0'=len_14^post44, d_29^0'=d_29^post44, tmp_27^0'=tmp_27^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=a_175^post44, temp0_16^0'=temp0_16^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, x_17^0'=x_17^post44, i_13^0'=i_13^post44, (0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ a_28^11-i_13^0 == 0 /\ -i_13^0 <= 0 /\ len_14^0-len_14^post44 == 0 /\ x_15^post44-tmp_27^post44 == 0 /\ -x_15^0+d_29^110 == 0 /\ a_130^0-a_130^post44 == 0 /\ -rcd_63^post44+rcd_63^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -1-i_111^post44+i_13^post44 <= 0 /\ y_20^0-y_20^post44 == 0 /\ a_175^0-a_175^post44 == 0 /\ a_152^0-a_152^post44 == 0 /\ -temp0_16^post44+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ tmp_27^post44-result_11^110 == 0 /\ -t_24^post44+t_24^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -temp_33^0+x_32^110 == 0 /\ -1+i_13^post44-i_13^0 == 0 /\ 1+i_111^post44-len_14^0 <= 0 /\ r_37^0-r_37^post44 == 0 /\ 1+i_111^post44-i_13^post44 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0), cost: 1
  26: l20 -> l21 : ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, a_152^0'=a_152^post26, t_24^0'=t_24^post26, r_37^0'=r_37^post26, x_32^0'=x_32^post26, x_15^0'=x_15^post26, i_111^0'=i_111^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, rcd_63^0'=rcd_63^post26, y_20^0'=y_20^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, len_14^0'=len_14^post26, d_29^0'=d_29^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, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, rcd_100^0'=rcd_100^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, x_17^0'=x_17^post26, i_13^0'=i_13^post26, (x_15^0-x_15^post26 == 0 /\ x_32^0-x_32^post26 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0 /\ a_152^0-a_152^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ t_24^0-t_24^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ a_130^0-a_130^post26 == 0 /\ -a_175^post26+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ -x_21^post26+x_21^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -y_20^post26+y_20^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ temp_33^0-temp_33^post26 == 0), cost: 1
  27: l20 -> l21 : ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, a_152^0'=a_152^post27, t_24^0'=t_24^post27, r_37^0'=r_37^post27, x_32^0'=x_32^post27, x_15^0'=x_15^post27, i_111^0'=i_111^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, rcd_63^0'=rcd_63^post27, y_20^0'=y_20^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, len_14^0'=len_14^post27, d_29^0'=d_29^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, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, rcd_100^0'=rcd_100^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, x_17^0'=x_17^post27, i_13^0'=i_13^post27, (-len_14^post27+len_14^0 == 0 /\ -a_130^post27+a_130^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -i_13^post27+i_13^0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ i_111^0-i_111^post27 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -x_15^post27+x_15^0 == 0 /\ -x_21^post27+x_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_37^0-r_37^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ a_152^0-a_152^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ t_24^0-t_24^post27 == 0), cost: 1
  28: l21 -> l22 : ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, a_152^0'=a_152^post28, t_24^0'=t_24^post28, r_37^0'=r_37^post28, x_32^0'=x_32^post28, x_15^0'=x_15^post28, i_111^0'=i_111^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, rcd_63^0'=rcd_63^post28, y_20^0'=y_20^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, len_14^0'=len_14^post28, d_29^0'=d_29^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, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, rcd_100^0'=rcd_100^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, x_17^0'=x_17^post28, i_13^0'=i_13^post28, (0 == 0 /\ ct_18^0 <= 0 /\ x_21^0-x_21^post28 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -len_14^post28+len_14^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -x_21^0+t_24^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -x_15^0+x_17^0 <= 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post28+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ a_130^0-a_130^post28 == 0 /\ x_15^0-x_15^post28 == 0 /\ x_15^0-x_17^0 <= 0 /\ a_152^0-a_152^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -1+a_152^0-a_175^post28 <= 0 /\ -i_111^post28+i_111^0 == 0 /\ y_20^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ y_20^0-y_20^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post28+i_13^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -d_29^post28+d_29^0 == 0 /\ 1-a_152^0+a_175^post28 <= 0), cost: 1
  29: l22 -> l23 : ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, a_152^0'=a_152^post29, t_24^0'=t_24^post29, r_37^0'=r_37^post29, x_32^0'=x_32^post29, x_15^0'=x_15^post29, i_111^0'=i_111^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, rcd_63^0'=rcd_63^post29, y_20^0'=y_20^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, len_14^0'=len_14^post29, d_29^0'=d_29^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, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, rcd_100^0'=rcd_100^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, x_17^0'=x_17^post29, i_13^0'=i_13^post29, (-x_21^post29+x_21^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ a_130^0-a_130^post29 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -x_32^post29+x_32^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -d_29^post29+d_29^0 == 0 /\ x_15^0-x_15^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -a_28^post29+a_28^0 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ i_111^0-i_111^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ rcd_63^0-rcd_63^post29 == 0), cost: 1
  30: l22 -> l23 : ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, a_152^0'=a_152^post30, t_24^0'=t_24^post30, r_37^0'=r_37^post30, x_32^0'=x_32^post30, x_15^0'=x_15^post30, i_111^0'=i_111^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, rcd_63^0'=rcd_63^post30, y_20^0'=y_20^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, len_14^0'=len_14^post30, d_29^0'=d_29^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, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, rcd_100^0'=rcd_100^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, x_17^0'=x_17^post30, i_13^0'=i_13^post30, (y_20^0-y_20^post30 == 0 /\ -len_14^post30+len_14^0 == 0 /\ t_24^0-t_24^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ x_32^0-x_32^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -i_13^post30+i_13^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -x_21^post30+x_21^0 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -x_15^post30+x_15^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 1
  31: l23 -> l24 : ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, a_152^0'=a_152^post31, t_24^0'=t_24^post31, r_37^0'=r_37^post31, x_32^0'=x_32^post31, x_15^0'=x_15^post31, i_111^0'=i_111^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, rcd_63^0'=rcd_63^post31, y_20^0'=y_20^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, len_14^0'=len_14^post31, d_29^0'=d_29^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, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, rcd_100^0'=rcd_100^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, x_17^0'=x_17^post31, i_13^0'=i_13^post31, (1-t_24^0+y_20^0 <= 0 /\ x_15^0-x_15^post31 == 0 /\ -rcd_100^post31+rcd_100^0 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ x_32^0-x_32^post31 == 0 /\ x_21^0-x_21^post31 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -len_14^post31+len_14^0 == 0 /\ a_130^0-a_130^post31 == 0 /\ a_152^0-a_152^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ d_29^0-d_29^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post31+i_13^0 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ i_111^0-i_111^post31 == 0 /\ a_28^0-a_28^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -tmp_27^post31+tmp_27^0 == 0), cost: 1
  32: l23 -> l24 : ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, a_152^0'=a_152^post32, t_24^0'=t_24^post32, r_37^0'=r_37^post32, x_32^0'=x_32^post32, x_15^0'=x_15^post32, i_111^0'=i_111^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, rcd_63^0'=rcd_63^post32, y_20^0'=y_20^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, len_14^0'=len_14^post32, d_29^0'=d_29^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, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, rcd_100^0'=rcd_100^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, x_17^0'=x_17^post32, i_13^0'=i_13^post32, (-a_175^post32+a_175^0 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -d_29^post32+d_29^0 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -i_13^post32+i_13^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -rcd_63^post32+rcd_63^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -i_111^post32+i_111^0 == 0 /\ r_37^0-r_37^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ a_152^0-a_152^post32 == 0 /\ a_130^0-a_130^post32 == 0 /\ t_24^0-t_24^post32 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -len_14^post32+len_14^0 == 0), cost: 1
  33: l24 -> l19 : ct_18^0'=ct_18^post33, temp_33^0'=temp_33^post33, result_11^0'=result_11^post33, a_152^0'=a_152^post33, t_24^0'=t_24^post33, r_37^0'=r_37^post33, x_32^0'=x_32^post33, x_15^0'=x_15^post33, i_111^0'=i_111^post33, a_28^0'=a_28^post33, temp0_31^0'=temp0_31^post33, rcd_63^0'=rcd_63^post33, y_20^0'=y_20^post33, x_21^0'=x_21^post33, a_130^0'=a_130^post33, len_14^0'=len_14^post33, d_29^0'=d_29^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, a_175^0'=a_175^post33, temp0_16^0'=temp0_16^post33, rcd_100^0'=rcd_100^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, x_17^0'=x_17^post33, i_13^0'=i_13^post33, (0 == 0 /\ -a_152^post33+a_175^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^0-ct_18^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -a_28^post33+a_28^0 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ -rcd_100^post33+rcd_100^0 == 0 /\ a_152^post33-a_175^0 <= 0 /\ tmp_27^0-tmp_27^post33 == 0 /\ -a_175^post33+a_175^0 == 0 /\ x_15^0-x_15^post33 == 0 /\ r_37^0-r_37^post33 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ i_111^0-i_111^post33 == 0 /\ -d_29^post33+d_29^0 == 0 /\ len_14^0-len_14^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -x_21^post33+x_21^0 == 0 /\ a_130^0-a_130^post33 == 0 /\ temp0_31^0-temp0_31^post33 == 0 /\ 2-len_14^0 <= 0 /\ -y_20^post33+y_20^0 == 0 /\ -i_13^post33+i_13^0 == 0 /\ 1-len_14^0 <= 0 /\ rcd_63^0-rcd_63^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ -x_32^post33+x_32^0 == 0 /\ -x_17^post33+x_17^0 == 0), cost: 1
  34: l19 -> l4 : ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, a_152^0'=a_152^post34, t_24^0'=t_24^post34, r_37^0'=r_37^post34, x_32^0'=x_32^post34, x_15^0'=x_15^post34, i_111^0'=i_111^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, rcd_63^0'=rcd_63^post34, y_20^0'=y_20^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, len_14^0'=len_14^post34, d_29^0'=d_29^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, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, rcd_100^0'=rcd_100^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, x_17^0'=x_17^post34, i_13^0'=i_13^post34, (ct_18^0-ct_18^post34 == 0 /\ -x_21^post34+x_21^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ result_11^0-result_11^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ r_37^0-r_37^post34 == 0 /\ -i_13^post34+i_13^0 == 0 /\ y_20^0-y_20^post34 == 0 /\ -x_15^post34+x_15^0 == 0 /\ i_111^0-i_111^post34 == 0 /\ -tmp_27^post34+tmp_27^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_152^post34+a_152^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -x_32^post34+x_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ d_29^0-d_29^post34 == 0 /\ a_28^0-a_28^post34 == 0 /\ -a_130^post34+a_130^0 == 0), cost: 1
  36: l25 -> l26 : ct_18^0'=ct_18^post36, temp_33^0'=temp_33^post36, result_11^0'=result_11^post36, a_152^0'=a_152^post36, t_24^0'=t_24^post36, r_37^0'=r_37^post36, x_32^0'=x_32^post36, x_15^0'=x_15^post36, i_111^0'=i_111^post36, a_28^0'=a_28^post36, temp0_31^0'=temp0_31^post36, rcd_63^0'=rcd_63^post36, y_20^0'=y_20^post36, x_21^0'=x_21^post36, a_130^0'=a_130^post36, len_14^0'=len_14^post36, d_29^0'=d_29^post36, tmp_27^0'=tmp_27^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_175^0'=a_175^post36, temp0_16^0'=temp0_16^post36, rcd_100^0'=rcd_100^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, x_17^0'=x_17^post36, i_13^0'=i_13^post36, (-x_21^post36+x_21^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ -x_17^post36+x_17^0 == 0 /\ rcd_63^0-rcd_63^post36 == 0 /\ -a_152^post36+a_152^0 == 0 /\ r_37^0-r_37^post36 == 0 /\ y_20^0-y_20^post36 == 0 /\ -i_13^post36+i_13^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -a_130^post36+a_130^0 == 0 /\ -x_15^post36+x_15^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -len_14^post36+len_14^0 == 0 /\ -x_32^post36+x_32^0 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ i_111^0-i_111^post36 == 0 /\ tmp_27^0-tmp_27^post36 == 0 /\ -x_SLAM_f_19^post36+x_SLAM_f_19^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -a_175^post36+a_175^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -d_29^post36+d_29^0 == 0 /\ -rcd_100^post36+rcd_100^0 == 0 /\ a_28^0-a_28^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0), cost: 1
  37: l25 -> l26 : ct_18^0'=ct_18^post37, temp_33^0'=temp_33^post37, result_11^0'=result_11^post37, a_152^0'=a_152^post37, t_24^0'=t_24^post37, r_37^0'=r_37^post37, x_32^0'=x_32^post37, x_15^0'=x_15^post37, i_111^0'=i_111^post37, a_28^0'=a_28^post37, temp0_31^0'=temp0_31^post37, rcd_63^0'=rcd_63^post37, y_20^0'=y_20^post37, x_21^0'=x_21^post37, a_130^0'=a_130^post37, len_14^0'=len_14^post37, d_29^0'=d_29^post37, tmp_27^0'=tmp_27^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_175^0'=a_175^post37, temp0_16^0'=temp0_16^post37, rcd_100^0'=rcd_100^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, x_17^0'=x_17^post37, i_13^0'=i_13^post37, (-tmp_27^post37+tmp_27^0 == 0 /\ i_111^0-i_111^post37 == 0 /\ -x_15^post37+x_15^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -len_14^post37+len_14^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -a_130^post37+a_130^0 == 0 /\ a_175^0-a_175^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ a_28^0-a_28^post37 == 0 /\ rcd_63^0-rcd_63^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ -rcd_100^post37+rcd_100^0 == 0 /\ x_32^0-x_32^post37 == 0 /\ -i_13^post37+i_13^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ d_29^0-d_29^post37 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ r_37^0-r_37^post37 == 0 /\ -x_21^post37+x_21^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ a_152^0-a_152^post37 == 0), cost: 1
  38: l26 -> l27 : ct_18^0'=ct_18^post38, temp_33^0'=temp_33^post38, result_11^0'=result_11^post38, a_152^0'=a_152^post38, t_24^0'=t_24^post38, r_37^0'=r_37^post38, x_32^0'=x_32^post38, x_15^0'=x_15^post38, i_111^0'=i_111^post38, a_28^0'=a_28^post38, temp0_31^0'=temp0_31^post38, rcd_63^0'=rcd_63^post38, y_20^0'=y_20^post38, x_21^0'=x_21^post38, a_130^0'=a_130^post38, len_14^0'=len_14^post38, d_29^0'=d_29^post38, tmp_27^0'=tmp_27^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_175^0'=a_175^post38, temp0_16^0'=temp0_16^post38, rcd_100^0'=rcd_100^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, x_17^0'=x_17^post38, i_13^0'=i_13^post38, (0 == 0 /\ x_15^0-x_15^post38 == 0 /\ temp_33^0-temp_33^post38 == 0 /\ ct_18^0 <= 0 /\ a_152^0-a_152^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post38 == 0 /\ -x_15^0+t_24^post38 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post38 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -x_21^0+t_24^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ -len_14^post38+len_14^0 == 0 /\ x_15^0-t_24^post38 <= 0 /\ x_15^0-x_17^0 <= 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ y_20^0 <= 0 /\ r_37^0-r_37^post38 == 0 /\ -x_17^post38+x_17^0 == 0 /\ a_152^0-a_130^post38 <= 0 /\ -a_175^post38+a_175^0 == 0 /\ y_20^0-y_20^post38 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -i_13^post38+i_13^0 == 0 /\ -rcd_100^post38+rcd_100^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -d_29^post38+d_29^0 == 0 /\ x_32^0-x_32^post38 == 0 /\ -i_111^post38+i_111^0 == 0 /\ -a_152^0+a_130^post38 <= 0 /\ a_28^0-a_28^post38 == 0 /\ -ct_18^0 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -rcd_63^post38+rcd_63^0 == 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -tmp_27^post38+tmp_27^0 == 0), cost: 1
  39: l27 -> l28 : ct_18^0'=ct_18^post39, temp_33^0'=temp_33^post39, result_11^0'=result_11^post39, a_152^0'=a_152^post39, t_24^0'=t_24^post39, r_37^0'=r_37^post39, x_32^0'=x_32^post39, x_15^0'=x_15^post39, i_111^0'=i_111^post39, a_28^0'=a_28^post39, temp0_31^0'=temp0_31^post39, rcd_63^0'=rcd_63^post39, y_20^0'=y_20^post39, x_21^0'=x_21^post39, a_130^0'=a_130^post39, len_14^0'=len_14^post39, d_29^0'=d_29^post39, tmp_27^0'=tmp_27^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_175^0'=a_175^post39, temp0_16^0'=temp0_16^post39, rcd_100^0'=rcd_100^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, x_17^0'=x_17^post39, i_13^0'=i_13^post39, (-a_175^post39+a_175^0 == 0 /\ x_15^0-x_15^post39 == 0 /\ -d_29^post39+d_29^0 == 0 /\ rcd_63^0-rcd_63^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ -rcd_100^post39+rcd_100^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ ct_18^0-ct_18^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -x_SLAM_f_19^post39+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ -x_32^post39+x_32^0 == 0 /\ i_111^0-i_111^post39 == 0 /\ len_14^0-len_14^post39 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post39+i_13^0 == 0 /\ a_28^0-a_28^post39 == 0 /\ a_130^0-a_130^post39 == 0 /\ tmp_27^0-tmp_27^post39 == 0 /\ -a_152^post39+a_152^0 == 0 /\ -y_20^post39+y_20^0 == 0 /\ -temp0_16^post39+temp0_16^0 == 0), cost: 1
  40: l27 -> l28 : ct_18^0'=ct_18^post40, temp_33^0'=temp_33^post40, result_11^0'=result_11^post40, a_152^0'=a_152^post40, t_24^0'=t_24^post40, r_37^0'=r_37^post40, x_32^0'=x_32^post40, x_15^0'=x_15^post40, i_111^0'=i_111^post40, a_28^0'=a_28^post40, temp0_31^0'=temp0_31^post40, rcd_63^0'=rcd_63^post40, y_20^0'=y_20^post40, x_21^0'=x_21^post40, a_130^0'=a_130^post40, len_14^0'=len_14^post40, d_29^0'=d_29^post40, tmp_27^0'=tmp_27^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_175^0'=a_175^post40, temp0_16^0'=temp0_16^post40, rcd_100^0'=rcd_100^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, x_17^0'=x_17^post40, i_13^0'=i_13^post40, (-x_15^post40+x_15^0 == 0 /\ y_20^0-y_20^post40 == 0 /\ i_111^0-i_111^post40 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ rcd_100^0-rcd_100^post40 == 0 /\ a_28^0-a_28^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ -i_13^post40+i_13^0 == 0 /\ -x_32^post40+x_32^0 == 0 /\ -len_14^post40+len_14^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -d_29^post40+d_29^0 == 0 /\ a_152^0-a_152^post40 == 0 /\ -a_130^post40+a_130^0 == 0 /\ -tmp_27^post40+tmp_27^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ r_37^0-r_37^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -a_175^post40+a_175^0 == 0 /\ -rcd_63^post40+rcd_63^0 == 0 /\ 1-x_15^0+y_20^0 <= 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1
  41: l28 -> l29 : ct_18^0'=ct_18^post41, temp_33^0'=temp_33^post41, result_11^0'=result_11^post41, a_152^0'=a_152^post41, t_24^0'=t_24^post41, r_37^0'=r_37^post41, x_32^0'=x_32^post41, x_15^0'=x_15^post41, i_111^0'=i_111^post41, a_28^0'=a_28^post41, temp0_31^0'=temp0_31^post41, rcd_63^0'=rcd_63^post41, y_20^0'=y_20^post41, x_21^0'=x_21^post41, a_130^0'=a_130^post41, len_14^0'=len_14^post41, d_29^0'=d_29^post41, tmp_27^0'=tmp_27^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_175^0'=a_175^post41, temp0_16^0'=temp0_16^post41, rcd_100^0'=rcd_100^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, x_17^0'=x_17^post41, i_13^0'=i_13^post41, (-rcd_63^post41+rcd_63^0 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_32^0-x_32^post41 == 0 /\ -r_37^post41+r_37^0 == 0 /\ -rcd_100^post41+rcd_100^0 == 0 /\ ct_18^0-ct_18^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post41+x_17^0 == 0 /\ -i_13^post41+i_13^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ a_175^0-a_175^post41 == 0 /\ x_15^0-x_15^post41 == 0 /\ a_130^0-a_130^post41 == 0 /\ a_152^0-a_152^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ -tmp_27^post41+tmp_27^0 == 0 /\ -len_14^post41+len_14^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ y_20^0-y_20^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ x_21^0-x_21^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ a_28^0-a_28^post41 == 0 /\ -d_29^post41+d_29^0 == 0), cost: 1
  42: l28 -> l29 : ct_18^0'=ct_18^post42, temp_33^0'=temp_33^post42, result_11^0'=result_11^post42, a_152^0'=a_152^post42, t_24^0'=t_24^post42, r_37^0'=r_37^post42, x_32^0'=x_32^post42, x_15^0'=x_15^post42, i_111^0'=i_111^post42, a_28^0'=a_28^post42, temp0_31^0'=temp0_31^post42, rcd_63^0'=rcd_63^post42, y_20^0'=y_20^post42, x_21^0'=x_21^post42, a_130^0'=a_130^post42, len_14^0'=len_14^post42, d_29^0'=d_29^post42, tmp_27^0'=tmp_27^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_175^0'=a_175^post42, temp0_16^0'=temp0_16^post42, rcd_100^0'=rcd_100^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, x_17^0'=x_17^post42, i_13^0'=i_13^post42, (-temp0_31^post42+temp0_31^0 == 0 /\ r_37^0-r_37^post42 == 0 /\ len_14^0-len_14^post42 == 0 /\ -a_28^post42+a_28^0 == 0 /\ -rcd_63^post42+rcd_63^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ t_24^0-t_24^post42 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ temp_33^0-temp_33^post42 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -a_175^post42+a_175^0 == 0 /\ x_32^0-x_32^post42 == 0 /\ -i_111^post42+i_111^0 == 0 /\ -rcd_100^post42+rcd_100^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ -y_20^post42+y_20^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ a_130^0-a_130^post42 == 0 /\ -d_29^post42+d_29^0 == 0 /\ tmp_27^0-tmp_27^post42 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -i_13^post42+i_13^0 == 0 /\ x_15^0-x_15^post42 == 0 /\ a_152^0-a_152^post42 == 0), cost: 1
  43: l29 -> l4 : ct_18^0'=ct_18^post43, temp_33^0'=temp_33^post43, result_11^0'=result_11^post43, a_152^0'=a_152^post43, t_24^0'=t_24^post43, r_37^0'=r_37^post43, x_32^0'=x_32^post43, x_15^0'=x_15^post43, i_111^0'=i_111^post43, a_28^0'=a_28^post43, temp0_31^0'=temp0_31^post43, rcd_63^0'=rcd_63^post43, y_20^0'=y_20^post43, x_21^0'=x_21^post43, a_130^0'=a_130^post43, len_14^0'=len_14^post43, d_29^0'=d_29^post43, tmp_27^0'=tmp_27^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_175^0'=a_175^post43, temp0_16^0'=temp0_16^post43, rcd_100^0'=rcd_100^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, x_17^0'=x_17^post43, i_13^0'=i_13^post43, (0 == 0 /\ x_15^0-x_15^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post43+x_32^0 == 0 /\ -a_130^post43+a_130^0 == 0 /\ rcd_63^0-rcd_63^post43 == 0 /\ ct_18^0-ct_18^post43 == 0 /\ -d_29^post43+d_29^0 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ 1+a_130^0-i_13^post43 <= 0 /\ -rcd_100^post43+rcd_100^0 == 0 /\ -a_152^post43+a_152^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ -a_175^post43+a_175^0 == 0 /\ len_14^0-len_14^post43 == 0 /\ 2-len_14^0 <= 0 /\ -x_17^post43+x_17^0 == 0 /\ 1-len_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ a_28^0-a_28^post43 == 0 /\ -tmp_27^post43+tmp_27^0 == 0 /\ -1-a_130^0+i_13^post43 <= 0 /\ t_24^0-t_24^post43 == 0 /\ -x_21^post43+x_21^0 == 0 /\ -y_20^post43+y_20^0 == 0), cost: 1
  45: l30 -> l18 : ct_18^0'=ct_18^post45, temp_33^0'=temp_33^post45, result_11^0'=result_11^post45, a_152^0'=a_152^post45, t_24^0'=t_24^post45, r_37^0'=r_37^post45, x_32^0'=x_32^post45, x_15^0'=x_15^post45, i_111^0'=i_111^post45, a_28^0'=a_28^post45, temp0_31^0'=temp0_31^post45, rcd_63^0'=rcd_63^post45, y_20^0'=y_20^post45, x_21^0'=x_21^post45, a_130^0'=a_130^post45, len_14^0'=len_14^post45, d_29^0'=d_29^post45, tmp_27^0'=tmp_27^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_175^0'=a_175^post45, temp0_16^0'=temp0_16^post45, rcd_100^0'=rcd_100^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, x_17^0'=x_17^post45, i_13^0'=i_13^post45, (-a_130^post45+a_130^0 == 0 /\ -d_29^post45+d_29^0 == 0 /\ -rcd_100^post45+rcd_100^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ i_111^0-i_111^post45 == 0 /\ rcd_63^0-rcd_63^post45 == 0 /\ tmp_27^0-tmp_27^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_32^post45+x_32^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ -x_15^post45+x_15^0 == 0 /\ -a_175^post45+a_175^0 == 0 /\ -i_13^post45+i_13^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ a_28^0-a_28^post45 == 0 /\ a_152^0-a_152^post45 == 0 /\ t_24^0-t_24^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -x_21^post45+x_21^0 == 0 /\ ct_18^0-ct_18^post45 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -len_14^post45+len_14^0 == 0), cost: 1
  48: l31 -> l10 : ct_18^0'=ct_18^post48, temp_33^0'=temp_33^post48, result_11^0'=result_11^post48, a_152^0'=a_152^post48, t_24^0'=t_24^post48, r_37^0'=r_37^post48, x_32^0'=x_32^post48, x_15^0'=x_15^post48, i_111^0'=i_111^post48, a_28^0'=a_28^post48, temp0_31^0'=temp0_31^post48, rcd_63^0'=rcd_63^post48, y_20^0'=y_20^post48, x_21^0'=x_21^post48, a_130^0'=a_130^post48, len_14^0'=len_14^post48, d_29^0'=d_29^post48, tmp_27^0'=tmp_27^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_175^0'=a_175^post48, temp0_16^0'=temp0_16^post48, rcd_100^0'=rcd_100^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, x_17^0'=x_17^post48, i_13^0'=i_13^post48, (-tmp_27^post48+tmp_27^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ -len_14^post48+len_14^0 == 0 /\ -rcd_63^post48+rcd_63^0 == 0 /\ a_28^0-a_28^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -a_175^post48+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_100^post48+rcd_100^0 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post48 == 0 /\ a_130^0-a_130^post48 == 0 /\ -i_111^post48+i_111^0 == 0 /\ x_15^0-x_15^post48 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ t_24^0-t_24^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ -r_37^post48+r_37^0 == 0 /\ -i_13^post48+i_13^0 == 0 /\ -d_29^post48+d_29^0 == 0 /\ x_32^0-x_32^post48 == 0), cost: 1


Applied preprocessing
Original rule:
l10 -> l11 : ct_18^0'=ct_18^post13, temp_33^0'=temp_33^post13, result_11^0'=result_11^post13, a_152^0'=a_152^post13, t_24^0'=t_24^post13, r_37^0'=r_37^post13, x_32^0'=x_32^post13, x_15^0'=x_15^post13, i_111^0'=i_111^post13, a_28^0'=a_28^post13, temp0_31^0'=temp0_31^post13, rcd_63^0'=rcd_63^post13, y_20^0'=y_20^post13, x_21^0'=x_21^post13, a_130^0'=a_130^post13, len_14^0'=len_14^post13, d_29^0'=d_29^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, a_175^0'=a_175^post13, temp0_16^0'=temp0_16^post13, rcd_100^0'=rcd_100^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, x_17^0'=x_17^post13, i_13^0'=i_13^post13, (x_15^post13 <= 0 /\ x_15^post13 == 0 /\ -rcd_63^post13+rcd_63^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ x_21^0-x_21^post13 == 0 /\ -a_130^post13+a_130^0 == 0 /\ -x_17^post13+x_17^0 == 0 /\ a_28^0-a_28^post13 == 0 /\ a_152^0-a_152^post13 == 0 /\ a_175^0-a_175^post13 == 0 /\ -i_111^post13+i_111^0 == 0 /\ ct_18^0-ct_18^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -tmp_27^post13+tmp_27^0 == 0 /\ i_13^post13 <= 0 /\ i_13^post13 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -len_14^post13+len_14^0 == 0 /\ d_29^0-d_29^post13 == 0 /\ -temp_33^post13+temp_33^0 == 0 /\ -x_15^post13 <= 0 /\ result_11^0-result_11^post13 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ x_32^0-x_32^post13 == 0 /\ -rcd_100^post13+rcd_100^0 == 0 /\ y_20^0-y_20^post13 == 0 /\ -i_13^post13 <= 0), cost: 1
New rule:
l10 -> l11 : x_15^0'=0, i_13^0'=0, TRUE, cost: 1

Applied preprocessing
Original rule:
l12 -> l18 : ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=a_152^post23, t_24^0'=t_24^post23, r_37^0'=r_37^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post23, i_111^0'=i_111^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=y_20^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, len_14^0'=len_14^post23, d_29^0'=d_29^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, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, rcd_100^0'=rcd_100^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, x_17^0'=x_17^post23, i_13^0'=i_13^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ 2-i_13^post23 <= 0 /\ t_24^0-t_24^post23 == 0 /\ temp0_31^10-x_32^10 == 0 /\ -temp_33^0+x_32^10 == 0 /\ -x_17^post23+x_17^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ tmp_27^post23-result_11^10 == 0 /\ -i_111^post23+i_111^0 == 0 /\ len_14^0-len_14^post23 == 0 /\ -x_21^post23+x_21^0 == 0 /\ -2+i_13^post23 <= 0 /\ r_37^0-r_37^post23 == 0 /\ x_15^post23-tmp_27^post23 <= 0 /\ x_15^post23-tmp_27^post23 == 0 /\ a_28^10-i_13^0 == 0 /\ 2-len_14^0 <= 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ d_29^10-x_15^0 == 0 /\ 1-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ y_20^0-y_20^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -x_15^post23+tmp_27^post23 <= 0 /\ a_152^0-a_152^post23 == 0 /\ -1+i_13^post23-i_13^0 == 0), cost: 1
New rule:
l12 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^0, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, 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^post23, i_13^0'=2, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l20 : ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, result_11^0'=result_11^post25, a_152^0'=a_152^post25, t_24^0'=t_24^post25, r_37^0'=r_37^post25, x_32^0'=x_32^post25, x_15^0'=x_15^post25, i_111^0'=i_111^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, rcd_63^0'=rcd_63^post25, y_20^0'=y_20^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, len_14^0'=len_14^post25, d_29^0'=d_29^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, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, rcd_100^0'=rcd_100^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ t_24^0-t_24^post25 == 0 /\ -rcd_63^post25+rcd_63^0 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -y_20^post25+y_20^0 == 0 /\ -a_152^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ -a_175^post25+a_175^0 == 0 /\ -d_29^post25+d_29^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ -a_28^post25+a_28^0 == 0 /\ a_152^0-a_152^post25 == 0), cost: 1
New rule:
l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, result_11^0'=result_11^post26, a_152^0'=a_152^post26, t_24^0'=t_24^post26, r_37^0'=r_37^post26, x_32^0'=x_32^post26, x_15^0'=x_15^post26, i_111^0'=i_111^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, rcd_63^0'=rcd_63^post26, y_20^0'=y_20^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, len_14^0'=len_14^post26, d_29^0'=d_29^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, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, rcd_100^0'=rcd_100^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, x_17^0'=x_17^post26, i_13^0'=i_13^post26, (x_15^0-x_15^post26 == 0 /\ x_32^0-x_32^post26 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ r_37^0-r_37^post26 == 0 /\ -d_29^post26+d_29^0 == 0 /\ a_152^0-a_152^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -x_17^post26+x_17^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ t_24^0-t_24^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ a_130^0-a_130^post26 == 0 /\ -a_175^post26+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -rcd_100^post26+rcd_100^0 == 0 /\ len_14^0-len_14^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -i_13^post26+i_13^0 == 0 /\ -x_21^post26+x_21^0 == 0 /\ i_111^0-i_111^post26 == 0 /\ a_28^0-a_28^post26 == 0 /\ -y_20^post26+y_20^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ temp_33^0-temp_33^post26 == 0), cost: 1
New rule:
l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, result_11^0'=result_11^post27, a_152^0'=a_152^post27, t_24^0'=t_24^post27, r_37^0'=r_37^post27, x_32^0'=x_32^post27, x_15^0'=x_15^post27, i_111^0'=i_111^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, rcd_63^0'=rcd_63^post27, y_20^0'=y_20^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, len_14^0'=len_14^post27, d_29^0'=d_29^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, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, rcd_100^0'=rcd_100^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, x_17^0'=x_17^post27, i_13^0'=i_13^post27, (-len_14^post27+len_14^0 == 0 /\ -a_130^post27+a_130^0 == 0 /\ -rcd_100^post27+rcd_100^0 == 0 /\ -i_13^post27+i_13^0 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0-y_20^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ i_111^0-i_111^post27 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -tmp_27^post27+tmp_27^0 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -a_175^post27+a_175^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -x_15^post27+x_15^0 == 0 /\ -x_21^post27+x_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_37^0-r_37^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ ct_18^0-ct_18^post27 == 0 /\ a_152^0-a_152^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ t_24^0-t_24^post27 == 0), cost: 1
New rule:
l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, result_11^0'=result_11^post28, a_152^0'=a_152^post28, t_24^0'=t_24^post28, r_37^0'=r_37^post28, x_32^0'=x_32^post28, x_15^0'=x_15^post28, i_111^0'=i_111^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, rcd_63^0'=rcd_63^post28, y_20^0'=y_20^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, len_14^0'=len_14^post28, d_29^0'=d_29^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, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, rcd_100^0'=rcd_100^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, x_17^0'=x_17^post28, i_13^0'=i_13^post28, (0 == 0 /\ ct_18^0 <= 0 /\ x_21^0-x_21^post28 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -len_14^post28+len_14^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -x_21^0+t_24^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -x_15^0+x_17^0 <= 0 /\ -tmp_27^post28+tmp_27^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -rcd_100^post28+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ a_130^0-a_130^post28 == 0 /\ x_15^0-x_15^post28 == 0 /\ x_15^0-x_17^0 <= 0 /\ a_152^0-a_152^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ -1+a_152^0-a_175^post28 <= 0 /\ -i_111^post28+i_111^0 == 0 /\ y_20^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ -x_15^0+tmp_27^0 <= 0 /\ y_20^0-y_20^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post28+i_13^0 == 0 /\ x_32^0-x_32^post28 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -d_29^post28+d_29^0 == 0 /\ 1-a_152^0+a_175^post28 <= 0), cost: 1
New rule:
l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, result_11^0'=result_11^post29, a_152^0'=a_152^post29, t_24^0'=t_24^post29, r_37^0'=r_37^post29, x_32^0'=x_32^post29, x_15^0'=x_15^post29, i_111^0'=i_111^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, rcd_63^0'=rcd_63^post29, y_20^0'=y_20^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, len_14^0'=len_14^post29, d_29^0'=d_29^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, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, rcd_100^0'=rcd_100^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, x_17^0'=x_17^post29, i_13^0'=i_13^post29, (-x_21^post29+x_21^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ a_130^0-a_130^post29 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -x_17^post29+x_17^0 == 0 /\ -x_32^post29+x_32^0 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -d_29^post29+d_29^0 == 0 /\ x_15^0-x_15^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -a_28^post29+a_28^0 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -y_20^post29+y_20^0 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ i_111^0-i_111^post29 == 0 /\ -x_SLAM_f_19^post29+x_SLAM_f_19^0 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ rcd_63^0-rcd_63^post29 == 0), cost: 1
New rule:
l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, result_11^0'=result_11^post30, a_152^0'=a_152^post30, t_24^0'=t_24^post30, r_37^0'=r_37^post30, x_32^0'=x_32^post30, x_15^0'=x_15^post30, i_111^0'=i_111^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, rcd_63^0'=rcd_63^post30, y_20^0'=y_20^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, len_14^0'=len_14^post30, d_29^0'=d_29^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, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, rcd_100^0'=rcd_100^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, x_17^0'=x_17^post30, i_13^0'=i_13^post30, (y_20^0-y_20^post30 == 0 /\ -len_14^post30+len_14^0 == 0 /\ t_24^0-t_24^post30 == 0 /\ i_111^0-i_111^post30 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ -a_130^post30+a_130^0 == 0 /\ temp_33^0-temp_33^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ x_32^0-x_32^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -i_13^post30+i_13^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -x_21^post30+x_21^0 == 0 /\ a_28^0-a_28^post30 == 0 /\ -a_175^post30+a_175^0 == 0 /\ -x_17^post30+x_17^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -x_15^post30+x_15^0 == 0 /\ a_152^0-a_152^post30 == 0 /\ -tmp_27^post30+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 1
New rule:
l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, result_11^0'=result_11^post31, a_152^0'=a_152^post31, t_24^0'=t_24^post31, r_37^0'=r_37^post31, x_32^0'=x_32^post31, x_15^0'=x_15^post31, i_111^0'=i_111^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, rcd_63^0'=rcd_63^post31, y_20^0'=y_20^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, len_14^0'=len_14^post31, d_29^0'=d_29^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, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, rcd_100^0'=rcd_100^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, x_17^0'=x_17^post31, i_13^0'=i_13^post31, (1-t_24^0+y_20^0 <= 0 /\ x_15^0-x_15^post31 == 0 /\ -rcd_100^post31+rcd_100^0 == 0 /\ -x_SLAM_f_19^post31+x_SLAM_f_19^0 == 0 /\ x_32^0-x_32^post31 == 0 /\ x_21^0-x_21^post31 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ a_175^0-a_175^post31 == 0 /\ -len_14^post31+len_14^0 == 0 /\ a_130^0-a_130^post31 == 0 /\ a_152^0-a_152^post31 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ d_29^0-d_29^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ -x_17^post31+x_17^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post31+i_13^0 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ i_111^0-i_111^post31 == 0 /\ a_28^0-a_28^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -tmp_27^post31+tmp_27^0 == 0), cost: 1
New rule:
l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, result_11^0'=result_11^post32, a_152^0'=a_152^post32, t_24^0'=t_24^post32, r_37^0'=r_37^post32, x_32^0'=x_32^post32, x_15^0'=x_15^post32, i_111^0'=i_111^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, rcd_63^0'=rcd_63^post32, y_20^0'=y_20^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, len_14^0'=len_14^post32, d_29^0'=d_29^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, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, rcd_100^0'=rcd_100^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, x_17^0'=x_17^post32, i_13^0'=i_13^post32, (-a_175^post32+a_175^0 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ -d_29^post32+d_29^0 == 0 /\ -rcd_100^post32+rcd_100^0 == 0 /\ -i_13^post32+i_13^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -a_28^post32+a_28^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -rcd_63^post32+rcd_63^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ x_32^0-x_32^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ -i_111^post32+i_111^0 == 0 /\ r_37^0-r_37^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ a_152^0-a_152^post32 == 0 /\ a_130^0-a_130^post32 == 0 /\ t_24^0-t_24^post32 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ x_15^0-x_15^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -len_14^post32+len_14^0 == 0), cost: 1
New rule:
l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l19 : ct_18^0'=ct_18^post33, temp_33^0'=temp_33^post33, result_11^0'=result_11^post33, a_152^0'=a_152^post33, t_24^0'=t_24^post33, r_37^0'=r_37^post33, x_32^0'=x_32^post33, x_15^0'=x_15^post33, i_111^0'=i_111^post33, a_28^0'=a_28^post33, temp0_31^0'=temp0_31^post33, rcd_63^0'=rcd_63^post33, y_20^0'=y_20^post33, x_21^0'=x_21^post33, a_130^0'=a_130^post33, len_14^0'=len_14^post33, d_29^0'=d_29^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, a_175^0'=a_175^post33, temp0_16^0'=temp0_16^post33, rcd_100^0'=rcd_100^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, x_17^0'=x_17^post33, i_13^0'=i_13^post33, (0 == 0 /\ -a_152^post33+a_175^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^0-ct_18^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -a_28^post33+a_28^0 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ -rcd_100^post33+rcd_100^0 == 0 /\ a_152^post33-a_175^0 <= 0 /\ tmp_27^0-tmp_27^post33 == 0 /\ -a_175^post33+a_175^0 == 0 /\ x_15^0-x_15^post33 == 0 /\ r_37^0-r_37^post33 == 0 /\ -x_SLAM_f_19^post33+x_SLAM_f_19^0 == 0 /\ i_111^0-i_111^post33 == 0 /\ -d_29^post33+d_29^0 == 0 /\ len_14^0-len_14^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -x_21^post33+x_21^0 == 0 /\ a_130^0-a_130^post33 == 0 /\ temp0_31^0-temp0_31^post33 == 0 /\ 2-len_14^0 <= 0 /\ -y_20^post33+y_20^0 == 0 /\ -i_13^post33+i_13^0 == 0 /\ 1-len_14^0 <= 0 /\ rcd_63^0-rcd_63^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ -x_32^post33+x_32^0 == 0 /\ -x_17^post33+x_17^0 == 0), cost: 1
New rule:
l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l19 -> l4 : ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, result_11^0'=result_11^post34, a_152^0'=a_152^post34, t_24^0'=t_24^post34, r_37^0'=r_37^post34, x_32^0'=x_32^post34, x_15^0'=x_15^post34, i_111^0'=i_111^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, rcd_63^0'=rcd_63^post34, y_20^0'=y_20^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, len_14^0'=len_14^post34, d_29^0'=d_29^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, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, rcd_100^0'=rcd_100^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, x_17^0'=x_17^post34, i_13^0'=i_13^post34, (ct_18^0-ct_18^post34 == 0 /\ -x_21^post34+x_21^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ result_11^0-result_11^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ rcd_63^0-rcd_63^post34 == 0 /\ r_37^0-r_37^post34 == 0 /\ -i_13^post34+i_13^0 == 0 /\ y_20^0-y_20^post34 == 0 /\ -x_15^post34+x_15^0 == 0 /\ i_111^0-i_111^post34 == 0 /\ -tmp_27^post34+tmp_27^0 == 0 /\ -len_14^post34+len_14^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -a_152^post34+a_152^0 == 0 /\ -a_175^post34+a_175^0 == 0 /\ -x_32^post34+x_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post34+x_17^0 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post34 == 0 /\ d_29^0-d_29^post34 == 0 /\ a_28^0-a_28^post34 == 0 /\ -a_130^post34+a_130^0 == 0), cost: 1
New rule:
l19 -> l4 : TRUE, cost: 1

Applied preprocessing
Original rule:
l18 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, result_11^0'=result_11^post35, a_152^0'=a_152^post35, t_24^0'=t_24^post35, r_37^0'=r_37^post35, x_32^0'=x_32^post35, x_15^0'=x_15^post35, i_111^0'=i_111^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, rcd_63^0'=rcd_63^post35, y_20^0'=y_20^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, len_14^0'=len_14^post35, d_29^0'=d_29^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, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, rcd_100^0'=rcd_100^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ x_17^110-x_15^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post35+x_32^0 == 0 /\ -i_13^0 <= 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ -rcd_100^post35+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_130^post35+a_130^0 == 0 /\ -ct_18^14+y_20^post35 == 0 /\ x_21^post35-x_SLAM_f_19^140 == 0 /\ i_111^0-i_111^post35 == 0 /\ -a_175^post35+a_175^0 == 0 /\ ct_18^14 == 0 /\ -a_152^post35+a_152^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ d_29^0-d_29^post35 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ t_24^0-t_24^post35 == 0), cost: 1
New rule:
l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : ct_18^0'=ct_18^post36, temp_33^0'=temp_33^post36, result_11^0'=result_11^post36, a_152^0'=a_152^post36, t_24^0'=t_24^post36, r_37^0'=r_37^post36, x_32^0'=x_32^post36, x_15^0'=x_15^post36, i_111^0'=i_111^post36, a_28^0'=a_28^post36, temp0_31^0'=temp0_31^post36, rcd_63^0'=rcd_63^post36, y_20^0'=y_20^post36, x_21^0'=x_21^post36, a_130^0'=a_130^post36, len_14^0'=len_14^post36, d_29^0'=d_29^post36, tmp_27^0'=tmp_27^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_175^0'=a_175^post36, temp0_16^0'=temp0_16^post36, rcd_100^0'=rcd_100^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, x_17^0'=x_17^post36, i_13^0'=i_13^post36, (-x_21^post36+x_21^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ -x_17^post36+x_17^0 == 0 /\ rcd_63^0-rcd_63^post36 == 0 /\ -a_152^post36+a_152^0 == 0 /\ r_37^0-r_37^post36 == 0 /\ y_20^0-y_20^post36 == 0 /\ -i_13^post36+i_13^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -a_130^post36+a_130^0 == 0 /\ -x_15^post36+x_15^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -len_14^post36+len_14^0 == 0 /\ -x_32^post36+x_32^0 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ i_111^0-i_111^post36 == 0 /\ tmp_27^0-tmp_27^post36 == 0 /\ -x_SLAM_f_19^post36+x_SLAM_f_19^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -a_175^post36+a_175^0 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ -d_29^post36+d_29^0 == 0 /\ -rcd_100^post36+rcd_100^0 == 0 /\ a_28^0-a_28^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0), cost: 1
New rule:
l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : ct_18^0'=ct_18^post37, temp_33^0'=temp_33^post37, result_11^0'=result_11^post37, a_152^0'=a_152^post37, t_24^0'=t_24^post37, r_37^0'=r_37^post37, x_32^0'=x_32^post37, x_15^0'=x_15^post37, i_111^0'=i_111^post37, a_28^0'=a_28^post37, temp0_31^0'=temp0_31^post37, rcd_63^0'=rcd_63^post37, y_20^0'=y_20^post37, x_21^0'=x_21^post37, a_130^0'=a_130^post37, len_14^0'=len_14^post37, d_29^0'=d_29^post37, tmp_27^0'=tmp_27^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_175^0'=a_175^post37, temp0_16^0'=temp0_16^post37, rcd_100^0'=rcd_100^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, x_17^0'=x_17^post37, i_13^0'=i_13^post37, (-tmp_27^post37+tmp_27^0 == 0 /\ i_111^0-i_111^post37 == 0 /\ -x_15^post37+x_15^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -len_14^post37+len_14^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -a_130^post37+a_130^0 == 0 /\ a_175^0-a_175^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ a_28^0-a_28^post37 == 0 /\ rcd_63^0-rcd_63^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ -rcd_100^post37+rcd_100^0 == 0 /\ x_32^0-x_32^post37 == 0 /\ -i_13^post37+i_13^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ d_29^0-d_29^post37 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ r_37^0-r_37^post37 == 0 /\ -x_21^post37+x_21^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ a_152^0-a_152^post37 == 0), cost: 1
New rule:
l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : ct_18^0'=ct_18^post38, temp_33^0'=temp_33^post38, result_11^0'=result_11^post38, a_152^0'=a_152^post38, t_24^0'=t_24^post38, r_37^0'=r_37^post38, x_32^0'=x_32^post38, x_15^0'=x_15^post38, i_111^0'=i_111^post38, a_28^0'=a_28^post38, temp0_31^0'=temp0_31^post38, rcd_63^0'=rcd_63^post38, y_20^0'=y_20^post38, x_21^0'=x_21^post38, a_130^0'=a_130^post38, len_14^0'=len_14^post38, d_29^0'=d_29^post38, tmp_27^0'=tmp_27^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_175^0'=a_175^post38, temp0_16^0'=temp0_16^post38, rcd_100^0'=rcd_100^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, x_17^0'=x_17^post38, i_13^0'=i_13^post38, (0 == 0 /\ x_15^0-x_15^post38 == 0 /\ temp_33^0-temp_33^post38 == 0 /\ ct_18^0 <= 0 /\ a_152^0-a_152^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ ct_18^0-ct_18^post38 == 0 /\ -x_15^0+t_24^post38 <= 0 /\ -x_15^0+x_17^0 <= 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post38 == 0 /\ -x_15^0+x_SLAM_f_19^0 <= 0 /\ -x_21^0+t_24^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ -len_14^post38+len_14^0 == 0 /\ x_15^0-t_24^post38 <= 0 /\ x_15^0-x_17^0 <= 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_15^0-x_SLAM_f_19^0 <= 0 /\ y_20^0 <= 0 /\ r_37^0-r_37^post38 == 0 /\ -x_17^post38+x_17^0 == 0 /\ a_152^0-a_130^post38 <= 0 /\ -a_175^post38+a_175^0 == 0 /\ y_20^0-y_20^post38 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ -i_13^post38+i_13^0 == 0 /\ -rcd_100^post38+rcd_100^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 <= 0 /\ -d_29^post38+d_29^0 == 0 /\ x_32^0-x_32^post38 == 0 /\ -i_111^post38+i_111^0 == 0 /\ -a_152^0+a_130^post38 <= 0 /\ a_28^0-a_28^post38 == 0 /\ -ct_18^0 <= 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -rcd_63^post38+rcd_63^0 == 0 /\ -y_20^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ x_15^0-tmp_27^0 <= 0 /\ -tmp_27^post38+tmp_27^0 == 0), cost: 1
New rule:
l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : ct_18^0'=ct_18^post39, temp_33^0'=temp_33^post39, result_11^0'=result_11^post39, a_152^0'=a_152^post39, t_24^0'=t_24^post39, r_37^0'=r_37^post39, x_32^0'=x_32^post39, x_15^0'=x_15^post39, i_111^0'=i_111^post39, a_28^0'=a_28^post39, temp0_31^0'=temp0_31^post39, rcd_63^0'=rcd_63^post39, y_20^0'=y_20^post39, x_21^0'=x_21^post39, a_130^0'=a_130^post39, len_14^0'=len_14^post39, d_29^0'=d_29^post39, tmp_27^0'=tmp_27^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_175^0'=a_175^post39, temp0_16^0'=temp0_16^post39, rcd_100^0'=rcd_100^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, x_17^0'=x_17^post39, i_13^0'=i_13^post39, (-a_175^post39+a_175^0 == 0 /\ x_15^0-x_15^post39 == 0 /\ -d_29^post39+d_29^0 == 0 /\ rcd_63^0-rcd_63^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ -rcd_100^post39+rcd_100^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ ct_18^0-ct_18^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -x_SLAM_f_19^post39+x_SLAM_f_19^0 == 0 /\ t_24^0-t_24^post39 == 0 /\ -x_32^post39+x_32^0 == 0 /\ i_111^0-i_111^post39 == 0 /\ len_14^0-len_14^post39 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_13^post39+i_13^0 == 0 /\ a_28^0-a_28^post39 == 0 /\ a_130^0-a_130^post39 == 0 /\ tmp_27^0-tmp_27^post39 == 0 /\ -a_152^post39+a_152^0 == 0 /\ -y_20^post39+y_20^0 == 0 /\ -temp0_16^post39+temp0_16^0 == 0), cost: 1
New rule:
l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : ct_18^0'=ct_18^post40, temp_33^0'=temp_33^post40, result_11^0'=result_11^post40, a_152^0'=a_152^post40, t_24^0'=t_24^post40, r_37^0'=r_37^post40, x_32^0'=x_32^post40, x_15^0'=x_15^post40, i_111^0'=i_111^post40, a_28^0'=a_28^post40, temp0_31^0'=temp0_31^post40, rcd_63^0'=rcd_63^post40, y_20^0'=y_20^post40, x_21^0'=x_21^post40, a_130^0'=a_130^post40, len_14^0'=len_14^post40, d_29^0'=d_29^post40, tmp_27^0'=tmp_27^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_175^0'=a_175^post40, temp0_16^0'=temp0_16^post40, rcd_100^0'=rcd_100^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, x_17^0'=x_17^post40, i_13^0'=i_13^post40, (-x_15^post40+x_15^0 == 0 /\ y_20^0-y_20^post40 == 0 /\ i_111^0-i_111^post40 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post40+t_24^0 == 0 /\ rcd_100^0-rcd_100^post40 == 0 /\ a_28^0-a_28^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ -i_13^post40+i_13^0 == 0 /\ -x_32^post40+x_32^0 == 0 /\ -len_14^post40+len_14^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -d_29^post40+d_29^0 == 0 /\ a_152^0-a_152^post40 == 0 /\ -a_130^post40+a_130^0 == 0 /\ -tmp_27^post40+tmp_27^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ r_37^0-r_37^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -a_175^post40+a_175^0 == 0 /\ -rcd_63^post40+rcd_63^0 == 0 /\ 1-x_15^0+y_20^0 <= 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0), cost: 1
New rule:
l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : ct_18^0'=ct_18^post41, temp_33^0'=temp_33^post41, result_11^0'=result_11^post41, a_152^0'=a_152^post41, t_24^0'=t_24^post41, r_37^0'=r_37^post41, x_32^0'=x_32^post41, x_15^0'=x_15^post41, i_111^0'=i_111^post41, a_28^0'=a_28^post41, temp0_31^0'=temp0_31^post41, rcd_63^0'=rcd_63^post41, y_20^0'=y_20^post41, x_21^0'=x_21^post41, a_130^0'=a_130^post41, len_14^0'=len_14^post41, d_29^0'=d_29^post41, tmp_27^0'=tmp_27^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_175^0'=a_175^post41, temp0_16^0'=temp0_16^post41, rcd_100^0'=rcd_100^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, x_17^0'=x_17^post41, i_13^0'=i_13^post41, (-rcd_63^post41+rcd_63^0 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_32^0-x_32^post41 == 0 /\ -r_37^post41+r_37^0 == 0 /\ -rcd_100^post41+rcd_100^0 == 0 /\ ct_18^0-ct_18^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -x_17^post41+x_17^0 == 0 /\ -i_13^post41+i_13^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ a_175^0-a_175^post41 == 0 /\ x_15^0-x_15^post41 == 0 /\ a_130^0-a_130^post41 == 0 /\ a_152^0-a_152^post41 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ -tmp_27^post41+tmp_27^0 == 0 /\ -len_14^post41+len_14^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ y_20^0-y_20^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ x_21^0-x_21^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ a_28^0-a_28^post41 == 0 /\ -d_29^post41+d_29^0 == 0), cost: 1
New rule:
l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : ct_18^0'=ct_18^post42, temp_33^0'=temp_33^post42, result_11^0'=result_11^post42, a_152^0'=a_152^post42, t_24^0'=t_24^post42, r_37^0'=r_37^post42, x_32^0'=x_32^post42, x_15^0'=x_15^post42, i_111^0'=i_111^post42, a_28^0'=a_28^post42, temp0_31^0'=temp0_31^post42, rcd_63^0'=rcd_63^post42, y_20^0'=y_20^post42, x_21^0'=x_21^post42, a_130^0'=a_130^post42, len_14^0'=len_14^post42, d_29^0'=d_29^post42, tmp_27^0'=tmp_27^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_175^0'=a_175^post42, temp0_16^0'=temp0_16^post42, rcd_100^0'=rcd_100^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, x_17^0'=x_17^post42, i_13^0'=i_13^post42, (-temp0_31^post42+temp0_31^0 == 0 /\ r_37^0-r_37^post42 == 0 /\ len_14^0-len_14^post42 == 0 /\ -a_28^post42+a_28^0 == 0 /\ -rcd_63^post42+rcd_63^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ t_24^0-t_24^post42 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ temp_33^0-temp_33^post42 == 0 /\ -x_SLAM_f_19^post42+x_SLAM_f_19^0 == 0 /\ -a_175^post42+a_175^0 == 0 /\ x_32^0-x_32^post42 == 0 /\ -i_111^post42+i_111^0 == 0 /\ -rcd_100^post42+rcd_100^0 == 0 /\ x_21^0-x_21^post42 == 0 /\ -y_20^post42+y_20^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -x_17^post42+x_17^0 == 0 /\ a_130^0-a_130^post42 == 0 /\ -d_29^post42+d_29^0 == 0 /\ tmp_27^0-tmp_27^post42 == 0 /\ ct_18^0-ct_18^post42 == 0 /\ -i_13^post42+i_13^0 == 0 /\ x_15^0-x_15^post42 == 0 /\ a_152^0-a_152^post42 == 0), cost: 1
New rule:
l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l4 : ct_18^0'=ct_18^post43, temp_33^0'=temp_33^post43, result_11^0'=result_11^post43, a_152^0'=a_152^post43, t_24^0'=t_24^post43, r_37^0'=r_37^post43, x_32^0'=x_32^post43, x_15^0'=x_15^post43, i_111^0'=i_111^post43, a_28^0'=a_28^post43, temp0_31^0'=temp0_31^post43, rcd_63^0'=rcd_63^post43, y_20^0'=y_20^post43, x_21^0'=x_21^post43, a_130^0'=a_130^post43, len_14^0'=len_14^post43, d_29^0'=d_29^post43, tmp_27^0'=tmp_27^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_175^0'=a_175^post43, temp0_16^0'=temp0_16^post43, rcd_100^0'=rcd_100^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, x_17^0'=x_17^post43, i_13^0'=i_13^post43, (0 == 0 /\ x_15^0-x_15^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ len_14^0-i_13^0 <= 0 /\ -x_32^post43+x_32^0 == 0 /\ -a_130^post43+a_130^0 == 0 /\ rcd_63^0-rcd_63^post43 == 0 /\ ct_18^0-ct_18^post43 == 0 /\ -d_29^post43+d_29^0 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ 1+a_130^0-i_13^post43 <= 0 /\ -rcd_100^post43+rcd_100^0 == 0 /\ -a_152^post43+a_152^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ -a_175^post43+a_175^0 == 0 /\ len_14^0-len_14^post43 == 0 /\ 2-len_14^0 <= 0 /\ -x_17^post43+x_17^0 == 0 /\ 1-len_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ a_28^0-a_28^post43 == 0 /\ -tmp_27^post43+tmp_27^0 == 0 /\ -1-a_130^0+i_13^post43 <= 0 /\ t_24^0-t_24^post43 == 0 /\ -x_21^post43+x_21^0 == 0 /\ -y_20^post43+y_20^0 == 0), cost: 1
New rule:
l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l18 -> l30 : ct_18^0'=ct_18^post44, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=a_152^post44, t_24^0'=t_24^post44, r_37^0'=r_37^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post44, i_111^0'=i_111^post44, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post44, y_20^0'=y_20^post44, x_21^0'=x_21^post44, a_130^0'=a_130^post44, len_14^0'=len_14^post44, d_29^0'=d_29^post44, tmp_27^0'=tmp_27^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=a_175^post44, temp0_16^0'=temp0_16^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, x_17^0'=x_17^post44, i_13^0'=i_13^post44, (0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ a_28^11-i_13^0 == 0 /\ -i_13^0 <= 0 /\ len_14^0-len_14^post44 == 0 /\ x_15^post44-tmp_27^post44 == 0 /\ -x_15^0+d_29^110 == 0 /\ a_130^0-a_130^post44 == 0 /\ -rcd_63^post44+rcd_63^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -1-i_111^post44+i_13^post44 <= 0 /\ y_20^0-y_20^post44 == 0 /\ a_175^0-a_175^post44 == 0 /\ a_152^0-a_152^post44 == 0 /\ -temp0_16^post44+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ tmp_27^post44-result_11^110 == 0 /\ -t_24^post44+t_24^0 == 0 /\ -x_17^post44+x_17^0 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -temp_33^0+x_32^110 == 0 /\ -1+i_13^post44-i_13^0 == 0 /\ 1+i_111^post44-len_14^0 <= 0 /\ r_37^0-r_37^post44 == 0 /\ 1+i_111^post44-i_13^post44 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0), cost: 1
New rule:
l18 -> l30 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, 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 : ct_18^0'=ct_18^post45, temp_33^0'=temp_33^post45, result_11^0'=result_11^post45, a_152^0'=a_152^post45, t_24^0'=t_24^post45, r_37^0'=r_37^post45, x_32^0'=x_32^post45, x_15^0'=x_15^post45, i_111^0'=i_111^post45, a_28^0'=a_28^post45, temp0_31^0'=temp0_31^post45, rcd_63^0'=rcd_63^post45, y_20^0'=y_20^post45, x_21^0'=x_21^post45, a_130^0'=a_130^post45, len_14^0'=len_14^post45, d_29^0'=d_29^post45, tmp_27^0'=tmp_27^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_175^0'=a_175^post45, temp0_16^0'=temp0_16^post45, rcd_100^0'=rcd_100^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, x_17^0'=x_17^post45, i_13^0'=i_13^post45, (-a_130^post45+a_130^0 == 0 /\ -d_29^post45+d_29^0 == 0 /\ -rcd_100^post45+rcd_100^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ i_111^0-i_111^post45 == 0 /\ rcd_63^0-rcd_63^post45 == 0 /\ tmp_27^0-tmp_27^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -x_17^post45+x_17^0 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_32^post45+x_32^0 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ -x_15^post45+x_15^0 == 0 /\ -a_175^post45+a_175^0 == 0 /\ -i_13^post45+i_13^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ a_28^0-a_28^post45 == 0 /\ a_152^0-a_152^post45 == 0 /\ t_24^0-t_24^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -x_21^post45+x_21^0 == 0 /\ ct_18^0-ct_18^post45 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ -len_14^post45+len_14^0 == 0), cost: 1
New rule:
l30 -> l18 : TRUE, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : ct_18^0'=ct_18^post47, temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, a_152^0'=a_152^post47, t_24^0'=t_24^post47, r_37^0'=r_37^post47, x_32^0'=x_32^post47, x_15^0'=x_15^post47, i_111^0'=i_111^post47, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, rcd_63^0'=rcd_63^post47, y_20^0'=y_20^post47, x_21^0'=x_21^post47, a_130^0'=a_130^post47, len_14^0'=len_14^post47, d_29^0'=d_29^post47, tmp_27^0'=tmp_27^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_175^0'=a_175^post47, temp0_16^0'=temp0_16^post47, rcd_100^0'=rcd_100^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, x_17^0'=x_17^post47, i_13^0'=i_13^post47, (0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ -x_17^post47+x_17^0 == 0 /\ -a_130^post47+a_130^0 == 0 /\ d_29^120-x_15^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ -rcd_100^post47+rcd_100^0 == 0 /\ -x_15^post47+tmp_27^post47 <= 0 /\ a_152^0-a_152^post47 == 0 /\ -1+i_13^post47-i_13^0 == 0 /\ -a_175^post47+a_175^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -rcd_63^post47+rcd_63^0 == 0 /\ x_15^post47-tmp_27^post47 <= 0 /\ x_15^post47-tmp_27^post47 == 0 /\ -len_14^post47+len_14^0 == 0 /\ -t_24^post47+t_24^0 == 0 /\ 1-i_13^post47 <= 0 /\ -1+i_13^post47 <= 0 /\ -temp0_31^120+result_11^120 == 0 /\ temp0_31^120-x_32^120 == 0 /\ -temp_33^0+x_32^120 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ a_28^12-i_13^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ 1-len_14^0 <= 0 /\ i_111^0-i_111^post47 == 0 /\ -result_11^120+tmp_27^post47 == 0), cost: 1
New rule:
l11 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1+i_13^0, (-1+len_14^0 >= 0 /\ i_13^0 == 0), cost: 1

Applied preprocessing
Original rule:
l31 -> l10 : ct_18^0'=ct_18^post48, temp_33^0'=temp_33^post48, result_11^0'=result_11^post48, a_152^0'=a_152^post48, t_24^0'=t_24^post48, r_37^0'=r_37^post48, x_32^0'=x_32^post48, x_15^0'=x_15^post48, i_111^0'=i_111^post48, a_28^0'=a_28^post48, temp0_31^0'=temp0_31^post48, rcd_63^0'=rcd_63^post48, y_20^0'=y_20^post48, x_21^0'=x_21^post48, a_130^0'=a_130^post48, len_14^0'=len_14^post48, d_29^0'=d_29^post48, tmp_27^0'=tmp_27^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_175^0'=a_175^post48, temp0_16^0'=temp0_16^post48, rcd_100^0'=rcd_100^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, x_17^0'=x_17^post48, i_13^0'=i_13^post48, (-tmp_27^post48+tmp_27^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ -len_14^post48+len_14^0 == 0 /\ -rcd_63^post48+rcd_63^0 == 0 /\ a_28^0-a_28^post48 == 0 /\ -x_17^post48+x_17^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ -a_175^post48+a_175^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_100^post48+rcd_100^0 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ a_152^0-a_152^post48 == 0 /\ a_130^0-a_130^post48 == 0 /\ -i_111^post48+i_111^0 == 0 /\ x_15^0-x_15^post48 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ y_20^0-y_20^post48 == 0 /\ t_24^0-t_24^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ -r_37^post48+r_37^0 == 0 /\ -i_13^post48+i_13^0 == 0 /\ -d_29^post48+d_29^0 == 0 /\ x_32^0-x_32^post48 == 0), cost: 1
New rule:
l31 -> l10 : TRUE, cost: 1

Simplified rules
Start location: l31
  51: l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
  49: l10 -> l11 : x_15^0'=0, i_13^0'=0, TRUE, cost: 1
  72: l11 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1+i_13^0, (-1+len_14^0 >= 0 /\ i_13^0 == 0), cost: 1
  50: l12 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^0, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, 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^post23, i_13^0'=2, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1
  61: l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
  70: l18 -> l30 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1
  52: l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1
  54: l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  55: l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1
  56: l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1
  59: l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  60: l19 -> l4 : TRUE, cost: 1
  62: l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1
  64: l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  65: l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
  66: l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
  69: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  71: l30 -> l18 : TRUE, cost: 1
  73: 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, TRUE, cost: 1
New rule:
l31 -> l11 : x_15^0'=0, i_13^0'=0, TRUE, cost: 2

Applied deletion
Removed the following rules: 49 73

Eliminating location l11 by chaining:

Applied chaining
First rule:
l31 -> l11 : x_15^0'=0, i_13^0'=0, TRUE, cost: 2
Second rule:
l11 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1+i_13^0, (-1+len_14^0 >= 0 /\ i_13^0 == 0), cost: 1
New rule:
l31 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1, (0 == 0 /\ -1+len_14^0 >= 0), cost: 3

Applied simplification
Original rule:
l31 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1, (0 == 0 /\ -1+len_14^0 >= 0), cost: 3
New rule:
l31 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1, -1+len_14^0 >= 0, cost: 3

Applied deletion
Removed the following rules: 72 74

Eliminating location l12 by chaining:

Applied chaining
First rule:
l31 -> l12 : temp_33^0'=temp_33^post47, result_11^0'=result_11^post47, x_32^0'=x_32^post47, x_15^0'=temp_33^0, a_28^0'=a_28^post47, temp0_31^0'=temp0_31^post47, d_29^0'=d_29^post47, 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^post47, i_13^0'=1, -1+len_14^0 >= 0, cost: 3
Second rule:
l12 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^0, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, 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^post23, i_13^0'=2, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1
New rule:
l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, 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^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, 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^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4

Applied deletion
Removed the following rules: 50 75

Eliminating location l30 by chaining:

Applied chaining
First rule:
l18 -> l30 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, 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: 70 71

Eliminating location l19 by chaining:

Applied chaining
First rule:
l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
Second rule:
l19 -> l4 : TRUE, cost: 1
New rule:
l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 59 60

Eliminated locations on linear paths
Start location: l31
  51: l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
  61: l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
  77: l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
  52: l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1
  54: l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  55: l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1
  56: l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1
  78: l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2
  62: l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1
  64: l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  65: l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
  66: l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
  69: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  76: l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4


Applied acceleration
Original rule:
l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+n+i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=n+i_13^0, (-2+n >= 0 /\ -n+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*n
Sub-proof via acceration calculus written to file:///tmp/tmpnam_dFlKgj.txt

Applied instantiation
Original rule:
l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+n+i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=n+i_13^0, (-2+n >= 0 /\ -n+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*n
New rule:
l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, 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
  51: l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
  61: l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
  77: l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, i_13^0'=1+i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2
  80: l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, 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
  52: l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1
  54: l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  55: l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1
  56: l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1
  78: l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2
  62: l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1
  64: l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  65: l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
  66: l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
  69: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  76: l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4


Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
Second rule:
l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^0, i_111^0'=i_13^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post23, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=3, -3+len_14^0 >= 0, cost: 6

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
Second rule:
l18 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, 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^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0

Applied deletion
Removed the following rules: 77 80

Chained accelerated rules with incoming rules
Start location: l31
  51: l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
  61: l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
  52: l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1
  54: l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  55: l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1
  56: l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1
  78: l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2
  62: l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1
  64: l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
  65: l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
  66: l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
  69: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  76: l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
  81: l31 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post23, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=3, -3+len_14^0 >= 0, cost: 6
  82: l31 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0


Eliminating location l18 by chaining:

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=temp_33^post47, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post23, tmp_27^0'=temp_33^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, i_13^0'=2, -2+len_14^0 >= 0, cost: 4
Second rule:
l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2 <= 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5

Applied simplification
Original rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2 <= 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post23, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=3, -3+len_14^0 >= 0, cost: 6
Second rule:
l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3 <= 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7

Applied simplification
Original rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3 <= 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7

Applied chaining
First rule:
l31 -> l18 : temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=temp_33^post44, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, d_29^0'=d_29^post44, tmp_27^0'=temp_33^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, rcd_100^0'=rcd_100^post44, i_13^0'=len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0
Second rule:
l18 -> l25 : ct_18^0'=ct_18^post35, x_15^0'=x_15^post35, y_20^0'=0, x_21^0'=x_15^0, len_14^0'=len_14^post35, tmp_27^0'=tmp_27^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 <= 0 /\ -4+len_14^0 >= 0 /\ -len_14^0 <= 0), cost: 1+2*len_14^0

Applied simplification
Original rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 <= 0 /\ -4+len_14^0 >= 0 /\ -len_14^0 <= 0), cost: 1+2*len_14^0
New rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, -4+len_14^0 >= 0, cost: 1+2*len_14^0

Applied deletion
Removed the following rules: 61 76 81 82

Eliminating location l26 by chaining:

Applied chaining
First rule:
l25 -> l26 : 1+y_20^0-x_21^0 <= 0, cost: 1
Second rule:
l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
New rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2

Applied chaining
First rule:
l25 -> l26 : 1-y_20^0+x_21^0 <= 0, cost: 1
Second rule:
l26 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
New rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 62 63 64

Eliminating location l28 by chaining:

Applied chaining
First rule:
l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1+x_15^0-y_20^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1-x_15^0+y_20^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 65 66 67 68

Eliminating location l20 by chaining:

Applied chaining
First rule:
l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
Second rule:
l20 -> l21 : 1+y_20^0-x_21^0 <= 0, cost: 1
New rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1+y_20^0-x_21^0 <= 0), cost: 2

Applied chaining
First rule:
l4 -> l20 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, a_152^0 >= 0, cost: 1
Second rule:
l20 -> l21 : 1-y_20^0+x_21^0 <= 0, cost: 1
New rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 51 52 53

Eliminating location l22 by chaining:

Applied chaining
First rule:
l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
Second rule:
l22 -> l23 : 1+x_15^0-y_20^0 <= 0, cost: 1
New rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2

Applied chaining
First rule:
l21 -> l22 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 1
Second rule:
l22 -> l23 : 1-x_15^0+y_20^0 <= 0, cost: 1
New rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 54 55 56

Eliminating location l24 by chaining:

Applied chaining
First rule:
l23 -> l24 : 1-t_24^0+y_20^0 <= 0, cost: 1
Second rule:
l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2
New rule:
l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3

Applied chaining
First rule:
l23 -> l24 : 1+t_24^0-y_20^0 <= 0, cost: 1
Second rule:
l24 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 2
New rule:
l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 57 58 78

Eliminated locations on tree-shaped paths
Start location: l31
  92: l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1+y_20^0-x_21^0 <= 0), cost: 2
  93: l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
  94: l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
  95: l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
  96: l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3
  97: l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3
  86: l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
  87: l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
  88: l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2
  89: l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2
  90: l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
  91: l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
  69: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
  83: l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5
  84: l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7
  85: l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, -4+len_14^0 >= 0, cost: 1+2*len_14^0


Eliminating location l25 by chaining:

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-2+len_14^0 <= 0 /\ -2+len_14^0 >= 0), cost: 5
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ 1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ 1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-3+len_14^0 <= 0 /\ -3+len_14^0 >= 0), cost: 7
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, -4+len_14^0 >= 0, cost: 1+2*len_14^0
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0 /\ 1-temp_33^post44 <= 0), cost: 3+2*len_14^0

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0 /\ 1-temp_33^post44 <= 0), cost: 3+2*len_14^0
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0 /\ 1-temp_33^post44 <= 0), cost: 3+2*len_14^0

Applied chaining
First rule:
l31 -> l25 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, -4+len_14^0 >= 0, cost: 1+2*len_14^0
Second rule:
l25 -> l27 : t_24^0'=x_15^0, a_130^0'=a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ x_15^0-x_21^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0

Applied simplification
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (0 == 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0
New rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0

Applied deletion
Removed the following rules: 83 84 85 86 87

Eliminating location l29 by chaining:

Applied chaining
First rule:
l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2
Second rule:
l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
New rule:
l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3

Applied chaining
First rule:
l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 2
Second rule:
l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
New rule:
l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3

Applied chaining
First rule:
l27 -> l29 : (1-t_24^0+y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
Second rule:
l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
New rule:
l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3

Applied chaining
First rule:
l27 -> l29 : (1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
Second rule:
l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1
New rule:
l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 69 88 89 90 91

Eliminating location l21 by chaining:

Applied chaining
First rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1+y_20^0-x_21^0 <= 0), cost: 2
Second rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
New rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4

Applied chaining
First rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1+y_20^0-x_21^0 <= 0), cost: 2
Second rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
New rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4

Applied chaining
First rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
Second rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ 1+x_15^0-y_20^0 <= 0 /\ -x_15^0+tmp_27^0 == 0), cost: 2
New rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4

Applied chaining
First rule:
l4 -> l21 : ct_18^0'=ct_18^post25, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_21^0 <= 0), cost: 2
Second rule:
l21 -> l23 : t_24^0'=x_21^0, a_175^0'=-1+a_152^0, (-x_15^0+x_SLAM_f_19^0 == 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_15^0+tmp_27^0 == 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 2
New rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4

Applied deletion
Removed the following rules: 92 93 94 95

Eliminated locations on tree-shaped paths
Start location: l31
 108: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 109: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 110: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 111: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
  96: l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3
  97: l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3
 104: l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
 105: l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
 106: l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
 107: l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
  98: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7
  99: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7
 100: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9
 101: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9
 102: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0 /\ 1-temp_33^post44 <= 0), cost: 3+2*len_14^0
 103: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0


Applied pruning (of leafs and parallel rules):
Start location: l31
 108: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 109: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 110: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
 111: l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
  96: l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3
  97: l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3
 104: l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
 105: l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
 106: l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
 107: l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
  98: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7
  99: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7
 100: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9
 101: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9
 103: l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0


Eliminating location l27 by chaining:

Applied chaining
First rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 7
Second rule:
l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10

Applied simplification
Original rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10

Applied chaining
First rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 7
Second rule:
l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10

Applied simplification
Original rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (1+temp_33^post47 <= 0 /\ -x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10

Applied chaining
First rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 9
Second rule:
l27 -> l4 : i_13^0'=1+a_130^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1-x_15^0+y_20^0 <= 0), cost: 3
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12

Applied simplification
Original rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ 1-temp_33^post23 <= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12

Applied chaining
First rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1+temp_33^post23 <= 0 /\ ct_18^post35 == 0), cost: 9
Second rule:
l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ 1+temp_33^post23 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12

Applied simplification
Original rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ 1+temp_33^post23 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12

Applied chaining
First rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0
Second rule:
l27 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0 /\ 1+x_15^0-y_20^0 <= 0), cost: 3
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0

Applied simplification
Original rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0
New rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0

Applied partial deletion
Original rule:
l31 -> l27 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=i_13^post35, (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0
New rule:
l31 -> [33] : (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0

Applied deletion
Removed the following rules: 98 99 100 101 103 104 105 106 107

Eliminating location l23 by chaining:

Applied chaining
First rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
Second rule:
l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3
New rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7

Applied chaining
First rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
Second rule:
l23 -> l4 : a_152^0'=a_175^0, (1-t_24^0+y_20^0 <= 0 /\ len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 3
New rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7

Applied chaining
First rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
Second rule:
l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3
New rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7

Applied chaining
First rule:
l4 -> l23 : ct_18^0'=ct_18^post25, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 4
Second rule:
l23 -> l4 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 3
New rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7

Applied deletion
Removed the following rules: 96 97 108 109 110 111

Eliminated locations on tree-shaped paths
Start location: l31
 118: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 119: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 120: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 121: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 112: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
 113: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
 114: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
 115: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
 116: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0
 117: l31 -> [33] : (-x_15^post35+tmp_27^post35 == 0 /\ 1+temp_33^post44 <= 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ ct_18^post35 == 0), cost: 3+2*len_14^0


Applied pruning (of leafs and parallel rules):
Start location: l31
 118: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 119: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 120: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 121: l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
 112: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
 113: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
 114: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
 115: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
 116: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0


Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ 1-y_20^0+x_15^post25 <= 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=ct_18^post25, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_15^post25, len_14^0'=len_14^post25, tmp_27^0'=tmp_27^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, (ct_18^post25-y_20^0 == 0 /\ a_152^0 >= 0 /\ x_17^post25-x_SLAM_f_19^post25 == 0 /\ y_20^0 == 0 /\ tmp_27^post25-x_15^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ 1+y_20^0-x_15^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ -x_15^post25+x_SLAM_f_19^post25 == 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7

Simplified simple loops
Start location: l31
 122: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
 123: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
 124: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
 125: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
 112: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
 113: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
 114: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
 115: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
 116: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0


Applied acceleration
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ -1+n0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0 /\ 1+a_152^0-n0 >= 0), cost: 7*n0
Sub-proof via acceration calculus written to file:///tmp/tmpnam_dlnfLb.txt

Applied instantiation
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ -1+n0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0 /\ 1+a_152^0-n0 >= 0), cost: 7*n0
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ -1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied acceleration
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ 1+y_20^0-x_21^0 <= 0 /\ -i_13^post25+len_14^post25 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ 1+a_152^0-n1 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ -1+n1 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n1
Sub-proof via acceration calculus written to file:///tmp/tmpnam_lhkhpp.txt

Applied instantiation
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ 1+a_152^0-n1 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ -1+n1 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n1
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ -1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied acceleration
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ 1-y_20^0+x_SLAM_f_19^post25 <= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n2, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n2, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+n2 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ 1+a_152^0-n2 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n2
Sub-proof via acceration calculus written to file:///tmp/tmpnam_GBCEGb.txt

Applied instantiation
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n2, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n2, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+n2 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ 1+a_152^0-n2 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n2
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied acceleration
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1+a_152^0, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1+a_152^0, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+y_20^0-x_SLAM_f_19^post25 <= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ 1-y_20^0+x_21^0 <= 0 /\ -2+len_14^post25 >= 0), cost: 7
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n3, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n3, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+a_152^0-n3 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -1+n3 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n3
Sub-proof via acceration calculus written to file:///tmp/tmpnam_OdpGOg.txt

Applied instantiation
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=a_152^0-n3, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=a_152^0-n3, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (1+a_152^0-n3 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -1+n3 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7*n3
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ -1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ -1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied simplification
Original rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (0 >= 0 /\ a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0

Applied deletion
Removed the following rules: 122 123 124 125

Accelerated simple loops
Start location: l31
 130: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
 131: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
 132: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
 133: l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
 112: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
 113: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
 114: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
 115: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
 116: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0


Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ -3+len_14^0 == 0 /\ a_152^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1-y_20^0+x_21^0 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ -3+len_14^0 == 0 /\ a_152^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-3+len_14^0 == 0 /\ a_152^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -1+y_20^0-x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=x_17^post35, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -4+len_14^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 13+7*a_152^0+2*len_14^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-3+len_14^0 == 0 /\ a_152^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0

Applied chaining
First rule:
l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0
Second rule:
l4 -> l4 : ct_18^0'=y_20^0, a_152^0'=-1, t_24^0'=x_21^0, r_37^0'=r_37^post25, x_15^0'=x_SLAM_f_19^post25, len_14^0'=len_14^post25, tmp_27^0'=x_SLAM_f_19^post25, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -1+y_20^0-x_21^0 >= 0 /\ y_20^0 >= 0 /\ -1-y_20^0+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ -y_20^0 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 7+7*a_152^0
New rule:
l31 -> l4 : ct_18^0'=0, temp_33^0'=x_17^post35, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -4+len_14^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 13+7*a_152^0+2*len_14^0

Applied deletion
Removed the following rules: 130 131 132 133

Chained accelerated rules with incoming rules
Start location: l31
 112: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1-temp_33^post47 <= 0 /\ ct_18^post35 == 0), cost: 10
 113: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, t_24^0'=x_15^post35, x_32^0'=x_32^post23, x_15^0'=x_15^post35, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post47, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post23, 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^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -2+len_14^0 <= 0 /\ -2+len_14^0 >= 0 /\ -temp_33^post47+x_15^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 10
 114: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ 1-x_15^post35 <= 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ ct_18^post35 == 0), cost: 12
 115: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post23, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -3+len_14^0 <= 0 /\ -3+len_14^0 >= 0 /\ x_15^post35-temp_33^post23 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 12
 116: l31 -> l4 : ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, t_24^0'=x_15^post35, x_32^0'=x_32^post44, x_15^0'=x_15^post35, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=temp_33^post44, a_130^0'=a_152^0, len_14^0'=len_14^post35, d_29^0'=d_29^post44, 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^post44, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post35, x_17^0'=x_17^post35, i_13^0'=1+a_152^0, (-x_15^post35+tmp_27^post35 == 0 /\ -x_SLAM_f_19^post35+x_17^post35 == 0 /\ -temp_33^post44+x_15^post35 == 0 /\ -4+len_14^0 >= 0 /\ x_SLAM_f_19^post35-x_15^post35 == 0 /\ -i_13^post35+len_14^post35 <= 0 /\ -2+len_14^post35 >= 0 /\ 1+x_15^post35 <= 0 /\ ct_18^post35 == 0), cost: 6+2*len_14^0
 134: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0
 135: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ -3+len_14^0 == 0 /\ a_152^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0
 136: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0
 137: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-1+x_17^post35 >= 0 /\ -3+len_14^0 == 0 /\ a_152^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0
 138: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0
 139: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-3+len_14^0 == 0 /\ a_152^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0
 140: l31 -> l4 : ct_18^0'=0, temp_33^0'=x_17^post35, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -4+len_14^0 >= 0 /\ 1+x_SLAM_f_19^post25 <= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 13+7*a_152^0+2*len_14^0
 141: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post23, result_11^0'=result_11^post23, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post23, x_15^0'=x_SLAM_f_19^post25, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post23, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_175^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -2+len_14^0 == 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 17+7*a_152^0
 142: l31 -> l4 : ct_18^0'=0, temp_33^0'=temp_33^post44, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=2, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (-3+len_14^0 == 0 /\ a_152^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 19+7*a_152^0
 143: l31 -> l4 : ct_18^0'=0, temp_33^0'=x_17^post35, result_11^0'=result_11^post44, a_152^0'=-1, t_24^0'=x_17^post35, r_37^0'=r_37^post25, x_32^0'=x_32^post44, x_15^0'=x_SLAM_f_19^post25, i_111^0'=-1+len_14^0, a_28^0'=a_28^post44, temp0_31^0'=temp0_31^post44, rcd_63^0'=rcd_63^post23, y_20^0'=0, x_21^0'=x_17^post35, a_130^0'=a_152^0, len_14^0'=len_14^post25, d_29^0'=d_29^post44, tmp_27^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_175^0'=-1, rcd_100^0'=rcd_100^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_SLAM_f_19^post25, i_13^0'=i_13^post25, (a_152^0 >= 0 /\ -4+len_14^0 >= 0 /\ -1+x_SLAM_f_19^post25 >= 0 /\ -2+len_14^post25 >= 0 /\ 1+x_17^post35 <= 0 /\ i_13^post25-len_14^post25 >= 0), cost: 13+7*a_152^0+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