WORST_CASE(Omega(0),?)

Initial ITS
Start location: l65
   0: l0 -> l1 : x_172^0'=x_172^post0, i_105^0'=i_105^post0, __disjvr_13^0'=__disjvr_13^post0, result_11^0'=result_11^post0, __disjvr_25^0'=__disjvr_25^post0, r_37^0'=r_37^post0, __disjvr_20^0'=__disjvr_20^post0, __disjvr_9^0'=__disjvr_9^post0, __disjvr_4^0'=__disjvr_4^post0, temp0_29^0'=temp0_29^post0, f_167^0'=f_167^post0, __disjvr_10^0'=__disjvr_10^post0, a_234^0'=a_234^post0, __disjvr_22^0'=__disjvr_22^post0, nondet_12^0'=nondet_12^post0, __disjvr_18^0'=__disjvr_18^post0, x_21^0'=x_21^post0, i_28^0'=i_28^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_86^0'=rcd_86^post0, a_144^0'=a_144^post0, __disjvr_6^0'=__disjvr_6^post0, tmp_32^0'=tmp_32^post0, __disjvr_15^0'=__disjvr_15^post0, x_14^0'=x_14^post0, head_30^0'=head_30^post0, __disjvr_12^0'=__disjvr_12^post0, ct_18^0'=ct_18^post0, __disjvr_24^0'=__disjvr_24^post0, r_160^0'=r_160^post0, __disjvr_1^0'=__disjvr_1^post0, y_20^0'=y_20^post0, len_129^0'=len_129^post0, __disjvr_3^0'=__disjvr_3^post0, temp0_16^0'=temp0_16^post0, __disjvr_29^0'=__disjvr_29^post0, __disjvr_0^0'=__disjvr_0^post0, a_212^0'=a_212^post0, __disjvr_8^0'=__disjvr_8^post0, length_27^0'=length_27^post0, __disjvr_17^0'=__disjvr_17^post0, x_17^0'=x_17^post0, i_164^0'=i_164^post0, __disjvr_14^0'=__disjvr_14^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_56^0'=rcd_56^post0, __disjvr_21^0'=__disjvr_21^post0, a_113^0'=a_113^post0, __disjvr_5^0'=__disjvr_5^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, head_15^0'=head_15^post0, __disjvr_11^0'=__disjvr_11^post0, a_257^0'=a_257^post0, __disjvr_23^0'=__disjvr_23^post0, r_121^0'=r_121^post0, __disjvr_19^0'=__disjvr_19^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, i_92^0'=i_92^post0, __disjvr_30^0'=__disjvr_30^post0, t_24^0'=t_24^post0, __disjvr_28^0'=__disjvr_28^post0, a_181^0'=a_181^post0, __disjvr_7^0'=__disjvr_7^post0, len_180^0'=len_180^post0, __disjvr_16^0'=__disjvr_16^post0, (0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ x_14^0-x_14^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -len_129^post0+len_129^0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -t_24^post0+t_24^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ i_105^0-i_105^post0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post0 == 0 /\ -r_121^post0+r_121^0 == 0 /\ __disjvr_27^0-__disjvr_27^post0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -__disjvr_21^post0+__disjvr_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -ct_18^post0+ct_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ x_17^0-x_17^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -i_28^post0 <= 0 /\ f_167^0-f_167^post0 == 0 /\ __disjvr_12^0-__disjvr_12^post0 == 0 /\ -x_126^post0+x_126^0 == 0 /\ -a_257^post0+a_257^0 == 0 /\ tmp_32^0-tmp_32^post0 == 0 /\ -head_30^post0 <= 0 /\ y_20^0-y_20^post0 == 0 /\ -rcd_56^post0+rcd_56^0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ -__disjvr_0^post0+__disjvr_0^0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ r_160^0-r_160^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-nondet_12^10 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -__disjvr_30^post0+__disjvr_30^0 == 0 /\ -i_92^post0+i_92^0 == 0 /\ -a_181^post0+a_181^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0), cost: 1
  69: l1 -> l3 : x_172^0'=x_172^post69, i_105^0'=i_105^post69, __disjvr_13^0'=__disjvr_13^post69, result_11^0'=result_11^post69, __disjvr_25^0'=__disjvr_25^post69, r_37^0'=r_37^post69, __disjvr_20^0'=__disjvr_20^post69, __disjvr_9^0'=__disjvr_9^post69, __disjvr_4^0'=__disjvr_4^post69, temp0_29^0'=temp0_29^post69, f_167^0'=f_167^post69, __disjvr_10^0'=__disjvr_10^post69, a_234^0'=a_234^post69, __disjvr_22^0'=__disjvr_22^post69, nondet_12^0'=nondet_12^post69, __disjvr_18^0'=__disjvr_18^post69, x_21^0'=x_21^post69, i_28^0'=i_28^post69, __disjvr_2^0'=__disjvr_2^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_27^0'=__disjvr_27^post69, rcd_86^0'=rcd_86^post69, a_144^0'=a_144^post69, __disjvr_6^0'=__disjvr_6^post69, tmp_32^0'=tmp_32^post69, __disjvr_15^0'=__disjvr_15^post69, x_14^0'=x_14^post69, head_30^0'=head_30^post69, __disjvr_12^0'=__disjvr_12^post69, ct_18^0'=ct_18^post69, __disjvr_24^0'=__disjvr_24^post69, r_160^0'=r_160^post69, __disjvr_1^0'=__disjvr_1^post69, y_20^0'=y_20^post69, len_129^0'=len_129^post69, __disjvr_3^0'=__disjvr_3^post69, temp0_16^0'=temp0_16^post69, __disjvr_29^0'=__disjvr_29^post69, __disjvr_0^0'=__disjvr_0^post69, a_212^0'=a_212^post69, __disjvr_8^0'=__disjvr_8^post69, length_27^0'=length_27^post69, __disjvr_17^0'=__disjvr_17^post69, x_17^0'=x_17^post69, i_164^0'=i_164^post69, __disjvr_14^0'=__disjvr_14^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69, __disjvr_26^0'=__disjvr_26^post69, rcd_56^0'=rcd_56^post69, __disjvr_21^0'=__disjvr_21^post69, a_113^0'=a_113^post69, __disjvr_5^0'=__disjvr_5^post69, temp_33^0'=temp_33^post69, x_126^0'=x_126^post69, head_15^0'=head_15^post69, __disjvr_11^0'=__disjvr_11^post69, a_257^0'=a_257^post69, __disjvr_23^0'=__disjvr_23^post69, r_121^0'=r_121^post69, __disjvr_19^0'=__disjvr_19^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, i_92^0'=i_92^post69, __disjvr_30^0'=__disjvr_30^post69, t_24^0'=t_24^post69, __disjvr_28^0'=__disjvr_28^post69, a_181^0'=a_181^post69, __disjvr_7^0'=__disjvr_7^post69, len_180^0'=len_180^post69, __disjvr_16^0'=__disjvr_16^post69, (0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ -a_212^post69+a_212^0 == 0 /\ -x_17^10+x_SLAM_f_19^130 <= 0 /\ -x_17^10+x_SLAM_f_19^130 == 0 /\ -i_28^0+length_27^0 <= 0 /\ head_15^post69 <= 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ -head_15^post69+x_14^post69 <= 0 /\ -head_15^post69+x_14^post69 == 0 /\ -i_164^post69+i_164^0 == 0 /\ -__disjvr_19^post69+__disjvr_19^0 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post69 == 0 /\ -len_180^post69+len_180^0 == 0 /\ -x_21^130 <= 0 /\ -r_121^post69+r_121^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ x_21^130-y_20^130 <= 0 /\ a_234^0-a_234^post69 == 0 /\ i_105^0-i_105^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ __disjvr_12^0-__disjvr_12^post69 == 0 /\ x_17^10-x_SLAM_f_19^130 <= 0 /\ a_257^0-a_257^post69 == 0 /\ x_14^post69 <= 0 /\ r_37^0-r_37^post69 == 0 /\ -temp0_29^120+result_11^120 == 0 /\ -a_181^post69+a_181^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ -ct_18^13 <= 0 /\ -__disjvr_30^post69+__disjvr_30^0 == 0 /\ head_15^post69-x_14^post69 <= 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ -x_SLAM_f_19^130 <= 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ rcd_86^0-rcd_86^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -a_113^post69+a_113^0 == 0 /\ -x_21^130+y_20^130 <= 0 /\ x_21^130 <= 0 /\ __disjvr_6^0-__disjvr_6^post69 == 0 /\ -__disjvr_16^post69+__disjvr_16^0 == 0 /\ -x_14^post69 <= 0 /\ head_15^post69-result_11^120 == 0 /\ __disjvr_25^0-__disjvr_25^post69 == 0 /\ -rcd_56^post69+rcd_56^0 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ -x_126^post69+x_126^0 == 0 /\ x_17^10 <= 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ -y_20^130+ct_18^13 <= 0 /\ __disjvr_22^0-__disjvr_22^post69 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -x_21^130+x_SLAM_f_19^130 <= 0 /\ -__disjvr_21^post69+__disjvr_21^0 == 0 /\ -temp0_16^post69+temp0_16^0 == 0 /\ result_11^post69-temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -y_20^130 <= 0 /\ -i_92^post69+i_92^0 == 0 /\ y_20^130 <= 0 /\ f_167^0-f_167^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 <= 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ -r_160^post69+r_160^0 == 0 /\ -head_15^post69+x_17^10 <= 0 /\ -head_15^post69+x_17^10 == 0 /\ ct_18^13 <= 0 /\ ct_18^13 == 0 /\ -head_30^0+temp0_29^120 == 0 /\ a_144^0-a_144^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ -__disjvr_28^post69+__disjvr_28^0 == 0 /\ -__disjvr_18^post69+__disjvr_18^0 == 0 /\ x_SLAM_f_19^130 <= 0 /\ y_20^130-ct_18^13 <= 0 /\ y_20^130-ct_18^13 == 0 /\ x_172^0-x_172^post69 == 0 /\ x_21^130-x_SLAM_f_19^130 <= 0 /\ x_21^130-x_SLAM_f_19^130 == 0 /\ -x_17^10 <= 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ len_129^0-len_129^post69 == 0 /\ -head_15^post69 <= 0 /\ head_15^post69-x_17^10 <= 0), cost: 1
  70: l1 -> l27 : x_172^0'=x_172^post70, i_105^0'=i_105^post70, __disjvr_13^0'=__disjvr_13^post70, result_11^0'=result_11^post70, __disjvr_25^0'=__disjvr_25^post70, r_37^0'=r_37^post70, __disjvr_20^0'=__disjvr_20^post70, __disjvr_9^0'=__disjvr_9^post70, __disjvr_4^0'=__disjvr_4^post70, temp0_29^0'=temp0_29^post70, f_167^0'=f_167^post70, __disjvr_10^0'=__disjvr_10^post70, a_234^0'=a_234^post70, __disjvr_22^0'=__disjvr_22^post70, nondet_12^0'=nondet_12^post70, __disjvr_18^0'=__disjvr_18^post70, x_21^0'=x_21^post70, i_28^0'=i_28^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_86^0'=rcd_86^post70, a_144^0'=a_144^post70, __disjvr_6^0'=__disjvr_6^post70, tmp_32^0'=tmp_32^post70, __disjvr_15^0'=__disjvr_15^post70, x_14^0'=x_14^post70, head_30^0'=head_30^post70, __disjvr_12^0'=__disjvr_12^post70, ct_18^0'=ct_18^post70, __disjvr_24^0'=__disjvr_24^post70, r_160^0'=r_160^post70, __disjvr_1^0'=__disjvr_1^post70, y_20^0'=y_20^post70, len_129^0'=len_129^post70, __disjvr_3^0'=__disjvr_3^post70, temp0_16^0'=temp0_16^post70, __disjvr_29^0'=__disjvr_29^post70, __disjvr_0^0'=__disjvr_0^post70, a_212^0'=a_212^post70, __disjvr_8^0'=__disjvr_8^post70, length_27^0'=length_27^post70, __disjvr_17^0'=__disjvr_17^post70, x_17^0'=x_17^post70, i_164^0'=i_164^post70, __disjvr_14^0'=__disjvr_14^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_56^0'=rcd_56^post70, __disjvr_21^0'=__disjvr_21^post70, a_113^0'=a_113^post70, __disjvr_5^0'=__disjvr_5^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, head_15^0'=head_15^post70, __disjvr_11^0'=__disjvr_11^post70, a_257^0'=a_257^post70, __disjvr_23^0'=__disjvr_23^post70, r_121^0'=r_121^post70, __disjvr_19^0'=__disjvr_19^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, i_92^0'=i_92^post70, __disjvr_30^0'=__disjvr_30^post70, t_24^0'=t_24^post70, __disjvr_28^0'=__disjvr_28^post70, a_181^0'=a_181^post70, __disjvr_7^0'=__disjvr_7^post70, len_180^0'=len_180^post70, __disjvr_16^0'=__disjvr_16^post70, (0 == 0 /\ tmp_32^post70-temp_33^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ __disjvr_1^0-__disjvr_1^post70 == 0 /\ ct_18^0-ct_18^post70 == 0 /\ -__disjvr_19^post70+__disjvr_19^0 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -rcd_56^post70+rcd_56^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -__disjvr_7^post70+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -tmp_32^post70+head_30^post70 <= 0 /\ -tmp_32^post70+head_30^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+length_27^0 <= 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ -length_27^post70+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_8^0-__disjvr_8^post70 == 0 /\ r_160^0-r_160^post70 == 0 /\ -y_20^post70+y_20^0 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -__disjvr_14^post70+__disjvr_14^0 == 0 /\ -__disjvr_11^post70+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -x_21^post70+x_21^0 == 0 /\ -__disjvr_29^post70+__disjvr_29^0 == 0 /\ tmp_32^post70-head_30^post70 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post70-length_27^0 <= 0 /\ -1-i_28^0+i_28^post70 == 0 /\ -__disjvr_30^post70+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -x_17^post70+x_17^0 == 0 /\ 1-i_28^post70 <= 0 /\ -1+i_28^post70 <= 0 /\ __disjvr_17^0-__disjvr_17^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ __disjvr_22^0-__disjvr_22^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70-head_30^post70 <= 0 /\ rcd_86^0-rcd_86^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ -tmp_32^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ -head_15^post70+head_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -r_121^post70+r_121^0 == 0 /\ -len_180^post70+len_180^0 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ t_24^0-t_24^post70 == 0 /\ f_167^0-f_167^post70 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70+head_30^post70 <= 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ tmp_32^post70-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ temp0_29^0-temp0_29^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ -a_113^post70+a_113^0 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ -x_126^post70+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_92^post70+i_92^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ i_105^0-i_105^post70 == 0), cost: 1
   1: l2 -> l3 : x_172^0'=x_172^post1, i_105^0'=i_105^post1, __disjvr_13^0'=__disjvr_13^post1, result_11^0'=result_11^post1, __disjvr_25^0'=__disjvr_25^post1, r_37^0'=r_37^post1, __disjvr_20^0'=__disjvr_20^post1, __disjvr_9^0'=__disjvr_9^post1, __disjvr_4^0'=__disjvr_4^post1, temp0_29^0'=temp0_29^post1, f_167^0'=f_167^post1, __disjvr_10^0'=__disjvr_10^post1, a_234^0'=a_234^post1, __disjvr_22^0'=__disjvr_22^post1, nondet_12^0'=nondet_12^post1, __disjvr_18^0'=__disjvr_18^post1, x_21^0'=x_21^post1, i_28^0'=i_28^post1, __disjvr_2^0'=__disjvr_2^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_27^0'=__disjvr_27^post1, rcd_86^0'=rcd_86^post1, a_144^0'=a_144^post1, __disjvr_6^0'=__disjvr_6^post1, tmp_32^0'=tmp_32^post1, __disjvr_15^0'=__disjvr_15^post1, x_14^0'=x_14^post1, head_30^0'=head_30^post1, __disjvr_12^0'=__disjvr_12^post1, ct_18^0'=ct_18^post1, __disjvr_24^0'=__disjvr_24^post1, r_160^0'=r_160^post1, __disjvr_1^0'=__disjvr_1^post1, y_20^0'=y_20^post1, len_129^0'=len_129^post1, __disjvr_3^0'=__disjvr_3^post1, temp0_16^0'=temp0_16^post1, __disjvr_29^0'=__disjvr_29^post1, __disjvr_0^0'=__disjvr_0^post1, a_212^0'=a_212^post1, __disjvr_8^0'=__disjvr_8^post1, length_27^0'=length_27^post1, __disjvr_17^0'=__disjvr_17^post1, x_17^0'=x_17^post1, i_164^0'=i_164^post1, __disjvr_14^0'=__disjvr_14^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post1, __disjvr_26^0'=__disjvr_26^post1, rcd_56^0'=rcd_56^post1, __disjvr_21^0'=__disjvr_21^post1, a_113^0'=a_113^post1, __disjvr_5^0'=__disjvr_5^post1, temp_33^0'=temp_33^post1, x_126^0'=x_126^post1, head_15^0'=head_15^post1, __disjvr_11^0'=__disjvr_11^post1, a_257^0'=a_257^post1, __disjvr_23^0'=__disjvr_23^post1, r_121^0'=r_121^post1, __disjvr_19^0'=__disjvr_19^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, i_92^0'=i_92^post1, __disjvr_30^0'=__disjvr_30^post1, t_24^0'=t_24^post1, __disjvr_28^0'=__disjvr_28^post1, a_181^0'=a_181^post1, __disjvr_7^0'=__disjvr_7^post1, len_180^0'=len_180^post1, __disjvr_16^0'=__disjvr_16^post1, (0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ tmp_32^0-tmp_32^post1 == 0 /\ -__disjvr_16^post1+__disjvr_16^0 == 0 /\ -a_257^post1+a_257^0 == 0 /\ -rcd_56^post1+rcd_56^0 == 0 /\ __disjvr_27^0-__disjvr_27^post1 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ -__disjvr_21^post1+__disjvr_21^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 <= 0 /\ rcd_86^0-rcd_86^post1 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ -temp0_16^0+result_11^post1 == 0 /\ -__disjvr_0^post1+__disjvr_0^0 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ -__disjvr_11^post1+__disjvr_11^0 == 0 /\ x_126^0-x_126^post1 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -a_181^post1+a_181^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 <= 0 /\ -i_92^post1+i_92^0 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ a_234^0-a_234^post1 == 0 /\ i_105^0-i_105^post1 == 0 /\ -__disjvr_26^post1+__disjvr_26^0 == 0 /\ -__disjvr_30^post1+__disjvr_30^0 == 0 /\ a_144^0-a_144^post1 == 0 /\ x_14^0-x_14^post1 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -r_160^post1+r_160^0 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ -temp0_29^post1+temp0_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -r_37^post1+r_37^0 == 0 /\ __disjvr_2^0-__disjvr_2^post1 == 0 /\ -temp_33^post1+temp_33^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ -r_121^post1+r_121^0 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -a_234^0 <= 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -len_180^post1+len_180^0 == 0 /\ i_28^0-i_28^post1 == 0 /\ -a_212^post1+a_212^0 == 0 /\ head_30^0-head_30^post1 == 0 /\ -__disjvr_19^post1+__disjvr_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ a_113^0-a_113^post1 == 0 /\ x_172^0-x_172^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ -i_164^post1+i_164^0 == 0 /\ -length_27^post1+length_27^0 == 0 /\ -head_15^post1+head_15^0 == 0 /\ len_129^0-len_129^post1 == 0 /\ __disjvr_12^0-__disjvr_12^post1 == 0 /\ f_167^0-f_167^post1 == 0), cost: 1
   2: l2 -> l5 : x_172^0'=x_172^post2, i_105^0'=i_105^post2, __disjvr_13^0'=__disjvr_13^post2, result_11^0'=result_11^post2, __disjvr_25^0'=__disjvr_25^post2, r_37^0'=r_37^post2, __disjvr_20^0'=__disjvr_20^post2, __disjvr_9^0'=__disjvr_9^post2, __disjvr_4^0'=__disjvr_4^post2, temp0_29^0'=temp0_29^post2, f_167^0'=f_167^post2, __disjvr_10^0'=__disjvr_10^post2, a_234^0'=a_234^post2, __disjvr_22^0'=__disjvr_22^post2, nondet_12^0'=nondet_12^post2, __disjvr_18^0'=__disjvr_18^post2, x_21^0'=x_21^post2, i_28^0'=i_28^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_86^0'=rcd_86^post2, a_144^0'=a_144^post2, __disjvr_6^0'=__disjvr_6^post2, tmp_32^0'=tmp_32^post2, __disjvr_15^0'=__disjvr_15^post2, x_14^0'=x_14^post2, head_30^0'=head_30^post2, __disjvr_12^0'=__disjvr_12^post2, ct_18^0'=ct_18^post2, __disjvr_24^0'=__disjvr_24^post2, r_160^0'=r_160^post2, __disjvr_1^0'=__disjvr_1^post2, y_20^0'=y_20^post2, len_129^0'=len_129^post2, __disjvr_3^0'=__disjvr_3^post2, temp0_16^0'=temp0_16^post2, __disjvr_29^0'=__disjvr_29^post2, __disjvr_0^0'=__disjvr_0^post2, a_212^0'=a_212^post2, __disjvr_8^0'=__disjvr_8^post2, length_27^0'=length_27^post2, __disjvr_17^0'=__disjvr_17^post2, x_17^0'=x_17^post2, i_164^0'=i_164^post2, __disjvr_14^0'=__disjvr_14^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_56^0'=rcd_56^post2, __disjvr_21^0'=__disjvr_21^post2, a_113^0'=a_113^post2, __disjvr_5^0'=__disjvr_5^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, head_15^0'=head_15^post2, __disjvr_11^0'=__disjvr_11^post2, a_257^0'=a_257^post2, __disjvr_23^0'=__disjvr_23^post2, r_121^0'=r_121^post2, __disjvr_19^0'=__disjvr_19^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, i_92^0'=i_92^post2, __disjvr_30^0'=__disjvr_30^post2, t_24^0'=t_24^post2, __disjvr_28^0'=__disjvr_28^post2, a_181^0'=a_181^post2, __disjvr_7^0'=__disjvr_7^post2, len_180^0'=len_180^post2, __disjvr_16^0'=__disjvr_16^post2, (0 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -a_181^post2+a_181^0 == 0 /\ a_212^0-a_212^post2 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ -rcd_56^post2+rcd_56^0 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -t_24^post2+t_24^0 == 0 /\ -i_28^post2+i_28^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -length_27^post2+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ -r_121^post2+r_121^0 == 0 /\ -__disjvr_14^post2+__disjvr_14^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ __disjvr_27^0-__disjvr_27^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ r_160^0-r_160^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ len_129^0-len_129^post2 == 0 /\ -a_113^post2+a_113^0 == 0 /\ -__disjvr_24^post2+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ f_167^0-f_167^post2 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ -head_30^post2+head_30^0 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_15^0-__disjvr_15^post2 == 0 /\ -__disjvr_26^post2+__disjvr_26^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_17^0-__disjvr_17^post2 == 0 /\ -a_234^0 <= 0 /\ -__disjvr_29^post2+__disjvr_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -__disjvr_30^post2+__disjvr_30^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -x_126^post2+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -i_92^post2+i_92^0 == 0 /\ i_164^0-i_164^post2 == 0), cost: 1
   3: l5 -> l6 : x_172^0'=x_172^post3, i_105^0'=i_105^post3, __disjvr_13^0'=__disjvr_13^post3, result_11^0'=result_11^post3, __disjvr_25^0'=__disjvr_25^post3, r_37^0'=r_37^post3, __disjvr_20^0'=__disjvr_20^post3, __disjvr_9^0'=__disjvr_9^post3, __disjvr_4^0'=__disjvr_4^post3, temp0_29^0'=temp0_29^post3, f_167^0'=f_167^post3, __disjvr_10^0'=__disjvr_10^post3, a_234^0'=a_234^post3, __disjvr_22^0'=__disjvr_22^post3, nondet_12^0'=nondet_12^post3, __disjvr_18^0'=__disjvr_18^post3, x_21^0'=x_21^post3, i_28^0'=i_28^post3, __disjvr_2^0'=__disjvr_2^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_27^0'=__disjvr_27^post3, rcd_86^0'=rcd_86^post3, a_144^0'=a_144^post3, __disjvr_6^0'=__disjvr_6^post3, tmp_32^0'=tmp_32^post3, __disjvr_15^0'=__disjvr_15^post3, x_14^0'=x_14^post3, head_30^0'=head_30^post3, __disjvr_12^0'=__disjvr_12^post3, ct_18^0'=ct_18^post3, __disjvr_24^0'=__disjvr_24^post3, r_160^0'=r_160^post3, __disjvr_1^0'=__disjvr_1^post3, y_20^0'=y_20^post3, len_129^0'=len_129^post3, __disjvr_3^0'=__disjvr_3^post3, temp0_16^0'=temp0_16^post3, __disjvr_29^0'=__disjvr_29^post3, __disjvr_0^0'=__disjvr_0^post3, a_212^0'=a_212^post3, __disjvr_8^0'=__disjvr_8^post3, length_27^0'=length_27^post3, __disjvr_17^0'=__disjvr_17^post3, x_17^0'=x_17^post3, i_164^0'=i_164^post3, __disjvr_14^0'=__disjvr_14^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, __disjvr_26^0'=__disjvr_26^post3, rcd_56^0'=rcd_56^post3, __disjvr_21^0'=__disjvr_21^post3, a_113^0'=a_113^post3, __disjvr_5^0'=__disjvr_5^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, head_15^0'=head_15^post3, __disjvr_11^0'=__disjvr_11^post3, a_257^0'=a_257^post3, __disjvr_23^0'=__disjvr_23^post3, r_121^0'=r_121^post3, __disjvr_19^0'=__disjvr_19^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, i_92^0'=i_92^post3, __disjvr_30^0'=__disjvr_30^post3, t_24^0'=t_24^post3, __disjvr_28^0'=__disjvr_28^post3, a_181^0'=a_181^post3, __disjvr_7^0'=__disjvr_7^post3, len_180^0'=len_180^post3, __disjvr_16^0'=__disjvr_16^post3, (__disjvr_19^0-__disjvr_19^post3 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -__disjvr_21^post3+__disjvr_21^0 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -a_113^post3+a_113^0 == 0 /\ head_30^0-head_30^post3 == 0 /\ -__disjvr_0^post3+__disjvr_0^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ -x_126^post3+x_126^0 == 0 /\ -i_92^post3+i_92^0 == 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ i_28^0-i_28^post3 == 0 /\ length_27^0-length_27^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ temp0_16^0-temp0_16^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ f_167^0-f_167^post3 == 0 /\ __disjvr_0^post3-__disjvr_0^0 == 0 /\ -a_144^post3+a_144^0 == 0 /\ __disjvr_27^0-__disjvr_27^post3 == 0 /\ -rcd_56^post3+rcd_56^0 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ len_129^0-len_129^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ r_37^0-r_37^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ y_20^0-y_20^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ -a_212^post3+a_212^0 == 0 /\ tmp_32^0-tmp_32^post3 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ -temp_33^post3+temp_33^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -i_164^post3+i_164^0 == 0 /\ -t_24^post3+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ -a_257^post3+a_257^0 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ r_160^0-r_160^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_14^0-x_14^post3 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -head_15^post3+head_15^0 == 0), cost: 1
   4: l6 -> l7 : x_172^0'=x_172^post4, i_105^0'=i_105^post4, __disjvr_13^0'=__disjvr_13^post4, result_11^0'=result_11^post4, __disjvr_25^0'=__disjvr_25^post4, r_37^0'=r_37^post4, __disjvr_20^0'=__disjvr_20^post4, __disjvr_9^0'=__disjvr_9^post4, __disjvr_4^0'=__disjvr_4^post4, temp0_29^0'=temp0_29^post4, f_167^0'=f_167^post4, __disjvr_10^0'=__disjvr_10^post4, a_234^0'=a_234^post4, __disjvr_22^0'=__disjvr_22^post4, nondet_12^0'=nondet_12^post4, __disjvr_18^0'=__disjvr_18^post4, x_21^0'=x_21^post4, i_28^0'=i_28^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_86^0'=rcd_86^post4, a_144^0'=a_144^post4, __disjvr_6^0'=__disjvr_6^post4, tmp_32^0'=tmp_32^post4, __disjvr_15^0'=__disjvr_15^post4, x_14^0'=x_14^post4, head_30^0'=head_30^post4, __disjvr_12^0'=__disjvr_12^post4, ct_18^0'=ct_18^post4, __disjvr_24^0'=__disjvr_24^post4, r_160^0'=r_160^post4, __disjvr_1^0'=__disjvr_1^post4, y_20^0'=y_20^post4, len_129^0'=len_129^post4, __disjvr_3^0'=__disjvr_3^post4, temp0_16^0'=temp0_16^post4, __disjvr_29^0'=__disjvr_29^post4, __disjvr_0^0'=__disjvr_0^post4, a_212^0'=a_212^post4, __disjvr_8^0'=__disjvr_8^post4, length_27^0'=length_27^post4, __disjvr_17^0'=__disjvr_17^post4, x_17^0'=x_17^post4, i_164^0'=i_164^post4, __disjvr_14^0'=__disjvr_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_56^0'=rcd_56^post4, __disjvr_21^0'=__disjvr_21^post4, a_113^0'=a_113^post4, __disjvr_5^0'=__disjvr_5^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, head_15^0'=head_15^post4, __disjvr_11^0'=__disjvr_11^post4, a_257^0'=a_257^post4, __disjvr_23^0'=__disjvr_23^post4, r_121^0'=r_121^post4, __disjvr_19^0'=__disjvr_19^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, i_92^0'=i_92^post4, __disjvr_30^0'=__disjvr_30^post4, t_24^0'=t_24^post4, __disjvr_28^0'=__disjvr_28^post4, a_181^0'=a_181^post4, __disjvr_7^0'=__disjvr_7^post4, len_180^0'=len_180^post4, __disjvr_16^0'=__disjvr_16^post4, (0 == 0 /\ -ct_18^0 <= 0 /\ -i_164^post4+i_164^0 == 0 /\ -__disjvr_19^post4+__disjvr_19^0 == 0 /\ f_167^0-f_167^post4 == 0 /\ i_92^0-i_92^post4 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ tmp_32^0-tmp_32^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_14^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -y_20^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ -len_129^post4+len_129^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ -x_17^0+head_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -__disjvr_21^post4+__disjvr_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ __disjvr_27^0-__disjvr_27^post4 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ x_14^0 <= 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ a_144^0-a_144^post4 == 0 /\ x_17^0-head_15^0 <= 0 /\ 1-a_234^0+a_257^post4 <= 0 /\ __disjvr_6^0-__disjvr_6^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ y_20^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -rcd_56^post4+rcd_56^0 == 0 /\ a_212^0-a_212^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ -a_234^post4+a_234^0 == 0 /\ -length_27^post4+length_27^0 == 0 /\ -a_181^post4+a_181^0 == 0 /\ x_14^0-x_14^post4 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ i_105^0-i_105^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ -len_180^post4+len_180^0 == 0 /\ -x_21^0+t_24^post4 == 0 /\ -r_121^post4+r_121^0 == 0 /\ -__disjvr_14^post4+__disjvr_14^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ x_21^0-x_21^post4 == 0 /\ -__disjvr_29^post4+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_30^post4+__disjvr_30^0 == 0 /\ -y_20^post4+y_20^0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ head_30^0-head_30^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ -__disjvr_0^post4+__disjvr_0^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -1+a_234^0-a_257^post4 <= 0 /\ r_37^0-r_37^post4 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -temp_33^post4+temp_33^0 == 0), cost: 1
   5: l7 -> l8 : x_172^0'=x_172^post5, i_105^0'=i_105^post5, __disjvr_13^0'=__disjvr_13^post5, result_11^0'=result_11^post5, __disjvr_25^0'=__disjvr_25^post5, r_37^0'=r_37^post5, __disjvr_20^0'=__disjvr_20^post5, __disjvr_9^0'=__disjvr_9^post5, __disjvr_4^0'=__disjvr_4^post5, temp0_29^0'=temp0_29^post5, f_167^0'=f_167^post5, __disjvr_10^0'=__disjvr_10^post5, a_234^0'=a_234^post5, __disjvr_22^0'=__disjvr_22^post5, nondet_12^0'=nondet_12^post5, __disjvr_18^0'=__disjvr_18^post5, x_21^0'=x_21^post5, i_28^0'=i_28^post5, __disjvr_2^0'=__disjvr_2^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_27^0'=__disjvr_27^post5, rcd_86^0'=rcd_86^post5, a_144^0'=a_144^post5, __disjvr_6^0'=__disjvr_6^post5, tmp_32^0'=tmp_32^post5, __disjvr_15^0'=__disjvr_15^post5, x_14^0'=x_14^post5, head_30^0'=head_30^post5, __disjvr_12^0'=__disjvr_12^post5, ct_18^0'=ct_18^post5, __disjvr_24^0'=__disjvr_24^post5, r_160^0'=r_160^post5, __disjvr_1^0'=__disjvr_1^post5, y_20^0'=y_20^post5, len_129^0'=len_129^post5, __disjvr_3^0'=__disjvr_3^post5, temp0_16^0'=temp0_16^post5, __disjvr_29^0'=__disjvr_29^post5, __disjvr_0^0'=__disjvr_0^post5, a_212^0'=a_212^post5, __disjvr_8^0'=__disjvr_8^post5, length_27^0'=length_27^post5, __disjvr_17^0'=__disjvr_17^post5, x_17^0'=x_17^post5, i_164^0'=i_164^post5, __disjvr_14^0'=__disjvr_14^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, __disjvr_26^0'=__disjvr_26^post5, rcd_56^0'=rcd_56^post5, __disjvr_21^0'=__disjvr_21^post5, a_113^0'=a_113^post5, __disjvr_5^0'=__disjvr_5^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, head_15^0'=head_15^post5, __disjvr_11^0'=__disjvr_11^post5, a_257^0'=a_257^post5, __disjvr_23^0'=__disjvr_23^post5, r_121^0'=r_121^post5, __disjvr_19^0'=__disjvr_19^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, i_92^0'=i_92^post5, __disjvr_30^0'=__disjvr_30^post5, t_24^0'=t_24^post5, __disjvr_28^0'=__disjvr_28^post5, a_181^0'=a_181^post5, __disjvr_7^0'=__disjvr_7^post5, len_180^0'=len_180^post5, __disjvr_16^0'=__disjvr_16^post5, (-x_14^post5+x_14^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ -__disjvr_26^post5+__disjvr_26^0 == 0 /\ a_212^0-a_212^post5 == 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post5 == 0 /\ -__disjvr_19^post5+__disjvr_19^0 == 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ r_37^0-r_37^post5 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ x_172^0-x_172^post5 == 0 /\ -i_28^post5+i_28^0 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ -len_180^post5+len_180^0 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ -x_126^post5+x_126^0 == 0 /\ -__disjvr_21^post5+__disjvr_21^0 == 0 /\ -a_257^post5+a_257^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -t_24^post5+t_24^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ temp0_16^0-temp0_16^post5 == 0 /\ -__disjvr_1^0+__disjvr_1^post5 == 0 /\ -r_160^post5+r_160^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ i_164^0-i_164^post5 == 0 /\ -__disjvr_11^post5+__disjvr_11^0 == 0 /\ f_167^0-f_167^post5 == 0 /\ -i_92^post5+i_92^0 == 0 /\ -__disjvr_29^post5+__disjvr_29^0 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ -a_113^post5+a_113^0 == 0 /\ -len_129^post5+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -a_181^post5+a_181^0 == 0 /\ a_234^0-a_234^post5 == 0 /\ -r_121^post5+r_121^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -length_27^post5+length_27^0 == 0 /\ temp0_29^0-temp0_29^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ ct_18^0-ct_18^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_1^0-__disjvr_1^post5 == 0 /\ head_30^0-head_30^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ -y_20^post5+y_20^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_144^0-a_144^post5 == 0 /\ rcd_86^0-rcd_86^post5 == 0), cost: 1
   6: l8 -> l9 : x_172^0'=x_172^post6, i_105^0'=i_105^post6, __disjvr_13^0'=__disjvr_13^post6, result_11^0'=result_11^post6, __disjvr_25^0'=__disjvr_25^post6, r_37^0'=r_37^post6, __disjvr_20^0'=__disjvr_20^post6, __disjvr_9^0'=__disjvr_9^post6, __disjvr_4^0'=__disjvr_4^post6, temp0_29^0'=temp0_29^post6, f_167^0'=f_167^post6, __disjvr_10^0'=__disjvr_10^post6, a_234^0'=a_234^post6, __disjvr_22^0'=__disjvr_22^post6, nondet_12^0'=nondet_12^post6, __disjvr_18^0'=__disjvr_18^post6, x_21^0'=x_21^post6, i_28^0'=i_28^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_86^0'=rcd_86^post6, a_144^0'=a_144^post6, __disjvr_6^0'=__disjvr_6^post6, tmp_32^0'=tmp_32^post6, __disjvr_15^0'=__disjvr_15^post6, x_14^0'=x_14^post6, head_30^0'=head_30^post6, __disjvr_12^0'=__disjvr_12^post6, ct_18^0'=ct_18^post6, __disjvr_24^0'=__disjvr_24^post6, r_160^0'=r_160^post6, __disjvr_1^0'=__disjvr_1^post6, y_20^0'=y_20^post6, len_129^0'=len_129^post6, __disjvr_3^0'=__disjvr_3^post6, temp0_16^0'=temp0_16^post6, __disjvr_29^0'=__disjvr_29^post6, __disjvr_0^0'=__disjvr_0^post6, a_212^0'=a_212^post6, __disjvr_8^0'=__disjvr_8^post6, length_27^0'=length_27^post6, __disjvr_17^0'=__disjvr_17^post6, x_17^0'=x_17^post6, i_164^0'=i_164^post6, __disjvr_14^0'=__disjvr_14^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_56^0'=rcd_56^post6, __disjvr_21^0'=__disjvr_21^post6, a_113^0'=a_113^post6, __disjvr_5^0'=__disjvr_5^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, head_15^0'=head_15^post6, __disjvr_11^0'=__disjvr_11^post6, a_257^0'=a_257^post6, __disjvr_23^0'=__disjvr_23^post6, r_121^0'=r_121^post6, __disjvr_19^0'=__disjvr_19^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, i_92^0'=i_92^post6, __disjvr_30^0'=__disjvr_30^post6, t_24^0'=t_24^post6, __disjvr_28^0'=__disjvr_28^post6, a_181^0'=a_181^post6, __disjvr_7^0'=__disjvr_7^post6, len_180^0'=len_180^post6, __disjvr_16^0'=__disjvr_16^post6, (__disjvr_11^0-__disjvr_11^post6 == 0 /\ a_144^0-a_144^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ y_20^0-y_20^post6 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_21^post6+__disjvr_21^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -x_126^post6+x_126^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -x_SLAM_f_19^post6+x_SLAM_f_19^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -a_181^post6+a_181^0 == 0 /\ a_234^0-a_234^post6 == 0 /\ -i_92^post6+i_92^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ i_28^0-i_28^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ -__disjvr_23^post6+__disjvr_23^0 == 0 /\ -__disjvr_0^post6+__disjvr_0^0 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ temp0_29^0-temp0_29^post6 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -len_180^post6+len_180^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ -temp_33^post6+temp_33^0 == 0 /\ -r_121^post6+r_121^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post6 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_21^0-x_21^post6 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -a_212^post6+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ -a_113^post6+a_113^0 == 0 /\ head_30^0-head_30^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ x_14^0-x_14^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -head_15^post6+head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ r_37^0-r_37^post6 == 0 /\ r_160^0-r_160^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ x_172^0-x_172^post6 == 0 /\ len_129^0-len_129^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ tmp_32^0-tmp_32^post6 == 0), cost: 1
   7: l9 -> l10 : x_172^0'=x_172^post7, i_105^0'=i_105^post7, __disjvr_13^0'=__disjvr_13^post7, result_11^0'=result_11^post7, __disjvr_25^0'=__disjvr_25^post7, r_37^0'=r_37^post7, __disjvr_20^0'=__disjvr_20^post7, __disjvr_9^0'=__disjvr_9^post7, __disjvr_4^0'=__disjvr_4^post7, temp0_29^0'=temp0_29^post7, f_167^0'=f_167^post7, __disjvr_10^0'=__disjvr_10^post7, a_234^0'=a_234^post7, __disjvr_22^0'=__disjvr_22^post7, nondet_12^0'=nondet_12^post7, __disjvr_18^0'=__disjvr_18^post7, x_21^0'=x_21^post7, i_28^0'=i_28^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_86^0'=rcd_86^post7, a_144^0'=a_144^post7, __disjvr_6^0'=__disjvr_6^post7, tmp_32^0'=tmp_32^post7, __disjvr_15^0'=__disjvr_15^post7, x_14^0'=x_14^post7, head_30^0'=head_30^post7, __disjvr_12^0'=__disjvr_12^post7, ct_18^0'=ct_18^post7, __disjvr_24^0'=__disjvr_24^post7, r_160^0'=r_160^post7, __disjvr_1^0'=__disjvr_1^post7, y_20^0'=y_20^post7, len_129^0'=len_129^post7, __disjvr_3^0'=__disjvr_3^post7, temp0_16^0'=temp0_16^post7, __disjvr_29^0'=__disjvr_29^post7, __disjvr_0^0'=__disjvr_0^post7, a_212^0'=a_212^post7, __disjvr_8^0'=__disjvr_8^post7, length_27^0'=length_27^post7, __disjvr_17^0'=__disjvr_17^post7, x_17^0'=x_17^post7, i_164^0'=i_164^post7, __disjvr_14^0'=__disjvr_14^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_56^0'=rcd_56^post7, __disjvr_21^0'=__disjvr_21^post7, a_113^0'=a_113^post7, __disjvr_5^0'=__disjvr_5^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, head_15^0'=head_15^post7, __disjvr_11^0'=__disjvr_11^post7, a_257^0'=a_257^post7, __disjvr_23^0'=__disjvr_23^post7, r_121^0'=r_121^post7, __disjvr_19^0'=__disjvr_19^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, i_92^0'=i_92^post7, __disjvr_30^0'=__disjvr_30^post7, t_24^0'=t_24^post7, __disjvr_28^0'=__disjvr_28^post7, a_181^0'=a_181^post7, __disjvr_7^0'=__disjvr_7^post7, len_180^0'=len_180^post7, __disjvr_16^0'=__disjvr_16^post7, (r_37^0-r_37^post7 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -__disjvr_14^post7+__disjvr_14^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ -i_92^post7+i_92^0 == 0 /\ f_167^0-f_167^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -a_181^post7+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ -rcd_56^post7+rcd_56^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -length_27^post7+length_27^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ i_105^0-i_105^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ x_126^0-x_126^post7 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -y_20^post7+y_20^0 == 0 /\ __disjvr_1^0-__disjvr_1^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -a_257^post7+a_257^0 == 0 /\ i_164^0-i_164^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ i_28^0-i_28^post7 == 0 /\ -t_24^post7+t_24^0 == 0 /\ a_234^0-a_234^post7 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ x_21^0-x_21^post7 == 0 /\ head_30^0-head_30^post7 == 0 /\ -__disjvr_21^post7+__disjvr_21^0 == 0 /\ x_172^0-x_172^post7 == 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_14^0-x_14^post7 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -a_113^post7+a_113^0 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ -len_129^post7+len_129^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -__disjvr_29^post7+__disjvr_29^0 == 0 /\ a_212^0-a_212^post7 == 0 /\ -r_160^post7+r_160^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -r_121^post7+r_121^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -len_180^post7+len_180^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0), cost: 1
   8: l10 -> l4 : x_172^0'=x_172^post8, i_105^0'=i_105^post8, __disjvr_13^0'=__disjvr_13^post8, result_11^0'=result_11^post8, __disjvr_25^0'=__disjvr_25^post8, r_37^0'=r_37^post8, __disjvr_20^0'=__disjvr_20^post8, __disjvr_9^0'=__disjvr_9^post8, __disjvr_4^0'=__disjvr_4^post8, temp0_29^0'=temp0_29^post8, f_167^0'=f_167^post8, __disjvr_10^0'=__disjvr_10^post8, a_234^0'=a_234^post8, __disjvr_22^0'=__disjvr_22^post8, nondet_12^0'=nondet_12^post8, __disjvr_18^0'=__disjvr_18^post8, x_21^0'=x_21^post8, i_28^0'=i_28^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_86^0'=rcd_86^post8, a_144^0'=a_144^post8, __disjvr_6^0'=__disjvr_6^post8, tmp_32^0'=tmp_32^post8, __disjvr_15^0'=__disjvr_15^post8, x_14^0'=x_14^post8, head_30^0'=head_30^post8, __disjvr_12^0'=__disjvr_12^post8, ct_18^0'=ct_18^post8, __disjvr_24^0'=__disjvr_24^post8, r_160^0'=r_160^post8, __disjvr_1^0'=__disjvr_1^post8, y_20^0'=y_20^post8, len_129^0'=len_129^post8, __disjvr_3^0'=__disjvr_3^post8, temp0_16^0'=temp0_16^post8, __disjvr_29^0'=__disjvr_29^post8, __disjvr_0^0'=__disjvr_0^post8, a_212^0'=a_212^post8, __disjvr_8^0'=__disjvr_8^post8, length_27^0'=length_27^post8, __disjvr_17^0'=__disjvr_17^post8, x_17^0'=x_17^post8, i_164^0'=i_164^post8, __disjvr_14^0'=__disjvr_14^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_56^0'=rcd_56^post8, __disjvr_21^0'=__disjvr_21^post8, a_113^0'=a_113^post8, __disjvr_5^0'=__disjvr_5^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, head_15^0'=head_15^post8, __disjvr_11^0'=__disjvr_11^post8, a_257^0'=a_257^post8, __disjvr_23^0'=__disjvr_23^post8, r_121^0'=r_121^post8, __disjvr_19^0'=__disjvr_19^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, i_92^0'=i_92^post8, __disjvr_30^0'=__disjvr_30^post8, t_24^0'=t_24^post8, __disjvr_28^0'=__disjvr_28^post8, a_181^0'=a_181^post8, __disjvr_7^0'=__disjvr_7^post8, len_180^0'=len_180^post8, __disjvr_16^0'=__disjvr_16^post8, (0 == 0 /\ x_172^0-x_172^post8 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_121^post8+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ a_144^0-a_144^post8 == 0 /\ -length_27^post8+length_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ a_212^0-a_212^post8 == 0 /\ -len_180^post8+len_180^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -a_234^post8+a_257^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -head_30^post8+head_30^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ -a_113^post8+a_113^0 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_14^post8+__disjvr_14^0 == 0 /\ -a_181^post8+a_181^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ a_234^post8-a_257^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ __disjvr_17^0-__disjvr_17^post8 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post8 == 0 /\ r_160^0-r_160^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ -temp0_29^post8+temp0_29^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_29^post8+__disjvr_29^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ rcd_86^0-rcd_86^post8 == 0 /\ -x_126^post8+x_126^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -i_92^post8+i_92^0 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -i_28^post8+i_28^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -len_129^post8+len_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ x_21^0-x_21^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0), cost: 1
   9: l4 -> l2 : x_172^0'=x_172^post9, i_105^0'=i_105^post9, __disjvr_13^0'=__disjvr_13^post9, result_11^0'=result_11^post9, __disjvr_25^0'=__disjvr_25^post9, r_37^0'=r_37^post9, __disjvr_20^0'=__disjvr_20^post9, __disjvr_9^0'=__disjvr_9^post9, __disjvr_4^0'=__disjvr_4^post9, temp0_29^0'=temp0_29^post9, f_167^0'=f_167^post9, __disjvr_10^0'=__disjvr_10^post9, a_234^0'=a_234^post9, __disjvr_22^0'=__disjvr_22^post9, nondet_12^0'=nondet_12^post9, __disjvr_18^0'=__disjvr_18^post9, x_21^0'=x_21^post9, i_28^0'=i_28^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_86^0'=rcd_86^post9, a_144^0'=a_144^post9, __disjvr_6^0'=__disjvr_6^post9, tmp_32^0'=tmp_32^post9, __disjvr_15^0'=__disjvr_15^post9, x_14^0'=x_14^post9, head_30^0'=head_30^post9, __disjvr_12^0'=__disjvr_12^post9, ct_18^0'=ct_18^post9, __disjvr_24^0'=__disjvr_24^post9, r_160^0'=r_160^post9, __disjvr_1^0'=__disjvr_1^post9, y_20^0'=y_20^post9, len_129^0'=len_129^post9, __disjvr_3^0'=__disjvr_3^post9, temp0_16^0'=temp0_16^post9, __disjvr_29^0'=__disjvr_29^post9, __disjvr_0^0'=__disjvr_0^post9, a_212^0'=a_212^post9, __disjvr_8^0'=__disjvr_8^post9, length_27^0'=length_27^post9, __disjvr_17^0'=__disjvr_17^post9, x_17^0'=x_17^post9, i_164^0'=i_164^post9, __disjvr_14^0'=__disjvr_14^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_56^0'=rcd_56^post9, __disjvr_21^0'=__disjvr_21^post9, a_113^0'=a_113^post9, __disjvr_5^0'=__disjvr_5^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, head_15^0'=head_15^post9, __disjvr_11^0'=__disjvr_11^post9, a_257^0'=a_257^post9, __disjvr_23^0'=__disjvr_23^post9, r_121^0'=r_121^post9, __disjvr_19^0'=__disjvr_19^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, i_92^0'=i_92^post9, __disjvr_30^0'=__disjvr_30^post9, t_24^0'=t_24^post9, __disjvr_28^0'=__disjvr_28^post9, a_181^0'=a_181^post9, __disjvr_7^0'=__disjvr_7^post9, len_180^0'=len_180^post9, __disjvr_16^0'=__disjvr_16^post9, (-__disjvr_16^post9+__disjvr_16^0 == 0 /\ tmp_32^0-tmp_32^post9 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -__disjvr_23^post9+__disjvr_23^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ __disjvr_12^0-__disjvr_12^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ a_234^0-a_234^post9 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ -__disjvr_24^post9+__disjvr_24^0 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -a_212^post9+a_212^0 == 0 /\ -__disjvr_19^post9+__disjvr_19^0 == 0 /\ -a_113^post9+a_113^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ -rcd_56^post9+rcd_56^0 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -a_181^post9+a_181^0 == 0 /\ -length_27^post9+length_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ -f_167^post9+f_167^0 == 0 /\ x_172^0-x_172^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ r_160^0-r_160^post9 == 0 /\ -len_180^post9+len_180^0 == 0 /\ -__disjvr_29^post9+__disjvr_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post9 == 0 /\ __disjvr_13^0-__disjvr_13^post9 == 0 /\ head_30^0-head_30^post9 == 0 /\ __disjvr_27^0-__disjvr_27^post9 == 0 /\ __disjvr_30^0-__disjvr_30^post9 == 0 /\ len_129^0-len_129^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -x_17^post9+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -x_126^post9+x_126^0 == 0 /\ -i_92^post9+i_92^0 == 0), cost: 1
  10: l11 -> l12 : x_172^0'=x_172^post10, i_105^0'=i_105^post10, __disjvr_13^0'=__disjvr_13^post10, result_11^0'=result_11^post10, __disjvr_25^0'=__disjvr_25^post10, r_37^0'=r_37^post10, __disjvr_20^0'=__disjvr_20^post10, __disjvr_9^0'=__disjvr_9^post10, __disjvr_4^0'=__disjvr_4^post10, temp0_29^0'=temp0_29^post10, f_167^0'=f_167^post10, __disjvr_10^0'=__disjvr_10^post10, a_234^0'=a_234^post10, __disjvr_22^0'=__disjvr_22^post10, nondet_12^0'=nondet_12^post10, __disjvr_18^0'=__disjvr_18^post10, x_21^0'=x_21^post10, i_28^0'=i_28^post10, __disjvr_2^0'=__disjvr_2^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_27^0'=__disjvr_27^post10, rcd_86^0'=rcd_86^post10, a_144^0'=a_144^post10, __disjvr_6^0'=__disjvr_6^post10, tmp_32^0'=tmp_32^post10, __disjvr_15^0'=__disjvr_15^post10, x_14^0'=x_14^post10, head_30^0'=head_30^post10, __disjvr_12^0'=__disjvr_12^post10, ct_18^0'=ct_18^post10, __disjvr_24^0'=__disjvr_24^post10, r_160^0'=r_160^post10, __disjvr_1^0'=__disjvr_1^post10, y_20^0'=y_20^post10, len_129^0'=len_129^post10, __disjvr_3^0'=__disjvr_3^post10, temp0_16^0'=temp0_16^post10, __disjvr_29^0'=__disjvr_29^post10, __disjvr_0^0'=__disjvr_0^post10, a_212^0'=a_212^post10, __disjvr_8^0'=__disjvr_8^post10, length_27^0'=length_27^post10, __disjvr_17^0'=__disjvr_17^post10, x_17^0'=x_17^post10, i_164^0'=i_164^post10, __disjvr_14^0'=__disjvr_14^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10, __disjvr_26^0'=__disjvr_26^post10, rcd_56^0'=rcd_56^post10, __disjvr_21^0'=__disjvr_21^post10, a_113^0'=a_113^post10, __disjvr_5^0'=__disjvr_5^post10, temp_33^0'=temp_33^post10, x_126^0'=x_126^post10, head_15^0'=head_15^post10, __disjvr_11^0'=__disjvr_11^post10, a_257^0'=a_257^post10, __disjvr_23^0'=__disjvr_23^post10, r_121^0'=r_121^post10, __disjvr_19^0'=__disjvr_19^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, i_92^0'=i_92^post10, __disjvr_30^0'=__disjvr_30^post10, t_24^0'=t_24^post10, __disjvr_28^0'=__disjvr_28^post10, a_181^0'=a_181^post10, __disjvr_7^0'=__disjvr_7^post10, len_180^0'=len_180^post10, __disjvr_16^0'=__disjvr_16^post10, (0 == 0 /\ x_172^0-x_172^post10 == 0 /\ -y_20^post10+y_20^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ __disjvr_1^0-__disjvr_1^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ f_167^0-f_167^post10 == 0 /\ x_21^0-x_21^post10 == 0 /\ length_27^0-length_27^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ -i_92^post10+i_92^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ -a_212^post10+a_212^0 == 0 /\ -a_257^post10+a_257^0 == 0 /\ i_105^0-i_105^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ __disjvr_15^0-__disjvr_15^post10 == 0 /\ x_126^0-x_126^post10 == 0 /\ -len_129^post10+len_129^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -__disjvr_0^post10+__disjvr_0^0 == 0 /\ temp0_29^0-temp0_29^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -tmp_32^post10+tmp_32^0 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ -t_24^post10+t_24^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ i_28^0-i_28^post10 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ -__disjvr_21^post10+__disjvr_21^0 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ __disjvr_12^0-__disjvr_12^post10 == 0 /\ __disjvr_10^0-__disjvr_10^post10 == 0 /\ r_160^0-r_160^post10 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ -i_164^post10+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -__disjvr_9^post10+__disjvr_9^0 == 0 /\ -__disjvr_23^post10+__disjvr_23^0 == 0 /\ -a_234^post10+a_234^0 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ -rcd_56^post10+rcd_56^0 == 0 /\ -temp_33^post10+temp_33^0 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ -a_181^post10+a_181^0 == 0 /\ a_113^0-a_113^post10 == 0 /\ r_37^0-r_37^post10 == 0 /\ rcd_86^0-rcd_86^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ -len_180^post10+len_180^0 == 0 /\ -__disjvr_14^post10+__disjvr_14^0 == 0 /\ head_30^0-head_30^post10 == 0 /\ -a_212^0 <= 0 /\ -r_121^post10+r_121^0 == 0), cost: 1
  17: l11 -> l18 : x_172^0'=x_172^post17, i_105^0'=i_105^post17, __disjvr_13^0'=__disjvr_13^post17, result_11^0'=result_11^post17, __disjvr_25^0'=__disjvr_25^post17, r_37^0'=r_37^post17, __disjvr_20^0'=__disjvr_20^post17, __disjvr_9^0'=__disjvr_9^post17, __disjvr_4^0'=__disjvr_4^post17, temp0_29^0'=temp0_29^post17, f_167^0'=f_167^post17, __disjvr_10^0'=__disjvr_10^post17, a_234^0'=a_234^post17, __disjvr_22^0'=__disjvr_22^post17, nondet_12^0'=nondet_12^post17, __disjvr_18^0'=__disjvr_18^post17, x_21^0'=x_21^post17, i_28^0'=i_28^post17, __disjvr_2^0'=__disjvr_2^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_27^0'=__disjvr_27^post17, rcd_86^0'=rcd_86^post17, a_144^0'=a_144^post17, __disjvr_6^0'=__disjvr_6^post17, tmp_32^0'=tmp_32^post17, __disjvr_15^0'=__disjvr_15^post17, x_14^0'=x_14^post17, head_30^0'=head_30^post17, __disjvr_12^0'=__disjvr_12^post17, ct_18^0'=ct_18^post17, __disjvr_24^0'=__disjvr_24^post17, r_160^0'=r_160^post17, __disjvr_1^0'=__disjvr_1^post17, y_20^0'=y_20^post17, len_129^0'=len_129^post17, __disjvr_3^0'=__disjvr_3^post17, temp0_16^0'=temp0_16^post17, __disjvr_29^0'=__disjvr_29^post17, __disjvr_0^0'=__disjvr_0^post17, a_212^0'=a_212^post17, __disjvr_8^0'=__disjvr_8^post17, length_27^0'=length_27^post17, __disjvr_17^0'=__disjvr_17^post17, x_17^0'=x_17^post17, i_164^0'=i_164^post17, __disjvr_14^0'=__disjvr_14^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post17, __disjvr_26^0'=__disjvr_26^post17, rcd_56^0'=rcd_56^post17, __disjvr_21^0'=__disjvr_21^post17, a_113^0'=a_113^post17, __disjvr_5^0'=__disjvr_5^post17, temp_33^0'=temp_33^post17, x_126^0'=x_126^post17, head_15^0'=head_15^post17, __disjvr_11^0'=__disjvr_11^post17, a_257^0'=a_257^post17, __disjvr_23^0'=__disjvr_23^post17, r_121^0'=r_121^post17, __disjvr_19^0'=__disjvr_19^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, i_92^0'=i_92^post17, __disjvr_30^0'=__disjvr_30^post17, t_24^0'=t_24^post17, __disjvr_28^0'=__disjvr_28^post17, a_181^0'=a_181^post17, __disjvr_7^0'=__disjvr_7^post17, len_180^0'=len_180^post17, __disjvr_16^0'=__disjvr_16^post17, (0 == 0 /\ __disjvr_23^0-__disjvr_23^post17 == 0 /\ -i_164^post17+i_164^0 == 0 /\ __disjvr_2^0-__disjvr_2^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ x_14^0-x_14^post17 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ i_28^0-i_28^post17 == 0 /\ tmp_32^0-tmp_32^post17 == 0 /\ result_11^post17-temp0_16^0 == 0 /\ -len_129^post17+len_129^0 == 0 /\ __disjvr_1^0-__disjvr_1^post17 == 0 /\ -a_113^post17+a_113^0 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ a_234^0-a_234^post17 == 0 /\ x_172^0-x_172^post17 == 0 /\ __disjvr_12^0-__disjvr_12^post17 == 0 /\ -i_92^post17+i_92^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ r_37^0-r_37^post17 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ length_27^0-length_27^post17 == 0 /\ x_126^0-x_126^post17 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ a_144^0-a_144^post17 == 0 /\ -r_121^post17+r_121^0 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -__disjvr_16^post17+__disjvr_16^0 == 0 /\ -temp0_16^post17+temp0_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post17 == 0 /\ x_21^0-y_20^0 <= 0 /\ r_160^0-r_160^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ i_105^0-i_105^post17 == 0 /\ -__disjvr_28^post17+__disjvr_28^0 == 0 /\ -__disjvr_30^post17+__disjvr_30^0 == 0 /\ f_167^0-f_167^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ -temp_33^post17+temp_33^0 == 0 /\ temp0_29^0-temp0_29^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ rcd_86^0-rcd_86^post17 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -a_257^post17+a_257^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ -rcd_56^post17+rcd_56^0 == 0 /\ -a_181^post17+a_181^0 == 0 /\ head_30^0-head_30^post17 == 0 /\ -__disjvr_0^post17+__disjvr_0^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ -a_212^post17+a_212^0 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -len_180^post17+len_180^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ -a_212^0 <= 0 /\ -__disjvr_14^post17+__disjvr_14^0 == 0), cost: 1
  11: l12 -> l13 : x_172^0'=x_172^post11, i_105^0'=i_105^post11, __disjvr_13^0'=__disjvr_13^post11, result_11^0'=result_11^post11, __disjvr_25^0'=__disjvr_25^post11, r_37^0'=r_37^post11, __disjvr_20^0'=__disjvr_20^post11, __disjvr_9^0'=__disjvr_9^post11, __disjvr_4^0'=__disjvr_4^post11, temp0_29^0'=temp0_29^post11, f_167^0'=f_167^post11, __disjvr_10^0'=__disjvr_10^post11, a_234^0'=a_234^post11, __disjvr_22^0'=__disjvr_22^post11, nondet_12^0'=nondet_12^post11, __disjvr_18^0'=__disjvr_18^post11, x_21^0'=x_21^post11, i_28^0'=i_28^post11, __disjvr_2^0'=__disjvr_2^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_27^0'=__disjvr_27^post11, rcd_86^0'=rcd_86^post11, a_144^0'=a_144^post11, __disjvr_6^0'=__disjvr_6^post11, tmp_32^0'=tmp_32^post11, __disjvr_15^0'=__disjvr_15^post11, x_14^0'=x_14^post11, head_30^0'=head_30^post11, __disjvr_12^0'=__disjvr_12^post11, ct_18^0'=ct_18^post11, __disjvr_24^0'=__disjvr_24^post11, r_160^0'=r_160^post11, __disjvr_1^0'=__disjvr_1^post11, y_20^0'=y_20^post11, len_129^0'=len_129^post11, __disjvr_3^0'=__disjvr_3^post11, temp0_16^0'=temp0_16^post11, __disjvr_29^0'=__disjvr_29^post11, __disjvr_0^0'=__disjvr_0^post11, a_212^0'=a_212^post11, __disjvr_8^0'=__disjvr_8^post11, length_27^0'=length_27^post11, __disjvr_17^0'=__disjvr_17^post11, x_17^0'=x_17^post11, i_164^0'=i_164^post11, __disjvr_14^0'=__disjvr_14^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11, __disjvr_26^0'=__disjvr_26^post11, rcd_56^0'=rcd_56^post11, __disjvr_21^0'=__disjvr_21^post11, a_113^0'=a_113^post11, __disjvr_5^0'=__disjvr_5^post11, temp_33^0'=temp_33^post11, x_126^0'=x_126^post11, head_15^0'=head_15^post11, __disjvr_11^0'=__disjvr_11^post11, a_257^0'=a_257^post11, __disjvr_23^0'=__disjvr_23^post11, r_121^0'=r_121^post11, __disjvr_19^0'=__disjvr_19^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, i_92^0'=i_92^post11, __disjvr_30^0'=__disjvr_30^post11, t_24^0'=t_24^post11, __disjvr_28^0'=__disjvr_28^post11, a_181^0'=a_181^post11, __disjvr_7^0'=__disjvr_7^post11, len_180^0'=len_180^post11, __disjvr_16^0'=__disjvr_16^post11, (-length_27^post11+length_27^0 == 0 /\ -temp_33^post11+temp_33^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ -r_121^post11+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ -tmp_32^post11+tmp_32^0 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -len_180^post11+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ r_37^0-r_37^post11 == 0 /\ __disjvr_27^0-__disjvr_27^post11 == 0 /\ -__disjvr_24^post11+__disjvr_24^0 == 0 /\ a_257^0-a_257^post11 == 0 /\ r_160^0-r_160^post11 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ rcd_86^0-rcd_86^post11 == 0 /\ y_20^0-y_20^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ head_15^0-head_15^post11 == 0 /\ -a_113^post11+a_113^0 == 0 /\ -__disjvr_30^post11+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ -a_181^post11+a_181^0 == 0 /\ -__disjvr_29^post11+__disjvr_29^0 == 0 /\ -a_212^post11+a_212^0 == 0 /\ ct_18^0-ct_18^post11 == 0 /\ len_129^0-len_129^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ i_105^0-i_105^post11 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11 == 0 /\ -i_164^post11+i_164^0 == 0 /\ rcd_56^0-rcd_56^post11 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -x_126^post11+x_126^0 == 0 /\ a_234^0-a_234^post11 == 0 /\ -__disjvr_26^post11+__disjvr_26^0 == 0 /\ a_144^0-a_144^post11 == 0 /\ x_172^0-x_172^post11 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -f_167^post11+f_167^0 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ -head_30^post11+head_30^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -x_17^post11+x_17^0 == 0 /\ i_28^0-i_28^post11 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ -x_SLAM_f_19^post11+x_SLAM_f_19^0 == 0 /\ temp0_29^0-temp0_29^post11 == 0 /\ x_21^0-x_21^post11 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ -i_92^post11+i_92^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ -__disjvr_4^0+__disjvr_4^post11 == 0), cost: 1
  12: l13 -> l14 : x_172^0'=x_172^post12, i_105^0'=i_105^post12, __disjvr_13^0'=__disjvr_13^post12, result_11^0'=result_11^post12, __disjvr_25^0'=__disjvr_25^post12, r_37^0'=r_37^post12, __disjvr_20^0'=__disjvr_20^post12, __disjvr_9^0'=__disjvr_9^post12, __disjvr_4^0'=__disjvr_4^post12, temp0_29^0'=temp0_29^post12, f_167^0'=f_167^post12, __disjvr_10^0'=__disjvr_10^post12, a_234^0'=a_234^post12, __disjvr_22^0'=__disjvr_22^post12, nondet_12^0'=nondet_12^post12, __disjvr_18^0'=__disjvr_18^post12, x_21^0'=x_21^post12, i_28^0'=i_28^post12, __disjvr_2^0'=__disjvr_2^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_27^0'=__disjvr_27^post12, rcd_86^0'=rcd_86^post12, a_144^0'=a_144^post12, __disjvr_6^0'=__disjvr_6^post12, tmp_32^0'=tmp_32^post12, __disjvr_15^0'=__disjvr_15^post12, x_14^0'=x_14^post12, head_30^0'=head_30^post12, __disjvr_12^0'=__disjvr_12^post12, ct_18^0'=ct_18^post12, __disjvr_24^0'=__disjvr_24^post12, r_160^0'=r_160^post12, __disjvr_1^0'=__disjvr_1^post12, y_20^0'=y_20^post12, len_129^0'=len_129^post12, __disjvr_3^0'=__disjvr_3^post12, temp0_16^0'=temp0_16^post12, __disjvr_29^0'=__disjvr_29^post12, __disjvr_0^0'=__disjvr_0^post12, a_212^0'=a_212^post12, __disjvr_8^0'=__disjvr_8^post12, length_27^0'=length_27^post12, __disjvr_17^0'=__disjvr_17^post12, x_17^0'=x_17^post12, i_164^0'=i_164^post12, __disjvr_14^0'=__disjvr_14^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12, __disjvr_26^0'=__disjvr_26^post12, rcd_56^0'=rcd_56^post12, __disjvr_21^0'=__disjvr_21^post12, a_113^0'=a_113^post12, __disjvr_5^0'=__disjvr_5^post12, temp_33^0'=temp_33^post12, x_126^0'=x_126^post12, head_15^0'=head_15^post12, __disjvr_11^0'=__disjvr_11^post12, a_257^0'=a_257^post12, __disjvr_23^0'=__disjvr_23^post12, r_121^0'=r_121^post12, __disjvr_19^0'=__disjvr_19^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, i_92^0'=i_92^post12, __disjvr_30^0'=__disjvr_30^post12, t_24^0'=t_24^post12, __disjvr_28^0'=__disjvr_28^post12, a_181^0'=a_181^post12, __disjvr_7^0'=__disjvr_7^post12, len_180^0'=len_180^post12, __disjvr_16^0'=__disjvr_16^post12, (-ct_18^0 <= 0 /\ -x_17^post12+x_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -head_15^post12+head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ tmp_32^0-tmp_32^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ x_172^0-x_172^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ -x_14^0 <= 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -__disjvr_19^post12+__disjvr_19^0 == 0 /\ -y_20^0 <= 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ x_14^0-x_14^post12 == 0 /\ -x_17^0+head_15^0 <= 0 /\ i_28^0-i_28^post12 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ -a_212^post12+a_212^0 == 0 /\ length_27^0-length_27^post12 == 0 /\ __disjvr_10^0-__disjvr_10^post12 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -r_121^post12+r_121^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post12 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ a_234^0-a_234^post12 == 0 /\ x_21^0-x_21^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ -rcd_56^post12+rcd_56^0 == 0 /\ -__disjvr_24^post12+__disjvr_24^0 == 0 /\ -rcd_86^post12+rcd_86^0 == 0 /\ x_14^0 <= 0 /\ f_167^0-f_167^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ __disjvr_12^0-__disjvr_12^post12 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -__disjvr_21^post12+__disjvr_21^0 == 0 /\ a_144^0-a_144^post12 == 0 /\ x_17^0-head_15^0 <= 0 /\ y_20^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -head_30^post12+head_30^0 == 0 /\ -__disjvr_14^post12+__disjvr_14^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ r_37^0-r_37^post12 == 0 /\ r_160^0-r_160^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -a_257^post12+a_257^0 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ i_105^0-i_105^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ temp0_29^0-temp0_29^post12 == 0 /\ -i_92^post12+i_92^0 == 0 /\ y_20^0-y_20^post12 == 0 /\ -x_21^0+t_24^post12 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ -__disjvr_18^post12+__disjvr_18^0 == 0 /\ -a_181^post12+a_181^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -len_180^post12+len_180^0 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -temp_33^post12+temp_33^0 == 0 /\ __disjvr_27^0-__disjvr_27^post12 == 0 /\ -__disjvr_0^post12+__disjvr_0^0 == 0 /\ a_113^0-a_113^post12 == 0 /\ ct_18^0-ct_18^post12 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ -i_164^post12+i_164^0 == 0 /\ len_129^0-len_129^post12 == 0 /\ __disjvr_30^0-__disjvr_30^post12 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ -x_126^post12+x_126^0 == 0), cost: 1
  13: l14 -> l15 : x_172^0'=x_172^post13, i_105^0'=i_105^post13, __disjvr_13^0'=__disjvr_13^post13, result_11^0'=result_11^post13, __disjvr_25^0'=__disjvr_25^post13, r_37^0'=r_37^post13, __disjvr_20^0'=__disjvr_20^post13, __disjvr_9^0'=__disjvr_9^post13, __disjvr_4^0'=__disjvr_4^post13, temp0_29^0'=temp0_29^post13, f_167^0'=f_167^post13, __disjvr_10^0'=__disjvr_10^post13, a_234^0'=a_234^post13, __disjvr_22^0'=__disjvr_22^post13, nondet_12^0'=nondet_12^post13, __disjvr_18^0'=__disjvr_18^post13, x_21^0'=x_21^post13, i_28^0'=i_28^post13, __disjvr_2^0'=__disjvr_2^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_27^0'=__disjvr_27^post13, rcd_86^0'=rcd_86^post13, a_144^0'=a_144^post13, __disjvr_6^0'=__disjvr_6^post13, tmp_32^0'=tmp_32^post13, __disjvr_15^0'=__disjvr_15^post13, x_14^0'=x_14^post13, head_30^0'=head_30^post13, __disjvr_12^0'=__disjvr_12^post13, ct_18^0'=ct_18^post13, __disjvr_24^0'=__disjvr_24^post13, r_160^0'=r_160^post13, __disjvr_1^0'=__disjvr_1^post13, y_20^0'=y_20^post13, len_129^0'=len_129^post13, __disjvr_3^0'=__disjvr_3^post13, temp0_16^0'=temp0_16^post13, __disjvr_29^0'=__disjvr_29^post13, __disjvr_0^0'=__disjvr_0^post13, a_212^0'=a_212^post13, __disjvr_8^0'=__disjvr_8^post13, length_27^0'=length_27^post13, __disjvr_17^0'=__disjvr_17^post13, x_17^0'=x_17^post13, i_164^0'=i_164^post13, __disjvr_14^0'=__disjvr_14^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13, __disjvr_26^0'=__disjvr_26^post13, rcd_56^0'=rcd_56^post13, __disjvr_21^0'=__disjvr_21^post13, a_113^0'=a_113^post13, __disjvr_5^0'=__disjvr_5^post13, temp_33^0'=temp_33^post13, x_126^0'=x_126^post13, head_15^0'=head_15^post13, __disjvr_11^0'=__disjvr_11^post13, a_257^0'=a_257^post13, __disjvr_23^0'=__disjvr_23^post13, r_121^0'=r_121^post13, __disjvr_19^0'=__disjvr_19^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, i_92^0'=i_92^post13, __disjvr_30^0'=__disjvr_30^post13, t_24^0'=t_24^post13, __disjvr_28^0'=__disjvr_28^post13, a_181^0'=a_181^post13, __disjvr_7^0'=__disjvr_7^post13, len_180^0'=len_180^post13, __disjvr_16^0'=__disjvr_16^post13, (-ct_18^post13+ct_18^0 == 0 /\ __disjvr_25^0-__disjvr_25^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -y_20^post13+y_20^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post13 == 0 /\ i_92^0-i_92^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ -temp_33^post13+temp_33^0 == 0 /\ r_37^0-r_37^post13 == 0 /\ f_167^0-f_167^post13 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ i_105^0-i_105^post13 == 0 /\ temp0_29^0-temp0_29^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post13 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ -a_257^post13+a_257^0 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ x_17^0-x_17^post13 == 0 /\ -t_24^post13+t_24^0 == 0 /\ rcd_86^0-rcd_86^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ tmp_32^0-tmp_32^post13 == 0 /\ -len_129^post13+len_129^0 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ -length_27^post13+length_27^0 == 0 /\ head_30^0-head_30^post13 == 0 /\ -len_180^post13+len_180^0 == 0 /\ __disjvr_12^0-__disjvr_12^post13 == 0 /\ a_212^0-a_212^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ __disjvr_1^0-__disjvr_1^post13 == 0 /\ -__disjvr_11^post13+__disjvr_11^0 == 0 /\ i_28^0-i_28^post13 == 0 /\ a_113^0-a_113^post13 == 0 /\ x_14^0-x_14^post13 == 0 /\ -x_126^post13+x_126^0 == 0 /\ -__disjvr_5^0+__disjvr_5^post13 == 0 /\ -i_164^post13+i_164^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_21^0-x_21^post13 == 0 /\ -__disjvr_21^post13+__disjvr_21^0 == 0 /\ -a_144^post13+a_144^0 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -rcd_56^post13+rcd_56^0 == 0 /\ -x_172^post13+x_172^0 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ __disjvr_15^0-__disjvr_15^post13 == 0 /\ -__disjvr_23^post13+__disjvr_23^0 == 0 /\ -x_SLAM_f_19^post13+x_SLAM_f_19^0 == 0 /\ -__disjvr_16^post13+__disjvr_16^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -head_15^post13+head_15^0 == 0 /\ -__disjvr_29^post13+__disjvr_29^0 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -r_121^post13+r_121^0 == 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ a_234^0-a_234^post13 == 0 /\ -a_181^post13+a_181^0 == 0 /\ -__disjvr_14^post13+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -r_160^post13+r_160^0 == 0), cost: 1
  14: l15 -> l16 : x_172^0'=x_172^post14, i_105^0'=i_105^post14, __disjvr_13^0'=__disjvr_13^post14, result_11^0'=result_11^post14, __disjvr_25^0'=__disjvr_25^post14, r_37^0'=r_37^post14, __disjvr_20^0'=__disjvr_20^post14, __disjvr_9^0'=__disjvr_9^post14, __disjvr_4^0'=__disjvr_4^post14, temp0_29^0'=temp0_29^post14, f_167^0'=f_167^post14, __disjvr_10^0'=__disjvr_10^post14, a_234^0'=a_234^post14, __disjvr_22^0'=__disjvr_22^post14, nondet_12^0'=nondet_12^post14, __disjvr_18^0'=__disjvr_18^post14, x_21^0'=x_21^post14, i_28^0'=i_28^post14, __disjvr_2^0'=__disjvr_2^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_27^0'=__disjvr_27^post14, rcd_86^0'=rcd_86^post14, a_144^0'=a_144^post14, __disjvr_6^0'=__disjvr_6^post14, tmp_32^0'=tmp_32^post14, __disjvr_15^0'=__disjvr_15^post14, x_14^0'=x_14^post14, head_30^0'=head_30^post14, __disjvr_12^0'=__disjvr_12^post14, ct_18^0'=ct_18^post14, __disjvr_24^0'=__disjvr_24^post14, r_160^0'=r_160^post14, __disjvr_1^0'=__disjvr_1^post14, y_20^0'=y_20^post14, len_129^0'=len_129^post14, __disjvr_3^0'=__disjvr_3^post14, temp0_16^0'=temp0_16^post14, __disjvr_29^0'=__disjvr_29^post14, __disjvr_0^0'=__disjvr_0^post14, a_212^0'=a_212^post14, __disjvr_8^0'=__disjvr_8^post14, length_27^0'=length_27^post14, __disjvr_17^0'=__disjvr_17^post14, x_17^0'=x_17^post14, i_164^0'=i_164^post14, __disjvr_14^0'=__disjvr_14^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post14, __disjvr_26^0'=__disjvr_26^post14, rcd_56^0'=rcd_56^post14, __disjvr_21^0'=__disjvr_21^post14, a_113^0'=a_113^post14, __disjvr_5^0'=__disjvr_5^post14, temp_33^0'=temp_33^post14, x_126^0'=x_126^post14, head_15^0'=head_15^post14, __disjvr_11^0'=__disjvr_11^post14, a_257^0'=a_257^post14, __disjvr_23^0'=__disjvr_23^post14, r_121^0'=r_121^post14, __disjvr_19^0'=__disjvr_19^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, i_92^0'=i_92^post14, __disjvr_30^0'=__disjvr_30^post14, t_24^0'=t_24^post14, __disjvr_28^0'=__disjvr_28^post14, a_181^0'=a_181^post14, __disjvr_7^0'=__disjvr_7^post14, len_180^0'=len_180^post14, __disjvr_16^0'=__disjvr_16^post14, (__disjvr_6^post14-__disjvr_6^0 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ ct_18^0-ct_18^post14 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ -t_24^post14+t_24^0 == 0 /\ -__disjvr_28^post14+__disjvr_28^0 == 0 /\ -head_30^post14+head_30^0 == 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ -length_27^post14+length_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post14 == 0 /\ head_15^0-head_15^post14 == 0 /\ i_105^0-i_105^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ a_212^0-a_212^post14 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post14 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ -len_180^post14+len_180^0 == 0 /\ x_172^0-x_172^post14 == 0 /\ r_160^0-r_160^post14 == 0 /\ -x_21^post14+x_21^0 == 0 /\ temp_33^0-temp_33^post14 == 0 /\ -__disjvr_29^post14+__disjvr_29^0 == 0 /\ len_129^0-len_129^post14 == 0 /\ -x_126^post14+x_126^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ -a_257^post14+a_257^0 == 0 /\ r_37^0-r_37^post14 == 0 /\ __disjvr_17^0-__disjvr_17^post14 == 0 /\ -x_SLAM_f_19^post14+x_SLAM_f_19^0 == 0 /\ rcd_86^0-rcd_86^post14 == 0 /\ -x_17^post14+x_17^0 == 0 /\ -i_92^post14+i_92^0 == 0 /\ -a_113^post14+a_113^0 == 0 /\ -x_14^post14+x_14^0 == 0 /\ -__disjvr_24^post14+__disjvr_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ -tmp_32^post14+tmp_32^0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ -__disjvr_14^post14+__disjvr_14^0 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ __disjvr_27^0-__disjvr_27^post14 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ i_28^0-i_28^post14 == 0 /\ -a_181^post14+a_181^0 == 0 /\ rcd_56^0-rcd_56^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ -r_121^post14+r_121^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -temp0_29^post14+temp0_29^0 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ -y_20^post14+y_20^0 == 0 /\ -__disjvr_30^post14+__disjvr_30^0 == 0 /\ a_234^0-a_234^post14 == 0 /\ -__disjvr_22^post14+__disjvr_22^0 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ f_167^0-f_167^post14 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ a_144^0-a_144^post14 == 0 /\ i_164^0-i_164^post14 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0), cost: 1
  15: l16 -> l17 : x_172^0'=x_172^post15, i_105^0'=i_105^post15, __disjvr_13^0'=__disjvr_13^post15, result_11^0'=result_11^post15, __disjvr_25^0'=__disjvr_25^post15, r_37^0'=r_37^post15, __disjvr_20^0'=__disjvr_20^post15, __disjvr_9^0'=__disjvr_9^post15, __disjvr_4^0'=__disjvr_4^post15, temp0_29^0'=temp0_29^post15, f_167^0'=f_167^post15, __disjvr_10^0'=__disjvr_10^post15, a_234^0'=a_234^post15, __disjvr_22^0'=__disjvr_22^post15, nondet_12^0'=nondet_12^post15, __disjvr_18^0'=__disjvr_18^post15, x_21^0'=x_21^post15, i_28^0'=i_28^post15, __disjvr_2^0'=__disjvr_2^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_27^0'=__disjvr_27^post15, rcd_86^0'=rcd_86^post15, a_144^0'=a_144^post15, __disjvr_6^0'=__disjvr_6^post15, tmp_32^0'=tmp_32^post15, __disjvr_15^0'=__disjvr_15^post15, x_14^0'=x_14^post15, head_30^0'=head_30^post15, __disjvr_12^0'=__disjvr_12^post15, ct_18^0'=ct_18^post15, __disjvr_24^0'=__disjvr_24^post15, r_160^0'=r_160^post15, __disjvr_1^0'=__disjvr_1^post15, y_20^0'=y_20^post15, len_129^0'=len_129^post15, __disjvr_3^0'=__disjvr_3^post15, temp0_16^0'=temp0_16^post15, __disjvr_29^0'=__disjvr_29^post15, __disjvr_0^0'=__disjvr_0^post15, a_212^0'=a_212^post15, __disjvr_8^0'=__disjvr_8^post15, length_27^0'=length_27^post15, __disjvr_17^0'=__disjvr_17^post15, x_17^0'=x_17^post15, i_164^0'=i_164^post15, __disjvr_14^0'=__disjvr_14^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post15, __disjvr_26^0'=__disjvr_26^post15, rcd_56^0'=rcd_56^post15, __disjvr_21^0'=__disjvr_21^post15, a_113^0'=a_113^post15, __disjvr_5^0'=__disjvr_5^post15, temp_33^0'=temp_33^post15, x_126^0'=x_126^post15, head_15^0'=head_15^post15, __disjvr_11^0'=__disjvr_11^post15, a_257^0'=a_257^post15, __disjvr_23^0'=__disjvr_23^post15, r_121^0'=r_121^post15, __disjvr_19^0'=__disjvr_19^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, i_92^0'=i_92^post15, __disjvr_30^0'=__disjvr_30^post15, t_24^0'=t_24^post15, __disjvr_28^0'=__disjvr_28^post15, a_181^0'=a_181^post15, __disjvr_7^0'=__disjvr_7^post15, len_180^0'=len_180^post15, __disjvr_16^0'=__disjvr_16^post15, (x_172^0-x_172^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ i_105^0-i_105^post15 == 0 /\ -__disjvr_15^post15+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ -__disjvr_11^post15+__disjvr_11^0 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ __disjvr_7^post15-__disjvr_7^0 == 0 /\ r_121^0-r_121^post15 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ -i_164^post15+i_164^0 == 0 /\ x_14^0-x_14^post15 == 0 /\ -a_113^post15+a_113^0 == 0 /\ head_30^0-head_30^post15 == 0 /\ a_234^0-a_234^post15 == 0 /\ -x_SLAM_f_19^post15+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post15 == 0 /\ -ct_18^post15+ct_18^0 == 0 /\ -x_126^post15+x_126^0 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -i_92^post15+i_92^0 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ __disjvr_12^0-__disjvr_12^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ i_28^0-i_28^post15 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ length_27^0-length_27^post15 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post15 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ f_167^0-f_167^post15 == 0 /\ __disjvr_27^0-__disjvr_27^post15 == 0 /\ -__disjvr_26^post15+__disjvr_26^0 == 0 /\ -a_144^post15+a_144^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ len_129^0-len_129^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ -__disjvr_30^post15+__disjvr_30^0 == 0 /\ -len_180^post15+len_180^0 == 0 /\ r_37^0-r_37^post15 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post15 == 0 /\ -rcd_86^post15+rcd_86^0 == 0 /\ -a_212^post15+a_212^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ x_17^0-x_17^post15 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ tmp_32^0-tmp_32^post15 == 0 /\ r_160^0-r_160^post15 == 0 /\ -temp_33^post15+temp_33^0 == 0 /\ -__disjvr_21^post15+__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ -t_24^post15+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ -rcd_56^post15+rcd_56^0 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ -a_257^post15+a_257^0 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -a_181^post15+a_181^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ result_11^0-result_11^post15 == 0 /\ y_20^0-y_20^post15 == 0 /\ -head_15^post15+head_15^0 == 0), cost: 1
  16: l17 -> l2 : x_172^0'=x_172^post16, i_105^0'=i_105^post16, __disjvr_13^0'=__disjvr_13^post16, result_11^0'=result_11^post16, __disjvr_25^0'=__disjvr_25^post16, r_37^0'=r_37^post16, __disjvr_20^0'=__disjvr_20^post16, __disjvr_9^0'=__disjvr_9^post16, __disjvr_4^0'=__disjvr_4^post16, temp0_29^0'=temp0_29^post16, f_167^0'=f_167^post16, __disjvr_10^0'=__disjvr_10^post16, a_234^0'=a_234^post16, __disjvr_22^0'=__disjvr_22^post16, nondet_12^0'=nondet_12^post16, __disjvr_18^0'=__disjvr_18^post16, x_21^0'=x_21^post16, i_28^0'=i_28^post16, __disjvr_2^0'=__disjvr_2^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_27^0'=__disjvr_27^post16, rcd_86^0'=rcd_86^post16, a_144^0'=a_144^post16, __disjvr_6^0'=__disjvr_6^post16, tmp_32^0'=tmp_32^post16, __disjvr_15^0'=__disjvr_15^post16, x_14^0'=x_14^post16, head_30^0'=head_30^post16, __disjvr_12^0'=__disjvr_12^post16, ct_18^0'=ct_18^post16, __disjvr_24^0'=__disjvr_24^post16, r_160^0'=r_160^post16, __disjvr_1^0'=__disjvr_1^post16, y_20^0'=y_20^post16, len_129^0'=len_129^post16, __disjvr_3^0'=__disjvr_3^post16, temp0_16^0'=temp0_16^post16, __disjvr_29^0'=__disjvr_29^post16, __disjvr_0^0'=__disjvr_0^post16, a_212^0'=a_212^post16, __disjvr_8^0'=__disjvr_8^post16, length_27^0'=length_27^post16, __disjvr_17^0'=__disjvr_17^post16, x_17^0'=x_17^post16, i_164^0'=i_164^post16, __disjvr_14^0'=__disjvr_14^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post16, __disjvr_26^0'=__disjvr_26^post16, rcd_56^0'=rcd_56^post16, __disjvr_21^0'=__disjvr_21^post16, a_113^0'=a_113^post16, __disjvr_5^0'=__disjvr_5^post16, temp_33^0'=temp_33^post16, x_126^0'=x_126^post16, head_15^0'=head_15^post16, __disjvr_11^0'=__disjvr_11^post16, a_257^0'=a_257^post16, __disjvr_23^0'=__disjvr_23^post16, r_121^0'=r_121^post16, __disjvr_19^0'=__disjvr_19^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, i_92^0'=i_92^post16, __disjvr_30^0'=__disjvr_30^post16, t_24^0'=t_24^post16, __disjvr_28^0'=__disjvr_28^post16, a_181^0'=a_181^post16, __disjvr_7^0'=__disjvr_7^post16, len_180^0'=len_180^post16, __disjvr_16^0'=__disjvr_16^post16, (-a_257^post16+a_257^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_86^0-rcd_86^post16 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ __disjvr_22^0-__disjvr_22^post16 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ -r_160^post16+r_160^0 == 0 /\ length_27^0-length_27^post16 == 0 /\ -rcd_56^post16+rcd_56^0 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ -__disjvr_0^post16+__disjvr_0^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ x_126^0-x_126^post16 == 0 /\ x_17^0-x_17^post16 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ tmp_32^0-tmp_32^post16 == 0 /\ -y_20^post16+y_20^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ -x_SLAM_f_19^post16+x_SLAM_f_19^0 == 0 /\ r_37^0-r_37^post16 == 0 /\ -a_181^post16+a_181^0 == 0 /\ -i_92^post16+i_92^0 == 0 /\ -__disjvr_30^post16+__disjvr_30^0 == 0 /\ -__disjvr_16^post16+__disjvr_16^0 == 0 /\ x_172^0-x_172^post16 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -ct_18^post16+ct_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ i_164^0-i_164^post16 == 0 /\ i_105^0-i_105^post16 == 0 /\ head_30^0-head_30^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -a_144^post16+a_144^0 == 0 /\ a_234^0-a_234^post16 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ -temp_33^post16+temp_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ -len_129^post16+len_129^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ -t_24^post16+t_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ __disjvr_25^0-__disjvr_25^post16 == 0 /\ -len_180^post16+len_180^0 == 0 /\ -head_15^post16+head_15^0 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ -r_121^post16+r_121^0 == 0 /\ f_167^0-f_167^post16 == 0 /\ -a_212^post16+a_212^0 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ -__disjvr_21^post16+__disjvr_21^0 == 0 /\ -__disjvr_14^post16+__disjvr_14^0 == 0 /\ i_28^0-i_28^post16 == 0 /\ -__disjvr_19^post16+__disjvr_19^0 == 0 /\ temp0_29^0-temp0_29^post16 == 0 /\ x_21^0-x_21^post16 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ a_113^0-a_113^post16 == 0), cost: 1
  18: l18 -> l19 : x_172^0'=x_172^post18, i_105^0'=i_105^post18, __disjvr_13^0'=__disjvr_13^post18, result_11^0'=result_11^post18, __disjvr_25^0'=__disjvr_25^post18, r_37^0'=r_37^post18, __disjvr_20^0'=__disjvr_20^post18, __disjvr_9^0'=__disjvr_9^post18, __disjvr_4^0'=__disjvr_4^post18, temp0_29^0'=temp0_29^post18, f_167^0'=f_167^post18, __disjvr_10^0'=__disjvr_10^post18, a_234^0'=a_234^post18, __disjvr_22^0'=__disjvr_22^post18, nondet_12^0'=nondet_12^post18, __disjvr_18^0'=__disjvr_18^post18, x_21^0'=x_21^post18, i_28^0'=i_28^post18, __disjvr_2^0'=__disjvr_2^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, __disjvr_27^0'=__disjvr_27^post18, rcd_86^0'=rcd_86^post18, a_144^0'=a_144^post18, __disjvr_6^0'=__disjvr_6^post18, tmp_32^0'=tmp_32^post18, __disjvr_15^0'=__disjvr_15^post18, x_14^0'=x_14^post18, head_30^0'=head_30^post18, __disjvr_12^0'=__disjvr_12^post18, ct_18^0'=ct_18^post18, __disjvr_24^0'=__disjvr_24^post18, r_160^0'=r_160^post18, __disjvr_1^0'=__disjvr_1^post18, y_20^0'=y_20^post18, len_129^0'=len_129^post18, __disjvr_3^0'=__disjvr_3^post18, temp0_16^0'=temp0_16^post18, __disjvr_29^0'=__disjvr_29^post18, __disjvr_0^0'=__disjvr_0^post18, a_212^0'=a_212^post18, __disjvr_8^0'=__disjvr_8^post18, length_27^0'=length_27^post18, __disjvr_17^0'=__disjvr_17^post18, x_17^0'=x_17^post18, i_164^0'=i_164^post18, __disjvr_14^0'=__disjvr_14^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post18, __disjvr_26^0'=__disjvr_26^post18, rcd_56^0'=rcd_56^post18, __disjvr_21^0'=__disjvr_21^post18, a_113^0'=a_113^post18, __disjvr_5^0'=__disjvr_5^post18, temp_33^0'=temp_33^post18, x_126^0'=x_126^post18, head_15^0'=head_15^post18, __disjvr_11^0'=__disjvr_11^post18, a_257^0'=a_257^post18, __disjvr_23^0'=__disjvr_23^post18, r_121^0'=r_121^post18, __disjvr_19^0'=__disjvr_19^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, i_92^0'=i_92^post18, __disjvr_30^0'=__disjvr_30^post18, t_24^0'=t_24^post18, __disjvr_28^0'=__disjvr_28^post18, a_181^0'=a_181^post18, __disjvr_7^0'=__disjvr_7^post18, len_180^0'=len_180^post18, __disjvr_16^0'=__disjvr_16^post18, (__disjvr_25^0-__disjvr_25^post18 == 0 /\ -__disjvr_6^post18+__disjvr_6^0 == 0 /\ r_37^0-r_37^post18 == 0 /\ __disjvr_17^0-__disjvr_17^post18 == 0 /\ -__disjvr_30^post18+__disjvr_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post18 == 0 /\ -i_164^post18+i_164^0 == 0 /\ rcd_86^0-rcd_86^post18 == 0 /\ r_160^0-r_160^post18 == 0 /\ -x_126^post18+x_126^0 == 0 /\ head_15^0-head_15^post18 == 0 /\ temp0_29^0-temp0_29^post18 == 0 /\ i_105^0-i_105^post18 == 0 /\ -__disjvr_19^post18+__disjvr_19^0 == 0 /\ len_129^0-len_129^post18 == 0 /\ -i_92^post18+i_92^0 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ -x_14^post18+x_14^0 == 0 /\ -a_257^post18+a_257^0 == 0 /\ -a_212^post18+a_212^0 == 0 /\ -tmp_32^post18+tmp_32^0 == 0 /\ -a_113^post18+a_113^0 == 0 /\ -t_24^post18+t_24^0 == 0 /\ result_11^0-result_11^post18 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ -__disjvr_28^post18+__disjvr_28^0 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ y_20^0-y_20^post18 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_3^post18+__disjvr_3^0 == 0 /\ x_172^0-x_172^post18 == 0 /\ -__disjvr_0^post18+__disjvr_0^0 == 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ a_144^0-a_144^post18 == 0 /\ -len_180^post18+len_180^0 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ i_28^0-i_28^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post18 == 0 /\ length_27^0-length_27^post18 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ -x_17^post18+x_17^0 == 0 /\ __disjvr_27^0-__disjvr_27^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ -__disjvr_21^post18+__disjvr_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ ct_18^0-ct_18^post18 == 0 /\ __disjvr_18^0-__disjvr_18^post18 == 0 /\ __disjvr_15^0-__disjvr_15^post18 == 0 /\ -x_SLAM_f_19^post18+x_SLAM_f_19^0 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -f_167^post18+f_167^0 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ -__disjvr_16^post18+__disjvr_16^0 == 0 /\ __disjvr_8^post18-__disjvr_8^0 == 0 /\ -head_30^post18+head_30^0 == 0 /\ -__disjvr_20^post18+__disjvr_20^0 == 0 /\ -__disjvr_24^post18+__disjvr_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ temp0_16^0-temp0_16^post18 == 0 /\ -r_121^post18+r_121^0 == 0 /\ a_234^0-a_234^post18 == 0 /\ -a_181^post18+a_181^0 == 0 /\ -__disjvr_14^post18+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ rcd_56^0-rcd_56^post18 == 0), cost: 1
  19: l19 -> l3 : x_172^0'=x_172^post19, i_105^0'=i_105^post19, __disjvr_13^0'=__disjvr_13^post19, result_11^0'=result_11^post19, __disjvr_25^0'=__disjvr_25^post19, r_37^0'=r_37^post19, __disjvr_20^0'=__disjvr_20^post19, __disjvr_9^0'=__disjvr_9^post19, __disjvr_4^0'=__disjvr_4^post19, temp0_29^0'=temp0_29^post19, f_167^0'=f_167^post19, __disjvr_10^0'=__disjvr_10^post19, a_234^0'=a_234^post19, __disjvr_22^0'=__disjvr_22^post19, nondet_12^0'=nondet_12^post19, __disjvr_18^0'=__disjvr_18^post19, x_21^0'=x_21^post19, i_28^0'=i_28^post19, __disjvr_2^0'=__disjvr_2^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_27^0'=__disjvr_27^post19, rcd_86^0'=rcd_86^post19, a_144^0'=a_144^post19, __disjvr_6^0'=__disjvr_6^post19, tmp_32^0'=tmp_32^post19, __disjvr_15^0'=__disjvr_15^post19, x_14^0'=x_14^post19, head_30^0'=head_30^post19, __disjvr_12^0'=__disjvr_12^post19, ct_18^0'=ct_18^post19, __disjvr_24^0'=__disjvr_24^post19, r_160^0'=r_160^post19, __disjvr_1^0'=__disjvr_1^post19, y_20^0'=y_20^post19, len_129^0'=len_129^post19, __disjvr_3^0'=__disjvr_3^post19, temp0_16^0'=temp0_16^post19, __disjvr_29^0'=__disjvr_29^post19, __disjvr_0^0'=__disjvr_0^post19, a_212^0'=a_212^post19, __disjvr_8^0'=__disjvr_8^post19, length_27^0'=length_27^post19, __disjvr_17^0'=__disjvr_17^post19, x_17^0'=x_17^post19, i_164^0'=i_164^post19, __disjvr_14^0'=__disjvr_14^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post19, __disjvr_26^0'=__disjvr_26^post19, rcd_56^0'=rcd_56^post19, __disjvr_21^0'=__disjvr_21^post19, a_113^0'=a_113^post19, __disjvr_5^0'=__disjvr_5^post19, temp_33^0'=temp_33^post19, x_126^0'=x_126^post19, head_15^0'=head_15^post19, __disjvr_11^0'=__disjvr_11^post19, a_257^0'=a_257^post19, __disjvr_23^0'=__disjvr_23^post19, r_121^0'=r_121^post19, __disjvr_19^0'=__disjvr_19^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, i_92^0'=i_92^post19, __disjvr_30^0'=__disjvr_30^post19, t_24^0'=t_24^post19, __disjvr_28^0'=__disjvr_28^post19, a_181^0'=a_181^post19, __disjvr_7^0'=__disjvr_7^post19, len_180^0'=len_180^post19, __disjvr_16^0'=__disjvr_16^post19, (length_27^0-length_27^post19 == 0 /\ -temp_33^post19+temp_33^0 == 0 /\ __disjvr_27^0-__disjvr_27^post19 == 0 /\ x_21^0-x_21^post19 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_30^0-head_30^post19 == 0 /\ -a_181^post19+a_181^0 == 0 /\ -__disjvr_16^post19+__disjvr_16^0 == 0 /\ -rcd_56^post19+rcd_56^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ a_144^0-a_144^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ i_105^0-i_105^post19 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ -r_121^post19+r_121^0 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -r_160^post19+r_160^0 == 0 /\ __disjvr_25^0-__disjvr_25^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ x_14^0-x_14^post19 == 0 /\ f_167^0-f_167^post19 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ -x_SLAM_f_19^post19+x_SLAM_f_19^0 == 0 /\ -a_113^post19+a_113^0 == 0 /\ i_28^0-i_28^post19 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ -__disjvr_30^post19+__disjvr_30^0 == 0 /\ a_234^0-a_234^post19 == 0 /\ -i_164^post19+i_164^0 == 0 /\ -a_212^post19+a_212^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post19+ct_18^0 == 0 /\ x_17^0-x_17^post19 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ -__disjvr_19^post19+__disjvr_19^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -__disjvr_0^post19+__disjvr_0^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ len_180^0-len_180^post19 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ -a_257^post19+a_257^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -__disjvr_26^post19+__disjvr_26^0 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ -head_15^post19+head_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ __disjvr_12^0-__disjvr_12^post19 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ len_129^0-len_129^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ tmp_32^0-tmp_32^post19 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ y_20^0-y_20^post19 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_2^0-__disjvr_2^post19 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ temp0_29^0-temp0_29^post19 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ x_172^0-x_172^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -x_126^post19+x_126^0 == 0 /\ -__disjvr_21^post19+__disjvr_21^0 == 0 /\ -rcd_86^post19+rcd_86^0 == 0 /\ -i_92^post19+i_92^0 == 0), cost: 1
  20: l20 -> l21 : x_172^0'=x_172^post20, i_105^0'=i_105^post20, __disjvr_13^0'=__disjvr_13^post20, result_11^0'=result_11^post20, __disjvr_25^0'=__disjvr_25^post20, r_37^0'=r_37^post20, __disjvr_20^0'=__disjvr_20^post20, __disjvr_9^0'=__disjvr_9^post20, __disjvr_4^0'=__disjvr_4^post20, temp0_29^0'=temp0_29^post20, f_167^0'=f_167^post20, __disjvr_10^0'=__disjvr_10^post20, a_234^0'=a_234^post20, __disjvr_22^0'=__disjvr_22^post20, nondet_12^0'=nondet_12^post20, __disjvr_18^0'=__disjvr_18^post20, x_21^0'=x_21^post20, i_28^0'=i_28^post20, __disjvr_2^0'=__disjvr_2^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_27^0'=__disjvr_27^post20, rcd_86^0'=rcd_86^post20, a_144^0'=a_144^post20, __disjvr_6^0'=__disjvr_6^post20, tmp_32^0'=tmp_32^post20, __disjvr_15^0'=__disjvr_15^post20, x_14^0'=x_14^post20, head_30^0'=head_30^post20, __disjvr_12^0'=__disjvr_12^post20, ct_18^0'=ct_18^post20, __disjvr_24^0'=__disjvr_24^post20, r_160^0'=r_160^post20, __disjvr_1^0'=__disjvr_1^post20, y_20^0'=y_20^post20, len_129^0'=len_129^post20, __disjvr_3^0'=__disjvr_3^post20, temp0_16^0'=temp0_16^post20, __disjvr_29^0'=__disjvr_29^post20, __disjvr_0^0'=__disjvr_0^post20, a_212^0'=a_212^post20, __disjvr_8^0'=__disjvr_8^post20, length_27^0'=length_27^post20, __disjvr_17^0'=__disjvr_17^post20, x_17^0'=x_17^post20, i_164^0'=i_164^post20, __disjvr_14^0'=__disjvr_14^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20, __disjvr_26^0'=__disjvr_26^post20, rcd_56^0'=rcd_56^post20, __disjvr_21^0'=__disjvr_21^post20, a_113^0'=a_113^post20, __disjvr_5^0'=__disjvr_5^post20, temp_33^0'=temp_33^post20, x_126^0'=x_126^post20, head_15^0'=head_15^post20, __disjvr_11^0'=__disjvr_11^post20, a_257^0'=a_257^post20, __disjvr_23^0'=__disjvr_23^post20, r_121^0'=r_121^post20, __disjvr_19^0'=__disjvr_19^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, i_92^0'=i_92^post20, __disjvr_30^0'=__disjvr_30^post20, t_24^0'=t_24^post20, __disjvr_28^0'=__disjvr_28^post20, a_181^0'=a_181^post20, __disjvr_7^0'=__disjvr_7^post20, len_180^0'=len_180^post20, __disjvr_16^0'=__disjvr_16^post20, (0 == 0 /\ result_11^0-result_11^post20 == 0 /\ r_37^0-r_37^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_14^post20+__disjvr_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ -i_92^post20+i_92^0 == 0 /\ tmp_32^0-tmp_32^post20 == 0 /\ -len_129^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ temp0_29^0-temp0_29^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ rcd_86^0-rcd_86^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -a_144^post20+a_144^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -rcd_56^post20+rcd_56^0 == 0 /\ x_126^0-x_126^post20 == 0 /\ __disjvr_25^0-__disjvr_25^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ i_164^0-i_164^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -r_121^post20+r_121^0 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_113^0-a_113^post20 == 0 /\ x_172^0-x_172^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ -__disjvr_28^post20+__disjvr_28^0 == 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ i_105^0-i_105^post20 == 0 /\ -a_181^post20+a_181^0 == 0 /\ head_30^0-head_30^post20 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -a_234^post20+a_234^0 == 0 /\ x_21^0-x_21^post20 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_129^post20+len_129^0 == 0 /\ i_28^0-i_28^post20 == 0 /\ -length_27^post20+length_27^0 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -r_160^post20+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -t_24^post20+t_24^0 == 0 /\ f_167^0-f_167^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ -len_180^post20+len_180^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -a_257^post20+a_257^0 == 0 /\ a_212^0-a_212^post20 == 0), cost: 1
  21: l21 -> l22 : x_172^0'=x_172^post21, i_105^0'=i_105^post21, __disjvr_13^0'=__disjvr_13^post21, result_11^0'=result_11^post21, __disjvr_25^0'=__disjvr_25^post21, r_37^0'=r_37^post21, __disjvr_20^0'=__disjvr_20^post21, __disjvr_9^0'=__disjvr_9^post21, __disjvr_4^0'=__disjvr_4^post21, temp0_29^0'=temp0_29^post21, f_167^0'=f_167^post21, __disjvr_10^0'=__disjvr_10^post21, a_234^0'=a_234^post21, __disjvr_22^0'=__disjvr_22^post21, nondet_12^0'=nondet_12^post21, __disjvr_18^0'=__disjvr_18^post21, x_21^0'=x_21^post21, i_28^0'=i_28^post21, __disjvr_2^0'=__disjvr_2^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_27^0'=__disjvr_27^post21, rcd_86^0'=rcd_86^post21, a_144^0'=a_144^post21, __disjvr_6^0'=__disjvr_6^post21, tmp_32^0'=tmp_32^post21, __disjvr_15^0'=__disjvr_15^post21, x_14^0'=x_14^post21, head_30^0'=head_30^post21, __disjvr_12^0'=__disjvr_12^post21, ct_18^0'=ct_18^post21, __disjvr_24^0'=__disjvr_24^post21, r_160^0'=r_160^post21, __disjvr_1^0'=__disjvr_1^post21, y_20^0'=y_20^post21, len_129^0'=len_129^post21, __disjvr_3^0'=__disjvr_3^post21, temp0_16^0'=temp0_16^post21, __disjvr_29^0'=__disjvr_29^post21, __disjvr_0^0'=__disjvr_0^post21, a_212^0'=a_212^post21, __disjvr_8^0'=__disjvr_8^post21, length_27^0'=length_27^post21, __disjvr_17^0'=__disjvr_17^post21, x_17^0'=x_17^post21, i_164^0'=i_164^post21, __disjvr_14^0'=__disjvr_14^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21, __disjvr_26^0'=__disjvr_26^post21, rcd_56^0'=rcd_56^post21, __disjvr_21^0'=__disjvr_21^post21, a_113^0'=a_113^post21, __disjvr_5^0'=__disjvr_5^post21, temp_33^0'=temp_33^post21, x_126^0'=x_126^post21, head_15^0'=head_15^post21, __disjvr_11^0'=__disjvr_11^post21, a_257^0'=a_257^post21, __disjvr_23^0'=__disjvr_23^post21, r_121^0'=r_121^post21, __disjvr_19^0'=__disjvr_19^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, i_92^0'=i_92^post21, __disjvr_30^0'=__disjvr_30^post21, t_24^0'=t_24^post21, __disjvr_28^0'=__disjvr_28^post21, a_181^0'=a_181^post21, __disjvr_7^0'=__disjvr_7^post21, len_180^0'=len_180^post21, __disjvr_16^0'=__disjvr_16^post21, (-__disjvr_1^post21+__disjvr_1^0 == 0 /\ -tmp_32^post21+tmp_32^0 == 0 /\ rcd_86^0-rcd_86^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -r_121^post21+r_121^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ a_212^0-a_212^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -len_180^post21+len_180^0 == 0 /\ -head_30^post21+head_30^0 == 0 /\ -x_21^post21+x_21^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ i_105^0-i_105^post21 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ len_129^0-len_129^post21 == 0 /\ -__disjvr_24^post21+__disjvr_24^0 == 0 /\ a_257^0-a_257^post21 == 0 /\ -x_14^post21+x_14^0 == 0 /\ head_15^0-head_15^post21 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ -a_113^post21+a_113^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post21 == 0 /\ -i_92^post21+i_92^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ y_20^0-y_20^post21 == 0 /\ -a_181^post21+a_181^0 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -length_27^post21+length_27^0 == 0 /\ __disjvr_27^0-__disjvr_27^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ -i_164^post21+i_164^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -x_126^post21+x_126^0 == 0 /\ a_234^0-a_234^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ a_144^0-a_144^post21 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ x_172^0-x_172^post21 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ f_167^0-f_167^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -x_17^post21+x_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post21 == 0 /\ -__disjvr_14^post21+__disjvr_14^0 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ i_28^0-i_28^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ rcd_56^0-rcd_56^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ temp0_29^0-temp0_29^post21 == 0 /\ __disjvr_15^0-__disjvr_15^post21 == 0 /\ temp0_16^0-temp0_16^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ -r_160^post21+r_160^0 == 0), cost: 1
  22: l22 -> l23 : x_172^0'=x_172^post22, i_105^0'=i_105^post22, __disjvr_13^0'=__disjvr_13^post22, result_11^0'=result_11^post22, __disjvr_25^0'=__disjvr_25^post22, r_37^0'=r_37^post22, __disjvr_20^0'=__disjvr_20^post22, __disjvr_9^0'=__disjvr_9^post22, __disjvr_4^0'=__disjvr_4^post22, temp0_29^0'=temp0_29^post22, f_167^0'=f_167^post22, __disjvr_10^0'=__disjvr_10^post22, a_234^0'=a_234^post22, __disjvr_22^0'=__disjvr_22^post22, nondet_12^0'=nondet_12^post22, __disjvr_18^0'=__disjvr_18^post22, x_21^0'=x_21^post22, i_28^0'=i_28^post22, __disjvr_2^0'=__disjvr_2^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_27^0'=__disjvr_27^post22, rcd_86^0'=rcd_86^post22, a_144^0'=a_144^post22, __disjvr_6^0'=__disjvr_6^post22, tmp_32^0'=tmp_32^post22, __disjvr_15^0'=__disjvr_15^post22, x_14^0'=x_14^post22, head_30^0'=head_30^post22, __disjvr_12^0'=__disjvr_12^post22, ct_18^0'=ct_18^post22, __disjvr_24^0'=__disjvr_24^post22, r_160^0'=r_160^post22, __disjvr_1^0'=__disjvr_1^post22, y_20^0'=y_20^post22, len_129^0'=len_129^post22, __disjvr_3^0'=__disjvr_3^post22, temp0_16^0'=temp0_16^post22, __disjvr_29^0'=__disjvr_29^post22, __disjvr_0^0'=__disjvr_0^post22, a_212^0'=a_212^post22, __disjvr_8^0'=__disjvr_8^post22, length_27^0'=length_27^post22, __disjvr_17^0'=__disjvr_17^post22, x_17^0'=x_17^post22, i_164^0'=i_164^post22, __disjvr_14^0'=__disjvr_14^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22, __disjvr_26^0'=__disjvr_26^post22, rcd_56^0'=rcd_56^post22, __disjvr_21^0'=__disjvr_21^post22, a_113^0'=a_113^post22, __disjvr_5^0'=__disjvr_5^post22, temp_33^0'=temp_33^post22, x_126^0'=x_126^post22, head_15^0'=head_15^post22, __disjvr_11^0'=__disjvr_11^post22, a_257^0'=a_257^post22, __disjvr_23^0'=__disjvr_23^post22, r_121^0'=r_121^post22, __disjvr_19^0'=__disjvr_19^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, i_92^0'=i_92^post22, __disjvr_30^0'=__disjvr_30^post22, t_24^0'=t_24^post22, __disjvr_28^0'=__disjvr_28^post22, a_181^0'=a_181^post22, __disjvr_7^0'=__disjvr_7^post22, len_180^0'=len_180^post22, __disjvr_16^0'=__disjvr_16^post22, (0 == 0 /\ -head_15^post22+head_15^0 == 0 /\ -ct_18^0 <= 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ x_14^0-x_14^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ r_121^0-r_121^post22 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -rcd_86^post22+rcd_86^0 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ -x_14^0 <= 0 /\ i_105^0-i_105^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ -y_20^0 <= 0 /\ -a_144^post22+a_144^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post22 == 0 /\ -__disjvr_19^post22+__disjvr_19^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_28^0-i_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ x_172^0-x_172^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ -len_180^post22+len_180^0 == 0 /\ -rcd_56^post22+rcd_56^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ -x_126^post22+x_126^0 == 0 /\ -__disjvr_21^post22+__disjvr_21^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -a_257^post22+a_257^0 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ x_17^0-head_15^0 <= 0 /\ length_27^0-length_27^post22 == 0 /\ y_20^0 <= 0 /\ result_11^0-result_11^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_14^post22+__disjvr_14^0 == 0 /\ -x_17^post22+x_17^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post22 == 0 /\ r_160^0-r_160^post22 == 0 /\ tmp_32^0-tmp_32^post22 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ a_234^0-a_212^post22 <= 0 /\ len_129^0-len_129^post22 == 0 /\ f_167^0-f_167^post22 == 0 /\ temp0_29^0-temp0_29^post22 == 0 /\ -i_92^post22+i_92^0 == 0 /\ -__disjvr_30^post22+__disjvr_30^0 == 0 /\ -t_24^post22+head_15^0 <= 0 /\ -__disjvr_18^post22+__disjvr_18^0 == 0 /\ -a_181^post22+a_181^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ ct_18^0-y_20^0 <= 0 /\ a_234^0-a_234^post22 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_0^post22+__disjvr_0^0 == 0 /\ -x_21^0+t_24^post22 == 0 /\ -temp_33^post22+temp_33^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ a_113^0-a_113^post22 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ -i_164^post22+i_164^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -a_234^0+a_212^post22 <= 0 /\ head_30^0-head_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ t_24^post22-head_15^0 <= 0), cost: 1
  23: l23 -> l24 : x_172^0'=x_172^post23, i_105^0'=i_105^post23, __disjvr_13^0'=__disjvr_13^post23, result_11^0'=result_11^post23, __disjvr_25^0'=__disjvr_25^post23, r_37^0'=r_37^post23, __disjvr_20^0'=__disjvr_20^post23, __disjvr_9^0'=__disjvr_9^post23, __disjvr_4^0'=__disjvr_4^post23, temp0_29^0'=temp0_29^post23, f_167^0'=f_167^post23, __disjvr_10^0'=__disjvr_10^post23, a_234^0'=a_234^post23, __disjvr_22^0'=__disjvr_22^post23, nondet_12^0'=nondet_12^post23, __disjvr_18^0'=__disjvr_18^post23, x_21^0'=x_21^post23, i_28^0'=i_28^post23, __disjvr_2^0'=__disjvr_2^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_27^0'=__disjvr_27^post23, rcd_86^0'=rcd_86^post23, a_144^0'=a_144^post23, __disjvr_6^0'=__disjvr_6^post23, tmp_32^0'=tmp_32^post23, __disjvr_15^0'=__disjvr_15^post23, x_14^0'=x_14^post23, head_30^0'=head_30^post23, __disjvr_12^0'=__disjvr_12^post23, ct_18^0'=ct_18^post23, __disjvr_24^0'=__disjvr_24^post23, r_160^0'=r_160^post23, __disjvr_1^0'=__disjvr_1^post23, y_20^0'=y_20^post23, len_129^0'=len_129^post23, __disjvr_3^0'=__disjvr_3^post23, temp0_16^0'=temp0_16^post23, __disjvr_29^0'=__disjvr_29^post23, __disjvr_0^0'=__disjvr_0^post23, a_212^0'=a_212^post23, __disjvr_8^0'=__disjvr_8^post23, length_27^0'=length_27^post23, __disjvr_17^0'=__disjvr_17^post23, x_17^0'=x_17^post23, i_164^0'=i_164^post23, __disjvr_14^0'=__disjvr_14^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23, __disjvr_26^0'=__disjvr_26^post23, rcd_56^0'=rcd_56^post23, __disjvr_21^0'=__disjvr_21^post23, a_113^0'=a_113^post23, __disjvr_5^0'=__disjvr_5^post23, temp_33^0'=temp_33^post23, x_126^0'=x_126^post23, head_15^0'=head_15^post23, __disjvr_11^0'=__disjvr_11^post23, a_257^0'=a_257^post23, __disjvr_23^0'=__disjvr_23^post23, r_121^0'=r_121^post23, __disjvr_19^0'=__disjvr_19^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, i_92^0'=i_92^post23, __disjvr_30^0'=__disjvr_30^post23, t_24^0'=t_24^post23, __disjvr_28^0'=__disjvr_28^post23, a_181^0'=a_181^post23, __disjvr_7^0'=__disjvr_7^post23, len_180^0'=len_180^post23, __disjvr_16^0'=__disjvr_16^post23, (-ct_18^post23+ct_18^0 == 0 /\ -len_180^post23+len_180^0 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ -length_27^post23+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -__disjvr_30^post23+__disjvr_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_37^0-r_37^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -y_20^post23+y_20^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ f_167^0-f_167^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ temp0_29^0-temp0_29^post23 == 0 /\ i_105^0-i_105^post23 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -x_126^post23+x_126^0 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -len_129^post23+len_129^0 == 0 /\ i_164^0-i_164^post23 == 0 /\ -a_257^post23+a_257^0 == 0 /\ a_212^0-a_212^post23 == 0 /\ x_17^0-x_17^post23 == 0 /\ -i_92^post23+i_92^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post23 == 0 /\ tmp_32^0-tmp_32^post23 == 0 /\ rcd_86^0-rcd_86^post23 == 0 /\ head_30^0-head_30^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ i_28^0-i_28^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ x_172^0-x_172^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -a_144^post23+a_144^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -a_113^post23+a_113^0 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_19^post23+__disjvr_19^0 == 0 /\ x_14^0-x_14^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -head_15^post23+head_15^0 == 0 /\ -__disjvr_14^post23+__disjvr_14^0 == 0 /\ -rcd_56^post23+rcd_56^0 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -r_121^post23+r_121^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ a_234^0-a_234^post23 == 0 /\ -a_181^post23+a_181^0 == 0 /\ -r_160^post23+r_160^0 == 0), cost: 1
  24: l24 -> l25 : x_172^0'=x_172^post24, i_105^0'=i_105^post24, __disjvr_13^0'=__disjvr_13^post24, result_11^0'=result_11^post24, __disjvr_25^0'=__disjvr_25^post24, r_37^0'=r_37^post24, __disjvr_20^0'=__disjvr_20^post24, __disjvr_9^0'=__disjvr_9^post24, __disjvr_4^0'=__disjvr_4^post24, temp0_29^0'=temp0_29^post24, f_167^0'=f_167^post24, __disjvr_10^0'=__disjvr_10^post24, a_234^0'=a_234^post24, __disjvr_22^0'=__disjvr_22^post24, nondet_12^0'=nondet_12^post24, __disjvr_18^0'=__disjvr_18^post24, x_21^0'=x_21^post24, i_28^0'=i_28^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_86^0'=rcd_86^post24, a_144^0'=a_144^post24, __disjvr_6^0'=__disjvr_6^post24, tmp_32^0'=tmp_32^post24, __disjvr_15^0'=__disjvr_15^post24, x_14^0'=x_14^post24, head_30^0'=head_30^post24, __disjvr_12^0'=__disjvr_12^post24, ct_18^0'=ct_18^post24, __disjvr_24^0'=__disjvr_24^post24, r_160^0'=r_160^post24, __disjvr_1^0'=__disjvr_1^post24, y_20^0'=y_20^post24, len_129^0'=len_129^post24, __disjvr_3^0'=__disjvr_3^post24, temp0_16^0'=temp0_16^post24, __disjvr_29^0'=__disjvr_29^post24, __disjvr_0^0'=__disjvr_0^post24, a_212^0'=a_212^post24, __disjvr_8^0'=__disjvr_8^post24, length_27^0'=length_27^post24, __disjvr_17^0'=__disjvr_17^post24, x_17^0'=x_17^post24, i_164^0'=i_164^post24, __disjvr_14^0'=__disjvr_14^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_56^0'=rcd_56^post24, __disjvr_21^0'=__disjvr_21^post24, a_113^0'=a_113^post24, __disjvr_5^0'=__disjvr_5^post24, temp_33^0'=temp_33^post24, x_126^0'=x_126^post24, head_15^0'=head_15^post24, __disjvr_11^0'=__disjvr_11^post24, a_257^0'=a_257^post24, __disjvr_23^0'=__disjvr_23^post24, r_121^0'=r_121^post24, __disjvr_19^0'=__disjvr_19^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, i_92^0'=i_92^post24, __disjvr_30^0'=__disjvr_30^post24, t_24^0'=t_24^post24, __disjvr_28^0'=__disjvr_28^post24, a_181^0'=a_181^post24, __disjvr_7^0'=__disjvr_7^post24, len_180^0'=len_180^post24, __disjvr_16^0'=__disjvr_16^post24, (ct_18^0-ct_18^post24 == 0 /\ -x_126^post24+x_126^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -a_181^post24+a_181^0 == 0 /\ __disjvr_11^post24-__disjvr_11^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ -rcd_56^post24+rcd_56^0 == 0 /\ a_257^0-a_257^post24 == 0 /\ -tmp_32^post24+tmp_32^0 == 0 /\ -a_234^post24+a_234^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post24 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ x_172^0-x_172^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_27^post24+length_27^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -head_30^post24+head_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24 == 0 /\ r_160^0-r_160^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ -__disjvr_14^post24+__disjvr_14^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ temp_33^0-temp_33^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -x_21^post24+x_21^0 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_17^0-__disjvr_17^post24 == 0 /\ -x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ rcd_86^0-rcd_86^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ -i_92^post24+i_92^0 == 0 /\ __disjvr_13^0-__disjvr_13^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ -len_129^post24+len_129^0 == 0 /\ -x_14^post24+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ temp0_16^0-temp0_16^post24 == 0 /\ -r_121^post24+r_121^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ i_164^0-i_164^post24 == 0 /\ -len_180^post24+len_180^0 == 0 /\ t_24^0-t_24^post24 == 0 /\ f_167^0-f_167^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ temp0_29^0-temp0_29^post24 == 0 /\ -a_212^post24+a_212^0 == 0 /\ -a_113^post24+a_113^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ i_28^0-i_28^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ i_105^0-i_105^post24 == 0), cost: 1
  25: l25 -> l26 : x_172^0'=x_172^post25, i_105^0'=i_105^post25, __disjvr_13^0'=__disjvr_13^post25, result_11^0'=result_11^post25, __disjvr_25^0'=__disjvr_25^post25, r_37^0'=r_37^post25, __disjvr_20^0'=__disjvr_20^post25, __disjvr_9^0'=__disjvr_9^post25, __disjvr_4^0'=__disjvr_4^post25, temp0_29^0'=temp0_29^post25, f_167^0'=f_167^post25, __disjvr_10^0'=__disjvr_10^post25, a_234^0'=a_234^post25, __disjvr_22^0'=__disjvr_22^post25, nondet_12^0'=nondet_12^post25, __disjvr_18^0'=__disjvr_18^post25, x_21^0'=x_21^post25, i_28^0'=i_28^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_86^0'=rcd_86^post25, a_144^0'=a_144^post25, __disjvr_6^0'=__disjvr_6^post25, tmp_32^0'=tmp_32^post25, __disjvr_15^0'=__disjvr_15^post25, x_14^0'=x_14^post25, head_30^0'=head_30^post25, __disjvr_12^0'=__disjvr_12^post25, ct_18^0'=ct_18^post25, __disjvr_24^0'=__disjvr_24^post25, r_160^0'=r_160^post25, __disjvr_1^0'=__disjvr_1^post25, y_20^0'=y_20^post25, len_129^0'=len_129^post25, __disjvr_3^0'=__disjvr_3^post25, temp0_16^0'=temp0_16^post25, __disjvr_29^0'=__disjvr_29^post25, __disjvr_0^0'=__disjvr_0^post25, a_212^0'=a_212^post25, __disjvr_8^0'=__disjvr_8^post25, length_27^0'=length_27^post25, __disjvr_17^0'=__disjvr_17^post25, x_17^0'=x_17^post25, i_164^0'=i_164^post25, __disjvr_14^0'=__disjvr_14^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_56^0'=rcd_56^post25, __disjvr_21^0'=__disjvr_21^post25, a_113^0'=a_113^post25, __disjvr_5^0'=__disjvr_5^post25, temp_33^0'=temp_33^post25, x_126^0'=x_126^post25, head_15^0'=head_15^post25, __disjvr_11^0'=__disjvr_11^post25, a_257^0'=a_257^post25, __disjvr_23^0'=__disjvr_23^post25, r_121^0'=r_121^post25, __disjvr_19^0'=__disjvr_19^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_92^0'=i_92^post25, __disjvr_30^0'=__disjvr_30^post25, t_24^0'=t_24^post25, __disjvr_28^0'=__disjvr_28^post25, a_181^0'=a_181^post25, __disjvr_7^0'=__disjvr_7^post25, len_180^0'=len_180^post25, __disjvr_16^0'=__disjvr_16^post25, (temp0_29^0-temp0_29^post25 == 0 /\ -len_180^post25+len_180^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -__disjvr_21^post25+__disjvr_21^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ i_105^0-i_105^post25 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -a_212^post25+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ a_234^0-a_234^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -a_181^post25+a_181^0 == 0 /\ x_172^0-x_172^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_56^post25+rcd_56^0 == 0 /\ -a_257^post25+a_257^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ x_17^0-x_17^post25 == 0 /\ -a_144^post25+a_144^0 == 0 /\ r_37^0-r_37^post25 == 0 /\ -__disjvr_12^0+__disjvr_12^post25 == 0 /\ rcd_86^0-rcd_86^post25 == 0 /\ x_21^0-x_21^post25 == 0 /\ length_27^0-length_27^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ -head_15^post25+head_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_30^0-head_30^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ -__disjvr_14^post25+__disjvr_14^0 == 0 /\ len_129^0-len_129^post25 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ tmp_32^0-tmp_32^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ f_167^0-f_167^post25 == 0 /\ -x_126^post25+x_126^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -i_164^post25+i_164^0 == 0 /\ -i_92^post25+i_92^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ i_28^0-i_28^post25 == 0 /\ a_113^0-a_113^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ r_160^0-r_160^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ ct_18^0-ct_18^post25 == 0 /\ -t_24^post25+t_24^0 == 0 /\ -r_121^post25+r_121^0 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ x_14^0-x_14^post25 == 0), cost: 1
  26: l26 -> l2 : x_172^0'=x_172^post26, i_105^0'=i_105^post26, __disjvr_13^0'=__disjvr_13^post26, result_11^0'=result_11^post26, __disjvr_25^0'=__disjvr_25^post26, r_37^0'=r_37^post26, __disjvr_20^0'=__disjvr_20^post26, __disjvr_9^0'=__disjvr_9^post26, __disjvr_4^0'=__disjvr_4^post26, temp0_29^0'=temp0_29^post26, f_167^0'=f_167^post26, __disjvr_10^0'=__disjvr_10^post26, a_234^0'=a_234^post26, __disjvr_22^0'=__disjvr_22^post26, nondet_12^0'=nondet_12^post26, __disjvr_18^0'=__disjvr_18^post26, x_21^0'=x_21^post26, i_28^0'=i_28^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_86^0'=rcd_86^post26, a_144^0'=a_144^post26, __disjvr_6^0'=__disjvr_6^post26, tmp_32^0'=tmp_32^post26, __disjvr_15^0'=__disjvr_15^post26, x_14^0'=x_14^post26, head_30^0'=head_30^post26, __disjvr_12^0'=__disjvr_12^post26, ct_18^0'=ct_18^post26, __disjvr_24^0'=__disjvr_24^post26, r_160^0'=r_160^post26, __disjvr_1^0'=__disjvr_1^post26, y_20^0'=y_20^post26, len_129^0'=len_129^post26, __disjvr_3^0'=__disjvr_3^post26, temp0_16^0'=temp0_16^post26, __disjvr_29^0'=__disjvr_29^post26, __disjvr_0^0'=__disjvr_0^post26, a_212^0'=a_212^post26, __disjvr_8^0'=__disjvr_8^post26, length_27^0'=length_27^post26, __disjvr_17^0'=__disjvr_17^post26, x_17^0'=x_17^post26, i_164^0'=i_164^post26, __disjvr_14^0'=__disjvr_14^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_56^0'=rcd_56^post26, __disjvr_21^0'=__disjvr_21^post26, a_113^0'=a_113^post26, __disjvr_5^0'=__disjvr_5^post26, temp_33^0'=temp_33^post26, x_126^0'=x_126^post26, head_15^0'=head_15^post26, __disjvr_11^0'=__disjvr_11^post26, a_257^0'=a_257^post26, __disjvr_23^0'=__disjvr_23^post26, r_121^0'=r_121^post26, __disjvr_19^0'=__disjvr_19^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, i_92^0'=i_92^post26, __disjvr_30^0'=__disjvr_30^post26, t_24^0'=t_24^post26, __disjvr_28^0'=__disjvr_28^post26, a_181^0'=a_181^post26, __disjvr_7^0'=__disjvr_7^post26, len_180^0'=len_180^post26, __disjvr_16^0'=__disjvr_16^post26, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_126^post26+x_126^0 == 0 /\ -a_234^post26+a_234^0 == 0 /\ -tmp_32^post26+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ a_257^0-a_257^post26 == 0 /\ -length_27^post26+length_27^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ a_144^0-a_144^post26 == 0 /\ -x_14^post26+x_14^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ -head_30^post26+head_30^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_212^0-a_212^post26 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ f_167^0-f_167^post26 == 0 /\ 1-len_129^post26+a_212^0 <= 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ -__disjvr_30^post26+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ -i_92^post26+i_92^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_29^post26+__disjvr_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ -r_160^post26+r_160^0 == 0 /\ -i_28^post26+i_28^0 == 0 /\ rcd_86^0-rcd_86^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ __disjvr_22^0-__disjvr_22^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -rcd_56^post26+rcd_56^0 == 0 /\ -a_181^post26+a_181^0 == 0 /\ -r_121^post26+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ temp0_16^0-temp0_16^post26 == 0 /\ __disjvr_18^0-__disjvr_18^post26 == 0 /\ i_164^0-i_164^post26 == 0 /\ -len_180^post26+len_180^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -__disjvr_14^post26+__disjvr_14^0 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ t_24^0-t_24^post26 == 0 /\ -head_15^post26+head_15^0 == 0 /\ -1+len_129^post26-a_212^0 <= 0 /\ -x_21^post26+x_21^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ i_105^0-i_105^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ x_172^0-x_172^post26 == 0 /\ -a_113^post26+a_113^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0), cost: 1
  27: l27 -> l28 : x_172^0'=x_172^post27, i_105^0'=i_105^post27, __disjvr_13^0'=__disjvr_13^post27, result_11^0'=result_11^post27, __disjvr_25^0'=__disjvr_25^post27, r_37^0'=r_37^post27, __disjvr_20^0'=__disjvr_20^post27, __disjvr_9^0'=__disjvr_9^post27, __disjvr_4^0'=__disjvr_4^post27, temp0_29^0'=temp0_29^post27, f_167^0'=f_167^post27, __disjvr_10^0'=__disjvr_10^post27, a_234^0'=a_234^post27, __disjvr_22^0'=__disjvr_22^post27, nondet_12^0'=nondet_12^post27, __disjvr_18^0'=__disjvr_18^post27, x_21^0'=x_21^post27, i_28^0'=i_28^post27, __disjvr_2^0'=__disjvr_2^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_27^0'=__disjvr_27^post27, rcd_86^0'=rcd_86^post27, a_144^0'=a_144^post27, __disjvr_6^0'=__disjvr_6^post27, tmp_32^0'=tmp_32^post27, __disjvr_15^0'=__disjvr_15^post27, x_14^0'=x_14^post27, head_30^0'=head_30^post27, __disjvr_12^0'=__disjvr_12^post27, ct_18^0'=ct_18^post27, __disjvr_24^0'=__disjvr_24^post27, r_160^0'=r_160^post27, __disjvr_1^0'=__disjvr_1^post27, y_20^0'=y_20^post27, len_129^0'=len_129^post27, __disjvr_3^0'=__disjvr_3^post27, temp0_16^0'=temp0_16^post27, __disjvr_29^0'=__disjvr_29^post27, __disjvr_0^0'=__disjvr_0^post27, a_212^0'=a_212^post27, __disjvr_8^0'=__disjvr_8^post27, length_27^0'=length_27^post27, __disjvr_17^0'=__disjvr_17^post27, x_17^0'=x_17^post27, i_164^0'=i_164^post27, __disjvr_14^0'=__disjvr_14^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post27, __disjvr_26^0'=__disjvr_26^post27, rcd_56^0'=rcd_56^post27, __disjvr_21^0'=__disjvr_21^post27, a_113^0'=a_113^post27, __disjvr_5^0'=__disjvr_5^post27, temp_33^0'=temp_33^post27, x_126^0'=x_126^post27, head_15^0'=head_15^post27, __disjvr_11^0'=__disjvr_11^post27, a_257^0'=a_257^post27, __disjvr_23^0'=__disjvr_23^post27, r_121^0'=r_121^post27, __disjvr_19^0'=__disjvr_19^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, i_92^0'=i_92^post27, __disjvr_30^0'=__disjvr_30^post27, t_24^0'=t_24^post27, __disjvr_28^0'=__disjvr_28^post27, a_181^0'=a_181^post27, __disjvr_7^0'=__disjvr_7^post27, len_180^0'=len_180^post27, __disjvr_16^0'=__disjvr_16^post27, (0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -i_92^post27+i_92^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ result_11^10-temp0_29^10 == 0 /\ -rcd_56^post27+rcd_56^0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ __disjvr_25^0-__disjvr_25^post27 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -head_30^0+temp0_29^10 == 0 /\ -t_24^post27+t_24^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ rcd_86^0-rcd_86^post27 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ x_21^0-x_21^post27 == 0 /\ -__disjvr_14^post27+__disjvr_14^0 == 0 /\ -result_11^10+head_15^10 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ -r_121^post27+r_121^0 == 0 /\ -x_126^post27+x_126^0 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post27 == 0 /\ -i_164^post27+i_164^0 == 0 /\ -a_181^post27+a_181^0 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -__disjvr_30^post27+__disjvr_30^0 == 0 /\ -__disjvr_19^post27+__disjvr_19^0 == 0 /\ -len_180^post27+len_180^0 == 0 /\ a_144^0-a_144^post27 == 0 /\ -a_257^post27+a_257^0 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -head_15^10+x_14^post27 <= 0 /\ -head_15^10+x_14^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ -__disjvr_21^post27+__disjvr_21^0 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ a_113^0-a_113^post27 == 0 /\ __disjvr_12^0-__disjvr_12^post27 == 0 /\ -__disjvr_0^post27+__disjvr_0^0 == 0 /\ -__disjvr_26^post27+__disjvr_26^0 == 0 /\ r_160^0-r_160^post27 == 0 /\ a_234^0-a_234^post27 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ i_105^0-i_105^post27 == 0 /\ -x_SLAM_f_19^post27+x_SLAM_f_19^0 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ x_172^0-x_172^post27 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ head_15^10-x_14^post27 <= 0 /\ -len_129^post27+len_129^0 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -f_167^post27+f_167^0 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -r_37^post27+r_37^0 == 0 /\ a_212^0-a_212^post27 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ __disjvr_22^0-__disjvr_22^post27 == 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0), cost: 1
  40: l27 -> l40 : x_172^0'=x_172^post40, i_105^0'=i_105^post40, __disjvr_13^0'=__disjvr_13^post40, result_11^0'=result_11^post40, __disjvr_25^0'=__disjvr_25^post40, r_37^0'=r_37^post40, __disjvr_20^0'=__disjvr_20^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_4^0'=__disjvr_4^post40, temp0_29^0'=temp0_29^post40, f_167^0'=f_167^post40, __disjvr_10^0'=__disjvr_10^post40, a_234^0'=a_234^post40, __disjvr_22^0'=__disjvr_22^post40, nondet_12^0'=nondet_12^post40, __disjvr_18^0'=__disjvr_18^post40, x_21^0'=x_21^post40, i_28^0'=i_28^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_86^0'=rcd_86^post40, a_144^0'=a_144^post40, __disjvr_6^0'=__disjvr_6^post40, tmp_32^0'=tmp_32^post40, __disjvr_15^0'=__disjvr_15^post40, x_14^0'=x_14^post40, head_30^0'=head_30^post40, __disjvr_12^0'=__disjvr_12^post40, ct_18^0'=ct_18^post40, __disjvr_24^0'=__disjvr_24^post40, r_160^0'=r_160^post40, __disjvr_1^0'=__disjvr_1^post40, y_20^0'=y_20^post40, len_129^0'=len_129^post40, __disjvr_3^0'=__disjvr_3^post40, temp0_16^0'=temp0_16^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, a_212^0'=a_212^post40, __disjvr_8^0'=__disjvr_8^post40, length_27^0'=length_27^post40, __disjvr_17^0'=__disjvr_17^post40, x_17^0'=x_17^post40, i_164^0'=i_164^post40, __disjvr_14^0'=__disjvr_14^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_56^0'=rcd_56^post40, __disjvr_21^0'=__disjvr_21^post40, a_113^0'=a_113^post40, __disjvr_5^0'=__disjvr_5^post40, temp_33^0'=temp_33^post40, x_126^0'=x_126^post40, head_15^0'=head_15^post40, __disjvr_11^0'=__disjvr_11^post40, a_257^0'=a_257^post40, __disjvr_23^0'=__disjvr_23^post40, r_121^0'=r_121^post40, __disjvr_19^0'=__disjvr_19^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, i_92^0'=i_92^post40, __disjvr_30^0'=__disjvr_30^post40, t_24^0'=t_24^post40, __disjvr_28^0'=__disjvr_28^post40, a_181^0'=a_181^post40, __disjvr_7^0'=__disjvr_7^post40, len_180^0'=len_180^post40, __disjvr_16^0'=__disjvr_16^post40, (0 == 0 /\ -head_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -tmp_32^post40+head_30^post40 <= 0 /\ -tmp_32^post40+head_30^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -a_181^post40+a_181^0 == 0 /\ 2-i_28^post40 <= 0 /\ -length_27^post40+length_27^0 == 0 /\ a_212^0-a_212^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ a_234^0-a_234^post40 == 0 /\ -tmp_32^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ x_172^0-x_172^post40 == 0 /\ -len_180^post40+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -r_121^post40+r_121^0 == 0 /\ head_30^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_27^0-__disjvr_27^post40 == 0 /\ -head_15^post40+head_15^0 == 0 /\ -__disjvr_29^post40+__disjvr_29^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ r_160^0-r_160^post40 == 0 /\ -a_113^post40+a_113^0 == 0 /\ a_257^0-a_257^post40 == 0 /\ tmp_32^post40-head_30^post40 <= 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post40 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ tmp_32^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -1-i_28^0+i_28^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_24^post40+__disjvr_24^0 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ -i_164^post40+i_164^0 == 0 /\ f_167^0-f_167^post40 == 0 /\ tmp_32^post40-temp_33^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -len_129^post40+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -2+i_28^post40 <= 0 /\ -x_126^post40+x_126^0 == 0 /\ r_37^0-r_37^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_27^0 <= 0 /\ -x_14^post40+x_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -y_20^post40+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ 2-length_27^0 <= 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ t_24^0-t_24^post40 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ a_144^0-a_144^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_27^0 <= 0 /\ -i_92^post40+i_92^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ temp0_29^0-temp0_29^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ i_105^0-i_105^post40 == 0), cost: 1
  28: l28 -> l29 : x_172^0'=x_172^post28, i_105^0'=i_105^post28, __disjvr_13^0'=__disjvr_13^post28, result_11^0'=result_11^post28, __disjvr_25^0'=__disjvr_25^post28, r_37^0'=r_37^post28, __disjvr_20^0'=__disjvr_20^post28, __disjvr_9^0'=__disjvr_9^post28, __disjvr_4^0'=__disjvr_4^post28, temp0_29^0'=temp0_29^post28, f_167^0'=f_167^post28, __disjvr_10^0'=__disjvr_10^post28, a_234^0'=a_234^post28, __disjvr_22^0'=__disjvr_22^post28, nondet_12^0'=nondet_12^post28, __disjvr_18^0'=__disjvr_18^post28, x_21^0'=x_21^post28, i_28^0'=i_28^post28, __disjvr_2^0'=__disjvr_2^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_27^0'=__disjvr_27^post28, rcd_86^0'=rcd_86^post28, a_144^0'=a_144^post28, __disjvr_6^0'=__disjvr_6^post28, tmp_32^0'=tmp_32^post28, __disjvr_15^0'=__disjvr_15^post28, x_14^0'=x_14^post28, head_30^0'=head_30^post28, __disjvr_12^0'=__disjvr_12^post28, ct_18^0'=ct_18^post28, __disjvr_24^0'=__disjvr_24^post28, r_160^0'=r_160^post28, __disjvr_1^0'=__disjvr_1^post28, y_20^0'=y_20^post28, len_129^0'=len_129^post28, __disjvr_3^0'=__disjvr_3^post28, temp0_16^0'=temp0_16^post28, __disjvr_29^0'=__disjvr_29^post28, __disjvr_0^0'=__disjvr_0^post28, a_212^0'=a_212^post28, __disjvr_8^0'=__disjvr_8^post28, length_27^0'=length_27^post28, __disjvr_17^0'=__disjvr_17^post28, x_17^0'=x_17^post28, i_164^0'=i_164^post28, __disjvr_14^0'=__disjvr_14^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post28, __disjvr_26^0'=__disjvr_26^post28, rcd_56^0'=rcd_56^post28, __disjvr_21^0'=__disjvr_21^post28, a_113^0'=a_113^post28, __disjvr_5^0'=__disjvr_5^post28, temp_33^0'=temp_33^post28, x_126^0'=x_126^post28, head_15^0'=head_15^post28, __disjvr_11^0'=__disjvr_11^post28, a_257^0'=a_257^post28, __disjvr_23^0'=__disjvr_23^post28, r_121^0'=r_121^post28, __disjvr_19^0'=__disjvr_19^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, i_92^0'=i_92^post28, __disjvr_30^0'=__disjvr_30^post28, t_24^0'=t_24^post28, __disjvr_28^0'=__disjvr_28^post28, a_181^0'=a_181^post28, __disjvr_7^0'=__disjvr_7^post28, len_180^0'=len_180^post28, __disjvr_16^0'=__disjvr_16^post28, (r_160^0-r_160^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ -i_92^post28+i_92^0 == 0 /\ rcd_86^0-rcd_86^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ __disjvr_20^0-__disjvr_20^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ -tmp_32^post28+tmp_32^0 == 0 /\ -head_30^post28+head_30^0 == 0 /\ -x_14^post28+x_14^0 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ -t_24^post28+t_24^0 == 0 /\ -__disjvr_28^post28+__disjvr_28^0 == 0 /\ -__disjvr_26^post28+__disjvr_26^0 == 0 /\ len_129^0-len_129^post28 == 0 /\ r_37^0-r_37^post28 == 0 /\ __disjvr_17^0-__disjvr_17^post28 == 0 /\ -r_121^post28+r_121^0 == 0 /\ i_105^0-i_105^post28 == 0 /\ -len_180^post28+len_180^0 == 0 /\ ct_18^0-ct_18^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ a_257^0-a_257^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ head_15^0-head_15^post28 == 0 /\ -a_212^post28+a_212^0 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ -a_113^post28+a_113^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ -temp_33^post28+temp_33^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ -i_164^post28+i_164^0 == 0 /\ -a_181^post28+a_181^0 == 0 /\ -x_126^post28+x_126^0 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post28 == 0 /\ -__disjvr_13^0+__disjvr_13^post28 == 0 /\ a_234^0-a_234^post28 == 0 /\ y_20^0-y_20^post28 == 0 /\ __disjvr_27^0-__disjvr_27^post28 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -f_167^post28+f_167^0 == 0 /\ x_172^0-x_172^post28 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ a_144^0-a_144^post28 == 0 /\ -length_27^post28+length_27^0 == 0 /\ i_28^0-i_28^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ x_21^0-x_21^post28 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ -__disjvr_6^post28+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ -__disjvr_14^post28+__disjvr_14^0 == 0 /\ rcd_56^0-rcd_56^post28 == 0 /\ __disjvr_22^0-__disjvr_22^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -x_17^post28+x_17^0 == 0 /\ -temp0_29^post28+temp0_29^0 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ -__disjvr_24^post28+__disjvr_24^0 == 0 /\ -__disjvr_30^post28+__disjvr_30^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ -__disjvr_0^post28+__disjvr_0^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0), cost: 1
  29: l29 -> l30 : x_172^0'=x_172^post29, i_105^0'=i_105^post29, __disjvr_13^0'=__disjvr_13^post29, result_11^0'=result_11^post29, __disjvr_25^0'=__disjvr_25^post29, r_37^0'=r_37^post29, __disjvr_20^0'=__disjvr_20^post29, __disjvr_9^0'=__disjvr_9^post29, __disjvr_4^0'=__disjvr_4^post29, temp0_29^0'=temp0_29^post29, f_167^0'=f_167^post29, __disjvr_10^0'=__disjvr_10^post29, a_234^0'=a_234^post29, __disjvr_22^0'=__disjvr_22^post29, nondet_12^0'=nondet_12^post29, __disjvr_18^0'=__disjvr_18^post29, x_21^0'=x_21^post29, i_28^0'=i_28^post29, __disjvr_2^0'=__disjvr_2^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_27^0'=__disjvr_27^post29, rcd_86^0'=rcd_86^post29, a_144^0'=a_144^post29, __disjvr_6^0'=__disjvr_6^post29, tmp_32^0'=tmp_32^post29, __disjvr_15^0'=__disjvr_15^post29, x_14^0'=x_14^post29, head_30^0'=head_30^post29, __disjvr_12^0'=__disjvr_12^post29, ct_18^0'=ct_18^post29, __disjvr_24^0'=__disjvr_24^post29, r_160^0'=r_160^post29, __disjvr_1^0'=__disjvr_1^post29, y_20^0'=y_20^post29, len_129^0'=len_129^post29, __disjvr_3^0'=__disjvr_3^post29, temp0_16^0'=temp0_16^post29, __disjvr_29^0'=__disjvr_29^post29, __disjvr_0^0'=__disjvr_0^post29, a_212^0'=a_212^post29, __disjvr_8^0'=__disjvr_8^post29, length_27^0'=length_27^post29, __disjvr_17^0'=__disjvr_17^post29, x_17^0'=x_17^post29, i_164^0'=i_164^post29, __disjvr_14^0'=__disjvr_14^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29, __disjvr_26^0'=__disjvr_26^post29, rcd_56^0'=rcd_56^post29, __disjvr_21^0'=__disjvr_21^post29, a_113^0'=a_113^post29, __disjvr_5^0'=__disjvr_5^post29, temp_33^0'=temp_33^post29, x_126^0'=x_126^post29, head_15^0'=head_15^post29, __disjvr_11^0'=__disjvr_11^post29, a_257^0'=a_257^post29, __disjvr_23^0'=__disjvr_23^post29, r_121^0'=r_121^post29, __disjvr_19^0'=__disjvr_19^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, i_92^0'=i_92^post29, __disjvr_30^0'=__disjvr_30^post29, t_24^0'=t_24^post29, __disjvr_28^0'=__disjvr_28^post29, a_181^0'=a_181^post29, __disjvr_7^0'=__disjvr_7^post29, len_180^0'=len_180^post29, __disjvr_16^0'=__disjvr_16^post29, (temp0_29^0-temp0_29^post29 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post29 == 0 /\ i_105^0-i_105^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ -len_180^post29+len_180^0 == 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ -x_14^0 <= 0 /\ -a_212^post29+a_212^0 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ -__disjvr_21^post29+__disjvr_21^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ a_234^0-a_234^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_0^post29+__disjvr_0^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ x_172^0-x_172^post29 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ -a_181^post29+a_181^0 == 0 /\ -rcd_56^post29+rcd_56^0 == 0 /\ -a_257^post29+a_257^0 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ -a_144^post29+a_144^0 == 0 /\ x_17^0-x_17^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ r_37^0-r_37^post29 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ rcd_86^0-rcd_86^post29 == 0 /\ x_14^0 <= 0 /\ x_14^0-x_14^post29 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_160^post29+r_160^0 == 0 /\ -head_15^post29+head_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post29 == 0 /\ head_30^0-head_30^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_12^0-__disjvr_12^post29 == 0 /\ len_129^0-len_129^post29 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ -__disjvr_30^post29+__disjvr_30^0 == 0 /\ tmp_32^0-tmp_32^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ -i_164^post29+i_164^0 == 0 /\ f_167^0-f_167^post29 == 0 /\ y_20^0-y_20^post29 == 0 /\ -ct_18^post29+ct_18^0 == 0 /\ -x_126^post29+x_126^0 == 0 /\ -i_92^post29+i_92^0 == 0 /\ -temp_33^post29+temp_33^0 == 0 /\ __disjvr_15^0-__disjvr_15^post29 == 0 /\ i_28^0-i_28^post29 == 0 /\ a_113^0-a_113^post29 == 0 /\ __disjvr_28^0-__disjvr_28^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ x_21^0-x_21^post29 == 0 /\ -length_27^post29+length_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -r_121^post29+r_121^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0), cost: 1
  30: l30 -> l31 : x_172^0'=x_172^post30, i_105^0'=i_105^post30, __disjvr_13^0'=__disjvr_13^post30, result_11^0'=result_11^post30, __disjvr_25^0'=__disjvr_25^post30, r_37^0'=r_37^post30, __disjvr_20^0'=__disjvr_20^post30, __disjvr_9^0'=__disjvr_9^post30, __disjvr_4^0'=__disjvr_4^post30, temp0_29^0'=temp0_29^post30, f_167^0'=f_167^post30, __disjvr_10^0'=__disjvr_10^post30, a_234^0'=a_234^post30, __disjvr_22^0'=__disjvr_22^post30, nondet_12^0'=nondet_12^post30, __disjvr_18^0'=__disjvr_18^post30, x_21^0'=x_21^post30, i_28^0'=i_28^post30, __disjvr_2^0'=__disjvr_2^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_27^0'=__disjvr_27^post30, rcd_86^0'=rcd_86^post30, a_144^0'=a_144^post30, __disjvr_6^0'=__disjvr_6^post30, tmp_32^0'=tmp_32^post30, __disjvr_15^0'=__disjvr_15^post30, x_14^0'=x_14^post30, head_30^0'=head_30^post30, __disjvr_12^0'=__disjvr_12^post30, ct_18^0'=ct_18^post30, __disjvr_24^0'=__disjvr_24^post30, r_160^0'=r_160^post30, __disjvr_1^0'=__disjvr_1^post30, y_20^0'=y_20^post30, len_129^0'=len_129^post30, __disjvr_3^0'=__disjvr_3^post30, temp0_16^0'=temp0_16^post30, __disjvr_29^0'=__disjvr_29^post30, __disjvr_0^0'=__disjvr_0^post30, a_212^0'=a_212^post30, __disjvr_8^0'=__disjvr_8^post30, length_27^0'=length_27^post30, __disjvr_17^0'=__disjvr_17^post30, x_17^0'=x_17^post30, i_164^0'=i_164^post30, __disjvr_14^0'=__disjvr_14^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30, __disjvr_26^0'=__disjvr_26^post30, rcd_56^0'=rcd_56^post30, __disjvr_21^0'=__disjvr_21^post30, a_113^0'=a_113^post30, __disjvr_5^0'=__disjvr_5^post30, temp_33^0'=temp_33^post30, x_126^0'=x_126^post30, head_15^0'=head_15^post30, __disjvr_11^0'=__disjvr_11^post30, a_257^0'=a_257^post30, __disjvr_23^0'=__disjvr_23^post30, r_121^0'=r_121^post30, __disjvr_19^0'=__disjvr_19^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, i_92^0'=i_92^post30, __disjvr_30^0'=__disjvr_30^post30, t_24^0'=t_24^post30, __disjvr_28^0'=__disjvr_28^post30, a_181^0'=a_181^post30, __disjvr_7^0'=__disjvr_7^post30, len_180^0'=len_180^post30, __disjvr_16^0'=__disjvr_16^post30, (tmp_32^0-tmp_32^post30 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ f_167^0-f_167^post30 == 0 /\ -len_129^post30+len_129^0 == 0 /\ -x_126^post30+x_126^0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ a_257^0-a_257^post30 == 0 /\ -length_27^post30+length_27^0 == 0 /\ a_144^0-a_144^post30 == 0 /\ -x_14^post30+x_14^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ a_212^0-a_212^post30 == 0 /\ -__disjvr_11^post30+__disjvr_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -__disjvr_30^post30+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post30 == 0 /\ -x_17^post30+x_17^0 == 0 /\ -i_92^post30+i_92^0 == 0 /\ -__disjvr_29^post30+__disjvr_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ __disjvr_14^post30-__disjvr_14^0 == 0 /\ -a_181^post30+a_181^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ -r_160^post30+r_160^0 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ temp0_16^0-temp0_16^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ i_28^0-i_28^post30 == 0 /\ -rcd_56^post30+rcd_56^0 == 0 /\ -r_121^post30+r_121^0 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ x_172^0-x_172^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ i_164^0-i_164^post30 == 0 /\ -len_180^post30+len_180^0 == 0 /\ -__disjvr_14^post30+__disjvr_14^0 == 0 /\ -x_SLAM_f_19^post30+x_SLAM_f_19^0 == 0 /\ head_30^0-head_30^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ ct_18^0-ct_18^post30 == 0 /\ -head_15^post30+head_15^0 == 0 /\ -y_20^post30+y_20^0 == 0 /\ t_24^0-t_24^post30 == 0 /\ -x_21^post30+x_21^0 == 0 /\ rcd_86^0-rcd_86^post30 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ i_105^0-i_105^post30 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ -a_234^post30+a_234^0 == 0 /\ -a_113^post30+a_113^0 == 0 /\ -__disjvr_9^post30+__disjvr_9^0 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0), cost: 1
  31: l31 -> l32 : x_172^0'=x_172^post31, i_105^0'=i_105^post31, __disjvr_13^0'=__disjvr_13^post31, result_11^0'=result_11^post31, __disjvr_25^0'=__disjvr_25^post31, r_37^0'=r_37^post31, __disjvr_20^0'=__disjvr_20^post31, __disjvr_9^0'=__disjvr_9^post31, __disjvr_4^0'=__disjvr_4^post31, temp0_29^0'=temp0_29^post31, f_167^0'=f_167^post31, __disjvr_10^0'=__disjvr_10^post31, a_234^0'=a_234^post31, __disjvr_22^0'=__disjvr_22^post31, nondet_12^0'=nondet_12^post31, __disjvr_18^0'=__disjvr_18^post31, x_21^0'=x_21^post31, i_28^0'=i_28^post31, __disjvr_2^0'=__disjvr_2^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_27^0'=__disjvr_27^post31, rcd_86^0'=rcd_86^post31, a_144^0'=a_144^post31, __disjvr_6^0'=__disjvr_6^post31, tmp_32^0'=tmp_32^post31, __disjvr_15^0'=__disjvr_15^post31, x_14^0'=x_14^post31, head_30^0'=head_30^post31, __disjvr_12^0'=__disjvr_12^post31, ct_18^0'=ct_18^post31, __disjvr_24^0'=__disjvr_24^post31, r_160^0'=r_160^post31, __disjvr_1^0'=__disjvr_1^post31, y_20^0'=y_20^post31, len_129^0'=len_129^post31, __disjvr_3^0'=__disjvr_3^post31, temp0_16^0'=temp0_16^post31, __disjvr_29^0'=__disjvr_29^post31, __disjvr_0^0'=__disjvr_0^post31, a_212^0'=a_212^post31, __disjvr_8^0'=__disjvr_8^post31, length_27^0'=length_27^post31, __disjvr_17^0'=__disjvr_17^post31, x_17^0'=x_17^post31, i_164^0'=i_164^post31, __disjvr_14^0'=__disjvr_14^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31, __disjvr_26^0'=__disjvr_26^post31, rcd_56^0'=rcd_56^post31, __disjvr_21^0'=__disjvr_21^post31, a_113^0'=a_113^post31, __disjvr_5^0'=__disjvr_5^post31, temp_33^0'=temp_33^post31, x_126^0'=x_126^post31, head_15^0'=head_15^post31, __disjvr_11^0'=__disjvr_11^post31, a_257^0'=a_257^post31, __disjvr_23^0'=__disjvr_23^post31, r_121^0'=r_121^post31, __disjvr_19^0'=__disjvr_19^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, i_92^0'=i_92^post31, __disjvr_30^0'=__disjvr_30^post31, t_24^0'=t_24^post31, __disjvr_28^0'=__disjvr_28^post31, a_181^0'=a_181^post31, __disjvr_7^0'=__disjvr_7^post31, len_180^0'=len_180^post31, __disjvr_16^0'=__disjvr_16^post31, (0 == 0 /\ x_17^post31-x_SLAM_f_19^post31 <= 0 /\ -x_14^0 <= 0 /\ temp0_16^0-temp0_16^post31 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_16^post31+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -x_17^post31+head_15^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0 /\ -a_181^post31+a_181^0 == 0 /\ -length_27^post31+length_27^0 == 0 /\ a_212^0-a_212^post31 == 0 /\ -tmp_32^post31+tmp_32^0 == 0 /\ -__disjvr_30^post31+__disjvr_30^0 == 0 /\ r_37^0-r_37^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -x_126^post31+x_126^0 == 0 /\ -x_17^post31+x_SLAM_f_19^post31 <= 0 /\ -x_17^post31+x_SLAM_f_19^post31 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ i_105^0-i_105^post31 == 0 /\ len_129^0-len_129^post31 == 0 /\ x_172^0-x_172^post31 == 0 /\ r_160^0-r_160^post31 == 0 /\ -len_180^post31+len_180^0 == 0 /\ x_17^post31-head_15^0 <= 0 /\ x_17^post31-head_15^0 == 0 /\ x_14^0 <= 0 /\ -t_24^post31+t_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post31 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ head_15^0-head_15^post31 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 <= 0 /\ -a_257^post31+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ rcd_86^0-rcd_86^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31 == 0 /\ a_234^0-a_234^post31 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ -x_14^post31+x_14^0 == 0 /\ -__disjvr_24^post31+__disjvr_24^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ rcd_56^0-rcd_56^post31 == 0 /\ y_20^post31 <= 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -i_92^post31+i_92^0 == 0 /\ __disjvr_25^0-__disjvr_25^post31 == 0 /\ -a_113^post31+a_113^0 == 0 /\ -x_21^post31+head_15^0 <= 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ y_20^post31-ct_18^post31 <= 0 /\ y_20^post31-ct_18^post31 == 0 /\ __disjvr_27^0-__disjvr_27^post31 == 0 /\ -__disjvr_29^post31+__disjvr_29^0 == 0 /\ -__disjvr_14^post31+__disjvr_14^0 == 0 /\ x_21^post31-x_SLAM_f_19^post31 <= 0 /\ x_21^post31-x_SLAM_f_19^post31 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -x_SLAM_f_19^post31+head_15^0 <= 0 /\ ct_18^post31 <= 0 /\ ct_18^post31 == 0 /\ -ct_18^post31 <= 0 /\ a_144^0-a_144^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -r_121^post31+r_121^0 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -i_164^post31+i_164^0 == 0 /\ f_167^0-f_167^post31 == 0 /\ __disjvr_15^0-__disjvr_15^post31 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ x_21^post31-head_15^0 <= 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ -y_20^post31+ct_18^post31 <= 0 /\ temp0_29^0-temp0_29^post31 == 0 /\ -x_21^post31+x_SLAM_f_19^post31 <= 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ x_SLAM_f_19^post31-head_15^0 <= 0 /\ -head_30^post31+head_30^0 == 0 /\ -y_20^post31 <= 0 /\ i_28^0-i_28^post31 == 0), cost: 1
  32: l32 -> l33 : x_172^0'=x_172^post32, i_105^0'=i_105^post32, __disjvr_13^0'=__disjvr_13^post32, result_11^0'=result_11^post32, __disjvr_25^0'=__disjvr_25^post32, r_37^0'=r_37^post32, __disjvr_20^0'=__disjvr_20^post32, __disjvr_9^0'=__disjvr_9^post32, __disjvr_4^0'=__disjvr_4^post32, temp0_29^0'=temp0_29^post32, f_167^0'=f_167^post32, __disjvr_10^0'=__disjvr_10^post32, a_234^0'=a_234^post32, __disjvr_22^0'=__disjvr_22^post32, nondet_12^0'=nondet_12^post32, __disjvr_18^0'=__disjvr_18^post32, x_21^0'=x_21^post32, i_28^0'=i_28^post32, __disjvr_2^0'=__disjvr_2^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_27^0'=__disjvr_27^post32, rcd_86^0'=rcd_86^post32, a_144^0'=a_144^post32, __disjvr_6^0'=__disjvr_6^post32, tmp_32^0'=tmp_32^post32, __disjvr_15^0'=__disjvr_15^post32, x_14^0'=x_14^post32, head_30^0'=head_30^post32, __disjvr_12^0'=__disjvr_12^post32, ct_18^0'=ct_18^post32, __disjvr_24^0'=__disjvr_24^post32, r_160^0'=r_160^post32, __disjvr_1^0'=__disjvr_1^post32, y_20^0'=y_20^post32, len_129^0'=len_129^post32, __disjvr_3^0'=__disjvr_3^post32, temp0_16^0'=temp0_16^post32, __disjvr_29^0'=__disjvr_29^post32, __disjvr_0^0'=__disjvr_0^post32, a_212^0'=a_212^post32, __disjvr_8^0'=__disjvr_8^post32, length_27^0'=length_27^post32, __disjvr_17^0'=__disjvr_17^post32, x_17^0'=x_17^post32, i_164^0'=i_164^post32, __disjvr_14^0'=__disjvr_14^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32, __disjvr_26^0'=__disjvr_26^post32, rcd_56^0'=rcd_56^post32, __disjvr_21^0'=__disjvr_21^post32, a_113^0'=a_113^post32, __disjvr_5^0'=__disjvr_5^post32, temp_33^0'=temp_33^post32, x_126^0'=x_126^post32, head_15^0'=head_15^post32, __disjvr_11^0'=__disjvr_11^post32, a_257^0'=a_257^post32, __disjvr_23^0'=__disjvr_23^post32, r_121^0'=r_121^post32, __disjvr_19^0'=__disjvr_19^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, i_92^0'=i_92^post32, __disjvr_30^0'=__disjvr_30^post32, t_24^0'=t_24^post32, __disjvr_28^0'=__disjvr_28^post32, a_181^0'=a_181^post32, __disjvr_7^0'=__disjvr_7^post32, len_180^0'=len_180^post32, __disjvr_16^0'=__disjvr_16^post32, (-__disjvr_8^post32+__disjvr_8^0 == 0 /\ -len_129^post32+len_129^0 == 0 /\ head_30^0-head_30^post32 == 0 /\ __disjvr_27^0-__disjvr_27^post32 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ __disjvr_12^0-__disjvr_12^post32 == 0 /\ i_28^0-i_28^post32 == 0 /\ -temp_33^post32+temp_33^0 == 0 /\ -x_126^post32+x_126^0 == 0 /\ r_121^0-r_121^post32 == 0 /\ a_113^0-a_113^post32 == 0 /\ -a_257^post32+a_257^0 == 0 /\ __disjvr_15^post32-__disjvr_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_0^post32+__disjvr_0^0 == 0 /\ -__disjvr_21^post32+__disjvr_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -head_15^post32+head_15^0 == 0 /\ -x_SLAM_f_19^post32+x_SLAM_f_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ __disjvr_2^0-__disjvr_2^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ -__disjvr_23^post32+__disjvr_23^0 == 0 /\ length_27^0-length_27^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ r_37^0-r_37^post32 == 0 /\ -__disjvr_11^post32+__disjvr_11^0 == 0 /\ x_172^0-x_172^post32 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -rcd_56^post32+rcd_56^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ x_21^0-x_21^post32 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ tmp_32^0-tmp_32^post32 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post32+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ f_167^0-f_167^post32 == 0 /\ -__disjvr_30^post32+__disjvr_30^0 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post32+len_180^0 == 0 /\ x_17^0-x_17^post32 == 0 /\ y_20^0-y_20^post32 == 0 /\ -i_164^post32+i_164^0 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -t_24^post32+t_24^0 == 0 /\ temp0_29^0-temp0_29^post32 == 0 /\ -rcd_86^post32+rcd_86^0 == 0 /\ -i_92^post32+i_92^0 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ -a_212^post32+a_212^0 == 0 /\ x_14^0-x_14^post32 == 0 /\ ct_18^0-ct_18^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ a_234^0-a_234^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -a_144^post32+a_144^0 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ i_105^0-i_105^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -a_181^post32+a_181^0 == 0 /\ r_160^0-r_160^post32 == 0), cost: 1
  33: l33 -> l34 : x_172^0'=x_172^post33, i_105^0'=i_105^post33, __disjvr_13^0'=__disjvr_13^post33, result_11^0'=result_11^post33, __disjvr_25^0'=__disjvr_25^post33, r_37^0'=r_37^post33, __disjvr_20^0'=__disjvr_20^post33, __disjvr_9^0'=__disjvr_9^post33, __disjvr_4^0'=__disjvr_4^post33, temp0_29^0'=temp0_29^post33, f_167^0'=f_167^post33, __disjvr_10^0'=__disjvr_10^post33, a_234^0'=a_234^post33, __disjvr_22^0'=__disjvr_22^post33, nondet_12^0'=nondet_12^post33, __disjvr_18^0'=__disjvr_18^post33, x_21^0'=x_21^post33, i_28^0'=i_28^post33, __disjvr_2^0'=__disjvr_2^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_27^0'=__disjvr_27^post33, rcd_86^0'=rcd_86^post33, a_144^0'=a_144^post33, __disjvr_6^0'=__disjvr_6^post33, tmp_32^0'=tmp_32^post33, __disjvr_15^0'=__disjvr_15^post33, x_14^0'=x_14^post33, head_30^0'=head_30^post33, __disjvr_12^0'=__disjvr_12^post33, ct_18^0'=ct_18^post33, __disjvr_24^0'=__disjvr_24^post33, r_160^0'=r_160^post33, __disjvr_1^0'=__disjvr_1^post33, y_20^0'=y_20^post33, len_129^0'=len_129^post33, __disjvr_3^0'=__disjvr_3^post33, temp0_16^0'=temp0_16^post33, __disjvr_29^0'=__disjvr_29^post33, __disjvr_0^0'=__disjvr_0^post33, a_212^0'=a_212^post33, __disjvr_8^0'=__disjvr_8^post33, length_27^0'=length_27^post33, __disjvr_17^0'=__disjvr_17^post33, x_17^0'=x_17^post33, i_164^0'=i_164^post33, __disjvr_14^0'=__disjvr_14^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33, __disjvr_26^0'=__disjvr_26^post33, rcd_56^0'=rcd_56^post33, __disjvr_21^0'=__disjvr_21^post33, a_113^0'=a_113^post33, __disjvr_5^0'=__disjvr_5^post33, temp_33^0'=temp_33^post33, x_126^0'=x_126^post33, head_15^0'=head_15^post33, __disjvr_11^0'=__disjvr_11^post33, a_257^0'=a_257^post33, __disjvr_23^0'=__disjvr_23^post33, r_121^0'=r_121^post33, __disjvr_19^0'=__disjvr_19^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, i_92^0'=i_92^post33, __disjvr_30^0'=__disjvr_30^post33, t_24^0'=t_24^post33, __disjvr_28^0'=__disjvr_28^post33, a_181^0'=a_181^post33, __disjvr_7^0'=__disjvr_7^post33, len_180^0'=len_180^post33, __disjvr_16^0'=__disjvr_16^post33, (0 == 0 /\ -t_24^post33+t_24^0 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ -a_113^post33+a_113^0 == 0 /\ x_172^0-x_172^post33 == 0 /\ -__disjvr_16^post33+__disjvr_16^0 == 0 /\ tmp_32^0-tmp_32^post33 == 0 /\ -__disjvr_14^post33+__disjvr_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post33 == 0 /\ -len_129^post33+len_129^0 == 0 /\ -i_92^post33+i_92^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ -__disjvr_29^post33+__disjvr_29^0 == 0 /\ -rcd_56^post33+rcd_56^0 == 0 /\ __disjvr_1^0-__disjvr_1^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -a_234^post33+a_234^0 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ -a_181^post33+a_181^0 == 0 /\ -r_160^post33+r_160^0 == 0 /\ -length_27^post33+length_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ x_126^0-x_126^post33 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ -r_121^post33+r_121^0 == 0 /\ f_167^0-f_167^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post33 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post33 == 0 /\ i_164^0-i_164^post33 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ a_212^0-a_212^post33 == 0 /\ -y_20^post33+y_20^0 == 0 /\ r_37^0-r_37^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ x_21^0-x_21^post33 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_9^post33+__disjvr_9^0 == 0 /\ -__disjvr_3^post33+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ __disjvr_5^0-__disjvr_5^post33 == 0 /\ i_105^0-i_105^post33 == 0 /\ temp0_29^0-temp0_29^post33 == 0 /\ -__disjvr_28^post33+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -i_28^post33+i_28^0 == 0 /\ rcd_86^0-rcd_86^post33 == 0 /\ -__disjvr_30^post33+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ head_30^0-head_30^post33 == 0 /\ -__disjvr_11^post33+__disjvr_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ -len_180^post33+len_180^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_257^post33+a_257^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -__disjvr_21^post33+__disjvr_21^0 == 0), cost: 1
  34: l34 -> l35 : x_172^0'=x_172^post34, i_105^0'=i_105^post34, __disjvr_13^0'=__disjvr_13^post34, result_11^0'=result_11^post34, __disjvr_25^0'=__disjvr_25^post34, r_37^0'=r_37^post34, __disjvr_20^0'=__disjvr_20^post34, __disjvr_9^0'=__disjvr_9^post34, __disjvr_4^0'=__disjvr_4^post34, temp0_29^0'=temp0_29^post34, f_167^0'=f_167^post34, __disjvr_10^0'=__disjvr_10^post34, a_234^0'=a_234^post34, __disjvr_22^0'=__disjvr_22^post34, nondet_12^0'=nondet_12^post34, __disjvr_18^0'=__disjvr_18^post34, x_21^0'=x_21^post34, i_28^0'=i_28^post34, __disjvr_2^0'=__disjvr_2^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_27^0'=__disjvr_27^post34, rcd_86^0'=rcd_86^post34, a_144^0'=a_144^post34, __disjvr_6^0'=__disjvr_6^post34, tmp_32^0'=tmp_32^post34, __disjvr_15^0'=__disjvr_15^post34, x_14^0'=x_14^post34, head_30^0'=head_30^post34, __disjvr_12^0'=__disjvr_12^post34, ct_18^0'=ct_18^post34, __disjvr_24^0'=__disjvr_24^post34, r_160^0'=r_160^post34, __disjvr_1^0'=__disjvr_1^post34, y_20^0'=y_20^post34, len_129^0'=len_129^post34, __disjvr_3^0'=__disjvr_3^post34, temp0_16^0'=temp0_16^post34, __disjvr_29^0'=__disjvr_29^post34, __disjvr_0^0'=__disjvr_0^post34, a_212^0'=a_212^post34, __disjvr_8^0'=__disjvr_8^post34, length_27^0'=length_27^post34, __disjvr_17^0'=__disjvr_17^post34, x_17^0'=x_17^post34, i_164^0'=i_164^post34, __disjvr_14^0'=__disjvr_14^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34, __disjvr_26^0'=__disjvr_26^post34, rcd_56^0'=rcd_56^post34, __disjvr_21^0'=__disjvr_21^post34, a_113^0'=a_113^post34, __disjvr_5^0'=__disjvr_5^post34, temp_33^0'=temp_33^post34, x_126^0'=x_126^post34, head_15^0'=head_15^post34, __disjvr_11^0'=__disjvr_11^post34, a_257^0'=a_257^post34, __disjvr_23^0'=__disjvr_23^post34, r_121^0'=r_121^post34, __disjvr_19^0'=__disjvr_19^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, i_92^0'=i_92^post34, __disjvr_30^0'=__disjvr_30^post34, t_24^0'=t_24^post34, __disjvr_28^0'=__disjvr_28^post34, a_181^0'=a_181^post34, __disjvr_7^0'=__disjvr_7^post34, len_180^0'=len_180^post34, __disjvr_16^0'=__disjvr_16^post34, (-__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_17^0-__disjvr_17^post34 == 0 /\ r_37^0-r_37^post34 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ i_105^0-i_105^post34 == 0 /\ -x_17^post34+x_17^0 == 0 /\ -temp_33^post34+temp_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ rcd_56^0-rcd_56^post34 == 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ -__disjvr_24^post34+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ a_234^0-a_234^post34 == 0 /\ r_160^0-r_160^post34 == 0 /\ result_11^0-result_11^post34 == 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -a_181^post34+a_181^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -x_14^post34+x_14^0 == 0 /\ -a_212^post34+a_212^0 == 0 /\ -head_15^post34+head_15^0 == 0 /\ -a_113^post34+a_113^0 == 0 /\ -__disjvr_19^post34+__disjvr_19^0 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post34 == 0 /\ ct_18^0-ct_18^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -head_30^post34+head_30^0 == 0 /\ -__disjvr_3^post34+__disjvr_3^0 == 0 /\ a_257^0-a_257^post34 == 0 /\ -__disjvr_6^post34+__disjvr_6^0 == 0 /\ -r_121^post34+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ __disjvr_16^post34-__disjvr_16^0 == 0 /\ x_172^0-x_172^post34 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34 == 0 /\ -temp0_29^post34+temp0_29^0 == 0 /\ -__disjvr_21^post34+__disjvr_21^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -__disjvr_30^post34+__disjvr_30^0 == 0 /\ rcd_86^0-rcd_86^post34 == 0 /\ -i_164^post34+i_164^0 == 0 /\ length_27^0-length_27^post34 == 0 /\ x_21^0-x_21^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ a_144^0-a_144^post34 == 0 /\ -x_126^post34+x_126^0 == 0 /\ i_28^0-i_28^post34 == 0 /\ -tmp_32^post34+tmp_32^0 == 0 /\ -len_129^post34+len_129^0 == 0 /\ -i_92^post34+i_92^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ temp0_16^0-temp0_16^post34 == 0 /\ t_24^0-t_24^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ f_167^0-f_167^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0), cost: 1
  35: l35 -> l36 : x_172^0'=x_172^post35, i_105^0'=i_105^post35, __disjvr_13^0'=__disjvr_13^post35, result_11^0'=result_11^post35, __disjvr_25^0'=__disjvr_25^post35, r_37^0'=r_37^post35, __disjvr_20^0'=__disjvr_20^post35, __disjvr_9^0'=__disjvr_9^post35, __disjvr_4^0'=__disjvr_4^post35, temp0_29^0'=temp0_29^post35, f_167^0'=f_167^post35, __disjvr_10^0'=__disjvr_10^post35, a_234^0'=a_234^post35, __disjvr_22^0'=__disjvr_22^post35, nondet_12^0'=nondet_12^post35, __disjvr_18^0'=__disjvr_18^post35, x_21^0'=x_21^post35, i_28^0'=i_28^post35, __disjvr_2^0'=__disjvr_2^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_27^0'=__disjvr_27^post35, rcd_86^0'=rcd_86^post35, a_144^0'=a_144^post35, __disjvr_6^0'=__disjvr_6^post35, tmp_32^0'=tmp_32^post35, __disjvr_15^0'=__disjvr_15^post35, x_14^0'=x_14^post35, head_30^0'=head_30^post35, __disjvr_12^0'=__disjvr_12^post35, ct_18^0'=ct_18^post35, __disjvr_24^0'=__disjvr_24^post35, r_160^0'=r_160^post35, __disjvr_1^0'=__disjvr_1^post35, y_20^0'=y_20^post35, len_129^0'=len_129^post35, __disjvr_3^0'=__disjvr_3^post35, temp0_16^0'=temp0_16^post35, __disjvr_29^0'=__disjvr_29^post35, __disjvr_0^0'=__disjvr_0^post35, a_212^0'=a_212^post35, __disjvr_8^0'=__disjvr_8^post35, length_27^0'=length_27^post35, __disjvr_17^0'=__disjvr_17^post35, x_17^0'=x_17^post35, i_164^0'=i_164^post35, __disjvr_14^0'=__disjvr_14^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35, __disjvr_26^0'=__disjvr_26^post35, rcd_56^0'=rcd_56^post35, __disjvr_21^0'=__disjvr_21^post35, a_113^0'=a_113^post35, __disjvr_5^0'=__disjvr_5^post35, temp_33^0'=temp_33^post35, x_126^0'=x_126^post35, head_15^0'=head_15^post35, __disjvr_11^0'=__disjvr_11^post35, a_257^0'=a_257^post35, __disjvr_23^0'=__disjvr_23^post35, r_121^0'=r_121^post35, __disjvr_19^0'=__disjvr_19^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, i_92^0'=i_92^post35, __disjvr_30^0'=__disjvr_30^post35, t_24^0'=t_24^post35, __disjvr_28^0'=__disjvr_28^post35, a_181^0'=a_181^post35, __disjvr_7^0'=__disjvr_7^post35, len_180^0'=len_180^post35, __disjvr_16^0'=__disjvr_16^post35, (tmp_32^0-tmp_32^post35 == 0 /\ -ct_18^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ -x_126^post35+x_126^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -x_14^0 <= 0 /\ x_14^0-x_14^post35 == 0 /\ __disjvr_27^0-__disjvr_27^post35 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ t_24^post35-head_15^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ i_28^0-i_28^post35 == 0 /\ -y_20^0 <= 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -x_17^0+head_15^0 <= 0 /\ r_121^0-r_121^post35 == 0 /\ x_21^0 <= 0 /\ x_21^0-x_21^post35 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -x_SLAM_f_19^post35+x_SLAM_f_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -__disjvr_26^post35+__disjvr_26^0 == 0 /\ length_27^0-length_27^post35 == 0 /\ -a_113^post35+a_113^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ x_14^0 <= 0 /\ a_144^0-a_144^post35 == 0 /\ -t_24^post35+head_15^0 <= 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ a_234^0-a_234^post35 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -a_212^post35+a_212^0 == 0 /\ -i_92^post35+i_92^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ x_17^0-head_15^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ y_20^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ __disjvr_12^0-__disjvr_12^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ r_160^0-r_160^post35 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ -temp_33^post35+temp_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ f_167^0-f_167^post35 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -rcd_56^post35+rcd_56^0 == 0 /\ -a_181^post35+a_181^0 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -x_21^0 <= 0 /\ -x_21^0+t_24^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -a_257^post35+a_257^0 == 0 /\ i_105^0-i_105^post35 == 0 /\ -len_180^post35+len_180^0 == 0 /\ temp0_29^0-temp0_29^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ head_30^0-head_30^post35 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ ct_18^0-ct_18^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -head_15^post35+head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ -x_17^post35+x_17^0 == 0 /\ -__disjvr_0^post35+__disjvr_0^0 == 0 /\ __disjvr_25^0-__disjvr_25^post35 == 0 /\ y_20^0-y_20^post35 == 0 /\ x_172^0-x_172^post35 == 0 /\ len_129^0-len_129^post35 == 0 /\ __disjvr_30^0-__disjvr_30^post35 == 0 /\ -i_164^post35+i_164^0 == 0 /\ -__disjvr_16^post35+__disjvr_16^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ -rcd_86^post35+rcd_86^0 == 0), cost: 1
  36: l36 -> l37 : x_172^0'=x_172^post36, i_105^0'=i_105^post36, __disjvr_13^0'=__disjvr_13^post36, result_11^0'=result_11^post36, __disjvr_25^0'=__disjvr_25^post36, r_37^0'=r_37^post36, __disjvr_20^0'=__disjvr_20^post36, __disjvr_9^0'=__disjvr_9^post36, __disjvr_4^0'=__disjvr_4^post36, temp0_29^0'=temp0_29^post36, f_167^0'=f_167^post36, __disjvr_10^0'=__disjvr_10^post36, a_234^0'=a_234^post36, __disjvr_22^0'=__disjvr_22^post36, nondet_12^0'=nondet_12^post36, __disjvr_18^0'=__disjvr_18^post36, x_21^0'=x_21^post36, i_28^0'=i_28^post36, __disjvr_2^0'=__disjvr_2^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_27^0'=__disjvr_27^post36, rcd_86^0'=rcd_86^post36, a_144^0'=a_144^post36, __disjvr_6^0'=__disjvr_6^post36, tmp_32^0'=tmp_32^post36, __disjvr_15^0'=__disjvr_15^post36, x_14^0'=x_14^post36, head_30^0'=head_30^post36, __disjvr_12^0'=__disjvr_12^post36, ct_18^0'=ct_18^post36, __disjvr_24^0'=__disjvr_24^post36, r_160^0'=r_160^post36, __disjvr_1^0'=__disjvr_1^post36, y_20^0'=y_20^post36, len_129^0'=len_129^post36, __disjvr_3^0'=__disjvr_3^post36, temp0_16^0'=temp0_16^post36, __disjvr_29^0'=__disjvr_29^post36, __disjvr_0^0'=__disjvr_0^post36, a_212^0'=a_212^post36, __disjvr_8^0'=__disjvr_8^post36, length_27^0'=length_27^post36, __disjvr_17^0'=__disjvr_17^post36, x_17^0'=x_17^post36, i_164^0'=i_164^post36, __disjvr_14^0'=__disjvr_14^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36, __disjvr_26^0'=__disjvr_26^post36, rcd_56^0'=rcd_56^post36, __disjvr_21^0'=__disjvr_21^post36, a_113^0'=a_113^post36, __disjvr_5^0'=__disjvr_5^post36, temp_33^0'=temp_33^post36, x_126^0'=x_126^post36, head_15^0'=head_15^post36, __disjvr_11^0'=__disjvr_11^post36, a_257^0'=a_257^post36, __disjvr_23^0'=__disjvr_23^post36, r_121^0'=r_121^post36, __disjvr_19^0'=__disjvr_19^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, i_92^0'=i_92^post36, __disjvr_30^0'=__disjvr_30^post36, t_24^0'=t_24^post36, __disjvr_28^0'=__disjvr_28^post36, a_181^0'=a_181^post36, __disjvr_7^0'=__disjvr_7^post36, len_180^0'=len_180^post36, __disjvr_16^0'=__disjvr_16^post36, (-len_180^post36+len_180^0 == 0 /\ __disjvr_25^0-__disjvr_25^post36 == 0 /\ -head_15^post36+head_15^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_92^0-i_92^post36 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ __disjvr_1^0-__disjvr_1^post36 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ -ct_18^post36+ct_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ f_167^0-f_167^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_19^post36+__disjvr_19^0 == 0 /\ -__disjvr_16^post36+__disjvr_16^0 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -a_181^post36+a_181^0 == 0 /\ __disjvr_15^0-__disjvr_15^post36 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ -x_126^post36+x_126^0 == 0 /\ -a_144^post36+a_144^0 == 0 /\ -t_24^post36+t_24^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -rcd_56^post36+rcd_56^0 == 0 /\ -a_257^post36+a_257^0 == 0 /\ -length_27^post36+length_27^0 == 0 /\ __disjvr_17^post36-__disjvr_17^0 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ -tmp_32^post36+tmp_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ temp0_29^0-temp0_29^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ i_164^0-i_164^post36 == 0 /\ -len_129^post36+len_129^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ -__disjvr_11^post36+__disjvr_11^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ -y_20^post36+y_20^0 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ -__disjvr_14^post36+__disjvr_14^0 == 0 /\ -__disjvr_29^post36+__disjvr_29^0 == 0 /\ i_28^0-i_28^post36 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ a_212^0-a_212^post36 == 0 /\ -__disjvr_30^post36+__disjvr_30^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ -x_SLAM_f_19^post36+x_SLAM_f_19^0 == 0 /\ -x_17^post36+x_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ a_234^0-a_234^post36 == 0 /\ -a_113^post36+a_113^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ x_14^0-x_14^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ i_105^0-i_105^post36 == 0 /\ x_172^0-x_172^post36 == 0 /\ -temp_33^post36+temp_33^0 == 0 /\ r_37^0-r_37^post36 == 0 /\ -r_160^post36+r_160^0 == 0 /\ __disjvr_5^0-__disjvr_5^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -r_121^post36+r_121^0 == 0 /\ rcd_86^0-rcd_86^post36 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ head_30^0-head_30^post36 == 0), cost: 1
  37: l37 -> l38 : x_172^0'=x_172^post37, i_105^0'=i_105^post37, __disjvr_13^0'=__disjvr_13^post37, result_11^0'=result_11^post37, __disjvr_25^0'=__disjvr_25^post37, r_37^0'=r_37^post37, __disjvr_20^0'=__disjvr_20^post37, __disjvr_9^0'=__disjvr_9^post37, __disjvr_4^0'=__disjvr_4^post37, temp0_29^0'=temp0_29^post37, f_167^0'=f_167^post37, __disjvr_10^0'=__disjvr_10^post37, a_234^0'=a_234^post37, __disjvr_22^0'=__disjvr_22^post37, nondet_12^0'=nondet_12^post37, __disjvr_18^0'=__disjvr_18^post37, x_21^0'=x_21^post37, i_28^0'=i_28^post37, __disjvr_2^0'=__disjvr_2^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_27^0'=__disjvr_27^post37, rcd_86^0'=rcd_86^post37, a_144^0'=a_144^post37, __disjvr_6^0'=__disjvr_6^post37, tmp_32^0'=tmp_32^post37, __disjvr_15^0'=__disjvr_15^post37, x_14^0'=x_14^post37, head_30^0'=head_30^post37, __disjvr_12^0'=__disjvr_12^post37, ct_18^0'=ct_18^post37, __disjvr_24^0'=__disjvr_24^post37, r_160^0'=r_160^post37, __disjvr_1^0'=__disjvr_1^post37, y_20^0'=y_20^post37, len_129^0'=len_129^post37, __disjvr_3^0'=__disjvr_3^post37, temp0_16^0'=temp0_16^post37, __disjvr_29^0'=__disjvr_29^post37, __disjvr_0^0'=__disjvr_0^post37, a_212^0'=a_212^post37, __disjvr_8^0'=__disjvr_8^post37, length_27^0'=length_27^post37, __disjvr_17^0'=__disjvr_17^post37, x_17^0'=x_17^post37, i_164^0'=i_164^post37, __disjvr_14^0'=__disjvr_14^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37, __disjvr_26^0'=__disjvr_26^post37, rcd_56^0'=rcd_56^post37, __disjvr_21^0'=__disjvr_21^post37, a_113^0'=a_113^post37, __disjvr_5^0'=__disjvr_5^post37, temp_33^0'=temp_33^post37, x_126^0'=x_126^post37, head_15^0'=head_15^post37, __disjvr_11^0'=__disjvr_11^post37, a_257^0'=a_257^post37, __disjvr_23^0'=__disjvr_23^post37, r_121^0'=r_121^post37, __disjvr_19^0'=__disjvr_19^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, i_92^0'=i_92^post37, __disjvr_30^0'=__disjvr_30^post37, t_24^0'=t_24^post37, __disjvr_28^0'=__disjvr_28^post37, a_181^0'=a_181^post37, __disjvr_7^0'=__disjvr_7^post37, len_180^0'=len_180^post37, __disjvr_16^0'=__disjvr_16^post37, (-a_257^post37+a_257^0 == 0 /\ -length_27^post37+length_27^0 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -x_126^post37+x_126^0 == 0 /\ rcd_86^0-rcd_86^post37 == 0 /\ -tmp_32^post37+tmp_32^0 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ -__disjvr_8^post37+__disjvr_8^0 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ -head_30^post37+head_30^0 == 0 /\ temp0_16^0-temp0_16^post37 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ __disjvr_18^0-__disjvr_18^post37 == 0 /\ len_129^0-len_129^post37 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ r_160^0-r_160^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ y_20^0-y_20^post37 == 0 /\ head_15^0-head_15^post37 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ i_105^0-i_105^post37 == 0 /\ r_37^0-r_37^post37 == 0 /\ -__disjvr_30^post37+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post37 == 0 /\ x_172^0-x_172^post37 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -a_181^post37+a_181^0 == 0 /\ -x_17^post37+x_17^0 == 0 /\ -i_92^post37+i_92^0 == 0 /\ -__disjvr_29^post37+__disjvr_29^0 == 0 /\ -__disjvr_18^0+__disjvr_18^post37 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ __disjvr_2^0-__disjvr_2^post37 == 0 /\ rcd_56^0-rcd_56^post37 == 0 /\ a_234^0-a_234^post37 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ __disjvr_27^0-__disjvr_27^post37 == 0 /\ a_144^0-a_144^post37 == 0 /\ -t_24^post37+t_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post37 == 0 /\ -x_14^post37+x_14^0 == 0 /\ -len_180^post37+len_180^0 == 0 /\ -r_121^post37+r_121^0 == 0 /\ -__disjvr_14^post37+__disjvr_14^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ f_167^0-f_167^post37 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ i_28^0-i_28^post37 == 0 /\ -__disjvr_10^post37+__disjvr_10^0 == 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -__disjvr_0^post37+__disjvr_0^0 == 0 /\ -a_113^post37+a_113^0 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_24^post37+__disjvr_24^0 == 0 /\ temp0_29^0-temp0_29^post37 == 0 /\ -__disjvr_16^post37+__disjvr_16^0 == 0 /\ -i_164^post37+i_164^0 == 0 /\ __disjvr_12^0-__disjvr_12^post37 == 0 /\ -a_212^post37+a_212^0 == 0), cost: 1
  38: l38 -> l39 : x_172^0'=x_172^post38, i_105^0'=i_105^post38, __disjvr_13^0'=__disjvr_13^post38, result_11^0'=result_11^post38, __disjvr_25^0'=__disjvr_25^post38, r_37^0'=r_37^post38, __disjvr_20^0'=__disjvr_20^post38, __disjvr_9^0'=__disjvr_9^post38, __disjvr_4^0'=__disjvr_4^post38, temp0_29^0'=temp0_29^post38, f_167^0'=f_167^post38, __disjvr_10^0'=__disjvr_10^post38, a_234^0'=a_234^post38, __disjvr_22^0'=__disjvr_22^post38, nondet_12^0'=nondet_12^post38, __disjvr_18^0'=__disjvr_18^post38, x_21^0'=x_21^post38, i_28^0'=i_28^post38, __disjvr_2^0'=__disjvr_2^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_27^0'=__disjvr_27^post38, rcd_86^0'=rcd_86^post38, a_144^0'=a_144^post38, __disjvr_6^0'=__disjvr_6^post38, tmp_32^0'=tmp_32^post38, __disjvr_15^0'=__disjvr_15^post38, x_14^0'=x_14^post38, head_30^0'=head_30^post38, __disjvr_12^0'=__disjvr_12^post38, ct_18^0'=ct_18^post38, __disjvr_24^0'=__disjvr_24^post38, r_160^0'=r_160^post38, __disjvr_1^0'=__disjvr_1^post38, y_20^0'=y_20^post38, len_129^0'=len_129^post38, __disjvr_3^0'=__disjvr_3^post38, temp0_16^0'=temp0_16^post38, __disjvr_29^0'=__disjvr_29^post38, __disjvr_0^0'=__disjvr_0^post38, a_212^0'=a_212^post38, __disjvr_8^0'=__disjvr_8^post38, length_27^0'=length_27^post38, __disjvr_17^0'=__disjvr_17^post38, x_17^0'=x_17^post38, i_164^0'=i_164^post38, __disjvr_14^0'=__disjvr_14^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38, __disjvr_26^0'=__disjvr_26^post38, rcd_56^0'=rcd_56^post38, __disjvr_21^0'=__disjvr_21^post38, a_113^0'=a_113^post38, __disjvr_5^0'=__disjvr_5^post38, temp_33^0'=temp_33^post38, x_126^0'=x_126^post38, head_15^0'=head_15^post38, __disjvr_11^0'=__disjvr_11^post38, a_257^0'=a_257^post38, __disjvr_23^0'=__disjvr_23^post38, r_121^0'=r_121^post38, __disjvr_19^0'=__disjvr_19^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, i_92^0'=i_92^post38, __disjvr_30^0'=__disjvr_30^post38, t_24^0'=t_24^post38, __disjvr_28^0'=__disjvr_28^post38, a_181^0'=a_181^post38, __disjvr_7^0'=__disjvr_7^post38, len_180^0'=len_180^post38, __disjvr_16^0'=__disjvr_16^post38, (0 == 0 /\ a_212^0-a_212^post38 == 0 /\ x_172^0-x_172^post38 == 0 /\ -length_27^post38+length_27^0 == 0 /\ -x_126^post38+x_126^0 == 0 /\ -r_160^post38+r_160^0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -a_181^post38+a_181^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ -__disjvr_19^post38+__disjvr_19^0 == 0 /\ -__disjvr_24^post38+__disjvr_24^0 == 0 /\ __disjvr_27^0-__disjvr_27^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ result_11^post38-temp0_16^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ rcd_86^0-rcd_86^post38 == 0 /\ -__disjvr_0^post38+__disjvr_0^0 == 0 /\ i_105^0-i_105^post38 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ -i_164^post38+i_164^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ len_129^0-len_129^post38 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_257^post38+a_257^0 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ f_167^0-f_167^post38 == 0 /\ x_21^0-y_20^0 <= 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ -tmp_32^post38+tmp_32^0 == 0 /\ temp0_29^0-temp0_29^post38 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ r_37^0-r_37^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ -head_30^post38+head_30^0 == 0 /\ -len_180^post38+len_180^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ __disjvr_15^0-__disjvr_15^post38 == 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ -i_92^post38+i_92^0 == 0 /\ rcd_56^0-rcd_56^post38 == 0 /\ __disjvr_1^0-__disjvr_1^post38 == 0 /\ -a_113^post38+a_113^0 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp_33^post38+temp_33^0 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -r_121^post38+r_121^0 == 0 /\ x_14^0-x_14^post38 == 0 /\ __disjvr_30^0-__disjvr_30^post38 == 0 /\ -i_28^post38+i_28^0 == 0 /\ a_144^0-a_144^post38 == 0 /\ -__disjvr_26^post38+__disjvr_26^0 == 0 /\ a_234^0-a_234^post38 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ -__disjvr_21^post38+__disjvr_21^0 == 0 /\ -__disjvr_29^post38+__disjvr_29^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0), cost: 1
  39: l39 -> l3 : x_172^0'=x_172^post39, i_105^0'=i_105^post39, __disjvr_13^0'=__disjvr_13^post39, result_11^0'=result_11^post39, __disjvr_25^0'=__disjvr_25^post39, r_37^0'=r_37^post39, __disjvr_20^0'=__disjvr_20^post39, __disjvr_9^0'=__disjvr_9^post39, __disjvr_4^0'=__disjvr_4^post39, temp0_29^0'=temp0_29^post39, f_167^0'=f_167^post39, __disjvr_10^0'=__disjvr_10^post39, a_234^0'=a_234^post39, __disjvr_22^0'=__disjvr_22^post39, nondet_12^0'=nondet_12^post39, __disjvr_18^0'=__disjvr_18^post39, x_21^0'=x_21^post39, i_28^0'=i_28^post39, __disjvr_2^0'=__disjvr_2^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_27^0'=__disjvr_27^post39, rcd_86^0'=rcd_86^post39, a_144^0'=a_144^post39, __disjvr_6^0'=__disjvr_6^post39, tmp_32^0'=tmp_32^post39, __disjvr_15^0'=__disjvr_15^post39, x_14^0'=x_14^post39, head_30^0'=head_30^post39, __disjvr_12^0'=__disjvr_12^post39, ct_18^0'=ct_18^post39, __disjvr_24^0'=__disjvr_24^post39, r_160^0'=r_160^post39, __disjvr_1^0'=__disjvr_1^post39, y_20^0'=y_20^post39, len_129^0'=len_129^post39, __disjvr_3^0'=__disjvr_3^post39, temp0_16^0'=temp0_16^post39, __disjvr_29^0'=__disjvr_29^post39, __disjvr_0^0'=__disjvr_0^post39, a_212^0'=a_212^post39, __disjvr_8^0'=__disjvr_8^post39, length_27^0'=length_27^post39, __disjvr_17^0'=__disjvr_17^post39, x_17^0'=x_17^post39, i_164^0'=i_164^post39, __disjvr_14^0'=__disjvr_14^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39, __disjvr_26^0'=__disjvr_26^post39, rcd_56^0'=rcd_56^post39, __disjvr_21^0'=__disjvr_21^post39, a_113^0'=a_113^post39, __disjvr_5^0'=__disjvr_5^post39, temp_33^0'=temp_33^post39, x_126^0'=x_126^post39, head_15^0'=head_15^post39, __disjvr_11^0'=__disjvr_11^post39, a_257^0'=a_257^post39, __disjvr_23^0'=__disjvr_23^post39, r_121^0'=r_121^post39, __disjvr_19^0'=__disjvr_19^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, i_92^0'=i_92^post39, __disjvr_30^0'=__disjvr_30^post39, t_24^0'=t_24^post39, __disjvr_28^0'=__disjvr_28^post39, a_181^0'=a_181^post39, __disjvr_7^0'=__disjvr_7^post39, len_180^0'=len_180^post39, __disjvr_16^0'=__disjvr_16^post39, (x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ r_121^0-r_121^post39 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ i_28^0-i_28^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ -rcd_56^post39+rcd_56^0 == 0 /\ x_21^0-x_21^post39 == 0 /\ -a_212^post39+a_212^0 == 0 /\ -__disjvr_19^post39+__disjvr_19^0 == 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ x_14^0-x_14^post39 == 0 /\ -__disjvr_16^post39+__disjvr_16^0 == 0 /\ length_27^0-length_27^post39 == 0 /\ -len_129^post39+len_129^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_126^post39+x_126^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ head_30^0-head_30^post39 == 0 /\ tmp_32^0-tmp_32^post39 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ -a_257^post39+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ rcd_86^0-rcd_86^post39 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ __disjvr_22^0-__disjvr_22^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ __disjvr_19^post39-__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ -t_24^post39+t_24^0 == 0 /\ -__disjvr_21^post39+__disjvr_21^0 == 0 /\ -head_15^post39+head_15^0 == 0 /\ a_234^0-a_234^post39 == 0 /\ x_172^0-x_172^post39 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ __disjvr_1^0-__disjvr_1^post39 == 0 /\ -x_17^post39+x_17^0 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ -__disjvr_0^post39+__disjvr_0^0 == 0 /\ f_167^0-f_167^post39 == 0 /\ r_160^0-r_160^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ -i_92^post39+i_92^0 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ -temp_33^post39+temp_33^0 == 0 /\ y_20^0-y_20^post39 == 0 /\ a_113^0-a_113^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ -a_181^post39+a_181^0 == 0 /\ -a_144^post39+a_144^0 == 0 /\ -i_164^post39+i_164^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ temp0_29^0-temp0_29^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ __disjvr_15^0-__disjvr_15^post39 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ -len_180^post39+len_180^0 == 0 /\ result_11^0-result_11^post39 == 0), cost: 1
  64: l40 -> l62 : x_172^0'=x_172^post64, i_105^0'=i_105^post64, __disjvr_13^0'=__disjvr_13^post64, result_11^0'=result_11^post64, __disjvr_25^0'=__disjvr_25^post64, r_37^0'=r_37^post64, __disjvr_20^0'=__disjvr_20^post64, __disjvr_9^0'=__disjvr_9^post64, __disjvr_4^0'=__disjvr_4^post64, temp0_29^0'=temp0_29^post64, f_167^0'=f_167^post64, __disjvr_10^0'=__disjvr_10^post64, a_234^0'=a_234^post64, __disjvr_22^0'=__disjvr_22^post64, nondet_12^0'=nondet_12^post64, __disjvr_18^0'=__disjvr_18^post64, x_21^0'=x_21^post64, i_28^0'=i_28^post64, __disjvr_2^0'=__disjvr_2^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_27^0'=__disjvr_27^post64, rcd_86^0'=rcd_86^post64, a_144^0'=a_144^post64, __disjvr_6^0'=__disjvr_6^post64, tmp_32^0'=tmp_32^post64, __disjvr_15^0'=__disjvr_15^post64, x_14^0'=x_14^post64, head_30^0'=head_30^post64, __disjvr_12^0'=__disjvr_12^post64, ct_18^0'=ct_18^post64, __disjvr_24^0'=__disjvr_24^post64, r_160^0'=r_160^post64, __disjvr_1^0'=__disjvr_1^post64, y_20^0'=y_20^post64, len_129^0'=len_129^post64, __disjvr_3^0'=__disjvr_3^post64, temp0_16^0'=temp0_16^post64, __disjvr_29^0'=__disjvr_29^post64, __disjvr_0^0'=__disjvr_0^post64, a_212^0'=a_212^post64, __disjvr_8^0'=__disjvr_8^post64, length_27^0'=length_27^post64, __disjvr_17^0'=__disjvr_17^post64, x_17^0'=x_17^post64, i_164^0'=i_164^post64, __disjvr_14^0'=__disjvr_14^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, __disjvr_26^0'=__disjvr_26^post64, rcd_56^0'=rcd_56^post64, __disjvr_21^0'=__disjvr_21^post64, a_113^0'=a_113^post64, __disjvr_5^0'=__disjvr_5^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, head_15^0'=head_15^post64, __disjvr_11^0'=__disjvr_11^post64, a_257^0'=a_257^post64, __disjvr_23^0'=__disjvr_23^post64, r_121^0'=r_121^post64, __disjvr_19^0'=__disjvr_19^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, i_92^0'=i_92^post64, __disjvr_30^0'=__disjvr_30^post64, t_24^0'=t_24^post64, __disjvr_28^0'=__disjvr_28^post64, a_181^0'=a_181^post64, __disjvr_7^0'=__disjvr_7^post64, len_180^0'=len_180^post64, __disjvr_16^0'=__disjvr_16^post64, (0 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post64 == 0 /\ ct_18^0-ct_18^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ -len_180^post64+len_180^0 == 0 /\ -len_129^0 <= 0 /\ -head_15^post64+x_14^post64 <= 0 /\ -head_15^post64+x_14^post64 == 0 /\ -__disjvr_29^post64+__disjvr_29^0 == 0 /\ -a_113^post64+a_113^0 == 0 /\ -t_24^post64+t_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -len_129^post64+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ head_15^post64-result_11^11 == 0 /\ __disjvr_1^0-__disjvr_1^post64 == 0 /\ -__disjvr_19^post64+__disjvr_19^0 == 0 /\ r_160^0-r_160^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ head_15^post64-x_14^post64 <= 0 /\ rcd_86^0-rcd_86^post64 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ len_129^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_18^post64+__disjvr_18^0 == 0 /\ a_234^0-a_234^post64 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ f_167^0-f_167^post64 == 0 /\ a_144^0-i_28^post64 <= 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ x_172^0-x_172^post64 == 0 /\ -x_126^post64+x_126^0 == 0 /\ temp0_29^110-head_30^0 == 0 /\ -a_181^post64+a_181^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -__disjvr_3^post64+__disjvr_3^0 == 0 /\ -i_28^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -a_257^post64+a_257^0 == 0 /\ i_105^0-i_105^post64 == 0 /\ -a_212^post64+a_212^0 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ -a_144^0+i_28^post64 <= 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ __disjvr_15^0-__disjvr_15^post64 == 0 /\ r_37^0-r_37^post64 == 0 /\ -rcd_56^post64+rcd_56^0 == 0 /\ y_20^0-y_20^post64 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ __disjvr_30^0-__disjvr_30^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post64 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ -i_92^post64+i_92^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0), cost: 1
  67: l40 -> l64 : x_172^0'=x_172^post67, i_105^0'=i_105^post67, __disjvr_13^0'=__disjvr_13^post67, result_11^0'=result_11^post67, __disjvr_25^0'=__disjvr_25^post67, r_37^0'=r_37^post67, __disjvr_20^0'=__disjvr_20^post67, __disjvr_9^0'=__disjvr_9^post67, __disjvr_4^0'=__disjvr_4^post67, temp0_29^0'=temp0_29^post67, f_167^0'=f_167^post67, __disjvr_10^0'=__disjvr_10^post67, a_234^0'=a_234^post67, __disjvr_22^0'=__disjvr_22^post67, nondet_12^0'=nondet_12^post67, __disjvr_18^0'=__disjvr_18^post67, x_21^0'=x_21^post67, i_28^0'=i_28^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_86^0'=rcd_86^post67, a_144^0'=a_144^post67, __disjvr_6^0'=__disjvr_6^post67, tmp_32^0'=tmp_32^post67, __disjvr_15^0'=__disjvr_15^post67, x_14^0'=x_14^post67, head_30^0'=head_30^post67, __disjvr_12^0'=__disjvr_12^post67, ct_18^0'=ct_18^post67, __disjvr_24^0'=__disjvr_24^post67, r_160^0'=r_160^post67, __disjvr_1^0'=__disjvr_1^post67, y_20^0'=y_20^post67, len_129^0'=len_129^post67, __disjvr_3^0'=__disjvr_3^post67, temp0_16^0'=temp0_16^post67, __disjvr_29^0'=__disjvr_29^post67, __disjvr_0^0'=__disjvr_0^post67, a_212^0'=a_212^post67, __disjvr_8^0'=__disjvr_8^post67, length_27^0'=length_27^post67, __disjvr_17^0'=__disjvr_17^post67, x_17^0'=x_17^post67, i_164^0'=i_164^post67, __disjvr_14^0'=__disjvr_14^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_56^0'=rcd_56^post67, __disjvr_21^0'=__disjvr_21^post67, a_113^0'=a_113^post67, __disjvr_5^0'=__disjvr_5^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, head_15^0'=head_15^post67, __disjvr_11^0'=__disjvr_11^post67, a_257^0'=a_257^post67, __disjvr_23^0'=__disjvr_23^post67, r_121^0'=r_121^post67, __disjvr_19^0'=__disjvr_19^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, i_92^0'=i_92^post67, __disjvr_30^0'=__disjvr_30^post67, t_24^0'=t_24^post67, __disjvr_28^0'=__disjvr_28^post67, a_181^0'=a_181^post67, __disjvr_7^0'=__disjvr_7^post67, len_180^0'=len_180^post67, __disjvr_16^0'=__disjvr_16^post67, (0 == 0 /\ head_30^post67-tmp_32^post67 == 0 /\ -temp_33^0+tmp_32^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ -r_121^post67+r_121^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ r_37^0-r_37^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -len_180^post67+len_180^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ -t_24^post67+t_24^0 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -1-i_28^0+i_28^post67 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -a_181^post67+a_181^0 == 0 /\ -__disjvr_19^post67+__disjvr_19^0 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ -__disjvr_14^post67+__disjvr_14^0 == 0 /\ 1-i_28^post67+i_92^post67 <= 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ 1-length_27^0+i_92^post67 <= 0 /\ -length_27^post67+length_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ __disjvr_10^0-__disjvr_10^post67 == 0 /\ -a_144^post67+a_144^0 == 0 /\ x_172^0-x_172^post67 == 0 /\ i_164^0-i_164^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ a_212^0-a_212^post67 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_28^0 <= 0 /\ x_14^0-x_14^post67 == 0 /\ a_234^0-a_234^post67 == 0 /\ -__disjvr_21^post67+__disjvr_21^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ a_113^0-a_113^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ i_105^0-i_105^post67 == 0 /\ -a_257^post67+a_257^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -1+i_28^post67-i_92^post67 <= 0 /\ -x_17^post67+x_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_28^0-__disjvr_28^post67 == 0 /\ -rcd_56^post67+rcd_56^0 == 0 /\ -__disjvr_29^post67+__disjvr_29^0 == 0 /\ -r_160^post67+r_160^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_13^0-__disjvr_13^post67 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ -len_129^post67+len_129^0 == 0 /\ f_167^0-f_167^post67 == 0), cost: 1
  41: l41 -> l42 : x_172^0'=x_172^post41, i_105^0'=i_105^post41, __disjvr_13^0'=__disjvr_13^post41, result_11^0'=result_11^post41, __disjvr_25^0'=__disjvr_25^post41, r_37^0'=r_37^post41, __disjvr_20^0'=__disjvr_20^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_4^0'=__disjvr_4^post41, temp0_29^0'=temp0_29^post41, f_167^0'=f_167^post41, __disjvr_10^0'=__disjvr_10^post41, a_234^0'=a_234^post41, __disjvr_22^0'=__disjvr_22^post41, nondet_12^0'=nondet_12^post41, __disjvr_18^0'=__disjvr_18^post41, x_21^0'=x_21^post41, i_28^0'=i_28^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_86^0'=rcd_86^post41, a_144^0'=a_144^post41, __disjvr_6^0'=__disjvr_6^post41, tmp_32^0'=tmp_32^post41, __disjvr_15^0'=__disjvr_15^post41, x_14^0'=x_14^post41, head_30^0'=head_30^post41, __disjvr_12^0'=__disjvr_12^post41, ct_18^0'=ct_18^post41, __disjvr_24^0'=__disjvr_24^post41, r_160^0'=r_160^post41, __disjvr_1^0'=__disjvr_1^post41, y_20^0'=y_20^post41, len_129^0'=len_129^post41, __disjvr_3^0'=__disjvr_3^post41, temp0_16^0'=temp0_16^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, a_212^0'=a_212^post41, __disjvr_8^0'=__disjvr_8^post41, length_27^0'=length_27^post41, __disjvr_17^0'=__disjvr_17^post41, x_17^0'=x_17^post41, i_164^0'=i_164^post41, __disjvr_14^0'=__disjvr_14^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_56^0'=rcd_56^post41, __disjvr_21^0'=__disjvr_21^post41, a_113^0'=a_113^post41, __disjvr_5^0'=__disjvr_5^post41, temp_33^0'=temp_33^post41, x_126^0'=x_126^post41, head_15^0'=head_15^post41, __disjvr_11^0'=__disjvr_11^post41, a_257^0'=a_257^post41, __disjvr_23^0'=__disjvr_23^post41, r_121^0'=r_121^post41, __disjvr_19^0'=__disjvr_19^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, i_92^0'=i_92^post41, __disjvr_30^0'=__disjvr_30^post41, t_24^0'=t_24^post41, __disjvr_28^0'=__disjvr_28^post41, a_181^0'=a_181^post41, __disjvr_7^0'=__disjvr_7^post41, len_180^0'=len_180^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -x_21^post41+head_15^0 <= 0 /\ r_121^0-r_121^post41 == 0 /\ -__disjvr_26^post41+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ -a_212^post41+a_212^0 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ -head_15^post41+head_15^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0 /\ tmp_32^0-tmp_32^post41 == 0 /\ -x_14^0 <= 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -len_129^0 <= 0 /\ -x_17^post41+head_15^0 <= 0 /\ r_37^0-r_37^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ rcd_86^0-rcd_86^post41 == 0 /\ -ct_18^post41 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_21^post41-head_15^0 <= 0 /\ a_234^0-a_234^post41 == 0 /\ -x_126^post41+x_126^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_17^post41-head_15^0 <= 0 /\ x_17^post41-head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -a_257^post41+a_257^0 == 0 /\ -a_144^0 <= 0 /\ a_144^0-a_144^post41 == 0 /\ -t_24^post41+t_24^0 == 0 /\ -a_113^post41+a_113^0 == 0 /\ -f_167^post41+f_167^0 == 0 /\ x_21^post41-x_SLAM_f_19^post41 <= 0 /\ x_21^post41-x_SLAM_f_19^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ length_27^0-length_27^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -head_30^post41+head_30^0 == 0 /\ x_SLAM_f_19^post41-head_15^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -i_92^post41+i_92^0 == 0 /\ x_172^0-x_172^post41 == 0 /\ x_17^post41-x_SLAM_f_19^post41 <= 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -a_181^post41+a_181^0 == 0 /\ -rcd_56^post41+rcd_56^0 == 0 /\ i_28^0-i_28^post41 == 0 /\ y_20^post41-ct_18^post41 <= 0 /\ y_20^post41-ct_18^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ y_20^post41 <= 0 /\ -y_20^post41 <= 0 /\ -x_21^post41+x_SLAM_f_19^post41 <= 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -i_164^post41+i_164^0 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ -x_SLAM_f_19^post41+head_15^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ -temp0_29^post41+temp0_29^0 == 0 /\ i_105^0-i_105^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ -x_17^post41+x_SLAM_f_19^post41 <= 0 /\ -x_17^post41+x_SLAM_f_19^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ len_129^0-len_129^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ r_160^0-r_160^post41 == 0 /\ ct_18^post41 <= 0 /\ ct_18^post41 == 0 /\ -y_20^post41+ct_18^post41 <= 0 /\ x_14^0-x_14^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41 == 0), cost: 1
  44: l41 -> l45 : x_172^0'=x_172^post44, i_105^0'=i_105^post44, __disjvr_13^0'=__disjvr_13^post44, result_11^0'=result_11^post44, __disjvr_25^0'=__disjvr_25^post44, r_37^0'=r_37^post44, __disjvr_20^0'=__disjvr_20^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_4^0'=__disjvr_4^post44, temp0_29^0'=temp0_29^post44, f_167^0'=f_167^post44, __disjvr_10^0'=__disjvr_10^post44, a_234^0'=a_234^post44, __disjvr_22^0'=__disjvr_22^post44, nondet_12^0'=nondet_12^post44, __disjvr_18^0'=__disjvr_18^post44, x_21^0'=x_21^post44, i_28^0'=i_28^post44, __disjvr_2^0'=__disjvr_2^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_27^0'=__disjvr_27^post44, rcd_86^0'=rcd_86^post44, a_144^0'=a_144^post44, __disjvr_6^0'=__disjvr_6^post44, tmp_32^0'=tmp_32^post44, __disjvr_15^0'=__disjvr_15^post44, x_14^0'=x_14^post44, head_30^0'=head_30^post44, __disjvr_12^0'=__disjvr_12^post44, ct_18^0'=ct_18^post44, __disjvr_24^0'=__disjvr_24^post44, r_160^0'=r_160^post44, __disjvr_1^0'=__disjvr_1^post44, y_20^0'=y_20^post44, len_129^0'=len_129^post44, __disjvr_3^0'=__disjvr_3^post44, temp0_16^0'=temp0_16^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, a_212^0'=a_212^post44, __disjvr_8^0'=__disjvr_8^post44, length_27^0'=length_27^post44, __disjvr_17^0'=__disjvr_17^post44, x_17^0'=x_17^post44, i_164^0'=i_164^post44, __disjvr_14^0'=__disjvr_14^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44, __disjvr_26^0'=__disjvr_26^post44, rcd_56^0'=rcd_56^post44, __disjvr_21^0'=__disjvr_21^post44, a_113^0'=a_113^post44, __disjvr_5^0'=__disjvr_5^post44, temp_33^0'=temp_33^post44, x_126^0'=x_126^post44, head_15^0'=head_15^post44, __disjvr_11^0'=__disjvr_11^post44, a_257^0'=a_257^post44, __disjvr_23^0'=__disjvr_23^post44, r_121^0'=r_121^post44, __disjvr_19^0'=__disjvr_19^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, i_92^0'=i_92^post44, __disjvr_30^0'=__disjvr_30^post44, t_24^0'=t_24^post44, __disjvr_28^0'=__disjvr_28^post44, a_181^0'=a_181^post44, __disjvr_7^0'=__disjvr_7^post44, len_180^0'=len_180^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ len_129^0-len_129^post44 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ r_160^0-r_160^post44 == 0 /\ -len_129^0 <= 0 /\ -x_17^post44+x_17^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ tmp_32^0-tmp_32^post44 == 0 /\ rcd_86^0-rcd_86^post44 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post44+x_SLAM_f_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_164^post44+i_164^0 == 0 /\ a_144^0-a_144^post44 == 0 /\ -i_92^post44+i_92^0 == 0 /\ -head_30^post44+head_30^0 == 0 /\ i_28^0-i_28^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -x_14^post44+x_14^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -r_121^post44+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_144^0 <= 0 /\ a_234^0-a_234^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ temp0_29^0-temp0_29^post44 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -__disjvr_21^post44+__disjvr_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ length_27^0-length_27^post44 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ -__disjvr_0^post44+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -temp_33^post44+temp_33^0 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ -x_126^post44+x_126^0 == 0 /\ -a_257^post44+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -a_113^post44+a_113^0 == 0 /\ -t_24^post44+t_24^0 == 0 /\ __disjvr_12^0-__disjvr_12^post44 == 0 /\ -a_181^post44+a_181^0 == 0 /\ -a_212^post44+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -len_180^post44+len_180^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ y_20^0-y_20^post44 == 0 /\ -rcd_56^post44+rcd_56^0 == 0), cost: 1
  42: l42 -> l43 : x_172^0'=x_172^post42, i_105^0'=i_105^post42, __disjvr_13^0'=__disjvr_13^post42, result_11^0'=result_11^post42, __disjvr_25^0'=__disjvr_25^post42, r_37^0'=r_37^post42, __disjvr_20^0'=__disjvr_20^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_4^0'=__disjvr_4^post42, temp0_29^0'=temp0_29^post42, f_167^0'=f_167^post42, __disjvr_10^0'=__disjvr_10^post42, a_234^0'=a_234^post42, __disjvr_22^0'=__disjvr_22^post42, nondet_12^0'=nondet_12^post42, __disjvr_18^0'=__disjvr_18^post42, x_21^0'=x_21^post42, i_28^0'=i_28^post42, __disjvr_2^0'=__disjvr_2^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_27^0'=__disjvr_27^post42, rcd_86^0'=rcd_86^post42, a_144^0'=a_144^post42, __disjvr_6^0'=__disjvr_6^post42, tmp_32^0'=tmp_32^post42, __disjvr_15^0'=__disjvr_15^post42, x_14^0'=x_14^post42, head_30^0'=head_30^post42, __disjvr_12^0'=__disjvr_12^post42, ct_18^0'=ct_18^post42, __disjvr_24^0'=__disjvr_24^post42, r_160^0'=r_160^post42, __disjvr_1^0'=__disjvr_1^post42, y_20^0'=y_20^post42, len_129^0'=len_129^post42, __disjvr_3^0'=__disjvr_3^post42, temp0_16^0'=temp0_16^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, a_212^0'=a_212^post42, __disjvr_8^0'=__disjvr_8^post42, length_27^0'=length_27^post42, __disjvr_17^0'=__disjvr_17^post42, x_17^0'=x_17^post42, i_164^0'=i_164^post42, __disjvr_14^0'=__disjvr_14^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42, __disjvr_26^0'=__disjvr_26^post42, rcd_56^0'=rcd_56^post42, __disjvr_21^0'=__disjvr_21^post42, a_113^0'=a_113^post42, __disjvr_5^0'=__disjvr_5^post42, temp_33^0'=temp_33^post42, x_126^0'=x_126^post42, head_15^0'=head_15^post42, __disjvr_11^0'=__disjvr_11^post42, a_257^0'=a_257^post42, __disjvr_23^0'=__disjvr_23^post42, r_121^0'=r_121^post42, __disjvr_19^0'=__disjvr_19^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, i_92^0'=i_92^post42, __disjvr_30^0'=__disjvr_30^post42, t_24^0'=t_24^post42, __disjvr_28^0'=__disjvr_28^post42, a_181^0'=a_181^post42, __disjvr_7^0'=__disjvr_7^post42, len_180^0'=len_180^post42, __disjvr_16^0'=__disjvr_16^post42, (__disjvr_20^0-__disjvr_20^post42 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -r_121^post42+r_121^0 == 0 /\ i_28^0-i_28^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ x_21^0-x_21^post42 == 0 /\ length_27^0-length_27^post42 == 0 /\ -a_212^post42+a_212^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post42 == 0 /\ x_172^0-x_172^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ i_105^0-i_105^post42 == 0 /\ r_37^0-r_37^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -a_257^post42+a_257^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ rcd_86^0-rcd_86^post42 == 0 /\ x_17^0-x_17^post42 == 0 /\ -len_129^post42+len_129^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ tmp_32^0-tmp_32^post42 == 0 /\ head_30^0-head_30^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ r_160^0-r_160^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ -i_164^post42+i_164^0 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ f_167^0-f_167^post42 == 0 /\ -x_126^post42+x_126^0 == 0 /\ -ct_18^post42+ct_18^0 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ -a_181^post42+a_181^0 == 0 /\ -i_92^post42+i_92^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ a_113^0-a_113^post42 == 0 /\ temp0_29^0-temp0_29^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ a_234^0-a_234^post42 == 0 /\ -a_144^post42+a_144^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -rcd_56^post42+rcd_56^0 == 0), cost: 1
  43: l43 -> l20 : x_172^0'=x_172^post43, i_105^0'=i_105^post43, __disjvr_13^0'=__disjvr_13^post43, result_11^0'=result_11^post43, __disjvr_25^0'=__disjvr_25^post43, r_37^0'=r_37^post43, __disjvr_20^0'=__disjvr_20^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_4^0'=__disjvr_4^post43, temp0_29^0'=temp0_29^post43, f_167^0'=f_167^post43, __disjvr_10^0'=__disjvr_10^post43, a_234^0'=a_234^post43, __disjvr_22^0'=__disjvr_22^post43, nondet_12^0'=nondet_12^post43, __disjvr_18^0'=__disjvr_18^post43, x_21^0'=x_21^post43, i_28^0'=i_28^post43, __disjvr_2^0'=__disjvr_2^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_27^0'=__disjvr_27^post43, rcd_86^0'=rcd_86^post43, a_144^0'=a_144^post43, __disjvr_6^0'=__disjvr_6^post43, tmp_32^0'=tmp_32^post43, __disjvr_15^0'=__disjvr_15^post43, x_14^0'=x_14^post43, head_30^0'=head_30^post43, __disjvr_12^0'=__disjvr_12^post43, ct_18^0'=ct_18^post43, __disjvr_24^0'=__disjvr_24^post43, r_160^0'=r_160^post43, __disjvr_1^0'=__disjvr_1^post43, y_20^0'=y_20^post43, len_129^0'=len_129^post43, __disjvr_3^0'=__disjvr_3^post43, temp0_16^0'=temp0_16^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, a_212^0'=a_212^post43, __disjvr_8^0'=__disjvr_8^post43, length_27^0'=length_27^post43, __disjvr_17^0'=__disjvr_17^post43, x_17^0'=x_17^post43, i_164^0'=i_164^post43, __disjvr_14^0'=__disjvr_14^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43, __disjvr_26^0'=__disjvr_26^post43, rcd_56^0'=rcd_56^post43, __disjvr_21^0'=__disjvr_21^post43, a_113^0'=a_113^post43, __disjvr_5^0'=__disjvr_5^post43, temp_33^0'=temp_33^post43, x_126^0'=x_126^post43, head_15^0'=head_15^post43, __disjvr_11^0'=__disjvr_11^post43, a_257^0'=a_257^post43, __disjvr_23^0'=__disjvr_23^post43, r_121^0'=r_121^post43, __disjvr_19^0'=__disjvr_19^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, i_92^0'=i_92^post43, __disjvr_30^0'=__disjvr_30^post43, t_24^0'=t_24^post43, __disjvr_28^0'=__disjvr_28^post43, a_181^0'=a_181^post43, __disjvr_7^0'=__disjvr_7^post43, len_180^0'=len_180^post43, __disjvr_16^0'=__disjvr_16^post43, (__disjvr_4^0-__disjvr_4^post43 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -rcd_56^post43+rcd_56^0 == 0 /\ -i_92^post43+i_92^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -length_27^post43+length_27^0 == 0 /\ -head_30^post43+head_30^0 == 0 /\ a_257^0-a_257^post43 == 0 /\ __disjvr_27^0-__disjvr_27^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ -r_160^post43+r_160^0 == 0 /\ -i_28^post43+i_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ __disjvr_2^0-__disjvr_2^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post43+__disjvr_11^0 == 0 /\ a_212^0-a_212^post43 == 0 /\ -len_180^post43+len_180^0 == 0 /\ r_37^0-r_37^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ x_172^0-x_172^post43 == 0 /\ -y_20^post43+y_20^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_113^post43+a_113^0 == 0 /\ len_129^0-len_129^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_126^post43+x_126^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ rcd_86^0-rcd_86^post43 == 0 /\ i_164^0-i_164^post43 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ x_21^0-x_21^post43 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -a_181^post43+a_181^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ f_167^0-f_167^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ -t_24^post43+t_24^0 == 0 /\ temp0_29^0-temp0_29^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ -tmp_32^post43+tmp_32^0 == 0 /\ -r_121^post43+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ a_234^0-a_234^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_5^0-__disjvr_5^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ i_105^0-i_105^post43 == 0 /\ a_144^0-a_144^post43 == 0), cost: 1
  45: l45 -> l46 : x_172^0'=x_172^post45, i_105^0'=i_105^post45, __disjvr_13^0'=__disjvr_13^post45, result_11^0'=result_11^post45, __disjvr_25^0'=__disjvr_25^post45, r_37^0'=r_37^post45, __disjvr_20^0'=__disjvr_20^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_4^0'=__disjvr_4^post45, temp0_29^0'=temp0_29^post45, f_167^0'=f_167^post45, __disjvr_10^0'=__disjvr_10^post45, a_234^0'=a_234^post45, __disjvr_22^0'=__disjvr_22^post45, nondet_12^0'=nondet_12^post45, __disjvr_18^0'=__disjvr_18^post45, x_21^0'=x_21^post45, i_28^0'=i_28^post45, __disjvr_2^0'=__disjvr_2^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_27^0'=__disjvr_27^post45, rcd_86^0'=rcd_86^post45, a_144^0'=a_144^post45, __disjvr_6^0'=__disjvr_6^post45, tmp_32^0'=tmp_32^post45, __disjvr_15^0'=__disjvr_15^post45, x_14^0'=x_14^post45, head_30^0'=head_30^post45, __disjvr_12^0'=__disjvr_12^post45, ct_18^0'=ct_18^post45, __disjvr_24^0'=__disjvr_24^post45, r_160^0'=r_160^post45, __disjvr_1^0'=__disjvr_1^post45, y_20^0'=y_20^post45, len_129^0'=len_129^post45, __disjvr_3^0'=__disjvr_3^post45, temp0_16^0'=temp0_16^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, a_212^0'=a_212^post45, __disjvr_8^0'=__disjvr_8^post45, length_27^0'=length_27^post45, __disjvr_17^0'=__disjvr_17^post45, x_17^0'=x_17^post45, i_164^0'=i_164^post45, __disjvr_14^0'=__disjvr_14^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45, __disjvr_26^0'=__disjvr_26^post45, rcd_56^0'=rcd_56^post45, __disjvr_21^0'=__disjvr_21^post45, a_113^0'=a_113^post45, __disjvr_5^0'=__disjvr_5^post45, temp_33^0'=temp_33^post45, x_126^0'=x_126^post45, head_15^0'=head_15^post45, __disjvr_11^0'=__disjvr_11^post45, a_257^0'=a_257^post45, __disjvr_23^0'=__disjvr_23^post45, r_121^0'=r_121^post45, __disjvr_19^0'=__disjvr_19^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, i_92^0'=i_92^post45, __disjvr_30^0'=__disjvr_30^post45, t_24^0'=t_24^post45, __disjvr_28^0'=__disjvr_28^post45, a_181^0'=a_181^post45, __disjvr_7^0'=__disjvr_7^post45, len_180^0'=len_180^post45, __disjvr_16^0'=__disjvr_16^post45, (__disjvr_6^0-__disjvr_6^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ head_30^0-head_30^post45 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ __disjvr_21^post45-__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ -a_181^post45+a_181^0 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_234^0-a_234^post45 == 0 /\ r_121^0-r_121^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_126^post45+x_126^0 == 0 /\ -a_257^post45+a_257^0 == 0 /\ -__disjvr_14^post45+__disjvr_14^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ i_92^0-i_92^post45 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_144^post45+a_144^0 == 0 /\ -rcd_56^post45+rcd_56^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ x_172^0-x_172^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ -temp_33^post45+temp_33^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ -i_164^post45+i_164^0 == 0 /\ __disjvr_12^0-__disjvr_12^post45 == 0 /\ x_14^0-x_14^post45 == 0 /\ len_129^0-len_129^post45 == 0 /\ -r_160^post45+r_160^0 == 0 /\ a_212^0-a_212^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -length_27^post45+length_27^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ x_17^0-x_17^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ a_113^0-a_113^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ -head_15^post45+head_15^0 == 0 /\ tmp_32^0-tmp_32^post45 == 0 /\ x_21^0-x_21^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ f_167^0-f_167^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ -rcd_86^post45+rcd_86^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ i_28^0-i_28^post45 == 0 /\ i_105^0-i_105^post45 == 0 /\ temp0_29^0-temp0_29^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0), cost: 1
  46: l46 -> l47 : x_172^0'=x_172^post46, i_105^0'=i_105^post46, __disjvr_13^0'=__disjvr_13^post46, result_11^0'=result_11^post46, __disjvr_25^0'=__disjvr_25^post46, r_37^0'=r_37^post46, __disjvr_20^0'=__disjvr_20^post46, __disjvr_9^0'=__disjvr_9^post46, __disjvr_4^0'=__disjvr_4^post46, temp0_29^0'=temp0_29^post46, f_167^0'=f_167^post46, __disjvr_10^0'=__disjvr_10^post46, a_234^0'=a_234^post46, __disjvr_22^0'=__disjvr_22^post46, nondet_12^0'=nondet_12^post46, __disjvr_18^0'=__disjvr_18^post46, x_21^0'=x_21^post46, i_28^0'=i_28^post46, __disjvr_2^0'=__disjvr_2^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_27^0'=__disjvr_27^post46, rcd_86^0'=rcd_86^post46, a_144^0'=a_144^post46, __disjvr_6^0'=__disjvr_6^post46, tmp_32^0'=tmp_32^post46, __disjvr_15^0'=__disjvr_15^post46, x_14^0'=x_14^post46, head_30^0'=head_30^post46, __disjvr_12^0'=__disjvr_12^post46, ct_18^0'=ct_18^post46, __disjvr_24^0'=__disjvr_24^post46, r_160^0'=r_160^post46, __disjvr_1^0'=__disjvr_1^post46, y_20^0'=y_20^post46, len_129^0'=len_129^post46, __disjvr_3^0'=__disjvr_3^post46, temp0_16^0'=temp0_16^post46, __disjvr_29^0'=__disjvr_29^post46, __disjvr_0^0'=__disjvr_0^post46, a_212^0'=a_212^post46, __disjvr_8^0'=__disjvr_8^post46, length_27^0'=length_27^post46, __disjvr_17^0'=__disjvr_17^post46, x_17^0'=x_17^post46, i_164^0'=i_164^post46, __disjvr_14^0'=__disjvr_14^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46, __disjvr_26^0'=__disjvr_26^post46, rcd_56^0'=rcd_56^post46, __disjvr_21^0'=__disjvr_21^post46, a_113^0'=a_113^post46, __disjvr_5^0'=__disjvr_5^post46, temp_33^0'=temp_33^post46, x_126^0'=x_126^post46, head_15^0'=head_15^post46, __disjvr_11^0'=__disjvr_11^post46, a_257^0'=a_257^post46, __disjvr_23^0'=__disjvr_23^post46, r_121^0'=r_121^post46, __disjvr_19^0'=__disjvr_19^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, i_92^0'=i_92^post46, __disjvr_30^0'=__disjvr_30^post46, t_24^0'=t_24^post46, __disjvr_28^0'=__disjvr_28^post46, a_181^0'=a_181^post46, __disjvr_7^0'=__disjvr_7^post46, len_180^0'=len_180^post46, __disjvr_16^0'=__disjvr_16^post46, (0 == 0 /\ i_92^0-i_92^post46 == 0 /\ x_17^0-x_17^post46 == 0 /\ -a_113^post46+a_113^0 == 0 /\ -t_24^post46+t_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ tmp_32^0-tmp_32^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_19^post46+__disjvr_19^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ -len_129^post46+len_129^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -a_144^post46+a_144^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ 1-a_144^0+a_181^post46 <= 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -x_126^post46+x_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ f_167^0-f_167^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ 1-len_180^post46+len_129^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ a_212^0-a_212^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ i_105^0-i_105^post46 == 0 /\ temp0_29^0-temp0_29^post46 == 0 /\ -__disjvr_14^post46+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -f_167^0+x_14^0 <= 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ i_164^0-i_164^post46 == 0 /\ -r_160^post46+r_160^0 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -rcd_56^post46+rcd_56^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ -a_234^post46+a_234^0 == 0 /\ -i_28^post46+i_28^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ -length_27^post46+length_27^0 == 0 /\ -r_121^post46+r_121^0 == 0 /\ -1+a_144^0-a_181^post46 <= 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ r_37^0-r_37^post46 == 0 /\ head_30^0-head_30^post46 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ x_172^0-x_172^post46 == 0 /\ f_167^0-x_14^0 <= 0 /\ -a_257^post46+a_257^0 == 0 /\ -temp_33^post46+temp_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ -y_20^post46+y_20^0 == 0 /\ rcd_86^0-rcd_86^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -x_21^post46+x_21^0 == 0 /\ -1+len_180^post46-len_129^0 <= 0), cost: 1
  47: l47 -> l48 : x_172^0'=x_172^post47, i_105^0'=i_105^post47, __disjvr_13^0'=__disjvr_13^post47, result_11^0'=result_11^post47, __disjvr_25^0'=__disjvr_25^post47, r_37^0'=r_37^post47, __disjvr_20^0'=__disjvr_20^post47, __disjvr_9^0'=__disjvr_9^post47, __disjvr_4^0'=__disjvr_4^post47, temp0_29^0'=temp0_29^post47, f_167^0'=f_167^post47, __disjvr_10^0'=__disjvr_10^post47, a_234^0'=a_234^post47, __disjvr_22^0'=__disjvr_22^post47, nondet_12^0'=nondet_12^post47, __disjvr_18^0'=__disjvr_18^post47, x_21^0'=x_21^post47, i_28^0'=i_28^post47, __disjvr_2^0'=__disjvr_2^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_27^0'=__disjvr_27^post47, rcd_86^0'=rcd_86^post47, a_144^0'=a_144^post47, __disjvr_6^0'=__disjvr_6^post47, tmp_32^0'=tmp_32^post47, __disjvr_15^0'=__disjvr_15^post47, x_14^0'=x_14^post47, head_30^0'=head_30^post47, __disjvr_12^0'=__disjvr_12^post47, ct_18^0'=ct_18^post47, __disjvr_24^0'=__disjvr_24^post47, r_160^0'=r_160^post47, __disjvr_1^0'=__disjvr_1^post47, y_20^0'=y_20^post47, len_129^0'=len_129^post47, __disjvr_3^0'=__disjvr_3^post47, temp0_16^0'=temp0_16^post47, __disjvr_29^0'=__disjvr_29^post47, __disjvr_0^0'=__disjvr_0^post47, a_212^0'=a_212^post47, __disjvr_8^0'=__disjvr_8^post47, length_27^0'=length_27^post47, __disjvr_17^0'=__disjvr_17^post47, x_17^0'=x_17^post47, i_164^0'=i_164^post47, __disjvr_14^0'=__disjvr_14^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47, __disjvr_26^0'=__disjvr_26^post47, rcd_56^0'=rcd_56^post47, __disjvr_21^0'=__disjvr_21^post47, a_113^0'=a_113^post47, __disjvr_5^0'=__disjvr_5^post47, temp_33^0'=temp_33^post47, x_126^0'=x_126^post47, head_15^0'=head_15^post47, __disjvr_11^0'=__disjvr_11^post47, a_257^0'=a_257^post47, __disjvr_23^0'=__disjvr_23^post47, r_121^0'=r_121^post47, __disjvr_19^0'=__disjvr_19^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, i_92^0'=i_92^post47, __disjvr_30^0'=__disjvr_30^post47, t_24^0'=t_24^post47, __disjvr_28^0'=__disjvr_28^post47, a_181^0'=a_181^post47, __disjvr_7^0'=__disjvr_7^post47, len_180^0'=len_180^post47, __disjvr_16^0'=__disjvr_16^post47, (tmp_32^0-tmp_32^post47 == 0 /\ -temp0_29^post47+temp0_29^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ -i_164^post47+i_164^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ y_20^0-y_20^post47 == 0 /\ __disjvr_17^0-__disjvr_17^post47 == 0 /\ -len_180^post47+len_180^0 == 0 /\ r_160^0-r_160^post47 == 0 /\ -r_121^post47+r_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ -x_14^post47+x_14^0 == 0 /\ -__disjvr_24^post47+__disjvr_24^0 == 0 /\ -rcd_86^post47+rcd_86^0 == 0 /\ -a_212^post47+a_212^0 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ -a_113^post47+a_113^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ -head_15^post47+head_15^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -a_181^post47+a_181^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_16^post47+__disjvr_16^0 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post47 == 0 /\ -__disjvr_0^post47+__disjvr_0^0 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -x_126^post47+x_126^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ i_28^0-i_28^post47 == 0 /\ rcd_56^0-rcd_56^post47 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ a_234^0-a_234^post47 == 0 /\ x_172^0-x_172^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -f_167^post47+f_167^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -a_257^post47+a_257^0 == 0 /\ i_105^0-i_105^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ head_30^0-head_30^post47 == 0 /\ __disjvr_27^0-__disjvr_27^post47 == 0 /\ __disjvr_22^0-__disjvr_22^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ length_27^0-length_27^post47 == 0 /\ -x_17^post47+x_17^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -i_92^post47+i_92^0 == 0 /\ len_129^0-len_129^post47 == 0), cost: 1
  48: l48 -> l49 : x_172^0'=x_172^post48, i_105^0'=i_105^post48, __disjvr_13^0'=__disjvr_13^post48, result_11^0'=result_11^post48, __disjvr_25^0'=__disjvr_25^post48, r_37^0'=r_37^post48, __disjvr_20^0'=__disjvr_20^post48, __disjvr_9^0'=__disjvr_9^post48, __disjvr_4^0'=__disjvr_4^post48, temp0_29^0'=temp0_29^post48, f_167^0'=f_167^post48, __disjvr_10^0'=__disjvr_10^post48, a_234^0'=a_234^post48, __disjvr_22^0'=__disjvr_22^post48, nondet_12^0'=nondet_12^post48, __disjvr_18^0'=__disjvr_18^post48, x_21^0'=x_21^post48, i_28^0'=i_28^post48, __disjvr_2^0'=__disjvr_2^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_27^0'=__disjvr_27^post48, rcd_86^0'=rcd_86^post48, a_144^0'=a_144^post48, __disjvr_6^0'=__disjvr_6^post48, tmp_32^0'=tmp_32^post48, __disjvr_15^0'=__disjvr_15^post48, x_14^0'=x_14^post48, head_30^0'=head_30^post48, __disjvr_12^0'=__disjvr_12^post48, ct_18^0'=ct_18^post48, __disjvr_24^0'=__disjvr_24^post48, r_160^0'=r_160^post48, __disjvr_1^0'=__disjvr_1^post48, y_20^0'=y_20^post48, len_129^0'=len_129^post48, __disjvr_3^0'=__disjvr_3^post48, temp0_16^0'=temp0_16^post48, __disjvr_29^0'=__disjvr_29^post48, __disjvr_0^0'=__disjvr_0^post48, a_212^0'=a_212^post48, __disjvr_8^0'=__disjvr_8^post48, length_27^0'=length_27^post48, __disjvr_17^0'=__disjvr_17^post48, x_17^0'=x_17^post48, i_164^0'=i_164^post48, __disjvr_14^0'=__disjvr_14^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48, __disjvr_26^0'=__disjvr_26^post48, rcd_56^0'=rcd_56^post48, __disjvr_21^0'=__disjvr_21^post48, a_113^0'=a_113^post48, __disjvr_5^0'=__disjvr_5^post48, temp_33^0'=temp_33^post48, x_126^0'=x_126^post48, head_15^0'=head_15^post48, __disjvr_11^0'=__disjvr_11^post48, a_257^0'=a_257^post48, __disjvr_23^0'=__disjvr_23^post48, r_121^0'=r_121^post48, __disjvr_19^0'=__disjvr_19^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, i_92^0'=i_92^post48, __disjvr_30^0'=__disjvr_30^post48, t_24^0'=t_24^post48, __disjvr_28^0'=__disjvr_28^post48, a_181^0'=a_181^post48, __disjvr_7^0'=__disjvr_7^post48, len_180^0'=len_180^post48, __disjvr_16^0'=__disjvr_16^post48, (-__disjvr_26^post48+__disjvr_26^0 == 0 /\ length_27^0-length_27^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_212^post48+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post48 == 0 /\ -head_15^post48+head_15^0 == 0 /\ x_126^0-x_126^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -rcd_56^post48+rcd_56^0 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_30^post48+__disjvr_30^0 == 0 /\ -a_181^post48+a_181^0 == 0 /\ -r_160^post48+r_160^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ x_14^0-x_14^post48 == 0 /\ x_17^0-x_17^post48 == 0 /\ -len_129^post48+len_129^0 == 0 /\ r_37^0-r_37^post48 == 0 /\ i_105^0-i_105^post48 == 0 /\ x_172^0-x_172^post48 == 0 /\ tmp_32^0-tmp_32^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post48+len_180^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ __disjvr_1^0-__disjvr_1^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ head_30^0-head_30^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ -a_257^post48+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ -y_20^post48+y_20^0 == 0 /\ rcd_86^0-rcd_86^post48 == 0 /\ a_234^0-a_234^post48 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ -__disjvr_28^post48+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_25^0-__disjvr_25^post48 == 0 /\ -i_92^post48+i_92^0 == 0 /\ __disjvr_7^0-__disjvr_7^post48 == 0 /\ -a_144^post48+a_144^0 == 0 /\ -__disjvr_11^post48+__disjvr_11^0 == 0 /\ -__disjvr_16^post48+__disjvr_16^0 == 0 /\ -__disjvr_14^post48+__disjvr_14^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ a_113^0-a_113^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -r_121^post48+r_121^0 == 0 /\ -i_164^post48+i_164^0 == 0 /\ -__disjvr_0^post48+__disjvr_0^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -ct_18^post48+ct_18^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ f_167^0-f_167^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -__disjvr_21^post48+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post48 == 0 /\ temp0_29^0-temp0_29^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ i_28^0-i_28^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post48 == 0), cost: 1
  49: l49 -> l44 : x_172^0'=x_172^post49, i_105^0'=i_105^post49, __disjvr_13^0'=__disjvr_13^post49, result_11^0'=result_11^post49, __disjvr_25^0'=__disjvr_25^post49, r_37^0'=r_37^post49, __disjvr_20^0'=__disjvr_20^post49, __disjvr_9^0'=__disjvr_9^post49, __disjvr_4^0'=__disjvr_4^post49, temp0_29^0'=temp0_29^post49, f_167^0'=f_167^post49, __disjvr_10^0'=__disjvr_10^post49, a_234^0'=a_234^post49, __disjvr_22^0'=__disjvr_22^post49, nondet_12^0'=nondet_12^post49, __disjvr_18^0'=__disjvr_18^post49, x_21^0'=x_21^post49, i_28^0'=i_28^post49, __disjvr_2^0'=__disjvr_2^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_27^0'=__disjvr_27^post49, rcd_86^0'=rcd_86^post49, a_144^0'=a_144^post49, __disjvr_6^0'=__disjvr_6^post49, tmp_32^0'=tmp_32^post49, __disjvr_15^0'=__disjvr_15^post49, x_14^0'=x_14^post49, head_30^0'=head_30^post49, __disjvr_12^0'=__disjvr_12^post49, ct_18^0'=ct_18^post49, __disjvr_24^0'=__disjvr_24^post49, r_160^0'=r_160^post49, __disjvr_1^0'=__disjvr_1^post49, y_20^0'=y_20^post49, len_129^0'=len_129^post49, __disjvr_3^0'=__disjvr_3^post49, temp0_16^0'=temp0_16^post49, __disjvr_29^0'=__disjvr_29^post49, __disjvr_0^0'=__disjvr_0^post49, a_212^0'=a_212^post49, __disjvr_8^0'=__disjvr_8^post49, length_27^0'=length_27^post49, __disjvr_17^0'=__disjvr_17^post49, x_17^0'=x_17^post49, i_164^0'=i_164^post49, __disjvr_14^0'=__disjvr_14^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49, __disjvr_26^0'=__disjvr_26^post49, rcd_56^0'=rcd_56^post49, __disjvr_21^0'=__disjvr_21^post49, a_113^0'=a_113^post49, __disjvr_5^0'=__disjvr_5^post49, temp_33^0'=temp_33^post49, x_126^0'=x_126^post49, head_15^0'=head_15^post49, __disjvr_11^0'=__disjvr_11^post49, a_257^0'=a_257^post49, __disjvr_23^0'=__disjvr_23^post49, r_121^0'=r_121^post49, __disjvr_19^0'=__disjvr_19^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, i_92^0'=i_92^post49, __disjvr_30^0'=__disjvr_30^post49, t_24^0'=t_24^post49, __disjvr_28^0'=__disjvr_28^post49, a_181^0'=a_181^post49, __disjvr_7^0'=__disjvr_7^post49, len_180^0'=len_180^post49, __disjvr_16^0'=__disjvr_16^post49, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ -y_20^post49+y_20^0 == 0 /\ -__disjvr_30^post49+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ len_129^post49-len_180^0 <= 0 /\ -ct_18^post49+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ f_167^0-f_167^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -i_92^post49+i_92^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -a_257^post49+a_257^0 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ -length_27^post49+length_27^0 == 0 /\ x_126^0-x_126^post49 == 0 /\ i_164^0-i_164^post49 == 0 /\ temp0_29^0-temp0_29^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ -len_129^post49+len_180^0 <= 0 /\ -tmp_32^post49+tmp_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post49 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -__disjvr_29^post49+__disjvr_29^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -__disjvr_21^post49+__disjvr_21^0 == 0 /\ -a_144^post49+a_181^0 <= 0 /\ i_28^0-i_28^post49 == 0 /\ r_37^0-r_37^post49 == 0 /\ -__disjvr_11^post49+__disjvr_11^0 == 0 /\ -a_113^post49+a_113^0 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post49 == 0 /\ a_212^0-a_212^post49 == 0 /\ -temp_33^post49+temp_33^0 == 0 /\ x_14^0-x_14^post49 == 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -rcd_56^post49+rcd_56^0 == 0 /\ -r_160^post49+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ a_144^post49-a_181^0 <= 0 /\ i_105^0-i_105^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_234^post49+a_234^0 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_12^0-__disjvr_12^post49 == 0 /\ -a_181^post49+a_181^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -head_15^post49+head_15^0 == 0 /\ -__disjvr_14^post49+__disjvr_14^0 == 0 /\ -r_121^post49+r_121^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ -len_180^post49+len_180^0 == 0 /\ head_30^0-head_30^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ x_172^0-x_172^post49 == 0), cost: 1
  50: l44 -> l41 : x_172^0'=x_172^post50, i_105^0'=i_105^post50, __disjvr_13^0'=__disjvr_13^post50, result_11^0'=result_11^post50, __disjvr_25^0'=__disjvr_25^post50, r_37^0'=r_37^post50, __disjvr_20^0'=__disjvr_20^post50, __disjvr_9^0'=__disjvr_9^post50, __disjvr_4^0'=__disjvr_4^post50, temp0_29^0'=temp0_29^post50, f_167^0'=f_167^post50, __disjvr_10^0'=__disjvr_10^post50, a_234^0'=a_234^post50, __disjvr_22^0'=__disjvr_22^post50, nondet_12^0'=nondet_12^post50, __disjvr_18^0'=__disjvr_18^post50, x_21^0'=x_21^post50, i_28^0'=i_28^post50, __disjvr_2^0'=__disjvr_2^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_27^0'=__disjvr_27^post50, rcd_86^0'=rcd_86^post50, a_144^0'=a_144^post50, __disjvr_6^0'=__disjvr_6^post50, tmp_32^0'=tmp_32^post50, __disjvr_15^0'=__disjvr_15^post50, x_14^0'=x_14^post50, head_30^0'=head_30^post50, __disjvr_12^0'=__disjvr_12^post50, ct_18^0'=ct_18^post50, __disjvr_24^0'=__disjvr_24^post50, r_160^0'=r_160^post50, __disjvr_1^0'=__disjvr_1^post50, y_20^0'=y_20^post50, len_129^0'=len_129^post50, __disjvr_3^0'=__disjvr_3^post50, temp0_16^0'=temp0_16^post50, __disjvr_29^0'=__disjvr_29^post50, __disjvr_0^0'=__disjvr_0^post50, a_212^0'=a_212^post50, __disjvr_8^0'=__disjvr_8^post50, length_27^0'=length_27^post50, __disjvr_17^0'=__disjvr_17^post50, x_17^0'=x_17^post50, i_164^0'=i_164^post50, __disjvr_14^0'=__disjvr_14^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50, __disjvr_26^0'=__disjvr_26^post50, rcd_56^0'=rcd_56^post50, __disjvr_21^0'=__disjvr_21^post50, a_113^0'=a_113^post50, __disjvr_5^0'=__disjvr_5^post50, temp_33^0'=temp_33^post50, x_126^0'=x_126^post50, head_15^0'=head_15^post50, __disjvr_11^0'=__disjvr_11^post50, a_257^0'=a_257^post50, __disjvr_23^0'=__disjvr_23^post50, r_121^0'=r_121^post50, __disjvr_19^0'=__disjvr_19^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, i_92^0'=i_92^post50, __disjvr_30^0'=__disjvr_30^post50, t_24^0'=t_24^post50, __disjvr_28^0'=__disjvr_28^post50, a_181^0'=a_181^post50, __disjvr_7^0'=__disjvr_7^post50, len_180^0'=len_180^post50, __disjvr_16^0'=__disjvr_16^post50, (-i_92^post50+i_92^0 == 0 /\ -temp_33^post50+temp_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ x_21^0-x_21^post50 == 0 /\ rcd_86^0-rcd_86^post50 == 0 /\ -a_181^post50+a_181^0 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -head_30^post50+head_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ -length_27^post50+length_27^0 == 0 /\ -tmp_32^post50+tmp_32^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -len_180^post50+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -r_121^post50+r_121^0 == 0 /\ r_37^0-r_37^post50 == 0 /\ len_129^0-len_129^post50 == 0 /\ i_105^0-i_105^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ r_160^0-r_160^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ a_257^0-a_257^post50 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ y_20^0-y_20^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ head_15^0-head_15^post50 == 0 /\ -a_212^post50+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -a_113^post50+a_113^0 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ ct_18^0-ct_18^post50 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ -i_164^post50+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -f_167^post50+f_167^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ rcd_56^0-rcd_56^post50 == 0 /\ __disjvr_27^0-__disjvr_27^post50 == 0 /\ -x_126^post50+x_126^0 == 0 /\ a_234^0-a_234^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ x_172^0-x_172^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ i_28^0-i_28^post50 == 0 /\ a_144^0-a_144^post50 == 0 /\ -x_14^post50+x_14^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post50+x_SLAM_f_19^0 == 0 /\ -x_17^post50+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_24^post50+__disjvr_24^0 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ temp0_16^0-temp0_16^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ temp0_29^0-temp0_29^post50 == 0), cost: 1
  51: l50 -> l51 : x_172^0'=x_172^post51, i_105^0'=i_105^post51, __disjvr_13^0'=__disjvr_13^post51, result_11^0'=result_11^post51, __disjvr_25^0'=__disjvr_25^post51, r_37^0'=r_37^post51, __disjvr_20^0'=__disjvr_20^post51, __disjvr_9^0'=__disjvr_9^post51, __disjvr_4^0'=__disjvr_4^post51, temp0_29^0'=temp0_29^post51, f_167^0'=f_167^post51, __disjvr_10^0'=__disjvr_10^post51, a_234^0'=a_234^post51, __disjvr_22^0'=__disjvr_22^post51, nondet_12^0'=nondet_12^post51, __disjvr_18^0'=__disjvr_18^post51, x_21^0'=x_21^post51, i_28^0'=i_28^post51, __disjvr_2^0'=__disjvr_2^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_27^0'=__disjvr_27^post51, rcd_86^0'=rcd_86^post51, a_144^0'=a_144^post51, __disjvr_6^0'=__disjvr_6^post51, tmp_32^0'=tmp_32^post51, __disjvr_15^0'=__disjvr_15^post51, x_14^0'=x_14^post51, head_30^0'=head_30^post51, __disjvr_12^0'=__disjvr_12^post51, ct_18^0'=ct_18^post51, __disjvr_24^0'=__disjvr_24^post51, r_160^0'=r_160^post51, __disjvr_1^0'=__disjvr_1^post51, y_20^0'=y_20^post51, len_129^0'=len_129^post51, __disjvr_3^0'=__disjvr_3^post51, temp0_16^0'=temp0_16^post51, __disjvr_29^0'=__disjvr_29^post51, __disjvr_0^0'=__disjvr_0^post51, a_212^0'=a_212^post51, __disjvr_8^0'=__disjvr_8^post51, length_27^0'=length_27^post51, __disjvr_17^0'=__disjvr_17^post51, x_17^0'=x_17^post51, i_164^0'=i_164^post51, __disjvr_14^0'=__disjvr_14^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post51, __disjvr_26^0'=__disjvr_26^post51, rcd_56^0'=rcd_56^post51, __disjvr_21^0'=__disjvr_21^post51, a_113^0'=a_113^post51, __disjvr_5^0'=__disjvr_5^post51, temp_33^0'=temp_33^post51, x_126^0'=x_126^post51, head_15^0'=head_15^post51, __disjvr_11^0'=__disjvr_11^post51, a_257^0'=a_257^post51, __disjvr_23^0'=__disjvr_23^post51, r_121^0'=r_121^post51, __disjvr_19^0'=__disjvr_19^post51, x_SLAM_f_19^0'=x_SLAM_f_19^post51, i_92^0'=i_92^post51, __disjvr_30^0'=__disjvr_30^post51, t_24^0'=t_24^post51, __disjvr_28^0'=__disjvr_28^post51, a_181^0'=a_181^post51, __disjvr_7^0'=__disjvr_7^post51, len_180^0'=len_180^post51, __disjvr_16^0'=__disjvr_16^post51, (0 == 0 /\ temp0_29^0-temp0_29^post51 == 0 /\ -x_SLAM_f_19^post51+head_15^0 <= 0 /\ 1-len_129^0 <= 0 /\ -1+len_129^0 <= 0 /\ y_20^post51 <= 0 /\ ct_18^post51 <= 0 /\ ct_18^post51 == 0 /\ -__disjvr_11^post51+__disjvr_11^0 == 0 /\ r_37^0-r_37^post51 == 0 /\ -x_14^0 <= 0 /\ i_105^0-i_105^post51 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ head_30^0-head_30^post51 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -__disjvr_21^post51+__disjvr_21^0 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ -__disjvr_16^post51+__disjvr_16^0 == 0 /\ a_234^0-a_234^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ x_SLAM_f_19^post51-head_15^0 <= 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ -i_164^post51+i_164^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ -temp0_16^post51+temp0_16^0 == 0 /\ -i_92^post51+i_92^0 == 0 /\ -a_181^post51+a_181^0 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ -rcd_56^post51+rcd_56^0 == 0 /\ -__disjvr_18^post51+__disjvr_18^0 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_12^0-__disjvr_12^post51 == 0 /\ -a_144^post51+a_144^0 == 0 /\ x_14^0 <= 0 /\ x_14^0-x_14^post51 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -r_121^post51+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ __disjvr_27^0-__disjvr_27^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ x_SLAM_f_19^post51-x_21^post51 <= 0 /\ a_113^0-a_113^post51 == 0 /\ len_129^0-len_129^post51 == 0 /\ -x_17^post51+head_15^0 <= 0 /\ r_160^0-r_160^post51 == 0 /\ x_SLAM_f_19^post51-x_17^post51 <= 0 /\ x_SLAM_f_19^post51-x_17^post51 == 0 /\ -a_212^post51+a_212^0 == 0 /\ -__disjvr_30^post51+__disjvr_30^0 == 0 /\ tmp_32^0-tmp_32^post51 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ -__disjvr_0^post51+__disjvr_0^0 == 0 /\ -a_113^0 <= 0 /\ a_113^0 <= 0 /\ -rcd_86^post51+rcd_86^0 == 0 /\ x_21^post51-head_15^0 <= 0 /\ -temp_33^post51+temp_33^0 == 0 /\ y_20^post51-ct_18^post51 <= 0 /\ y_20^post51-ct_18^post51 == 0 /\ -a_257^post51+a_257^0 == 0 /\ -ct_18^post51 <= 0 /\ -x_172^post51+x_172^0 == 0 /\ -x_126^post51+x_126^0 == 0 /\ -__disjvr_19^post51+__disjvr_19^0 == 0 /\ -y_20^post51 <= 0 /\ i_28^0-i_28^post51 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ -x_SLAM_f_19^post51+x_21^post51 <= 0 /\ -x_SLAM_f_19^post51+x_21^post51 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ x_17^post51-head_15^0 <= 0 /\ x_17^post51-head_15^0 == 0 /\ -__disjvr_8^post51+__disjvr_8^0 == 0 /\ -length_27^post51+length_27^0 == 0 /\ -x_SLAM_f_19^post51+x_17^post51 <= 0 /\ -head_15^post51+head_15^0 == 0 /\ -t_24^post51+t_24^0 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ f_167^0-f_167^post51 == 0 /\ -len_180^post51+len_180^0 == 0 /\ -__disjvr_14^post51+__disjvr_14^0 == 0 /\ -x_21^post51+head_15^0 <= 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ -y_20^post51+ct_18^post51 <= 0), cost: 1
  54: l50 -> l53 : x_172^0'=x_172^post54, i_105^0'=i_105^post54, __disjvr_13^0'=__disjvr_13^post54, result_11^0'=result_11^post54, __disjvr_25^0'=__disjvr_25^post54, r_37^0'=r_37^post54, __disjvr_20^0'=__disjvr_20^post54, __disjvr_9^0'=__disjvr_9^post54, __disjvr_4^0'=__disjvr_4^post54, temp0_29^0'=temp0_29^post54, f_167^0'=f_167^post54, __disjvr_10^0'=__disjvr_10^post54, a_234^0'=a_234^post54, __disjvr_22^0'=__disjvr_22^post54, nondet_12^0'=nondet_12^post54, __disjvr_18^0'=__disjvr_18^post54, x_21^0'=x_21^post54, i_28^0'=i_28^post54, __disjvr_2^0'=__disjvr_2^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_27^0'=__disjvr_27^post54, rcd_86^0'=rcd_86^post54, a_144^0'=a_144^post54, __disjvr_6^0'=__disjvr_6^post54, tmp_32^0'=tmp_32^post54, __disjvr_15^0'=__disjvr_15^post54, x_14^0'=x_14^post54, head_30^0'=head_30^post54, __disjvr_12^0'=__disjvr_12^post54, ct_18^0'=ct_18^post54, __disjvr_24^0'=__disjvr_24^post54, r_160^0'=r_160^post54, __disjvr_1^0'=__disjvr_1^post54, y_20^0'=y_20^post54, len_129^0'=len_129^post54, __disjvr_3^0'=__disjvr_3^post54, temp0_16^0'=temp0_16^post54, __disjvr_29^0'=__disjvr_29^post54, __disjvr_0^0'=__disjvr_0^post54, a_212^0'=a_212^post54, __disjvr_8^0'=__disjvr_8^post54, length_27^0'=length_27^post54, __disjvr_17^0'=__disjvr_17^post54, x_17^0'=x_17^post54, i_164^0'=i_164^post54, __disjvr_14^0'=__disjvr_14^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post54, __disjvr_26^0'=__disjvr_26^post54, rcd_56^0'=rcd_56^post54, __disjvr_21^0'=__disjvr_21^post54, a_113^0'=a_113^post54, __disjvr_5^0'=__disjvr_5^post54, temp_33^0'=temp_33^post54, x_126^0'=x_126^post54, head_15^0'=head_15^post54, __disjvr_11^0'=__disjvr_11^post54, a_257^0'=a_257^post54, __disjvr_23^0'=__disjvr_23^post54, r_121^0'=r_121^post54, __disjvr_19^0'=__disjvr_19^post54, x_SLAM_f_19^0'=x_SLAM_f_19^post54, i_92^0'=i_92^post54, __disjvr_30^0'=__disjvr_30^post54, t_24^0'=t_24^post54, __disjvr_28^0'=__disjvr_28^post54, a_181^0'=a_181^post54, __disjvr_7^0'=__disjvr_7^post54, len_180^0'=len_180^post54, __disjvr_16^0'=__disjvr_16^post54, (0 == 0 /\ -ct_18^post54+ct_18^0 == 0 /\ temp0_29^0-temp0_29^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ i_105^0-i_105^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ rcd_86^0-rcd_86^post54 == 0 /\ -a_257^post54+a_257^0 == 0 /\ -i_164^post54+i_164^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ x_21^0-x_21^post54 == 0 /\ tmp_32^0-tmp_32^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ __disjvr_2^0-__disjvr_2^post54 == 0 /\ __disjvr_1^0-__disjvr_1^post54 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0 /\ -i_92^post54+i_92^0 == 0 /\ -x_SLAM_f_19^post54+x_SLAM_f_19^0 == 0 /\ __disjvr_12^0-__disjvr_12^post54 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ length_27^0-length_27^post54 == 0 /\ -__disjvr_23^post54+__disjvr_23^0 == 0 /\ -a_144^post54+a_144^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ r_37^0-r_37^post54 == 0 /\ -__disjvr_11^post54+__disjvr_11^0 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ -a_181^post54+a_181^0 == 0 /\ x_172^0-x_172^post54 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ head_30^0-head_30^post54 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ -__disjvr_0^post54+__disjvr_0^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post54+len_180^0 == 0 /\ -a_212^post54+a_212^0 == 0 /\ -__disjvr_21^post54+__disjvr_21^0 == 0 /\ x_17^0-x_17^post54 == 0 /\ -temp0_16^post54+temp0_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ a_234^0-a_234^post54 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -a_113^0 <= 0 /\ -temp_33^post54+temp_33^0 == 0 /\ r_160^0-r_160^post54 == 0 /\ -rcd_56^post54+rcd_56^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ -t_24^post54+t_24^0 == 0 /\ -a_113^post54+a_113^0 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ i_28^0-i_28^post54 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0 /\ x_14^0-x_14^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ -len_129^post54+len_129^0 == 0 /\ f_167^0-f_167^post54 == 0 /\ __disjvr_15^0-__disjvr_15^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ y_20^0-y_20^post54 == 0), cost: 1
  52: l51 -> l52 : x_172^0'=x_172^post52, i_105^0'=i_105^post52, __disjvr_13^0'=__disjvr_13^post52, result_11^0'=result_11^post52, __disjvr_25^0'=__disjvr_25^post52, r_37^0'=r_37^post52, __disjvr_20^0'=__disjvr_20^post52, __disjvr_9^0'=__disjvr_9^post52, __disjvr_4^0'=__disjvr_4^post52, temp0_29^0'=temp0_29^post52, f_167^0'=f_167^post52, __disjvr_10^0'=__disjvr_10^post52, a_234^0'=a_234^post52, __disjvr_22^0'=__disjvr_22^post52, nondet_12^0'=nondet_12^post52, __disjvr_18^0'=__disjvr_18^post52, x_21^0'=x_21^post52, i_28^0'=i_28^post52, __disjvr_2^0'=__disjvr_2^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_27^0'=__disjvr_27^post52, rcd_86^0'=rcd_86^post52, a_144^0'=a_144^post52, __disjvr_6^0'=__disjvr_6^post52, tmp_32^0'=tmp_32^post52, __disjvr_15^0'=__disjvr_15^post52, x_14^0'=x_14^post52, head_30^0'=head_30^post52, __disjvr_12^0'=__disjvr_12^post52, ct_18^0'=ct_18^post52, __disjvr_24^0'=__disjvr_24^post52, r_160^0'=r_160^post52, __disjvr_1^0'=__disjvr_1^post52, y_20^0'=y_20^post52, len_129^0'=len_129^post52, __disjvr_3^0'=__disjvr_3^post52, temp0_16^0'=temp0_16^post52, __disjvr_29^0'=__disjvr_29^post52, __disjvr_0^0'=__disjvr_0^post52, a_212^0'=a_212^post52, __disjvr_8^0'=__disjvr_8^post52, length_27^0'=length_27^post52, __disjvr_17^0'=__disjvr_17^post52, x_17^0'=x_17^post52, i_164^0'=i_164^post52, __disjvr_14^0'=__disjvr_14^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post52, __disjvr_26^0'=__disjvr_26^post52, rcd_56^0'=rcd_56^post52, __disjvr_21^0'=__disjvr_21^post52, a_113^0'=a_113^post52, __disjvr_5^0'=__disjvr_5^post52, temp_33^0'=temp_33^post52, x_126^0'=x_126^post52, head_15^0'=head_15^post52, __disjvr_11^0'=__disjvr_11^post52, a_257^0'=a_257^post52, __disjvr_23^0'=__disjvr_23^post52, r_121^0'=r_121^post52, __disjvr_19^0'=__disjvr_19^post52, x_SLAM_f_19^0'=x_SLAM_f_19^post52, i_92^0'=i_92^post52, __disjvr_30^0'=__disjvr_30^post52, t_24^0'=t_24^post52, __disjvr_28^0'=__disjvr_28^post52, a_181^0'=a_181^post52, __disjvr_7^0'=__disjvr_7^post52, len_180^0'=len_180^post52, __disjvr_16^0'=__disjvr_16^post52, (-temp0_16^post52+temp0_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ a_212^0-a_212^post52 == 0 /\ -x_126^post52+x_126^0 == 0 /\ -i_28^post52+i_28^0 == 0 /\ rcd_86^0-rcd_86^post52 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -x_14^post52+x_14^0 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -t_24^post52+t_24^0 == 0 /\ temp_33^0-temp_33^post52 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ -r_121^post52+r_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ tmp_32^0-tmp_32^post52 == 0 /\ __disjvr_1^0-__disjvr_1^post52 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ -__disjvr_3^post52+__disjvr_3^0 == 0 /\ -a_113^post52+a_113^0 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -__disjvr_19^post52+__disjvr_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ -i_92^post52+i_92^0 == 0 /\ -a_144^post52+a_144^0 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ i_164^0-i_164^post52 == 0 /\ -__disjvr_7^post52+__disjvr_7^0 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -r_160^post52+r_160^0 == 0 /\ head_30^0-head_30^post52 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ -length_27^post52+length_27^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ f_167^0-f_167^post52 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -rcd_56^post52+rcd_56^0 == 0 /\ __disjvr_5^0-__disjvr_5^post52 == 0 /\ -a_181^post52+a_181^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ a_234^0-a_234^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ x_172^0-x_172^post52 == 0 /\ -a_257^post52+a_257^0 == 0 /\ i_105^0-i_105^post52 == 0 /\ -__disjvr_24^0+__disjvr_24^post52 == 0 /\ r_37^0-r_37^post52 == 0 /\ -len_180^post52+len_180^0 == 0 /\ temp0_29^0-temp0_29^post52 == 0 /\ __disjvr_17^0-__disjvr_17^post52 == 0 /\ -__disjvr_29^post52+__disjvr_29^0 == 0 /\ -__disjvr_14^post52+__disjvr_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ ct_18^0-ct_18^post52 == 0 /\ -head_15^post52+head_15^0 == 0 /\ -y_20^post52+y_20^0 == 0 /\ -x_21^post52+x_21^0 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ -x_17^post52+x_17^0 == 0 /\ -x_SLAM_f_19^post52+x_SLAM_f_19^0 == 0 /\ __disjvr_25^0-__disjvr_25^post52 == 0 /\ -__disjvr_30^post52+__disjvr_30^0 == 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ -len_129^post52+len_129^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0), cost: 1
  53: l52 -> l20 : x_172^0'=x_172^post53, i_105^0'=i_105^post53, __disjvr_13^0'=__disjvr_13^post53, result_11^0'=result_11^post53, __disjvr_25^0'=__disjvr_25^post53, r_37^0'=r_37^post53, __disjvr_20^0'=__disjvr_20^post53, __disjvr_9^0'=__disjvr_9^post53, __disjvr_4^0'=__disjvr_4^post53, temp0_29^0'=temp0_29^post53, f_167^0'=f_167^post53, __disjvr_10^0'=__disjvr_10^post53, a_234^0'=a_234^post53, __disjvr_22^0'=__disjvr_22^post53, nondet_12^0'=nondet_12^post53, __disjvr_18^0'=__disjvr_18^post53, x_21^0'=x_21^post53, i_28^0'=i_28^post53, __disjvr_2^0'=__disjvr_2^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_27^0'=__disjvr_27^post53, rcd_86^0'=rcd_86^post53, a_144^0'=a_144^post53, __disjvr_6^0'=__disjvr_6^post53, tmp_32^0'=tmp_32^post53, __disjvr_15^0'=__disjvr_15^post53, x_14^0'=x_14^post53, head_30^0'=head_30^post53, __disjvr_12^0'=__disjvr_12^post53, ct_18^0'=ct_18^post53, __disjvr_24^0'=__disjvr_24^post53, r_160^0'=r_160^post53, __disjvr_1^0'=__disjvr_1^post53, y_20^0'=y_20^post53, len_129^0'=len_129^post53, __disjvr_3^0'=__disjvr_3^post53, temp0_16^0'=temp0_16^post53, __disjvr_29^0'=__disjvr_29^post53, __disjvr_0^0'=__disjvr_0^post53, a_212^0'=a_212^post53, __disjvr_8^0'=__disjvr_8^post53, length_27^0'=length_27^post53, __disjvr_17^0'=__disjvr_17^post53, x_17^0'=x_17^post53, i_164^0'=i_164^post53, __disjvr_14^0'=__disjvr_14^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post53, __disjvr_26^0'=__disjvr_26^post53, rcd_56^0'=rcd_56^post53, __disjvr_21^0'=__disjvr_21^post53, a_113^0'=a_113^post53, __disjvr_5^0'=__disjvr_5^post53, temp_33^0'=temp_33^post53, x_126^0'=x_126^post53, head_15^0'=head_15^post53, __disjvr_11^0'=__disjvr_11^post53, a_257^0'=a_257^post53, __disjvr_23^0'=__disjvr_23^post53, r_121^0'=r_121^post53, __disjvr_19^0'=__disjvr_19^post53, x_SLAM_f_19^0'=x_SLAM_f_19^post53, i_92^0'=i_92^post53, __disjvr_30^0'=__disjvr_30^post53, t_24^0'=t_24^post53, __disjvr_28^0'=__disjvr_28^post53, a_181^0'=a_181^post53, __disjvr_7^0'=__disjvr_7^post53, len_180^0'=len_180^post53, __disjvr_16^0'=__disjvr_16^post53, (-t_24^post53+t_24^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -__disjvr_19^post53+__disjvr_19^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ r_160^0-r_160^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ temp0_16^0-temp0_16^post53 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ __disjvr_2^0-__disjvr_2^post53 == 0 /\ -__disjvr_29^post53+__disjvr_29^0 == 0 /\ len_129^0-len_129^post53 == 0 /\ i_105^0-i_105^post53 == 0 /\ head_15^0-head_15^post53 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ a_212^0-a_212^post53 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -__disjvr_8^post53+__disjvr_8^0 == 0 /\ r_37^0-r_37^post53 == 0 /\ __disjvr_17^0-__disjvr_17^post53 == 0 /\ temp_33^0-temp_33^post53 == 0 /\ x_172^0-x_172^post53 == 0 /\ ct_18^0-ct_18^post53 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ -len_180^post53+len_180^0 == 0 /\ -a_257^post53+a_257^0 == 0 /\ -x_126^post53+x_126^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post53 == 0 /\ rcd_86^0-rcd_86^post53 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ -__disjvr_24^post53+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post53+x_SLAM_f_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ -i_92^post53+i_92^0 == 0 /\ -x_17^post53+x_17^0 == 0 /\ -a_113^post53+a_113^0 == 0 /\ -__disjvr_16^post53+__disjvr_16^0 == 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0 /\ -a_181^post53+a_181^0 == 0 /\ __disjvr_25^0-__disjvr_25^post53 == 0 /\ -tmp_32^post53+tmp_32^0 == 0 /\ __disjvr_27^0-__disjvr_27^post53 == 0 /\ -__disjvr_14^post53+__disjvr_14^0 == 0 /\ __disjvr_1^0-__disjvr_1^post53 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -temp0_29^post53+temp0_29^0 == 0 /\ -r_121^post53+r_121^0 == 0 /\ rcd_56^0-rcd_56^post53 == 0 /\ i_28^0-i_28^post53 == 0 /\ a_234^0-a_234^post53 == 0 /\ -length_27^post53+length_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -__disjvr_30^post53+__disjvr_30^0 == 0 /\ -i_164^post53+i_164^0 == 0 /\ -__disjvr_0^post53+__disjvr_0^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ __disjvr_15^0-__disjvr_15^post53 == 0 /\ f_167^0-f_167^post53 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ -y_20^post53+y_20^0 == 0 /\ a_144^0-a_144^post53 == 0 /\ -head_30^post53+head_30^0 == 0 /\ -x_14^post53+x_14^0 == 0), cost: 1
  55: l53 -> l54 : x_172^0'=x_172^post55, i_105^0'=i_105^post55, __disjvr_13^0'=__disjvr_13^post55, result_11^0'=result_11^post55, __disjvr_25^0'=__disjvr_25^post55, r_37^0'=r_37^post55, __disjvr_20^0'=__disjvr_20^post55, __disjvr_9^0'=__disjvr_9^post55, __disjvr_4^0'=__disjvr_4^post55, temp0_29^0'=temp0_29^post55, f_167^0'=f_167^post55, __disjvr_10^0'=__disjvr_10^post55, a_234^0'=a_234^post55, __disjvr_22^0'=__disjvr_22^post55, nondet_12^0'=nondet_12^post55, __disjvr_18^0'=__disjvr_18^post55, x_21^0'=x_21^post55, i_28^0'=i_28^post55, __disjvr_2^0'=__disjvr_2^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_27^0'=__disjvr_27^post55, rcd_86^0'=rcd_86^post55, a_144^0'=a_144^post55, __disjvr_6^0'=__disjvr_6^post55, tmp_32^0'=tmp_32^post55, __disjvr_15^0'=__disjvr_15^post55, x_14^0'=x_14^post55, head_30^0'=head_30^post55, __disjvr_12^0'=__disjvr_12^post55, ct_18^0'=ct_18^post55, __disjvr_24^0'=__disjvr_24^post55, r_160^0'=r_160^post55, __disjvr_1^0'=__disjvr_1^post55, y_20^0'=y_20^post55, len_129^0'=len_129^post55, __disjvr_3^0'=__disjvr_3^post55, temp0_16^0'=temp0_16^post55, __disjvr_29^0'=__disjvr_29^post55, __disjvr_0^0'=__disjvr_0^post55, a_212^0'=a_212^post55, __disjvr_8^0'=__disjvr_8^post55, length_27^0'=length_27^post55, __disjvr_17^0'=__disjvr_17^post55, x_17^0'=x_17^post55, i_164^0'=i_164^post55, __disjvr_14^0'=__disjvr_14^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post55, __disjvr_26^0'=__disjvr_26^post55, rcd_56^0'=rcd_56^post55, __disjvr_21^0'=__disjvr_21^post55, a_113^0'=a_113^post55, __disjvr_5^0'=__disjvr_5^post55, temp_33^0'=temp_33^post55, x_126^0'=x_126^post55, head_15^0'=head_15^post55, __disjvr_11^0'=__disjvr_11^post55, a_257^0'=a_257^post55, __disjvr_23^0'=__disjvr_23^post55, r_121^0'=r_121^post55, __disjvr_19^0'=__disjvr_19^post55, x_SLAM_f_19^0'=x_SLAM_f_19^post55, i_92^0'=i_92^post55, __disjvr_30^0'=__disjvr_30^post55, t_24^0'=t_24^post55, __disjvr_28^0'=__disjvr_28^post55, a_181^0'=a_181^post55, __disjvr_7^0'=__disjvr_7^post55, len_180^0'=len_180^post55, __disjvr_16^0'=__disjvr_16^post55, (__disjvr_4^0-__disjvr_4^post55 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -i_92^post55+i_92^0 == 0 /\ -x_17^post55+x_17^0 == 0 /\ -t_24^post55+t_24^0 == 0 /\ a_212^0-a_212^post55 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -x_14^post55+x_14^0 == 0 /\ -a_113^post55+a_113^0 == 0 /\ -__disjvr_24^post55+__disjvr_24^0 == 0 /\ temp_33^0-temp_33^post55 == 0 /\ __disjvr_2^0-__disjvr_2^post55 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0 /\ -i_28^post55+i_28^0 == 0 /\ i_105^0-i_105^post55 == 0 /\ head_15^0-head_15^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ -len_180^post55+len_180^0 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ __disjvr_27^0-__disjvr_27^post55 == 0 /\ x_172^0-x_172^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -r_121^post55+r_121^0 == 0 /\ a_257^0-a_257^post55 == 0 /\ __disjvr_18^0-__disjvr_18^post55 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ len_129^0-len_129^post55 == 0 /\ -__disjvr_16^post55+__disjvr_16^0 == 0 /\ -a_181^post55+a_181^0 == 0 /\ -head_30^post55+head_30^0 == 0 /\ -__disjvr_19^post55+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ f_167^0-f_167^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ temp0_29^0-temp0_29^post55 == 0 /\ -__disjvr_25^0+__disjvr_25^post55 == 0 /\ __disjvr_15^0-__disjvr_15^post55 == 0 /\ -length_27^post55+length_27^0 == 0 /\ -tmp_32^post55+tmp_32^0 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ -__disjvr_14^post55+__disjvr_14^0 == 0 /\ -__disjvr_3^post55+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post55 == 0 /\ -r_160^post55+r_160^0 == 0 /\ r_37^0-r_37^post55 == 0 /\ rcd_86^0-rcd_86^post55 == 0 /\ __disjvr_17^0-__disjvr_17^post55 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ ct_18^0-ct_18^post55 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ rcd_56^0-rcd_56^post55 == 0 /\ -__disjvr_30^post55+__disjvr_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ a_234^0-a_234^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -x_21^post55+x_21^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ -x_126^post55+x_126^0 == 0 /\ __disjvr_25^0-__disjvr_25^post55 == 0 /\ -y_20^post55+y_20^0 == 0 /\ i_164^0-i_164^post55 == 0 /\ a_144^0-a_144^post55 == 0 /\ -x_SLAM_f_19^post55+x_SLAM_f_19^0 == 0), cost: 1
  56: l54 -> l55 : x_172^0'=x_172^post56, i_105^0'=i_105^post56, __disjvr_13^0'=__disjvr_13^post56, result_11^0'=result_11^post56, __disjvr_25^0'=__disjvr_25^post56, r_37^0'=r_37^post56, __disjvr_20^0'=__disjvr_20^post56, __disjvr_9^0'=__disjvr_9^post56, __disjvr_4^0'=__disjvr_4^post56, temp0_29^0'=temp0_29^post56, f_167^0'=f_167^post56, __disjvr_10^0'=__disjvr_10^post56, a_234^0'=a_234^post56, __disjvr_22^0'=__disjvr_22^post56, nondet_12^0'=nondet_12^post56, __disjvr_18^0'=__disjvr_18^post56, x_21^0'=x_21^post56, i_28^0'=i_28^post56, __disjvr_2^0'=__disjvr_2^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_27^0'=__disjvr_27^post56, rcd_86^0'=rcd_86^post56, a_144^0'=a_144^post56, __disjvr_6^0'=__disjvr_6^post56, tmp_32^0'=tmp_32^post56, __disjvr_15^0'=__disjvr_15^post56, x_14^0'=x_14^post56, head_30^0'=head_30^post56, __disjvr_12^0'=__disjvr_12^post56, ct_18^0'=ct_18^post56, __disjvr_24^0'=__disjvr_24^post56, r_160^0'=r_160^post56, __disjvr_1^0'=__disjvr_1^post56, y_20^0'=y_20^post56, len_129^0'=len_129^post56, __disjvr_3^0'=__disjvr_3^post56, temp0_16^0'=temp0_16^post56, __disjvr_29^0'=__disjvr_29^post56, __disjvr_0^0'=__disjvr_0^post56, a_212^0'=a_212^post56, __disjvr_8^0'=__disjvr_8^post56, length_27^0'=length_27^post56, __disjvr_17^0'=__disjvr_17^post56, x_17^0'=x_17^post56, i_164^0'=i_164^post56, __disjvr_14^0'=__disjvr_14^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post56, __disjvr_26^0'=__disjvr_26^post56, rcd_56^0'=rcd_56^post56, __disjvr_21^0'=__disjvr_21^post56, a_113^0'=a_113^post56, __disjvr_5^0'=__disjvr_5^post56, temp_33^0'=temp_33^post56, x_126^0'=x_126^post56, head_15^0'=head_15^post56, __disjvr_11^0'=__disjvr_11^post56, a_257^0'=a_257^post56, __disjvr_23^0'=__disjvr_23^post56, r_121^0'=r_121^post56, __disjvr_19^0'=__disjvr_19^post56, x_SLAM_f_19^0'=x_SLAM_f_19^post56, i_92^0'=i_92^post56, __disjvr_30^0'=__disjvr_30^post56, t_24^0'=t_24^post56, __disjvr_28^0'=__disjvr_28^post56, a_181^0'=a_181^post56, __disjvr_7^0'=__disjvr_7^post56, len_180^0'=len_180^post56, __disjvr_16^0'=__disjvr_16^post56, (__disjvr_25^0-__disjvr_25^post56 == 0 /\ result_11^0-result_11^post56 == 0 /\ -__disjvr_30^post56+__disjvr_30^0 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post56 == 0 /\ len_129^0-len_129^post56 == 0 /\ __disjvr_17^0-__disjvr_17^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ r_160^0-r_160^post56 == 0 /\ temp0_16^0-temp0_16^post56 == 0 /\ tmp_32^0-tmp_32^post56 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -i_164^post56+i_164^0 == 0 /\ __disjvr_26^post56-__disjvr_26^0 == 0 /\ a_144^0-a_144^post56 == 0 /\ -t_24^post56+t_24^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -i_92^post56+i_92^0 == 0 /\ -x_126^post56+x_126^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -x_14^post56+x_14^0 == 0 /\ -len_180^post56+len_180^0 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ rcd_86^0-rcd_86^post56 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ -a_257^post56+a_257^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ -__disjvr_21^post56+__disjvr_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -x_17^post56+x_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ x_21^0-x_21^post56 == 0 /\ __disjvr_27^0-__disjvr_27^post56 == 0 /\ -x_SLAM_f_19^post56+x_SLAM_f_19^0 == 0 /\ length_27^0-length_27^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ ct_18^0-ct_18^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -a_181^post56+a_181^0 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ __disjvr_2^0-__disjvr_2^post56 == 0 /\ -__disjvr_0^post56+__disjvr_0^0 == 0 /\ -temp0_29^post56+temp0_29^0 == 0 /\ -temp_33^post56+temp_33^0 == 0 /\ a_234^0-a_234^post56 == 0 /\ i_28^0-i_28^post56 == 0 /\ x_172^0-x_172^post56 == 0 /\ i_105^0-i_105^post56 == 0 /\ -a_113^post56+a_113^0 == 0 /\ -f_167^post56+f_167^0 == 0 /\ __disjvr_12^0-__disjvr_12^post56 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ -a_212^post56+a_212^0 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -head_15^post56+head_15^0 == 0 /\ -head_30^post56+head_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post56 == 0 /\ -__disjvr_8^post56+__disjvr_8^0 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -r_121^post56+r_121^0 == 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ y_20^0-y_20^post56 == 0 /\ -rcd_56^post56+rcd_56^0 == 0 /\ -r_37^post56+r_37^0 == 0), cost: 1
  57: l55 -> l56 : x_172^0'=x_172^post57, i_105^0'=i_105^post57, __disjvr_13^0'=__disjvr_13^post57, result_11^0'=result_11^post57, __disjvr_25^0'=__disjvr_25^post57, r_37^0'=r_37^post57, __disjvr_20^0'=__disjvr_20^post57, __disjvr_9^0'=__disjvr_9^post57, __disjvr_4^0'=__disjvr_4^post57, temp0_29^0'=temp0_29^post57, f_167^0'=f_167^post57, __disjvr_10^0'=__disjvr_10^post57, a_234^0'=a_234^post57, __disjvr_22^0'=__disjvr_22^post57, nondet_12^0'=nondet_12^post57, __disjvr_18^0'=__disjvr_18^post57, x_21^0'=x_21^post57, i_28^0'=i_28^post57, __disjvr_2^0'=__disjvr_2^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_27^0'=__disjvr_27^post57, rcd_86^0'=rcd_86^post57, a_144^0'=a_144^post57, __disjvr_6^0'=__disjvr_6^post57, tmp_32^0'=tmp_32^post57, __disjvr_15^0'=__disjvr_15^post57, x_14^0'=x_14^post57, head_30^0'=head_30^post57, __disjvr_12^0'=__disjvr_12^post57, ct_18^0'=ct_18^post57, __disjvr_24^0'=__disjvr_24^post57, r_160^0'=r_160^post57, __disjvr_1^0'=__disjvr_1^post57, y_20^0'=y_20^post57, len_129^0'=len_129^post57, __disjvr_3^0'=__disjvr_3^post57, temp0_16^0'=temp0_16^post57, __disjvr_29^0'=__disjvr_29^post57, __disjvr_0^0'=__disjvr_0^post57, a_212^0'=a_212^post57, __disjvr_8^0'=__disjvr_8^post57, length_27^0'=length_27^post57, __disjvr_17^0'=__disjvr_17^post57, x_17^0'=x_17^post57, i_164^0'=i_164^post57, __disjvr_14^0'=__disjvr_14^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post57, __disjvr_26^0'=__disjvr_26^post57, rcd_56^0'=rcd_56^post57, __disjvr_21^0'=__disjvr_21^post57, a_113^0'=a_113^post57, __disjvr_5^0'=__disjvr_5^post57, temp_33^0'=temp_33^post57, x_126^0'=x_126^post57, head_15^0'=head_15^post57, __disjvr_11^0'=__disjvr_11^post57, a_257^0'=a_257^post57, __disjvr_23^0'=__disjvr_23^post57, r_121^0'=r_121^post57, __disjvr_19^0'=__disjvr_19^post57, x_SLAM_f_19^0'=x_SLAM_f_19^post57, i_92^0'=i_92^post57, __disjvr_30^0'=__disjvr_30^post57, t_24^0'=t_24^post57, __disjvr_28^0'=__disjvr_28^post57, a_181^0'=a_181^post57, __disjvr_7^0'=__disjvr_7^post57, len_180^0'=len_180^post57, __disjvr_16^0'=__disjvr_16^post57, (-__disjvr_18^post57+__disjvr_18^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ head_30^0-head_30^post57 == 0 /\ -__disjvr_8^post57+__disjvr_8^0 == 0 /\ __disjvr_27^0-__disjvr_27^post57 == 0 /\ __disjvr_22^0-__disjvr_22^post57 == 0 /\ -i_164^post57+i_164^0 == 0 /\ -ct_18^post57+ct_18^0 == 0 /\ -x_126^post57+x_126^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ length_27^0-length_27^post57 == 0 /\ a_234^0-a_234^post57 == 0 /\ r_121^0-r_121^post57 == 0 /\ __disjvr_10^0-__disjvr_10^post57 == 0 /\ x_21^0-x_21^post57 == 0 /\ -a_257^post57+a_257^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_27^0+__disjvr_27^post57 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ __disjvr_2^0-__disjvr_2^post57 == 0 /\ -x_SLAM_f_19^post57+x_SLAM_f_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -a_144^post57+a_144^0 == 0 /\ x_172^0-x_172^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -i_92^post57+i_92^0 == 0 /\ r_37^0-r_37^post57 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ -temp_33^post57+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_0^post57+__disjvr_0^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ y_20^0-y_20^post57 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ -rcd_56^post57+rcd_56^0 == 0 /\ -len_180^post57+len_180^0 == 0 /\ x_17^0-x_17^post57 == 0 /\ -__disjvr_21^post57+__disjvr_21^0 == 0 /\ -t_24^post57+t_24^0 == 0 /\ r_160^0-r_160^post57 == 0 /\ __disjvr_25^0-__disjvr_25^post57 == 0 /\ len_129^0-len_129^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ tmp_32^0-tmp_32^post57 == 0 /\ f_167^0-f_167^post57 == 0 /\ -head_15^post57+head_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -__disjvr_14^post57+__disjvr_14^0 == 0 /\ -rcd_86^post57+rcd_86^0 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -__disjvr_16^post57+__disjvr_16^0 == 0 /\ -__disjvr_19^post57+__disjvr_19^0 == 0 /\ -a_181^post57+a_181^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ i_28^0-i_28^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_113^0-a_113^post57 == 0 /\ __disjvr_4^0-__disjvr_4^post57 == 0 /\ i_105^0-i_105^post57 == 0 /\ temp0_29^0-temp0_29^post57 == 0 /\ -a_212^post57+a_212^0 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0), cost: 1
  58: l56 -> l41 : x_172^0'=x_172^post58, i_105^0'=i_105^post58, __disjvr_13^0'=__disjvr_13^post58, result_11^0'=result_11^post58, __disjvr_25^0'=__disjvr_25^post58, r_37^0'=r_37^post58, __disjvr_20^0'=__disjvr_20^post58, __disjvr_9^0'=__disjvr_9^post58, __disjvr_4^0'=__disjvr_4^post58, temp0_29^0'=temp0_29^post58, f_167^0'=f_167^post58, __disjvr_10^0'=__disjvr_10^post58, a_234^0'=a_234^post58, __disjvr_22^0'=__disjvr_22^post58, nondet_12^0'=nondet_12^post58, __disjvr_18^0'=__disjvr_18^post58, x_21^0'=x_21^post58, i_28^0'=i_28^post58, __disjvr_2^0'=__disjvr_2^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_27^0'=__disjvr_27^post58, rcd_86^0'=rcd_86^post58, a_144^0'=a_144^post58, __disjvr_6^0'=__disjvr_6^post58, tmp_32^0'=tmp_32^post58, __disjvr_15^0'=__disjvr_15^post58, x_14^0'=x_14^post58, head_30^0'=head_30^post58, __disjvr_12^0'=__disjvr_12^post58, ct_18^0'=ct_18^post58, __disjvr_24^0'=__disjvr_24^post58, r_160^0'=r_160^post58, __disjvr_1^0'=__disjvr_1^post58, y_20^0'=y_20^post58, len_129^0'=len_129^post58, __disjvr_3^0'=__disjvr_3^post58, temp0_16^0'=temp0_16^post58, __disjvr_29^0'=__disjvr_29^post58, __disjvr_0^0'=__disjvr_0^post58, a_212^0'=a_212^post58, __disjvr_8^0'=__disjvr_8^post58, length_27^0'=length_27^post58, __disjvr_17^0'=__disjvr_17^post58, x_17^0'=x_17^post58, i_164^0'=i_164^post58, __disjvr_14^0'=__disjvr_14^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post58, __disjvr_26^0'=__disjvr_26^post58, rcd_56^0'=rcd_56^post58, __disjvr_21^0'=__disjvr_21^post58, a_113^0'=a_113^post58, __disjvr_5^0'=__disjvr_5^post58, temp_33^0'=temp_33^post58, x_126^0'=x_126^post58, head_15^0'=head_15^post58, __disjvr_11^0'=__disjvr_11^post58, a_257^0'=a_257^post58, __disjvr_23^0'=__disjvr_23^post58, r_121^0'=r_121^post58, __disjvr_19^0'=__disjvr_19^post58, x_SLAM_f_19^0'=x_SLAM_f_19^post58, i_92^0'=i_92^post58, __disjvr_30^0'=__disjvr_30^post58, t_24^0'=t_24^post58, __disjvr_28^0'=__disjvr_28^post58, a_181^0'=a_181^post58, __disjvr_7^0'=__disjvr_7^post58, len_180^0'=len_180^post58, __disjvr_16^0'=__disjvr_16^post58, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp_33^0-temp_33^post58 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ -__disjvr_12^post58+__disjvr_12^0 == 0 /\ -__disjvr_21^post58+__disjvr_21^0 == 0 /\ -__disjvr_14^post58+__disjvr_14^0 == 0 /\ __disjvr_1^0-__disjvr_1^post58 == 0 /\ __disjvr_6^0-__disjvr_6^post58 == 0 /\ -a_234^post58+a_234^0 == 0 /\ -i_92^post58+i_92^0 == 0 /\ -a_113^post58+a_113^0 == 0 /\ -__disjvr_30^post58+__disjvr_30^0 == 0 /\ -__disjvr_16^post58+__disjvr_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ a_144^0-a_144^post58 == 0 /\ -__disjvr_29^post58+__disjvr_29^0 == 0 /\ -tmp_32^post58+tmp_32^0 == 0 /\ -ct_18^post58+ct_18^0 == 0 /\ x_172^0-x_172^post58 == 0 /\ -len_129^post58+len_129^0 == 0 /\ __disjvr_8^0-__disjvr_8^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -r_160^post58+r_160^0 == 0 /\ -x_126^post58+x_126^0 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ -i_28^post58+i_28^0 == 0 /\ r_37^0-r_37^post58 == 0 /\ i_164^0-i_164^post58 == 0 /\ -len_180^post58+len_180^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -temp0_16^post58+temp0_16^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -y_20^post58+y_20^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -t_24^post58+t_24^0 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ a_212^0-a_212^post58 == 0 /\ -a_257^post58+a_257^0 == 0 /\ -head_15^post58+head_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post58 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ -x_17^post58+x_17^0 == 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ -__disjvr_26^post58+__disjvr_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ -__disjvr_3^post58+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post58 == 0 /\ -__disjvr_19^post58+__disjvr_19^0 == 0 /\ f_167^0-f_167^post58 == 0 /\ -x_SLAM_f_19^post58+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post58 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post58 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -__disjvr_11^post58+__disjvr_11^0 == 0 /\ -__disjvr_4^post58+__disjvr_4^0 == 0 /\ -length_27^post58+length_27^0 == 0 /\ -__disjvr_7^post58+__disjvr_7^0 == 0 /\ temp0_29^0-temp0_29^post58 == 0 /\ i_105^0-i_105^post58 == 0 /\ -rcd_56^post58+rcd_56^0 == 0 /\ head_30^0-head_30^post58 == 0 /\ rcd_86^0-rcd_86^post58 == 0 /\ x_14^0-x_14^post58 == 0 /\ -r_121^post58+r_121^0 == 0 /\ result_11^0-result_11^post58 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ -x_21^post58+x_21^0 == 0), cost: 1
  59: l57 -> l58 : x_172^0'=x_172^post59, i_105^0'=i_105^post59, __disjvr_13^0'=__disjvr_13^post59, result_11^0'=result_11^post59, __disjvr_25^0'=__disjvr_25^post59, r_37^0'=r_37^post59, __disjvr_20^0'=__disjvr_20^post59, __disjvr_9^0'=__disjvr_9^post59, __disjvr_4^0'=__disjvr_4^post59, temp0_29^0'=temp0_29^post59, f_167^0'=f_167^post59, __disjvr_10^0'=__disjvr_10^post59, a_234^0'=a_234^post59, __disjvr_22^0'=__disjvr_22^post59, nondet_12^0'=nondet_12^post59, __disjvr_18^0'=__disjvr_18^post59, x_21^0'=x_21^post59, i_28^0'=i_28^post59, __disjvr_2^0'=__disjvr_2^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_27^0'=__disjvr_27^post59, rcd_86^0'=rcd_86^post59, a_144^0'=a_144^post59, __disjvr_6^0'=__disjvr_6^post59, tmp_32^0'=tmp_32^post59, __disjvr_15^0'=__disjvr_15^post59, x_14^0'=x_14^post59, head_30^0'=head_30^post59, __disjvr_12^0'=__disjvr_12^post59, ct_18^0'=ct_18^post59, __disjvr_24^0'=__disjvr_24^post59, r_160^0'=r_160^post59, __disjvr_1^0'=__disjvr_1^post59, y_20^0'=y_20^post59, len_129^0'=len_129^post59, __disjvr_3^0'=__disjvr_3^post59, temp0_16^0'=temp0_16^post59, __disjvr_29^0'=__disjvr_29^post59, __disjvr_0^0'=__disjvr_0^post59, a_212^0'=a_212^post59, __disjvr_8^0'=__disjvr_8^post59, length_27^0'=length_27^post59, __disjvr_17^0'=__disjvr_17^post59, x_17^0'=x_17^post59, i_164^0'=i_164^post59, __disjvr_14^0'=__disjvr_14^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post59, __disjvr_26^0'=__disjvr_26^post59, rcd_56^0'=rcd_56^post59, __disjvr_21^0'=__disjvr_21^post59, a_113^0'=a_113^post59, __disjvr_5^0'=__disjvr_5^post59, temp_33^0'=temp_33^post59, x_126^0'=x_126^post59, head_15^0'=head_15^post59, __disjvr_11^0'=__disjvr_11^post59, a_257^0'=a_257^post59, __disjvr_23^0'=__disjvr_23^post59, r_121^0'=r_121^post59, __disjvr_19^0'=__disjvr_19^post59, x_SLAM_f_19^0'=x_SLAM_f_19^post59, i_92^0'=i_92^post59, __disjvr_30^0'=__disjvr_30^post59, t_24^0'=t_24^post59, __disjvr_28^0'=__disjvr_28^post59, a_181^0'=a_181^post59, __disjvr_7^0'=__disjvr_7^post59, len_180^0'=len_180^post59, __disjvr_16^0'=__disjvr_16^post59, (0 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ len_129^0-len_129^post59 == 0 /\ -__disjvr_8^post59+__disjvr_8^0 == 0 /\ -__disjvr_10^post59+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -a_181^post59+a_181^0 == 0 /\ -temp_33^post59+temp_33^0 == 0 /\ -a_257^post59+a_257^0 == 0 /\ y_20^0-y_20^post59 == 0 /\ -len_180^post59+len_180^0 == 0 /\ -r_121^post59+r_121^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ tmp_32^0-tmp_32^post59 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ -__disjvr_24^post59+__disjvr_24^0 == 0 /\ -rcd_86^post59+rcd_86^0 == 0 /\ -a_113^post59+a_113^0 == 0 /\ f_167^0-f_167^post59 == 0 /\ -__disjvr_19^post59+__disjvr_19^0 == 0 /\ a_144^0-a_144^post59 == 0 /\ i_28^0-i_28^post59 == 0 /\ -__disjvr_0^post59+__disjvr_0^0 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ temp0_16^0-temp0_16^post59 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ temp0_29^0-temp0_29^post59 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ -__disjvr_30^post59+__disjvr_30^0 == 0 /\ x_21^0-x_21^post59 == 0 /\ -i_164^post59+i_164^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ __disjvr_2^0-__disjvr_2^post59 == 0 /\ -x_126^post59+x_126^0 == 0 /\ length_27^0-length_27^post59 == 0 /\ -i_28^0 <= 0 /\ rcd_56^0-rcd_56^post59 == 0 /\ -__disjvr_6^post59+__disjvr_6^0 == 0 /\ a_234^0-a_234^post59 == 0 /\ -t_24^post59+t_24^0 == 0 /\ x_172^0-x_172^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ head_30^0-head_30^post59 == 0 /\ -x_SLAM_f_19^post59+x_SLAM_f_19^0 == 0 /\ __disjvr_27^0-__disjvr_27^post59 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -__disjvr_26^post59+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post59 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ x_14^0-x_14^post59 == 0 /\ -result_11^post59+result_11^0 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -__disjvr_5^post59+__disjvr_5^0 == 0 /\ -__disjvr_21^post59+__disjvr_21^0 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -x_17^post59+x_17^0 == 0 /\ -i_92^post59+i_92^0 == 0 /\ ct_18^0-ct_18^post59 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ __disjvr_15^0-__disjvr_15^post59 == 0 /\ -a_212^post59+a_212^0 == 0), cost: 1
  60: l58 -> l59 : x_172^0'=x_172^post60, i_105^0'=i_105^post60, __disjvr_13^0'=__disjvr_13^post60, result_11^0'=result_11^post60, __disjvr_25^0'=__disjvr_25^post60, r_37^0'=r_37^post60, __disjvr_20^0'=__disjvr_20^post60, __disjvr_9^0'=__disjvr_9^post60, __disjvr_4^0'=__disjvr_4^post60, temp0_29^0'=temp0_29^post60, f_167^0'=f_167^post60, __disjvr_10^0'=__disjvr_10^post60, a_234^0'=a_234^post60, __disjvr_22^0'=__disjvr_22^post60, nondet_12^0'=nondet_12^post60, __disjvr_18^0'=__disjvr_18^post60, x_21^0'=x_21^post60, i_28^0'=i_28^post60, __disjvr_2^0'=__disjvr_2^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, __disjvr_27^0'=__disjvr_27^post60, rcd_86^0'=rcd_86^post60, a_144^0'=a_144^post60, __disjvr_6^0'=__disjvr_6^post60, tmp_32^0'=tmp_32^post60, __disjvr_15^0'=__disjvr_15^post60, x_14^0'=x_14^post60, head_30^0'=head_30^post60, __disjvr_12^0'=__disjvr_12^post60, ct_18^0'=ct_18^post60, __disjvr_24^0'=__disjvr_24^post60, r_160^0'=r_160^post60, __disjvr_1^0'=__disjvr_1^post60, y_20^0'=y_20^post60, len_129^0'=len_129^post60, __disjvr_3^0'=__disjvr_3^post60, temp0_16^0'=temp0_16^post60, __disjvr_29^0'=__disjvr_29^post60, __disjvr_0^0'=__disjvr_0^post60, a_212^0'=a_212^post60, __disjvr_8^0'=__disjvr_8^post60, length_27^0'=length_27^post60, __disjvr_17^0'=__disjvr_17^post60, x_17^0'=x_17^post60, i_164^0'=i_164^post60, __disjvr_14^0'=__disjvr_14^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60, __disjvr_26^0'=__disjvr_26^post60, rcd_56^0'=rcd_56^post60, __disjvr_21^0'=__disjvr_21^post60, a_113^0'=a_113^post60, __disjvr_5^0'=__disjvr_5^post60, temp_33^0'=temp_33^post60, x_126^0'=x_126^post60, head_15^0'=head_15^post60, __disjvr_11^0'=__disjvr_11^post60, a_257^0'=a_257^post60, __disjvr_23^0'=__disjvr_23^post60, r_121^0'=r_121^post60, __disjvr_19^0'=__disjvr_19^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, i_92^0'=i_92^post60, __disjvr_30^0'=__disjvr_30^post60, t_24^0'=t_24^post60, __disjvr_28^0'=__disjvr_28^post60, a_181^0'=a_181^post60, __disjvr_7^0'=__disjvr_7^post60, len_180^0'=len_180^post60, __disjvr_16^0'=__disjvr_16^post60, (-t_24^post60+t_24^0 == 0 /\ -rcd_56^post60+rcd_56^0 == 0 /\ -i_92^post60+i_92^0 == 0 /\ -__disjvr_16^post60+__disjvr_16^0 == 0 /\ -__disjvr_21^post60+__disjvr_21^0 == 0 /\ a_234^0-a_234^post60 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ x_172^0-x_172^post60 == 0 /\ __disjvr_29^0-__disjvr_29^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ i_105^0-i_105^post60 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post60 == 0 /\ -a_144^post60+a_144^0 == 0 /\ i_28^0-i_28^post60 == 0 /\ -a_181^post60+a_181^0 == 0 /\ __disjvr_6^0-__disjvr_6^post60 == 0 /\ -len_129^post60+len_129^0 == 0 /\ __disjvr_9^0-__disjvr_9^post60 == 0 /\ -__disjvr_15^post60+__disjvr_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ head_30^0-head_30^post60 == 0 /\ __disjvr_27^0-__disjvr_27^post60 == 0 /\ -r_121^post60+r_121^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ -rcd_86^post60+rcd_86^0 == 0 /\ -a_212^post60+a_212^0 == 0 /\ -a_113^post60+a_113^0 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ -__disjvr_5^post60+__disjvr_5^0 == 0 /\ x_14^0-x_14^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post60+temp_33^0 == 0 /\ x_17^0-x_17^post60 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ -__disjvr_23^post60+__disjvr_23^0 == 0 /\ f_167^0-f_167^post60 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ tmp_32^0-tmp_32^post60 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ temp0_29^0-temp0_29^post60 == 0 /\ -head_15^post60+head_15^0 == 0 /\ -r_160^post60+r_160^0 == 0 /\ r_37^0-r_37^post60 == 0 /\ -__disjvr_26^post60+__disjvr_26^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ -length_27^post60+length_27^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ __disjvr_4^0-__disjvr_4^post60 == 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ -i_164^post60+i_164^0 == 0 /\ x_21^0-x_21^post60 == 0 /\ -len_180^post60+len_180^0 == 0 /\ -__disjvr_11^post60+__disjvr_11^0 == 0 /\ -__disjvr_0^post60+__disjvr_0^0 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ y_20^0-y_20^post60 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -x_126^post60+x_126^0 == 0 /\ -a_257^post60+a_257^0 == 0 /\ __disjvr_12^0-__disjvr_12^post60 == 0 /\ __disjvr_2^0-__disjvr_2^post60 == 0 /\ __disjvr_28^post60-__disjvr_28^0 == 0), cost: 1
  61: l59 -> l60 : x_172^0'=x_172^post61, i_105^0'=i_105^post61, __disjvr_13^0'=__disjvr_13^post61, result_11^0'=result_11^post61, __disjvr_25^0'=__disjvr_25^post61, r_37^0'=r_37^post61, __disjvr_20^0'=__disjvr_20^post61, __disjvr_9^0'=__disjvr_9^post61, __disjvr_4^0'=__disjvr_4^post61, temp0_29^0'=temp0_29^post61, f_167^0'=f_167^post61, __disjvr_10^0'=__disjvr_10^post61, a_234^0'=a_234^post61, __disjvr_22^0'=__disjvr_22^post61, nondet_12^0'=nondet_12^post61, __disjvr_18^0'=__disjvr_18^post61, x_21^0'=x_21^post61, i_28^0'=i_28^post61, __disjvr_2^0'=__disjvr_2^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_27^0'=__disjvr_27^post61, rcd_86^0'=rcd_86^post61, a_144^0'=a_144^post61, __disjvr_6^0'=__disjvr_6^post61, tmp_32^0'=tmp_32^post61, __disjvr_15^0'=__disjvr_15^post61, x_14^0'=x_14^post61, head_30^0'=head_30^post61, __disjvr_12^0'=__disjvr_12^post61, ct_18^0'=ct_18^post61, __disjvr_24^0'=__disjvr_24^post61, r_160^0'=r_160^post61, __disjvr_1^0'=__disjvr_1^post61, y_20^0'=y_20^post61, len_129^0'=len_129^post61, __disjvr_3^0'=__disjvr_3^post61, temp0_16^0'=temp0_16^post61, __disjvr_29^0'=__disjvr_29^post61, __disjvr_0^0'=__disjvr_0^post61, a_212^0'=a_212^post61, __disjvr_8^0'=__disjvr_8^post61, length_27^0'=length_27^post61, __disjvr_17^0'=__disjvr_17^post61, x_17^0'=x_17^post61, i_164^0'=i_164^post61, __disjvr_14^0'=__disjvr_14^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61, __disjvr_26^0'=__disjvr_26^post61, rcd_56^0'=rcd_56^post61, __disjvr_21^0'=__disjvr_21^post61, a_113^0'=a_113^post61, __disjvr_5^0'=__disjvr_5^post61, temp_33^0'=temp_33^post61, x_126^0'=x_126^post61, head_15^0'=head_15^post61, __disjvr_11^0'=__disjvr_11^post61, a_257^0'=a_257^post61, __disjvr_23^0'=__disjvr_23^post61, r_121^0'=r_121^post61, __disjvr_19^0'=__disjvr_19^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, i_92^0'=i_92^post61, __disjvr_30^0'=__disjvr_30^post61, t_24^0'=t_24^post61, __disjvr_28^0'=__disjvr_28^post61, a_181^0'=a_181^post61, __disjvr_7^0'=__disjvr_7^post61, len_180^0'=len_180^post61, __disjvr_16^0'=__disjvr_16^post61, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post61+len_180^0 == 0 /\ 1-len_129^0 <= 0 /\ -1+len_129^0 <= 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ a_144^0-a_144^post61 == 0 /\ i_92^0-i_92^post61 == 0 /\ -y_20^post61+y_20^0 == 0 /\ __disjvr_1^0-__disjvr_1^post61 == 0 /\ -__disjvr_30^post61+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ a_113^post61-a_144^0 <= 0 /\ -__disjvr_19^post61+__disjvr_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ f_167^0-f_167^post61 == 0 /\ -temp0_16^post61+temp0_16^0 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ __disjvr_6^0-__disjvr_6^post61 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -length_27^post61+length_27^0 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -a_257^post61+a_257^0 == 0 /\ temp0_29^0-temp0_29^post61 == 0 /\ -a_113^post61+a_144^0 <= 0 /\ -tmp_32^post61+tmp_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ -len_129^post61+len_129^0 == 0 /\ x_126^0-x_126^post61 == 0 /\ -__disjvr_28^post61+__disjvr_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -head_15^post61+head_15^0 == 0 /\ -__disjvr_3^post61+__disjvr_3^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ -__disjvr_14^post61+__disjvr_14^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ __disjvr_20^0-__disjvr_20^post61 == 0 /\ i_28^0-i_28^post61 == 0 /\ -__disjvr_21^post61+__disjvr_21^0 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ i_164^0-i_164^post61 == 0 /\ -__disjvr_11^post61+__disjvr_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post61 == 0 /\ x_21^0-x_21^post61 == 0 /\ -x_SLAM_f_19^post61+x_SLAM_f_19^0 == 0 /\ a_212^0-a_212^post61 == 0 /\ -ct_18^post61+ct_18^0 == 0 /\ x_14^0-x_14^post61 == 0 /\ -x_17^post61+x_17^0 == 0 /\ -rcd_56^post61+rcd_56^0 == 0 /\ -temp_33^post61+temp_33^0 == 0 /\ -a_234^post61+a_234^0 == 0 /\ -r_160^post61+r_160^0 == 0 /\ x_172^0-x_172^post61 == 0 /\ i_105^0-i_105^post61 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ r_37^0-r_37^post61 == 0 /\ -a_181^post61+a_181^0 == 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ rcd_86^0-rcd_86^post61 == 0 /\ -r_121^post61+r_121^0 == 0 /\ -__disjvr_7^post61+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ head_30^0-head_30^post61 == 0 /\ __disjvr_5^0-__disjvr_5^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0), cost: 1
  62: l60 -> l61 : x_172^0'=x_172^post62, i_105^0'=i_105^post62, __disjvr_13^0'=__disjvr_13^post62, result_11^0'=result_11^post62, __disjvr_25^0'=__disjvr_25^post62, r_37^0'=r_37^post62, __disjvr_20^0'=__disjvr_20^post62, __disjvr_9^0'=__disjvr_9^post62, __disjvr_4^0'=__disjvr_4^post62, temp0_29^0'=temp0_29^post62, f_167^0'=f_167^post62, __disjvr_10^0'=__disjvr_10^post62, a_234^0'=a_234^post62, __disjvr_22^0'=__disjvr_22^post62, nondet_12^0'=nondet_12^post62, __disjvr_18^0'=__disjvr_18^post62, x_21^0'=x_21^post62, i_28^0'=i_28^post62, __disjvr_2^0'=__disjvr_2^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_27^0'=__disjvr_27^post62, rcd_86^0'=rcd_86^post62, a_144^0'=a_144^post62, __disjvr_6^0'=__disjvr_6^post62, tmp_32^0'=tmp_32^post62, __disjvr_15^0'=__disjvr_15^post62, x_14^0'=x_14^post62, head_30^0'=head_30^post62, __disjvr_12^0'=__disjvr_12^post62, ct_18^0'=ct_18^post62, __disjvr_24^0'=__disjvr_24^post62, r_160^0'=r_160^post62, __disjvr_1^0'=__disjvr_1^post62, y_20^0'=y_20^post62, len_129^0'=len_129^post62, __disjvr_3^0'=__disjvr_3^post62, temp0_16^0'=temp0_16^post62, __disjvr_29^0'=__disjvr_29^post62, __disjvr_0^0'=__disjvr_0^post62, a_212^0'=a_212^post62, __disjvr_8^0'=__disjvr_8^post62, length_27^0'=length_27^post62, __disjvr_17^0'=__disjvr_17^post62, x_17^0'=x_17^post62, i_164^0'=i_164^post62, __disjvr_14^0'=__disjvr_14^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62, __disjvr_26^0'=__disjvr_26^post62, rcd_56^0'=rcd_56^post62, __disjvr_21^0'=__disjvr_21^post62, a_113^0'=a_113^post62, __disjvr_5^0'=__disjvr_5^post62, temp_33^0'=temp_33^post62, x_126^0'=x_126^post62, head_15^0'=head_15^post62, __disjvr_11^0'=__disjvr_11^post62, a_257^0'=a_257^post62, __disjvr_23^0'=__disjvr_23^post62, r_121^0'=r_121^post62, __disjvr_19^0'=__disjvr_19^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, i_92^0'=i_92^post62, __disjvr_30^0'=__disjvr_30^post62, t_24^0'=t_24^post62, __disjvr_28^0'=__disjvr_28^post62, a_181^0'=a_181^post62, __disjvr_7^0'=__disjvr_7^post62, len_180^0'=len_180^post62, __disjvr_16^0'=__disjvr_16^post62, (r_160^0-r_160^post62 == 0 /\ y_20^0-y_20^post62 == 0 /\ -t_24^post62+t_24^0 == 0 /\ -x_17^post62+x_17^0 == 0 /\ temp0_16^0-temp0_16^post62 == 0 /\ -x_126^post62+x_126^0 == 0 /\ rcd_86^0-rcd_86^post62 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ tmp_32^0-tmp_32^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ -head_15^post62+head_15^0 == 0 /\ -__disjvr_26^post62+__disjvr_26^0 == 0 /\ -__disjvr_23^post62+__disjvr_23^0 == 0 /\ __disjvr_17^0-__disjvr_17^post62 == 0 /\ __disjvr_10^0-__disjvr_10^post62 == 0 /\ -len_180^post62+len_180^0 == 0 /\ ct_18^0-ct_18^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ -__disjvr_15^post62+__disjvr_15^0 == 0 /\ a_234^0-a_234^post62 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -a_212^post62+a_212^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -__disjvr_5^post62+__disjvr_5^0 == 0 /\ -a_113^post62+a_113^0 == 0 /\ __disjvr_25^0-__disjvr_25^post62 == 0 /\ a_144^0-a_144^post62 == 0 /\ -x_SLAM_f_19^post62+x_SLAM_f_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -head_30^post62+head_30^0 == 0 /\ -a_181^post62+a_181^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -i_92^post62+i_92^0 == 0 /\ __disjvr_29^post62-__disjvr_29^0 == 0 /\ -a_257^post62+a_257^0 == 0 /\ __disjvr_27^0-__disjvr_27^post62 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -f_167^post62+f_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -length_27^post62+length_27^0 == 0 /\ -r_121^post62+r_121^0 == 0 /\ i_105^0-i_105^post62 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ i_28^0-i_28^post62 == 0 /\ -rcd_56^post62+rcd_56^0 == 0 /\ x_21^0-x_21^post62 == 0 /\ -__disjvr_3^post62+__disjvr_3^0 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ -r_37^post62+r_37^0 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ x_172^0-x_172^post62 == 0 /\ len_129^0-len_129^post62 == 0 /\ -temp0_29^post62+temp0_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post62 == 0 /\ __disjvr_30^0-__disjvr_30^post62 == 0 /\ -temp_33^post62+temp_33^0 == 0 /\ -__disjvr_20^post62+__disjvr_20^0 == 0 /\ -__disjvr_24^post62+__disjvr_24^0 == 0 /\ -i_164^post62+i_164^0 == 0 /\ -__disjvr_0^post62+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post62 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0), cost: 1
  63: l61 -> l41 : x_172^0'=x_172^post63, i_105^0'=i_105^post63, __disjvr_13^0'=__disjvr_13^post63, result_11^0'=result_11^post63, __disjvr_25^0'=__disjvr_25^post63, r_37^0'=r_37^post63, __disjvr_20^0'=__disjvr_20^post63, __disjvr_9^0'=__disjvr_9^post63, __disjvr_4^0'=__disjvr_4^post63, temp0_29^0'=temp0_29^post63, f_167^0'=f_167^post63, __disjvr_10^0'=__disjvr_10^post63, a_234^0'=a_234^post63, __disjvr_22^0'=__disjvr_22^post63, nondet_12^0'=nondet_12^post63, __disjvr_18^0'=__disjvr_18^post63, x_21^0'=x_21^post63, i_28^0'=i_28^post63, __disjvr_2^0'=__disjvr_2^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_27^0'=__disjvr_27^post63, rcd_86^0'=rcd_86^post63, a_144^0'=a_144^post63, __disjvr_6^0'=__disjvr_6^post63, tmp_32^0'=tmp_32^post63, __disjvr_15^0'=__disjvr_15^post63, x_14^0'=x_14^post63, head_30^0'=head_30^post63, __disjvr_12^0'=__disjvr_12^post63, ct_18^0'=ct_18^post63, __disjvr_24^0'=__disjvr_24^post63, r_160^0'=r_160^post63, __disjvr_1^0'=__disjvr_1^post63, y_20^0'=y_20^post63, len_129^0'=len_129^post63, __disjvr_3^0'=__disjvr_3^post63, temp0_16^0'=temp0_16^post63, __disjvr_29^0'=__disjvr_29^post63, __disjvr_0^0'=__disjvr_0^post63, a_212^0'=a_212^post63, __disjvr_8^0'=__disjvr_8^post63, length_27^0'=length_27^post63, __disjvr_17^0'=__disjvr_17^post63, x_17^0'=x_17^post63, i_164^0'=i_164^post63, __disjvr_14^0'=__disjvr_14^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63, __disjvr_26^0'=__disjvr_26^post63, rcd_56^0'=rcd_56^post63, __disjvr_21^0'=__disjvr_21^post63, a_113^0'=a_113^post63, __disjvr_5^0'=__disjvr_5^post63, temp_33^0'=temp_33^post63, x_126^0'=x_126^post63, head_15^0'=head_15^post63, __disjvr_11^0'=__disjvr_11^post63, a_257^0'=a_257^post63, __disjvr_23^0'=__disjvr_23^post63, r_121^0'=r_121^post63, __disjvr_19^0'=__disjvr_19^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, i_92^0'=i_92^post63, __disjvr_30^0'=__disjvr_30^post63, t_24^0'=t_24^post63, __disjvr_28^0'=__disjvr_28^post63, a_181^0'=a_181^post63, __disjvr_7^0'=__disjvr_7^post63, len_180^0'=len_180^post63, __disjvr_16^0'=__disjvr_16^post63, (0 == 0 /\ temp0_29^0-temp0_29^post63 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_86^post63+rcd_86^0 == 0 /\ -__disjvr_11^post63+__disjvr_11^0 == 0 /\ r_37^0-r_37^post63 == 0 /\ -y_20^post63+y_20^0 == 0 /\ -__disjvr_30^post63+__disjvr_30^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post63 == 0 /\ -ct_18^post63+ct_18^0 == 0 /\ __disjvr_10^0-__disjvr_10^post63 == 0 /\ __disjvr_27^0-__disjvr_27^post63 == 0 /\ x_21^0-x_21^post63 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ length_27^0-length_27^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ -__disjvr_16^post63+__disjvr_16^0 == 0 /\ -i_164^post63+i_164^0 == 0 /\ x_14^0-x_14^post63 == 0 /\ __disjvr_22^0-__disjvr_22^post63 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ -i_105^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1-a_113^0+i_105^post63 <= 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ -i_92^post63+i_92^0 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_2^0-__disjvr_2^post63 == 0 /\ -temp0_16^post63+temp0_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post63 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_121^post63+r_121^0 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ __disjvr_20^0-__disjvr_20^post63 == 0 /\ x_172^0-x_172^post63 == 0 /\ -__disjvr_21^post63+__disjvr_21^0 == 0 /\ -__disjvr_24^post63+__disjvr_24^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ x_17^0-x_17^post63 == 0 /\ a_113^0-a_113^post63 == 0 /\ -a_212^post63+a_212^0 == 0 /\ r_160^0-r_160^post63 == 0 /\ -__disjvr_0^post63+__disjvr_0^0 == 0 /\ -__disjvr_15^post63+__disjvr_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post63+temp_33^0 == 0 /\ -a_257^post63+a_257^0 == 0 /\ 1+a_113^0-i_105^post63 <= 0 /\ -rcd_56^post63+rcd_56^0 == 0 /\ -x_126^post63+x_126^0 == 0 /\ -__disjvr_19^post63+__disjvr_19^0 == 0 /\ -a_144^post63+a_144^0 == 0 /\ len_129^0-len_129^post63 == 0 /\ i_28^0-i_28^post63 == 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ -a_181^post63+a_181^0 == 0 /\ -__disjvr_18^post63+__disjvr_18^0 == 0 /\ tmp_32^0-tmp_32^post63 == 0 /\ -__disjvr_8^post63+__disjvr_8^0 == 0 /\ -head_15^post63+head_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -t_24^post63+t_24^0 == 0 /\ head_30^0-head_30^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ a_234^0-a_234^post63 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ f_167^0-f_167^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ -len_180^post63+len_180^0 == 0 /\ -__disjvr_14^post63+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post63 == 0), cost: 1
  65: l62 -> l63 : x_172^0'=x_172^post65, i_105^0'=i_105^post65, __disjvr_13^0'=__disjvr_13^post65, result_11^0'=result_11^post65, __disjvr_25^0'=__disjvr_25^post65, r_37^0'=r_37^post65, __disjvr_20^0'=__disjvr_20^post65, __disjvr_9^0'=__disjvr_9^post65, __disjvr_4^0'=__disjvr_4^post65, temp0_29^0'=temp0_29^post65, f_167^0'=f_167^post65, __disjvr_10^0'=__disjvr_10^post65, a_234^0'=a_234^post65, __disjvr_22^0'=__disjvr_22^post65, nondet_12^0'=nondet_12^post65, __disjvr_18^0'=__disjvr_18^post65, x_21^0'=x_21^post65, i_28^0'=i_28^post65, __disjvr_2^0'=__disjvr_2^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_27^0'=__disjvr_27^post65, rcd_86^0'=rcd_86^post65, a_144^0'=a_144^post65, __disjvr_6^0'=__disjvr_6^post65, tmp_32^0'=tmp_32^post65, __disjvr_15^0'=__disjvr_15^post65, x_14^0'=x_14^post65, head_30^0'=head_30^post65, __disjvr_12^0'=__disjvr_12^post65, ct_18^0'=ct_18^post65, __disjvr_24^0'=__disjvr_24^post65, r_160^0'=r_160^post65, __disjvr_1^0'=__disjvr_1^post65, y_20^0'=y_20^post65, len_129^0'=len_129^post65, __disjvr_3^0'=__disjvr_3^post65, temp0_16^0'=temp0_16^post65, __disjvr_29^0'=__disjvr_29^post65, __disjvr_0^0'=__disjvr_0^post65, a_212^0'=a_212^post65, __disjvr_8^0'=__disjvr_8^post65, length_27^0'=length_27^post65, __disjvr_17^0'=__disjvr_17^post65, x_17^0'=x_17^post65, i_164^0'=i_164^post65, __disjvr_14^0'=__disjvr_14^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, __disjvr_26^0'=__disjvr_26^post65, rcd_56^0'=rcd_56^post65, __disjvr_21^0'=__disjvr_21^post65, a_113^0'=a_113^post65, __disjvr_5^0'=__disjvr_5^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, head_15^0'=head_15^post65, __disjvr_11^0'=__disjvr_11^post65, a_257^0'=a_257^post65, __disjvr_23^0'=__disjvr_23^post65, r_121^0'=r_121^post65, __disjvr_19^0'=__disjvr_19^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, i_92^0'=i_92^post65, __disjvr_30^0'=__disjvr_30^post65, t_24^0'=t_24^post65, __disjvr_28^0'=__disjvr_28^post65, a_181^0'=a_181^post65, __disjvr_7^0'=__disjvr_7^post65, len_180^0'=len_180^post65, __disjvr_16^0'=__disjvr_16^post65, (x_21^0-x_21^post65 == 0 /\ rcd_86^0-rcd_86^post65 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -head_30^post65+head_30^0 == 0 /\ a_212^0-a_212^post65 == 0 /\ -length_27^post65+length_27^0 == 0 /\ rcd_56^0-rcd_56^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -__disjvr_22^post65+__disjvr_22^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -r_121^post65+r_121^0 == 0 /\ __disjvr_18^0-__disjvr_18^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ -a_113^post65+a_113^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ r_160^0-r_160^post65 == 0 /\ __disjvr_2^0-__disjvr_2^post65 == 0 /\ -__disjvr_14^post65+__disjvr_14^0 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -__disjvr_3^post65+__disjvr_3^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -head_15^post65+head_15^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -__disjvr_23^post65+__disjvr_23^0 == 0 /\ -__disjvr_11^post65+__disjvr_11^0 == 0 /\ __disjvr_17^0-__disjvr_17^post65 == 0 /\ x_172^0-x_172^post65 == 0 /\ -a_181^post65+a_181^0 == 0 /\ len_129^0-len_129^post65 == 0 /\ ct_18^0-ct_18^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_16^post65+__disjvr_16^0 == 0 /\ r_37^0-r_37^post65 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ -x_126^post65+x_126^0 == 0 /\ __disjvr_27^0-__disjvr_27^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post65 == 0 /\ __disjvr_1^0-__disjvr_1^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ __disjvr_30^post65-__disjvr_30^0 == 0 /\ t_24^0-t_24^post65 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ f_167^0-f_167^post65 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -x_17^post65+x_17^0 == 0 /\ i_28^0-i_28^post65 == 0 /\ a_144^0-a_144^post65 == 0 /\ -i_92^post65+i_92^0 == 0 /\ a_234^0-a_234^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ temp0_16^0-temp0_16^post65 == 0 /\ -__disjvr_24^post65+__disjvr_24^0 == 0 /\ temp0_29^0-temp0_29^post65 == 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0), cost: 1
  66: l63 -> l41 : x_172^0'=x_172^post66, i_105^0'=i_105^post66, __disjvr_13^0'=__disjvr_13^post66, result_11^0'=result_11^post66, __disjvr_25^0'=__disjvr_25^post66, r_37^0'=r_37^post66, __disjvr_20^0'=__disjvr_20^post66, __disjvr_9^0'=__disjvr_9^post66, __disjvr_4^0'=__disjvr_4^post66, temp0_29^0'=temp0_29^post66, f_167^0'=f_167^post66, __disjvr_10^0'=__disjvr_10^post66, a_234^0'=a_234^post66, __disjvr_22^0'=__disjvr_22^post66, nondet_12^0'=nondet_12^post66, __disjvr_18^0'=__disjvr_18^post66, x_21^0'=x_21^post66, i_28^0'=i_28^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_86^0'=rcd_86^post66, a_144^0'=a_144^post66, __disjvr_6^0'=__disjvr_6^post66, tmp_32^0'=tmp_32^post66, __disjvr_15^0'=__disjvr_15^post66, x_14^0'=x_14^post66, head_30^0'=head_30^post66, __disjvr_12^0'=__disjvr_12^post66, ct_18^0'=ct_18^post66, __disjvr_24^0'=__disjvr_24^post66, r_160^0'=r_160^post66, __disjvr_1^0'=__disjvr_1^post66, y_20^0'=y_20^post66, len_129^0'=len_129^post66, __disjvr_3^0'=__disjvr_3^post66, temp0_16^0'=temp0_16^post66, __disjvr_29^0'=__disjvr_29^post66, __disjvr_0^0'=__disjvr_0^post66, a_212^0'=a_212^post66, __disjvr_8^0'=__disjvr_8^post66, length_27^0'=length_27^post66, __disjvr_17^0'=__disjvr_17^post66, x_17^0'=x_17^post66, i_164^0'=i_164^post66, __disjvr_14^0'=__disjvr_14^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_56^0'=rcd_56^post66, __disjvr_21^0'=__disjvr_21^post66, a_113^0'=a_113^post66, __disjvr_5^0'=__disjvr_5^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, head_15^0'=head_15^post66, __disjvr_11^0'=__disjvr_11^post66, a_257^0'=a_257^post66, __disjvr_23^0'=__disjvr_23^post66, r_121^0'=r_121^post66, __disjvr_19^0'=__disjvr_19^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, i_92^0'=i_92^post66, __disjvr_30^0'=__disjvr_30^post66, t_24^0'=t_24^post66, __disjvr_28^0'=__disjvr_28^post66, a_181^0'=a_181^post66, __disjvr_7^0'=__disjvr_7^post66, len_180^0'=len_180^post66, __disjvr_16^0'=__disjvr_16^post66, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_113^post66+a_113^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ x_172^0-x_172^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ i_105^0-i_105^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ head_30^0-head_30^post66 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ -i_92^post66+i_92^0 == 0 /\ x_21^0-x_21^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ -__disjvr_11^post66+__disjvr_11^0 == 0 /\ -__disjvr_16^post66+__disjvr_16^0 == 0 /\ a_234^0-a_234^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ i_28^0-i_28^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post66+temp_33^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ __disjvr_27^0-__disjvr_27^post66 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ length_27^0-length_27^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ -r_121^post66+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_21^post66+__disjvr_21^0 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ r_37^0-r_37^post66 == 0 /\ -head_15^post66+head_15^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -__disjvr_26^post66+__disjvr_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ temp0_29^0-temp0_29^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ __disjvr_10^0-__disjvr_10^post66 == 0 /\ len_129^0-len_129^post66 == 0 /\ -__disjvr_0^post66+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post66 == 0 /\ tmp_32^0-tmp_32^post66 == 0 /\ -__disjvr_30^post66+__disjvr_30^0 == 0 /\ r_160^0-r_160^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_22^0-__disjvr_22^post66 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -x_126^post66+x_126^0 == 0 /\ -a_257^post66+a_257^0 == 0 /\ y_20^0-y_20^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -a_181^post66+a_181^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post66 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -len_180^post66+len_180^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_2^0-__disjvr_2^post66 == 0), cost: 1
  68: l64 -> l40 : x_172^0'=x_172^post68, i_105^0'=i_105^post68, __disjvr_13^0'=__disjvr_13^post68, result_11^0'=result_11^post68, __disjvr_25^0'=__disjvr_25^post68, r_37^0'=r_37^post68, __disjvr_20^0'=__disjvr_20^post68, __disjvr_9^0'=__disjvr_9^post68, __disjvr_4^0'=__disjvr_4^post68, temp0_29^0'=temp0_29^post68, f_167^0'=f_167^post68, __disjvr_10^0'=__disjvr_10^post68, a_234^0'=a_234^post68, __disjvr_22^0'=__disjvr_22^post68, nondet_12^0'=nondet_12^post68, __disjvr_18^0'=__disjvr_18^post68, x_21^0'=x_21^post68, i_28^0'=i_28^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_86^0'=rcd_86^post68, a_144^0'=a_144^post68, __disjvr_6^0'=__disjvr_6^post68, tmp_32^0'=tmp_32^post68, __disjvr_15^0'=__disjvr_15^post68, x_14^0'=x_14^post68, head_30^0'=head_30^post68, __disjvr_12^0'=__disjvr_12^post68, ct_18^0'=ct_18^post68, __disjvr_24^0'=__disjvr_24^post68, r_160^0'=r_160^post68, __disjvr_1^0'=__disjvr_1^post68, y_20^0'=y_20^post68, len_129^0'=len_129^post68, __disjvr_3^0'=__disjvr_3^post68, temp0_16^0'=temp0_16^post68, __disjvr_29^0'=__disjvr_29^post68, __disjvr_0^0'=__disjvr_0^post68, a_212^0'=a_212^post68, __disjvr_8^0'=__disjvr_8^post68, length_27^0'=length_27^post68, __disjvr_17^0'=__disjvr_17^post68, x_17^0'=x_17^post68, i_164^0'=i_164^post68, __disjvr_14^0'=__disjvr_14^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_56^0'=rcd_56^post68, __disjvr_21^0'=__disjvr_21^post68, a_113^0'=a_113^post68, __disjvr_5^0'=__disjvr_5^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, head_15^0'=head_15^post68, __disjvr_11^0'=__disjvr_11^post68, a_257^0'=a_257^post68, __disjvr_23^0'=__disjvr_23^post68, r_121^0'=r_121^post68, __disjvr_19^0'=__disjvr_19^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, i_92^0'=i_92^post68, __disjvr_30^0'=__disjvr_30^post68, t_24^0'=t_24^post68, __disjvr_28^0'=__disjvr_28^post68, a_181^0'=a_181^post68, __disjvr_7^0'=__disjvr_7^post68, len_180^0'=len_180^post68, __disjvr_16^0'=__disjvr_16^post68, (-__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ a_212^0-a_212^post68 == 0 /\ -x_126^post68+x_126^0 == 0 /\ -head_30^post68+head_30^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -x_14^post68+x_14^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ i_105^0-i_105^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_15^0-head_15^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -__disjvr_23^post68+__disjvr_23^0 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -len_180^post68+len_180^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ r_37^0-r_37^post68 == 0 /\ x_172^0-x_172^post68 == 0 /\ temp_33^0-temp_33^post68 == 0 /\ a_257^0-a_257^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ len_129^0-len_129^post68 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -x_17^post68+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ -a_181^post68+a_181^0 == 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ -r_160^post68+r_160^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ f_167^0-f_167^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -i_92^post68+i_92^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_5^0-__disjvr_5^post68 == 0 /\ -a_113^post68+a_113^0 == 0 /\ -__disjvr_14^post68+__disjvr_14^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -length_27^post68+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ __disjvr_1^0-__disjvr_1^post68 == 0 /\ -tmp_32^post68+tmp_32^0 == 0 /\ __disjvr_15^0-__disjvr_15^post68 == 0 /\ __disjvr_17^0-__disjvr_17^post68 == 0 /\ i_164^0-i_164^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ ct_18^0-ct_18^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_30^post68+__disjvr_30^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ -x_21^post68+x_21^0 == 0 /\ a_234^0-a_234^post68 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -y_20^post68+y_20^0 == 0 /\ a_144^0-a_144^post68 == 0), cost: 1
  71: l65 -> l0 : x_172^0'=x_172^post71, i_105^0'=i_105^post71, __disjvr_13^0'=__disjvr_13^post71, result_11^0'=result_11^post71, __disjvr_25^0'=__disjvr_25^post71, r_37^0'=r_37^post71, __disjvr_20^0'=__disjvr_20^post71, __disjvr_9^0'=__disjvr_9^post71, __disjvr_4^0'=__disjvr_4^post71, temp0_29^0'=temp0_29^post71, f_167^0'=f_167^post71, __disjvr_10^0'=__disjvr_10^post71, a_234^0'=a_234^post71, __disjvr_22^0'=__disjvr_22^post71, nondet_12^0'=nondet_12^post71, __disjvr_18^0'=__disjvr_18^post71, x_21^0'=x_21^post71, i_28^0'=i_28^post71, __disjvr_2^0'=__disjvr_2^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_27^0'=__disjvr_27^post71, rcd_86^0'=rcd_86^post71, a_144^0'=a_144^post71, __disjvr_6^0'=__disjvr_6^post71, tmp_32^0'=tmp_32^post71, __disjvr_15^0'=__disjvr_15^post71, x_14^0'=x_14^post71, head_30^0'=head_30^post71, __disjvr_12^0'=__disjvr_12^post71, ct_18^0'=ct_18^post71, __disjvr_24^0'=__disjvr_24^post71, r_160^0'=r_160^post71, __disjvr_1^0'=__disjvr_1^post71, y_20^0'=y_20^post71, len_129^0'=len_129^post71, __disjvr_3^0'=__disjvr_3^post71, temp0_16^0'=temp0_16^post71, __disjvr_29^0'=__disjvr_29^post71, __disjvr_0^0'=__disjvr_0^post71, a_212^0'=a_212^post71, __disjvr_8^0'=__disjvr_8^post71, length_27^0'=length_27^post71, __disjvr_17^0'=__disjvr_17^post71, x_17^0'=x_17^post71, i_164^0'=i_164^post71, __disjvr_14^0'=__disjvr_14^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, __disjvr_26^0'=__disjvr_26^post71, rcd_56^0'=rcd_56^post71, __disjvr_21^0'=__disjvr_21^post71, a_113^0'=a_113^post71, __disjvr_5^0'=__disjvr_5^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, head_15^0'=head_15^post71, __disjvr_11^0'=__disjvr_11^post71, a_257^0'=a_257^post71, __disjvr_23^0'=__disjvr_23^post71, r_121^0'=r_121^post71, __disjvr_19^0'=__disjvr_19^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, i_92^0'=i_92^post71, __disjvr_30^0'=__disjvr_30^post71, t_24^0'=t_24^post71, __disjvr_28^0'=__disjvr_28^post71, a_181^0'=a_181^post71, __disjvr_7^0'=__disjvr_7^post71, len_180^0'=len_180^post71, __disjvr_16^0'=__disjvr_16^post71, (-a_113^post71+a_113^0 == 0 /\ -__disjvr_24^post71+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ __disjvr_17^0-__disjvr_17^post71 == 0 /\ r_37^0-r_37^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ len_129^0-len_129^post71 == 0 /\ -i_92^post71+i_92^0 == 0 /\ -x_17^post71+x_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ -__disjvr_29^post71+__disjvr_29^0 == 0 /\ __disjvr_12^0-__disjvr_12^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ r_160^0-r_160^post71 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ y_20^0-y_20^post71 == 0 /\ -__disjvr_30^post71+__disjvr_30^0 == 0 /\ -r_121^post71+r_121^0 == 0 /\ -i_164^post71+i_164^0 == 0 /\ result_11^0-result_11^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ __disjvr_25^0-__disjvr_25^post71 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ -__disjvr_0^post71+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -temp_33^post71+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post71 == 0 /\ head_15^0-head_15^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -head_30^post71+head_30^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -__disjvr_26^post71+__disjvr_26^0 == 0 /\ a_234^0-a_234^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_21^post71+__disjvr_21^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ length_27^0-length_27^post71 == 0 /\ a_144^0-a_144^post71 == 0 /\ i_28^0-i_28^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -x_126^post71+x_126^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ f_167^0-f_167^post71 == 0 /\ __disjvr_27^0-__disjvr_27^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ -a_257^post71+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l65
   0: l0 -> l1 : x_172^0'=x_172^post0, i_105^0'=i_105^post0, __disjvr_13^0'=__disjvr_13^post0, result_11^0'=result_11^post0, __disjvr_25^0'=__disjvr_25^post0, r_37^0'=r_37^post0, __disjvr_20^0'=__disjvr_20^post0, __disjvr_9^0'=__disjvr_9^post0, __disjvr_4^0'=__disjvr_4^post0, temp0_29^0'=temp0_29^post0, f_167^0'=f_167^post0, __disjvr_10^0'=__disjvr_10^post0, a_234^0'=a_234^post0, __disjvr_22^0'=__disjvr_22^post0, nondet_12^0'=nondet_12^post0, __disjvr_18^0'=__disjvr_18^post0, x_21^0'=x_21^post0, i_28^0'=i_28^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_86^0'=rcd_86^post0, a_144^0'=a_144^post0, __disjvr_6^0'=__disjvr_6^post0, tmp_32^0'=tmp_32^post0, __disjvr_15^0'=__disjvr_15^post0, x_14^0'=x_14^post0, head_30^0'=head_30^post0, __disjvr_12^0'=__disjvr_12^post0, ct_18^0'=ct_18^post0, __disjvr_24^0'=__disjvr_24^post0, r_160^0'=r_160^post0, __disjvr_1^0'=__disjvr_1^post0, y_20^0'=y_20^post0, len_129^0'=len_129^post0, __disjvr_3^0'=__disjvr_3^post0, temp0_16^0'=temp0_16^post0, __disjvr_29^0'=__disjvr_29^post0, __disjvr_0^0'=__disjvr_0^post0, a_212^0'=a_212^post0, __disjvr_8^0'=__disjvr_8^post0, length_27^0'=length_27^post0, __disjvr_17^0'=__disjvr_17^post0, x_17^0'=x_17^post0, i_164^0'=i_164^post0, __disjvr_14^0'=__disjvr_14^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_56^0'=rcd_56^post0, __disjvr_21^0'=__disjvr_21^post0, a_113^0'=a_113^post0, __disjvr_5^0'=__disjvr_5^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, head_15^0'=head_15^post0, __disjvr_11^0'=__disjvr_11^post0, a_257^0'=a_257^post0, __disjvr_23^0'=__disjvr_23^post0, r_121^0'=r_121^post0, __disjvr_19^0'=__disjvr_19^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, i_92^0'=i_92^post0, __disjvr_30^0'=__disjvr_30^post0, t_24^0'=t_24^post0, __disjvr_28^0'=__disjvr_28^post0, a_181^0'=a_181^post0, __disjvr_7^0'=__disjvr_7^post0, len_180^0'=len_180^post0, __disjvr_16^0'=__disjvr_16^post0, (0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ x_14^0-x_14^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -len_129^post0+len_129^0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -t_24^post0+t_24^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ i_105^0-i_105^post0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post0 == 0 /\ -r_121^post0+r_121^0 == 0 /\ __disjvr_27^0-__disjvr_27^post0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -__disjvr_21^post0+__disjvr_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -ct_18^post0+ct_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ x_17^0-x_17^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -i_28^post0 <= 0 /\ f_167^0-f_167^post0 == 0 /\ __disjvr_12^0-__disjvr_12^post0 == 0 /\ -x_126^post0+x_126^0 == 0 /\ -a_257^post0+a_257^0 == 0 /\ tmp_32^0-tmp_32^post0 == 0 /\ -head_30^post0 <= 0 /\ y_20^0-y_20^post0 == 0 /\ -rcd_56^post0+rcd_56^0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ -__disjvr_0^post0+__disjvr_0^0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ r_160^0-r_160^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-nondet_12^10 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -__disjvr_30^post0+__disjvr_30^0 == 0 /\ -i_92^post0+i_92^0 == 0 /\ -a_181^post0+a_181^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0), cost: 1
  70: l1 -> l27 : x_172^0'=x_172^post70, i_105^0'=i_105^post70, __disjvr_13^0'=__disjvr_13^post70, result_11^0'=result_11^post70, __disjvr_25^0'=__disjvr_25^post70, r_37^0'=r_37^post70, __disjvr_20^0'=__disjvr_20^post70, __disjvr_9^0'=__disjvr_9^post70, __disjvr_4^0'=__disjvr_4^post70, temp0_29^0'=temp0_29^post70, f_167^0'=f_167^post70, __disjvr_10^0'=__disjvr_10^post70, a_234^0'=a_234^post70, __disjvr_22^0'=__disjvr_22^post70, nondet_12^0'=nondet_12^post70, __disjvr_18^0'=__disjvr_18^post70, x_21^0'=x_21^post70, i_28^0'=i_28^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_86^0'=rcd_86^post70, a_144^0'=a_144^post70, __disjvr_6^0'=__disjvr_6^post70, tmp_32^0'=tmp_32^post70, __disjvr_15^0'=__disjvr_15^post70, x_14^0'=x_14^post70, head_30^0'=head_30^post70, __disjvr_12^0'=__disjvr_12^post70, ct_18^0'=ct_18^post70, __disjvr_24^0'=__disjvr_24^post70, r_160^0'=r_160^post70, __disjvr_1^0'=__disjvr_1^post70, y_20^0'=y_20^post70, len_129^0'=len_129^post70, __disjvr_3^0'=__disjvr_3^post70, temp0_16^0'=temp0_16^post70, __disjvr_29^0'=__disjvr_29^post70, __disjvr_0^0'=__disjvr_0^post70, a_212^0'=a_212^post70, __disjvr_8^0'=__disjvr_8^post70, length_27^0'=length_27^post70, __disjvr_17^0'=__disjvr_17^post70, x_17^0'=x_17^post70, i_164^0'=i_164^post70, __disjvr_14^0'=__disjvr_14^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_56^0'=rcd_56^post70, __disjvr_21^0'=__disjvr_21^post70, a_113^0'=a_113^post70, __disjvr_5^0'=__disjvr_5^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, head_15^0'=head_15^post70, __disjvr_11^0'=__disjvr_11^post70, a_257^0'=a_257^post70, __disjvr_23^0'=__disjvr_23^post70, r_121^0'=r_121^post70, __disjvr_19^0'=__disjvr_19^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, i_92^0'=i_92^post70, __disjvr_30^0'=__disjvr_30^post70, t_24^0'=t_24^post70, __disjvr_28^0'=__disjvr_28^post70, a_181^0'=a_181^post70, __disjvr_7^0'=__disjvr_7^post70, len_180^0'=len_180^post70, __disjvr_16^0'=__disjvr_16^post70, (0 == 0 /\ tmp_32^post70-temp_33^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ __disjvr_1^0-__disjvr_1^post70 == 0 /\ ct_18^0-ct_18^post70 == 0 /\ -__disjvr_19^post70+__disjvr_19^0 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -rcd_56^post70+rcd_56^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -__disjvr_7^post70+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -tmp_32^post70+head_30^post70 <= 0 /\ -tmp_32^post70+head_30^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+length_27^0 <= 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ -length_27^post70+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_8^0-__disjvr_8^post70 == 0 /\ r_160^0-r_160^post70 == 0 /\ -y_20^post70+y_20^0 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -__disjvr_14^post70+__disjvr_14^0 == 0 /\ -__disjvr_11^post70+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -x_21^post70+x_21^0 == 0 /\ -__disjvr_29^post70+__disjvr_29^0 == 0 /\ tmp_32^post70-head_30^post70 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post70-length_27^0 <= 0 /\ -1-i_28^0+i_28^post70 == 0 /\ -__disjvr_30^post70+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -x_17^post70+x_17^0 == 0 /\ 1-i_28^post70 <= 0 /\ -1+i_28^post70 <= 0 /\ __disjvr_17^0-__disjvr_17^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ __disjvr_22^0-__disjvr_22^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70-head_30^post70 <= 0 /\ rcd_86^0-rcd_86^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ -tmp_32^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ -head_15^post70+head_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -r_121^post70+r_121^0 == 0 /\ -len_180^post70+len_180^0 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ t_24^0-t_24^post70 == 0 /\ f_167^0-f_167^post70 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70+head_30^post70 <= 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ tmp_32^post70-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ temp0_29^0-temp0_29^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ -a_113^post70+a_113^0 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ -x_126^post70+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_92^post70+i_92^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ i_105^0-i_105^post70 == 0), cost: 1
   2: l2 -> l5 : x_172^0'=x_172^post2, i_105^0'=i_105^post2, __disjvr_13^0'=__disjvr_13^post2, result_11^0'=result_11^post2, __disjvr_25^0'=__disjvr_25^post2, r_37^0'=r_37^post2, __disjvr_20^0'=__disjvr_20^post2, __disjvr_9^0'=__disjvr_9^post2, __disjvr_4^0'=__disjvr_4^post2, temp0_29^0'=temp0_29^post2, f_167^0'=f_167^post2, __disjvr_10^0'=__disjvr_10^post2, a_234^0'=a_234^post2, __disjvr_22^0'=__disjvr_22^post2, nondet_12^0'=nondet_12^post2, __disjvr_18^0'=__disjvr_18^post2, x_21^0'=x_21^post2, i_28^0'=i_28^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_86^0'=rcd_86^post2, a_144^0'=a_144^post2, __disjvr_6^0'=__disjvr_6^post2, tmp_32^0'=tmp_32^post2, __disjvr_15^0'=__disjvr_15^post2, x_14^0'=x_14^post2, head_30^0'=head_30^post2, __disjvr_12^0'=__disjvr_12^post2, ct_18^0'=ct_18^post2, __disjvr_24^0'=__disjvr_24^post2, r_160^0'=r_160^post2, __disjvr_1^0'=__disjvr_1^post2, y_20^0'=y_20^post2, len_129^0'=len_129^post2, __disjvr_3^0'=__disjvr_3^post2, temp0_16^0'=temp0_16^post2, __disjvr_29^0'=__disjvr_29^post2, __disjvr_0^0'=__disjvr_0^post2, a_212^0'=a_212^post2, __disjvr_8^0'=__disjvr_8^post2, length_27^0'=length_27^post2, __disjvr_17^0'=__disjvr_17^post2, x_17^0'=x_17^post2, i_164^0'=i_164^post2, __disjvr_14^0'=__disjvr_14^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_56^0'=rcd_56^post2, __disjvr_21^0'=__disjvr_21^post2, a_113^0'=a_113^post2, __disjvr_5^0'=__disjvr_5^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, head_15^0'=head_15^post2, __disjvr_11^0'=__disjvr_11^post2, a_257^0'=a_257^post2, __disjvr_23^0'=__disjvr_23^post2, r_121^0'=r_121^post2, __disjvr_19^0'=__disjvr_19^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, i_92^0'=i_92^post2, __disjvr_30^0'=__disjvr_30^post2, t_24^0'=t_24^post2, __disjvr_28^0'=__disjvr_28^post2, a_181^0'=a_181^post2, __disjvr_7^0'=__disjvr_7^post2, len_180^0'=len_180^post2, __disjvr_16^0'=__disjvr_16^post2, (0 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -a_181^post2+a_181^0 == 0 /\ a_212^0-a_212^post2 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ -rcd_56^post2+rcd_56^0 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -t_24^post2+t_24^0 == 0 /\ -i_28^post2+i_28^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -length_27^post2+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ -r_121^post2+r_121^0 == 0 /\ -__disjvr_14^post2+__disjvr_14^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ __disjvr_27^0-__disjvr_27^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ r_160^0-r_160^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ len_129^0-len_129^post2 == 0 /\ -a_113^post2+a_113^0 == 0 /\ -__disjvr_24^post2+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ f_167^0-f_167^post2 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ -head_30^post2+head_30^0 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_15^0-__disjvr_15^post2 == 0 /\ -__disjvr_26^post2+__disjvr_26^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_17^0-__disjvr_17^post2 == 0 /\ -a_234^0 <= 0 /\ -__disjvr_29^post2+__disjvr_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -__disjvr_30^post2+__disjvr_30^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -x_126^post2+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -i_92^post2+i_92^0 == 0 /\ i_164^0-i_164^post2 == 0), cost: 1
   3: l5 -> l6 : x_172^0'=x_172^post3, i_105^0'=i_105^post3, __disjvr_13^0'=__disjvr_13^post3, result_11^0'=result_11^post3, __disjvr_25^0'=__disjvr_25^post3, r_37^0'=r_37^post3, __disjvr_20^0'=__disjvr_20^post3, __disjvr_9^0'=__disjvr_9^post3, __disjvr_4^0'=__disjvr_4^post3, temp0_29^0'=temp0_29^post3, f_167^0'=f_167^post3, __disjvr_10^0'=__disjvr_10^post3, a_234^0'=a_234^post3, __disjvr_22^0'=__disjvr_22^post3, nondet_12^0'=nondet_12^post3, __disjvr_18^0'=__disjvr_18^post3, x_21^0'=x_21^post3, i_28^0'=i_28^post3, __disjvr_2^0'=__disjvr_2^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_27^0'=__disjvr_27^post3, rcd_86^0'=rcd_86^post3, a_144^0'=a_144^post3, __disjvr_6^0'=__disjvr_6^post3, tmp_32^0'=tmp_32^post3, __disjvr_15^0'=__disjvr_15^post3, x_14^0'=x_14^post3, head_30^0'=head_30^post3, __disjvr_12^0'=__disjvr_12^post3, ct_18^0'=ct_18^post3, __disjvr_24^0'=__disjvr_24^post3, r_160^0'=r_160^post3, __disjvr_1^0'=__disjvr_1^post3, y_20^0'=y_20^post3, len_129^0'=len_129^post3, __disjvr_3^0'=__disjvr_3^post3, temp0_16^0'=temp0_16^post3, __disjvr_29^0'=__disjvr_29^post3, __disjvr_0^0'=__disjvr_0^post3, a_212^0'=a_212^post3, __disjvr_8^0'=__disjvr_8^post3, length_27^0'=length_27^post3, __disjvr_17^0'=__disjvr_17^post3, x_17^0'=x_17^post3, i_164^0'=i_164^post3, __disjvr_14^0'=__disjvr_14^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, __disjvr_26^0'=__disjvr_26^post3, rcd_56^0'=rcd_56^post3, __disjvr_21^0'=__disjvr_21^post3, a_113^0'=a_113^post3, __disjvr_5^0'=__disjvr_5^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, head_15^0'=head_15^post3, __disjvr_11^0'=__disjvr_11^post3, a_257^0'=a_257^post3, __disjvr_23^0'=__disjvr_23^post3, r_121^0'=r_121^post3, __disjvr_19^0'=__disjvr_19^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, i_92^0'=i_92^post3, __disjvr_30^0'=__disjvr_30^post3, t_24^0'=t_24^post3, __disjvr_28^0'=__disjvr_28^post3, a_181^0'=a_181^post3, __disjvr_7^0'=__disjvr_7^post3, len_180^0'=len_180^post3, __disjvr_16^0'=__disjvr_16^post3, (__disjvr_19^0-__disjvr_19^post3 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -__disjvr_21^post3+__disjvr_21^0 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -a_113^post3+a_113^0 == 0 /\ head_30^0-head_30^post3 == 0 /\ -__disjvr_0^post3+__disjvr_0^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ -x_126^post3+x_126^0 == 0 /\ -i_92^post3+i_92^0 == 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ i_28^0-i_28^post3 == 0 /\ length_27^0-length_27^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ temp0_16^0-temp0_16^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ f_167^0-f_167^post3 == 0 /\ __disjvr_0^post3-__disjvr_0^0 == 0 /\ -a_144^post3+a_144^0 == 0 /\ __disjvr_27^0-__disjvr_27^post3 == 0 /\ -rcd_56^post3+rcd_56^0 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ len_129^0-len_129^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ r_37^0-r_37^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ y_20^0-y_20^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ -a_212^post3+a_212^0 == 0 /\ tmp_32^0-tmp_32^post3 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ -temp_33^post3+temp_33^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -i_164^post3+i_164^0 == 0 /\ -t_24^post3+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ -a_257^post3+a_257^0 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ r_160^0-r_160^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_14^0-x_14^post3 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -head_15^post3+head_15^0 == 0), cost: 1
   4: l6 -> l7 : x_172^0'=x_172^post4, i_105^0'=i_105^post4, __disjvr_13^0'=__disjvr_13^post4, result_11^0'=result_11^post4, __disjvr_25^0'=__disjvr_25^post4, r_37^0'=r_37^post4, __disjvr_20^0'=__disjvr_20^post4, __disjvr_9^0'=__disjvr_9^post4, __disjvr_4^0'=__disjvr_4^post4, temp0_29^0'=temp0_29^post4, f_167^0'=f_167^post4, __disjvr_10^0'=__disjvr_10^post4, a_234^0'=a_234^post4, __disjvr_22^0'=__disjvr_22^post4, nondet_12^0'=nondet_12^post4, __disjvr_18^0'=__disjvr_18^post4, x_21^0'=x_21^post4, i_28^0'=i_28^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_86^0'=rcd_86^post4, a_144^0'=a_144^post4, __disjvr_6^0'=__disjvr_6^post4, tmp_32^0'=tmp_32^post4, __disjvr_15^0'=__disjvr_15^post4, x_14^0'=x_14^post4, head_30^0'=head_30^post4, __disjvr_12^0'=__disjvr_12^post4, ct_18^0'=ct_18^post4, __disjvr_24^0'=__disjvr_24^post4, r_160^0'=r_160^post4, __disjvr_1^0'=__disjvr_1^post4, y_20^0'=y_20^post4, len_129^0'=len_129^post4, __disjvr_3^0'=__disjvr_3^post4, temp0_16^0'=temp0_16^post4, __disjvr_29^0'=__disjvr_29^post4, __disjvr_0^0'=__disjvr_0^post4, a_212^0'=a_212^post4, __disjvr_8^0'=__disjvr_8^post4, length_27^0'=length_27^post4, __disjvr_17^0'=__disjvr_17^post4, x_17^0'=x_17^post4, i_164^0'=i_164^post4, __disjvr_14^0'=__disjvr_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_56^0'=rcd_56^post4, __disjvr_21^0'=__disjvr_21^post4, a_113^0'=a_113^post4, __disjvr_5^0'=__disjvr_5^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, head_15^0'=head_15^post4, __disjvr_11^0'=__disjvr_11^post4, a_257^0'=a_257^post4, __disjvr_23^0'=__disjvr_23^post4, r_121^0'=r_121^post4, __disjvr_19^0'=__disjvr_19^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, i_92^0'=i_92^post4, __disjvr_30^0'=__disjvr_30^post4, t_24^0'=t_24^post4, __disjvr_28^0'=__disjvr_28^post4, a_181^0'=a_181^post4, __disjvr_7^0'=__disjvr_7^post4, len_180^0'=len_180^post4, __disjvr_16^0'=__disjvr_16^post4, (0 == 0 /\ -ct_18^0 <= 0 /\ -i_164^post4+i_164^0 == 0 /\ -__disjvr_19^post4+__disjvr_19^0 == 0 /\ f_167^0-f_167^post4 == 0 /\ i_92^0-i_92^post4 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ tmp_32^0-tmp_32^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_14^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -y_20^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ -len_129^post4+len_129^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ -x_17^0+head_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -__disjvr_21^post4+__disjvr_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ __disjvr_27^0-__disjvr_27^post4 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ x_14^0 <= 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ a_144^0-a_144^post4 == 0 /\ x_17^0-head_15^0 <= 0 /\ 1-a_234^0+a_257^post4 <= 0 /\ __disjvr_6^0-__disjvr_6^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ y_20^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -rcd_56^post4+rcd_56^0 == 0 /\ a_212^0-a_212^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ -a_234^post4+a_234^0 == 0 /\ -length_27^post4+length_27^0 == 0 /\ -a_181^post4+a_181^0 == 0 /\ x_14^0-x_14^post4 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ i_105^0-i_105^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ -len_180^post4+len_180^0 == 0 /\ -x_21^0+t_24^post4 == 0 /\ -r_121^post4+r_121^0 == 0 /\ -__disjvr_14^post4+__disjvr_14^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ x_21^0-x_21^post4 == 0 /\ -__disjvr_29^post4+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_30^post4+__disjvr_30^0 == 0 /\ -y_20^post4+y_20^0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ head_30^0-head_30^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ -__disjvr_0^post4+__disjvr_0^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -1+a_234^0-a_257^post4 <= 0 /\ r_37^0-r_37^post4 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -temp_33^post4+temp_33^0 == 0), cost: 1
   5: l7 -> l8 : x_172^0'=x_172^post5, i_105^0'=i_105^post5, __disjvr_13^0'=__disjvr_13^post5, result_11^0'=result_11^post5, __disjvr_25^0'=__disjvr_25^post5, r_37^0'=r_37^post5, __disjvr_20^0'=__disjvr_20^post5, __disjvr_9^0'=__disjvr_9^post5, __disjvr_4^0'=__disjvr_4^post5, temp0_29^0'=temp0_29^post5, f_167^0'=f_167^post5, __disjvr_10^0'=__disjvr_10^post5, a_234^0'=a_234^post5, __disjvr_22^0'=__disjvr_22^post5, nondet_12^0'=nondet_12^post5, __disjvr_18^0'=__disjvr_18^post5, x_21^0'=x_21^post5, i_28^0'=i_28^post5, __disjvr_2^0'=__disjvr_2^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_27^0'=__disjvr_27^post5, rcd_86^0'=rcd_86^post5, a_144^0'=a_144^post5, __disjvr_6^0'=__disjvr_6^post5, tmp_32^0'=tmp_32^post5, __disjvr_15^0'=__disjvr_15^post5, x_14^0'=x_14^post5, head_30^0'=head_30^post5, __disjvr_12^0'=__disjvr_12^post5, ct_18^0'=ct_18^post5, __disjvr_24^0'=__disjvr_24^post5, r_160^0'=r_160^post5, __disjvr_1^0'=__disjvr_1^post5, y_20^0'=y_20^post5, len_129^0'=len_129^post5, __disjvr_3^0'=__disjvr_3^post5, temp0_16^0'=temp0_16^post5, __disjvr_29^0'=__disjvr_29^post5, __disjvr_0^0'=__disjvr_0^post5, a_212^0'=a_212^post5, __disjvr_8^0'=__disjvr_8^post5, length_27^0'=length_27^post5, __disjvr_17^0'=__disjvr_17^post5, x_17^0'=x_17^post5, i_164^0'=i_164^post5, __disjvr_14^0'=__disjvr_14^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, __disjvr_26^0'=__disjvr_26^post5, rcd_56^0'=rcd_56^post5, __disjvr_21^0'=__disjvr_21^post5, a_113^0'=a_113^post5, __disjvr_5^0'=__disjvr_5^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, head_15^0'=head_15^post5, __disjvr_11^0'=__disjvr_11^post5, a_257^0'=a_257^post5, __disjvr_23^0'=__disjvr_23^post5, r_121^0'=r_121^post5, __disjvr_19^0'=__disjvr_19^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, i_92^0'=i_92^post5, __disjvr_30^0'=__disjvr_30^post5, t_24^0'=t_24^post5, __disjvr_28^0'=__disjvr_28^post5, a_181^0'=a_181^post5, __disjvr_7^0'=__disjvr_7^post5, len_180^0'=len_180^post5, __disjvr_16^0'=__disjvr_16^post5, (-x_14^post5+x_14^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ -__disjvr_26^post5+__disjvr_26^0 == 0 /\ a_212^0-a_212^post5 == 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post5 == 0 /\ -__disjvr_19^post5+__disjvr_19^0 == 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ r_37^0-r_37^post5 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ x_172^0-x_172^post5 == 0 /\ -i_28^post5+i_28^0 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ -len_180^post5+len_180^0 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ -x_126^post5+x_126^0 == 0 /\ -__disjvr_21^post5+__disjvr_21^0 == 0 /\ -a_257^post5+a_257^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -t_24^post5+t_24^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ temp0_16^0-temp0_16^post5 == 0 /\ -__disjvr_1^0+__disjvr_1^post5 == 0 /\ -r_160^post5+r_160^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ i_164^0-i_164^post5 == 0 /\ -__disjvr_11^post5+__disjvr_11^0 == 0 /\ f_167^0-f_167^post5 == 0 /\ -i_92^post5+i_92^0 == 0 /\ -__disjvr_29^post5+__disjvr_29^0 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ -a_113^post5+a_113^0 == 0 /\ -len_129^post5+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -a_181^post5+a_181^0 == 0 /\ a_234^0-a_234^post5 == 0 /\ -r_121^post5+r_121^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -length_27^post5+length_27^0 == 0 /\ temp0_29^0-temp0_29^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ ct_18^0-ct_18^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_1^0-__disjvr_1^post5 == 0 /\ head_30^0-head_30^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ -y_20^post5+y_20^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_144^0-a_144^post5 == 0 /\ rcd_86^0-rcd_86^post5 == 0), cost: 1
   6: l8 -> l9 : x_172^0'=x_172^post6, i_105^0'=i_105^post6, __disjvr_13^0'=__disjvr_13^post6, result_11^0'=result_11^post6, __disjvr_25^0'=__disjvr_25^post6, r_37^0'=r_37^post6, __disjvr_20^0'=__disjvr_20^post6, __disjvr_9^0'=__disjvr_9^post6, __disjvr_4^0'=__disjvr_4^post6, temp0_29^0'=temp0_29^post6, f_167^0'=f_167^post6, __disjvr_10^0'=__disjvr_10^post6, a_234^0'=a_234^post6, __disjvr_22^0'=__disjvr_22^post6, nondet_12^0'=nondet_12^post6, __disjvr_18^0'=__disjvr_18^post6, x_21^0'=x_21^post6, i_28^0'=i_28^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_86^0'=rcd_86^post6, a_144^0'=a_144^post6, __disjvr_6^0'=__disjvr_6^post6, tmp_32^0'=tmp_32^post6, __disjvr_15^0'=__disjvr_15^post6, x_14^0'=x_14^post6, head_30^0'=head_30^post6, __disjvr_12^0'=__disjvr_12^post6, ct_18^0'=ct_18^post6, __disjvr_24^0'=__disjvr_24^post6, r_160^0'=r_160^post6, __disjvr_1^0'=__disjvr_1^post6, y_20^0'=y_20^post6, len_129^0'=len_129^post6, __disjvr_3^0'=__disjvr_3^post6, temp0_16^0'=temp0_16^post6, __disjvr_29^0'=__disjvr_29^post6, __disjvr_0^0'=__disjvr_0^post6, a_212^0'=a_212^post6, __disjvr_8^0'=__disjvr_8^post6, length_27^0'=length_27^post6, __disjvr_17^0'=__disjvr_17^post6, x_17^0'=x_17^post6, i_164^0'=i_164^post6, __disjvr_14^0'=__disjvr_14^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_56^0'=rcd_56^post6, __disjvr_21^0'=__disjvr_21^post6, a_113^0'=a_113^post6, __disjvr_5^0'=__disjvr_5^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, head_15^0'=head_15^post6, __disjvr_11^0'=__disjvr_11^post6, a_257^0'=a_257^post6, __disjvr_23^0'=__disjvr_23^post6, r_121^0'=r_121^post6, __disjvr_19^0'=__disjvr_19^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, i_92^0'=i_92^post6, __disjvr_30^0'=__disjvr_30^post6, t_24^0'=t_24^post6, __disjvr_28^0'=__disjvr_28^post6, a_181^0'=a_181^post6, __disjvr_7^0'=__disjvr_7^post6, len_180^0'=len_180^post6, __disjvr_16^0'=__disjvr_16^post6, (__disjvr_11^0-__disjvr_11^post6 == 0 /\ a_144^0-a_144^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ y_20^0-y_20^post6 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_21^post6+__disjvr_21^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -x_126^post6+x_126^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -x_SLAM_f_19^post6+x_SLAM_f_19^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -a_181^post6+a_181^0 == 0 /\ a_234^0-a_234^post6 == 0 /\ -i_92^post6+i_92^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ i_28^0-i_28^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ -__disjvr_23^post6+__disjvr_23^0 == 0 /\ -__disjvr_0^post6+__disjvr_0^0 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ temp0_29^0-temp0_29^post6 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -len_180^post6+len_180^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ -temp_33^post6+temp_33^0 == 0 /\ -r_121^post6+r_121^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post6 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_21^0-x_21^post6 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -a_212^post6+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ -a_113^post6+a_113^0 == 0 /\ head_30^0-head_30^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ x_14^0-x_14^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -head_15^post6+head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ r_37^0-r_37^post6 == 0 /\ r_160^0-r_160^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ x_172^0-x_172^post6 == 0 /\ len_129^0-len_129^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ tmp_32^0-tmp_32^post6 == 0), cost: 1
   7: l9 -> l10 : x_172^0'=x_172^post7, i_105^0'=i_105^post7, __disjvr_13^0'=__disjvr_13^post7, result_11^0'=result_11^post7, __disjvr_25^0'=__disjvr_25^post7, r_37^0'=r_37^post7, __disjvr_20^0'=__disjvr_20^post7, __disjvr_9^0'=__disjvr_9^post7, __disjvr_4^0'=__disjvr_4^post7, temp0_29^0'=temp0_29^post7, f_167^0'=f_167^post7, __disjvr_10^0'=__disjvr_10^post7, a_234^0'=a_234^post7, __disjvr_22^0'=__disjvr_22^post7, nondet_12^0'=nondet_12^post7, __disjvr_18^0'=__disjvr_18^post7, x_21^0'=x_21^post7, i_28^0'=i_28^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_86^0'=rcd_86^post7, a_144^0'=a_144^post7, __disjvr_6^0'=__disjvr_6^post7, tmp_32^0'=tmp_32^post7, __disjvr_15^0'=__disjvr_15^post7, x_14^0'=x_14^post7, head_30^0'=head_30^post7, __disjvr_12^0'=__disjvr_12^post7, ct_18^0'=ct_18^post7, __disjvr_24^0'=__disjvr_24^post7, r_160^0'=r_160^post7, __disjvr_1^0'=__disjvr_1^post7, y_20^0'=y_20^post7, len_129^0'=len_129^post7, __disjvr_3^0'=__disjvr_3^post7, temp0_16^0'=temp0_16^post7, __disjvr_29^0'=__disjvr_29^post7, __disjvr_0^0'=__disjvr_0^post7, a_212^0'=a_212^post7, __disjvr_8^0'=__disjvr_8^post7, length_27^0'=length_27^post7, __disjvr_17^0'=__disjvr_17^post7, x_17^0'=x_17^post7, i_164^0'=i_164^post7, __disjvr_14^0'=__disjvr_14^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_56^0'=rcd_56^post7, __disjvr_21^0'=__disjvr_21^post7, a_113^0'=a_113^post7, __disjvr_5^0'=__disjvr_5^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, head_15^0'=head_15^post7, __disjvr_11^0'=__disjvr_11^post7, a_257^0'=a_257^post7, __disjvr_23^0'=__disjvr_23^post7, r_121^0'=r_121^post7, __disjvr_19^0'=__disjvr_19^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, i_92^0'=i_92^post7, __disjvr_30^0'=__disjvr_30^post7, t_24^0'=t_24^post7, __disjvr_28^0'=__disjvr_28^post7, a_181^0'=a_181^post7, __disjvr_7^0'=__disjvr_7^post7, len_180^0'=len_180^post7, __disjvr_16^0'=__disjvr_16^post7, (r_37^0-r_37^post7 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -__disjvr_14^post7+__disjvr_14^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ -i_92^post7+i_92^0 == 0 /\ f_167^0-f_167^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -a_181^post7+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ -rcd_56^post7+rcd_56^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -length_27^post7+length_27^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ i_105^0-i_105^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ x_126^0-x_126^post7 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -y_20^post7+y_20^0 == 0 /\ __disjvr_1^0-__disjvr_1^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -a_257^post7+a_257^0 == 0 /\ i_164^0-i_164^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ i_28^0-i_28^post7 == 0 /\ -t_24^post7+t_24^0 == 0 /\ a_234^0-a_234^post7 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ x_21^0-x_21^post7 == 0 /\ head_30^0-head_30^post7 == 0 /\ -__disjvr_21^post7+__disjvr_21^0 == 0 /\ x_172^0-x_172^post7 == 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_14^0-x_14^post7 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -a_113^post7+a_113^0 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ -len_129^post7+len_129^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -__disjvr_29^post7+__disjvr_29^0 == 0 /\ a_212^0-a_212^post7 == 0 /\ -r_160^post7+r_160^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -r_121^post7+r_121^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -len_180^post7+len_180^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0), cost: 1
   8: l10 -> l4 : x_172^0'=x_172^post8, i_105^0'=i_105^post8, __disjvr_13^0'=__disjvr_13^post8, result_11^0'=result_11^post8, __disjvr_25^0'=__disjvr_25^post8, r_37^0'=r_37^post8, __disjvr_20^0'=__disjvr_20^post8, __disjvr_9^0'=__disjvr_9^post8, __disjvr_4^0'=__disjvr_4^post8, temp0_29^0'=temp0_29^post8, f_167^0'=f_167^post8, __disjvr_10^0'=__disjvr_10^post8, a_234^0'=a_234^post8, __disjvr_22^0'=__disjvr_22^post8, nondet_12^0'=nondet_12^post8, __disjvr_18^0'=__disjvr_18^post8, x_21^0'=x_21^post8, i_28^0'=i_28^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_86^0'=rcd_86^post8, a_144^0'=a_144^post8, __disjvr_6^0'=__disjvr_6^post8, tmp_32^0'=tmp_32^post8, __disjvr_15^0'=__disjvr_15^post8, x_14^0'=x_14^post8, head_30^0'=head_30^post8, __disjvr_12^0'=__disjvr_12^post8, ct_18^0'=ct_18^post8, __disjvr_24^0'=__disjvr_24^post8, r_160^0'=r_160^post8, __disjvr_1^0'=__disjvr_1^post8, y_20^0'=y_20^post8, len_129^0'=len_129^post8, __disjvr_3^0'=__disjvr_3^post8, temp0_16^0'=temp0_16^post8, __disjvr_29^0'=__disjvr_29^post8, __disjvr_0^0'=__disjvr_0^post8, a_212^0'=a_212^post8, __disjvr_8^0'=__disjvr_8^post8, length_27^0'=length_27^post8, __disjvr_17^0'=__disjvr_17^post8, x_17^0'=x_17^post8, i_164^0'=i_164^post8, __disjvr_14^0'=__disjvr_14^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_56^0'=rcd_56^post8, __disjvr_21^0'=__disjvr_21^post8, a_113^0'=a_113^post8, __disjvr_5^0'=__disjvr_5^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, head_15^0'=head_15^post8, __disjvr_11^0'=__disjvr_11^post8, a_257^0'=a_257^post8, __disjvr_23^0'=__disjvr_23^post8, r_121^0'=r_121^post8, __disjvr_19^0'=__disjvr_19^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, i_92^0'=i_92^post8, __disjvr_30^0'=__disjvr_30^post8, t_24^0'=t_24^post8, __disjvr_28^0'=__disjvr_28^post8, a_181^0'=a_181^post8, __disjvr_7^0'=__disjvr_7^post8, len_180^0'=len_180^post8, __disjvr_16^0'=__disjvr_16^post8, (0 == 0 /\ x_172^0-x_172^post8 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_121^post8+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ a_144^0-a_144^post8 == 0 /\ -length_27^post8+length_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ a_212^0-a_212^post8 == 0 /\ -len_180^post8+len_180^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -a_234^post8+a_257^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -head_30^post8+head_30^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ -a_113^post8+a_113^0 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_14^post8+__disjvr_14^0 == 0 /\ -a_181^post8+a_181^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ a_234^post8-a_257^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ __disjvr_17^0-__disjvr_17^post8 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post8 == 0 /\ r_160^0-r_160^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ -temp0_29^post8+temp0_29^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_29^post8+__disjvr_29^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ rcd_86^0-rcd_86^post8 == 0 /\ -x_126^post8+x_126^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -i_92^post8+i_92^0 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -i_28^post8+i_28^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -len_129^post8+len_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ x_21^0-x_21^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0), cost: 1
   9: l4 -> l2 : x_172^0'=x_172^post9, i_105^0'=i_105^post9, __disjvr_13^0'=__disjvr_13^post9, result_11^0'=result_11^post9, __disjvr_25^0'=__disjvr_25^post9, r_37^0'=r_37^post9, __disjvr_20^0'=__disjvr_20^post9, __disjvr_9^0'=__disjvr_9^post9, __disjvr_4^0'=__disjvr_4^post9, temp0_29^0'=temp0_29^post9, f_167^0'=f_167^post9, __disjvr_10^0'=__disjvr_10^post9, a_234^0'=a_234^post9, __disjvr_22^0'=__disjvr_22^post9, nondet_12^0'=nondet_12^post9, __disjvr_18^0'=__disjvr_18^post9, x_21^0'=x_21^post9, i_28^0'=i_28^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_86^0'=rcd_86^post9, a_144^0'=a_144^post9, __disjvr_6^0'=__disjvr_6^post9, tmp_32^0'=tmp_32^post9, __disjvr_15^0'=__disjvr_15^post9, x_14^0'=x_14^post9, head_30^0'=head_30^post9, __disjvr_12^0'=__disjvr_12^post9, ct_18^0'=ct_18^post9, __disjvr_24^0'=__disjvr_24^post9, r_160^0'=r_160^post9, __disjvr_1^0'=__disjvr_1^post9, y_20^0'=y_20^post9, len_129^0'=len_129^post9, __disjvr_3^0'=__disjvr_3^post9, temp0_16^0'=temp0_16^post9, __disjvr_29^0'=__disjvr_29^post9, __disjvr_0^0'=__disjvr_0^post9, a_212^0'=a_212^post9, __disjvr_8^0'=__disjvr_8^post9, length_27^0'=length_27^post9, __disjvr_17^0'=__disjvr_17^post9, x_17^0'=x_17^post9, i_164^0'=i_164^post9, __disjvr_14^0'=__disjvr_14^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_56^0'=rcd_56^post9, __disjvr_21^0'=__disjvr_21^post9, a_113^0'=a_113^post9, __disjvr_5^0'=__disjvr_5^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, head_15^0'=head_15^post9, __disjvr_11^0'=__disjvr_11^post9, a_257^0'=a_257^post9, __disjvr_23^0'=__disjvr_23^post9, r_121^0'=r_121^post9, __disjvr_19^0'=__disjvr_19^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, i_92^0'=i_92^post9, __disjvr_30^0'=__disjvr_30^post9, t_24^0'=t_24^post9, __disjvr_28^0'=__disjvr_28^post9, a_181^0'=a_181^post9, __disjvr_7^0'=__disjvr_7^post9, len_180^0'=len_180^post9, __disjvr_16^0'=__disjvr_16^post9, (-__disjvr_16^post9+__disjvr_16^0 == 0 /\ tmp_32^0-tmp_32^post9 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -__disjvr_23^post9+__disjvr_23^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ __disjvr_12^0-__disjvr_12^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ a_234^0-a_234^post9 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ -__disjvr_24^post9+__disjvr_24^0 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -a_212^post9+a_212^0 == 0 /\ -__disjvr_19^post9+__disjvr_19^0 == 0 /\ -a_113^post9+a_113^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ -rcd_56^post9+rcd_56^0 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -a_181^post9+a_181^0 == 0 /\ -length_27^post9+length_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ -f_167^post9+f_167^0 == 0 /\ x_172^0-x_172^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ r_160^0-r_160^post9 == 0 /\ -len_180^post9+len_180^0 == 0 /\ -__disjvr_29^post9+__disjvr_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post9 == 0 /\ __disjvr_13^0-__disjvr_13^post9 == 0 /\ head_30^0-head_30^post9 == 0 /\ __disjvr_27^0-__disjvr_27^post9 == 0 /\ __disjvr_30^0-__disjvr_30^post9 == 0 /\ len_129^0-len_129^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -x_17^post9+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -x_126^post9+x_126^0 == 0 /\ -i_92^post9+i_92^0 == 0), cost: 1
  20: l20 -> l21 : x_172^0'=x_172^post20, i_105^0'=i_105^post20, __disjvr_13^0'=__disjvr_13^post20, result_11^0'=result_11^post20, __disjvr_25^0'=__disjvr_25^post20, r_37^0'=r_37^post20, __disjvr_20^0'=__disjvr_20^post20, __disjvr_9^0'=__disjvr_9^post20, __disjvr_4^0'=__disjvr_4^post20, temp0_29^0'=temp0_29^post20, f_167^0'=f_167^post20, __disjvr_10^0'=__disjvr_10^post20, a_234^0'=a_234^post20, __disjvr_22^0'=__disjvr_22^post20, nondet_12^0'=nondet_12^post20, __disjvr_18^0'=__disjvr_18^post20, x_21^0'=x_21^post20, i_28^0'=i_28^post20, __disjvr_2^0'=__disjvr_2^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_27^0'=__disjvr_27^post20, rcd_86^0'=rcd_86^post20, a_144^0'=a_144^post20, __disjvr_6^0'=__disjvr_6^post20, tmp_32^0'=tmp_32^post20, __disjvr_15^0'=__disjvr_15^post20, x_14^0'=x_14^post20, head_30^0'=head_30^post20, __disjvr_12^0'=__disjvr_12^post20, ct_18^0'=ct_18^post20, __disjvr_24^0'=__disjvr_24^post20, r_160^0'=r_160^post20, __disjvr_1^0'=__disjvr_1^post20, y_20^0'=y_20^post20, len_129^0'=len_129^post20, __disjvr_3^0'=__disjvr_3^post20, temp0_16^0'=temp0_16^post20, __disjvr_29^0'=__disjvr_29^post20, __disjvr_0^0'=__disjvr_0^post20, a_212^0'=a_212^post20, __disjvr_8^0'=__disjvr_8^post20, length_27^0'=length_27^post20, __disjvr_17^0'=__disjvr_17^post20, x_17^0'=x_17^post20, i_164^0'=i_164^post20, __disjvr_14^0'=__disjvr_14^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20, __disjvr_26^0'=__disjvr_26^post20, rcd_56^0'=rcd_56^post20, __disjvr_21^0'=__disjvr_21^post20, a_113^0'=a_113^post20, __disjvr_5^0'=__disjvr_5^post20, temp_33^0'=temp_33^post20, x_126^0'=x_126^post20, head_15^0'=head_15^post20, __disjvr_11^0'=__disjvr_11^post20, a_257^0'=a_257^post20, __disjvr_23^0'=__disjvr_23^post20, r_121^0'=r_121^post20, __disjvr_19^0'=__disjvr_19^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, i_92^0'=i_92^post20, __disjvr_30^0'=__disjvr_30^post20, t_24^0'=t_24^post20, __disjvr_28^0'=__disjvr_28^post20, a_181^0'=a_181^post20, __disjvr_7^0'=__disjvr_7^post20, len_180^0'=len_180^post20, __disjvr_16^0'=__disjvr_16^post20, (0 == 0 /\ result_11^0-result_11^post20 == 0 /\ r_37^0-r_37^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_14^post20+__disjvr_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ -i_92^post20+i_92^0 == 0 /\ tmp_32^0-tmp_32^post20 == 0 /\ -len_129^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ temp0_29^0-temp0_29^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ rcd_86^0-rcd_86^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -a_144^post20+a_144^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -rcd_56^post20+rcd_56^0 == 0 /\ x_126^0-x_126^post20 == 0 /\ __disjvr_25^0-__disjvr_25^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ i_164^0-i_164^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -r_121^post20+r_121^0 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_113^0-a_113^post20 == 0 /\ x_172^0-x_172^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ -__disjvr_28^post20+__disjvr_28^0 == 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ i_105^0-i_105^post20 == 0 /\ -a_181^post20+a_181^0 == 0 /\ head_30^0-head_30^post20 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -a_234^post20+a_234^0 == 0 /\ x_21^0-x_21^post20 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_129^post20+len_129^0 == 0 /\ i_28^0-i_28^post20 == 0 /\ -length_27^post20+length_27^0 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -r_160^post20+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -t_24^post20+t_24^0 == 0 /\ f_167^0-f_167^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ -len_180^post20+len_180^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -a_257^post20+a_257^0 == 0 /\ a_212^0-a_212^post20 == 0), cost: 1
  21: l21 -> l22 : x_172^0'=x_172^post21, i_105^0'=i_105^post21, __disjvr_13^0'=__disjvr_13^post21, result_11^0'=result_11^post21, __disjvr_25^0'=__disjvr_25^post21, r_37^0'=r_37^post21, __disjvr_20^0'=__disjvr_20^post21, __disjvr_9^0'=__disjvr_9^post21, __disjvr_4^0'=__disjvr_4^post21, temp0_29^0'=temp0_29^post21, f_167^0'=f_167^post21, __disjvr_10^0'=__disjvr_10^post21, a_234^0'=a_234^post21, __disjvr_22^0'=__disjvr_22^post21, nondet_12^0'=nondet_12^post21, __disjvr_18^0'=__disjvr_18^post21, x_21^0'=x_21^post21, i_28^0'=i_28^post21, __disjvr_2^0'=__disjvr_2^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_27^0'=__disjvr_27^post21, rcd_86^0'=rcd_86^post21, a_144^0'=a_144^post21, __disjvr_6^0'=__disjvr_6^post21, tmp_32^0'=tmp_32^post21, __disjvr_15^0'=__disjvr_15^post21, x_14^0'=x_14^post21, head_30^0'=head_30^post21, __disjvr_12^0'=__disjvr_12^post21, ct_18^0'=ct_18^post21, __disjvr_24^0'=__disjvr_24^post21, r_160^0'=r_160^post21, __disjvr_1^0'=__disjvr_1^post21, y_20^0'=y_20^post21, len_129^0'=len_129^post21, __disjvr_3^0'=__disjvr_3^post21, temp0_16^0'=temp0_16^post21, __disjvr_29^0'=__disjvr_29^post21, __disjvr_0^0'=__disjvr_0^post21, a_212^0'=a_212^post21, __disjvr_8^0'=__disjvr_8^post21, length_27^0'=length_27^post21, __disjvr_17^0'=__disjvr_17^post21, x_17^0'=x_17^post21, i_164^0'=i_164^post21, __disjvr_14^0'=__disjvr_14^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21, __disjvr_26^0'=__disjvr_26^post21, rcd_56^0'=rcd_56^post21, __disjvr_21^0'=__disjvr_21^post21, a_113^0'=a_113^post21, __disjvr_5^0'=__disjvr_5^post21, temp_33^0'=temp_33^post21, x_126^0'=x_126^post21, head_15^0'=head_15^post21, __disjvr_11^0'=__disjvr_11^post21, a_257^0'=a_257^post21, __disjvr_23^0'=__disjvr_23^post21, r_121^0'=r_121^post21, __disjvr_19^0'=__disjvr_19^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, i_92^0'=i_92^post21, __disjvr_30^0'=__disjvr_30^post21, t_24^0'=t_24^post21, __disjvr_28^0'=__disjvr_28^post21, a_181^0'=a_181^post21, __disjvr_7^0'=__disjvr_7^post21, len_180^0'=len_180^post21, __disjvr_16^0'=__disjvr_16^post21, (-__disjvr_1^post21+__disjvr_1^0 == 0 /\ -tmp_32^post21+tmp_32^0 == 0 /\ rcd_86^0-rcd_86^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -r_121^post21+r_121^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ a_212^0-a_212^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -len_180^post21+len_180^0 == 0 /\ -head_30^post21+head_30^0 == 0 /\ -x_21^post21+x_21^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ i_105^0-i_105^post21 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ len_129^0-len_129^post21 == 0 /\ -__disjvr_24^post21+__disjvr_24^0 == 0 /\ a_257^0-a_257^post21 == 0 /\ -x_14^post21+x_14^0 == 0 /\ head_15^0-head_15^post21 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ -a_113^post21+a_113^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post21 == 0 /\ -i_92^post21+i_92^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ y_20^0-y_20^post21 == 0 /\ -a_181^post21+a_181^0 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -length_27^post21+length_27^0 == 0 /\ __disjvr_27^0-__disjvr_27^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ -i_164^post21+i_164^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -x_126^post21+x_126^0 == 0 /\ a_234^0-a_234^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ a_144^0-a_144^post21 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ x_172^0-x_172^post21 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ f_167^0-f_167^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -x_17^post21+x_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post21 == 0 /\ -__disjvr_14^post21+__disjvr_14^0 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ i_28^0-i_28^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ rcd_56^0-rcd_56^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ temp0_29^0-temp0_29^post21 == 0 /\ __disjvr_15^0-__disjvr_15^post21 == 0 /\ temp0_16^0-temp0_16^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ -r_160^post21+r_160^0 == 0), cost: 1
  22: l22 -> l23 : x_172^0'=x_172^post22, i_105^0'=i_105^post22, __disjvr_13^0'=__disjvr_13^post22, result_11^0'=result_11^post22, __disjvr_25^0'=__disjvr_25^post22, r_37^0'=r_37^post22, __disjvr_20^0'=__disjvr_20^post22, __disjvr_9^0'=__disjvr_9^post22, __disjvr_4^0'=__disjvr_4^post22, temp0_29^0'=temp0_29^post22, f_167^0'=f_167^post22, __disjvr_10^0'=__disjvr_10^post22, a_234^0'=a_234^post22, __disjvr_22^0'=__disjvr_22^post22, nondet_12^0'=nondet_12^post22, __disjvr_18^0'=__disjvr_18^post22, x_21^0'=x_21^post22, i_28^0'=i_28^post22, __disjvr_2^0'=__disjvr_2^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_27^0'=__disjvr_27^post22, rcd_86^0'=rcd_86^post22, a_144^0'=a_144^post22, __disjvr_6^0'=__disjvr_6^post22, tmp_32^0'=tmp_32^post22, __disjvr_15^0'=__disjvr_15^post22, x_14^0'=x_14^post22, head_30^0'=head_30^post22, __disjvr_12^0'=__disjvr_12^post22, ct_18^0'=ct_18^post22, __disjvr_24^0'=__disjvr_24^post22, r_160^0'=r_160^post22, __disjvr_1^0'=__disjvr_1^post22, y_20^0'=y_20^post22, len_129^0'=len_129^post22, __disjvr_3^0'=__disjvr_3^post22, temp0_16^0'=temp0_16^post22, __disjvr_29^0'=__disjvr_29^post22, __disjvr_0^0'=__disjvr_0^post22, a_212^0'=a_212^post22, __disjvr_8^0'=__disjvr_8^post22, length_27^0'=length_27^post22, __disjvr_17^0'=__disjvr_17^post22, x_17^0'=x_17^post22, i_164^0'=i_164^post22, __disjvr_14^0'=__disjvr_14^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22, __disjvr_26^0'=__disjvr_26^post22, rcd_56^0'=rcd_56^post22, __disjvr_21^0'=__disjvr_21^post22, a_113^0'=a_113^post22, __disjvr_5^0'=__disjvr_5^post22, temp_33^0'=temp_33^post22, x_126^0'=x_126^post22, head_15^0'=head_15^post22, __disjvr_11^0'=__disjvr_11^post22, a_257^0'=a_257^post22, __disjvr_23^0'=__disjvr_23^post22, r_121^0'=r_121^post22, __disjvr_19^0'=__disjvr_19^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, i_92^0'=i_92^post22, __disjvr_30^0'=__disjvr_30^post22, t_24^0'=t_24^post22, __disjvr_28^0'=__disjvr_28^post22, a_181^0'=a_181^post22, __disjvr_7^0'=__disjvr_7^post22, len_180^0'=len_180^post22, __disjvr_16^0'=__disjvr_16^post22, (0 == 0 /\ -head_15^post22+head_15^0 == 0 /\ -ct_18^0 <= 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ x_14^0-x_14^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ r_121^0-r_121^post22 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -rcd_86^post22+rcd_86^0 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ -x_14^0 <= 0 /\ i_105^0-i_105^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ -y_20^0 <= 0 /\ -a_144^post22+a_144^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post22 == 0 /\ -__disjvr_19^post22+__disjvr_19^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_28^0-i_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ x_172^0-x_172^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ -len_180^post22+len_180^0 == 0 /\ -rcd_56^post22+rcd_56^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ -x_126^post22+x_126^0 == 0 /\ -__disjvr_21^post22+__disjvr_21^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -a_257^post22+a_257^0 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ x_17^0-head_15^0 <= 0 /\ length_27^0-length_27^post22 == 0 /\ y_20^0 <= 0 /\ result_11^0-result_11^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_14^post22+__disjvr_14^0 == 0 /\ -x_17^post22+x_17^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post22 == 0 /\ r_160^0-r_160^post22 == 0 /\ tmp_32^0-tmp_32^post22 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ a_234^0-a_212^post22 <= 0 /\ len_129^0-len_129^post22 == 0 /\ f_167^0-f_167^post22 == 0 /\ temp0_29^0-temp0_29^post22 == 0 /\ -i_92^post22+i_92^0 == 0 /\ -__disjvr_30^post22+__disjvr_30^0 == 0 /\ -t_24^post22+head_15^0 <= 0 /\ -__disjvr_18^post22+__disjvr_18^0 == 0 /\ -a_181^post22+a_181^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ ct_18^0-y_20^0 <= 0 /\ a_234^0-a_234^post22 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_0^post22+__disjvr_0^0 == 0 /\ -x_21^0+t_24^post22 == 0 /\ -temp_33^post22+temp_33^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ a_113^0-a_113^post22 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ -i_164^post22+i_164^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -a_234^0+a_212^post22 <= 0 /\ head_30^0-head_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ t_24^post22-head_15^0 <= 0), cost: 1
  23: l23 -> l24 : x_172^0'=x_172^post23, i_105^0'=i_105^post23, __disjvr_13^0'=__disjvr_13^post23, result_11^0'=result_11^post23, __disjvr_25^0'=__disjvr_25^post23, r_37^0'=r_37^post23, __disjvr_20^0'=__disjvr_20^post23, __disjvr_9^0'=__disjvr_9^post23, __disjvr_4^0'=__disjvr_4^post23, temp0_29^0'=temp0_29^post23, f_167^0'=f_167^post23, __disjvr_10^0'=__disjvr_10^post23, a_234^0'=a_234^post23, __disjvr_22^0'=__disjvr_22^post23, nondet_12^0'=nondet_12^post23, __disjvr_18^0'=__disjvr_18^post23, x_21^0'=x_21^post23, i_28^0'=i_28^post23, __disjvr_2^0'=__disjvr_2^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_27^0'=__disjvr_27^post23, rcd_86^0'=rcd_86^post23, a_144^0'=a_144^post23, __disjvr_6^0'=__disjvr_6^post23, tmp_32^0'=tmp_32^post23, __disjvr_15^0'=__disjvr_15^post23, x_14^0'=x_14^post23, head_30^0'=head_30^post23, __disjvr_12^0'=__disjvr_12^post23, ct_18^0'=ct_18^post23, __disjvr_24^0'=__disjvr_24^post23, r_160^0'=r_160^post23, __disjvr_1^0'=__disjvr_1^post23, y_20^0'=y_20^post23, len_129^0'=len_129^post23, __disjvr_3^0'=__disjvr_3^post23, temp0_16^0'=temp0_16^post23, __disjvr_29^0'=__disjvr_29^post23, __disjvr_0^0'=__disjvr_0^post23, a_212^0'=a_212^post23, __disjvr_8^0'=__disjvr_8^post23, length_27^0'=length_27^post23, __disjvr_17^0'=__disjvr_17^post23, x_17^0'=x_17^post23, i_164^0'=i_164^post23, __disjvr_14^0'=__disjvr_14^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23, __disjvr_26^0'=__disjvr_26^post23, rcd_56^0'=rcd_56^post23, __disjvr_21^0'=__disjvr_21^post23, a_113^0'=a_113^post23, __disjvr_5^0'=__disjvr_5^post23, temp_33^0'=temp_33^post23, x_126^0'=x_126^post23, head_15^0'=head_15^post23, __disjvr_11^0'=__disjvr_11^post23, a_257^0'=a_257^post23, __disjvr_23^0'=__disjvr_23^post23, r_121^0'=r_121^post23, __disjvr_19^0'=__disjvr_19^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, i_92^0'=i_92^post23, __disjvr_30^0'=__disjvr_30^post23, t_24^0'=t_24^post23, __disjvr_28^0'=__disjvr_28^post23, a_181^0'=a_181^post23, __disjvr_7^0'=__disjvr_7^post23, len_180^0'=len_180^post23, __disjvr_16^0'=__disjvr_16^post23, (-ct_18^post23+ct_18^0 == 0 /\ -len_180^post23+len_180^0 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ -length_27^post23+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -__disjvr_30^post23+__disjvr_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_37^0-r_37^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -y_20^post23+y_20^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ f_167^0-f_167^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ temp0_29^0-temp0_29^post23 == 0 /\ i_105^0-i_105^post23 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -x_126^post23+x_126^0 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -len_129^post23+len_129^0 == 0 /\ i_164^0-i_164^post23 == 0 /\ -a_257^post23+a_257^0 == 0 /\ a_212^0-a_212^post23 == 0 /\ x_17^0-x_17^post23 == 0 /\ -i_92^post23+i_92^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post23 == 0 /\ tmp_32^0-tmp_32^post23 == 0 /\ rcd_86^0-rcd_86^post23 == 0 /\ head_30^0-head_30^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ i_28^0-i_28^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ x_172^0-x_172^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -a_144^post23+a_144^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -a_113^post23+a_113^0 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_19^post23+__disjvr_19^0 == 0 /\ x_14^0-x_14^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -head_15^post23+head_15^0 == 0 /\ -__disjvr_14^post23+__disjvr_14^0 == 0 /\ -rcd_56^post23+rcd_56^0 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -r_121^post23+r_121^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ a_234^0-a_234^post23 == 0 /\ -a_181^post23+a_181^0 == 0 /\ -r_160^post23+r_160^0 == 0), cost: 1
  24: l24 -> l25 : x_172^0'=x_172^post24, i_105^0'=i_105^post24, __disjvr_13^0'=__disjvr_13^post24, result_11^0'=result_11^post24, __disjvr_25^0'=__disjvr_25^post24, r_37^0'=r_37^post24, __disjvr_20^0'=__disjvr_20^post24, __disjvr_9^0'=__disjvr_9^post24, __disjvr_4^0'=__disjvr_4^post24, temp0_29^0'=temp0_29^post24, f_167^0'=f_167^post24, __disjvr_10^0'=__disjvr_10^post24, a_234^0'=a_234^post24, __disjvr_22^0'=__disjvr_22^post24, nondet_12^0'=nondet_12^post24, __disjvr_18^0'=__disjvr_18^post24, x_21^0'=x_21^post24, i_28^0'=i_28^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_86^0'=rcd_86^post24, a_144^0'=a_144^post24, __disjvr_6^0'=__disjvr_6^post24, tmp_32^0'=tmp_32^post24, __disjvr_15^0'=__disjvr_15^post24, x_14^0'=x_14^post24, head_30^0'=head_30^post24, __disjvr_12^0'=__disjvr_12^post24, ct_18^0'=ct_18^post24, __disjvr_24^0'=__disjvr_24^post24, r_160^0'=r_160^post24, __disjvr_1^0'=__disjvr_1^post24, y_20^0'=y_20^post24, len_129^0'=len_129^post24, __disjvr_3^0'=__disjvr_3^post24, temp0_16^0'=temp0_16^post24, __disjvr_29^0'=__disjvr_29^post24, __disjvr_0^0'=__disjvr_0^post24, a_212^0'=a_212^post24, __disjvr_8^0'=__disjvr_8^post24, length_27^0'=length_27^post24, __disjvr_17^0'=__disjvr_17^post24, x_17^0'=x_17^post24, i_164^0'=i_164^post24, __disjvr_14^0'=__disjvr_14^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_56^0'=rcd_56^post24, __disjvr_21^0'=__disjvr_21^post24, a_113^0'=a_113^post24, __disjvr_5^0'=__disjvr_5^post24, temp_33^0'=temp_33^post24, x_126^0'=x_126^post24, head_15^0'=head_15^post24, __disjvr_11^0'=__disjvr_11^post24, a_257^0'=a_257^post24, __disjvr_23^0'=__disjvr_23^post24, r_121^0'=r_121^post24, __disjvr_19^0'=__disjvr_19^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, i_92^0'=i_92^post24, __disjvr_30^0'=__disjvr_30^post24, t_24^0'=t_24^post24, __disjvr_28^0'=__disjvr_28^post24, a_181^0'=a_181^post24, __disjvr_7^0'=__disjvr_7^post24, len_180^0'=len_180^post24, __disjvr_16^0'=__disjvr_16^post24, (ct_18^0-ct_18^post24 == 0 /\ -x_126^post24+x_126^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -a_181^post24+a_181^0 == 0 /\ __disjvr_11^post24-__disjvr_11^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ -rcd_56^post24+rcd_56^0 == 0 /\ a_257^0-a_257^post24 == 0 /\ -tmp_32^post24+tmp_32^0 == 0 /\ -a_234^post24+a_234^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post24 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ x_172^0-x_172^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_27^post24+length_27^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -head_30^post24+head_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24 == 0 /\ r_160^0-r_160^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ -__disjvr_14^post24+__disjvr_14^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ temp_33^0-temp_33^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -x_21^post24+x_21^0 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_17^0-__disjvr_17^post24 == 0 /\ -x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ rcd_86^0-rcd_86^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ -i_92^post24+i_92^0 == 0 /\ __disjvr_13^0-__disjvr_13^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ -len_129^post24+len_129^0 == 0 /\ -x_14^post24+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ temp0_16^0-temp0_16^post24 == 0 /\ -r_121^post24+r_121^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ i_164^0-i_164^post24 == 0 /\ -len_180^post24+len_180^0 == 0 /\ t_24^0-t_24^post24 == 0 /\ f_167^0-f_167^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ temp0_29^0-temp0_29^post24 == 0 /\ -a_212^post24+a_212^0 == 0 /\ -a_113^post24+a_113^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ i_28^0-i_28^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ i_105^0-i_105^post24 == 0), cost: 1
  25: l25 -> l26 : x_172^0'=x_172^post25, i_105^0'=i_105^post25, __disjvr_13^0'=__disjvr_13^post25, result_11^0'=result_11^post25, __disjvr_25^0'=__disjvr_25^post25, r_37^0'=r_37^post25, __disjvr_20^0'=__disjvr_20^post25, __disjvr_9^0'=__disjvr_9^post25, __disjvr_4^0'=__disjvr_4^post25, temp0_29^0'=temp0_29^post25, f_167^0'=f_167^post25, __disjvr_10^0'=__disjvr_10^post25, a_234^0'=a_234^post25, __disjvr_22^0'=__disjvr_22^post25, nondet_12^0'=nondet_12^post25, __disjvr_18^0'=__disjvr_18^post25, x_21^0'=x_21^post25, i_28^0'=i_28^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_86^0'=rcd_86^post25, a_144^0'=a_144^post25, __disjvr_6^0'=__disjvr_6^post25, tmp_32^0'=tmp_32^post25, __disjvr_15^0'=__disjvr_15^post25, x_14^0'=x_14^post25, head_30^0'=head_30^post25, __disjvr_12^0'=__disjvr_12^post25, ct_18^0'=ct_18^post25, __disjvr_24^0'=__disjvr_24^post25, r_160^0'=r_160^post25, __disjvr_1^0'=__disjvr_1^post25, y_20^0'=y_20^post25, len_129^0'=len_129^post25, __disjvr_3^0'=__disjvr_3^post25, temp0_16^0'=temp0_16^post25, __disjvr_29^0'=__disjvr_29^post25, __disjvr_0^0'=__disjvr_0^post25, a_212^0'=a_212^post25, __disjvr_8^0'=__disjvr_8^post25, length_27^0'=length_27^post25, __disjvr_17^0'=__disjvr_17^post25, x_17^0'=x_17^post25, i_164^0'=i_164^post25, __disjvr_14^0'=__disjvr_14^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_56^0'=rcd_56^post25, __disjvr_21^0'=__disjvr_21^post25, a_113^0'=a_113^post25, __disjvr_5^0'=__disjvr_5^post25, temp_33^0'=temp_33^post25, x_126^0'=x_126^post25, head_15^0'=head_15^post25, __disjvr_11^0'=__disjvr_11^post25, a_257^0'=a_257^post25, __disjvr_23^0'=__disjvr_23^post25, r_121^0'=r_121^post25, __disjvr_19^0'=__disjvr_19^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_92^0'=i_92^post25, __disjvr_30^0'=__disjvr_30^post25, t_24^0'=t_24^post25, __disjvr_28^0'=__disjvr_28^post25, a_181^0'=a_181^post25, __disjvr_7^0'=__disjvr_7^post25, len_180^0'=len_180^post25, __disjvr_16^0'=__disjvr_16^post25, (temp0_29^0-temp0_29^post25 == 0 /\ -len_180^post25+len_180^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -__disjvr_21^post25+__disjvr_21^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ i_105^0-i_105^post25 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -a_212^post25+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ a_234^0-a_234^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -a_181^post25+a_181^0 == 0 /\ x_172^0-x_172^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_56^post25+rcd_56^0 == 0 /\ -a_257^post25+a_257^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ x_17^0-x_17^post25 == 0 /\ -a_144^post25+a_144^0 == 0 /\ r_37^0-r_37^post25 == 0 /\ -__disjvr_12^0+__disjvr_12^post25 == 0 /\ rcd_86^0-rcd_86^post25 == 0 /\ x_21^0-x_21^post25 == 0 /\ length_27^0-length_27^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ -head_15^post25+head_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_30^0-head_30^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ -__disjvr_14^post25+__disjvr_14^0 == 0 /\ len_129^0-len_129^post25 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ tmp_32^0-tmp_32^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ f_167^0-f_167^post25 == 0 /\ -x_126^post25+x_126^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -i_164^post25+i_164^0 == 0 /\ -i_92^post25+i_92^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ i_28^0-i_28^post25 == 0 /\ a_113^0-a_113^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ r_160^0-r_160^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ ct_18^0-ct_18^post25 == 0 /\ -t_24^post25+t_24^0 == 0 /\ -r_121^post25+r_121^0 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ x_14^0-x_14^post25 == 0), cost: 1
  26: l26 -> l2 : x_172^0'=x_172^post26, i_105^0'=i_105^post26, __disjvr_13^0'=__disjvr_13^post26, result_11^0'=result_11^post26, __disjvr_25^0'=__disjvr_25^post26, r_37^0'=r_37^post26, __disjvr_20^0'=__disjvr_20^post26, __disjvr_9^0'=__disjvr_9^post26, __disjvr_4^0'=__disjvr_4^post26, temp0_29^0'=temp0_29^post26, f_167^0'=f_167^post26, __disjvr_10^0'=__disjvr_10^post26, a_234^0'=a_234^post26, __disjvr_22^0'=__disjvr_22^post26, nondet_12^0'=nondet_12^post26, __disjvr_18^0'=__disjvr_18^post26, x_21^0'=x_21^post26, i_28^0'=i_28^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_86^0'=rcd_86^post26, a_144^0'=a_144^post26, __disjvr_6^0'=__disjvr_6^post26, tmp_32^0'=tmp_32^post26, __disjvr_15^0'=__disjvr_15^post26, x_14^0'=x_14^post26, head_30^0'=head_30^post26, __disjvr_12^0'=__disjvr_12^post26, ct_18^0'=ct_18^post26, __disjvr_24^0'=__disjvr_24^post26, r_160^0'=r_160^post26, __disjvr_1^0'=__disjvr_1^post26, y_20^0'=y_20^post26, len_129^0'=len_129^post26, __disjvr_3^0'=__disjvr_3^post26, temp0_16^0'=temp0_16^post26, __disjvr_29^0'=__disjvr_29^post26, __disjvr_0^0'=__disjvr_0^post26, a_212^0'=a_212^post26, __disjvr_8^0'=__disjvr_8^post26, length_27^0'=length_27^post26, __disjvr_17^0'=__disjvr_17^post26, x_17^0'=x_17^post26, i_164^0'=i_164^post26, __disjvr_14^0'=__disjvr_14^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_56^0'=rcd_56^post26, __disjvr_21^0'=__disjvr_21^post26, a_113^0'=a_113^post26, __disjvr_5^0'=__disjvr_5^post26, temp_33^0'=temp_33^post26, x_126^0'=x_126^post26, head_15^0'=head_15^post26, __disjvr_11^0'=__disjvr_11^post26, a_257^0'=a_257^post26, __disjvr_23^0'=__disjvr_23^post26, r_121^0'=r_121^post26, __disjvr_19^0'=__disjvr_19^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, i_92^0'=i_92^post26, __disjvr_30^0'=__disjvr_30^post26, t_24^0'=t_24^post26, __disjvr_28^0'=__disjvr_28^post26, a_181^0'=a_181^post26, __disjvr_7^0'=__disjvr_7^post26, len_180^0'=len_180^post26, __disjvr_16^0'=__disjvr_16^post26, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_126^post26+x_126^0 == 0 /\ -a_234^post26+a_234^0 == 0 /\ -tmp_32^post26+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ a_257^0-a_257^post26 == 0 /\ -length_27^post26+length_27^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ a_144^0-a_144^post26 == 0 /\ -x_14^post26+x_14^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ -head_30^post26+head_30^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_212^0-a_212^post26 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ f_167^0-f_167^post26 == 0 /\ 1-len_129^post26+a_212^0 <= 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ -__disjvr_30^post26+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ -i_92^post26+i_92^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_29^post26+__disjvr_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ -r_160^post26+r_160^0 == 0 /\ -i_28^post26+i_28^0 == 0 /\ rcd_86^0-rcd_86^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ __disjvr_22^0-__disjvr_22^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -rcd_56^post26+rcd_56^0 == 0 /\ -a_181^post26+a_181^0 == 0 /\ -r_121^post26+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ temp0_16^0-temp0_16^post26 == 0 /\ __disjvr_18^0-__disjvr_18^post26 == 0 /\ i_164^0-i_164^post26 == 0 /\ -len_180^post26+len_180^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -__disjvr_14^post26+__disjvr_14^0 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ t_24^0-t_24^post26 == 0 /\ -head_15^post26+head_15^0 == 0 /\ -1+len_129^post26-a_212^0 <= 0 /\ -x_21^post26+x_21^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ i_105^0-i_105^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ x_172^0-x_172^post26 == 0 /\ -a_113^post26+a_113^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0), cost: 1
  40: l27 -> l40 : x_172^0'=x_172^post40, i_105^0'=i_105^post40, __disjvr_13^0'=__disjvr_13^post40, result_11^0'=result_11^post40, __disjvr_25^0'=__disjvr_25^post40, r_37^0'=r_37^post40, __disjvr_20^0'=__disjvr_20^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_4^0'=__disjvr_4^post40, temp0_29^0'=temp0_29^post40, f_167^0'=f_167^post40, __disjvr_10^0'=__disjvr_10^post40, a_234^0'=a_234^post40, __disjvr_22^0'=__disjvr_22^post40, nondet_12^0'=nondet_12^post40, __disjvr_18^0'=__disjvr_18^post40, x_21^0'=x_21^post40, i_28^0'=i_28^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_86^0'=rcd_86^post40, a_144^0'=a_144^post40, __disjvr_6^0'=__disjvr_6^post40, tmp_32^0'=tmp_32^post40, __disjvr_15^0'=__disjvr_15^post40, x_14^0'=x_14^post40, head_30^0'=head_30^post40, __disjvr_12^0'=__disjvr_12^post40, ct_18^0'=ct_18^post40, __disjvr_24^0'=__disjvr_24^post40, r_160^0'=r_160^post40, __disjvr_1^0'=__disjvr_1^post40, y_20^0'=y_20^post40, len_129^0'=len_129^post40, __disjvr_3^0'=__disjvr_3^post40, temp0_16^0'=temp0_16^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, a_212^0'=a_212^post40, __disjvr_8^0'=__disjvr_8^post40, length_27^0'=length_27^post40, __disjvr_17^0'=__disjvr_17^post40, x_17^0'=x_17^post40, i_164^0'=i_164^post40, __disjvr_14^0'=__disjvr_14^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_56^0'=rcd_56^post40, __disjvr_21^0'=__disjvr_21^post40, a_113^0'=a_113^post40, __disjvr_5^0'=__disjvr_5^post40, temp_33^0'=temp_33^post40, x_126^0'=x_126^post40, head_15^0'=head_15^post40, __disjvr_11^0'=__disjvr_11^post40, a_257^0'=a_257^post40, __disjvr_23^0'=__disjvr_23^post40, r_121^0'=r_121^post40, __disjvr_19^0'=__disjvr_19^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, i_92^0'=i_92^post40, __disjvr_30^0'=__disjvr_30^post40, t_24^0'=t_24^post40, __disjvr_28^0'=__disjvr_28^post40, a_181^0'=a_181^post40, __disjvr_7^0'=__disjvr_7^post40, len_180^0'=len_180^post40, __disjvr_16^0'=__disjvr_16^post40, (0 == 0 /\ -head_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -tmp_32^post40+head_30^post40 <= 0 /\ -tmp_32^post40+head_30^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -a_181^post40+a_181^0 == 0 /\ 2-i_28^post40 <= 0 /\ -length_27^post40+length_27^0 == 0 /\ a_212^0-a_212^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ a_234^0-a_234^post40 == 0 /\ -tmp_32^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ x_172^0-x_172^post40 == 0 /\ -len_180^post40+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -r_121^post40+r_121^0 == 0 /\ head_30^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_27^0-__disjvr_27^post40 == 0 /\ -head_15^post40+head_15^0 == 0 /\ -__disjvr_29^post40+__disjvr_29^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ r_160^0-r_160^post40 == 0 /\ -a_113^post40+a_113^0 == 0 /\ a_257^0-a_257^post40 == 0 /\ tmp_32^post40-head_30^post40 <= 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post40 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ tmp_32^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -1-i_28^0+i_28^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_24^post40+__disjvr_24^0 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ -i_164^post40+i_164^0 == 0 /\ f_167^0-f_167^post40 == 0 /\ tmp_32^post40-temp_33^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -len_129^post40+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -2+i_28^post40 <= 0 /\ -x_126^post40+x_126^0 == 0 /\ r_37^0-r_37^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_27^0 <= 0 /\ -x_14^post40+x_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -y_20^post40+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ 2-length_27^0 <= 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ t_24^0-t_24^post40 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ a_144^0-a_144^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_27^0 <= 0 /\ -i_92^post40+i_92^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ temp0_29^0-temp0_29^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ i_105^0-i_105^post40 == 0), cost: 1
  64: l40 -> l62 : x_172^0'=x_172^post64, i_105^0'=i_105^post64, __disjvr_13^0'=__disjvr_13^post64, result_11^0'=result_11^post64, __disjvr_25^0'=__disjvr_25^post64, r_37^0'=r_37^post64, __disjvr_20^0'=__disjvr_20^post64, __disjvr_9^0'=__disjvr_9^post64, __disjvr_4^0'=__disjvr_4^post64, temp0_29^0'=temp0_29^post64, f_167^0'=f_167^post64, __disjvr_10^0'=__disjvr_10^post64, a_234^0'=a_234^post64, __disjvr_22^0'=__disjvr_22^post64, nondet_12^0'=nondet_12^post64, __disjvr_18^0'=__disjvr_18^post64, x_21^0'=x_21^post64, i_28^0'=i_28^post64, __disjvr_2^0'=__disjvr_2^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_27^0'=__disjvr_27^post64, rcd_86^0'=rcd_86^post64, a_144^0'=a_144^post64, __disjvr_6^0'=__disjvr_6^post64, tmp_32^0'=tmp_32^post64, __disjvr_15^0'=__disjvr_15^post64, x_14^0'=x_14^post64, head_30^0'=head_30^post64, __disjvr_12^0'=__disjvr_12^post64, ct_18^0'=ct_18^post64, __disjvr_24^0'=__disjvr_24^post64, r_160^0'=r_160^post64, __disjvr_1^0'=__disjvr_1^post64, y_20^0'=y_20^post64, len_129^0'=len_129^post64, __disjvr_3^0'=__disjvr_3^post64, temp0_16^0'=temp0_16^post64, __disjvr_29^0'=__disjvr_29^post64, __disjvr_0^0'=__disjvr_0^post64, a_212^0'=a_212^post64, __disjvr_8^0'=__disjvr_8^post64, length_27^0'=length_27^post64, __disjvr_17^0'=__disjvr_17^post64, x_17^0'=x_17^post64, i_164^0'=i_164^post64, __disjvr_14^0'=__disjvr_14^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, __disjvr_26^0'=__disjvr_26^post64, rcd_56^0'=rcd_56^post64, __disjvr_21^0'=__disjvr_21^post64, a_113^0'=a_113^post64, __disjvr_5^0'=__disjvr_5^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, head_15^0'=head_15^post64, __disjvr_11^0'=__disjvr_11^post64, a_257^0'=a_257^post64, __disjvr_23^0'=__disjvr_23^post64, r_121^0'=r_121^post64, __disjvr_19^0'=__disjvr_19^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, i_92^0'=i_92^post64, __disjvr_30^0'=__disjvr_30^post64, t_24^0'=t_24^post64, __disjvr_28^0'=__disjvr_28^post64, a_181^0'=a_181^post64, __disjvr_7^0'=__disjvr_7^post64, len_180^0'=len_180^post64, __disjvr_16^0'=__disjvr_16^post64, (0 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post64 == 0 /\ ct_18^0-ct_18^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ -len_180^post64+len_180^0 == 0 /\ -len_129^0 <= 0 /\ -head_15^post64+x_14^post64 <= 0 /\ -head_15^post64+x_14^post64 == 0 /\ -__disjvr_29^post64+__disjvr_29^0 == 0 /\ -a_113^post64+a_113^0 == 0 /\ -t_24^post64+t_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -len_129^post64+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ head_15^post64-result_11^11 == 0 /\ __disjvr_1^0-__disjvr_1^post64 == 0 /\ -__disjvr_19^post64+__disjvr_19^0 == 0 /\ r_160^0-r_160^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ head_15^post64-x_14^post64 <= 0 /\ rcd_86^0-rcd_86^post64 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ len_129^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_18^post64+__disjvr_18^0 == 0 /\ a_234^0-a_234^post64 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ f_167^0-f_167^post64 == 0 /\ a_144^0-i_28^post64 <= 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ x_172^0-x_172^post64 == 0 /\ -x_126^post64+x_126^0 == 0 /\ temp0_29^110-head_30^0 == 0 /\ -a_181^post64+a_181^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -__disjvr_3^post64+__disjvr_3^0 == 0 /\ -i_28^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -a_257^post64+a_257^0 == 0 /\ i_105^0-i_105^post64 == 0 /\ -a_212^post64+a_212^0 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ -a_144^0+i_28^post64 <= 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ __disjvr_15^0-__disjvr_15^post64 == 0 /\ r_37^0-r_37^post64 == 0 /\ -rcd_56^post64+rcd_56^0 == 0 /\ y_20^0-y_20^post64 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ __disjvr_30^0-__disjvr_30^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post64 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ -i_92^post64+i_92^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0), cost: 1
  67: l40 -> l64 : x_172^0'=x_172^post67, i_105^0'=i_105^post67, __disjvr_13^0'=__disjvr_13^post67, result_11^0'=result_11^post67, __disjvr_25^0'=__disjvr_25^post67, r_37^0'=r_37^post67, __disjvr_20^0'=__disjvr_20^post67, __disjvr_9^0'=__disjvr_9^post67, __disjvr_4^0'=__disjvr_4^post67, temp0_29^0'=temp0_29^post67, f_167^0'=f_167^post67, __disjvr_10^0'=__disjvr_10^post67, a_234^0'=a_234^post67, __disjvr_22^0'=__disjvr_22^post67, nondet_12^0'=nondet_12^post67, __disjvr_18^0'=__disjvr_18^post67, x_21^0'=x_21^post67, i_28^0'=i_28^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_86^0'=rcd_86^post67, a_144^0'=a_144^post67, __disjvr_6^0'=__disjvr_6^post67, tmp_32^0'=tmp_32^post67, __disjvr_15^0'=__disjvr_15^post67, x_14^0'=x_14^post67, head_30^0'=head_30^post67, __disjvr_12^0'=__disjvr_12^post67, ct_18^0'=ct_18^post67, __disjvr_24^0'=__disjvr_24^post67, r_160^0'=r_160^post67, __disjvr_1^0'=__disjvr_1^post67, y_20^0'=y_20^post67, len_129^0'=len_129^post67, __disjvr_3^0'=__disjvr_3^post67, temp0_16^0'=temp0_16^post67, __disjvr_29^0'=__disjvr_29^post67, __disjvr_0^0'=__disjvr_0^post67, a_212^0'=a_212^post67, __disjvr_8^0'=__disjvr_8^post67, length_27^0'=length_27^post67, __disjvr_17^0'=__disjvr_17^post67, x_17^0'=x_17^post67, i_164^0'=i_164^post67, __disjvr_14^0'=__disjvr_14^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_56^0'=rcd_56^post67, __disjvr_21^0'=__disjvr_21^post67, a_113^0'=a_113^post67, __disjvr_5^0'=__disjvr_5^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, head_15^0'=head_15^post67, __disjvr_11^0'=__disjvr_11^post67, a_257^0'=a_257^post67, __disjvr_23^0'=__disjvr_23^post67, r_121^0'=r_121^post67, __disjvr_19^0'=__disjvr_19^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, i_92^0'=i_92^post67, __disjvr_30^0'=__disjvr_30^post67, t_24^0'=t_24^post67, __disjvr_28^0'=__disjvr_28^post67, a_181^0'=a_181^post67, __disjvr_7^0'=__disjvr_7^post67, len_180^0'=len_180^post67, __disjvr_16^0'=__disjvr_16^post67, (0 == 0 /\ head_30^post67-tmp_32^post67 == 0 /\ -temp_33^0+tmp_32^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ -r_121^post67+r_121^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ r_37^0-r_37^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -len_180^post67+len_180^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ -t_24^post67+t_24^0 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -1-i_28^0+i_28^post67 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -a_181^post67+a_181^0 == 0 /\ -__disjvr_19^post67+__disjvr_19^0 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ -__disjvr_14^post67+__disjvr_14^0 == 0 /\ 1-i_28^post67+i_92^post67 <= 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ 1-length_27^0+i_92^post67 <= 0 /\ -length_27^post67+length_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ __disjvr_10^0-__disjvr_10^post67 == 0 /\ -a_144^post67+a_144^0 == 0 /\ x_172^0-x_172^post67 == 0 /\ i_164^0-i_164^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ a_212^0-a_212^post67 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_28^0 <= 0 /\ x_14^0-x_14^post67 == 0 /\ a_234^0-a_234^post67 == 0 /\ -__disjvr_21^post67+__disjvr_21^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ a_113^0-a_113^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ i_105^0-i_105^post67 == 0 /\ -a_257^post67+a_257^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -1+i_28^post67-i_92^post67 <= 0 /\ -x_17^post67+x_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_28^0-__disjvr_28^post67 == 0 /\ -rcd_56^post67+rcd_56^0 == 0 /\ -__disjvr_29^post67+__disjvr_29^0 == 0 /\ -r_160^post67+r_160^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_13^0-__disjvr_13^post67 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ -len_129^post67+len_129^0 == 0 /\ f_167^0-f_167^post67 == 0), cost: 1
  41: l41 -> l42 : x_172^0'=x_172^post41, i_105^0'=i_105^post41, __disjvr_13^0'=__disjvr_13^post41, result_11^0'=result_11^post41, __disjvr_25^0'=__disjvr_25^post41, r_37^0'=r_37^post41, __disjvr_20^0'=__disjvr_20^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_4^0'=__disjvr_4^post41, temp0_29^0'=temp0_29^post41, f_167^0'=f_167^post41, __disjvr_10^0'=__disjvr_10^post41, a_234^0'=a_234^post41, __disjvr_22^0'=__disjvr_22^post41, nondet_12^0'=nondet_12^post41, __disjvr_18^0'=__disjvr_18^post41, x_21^0'=x_21^post41, i_28^0'=i_28^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_86^0'=rcd_86^post41, a_144^0'=a_144^post41, __disjvr_6^0'=__disjvr_6^post41, tmp_32^0'=tmp_32^post41, __disjvr_15^0'=__disjvr_15^post41, x_14^0'=x_14^post41, head_30^0'=head_30^post41, __disjvr_12^0'=__disjvr_12^post41, ct_18^0'=ct_18^post41, __disjvr_24^0'=__disjvr_24^post41, r_160^0'=r_160^post41, __disjvr_1^0'=__disjvr_1^post41, y_20^0'=y_20^post41, len_129^0'=len_129^post41, __disjvr_3^0'=__disjvr_3^post41, temp0_16^0'=temp0_16^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, a_212^0'=a_212^post41, __disjvr_8^0'=__disjvr_8^post41, length_27^0'=length_27^post41, __disjvr_17^0'=__disjvr_17^post41, x_17^0'=x_17^post41, i_164^0'=i_164^post41, __disjvr_14^0'=__disjvr_14^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_56^0'=rcd_56^post41, __disjvr_21^0'=__disjvr_21^post41, a_113^0'=a_113^post41, __disjvr_5^0'=__disjvr_5^post41, temp_33^0'=temp_33^post41, x_126^0'=x_126^post41, head_15^0'=head_15^post41, __disjvr_11^0'=__disjvr_11^post41, a_257^0'=a_257^post41, __disjvr_23^0'=__disjvr_23^post41, r_121^0'=r_121^post41, __disjvr_19^0'=__disjvr_19^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, i_92^0'=i_92^post41, __disjvr_30^0'=__disjvr_30^post41, t_24^0'=t_24^post41, __disjvr_28^0'=__disjvr_28^post41, a_181^0'=a_181^post41, __disjvr_7^0'=__disjvr_7^post41, len_180^0'=len_180^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -x_21^post41+head_15^0 <= 0 /\ r_121^0-r_121^post41 == 0 /\ -__disjvr_26^post41+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ -a_212^post41+a_212^0 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ -head_15^post41+head_15^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0 /\ tmp_32^0-tmp_32^post41 == 0 /\ -x_14^0 <= 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -len_129^0 <= 0 /\ -x_17^post41+head_15^0 <= 0 /\ r_37^0-r_37^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ rcd_86^0-rcd_86^post41 == 0 /\ -ct_18^post41 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_21^post41-head_15^0 <= 0 /\ a_234^0-a_234^post41 == 0 /\ -x_126^post41+x_126^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_17^post41-head_15^0 <= 0 /\ x_17^post41-head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -a_257^post41+a_257^0 == 0 /\ -a_144^0 <= 0 /\ a_144^0-a_144^post41 == 0 /\ -t_24^post41+t_24^0 == 0 /\ -a_113^post41+a_113^0 == 0 /\ -f_167^post41+f_167^0 == 0 /\ x_21^post41-x_SLAM_f_19^post41 <= 0 /\ x_21^post41-x_SLAM_f_19^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ length_27^0-length_27^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -head_30^post41+head_30^0 == 0 /\ x_SLAM_f_19^post41-head_15^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -i_92^post41+i_92^0 == 0 /\ x_172^0-x_172^post41 == 0 /\ x_17^post41-x_SLAM_f_19^post41 <= 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -a_181^post41+a_181^0 == 0 /\ -rcd_56^post41+rcd_56^0 == 0 /\ i_28^0-i_28^post41 == 0 /\ y_20^post41-ct_18^post41 <= 0 /\ y_20^post41-ct_18^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ y_20^post41 <= 0 /\ -y_20^post41 <= 0 /\ -x_21^post41+x_SLAM_f_19^post41 <= 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -i_164^post41+i_164^0 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ -x_SLAM_f_19^post41+head_15^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ -temp0_29^post41+temp0_29^0 == 0 /\ i_105^0-i_105^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ -x_17^post41+x_SLAM_f_19^post41 <= 0 /\ -x_17^post41+x_SLAM_f_19^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ len_129^0-len_129^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ r_160^0-r_160^post41 == 0 /\ ct_18^post41 <= 0 /\ ct_18^post41 == 0 /\ -y_20^post41+ct_18^post41 <= 0 /\ x_14^0-x_14^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41 == 0), cost: 1
  44: l41 -> l45 : x_172^0'=x_172^post44, i_105^0'=i_105^post44, __disjvr_13^0'=__disjvr_13^post44, result_11^0'=result_11^post44, __disjvr_25^0'=__disjvr_25^post44, r_37^0'=r_37^post44, __disjvr_20^0'=__disjvr_20^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_4^0'=__disjvr_4^post44, temp0_29^0'=temp0_29^post44, f_167^0'=f_167^post44, __disjvr_10^0'=__disjvr_10^post44, a_234^0'=a_234^post44, __disjvr_22^0'=__disjvr_22^post44, nondet_12^0'=nondet_12^post44, __disjvr_18^0'=__disjvr_18^post44, x_21^0'=x_21^post44, i_28^0'=i_28^post44, __disjvr_2^0'=__disjvr_2^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_27^0'=__disjvr_27^post44, rcd_86^0'=rcd_86^post44, a_144^0'=a_144^post44, __disjvr_6^0'=__disjvr_6^post44, tmp_32^0'=tmp_32^post44, __disjvr_15^0'=__disjvr_15^post44, x_14^0'=x_14^post44, head_30^0'=head_30^post44, __disjvr_12^0'=__disjvr_12^post44, ct_18^0'=ct_18^post44, __disjvr_24^0'=__disjvr_24^post44, r_160^0'=r_160^post44, __disjvr_1^0'=__disjvr_1^post44, y_20^0'=y_20^post44, len_129^0'=len_129^post44, __disjvr_3^0'=__disjvr_3^post44, temp0_16^0'=temp0_16^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, a_212^0'=a_212^post44, __disjvr_8^0'=__disjvr_8^post44, length_27^0'=length_27^post44, __disjvr_17^0'=__disjvr_17^post44, x_17^0'=x_17^post44, i_164^0'=i_164^post44, __disjvr_14^0'=__disjvr_14^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44, __disjvr_26^0'=__disjvr_26^post44, rcd_56^0'=rcd_56^post44, __disjvr_21^0'=__disjvr_21^post44, a_113^0'=a_113^post44, __disjvr_5^0'=__disjvr_5^post44, temp_33^0'=temp_33^post44, x_126^0'=x_126^post44, head_15^0'=head_15^post44, __disjvr_11^0'=__disjvr_11^post44, a_257^0'=a_257^post44, __disjvr_23^0'=__disjvr_23^post44, r_121^0'=r_121^post44, __disjvr_19^0'=__disjvr_19^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, i_92^0'=i_92^post44, __disjvr_30^0'=__disjvr_30^post44, t_24^0'=t_24^post44, __disjvr_28^0'=__disjvr_28^post44, a_181^0'=a_181^post44, __disjvr_7^0'=__disjvr_7^post44, len_180^0'=len_180^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ len_129^0-len_129^post44 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ r_160^0-r_160^post44 == 0 /\ -len_129^0 <= 0 /\ -x_17^post44+x_17^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ tmp_32^0-tmp_32^post44 == 0 /\ rcd_86^0-rcd_86^post44 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post44+x_SLAM_f_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_164^post44+i_164^0 == 0 /\ a_144^0-a_144^post44 == 0 /\ -i_92^post44+i_92^0 == 0 /\ -head_30^post44+head_30^0 == 0 /\ i_28^0-i_28^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -x_14^post44+x_14^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -r_121^post44+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_144^0 <= 0 /\ a_234^0-a_234^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ temp0_29^0-temp0_29^post44 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -__disjvr_21^post44+__disjvr_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ length_27^0-length_27^post44 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ -__disjvr_0^post44+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -temp_33^post44+temp_33^0 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ -x_126^post44+x_126^0 == 0 /\ -a_257^post44+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -a_113^post44+a_113^0 == 0 /\ -t_24^post44+t_24^0 == 0 /\ __disjvr_12^0-__disjvr_12^post44 == 0 /\ -a_181^post44+a_181^0 == 0 /\ -a_212^post44+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -len_180^post44+len_180^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ y_20^0-y_20^post44 == 0 /\ -rcd_56^post44+rcd_56^0 == 0), cost: 1
  42: l42 -> l43 : x_172^0'=x_172^post42, i_105^0'=i_105^post42, __disjvr_13^0'=__disjvr_13^post42, result_11^0'=result_11^post42, __disjvr_25^0'=__disjvr_25^post42, r_37^0'=r_37^post42, __disjvr_20^0'=__disjvr_20^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_4^0'=__disjvr_4^post42, temp0_29^0'=temp0_29^post42, f_167^0'=f_167^post42, __disjvr_10^0'=__disjvr_10^post42, a_234^0'=a_234^post42, __disjvr_22^0'=__disjvr_22^post42, nondet_12^0'=nondet_12^post42, __disjvr_18^0'=__disjvr_18^post42, x_21^0'=x_21^post42, i_28^0'=i_28^post42, __disjvr_2^0'=__disjvr_2^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_27^0'=__disjvr_27^post42, rcd_86^0'=rcd_86^post42, a_144^0'=a_144^post42, __disjvr_6^0'=__disjvr_6^post42, tmp_32^0'=tmp_32^post42, __disjvr_15^0'=__disjvr_15^post42, x_14^0'=x_14^post42, head_30^0'=head_30^post42, __disjvr_12^0'=__disjvr_12^post42, ct_18^0'=ct_18^post42, __disjvr_24^0'=__disjvr_24^post42, r_160^0'=r_160^post42, __disjvr_1^0'=__disjvr_1^post42, y_20^0'=y_20^post42, len_129^0'=len_129^post42, __disjvr_3^0'=__disjvr_3^post42, temp0_16^0'=temp0_16^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, a_212^0'=a_212^post42, __disjvr_8^0'=__disjvr_8^post42, length_27^0'=length_27^post42, __disjvr_17^0'=__disjvr_17^post42, x_17^0'=x_17^post42, i_164^0'=i_164^post42, __disjvr_14^0'=__disjvr_14^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42, __disjvr_26^0'=__disjvr_26^post42, rcd_56^0'=rcd_56^post42, __disjvr_21^0'=__disjvr_21^post42, a_113^0'=a_113^post42, __disjvr_5^0'=__disjvr_5^post42, temp_33^0'=temp_33^post42, x_126^0'=x_126^post42, head_15^0'=head_15^post42, __disjvr_11^0'=__disjvr_11^post42, a_257^0'=a_257^post42, __disjvr_23^0'=__disjvr_23^post42, r_121^0'=r_121^post42, __disjvr_19^0'=__disjvr_19^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, i_92^0'=i_92^post42, __disjvr_30^0'=__disjvr_30^post42, t_24^0'=t_24^post42, __disjvr_28^0'=__disjvr_28^post42, a_181^0'=a_181^post42, __disjvr_7^0'=__disjvr_7^post42, len_180^0'=len_180^post42, __disjvr_16^0'=__disjvr_16^post42, (__disjvr_20^0-__disjvr_20^post42 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -r_121^post42+r_121^0 == 0 /\ i_28^0-i_28^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ x_21^0-x_21^post42 == 0 /\ length_27^0-length_27^post42 == 0 /\ -a_212^post42+a_212^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post42 == 0 /\ x_172^0-x_172^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ i_105^0-i_105^post42 == 0 /\ r_37^0-r_37^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -a_257^post42+a_257^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ rcd_86^0-rcd_86^post42 == 0 /\ x_17^0-x_17^post42 == 0 /\ -len_129^post42+len_129^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ tmp_32^0-tmp_32^post42 == 0 /\ head_30^0-head_30^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ r_160^0-r_160^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ -i_164^post42+i_164^0 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ f_167^0-f_167^post42 == 0 /\ -x_126^post42+x_126^0 == 0 /\ -ct_18^post42+ct_18^0 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ -a_181^post42+a_181^0 == 0 /\ -i_92^post42+i_92^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ a_113^0-a_113^post42 == 0 /\ temp0_29^0-temp0_29^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ a_234^0-a_234^post42 == 0 /\ -a_144^post42+a_144^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -rcd_56^post42+rcd_56^0 == 0), cost: 1
  43: l43 -> l20 : x_172^0'=x_172^post43, i_105^0'=i_105^post43, __disjvr_13^0'=__disjvr_13^post43, result_11^0'=result_11^post43, __disjvr_25^0'=__disjvr_25^post43, r_37^0'=r_37^post43, __disjvr_20^0'=__disjvr_20^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_4^0'=__disjvr_4^post43, temp0_29^0'=temp0_29^post43, f_167^0'=f_167^post43, __disjvr_10^0'=__disjvr_10^post43, a_234^0'=a_234^post43, __disjvr_22^0'=__disjvr_22^post43, nondet_12^0'=nondet_12^post43, __disjvr_18^0'=__disjvr_18^post43, x_21^0'=x_21^post43, i_28^0'=i_28^post43, __disjvr_2^0'=__disjvr_2^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_27^0'=__disjvr_27^post43, rcd_86^0'=rcd_86^post43, a_144^0'=a_144^post43, __disjvr_6^0'=__disjvr_6^post43, tmp_32^0'=tmp_32^post43, __disjvr_15^0'=__disjvr_15^post43, x_14^0'=x_14^post43, head_30^0'=head_30^post43, __disjvr_12^0'=__disjvr_12^post43, ct_18^0'=ct_18^post43, __disjvr_24^0'=__disjvr_24^post43, r_160^0'=r_160^post43, __disjvr_1^0'=__disjvr_1^post43, y_20^0'=y_20^post43, len_129^0'=len_129^post43, __disjvr_3^0'=__disjvr_3^post43, temp0_16^0'=temp0_16^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, a_212^0'=a_212^post43, __disjvr_8^0'=__disjvr_8^post43, length_27^0'=length_27^post43, __disjvr_17^0'=__disjvr_17^post43, x_17^0'=x_17^post43, i_164^0'=i_164^post43, __disjvr_14^0'=__disjvr_14^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43, __disjvr_26^0'=__disjvr_26^post43, rcd_56^0'=rcd_56^post43, __disjvr_21^0'=__disjvr_21^post43, a_113^0'=a_113^post43, __disjvr_5^0'=__disjvr_5^post43, temp_33^0'=temp_33^post43, x_126^0'=x_126^post43, head_15^0'=head_15^post43, __disjvr_11^0'=__disjvr_11^post43, a_257^0'=a_257^post43, __disjvr_23^0'=__disjvr_23^post43, r_121^0'=r_121^post43, __disjvr_19^0'=__disjvr_19^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, i_92^0'=i_92^post43, __disjvr_30^0'=__disjvr_30^post43, t_24^0'=t_24^post43, __disjvr_28^0'=__disjvr_28^post43, a_181^0'=a_181^post43, __disjvr_7^0'=__disjvr_7^post43, len_180^0'=len_180^post43, __disjvr_16^0'=__disjvr_16^post43, (__disjvr_4^0-__disjvr_4^post43 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -rcd_56^post43+rcd_56^0 == 0 /\ -i_92^post43+i_92^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -length_27^post43+length_27^0 == 0 /\ -head_30^post43+head_30^0 == 0 /\ a_257^0-a_257^post43 == 0 /\ __disjvr_27^0-__disjvr_27^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ -r_160^post43+r_160^0 == 0 /\ -i_28^post43+i_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ __disjvr_2^0-__disjvr_2^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post43+__disjvr_11^0 == 0 /\ a_212^0-a_212^post43 == 0 /\ -len_180^post43+len_180^0 == 0 /\ r_37^0-r_37^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ x_172^0-x_172^post43 == 0 /\ -y_20^post43+y_20^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_113^post43+a_113^0 == 0 /\ len_129^0-len_129^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_126^post43+x_126^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ rcd_86^0-rcd_86^post43 == 0 /\ i_164^0-i_164^post43 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ x_21^0-x_21^post43 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -a_181^post43+a_181^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ f_167^0-f_167^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ -t_24^post43+t_24^0 == 0 /\ temp0_29^0-temp0_29^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ -tmp_32^post43+tmp_32^0 == 0 /\ -r_121^post43+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ a_234^0-a_234^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_5^0-__disjvr_5^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ i_105^0-i_105^post43 == 0 /\ a_144^0-a_144^post43 == 0), cost: 1
  45: l45 -> l46 : x_172^0'=x_172^post45, i_105^0'=i_105^post45, __disjvr_13^0'=__disjvr_13^post45, result_11^0'=result_11^post45, __disjvr_25^0'=__disjvr_25^post45, r_37^0'=r_37^post45, __disjvr_20^0'=__disjvr_20^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_4^0'=__disjvr_4^post45, temp0_29^0'=temp0_29^post45, f_167^0'=f_167^post45, __disjvr_10^0'=__disjvr_10^post45, a_234^0'=a_234^post45, __disjvr_22^0'=__disjvr_22^post45, nondet_12^0'=nondet_12^post45, __disjvr_18^0'=__disjvr_18^post45, x_21^0'=x_21^post45, i_28^0'=i_28^post45, __disjvr_2^0'=__disjvr_2^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_27^0'=__disjvr_27^post45, rcd_86^0'=rcd_86^post45, a_144^0'=a_144^post45, __disjvr_6^0'=__disjvr_6^post45, tmp_32^0'=tmp_32^post45, __disjvr_15^0'=__disjvr_15^post45, x_14^0'=x_14^post45, head_30^0'=head_30^post45, __disjvr_12^0'=__disjvr_12^post45, ct_18^0'=ct_18^post45, __disjvr_24^0'=__disjvr_24^post45, r_160^0'=r_160^post45, __disjvr_1^0'=__disjvr_1^post45, y_20^0'=y_20^post45, len_129^0'=len_129^post45, __disjvr_3^0'=__disjvr_3^post45, temp0_16^0'=temp0_16^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, a_212^0'=a_212^post45, __disjvr_8^0'=__disjvr_8^post45, length_27^0'=length_27^post45, __disjvr_17^0'=__disjvr_17^post45, x_17^0'=x_17^post45, i_164^0'=i_164^post45, __disjvr_14^0'=__disjvr_14^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45, __disjvr_26^0'=__disjvr_26^post45, rcd_56^0'=rcd_56^post45, __disjvr_21^0'=__disjvr_21^post45, a_113^0'=a_113^post45, __disjvr_5^0'=__disjvr_5^post45, temp_33^0'=temp_33^post45, x_126^0'=x_126^post45, head_15^0'=head_15^post45, __disjvr_11^0'=__disjvr_11^post45, a_257^0'=a_257^post45, __disjvr_23^0'=__disjvr_23^post45, r_121^0'=r_121^post45, __disjvr_19^0'=__disjvr_19^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, i_92^0'=i_92^post45, __disjvr_30^0'=__disjvr_30^post45, t_24^0'=t_24^post45, __disjvr_28^0'=__disjvr_28^post45, a_181^0'=a_181^post45, __disjvr_7^0'=__disjvr_7^post45, len_180^0'=len_180^post45, __disjvr_16^0'=__disjvr_16^post45, (__disjvr_6^0-__disjvr_6^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ head_30^0-head_30^post45 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ __disjvr_21^post45-__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ -a_181^post45+a_181^0 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_234^0-a_234^post45 == 0 /\ r_121^0-r_121^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_126^post45+x_126^0 == 0 /\ -a_257^post45+a_257^0 == 0 /\ -__disjvr_14^post45+__disjvr_14^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ i_92^0-i_92^post45 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_144^post45+a_144^0 == 0 /\ -rcd_56^post45+rcd_56^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ x_172^0-x_172^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ -temp_33^post45+temp_33^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ -i_164^post45+i_164^0 == 0 /\ __disjvr_12^0-__disjvr_12^post45 == 0 /\ x_14^0-x_14^post45 == 0 /\ len_129^0-len_129^post45 == 0 /\ -r_160^post45+r_160^0 == 0 /\ a_212^0-a_212^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -length_27^post45+length_27^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ x_17^0-x_17^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ a_113^0-a_113^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ -head_15^post45+head_15^0 == 0 /\ tmp_32^0-tmp_32^post45 == 0 /\ x_21^0-x_21^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ f_167^0-f_167^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ -rcd_86^post45+rcd_86^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ i_28^0-i_28^post45 == 0 /\ i_105^0-i_105^post45 == 0 /\ temp0_29^0-temp0_29^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0), cost: 1
  46: l46 -> l47 : x_172^0'=x_172^post46, i_105^0'=i_105^post46, __disjvr_13^0'=__disjvr_13^post46, result_11^0'=result_11^post46, __disjvr_25^0'=__disjvr_25^post46, r_37^0'=r_37^post46, __disjvr_20^0'=__disjvr_20^post46, __disjvr_9^0'=__disjvr_9^post46, __disjvr_4^0'=__disjvr_4^post46, temp0_29^0'=temp0_29^post46, f_167^0'=f_167^post46, __disjvr_10^0'=__disjvr_10^post46, a_234^0'=a_234^post46, __disjvr_22^0'=__disjvr_22^post46, nondet_12^0'=nondet_12^post46, __disjvr_18^0'=__disjvr_18^post46, x_21^0'=x_21^post46, i_28^0'=i_28^post46, __disjvr_2^0'=__disjvr_2^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_27^0'=__disjvr_27^post46, rcd_86^0'=rcd_86^post46, a_144^0'=a_144^post46, __disjvr_6^0'=__disjvr_6^post46, tmp_32^0'=tmp_32^post46, __disjvr_15^0'=__disjvr_15^post46, x_14^0'=x_14^post46, head_30^0'=head_30^post46, __disjvr_12^0'=__disjvr_12^post46, ct_18^0'=ct_18^post46, __disjvr_24^0'=__disjvr_24^post46, r_160^0'=r_160^post46, __disjvr_1^0'=__disjvr_1^post46, y_20^0'=y_20^post46, len_129^0'=len_129^post46, __disjvr_3^0'=__disjvr_3^post46, temp0_16^0'=temp0_16^post46, __disjvr_29^0'=__disjvr_29^post46, __disjvr_0^0'=__disjvr_0^post46, a_212^0'=a_212^post46, __disjvr_8^0'=__disjvr_8^post46, length_27^0'=length_27^post46, __disjvr_17^0'=__disjvr_17^post46, x_17^0'=x_17^post46, i_164^0'=i_164^post46, __disjvr_14^0'=__disjvr_14^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46, __disjvr_26^0'=__disjvr_26^post46, rcd_56^0'=rcd_56^post46, __disjvr_21^0'=__disjvr_21^post46, a_113^0'=a_113^post46, __disjvr_5^0'=__disjvr_5^post46, temp_33^0'=temp_33^post46, x_126^0'=x_126^post46, head_15^0'=head_15^post46, __disjvr_11^0'=__disjvr_11^post46, a_257^0'=a_257^post46, __disjvr_23^0'=__disjvr_23^post46, r_121^0'=r_121^post46, __disjvr_19^0'=__disjvr_19^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, i_92^0'=i_92^post46, __disjvr_30^0'=__disjvr_30^post46, t_24^0'=t_24^post46, __disjvr_28^0'=__disjvr_28^post46, a_181^0'=a_181^post46, __disjvr_7^0'=__disjvr_7^post46, len_180^0'=len_180^post46, __disjvr_16^0'=__disjvr_16^post46, (0 == 0 /\ i_92^0-i_92^post46 == 0 /\ x_17^0-x_17^post46 == 0 /\ -a_113^post46+a_113^0 == 0 /\ -t_24^post46+t_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ tmp_32^0-tmp_32^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_19^post46+__disjvr_19^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ -len_129^post46+len_129^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -a_144^post46+a_144^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ 1-a_144^0+a_181^post46 <= 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -x_126^post46+x_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ f_167^0-f_167^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ 1-len_180^post46+len_129^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ a_212^0-a_212^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ i_105^0-i_105^post46 == 0 /\ temp0_29^0-temp0_29^post46 == 0 /\ -__disjvr_14^post46+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -f_167^0+x_14^0 <= 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ i_164^0-i_164^post46 == 0 /\ -r_160^post46+r_160^0 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -rcd_56^post46+rcd_56^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ -a_234^post46+a_234^0 == 0 /\ -i_28^post46+i_28^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ -length_27^post46+length_27^0 == 0 /\ -r_121^post46+r_121^0 == 0 /\ -1+a_144^0-a_181^post46 <= 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ r_37^0-r_37^post46 == 0 /\ head_30^0-head_30^post46 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ x_172^0-x_172^post46 == 0 /\ f_167^0-x_14^0 <= 0 /\ -a_257^post46+a_257^0 == 0 /\ -temp_33^post46+temp_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ -y_20^post46+y_20^0 == 0 /\ rcd_86^0-rcd_86^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -x_21^post46+x_21^0 == 0 /\ -1+len_180^post46-len_129^0 <= 0), cost: 1
  47: l47 -> l48 : x_172^0'=x_172^post47, i_105^0'=i_105^post47, __disjvr_13^0'=__disjvr_13^post47, result_11^0'=result_11^post47, __disjvr_25^0'=__disjvr_25^post47, r_37^0'=r_37^post47, __disjvr_20^0'=__disjvr_20^post47, __disjvr_9^0'=__disjvr_9^post47, __disjvr_4^0'=__disjvr_4^post47, temp0_29^0'=temp0_29^post47, f_167^0'=f_167^post47, __disjvr_10^0'=__disjvr_10^post47, a_234^0'=a_234^post47, __disjvr_22^0'=__disjvr_22^post47, nondet_12^0'=nondet_12^post47, __disjvr_18^0'=__disjvr_18^post47, x_21^0'=x_21^post47, i_28^0'=i_28^post47, __disjvr_2^0'=__disjvr_2^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_27^0'=__disjvr_27^post47, rcd_86^0'=rcd_86^post47, a_144^0'=a_144^post47, __disjvr_6^0'=__disjvr_6^post47, tmp_32^0'=tmp_32^post47, __disjvr_15^0'=__disjvr_15^post47, x_14^0'=x_14^post47, head_30^0'=head_30^post47, __disjvr_12^0'=__disjvr_12^post47, ct_18^0'=ct_18^post47, __disjvr_24^0'=__disjvr_24^post47, r_160^0'=r_160^post47, __disjvr_1^0'=__disjvr_1^post47, y_20^0'=y_20^post47, len_129^0'=len_129^post47, __disjvr_3^0'=__disjvr_3^post47, temp0_16^0'=temp0_16^post47, __disjvr_29^0'=__disjvr_29^post47, __disjvr_0^0'=__disjvr_0^post47, a_212^0'=a_212^post47, __disjvr_8^0'=__disjvr_8^post47, length_27^0'=length_27^post47, __disjvr_17^0'=__disjvr_17^post47, x_17^0'=x_17^post47, i_164^0'=i_164^post47, __disjvr_14^0'=__disjvr_14^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47, __disjvr_26^0'=__disjvr_26^post47, rcd_56^0'=rcd_56^post47, __disjvr_21^0'=__disjvr_21^post47, a_113^0'=a_113^post47, __disjvr_5^0'=__disjvr_5^post47, temp_33^0'=temp_33^post47, x_126^0'=x_126^post47, head_15^0'=head_15^post47, __disjvr_11^0'=__disjvr_11^post47, a_257^0'=a_257^post47, __disjvr_23^0'=__disjvr_23^post47, r_121^0'=r_121^post47, __disjvr_19^0'=__disjvr_19^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, i_92^0'=i_92^post47, __disjvr_30^0'=__disjvr_30^post47, t_24^0'=t_24^post47, __disjvr_28^0'=__disjvr_28^post47, a_181^0'=a_181^post47, __disjvr_7^0'=__disjvr_7^post47, len_180^0'=len_180^post47, __disjvr_16^0'=__disjvr_16^post47, (tmp_32^0-tmp_32^post47 == 0 /\ -temp0_29^post47+temp0_29^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ -i_164^post47+i_164^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ y_20^0-y_20^post47 == 0 /\ __disjvr_17^0-__disjvr_17^post47 == 0 /\ -len_180^post47+len_180^0 == 0 /\ r_160^0-r_160^post47 == 0 /\ -r_121^post47+r_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ -x_14^post47+x_14^0 == 0 /\ -__disjvr_24^post47+__disjvr_24^0 == 0 /\ -rcd_86^post47+rcd_86^0 == 0 /\ -a_212^post47+a_212^0 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ -a_113^post47+a_113^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ -head_15^post47+head_15^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -a_181^post47+a_181^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_16^post47+__disjvr_16^0 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post47 == 0 /\ -__disjvr_0^post47+__disjvr_0^0 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -x_126^post47+x_126^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ i_28^0-i_28^post47 == 0 /\ rcd_56^0-rcd_56^post47 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ a_234^0-a_234^post47 == 0 /\ x_172^0-x_172^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -f_167^post47+f_167^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -a_257^post47+a_257^0 == 0 /\ i_105^0-i_105^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ head_30^0-head_30^post47 == 0 /\ __disjvr_27^0-__disjvr_27^post47 == 0 /\ __disjvr_22^0-__disjvr_22^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ length_27^0-length_27^post47 == 0 /\ -x_17^post47+x_17^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -i_92^post47+i_92^0 == 0 /\ len_129^0-len_129^post47 == 0), cost: 1
  48: l48 -> l49 : x_172^0'=x_172^post48, i_105^0'=i_105^post48, __disjvr_13^0'=__disjvr_13^post48, result_11^0'=result_11^post48, __disjvr_25^0'=__disjvr_25^post48, r_37^0'=r_37^post48, __disjvr_20^0'=__disjvr_20^post48, __disjvr_9^0'=__disjvr_9^post48, __disjvr_4^0'=__disjvr_4^post48, temp0_29^0'=temp0_29^post48, f_167^0'=f_167^post48, __disjvr_10^0'=__disjvr_10^post48, a_234^0'=a_234^post48, __disjvr_22^0'=__disjvr_22^post48, nondet_12^0'=nondet_12^post48, __disjvr_18^0'=__disjvr_18^post48, x_21^0'=x_21^post48, i_28^0'=i_28^post48, __disjvr_2^0'=__disjvr_2^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_27^0'=__disjvr_27^post48, rcd_86^0'=rcd_86^post48, a_144^0'=a_144^post48, __disjvr_6^0'=__disjvr_6^post48, tmp_32^0'=tmp_32^post48, __disjvr_15^0'=__disjvr_15^post48, x_14^0'=x_14^post48, head_30^0'=head_30^post48, __disjvr_12^0'=__disjvr_12^post48, ct_18^0'=ct_18^post48, __disjvr_24^0'=__disjvr_24^post48, r_160^0'=r_160^post48, __disjvr_1^0'=__disjvr_1^post48, y_20^0'=y_20^post48, len_129^0'=len_129^post48, __disjvr_3^0'=__disjvr_3^post48, temp0_16^0'=temp0_16^post48, __disjvr_29^0'=__disjvr_29^post48, __disjvr_0^0'=__disjvr_0^post48, a_212^0'=a_212^post48, __disjvr_8^0'=__disjvr_8^post48, length_27^0'=length_27^post48, __disjvr_17^0'=__disjvr_17^post48, x_17^0'=x_17^post48, i_164^0'=i_164^post48, __disjvr_14^0'=__disjvr_14^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48, __disjvr_26^0'=__disjvr_26^post48, rcd_56^0'=rcd_56^post48, __disjvr_21^0'=__disjvr_21^post48, a_113^0'=a_113^post48, __disjvr_5^0'=__disjvr_5^post48, temp_33^0'=temp_33^post48, x_126^0'=x_126^post48, head_15^0'=head_15^post48, __disjvr_11^0'=__disjvr_11^post48, a_257^0'=a_257^post48, __disjvr_23^0'=__disjvr_23^post48, r_121^0'=r_121^post48, __disjvr_19^0'=__disjvr_19^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, i_92^0'=i_92^post48, __disjvr_30^0'=__disjvr_30^post48, t_24^0'=t_24^post48, __disjvr_28^0'=__disjvr_28^post48, a_181^0'=a_181^post48, __disjvr_7^0'=__disjvr_7^post48, len_180^0'=len_180^post48, __disjvr_16^0'=__disjvr_16^post48, (-__disjvr_26^post48+__disjvr_26^0 == 0 /\ length_27^0-length_27^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_212^post48+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post48 == 0 /\ -head_15^post48+head_15^0 == 0 /\ x_126^0-x_126^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -rcd_56^post48+rcd_56^0 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_30^post48+__disjvr_30^0 == 0 /\ -a_181^post48+a_181^0 == 0 /\ -r_160^post48+r_160^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ x_14^0-x_14^post48 == 0 /\ x_17^0-x_17^post48 == 0 /\ -len_129^post48+len_129^0 == 0 /\ r_37^0-r_37^post48 == 0 /\ i_105^0-i_105^post48 == 0 /\ x_172^0-x_172^post48 == 0 /\ tmp_32^0-tmp_32^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post48+len_180^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ __disjvr_1^0-__disjvr_1^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ head_30^0-head_30^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ -a_257^post48+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ -y_20^post48+y_20^0 == 0 /\ rcd_86^0-rcd_86^post48 == 0 /\ a_234^0-a_234^post48 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ -__disjvr_28^post48+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_25^0-__disjvr_25^post48 == 0 /\ -i_92^post48+i_92^0 == 0 /\ __disjvr_7^0-__disjvr_7^post48 == 0 /\ -a_144^post48+a_144^0 == 0 /\ -__disjvr_11^post48+__disjvr_11^0 == 0 /\ -__disjvr_16^post48+__disjvr_16^0 == 0 /\ -__disjvr_14^post48+__disjvr_14^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ a_113^0-a_113^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -r_121^post48+r_121^0 == 0 /\ -i_164^post48+i_164^0 == 0 /\ -__disjvr_0^post48+__disjvr_0^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -ct_18^post48+ct_18^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ f_167^0-f_167^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -__disjvr_21^post48+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post48 == 0 /\ temp0_29^0-temp0_29^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ i_28^0-i_28^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post48 == 0), cost: 1
  49: l49 -> l44 : x_172^0'=x_172^post49, i_105^0'=i_105^post49, __disjvr_13^0'=__disjvr_13^post49, result_11^0'=result_11^post49, __disjvr_25^0'=__disjvr_25^post49, r_37^0'=r_37^post49, __disjvr_20^0'=__disjvr_20^post49, __disjvr_9^0'=__disjvr_9^post49, __disjvr_4^0'=__disjvr_4^post49, temp0_29^0'=temp0_29^post49, f_167^0'=f_167^post49, __disjvr_10^0'=__disjvr_10^post49, a_234^0'=a_234^post49, __disjvr_22^0'=__disjvr_22^post49, nondet_12^0'=nondet_12^post49, __disjvr_18^0'=__disjvr_18^post49, x_21^0'=x_21^post49, i_28^0'=i_28^post49, __disjvr_2^0'=__disjvr_2^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_27^0'=__disjvr_27^post49, rcd_86^0'=rcd_86^post49, a_144^0'=a_144^post49, __disjvr_6^0'=__disjvr_6^post49, tmp_32^0'=tmp_32^post49, __disjvr_15^0'=__disjvr_15^post49, x_14^0'=x_14^post49, head_30^0'=head_30^post49, __disjvr_12^0'=__disjvr_12^post49, ct_18^0'=ct_18^post49, __disjvr_24^0'=__disjvr_24^post49, r_160^0'=r_160^post49, __disjvr_1^0'=__disjvr_1^post49, y_20^0'=y_20^post49, len_129^0'=len_129^post49, __disjvr_3^0'=__disjvr_3^post49, temp0_16^0'=temp0_16^post49, __disjvr_29^0'=__disjvr_29^post49, __disjvr_0^0'=__disjvr_0^post49, a_212^0'=a_212^post49, __disjvr_8^0'=__disjvr_8^post49, length_27^0'=length_27^post49, __disjvr_17^0'=__disjvr_17^post49, x_17^0'=x_17^post49, i_164^0'=i_164^post49, __disjvr_14^0'=__disjvr_14^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49, __disjvr_26^0'=__disjvr_26^post49, rcd_56^0'=rcd_56^post49, __disjvr_21^0'=__disjvr_21^post49, a_113^0'=a_113^post49, __disjvr_5^0'=__disjvr_5^post49, temp_33^0'=temp_33^post49, x_126^0'=x_126^post49, head_15^0'=head_15^post49, __disjvr_11^0'=__disjvr_11^post49, a_257^0'=a_257^post49, __disjvr_23^0'=__disjvr_23^post49, r_121^0'=r_121^post49, __disjvr_19^0'=__disjvr_19^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, i_92^0'=i_92^post49, __disjvr_30^0'=__disjvr_30^post49, t_24^0'=t_24^post49, __disjvr_28^0'=__disjvr_28^post49, a_181^0'=a_181^post49, __disjvr_7^0'=__disjvr_7^post49, len_180^0'=len_180^post49, __disjvr_16^0'=__disjvr_16^post49, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ -y_20^post49+y_20^0 == 0 /\ -__disjvr_30^post49+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ len_129^post49-len_180^0 <= 0 /\ -ct_18^post49+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ f_167^0-f_167^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -i_92^post49+i_92^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -a_257^post49+a_257^0 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ -length_27^post49+length_27^0 == 0 /\ x_126^0-x_126^post49 == 0 /\ i_164^0-i_164^post49 == 0 /\ temp0_29^0-temp0_29^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ -len_129^post49+len_180^0 <= 0 /\ -tmp_32^post49+tmp_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post49 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -__disjvr_29^post49+__disjvr_29^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -__disjvr_21^post49+__disjvr_21^0 == 0 /\ -a_144^post49+a_181^0 <= 0 /\ i_28^0-i_28^post49 == 0 /\ r_37^0-r_37^post49 == 0 /\ -__disjvr_11^post49+__disjvr_11^0 == 0 /\ -a_113^post49+a_113^0 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post49 == 0 /\ a_212^0-a_212^post49 == 0 /\ -temp_33^post49+temp_33^0 == 0 /\ x_14^0-x_14^post49 == 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -rcd_56^post49+rcd_56^0 == 0 /\ -r_160^post49+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ a_144^post49-a_181^0 <= 0 /\ i_105^0-i_105^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_234^post49+a_234^0 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_12^0-__disjvr_12^post49 == 0 /\ -a_181^post49+a_181^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -head_15^post49+head_15^0 == 0 /\ -__disjvr_14^post49+__disjvr_14^0 == 0 /\ -r_121^post49+r_121^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ -len_180^post49+len_180^0 == 0 /\ head_30^0-head_30^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ x_172^0-x_172^post49 == 0), cost: 1
  50: l44 -> l41 : x_172^0'=x_172^post50, i_105^0'=i_105^post50, __disjvr_13^0'=__disjvr_13^post50, result_11^0'=result_11^post50, __disjvr_25^0'=__disjvr_25^post50, r_37^0'=r_37^post50, __disjvr_20^0'=__disjvr_20^post50, __disjvr_9^0'=__disjvr_9^post50, __disjvr_4^0'=__disjvr_4^post50, temp0_29^0'=temp0_29^post50, f_167^0'=f_167^post50, __disjvr_10^0'=__disjvr_10^post50, a_234^0'=a_234^post50, __disjvr_22^0'=__disjvr_22^post50, nondet_12^0'=nondet_12^post50, __disjvr_18^0'=__disjvr_18^post50, x_21^0'=x_21^post50, i_28^0'=i_28^post50, __disjvr_2^0'=__disjvr_2^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_27^0'=__disjvr_27^post50, rcd_86^0'=rcd_86^post50, a_144^0'=a_144^post50, __disjvr_6^0'=__disjvr_6^post50, tmp_32^0'=tmp_32^post50, __disjvr_15^0'=__disjvr_15^post50, x_14^0'=x_14^post50, head_30^0'=head_30^post50, __disjvr_12^0'=__disjvr_12^post50, ct_18^0'=ct_18^post50, __disjvr_24^0'=__disjvr_24^post50, r_160^0'=r_160^post50, __disjvr_1^0'=__disjvr_1^post50, y_20^0'=y_20^post50, len_129^0'=len_129^post50, __disjvr_3^0'=__disjvr_3^post50, temp0_16^0'=temp0_16^post50, __disjvr_29^0'=__disjvr_29^post50, __disjvr_0^0'=__disjvr_0^post50, a_212^0'=a_212^post50, __disjvr_8^0'=__disjvr_8^post50, length_27^0'=length_27^post50, __disjvr_17^0'=__disjvr_17^post50, x_17^0'=x_17^post50, i_164^0'=i_164^post50, __disjvr_14^0'=__disjvr_14^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50, __disjvr_26^0'=__disjvr_26^post50, rcd_56^0'=rcd_56^post50, __disjvr_21^0'=__disjvr_21^post50, a_113^0'=a_113^post50, __disjvr_5^0'=__disjvr_5^post50, temp_33^0'=temp_33^post50, x_126^0'=x_126^post50, head_15^0'=head_15^post50, __disjvr_11^0'=__disjvr_11^post50, a_257^0'=a_257^post50, __disjvr_23^0'=__disjvr_23^post50, r_121^0'=r_121^post50, __disjvr_19^0'=__disjvr_19^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, i_92^0'=i_92^post50, __disjvr_30^0'=__disjvr_30^post50, t_24^0'=t_24^post50, __disjvr_28^0'=__disjvr_28^post50, a_181^0'=a_181^post50, __disjvr_7^0'=__disjvr_7^post50, len_180^0'=len_180^post50, __disjvr_16^0'=__disjvr_16^post50, (-i_92^post50+i_92^0 == 0 /\ -temp_33^post50+temp_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ x_21^0-x_21^post50 == 0 /\ rcd_86^0-rcd_86^post50 == 0 /\ -a_181^post50+a_181^0 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -head_30^post50+head_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ -length_27^post50+length_27^0 == 0 /\ -tmp_32^post50+tmp_32^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -len_180^post50+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -r_121^post50+r_121^0 == 0 /\ r_37^0-r_37^post50 == 0 /\ len_129^0-len_129^post50 == 0 /\ i_105^0-i_105^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ r_160^0-r_160^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ a_257^0-a_257^post50 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ y_20^0-y_20^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ head_15^0-head_15^post50 == 0 /\ -a_212^post50+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -a_113^post50+a_113^0 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ ct_18^0-ct_18^post50 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ -i_164^post50+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -f_167^post50+f_167^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ rcd_56^0-rcd_56^post50 == 0 /\ __disjvr_27^0-__disjvr_27^post50 == 0 /\ -x_126^post50+x_126^0 == 0 /\ a_234^0-a_234^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ x_172^0-x_172^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ i_28^0-i_28^post50 == 0 /\ a_144^0-a_144^post50 == 0 /\ -x_14^post50+x_14^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post50+x_SLAM_f_19^0 == 0 /\ -x_17^post50+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_24^post50+__disjvr_24^0 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ temp0_16^0-temp0_16^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ temp0_29^0-temp0_29^post50 == 0), cost: 1
  65: l62 -> l63 : x_172^0'=x_172^post65, i_105^0'=i_105^post65, __disjvr_13^0'=__disjvr_13^post65, result_11^0'=result_11^post65, __disjvr_25^0'=__disjvr_25^post65, r_37^0'=r_37^post65, __disjvr_20^0'=__disjvr_20^post65, __disjvr_9^0'=__disjvr_9^post65, __disjvr_4^0'=__disjvr_4^post65, temp0_29^0'=temp0_29^post65, f_167^0'=f_167^post65, __disjvr_10^0'=__disjvr_10^post65, a_234^0'=a_234^post65, __disjvr_22^0'=__disjvr_22^post65, nondet_12^0'=nondet_12^post65, __disjvr_18^0'=__disjvr_18^post65, x_21^0'=x_21^post65, i_28^0'=i_28^post65, __disjvr_2^0'=__disjvr_2^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_27^0'=__disjvr_27^post65, rcd_86^0'=rcd_86^post65, a_144^0'=a_144^post65, __disjvr_6^0'=__disjvr_6^post65, tmp_32^0'=tmp_32^post65, __disjvr_15^0'=__disjvr_15^post65, x_14^0'=x_14^post65, head_30^0'=head_30^post65, __disjvr_12^0'=__disjvr_12^post65, ct_18^0'=ct_18^post65, __disjvr_24^0'=__disjvr_24^post65, r_160^0'=r_160^post65, __disjvr_1^0'=__disjvr_1^post65, y_20^0'=y_20^post65, len_129^0'=len_129^post65, __disjvr_3^0'=__disjvr_3^post65, temp0_16^0'=temp0_16^post65, __disjvr_29^0'=__disjvr_29^post65, __disjvr_0^0'=__disjvr_0^post65, a_212^0'=a_212^post65, __disjvr_8^0'=__disjvr_8^post65, length_27^0'=length_27^post65, __disjvr_17^0'=__disjvr_17^post65, x_17^0'=x_17^post65, i_164^0'=i_164^post65, __disjvr_14^0'=__disjvr_14^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, __disjvr_26^0'=__disjvr_26^post65, rcd_56^0'=rcd_56^post65, __disjvr_21^0'=__disjvr_21^post65, a_113^0'=a_113^post65, __disjvr_5^0'=__disjvr_5^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, head_15^0'=head_15^post65, __disjvr_11^0'=__disjvr_11^post65, a_257^0'=a_257^post65, __disjvr_23^0'=__disjvr_23^post65, r_121^0'=r_121^post65, __disjvr_19^0'=__disjvr_19^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, i_92^0'=i_92^post65, __disjvr_30^0'=__disjvr_30^post65, t_24^0'=t_24^post65, __disjvr_28^0'=__disjvr_28^post65, a_181^0'=a_181^post65, __disjvr_7^0'=__disjvr_7^post65, len_180^0'=len_180^post65, __disjvr_16^0'=__disjvr_16^post65, (x_21^0-x_21^post65 == 0 /\ rcd_86^0-rcd_86^post65 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -head_30^post65+head_30^0 == 0 /\ a_212^0-a_212^post65 == 0 /\ -length_27^post65+length_27^0 == 0 /\ rcd_56^0-rcd_56^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -__disjvr_22^post65+__disjvr_22^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -r_121^post65+r_121^0 == 0 /\ __disjvr_18^0-__disjvr_18^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ -a_113^post65+a_113^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ r_160^0-r_160^post65 == 0 /\ __disjvr_2^0-__disjvr_2^post65 == 0 /\ -__disjvr_14^post65+__disjvr_14^0 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -__disjvr_3^post65+__disjvr_3^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -head_15^post65+head_15^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -__disjvr_23^post65+__disjvr_23^0 == 0 /\ -__disjvr_11^post65+__disjvr_11^0 == 0 /\ __disjvr_17^0-__disjvr_17^post65 == 0 /\ x_172^0-x_172^post65 == 0 /\ -a_181^post65+a_181^0 == 0 /\ len_129^0-len_129^post65 == 0 /\ ct_18^0-ct_18^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_16^post65+__disjvr_16^0 == 0 /\ r_37^0-r_37^post65 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ -x_126^post65+x_126^0 == 0 /\ __disjvr_27^0-__disjvr_27^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post65 == 0 /\ __disjvr_1^0-__disjvr_1^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ __disjvr_30^post65-__disjvr_30^0 == 0 /\ t_24^0-t_24^post65 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ f_167^0-f_167^post65 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -x_17^post65+x_17^0 == 0 /\ i_28^0-i_28^post65 == 0 /\ a_144^0-a_144^post65 == 0 /\ -i_92^post65+i_92^0 == 0 /\ a_234^0-a_234^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ temp0_16^0-temp0_16^post65 == 0 /\ -__disjvr_24^post65+__disjvr_24^0 == 0 /\ temp0_29^0-temp0_29^post65 == 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0), cost: 1
  66: l63 -> l41 : x_172^0'=x_172^post66, i_105^0'=i_105^post66, __disjvr_13^0'=__disjvr_13^post66, result_11^0'=result_11^post66, __disjvr_25^0'=__disjvr_25^post66, r_37^0'=r_37^post66, __disjvr_20^0'=__disjvr_20^post66, __disjvr_9^0'=__disjvr_9^post66, __disjvr_4^0'=__disjvr_4^post66, temp0_29^0'=temp0_29^post66, f_167^0'=f_167^post66, __disjvr_10^0'=__disjvr_10^post66, a_234^0'=a_234^post66, __disjvr_22^0'=__disjvr_22^post66, nondet_12^0'=nondet_12^post66, __disjvr_18^0'=__disjvr_18^post66, x_21^0'=x_21^post66, i_28^0'=i_28^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_86^0'=rcd_86^post66, a_144^0'=a_144^post66, __disjvr_6^0'=__disjvr_6^post66, tmp_32^0'=tmp_32^post66, __disjvr_15^0'=__disjvr_15^post66, x_14^0'=x_14^post66, head_30^0'=head_30^post66, __disjvr_12^0'=__disjvr_12^post66, ct_18^0'=ct_18^post66, __disjvr_24^0'=__disjvr_24^post66, r_160^0'=r_160^post66, __disjvr_1^0'=__disjvr_1^post66, y_20^0'=y_20^post66, len_129^0'=len_129^post66, __disjvr_3^0'=__disjvr_3^post66, temp0_16^0'=temp0_16^post66, __disjvr_29^0'=__disjvr_29^post66, __disjvr_0^0'=__disjvr_0^post66, a_212^0'=a_212^post66, __disjvr_8^0'=__disjvr_8^post66, length_27^0'=length_27^post66, __disjvr_17^0'=__disjvr_17^post66, x_17^0'=x_17^post66, i_164^0'=i_164^post66, __disjvr_14^0'=__disjvr_14^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_56^0'=rcd_56^post66, __disjvr_21^0'=__disjvr_21^post66, a_113^0'=a_113^post66, __disjvr_5^0'=__disjvr_5^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, head_15^0'=head_15^post66, __disjvr_11^0'=__disjvr_11^post66, a_257^0'=a_257^post66, __disjvr_23^0'=__disjvr_23^post66, r_121^0'=r_121^post66, __disjvr_19^0'=__disjvr_19^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, i_92^0'=i_92^post66, __disjvr_30^0'=__disjvr_30^post66, t_24^0'=t_24^post66, __disjvr_28^0'=__disjvr_28^post66, a_181^0'=a_181^post66, __disjvr_7^0'=__disjvr_7^post66, len_180^0'=len_180^post66, __disjvr_16^0'=__disjvr_16^post66, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_113^post66+a_113^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ x_172^0-x_172^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ i_105^0-i_105^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ head_30^0-head_30^post66 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ -i_92^post66+i_92^0 == 0 /\ x_21^0-x_21^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ -__disjvr_11^post66+__disjvr_11^0 == 0 /\ -__disjvr_16^post66+__disjvr_16^0 == 0 /\ a_234^0-a_234^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ i_28^0-i_28^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post66+temp_33^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ __disjvr_27^0-__disjvr_27^post66 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ length_27^0-length_27^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ -r_121^post66+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_21^post66+__disjvr_21^0 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ r_37^0-r_37^post66 == 0 /\ -head_15^post66+head_15^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -__disjvr_26^post66+__disjvr_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ temp0_29^0-temp0_29^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ __disjvr_10^0-__disjvr_10^post66 == 0 /\ len_129^0-len_129^post66 == 0 /\ -__disjvr_0^post66+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post66 == 0 /\ tmp_32^0-tmp_32^post66 == 0 /\ -__disjvr_30^post66+__disjvr_30^0 == 0 /\ r_160^0-r_160^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_22^0-__disjvr_22^post66 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -x_126^post66+x_126^0 == 0 /\ -a_257^post66+a_257^0 == 0 /\ y_20^0-y_20^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -a_181^post66+a_181^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post66 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -len_180^post66+len_180^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_2^0-__disjvr_2^post66 == 0), cost: 1
  68: l64 -> l40 : x_172^0'=x_172^post68, i_105^0'=i_105^post68, __disjvr_13^0'=__disjvr_13^post68, result_11^0'=result_11^post68, __disjvr_25^0'=__disjvr_25^post68, r_37^0'=r_37^post68, __disjvr_20^0'=__disjvr_20^post68, __disjvr_9^0'=__disjvr_9^post68, __disjvr_4^0'=__disjvr_4^post68, temp0_29^0'=temp0_29^post68, f_167^0'=f_167^post68, __disjvr_10^0'=__disjvr_10^post68, a_234^0'=a_234^post68, __disjvr_22^0'=__disjvr_22^post68, nondet_12^0'=nondet_12^post68, __disjvr_18^0'=__disjvr_18^post68, x_21^0'=x_21^post68, i_28^0'=i_28^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_86^0'=rcd_86^post68, a_144^0'=a_144^post68, __disjvr_6^0'=__disjvr_6^post68, tmp_32^0'=tmp_32^post68, __disjvr_15^0'=__disjvr_15^post68, x_14^0'=x_14^post68, head_30^0'=head_30^post68, __disjvr_12^0'=__disjvr_12^post68, ct_18^0'=ct_18^post68, __disjvr_24^0'=__disjvr_24^post68, r_160^0'=r_160^post68, __disjvr_1^0'=__disjvr_1^post68, y_20^0'=y_20^post68, len_129^0'=len_129^post68, __disjvr_3^0'=__disjvr_3^post68, temp0_16^0'=temp0_16^post68, __disjvr_29^0'=__disjvr_29^post68, __disjvr_0^0'=__disjvr_0^post68, a_212^0'=a_212^post68, __disjvr_8^0'=__disjvr_8^post68, length_27^0'=length_27^post68, __disjvr_17^0'=__disjvr_17^post68, x_17^0'=x_17^post68, i_164^0'=i_164^post68, __disjvr_14^0'=__disjvr_14^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_56^0'=rcd_56^post68, __disjvr_21^0'=__disjvr_21^post68, a_113^0'=a_113^post68, __disjvr_5^0'=__disjvr_5^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, head_15^0'=head_15^post68, __disjvr_11^0'=__disjvr_11^post68, a_257^0'=a_257^post68, __disjvr_23^0'=__disjvr_23^post68, r_121^0'=r_121^post68, __disjvr_19^0'=__disjvr_19^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, i_92^0'=i_92^post68, __disjvr_30^0'=__disjvr_30^post68, t_24^0'=t_24^post68, __disjvr_28^0'=__disjvr_28^post68, a_181^0'=a_181^post68, __disjvr_7^0'=__disjvr_7^post68, len_180^0'=len_180^post68, __disjvr_16^0'=__disjvr_16^post68, (-__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ a_212^0-a_212^post68 == 0 /\ -x_126^post68+x_126^0 == 0 /\ -head_30^post68+head_30^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -x_14^post68+x_14^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ i_105^0-i_105^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_15^0-head_15^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -__disjvr_23^post68+__disjvr_23^0 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -len_180^post68+len_180^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ r_37^0-r_37^post68 == 0 /\ x_172^0-x_172^post68 == 0 /\ temp_33^0-temp_33^post68 == 0 /\ a_257^0-a_257^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ len_129^0-len_129^post68 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -x_17^post68+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ -a_181^post68+a_181^0 == 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ -r_160^post68+r_160^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ f_167^0-f_167^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -i_92^post68+i_92^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_5^0-__disjvr_5^post68 == 0 /\ -a_113^post68+a_113^0 == 0 /\ -__disjvr_14^post68+__disjvr_14^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -length_27^post68+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ __disjvr_1^0-__disjvr_1^post68 == 0 /\ -tmp_32^post68+tmp_32^0 == 0 /\ __disjvr_15^0-__disjvr_15^post68 == 0 /\ __disjvr_17^0-__disjvr_17^post68 == 0 /\ i_164^0-i_164^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ ct_18^0-ct_18^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_30^post68+__disjvr_30^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ -x_21^post68+x_21^0 == 0 /\ a_234^0-a_234^post68 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -y_20^post68+y_20^0 == 0 /\ a_144^0-a_144^post68 == 0), cost: 1
  71: l65 -> l0 : x_172^0'=x_172^post71, i_105^0'=i_105^post71, __disjvr_13^0'=__disjvr_13^post71, result_11^0'=result_11^post71, __disjvr_25^0'=__disjvr_25^post71, r_37^0'=r_37^post71, __disjvr_20^0'=__disjvr_20^post71, __disjvr_9^0'=__disjvr_9^post71, __disjvr_4^0'=__disjvr_4^post71, temp0_29^0'=temp0_29^post71, f_167^0'=f_167^post71, __disjvr_10^0'=__disjvr_10^post71, a_234^0'=a_234^post71, __disjvr_22^0'=__disjvr_22^post71, nondet_12^0'=nondet_12^post71, __disjvr_18^0'=__disjvr_18^post71, x_21^0'=x_21^post71, i_28^0'=i_28^post71, __disjvr_2^0'=__disjvr_2^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_27^0'=__disjvr_27^post71, rcd_86^0'=rcd_86^post71, a_144^0'=a_144^post71, __disjvr_6^0'=__disjvr_6^post71, tmp_32^0'=tmp_32^post71, __disjvr_15^0'=__disjvr_15^post71, x_14^0'=x_14^post71, head_30^0'=head_30^post71, __disjvr_12^0'=__disjvr_12^post71, ct_18^0'=ct_18^post71, __disjvr_24^0'=__disjvr_24^post71, r_160^0'=r_160^post71, __disjvr_1^0'=__disjvr_1^post71, y_20^0'=y_20^post71, len_129^0'=len_129^post71, __disjvr_3^0'=__disjvr_3^post71, temp0_16^0'=temp0_16^post71, __disjvr_29^0'=__disjvr_29^post71, __disjvr_0^0'=__disjvr_0^post71, a_212^0'=a_212^post71, __disjvr_8^0'=__disjvr_8^post71, length_27^0'=length_27^post71, __disjvr_17^0'=__disjvr_17^post71, x_17^0'=x_17^post71, i_164^0'=i_164^post71, __disjvr_14^0'=__disjvr_14^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, __disjvr_26^0'=__disjvr_26^post71, rcd_56^0'=rcd_56^post71, __disjvr_21^0'=__disjvr_21^post71, a_113^0'=a_113^post71, __disjvr_5^0'=__disjvr_5^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, head_15^0'=head_15^post71, __disjvr_11^0'=__disjvr_11^post71, a_257^0'=a_257^post71, __disjvr_23^0'=__disjvr_23^post71, r_121^0'=r_121^post71, __disjvr_19^0'=__disjvr_19^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, i_92^0'=i_92^post71, __disjvr_30^0'=__disjvr_30^post71, t_24^0'=t_24^post71, __disjvr_28^0'=__disjvr_28^post71, a_181^0'=a_181^post71, __disjvr_7^0'=__disjvr_7^post71, len_180^0'=len_180^post71, __disjvr_16^0'=__disjvr_16^post71, (-a_113^post71+a_113^0 == 0 /\ -__disjvr_24^post71+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ __disjvr_17^0-__disjvr_17^post71 == 0 /\ r_37^0-r_37^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ len_129^0-len_129^post71 == 0 /\ -i_92^post71+i_92^0 == 0 /\ -x_17^post71+x_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ -__disjvr_29^post71+__disjvr_29^0 == 0 /\ __disjvr_12^0-__disjvr_12^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ r_160^0-r_160^post71 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ y_20^0-y_20^post71 == 0 /\ -__disjvr_30^post71+__disjvr_30^0 == 0 /\ -r_121^post71+r_121^0 == 0 /\ -i_164^post71+i_164^0 == 0 /\ result_11^0-result_11^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ __disjvr_25^0-__disjvr_25^post71 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ -__disjvr_0^post71+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -temp_33^post71+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post71 == 0 /\ head_15^0-head_15^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -head_30^post71+head_30^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -__disjvr_26^post71+__disjvr_26^0 == 0 /\ a_234^0-a_234^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_21^post71+__disjvr_21^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ length_27^0-length_27^post71 == 0 /\ a_144^0-a_144^post71 == 0 /\ i_28^0-i_28^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -x_126^post71+x_126^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ f_167^0-f_167^post71 == 0 /\ __disjvr_27^0-__disjvr_27^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ -a_257^post71+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l1 : x_172^0'=x_172^post0, i_105^0'=i_105^post0, __disjvr_13^0'=__disjvr_13^post0, result_11^0'=result_11^post0, __disjvr_25^0'=__disjvr_25^post0, r_37^0'=r_37^post0, __disjvr_20^0'=__disjvr_20^post0, __disjvr_9^0'=__disjvr_9^post0, __disjvr_4^0'=__disjvr_4^post0, temp0_29^0'=temp0_29^post0, f_167^0'=f_167^post0, __disjvr_10^0'=__disjvr_10^post0, a_234^0'=a_234^post0, __disjvr_22^0'=__disjvr_22^post0, nondet_12^0'=nondet_12^post0, __disjvr_18^0'=__disjvr_18^post0, x_21^0'=x_21^post0, i_28^0'=i_28^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_86^0'=rcd_86^post0, a_144^0'=a_144^post0, __disjvr_6^0'=__disjvr_6^post0, tmp_32^0'=tmp_32^post0, __disjvr_15^0'=__disjvr_15^post0, x_14^0'=x_14^post0, head_30^0'=head_30^post0, __disjvr_12^0'=__disjvr_12^post0, ct_18^0'=ct_18^post0, __disjvr_24^0'=__disjvr_24^post0, r_160^0'=r_160^post0, __disjvr_1^0'=__disjvr_1^post0, y_20^0'=y_20^post0, len_129^0'=len_129^post0, __disjvr_3^0'=__disjvr_3^post0, temp0_16^0'=temp0_16^post0, __disjvr_29^0'=__disjvr_29^post0, __disjvr_0^0'=__disjvr_0^post0, a_212^0'=a_212^post0, __disjvr_8^0'=__disjvr_8^post0, length_27^0'=length_27^post0, __disjvr_17^0'=__disjvr_17^post0, x_17^0'=x_17^post0, i_164^0'=i_164^post0, __disjvr_14^0'=__disjvr_14^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_56^0'=rcd_56^post0, __disjvr_21^0'=__disjvr_21^post0, a_113^0'=a_113^post0, __disjvr_5^0'=__disjvr_5^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, head_15^0'=head_15^post0, __disjvr_11^0'=__disjvr_11^post0, a_257^0'=a_257^post0, __disjvr_23^0'=__disjvr_23^post0, r_121^0'=r_121^post0, __disjvr_19^0'=__disjvr_19^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, i_92^0'=i_92^post0, __disjvr_30^0'=__disjvr_30^post0, t_24^0'=t_24^post0, __disjvr_28^0'=__disjvr_28^post0, a_181^0'=a_181^post0, __disjvr_7^0'=__disjvr_7^post0, len_180^0'=len_180^post0, __disjvr_16^0'=__disjvr_16^post0, (0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ x_14^0-x_14^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -len_129^post0+len_129^0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -t_24^post0+t_24^0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ i_105^0-i_105^post0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post0 == 0 /\ -r_121^post0+r_121^0 == 0 /\ __disjvr_27^0-__disjvr_27^post0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -__disjvr_21^post0+__disjvr_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -ct_18^post0+ct_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ x_17^0-x_17^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -i_28^post0 <= 0 /\ f_167^0-f_167^post0 == 0 /\ __disjvr_12^0-__disjvr_12^post0 == 0 /\ -x_126^post0+x_126^0 == 0 /\ -a_257^post0+a_257^0 == 0 /\ tmp_32^0-tmp_32^post0 == 0 /\ -head_30^post0 <= 0 /\ y_20^0-y_20^post0 == 0 /\ -rcd_56^post0+rcd_56^0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ -__disjvr_0^post0+__disjvr_0^0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ r_160^0-r_160^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-nondet_12^10 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -__disjvr_30^post0+__disjvr_30^0 == 0 /\ -i_92^post0+i_92^0 == 0 /\ -a_181^post0+a_181^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0), cost: 1
New rule:
l0 -> l1 : nondet_12^0'=nondet_12^post0, i_28^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_30^0'=0, length_27^0'=nondet_12^10, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l2 -> l5 : x_172^0'=x_172^post2, i_105^0'=i_105^post2, __disjvr_13^0'=__disjvr_13^post2, result_11^0'=result_11^post2, __disjvr_25^0'=__disjvr_25^post2, r_37^0'=r_37^post2, __disjvr_20^0'=__disjvr_20^post2, __disjvr_9^0'=__disjvr_9^post2, __disjvr_4^0'=__disjvr_4^post2, temp0_29^0'=temp0_29^post2, f_167^0'=f_167^post2, __disjvr_10^0'=__disjvr_10^post2, a_234^0'=a_234^post2, __disjvr_22^0'=__disjvr_22^post2, nondet_12^0'=nondet_12^post2, __disjvr_18^0'=__disjvr_18^post2, x_21^0'=x_21^post2, i_28^0'=i_28^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_86^0'=rcd_86^post2, a_144^0'=a_144^post2, __disjvr_6^0'=__disjvr_6^post2, tmp_32^0'=tmp_32^post2, __disjvr_15^0'=__disjvr_15^post2, x_14^0'=x_14^post2, head_30^0'=head_30^post2, __disjvr_12^0'=__disjvr_12^post2, ct_18^0'=ct_18^post2, __disjvr_24^0'=__disjvr_24^post2, r_160^0'=r_160^post2, __disjvr_1^0'=__disjvr_1^post2, y_20^0'=y_20^post2, len_129^0'=len_129^post2, __disjvr_3^0'=__disjvr_3^post2, temp0_16^0'=temp0_16^post2, __disjvr_29^0'=__disjvr_29^post2, __disjvr_0^0'=__disjvr_0^post2, a_212^0'=a_212^post2, __disjvr_8^0'=__disjvr_8^post2, length_27^0'=length_27^post2, __disjvr_17^0'=__disjvr_17^post2, x_17^0'=x_17^post2, i_164^0'=i_164^post2, __disjvr_14^0'=__disjvr_14^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_56^0'=rcd_56^post2, __disjvr_21^0'=__disjvr_21^post2, a_113^0'=a_113^post2, __disjvr_5^0'=__disjvr_5^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, head_15^0'=head_15^post2, __disjvr_11^0'=__disjvr_11^post2, a_257^0'=a_257^post2, __disjvr_23^0'=__disjvr_23^post2, r_121^0'=r_121^post2, __disjvr_19^0'=__disjvr_19^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, i_92^0'=i_92^post2, __disjvr_30^0'=__disjvr_30^post2, t_24^0'=t_24^post2, __disjvr_28^0'=__disjvr_28^post2, a_181^0'=a_181^post2, __disjvr_7^0'=__disjvr_7^post2, len_180^0'=len_180^post2, __disjvr_16^0'=__disjvr_16^post2, (0 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -a_181^post2+a_181^0 == 0 /\ a_212^0-a_212^post2 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ -rcd_56^post2+rcd_56^0 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -t_24^post2+t_24^0 == 0 /\ -i_28^post2+i_28^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -length_27^post2+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ -r_121^post2+r_121^0 == 0 /\ -__disjvr_14^post2+__disjvr_14^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post2 == 0 /\ -y_20^post2+y_20^0 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ __disjvr_27^0-__disjvr_27^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ r_160^0-r_160^post2 == 0 /\ -x_21^post2+x_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ len_129^0-len_129^post2 == 0 /\ -a_113^post2+a_113^0 == 0 /\ -__disjvr_24^post2+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ f_167^0-f_167^post2 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ -head_30^post2+head_30^0 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_15^0-__disjvr_15^post2 == 0 /\ -__disjvr_26^post2+__disjvr_26^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_17^0-__disjvr_17^post2 == 0 /\ -a_234^0 <= 0 /\ -__disjvr_29^post2+__disjvr_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -__disjvr_30^post2+__disjvr_30^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -x_126^post2+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -i_92^post2+i_92^0 == 0 /\ i_164^0-i_164^post2 == 0), cost: 1
New rule:
l2 -> l5 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_234^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l5 -> l6 : x_172^0'=x_172^post3, i_105^0'=i_105^post3, __disjvr_13^0'=__disjvr_13^post3, result_11^0'=result_11^post3, __disjvr_25^0'=__disjvr_25^post3, r_37^0'=r_37^post3, __disjvr_20^0'=__disjvr_20^post3, __disjvr_9^0'=__disjvr_9^post3, __disjvr_4^0'=__disjvr_4^post3, temp0_29^0'=temp0_29^post3, f_167^0'=f_167^post3, __disjvr_10^0'=__disjvr_10^post3, a_234^0'=a_234^post3, __disjvr_22^0'=__disjvr_22^post3, nondet_12^0'=nondet_12^post3, __disjvr_18^0'=__disjvr_18^post3, x_21^0'=x_21^post3, i_28^0'=i_28^post3, __disjvr_2^0'=__disjvr_2^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_27^0'=__disjvr_27^post3, rcd_86^0'=rcd_86^post3, a_144^0'=a_144^post3, __disjvr_6^0'=__disjvr_6^post3, tmp_32^0'=tmp_32^post3, __disjvr_15^0'=__disjvr_15^post3, x_14^0'=x_14^post3, head_30^0'=head_30^post3, __disjvr_12^0'=__disjvr_12^post3, ct_18^0'=ct_18^post3, __disjvr_24^0'=__disjvr_24^post3, r_160^0'=r_160^post3, __disjvr_1^0'=__disjvr_1^post3, y_20^0'=y_20^post3, len_129^0'=len_129^post3, __disjvr_3^0'=__disjvr_3^post3, temp0_16^0'=temp0_16^post3, __disjvr_29^0'=__disjvr_29^post3, __disjvr_0^0'=__disjvr_0^post3, a_212^0'=a_212^post3, __disjvr_8^0'=__disjvr_8^post3, length_27^0'=length_27^post3, __disjvr_17^0'=__disjvr_17^post3, x_17^0'=x_17^post3, i_164^0'=i_164^post3, __disjvr_14^0'=__disjvr_14^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, __disjvr_26^0'=__disjvr_26^post3, rcd_56^0'=rcd_56^post3, __disjvr_21^0'=__disjvr_21^post3, a_113^0'=a_113^post3, __disjvr_5^0'=__disjvr_5^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, head_15^0'=head_15^post3, __disjvr_11^0'=__disjvr_11^post3, a_257^0'=a_257^post3, __disjvr_23^0'=__disjvr_23^post3, r_121^0'=r_121^post3, __disjvr_19^0'=__disjvr_19^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, i_92^0'=i_92^post3, __disjvr_30^0'=__disjvr_30^post3, t_24^0'=t_24^post3, __disjvr_28^0'=__disjvr_28^post3, a_181^0'=a_181^post3, __disjvr_7^0'=__disjvr_7^post3, len_180^0'=len_180^post3, __disjvr_16^0'=__disjvr_16^post3, (__disjvr_19^0-__disjvr_19^post3 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -__disjvr_21^post3+__disjvr_21^0 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -a_113^post3+a_113^0 == 0 /\ head_30^0-head_30^post3 == 0 /\ -__disjvr_0^post3+__disjvr_0^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ -x_SLAM_f_19^post3+x_SLAM_f_19^0 == 0 /\ -x_126^post3+x_126^0 == 0 /\ -i_92^post3+i_92^0 == 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ i_28^0-i_28^post3 == 0 /\ length_27^0-length_27^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ temp0_16^0-temp0_16^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ f_167^0-f_167^post3 == 0 /\ __disjvr_0^post3-__disjvr_0^0 == 0 /\ -a_144^post3+a_144^0 == 0 /\ __disjvr_27^0-__disjvr_27^post3 == 0 /\ -rcd_56^post3+rcd_56^0 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ len_129^0-len_129^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ r_37^0-r_37^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ y_20^0-y_20^post3 == 0 /\ x_17^0-x_17^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ -a_212^post3+a_212^0 == 0 /\ tmp_32^0-tmp_32^post3 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ -temp_33^post3+temp_33^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -i_164^post3+i_164^0 == 0 /\ -t_24^post3+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ -a_257^post3+a_257^0 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ r_160^0-r_160^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_14^0-x_14^post3 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -head_15^post3+head_15^0 == 0), cost: 1
New rule:
l5 -> l6 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : x_172^0'=x_172^post4, i_105^0'=i_105^post4, __disjvr_13^0'=__disjvr_13^post4, result_11^0'=result_11^post4, __disjvr_25^0'=__disjvr_25^post4, r_37^0'=r_37^post4, __disjvr_20^0'=__disjvr_20^post4, __disjvr_9^0'=__disjvr_9^post4, __disjvr_4^0'=__disjvr_4^post4, temp0_29^0'=temp0_29^post4, f_167^0'=f_167^post4, __disjvr_10^0'=__disjvr_10^post4, a_234^0'=a_234^post4, __disjvr_22^0'=__disjvr_22^post4, nondet_12^0'=nondet_12^post4, __disjvr_18^0'=__disjvr_18^post4, x_21^0'=x_21^post4, i_28^0'=i_28^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_86^0'=rcd_86^post4, a_144^0'=a_144^post4, __disjvr_6^0'=__disjvr_6^post4, tmp_32^0'=tmp_32^post4, __disjvr_15^0'=__disjvr_15^post4, x_14^0'=x_14^post4, head_30^0'=head_30^post4, __disjvr_12^0'=__disjvr_12^post4, ct_18^0'=ct_18^post4, __disjvr_24^0'=__disjvr_24^post4, r_160^0'=r_160^post4, __disjvr_1^0'=__disjvr_1^post4, y_20^0'=y_20^post4, len_129^0'=len_129^post4, __disjvr_3^0'=__disjvr_3^post4, temp0_16^0'=temp0_16^post4, __disjvr_29^0'=__disjvr_29^post4, __disjvr_0^0'=__disjvr_0^post4, a_212^0'=a_212^post4, __disjvr_8^0'=__disjvr_8^post4, length_27^0'=length_27^post4, __disjvr_17^0'=__disjvr_17^post4, x_17^0'=x_17^post4, i_164^0'=i_164^post4, __disjvr_14^0'=__disjvr_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_56^0'=rcd_56^post4, __disjvr_21^0'=__disjvr_21^post4, a_113^0'=a_113^post4, __disjvr_5^0'=__disjvr_5^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, head_15^0'=head_15^post4, __disjvr_11^0'=__disjvr_11^post4, a_257^0'=a_257^post4, __disjvr_23^0'=__disjvr_23^post4, r_121^0'=r_121^post4, __disjvr_19^0'=__disjvr_19^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, i_92^0'=i_92^post4, __disjvr_30^0'=__disjvr_30^post4, t_24^0'=t_24^post4, __disjvr_28^0'=__disjvr_28^post4, a_181^0'=a_181^post4, __disjvr_7^0'=__disjvr_7^post4, len_180^0'=len_180^post4, __disjvr_16^0'=__disjvr_16^post4, (0 == 0 /\ -ct_18^0 <= 0 /\ -i_164^post4+i_164^0 == 0 /\ -__disjvr_19^post4+__disjvr_19^0 == 0 /\ f_167^0-f_167^post4 == 0 /\ i_92^0-i_92^post4 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ tmp_32^0-tmp_32^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_14^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -y_20^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ -len_129^post4+len_129^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ -x_17^0+head_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -__disjvr_21^post4+__disjvr_21^0 == 0 /\ __disjvr_10^0-__disjvr_10^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ __disjvr_27^0-__disjvr_27^post4 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ x_14^0 <= 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ a_144^0-a_144^post4 == 0 /\ x_17^0-head_15^0 <= 0 /\ 1-a_234^0+a_257^post4 <= 0 /\ __disjvr_6^0-__disjvr_6^post4 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ y_20^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -rcd_56^post4+rcd_56^0 == 0 /\ a_212^0-a_212^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ -a_234^post4+a_234^0 == 0 /\ -length_27^post4+length_27^0 == 0 /\ -a_181^post4+a_181^0 == 0 /\ x_14^0-x_14^post4 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ i_105^0-i_105^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ -len_180^post4+len_180^0 == 0 /\ -x_21^0+t_24^post4 == 0 /\ -r_121^post4+r_121^0 == 0 /\ -__disjvr_14^post4+__disjvr_14^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ x_21^0-x_21^post4 == 0 /\ -__disjvr_29^post4+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_30^post4+__disjvr_30^0 == 0 /\ -y_20^post4+y_20^0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ head_30^0-head_30^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ -__disjvr_0^post4+__disjvr_0^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -x_17^post4+x_17^0 == 0 /\ -1+a_234^0-a_257^post4 <= 0 /\ r_37^0-r_37^post4 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -temp_33^post4+temp_33^0 == 0), cost: 1
New rule:
l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : x_172^0'=x_172^post5, i_105^0'=i_105^post5, __disjvr_13^0'=__disjvr_13^post5, result_11^0'=result_11^post5, __disjvr_25^0'=__disjvr_25^post5, r_37^0'=r_37^post5, __disjvr_20^0'=__disjvr_20^post5, __disjvr_9^0'=__disjvr_9^post5, __disjvr_4^0'=__disjvr_4^post5, temp0_29^0'=temp0_29^post5, f_167^0'=f_167^post5, __disjvr_10^0'=__disjvr_10^post5, a_234^0'=a_234^post5, __disjvr_22^0'=__disjvr_22^post5, nondet_12^0'=nondet_12^post5, __disjvr_18^0'=__disjvr_18^post5, x_21^0'=x_21^post5, i_28^0'=i_28^post5, __disjvr_2^0'=__disjvr_2^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_27^0'=__disjvr_27^post5, rcd_86^0'=rcd_86^post5, a_144^0'=a_144^post5, __disjvr_6^0'=__disjvr_6^post5, tmp_32^0'=tmp_32^post5, __disjvr_15^0'=__disjvr_15^post5, x_14^0'=x_14^post5, head_30^0'=head_30^post5, __disjvr_12^0'=__disjvr_12^post5, ct_18^0'=ct_18^post5, __disjvr_24^0'=__disjvr_24^post5, r_160^0'=r_160^post5, __disjvr_1^0'=__disjvr_1^post5, y_20^0'=y_20^post5, len_129^0'=len_129^post5, __disjvr_3^0'=__disjvr_3^post5, temp0_16^0'=temp0_16^post5, __disjvr_29^0'=__disjvr_29^post5, __disjvr_0^0'=__disjvr_0^post5, a_212^0'=a_212^post5, __disjvr_8^0'=__disjvr_8^post5, length_27^0'=length_27^post5, __disjvr_17^0'=__disjvr_17^post5, x_17^0'=x_17^post5, i_164^0'=i_164^post5, __disjvr_14^0'=__disjvr_14^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, __disjvr_26^0'=__disjvr_26^post5, rcd_56^0'=rcd_56^post5, __disjvr_21^0'=__disjvr_21^post5, a_113^0'=a_113^post5, __disjvr_5^0'=__disjvr_5^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, head_15^0'=head_15^post5, __disjvr_11^0'=__disjvr_11^post5, a_257^0'=a_257^post5, __disjvr_23^0'=__disjvr_23^post5, r_121^0'=r_121^post5, __disjvr_19^0'=__disjvr_19^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, i_92^0'=i_92^post5, __disjvr_30^0'=__disjvr_30^post5, t_24^0'=t_24^post5, __disjvr_28^0'=__disjvr_28^post5, a_181^0'=a_181^post5, __disjvr_7^0'=__disjvr_7^post5, len_180^0'=len_180^post5, __disjvr_16^0'=__disjvr_16^post5, (-x_14^post5+x_14^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ -__disjvr_26^post5+__disjvr_26^0 == 0 /\ a_212^0-a_212^post5 == 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post5 == 0 /\ -__disjvr_19^post5+__disjvr_19^0 == 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ head_15^0-head_15^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ r_37^0-r_37^post5 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ x_172^0-x_172^post5 == 0 /\ -i_28^post5+i_28^0 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ -len_180^post5+len_180^0 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ -x_126^post5+x_126^0 == 0 /\ -__disjvr_21^post5+__disjvr_21^0 == 0 /\ -a_257^post5+a_257^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -t_24^post5+t_24^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ -x_17^post5+x_17^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -x_SLAM_f_19^post5+x_SLAM_f_19^0 == 0 /\ temp0_16^0-temp0_16^post5 == 0 /\ -__disjvr_1^0+__disjvr_1^post5 == 0 /\ -r_160^post5+r_160^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ i_164^0-i_164^post5 == 0 /\ -__disjvr_11^post5+__disjvr_11^0 == 0 /\ f_167^0-f_167^post5 == 0 /\ -i_92^post5+i_92^0 == 0 /\ -__disjvr_29^post5+__disjvr_29^0 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ -a_113^post5+a_113^0 == 0 /\ -len_129^post5+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -a_181^post5+a_181^0 == 0 /\ a_234^0-a_234^post5 == 0 /\ -r_121^post5+r_121^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -length_27^post5+length_27^0 == 0 /\ temp0_29^0-temp0_29^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ ct_18^0-ct_18^post5 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_1^0-__disjvr_1^post5 == 0 /\ head_30^0-head_30^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ -y_20^post5+y_20^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_144^0-a_144^post5 == 0 /\ rcd_86^0-rcd_86^post5 == 0), cost: 1
New rule:
l7 -> l8 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : x_172^0'=x_172^post6, i_105^0'=i_105^post6, __disjvr_13^0'=__disjvr_13^post6, result_11^0'=result_11^post6, __disjvr_25^0'=__disjvr_25^post6, r_37^0'=r_37^post6, __disjvr_20^0'=__disjvr_20^post6, __disjvr_9^0'=__disjvr_9^post6, __disjvr_4^0'=__disjvr_4^post6, temp0_29^0'=temp0_29^post6, f_167^0'=f_167^post6, __disjvr_10^0'=__disjvr_10^post6, a_234^0'=a_234^post6, __disjvr_22^0'=__disjvr_22^post6, nondet_12^0'=nondet_12^post6, __disjvr_18^0'=__disjvr_18^post6, x_21^0'=x_21^post6, i_28^0'=i_28^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_86^0'=rcd_86^post6, a_144^0'=a_144^post6, __disjvr_6^0'=__disjvr_6^post6, tmp_32^0'=tmp_32^post6, __disjvr_15^0'=__disjvr_15^post6, x_14^0'=x_14^post6, head_30^0'=head_30^post6, __disjvr_12^0'=__disjvr_12^post6, ct_18^0'=ct_18^post6, __disjvr_24^0'=__disjvr_24^post6, r_160^0'=r_160^post6, __disjvr_1^0'=__disjvr_1^post6, y_20^0'=y_20^post6, len_129^0'=len_129^post6, __disjvr_3^0'=__disjvr_3^post6, temp0_16^0'=temp0_16^post6, __disjvr_29^0'=__disjvr_29^post6, __disjvr_0^0'=__disjvr_0^post6, a_212^0'=a_212^post6, __disjvr_8^0'=__disjvr_8^post6, length_27^0'=length_27^post6, __disjvr_17^0'=__disjvr_17^post6, x_17^0'=x_17^post6, i_164^0'=i_164^post6, __disjvr_14^0'=__disjvr_14^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_56^0'=rcd_56^post6, __disjvr_21^0'=__disjvr_21^post6, a_113^0'=a_113^post6, __disjvr_5^0'=__disjvr_5^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, head_15^0'=head_15^post6, __disjvr_11^0'=__disjvr_11^post6, a_257^0'=a_257^post6, __disjvr_23^0'=__disjvr_23^post6, r_121^0'=r_121^post6, __disjvr_19^0'=__disjvr_19^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, i_92^0'=i_92^post6, __disjvr_30^0'=__disjvr_30^post6, t_24^0'=t_24^post6, __disjvr_28^0'=__disjvr_28^post6, a_181^0'=a_181^post6, __disjvr_7^0'=__disjvr_7^post6, len_180^0'=len_180^post6, __disjvr_16^0'=__disjvr_16^post6, (__disjvr_11^0-__disjvr_11^post6 == 0 /\ a_144^0-a_144^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ y_20^0-y_20^post6 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_21^post6+__disjvr_21^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -x_126^post6+x_126^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ -x_SLAM_f_19^post6+x_SLAM_f_19^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -a_181^post6+a_181^0 == 0 /\ a_234^0-a_234^post6 == 0 /\ -i_92^post6+i_92^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ i_28^0-i_28^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ -__disjvr_23^post6+__disjvr_23^0 == 0 /\ -__disjvr_0^post6+__disjvr_0^0 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ temp0_29^0-temp0_29^post6 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -len_180^post6+len_180^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ -temp_33^post6+temp_33^0 == 0 /\ -r_121^post6+r_121^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post6 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_21^0-x_21^post6 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -a_212^post6+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ -a_113^post6+a_113^0 == 0 /\ head_30^0-head_30^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ x_14^0-x_14^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -head_15^post6+head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ r_37^0-r_37^post6 == 0 /\ r_160^0-r_160^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ x_172^0-x_172^post6 == 0 /\ len_129^0-len_129^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ tmp_32^0-tmp_32^post6 == 0), cost: 1
New rule:
l8 -> l9 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : x_172^0'=x_172^post7, i_105^0'=i_105^post7, __disjvr_13^0'=__disjvr_13^post7, result_11^0'=result_11^post7, __disjvr_25^0'=__disjvr_25^post7, r_37^0'=r_37^post7, __disjvr_20^0'=__disjvr_20^post7, __disjvr_9^0'=__disjvr_9^post7, __disjvr_4^0'=__disjvr_4^post7, temp0_29^0'=temp0_29^post7, f_167^0'=f_167^post7, __disjvr_10^0'=__disjvr_10^post7, a_234^0'=a_234^post7, __disjvr_22^0'=__disjvr_22^post7, nondet_12^0'=nondet_12^post7, __disjvr_18^0'=__disjvr_18^post7, x_21^0'=x_21^post7, i_28^0'=i_28^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_86^0'=rcd_86^post7, a_144^0'=a_144^post7, __disjvr_6^0'=__disjvr_6^post7, tmp_32^0'=tmp_32^post7, __disjvr_15^0'=__disjvr_15^post7, x_14^0'=x_14^post7, head_30^0'=head_30^post7, __disjvr_12^0'=__disjvr_12^post7, ct_18^0'=ct_18^post7, __disjvr_24^0'=__disjvr_24^post7, r_160^0'=r_160^post7, __disjvr_1^0'=__disjvr_1^post7, y_20^0'=y_20^post7, len_129^0'=len_129^post7, __disjvr_3^0'=__disjvr_3^post7, temp0_16^0'=temp0_16^post7, __disjvr_29^0'=__disjvr_29^post7, __disjvr_0^0'=__disjvr_0^post7, a_212^0'=a_212^post7, __disjvr_8^0'=__disjvr_8^post7, length_27^0'=length_27^post7, __disjvr_17^0'=__disjvr_17^post7, x_17^0'=x_17^post7, i_164^0'=i_164^post7, __disjvr_14^0'=__disjvr_14^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_56^0'=rcd_56^post7, __disjvr_21^0'=__disjvr_21^post7, a_113^0'=a_113^post7, __disjvr_5^0'=__disjvr_5^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, head_15^0'=head_15^post7, __disjvr_11^0'=__disjvr_11^post7, a_257^0'=a_257^post7, __disjvr_23^0'=__disjvr_23^post7, r_121^0'=r_121^post7, __disjvr_19^0'=__disjvr_19^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, i_92^0'=i_92^post7, __disjvr_30^0'=__disjvr_30^post7, t_24^0'=t_24^post7, __disjvr_28^0'=__disjvr_28^post7, a_181^0'=a_181^post7, __disjvr_7^0'=__disjvr_7^post7, len_180^0'=len_180^post7, __disjvr_16^0'=__disjvr_16^post7, (r_37^0-r_37^post7 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -__disjvr_14^post7+__disjvr_14^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ -i_92^post7+i_92^0 == 0 /\ f_167^0-f_167^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -a_181^post7+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ -rcd_56^post7+rcd_56^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -length_27^post7+length_27^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ i_105^0-i_105^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ x_126^0-x_126^post7 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -y_20^post7+y_20^0 == 0 /\ __disjvr_1^0-__disjvr_1^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -a_257^post7+a_257^0 == 0 /\ i_164^0-i_164^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ i_28^0-i_28^post7 == 0 /\ -t_24^post7+t_24^0 == 0 /\ a_234^0-a_234^post7 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ x_21^0-x_21^post7 == 0 /\ head_30^0-head_30^post7 == 0 /\ -__disjvr_21^post7+__disjvr_21^0 == 0 /\ x_172^0-x_172^post7 == 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_14^0-x_14^post7 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -a_113^post7+a_113^0 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ -len_129^post7+len_129^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -__disjvr_29^post7+__disjvr_29^0 == 0 /\ a_212^0-a_212^post7 == 0 /\ -r_160^post7+r_160^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -r_121^post7+r_121^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -len_180^post7+len_180^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0), cost: 1
New rule:
l9 -> l10 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l4 : x_172^0'=x_172^post8, i_105^0'=i_105^post8, __disjvr_13^0'=__disjvr_13^post8, result_11^0'=result_11^post8, __disjvr_25^0'=__disjvr_25^post8, r_37^0'=r_37^post8, __disjvr_20^0'=__disjvr_20^post8, __disjvr_9^0'=__disjvr_9^post8, __disjvr_4^0'=__disjvr_4^post8, temp0_29^0'=temp0_29^post8, f_167^0'=f_167^post8, __disjvr_10^0'=__disjvr_10^post8, a_234^0'=a_234^post8, __disjvr_22^0'=__disjvr_22^post8, nondet_12^0'=nondet_12^post8, __disjvr_18^0'=__disjvr_18^post8, x_21^0'=x_21^post8, i_28^0'=i_28^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_86^0'=rcd_86^post8, a_144^0'=a_144^post8, __disjvr_6^0'=__disjvr_6^post8, tmp_32^0'=tmp_32^post8, __disjvr_15^0'=__disjvr_15^post8, x_14^0'=x_14^post8, head_30^0'=head_30^post8, __disjvr_12^0'=__disjvr_12^post8, ct_18^0'=ct_18^post8, __disjvr_24^0'=__disjvr_24^post8, r_160^0'=r_160^post8, __disjvr_1^0'=__disjvr_1^post8, y_20^0'=y_20^post8, len_129^0'=len_129^post8, __disjvr_3^0'=__disjvr_3^post8, temp0_16^0'=temp0_16^post8, __disjvr_29^0'=__disjvr_29^post8, __disjvr_0^0'=__disjvr_0^post8, a_212^0'=a_212^post8, __disjvr_8^0'=__disjvr_8^post8, length_27^0'=length_27^post8, __disjvr_17^0'=__disjvr_17^post8, x_17^0'=x_17^post8, i_164^0'=i_164^post8, __disjvr_14^0'=__disjvr_14^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_56^0'=rcd_56^post8, __disjvr_21^0'=__disjvr_21^post8, a_113^0'=a_113^post8, __disjvr_5^0'=__disjvr_5^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, head_15^0'=head_15^post8, __disjvr_11^0'=__disjvr_11^post8, a_257^0'=a_257^post8, __disjvr_23^0'=__disjvr_23^post8, r_121^0'=r_121^post8, __disjvr_19^0'=__disjvr_19^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, i_92^0'=i_92^post8, __disjvr_30^0'=__disjvr_30^post8, t_24^0'=t_24^post8, __disjvr_28^0'=__disjvr_28^post8, a_181^0'=a_181^post8, __disjvr_7^0'=__disjvr_7^post8, len_180^0'=len_180^post8, __disjvr_16^0'=__disjvr_16^post8, (0 == 0 /\ x_172^0-x_172^post8 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_121^post8+r_121^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ a_144^0-a_144^post8 == 0 /\ -length_27^post8+length_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ a_212^0-a_212^post8 == 0 /\ -len_180^post8+len_180^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -a_234^post8+a_257^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -head_30^post8+head_30^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ -a_113^post8+a_113^0 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_14^post8+__disjvr_14^0 == 0 /\ -a_181^post8+a_181^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ a_234^post8-a_257^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ __disjvr_17^0-__disjvr_17^post8 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post8 == 0 /\ r_160^0-r_160^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ -temp0_29^post8+temp0_29^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_29^post8+__disjvr_29^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ rcd_86^0-rcd_86^post8 == 0 /\ -x_126^post8+x_126^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -i_92^post8+i_92^0 == 0 /\ -x_17^post8+x_17^0 == 0 /\ -i_28^post8+i_28^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -len_129^post8+len_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ x_21^0-x_21^post8 == 0 /\ t_24^0-t_24^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0), cost: 1
New rule:
l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l2 : x_172^0'=x_172^post9, i_105^0'=i_105^post9, __disjvr_13^0'=__disjvr_13^post9, result_11^0'=result_11^post9, __disjvr_25^0'=__disjvr_25^post9, r_37^0'=r_37^post9, __disjvr_20^0'=__disjvr_20^post9, __disjvr_9^0'=__disjvr_9^post9, __disjvr_4^0'=__disjvr_4^post9, temp0_29^0'=temp0_29^post9, f_167^0'=f_167^post9, __disjvr_10^0'=__disjvr_10^post9, a_234^0'=a_234^post9, __disjvr_22^0'=__disjvr_22^post9, nondet_12^0'=nondet_12^post9, __disjvr_18^0'=__disjvr_18^post9, x_21^0'=x_21^post9, i_28^0'=i_28^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_86^0'=rcd_86^post9, a_144^0'=a_144^post9, __disjvr_6^0'=__disjvr_6^post9, tmp_32^0'=tmp_32^post9, __disjvr_15^0'=__disjvr_15^post9, x_14^0'=x_14^post9, head_30^0'=head_30^post9, __disjvr_12^0'=__disjvr_12^post9, ct_18^0'=ct_18^post9, __disjvr_24^0'=__disjvr_24^post9, r_160^0'=r_160^post9, __disjvr_1^0'=__disjvr_1^post9, y_20^0'=y_20^post9, len_129^0'=len_129^post9, __disjvr_3^0'=__disjvr_3^post9, temp0_16^0'=temp0_16^post9, __disjvr_29^0'=__disjvr_29^post9, __disjvr_0^0'=__disjvr_0^post9, a_212^0'=a_212^post9, __disjvr_8^0'=__disjvr_8^post9, length_27^0'=length_27^post9, __disjvr_17^0'=__disjvr_17^post9, x_17^0'=x_17^post9, i_164^0'=i_164^post9, __disjvr_14^0'=__disjvr_14^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_56^0'=rcd_56^post9, __disjvr_21^0'=__disjvr_21^post9, a_113^0'=a_113^post9, __disjvr_5^0'=__disjvr_5^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, head_15^0'=head_15^post9, __disjvr_11^0'=__disjvr_11^post9, a_257^0'=a_257^post9, __disjvr_23^0'=__disjvr_23^post9, r_121^0'=r_121^post9, __disjvr_19^0'=__disjvr_19^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, i_92^0'=i_92^post9, __disjvr_30^0'=__disjvr_30^post9, t_24^0'=t_24^post9, __disjvr_28^0'=__disjvr_28^post9, a_181^0'=a_181^post9, __disjvr_7^0'=__disjvr_7^post9, len_180^0'=len_180^post9, __disjvr_16^0'=__disjvr_16^post9, (-__disjvr_16^post9+__disjvr_16^0 == 0 /\ tmp_32^0-tmp_32^post9 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -__disjvr_23^post9+__disjvr_23^0 == 0 /\ -t_24^post9+t_24^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ r_37^0-r_37^post9 == 0 /\ __disjvr_12^0-__disjvr_12^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ a_234^0-a_234^post9 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ head_15^0-head_15^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ a_144^0-a_144^post9 == 0 /\ -__disjvr_24^post9+__disjvr_24^0 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -a_212^post9+a_212^0 == 0 /\ -__disjvr_19^post9+__disjvr_19^0 == 0 /\ -a_113^post9+a_113^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ -rcd_56^post9+rcd_56^0 == 0 /\ ct_18^0-ct_18^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -a_181^post9+a_181^0 == 0 /\ -length_27^post9+length_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ -f_167^post9+f_167^0 == 0 /\ x_172^0-x_172^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ r_160^0-r_160^post9 == 0 /\ -len_180^post9+len_180^0 == 0 /\ -__disjvr_29^post9+__disjvr_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post9 == 0 /\ __disjvr_13^0-__disjvr_13^post9 == 0 /\ head_30^0-head_30^post9 == 0 /\ __disjvr_27^0-__disjvr_27^post9 == 0 /\ __disjvr_30^0-__disjvr_30^post9 == 0 /\ len_129^0-len_129^post9 == 0 /\ -x_SLAM_f_19^post9+x_SLAM_f_19^0 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -x_17^post9+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -x_126^post9+x_126^0 == 0 /\ -i_92^post9+i_92^0 == 0), cost: 1
New rule:
l4 -> l2 : TRUE, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : x_172^0'=x_172^post20, i_105^0'=i_105^post20, __disjvr_13^0'=__disjvr_13^post20, result_11^0'=result_11^post20, __disjvr_25^0'=__disjvr_25^post20, r_37^0'=r_37^post20, __disjvr_20^0'=__disjvr_20^post20, __disjvr_9^0'=__disjvr_9^post20, __disjvr_4^0'=__disjvr_4^post20, temp0_29^0'=temp0_29^post20, f_167^0'=f_167^post20, __disjvr_10^0'=__disjvr_10^post20, a_234^0'=a_234^post20, __disjvr_22^0'=__disjvr_22^post20, nondet_12^0'=nondet_12^post20, __disjvr_18^0'=__disjvr_18^post20, x_21^0'=x_21^post20, i_28^0'=i_28^post20, __disjvr_2^0'=__disjvr_2^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_27^0'=__disjvr_27^post20, rcd_86^0'=rcd_86^post20, a_144^0'=a_144^post20, __disjvr_6^0'=__disjvr_6^post20, tmp_32^0'=tmp_32^post20, __disjvr_15^0'=__disjvr_15^post20, x_14^0'=x_14^post20, head_30^0'=head_30^post20, __disjvr_12^0'=__disjvr_12^post20, ct_18^0'=ct_18^post20, __disjvr_24^0'=__disjvr_24^post20, r_160^0'=r_160^post20, __disjvr_1^0'=__disjvr_1^post20, y_20^0'=y_20^post20, len_129^0'=len_129^post20, __disjvr_3^0'=__disjvr_3^post20, temp0_16^0'=temp0_16^post20, __disjvr_29^0'=__disjvr_29^post20, __disjvr_0^0'=__disjvr_0^post20, a_212^0'=a_212^post20, __disjvr_8^0'=__disjvr_8^post20, length_27^0'=length_27^post20, __disjvr_17^0'=__disjvr_17^post20, x_17^0'=x_17^post20, i_164^0'=i_164^post20, __disjvr_14^0'=__disjvr_14^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20, __disjvr_26^0'=__disjvr_26^post20, rcd_56^0'=rcd_56^post20, __disjvr_21^0'=__disjvr_21^post20, a_113^0'=a_113^post20, __disjvr_5^0'=__disjvr_5^post20, temp_33^0'=temp_33^post20, x_126^0'=x_126^post20, head_15^0'=head_15^post20, __disjvr_11^0'=__disjvr_11^post20, a_257^0'=a_257^post20, __disjvr_23^0'=__disjvr_23^post20, r_121^0'=r_121^post20, __disjvr_19^0'=__disjvr_19^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, i_92^0'=i_92^post20, __disjvr_30^0'=__disjvr_30^post20, t_24^0'=t_24^post20, __disjvr_28^0'=__disjvr_28^post20, a_181^0'=a_181^post20, __disjvr_7^0'=__disjvr_7^post20, len_180^0'=len_180^post20, __disjvr_16^0'=__disjvr_16^post20, (0 == 0 /\ result_11^0-result_11^post20 == 0 /\ r_37^0-r_37^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_14^post20+__disjvr_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ -i_92^post20+i_92^0 == 0 /\ tmp_32^0-tmp_32^post20 == 0 /\ -len_129^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ temp0_29^0-temp0_29^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ rcd_86^0-rcd_86^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -a_144^post20+a_144^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -rcd_56^post20+rcd_56^0 == 0 /\ x_126^0-x_126^post20 == 0 /\ __disjvr_25^0-__disjvr_25^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ i_164^0-i_164^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -r_121^post20+r_121^0 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_113^0-a_113^post20 == 0 /\ x_172^0-x_172^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ -__disjvr_28^post20+__disjvr_28^0 == 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ i_105^0-i_105^post20 == 0 /\ -a_181^post20+a_181^0 == 0 /\ head_30^0-head_30^post20 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -a_234^post20+a_234^0 == 0 /\ x_21^0-x_21^post20 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -len_129^post20+len_129^0 == 0 /\ i_28^0-i_28^post20 == 0 /\ -length_27^post20+length_27^0 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -r_160^post20+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -t_24^post20+t_24^0 == 0 /\ f_167^0-f_167^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ -len_180^post20+len_180^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -a_257^post20+a_257^0 == 0 /\ a_212^0-a_212^post20 == 0), cost: 1
New rule:
l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, len_129^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : x_172^0'=x_172^post21, i_105^0'=i_105^post21, __disjvr_13^0'=__disjvr_13^post21, result_11^0'=result_11^post21, __disjvr_25^0'=__disjvr_25^post21, r_37^0'=r_37^post21, __disjvr_20^0'=__disjvr_20^post21, __disjvr_9^0'=__disjvr_9^post21, __disjvr_4^0'=__disjvr_4^post21, temp0_29^0'=temp0_29^post21, f_167^0'=f_167^post21, __disjvr_10^0'=__disjvr_10^post21, a_234^0'=a_234^post21, __disjvr_22^0'=__disjvr_22^post21, nondet_12^0'=nondet_12^post21, __disjvr_18^0'=__disjvr_18^post21, x_21^0'=x_21^post21, i_28^0'=i_28^post21, __disjvr_2^0'=__disjvr_2^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_27^0'=__disjvr_27^post21, rcd_86^0'=rcd_86^post21, a_144^0'=a_144^post21, __disjvr_6^0'=__disjvr_6^post21, tmp_32^0'=tmp_32^post21, __disjvr_15^0'=__disjvr_15^post21, x_14^0'=x_14^post21, head_30^0'=head_30^post21, __disjvr_12^0'=__disjvr_12^post21, ct_18^0'=ct_18^post21, __disjvr_24^0'=__disjvr_24^post21, r_160^0'=r_160^post21, __disjvr_1^0'=__disjvr_1^post21, y_20^0'=y_20^post21, len_129^0'=len_129^post21, __disjvr_3^0'=__disjvr_3^post21, temp0_16^0'=temp0_16^post21, __disjvr_29^0'=__disjvr_29^post21, __disjvr_0^0'=__disjvr_0^post21, a_212^0'=a_212^post21, __disjvr_8^0'=__disjvr_8^post21, length_27^0'=length_27^post21, __disjvr_17^0'=__disjvr_17^post21, x_17^0'=x_17^post21, i_164^0'=i_164^post21, __disjvr_14^0'=__disjvr_14^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21, __disjvr_26^0'=__disjvr_26^post21, rcd_56^0'=rcd_56^post21, __disjvr_21^0'=__disjvr_21^post21, a_113^0'=a_113^post21, __disjvr_5^0'=__disjvr_5^post21, temp_33^0'=temp_33^post21, x_126^0'=x_126^post21, head_15^0'=head_15^post21, __disjvr_11^0'=__disjvr_11^post21, a_257^0'=a_257^post21, __disjvr_23^0'=__disjvr_23^post21, r_121^0'=r_121^post21, __disjvr_19^0'=__disjvr_19^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, i_92^0'=i_92^post21, __disjvr_30^0'=__disjvr_30^post21, t_24^0'=t_24^post21, __disjvr_28^0'=__disjvr_28^post21, a_181^0'=a_181^post21, __disjvr_7^0'=__disjvr_7^post21, len_180^0'=len_180^post21, __disjvr_16^0'=__disjvr_16^post21, (-__disjvr_1^post21+__disjvr_1^0 == 0 /\ -tmp_32^post21+tmp_32^0 == 0 /\ rcd_86^0-rcd_86^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -r_121^post21+r_121^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ a_212^0-a_212^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -len_180^post21+len_180^0 == 0 /\ -head_30^post21+head_30^0 == 0 /\ -x_21^post21+x_21^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ i_105^0-i_105^post21 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ len_129^0-len_129^post21 == 0 /\ -__disjvr_24^post21+__disjvr_24^0 == 0 /\ a_257^0-a_257^post21 == 0 /\ -x_14^post21+x_14^0 == 0 /\ head_15^0-head_15^post21 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ -x_SLAM_f_19^post21+x_SLAM_f_19^0 == 0 /\ -a_113^post21+a_113^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post21 == 0 /\ -i_92^post21+i_92^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ y_20^0-y_20^post21 == 0 /\ -a_181^post21+a_181^0 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -length_27^post21+length_27^0 == 0 /\ __disjvr_27^0-__disjvr_27^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ -i_164^post21+i_164^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -x_126^post21+x_126^0 == 0 /\ a_234^0-a_234^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ a_144^0-a_144^post21 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ x_172^0-x_172^post21 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ f_167^0-f_167^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -x_17^post21+x_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post21 == 0 /\ -__disjvr_14^post21+__disjvr_14^0 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ i_28^0-i_28^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ rcd_56^0-rcd_56^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ temp0_29^0-temp0_29^post21 == 0 /\ __disjvr_15^0-__disjvr_15^post21 == 0 /\ temp0_16^0-temp0_16^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ -r_160^post21+r_160^0 == 0), cost: 1
New rule:
l21 -> l22 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : x_172^0'=x_172^post22, i_105^0'=i_105^post22, __disjvr_13^0'=__disjvr_13^post22, result_11^0'=result_11^post22, __disjvr_25^0'=__disjvr_25^post22, r_37^0'=r_37^post22, __disjvr_20^0'=__disjvr_20^post22, __disjvr_9^0'=__disjvr_9^post22, __disjvr_4^0'=__disjvr_4^post22, temp0_29^0'=temp0_29^post22, f_167^0'=f_167^post22, __disjvr_10^0'=__disjvr_10^post22, a_234^0'=a_234^post22, __disjvr_22^0'=__disjvr_22^post22, nondet_12^0'=nondet_12^post22, __disjvr_18^0'=__disjvr_18^post22, x_21^0'=x_21^post22, i_28^0'=i_28^post22, __disjvr_2^0'=__disjvr_2^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_27^0'=__disjvr_27^post22, rcd_86^0'=rcd_86^post22, a_144^0'=a_144^post22, __disjvr_6^0'=__disjvr_6^post22, tmp_32^0'=tmp_32^post22, __disjvr_15^0'=__disjvr_15^post22, x_14^0'=x_14^post22, head_30^0'=head_30^post22, __disjvr_12^0'=__disjvr_12^post22, ct_18^0'=ct_18^post22, __disjvr_24^0'=__disjvr_24^post22, r_160^0'=r_160^post22, __disjvr_1^0'=__disjvr_1^post22, y_20^0'=y_20^post22, len_129^0'=len_129^post22, __disjvr_3^0'=__disjvr_3^post22, temp0_16^0'=temp0_16^post22, __disjvr_29^0'=__disjvr_29^post22, __disjvr_0^0'=__disjvr_0^post22, a_212^0'=a_212^post22, __disjvr_8^0'=__disjvr_8^post22, length_27^0'=length_27^post22, __disjvr_17^0'=__disjvr_17^post22, x_17^0'=x_17^post22, i_164^0'=i_164^post22, __disjvr_14^0'=__disjvr_14^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22, __disjvr_26^0'=__disjvr_26^post22, rcd_56^0'=rcd_56^post22, __disjvr_21^0'=__disjvr_21^post22, a_113^0'=a_113^post22, __disjvr_5^0'=__disjvr_5^post22, temp_33^0'=temp_33^post22, x_126^0'=x_126^post22, head_15^0'=head_15^post22, __disjvr_11^0'=__disjvr_11^post22, a_257^0'=a_257^post22, __disjvr_23^0'=__disjvr_23^post22, r_121^0'=r_121^post22, __disjvr_19^0'=__disjvr_19^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, i_92^0'=i_92^post22, __disjvr_30^0'=__disjvr_30^post22, t_24^0'=t_24^post22, __disjvr_28^0'=__disjvr_28^post22, a_181^0'=a_181^post22, __disjvr_7^0'=__disjvr_7^post22, len_180^0'=len_180^post22, __disjvr_16^0'=__disjvr_16^post22, (0 == 0 /\ -head_15^post22+head_15^0 == 0 /\ -ct_18^0 <= 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ x_14^0-x_14^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ r_121^0-r_121^post22 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -rcd_86^post22+rcd_86^0 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ -x_14^0 <= 0 /\ i_105^0-i_105^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ -y_20^0 <= 0 /\ -a_144^post22+a_144^0 == 0 /\ head_15^0-x_SLAM_f_19^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post22 == 0 /\ -__disjvr_19^post22+__disjvr_19^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_28^0-i_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ r_37^0-r_37^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ x_172^0-x_172^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ -len_180^post22+len_180^0 == 0 /\ -rcd_56^post22+rcd_56^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post22 == 0 /\ -x_126^post22+x_126^0 == 0 /\ -__disjvr_21^post22+__disjvr_21^0 == 0 /\ -head_15^0+x_SLAM_f_19^0 <= 0 /\ ct_18^0 <= 0 /\ -a_257^post22+a_257^0 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ x_17^0-head_15^0 <= 0 /\ length_27^0-length_27^post22 == 0 /\ y_20^0 <= 0 /\ result_11^0-result_11^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ -ct_18^0+y_20^0 <= 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_14^post22+__disjvr_14^0 == 0 /\ -x_17^post22+x_17^0 == 0 /\ y_20^0-y_20^post22 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post22 == 0 /\ r_160^0-r_160^post22 == 0 /\ tmp_32^0-tmp_32^post22 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ a_234^0-a_212^post22 <= 0 /\ len_129^0-len_129^post22 == 0 /\ f_167^0-f_167^post22 == 0 /\ temp0_29^0-temp0_29^post22 == 0 /\ -i_92^post22+i_92^0 == 0 /\ -__disjvr_30^post22+__disjvr_30^0 == 0 /\ -t_24^post22+head_15^0 <= 0 /\ -__disjvr_18^post22+__disjvr_18^0 == 0 /\ -a_181^post22+a_181^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ ct_18^0-y_20^0 <= 0 /\ a_234^0-a_234^post22 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_0^post22+__disjvr_0^0 == 0 /\ -x_21^0+t_24^post22 == 0 /\ -temp_33^post22+temp_33^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post22 == 0 /\ a_113^0-a_113^post22 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ -i_164^post22+i_164^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -a_234^0+a_212^post22 <= 0 /\ head_30^0-head_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ t_24^post22-head_15^0 <= 0), cost: 1
New rule:
l22 -> l23 : a_212^0'=a_234^0, t_24^0'=head_15^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0 /\ -x_21^0+head_15^0 == 0), cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : x_172^0'=x_172^post23, i_105^0'=i_105^post23, __disjvr_13^0'=__disjvr_13^post23, result_11^0'=result_11^post23, __disjvr_25^0'=__disjvr_25^post23, r_37^0'=r_37^post23, __disjvr_20^0'=__disjvr_20^post23, __disjvr_9^0'=__disjvr_9^post23, __disjvr_4^0'=__disjvr_4^post23, temp0_29^0'=temp0_29^post23, f_167^0'=f_167^post23, __disjvr_10^0'=__disjvr_10^post23, a_234^0'=a_234^post23, __disjvr_22^0'=__disjvr_22^post23, nondet_12^0'=nondet_12^post23, __disjvr_18^0'=__disjvr_18^post23, x_21^0'=x_21^post23, i_28^0'=i_28^post23, __disjvr_2^0'=__disjvr_2^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_27^0'=__disjvr_27^post23, rcd_86^0'=rcd_86^post23, a_144^0'=a_144^post23, __disjvr_6^0'=__disjvr_6^post23, tmp_32^0'=tmp_32^post23, __disjvr_15^0'=__disjvr_15^post23, x_14^0'=x_14^post23, head_30^0'=head_30^post23, __disjvr_12^0'=__disjvr_12^post23, ct_18^0'=ct_18^post23, __disjvr_24^0'=__disjvr_24^post23, r_160^0'=r_160^post23, __disjvr_1^0'=__disjvr_1^post23, y_20^0'=y_20^post23, len_129^0'=len_129^post23, __disjvr_3^0'=__disjvr_3^post23, temp0_16^0'=temp0_16^post23, __disjvr_29^0'=__disjvr_29^post23, __disjvr_0^0'=__disjvr_0^post23, a_212^0'=a_212^post23, __disjvr_8^0'=__disjvr_8^post23, length_27^0'=length_27^post23, __disjvr_17^0'=__disjvr_17^post23, x_17^0'=x_17^post23, i_164^0'=i_164^post23, __disjvr_14^0'=__disjvr_14^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23, __disjvr_26^0'=__disjvr_26^post23, rcd_56^0'=rcd_56^post23, __disjvr_21^0'=__disjvr_21^post23, a_113^0'=a_113^post23, __disjvr_5^0'=__disjvr_5^post23, temp_33^0'=temp_33^post23, x_126^0'=x_126^post23, head_15^0'=head_15^post23, __disjvr_11^0'=__disjvr_11^post23, a_257^0'=a_257^post23, __disjvr_23^0'=__disjvr_23^post23, r_121^0'=r_121^post23, __disjvr_19^0'=__disjvr_19^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, i_92^0'=i_92^post23, __disjvr_30^0'=__disjvr_30^post23, t_24^0'=t_24^post23, __disjvr_28^0'=__disjvr_28^post23, a_181^0'=a_181^post23, __disjvr_7^0'=__disjvr_7^post23, len_180^0'=len_180^post23, __disjvr_16^0'=__disjvr_16^post23, (-ct_18^post23+ct_18^0 == 0 /\ -len_180^post23+len_180^0 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ -length_27^post23+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -__disjvr_30^post23+__disjvr_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_37^0-r_37^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -y_20^post23+y_20^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ f_167^0-f_167^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ temp0_29^0-temp0_29^post23 == 0 /\ i_105^0-i_105^post23 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -x_126^post23+x_126^0 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -len_129^post23+len_129^0 == 0 /\ i_164^0-i_164^post23 == 0 /\ -a_257^post23+a_257^0 == 0 /\ a_212^0-a_212^post23 == 0 /\ x_17^0-x_17^post23 == 0 /\ -i_92^post23+i_92^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post23 == 0 /\ tmp_32^0-tmp_32^post23 == 0 /\ rcd_86^0-rcd_86^post23 == 0 /\ head_30^0-head_30^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ i_28^0-i_28^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ x_172^0-x_172^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -a_144^post23+a_144^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -a_113^post23+a_113^0 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_19^post23+__disjvr_19^0 == 0 /\ x_14^0-x_14^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -head_15^post23+head_15^0 == 0 /\ -__disjvr_14^post23+__disjvr_14^0 == 0 /\ -rcd_56^post23+rcd_56^0 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -r_121^post23+r_121^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ a_234^0-a_234^post23 == 0 /\ -a_181^post23+a_181^0 == 0 /\ -r_160^post23+r_160^0 == 0), cost: 1
New rule:
l23 -> l24 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : x_172^0'=x_172^post24, i_105^0'=i_105^post24, __disjvr_13^0'=__disjvr_13^post24, result_11^0'=result_11^post24, __disjvr_25^0'=__disjvr_25^post24, r_37^0'=r_37^post24, __disjvr_20^0'=__disjvr_20^post24, __disjvr_9^0'=__disjvr_9^post24, __disjvr_4^0'=__disjvr_4^post24, temp0_29^0'=temp0_29^post24, f_167^0'=f_167^post24, __disjvr_10^0'=__disjvr_10^post24, a_234^0'=a_234^post24, __disjvr_22^0'=__disjvr_22^post24, nondet_12^0'=nondet_12^post24, __disjvr_18^0'=__disjvr_18^post24, x_21^0'=x_21^post24, i_28^0'=i_28^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_86^0'=rcd_86^post24, a_144^0'=a_144^post24, __disjvr_6^0'=__disjvr_6^post24, tmp_32^0'=tmp_32^post24, __disjvr_15^0'=__disjvr_15^post24, x_14^0'=x_14^post24, head_30^0'=head_30^post24, __disjvr_12^0'=__disjvr_12^post24, ct_18^0'=ct_18^post24, __disjvr_24^0'=__disjvr_24^post24, r_160^0'=r_160^post24, __disjvr_1^0'=__disjvr_1^post24, y_20^0'=y_20^post24, len_129^0'=len_129^post24, __disjvr_3^0'=__disjvr_3^post24, temp0_16^0'=temp0_16^post24, __disjvr_29^0'=__disjvr_29^post24, __disjvr_0^0'=__disjvr_0^post24, a_212^0'=a_212^post24, __disjvr_8^0'=__disjvr_8^post24, length_27^0'=length_27^post24, __disjvr_17^0'=__disjvr_17^post24, x_17^0'=x_17^post24, i_164^0'=i_164^post24, __disjvr_14^0'=__disjvr_14^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_56^0'=rcd_56^post24, __disjvr_21^0'=__disjvr_21^post24, a_113^0'=a_113^post24, __disjvr_5^0'=__disjvr_5^post24, temp_33^0'=temp_33^post24, x_126^0'=x_126^post24, head_15^0'=head_15^post24, __disjvr_11^0'=__disjvr_11^post24, a_257^0'=a_257^post24, __disjvr_23^0'=__disjvr_23^post24, r_121^0'=r_121^post24, __disjvr_19^0'=__disjvr_19^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, i_92^0'=i_92^post24, __disjvr_30^0'=__disjvr_30^post24, t_24^0'=t_24^post24, __disjvr_28^0'=__disjvr_28^post24, a_181^0'=a_181^post24, __disjvr_7^0'=__disjvr_7^post24, len_180^0'=len_180^post24, __disjvr_16^0'=__disjvr_16^post24, (ct_18^0-ct_18^post24 == 0 /\ -x_126^post24+x_126^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -a_181^post24+a_181^0 == 0 /\ __disjvr_11^post24-__disjvr_11^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ -rcd_56^post24+rcd_56^0 == 0 /\ a_257^0-a_257^post24 == 0 /\ -tmp_32^post24+tmp_32^0 == 0 /\ -a_234^post24+a_234^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post24 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ a_144^0-a_144^post24 == 0 /\ x_172^0-x_172^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_27^post24+length_27^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -head_30^post24+head_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24 == 0 /\ r_160^0-r_160^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ -__disjvr_14^post24+__disjvr_14^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ temp_33^0-temp_33^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -x_21^post24+x_21^0 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -x_17^post24+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post24 == 0 /\ r_37^0-r_37^post24 == 0 /\ __disjvr_17^0-__disjvr_17^post24 == 0 /\ -x_SLAM_f_19^post24+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ rcd_86^0-rcd_86^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ -i_92^post24+i_92^0 == 0 /\ __disjvr_13^0-__disjvr_13^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ -len_129^post24+len_129^0 == 0 /\ -x_14^post24+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -head_15^post24+head_15^0 == 0 /\ temp0_16^0-temp0_16^post24 == 0 /\ -r_121^post24+r_121^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ i_164^0-i_164^post24 == 0 /\ -len_180^post24+len_180^0 == 0 /\ t_24^0-t_24^post24 == 0 /\ f_167^0-f_167^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ temp0_29^0-temp0_29^post24 == 0 /\ -a_212^post24+a_212^0 == 0 /\ -a_113^post24+a_113^0 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ i_28^0-i_28^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ i_105^0-i_105^post24 == 0), cost: 1
New rule:
l24 -> l25 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : x_172^0'=x_172^post25, i_105^0'=i_105^post25, __disjvr_13^0'=__disjvr_13^post25, result_11^0'=result_11^post25, __disjvr_25^0'=__disjvr_25^post25, r_37^0'=r_37^post25, __disjvr_20^0'=__disjvr_20^post25, __disjvr_9^0'=__disjvr_9^post25, __disjvr_4^0'=__disjvr_4^post25, temp0_29^0'=temp0_29^post25, f_167^0'=f_167^post25, __disjvr_10^0'=__disjvr_10^post25, a_234^0'=a_234^post25, __disjvr_22^0'=__disjvr_22^post25, nondet_12^0'=nondet_12^post25, __disjvr_18^0'=__disjvr_18^post25, x_21^0'=x_21^post25, i_28^0'=i_28^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_86^0'=rcd_86^post25, a_144^0'=a_144^post25, __disjvr_6^0'=__disjvr_6^post25, tmp_32^0'=tmp_32^post25, __disjvr_15^0'=__disjvr_15^post25, x_14^0'=x_14^post25, head_30^0'=head_30^post25, __disjvr_12^0'=__disjvr_12^post25, ct_18^0'=ct_18^post25, __disjvr_24^0'=__disjvr_24^post25, r_160^0'=r_160^post25, __disjvr_1^0'=__disjvr_1^post25, y_20^0'=y_20^post25, len_129^0'=len_129^post25, __disjvr_3^0'=__disjvr_3^post25, temp0_16^0'=temp0_16^post25, __disjvr_29^0'=__disjvr_29^post25, __disjvr_0^0'=__disjvr_0^post25, a_212^0'=a_212^post25, __disjvr_8^0'=__disjvr_8^post25, length_27^0'=length_27^post25, __disjvr_17^0'=__disjvr_17^post25, x_17^0'=x_17^post25, i_164^0'=i_164^post25, __disjvr_14^0'=__disjvr_14^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_56^0'=rcd_56^post25, __disjvr_21^0'=__disjvr_21^post25, a_113^0'=a_113^post25, __disjvr_5^0'=__disjvr_5^post25, temp_33^0'=temp_33^post25, x_126^0'=x_126^post25, head_15^0'=head_15^post25, __disjvr_11^0'=__disjvr_11^post25, a_257^0'=a_257^post25, __disjvr_23^0'=__disjvr_23^post25, r_121^0'=r_121^post25, __disjvr_19^0'=__disjvr_19^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, i_92^0'=i_92^post25, __disjvr_30^0'=__disjvr_30^post25, t_24^0'=t_24^post25, __disjvr_28^0'=__disjvr_28^post25, a_181^0'=a_181^post25, __disjvr_7^0'=__disjvr_7^post25, len_180^0'=len_180^post25, __disjvr_16^0'=__disjvr_16^post25, (temp0_29^0-temp0_29^post25 == 0 /\ -len_180^post25+len_180^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post25 == 0 /\ -__disjvr_21^post25+__disjvr_21^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ i_105^0-i_105^post25 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -a_212^post25+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ a_234^0-a_234^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -a_181^post25+a_181^0 == 0 /\ x_172^0-x_172^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_56^post25+rcd_56^0 == 0 /\ -a_257^post25+a_257^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ x_17^0-x_17^post25 == 0 /\ -a_144^post25+a_144^0 == 0 /\ r_37^0-r_37^post25 == 0 /\ -__disjvr_12^0+__disjvr_12^post25 == 0 /\ rcd_86^0-rcd_86^post25 == 0 /\ x_21^0-x_21^post25 == 0 /\ length_27^0-length_27^post25 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ -head_15^post25+head_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ head_30^0-head_30^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ -__disjvr_14^post25+__disjvr_14^0 == 0 /\ len_129^0-len_129^post25 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ tmp_32^0-tmp_32^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ f_167^0-f_167^post25 == 0 /\ -x_126^post25+x_126^0 == 0 /\ y_20^0-y_20^post25 == 0 /\ -i_164^post25+i_164^0 == 0 /\ -i_92^post25+i_92^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ i_28^0-i_28^post25 == 0 /\ a_113^0-a_113^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ r_160^0-r_160^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ ct_18^0-ct_18^post25 == 0 /\ -t_24^post25+t_24^0 == 0 /\ -r_121^post25+r_121^0 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ x_14^0-x_14^post25 == 0), cost: 1
New rule:
l25 -> l26 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l2 : x_172^0'=x_172^post26, i_105^0'=i_105^post26, __disjvr_13^0'=__disjvr_13^post26, result_11^0'=result_11^post26, __disjvr_25^0'=__disjvr_25^post26, r_37^0'=r_37^post26, __disjvr_20^0'=__disjvr_20^post26, __disjvr_9^0'=__disjvr_9^post26, __disjvr_4^0'=__disjvr_4^post26, temp0_29^0'=temp0_29^post26, f_167^0'=f_167^post26, __disjvr_10^0'=__disjvr_10^post26, a_234^0'=a_234^post26, __disjvr_22^0'=__disjvr_22^post26, nondet_12^0'=nondet_12^post26, __disjvr_18^0'=__disjvr_18^post26, x_21^0'=x_21^post26, i_28^0'=i_28^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_86^0'=rcd_86^post26, a_144^0'=a_144^post26, __disjvr_6^0'=__disjvr_6^post26, tmp_32^0'=tmp_32^post26, __disjvr_15^0'=__disjvr_15^post26, x_14^0'=x_14^post26, head_30^0'=head_30^post26, __disjvr_12^0'=__disjvr_12^post26, ct_18^0'=ct_18^post26, __disjvr_24^0'=__disjvr_24^post26, r_160^0'=r_160^post26, __disjvr_1^0'=__disjvr_1^post26, y_20^0'=y_20^post26, len_129^0'=len_129^post26, __disjvr_3^0'=__disjvr_3^post26, temp0_16^0'=temp0_16^post26, __disjvr_29^0'=__disjvr_29^post26, __disjvr_0^0'=__disjvr_0^post26, a_212^0'=a_212^post26, __disjvr_8^0'=__disjvr_8^post26, length_27^0'=length_27^post26, __disjvr_17^0'=__disjvr_17^post26, x_17^0'=x_17^post26, i_164^0'=i_164^post26, __disjvr_14^0'=__disjvr_14^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_56^0'=rcd_56^post26, __disjvr_21^0'=__disjvr_21^post26, a_113^0'=a_113^post26, __disjvr_5^0'=__disjvr_5^post26, temp_33^0'=temp_33^post26, x_126^0'=x_126^post26, head_15^0'=head_15^post26, __disjvr_11^0'=__disjvr_11^post26, a_257^0'=a_257^post26, __disjvr_23^0'=__disjvr_23^post26, r_121^0'=r_121^post26, __disjvr_19^0'=__disjvr_19^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, i_92^0'=i_92^post26, __disjvr_30^0'=__disjvr_30^post26, t_24^0'=t_24^post26, __disjvr_28^0'=__disjvr_28^post26, a_181^0'=a_181^post26, __disjvr_7^0'=__disjvr_7^post26, len_180^0'=len_180^post26, __disjvr_16^0'=__disjvr_16^post26, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_126^post26+x_126^0 == 0 /\ -a_234^post26+a_234^0 == 0 /\ -tmp_32^post26+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ a_257^0-a_257^post26 == 0 /\ -length_27^post26+length_27^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ __disjvr_27^0-__disjvr_27^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ a_144^0-a_144^post26 == 0 /\ -x_14^post26+x_14^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ -head_30^post26+head_30^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ a_212^0-a_212^post26 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ f_167^0-f_167^post26 == 0 /\ 1-len_129^post26+a_212^0 <= 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ -__disjvr_30^post26+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ -i_92^post26+i_92^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_29^post26+__disjvr_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ temp0_29^0-temp0_29^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ -r_160^post26+r_160^0 == 0 /\ -i_28^post26+i_28^0 == 0 /\ rcd_86^0-rcd_86^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ __disjvr_22^0-__disjvr_22^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -rcd_56^post26+rcd_56^0 == 0 /\ -a_181^post26+a_181^0 == 0 /\ -r_121^post26+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ temp0_16^0-temp0_16^post26 == 0 /\ __disjvr_18^0-__disjvr_18^post26 == 0 /\ i_164^0-i_164^post26 == 0 /\ -len_180^post26+len_180^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -__disjvr_14^post26+__disjvr_14^0 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ t_24^0-t_24^post26 == 0 /\ -head_15^post26+head_15^0 == 0 /\ -1+len_129^post26-a_212^0 <= 0 /\ -x_21^post26+x_21^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ i_105^0-i_105^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ x_172^0-x_172^post26 == 0 /\ -a_113^post26+a_113^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0), cost: 1
New rule:
l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l40 : x_172^0'=x_172^post40, i_105^0'=i_105^post40, __disjvr_13^0'=__disjvr_13^post40, result_11^0'=result_11^post40, __disjvr_25^0'=__disjvr_25^post40, r_37^0'=r_37^post40, __disjvr_20^0'=__disjvr_20^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_4^0'=__disjvr_4^post40, temp0_29^0'=temp0_29^post40, f_167^0'=f_167^post40, __disjvr_10^0'=__disjvr_10^post40, a_234^0'=a_234^post40, __disjvr_22^0'=__disjvr_22^post40, nondet_12^0'=nondet_12^post40, __disjvr_18^0'=__disjvr_18^post40, x_21^0'=x_21^post40, i_28^0'=i_28^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_86^0'=rcd_86^post40, a_144^0'=a_144^post40, __disjvr_6^0'=__disjvr_6^post40, tmp_32^0'=tmp_32^post40, __disjvr_15^0'=__disjvr_15^post40, x_14^0'=x_14^post40, head_30^0'=head_30^post40, __disjvr_12^0'=__disjvr_12^post40, ct_18^0'=ct_18^post40, __disjvr_24^0'=__disjvr_24^post40, r_160^0'=r_160^post40, __disjvr_1^0'=__disjvr_1^post40, y_20^0'=y_20^post40, len_129^0'=len_129^post40, __disjvr_3^0'=__disjvr_3^post40, temp0_16^0'=temp0_16^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, a_212^0'=a_212^post40, __disjvr_8^0'=__disjvr_8^post40, length_27^0'=length_27^post40, __disjvr_17^0'=__disjvr_17^post40, x_17^0'=x_17^post40, i_164^0'=i_164^post40, __disjvr_14^0'=__disjvr_14^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_56^0'=rcd_56^post40, __disjvr_21^0'=__disjvr_21^post40, a_113^0'=a_113^post40, __disjvr_5^0'=__disjvr_5^post40, temp_33^0'=temp_33^post40, x_126^0'=x_126^post40, head_15^0'=head_15^post40, __disjvr_11^0'=__disjvr_11^post40, a_257^0'=a_257^post40, __disjvr_23^0'=__disjvr_23^post40, r_121^0'=r_121^post40, __disjvr_19^0'=__disjvr_19^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, i_92^0'=i_92^post40, __disjvr_30^0'=__disjvr_30^post40, t_24^0'=t_24^post40, __disjvr_28^0'=__disjvr_28^post40, a_181^0'=a_181^post40, __disjvr_7^0'=__disjvr_7^post40, len_180^0'=len_180^post40, __disjvr_16^0'=__disjvr_16^post40, (0 == 0 /\ -head_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ x_21^0-x_21^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -tmp_32^post40+head_30^post40 <= 0 /\ -tmp_32^post40+head_30^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -a_181^post40+a_181^0 == 0 /\ 2-i_28^post40 <= 0 /\ -length_27^post40+length_27^0 == 0 /\ a_212^0-a_212^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ a_234^0-a_234^post40 == 0 /\ -tmp_32^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ x_172^0-x_172^post40 == 0 /\ -len_180^post40+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -r_121^post40+r_121^0 == 0 /\ head_30^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ __disjvr_27^0-__disjvr_27^post40 == 0 /\ -head_15^post40+head_15^0 == 0 /\ -__disjvr_29^post40+__disjvr_29^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ r_160^0-r_160^post40 == 0 /\ -a_113^post40+a_113^0 == 0 /\ a_257^0-a_257^post40 == 0 /\ tmp_32^post40-head_30^post40 <= 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ rcd_86^0-rcd_86^post40 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ tmp_32^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40 <= 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -1-i_28^0+i_28^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_24^post40+__disjvr_24^0 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ -i_164^post40+i_164^0 == 0 /\ f_167^0-f_167^post40 == 0 /\ tmp_32^post40-temp_33^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -len_129^post40+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -2+i_28^post40 <= 0 /\ -x_126^post40+x_126^0 == 0 /\ r_37^0-r_37^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_27^0 <= 0 /\ -x_14^post40+x_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -y_20^post40+y_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ 2-length_27^0 <= 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ t_24^0-t_24^post40 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ a_144^0-a_144^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post40+x_SLAM_f_19^0 == 0 /\ -x_17^post40+x_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_27^0 <= 0 /\ -i_92^post40+i_92^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ temp0_29^0-temp0_29^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ i_105^0-i_105^post40 == 0), cost: 1
New rule:
l27 -> l40 : i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, (-2+length_27^0 >= 0 /\ -1+i_28^0 == 0), cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : x_172^0'=x_172^post41, i_105^0'=i_105^post41, __disjvr_13^0'=__disjvr_13^post41, result_11^0'=result_11^post41, __disjvr_25^0'=__disjvr_25^post41, r_37^0'=r_37^post41, __disjvr_20^0'=__disjvr_20^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_4^0'=__disjvr_4^post41, temp0_29^0'=temp0_29^post41, f_167^0'=f_167^post41, __disjvr_10^0'=__disjvr_10^post41, a_234^0'=a_234^post41, __disjvr_22^0'=__disjvr_22^post41, nondet_12^0'=nondet_12^post41, __disjvr_18^0'=__disjvr_18^post41, x_21^0'=x_21^post41, i_28^0'=i_28^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_86^0'=rcd_86^post41, a_144^0'=a_144^post41, __disjvr_6^0'=__disjvr_6^post41, tmp_32^0'=tmp_32^post41, __disjvr_15^0'=__disjvr_15^post41, x_14^0'=x_14^post41, head_30^0'=head_30^post41, __disjvr_12^0'=__disjvr_12^post41, ct_18^0'=ct_18^post41, __disjvr_24^0'=__disjvr_24^post41, r_160^0'=r_160^post41, __disjvr_1^0'=__disjvr_1^post41, y_20^0'=y_20^post41, len_129^0'=len_129^post41, __disjvr_3^0'=__disjvr_3^post41, temp0_16^0'=temp0_16^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, a_212^0'=a_212^post41, __disjvr_8^0'=__disjvr_8^post41, length_27^0'=length_27^post41, __disjvr_17^0'=__disjvr_17^post41, x_17^0'=x_17^post41, i_164^0'=i_164^post41, __disjvr_14^0'=__disjvr_14^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_56^0'=rcd_56^post41, __disjvr_21^0'=__disjvr_21^post41, a_113^0'=a_113^post41, __disjvr_5^0'=__disjvr_5^post41, temp_33^0'=temp_33^post41, x_126^0'=x_126^post41, head_15^0'=head_15^post41, __disjvr_11^0'=__disjvr_11^post41, a_257^0'=a_257^post41, __disjvr_23^0'=__disjvr_23^post41, r_121^0'=r_121^post41, __disjvr_19^0'=__disjvr_19^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, i_92^0'=i_92^post41, __disjvr_30^0'=__disjvr_30^post41, t_24^0'=t_24^post41, __disjvr_28^0'=__disjvr_28^post41, a_181^0'=a_181^post41, __disjvr_7^0'=__disjvr_7^post41, len_180^0'=len_180^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -x_21^post41+head_15^0 <= 0 /\ r_121^0-r_121^post41 == 0 /\ -__disjvr_26^post41+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ -a_212^post41+a_212^0 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ -head_15^post41+head_15^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0 /\ tmp_32^0-tmp_32^post41 == 0 /\ -x_14^0 <= 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -len_129^0 <= 0 /\ -x_17^post41+head_15^0 <= 0 /\ r_37^0-r_37^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ rcd_86^0-rcd_86^post41 == 0 /\ -ct_18^post41 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_21^post41-head_15^0 <= 0 /\ a_234^0-a_234^post41 == 0 /\ -x_126^post41+x_126^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ x_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_17^post41-head_15^0 <= 0 /\ x_17^post41-head_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -a_257^post41+a_257^0 == 0 /\ -a_144^0 <= 0 /\ a_144^0-a_144^post41 == 0 /\ -t_24^post41+t_24^0 == 0 /\ -a_113^post41+a_113^0 == 0 /\ -f_167^post41+f_167^0 == 0 /\ x_21^post41-x_SLAM_f_19^post41 <= 0 /\ x_21^post41-x_SLAM_f_19^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ length_27^0-length_27^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ -head_30^post41+head_30^0 == 0 /\ x_SLAM_f_19^post41-head_15^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -i_92^post41+i_92^0 == 0 /\ x_172^0-x_172^post41 == 0 /\ x_17^post41-x_SLAM_f_19^post41 <= 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -a_181^post41+a_181^0 == 0 /\ -rcd_56^post41+rcd_56^0 == 0 /\ i_28^0-i_28^post41 == 0 /\ y_20^post41-ct_18^post41 <= 0 /\ y_20^post41-ct_18^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ y_20^post41 <= 0 /\ -y_20^post41 <= 0 /\ -x_21^post41+x_SLAM_f_19^post41 <= 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -i_164^post41+i_164^0 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ -x_SLAM_f_19^post41+head_15^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ -temp0_29^post41+temp0_29^0 == 0 /\ i_105^0-i_105^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ -temp_33^post41+temp_33^0 == 0 /\ -x_17^post41+x_SLAM_f_19^post41 <= 0 /\ -x_17^post41+x_SLAM_f_19^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ len_129^0-len_129^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ r_160^0-r_160^post41 == 0 /\ ct_18^post41 <= 0 /\ ct_18^post41 == 0 /\ -y_20^post41+ct_18^post41 <= 0 /\ x_14^0-x_14^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41 == 0), cost: 1
New rule:
l41 -> l42 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : x_172^0'=x_172^post42, i_105^0'=i_105^post42, __disjvr_13^0'=__disjvr_13^post42, result_11^0'=result_11^post42, __disjvr_25^0'=__disjvr_25^post42, r_37^0'=r_37^post42, __disjvr_20^0'=__disjvr_20^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_4^0'=__disjvr_4^post42, temp0_29^0'=temp0_29^post42, f_167^0'=f_167^post42, __disjvr_10^0'=__disjvr_10^post42, a_234^0'=a_234^post42, __disjvr_22^0'=__disjvr_22^post42, nondet_12^0'=nondet_12^post42, __disjvr_18^0'=__disjvr_18^post42, x_21^0'=x_21^post42, i_28^0'=i_28^post42, __disjvr_2^0'=__disjvr_2^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_27^0'=__disjvr_27^post42, rcd_86^0'=rcd_86^post42, a_144^0'=a_144^post42, __disjvr_6^0'=__disjvr_6^post42, tmp_32^0'=tmp_32^post42, __disjvr_15^0'=__disjvr_15^post42, x_14^0'=x_14^post42, head_30^0'=head_30^post42, __disjvr_12^0'=__disjvr_12^post42, ct_18^0'=ct_18^post42, __disjvr_24^0'=__disjvr_24^post42, r_160^0'=r_160^post42, __disjvr_1^0'=__disjvr_1^post42, y_20^0'=y_20^post42, len_129^0'=len_129^post42, __disjvr_3^0'=__disjvr_3^post42, temp0_16^0'=temp0_16^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, a_212^0'=a_212^post42, __disjvr_8^0'=__disjvr_8^post42, length_27^0'=length_27^post42, __disjvr_17^0'=__disjvr_17^post42, x_17^0'=x_17^post42, i_164^0'=i_164^post42, __disjvr_14^0'=__disjvr_14^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42, __disjvr_26^0'=__disjvr_26^post42, rcd_56^0'=rcd_56^post42, __disjvr_21^0'=__disjvr_21^post42, a_113^0'=a_113^post42, __disjvr_5^0'=__disjvr_5^post42, temp_33^0'=temp_33^post42, x_126^0'=x_126^post42, head_15^0'=head_15^post42, __disjvr_11^0'=__disjvr_11^post42, a_257^0'=a_257^post42, __disjvr_23^0'=__disjvr_23^post42, r_121^0'=r_121^post42, __disjvr_19^0'=__disjvr_19^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, i_92^0'=i_92^post42, __disjvr_30^0'=__disjvr_30^post42, t_24^0'=t_24^post42, __disjvr_28^0'=__disjvr_28^post42, a_181^0'=a_181^post42, __disjvr_7^0'=__disjvr_7^post42, len_180^0'=len_180^post42, __disjvr_16^0'=__disjvr_16^post42, (__disjvr_20^0-__disjvr_20^post42 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -r_121^post42+r_121^0 == 0 /\ i_28^0-i_28^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ x_14^0-x_14^post42 == 0 /\ x_21^0-x_21^post42 == 0 /\ length_27^0-length_27^post42 == 0 /\ -a_212^post42+a_212^0 == 0 /\ -y_20^post42+y_20^0 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post42 == 0 /\ x_172^0-x_172^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ i_105^0-i_105^post42 == 0 /\ r_37^0-r_37^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -a_257^post42+a_257^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ rcd_86^0-rcd_86^post42 == 0 /\ x_17^0-x_17^post42 == 0 /\ -len_129^post42+len_129^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ tmp_32^0-tmp_32^post42 == 0 /\ head_30^0-head_30^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ r_160^0-r_160^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ -i_164^post42+i_164^0 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ f_167^0-f_167^post42 == 0 /\ -x_126^post42+x_126^0 == 0 /\ -ct_18^post42+ct_18^0 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ -a_181^post42+a_181^0 == 0 /\ -i_92^post42+i_92^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ a_113^0-a_113^post42 == 0 /\ temp0_29^0-temp0_29^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ a_234^0-a_234^post42 == 0 /\ -a_144^post42+a_144^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -rcd_56^post42+rcd_56^0 == 0), cost: 1
New rule:
l42 -> l43 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l20 : x_172^0'=x_172^post43, i_105^0'=i_105^post43, __disjvr_13^0'=__disjvr_13^post43, result_11^0'=result_11^post43, __disjvr_25^0'=__disjvr_25^post43, r_37^0'=r_37^post43, __disjvr_20^0'=__disjvr_20^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_4^0'=__disjvr_4^post43, temp0_29^0'=temp0_29^post43, f_167^0'=f_167^post43, __disjvr_10^0'=__disjvr_10^post43, a_234^0'=a_234^post43, __disjvr_22^0'=__disjvr_22^post43, nondet_12^0'=nondet_12^post43, __disjvr_18^0'=__disjvr_18^post43, x_21^0'=x_21^post43, i_28^0'=i_28^post43, __disjvr_2^0'=__disjvr_2^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_27^0'=__disjvr_27^post43, rcd_86^0'=rcd_86^post43, a_144^0'=a_144^post43, __disjvr_6^0'=__disjvr_6^post43, tmp_32^0'=tmp_32^post43, __disjvr_15^0'=__disjvr_15^post43, x_14^0'=x_14^post43, head_30^0'=head_30^post43, __disjvr_12^0'=__disjvr_12^post43, ct_18^0'=ct_18^post43, __disjvr_24^0'=__disjvr_24^post43, r_160^0'=r_160^post43, __disjvr_1^0'=__disjvr_1^post43, y_20^0'=y_20^post43, len_129^0'=len_129^post43, __disjvr_3^0'=__disjvr_3^post43, temp0_16^0'=temp0_16^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, a_212^0'=a_212^post43, __disjvr_8^0'=__disjvr_8^post43, length_27^0'=length_27^post43, __disjvr_17^0'=__disjvr_17^post43, x_17^0'=x_17^post43, i_164^0'=i_164^post43, __disjvr_14^0'=__disjvr_14^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43, __disjvr_26^0'=__disjvr_26^post43, rcd_56^0'=rcd_56^post43, __disjvr_21^0'=__disjvr_21^post43, a_113^0'=a_113^post43, __disjvr_5^0'=__disjvr_5^post43, temp_33^0'=temp_33^post43, x_126^0'=x_126^post43, head_15^0'=head_15^post43, __disjvr_11^0'=__disjvr_11^post43, a_257^0'=a_257^post43, __disjvr_23^0'=__disjvr_23^post43, r_121^0'=r_121^post43, __disjvr_19^0'=__disjvr_19^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, i_92^0'=i_92^post43, __disjvr_30^0'=__disjvr_30^post43, t_24^0'=t_24^post43, __disjvr_28^0'=__disjvr_28^post43, a_181^0'=a_181^post43, __disjvr_7^0'=__disjvr_7^post43, len_180^0'=len_180^post43, __disjvr_16^0'=__disjvr_16^post43, (__disjvr_4^0-__disjvr_4^post43 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -rcd_56^post43+rcd_56^0 == 0 /\ -i_92^post43+i_92^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ -length_27^post43+length_27^0 == 0 /\ -head_30^post43+head_30^0 == 0 /\ a_257^0-a_257^post43 == 0 /\ __disjvr_27^0-__disjvr_27^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ -r_160^post43+r_160^0 == 0 /\ -i_28^post43+i_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ __disjvr_2^0-__disjvr_2^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_11^post43+__disjvr_11^0 == 0 /\ a_212^0-a_212^post43 == 0 /\ -len_180^post43+len_180^0 == 0 /\ r_37^0-r_37^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ x_172^0-x_172^post43 == 0 /\ -y_20^post43+y_20^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -a_113^post43+a_113^0 == 0 /\ len_129^0-len_129^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_126^post43+x_126^0 == 0 /\ -x_17^post43+x_17^0 == 0 /\ rcd_86^0-rcd_86^post43 == 0 /\ i_164^0-i_164^post43 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ x_21^0-x_21^post43 == 0 /\ -x_SLAM_f_19^post43+x_SLAM_f_19^0 == 0 /\ -a_181^post43+a_181^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ f_167^0-f_167^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ -t_24^post43+t_24^0 == 0 /\ temp0_29^0-temp0_29^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ -tmp_32^post43+tmp_32^0 == 0 /\ -r_121^post43+r_121^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ a_234^0-a_234^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ x_14^0-x_14^post43 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_5^0-__disjvr_5^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ i_105^0-i_105^post43 == 0 /\ a_144^0-a_144^post43 == 0), cost: 1
New rule:
l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l45 : x_172^0'=x_172^post44, i_105^0'=i_105^post44, __disjvr_13^0'=__disjvr_13^post44, result_11^0'=result_11^post44, __disjvr_25^0'=__disjvr_25^post44, r_37^0'=r_37^post44, __disjvr_20^0'=__disjvr_20^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_4^0'=__disjvr_4^post44, temp0_29^0'=temp0_29^post44, f_167^0'=f_167^post44, __disjvr_10^0'=__disjvr_10^post44, a_234^0'=a_234^post44, __disjvr_22^0'=__disjvr_22^post44, nondet_12^0'=nondet_12^post44, __disjvr_18^0'=__disjvr_18^post44, x_21^0'=x_21^post44, i_28^0'=i_28^post44, __disjvr_2^0'=__disjvr_2^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_27^0'=__disjvr_27^post44, rcd_86^0'=rcd_86^post44, a_144^0'=a_144^post44, __disjvr_6^0'=__disjvr_6^post44, tmp_32^0'=tmp_32^post44, __disjvr_15^0'=__disjvr_15^post44, x_14^0'=x_14^post44, head_30^0'=head_30^post44, __disjvr_12^0'=__disjvr_12^post44, ct_18^0'=ct_18^post44, __disjvr_24^0'=__disjvr_24^post44, r_160^0'=r_160^post44, __disjvr_1^0'=__disjvr_1^post44, y_20^0'=y_20^post44, len_129^0'=len_129^post44, __disjvr_3^0'=__disjvr_3^post44, temp0_16^0'=temp0_16^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, a_212^0'=a_212^post44, __disjvr_8^0'=__disjvr_8^post44, length_27^0'=length_27^post44, __disjvr_17^0'=__disjvr_17^post44, x_17^0'=x_17^post44, i_164^0'=i_164^post44, __disjvr_14^0'=__disjvr_14^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44, __disjvr_26^0'=__disjvr_26^post44, rcd_56^0'=rcd_56^post44, __disjvr_21^0'=__disjvr_21^post44, a_113^0'=a_113^post44, __disjvr_5^0'=__disjvr_5^post44, temp_33^0'=temp_33^post44, x_126^0'=x_126^post44, head_15^0'=head_15^post44, __disjvr_11^0'=__disjvr_11^post44, a_257^0'=a_257^post44, __disjvr_23^0'=__disjvr_23^post44, r_121^0'=r_121^post44, __disjvr_19^0'=__disjvr_19^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, i_92^0'=i_92^post44, __disjvr_30^0'=__disjvr_30^post44, t_24^0'=t_24^post44, __disjvr_28^0'=__disjvr_28^post44, a_181^0'=a_181^post44, __disjvr_7^0'=__disjvr_7^post44, len_180^0'=len_180^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ len_129^0-len_129^post44 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ r_160^0-r_160^post44 == 0 /\ -len_129^0 <= 0 /\ -x_17^post44+x_17^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ tmp_32^0-tmp_32^post44 == 0 /\ rcd_86^0-rcd_86^post44 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post44+x_SLAM_f_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_164^post44+i_164^0 == 0 /\ a_144^0-a_144^post44 == 0 /\ -i_92^post44+i_92^0 == 0 /\ -head_30^post44+head_30^0 == 0 /\ i_28^0-i_28^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -x_14^post44+x_14^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -r_121^post44+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_144^0 <= 0 /\ a_234^0-a_234^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ temp0_29^0-temp0_29^post44 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -__disjvr_21^post44+__disjvr_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ x_21^0-x_21^post44 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ length_27^0-length_27^post44 == 0 /\ ct_18^0-ct_18^post44 == 0 /\ -__disjvr_0^post44+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -temp_33^post44+temp_33^0 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ -x_126^post44+x_126^0 == 0 /\ -a_257^post44+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -a_113^post44+a_113^0 == 0 /\ -t_24^post44+t_24^0 == 0 /\ __disjvr_12^0-__disjvr_12^post44 == 0 /\ -a_181^post44+a_181^0 == 0 /\ -a_212^post44+a_212^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -len_180^post44+len_180^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ y_20^0-y_20^post44 == 0 /\ -rcd_56^post44+rcd_56^0 == 0), cost: 1
New rule:
l41 -> l45 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : x_172^0'=x_172^post45, i_105^0'=i_105^post45, __disjvr_13^0'=__disjvr_13^post45, result_11^0'=result_11^post45, __disjvr_25^0'=__disjvr_25^post45, r_37^0'=r_37^post45, __disjvr_20^0'=__disjvr_20^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_4^0'=__disjvr_4^post45, temp0_29^0'=temp0_29^post45, f_167^0'=f_167^post45, __disjvr_10^0'=__disjvr_10^post45, a_234^0'=a_234^post45, __disjvr_22^0'=__disjvr_22^post45, nondet_12^0'=nondet_12^post45, __disjvr_18^0'=__disjvr_18^post45, x_21^0'=x_21^post45, i_28^0'=i_28^post45, __disjvr_2^0'=__disjvr_2^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_27^0'=__disjvr_27^post45, rcd_86^0'=rcd_86^post45, a_144^0'=a_144^post45, __disjvr_6^0'=__disjvr_6^post45, tmp_32^0'=tmp_32^post45, __disjvr_15^0'=__disjvr_15^post45, x_14^0'=x_14^post45, head_30^0'=head_30^post45, __disjvr_12^0'=__disjvr_12^post45, ct_18^0'=ct_18^post45, __disjvr_24^0'=__disjvr_24^post45, r_160^0'=r_160^post45, __disjvr_1^0'=__disjvr_1^post45, y_20^0'=y_20^post45, len_129^0'=len_129^post45, __disjvr_3^0'=__disjvr_3^post45, temp0_16^0'=temp0_16^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, a_212^0'=a_212^post45, __disjvr_8^0'=__disjvr_8^post45, length_27^0'=length_27^post45, __disjvr_17^0'=__disjvr_17^post45, x_17^0'=x_17^post45, i_164^0'=i_164^post45, __disjvr_14^0'=__disjvr_14^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45, __disjvr_26^0'=__disjvr_26^post45, rcd_56^0'=rcd_56^post45, __disjvr_21^0'=__disjvr_21^post45, a_113^0'=a_113^post45, __disjvr_5^0'=__disjvr_5^post45, temp_33^0'=temp_33^post45, x_126^0'=x_126^post45, head_15^0'=head_15^post45, __disjvr_11^0'=__disjvr_11^post45, a_257^0'=a_257^post45, __disjvr_23^0'=__disjvr_23^post45, r_121^0'=r_121^post45, __disjvr_19^0'=__disjvr_19^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, i_92^0'=i_92^post45, __disjvr_30^0'=__disjvr_30^post45, t_24^0'=t_24^post45, __disjvr_28^0'=__disjvr_28^post45, a_181^0'=a_181^post45, __disjvr_7^0'=__disjvr_7^post45, len_180^0'=len_180^post45, __disjvr_16^0'=__disjvr_16^post45, (__disjvr_6^0-__disjvr_6^post45 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ head_30^0-head_30^post45 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ __disjvr_21^post45-__disjvr_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ -a_181^post45+a_181^0 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_234^0-a_234^post45 == 0 /\ r_121^0-r_121^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -x_126^post45+x_126^0 == 0 /\ -a_257^post45+a_257^0 == 0 /\ -__disjvr_14^post45+__disjvr_14^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ i_92^0-i_92^post45 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -x_SLAM_f_19^post45+x_SLAM_f_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_144^post45+a_144^0 == 0 /\ -rcd_56^post45+rcd_56^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ x_172^0-x_172^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ -temp_33^post45+temp_33^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ -i_164^post45+i_164^0 == 0 /\ __disjvr_12^0-__disjvr_12^post45 == 0 /\ x_14^0-x_14^post45 == 0 /\ len_129^0-len_129^post45 == 0 /\ -r_160^post45+r_160^0 == 0 /\ a_212^0-a_212^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -length_27^post45+length_27^0 == 0 /\ y_20^0-y_20^post45 == 0 /\ x_17^0-x_17^post45 == 0 /\ -t_24^post45+t_24^0 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ a_113^0-a_113^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ -head_15^post45+head_15^0 == 0 /\ tmp_32^0-tmp_32^post45 == 0 /\ x_21^0-x_21^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ f_167^0-f_167^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ -rcd_86^post45+rcd_86^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ i_28^0-i_28^post45 == 0 /\ i_105^0-i_105^post45 == 0 /\ temp0_29^0-temp0_29^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0), cost: 1
New rule:
l45 -> l46 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : x_172^0'=x_172^post46, i_105^0'=i_105^post46, __disjvr_13^0'=__disjvr_13^post46, result_11^0'=result_11^post46, __disjvr_25^0'=__disjvr_25^post46, r_37^0'=r_37^post46, __disjvr_20^0'=__disjvr_20^post46, __disjvr_9^0'=__disjvr_9^post46, __disjvr_4^0'=__disjvr_4^post46, temp0_29^0'=temp0_29^post46, f_167^0'=f_167^post46, __disjvr_10^0'=__disjvr_10^post46, a_234^0'=a_234^post46, __disjvr_22^0'=__disjvr_22^post46, nondet_12^0'=nondet_12^post46, __disjvr_18^0'=__disjvr_18^post46, x_21^0'=x_21^post46, i_28^0'=i_28^post46, __disjvr_2^0'=__disjvr_2^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_27^0'=__disjvr_27^post46, rcd_86^0'=rcd_86^post46, a_144^0'=a_144^post46, __disjvr_6^0'=__disjvr_6^post46, tmp_32^0'=tmp_32^post46, __disjvr_15^0'=__disjvr_15^post46, x_14^0'=x_14^post46, head_30^0'=head_30^post46, __disjvr_12^0'=__disjvr_12^post46, ct_18^0'=ct_18^post46, __disjvr_24^0'=__disjvr_24^post46, r_160^0'=r_160^post46, __disjvr_1^0'=__disjvr_1^post46, y_20^0'=y_20^post46, len_129^0'=len_129^post46, __disjvr_3^0'=__disjvr_3^post46, temp0_16^0'=temp0_16^post46, __disjvr_29^0'=__disjvr_29^post46, __disjvr_0^0'=__disjvr_0^post46, a_212^0'=a_212^post46, __disjvr_8^0'=__disjvr_8^post46, length_27^0'=length_27^post46, __disjvr_17^0'=__disjvr_17^post46, x_17^0'=x_17^post46, i_164^0'=i_164^post46, __disjvr_14^0'=__disjvr_14^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46, __disjvr_26^0'=__disjvr_26^post46, rcd_56^0'=rcd_56^post46, __disjvr_21^0'=__disjvr_21^post46, a_113^0'=a_113^post46, __disjvr_5^0'=__disjvr_5^post46, temp_33^0'=temp_33^post46, x_126^0'=x_126^post46, head_15^0'=head_15^post46, __disjvr_11^0'=__disjvr_11^post46, a_257^0'=a_257^post46, __disjvr_23^0'=__disjvr_23^post46, r_121^0'=r_121^post46, __disjvr_19^0'=__disjvr_19^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, i_92^0'=i_92^post46, __disjvr_30^0'=__disjvr_30^post46, t_24^0'=t_24^post46, __disjvr_28^0'=__disjvr_28^post46, a_181^0'=a_181^post46, __disjvr_7^0'=__disjvr_7^post46, len_180^0'=len_180^post46, __disjvr_16^0'=__disjvr_16^post46, (0 == 0 /\ i_92^0-i_92^post46 == 0 /\ x_17^0-x_17^post46 == 0 /\ -a_113^post46+a_113^0 == 0 /\ -t_24^post46+t_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ tmp_32^0-tmp_32^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_19^post46+__disjvr_19^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ -len_129^post46+len_129^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -a_144^post46+a_144^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ 1-a_144^0+a_181^post46 <= 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -x_126^post46+x_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ f_167^0-f_167^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ 1-len_180^post46+len_129^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ a_212^0-a_212^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -x_SLAM_f_19^post46+x_SLAM_f_19^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ i_105^0-i_105^post46 == 0 /\ temp0_29^0-temp0_29^post46 == 0 /\ -__disjvr_14^post46+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -f_167^0+x_14^0 <= 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ i_164^0-i_164^post46 == 0 /\ -r_160^post46+r_160^0 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -rcd_56^post46+rcd_56^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ -a_234^post46+a_234^0 == 0 /\ -i_28^post46+i_28^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ -length_27^post46+length_27^0 == 0 /\ -r_121^post46+r_121^0 == 0 /\ -1+a_144^0-a_181^post46 <= 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ r_37^0-r_37^post46 == 0 /\ head_30^0-head_30^post46 == 0 /\ ct_18^0-ct_18^post46 == 0 /\ x_172^0-x_172^post46 == 0 /\ f_167^0-x_14^0 <= 0 /\ -a_257^post46+a_257^0 == 0 /\ -temp_33^post46+temp_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ -y_20^post46+y_20^0 == 0 /\ rcd_86^0-rcd_86^post46 == 0 /\ x_14^0-x_14^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -x_21^post46+x_21^0 == 0 /\ -1+len_180^post46-len_129^0 <= 0), cost: 1
New rule:
l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, -f_167^0+x_14^0 == 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : x_172^0'=x_172^post47, i_105^0'=i_105^post47, __disjvr_13^0'=__disjvr_13^post47, result_11^0'=result_11^post47, __disjvr_25^0'=__disjvr_25^post47, r_37^0'=r_37^post47, __disjvr_20^0'=__disjvr_20^post47, __disjvr_9^0'=__disjvr_9^post47, __disjvr_4^0'=__disjvr_4^post47, temp0_29^0'=temp0_29^post47, f_167^0'=f_167^post47, __disjvr_10^0'=__disjvr_10^post47, a_234^0'=a_234^post47, __disjvr_22^0'=__disjvr_22^post47, nondet_12^0'=nondet_12^post47, __disjvr_18^0'=__disjvr_18^post47, x_21^0'=x_21^post47, i_28^0'=i_28^post47, __disjvr_2^0'=__disjvr_2^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_27^0'=__disjvr_27^post47, rcd_86^0'=rcd_86^post47, a_144^0'=a_144^post47, __disjvr_6^0'=__disjvr_6^post47, tmp_32^0'=tmp_32^post47, __disjvr_15^0'=__disjvr_15^post47, x_14^0'=x_14^post47, head_30^0'=head_30^post47, __disjvr_12^0'=__disjvr_12^post47, ct_18^0'=ct_18^post47, __disjvr_24^0'=__disjvr_24^post47, r_160^0'=r_160^post47, __disjvr_1^0'=__disjvr_1^post47, y_20^0'=y_20^post47, len_129^0'=len_129^post47, __disjvr_3^0'=__disjvr_3^post47, temp0_16^0'=temp0_16^post47, __disjvr_29^0'=__disjvr_29^post47, __disjvr_0^0'=__disjvr_0^post47, a_212^0'=a_212^post47, __disjvr_8^0'=__disjvr_8^post47, length_27^0'=length_27^post47, __disjvr_17^0'=__disjvr_17^post47, x_17^0'=x_17^post47, i_164^0'=i_164^post47, __disjvr_14^0'=__disjvr_14^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47, __disjvr_26^0'=__disjvr_26^post47, rcd_56^0'=rcd_56^post47, __disjvr_21^0'=__disjvr_21^post47, a_113^0'=a_113^post47, __disjvr_5^0'=__disjvr_5^post47, temp_33^0'=temp_33^post47, x_126^0'=x_126^post47, head_15^0'=head_15^post47, __disjvr_11^0'=__disjvr_11^post47, a_257^0'=a_257^post47, __disjvr_23^0'=__disjvr_23^post47, r_121^0'=r_121^post47, __disjvr_19^0'=__disjvr_19^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, i_92^0'=i_92^post47, __disjvr_30^0'=__disjvr_30^post47, t_24^0'=t_24^post47, __disjvr_28^0'=__disjvr_28^post47, a_181^0'=a_181^post47, __disjvr_7^0'=__disjvr_7^post47, len_180^0'=len_180^post47, __disjvr_16^0'=__disjvr_16^post47, (tmp_32^0-tmp_32^post47 == 0 /\ -temp0_29^post47+temp0_29^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ -i_164^post47+i_164^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ r_37^0-r_37^post47 == 0 /\ -t_24^post47+t_24^0 == 0 /\ y_20^0-y_20^post47 == 0 /\ __disjvr_17^0-__disjvr_17^post47 == 0 /\ -len_180^post47+len_180^0 == 0 /\ r_160^0-r_160^post47 == 0 /\ -r_121^post47+r_121^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ -x_14^post47+x_14^0 == 0 /\ -__disjvr_24^post47+__disjvr_24^0 == 0 /\ -rcd_86^post47+rcd_86^0 == 0 /\ -a_212^post47+a_212^0 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ -a_113^post47+a_113^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ a_144^0-a_144^post47 == 0 /\ -head_15^post47+head_15^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -a_181^post47+a_181^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_16^post47+__disjvr_16^0 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post47 == 0 /\ -__disjvr_0^post47+__disjvr_0^0 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -x_126^post47+x_126^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ i_28^0-i_28^post47 == 0 /\ rcd_56^0-rcd_56^post47 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ a_234^0-a_234^post47 == 0 /\ x_172^0-x_172^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -f_167^post47+f_167^0 == 0 /\ x_21^0-x_21^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -a_257^post47+a_257^0 == 0 /\ i_105^0-i_105^post47 == 0 /\ -x_SLAM_f_19^post47+x_SLAM_f_19^0 == 0 /\ head_30^0-head_30^post47 == 0 /\ __disjvr_27^0-__disjvr_27^post47 == 0 /\ __disjvr_22^0-__disjvr_22^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ length_27^0-length_27^post47 == 0 /\ -x_17^post47+x_17^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -i_92^post47+i_92^0 == 0 /\ len_129^0-len_129^post47 == 0), cost: 1
New rule:
l47 -> l48 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : x_172^0'=x_172^post48, i_105^0'=i_105^post48, __disjvr_13^0'=__disjvr_13^post48, result_11^0'=result_11^post48, __disjvr_25^0'=__disjvr_25^post48, r_37^0'=r_37^post48, __disjvr_20^0'=__disjvr_20^post48, __disjvr_9^0'=__disjvr_9^post48, __disjvr_4^0'=__disjvr_4^post48, temp0_29^0'=temp0_29^post48, f_167^0'=f_167^post48, __disjvr_10^0'=__disjvr_10^post48, a_234^0'=a_234^post48, __disjvr_22^0'=__disjvr_22^post48, nondet_12^0'=nondet_12^post48, __disjvr_18^0'=__disjvr_18^post48, x_21^0'=x_21^post48, i_28^0'=i_28^post48, __disjvr_2^0'=__disjvr_2^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_27^0'=__disjvr_27^post48, rcd_86^0'=rcd_86^post48, a_144^0'=a_144^post48, __disjvr_6^0'=__disjvr_6^post48, tmp_32^0'=tmp_32^post48, __disjvr_15^0'=__disjvr_15^post48, x_14^0'=x_14^post48, head_30^0'=head_30^post48, __disjvr_12^0'=__disjvr_12^post48, ct_18^0'=ct_18^post48, __disjvr_24^0'=__disjvr_24^post48, r_160^0'=r_160^post48, __disjvr_1^0'=__disjvr_1^post48, y_20^0'=y_20^post48, len_129^0'=len_129^post48, __disjvr_3^0'=__disjvr_3^post48, temp0_16^0'=temp0_16^post48, __disjvr_29^0'=__disjvr_29^post48, __disjvr_0^0'=__disjvr_0^post48, a_212^0'=a_212^post48, __disjvr_8^0'=__disjvr_8^post48, length_27^0'=length_27^post48, __disjvr_17^0'=__disjvr_17^post48, x_17^0'=x_17^post48, i_164^0'=i_164^post48, __disjvr_14^0'=__disjvr_14^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48, __disjvr_26^0'=__disjvr_26^post48, rcd_56^0'=rcd_56^post48, __disjvr_21^0'=__disjvr_21^post48, a_113^0'=a_113^post48, __disjvr_5^0'=__disjvr_5^post48, temp_33^0'=temp_33^post48, x_126^0'=x_126^post48, head_15^0'=head_15^post48, __disjvr_11^0'=__disjvr_11^post48, a_257^0'=a_257^post48, __disjvr_23^0'=__disjvr_23^post48, r_121^0'=r_121^post48, __disjvr_19^0'=__disjvr_19^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, i_92^0'=i_92^post48, __disjvr_30^0'=__disjvr_30^post48, t_24^0'=t_24^post48, __disjvr_28^0'=__disjvr_28^post48, a_181^0'=a_181^post48, __disjvr_7^0'=__disjvr_7^post48, len_180^0'=len_180^post48, __disjvr_16^0'=__disjvr_16^post48, (-__disjvr_26^post48+__disjvr_26^0 == 0 /\ length_27^0-length_27^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_212^post48+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post48 == 0 /\ -head_15^post48+head_15^0 == 0 /\ x_126^0-x_126^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -rcd_56^post48+rcd_56^0 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_30^post48+__disjvr_30^0 == 0 /\ -a_181^post48+a_181^0 == 0 /\ -r_160^post48+r_160^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ x_14^0-x_14^post48 == 0 /\ x_17^0-x_17^post48 == 0 /\ -len_129^post48+len_129^0 == 0 /\ r_37^0-r_37^post48 == 0 /\ i_105^0-i_105^post48 == 0 /\ x_172^0-x_172^post48 == 0 /\ tmp_32^0-tmp_32^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post48+len_180^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ __disjvr_1^0-__disjvr_1^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ head_30^0-head_30^post48 == 0 /\ -t_24^post48+t_24^0 == 0 /\ -a_257^post48+a_257^0 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ -y_20^post48+y_20^0 == 0 /\ rcd_86^0-rcd_86^post48 == 0 /\ a_234^0-a_234^post48 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ -__disjvr_28^post48+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_25^0-__disjvr_25^post48 == 0 /\ -i_92^post48+i_92^0 == 0 /\ __disjvr_7^0-__disjvr_7^post48 == 0 /\ -a_144^post48+a_144^0 == 0 /\ -__disjvr_11^post48+__disjvr_11^0 == 0 /\ -__disjvr_16^post48+__disjvr_16^0 == 0 /\ -__disjvr_14^post48+__disjvr_14^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ a_113^0-a_113^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -r_121^post48+r_121^0 == 0 /\ -i_164^post48+i_164^0 == 0 /\ -__disjvr_0^post48+__disjvr_0^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -ct_18^post48+ct_18^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ f_167^0-f_167^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -__disjvr_21^post48+__disjvr_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post48 == 0 /\ temp0_29^0-temp0_29^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ i_28^0-i_28^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post48 == 0), cost: 1
New rule:
l48 -> l49 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l49 -> l44 : x_172^0'=x_172^post49, i_105^0'=i_105^post49, __disjvr_13^0'=__disjvr_13^post49, result_11^0'=result_11^post49, __disjvr_25^0'=__disjvr_25^post49, r_37^0'=r_37^post49, __disjvr_20^0'=__disjvr_20^post49, __disjvr_9^0'=__disjvr_9^post49, __disjvr_4^0'=__disjvr_4^post49, temp0_29^0'=temp0_29^post49, f_167^0'=f_167^post49, __disjvr_10^0'=__disjvr_10^post49, a_234^0'=a_234^post49, __disjvr_22^0'=__disjvr_22^post49, nondet_12^0'=nondet_12^post49, __disjvr_18^0'=__disjvr_18^post49, x_21^0'=x_21^post49, i_28^0'=i_28^post49, __disjvr_2^0'=__disjvr_2^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_27^0'=__disjvr_27^post49, rcd_86^0'=rcd_86^post49, a_144^0'=a_144^post49, __disjvr_6^0'=__disjvr_6^post49, tmp_32^0'=tmp_32^post49, __disjvr_15^0'=__disjvr_15^post49, x_14^0'=x_14^post49, head_30^0'=head_30^post49, __disjvr_12^0'=__disjvr_12^post49, ct_18^0'=ct_18^post49, __disjvr_24^0'=__disjvr_24^post49, r_160^0'=r_160^post49, __disjvr_1^0'=__disjvr_1^post49, y_20^0'=y_20^post49, len_129^0'=len_129^post49, __disjvr_3^0'=__disjvr_3^post49, temp0_16^0'=temp0_16^post49, __disjvr_29^0'=__disjvr_29^post49, __disjvr_0^0'=__disjvr_0^post49, a_212^0'=a_212^post49, __disjvr_8^0'=__disjvr_8^post49, length_27^0'=length_27^post49, __disjvr_17^0'=__disjvr_17^post49, x_17^0'=x_17^post49, i_164^0'=i_164^post49, __disjvr_14^0'=__disjvr_14^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49, __disjvr_26^0'=__disjvr_26^post49, rcd_56^0'=rcd_56^post49, __disjvr_21^0'=__disjvr_21^post49, a_113^0'=a_113^post49, __disjvr_5^0'=__disjvr_5^post49, temp_33^0'=temp_33^post49, x_126^0'=x_126^post49, head_15^0'=head_15^post49, __disjvr_11^0'=__disjvr_11^post49, a_257^0'=a_257^post49, __disjvr_23^0'=__disjvr_23^post49, r_121^0'=r_121^post49, __disjvr_19^0'=__disjvr_19^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, i_92^0'=i_92^post49, __disjvr_30^0'=__disjvr_30^post49, t_24^0'=t_24^post49, __disjvr_28^0'=__disjvr_28^post49, a_181^0'=a_181^post49, __disjvr_7^0'=__disjvr_7^post49, len_180^0'=len_180^post49, __disjvr_16^0'=__disjvr_16^post49, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ -y_20^post49+y_20^0 == 0 /\ -__disjvr_30^post49+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ len_129^post49-len_180^0 <= 0 /\ -ct_18^post49+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ f_167^0-f_167^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -i_92^post49+i_92^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -a_257^post49+a_257^0 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ -length_27^post49+length_27^0 == 0 /\ x_126^0-x_126^post49 == 0 /\ i_164^0-i_164^post49 == 0 /\ temp0_29^0-temp0_29^post49 == 0 /\ -t_24^post49+t_24^0 == 0 /\ -len_129^post49+len_180^0 <= 0 /\ -tmp_32^post49+tmp_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post49 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -__disjvr_29^post49+__disjvr_29^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -__disjvr_21^post49+__disjvr_21^0 == 0 /\ -a_144^post49+a_181^0 <= 0 /\ i_28^0-i_28^post49 == 0 /\ r_37^0-r_37^post49 == 0 /\ -__disjvr_11^post49+__disjvr_11^0 == 0 /\ -a_113^post49+a_113^0 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ -x_SLAM_f_19^post49+x_SLAM_f_19^0 == 0 /\ x_21^0-x_21^post49 == 0 /\ a_212^0-a_212^post49 == 0 /\ -temp_33^post49+temp_33^0 == 0 /\ x_14^0-x_14^post49 == 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ -x_17^post49+x_17^0 == 0 /\ -rcd_56^post49+rcd_56^0 == 0 /\ -r_160^post49+r_160^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ a_144^post49-a_181^0 <= 0 /\ i_105^0-i_105^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_234^post49+a_234^0 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_12^0-__disjvr_12^post49 == 0 /\ -a_181^post49+a_181^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -head_15^post49+head_15^0 == 0 /\ -__disjvr_14^post49+__disjvr_14^0 == 0 /\ -r_121^post49+r_121^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ -len_180^post49+len_180^0 == 0 /\ head_30^0-head_30^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ x_172^0-x_172^post49 == 0), cost: 1
New rule:
l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l44 -> l41 : x_172^0'=x_172^post50, i_105^0'=i_105^post50, __disjvr_13^0'=__disjvr_13^post50, result_11^0'=result_11^post50, __disjvr_25^0'=__disjvr_25^post50, r_37^0'=r_37^post50, __disjvr_20^0'=__disjvr_20^post50, __disjvr_9^0'=__disjvr_9^post50, __disjvr_4^0'=__disjvr_4^post50, temp0_29^0'=temp0_29^post50, f_167^0'=f_167^post50, __disjvr_10^0'=__disjvr_10^post50, a_234^0'=a_234^post50, __disjvr_22^0'=__disjvr_22^post50, nondet_12^0'=nondet_12^post50, __disjvr_18^0'=__disjvr_18^post50, x_21^0'=x_21^post50, i_28^0'=i_28^post50, __disjvr_2^0'=__disjvr_2^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_27^0'=__disjvr_27^post50, rcd_86^0'=rcd_86^post50, a_144^0'=a_144^post50, __disjvr_6^0'=__disjvr_6^post50, tmp_32^0'=tmp_32^post50, __disjvr_15^0'=__disjvr_15^post50, x_14^0'=x_14^post50, head_30^0'=head_30^post50, __disjvr_12^0'=__disjvr_12^post50, ct_18^0'=ct_18^post50, __disjvr_24^0'=__disjvr_24^post50, r_160^0'=r_160^post50, __disjvr_1^0'=__disjvr_1^post50, y_20^0'=y_20^post50, len_129^0'=len_129^post50, __disjvr_3^0'=__disjvr_3^post50, temp0_16^0'=temp0_16^post50, __disjvr_29^0'=__disjvr_29^post50, __disjvr_0^0'=__disjvr_0^post50, a_212^0'=a_212^post50, __disjvr_8^0'=__disjvr_8^post50, length_27^0'=length_27^post50, __disjvr_17^0'=__disjvr_17^post50, x_17^0'=x_17^post50, i_164^0'=i_164^post50, __disjvr_14^0'=__disjvr_14^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50, __disjvr_26^0'=__disjvr_26^post50, rcd_56^0'=rcd_56^post50, __disjvr_21^0'=__disjvr_21^post50, a_113^0'=a_113^post50, __disjvr_5^0'=__disjvr_5^post50, temp_33^0'=temp_33^post50, x_126^0'=x_126^post50, head_15^0'=head_15^post50, __disjvr_11^0'=__disjvr_11^post50, a_257^0'=a_257^post50, __disjvr_23^0'=__disjvr_23^post50, r_121^0'=r_121^post50, __disjvr_19^0'=__disjvr_19^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, i_92^0'=i_92^post50, __disjvr_30^0'=__disjvr_30^post50, t_24^0'=t_24^post50, __disjvr_28^0'=__disjvr_28^post50, a_181^0'=a_181^post50, __disjvr_7^0'=__disjvr_7^post50, len_180^0'=len_180^post50, __disjvr_16^0'=__disjvr_16^post50, (-i_92^post50+i_92^0 == 0 /\ -temp_33^post50+temp_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ x_21^0-x_21^post50 == 0 /\ rcd_86^0-rcd_86^post50 == 0 /\ -a_181^post50+a_181^0 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -head_30^post50+head_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ -length_27^post50+length_27^0 == 0 /\ -tmp_32^post50+tmp_32^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -len_180^post50+len_180^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -r_121^post50+r_121^0 == 0 /\ r_37^0-r_37^post50 == 0 /\ len_129^0-len_129^post50 == 0 /\ i_105^0-i_105^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ r_160^0-r_160^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ a_257^0-a_257^post50 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ y_20^0-y_20^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ __disjvr_17^0-__disjvr_17^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ head_15^0-head_15^post50 == 0 /\ -a_212^post50+a_212^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -a_113^post50+a_113^0 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ ct_18^0-ct_18^post50 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ -i_164^post50+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -f_167^post50+f_167^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ rcd_56^0-rcd_56^post50 == 0 /\ __disjvr_27^0-__disjvr_27^post50 == 0 /\ -x_126^post50+x_126^0 == 0 /\ a_234^0-a_234^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ x_172^0-x_172^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ i_28^0-i_28^post50 == 0 /\ a_144^0-a_144^post50 == 0 /\ -x_14^post50+x_14^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ -x_SLAM_f_19^post50+x_SLAM_f_19^0 == 0 /\ -x_17^post50+x_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_24^post50+__disjvr_24^0 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ temp0_16^0-temp0_16^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ temp0_29^0-temp0_29^post50 == 0), cost: 1
New rule:
l44 -> l41 : TRUE, cost: 1

Applied preprocessing
Original rule:
l40 -> l62 : x_172^0'=x_172^post64, i_105^0'=i_105^post64, __disjvr_13^0'=__disjvr_13^post64, result_11^0'=result_11^post64, __disjvr_25^0'=__disjvr_25^post64, r_37^0'=r_37^post64, __disjvr_20^0'=__disjvr_20^post64, __disjvr_9^0'=__disjvr_9^post64, __disjvr_4^0'=__disjvr_4^post64, temp0_29^0'=temp0_29^post64, f_167^0'=f_167^post64, __disjvr_10^0'=__disjvr_10^post64, a_234^0'=a_234^post64, __disjvr_22^0'=__disjvr_22^post64, nondet_12^0'=nondet_12^post64, __disjvr_18^0'=__disjvr_18^post64, x_21^0'=x_21^post64, i_28^0'=i_28^post64, __disjvr_2^0'=__disjvr_2^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_27^0'=__disjvr_27^post64, rcd_86^0'=rcd_86^post64, a_144^0'=a_144^post64, __disjvr_6^0'=__disjvr_6^post64, tmp_32^0'=tmp_32^post64, __disjvr_15^0'=__disjvr_15^post64, x_14^0'=x_14^post64, head_30^0'=head_30^post64, __disjvr_12^0'=__disjvr_12^post64, ct_18^0'=ct_18^post64, __disjvr_24^0'=__disjvr_24^post64, r_160^0'=r_160^post64, __disjvr_1^0'=__disjvr_1^post64, y_20^0'=y_20^post64, len_129^0'=len_129^post64, __disjvr_3^0'=__disjvr_3^post64, temp0_16^0'=temp0_16^post64, __disjvr_29^0'=__disjvr_29^post64, __disjvr_0^0'=__disjvr_0^post64, a_212^0'=a_212^post64, __disjvr_8^0'=__disjvr_8^post64, length_27^0'=length_27^post64, __disjvr_17^0'=__disjvr_17^post64, x_17^0'=x_17^post64, i_164^0'=i_164^post64, __disjvr_14^0'=__disjvr_14^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, __disjvr_26^0'=__disjvr_26^post64, rcd_56^0'=rcd_56^post64, __disjvr_21^0'=__disjvr_21^post64, a_113^0'=a_113^post64, __disjvr_5^0'=__disjvr_5^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, head_15^0'=head_15^post64, __disjvr_11^0'=__disjvr_11^post64, a_257^0'=a_257^post64, __disjvr_23^0'=__disjvr_23^post64, r_121^0'=r_121^post64, __disjvr_19^0'=__disjvr_19^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, i_92^0'=i_92^post64, __disjvr_30^0'=__disjvr_30^post64, t_24^0'=t_24^post64, __disjvr_28^0'=__disjvr_28^post64, a_181^0'=a_181^post64, __disjvr_7^0'=__disjvr_7^post64, len_180^0'=len_180^post64, __disjvr_16^0'=__disjvr_16^post64, (0 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post64 == 0 /\ ct_18^0-ct_18^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post64 == 0 /\ -len_180^post64+len_180^0 == 0 /\ -len_129^0 <= 0 /\ -head_15^post64+x_14^post64 <= 0 /\ -head_15^post64+x_14^post64 == 0 /\ -__disjvr_29^post64+__disjvr_29^0 == 0 /\ -a_113^post64+a_113^0 == 0 /\ -t_24^post64+t_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -len_129^post64+len_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ head_15^post64-result_11^11 == 0 /\ __disjvr_1^0-__disjvr_1^post64 == 0 /\ -__disjvr_19^post64+__disjvr_19^0 == 0 /\ r_160^0-r_160^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ head_15^post64-x_14^post64 <= 0 /\ rcd_86^0-rcd_86^post64 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ len_129^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_18^post64+__disjvr_18^0 == 0 /\ a_234^0-a_234^post64 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ f_167^0-f_167^post64 == 0 /\ a_144^0-i_28^post64 <= 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ x_172^0-x_172^post64 == 0 /\ -x_126^post64+x_126^0 == 0 /\ temp0_29^110-head_30^0 == 0 /\ -a_181^post64+a_181^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -__disjvr_3^post64+__disjvr_3^0 == 0 /\ -i_28^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -a_257^post64+a_257^0 == 0 /\ i_105^0-i_105^post64 == 0 /\ -a_212^post64+a_212^0 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ -a_144^0+i_28^post64 <= 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -x_17^post64+x_17^0 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ __disjvr_15^0-__disjvr_15^post64 == 0 /\ r_37^0-r_37^post64 == 0 /\ -rcd_56^post64+rcd_56^0 == 0 /\ y_20^0-y_20^post64 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ x_21^0-x_21^post64 == 0 /\ __disjvr_30^0-__disjvr_30^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post64 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ -i_92^post64+i_92^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0), cost: 1
New rule:
l40 -> l62 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l62 -> l63 : x_172^0'=x_172^post65, i_105^0'=i_105^post65, __disjvr_13^0'=__disjvr_13^post65, result_11^0'=result_11^post65, __disjvr_25^0'=__disjvr_25^post65, r_37^0'=r_37^post65, __disjvr_20^0'=__disjvr_20^post65, __disjvr_9^0'=__disjvr_9^post65, __disjvr_4^0'=__disjvr_4^post65, temp0_29^0'=temp0_29^post65, f_167^0'=f_167^post65, __disjvr_10^0'=__disjvr_10^post65, a_234^0'=a_234^post65, __disjvr_22^0'=__disjvr_22^post65, nondet_12^0'=nondet_12^post65, __disjvr_18^0'=__disjvr_18^post65, x_21^0'=x_21^post65, i_28^0'=i_28^post65, __disjvr_2^0'=__disjvr_2^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_27^0'=__disjvr_27^post65, rcd_86^0'=rcd_86^post65, a_144^0'=a_144^post65, __disjvr_6^0'=__disjvr_6^post65, tmp_32^0'=tmp_32^post65, __disjvr_15^0'=__disjvr_15^post65, x_14^0'=x_14^post65, head_30^0'=head_30^post65, __disjvr_12^0'=__disjvr_12^post65, ct_18^0'=ct_18^post65, __disjvr_24^0'=__disjvr_24^post65, r_160^0'=r_160^post65, __disjvr_1^0'=__disjvr_1^post65, y_20^0'=y_20^post65, len_129^0'=len_129^post65, __disjvr_3^0'=__disjvr_3^post65, temp0_16^0'=temp0_16^post65, __disjvr_29^0'=__disjvr_29^post65, __disjvr_0^0'=__disjvr_0^post65, a_212^0'=a_212^post65, __disjvr_8^0'=__disjvr_8^post65, length_27^0'=length_27^post65, __disjvr_17^0'=__disjvr_17^post65, x_17^0'=x_17^post65, i_164^0'=i_164^post65, __disjvr_14^0'=__disjvr_14^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, __disjvr_26^0'=__disjvr_26^post65, rcd_56^0'=rcd_56^post65, __disjvr_21^0'=__disjvr_21^post65, a_113^0'=a_113^post65, __disjvr_5^0'=__disjvr_5^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, head_15^0'=head_15^post65, __disjvr_11^0'=__disjvr_11^post65, a_257^0'=a_257^post65, __disjvr_23^0'=__disjvr_23^post65, r_121^0'=r_121^post65, __disjvr_19^0'=__disjvr_19^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, i_92^0'=i_92^post65, __disjvr_30^0'=__disjvr_30^post65, t_24^0'=t_24^post65, __disjvr_28^0'=__disjvr_28^post65, a_181^0'=a_181^post65, __disjvr_7^0'=__disjvr_7^post65, len_180^0'=len_180^post65, __disjvr_16^0'=__disjvr_16^post65, (x_21^0-x_21^post65 == 0 /\ rcd_86^0-rcd_86^post65 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -head_30^post65+head_30^0 == 0 /\ a_212^0-a_212^post65 == 0 /\ -length_27^post65+length_27^0 == 0 /\ rcd_56^0-rcd_56^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -__disjvr_22^post65+__disjvr_22^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -r_121^post65+r_121^0 == 0 /\ __disjvr_18^0-__disjvr_18^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ -a_113^post65+a_113^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ r_160^0-r_160^post65 == 0 /\ __disjvr_2^0-__disjvr_2^post65 == 0 /\ -__disjvr_14^post65+__disjvr_14^0 == 0 /\ -x_SLAM_f_19^post65+x_SLAM_f_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -__disjvr_3^post65+__disjvr_3^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -head_15^post65+head_15^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -__disjvr_23^post65+__disjvr_23^0 == 0 /\ -__disjvr_11^post65+__disjvr_11^0 == 0 /\ __disjvr_17^0-__disjvr_17^post65 == 0 /\ x_172^0-x_172^post65 == 0 /\ -a_181^post65+a_181^0 == 0 /\ len_129^0-len_129^post65 == 0 /\ ct_18^0-ct_18^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_16^post65+__disjvr_16^0 == 0 /\ r_37^0-r_37^post65 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ -x_126^post65+x_126^0 == 0 /\ __disjvr_27^0-__disjvr_27^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_25^0-__disjvr_25^post65 == 0 /\ __disjvr_1^0-__disjvr_1^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ __disjvr_30^post65-__disjvr_30^0 == 0 /\ t_24^0-t_24^post65 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ f_167^0-f_167^post65 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -x_17^post65+x_17^0 == 0 /\ i_28^0-i_28^post65 == 0 /\ a_144^0-a_144^post65 == 0 /\ -i_92^post65+i_92^0 == 0 /\ a_234^0-a_234^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ temp0_16^0-temp0_16^post65 == 0 /\ -__disjvr_24^post65+__disjvr_24^0 == 0 /\ temp0_29^0-temp0_29^post65 == 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0), cost: 1
New rule:
l62 -> l63 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l63 -> l41 : x_172^0'=x_172^post66, i_105^0'=i_105^post66, __disjvr_13^0'=__disjvr_13^post66, result_11^0'=result_11^post66, __disjvr_25^0'=__disjvr_25^post66, r_37^0'=r_37^post66, __disjvr_20^0'=__disjvr_20^post66, __disjvr_9^0'=__disjvr_9^post66, __disjvr_4^0'=__disjvr_4^post66, temp0_29^0'=temp0_29^post66, f_167^0'=f_167^post66, __disjvr_10^0'=__disjvr_10^post66, a_234^0'=a_234^post66, __disjvr_22^0'=__disjvr_22^post66, nondet_12^0'=nondet_12^post66, __disjvr_18^0'=__disjvr_18^post66, x_21^0'=x_21^post66, i_28^0'=i_28^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_86^0'=rcd_86^post66, a_144^0'=a_144^post66, __disjvr_6^0'=__disjvr_6^post66, tmp_32^0'=tmp_32^post66, __disjvr_15^0'=__disjvr_15^post66, x_14^0'=x_14^post66, head_30^0'=head_30^post66, __disjvr_12^0'=__disjvr_12^post66, ct_18^0'=ct_18^post66, __disjvr_24^0'=__disjvr_24^post66, r_160^0'=r_160^post66, __disjvr_1^0'=__disjvr_1^post66, y_20^0'=y_20^post66, len_129^0'=len_129^post66, __disjvr_3^0'=__disjvr_3^post66, temp0_16^0'=temp0_16^post66, __disjvr_29^0'=__disjvr_29^post66, __disjvr_0^0'=__disjvr_0^post66, a_212^0'=a_212^post66, __disjvr_8^0'=__disjvr_8^post66, length_27^0'=length_27^post66, __disjvr_17^0'=__disjvr_17^post66, x_17^0'=x_17^post66, i_164^0'=i_164^post66, __disjvr_14^0'=__disjvr_14^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_56^0'=rcd_56^post66, __disjvr_21^0'=__disjvr_21^post66, a_113^0'=a_113^post66, __disjvr_5^0'=__disjvr_5^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, head_15^0'=head_15^post66, __disjvr_11^0'=__disjvr_11^post66, a_257^0'=a_257^post66, __disjvr_23^0'=__disjvr_23^post66, r_121^0'=r_121^post66, __disjvr_19^0'=__disjvr_19^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, i_92^0'=i_92^post66, __disjvr_30^0'=__disjvr_30^post66, t_24^0'=t_24^post66, __disjvr_28^0'=__disjvr_28^post66, a_181^0'=a_181^post66, __disjvr_7^0'=__disjvr_7^post66, len_180^0'=len_180^post66, __disjvr_16^0'=__disjvr_16^post66, (2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_113^post66+a_113^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ x_172^0-x_172^post66 == 0 /\ -x_SLAM_f_19^post66+x_SLAM_f_19^0 == 0 /\ i_105^0-i_105^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -ct_18^post66+ct_18^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ head_30^0-head_30^post66 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ -i_92^post66+i_92^0 == 0 /\ x_21^0-x_21^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ -__disjvr_11^post66+__disjvr_11^0 == 0 /\ -__disjvr_16^post66+__disjvr_16^0 == 0 /\ a_234^0-a_234^post66 == 0 /\ x_14^0-x_14^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ i_28^0-i_28^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ -a_144^post66+a_144^0 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post66+temp_33^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ __disjvr_27^0-__disjvr_27^post66 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ length_27^0-length_27^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ -r_121^post66+r_121^0 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_21^post66+__disjvr_21^0 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ r_37^0-r_37^post66 == 0 /\ -head_15^post66+head_15^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -__disjvr_26^post66+__disjvr_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ temp0_29^0-temp0_29^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ __disjvr_10^0-__disjvr_10^post66 == 0 /\ len_129^0-len_129^post66 == 0 /\ -__disjvr_0^post66+__disjvr_0^0 == 0 /\ __disjvr_12^0-__disjvr_12^post66 == 0 /\ tmp_32^0-tmp_32^post66 == 0 /\ -__disjvr_30^post66+__disjvr_30^0 == 0 /\ r_160^0-r_160^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_22^0-__disjvr_22^post66 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -x_126^post66+x_126^0 == 0 /\ -a_257^post66+a_257^0 == 0 /\ y_20^0-y_20^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -a_181^post66+a_181^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post66 == 0 /\ -t_24^post66+t_24^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -len_180^post66+len_180^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_2^0-__disjvr_2^post66 == 0), cost: 1
New rule:
l63 -> l41 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l40 -> l64 : x_172^0'=x_172^post67, i_105^0'=i_105^post67, __disjvr_13^0'=__disjvr_13^post67, result_11^0'=result_11^post67, __disjvr_25^0'=__disjvr_25^post67, r_37^0'=r_37^post67, __disjvr_20^0'=__disjvr_20^post67, __disjvr_9^0'=__disjvr_9^post67, __disjvr_4^0'=__disjvr_4^post67, temp0_29^0'=temp0_29^post67, f_167^0'=f_167^post67, __disjvr_10^0'=__disjvr_10^post67, a_234^0'=a_234^post67, __disjvr_22^0'=__disjvr_22^post67, nondet_12^0'=nondet_12^post67, __disjvr_18^0'=__disjvr_18^post67, x_21^0'=x_21^post67, i_28^0'=i_28^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_86^0'=rcd_86^post67, a_144^0'=a_144^post67, __disjvr_6^0'=__disjvr_6^post67, tmp_32^0'=tmp_32^post67, __disjvr_15^0'=__disjvr_15^post67, x_14^0'=x_14^post67, head_30^0'=head_30^post67, __disjvr_12^0'=__disjvr_12^post67, ct_18^0'=ct_18^post67, __disjvr_24^0'=__disjvr_24^post67, r_160^0'=r_160^post67, __disjvr_1^0'=__disjvr_1^post67, y_20^0'=y_20^post67, len_129^0'=len_129^post67, __disjvr_3^0'=__disjvr_3^post67, temp0_16^0'=temp0_16^post67, __disjvr_29^0'=__disjvr_29^post67, __disjvr_0^0'=__disjvr_0^post67, a_212^0'=a_212^post67, __disjvr_8^0'=__disjvr_8^post67, length_27^0'=length_27^post67, __disjvr_17^0'=__disjvr_17^post67, x_17^0'=x_17^post67, i_164^0'=i_164^post67, __disjvr_14^0'=__disjvr_14^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_56^0'=rcd_56^post67, __disjvr_21^0'=__disjvr_21^post67, a_113^0'=a_113^post67, __disjvr_5^0'=__disjvr_5^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, head_15^0'=head_15^post67, __disjvr_11^0'=__disjvr_11^post67, a_257^0'=a_257^post67, __disjvr_23^0'=__disjvr_23^post67, r_121^0'=r_121^post67, __disjvr_19^0'=__disjvr_19^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, i_92^0'=i_92^post67, __disjvr_30^0'=__disjvr_30^post67, t_24^0'=t_24^post67, __disjvr_28^0'=__disjvr_28^post67, a_181^0'=a_181^post67, __disjvr_7^0'=__disjvr_7^post67, len_180^0'=len_180^post67, __disjvr_16^0'=__disjvr_16^post67, (0 == 0 /\ head_30^post67-tmp_32^post67 == 0 /\ -temp_33^0+tmp_32^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ -r_121^post67+r_121^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ r_37^0-r_37^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -len_180^post67+len_180^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ -t_24^post67+t_24^0 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -1-i_28^0+i_28^post67 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -a_181^post67+a_181^0 == 0 /\ -__disjvr_19^post67+__disjvr_19^0 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ -__disjvr_14^post67+__disjvr_14^0 == 0 /\ 1-i_28^post67+i_92^post67 <= 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ 1-length_27^0+i_92^post67 <= 0 /\ -length_27^post67+length_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ __disjvr_10^0-__disjvr_10^post67 == 0 /\ -a_144^post67+a_144^0 == 0 /\ x_172^0-x_172^post67 == 0 /\ i_164^0-i_164^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ a_212^0-a_212^post67 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_28^0 <= 0 /\ x_14^0-x_14^post67 == 0 /\ a_234^0-a_234^post67 == 0 /\ -__disjvr_21^post67+__disjvr_21^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ a_113^0-a_113^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ i_105^0-i_105^post67 == 0 /\ -a_257^post67+a_257^0 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -1+i_28^post67-i_92^post67 <= 0 /\ -x_17^post67+x_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_28^0-__disjvr_28^post67 == 0 /\ -rcd_56^post67+rcd_56^0 == 0 /\ -__disjvr_29^post67+__disjvr_29^0 == 0 /\ -r_160^post67+r_160^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ __disjvr_13^0-__disjvr_13^post67 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ -len_129^post67+len_129^0 == 0 /\ f_167^0-f_167^post67 == 0), cost: 1
New rule:
l40 -> l64 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l64 -> l40 : x_172^0'=x_172^post68, i_105^0'=i_105^post68, __disjvr_13^0'=__disjvr_13^post68, result_11^0'=result_11^post68, __disjvr_25^0'=__disjvr_25^post68, r_37^0'=r_37^post68, __disjvr_20^0'=__disjvr_20^post68, __disjvr_9^0'=__disjvr_9^post68, __disjvr_4^0'=__disjvr_4^post68, temp0_29^0'=temp0_29^post68, f_167^0'=f_167^post68, __disjvr_10^0'=__disjvr_10^post68, a_234^0'=a_234^post68, __disjvr_22^0'=__disjvr_22^post68, nondet_12^0'=nondet_12^post68, __disjvr_18^0'=__disjvr_18^post68, x_21^0'=x_21^post68, i_28^0'=i_28^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_86^0'=rcd_86^post68, a_144^0'=a_144^post68, __disjvr_6^0'=__disjvr_6^post68, tmp_32^0'=tmp_32^post68, __disjvr_15^0'=__disjvr_15^post68, x_14^0'=x_14^post68, head_30^0'=head_30^post68, __disjvr_12^0'=__disjvr_12^post68, ct_18^0'=ct_18^post68, __disjvr_24^0'=__disjvr_24^post68, r_160^0'=r_160^post68, __disjvr_1^0'=__disjvr_1^post68, y_20^0'=y_20^post68, len_129^0'=len_129^post68, __disjvr_3^0'=__disjvr_3^post68, temp0_16^0'=temp0_16^post68, __disjvr_29^0'=__disjvr_29^post68, __disjvr_0^0'=__disjvr_0^post68, a_212^0'=a_212^post68, __disjvr_8^0'=__disjvr_8^post68, length_27^0'=length_27^post68, __disjvr_17^0'=__disjvr_17^post68, x_17^0'=x_17^post68, i_164^0'=i_164^post68, __disjvr_14^0'=__disjvr_14^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_56^0'=rcd_56^post68, __disjvr_21^0'=__disjvr_21^post68, a_113^0'=a_113^post68, __disjvr_5^0'=__disjvr_5^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, head_15^0'=head_15^post68, __disjvr_11^0'=__disjvr_11^post68, a_257^0'=a_257^post68, __disjvr_23^0'=__disjvr_23^post68, r_121^0'=r_121^post68, __disjvr_19^0'=__disjvr_19^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, i_92^0'=i_92^post68, __disjvr_30^0'=__disjvr_30^post68, t_24^0'=t_24^post68, __disjvr_28^0'=__disjvr_28^post68, a_181^0'=a_181^post68, __disjvr_7^0'=__disjvr_7^post68, len_180^0'=len_180^post68, __disjvr_16^0'=__disjvr_16^post68, (-__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ a_212^0-a_212^post68 == 0 /\ -x_126^post68+x_126^0 == 0 /\ -head_30^post68+head_30^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -x_14^post68+x_14^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ i_105^0-i_105^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_15^0-head_15^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -__disjvr_23^post68+__disjvr_23^0 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -len_180^post68+len_180^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ r_37^0-r_37^post68 == 0 /\ x_172^0-x_172^post68 == 0 /\ temp_33^0-temp_33^post68 == 0 /\ a_257^0-a_257^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ len_129^0-len_129^post68 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -x_17^post68+x_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ -a_181^post68+a_181^0 == 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ -r_160^post68+r_160^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ f_167^0-f_167^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -i_92^post68+i_92^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_5^0-__disjvr_5^post68 == 0 /\ -a_113^post68+a_113^0 == 0 /\ -__disjvr_14^post68+__disjvr_14^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -length_27^post68+length_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ __disjvr_1^0-__disjvr_1^post68 == 0 /\ -tmp_32^post68+tmp_32^0 == 0 /\ __disjvr_15^0-__disjvr_15^post68 == 0 /\ __disjvr_17^0-__disjvr_17^post68 == 0 /\ i_164^0-i_164^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ ct_18^0-ct_18^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_30^post68+__disjvr_30^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ -x_21^post68+x_21^0 == 0 /\ a_234^0-a_234^post68 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -y_20^post68+y_20^0 == 0 /\ a_144^0-a_144^post68 == 0), cost: 1
New rule:
l64 -> l40 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l27 : x_172^0'=x_172^post70, i_105^0'=i_105^post70, __disjvr_13^0'=__disjvr_13^post70, result_11^0'=result_11^post70, __disjvr_25^0'=__disjvr_25^post70, r_37^0'=r_37^post70, __disjvr_20^0'=__disjvr_20^post70, __disjvr_9^0'=__disjvr_9^post70, __disjvr_4^0'=__disjvr_4^post70, temp0_29^0'=temp0_29^post70, f_167^0'=f_167^post70, __disjvr_10^0'=__disjvr_10^post70, a_234^0'=a_234^post70, __disjvr_22^0'=__disjvr_22^post70, nondet_12^0'=nondet_12^post70, __disjvr_18^0'=__disjvr_18^post70, x_21^0'=x_21^post70, i_28^0'=i_28^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_86^0'=rcd_86^post70, a_144^0'=a_144^post70, __disjvr_6^0'=__disjvr_6^post70, tmp_32^0'=tmp_32^post70, __disjvr_15^0'=__disjvr_15^post70, x_14^0'=x_14^post70, head_30^0'=head_30^post70, __disjvr_12^0'=__disjvr_12^post70, ct_18^0'=ct_18^post70, __disjvr_24^0'=__disjvr_24^post70, r_160^0'=r_160^post70, __disjvr_1^0'=__disjvr_1^post70, y_20^0'=y_20^post70, len_129^0'=len_129^post70, __disjvr_3^0'=__disjvr_3^post70, temp0_16^0'=temp0_16^post70, __disjvr_29^0'=__disjvr_29^post70, __disjvr_0^0'=__disjvr_0^post70, a_212^0'=a_212^post70, __disjvr_8^0'=__disjvr_8^post70, length_27^0'=length_27^post70, __disjvr_17^0'=__disjvr_17^post70, x_17^0'=x_17^post70, i_164^0'=i_164^post70, __disjvr_14^0'=__disjvr_14^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_56^0'=rcd_56^post70, __disjvr_21^0'=__disjvr_21^post70, a_113^0'=a_113^post70, __disjvr_5^0'=__disjvr_5^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, head_15^0'=head_15^post70, __disjvr_11^0'=__disjvr_11^post70, a_257^0'=a_257^post70, __disjvr_23^0'=__disjvr_23^post70, r_121^0'=r_121^post70, __disjvr_19^0'=__disjvr_19^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, i_92^0'=i_92^post70, __disjvr_30^0'=__disjvr_30^post70, t_24^0'=t_24^post70, __disjvr_28^0'=__disjvr_28^post70, a_181^0'=a_181^post70, __disjvr_7^0'=__disjvr_7^post70, len_180^0'=len_180^post70, __disjvr_16^0'=__disjvr_16^post70, (0 == 0 /\ tmp_32^post70-temp_33^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ __disjvr_1^0-__disjvr_1^post70 == 0 /\ ct_18^0-ct_18^post70 == 0 /\ -__disjvr_19^post70+__disjvr_19^0 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -rcd_56^post70+rcd_56^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ -__disjvr_7^post70+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -tmp_32^post70+head_30^post70 <= 0 /\ -tmp_32^post70+head_30^post70 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post70+length_27^0 <= 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ -length_27^post70+length_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_8^0-__disjvr_8^post70 == 0 /\ r_160^0-r_160^post70 == 0 /\ -y_20^post70+y_20^0 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -__disjvr_14^post70+__disjvr_14^0 == 0 /\ -__disjvr_11^post70+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ 1+i_28^0-length_27^0 <= 0 /\ -x_21^post70+x_21^0 == 0 /\ -__disjvr_29^post70+__disjvr_29^0 == 0 /\ tmp_32^post70-head_30^post70 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post70-length_27^0 <= 0 /\ -1-i_28^0+i_28^post70 == 0 /\ -__disjvr_30^post70+__disjvr_30^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -x_17^post70+x_17^0 == 0 /\ 1-i_28^post70 <= 0 /\ -1+i_28^post70 <= 0 /\ __disjvr_17^0-__disjvr_17^post70 == 0 /\ -x_SLAM_f_19^post70+x_SLAM_f_19^0 == 0 /\ __disjvr_22^0-__disjvr_22^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70-head_30^post70 <= 0 /\ rcd_86^0-rcd_86^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ -tmp_32^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ -head_15^post70+head_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -r_121^post70+r_121^0 == 0 /\ -len_180^post70+len_180^0 == 0 /\ 1-length_27^0 <= 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ t_24^0-t_24^post70 == 0 /\ f_167^0-f_167^post70 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70+head_30^post70 <= 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ tmp_32^post70-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 <= 0 /\ temp0_29^0-temp0_29^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ -a_113^post70+a_113^0 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ -x_126^post70+x_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_92^post70+i_92^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ i_105^0-i_105^post70 == 0), cost: 1
New rule:
l1 -> l27 : i_28^0'=1+i_28^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l65 -> l0 : x_172^0'=x_172^post71, i_105^0'=i_105^post71, __disjvr_13^0'=__disjvr_13^post71, result_11^0'=result_11^post71, __disjvr_25^0'=__disjvr_25^post71, r_37^0'=r_37^post71, __disjvr_20^0'=__disjvr_20^post71, __disjvr_9^0'=__disjvr_9^post71, __disjvr_4^0'=__disjvr_4^post71, temp0_29^0'=temp0_29^post71, f_167^0'=f_167^post71, __disjvr_10^0'=__disjvr_10^post71, a_234^0'=a_234^post71, __disjvr_22^0'=__disjvr_22^post71, nondet_12^0'=nondet_12^post71, __disjvr_18^0'=__disjvr_18^post71, x_21^0'=x_21^post71, i_28^0'=i_28^post71, __disjvr_2^0'=__disjvr_2^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_27^0'=__disjvr_27^post71, rcd_86^0'=rcd_86^post71, a_144^0'=a_144^post71, __disjvr_6^0'=__disjvr_6^post71, tmp_32^0'=tmp_32^post71, __disjvr_15^0'=__disjvr_15^post71, x_14^0'=x_14^post71, head_30^0'=head_30^post71, __disjvr_12^0'=__disjvr_12^post71, ct_18^0'=ct_18^post71, __disjvr_24^0'=__disjvr_24^post71, r_160^0'=r_160^post71, __disjvr_1^0'=__disjvr_1^post71, y_20^0'=y_20^post71, len_129^0'=len_129^post71, __disjvr_3^0'=__disjvr_3^post71, temp0_16^0'=temp0_16^post71, __disjvr_29^0'=__disjvr_29^post71, __disjvr_0^0'=__disjvr_0^post71, a_212^0'=a_212^post71, __disjvr_8^0'=__disjvr_8^post71, length_27^0'=length_27^post71, __disjvr_17^0'=__disjvr_17^post71, x_17^0'=x_17^post71, i_164^0'=i_164^post71, __disjvr_14^0'=__disjvr_14^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, __disjvr_26^0'=__disjvr_26^post71, rcd_56^0'=rcd_56^post71, __disjvr_21^0'=__disjvr_21^post71, a_113^0'=a_113^post71, __disjvr_5^0'=__disjvr_5^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, head_15^0'=head_15^post71, __disjvr_11^0'=__disjvr_11^post71, a_257^0'=a_257^post71, __disjvr_23^0'=__disjvr_23^post71, r_121^0'=r_121^post71, __disjvr_19^0'=__disjvr_19^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, i_92^0'=i_92^post71, __disjvr_30^0'=__disjvr_30^post71, t_24^0'=t_24^post71, __disjvr_28^0'=__disjvr_28^post71, a_181^0'=a_181^post71, __disjvr_7^0'=__disjvr_7^post71, len_180^0'=len_180^post71, __disjvr_16^0'=__disjvr_16^post71, (-a_113^post71+a_113^0 == 0 /\ -__disjvr_24^post71+__disjvr_24^0 == 0 /\ -x_SLAM_f_19^post71+x_SLAM_f_19^0 == 0 /\ __disjvr_17^0-__disjvr_17^post71 == 0 /\ r_37^0-r_37^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ len_129^0-len_129^post71 == 0 /\ -i_92^post71+i_92^0 == 0 /\ -x_17^post71+x_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ -__disjvr_29^post71+__disjvr_29^0 == 0 /\ __disjvr_12^0-__disjvr_12^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ r_160^0-r_160^post71 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ y_20^0-y_20^post71 == 0 /\ -__disjvr_30^post71+__disjvr_30^0 == 0 /\ -r_121^post71+r_121^0 == 0 /\ -i_164^post71+i_164^0 == 0 /\ result_11^0-result_11^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ __disjvr_25^0-__disjvr_25^post71 == 0 /\ temp0_16^0-temp0_16^post71 == 0 /\ -__disjvr_0^post71+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -temp_33^post71+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post71 == 0 /\ head_15^0-head_15^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -head_30^post71+head_30^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -__disjvr_26^post71+__disjvr_26^0 == 0 /\ a_234^0-a_234^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ x_21^0-x_21^post71 == 0 /\ ct_18^0-ct_18^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_21^post71+__disjvr_21^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ length_27^0-length_27^post71 == 0 /\ a_144^0-a_144^post71 == 0 /\ i_28^0-i_28^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -x_126^post71+x_126^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ f_167^0-f_167^post71 == 0 /\ __disjvr_27^0-__disjvr_27^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ -a_257^post71+a_257^0 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0), cost: 1
New rule:
l65 -> l0 : TRUE, cost: 1

Simplified rules
Start location: l65
  72: l0 -> l1 : nondet_12^0'=nondet_12^post0, i_28^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_30^0'=0, length_27^0'=nondet_12^10, 0 == 0, cost: 1
 104: l1 -> l27 : i_28^0'=1+i_28^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1
  73: l2 -> l5 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_234^0 >= 0, cost: 1
  74: l5 -> l6 : 0 == 0, cost: 1
  75: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0), cost: 1
  76: l7 -> l8 : 0 == 0, cost: 1
  77: l8 -> l9 : 0 == 0, cost: 1
  78: l9 -> l10 : 0 == 0, cost: 1
  79: l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  80: l4 -> l2 : TRUE, cost: 1
  81: l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, len_129^0 >= 0, cost: 1
  82: l21 -> l22 : 0 == 0, cost: 1
  83: l22 -> l23 : a_212^0'=a_234^0, t_24^0'=head_15^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0 /\ -x_21^0+head_15^0 == 0), cost: 1
  84: l23 -> l24 : 0 == 0, cost: 1
  85: l24 -> l25 : 0 == 0, cost: 1
  86: l25 -> l26 : 0 == 0, cost: 1
  87: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  88: l27 -> l40 : i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, (-2+length_27^0 >= 0 /\ -1+i_28^0 == 0), cost: 1
  99: l40 -> l62 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 1
 102: l40 -> l64 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 1
  89: l41 -> l42 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 1
  92: l41 -> l45 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
  90: l42 -> l43 : 0 == 0, cost: 1
  91: l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  93: l45 -> l46 : 0 == 0, cost: 1
  94: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, -f_167^0+x_14^0 == 0, cost: 1
  95: l47 -> l48 : 0 == 0, cost: 1
  96: l48 -> l49 : 0 == 0, cost: 1
  97: l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  98: l44 -> l41 : TRUE, cost: 1
 100: l62 -> l63 : 0 == 0, cost: 1
 101: l63 -> l41 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0), cost: 1
 103: l64 -> l40 : TRUE, cost: 1
 105: l65 -> l0 : TRUE, cost: 1


Eliminating location l0 by chaining:

Applied chaining
First rule:
l65 -> l0 : TRUE, cost: 1
Second rule:
l0 -> l1 : nondet_12^0'=nondet_12^post0, i_28^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_30^0'=0, length_27^0'=nondet_12^10, 0 == 0, cost: 1
New rule:
l65 -> l1 : nondet_12^0'=nondet_12^post0, i_28^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_30^0'=0, length_27^0'=nondet_12^10, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 72 105

Eliminating location l1 by chaining:

Applied chaining
First rule:
l65 -> l1 : nondet_12^0'=nondet_12^post0, i_28^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_30^0'=0, length_27^0'=nondet_12^10, 0 == 0, cost: 2
Second rule:
l1 -> l27 : i_28^0'=1+i_28^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1
New rule:
l65 -> l27 : nondet_12^0'=nondet_12^post0, i_28^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l65 -> l27 : nondet_12^0'=nondet_12^post0, i_28^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l65 -> l27 : nondet_12^0'=nondet_12^post0, i_28^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 104 106

Eliminating location l27 by chaining:

Applied chaining
First rule:
l65 -> l27 : nondet_12^0'=nondet_12^post0, i_28^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post70, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l27 -> l40 : i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, (-2+length_27^0 >= 0 /\ -1+i_28^0 == 0), cost: 1
New rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4
New rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 88 107

Eliminating location l62 by chaining:

Applied chaining
First rule:
l40 -> l62 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 1
Second rule:
l62 -> l63 : 0 == 0, cost: 1
New rule:
l40 -> l63 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 2

Applied simplification
Original rule:
l40 -> l63 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (0 == 0 /\ -i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 2
New rule:
l40 -> l63 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 99 100

Eliminating location l64 by chaining:

Applied chaining
First rule:
l40 -> l64 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 1
Second rule:
l64 -> l40 : TRUE, cost: 1
New rule:
l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 102 103

Eliminating location l63 by chaining:

Applied chaining
First rule:
l40 -> l63 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -i_28^0 <= 0), cost: 2
Second rule:
l63 -> l41 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0), cost: 1
New rule:
l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 101 109

Eliminating location l42 by chaining:

Applied chaining
First rule:
l41 -> l42 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 1
Second rule:
l42 -> l43 : 0 == 0, cost: 1
New rule:
l41 -> l43 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (0 == 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 2

Applied simplification
Original rule:
l41 -> l43 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (0 == 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 2
New rule:
l41 -> l43 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 89 90

Eliminating location l45 by chaining:

Applied chaining
First rule:
l41 -> l45 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
Second rule:
l45 -> l46 : 0 == 0, cost: 1
New rule:
l41 -> l46 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2

Applied simplification
Original rule:
l41 -> l46 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2
New rule:
l41 -> l46 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 92 93

Eliminating location l43 by chaining:

Applied chaining
First rule:
l41 -> l43 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 2
Second rule:
l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l20 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 3

Applied deletion
Removed the following rules: 91 112

Eliminating location l46 by chaining:

Applied chaining
First rule:
l41 -> l46 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2
Second rule:
l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, -f_167^0+x_14^0 == 0, cost: 1
New rule:
l41 -> l47 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 3

Applied deletion
Removed the following rules: 94 113

Eliminating location l20 by chaining:

Applied chaining
First rule:
l41 -> l20 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=0, y_20^0'=0, x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 3
Second rule:
l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, len_129^0 >= 0, cost: 1
New rule:
l41 -> l21 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 4

Applied deletion
Removed the following rules: 81 114

Eliminating location l47 by chaining:

Applied chaining
First rule:
l41 -> l47 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 3
Second rule:
l47 -> l48 : 0 == 0, cost: 1
New rule:
l41 -> l48 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 4

Applied simplification
Original rule:
l41 -> l48 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 4
New rule:
l41 -> l48 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 4

Applied deletion
Removed the following rules: 95 115

Eliminating location l21 by chaining:

Applied chaining
First rule:
l41 -> l21 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 4
Second rule:
l21 -> l22 : 0 == 0, cost: 1
New rule:
l41 -> l22 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (0 == 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 5

Applied simplification
Original rule:
l41 -> l22 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (0 == 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 5
New rule:
l41 -> l22 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 5

Applied deletion
Removed the following rules: 82 116

Eliminating location l48 by chaining:

Applied chaining
First rule:
l41 -> l48 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 4
Second rule:
l48 -> l49 : 0 == 0, cost: 1
New rule:
l41 -> l49 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 5

Applied simplification
Original rule:
l41 -> l49 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (0 == 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 5
New rule:
l41 -> l49 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 5

Applied deletion
Removed the following rules: 96 117

Eliminating location l22 by chaining:

Applied chaining
First rule:
l41 -> l22 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, (a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0), cost: 5
Second rule:
l22 -> l23 : a_212^0'=a_234^0, t_24^0'=head_15^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0 /\ -x_21^0+head_15^0 == 0), cost: 1
New rule:
l41 -> l23 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -ct_18^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 6

Applied simplification
Original rule:
l41 -> l23 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -ct_18^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 6
New rule:
l41 -> l23 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 6

Applied deletion
Removed the following rules: 83 118

Eliminating location l49 by chaining:

Applied chaining
First rule:
l41 -> l49 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0), cost: 5
Second rule:
l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l44 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 6

Applied deletion
Removed the following rules: 97 119

Eliminating location l23 by chaining:

Applied chaining
First rule:
l41 -> l23 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 6
Second rule:
l23 -> l24 : 0 == 0, cost: 1
New rule:
l41 -> l24 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 7

Applied simplification
Original rule:
l41 -> l24 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 7
New rule:
l41 -> l24 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 7

Applied deletion
Removed the following rules: 84 120

Eliminating location l44 by chaining:

Applied chaining
First rule:
l41 -> l44 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 6
Second rule:
l44 -> l41 : TRUE, cost: 1
New rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7

Applied deletion
Removed the following rules: 98 121

Eliminating location l24 by chaining:

Applied chaining
First rule:
l41 -> l24 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 7
Second rule:
l24 -> l25 : 0 == 0, cost: 1
New rule:
l41 -> l25 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 8

Applied simplification
Original rule:
l41 -> l25 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 8
New rule:
l41 -> l25 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 8

Applied deletion
Removed the following rules: 85 122

Eliminating location l25 by chaining:

Applied chaining
First rule:
l41 -> l25 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 8
Second rule:
l25 -> l26 : 0 == 0, cost: 1
New rule:
l41 -> l26 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 9

Applied simplification
Original rule:
l41 -> l26 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (0 == 0 /\ ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 9
New rule:
l41 -> l26 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 9

Applied deletion
Removed the following rules: 86 124

Eliminating location l26 by chaining:

Applied chaining
First rule:
l41 -> l26 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ head_15^post20-head_15^0 == 0), cost: 9
Second rule:
l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10

Applied deletion
Removed the following rules: 87 125

Eliminating location l5 by chaining:

Applied chaining
First rule:
l2 -> l5 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_234^0 >= 0, cost: 1
Second rule:
l5 -> l6 : 0 == 0, cost: 1
New rule:
l2 -> l6 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, (0 == 0 /\ a_234^0 >= 0), cost: 2

Applied simplification
Original rule:
l2 -> l6 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, (0 == 0 /\ a_234^0 >= 0), cost: 2
New rule:
l2 -> l6 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_234^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 73 74

Eliminating location l6 by chaining:

Applied chaining
First rule:
l2 -> l6 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, a_234^0 >= 0, cost: 2
Second rule:
l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (head_15^0-x_SLAM_f_19^0 == 0 /\ -x_17^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0 /\ -ct_18^0+y_20^0 == 0), cost: 1
New rule:
l2 -> l7 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 3

Applied deletion
Removed the following rules: 75 127

Eliminating location l7 by chaining:

Applied chaining
First rule:
l2 -> l7 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 3
Second rule:
l7 -> l8 : 0 == 0, cost: 1
New rule:
l2 -> l8 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 4

Applied simplification
Original rule:
l2 -> l8 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 4
New rule:
l2 -> l8 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 4

Applied deletion
Removed the following rules: 76 128

Eliminating location l8 by chaining:

Applied chaining
First rule:
l2 -> l8 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 4
Second rule:
l8 -> l9 : 0 == 0, cost: 1
New rule:
l2 -> l9 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 5

Applied simplification
Original rule:
l2 -> l9 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 5
New rule:
l2 -> l9 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 5

Applied deletion
Removed the following rules: 77 129

Eliminating location l9 by chaining:

Applied chaining
First rule:
l2 -> l9 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 5
Second rule:
l9 -> l10 : 0 == 0, cost: 1
New rule:
l2 -> l10 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 6

Applied simplification
Original rule:
l2 -> l10 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (0 == 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 6
New rule:
l2 -> l10 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 6

Applied deletion
Removed the following rules: 78 130

Eliminating location l10 by chaining:

Applied chaining
First rule:
l2 -> l10 : r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 6
Second rule:
l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l2 -> l4 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 7

Applied deletion
Removed the following rules: 79 131

Eliminating location l4 by chaining:

Applied chaining
First rule:
l2 -> l4 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 7
Second rule:
l4 -> l2 : TRUE, cost: 1
New rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 8

Applied deletion
Removed the following rules: 80 132

Eliminated locations on linear paths
Start location: l65
 133: l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 8
 110: l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
 111: l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
 123: l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7
 126: l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
 108: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4


Applied simplification
Original rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=x_14^post2, ct_18^0'=ct_18^post2, x_17^0'=x_17^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_14^post2 == 0 /\ -x_SLAM_f_19^post2+head_15^post2 == 0 /\ a_234^0 >= 0 /\ y_20^0-ct_18^post2 == 0 /\ y_20^0 == 0 /\ -x_17^post2+head_15^post2 == 0), cost: 8
New rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 == 0), cost: 8

Simplified simple loops
Start location: l65
 134: l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 == 0), cost: 8
 110: l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
 111: l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
 123: l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7
 126: l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
 108: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 == 0), cost: 8
New rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=a_234^0-n, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=a_234^0-n, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -y_20^0 >= 0 /\ 1+a_234^0-n >= 0 /\ y_20^0 >= 0 /\ -1+n >= 0), cost: 8*n
Sub-proof via acceration calculus written to file:///tmp/tmpnam_lcanIl.txt

Applied instantiation
Original rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=a_234^0-n, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=a_234^0-n, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -y_20^0 >= 0 /\ 1+a_234^0-n >= 0 /\ y_20^0 >= 0 /\ -1+n >= 0), cost: 8*n
New rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -y_20^0 >= 0 /\ a_234^0 >= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0

Applied simplification
Original rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -y_20^0 >= 0 /\ a_234^0 >= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0
New rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0

Applied deletion
Removed the following rules: 134

Applied acceleration
Original rule:
l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
New rule:
l40 -> l40 : i_28^0'=i_28^0+n0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+i_28^0+n0, (-2+n0 >= 0 /\ i_28^0 >= 0 /\ -i_28^0-n0+length_27^0 >= 0), cost: 2*n0
Sub-proof via acceration calculus written to file:///tmp/tmpnam_oNbmBk.txt

Applied instantiation
Original rule:
l40 -> l40 : i_28^0'=i_28^0+n0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+i_28^0+n0, (-2+n0 >= 0 /\ i_28^0 >= 0 /\ -i_28^0-n0+length_27^0 >= 0), cost: 2*n0
New rule:
l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (0 >= 0 /\ -2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0

Applied simplification
Original rule:
l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (0 >= 0 /\ -2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0
New rule:
l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (-2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0

Applied simplification
Original rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=f_167^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -f_167^post44+x_14^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7
New rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7

Simplified simple loops
Start location: l65
 136: l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0
 110: l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
 111: l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
 138: l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (-2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0
 126: l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
 139: l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7
 108: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7
New rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=a_144^0-n1, len_129^0'=len_129^0+n1, head_15^0'=head_15^post44, a_181^0'=a_144^0-n1, len_180^0'=len_129^0+n1, (1+a_144^0-n1 >= 0 /\ -1+n1 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7*n1
Sub-proof via acceration calculus written to file:///tmp/tmpnam_pCckEm.txt

Applied instantiation
Original rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=a_144^0-n1, len_129^0'=len_129^0+n1, head_15^0'=head_15^post44, a_181^0'=a_144^0-n1, len_180^0'=len_129^0+n1, (1+a_144^0-n1 >= 0 /\ -1+n1 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7*n1
New rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (0 >= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7+7*a_144^0

Applied simplification
Original rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (0 >= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7+7*a_144^0
New rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7+7*a_144^0

Applied deletion
Removed the following rules: 139

Accelerated simple loops
Start location: l65
 136: l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0
 110: l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
 111: l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
 138: l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (-2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0
 126: l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
 141: l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7+7*a_144^0
 108: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
Second rule:
l2 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=y_20^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=x_21^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 8+8*a_234^0
New rule:
l41 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=0, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 18+8*a_234^0

Applied deletion
Removed the following rules: 136

Applied chaining
First rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l40 -> l40 : i_28^0'=1+i_28^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^0, head_30^0'=temp_33^0, temp_33^0'=temp_33^post67, i_92^0'=i_28^0, (i_28^0 >= 0 /\ 1+i_28^0-length_27^0 <= 0), cost: 2
New rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post40, head_30^0'=temp_33^post40, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post67, i_92^0'=2, -3+nondet_12^10 >= 0, cost: 6

Applied chaining
First rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l40 -> l40 : i_28^0'=length_27^0, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, temp_33^0'=temp_33^post67, i_92^0'=-1+length_27^0, (-2-i_28^0+length_27^0 >= 0 /\ i_28^0 >= 0), cost: -2*i_28^0+2*length_27^0
New rule:
l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post67, i_92^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 110 138

Applied chaining
First rule:
l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
Second rule:
l41 -> l41 : x_172^0'=x_172^post44, r_37^0'=r_37^post44, f_167^0'=x_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 7+7*a_144^0
New rule:
l40 -> l41 : x_172^0'=x_172^post44, result_11^0'=result_11^post64, r_37^0'=r_37^post44, temp0_29^0'=temp0_29^post64, f_167^0'=head_30^0, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, len_129^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -2+a_144^0 >= 0 /\ -i_28^0 <= 0 /\ -2+i_164^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 10+7*a_144^0

Applied deletion
Removed the following rules: 141

Chained accelerated rules with incoming rules
Start location: l65
 111: l40 -> l41 : result_11^0'=result_11^post64, temp0_29^0'=temp0_29^post64, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_30^0, (-i_28^0+length_27^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post64-i_164^post64 <= 0 /\ len_129^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 >= 0 /\ -i_28^0 <= 0), cost: 3
 145: l40 -> l41 : x_172^0'=x_172^post44, result_11^0'=result_11^post64, r_37^0'=r_37^post44, temp0_29^0'=temp0_29^post64, f_167^0'=head_30^0, i_28^0'=a_144^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_144^0'=-1, tmp_32^0'=tmp_32^post64, x_14^0'=head_30^0, head_30^0'=head_30^post64, len_129^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post64, i_164^0'=i_164^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, temp_33^0'=temp_33^post64, head_15^0'=head_15^post44, a_181^0'=-1, len_180^0'=1+a_144^0+len_129^0, (-i_28^0+length_27^0 <= 0 /\ len_129^0 == 0 /\ -2+a_144^0 >= 0 /\ -i_28^0 <= 0 /\ -2+i_164^post64 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0), cost: 10+7*a_144^0
 126: l41 -> l2 : x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, x_14^0'=x_14^post20, ct_18^0'=ct_18^post20, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=x_17^post20, head_15^0'=head_15^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=head_15^post20, (ct_18^post20 == 0 /\ a_144^0 >= 0 /\ -x_SLAM_f_19^post20+head_15^post20 == 0 /\ x_14^0 == 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_15^post20-x_17^post20 == 0 /\ x_14^post20 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 >= 0 /\ head_15^post20-head_15^0 == 0), cost: 10
 142: l41 -> l2 : r_37^0'=r_37^post2, a_234^0'=-1, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, x_14^0'=0, ct_18^0'=0, y_20^0'=0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, x_17^0'=head_15^post2, head_15^0'=head_15^post2, a_257^0'=-1, x_SLAM_f_19^0'=head_15^post2, t_24^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ a_144^0 >= 0 /\ x_14^0 == 0 /\ len_129^0 >= 0), cost: 18+8*a_234^0
 108: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, tmp_32^0'=temp_33^post70, head_30^0'=temp_33^post70, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post40, -2+nondet_12^10 >= 0, cost: 4
 143: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post40, head_30^0'=temp_33^post40, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post67, i_92^0'=2, -3+nondet_12^10 >= 0, cost: 6
 144: l65 -> l40 : nondet_12^0'=nondet_12^post0, i_28^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_86^0'=rcd_86^post67, tmp_32^0'=temp_33^post67, head_30^0'=temp_33^post67, length_27^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post70, rcd_56^0'=rcd_56^post40, temp_33^0'=temp_33^post67, i_92^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l65
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0