WORST_CASE(Omega(0),?)

Initial ITS
Start location: l93
   0: l0 -> l2 : i_108^0'=i_108^post0, __disjvr_7^0'=__disjvr_7^post0, __disjvr_13^0'=__disjvr_13^post0, f_170^0'=f_170^post0, length_29^0'=length_29^post0, __disjvr_25^0'=__disjvr_25^post0, a_330^0'=a_330^post0, __disjvr_20^0'=__disjvr_20^post0, len_183^0'=len_183^post0, __disjvr_37^0'=__disjvr_37^post0, __disjvr_32^0'=__disjvr_32^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, head_223^0'=head_223^post0, r_260^0'=r_260^post0, __disjvr_4^0'=__disjvr_4^post0, __disjvr_10^0'=__disjvr_10^post0, x_20^0'=x_20^post0, __disjvr_41^0'=__disjvr_41^post0, __disjvr_22^0'=__disjvr_22^post0, a_241^0'=a_241^post0, __disjvr_18^0'=__disjvr_18^post0, i_30^0'=i_30^post0, __disjvr_9^0'=__disjvr_9^post0, __disjvr_2^0'=__disjvr_2^post0, rcd_58^0'=rcd_58^post0, head_129^0'=head_129^post0, r_124^0'=r_124^post0, __disjvr_27^0'=__disjvr_27^post0, ct_17^0'=ct_17^post0, temp_35^0'=temp_35^post0, __disjvr_39^0'=__disjvr_39^post0, __disjvr_34^0'=__disjvr_34^post0, t_23^0'=t_23^post0, head_27^0'=head_27^post0, __disjvr_15^0'=__disjvr_15^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, __disjvr_6^0'=__disjvr_6^post0, __disjvr_12^0'=__disjvr_12^post0, y_19^0'=y_19^post0, __disjvr_43^0'=__disjvr_43^post0, len_276^0'=len_276^post0, __disjvr_24^0'=__disjvr_24^post0, a_308^0'=a_308^post0, __disjvr_1^0'=__disjvr_1^post0, len_132^0'=len_132^post0, a_147^0'=a_147^post0, __disjvr_31^0'=__disjvr_31^post0, result_11^0'=result_11^post0, head_175^0'=head_175^post0, r_218^0'=r_218^post0, __disjvr_29^0'=__disjvr_29^post0, __disjvr_0^0'=__disjvr_0^post0, x_16^0'=x_16^post0, __disjvr_40^0'=__disjvr_40^post0, __disjvr_36^0'=__disjvr_36^post0, a_210^0'=a_210^post0, __disjvr_17^0'=__disjvr_17^post0, i_167^0'=i_167^post0, __disjvr_8^0'=__disjvr_8^post0, __disjvr_14^0'=__disjvr_14^post0, r_39^0'=r_39^post0, f_263^0'=f_263^post0, nondet_12^0'=nondet_12^post0, __disjvr_26^0'=__disjvr_26^post0, a_353^0'=a_353^post0, __disjvr_21^0'=__disjvr_21^post0, temp0_31^0'=temp0_31^post0, __disjvr_38^0'=__disjvr_38^post0, __disjvr_33^0'=__disjvr_33^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, head_268^0'=head_268^post0, head_32^0'=head_32^post0, __disjvr_5^0'=__disjvr_5^post0, __disjvr_11^0'=__disjvr_11^post0, x_SLAM_f_18^0'=x_SLAM_f_18^post0, __disjvr_42^0'=__disjvr_42^post0, len_226^0'=len_226^post0, __disjvr_23^0'=__disjvr_23^post0, a_277^0'=a_277^post0, __disjvr_19^0'=__disjvr_19^post0, i_94^0'=i_94^post0, a_116^0'=a_116^post0, __disjvr_30^0'=__disjvr_30^post0, rcd_88^0'=rcd_88^post0, head_14^0'=head_14^post0, r_163^0'=r_163^post0, __disjvr_28^0'=__disjvr_28^post0, tmp_34^0'=tmp_34^post0, __disjvr_3^0'=__disjvr_3^post0, __disjvr_35^0'=__disjvr_35^post0, temp0_15^0'=temp0_15^post0, a_184^0'=a_184^post0, __disjvr_16^0'=__disjvr_16^post0, (0 == 0 /\ -a_353^post0+a_353^0 == 0 /\ -a_308^post0+a_308^0 == 0 /\ length_29^0-length_29^post0 == 0 /\ __disjvr_7^0-__disjvr_7^post0 == 0 /\ -temp0_15^post0+temp0_15^0 == 0 /\ len_276^0-len_276^post0 == 0 /\ -__disjvr_31^post0+__disjvr_31^0 == 0 /\ -x_SLAM_f_18^post0+x_20^post0 <= 0 /\ -x_SLAM_f_18^post0+x_20^post0 == 0 /\ len_183^0-len_183^post0 == 0 /\ -a_147^post0+a_147^0 == 0 /\ -x_16^post0+head_14^0 <= 0 /\ a_330^0-a_330^post0 == 0 /\ -__disjvr_43^post0+__disjvr_43^0 == 0 /\ f_170^0-f_170^post0 == 0 /\ __disjvr_37^0-__disjvr_37^post0 == 0 /\ i_167^0-i_167^post0 == 0 /\ -__disjvr_26^post0+__disjvr_26^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -rcd_88^post0+rcd_88^0 == 0 /\ ct_17^post0 <= 0 /\ ct_17^post0 == 0 /\ -head_268^post0+head_268^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -a_277^post0+a_277^0 == 0 /\ -ct_17^post0 <= 0 /\ -__disjvr_9^post0+__disjvr_9^0 == 0 /\ 1-len_226^0 <= 0 /\ -1+len_226^0 <= 0 /\ x_SLAM_f_18^post0-x_20^post0 <= 0 /\ -head_14^post0+head_14^0 == 0 /\ head_27^0 <= 0 /\ -a_184^post0+a_184^0 == 0 /\ x_16^post0-head_14^0 <= 0 /\ x_16^post0-head_14^0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ -head_27^0 <= 0 /\ -tmp_34^post0+tmp_34^0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ -__disjvr_42^post0+__disjvr_42^0 == 0 /\ -f_263^post0+f_263^0 == 0 /\ -head_129^post0+head_129^0 == 0 /\ head_175^0-head_175^post0 == 0 /\ i_30^0-i_30^post0 == 0 /\ __disjvr_40^0-__disjvr_40^post0 == 0 /\ __disjvr_15^0-__disjvr_15^post0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ -r_39^post0+r_39^0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post0 == 0 /\ -x_20^post0+head_14^0 <= 0 /\ -x_SLAM_f_18^post0+head_14^0 <= 0 /\ len_132^0-len_132^post0 == 0 /\ t_23^0-t_23^post0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ y_19^post0 <= 0 /\ -r_218^post0+r_218^0 == 0 /\ -__disjvr_39^post0+__disjvr_39^0 == 0 /\ -__disjvr_29^post0+__disjvr_29^0 == 0 /\ a_241^0-a_241^post0 == 0 /\ -x_16^post0+x_SLAM_f_18^post0 <= 0 /\ -x_16^post0+x_SLAM_f_18^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ ct_17^post0-y_19^post0 <= 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ r_260^0-r_260^post0 == 0 /\ i_108^0-i_108^post0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -__disjvr_36^post0+__disjvr_36^0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ __disjvr_32^0-__disjvr_32^post0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ __disjvr_1^0-__disjvr_1^post0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ __disjvr_12^0-__disjvr_12^post0 == 0 /\ -len_226^post0+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0 == 0 /\ r_124^0-r_124^post0 == 0 /\ x_20^post0-head_14^0 <= 0 /\ x_SLAM_f_18^post0-head_14^0 <= 0 /\ rcd_58^0-rcd_58^post0 == 0 /\ -a_116^post0+a_116^0 == 0 /\ __disjvr_25^0-__disjvr_25^post0 == 0 /\ -y_19^post0 <= 0 /\ __disjvr_34^0-__disjvr_34^post0 == 0 /\ x_16^post0-x_SLAM_f_18^post0 <= 0 /\ __disjvr_27^0-__disjvr_27^post0 == 0 /\ -a_210^0 <= 0 /\ -a_210^post0+a_210^0 == 0 /\ __disjvr_33^0-__disjvr_33^post0 == 0 /\ -__disjvr_35^post0+__disjvr_35^0 == 0 /\ head_223^0-head_223^post0 == 0 /\ -__disjvr_30^post0+__disjvr_30^0 == 0 /\ -ct_17^post0+y_19^post0 <= 0 /\ -ct_17^post0+y_19^post0 == 0 /\ -__disjvr_0^post0+__disjvr_0^0 == 0 /\ r_163^0-r_163^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -i_94^post0+i_94^0 == 0 /\ -__disjvr_38^post0+__disjvr_38^0 == 0 /\ __disjvr_41^0-__disjvr_41^post0 == 0 /\ temp_35^0-temp_35^post0 == 0), cost: 1
   3: l0 -> l5 : i_108^0'=i_108^post3, __disjvr_7^0'=__disjvr_7^post3, __disjvr_13^0'=__disjvr_13^post3, f_170^0'=f_170^post3, length_29^0'=length_29^post3, __disjvr_25^0'=__disjvr_25^post3, a_330^0'=a_330^post3, __disjvr_20^0'=__disjvr_20^post3, len_183^0'=len_183^post3, __disjvr_37^0'=__disjvr_37^post3, __disjvr_32^0'=__disjvr_32^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, head_223^0'=head_223^post3, r_260^0'=r_260^post3, __disjvr_4^0'=__disjvr_4^post3, __disjvr_10^0'=__disjvr_10^post3, x_20^0'=x_20^post3, __disjvr_41^0'=__disjvr_41^post3, __disjvr_22^0'=__disjvr_22^post3, a_241^0'=a_241^post3, __disjvr_18^0'=__disjvr_18^post3, i_30^0'=i_30^post3, __disjvr_9^0'=__disjvr_9^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_58^0'=rcd_58^post3, head_129^0'=head_129^post3, r_124^0'=r_124^post3, __disjvr_27^0'=__disjvr_27^post3, ct_17^0'=ct_17^post3, temp_35^0'=temp_35^post3, __disjvr_39^0'=__disjvr_39^post3, __disjvr_34^0'=__disjvr_34^post3, t_23^0'=t_23^post3, head_27^0'=head_27^post3, __disjvr_15^0'=__disjvr_15^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, __disjvr_6^0'=__disjvr_6^post3, __disjvr_12^0'=__disjvr_12^post3, y_19^0'=y_19^post3, __disjvr_43^0'=__disjvr_43^post3, len_276^0'=len_276^post3, __disjvr_24^0'=__disjvr_24^post3, a_308^0'=a_308^post3, __disjvr_1^0'=__disjvr_1^post3, len_132^0'=len_132^post3, a_147^0'=a_147^post3, __disjvr_31^0'=__disjvr_31^post3, result_11^0'=result_11^post3, head_175^0'=head_175^post3, r_218^0'=r_218^post3, __disjvr_29^0'=__disjvr_29^post3, __disjvr_0^0'=__disjvr_0^post3, x_16^0'=x_16^post3, __disjvr_40^0'=__disjvr_40^post3, __disjvr_36^0'=__disjvr_36^post3, a_210^0'=a_210^post3, __disjvr_17^0'=__disjvr_17^post3, i_167^0'=i_167^post3, __disjvr_8^0'=__disjvr_8^post3, __disjvr_14^0'=__disjvr_14^post3, r_39^0'=r_39^post3, f_263^0'=f_263^post3, nondet_12^0'=nondet_12^post3, __disjvr_26^0'=__disjvr_26^post3, a_353^0'=a_353^post3, __disjvr_21^0'=__disjvr_21^post3, temp0_31^0'=temp0_31^post3, __disjvr_38^0'=__disjvr_38^post3, __disjvr_33^0'=__disjvr_33^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, head_268^0'=head_268^post3, head_32^0'=head_32^post3, __disjvr_5^0'=__disjvr_5^post3, __disjvr_11^0'=__disjvr_11^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, __disjvr_42^0'=__disjvr_42^post3, len_226^0'=len_226^post3, __disjvr_23^0'=__disjvr_23^post3, a_277^0'=a_277^post3, __disjvr_19^0'=__disjvr_19^post3, i_94^0'=i_94^post3, a_116^0'=a_116^post3, __disjvr_30^0'=__disjvr_30^post3, rcd_88^0'=rcd_88^post3, head_14^0'=head_14^post3, r_163^0'=r_163^post3, __disjvr_28^0'=__disjvr_28^post3, tmp_34^0'=tmp_34^post3, __disjvr_3^0'=__disjvr_3^post3, __disjvr_35^0'=__disjvr_35^post3, temp0_15^0'=temp0_15^post3, a_184^0'=a_184^post3, __disjvr_16^0'=__disjvr_16^post3, (0 == 0 /\ -tmp_34^post3+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post3 == 0 /\ -a_184^post3+a_184^0 == 0 /\ temp_35^0-temp_35^post3 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -a_210^post3+a_210^0 == 0 /\ -__disjvr_43^post3+__disjvr_43^0 == 0 /\ -temp0_31^post3+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ a_277^0-a_277^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ y_19^0-y_19^post3 == 0 /\ head_27^0-head_27^post3 == 0 /\ __disjvr_32^0-__disjvr_32^post3 == 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ -head_32^post3+head_32^0 == 0 /\ __disjvr_40^0-__disjvr_40^post3 == 0 /\ i_108^0-i_108^post3 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ -__disjvr_33^post3+__disjvr_33^0 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ __disjvr_27^0-__disjvr_27^post3 == 0 /\ len_132^0-len_132^post3 == 0 /\ r_124^0-r_124^post3 == 0 /\ -a_147^post3+a_147^0 == 0 /\ a_308^0-a_308^post3 == 0 /\ -__disjvr_36^post3+__disjvr_36^0 == 0 /\ t_23^0-t_23^post3 == 0 /\ f_170^0-f_170^post3 == 0 /\ -r_39^post3+r_39^0 == 0 /\ -a_241^post3+a_241^0 == 0 /\ -__disjvr_3^post3+__disjvr_3^0 == 0 /\ -len_226^post3+len_226^0 == 0 /\ -a_116^post3+a_116^0 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ len_276^0-len_276^post3 == 0 /\ result_11^0-result_11^post3 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ -i_167^post3+i_167^0 == 0 /\ -__disjvr_35^post3+__disjvr_35^0 == 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ __disjvr_34^0-__disjvr_34^post3 == 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ length_29^0-length_29^post3 == 0 /\ -x_16^post3+x_16^0 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ -__disjvr_14^post3+__disjvr_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ -head_268^post3+head_268^0 == 0 /\ -len_183^post3+len_183^0 == 0 /\ __disjvr_15^0-__disjvr_15^post3 == 0 /\ a_330^0-a_330^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ __disjvr_41^0-__disjvr_41^post3 == 0 /\ __disjvr_17^0-__disjvr_17^post3 == 0 /\ -r_260^post3+r_260^0 == 0 /\ __disjvr_38^0-__disjvr_38^post3 == 0 /\ __disjvr_28^0-__disjvr_28^post3 == 0 /\ -__disjvr_42^post3+__disjvr_42^0 == 0 /\ __disjvr_7^0-__disjvr_7^post3 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ x_20^0-x_20^post3 == 0 /\ __disjvr_39^0-__disjvr_39^post3 == 0 /\ i_30^0-i_30^post3 == 0 /\ __disjvr_37^0-__disjvr_37^post3 == 0 /\ -__disjvr_19^post3+__disjvr_19^0 == 0 /\ __disjvr_31^0-__disjvr_31^post3 == 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ -__disjvr_24^post3+__disjvr_24^0 == 0 /\ -a_210^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ -head_129^post3+head_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ -f_263^post3+f_263^0 == 0 /\ a_353^0-a_353^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ ct_17^0-ct_17^post3 == 0 /\ -__disjvr_20^post3+__disjvr_20^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -head_175^post3+head_175^0 == 0), cost: 1
   1: l2 -> l3 : i_108^0'=i_108^post1, __disjvr_7^0'=__disjvr_7^post1, __disjvr_13^0'=__disjvr_13^post1, f_170^0'=f_170^post1, length_29^0'=length_29^post1, __disjvr_25^0'=__disjvr_25^post1, a_330^0'=a_330^post1, __disjvr_20^0'=__disjvr_20^post1, len_183^0'=len_183^post1, __disjvr_37^0'=__disjvr_37^post1, __disjvr_32^0'=__disjvr_32^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, head_223^0'=head_223^post1, r_260^0'=r_260^post1, __disjvr_4^0'=__disjvr_4^post1, __disjvr_10^0'=__disjvr_10^post1, x_20^0'=x_20^post1, __disjvr_41^0'=__disjvr_41^post1, __disjvr_22^0'=__disjvr_22^post1, a_241^0'=a_241^post1, __disjvr_18^0'=__disjvr_18^post1, i_30^0'=i_30^post1, __disjvr_9^0'=__disjvr_9^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_58^0'=rcd_58^post1, head_129^0'=head_129^post1, r_124^0'=r_124^post1, __disjvr_27^0'=__disjvr_27^post1, ct_17^0'=ct_17^post1, temp_35^0'=temp_35^post1, __disjvr_39^0'=__disjvr_39^post1, __disjvr_34^0'=__disjvr_34^post1, t_23^0'=t_23^post1, head_27^0'=head_27^post1, __disjvr_15^0'=__disjvr_15^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, __disjvr_6^0'=__disjvr_6^post1, __disjvr_12^0'=__disjvr_12^post1, y_19^0'=y_19^post1, __disjvr_43^0'=__disjvr_43^post1, len_276^0'=len_276^post1, __disjvr_24^0'=__disjvr_24^post1, a_308^0'=a_308^post1, __disjvr_1^0'=__disjvr_1^post1, len_132^0'=len_132^post1, a_147^0'=a_147^post1, __disjvr_31^0'=__disjvr_31^post1, result_11^0'=result_11^post1, head_175^0'=head_175^post1, r_218^0'=r_218^post1, __disjvr_29^0'=__disjvr_29^post1, __disjvr_0^0'=__disjvr_0^post1, x_16^0'=x_16^post1, __disjvr_40^0'=__disjvr_40^post1, __disjvr_36^0'=__disjvr_36^post1, a_210^0'=a_210^post1, __disjvr_17^0'=__disjvr_17^post1, i_167^0'=i_167^post1, __disjvr_8^0'=__disjvr_8^post1, __disjvr_14^0'=__disjvr_14^post1, r_39^0'=r_39^post1, f_263^0'=f_263^post1, nondet_12^0'=nondet_12^post1, __disjvr_26^0'=__disjvr_26^post1, a_353^0'=a_353^post1, __disjvr_21^0'=__disjvr_21^post1, temp0_31^0'=temp0_31^post1, __disjvr_38^0'=__disjvr_38^post1, __disjvr_33^0'=__disjvr_33^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_268^0'=head_268^post1, head_32^0'=head_32^post1, __disjvr_5^0'=__disjvr_5^post1, __disjvr_11^0'=__disjvr_11^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, __disjvr_42^0'=__disjvr_42^post1, len_226^0'=len_226^post1, __disjvr_23^0'=__disjvr_23^post1, a_277^0'=a_277^post1, __disjvr_19^0'=__disjvr_19^post1, i_94^0'=i_94^post1, a_116^0'=a_116^post1, __disjvr_30^0'=__disjvr_30^post1, rcd_88^0'=rcd_88^post1, head_14^0'=head_14^post1, r_163^0'=r_163^post1, __disjvr_28^0'=__disjvr_28^post1, tmp_34^0'=tmp_34^post1, __disjvr_3^0'=__disjvr_3^post1, __disjvr_35^0'=__disjvr_35^post1, temp0_15^0'=temp0_15^post1, a_184^0'=a_184^post1, __disjvr_16^0'=__disjvr_16^post1, (x_20^0-x_20^post1 == 0 /\ -__disjvr_29^post1+__disjvr_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -__disjvr_21^post1+__disjvr_21^0 == 0 /\ head_175^0-head_175^post1 == 0 /\ -__disjvr_16^post1+__disjvr_16^0 == 0 /\ -__disjvr_11^post1+__disjvr_11^0 == 0 /\ -r_163^post1+r_163^0 == 0 /\ temp_35^0-temp_35^post1 == 0 /\ head_27^0-head_27^post1 == 0 /\ r_218^0-r_218^post1 == 0 /\ -y_19^post1+y_19^0 == 0 /\ -__disjvr_40^post1+__disjvr_40^0 == 0 /\ t_23^0-t_23^post1 == 0 /\ __disjvr_32^0-__disjvr_32^post1 == 0 /\ len_226^0-len_226^post1 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ a_241^0-a_241^post1 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ __disjvr_0^post1-__disjvr_0^0 == 0 /\ head_32^0-head_32^post1 == 0 /\ __disjvr_34^0-__disjvr_34^post1 == 0 /\ __disjvr_41^0-__disjvr_41^post1 == 0 /\ __disjvr_1^0-__disjvr_1^post1 == 0 /\ -a_353^post1+a_353^0 == 0 /\ -rcd_88^post1+rcd_88^0 == 0 /\ __disjvr_15^0-__disjvr_15^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ -head_14^post1+head_14^0 == 0 /\ r_260^0-r_260^post1 == 0 /\ -head_268^post1+head_268^0 == 0 /\ -__disjvr_39^post1+__disjvr_39^0 == 0 /\ len_276^0-len_276^post1 == 0 /\ len_183^0-len_183^post1 == 0 /\ x_16^0-x_16^post1 == 0 /\ head_223^0-head_223^post1 == 0 /\ head_129^0-head_129^post1 == 0 /\ f_170^0-f_170^post1 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ __disjvr_2^0-__disjvr_2^post1 == 0 /\ -len_132^post1+len_132^0 == 0 /\ -__disjvr_0^post1+__disjvr_0^0 == 0 /\ i_108^0-i_108^post1 == 0 /\ rcd_58^0-rcd_58^post1 == 0 /\ a_330^0-a_330^post1 == 0 /\ -a_277^post1+a_277^0 == 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ r_124^0-r_124^post1 == 0 /\ -ct_17^post1+ct_17^0 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ -__disjvr_33^post1+__disjvr_33^0 == 0 /\ -i_94^post1+i_94^0 == 0 /\ __disjvr_37^0-__disjvr_37^post1 == 0 /\ f_263^0-f_263^post1 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ r_39^0-r_39^post1 == 0 /\ -a_308^post1+a_308^0 == 0 /\ -__disjvr_36^post1+__disjvr_36^0 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ -temp0_15^post1+temp0_15^0 == 0 /\ __disjvr_27^0-__disjvr_27^post1 == 0 /\ i_167^0-i_167^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ i_30^0-i_30^post1 == 0 /\ -__disjvr_14^post1+__disjvr_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ -x_SLAM_f_18^post1+x_SLAM_f_18^0 == 0 /\ length_29^0-length_29^post1 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -__disjvr_30^post1+__disjvr_30^0 == 0 /\ -__disjvr_38^post1+__disjvr_38^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ a_147^0-a_147^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -a_116^post1+a_116^0 == 0 /\ -__disjvr_42^post1+__disjvr_42^0 == 0 /\ -__disjvr_31^post1+__disjvr_31^0 == 0 /\ __disjvr_12^0-__disjvr_12^post1 == 0 /\ -__disjvr_35^post1+__disjvr_35^0 == 0 /\ __disjvr_43^0-__disjvr_43^post1 == 0 /\ -a_210^post1+a_210^0 == 0 /\ -a_184^post1+a_184^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0), cost: 1
   2: l3 -> l1 : i_108^0'=i_108^post2, __disjvr_7^0'=__disjvr_7^post2, __disjvr_13^0'=__disjvr_13^post2, f_170^0'=f_170^post2, length_29^0'=length_29^post2, __disjvr_25^0'=__disjvr_25^post2, a_330^0'=a_330^post2, __disjvr_20^0'=__disjvr_20^post2, len_183^0'=len_183^post2, __disjvr_37^0'=__disjvr_37^post2, __disjvr_32^0'=__disjvr_32^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, head_223^0'=head_223^post2, r_260^0'=r_260^post2, __disjvr_4^0'=__disjvr_4^post2, __disjvr_10^0'=__disjvr_10^post2, x_20^0'=x_20^post2, __disjvr_41^0'=__disjvr_41^post2, __disjvr_22^0'=__disjvr_22^post2, a_241^0'=a_241^post2, __disjvr_18^0'=__disjvr_18^post2, i_30^0'=i_30^post2, __disjvr_9^0'=__disjvr_9^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_58^0'=rcd_58^post2, head_129^0'=head_129^post2, r_124^0'=r_124^post2, __disjvr_27^0'=__disjvr_27^post2, ct_17^0'=ct_17^post2, temp_35^0'=temp_35^post2, __disjvr_39^0'=__disjvr_39^post2, __disjvr_34^0'=__disjvr_34^post2, t_23^0'=t_23^post2, head_27^0'=head_27^post2, __disjvr_15^0'=__disjvr_15^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, __disjvr_6^0'=__disjvr_6^post2, __disjvr_12^0'=__disjvr_12^post2, y_19^0'=y_19^post2, __disjvr_43^0'=__disjvr_43^post2, len_276^0'=len_276^post2, __disjvr_24^0'=__disjvr_24^post2, a_308^0'=a_308^post2, __disjvr_1^0'=__disjvr_1^post2, len_132^0'=len_132^post2, a_147^0'=a_147^post2, __disjvr_31^0'=__disjvr_31^post2, result_11^0'=result_11^post2, head_175^0'=head_175^post2, r_218^0'=r_218^post2, __disjvr_29^0'=__disjvr_29^post2, __disjvr_0^0'=__disjvr_0^post2, x_16^0'=x_16^post2, __disjvr_40^0'=__disjvr_40^post2, __disjvr_36^0'=__disjvr_36^post2, a_210^0'=a_210^post2, __disjvr_17^0'=__disjvr_17^post2, i_167^0'=i_167^post2, __disjvr_8^0'=__disjvr_8^post2, __disjvr_14^0'=__disjvr_14^post2, r_39^0'=r_39^post2, f_263^0'=f_263^post2, nondet_12^0'=nondet_12^post2, __disjvr_26^0'=__disjvr_26^post2, a_353^0'=a_353^post2, __disjvr_21^0'=__disjvr_21^post2, temp0_31^0'=temp0_31^post2, __disjvr_38^0'=__disjvr_38^post2, __disjvr_33^0'=__disjvr_33^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, head_268^0'=head_268^post2, head_32^0'=head_32^post2, __disjvr_5^0'=__disjvr_5^post2, __disjvr_11^0'=__disjvr_11^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, __disjvr_42^0'=__disjvr_42^post2, len_226^0'=len_226^post2, __disjvr_23^0'=__disjvr_23^post2, a_277^0'=a_277^post2, __disjvr_19^0'=__disjvr_19^post2, i_94^0'=i_94^post2, a_116^0'=a_116^post2, __disjvr_30^0'=__disjvr_30^post2, rcd_88^0'=rcd_88^post2, head_14^0'=head_14^post2, r_163^0'=r_163^post2, __disjvr_28^0'=__disjvr_28^post2, tmp_34^0'=tmp_34^post2, __disjvr_3^0'=__disjvr_3^post2, __disjvr_35^0'=__disjvr_35^post2, temp0_15^0'=temp0_15^post2, a_184^0'=a_184^post2, __disjvr_16^0'=__disjvr_16^post2, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_38^post2+__disjvr_38^0 == 0 /\ -__disjvr_34^post2+__disjvr_34^0 == 0 /\ -__disjvr_35^post2+__disjvr_35^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -__disjvr_26^post2+__disjvr_26^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ __disjvr_39^0-__disjvr_39^post2 == 0 /\ -a_277^post2+a_277^0 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ f_170^0-f_170^post2 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ __disjvr_37^0-__disjvr_37^post2 == 0 /\ -r_163^post2+r_163^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ -head_268^post2+head_268^0 == 0 /\ __disjvr_17^0-__disjvr_17^post2 == 0 /\ -rcd_88^post2+rcd_88^0 == 0 /\ -__disjvr_14^post2+__disjvr_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ ct_17^0-ct_17^post2 == 0 /\ r_218^0-r_218^post2 == 0 /\ __disjvr_43^0-__disjvr_43^post2 == 0 /\ -__disjvr_42^post2+__disjvr_42^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ -__disjvr_30^post2+__disjvr_30^0 == 0 /\ -temp0_15^post2+temp0_15^0 == 0 /\ -rcd_58^post2+rcd_58^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ a_241^0-a_241^post2 == 0 /\ a_210^0-a_210^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ f_263^0-f_263^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ length_29^0-length_29^post2 == 0 /\ -a_353^post2+a_353^0 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ __disjvr_12^0-__disjvr_12^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ -y_19^post2+y_19^0 == 0 /\ x_16^0-x_16^post2 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_132^0-len_132^post2 == 0 /\ -head_32^post2+head_32^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ i_30^0-i_30^post2 == 0 /\ -a_184^post2+a_184^0 == 0 /\ head_129^0-head_129^post2 == 0 /\ __disjvr_32^0-__disjvr_32^post2 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post2 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ -__disjvr_21^post2+__disjvr_21^0 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ -x_SLAM_f_18^post2+x_SLAM_f_18^0 == 0 /\ -a_147^post2+a_147^0 == 0 /\ __disjvr_36^0-__disjvr_36^post2 == 0 /\ -__disjvr_40^post2+__disjvr_40^0 == 0 /\ -len_276^post2+len_276^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_33^post2+__disjvr_33^0 == 0 /\ -tmp_34^post2+tmp_34^0 == 0 /\ len_183^0-len_183^post2 == 0 /\ -__disjvr_0^post2+__disjvr_0^0 == 0 /\ r_260^0-r_260^post2 == 0 /\ head_14^0-head_14^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ head_27^0-head_27^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -a_330^post2+a_330^0 == 0 /\ a_308^0-a_308^post2 == 0 /\ head_223^0-head_223^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ i_108^0-i_108^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ __disjvr_41^0-__disjvr_41^post2 == 0 /\ -__disjvr_31^post2+__disjvr_31^0 == 0 /\ -len_226^post2+len_226^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_175^post2+head_175^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ -r_39^post2+r_39^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2 == 0), cost: 1
  28: l1 -> l28 : i_108^0'=i_108^post28, __disjvr_7^0'=__disjvr_7^post28, __disjvr_13^0'=__disjvr_13^post28, f_170^0'=f_170^post28, length_29^0'=length_29^post28, __disjvr_25^0'=__disjvr_25^post28, a_330^0'=a_330^post28, __disjvr_20^0'=__disjvr_20^post28, len_183^0'=len_183^post28, __disjvr_37^0'=__disjvr_37^post28, __disjvr_32^0'=__disjvr_32^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_223^0'=head_223^post28, r_260^0'=r_260^post28, __disjvr_4^0'=__disjvr_4^post28, __disjvr_10^0'=__disjvr_10^post28, x_20^0'=x_20^post28, __disjvr_41^0'=__disjvr_41^post28, __disjvr_22^0'=__disjvr_22^post28, a_241^0'=a_241^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_9^0'=__disjvr_9^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_58^0'=rcd_58^post28, head_129^0'=head_129^post28, r_124^0'=r_124^post28, __disjvr_27^0'=__disjvr_27^post28, ct_17^0'=ct_17^post28, temp_35^0'=temp_35^post28, __disjvr_39^0'=__disjvr_39^post28, __disjvr_34^0'=__disjvr_34^post28, t_23^0'=t_23^post28, head_27^0'=head_27^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, __disjvr_6^0'=__disjvr_6^post28, __disjvr_12^0'=__disjvr_12^post28, y_19^0'=y_19^post28, __disjvr_43^0'=__disjvr_43^post28, len_276^0'=len_276^post28, __disjvr_24^0'=__disjvr_24^post28, a_308^0'=a_308^post28, __disjvr_1^0'=__disjvr_1^post28, len_132^0'=len_132^post28, a_147^0'=a_147^post28, __disjvr_31^0'=__disjvr_31^post28, result_11^0'=result_11^post28, head_175^0'=head_175^post28, r_218^0'=r_218^post28, __disjvr_29^0'=__disjvr_29^post28, __disjvr_0^0'=__disjvr_0^post28, x_16^0'=x_16^post28, __disjvr_40^0'=__disjvr_40^post28, __disjvr_36^0'=__disjvr_36^post28, a_210^0'=a_210^post28, __disjvr_17^0'=__disjvr_17^post28, i_167^0'=i_167^post28, __disjvr_8^0'=__disjvr_8^post28, __disjvr_14^0'=__disjvr_14^post28, r_39^0'=r_39^post28, f_263^0'=f_263^post28, nondet_12^0'=nondet_12^post28, __disjvr_26^0'=__disjvr_26^post28, a_353^0'=a_353^post28, __disjvr_21^0'=__disjvr_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_38^0'=__disjvr_38^post28, __disjvr_33^0'=__disjvr_33^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_268^0'=head_268^post28, head_32^0'=head_32^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, __disjvr_42^0'=__disjvr_42^post28, len_226^0'=len_226^post28, __disjvr_23^0'=__disjvr_23^post28, a_277^0'=a_277^post28, __disjvr_19^0'=__disjvr_19^post28, i_94^0'=i_94^post28, a_116^0'=a_116^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_88^0'=rcd_88^post28, head_14^0'=head_14^post28, r_163^0'=r_163^post28, __disjvr_28^0'=__disjvr_28^post28, tmp_34^0'=tmp_34^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_35^0'=__disjvr_35^post28, temp0_15^0'=temp0_15^post28, a_184^0'=a_184^post28, __disjvr_16^0'=__disjvr_16^post28, (0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ __disjvr_36^0-__disjvr_36^post28 == 0 /\ __disjvr_22^0-__disjvr_22^post28 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ __disjvr_32^0-__disjvr_32^post28 == 0 /\ -__disjvr_33^post28+__disjvr_33^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ r_124^0-r_124^post28 == 0 /\ -r_39^post28+r_39^0 == 0 /\ __disjvr_37^0-__disjvr_37^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ -a_308^post28+a_308^0 == 0 /\ a_330^0-a_330^post28 == 0 /\ -r_218^post28+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post28 == 0 /\ -temp0_15^post28+temp0_15^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -r_163^post28+r_163^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -len_226^post28+len_226^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ __disjvr_39^0-__disjvr_39^post28 == 0 /\ -__disjvr_14^post28+__disjvr_14^0 == 0 /\ head_129^0-head_129^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ len_132^0-len_132^post28 == 0 /\ a_147^0-a_147^post28 == 0 /\ len_183^0-len_183^post28 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ __disjvr_43^0-__disjvr_43^post28 == 0 /\ -__disjvr_30^post28+__disjvr_30^0 == 0 /\ __disjvr_31^0-__disjvr_31^post28 == 0 /\ -__disjvr_34^post28+__disjvr_34^0 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -f_263^post28+f_263^0 == 0 /\ __disjvr_42^0-__disjvr_42^post28 == 0 /\ -a_116^post28+a_116^0 == 0 /\ i_108^0-i_108^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ -__disjvr_35^post28+__disjvr_35^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -a_184^post28+a_184^0 == 0 /\ __disjvr_23^0-__disjvr_23^post28 == 0 /\ head_268^0-head_268^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ head_27^0-head_27^post28 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_38^post28+__disjvr_38^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ head_223^0-head_223^post28 == 0 /\ a_241^0-a_241^post28 == 0 /\ -len_276^post28+len_276^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ a_210^0-a_210^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_8^0-__disjvr_8^post28 == 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -a_353^post28+a_353^0 == 0 /\ r_260^0-r_260^post28 == 0 /\ x_20^0-x_20^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ length_29^0-length_29^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -__disjvr_26^post28+__disjvr_26^0 == 0 /\ -__disjvr_40^post28+__disjvr_40^0 == 0 /\ y_19^0-y_19^post28 == 0 /\ -a_277^post28+a_277^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -head_SLAM_f_26^post28+head_SLAM_f_26^0 == 0 /\ -__disjvr_28^post28+__disjvr_28^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0), cost: 1
   4: l5 -> l6 : i_108^0'=i_108^post4, __disjvr_7^0'=__disjvr_7^post4, __disjvr_13^0'=__disjvr_13^post4, f_170^0'=f_170^post4, length_29^0'=length_29^post4, __disjvr_25^0'=__disjvr_25^post4, a_330^0'=a_330^post4, __disjvr_20^0'=__disjvr_20^post4, len_183^0'=len_183^post4, __disjvr_37^0'=__disjvr_37^post4, __disjvr_32^0'=__disjvr_32^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, head_223^0'=head_223^post4, r_260^0'=r_260^post4, __disjvr_4^0'=__disjvr_4^post4, __disjvr_10^0'=__disjvr_10^post4, x_20^0'=x_20^post4, __disjvr_41^0'=__disjvr_41^post4, __disjvr_22^0'=__disjvr_22^post4, a_241^0'=a_241^post4, __disjvr_18^0'=__disjvr_18^post4, i_30^0'=i_30^post4, __disjvr_9^0'=__disjvr_9^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_58^0'=rcd_58^post4, head_129^0'=head_129^post4, r_124^0'=r_124^post4, __disjvr_27^0'=__disjvr_27^post4, ct_17^0'=ct_17^post4, temp_35^0'=temp_35^post4, __disjvr_39^0'=__disjvr_39^post4, __disjvr_34^0'=__disjvr_34^post4, t_23^0'=t_23^post4, head_27^0'=head_27^post4, __disjvr_15^0'=__disjvr_15^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, __disjvr_6^0'=__disjvr_6^post4, __disjvr_12^0'=__disjvr_12^post4, y_19^0'=y_19^post4, __disjvr_43^0'=__disjvr_43^post4, len_276^0'=len_276^post4, __disjvr_24^0'=__disjvr_24^post4, a_308^0'=a_308^post4, __disjvr_1^0'=__disjvr_1^post4, len_132^0'=len_132^post4, a_147^0'=a_147^post4, __disjvr_31^0'=__disjvr_31^post4, result_11^0'=result_11^post4, head_175^0'=head_175^post4, r_218^0'=r_218^post4, __disjvr_29^0'=__disjvr_29^post4, __disjvr_0^0'=__disjvr_0^post4, x_16^0'=x_16^post4, __disjvr_40^0'=__disjvr_40^post4, __disjvr_36^0'=__disjvr_36^post4, a_210^0'=a_210^post4, __disjvr_17^0'=__disjvr_17^post4, i_167^0'=i_167^post4, __disjvr_8^0'=__disjvr_8^post4, __disjvr_14^0'=__disjvr_14^post4, r_39^0'=r_39^post4, f_263^0'=f_263^post4, nondet_12^0'=nondet_12^post4, __disjvr_26^0'=__disjvr_26^post4, a_353^0'=a_353^post4, __disjvr_21^0'=__disjvr_21^post4, temp0_31^0'=temp0_31^post4, __disjvr_38^0'=__disjvr_38^post4, __disjvr_33^0'=__disjvr_33^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, head_268^0'=head_268^post4, head_32^0'=head_32^post4, __disjvr_5^0'=__disjvr_5^post4, __disjvr_11^0'=__disjvr_11^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, __disjvr_42^0'=__disjvr_42^post4, len_226^0'=len_226^post4, __disjvr_23^0'=__disjvr_23^post4, a_277^0'=a_277^post4, __disjvr_19^0'=__disjvr_19^post4, i_94^0'=i_94^post4, a_116^0'=a_116^post4, __disjvr_30^0'=__disjvr_30^post4, rcd_88^0'=rcd_88^post4, head_14^0'=head_14^post4, r_163^0'=r_163^post4, __disjvr_28^0'=__disjvr_28^post4, tmp_34^0'=tmp_34^post4, __disjvr_3^0'=__disjvr_3^post4, __disjvr_35^0'=__disjvr_35^post4, temp0_15^0'=temp0_15^post4, a_184^0'=a_184^post4, __disjvr_16^0'=__disjvr_16^post4, (-head_268^post4+head_268^0 == 0 /\ -__disjvr_9^post4+__disjvr_9^0 == 0 /\ f_170^0-f_170^post4 == 0 /\ -__disjvr_24^post4+__disjvr_24^0 == 0 /\ __disjvr_37^0-__disjvr_37^post4 == 0 /\ -a_116^post4+a_116^0 == 0 /\ i_167^0-i_167^post4 == 0 /\ -len_226^post4+len_226^0 == 0 /\ -rcd_88^post4+rcd_88^0 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ ct_17^0-ct_17^post4 == 0 /\ -__disjvr_21^post4+__disjvr_21^0 == 0 /\ -head_14^post4+head_14^0 == 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ i_30^0-i_30^post4 == 0 /\ -__disjvr_30^post4+__disjvr_30^0 == 0 /\ len_276^0-len_276^post4 == 0 /\ len_183^0-len_183^post4 == 0 /\ -__disjvr_38^post4+__disjvr_38^0 == 0 /\ a_353^0-a_353^post4 == 0 /\ -head_129^post4+head_129^0 == 0 /\ -a_308^post4+a_308^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -head_27^post4+head_27^0 == 0 /\ -temp0_15^post4+temp0_15^0 == 0 /\ temp_35^0-temp_35^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -__disjvr_42^post4+__disjvr_42^0 == 0 /\ head_175^0-head_175^post4 == 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ -r_218^post4+r_218^0 == 0 /\ -y_19^post4+y_19^0 == 0 /\ __disjvr_39^0-__disjvr_39^post4 == 0 /\ -__disjvr_29^post4+__disjvr_29^0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -__disjvr_19^post4+__disjvr_19^0 == 0 /\ __disjvr_32^0-__disjvr_32^post4 == 0 /\ __disjvr_7^0-__disjvr_7^post4 == 0 /\ -r_163^post4+r_163^0 == 0 /\ -len_132^post4+len_132^0 == 0 /\ r_124^0-r_124^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_16^post4+x_16^0 == 0 /\ -__disjvr_26^post4+__disjvr_26^0 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ __disjvr_31^0-__disjvr_31^post4 == 0 /\ -x_SLAM_f_18^post4+x_SLAM_f_18^0 == 0 /\ x_20^0-x_20^post4 == 0 /\ a_147^0-a_147^post4 == 0 /\ i_108^0-i_108^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post4 == 0 /\ -__disjvr_35^post4+__disjvr_35^0 == 0 /\ -a_277^post4+a_277^0 == 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ t_23^0-t_23^post4 == 0 /\ -a_184^post4+a_184^0 == 0 /\ -tmp_34^post4+tmp_34^0 == 0 /\ __disjvr_40^0-__disjvr_40^post4 == 0 /\ -a_210^post4+a_210^0 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ rcd_58^0-rcd_58^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ -__disjvr_8^post4+__disjvr_8^0 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ head_223^0-head_223^post4 == 0 /\ __disjvr_34^0-__disjvr_34^post4 == 0 /\ a_330^0-a_330^post4 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ __disjvr_33^0-__disjvr_33^post4 == 0 /\ r_260^0-r_260^post4 == 0 /\ f_263^0-f_263^post4 == 0 /\ r_39^0-r_39^post4 == 0 /\ -__disjvr_13^post4+__disjvr_13^0 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -__disjvr_1^0+__disjvr_1^post4 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ __disjvr_2^0-__disjvr_2^post4 == 0 /\ __disjvr_41^0-__disjvr_41^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post4 == 0 /\ -__disjvr_36^post4+__disjvr_36^0 == 0 /\ -a_241^post4+a_241^0 == 0 /\ -__disjvr_43^post4+__disjvr_43^0 == 0 /\ -head_32^post4+head_32^0 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ -__disjvr_0^post4+__disjvr_0^0 == 0), cost: 1
   5: l6 -> l7 : i_108^0'=i_108^post5, __disjvr_7^0'=__disjvr_7^post5, __disjvr_13^0'=__disjvr_13^post5, f_170^0'=f_170^post5, length_29^0'=length_29^post5, __disjvr_25^0'=__disjvr_25^post5, a_330^0'=a_330^post5, __disjvr_20^0'=__disjvr_20^post5, len_183^0'=len_183^post5, __disjvr_37^0'=__disjvr_37^post5, __disjvr_32^0'=__disjvr_32^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, head_223^0'=head_223^post5, r_260^0'=r_260^post5, __disjvr_4^0'=__disjvr_4^post5, __disjvr_10^0'=__disjvr_10^post5, x_20^0'=x_20^post5, __disjvr_41^0'=__disjvr_41^post5, __disjvr_22^0'=__disjvr_22^post5, a_241^0'=a_241^post5, __disjvr_18^0'=__disjvr_18^post5, i_30^0'=i_30^post5, __disjvr_9^0'=__disjvr_9^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_58^0'=rcd_58^post5, head_129^0'=head_129^post5, r_124^0'=r_124^post5, __disjvr_27^0'=__disjvr_27^post5, ct_17^0'=ct_17^post5, temp_35^0'=temp_35^post5, __disjvr_39^0'=__disjvr_39^post5, __disjvr_34^0'=__disjvr_34^post5, t_23^0'=t_23^post5, head_27^0'=head_27^post5, __disjvr_15^0'=__disjvr_15^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, __disjvr_6^0'=__disjvr_6^post5, __disjvr_12^0'=__disjvr_12^post5, y_19^0'=y_19^post5, __disjvr_43^0'=__disjvr_43^post5, len_276^0'=len_276^post5, __disjvr_24^0'=__disjvr_24^post5, a_308^0'=a_308^post5, __disjvr_1^0'=__disjvr_1^post5, len_132^0'=len_132^post5, a_147^0'=a_147^post5, __disjvr_31^0'=__disjvr_31^post5, result_11^0'=result_11^post5, head_175^0'=head_175^post5, r_218^0'=r_218^post5, __disjvr_29^0'=__disjvr_29^post5, __disjvr_0^0'=__disjvr_0^post5, x_16^0'=x_16^post5, __disjvr_40^0'=__disjvr_40^post5, __disjvr_36^0'=__disjvr_36^post5, a_210^0'=a_210^post5, __disjvr_17^0'=__disjvr_17^post5, i_167^0'=i_167^post5, __disjvr_8^0'=__disjvr_8^post5, __disjvr_14^0'=__disjvr_14^post5, r_39^0'=r_39^post5, f_263^0'=f_263^post5, nondet_12^0'=nondet_12^post5, __disjvr_26^0'=__disjvr_26^post5, a_353^0'=a_353^post5, __disjvr_21^0'=__disjvr_21^post5, temp0_31^0'=temp0_31^post5, __disjvr_38^0'=__disjvr_38^post5, __disjvr_33^0'=__disjvr_33^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, head_268^0'=head_268^post5, head_32^0'=head_32^post5, __disjvr_5^0'=__disjvr_5^post5, __disjvr_11^0'=__disjvr_11^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, __disjvr_42^0'=__disjvr_42^post5, len_226^0'=len_226^post5, __disjvr_23^0'=__disjvr_23^post5, a_277^0'=a_277^post5, __disjvr_19^0'=__disjvr_19^post5, i_94^0'=i_94^post5, a_116^0'=a_116^post5, __disjvr_30^0'=__disjvr_30^post5, rcd_88^0'=rcd_88^post5, head_14^0'=head_14^post5, r_163^0'=r_163^post5, __disjvr_28^0'=__disjvr_28^post5, tmp_34^0'=tmp_34^post5, __disjvr_3^0'=__disjvr_3^post5, __disjvr_35^0'=__disjvr_35^post5, temp0_15^0'=temp0_15^post5, a_184^0'=a_184^post5, __disjvr_16^0'=__disjvr_16^post5, (-__disjvr_19^post5+__disjvr_19^0 == 0 /\ a_241^0-a_241^post5 == 0 /\ -__disjvr_34^post5+__disjvr_34^0 == 0 /\ -head_268^post5+head_268^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ __disjvr_36^0-__disjvr_36^post5 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -x_SLAM_f_18^post5+x_SLAM_f_18^0 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ temp_35^0-temp_35^post5 == 0 /\ a_330^0-a_330^post5 == 0 /\ -head_14^post5+head_14^0 == 0 /\ -a_116^post5+a_116^0 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ head_27^0-head_27^post5 == 0 /\ -__disjvr_40^post5+__disjvr_40^0 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ x_16^0-x_16^post5 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ length_29^0-length_29^post5 == 0 /\ -a_210^post5+a_210^0 == 0 /\ -a_184^post5+a_184^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ -__disjvr_21^post5+__disjvr_21^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ r_39^0-r_39^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ -r_163^post5+r_163^0 == 0 /\ -__disjvr_0^post5+__disjvr_0^0 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_38^post5+__disjvr_38^0 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -tmp_34^post5+tmp_34^0 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ a_147^0-a_147^post5 == 0 /\ __disjvr_1^0-__disjvr_1^post5 == 0 /\ -__disjvr_31^post5+__disjvr_31^0 == 0 /\ -i_94^post5+i_94^0 == 0 /\ -__disjvr_11^post5+__disjvr_11^0 == 0 /\ -__disjvr_33^post5+__disjvr_33^0 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ i_167^0-i_167^post5 == 0 /\ -__disjvr_39^post5+__disjvr_39^0 == 0 /\ -__disjvr_29^post5+__disjvr_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ len_226^0-len_226^post5 == 0 /\ -a_277^post5+a_277^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ f_263^0-f_263^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ __disjvr_43^0-__disjvr_43^post5 == 0 /\ -rcd_88^post5+rcd_88^0 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ -head_223^post5+head_223^0 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ -__disjvr_37^post5+__disjvr_37^0 == 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ head_175^0-head_175^post5 == 0 /\ __disjvr_22^0-__disjvr_22^post5 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ __disjvr_41^0-__disjvr_41^post5 == 0 /\ -result_11^post5+result_11^0 == 0 /\ a_308^0-a_308^post5 == 0 /\ __disjvr_12^0-__disjvr_12^post5 == 0 /\ -__disjvr_35^post5+__disjvr_35^0 == 0 /\ -__disjvr_42^post5+__disjvr_42^0 == 0 /\ r_124^0-r_124^post5 == 0 /\ len_276^0-len_276^post5 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ -y_19^post5+y_19^0 == 0 /\ len_183^0-len_183^post5 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ r_260^0-r_260^post5 == 0 /\ -r_218^post5+r_218^0 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ i_30^0-i_30^post5 == 0 /\ x_20^0-x_20^post5 == 0 /\ head_129^0-head_129^post5 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ i_108^0-i_108^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ __disjvr_32^0-__disjvr_32^post5 == 0 /\ -a_353^post5+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -temp0_15^post5+temp0_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0), cost: 1
   6: l7 -> l8 : i_108^0'=i_108^post6, __disjvr_7^0'=__disjvr_7^post6, __disjvr_13^0'=__disjvr_13^post6, f_170^0'=f_170^post6, length_29^0'=length_29^post6, __disjvr_25^0'=__disjvr_25^post6, a_330^0'=a_330^post6, __disjvr_20^0'=__disjvr_20^post6, len_183^0'=len_183^post6, __disjvr_37^0'=__disjvr_37^post6, __disjvr_32^0'=__disjvr_32^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, head_223^0'=head_223^post6, r_260^0'=r_260^post6, __disjvr_4^0'=__disjvr_4^post6, __disjvr_10^0'=__disjvr_10^post6, x_20^0'=x_20^post6, __disjvr_41^0'=__disjvr_41^post6, __disjvr_22^0'=__disjvr_22^post6, a_241^0'=a_241^post6, __disjvr_18^0'=__disjvr_18^post6, i_30^0'=i_30^post6, __disjvr_9^0'=__disjvr_9^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_58^0'=rcd_58^post6, head_129^0'=head_129^post6, r_124^0'=r_124^post6, __disjvr_27^0'=__disjvr_27^post6, ct_17^0'=ct_17^post6, temp_35^0'=temp_35^post6, __disjvr_39^0'=__disjvr_39^post6, __disjvr_34^0'=__disjvr_34^post6, t_23^0'=t_23^post6, head_27^0'=head_27^post6, __disjvr_15^0'=__disjvr_15^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, __disjvr_6^0'=__disjvr_6^post6, __disjvr_12^0'=__disjvr_12^post6, y_19^0'=y_19^post6, __disjvr_43^0'=__disjvr_43^post6, len_276^0'=len_276^post6, __disjvr_24^0'=__disjvr_24^post6, a_308^0'=a_308^post6, __disjvr_1^0'=__disjvr_1^post6, len_132^0'=len_132^post6, a_147^0'=a_147^post6, __disjvr_31^0'=__disjvr_31^post6, result_11^0'=result_11^post6, head_175^0'=head_175^post6, r_218^0'=r_218^post6, __disjvr_29^0'=__disjvr_29^post6, __disjvr_0^0'=__disjvr_0^post6, x_16^0'=x_16^post6, __disjvr_40^0'=__disjvr_40^post6, __disjvr_36^0'=__disjvr_36^post6, a_210^0'=a_210^post6, __disjvr_17^0'=__disjvr_17^post6, i_167^0'=i_167^post6, __disjvr_8^0'=__disjvr_8^post6, __disjvr_14^0'=__disjvr_14^post6, r_39^0'=r_39^post6, f_263^0'=f_263^post6, nondet_12^0'=nondet_12^post6, __disjvr_26^0'=__disjvr_26^post6, a_353^0'=a_353^post6, __disjvr_21^0'=__disjvr_21^post6, temp0_31^0'=temp0_31^post6, __disjvr_38^0'=__disjvr_38^post6, __disjvr_33^0'=__disjvr_33^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, head_268^0'=head_268^post6, head_32^0'=head_32^post6, __disjvr_5^0'=__disjvr_5^post6, __disjvr_11^0'=__disjvr_11^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, __disjvr_42^0'=__disjvr_42^post6, len_226^0'=len_226^post6, __disjvr_23^0'=__disjvr_23^post6, a_277^0'=a_277^post6, __disjvr_19^0'=__disjvr_19^post6, i_94^0'=i_94^post6, a_116^0'=a_116^post6, __disjvr_30^0'=__disjvr_30^post6, rcd_88^0'=rcd_88^post6, head_14^0'=head_14^post6, r_163^0'=r_163^post6, __disjvr_28^0'=__disjvr_28^post6, tmp_34^0'=tmp_34^post6, __disjvr_3^0'=__disjvr_3^post6, __disjvr_35^0'=__disjvr_35^post6, temp0_15^0'=temp0_15^post6, a_184^0'=a_184^post6, __disjvr_16^0'=__disjvr_16^post6, (__disjvr_43^0-__disjvr_43^post6 == 0 /\ __disjvr_37^0-__disjvr_37^post6 == 0 /\ __disjvr_42^0-__disjvr_42^post6 == 0 /\ __disjvr_17^0-__disjvr_17^post6 == 0 /\ -a_277^post6+a_277^0 == 0 /\ __disjvr_31^0-__disjvr_31^post6 == 0 /\ len_132^0-len_132^post6 == 0 /\ -rcd_88^post6+rcd_88^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post6+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_35^post6+__disjvr_35^0 == 0 /\ -__disjvr_30^post6+__disjvr_30^0 == 0 /\ __disjvr_41^0-__disjvr_41^post6 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ __disjvr_36^0-__disjvr_36^post6 == 0 /\ -__disjvr_14^post6+__disjvr_14^0 == 0 /\ -__disjvr_38^post6+__disjvr_38^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ i_94^0-i_94^post6 == 0 /\ __disjvr_7^0-__disjvr_7^post6 == 0 /\ -head_SLAM_f_26^post6+head_SLAM_f_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ -i_167^post6+i_167^0 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -f_263^post6+f_263^0 == 0 /\ a_210^0-a_210^post6 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ r_260^0-r_260^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_2^post6-__disjvr_2^0 == 0 /\ __disjvr_34^0-__disjvr_34^post6 == 0 /\ i_108^0-i_108^post6 == 0 /\ head_129^0-head_129^post6 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ -__disjvr_23^post6+__disjvr_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post6 == 0 /\ -head_32^post6+head_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ ct_17^0-ct_17^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ -a_353^post6+a_353^0 == 0 /\ __disjvr_5^0-__disjvr_5^post6 == 0 /\ -r_124^post6+r_124^0 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ length_29^0-length_29^post6 == 0 /\ len_183^0-len_183^post6 == 0 /\ -head_268^post6+head_268^0 == 0 /\ -temp0_15^post6+temp0_15^0 == 0 /\ f_170^0-f_170^post6 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ y_19^0-y_19^post6 == 0 /\ head_223^0-head_223^post6 == 0 /\ -__disjvr_19^post6+__disjvr_19^0 == 0 /\ -i_30^post6+i_30^0 == 0 /\ -head_14^post6+head_14^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -len_226^post6+len_226^0 == 0 /\ -a_116^post6+a_116^0 == 0 /\ __disjvr_39^0-__disjvr_39^post6 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post6 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ head_27^0-head_27^post6 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ __disjvr_32^0-__disjvr_32^post6 == 0 /\ -__disjvr_40^post6+__disjvr_40^0 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -a_184^post6+a_184^0 == 0 /\ a_241^0-a_241^post6 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ -r_39^post6+r_39^0 == 0 /\ -head_175^post6+head_175^0 == 0 /\ -x_20^post6+x_20^0 == 0 /\ -__disjvr_33^post6+__disjvr_33^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ -r_163^post6+r_163^0 == 0 /\ r_218^0-r_218^post6 == 0 /\ a_308^0-a_308^post6 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ -a_330^post6+a_330^0 == 0 /\ -len_276^post6+len_276^0 == 0 /\ -a_147^post6+a_147^0 == 0), cost: 1
   7: l8 -> l9 : i_108^0'=i_108^post7, __disjvr_7^0'=__disjvr_7^post7, __disjvr_13^0'=__disjvr_13^post7, f_170^0'=f_170^post7, length_29^0'=length_29^post7, __disjvr_25^0'=__disjvr_25^post7, a_330^0'=a_330^post7, __disjvr_20^0'=__disjvr_20^post7, len_183^0'=len_183^post7, __disjvr_37^0'=__disjvr_37^post7, __disjvr_32^0'=__disjvr_32^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, head_223^0'=head_223^post7, r_260^0'=r_260^post7, __disjvr_4^0'=__disjvr_4^post7, __disjvr_10^0'=__disjvr_10^post7, x_20^0'=x_20^post7, __disjvr_41^0'=__disjvr_41^post7, __disjvr_22^0'=__disjvr_22^post7, a_241^0'=a_241^post7, __disjvr_18^0'=__disjvr_18^post7, i_30^0'=i_30^post7, __disjvr_9^0'=__disjvr_9^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_58^0'=rcd_58^post7, head_129^0'=head_129^post7, r_124^0'=r_124^post7, __disjvr_27^0'=__disjvr_27^post7, ct_17^0'=ct_17^post7, temp_35^0'=temp_35^post7, __disjvr_39^0'=__disjvr_39^post7, __disjvr_34^0'=__disjvr_34^post7, t_23^0'=t_23^post7, head_27^0'=head_27^post7, __disjvr_15^0'=__disjvr_15^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, __disjvr_6^0'=__disjvr_6^post7, __disjvr_12^0'=__disjvr_12^post7, y_19^0'=y_19^post7, __disjvr_43^0'=__disjvr_43^post7, len_276^0'=len_276^post7, __disjvr_24^0'=__disjvr_24^post7, a_308^0'=a_308^post7, __disjvr_1^0'=__disjvr_1^post7, len_132^0'=len_132^post7, a_147^0'=a_147^post7, __disjvr_31^0'=__disjvr_31^post7, result_11^0'=result_11^post7, head_175^0'=head_175^post7, r_218^0'=r_218^post7, __disjvr_29^0'=__disjvr_29^post7, __disjvr_0^0'=__disjvr_0^post7, x_16^0'=x_16^post7, __disjvr_40^0'=__disjvr_40^post7, __disjvr_36^0'=__disjvr_36^post7, a_210^0'=a_210^post7, __disjvr_17^0'=__disjvr_17^post7, i_167^0'=i_167^post7, __disjvr_8^0'=__disjvr_8^post7, __disjvr_14^0'=__disjvr_14^post7, r_39^0'=r_39^post7, f_263^0'=f_263^post7, nondet_12^0'=nondet_12^post7, __disjvr_26^0'=__disjvr_26^post7, a_353^0'=a_353^post7, __disjvr_21^0'=__disjvr_21^post7, temp0_31^0'=temp0_31^post7, __disjvr_38^0'=__disjvr_38^post7, __disjvr_33^0'=__disjvr_33^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, head_268^0'=head_268^post7, head_32^0'=head_32^post7, __disjvr_5^0'=__disjvr_5^post7, __disjvr_11^0'=__disjvr_11^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, __disjvr_42^0'=__disjvr_42^post7, len_226^0'=len_226^post7, __disjvr_23^0'=__disjvr_23^post7, a_277^0'=a_277^post7, __disjvr_19^0'=__disjvr_19^post7, i_94^0'=i_94^post7, a_116^0'=a_116^post7, __disjvr_30^0'=__disjvr_30^post7, rcd_88^0'=rcd_88^post7, head_14^0'=head_14^post7, r_163^0'=r_163^post7, __disjvr_28^0'=__disjvr_28^post7, tmp_34^0'=tmp_34^post7, __disjvr_3^0'=__disjvr_3^post7, __disjvr_35^0'=__disjvr_35^post7, temp0_15^0'=temp0_15^post7, a_184^0'=a_184^post7, __disjvr_16^0'=__disjvr_16^post7, (-nondet_12^post7+nondet_12^0 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ __disjvr_31^0-__disjvr_31^post7 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -r_260^post7+r_260^0 == 0 /\ -__disjvr_14^post7+__disjvr_14^0 == 0 /\ -temp0_15^post7+temp0_15^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ __disjvr_41^0-__disjvr_41^post7 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_43^0-__disjvr_43^post7 == 0 /\ -a_353^post7+a_353^0 == 0 /\ __disjvr_17^0-__disjvr_17^post7 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ -head_SLAM_f_26^post7+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post7 == 0 /\ -f_263^post7+f_263^0 == 0 /\ a_330^0-a_330^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post7+len_226^0 == 0 /\ -a_277^post7+a_277^0 == 0 /\ -__disjvr_35^post7+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post7 == 0 /\ len_132^0-len_132^post7 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -r_124^post7+r_124^0 == 0 /\ __disjvr_27^0-__disjvr_27^post7 == 0 /\ __disjvr_34^0-__disjvr_34^post7 == 0 /\ -a_184^post7+a_184^0 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ i_108^0-i_108^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ -i_167^post7+i_167^0 == 0 /\ __disjvr_42^0-__disjvr_42^post7 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -i_94^post7+i_94^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ -head_268^post7+head_268^0 == 0 /\ -__disjvr_33^post7+__disjvr_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ head_129^0-head_129^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ a_210^0-a_210^post7 == 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ len_183^0-len_183^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ length_29^0-length_29^post7 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ y_19^0-y_19^post7 == 0 /\ -a_147^post7+a_147^0 == 0 /\ -head_14^post7+head_14^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_36^0-__disjvr_36^post7 == 0 /\ -head_175^post7+head_175^0 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -x_16^post7+x_16^0 == 0 /\ -a_116^post7+a_116^0 == 0 /\ __disjvr_39^0-__disjvr_39^post7 == 0 /\ __disjvr_32^0-__disjvr_32^post7 == 0 /\ head_27^0-head_27^post7 == 0 /\ f_170^0-f_170^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ head_223^0-head_223^post7 == 0 /\ -__disjvr_38^post7+__disjvr_38^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -r_218^post7+r_218^0 == 0 /\ -__disjvr_40^post7+__disjvr_40^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ __disjvr_3^post7-__disjvr_3^0 == 0 /\ -x_20^post7+x_20^0 == 0 /\ -r_163^post7+r_163^0 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -len_276^post7+len_276^0 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ -__disjvr_26^post7+__disjvr_26^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -head_32^post7+head_32^0 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ a_308^0-a_308^post7 == 0 /\ a_241^0-a_241^post7 == 0), cost: 1
   8: l9 -> l4 : i_108^0'=i_108^post8, __disjvr_7^0'=__disjvr_7^post8, __disjvr_13^0'=__disjvr_13^post8, f_170^0'=f_170^post8, length_29^0'=length_29^post8, __disjvr_25^0'=__disjvr_25^post8, a_330^0'=a_330^post8, __disjvr_20^0'=__disjvr_20^post8, len_183^0'=len_183^post8, __disjvr_37^0'=__disjvr_37^post8, __disjvr_32^0'=__disjvr_32^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, head_223^0'=head_223^post8, r_260^0'=r_260^post8, __disjvr_4^0'=__disjvr_4^post8, __disjvr_10^0'=__disjvr_10^post8, x_20^0'=x_20^post8, __disjvr_41^0'=__disjvr_41^post8, __disjvr_22^0'=__disjvr_22^post8, a_241^0'=a_241^post8, __disjvr_18^0'=__disjvr_18^post8, i_30^0'=i_30^post8, __disjvr_9^0'=__disjvr_9^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_58^0'=rcd_58^post8, head_129^0'=head_129^post8, r_124^0'=r_124^post8, __disjvr_27^0'=__disjvr_27^post8, ct_17^0'=ct_17^post8, temp_35^0'=temp_35^post8, __disjvr_39^0'=__disjvr_39^post8, __disjvr_34^0'=__disjvr_34^post8, t_23^0'=t_23^post8, head_27^0'=head_27^post8, __disjvr_15^0'=__disjvr_15^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, __disjvr_6^0'=__disjvr_6^post8, __disjvr_12^0'=__disjvr_12^post8, y_19^0'=y_19^post8, __disjvr_43^0'=__disjvr_43^post8, len_276^0'=len_276^post8, __disjvr_24^0'=__disjvr_24^post8, a_308^0'=a_308^post8, __disjvr_1^0'=__disjvr_1^post8, len_132^0'=len_132^post8, a_147^0'=a_147^post8, __disjvr_31^0'=__disjvr_31^post8, result_11^0'=result_11^post8, head_175^0'=head_175^post8, r_218^0'=r_218^post8, __disjvr_29^0'=__disjvr_29^post8, __disjvr_0^0'=__disjvr_0^post8, x_16^0'=x_16^post8, __disjvr_40^0'=__disjvr_40^post8, __disjvr_36^0'=__disjvr_36^post8, a_210^0'=a_210^post8, __disjvr_17^0'=__disjvr_17^post8, i_167^0'=i_167^post8, __disjvr_8^0'=__disjvr_8^post8, __disjvr_14^0'=__disjvr_14^post8, r_39^0'=r_39^post8, f_263^0'=f_263^post8, nondet_12^0'=nondet_12^post8, __disjvr_26^0'=__disjvr_26^post8, a_353^0'=a_353^post8, __disjvr_21^0'=__disjvr_21^post8, temp0_31^0'=temp0_31^post8, __disjvr_38^0'=__disjvr_38^post8, __disjvr_33^0'=__disjvr_33^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, head_268^0'=head_268^post8, head_32^0'=head_32^post8, __disjvr_5^0'=__disjvr_5^post8, __disjvr_11^0'=__disjvr_11^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, __disjvr_42^0'=__disjvr_42^post8, len_226^0'=len_226^post8, __disjvr_23^0'=__disjvr_23^post8, a_277^0'=a_277^post8, __disjvr_19^0'=__disjvr_19^post8, i_94^0'=i_94^post8, a_116^0'=a_116^post8, __disjvr_30^0'=__disjvr_30^post8, rcd_88^0'=rcd_88^post8, head_14^0'=head_14^post8, r_163^0'=r_163^post8, __disjvr_28^0'=__disjvr_28^post8, tmp_34^0'=tmp_34^post8, __disjvr_3^0'=__disjvr_3^post8, __disjvr_35^0'=__disjvr_35^post8, temp0_15^0'=temp0_15^post8, a_184^0'=a_184^post8, __disjvr_16^0'=__disjvr_16^post8, (__disjvr_34^0-__disjvr_34^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -__disjvr_18^post8+__disjvr_18^0 == 0 /\ a_277^0-a_277^post8 == 0 /\ -head_14^post8+head_14^0 == 0 /\ head_268^0-head_268^post8 == 0 /\ -a_147^post8+a_147^0 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -x_SLAM_f_18^post8+x_SLAM_f_18^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post8+head_SLAM_f_26^0 == 0 /\ -__disjvr_9^post8+__disjvr_9^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ -len_226^post8+len_226^0 == 0 /\ -x_16^post8+x_16^0 == 0 /\ -f_263^post8+f_263^0 == 0 /\ -a_116^post8+a_116^0 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ -head_129^post8+head_129^0 == 0 /\ -__disjvr_0^post8+__disjvr_0^0 == 0 /\ y_19^0-y_19^post8 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post8+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_31^post8+__disjvr_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ __disjvr_40^0-__disjvr_40^post8 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ x_20^0-x_20^post8 == 0 /\ r_124^0-r_124^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -i_167^post8+i_167^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -head_27^post8+head_27^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ head_175^0-head_175^post8 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -rcd_88^post8+rcd_88^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ -temp0_15^post8+temp0_15^0 == 0 /\ i_108^0-i_108^post8 == 0 /\ -__disjvr_36^post8+__disjvr_36^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -len_132^post8+len_132^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ a_330^0-a_330^post8 == 0 /\ __disjvr_41^0-__disjvr_41^post8 == 0 /\ -__disjvr_42^post8+__disjvr_42^0 == 0 /\ r_260^0-r_260^post8 == 0 /\ __disjvr_33^0-__disjvr_33^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ a_353^0-a_353^post8 == 0 /\ -__disjvr_39^post8+__disjvr_39^0 == 0 /\ -__disjvr_35^post8+__disjvr_35^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ __disjvr_32^0-__disjvr_32^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ a_241^0-a_241^post8 == 0 /\ -i_94^post8+i_94^0 == 0 /\ rcd_58^0-rcd_58^post8 == 0 /\ -a_184^post8+a_184^0 == 0 /\ -__disjvr_29^post8+__disjvr_29^0 == 0 /\ f_170^0-f_170^post8 == 0 /\ -__disjvr_43^post8+__disjvr_43^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -length_29^post8+length_29^0 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ -a_210^post8+a_210^0 == 0 /\ -r_218^post8+r_218^0 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ r_163^0-r_163^post8 == 0 /\ __disjvr_27^0-__disjvr_27^post8 == 0 /\ len_276^0-len_276^post8 == 0 /\ temp_35^0-temp_35^post8 == 0 /\ __disjvr_38^0-__disjvr_38^post8 == 0 /\ -a_308^post8+a_308^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post8 == 0 /\ __disjvr_37^0-__disjvr_37^post8 == 0 /\ head_223^0-head_223^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post8 == 0), cost: 1
  91: l4 -> l85 : i_108^0'=i_108^post91, __disjvr_7^0'=__disjvr_7^post91, __disjvr_13^0'=__disjvr_13^post91, f_170^0'=f_170^post91, length_29^0'=length_29^post91, __disjvr_25^0'=__disjvr_25^post91, a_330^0'=a_330^post91, __disjvr_20^0'=__disjvr_20^post91, len_183^0'=len_183^post91, __disjvr_37^0'=__disjvr_37^post91, __disjvr_32^0'=__disjvr_32^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, head_223^0'=head_223^post91, r_260^0'=r_260^post91, __disjvr_4^0'=__disjvr_4^post91, __disjvr_10^0'=__disjvr_10^post91, x_20^0'=x_20^post91, __disjvr_41^0'=__disjvr_41^post91, __disjvr_22^0'=__disjvr_22^post91, a_241^0'=a_241^post91, __disjvr_18^0'=__disjvr_18^post91, i_30^0'=i_30^post91, __disjvr_9^0'=__disjvr_9^post91, __disjvr_2^0'=__disjvr_2^post91, rcd_58^0'=rcd_58^post91, head_129^0'=head_129^post91, r_124^0'=r_124^post91, __disjvr_27^0'=__disjvr_27^post91, ct_17^0'=ct_17^post91, temp_35^0'=temp_35^post91, __disjvr_39^0'=__disjvr_39^post91, __disjvr_34^0'=__disjvr_34^post91, t_23^0'=t_23^post91, head_27^0'=head_27^post91, __disjvr_15^0'=__disjvr_15^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, __disjvr_6^0'=__disjvr_6^post91, __disjvr_12^0'=__disjvr_12^post91, y_19^0'=y_19^post91, __disjvr_43^0'=__disjvr_43^post91, len_276^0'=len_276^post91, __disjvr_24^0'=__disjvr_24^post91, a_308^0'=a_308^post91, __disjvr_1^0'=__disjvr_1^post91, len_132^0'=len_132^post91, a_147^0'=a_147^post91, __disjvr_31^0'=__disjvr_31^post91, result_11^0'=result_11^post91, head_175^0'=head_175^post91, r_218^0'=r_218^post91, __disjvr_29^0'=__disjvr_29^post91, __disjvr_0^0'=__disjvr_0^post91, x_16^0'=x_16^post91, __disjvr_40^0'=__disjvr_40^post91, __disjvr_36^0'=__disjvr_36^post91, a_210^0'=a_210^post91, __disjvr_17^0'=__disjvr_17^post91, i_167^0'=i_167^post91, __disjvr_8^0'=__disjvr_8^post91, __disjvr_14^0'=__disjvr_14^post91, r_39^0'=r_39^post91, f_263^0'=f_263^post91, nondet_12^0'=nondet_12^post91, __disjvr_26^0'=__disjvr_26^post91, a_353^0'=a_353^post91, __disjvr_21^0'=__disjvr_21^post91, temp0_31^0'=temp0_31^post91, __disjvr_38^0'=__disjvr_38^post91, __disjvr_33^0'=__disjvr_33^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, head_268^0'=head_268^post91, head_32^0'=head_32^post91, __disjvr_5^0'=__disjvr_5^post91, __disjvr_11^0'=__disjvr_11^post91, x_SLAM_f_18^0'=x_SLAM_f_18^post91, __disjvr_42^0'=__disjvr_42^post91, len_226^0'=len_226^post91, __disjvr_23^0'=__disjvr_23^post91, a_277^0'=a_277^post91, __disjvr_19^0'=__disjvr_19^post91, i_94^0'=i_94^post91, a_116^0'=a_116^post91, __disjvr_30^0'=__disjvr_30^post91, rcd_88^0'=rcd_88^post91, head_14^0'=head_14^post91, r_163^0'=r_163^post91, __disjvr_28^0'=__disjvr_28^post91, tmp_34^0'=tmp_34^post91, __disjvr_3^0'=__disjvr_3^post91, __disjvr_35^0'=__disjvr_35^post91, temp0_15^0'=temp0_15^post91, a_184^0'=a_184^post91, __disjvr_16^0'=__disjvr_16^post91, (0 == 0 /\ length_29^0-length_29^post91 == 0 /\ -r_260^post91+r_260^0 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ -t_23^post91+t_23^0 == 0 /\ -a_353^post91+a_353^0 == 0 /\ -__disjvr_27^post91+__disjvr_27^0 == 0 /\ __disjvr_43^0-__disjvr_43^post91 == 0 /\ __disjvr_17^0-__disjvr_17^post91 == 0 /\ __disjvr_23^0-__disjvr_23^post91 == 0 /\ -__disjvr_28^post91+__disjvr_28^0 == 0 /\ -temp0_15^post91+temp0_15^0 == 0 /\ len_183^0-len_183^post91 == 0 /\ temp_35^0-temp_35^post91 == 0 /\ -x_20^post91+x_SLAM_f_18^post91 <= 0 /\ -f_263^post91+f_263^0 == 0 /\ -len_226^post91+len_226^0 == 0 /\ a_330^0-a_330^post91 == 0 /\ -x_20^post91+head_14^0 <= 0 /\ __disjvr_37^0-__disjvr_37^post91 == 0 /\ -__disjvr_35^post91+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post91 == 0 /\ __disjvr_5^0-__disjvr_5^post91 == 0 /\ len_132^0-len_132^post91 == 0 /\ __disjvr_22^0-__disjvr_22^post91 == 0 /\ -y_19^post91 <= 0 /\ -temp0_31^post91+temp0_31^0 == 0 /\ -r_163^post91+r_163^0 == 0 /\ -a_116^post91+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post91 == 0 /\ i_108^0-i_108^post91 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ -i_94^post91+i_94^0 == 0 /\ -__disjvr_11^post91+__disjvr_11^0 == 0 /\ -r_124^post91+r_124^0 == 0 /\ -a_184^post91+a_184^0 == 0 /\ __disjvr_42^0-__disjvr_42^post91 == 0 /\ -i_167^post91+i_167^0 == 0 /\ -head_268^post91+head_268^0 == 0 /\ __disjvr_4^0-__disjvr_4^post91 == 0 /\ head_27^0 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 == 0 /\ -__disjvr_12^post91+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post91 == 0 /\ -head_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91 == 0 /\ __disjvr_10^0-__disjvr_10^post91 == 0 /\ -__disjvr_33^post91+__disjvr_33^0 == 0 /\ -__disjvr_16^post91+__disjvr_16^0 == 0 /\ -rcd_58^post91+rcd_58^0 == 0 /\ x_20^post91-head_14^0 <= 0 /\ head_129^0-head_129^post91 == 0 /\ -__disjvr_2^post91+__disjvr_2^0 == 0 /\ -head_14^post91+head_14^0 == 0 /\ -len_226^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post91 == 0 /\ a_210^0-a_210^post91 == 0 /\ __disjvr_9^0-__disjvr_9^post91 == 0 /\ -head_14^0+x_SLAM_f_18^post91 <= 0 /\ -__disjvr_30^post91+__disjvr_30^0 == 0 /\ -ct_17^post91 <= 0 /\ -__disjvr_3^post91+__disjvr_3^0 == 0 /\ x_16^post91-head_14^0 <= 0 /\ x_16^post91-head_14^0 == 0 /\ -len_276^post91+len_276^0 == 0 /\ x_16^post91-x_SLAM_f_18^post91 <= 0 /\ -__disjvr_15^post91+__disjvr_15^0 == 0 /\ -a_147^post91+a_147^0 == 0 /\ head_223^0-head_223^post91 == 0 /\ result_11^0-result_11^post91 == 0 /\ i_30^0-i_30^post91 == 0 /\ __disjvr_21^0-__disjvr_21^post91 == 0 /\ -__disjvr_19^post91+__disjvr_19^0 == 0 /\ ct_17^post91-y_19^post91 <= 0 /\ -a_277^post91+a_277^0 == 0 /\ ct_17^post91 <= 0 /\ ct_17^post91 == 0 /\ -a_241^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post91 == 0 /\ -head_175^post91+head_175^0 == 0 /\ f_170^0-f_170^post91 == 0 /\ __disjvr_24^0-__disjvr_24^post91 == 0 /\ head_14^0-x_SLAM_f_18^post91 <= 0 /\ a_308^0-a_308^post91 == 0 /\ -__disjvr_40^post91+__disjvr_40^0 == 0 /\ __disjvr_8^0-__disjvr_8^post91 == 0 /\ -x_16^post91+head_14^0 <= 0 /\ y_19^post91 <= 0 /\ __disjvr_41^0-__disjvr_41^post91 == 0 /\ __disjvr_0^0-__disjvr_0^post91 == 0 /\ -__disjvr_38^post91+__disjvr_38^0 == 0 /\ -head_32^post91+head_32^0 == 0 /\ -r_39^post91+r_39^0 == 0 /\ -r_218^post91+r_218^0 == 0 /\ -x_16^post91+x_SLAM_f_18^post91 <= 0 /\ -x_16^post91+x_SLAM_f_18^post91 == 0 /\ __disjvr_13^0-__disjvr_13^post91 == 0 /\ __disjvr_7^0-__disjvr_7^post91 == 0 /\ -rcd_88^post91+rcd_88^0 == 0 /\ -ct_17^post91+y_19^post91 <= 0 /\ -ct_17^post91+y_19^post91 == 0 /\ -__disjvr_1^post91+__disjvr_1^0 == 0 /\ __disjvr_20^0-__disjvr_20^post91 == 0 /\ -__disjvr_32^post91+__disjvr_32^0 == 0 /\ __disjvr_39^0-__disjvr_39^post91 == 0 /\ __disjvr_6^0-__disjvr_6^post91 == 0 /\ a_241^0-a_241^post91 == 0 /\ __disjvr_31^0-__disjvr_31^post91 == 0 /\ -__disjvr_26^post91+__disjvr_26^0 == 0 /\ -__disjvr_14^post91+__disjvr_14^0 == 0), cost: 1
  94: l4 -> l88 : i_108^0'=i_108^post94, __disjvr_7^0'=__disjvr_7^post94, __disjvr_13^0'=__disjvr_13^post94, f_170^0'=f_170^post94, length_29^0'=length_29^post94, __disjvr_25^0'=__disjvr_25^post94, a_330^0'=a_330^post94, __disjvr_20^0'=__disjvr_20^post94, len_183^0'=len_183^post94, __disjvr_37^0'=__disjvr_37^post94, __disjvr_32^0'=__disjvr_32^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, head_223^0'=head_223^post94, r_260^0'=r_260^post94, __disjvr_4^0'=__disjvr_4^post94, __disjvr_10^0'=__disjvr_10^post94, x_20^0'=x_20^post94, __disjvr_41^0'=__disjvr_41^post94, __disjvr_22^0'=__disjvr_22^post94, a_241^0'=a_241^post94, __disjvr_18^0'=__disjvr_18^post94, i_30^0'=i_30^post94, __disjvr_9^0'=__disjvr_9^post94, __disjvr_2^0'=__disjvr_2^post94, rcd_58^0'=rcd_58^post94, head_129^0'=head_129^post94, r_124^0'=r_124^post94, __disjvr_27^0'=__disjvr_27^post94, ct_17^0'=ct_17^post94, temp_35^0'=temp_35^post94, __disjvr_39^0'=__disjvr_39^post94, __disjvr_34^0'=__disjvr_34^post94, t_23^0'=t_23^post94, head_27^0'=head_27^post94, __disjvr_15^0'=__disjvr_15^post94, head_SLAM_f_26^0'=head_SLAM_f_26^post94, __disjvr_6^0'=__disjvr_6^post94, __disjvr_12^0'=__disjvr_12^post94, y_19^0'=y_19^post94, __disjvr_43^0'=__disjvr_43^post94, len_276^0'=len_276^post94, __disjvr_24^0'=__disjvr_24^post94, a_308^0'=a_308^post94, __disjvr_1^0'=__disjvr_1^post94, len_132^0'=len_132^post94, a_147^0'=a_147^post94, __disjvr_31^0'=__disjvr_31^post94, result_11^0'=result_11^post94, head_175^0'=head_175^post94, r_218^0'=r_218^post94, __disjvr_29^0'=__disjvr_29^post94, __disjvr_0^0'=__disjvr_0^post94, x_16^0'=x_16^post94, __disjvr_40^0'=__disjvr_40^post94, __disjvr_36^0'=__disjvr_36^post94, a_210^0'=a_210^post94, __disjvr_17^0'=__disjvr_17^post94, i_167^0'=i_167^post94, __disjvr_8^0'=__disjvr_8^post94, __disjvr_14^0'=__disjvr_14^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, nondet_12^0'=nondet_12^post94, __disjvr_26^0'=__disjvr_26^post94, a_353^0'=a_353^post94, __disjvr_21^0'=__disjvr_21^post94, temp0_31^0'=temp0_31^post94, __disjvr_38^0'=__disjvr_38^post94, __disjvr_33^0'=__disjvr_33^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_32^0'=head_32^post94, __disjvr_5^0'=__disjvr_5^post94, __disjvr_11^0'=__disjvr_11^post94, x_SLAM_f_18^0'=x_SLAM_f_18^post94, __disjvr_42^0'=__disjvr_42^post94, len_226^0'=len_226^post94, __disjvr_23^0'=__disjvr_23^post94, a_277^0'=a_277^post94, __disjvr_19^0'=__disjvr_19^post94, i_94^0'=i_94^post94, a_116^0'=a_116^post94, __disjvr_30^0'=__disjvr_30^post94, rcd_88^0'=rcd_88^post94, head_14^0'=head_14^post94, r_163^0'=r_163^post94, __disjvr_28^0'=__disjvr_28^post94, tmp_34^0'=tmp_34^post94, __disjvr_3^0'=__disjvr_3^post94, __disjvr_35^0'=__disjvr_35^post94, temp0_15^0'=temp0_15^post94, a_184^0'=a_184^post94, __disjvr_16^0'=__disjvr_16^post94, (0 == 0 /\ -a_353^post94+a_353^0 == 0 /\ -y_19^post94+y_19^0 == 0 /\ head_129^0-head_129^post94 == 0 /\ -a_308^post94+a_308^0 == 0 /\ __disjvr_19^0-__disjvr_19^post94 == 0 /\ __disjvr_2^0-__disjvr_2^post94 == 0 /\ -temp0_15^post94+temp0_15^0 == 0 /\ -__disjvr_21^post94+__disjvr_21^0 == 0 /\ -__disjvr_31^post94+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post94 == 0 /\ -t_23^post94+t_23^0 == 0 /\ -__disjvr_0^post94+__disjvr_0^0 == 0 /\ len_226^0-len_226^post94 == 0 /\ r_218^0-r_218^post94 == 0 /\ a_241^0-a_241^post94 == 0 /\ x_20^0-x_20^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ r_260^0-r_260^post94 == 0 /\ i_108^0-i_108^post94 == 0 /\ -__disjvr_11^post94+__disjvr_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post94 == 0 /\ a_147^0-a_147^post94 == 0 /\ __disjvr_39^0-__disjvr_39^post94 == 0 /\ __disjvr_20^0-__disjvr_20^post94 == 0 /\ head_27^0-head_27^post94 == 0 /\ -__disjvr_17^post94+__disjvr_17^0 == 0 /\ __disjvr_32^0-__disjvr_32^post94 == 0 /\ __disjvr_1^0-__disjvr_1^post94 == 0 /\ -len_132^post94+len_132^0 == 0 /\ -a_277^post94+a_277^0 == 0 /\ -head_32^post94+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ x_16^0-x_16^post94 == 0 /\ r_124^0-r_124^post94 == 0 /\ rcd_58^0-rcd_58^post94 == 0 /\ -a_184^post94+a_184^0 == 0 /\ -__disjvr_28^post94+__disjvr_28^0 == 0 /\ -tmp_34^post94+tmp_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post94 == 0 /\ head_223^0-head_223^post94 == 0 /\ -__disjvr_42^post94+__disjvr_42^0 == 0 /\ -__disjvr_34^post94+__disjvr_34^0 == 0 /\ -ct_17^post94+ct_17^0 == 0 /\ -__disjvr_16^post94+__disjvr_16^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_8^post94+__disjvr_8^0 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -__disjvr_22^post94+__disjvr_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post94 == 0 /\ -__disjvr_23^post94+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post94 == 0 /\ -len_276^post94+len_276^0 == 0 /\ -__disjvr_33^post94+__disjvr_33^0 == 0 /\ length_29^0-length_29^post94 == 0 /\ __disjvr_7^0-__disjvr_7^post94 == 0 /\ len_183^0-len_183^post94 == 0 /\ -__disjvr_29^post94+__disjvr_29^0 == 0 /\ a_330^0-a_330^post94 == 0 /\ __disjvr_26^0-__disjvr_26^post94 == 0 /\ -r_163^post94+r_163^0 == 0 /\ __disjvr_43^0-__disjvr_43^post94 == 0 /\ -a_241^0 <= 0 /\ -__disjvr_3^post94+__disjvr_3^0 == 0 /\ __disjvr_37^0-__disjvr_37^post94 == 0 /\ i_167^0-i_167^post94 == 0 /\ -__disjvr_36^post94+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post94 == 0 /\ -__disjvr_14^post94+__disjvr_14^0 == 0 /\ -x_SLAM_f_18^post94+x_SLAM_f_18^0 == 0 /\ -__disjvr_41^post94+__disjvr_41^0 == 0 /\ -rcd_88^post94+rcd_88^0 == 0 /\ -f_170^post94+f_170^0 == 0 /\ __disjvr_6^0-__disjvr_6^post94 == 0 /\ -a_116^post94+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post94 == 0 /\ -__disjvr_40^post94+__disjvr_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post94 == 0 /\ __disjvr_10^0-__disjvr_10^post94 == 0 /\ -a_210^post94+a_210^0 == 0 /\ -__disjvr_35^post94+__disjvr_35^0 == 0 /\ -__disjvr_30^post94+__disjvr_30^0 == 0 /\ -result_11^post94+result_11^0 == 0 /\ head_175^0-head_175^post94 == 0 /\ nondet_12^0-nondet_12^post94 == 0 /\ i_30^0-i_30^post94 == 0 /\ __disjvr_15^0-__disjvr_15^post94 == 0 /\ -__disjvr_5^post94+__disjvr_5^0 == 0 /\ -i_94^post94+i_94^0 == 0 /\ -__disjvr_38^post94+__disjvr_38^0 == 0), cost: 1
   9: l10 -> l11 : i_108^0'=i_108^post9, __disjvr_7^0'=__disjvr_7^post9, __disjvr_13^0'=__disjvr_13^post9, f_170^0'=f_170^post9, length_29^0'=length_29^post9, __disjvr_25^0'=__disjvr_25^post9, a_330^0'=a_330^post9, __disjvr_20^0'=__disjvr_20^post9, len_183^0'=len_183^post9, __disjvr_37^0'=__disjvr_37^post9, __disjvr_32^0'=__disjvr_32^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, head_223^0'=head_223^post9, r_260^0'=r_260^post9, __disjvr_4^0'=__disjvr_4^post9, __disjvr_10^0'=__disjvr_10^post9, x_20^0'=x_20^post9, __disjvr_41^0'=__disjvr_41^post9, __disjvr_22^0'=__disjvr_22^post9, a_241^0'=a_241^post9, __disjvr_18^0'=__disjvr_18^post9, i_30^0'=i_30^post9, __disjvr_9^0'=__disjvr_9^post9, __disjvr_2^0'=__disjvr_2^post9, rcd_58^0'=rcd_58^post9, head_129^0'=head_129^post9, r_124^0'=r_124^post9, __disjvr_27^0'=__disjvr_27^post9, ct_17^0'=ct_17^post9, temp_35^0'=temp_35^post9, __disjvr_39^0'=__disjvr_39^post9, __disjvr_34^0'=__disjvr_34^post9, t_23^0'=t_23^post9, head_27^0'=head_27^post9, __disjvr_15^0'=__disjvr_15^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, __disjvr_6^0'=__disjvr_6^post9, __disjvr_12^0'=__disjvr_12^post9, y_19^0'=y_19^post9, __disjvr_43^0'=__disjvr_43^post9, len_276^0'=len_276^post9, __disjvr_24^0'=__disjvr_24^post9, a_308^0'=a_308^post9, __disjvr_1^0'=__disjvr_1^post9, len_132^0'=len_132^post9, a_147^0'=a_147^post9, __disjvr_31^0'=__disjvr_31^post9, result_11^0'=result_11^post9, head_175^0'=head_175^post9, r_218^0'=r_218^post9, __disjvr_29^0'=__disjvr_29^post9, __disjvr_0^0'=__disjvr_0^post9, x_16^0'=x_16^post9, __disjvr_40^0'=__disjvr_40^post9, __disjvr_36^0'=__disjvr_36^post9, a_210^0'=a_210^post9, __disjvr_17^0'=__disjvr_17^post9, i_167^0'=i_167^post9, __disjvr_8^0'=__disjvr_8^post9, __disjvr_14^0'=__disjvr_14^post9, r_39^0'=r_39^post9, f_263^0'=f_263^post9, nondet_12^0'=nondet_12^post9, __disjvr_26^0'=__disjvr_26^post9, a_353^0'=a_353^post9, __disjvr_21^0'=__disjvr_21^post9, temp0_31^0'=temp0_31^post9, __disjvr_38^0'=__disjvr_38^post9, __disjvr_33^0'=__disjvr_33^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, head_268^0'=head_268^post9, head_32^0'=head_32^post9, __disjvr_5^0'=__disjvr_5^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, __disjvr_42^0'=__disjvr_42^post9, len_226^0'=len_226^post9, __disjvr_23^0'=__disjvr_23^post9, a_277^0'=a_277^post9, __disjvr_19^0'=__disjvr_19^post9, i_94^0'=i_94^post9, a_116^0'=a_116^post9, __disjvr_30^0'=__disjvr_30^post9, rcd_88^0'=rcd_88^post9, head_14^0'=head_14^post9, r_163^0'=r_163^post9, __disjvr_28^0'=__disjvr_28^post9, tmp_34^0'=tmp_34^post9, __disjvr_3^0'=__disjvr_3^post9, __disjvr_35^0'=__disjvr_35^post9, temp0_15^0'=temp0_15^post9, a_184^0'=a_184^post9, __disjvr_16^0'=__disjvr_16^post9, (0 == 0 /\ __disjvr_13^0-__disjvr_13^post9 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ -r_39^post9+r_39^0 == 0 /\ a_330^0-a_330^post9 == 0 /\ __disjvr_15^0-__disjvr_15^post9 == 0 /\ -__disjvr_0^post9+__disjvr_0^0 == 0 /\ -__disjvr_30^post9+__disjvr_30^0 == 0 /\ head_27^0-head_27^post9 == 0 /\ -r_124^post9+r_124^0 == 0 /\ head_268^0-head_268^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ -__disjvr_42^post9+__disjvr_42^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ head_129^0-head_129^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ length_29^0-length_29^post9 == 0 /\ __disjvr_27^0-__disjvr_27^post9 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ -i_167^post9+i_167^0 == 0 /\ head_32^0-head_32^post9 == 0 /\ -r_218^post9+r_218^0 == 0 /\ -r_163^post9+r_163^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -len_226^post9+len_226^0 == 0 /\ -tmp_34^post9+tmp_34^0 == 0 /\ -i_94^post9+i_94^0 == 0 /\ -a_116^post9+a_116^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ -a_241^post9+a_241^0 == 0 /\ -__disjvr_35^post9+__disjvr_35^0 == 0 /\ __disjvr_40^0-__disjvr_40^post9 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ head_223^0-head_223^post9 == 0 /\ -rcd_88^post9+rcd_88^0 == 0 /\ -rcd_58^post9+rcd_58^0 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ __disjvr_37^0-__disjvr_37^post9 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ -a_147^post9+a_147^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_19^post9+__disjvr_19^0 == 0 /\ a_184^0-a_184^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ __disjvr_22^0-__disjvr_22^post9 == 0 /\ __disjvr_38^0-__disjvr_38^post9 == 0 /\ -__disjvr_43^post9+__disjvr_43^0 == 0 /\ result_11^post9-temp0_15^0 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ __disjvr_36^0-__disjvr_36^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -head_175^post9+head_175^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ a_353^0-a_353^post9 == 0 /\ -len_183^post9+len_183^0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -head_SLAM_f_26^post9+head_SLAM_f_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post9 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ __disjvr_41^0-__disjvr_41^post9 == 0 /\ -a_210^post9+a_210^0 == 0 /\ -r_260^post9+r_260^0 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ -a_277^post9+a_277^0 == 0 /\ __disjvr_31^0-__disjvr_31^post9 == 0 /\ __disjvr_39^0-__disjvr_39^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ i_30^0-i_30^post9 == 0 /\ -__disjvr_11^post9+__disjvr_11^0 == 0 /\ -__disjvr_14^post9+__disjvr_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ -head_14^post9+head_14^0 == 0 /\ -__disjvr_33^post9+__disjvr_33^0 == 0 /\ i_108^0-i_108^post9 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ f_263^0-f_263^post9 == 0 /\ f_170^0-f_170^post9 == 0 /\ -len_276^post9+len_276^0 == 0 /\ x_20^0-y_19^0 <= 0 /\ -len_132^post9+len_132^0 == 0 /\ __disjvr_28^0-__disjvr_28^post9 == 0 /\ a_308^0-a_308^post9 == 0 /\ -a_330^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post9 == 0 /\ -temp0_15^post9+temp0_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0), cost: 1
  10: l10 -> l13 : i_108^0'=i_108^post10, __disjvr_7^0'=__disjvr_7^post10, __disjvr_13^0'=__disjvr_13^post10, f_170^0'=f_170^post10, length_29^0'=length_29^post10, __disjvr_25^0'=__disjvr_25^post10, a_330^0'=a_330^post10, __disjvr_20^0'=__disjvr_20^post10, len_183^0'=len_183^post10, __disjvr_37^0'=__disjvr_37^post10, __disjvr_32^0'=__disjvr_32^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_223^0'=head_223^post10, r_260^0'=r_260^post10, __disjvr_4^0'=__disjvr_4^post10, __disjvr_10^0'=__disjvr_10^post10, x_20^0'=x_20^post10, __disjvr_41^0'=__disjvr_41^post10, __disjvr_22^0'=__disjvr_22^post10, a_241^0'=a_241^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_9^0'=__disjvr_9^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_58^0'=rcd_58^post10, head_129^0'=head_129^post10, r_124^0'=r_124^post10, __disjvr_27^0'=__disjvr_27^post10, ct_17^0'=ct_17^post10, temp_35^0'=temp_35^post10, __disjvr_39^0'=__disjvr_39^post10, __disjvr_34^0'=__disjvr_34^post10, t_23^0'=t_23^post10, head_27^0'=head_27^post10, __disjvr_15^0'=__disjvr_15^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, __disjvr_6^0'=__disjvr_6^post10, __disjvr_12^0'=__disjvr_12^post10, y_19^0'=y_19^post10, __disjvr_43^0'=__disjvr_43^post10, len_276^0'=len_276^post10, __disjvr_24^0'=__disjvr_24^post10, a_308^0'=a_308^post10, __disjvr_1^0'=__disjvr_1^post10, len_132^0'=len_132^post10, a_147^0'=a_147^post10, __disjvr_31^0'=__disjvr_31^post10, result_11^0'=result_11^post10, head_175^0'=head_175^post10, r_218^0'=r_218^post10, __disjvr_29^0'=__disjvr_29^post10, __disjvr_0^0'=__disjvr_0^post10, x_16^0'=x_16^post10, __disjvr_40^0'=__disjvr_40^post10, __disjvr_36^0'=__disjvr_36^post10, a_210^0'=a_210^post10, __disjvr_17^0'=__disjvr_17^post10, i_167^0'=i_167^post10, __disjvr_8^0'=__disjvr_8^post10, __disjvr_14^0'=__disjvr_14^post10, r_39^0'=r_39^post10, f_263^0'=f_263^post10, nondet_12^0'=nondet_12^post10, __disjvr_26^0'=__disjvr_26^post10, a_353^0'=a_353^post10, __disjvr_21^0'=__disjvr_21^post10, temp0_31^0'=temp0_31^post10, __disjvr_38^0'=__disjvr_38^post10, __disjvr_33^0'=__disjvr_33^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, head_268^0'=head_268^post10, head_32^0'=head_32^post10, __disjvr_5^0'=__disjvr_5^post10, __disjvr_11^0'=__disjvr_11^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, __disjvr_42^0'=__disjvr_42^post10, len_226^0'=len_226^post10, __disjvr_23^0'=__disjvr_23^post10, a_277^0'=a_277^post10, __disjvr_19^0'=__disjvr_19^post10, i_94^0'=i_94^post10, a_116^0'=a_116^post10, __disjvr_30^0'=__disjvr_30^post10, rcd_88^0'=rcd_88^post10, head_14^0'=head_14^post10, r_163^0'=r_163^post10, __disjvr_28^0'=__disjvr_28^post10, tmp_34^0'=tmp_34^post10, __disjvr_3^0'=__disjvr_3^post10, __disjvr_35^0'=__disjvr_35^post10, temp0_15^0'=temp0_15^post10, a_184^0'=a_184^post10, __disjvr_16^0'=__disjvr_16^post10, (0 == 0 /\ __disjvr_40^0-__disjvr_40^post10 == 0 /\ i_108^0-i_108^post10 == 0 /\ -head_SLAM_f_26^post10+head_SLAM_f_26^0 == 0 /\ __disjvr_32^0-__disjvr_32^post10 == 0 /\ -__disjvr_33^post10+__disjvr_33^0 == 0 /\ -len_276^post10+len_276^0 == 0 /\ head_268^0-head_268^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -a_147^post10+a_147^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_27^0-__disjvr_27^post10 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ head_223^0-head_223^post10 == 0 /\ -len_226^post10+len_226^0 == 0 /\ __disjvr_10^0-__disjvr_10^post10 == 0 /\ -r_163^post10+r_163^0 == 0 /\ -r_218^post10+r_218^0 == 0 /\ -r_124^post10+r_124^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_277^0-a_277^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ -__disjvr_35^post10+__disjvr_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ -a_116^post10+a_116^0 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ __disjvr_41^0-__disjvr_41^post10 == 0 /\ a_330^0-a_330^post10 == 0 /\ len_132^0-len_132^post10 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ f_170^0-f_170^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -a_353^post10+a_353^0 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -__disjvr_36^post10+__disjvr_36^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -__disjvr_42^post10+__disjvr_42^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ -head_129^post10+head_129^0 == 0 /\ len_183^0-len_183^post10 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ a_210^0-a_210^post10 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ __disjvr_38^0-__disjvr_38^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ __disjvr_37^0-__disjvr_37^post10 == 0 /\ -f_263^post10+f_263^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ __disjvr_34^0-__disjvr_34^post10 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ rcd_58^0-rcd_58^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ __disjvr_15^0-__disjvr_15^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_29^0-length_29^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -a_184^post10+a_184^0 == 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ r_260^0-r_260^post10 == 0 /\ a_241^0-a_241^post10 == 0 /\ -__disjvr_23^post10+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -i_167^post10+i_167^0 == 0 /\ -a_308^post10+a_308^0 == 0 /\ __disjvr_43^0-__disjvr_43^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -a_330^0 <= 0 /\ __disjvr_31^0-__disjvr_31^post10 == 0 /\ __disjvr_39^0-__disjvr_39^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ head_27^0-head_27^post10 == 0), cost: 1
  11: l13 -> l14 : i_108^0'=i_108^post11, __disjvr_7^0'=__disjvr_7^post11, __disjvr_13^0'=__disjvr_13^post11, f_170^0'=f_170^post11, length_29^0'=length_29^post11, __disjvr_25^0'=__disjvr_25^post11, a_330^0'=a_330^post11, __disjvr_20^0'=__disjvr_20^post11, len_183^0'=len_183^post11, __disjvr_37^0'=__disjvr_37^post11, __disjvr_32^0'=__disjvr_32^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_223^0'=head_223^post11, r_260^0'=r_260^post11, __disjvr_4^0'=__disjvr_4^post11, __disjvr_10^0'=__disjvr_10^post11, x_20^0'=x_20^post11, __disjvr_41^0'=__disjvr_41^post11, __disjvr_22^0'=__disjvr_22^post11, a_241^0'=a_241^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_9^0'=__disjvr_9^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_58^0'=rcd_58^post11, head_129^0'=head_129^post11, r_124^0'=r_124^post11, __disjvr_27^0'=__disjvr_27^post11, ct_17^0'=ct_17^post11, temp_35^0'=temp_35^post11, __disjvr_39^0'=__disjvr_39^post11, __disjvr_34^0'=__disjvr_34^post11, t_23^0'=t_23^post11, head_27^0'=head_27^post11, __disjvr_15^0'=__disjvr_15^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, __disjvr_6^0'=__disjvr_6^post11, __disjvr_12^0'=__disjvr_12^post11, y_19^0'=y_19^post11, __disjvr_43^0'=__disjvr_43^post11, len_276^0'=len_276^post11, __disjvr_24^0'=__disjvr_24^post11, a_308^0'=a_308^post11, __disjvr_1^0'=__disjvr_1^post11, len_132^0'=len_132^post11, a_147^0'=a_147^post11, __disjvr_31^0'=__disjvr_31^post11, result_11^0'=result_11^post11, head_175^0'=head_175^post11, r_218^0'=r_218^post11, __disjvr_29^0'=__disjvr_29^post11, __disjvr_0^0'=__disjvr_0^post11, x_16^0'=x_16^post11, __disjvr_40^0'=__disjvr_40^post11, __disjvr_36^0'=__disjvr_36^post11, a_210^0'=a_210^post11, __disjvr_17^0'=__disjvr_17^post11, i_167^0'=i_167^post11, __disjvr_8^0'=__disjvr_8^post11, __disjvr_14^0'=__disjvr_14^post11, r_39^0'=r_39^post11, f_263^0'=f_263^post11, nondet_12^0'=nondet_12^post11, __disjvr_26^0'=__disjvr_26^post11, a_353^0'=a_353^post11, __disjvr_21^0'=__disjvr_21^post11, temp0_31^0'=temp0_31^post11, __disjvr_38^0'=__disjvr_38^post11, __disjvr_33^0'=__disjvr_33^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, head_268^0'=head_268^post11, head_32^0'=head_32^post11, __disjvr_5^0'=__disjvr_5^post11, __disjvr_11^0'=__disjvr_11^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, __disjvr_42^0'=__disjvr_42^post11, len_226^0'=len_226^post11, __disjvr_23^0'=__disjvr_23^post11, a_277^0'=a_277^post11, __disjvr_19^0'=__disjvr_19^post11, i_94^0'=i_94^post11, a_116^0'=a_116^post11, __disjvr_30^0'=__disjvr_30^post11, rcd_88^0'=rcd_88^post11, head_14^0'=head_14^post11, r_163^0'=r_163^post11, __disjvr_28^0'=__disjvr_28^post11, tmp_34^0'=tmp_34^post11, __disjvr_3^0'=__disjvr_3^post11, __disjvr_35^0'=__disjvr_35^post11, temp0_15^0'=temp0_15^post11, a_184^0'=a_184^post11, __disjvr_16^0'=__disjvr_16^post11, (length_29^0-length_29^post11 == 0 /\ -a_308^post11+a_308^0 == 0 /\ -a_353^post11+a_353^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ -__disjvr_42^post11+__disjvr_42^0 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ len_276^0-len_276^post11 == 0 /\ a_330^0-a_330^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -y_19^post11+y_19^0 == 0 /\ r_260^0-r_260^post11 == 0 /\ -__disjvr_43^post11+__disjvr_43^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ -a_277^post11+a_277^0 == 0 /\ __disjvr_37^0-__disjvr_37^post11 == 0 /\ len_226^0-len_226^post11 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ -__disjvr_41^post11+__disjvr_41^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ head_129^0-head_129^post11 == 0 /\ -__disjvr_31^post11+__disjvr_31^0 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_0^post11+__disjvr_0^0 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ i_108^0-i_108^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -__disjvr_34^post11+__disjvr_34^0 == 0 /\ -head_268^post11+head_268^0 == 0 /\ __disjvr_27^0-__disjvr_27^post11 == 0 /\ -a_184^post11+a_184^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ len_183^0-len_183^post11 == 0 /\ i_30^0-i_30^post11 == 0 /\ -__disjvr_21^post11+__disjvr_21^0 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ head_223^0-head_223^post11 == 0 /\ -head_14^post11+head_14^0 == 0 /\ -ct_17^post11+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_36^post11+__disjvr_36^0 == 0 /\ -__disjvr_29^post11+__disjvr_29^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ a_241^0-a_241^post11 == 0 /\ -len_132^post11+len_132^0 == 0 /\ -r_218^post11+r_218^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -__disjvr_39^post11+__disjvr_39^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -__disjvr_9^post11+__disjvr_9^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ a_147^0-a_147^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ __disjvr_1^0-__disjvr_1^post11 == 0 /\ -a_116^post11+a_116^0 == 0 /\ -__disjvr_40^post11+__disjvr_40^0 == 0 /\ t_23^0-t_23^post11 == 0 /\ __disjvr_32^0-__disjvr_32^post11 == 0 /\ -x_16^post11+x_16^0 == 0 /\ -__disjvr_35^post11+__disjvr_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ r_124^0-r_124^post11 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_175^0-head_175^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ -__disjvr_14^post11+__disjvr_14^0 == 0 /\ -a_210^post11+a_210^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ __disjvr_33^0-__disjvr_33^post11 == 0 /\ -__disjvr_30^post11+__disjvr_30^0 == 0 /\ -__disjvr_38^post11+__disjvr_38^0 == 0 /\ r_163^0-r_163^post11 == 0 /\ f_263^0-f_263^post11 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ -i_94^post11+i_94^0 == 0), cost: 1
  12: l14 -> l15 : i_108^0'=i_108^post12, __disjvr_7^0'=__disjvr_7^post12, __disjvr_13^0'=__disjvr_13^post12, f_170^0'=f_170^post12, length_29^0'=length_29^post12, __disjvr_25^0'=__disjvr_25^post12, a_330^0'=a_330^post12, __disjvr_20^0'=__disjvr_20^post12, len_183^0'=len_183^post12, __disjvr_37^0'=__disjvr_37^post12, __disjvr_32^0'=__disjvr_32^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_223^0'=head_223^post12, r_260^0'=r_260^post12, __disjvr_4^0'=__disjvr_4^post12, __disjvr_10^0'=__disjvr_10^post12, x_20^0'=x_20^post12, __disjvr_41^0'=__disjvr_41^post12, __disjvr_22^0'=__disjvr_22^post12, a_241^0'=a_241^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_9^0'=__disjvr_9^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_58^0'=rcd_58^post12, head_129^0'=head_129^post12, r_124^0'=r_124^post12, __disjvr_27^0'=__disjvr_27^post12, ct_17^0'=ct_17^post12, temp_35^0'=temp_35^post12, __disjvr_39^0'=__disjvr_39^post12, __disjvr_34^0'=__disjvr_34^post12, t_23^0'=t_23^post12, head_27^0'=head_27^post12, __disjvr_15^0'=__disjvr_15^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, __disjvr_6^0'=__disjvr_6^post12, __disjvr_12^0'=__disjvr_12^post12, y_19^0'=y_19^post12, __disjvr_43^0'=__disjvr_43^post12, len_276^0'=len_276^post12, __disjvr_24^0'=__disjvr_24^post12, a_308^0'=a_308^post12, __disjvr_1^0'=__disjvr_1^post12, len_132^0'=len_132^post12, a_147^0'=a_147^post12, __disjvr_31^0'=__disjvr_31^post12, result_11^0'=result_11^post12, head_175^0'=head_175^post12, r_218^0'=r_218^post12, __disjvr_29^0'=__disjvr_29^post12, __disjvr_0^0'=__disjvr_0^post12, x_16^0'=x_16^post12, __disjvr_40^0'=__disjvr_40^post12, __disjvr_36^0'=__disjvr_36^post12, a_210^0'=a_210^post12, __disjvr_17^0'=__disjvr_17^post12, i_167^0'=i_167^post12, __disjvr_8^0'=__disjvr_8^post12, __disjvr_14^0'=__disjvr_14^post12, r_39^0'=r_39^post12, f_263^0'=f_263^post12, nondet_12^0'=nondet_12^post12, __disjvr_26^0'=__disjvr_26^post12, a_353^0'=a_353^post12, __disjvr_21^0'=__disjvr_21^post12, temp0_31^0'=temp0_31^post12, __disjvr_38^0'=__disjvr_38^post12, __disjvr_33^0'=__disjvr_33^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, head_268^0'=head_268^post12, head_32^0'=head_32^post12, __disjvr_5^0'=__disjvr_5^post12, __disjvr_11^0'=__disjvr_11^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, __disjvr_42^0'=__disjvr_42^post12, len_226^0'=len_226^post12, __disjvr_23^0'=__disjvr_23^post12, a_277^0'=a_277^post12, __disjvr_19^0'=__disjvr_19^post12, i_94^0'=i_94^post12, a_116^0'=a_116^post12, __disjvr_30^0'=__disjvr_30^post12, rcd_88^0'=rcd_88^post12, head_14^0'=head_14^post12, r_163^0'=r_163^post12, __disjvr_28^0'=__disjvr_28^post12, tmp_34^0'=tmp_34^post12, __disjvr_3^0'=__disjvr_3^post12, __disjvr_35^0'=__disjvr_35^post12, temp0_15^0'=temp0_15^post12, a_184^0'=a_184^post12, __disjvr_16^0'=__disjvr_16^post12, (0 == 0 /\ -__disjvr_33^post12+__disjvr_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ head_129^0-head_129^post12 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -y_19^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post12 == 0 /\ -f_263^post12+f_263^0 == 0 /\ head_27^0-head_27^post12 == 0 /\ x_16^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -__disjvr_29^post12+__disjvr_29^0 == 0 /\ -__disjvr_11^post12+__disjvr_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ -r_163^post12+r_163^0 == 0 /\ -r_39^post12+r_39^0 == 0 /\ ct_17^0-y_19^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ a_241^0-a_241^post12 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_268^post12+head_268^0 == 0 /\ len_276^0-len_276^post12 == 0 /\ __disjvr_12^0-__disjvr_12^post12 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ 1-a_330^0+a_353^post12 <= 0 /\ ct_17^0 <= 0 /\ -len_226^post12+len_226^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -ct_17^0+y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ head_223^0-head_223^post12 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_39^post12+__disjvr_39^0 == 0 /\ -a_116^post12+a_116^0 == 0 /\ rcd_58^0-rcd_58^post12 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post12+__disjvr_21^0 == 0 /\ __disjvr_37^0-__disjvr_37^post12 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ -__disjvr_35^post12+__disjvr_35^0 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ y_19^0 <= 0 /\ f_170^0-f_170^post12 == 0 /\ a_330^0-a_330^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -ct_17^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -__disjvr_31^post12+__disjvr_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ r_124^0-r_124^post12 == 0 /\ -x_20^0+t_23^post12 == 0 /\ len_132^0-len_132^post12 == 0 /\ -__disjvr_36^post12+__disjvr_36^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ __disjvr_41^0-__disjvr_41^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ -a_308^post12+a_308^0 == 0 /\ -a_277^post12+a_277^0 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ head_175^0-head_175^post12 == 0 /\ -1+a_330^0-a_353^post12 <= 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ length_29^0-length_29^post12 == 0 /\ -__disjvr_34^post12+__disjvr_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ r_218^0-r_218^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ len_183^0-len_183^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -a_210^post12+a_210^0 == 0 /\ -__disjvr_42^post12+__disjvr_42^0 == 0 /\ -__disjvr_30^post12+__disjvr_30^0 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -__disjvr_14^post12+__disjvr_14^0 == 0 /\ -tmp_34^post12+tmp_34^0 == 0 /\ a_147^0-a_147^post12 == 0 /\ x_20^0-x_20^post12 == 0 /\ r_260^0-r_260^post12 == 0 /\ -__disjvr_40^post12+__disjvr_40^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ i_108^0-i_108^post12 == 0 /\ -__disjvr_38^post12+__disjvr_38^0 == 0 /\ -a_184^post12+a_184^0 == 0 /\ __disjvr_15^0-__disjvr_15^post12 == 0 /\ __disjvr_43^0-__disjvr_43^post12 == 0), cost: 1
  13: l15 -> l16 : i_108^0'=i_108^post13, __disjvr_7^0'=__disjvr_7^post13, __disjvr_13^0'=__disjvr_13^post13, f_170^0'=f_170^post13, length_29^0'=length_29^post13, __disjvr_25^0'=__disjvr_25^post13, a_330^0'=a_330^post13, __disjvr_20^0'=__disjvr_20^post13, len_183^0'=len_183^post13, __disjvr_37^0'=__disjvr_37^post13, __disjvr_32^0'=__disjvr_32^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, head_223^0'=head_223^post13, r_260^0'=r_260^post13, __disjvr_4^0'=__disjvr_4^post13, __disjvr_10^0'=__disjvr_10^post13, x_20^0'=x_20^post13, __disjvr_41^0'=__disjvr_41^post13, __disjvr_22^0'=__disjvr_22^post13, a_241^0'=a_241^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_9^0'=__disjvr_9^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_58^0'=rcd_58^post13, head_129^0'=head_129^post13, r_124^0'=r_124^post13, __disjvr_27^0'=__disjvr_27^post13, ct_17^0'=ct_17^post13, temp_35^0'=temp_35^post13, __disjvr_39^0'=__disjvr_39^post13, __disjvr_34^0'=__disjvr_34^post13, t_23^0'=t_23^post13, head_27^0'=head_27^post13, __disjvr_15^0'=__disjvr_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, __disjvr_6^0'=__disjvr_6^post13, __disjvr_12^0'=__disjvr_12^post13, y_19^0'=y_19^post13, __disjvr_43^0'=__disjvr_43^post13, len_276^0'=len_276^post13, __disjvr_24^0'=__disjvr_24^post13, a_308^0'=a_308^post13, __disjvr_1^0'=__disjvr_1^post13, len_132^0'=len_132^post13, a_147^0'=a_147^post13, __disjvr_31^0'=__disjvr_31^post13, result_11^0'=result_11^post13, head_175^0'=head_175^post13, r_218^0'=r_218^post13, __disjvr_29^0'=__disjvr_29^post13, __disjvr_0^0'=__disjvr_0^post13, x_16^0'=x_16^post13, __disjvr_40^0'=__disjvr_40^post13, __disjvr_36^0'=__disjvr_36^post13, a_210^0'=a_210^post13, __disjvr_17^0'=__disjvr_17^post13, i_167^0'=i_167^post13, __disjvr_8^0'=__disjvr_8^post13, __disjvr_14^0'=__disjvr_14^post13, r_39^0'=r_39^post13, f_263^0'=f_263^post13, nondet_12^0'=nondet_12^post13, __disjvr_26^0'=__disjvr_26^post13, a_353^0'=a_353^post13, __disjvr_21^0'=__disjvr_21^post13, temp0_31^0'=temp0_31^post13, __disjvr_38^0'=__disjvr_38^post13, __disjvr_33^0'=__disjvr_33^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, head_268^0'=head_268^post13, head_32^0'=head_32^post13, __disjvr_5^0'=__disjvr_5^post13, __disjvr_11^0'=__disjvr_11^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, __disjvr_42^0'=__disjvr_42^post13, len_226^0'=len_226^post13, __disjvr_23^0'=__disjvr_23^post13, a_277^0'=a_277^post13, __disjvr_19^0'=__disjvr_19^post13, i_94^0'=i_94^post13, a_116^0'=a_116^post13, __disjvr_30^0'=__disjvr_30^post13, rcd_88^0'=rcd_88^post13, head_14^0'=head_14^post13, r_163^0'=r_163^post13, __disjvr_28^0'=__disjvr_28^post13, tmp_34^0'=tmp_34^post13, __disjvr_3^0'=__disjvr_3^post13, __disjvr_35^0'=__disjvr_35^post13, temp0_15^0'=temp0_15^post13, a_184^0'=a_184^post13, __disjvr_16^0'=__disjvr_16^post13, (__disjvr_13^0-__disjvr_13^post13 == 0 /\ len_183^0-len_183^post13 == 0 /\ -__disjvr_5^0+__disjvr_5^post13 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ -i_167^post13+i_167^0 == 0 /\ len_132^0-len_132^post13 == 0 /\ -__disjvr_38^post13+__disjvr_38^0 == 0 /\ __disjvr_37^0-__disjvr_37^post13 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ -r_39^post13+r_39^0 == 0 /\ __disjvr_43^0-__disjvr_43^post13 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ -head_268^post13+head_268^0 == 0 /\ -t_23^post13+t_23^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ -rcd_88^post13+rcd_88^0 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_42^post13+__disjvr_42^0 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_14^post13+__disjvr_14^0 == 0 /\ -rcd_58^post13+rcd_58^0 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ a_210^0-a_210^post13 == 0 /\ i_94^0-i_94^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -x_SLAM_f_18^post13+x_SLAM_f_18^0 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -a_353^post13+a_353^0 == 0 /\ length_29^0-length_29^post13 == 0 /\ -__disjvr_35^post13+__disjvr_35^0 == 0 /\ -a_277^post13+a_277^0 == 0 /\ -a_116^post13+a_116^0 == 0 /\ -head_SLAM_f_26^post13+head_SLAM_f_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post13 == 0 /\ -__disjvr_21^post13+__disjvr_21^0 == 0 /\ -x_20^post13+x_20^0 == 0 /\ -a_184^post13+a_184^0 == 0 /\ head_129^0-head_129^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ r_218^0-r_218^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ ct_17^0-ct_17^post13 == 0 /\ -head_175^post13+head_175^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ -f_263^post13+f_263^0 == 0 /\ -__disjvr_40^post13+__disjvr_40^0 == 0 /\ -__disjvr_32^post13+__disjvr_32^0 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -__disjvr_33^post13+__disjvr_33^0 == 0 /\ -__disjvr_16^post13+__disjvr_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ -a_330^post13+a_330^0 == 0 /\ -r_163^post13+r_163^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ -r_124^post13+r_124^0 == 0 /\ -len_276^post13+len_276^0 == 0 /\ -a_147^post13+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ __disjvr_36^0-__disjvr_36^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -head_14^post13+head_14^0 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ head_27^0-head_27^post13 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ head_223^0-head_223^post13 == 0 /\ a_308^0-a_308^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ __disjvr_25^0-__disjvr_25^post13 == 0 /\ a_241^0-a_241^post13 == 0 /\ __disjvr_31^0-__disjvr_31^post13 == 0 /\ f_170^0-f_170^post13 == 0 /\ -r_260^post13+r_260^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ -len_226^post13+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_41^0-__disjvr_41^post13 == 0 /\ __disjvr_39^0-__disjvr_39^post13 == 0), cost: 1
  14: l16 -> l17 : i_108^0'=i_108^post14, __disjvr_7^0'=__disjvr_7^post14, __disjvr_13^0'=__disjvr_13^post14, f_170^0'=f_170^post14, length_29^0'=length_29^post14, __disjvr_25^0'=__disjvr_25^post14, a_330^0'=a_330^post14, __disjvr_20^0'=__disjvr_20^post14, len_183^0'=len_183^post14, __disjvr_37^0'=__disjvr_37^post14, __disjvr_32^0'=__disjvr_32^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, head_223^0'=head_223^post14, r_260^0'=r_260^post14, __disjvr_4^0'=__disjvr_4^post14, __disjvr_10^0'=__disjvr_10^post14, x_20^0'=x_20^post14, __disjvr_41^0'=__disjvr_41^post14, __disjvr_22^0'=__disjvr_22^post14, a_241^0'=a_241^post14, __disjvr_18^0'=__disjvr_18^post14, i_30^0'=i_30^post14, __disjvr_9^0'=__disjvr_9^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_58^0'=rcd_58^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, __disjvr_27^0'=__disjvr_27^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, __disjvr_39^0'=__disjvr_39^post14, __disjvr_34^0'=__disjvr_34^post14, t_23^0'=t_23^post14, head_27^0'=head_27^post14, __disjvr_15^0'=__disjvr_15^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, __disjvr_6^0'=__disjvr_6^post14, __disjvr_12^0'=__disjvr_12^post14, y_19^0'=y_19^post14, __disjvr_43^0'=__disjvr_43^post14, len_276^0'=len_276^post14, __disjvr_24^0'=__disjvr_24^post14, a_308^0'=a_308^post14, __disjvr_1^0'=__disjvr_1^post14, len_132^0'=len_132^post14, a_147^0'=a_147^post14, __disjvr_31^0'=__disjvr_31^post14, result_11^0'=result_11^post14, head_175^0'=head_175^post14, r_218^0'=r_218^post14, __disjvr_29^0'=__disjvr_29^post14, __disjvr_0^0'=__disjvr_0^post14, x_16^0'=x_16^post14, __disjvr_40^0'=__disjvr_40^post14, __disjvr_36^0'=__disjvr_36^post14, a_210^0'=a_210^post14, __disjvr_17^0'=__disjvr_17^post14, i_167^0'=i_167^post14, __disjvr_8^0'=__disjvr_8^post14, __disjvr_14^0'=__disjvr_14^post14, r_39^0'=r_39^post14, f_263^0'=f_263^post14, nondet_12^0'=nondet_12^post14, __disjvr_26^0'=__disjvr_26^post14, a_353^0'=a_353^post14, __disjvr_21^0'=__disjvr_21^post14, temp0_31^0'=temp0_31^post14, __disjvr_38^0'=__disjvr_38^post14, __disjvr_33^0'=__disjvr_33^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, head_268^0'=head_268^post14, head_32^0'=head_32^post14, __disjvr_5^0'=__disjvr_5^post14, __disjvr_11^0'=__disjvr_11^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, __disjvr_42^0'=__disjvr_42^post14, len_226^0'=len_226^post14, __disjvr_23^0'=__disjvr_23^post14, a_277^0'=a_277^post14, __disjvr_19^0'=__disjvr_19^post14, i_94^0'=i_94^post14, a_116^0'=a_116^post14, __disjvr_30^0'=__disjvr_30^post14, rcd_88^0'=rcd_88^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, __disjvr_28^0'=__disjvr_28^post14, tmp_34^0'=tmp_34^post14, __disjvr_3^0'=__disjvr_3^post14, __disjvr_35^0'=__disjvr_35^post14, temp0_15^0'=temp0_15^post14, a_184^0'=a_184^post14, __disjvr_16^0'=__disjvr_16^post14, (-a_184^post14+a_184^0 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -__disjvr_43^post14+__disjvr_43^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ a_277^0-a_277^post14 == 0 /\ -r_39^post14+r_39^0 == 0 /\ -__disjvr_31^post14+__disjvr_31^0 == 0 /\ head_223^0-head_223^post14 == 0 /\ -__disjvr_21^post14+__disjvr_21^0 == 0 /\ -__disjvr_0^post14+__disjvr_0^0 == 0 /\ r_124^0-r_124^post14 == 0 /\ __disjvr_27^0-__disjvr_27^post14 == 0 /\ f_170^0-f_170^post14 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_218^post14+r_218^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -len_132^post14+len_132^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ -__disjvr_39^post14+__disjvr_39^0 == 0 /\ -__disjvr_36^post14+__disjvr_36^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ length_29^0-length_29^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ __disjvr_7^0-__disjvr_7^post14 == 0 /\ -head_14^post14+head_14^0 == 0 /\ -__disjvr_30^post14+__disjvr_30^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -__disjvr_9^post14+__disjvr_9^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_116^post14+a_116^0 == 0 /\ -__disjvr_35^post14+__disjvr_35^0 == 0 /\ -x_16^post14+x_16^0 == 0 /\ -len_226^post14+len_226^0 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -head_27^post14+head_27^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ __disjvr_32^0-__disjvr_32^post14 == 0 /\ -i_167^post14+i_167^0 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ a_241^0-a_241^post14 == 0 /\ __disjvr_33^0-__disjvr_33^post14 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_268^post14+head_268^0 == 0 /\ -a_147^post14+a_147^0 == 0 /\ __disjvr_40^0-__disjvr_40^post14 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0 /\ __disjvr_41^0-__disjvr_41^post14 == 0 /\ r_260^0-r_260^post14 == 0 /\ temp_35^0-temp_35^post14 == 0 /\ a_330^0-a_330^post14 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ x_20^0-x_20^post14 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ __disjvr_38^0-__disjvr_38^post14 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ -x_SLAM_f_18^post14+x_SLAM_f_18^0 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ __disjvr_6^post14-__disjvr_6^0 == 0 /\ __disjvr_2^0-__disjvr_2^post14 == 0 /\ __disjvr_37^0-__disjvr_37^post14 == 0 /\ -head_129^post14+head_129^0 == 0 /\ rcd_58^0-rcd_58^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ __disjvr_34^0-__disjvr_34^post14 == 0 /\ -result_11^post14+result_11^0 == 0 /\ -__disjvr_24^post14+__disjvr_24^0 == 0 /\ i_108^0-i_108^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ -head_175^post14+head_175^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -__disjvr_42^post14+__disjvr_42^0 == 0), cost: 1
  15: l17 -> l18 : i_108^0'=i_108^post15, __disjvr_7^0'=__disjvr_7^post15, __disjvr_13^0'=__disjvr_13^post15, f_170^0'=f_170^post15, length_29^0'=length_29^post15, __disjvr_25^0'=__disjvr_25^post15, a_330^0'=a_330^post15, __disjvr_20^0'=__disjvr_20^post15, len_183^0'=len_183^post15, __disjvr_37^0'=__disjvr_37^post15, __disjvr_32^0'=__disjvr_32^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, head_223^0'=head_223^post15, r_260^0'=r_260^post15, __disjvr_4^0'=__disjvr_4^post15, __disjvr_10^0'=__disjvr_10^post15, x_20^0'=x_20^post15, __disjvr_41^0'=__disjvr_41^post15, __disjvr_22^0'=__disjvr_22^post15, a_241^0'=a_241^post15, __disjvr_18^0'=__disjvr_18^post15, i_30^0'=i_30^post15, __disjvr_9^0'=__disjvr_9^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_58^0'=rcd_58^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, __disjvr_27^0'=__disjvr_27^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, __disjvr_39^0'=__disjvr_39^post15, __disjvr_34^0'=__disjvr_34^post15, t_23^0'=t_23^post15, head_27^0'=head_27^post15, __disjvr_15^0'=__disjvr_15^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, __disjvr_6^0'=__disjvr_6^post15, __disjvr_12^0'=__disjvr_12^post15, y_19^0'=y_19^post15, __disjvr_43^0'=__disjvr_43^post15, len_276^0'=len_276^post15, __disjvr_24^0'=__disjvr_24^post15, a_308^0'=a_308^post15, __disjvr_1^0'=__disjvr_1^post15, len_132^0'=len_132^post15, a_147^0'=a_147^post15, __disjvr_31^0'=__disjvr_31^post15, result_11^0'=result_11^post15, head_175^0'=head_175^post15, r_218^0'=r_218^post15, __disjvr_29^0'=__disjvr_29^post15, __disjvr_0^0'=__disjvr_0^post15, x_16^0'=x_16^post15, __disjvr_40^0'=__disjvr_40^post15, __disjvr_36^0'=__disjvr_36^post15, a_210^0'=a_210^post15, __disjvr_17^0'=__disjvr_17^post15, i_167^0'=i_167^post15, __disjvr_8^0'=__disjvr_8^post15, __disjvr_14^0'=__disjvr_14^post15, r_39^0'=r_39^post15, f_263^0'=f_263^post15, nondet_12^0'=nondet_12^post15, __disjvr_26^0'=__disjvr_26^post15, a_353^0'=a_353^post15, __disjvr_21^0'=__disjvr_21^post15, temp0_31^0'=temp0_31^post15, __disjvr_38^0'=__disjvr_38^post15, __disjvr_33^0'=__disjvr_33^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, head_268^0'=head_268^post15, head_32^0'=head_32^post15, __disjvr_5^0'=__disjvr_5^post15, __disjvr_11^0'=__disjvr_11^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, __disjvr_42^0'=__disjvr_42^post15, len_226^0'=len_226^post15, __disjvr_23^0'=__disjvr_23^post15, a_277^0'=a_277^post15, __disjvr_19^0'=__disjvr_19^post15, i_94^0'=i_94^post15, a_116^0'=a_116^post15, __disjvr_30^0'=__disjvr_30^post15, rcd_88^0'=rcd_88^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, __disjvr_28^0'=__disjvr_28^post15, tmp_34^0'=tmp_34^post15, __disjvr_3^0'=__disjvr_3^post15, __disjvr_35^0'=__disjvr_35^post15, temp0_15^0'=temp0_15^post15, a_184^0'=a_184^post15, __disjvr_16^0'=__disjvr_16^post15, (len_276^0-len_276^post15 == 0 /\ x_20^0-x_20^post15 == 0 /\ len_183^0-len_183^post15 == 0 /\ __disjvr_7^0-__disjvr_7^post15 == 0 /\ __disjvr_37^0-__disjvr_37^post15 == 0 /\ -__disjvr_9^post15+__disjvr_9^0 == 0 /\ -a_116^post15+a_116^0 == 0 /\ a_330^0-a_330^post15 == 0 /\ -__disjvr_24^post15+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post15 == 0 /\ -head_268^post15+head_268^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ -__disjvr_43^post15+__disjvr_43^0 == 0 /\ -len_226^post15+len_226^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ length_29^0-length_29^post15 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -head_27^post15+head_27^0 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -x_SLAM_f_18^post15+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_308^post15+a_308^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -head_129^post15+head_129^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post15 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ -__disjvr_42^post15+__disjvr_42^0 == 0 /\ -__disjvr_19^post15+__disjvr_19^0 == 0 /\ -y_19^post15+y_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post15 == 0 /\ -__disjvr_11^post15+__disjvr_11^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ head_32^0-head_32^post15 == 0 /\ -__disjvr_38^post15+__disjvr_38^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ r_260^0-r_260^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_29^post15+__disjvr_29^0 == 0 /\ -r_218^post15+r_218^0 == 0 /\ -a_277^post15+a_277^0 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -r_163^post15+r_163^0 == 0 /\ a_147^0-a_147^post15 == 0 /\ -__disjvr_35^post15+__disjvr_35^0 == 0 /\ -a_184^post15+a_184^0 == 0 /\ i_108^0-i_108^post15 == 0 /\ f_170^0-f_170^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ rcd_58^0-rcd_58^post15 == 0 /\ -__disjvr_21^post15+__disjvr_21^0 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -__disjvr_30^post15+__disjvr_30^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_36^post15+__disjvr_36^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ r_124^0-r_124^post15 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ a_241^0-a_241^post15 == 0 /\ f_263^0-f_263^post15 == 0 /\ -a_353^post15+a_353^0 == 0 /\ __disjvr_32^0-__disjvr_32^post15 == 0 /\ __disjvr_41^0-__disjvr_41^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ -len_132^post15+len_132^0 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ __disjvr_1^0-__disjvr_1^post15 == 0 /\ -__disjvr_31^post15+__disjvr_31^0 == 0 /\ __disjvr_27^0-__disjvr_27^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ __disjvr_33^0-__disjvr_33^post15 == 0 /\ __disjvr_12^0-__disjvr_12^post15 == 0 /\ -__disjvr_39^post15+__disjvr_39^0 == 0 /\ -__disjvr_25^post15+__disjvr_25^0 == 0 /\ __disjvr_40^0-__disjvr_40^post15 == 0), cost: 1
  16: l18 -> l12 : i_108^0'=i_108^post16, __disjvr_7^0'=__disjvr_7^post16, __disjvr_13^0'=__disjvr_13^post16, f_170^0'=f_170^post16, length_29^0'=length_29^post16, __disjvr_25^0'=__disjvr_25^post16, a_330^0'=a_330^post16, __disjvr_20^0'=__disjvr_20^post16, len_183^0'=len_183^post16, __disjvr_37^0'=__disjvr_37^post16, __disjvr_32^0'=__disjvr_32^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, head_223^0'=head_223^post16, r_260^0'=r_260^post16, __disjvr_4^0'=__disjvr_4^post16, __disjvr_10^0'=__disjvr_10^post16, x_20^0'=x_20^post16, __disjvr_41^0'=__disjvr_41^post16, __disjvr_22^0'=__disjvr_22^post16, a_241^0'=a_241^post16, __disjvr_18^0'=__disjvr_18^post16, i_30^0'=i_30^post16, __disjvr_9^0'=__disjvr_9^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_58^0'=rcd_58^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, __disjvr_27^0'=__disjvr_27^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, __disjvr_39^0'=__disjvr_39^post16, __disjvr_34^0'=__disjvr_34^post16, t_23^0'=t_23^post16, head_27^0'=head_27^post16, __disjvr_15^0'=__disjvr_15^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, __disjvr_6^0'=__disjvr_6^post16, __disjvr_12^0'=__disjvr_12^post16, y_19^0'=y_19^post16, __disjvr_43^0'=__disjvr_43^post16, len_276^0'=len_276^post16, __disjvr_24^0'=__disjvr_24^post16, a_308^0'=a_308^post16, __disjvr_1^0'=__disjvr_1^post16, len_132^0'=len_132^post16, a_147^0'=a_147^post16, __disjvr_31^0'=__disjvr_31^post16, result_11^0'=result_11^post16, head_175^0'=head_175^post16, r_218^0'=r_218^post16, __disjvr_29^0'=__disjvr_29^post16, __disjvr_0^0'=__disjvr_0^post16, x_16^0'=x_16^post16, __disjvr_40^0'=__disjvr_40^post16, __disjvr_36^0'=__disjvr_36^post16, a_210^0'=a_210^post16, __disjvr_17^0'=__disjvr_17^post16, i_167^0'=i_167^post16, __disjvr_8^0'=__disjvr_8^post16, __disjvr_14^0'=__disjvr_14^post16, r_39^0'=r_39^post16, f_263^0'=f_263^post16, nondet_12^0'=nondet_12^post16, __disjvr_26^0'=__disjvr_26^post16, a_353^0'=a_353^post16, __disjvr_21^0'=__disjvr_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_38^0'=__disjvr_38^post16, __disjvr_33^0'=__disjvr_33^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, head_268^0'=head_268^post16, head_32^0'=head_32^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, __disjvr_42^0'=__disjvr_42^post16, len_226^0'=len_226^post16, __disjvr_23^0'=__disjvr_23^post16, a_277^0'=a_277^post16, __disjvr_19^0'=__disjvr_19^post16, i_94^0'=i_94^post16, a_116^0'=a_116^post16, __disjvr_30^0'=__disjvr_30^post16, rcd_88^0'=rcd_88^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, __disjvr_28^0'=__disjvr_28^post16, tmp_34^0'=tmp_34^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_35^0'=__disjvr_35^post16, temp0_15^0'=temp0_15^post16, a_184^0'=a_184^post16, __disjvr_16^0'=__disjvr_16^post16, (0 == 0 /\ r_124^0-r_124^post16 == 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -__disjvr_34^post16+__disjvr_34^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ __disjvr_36^0-__disjvr_36^post16 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ -head_14^post16+head_14^0 == 0 /\ -head_32^post16+head_32^0 == 0 /\ a_210^0-a_210^post16 == 0 /\ __disjvr_37^0-__disjvr_37^post16 == 0 /\ i_94^0-i_94^post16 == 0 /\ -a_116^post16+a_116^0 == 0 /\ -r_163^post16+r_163^0 == 0 /\ -len_276^post16+len_276^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -__disjvr_28^post16+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ -__disjvr_40^post16+__disjvr_40^0 == 0 /\ -__disjvr_16^post16+__disjvr_16^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ r_218^0-r_218^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ -__disjvr_33^post16+__disjvr_33^0 == 0 /\ f_170^0-f_170^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ __disjvr_39^0-__disjvr_39^post16 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -__disjvr_0^post16+__disjvr_0^0 == 0 /\ length_29^0-length_29^post16 == 0 /\ a_147^0-a_147^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ len_226^0-len_226^post16 == 0 /\ ct_17^0-ct_17^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ __disjvr_43^0-__disjvr_43^post16 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_175^0-head_175^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -a_184^post16+a_184^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ x_20^0-x_20^post16 == 0 /\ a_241^0-a_241^post16 == 0 /\ __disjvr_32^0-__disjvr_32^post16 == 0 /\ a_308^0-a_308^post16 == 0 /\ head_27^0-head_27^post16 == 0 /\ -__disjvr_35^post16+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post16 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -head_223^post16+head_223^0 == 0 /\ -__disjvr_14^post16+__disjvr_14^0 == 0 /\ -a_330^post16+a_353^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post16 == 0 /\ -i_167^post16+i_167^0 == 0 /\ __disjvr_41^0-__disjvr_41^post16 == 0 /\ -__disjvr_42^post16+__disjvr_42^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ -rcd_58^post16+rcd_58^0 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ -__disjvr_30^post16+__disjvr_30^0 == 0 /\ -__disjvr_38^post16+__disjvr_38^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ -temp_35^post16+temp_35^0 == 0 /\ r_260^0-r_260^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ head_129^0-head_129^post16 == 0 /\ -__disjvr_21^post16+__disjvr_21^0 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ a_330^post16-a_353^0 <= 0 /\ -i_30^post16+i_30^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ -__disjvr_31^post16+__disjvr_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0), cost: 1
  17: l12 -> l10 : i_108^0'=i_108^post17, __disjvr_7^0'=__disjvr_7^post17, __disjvr_13^0'=__disjvr_13^post17, f_170^0'=f_170^post17, length_29^0'=length_29^post17, __disjvr_25^0'=__disjvr_25^post17, a_330^0'=a_330^post17, __disjvr_20^0'=__disjvr_20^post17, len_183^0'=len_183^post17, __disjvr_37^0'=__disjvr_37^post17, __disjvr_32^0'=__disjvr_32^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, head_223^0'=head_223^post17, r_260^0'=r_260^post17, __disjvr_4^0'=__disjvr_4^post17, __disjvr_10^0'=__disjvr_10^post17, x_20^0'=x_20^post17, __disjvr_41^0'=__disjvr_41^post17, __disjvr_22^0'=__disjvr_22^post17, a_241^0'=a_241^post17, __disjvr_18^0'=__disjvr_18^post17, i_30^0'=i_30^post17, __disjvr_9^0'=__disjvr_9^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_58^0'=rcd_58^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, __disjvr_27^0'=__disjvr_27^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, __disjvr_39^0'=__disjvr_39^post17, __disjvr_34^0'=__disjvr_34^post17, t_23^0'=t_23^post17, head_27^0'=head_27^post17, __disjvr_15^0'=__disjvr_15^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, __disjvr_6^0'=__disjvr_6^post17, __disjvr_12^0'=__disjvr_12^post17, y_19^0'=y_19^post17, __disjvr_43^0'=__disjvr_43^post17, len_276^0'=len_276^post17, __disjvr_24^0'=__disjvr_24^post17, a_308^0'=a_308^post17, __disjvr_1^0'=__disjvr_1^post17, len_132^0'=len_132^post17, a_147^0'=a_147^post17, __disjvr_31^0'=__disjvr_31^post17, result_11^0'=result_11^post17, head_175^0'=head_175^post17, r_218^0'=r_218^post17, __disjvr_29^0'=__disjvr_29^post17, __disjvr_0^0'=__disjvr_0^post17, x_16^0'=x_16^post17, __disjvr_40^0'=__disjvr_40^post17, __disjvr_36^0'=__disjvr_36^post17, a_210^0'=a_210^post17, __disjvr_17^0'=__disjvr_17^post17, i_167^0'=i_167^post17, __disjvr_8^0'=__disjvr_8^post17, __disjvr_14^0'=__disjvr_14^post17, r_39^0'=r_39^post17, f_263^0'=f_263^post17, nondet_12^0'=nondet_12^post17, __disjvr_26^0'=__disjvr_26^post17, a_353^0'=a_353^post17, __disjvr_21^0'=__disjvr_21^post17, temp0_31^0'=temp0_31^post17, __disjvr_38^0'=__disjvr_38^post17, __disjvr_33^0'=__disjvr_33^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, head_268^0'=head_268^post17, head_32^0'=head_32^post17, __disjvr_5^0'=__disjvr_5^post17, __disjvr_11^0'=__disjvr_11^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, __disjvr_42^0'=__disjvr_42^post17, len_226^0'=len_226^post17, __disjvr_23^0'=__disjvr_23^post17, a_277^0'=a_277^post17, __disjvr_19^0'=__disjvr_19^post17, i_94^0'=i_94^post17, a_116^0'=a_116^post17, __disjvr_30^0'=__disjvr_30^post17, rcd_88^0'=rcd_88^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, __disjvr_28^0'=__disjvr_28^post17, tmp_34^0'=tmp_34^post17, __disjvr_3^0'=__disjvr_3^post17, __disjvr_35^0'=__disjvr_35^post17, temp0_15^0'=temp0_15^post17, a_184^0'=a_184^post17, __disjvr_16^0'=__disjvr_16^post17, (-head_32^post17+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ __disjvr_31^0-__disjvr_31^post17 == 0 /\ __disjvr_43^0-__disjvr_43^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -__disjvr_35^post17+__disjvr_35^0 == 0 /\ -__disjvr_14^post17+__disjvr_14^0 == 0 /\ -__disjvr_26^post17+__disjvr_26^0 == 0 /\ -r_163^post17+r_163^0 == 0 /\ -rcd_58^post17+rcd_58^0 == 0 /\ -r_218^post17+r_218^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -i_167^post17+i_167^0 == 0 /\ __disjvr_32^0-__disjvr_32^post17 == 0 /\ __disjvr_41^0-__disjvr_41^post17 == 0 /\ __disjvr_13^0-__disjvr_13^post17 == 0 /\ head_268^0-head_268^post17 == 0 /\ __disjvr_2^0-__disjvr_2^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ r_124^0-r_124^post17 == 0 /\ -__disjvr_30^post17+__disjvr_30^0 == 0 /\ -head_SLAM_f_26^post17+head_SLAM_f_26^0 == 0 /\ -f_263^post17+f_263^0 == 0 /\ head_223^0-head_223^post17 == 0 /\ -__disjvr_33^post17+__disjvr_33^0 == 0 /\ __disjvr_36^0-__disjvr_36^post17 == 0 /\ a_330^0-a_330^post17 == 0 /\ r_260^0-r_260^post17 == 0 /\ __disjvr_27^0-__disjvr_27^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -__disjvr_42^post17+__disjvr_42^0 == 0 /\ head_129^0-head_129^post17 == 0 /\ -__disjvr_28^post17+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ i_108^0-i_108^post17 == 0 /\ __disjvr_39^0-__disjvr_39^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ -temp0_15^post17+temp0_15^0 == 0 /\ __disjvr_34^0-__disjvr_34^post17 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ len_183^0-len_183^post17 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ f_170^0-f_170^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_38^0-__disjvr_38^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_37^0-__disjvr_37^post17 == 0 /\ -x_16^post17+x_16^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ -a_210^post17+a_210^0 == 0 /\ -len_226^post17+len_226^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ head_27^0-head_27^post17 == 0 /\ -head_14^post17+head_14^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ ct_17^0-ct_17^post17 == 0 /\ -__disjvr_40^post17+__disjvr_40^0 == 0 /\ -__disjvr_16^post17+__disjvr_16^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_11^0-result_11^post17 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ a_353^0-a_353^post17 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -head_175^post17+head_175^0 == 0 /\ __disjvr_25^0-__disjvr_25^post17 == 0 /\ __disjvr_18^0-__disjvr_18^post17 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ -len_276^post17+len_276^0 == 0 /\ -a_147^post17+a_147^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ a_308^0-a_308^post17 == 0 /\ length_29^0-length_29^post17 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0), cost: 1
  18: l19 -> l20 : i_108^0'=i_108^post18, __disjvr_7^0'=__disjvr_7^post18, __disjvr_13^0'=__disjvr_13^post18, f_170^0'=f_170^post18, length_29^0'=length_29^post18, __disjvr_25^0'=__disjvr_25^post18, a_330^0'=a_330^post18, __disjvr_20^0'=__disjvr_20^post18, len_183^0'=len_183^post18, __disjvr_37^0'=__disjvr_37^post18, __disjvr_32^0'=__disjvr_32^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, head_223^0'=head_223^post18, r_260^0'=r_260^post18, __disjvr_4^0'=__disjvr_4^post18, __disjvr_10^0'=__disjvr_10^post18, x_20^0'=x_20^post18, __disjvr_41^0'=__disjvr_41^post18, __disjvr_22^0'=__disjvr_22^post18, a_241^0'=a_241^post18, __disjvr_18^0'=__disjvr_18^post18, i_30^0'=i_30^post18, __disjvr_9^0'=__disjvr_9^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_58^0'=rcd_58^post18, head_129^0'=head_129^post18, r_124^0'=r_124^post18, __disjvr_27^0'=__disjvr_27^post18, ct_17^0'=ct_17^post18, temp_35^0'=temp_35^post18, __disjvr_39^0'=__disjvr_39^post18, __disjvr_34^0'=__disjvr_34^post18, t_23^0'=t_23^post18, head_27^0'=head_27^post18, __disjvr_15^0'=__disjvr_15^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, __disjvr_6^0'=__disjvr_6^post18, __disjvr_12^0'=__disjvr_12^post18, y_19^0'=y_19^post18, __disjvr_43^0'=__disjvr_43^post18, len_276^0'=len_276^post18, __disjvr_24^0'=__disjvr_24^post18, a_308^0'=a_308^post18, __disjvr_1^0'=__disjvr_1^post18, len_132^0'=len_132^post18, a_147^0'=a_147^post18, __disjvr_31^0'=__disjvr_31^post18, result_11^0'=result_11^post18, head_175^0'=head_175^post18, r_218^0'=r_218^post18, __disjvr_29^0'=__disjvr_29^post18, __disjvr_0^0'=__disjvr_0^post18, x_16^0'=x_16^post18, __disjvr_40^0'=__disjvr_40^post18, __disjvr_36^0'=__disjvr_36^post18, a_210^0'=a_210^post18, __disjvr_17^0'=__disjvr_17^post18, i_167^0'=i_167^post18, __disjvr_8^0'=__disjvr_8^post18, __disjvr_14^0'=__disjvr_14^post18, r_39^0'=r_39^post18, f_263^0'=f_263^post18, nondet_12^0'=nondet_12^post18, __disjvr_26^0'=__disjvr_26^post18, a_353^0'=a_353^post18, __disjvr_21^0'=__disjvr_21^post18, temp0_31^0'=temp0_31^post18, __disjvr_38^0'=__disjvr_38^post18, __disjvr_33^0'=__disjvr_33^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, head_268^0'=head_268^post18, head_32^0'=head_32^post18, __disjvr_5^0'=__disjvr_5^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, __disjvr_42^0'=__disjvr_42^post18, len_226^0'=len_226^post18, __disjvr_23^0'=__disjvr_23^post18, a_277^0'=a_277^post18, __disjvr_19^0'=__disjvr_19^post18, i_94^0'=i_94^post18, a_116^0'=a_116^post18, __disjvr_30^0'=__disjvr_30^post18, rcd_88^0'=rcd_88^post18, head_14^0'=head_14^post18, r_163^0'=r_163^post18, __disjvr_28^0'=__disjvr_28^post18, tmp_34^0'=tmp_34^post18, __disjvr_3^0'=__disjvr_3^post18, __disjvr_35^0'=__disjvr_35^post18, temp0_15^0'=temp0_15^post18, a_184^0'=a_184^post18, __disjvr_16^0'=__disjvr_16^post18, (0 == 0 /\ len_183^0-len_183^post18 == 0 /\ r_124^0-r_124^post18 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ __disjvr_34^0-__disjvr_34^post18 == 0 /\ -__disjvr_38^post18+__disjvr_38^0 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ -__disjvr_29^post18+__disjvr_29^0 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ result_11^post18-temp0_15^0 == 0 /\ __disjvr_39^0-__disjvr_39^post18 == 0 /\ -a_308^0 <= 0 /\ -head_268^post18+head_268^0 == 0 /\ a_241^0-a_241^post18 == 0 /\ __disjvr_13^0-__disjvr_13^post18 == 0 /\ -a_184^post18+a_184^0 == 0 /\ head_223^0-head_223^post18 == 0 /\ -__disjvr_19^post18+__disjvr_19^0 == 0 /\ i_30^0-i_30^post18 == 0 /\ -r_163^post18+r_163^0 == 0 /\ -__disjvr_21^post18+__disjvr_21^0 == 0 /\ -__disjvr_36^post18+__disjvr_36^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_30^post18+__disjvr_30^0 == 0 /\ -i_94^post18+i_94^0 == 0 /\ -a_147^post18+a_147^0 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ temp_35^0-temp_35^post18 == 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ -len_226^post18+len_226^0 == 0 /\ -a_210^post18+a_210^0 == 0 /\ -rcd_88^post18+rcd_88^0 == 0 /\ -__disjvr_35^post18+__disjvr_35^0 == 0 /\ __disjvr_32^0-__disjvr_32^post18 == 0 /\ -a_116^post18+a_116^0 == 0 /\ f_263^0-f_263^post18 == 0 /\ __disjvr_7^0-__disjvr_7^post18 == 0 /\ r_260^0-r_260^post18 == 0 /\ i_167^0-i_167^post18 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ -__disjvr_43^post18+__disjvr_43^0 == 0 /\ -__disjvr_24^post18+__disjvr_24^0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ -__disjvr_16^post18+__disjvr_16^0 == 0 /\ -head_129^post18+head_129^0 == 0 /\ a_330^0-a_330^post18 == 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ r_39^0-r_39^post18 == 0 /\ f_170^0-f_170^post18 == 0 /\ -head_27^post18+head_27^0 == 0 /\ i_108^0-i_108^post18 == 0 /\ -a_353^post18+a_353^0 == 0 /\ a_308^0-a_308^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -__disjvr_31^post18+__disjvr_31^0 == 0 /\ len_132^0-len_132^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ len_276^0-len_276^post18 == 0 /\ -__disjvr_42^post18+__disjvr_42^0 == 0 /\ -__disjvr_3^post18+__disjvr_3^0 == 0 /\ -__disjvr_28^post18+__disjvr_28^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -__disjvr_40^post18+__disjvr_40^0 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ -length_29^post18+length_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post18 == 0 /\ __disjvr_22^0-__disjvr_22^post18 == 0 /\ -__disjvr_33^post18+__disjvr_33^0 == 0 /\ -a_277^post18+a_277^0 == 0 /\ -head_32^post18+head_32^0 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ r_218^0-r_218^post18 == 0 /\ -head_175^post18+head_175^0 == 0 /\ rcd_58^0-rcd_58^post18 == 0 /\ __disjvr_41^0-__disjvr_41^post18 == 0 /\ x_20^0-y_19^0 <= 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ -temp0_15^post18+temp0_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ __disjvr_37^0-__disjvr_37^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ -__disjvr_14^post18+__disjvr_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post18 == 0), cost: 1
  21: l19 -> l22 : i_108^0'=i_108^post21, __disjvr_7^0'=__disjvr_7^post21, __disjvr_13^0'=__disjvr_13^post21, f_170^0'=f_170^post21, length_29^0'=length_29^post21, __disjvr_25^0'=__disjvr_25^post21, a_330^0'=a_330^post21, __disjvr_20^0'=__disjvr_20^post21, len_183^0'=len_183^post21, __disjvr_37^0'=__disjvr_37^post21, __disjvr_32^0'=__disjvr_32^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, head_223^0'=head_223^post21, r_260^0'=r_260^post21, __disjvr_4^0'=__disjvr_4^post21, __disjvr_10^0'=__disjvr_10^post21, x_20^0'=x_20^post21, __disjvr_41^0'=__disjvr_41^post21, __disjvr_22^0'=__disjvr_22^post21, a_241^0'=a_241^post21, __disjvr_18^0'=__disjvr_18^post21, i_30^0'=i_30^post21, __disjvr_9^0'=__disjvr_9^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_58^0'=rcd_58^post21, head_129^0'=head_129^post21, r_124^0'=r_124^post21, __disjvr_27^0'=__disjvr_27^post21, ct_17^0'=ct_17^post21, temp_35^0'=temp_35^post21, __disjvr_39^0'=__disjvr_39^post21, __disjvr_34^0'=__disjvr_34^post21, t_23^0'=t_23^post21, head_27^0'=head_27^post21, __disjvr_15^0'=__disjvr_15^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, __disjvr_6^0'=__disjvr_6^post21, __disjvr_12^0'=__disjvr_12^post21, y_19^0'=y_19^post21, __disjvr_43^0'=__disjvr_43^post21, len_276^0'=len_276^post21, __disjvr_24^0'=__disjvr_24^post21, a_308^0'=a_308^post21, __disjvr_1^0'=__disjvr_1^post21, len_132^0'=len_132^post21, a_147^0'=a_147^post21, __disjvr_31^0'=__disjvr_31^post21, result_11^0'=result_11^post21, head_175^0'=head_175^post21, r_218^0'=r_218^post21, __disjvr_29^0'=__disjvr_29^post21, __disjvr_0^0'=__disjvr_0^post21, x_16^0'=x_16^post21, __disjvr_40^0'=__disjvr_40^post21, __disjvr_36^0'=__disjvr_36^post21, a_210^0'=a_210^post21, __disjvr_17^0'=__disjvr_17^post21, i_167^0'=i_167^post21, __disjvr_8^0'=__disjvr_8^post21, __disjvr_14^0'=__disjvr_14^post21, r_39^0'=r_39^post21, f_263^0'=f_263^post21, nondet_12^0'=nondet_12^post21, __disjvr_26^0'=__disjvr_26^post21, a_353^0'=a_353^post21, __disjvr_21^0'=__disjvr_21^post21, temp0_31^0'=temp0_31^post21, __disjvr_38^0'=__disjvr_38^post21, __disjvr_33^0'=__disjvr_33^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, head_268^0'=head_268^post21, head_32^0'=head_32^post21, __disjvr_5^0'=__disjvr_5^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, __disjvr_42^0'=__disjvr_42^post21, len_226^0'=len_226^post21, __disjvr_23^0'=__disjvr_23^post21, a_277^0'=a_277^post21, __disjvr_19^0'=__disjvr_19^post21, i_94^0'=i_94^post21, a_116^0'=a_116^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_88^0'=rcd_88^post21, head_14^0'=head_14^post21, r_163^0'=r_163^post21, __disjvr_28^0'=__disjvr_28^post21, tmp_34^0'=tmp_34^post21, __disjvr_3^0'=__disjvr_3^post21, __disjvr_35^0'=__disjvr_35^post21, temp0_15^0'=temp0_15^post21, a_184^0'=a_184^post21, __disjvr_16^0'=__disjvr_16^post21, (0 == 0 /\ __disjvr_31^0-__disjvr_31^post21 == 0 /\ -rcd_88^post21+rcd_88^0 == 0 /\ -r_260^post21+r_260^0 == 0 /\ __disjvr_27^0-__disjvr_27^post21 == 0 /\ -__disjvr_14^post21+__disjvr_14^0 == 0 /\ -len_226^post21+len_226^0 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ head_268^0-head_268^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -f_263^post21+f_263^0 == 0 /\ temp_35^0-temp_35^post21 == 0 /\ -head_SLAM_f_26^post21+head_SLAM_f_26^0 == 0 /\ a_277^0-a_277^post21 == 0 /\ -i_167^post21+i_167^0 == 0 /\ len_132^0-len_132^post21 == 0 /\ -a_308^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ -__disjvr_35^post21+__disjvr_35^0 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -head_27^post21+head_27^0 == 0 /\ __disjvr_34^0-__disjvr_34^post21 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -__disjvr_36^post21+__disjvr_36^0 == 0 /\ r_124^0-r_124^post21 == 0 /\ head_223^0-head_223^post21 == 0 /\ i_108^0-i_108^post21 == 0 /\ -a_147^post21+a_147^0 == 0 /\ a_330^0-a_330^post21 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ __disjvr_41^0-__disjvr_41^post21 == 0 /\ -i_94^post21+i_94^0 == 0 /\ -__disjvr_33^post21+__disjvr_33^0 == 0 /\ -temp0_15^post21+temp0_15^0 == 0 /\ t_23^0-t_23^post21 == 0 /\ __disjvr_22^0-__disjvr_22^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ len_183^0-len_183^post21 == 0 /\ __disjvr_37^0-__disjvr_37^post21 == 0 /\ y_19^0-y_19^post21 == 0 /\ -__disjvr_24^post21+__disjvr_24^0 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ __disjvr_38^0-__disjvr_38^post21 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ a_308^0-a_308^post21 == 0 /\ i_30^0-i_30^post21 == 0 /\ a_353^0-a_353^post21 == 0 /\ -a_184^post21+a_184^0 == 0 /\ -a_116^post21+a_116^0 == 0 /\ -__disjvr_42^post21+__disjvr_42^0 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ f_170^0-f_170^post21 == 0 /\ -head_129^post21+head_129^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ -a_210^post21+a_210^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ -r_218^post21+r_218^0 == 0 /\ -head_175^post21+head_175^0 == 0 /\ -__disjvr_40^post21+__disjvr_40^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ -r_39^post21+r_39^0 == 0 /\ -__disjvr_32^post21+__disjvr_32^0 == 0 /\ -x_20^post21+x_20^0 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -__disjvr_43^post21+__disjvr_43^0 == 0 /\ -head_32^post21+head_32^0 == 0 /\ __disjvr_39^0-__disjvr_39^post21 == 0 /\ __disjvr_15^0-__disjvr_15^post21 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ length_29^0-length_29^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ rcd_58^0-rcd_58^post21 == 0 /\ a_241^0-a_241^post21 == 0 /\ -r_163^post21+r_163^0 == 0 /\ len_276^0-len_276^post21 == 0 /\ __disjvr_7^0-__disjvr_7^post21 == 0), cost: 1
  19: l20 -> l21 : i_108^0'=i_108^post19, __disjvr_7^0'=__disjvr_7^post19, __disjvr_13^0'=__disjvr_13^post19, f_170^0'=f_170^post19, length_29^0'=length_29^post19, __disjvr_25^0'=__disjvr_25^post19, a_330^0'=a_330^post19, __disjvr_20^0'=__disjvr_20^post19, len_183^0'=len_183^post19, __disjvr_37^0'=__disjvr_37^post19, __disjvr_32^0'=__disjvr_32^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, head_223^0'=head_223^post19, r_260^0'=r_260^post19, __disjvr_4^0'=__disjvr_4^post19, __disjvr_10^0'=__disjvr_10^post19, x_20^0'=x_20^post19, __disjvr_41^0'=__disjvr_41^post19, __disjvr_22^0'=__disjvr_22^post19, a_241^0'=a_241^post19, __disjvr_18^0'=__disjvr_18^post19, i_30^0'=i_30^post19, __disjvr_9^0'=__disjvr_9^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_58^0'=rcd_58^post19, head_129^0'=head_129^post19, r_124^0'=r_124^post19, __disjvr_27^0'=__disjvr_27^post19, ct_17^0'=ct_17^post19, temp_35^0'=temp_35^post19, __disjvr_39^0'=__disjvr_39^post19, __disjvr_34^0'=__disjvr_34^post19, t_23^0'=t_23^post19, head_27^0'=head_27^post19, __disjvr_15^0'=__disjvr_15^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, __disjvr_6^0'=__disjvr_6^post19, __disjvr_12^0'=__disjvr_12^post19, y_19^0'=y_19^post19, __disjvr_43^0'=__disjvr_43^post19, len_276^0'=len_276^post19, __disjvr_24^0'=__disjvr_24^post19, a_308^0'=a_308^post19, __disjvr_1^0'=__disjvr_1^post19, len_132^0'=len_132^post19, a_147^0'=a_147^post19, __disjvr_31^0'=__disjvr_31^post19, result_11^0'=result_11^post19, head_175^0'=head_175^post19, r_218^0'=r_218^post19, __disjvr_29^0'=__disjvr_29^post19, __disjvr_0^0'=__disjvr_0^post19, x_16^0'=x_16^post19, __disjvr_40^0'=__disjvr_40^post19, __disjvr_36^0'=__disjvr_36^post19, a_210^0'=a_210^post19, __disjvr_17^0'=__disjvr_17^post19, i_167^0'=i_167^post19, __disjvr_8^0'=__disjvr_8^post19, __disjvr_14^0'=__disjvr_14^post19, r_39^0'=r_39^post19, f_263^0'=f_263^post19, nondet_12^0'=nondet_12^post19, __disjvr_26^0'=__disjvr_26^post19, a_353^0'=a_353^post19, __disjvr_21^0'=__disjvr_21^post19, temp0_31^0'=temp0_31^post19, __disjvr_38^0'=__disjvr_38^post19, __disjvr_33^0'=__disjvr_33^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, head_268^0'=head_268^post19, head_32^0'=head_32^post19, __disjvr_5^0'=__disjvr_5^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, __disjvr_42^0'=__disjvr_42^post19, len_226^0'=len_226^post19, __disjvr_23^0'=__disjvr_23^post19, a_277^0'=a_277^post19, __disjvr_19^0'=__disjvr_19^post19, i_94^0'=i_94^post19, a_116^0'=a_116^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_88^0'=rcd_88^post19, head_14^0'=head_14^post19, r_163^0'=r_163^post19, __disjvr_28^0'=__disjvr_28^post19, tmp_34^0'=tmp_34^post19, __disjvr_3^0'=__disjvr_3^post19, __disjvr_35^0'=__disjvr_35^post19, temp0_15^0'=temp0_15^post19, a_184^0'=a_184^post19, __disjvr_16^0'=__disjvr_16^post19, (-tmp_34^post19+tmp_34^0 == 0 /\ -a_116^post19+a_116^0 == 0 /\ -a_184^post19+a_184^0 == 0 /\ r_260^0-r_260^post19 == 0 /\ __disjvr_39^0-__disjvr_39^post19 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ r_218^0-r_218^post19 == 0 /\ len_226^0-len_226^post19 == 0 /\ a_147^0-a_147^post19 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ -i_94^post19+i_94^0 == 0 /\ a_210^0-a_210^post19 == 0 /\ head_129^0-head_129^post19 == 0 /\ -__disjvr_16^post19+__disjvr_16^0 == 0 /\ __disjvr_8^post19-__disjvr_8^0 == 0 /\ i_108^0-i_108^post19 == 0 /\ rcd_58^0-rcd_58^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -a_308^post19+a_308^0 == 0 /\ -x_SLAM_f_18^post19+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ -head_14^post19+head_14^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ ct_17^0-ct_17^post19 == 0 /\ r_124^0-r_124^post19 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ result_11^0-result_11^post19 == 0 /\ head_223^0-head_223^post19 == 0 /\ x_16^0-x_16^post19 == 0 /\ -__disjvr_42^post19+__disjvr_42^0 == 0 /\ -y_19^post19+y_19^0 == 0 /\ head_27^0-head_27^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ __disjvr_25^0-__disjvr_25^post19 == 0 /\ __disjvr_32^0-__disjvr_32^post19 == 0 /\ a_241^0-a_241^post19 == 0 /\ f_170^0-f_170^post19 == 0 /\ -i_30^post19+i_30^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ r_39^0-r_39^post19 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -a_277^post19+a_277^0 == 0 /\ -__disjvr_3^post19+__disjvr_3^0 == 0 /\ -__disjvr_31^post19+__disjvr_31^0 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ __disjvr_12^0-__disjvr_12^post19 == 0 /\ __disjvr_27^0-__disjvr_27^post19 == 0 /\ len_183^0-len_183^post19 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0 /\ -r_163^post19+r_163^0 == 0 /\ -__disjvr_29^post19+__disjvr_29^0 == 0 /\ -__disjvr_34^post19+__disjvr_34^0 == 0 /\ -i_167^post19+i_167^0 == 0 /\ -__disjvr_35^post19+__disjvr_35^0 == 0 /\ -head_32^post19+head_32^0 == 0 /\ length_29^0-length_29^post19 == 0 /\ -__disjvr_38^post19+__disjvr_38^0 == 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ -__disjvr_21^post19+__disjvr_21^0 == 0 /\ -len_276^post19+len_276^0 == 0 /\ -__disjvr_33^post19+__disjvr_33^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -head_268^post19+head_268^0 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ a_330^0-a_330^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ __disjvr_43^0-__disjvr_43^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -__disjvr_36^post19+__disjvr_36^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ f_263^0-f_263^post19 == 0 /\ -__disjvr_30^post19+__disjvr_30^0 == 0 /\ -__disjvr_0^post19+__disjvr_0^0 == 0 /\ -temp0_15^post19+temp0_15^0 == 0 /\ x_20^0-x_20^post19 == 0 /\ __disjvr_37^0-__disjvr_37^post19 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -a_353^post19+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ __disjvr_40^0-__disjvr_40^post19 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_41^post19+__disjvr_41^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ -len_132^post19+len_132^0 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0), cost: 1
  20: l21 -> l11 : i_108^0'=i_108^post20, __disjvr_7^0'=__disjvr_7^post20, __disjvr_13^0'=__disjvr_13^post20, f_170^0'=f_170^post20, length_29^0'=length_29^post20, __disjvr_25^0'=__disjvr_25^post20, a_330^0'=a_330^post20, __disjvr_20^0'=__disjvr_20^post20, len_183^0'=len_183^post20, __disjvr_37^0'=__disjvr_37^post20, __disjvr_32^0'=__disjvr_32^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, head_223^0'=head_223^post20, r_260^0'=r_260^post20, __disjvr_4^0'=__disjvr_4^post20, __disjvr_10^0'=__disjvr_10^post20, x_20^0'=x_20^post20, __disjvr_41^0'=__disjvr_41^post20, __disjvr_22^0'=__disjvr_22^post20, a_241^0'=a_241^post20, __disjvr_18^0'=__disjvr_18^post20, i_30^0'=i_30^post20, __disjvr_9^0'=__disjvr_9^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_58^0'=rcd_58^post20, head_129^0'=head_129^post20, r_124^0'=r_124^post20, __disjvr_27^0'=__disjvr_27^post20, ct_17^0'=ct_17^post20, temp_35^0'=temp_35^post20, __disjvr_39^0'=__disjvr_39^post20, __disjvr_34^0'=__disjvr_34^post20, t_23^0'=t_23^post20, head_27^0'=head_27^post20, __disjvr_15^0'=__disjvr_15^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, __disjvr_6^0'=__disjvr_6^post20, __disjvr_12^0'=__disjvr_12^post20, y_19^0'=y_19^post20, __disjvr_43^0'=__disjvr_43^post20, len_276^0'=len_276^post20, __disjvr_24^0'=__disjvr_24^post20, a_308^0'=a_308^post20, __disjvr_1^0'=__disjvr_1^post20, len_132^0'=len_132^post20, a_147^0'=a_147^post20, __disjvr_31^0'=__disjvr_31^post20, result_11^0'=result_11^post20, head_175^0'=head_175^post20, r_218^0'=r_218^post20, __disjvr_29^0'=__disjvr_29^post20, __disjvr_0^0'=__disjvr_0^post20, x_16^0'=x_16^post20, __disjvr_40^0'=__disjvr_40^post20, __disjvr_36^0'=__disjvr_36^post20, a_210^0'=a_210^post20, __disjvr_17^0'=__disjvr_17^post20, i_167^0'=i_167^post20, __disjvr_8^0'=__disjvr_8^post20, __disjvr_14^0'=__disjvr_14^post20, r_39^0'=r_39^post20, f_263^0'=f_263^post20, nondet_12^0'=nondet_12^post20, __disjvr_26^0'=__disjvr_26^post20, a_353^0'=a_353^post20, __disjvr_21^0'=__disjvr_21^post20, temp0_31^0'=temp0_31^post20, __disjvr_38^0'=__disjvr_38^post20, __disjvr_33^0'=__disjvr_33^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, head_268^0'=head_268^post20, head_32^0'=head_32^post20, __disjvr_5^0'=__disjvr_5^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, __disjvr_42^0'=__disjvr_42^post20, len_226^0'=len_226^post20, __disjvr_23^0'=__disjvr_23^post20, a_277^0'=a_277^post20, __disjvr_19^0'=__disjvr_19^post20, i_94^0'=i_94^post20, a_116^0'=a_116^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_88^0'=rcd_88^post20, head_14^0'=head_14^post20, r_163^0'=r_163^post20, __disjvr_28^0'=__disjvr_28^post20, tmp_34^0'=tmp_34^post20, __disjvr_3^0'=__disjvr_3^post20, __disjvr_35^0'=__disjvr_35^post20, temp0_15^0'=temp0_15^post20, a_184^0'=a_184^post20, __disjvr_16^0'=__disjvr_16^post20, (-temp0_31^post20+temp0_31^0 == 0 /\ __disjvr_23^0-__disjvr_23^post20 == 0 /\ __disjvr_43^0-__disjvr_43^post20 == 0 /\ i_94^0-i_94^post20 == 0 /\ __disjvr_17^0-__disjvr_17^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -a_116^post20+a_116^0 == 0 /\ -head_32^post20+head_32^0 == 0 /\ __disjvr_37^0-__disjvr_37^post20 == 0 /\ -rcd_58^post20+rcd_58^0 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ -x_16^post20+x_16^0 == 0 /\ -len_226^post20+len_226^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ ct_17^0-ct_17^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -__disjvr_34^post20+__disjvr_34^0 == 0 /\ -head_14^post20+head_14^0 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ -__disjvr_40^post20+__disjvr_40^0 == 0 /\ -tmp_34^post20+tmp_34^0 == 0 /\ r_124^0-r_124^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -x_SLAM_f_18^post20+x_SLAM_f_18^0 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -temp0_15^post20+temp0_15^0 == 0 /\ __disjvr_36^0-__disjvr_36^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ __disjvr_39^0-__disjvr_39^post20 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ __disjvr_12^0-__disjvr_12^post20 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ head_268^0-head_268^post20 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ length_29^0-length_29^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ __disjvr_42^0-__disjvr_42^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ -r_39^post20+r_39^0 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_38^post20+__disjvr_38^0 == 0 /\ r_218^0-r_218^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_241^0-a_241^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post20 == 0 /\ x_20^0-x_20^post20 == 0 /\ -__disjvr_14^post20+__disjvr_14^0 == 0 /\ -__disjvr_35^post20+__disjvr_35^0 == 0 /\ -a_277^post20+a_277^0 == 0 /\ __disjvr_41^0-__disjvr_41^post20 == 0 /\ -i_167^post20+i_167^0 == 0 /\ head_27^0-head_27^post20 == 0 /\ a_210^0-a_210^post20 == 0 /\ -a_184^post20+a_184^0 == 0 /\ __disjvr_32^0-__disjvr_32^post20 == 0 /\ head_129^0-head_129^post20 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ -__disjvr_33^post20+__disjvr_33^0 == 0 /\ -head_175^post20+head_175^0 == 0 /\ head_223^0-head_223^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -a_330^post20+a_330^0 == 0 /\ -len_276^post20+len_276^0 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ len_132^0-len_132^post20 == 0 /\ -f_263^post20+f_263^0 == 0 /\ -__disjvr_31^post20+__disjvr_31^0 == 0 /\ r_260^0-r_260^post20 == 0 /\ -a_353^post20+a_353^0 == 0 /\ -a_147^post20+a_147^0 == 0 /\ i_108^0-i_108^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ y_19^0-y_19^post20 == 0 /\ -t_23^post20+t_23^0 == 0 /\ -__disjvr_28^post20+__disjvr_28^0 == 0 /\ a_308^0-a_308^post20 == 0 /\ -r_163^post20+r_163^0 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post20 == 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20 == 0 /\ -i_30^post20+i_30^0 == 0 /\ len_183^0-len_183^post20 == 0), cost: 1
  22: l22 -> l23 : i_108^0'=i_108^post22, __disjvr_7^0'=__disjvr_7^post22, __disjvr_13^0'=__disjvr_13^post22, f_170^0'=f_170^post22, length_29^0'=length_29^post22, __disjvr_25^0'=__disjvr_25^post22, a_330^0'=a_330^post22, __disjvr_20^0'=__disjvr_20^post22, len_183^0'=len_183^post22, __disjvr_37^0'=__disjvr_37^post22, __disjvr_32^0'=__disjvr_32^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, head_223^0'=head_223^post22, r_260^0'=r_260^post22, __disjvr_4^0'=__disjvr_4^post22, __disjvr_10^0'=__disjvr_10^post22, x_20^0'=x_20^post22, __disjvr_41^0'=__disjvr_41^post22, __disjvr_22^0'=__disjvr_22^post22, a_241^0'=a_241^post22, __disjvr_18^0'=__disjvr_18^post22, i_30^0'=i_30^post22, __disjvr_9^0'=__disjvr_9^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_58^0'=rcd_58^post22, head_129^0'=head_129^post22, r_124^0'=r_124^post22, __disjvr_27^0'=__disjvr_27^post22, ct_17^0'=ct_17^post22, temp_35^0'=temp_35^post22, __disjvr_39^0'=__disjvr_39^post22, __disjvr_34^0'=__disjvr_34^post22, t_23^0'=t_23^post22, head_27^0'=head_27^post22, __disjvr_15^0'=__disjvr_15^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, __disjvr_6^0'=__disjvr_6^post22, __disjvr_12^0'=__disjvr_12^post22, y_19^0'=y_19^post22, __disjvr_43^0'=__disjvr_43^post22, len_276^0'=len_276^post22, __disjvr_24^0'=__disjvr_24^post22, a_308^0'=a_308^post22, __disjvr_1^0'=__disjvr_1^post22, len_132^0'=len_132^post22, a_147^0'=a_147^post22, __disjvr_31^0'=__disjvr_31^post22, result_11^0'=result_11^post22, head_175^0'=head_175^post22, r_218^0'=r_218^post22, __disjvr_29^0'=__disjvr_29^post22, __disjvr_0^0'=__disjvr_0^post22, x_16^0'=x_16^post22, __disjvr_40^0'=__disjvr_40^post22, __disjvr_36^0'=__disjvr_36^post22, a_210^0'=a_210^post22, __disjvr_17^0'=__disjvr_17^post22, i_167^0'=i_167^post22, __disjvr_8^0'=__disjvr_8^post22, __disjvr_14^0'=__disjvr_14^post22, r_39^0'=r_39^post22, f_263^0'=f_263^post22, nondet_12^0'=nondet_12^post22, __disjvr_26^0'=__disjvr_26^post22, a_353^0'=a_353^post22, __disjvr_21^0'=__disjvr_21^post22, temp0_31^0'=temp0_31^post22, __disjvr_38^0'=__disjvr_38^post22, __disjvr_33^0'=__disjvr_33^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, head_268^0'=head_268^post22, head_32^0'=head_32^post22, __disjvr_5^0'=__disjvr_5^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, __disjvr_42^0'=__disjvr_42^post22, len_226^0'=len_226^post22, __disjvr_23^0'=__disjvr_23^post22, a_277^0'=a_277^post22, __disjvr_19^0'=__disjvr_19^post22, i_94^0'=i_94^post22, a_116^0'=a_116^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_88^0'=rcd_88^post22, head_14^0'=head_14^post22, r_163^0'=r_163^post22, __disjvr_28^0'=__disjvr_28^post22, tmp_34^0'=tmp_34^post22, __disjvr_3^0'=__disjvr_3^post22, __disjvr_35^0'=__disjvr_35^post22, temp0_15^0'=temp0_15^post22, a_184^0'=a_184^post22, __disjvr_16^0'=__disjvr_16^post22, (-len_132^post22+len_132^0 == 0 /\ __disjvr_34^0-__disjvr_34^post22 == 0 /\ -head_14^post22+head_14^0 == 0 /\ -a_277^post22+a_277^0 == 0 /\ -__disjvr_3^post22+__disjvr_3^0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -__disjvr_35^post22+__disjvr_35^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post22+__disjvr_30^0 == 0 /\ -__disjvr_41^post22+__disjvr_41^0 == 0 /\ a_330^0-a_330^post22 == 0 /\ head_175^0-head_175^post22 == 0 /\ -__disjvr_14^post22+__disjvr_14^0 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ -__disjvr_42^post22+__disjvr_42^0 == 0 /\ -a_184^post22+a_184^0 == 0 /\ -a_210^post22+a_210^0 == 0 /\ length_29^0-length_29^post22 == 0 /\ a_353^0-a_353^post22 == 0 /\ -result_11^post22+result_11^0 == 0 /\ len_226^0-len_226^post22 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ __disjvr_37^0-__disjvr_37^post22 == 0 /\ -__disjvr_31^post22+__disjvr_31^0 == 0 /\ -y_19^post22+y_19^0 == 0 /\ __disjvr_27^0-__disjvr_27^post22 == 0 /\ i_108^0-i_108^post22 == 0 /\ head_129^0-head_129^post22 == 0 /\ -__disjvr_0^post22+__disjvr_0^0 == 0 /\ x_20^0-x_20^post22 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ __disjvr_9^post22-__disjvr_9^0 == 0 /\ -head_32^post22+head_32^0 == 0 /\ ct_17^0-ct_17^post22 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ -r_218^post22+r_218^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ len_276^0-len_276^post22 == 0 /\ len_183^0-len_183^post22 == 0 /\ -__disjvr_36^post22+__disjvr_36^0 == 0 /\ -head_268^post22+head_268^0 == 0 /\ head_223^0-head_223^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ __disjvr_40^0-__disjvr_40^post22 == 0 /\ -__disjvr_39^post22+__disjvr_39^0 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ r_260^0-r_260^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ -a_116^post22+a_116^0 == 0 /\ -rcd_88^post22+rcd_88^0 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ __disjvr_32^0-__disjvr_32^post22 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22 == 0 /\ -x_16^post22+x_16^0 == 0 /\ -__disjvr_38^post22+__disjvr_38^0 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ a_241^0-a_241^post22 == 0 /\ __disjvr_33^0-__disjvr_33^post22 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ a_147^0-a_147^post22 == 0 /\ -i_94^post22+i_94^0 == 0 /\ __disjvr_43^0-__disjvr_43^post22 == 0 /\ f_170^0-f_170^post22 == 0 /\ r_39^0-r_39^post22 == 0 /\ -a_308^post22+a_308^0 == 0 /\ -f_263^post22+f_263^0 == 0 /\ -head_27^post22+head_27^0 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ -__disjvr_21^post22+__disjvr_21^0 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ r_163^0-r_163^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ temp_35^0-temp_35^post22 == 0 /\ -temp0_15^post22+temp0_15^0 == 0 /\ r_124^0-r_124^post22 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ __disjvr_25^0-__disjvr_25^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -__disjvr_19^post22+__disjvr_19^0 == 0 /\ t_23^0-t_23^post22 == 0), cost: 1
  23: l23 -> l24 : i_108^0'=i_108^post23, __disjvr_7^0'=__disjvr_7^post23, __disjvr_13^0'=__disjvr_13^post23, f_170^0'=f_170^post23, length_29^0'=length_29^post23, __disjvr_25^0'=__disjvr_25^post23, a_330^0'=a_330^post23, __disjvr_20^0'=__disjvr_20^post23, len_183^0'=len_183^post23, __disjvr_37^0'=__disjvr_37^post23, __disjvr_32^0'=__disjvr_32^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, head_223^0'=head_223^post23, r_260^0'=r_260^post23, __disjvr_4^0'=__disjvr_4^post23, __disjvr_10^0'=__disjvr_10^post23, x_20^0'=x_20^post23, __disjvr_41^0'=__disjvr_41^post23, __disjvr_22^0'=__disjvr_22^post23, a_241^0'=a_241^post23, __disjvr_18^0'=__disjvr_18^post23, i_30^0'=i_30^post23, __disjvr_9^0'=__disjvr_9^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_58^0'=rcd_58^post23, head_129^0'=head_129^post23, r_124^0'=r_124^post23, __disjvr_27^0'=__disjvr_27^post23, ct_17^0'=ct_17^post23, temp_35^0'=temp_35^post23, __disjvr_39^0'=__disjvr_39^post23, __disjvr_34^0'=__disjvr_34^post23, t_23^0'=t_23^post23, head_27^0'=head_27^post23, __disjvr_15^0'=__disjvr_15^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, __disjvr_6^0'=__disjvr_6^post23, __disjvr_12^0'=__disjvr_12^post23, y_19^0'=y_19^post23, __disjvr_43^0'=__disjvr_43^post23, len_276^0'=len_276^post23, __disjvr_24^0'=__disjvr_24^post23, a_308^0'=a_308^post23, __disjvr_1^0'=__disjvr_1^post23, len_132^0'=len_132^post23, a_147^0'=a_147^post23, __disjvr_31^0'=__disjvr_31^post23, result_11^0'=result_11^post23, head_175^0'=head_175^post23, r_218^0'=r_218^post23, __disjvr_29^0'=__disjvr_29^post23, __disjvr_0^0'=__disjvr_0^post23, x_16^0'=x_16^post23, __disjvr_40^0'=__disjvr_40^post23, __disjvr_36^0'=__disjvr_36^post23, a_210^0'=a_210^post23, __disjvr_17^0'=__disjvr_17^post23, i_167^0'=i_167^post23, __disjvr_8^0'=__disjvr_8^post23, __disjvr_14^0'=__disjvr_14^post23, r_39^0'=r_39^post23, f_263^0'=f_263^post23, nondet_12^0'=nondet_12^post23, __disjvr_26^0'=__disjvr_26^post23, a_353^0'=a_353^post23, __disjvr_21^0'=__disjvr_21^post23, temp0_31^0'=temp0_31^post23, __disjvr_38^0'=__disjvr_38^post23, __disjvr_33^0'=__disjvr_33^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, head_268^0'=head_268^post23, head_32^0'=head_32^post23, __disjvr_5^0'=__disjvr_5^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, __disjvr_42^0'=__disjvr_42^post23, len_226^0'=len_226^post23, __disjvr_23^0'=__disjvr_23^post23, a_277^0'=a_277^post23, __disjvr_19^0'=__disjvr_19^post23, i_94^0'=i_94^post23, a_116^0'=a_116^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_88^0'=rcd_88^post23, head_14^0'=head_14^post23, r_163^0'=r_163^post23, __disjvr_28^0'=__disjvr_28^post23, tmp_34^0'=tmp_34^post23, __disjvr_3^0'=__disjvr_3^post23, __disjvr_35^0'=__disjvr_35^post23, temp0_15^0'=temp0_15^post23, a_184^0'=a_184^post23, __disjvr_16^0'=__disjvr_16^post23, (-__disjvr_14^post23+__disjvr_14^0 == 0 /\ rcd_58^0-rcd_58^post23 == 0 /\ -y_19^0 <= 0 /\ -__disjvr_28^post23+__disjvr_28^0 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ i_108^0-i_108^post23 == 0 /\ -temp0_15^post23+temp0_15^0 == 0 /\ x_16^0-head_14^0 <= 0 /\ -__disjvr_30^post23+__disjvr_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ ct_17^0-y_19^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ __disjvr_27^0-__disjvr_27^post23 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ r_260^0-r_260^post23 == 0 /\ __disjvr_36^0-__disjvr_36^post23 == 0 /\ temp_35^0-temp_35^post23 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ x_20^0-x_20^post23 == 0 /\ -__disjvr_39^post23+__disjvr_39^0 == 0 /\ -__disjvr_31^post23+__disjvr_31^0 == 0 /\ a_147^0-a_147^post23 == 0 /\ -a_116^post23+a_116^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ f_263^0-f_263^post23 == 0 /\ -tmp_34^post23+tmp_34^0 == 0 /\ r_39^0-r_39^post23 == 0 /\ -a_184^post23+a_184^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -x_16^0+head_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ ct_17^0 <= 0 /\ -ct_17^0+y_19^0 <= 0 /\ -r_163^post23+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ -y_19^post23+y_19^0 == 0 /\ head_32^0-head_32^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -a_353^post23+a_353^0 == 0 /\ -x_SLAM_f_18^post23+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post23 == 0 /\ len_226^0-len_226^post23 == 0 /\ -head_27^post23+head_27^0 == 0 /\ -a_308^post23+a_308^0 == 0 /\ -i_94^post23+i_94^0 == 0 /\ y_19^0 <= 0 /\ a_330^0-a_330^post23 == 0 /\ r_218^0-r_218^post23 == 0 /\ -head_268^post23+head_268^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ -__disjvr_42^post23+__disjvr_42^0 == 0 /\ -__disjvr_41^post23+__disjvr_41^0 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_5^post23+__disjvr_5^0 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ i_167^0-i_167^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ len_276^0-len_276^post23 == 0 /\ len_183^0-len_183^post23 == 0 /\ head_175^0-head_175^post23 == 0 /\ -__disjvr_35^post23+__disjvr_35^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post23 == 0 /\ -x_20^0+t_23^post23 == 0 /\ i_30^0-i_30^post23 == 0 /\ __disjvr_37^0-__disjvr_37^post23 == 0 /\ -__disjvr_34^post23+__disjvr_34^0 == 0 /\ -a_277^post23+a_277^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ length_29^0-length_29^post23 == 0 /\ -a_210^post23+a_210^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_43^0-__disjvr_43^post23 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ -__disjvr_0^post23+__disjvr_0^0 == 0 /\ -__disjvr_38^post23+__disjvr_38^0 == 0 /\ -__disjvr_40^post23+__disjvr_40^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ head_14^0-head_14^post23 == 0 /\ -__disjvr_33^post23+__disjvr_33^0 == 0 /\ __disjvr_7^0-__disjvr_7^post23 == 0 /\ head_129^0-head_129^post23 == 0 /\ a_241^0-a_241^post23 == 0 /\ -head_223^post23+head_223^0 == 0 /\ r_124^0-r_124^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -f_170^post23+f_170^0 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ -rcd_88^post23+rcd_88^0 == 0 /\ __disjvr_32^0-__disjvr_32^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0), cost: 1
  24: l24 -> l25 : i_108^0'=i_108^post24, __disjvr_7^0'=__disjvr_7^post24, __disjvr_13^0'=__disjvr_13^post24, f_170^0'=f_170^post24, length_29^0'=length_29^post24, __disjvr_25^0'=__disjvr_25^post24, a_330^0'=a_330^post24, __disjvr_20^0'=__disjvr_20^post24, len_183^0'=len_183^post24, __disjvr_37^0'=__disjvr_37^post24, __disjvr_32^0'=__disjvr_32^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, head_223^0'=head_223^post24, r_260^0'=r_260^post24, __disjvr_4^0'=__disjvr_4^post24, __disjvr_10^0'=__disjvr_10^post24, x_20^0'=x_20^post24, __disjvr_41^0'=__disjvr_41^post24, __disjvr_22^0'=__disjvr_22^post24, a_241^0'=a_241^post24, __disjvr_18^0'=__disjvr_18^post24, i_30^0'=i_30^post24, __disjvr_9^0'=__disjvr_9^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_58^0'=rcd_58^post24, head_129^0'=head_129^post24, r_124^0'=r_124^post24, __disjvr_27^0'=__disjvr_27^post24, ct_17^0'=ct_17^post24, temp_35^0'=temp_35^post24, __disjvr_39^0'=__disjvr_39^post24, __disjvr_34^0'=__disjvr_34^post24, t_23^0'=t_23^post24, head_27^0'=head_27^post24, __disjvr_15^0'=__disjvr_15^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, __disjvr_6^0'=__disjvr_6^post24, __disjvr_12^0'=__disjvr_12^post24, y_19^0'=y_19^post24, __disjvr_43^0'=__disjvr_43^post24, len_276^0'=len_276^post24, __disjvr_24^0'=__disjvr_24^post24, a_308^0'=a_308^post24, __disjvr_1^0'=__disjvr_1^post24, len_132^0'=len_132^post24, a_147^0'=a_147^post24, __disjvr_31^0'=__disjvr_31^post24, result_11^0'=result_11^post24, head_175^0'=head_175^post24, r_218^0'=r_218^post24, __disjvr_29^0'=__disjvr_29^post24, __disjvr_0^0'=__disjvr_0^post24, x_16^0'=x_16^post24, __disjvr_40^0'=__disjvr_40^post24, __disjvr_36^0'=__disjvr_36^post24, a_210^0'=a_210^post24, __disjvr_17^0'=__disjvr_17^post24, i_167^0'=i_167^post24, __disjvr_8^0'=__disjvr_8^post24, __disjvr_14^0'=__disjvr_14^post24, r_39^0'=r_39^post24, f_263^0'=f_263^post24, nondet_12^0'=nondet_12^post24, __disjvr_26^0'=__disjvr_26^post24, a_353^0'=a_353^post24, __disjvr_21^0'=__disjvr_21^post24, temp0_31^0'=temp0_31^post24, __disjvr_38^0'=__disjvr_38^post24, __disjvr_33^0'=__disjvr_33^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, head_268^0'=head_268^post24, head_32^0'=head_32^post24, __disjvr_5^0'=__disjvr_5^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, __disjvr_42^0'=__disjvr_42^post24, len_226^0'=len_226^post24, __disjvr_23^0'=__disjvr_23^post24, a_277^0'=a_277^post24, __disjvr_19^0'=__disjvr_19^post24, i_94^0'=i_94^post24, a_116^0'=a_116^post24, __disjvr_30^0'=__disjvr_30^post24, rcd_88^0'=rcd_88^post24, head_14^0'=head_14^post24, r_163^0'=r_163^post24, __disjvr_28^0'=__disjvr_28^post24, tmp_34^0'=tmp_34^post24, __disjvr_3^0'=__disjvr_3^post24, __disjvr_35^0'=__disjvr_35^post24, temp0_15^0'=temp0_15^post24, a_184^0'=a_184^post24, __disjvr_16^0'=__disjvr_16^post24, (-__disjvr_28^post24+__disjvr_28^0 == 0 /\ -r_260^post24+r_260^0 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ __disjvr_31^0-__disjvr_31^post24 == 0 /\ -__disjvr_33^post24+__disjvr_33^0 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ __disjvr_13^0-__disjvr_13^post24 == 0 /\ __disjvr_41^0-__disjvr_41^post24 == 0 /\ __disjvr_43^0-__disjvr_43^post24 == 0 /\ __disjvr_17^0-__disjvr_17^post24 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ a_210^0-a_210^post24 == 0 /\ -x_20^post24+x_20^0 == 0 /\ -r_163^post24+r_163^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -len_226^post24+len_226^0 == 0 /\ head_129^0-head_129^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ -head_175^post24+head_175^0 == 0 /\ -a_116^post24+a_116^0 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ length_29^0-length_29^post24 == 0 /\ -__disjvr_40^post24+__disjvr_40^0 == 0 /\ __disjvr_27^0-__disjvr_27^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ i_108^0-i_108^post24 == 0 /\ -__disjvr_35^post24+__disjvr_35^0 == 0 /\ __disjvr_34^0-__disjvr_34^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ ct_17^0-ct_17^post24 == 0 /\ __disjvr_42^0-__disjvr_42^post24 == 0 /\ -r_124^post24+r_124^0 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -__disjvr_14^post24+__disjvr_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ __disjvr_7^0-__disjvr_7^post24 == 0 /\ -__disjvr_38^post24+__disjvr_38^0 == 0 /\ -x_SLAM_f_18^post24+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -a_147^post24+a_147^0 == 0 /\ __disjvr_22^0-__disjvr_22^post24 == 0 /\ head_223^0-head_223^post24 == 0 /\ -rcd_88^post24+rcd_88^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ -t_23^post24+t_23^0 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -i_94^post24+i_94^0 == 0 /\ -a_353^post24+a_353^0 == 0 /\ __disjvr_32^0-__disjvr_32^post24 == 0 /\ -temp0_15^post24+temp0_15^0 == 0 /\ x_16^0-x_16^post24 == 0 /\ __disjvr_36^0-__disjvr_36^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ __disjvr_39^0-__disjvr_39^post24 == 0 /\ -a_277^post24+a_277^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ a_241^0-a_241^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ head_27^0-head_27^post24 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post24+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post24+f_263^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -head_32^post24+head_32^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ a_308^0-a_308^post24 == 0 /\ __disjvr_12^0-__disjvr_12^post24 == 0 /\ -head_268^post24+head_268^0 == 0 /\ r_218^0-r_218^post24 == 0 /\ -a_184^post24+a_184^0 == 0 /\ a_330^0-a_330^post24 == 0 /\ len_132^0-len_132^post24 == 0 /\ -len_276^post24+len_276^0 == 0 /\ -__disjvr_10^0+__disjvr_10^post24 == 0 /\ -__disjvr_37^post24+__disjvr_37^0 == 0 /\ -i_167^post24+i_167^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -__disjvr_21^post24+__disjvr_21^0 == 0 /\ -head_14^post24+head_14^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ f_170^0-f_170^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0), cost: 1
  25: l25 -> l26 : i_108^0'=i_108^post25, __disjvr_7^0'=__disjvr_7^post25, __disjvr_13^0'=__disjvr_13^post25, f_170^0'=f_170^post25, length_29^0'=length_29^post25, __disjvr_25^0'=__disjvr_25^post25, a_330^0'=a_330^post25, __disjvr_20^0'=__disjvr_20^post25, len_183^0'=len_183^post25, __disjvr_37^0'=__disjvr_37^post25, __disjvr_32^0'=__disjvr_32^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, head_223^0'=head_223^post25, r_260^0'=r_260^post25, __disjvr_4^0'=__disjvr_4^post25, __disjvr_10^0'=__disjvr_10^post25, x_20^0'=x_20^post25, __disjvr_41^0'=__disjvr_41^post25, __disjvr_22^0'=__disjvr_22^post25, a_241^0'=a_241^post25, __disjvr_18^0'=__disjvr_18^post25, i_30^0'=i_30^post25, __disjvr_9^0'=__disjvr_9^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_58^0'=rcd_58^post25, head_129^0'=head_129^post25, r_124^0'=r_124^post25, __disjvr_27^0'=__disjvr_27^post25, ct_17^0'=ct_17^post25, temp_35^0'=temp_35^post25, __disjvr_39^0'=__disjvr_39^post25, __disjvr_34^0'=__disjvr_34^post25, t_23^0'=t_23^post25, head_27^0'=head_27^post25, __disjvr_15^0'=__disjvr_15^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, __disjvr_6^0'=__disjvr_6^post25, __disjvr_12^0'=__disjvr_12^post25, y_19^0'=y_19^post25, __disjvr_43^0'=__disjvr_43^post25, len_276^0'=len_276^post25, __disjvr_24^0'=__disjvr_24^post25, a_308^0'=a_308^post25, __disjvr_1^0'=__disjvr_1^post25, len_132^0'=len_132^post25, a_147^0'=a_147^post25, __disjvr_31^0'=__disjvr_31^post25, result_11^0'=result_11^post25, head_175^0'=head_175^post25, r_218^0'=r_218^post25, __disjvr_29^0'=__disjvr_29^post25, __disjvr_0^0'=__disjvr_0^post25, x_16^0'=x_16^post25, __disjvr_40^0'=__disjvr_40^post25, __disjvr_36^0'=__disjvr_36^post25, a_210^0'=a_210^post25, __disjvr_17^0'=__disjvr_17^post25, i_167^0'=i_167^post25, __disjvr_8^0'=__disjvr_8^post25, __disjvr_14^0'=__disjvr_14^post25, r_39^0'=r_39^post25, f_263^0'=f_263^post25, nondet_12^0'=nondet_12^post25, __disjvr_26^0'=__disjvr_26^post25, a_353^0'=a_353^post25, __disjvr_21^0'=__disjvr_21^post25, temp0_31^0'=temp0_31^post25, __disjvr_38^0'=__disjvr_38^post25, __disjvr_33^0'=__disjvr_33^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, head_268^0'=head_268^post25, head_32^0'=head_32^post25, __disjvr_5^0'=__disjvr_5^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, __disjvr_42^0'=__disjvr_42^post25, len_226^0'=len_226^post25, __disjvr_23^0'=__disjvr_23^post25, a_277^0'=a_277^post25, __disjvr_19^0'=__disjvr_19^post25, i_94^0'=i_94^post25, a_116^0'=a_116^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_88^0'=rcd_88^post25, head_14^0'=head_14^post25, r_163^0'=r_163^post25, __disjvr_28^0'=__disjvr_28^post25, tmp_34^0'=tmp_34^post25, __disjvr_3^0'=__disjvr_3^post25, __disjvr_35^0'=__disjvr_35^post25, temp0_15^0'=temp0_15^post25, a_184^0'=a_184^post25, __disjvr_16^0'=__disjvr_16^post25, (__disjvr_2^0-__disjvr_2^post25 == 0 /\ head_268^0-head_268^post25 == 0 /\ -__disjvr_36^post25+__disjvr_36^0 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ ct_17^0-ct_17^post25 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -head_129^post25+head_129^0 == 0 /\ -temp0_15^post25+temp0_15^0 == 0 /\ -head_SLAM_f_26^post25+head_SLAM_f_26^0 == 0 /\ head_223^0-head_223^post25 == 0 /\ -__disjvr_43^post25+__disjvr_43^0 == 0 /\ -a_277^post25+a_277^0 == 0 /\ -a_241^post25+a_241^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ -__disjvr_0^post25+__disjvr_0^0 == 0 /\ __disjvr_39^0-__disjvr_39^post25 == 0 /\ -__disjvr_35^post25+__disjvr_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_32^0-__disjvr_32^post25 == 0 /\ -f_263^post25+f_263^0 == 0 /\ head_27^0-head_27^post25 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ -__disjvr_31^post25+__disjvr_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ f_170^0-f_170^post25 == 0 /\ t_23^0-t_23^post25 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ a_308^0-a_308^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ -a_184^post25+a_184^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ __disjvr_40^0-__disjvr_40^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ -i_167^post25+i_167^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ -i_94^post25+i_94^0 == 0 /\ -head_14^post25+head_14^0 == 0 /\ temp_35^0-temp_35^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ __disjvr_11^post25-__disjvr_11^0 == 0 /\ length_29^0-length_29^post25 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ __disjvr_41^0-__disjvr_41^post25 == 0 /\ -__disjvr_3^post25+__disjvr_3^0 == 0 /\ -len_132^post25+len_132^0 == 0 /\ -head_175^post25+head_175^0 == 0 /\ __disjvr_17^0-__disjvr_17^post25 == 0 /\ -__disjvr_42^post25+__disjvr_42^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -a_147^post25+a_147^0 == 0 /\ a_353^0-a_353^post25 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ len_276^0-len_276^post25 == 0 /\ r_260^0-r_260^post25 == 0 /\ x_20^0-x_20^post25 == 0 /\ a_330^0-a_330^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -r_218^post25+r_218^0 == 0 /\ __disjvr_7^0-__disjvr_7^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -len_226^post25+len_226^0 == 0 /\ __disjvr_37^0-__disjvr_37^post25 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ -a_116^post25+a_116^0 == 0 /\ i_108^0-i_108^post25 == 0 /\ __disjvr_34^0-__disjvr_34^post25 == 0 /\ -r_163^post25+r_163^0 == 0 /\ -__disjvr_24^post25+__disjvr_24^0 == 0 /\ -x_16^post25+x_16^0 == 0 /\ -a_210^post25+a_210^0 == 0 /\ __disjvr_27^0-__disjvr_27^post25 == 0 /\ -len_183^post25+len_183^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ rcd_88^0-rcd_88^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -x_SLAM_f_18^post25+x_SLAM_f_18^0 == 0 /\ __disjvr_38^0-__disjvr_38^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ __disjvr_30^0-__disjvr_30^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ i_30^0-i_30^post25 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -__disjvr_33^post25+__disjvr_33^0 == 0), cost: 1
  26: l26 -> l27 : i_108^0'=i_108^post26, __disjvr_7^0'=__disjvr_7^post26, __disjvr_13^0'=__disjvr_13^post26, f_170^0'=f_170^post26, length_29^0'=length_29^post26, __disjvr_25^0'=__disjvr_25^post26, a_330^0'=a_330^post26, __disjvr_20^0'=__disjvr_20^post26, len_183^0'=len_183^post26, __disjvr_37^0'=__disjvr_37^post26, __disjvr_32^0'=__disjvr_32^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, head_223^0'=head_223^post26, r_260^0'=r_260^post26, __disjvr_4^0'=__disjvr_4^post26, __disjvr_10^0'=__disjvr_10^post26, x_20^0'=x_20^post26, __disjvr_41^0'=__disjvr_41^post26, __disjvr_22^0'=__disjvr_22^post26, a_241^0'=a_241^post26, __disjvr_18^0'=__disjvr_18^post26, i_30^0'=i_30^post26, __disjvr_9^0'=__disjvr_9^post26, __disjvr_2^0'=__disjvr_2^post26, rcd_58^0'=rcd_58^post26, head_129^0'=head_129^post26, r_124^0'=r_124^post26, __disjvr_27^0'=__disjvr_27^post26, ct_17^0'=ct_17^post26, temp_35^0'=temp_35^post26, __disjvr_39^0'=__disjvr_39^post26, __disjvr_34^0'=__disjvr_34^post26, t_23^0'=t_23^post26, head_27^0'=head_27^post26, __disjvr_15^0'=__disjvr_15^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, __disjvr_6^0'=__disjvr_6^post26, __disjvr_12^0'=__disjvr_12^post26, y_19^0'=y_19^post26, __disjvr_43^0'=__disjvr_43^post26, len_276^0'=len_276^post26, __disjvr_24^0'=__disjvr_24^post26, a_308^0'=a_308^post26, __disjvr_1^0'=__disjvr_1^post26, len_132^0'=len_132^post26, a_147^0'=a_147^post26, __disjvr_31^0'=__disjvr_31^post26, result_11^0'=result_11^post26, head_175^0'=head_175^post26, r_218^0'=r_218^post26, __disjvr_29^0'=__disjvr_29^post26, __disjvr_0^0'=__disjvr_0^post26, x_16^0'=x_16^post26, __disjvr_40^0'=__disjvr_40^post26, __disjvr_36^0'=__disjvr_36^post26, a_210^0'=a_210^post26, __disjvr_17^0'=__disjvr_17^post26, i_167^0'=i_167^post26, __disjvr_8^0'=__disjvr_8^post26, __disjvr_14^0'=__disjvr_14^post26, r_39^0'=r_39^post26, f_263^0'=f_263^post26, nondet_12^0'=nondet_12^post26, __disjvr_26^0'=__disjvr_26^post26, a_353^0'=a_353^post26, __disjvr_21^0'=__disjvr_21^post26, temp0_31^0'=temp0_31^post26, __disjvr_38^0'=__disjvr_38^post26, __disjvr_33^0'=__disjvr_33^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, head_268^0'=head_268^post26, head_32^0'=head_32^post26, __disjvr_5^0'=__disjvr_5^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_18^0'=x_SLAM_f_18^post26, __disjvr_42^0'=__disjvr_42^post26, len_226^0'=len_226^post26, __disjvr_23^0'=__disjvr_23^post26, a_277^0'=a_277^post26, __disjvr_19^0'=__disjvr_19^post26, i_94^0'=i_94^post26, a_116^0'=a_116^post26, __disjvr_30^0'=__disjvr_30^post26, rcd_88^0'=rcd_88^post26, head_14^0'=head_14^post26, r_163^0'=r_163^post26, __disjvr_28^0'=__disjvr_28^post26, tmp_34^0'=tmp_34^post26, __disjvr_3^0'=__disjvr_3^post26, __disjvr_35^0'=__disjvr_35^post26, temp0_15^0'=temp0_15^post26, a_184^0'=a_184^post26, __disjvr_16^0'=__disjvr_16^post26, (-__disjvr_29^post26+__disjvr_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ __disjvr_7^0-__disjvr_7^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ r_124^0-r_124^post26 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -len_132^post26+len_132^0 == 0 /\ -r_163^post26+r_163^0 == 0 /\ __disjvr_34^0-__disjvr_34^post26 == 0 /\ -head_268^post26+head_268^0 == 0 /\ -a_147^post26+a_147^0 == 0 /\ -x_SLAM_f_18^post26+x_SLAM_f_18^0 == 0 /\ i_30^0-i_30^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ -__disjvr_35^post26+__disjvr_35^0 == 0 /\ length_29^0-length_29^post26 == 0 /\ -a_116^post26+a_116^0 == 0 /\ -__disjvr_30^post26+__disjvr_30^0 == 0 /\ len_183^0-len_183^post26 == 0 /\ -__disjvr_38^post26+__disjvr_38^0 == 0 /\ head_32^0-head_32^post26 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ r_260^0-r_260^post26 == 0 /\ -__disjvr_8^post26+__disjvr_8^0 == 0 /\ -x_16^post26+x_16^0 == 0 /\ -ct_17^post26+ct_17^0 == 0 /\ head_175^0-head_175^post26 == 0 /\ x_20^0-x_20^post26 == 0 /\ -a_210^post26+a_210^0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -__disjvr_42^post26+__disjvr_42^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ i_108^0-i_108^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -__disjvr_24^post26+__disjvr_24^0 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ -head_129^post26+head_129^0 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ -f_263^post26+f_263^0 == 0 /\ -__disjvr_12^0+__disjvr_12^post26 == 0 /\ __disjvr_32^0-__disjvr_32^post26 == 0 /\ -y_19^post26+y_19^0 == 0 /\ __disjvr_40^0-__disjvr_40^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -__disjvr_23^post26+__disjvr_23^0 == 0 /\ -__disjvr_0^post26+__disjvr_0^0 == 0 /\ -head_27^post26+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ t_23^0-t_23^post26 == 0 /\ -__disjvr_31^post26+__disjvr_31^0 == 0 /\ -__disjvr_36^post26+__disjvr_36^0 == 0 /\ a_241^0-a_241^post26 == 0 /\ __disjvr_27^0-__disjvr_27^post26 == 0 /\ -__disjvr_39^post26+__disjvr_39^0 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post26 == 0 /\ -r_218^post26+r_218^0 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ -a_308^post26+a_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ -temp0_15^post26+temp0_15^0 == 0 /\ -__disjvr_43^post26+__disjvr_43^0 == 0 /\ -len_226^post26+len_226^0 == 0 /\ -a_277^post26+a_277^0 == 0 /\ __disjvr_12^0-__disjvr_12^post26 == 0 /\ a_353^0-a_353^post26 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ len_276^0-len_276^post26 == 0 /\ -__disjvr_9^post26+__disjvr_9^0 == 0 /\ head_223^0-head_223^post26 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ -head_14^post26+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ rcd_58^0-rcd_58^post26 == 0 /\ __disjvr_37^0-__disjvr_37^post26 == 0 /\ f_170^0-f_170^post26 == 0 /\ -__disjvr_5^post26+__disjvr_5^0 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ __disjvr_33^0-__disjvr_33^post26 == 0 /\ r_39^0-r_39^post26 == 0 /\ -__disjvr_21^post26+__disjvr_21^0 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -i_94^post26+i_94^0 == 0 /\ temp_35^0-temp_35^post26 == 0 /\ -a_184^post26+a_184^0 == 0 /\ -i_167^post26+i_167^0 == 0 /\ a_330^0-a_330^post26 == 0 /\ __disjvr_41^0-__disjvr_41^post26 == 0), cost: 1
  27: l27 -> l10 : i_108^0'=i_108^post27, __disjvr_7^0'=__disjvr_7^post27, __disjvr_13^0'=__disjvr_13^post27, f_170^0'=f_170^post27, length_29^0'=length_29^post27, __disjvr_25^0'=__disjvr_25^post27, a_330^0'=a_330^post27, __disjvr_20^0'=__disjvr_20^post27, len_183^0'=len_183^post27, __disjvr_37^0'=__disjvr_37^post27, __disjvr_32^0'=__disjvr_32^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, head_223^0'=head_223^post27, r_260^0'=r_260^post27, __disjvr_4^0'=__disjvr_4^post27, __disjvr_10^0'=__disjvr_10^post27, x_20^0'=x_20^post27, __disjvr_41^0'=__disjvr_41^post27, __disjvr_22^0'=__disjvr_22^post27, a_241^0'=a_241^post27, __disjvr_18^0'=__disjvr_18^post27, i_30^0'=i_30^post27, __disjvr_9^0'=__disjvr_9^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_58^0'=rcd_58^post27, head_129^0'=head_129^post27, r_124^0'=r_124^post27, __disjvr_27^0'=__disjvr_27^post27, ct_17^0'=ct_17^post27, temp_35^0'=temp_35^post27, __disjvr_39^0'=__disjvr_39^post27, __disjvr_34^0'=__disjvr_34^post27, t_23^0'=t_23^post27, head_27^0'=head_27^post27, __disjvr_15^0'=__disjvr_15^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, __disjvr_6^0'=__disjvr_6^post27, __disjvr_12^0'=__disjvr_12^post27, y_19^0'=y_19^post27, __disjvr_43^0'=__disjvr_43^post27, len_276^0'=len_276^post27, __disjvr_24^0'=__disjvr_24^post27, a_308^0'=a_308^post27, __disjvr_1^0'=__disjvr_1^post27, len_132^0'=len_132^post27, a_147^0'=a_147^post27, __disjvr_31^0'=__disjvr_31^post27, result_11^0'=result_11^post27, head_175^0'=head_175^post27, r_218^0'=r_218^post27, __disjvr_29^0'=__disjvr_29^post27, __disjvr_0^0'=__disjvr_0^post27, x_16^0'=x_16^post27, __disjvr_40^0'=__disjvr_40^post27, __disjvr_36^0'=__disjvr_36^post27, a_210^0'=a_210^post27, __disjvr_17^0'=__disjvr_17^post27, i_167^0'=i_167^post27, __disjvr_8^0'=__disjvr_8^post27, __disjvr_14^0'=__disjvr_14^post27, r_39^0'=r_39^post27, f_263^0'=f_263^post27, nondet_12^0'=nondet_12^post27, __disjvr_26^0'=__disjvr_26^post27, a_353^0'=a_353^post27, __disjvr_21^0'=__disjvr_21^post27, temp0_31^0'=temp0_31^post27, __disjvr_38^0'=__disjvr_38^post27, __disjvr_33^0'=__disjvr_33^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, head_268^0'=head_268^post27, head_32^0'=head_32^post27, __disjvr_5^0'=__disjvr_5^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_18^0'=x_SLAM_f_18^post27, __disjvr_42^0'=__disjvr_42^post27, len_226^0'=len_226^post27, __disjvr_23^0'=__disjvr_23^post27, a_277^0'=a_277^post27, __disjvr_19^0'=__disjvr_19^post27, i_94^0'=i_94^post27, a_116^0'=a_116^post27, __disjvr_30^0'=__disjvr_30^post27, rcd_88^0'=rcd_88^post27, head_14^0'=head_14^post27, r_163^0'=r_163^post27, __disjvr_28^0'=__disjvr_28^post27, tmp_34^0'=tmp_34^post27, __disjvr_3^0'=__disjvr_3^post27, __disjvr_35^0'=__disjvr_35^post27, temp0_15^0'=temp0_15^post27, a_184^0'=a_184^post27, __disjvr_16^0'=__disjvr_16^post27, (len_226^0-len_226^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ ct_17^0-ct_17^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ __disjvr_12^0-__disjvr_12^post27 == 0 /\ -__disjvr_38^post27+__disjvr_38^0 == 0 /\ r_218^0-r_218^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ -temp0_15^post27+temp0_15^0 == 0 /\ a_147^0-a_147^post27 == 0 /\ -__disjvr_26^post27+__disjvr_26^0 == 0 /\ f_170^0-f_170^post27 == 0 /\ -r_163^post27+r_163^0 == 0 /\ -head_268^post27+head_268^0 == 0 /\ -t_23^post27+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ -a_308^post27+a_308^0 == 0 /\ -i_30^post27+i_30^0 == 0 /\ __disjvr_36^0-__disjvr_36^post27 == 0 /\ -__disjvr_14^post27+__disjvr_14^0 == 0 /\ -rcd_58^post27+rcd_58^0 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ -__disjvr_19^post27+__disjvr_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ x_16^0-x_16^post27 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -__disjvr_34^post27+__disjvr_34^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ r_124^0-r_124^post27 == 0 /\ a_241^0-a_241^post27 == 0 /\ -head_14^post27+head_14^0 == 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -a_184^post27+a_184^0 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ __disjvr_31^0-__disjvr_31^post27 == 0 /\ __disjvr_39^0-__disjvr_39^post27 == 0 /\ -__disjvr_15^post27+__disjvr_15^0 == 0 /\ -i_94^post27+i_94^0 == 0 /\ -__disjvr_42^post27+__disjvr_42^0 == 0 /\ -a_277^post27+a_277^0 == 0 /\ head_27^0-head_27^post27 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_167^0-i_167^post27 == 0 /\ __disjvr_32^0-__disjvr_32^post27 == 0 /\ -len_276^post27+len_276^0 == 0 /\ -a_210^post27+a_210^0 == 0 /\ __disjvr_22^0-__disjvr_22^post27 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ length_29^0-length_29^post27 == 0 /\ len_132^0-len_132^post27 == 0 /\ -__disjvr_33^post27+__disjvr_33^0 == 0 /\ -__disjvr_0^post27+__disjvr_0^0 == 0 /\ -__disjvr_21^post27+__disjvr_21^0 == 0 /\ -__disjvr_40^post27+__disjvr_40^0 == 0 /\ __disjvr_25^0-__disjvr_25^post27 == 0 /\ f_263^0-f_263^post27 == 0 /\ -a_353^post27+a_353^0 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ __disjvr_43^0-__disjvr_43^post27 == 0 /\ __disjvr_37^0-__disjvr_37^post27 == 0 /\ r_260^0-r_260^post27 == 0 /\ -r_39^post27+r_39^0 == 0 /\ head_175^0-head_175^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ x_20^0-x_20^post27 == 0 /\ i_108^0-i_108^post27 == 0 /\ -__disjvr_23^post27+__disjvr_23^0 == 0 /\ __disjvr_41^0-__disjvr_41^post27 == 0 /\ a_330^0-a_330^post27 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ -head_223^post27+head_223^0 == 0 /\ -x_SLAM_f_18^post27+x_SLAM_f_18^0 == 0 /\ -rcd_88^post27+rcd_88^0 == 0 /\ head_129^0-head_129^post27 == 0 /\ -head_32^post27+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ len_183^0-len_183^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ -__disjvr_30^post27+__disjvr_30^0 == 0 /\ -__disjvr_35^post27+__disjvr_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -y_19^post27+y_19^0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_116^post27+a_116^0 == 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0), cost: 1
  29: l28 -> l29 : i_108^0'=i_108^post29, __disjvr_7^0'=__disjvr_7^post29, __disjvr_13^0'=__disjvr_13^post29, f_170^0'=f_170^post29, length_29^0'=length_29^post29, __disjvr_25^0'=__disjvr_25^post29, a_330^0'=a_330^post29, __disjvr_20^0'=__disjvr_20^post29, len_183^0'=len_183^post29, __disjvr_37^0'=__disjvr_37^post29, __disjvr_32^0'=__disjvr_32^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_223^0'=head_223^post29, r_260^0'=r_260^post29, __disjvr_4^0'=__disjvr_4^post29, __disjvr_10^0'=__disjvr_10^post29, x_20^0'=x_20^post29, __disjvr_41^0'=__disjvr_41^post29, __disjvr_22^0'=__disjvr_22^post29, a_241^0'=a_241^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_9^0'=__disjvr_9^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_58^0'=rcd_58^post29, head_129^0'=head_129^post29, r_124^0'=r_124^post29, __disjvr_27^0'=__disjvr_27^post29, ct_17^0'=ct_17^post29, temp_35^0'=temp_35^post29, __disjvr_39^0'=__disjvr_39^post29, __disjvr_34^0'=__disjvr_34^post29, t_23^0'=t_23^post29, head_27^0'=head_27^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, __disjvr_6^0'=__disjvr_6^post29, __disjvr_12^0'=__disjvr_12^post29, y_19^0'=y_19^post29, __disjvr_43^0'=__disjvr_43^post29, len_276^0'=len_276^post29, __disjvr_24^0'=__disjvr_24^post29, a_308^0'=a_308^post29, __disjvr_1^0'=__disjvr_1^post29, len_132^0'=len_132^post29, a_147^0'=a_147^post29, __disjvr_31^0'=__disjvr_31^post29, result_11^0'=result_11^post29, head_175^0'=head_175^post29, r_218^0'=r_218^post29, __disjvr_29^0'=__disjvr_29^post29, __disjvr_0^0'=__disjvr_0^post29, x_16^0'=x_16^post29, __disjvr_40^0'=__disjvr_40^post29, __disjvr_36^0'=__disjvr_36^post29, a_210^0'=a_210^post29, __disjvr_17^0'=__disjvr_17^post29, i_167^0'=i_167^post29, __disjvr_8^0'=__disjvr_8^post29, __disjvr_14^0'=__disjvr_14^post29, r_39^0'=r_39^post29, f_263^0'=f_263^post29, nondet_12^0'=nondet_12^post29, __disjvr_26^0'=__disjvr_26^post29, a_353^0'=a_353^post29, __disjvr_21^0'=__disjvr_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_38^0'=__disjvr_38^post29, __disjvr_33^0'=__disjvr_33^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, head_268^0'=head_268^post29, head_32^0'=head_32^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, __disjvr_42^0'=__disjvr_42^post29, len_226^0'=len_226^post29, __disjvr_23^0'=__disjvr_23^post29, a_277^0'=a_277^post29, __disjvr_19^0'=__disjvr_19^post29, i_94^0'=i_94^post29, a_116^0'=a_116^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_88^0'=rcd_88^post29, head_14^0'=head_14^post29, r_163^0'=r_163^post29, __disjvr_28^0'=__disjvr_28^post29, tmp_34^0'=tmp_34^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_35^0'=__disjvr_35^post29, temp0_15^0'=temp0_15^post29, a_184^0'=a_184^post29, __disjvr_16^0'=__disjvr_16^post29, (len_132^0-len_132^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -r_218^post29+r_218^0 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ -__disjvr_35^post29+__disjvr_35^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ head_27^0-head_27^post29 == 0 /\ -tmp_34^post29+tmp_34^0 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ a_241^0-a_241^post29 == 0 /\ __disjvr_32^0-__disjvr_32^post29 == 0 /\ __disjvr_22^0-__disjvr_22^post29 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ -__disjvr_14^post29+__disjvr_14^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ -len_276^post29+len_276^0 == 0 /\ -__disjvr_33^post29+__disjvr_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ __disjvr_41^0-__disjvr_41^post29 == 0 /\ a_308^0-a_308^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -a_147^post29+a_147^0 == 0 /\ len_183^0-len_183^post29 == 0 /\ r_260^0-r_260^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ -__disjvr_30^post29+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ __disjvr_37^0-__disjvr_37^post29 == 0 /\ __disjvr_34^0-__disjvr_34^post29 == 0 /\ head_129^0-head_129^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ i_108^0-i_108^post29 == 0 /\ head_268^0-head_268^post29 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ rcd_58^0-rcd_58^post29 == 0 /\ -len_226^post29+len_226^0 == 0 /\ -x_16^post29+x_16^0 == 0 /\ -__disjvr_13^0+__disjvr_13^post29 == 0 /\ a_330^0-a_330^post29 == 0 /\ __disjvr_42^0-__disjvr_42^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post29+f_263^0 == 0 /\ __disjvr_17^0-__disjvr_17^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ __disjvr_38^0-__disjvr_38^post29 == 0 /\ -a_116^post29+a_116^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -a_184^post29+a_184^0 == 0 /\ -__disjvr_40^post29+__disjvr_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ -__disjvr_43^post29+__disjvr_43^0 == 0 /\ __disjvr_36^0-__disjvr_36^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ y_19^0-y_19^post29 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ f_170^0-f_170^post29 == 0 /\ head_223^0-head_223^post29 == 0 /\ -a_353^post29+a_353^0 == 0 /\ -rcd_88^post29+rcd_88^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ -temp0_15^post29+temp0_15^0 == 0 /\ -head_14^post29+head_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ i_30^0-i_30^post29 == 0 /\ x_20^0-x_20^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_39^0-__disjvr_39^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ a_210^0-a_210^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -head_SLAM_f_26^post29+head_SLAM_f_26^0 == 0 /\ -head_175^post29+head_175^0 == 0 /\ __disjvr_31^0-__disjvr_31^post29 == 0 /\ -a_277^post29+a_277^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ ct_17^0-ct_17^post29 == 0), cost: 1
  30: l29 -> l30 : i_108^0'=i_108^post30, __disjvr_7^0'=__disjvr_7^post30, __disjvr_13^0'=__disjvr_13^post30, f_170^0'=f_170^post30, length_29^0'=length_29^post30, __disjvr_25^0'=__disjvr_25^post30, a_330^0'=a_330^post30, __disjvr_20^0'=__disjvr_20^post30, len_183^0'=len_183^post30, __disjvr_37^0'=__disjvr_37^post30, __disjvr_32^0'=__disjvr_32^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_223^0'=head_223^post30, r_260^0'=r_260^post30, __disjvr_4^0'=__disjvr_4^post30, __disjvr_10^0'=__disjvr_10^post30, x_20^0'=x_20^post30, __disjvr_41^0'=__disjvr_41^post30, __disjvr_22^0'=__disjvr_22^post30, a_241^0'=a_241^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_9^0'=__disjvr_9^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_58^0'=rcd_58^post30, head_129^0'=head_129^post30, r_124^0'=r_124^post30, __disjvr_27^0'=__disjvr_27^post30, ct_17^0'=ct_17^post30, temp_35^0'=temp_35^post30, __disjvr_39^0'=__disjvr_39^post30, __disjvr_34^0'=__disjvr_34^post30, t_23^0'=t_23^post30, head_27^0'=head_27^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, __disjvr_6^0'=__disjvr_6^post30, __disjvr_12^0'=__disjvr_12^post30, y_19^0'=y_19^post30, __disjvr_43^0'=__disjvr_43^post30, len_276^0'=len_276^post30, __disjvr_24^0'=__disjvr_24^post30, a_308^0'=a_308^post30, __disjvr_1^0'=__disjvr_1^post30, len_132^0'=len_132^post30, a_147^0'=a_147^post30, __disjvr_31^0'=__disjvr_31^post30, result_11^0'=result_11^post30, head_175^0'=head_175^post30, r_218^0'=r_218^post30, __disjvr_29^0'=__disjvr_29^post30, __disjvr_0^0'=__disjvr_0^post30, x_16^0'=x_16^post30, __disjvr_40^0'=__disjvr_40^post30, __disjvr_36^0'=__disjvr_36^post30, a_210^0'=a_210^post30, __disjvr_17^0'=__disjvr_17^post30, i_167^0'=i_167^post30, __disjvr_8^0'=__disjvr_8^post30, __disjvr_14^0'=__disjvr_14^post30, r_39^0'=r_39^post30, f_263^0'=f_263^post30, nondet_12^0'=nondet_12^post30, __disjvr_26^0'=__disjvr_26^post30, a_353^0'=a_353^post30, __disjvr_21^0'=__disjvr_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_38^0'=__disjvr_38^post30, __disjvr_33^0'=__disjvr_33^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, head_268^0'=head_268^post30, head_32^0'=head_32^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, __disjvr_42^0'=__disjvr_42^post30, len_226^0'=len_226^post30, __disjvr_23^0'=__disjvr_23^post30, a_277^0'=a_277^post30, __disjvr_19^0'=__disjvr_19^post30, i_94^0'=i_94^post30, a_116^0'=a_116^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_88^0'=rcd_88^post30, head_14^0'=head_14^post30, r_163^0'=r_163^post30, __disjvr_28^0'=__disjvr_28^post30, tmp_34^0'=tmp_34^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_35^0'=__disjvr_35^post30, temp0_15^0'=temp0_15^post30, a_184^0'=a_184^post30, __disjvr_16^0'=__disjvr_16^post30, (0 == 0 /\ t_23^post30-head_14^0 <= 0 /\ -__disjvr_43^post30+__disjvr_43^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ -__disjvr_26^post30+__disjvr_26^0 == 0 /\ -y_19^0 <= 0 /\ len_276^0-len_276^post30 == 0 /\ x_16^0-head_14^0 <= 0 /\ -a_210^post30+a_210^0 == 0 /\ len_183^0-len_183^post30 == 0 /\ ct_17^0-y_19^0 <= 0 /\ length_29^0-length_29^post30 == 0 /\ -a_330^0+a_308^post30 <= 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ -__disjvr_11^post30+__disjvr_11^0 == 0 /\ y_19^0-y_19^post30 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -i_94^post30+i_94^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -a_353^post30+a_353^0 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_14^post30+head_14^0 == 0 /\ a_330^0-a_330^post30 == 0 /\ -temp0_15^post30+temp0_15^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -__disjvr_42^post30+__disjvr_42^0 == 0 /\ -t_23^post30+head_14^0 <= 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ i_167^0-i_167^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -f_263^post30+f_263^0 == 0 /\ -head_SLAM_f_26^post30+head_SLAM_f_26^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ ct_17^0 <= 0 /\ -ct_17^0+y_19^0 <= 0 /\ a_330^0-a_308^post30 <= 0 /\ -head_129^post30+head_129^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ __disjvr_37^0-__disjvr_37^post30 == 0 /\ -x_20^0+t_23^post30 == 0 /\ -a_277^post30+a_277^0 == 0 /\ head_32^0-head_32^post30 == 0 /\ __disjvr_40^0-__disjvr_40^post30 == 0 /\ y_19^0 <= 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -__disjvr_9^post30+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ -a_184^post30+a_184^0 == 0 /\ -__disjvr_31^post30+__disjvr_31^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ r_260^0-r_260^post30 == 0 /\ i_30^0-i_30^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -r_218^post30+r_218^0 == 0 /\ -r_163^post30+r_163^0 == 0 /\ -__disjvr_29^post30+__disjvr_29^0 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ -__disjvr_38^post30+__disjvr_38^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ i_108^0-i_108^post30 == 0 /\ a_147^0-a_147^post30 == 0 /\ -head_268^post30+head_268^0 == 0 /\ -rcd_88^post30+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -__disjvr_30^post30+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ __disjvr_32^0-__disjvr_32^post30 == 0 /\ a_241^0-a_241^post30 == 0 /\ -__disjvr_39^post30+__disjvr_39^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ f_170^0-f_170^post30 == 0 /\ head_223^0-head_223^post30 == 0 /\ -__disjvr_36^post30+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post30 == 0 /\ -x_16^post30+x_16^0 == 0 /\ __disjvr_34^0-__disjvr_34^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -len_226^post30+len_226^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -__disjvr_35^post30+__disjvr_35^0 == 0 /\ -a_116^post30+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ __disjvr_33^0-__disjvr_33^post30 == 0), cost: 1
  31: l30 -> l31 : i_108^0'=i_108^post31, __disjvr_7^0'=__disjvr_7^post31, __disjvr_13^0'=__disjvr_13^post31, f_170^0'=f_170^post31, length_29^0'=length_29^post31, __disjvr_25^0'=__disjvr_25^post31, a_330^0'=a_330^post31, __disjvr_20^0'=__disjvr_20^post31, len_183^0'=len_183^post31, __disjvr_37^0'=__disjvr_37^post31, __disjvr_32^0'=__disjvr_32^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_223^0'=head_223^post31, r_260^0'=r_260^post31, __disjvr_4^0'=__disjvr_4^post31, __disjvr_10^0'=__disjvr_10^post31, x_20^0'=x_20^post31, __disjvr_41^0'=__disjvr_41^post31, __disjvr_22^0'=__disjvr_22^post31, a_241^0'=a_241^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_9^0'=__disjvr_9^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_58^0'=rcd_58^post31, head_129^0'=head_129^post31, r_124^0'=r_124^post31, __disjvr_27^0'=__disjvr_27^post31, ct_17^0'=ct_17^post31, temp_35^0'=temp_35^post31, __disjvr_39^0'=__disjvr_39^post31, __disjvr_34^0'=__disjvr_34^post31, t_23^0'=t_23^post31, head_27^0'=head_27^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, __disjvr_6^0'=__disjvr_6^post31, __disjvr_12^0'=__disjvr_12^post31, y_19^0'=y_19^post31, __disjvr_43^0'=__disjvr_43^post31, len_276^0'=len_276^post31, __disjvr_24^0'=__disjvr_24^post31, a_308^0'=a_308^post31, __disjvr_1^0'=__disjvr_1^post31, len_132^0'=len_132^post31, a_147^0'=a_147^post31, __disjvr_31^0'=__disjvr_31^post31, result_11^0'=result_11^post31, head_175^0'=head_175^post31, r_218^0'=r_218^post31, __disjvr_29^0'=__disjvr_29^post31, __disjvr_0^0'=__disjvr_0^post31, x_16^0'=x_16^post31, __disjvr_40^0'=__disjvr_40^post31, __disjvr_36^0'=__disjvr_36^post31, a_210^0'=a_210^post31, __disjvr_17^0'=__disjvr_17^post31, i_167^0'=i_167^post31, __disjvr_8^0'=__disjvr_8^post31, __disjvr_14^0'=__disjvr_14^post31, r_39^0'=r_39^post31, f_263^0'=f_263^post31, nondet_12^0'=nondet_12^post31, __disjvr_26^0'=__disjvr_26^post31, a_353^0'=a_353^post31, __disjvr_21^0'=__disjvr_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_38^0'=__disjvr_38^post31, __disjvr_33^0'=__disjvr_33^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, head_268^0'=head_268^post31, head_32^0'=head_32^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, __disjvr_42^0'=__disjvr_42^post31, len_226^0'=len_226^post31, __disjvr_23^0'=__disjvr_23^post31, a_277^0'=a_277^post31, __disjvr_19^0'=__disjvr_19^post31, i_94^0'=i_94^post31, a_116^0'=a_116^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_88^0'=rcd_88^post31, head_14^0'=head_14^post31, r_163^0'=r_163^post31, __disjvr_28^0'=__disjvr_28^post31, tmp_34^0'=tmp_34^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_35^0'=__disjvr_35^post31, temp0_15^0'=temp0_15^post31, a_184^0'=a_184^post31, __disjvr_16^0'=__disjvr_16^post31, (-a_116^post31+a_116^0 == 0 /\ __disjvr_25^0-__disjvr_25^post31 == 0 /\ -rcd_88^post31+rcd_88^0 == 0 /\ head_129^0-head_129^post31 == 0 /\ a_210^0-a_210^post31 == 0 /\ -__disjvr_34^post31+__disjvr_34^0 == 0 /\ x_20^0-x_20^post31 == 0 /\ -__disjvr_16^post31+__disjvr_16^0 == 0 /\ __disjvr_32^0-__disjvr_32^post31 == 0 /\ -__disjvr_41^post31+__disjvr_41^0 == 0 /\ head_27^0-head_27^post31 == 0 /\ a_147^0-a_147^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -__disjvr_40^post31+__disjvr_40^0 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ -__disjvr_21^post31+__disjvr_21^0 == 0 /\ -__disjvr_33^post31+__disjvr_33^0 == 0 /\ x_16^0-x_16^post31 == 0 /\ head_223^0-head_223^post31 == 0 /\ a_330^0-a_330^post31 == 0 /\ -__disjvr_0^post31+__disjvr_0^0 == 0 /\ __disjvr_27^0-__disjvr_27^post31 == 0 /\ r_260^0-r_260^post31 == 0 /\ f_170^0-f_170^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ r_39^0-r_39^post31 == 0 /\ -a_308^post31+a_308^0 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -__disjvr_29^post31+__disjvr_29^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -len_226^post31+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ len_183^0-len_183^post31 == 0 /\ r_218^0-r_218^post31 == 0 /\ -__disjvr_39^post31+__disjvr_39^0 == 0 /\ -__disjvr_35^post31+__disjvr_35^0 == 0 /\ r_124^0-r_124^post31 == 0 /\ __disjvr_43^0-__disjvr_43^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ __disjvr_37^0-__disjvr_37^post31 == 0 /\ f_263^0-f_263^post31 == 0 /\ -a_277^post31+a_277^0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ -a_184^post31+a_184^0 == 0 /\ -__disjvr_38^post31+__disjvr_38^0 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -head_268^post31+head_268^0 == 0 /\ -i_94^post31+i_94^0 == 0 /\ -__disjvr_14^post31+__disjvr_14^0 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ len_276^0-len_276^post31 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_42^post31+__disjvr_42^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ a_241^0-a_241^post31 == 0 /\ -__disjvr_30^post31+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_36^post31+__disjvr_36^0 == 0 /\ temp_35^0-temp_35^post31 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ head_175^0-head_175^post31 == 0 /\ -a_353^post31+a_353^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -__disjvr_31^post31+__disjvr_31^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ __disjvr_15^0-__disjvr_15^post31 == 0 /\ __disjvr_14^post31-__disjvr_14^0 == 0 /\ -r_163^post31+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -y_19^post31+y_19^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0), cost: 1
  32: l31 -> l32 : i_108^0'=i_108^post32, __disjvr_7^0'=__disjvr_7^post32, __disjvr_13^0'=__disjvr_13^post32, f_170^0'=f_170^post32, length_29^0'=length_29^post32, __disjvr_25^0'=__disjvr_25^post32, a_330^0'=a_330^post32, __disjvr_20^0'=__disjvr_20^post32, len_183^0'=len_183^post32, __disjvr_37^0'=__disjvr_37^post32, __disjvr_32^0'=__disjvr_32^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_223^0'=head_223^post32, r_260^0'=r_260^post32, __disjvr_4^0'=__disjvr_4^post32, __disjvr_10^0'=__disjvr_10^post32, x_20^0'=x_20^post32, __disjvr_41^0'=__disjvr_41^post32, __disjvr_22^0'=__disjvr_22^post32, a_241^0'=a_241^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_9^0'=__disjvr_9^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_58^0'=rcd_58^post32, head_129^0'=head_129^post32, r_124^0'=r_124^post32, __disjvr_27^0'=__disjvr_27^post32, ct_17^0'=ct_17^post32, temp_35^0'=temp_35^post32, __disjvr_39^0'=__disjvr_39^post32, __disjvr_34^0'=__disjvr_34^post32, t_23^0'=t_23^post32, head_27^0'=head_27^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, __disjvr_6^0'=__disjvr_6^post32, __disjvr_12^0'=__disjvr_12^post32, y_19^0'=y_19^post32, __disjvr_43^0'=__disjvr_43^post32, len_276^0'=len_276^post32, __disjvr_24^0'=__disjvr_24^post32, a_308^0'=a_308^post32, __disjvr_1^0'=__disjvr_1^post32, len_132^0'=len_132^post32, a_147^0'=a_147^post32, __disjvr_31^0'=__disjvr_31^post32, result_11^0'=result_11^post32, head_175^0'=head_175^post32, r_218^0'=r_218^post32, __disjvr_29^0'=__disjvr_29^post32, __disjvr_0^0'=__disjvr_0^post32, x_16^0'=x_16^post32, __disjvr_40^0'=__disjvr_40^post32, __disjvr_36^0'=__disjvr_36^post32, a_210^0'=a_210^post32, __disjvr_17^0'=__disjvr_17^post32, i_167^0'=i_167^post32, __disjvr_8^0'=__disjvr_8^post32, __disjvr_14^0'=__disjvr_14^post32, r_39^0'=r_39^post32, f_263^0'=f_263^post32, nondet_12^0'=nondet_12^post32, __disjvr_26^0'=__disjvr_26^post32, a_353^0'=a_353^post32, __disjvr_21^0'=__disjvr_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_38^0'=__disjvr_38^post32, __disjvr_33^0'=__disjvr_33^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, head_268^0'=head_268^post32, head_32^0'=head_32^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, __disjvr_42^0'=__disjvr_42^post32, len_226^0'=len_226^post32, __disjvr_23^0'=__disjvr_23^post32, a_277^0'=a_277^post32, __disjvr_19^0'=__disjvr_19^post32, i_94^0'=i_94^post32, a_116^0'=a_116^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_88^0'=rcd_88^post32, head_14^0'=head_14^post32, r_163^0'=r_163^post32, __disjvr_28^0'=__disjvr_28^post32, tmp_34^0'=tmp_34^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_35^0'=__disjvr_35^post32, temp0_15^0'=temp0_15^post32, a_184^0'=a_184^post32, __disjvr_16^0'=__disjvr_16^post32, (-__disjvr_14^post32+__disjvr_14^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ __disjvr_37^0-__disjvr_37^post32 == 0 /\ f_170^0-f_170^post32 == 0 /\ -head_268^post32+head_268^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ -len_226^post32+len_226^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ a_116^0-a_116^post32 == 0 /\ -rcd_88^post32+rcd_88^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -__disjvr_35^post32+__disjvr_35^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -__disjvr_34^post32+__disjvr_34^0 == 0 /\ a_308^0-a_308^post32 == 0 /\ -i_167^post32+i_167^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ __disjvr_43^0-__disjvr_43^post32 == 0 /\ r_218^0-r_218^post32 == 0 /\ __disjvr_17^0-__disjvr_17^post32 == 0 /\ len_183^0-len_183^post32 == 0 /\ -__disjvr_38^post32+__disjvr_38^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ __disjvr_42^0-__disjvr_42^post32 == 0 /\ f_263^0-f_263^post32 == 0 /\ a_210^0-a_210^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -i_94^post32+i_94^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ __disjvr_18^0-__disjvr_18^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -__disjvr_33^post32+__disjvr_33^0 == 0 /\ -__disjvr_21^post32+__disjvr_21^0 == 0 /\ -len_276^post32+len_276^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ -y_19^post32+y_19^0 == 0 /\ __disjvr_39^0-__disjvr_39^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ __disjvr_12^0-__disjvr_12^post32 == 0 /\ __disjvr_32^0-__disjvr_32^post32 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ length_29^0-length_29^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_241^0-a_241^post32 == 0 /\ -a_353^post32+a_353^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_15^post32-__disjvr_15^0 == 0 /\ __disjvr_36^0-__disjvr_36^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -x_SLAM_f_18^post32+x_SLAM_f_18^0 == 0 /\ -r_124^post32+r_124^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post32+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post32+head_14^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ head_129^0-head_129^post32 == 0 /\ -__disjvr_30^post32+__disjvr_30^0 == 0 /\ -a_277^post32+a_277^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ x_20^0-x_20^post32 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ -tmp_34^post32+tmp_34^0 == 0 /\ -a_184^post32+a_184^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -r_39^post32+r_39^0 == 0 /\ head_223^0-head_223^post32 == 0 /\ -a_330^post32+a_330^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ i_108^0-i_108^post32 == 0 /\ -__disjvr_31^post32+__disjvr_31^0 == 0 /\ r_260^0-r_260^post32 == 0 /\ -__disjvr_0^post32+__disjvr_0^0 == 0 /\ head_27^0-head_27^post32 == 0 /\ -__disjvr_40^post32+__disjvr_40^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_41^0-__disjvr_41^post32 == 0 /\ -head_175^post32+head_175^0 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -head_32^post32+head_32^0 == 0), cost: 1
  33: l32 -> l33 : i_108^0'=i_108^post33, __disjvr_7^0'=__disjvr_7^post33, __disjvr_13^0'=__disjvr_13^post33, f_170^0'=f_170^post33, length_29^0'=length_29^post33, __disjvr_25^0'=__disjvr_25^post33, a_330^0'=a_330^post33, __disjvr_20^0'=__disjvr_20^post33, len_183^0'=len_183^post33, __disjvr_37^0'=__disjvr_37^post33, __disjvr_32^0'=__disjvr_32^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_223^0'=head_223^post33, r_260^0'=r_260^post33, __disjvr_4^0'=__disjvr_4^post33, __disjvr_10^0'=__disjvr_10^post33, x_20^0'=x_20^post33, __disjvr_41^0'=__disjvr_41^post33, __disjvr_22^0'=__disjvr_22^post33, a_241^0'=a_241^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_9^0'=__disjvr_9^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_58^0'=rcd_58^post33, head_129^0'=head_129^post33, r_124^0'=r_124^post33, __disjvr_27^0'=__disjvr_27^post33, ct_17^0'=ct_17^post33, temp_35^0'=temp_35^post33, __disjvr_39^0'=__disjvr_39^post33, __disjvr_34^0'=__disjvr_34^post33, t_23^0'=t_23^post33, head_27^0'=head_27^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, __disjvr_6^0'=__disjvr_6^post33, __disjvr_12^0'=__disjvr_12^post33, y_19^0'=y_19^post33, __disjvr_43^0'=__disjvr_43^post33, len_276^0'=len_276^post33, __disjvr_24^0'=__disjvr_24^post33, a_308^0'=a_308^post33, __disjvr_1^0'=__disjvr_1^post33, len_132^0'=len_132^post33, a_147^0'=a_147^post33, __disjvr_31^0'=__disjvr_31^post33, result_11^0'=result_11^post33, head_175^0'=head_175^post33, r_218^0'=r_218^post33, __disjvr_29^0'=__disjvr_29^post33, __disjvr_0^0'=__disjvr_0^post33, x_16^0'=x_16^post33, __disjvr_40^0'=__disjvr_40^post33, __disjvr_36^0'=__disjvr_36^post33, a_210^0'=a_210^post33, __disjvr_17^0'=__disjvr_17^post33, i_167^0'=i_167^post33, __disjvr_8^0'=__disjvr_8^post33, __disjvr_14^0'=__disjvr_14^post33, r_39^0'=r_39^post33, f_263^0'=f_263^post33, nondet_12^0'=nondet_12^post33, __disjvr_26^0'=__disjvr_26^post33, a_353^0'=a_353^post33, __disjvr_21^0'=__disjvr_21^post33, temp0_31^0'=temp0_31^post33, __disjvr_38^0'=__disjvr_38^post33, __disjvr_33^0'=__disjvr_33^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_268^0'=head_268^post33, head_32^0'=head_32^post33, __disjvr_5^0'=__disjvr_5^post33, __disjvr_11^0'=__disjvr_11^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, __disjvr_42^0'=__disjvr_42^post33, len_226^0'=len_226^post33, __disjvr_23^0'=__disjvr_23^post33, a_277^0'=a_277^post33, __disjvr_19^0'=__disjvr_19^post33, i_94^0'=i_94^post33, a_116^0'=a_116^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_88^0'=rcd_88^post33, head_14^0'=head_14^post33, r_163^0'=r_163^post33, __disjvr_28^0'=__disjvr_28^post33, tmp_34^0'=tmp_34^post33, __disjvr_3^0'=__disjvr_3^post33, __disjvr_35^0'=__disjvr_35^post33, temp0_15^0'=temp0_15^post33, a_184^0'=a_184^post33, __disjvr_16^0'=__disjvr_16^post33, (head_223^0-head_223^post33 == 0 /\ __disjvr_25^0-__disjvr_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ -head_14^post33+head_14^0 == 0 /\ -__disjvr_35^post33+__disjvr_35^0 == 0 /\ -__disjvr_30^post33+__disjvr_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_184^post33+a_184^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -tmp_34^post33+tmp_34^0 == 0 /\ head_27^0-head_27^post33 == 0 /\ __disjvr_40^0-__disjvr_40^post33 == 0 /\ -a_210^post33+a_210^0 == 0 /\ __disjvr_32^0-__disjvr_32^post33 == 0 /\ -__disjvr_16^post33+__disjvr_16^0 == 0 /\ __disjvr_27^0-__disjvr_27^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ -f_263^post33+f_263^0 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ a_277^0-a_277^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ -__disjvr_3^post33+__disjvr_3^0 == 0 /\ __disjvr_16^post33-__disjvr_16^0 == 0 /\ len_132^0-len_132^post33 == 0 /\ -r_218^post33+r_218^0 == 0 /\ -a_241^post33+a_241^0 == 0 /\ -__disjvr_36^post33+__disjvr_36^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ a_330^0-a_330^post33 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ -head_268^post33+head_268^0 == 0 /\ -__disjvr_24^post33+__disjvr_24^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -a_116^post33+a_116^0 == 0 /\ -r_260^post33+r_260^0 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post33 == 0 /\ -len_226^post33+len_226^0 == 0 /\ __disjvr_15^0-__disjvr_15^post33 == 0 /\ __disjvr_41^0-__disjvr_41^post33 == 0 /\ a_353^0-a_353^post33 == 0 /\ a_308^0-a_308^post33 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_SLAM_f_26^post33+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -__disjvr_11^post33+__disjvr_11^0 == 0 /\ -len_183^post33+len_183^0 == 0 /\ __disjvr_37^0-__disjvr_37^post33 == 0 /\ __disjvr_31^0-__disjvr_31^post33 == 0 /\ -i_94^post33+i_94^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ x_20^0-x_20^post33 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -head_175^post33+head_175^0 == 0 /\ -__disjvr_33^post33+__disjvr_33^0 == 0 /\ __disjvr_38^0-__disjvr_38^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ -__disjvr_42^post33+__disjvr_42^0 == 0 /\ __disjvr_39^0-__disjvr_39^post33 == 0 /\ i_108^0-i_108^post33 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ ct_17^0-ct_17^post33 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ -__disjvr_43^post33+__disjvr_43^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ rcd_58^0-rcd_58^post33 == 0 /\ -r_39^post33+r_39^0 == 0 /\ len_276^0-len_276^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0), cost: 1
  34: l33 -> l10 : i_108^0'=i_108^post34, __disjvr_7^0'=__disjvr_7^post34, __disjvr_13^0'=__disjvr_13^post34, f_170^0'=f_170^post34, length_29^0'=length_29^post34, __disjvr_25^0'=__disjvr_25^post34, a_330^0'=a_330^post34, __disjvr_20^0'=__disjvr_20^post34, len_183^0'=len_183^post34, __disjvr_37^0'=__disjvr_37^post34, __disjvr_32^0'=__disjvr_32^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_223^0'=head_223^post34, r_260^0'=r_260^post34, __disjvr_4^0'=__disjvr_4^post34, __disjvr_10^0'=__disjvr_10^post34, x_20^0'=x_20^post34, __disjvr_41^0'=__disjvr_41^post34, __disjvr_22^0'=__disjvr_22^post34, a_241^0'=a_241^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_9^0'=__disjvr_9^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_58^0'=rcd_58^post34, head_129^0'=head_129^post34, r_124^0'=r_124^post34, __disjvr_27^0'=__disjvr_27^post34, ct_17^0'=ct_17^post34, temp_35^0'=temp_35^post34, __disjvr_39^0'=__disjvr_39^post34, __disjvr_34^0'=__disjvr_34^post34, t_23^0'=t_23^post34, head_27^0'=head_27^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, __disjvr_6^0'=__disjvr_6^post34, __disjvr_12^0'=__disjvr_12^post34, y_19^0'=y_19^post34, __disjvr_43^0'=__disjvr_43^post34, len_276^0'=len_276^post34, __disjvr_24^0'=__disjvr_24^post34, a_308^0'=a_308^post34, __disjvr_1^0'=__disjvr_1^post34, len_132^0'=len_132^post34, a_147^0'=a_147^post34, __disjvr_31^0'=__disjvr_31^post34, result_11^0'=result_11^post34, head_175^0'=head_175^post34, r_218^0'=r_218^post34, __disjvr_29^0'=__disjvr_29^post34, __disjvr_0^0'=__disjvr_0^post34, x_16^0'=x_16^post34, __disjvr_40^0'=__disjvr_40^post34, __disjvr_36^0'=__disjvr_36^post34, a_210^0'=a_210^post34, __disjvr_17^0'=__disjvr_17^post34, i_167^0'=i_167^post34, __disjvr_8^0'=__disjvr_8^post34, __disjvr_14^0'=__disjvr_14^post34, r_39^0'=r_39^post34, f_263^0'=f_263^post34, nondet_12^0'=nondet_12^post34, __disjvr_26^0'=__disjvr_26^post34, a_353^0'=a_353^post34, __disjvr_21^0'=__disjvr_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_38^0'=__disjvr_38^post34, __disjvr_33^0'=__disjvr_33^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, head_268^0'=head_268^post34, head_32^0'=head_32^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, __disjvr_42^0'=__disjvr_42^post34, len_226^0'=len_226^post34, __disjvr_23^0'=__disjvr_23^post34, a_277^0'=a_277^post34, __disjvr_19^0'=__disjvr_19^post34, i_94^0'=i_94^post34, a_116^0'=a_116^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_88^0'=rcd_88^post34, head_14^0'=head_14^post34, r_163^0'=r_163^post34, __disjvr_28^0'=__disjvr_28^post34, tmp_34^0'=tmp_34^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_35^0'=__disjvr_35^post34, temp0_15^0'=temp0_15^post34, a_184^0'=a_184^post34, __disjvr_16^0'=__disjvr_16^post34, (0 == 0 /\ -len_132^post34+len_132^0 == 0 /\ __disjvr_34^0-__disjvr_34^post34 == 0 /\ -head_14^post34+head_14^0 == 0 /\ ct_17^0-ct_17^post34 == 0 /\ -__disjvr_30^post34+__disjvr_30^0 == 0 /\ -__disjvr_14^post34+__disjvr_14^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ a_353^0-a_353^post34 == 0 /\ head_175^0-head_175^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ -a_116^post34+a_116^0 == 0 /\ -__disjvr_24^post34+__disjvr_24^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ len_183^0-len_183^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ __disjvr_37^0-__disjvr_37^post34 == 0 /\ -__disjvr_31^post34+__disjvr_31^0 == 0 /\ f_170^0-f_170^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -r_218^post34+r_218^0 == 0 /\ -i_94^post34+i_94^0 == 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ -r_163^post34+r_163^0 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ -head_27^post34+head_27^0 == 0 /\ -a_308^post34+a_308^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_226^post34+a_308^0 <= 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ head_129^0-head_129^post34 == 0 /\ __disjvr_39^0-__disjvr_39^post34 == 0 /\ __disjvr_32^0-__disjvr_32^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -head_268^post34+head_268^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_19^post34+__disjvr_19^0 == 0 /\ __disjvr_27^0-__disjvr_27^post34 == 0 /\ a_147^0-a_147^post34 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -__disjvr_3^post34+__disjvr_3^0 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ i_108^0-i_108^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -a_241^post34+a_241^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ r_260^0-r_260^post34 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ -__disjvr_40^post34+__disjvr_40^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -__disjvr_6^post34+__disjvr_6^0 == 0 /\ -a_210^post34+a_210^0 == 0 /\ -a_277^post34+a_277^0 == 0 /\ t_23^0-t_23^post34 == 0 /\ __disjvr_25^0-__disjvr_25^post34 == 0 /\ head_223^0-head_223^post34 == 0 /\ -x_16^post34+x_16^0 == 0 /\ -__disjvr_35^post34+__disjvr_35^0 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -__disjvr_42^post34+__disjvr_42^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -__disjvr_21^post34+__disjvr_21^0 == 0 /\ f_263^0-f_263^post34 == 0 /\ -__disjvr_0^post34+__disjvr_0^0 == 0 /\ -__disjvr_43^post34+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post34 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -__disjvr_38^post34+__disjvr_38^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ -__disjvr_29^post34+__disjvr_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ __disjvr_33^0-__disjvr_33^post34 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ len_276^0-len_276^post34 == 0 /\ -1+len_226^post34-a_308^0 <= 0 /\ -__disjvr_36^post34+__disjvr_36^0 == 0 /\ a_330^0-a_330^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0), cost: 1
  35: l34 -> l35 : i_108^0'=i_108^post35, __disjvr_7^0'=__disjvr_7^post35, __disjvr_13^0'=__disjvr_13^post35, f_170^0'=f_170^post35, length_29^0'=length_29^post35, __disjvr_25^0'=__disjvr_25^post35, a_330^0'=a_330^post35, __disjvr_20^0'=__disjvr_20^post35, len_183^0'=len_183^post35, __disjvr_37^0'=__disjvr_37^post35, __disjvr_32^0'=__disjvr_32^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_223^0'=head_223^post35, r_260^0'=r_260^post35, __disjvr_4^0'=__disjvr_4^post35, __disjvr_10^0'=__disjvr_10^post35, x_20^0'=x_20^post35, __disjvr_41^0'=__disjvr_41^post35, __disjvr_22^0'=__disjvr_22^post35, a_241^0'=a_241^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_9^0'=__disjvr_9^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_58^0'=rcd_58^post35, head_129^0'=head_129^post35, r_124^0'=r_124^post35, __disjvr_27^0'=__disjvr_27^post35, ct_17^0'=ct_17^post35, temp_35^0'=temp_35^post35, __disjvr_39^0'=__disjvr_39^post35, __disjvr_34^0'=__disjvr_34^post35, t_23^0'=t_23^post35, head_27^0'=head_27^post35, __disjvr_15^0'=__disjvr_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, __disjvr_6^0'=__disjvr_6^post35, __disjvr_12^0'=__disjvr_12^post35, y_19^0'=y_19^post35, __disjvr_43^0'=__disjvr_43^post35, len_276^0'=len_276^post35, __disjvr_24^0'=__disjvr_24^post35, a_308^0'=a_308^post35, __disjvr_1^0'=__disjvr_1^post35, len_132^0'=len_132^post35, a_147^0'=a_147^post35, __disjvr_31^0'=__disjvr_31^post35, result_11^0'=result_11^post35, head_175^0'=head_175^post35, r_218^0'=r_218^post35, __disjvr_29^0'=__disjvr_29^post35, __disjvr_0^0'=__disjvr_0^post35, x_16^0'=x_16^post35, __disjvr_40^0'=__disjvr_40^post35, __disjvr_36^0'=__disjvr_36^post35, a_210^0'=a_210^post35, __disjvr_17^0'=__disjvr_17^post35, i_167^0'=i_167^post35, __disjvr_8^0'=__disjvr_8^post35, __disjvr_14^0'=__disjvr_14^post35, r_39^0'=r_39^post35, f_263^0'=f_263^post35, nondet_12^0'=nondet_12^post35, __disjvr_26^0'=__disjvr_26^post35, a_353^0'=a_353^post35, __disjvr_21^0'=__disjvr_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_38^0'=__disjvr_38^post35, __disjvr_33^0'=__disjvr_33^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, head_268^0'=head_268^post35, head_32^0'=head_32^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, __disjvr_42^0'=__disjvr_42^post35, len_226^0'=len_226^post35, __disjvr_23^0'=__disjvr_23^post35, a_277^0'=a_277^post35, __disjvr_19^0'=__disjvr_19^post35, i_94^0'=i_94^post35, a_116^0'=a_116^post35, __disjvr_30^0'=__disjvr_30^post35, rcd_88^0'=rcd_88^post35, head_14^0'=head_14^post35, r_163^0'=r_163^post35, __disjvr_28^0'=__disjvr_28^post35, tmp_34^0'=tmp_34^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_35^0'=__disjvr_35^post35, temp0_15^0'=temp0_15^post35, a_184^0'=a_184^post35, __disjvr_16^0'=__disjvr_16^post35, (0 == 0 /\ -__disjvr_35^post35+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post35 == 0 /\ -a_353^post35+a_353^0 == 0 /\ len_183^0-len_183^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ __disjvr_39^0-__disjvr_39^post35 == 0 /\ __disjvr_37^0-__disjvr_37^post35 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ len_132^0-len_132^post35 == 0 /\ __disjvr_32^0-__disjvr_32^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -__disjvr_16^post35+__disjvr_16^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ -__disjvr_38^post35+__disjvr_38^0 == 0 /\ i_30^post35 <= 0 /\ i_30^post35 == 0 /\ -length_29^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -f_263^post35+f_263^0 == 0 /\ f_170^0-f_170^post35 == 0 /\ __disjvr_36^0-__disjvr_36^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ a_330^0-a_330^post35 == 0 /\ -temp_35^post35+temp_35^0 == 0 /\ r_124^0-r_124^post35 == 0 /\ -temp0_15^post35+temp0_15^0 == 0 /\ a_241^0-a_241^post35 == 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ head_27^0-head_27^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -len_226^post35+len_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ __disjvr_12^0-__disjvr_12^post35 == 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -__disjvr_34^post35+__disjvr_34^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -head_175^post35+head_175^0 == 0 /\ -__disjvr_3^post35+__disjvr_3^0 == 0 /\ -head_32^post35 <= 0 /\ -a_184^post35+a_184^0 == 0 /\ -head_SLAM_f_26^post35+head_SLAM_f_26^0 == 0 /\ -__disjvr_33^post35+__disjvr_33^0 == 0 /\ x_20^0-x_20^post35 == 0 /\ head_129^0-head_129^post35 == 0 /\ -__disjvr_29^post35+__disjvr_29^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ a_308^0-a_308^post35 == 0 /\ r_218^0-r_218^post35 == 0 /\ -head_268^post35+head_268^0 == 0 /\ -len_276^post35+len_276^0 == 0 /\ -a_210^post35+a_210^0 == 0 /\ i_108^0-i_108^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ __disjvr_7^0-__disjvr_7^post35 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_30^post35 <= 0 /\ y_19^0-y_19^post35 == 0 /\ __disjvr_43^0-__disjvr_43^post35 == 0 /\ r_260^0-r_260^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ -__disjvr_40^post35+__disjvr_40^0 == 0 /\ head_14^0-head_14^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -__disjvr_26^post35+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -__disjvr_42^post35+__disjvr_42^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -x_16^post35+x_16^0 == 0 /\ head_32^post35 <= 0 /\ head_32^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ head_223^0-head_223^post35 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ -r_39^post35+r_39^0 == 0 /\ -__disjvr_14^post35+__disjvr_14^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -a_277^post35+a_277^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_30^post35+__disjvr_30^0 == 0 /\ __disjvr_41^0-__disjvr_41^post35 == 0 /\ -__disjvr_31^post35+__disjvr_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0), cost: 1
  89: l35 -> l11 : i_108^0'=i_108^post89, __disjvr_7^0'=__disjvr_7^post89, __disjvr_13^0'=__disjvr_13^post89, f_170^0'=f_170^post89, length_29^0'=length_29^post89, __disjvr_25^0'=__disjvr_25^post89, a_330^0'=a_330^post89, __disjvr_20^0'=__disjvr_20^post89, len_183^0'=len_183^post89, __disjvr_37^0'=__disjvr_37^post89, __disjvr_32^0'=__disjvr_32^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89, head_223^0'=head_223^post89, r_260^0'=r_260^post89, __disjvr_4^0'=__disjvr_4^post89, __disjvr_10^0'=__disjvr_10^post89, x_20^0'=x_20^post89, __disjvr_41^0'=__disjvr_41^post89, __disjvr_22^0'=__disjvr_22^post89, a_241^0'=a_241^post89, __disjvr_18^0'=__disjvr_18^post89, i_30^0'=i_30^post89, __disjvr_9^0'=__disjvr_9^post89, __disjvr_2^0'=__disjvr_2^post89, rcd_58^0'=rcd_58^post89, head_129^0'=head_129^post89, r_124^0'=r_124^post89, __disjvr_27^0'=__disjvr_27^post89, ct_17^0'=ct_17^post89, temp_35^0'=temp_35^post89, __disjvr_39^0'=__disjvr_39^post89, __disjvr_34^0'=__disjvr_34^post89, t_23^0'=t_23^post89, head_27^0'=head_27^post89, __disjvr_15^0'=__disjvr_15^post89, head_SLAM_f_26^0'=head_SLAM_f_26^post89, __disjvr_6^0'=__disjvr_6^post89, __disjvr_12^0'=__disjvr_12^post89, y_19^0'=y_19^post89, __disjvr_43^0'=__disjvr_43^post89, len_276^0'=len_276^post89, __disjvr_24^0'=__disjvr_24^post89, a_308^0'=a_308^post89, __disjvr_1^0'=__disjvr_1^post89, len_132^0'=len_132^post89, a_147^0'=a_147^post89, __disjvr_31^0'=__disjvr_31^post89, result_11^0'=result_11^post89, head_175^0'=head_175^post89, r_218^0'=r_218^post89, __disjvr_29^0'=__disjvr_29^post89, __disjvr_0^0'=__disjvr_0^post89, x_16^0'=x_16^post89, __disjvr_40^0'=__disjvr_40^post89, __disjvr_36^0'=__disjvr_36^post89, a_210^0'=a_210^post89, __disjvr_17^0'=__disjvr_17^post89, i_167^0'=i_167^post89, __disjvr_8^0'=__disjvr_8^post89, __disjvr_14^0'=__disjvr_14^post89, r_39^0'=r_39^post89, f_263^0'=f_263^post89, nondet_12^0'=nondet_12^post89, __disjvr_26^0'=__disjvr_26^post89, a_353^0'=a_353^post89, __disjvr_21^0'=__disjvr_21^post89, temp0_31^0'=temp0_31^post89, __disjvr_38^0'=__disjvr_38^post89, __disjvr_33^0'=__disjvr_33^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, head_268^0'=head_268^post89, head_32^0'=head_32^post89, __disjvr_5^0'=__disjvr_5^post89, __disjvr_11^0'=__disjvr_11^post89, x_SLAM_f_18^0'=x_SLAM_f_18^post89, __disjvr_42^0'=__disjvr_42^post89, len_226^0'=len_226^post89, __disjvr_23^0'=__disjvr_23^post89, a_277^0'=a_277^post89, __disjvr_19^0'=__disjvr_19^post89, i_94^0'=i_94^post89, a_116^0'=a_116^post89, __disjvr_30^0'=__disjvr_30^post89, rcd_88^0'=rcd_88^post89, head_14^0'=head_14^post89, r_163^0'=r_163^post89, __disjvr_28^0'=__disjvr_28^post89, tmp_34^0'=tmp_34^post89, __disjvr_3^0'=__disjvr_3^post89, __disjvr_35^0'=__disjvr_35^post89, temp0_15^0'=temp0_15^post89, a_184^0'=a_184^post89, __disjvr_16^0'=__disjvr_16^post89, (0 == 0 /\ -x_SLAM_f_18^130 <= 0 /\ -temp0_15^post89+temp0_15^0 == 0 /\ -__disjvr_24^post89+__disjvr_24^0 == 0 /\ a_210^0-a_210^post89 == 0 /\ __disjvr_5^0-__disjvr_5^post89 == 0 /\ __disjvr_40^0-__disjvr_40^post89 == 0 /\ __disjvr_2^0-__disjvr_2^post89 == 0 /\ result_11^post89-temp0_15^0 == 0 /\ len_276^0-len_276^post89 == 0 /\ x_SLAM_f_18^130-x_16^10 <= 0 /\ x_SLAM_f_18^130-x_16^10 == 0 /\ head_27^30-head_SLAM_f_26^30 <= 0 /\ head_27^30-head_SLAM_f_26^30 == 0 /\ -x_SLAM_f_18^130+x_20^130 <= 0 /\ -x_SLAM_f_18^130+x_20^130 == 0 /\ -__disjvr_21^post89+__disjvr_21^0 == 0 /\ head_27^130 <= 0 /\ -head_SLAM_f_26^30 <= 0 /\ i_94^0-i_94^post89 == 0 /\ f_170^0-f_170^post89 == 0 /\ -ct_17^13+y_19^130 <= 0 /\ -ct_17^13+y_19^130 == 0 /\ -__disjvr_26^post89+__disjvr_26^0 == 0 /\ __disjvr_18^0-__disjvr_18^post89 == 0 /\ head_223^0-head_223^post89 == 0 /\ -__disjvr_42^post89+__disjvr_42^0 == 0 /\ a_330^0-a_330^post89 == 0 /\ -y_19^130 <= 0 /\ rcd_58^0-rcd_58^post89 == 0 /\ -__disjvr_34^post89+__disjvr_34^0 == 0 /\ i_108^0-i_108^post89 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -head_27^130+head_SLAM_f_26^140 <= 0 /\ head_SLAM_f_26^30-head_14^post89 <= 0 /\ head_SLAM_f_26^30-head_14^post89 == 0 /\ head_SLAM_f_26^140 <= 0 /\ -__disjvr_11^post89+__disjvr_11^0 == 0 /\ -r_163^post89+r_163^0 == 0 /\ __disjvr_20^0-__disjvr_20^post89 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ __disjvr_43^0-__disjvr_43^post89 == 0 /\ __disjvr_10^0-__disjvr_10^post89 == 0 /\ -head_SLAM_f_26^140 <= 0 /\ __disjvr_17^0-__disjvr_17^post89 == 0 /\ __disjvr_8^0-__disjvr_8^post89 == 0 /\ head_27^30 <= 0 /\ -x_SLAM_f_18^130+x_16^10 <= 0 /\ -head_27^30+head_SLAM_f_26^30 <= 0 /\ x_SLAM_f_18^130-x_20^130 <= 0 /\ __disjvr_19^0-__disjvr_19^post89 == 0 /\ -__disjvr_30^post89+__disjvr_30^0 == 0 /\ ct_17^13-y_19^130 <= 0 /\ head_SLAM_f_26^30 <= 0 /\ a_308^0-a_308^post89 == 0 /\ len_226^0-len_226^post89 == 0 /\ -__disjvr_1^post89+__disjvr_1^0 == 0 /\ -rcd_88^post89+rcd_88^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^30 <= 0 /\ x_SLAM_f_18^130 <= 0 /\ -head_27^30 <= 0 /\ head_27^130-head_SLAM_f_26^140 <= 0 /\ head_27^130-head_SLAM_f_26^140 == 0 /\ -head_SLAM_f_26^30+head_14^post89 <= 0 /\ ct_17^13 <= 0 /\ ct_17^13 == 0 /\ -head_129^post89+head_129^0 == 0 /\ head_14^post89-result_11^120 == 0 /\ x_16^10 <= 0 /\ -r_39^post89+r_39^0 == 0 /\ len_183^0-len_183^post89 == 0 /\ __disjvr_0^0-__disjvr_0^post89 == 0 /\ -f_263^post89+f_263^0 == 0 /\ __disjvr_33^0-__disjvr_33^post89 == 0 /\ head_14^post89 <= 0 /\ -__disjvr_22^post89+__disjvr_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post89 == 0 /\ head_SLAM_f_26^140-head_14^post89 <= 0 /\ head_SLAM_f_26^140-head_14^post89 == 0 /\ -x_16^10+head_14^post89 <= 0 /\ x_20^130-y_19^130 <= 0 /\ nondet_12^0-nondet_12^post89 == 0 /\ -__disjvr_38^post89+__disjvr_38^0 == 0 /\ x_20^130 <= 0 /\ -i_167^post89+i_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ __disjvr_13^0-__disjvr_13^post89 == 0 /\ -x_20^130 <= 0 /\ -__disjvr_28^post89+__disjvr_28^0 == 0 /\ -a_277^post89+a_277^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -__disjvr_16^post89+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post89 <= 0 /\ -r_218^post89+r_218^0 == 0 /\ -__disjvr_3^post89+__disjvr_3^0 == 0 /\ -__disjvr_39^post89+__disjvr_39^0 == 0 /\ __disjvr_15^0-__disjvr_15^post89 == 0 /\ -__disjvr_37^post89+__disjvr_37^0 == 0 /\ -r_124^post89+r_124^0 == 0 /\ a_241^0-a_241^post89 == 0 /\ -a_184^post89+a_184^0 == 0 /\ head_175^0-head_175^post89 == 0 /\ -ct_17^13 <= 0 /\ r_260^0-r_260^post89 == 0 /\ -__disjvr_27^post89+__disjvr_27^0 == 0 /\ -__disjvr_29^post89+__disjvr_29^0 == 0 /\ -head_SLAM_f_26^140+head_14^post89 <= 0 /\ __disjvr_7^0-__disjvr_7^post89 == 0 /\ x_16^10-head_14^post89 <= 0 /\ x_16^10-head_14^post89 == 0 /\ -head_14^post89 <= 0 /\ -head_27^130 <= 0 /\ __disjvr_41^0-__disjvr_41^post89 == 0 /\ -x_20^130+y_19^130 <= 0 /\ __disjvr_6^0-__disjvr_6^post89 == 0 /\ temp0_31^120-head_32^0 == 0 /\ -a_147^post89+a_147^0 == 0 /\ len_132^0-len_132^post89 == 0 /\ -__disjvr_36^post89+__disjvr_36^0 == 0 /\ -a_353^post89+a_353^0 == 0 /\ -__disjvr_35^post89+__disjvr_35^0 == 0 /\ -x_16^10 <= 0 /\ __disjvr_4^0-__disjvr_4^post89 == 0 /\ -__disjvr_23^post89+__disjvr_23^0 == 0 /\ -a_116^post89+a_116^0 == 0 /\ __disjvr_32^0-__disjvr_32^post89 == 0 /\ y_19^130 <= 0 /\ __disjvr_12^0-__disjvr_12^post89 == 0 /\ __disjvr_14^0-__disjvr_14^post89 == 0 /\ -head_268^post89+head_268^0 == 0 /\ __disjvr_9^0-__disjvr_9^post89 == 0 /\ -__disjvr_31^post89+__disjvr_31^0 == 0), cost: 1
  90: l35 -> l62 : i_108^0'=i_108^post90, __disjvr_7^0'=__disjvr_7^post90, __disjvr_13^0'=__disjvr_13^post90, f_170^0'=f_170^post90, length_29^0'=length_29^post90, __disjvr_25^0'=__disjvr_25^post90, a_330^0'=a_330^post90, __disjvr_20^0'=__disjvr_20^post90, len_183^0'=len_183^post90, __disjvr_37^0'=__disjvr_37^post90, __disjvr_32^0'=__disjvr_32^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, head_223^0'=head_223^post90, r_260^0'=r_260^post90, __disjvr_4^0'=__disjvr_4^post90, __disjvr_10^0'=__disjvr_10^post90, x_20^0'=x_20^post90, __disjvr_41^0'=__disjvr_41^post90, __disjvr_22^0'=__disjvr_22^post90, a_241^0'=a_241^post90, __disjvr_18^0'=__disjvr_18^post90, i_30^0'=i_30^post90, __disjvr_9^0'=__disjvr_9^post90, __disjvr_2^0'=__disjvr_2^post90, rcd_58^0'=rcd_58^post90, head_129^0'=head_129^post90, r_124^0'=r_124^post90, __disjvr_27^0'=__disjvr_27^post90, ct_17^0'=ct_17^post90, temp_35^0'=temp_35^post90, __disjvr_39^0'=__disjvr_39^post90, __disjvr_34^0'=__disjvr_34^post90, t_23^0'=t_23^post90, head_27^0'=head_27^post90, __disjvr_15^0'=__disjvr_15^post90, head_SLAM_f_26^0'=head_SLAM_f_26^post90, __disjvr_6^0'=__disjvr_6^post90, __disjvr_12^0'=__disjvr_12^post90, y_19^0'=y_19^post90, __disjvr_43^0'=__disjvr_43^post90, len_276^0'=len_276^post90, __disjvr_24^0'=__disjvr_24^post90, a_308^0'=a_308^post90, __disjvr_1^0'=__disjvr_1^post90, len_132^0'=len_132^post90, a_147^0'=a_147^post90, __disjvr_31^0'=__disjvr_31^post90, result_11^0'=result_11^post90, head_175^0'=head_175^post90, r_218^0'=r_218^post90, __disjvr_29^0'=__disjvr_29^post90, __disjvr_0^0'=__disjvr_0^post90, x_16^0'=x_16^post90, __disjvr_40^0'=__disjvr_40^post90, __disjvr_36^0'=__disjvr_36^post90, a_210^0'=a_210^post90, __disjvr_17^0'=__disjvr_17^post90, i_167^0'=i_167^post90, __disjvr_8^0'=__disjvr_8^post90, __disjvr_14^0'=__disjvr_14^post90, r_39^0'=r_39^post90, f_263^0'=f_263^post90, nondet_12^0'=nondet_12^post90, __disjvr_26^0'=__disjvr_26^post90, a_353^0'=a_353^post90, __disjvr_21^0'=__disjvr_21^post90, temp0_31^0'=temp0_31^post90, __disjvr_38^0'=__disjvr_38^post90, __disjvr_33^0'=__disjvr_33^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, head_268^0'=head_268^post90, head_32^0'=head_32^post90, __disjvr_5^0'=__disjvr_5^post90, __disjvr_11^0'=__disjvr_11^post90, x_SLAM_f_18^0'=x_SLAM_f_18^post90, __disjvr_42^0'=__disjvr_42^post90, len_226^0'=len_226^post90, __disjvr_23^0'=__disjvr_23^post90, a_277^0'=a_277^post90, __disjvr_19^0'=__disjvr_19^post90, i_94^0'=i_94^post90, a_116^0'=a_116^post90, __disjvr_30^0'=__disjvr_30^post90, rcd_88^0'=rcd_88^post90, head_14^0'=head_14^post90, r_163^0'=r_163^post90, __disjvr_28^0'=__disjvr_28^post90, tmp_34^0'=tmp_34^post90, __disjvr_3^0'=__disjvr_3^post90, __disjvr_35^0'=__disjvr_35^post90, temp0_15^0'=temp0_15^post90, a_184^0'=a_184^post90, __disjvr_16^0'=__disjvr_16^post90, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post90 == 0 /\ -x_SLAM_f_18^post90+x_SLAM_f_18^0 == 0 /\ i_94^0-i_94^post90 == 0 /\ a_210^0-a_210^post90 == 0 /\ -head_14^post90+head_14^0 == 0 /\ __disjvr_36^0-__disjvr_36^post90 == 0 /\ -a_116^post90+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post90 == 0 /\ -temp0_31^post90+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post90 == 0 /\ tmp_34^post90-temp_35^0 == 0 /\ -__disjvr_27^post90+__disjvr_27^0 == 0 /\ -__disjvr_40^post90+__disjvr_40^0 == 0 /\ __disjvr_12^0-__disjvr_12^post90 == 0 /\ __disjvr_9^0-__disjvr_9^post90 == 0 /\ -__disjvr_42^post90+__disjvr_42^0 == 0 /\ -__disjvr_15^post90+__disjvr_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post90 == 0 /\ __disjvr_18^0-__disjvr_18^post90 == 0 /\ -a_184^post90+a_184^0 == 0 /\ tmp_34^post90-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_6^0-__disjvr_6^post90 == 0 /\ len_183^0-len_183^post90 == 0 /\ __disjvr_43^0-__disjvr_43^post90 == 0 /\ -r_39^post90+r_39^0 == 0 /\ __disjvr_31^0-__disjvr_31^post90 == 0 /\ a_147^0-a_147^post90 == 0 /\ -__disjvr_23^post90+__disjvr_23^0 == 0 /\ x_20^0-x_20^post90 == 0 /\ -__disjvr_11^post90+__disjvr_11^0 == 0 /\ __disjvr_39^0-__disjvr_39^post90 == 0 /\ __disjvr_19^0-__disjvr_19^post90 == 0 /\ ct_17^0-ct_17^post90 == 0 /\ __disjvr_5^0-__disjvr_5^post90 == 0 /\ head_27^0-head_27^post90 == 0 /\ __disjvr_32^0-__disjvr_32^post90 == 0 /\ -__disjvr_3^post90+__disjvr_3^0 == 0 /\ __disjvr_13^0-__disjvr_13^post90 == 0 /\ -r_163^post90+r_163^0 == 0 /\ -t_23^post90+t_23^0 == 0 /\ r_124^0-r_124^post90 == 0 /\ -tmp_34^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_0^0-__disjvr_0^post90 == 0 /\ -len_276^post90+len_276^0 == 0 /\ -a_277^post90+a_277^0 == 0 /\ a_241^0-a_241^post90 == 0 /\ __disjvr_25^0-__disjvr_25^post90 == 0 /\ -len_226^post90+len_226^0 == 0 /\ -rcd_88^post90+rcd_88^0 == 0 /\ -rcd_58^post90+rcd_58^0 == 0 /\ r_260^0-r_260^post90 == 0 /\ __disjvr_41^0-__disjvr_41^post90 == 0 /\ tmp_34^post90-head_32^post90 <= 0 /\ __disjvr_1^0-__disjvr_1^post90 == 0 /\ a_330^0-a_330^post90 == 0 /\ -__disjvr_2^post90+__disjvr_2^0 == 0 /\ i_108^0-i_108^post90 == 0 /\ -__disjvr_30^post90+__disjvr_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -__disjvr_35^post90+__disjvr_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post90 == 0 /\ -__disjvr_17^post90+__disjvr_17^0 == 0 /\ -__disjvr_14^post90+__disjvr_14^0 == 0 /\ -1+i_30^post90-i_30^0 == 0 /\ -__disjvr_26^post90+__disjvr_26^0 == 0 /\ head_129^0-head_129^post90 == 0 /\ __disjvr_20^0-__disjvr_20^post90 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ 1-i_30^post90 <= 0 /\ -1+i_30^post90 <= 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ x_16^0-x_16^post90 == 0 /\ -__disjvr_38^post90+__disjvr_38^0 == 0 /\ length_29^0-length_29^post90 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90+head_32^post90 <= 0 /\ -__disjvr_37^post90+__disjvr_37^0 == 0 /\ -__disjvr_8^post90+__disjvr_8^0 == 0 /\ -__disjvr_28^post90+__disjvr_28^0 == 0 /\ a_308^0-a_308^post90 == 0 /\ y_19^0-y_19^post90 == 0 /\ -i_167^post90+i_167^0 == 0 /\ -__disjvr_16^post90+__disjvr_16^0 == 0 /\ -__disjvr_29^post90+__disjvr_29^0 == 0 /\ -head_175^post90+head_175^0 == 0 /\ len_132^0-len_132^post90 == 0 /\ f_170^0-f_170^post90 == 0 /\ -__disjvr_21^post90+__disjvr_21^0 == 0 /\ -__disjvr_33^post90+__disjvr_33^0 == 0 /\ -tmp_34^post90+head_32^post90 <= 0 /\ -tmp_34^post90+head_32^post90 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post90 == 0 /\ __disjvr_4^0-__disjvr_4^post90 == 0 /\ -f_263^post90+f_263^0 == 0 /\ 1-length_29^0 <= 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ -a_353^post90+a_353^0 == 0 /\ r_218^0-r_218^post90 == 0 /\ head_223^0-head_223^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90-head_32^post90 <= 0 /\ -head_268^post90+head_268^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ -temp0_15^post90+temp0_15^0 == 0), cost: 1
  36: l36 -> l37 : i_108^0'=i_108^post36, __disjvr_7^0'=__disjvr_7^post36, __disjvr_13^0'=__disjvr_13^post36, f_170^0'=f_170^post36, length_29^0'=length_29^post36, __disjvr_25^0'=__disjvr_25^post36, a_330^0'=a_330^post36, __disjvr_20^0'=__disjvr_20^post36, len_183^0'=len_183^post36, __disjvr_37^0'=__disjvr_37^post36, __disjvr_32^0'=__disjvr_32^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_223^0'=head_223^post36, r_260^0'=r_260^post36, __disjvr_4^0'=__disjvr_4^post36, __disjvr_10^0'=__disjvr_10^post36, x_20^0'=x_20^post36, __disjvr_41^0'=__disjvr_41^post36, __disjvr_22^0'=__disjvr_22^post36, a_241^0'=a_241^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_9^0'=__disjvr_9^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_58^0'=rcd_58^post36, head_129^0'=head_129^post36, r_124^0'=r_124^post36, __disjvr_27^0'=__disjvr_27^post36, ct_17^0'=ct_17^post36, temp_35^0'=temp_35^post36, __disjvr_39^0'=__disjvr_39^post36, __disjvr_34^0'=__disjvr_34^post36, t_23^0'=t_23^post36, head_27^0'=head_27^post36, __disjvr_15^0'=__disjvr_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, __disjvr_6^0'=__disjvr_6^post36, __disjvr_12^0'=__disjvr_12^post36, y_19^0'=y_19^post36, __disjvr_43^0'=__disjvr_43^post36, len_276^0'=len_276^post36, __disjvr_24^0'=__disjvr_24^post36, a_308^0'=a_308^post36, __disjvr_1^0'=__disjvr_1^post36, len_132^0'=len_132^post36, a_147^0'=a_147^post36, __disjvr_31^0'=__disjvr_31^post36, result_11^0'=result_11^post36, head_175^0'=head_175^post36, r_218^0'=r_218^post36, __disjvr_29^0'=__disjvr_29^post36, __disjvr_0^0'=__disjvr_0^post36, x_16^0'=x_16^post36, __disjvr_40^0'=__disjvr_40^post36, __disjvr_36^0'=__disjvr_36^post36, a_210^0'=a_210^post36, __disjvr_17^0'=__disjvr_17^post36, i_167^0'=i_167^post36, __disjvr_8^0'=__disjvr_8^post36, __disjvr_14^0'=__disjvr_14^post36, r_39^0'=r_39^post36, f_263^0'=f_263^post36, nondet_12^0'=nondet_12^post36, __disjvr_26^0'=__disjvr_26^post36, a_353^0'=a_353^post36, __disjvr_21^0'=__disjvr_21^post36, temp0_31^0'=temp0_31^post36, __disjvr_38^0'=__disjvr_38^post36, __disjvr_33^0'=__disjvr_33^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, head_268^0'=head_268^post36, head_32^0'=head_32^post36, __disjvr_5^0'=__disjvr_5^post36, __disjvr_11^0'=__disjvr_11^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, __disjvr_42^0'=__disjvr_42^post36, len_226^0'=len_226^post36, __disjvr_23^0'=__disjvr_23^post36, a_277^0'=a_277^post36, __disjvr_19^0'=__disjvr_19^post36, i_94^0'=i_94^post36, a_116^0'=a_116^post36, __disjvr_30^0'=__disjvr_30^post36, rcd_88^0'=rcd_88^post36, head_14^0'=head_14^post36, r_163^0'=r_163^post36, __disjvr_28^0'=__disjvr_28^post36, tmp_34^0'=tmp_34^post36, __disjvr_3^0'=__disjvr_3^post36, __disjvr_35^0'=__disjvr_35^post36, temp0_15^0'=temp0_15^post36, a_184^0'=a_184^post36, __disjvr_16^0'=__disjvr_16^post36, (0 == 0 /\ __disjvr_15^0-__disjvr_15^post36 == 0 /\ a_210^0-a_210^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ length_29^0-length_29^post36 == 0 /\ __disjvr_23^0-__disjvr_23^post36 == 0 /\ -a_116^post36+a_116^0 == 0 /\ -i_94^post36+i_94^0 == 0 /\ temp_35^0-temp_35^post36 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -head_268^post36+head_268^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ -__disjvr_41^post36+__disjvr_41^0 == 0 /\ __disjvr_39^0-__disjvr_39^post36 == 0 /\ -i_167^post36+i_167^0 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ -a_147^0 <= 0 /\ -len_132^0 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 == 0 /\ r_218^0-r_218^post36 == 0 /\ -head_SLAM_f_26^post36+head_14^0 <= 0 /\ result_11^0-result_11^post36 == 0 /\ -__disjvr_40^post36+__disjvr_40^0 == 0 /\ -__disjvr_8^post36+__disjvr_8^0 == 0 /\ -__disjvr_24^post36+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ i_108^0-i_108^post36 == 0 /\ rcd_58^0-rcd_58^post36 == 0 /\ head_129^0-head_129^post36 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ -x_SLAM_f_18^post36+x_SLAM_f_18^0 == 0 /\ -__disjvr_11^post36+__disjvr_11^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ __disjvr_27^0-__disjvr_27^post36 == 0 /\ -__disjvr_33^post36+__disjvr_33^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -__disjvr_42^post36+__disjvr_42^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_19^post36+__disjvr_19^0 == 0 /\ -head_27^0 <= 0 /\ head_223^0-head_223^post36 == 0 /\ len_183^0-len_183^post36 == 0 /\ a_330^0-a_330^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -head_27^post36+head_SLAM_f_26^post36 <= 0 /\ __disjvr_37^0-__disjvr_37^post36 == 0 /\ -head_14^post36+head_14^0 == 0 /\ head_32^0-head_32^post36 == 0 /\ r_260^0-r_260^post36 == 0 /\ head_SLAM_f_26^post36-head_14^0 <= 0 /\ head_SLAM_f_26^post36-head_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -a_241^post36+a_241^0 == 0 /\ -len_226^0 <= 0 /\ a_308^0-a_308^post36 == 0 /\ -r_124^post36+r_124^0 == 0 /\ -__disjvr_43^post36+__disjvr_43^0 == 0 /\ -r_39^post36+r_39^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ __disjvr_17^0-__disjvr_17^post36 == 0 /\ __disjvr_2^0-__disjvr_2^post36 == 0 /\ len_132^0-len_132^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -a_277^post36+a_277^0 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ a_241^0-len_132^0 <= 0 /\ -__disjvr_35^post36+__disjvr_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -__disjvr_38^post36+__disjvr_38^0 == 0 /\ -__disjvr_30^post36+__disjvr_30^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -__disjvr_14^post36+__disjvr_14^0 == 0 /\ len_276^0-len_276^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ -__disjvr_16^post36+__disjvr_16^0 == 0 /\ -head_27^post36+head_14^0 <= 0 /\ -f_263^post36+f_263^0 == 0 /\ __disjvr_31^0-__disjvr_31^post36 == 0 /\ __disjvr_32^0-__disjvr_32^post36 == 0 /\ len_226^0 <= 0 /\ -a_241^0+len_132^0 <= 0 /\ y_19^0-y_19^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -__disjvr_36^post36+__disjvr_36^0 == 0 /\ -len_226^post36+len_226^0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ f_170^0-f_170^post36 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_163^0-r_163^post36 == 0 /\ -a_353^post36+a_353^0 == 0 /\ head_27^post36-head_14^0 <= 0 /\ -a_147^post36+a_147^0 == 0), cost: 1
  39: l36 -> l40 : i_108^0'=i_108^post39, __disjvr_7^0'=__disjvr_7^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, length_29^0'=length_29^post39, __disjvr_25^0'=__disjvr_25^post39, a_330^0'=a_330^post39, __disjvr_20^0'=__disjvr_20^post39, len_183^0'=len_183^post39, __disjvr_37^0'=__disjvr_37^post39, __disjvr_32^0'=__disjvr_32^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, head_223^0'=head_223^post39, r_260^0'=r_260^post39, __disjvr_4^0'=__disjvr_4^post39, __disjvr_10^0'=__disjvr_10^post39, x_20^0'=x_20^post39, __disjvr_41^0'=__disjvr_41^post39, __disjvr_22^0'=__disjvr_22^post39, a_241^0'=a_241^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_9^0'=__disjvr_9^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, head_129^0'=head_129^post39, r_124^0'=r_124^post39, __disjvr_27^0'=__disjvr_27^post39, ct_17^0'=ct_17^post39, temp_35^0'=temp_35^post39, __disjvr_39^0'=__disjvr_39^post39, __disjvr_34^0'=__disjvr_34^post39, t_23^0'=t_23^post39, head_27^0'=head_27^post39, __disjvr_15^0'=__disjvr_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_6^0'=__disjvr_6^post39, __disjvr_12^0'=__disjvr_12^post39, y_19^0'=y_19^post39, __disjvr_43^0'=__disjvr_43^post39, len_276^0'=len_276^post39, __disjvr_24^0'=__disjvr_24^post39, a_308^0'=a_308^post39, __disjvr_1^0'=__disjvr_1^post39, len_132^0'=len_132^post39, a_147^0'=a_147^post39, __disjvr_31^0'=__disjvr_31^post39, result_11^0'=result_11^post39, head_175^0'=head_175^post39, r_218^0'=r_218^post39, __disjvr_29^0'=__disjvr_29^post39, __disjvr_0^0'=__disjvr_0^post39, x_16^0'=x_16^post39, __disjvr_40^0'=__disjvr_40^post39, __disjvr_36^0'=__disjvr_36^post39, a_210^0'=a_210^post39, __disjvr_17^0'=__disjvr_17^post39, i_167^0'=i_167^post39, __disjvr_8^0'=__disjvr_8^post39, __disjvr_14^0'=__disjvr_14^post39, r_39^0'=r_39^post39, f_263^0'=f_263^post39, nondet_12^0'=nondet_12^post39, __disjvr_26^0'=__disjvr_26^post39, a_353^0'=a_353^post39, __disjvr_21^0'=__disjvr_21^post39, temp0_31^0'=temp0_31^post39, __disjvr_38^0'=__disjvr_38^post39, __disjvr_33^0'=__disjvr_33^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_268^0'=head_268^post39, head_32^0'=head_32^post39, __disjvr_5^0'=__disjvr_5^post39, __disjvr_11^0'=__disjvr_11^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_42^0'=__disjvr_42^post39, len_226^0'=len_226^post39, __disjvr_23^0'=__disjvr_23^post39, a_277^0'=a_277^post39, __disjvr_19^0'=__disjvr_19^post39, i_94^0'=i_94^post39, a_116^0'=a_116^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, head_14^0'=head_14^post39, r_163^0'=r_163^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_34^0'=tmp_34^post39, __disjvr_3^0'=__disjvr_3^post39, __disjvr_35^0'=__disjvr_35^post39, temp0_15^0'=temp0_15^post39, a_184^0'=a_184^post39, __disjvr_16^0'=__disjvr_16^post39, (0 == 0 /\ -a_308^post39+a_308^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -a_353^post39+a_353^0 == 0 /\ rcd_58^0-rcd_58^post39 == 0 /\ ct_17^0-ct_17^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -temp0_15^post39+temp0_15^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ -a_277^post39+a_277^0 == 0 /\ -f_263^post39+f_263^0 == 0 /\ -a_147^0 <= 0 /\ a_241^0-a_241^post39 == 0 /\ -len_132^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post39 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ a_330^0-a_330^post39 == 0 /\ -__disjvr_35^post39+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ __disjvr_39^0-__disjvr_39^post39 == 0 /\ __disjvr_37^0-__disjvr_37^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ a_147^0-a_147^post39 == 0 /\ head_27^0-head_27^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ len_132^0-len_132^post39 == 0 /\ __disjvr_1^0-__disjvr_1^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -__disjvr_34^post39+__disjvr_34^0 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ r_124^0-r_124^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ -i_94^post39+i_94^0 == 0 /\ __disjvr_42^0-__disjvr_42^post39 == 0 /\ -i_167^post39+i_167^0 == 0 /\ -head_268^post39+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_16^post39+__disjvr_16^0 == 0 /\ -__disjvr_33^post39+__disjvr_33^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ __disjvr_31^0-__disjvr_31^post39 == 0 /\ a_210^0-a_210^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ __disjvr_41^0-__disjvr_41^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -len_276^post39+len_276^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ head_223^0-head_223^post39 == 0 /\ r_260^0-r_260^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ -__disjvr_19^post39+__disjvr_19^0 == 0 /\ __disjvr_43^0-__disjvr_43^post39 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ -len_226^post39+len_226^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -a_116^post39+a_116^0 == 0 /\ __disjvr_32^0-__disjvr_32^post39 == 0 /\ i_108^0-i_108^post39 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ -__disjvr_40^post39+__disjvr_40^0 == 0 /\ -__disjvr_38^post39+__disjvr_38^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -x_16^post39+x_16^0 == 0 /\ -r_163^post39+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ r_218^0-r_218^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ len_183^0-len_183^post39 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_22^0-__disjvr_22^post39 == 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ -__disjvr_14^post39+__disjvr_14^0 == 0), cost: 1
  37: l37 -> l38 : i_108^0'=i_108^post37, __disjvr_7^0'=__disjvr_7^post37, __disjvr_13^0'=__disjvr_13^post37, f_170^0'=f_170^post37, length_29^0'=length_29^post37, __disjvr_25^0'=__disjvr_25^post37, a_330^0'=a_330^post37, __disjvr_20^0'=__disjvr_20^post37, len_183^0'=len_183^post37, __disjvr_37^0'=__disjvr_37^post37, __disjvr_32^0'=__disjvr_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_223^0'=head_223^post37, r_260^0'=r_260^post37, __disjvr_4^0'=__disjvr_4^post37, __disjvr_10^0'=__disjvr_10^post37, x_20^0'=x_20^post37, __disjvr_41^0'=__disjvr_41^post37, __disjvr_22^0'=__disjvr_22^post37, a_241^0'=a_241^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_9^0'=__disjvr_9^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_58^0'=rcd_58^post37, head_129^0'=head_129^post37, r_124^0'=r_124^post37, __disjvr_27^0'=__disjvr_27^post37, ct_17^0'=ct_17^post37, temp_35^0'=temp_35^post37, __disjvr_39^0'=__disjvr_39^post37, __disjvr_34^0'=__disjvr_34^post37, t_23^0'=t_23^post37, head_27^0'=head_27^post37, __disjvr_15^0'=__disjvr_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, __disjvr_6^0'=__disjvr_6^post37, __disjvr_12^0'=__disjvr_12^post37, y_19^0'=y_19^post37, __disjvr_43^0'=__disjvr_43^post37, len_276^0'=len_276^post37, __disjvr_24^0'=__disjvr_24^post37, a_308^0'=a_308^post37, __disjvr_1^0'=__disjvr_1^post37, len_132^0'=len_132^post37, a_147^0'=a_147^post37, __disjvr_31^0'=__disjvr_31^post37, result_11^0'=result_11^post37, head_175^0'=head_175^post37, r_218^0'=r_218^post37, __disjvr_29^0'=__disjvr_29^post37, __disjvr_0^0'=__disjvr_0^post37, x_16^0'=x_16^post37, __disjvr_40^0'=__disjvr_40^post37, __disjvr_36^0'=__disjvr_36^post37, a_210^0'=a_210^post37, __disjvr_17^0'=__disjvr_17^post37, i_167^0'=i_167^post37, __disjvr_8^0'=__disjvr_8^post37, __disjvr_14^0'=__disjvr_14^post37, r_39^0'=r_39^post37, f_263^0'=f_263^post37, nondet_12^0'=nondet_12^post37, __disjvr_26^0'=__disjvr_26^post37, a_353^0'=a_353^post37, __disjvr_21^0'=__disjvr_21^post37, temp0_31^0'=temp0_31^post37, __disjvr_38^0'=__disjvr_38^post37, __disjvr_33^0'=__disjvr_33^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, head_268^0'=head_268^post37, head_32^0'=head_32^post37, __disjvr_5^0'=__disjvr_5^post37, __disjvr_11^0'=__disjvr_11^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, __disjvr_42^0'=__disjvr_42^post37, len_226^0'=len_226^post37, __disjvr_23^0'=__disjvr_23^post37, a_277^0'=a_277^post37, __disjvr_19^0'=__disjvr_19^post37, i_94^0'=i_94^post37, a_116^0'=a_116^post37, __disjvr_30^0'=__disjvr_30^post37, rcd_88^0'=rcd_88^post37, head_14^0'=head_14^post37, r_163^0'=r_163^post37, __disjvr_28^0'=__disjvr_28^post37, tmp_34^0'=tmp_34^post37, __disjvr_3^0'=__disjvr_3^post37, __disjvr_35^0'=__disjvr_35^post37, temp0_15^0'=temp0_15^post37, a_184^0'=a_184^post37, __disjvr_16^0'=__disjvr_16^post37, (-head_14^post37+head_14^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_34^0-__disjvr_34^post37 == 0 /\ ct_17^0-ct_17^post37 == 0 /\ -head_SLAM_f_26^post37+head_SLAM_f_26^0 == 0 /\ -__disjvr_36^post37+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post37 == 0 /\ len_183^0-len_183^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ -__disjvr_24^post37+__disjvr_24^0 == 0 /\ __disjvr_38^0-__disjvr_38^post37 == 0 /\ -a_116^post37+a_116^0 == 0 /\ -__disjvr_31^post37+__disjvr_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ __disjvr_37^0-__disjvr_37^post37 == 0 /\ f_170^0-f_170^post37 == 0 /\ -len_226^post37+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_16^post37+__disjvr_16^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -r_163^post37+r_163^0 == 0 /\ -a_210^post37+a_210^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -a_308^post37+a_308^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -head_268^post37+head_268^0 == 0 /\ -head_27^post37+head_27^0 == 0 /\ r_124^0-r_124^post37 == 0 /\ __disjvr_39^0-__disjvr_39^post37 == 0 /\ head_129^0-head_129^post37 == 0 /\ -i_94^post37+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_32^0-__disjvr_32^post37 == 0 /\ __disjvr_27^0-__disjvr_27^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ -__disjvr_30^post37+__disjvr_30^0 == 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ i_108^0-i_108^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ __disjvr_33^0-__disjvr_33^post37 == 0 /\ -a_241^post37+a_241^0 == 0 /\ __disjvr_40^0-__disjvr_40^post37 == 0 /\ r_260^0-r_260^post37 == 0 /\ x_20^0-x_20^post37 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ -len_132^post37+len_132^0 == 0 /\ -f_263^post37+f_263^0 == 0 /\ -__disjvr_0^post37+__disjvr_0^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ head_223^0-head_223^post37 == 0 /\ __disjvr_25^0-__disjvr_25^post37 == 0 /\ -__disjvr_42^post37+__disjvr_42^0 == 0 /\ -__disjvr_35^post37+__disjvr_35^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ -a_277^post37+a_277^0 == 0 /\ r_39^0-r_39^post37 == 0 /\ y_19^0-y_19^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ -__disjvr_29^post37+__disjvr_29^0 == 0 /\ -r_218^post37+r_218^0 == 0 /\ -__disjvr_43^post37+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post37 == 0 /\ a_353^0-a_353^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -i_167^post37+i_167^0 == 0 /\ len_276^0-len_276^post37 == 0 /\ a_330^0-a_330^post37 == 0 /\ __disjvr_17^post37-__disjvr_17^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post37 == 0), cost: 1
  38: l38 -> l4 : i_108^0'=i_108^post38, __disjvr_7^0'=__disjvr_7^post38, __disjvr_13^0'=__disjvr_13^post38, f_170^0'=f_170^post38, length_29^0'=length_29^post38, __disjvr_25^0'=__disjvr_25^post38, a_330^0'=a_330^post38, __disjvr_20^0'=__disjvr_20^post38, len_183^0'=len_183^post38, __disjvr_37^0'=__disjvr_37^post38, __disjvr_32^0'=__disjvr_32^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_223^0'=head_223^post38, r_260^0'=r_260^post38, __disjvr_4^0'=__disjvr_4^post38, __disjvr_10^0'=__disjvr_10^post38, x_20^0'=x_20^post38, __disjvr_41^0'=__disjvr_41^post38, __disjvr_22^0'=__disjvr_22^post38, a_241^0'=a_241^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_9^0'=__disjvr_9^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_58^0'=rcd_58^post38, head_129^0'=head_129^post38, r_124^0'=r_124^post38, __disjvr_27^0'=__disjvr_27^post38, ct_17^0'=ct_17^post38, temp_35^0'=temp_35^post38, __disjvr_39^0'=__disjvr_39^post38, __disjvr_34^0'=__disjvr_34^post38, t_23^0'=t_23^post38, head_27^0'=head_27^post38, __disjvr_15^0'=__disjvr_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, __disjvr_6^0'=__disjvr_6^post38, __disjvr_12^0'=__disjvr_12^post38, y_19^0'=y_19^post38, __disjvr_43^0'=__disjvr_43^post38, len_276^0'=len_276^post38, __disjvr_24^0'=__disjvr_24^post38, a_308^0'=a_308^post38, __disjvr_1^0'=__disjvr_1^post38, len_132^0'=len_132^post38, a_147^0'=a_147^post38, __disjvr_31^0'=__disjvr_31^post38, result_11^0'=result_11^post38, head_175^0'=head_175^post38, r_218^0'=r_218^post38, __disjvr_29^0'=__disjvr_29^post38, __disjvr_0^0'=__disjvr_0^post38, x_16^0'=x_16^post38, __disjvr_40^0'=__disjvr_40^post38, __disjvr_36^0'=__disjvr_36^post38, a_210^0'=a_210^post38, __disjvr_17^0'=__disjvr_17^post38, i_167^0'=i_167^post38, __disjvr_8^0'=__disjvr_8^post38, __disjvr_14^0'=__disjvr_14^post38, r_39^0'=r_39^post38, f_263^0'=f_263^post38, nondet_12^0'=nondet_12^post38, __disjvr_26^0'=__disjvr_26^post38, a_353^0'=a_353^post38, __disjvr_21^0'=__disjvr_21^post38, temp0_31^0'=temp0_31^post38, __disjvr_38^0'=__disjvr_38^post38, __disjvr_33^0'=__disjvr_33^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, head_268^0'=head_268^post38, head_32^0'=head_32^post38, __disjvr_5^0'=__disjvr_5^post38, __disjvr_11^0'=__disjvr_11^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, __disjvr_42^0'=__disjvr_42^post38, len_226^0'=len_226^post38, __disjvr_23^0'=__disjvr_23^post38, a_277^0'=a_277^post38, __disjvr_19^0'=__disjvr_19^post38, i_94^0'=i_94^post38, a_116^0'=a_116^post38, __disjvr_30^0'=__disjvr_30^post38, rcd_88^0'=rcd_88^post38, head_14^0'=head_14^post38, r_163^0'=r_163^post38, __disjvr_28^0'=__disjvr_28^post38, tmp_34^0'=tmp_34^post38, __disjvr_3^0'=__disjvr_3^post38, __disjvr_35^0'=__disjvr_35^post38, temp0_15^0'=temp0_15^post38, a_184^0'=a_184^post38, __disjvr_16^0'=__disjvr_16^post38, (-__disjvr_33^post38+__disjvr_33^0 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ a_116^0-a_116^post38 == 0 /\ __disjvr_36^0-__disjvr_36^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ -__disjvr_34^post38+__disjvr_34^0 == 0 /\ -__disjvr_35^post38+__disjvr_35^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post38 == 0 /\ -len_132^post38+len_132^0 == 0 /\ -__disjvr_19^post38+__disjvr_19^0 == 0 /\ -a_277^post38+a_277^0 == 0 /\ -__disjvr_42^post38+__disjvr_42^0 == 0 /\ -head_175^post38+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_32^0-__disjvr_32^post38 == 0 /\ f_170^0-f_170^post38 == 0 /\ a_241^0-a_241^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ -__disjvr_40^post38+__disjvr_40^0 == 0 /\ -a_184^post38+a_184^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ __disjvr_1^0-__disjvr_1^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ t_23^0-t_23^post38 == 0 /\ -a_210^post38+a_210^0 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ r_218^0-r_218^post38 == 0 /\ -__disjvr_29^post38+__disjvr_29^0 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -a_308^post38+a_308^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -__disjvr_30^post38+__disjvr_30^0 == 0 /\ -__disjvr_38^post38+__disjvr_38^0 == 0 /\ __disjvr_25^0-__disjvr_25^post38 == 0 /\ i_167^0-i_167^post38 == 0 /\ -__disjvr_14^post38+__disjvr_14^0 == 0 /\ -len_226^post38+len_226^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post38+head_14^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -__disjvr_4^post38+__disjvr_4^0 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ -a_353^post38+a_353^0 == 0 /\ __disjvr_41^0-__disjvr_41^post38 == 0 /\ __disjvr_43^0-__disjvr_43^post38 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -__disjvr_3^post38+__disjvr_3^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ r_124^0-r_124^post38 == 0 /\ head_129^0-head_129^post38 == 0 /\ __disjvr_7^0-__disjvr_7^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ len_276^0-len_276^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_330^0-a_330^post38 == 0 /\ -__disjvr_0^post38+__disjvr_0^0 == 0 /\ f_263^0-f_263^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ __disjvr_37^0-__disjvr_37^post38 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ -r_163^post38+r_163^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -__disjvr_31^post38+__disjvr_31^0 == 0 /\ i_108^0-i_108^post38 == 0 /\ -head_268^post38+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ r_260^0-r_260^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ -__disjvr_21^post38+__disjvr_21^0 == 0 /\ head_223^0-head_223^post38 == 0 /\ len_183^0-len_183^post38 == 0 /\ length_29^0-length_29^post38 == 0 /\ -rcd_88^post38+rcd_88^0 == 0), cost: 1
  40: l40 -> l41 : i_108^0'=i_108^post40, __disjvr_7^0'=__disjvr_7^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, length_29^0'=length_29^post40, __disjvr_25^0'=__disjvr_25^post40, a_330^0'=a_330^post40, __disjvr_20^0'=__disjvr_20^post40, len_183^0'=len_183^post40, __disjvr_37^0'=__disjvr_37^post40, __disjvr_32^0'=__disjvr_32^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, head_223^0'=head_223^post40, r_260^0'=r_260^post40, __disjvr_4^0'=__disjvr_4^post40, __disjvr_10^0'=__disjvr_10^post40, x_20^0'=x_20^post40, __disjvr_41^0'=__disjvr_41^post40, __disjvr_22^0'=__disjvr_22^post40, a_241^0'=a_241^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, head_129^0'=head_129^post40, r_124^0'=r_124^post40, __disjvr_27^0'=__disjvr_27^post40, ct_17^0'=ct_17^post40, temp_35^0'=temp_35^post40, __disjvr_39^0'=__disjvr_39^post40, __disjvr_34^0'=__disjvr_34^post40, t_23^0'=t_23^post40, head_27^0'=head_27^post40, __disjvr_15^0'=__disjvr_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_6^0'=__disjvr_6^post40, __disjvr_12^0'=__disjvr_12^post40, y_19^0'=y_19^post40, __disjvr_43^0'=__disjvr_43^post40, len_276^0'=len_276^post40, __disjvr_24^0'=__disjvr_24^post40, a_308^0'=a_308^post40, __disjvr_1^0'=__disjvr_1^post40, len_132^0'=len_132^post40, a_147^0'=a_147^post40, __disjvr_31^0'=__disjvr_31^post40, result_11^0'=result_11^post40, head_175^0'=head_175^post40, r_218^0'=r_218^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, x_16^0'=x_16^post40, __disjvr_40^0'=__disjvr_40^post40, __disjvr_36^0'=__disjvr_36^post40, a_210^0'=a_210^post40, __disjvr_17^0'=__disjvr_17^post40, i_167^0'=i_167^post40, __disjvr_8^0'=__disjvr_8^post40, __disjvr_14^0'=__disjvr_14^post40, r_39^0'=r_39^post40, f_263^0'=f_263^post40, nondet_12^0'=nondet_12^post40, __disjvr_26^0'=__disjvr_26^post40, a_353^0'=a_353^post40, __disjvr_21^0'=__disjvr_21^post40, temp0_31^0'=temp0_31^post40, __disjvr_38^0'=__disjvr_38^post40, __disjvr_33^0'=__disjvr_33^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, head_268^0'=head_268^post40, head_32^0'=head_32^post40, __disjvr_5^0'=__disjvr_5^post40, __disjvr_11^0'=__disjvr_11^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_42^0'=__disjvr_42^post40, len_226^0'=len_226^post40, __disjvr_23^0'=__disjvr_23^post40, a_277^0'=a_277^post40, __disjvr_19^0'=__disjvr_19^post40, i_94^0'=i_94^post40, a_116^0'=a_116^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, head_14^0'=head_14^post40, r_163^0'=r_163^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_34^0'=tmp_34^post40, __disjvr_3^0'=__disjvr_3^post40, __disjvr_35^0'=__disjvr_35^post40, temp0_15^0'=temp0_15^post40, a_184^0'=a_184^post40, __disjvr_16^0'=__disjvr_16^post40, (-__disjvr_33^post40+__disjvr_33^0 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ length_29^0-length_29^post40 == 0 /\ -f_263^post40+f_263^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -head_SLAM_f_26^post40+head_SLAM_f_26^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ __disjvr_43^0-__disjvr_43^post40 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_37^0-__disjvr_37^post40 == 0 /\ -__disjvr_18^0+__disjvr_18^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -r_218^post40+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post40 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ a_330^0-a_330^post40 == 0 /\ -a_353^post40+a_353^0 == 0 /\ i_108^0-i_108^post40 == 0 /\ -head_268^post40+head_268^0 == 0 /\ -len_226^post40+len_226^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -head_14^post40+head_14^0 == 0 /\ __disjvr_42^0-__disjvr_42^post40 == 0 /\ -i_94^post40+i_94^0 == 0 /\ a_210^0-a_210^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ len_183^0-len_183^post40 == 0 /\ -a_184^post40+a_184^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ __disjvr_34^0-__disjvr_34^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -i_167^post40+i_167^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -head_175^post40+head_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ ct_17^0-ct_17^post40 == 0 /\ -len_276^post40+len_276^0 == 0 /\ __disjvr_35^0-__disjvr_35^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ f_170^0-f_170^post40 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_223^0-head_223^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_36^0-__disjvr_36^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -x_20^post40+x_20^0 == 0 /\ head_27^0-head_27^post40 == 0 /\ a_308^0-a_308^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -x_16^post40+x_16^0 == 0 /\ -a_277^post40+a_277^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -a_116^post40+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_88^post40+rcd_88^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -r_260^post40+r_260^0 == 0 /\ a_241^0-a_241^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post40 == 0 /\ __disjvr_31^0-__disjvr_31^post40 == 0 /\ __disjvr_39^0-__disjvr_39^post40 == 0 /\ -__disjvr_40^post40+__disjvr_40^0 == 0 /\ -__disjvr_32^post40+__disjvr_32^0 == 0 /\ -__disjvr_38^post40+__disjvr_38^0 == 0), cost: 1
  41: l41 -> l42 : i_108^0'=i_108^post41, __disjvr_7^0'=__disjvr_7^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, length_29^0'=length_29^post41, __disjvr_25^0'=__disjvr_25^post41, a_330^0'=a_330^post41, __disjvr_20^0'=__disjvr_20^post41, len_183^0'=len_183^post41, __disjvr_37^0'=__disjvr_37^post41, __disjvr_32^0'=__disjvr_32^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, head_223^0'=head_223^post41, r_260^0'=r_260^post41, __disjvr_4^0'=__disjvr_4^post41, __disjvr_10^0'=__disjvr_10^post41, x_20^0'=x_20^post41, __disjvr_41^0'=__disjvr_41^post41, __disjvr_22^0'=__disjvr_22^post41, a_241^0'=a_241^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, __disjvr_27^0'=__disjvr_27^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, __disjvr_39^0'=__disjvr_39^post41, __disjvr_34^0'=__disjvr_34^post41, t_23^0'=t_23^post41, head_27^0'=head_27^post41, __disjvr_15^0'=__disjvr_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_6^0'=__disjvr_6^post41, __disjvr_12^0'=__disjvr_12^post41, y_19^0'=y_19^post41, __disjvr_43^0'=__disjvr_43^post41, len_276^0'=len_276^post41, __disjvr_24^0'=__disjvr_24^post41, a_308^0'=a_308^post41, __disjvr_1^0'=__disjvr_1^post41, len_132^0'=len_132^post41, a_147^0'=a_147^post41, __disjvr_31^0'=__disjvr_31^post41, result_11^0'=result_11^post41, head_175^0'=head_175^post41, r_218^0'=r_218^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, x_16^0'=x_16^post41, __disjvr_40^0'=__disjvr_40^post41, __disjvr_36^0'=__disjvr_36^post41, a_210^0'=a_210^post41, __disjvr_17^0'=__disjvr_17^post41, i_167^0'=i_167^post41, __disjvr_8^0'=__disjvr_8^post41, __disjvr_14^0'=__disjvr_14^post41, r_39^0'=r_39^post41, f_263^0'=f_263^post41, nondet_12^0'=nondet_12^post41, __disjvr_26^0'=__disjvr_26^post41, a_353^0'=a_353^post41, __disjvr_21^0'=__disjvr_21^post41, temp0_31^0'=temp0_31^post41, __disjvr_38^0'=__disjvr_38^post41, __disjvr_33^0'=__disjvr_33^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, head_268^0'=head_268^post41, head_32^0'=head_32^post41, __disjvr_5^0'=__disjvr_5^post41, __disjvr_11^0'=__disjvr_11^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_42^0'=__disjvr_42^post41, len_226^0'=len_226^post41, __disjvr_23^0'=__disjvr_23^post41, a_277^0'=a_277^post41, __disjvr_19^0'=__disjvr_19^post41, i_94^0'=i_94^post41, a_116^0'=a_116^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_34^0'=tmp_34^post41, __disjvr_3^0'=__disjvr_3^post41, __disjvr_35^0'=__disjvr_35^post41, temp0_15^0'=temp0_15^post41, a_184^0'=a_184^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -1-len_132^0+len_183^post41 <= 0 /\ -result_11^post41+result_11^0 == 0 /\ -head_129^post41+head_129^0 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -a_147^post41+a_147^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ r_124^0-r_124^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_42^post41+__disjvr_42^0 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -len_132^post41+len_132^0 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_3^post41+__disjvr_3^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ __disjvr_34^0-__disjvr_34^post41 == 0 /\ -1-a_184^post41+a_147^0 <= 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -ct_17^post41+ct_17^0 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ -r_218^post41+r_218^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ r_260^0-r_260^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ x_20^0-x_20^post41 == 0 /\ y_19^0-y_19^post41 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -x_SLAM_f_18^post41+x_SLAM_f_18^0 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_38^post41+__disjvr_38^0 == 0 /\ head_175^0-head_175^post41 == 0 /\ __disjvr_40^0-__disjvr_40^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ 1+len_132^0-len_183^post41 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post41 == 0 /\ -a_308^post41+a_308^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -__disjvr_31^post41+__disjvr_31^0 == 0 /\ -__disjvr_43^post41+__disjvr_43^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -__disjvr_39^post41+__disjvr_39^0 == 0 /\ -f_263^post41+f_263^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_36^post41+__disjvr_36^0 == 0 /\ 1+a_184^post41-a_147^0 <= 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ __disjvr_32^0-__disjvr_32^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ __disjvr_1^0-__disjvr_1^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ -head_268^post41+head_268^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_35^post41+__disjvr_35^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ -x_16^post41+x_16^0 == 0 /\ __disjvr_33^0-__disjvr_33^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -len_226^post41+len_226^0 == 0 /\ a_330^0-a_330^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ head_223^0-head_223^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ __disjvr_37^0-__disjvr_37^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ -head_27^post41+head_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0), cost: 1
  42: l42 -> l43 : i_108^0'=i_108^post42, __disjvr_7^0'=__disjvr_7^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, length_29^0'=length_29^post42, __disjvr_25^0'=__disjvr_25^post42, a_330^0'=a_330^post42, __disjvr_20^0'=__disjvr_20^post42, len_183^0'=len_183^post42, __disjvr_37^0'=__disjvr_37^post42, __disjvr_32^0'=__disjvr_32^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, head_223^0'=head_223^post42, r_260^0'=r_260^post42, __disjvr_4^0'=__disjvr_4^post42, __disjvr_10^0'=__disjvr_10^post42, x_20^0'=x_20^post42, __disjvr_41^0'=__disjvr_41^post42, __disjvr_22^0'=__disjvr_22^post42, a_241^0'=a_241^post42, __disjvr_18^0'=__disjvr_18^post42, i_30^0'=i_30^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, __disjvr_27^0'=__disjvr_27^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, __disjvr_39^0'=__disjvr_39^post42, __disjvr_34^0'=__disjvr_34^post42, t_23^0'=t_23^post42, head_27^0'=head_27^post42, __disjvr_15^0'=__disjvr_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_6^0'=__disjvr_6^post42, __disjvr_12^0'=__disjvr_12^post42, y_19^0'=y_19^post42, __disjvr_43^0'=__disjvr_43^post42, len_276^0'=len_276^post42, __disjvr_24^0'=__disjvr_24^post42, a_308^0'=a_308^post42, __disjvr_1^0'=__disjvr_1^post42, len_132^0'=len_132^post42, a_147^0'=a_147^post42, __disjvr_31^0'=__disjvr_31^post42, result_11^0'=result_11^post42, head_175^0'=head_175^post42, r_218^0'=r_218^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, x_16^0'=x_16^post42, __disjvr_40^0'=__disjvr_40^post42, __disjvr_36^0'=__disjvr_36^post42, a_210^0'=a_210^post42, __disjvr_17^0'=__disjvr_17^post42, i_167^0'=i_167^post42, __disjvr_8^0'=__disjvr_8^post42, __disjvr_14^0'=__disjvr_14^post42, r_39^0'=r_39^post42, f_263^0'=f_263^post42, nondet_12^0'=nondet_12^post42, __disjvr_26^0'=__disjvr_26^post42, a_353^0'=a_353^post42, __disjvr_21^0'=__disjvr_21^post42, temp0_31^0'=temp0_31^post42, __disjvr_38^0'=__disjvr_38^post42, __disjvr_33^0'=__disjvr_33^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, head_268^0'=head_268^post42, head_32^0'=head_32^post42, __disjvr_5^0'=__disjvr_5^post42, __disjvr_11^0'=__disjvr_11^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_42^0'=__disjvr_42^post42, len_226^0'=len_226^post42, __disjvr_23^0'=__disjvr_23^post42, a_277^0'=a_277^post42, __disjvr_19^0'=__disjvr_19^post42, i_94^0'=i_94^post42, a_116^0'=a_116^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_34^0'=tmp_34^post42, __disjvr_3^0'=__disjvr_3^post42, __disjvr_35^0'=__disjvr_35^post42, temp0_15^0'=temp0_15^post42, a_184^0'=a_184^post42, __disjvr_16^0'=__disjvr_16^post42, (-a_353^post42+a_353^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ len_276^0-len_276^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_32^0-__disjvr_32^post42 == 0 /\ -__disjvr_31^post42+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ len_226^0-len_226^post42 == 0 /\ r_218^0-r_218^post42 == 0 /\ -a_308^post42+a_308^0 == 0 /\ __disjvr_34^0-__disjvr_34^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -temp0_15^post42+temp0_15^0 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ r_260^0-r_260^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -head_268^post42+head_268^0 == 0 /\ -len_132^post42+len_132^0 == 0 /\ __disjvr_1^0-__disjvr_1^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_39^post42+__disjvr_39^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_36^post42+__disjvr_36^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ __disjvr_37^0-__disjvr_37^post42 == 0 /\ -head_14^post42+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -tmp_34^post42+tmp_34^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ -__disjvr_42^post42+__disjvr_42^0 == 0 /\ i_108^0-i_108^post42 == 0 /\ __disjvr_19^post42-__disjvr_19^0 == 0 /\ i_167^0-i_167^post42 == 0 /\ -a_184^post42+a_184^0 == 0 /\ a_330^0-a_330^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -__disjvr_33^post42+__disjvr_33^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ head_223^0-head_223^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ __disjvr_27^0-__disjvr_27^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ a_147^0-a_147^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -x_SLAM_f_18^post42+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ length_29^0-length_29^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -a_116^post42+a_116^0 == 0 /\ -__disjvr_40^post42+__disjvr_40^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ __disjvr_43^0-__disjvr_43^post42 == 0 /\ f_263^0-f_263^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ -a_210^post42+a_210^0 == 0 /\ -__disjvr_35^post42+__disjvr_35^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -__disjvr_38^post42+__disjvr_38^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0), cost: 1
  43: l43 -> l44 : i_108^0'=i_108^post43, __disjvr_7^0'=__disjvr_7^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, length_29^0'=length_29^post43, __disjvr_25^0'=__disjvr_25^post43, a_330^0'=a_330^post43, __disjvr_20^0'=__disjvr_20^post43, len_183^0'=len_183^post43, __disjvr_37^0'=__disjvr_37^post43, __disjvr_32^0'=__disjvr_32^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, head_223^0'=head_223^post43, r_260^0'=r_260^post43, __disjvr_4^0'=__disjvr_4^post43, __disjvr_10^0'=__disjvr_10^post43, x_20^0'=x_20^post43, __disjvr_41^0'=__disjvr_41^post43, __disjvr_22^0'=__disjvr_22^post43, a_241^0'=a_241^post43, __disjvr_18^0'=__disjvr_18^post43, i_30^0'=i_30^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, __disjvr_27^0'=__disjvr_27^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, __disjvr_39^0'=__disjvr_39^post43, __disjvr_34^0'=__disjvr_34^post43, t_23^0'=t_23^post43, head_27^0'=head_27^post43, __disjvr_15^0'=__disjvr_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_6^0'=__disjvr_6^post43, __disjvr_12^0'=__disjvr_12^post43, y_19^0'=y_19^post43, __disjvr_43^0'=__disjvr_43^post43, len_276^0'=len_276^post43, __disjvr_24^0'=__disjvr_24^post43, a_308^0'=a_308^post43, __disjvr_1^0'=__disjvr_1^post43, len_132^0'=len_132^post43, a_147^0'=a_147^post43, __disjvr_31^0'=__disjvr_31^post43, result_11^0'=result_11^post43, head_175^0'=head_175^post43, r_218^0'=r_218^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, x_16^0'=x_16^post43, __disjvr_40^0'=__disjvr_40^post43, __disjvr_36^0'=__disjvr_36^post43, a_210^0'=a_210^post43, __disjvr_17^0'=__disjvr_17^post43, i_167^0'=i_167^post43, __disjvr_8^0'=__disjvr_8^post43, __disjvr_14^0'=__disjvr_14^post43, r_39^0'=r_39^post43, f_263^0'=f_263^post43, nondet_12^0'=nondet_12^post43, __disjvr_26^0'=__disjvr_26^post43, a_353^0'=a_353^post43, __disjvr_21^0'=__disjvr_21^post43, temp0_31^0'=temp0_31^post43, __disjvr_38^0'=__disjvr_38^post43, __disjvr_33^0'=__disjvr_33^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, head_268^0'=head_268^post43, head_32^0'=head_32^post43, __disjvr_5^0'=__disjvr_5^post43, __disjvr_11^0'=__disjvr_11^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_42^0'=__disjvr_42^post43, len_226^0'=len_226^post43, __disjvr_23^0'=__disjvr_23^post43, a_277^0'=a_277^post43, __disjvr_19^0'=__disjvr_19^post43, i_94^0'=i_94^post43, a_116^0'=a_116^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_34^0'=tmp_34^post43, __disjvr_3^0'=__disjvr_3^post43, __disjvr_35^0'=__disjvr_35^post43, temp0_15^0'=temp0_15^post43, a_184^0'=a_184^post43, __disjvr_16^0'=__disjvr_16^post43, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -__disjvr_35^post43+__disjvr_35^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post43 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -i_167^post43+i_167^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_38^post43+__disjvr_38^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ __disjvr_37^0-__disjvr_37^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ f_170^0-f_170^post43 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ -__disjvr_33^post43+__disjvr_33^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ __disjvr_43^0-__disjvr_43^post43 == 0 /\ __disjvr_17^0-__disjvr_17^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ ct_17^0-ct_17^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ f_263^0-f_263^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ a_147^0-a_147^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post43 == 0 /\ -a_116^post43+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_276^post43+len_276^0 == 0 /\ len_132^0-len_132^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ -__disjvr_40^post43+__disjvr_40^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_30^0-i_30^post43 == 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ __disjvr_32^0-__disjvr_32^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ -a_353^post43+a_353^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ __disjvr_41^0-__disjvr_41^post43 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -r_124^post43+r_124^0 == 0 /\ __disjvr_39^0-__disjvr_39^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ head_14^0-head_14^post43 == 0 /\ -__disjvr_42^post43+__disjvr_42^0 == 0 /\ r_260^0-r_260^post43 == 0 /\ head_27^0-head_27^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ r_218^0-r_218^post43 == 0 /\ len_183^0-len_183^post43 == 0 /\ head_129^0-head_129^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ i_108^0-i_108^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -__disjvr_0^post43+__disjvr_0^0 == 0 /\ -__disjvr_34^post43+__disjvr_34^0 == 0 /\ -__disjvr_31^post43+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -a_184^post43+a_184^0 == 0), cost: 1
  44: l44 -> l39 : i_108^0'=i_108^post44, __disjvr_7^0'=__disjvr_7^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, length_29^0'=length_29^post44, __disjvr_25^0'=__disjvr_25^post44, a_330^0'=a_330^post44, __disjvr_20^0'=__disjvr_20^post44, len_183^0'=len_183^post44, __disjvr_37^0'=__disjvr_37^post44, __disjvr_32^0'=__disjvr_32^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, head_223^0'=head_223^post44, r_260^0'=r_260^post44, __disjvr_4^0'=__disjvr_4^post44, __disjvr_10^0'=__disjvr_10^post44, x_20^0'=x_20^post44, __disjvr_41^0'=__disjvr_41^post44, __disjvr_22^0'=__disjvr_22^post44, a_241^0'=a_241^post44, __disjvr_18^0'=__disjvr_18^post44, i_30^0'=i_30^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, __disjvr_27^0'=__disjvr_27^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, __disjvr_39^0'=__disjvr_39^post44, __disjvr_34^0'=__disjvr_34^post44, t_23^0'=t_23^post44, head_27^0'=head_27^post44, __disjvr_15^0'=__disjvr_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_6^0'=__disjvr_6^post44, __disjvr_12^0'=__disjvr_12^post44, y_19^0'=y_19^post44, __disjvr_43^0'=__disjvr_43^post44, len_276^0'=len_276^post44, __disjvr_24^0'=__disjvr_24^post44, a_308^0'=a_308^post44, __disjvr_1^0'=__disjvr_1^post44, len_132^0'=len_132^post44, a_147^0'=a_147^post44, __disjvr_31^0'=__disjvr_31^post44, result_11^0'=result_11^post44, head_175^0'=head_175^post44, r_218^0'=r_218^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, x_16^0'=x_16^post44, __disjvr_40^0'=__disjvr_40^post44, __disjvr_36^0'=__disjvr_36^post44, a_210^0'=a_210^post44, __disjvr_17^0'=__disjvr_17^post44, i_167^0'=i_167^post44, __disjvr_8^0'=__disjvr_8^post44, __disjvr_14^0'=__disjvr_14^post44, r_39^0'=r_39^post44, f_263^0'=f_263^post44, nondet_12^0'=nondet_12^post44, __disjvr_26^0'=__disjvr_26^post44, a_353^0'=a_353^post44, __disjvr_21^0'=__disjvr_21^post44, temp0_31^0'=temp0_31^post44, __disjvr_38^0'=__disjvr_38^post44, __disjvr_33^0'=__disjvr_33^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_268^0'=head_268^post44, head_32^0'=head_32^post44, __disjvr_5^0'=__disjvr_5^post44, __disjvr_11^0'=__disjvr_11^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_42^0'=__disjvr_42^post44, len_226^0'=len_226^post44, __disjvr_23^0'=__disjvr_23^post44, a_277^0'=a_277^post44, __disjvr_19^0'=__disjvr_19^post44, i_94^0'=i_94^post44, a_116^0'=a_116^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_34^0'=tmp_34^post44, __disjvr_3^0'=__disjvr_3^post44, __disjvr_35^0'=__disjvr_35^post44, temp0_15^0'=temp0_15^post44, a_184^0'=a_184^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_39^0-__disjvr_39^post44 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ head_223^0-head_223^post44 == 0 /\ -head_27^post44+head_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ i_108^0-i_108^post44 == 0 /\ -__disjvr_36^post44+__disjvr_36^0 == 0 /\ -head_14^post44+head_14^0 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ __disjvr_40^0-__disjvr_40^post44 == 0 /\ -__disjvr_43^post44+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -__disjvr_3^post44+__disjvr_3^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ __disjvr_32^0-__disjvr_32^post44 == 0 /\ f_170^0-f_170^post44 == 0 /\ t_23^0-t_23^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ r_124^0-r_124^post44 == 0 /\ a_308^0-a_308^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_277^post44+a_277^0 == 0 /\ __disjvr_34^0-__disjvr_34^post44 == 0 /\ __disjvr_41^0-__disjvr_41^post44 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -head_175^post44+head_175^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -i_167^post44+i_167^0 == 0 /\ a_353^0-a_353^post44 == 0 /\ -r_218^post44+r_218^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ len_276^0-len_276^post44 == 0 /\ length_29^0-length_29^post44 == 0 /\ -r_39^post44+r_39^0 == 0 /\ -len_183^0+len_132^post44 <= 0 /\ -i_94^post44+i_94^0 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_33^post44+__disjvr_33^0 == 0 /\ __disjvr_37^0-__disjvr_37^post44 == 0 /\ __disjvr_17^0-__disjvr_17^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -r_163^post44+r_163^0 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ a_330^0-a_330^post44 == 0 /\ -head_268^post44+head_268^0 == 0 /\ -a_147^post44+a_184^0 <= 0 /\ -__disjvr_14^post44+__disjvr_14^0 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ x_20^0-x_20^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ -a_241^post44+a_241^0 == 0 /\ -__disjvr_19^post44+__disjvr_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ len_183^0-len_132^post44 <= 0 /\ __disjvr_31^0-__disjvr_31^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -f_263^post44+f_263^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_42^post44+__disjvr_42^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post44+__disjvr_35^0 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_16^post44+x_16^0 == 0 /\ a_147^post44-a_184^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ -len_226^post44+len_226^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -a_210^post44+a_210^0 == 0 /\ -a_116^post44+a_116^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_38^0-__disjvr_38^post44 == 0 /\ ct_17^0-ct_17^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0), cost: 1
  45: l39 -> l36 : i_108^0'=i_108^post45, __disjvr_7^0'=__disjvr_7^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, length_29^0'=length_29^post45, __disjvr_25^0'=__disjvr_25^post45, a_330^0'=a_330^post45, __disjvr_20^0'=__disjvr_20^post45, len_183^0'=len_183^post45, __disjvr_37^0'=__disjvr_37^post45, __disjvr_32^0'=__disjvr_32^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, head_223^0'=head_223^post45, r_260^0'=r_260^post45, __disjvr_4^0'=__disjvr_4^post45, __disjvr_10^0'=__disjvr_10^post45, x_20^0'=x_20^post45, __disjvr_41^0'=__disjvr_41^post45, __disjvr_22^0'=__disjvr_22^post45, a_241^0'=a_241^post45, __disjvr_18^0'=__disjvr_18^post45, i_30^0'=i_30^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, __disjvr_27^0'=__disjvr_27^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, __disjvr_39^0'=__disjvr_39^post45, __disjvr_34^0'=__disjvr_34^post45, t_23^0'=t_23^post45, head_27^0'=head_27^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_6^0'=__disjvr_6^post45, __disjvr_12^0'=__disjvr_12^post45, y_19^0'=y_19^post45, __disjvr_43^0'=__disjvr_43^post45, len_276^0'=len_276^post45, __disjvr_24^0'=__disjvr_24^post45, a_308^0'=a_308^post45, __disjvr_1^0'=__disjvr_1^post45, len_132^0'=len_132^post45, a_147^0'=a_147^post45, __disjvr_31^0'=__disjvr_31^post45, result_11^0'=result_11^post45, head_175^0'=head_175^post45, r_218^0'=r_218^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, x_16^0'=x_16^post45, __disjvr_40^0'=__disjvr_40^post45, __disjvr_36^0'=__disjvr_36^post45, a_210^0'=a_210^post45, __disjvr_17^0'=__disjvr_17^post45, i_167^0'=i_167^post45, __disjvr_8^0'=__disjvr_8^post45, __disjvr_14^0'=__disjvr_14^post45, r_39^0'=r_39^post45, f_263^0'=f_263^post45, nondet_12^0'=nondet_12^post45, __disjvr_26^0'=__disjvr_26^post45, a_353^0'=a_353^post45, __disjvr_21^0'=__disjvr_21^post45, temp0_31^0'=temp0_31^post45, __disjvr_38^0'=__disjvr_38^post45, __disjvr_33^0'=__disjvr_33^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, head_268^0'=head_268^post45, head_32^0'=head_32^post45, __disjvr_5^0'=__disjvr_5^post45, __disjvr_11^0'=__disjvr_11^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_42^0'=__disjvr_42^post45, len_226^0'=len_226^post45, __disjvr_23^0'=__disjvr_23^post45, a_277^0'=a_277^post45, __disjvr_19^0'=__disjvr_19^post45, i_94^0'=i_94^post45, a_116^0'=a_116^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_34^0'=tmp_34^post45, __disjvr_3^0'=__disjvr_3^post45, __disjvr_35^0'=__disjvr_35^post45, temp0_15^0'=temp0_15^post45, a_184^0'=a_184^post45, __disjvr_16^0'=__disjvr_16^post45, (f_170^0-f_170^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ i_167^0-i_167^post45 == 0 /\ -__disjvr_38^post45+__disjvr_38^0 == 0 /\ -__disjvr_35^post45+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_218^post45+r_218^0 == 0 /\ -__disjvr_24^post45+__disjvr_24^0 == 0 /\ __disjvr_39^0-__disjvr_39^post45 == 0 /\ -head_268^post45+head_268^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ a_353^0-a_353^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_42^post45+__disjvr_42^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -temp0_15^post45+temp0_15^0 == 0 /\ -head_129^post45+head_129^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post45 == 0 /\ __disjvr_7^0-__disjvr_7^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -x_16^post45+x_16^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -a_210^post45+a_210^0 == 0 /\ __disjvr_31^0-__disjvr_31^post45 == 0 /\ x_20^0-x_20^post45 == 0 /\ __disjvr_32^0-__disjvr_32^post45 == 0 /\ -__disjvr_43^post45+__disjvr_43^0 == 0 /\ a_147^0-a_147^post45 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ __disjvr_33^0-__disjvr_33^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_40^0-__disjvr_40^post45 == 0 /\ -__disjvr_36^post45+__disjvr_36^0 == 0 /\ head_223^0-head_223^post45 == 0 /\ -len_183^post45+len_183^0 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ a_330^0-a_330^post45 == 0 /\ r_260^0-r_260^post45 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ i_108^0-i_108^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ __disjvr_34^0-__disjvr_34^post45 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ __disjvr_41^0-__disjvr_41^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -f_263^post45+f_263^0 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -a_241^post45+a_241^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0), cost: 1
  46: l45 -> l46 : i_108^0'=i_108^post46, __disjvr_7^0'=__disjvr_7^post46, __disjvr_13^0'=__disjvr_13^post46, f_170^0'=f_170^post46, length_29^0'=length_29^post46, __disjvr_25^0'=__disjvr_25^post46, a_330^0'=a_330^post46, __disjvr_20^0'=__disjvr_20^post46, len_183^0'=len_183^post46, __disjvr_37^0'=__disjvr_37^post46, __disjvr_32^0'=__disjvr_32^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, head_223^0'=head_223^post46, r_260^0'=r_260^post46, __disjvr_4^0'=__disjvr_4^post46, __disjvr_10^0'=__disjvr_10^post46, x_20^0'=x_20^post46, __disjvr_41^0'=__disjvr_41^post46, __disjvr_22^0'=__disjvr_22^post46, a_241^0'=a_241^post46, __disjvr_18^0'=__disjvr_18^post46, i_30^0'=i_30^post46, __disjvr_9^0'=__disjvr_9^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_58^0'=rcd_58^post46, head_129^0'=head_129^post46, r_124^0'=r_124^post46, __disjvr_27^0'=__disjvr_27^post46, ct_17^0'=ct_17^post46, temp_35^0'=temp_35^post46, __disjvr_39^0'=__disjvr_39^post46, __disjvr_34^0'=__disjvr_34^post46, t_23^0'=t_23^post46, head_27^0'=head_27^post46, __disjvr_15^0'=__disjvr_15^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, __disjvr_6^0'=__disjvr_6^post46, __disjvr_12^0'=__disjvr_12^post46, y_19^0'=y_19^post46, __disjvr_43^0'=__disjvr_43^post46, len_276^0'=len_276^post46, __disjvr_24^0'=__disjvr_24^post46, a_308^0'=a_308^post46, __disjvr_1^0'=__disjvr_1^post46, len_132^0'=len_132^post46, a_147^0'=a_147^post46, __disjvr_31^0'=__disjvr_31^post46, result_11^0'=result_11^post46, head_175^0'=head_175^post46, r_218^0'=r_218^post46, __disjvr_29^0'=__disjvr_29^post46, __disjvr_0^0'=__disjvr_0^post46, x_16^0'=x_16^post46, __disjvr_40^0'=__disjvr_40^post46, __disjvr_36^0'=__disjvr_36^post46, a_210^0'=a_210^post46, __disjvr_17^0'=__disjvr_17^post46, i_167^0'=i_167^post46, __disjvr_8^0'=__disjvr_8^post46, __disjvr_14^0'=__disjvr_14^post46, r_39^0'=r_39^post46, f_263^0'=f_263^post46, nondet_12^0'=nondet_12^post46, __disjvr_26^0'=__disjvr_26^post46, a_353^0'=a_353^post46, __disjvr_21^0'=__disjvr_21^post46, temp0_31^0'=temp0_31^post46, __disjvr_38^0'=__disjvr_38^post46, __disjvr_33^0'=__disjvr_33^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, head_268^0'=head_268^post46, head_32^0'=head_32^post46, __disjvr_5^0'=__disjvr_5^post46, __disjvr_11^0'=__disjvr_11^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, __disjvr_42^0'=__disjvr_42^post46, len_226^0'=len_226^post46, __disjvr_23^0'=__disjvr_23^post46, a_277^0'=a_277^post46, __disjvr_19^0'=__disjvr_19^post46, i_94^0'=i_94^post46, a_116^0'=a_116^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_88^0'=rcd_88^post46, head_14^0'=head_14^post46, r_163^0'=r_163^post46, __disjvr_28^0'=__disjvr_28^post46, tmp_34^0'=tmp_34^post46, __disjvr_3^0'=__disjvr_3^post46, __disjvr_35^0'=__disjvr_35^post46, temp0_15^0'=temp0_15^post46, a_184^0'=a_184^post46, __disjvr_16^0'=__disjvr_16^post46, (0 == 0 /\ -head_27^post46+head_14^0 <= 0 /\ __disjvr_42^0-__disjvr_42^post46 == 0 /\ -a_277^post46+a_277^0 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0 /\ __disjvr_40^0-__disjvr_40^post46 == 0 /\ -len_276^post46+len_276^0 == 0 /\ -head_175^post46+head_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post46 == 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ -temp_35^post46+temp_35^0 == 0 /\ head_32^0-head_32^post46 == 0 /\ -__disjvr_26^post46+__disjvr_26^0 == 0 /\ a_241^0-a_241^post46 == 0 /\ -a_116^post46+a_116^0 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ __disjvr_27^0-__disjvr_27^post46 == 0 /\ -r_163^post46+r_163^0 == 0 /\ -i_30^post46+i_30^0 == 0 /\ -head_SLAM_f_26^post46+head_27^post46 <= 0 /\ -head_SLAM_f_26^post46+head_27^post46 == 0 /\ head_SLAM_f_26^post46-head_14^0 <= 0 /\ head_SLAM_f_26^post46-head_14^0 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ __disjvr_39^0-__disjvr_39^post46 == 0 /\ head_27^post46-head_14^0 <= 0 /\ -head_14^post46+head_14^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -r_39^post46+r_39^0 == 0 /\ __disjvr_12^0-__disjvr_12^post46 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ f_170^0-f_170^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ head_27^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ -head_27^0 <= 0 /\ -a_116^0 <= 0 /\ head_268^0-head_268^post46 == 0 /\ __disjvr_36^0-__disjvr_36^post46 == 0 /\ -a_210^post46+a_210^0 == 0 /\ r_124^0-r_124^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ __disjvr_43^0-__disjvr_43^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ head_SLAM_f_26^post46-head_27^post46 <= 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -head_SLAM_f_26^post46+head_14^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post46 == 0 /\ a_147^0-a_147^post46 == 0 /\ -__disjvr_38^post46+__disjvr_38^0 == 0 /\ __disjvr_41^0-__disjvr_41^post46 == 0 /\ -i_94^post46+i_94^0 == 0 /\ a_308^0-a_308^post46 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ len_132^0-len_132^post46 == 0 /\ -f_263^post46+f_263^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ -len_226^post46+len_226^0 == 0 /\ -__disjvr_33^post46+__disjvr_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -temp0_15^post46+temp0_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ -__disjvr_31^post46+__disjvr_31^0 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -__disjvr_35^post46+__disjvr_35^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ head_129^0-head_129^post46 == 0 /\ -r_218^post46+r_218^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_353^0-a_353^post46 == 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -__disjvr_37^post46+__disjvr_37^0 == 0 /\ -__disjvr_34^post46+__disjvr_34^0 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ -x_SLAM_f_18^post46+x_SLAM_f_18^0 == 0 /\ -a_184^post46+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post46 == 0 /\ len_183^0-len_183^post46 == 0 /\ __disjvr_30^0-__disjvr_30^post46 == 0 /\ a_330^0-a_330^post46 == 0 /\ head_223^0-head_223^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ -i_167^post46+i_167^0 == 0 /\ r_260^0-r_260^post46 == 0 /\ x_20^0-x_20^post46 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ i_108^0-i_108^post46 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_19^post46+__disjvr_19^0 == 0 /\ -x_16^post46+x_16^0 == 0), cost: 1
  53: l45 -> l52 : i_108^0'=i_108^post53, __disjvr_7^0'=__disjvr_7^post53, __disjvr_13^0'=__disjvr_13^post53, f_170^0'=f_170^post53, length_29^0'=length_29^post53, __disjvr_25^0'=__disjvr_25^post53, a_330^0'=a_330^post53, __disjvr_20^0'=__disjvr_20^post53, len_183^0'=len_183^post53, __disjvr_37^0'=__disjvr_37^post53, __disjvr_32^0'=__disjvr_32^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, head_223^0'=head_223^post53, r_260^0'=r_260^post53, __disjvr_4^0'=__disjvr_4^post53, __disjvr_10^0'=__disjvr_10^post53, x_20^0'=x_20^post53, __disjvr_41^0'=__disjvr_41^post53, __disjvr_22^0'=__disjvr_22^post53, a_241^0'=a_241^post53, __disjvr_18^0'=__disjvr_18^post53, i_30^0'=i_30^post53, __disjvr_9^0'=__disjvr_9^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_58^0'=rcd_58^post53, head_129^0'=head_129^post53, r_124^0'=r_124^post53, __disjvr_27^0'=__disjvr_27^post53, ct_17^0'=ct_17^post53, temp_35^0'=temp_35^post53, __disjvr_39^0'=__disjvr_39^post53, __disjvr_34^0'=__disjvr_34^post53, t_23^0'=t_23^post53, head_27^0'=head_27^post53, __disjvr_15^0'=__disjvr_15^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, __disjvr_6^0'=__disjvr_6^post53, __disjvr_12^0'=__disjvr_12^post53, y_19^0'=y_19^post53, __disjvr_43^0'=__disjvr_43^post53, len_276^0'=len_276^post53, __disjvr_24^0'=__disjvr_24^post53, a_308^0'=a_308^post53, __disjvr_1^0'=__disjvr_1^post53, len_132^0'=len_132^post53, a_147^0'=a_147^post53, __disjvr_31^0'=__disjvr_31^post53, result_11^0'=result_11^post53, head_175^0'=head_175^post53, r_218^0'=r_218^post53, __disjvr_29^0'=__disjvr_29^post53, __disjvr_0^0'=__disjvr_0^post53, x_16^0'=x_16^post53, __disjvr_40^0'=__disjvr_40^post53, __disjvr_36^0'=__disjvr_36^post53, a_210^0'=a_210^post53, __disjvr_17^0'=__disjvr_17^post53, i_167^0'=i_167^post53, __disjvr_8^0'=__disjvr_8^post53, __disjvr_14^0'=__disjvr_14^post53, r_39^0'=r_39^post53, f_263^0'=f_263^post53, nondet_12^0'=nondet_12^post53, __disjvr_26^0'=__disjvr_26^post53, a_353^0'=a_353^post53, __disjvr_21^0'=__disjvr_21^post53, temp0_31^0'=temp0_31^post53, __disjvr_38^0'=__disjvr_38^post53, __disjvr_33^0'=__disjvr_33^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, head_268^0'=head_268^post53, head_32^0'=head_32^post53, __disjvr_5^0'=__disjvr_5^post53, __disjvr_11^0'=__disjvr_11^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, __disjvr_42^0'=__disjvr_42^post53, len_226^0'=len_226^post53, __disjvr_23^0'=__disjvr_23^post53, a_277^0'=a_277^post53, __disjvr_19^0'=__disjvr_19^post53, i_94^0'=i_94^post53, a_116^0'=a_116^post53, __disjvr_30^0'=__disjvr_30^post53, rcd_88^0'=rcd_88^post53, head_14^0'=head_14^post53, r_163^0'=r_163^post53, __disjvr_28^0'=__disjvr_28^post53, tmp_34^0'=tmp_34^post53, __disjvr_3^0'=__disjvr_3^post53, __disjvr_35^0'=__disjvr_35^post53, temp0_15^0'=temp0_15^post53, a_184^0'=a_184^post53, __disjvr_16^0'=__disjvr_16^post53, (0 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ __disjvr_34^0-__disjvr_34^post53 == 0 /\ -len_226^post53+len_226^0 == 0 /\ __disjvr_33^0-__disjvr_33^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ -x_SLAM_f_18^post53+x_SLAM_f_18^0 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ i_167^0-i_167^post53 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -a_116^post53+a_116^0 == 0 /\ -__disjvr_9^post53+__disjvr_9^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -__disjvr_38^post53+__disjvr_38^0 == 0 /\ x_16^0-x_16^post53 == 0 /\ __disjvr_7^0-__disjvr_7^post53 == 0 /\ -__disjvr_8^post53+__disjvr_8^0 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ -__disjvr_16^post53+__disjvr_16^0 == 0 /\ -__disjvr_31^post53+__disjvr_31^0 == 0 /\ x_20^0-x_20^post53 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -a_116^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ ct_17^0-ct_17^post53 == 0 /\ i_30^0-i_30^post53 == 0 /\ head_175^0-head_175^post53 == 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0 /\ -a_147^post53+a_147^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ length_29^0-length_29^post53 == 0 /\ -__disjvr_19^post53+__disjvr_19^0 == 0 /\ -head_268^post53+head_268^0 == 0 /\ -rcd_88^post53+rcd_88^0 == 0 /\ -a_277^post53+a_277^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ temp0_31^0-temp0_31^post53 == 0 /\ -__disjvr_39^post53+__disjvr_39^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ __disjvr_15^0-__disjvr_15^post53 == 0 /\ __disjvr_41^0-__disjvr_41^post53 == 0 /\ r_260^0-r_260^post53 == 0 /\ a_330^0-a_330^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ -__disjvr_36^post53+__disjvr_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ -__disjvr_24^post53+__disjvr_24^0 == 0 /\ __disjvr_32^0-__disjvr_32^post53 == 0 /\ -__disjvr_42^post53+__disjvr_42^0 == 0 /\ -__disjvr_30^post53+__disjvr_30^0 == 0 /\ -__disjvr_35^post53+__disjvr_35^0 == 0 /\ -__disjvr_21^post53+__disjvr_21^0 == 0 /\ -a_210^post53+a_210^0 == 0 /\ __disjvr_2^0-__disjvr_2^post53 == 0 /\ a_241^0-a_241^post53 == 0 /\ -result_11^post53+result_11^0 == 0 /\ -a_353^post53+a_353^0 == 0 /\ __disjvr_27^0-__disjvr_27^post53 == 0 /\ rcd_58^0-rcd_58^post53 == 0 /\ -a_184^post53+a_184^0 == 0 /\ -__disjvr_29^post53+__disjvr_29^0 == 0 /\ -i_94^post53+i_94^0 == 0 /\ f_170^0-f_170^post53 == 0 /\ -__disjvr_0^post53+__disjvr_0^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ i_108^0-i_108^post53 == 0 /\ -__disjvr_43^post53+__disjvr_43^0 == 0 /\ y_19^0-y_19^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ -f_263^post53+f_263^0 == 0 /\ -head_27^post53+head_27^0 == 0 /\ __disjvr_1^0-__disjvr_1^post53 == 0 /\ r_163^0-r_163^post53 == 0 /\ -r_218^post53+r_218^0 == 0 /\ len_276^0-len_276^post53 == 0 /\ -a_308^post53+a_308^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53 == 0 /\ -len_183^post53+len_183^0 == 0 /\ __disjvr_40^0-__disjvr_40^post53 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -temp0_15^post53+temp0_15^0 == 0 /\ -len_132^post53+len_132^0 == 0 /\ head_223^0-head_223^post53 == 0 /\ __disjvr_25^0-__disjvr_25^post53 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ __disjvr_37^0-__disjvr_37^post53 == 0), cost: 1
  47: l46 -> l47 : i_108^0'=i_108^post47, __disjvr_7^0'=__disjvr_7^post47, __disjvr_13^0'=__disjvr_13^post47, f_170^0'=f_170^post47, length_29^0'=length_29^post47, __disjvr_25^0'=__disjvr_25^post47, a_330^0'=a_330^post47, __disjvr_20^0'=__disjvr_20^post47, len_183^0'=len_183^post47, __disjvr_37^0'=__disjvr_37^post47, __disjvr_32^0'=__disjvr_32^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, head_223^0'=head_223^post47, r_260^0'=r_260^post47, __disjvr_4^0'=__disjvr_4^post47, __disjvr_10^0'=__disjvr_10^post47, x_20^0'=x_20^post47, __disjvr_41^0'=__disjvr_41^post47, __disjvr_22^0'=__disjvr_22^post47, a_241^0'=a_241^post47, __disjvr_18^0'=__disjvr_18^post47, i_30^0'=i_30^post47, __disjvr_9^0'=__disjvr_9^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_58^0'=rcd_58^post47, head_129^0'=head_129^post47, r_124^0'=r_124^post47, __disjvr_27^0'=__disjvr_27^post47, ct_17^0'=ct_17^post47, temp_35^0'=temp_35^post47, __disjvr_39^0'=__disjvr_39^post47, __disjvr_34^0'=__disjvr_34^post47, t_23^0'=t_23^post47, head_27^0'=head_27^post47, __disjvr_15^0'=__disjvr_15^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, __disjvr_6^0'=__disjvr_6^post47, __disjvr_12^0'=__disjvr_12^post47, y_19^0'=y_19^post47, __disjvr_43^0'=__disjvr_43^post47, len_276^0'=len_276^post47, __disjvr_24^0'=__disjvr_24^post47, a_308^0'=a_308^post47, __disjvr_1^0'=__disjvr_1^post47, len_132^0'=len_132^post47, a_147^0'=a_147^post47, __disjvr_31^0'=__disjvr_31^post47, result_11^0'=result_11^post47, head_175^0'=head_175^post47, r_218^0'=r_218^post47, __disjvr_29^0'=__disjvr_29^post47, __disjvr_0^0'=__disjvr_0^post47, x_16^0'=x_16^post47, __disjvr_40^0'=__disjvr_40^post47, __disjvr_36^0'=__disjvr_36^post47, a_210^0'=a_210^post47, __disjvr_17^0'=__disjvr_17^post47, i_167^0'=i_167^post47, __disjvr_8^0'=__disjvr_8^post47, __disjvr_14^0'=__disjvr_14^post47, r_39^0'=r_39^post47, f_263^0'=f_263^post47, nondet_12^0'=nondet_12^post47, __disjvr_26^0'=__disjvr_26^post47, a_353^0'=a_353^post47, __disjvr_21^0'=__disjvr_21^post47, temp0_31^0'=temp0_31^post47, __disjvr_38^0'=__disjvr_38^post47, __disjvr_33^0'=__disjvr_33^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, head_268^0'=head_268^post47, head_32^0'=head_32^post47, __disjvr_5^0'=__disjvr_5^post47, __disjvr_11^0'=__disjvr_11^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, __disjvr_42^0'=__disjvr_42^post47, len_226^0'=len_226^post47, __disjvr_23^0'=__disjvr_23^post47, a_277^0'=a_277^post47, __disjvr_19^0'=__disjvr_19^post47, i_94^0'=i_94^post47, a_116^0'=a_116^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_88^0'=rcd_88^post47, head_14^0'=head_14^post47, r_163^0'=r_163^post47, __disjvr_28^0'=__disjvr_28^post47, tmp_34^0'=tmp_34^post47, __disjvr_3^0'=__disjvr_3^post47, __disjvr_35^0'=__disjvr_35^post47, temp0_15^0'=temp0_15^post47, a_184^0'=a_184^post47, __disjvr_16^0'=__disjvr_16^post47, (__disjvr_13^0-__disjvr_13^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ __disjvr_41^0-__disjvr_41^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -r_39^post47+r_39^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ -x_20^post47+x_20^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ __disjvr_7^0-__disjvr_7^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ __disjvr_43^0-__disjvr_43^post47 == 0 /\ __disjvr_31^0-__disjvr_31^post47 == 0 /\ __disjvr_42^0-__disjvr_42^post47 == 0 /\ __disjvr_10^0-__disjvr_10^post47 == 0 /\ __disjvr_17^0-__disjvr_17^post47 == 0 /\ __disjvr_34^0-__disjvr_34^post47 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ head_129^0-head_129^post47 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -__disjvr_14^post47+__disjvr_14^0 == 0 /\ head_268^0-head_268^post47 == 0 /\ ct_17^0-ct_17^post47 == 0 /\ -a_277^post47+a_277^0 == 0 /\ __disjvr_22^0-__disjvr_22^post47 == 0 /\ -rcd_58^post47+rcd_58^0 == 0 /\ i_94^0-i_94^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ -x_SLAM_f_18^post47+x_SLAM_f_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -rcd_88^post47+rcd_88^0 == 0 /\ -__disjvr_35^post47+__disjvr_35^0 == 0 /\ a_330^0-a_330^post47 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ head_223^0-head_223^post47 == 0 /\ __disjvr_37^0-__disjvr_37^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ __disjvr_27^0-__disjvr_27^post47 == 0 /\ -head_SLAM_f_26^post47+head_SLAM_f_26^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ r_260^0-r_260^post47 == 0 /\ __disjvr_39^0-__disjvr_39^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ i_30^0-i_30^post47 == 0 /\ -head_175^post47+head_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47 == 0 /\ -__disjvr_32^post47+__disjvr_32^0 == 0 /\ -f_263^post47+f_263^0 == 0 /\ r_218^0-r_218^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -__disjvr_33^post47+__disjvr_33^0 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -__disjvr_40^post47+__disjvr_40^0 == 0 /\ -head_32^post47+head_32^0 == 0 /\ a_210^0-a_210^post47 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ y_19^0-y_19^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -temp0_15^post47+temp0_15^0 == 0 /\ __disjvr_38^0-__disjvr_38^post47 == 0 /\ -r_163^post47+r_163^0 == 0 /\ -r_124^post47+r_124^0 == 0 /\ -a_147^post47+a_147^0 == 0 /\ -len_276^post47+len_276^0 == 0 /\ -a_353^post47+a_353^0 == 0 /\ __disjvr_36^0-__disjvr_36^post47 == 0 /\ -head_14^post47+head_14^0 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ head_27^0-head_27^post47 == 0 /\ length_29^0-length_29^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post47+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_3^post47+__disjvr_3^0 == 0 /\ -len_226^post47+len_226^0 == 0 /\ -a_116^post47+a_116^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ a_308^0-a_308^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ a_241^0-a_241^post47 == 0 /\ __disjvr_21^post47-__disjvr_21^0 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ -a_184^post47+a_184^0 == 0 /\ f_170^0-f_170^post47 == 0 /\ -x_16^post47+x_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ -i_167^post47+i_167^0 == 0 /\ -__disjvr_16^post47+__disjvr_16^0 == 0), cost: 1
  48: l47 -> l48 : i_108^0'=i_108^post48, __disjvr_7^0'=__disjvr_7^post48, __disjvr_13^0'=__disjvr_13^post48, f_170^0'=f_170^post48, length_29^0'=length_29^post48, __disjvr_25^0'=__disjvr_25^post48, a_330^0'=a_330^post48, __disjvr_20^0'=__disjvr_20^post48, len_183^0'=len_183^post48, __disjvr_37^0'=__disjvr_37^post48, __disjvr_32^0'=__disjvr_32^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, head_223^0'=head_223^post48, r_260^0'=r_260^post48, __disjvr_4^0'=__disjvr_4^post48, __disjvr_10^0'=__disjvr_10^post48, x_20^0'=x_20^post48, __disjvr_41^0'=__disjvr_41^post48, __disjvr_22^0'=__disjvr_22^post48, a_241^0'=a_241^post48, __disjvr_18^0'=__disjvr_18^post48, i_30^0'=i_30^post48, __disjvr_9^0'=__disjvr_9^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_58^0'=rcd_58^post48, head_129^0'=head_129^post48, r_124^0'=r_124^post48, __disjvr_27^0'=__disjvr_27^post48, ct_17^0'=ct_17^post48, temp_35^0'=temp_35^post48, __disjvr_39^0'=__disjvr_39^post48, __disjvr_34^0'=__disjvr_34^post48, t_23^0'=t_23^post48, head_27^0'=head_27^post48, __disjvr_15^0'=__disjvr_15^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, __disjvr_6^0'=__disjvr_6^post48, __disjvr_12^0'=__disjvr_12^post48, y_19^0'=y_19^post48, __disjvr_43^0'=__disjvr_43^post48, len_276^0'=len_276^post48, __disjvr_24^0'=__disjvr_24^post48, a_308^0'=a_308^post48, __disjvr_1^0'=__disjvr_1^post48, len_132^0'=len_132^post48, a_147^0'=a_147^post48, __disjvr_31^0'=__disjvr_31^post48, result_11^0'=result_11^post48, head_175^0'=head_175^post48, r_218^0'=r_218^post48, __disjvr_29^0'=__disjvr_29^post48, __disjvr_0^0'=__disjvr_0^post48, x_16^0'=x_16^post48, __disjvr_40^0'=__disjvr_40^post48, __disjvr_36^0'=__disjvr_36^post48, a_210^0'=a_210^post48, __disjvr_17^0'=__disjvr_17^post48, i_167^0'=i_167^post48, __disjvr_8^0'=__disjvr_8^post48, __disjvr_14^0'=__disjvr_14^post48, r_39^0'=r_39^post48, f_263^0'=f_263^post48, nondet_12^0'=nondet_12^post48, __disjvr_26^0'=__disjvr_26^post48, a_353^0'=a_353^post48, __disjvr_21^0'=__disjvr_21^post48, temp0_31^0'=temp0_31^post48, __disjvr_38^0'=__disjvr_38^post48, __disjvr_33^0'=__disjvr_33^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, head_268^0'=head_268^post48, head_32^0'=head_32^post48, __disjvr_5^0'=__disjvr_5^post48, __disjvr_11^0'=__disjvr_11^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, __disjvr_42^0'=__disjvr_42^post48, len_226^0'=len_226^post48, __disjvr_23^0'=__disjvr_23^post48, a_277^0'=a_277^post48, __disjvr_19^0'=__disjvr_19^post48, i_94^0'=i_94^post48, a_116^0'=a_116^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_88^0'=rcd_88^post48, head_14^0'=head_14^post48, r_163^0'=r_163^post48, __disjvr_28^0'=__disjvr_28^post48, tmp_34^0'=tmp_34^post48, __disjvr_3^0'=__disjvr_3^post48, __disjvr_35^0'=__disjvr_35^post48, temp0_15^0'=temp0_15^post48, a_184^0'=a_184^post48, __disjvr_16^0'=__disjvr_16^post48, (0 == 0 /\ -a_184^post48+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ temp_35^0-temp_35^post48 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ __disjvr_25^0-__disjvr_25^post48 == 0 /\ -r_218^post48+r_218^0 == 0 /\ a_277^0-a_277^post48 == 0 /\ -__disjvr_16^post48+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ y_19^0-y_19^post48 == 0 /\ head_27^0-head_27^post48 == 0 /\ -r_124^post48+r_124^0 == 0 /\ -r_163^post48+r_163^0 == 0 /\ head_223^0-head_223^post48 == 0 /\ __disjvr_32^0-__disjvr_32^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ __disjvr_27^0-__disjvr_27^post48 == 0 /\ -len_132^0 <= 0 /\ -temp0_15^post48+temp0_15^0 == 0 /\ -__disjvr_33^post48+__disjvr_33^0 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ -__disjvr_30^post48+__disjvr_30^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ __disjvr_40^0-__disjvr_40^post48 == 0 /\ len_132^0-len_132^post48 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ -__disjvr_3^post48+__disjvr_3^0 == 0 /\ a_308^0-a_308^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ -a_241^post48+a_241^0 == 0 /\ -__disjvr_36^post48+__disjvr_36^0 == 0 /\ f_170^0-f_170^post48 == 0 /\ -f_263^post48+f_263^0 == 0 /\ -a_116^post48+a_116^0 == 0 /\ __disjvr_17^0-__disjvr_17^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ -len_226^post48+len_226^0 == 0 /\ -__disjvr_35^post48+__disjvr_35^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ len_276^0-len_276^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -i_167^post48+i_167^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ __disjvr_34^0-__disjvr_34^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_43^post48+__disjvr_43^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -a_210^post48+a_210^0 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -len_183^post48+len_183^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ -head_268^post48+head_268^0 == 0 /\ -a_147^post48+a_147^0 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ __disjvr_41^0-__disjvr_41^post48 == 0 /\ a_353^0-a_353^post48 == 0 /\ a_330^0-a_330^post48 == 0 /\ __disjvr_38^0-__disjvr_38^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ __disjvr_7^0-__disjvr_7^post48 == 0 /\ rcd_88^0-rcd_88^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ x_20^0-x_20^post48 == 0 /\ __disjvr_39^0-__disjvr_39^post48 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_31^0-__disjvr_31^post48 == 0 /\ i_30^0-i_30^post48 == 0 /\ __disjvr_37^0-__disjvr_37^post48 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ length_29^0-length_29^post48 == 0 /\ -__disjvr_11^post48+__disjvr_11^0 == 0 /\ -__disjvr_0^post48+__disjvr_0^0 == 0 /\ i_108^0-i_108^post48 == 0 /\ -__disjvr_24^post48+__disjvr_24^0 == 0 /\ -head_129^post48+head_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ ct_17^0-ct_17^post48 == 0 /\ -head_175^post48+head_175^0 == 0 /\ -__disjvr_42^post48+__disjvr_42^0 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0), cost: 1
  49: l48 -> l49 : i_108^0'=i_108^post49, __disjvr_7^0'=__disjvr_7^post49, __disjvr_13^0'=__disjvr_13^post49, f_170^0'=f_170^post49, length_29^0'=length_29^post49, __disjvr_25^0'=__disjvr_25^post49, a_330^0'=a_330^post49, __disjvr_20^0'=__disjvr_20^post49, len_183^0'=len_183^post49, __disjvr_37^0'=__disjvr_37^post49, __disjvr_32^0'=__disjvr_32^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, head_223^0'=head_223^post49, r_260^0'=r_260^post49, __disjvr_4^0'=__disjvr_4^post49, __disjvr_10^0'=__disjvr_10^post49, x_20^0'=x_20^post49, __disjvr_41^0'=__disjvr_41^post49, __disjvr_22^0'=__disjvr_22^post49, a_241^0'=a_241^post49, __disjvr_18^0'=__disjvr_18^post49, i_30^0'=i_30^post49, __disjvr_9^0'=__disjvr_9^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_58^0'=rcd_58^post49, head_129^0'=head_129^post49, r_124^0'=r_124^post49, __disjvr_27^0'=__disjvr_27^post49, ct_17^0'=ct_17^post49, temp_35^0'=temp_35^post49, __disjvr_39^0'=__disjvr_39^post49, __disjvr_34^0'=__disjvr_34^post49, t_23^0'=t_23^post49, head_27^0'=head_27^post49, __disjvr_15^0'=__disjvr_15^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, __disjvr_6^0'=__disjvr_6^post49, __disjvr_12^0'=__disjvr_12^post49, y_19^0'=y_19^post49, __disjvr_43^0'=__disjvr_43^post49, len_276^0'=len_276^post49, __disjvr_24^0'=__disjvr_24^post49, a_308^0'=a_308^post49, __disjvr_1^0'=__disjvr_1^post49, len_132^0'=len_132^post49, a_147^0'=a_147^post49, __disjvr_31^0'=__disjvr_31^post49, result_11^0'=result_11^post49, head_175^0'=head_175^post49, r_218^0'=r_218^post49, __disjvr_29^0'=__disjvr_29^post49, __disjvr_0^0'=__disjvr_0^post49, x_16^0'=x_16^post49, __disjvr_40^0'=__disjvr_40^post49, __disjvr_36^0'=__disjvr_36^post49, a_210^0'=a_210^post49, __disjvr_17^0'=__disjvr_17^post49, i_167^0'=i_167^post49, __disjvr_8^0'=__disjvr_8^post49, __disjvr_14^0'=__disjvr_14^post49, r_39^0'=r_39^post49, f_263^0'=f_263^post49, nondet_12^0'=nondet_12^post49, __disjvr_26^0'=__disjvr_26^post49, a_353^0'=a_353^post49, __disjvr_21^0'=__disjvr_21^post49, temp0_31^0'=temp0_31^post49, __disjvr_38^0'=__disjvr_38^post49, __disjvr_33^0'=__disjvr_33^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, head_268^0'=head_268^post49, head_32^0'=head_32^post49, __disjvr_5^0'=__disjvr_5^post49, __disjvr_11^0'=__disjvr_11^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, __disjvr_42^0'=__disjvr_42^post49, len_226^0'=len_226^post49, __disjvr_23^0'=__disjvr_23^post49, a_277^0'=a_277^post49, __disjvr_19^0'=__disjvr_19^post49, i_94^0'=i_94^post49, a_116^0'=a_116^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_88^0'=rcd_88^post49, head_14^0'=head_14^post49, r_163^0'=r_163^post49, __disjvr_28^0'=__disjvr_28^post49, tmp_34^0'=tmp_34^post49, __disjvr_3^0'=__disjvr_3^post49, __disjvr_35^0'=__disjvr_35^post49, temp0_15^0'=temp0_15^post49, a_184^0'=a_184^post49, __disjvr_16^0'=__disjvr_16^post49, (len_276^0-len_276^post49 == 0 /\ x_20^0-x_20^post49 == 0 /\ __disjvr_7^0-__disjvr_7^post49 == 0 /\ len_226^0-len_226^post49 == 0 /\ a_330^0-a_330^post49 == 0 /\ -a_184^post49+a_184^0 == 0 /\ head_129^0-head_129^post49 == 0 /\ -__disjvr_43^post49+__disjvr_43^0 == 0 /\ i_167^0-i_167^post49 == 0 /\ t_23^0-t_23^post49 == 0 /\ length_29^0-length_29^post49 == 0 /\ rcd_58^0-rcd_58^post49 == 0 /\ -__disjvr_21^post49+__disjvr_21^0 == 0 /\ i_108^0-i_108^post49 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -head_27^post49+head_27^0 == 0 /\ -__disjvr_30^post49+__disjvr_30^0 == 0 /\ -head_268^post49+head_268^0 == 0 /\ -rcd_88^post49+rcd_88^0 == 0 /\ -__disjvr_38^post49+__disjvr_38^0 == 0 /\ r_260^0-r_260^post49 == 0 /\ a_353^0-a_353^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ -head_14^post49+head_14^0 == 0 /\ f_170^0-f_170^post49 == 0 /\ head_223^0-head_223^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ -__disjvr_34^post49+__disjvr_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -r_218^post49+r_218^0 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ -a_277^post49+a_277^0 == 0 /\ head_32^0-head_32^post49 == 0 /\ -__disjvr_42^post49+__disjvr_42^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -x_16^post49+x_16^0 == 0 /\ -tmp_34^post49+tmp_34^0 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ len_183^0-len_183^post49 == 0 /\ __disjvr_2^0-__disjvr_2^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ i_30^0-i_30^post49 == 0 /\ -r_163^post49+r_163^0 == 0 /\ __disjvr_37^0-__disjvr_37^post49 == 0 /\ -__disjvr_29^post49+__disjvr_29^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ -a_308^post49+a_308^0 == 0 /\ -__disjvr_36^post49+__disjvr_36^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ r_124^0-r_124^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ -result_11^post49+result_11^0 == 0 /\ -__disjvr_8^post49+__disjvr_8^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ head_175^0-head_175^post49 == 0 /\ -__disjvr_39^post49+__disjvr_39^0 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -temp0_15^post49+temp0_15^0 == 0 /\ -__disjvr_41^post49+__disjvr_41^0 == 0 /\ __disjvr_33^0-__disjvr_33^post49 == 0 /\ __disjvr_32^0-__disjvr_32^post49 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ a_241^0-a_241^post49 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ f_263^0-f_263^post49 == 0 /\ -x_SLAM_f_18^post49+x_SLAM_f_18^0 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ a_147^0-a_147^post49 == 0 /\ -len_132^post49+len_132^0 == 0 /\ -a_116^post49+a_116^0 == 0 /\ -__disjvr_31^post49+__disjvr_31^0 == 0 /\ __disjvr_22^post49-__disjvr_22^0 == 0 /\ -__disjvr_11^post49+__disjvr_11^0 == 0 /\ -__disjvr_35^post49+__disjvr_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ __disjvr_12^0-__disjvr_12^post49 == 0 /\ -__disjvr_0^post49+__disjvr_0^0 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ __disjvr_40^0-__disjvr_40^post49 == 0), cost: 1
  50: l49 -> l50 : i_108^0'=i_108^post50, __disjvr_7^0'=__disjvr_7^post50, __disjvr_13^0'=__disjvr_13^post50, f_170^0'=f_170^post50, length_29^0'=length_29^post50, __disjvr_25^0'=__disjvr_25^post50, a_330^0'=a_330^post50, __disjvr_20^0'=__disjvr_20^post50, len_183^0'=len_183^post50, __disjvr_37^0'=__disjvr_37^post50, __disjvr_32^0'=__disjvr_32^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, head_223^0'=head_223^post50, r_260^0'=r_260^post50, __disjvr_4^0'=__disjvr_4^post50, __disjvr_10^0'=__disjvr_10^post50, x_20^0'=x_20^post50, __disjvr_41^0'=__disjvr_41^post50, __disjvr_22^0'=__disjvr_22^post50, a_241^0'=a_241^post50, __disjvr_18^0'=__disjvr_18^post50, i_30^0'=i_30^post50, __disjvr_9^0'=__disjvr_9^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_58^0'=rcd_58^post50, head_129^0'=head_129^post50, r_124^0'=r_124^post50, __disjvr_27^0'=__disjvr_27^post50, ct_17^0'=ct_17^post50, temp_35^0'=temp_35^post50, __disjvr_39^0'=__disjvr_39^post50, __disjvr_34^0'=__disjvr_34^post50, t_23^0'=t_23^post50, head_27^0'=head_27^post50, __disjvr_15^0'=__disjvr_15^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, __disjvr_6^0'=__disjvr_6^post50, __disjvr_12^0'=__disjvr_12^post50, y_19^0'=y_19^post50, __disjvr_43^0'=__disjvr_43^post50, len_276^0'=len_276^post50, __disjvr_24^0'=__disjvr_24^post50, a_308^0'=a_308^post50, __disjvr_1^0'=__disjvr_1^post50, len_132^0'=len_132^post50, a_147^0'=a_147^post50, __disjvr_31^0'=__disjvr_31^post50, result_11^0'=result_11^post50, head_175^0'=head_175^post50, r_218^0'=r_218^post50, __disjvr_29^0'=__disjvr_29^post50, __disjvr_0^0'=__disjvr_0^post50, x_16^0'=x_16^post50, __disjvr_40^0'=__disjvr_40^post50, __disjvr_36^0'=__disjvr_36^post50, a_210^0'=a_210^post50, __disjvr_17^0'=__disjvr_17^post50, i_167^0'=i_167^post50, __disjvr_8^0'=__disjvr_8^post50, __disjvr_14^0'=__disjvr_14^post50, r_39^0'=r_39^post50, f_263^0'=f_263^post50, nondet_12^0'=nondet_12^post50, __disjvr_26^0'=__disjvr_26^post50, a_353^0'=a_353^post50, __disjvr_21^0'=__disjvr_21^post50, temp0_31^0'=temp0_31^post50, __disjvr_38^0'=__disjvr_38^post50, __disjvr_33^0'=__disjvr_33^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, head_268^0'=head_268^post50, head_32^0'=head_32^post50, __disjvr_5^0'=__disjvr_5^post50, __disjvr_11^0'=__disjvr_11^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, __disjvr_42^0'=__disjvr_42^post50, len_226^0'=len_226^post50, __disjvr_23^0'=__disjvr_23^post50, a_277^0'=a_277^post50, __disjvr_19^0'=__disjvr_19^post50, i_94^0'=i_94^post50, a_116^0'=a_116^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_88^0'=rcd_88^post50, head_14^0'=head_14^post50, r_163^0'=r_163^post50, __disjvr_28^0'=__disjvr_28^post50, tmp_34^0'=tmp_34^post50, __disjvr_3^0'=__disjvr_3^post50, __disjvr_35^0'=__disjvr_35^post50, temp0_15^0'=temp0_15^post50, a_184^0'=a_184^post50, __disjvr_16^0'=__disjvr_16^post50, (0 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ r_260^0-r_260^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_40^post50+__disjvr_40^0 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ -a_184^post50+a_184^0 == 0 /\ head_129^0-head_129^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ i_108^0-i_108^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post50+x_SLAM_f_18^0 == 0 /\ rcd_58^0-rcd_58^post50 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -head_14^post50+head_14^0 == 0 /\ a_116^0-a_116^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ -__disjvr_21^post50+__disjvr_21^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ r_218^0-r_218^post50 == 0 /\ -head_27^post50+head_27^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ head_223^0-head_223^post50 == 0 /\ -__disjvr_42^post50+__disjvr_42^0 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ 1-len_226^0 <= 0 /\ -1+len_226^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ -a_277^post50+a_277^0 == 0 /\ -r_39^post50+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_31^post50+__disjvr_31^0 == 0 /\ len_276^0-len_276^post50 == 0 /\ __disjvr_27^0-__disjvr_27^post50 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ len_183^0-len_183^post50 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ -__disjvr_38^post50+__disjvr_38^0 == 0 /\ a_330^0-a_330^post50 == 0 /\ -__disjvr_34^post50+__disjvr_34^0 == 0 /\ a_241^0-a_210^post50 <= 0 /\ -r_163^post50+r_163^0 == 0 /\ -__disjvr_37^post50+__disjvr_37^0 == 0 /\ -head_268^post50+head_268^0 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ length_29^0-length_29^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ -i_167^post50+i_167^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -rcd_88^post50+rcd_88^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ __disjvr_12^0-__disjvr_12^post50 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ x_16^0-x_16^post50 == 0 /\ -__disjvr_14^post50+__disjvr_14^0 == 0 /\ -__disjvr_33^post50+__disjvr_33^0 == 0 /\ -ct_17^post50+ct_17^0 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -a_308^post50+a_308^0 == 0 /\ -__disjvr_36^post50+__disjvr_36^0 == 0 /\ head_175^0-head_175^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ a_241^0-a_241^post50 == 0 /\ __disjvr_43^0-__disjvr_43^post50 == 0 /\ -a_353^post50+a_353^0 == 0 /\ x_20^0-x_20^post50 == 0 /\ -a_241^0+a_210^post50 <= 0 /\ y_19^0-y_19^post50 == 0 /\ a_147^0-a_147^post50 == 0 /\ len_132^0-len_132^post50 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ f_170^0-f_170^post50 == 0 /\ -temp0_15^post50+temp0_15^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ -__disjvr_39^post50+__disjvr_39^0 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -f_263^post50+f_263^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ -__disjvr_41^post50+__disjvr_41^0 == 0 /\ -len_226^post50+len_226^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_124^0-r_124^post50 == 0 /\ -__disjvr_35^post50+__disjvr_35^0 == 0), cost: 1
  51: l50 -> l51 : i_108^0'=i_108^post51, __disjvr_7^0'=__disjvr_7^post51, __disjvr_13^0'=__disjvr_13^post51, f_170^0'=f_170^post51, length_29^0'=length_29^post51, __disjvr_25^0'=__disjvr_25^post51, a_330^0'=a_330^post51, __disjvr_20^0'=__disjvr_20^post51, len_183^0'=len_183^post51, __disjvr_37^0'=__disjvr_37^post51, __disjvr_32^0'=__disjvr_32^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, head_223^0'=head_223^post51, r_260^0'=r_260^post51, __disjvr_4^0'=__disjvr_4^post51, __disjvr_10^0'=__disjvr_10^post51, x_20^0'=x_20^post51, __disjvr_41^0'=__disjvr_41^post51, __disjvr_22^0'=__disjvr_22^post51, a_241^0'=a_241^post51, __disjvr_18^0'=__disjvr_18^post51, i_30^0'=i_30^post51, __disjvr_9^0'=__disjvr_9^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_58^0'=rcd_58^post51, head_129^0'=head_129^post51, r_124^0'=r_124^post51, __disjvr_27^0'=__disjvr_27^post51, ct_17^0'=ct_17^post51, temp_35^0'=temp_35^post51, __disjvr_39^0'=__disjvr_39^post51, __disjvr_34^0'=__disjvr_34^post51, t_23^0'=t_23^post51, head_27^0'=head_27^post51, __disjvr_15^0'=__disjvr_15^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, __disjvr_6^0'=__disjvr_6^post51, __disjvr_12^0'=__disjvr_12^post51, y_19^0'=y_19^post51, __disjvr_43^0'=__disjvr_43^post51, len_276^0'=len_276^post51, __disjvr_24^0'=__disjvr_24^post51, a_308^0'=a_308^post51, __disjvr_1^0'=__disjvr_1^post51, len_132^0'=len_132^post51, a_147^0'=a_147^post51, __disjvr_31^0'=__disjvr_31^post51, result_11^0'=result_11^post51, head_175^0'=head_175^post51, r_218^0'=r_218^post51, __disjvr_29^0'=__disjvr_29^post51, __disjvr_0^0'=__disjvr_0^post51, x_16^0'=x_16^post51, __disjvr_40^0'=__disjvr_40^post51, __disjvr_36^0'=__disjvr_36^post51, a_210^0'=a_210^post51, __disjvr_17^0'=__disjvr_17^post51, i_167^0'=i_167^post51, __disjvr_8^0'=__disjvr_8^post51, __disjvr_14^0'=__disjvr_14^post51, r_39^0'=r_39^post51, f_263^0'=f_263^post51, nondet_12^0'=nondet_12^post51, __disjvr_26^0'=__disjvr_26^post51, a_353^0'=a_353^post51, __disjvr_21^0'=__disjvr_21^post51, temp0_31^0'=temp0_31^post51, __disjvr_38^0'=__disjvr_38^post51, __disjvr_33^0'=__disjvr_33^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, head_268^0'=head_268^post51, head_32^0'=head_32^post51, __disjvr_5^0'=__disjvr_5^post51, __disjvr_11^0'=__disjvr_11^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, __disjvr_42^0'=__disjvr_42^post51, len_226^0'=len_226^post51, __disjvr_23^0'=__disjvr_23^post51, a_277^0'=a_277^post51, __disjvr_19^0'=__disjvr_19^post51, i_94^0'=i_94^post51, a_116^0'=a_116^post51, __disjvr_30^0'=__disjvr_30^post51, rcd_88^0'=rcd_88^post51, head_14^0'=head_14^post51, r_163^0'=r_163^post51, __disjvr_28^0'=__disjvr_28^post51, tmp_34^0'=tmp_34^post51, __disjvr_3^0'=__disjvr_3^post51, __disjvr_35^0'=__disjvr_35^post51, temp0_15^0'=temp0_15^post51, a_184^0'=a_184^post51, __disjvr_16^0'=__disjvr_16^post51, (-i_30^post51+i_30^0 == 0 /\ a_210^0-a_210^post51 == 0 /\ len_183^0-len_183^post51 == 0 /\ __disjvr_23^0-__disjvr_23^post51 == 0 /\ -head_32^post51+head_32^0 == 0 /\ i_94^0-i_94^post51 == 0 /\ -a_116^post51+a_116^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ __disjvr_36^0-__disjvr_36^post51 == 0 /\ __disjvr_34^0-__disjvr_34^post51 == 0 /\ __disjvr_39^0-__disjvr_39^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ -__disjvr_42^post51+__disjvr_42^0 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ -__disjvr_21^post51+__disjvr_21^0 == 0 /\ -a_184^post51+a_184^0 == 0 /\ __disjvr_12^0-__disjvr_12^post51 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ -head_14^post51+head_14^0 == 0 /\ -__disjvr_40^post51+__disjvr_40^0 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ -x_SLAM_f_18^post51+x_SLAM_f_18^0 == 0 /\ a_147^0-a_147^post51 == 0 /\ -len_276^post51+len_276^0 == 0 /\ __disjvr_43^0-__disjvr_43^post51 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ x_20^0-x_20^post51 == 0 /\ -__disjvr_23^0+__disjvr_23^post51 == 0 /\ -__disjvr_11^post51+__disjvr_11^0 == 0 /\ __disjvr_31^0-__disjvr_31^post51 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ __disjvr_32^0-__disjvr_32^post51 == 0 /\ head_27^0-head_27^post51 == 0 /\ -t_23^post51+t_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ ct_17^0-ct_17^post51 == 0 /\ r_124^0-r_124^post51 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ __disjvr_7^0-__disjvr_7^post51 == 0 /\ -__disjvr_3^post51+__disjvr_3^0 == 0 /\ -r_163^post51+r_163^0 == 0 /\ -r_39^post51+r_39^0 == 0 /\ -rcd_88^post51+rcd_88^0 == 0 /\ -head_223^post51+head_223^0 == 0 /\ -head_268^post51+head_268^0 == 0 /\ r_260^0-r_260^post51 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ a_241^0-a_241^post51 == 0 /\ -__disjvr_26^post51+__disjvr_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ -a_277^post51+a_277^0 == 0 /\ -len_226^post51+len_226^0 == 0 /\ -__disjvr_14^post51+__disjvr_14^0 == 0 /\ -rcd_58^post51+rcd_58^0 == 0 /\ __disjvr_1^0-__disjvr_1^post51 == 0 /\ a_330^0-a_330^post51 == 0 /\ -__disjvr_35^post51+__disjvr_35^0 == 0 /\ i_108^0-i_108^post51 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ -__disjvr_30^post51+__disjvr_30^0 == 0 /\ head_129^0-head_129^post51 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -__disjvr_38^post51+__disjvr_38^0 == 0 /\ -__disjvr_37^post51+__disjvr_37^0 == 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ length_29^0-length_29^post51 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ x_16^0-x_16^post51 == 0 /\ -i_167^post51+i_167^0 == 0 /\ -__disjvr_8^post51+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ a_308^0-a_308^post51 == 0 /\ -head_175^post51+head_175^0 == 0 /\ f_170^0-f_170^post51 == 0 /\ -__disjvr_16^post51+__disjvr_16^0 == 0 /\ -__disjvr_33^post51+__disjvr_33^0 == 0 /\ len_132^0-len_132^post51 == 0 /\ -f_263^post51+f_263^0 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ y_19^0-y_19^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ __disjvr_41^0-__disjvr_41^post51 == 0 /\ -temp0_15^post51+temp0_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post51 == 0 /\ -a_353^post51+a_353^0 == 0 /\ r_218^0-r_218^post51 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -__disjvr_29^post51+__disjvr_29^0 == 0), cost: 1
  52: l51 -> l4 : i_108^0'=i_108^post52, __disjvr_7^0'=__disjvr_7^post52, __disjvr_13^0'=__disjvr_13^post52, f_170^0'=f_170^post52, length_29^0'=length_29^post52, __disjvr_25^0'=__disjvr_25^post52, a_330^0'=a_330^post52, __disjvr_20^0'=__disjvr_20^post52, len_183^0'=len_183^post52, __disjvr_37^0'=__disjvr_37^post52, __disjvr_32^0'=__disjvr_32^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, head_223^0'=head_223^post52, r_260^0'=r_260^post52, __disjvr_4^0'=__disjvr_4^post52, __disjvr_10^0'=__disjvr_10^post52, x_20^0'=x_20^post52, __disjvr_41^0'=__disjvr_41^post52, __disjvr_22^0'=__disjvr_22^post52, a_241^0'=a_241^post52, __disjvr_18^0'=__disjvr_18^post52, i_30^0'=i_30^post52, __disjvr_9^0'=__disjvr_9^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_58^0'=rcd_58^post52, head_129^0'=head_129^post52, r_124^0'=r_124^post52, __disjvr_27^0'=__disjvr_27^post52, ct_17^0'=ct_17^post52, temp_35^0'=temp_35^post52, __disjvr_39^0'=__disjvr_39^post52, __disjvr_34^0'=__disjvr_34^post52, t_23^0'=t_23^post52, head_27^0'=head_27^post52, __disjvr_15^0'=__disjvr_15^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, __disjvr_6^0'=__disjvr_6^post52, __disjvr_12^0'=__disjvr_12^post52, y_19^0'=y_19^post52, __disjvr_43^0'=__disjvr_43^post52, len_276^0'=len_276^post52, __disjvr_24^0'=__disjvr_24^post52, a_308^0'=a_308^post52, __disjvr_1^0'=__disjvr_1^post52, len_132^0'=len_132^post52, a_147^0'=a_147^post52, __disjvr_31^0'=__disjvr_31^post52, result_11^0'=result_11^post52, head_175^0'=head_175^post52, r_218^0'=r_218^post52, __disjvr_29^0'=__disjvr_29^post52, __disjvr_0^0'=__disjvr_0^post52, x_16^0'=x_16^post52, __disjvr_40^0'=__disjvr_40^post52, __disjvr_36^0'=__disjvr_36^post52, a_210^0'=a_210^post52, __disjvr_17^0'=__disjvr_17^post52, i_167^0'=i_167^post52, __disjvr_8^0'=__disjvr_8^post52, __disjvr_14^0'=__disjvr_14^post52, r_39^0'=r_39^post52, f_263^0'=f_263^post52, nondet_12^0'=nondet_12^post52, __disjvr_26^0'=__disjvr_26^post52, a_353^0'=a_353^post52, __disjvr_21^0'=__disjvr_21^post52, temp0_31^0'=temp0_31^post52, __disjvr_38^0'=__disjvr_38^post52, __disjvr_33^0'=__disjvr_33^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, head_268^0'=head_268^post52, head_32^0'=head_32^post52, __disjvr_5^0'=__disjvr_5^post52, __disjvr_11^0'=__disjvr_11^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, __disjvr_42^0'=__disjvr_42^post52, len_226^0'=len_226^post52, __disjvr_23^0'=__disjvr_23^post52, a_277^0'=a_277^post52, __disjvr_19^0'=__disjvr_19^post52, i_94^0'=i_94^post52, a_116^0'=a_116^post52, __disjvr_30^0'=__disjvr_30^post52, rcd_88^0'=rcd_88^post52, head_14^0'=head_14^post52, r_163^0'=r_163^post52, __disjvr_28^0'=__disjvr_28^post52, tmp_34^0'=tmp_34^post52, __disjvr_3^0'=__disjvr_3^post52, __disjvr_35^0'=__disjvr_35^post52, temp0_15^0'=temp0_15^post52, a_184^0'=a_184^post52, __disjvr_16^0'=__disjvr_16^post52, (0 == 0 /\ -__disjvr_35^post52+__disjvr_35^0 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ -__disjvr_26^post52+__disjvr_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ __disjvr_27^0-__disjvr_27^post52 == 0 /\ -x_16^post52+x_16^0 == 0 /\ -len_226^post52+len_226^0 == 0 /\ __disjvr_39^0-__disjvr_39^post52 == 0 /\ f_170^0-f_170^post52 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ -rcd_88^post52+rcd_88^0 == 0 /\ y_19^0-y_19^post52 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ head_27^0-head_27^post52 == 0 /\ -i_94^post52+i_94^0 == 0 /\ head_268^0-head_268^post52 == 0 /\ t_23^0-t_23^post52 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ a_277^0-a_277^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ rcd_58^0-rcd_58^post52 == 0 /\ -i_167^post52+i_167^0 == 0 /\ ct_17^0-ct_17^post52 == 0 /\ 1-len_132^post52+a_210^0 <= 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ a_330^0-a_330^post52 == 0 /\ head_223^0-head_223^post52 == 0 /\ -result_11^post52+result_11^0 == 0 /\ -head_SLAM_f_26^post52+head_SLAM_f_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post52 == 0 /\ -head_129^post52+head_129^0 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ __disjvr_32^0-__disjvr_32^post52 == 0 /\ -nondet_12^post52+nondet_12^0 == 0 /\ -head_175^post52+head_175^0 == 0 /\ a_308^0-a_308^post52 == 0 /\ __disjvr_40^0-__disjvr_40^post52 == 0 /\ -r_124^post52+r_124^0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ __disjvr_41^0-__disjvr_41^post52 == 0 /\ -__disjvr_43^post52+__disjvr_43^0 == 0 /\ -temp0_15^post52+temp0_15^0 == 0 /\ -f_263^post52+f_263^0 == 0 /\ -__disjvr_19^post52+__disjvr_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post52+head_32^0 == 0 /\ -a_116^post52+a_116^0 == 0 /\ __disjvr_37^0-__disjvr_37^post52 == 0 /\ x_20^0-x_20^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ __disjvr_17^0-__disjvr_17^post52 == 0 /\ -r_163^post52+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post52+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_38^0-__disjvr_38^post52 == 0 /\ __disjvr_31^0-__disjvr_31^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -head_14^post52+head_14^0 == 0 /\ a_353^0-a_353^post52 == 0 /\ -a_210^post52+a_210^0 == 0 /\ -__disjvr_42^post52+__disjvr_42^0 == 0 /\ -a_184^post52+a_184^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ len_276^0-len_276^post52 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -1+len_132^post52-a_210^0 <= 0 /\ -x_SLAM_f_18^post52+x_SLAM_f_18^0 == 0 /\ len_183^0-len_183^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -__disjvr_33^post52+__disjvr_33^0 == 0 /\ -tmp_34^post52+tmp_34^0 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ r_260^0-r_260^post52 == 0 /\ -__disjvr_0^post52+__disjvr_0^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ __disjvr_34^0-__disjvr_34^post52 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ __disjvr_30^0-__disjvr_30^post52 == 0 /\ -__disjvr_23^post52+__disjvr_23^0 == 0 /\ i_108^0-i_108^post52 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ -r_218^post52+r_218^0 == 0 /\ length_29^0-length_29^post52 == 0 /\ -a_241^post52+a_241^0 == 0 /\ -a_147^post52+a_147^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ -__disjvr_36^post52+__disjvr_36^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -r_39^post52+r_39^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0), cost: 1
  54: l52 -> l53 : i_108^0'=i_108^post54, __disjvr_7^0'=__disjvr_7^post54, __disjvr_13^0'=__disjvr_13^post54, f_170^0'=f_170^post54, length_29^0'=length_29^post54, __disjvr_25^0'=__disjvr_25^post54, a_330^0'=a_330^post54, __disjvr_20^0'=__disjvr_20^post54, len_183^0'=len_183^post54, __disjvr_37^0'=__disjvr_37^post54, __disjvr_32^0'=__disjvr_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, head_223^0'=head_223^post54, r_260^0'=r_260^post54, __disjvr_4^0'=__disjvr_4^post54, __disjvr_10^0'=__disjvr_10^post54, x_20^0'=x_20^post54, __disjvr_41^0'=__disjvr_41^post54, __disjvr_22^0'=__disjvr_22^post54, a_241^0'=a_241^post54, __disjvr_18^0'=__disjvr_18^post54, i_30^0'=i_30^post54, __disjvr_9^0'=__disjvr_9^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_58^0'=rcd_58^post54, head_129^0'=head_129^post54, r_124^0'=r_124^post54, __disjvr_27^0'=__disjvr_27^post54, ct_17^0'=ct_17^post54, temp_35^0'=temp_35^post54, __disjvr_39^0'=__disjvr_39^post54, __disjvr_34^0'=__disjvr_34^post54, t_23^0'=t_23^post54, head_27^0'=head_27^post54, __disjvr_15^0'=__disjvr_15^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, __disjvr_6^0'=__disjvr_6^post54, __disjvr_12^0'=__disjvr_12^post54, y_19^0'=y_19^post54, __disjvr_43^0'=__disjvr_43^post54, len_276^0'=len_276^post54, __disjvr_24^0'=__disjvr_24^post54, a_308^0'=a_308^post54, __disjvr_1^0'=__disjvr_1^post54, len_132^0'=len_132^post54, a_147^0'=a_147^post54, __disjvr_31^0'=__disjvr_31^post54, result_11^0'=result_11^post54, head_175^0'=head_175^post54, r_218^0'=r_218^post54, __disjvr_29^0'=__disjvr_29^post54, __disjvr_0^0'=__disjvr_0^post54, x_16^0'=x_16^post54, __disjvr_40^0'=__disjvr_40^post54, __disjvr_36^0'=__disjvr_36^post54, a_210^0'=a_210^post54, __disjvr_17^0'=__disjvr_17^post54, i_167^0'=i_167^post54, __disjvr_8^0'=__disjvr_8^post54, __disjvr_14^0'=__disjvr_14^post54, r_39^0'=r_39^post54, f_263^0'=f_263^post54, nondet_12^0'=nondet_12^post54, __disjvr_26^0'=__disjvr_26^post54, a_353^0'=a_353^post54, __disjvr_21^0'=__disjvr_21^post54, temp0_31^0'=temp0_31^post54, __disjvr_38^0'=__disjvr_38^post54, __disjvr_33^0'=__disjvr_33^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, head_268^0'=head_268^post54, head_32^0'=head_32^post54, __disjvr_5^0'=__disjvr_5^post54, __disjvr_11^0'=__disjvr_11^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, __disjvr_42^0'=__disjvr_42^post54, len_226^0'=len_226^post54, __disjvr_23^0'=__disjvr_23^post54, a_277^0'=a_277^post54, __disjvr_19^0'=__disjvr_19^post54, i_94^0'=i_94^post54, a_116^0'=a_116^post54, __disjvr_30^0'=__disjvr_30^post54, rcd_88^0'=rcd_88^post54, head_14^0'=head_14^post54, r_163^0'=r_163^post54, __disjvr_28^0'=__disjvr_28^post54, tmp_34^0'=tmp_34^post54, __disjvr_3^0'=__disjvr_3^post54, __disjvr_35^0'=__disjvr_35^post54, temp0_15^0'=temp0_15^post54, a_184^0'=a_184^post54, __disjvr_16^0'=__disjvr_16^post54, (rcd_58^0-rcd_58^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ head_32^0-head_32^post54 == 0 /\ __disjvr_15^0-__disjvr_15^post54 == 0 /\ a_147^0-a_147^post54 == 0 /\ -__disjvr_42^post54+__disjvr_42^0 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ -__disjvr_19^post54+__disjvr_19^0 == 0 /\ -len_132^post54+len_132^0 == 0 /\ -__disjvr_3^post54+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post54 == 0 /\ -y_19^post54+y_19^0 == 0 /\ ct_17^0-ct_17^post54 == 0 /\ r_260^0-r_260^post54 == 0 /\ -a_277^post54+a_277^0 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0 /\ len_226^0-len_226^post54 == 0 /\ __disjvr_32^0-__disjvr_32^post54 == 0 /\ head_129^0-head_129^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -__disjvr_41^post54+__disjvr_41^0 == 0 /\ -__disjvr_0^post54+__disjvr_0^0 == 0 /\ __disjvr_2^0-__disjvr_2^post54 == 0 /\ a_241^0-a_241^post54 == 0 /\ __disjvr_43^0-__disjvr_43^post54 == 0 /\ i_108^0-i_108^post54 == 0 /\ -len_276^post54+len_276^0 == 0 /\ -__disjvr_34^post54+__disjvr_34^0 == 0 /\ a_330^0-a_330^post54 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post54 == 0 /\ __disjvr_27^0-__disjvr_27^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ -a_353^post54+a_353^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ -a_308^post54+a_308^0 == 0 /\ __disjvr_39^0-__disjvr_39^post54 == 0 /\ x_16^0-x_16^post54 == 0 /\ __disjvr_12^0-__disjvr_12^post54 == 0 /\ head_27^0-head_27^post54 == 0 /\ -__disjvr_23^post54+__disjvr_23^0 == 0 /\ -rcd_88^post54+rcd_88^0 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ len_183^0-len_183^post54 == 0 /\ r_218^0-r_218^post54 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ -temp0_15^post54+temp0_15^0 == 0 /\ __disjvr_37^0-__disjvr_37^post54 == 0 /\ f_170^0-f_170^post54 == 0 /\ head_223^0-head_223^post54 == 0 /\ r_124^0-r_124^post54 == 0 /\ -head_14^post54+head_14^0 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ -__disjvr_24^0+__disjvr_24^post54 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post54 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ x_20^0-x_20^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ __disjvr_1^0-__disjvr_1^post54 == 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ i_167^0-i_167^post54 == 0 /\ head_175^0-head_175^post54 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ -__disjvr_9^post54+__disjvr_9^0 == 0 /\ r_39^0-r_39^post54 == 0 /\ -a_116^post54+a_116^0 == 0 /\ -__disjvr_40^post54+__disjvr_40^0 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ -r_163^post54+r_163^0 == 0 /\ -__disjvr_35^post54+__disjvr_35^0 == 0 /\ -__disjvr_21^post54+__disjvr_21^0 == 0 /\ -a_210^post54+a_210^0 == 0 /\ -a_184^post54+a_184^0 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0 /\ -__disjvr_38^post54+__disjvr_38^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ -__disjvr_11^post54+__disjvr_11^0 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -__disjvr_31^post54+__disjvr_31^0 == 0 /\ -i_94^post54+i_94^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ -head_268^post54+head_268^0 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ -__disjvr_33^post54+__disjvr_33^0 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ -__disjvr_36^post54+__disjvr_36^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ -__disjvr_29^post54+__disjvr_29^0 == 0 /\ f_263^0-f_263^post54 == 0 /\ length_29^0-length_29^post54 == 0), cost: 1
  55: l53 -> l54 : i_108^0'=i_108^post55, __disjvr_7^0'=__disjvr_7^post55, __disjvr_13^0'=__disjvr_13^post55, f_170^0'=f_170^post55, length_29^0'=length_29^post55, __disjvr_25^0'=__disjvr_25^post55, a_330^0'=a_330^post55, __disjvr_20^0'=__disjvr_20^post55, len_183^0'=len_183^post55, __disjvr_37^0'=__disjvr_37^post55, __disjvr_32^0'=__disjvr_32^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, head_223^0'=head_223^post55, r_260^0'=r_260^post55, __disjvr_4^0'=__disjvr_4^post55, __disjvr_10^0'=__disjvr_10^post55, x_20^0'=x_20^post55, __disjvr_41^0'=__disjvr_41^post55, __disjvr_22^0'=__disjvr_22^post55, a_241^0'=a_241^post55, __disjvr_18^0'=__disjvr_18^post55, i_30^0'=i_30^post55, __disjvr_9^0'=__disjvr_9^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_58^0'=rcd_58^post55, head_129^0'=head_129^post55, r_124^0'=r_124^post55, __disjvr_27^0'=__disjvr_27^post55, ct_17^0'=ct_17^post55, temp_35^0'=temp_35^post55, __disjvr_39^0'=__disjvr_39^post55, __disjvr_34^0'=__disjvr_34^post55, t_23^0'=t_23^post55, head_27^0'=head_27^post55, __disjvr_15^0'=__disjvr_15^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, __disjvr_6^0'=__disjvr_6^post55, __disjvr_12^0'=__disjvr_12^post55, y_19^0'=y_19^post55, __disjvr_43^0'=__disjvr_43^post55, len_276^0'=len_276^post55, __disjvr_24^0'=__disjvr_24^post55, a_308^0'=a_308^post55, __disjvr_1^0'=__disjvr_1^post55, len_132^0'=len_132^post55, a_147^0'=a_147^post55, __disjvr_31^0'=__disjvr_31^post55, result_11^0'=result_11^post55, head_175^0'=head_175^post55, r_218^0'=r_218^post55, __disjvr_29^0'=__disjvr_29^post55, __disjvr_0^0'=__disjvr_0^post55, x_16^0'=x_16^post55, __disjvr_40^0'=__disjvr_40^post55, __disjvr_36^0'=__disjvr_36^post55, a_210^0'=a_210^post55, __disjvr_17^0'=__disjvr_17^post55, i_167^0'=i_167^post55, __disjvr_8^0'=__disjvr_8^post55, __disjvr_14^0'=__disjvr_14^post55, r_39^0'=r_39^post55, f_263^0'=f_263^post55, nondet_12^0'=nondet_12^post55, __disjvr_26^0'=__disjvr_26^post55, a_353^0'=a_353^post55, __disjvr_21^0'=__disjvr_21^post55, temp0_31^0'=temp0_31^post55, __disjvr_38^0'=__disjvr_38^post55, __disjvr_33^0'=__disjvr_33^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, head_268^0'=head_268^post55, head_32^0'=head_32^post55, __disjvr_5^0'=__disjvr_5^post55, __disjvr_11^0'=__disjvr_11^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, __disjvr_42^0'=__disjvr_42^post55, len_226^0'=len_226^post55, __disjvr_23^0'=__disjvr_23^post55, a_277^0'=a_277^post55, __disjvr_19^0'=__disjvr_19^post55, i_94^0'=i_94^post55, a_116^0'=a_116^post55, __disjvr_30^0'=__disjvr_30^post55, rcd_88^0'=rcd_88^post55, head_14^0'=head_14^post55, r_163^0'=r_163^post55, __disjvr_28^0'=__disjvr_28^post55, tmp_34^0'=tmp_34^post55, __disjvr_3^0'=__disjvr_3^post55, __disjvr_35^0'=__disjvr_35^post55, temp0_15^0'=temp0_15^post55, a_184^0'=a_184^post55, __disjvr_16^0'=__disjvr_16^post55, (-nondet_12^post55+nondet_12^0 == 0 /\ -__disjvr_19^post55+__disjvr_19^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_3^post55+__disjvr_3^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ __disjvr_34^0-__disjvr_34^post55 == 0 /\ __disjvr_6^0-__disjvr_6^post55 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ a_330^0-a_330^post55 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ -x_16^post55+x_16^0 == 0 /\ -r_39^post55+r_39^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ -x_20^post55+x_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post55 == 0 /\ len_183^0-len_183^post55 == 0 /\ -len_226^post55+len_226^0 == 0 /\ length_29^0-length_29^post55 == 0 /\ a_308^0-a_308^post55 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ __disjvr_31^0-__disjvr_31^post55 == 0 /\ -a_184^post55+a_184^0 == 0 /\ -a_116^post55+a_116^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ __disjvr_25^0-__disjvr_25^post55 == 0 /\ __disjvr_37^0-__disjvr_37^post55 == 0 /\ __disjvr_17^0-__disjvr_17^post55 == 0 /\ -__disjvr_40^post55+__disjvr_40^0 == 0 /\ -r_163^post55+r_163^0 == 0 /\ __disjvr_42^0-__disjvr_42^post55 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0 /\ head_268^0-head_268^post55 == 0 /\ -__disjvr_33^post55+__disjvr_33^0 == 0 /\ -x_SLAM_f_18^post55+x_SLAM_f_18^0 == 0 /\ head_129^0-head_129^post55 == 0 /\ -len_276^post55+len_276^0 == 0 /\ -rcd_88^post55+rcd_88^0 == 0 /\ -t_23^post55+t_23^0 == 0 /\ -__disjvr_14^post55+__disjvr_14^0 == 0 /\ -rcd_58^post55+rcd_58^0 == 0 /\ __disjvr_18^0-__disjvr_18^post55 == 0 /\ __disjvr_2^0-__disjvr_2^post55 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ i_108^0-i_108^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -a_147^post55+a_147^0 == 0 /\ -__disjvr_30^post55+__disjvr_30^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post55 == 0 /\ r_260^0-r_260^post55 == 0 /\ __disjvr_36^0-__disjvr_36^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ -head_175^post55+head_175^0 == 0 /\ __disjvr_38^0-__disjvr_38^post55 == 0 /\ i_30^0-i_30^post55 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ -a_277^post55+a_277^0 == 0 /\ -f_263^post55+f_263^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post55+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_24^post55+__disjvr_24^0 == 0 /\ -__disjvr_35^post55+__disjvr_35^0 == 0 /\ head_223^0-head_223^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ tmp_34^0-tmp_34^post55 == 0 /\ -i_167^post55+i_167^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ __disjvr_41^0-__disjvr_41^post55 == 0 /\ -r_218^post55+r_218^0 == 0 /\ -__disjvr_16^post55+__disjvr_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ -__disjvr_32^post55+__disjvr_32^0 == 0 /\ __disjvr_43^0-__disjvr_43^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ -head_32^post55+head_32^0 == 0 /\ __disjvr_39^0-__disjvr_39^post55 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -a_353^post55+a_353^0 == 0 /\ head_27^0-head_27^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -head_14^post55+head_14^0 == 0 /\ -r_124^post55+r_124^0 == 0 /\ -__disjvr_21^post55+__disjvr_21^0 == 0 /\ a_241^0-a_241^post55 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post55 == 0 /\ len_132^0-len_132^post55 == 0 /\ f_170^0-f_170^post55 == 0), cost: 1
  56: l54 -> l55 : i_108^0'=i_108^post56, __disjvr_7^0'=__disjvr_7^post56, __disjvr_13^0'=__disjvr_13^post56, f_170^0'=f_170^post56, length_29^0'=length_29^post56, __disjvr_25^0'=__disjvr_25^post56, a_330^0'=a_330^post56, __disjvr_20^0'=__disjvr_20^post56, len_183^0'=len_183^post56, __disjvr_37^0'=__disjvr_37^post56, __disjvr_32^0'=__disjvr_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, head_223^0'=head_223^post56, r_260^0'=r_260^post56, __disjvr_4^0'=__disjvr_4^post56, __disjvr_10^0'=__disjvr_10^post56, x_20^0'=x_20^post56, __disjvr_41^0'=__disjvr_41^post56, __disjvr_22^0'=__disjvr_22^post56, a_241^0'=a_241^post56, __disjvr_18^0'=__disjvr_18^post56, i_30^0'=i_30^post56, __disjvr_9^0'=__disjvr_9^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_58^0'=rcd_58^post56, head_129^0'=head_129^post56, r_124^0'=r_124^post56, __disjvr_27^0'=__disjvr_27^post56, ct_17^0'=ct_17^post56, temp_35^0'=temp_35^post56, __disjvr_39^0'=__disjvr_39^post56, __disjvr_34^0'=__disjvr_34^post56, t_23^0'=t_23^post56, head_27^0'=head_27^post56, __disjvr_15^0'=__disjvr_15^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, __disjvr_6^0'=__disjvr_6^post56, __disjvr_12^0'=__disjvr_12^post56, y_19^0'=y_19^post56, __disjvr_43^0'=__disjvr_43^post56, len_276^0'=len_276^post56, __disjvr_24^0'=__disjvr_24^post56, a_308^0'=a_308^post56, __disjvr_1^0'=__disjvr_1^post56, len_132^0'=len_132^post56, a_147^0'=a_147^post56, __disjvr_31^0'=__disjvr_31^post56, result_11^0'=result_11^post56, head_175^0'=head_175^post56, r_218^0'=r_218^post56, __disjvr_29^0'=__disjvr_29^post56, __disjvr_0^0'=__disjvr_0^post56, x_16^0'=x_16^post56, __disjvr_40^0'=__disjvr_40^post56, __disjvr_36^0'=__disjvr_36^post56, a_210^0'=a_210^post56, __disjvr_17^0'=__disjvr_17^post56, i_167^0'=i_167^post56, __disjvr_8^0'=__disjvr_8^post56, __disjvr_14^0'=__disjvr_14^post56, r_39^0'=r_39^post56, f_263^0'=f_263^post56, nondet_12^0'=nondet_12^post56, __disjvr_26^0'=__disjvr_26^post56, a_353^0'=a_353^post56, __disjvr_21^0'=__disjvr_21^post56, temp0_31^0'=temp0_31^post56, __disjvr_38^0'=__disjvr_38^post56, __disjvr_33^0'=__disjvr_33^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, head_268^0'=head_268^post56, head_32^0'=head_32^post56, __disjvr_5^0'=__disjvr_5^post56, __disjvr_11^0'=__disjvr_11^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, __disjvr_42^0'=__disjvr_42^post56, len_226^0'=len_226^post56, __disjvr_23^0'=__disjvr_23^post56, a_277^0'=a_277^post56, __disjvr_19^0'=__disjvr_19^post56, i_94^0'=i_94^post56, a_116^0'=a_116^post56, __disjvr_30^0'=__disjvr_30^post56, rcd_88^0'=rcd_88^post56, head_14^0'=head_14^post56, r_163^0'=r_163^post56, __disjvr_28^0'=__disjvr_28^post56, tmp_34^0'=tmp_34^post56, __disjvr_3^0'=__disjvr_3^post56, __disjvr_35^0'=__disjvr_35^post56, temp0_15^0'=temp0_15^post56, a_184^0'=a_184^post56, __disjvr_16^0'=__disjvr_16^post56, (__disjvr_40^0-__disjvr_40^post56 == 0 /\ __disjvr_41^0-__disjvr_41^post56 == 0 /\ __disjvr_2^0-__disjvr_2^post56 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -__disjvr_36^post56+__disjvr_36^0 == 0 /\ head_268^0-head_268^post56 == 0 /\ rcd_58^0-rcd_58^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -temp0_15^post56+temp0_15^0 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -head_175^post56+head_175^0 == 0 /\ head_223^0-head_223^post56 == 0 /\ __disjvr_25^0-__disjvr_25^post56 == 0 /\ -a_241^post56+a_241^0 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ __disjvr_39^0-__disjvr_39^post56 == 0 /\ i_108^0-i_108^post56 == 0 /\ head_129^0-head_129^post56 == 0 /\ head_27^0-head_27^post56 == 0 /\ __disjvr_32^0-__disjvr_32^post56 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ -a_277^post56+a_277^0 == 0 /\ t_23^0-t_23^post56 == 0 /\ -head_32^post56+head_32^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ a_308^0-a_308^post56 == 0 /\ -head_14^post56+head_14^0 == 0 /\ -r_124^post56+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -a_184^post56+a_184^0 == 0 /\ -__disjvr_43^post56+__disjvr_43^0 == 0 /\ -__disjvr_25^0+__disjvr_25^post56 == 0 /\ len_132^0-len_132^post56 == 0 /\ -i_167^post56+i_167^0 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post56 == 0 /\ -i_94^post56+i_94^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ __disjvr_34^0-__disjvr_34^post56 == 0 /\ y_19^0-y_19^post56 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post56 == 0 /\ length_29^0-length_29^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -head_SLAM_f_26^post56+head_SLAM_f_26^0 == 0 /\ ct_17^0-ct_17^post56 == 0 /\ -__disjvr_42^post56+__disjvr_42^0 == 0 /\ __disjvr_17^0-__disjvr_17^post56 == 0 /\ a_353^0-a_353^post56 == 0 /\ len_183^0-len_183^post56 == 0 /\ -a_147^post56+a_147^0 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ len_276^0-len_276^post56 == 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ -__disjvr_3^post56+__disjvr_3^0 == 0 /\ f_170^0-f_170^post56 == 0 /\ a_330^0-a_330^post56 == 0 /\ -__disjvr_20^post56+__disjvr_20^0 == 0 /\ -r_218^post56+r_218^0 == 0 /\ __disjvr_7^0-__disjvr_7^post56 == 0 /\ -__disjvr_19^post56+__disjvr_19^0 == 0 /\ __disjvr_37^0-__disjvr_37^post56 == 0 /\ -f_263^post56+f_263^0 == 0 /\ -r_39^post56+r_39^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -r_163^post56+r_163^0 == 0 /\ -__disjvr_35^post56+__disjvr_35^0 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ -len_226^post56+len_226^0 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post56+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post56+a_116^0 == 0 /\ -a_210^post56+a_210^0 == 0 /\ __disjvr_18^0-__disjvr_18^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ rcd_88^0-rcd_88^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ __disjvr_31^0-__disjvr_31^post56 == 0 /\ __disjvr_38^0-__disjvr_38^post56 == 0 /\ -r_260^post56+r_260^0 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ __disjvr_30^0-__disjvr_30^post56 == 0 /\ -__disjvr_33^post56+__disjvr_33^0 == 0 /\ i_30^0-i_30^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0), cost: 1
  57: l55 -> l56 : i_108^0'=i_108^post57, __disjvr_7^0'=__disjvr_7^post57, __disjvr_13^0'=__disjvr_13^post57, f_170^0'=f_170^post57, length_29^0'=length_29^post57, __disjvr_25^0'=__disjvr_25^post57, a_330^0'=a_330^post57, __disjvr_20^0'=__disjvr_20^post57, len_183^0'=len_183^post57, __disjvr_37^0'=__disjvr_37^post57, __disjvr_32^0'=__disjvr_32^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, head_223^0'=head_223^post57, r_260^0'=r_260^post57, __disjvr_4^0'=__disjvr_4^post57, __disjvr_10^0'=__disjvr_10^post57, x_20^0'=x_20^post57, __disjvr_41^0'=__disjvr_41^post57, __disjvr_22^0'=__disjvr_22^post57, a_241^0'=a_241^post57, __disjvr_18^0'=__disjvr_18^post57, i_30^0'=i_30^post57, __disjvr_9^0'=__disjvr_9^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_58^0'=rcd_58^post57, head_129^0'=head_129^post57, r_124^0'=r_124^post57, __disjvr_27^0'=__disjvr_27^post57, ct_17^0'=ct_17^post57, temp_35^0'=temp_35^post57, __disjvr_39^0'=__disjvr_39^post57, __disjvr_34^0'=__disjvr_34^post57, t_23^0'=t_23^post57, head_27^0'=head_27^post57, __disjvr_15^0'=__disjvr_15^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, __disjvr_6^0'=__disjvr_6^post57, __disjvr_12^0'=__disjvr_12^post57, y_19^0'=y_19^post57, __disjvr_43^0'=__disjvr_43^post57, len_276^0'=len_276^post57, __disjvr_24^0'=__disjvr_24^post57, a_308^0'=a_308^post57, __disjvr_1^0'=__disjvr_1^post57, len_132^0'=len_132^post57, a_147^0'=a_147^post57, __disjvr_31^0'=__disjvr_31^post57, result_11^0'=result_11^post57, head_175^0'=head_175^post57, r_218^0'=r_218^post57, __disjvr_29^0'=__disjvr_29^post57, __disjvr_0^0'=__disjvr_0^post57, x_16^0'=x_16^post57, __disjvr_40^0'=__disjvr_40^post57, __disjvr_36^0'=__disjvr_36^post57, a_210^0'=a_210^post57, __disjvr_17^0'=__disjvr_17^post57, i_167^0'=i_167^post57, __disjvr_8^0'=__disjvr_8^post57, __disjvr_14^0'=__disjvr_14^post57, r_39^0'=r_39^post57, f_263^0'=f_263^post57, nondet_12^0'=nondet_12^post57, __disjvr_26^0'=__disjvr_26^post57, a_353^0'=a_353^post57, __disjvr_21^0'=__disjvr_21^post57, temp0_31^0'=temp0_31^post57, __disjvr_38^0'=__disjvr_38^post57, __disjvr_33^0'=__disjvr_33^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, head_268^0'=head_268^post57, head_32^0'=head_32^post57, __disjvr_5^0'=__disjvr_5^post57, __disjvr_11^0'=__disjvr_11^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, __disjvr_42^0'=__disjvr_42^post57, len_226^0'=len_226^post57, __disjvr_23^0'=__disjvr_23^post57, a_277^0'=a_277^post57, __disjvr_19^0'=__disjvr_19^post57, i_94^0'=i_94^post57, a_116^0'=a_116^post57, __disjvr_30^0'=__disjvr_30^post57, rcd_88^0'=rcd_88^post57, head_14^0'=head_14^post57, r_163^0'=r_163^post57, __disjvr_28^0'=__disjvr_28^post57, tmp_34^0'=tmp_34^post57, __disjvr_3^0'=__disjvr_3^post57, __disjvr_35^0'=__disjvr_35^post57, temp0_15^0'=temp0_15^post57, a_184^0'=a_184^post57, __disjvr_16^0'=__disjvr_16^post57, (-a_353^post57+a_353^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ __disjvr_15^0-__disjvr_15^post57 == 0 /\ __disjvr_1^0-__disjvr_1^post57 == 0 /\ -f_263^post57+f_263^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ -__disjvr_21^post57+__disjvr_21^0 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -__disjvr_0^post57+__disjvr_0^0 == 0 /\ -__disjvr_6^post57+__disjvr_6^0 == 0 /\ f_170^0-f_170^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ head_129^0-head_129^post57 == 0 /\ -r_218^post57+r_218^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ i_167^0-i_167^post57 == 0 /\ -__disjvr_41^post57+__disjvr_41^0 == 0 /\ __disjvr_34^0-__disjvr_34^post57 == 0 /\ -head_32^post57+head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -len_132^post57+len_132^0 == 0 /\ rcd_58^0-rcd_58^post57 == 0 /\ __disjvr_2^0-__disjvr_2^post57 == 0 /\ __disjvr_40^0-__disjvr_40^post57 == 0 /\ -head_268^post57+head_268^0 == 0 /\ -r_163^post57+r_163^0 == 0 /\ __disjvr_27^0-__disjvr_27^post57 == 0 /\ __disjvr_7^0-__disjvr_7^post57 == 0 /\ len_183^0-len_183^post57 == 0 /\ -len_226^post57+len_226^0 == 0 /\ -head_14^post57+head_14^0 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ len_276^0-len_276^post57 == 0 /\ -tmp_34^post57+tmp_34^0 == 0 /\ head_223^0-head_223^post57 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -head_27^post57+head_27^0 == 0 /\ r_260^0-r_260^post57 == 0 /\ -rcd_88^post57+rcd_88^0 == 0 /\ a_330^0-a_330^post57 == 0 /\ i_30^0-i_30^post57 == 0 /\ x_20^0-x_20^post57 == 0 /\ __disjvr_37^0-__disjvr_37^post57 == 0 /\ i_108^0-i_108^post57 == 0 /\ -__disjvr_16^post57+__disjvr_16^0 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ -r_39^post57+r_39^0 == 0 /\ -temp0_15^post57+temp0_15^0 == 0 /\ -__disjvr_36^post57+__disjvr_36^0 == 0 /\ -i_94^post57+i_94^0 == 0 /\ __disjvr_32^0-__disjvr_32^post57 == 0 /\ -a_308^post57+a_308^0 == 0 /\ -__disjvr_42^post57+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ __disjvr_33^0-__disjvr_33^post57 == 0 /\ -__disjvr_39^post57+__disjvr_39^0 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_31^post57+__disjvr_31^0 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ a_241^0-a_241^post57 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -__disjvr_19^post57+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ -x_16^post57+x_16^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ -__disjvr_9^post57+__disjvr_9^0 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ -x_SLAM_f_18^post57+x_SLAM_f_18^0 == 0 /\ __disjvr_43^0-__disjvr_43^post57 == 0 /\ -a_184^post57+a_184^0 == 0 /\ -__disjvr_29^post57+__disjvr_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post57+a_277^0 == 0 /\ -a_116^post57+a_116^0 == 0 /\ head_175^0-head_175^post57 == 0 /\ __disjvr_26^post57-__disjvr_26^0 == 0 /\ -a_210^post57+a_210^0 == 0 /\ -__disjvr_8^post57+__disjvr_8^0 == 0 /\ -__disjvr_35^post57+__disjvr_35^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ r_124^0-r_124^post57 == 0 /\ a_147^0-a_147^post57 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ temp_35^0-temp_35^post57 == 0 /\ -__disjvr_38^post57+__disjvr_38^0 == 0), cost: 1
  58: l56 -> l36 : i_108^0'=i_108^post58, __disjvr_7^0'=__disjvr_7^post58, __disjvr_13^0'=__disjvr_13^post58, f_170^0'=f_170^post58, length_29^0'=length_29^post58, __disjvr_25^0'=__disjvr_25^post58, a_330^0'=a_330^post58, __disjvr_20^0'=__disjvr_20^post58, len_183^0'=len_183^post58, __disjvr_37^0'=__disjvr_37^post58, __disjvr_32^0'=__disjvr_32^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, head_223^0'=head_223^post58, r_260^0'=r_260^post58, __disjvr_4^0'=__disjvr_4^post58, __disjvr_10^0'=__disjvr_10^post58, x_20^0'=x_20^post58, __disjvr_41^0'=__disjvr_41^post58, __disjvr_22^0'=__disjvr_22^post58, a_241^0'=a_241^post58, __disjvr_18^0'=__disjvr_18^post58, i_30^0'=i_30^post58, __disjvr_9^0'=__disjvr_9^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_58^0'=rcd_58^post58, head_129^0'=head_129^post58, r_124^0'=r_124^post58, __disjvr_27^0'=__disjvr_27^post58, ct_17^0'=ct_17^post58, temp_35^0'=temp_35^post58, __disjvr_39^0'=__disjvr_39^post58, __disjvr_34^0'=__disjvr_34^post58, t_23^0'=t_23^post58, head_27^0'=head_27^post58, __disjvr_15^0'=__disjvr_15^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, __disjvr_6^0'=__disjvr_6^post58, __disjvr_12^0'=__disjvr_12^post58, y_19^0'=y_19^post58, __disjvr_43^0'=__disjvr_43^post58, len_276^0'=len_276^post58, __disjvr_24^0'=__disjvr_24^post58, a_308^0'=a_308^post58, __disjvr_1^0'=__disjvr_1^post58, len_132^0'=len_132^post58, a_147^0'=a_147^post58, __disjvr_31^0'=__disjvr_31^post58, result_11^0'=result_11^post58, head_175^0'=head_175^post58, r_218^0'=r_218^post58, __disjvr_29^0'=__disjvr_29^post58, __disjvr_0^0'=__disjvr_0^post58, x_16^0'=x_16^post58, __disjvr_40^0'=__disjvr_40^post58, __disjvr_36^0'=__disjvr_36^post58, a_210^0'=a_210^post58, __disjvr_17^0'=__disjvr_17^post58, i_167^0'=i_167^post58, __disjvr_8^0'=__disjvr_8^post58, __disjvr_14^0'=__disjvr_14^post58, r_39^0'=r_39^post58, f_263^0'=f_263^post58, nondet_12^0'=nondet_12^post58, __disjvr_26^0'=__disjvr_26^post58, a_353^0'=a_353^post58, __disjvr_21^0'=__disjvr_21^post58, temp0_31^0'=temp0_31^post58, __disjvr_38^0'=__disjvr_38^post58, __disjvr_33^0'=__disjvr_33^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, head_268^0'=head_268^post58, head_32^0'=head_32^post58, __disjvr_5^0'=__disjvr_5^post58, __disjvr_11^0'=__disjvr_11^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, __disjvr_42^0'=__disjvr_42^post58, len_226^0'=len_226^post58, __disjvr_23^0'=__disjvr_23^post58, a_277^0'=a_277^post58, __disjvr_19^0'=__disjvr_19^post58, i_94^0'=i_94^post58, a_116^0'=a_116^post58, __disjvr_30^0'=__disjvr_30^post58, rcd_88^0'=rcd_88^post58, head_14^0'=head_14^post58, r_163^0'=r_163^post58, __disjvr_28^0'=__disjvr_28^post58, tmp_34^0'=tmp_34^post58, __disjvr_3^0'=__disjvr_3^post58, __disjvr_35^0'=__disjvr_35^post58, temp0_15^0'=temp0_15^post58, a_184^0'=a_184^post58, __disjvr_16^0'=__disjvr_16^post58, (__disjvr_20^0-__disjvr_20^post58 == 0 /\ __disjvr_2^0-__disjvr_2^post58 == 0 /\ -__disjvr_11^post58+__disjvr_11^0 == 0 /\ -__disjvr_15^post58+__disjvr_15^0 == 0 /\ i_30^0-i_30^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ -r_39^post58+r_39^0 == 0 /\ r_218^0-r_218^post58 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58 == 0 /\ -__disjvr_42^post58+__disjvr_42^0 == 0 /\ a_241^0-a_241^post58 == 0 /\ a_147^0-a_147^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ -__disjvr_19^post58+__disjvr_19^0 == 0 /\ -temp_35^post58+temp_35^0 == 0 /\ a_210^0-a_210^post58 == 0 /\ a_116^0-a_116^post58 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ -t_23^post58+t_23^0 == 0 /\ -__disjvr_3^post58+__disjvr_3^0 == 0 /\ -y_19^post58+y_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ __disjvr_36^0-__disjvr_36^post58 == 0 /\ -a_308^post58+a_308^0 == 0 /\ -a_353^post58+a_353^0 == 0 /\ __disjvr_39^0-__disjvr_39^post58 == 0 /\ __disjvr_32^0-__disjvr_32^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ head_27^0-head_27^post58 == 0 /\ -rcd_58^post58+rcd_58^0 == 0 /\ -x_SLAM_f_18^post58+x_SLAM_f_18^0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ length_29^0-length_29^post58 == 0 /\ x_16^0-x_16^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -rcd_88^post58+rcd_88^0 == 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ -a_277^post58+a_277^0 == 0 /\ r_124^0-r_124^post58 == 0 /\ __disjvr_25^0-__disjvr_25^post58 == 0 /\ -__disjvr_40^post58+__disjvr_40^0 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ f_170^0-f_170^post58 == 0 /\ -__disjvr_38^post58+__disjvr_38^0 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ __disjvr_1^0-__disjvr_1^post58 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post58 == 0 /\ -len_276^post58+len_276^0 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -__disjvr_31^post58+__disjvr_31^0 == 0 /\ -__disjvr_33^post58+__disjvr_33^0 == 0 /\ len_132^0-len_132^post58 == 0 /\ -__disjvr_0^post58+__disjvr_0^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -temp0_15^post58+temp0_15^0 == 0 /\ -__disjvr_21^post58+__disjvr_21^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ __disjvr_6^0-__disjvr_6^post58 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ f_263^0-f_263^post58 == 0 /\ __disjvr_43^0-__disjvr_43^post58 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ head_175^0-head_175^post58 == 0 /\ -__disjvr_29^post58+__disjvr_29^0 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -head_32^post58+head_32^0 == 0 /\ -r_163^post58+r_163^0 == 0 /\ i_108^0-i_108^post58 == 0 /\ head_129^0-head_129^post58 == 0 /\ __disjvr_22^0-__disjvr_22^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ -__disjvr_34^post58+__disjvr_34^0 == 0 /\ -head_268^post58+head_268^0 == 0 /\ -__disjvr_14^post58+__disjvr_14^0 == 0 /\ -__disjvr_35^post58+__disjvr_35^0 == 0 /\ -len_226^post58+len_226^0 == 0 /\ -a_184^post58+a_184^0 == 0 /\ a_330^0-a_330^post58 == 0 /\ -__disjvr_30^post58+__disjvr_30^0 == 0 /\ head_223^0-head_223^post58 == 0 /\ len_183^0-len_183^post58 == 0 /\ -__disjvr_37^post58+__disjvr_37^0 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ -i_167^post58+i_167^0 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ x_20^0-x_20^post58 == 0 /\ r_260^0-r_260^post58 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_16^post58+__disjvr_16^0 == 0 /\ head_14^0-head_14^post58 == 0), cost: 1
  59: l57 -> l58 : i_108^0'=i_108^post59, __disjvr_7^0'=__disjvr_7^post59, __disjvr_13^0'=__disjvr_13^post59, f_170^0'=f_170^post59, length_29^0'=length_29^post59, __disjvr_25^0'=__disjvr_25^post59, a_330^0'=a_330^post59, __disjvr_20^0'=__disjvr_20^post59, len_183^0'=len_183^post59, __disjvr_37^0'=__disjvr_37^post59, __disjvr_32^0'=__disjvr_32^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, head_223^0'=head_223^post59, r_260^0'=r_260^post59, __disjvr_4^0'=__disjvr_4^post59, __disjvr_10^0'=__disjvr_10^post59, x_20^0'=x_20^post59, __disjvr_41^0'=__disjvr_41^post59, __disjvr_22^0'=__disjvr_22^post59, a_241^0'=a_241^post59, __disjvr_18^0'=__disjvr_18^post59, i_30^0'=i_30^post59, __disjvr_9^0'=__disjvr_9^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_58^0'=rcd_58^post59, head_129^0'=head_129^post59, r_124^0'=r_124^post59, __disjvr_27^0'=__disjvr_27^post59, ct_17^0'=ct_17^post59, temp_35^0'=temp_35^post59, __disjvr_39^0'=__disjvr_39^post59, __disjvr_34^0'=__disjvr_34^post59, t_23^0'=t_23^post59, head_27^0'=head_27^post59, __disjvr_15^0'=__disjvr_15^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, __disjvr_6^0'=__disjvr_6^post59, __disjvr_12^0'=__disjvr_12^post59, y_19^0'=y_19^post59, __disjvr_43^0'=__disjvr_43^post59, len_276^0'=len_276^post59, __disjvr_24^0'=__disjvr_24^post59, a_308^0'=a_308^post59, __disjvr_1^0'=__disjvr_1^post59, len_132^0'=len_132^post59, a_147^0'=a_147^post59, __disjvr_31^0'=__disjvr_31^post59, result_11^0'=result_11^post59, head_175^0'=head_175^post59, r_218^0'=r_218^post59, __disjvr_29^0'=__disjvr_29^post59, __disjvr_0^0'=__disjvr_0^post59, x_16^0'=x_16^post59, __disjvr_40^0'=__disjvr_40^post59, __disjvr_36^0'=__disjvr_36^post59, a_210^0'=a_210^post59, __disjvr_17^0'=__disjvr_17^post59, i_167^0'=i_167^post59, __disjvr_8^0'=__disjvr_8^post59, __disjvr_14^0'=__disjvr_14^post59, r_39^0'=r_39^post59, f_263^0'=f_263^post59, nondet_12^0'=nondet_12^post59, __disjvr_26^0'=__disjvr_26^post59, a_353^0'=a_353^post59, __disjvr_21^0'=__disjvr_21^post59, temp0_31^0'=temp0_31^post59, __disjvr_38^0'=__disjvr_38^post59, __disjvr_33^0'=__disjvr_33^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, head_268^0'=head_268^post59, head_32^0'=head_32^post59, __disjvr_5^0'=__disjvr_5^post59, __disjvr_11^0'=__disjvr_11^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, __disjvr_42^0'=__disjvr_42^post59, len_226^0'=len_226^post59, __disjvr_23^0'=__disjvr_23^post59, a_277^0'=a_277^post59, __disjvr_19^0'=__disjvr_19^post59, i_94^0'=i_94^post59, a_116^0'=a_116^post59, __disjvr_30^0'=__disjvr_30^post59, rcd_88^0'=rcd_88^post59, head_14^0'=head_14^post59, r_163^0'=r_163^post59, __disjvr_28^0'=__disjvr_28^post59, tmp_34^0'=tmp_34^post59, __disjvr_3^0'=__disjvr_3^post59, __disjvr_35^0'=__disjvr_35^post59, temp0_15^0'=temp0_15^post59, a_184^0'=a_184^post59, __disjvr_16^0'=__disjvr_16^post59, (0 == 0 /\ r_124^0-r_124^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ -head_32^post59+head_32^0 == 0 /\ -__disjvr_38^post59+__disjvr_38^0 == 0 /\ i_94^0-i_94^post59 == 0 /\ __disjvr_37^0-__disjvr_37^post59 == 0 /\ __disjvr_34^0-__disjvr_34^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -__disjvr_33^post59+__disjvr_33^0 == 0 /\ -__disjvr_21^post59+__disjvr_21^0 == 0 /\ __disjvr_41^0-__disjvr_41^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ -temp0_15^post59+temp0_15^0 == 0 /\ -__disjvr_5^post59+__disjvr_5^0 == 0 /\ x_20^0-x_20^post59 == 0 /\ -len_226^post59+len_226^0 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ -__disjvr_30^post59+__disjvr_30^0 == 0 /\ -__disjvr_3^post59+__disjvr_3^0 == 0 /\ __disjvr_7^0-__disjvr_7^post59 == 0 /\ -__disjvr_14^post59+__disjvr_14^0 == 0 /\ -rcd_58^post59+rcd_58^0 == 0 /\ head_129^0-head_129^post59 == 0 /\ __disjvr_39^0-__disjvr_39^post59 == 0 /\ a_210^0-a_210^post59 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ len_183^0-len_183^post59 == 0 /\ length_29^0-length_29^post59 == 0 /\ __disjvr_31^0-__disjvr_31^post59 == 0 /\ -a_353^post59+a_353^0 == 0 /\ -x_SLAM_f_18^post59+x_SLAM_f_18^0 == 0 /\ -f_263^post59+f_263^0 == 0 /\ __disjvr_42^0-__disjvr_42^post59 == 0 /\ -a_116^post59+a_116^0 == 0 /\ ct_17^0-ct_17^post59 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ __disjvr_43^0-__disjvr_43^post59 == 0 /\ -__disjvr_35^post59+__disjvr_35^0 == 0 /\ __disjvr_23^0-__disjvr_23^post59 == 0 /\ -a_184^post59+a_184^0 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ head_268^0-head_268^post59 == 0 /\ -i_167^post59+i_167^0 == 0 /\ x_16^0-x_16^post59 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 == 0 /\ __disjvr_32^0-__disjvr_32^post59 == 0 /\ head_27^0-head_27^post59 == 0 /\ __disjvr_25^0-__disjvr_25^post59 == 0 /\ head_223^0-head_223^post59 == 0 /\ -__disjvr_40^post59+__disjvr_40^0 == 0 /\ a_241^0-a_241^post59 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -i_30^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ -rcd_88^post59+rcd_88^0 == 0 /\ -len_276^post59+len_276^0 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ __disjvr_36^0-__disjvr_36^post59 == 0 /\ -a_147^post59+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ r_260^0-r_260^post59 == 0 /\ -__disjvr_26^post59+__disjvr_26^0 == 0 /\ -__disjvr_19^post59+__disjvr_19^0 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ r_218^0-r_218^post59 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ f_170^0-f_170^post59 == 0 /\ -a_330^post59+a_330^0 == 0 /\ a_308^0-a_308^post59 == 0 /\ -__disjvr_8^post59+__disjvr_8^0 == 0 /\ len_132^0-len_132^post59 == 0 /\ -i_30^post59+i_30^0 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ y_19^0-y_19^post59 == 0 /\ -head_175^post59+head_175^0 == 0 /\ -a_277^post59+a_277^0 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0), cost: 1
  60: l58 -> l59 : i_108^0'=i_108^post60, __disjvr_7^0'=__disjvr_7^post60, __disjvr_13^0'=__disjvr_13^post60, f_170^0'=f_170^post60, length_29^0'=length_29^post60, __disjvr_25^0'=__disjvr_25^post60, a_330^0'=a_330^post60, __disjvr_20^0'=__disjvr_20^post60, len_183^0'=len_183^post60, __disjvr_37^0'=__disjvr_37^post60, __disjvr_32^0'=__disjvr_32^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, head_223^0'=head_223^post60, r_260^0'=r_260^post60, __disjvr_4^0'=__disjvr_4^post60, __disjvr_10^0'=__disjvr_10^post60, x_20^0'=x_20^post60, __disjvr_41^0'=__disjvr_41^post60, __disjvr_22^0'=__disjvr_22^post60, a_241^0'=a_241^post60, __disjvr_18^0'=__disjvr_18^post60, i_30^0'=i_30^post60, __disjvr_9^0'=__disjvr_9^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_58^0'=rcd_58^post60, head_129^0'=head_129^post60, r_124^0'=r_124^post60, __disjvr_27^0'=__disjvr_27^post60, ct_17^0'=ct_17^post60, temp_35^0'=temp_35^post60, __disjvr_39^0'=__disjvr_39^post60, __disjvr_34^0'=__disjvr_34^post60, t_23^0'=t_23^post60, head_27^0'=head_27^post60, __disjvr_15^0'=__disjvr_15^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, __disjvr_6^0'=__disjvr_6^post60, __disjvr_12^0'=__disjvr_12^post60, y_19^0'=y_19^post60, __disjvr_43^0'=__disjvr_43^post60, len_276^0'=len_276^post60, __disjvr_24^0'=__disjvr_24^post60, a_308^0'=a_308^post60, __disjvr_1^0'=__disjvr_1^post60, len_132^0'=len_132^post60, a_147^0'=a_147^post60, __disjvr_31^0'=__disjvr_31^post60, result_11^0'=result_11^post60, head_175^0'=head_175^post60, r_218^0'=r_218^post60, __disjvr_29^0'=__disjvr_29^post60, __disjvr_0^0'=__disjvr_0^post60, x_16^0'=x_16^post60, __disjvr_40^0'=__disjvr_40^post60, __disjvr_36^0'=__disjvr_36^post60, a_210^0'=a_210^post60, __disjvr_17^0'=__disjvr_17^post60, i_167^0'=i_167^post60, __disjvr_8^0'=__disjvr_8^post60, __disjvr_14^0'=__disjvr_14^post60, r_39^0'=r_39^post60, f_263^0'=f_263^post60, nondet_12^0'=nondet_12^post60, __disjvr_26^0'=__disjvr_26^post60, a_353^0'=a_353^post60, __disjvr_21^0'=__disjvr_21^post60, temp0_31^0'=temp0_31^post60, __disjvr_38^0'=__disjvr_38^post60, __disjvr_33^0'=__disjvr_33^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, head_268^0'=head_268^post60, head_32^0'=head_32^post60, __disjvr_5^0'=__disjvr_5^post60, __disjvr_11^0'=__disjvr_11^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, __disjvr_42^0'=__disjvr_42^post60, len_226^0'=len_226^post60, __disjvr_23^0'=__disjvr_23^post60, a_277^0'=a_277^post60, __disjvr_19^0'=__disjvr_19^post60, i_94^0'=i_94^post60, a_116^0'=a_116^post60, __disjvr_30^0'=__disjvr_30^post60, rcd_88^0'=rcd_88^post60, head_14^0'=head_14^post60, r_163^0'=r_163^post60, __disjvr_28^0'=__disjvr_28^post60, tmp_34^0'=tmp_34^post60, __disjvr_3^0'=__disjvr_3^post60, __disjvr_35^0'=__disjvr_35^post60, temp0_15^0'=temp0_15^post60, a_184^0'=a_184^post60, __disjvr_16^0'=__disjvr_16^post60, (i_30^0-i_30^post60 == 0 /\ -a_184^post60+a_184^0 == 0 /\ -__disjvr_31^post60+__disjvr_31^0 == 0 /\ __disjvr_39^0-__disjvr_39^post60 == 0 /\ -__disjvr_43^post60+__disjvr_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ len_183^0-len_183^post60 == 0 /\ __disjvr_2^0-__disjvr_2^post60 == 0 /\ -i_94^post60+i_94^0 == 0 /\ -r_218^post60+r_218^0 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ y_19^0-y_19^post60 == 0 /\ -i_167^post60+i_167^0 == 0 /\ -tmp_34^post60+tmp_34^0 == 0 /\ -head_27^post60+head_27^0 == 0 /\ f_170^0-f_170^post60 == 0 /\ head_268^0-head_268^post60 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ -__disjvr_33^post60+__disjvr_33^0 == 0 /\ ct_17^0-ct_17^post60 == 0 /\ -__disjvr_26^post60+__disjvr_26^0 == 0 /\ -a_147^post60+a_147^0 == 0 /\ -head_14^post60+head_14^0 == 0 /\ r_124^0-r_124^post60 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ -rcd_88^post60+rcd_88^0 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ a_308^0-a_308^post60 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ __disjvr_32^0-__disjvr_32^post60 == 0 /\ -__disjvr_9^post60+__disjvr_9^0 == 0 /\ -f_263^post60+f_263^0 == 0 /\ -__disjvr_19^post60+__disjvr_19^0 == 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ head_175^0-head_175^post60 == 0 /\ -a_277^post60+a_277^0 == 0 /\ -__disjvr_42^post60+__disjvr_42^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ __disjvr_40^0-__disjvr_40^post60 == 0 /\ __disjvr_15^0-__disjvr_15^post60 == 0 /\ -head_129^post60+head_129^0 == 0 /\ __disjvr_7^0-__disjvr_7^post60 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -r_163^post60+r_163^0 == 0 /\ -r_39^post60+r_39^0 == 0 /\ len_276^0-len_276^post60 == 0 /\ x_20^0-x_20^post60 == 0 /\ __disjvr_38^0-__disjvr_38^post60 == 0 /\ __disjvr_29^0-__disjvr_29^post60 == 0 /\ -__disjvr_23^post60+__disjvr_23^0 == 0 /\ -__disjvr_16^post60+__disjvr_16^0 == 0 /\ -x_16^post60+x_16^0 == 0 /\ temp0_15^0-temp0_15^post60 == 0 /\ -a_210^post60+a_210^0 == 0 /\ t_23^0-t_23^post60 == 0 /\ -__disjvr_6^post60+__disjvr_6^0 == 0 /\ length_29^0-length_29^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -__disjvr_36^post60+__disjvr_36^0 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ -__disjvr_27^0+__disjvr_27^post60 == 0 /\ -head_32^post60+head_32^0 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ i_108^0-i_108^post60 == 0 /\ r_260^0-r_260^post60 == 0 /\ -__disjvr_5^post60+__disjvr_5^0 == 0 /\ a_330^0-a_330^post60 == 0 /\ a_353^0-a_353^post60 == 0 /\ __disjvr_17^0-__disjvr_17^post60 == 0 /\ -len_226^post60+len_226^0 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ -result_11^post60+result_11^0 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0 /\ -head_SLAM_f_26^post60+head_SLAM_f_26^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ head_223^0-head_223^post60 == 0 /\ -len_132^post60+len_132^0 == 0 /\ -x_SLAM_f_18^post60+x_SLAM_f_18^0 == 0 /\ -a_241^post60+a_241^0 == 0 /\ rcd_58^0-rcd_58^post60 == 0 /\ __disjvr_37^0-__disjvr_37^post60 == 0 /\ -__disjvr_11^post60+__disjvr_11^0 == 0 /\ -__disjvr_35^post60+__disjvr_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post60+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post60 == 0 /\ __disjvr_27^0-__disjvr_27^post60 == 0 /\ -__disjvr_24^post60+__disjvr_24^0 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ __disjvr_4^0-__disjvr_4^post60 == 0 /\ -__disjvr_0^post60+__disjvr_0^0 == 0 /\ __disjvr_41^0-__disjvr_41^post60 == 0), cost: 1
  61: l59 -> l60 : i_108^0'=i_108^post61, __disjvr_7^0'=__disjvr_7^post61, __disjvr_13^0'=__disjvr_13^post61, f_170^0'=f_170^post61, length_29^0'=length_29^post61, __disjvr_25^0'=__disjvr_25^post61, a_330^0'=a_330^post61, __disjvr_20^0'=__disjvr_20^post61, len_183^0'=len_183^post61, __disjvr_37^0'=__disjvr_37^post61, __disjvr_32^0'=__disjvr_32^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, head_223^0'=head_223^post61, r_260^0'=r_260^post61, __disjvr_4^0'=__disjvr_4^post61, __disjvr_10^0'=__disjvr_10^post61, x_20^0'=x_20^post61, __disjvr_41^0'=__disjvr_41^post61, __disjvr_22^0'=__disjvr_22^post61, a_241^0'=a_241^post61, __disjvr_18^0'=__disjvr_18^post61, i_30^0'=i_30^post61, __disjvr_9^0'=__disjvr_9^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_58^0'=rcd_58^post61, head_129^0'=head_129^post61, r_124^0'=r_124^post61, __disjvr_27^0'=__disjvr_27^post61, ct_17^0'=ct_17^post61, temp_35^0'=temp_35^post61, __disjvr_39^0'=__disjvr_39^post61, __disjvr_34^0'=__disjvr_34^post61, t_23^0'=t_23^post61, head_27^0'=head_27^post61, __disjvr_15^0'=__disjvr_15^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, __disjvr_6^0'=__disjvr_6^post61, __disjvr_12^0'=__disjvr_12^post61, y_19^0'=y_19^post61, __disjvr_43^0'=__disjvr_43^post61, len_276^0'=len_276^post61, __disjvr_24^0'=__disjvr_24^post61, a_308^0'=a_308^post61, __disjvr_1^0'=__disjvr_1^post61, len_132^0'=len_132^post61, a_147^0'=a_147^post61, __disjvr_31^0'=__disjvr_31^post61, result_11^0'=result_11^post61, head_175^0'=head_175^post61, r_218^0'=r_218^post61, __disjvr_29^0'=__disjvr_29^post61, __disjvr_0^0'=__disjvr_0^post61, x_16^0'=x_16^post61, __disjvr_40^0'=__disjvr_40^post61, __disjvr_36^0'=__disjvr_36^post61, a_210^0'=a_210^post61, __disjvr_17^0'=__disjvr_17^post61, i_167^0'=i_167^post61, __disjvr_8^0'=__disjvr_8^post61, __disjvr_14^0'=__disjvr_14^post61, r_39^0'=r_39^post61, f_263^0'=f_263^post61, nondet_12^0'=nondet_12^post61, __disjvr_26^0'=__disjvr_26^post61, a_353^0'=a_353^post61, __disjvr_21^0'=__disjvr_21^post61, temp0_31^0'=temp0_31^post61, __disjvr_38^0'=__disjvr_38^post61, __disjvr_33^0'=__disjvr_33^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, head_268^0'=head_268^post61, head_32^0'=head_32^post61, __disjvr_5^0'=__disjvr_5^post61, __disjvr_11^0'=__disjvr_11^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, __disjvr_42^0'=__disjvr_42^post61, len_226^0'=len_226^post61, __disjvr_23^0'=__disjvr_23^post61, a_277^0'=a_277^post61, __disjvr_19^0'=__disjvr_19^post61, i_94^0'=i_94^post61, a_116^0'=a_116^post61, __disjvr_30^0'=__disjvr_30^post61, rcd_88^0'=rcd_88^post61, head_14^0'=head_14^post61, r_163^0'=r_163^post61, __disjvr_28^0'=__disjvr_28^post61, tmp_34^0'=tmp_34^post61, __disjvr_3^0'=__disjvr_3^post61, __disjvr_35^0'=__disjvr_35^post61, temp0_15^0'=temp0_15^post61, a_184^0'=a_184^post61, __disjvr_16^0'=__disjvr_16^post61, (0 == 0 /\ len_226^0-len_226^post61 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0 /\ -__disjvr_21^post61+__disjvr_21^0 == 0 /\ -a_184^post61+a_184^0 == 0 /\ len_183^0-len_183^post61 == 0 /\ a_330^0-a_330^post61 == 0 /\ -__disjvr_40^post61+__disjvr_40^0 == 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ __disjvr_39^0-__disjvr_39^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ i_30^0-i_30^post61 == 0 /\ -__disjvr_43^post61+__disjvr_43^0 == 0 /\ -a_210^post61+a_210^0 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post61+x_SLAM_f_18^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ length_29^0-length_29^post61 == 0 /\ -head_27^post61+head_27^0 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ x_16^0-x_16^post61 == 0 /\ head_175^0-head_175^post61 == 0 /\ x_20^0-x_20^post61 == 0 /\ r_124^0-r_124^post61 == 0 /\ i_167^0-i_167^post61 == 0 /\ -head_14^post61+head_14^0 == 0 /\ -__disjvr_28^post61+__disjvr_28^0 == 0 /\ -__disjvr_36^post61+__disjvr_36^0 == 0 /\ f_170^0-f_170^post61 == 0 /\ __disjvr_37^0-__disjvr_37^post61 == 0 /\ temp_35^0-temp_35^post61 == 0 /\ -len_132^post61+len_132^0 == 0 /\ -a_147^post61+a_147^0 == 0 /\ -__disjvr_3^post61+__disjvr_3^0 == 0 /\ t_23^0-t_23^post61 == 0 /\ -head_129^post61+head_129^0 == 0 /\ -__disjvr_11^post61+__disjvr_11^0 == 0 /\ -__disjvr_0^post61+__disjvr_0^0 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ ct_17^0-ct_17^post61 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post61 == 0 /\ -__disjvr_31^post61+__disjvr_31^0 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ head_32^0-head_32^post61 == 0 /\ -a_277^post61+a_277^0 == 0 /\ -__disjvr_38^post61+__disjvr_38^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp0_31^0-temp0_31^post61 == 0 /\ -r_218^post61+r_218^0 == 0 /\ -__disjvr_24^post61+__disjvr_24^0 == 0 /\ __disjvr_2^0-__disjvr_2^post61 == 0 /\ __disjvr_20^0-__disjvr_20^post61 == 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ f_263^0-f_263^post61 == 0 /\ -r_163^post61+r_163^0 == 0 /\ -i_94^post61+i_94^0 == 0 /\ -head_268^post61+head_268^0 == 0 /\ head_223^0-head_223^post61 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post61 == 0 /\ i_108^0-i_108^post61 == 0 /\ r_39^0-r_39^post61 == 0 /\ a_308^0-a_308^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ __disjvr_17^0-__disjvr_17^post61 == 0 /\ -__disjvr_14^post61+__disjvr_14^0 == 0 /\ -__disjvr_23^post61+__disjvr_23^0 == 0 /\ __disjvr_29^0-__disjvr_29^post61 == 0 /\ r_260^0-r_260^post61 == 0 /\ -__disjvr_30^post61+__disjvr_30^0 == 0 /\ -a_116^post61+a_147^0 <= 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ -__disjvr_42^post61+__disjvr_42^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -a_353^post61+a_353^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ -__disjvr_19^post61+__disjvr_19^0 == 0 /\ __disjvr_32^0-__disjvr_32^post61 == 0 /\ -__disjvr_8^post61+__disjvr_8^0 == 0 /\ -result_11^post61+result_11^0 == 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ __disjvr_41^0-__disjvr_41^post61 == 0 /\ __disjvr_34^0-__disjvr_34^post61 == 0 /\ -y_19^post61+y_19^0 == 0 /\ -a_241^post61+a_241^0 == 0 /\ __disjvr_33^0-__disjvr_33^post61 == 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ __disjvr_27^0-__disjvr_27^post61 == 0 /\ len_276^0-len_276^post61 == 0 /\ -__disjvr_35^post61+__disjvr_35^0 == 0 /\ a_116^post61-a_147^0 <= 0), cost: 1
  62: l60 -> l61 : i_108^0'=i_108^post62, __disjvr_7^0'=__disjvr_7^post62, __disjvr_13^0'=__disjvr_13^post62, f_170^0'=f_170^post62, length_29^0'=length_29^post62, __disjvr_25^0'=__disjvr_25^post62, a_330^0'=a_330^post62, __disjvr_20^0'=__disjvr_20^post62, len_183^0'=len_183^post62, __disjvr_37^0'=__disjvr_37^post62, __disjvr_32^0'=__disjvr_32^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, head_223^0'=head_223^post62, r_260^0'=r_260^post62, __disjvr_4^0'=__disjvr_4^post62, __disjvr_10^0'=__disjvr_10^post62, x_20^0'=x_20^post62, __disjvr_41^0'=__disjvr_41^post62, __disjvr_22^0'=__disjvr_22^post62, a_241^0'=a_241^post62, __disjvr_18^0'=__disjvr_18^post62, i_30^0'=i_30^post62, __disjvr_9^0'=__disjvr_9^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_58^0'=rcd_58^post62, head_129^0'=head_129^post62, r_124^0'=r_124^post62, __disjvr_27^0'=__disjvr_27^post62, ct_17^0'=ct_17^post62, temp_35^0'=temp_35^post62, __disjvr_39^0'=__disjvr_39^post62, __disjvr_34^0'=__disjvr_34^post62, t_23^0'=t_23^post62, head_27^0'=head_27^post62, __disjvr_15^0'=__disjvr_15^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, __disjvr_6^0'=__disjvr_6^post62, __disjvr_12^0'=__disjvr_12^post62, y_19^0'=y_19^post62, __disjvr_43^0'=__disjvr_43^post62, len_276^0'=len_276^post62, __disjvr_24^0'=__disjvr_24^post62, a_308^0'=a_308^post62, __disjvr_1^0'=__disjvr_1^post62, len_132^0'=len_132^post62, a_147^0'=a_147^post62, __disjvr_31^0'=__disjvr_31^post62, result_11^0'=result_11^post62, head_175^0'=head_175^post62, r_218^0'=r_218^post62, __disjvr_29^0'=__disjvr_29^post62, __disjvr_0^0'=__disjvr_0^post62, x_16^0'=x_16^post62, __disjvr_40^0'=__disjvr_40^post62, __disjvr_36^0'=__disjvr_36^post62, a_210^0'=a_210^post62, __disjvr_17^0'=__disjvr_17^post62, i_167^0'=i_167^post62, __disjvr_8^0'=__disjvr_8^post62, __disjvr_14^0'=__disjvr_14^post62, r_39^0'=r_39^post62, f_263^0'=f_263^post62, nondet_12^0'=nondet_12^post62, __disjvr_26^0'=__disjvr_26^post62, a_353^0'=a_353^post62, __disjvr_21^0'=__disjvr_21^post62, temp0_31^0'=temp0_31^post62, __disjvr_38^0'=__disjvr_38^post62, __disjvr_33^0'=__disjvr_33^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, head_268^0'=head_268^post62, head_32^0'=head_32^post62, __disjvr_5^0'=__disjvr_5^post62, __disjvr_11^0'=__disjvr_11^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, __disjvr_42^0'=__disjvr_42^post62, len_226^0'=len_226^post62, __disjvr_23^0'=__disjvr_23^post62, a_277^0'=a_277^post62, __disjvr_19^0'=__disjvr_19^post62, i_94^0'=i_94^post62, a_116^0'=a_116^post62, __disjvr_30^0'=__disjvr_30^post62, rcd_88^0'=rcd_88^post62, head_14^0'=head_14^post62, r_163^0'=r_163^post62, __disjvr_28^0'=__disjvr_28^post62, tmp_34^0'=tmp_34^post62, __disjvr_3^0'=__disjvr_3^post62, __disjvr_35^0'=__disjvr_35^post62, temp0_15^0'=temp0_15^post62, a_184^0'=a_184^post62, __disjvr_16^0'=__disjvr_16^post62, (r_260^0-r_260^post62 == 0 /\ a_330^0-a_330^post62 == 0 /\ -a_116^post62+a_116^0 == 0 /\ -ct_17^post62+ct_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post62 == 0 /\ a_241^0-a_241^post62 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ head_175^0-head_175^post62 == 0 /\ i_108^0-i_108^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ -a_184^post62+a_184^0 == 0 /\ -head_14^post62+head_14^0 == 0 /\ __disjvr_41^0-__disjvr_41^post62 == 0 /\ -a_210^post62+a_210^0 == 0 /\ length_29^0-length_29^post62 == 0 /\ head_32^0-head_32^post62 == 0 /\ x_16^0-x_16^post62 == 0 /\ len_226^0-len_226^post62 == 0 /\ -x_SLAM_f_18^post62+x_SLAM_f_18^0 == 0 /\ -__disjvr_21^post62+__disjvr_21^0 == 0 /\ -__disjvr_40^post62+__disjvr_40^0 == 0 /\ -tmp_34^post62+tmp_34^0 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -__disjvr_33^post62+__disjvr_33^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -head_27^post62+head_27^0 == 0 /\ __disjvr_37^0-__disjvr_37^post62 == 0 /\ i_167^0-i_167^post62 == 0 /\ head_129^0-head_129^post62 == 0 /\ f_170^0-f_170^post62 == 0 /\ -__disjvr_23^post62+__disjvr_23^0 == 0 /\ r_39^0-r_39^post62 == 0 /\ __disjvr_2^0-__disjvr_2^post62 == 0 /\ -len_132^post62+len_132^0 == 0 /\ -r_163^post62+r_163^0 == 0 /\ -__disjvr_31^post62+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post62 == 0 /\ -__disjvr_3^post62+__disjvr_3^0 == 0 /\ -__disjvr_11^post62+__disjvr_11^0 == 0 /\ -__disjvr_36^post62+__disjvr_36^0 == 0 /\ -__disjvr_39^post62+__disjvr_39^0 == 0 /\ rcd_58^0-rcd_58^post62 == 0 /\ len_276^0-len_276^post62 == 0 /\ __disjvr_27^0-__disjvr_27^post62 == 0 /\ r_218^0-r_218^post62 == 0 /\ -__disjvr_0^post62+__disjvr_0^0 == 0 /\ len_183^0-len_183^post62 == 0 /\ -__disjvr_35^post62+__disjvr_35^0 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ head_223^0-head_223^post62 == 0 /\ -__disjvr_34^post62+__disjvr_34^0 == 0 /\ -head_268^post62+head_268^0 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ i_30^0-i_30^post62 == 0 /\ f_263^0-f_263^post62 == 0 /\ -a_277^post62+a_277^0 == 0 /\ -rcd_88^post62+rcd_88^0 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ -i_94^post62+i_94^0 == 0 /\ -__disjvr_30^post62+__disjvr_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_14^post62+__disjvr_14^0 == 0 /\ __disjvr_12^0-__disjvr_12^post62 == 0 /\ -__disjvr_5^post62+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ -__disjvr_38^post62+__disjvr_38^0 == 0 /\ -a_353^post62+a_353^0 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ a_147^0-a_147^post62 == 0 /\ -a_308^post62+a_308^0 == 0 /\ __disjvr_43^0-__disjvr_43^post62 == 0 /\ -result_11^post62+result_11^0 == 0 /\ __disjvr_7^0-__disjvr_7^post62 == 0 /\ x_20^0-x_20^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_42^post62+__disjvr_42^0 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ t_23^0-t_23^post62 == 0 /\ __disjvr_32^0-__disjvr_32^post62 == 0 /\ __disjvr_1^0-__disjvr_1^post62 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ -temp0_15^post62+temp0_15^0 == 0 /\ __disjvr_28^post62-__disjvr_28^0 == 0 /\ r_124^0-r_124^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -__disjvr_19^post62+__disjvr_19^0 == 0 /\ -y_19^post62+y_19^0 == 0), cost: 1
  63: l61 -> l36 : i_108^0'=i_108^post63, __disjvr_7^0'=__disjvr_7^post63, __disjvr_13^0'=__disjvr_13^post63, f_170^0'=f_170^post63, length_29^0'=length_29^post63, __disjvr_25^0'=__disjvr_25^post63, a_330^0'=a_330^post63, __disjvr_20^0'=__disjvr_20^post63, len_183^0'=len_183^post63, __disjvr_37^0'=__disjvr_37^post63, __disjvr_32^0'=__disjvr_32^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, head_223^0'=head_223^post63, r_260^0'=r_260^post63, __disjvr_4^0'=__disjvr_4^post63, __disjvr_10^0'=__disjvr_10^post63, x_20^0'=x_20^post63, __disjvr_41^0'=__disjvr_41^post63, __disjvr_22^0'=__disjvr_22^post63, a_241^0'=a_241^post63, __disjvr_18^0'=__disjvr_18^post63, i_30^0'=i_30^post63, __disjvr_9^0'=__disjvr_9^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_58^0'=rcd_58^post63, head_129^0'=head_129^post63, r_124^0'=r_124^post63, __disjvr_27^0'=__disjvr_27^post63, ct_17^0'=ct_17^post63, temp_35^0'=temp_35^post63, __disjvr_39^0'=__disjvr_39^post63, __disjvr_34^0'=__disjvr_34^post63, t_23^0'=t_23^post63, head_27^0'=head_27^post63, __disjvr_15^0'=__disjvr_15^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, __disjvr_6^0'=__disjvr_6^post63, __disjvr_12^0'=__disjvr_12^post63, y_19^0'=y_19^post63, __disjvr_43^0'=__disjvr_43^post63, len_276^0'=len_276^post63, __disjvr_24^0'=__disjvr_24^post63, a_308^0'=a_308^post63, __disjvr_1^0'=__disjvr_1^post63, len_132^0'=len_132^post63, a_147^0'=a_147^post63, __disjvr_31^0'=__disjvr_31^post63, result_11^0'=result_11^post63, head_175^0'=head_175^post63, r_218^0'=r_218^post63, __disjvr_29^0'=__disjvr_29^post63, __disjvr_0^0'=__disjvr_0^post63, x_16^0'=x_16^post63, __disjvr_40^0'=__disjvr_40^post63, __disjvr_36^0'=__disjvr_36^post63, a_210^0'=a_210^post63, __disjvr_17^0'=__disjvr_17^post63, i_167^0'=i_167^post63, __disjvr_8^0'=__disjvr_8^post63, __disjvr_14^0'=__disjvr_14^post63, r_39^0'=r_39^post63, f_263^0'=f_263^post63, nondet_12^0'=nondet_12^post63, __disjvr_26^0'=__disjvr_26^post63, a_353^0'=a_353^post63, __disjvr_21^0'=__disjvr_21^post63, temp0_31^0'=temp0_31^post63, __disjvr_38^0'=__disjvr_38^post63, __disjvr_33^0'=__disjvr_33^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, head_268^0'=head_268^post63, head_32^0'=head_32^post63, __disjvr_5^0'=__disjvr_5^post63, __disjvr_11^0'=__disjvr_11^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, __disjvr_42^0'=__disjvr_42^post63, len_226^0'=len_226^post63, __disjvr_23^0'=__disjvr_23^post63, a_277^0'=a_277^post63, __disjvr_19^0'=__disjvr_19^post63, i_94^0'=i_94^post63, a_116^0'=a_116^post63, __disjvr_30^0'=__disjvr_30^post63, rcd_88^0'=rcd_88^post63, head_14^0'=head_14^post63, r_163^0'=r_163^post63, __disjvr_28^0'=__disjvr_28^post63, tmp_34^0'=tmp_34^post63, __disjvr_3^0'=__disjvr_3^post63, __disjvr_35^0'=__disjvr_35^post63, temp0_15^0'=temp0_15^post63, a_184^0'=a_184^post63, __disjvr_16^0'=__disjvr_16^post63, (0 == 0 /\ len_132^0-len_132^post63 == 0 /\ 1+a_116^0-i_108^post63 <= 0 /\ -__disjvr_26^post63+__disjvr_26^0 == 0 /\ len_183^0-len_183^post63 == 0 /\ __disjvr_23^0-__disjvr_23^post63 == 0 /\ __disjvr_7^0-__disjvr_7^post63 == 0 /\ __disjvr_37^0-__disjvr_37^post63 == 0 /\ __disjvr_43^0-__disjvr_43^post63 == 0 /\ -__disjvr_35^post63+__disjvr_35^0 == 0 /\ -a_116^post63+a_116^0 == 0 /\ -rcd_58^post63+rcd_58^0 == 0 /\ -head_268^post63+head_268^0 == 0 /\ -rcd_88^post63+rcd_88^0 == 0 /\ -x_16^post63+x_16^0 == 0 /\ -len_226^post63+len_226^0 == 0 /\ __disjvr_31^0-__disjvr_31^post63 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post63 == 0 /\ -__disjvr_14^post63+__disjvr_14^0 == 0 /\ -i_94^post63+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ -i_167^post63+i_167^0 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -__disjvr_38^post63+__disjvr_38^0 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ r_124^0-r_124^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ -y_19^post63+y_19^0 == 0 /\ r_260^0-r_260^post63 == 0 /\ -a_353^post63+a_353^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ a_210^0-a_210^post63 == 0 /\ __disjvr_10^0-__disjvr_10^post63 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ __disjvr_36^0-__disjvr_36^post63 == 0 /\ -head_SLAM_f_26^post63+head_SLAM_f_26^0 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ __disjvr_34^0-__disjvr_34^post63 == 0 /\ -temp0_15^post63+temp0_15^0 == 0 /\ -head_175^post63+head_175^0 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ -__disjvr_42^post63+__disjvr_42^0 == 0 /\ __disjvr_5^0-__disjvr_5^post63 == 0 /\ -__disjvr_19^post63+__disjvr_19^0 == 0 /\ length_29^0-length_29^post63 == 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ -f_263^post63+f_263^0 == 0 /\ -__disjvr_40^post63+__disjvr_40^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1-a_116^0+i_108^post63 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ r_218^0-r_218^post63 == 0 /\ -tmp_34^post63+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ __disjvr_39^0-__disjvr_39^post63 == 0 /\ __disjvr_20^0-__disjvr_20^post63 == 0 /\ -r_163^post63+r_163^0 == 0 /\ -a_277^post63+a_277^0 == 0 /\ f_170^0-f_170^post63 == 0 /\ head_129^0-head_129^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ i_30^0-i_30^post63 == 0 /\ -a_184^post63+a_184^0 == 0 /\ ct_17^0-ct_17^post63 == 0 /\ -__disjvr_16^post63+__disjvr_16^0 == 0 /\ -__disjvr_32^post63+__disjvr_32^0 == 0 /\ -__disjvr_33^post63+__disjvr_33^0 == 0 /\ -__disjvr_21^post63+__disjvr_21^0 == 0 /\ -head_14^post63+head_14^0 == 0 /\ -i_108^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_30^post63+__disjvr_30^0 == 0 /\ -a_330^post63+a_330^0 == 0 /\ head_223^0-head_223^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ -__disjvr_15^post63+__disjvr_15^0 == 0 /\ -__disjvr_3^post63+__disjvr_3^0 == 0 /\ a_241^0-a_241^post63 == 0 /\ -len_276^post63+len_276^0 == 0 /\ head_27^0-head_27^post63 == 0 /\ -a_147^post63+a_147^0 == 0 /\ -t_23^post63+t_23^0 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ __disjvr_41^0-__disjvr_41^post63 == 0 /\ -r_39^post63+r_39^0 == 0 /\ a_308^0-a_308^post63 == 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_20^post63+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post63 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0), cost: 1
  64: l62 -> l63 : i_108^0'=i_108^post64, __disjvr_7^0'=__disjvr_7^post64, __disjvr_13^0'=__disjvr_13^post64, f_170^0'=f_170^post64, length_29^0'=length_29^post64, __disjvr_25^0'=__disjvr_25^post64, a_330^0'=a_330^post64, __disjvr_20^0'=__disjvr_20^post64, len_183^0'=len_183^post64, __disjvr_37^0'=__disjvr_37^post64, __disjvr_32^0'=__disjvr_32^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, head_223^0'=head_223^post64, r_260^0'=r_260^post64, __disjvr_4^0'=__disjvr_4^post64, __disjvr_10^0'=__disjvr_10^post64, x_20^0'=x_20^post64, __disjvr_41^0'=__disjvr_41^post64, __disjvr_22^0'=__disjvr_22^post64, a_241^0'=a_241^post64, __disjvr_18^0'=__disjvr_18^post64, i_30^0'=i_30^post64, __disjvr_9^0'=__disjvr_9^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_58^0'=rcd_58^post64, head_129^0'=head_129^post64, r_124^0'=r_124^post64, __disjvr_27^0'=__disjvr_27^post64, ct_17^0'=ct_17^post64, temp_35^0'=temp_35^post64, __disjvr_39^0'=__disjvr_39^post64, __disjvr_34^0'=__disjvr_34^post64, t_23^0'=t_23^post64, head_27^0'=head_27^post64, __disjvr_15^0'=__disjvr_15^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, __disjvr_6^0'=__disjvr_6^post64, __disjvr_12^0'=__disjvr_12^post64, y_19^0'=y_19^post64, __disjvr_43^0'=__disjvr_43^post64, len_276^0'=len_276^post64, __disjvr_24^0'=__disjvr_24^post64, a_308^0'=a_308^post64, __disjvr_1^0'=__disjvr_1^post64, len_132^0'=len_132^post64, a_147^0'=a_147^post64, __disjvr_31^0'=__disjvr_31^post64, result_11^0'=result_11^post64, head_175^0'=head_175^post64, r_218^0'=r_218^post64, __disjvr_29^0'=__disjvr_29^post64, __disjvr_0^0'=__disjvr_0^post64, x_16^0'=x_16^post64, __disjvr_40^0'=__disjvr_40^post64, __disjvr_36^0'=__disjvr_36^post64, a_210^0'=a_210^post64, __disjvr_17^0'=__disjvr_17^post64, i_167^0'=i_167^post64, __disjvr_8^0'=__disjvr_8^post64, __disjvr_14^0'=__disjvr_14^post64, r_39^0'=r_39^post64, f_263^0'=f_263^post64, nondet_12^0'=nondet_12^post64, __disjvr_26^0'=__disjvr_26^post64, a_353^0'=a_353^post64, __disjvr_21^0'=__disjvr_21^post64, temp0_31^0'=temp0_31^post64, __disjvr_38^0'=__disjvr_38^post64, __disjvr_33^0'=__disjvr_33^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, head_268^0'=head_268^post64, head_32^0'=head_32^post64, __disjvr_5^0'=__disjvr_5^post64, __disjvr_11^0'=__disjvr_11^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, __disjvr_42^0'=__disjvr_42^post64, len_226^0'=len_226^post64, __disjvr_23^0'=__disjvr_23^post64, a_277^0'=a_277^post64, __disjvr_19^0'=__disjvr_19^post64, i_94^0'=i_94^post64, a_116^0'=a_116^post64, __disjvr_30^0'=__disjvr_30^post64, rcd_88^0'=rcd_88^post64, head_14^0'=head_14^post64, r_163^0'=r_163^post64, __disjvr_28^0'=__disjvr_28^post64, tmp_34^0'=tmp_34^post64, __disjvr_3^0'=__disjvr_3^post64, __disjvr_35^0'=__disjvr_35^post64, temp0_15^0'=temp0_15^post64, a_184^0'=a_184^post64, __disjvr_16^0'=__disjvr_16^post64, (0 == 0 /\ -__disjvr_35^post64+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ head_SLAM_f_26^120-head_27^post64 <= 0 /\ __disjvr_31^0-__disjvr_31^post64 == 0 /\ -head_14^10+head_SLAM_f_26^120 <= 0 /\ -head_14^10+head_SLAM_f_26^120 == 0 /\ a_116^0-a_116^post64 == 0 /\ -head_175^post64+head_175^0 == 0 /\ __disjvr_40^0-__disjvr_40^post64 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ f_170^0-f_170^post64 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ a_210^0-a_210^post64 == 0 /\ a_241^0-a_241^post64 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ __disjvr_32^0-__disjvr_32^post64 == 0 /\ len_183^0-len_183^post64 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ -head_14^10+head_27^post64 <= 0 /\ head_14^10-result_11^10 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ __disjvr_39^0-__disjvr_39^post64 == 0 /\ __disjvr_5^0-__disjvr_5^post64 == 0 /\ -head_SLAM_f_26^120+head_27^post64 <= 0 /\ -head_SLAM_f_26^120+head_27^post64 == 0 /\ __disjvr_12^0-__disjvr_12^post64 == 0 /\ a_330^0-a_330^post64 == 0 /\ head_14^10-head_SLAM_f_26^120 <= 0 /\ -__disjvr_17^post64+__disjvr_17^0 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ r_124^0-r_124^post64 == 0 /\ -__disjvr_11^post64+__disjvr_11^0 == 0 /\ -__disjvr_6^post64+__disjvr_6^0 == 0 /\ head_14^10-head_27^post64 <= 0 /\ -len_226^post64+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post64 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ head_129^0-head_129^post64 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ -__disjvr_33^post64+__disjvr_33^0 == 0 /\ __disjvr_1^0-__disjvr_1^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ len_132^0-len_132^post64 == 0 /\ a_147^0-a_147^post64 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ -__disjvr_30^post64+__disjvr_30^0 == 0 /\ i_108^0-i_108^post64 == 0 /\ -len_276^post64+len_276^0 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_38^post64+__disjvr_38^0 == 0 /\ a_308^0-a_308^post64 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ __disjvr_37^0-__disjvr_37^post64 == 0 /\ __disjvr_34^0-__disjvr_34^post64 == 0 /\ __disjvr_27^0-__disjvr_27^post64 == 0 /\ -y_19^post64+y_19^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ -head_268^post64+head_268^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ -head_223^post64+head_223^0 == 0 /\ -i_167^post64+i_167^0 == 0 /\ -a_184^post64+a_184^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ __disjvr_43^0-__disjvr_43^post64 == 0 /\ -r_260^post64+r_260^0 == 0 /\ -f_263^post64+f_263^0 == 0 /\ -__disjvr_29^post64+__disjvr_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post64 == 0 /\ temp0_31^10-head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ -x_SLAM_f_18^post64+x_SLAM_f_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -__disjvr_4^post64+__disjvr_4^0 == 0 /\ -i_94^post64+i_94^0 == 0 /\ x_16^0-x_16^post64 == 0 /\ __disjvr_8^0-__disjvr_8^post64 == 0 /\ length_29^0-i_30^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post64 == 0 /\ __disjvr_10^0-__disjvr_10^post64 == 0 /\ -a_353^post64+a_353^0 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -__disjvr_42^post64+__disjvr_42^0 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ -r_218^post64+r_218^0 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ -r_163^post64+r_163^0 == 0 /\ -r_39^post64+r_39^0 == 0 /\ -a_277^post64+a_277^0 == 0 /\ x_20^0-x_20^post64 == 0 /\ -__disjvr_3^post64+__disjvr_3^0 == 0), cost: 1
  83: l62 -> l81 : i_108^0'=i_108^post83, __disjvr_7^0'=__disjvr_7^post83, __disjvr_13^0'=__disjvr_13^post83, f_170^0'=f_170^post83, length_29^0'=length_29^post83, __disjvr_25^0'=__disjvr_25^post83, a_330^0'=a_330^post83, __disjvr_20^0'=__disjvr_20^post83, len_183^0'=len_183^post83, __disjvr_37^0'=__disjvr_37^post83, __disjvr_32^0'=__disjvr_32^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, head_223^0'=head_223^post83, r_260^0'=r_260^post83, __disjvr_4^0'=__disjvr_4^post83, __disjvr_10^0'=__disjvr_10^post83, x_20^0'=x_20^post83, __disjvr_41^0'=__disjvr_41^post83, __disjvr_22^0'=__disjvr_22^post83, a_241^0'=a_241^post83, __disjvr_18^0'=__disjvr_18^post83, i_30^0'=i_30^post83, __disjvr_9^0'=__disjvr_9^post83, __disjvr_2^0'=__disjvr_2^post83, rcd_58^0'=rcd_58^post83, head_129^0'=head_129^post83, r_124^0'=r_124^post83, __disjvr_27^0'=__disjvr_27^post83, ct_17^0'=ct_17^post83, temp_35^0'=temp_35^post83, __disjvr_39^0'=__disjvr_39^post83, __disjvr_34^0'=__disjvr_34^post83, t_23^0'=t_23^post83, head_27^0'=head_27^post83, __disjvr_15^0'=__disjvr_15^post83, head_SLAM_f_26^0'=head_SLAM_f_26^post83, __disjvr_6^0'=__disjvr_6^post83, __disjvr_12^0'=__disjvr_12^post83, y_19^0'=y_19^post83, __disjvr_43^0'=__disjvr_43^post83, len_276^0'=len_276^post83, __disjvr_24^0'=__disjvr_24^post83, a_308^0'=a_308^post83, __disjvr_1^0'=__disjvr_1^post83, len_132^0'=len_132^post83, a_147^0'=a_147^post83, __disjvr_31^0'=__disjvr_31^post83, result_11^0'=result_11^post83, head_175^0'=head_175^post83, r_218^0'=r_218^post83, __disjvr_29^0'=__disjvr_29^post83, __disjvr_0^0'=__disjvr_0^post83, x_16^0'=x_16^post83, __disjvr_40^0'=__disjvr_40^post83, __disjvr_36^0'=__disjvr_36^post83, a_210^0'=a_210^post83, __disjvr_17^0'=__disjvr_17^post83, i_167^0'=i_167^post83, __disjvr_8^0'=__disjvr_8^post83, __disjvr_14^0'=__disjvr_14^post83, r_39^0'=r_39^post83, f_263^0'=f_263^post83, nondet_12^0'=nondet_12^post83, __disjvr_26^0'=__disjvr_26^post83, a_353^0'=a_353^post83, __disjvr_21^0'=__disjvr_21^post83, temp0_31^0'=temp0_31^post83, __disjvr_38^0'=__disjvr_38^post83, __disjvr_33^0'=__disjvr_33^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, head_268^0'=head_268^post83, head_32^0'=head_32^post83, __disjvr_5^0'=__disjvr_5^post83, __disjvr_11^0'=__disjvr_11^post83, x_SLAM_f_18^0'=x_SLAM_f_18^post83, __disjvr_42^0'=__disjvr_42^post83, len_226^0'=len_226^post83, __disjvr_23^0'=__disjvr_23^post83, a_277^0'=a_277^post83, __disjvr_19^0'=__disjvr_19^post83, i_94^0'=i_94^post83, a_116^0'=a_116^post83, __disjvr_30^0'=__disjvr_30^post83, rcd_88^0'=rcd_88^post83, head_14^0'=head_14^post83, r_163^0'=r_163^post83, __disjvr_28^0'=__disjvr_28^post83, tmp_34^0'=tmp_34^post83, __disjvr_3^0'=__disjvr_3^post83, __disjvr_35^0'=__disjvr_35^post83, temp0_15^0'=temp0_15^post83, a_184^0'=a_184^post83, __disjvr_16^0'=__disjvr_16^post83, (0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ i_94^0-i_94^post83 == 0 /\ r_124^0-r_124^post83 == 0 /\ __disjvr_18^0-__disjvr_18^post83 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83+head_32^post83 <= 0 /\ __disjvr_36^0-__disjvr_36^post83 == 0 /\ -__disjvr_28^post83+__disjvr_28^0 == 0 /\ __disjvr_34^0-__disjvr_34^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -head_SLAM_f_26^post83+head_SLAM_f_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post83 == 0 /\ -head_14^post83+head_14^0 == 0 /\ len_132^0-len_132^post83 == 0 /\ -len_226^post83+len_226^0 == 0 /\ __disjvr_9^0-__disjvr_9^post83 == 0 /\ __disjvr_6^0-__disjvr_6^post83 == 0 /\ -a_184^post83+a_184^0 == 0 /\ -tmp_34^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ -2+i_30^post83 <= 0 /\ __disjvr_12^0-__disjvr_12^post83 == 0 /\ tmp_34^post83-temp_35^0 == 0 /\ -x_SLAM_f_18^post83+x_SLAM_f_18^0 == 0 /\ -__disjvr_2^post83+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post83 == 0 /\ -r_39^post83+r_39^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ -__disjvr_15^post83+__disjvr_15^0 == 0 /\ a_147^0-a_147^post83 == 0 /\ __disjvr_43^0-__disjvr_43^post83 == 0 /\ x_20^0-x_20^post83 == 0 /\ __disjvr_7^0-__disjvr_7^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83-head_32^post83 <= 0 /\ -a_116^post83+a_116^0 == 0 /\ -len_276^post83+len_276^0 == 0 /\ __disjvr_31^0-__disjvr_31^post83 == 0 /\ __disjvr_39^0-__disjvr_39^post83 == 0 /\ -head_268^post83+head_268^0 == 0 /\ -__disjvr_35^post83+__disjvr_35^0 == 0 /\ -x_16^post83+x_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post83 == 0 /\ __disjvr_42^0-__disjvr_42^post83 == 0 /\ -t_23^post83+t_23^0 == 0 /\ -i_167^post83+i_167^0 == 0 /\ length_29^0-length_29^post83 == 0 /\ -1+i_30^post83-i_30^0 == 0 /\ -__disjvr_14^post83+__disjvr_14^0 == 0 /\ ct_17^0-ct_17^post83 == 0 /\ tmp_34^post83-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ __disjvr_23^0-__disjvr_23^post83 == 0 /\ -__disjvr_16^post83+__disjvr_16^0 == 0 /\ -__disjvr_33^post83+__disjvr_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post83 == 0 /\ a_210^0-a_210^post83 == 0 /\ -__disjvr_3^post83+__disjvr_3^0 == 0 /\ -__disjvr_30^post83+__disjvr_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post83 == 0 /\ r_260^0-r_260^post83 == 0 /\ __disjvr_4^0-__disjvr_4^post83 == 0 /\ -head_223^post83+head_223^0 == 0 /\ a_241^0-a_241^post83 == 0 /\ -f_263^post83+f_263^0 == 0 /\ __disjvr_25^0-__disjvr_25^post83 == 0 /\ 2-length_29^0 <= 0 /\ -a_353^post83+a_353^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post83 == 0 /\ __disjvr_32^0-__disjvr_32^post83 == 0 /\ a_330^0-a_330^post83 == 0 /\ head_27^0-head_27^post83 == 0 /\ -rcd_88^post83+rcd_88^0 == 0 /\ -__disjvr_19^post83+__disjvr_19^0 == 0 /\ a_308^0-a_308^post83 == 0 /\ -__disjvr_37^post83+__disjvr_37^0 == 0 /\ -__disjvr_27^post83+__disjvr_27^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -__disjvr_11^post83+__disjvr_11^0 == 0 /\ 2-i_30^post83 <= 0 /\ -__disjvr_1^post83+__disjvr_1^0 == 0 /\ __disjvr_21^0-__disjvr_21^post83 == 0 /\ tmp_34^post83-head_32^post83 <= 0 /\ __disjvr_8^0-__disjvr_8^post83 == 0 /\ -__disjvr_40^post83+__disjvr_40^0 == 0 /\ f_170^0-f_170^post83 == 0 /\ __disjvr_0^0-__disjvr_0^post83 == 0 /\ -a_277^post83+a_277^0 == 0 /\ -r_218^post83+r_218^0 == 0 /\ -temp0_31^post83+temp0_31^0 == 0 /\ i_108^0-i_108^post83 == 0 /\ head_129^0-head_129^post83 == 0 /\ -head_175^post83+head_175^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post83 == 0 /\ -temp0_15^post83+temp0_15^0 == 0 /\ -r_163^post83+r_163^0 == 0 /\ -__disjvr_38^post83+__disjvr_38^0 == 0 /\ y_19^0-y_19^post83 == 0 /\ -__disjvr_26^post83+__disjvr_26^0 == 0 /\ -tmp_34^post83+head_32^post83 <= 0 /\ -tmp_34^post83+head_32^post83 == 0 /\ -__disjvr_29^post83+__disjvr_29^0 == 0 /\ -__disjvr_17^post83+__disjvr_17^0 == 0 /\ len_183^0-len_183^post83 == 0), cost: 1
  65: l63 -> l64 : i_108^0'=i_108^post65, __disjvr_7^0'=__disjvr_7^post65, __disjvr_13^0'=__disjvr_13^post65, f_170^0'=f_170^post65, length_29^0'=length_29^post65, __disjvr_25^0'=__disjvr_25^post65, a_330^0'=a_330^post65, __disjvr_20^0'=__disjvr_20^post65, len_183^0'=len_183^post65, __disjvr_37^0'=__disjvr_37^post65, __disjvr_32^0'=__disjvr_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_223^0'=head_223^post65, r_260^0'=r_260^post65, __disjvr_4^0'=__disjvr_4^post65, __disjvr_10^0'=__disjvr_10^post65, x_20^0'=x_20^post65, __disjvr_41^0'=__disjvr_41^post65, __disjvr_22^0'=__disjvr_22^post65, a_241^0'=a_241^post65, __disjvr_18^0'=__disjvr_18^post65, i_30^0'=i_30^post65, __disjvr_9^0'=__disjvr_9^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_58^0'=rcd_58^post65, head_129^0'=head_129^post65, r_124^0'=r_124^post65, __disjvr_27^0'=__disjvr_27^post65, ct_17^0'=ct_17^post65, temp_35^0'=temp_35^post65, __disjvr_39^0'=__disjvr_39^post65, __disjvr_34^0'=__disjvr_34^post65, t_23^0'=t_23^post65, head_27^0'=head_27^post65, __disjvr_15^0'=__disjvr_15^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, __disjvr_6^0'=__disjvr_6^post65, __disjvr_12^0'=__disjvr_12^post65, y_19^0'=y_19^post65, __disjvr_43^0'=__disjvr_43^post65, len_276^0'=len_276^post65, __disjvr_24^0'=__disjvr_24^post65, a_308^0'=a_308^post65, __disjvr_1^0'=__disjvr_1^post65, len_132^0'=len_132^post65, a_147^0'=a_147^post65, __disjvr_31^0'=__disjvr_31^post65, result_11^0'=result_11^post65, head_175^0'=head_175^post65, r_218^0'=r_218^post65, __disjvr_29^0'=__disjvr_29^post65, __disjvr_0^0'=__disjvr_0^post65, x_16^0'=x_16^post65, __disjvr_40^0'=__disjvr_40^post65, __disjvr_36^0'=__disjvr_36^post65, a_210^0'=a_210^post65, __disjvr_17^0'=__disjvr_17^post65, i_167^0'=i_167^post65, __disjvr_8^0'=__disjvr_8^post65, __disjvr_14^0'=__disjvr_14^post65, r_39^0'=r_39^post65, f_263^0'=f_263^post65, nondet_12^0'=nondet_12^post65, __disjvr_26^0'=__disjvr_26^post65, a_353^0'=a_353^post65, __disjvr_21^0'=__disjvr_21^post65, temp0_31^0'=temp0_31^post65, __disjvr_38^0'=__disjvr_38^post65, __disjvr_33^0'=__disjvr_33^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_268^0'=head_268^post65, head_32^0'=head_32^post65, __disjvr_5^0'=__disjvr_5^post65, __disjvr_11^0'=__disjvr_11^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, __disjvr_42^0'=__disjvr_42^post65, len_226^0'=len_226^post65, __disjvr_23^0'=__disjvr_23^post65, a_277^0'=a_277^post65, __disjvr_19^0'=__disjvr_19^post65, i_94^0'=i_94^post65, a_116^0'=a_116^post65, __disjvr_30^0'=__disjvr_30^post65, rcd_88^0'=rcd_88^post65, head_14^0'=head_14^post65, r_163^0'=r_163^post65, __disjvr_28^0'=__disjvr_28^post65, tmp_34^0'=tmp_34^post65, __disjvr_3^0'=__disjvr_3^post65, __disjvr_35^0'=__disjvr_35^post65, temp0_15^0'=temp0_15^post65, a_184^0'=a_184^post65, __disjvr_16^0'=__disjvr_16^post65, (a_308^0-a_308^post65 == 0 /\ head_27^0-head_27^post65 == 0 /\ -__disjvr_16^post65+__disjvr_16^0 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -__disjvr_36^post65+__disjvr_36^0 == 0 /\ rcd_58^0-rcd_58^post65 == 0 /\ -len_276^post65+len_276^0 == 0 /\ length_29^0-length_29^post65 == 0 /\ __disjvr_27^0-__disjvr_27^post65 == 0 /\ -f_263^post65+f_263^0 == 0 /\ __disjvr_7^0-__disjvr_7^post65 == 0 /\ t_23^0-t_23^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ __disjvr_37^0-__disjvr_37^post65 == 0 /\ head_223^0-head_223^post65 == 0 /\ -r_124^post65+r_124^0 == 0 /\ -a_353^post65+a_353^0 == 0 /\ len_132^0-len_132^post65 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ a_330^0-a_330^post65 == 0 /\ -temp0_15^post65+temp0_15^0 == 0 /\ __disjvr_41^0-__disjvr_41^post65 == 0 /\ -a_277^post65+a_277^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -__disjvr_24^post65+__disjvr_24^0 == 0 /\ -head_14^post65+head_14^0 == 0 /\ __disjvr_5^0-__disjvr_5^post65 == 0 /\ i_94^0-i_94^post65 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -__disjvr_42^post65+__disjvr_42^0 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ a_210^0-a_210^post65 == 0 /\ __disjvr_17^0-__disjvr_17^post65 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ -a_184^post65+a_184^0 == 0 /\ head_268^0-head_268^post65 == 0 /\ -__disjvr_23^post65+__disjvr_23^0 == 0 /\ -i_167^post65+i_167^0 == 0 /\ -r_39^post65+r_39^0 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ r_218^0-r_218^post65 == 0 /\ ct_17^0-ct_17^post65 == 0 /\ -head_175^post65+head_175^0 == 0 /\ -__disjvr_29^0+__disjvr_29^post65 == 0 /\ -__disjvr_32^post65+__disjvr_32^0 == 0 /\ -a_147^post65+a_147^0 == 0 /\ -head_129^post65+head_129^0 == 0 /\ -__disjvr_33^post65+__disjvr_33^0 == 0 /\ y_19^0-y_19^post65 == 0 /\ len_183^0-len_183^post65 == 0 /\ -head_32^post65+head_32^0 == 0 /\ -__disjvr_3^post65+__disjvr_3^0 == 0 /\ f_170^0-f_170^post65 == 0 /\ -__disjvr_43^post65+__disjvr_43^0 == 0 /\ __disjvr_34^0-__disjvr_34^post65 == 0 /\ -r_163^post65+r_163^0 == 0 /\ i_30^0-i_30^post65 == 0 /\ __disjvr_31^0-__disjvr_31^post65 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ -rcd_88^post65+rcd_88^0 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -len_226^post65+len_226^0 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ -__disjvr_35^post65+__disjvr_35^0 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ -__disjvr_14^post65+__disjvr_14^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ __disjvr_25^0-__disjvr_25^post65 == 0 /\ -a_116^post65+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -__disjvr_40^post65+__disjvr_40^0 == 0 /\ r_260^0-r_260^post65 == 0 /\ a_241^0-a_241^post65 == 0 /\ __disjvr_18^0-__disjvr_18^post65 == 0 /\ x_20^0-x_20^post65 == 0 /\ -__disjvr_38^post65+__disjvr_38^0 == 0 /\ -x_16^post65+x_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ -head_SLAM_f_26^post65+head_SLAM_f_26^0 == 0 /\ i_108^0-i_108^post65 == 0 /\ __disjvr_39^0-__disjvr_39^post65 == 0), cost: 1
  66: l64 -> l65 : i_108^0'=i_108^post66, __disjvr_7^0'=__disjvr_7^post66, __disjvr_13^0'=__disjvr_13^post66, f_170^0'=f_170^post66, length_29^0'=length_29^post66, __disjvr_25^0'=__disjvr_25^post66, a_330^0'=a_330^post66, __disjvr_20^0'=__disjvr_20^post66, len_183^0'=len_183^post66, __disjvr_37^0'=__disjvr_37^post66, __disjvr_32^0'=__disjvr_32^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, head_223^0'=head_223^post66, r_260^0'=r_260^post66, __disjvr_4^0'=__disjvr_4^post66, __disjvr_10^0'=__disjvr_10^post66, x_20^0'=x_20^post66, __disjvr_41^0'=__disjvr_41^post66, __disjvr_22^0'=__disjvr_22^post66, a_241^0'=a_241^post66, __disjvr_18^0'=__disjvr_18^post66, i_30^0'=i_30^post66, __disjvr_9^0'=__disjvr_9^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_58^0'=rcd_58^post66, head_129^0'=head_129^post66, r_124^0'=r_124^post66, __disjvr_27^0'=__disjvr_27^post66, ct_17^0'=ct_17^post66, temp_35^0'=temp_35^post66, __disjvr_39^0'=__disjvr_39^post66, __disjvr_34^0'=__disjvr_34^post66, t_23^0'=t_23^post66, head_27^0'=head_27^post66, __disjvr_15^0'=__disjvr_15^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, __disjvr_6^0'=__disjvr_6^post66, __disjvr_12^0'=__disjvr_12^post66, y_19^0'=y_19^post66, __disjvr_43^0'=__disjvr_43^post66, len_276^0'=len_276^post66, __disjvr_24^0'=__disjvr_24^post66, a_308^0'=a_308^post66, __disjvr_1^0'=__disjvr_1^post66, len_132^0'=len_132^post66, a_147^0'=a_147^post66, __disjvr_31^0'=__disjvr_31^post66, result_11^0'=result_11^post66, head_175^0'=head_175^post66, r_218^0'=r_218^post66, __disjvr_29^0'=__disjvr_29^post66, __disjvr_0^0'=__disjvr_0^post66, x_16^0'=x_16^post66, __disjvr_40^0'=__disjvr_40^post66, __disjvr_36^0'=__disjvr_36^post66, a_210^0'=a_210^post66, __disjvr_17^0'=__disjvr_17^post66, i_167^0'=i_167^post66, __disjvr_8^0'=__disjvr_8^post66, __disjvr_14^0'=__disjvr_14^post66, r_39^0'=r_39^post66, f_263^0'=f_263^post66, nondet_12^0'=nondet_12^post66, __disjvr_26^0'=__disjvr_26^post66, a_353^0'=a_353^post66, __disjvr_21^0'=__disjvr_21^post66, temp0_31^0'=temp0_31^post66, __disjvr_38^0'=__disjvr_38^post66, __disjvr_33^0'=__disjvr_33^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, head_268^0'=head_268^post66, head_32^0'=head_32^post66, __disjvr_5^0'=__disjvr_5^post66, __disjvr_11^0'=__disjvr_11^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, __disjvr_42^0'=__disjvr_42^post66, len_226^0'=len_226^post66, __disjvr_23^0'=__disjvr_23^post66, a_277^0'=a_277^post66, __disjvr_19^0'=__disjvr_19^post66, i_94^0'=i_94^post66, a_116^0'=a_116^post66, __disjvr_30^0'=__disjvr_30^post66, rcd_88^0'=rcd_88^post66, head_14^0'=head_14^post66, r_163^0'=r_163^post66, __disjvr_28^0'=__disjvr_28^post66, tmp_34^0'=tmp_34^post66, __disjvr_3^0'=__disjvr_3^post66, __disjvr_35^0'=__disjvr_35^post66, temp0_15^0'=temp0_15^post66, a_184^0'=a_184^post66, __disjvr_16^0'=__disjvr_16^post66, (__disjvr_13^0-__disjvr_13^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ r_124^0-r_124^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ -__disjvr_3^post66+__disjvr_3^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ -len_132^post66+len_132^0 == 0 /\ -r_163^post66+r_163^0 == 0 /\ -r_218^post66+r_218^0 == 0 /\ -__disjvr_29^post66+__disjvr_29^0 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -head_268^post66+head_268^0 == 0 /\ __disjvr_34^0-__disjvr_34^post66 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ -rcd_88^post66+rcd_88^0 == 0 /\ i_30^0-i_30^post66 == 0 /\ -__disjvr_19^post66+__disjvr_19^0 == 0 /\ -__disjvr_39^post66+__disjvr_39^0 == 0 /\ -__disjvr_35^post66+__disjvr_35^0 == 0 /\ -len_226^post66+len_226^0 == 0 /\ -a_116^post66+a_116^0 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ -__disjvr_30^post66+__disjvr_30^0 == 0 /\ head_27^0 <= 0 /\ -head_27^0 <= 0 /\ -__disjvr_42^post66+__disjvr_42^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ r_260^0-r_260^post66 == 0 /\ -__disjvr_38^post66+__disjvr_38^0 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ x_20^0-x_20^post66 == 0 /\ head_175^0-head_175^post66 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ i_108^0-i_108^post66 == 0 /\ head_129^0-head_129^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -__disjvr_24^post66+__disjvr_24^0 == 0 /\ -a_210^post66+a_210^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_263^post66+f_263^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -__disjvr_11^post66+__disjvr_11^0 == 0 /\ -y_19^post66+y_19^0 == 0 /\ __disjvr_40^0-__disjvr_40^post66 == 0 /\ -__disjvr_0^post66+__disjvr_0^0 == 0 /\ __disjvr_32^0-__disjvr_32^post66 == 0 /\ -__disjvr_16^post66+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ -head_27^post66+head_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66 == 0 /\ -__disjvr_31^post66+__disjvr_31^0 == 0 /\ t_23^0-t_23^post66 == 0 /\ a_241^0-a_241^post66 == 0 /\ -temp0_15^post66+temp0_15^0 == 0 /\ -__disjvr_36^post66+__disjvr_36^0 == 0 /\ __disjvr_4^0-__disjvr_4^post66 == 0 /\ __disjvr_27^0-__disjvr_27^post66 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -a_308^post66+a_308^0 == 0 /\ __disjvr_10^0-__disjvr_10^post66 == 0 /\ -__disjvr_43^post66+__disjvr_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ __disjvr_1^0-__disjvr_1^post66 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ a_353^0-a_353^post66 == 0 /\ __disjvr_41^0-__disjvr_41^post66 == 0 /\ __disjvr_12^0-__disjvr_12^post66 == 0 /\ len_276^0-len_276^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ head_223^0-head_223^post66 == 0 /\ -__disjvr_9^post66+__disjvr_9^0 == 0 /\ -head_14^post66+head_14^0 == 0 /\ __disjvr_2^0-__disjvr_2^post66 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ -a_277^post66+a_277^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ f_170^0-f_170^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ __disjvr_37^0-__disjvr_37^post66 == 0 /\ __disjvr_33^0-__disjvr_33^post66 == 0 /\ -__disjvr_21^post66+__disjvr_21^0 == 0 /\ temp_35^0-temp_35^post66 == 0 /\ -a_184^post66+a_184^0 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ r_39^0-r_39^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -i_167^post66+i_167^0 == 0 /\ a_330^0-a_330^post66 == 0), cost: 1
  67: l65 -> l66 : i_108^0'=i_108^post67, __disjvr_7^0'=__disjvr_7^post67, __disjvr_13^0'=__disjvr_13^post67, f_170^0'=f_170^post67, length_29^0'=length_29^post67, __disjvr_25^0'=__disjvr_25^post67, a_330^0'=a_330^post67, __disjvr_20^0'=__disjvr_20^post67, len_183^0'=len_183^post67, __disjvr_37^0'=__disjvr_37^post67, __disjvr_32^0'=__disjvr_32^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, head_223^0'=head_223^post67, r_260^0'=r_260^post67, __disjvr_4^0'=__disjvr_4^post67, __disjvr_10^0'=__disjvr_10^post67, x_20^0'=x_20^post67, __disjvr_41^0'=__disjvr_41^post67, __disjvr_22^0'=__disjvr_22^post67, a_241^0'=a_241^post67, __disjvr_18^0'=__disjvr_18^post67, i_30^0'=i_30^post67, __disjvr_9^0'=__disjvr_9^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_58^0'=rcd_58^post67, head_129^0'=head_129^post67, r_124^0'=r_124^post67, __disjvr_27^0'=__disjvr_27^post67, ct_17^0'=ct_17^post67, temp_35^0'=temp_35^post67, __disjvr_39^0'=__disjvr_39^post67, __disjvr_34^0'=__disjvr_34^post67, t_23^0'=t_23^post67, head_27^0'=head_27^post67, __disjvr_15^0'=__disjvr_15^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, __disjvr_6^0'=__disjvr_6^post67, __disjvr_12^0'=__disjvr_12^post67, y_19^0'=y_19^post67, __disjvr_43^0'=__disjvr_43^post67, len_276^0'=len_276^post67, __disjvr_24^0'=__disjvr_24^post67, a_308^0'=a_308^post67, __disjvr_1^0'=__disjvr_1^post67, len_132^0'=len_132^post67, a_147^0'=a_147^post67, __disjvr_31^0'=__disjvr_31^post67, result_11^0'=result_11^post67, head_175^0'=head_175^post67, r_218^0'=r_218^post67, __disjvr_29^0'=__disjvr_29^post67, __disjvr_0^0'=__disjvr_0^post67, x_16^0'=x_16^post67, __disjvr_40^0'=__disjvr_40^post67, __disjvr_36^0'=__disjvr_36^post67, a_210^0'=a_210^post67, __disjvr_17^0'=__disjvr_17^post67, i_167^0'=i_167^post67, __disjvr_8^0'=__disjvr_8^post67, __disjvr_14^0'=__disjvr_14^post67, r_39^0'=r_39^post67, f_263^0'=f_263^post67, nondet_12^0'=nondet_12^post67, __disjvr_26^0'=__disjvr_26^post67, a_353^0'=a_353^post67, __disjvr_21^0'=__disjvr_21^post67, temp0_31^0'=temp0_31^post67, __disjvr_38^0'=__disjvr_38^post67, __disjvr_33^0'=__disjvr_33^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, head_268^0'=head_268^post67, head_32^0'=head_32^post67, __disjvr_5^0'=__disjvr_5^post67, __disjvr_11^0'=__disjvr_11^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, __disjvr_42^0'=__disjvr_42^post67, len_226^0'=len_226^post67, __disjvr_23^0'=__disjvr_23^post67, a_277^0'=a_277^post67, __disjvr_19^0'=__disjvr_19^post67, i_94^0'=i_94^post67, a_116^0'=a_116^post67, __disjvr_30^0'=__disjvr_30^post67, rcd_88^0'=rcd_88^post67, head_14^0'=head_14^post67, r_163^0'=r_163^post67, __disjvr_28^0'=__disjvr_28^post67, tmp_34^0'=tmp_34^post67, __disjvr_3^0'=__disjvr_3^post67, __disjvr_35^0'=__disjvr_35^post67, temp0_15^0'=temp0_15^post67, a_184^0'=a_184^post67, __disjvr_16^0'=__disjvr_16^post67, (len_276^0-len_276^post67 == 0 /\ head_175^0-head_175^post67 == 0 /\ -__disjvr_31^post67+__disjvr_31^0 == 0 /\ -__disjvr_21^post67+__disjvr_21^0 == 0 /\ __disjvr_30^post67-__disjvr_30^0 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_330^0-a_330^post67 == 0 /\ -a_184^post67+a_184^0 == 0 /\ -__disjvr_40^post67+__disjvr_40^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ a_241^0-a_241^post67 == 0 /\ __disjvr_32^0-__disjvr_32^post67 == 0 /\ -__disjvr_43^post67+__disjvr_43^0 == 0 /\ -a_210^post67+a_210^0 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post67+x_SLAM_f_18^0 == 0 /\ -__disjvr_23^post67+__disjvr_23^0 == 0 /\ length_29^0-length_29^post67 == 0 /\ head_32^0-head_32^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ -__disjvr_33^post67+__disjvr_33^0 == 0 /\ -head_27^post67+head_27^0 == 0 /\ i_108^0-i_108^post67 == 0 /\ __disjvr_41^0-__disjvr_41^post67 == 0 /\ r_260^0-r_260^post67 == 0 /\ x_16^0-x_16^post67 == 0 /\ -__disjvr_39^post67+__disjvr_39^0 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ -__disjvr_36^post67+__disjvr_36^0 == 0 /\ -head_14^post67+head_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ i_167^0-i_167^post67 == 0 /\ r_218^0-r_218^post67 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ f_170^0-f_170^post67 == 0 /\ __disjvr_37^0-__disjvr_37^post67 == 0 /\ head_129^0-head_129^post67 == 0 /\ -len_132^post67+len_132^0 == 0 /\ -__disjvr_5^post67+__disjvr_5^0 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ -__disjvr_0^post67+__disjvr_0^0 == 0 /\ rcd_58^0-rcd_58^post67 == 0 /\ -len_226^post67+len_226^0 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post67 == 0 /\ -__disjvr_34^post67+__disjvr_34^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ -__disjvr_38^post67+__disjvr_38^0 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ len_183^0-len_183^post67 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ -__disjvr_29^post67+__disjvr_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post67 == 0 /\ -r_163^post67+r_163^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ f_263^0-f_263^post67 == 0 /\ -head_268^post67+head_268^0 == 0 /\ -i_94^post67+i_94^0 == 0 /\ head_223^0-head_223^post67 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ r_39^0-r_39^post67 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ -__disjvr_14^post67+__disjvr_14^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ __disjvr_27^0-__disjvr_27^post67 == 0 /\ __disjvr_12^0-__disjvr_12^post67 == 0 /\ __disjvr_7^0-__disjvr_7^post67 == 0 /\ -temp0_15^post67+temp0_15^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ i_30^0-i_30^post67 == 0 /\ x_20^0-x_20^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ -__disjvr_42^post67+__disjvr_42^0 == 0 /\ r_124^0-r_124^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ a_147^0-a_147^post67 == 0 /\ -a_353^post67+a_353^0 == 0 /\ -__disjvr_19^post67+__disjvr_19^0 == 0 /\ -a_308^post67+a_308^0 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -result_11^post67+result_11^0 == 0 /\ -__disjvr_8^post67+__disjvr_8^0 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ t_23^0-t_23^post67 == 0 /\ -y_19^post67+y_19^0 == 0 /\ -a_277^post67+a_277^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -a_116^post67+a_116^0 == 0 /\ __disjvr_13^0-__disjvr_13^post67 == 0 /\ -__disjvr_35^post67+__disjvr_35^0 == 0), cost: 1
  68: l66 -> l67 : i_108^0'=i_108^post68, __disjvr_7^0'=__disjvr_7^post68, __disjvr_13^0'=__disjvr_13^post68, f_170^0'=f_170^post68, length_29^0'=length_29^post68, __disjvr_25^0'=__disjvr_25^post68, a_330^0'=a_330^post68, __disjvr_20^0'=__disjvr_20^post68, len_183^0'=len_183^post68, __disjvr_37^0'=__disjvr_37^post68, __disjvr_32^0'=__disjvr_32^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, head_223^0'=head_223^post68, r_260^0'=r_260^post68, __disjvr_4^0'=__disjvr_4^post68, __disjvr_10^0'=__disjvr_10^post68, x_20^0'=x_20^post68, __disjvr_41^0'=__disjvr_41^post68, __disjvr_22^0'=__disjvr_22^post68, a_241^0'=a_241^post68, __disjvr_18^0'=__disjvr_18^post68, i_30^0'=i_30^post68, __disjvr_9^0'=__disjvr_9^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_58^0'=rcd_58^post68, head_129^0'=head_129^post68, r_124^0'=r_124^post68, __disjvr_27^0'=__disjvr_27^post68, ct_17^0'=ct_17^post68, temp_35^0'=temp_35^post68, __disjvr_39^0'=__disjvr_39^post68, __disjvr_34^0'=__disjvr_34^post68, t_23^0'=t_23^post68, head_27^0'=head_27^post68, __disjvr_15^0'=__disjvr_15^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, __disjvr_6^0'=__disjvr_6^post68, __disjvr_12^0'=__disjvr_12^post68, y_19^0'=y_19^post68, __disjvr_43^0'=__disjvr_43^post68, len_276^0'=len_276^post68, __disjvr_24^0'=__disjvr_24^post68, a_308^0'=a_308^post68, __disjvr_1^0'=__disjvr_1^post68, len_132^0'=len_132^post68, a_147^0'=a_147^post68, __disjvr_31^0'=__disjvr_31^post68, result_11^0'=result_11^post68, head_175^0'=head_175^post68, r_218^0'=r_218^post68, __disjvr_29^0'=__disjvr_29^post68, __disjvr_0^0'=__disjvr_0^post68, x_16^0'=x_16^post68, __disjvr_40^0'=__disjvr_40^post68, __disjvr_36^0'=__disjvr_36^post68, a_210^0'=a_210^post68, __disjvr_17^0'=__disjvr_17^post68, i_167^0'=i_167^post68, __disjvr_8^0'=__disjvr_8^post68, __disjvr_14^0'=__disjvr_14^post68, r_39^0'=r_39^post68, f_263^0'=f_263^post68, nondet_12^0'=nondet_12^post68, __disjvr_26^0'=__disjvr_26^post68, a_353^0'=a_353^post68, __disjvr_21^0'=__disjvr_21^post68, temp0_31^0'=temp0_31^post68, __disjvr_38^0'=__disjvr_38^post68, __disjvr_33^0'=__disjvr_33^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, head_268^0'=head_268^post68, head_32^0'=head_32^post68, __disjvr_5^0'=__disjvr_5^post68, __disjvr_11^0'=__disjvr_11^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, __disjvr_42^0'=__disjvr_42^post68, len_226^0'=len_226^post68, __disjvr_23^0'=__disjvr_23^post68, a_277^0'=a_277^post68, __disjvr_19^0'=__disjvr_19^post68, i_94^0'=i_94^post68, a_116^0'=a_116^post68, __disjvr_30^0'=__disjvr_30^post68, rcd_88^0'=rcd_88^post68, head_14^0'=head_14^post68, r_163^0'=r_163^post68, __disjvr_28^0'=__disjvr_28^post68, tmp_34^0'=tmp_34^post68, __disjvr_3^0'=__disjvr_3^post68, __disjvr_35^0'=__disjvr_35^post68, temp0_15^0'=temp0_15^post68, a_184^0'=a_184^post68, __disjvr_16^0'=__disjvr_16^post68, (0 == 0 /\ length_29^0-length_29^post68 == 0 /\ -r_260^post68+r_260^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ -x_16^post68+x_16^0 == 0 /\ __disjvr_43^0-__disjvr_43^post68 == 0 /\ __disjvr_17^0-__disjvr_17^post68 == 0 /\ -head_SLAM_f_26^post68+head_14^0 <= 0 /\ -len_226^post68+len_226^0 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ temp_35^0-temp_35^post68 == 0 /\ a_277^0-a_277^post68 == 0 /\ head_268^0-head_268^post68 == 0 /\ -i_167^post68+i_167^0 == 0 /\ a_330^0-a_330^post68 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_37^0-__disjvr_37^post68 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ -__disjvr_0^post68+__disjvr_0^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ __disjvr_34^0-__disjvr_34^post68 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ -i_94^post68+i_94^0 == 0 /\ -a_184^post68+a_184^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ -__disjvr_42^post68+__disjvr_42^0 == 0 /\ head_SLAM_f_26^post68-head_14^0 <= 0 /\ head_SLAM_f_26^post68-head_14^0 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -head_27^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 <= 0 /\ len_183^0-len_183^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ head_129^0-head_129^post68 == 0 /\ -head_14^post68+head_14^0 == 0 /\ __disjvr_22^0-__disjvr_22^post68 == 0 /\ -__disjvr_19^post68+__disjvr_19^0 == 0 /\ -__disjvr_21^post68+__disjvr_21^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ head_27^post68-head_SLAM_f_26^post68 <= 0 /\ head_27^post68-head_SLAM_f_26^post68 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_27^post68+head_14^0 <= 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ __disjvr_38^0-__disjvr_38^post68 == 0 /\ -r_218^post68+r_218^0 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ -r_39^post68+r_39^0 == 0 /\ -len_276^post68+len_276^0 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ ct_17^0-ct_17^post68 == 0 /\ -a_147^post68+a_147^0 == 0 /\ -x_20^post68+x_20^0 == 0 /\ i_30^0-i_30^post68 == 0 /\ head_223^0-head_223^post68 == 0 /\ -len_132^post68+len_132^0 == 0 /\ -a_210^post68+a_210^0 == 0 /\ __disjvr_36^0-__disjvr_36^post68 == 0 /\ -head_175^post68+head_175^0 == 0 /\ f_170^0-f_170^post68 == 0 /\ -y_19^post68+y_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ -__disjvr_33^post68+__disjvr_33^0 == 0 /\ a_353^0-a_353^post68 == 0 /\ -head_27^post68+head_SLAM_f_26^post68 <= 0 /\ -__disjvr_40^post68+__disjvr_40^0 == 0 /\ head_27^post68-head_14^0 <= 0 /\ a_308^0-a_308^post68 == 0 /\ __disjvr_6^0-__disjvr_6^post68 == 0 /\ __disjvr_41^0-__disjvr_41^post68 == 0 /\ -head_32^post68+head_32^0 == 0 /\ __disjvr_30^0-__disjvr_30^post68 == 0 /\ -r_163^post68+r_163^0 == 0 /\ -__disjvr_23^post68+__disjvr_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ __disjvr_7^0-__disjvr_7^post68 == 0 /\ -__disjvr_14^post68+__disjvr_14^0 == 0 /\ -__disjvr_32^post68+__disjvr_32^0 == 0 /\ -rcd_88^post68+rcd_88^0 == 0 /\ __disjvr_39^0-__disjvr_39^post68 == 0 /\ f_263^0-f_263^post68 == 0 /\ -__disjvr_35^post68+__disjvr_35^0 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -a_116^post68+a_116^0 == 0 /\ a_241^0-a_241^post68 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ __disjvr_31^0-__disjvr_31^post68 == 0), cost: 1
  69: l67 -> l68 : i_108^0'=i_108^post69, __disjvr_7^0'=__disjvr_7^post69, __disjvr_13^0'=__disjvr_13^post69, f_170^0'=f_170^post69, length_29^0'=length_29^post69, __disjvr_25^0'=__disjvr_25^post69, a_330^0'=a_330^post69, __disjvr_20^0'=__disjvr_20^post69, len_183^0'=len_183^post69, __disjvr_37^0'=__disjvr_37^post69, __disjvr_32^0'=__disjvr_32^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, head_223^0'=head_223^post69, r_260^0'=r_260^post69, __disjvr_4^0'=__disjvr_4^post69, __disjvr_10^0'=__disjvr_10^post69, x_20^0'=x_20^post69, __disjvr_41^0'=__disjvr_41^post69, __disjvr_22^0'=__disjvr_22^post69, a_241^0'=a_241^post69, __disjvr_18^0'=__disjvr_18^post69, i_30^0'=i_30^post69, __disjvr_9^0'=__disjvr_9^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_58^0'=rcd_58^post69, head_129^0'=head_129^post69, r_124^0'=r_124^post69, __disjvr_27^0'=__disjvr_27^post69, ct_17^0'=ct_17^post69, temp_35^0'=temp_35^post69, __disjvr_39^0'=__disjvr_39^post69, __disjvr_34^0'=__disjvr_34^post69, t_23^0'=t_23^post69, head_27^0'=head_27^post69, __disjvr_15^0'=__disjvr_15^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, __disjvr_6^0'=__disjvr_6^post69, __disjvr_12^0'=__disjvr_12^post69, y_19^0'=y_19^post69, __disjvr_43^0'=__disjvr_43^post69, len_276^0'=len_276^post69, __disjvr_24^0'=__disjvr_24^post69, a_308^0'=a_308^post69, __disjvr_1^0'=__disjvr_1^post69, len_132^0'=len_132^post69, a_147^0'=a_147^post69, __disjvr_31^0'=__disjvr_31^post69, result_11^0'=result_11^post69, head_175^0'=head_175^post69, r_218^0'=r_218^post69, __disjvr_29^0'=__disjvr_29^post69, __disjvr_0^0'=__disjvr_0^post69, x_16^0'=x_16^post69, __disjvr_40^0'=__disjvr_40^post69, __disjvr_36^0'=__disjvr_36^post69, a_210^0'=a_210^post69, __disjvr_17^0'=__disjvr_17^post69, i_167^0'=i_167^post69, __disjvr_8^0'=__disjvr_8^post69, __disjvr_14^0'=__disjvr_14^post69, r_39^0'=r_39^post69, f_263^0'=f_263^post69, nondet_12^0'=nondet_12^post69, __disjvr_26^0'=__disjvr_26^post69, a_353^0'=a_353^post69, __disjvr_21^0'=__disjvr_21^post69, temp0_31^0'=temp0_31^post69, __disjvr_38^0'=__disjvr_38^post69, __disjvr_33^0'=__disjvr_33^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, head_268^0'=head_268^post69, head_32^0'=head_32^post69, __disjvr_5^0'=__disjvr_5^post69, __disjvr_11^0'=__disjvr_11^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, __disjvr_42^0'=__disjvr_42^post69, len_226^0'=len_226^post69, __disjvr_23^0'=__disjvr_23^post69, a_277^0'=a_277^post69, __disjvr_19^0'=__disjvr_19^post69, i_94^0'=i_94^post69, a_116^0'=a_116^post69, __disjvr_30^0'=__disjvr_30^post69, rcd_88^0'=rcd_88^post69, head_14^0'=head_14^post69, r_163^0'=r_163^post69, __disjvr_28^0'=__disjvr_28^post69, tmp_34^0'=tmp_34^post69, __disjvr_3^0'=__disjvr_3^post69, __disjvr_35^0'=__disjvr_35^post69, temp0_15^0'=temp0_15^post69, a_184^0'=a_184^post69, __disjvr_16^0'=__disjvr_16^post69, (head_268^0-head_268^post69 == 0 /\ a_277^0-a_277^post69 == 0 /\ -head_175^post69+head_175^0 == 0 /\ __disjvr_27^0-__disjvr_27^post69 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ -head_SLAM_f_26^post69+head_SLAM_f_26^0 == 0 /\ -__disjvr_23^post69+__disjvr_23^0 == 0 /\ t_23^0-t_23^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_308^0-a_308^post69 == 0 /\ -a_147^post69+a_147^0 == 0 /\ head_223^0-head_223^post69 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -f_263^post69+f_263^0 == 0 /\ __disjvr_39^0-__disjvr_39^post69 == 0 /\ -__disjvr_0^post69+__disjvr_0^0 == 0 /\ -len_276^post69+len_276^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ -a_241^post69+a_241^0 == 0 /\ f_170^0-f_170^post69 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ head_27^0-head_27^post69 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ __disjvr_40^0-__disjvr_40^post69 == 0 /\ __disjvr_8^0-__disjvr_8^post69 == 0 /\ __disjvr_41^0-__disjvr_41^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_13^0-__disjvr_13^post69 == 0 /\ -x_16^post69+x_16^0 == 0 /\ -a_116^post69+a_116^0 == 0 /\ -r_163^post69+r_163^0 == 0 /\ -len_226^post69+len_226^0 == 0 /\ rcd_58^0-rcd_58^post69 == 0 /\ -__disjvr_35^post69+__disjvr_35^0 == 0 /\ -a_184^post69+a_184^0 == 0 /\ y_19^0-y_19^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ __disjvr_7^0-__disjvr_7^post69 == 0 /\ -i_167^post69+i_167^0 == 0 /\ -__disjvr_16^post69+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ -head_14^post69+head_14^0 == 0 /\ -__disjvr_24^post69+__disjvr_24^0 == 0 /\ -__disjvr_30^post69+__disjvr_30^0 == 0 /\ __disjvr_32^0-__disjvr_32^post69 == 0 /\ temp_35^0-temp_35^post69 == 0 /\ __disjvr_22^0-__disjvr_22^post69 == 0 /\ -head_129^post69+head_129^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -result_11^post69+result_11^0 == 0 /\ __disjvr_33^0-__disjvr_33^post69 == 0 /\ -__disjvr_42^post69+__disjvr_42^0 == 0 /\ -r_39^post69+r_39^0 == 0 /\ -__disjvr_36^post69+__disjvr_36^0 == 0 /\ -__disjvr_19^post69+__disjvr_19^0 == 0 /\ -len_132^post69+len_132^0 == 0 /\ a_330^0-a_330^post69 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ __disjvr_31^0-__disjvr_31^post69 == 0 /\ __disjvr_25^0-__disjvr_25^post69 == 0 /\ __disjvr_17^0-__disjvr_17^post69 == 0 /\ __disjvr_37^0-__disjvr_37^post69 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_43^post69+__disjvr_43^0 == 0 /\ __disjvr_34^0-__disjvr_34^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ -__disjvr_26^post69+__disjvr_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post69 == 0 /\ __disjvr_2^0-__disjvr_2^post69 == 0 /\ ct_17^0-ct_17^post69 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ a_353^0-a_353^post69 == 0 /\ -r_218^post69+r_218^0 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ len_183^0-len_183^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ -__disjvr_31^0+__disjvr_31^post69 == 0 /\ -a_210^post69+a_210^0 == 0 /\ r_260^0-r_260^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -x_SLAM_f_18^post69+x_SLAM_f_18^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ __disjvr_38^0-__disjvr_38^post69 == 0 /\ i_108^0-i_108^post69 == 0 /\ rcd_88^0-rcd_88^post69 == 0), cost: 1
  70: l68 -> l69 : i_108^0'=i_108^post70, __disjvr_7^0'=__disjvr_7^post70, __disjvr_13^0'=__disjvr_13^post70, f_170^0'=f_170^post70, length_29^0'=length_29^post70, __disjvr_25^0'=__disjvr_25^post70, a_330^0'=a_330^post70, __disjvr_20^0'=__disjvr_20^post70, len_183^0'=len_183^post70, __disjvr_37^0'=__disjvr_37^post70, __disjvr_32^0'=__disjvr_32^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, head_223^0'=head_223^post70, r_260^0'=r_260^post70, __disjvr_4^0'=__disjvr_4^post70, __disjvr_10^0'=__disjvr_10^post70, x_20^0'=x_20^post70, __disjvr_41^0'=__disjvr_41^post70, __disjvr_22^0'=__disjvr_22^post70, a_241^0'=a_241^post70, __disjvr_18^0'=__disjvr_18^post70, i_30^0'=i_30^post70, __disjvr_9^0'=__disjvr_9^post70, __disjvr_2^0'=__disjvr_2^post70, rcd_58^0'=rcd_58^post70, head_129^0'=head_129^post70, r_124^0'=r_124^post70, __disjvr_27^0'=__disjvr_27^post70, ct_17^0'=ct_17^post70, temp_35^0'=temp_35^post70, __disjvr_39^0'=__disjvr_39^post70, __disjvr_34^0'=__disjvr_34^post70, t_23^0'=t_23^post70, head_27^0'=head_27^post70, __disjvr_15^0'=__disjvr_15^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, __disjvr_6^0'=__disjvr_6^post70, __disjvr_12^0'=__disjvr_12^post70, y_19^0'=y_19^post70, __disjvr_43^0'=__disjvr_43^post70, len_276^0'=len_276^post70, __disjvr_24^0'=__disjvr_24^post70, a_308^0'=a_308^post70, __disjvr_1^0'=__disjvr_1^post70, len_132^0'=len_132^post70, a_147^0'=a_147^post70, __disjvr_31^0'=__disjvr_31^post70, result_11^0'=result_11^post70, head_175^0'=head_175^post70, r_218^0'=r_218^post70, __disjvr_29^0'=__disjvr_29^post70, __disjvr_0^0'=__disjvr_0^post70, x_16^0'=x_16^post70, __disjvr_40^0'=__disjvr_40^post70, __disjvr_36^0'=__disjvr_36^post70, a_210^0'=a_210^post70, __disjvr_17^0'=__disjvr_17^post70, i_167^0'=i_167^post70, __disjvr_8^0'=__disjvr_8^post70, __disjvr_14^0'=__disjvr_14^post70, r_39^0'=r_39^post70, f_263^0'=f_263^post70, nondet_12^0'=nondet_12^post70, __disjvr_26^0'=__disjvr_26^post70, a_353^0'=a_353^post70, __disjvr_21^0'=__disjvr_21^post70, temp0_31^0'=temp0_31^post70, __disjvr_38^0'=__disjvr_38^post70, __disjvr_33^0'=__disjvr_33^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, head_268^0'=head_268^post70, head_32^0'=head_32^post70, __disjvr_5^0'=__disjvr_5^post70, __disjvr_11^0'=__disjvr_11^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, __disjvr_42^0'=__disjvr_42^post70, len_226^0'=len_226^post70, __disjvr_23^0'=__disjvr_23^post70, a_277^0'=a_277^post70, __disjvr_19^0'=__disjvr_19^post70, i_94^0'=i_94^post70, a_116^0'=a_116^post70, __disjvr_30^0'=__disjvr_30^post70, rcd_88^0'=rcd_88^post70, head_14^0'=head_14^post70, r_163^0'=r_163^post70, __disjvr_28^0'=__disjvr_28^post70, tmp_34^0'=tmp_34^post70, __disjvr_3^0'=__disjvr_3^post70, __disjvr_35^0'=__disjvr_35^post70, temp0_15^0'=temp0_15^post70, a_184^0'=a_184^post70, __disjvr_16^0'=__disjvr_16^post70, (0 == 0 /\ i_167^0-i_167^post70 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ -__disjvr_11^post70+__disjvr_11^0 == 0 /\ -__disjvr_10^post70+__disjvr_10^0 == 0 /\ -i_94^post70+i_94^0 == 0 /\ -head_27^post70+head_27^0 == 0 /\ len_183^0-len_183^post70 == 0 /\ length_29^0-length_29^post70 == 0 /\ __disjvr_7^0-__disjvr_7^post70 == 0 /\ -__disjvr_6^post70+__disjvr_6^0 == 0 /\ __disjvr_37^0-__disjvr_37^post70 == 0 /\ y_19^0-y_19^post70 == 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ -a_353^post70+a_353^0 == 0 /\ -head_268^post70+head_268^0 == 0 /\ -__disjvr_43^post70+__disjvr_43^0 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ -a_147^post70+a_147^0 == 0 /\ a_330^0-a_330^post70 == 0 /\ -__disjvr_19^post70+__disjvr_19^0 == 0 /\ head_175^0-head_175^post70 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ -__disjvr_0^post70+__disjvr_0^0 == 0 /\ -head_129^post70+head_129^0 == 0 /\ -__disjvr_9^post70+__disjvr_9^0 == 0 /\ __disjvr_4^0-__disjvr_4^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ -ct_17^post70+ct_17^0 == 0 /\ head_32^0-head_32^post70 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -__disjvr_24^post70+__disjvr_24^0 == 0 /\ -result_11^post70+result_11^0 == 0 /\ r_260^0-r_260^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ -a_277^post70+a_277^0 == 0 /\ x_20^0-x_20^post70 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ -__disjvr_42^post70+__disjvr_42^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ __disjvr_2^0-__disjvr_2^post70 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ i_30^0-i_30^post70 == 0 /\ -__disjvr_31^post70+__disjvr_31^0 == 0 /\ t_23^0-t_23^post70 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ -__disjvr_21^post70+__disjvr_21^0 == 0 /\ -r_39^post70+r_39^0 == 0 /\ rcd_58^0-rcd_58^post70 == 0 /\ a_241^0-a_241^post70 == 0 /\ -a_308^post70+a_308^0 == 0 /\ -__disjvr_36^post70+__disjvr_36^0 == 0 /\ i_108^0-i_108^post70 == 0 /\ -r_218^post70+r_218^0 == 0 /\ -__disjvr_29^post70+__disjvr_29^0 == 0 /\ __disjvr_40^0-__disjvr_40^post70 == 0 /\ -temp0_15^post70+temp0_15^0 == 0 /\ temp0_31^0-temp0_31^post70 == 0 /\ -__disjvr_23^post70+__disjvr_23^0 == 0 /\ -__disjvr_18^post70+__disjvr_18^0 == 0 /\ __disjvr_12^0-__disjvr_12^post70 == 0 /\ len_276^0-len_276^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70 == 0 /\ -len_132^post70+len_132^0 == 0 /\ __disjvr_32^0-__disjvr_32^post70 == 0 /\ __disjvr_22^0-__disjvr_22^post70 == 0 /\ head_223^0-head_223^post70 == 0 /\ -__disjvr_39^post70+__disjvr_39^0 == 0 /\ -__disjvr_25^post70+__disjvr_25^0 == 0 /\ r_124^0-r_124^post70 == 0 /\ -x_SLAM_f_18^post70+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post70+__disjvr_30^0 == 0 /\ -__disjvr_38^post70+__disjvr_38^0 == 0 /\ __disjvr_34^0-__disjvr_34^post70 == 0 /\ __disjvr_27^0-__disjvr_27^post70 == 0 /\ __disjvr_33^0-__disjvr_33^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ __disjvr_26^0-__disjvr_26^post70 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ -f_263^post70+f_263^0 == 0 /\ f_170^0-f_170^post70 == 0 /\ -a_116^post70+a_116^0 == 0 /\ __disjvr_41^0-__disjvr_41^post70 == 0 /\ temp_35^0-temp_35^post70 == 0 /\ r_163^0-r_163^post70 == 0 /\ -__disjvr_35^post70+__disjvr_35^0 == 0 /\ -len_226^post70+len_226^0 == 0 /\ -a_184^post70+a_184^0 == 0 /\ -x_16^post70+x_16^0 == 0 /\ -a_210^post70+a_210^0 == 0 /\ __disjvr_1^0-__disjvr_1^post70 == 0), cost: 1
  71: l69 -> l70 : i_108^0'=i_108^post71, __disjvr_7^0'=__disjvr_7^post71, __disjvr_13^0'=__disjvr_13^post71, f_170^0'=f_170^post71, length_29^0'=length_29^post71, __disjvr_25^0'=__disjvr_25^post71, a_330^0'=a_330^post71, __disjvr_20^0'=__disjvr_20^post71, len_183^0'=len_183^post71, __disjvr_37^0'=__disjvr_37^post71, __disjvr_32^0'=__disjvr_32^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, head_223^0'=head_223^post71, r_260^0'=r_260^post71, __disjvr_4^0'=__disjvr_4^post71, __disjvr_10^0'=__disjvr_10^post71, x_20^0'=x_20^post71, __disjvr_41^0'=__disjvr_41^post71, __disjvr_22^0'=__disjvr_22^post71, a_241^0'=a_241^post71, __disjvr_18^0'=__disjvr_18^post71, i_30^0'=i_30^post71, __disjvr_9^0'=__disjvr_9^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_58^0'=rcd_58^post71, head_129^0'=head_129^post71, r_124^0'=r_124^post71, __disjvr_27^0'=__disjvr_27^post71, ct_17^0'=ct_17^post71, temp_35^0'=temp_35^post71, __disjvr_39^0'=__disjvr_39^post71, __disjvr_34^0'=__disjvr_34^post71, t_23^0'=t_23^post71, head_27^0'=head_27^post71, __disjvr_15^0'=__disjvr_15^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, __disjvr_6^0'=__disjvr_6^post71, __disjvr_12^0'=__disjvr_12^post71, y_19^0'=y_19^post71, __disjvr_43^0'=__disjvr_43^post71, len_276^0'=len_276^post71, __disjvr_24^0'=__disjvr_24^post71, a_308^0'=a_308^post71, __disjvr_1^0'=__disjvr_1^post71, len_132^0'=len_132^post71, a_147^0'=a_147^post71, __disjvr_31^0'=__disjvr_31^post71, result_11^0'=result_11^post71, head_175^0'=head_175^post71, r_218^0'=r_218^post71, __disjvr_29^0'=__disjvr_29^post71, __disjvr_0^0'=__disjvr_0^post71, x_16^0'=x_16^post71, __disjvr_40^0'=__disjvr_40^post71, __disjvr_36^0'=__disjvr_36^post71, a_210^0'=a_210^post71, __disjvr_17^0'=__disjvr_17^post71, i_167^0'=i_167^post71, __disjvr_8^0'=__disjvr_8^post71, __disjvr_14^0'=__disjvr_14^post71, r_39^0'=r_39^post71, f_263^0'=f_263^post71, nondet_12^0'=nondet_12^post71, __disjvr_26^0'=__disjvr_26^post71, a_353^0'=a_353^post71, __disjvr_21^0'=__disjvr_21^post71, temp0_31^0'=temp0_31^post71, __disjvr_38^0'=__disjvr_38^post71, __disjvr_33^0'=__disjvr_33^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, head_268^0'=head_268^post71, head_32^0'=head_32^post71, __disjvr_5^0'=__disjvr_5^post71, __disjvr_11^0'=__disjvr_11^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, __disjvr_42^0'=__disjvr_42^post71, len_226^0'=len_226^post71, __disjvr_23^0'=__disjvr_23^post71, a_277^0'=a_277^post71, __disjvr_19^0'=__disjvr_19^post71, i_94^0'=i_94^post71, a_116^0'=a_116^post71, __disjvr_30^0'=__disjvr_30^post71, rcd_88^0'=rcd_88^post71, head_14^0'=head_14^post71, r_163^0'=r_163^post71, __disjvr_28^0'=__disjvr_28^post71, tmp_34^0'=tmp_34^post71, __disjvr_3^0'=__disjvr_3^post71, __disjvr_35^0'=__disjvr_35^post71, temp0_15^0'=temp0_15^post71, a_184^0'=a_184^post71, __disjvr_16^0'=__disjvr_16^post71, (-len_276^post71+len_276^0 == 0 /\ ct_17^0-ct_17^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ -__disjvr_40^post71+__disjvr_40^0 == 0 /\ __disjvr_12^0-__disjvr_12^post71 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71 == 0 /\ -__disjvr_33^post71+__disjvr_33^0 == 0 /\ r_124^0-r_124^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -r_39^post71+r_39^0 == 0 /\ a_210^0-a_210^post71 == 0 /\ a_147^0-a_147^post71 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ -__disjvr_21^post71+__disjvr_21^0 == 0 /\ -head_32^post71+head_32^0 == 0 /\ __disjvr_36^0-__disjvr_36^post71 == 0 /\ -r_163^post71+r_163^0 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ -len_226^post71+len_226^0 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ length_29^0-length_29^post71 == 0 /\ -len_132^post71+len_132^0 == 0 /\ __disjvr_7^0-__disjvr_7^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ -x_SLAM_f_18^post71+x_SLAM_f_18^0 == 0 /\ a_241^0-a_241^post71 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_35^post71+__disjvr_35^0 == 0 /\ -__disjvr_38^post71+__disjvr_38^0 == 0 /\ -__disjvr_30^post71+__disjvr_30^0 == 0 /\ __disjvr_43^0-__disjvr_43^post71 == 0 /\ f_170^0-f_170^post71 == 0 /\ -a_116^post71+a_116^0 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -__disjvr_0^post71+__disjvr_0^0 == 0 /\ __disjvr_39^0-__disjvr_39^post71 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ __disjvr_32^0-__disjvr_32^post71 == 0 /\ head_27^0-head_27^post71 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ head_175^0-head_175^post71 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ -__disjvr_31^post71+__disjvr_31^0 == 0 /\ x_16^0-x_16^post71 == 0 /\ __disjvr_6^0-__disjvr_6^post71 == 0 /\ f_263^0-f_263^post71 == 0 /\ a_308^0-a_308^post71 == 0 /\ -tmp_34^post71+tmp_34^0 == 0 /\ __disjvr_10^0-__disjvr_10^post71 == 0 /\ __disjvr_25^0-__disjvr_25^post71 == 0 /\ -temp_35^post71+temp_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ -__disjvr_3^post71+__disjvr_3^0 == 0 /\ -temp0_15^post71+temp0_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ __disjvr_41^0-__disjvr_41^post71 == 0 /\ x_20^0-x_20^post71 == 0 /\ -a_353^post71+a_353^0 == 0 /\ -head_223^post71+head_223^0 == 0 /\ -__disjvr_14^post71+__disjvr_14^0 == 0 /\ -__disjvr_32^0+__disjvr_32^post71 == 0 /\ -i_30^post71+i_30^0 == 0 /\ head_129^0-head_129^post71 == 0 /\ -head_268^post71+head_268^0 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ -rcd_88^post71+rcd_88^0 == 0 /\ r_218^0-r_218^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ len_183^0-len_183^post71 == 0 /\ -y_19^post71+y_19^0 == 0 /\ -__disjvr_34^post71+__disjvr_34^0 == 0 /\ -__disjvr_37^post71+__disjvr_37^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ -a_184^post71+a_184^0 == 0 /\ -i_167^post71+i_167^0 == 0 /\ i_108^0-i_108^post71 == 0 /\ -__disjvr_42^post71+__disjvr_42^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ -a_277^post71+a_277^0 == 0 /\ r_260^0-r_260^post71 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ head_14^0-head_14^post71 == 0 /\ a_330^0-a_330^post71 == 0 /\ -temp0_31^post71+temp0_31^0 == 0), cost: 1
  72: l70 -> l71 : i_108^0'=i_108^post72, __disjvr_7^0'=__disjvr_7^post72, __disjvr_13^0'=__disjvr_13^post72, f_170^0'=f_170^post72, length_29^0'=length_29^post72, __disjvr_25^0'=__disjvr_25^post72, a_330^0'=a_330^post72, __disjvr_20^0'=__disjvr_20^post72, len_183^0'=len_183^post72, __disjvr_37^0'=__disjvr_37^post72, __disjvr_32^0'=__disjvr_32^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, head_223^0'=head_223^post72, r_260^0'=r_260^post72, __disjvr_4^0'=__disjvr_4^post72, __disjvr_10^0'=__disjvr_10^post72, x_20^0'=x_20^post72, __disjvr_41^0'=__disjvr_41^post72, __disjvr_22^0'=__disjvr_22^post72, a_241^0'=a_241^post72, __disjvr_18^0'=__disjvr_18^post72, i_30^0'=i_30^post72, __disjvr_9^0'=__disjvr_9^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_58^0'=rcd_58^post72, head_129^0'=head_129^post72, r_124^0'=r_124^post72, __disjvr_27^0'=__disjvr_27^post72, ct_17^0'=ct_17^post72, temp_35^0'=temp_35^post72, __disjvr_39^0'=__disjvr_39^post72, __disjvr_34^0'=__disjvr_34^post72, t_23^0'=t_23^post72, head_27^0'=head_27^post72, __disjvr_15^0'=__disjvr_15^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, __disjvr_6^0'=__disjvr_6^post72, __disjvr_12^0'=__disjvr_12^post72, y_19^0'=y_19^post72, __disjvr_43^0'=__disjvr_43^post72, len_276^0'=len_276^post72, __disjvr_24^0'=__disjvr_24^post72, a_308^0'=a_308^post72, __disjvr_1^0'=__disjvr_1^post72, len_132^0'=len_132^post72, a_147^0'=a_147^post72, __disjvr_31^0'=__disjvr_31^post72, result_11^0'=result_11^post72, head_175^0'=head_175^post72, r_218^0'=r_218^post72, __disjvr_29^0'=__disjvr_29^post72, __disjvr_0^0'=__disjvr_0^post72, x_16^0'=x_16^post72, __disjvr_40^0'=__disjvr_40^post72, __disjvr_36^0'=__disjvr_36^post72, a_210^0'=a_210^post72, __disjvr_17^0'=__disjvr_17^post72, i_167^0'=i_167^post72, __disjvr_8^0'=__disjvr_8^post72, __disjvr_14^0'=__disjvr_14^post72, r_39^0'=r_39^post72, f_263^0'=f_263^post72, nondet_12^0'=nondet_12^post72, __disjvr_26^0'=__disjvr_26^post72, a_353^0'=a_353^post72, __disjvr_21^0'=__disjvr_21^post72, temp0_31^0'=temp0_31^post72, __disjvr_38^0'=__disjvr_38^post72, __disjvr_33^0'=__disjvr_33^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, head_268^0'=head_268^post72, head_32^0'=head_32^post72, __disjvr_5^0'=__disjvr_5^post72, __disjvr_11^0'=__disjvr_11^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, __disjvr_42^0'=__disjvr_42^post72, len_226^0'=len_226^post72, __disjvr_23^0'=__disjvr_23^post72, a_277^0'=a_277^post72, __disjvr_19^0'=__disjvr_19^post72, i_94^0'=i_94^post72, a_116^0'=a_116^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_88^0'=rcd_88^post72, head_14^0'=head_14^post72, r_163^0'=r_163^post72, __disjvr_28^0'=__disjvr_28^post72, tmp_34^0'=tmp_34^post72, __disjvr_3^0'=__disjvr_3^post72, __disjvr_35^0'=__disjvr_35^post72, temp0_15^0'=temp0_15^post72, a_184^0'=a_184^post72, __disjvr_16^0'=__disjvr_16^post72, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72 == 0 /\ -i_167^post72+i_167^0 == 0 /\ r_124^0-r_124^post72 == 0 /\ -r_163^post72+r_163^0 == 0 /\ -r_218^post72+r_218^0 == 0 /\ __disjvr_5^0-__disjvr_5^post72 == 0 /\ -i_94^post72+i_94^0 == 0 /\ -r_39^post72+r_39^0 == 0 /\ __disjvr_37^0-__disjvr_37^post72 == 0 /\ -__disjvr_33^post72+__disjvr_33^0 == 0 /\ len_132^0-len_132^post72 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -head_32^post72+head_32^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ -__disjvr_14^post72+__disjvr_14^0 == 0 /\ ct_17^0-ct_17^post72 == 0 /\ -rcd_88^post72+rcd_88^0 == 0 /\ -len_276^post72+len_276^0 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ head_268^0-head_268^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ __disjvr_39^0-__disjvr_39^post72 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post72 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ length_29^0-length_29^post72 == 0 /\ -head_SLAM_f_26^post72+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post72 == 0 /\ head_27^0 <= 0 /\ -f_263^post72+f_263^0 == 0 /\ -head_27^0 <= 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ a_147^0-a_147^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -__disjvr_35^post72+__disjvr_35^0 == 0 /\ -x_16^post72+x_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post72 == 0 /\ -a_116^post72+a_116^0 == 0 /\ -__disjvr_42^post72+__disjvr_42^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post72+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_226^post72+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post72 == 0 /\ __disjvr_43^0-__disjvr_43^post72 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ x_20^0-x_20^post72 == 0 /\ head_175^0-head_175^post72 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_11^post72+__disjvr_11^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ head_27^0-head_27^post72 == 0 /\ -__disjvr_16^post72+__disjvr_16^0 == 0 /\ -__disjvr_21^post72+__disjvr_21^0 == 0 /\ -__disjvr_40^post72+__disjvr_40^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ f_170^0-f_170^post72 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ y_19^0-y_19^post72 == 0 /\ __disjvr_32^0-__disjvr_32^post72 == 0 /\ a_308^0-a_308^post72 == 0 /\ __disjvr_22^0-__disjvr_22^post72 == 0 /\ a_241^0-a_241^post72 == 0 /\ -a_330^post72+a_330^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ a_210^0-a_210^post72 == 0 /\ __disjvr_41^0-__disjvr_41^post72 == 0 /\ -a_353^post72+a_353^0 == 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ __disjvr_10^0-__disjvr_10^post72 == 0 /\ -head_14^post72+head_14^0 == 0 /\ -temp0_15^post72+temp0_15^0 == 0 /\ -t_23^post72+t_23^0 == 0 /\ __disjvr_38^0-__disjvr_38^post72 == 0 /\ r_260^0-r_260^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_3^post72+__disjvr_3^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ len_183^0-len_183^post72 == 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ head_223^0-head_223^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ head_129^0-head_129^post72 == 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ -temp_35^post72+temp_35^0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ i_108^0-i_108^post72 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -__disjvr_34^post72+__disjvr_34^0 == 0 /\ -__disjvr_31^post72+__disjvr_31^0 == 0 /\ -a_277^post72+a_277^0 == 0 /\ -a_184^post72+a_184^0 == 0), cost: 1
  73: l71 -> l72 : i_108^0'=i_108^post73, __disjvr_7^0'=__disjvr_7^post73, __disjvr_13^0'=__disjvr_13^post73, f_170^0'=f_170^post73, length_29^0'=length_29^post73, __disjvr_25^0'=__disjvr_25^post73, a_330^0'=a_330^post73, __disjvr_20^0'=__disjvr_20^post73, len_183^0'=len_183^post73, __disjvr_37^0'=__disjvr_37^post73, __disjvr_32^0'=__disjvr_32^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, head_223^0'=head_223^post73, r_260^0'=r_260^post73, __disjvr_4^0'=__disjvr_4^post73, __disjvr_10^0'=__disjvr_10^post73, x_20^0'=x_20^post73, __disjvr_41^0'=__disjvr_41^post73, __disjvr_22^0'=__disjvr_22^post73, a_241^0'=a_241^post73, __disjvr_18^0'=__disjvr_18^post73, i_30^0'=i_30^post73, __disjvr_9^0'=__disjvr_9^post73, __disjvr_2^0'=__disjvr_2^post73, rcd_58^0'=rcd_58^post73, head_129^0'=head_129^post73, r_124^0'=r_124^post73, __disjvr_27^0'=__disjvr_27^post73, ct_17^0'=ct_17^post73, temp_35^0'=temp_35^post73, __disjvr_39^0'=__disjvr_39^post73, __disjvr_34^0'=__disjvr_34^post73, t_23^0'=t_23^post73, head_27^0'=head_27^post73, __disjvr_15^0'=__disjvr_15^post73, head_SLAM_f_26^0'=head_SLAM_f_26^post73, __disjvr_6^0'=__disjvr_6^post73, __disjvr_12^0'=__disjvr_12^post73, y_19^0'=y_19^post73, __disjvr_43^0'=__disjvr_43^post73, len_276^0'=len_276^post73, __disjvr_24^0'=__disjvr_24^post73, a_308^0'=a_308^post73, __disjvr_1^0'=__disjvr_1^post73, len_132^0'=len_132^post73, a_147^0'=a_147^post73, __disjvr_31^0'=__disjvr_31^post73, result_11^0'=result_11^post73, head_175^0'=head_175^post73, r_218^0'=r_218^post73, __disjvr_29^0'=__disjvr_29^post73, __disjvr_0^0'=__disjvr_0^post73, x_16^0'=x_16^post73, __disjvr_40^0'=__disjvr_40^post73, __disjvr_36^0'=__disjvr_36^post73, a_210^0'=a_210^post73, __disjvr_17^0'=__disjvr_17^post73, i_167^0'=i_167^post73, __disjvr_8^0'=__disjvr_8^post73, __disjvr_14^0'=__disjvr_14^post73, r_39^0'=r_39^post73, f_263^0'=f_263^post73, nondet_12^0'=nondet_12^post73, __disjvr_26^0'=__disjvr_26^post73, a_353^0'=a_353^post73, __disjvr_21^0'=__disjvr_21^post73, temp0_31^0'=temp0_31^post73, __disjvr_38^0'=__disjvr_38^post73, __disjvr_33^0'=__disjvr_33^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, head_268^0'=head_268^post73, head_32^0'=head_32^post73, __disjvr_5^0'=__disjvr_5^post73, __disjvr_11^0'=__disjvr_11^post73, x_SLAM_f_18^0'=x_SLAM_f_18^post73, __disjvr_42^0'=__disjvr_42^post73, len_226^0'=len_226^post73, __disjvr_23^0'=__disjvr_23^post73, a_277^0'=a_277^post73, __disjvr_19^0'=__disjvr_19^post73, i_94^0'=i_94^post73, a_116^0'=a_116^post73, __disjvr_30^0'=__disjvr_30^post73, rcd_88^0'=rcd_88^post73, head_14^0'=head_14^post73, r_163^0'=r_163^post73, __disjvr_28^0'=__disjvr_28^post73, tmp_34^0'=tmp_34^post73, __disjvr_3^0'=__disjvr_3^post73, __disjvr_35^0'=__disjvr_35^post73, temp0_15^0'=temp0_15^post73, a_184^0'=a_184^post73, __disjvr_16^0'=__disjvr_16^post73, (-__disjvr_43^post73+__disjvr_43^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_35^post73+__disjvr_35^0 == 0 /\ len_132^0-len_132^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ -__disjvr_26^post73+__disjvr_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post73 == 0 /\ __disjvr_32^0-__disjvr_32^post73 == 0 /\ -head_27^post73+head_27^0 == 0 /\ -i_167^post73+i_167^0 == 0 /\ __disjvr_31^0-__disjvr_31^post73 == 0 /\ head_129^0-head_129^post73 == 0 /\ -a_277^post73+a_277^0 == 0 /\ -__disjvr_1^post73+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post73 == 0 /\ -r_163^post73+r_163^0 == 0 /\ rcd_58^0-rcd_58^post73 == 0 /\ __disjvr_5^0-__disjvr_5^post73 == 0 /\ -i_94^post73+i_94^0 == 0 /\ -rcd_88^post73+rcd_88^0 == 0 /\ -__disjvr_14^post73+__disjvr_14^0 == 0 /\ -__disjvr_36^post73+__disjvr_36^0 == 0 /\ __disjvr_10^0-__disjvr_10^post73 == 0 /\ __disjvr_13^0-__disjvr_13^post73 == 0 /\ __disjvr_0^0-__disjvr_0^post73 == 0 /\ head_268^0-head_268^post73 == 0 /\ __disjvr_4^0-__disjvr_4^post73 == 0 /\ -__disjvr_42^post73+__disjvr_42^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post73 == 0 /\ -__disjvr_30^post73+__disjvr_30^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ len_183^0-len_183^post73 == 0 /\ r_260^0-r_260^post73 == 0 /\ -__disjvr_28^post73+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post73+head_SLAM_f_26^0 == 0 /\ a_330^0-a_330^post73 == 0 /\ -temp0_15^post73+temp0_15^0 == 0 /\ -__disjvr_19^post73+__disjvr_19^0 == 0 /\ __disjvr_34^0-__disjvr_34^post73 == 0 /\ t_23^0-t_23^post73 == 0 /\ -__disjvr_27^post73+__disjvr_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post73 == 0 /\ r_124^0-r_124^post73 == 0 /\ a_308^0-a_308^post73 == 0 /\ head_223^0-head_223^post73 == 0 /\ i_108^0-i_108^post73 == 0 /\ __disjvr_9^0-__disjvr_9^post73 == 0 /\ -x_16^post73+x_16^0 == 0 /\ __disjvr_41^0-__disjvr_41^post73 == 0 /\ -temp_35^post73+temp_35^0 == 0 /\ -f_263^post73+f_263^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -head_32^post73+head_32^0 == 0 /\ len_276^0-len_276^post73 == 0 /\ -a_116^post73+a_116^0 == 0 /\ -a_184^post73+a_184^0 == 0 /\ __disjvr_38^0-__disjvr_38^post73 == 0 /\ __disjvr_29^0-__disjvr_29^post73 == 0 /\ __disjvr_39^0-__disjvr_39^post73 == 0 /\ f_170^0-f_170^post73 == 0 /\ -__disjvr_16^post73+__disjvr_16^0 == 0 /\ __disjvr_37^0-__disjvr_37^post73 == 0 /\ __disjvr_20^0-__disjvr_20^post73 == 0 /\ -temp0_31^post73+temp0_31^0 == 0 /\ y_19^0-y_19^post73 == 0 /\ -__disjvr_23^post73+__disjvr_23^0 == 0 /\ __disjvr_17^0-__disjvr_17^post73 == 0 /\ -__disjvr_21^post73+__disjvr_21^0 == 0 /\ -head_14^post73+head_14^0 == 0 /\ a_353^0-a_353^post73 == 0 /\ -__disjvr_12^post73+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post73 == 0 /\ -__disjvr_40^post73+__disjvr_40^0 == 0 /\ r_218^0-r_218^post73 == 0 /\ -a_147^post73+a_147^0 == 0 /\ -tmp_34^post73+tmp_34^0 == 0 /\ -__disjvr_33^post73+__disjvr_33^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ __disjvr_25^0-__disjvr_25^post73 == 0 /\ a_241^0-a_241^post73 == 0 /\ a_210^0-a_210^post73 == 0 /\ length_29^0-length_29^post73 == 0 /\ __disjvr_18^0-__disjvr_18^post73 == 0 /\ __disjvr_6^0-__disjvr_6^post73 == 0 /\ __disjvr_8^0-__disjvr_8^post73 == 0 /\ -__disjvr_11^post73+__disjvr_11^0 == 0 /\ -len_226^post73+len_226^0 == 0 /\ -head_175^post73+head_175^0 == 0 /\ -__disjvr_3^post73+__disjvr_3^0 == 0 /\ -__disjvr_24^post73+__disjvr_24^0 == 0 /\ __disjvr_15^0-__disjvr_15^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ -x_20^post73+x_20^0 == 0 /\ __disjvr_33^post73-__disjvr_33^0 == 0), cost: 1
  74: l72 -> l73 : i_108^0'=i_108^post74, __disjvr_7^0'=__disjvr_7^post74, __disjvr_13^0'=__disjvr_13^post74, f_170^0'=f_170^post74, length_29^0'=length_29^post74, __disjvr_25^0'=__disjvr_25^post74, a_330^0'=a_330^post74, __disjvr_20^0'=__disjvr_20^post74, len_183^0'=len_183^post74, __disjvr_37^0'=__disjvr_37^post74, __disjvr_32^0'=__disjvr_32^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, head_223^0'=head_223^post74, r_260^0'=r_260^post74, __disjvr_4^0'=__disjvr_4^post74, __disjvr_10^0'=__disjvr_10^post74, x_20^0'=x_20^post74, __disjvr_41^0'=__disjvr_41^post74, __disjvr_22^0'=__disjvr_22^post74, a_241^0'=a_241^post74, __disjvr_18^0'=__disjvr_18^post74, i_30^0'=i_30^post74, __disjvr_9^0'=__disjvr_9^post74, __disjvr_2^0'=__disjvr_2^post74, rcd_58^0'=rcd_58^post74, head_129^0'=head_129^post74, r_124^0'=r_124^post74, __disjvr_27^0'=__disjvr_27^post74, ct_17^0'=ct_17^post74, temp_35^0'=temp_35^post74, __disjvr_39^0'=__disjvr_39^post74, __disjvr_34^0'=__disjvr_34^post74, t_23^0'=t_23^post74, head_27^0'=head_27^post74, __disjvr_15^0'=__disjvr_15^post74, head_SLAM_f_26^0'=head_SLAM_f_26^post74, __disjvr_6^0'=__disjvr_6^post74, __disjvr_12^0'=__disjvr_12^post74, y_19^0'=y_19^post74, __disjvr_43^0'=__disjvr_43^post74, len_276^0'=len_276^post74, __disjvr_24^0'=__disjvr_24^post74, a_308^0'=a_308^post74, __disjvr_1^0'=__disjvr_1^post74, len_132^0'=len_132^post74, a_147^0'=a_147^post74, __disjvr_31^0'=__disjvr_31^post74, result_11^0'=result_11^post74, head_175^0'=head_175^post74, r_218^0'=r_218^post74, __disjvr_29^0'=__disjvr_29^post74, __disjvr_0^0'=__disjvr_0^post74, x_16^0'=x_16^post74, __disjvr_40^0'=__disjvr_40^post74, __disjvr_36^0'=__disjvr_36^post74, a_210^0'=a_210^post74, __disjvr_17^0'=__disjvr_17^post74, i_167^0'=i_167^post74, __disjvr_8^0'=__disjvr_8^post74, __disjvr_14^0'=__disjvr_14^post74, r_39^0'=r_39^post74, f_263^0'=f_263^post74, nondet_12^0'=nondet_12^post74, __disjvr_26^0'=__disjvr_26^post74, a_353^0'=a_353^post74, __disjvr_21^0'=__disjvr_21^post74, temp0_31^0'=temp0_31^post74, __disjvr_38^0'=__disjvr_38^post74, __disjvr_33^0'=__disjvr_33^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, head_268^0'=head_268^post74, head_32^0'=head_32^post74, __disjvr_5^0'=__disjvr_5^post74, __disjvr_11^0'=__disjvr_11^post74, x_SLAM_f_18^0'=x_SLAM_f_18^post74, __disjvr_42^0'=__disjvr_42^post74, len_226^0'=len_226^post74, __disjvr_23^0'=__disjvr_23^post74, a_277^0'=a_277^post74, __disjvr_19^0'=__disjvr_19^post74, i_94^0'=i_94^post74, a_116^0'=a_116^post74, __disjvr_30^0'=__disjvr_30^post74, rcd_88^0'=rcd_88^post74, head_14^0'=head_14^post74, r_163^0'=r_163^post74, __disjvr_28^0'=__disjvr_28^post74, tmp_34^0'=tmp_34^post74, __disjvr_3^0'=__disjvr_3^post74, __disjvr_35^0'=__disjvr_35^post74, temp0_15^0'=temp0_15^post74, a_184^0'=a_184^post74, __disjvr_16^0'=__disjvr_16^post74, (0 == 0 /\ -tmp_34^post74+tmp_34^0 == 0 /\ -a_184^post74+a_184^0 == 0 /\ -__disjvr_9^post74+__disjvr_9^0 == 0 /\ -a_210^post74+a_210^0 == 0 /\ len_276^0-len_276^post74 == 0 /\ head_175^0-head_175^post74 == 0 /\ -__disjvr_43^post74+__disjvr_43^0 == 0 /\ -r_163^post74+r_163^0 == 0 /\ -r_218^post74+r_218^0 == 0 /\ __disjvr_34^0-__disjvr_34^post74 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post74 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post74 <= 0 /\ -__disjvr_10^post74+__disjvr_10^0 == 0 /\ -ct_17^post74+y_19^post74 <= 0 /\ -ct_17^post74+y_19^post74 == 0 /\ -head_32^post74+head_32^0 == 0 /\ length_29^0-length_29^post74 == 0 /\ -__disjvr_16^post74+__disjvr_16^0 == 0 /\ x_SLAM_f_18^post74-head_14^0 <= 0 /\ -a_308^post74+a_308^0 == 0 /\ __disjvr_15^0-__disjvr_15^post74 == 0 /\ a_330^0-a_330^post74 == 0 /\ __disjvr_41^0-__disjvr_41^post74 == 0 /\ -head_14^post74+head_14^0 == 0 /\ -__disjvr_21^post74+__disjvr_21^0 == 0 /\ -__disjvr_30^post74+__disjvr_30^0 == 0 /\ -__disjvr_12^post74+__disjvr_12^0 == 0 /\ x_16^post74-head_14^0 <= 0 /\ x_16^post74-head_14^0 == 0 /\ -__disjvr_23^post74+__disjvr_23^0 == 0 /\ -__disjvr_22^post74+__disjvr_22^0 == 0 /\ i_167^0-i_167^post74 == 0 /\ __disjvr_7^0-__disjvr_7^post74 == 0 /\ len_183^0-len_183^post74 == 0 /\ head_129^0-head_129^post74 == 0 /\ -__disjvr_36^post74+__disjvr_36^0 == 0 /\ __disjvr_20^0-__disjvr_20^post74 == 0 /\ ct_17^post74 <= 0 /\ ct_17^post74 == 0 /\ __disjvr_37^0-__disjvr_37^post74 == 0 /\ i_30^0-i_30^post74 == 0 /\ ct_17^post74-y_19^post74 <= 0 /\ y_19^post74 <= 0 /\ head_27^0 <= 0 /\ -head_27^0 <= 0 /\ -y_19^post74 <= 0 /\ -__disjvr_17^post74+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^post74+head_14^0 <= 0 /\ rcd_58^0-rcd_58^post74 == 0 /\ -len_132^post74+len_132^0 == 0 /\ -ct_17^post74 <= 0 /\ __disjvr_13^0-__disjvr_13^post74 == 0 /\ -__disjvr_39^post74+__disjvr_39^0 == 0 /\ -__disjvr_3^post74+__disjvr_3^0 == 0 /\ -__disjvr_31^post74+__disjvr_31^0 == 0 /\ -len_226^post74+len_226^0 == 0 /\ -a_116^post74+a_116^0 == 0 /\ -__disjvr_0^post74+__disjvr_0^0 == 0 /\ -x_16^post74+head_14^0 <= 0 /\ -__disjvr_6^post74+__disjvr_6^0 == 0 /\ -__disjvr_35^post74+__disjvr_35^0 == 0 /\ -__disjvr_26^post74+__disjvr_26^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_31^0-temp0_31^post74 == 0 /\ r_260^0-r_260^post74 == 0 /\ -x_16^post74+x_SLAM_f_18^post74 <= 0 /\ -x_16^post74+x_SLAM_f_18^post74 == 0 /\ temp_35^0-temp_35^post74 == 0 /\ __disjvr_14^0-__disjvr_14^post74 == 0 /\ __disjvr_25^0-__disjvr_25^post74 == 0 /\ a_241^0-a_241^post74 == 0 /\ __disjvr_2^0-__disjvr_2^post74 == 0 /\ -__disjvr_29^post74+__disjvr_29^0 == 0 /\ -__disjvr_38^post74+__disjvr_38^0 == 0 /\ head_223^0-head_223^post74 == 0 /\ __disjvr_32^0-__disjvr_32^post74 == 0 /\ __disjvr_18^0-__disjvr_18^post74 == 0 /\ x_SLAM_f_18^post74-x_20^post74 <= 0 /\ __disjvr_40^0-__disjvr_40^post74 == 0 /\ i_108^0-i_108^post74 == 0 /\ x_20^post74-head_14^0 <= 0 /\ -i_94^post74+i_94^0 == 0 /\ __disjvr_24^0-__disjvr_24^post74 == 0 /\ -head_268^post74+head_268^0 == 0 /\ __disjvr_1^0-__disjvr_1^post74 == 0 /\ __disjvr_33^0-__disjvr_33^post74 == 0 /\ -__disjvr_5^post74+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post74 == 0 /\ -rcd_88^post74+rcd_88^0 == 0 /\ __disjvr_27^0-__disjvr_27^post74 == 0 /\ r_124^0-r_124^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0 /\ x_16^post74-x_SLAM_f_18^post74 <= 0 /\ -__disjvr_42^post74+__disjvr_42^0 == 0 /\ -__disjvr_28^post74+__disjvr_28^0 == 0 /\ -result_11^post74+result_11^0 == 0 /\ -__disjvr_8^post74+__disjvr_8^0 == 0 /\ -temp0_15^post74+temp0_15^0 == 0 /\ t_23^0-t_23^post74 == 0 /\ a_147^0-a_147^post74 == 0 /\ -__disjvr_19^post74+__disjvr_19^0 == 0 /\ f_170^0-f_170^post74 == 0 /\ -a_353^post74+a_353^0 == 0 /\ r_39^0-r_39^post74 == 0 /\ -x_SLAM_f_18^post74+x_20^post74 <= 0 /\ -x_SLAM_f_18^post74+x_20^post74 == 0 /\ -x_20^post74+head_14^0 <= 0 /\ -__disjvr_11^post74+__disjvr_11^0 == 0 /\ -f_263^post74+f_263^0 == 0 /\ -a_277^post74+a_277^0 == 0 /\ -nondet_12^post74+nondet_12^0 == 0), cost: 1
  75: l73 -> l74 : i_108^0'=i_108^post75, __disjvr_7^0'=__disjvr_7^post75, __disjvr_13^0'=__disjvr_13^post75, f_170^0'=f_170^post75, length_29^0'=length_29^post75, __disjvr_25^0'=__disjvr_25^post75, a_330^0'=a_330^post75, __disjvr_20^0'=__disjvr_20^post75, len_183^0'=len_183^post75, __disjvr_37^0'=__disjvr_37^post75, __disjvr_32^0'=__disjvr_32^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, head_223^0'=head_223^post75, r_260^0'=r_260^post75, __disjvr_4^0'=__disjvr_4^post75, __disjvr_10^0'=__disjvr_10^post75, x_20^0'=x_20^post75, __disjvr_41^0'=__disjvr_41^post75, __disjvr_22^0'=__disjvr_22^post75, a_241^0'=a_241^post75, __disjvr_18^0'=__disjvr_18^post75, i_30^0'=i_30^post75, __disjvr_9^0'=__disjvr_9^post75, __disjvr_2^0'=__disjvr_2^post75, rcd_58^0'=rcd_58^post75, head_129^0'=head_129^post75, r_124^0'=r_124^post75, __disjvr_27^0'=__disjvr_27^post75, ct_17^0'=ct_17^post75, temp_35^0'=temp_35^post75, __disjvr_39^0'=__disjvr_39^post75, __disjvr_34^0'=__disjvr_34^post75, t_23^0'=t_23^post75, head_27^0'=head_27^post75, __disjvr_15^0'=__disjvr_15^post75, head_SLAM_f_26^0'=head_SLAM_f_26^post75, __disjvr_6^0'=__disjvr_6^post75, __disjvr_12^0'=__disjvr_12^post75, y_19^0'=y_19^post75, __disjvr_43^0'=__disjvr_43^post75, len_276^0'=len_276^post75, __disjvr_24^0'=__disjvr_24^post75, a_308^0'=a_308^post75, __disjvr_1^0'=__disjvr_1^post75, len_132^0'=len_132^post75, a_147^0'=a_147^post75, __disjvr_31^0'=__disjvr_31^post75, result_11^0'=result_11^post75, head_175^0'=head_175^post75, r_218^0'=r_218^post75, __disjvr_29^0'=__disjvr_29^post75, __disjvr_0^0'=__disjvr_0^post75, x_16^0'=x_16^post75, __disjvr_40^0'=__disjvr_40^post75, __disjvr_36^0'=__disjvr_36^post75, a_210^0'=a_210^post75, __disjvr_17^0'=__disjvr_17^post75, i_167^0'=i_167^post75, __disjvr_8^0'=__disjvr_8^post75, __disjvr_14^0'=__disjvr_14^post75, r_39^0'=r_39^post75, f_263^0'=f_263^post75, nondet_12^0'=nondet_12^post75, __disjvr_26^0'=__disjvr_26^post75, a_353^0'=a_353^post75, __disjvr_21^0'=__disjvr_21^post75, temp0_31^0'=temp0_31^post75, __disjvr_38^0'=__disjvr_38^post75, __disjvr_33^0'=__disjvr_33^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, head_268^0'=head_268^post75, head_32^0'=head_32^post75, __disjvr_5^0'=__disjvr_5^post75, __disjvr_11^0'=__disjvr_11^post75, x_SLAM_f_18^0'=x_SLAM_f_18^post75, __disjvr_42^0'=__disjvr_42^post75, len_226^0'=len_226^post75, __disjvr_23^0'=__disjvr_23^post75, a_277^0'=a_277^post75, __disjvr_19^0'=__disjvr_19^post75, i_94^0'=i_94^post75, a_116^0'=a_116^post75, __disjvr_30^0'=__disjvr_30^post75, rcd_88^0'=rcd_88^post75, head_14^0'=head_14^post75, r_163^0'=r_163^post75, __disjvr_28^0'=__disjvr_28^post75, tmp_34^0'=tmp_34^post75, __disjvr_3^0'=__disjvr_3^post75, __disjvr_35^0'=__disjvr_35^post75, temp0_15^0'=temp0_15^post75, a_184^0'=a_184^post75, __disjvr_16^0'=__disjvr_16^post75, (-head_268^post75+head_268^0 == 0 /\ -a_116^post75+a_116^0 == 0 /\ -__disjvr_39^post75+__disjvr_39^0 == 0 /\ a_147^0-a_147^post75 == 0 /\ i_108^0-i_108^post75 == 0 /\ -rcd_88^post75+rcd_88^0 == 0 /\ x_20^0-x_20^post75 == 0 /\ head_129^0-head_129^post75 == 0 /\ __disjvr_1^0-__disjvr_1^post75 == 0 /\ t_23^0-t_23^post75 == 0 /\ __disjvr_13^0-__disjvr_13^post75 == 0 /\ -__disjvr_14^post75+__disjvr_14^0 == 0 /\ -__disjvr_21^post75+__disjvr_21^0 == 0 /\ -head_14^post75+head_14^0 == 0 /\ -__disjvr_28^post75+__disjvr_28^0 == 0 /\ -__disjvr_34^post75+__disjvr_34^0 == 0 /\ -__disjvr_30^post75+__disjvr_30^0 == 0 /\ rcd_58^0-rcd_58^post75 == 0 /\ -__disjvr_40^post75+__disjvr_40^0 == 0 /\ length_29^0-length_29^post75 == 0 /\ __disjvr_25^0-__disjvr_25^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75 == 0 /\ -__disjvr_38^post75+__disjvr_38^0 == 0 /\ -a_353^post75+a_353^0 == 0 /\ a_330^0-a_330^post75 == 0 /\ -a_308^post75+a_308^0 == 0 /\ __disjvr_4^0-__disjvr_4^post75 == 0 /\ -i_94^post75+i_94^0 == 0 /\ -head_27^post75+head_27^0 == 0 /\ head_223^0-head_223^post75 == 0 /\ head_32^0-head_32^post75 == 0 /\ -temp0_15^post75+temp0_15^0 == 0 /\ r_260^0-r_260^post75 == 0 /\ f_263^0-f_263^post75 == 0 /\ r_39^0-r_39^post75 == 0 /\ -__disjvr_42^post75+__disjvr_42^0 == 0 /\ -__disjvr_29^post75+__disjvr_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post75 == 0 /\ -__disjvr_19^post75+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post75 == 0 /\ __disjvr_34^post75-__disjvr_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post75 == 0 /\ len_226^0-len_226^post75 == 0 /\ x_16^0-x_16^post75 == 0 /\ -r_163^post75+r_163^0 == 0 /\ -len_132^post75+len_132^0 == 0 /\ -y_19^post75+y_19^0 == 0 /\ r_218^0-r_218^post75 == 0 /\ f_170^0-f_170^post75 == 0 /\ __disjvr_37^0-__disjvr_37^post75 == 0 /\ -x_SLAM_f_18^post75+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post75 == 0 /\ -__disjvr_17^post75+__disjvr_17^0 == 0 /\ -a_277^post75+a_277^0 == 0 /\ -__disjvr_35^post75+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post75 == 0 /\ -a_184^post75+a_184^0 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ -ct_17^post75+ct_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post75 == 0 /\ i_30^0-i_30^post75 == 0 /\ -a_210^post75+a_210^0 == 0 /\ -__disjvr_16^post75+__disjvr_16^0 == 0 /\ len_276^0-len_276^post75 == 0 /\ len_183^0-len_183^post75 == 0 /\ -__disjvr_8^post75+__disjvr_8^0 == 0 /\ -__disjvr_5^post75+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post75 == 0 /\ -result_11^post75+result_11^0 == 0 /\ a_241^0-a_241^post75 == 0 /\ __disjvr_18^0-__disjvr_18^post75 == 0 /\ -__disjvr_33^post75+__disjvr_33^0 == 0 /\ __disjvr_43^0-__disjvr_43^post75 == 0 /\ -__disjvr_10^post75+__disjvr_10^0 == 0 /\ temp0_31^0-temp0_31^post75 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ temp_35^0-temp_35^post75 == 0 /\ -__disjvr_31^post75+__disjvr_31^0 == 0 /\ __disjvr_24^0-__disjvr_24^post75 == 0 /\ -__disjvr_23^post75+__disjvr_23^0 == 0 /\ head_175^0-head_175^post75 == 0 /\ -__disjvr_41^post75+__disjvr_41^0 == 0 /\ __disjvr_15^0-__disjvr_15^post75 == 0 /\ __disjvr_12^0-__disjvr_12^post75 == 0 /\ __disjvr_20^0-__disjvr_20^post75 == 0 /\ -__disjvr_3^post75+__disjvr_3^0 == 0 /\ __disjvr_32^0-__disjvr_32^post75 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0 /\ __disjvr_7^0-__disjvr_7^post75 == 0 /\ -__disjvr_36^post75+__disjvr_36^0 == 0 /\ -__disjvr_11^post75+__disjvr_11^0 == 0 /\ r_124^0-r_124^post75 == 0 /\ -__disjvr_0^post75+__disjvr_0^0 == 0 /\ __disjvr_6^0-__disjvr_6^post75 == 0), cost: 1
  76: l74 -> l75 : i_108^0'=i_108^post76, __disjvr_7^0'=__disjvr_7^post76, __disjvr_13^0'=__disjvr_13^post76, f_170^0'=f_170^post76, length_29^0'=length_29^post76, __disjvr_25^0'=__disjvr_25^post76, a_330^0'=a_330^post76, __disjvr_20^0'=__disjvr_20^post76, len_183^0'=len_183^post76, __disjvr_37^0'=__disjvr_37^post76, __disjvr_32^0'=__disjvr_32^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, head_223^0'=head_223^post76, r_260^0'=r_260^post76, __disjvr_4^0'=__disjvr_4^post76, __disjvr_10^0'=__disjvr_10^post76, x_20^0'=x_20^post76, __disjvr_41^0'=__disjvr_41^post76, __disjvr_22^0'=__disjvr_22^post76, a_241^0'=a_241^post76, __disjvr_18^0'=__disjvr_18^post76, i_30^0'=i_30^post76, __disjvr_9^0'=__disjvr_9^post76, __disjvr_2^0'=__disjvr_2^post76, rcd_58^0'=rcd_58^post76, head_129^0'=head_129^post76, r_124^0'=r_124^post76, __disjvr_27^0'=__disjvr_27^post76, ct_17^0'=ct_17^post76, temp_35^0'=temp_35^post76, __disjvr_39^0'=__disjvr_39^post76, __disjvr_34^0'=__disjvr_34^post76, t_23^0'=t_23^post76, head_27^0'=head_27^post76, __disjvr_15^0'=__disjvr_15^post76, head_SLAM_f_26^0'=head_SLAM_f_26^post76, __disjvr_6^0'=__disjvr_6^post76, __disjvr_12^0'=__disjvr_12^post76, y_19^0'=y_19^post76, __disjvr_43^0'=__disjvr_43^post76, len_276^0'=len_276^post76, __disjvr_24^0'=__disjvr_24^post76, a_308^0'=a_308^post76, __disjvr_1^0'=__disjvr_1^post76, len_132^0'=len_132^post76, a_147^0'=a_147^post76, __disjvr_31^0'=__disjvr_31^post76, result_11^0'=result_11^post76, head_175^0'=head_175^post76, r_218^0'=r_218^post76, __disjvr_29^0'=__disjvr_29^post76, __disjvr_0^0'=__disjvr_0^post76, x_16^0'=x_16^post76, __disjvr_40^0'=__disjvr_40^post76, __disjvr_36^0'=__disjvr_36^post76, a_210^0'=a_210^post76, __disjvr_17^0'=__disjvr_17^post76, i_167^0'=i_167^post76, __disjvr_8^0'=__disjvr_8^post76, __disjvr_14^0'=__disjvr_14^post76, r_39^0'=r_39^post76, f_263^0'=f_263^post76, nondet_12^0'=nondet_12^post76, __disjvr_26^0'=__disjvr_26^post76, a_353^0'=a_353^post76, __disjvr_21^0'=__disjvr_21^post76, temp0_31^0'=temp0_31^post76, __disjvr_38^0'=__disjvr_38^post76, __disjvr_33^0'=__disjvr_33^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, head_268^0'=head_268^post76, head_32^0'=head_32^post76, __disjvr_5^0'=__disjvr_5^post76, __disjvr_11^0'=__disjvr_11^post76, x_SLAM_f_18^0'=x_SLAM_f_18^post76, __disjvr_42^0'=__disjvr_42^post76, len_226^0'=len_226^post76, __disjvr_23^0'=__disjvr_23^post76, a_277^0'=a_277^post76, __disjvr_19^0'=__disjvr_19^post76, i_94^0'=i_94^post76, a_116^0'=a_116^post76, __disjvr_30^0'=__disjvr_30^post76, rcd_88^0'=rcd_88^post76, head_14^0'=head_14^post76, r_163^0'=r_163^post76, __disjvr_28^0'=__disjvr_28^post76, tmp_34^0'=tmp_34^post76, __disjvr_3^0'=__disjvr_3^post76, __disjvr_35^0'=__disjvr_35^post76, temp0_15^0'=temp0_15^post76, a_184^0'=a_184^post76, __disjvr_16^0'=__disjvr_16^post76, (0 == 0 /\ __disjvr_23^0-__disjvr_23^post76 == 0 /\ -head_268^post76+head_268^0 == 0 /\ __disjvr_43^0-__disjvr_43^post76 == 0 /\ a_210^0-a_210^post76 == 0 /\ __disjvr_17^0-__disjvr_17^post76 == 0 /\ -len_226^post76+len_226^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post76 == 0 /\ -__disjvr_5^post76+__disjvr_5^0 == 0 /\ -a_116^post76+a_116^0 == 0 /\ -__disjvr_28^post76+__disjvr_28^0 == 0 /\ __disjvr_41^0-__disjvr_41^post76 == 0 /\ -__disjvr_8^post76+__disjvr_8^0 == 0 /\ -__disjvr_40^post76+__disjvr_40^0 == 0 /\ a_308^0-a_308^post76 == 0 /\ r_218^0-r_218^post76 == 0 /\ __disjvr_12^0-__disjvr_12^post76 == 0 /\ -temp0_31^post76+temp0_31^0 == 0 /\ r_124^0-r_124^post76 == 0 /\ -a_184^post76+a_184^0 == 0 /\ result_11^0-result_11^post76 == 0 /\ __disjvr_42^0-__disjvr_42^post76 == 0 /\ len_183^0-len_183^post76 == 0 /\ -__disjvr_21^post76+__disjvr_21^0 == 0 /\ -__disjvr_16^post76+__disjvr_16^0 == 0 /\ r_260^0-r_260^post76 == 0 /\ -__disjvr_1^post76+__disjvr_1^0 == 0 /\ __disjvr_31^0-__disjvr_31^post76 == 0 /\ -r_39^post76+r_39^0 == 0 /\ -r_163^post76+r_163^0 == 0 /\ __disjvr_37^0-__disjvr_37^post76 == 0 /\ __disjvr_34^0-__disjvr_34^post76 == 0 /\ x_20^0-x_20^post76 == 0 /\ -__disjvr_15^post76+__disjvr_15^0 == 0 /\ -a_147^post76+a_147^0 == 0 /\ -t_23^post76+t_23^0 == 0 /\ -__disjvr_38^post76+__disjvr_38^0 == 0 /\ -__disjvr_11^post76+__disjvr_11^0 == 0 /\ __disjvr_19^0-__disjvr_19^post76 == 0 /\ -__disjvr_27^post76+__disjvr_27^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ -i_94^post76+i_94^0 == 0 /\ head_129^0-head_129^post76 == 0 /\ __disjvr_39^0-__disjvr_39^post76 == 0 /\ __disjvr_24^0-__disjvr_24^post76 == 0 /\ i_108^0-i_108^post76 == 0 /\ __disjvr_9^0-__disjvr_9^post76 == 0 /\ -__disjvr_33^post76+__disjvr_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post76 == 0 /\ __disjvr_13^0-__disjvr_13^post76 == 0 /\ __disjvr_20^0-__disjvr_20^post76 == 0 /\ __disjvr_32^0-__disjvr_32^post76 == 0 /\ nondet_12^0-nondet_12^post76 == 0 /\ rcd_58^0-rcd_58^post76 == 0 /\ __disjvr_29^0-__disjvr_29^post76 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76 == 0 /\ __disjvr_0^0-__disjvr_0^post76 == 0 /\ __disjvr_7^0-__disjvr_7^post76 == 0 /\ -i_30^post76+i_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_241^0-a_241^post76 == 0 /\ __disjvr_18^0-__disjvr_18^post76 == 0 /\ -__disjvr_14^post76+__disjvr_14^0 == 0 /\ head_223^0-head_223^post76 == 0 /\ __disjvr_36^0-__disjvr_36^post76 == 0 /\ -a_277^post76+a_277^0 == 0 /\ -rcd_88^post76+rcd_88^0 == 0 /\ a_330^0-a_330^post76 == 0 /\ -__disjvr_30^post76+__disjvr_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post76 == 0 /\ -__disjvr_2^post76+__disjvr_2^0 == 0 /\ -__disjvr_3^post76+__disjvr_3^0 == 0 /\ -__disjvr_26^post76+__disjvr_26^0 == 0 /\ head_27^0-head_27^post76 == 0 /\ -__disjvr_35^post76+__disjvr_35^0 == 0 /\ length_29^0-length_29^post76 == 0 /\ __disjvr_25^0-__disjvr_25^post76 == 0 /\ -i_167^post76+i_167^0 == 0 /\ -len_276^post76+len_276^0 == 0 /\ y_19^0-y_19^post76 == 0 /\ f_170^0-f_170^post76 == 0 /\ -head_175^post76+head_175^0 == 0 /\ __disjvr_4^0-__disjvr_4^post76 == 0 /\ -f_263^post76+f_263^0 == 0 /\ __disjvr_6^0-__disjvr_6^post76 == 0 /\ -head_32^post76+head_32^0 == 0 /\ -temp_35^post76+temp_35^0 == 0 /\ -a_353^post76+a_353^0 == 0 /\ len_132^0-len_132^post76 == 0 /\ -temp0_15^post76+temp0_15^0 == 0), cost: 1
  77: l75 -> l76 : i_108^0'=i_108^post77, __disjvr_7^0'=__disjvr_7^post77, __disjvr_13^0'=__disjvr_13^post77, f_170^0'=f_170^post77, length_29^0'=length_29^post77, __disjvr_25^0'=__disjvr_25^post77, a_330^0'=a_330^post77, __disjvr_20^0'=__disjvr_20^post77, len_183^0'=len_183^post77, __disjvr_37^0'=__disjvr_37^post77, __disjvr_32^0'=__disjvr_32^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, head_223^0'=head_223^post77, r_260^0'=r_260^post77, __disjvr_4^0'=__disjvr_4^post77, __disjvr_10^0'=__disjvr_10^post77, x_20^0'=x_20^post77, __disjvr_41^0'=__disjvr_41^post77, __disjvr_22^0'=__disjvr_22^post77, a_241^0'=a_241^post77, __disjvr_18^0'=__disjvr_18^post77, i_30^0'=i_30^post77, __disjvr_9^0'=__disjvr_9^post77, __disjvr_2^0'=__disjvr_2^post77, rcd_58^0'=rcd_58^post77, head_129^0'=head_129^post77, r_124^0'=r_124^post77, __disjvr_27^0'=__disjvr_27^post77, ct_17^0'=ct_17^post77, temp_35^0'=temp_35^post77, __disjvr_39^0'=__disjvr_39^post77, __disjvr_34^0'=__disjvr_34^post77, t_23^0'=t_23^post77, head_27^0'=head_27^post77, __disjvr_15^0'=__disjvr_15^post77, head_SLAM_f_26^0'=head_SLAM_f_26^post77, __disjvr_6^0'=__disjvr_6^post77, __disjvr_12^0'=__disjvr_12^post77, y_19^0'=y_19^post77, __disjvr_43^0'=__disjvr_43^post77, len_276^0'=len_276^post77, __disjvr_24^0'=__disjvr_24^post77, a_308^0'=a_308^post77, __disjvr_1^0'=__disjvr_1^post77, len_132^0'=len_132^post77, a_147^0'=a_147^post77, __disjvr_31^0'=__disjvr_31^post77, result_11^0'=result_11^post77, head_175^0'=head_175^post77, r_218^0'=r_218^post77, __disjvr_29^0'=__disjvr_29^post77, __disjvr_0^0'=__disjvr_0^post77, x_16^0'=x_16^post77, __disjvr_40^0'=__disjvr_40^post77, __disjvr_36^0'=__disjvr_36^post77, a_210^0'=a_210^post77, __disjvr_17^0'=__disjvr_17^post77, i_167^0'=i_167^post77, __disjvr_8^0'=__disjvr_8^post77, __disjvr_14^0'=__disjvr_14^post77, r_39^0'=r_39^post77, f_263^0'=f_263^post77, nondet_12^0'=nondet_12^post77, __disjvr_26^0'=__disjvr_26^post77, a_353^0'=a_353^post77, __disjvr_21^0'=__disjvr_21^post77, temp0_31^0'=temp0_31^post77, __disjvr_38^0'=__disjvr_38^post77, __disjvr_33^0'=__disjvr_33^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, head_268^0'=head_268^post77, head_32^0'=head_32^post77, __disjvr_5^0'=__disjvr_5^post77, __disjvr_11^0'=__disjvr_11^post77, x_SLAM_f_18^0'=x_SLAM_f_18^post77, __disjvr_42^0'=__disjvr_42^post77, len_226^0'=len_226^post77, __disjvr_23^0'=__disjvr_23^post77, a_277^0'=a_277^post77, __disjvr_19^0'=__disjvr_19^post77, i_94^0'=i_94^post77, a_116^0'=a_116^post77, __disjvr_30^0'=__disjvr_30^post77, rcd_88^0'=rcd_88^post77, head_14^0'=head_14^post77, r_163^0'=r_163^post77, __disjvr_28^0'=__disjvr_28^post77, tmp_34^0'=tmp_34^post77, __disjvr_3^0'=__disjvr_3^post77, __disjvr_35^0'=__disjvr_35^post77, temp0_15^0'=temp0_15^post77, a_184^0'=a_184^post77, __disjvr_16^0'=__disjvr_16^post77, (f_170^0-f_170^post77 == 0 /\ y_19^0-y_19^post77 == 0 /\ head_223^0-head_223^post77 == 0 /\ -a_241^post77+a_241^0 == 0 /\ -rcd_88^post77+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post77+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post77 == 0 /\ -__disjvr_35^post77+__disjvr_35^0 == 0 /\ -__disjvr_30^post77+__disjvr_30^0 == 0 /\ head_268^0-head_268^post77 == 0 /\ -__disjvr_26^post77+__disjvr_26^0 == 0 /\ -__disjvr_42^post77+__disjvr_42^0 == 0 /\ __disjvr_20^0-__disjvr_20^post77 == 0 /\ __disjvr_39^0-__disjvr_39^post77 == 0 /\ __disjvr_21^0-__disjvr_21^post77 == 0 /\ head_27^0-head_27^post77 == 0 /\ __disjvr_32^0-__disjvr_32^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ -__disjvr_24^post77+__disjvr_24^0 == 0 /\ __disjvr_2^0-__disjvr_2^post77 == 0 /\ -head_SLAM_f_26^post77+head_SLAM_f_26^0 == 0 /\ t_23^0-t_23^post77 == 0 /\ rcd_58^0-rcd_58^post77 == 0 /\ -__disjvr_1^post77+__disjvr_1^0 == 0 /\ -i_167^post77+i_167^0 == 0 /\ __disjvr_25^0-__disjvr_25^post77 == 0 /\ -f_263^post77+f_263^0 == 0 /\ -r_218^post77+r_218^0 == 0 /\ -__disjvr_16^post77+__disjvr_16^0 == 0 /\ __disjvr_35^post77-__disjvr_35^0 == 0 /\ a_330^0-a_330^post77 == 0 /\ -__disjvr_23^post77+__disjvr_23^0 == 0 /\ -head_32^post77+head_32^0 == 0 /\ temp_35^0-temp_35^post77 == 0 /\ __disjvr_40^0-__disjvr_40^post77 == 0 /\ a_277^0-a_277^post77 == 0 /\ -r_124^post77+r_124^0 == 0 /\ a_308^0-a_308^post77 == 0 /\ -__disjvr_43^post77+__disjvr_43^0 == 0 /\ -temp0_15^post77+temp0_15^0 == 0 /\ __disjvr_37^0-__disjvr_37^post77 == 0 /\ -__disjvr_12^post77+__disjvr_12^0 == 0 /\ __disjvr_17^0-__disjvr_17^post77 == 0 /\ -x_SLAM_f_18^post77+x_SLAM_f_18^0 == 0 /\ __disjvr_31^0-__disjvr_31^post77 == 0 /\ -__disjvr_19^post77+__disjvr_19^0 == 0 /\ x_20^0-x_20^post77 == 0 /\ -__disjvr_5^post77+__disjvr_5^0 == 0 /\ -head_14^post77+head_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post77 == 0 /\ -len_226^post77+len_226^0 == 0 /\ -a_116^post77+a_116^0 == 0 /\ __disjvr_41^0-__disjvr_41^post77 == 0 /\ __disjvr_38^0-__disjvr_38^post77 == 0 /\ -temp0_31^post77+temp0_31^0 == 0 /\ __disjvr_15^0-__disjvr_15^post77 == 0 /\ a_353^0-a_353^post77 == 0 /\ len_276^0-len_276^post77 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ -x_16^post77+x_16^0 == 0 /\ -head_175^post77+head_175^0 == 0 /\ -a_210^post77+a_210^0 == 0 /\ -a_184^post77+a_184^0 == 0 /\ -result_11^post77+result_11^0 == 0 /\ __disjvr_7^0-__disjvr_7^post77 == 0 /\ -__disjvr_13^post77+__disjvr_13^0 == 0 /\ -__disjvr_11^post77+__disjvr_11^0 == 0 /\ -len_183^post77+len_183^0 == 0 /\ -i_94^post77+i_94^0 == 0 /\ -head_129^post77+head_129^0 == 0 /\ -r_39^post77+r_39^0 == 0 /\ __disjvr_27^0-__disjvr_27^post77 == 0 /\ r_260^0-r_260^post77 == 0 /\ -__disjvr_6^post77+__disjvr_6^0 == 0 /\ __disjvr_14^0-__disjvr_14^post77 == 0 /\ -__disjvr_0^post77+__disjvr_0^0 == 0 /\ __disjvr_34^0-__disjvr_34^post77 == 0 /\ i_108^0-i_108^post77 == 0 /\ __disjvr_10^0-__disjvr_10^post77 == 0 /\ -__disjvr_33^post77+__disjvr_33^0 == 0 /\ -__disjvr_3^post77+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post77 == 0 /\ ct_17^0-ct_17^post77 == 0 /\ i_30^0-i_30^post77 == 0 /\ __disjvr_9^0-__disjvr_9^post77 == 0 /\ __disjvr_29^0-__disjvr_29^post77 == 0 /\ -__disjvr_36^post77+__disjvr_36^0 == 0 /\ length_29^0-length_29^post77 == 0 /\ -len_132^post77+len_132^0 == 0 /\ -r_163^post77+r_163^0 == 0 /\ __disjvr_28^0-__disjvr_28^post77 == 0 /\ __disjvr_18^0-__disjvr_18^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ -a_147^post77+a_147^0 == 0), cost: 1
  78: l76 -> l77 : i_108^0'=i_108^post78, __disjvr_7^0'=__disjvr_7^post78, __disjvr_13^0'=__disjvr_13^post78, f_170^0'=f_170^post78, length_29^0'=length_29^post78, __disjvr_25^0'=__disjvr_25^post78, a_330^0'=a_330^post78, __disjvr_20^0'=__disjvr_20^post78, len_183^0'=len_183^post78, __disjvr_37^0'=__disjvr_37^post78, __disjvr_32^0'=__disjvr_32^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78, head_223^0'=head_223^post78, r_260^0'=r_260^post78, __disjvr_4^0'=__disjvr_4^post78, __disjvr_10^0'=__disjvr_10^post78, x_20^0'=x_20^post78, __disjvr_41^0'=__disjvr_41^post78, __disjvr_22^0'=__disjvr_22^post78, a_241^0'=a_241^post78, __disjvr_18^0'=__disjvr_18^post78, i_30^0'=i_30^post78, __disjvr_9^0'=__disjvr_9^post78, __disjvr_2^0'=__disjvr_2^post78, rcd_58^0'=rcd_58^post78, head_129^0'=head_129^post78, r_124^0'=r_124^post78, __disjvr_27^0'=__disjvr_27^post78, ct_17^0'=ct_17^post78, temp_35^0'=temp_35^post78, __disjvr_39^0'=__disjvr_39^post78, __disjvr_34^0'=__disjvr_34^post78, t_23^0'=t_23^post78, head_27^0'=head_27^post78, __disjvr_15^0'=__disjvr_15^post78, head_SLAM_f_26^0'=head_SLAM_f_26^post78, __disjvr_6^0'=__disjvr_6^post78, __disjvr_12^0'=__disjvr_12^post78, y_19^0'=y_19^post78, __disjvr_43^0'=__disjvr_43^post78, len_276^0'=len_276^post78, __disjvr_24^0'=__disjvr_24^post78, a_308^0'=a_308^post78, __disjvr_1^0'=__disjvr_1^post78, len_132^0'=len_132^post78, a_147^0'=a_147^post78, __disjvr_31^0'=__disjvr_31^post78, result_11^0'=result_11^post78, head_175^0'=head_175^post78, r_218^0'=r_218^post78, __disjvr_29^0'=__disjvr_29^post78, __disjvr_0^0'=__disjvr_0^post78, x_16^0'=x_16^post78, __disjvr_40^0'=__disjvr_40^post78, __disjvr_36^0'=__disjvr_36^post78, a_210^0'=a_210^post78, __disjvr_17^0'=__disjvr_17^post78, i_167^0'=i_167^post78, __disjvr_8^0'=__disjvr_8^post78, __disjvr_14^0'=__disjvr_14^post78, r_39^0'=r_39^post78, f_263^0'=f_263^post78, nondet_12^0'=nondet_12^post78, __disjvr_26^0'=__disjvr_26^post78, a_353^0'=a_353^post78, __disjvr_21^0'=__disjvr_21^post78, temp0_31^0'=temp0_31^post78, __disjvr_38^0'=__disjvr_38^post78, __disjvr_33^0'=__disjvr_33^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, head_268^0'=head_268^post78, head_32^0'=head_32^post78, __disjvr_5^0'=__disjvr_5^post78, __disjvr_11^0'=__disjvr_11^post78, x_SLAM_f_18^0'=x_SLAM_f_18^post78, __disjvr_42^0'=__disjvr_42^post78, len_226^0'=len_226^post78, __disjvr_23^0'=__disjvr_23^post78, a_277^0'=a_277^post78, __disjvr_19^0'=__disjvr_19^post78, i_94^0'=i_94^post78, a_116^0'=a_116^post78, __disjvr_30^0'=__disjvr_30^post78, rcd_88^0'=rcd_88^post78, head_14^0'=head_14^post78, r_163^0'=r_163^post78, __disjvr_28^0'=__disjvr_28^post78, tmp_34^0'=tmp_34^post78, __disjvr_3^0'=__disjvr_3^post78, __disjvr_35^0'=__disjvr_35^post78, temp0_15^0'=temp0_15^post78, a_184^0'=a_184^post78, __disjvr_16^0'=__disjvr_16^post78, (-x_20^0+t_23^post78 == 0 /\ -__disjvr_3^post78+__disjvr_3^0 == 0 /\ -a_147^post78+a_147^0 == 0 /\ -__disjvr_42^post78+__disjvr_42^0 == 0 /\ -y_19^0 <= 0 /\ x_16^0-head_14^0 <= 0 /\ __disjvr_34^0-__disjvr_34^post78 == 0 /\ -__disjvr_18^post78+__disjvr_18^0 == 0 /\ ct_17^0-y_19^0 <= 0 /\ -len_132^post78+len_132^0 == 0 /\ -result_11^post78+result_11^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -head_129^post78+head_129^0 == 0 /\ __disjvr_13^0-__disjvr_13^post78 == 0 /\ -__disjvr_19^post78+__disjvr_19^0 == 0 /\ len_183^0-len_183^post78 == 0 /\ __disjvr_38^0-__disjvr_38^post78 == 0 /\ x_20^0 <= 0 /\ -__disjvr_9^post78+__disjvr_9^0 == 0 /\ -a_116^post78+a_116^0 == 0 /\ i_30^0-i_30^post78 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -r_218^post78+r_218^0 == 0 /\ length_29^0-length_29^post78 == 0 /\ -x_16^0+head_14^0 <= 0 /\ -__disjvr_6^post78+__disjvr_6^0 == 0 /\ ct_17^0 <= 0 /\ -ct_17^0+y_19^0 <= 0 /\ -head_32^post78+head_32^0 == 0 /\ -r_163^post78+r_163^0 == 0 /\ -ct_17^post78+ct_17^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_24^post78+__disjvr_24^0 == 0 /\ -a_210^post78+a_210^0 == 0 /\ -x_16^post78+x_16^0 == 0 /\ x_20^0-x_20^post78 == 0 /\ -x_SLAM_f_18^post78+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post78 == 0 /\ __disjvr_14^0-__disjvr_14^post78 == 0 /\ -rcd_88^post78+rcd_88^0 == 0 /\ __disjvr_7^0-__disjvr_7^post78 == 0 /\ -head_27^post78+head_27^0 == 0 /\ y_19^0 <= 0 /\ r_124^0-r_124^post78 == 0 /\ __disjvr_39^0-__disjvr_39^post78 == 0 /\ -__disjvr_5^post78+__disjvr_5^0 == 0 /\ -__disjvr_30^post78+__disjvr_30^0 == 0 /\ __disjvr_32^0-__disjvr_32^post78 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ -__disjvr_22^post78+__disjvr_22^0 == 0 /\ -x_20^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_15^post78+temp0_15^0 == 0 /\ -__disjvr_36^post78+__disjvr_36^0 == 0 /\ i_108^0-i_108^post78 == 0 /\ __disjvr_15^0-__disjvr_15^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ __disjvr_1^0-__disjvr_1^post78 == 0 /\ -__disjvr_8^post78+__disjvr_8^0 == 0 /\ __disjvr_40^0-__disjvr_40^post78 == 0 /\ -a_308^post78+a_308^0 == 0 /\ r_260^0-r_260^post78 == 0 /\ __disjvr_27^0-__disjvr_27^post78 == 0 /\ -__disjvr_28^post78+__disjvr_28^0 == 0 /\ -f_263^post78+f_263^0 == 0 /\ -__disjvr_11^post78+__disjvr_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78 == 0 /\ __disjvr_10^0-__disjvr_10^post78 == 0 /\ -__disjvr_0^post78+__disjvr_0^0 == 0 /\ -len_226^post78+len_226^0 == 0 /\ __disjvr_20^0-__disjvr_20^post78 == 0 /\ -__disjvr_35^post78+__disjvr_35^0 == 0 /\ -__disjvr_17^post78+__disjvr_17^0 == 0 /\ a_241^0-a_241^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post78+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_23^post78-head_14^0 <= 0 /\ -__disjvr_31^post78+__disjvr_31^0 == 0 /\ -a_277^post78+a_277^0 == 0 /\ r_39^0-r_39^post78 == 0 /\ -temp0_31^post78+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post78 == 0 /\ rcd_58^0-rcd_58^post78 == 0 /\ __disjvr_2^0-__disjvr_2^post78 == 0 /\ __disjvr_26^0-__disjvr_26^post78 == 0 /\ -__disjvr_21^post78+__disjvr_21^0 == 0 /\ -a_184^post78+a_184^0 == 0 /\ -tmp_34^post78+tmp_34^0 == 0 /\ a_353^0-a_353^post78 == 0 /\ -__disjvr_29^post78+__disjvr_29^0 == 0 /\ __disjvr_41^0-__disjvr_41^post78 == 0 /\ -i_94^post78+i_94^0 == 0 /\ __disjvr_12^0-__disjvr_12^post78 == 0 /\ -i_167^post78+i_167^0 == 0 /\ __disjvr_4^0-__disjvr_4^post78 == 0 /\ -__disjvr_43^post78+__disjvr_43^0 == 0 /\ __disjvr_33^0-__disjvr_33^post78 == 0 /\ -head_268^post78+head_268^0 == 0 /\ len_276^0-len_276^post78 == 0 /\ temp_35^0-temp_35^post78 == 0 /\ head_223^0-head_223^post78 == 0 /\ -__disjvr_16^post78+__disjvr_16^0 == 0 /\ a_330^0-a_330^post78 == 0 /\ f_170^0-f_170^post78 == 0 /\ __disjvr_25^0-__disjvr_25^post78 == 0 /\ -head_14^post78+head_14^0 == 0 /\ y_19^0-y_19^post78 == 0 /\ __disjvr_37^0-__disjvr_37^post78 == 0 /\ -__disjvr_23^post78+__disjvr_23^0 == 0 /\ -t_23^post78+head_14^0 <= 0), cost: 1
  79: l77 -> l78 : i_108^0'=i_108^post79, __disjvr_7^0'=__disjvr_7^post79, __disjvr_13^0'=__disjvr_13^post79, f_170^0'=f_170^post79, length_29^0'=length_29^post79, __disjvr_25^0'=__disjvr_25^post79, a_330^0'=a_330^post79, __disjvr_20^0'=__disjvr_20^post79, len_183^0'=len_183^post79, __disjvr_37^0'=__disjvr_37^post79, __disjvr_32^0'=__disjvr_32^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79, head_223^0'=head_223^post79, r_260^0'=r_260^post79, __disjvr_4^0'=__disjvr_4^post79, __disjvr_10^0'=__disjvr_10^post79, x_20^0'=x_20^post79, __disjvr_41^0'=__disjvr_41^post79, __disjvr_22^0'=__disjvr_22^post79, a_241^0'=a_241^post79, __disjvr_18^0'=__disjvr_18^post79, i_30^0'=i_30^post79, __disjvr_9^0'=__disjvr_9^post79, __disjvr_2^0'=__disjvr_2^post79, rcd_58^0'=rcd_58^post79, head_129^0'=head_129^post79, r_124^0'=r_124^post79, __disjvr_27^0'=__disjvr_27^post79, ct_17^0'=ct_17^post79, temp_35^0'=temp_35^post79, __disjvr_39^0'=__disjvr_39^post79, __disjvr_34^0'=__disjvr_34^post79, t_23^0'=t_23^post79, head_27^0'=head_27^post79, __disjvr_15^0'=__disjvr_15^post79, head_SLAM_f_26^0'=head_SLAM_f_26^post79, __disjvr_6^0'=__disjvr_6^post79, __disjvr_12^0'=__disjvr_12^post79, y_19^0'=y_19^post79, __disjvr_43^0'=__disjvr_43^post79, len_276^0'=len_276^post79, __disjvr_24^0'=__disjvr_24^post79, a_308^0'=a_308^post79, __disjvr_1^0'=__disjvr_1^post79, len_132^0'=len_132^post79, a_147^0'=a_147^post79, __disjvr_31^0'=__disjvr_31^post79, result_11^0'=result_11^post79, head_175^0'=head_175^post79, r_218^0'=r_218^post79, __disjvr_29^0'=__disjvr_29^post79, __disjvr_0^0'=__disjvr_0^post79, x_16^0'=x_16^post79, __disjvr_40^0'=__disjvr_40^post79, __disjvr_36^0'=__disjvr_36^post79, a_210^0'=a_210^post79, __disjvr_17^0'=__disjvr_17^post79, i_167^0'=i_167^post79, __disjvr_8^0'=__disjvr_8^post79, __disjvr_14^0'=__disjvr_14^post79, r_39^0'=r_39^post79, f_263^0'=f_263^post79, nondet_12^0'=nondet_12^post79, __disjvr_26^0'=__disjvr_26^post79, a_353^0'=a_353^post79, __disjvr_21^0'=__disjvr_21^post79, temp0_31^0'=temp0_31^post79, __disjvr_38^0'=__disjvr_38^post79, __disjvr_33^0'=__disjvr_33^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, head_268^0'=head_268^post79, head_32^0'=head_32^post79, __disjvr_5^0'=__disjvr_5^post79, __disjvr_11^0'=__disjvr_11^post79, x_SLAM_f_18^0'=x_SLAM_f_18^post79, __disjvr_42^0'=__disjvr_42^post79, len_226^0'=len_226^post79, __disjvr_23^0'=__disjvr_23^post79, a_277^0'=a_277^post79, __disjvr_19^0'=__disjvr_19^post79, i_94^0'=i_94^post79, a_116^0'=a_116^post79, __disjvr_30^0'=__disjvr_30^post79, rcd_88^0'=rcd_88^post79, head_14^0'=head_14^post79, r_163^0'=r_163^post79, __disjvr_28^0'=__disjvr_28^post79, tmp_34^0'=tmp_34^post79, __disjvr_3^0'=__disjvr_3^post79, __disjvr_35^0'=__disjvr_35^post79, temp0_15^0'=temp0_15^post79, a_184^0'=a_184^post79, __disjvr_16^0'=__disjvr_16^post79, (-temp0_15^post79+temp0_15^0 == 0 /\ rcd_58^0-rcd_58^post79 == 0 /\ -a_308^post79+a_308^0 == 0 /\ -i_30^post79+i_30^0 == 0 /\ a_116^0-a_116^post79 == 0 /\ len_226^0-len_226^post79 == 0 /\ ct_17^0-ct_17^post79 == 0 /\ __disjvr_27^0-__disjvr_27^post79 == 0 /\ -__disjvr_42^post79+__disjvr_42^0 == 0 /\ __disjvr_12^0-__disjvr_12^post79 == 0 /\ __disjvr_36^0-__disjvr_36^post79 == 0 /\ -__disjvr_19^post79+__disjvr_19^0 == 0 /\ -len_132^post79+len_132^0 == 0 /\ -__disjvr_17^post79+__disjvr_17^0 == 0 /\ a_147^0-a_147^post79 == 0 /\ f_170^0-f_170^post79 == 0 /\ head_27^0-head_27^post79 == 0 /\ __disjvr_2^0-__disjvr_2^post79 == 0 /\ -__disjvr_35^post79+__disjvr_35^0 == 0 /\ -__disjvr_34^post79+__disjvr_34^0 == 0 /\ -__disjvr_40^post79+__disjvr_40^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post79 == 0 /\ -r_163^post79+r_163^0 == 0 /\ -a_184^post79+a_184^0 == 0 /\ t_23^0-t_23^post79 == 0 /\ -__disjvr_29^post79+__disjvr_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post79 == 0 /\ -tmp_34^post79+tmp_34^0 == 0 /\ -i_94^post79+i_94^0 == 0 /\ __disjvr_13^0-__disjvr_13^post79 == 0 /\ x_16^0-x_16^post79 == 0 /\ -a_277^post79+a_277^0 == 0 /\ -__disjvr_36^0+__disjvr_36^post79 == 0 /\ -__disjvr_14^post79+__disjvr_14^0 == 0 /\ r_218^0-r_218^post79 == 0 /\ result_11^0-result_11^post79 == 0 /\ __disjvr_39^0-__disjvr_39^post79 == 0 /\ -a_210^post79+a_210^0 == 0 /\ __disjvr_20^0-__disjvr_20^post79 == 0 /\ -__disjvr_38^post79+__disjvr_38^0 == 0 /\ i_167^0-i_167^post79 == 0 /\ __disjvr_6^0-__disjvr_6^post79 == 0 /\ __disjvr_32^0-__disjvr_32^post79 == 0 /\ a_241^0-a_241^post79 == 0 /\ __disjvr_7^0-__disjvr_7^post79 == 0 /\ -a_353^post79+a_353^0 == 0 /\ -__disjvr_8^post79+__disjvr_8^0 == 0 /\ -__disjvr_5^post79+__disjvr_5^0 == 0 /\ -head_14^post79+head_14^0 == 0 /\ -__disjvr_4^post79+__disjvr_4^0 == 0 /\ -__disjvr_28^post79+__disjvr_28^0 == 0 /\ __disjvr_43^0-__disjvr_43^post79 == 0 /\ -__disjvr_23^post79+__disjvr_23^0 == 0 /\ __disjvr_1^0-__disjvr_1^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ -temp_35^post79+temp_35^0 == 0 /\ x_20^0-x_20^post79 == 0 /\ -__disjvr_3^post79+__disjvr_3^0 == 0 /\ -x_SLAM_f_18^post79+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post79 == 0 /\ a_330^0-a_330^post79 == 0 /\ r_124^0-r_124^post79 == 0 /\ len_183^0-len_183^post79 == 0 /\ __disjvr_25^0-__disjvr_25^post79 == 0 /\ __disjvr_37^0-__disjvr_37^post79 == 0 /\ f_263^0-f_263^post79 == 0 /\ -__disjvr_11^post79+__disjvr_11^0 == 0 /\ -y_19^post79+y_19^0 == 0 /\ -__disjvr_41^post79+__disjvr_41^0 == 0 /\ -__disjvr_0^post79+__disjvr_0^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post79 == 0 /\ -__disjvr_31^post79+__disjvr_31^0 == 0 /\ -head_268^post79+head_268^0 == 0 /\ i_108^0-i_108^post79 == 0 /\ __disjvr_24^0-__disjvr_24^post79 == 0 /\ -r_39^post79+r_39^0 == 0 /\ __disjvr_15^0-__disjvr_15^post79 == 0 /\ r_260^0-r_260^post79 == 0 /\ -head_223^post79+head_223^0 == 0 /\ -len_276^post79+len_276^0 == 0 /\ -rcd_88^post79+rcd_88^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79 == 0 /\ temp0_31^0-temp0_31^post79 == 0 /\ -head_32^post79+head_32^0 == 0 /\ __disjvr_10^0-__disjvr_10^post79 == 0 /\ __disjvr_9^0-__disjvr_9^post79 == 0 /\ __disjvr_22^0-__disjvr_22^post79 == 0 /\ head_129^0-head_129^post79 == 0 /\ -__disjvr_33^post79+__disjvr_33^0 == 0 /\ -__disjvr_16^post79+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post79 == 0 /\ length_29^0-length_29^post79 == 0 /\ -__disjvr_21^post79+__disjvr_21^0 == 0 /\ -__disjvr_30^post79+__disjvr_30^0 == 0), cost: 1
  80: l78 -> l79 : i_108^0'=i_108^post80, __disjvr_7^0'=__disjvr_7^post80, __disjvr_13^0'=__disjvr_13^post80, f_170^0'=f_170^post80, length_29^0'=length_29^post80, __disjvr_25^0'=__disjvr_25^post80, a_330^0'=a_330^post80, __disjvr_20^0'=__disjvr_20^post80, len_183^0'=len_183^post80, __disjvr_37^0'=__disjvr_37^post80, __disjvr_32^0'=__disjvr_32^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80, head_223^0'=head_223^post80, r_260^0'=r_260^post80, __disjvr_4^0'=__disjvr_4^post80, __disjvr_10^0'=__disjvr_10^post80, x_20^0'=x_20^post80, __disjvr_41^0'=__disjvr_41^post80, __disjvr_22^0'=__disjvr_22^post80, a_241^0'=a_241^post80, __disjvr_18^0'=__disjvr_18^post80, i_30^0'=i_30^post80, __disjvr_9^0'=__disjvr_9^post80, __disjvr_2^0'=__disjvr_2^post80, rcd_58^0'=rcd_58^post80, head_129^0'=head_129^post80, r_124^0'=r_124^post80, __disjvr_27^0'=__disjvr_27^post80, ct_17^0'=ct_17^post80, temp_35^0'=temp_35^post80, __disjvr_39^0'=__disjvr_39^post80, __disjvr_34^0'=__disjvr_34^post80, t_23^0'=t_23^post80, head_27^0'=head_27^post80, __disjvr_15^0'=__disjvr_15^post80, head_SLAM_f_26^0'=head_SLAM_f_26^post80, __disjvr_6^0'=__disjvr_6^post80, __disjvr_12^0'=__disjvr_12^post80, y_19^0'=y_19^post80, __disjvr_43^0'=__disjvr_43^post80, len_276^0'=len_276^post80, __disjvr_24^0'=__disjvr_24^post80, a_308^0'=a_308^post80, __disjvr_1^0'=__disjvr_1^post80, len_132^0'=len_132^post80, a_147^0'=a_147^post80, __disjvr_31^0'=__disjvr_31^post80, result_11^0'=result_11^post80, head_175^0'=head_175^post80, r_218^0'=r_218^post80, __disjvr_29^0'=__disjvr_29^post80, __disjvr_0^0'=__disjvr_0^post80, x_16^0'=x_16^post80, __disjvr_40^0'=__disjvr_40^post80, __disjvr_36^0'=__disjvr_36^post80, a_210^0'=a_210^post80, __disjvr_17^0'=__disjvr_17^post80, i_167^0'=i_167^post80, __disjvr_8^0'=__disjvr_8^post80, __disjvr_14^0'=__disjvr_14^post80, r_39^0'=r_39^post80, f_263^0'=f_263^post80, nondet_12^0'=nondet_12^post80, __disjvr_26^0'=__disjvr_26^post80, a_353^0'=a_353^post80, __disjvr_21^0'=__disjvr_21^post80, temp0_31^0'=temp0_31^post80, __disjvr_38^0'=__disjvr_38^post80, __disjvr_33^0'=__disjvr_33^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, head_268^0'=head_268^post80, head_32^0'=head_32^post80, __disjvr_5^0'=__disjvr_5^post80, __disjvr_11^0'=__disjvr_11^post80, x_SLAM_f_18^0'=x_SLAM_f_18^post80, __disjvr_42^0'=__disjvr_42^post80, len_226^0'=len_226^post80, __disjvr_23^0'=__disjvr_23^post80, a_277^0'=a_277^post80, __disjvr_19^0'=__disjvr_19^post80, i_94^0'=i_94^post80, a_116^0'=a_116^post80, __disjvr_30^0'=__disjvr_30^post80, rcd_88^0'=rcd_88^post80, head_14^0'=head_14^post80, r_163^0'=r_163^post80, __disjvr_28^0'=__disjvr_28^post80, tmp_34^0'=tmp_34^post80, __disjvr_3^0'=__disjvr_3^post80, __disjvr_35^0'=__disjvr_35^post80, temp0_15^0'=temp0_15^post80, a_184^0'=a_184^post80, __disjvr_16^0'=__disjvr_16^post80, (__disjvr_6^0-__disjvr_6^post80 == 0 /\ -len_276^post80+len_276^0 == 0 /\ -head_175^post80+head_175^0 == 0 /\ __disjvr_17^0-__disjvr_17^post80 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ -__disjvr_27^post80+__disjvr_27^0 == 0 /\ -__disjvr_28^post80+__disjvr_28^0 == 0 /\ -temp0_15^post80+temp0_15^0 == 0 /\ -head_SLAM_f_26^post80+head_SLAM_f_26^0 == 0 /\ -len_226^post80+len_226^0 == 0 /\ a_330^0-a_330^post80 == 0 /\ len_132^0-len_132^post80 == 0 /\ len_183^0-len_183^post80 == 0 /\ __disjvr_34^0-__disjvr_34^post80 == 0 /\ __disjvr_37^0-__disjvr_37^post80 == 0 /\ __disjvr_31^0-__disjvr_31^post80 == 0 /\ -temp_35^post80+temp_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post80 == 0 /\ -x_20^post80+x_20^0 == 0 /\ -r_39^post80+r_39^0 == 0 /\ length_29^0-length_29^post80 == 0 /\ __disjvr_22^0-__disjvr_22^post80 == 0 /\ __disjvr_5^0-__disjvr_5^post80 == 0 /\ __disjvr_9^0-__disjvr_9^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post80+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_35^post80+__disjvr_35^0 == 0 /\ ct_17^0-ct_17^post80 == 0 /\ -tmp_34^post80+tmp_34^0 == 0 /\ -a_116^post80+a_116^0 == 0 /\ -head_268^post80+head_268^0 == 0 /\ __disjvr_29^0-__disjvr_29^post80 == 0 /\ -a_184^post80+a_184^0 == 0 /\ -x_16^post80+x_16^0 == 0 /\ __disjvr_42^0-__disjvr_42^post80 == 0 /\ -r_163^post80+r_163^0 == 0 /\ __disjvr_4^0-__disjvr_4^post80 == 0 /\ a_147^0-a_147^post80 == 0 /\ -i_167^post80+i_167^0 == 0 /\ __disjvr_43^0-__disjvr_43^post80 == 0 /\ __disjvr_18^0-__disjvr_18^post80 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post80 == 0 /\ r_260^0-r_260^post80 == 0 /\ __disjvr_10^0-__disjvr_10^post80 == 0 /\ __disjvr_23^0-__disjvr_23^post80 == 0 /\ -__disjvr_14^post80+__disjvr_14^0 == 0 /\ -__disjvr_16^post80+__disjvr_16^0 == 0 /\ -i_94^post80+i_94^0 == 0 /\ -head_14^post80+head_14^0 == 0 /\ __disjvr_36^0-__disjvr_36^post80 == 0 /\ head_129^0-head_129^post80 == 0 /\ -__disjvr_37^0+__disjvr_37^post80 == 0 /\ -__disjvr_33^post80+__disjvr_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post80 == 0 /\ a_210^0-a_210^post80 == 0 /\ i_108^0-i_108^post80 == 0 /\ -__disjvr_1^post80+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post80 == 0 /\ -__disjvr_30^post80+__disjvr_30^0 == 0 /\ -__disjvr_3^post80+__disjvr_3^0 == 0 /\ -__disjvr_15^post80+__disjvr_15^0 == 0 /\ -a_353^post80+a_353^0 == 0 /\ a_308^0-a_308^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80 == 0 /\ head_223^0-head_223^post80 == 0 /\ -t_23^post80+t_23^0 == 0 /\ result_11^0-result_11^post80 == 0 /\ a_241^0-a_241^post80 == 0 /\ -r_124^post80+r_124^0 == 0 /\ -__disjvr_11^post80+__disjvr_11^0 == 0 /\ -__disjvr_19^post80+__disjvr_19^0 == 0 /\ -i_30^post80+i_30^0 == 0 /\ __disjvr_39^0-__disjvr_39^post80 == 0 /\ -f_263^post80+f_263^0 == 0 /\ __disjvr_21^0-__disjvr_21^post80 == 0 /\ head_27^0-head_27^post80 == 0 /\ f_170^0-f_170^post80 == 0 /\ __disjvr_41^0-__disjvr_41^post80 == 0 /\ -__disjvr_40^post80+__disjvr_40^0 == 0 /\ __disjvr_12^0-__disjvr_12^post80 == 0 /\ __disjvr_0^0-__disjvr_0^post80 == 0 /\ __disjvr_8^0-__disjvr_8^post80 == 0 /\ -rcd_88^post80+rcd_88^0 == 0 /\ -head_32^post80+head_32^0 == 0 /\ -a_277^post80+a_277^0 == 0 /\ -rcd_58^post80+rcd_58^0 == 0 /\ __disjvr_13^0-__disjvr_13^post80 == 0 /\ -temp0_31^post80+temp0_31^0 == 0 /\ -r_218^post80+r_218^0 == 0 /\ __disjvr_7^0-__disjvr_7^post80 == 0 /\ -__disjvr_32^post80+__disjvr_32^0 == 0 /\ __disjvr_20^0-__disjvr_20^post80 == 0 /\ -__disjvr_38^post80+__disjvr_38^0 == 0 /\ y_19^0-y_19^post80 == 0 /\ -__disjvr_26^post80+__disjvr_26^0 == 0), cost: 1
  81: l79 -> l80 : i_108^0'=i_108^post81, __disjvr_7^0'=__disjvr_7^post81, __disjvr_13^0'=__disjvr_13^post81, f_170^0'=f_170^post81, length_29^0'=length_29^post81, __disjvr_25^0'=__disjvr_25^post81, a_330^0'=a_330^post81, __disjvr_20^0'=__disjvr_20^post81, len_183^0'=len_183^post81, __disjvr_37^0'=__disjvr_37^post81, __disjvr_32^0'=__disjvr_32^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81, head_223^0'=head_223^post81, r_260^0'=r_260^post81, __disjvr_4^0'=__disjvr_4^post81, __disjvr_10^0'=__disjvr_10^post81, x_20^0'=x_20^post81, __disjvr_41^0'=__disjvr_41^post81, __disjvr_22^0'=__disjvr_22^post81, a_241^0'=a_241^post81, __disjvr_18^0'=__disjvr_18^post81, i_30^0'=i_30^post81, __disjvr_9^0'=__disjvr_9^post81, __disjvr_2^0'=__disjvr_2^post81, rcd_58^0'=rcd_58^post81, head_129^0'=head_129^post81, r_124^0'=r_124^post81, __disjvr_27^0'=__disjvr_27^post81, ct_17^0'=ct_17^post81, temp_35^0'=temp_35^post81, __disjvr_39^0'=__disjvr_39^post81, __disjvr_34^0'=__disjvr_34^post81, t_23^0'=t_23^post81, head_27^0'=head_27^post81, __disjvr_15^0'=__disjvr_15^post81, head_SLAM_f_26^0'=head_SLAM_f_26^post81, __disjvr_6^0'=__disjvr_6^post81, __disjvr_12^0'=__disjvr_12^post81, y_19^0'=y_19^post81, __disjvr_43^0'=__disjvr_43^post81, len_276^0'=len_276^post81, __disjvr_24^0'=__disjvr_24^post81, a_308^0'=a_308^post81, __disjvr_1^0'=__disjvr_1^post81, len_132^0'=len_132^post81, a_147^0'=a_147^post81, __disjvr_31^0'=__disjvr_31^post81, result_11^0'=result_11^post81, head_175^0'=head_175^post81, r_218^0'=r_218^post81, __disjvr_29^0'=__disjvr_29^post81, __disjvr_0^0'=__disjvr_0^post81, x_16^0'=x_16^post81, __disjvr_40^0'=__disjvr_40^post81, __disjvr_36^0'=__disjvr_36^post81, a_210^0'=a_210^post81, __disjvr_17^0'=__disjvr_17^post81, i_167^0'=i_167^post81, __disjvr_8^0'=__disjvr_8^post81, __disjvr_14^0'=__disjvr_14^post81, r_39^0'=r_39^post81, f_263^0'=f_263^post81, nondet_12^0'=nondet_12^post81, __disjvr_26^0'=__disjvr_26^post81, a_353^0'=a_353^post81, __disjvr_21^0'=__disjvr_21^post81, temp0_31^0'=temp0_31^post81, __disjvr_38^0'=__disjvr_38^post81, __disjvr_33^0'=__disjvr_33^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, head_268^0'=head_268^post81, head_32^0'=head_32^post81, __disjvr_5^0'=__disjvr_5^post81, __disjvr_11^0'=__disjvr_11^post81, x_SLAM_f_18^0'=x_SLAM_f_18^post81, __disjvr_42^0'=__disjvr_42^post81, len_226^0'=len_226^post81, __disjvr_23^0'=__disjvr_23^post81, a_277^0'=a_277^post81, __disjvr_19^0'=__disjvr_19^post81, i_94^0'=i_94^post81, a_116^0'=a_116^post81, __disjvr_30^0'=__disjvr_30^post81, rcd_88^0'=rcd_88^post81, head_14^0'=head_14^post81, r_163^0'=r_163^post81, __disjvr_28^0'=__disjvr_28^post81, tmp_34^0'=tmp_34^post81, __disjvr_3^0'=__disjvr_3^post81, __disjvr_35^0'=__disjvr_35^post81, temp0_15^0'=temp0_15^post81, a_184^0'=a_184^post81, __disjvr_16^0'=__disjvr_16^post81, (0 == 0 /\ -__disjvr_42^post81+__disjvr_42^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81 == 0 /\ -__disjvr_27^post81+__disjvr_27^0 == 0 /\ -a_184^post81+a_184^0 == 0 /\ -r_163^post81+r_163^0 == 0 /\ -tmp_34^post81+tmp_34^0 == 0 /\ -__disjvr_30^post81+__disjvr_30^0 == 0 /\ len_132^0-len_132^post81 == 0 /\ __disjvr_2^0-__disjvr_2^post81 == 0 /\ -__disjvr_19^post81+__disjvr_19^0 == 0 /\ head_223^0-head_223^post81 == 0 /\ -a_147^post81+a_147^0 == 0 /\ len_226^0-len_226^post81 == 0 /\ -__disjvr_26^post81+__disjvr_26^0 == 0 /\ -a_277^post81+a_277^0 == 0 /\ __disjvr_0^0-__disjvr_0^post81 == 0 /\ -__disjvr_29^post81+__disjvr_29^0 == 0 /\ -head_32^post81+head_32^0 == 0 /\ i_30^0-i_30^post81 == 0 /\ -__disjvr_39^post81+__disjvr_39^0 == 0 /\ r_39^0-r_39^post81 == 0 /\ -a_210^post81+a_210^0 == 0 /\ __disjvr_20^0-__disjvr_20^post81 == 0 /\ -__disjvr_24^post81+__disjvr_24^0 == 0 /\ -__disjvr_3^post81+__disjvr_3^0 == 0 /\ -__disjvr_18^post81+__disjvr_18^0 == 0 /\ -__disjvr_38^post81+__disjvr_38^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post81 == 0 /\ __disjvr_7^0-__disjvr_7^post81 == 0 /\ head_175^0-head_175^post81 == 0 /\ r_218^0-r_218^post81 == 0 /\ r_124^0-r_124^post81 == 0 /\ len_183^0-len_183^post81 == 0 /\ i_167^0-i_167^post81 == 0 /\ -head_27^post81+head_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post81 == 0 /\ -__disjvr_23^post81+__disjvr_23^0 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_36^post81+__disjvr_36^0 == 0 /\ a_330^0-a_330^post81 == 0 /\ -__disjvr_28^post81+__disjvr_28^0 == 0 /\ __disjvr_1^0-__disjvr_1^post81 == 0 /\ __disjvr_10^0-__disjvr_10^post81 == 0 /\ -__disjvr_5^post81+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post81 == 0 /\ result_11^post81-temp0_15^0 == 0 /\ -f_263^post81+f_263^0 == 0 /\ __disjvr_32^0-__disjvr_32^post81 == 0 /\ temp0_15^0-temp0_15^post81 == 0 /\ __disjvr_22^0-__disjvr_22^post81 == 0 /\ -__disjvr_40^post81+__disjvr_40^0 == 0 /\ -a_308^post81+a_308^0 == 0 /\ length_29^0-length_29^post81 == 0 /\ -a_353^post81+a_353^0 == 0 /\ -i_94^post81+i_94^0 == 0 /\ __disjvr_25^0-__disjvr_25^post81 == 0 /\ -__disjvr_35^post81+__disjvr_35^0 == 0 /\ -__disjvr_8^post81+__disjvr_8^0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -__disjvr_14^post81+__disjvr_14^0 == 0 /\ __disjvr_15^0-__disjvr_15^post81 == 0 /\ a_241^0-a_241^post81 == 0 /\ -__disjvr_17^post81+__disjvr_17^0 == 0 /\ -a_116^post81+a_116^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post81 == 0 /\ -__disjvr_31^post81+__disjvr_31^0 == 0 /\ -__disjvr_21^post81+__disjvr_21^0 == 0 /\ rcd_88^0-rcd_88^post81 == 0 /\ rcd_58^0-rcd_58^post81 == 0 /\ __disjvr_41^0-__disjvr_41^post81 == 0 /\ -head_129^post81+head_129^0 == 0 /\ f_170^0-f_170^post81 == 0 /\ -__disjvr_16^post81+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post81 == 0 /\ __disjvr_37^0-__disjvr_37^post81 == 0 /\ len_276^0-len_276^post81 == 0 /\ -__disjvr_43^post81+__disjvr_43^0 == 0 /\ -__disjvr_11^post81+__disjvr_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post81 == 0 /\ -__disjvr_33^post81+__disjvr_33^0 == 0 /\ temp_35^0-temp_35^post81 == 0 /\ temp0_31^0-temp0_31^post81 == 0 /\ -head_268^post81+head_268^0 == 0 /\ i_108^0-i_108^post81 == 0 /\ x_20^0-y_19^0 <= 0 /\ -__disjvr_34^post81+__disjvr_34^0 == 0 /\ r_260^0-r_260^post81 == 0 /\ __disjvr_4^0-__disjvr_4^post81 == 0), cost: 1
  82: l80 -> l11 : i_108^0'=i_108^post82, __disjvr_7^0'=__disjvr_7^post82, __disjvr_13^0'=__disjvr_13^post82, f_170^0'=f_170^post82, length_29^0'=length_29^post82, __disjvr_25^0'=__disjvr_25^post82, a_330^0'=a_330^post82, __disjvr_20^0'=__disjvr_20^post82, len_183^0'=len_183^post82, __disjvr_37^0'=__disjvr_37^post82, __disjvr_32^0'=__disjvr_32^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82, head_223^0'=head_223^post82, r_260^0'=r_260^post82, __disjvr_4^0'=__disjvr_4^post82, __disjvr_10^0'=__disjvr_10^post82, x_20^0'=x_20^post82, __disjvr_41^0'=__disjvr_41^post82, __disjvr_22^0'=__disjvr_22^post82, a_241^0'=a_241^post82, __disjvr_18^0'=__disjvr_18^post82, i_30^0'=i_30^post82, __disjvr_9^0'=__disjvr_9^post82, __disjvr_2^0'=__disjvr_2^post82, rcd_58^0'=rcd_58^post82, head_129^0'=head_129^post82, r_124^0'=r_124^post82, __disjvr_27^0'=__disjvr_27^post82, ct_17^0'=ct_17^post82, temp_35^0'=temp_35^post82, __disjvr_39^0'=__disjvr_39^post82, __disjvr_34^0'=__disjvr_34^post82, t_23^0'=t_23^post82, head_27^0'=head_27^post82, __disjvr_15^0'=__disjvr_15^post82, head_SLAM_f_26^0'=head_SLAM_f_26^post82, __disjvr_6^0'=__disjvr_6^post82, __disjvr_12^0'=__disjvr_12^post82, y_19^0'=y_19^post82, __disjvr_43^0'=__disjvr_43^post82, len_276^0'=len_276^post82, __disjvr_24^0'=__disjvr_24^post82, a_308^0'=a_308^post82, __disjvr_1^0'=__disjvr_1^post82, len_132^0'=len_132^post82, a_147^0'=a_147^post82, __disjvr_31^0'=__disjvr_31^post82, result_11^0'=result_11^post82, head_175^0'=head_175^post82, r_218^0'=r_218^post82, __disjvr_29^0'=__disjvr_29^post82, __disjvr_0^0'=__disjvr_0^post82, x_16^0'=x_16^post82, __disjvr_40^0'=__disjvr_40^post82, __disjvr_36^0'=__disjvr_36^post82, a_210^0'=a_210^post82, __disjvr_17^0'=__disjvr_17^post82, i_167^0'=i_167^post82, __disjvr_8^0'=__disjvr_8^post82, __disjvr_14^0'=__disjvr_14^post82, r_39^0'=r_39^post82, f_263^0'=f_263^post82, nondet_12^0'=nondet_12^post82, __disjvr_26^0'=__disjvr_26^post82, a_353^0'=a_353^post82, __disjvr_21^0'=__disjvr_21^post82, temp0_31^0'=temp0_31^post82, __disjvr_38^0'=__disjvr_38^post82, __disjvr_33^0'=__disjvr_33^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, head_268^0'=head_268^post82, head_32^0'=head_32^post82, __disjvr_5^0'=__disjvr_5^post82, __disjvr_11^0'=__disjvr_11^post82, x_SLAM_f_18^0'=x_SLAM_f_18^post82, __disjvr_42^0'=__disjvr_42^post82, len_226^0'=len_226^post82, __disjvr_23^0'=__disjvr_23^post82, a_277^0'=a_277^post82, __disjvr_19^0'=__disjvr_19^post82, i_94^0'=i_94^post82, a_116^0'=a_116^post82, __disjvr_30^0'=__disjvr_30^post82, rcd_88^0'=rcd_88^post82, head_14^0'=head_14^post82, r_163^0'=r_163^post82, __disjvr_28^0'=__disjvr_28^post82, tmp_34^0'=tmp_34^post82, __disjvr_3^0'=__disjvr_3^post82, __disjvr_35^0'=__disjvr_35^post82, temp0_15^0'=temp0_15^post82, a_184^0'=a_184^post82, __disjvr_16^0'=__disjvr_16^post82, (-temp0_15^post82+temp0_15^0 == 0 /\ -__disjvr_5^post82+__disjvr_5^0 == 0 /\ -t_23^post82+t_23^0 == 0 /\ rcd_58^0-rcd_58^post82 == 0 /\ __disjvr_19^0-__disjvr_19^post82 == 0 /\ -a_353^post82+a_353^0 == 0 /\ a_116^0-a_116^post82 == 0 /\ -a_308^post82+a_308^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post82 == 0 /\ -i_30^post82+i_30^0 == 0 /\ __disjvr_27^0-__disjvr_27^post82 == 0 /\ ct_17^0-ct_17^post82 == 0 /\ -__disjvr_8^post82+__disjvr_8^0 == 0 /\ -__disjvr_28^post82+__disjvr_28^0 == 0 /\ __disjvr_12^0-__disjvr_12^post82 == 0 /\ result_11^0-result_11^post82 == 0 /\ -__disjvr_11^post82+__disjvr_11^0 == 0 /\ temp0_31^0-temp0_31^post82 == 0 /\ -len_226^post82+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post82 == 0 /\ r_218^0-r_218^post82 == 0 /\ -y_19^post82+y_19^0 == 0 /\ a_147^0-a_147^post82 == 0 /\ __disjvr_24^0-__disjvr_24^post82 == 0 /\ -__disjvr_17^post82+__disjvr_17^0 == 0 /\ -__disjvr_35^post82+__disjvr_35^0 == 0 /\ f_170^0-f_170^post82 == 0 /\ __disjvr_2^0-__disjvr_2^post82 == 0 /\ head_27^0-head_27^post82 == 0 /\ -__disjvr_34^post82+__disjvr_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post82 == 0 /\ -r_163^post82+r_163^0 == 0 /\ -__disjvr_21^post82+__disjvr_21^0 == 0 /\ -tmp_34^post82+tmp_34^0 == 0 /\ -a_184^post82+a_184^0 == 0 /\ -__disjvr_29^post82+__disjvr_29^0 == 0 /\ -i_94^post82+i_94^0 == 0 /\ __disjvr_13^0-__disjvr_13^post82 == 0 /\ -head_268^post82+head_268^0 == 0 /\ __disjvr_7^0-__disjvr_7^post82 == 0 /\ -__disjvr_16^post82+__disjvr_16^0 == 0 /\ -__disjvr_33^post82+__disjvr_33^0 == 0 /\ __disjvr_39^0-__disjvr_39^post82 == 0 /\ __disjvr_20^0-__disjvr_20^post82 == 0 /\ __disjvr_6^0-__disjvr_6^post82 == 0 /\ __disjvr_32^0-__disjvr_32^post82 == 0 /\ a_241^0-a_241^post82 == 0 /\ f_263^0-f_263^post82 == 0 /\ -__disjvr_3^post82+__disjvr_3^0 == 0 /\ __disjvr_38^post82-__disjvr_38^0 == 0 /\ length_29^0-length_29^post82 == 0 /\ -head_14^post82+head_14^0 == 0 /\ -__disjvr_30^post82+__disjvr_30^0 == 0 /\ -__disjvr_42^post82+__disjvr_42^0 == 0 /\ -__disjvr_4^post82+__disjvr_4^0 == 0 /\ __disjvr_43^0-__disjvr_43^post82 == 0 /\ __disjvr_1^0-__disjvr_1^post82 == 0 /\ -temp_35^post82+temp_35^0 == 0 /\ len_183^0-len_183^post82 == 0 /\ x_16^0-x_16^post82 == 0 /\ head_175^0-head_175^post82 == 0 /\ x_20^0-x_20^post82 == 0 /\ i_167^0-i_167^post82 == 0 /\ r_124^0-r_124^post82 == 0 /\ a_330^0-a_330^post82 == 0 /\ -a_277^post82+a_277^0 == 0 /\ __disjvr_25^0-__disjvr_25^post82 == 0 /\ -__disjvr_41^post82+__disjvr_41^0 == 0 /\ __disjvr_37^0-__disjvr_37^post82 == 0 /\ len_132^0-len_132^post82 == 0 /\ -__disjvr_38^post82+__disjvr_38^0 == 0 /\ -__disjvr_31^post82+__disjvr_31^0 == 0 /\ __disjvr_15^0-__disjvr_15^post82 == 0 /\ i_108^0-i_108^post82 == 0 /\ -__disjvr_40^post82+__disjvr_40^0 == 0 /\ -r_39^post82+r_39^0 == 0 /\ -a_210^post82+a_210^0 == 0 /\ r_260^0-r_260^post82 == 0 /\ -head_223^post82+head_223^0 == 0 /\ -x_SLAM_f_18^post82+x_SLAM_f_18^0 == 0 /\ -__disjvr_23^post82+__disjvr_23^0 == 0 /\ -rcd_88^post82+rcd_88^0 == 0 /\ -len_276^post82+len_276^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82 == 0 /\ __disjvr_10^0-__disjvr_10^post82 == 0 /\ -head_32^post82+head_32^0 == 0 /\ __disjvr_22^0-__disjvr_22^post82 == 0 /\ -__disjvr_26^post82+__disjvr_26^0 == 0 /\ -__disjvr_14^post82+__disjvr_14^0 == 0 /\ head_129^0-head_129^post82 == 0 /\ __disjvr_18^0-__disjvr_18^post82 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ __disjvr_9^0-__disjvr_9^post82 == 0), cost: 1
  84: l81 -> l82 : i_108^0'=i_108^post84, __disjvr_7^0'=__disjvr_7^post84, __disjvr_13^0'=__disjvr_13^post84, f_170^0'=f_170^post84, length_29^0'=length_29^post84, __disjvr_25^0'=__disjvr_25^post84, a_330^0'=a_330^post84, __disjvr_20^0'=__disjvr_20^post84, len_183^0'=len_183^post84, __disjvr_37^0'=__disjvr_37^post84, __disjvr_32^0'=__disjvr_32^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, head_223^0'=head_223^post84, r_260^0'=r_260^post84, __disjvr_4^0'=__disjvr_4^post84, __disjvr_10^0'=__disjvr_10^post84, x_20^0'=x_20^post84, __disjvr_41^0'=__disjvr_41^post84, __disjvr_22^0'=__disjvr_22^post84, a_241^0'=a_241^post84, __disjvr_18^0'=__disjvr_18^post84, i_30^0'=i_30^post84, __disjvr_9^0'=__disjvr_9^post84, __disjvr_2^0'=__disjvr_2^post84, rcd_58^0'=rcd_58^post84, head_129^0'=head_129^post84, r_124^0'=r_124^post84, __disjvr_27^0'=__disjvr_27^post84, ct_17^0'=ct_17^post84, temp_35^0'=temp_35^post84, __disjvr_39^0'=__disjvr_39^post84, __disjvr_34^0'=__disjvr_34^post84, t_23^0'=t_23^post84, head_27^0'=head_27^post84, __disjvr_15^0'=__disjvr_15^post84, head_SLAM_f_26^0'=head_SLAM_f_26^post84, __disjvr_6^0'=__disjvr_6^post84, __disjvr_12^0'=__disjvr_12^post84, y_19^0'=y_19^post84, __disjvr_43^0'=__disjvr_43^post84, len_276^0'=len_276^post84, __disjvr_24^0'=__disjvr_24^post84, a_308^0'=a_308^post84, __disjvr_1^0'=__disjvr_1^post84, len_132^0'=len_132^post84, a_147^0'=a_147^post84, __disjvr_31^0'=__disjvr_31^post84, result_11^0'=result_11^post84, head_175^0'=head_175^post84, r_218^0'=r_218^post84, __disjvr_29^0'=__disjvr_29^post84, __disjvr_0^0'=__disjvr_0^post84, x_16^0'=x_16^post84, __disjvr_40^0'=__disjvr_40^post84, __disjvr_36^0'=__disjvr_36^post84, a_210^0'=a_210^post84, __disjvr_17^0'=__disjvr_17^post84, i_167^0'=i_167^post84, __disjvr_8^0'=__disjvr_8^post84, __disjvr_14^0'=__disjvr_14^post84, r_39^0'=r_39^post84, f_263^0'=f_263^post84, nondet_12^0'=nondet_12^post84, __disjvr_26^0'=__disjvr_26^post84, a_353^0'=a_353^post84, __disjvr_21^0'=__disjvr_21^post84, temp0_31^0'=temp0_31^post84, __disjvr_38^0'=__disjvr_38^post84, __disjvr_33^0'=__disjvr_33^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_268^0'=head_268^post84, head_32^0'=head_32^post84, __disjvr_5^0'=__disjvr_5^post84, __disjvr_11^0'=__disjvr_11^post84, x_SLAM_f_18^0'=x_SLAM_f_18^post84, __disjvr_42^0'=__disjvr_42^post84, len_226^0'=len_226^post84, __disjvr_23^0'=__disjvr_23^post84, a_277^0'=a_277^post84, __disjvr_19^0'=__disjvr_19^post84, i_94^0'=i_94^post84, a_116^0'=a_116^post84, __disjvr_30^0'=__disjvr_30^post84, rcd_88^0'=rcd_88^post84, head_14^0'=head_14^post84, r_163^0'=r_163^post84, __disjvr_28^0'=__disjvr_28^post84, tmp_34^0'=tmp_34^post84, __disjvr_3^0'=__disjvr_3^post84, __disjvr_35^0'=__disjvr_35^post84, temp0_15^0'=temp0_15^post84, a_184^0'=a_184^post84, __disjvr_16^0'=__disjvr_16^post84, (0 == 0 /\ __disjvr_37^0-__disjvr_37^post84 == 0 /\ -len_226^post84+len_226^0 == 0 /\ head_27^post84-head_14^post84 <= 0 /\ a_241^0-a_241^post84 == 0 /\ r_260^0-r_260^post84 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ head_14^post84-result_11^11 == 0 /\ r_124^0-r_124^post84 == 0 /\ head_14^post84-head_SLAM_f_26^post84 <= 0 /\ rcd_58^0-rcd_58^post84 == 0 /\ head_27^post84-head_SLAM_f_26^post84 <= 0 /\ head_27^post84-head_SLAM_f_26^post84 == 0 /\ __disjvr_13^0-__disjvr_13^post84 == 0 /\ -len_132^0 <= 0 /\ -__disjvr_8^post84+__disjvr_8^0 == 0 /\ -__disjvr_5^post84+__disjvr_5^0 == 0 /\ a_147^0-i_30^post84 <= 0 /\ __disjvr_22^0-__disjvr_22^post84 == 0 /\ -__disjvr_9^post84+__disjvr_9^0 == 0 /\ -a_116^post84+a_116^0 == 0 /\ x_16^0-x_16^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ -__disjvr_43^post84+__disjvr_43^0 == 0 /\ -__disjvr_28^post84+__disjvr_28^0 == 0 /\ len_183^0-len_183^post84 == 0 /\ -ct_17^post84+ct_17^0 == 0 /\ -__disjvr_36^post84+__disjvr_36^0 == 0 /\ -a_210^post84+a_210^0 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -head_27^post84+head_14^post84 <= 0 /\ -__disjvr_11^post84+__disjvr_11^0 == 0 /\ -__disjvr_14^post84+__disjvr_14^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ __disjvr_4^0-__disjvr_4^post84 == 0 /\ -__disjvr_33^post84+__disjvr_33^0 == 0 /\ -__disjvr_16^post84+__disjvr_16^0 == 0 /\ -head_14^post84+head_SLAM_f_26^post84 <= 0 /\ -head_14^post84+head_SLAM_f_26^post84 == 0 /\ -__disjvr_21^post84+__disjvr_21^0 == 0 /\ -head_27^post84+head_SLAM_f_26^post84 <= 0 /\ a_308^0-a_308^post84 == 0 /\ t_23^0-t_23^post84 == 0 /\ __disjvr_15^0-__disjvr_15^post84 == 0 /\ -__disjvr_31^post84+__disjvr_31^0 == 0 /\ __disjvr_2^0-__disjvr_2^post84 == 0 /\ -a_147^0+i_30^post84 <= 0 /\ head_129^0-head_129^post84 == 0 /\ -head_268^post84+head_268^0 == 0 /\ -__disjvr_39^post84+__disjvr_39^0 == 0 /\ len_132^0 <= 0 /\ -temp0_15^post84+temp0_15^0 == 0 /\ -r_163^post84+r_163^0 == 0 /\ -__disjvr_19^post84+__disjvr_19^0 == 0 /\ -__disjvr_34^post84+__disjvr_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post84 == 0 /\ -head_175^post84+head_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post84 == 0 /\ -__disjvr_18^post84+__disjvr_18^0 == 0 /\ f_170^0-f_170^post84 == 0 /\ -x_SLAM_f_18^post84+x_SLAM_f_18^0 == 0 /\ -len_132^post84+len_132^0 == 0 /\ i_108^0-i_108^post84 == 0 /\ len_276^0-len_276^post84 == 0 /\ __disjvr_29^0-__disjvr_29^post84 == 0 /\ -y_19^post84+y_19^0 == 0 /\ -__disjvr_0^post84+__disjvr_0^0 == 0 /\ -__disjvr_30^post84+__disjvr_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post84 == 0 /\ -__disjvr_40^post84+__disjvr_40^0 == 0 /\ -i_30^0 <= 0 /\ -a_147^post84+a_147^0 == 0 /\ -f_263^post84+f_263^0 == 0 /\ __disjvr_12^0-__disjvr_12^post84 == 0 /\ -a_277^post84+a_277^0 == 0 /\ -__disjvr_42^post84+__disjvr_42^0 == 0 /\ head_223^0-head_223^post84 == 0 /\ -__disjvr_35^post84+__disjvr_35^0 == 0 /\ -a_184^post84+a_184^0 == 0 /\ -__disjvr_24^post84+__disjvr_24^0 == 0 /\ -__disjvr_17^post84+__disjvr_17^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -__disjvr_10^post84+__disjvr_10^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ x_20^0-x_20^post84 == 0 /\ a_330^0-a_330^post84 == 0 /\ __disjvr_41^0-__disjvr_41^post84 == 0 /\ -__disjvr_38^post84+__disjvr_38^0 == 0 /\ __disjvr_20^0-__disjvr_20^post84 == 0 /\ -__disjvr_25^post84+__disjvr_25^0 == 0 /\ -__disjvr_3^post84+__disjvr_3^0 == 0 /\ __disjvr_32^0-__disjvr_32^post84 == 0 /\ -rcd_88^post84+rcd_88^0 == 0 /\ -__disjvr_23^post84+__disjvr_23^0 == 0 /\ -a_353^post84+a_353^0 == 0 /\ __disjvr_7^0-__disjvr_7^post84 == 0 /\ __disjvr_26^0-__disjvr_26^post84 == 0 /\ -r_218^post84+r_218^0 == 0), cost: 1
  87: l81 -> l84 : i_108^0'=i_108^post87, __disjvr_7^0'=__disjvr_7^post87, __disjvr_13^0'=__disjvr_13^post87, f_170^0'=f_170^post87, length_29^0'=length_29^post87, __disjvr_25^0'=__disjvr_25^post87, a_330^0'=a_330^post87, __disjvr_20^0'=__disjvr_20^post87, len_183^0'=len_183^post87, __disjvr_37^0'=__disjvr_37^post87, __disjvr_32^0'=__disjvr_32^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, head_223^0'=head_223^post87, r_260^0'=r_260^post87, __disjvr_4^0'=__disjvr_4^post87, __disjvr_10^0'=__disjvr_10^post87, x_20^0'=x_20^post87, __disjvr_41^0'=__disjvr_41^post87, __disjvr_22^0'=__disjvr_22^post87, a_241^0'=a_241^post87, __disjvr_18^0'=__disjvr_18^post87, i_30^0'=i_30^post87, __disjvr_9^0'=__disjvr_9^post87, __disjvr_2^0'=__disjvr_2^post87, rcd_58^0'=rcd_58^post87, head_129^0'=head_129^post87, r_124^0'=r_124^post87, __disjvr_27^0'=__disjvr_27^post87, ct_17^0'=ct_17^post87, temp_35^0'=temp_35^post87, __disjvr_39^0'=__disjvr_39^post87, __disjvr_34^0'=__disjvr_34^post87, t_23^0'=t_23^post87, head_27^0'=head_27^post87, __disjvr_15^0'=__disjvr_15^post87, head_SLAM_f_26^0'=head_SLAM_f_26^post87, __disjvr_6^0'=__disjvr_6^post87, __disjvr_12^0'=__disjvr_12^post87, y_19^0'=y_19^post87, __disjvr_43^0'=__disjvr_43^post87, len_276^0'=len_276^post87, __disjvr_24^0'=__disjvr_24^post87, a_308^0'=a_308^post87, __disjvr_1^0'=__disjvr_1^post87, len_132^0'=len_132^post87, a_147^0'=a_147^post87, __disjvr_31^0'=__disjvr_31^post87, result_11^0'=result_11^post87, head_175^0'=head_175^post87, r_218^0'=r_218^post87, __disjvr_29^0'=__disjvr_29^post87, __disjvr_0^0'=__disjvr_0^post87, x_16^0'=x_16^post87, __disjvr_40^0'=__disjvr_40^post87, __disjvr_36^0'=__disjvr_36^post87, a_210^0'=a_210^post87, __disjvr_17^0'=__disjvr_17^post87, i_167^0'=i_167^post87, __disjvr_8^0'=__disjvr_8^post87, __disjvr_14^0'=__disjvr_14^post87, r_39^0'=r_39^post87, f_263^0'=f_263^post87, nondet_12^0'=nondet_12^post87, __disjvr_26^0'=__disjvr_26^post87, a_353^0'=a_353^post87, __disjvr_21^0'=__disjvr_21^post87, temp0_31^0'=temp0_31^post87, __disjvr_38^0'=__disjvr_38^post87, __disjvr_33^0'=__disjvr_33^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, head_268^0'=head_268^post87, head_32^0'=head_32^post87, __disjvr_5^0'=__disjvr_5^post87, __disjvr_11^0'=__disjvr_11^post87, x_SLAM_f_18^0'=x_SLAM_f_18^post87, __disjvr_42^0'=__disjvr_42^post87, len_226^0'=len_226^post87, __disjvr_23^0'=__disjvr_23^post87, a_277^0'=a_277^post87, __disjvr_19^0'=__disjvr_19^post87, i_94^0'=i_94^post87, a_116^0'=a_116^post87, __disjvr_30^0'=__disjvr_30^post87, rcd_88^0'=rcd_88^post87, head_14^0'=head_14^post87, r_163^0'=r_163^post87, __disjvr_28^0'=__disjvr_28^post87, tmp_34^0'=tmp_34^post87, __disjvr_3^0'=__disjvr_3^post87, __disjvr_35^0'=__disjvr_35^post87, temp0_15^0'=temp0_15^post87, a_184^0'=a_184^post87, __disjvr_16^0'=__disjvr_16^post87, (0 == 0 /\ -x_SLAM_f_18^post87+x_SLAM_f_18^0 == 0 /\ -temp0_31^post87+temp0_31^0 == 0 /\ -r_163^post87+r_163^0 == 0 /\ 1-length_29^0+i_94^post87 <= 0 /\ -r_124^post87+r_124^0 == 0 /\ __disjvr_23^0-__disjvr_23^post87 == 0 /\ head_27^0-head_27^post87 == 0 /\ a_308^0-a_308^post87 == 0 /\ -x_16^post87+x_16^0 == 0 /\ -a_116^post87+a_116^0 == 0 /\ t_23^0-t_23^post87 == 0 /\ __disjvr_32^0-__disjvr_32^post87 == 0 /\ a_241^0-a_241^post87 == 0 /\ -len_226^post87+len_226^0 == 0 /\ __disjvr_22^0-__disjvr_22^post87 == 0 /\ __disjvr_31^0-__disjvr_31^post87 == 0 /\ rcd_58^0-rcd_58^post87 == 0 /\ __disjvr_5^0-__disjvr_5^post87 == 0 /\ -__disjvr_21^post87+__disjvr_21^0 == 0 /\ -len_276^post87+len_276^0 == 0 /\ -head_14^post87+head_14^0 == 0 /\ __disjvr_41^0-__disjvr_41^post87 == 0 /\ -__disjvr_16^post87+__disjvr_16^0 == 0 /\ -__disjvr_40^post87+__disjvr_40^0 == 0 /\ __disjvr_10^0-__disjvr_10^post87 == 0 /\ -a_147^post87+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post87 == 0 /\ __disjvr_11^0-__disjvr_11^post87 == 0 /\ tmp_34^post87-temp_35^0 == 0 /\ len_183^0-len_183^post87 == 0 /\ r_260^0-r_260^post87 == 0 /\ -__disjvr_27^post87+__disjvr_27^0 == 0 /\ 1-i_30^post87+i_94^post87 <= 0 /\ __disjvr_2^0-__disjvr_2^post87 == 0 /\ __disjvr_34^0-__disjvr_34^post87 == 0 /\ head_129^0-head_129^post87 == 0 /\ -1-i_30^0+i_30^post87 == 0 /\ __disjvr_9^0-__disjvr_9^post87 == 0 /\ head_223^0-head_223^post87 == 0 /\ __disjvr_20^0-__disjvr_20^post87 == 0 /\ i_108^0-i_108^post87 == 0 /\ -tmp_34^post87+head_32^post87 == 0 /\ __disjvr_13^0-__disjvr_13^post87 == 0 /\ -__disjvr_24^post87+__disjvr_24^0 == 0 /\ head_268^0-head_268^post87 == 0 /\ -r_39^post87+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post87 == 0 /\ a_330^0-a_330^post87 == 0 /\ __disjvr_42^0-__disjvr_42^post87 == 0 /\ -__disjvr_3^post87+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post87 == 0 /\ __disjvr_25^0-__disjvr_25^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87 == 0 /\ -a_184^post87+a_184^0 == 0 /\ r_218^0-r_218^post87 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post87+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_43^post87+__disjvr_43^0 == 0 /\ -__disjvr_38^post87+__disjvr_38^0 == 0 /\ -__disjvr_14^post87+__disjvr_14^0 == 0 /\ -__disjvr_26^post87+__disjvr_26^0 == 0 /\ -__disjvr_1^post87+__disjvr_1^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -a_277^post87+a_277^0 == 0 /\ -i_167^post87+i_167^0 == 0 /\ a_210^0-a_210^post87 == 0 /\ -__disjvr_35^post87+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post87 == 0 /\ -i_30^0 <= 0 /\ -temp0_15^post87+temp0_15^0 == 0 /\ ct_17^0-ct_17^post87 == 0 /\ -__disjvr_30^post87+__disjvr_30^0 == 0 /\ -__disjvr_8^post87+__disjvr_8^0 == 0 /\ -f_263^post87+f_263^0 == 0 /\ __disjvr_7^0-__disjvr_7^post87 == 0 /\ f_170^0-f_170^post87 == 0 /\ y_19^0-y_19^post87 == 0 /\ len_132^0-len_132^post87 == 0 /\ __disjvr_39^0-__disjvr_39^post87 == 0 /\ -__disjvr_33^post87+__disjvr_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post87 == 0 /\ -nondet_12^post87+nondet_12^0 == 0 /\ -a_353^post87+a_353^0 == 0 /\ -1+i_30^post87-i_94^post87 <= 0 /\ __disjvr_18^0-__disjvr_18^post87 == 0 /\ -__disjvr_36^post87+__disjvr_36^0 == 0 /\ -__disjvr_28^post87+__disjvr_28^0 == 0 /\ length_29^0-length_29^post87 == 0 /\ -__disjvr_19^post87+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post87 == 0 /\ -head_175^post87+head_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post87 == 0 /\ result_11^0-result_11^post87 == 0 /\ __disjvr_15^0-__disjvr_15^post87 == 0 /\ -x_20^post87+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post87 == 0), cost: 1
  85: l82 -> l83 : i_108^0'=i_108^post85, __disjvr_7^0'=__disjvr_7^post85, __disjvr_13^0'=__disjvr_13^post85, f_170^0'=f_170^post85, length_29^0'=length_29^post85, __disjvr_25^0'=__disjvr_25^post85, a_330^0'=a_330^post85, __disjvr_20^0'=__disjvr_20^post85, len_183^0'=len_183^post85, __disjvr_37^0'=__disjvr_37^post85, __disjvr_32^0'=__disjvr_32^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, head_223^0'=head_223^post85, r_260^0'=r_260^post85, __disjvr_4^0'=__disjvr_4^post85, __disjvr_10^0'=__disjvr_10^post85, x_20^0'=x_20^post85, __disjvr_41^0'=__disjvr_41^post85, __disjvr_22^0'=__disjvr_22^post85, a_241^0'=a_241^post85, __disjvr_18^0'=__disjvr_18^post85, i_30^0'=i_30^post85, __disjvr_9^0'=__disjvr_9^post85, __disjvr_2^0'=__disjvr_2^post85, rcd_58^0'=rcd_58^post85, head_129^0'=head_129^post85, r_124^0'=r_124^post85, __disjvr_27^0'=__disjvr_27^post85, ct_17^0'=ct_17^post85, temp_35^0'=temp_35^post85, __disjvr_39^0'=__disjvr_39^post85, __disjvr_34^0'=__disjvr_34^post85, t_23^0'=t_23^post85, head_27^0'=head_27^post85, __disjvr_15^0'=__disjvr_15^post85, head_SLAM_f_26^0'=head_SLAM_f_26^post85, __disjvr_6^0'=__disjvr_6^post85, __disjvr_12^0'=__disjvr_12^post85, y_19^0'=y_19^post85, __disjvr_43^0'=__disjvr_43^post85, len_276^0'=len_276^post85, __disjvr_24^0'=__disjvr_24^post85, a_308^0'=a_308^post85, __disjvr_1^0'=__disjvr_1^post85, len_132^0'=len_132^post85, a_147^0'=a_147^post85, __disjvr_31^0'=__disjvr_31^post85, result_11^0'=result_11^post85, head_175^0'=head_175^post85, r_218^0'=r_218^post85, __disjvr_29^0'=__disjvr_29^post85, __disjvr_0^0'=__disjvr_0^post85, x_16^0'=x_16^post85, __disjvr_40^0'=__disjvr_40^post85, __disjvr_36^0'=__disjvr_36^post85, a_210^0'=a_210^post85, __disjvr_17^0'=__disjvr_17^post85, i_167^0'=i_167^post85, __disjvr_8^0'=__disjvr_8^post85, __disjvr_14^0'=__disjvr_14^post85, r_39^0'=r_39^post85, f_263^0'=f_263^post85, nondet_12^0'=nondet_12^post85, __disjvr_26^0'=__disjvr_26^post85, a_353^0'=a_353^post85, __disjvr_21^0'=__disjvr_21^post85, temp0_31^0'=temp0_31^post85, __disjvr_38^0'=__disjvr_38^post85, __disjvr_33^0'=__disjvr_33^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, head_268^0'=head_268^post85, head_32^0'=head_32^post85, __disjvr_5^0'=__disjvr_5^post85, __disjvr_11^0'=__disjvr_11^post85, x_SLAM_f_18^0'=x_SLAM_f_18^post85, __disjvr_42^0'=__disjvr_42^post85, len_226^0'=len_226^post85, __disjvr_23^0'=__disjvr_23^post85, a_277^0'=a_277^post85, __disjvr_19^0'=__disjvr_19^post85, i_94^0'=i_94^post85, a_116^0'=a_116^post85, __disjvr_30^0'=__disjvr_30^post85, rcd_88^0'=rcd_88^post85, head_14^0'=head_14^post85, r_163^0'=r_163^post85, __disjvr_28^0'=__disjvr_28^post85, tmp_34^0'=tmp_34^post85, __disjvr_3^0'=__disjvr_3^post85, __disjvr_35^0'=__disjvr_35^post85, temp0_15^0'=temp0_15^post85, a_184^0'=a_184^post85, __disjvr_16^0'=__disjvr_16^post85, (__disjvr_32^0-__disjvr_32^post85 == 0 /\ head_27^0-head_27^post85 == 0 /\ __disjvr_13^0-__disjvr_13^post85 == 0 /\ head_175^0-head_175^post85 == 0 /\ -__disjvr_22^post85+__disjvr_22^0 == 0 /\ -__disjvr_16^post85+__disjvr_16^0 == 0 /\ x_16^0-x_16^post85 == 0 /\ -__disjvr_21^post85+__disjvr_21^0 == 0 /\ -__disjvr_31^post85+__disjvr_31^0 == 0 /\ -__disjvr_33^post85+__disjvr_33^0 == 0 /\ __disjvr_34^0-__disjvr_34^post85 == 0 /\ __disjvr_37^0-__disjvr_37^post85 == 0 /\ __disjvr_25^0-__disjvr_25^post85 == 0 /\ -__disjvr_39^post85+__disjvr_39^0 == 0 /\ head_32^0-head_32^post85 == 0 /\ -__disjvr_36^post85+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post85 == 0 /\ temp_35^0-temp_35^post85 == 0 /\ x_20^0-x_20^post85 == 0 /\ -__disjvr_23^post85+__disjvr_23^0 == 0 /\ __disjvr_1^0-__disjvr_1^post85 == 0 /\ __disjvr_15^0-__disjvr_15^post85 == 0 /\ -r_163^post85+r_163^0 == 0 /\ -__disjvr_29^post85+__disjvr_29^0 == 0 /\ -a_308^post85+a_308^0 == 0 /\ -len_226^post85+len_226^0 == 0 /\ head_129^0-head_129^post85 == 0 /\ __disjvr_2^0-__disjvr_2^post85 == 0 /\ -len_132^post85+len_132^0 == 0 /\ r_218^0-r_218^post85 == 0 /\ len_276^0-len_276^post85 == 0 /\ len_183^0-len_183^post85 == 0 /\ -x_SLAM_f_18^post85+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post85+__disjvr_30^0 == 0 /\ -a_210^post85+a_210^0 == 0 /\ -__disjvr_35^post85+__disjvr_35^0 == 0 /\ -__disjvr_38^post85+__disjvr_38^0 == 0 /\ __disjvr_39^post85-__disjvr_39^0 == 0 /\ -tmp_34^post85+tmp_34^0 == 0 /\ -a_116^post85+a_116^0 == 0 /\ i_108^0-i_108^post85 == 0 /\ -__disjvr_5^post85+__disjvr_5^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post85 == 0 /\ r_260^0-r_260^post85 == 0 /\ -a_184^post85+a_184^0 == 0 /\ a_330^0-a_330^post85 == 0 /\ i_167^0-i_167^post85 == 0 /\ __disjvr_14^0-__disjvr_14^post85 == 0 /\ -__disjvr_10^post85+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post85 == 0 /\ -i_94^post85+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ -__disjvr_11^post85+__disjvr_11^0 == 0 /\ head_223^0-head_223^post85 == 0 /\ r_124^0-r_124^post85 == 0 /\ -y_19^post85+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -f_263^post85+f_263^0 == 0 /\ __disjvr_18^0-__disjvr_18^post85 == 0 /\ rcd_58^0-rcd_58^post85 == 0 /\ __disjvr_27^0-__disjvr_27^post85 == 0 /\ __disjvr_24^0-__disjvr_24^post85 == 0 /\ -__disjvr_3^post85+__disjvr_3^0 == 0 /\ -temp0_15^post85+temp0_15^0 == 0 /\ a_147^0-a_147^post85 == 0 /\ -head_268^post85+head_268^0 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ -a_353^post85+a_353^0 == 0 /\ __disjvr_20^0-__disjvr_20^post85 == 0 /\ -head_14^post85+head_14^0 == 0 /\ -__disjvr_17^post85+__disjvr_17^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ i_30^0-i_30^post85 == 0 /\ -__disjvr_19^post85+__disjvr_19^0 == 0 /\ t_23^0-t_23^post85 == 0 /\ __disjvr_7^0-__disjvr_7^post85 == 0 /\ __disjvr_6^0-__disjvr_6^post85 == 0 /\ -f_170^post85+f_170^0 == 0 /\ a_241^0-a_241^post85 == 0 /\ __disjvr_26^0-__disjvr_26^post85 == 0 /\ -__disjvr_4^post85+__disjvr_4^0 == 0 /\ -__disjvr_9^post85+__disjvr_9^0 == 0 /\ r_39^0-r_39^post85 == 0 /\ -__disjvr_0^post85+__disjvr_0^0 == 0 /\ __disjvr_43^0-__disjvr_43^post85 == 0 /\ -ct_17^post85+ct_17^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ __disjvr_40^0-__disjvr_40^post85 == 0 /\ -__disjvr_42^post85+__disjvr_42^0 == 0 /\ -__disjvr_8^post85+__disjvr_8^0 == 0 /\ -__disjvr_28^post85+__disjvr_28^0 == 0 /\ temp0_31^0-temp0_31^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ -a_277^post85+a_277^0 == 0), cost: 1
  86: l83 -> l36 : i_108^0'=i_108^post86, __disjvr_7^0'=__disjvr_7^post86, __disjvr_13^0'=__disjvr_13^post86, f_170^0'=f_170^post86, length_29^0'=length_29^post86, __disjvr_25^0'=__disjvr_25^post86, a_330^0'=a_330^post86, __disjvr_20^0'=__disjvr_20^post86, len_183^0'=len_183^post86, __disjvr_37^0'=__disjvr_37^post86, __disjvr_32^0'=__disjvr_32^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, head_223^0'=head_223^post86, r_260^0'=r_260^post86, __disjvr_4^0'=__disjvr_4^post86, __disjvr_10^0'=__disjvr_10^post86, x_20^0'=x_20^post86, __disjvr_41^0'=__disjvr_41^post86, __disjvr_22^0'=__disjvr_22^post86, a_241^0'=a_241^post86, __disjvr_18^0'=__disjvr_18^post86, i_30^0'=i_30^post86, __disjvr_9^0'=__disjvr_9^post86, __disjvr_2^0'=__disjvr_2^post86, rcd_58^0'=rcd_58^post86, head_129^0'=head_129^post86, r_124^0'=r_124^post86, __disjvr_27^0'=__disjvr_27^post86, ct_17^0'=ct_17^post86, temp_35^0'=temp_35^post86, __disjvr_39^0'=__disjvr_39^post86, __disjvr_34^0'=__disjvr_34^post86, t_23^0'=t_23^post86, head_27^0'=head_27^post86, __disjvr_15^0'=__disjvr_15^post86, head_SLAM_f_26^0'=head_SLAM_f_26^post86, __disjvr_6^0'=__disjvr_6^post86, __disjvr_12^0'=__disjvr_12^post86, y_19^0'=y_19^post86, __disjvr_43^0'=__disjvr_43^post86, len_276^0'=len_276^post86, __disjvr_24^0'=__disjvr_24^post86, a_308^0'=a_308^post86, __disjvr_1^0'=__disjvr_1^post86, len_132^0'=len_132^post86, a_147^0'=a_147^post86, __disjvr_31^0'=__disjvr_31^post86, result_11^0'=result_11^post86, head_175^0'=head_175^post86, r_218^0'=r_218^post86, __disjvr_29^0'=__disjvr_29^post86, __disjvr_0^0'=__disjvr_0^post86, x_16^0'=x_16^post86, __disjvr_40^0'=__disjvr_40^post86, __disjvr_36^0'=__disjvr_36^post86, a_210^0'=a_210^post86, __disjvr_17^0'=__disjvr_17^post86, i_167^0'=i_167^post86, __disjvr_8^0'=__disjvr_8^post86, __disjvr_14^0'=__disjvr_14^post86, r_39^0'=r_39^post86, f_263^0'=f_263^post86, nondet_12^0'=nondet_12^post86, __disjvr_26^0'=__disjvr_26^post86, a_353^0'=a_353^post86, __disjvr_21^0'=__disjvr_21^post86, temp0_31^0'=temp0_31^post86, __disjvr_38^0'=__disjvr_38^post86, __disjvr_33^0'=__disjvr_33^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, head_268^0'=head_268^post86, head_32^0'=head_32^post86, __disjvr_5^0'=__disjvr_5^post86, __disjvr_11^0'=__disjvr_11^post86, x_SLAM_f_18^0'=x_SLAM_f_18^post86, __disjvr_42^0'=__disjvr_42^post86, len_226^0'=len_226^post86, __disjvr_23^0'=__disjvr_23^post86, a_277^0'=a_277^post86, __disjvr_19^0'=__disjvr_19^post86, i_94^0'=i_94^post86, a_116^0'=a_116^post86, __disjvr_30^0'=__disjvr_30^post86, rcd_88^0'=rcd_88^post86, head_14^0'=head_14^post86, r_163^0'=r_163^post86, __disjvr_28^0'=__disjvr_28^post86, tmp_34^0'=tmp_34^post86, __disjvr_3^0'=__disjvr_3^post86, __disjvr_35^0'=__disjvr_35^post86, temp0_15^0'=temp0_15^post86, a_184^0'=a_184^post86, __disjvr_16^0'=__disjvr_16^post86, (r_218^0-r_218^post86 == 0 /\ r_260^0-r_260^post86 == 0 /\ -a_116^post86+a_116^0 == 0 /\ -a_184^post86+a_184^0 == 0 /\ len_226^0-len_226^post86 == 0 /\ __disjvr_39^0-__disjvr_39^post86 == 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ -i_94^post86+i_94^0 == 0 /\ head_129^0-head_129^post86 == 0 /\ __disjvr_20^0-__disjvr_20^post86 == 0 /\ a_210^0-a_210^post86 == 0 /\ -__disjvr_16^post86+__disjvr_16^0 == 0 /\ a_147^0-a_147^post86 == 0 /\ i_108^0-i_108^post86 == 0 /\ -head_14^post86+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post86 == 0 /\ __disjvr_24^0-__disjvr_24^post86 == 0 /\ rcd_58^0-rcd_58^post86 == 0 /\ -a_308^post86+a_308^0 == 0 /\ -__disjvr_26^post86+__disjvr_26^0 == 0 /\ -x_SLAM_f_18^post86+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post86 == 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ ct_17^0-ct_17^post86 == 0 /\ -__disjvr_14^post86+__disjvr_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86 == 0 /\ head_223^0-head_223^post86 == 0 /\ x_16^0-x_16^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ -temp_35^post86+temp_35^0 == 0 /\ r_124^0-r_124^post86 == 0 /\ result_11^0-result_11^post86 == 0 /\ -__disjvr_2^post86+__disjvr_2^0 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post86+__disjvr_8^0 == 0 /\ head_27^0-head_27^post86 == 0 /\ __disjvr_32^0-__disjvr_32^post86 == 0 /\ -__disjvr_42^post86+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post86 == 0 /\ a_241^0-a_241^post86 == 0 /\ -__disjvr_28^post86+__disjvr_28^0 == 0 /\ f_170^0-f_170^post86 == 0 /\ f_263^0-f_263^post86 == 0 /\ r_39^0-r_39^post86 == 0 /\ -i_30^post86+i_30^0 == 0 /\ -__disjvr_31^post86+__disjvr_31^0 == 0 /\ -y_19^post86+y_19^0 == 0 /\ -__disjvr_17^post86+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post86 == 0 /\ -__disjvr_11^post86+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post86 == 0 /\ -__disjvr_3^post86+__disjvr_3^0 == 0 /\ __disjvr_12^0-__disjvr_12^post86 == 0 /\ -r_163^post86+r_163^0 == 0 /\ len_183^0-len_183^post86 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post86+__disjvr_35^0 == 0 /\ -__disjvr_34^post86+__disjvr_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post86 == 0 /\ a_330^0-a_330^post86 == 0 /\ -__disjvr_40^post86+__disjvr_40^0 == 0 /\ -__disjvr_21^post86+__disjvr_21^0 == 0 /\ -a_277^post86+a_277^0 == 0 /\ -head_32^post86+head_32^0 == 0 /\ -i_167^post86+i_167^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ -__disjvr_38^post86+__disjvr_38^0 == 0 /\ -__disjvr_29^post86+__disjvr_29^0 == 0 /\ len_132^0-len_132^post86 == 0 /\ -head_268^post86+head_268^0 == 0 /\ __disjvr_9^0-__disjvr_9^post86 == 0 /\ __disjvr_6^0-__disjvr_6^post86 == 0 /\ -__disjvr_22^post86+__disjvr_22^0 == 0 /\ -len_276^post86+len_276^0 == 0 /\ -__disjvr_33^post86+__disjvr_33^0 == 0 /\ -__disjvr_23^post86+__disjvr_23^0 == 0 /\ __disjvr_43^0-__disjvr_43^post86 == 0 /\ -rcd_88^post86+rcd_88^0 == 0 /\ -__disjvr_5^post86+__disjvr_5^0 == 0 /\ -__disjvr_36^post86+__disjvr_36^0 == 0 /\ head_175^0-head_175^post86 == 0 /\ __disjvr_18^0-__disjvr_18^post86 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_30^post86+__disjvr_30^0 == 0 /\ -temp0_15^post86+temp0_15^0 == 0 /\ x_20^0-x_20^post86 == 0 /\ __disjvr_37^0-__disjvr_37^post86 == 0 /\ nondet_12^0-nondet_12^post86 == 0 /\ -a_353^post86+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -__disjvr_0^post86+__disjvr_0^0 == 0 /\ __disjvr_15^0-__disjvr_15^post86 == 0 /\ __disjvr_10^0-__disjvr_10^post86 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_41^post86+__disjvr_41^0 == 0 /\ __disjvr_13^0-__disjvr_13^post86 == 0 /\ __disjvr_4^0-__disjvr_4^post86 == 0), cost: 1
  88: l84 -> l81 : i_108^0'=i_108^post88, __disjvr_7^0'=__disjvr_7^post88, __disjvr_13^0'=__disjvr_13^post88, f_170^0'=f_170^post88, length_29^0'=length_29^post88, __disjvr_25^0'=__disjvr_25^post88, a_330^0'=a_330^post88, __disjvr_20^0'=__disjvr_20^post88, len_183^0'=len_183^post88, __disjvr_37^0'=__disjvr_37^post88, __disjvr_32^0'=__disjvr_32^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, head_223^0'=head_223^post88, r_260^0'=r_260^post88, __disjvr_4^0'=__disjvr_4^post88, __disjvr_10^0'=__disjvr_10^post88, x_20^0'=x_20^post88, __disjvr_41^0'=__disjvr_41^post88, __disjvr_22^0'=__disjvr_22^post88, a_241^0'=a_241^post88, __disjvr_18^0'=__disjvr_18^post88, i_30^0'=i_30^post88, __disjvr_9^0'=__disjvr_9^post88, __disjvr_2^0'=__disjvr_2^post88, rcd_58^0'=rcd_58^post88, head_129^0'=head_129^post88, r_124^0'=r_124^post88, __disjvr_27^0'=__disjvr_27^post88, ct_17^0'=ct_17^post88, temp_35^0'=temp_35^post88, __disjvr_39^0'=__disjvr_39^post88, __disjvr_34^0'=__disjvr_34^post88, t_23^0'=t_23^post88, head_27^0'=head_27^post88, __disjvr_15^0'=__disjvr_15^post88, head_SLAM_f_26^0'=head_SLAM_f_26^post88, __disjvr_6^0'=__disjvr_6^post88, __disjvr_12^0'=__disjvr_12^post88, y_19^0'=y_19^post88, __disjvr_43^0'=__disjvr_43^post88, len_276^0'=len_276^post88, __disjvr_24^0'=__disjvr_24^post88, a_308^0'=a_308^post88, __disjvr_1^0'=__disjvr_1^post88, len_132^0'=len_132^post88, a_147^0'=a_147^post88, __disjvr_31^0'=__disjvr_31^post88, result_11^0'=result_11^post88, head_175^0'=head_175^post88, r_218^0'=r_218^post88, __disjvr_29^0'=__disjvr_29^post88, __disjvr_0^0'=__disjvr_0^post88, x_16^0'=x_16^post88, __disjvr_40^0'=__disjvr_40^post88, __disjvr_36^0'=__disjvr_36^post88, a_210^0'=a_210^post88, __disjvr_17^0'=__disjvr_17^post88, i_167^0'=i_167^post88, __disjvr_8^0'=__disjvr_8^post88, __disjvr_14^0'=__disjvr_14^post88, r_39^0'=r_39^post88, f_263^0'=f_263^post88, nondet_12^0'=nondet_12^post88, __disjvr_26^0'=__disjvr_26^post88, a_353^0'=a_353^post88, __disjvr_21^0'=__disjvr_21^post88, temp0_31^0'=temp0_31^post88, __disjvr_38^0'=__disjvr_38^post88, __disjvr_33^0'=__disjvr_33^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, head_268^0'=head_268^post88, head_32^0'=head_32^post88, __disjvr_5^0'=__disjvr_5^post88, __disjvr_11^0'=__disjvr_11^post88, x_SLAM_f_18^0'=x_SLAM_f_18^post88, __disjvr_42^0'=__disjvr_42^post88, len_226^0'=len_226^post88, __disjvr_23^0'=__disjvr_23^post88, a_277^0'=a_277^post88, __disjvr_19^0'=__disjvr_19^post88, i_94^0'=i_94^post88, a_116^0'=a_116^post88, __disjvr_30^0'=__disjvr_30^post88, rcd_88^0'=rcd_88^post88, head_14^0'=head_14^post88, r_163^0'=r_163^post88, __disjvr_28^0'=__disjvr_28^post88, tmp_34^0'=tmp_34^post88, __disjvr_3^0'=__disjvr_3^post88, __disjvr_35^0'=__disjvr_35^post88, temp0_15^0'=temp0_15^post88, a_184^0'=a_184^post88, __disjvr_16^0'=__disjvr_16^post88, (-__disjvr_38^post88+__disjvr_38^0 == 0 /\ f_170^0-f_170^post88 == 0 /\ -__disjvr_26^post88+__disjvr_26^0 == 0 /\ i_167^0-i_167^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post88+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post88 == 0 /\ i_30^0-i_30^post88 == 0 /\ __disjvr_37^0-__disjvr_37^post88 == 0 /\ __disjvr_20^0-__disjvr_20^post88 == 0 /\ y_19^0-y_19^post88 == 0 /\ -__disjvr_35^post88+__disjvr_35^0 == 0 /\ -head_268^post88+head_268^0 == 0 /\ -r_163^post88+r_163^0 == 0 /\ -rcd_88^post88+rcd_88^0 == 0 /\ ct_17^0-ct_17^post88 == 0 /\ -__disjvr_1^post88+__disjvr_1^0 == 0 /\ a_353^0-a_353^post88 == 0 /\ -head_27^post88+head_27^0 == 0 /\ -i_94^post88+i_94^0 == 0 /\ -__disjvr_5^post88+__disjvr_5^0 == 0 /\ -__disjvr_28^post88+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post88+head_SLAM_f_26^0 == 0 /\ -result_11^post88+result_11^0 == 0 /\ -temp0_15^post88+temp0_15^0 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -f_263^post88+f_263^0 == 0 /\ -__disjvr_42^post88+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post88 == 0 /\ __disjvr_10^0-__disjvr_10^post88 == 0 /\ -a_147^post88+a_147^0 == 0 /\ -__disjvr_19^post88+__disjvr_19^0 == 0 /\ -head_129^post88+head_129^0 == 0 /\ __disjvr_32^0-__disjvr_32^post88 == 0 /\ temp_35^0-temp_35^post88 == 0 /\ t_23^0-t_23^post88 == 0 /\ __disjvr_40^0-__disjvr_40^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ __disjvr_8^0-__disjvr_8^post88 == 0 /\ __disjvr_15^0-__disjvr_15^post88 == 0 /\ -a_277^post88+a_277^0 == 0 /\ -__disjvr_36^post88+__disjvr_36^0 == 0 /\ r_124^0-r_124^post88 == 0 /\ -__disjvr_12^post88+__disjvr_12^0 == 0 /\ x_20^0-x_20^post88 == 0 /\ -head_32^post88+head_32^0 == 0 /\ -a_116^post88+a_116^0 == 0 /\ __disjvr_7^0-__disjvr_7^post88 == 0 /\ -__disjvr_24^post88+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post88 == 0 /\ -a_184^post88+a_184^0 == 0 /\ __disjvr_31^0-__disjvr_31^post88 == 0 /\ -temp0_31^post88+temp0_31^0 == 0 /\ -x_16^post88+x_16^0 == 0 /\ -a_210^post88+a_210^0 == 0 /\ a_308^0-a_308^post88 == 0 /\ -__disjvr_16^post88+__disjvr_16^0 == 0 /\ -__disjvr_23^post88+__disjvr_23^0 == 0 /\ -head_14^post88+head_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post88 == 0 /\ __disjvr_13^0-__disjvr_13^post88 == 0 /\ -len_183^post88+len_183^0 == 0 /\ __disjvr_4^0-__disjvr_4^post88 == 0 /\ __disjvr_29^0-__disjvr_29^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ -x_SLAM_f_18^post88+x_SLAM_f_18^0 == 0 /\ __disjvr_3^0-__disjvr_3^post88 == 0 /\ -__disjvr_0^post88+__disjvr_0^0 == 0 /\ a_330^0-a_330^post88 == 0 /\ r_260^0-r_260^post88 == 0 /\ __disjvr_14^0-__disjvr_14^post88 == 0 /\ __disjvr_34^0-__disjvr_34^post88 == 0 /\ __disjvr_21^0-__disjvr_21^post88 == 0 /\ -head_175^post88+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post88 == 0 /\ -__disjvr_18^post88+__disjvr_18^0 == 0 /\ __disjvr_30^0-__disjvr_30^post88 == 0 /\ head_223^0-head_223^post88 == 0 /\ i_108^0-i_108^post88 == 0 /\ __disjvr_9^0-__disjvr_9^post88 == 0 /\ -a_241^post88+a_241^0 == 0 /\ __disjvr_22^0-__disjvr_22^post88 == 0 /\ -__disjvr_43^post88+__disjvr_43^0 == 0 /\ -__disjvr_6^post88+__disjvr_6^0 == 0 /\ __disjvr_41^0-__disjvr_41^post88 == 0 /\ -__disjvr_11^post88+__disjvr_11^0 == 0 /\ -len_226^post88+len_226^0 == 0 /\ -r_218^post88+r_218^0 == 0 /\ rcd_58^0-rcd_58^post88 == 0 /\ len_276^0-len_276^post88 == 0 /\ __disjvr_27^0-__disjvr_27^post88 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88 == 0 /\ -len_132^post88+len_132^0 == 0 /\ -r_39^post88+r_39^0 == 0), cost: 1
  92: l85 -> l86 : i_108^0'=i_108^post92, __disjvr_7^0'=__disjvr_7^post92, __disjvr_13^0'=__disjvr_13^post92, f_170^0'=f_170^post92, length_29^0'=length_29^post92, __disjvr_25^0'=__disjvr_25^post92, a_330^0'=a_330^post92, __disjvr_20^0'=__disjvr_20^post92, len_183^0'=len_183^post92, __disjvr_37^0'=__disjvr_37^post92, __disjvr_32^0'=__disjvr_32^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, head_223^0'=head_223^post92, r_260^0'=r_260^post92, __disjvr_4^0'=__disjvr_4^post92, __disjvr_10^0'=__disjvr_10^post92, x_20^0'=x_20^post92, __disjvr_41^0'=__disjvr_41^post92, __disjvr_22^0'=__disjvr_22^post92, a_241^0'=a_241^post92, __disjvr_18^0'=__disjvr_18^post92, i_30^0'=i_30^post92, __disjvr_9^0'=__disjvr_9^post92, __disjvr_2^0'=__disjvr_2^post92, rcd_58^0'=rcd_58^post92, head_129^0'=head_129^post92, r_124^0'=r_124^post92, __disjvr_27^0'=__disjvr_27^post92, ct_17^0'=ct_17^post92, temp_35^0'=temp_35^post92, __disjvr_39^0'=__disjvr_39^post92, __disjvr_34^0'=__disjvr_34^post92, t_23^0'=t_23^post92, head_27^0'=head_27^post92, __disjvr_15^0'=__disjvr_15^post92, head_SLAM_f_26^0'=head_SLAM_f_26^post92, __disjvr_6^0'=__disjvr_6^post92, __disjvr_12^0'=__disjvr_12^post92, y_19^0'=y_19^post92, __disjvr_43^0'=__disjvr_43^post92, len_276^0'=len_276^post92, __disjvr_24^0'=__disjvr_24^post92, a_308^0'=a_308^post92, __disjvr_1^0'=__disjvr_1^post92, len_132^0'=len_132^post92, a_147^0'=a_147^post92, __disjvr_31^0'=__disjvr_31^post92, result_11^0'=result_11^post92, head_175^0'=head_175^post92, r_218^0'=r_218^post92, __disjvr_29^0'=__disjvr_29^post92, __disjvr_0^0'=__disjvr_0^post92, x_16^0'=x_16^post92, __disjvr_40^0'=__disjvr_40^post92, __disjvr_36^0'=__disjvr_36^post92, a_210^0'=a_210^post92, __disjvr_17^0'=__disjvr_17^post92, i_167^0'=i_167^post92, __disjvr_8^0'=__disjvr_8^post92, __disjvr_14^0'=__disjvr_14^post92, r_39^0'=r_39^post92, f_263^0'=f_263^post92, nondet_12^0'=nondet_12^post92, __disjvr_26^0'=__disjvr_26^post92, a_353^0'=a_353^post92, __disjvr_21^0'=__disjvr_21^post92, temp0_31^0'=temp0_31^post92, __disjvr_38^0'=__disjvr_38^post92, __disjvr_33^0'=__disjvr_33^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, head_268^0'=head_268^post92, head_32^0'=head_32^post92, __disjvr_5^0'=__disjvr_5^post92, __disjvr_11^0'=__disjvr_11^post92, x_SLAM_f_18^0'=x_SLAM_f_18^post92, __disjvr_42^0'=__disjvr_42^post92, len_226^0'=len_226^post92, __disjvr_23^0'=__disjvr_23^post92, a_277^0'=a_277^post92, __disjvr_19^0'=__disjvr_19^post92, i_94^0'=i_94^post92, a_116^0'=a_116^post92, __disjvr_30^0'=__disjvr_30^post92, rcd_88^0'=rcd_88^post92, head_14^0'=head_14^post92, r_163^0'=r_163^post92, __disjvr_28^0'=__disjvr_28^post92, tmp_34^0'=tmp_34^post92, __disjvr_3^0'=__disjvr_3^post92, __disjvr_35^0'=__disjvr_35^post92, temp0_15^0'=temp0_15^post92, a_184^0'=a_184^post92, __disjvr_16^0'=__disjvr_16^post92, (a_277^0-a_277^post92 == 0 /\ head_268^0-head_268^post92 == 0 /\ -__disjvr_40^0+__disjvr_40^post92 == 0 /\ -a_147^post92+a_147^0 == 0 /\ __disjvr_34^0-__disjvr_34^post92 == 0 /\ -head_129^post92+head_129^0 == 0 /\ -head_SLAM_f_26^post92+head_SLAM_f_26^0 == 0 /\ -__disjvr_23^post92+__disjvr_23^0 == 0 /\ -__disjvr_18^post92+__disjvr_18^0 == 0 /\ __disjvr_13^0-__disjvr_13^post92 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ -__disjvr_3^post92+__disjvr_3^0 == 0 /\ -__disjvr_17^post92+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post92 == 0 /\ r_124^0-r_124^post92 == 0 /\ -r_39^post92+r_39^0 == 0 /\ __disjvr_21^0-__disjvr_21^post92 == 0 /\ __disjvr_40^0-__disjvr_40^post92 == 0 /\ __disjvr_8^0-__disjvr_8^post92 == 0 /\ -__disjvr_31^post92+__disjvr_31^0 == 0 /\ -__disjvr_6^post92+__disjvr_6^0 == 0 /\ -__disjvr_43^post92+__disjvr_43^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post92+a_116^0 == 0 /\ -ct_17^post92+ct_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post92 == 0 /\ -a_210^post92+a_210^0 == 0 /\ -__disjvr_35^post92+__disjvr_35^0 == 0 /\ -x_16^post92+x_16^0 == 0 /\ -len_226^post92+len_226^0 == 0 /\ -__disjvr_24^post92+__disjvr_24^0 == 0 /\ head_175^0-head_175^post92 == 0 /\ -x_SLAM_f_18^post92+x_SLAM_f_18^0 == 0 /\ -rcd_88^post92+rcd_88^0 == 0 /\ i_30^0-i_30^post92 == 0 /\ x_20^0-x_20^post92 == 0 /\ -head_32^post92+head_32^0 == 0 /\ -i_167^post92+i_167^0 == 0 /\ -__disjvr_16^post92+__disjvr_16^0 == 0 /\ -__disjvr_5^post92+__disjvr_5^0 == 0 /\ y_19^0-y_19^post92 == 0 /\ length_29^0-length_29^post92 == 0 /\ -__disjvr_30^post92+__disjvr_30^0 == 0 /\ -__disjvr_39^post92+__disjvr_39^0 == 0 /\ -temp0_15^post92+temp0_15^0 == 0 /\ __disjvr_15^0-__disjvr_15^post92 == 0 /\ t_23^0-t_23^post92 == 0 /\ -result_11^post92+result_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post92 == 0 /\ -f_263^post92+f_263^0 == 0 /\ __disjvr_0^0-__disjvr_0^post92 == 0 /\ __disjvr_33^0-__disjvr_33^post92 == 0 /\ __disjvr_4^0-__disjvr_4^post92 == 0 /\ -a_308^post92+a_308^0 == 0 /\ -__disjvr_42^post92+__disjvr_42^0 == 0 /\ r_260^0-r_260^post92 == 0 /\ -__disjvr_36^post92+__disjvr_36^0 == 0 /\ -__disjvr_19^post92+__disjvr_19^0 == 0 /\ -__disjvr_11^post92+__disjvr_11^0 == 0 /\ -len_132^post92+len_132^0 == 0 /\ __disjvr_20^0-__disjvr_20^post92 == 0 /\ __disjvr_32^0-__disjvr_32^post92 == 0 /\ a_241^0-a_241^post92 == 0 /\ __disjvr_2^0-__disjvr_2^post92 == 0 /\ -temp0_31^post92+temp0_31^0 == 0 /\ i_108^0-i_108^post92 == 0 /\ -__disjvr_26^post92+__disjvr_26^0 == 0 /\ r_163^0-r_163^post92 == 0 /\ rcd_58^0-rcd_58^post92 == 0 /\ -a_184^post92+a_184^0 == 0 /\ -tmp_34^post92+tmp_34^0 == 0 /\ -__disjvr_29^post92+__disjvr_29^0 == 0 /\ a_353^0-a_353^post92 == 0 /\ __disjvr_1^0-__disjvr_1^post92 == 0 /\ __disjvr_28^0-__disjvr_28^post92 == 0 /\ -r_218^post92+r_218^0 == 0 /\ -head_27^post92+head_27^0 == 0 /\ -i_94^post92+i_94^0 == 0 /\ __disjvr_27^0-__disjvr_27^post92 == 0 /\ __disjvr_12^0-__disjvr_12^post92 == 0 /\ len_276^0-len_276^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ -len_183^post92+len_183^0 == 0 /\ -head_14^post92+head_14^0 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ a_330^0-a_330^post92 == 0 /\ __disjvr_25^0-__disjvr_25^post92 == 0 /\ __disjvr_14^0-__disjvr_14^post92 == 0 /\ f_170^0-f_170^post92 == 0 /\ __disjvr_37^0-__disjvr_37^post92 == 0 /\ __disjvr_38^0-__disjvr_38^post92 == 0 /\ __disjvr_9^0-__disjvr_9^post92 == 0 /\ __disjvr_22^0-__disjvr_22^post92 == 0 /\ head_223^0-head_223^post92 == 0), cost: 1
  93: l86 -> l1 : i_108^0'=i_108^post93, __disjvr_7^0'=__disjvr_7^post93, __disjvr_13^0'=__disjvr_13^post93, f_170^0'=f_170^post93, length_29^0'=length_29^post93, __disjvr_25^0'=__disjvr_25^post93, a_330^0'=a_330^post93, __disjvr_20^0'=__disjvr_20^post93, len_183^0'=len_183^post93, __disjvr_37^0'=__disjvr_37^post93, __disjvr_32^0'=__disjvr_32^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, head_223^0'=head_223^post93, r_260^0'=r_260^post93, __disjvr_4^0'=__disjvr_4^post93, __disjvr_10^0'=__disjvr_10^post93, x_20^0'=x_20^post93, __disjvr_41^0'=__disjvr_41^post93, __disjvr_22^0'=__disjvr_22^post93, a_241^0'=a_241^post93, __disjvr_18^0'=__disjvr_18^post93, i_30^0'=i_30^post93, __disjvr_9^0'=__disjvr_9^post93, __disjvr_2^0'=__disjvr_2^post93, rcd_58^0'=rcd_58^post93, head_129^0'=head_129^post93, r_124^0'=r_124^post93, __disjvr_27^0'=__disjvr_27^post93, ct_17^0'=ct_17^post93, temp_35^0'=temp_35^post93, __disjvr_39^0'=__disjvr_39^post93, __disjvr_34^0'=__disjvr_34^post93, t_23^0'=t_23^post93, head_27^0'=head_27^post93, __disjvr_15^0'=__disjvr_15^post93, head_SLAM_f_26^0'=head_SLAM_f_26^post93, __disjvr_6^0'=__disjvr_6^post93, __disjvr_12^0'=__disjvr_12^post93, y_19^0'=y_19^post93, __disjvr_43^0'=__disjvr_43^post93, len_276^0'=len_276^post93, __disjvr_24^0'=__disjvr_24^post93, a_308^0'=a_308^post93, __disjvr_1^0'=__disjvr_1^post93, len_132^0'=len_132^post93, a_147^0'=a_147^post93, __disjvr_31^0'=__disjvr_31^post93, result_11^0'=result_11^post93, head_175^0'=head_175^post93, r_218^0'=r_218^post93, __disjvr_29^0'=__disjvr_29^post93, __disjvr_0^0'=__disjvr_0^post93, x_16^0'=x_16^post93, __disjvr_40^0'=__disjvr_40^post93, __disjvr_36^0'=__disjvr_36^post93, a_210^0'=a_210^post93, __disjvr_17^0'=__disjvr_17^post93, i_167^0'=i_167^post93, __disjvr_8^0'=__disjvr_8^post93, __disjvr_14^0'=__disjvr_14^post93, r_39^0'=r_39^post93, f_263^0'=f_263^post93, nondet_12^0'=nondet_12^post93, __disjvr_26^0'=__disjvr_26^post93, a_353^0'=a_353^post93, __disjvr_21^0'=__disjvr_21^post93, temp0_31^0'=temp0_31^post93, __disjvr_38^0'=__disjvr_38^post93, __disjvr_33^0'=__disjvr_33^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, head_268^0'=head_268^post93, head_32^0'=head_32^post93, __disjvr_5^0'=__disjvr_5^post93, __disjvr_11^0'=__disjvr_11^post93, x_SLAM_f_18^0'=x_SLAM_f_18^post93, __disjvr_42^0'=__disjvr_42^post93, len_226^0'=len_226^post93, __disjvr_23^0'=__disjvr_23^post93, a_277^0'=a_277^post93, __disjvr_19^0'=__disjvr_19^post93, i_94^0'=i_94^post93, a_116^0'=a_116^post93, __disjvr_30^0'=__disjvr_30^post93, rcd_88^0'=rcd_88^post93, head_14^0'=head_14^post93, r_163^0'=r_163^post93, __disjvr_28^0'=__disjvr_28^post93, tmp_34^0'=tmp_34^post93, __disjvr_3^0'=__disjvr_3^post93, __disjvr_35^0'=__disjvr_35^post93, temp0_15^0'=temp0_15^post93, a_184^0'=a_184^post93, __disjvr_16^0'=__disjvr_16^post93, (-__disjvr_0^post93+__disjvr_0^0 == 0 /\ -__disjvr_30^post93+__disjvr_30^0 == 0 /\ -temp0_15^post93+temp0_15^0 == 0 /\ -__disjvr_3^post93+__disjvr_3^0 == 0 /\ __disjvr_15^0-__disjvr_15^post93 == 0 /\ __disjvr_19^0-__disjvr_19^post93 == 0 /\ -__disjvr_42^post93+__disjvr_42^0 == 0 /\ -a_353^post93+a_353^0 == 0 /\ len_276^0-len_276^post93 == 0 /\ head_32^0-head_32^post93 == 0 /\ temp0_31^0-temp0_31^post93 == 0 /\ len_226^0-len_226^post93 == 0 /\ r_124^0-r_124^post93 == 0 /\ r_260^0-r_260^post93 == 0 /\ -__disjvr_11^post93+__disjvr_11^0 == 0 /\ -a_147^post93+a_147^0 == 0 /\ -__disjvr_41^post93+__disjvr_41^0 == 0 /\ __disjvr_20^0-__disjvr_20^post93 == 0 /\ -y_19^post93+y_19^0 == 0 /\ __disjvr_2^0-__disjvr_2^post93 == 0 /\ -__disjvr_17^post93+__disjvr_17^0 == 0 /\ head_129^0-head_129^post93 == 0 /\ __disjvr_32^0-__disjvr_32^post93 == 0 /\ i_108^0-i_108^post93 == 0 /\ -__disjvr_34^post93+__disjvr_34^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post93 == 0 /\ -ct_17^post93+ct_17^0 == 0 /\ -a_184^post93+a_184^0 == 0 /\ -rcd_88^post93+rcd_88^0 == 0 /\ -a_277^post93+a_277^0 == 0 /\ __disjvr_27^0-__disjvr_27^post93 == 0 /\ -__disjvr_43^post93+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93 == 0 /\ x_16^0-x_16^post93 == 0 /\ -head_14^post93+head_14^0 == 0 /\ r_218^0-r_218^post93 == 0 /\ head_223^0-head_223^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ len_183^0-len_183^post93 == 0 /\ x_20^0-x_20^post93 == 0 /\ __disjvr_37^0-__disjvr_37^post93 == 0 /\ __disjvr_25^0-__disjvr_25^post93 == 0 /\ i_30^0-i_30^post93 == 0 /\ head_175^0-head_175^post93 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_4^post93+__disjvr_4^0 == 0 /\ t_23^0-t_23^post93 == 0 /\ __disjvr_9^0-__disjvr_9^post93 == 0 /\ -a_308^post93+a_308^0 == 0 /\ -__disjvr_8^post93+__disjvr_8^0 == 0 /\ -__disjvr_5^post93+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post93 == 0 /\ -__disjvr_23^post93+__disjvr_23^0 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ -__disjvr_28^post93+__disjvr_28^0 == 0 /\ -len_132^post93+len_132^0 == 0 /\ __disjvr_18^0-__disjvr_18^post93 == 0 /\ __disjvr_7^0-__disjvr_7^post93 == 0 /\ -__disjvr_31^post93+__disjvr_31^0 == 0 /\ a_330^0-a_330^post93 == 0 /\ -__disjvr_29^post93+__disjvr_29^0 == 0 /\ i_167^0-i_167^post93 == 0 /\ a_241^0-a_241^post93 == 0 /\ -__disjvr_36^post93+__disjvr_36^0 == 0 /\ -__disjvr_39^post93+__disjvr_39^0 == 0 /\ r_39^0-r_39^post93 == 0 /\ __disjvr_24^0-__disjvr_24^post93 == 0 /\ __disjvr_6^0-__disjvr_6^post93 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 == 0 /\ -__disjvr_38^post93+__disjvr_38^0 == 0 /\ -tmp_34^post93+tmp_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post93 == 0 /\ -a_116^post93+a_116^0 == 0 /\ -f_170^post93+f_170^0 == 0 /\ __disjvr_12^0-__disjvr_12^post93 == 0 /\ rcd_58^0-rcd_58^post93 == 0 /\ __disjvr_13^0-__disjvr_13^post93 == 0 /\ -head_268^post93+head_268^0 == 0 /\ -__disjvr_35^post93+__disjvr_35^0 == 0 /\ -r_163^post93+r_163^0 == 0 /\ -a_210^post93+a_210^0 == 0 /\ -__disjvr_14^post93+__disjvr_14^0 == 0 /\ -__disjvr_22^post93+__disjvr_22^0 == 0 /\ f_263^0-f_263^post93 == 0 /\ -i_94^post93+i_94^0 == 0 /\ __disjvr_10^0-__disjvr_10^post93 == 0 /\ -__disjvr_33^post93+__disjvr_33^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_27^post93+head_27^0 == 0 /\ -__disjvr_16^post93+__disjvr_16^0 == 0 /\ -__disjvr_40^post93+__disjvr_40^0 == 0 /\ -__disjvr_21^post93+__disjvr_21^0 == 0 /\ temp_35^0-temp_35^post93 == 0 /\ length_29^0-length_29^post93 == 0 /\ -x_SLAM_f_18^post93+x_SLAM_f_18^0 == 0), cost: 1
  95: l88 -> l89 : i_108^0'=i_108^post95, __disjvr_7^0'=__disjvr_7^post95, __disjvr_13^0'=__disjvr_13^post95, f_170^0'=f_170^post95, length_29^0'=length_29^post95, __disjvr_25^0'=__disjvr_25^post95, a_330^0'=a_330^post95, __disjvr_20^0'=__disjvr_20^post95, len_183^0'=len_183^post95, __disjvr_37^0'=__disjvr_37^post95, __disjvr_32^0'=__disjvr_32^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_223^0'=head_223^post95, r_260^0'=r_260^post95, __disjvr_4^0'=__disjvr_4^post95, __disjvr_10^0'=__disjvr_10^post95, x_20^0'=x_20^post95, __disjvr_41^0'=__disjvr_41^post95, __disjvr_22^0'=__disjvr_22^post95, a_241^0'=a_241^post95, __disjvr_18^0'=__disjvr_18^post95, i_30^0'=i_30^post95, __disjvr_9^0'=__disjvr_9^post95, __disjvr_2^0'=__disjvr_2^post95, rcd_58^0'=rcd_58^post95, head_129^0'=head_129^post95, r_124^0'=r_124^post95, __disjvr_27^0'=__disjvr_27^post95, ct_17^0'=ct_17^post95, temp_35^0'=temp_35^post95, __disjvr_39^0'=__disjvr_39^post95, __disjvr_34^0'=__disjvr_34^post95, t_23^0'=t_23^post95, head_27^0'=head_27^post95, __disjvr_15^0'=__disjvr_15^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, __disjvr_6^0'=__disjvr_6^post95, __disjvr_12^0'=__disjvr_12^post95, y_19^0'=y_19^post95, __disjvr_43^0'=__disjvr_43^post95, len_276^0'=len_276^post95, __disjvr_24^0'=__disjvr_24^post95, a_308^0'=a_308^post95, __disjvr_1^0'=__disjvr_1^post95, len_132^0'=len_132^post95, a_147^0'=a_147^post95, __disjvr_31^0'=__disjvr_31^post95, result_11^0'=result_11^post95, head_175^0'=head_175^post95, r_218^0'=r_218^post95, __disjvr_29^0'=__disjvr_29^post95, __disjvr_0^0'=__disjvr_0^post95, x_16^0'=x_16^post95, __disjvr_40^0'=__disjvr_40^post95, __disjvr_36^0'=__disjvr_36^post95, a_210^0'=a_210^post95, __disjvr_17^0'=__disjvr_17^post95, i_167^0'=i_167^post95, __disjvr_8^0'=__disjvr_8^post95, __disjvr_14^0'=__disjvr_14^post95, r_39^0'=r_39^post95, f_263^0'=f_263^post95, nondet_12^0'=nondet_12^post95, __disjvr_26^0'=__disjvr_26^post95, a_353^0'=a_353^post95, __disjvr_21^0'=__disjvr_21^post95, temp0_31^0'=temp0_31^post95, __disjvr_38^0'=__disjvr_38^post95, __disjvr_33^0'=__disjvr_33^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_268^0'=head_268^post95, head_32^0'=head_32^post95, __disjvr_5^0'=__disjvr_5^post95, __disjvr_11^0'=__disjvr_11^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, __disjvr_42^0'=__disjvr_42^post95, len_226^0'=len_226^post95, __disjvr_23^0'=__disjvr_23^post95, a_277^0'=a_277^post95, __disjvr_19^0'=__disjvr_19^post95, i_94^0'=i_94^post95, a_116^0'=a_116^post95, __disjvr_30^0'=__disjvr_30^post95, rcd_88^0'=rcd_88^post95, head_14^0'=head_14^post95, r_163^0'=r_163^post95, __disjvr_28^0'=__disjvr_28^post95, tmp_34^0'=tmp_34^post95, __disjvr_3^0'=__disjvr_3^post95, __disjvr_35^0'=__disjvr_35^post95, temp0_15^0'=temp0_15^post95, a_184^0'=a_184^post95, __disjvr_16^0'=__disjvr_16^post95, (-__disjvr_21^post95+__disjvr_21^0 == 0 /\ a_308^0-a_308^post95 == 0 /\ __disjvr_22^0-__disjvr_22^post95 == 0 /\ __disjvr_5^0-__disjvr_5^post95 == 0 /\ t_23^0-t_23^post95 == 0 /\ -r_39^post95+r_39^0 == 0 /\ __disjvr_13^0-__disjvr_13^post95 == 0 /\ -x_20^post95+x_20^0 == 0 /\ -head_175^post95+head_175^0 == 0 /\ -len_276^post95+len_276^0 == 0 /\ -__disjvr_15^post95+__disjvr_15^0 == 0 /\ -a_147^post95+a_147^0 == 0 /\ -y_19^post95+y_19^0 == 0 /\ -__disjvr_40^post95+__disjvr_40^0 == 0 /\ __disjvr_6^0-__disjvr_6^post95 == 0 /\ __disjvr_42^0-__disjvr_42^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -__disjvr_33^post95+__disjvr_33^0 == 0 /\ -__disjvr_19^post95+__disjvr_19^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post95 == 0 /\ __disjvr_4^0-__disjvr_4^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ __disjvr_31^0-__disjvr_31^post95 == 0 /\ -__disjvr_3^post95+__disjvr_3^0 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -r_124^post95+r_124^0 == 0 /\ __disjvr_41^0-__disjvr_41^post95 == 0 /\ __disjvr_34^0-__disjvr_34^post95 == 0 /\ head_129^0-head_129^post95 == 0 /\ ct_17^0-ct_17^post95 == 0 /\ -x_16^post95+x_16^0 == 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post95 == 0 /\ head_268^0-head_268^post95 == 0 /\ __disjvr_2^0-__disjvr_2^post95 == 0 /\ -__disjvr_24^post95+__disjvr_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post95 == 0 /\ -rcd_88^post95+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ -__disjvr_35^post95+__disjvr_35^0 == 0 /\ -a_116^post95+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post95 == 0 /\ a_330^0-a_330^post95 == 0 /\ __disjvr_23^0-__disjvr_23^post95 == 0 /\ __disjvr_0^0-__disjvr_0^post95 == 0 /\ -__disjvr_27^post95+__disjvr_27^0 == 0 /\ head_223^0-head_223^post95 == 0 /\ r_260^0-r_260^post95 == 0 /\ __disjvr_37^0-__disjvr_37^post95 == 0 /\ -__disjvr_30^post95+__disjvr_30^0 == 0 /\ i_108^0-i_108^post95 == 0 /\ -__disjvr_41^0+__disjvr_41^post95 == 0 /\ __disjvr_20^0-__disjvr_20^post95 == 0 /\ -a_353^post95+a_353^0 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -temp0_15^post95+temp0_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -__disjvr_28^post95+__disjvr_28^0 == 0 /\ a_241^0-a_241^post95 == 0 /\ -len_226^post95+len_226^0 == 0 /\ __disjvr_18^0-__disjvr_18^post95 == 0 /\ -__disjvr_26^post95+__disjvr_26^0 == 0 /\ -head_32^post95+head_32^0 == 0 /\ i_30^0-i_30^post95 == 0 /\ __disjvr_38^0-__disjvr_38^post95 == 0 /\ -__disjvr_11^post95+__disjvr_11^0 == 0 /\ a_210^0-a_210^post95 == 0 /\ -a_277^post95+a_277^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ r_218^0-r_218^post95 == 0 /\ -__disjvr_14^post95+__disjvr_14^0 == 0 /\ __disjvr_12^0-__disjvr_12^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -head_14^post95+head_14^0 == 0 /\ len_132^0-len_132^post95 == 0 /\ -a_184^post95+a_184^0 == 0 /\ __disjvr_29^0-__disjvr_29^post95 == 0 /\ -i_167^post95+i_167^0 == 0 /\ -__disjvr_8^post95+__disjvr_8^0 == 0 /\ __disjvr_25^0-__disjvr_25^post95 == 0 /\ -f_263^post95+f_263^0 == 0 /\ -tmp_34^post95+tmp_34^0 == 0 /\ __disjvr_36^0-__disjvr_36^post95 == 0 /\ __disjvr_43^0-__disjvr_43^post95 == 0 /\ f_170^0-f_170^post95 == 0 /\ __disjvr_7^0-__disjvr_7^post95 == 0 /\ __disjvr_39^0-__disjvr_39^post95 == 0 /\ -__disjvr_16^post95+__disjvr_16^0 == 0 /\ -__disjvr_32^post95+__disjvr_32^0 == 0 /\ head_27^0-head_27^post95 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post95 == 0 /\ -__disjvr_1^post95+__disjvr_1^0 == 0), cost: 1
  96: l89 -> l90 : i_108^0'=i_108^post96, __disjvr_7^0'=__disjvr_7^post96, __disjvr_13^0'=__disjvr_13^post96, f_170^0'=f_170^post96, length_29^0'=length_29^post96, __disjvr_25^0'=__disjvr_25^post96, a_330^0'=a_330^post96, __disjvr_20^0'=__disjvr_20^post96, len_183^0'=len_183^post96, __disjvr_37^0'=__disjvr_37^post96, __disjvr_32^0'=__disjvr_32^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_223^0'=head_223^post96, r_260^0'=r_260^post96, __disjvr_4^0'=__disjvr_4^post96, __disjvr_10^0'=__disjvr_10^post96, x_20^0'=x_20^post96, __disjvr_41^0'=__disjvr_41^post96, __disjvr_22^0'=__disjvr_22^post96, a_241^0'=a_241^post96, __disjvr_18^0'=__disjvr_18^post96, i_30^0'=i_30^post96, __disjvr_9^0'=__disjvr_9^post96, __disjvr_2^0'=__disjvr_2^post96, rcd_58^0'=rcd_58^post96, head_129^0'=head_129^post96, r_124^0'=r_124^post96, __disjvr_27^0'=__disjvr_27^post96, ct_17^0'=ct_17^post96, temp_35^0'=temp_35^post96, __disjvr_39^0'=__disjvr_39^post96, __disjvr_34^0'=__disjvr_34^post96, t_23^0'=t_23^post96, head_27^0'=head_27^post96, __disjvr_15^0'=__disjvr_15^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, __disjvr_6^0'=__disjvr_6^post96, __disjvr_12^0'=__disjvr_12^post96, y_19^0'=y_19^post96, __disjvr_43^0'=__disjvr_43^post96, len_276^0'=len_276^post96, __disjvr_24^0'=__disjvr_24^post96, a_308^0'=a_308^post96, __disjvr_1^0'=__disjvr_1^post96, len_132^0'=len_132^post96, a_147^0'=a_147^post96, __disjvr_31^0'=__disjvr_31^post96, result_11^0'=result_11^post96, head_175^0'=head_175^post96, r_218^0'=r_218^post96, __disjvr_29^0'=__disjvr_29^post96, __disjvr_0^0'=__disjvr_0^post96, x_16^0'=x_16^post96, __disjvr_40^0'=__disjvr_40^post96, __disjvr_36^0'=__disjvr_36^post96, a_210^0'=a_210^post96, __disjvr_17^0'=__disjvr_17^post96, i_167^0'=i_167^post96, __disjvr_8^0'=__disjvr_8^post96, __disjvr_14^0'=__disjvr_14^post96, r_39^0'=r_39^post96, f_263^0'=f_263^post96, nondet_12^0'=nondet_12^post96, __disjvr_26^0'=__disjvr_26^post96, a_353^0'=a_353^post96, __disjvr_21^0'=__disjvr_21^post96, temp0_31^0'=temp0_31^post96, __disjvr_38^0'=__disjvr_38^post96, __disjvr_33^0'=__disjvr_33^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, head_268^0'=head_268^post96, head_32^0'=head_32^post96, __disjvr_5^0'=__disjvr_5^post96, __disjvr_11^0'=__disjvr_11^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, __disjvr_42^0'=__disjvr_42^post96, len_226^0'=len_226^post96, __disjvr_23^0'=__disjvr_23^post96, a_277^0'=a_277^post96, __disjvr_19^0'=__disjvr_19^post96, i_94^0'=i_94^post96, a_116^0'=a_116^post96, __disjvr_30^0'=__disjvr_30^post96, rcd_88^0'=rcd_88^post96, head_14^0'=head_14^post96, r_163^0'=r_163^post96, __disjvr_28^0'=__disjvr_28^post96, tmp_34^0'=tmp_34^post96, __disjvr_3^0'=__disjvr_3^post96, __disjvr_35^0'=__disjvr_35^post96, temp0_15^0'=temp0_15^post96, a_184^0'=a_184^post96, __disjvr_16^0'=__disjvr_16^post96, (0 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ -__disjvr_43^post96+__disjvr_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post96 == 0 /\ -r_39^post96+r_39^0 == 0 /\ -i_94^post96+i_94^0 == 0 /\ head_223^0-head_223^post96 == 0 /\ 1+len_226^0-len_276^post96 <= 0 /\ -head_27^post96+head_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post96 == 0 /\ a_241^0-a_241^post96 == 0 /\ __disjvr_2^0-__disjvr_2^post96 == 0 /\ rcd_58^0-rcd_58^post96 == 0 /\ -__disjvr_12^post96+__disjvr_12^0 == 0 /\ -__disjvr_26^post96+__disjvr_26^0 == 0 /\ -1+a_241^0-a_277^post96 <= 0 /\ __disjvr_27^0-__disjvr_27^post96 == 0 /\ i_108^0-i_108^post96 == 0 /\ -__disjvr_36^post96+__disjvr_36^0 == 0 /\ -temp0_15^post96+temp0_15^0 == 0 /\ -__disjvr_19^post96+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ __disjvr_32^0-__disjvr_32^post96 == 0 /\ t_23^0-t_23^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ __disjvr_22^0-__disjvr_22^post96 == 0 /\ r_124^0-r_124^post96 == 0 /\ __disjvr_25^0-__disjvr_25^post96 == 0 /\ a_308^0-a_308^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -__disjvr_35^post96+__disjvr_35^0 == 0 /\ -__disjvr_42^post96+__disjvr_42^0 == 0 /\ -a_116^post96+a_116^0 == 0 /\ -a_210^post96+a_210^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ __disjvr_34^0-__disjvr_34^post96 == 0 /\ -__disjvr_28^post96+__disjvr_28^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -head_SLAM_f_26^post96+head_SLAM_f_26^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ __disjvr_40^0-__disjvr_40^post96 == 0 /\ __disjvr_8^0-__disjvr_8^post96 == 0 /\ -a_184^post96+a_184^0 == 0 /\ -__disjvr_38^post96+__disjvr_38^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post96 == 0 /\ -__disjvr_11^post96+__disjvr_11^0 == 0 /\ -__disjvr_6^post96+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post96 == 0 /\ length_29^0-length_29^post96 == 0 /\ -1-len_226^0+len_276^post96 <= 0 /\ -f_263^post96+f_263^0 == 0 /\ -__disjvr_1^post96+__disjvr_1^0 == 0 /\ len_132^0-len_132^post96 == 0 /\ __disjvr_0^0-__disjvr_0^post96 == 0 /\ __disjvr_7^0-__disjvr_7^post96 == 0 /\ -__disjvr_23^post96+__disjvr_23^0 == 0 /\ -tmp_34^post96+tmp_34^0 == 0 /\ -__disjvr_33^post96+__disjvr_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post96 == 0 /\ -head_32^post96+head_32^0 == 0 /\ __disjvr_17^0-__disjvr_17^post96 == 0 /\ 1-a_241^0+a_277^post96 <= 0 /\ __disjvr_37^0-__disjvr_37^post96 == 0 /\ __disjvr_3^0-__disjvr_3^post96 == 0 /\ head_27^0-f_263^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post96 == 0 /\ a_330^0-a_330^post96 == 0 /\ -r_163^post96+r_163^0 == 0 /\ -r_218^post96+r_218^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ __disjvr_15^0-__disjvr_15^post96 == 0 /\ a_353^0-a_353^post96 == 0 /\ -head_268^post96+head_268^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ x_20^0-x_20^post96 == 0 /\ -head_14^post96+head_14^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ -r_260^post96+r_260^0 == 0 /\ __disjvr_21^0-__disjvr_21^post96 == 0 /\ __disjvr_39^0-__disjvr_39^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post96+__disjvr_5^0 == 0 /\ -len_226^post96+len_226^0 == 0 /\ len_183^0-len_183^post96 == 0 /\ __disjvr_31^0-__disjvr_31^post96 == 0 /\ __disjvr_30^0-__disjvr_30^post96 == 0 /\ -head_27^0+f_263^0 <= 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -head_175^post96+head_175^0 == 0 /\ -x_16^post96+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post96 == 0 /\ -__disjvr_24^post96+__disjvr_24^0 == 0 /\ -i_167^post96+i_167^0 == 0 /\ __disjvr_10^0-__disjvr_10^post96 == 0 /\ -__disjvr_16^post96+__disjvr_16^0 == 0 /\ -head_129^post96+head_129^0 == 0 /\ ct_17^0-ct_17^post96 == 0 /\ __disjvr_14^0-__disjvr_14^post96 == 0), cost: 1
  97: l90 -> l91 : i_108^0'=i_108^post97, __disjvr_7^0'=__disjvr_7^post97, __disjvr_13^0'=__disjvr_13^post97, f_170^0'=f_170^post97, length_29^0'=length_29^post97, __disjvr_25^0'=__disjvr_25^post97, a_330^0'=a_330^post97, __disjvr_20^0'=__disjvr_20^post97, len_183^0'=len_183^post97, __disjvr_37^0'=__disjvr_37^post97, __disjvr_32^0'=__disjvr_32^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_223^0'=head_223^post97, r_260^0'=r_260^post97, __disjvr_4^0'=__disjvr_4^post97, __disjvr_10^0'=__disjvr_10^post97, x_20^0'=x_20^post97, __disjvr_41^0'=__disjvr_41^post97, __disjvr_22^0'=__disjvr_22^post97, a_241^0'=a_241^post97, __disjvr_18^0'=__disjvr_18^post97, i_30^0'=i_30^post97, __disjvr_9^0'=__disjvr_9^post97, __disjvr_2^0'=__disjvr_2^post97, rcd_58^0'=rcd_58^post97, head_129^0'=head_129^post97, r_124^0'=r_124^post97, __disjvr_27^0'=__disjvr_27^post97, ct_17^0'=ct_17^post97, temp_35^0'=temp_35^post97, __disjvr_39^0'=__disjvr_39^post97, __disjvr_34^0'=__disjvr_34^post97, t_23^0'=t_23^post97, head_27^0'=head_27^post97, __disjvr_15^0'=__disjvr_15^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, __disjvr_6^0'=__disjvr_6^post97, __disjvr_12^0'=__disjvr_12^post97, y_19^0'=y_19^post97, __disjvr_43^0'=__disjvr_43^post97, len_276^0'=len_276^post97, __disjvr_24^0'=__disjvr_24^post97, a_308^0'=a_308^post97, __disjvr_1^0'=__disjvr_1^post97, len_132^0'=len_132^post97, a_147^0'=a_147^post97, __disjvr_31^0'=__disjvr_31^post97, result_11^0'=result_11^post97, head_175^0'=head_175^post97, r_218^0'=r_218^post97, __disjvr_29^0'=__disjvr_29^post97, __disjvr_0^0'=__disjvr_0^post97, x_16^0'=x_16^post97, __disjvr_40^0'=__disjvr_40^post97, __disjvr_36^0'=__disjvr_36^post97, a_210^0'=a_210^post97, __disjvr_17^0'=__disjvr_17^post97, i_167^0'=i_167^post97, __disjvr_8^0'=__disjvr_8^post97, __disjvr_14^0'=__disjvr_14^post97, r_39^0'=r_39^post97, f_263^0'=f_263^post97, nondet_12^0'=nondet_12^post97, __disjvr_26^0'=__disjvr_26^post97, a_353^0'=a_353^post97, __disjvr_21^0'=__disjvr_21^post97, temp0_31^0'=temp0_31^post97, __disjvr_38^0'=__disjvr_38^post97, __disjvr_33^0'=__disjvr_33^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, head_268^0'=head_268^post97, head_32^0'=head_32^post97, __disjvr_5^0'=__disjvr_5^post97, __disjvr_11^0'=__disjvr_11^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, __disjvr_42^0'=__disjvr_42^post97, len_226^0'=len_226^post97, __disjvr_23^0'=__disjvr_23^post97, a_277^0'=a_277^post97, __disjvr_19^0'=__disjvr_19^post97, i_94^0'=i_94^post97, a_116^0'=a_116^post97, __disjvr_30^0'=__disjvr_30^post97, rcd_88^0'=rcd_88^post97, head_14^0'=head_14^post97, r_163^0'=r_163^post97, __disjvr_28^0'=__disjvr_28^post97, tmp_34^0'=tmp_34^post97, __disjvr_3^0'=__disjvr_3^post97, __disjvr_35^0'=__disjvr_35^post97, temp0_15^0'=temp0_15^post97, a_184^0'=a_184^post97, __disjvr_16^0'=__disjvr_16^post97, (-tmp_34^post97+tmp_34^0 == 0 /\ -__disjvr_9^post97+__disjvr_9^0 == 0 /\ -a_184^post97+a_184^0 == 0 /\ -a_210^post97+a_210^0 == 0 /\ r_124^0-r_124^post97 == 0 /\ -r_163^post97+r_163^0 == 0 /\ -r_218^post97+r_218^0 == 0 /\ __disjvr_34^0-__disjvr_34^post97 == 0 /\ -__disjvr_10^post97+__disjvr_10^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -__disjvr_16^post97+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ __disjvr_15^0-__disjvr_15^post97 == 0 /\ a_330^0-a_330^post97 == 0 /\ a_353^0-a_353^post97 == 0 /\ -__disjvr_29^post97+__disjvr_29^0 == 0 /\ __disjvr_41^0-__disjvr_41^post97 == 0 /\ -__disjvr_21^post97+__disjvr_21^0 == 0 /\ -__disjvr_23^post97+__disjvr_23^0 == 0 /\ -head_14^post97+head_14^0 == 0 /\ -__disjvr_30^post97+__disjvr_30^0 == 0 /\ -__disjvr_12^post97+__disjvr_12^0 == 0 /\ -__disjvr_22^post97+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ __disjvr_7^0-__disjvr_7^post97 == 0 /\ len_183^0-len_183^post97 == 0 /\ head_129^0-head_129^post97 == 0 /\ len_276^0-len_276^post97 == 0 /\ x_20^0-x_20^post97 == 0 /\ __disjvr_20^0-__disjvr_20^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ __disjvr_37^0-__disjvr_37^post97 == 0 /\ rcd_58^0-rcd_58^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -y_19^post97+y_19^0 == 0 /\ i_108^0-i_108^post97 == 0 /\ -__disjvr_35^post97+__disjvr_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post97 == 0 /\ -__disjvr_3^post97+__disjvr_3^0 == 0 /\ -__disjvr_39^post97+__disjvr_39^0 == 0 /\ ct_17^0-ct_17^post97 == 0 /\ -__disjvr_31^post97+__disjvr_31^0 == 0 /\ -a_116^post97+a_116^0 == 0 /\ -__disjvr_6^post97+__disjvr_6^0 == 0 /\ -__disjvr_0^post97+__disjvr_0^0 == 0 /\ -len_226^post97+len_226^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ r_260^0-r_260^post97 == 0 /\ __disjvr_42^post97-__disjvr_42^0 == 0 /\ -__disjvr_26^post97+__disjvr_26^0 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ __disjvr_25^0-__disjvr_25^post97 == 0 /\ a_241^0-a_241^post97 == 0 /\ __disjvr_18^0-__disjvr_18^post97 == 0 /\ head_223^0-head_223^post97 == 0 /\ __disjvr_32^0-__disjvr_32^post97 == 0 /\ -x_16^post97+x_16^0 == 0 /\ -__disjvr_38^post97+__disjvr_38^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ __disjvr_40^0-__disjvr_40^post97 == 0 /\ -__disjvr_36^post97+__disjvr_36^0 == 0 /\ -head_27^post97+head_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post97 == 0 /\ -i_94^post97+i_94^0 == 0 /\ -head_268^post97+head_268^0 == 0 /\ __disjvr_1^0-__disjvr_1^post97 == 0 /\ __disjvr_33^0-__disjvr_33^post97 == 0 /\ -__disjvr_5^post97+__disjvr_5^0 == 0 /\ -rcd_88^post97+rcd_88^0 == 0 /\ -a_308^post97+a_308^0 == 0 /\ __disjvr_4^0-__disjvr_4^post97 == 0 /\ __disjvr_27^0-__disjvr_27^post97 == 0 /\ -__disjvr_42^post97+__disjvr_42^0 == 0 /\ -__disjvr_28^post97+__disjvr_28^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ -temp0_15^post97+temp0_15^0 == 0 /\ -__disjvr_8^post97+__disjvr_8^0 == 0 /\ f_263^0-f_263^post97 == 0 /\ f_170^0-f_170^post97 == 0 /\ -__disjvr_19^post97+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ __disjvr_43^0-__disjvr_43^post97 == 0 /\ __disjvr_24^0-__disjvr_24^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ -__disjvr_11^post97+__disjvr_11^0 == 0 /\ a_147^0-a_147^post97 == 0 /\ -__disjvr_17^post97+__disjvr_17^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -a_277^post97+a_277^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0), cost: 1
  98: l91 -> l92 : i_108^0'=i_108^post98, __disjvr_7^0'=__disjvr_7^post98, __disjvr_13^0'=__disjvr_13^post98, f_170^0'=f_170^post98, length_29^0'=length_29^post98, __disjvr_25^0'=__disjvr_25^post98, a_330^0'=a_330^post98, __disjvr_20^0'=__disjvr_20^post98, len_183^0'=len_183^post98, __disjvr_37^0'=__disjvr_37^post98, __disjvr_32^0'=__disjvr_32^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_223^0'=head_223^post98, r_260^0'=r_260^post98, __disjvr_4^0'=__disjvr_4^post98, __disjvr_10^0'=__disjvr_10^post98, x_20^0'=x_20^post98, __disjvr_41^0'=__disjvr_41^post98, __disjvr_22^0'=__disjvr_22^post98, a_241^0'=a_241^post98, __disjvr_18^0'=__disjvr_18^post98, i_30^0'=i_30^post98, __disjvr_9^0'=__disjvr_9^post98, __disjvr_2^0'=__disjvr_2^post98, rcd_58^0'=rcd_58^post98, head_129^0'=head_129^post98, r_124^0'=r_124^post98, __disjvr_27^0'=__disjvr_27^post98, ct_17^0'=ct_17^post98, temp_35^0'=temp_35^post98, __disjvr_39^0'=__disjvr_39^post98, __disjvr_34^0'=__disjvr_34^post98, t_23^0'=t_23^post98, head_27^0'=head_27^post98, __disjvr_15^0'=__disjvr_15^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, __disjvr_6^0'=__disjvr_6^post98, __disjvr_12^0'=__disjvr_12^post98, y_19^0'=y_19^post98, __disjvr_43^0'=__disjvr_43^post98, len_276^0'=len_276^post98, __disjvr_24^0'=__disjvr_24^post98, a_308^0'=a_308^post98, __disjvr_1^0'=__disjvr_1^post98, len_132^0'=len_132^post98, a_147^0'=a_147^post98, __disjvr_31^0'=__disjvr_31^post98, result_11^0'=result_11^post98, head_175^0'=head_175^post98, r_218^0'=r_218^post98, __disjvr_29^0'=__disjvr_29^post98, __disjvr_0^0'=__disjvr_0^post98, x_16^0'=x_16^post98, __disjvr_40^0'=__disjvr_40^post98, __disjvr_36^0'=__disjvr_36^post98, a_210^0'=a_210^post98, __disjvr_17^0'=__disjvr_17^post98, i_167^0'=i_167^post98, __disjvr_8^0'=__disjvr_8^post98, __disjvr_14^0'=__disjvr_14^post98, r_39^0'=r_39^post98, f_263^0'=f_263^post98, nondet_12^0'=nondet_12^post98, __disjvr_26^0'=__disjvr_26^post98, a_353^0'=a_353^post98, __disjvr_21^0'=__disjvr_21^post98, temp0_31^0'=temp0_31^post98, __disjvr_38^0'=__disjvr_38^post98, __disjvr_33^0'=__disjvr_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, head_268^0'=head_268^post98, head_32^0'=head_32^post98, __disjvr_5^0'=__disjvr_5^post98, __disjvr_11^0'=__disjvr_11^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, __disjvr_42^0'=__disjvr_42^post98, len_226^0'=len_226^post98, __disjvr_23^0'=__disjvr_23^post98, a_277^0'=a_277^post98, __disjvr_19^0'=__disjvr_19^post98, i_94^0'=i_94^post98, a_116^0'=a_116^post98, __disjvr_30^0'=__disjvr_30^post98, rcd_88^0'=rcd_88^post98, head_14^0'=head_14^post98, r_163^0'=r_163^post98, __disjvr_28^0'=__disjvr_28^post98, tmp_34^0'=tmp_34^post98, __disjvr_3^0'=__disjvr_3^post98, __disjvr_35^0'=__disjvr_35^post98, temp0_15^0'=temp0_15^post98, a_184^0'=a_184^post98, __disjvr_16^0'=__disjvr_16^post98, (r_218^0-r_218^post98 == 0 /\ __disjvr_39^0-__disjvr_39^post98 == 0 /\ __disjvr_20^0-__disjvr_20^post98 == 0 /\ __disjvr_9^0-__disjvr_9^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ -__disjvr_40^post98+__disjvr_40^0 == 0 /\ len_183^0-len_183^post98 == 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ __disjvr_37^0-__disjvr_37^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ a_210^0-a_210^post98 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -head_268^post98+head_268^0 == 0 /\ -i_94^post98+i_94^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ a_116^0-a_116^post98 == 0 /\ __disjvr_23^0-__disjvr_23^post98 == 0 /\ -__disjvr_19^post98+__disjvr_19^0 == 0 /\ result_11^0-result_11^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -__disjvr_2^post98+__disjvr_2^0 == 0 /\ -__disjvr_8^post98+__disjvr_8^0 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ -head_14^post98+head_14^0 == 0 /\ a_241^0-a_241^post98 == 0 /\ __disjvr_18^0-__disjvr_18^post98 == 0 /\ head_27^0-head_27^post98 == 0 /\ __disjvr_25^0-__disjvr_25^post98 == 0 /\ __disjvr_32^0-__disjvr_32^post98 == 0 /\ -i_30^post98+i_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post98 == 0 /\ __disjvr_1^0-__disjvr_1^post98 == 0 /\ a_147^0-a_147^post98 == 0 /\ __disjvr_6^0-__disjvr_6^post98 == 0 /\ __disjvr_24^0-__disjvr_24^post98 == 0 /\ -__disjvr_11^post98+__disjvr_11^0 == 0 /\ -__disjvr_17^post98+__disjvr_17^0 == 0 /\ -__disjvr_28^post98+__disjvr_28^0 == 0 /\ __disjvr_12^0-__disjvr_12^post98 == 0 /\ -head_175^post98+head_175^0 == 0 /\ __disjvr_13^0-__disjvr_13^post98 == 0 /\ __disjvr_36^0-__disjvr_36^post98 == 0 /\ -__disjvr_34^post98+__disjvr_34^0 == 0 /\ -a_277^post98+a_277^0 == 0 /\ -__disjvr_42^post98+__disjvr_42^0 == 0 /\ x_20^0-x_20^post98 == 0 /\ len_132^0-len_132^post98 == 0 /\ -__disjvr_38^post98+__disjvr_38^0 == 0 /\ __disjvr_7^0-__disjvr_7^post98 == 0 /\ a_330^0-a_330^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ head_129^0-head_129^post98 == 0 /\ __disjvr_10^0-__disjvr_10^post98 == 0 /\ -__disjvr_29^post98+__disjvr_29^0 == 0 /\ -__disjvr_16^post98+__disjvr_16^0 == 0 /\ -i_167^post98+i_167^0 == 0 /\ a_308^0-a_308^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -r_163^post98+r_163^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -r_39^post98+r_39^0 == 0 /\ -len_276^post98+len_276^0 == 0 /\ i_108^0-i_108^post98 == 0 /\ -__disjvr_33^post98+__disjvr_33^0 == 0 /\ -__disjvr_14^post98+__disjvr_14^0 == 0 /\ __disjvr_43^0-__disjvr_43^post98 == 0 /\ -__disjvr_26^post98+__disjvr_26^0 == 0 /\ -__disjvr_21^post98+__disjvr_21^0 == 0 /\ -t_23^post98+t_23^0 == 0 /\ r_260^0-r_260^post98 == 0 /\ x_16^0-x_16^post98 == 0 /\ -__disjvr_30^post98+__disjvr_30^0 == 0 /\ -temp0_15^post98+temp0_15^0 == 0 /\ -__disjvr_3^post98+__disjvr_3^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -__disjvr_5^post98+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post98 == 0 /\ head_223^0-head_223^post98 == 0 /\ -a_353^post98+a_353^0 == 0 /\ -x_SLAM_f_18^post98+x_SLAM_f_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post98+__disjvr_15^0 == 0 /\ -f_263^post98+f_263^0 == 0 /\ -__disjvr_31^post98+__disjvr_31^0 == 0 /\ -__disjvr_43^0+__disjvr_43^post98 == 0 /\ __disjvr_41^0-__disjvr_41^post98 == 0 /\ -__disjvr_27^post98+__disjvr_27^0 == 0 /\ -__disjvr_35^post98+__disjvr_35^0 == 0 /\ -a_184^post98+a_184^0 == 0 /\ __disjvr_4^0-__disjvr_4^post98 == 0 /\ -len_226^post98+len_226^0 == 0), cost: 1
  99: l92 -> l87 : i_108^0'=i_108^post99, __disjvr_7^0'=__disjvr_7^post99, __disjvr_13^0'=__disjvr_13^post99, f_170^0'=f_170^post99, length_29^0'=length_29^post99, __disjvr_25^0'=__disjvr_25^post99, a_330^0'=a_330^post99, __disjvr_20^0'=__disjvr_20^post99, len_183^0'=len_183^post99, __disjvr_37^0'=__disjvr_37^post99, __disjvr_32^0'=__disjvr_32^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_223^0'=head_223^post99, r_260^0'=r_260^post99, __disjvr_4^0'=__disjvr_4^post99, __disjvr_10^0'=__disjvr_10^post99, x_20^0'=x_20^post99, __disjvr_41^0'=__disjvr_41^post99, __disjvr_22^0'=__disjvr_22^post99, a_241^0'=a_241^post99, __disjvr_18^0'=__disjvr_18^post99, i_30^0'=i_30^post99, __disjvr_9^0'=__disjvr_9^post99, __disjvr_2^0'=__disjvr_2^post99, rcd_58^0'=rcd_58^post99, head_129^0'=head_129^post99, r_124^0'=r_124^post99, __disjvr_27^0'=__disjvr_27^post99, ct_17^0'=ct_17^post99, temp_35^0'=temp_35^post99, __disjvr_39^0'=__disjvr_39^post99, __disjvr_34^0'=__disjvr_34^post99, t_23^0'=t_23^post99, head_27^0'=head_27^post99, __disjvr_15^0'=__disjvr_15^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, __disjvr_6^0'=__disjvr_6^post99, __disjvr_12^0'=__disjvr_12^post99, y_19^0'=y_19^post99, __disjvr_43^0'=__disjvr_43^post99, len_276^0'=len_276^post99, __disjvr_24^0'=__disjvr_24^post99, a_308^0'=a_308^post99, __disjvr_1^0'=__disjvr_1^post99, len_132^0'=len_132^post99, a_147^0'=a_147^post99, __disjvr_31^0'=__disjvr_31^post99, result_11^0'=result_11^post99, head_175^0'=head_175^post99, r_218^0'=r_218^post99, __disjvr_29^0'=__disjvr_29^post99, __disjvr_0^0'=__disjvr_0^post99, x_16^0'=x_16^post99, __disjvr_40^0'=__disjvr_40^post99, __disjvr_36^0'=__disjvr_36^post99, a_210^0'=a_210^post99, __disjvr_17^0'=__disjvr_17^post99, i_167^0'=i_167^post99, __disjvr_8^0'=__disjvr_8^post99, __disjvr_14^0'=__disjvr_14^post99, r_39^0'=r_39^post99, f_263^0'=f_263^post99, nondet_12^0'=nondet_12^post99, __disjvr_26^0'=__disjvr_26^post99, a_353^0'=a_353^post99, __disjvr_21^0'=__disjvr_21^post99, temp0_31^0'=temp0_31^post99, __disjvr_38^0'=__disjvr_38^post99, __disjvr_33^0'=__disjvr_33^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, head_268^0'=head_268^post99, head_32^0'=head_32^post99, __disjvr_5^0'=__disjvr_5^post99, __disjvr_11^0'=__disjvr_11^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, __disjvr_42^0'=__disjvr_42^post99, len_226^0'=len_226^post99, __disjvr_23^0'=__disjvr_23^post99, a_277^0'=a_277^post99, __disjvr_19^0'=__disjvr_19^post99, i_94^0'=i_94^post99, a_116^0'=a_116^post99, __disjvr_30^0'=__disjvr_30^post99, rcd_88^0'=rcd_88^post99, head_14^0'=head_14^post99, r_163^0'=r_163^post99, __disjvr_28^0'=__disjvr_28^post99, tmp_34^0'=tmp_34^post99, __disjvr_3^0'=__disjvr_3^post99, __disjvr_35^0'=__disjvr_35^post99, temp0_15^0'=temp0_15^post99, a_184^0'=a_184^post99, __disjvr_16^0'=__disjvr_16^post99, (0 == 0 /\ -len_276^0+len_226^post99 <= 0 /\ -rcd_88^post99+rcd_88^0 == 0 /\ __disjvr_43^0-__disjvr_43^post99 == 0 /\ __disjvr_37^0-__disjvr_37^post99 == 0 /\ i_94^0-i_94^post99 == 0 /\ __disjvr_17^0-__disjvr_17^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post99+a_277^0 == 0 /\ __disjvr_31^0-__disjvr_31^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -__disjvr_35^post99+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post99 == 0 /\ __disjvr_5^0-__disjvr_5^post99 == 0 /\ __disjvr_41^0-__disjvr_41^post99 == 0 /\ -__disjvr_16^post99+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post99 == 0 /\ -__disjvr_2^post99+__disjvr_2^0 == 0 /\ r_124^0-r_124^post99 == 0 /\ __disjvr_13^0-__disjvr_13^post99 == 0 /\ __disjvr_7^0-__disjvr_7^post99 == 0 /\ __disjvr_40^0-__disjvr_40^post99 == 0 /\ __disjvr_11^0-__disjvr_11^post99 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post99 == 0 /\ __disjvr_10^0-__disjvr_10^post99 == 0 /\ len_276^0-len_226^post99 <= 0 /\ len_183^0-len_183^post99 == 0 /\ -__disjvr_1^post99+__disjvr_1^0 == 0 /\ r_260^0-r_260^post99 == 0 /\ -__disjvr_23^post99+__disjvr_23^0 == 0 /\ y_19^0-y_19^post99 == 0 /\ __disjvr_34^0-__disjvr_34^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ -__disjvr_15^post99+__disjvr_15^0 == 0 /\ -__disjvr_27^post99+__disjvr_27^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ head_129^0-head_129^post99 == 0 /\ __disjvr_39^0-__disjvr_39^post99 == 0 /\ __disjvr_24^0-__disjvr_24^post99 == 0 /\ i_108^0-i_108^post99 == 0 /\ ct_17^0-ct_17^post99 == 0 /\ __disjvr_9^0-__disjvr_9^post99 == 0 /\ length_29^0-length_29^post99 == 0 /\ -temp0_15^post99+temp0_15^0 == 0 /\ head_268^0-head_268^post99 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ -head_32^post99+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post99 == 0 /\ __disjvr_42^0-__disjvr_42^post99 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_25^0-__disjvr_25^post99 == 0 /\ __disjvr_18^0-__disjvr_18^post99 == 0 /\ f_170^0-f_170^post99 == 0 /\ head_223^0-head_223^post99 == 0 /\ __disjvr_36^0-__disjvr_36^post99 == 0 /\ -__disjvr_38^post99+__disjvr_38^0 == 0 /\ -a_116^post99+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post99 == 0 /\ a_210^0-a_210^post99 == 0 /\ __disjvr_21^0-__disjvr_21^post99 == 0 /\ __disjvr_32^0-__disjvr_32^post99 == 0 /\ __disjvr_20^0-__disjvr_20^post99 == 0 /\ head_27^0-head_27^post99 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -a_184^post99+a_184^0 == 0 /\ -a_241^post99+a_277^0 <= 0 /\ -head_14^post99+head_14^0 == 0 /\ -__disjvr_30^post99+__disjvr_30^0 == 0 /\ -__disjvr_26^post99+__disjvr_26^0 == 0 /\ -__disjvr_14^post99+__disjvr_14^0 == 0 /\ r_218^0-r_218^post99 == 0 /\ -tmp_34^post99+tmp_34^0 == 0 /\ -__disjvr_33^post99+__disjvr_33^0 == 0 /\ -len_276^post99+len_276^0 == 0 /\ -a_353^post99+a_353^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -head_175^post99+head_175^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ -__disjvr_28^post99+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post99+head_SLAM_f_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post99 == 0 /\ a_308^0-a_308^post99 == 0 /\ -t_23^post99+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ a_241^post99-a_277^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post99 == 0 /\ -__disjvr_19^post99+__disjvr_19^0 == 0 /\ -a_330^post99+a_330^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_20^post99+x_20^0 == 0 /\ -f_263^post99+f_263^0 == 0 /\ -__disjvr_3^post99+__disjvr_3^0 == 0 /\ -r_39^post99+r_39^0 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -r_163^post99+r_163^0 == 0), cost: 1
 100: l87 -> l4 : i_108^0'=i_108^post100, __disjvr_7^0'=__disjvr_7^post100, __disjvr_13^0'=__disjvr_13^post100, f_170^0'=f_170^post100, length_29^0'=length_29^post100, __disjvr_25^0'=__disjvr_25^post100, a_330^0'=a_330^post100, __disjvr_20^0'=__disjvr_20^post100, len_183^0'=len_183^post100, __disjvr_37^0'=__disjvr_37^post100, __disjvr_32^0'=__disjvr_32^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_223^0'=head_223^post100, r_260^0'=r_260^post100, __disjvr_4^0'=__disjvr_4^post100, __disjvr_10^0'=__disjvr_10^post100, x_20^0'=x_20^post100, __disjvr_41^0'=__disjvr_41^post100, __disjvr_22^0'=__disjvr_22^post100, a_241^0'=a_241^post100, __disjvr_18^0'=__disjvr_18^post100, i_30^0'=i_30^post100, __disjvr_9^0'=__disjvr_9^post100, __disjvr_2^0'=__disjvr_2^post100, rcd_58^0'=rcd_58^post100, head_129^0'=head_129^post100, r_124^0'=r_124^post100, __disjvr_27^0'=__disjvr_27^post100, ct_17^0'=ct_17^post100, temp_35^0'=temp_35^post100, __disjvr_39^0'=__disjvr_39^post100, __disjvr_34^0'=__disjvr_34^post100, t_23^0'=t_23^post100, head_27^0'=head_27^post100, __disjvr_15^0'=__disjvr_15^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, __disjvr_6^0'=__disjvr_6^post100, __disjvr_12^0'=__disjvr_12^post100, y_19^0'=y_19^post100, __disjvr_43^0'=__disjvr_43^post100, len_276^0'=len_276^post100, __disjvr_24^0'=__disjvr_24^post100, a_308^0'=a_308^post100, __disjvr_1^0'=__disjvr_1^post100, len_132^0'=len_132^post100, a_147^0'=a_147^post100, __disjvr_31^0'=__disjvr_31^post100, result_11^0'=result_11^post100, head_175^0'=head_175^post100, r_218^0'=r_218^post100, __disjvr_29^0'=__disjvr_29^post100, __disjvr_0^0'=__disjvr_0^post100, x_16^0'=x_16^post100, __disjvr_40^0'=__disjvr_40^post100, __disjvr_36^0'=__disjvr_36^post100, a_210^0'=a_210^post100, __disjvr_17^0'=__disjvr_17^post100, i_167^0'=i_167^post100, __disjvr_8^0'=__disjvr_8^post100, __disjvr_14^0'=__disjvr_14^post100, r_39^0'=r_39^post100, f_263^0'=f_263^post100, nondet_12^0'=nondet_12^post100, __disjvr_26^0'=__disjvr_26^post100, a_353^0'=a_353^post100, __disjvr_21^0'=__disjvr_21^post100, temp0_31^0'=temp0_31^post100, __disjvr_38^0'=__disjvr_38^post100, __disjvr_33^0'=__disjvr_33^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, head_268^0'=head_268^post100, head_32^0'=head_32^post100, __disjvr_5^0'=__disjvr_5^post100, __disjvr_11^0'=__disjvr_11^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, __disjvr_42^0'=__disjvr_42^post100, len_226^0'=len_226^post100, __disjvr_23^0'=__disjvr_23^post100, a_277^0'=a_277^post100, __disjvr_19^0'=__disjvr_19^post100, i_94^0'=i_94^post100, a_116^0'=a_116^post100, __disjvr_30^0'=__disjvr_30^post100, rcd_88^0'=rcd_88^post100, head_14^0'=head_14^post100, r_163^0'=r_163^post100, __disjvr_28^0'=__disjvr_28^post100, tmp_34^0'=tmp_34^post100, __disjvr_3^0'=__disjvr_3^post100, __disjvr_35^0'=__disjvr_35^post100, temp0_15^0'=temp0_15^post100, a_184^0'=a_184^post100, __disjvr_16^0'=__disjvr_16^post100, (-__disjvr_9^post100+__disjvr_9^0 == 0 /\ len_183^0-len_183^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ y_19^0-y_19^post100 == 0 /\ -rcd_88^post100+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ __disjvr_34^0-__disjvr_34^post100 == 0 /\ -__disjvr_35^post100+__disjvr_35^0 == 0 /\ __disjvr_4^0-__disjvr_4^post100 == 0 /\ __disjvr_39^0-__disjvr_39^post100 == 0 /\ -__disjvr_30^post100+__disjvr_30^0 == 0 /\ head_268^0-head_268^post100 == 0 /\ -__disjvr_26^post100+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post100 == 0 /\ __disjvr_32^0-__disjvr_32^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -i_94^post100+i_94^0 == 0 /\ -__disjvr_12^post100+__disjvr_12^0 == 0 /\ head_223^0-head_223^post100 == 0 /\ -__disjvr_1^post100+__disjvr_1^0 == 0 /\ -__disjvr_28^post100+__disjvr_28^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post100 == 0 /\ -head_SLAM_f_26^post100+head_SLAM_f_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -f_263^post100+f_263^0 == 0 /\ -head_27^post100+head_27^0 == 0 /\ x_20^0-x_20^post100 == 0 /\ -__disjvr_16^post100+__disjvr_16^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ a_330^0-a_330^post100 == 0 /\ -__disjvr_23^post100+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post100 == 0 /\ __disjvr_20^0-__disjvr_20^post100 == 0 /\ -head_32^post100+head_32^0 == 0 /\ t_23^0-t_23^post100 == 0 /\ -__disjvr_31^post100+__disjvr_31^0 == 0 /\ __disjvr_40^0-__disjvr_40^post100 == 0 /\ -a_147^post100+a_147^0 == 0 /\ a_277^0-a_277^post100 == 0 /\ -__disjvr_36^post100+__disjvr_36^0 == 0 /\ r_124^0-r_124^post100 == 0 /\ -r_218^post100+r_218^0 == 0 /\ ct_17^0-ct_17^post100 == 0 /\ -__disjvr_6^post100+__disjvr_6^0 == 0 /\ -temp0_15^post100+temp0_15^0 == 0 /\ __disjvr_37^0-__disjvr_37^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ r_260^0-r_260^post100 == 0 /\ -__disjvr_24^post100+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post100 == 0 /\ -__disjvr_19^post100+__disjvr_19^0 == 0 /\ -__disjvr_5^post100+__disjvr_5^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -len_226^post100+len_226^0 == 0 /\ -a_116^post100+a_116^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ __disjvr_38^0-__disjvr_38^post100 == 0 /\ i_108^0-i_108^post100 == 0 /\ a_308^0-a_308^post100 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ a_353^0-a_353^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -a_184^post100+a_184^0 == 0 /\ -a_210^post100+a_210^0 == 0 /\ -__disjvr_42^post100+__disjvr_42^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post100 == 0 /\ __disjvr_7^0-__disjvr_7^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100 == 0 /\ -__disjvr_13^post100+__disjvr_13^0 == 0 /\ -__disjvr_11^post100+__disjvr_11^0 == 0 /\ -r_39^post100+r_39^0 == 0 /\ __disjvr_17^0-__disjvr_17^post100 == 0 /\ -__disjvr_0^post100+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post100 == 0 /\ __disjvr_15^0-__disjvr_15^post100 == 0 /\ __disjvr_10^0-__disjvr_10^post100 == 0 /\ __disjvr_22^0-__disjvr_22^post100 == 0 /\ -__disjvr_3^post100+__disjvr_3^0 == 0 /\ -__disjvr_43^post100+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ -r_163^post100+r_163^0 == 0 /\ rcd_58^0-rcd_58^post100 == 0 /\ __disjvr_18^0-__disjvr_18^post100 == 0 /\ length_29^0-length_29^post100 == 0 /\ len_276^0-len_276^post100 == 0 /\ __disjvr_27^0-__disjvr_27^post100 == 0 /\ -a_241^post100+a_241^0 == 0), cost: 1
 101: l93 -> l34 : i_108^0'=i_108^post101, __disjvr_7^0'=__disjvr_7^post101, __disjvr_13^0'=__disjvr_13^post101, f_170^0'=f_170^post101, length_29^0'=length_29^post101, __disjvr_25^0'=__disjvr_25^post101, a_330^0'=a_330^post101, __disjvr_20^0'=__disjvr_20^post101, len_183^0'=len_183^post101, __disjvr_37^0'=__disjvr_37^post101, __disjvr_32^0'=__disjvr_32^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, head_223^0'=head_223^post101, r_260^0'=r_260^post101, __disjvr_4^0'=__disjvr_4^post101, __disjvr_10^0'=__disjvr_10^post101, x_20^0'=x_20^post101, __disjvr_41^0'=__disjvr_41^post101, __disjvr_22^0'=__disjvr_22^post101, a_241^0'=a_241^post101, __disjvr_18^0'=__disjvr_18^post101, i_30^0'=i_30^post101, __disjvr_9^0'=__disjvr_9^post101, __disjvr_2^0'=__disjvr_2^post101, rcd_58^0'=rcd_58^post101, head_129^0'=head_129^post101, r_124^0'=r_124^post101, __disjvr_27^0'=__disjvr_27^post101, ct_17^0'=ct_17^post101, temp_35^0'=temp_35^post101, __disjvr_39^0'=__disjvr_39^post101, __disjvr_34^0'=__disjvr_34^post101, t_23^0'=t_23^post101, head_27^0'=head_27^post101, __disjvr_15^0'=__disjvr_15^post101, head_SLAM_f_26^0'=head_SLAM_f_26^post101, __disjvr_6^0'=__disjvr_6^post101, __disjvr_12^0'=__disjvr_12^post101, y_19^0'=y_19^post101, __disjvr_43^0'=__disjvr_43^post101, len_276^0'=len_276^post101, __disjvr_24^0'=__disjvr_24^post101, a_308^0'=a_308^post101, __disjvr_1^0'=__disjvr_1^post101, len_132^0'=len_132^post101, a_147^0'=a_147^post101, __disjvr_31^0'=__disjvr_31^post101, result_11^0'=result_11^post101, head_175^0'=head_175^post101, r_218^0'=r_218^post101, __disjvr_29^0'=__disjvr_29^post101, __disjvr_0^0'=__disjvr_0^post101, x_16^0'=x_16^post101, __disjvr_40^0'=__disjvr_40^post101, __disjvr_36^0'=__disjvr_36^post101, a_210^0'=a_210^post101, __disjvr_17^0'=__disjvr_17^post101, i_167^0'=i_167^post101, __disjvr_8^0'=__disjvr_8^post101, __disjvr_14^0'=__disjvr_14^post101, r_39^0'=r_39^post101, f_263^0'=f_263^post101, nondet_12^0'=nondet_12^post101, __disjvr_26^0'=__disjvr_26^post101, a_353^0'=a_353^post101, __disjvr_21^0'=__disjvr_21^post101, temp0_31^0'=temp0_31^post101, __disjvr_38^0'=__disjvr_38^post101, __disjvr_33^0'=__disjvr_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, head_268^0'=head_268^post101, head_32^0'=head_32^post101, __disjvr_5^0'=__disjvr_5^post101, __disjvr_11^0'=__disjvr_11^post101, x_SLAM_f_18^0'=x_SLAM_f_18^post101, __disjvr_42^0'=__disjvr_42^post101, len_226^0'=len_226^post101, __disjvr_23^0'=__disjvr_23^post101, a_277^0'=a_277^post101, __disjvr_19^0'=__disjvr_19^post101, i_94^0'=i_94^post101, a_116^0'=a_116^post101, __disjvr_30^0'=__disjvr_30^post101, rcd_88^0'=rcd_88^post101, head_14^0'=head_14^post101, r_163^0'=r_163^post101, __disjvr_28^0'=__disjvr_28^post101, tmp_34^0'=tmp_34^post101, __disjvr_3^0'=__disjvr_3^post101, __disjvr_35^0'=__disjvr_35^post101, temp0_15^0'=temp0_15^post101, a_184^0'=a_184^post101, __disjvr_16^0'=__disjvr_16^post101, (-x_SLAM_f_18^post101+x_SLAM_f_18^0 == 0 /\ __disjvr_25^0-__disjvr_25^post101 == 0 /\ a_241^0-a_241^post101 == 0 /\ r_260^0-r_260^post101 == 0 /\ -a_277^post101+a_277^0 == 0 /\ head_175^0-head_175^post101 == 0 /\ -a_116^post101+a_116^0 == 0 /\ -__disjvr_41^post101+__disjvr_41^0 == 0 /\ __disjvr_15^0-__disjvr_15^post101 == 0 /\ i_108^0-i_108^post101 == 0 /\ temp_35^0-temp_35^post101 == 0 /\ a_330^0-a_330^post101 == 0 /\ __disjvr_1^0-__disjvr_1^post101 == 0 /\ __disjvr_32^0-__disjvr_32^post101 == 0 /\ head_129^0-head_129^post101 == 0 /\ -__disjvr_21^post101+__disjvr_21^0 == 0 /\ -head_14^post101+head_14^0 == 0 /\ -__disjvr_42^post101+__disjvr_42^0 == 0 /\ x_16^0-x_16^post101 == 0 /\ -__disjvr_30^post101+__disjvr_30^0 == 0 /\ -__disjvr_40^post101+__disjvr_40^0 == 0 /\ -a_184^post101+a_184^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ -ct_17^post101+ct_17^0 == 0 /\ length_29^0-length_29^post101 == 0 /\ head_32^0-head_32^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101 == 0 /\ -a_210^post101+a_210^0 == 0 /\ len_226^0-len_226^post101 == 0 /\ f_170^0-f_170^post101 == 0 /\ __disjvr_37^0-__disjvr_37^post101 == 0 /\ -__disjvr_23^post101+__disjvr_23^0 == 0 /\ -__disjvr_11^post101+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post101 == 0 /\ -__disjvr_0^post101+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post101 == 0 /\ -head_27^post101+head_27^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ i_167^0-i_167^post101 == 0 /\ -__disjvr_39^post101+__disjvr_39^0 == 0 /\ -__disjvr_3^post101+__disjvr_3^0 == 0 /\ -__disjvr_36^post101+__disjvr_36^0 == 0 /\ __disjvr_2^0-__disjvr_2^post101 == 0 /\ -__disjvr_31^post101+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post101 == 0 /\ result_11^0-result_11^post101 == 0 /\ len_276^0-len_276^post101 == 0 /\ -len_132^post101+len_132^0 == 0 /\ -r_163^post101+r_163^0 == 0 /\ rcd_58^0-rcd_58^post101 == 0 /\ r_218^0-r_218^post101 == 0 /\ __disjvr_24^0-__disjvr_24^post101 == 0 /\ -rcd_88^post101+rcd_88^0 == 0 /\ __disjvr_18^0-__disjvr_18^post101 == 0 /\ f_263^0-f_263^post101 == 0 /\ head_223^0-head_223^post101 == 0 /\ -__disjvr_17^post101+__disjvr_17^0 == 0 /\ -__disjvr_14^post101+__disjvr_14^0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ -__disjvr_34^post101+__disjvr_34^0 == 0 /\ -__disjvr_35^post101+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post101 == 0 /\ -__disjvr_38^post101+__disjvr_38^0 == 0 /\ -__disjvr_28^post101+__disjvr_28^0 == 0 /\ -__disjvr_5^post101+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post101 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post101 == 0 /\ __disjvr_12^0-__disjvr_12^post101 == 0 /\ __disjvr_7^0-__disjvr_7^post101 == 0 /\ len_183^0-len_183^post101 == 0 /\ -i_94^post101+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post101 == 0 /\ -__disjvr_8^post101+__disjvr_8^0 == 0 /\ -__disjvr_16^post101+__disjvr_16^0 == 0 /\ a_147^0-a_147^post101 == 0 /\ __disjvr_43^0-__disjvr_43^post101 == 0 /\ -__disjvr_10^post101+__disjvr_10^0 == 0 /\ -__disjvr_33^post101+__disjvr_33^0 == 0 /\ -y_19^post101+y_19^0 == 0 /\ i_30^0-i_30^post101 == 0 /\ x_20^0-x_20^post101 == 0 /\ __disjvr_20^0-__disjvr_20^post101 == 0 /\ -temp0_15^post101+temp0_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ -__disjvr_29^post101+__disjvr_29^0 == 0 /\ -a_353^post101+a_353^0 == 0 /\ -a_308^post101+a_308^0 == 0 /\ -__disjvr_19^post101+__disjvr_19^0 == 0 /\ t_23^0-t_23^post101 == 0 /\ -head_268^post101+head_268^0 == 0 /\ r_124^0-r_124^post101 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l93
  28: l1 -> l28 : i_108^0'=i_108^post28, __disjvr_7^0'=__disjvr_7^post28, __disjvr_13^0'=__disjvr_13^post28, f_170^0'=f_170^post28, length_29^0'=length_29^post28, __disjvr_25^0'=__disjvr_25^post28, a_330^0'=a_330^post28, __disjvr_20^0'=__disjvr_20^post28, len_183^0'=len_183^post28, __disjvr_37^0'=__disjvr_37^post28, __disjvr_32^0'=__disjvr_32^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_223^0'=head_223^post28, r_260^0'=r_260^post28, __disjvr_4^0'=__disjvr_4^post28, __disjvr_10^0'=__disjvr_10^post28, x_20^0'=x_20^post28, __disjvr_41^0'=__disjvr_41^post28, __disjvr_22^0'=__disjvr_22^post28, a_241^0'=a_241^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_9^0'=__disjvr_9^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_58^0'=rcd_58^post28, head_129^0'=head_129^post28, r_124^0'=r_124^post28, __disjvr_27^0'=__disjvr_27^post28, ct_17^0'=ct_17^post28, temp_35^0'=temp_35^post28, __disjvr_39^0'=__disjvr_39^post28, __disjvr_34^0'=__disjvr_34^post28, t_23^0'=t_23^post28, head_27^0'=head_27^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, __disjvr_6^0'=__disjvr_6^post28, __disjvr_12^0'=__disjvr_12^post28, y_19^0'=y_19^post28, __disjvr_43^0'=__disjvr_43^post28, len_276^0'=len_276^post28, __disjvr_24^0'=__disjvr_24^post28, a_308^0'=a_308^post28, __disjvr_1^0'=__disjvr_1^post28, len_132^0'=len_132^post28, a_147^0'=a_147^post28, __disjvr_31^0'=__disjvr_31^post28, result_11^0'=result_11^post28, head_175^0'=head_175^post28, r_218^0'=r_218^post28, __disjvr_29^0'=__disjvr_29^post28, __disjvr_0^0'=__disjvr_0^post28, x_16^0'=x_16^post28, __disjvr_40^0'=__disjvr_40^post28, __disjvr_36^0'=__disjvr_36^post28, a_210^0'=a_210^post28, __disjvr_17^0'=__disjvr_17^post28, i_167^0'=i_167^post28, __disjvr_8^0'=__disjvr_8^post28, __disjvr_14^0'=__disjvr_14^post28, r_39^0'=r_39^post28, f_263^0'=f_263^post28, nondet_12^0'=nondet_12^post28, __disjvr_26^0'=__disjvr_26^post28, a_353^0'=a_353^post28, __disjvr_21^0'=__disjvr_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_38^0'=__disjvr_38^post28, __disjvr_33^0'=__disjvr_33^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_268^0'=head_268^post28, head_32^0'=head_32^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, __disjvr_42^0'=__disjvr_42^post28, len_226^0'=len_226^post28, __disjvr_23^0'=__disjvr_23^post28, a_277^0'=a_277^post28, __disjvr_19^0'=__disjvr_19^post28, i_94^0'=i_94^post28, a_116^0'=a_116^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_88^0'=rcd_88^post28, head_14^0'=head_14^post28, r_163^0'=r_163^post28, __disjvr_28^0'=__disjvr_28^post28, tmp_34^0'=tmp_34^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_35^0'=__disjvr_35^post28, temp0_15^0'=temp0_15^post28, a_184^0'=a_184^post28, __disjvr_16^0'=__disjvr_16^post28, (0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ __disjvr_36^0-__disjvr_36^post28 == 0 /\ __disjvr_22^0-__disjvr_22^post28 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ __disjvr_32^0-__disjvr_32^post28 == 0 /\ -__disjvr_33^post28+__disjvr_33^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ r_124^0-r_124^post28 == 0 /\ -r_39^post28+r_39^0 == 0 /\ __disjvr_37^0-__disjvr_37^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ -a_308^post28+a_308^0 == 0 /\ a_330^0-a_330^post28 == 0 /\ -r_218^post28+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post28 == 0 /\ -temp0_15^post28+temp0_15^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -r_163^post28+r_163^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -len_226^post28+len_226^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ __disjvr_39^0-__disjvr_39^post28 == 0 /\ -__disjvr_14^post28+__disjvr_14^0 == 0 /\ head_129^0-head_129^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ len_132^0-len_132^post28 == 0 /\ a_147^0-a_147^post28 == 0 /\ len_183^0-len_183^post28 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ __disjvr_43^0-__disjvr_43^post28 == 0 /\ -__disjvr_30^post28+__disjvr_30^0 == 0 /\ __disjvr_31^0-__disjvr_31^post28 == 0 /\ -__disjvr_34^post28+__disjvr_34^0 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -f_263^post28+f_263^0 == 0 /\ __disjvr_42^0-__disjvr_42^post28 == 0 /\ -a_116^post28+a_116^0 == 0 /\ i_108^0-i_108^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ -__disjvr_35^post28+__disjvr_35^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -a_184^post28+a_184^0 == 0 /\ __disjvr_23^0-__disjvr_23^post28 == 0 /\ head_268^0-head_268^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ head_27^0-head_27^post28 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_38^post28+__disjvr_38^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ head_223^0-head_223^post28 == 0 /\ a_241^0-a_241^post28 == 0 /\ -len_276^post28+len_276^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ a_210^0-a_210^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_8^0-__disjvr_8^post28 == 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -a_353^post28+a_353^0 == 0 /\ r_260^0-r_260^post28 == 0 /\ x_20^0-x_20^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ length_29^0-length_29^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -__disjvr_26^post28+__disjvr_26^0 == 0 /\ -__disjvr_40^post28+__disjvr_40^0 == 0 /\ y_19^0-y_19^post28 == 0 /\ -a_277^post28+a_277^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -head_SLAM_f_26^post28+head_SLAM_f_26^0 == 0 /\ -__disjvr_28^post28+__disjvr_28^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0), cost: 1
  91: l4 -> l85 : i_108^0'=i_108^post91, __disjvr_7^0'=__disjvr_7^post91, __disjvr_13^0'=__disjvr_13^post91, f_170^0'=f_170^post91, length_29^0'=length_29^post91, __disjvr_25^0'=__disjvr_25^post91, a_330^0'=a_330^post91, __disjvr_20^0'=__disjvr_20^post91, len_183^0'=len_183^post91, __disjvr_37^0'=__disjvr_37^post91, __disjvr_32^0'=__disjvr_32^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, head_223^0'=head_223^post91, r_260^0'=r_260^post91, __disjvr_4^0'=__disjvr_4^post91, __disjvr_10^0'=__disjvr_10^post91, x_20^0'=x_20^post91, __disjvr_41^0'=__disjvr_41^post91, __disjvr_22^0'=__disjvr_22^post91, a_241^0'=a_241^post91, __disjvr_18^0'=__disjvr_18^post91, i_30^0'=i_30^post91, __disjvr_9^0'=__disjvr_9^post91, __disjvr_2^0'=__disjvr_2^post91, rcd_58^0'=rcd_58^post91, head_129^0'=head_129^post91, r_124^0'=r_124^post91, __disjvr_27^0'=__disjvr_27^post91, ct_17^0'=ct_17^post91, temp_35^0'=temp_35^post91, __disjvr_39^0'=__disjvr_39^post91, __disjvr_34^0'=__disjvr_34^post91, t_23^0'=t_23^post91, head_27^0'=head_27^post91, __disjvr_15^0'=__disjvr_15^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, __disjvr_6^0'=__disjvr_6^post91, __disjvr_12^0'=__disjvr_12^post91, y_19^0'=y_19^post91, __disjvr_43^0'=__disjvr_43^post91, len_276^0'=len_276^post91, __disjvr_24^0'=__disjvr_24^post91, a_308^0'=a_308^post91, __disjvr_1^0'=__disjvr_1^post91, len_132^0'=len_132^post91, a_147^0'=a_147^post91, __disjvr_31^0'=__disjvr_31^post91, result_11^0'=result_11^post91, head_175^0'=head_175^post91, r_218^0'=r_218^post91, __disjvr_29^0'=__disjvr_29^post91, __disjvr_0^0'=__disjvr_0^post91, x_16^0'=x_16^post91, __disjvr_40^0'=__disjvr_40^post91, __disjvr_36^0'=__disjvr_36^post91, a_210^0'=a_210^post91, __disjvr_17^0'=__disjvr_17^post91, i_167^0'=i_167^post91, __disjvr_8^0'=__disjvr_8^post91, __disjvr_14^0'=__disjvr_14^post91, r_39^0'=r_39^post91, f_263^0'=f_263^post91, nondet_12^0'=nondet_12^post91, __disjvr_26^0'=__disjvr_26^post91, a_353^0'=a_353^post91, __disjvr_21^0'=__disjvr_21^post91, temp0_31^0'=temp0_31^post91, __disjvr_38^0'=__disjvr_38^post91, __disjvr_33^0'=__disjvr_33^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, head_268^0'=head_268^post91, head_32^0'=head_32^post91, __disjvr_5^0'=__disjvr_5^post91, __disjvr_11^0'=__disjvr_11^post91, x_SLAM_f_18^0'=x_SLAM_f_18^post91, __disjvr_42^0'=__disjvr_42^post91, len_226^0'=len_226^post91, __disjvr_23^0'=__disjvr_23^post91, a_277^0'=a_277^post91, __disjvr_19^0'=__disjvr_19^post91, i_94^0'=i_94^post91, a_116^0'=a_116^post91, __disjvr_30^0'=__disjvr_30^post91, rcd_88^0'=rcd_88^post91, head_14^0'=head_14^post91, r_163^0'=r_163^post91, __disjvr_28^0'=__disjvr_28^post91, tmp_34^0'=tmp_34^post91, __disjvr_3^0'=__disjvr_3^post91, __disjvr_35^0'=__disjvr_35^post91, temp0_15^0'=temp0_15^post91, a_184^0'=a_184^post91, __disjvr_16^0'=__disjvr_16^post91, (0 == 0 /\ length_29^0-length_29^post91 == 0 /\ -r_260^post91+r_260^0 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ -t_23^post91+t_23^0 == 0 /\ -a_353^post91+a_353^0 == 0 /\ -__disjvr_27^post91+__disjvr_27^0 == 0 /\ __disjvr_43^0-__disjvr_43^post91 == 0 /\ __disjvr_17^0-__disjvr_17^post91 == 0 /\ __disjvr_23^0-__disjvr_23^post91 == 0 /\ -__disjvr_28^post91+__disjvr_28^0 == 0 /\ -temp0_15^post91+temp0_15^0 == 0 /\ len_183^0-len_183^post91 == 0 /\ temp_35^0-temp_35^post91 == 0 /\ -x_20^post91+x_SLAM_f_18^post91 <= 0 /\ -f_263^post91+f_263^0 == 0 /\ -len_226^post91+len_226^0 == 0 /\ a_330^0-a_330^post91 == 0 /\ -x_20^post91+head_14^0 <= 0 /\ __disjvr_37^0-__disjvr_37^post91 == 0 /\ -__disjvr_35^post91+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post91 == 0 /\ __disjvr_5^0-__disjvr_5^post91 == 0 /\ len_132^0-len_132^post91 == 0 /\ __disjvr_22^0-__disjvr_22^post91 == 0 /\ -y_19^post91 <= 0 /\ -temp0_31^post91+temp0_31^0 == 0 /\ -r_163^post91+r_163^0 == 0 /\ -a_116^post91+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post91 == 0 /\ i_108^0-i_108^post91 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ -i_94^post91+i_94^0 == 0 /\ -__disjvr_11^post91+__disjvr_11^0 == 0 /\ -r_124^post91+r_124^0 == 0 /\ -a_184^post91+a_184^0 == 0 /\ __disjvr_42^0-__disjvr_42^post91 == 0 /\ -i_167^post91+i_167^0 == 0 /\ -head_268^post91+head_268^0 == 0 /\ __disjvr_4^0-__disjvr_4^post91 == 0 /\ head_27^0 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 == 0 /\ -__disjvr_12^post91+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post91 == 0 /\ -head_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91 == 0 /\ __disjvr_10^0-__disjvr_10^post91 == 0 /\ -__disjvr_33^post91+__disjvr_33^0 == 0 /\ -__disjvr_16^post91+__disjvr_16^0 == 0 /\ -rcd_58^post91+rcd_58^0 == 0 /\ x_20^post91-head_14^0 <= 0 /\ head_129^0-head_129^post91 == 0 /\ -__disjvr_2^post91+__disjvr_2^0 == 0 /\ -head_14^post91+head_14^0 == 0 /\ -len_226^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post91 == 0 /\ a_210^0-a_210^post91 == 0 /\ __disjvr_9^0-__disjvr_9^post91 == 0 /\ -head_14^0+x_SLAM_f_18^post91 <= 0 /\ -__disjvr_30^post91+__disjvr_30^0 == 0 /\ -ct_17^post91 <= 0 /\ -__disjvr_3^post91+__disjvr_3^0 == 0 /\ x_16^post91-head_14^0 <= 0 /\ x_16^post91-head_14^0 == 0 /\ -len_276^post91+len_276^0 == 0 /\ x_16^post91-x_SLAM_f_18^post91 <= 0 /\ -__disjvr_15^post91+__disjvr_15^0 == 0 /\ -a_147^post91+a_147^0 == 0 /\ head_223^0-head_223^post91 == 0 /\ result_11^0-result_11^post91 == 0 /\ i_30^0-i_30^post91 == 0 /\ __disjvr_21^0-__disjvr_21^post91 == 0 /\ -__disjvr_19^post91+__disjvr_19^0 == 0 /\ ct_17^post91-y_19^post91 <= 0 /\ -a_277^post91+a_277^0 == 0 /\ ct_17^post91 <= 0 /\ ct_17^post91 == 0 /\ -a_241^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post91 == 0 /\ -head_175^post91+head_175^0 == 0 /\ f_170^0-f_170^post91 == 0 /\ __disjvr_24^0-__disjvr_24^post91 == 0 /\ head_14^0-x_SLAM_f_18^post91 <= 0 /\ a_308^0-a_308^post91 == 0 /\ -__disjvr_40^post91+__disjvr_40^0 == 0 /\ __disjvr_8^0-__disjvr_8^post91 == 0 /\ -x_16^post91+head_14^0 <= 0 /\ y_19^post91 <= 0 /\ __disjvr_41^0-__disjvr_41^post91 == 0 /\ __disjvr_0^0-__disjvr_0^post91 == 0 /\ -__disjvr_38^post91+__disjvr_38^0 == 0 /\ -head_32^post91+head_32^0 == 0 /\ -r_39^post91+r_39^0 == 0 /\ -r_218^post91+r_218^0 == 0 /\ -x_16^post91+x_SLAM_f_18^post91 <= 0 /\ -x_16^post91+x_SLAM_f_18^post91 == 0 /\ __disjvr_13^0-__disjvr_13^post91 == 0 /\ __disjvr_7^0-__disjvr_7^post91 == 0 /\ -rcd_88^post91+rcd_88^0 == 0 /\ -ct_17^post91+y_19^post91 <= 0 /\ -ct_17^post91+y_19^post91 == 0 /\ -__disjvr_1^post91+__disjvr_1^0 == 0 /\ __disjvr_20^0-__disjvr_20^post91 == 0 /\ -__disjvr_32^post91+__disjvr_32^0 == 0 /\ __disjvr_39^0-__disjvr_39^post91 == 0 /\ __disjvr_6^0-__disjvr_6^post91 == 0 /\ a_241^0-a_241^post91 == 0 /\ __disjvr_31^0-__disjvr_31^post91 == 0 /\ -__disjvr_26^post91+__disjvr_26^0 == 0 /\ -__disjvr_14^post91+__disjvr_14^0 == 0), cost: 1
  94: l4 -> l88 : i_108^0'=i_108^post94, __disjvr_7^0'=__disjvr_7^post94, __disjvr_13^0'=__disjvr_13^post94, f_170^0'=f_170^post94, length_29^0'=length_29^post94, __disjvr_25^0'=__disjvr_25^post94, a_330^0'=a_330^post94, __disjvr_20^0'=__disjvr_20^post94, len_183^0'=len_183^post94, __disjvr_37^0'=__disjvr_37^post94, __disjvr_32^0'=__disjvr_32^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, head_223^0'=head_223^post94, r_260^0'=r_260^post94, __disjvr_4^0'=__disjvr_4^post94, __disjvr_10^0'=__disjvr_10^post94, x_20^0'=x_20^post94, __disjvr_41^0'=__disjvr_41^post94, __disjvr_22^0'=__disjvr_22^post94, a_241^0'=a_241^post94, __disjvr_18^0'=__disjvr_18^post94, i_30^0'=i_30^post94, __disjvr_9^0'=__disjvr_9^post94, __disjvr_2^0'=__disjvr_2^post94, rcd_58^0'=rcd_58^post94, head_129^0'=head_129^post94, r_124^0'=r_124^post94, __disjvr_27^0'=__disjvr_27^post94, ct_17^0'=ct_17^post94, temp_35^0'=temp_35^post94, __disjvr_39^0'=__disjvr_39^post94, __disjvr_34^0'=__disjvr_34^post94, t_23^0'=t_23^post94, head_27^0'=head_27^post94, __disjvr_15^0'=__disjvr_15^post94, head_SLAM_f_26^0'=head_SLAM_f_26^post94, __disjvr_6^0'=__disjvr_6^post94, __disjvr_12^0'=__disjvr_12^post94, y_19^0'=y_19^post94, __disjvr_43^0'=__disjvr_43^post94, len_276^0'=len_276^post94, __disjvr_24^0'=__disjvr_24^post94, a_308^0'=a_308^post94, __disjvr_1^0'=__disjvr_1^post94, len_132^0'=len_132^post94, a_147^0'=a_147^post94, __disjvr_31^0'=__disjvr_31^post94, result_11^0'=result_11^post94, head_175^0'=head_175^post94, r_218^0'=r_218^post94, __disjvr_29^0'=__disjvr_29^post94, __disjvr_0^0'=__disjvr_0^post94, x_16^0'=x_16^post94, __disjvr_40^0'=__disjvr_40^post94, __disjvr_36^0'=__disjvr_36^post94, a_210^0'=a_210^post94, __disjvr_17^0'=__disjvr_17^post94, i_167^0'=i_167^post94, __disjvr_8^0'=__disjvr_8^post94, __disjvr_14^0'=__disjvr_14^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, nondet_12^0'=nondet_12^post94, __disjvr_26^0'=__disjvr_26^post94, a_353^0'=a_353^post94, __disjvr_21^0'=__disjvr_21^post94, temp0_31^0'=temp0_31^post94, __disjvr_38^0'=__disjvr_38^post94, __disjvr_33^0'=__disjvr_33^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_32^0'=head_32^post94, __disjvr_5^0'=__disjvr_5^post94, __disjvr_11^0'=__disjvr_11^post94, x_SLAM_f_18^0'=x_SLAM_f_18^post94, __disjvr_42^0'=__disjvr_42^post94, len_226^0'=len_226^post94, __disjvr_23^0'=__disjvr_23^post94, a_277^0'=a_277^post94, __disjvr_19^0'=__disjvr_19^post94, i_94^0'=i_94^post94, a_116^0'=a_116^post94, __disjvr_30^0'=__disjvr_30^post94, rcd_88^0'=rcd_88^post94, head_14^0'=head_14^post94, r_163^0'=r_163^post94, __disjvr_28^0'=__disjvr_28^post94, tmp_34^0'=tmp_34^post94, __disjvr_3^0'=__disjvr_3^post94, __disjvr_35^0'=__disjvr_35^post94, temp0_15^0'=temp0_15^post94, a_184^0'=a_184^post94, __disjvr_16^0'=__disjvr_16^post94, (0 == 0 /\ -a_353^post94+a_353^0 == 0 /\ -y_19^post94+y_19^0 == 0 /\ head_129^0-head_129^post94 == 0 /\ -a_308^post94+a_308^0 == 0 /\ __disjvr_19^0-__disjvr_19^post94 == 0 /\ __disjvr_2^0-__disjvr_2^post94 == 0 /\ -temp0_15^post94+temp0_15^0 == 0 /\ -__disjvr_21^post94+__disjvr_21^0 == 0 /\ -__disjvr_31^post94+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post94 == 0 /\ -t_23^post94+t_23^0 == 0 /\ -__disjvr_0^post94+__disjvr_0^0 == 0 /\ len_226^0-len_226^post94 == 0 /\ r_218^0-r_218^post94 == 0 /\ a_241^0-a_241^post94 == 0 /\ x_20^0-x_20^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ r_260^0-r_260^post94 == 0 /\ i_108^0-i_108^post94 == 0 /\ -__disjvr_11^post94+__disjvr_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post94 == 0 /\ a_147^0-a_147^post94 == 0 /\ __disjvr_39^0-__disjvr_39^post94 == 0 /\ __disjvr_20^0-__disjvr_20^post94 == 0 /\ head_27^0-head_27^post94 == 0 /\ -__disjvr_17^post94+__disjvr_17^0 == 0 /\ __disjvr_32^0-__disjvr_32^post94 == 0 /\ __disjvr_1^0-__disjvr_1^post94 == 0 /\ -len_132^post94+len_132^0 == 0 /\ -a_277^post94+a_277^0 == 0 /\ -head_32^post94+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ x_16^0-x_16^post94 == 0 /\ r_124^0-r_124^post94 == 0 /\ rcd_58^0-rcd_58^post94 == 0 /\ -a_184^post94+a_184^0 == 0 /\ -__disjvr_28^post94+__disjvr_28^0 == 0 /\ -tmp_34^post94+tmp_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post94 == 0 /\ head_223^0-head_223^post94 == 0 /\ -__disjvr_42^post94+__disjvr_42^0 == 0 /\ -__disjvr_34^post94+__disjvr_34^0 == 0 /\ -ct_17^post94+ct_17^0 == 0 /\ -__disjvr_16^post94+__disjvr_16^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_8^post94+__disjvr_8^0 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -__disjvr_22^post94+__disjvr_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post94 == 0 /\ -__disjvr_23^post94+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post94 == 0 /\ -len_276^post94+len_276^0 == 0 /\ -__disjvr_33^post94+__disjvr_33^0 == 0 /\ length_29^0-length_29^post94 == 0 /\ __disjvr_7^0-__disjvr_7^post94 == 0 /\ len_183^0-len_183^post94 == 0 /\ -__disjvr_29^post94+__disjvr_29^0 == 0 /\ a_330^0-a_330^post94 == 0 /\ __disjvr_26^0-__disjvr_26^post94 == 0 /\ -r_163^post94+r_163^0 == 0 /\ __disjvr_43^0-__disjvr_43^post94 == 0 /\ -a_241^0 <= 0 /\ -__disjvr_3^post94+__disjvr_3^0 == 0 /\ __disjvr_37^0-__disjvr_37^post94 == 0 /\ i_167^0-i_167^post94 == 0 /\ -__disjvr_36^post94+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post94 == 0 /\ -__disjvr_14^post94+__disjvr_14^0 == 0 /\ -x_SLAM_f_18^post94+x_SLAM_f_18^0 == 0 /\ -__disjvr_41^post94+__disjvr_41^0 == 0 /\ -rcd_88^post94+rcd_88^0 == 0 /\ -f_170^post94+f_170^0 == 0 /\ __disjvr_6^0-__disjvr_6^post94 == 0 /\ -a_116^post94+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post94 == 0 /\ -__disjvr_40^post94+__disjvr_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post94 == 0 /\ __disjvr_10^0-__disjvr_10^post94 == 0 /\ -a_210^post94+a_210^0 == 0 /\ -__disjvr_35^post94+__disjvr_35^0 == 0 /\ -__disjvr_30^post94+__disjvr_30^0 == 0 /\ -result_11^post94+result_11^0 == 0 /\ head_175^0-head_175^post94 == 0 /\ nondet_12^0-nondet_12^post94 == 0 /\ i_30^0-i_30^post94 == 0 /\ __disjvr_15^0-__disjvr_15^post94 == 0 /\ -__disjvr_5^post94+__disjvr_5^0 == 0 /\ -i_94^post94+i_94^0 == 0 /\ -__disjvr_38^post94+__disjvr_38^0 == 0), cost: 1
  10: l10 -> l13 : i_108^0'=i_108^post10, __disjvr_7^0'=__disjvr_7^post10, __disjvr_13^0'=__disjvr_13^post10, f_170^0'=f_170^post10, length_29^0'=length_29^post10, __disjvr_25^0'=__disjvr_25^post10, a_330^0'=a_330^post10, __disjvr_20^0'=__disjvr_20^post10, len_183^0'=len_183^post10, __disjvr_37^0'=__disjvr_37^post10, __disjvr_32^0'=__disjvr_32^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_223^0'=head_223^post10, r_260^0'=r_260^post10, __disjvr_4^0'=__disjvr_4^post10, __disjvr_10^0'=__disjvr_10^post10, x_20^0'=x_20^post10, __disjvr_41^0'=__disjvr_41^post10, __disjvr_22^0'=__disjvr_22^post10, a_241^0'=a_241^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_9^0'=__disjvr_9^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_58^0'=rcd_58^post10, head_129^0'=head_129^post10, r_124^0'=r_124^post10, __disjvr_27^0'=__disjvr_27^post10, ct_17^0'=ct_17^post10, temp_35^0'=temp_35^post10, __disjvr_39^0'=__disjvr_39^post10, __disjvr_34^0'=__disjvr_34^post10, t_23^0'=t_23^post10, head_27^0'=head_27^post10, __disjvr_15^0'=__disjvr_15^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, __disjvr_6^0'=__disjvr_6^post10, __disjvr_12^0'=__disjvr_12^post10, y_19^0'=y_19^post10, __disjvr_43^0'=__disjvr_43^post10, len_276^0'=len_276^post10, __disjvr_24^0'=__disjvr_24^post10, a_308^0'=a_308^post10, __disjvr_1^0'=__disjvr_1^post10, len_132^0'=len_132^post10, a_147^0'=a_147^post10, __disjvr_31^0'=__disjvr_31^post10, result_11^0'=result_11^post10, head_175^0'=head_175^post10, r_218^0'=r_218^post10, __disjvr_29^0'=__disjvr_29^post10, __disjvr_0^0'=__disjvr_0^post10, x_16^0'=x_16^post10, __disjvr_40^0'=__disjvr_40^post10, __disjvr_36^0'=__disjvr_36^post10, a_210^0'=a_210^post10, __disjvr_17^0'=__disjvr_17^post10, i_167^0'=i_167^post10, __disjvr_8^0'=__disjvr_8^post10, __disjvr_14^0'=__disjvr_14^post10, r_39^0'=r_39^post10, f_263^0'=f_263^post10, nondet_12^0'=nondet_12^post10, __disjvr_26^0'=__disjvr_26^post10, a_353^0'=a_353^post10, __disjvr_21^0'=__disjvr_21^post10, temp0_31^0'=temp0_31^post10, __disjvr_38^0'=__disjvr_38^post10, __disjvr_33^0'=__disjvr_33^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, head_268^0'=head_268^post10, head_32^0'=head_32^post10, __disjvr_5^0'=__disjvr_5^post10, __disjvr_11^0'=__disjvr_11^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, __disjvr_42^0'=__disjvr_42^post10, len_226^0'=len_226^post10, __disjvr_23^0'=__disjvr_23^post10, a_277^0'=a_277^post10, __disjvr_19^0'=__disjvr_19^post10, i_94^0'=i_94^post10, a_116^0'=a_116^post10, __disjvr_30^0'=__disjvr_30^post10, rcd_88^0'=rcd_88^post10, head_14^0'=head_14^post10, r_163^0'=r_163^post10, __disjvr_28^0'=__disjvr_28^post10, tmp_34^0'=tmp_34^post10, __disjvr_3^0'=__disjvr_3^post10, __disjvr_35^0'=__disjvr_35^post10, temp0_15^0'=temp0_15^post10, a_184^0'=a_184^post10, __disjvr_16^0'=__disjvr_16^post10, (0 == 0 /\ __disjvr_40^0-__disjvr_40^post10 == 0 /\ i_108^0-i_108^post10 == 0 /\ -head_SLAM_f_26^post10+head_SLAM_f_26^0 == 0 /\ __disjvr_32^0-__disjvr_32^post10 == 0 /\ -__disjvr_33^post10+__disjvr_33^0 == 0 /\ -len_276^post10+len_276^0 == 0 /\ head_268^0-head_268^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -a_147^post10+a_147^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_27^0-__disjvr_27^post10 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ head_223^0-head_223^post10 == 0 /\ -len_226^post10+len_226^0 == 0 /\ __disjvr_10^0-__disjvr_10^post10 == 0 /\ -r_163^post10+r_163^0 == 0 /\ -r_218^post10+r_218^0 == 0 /\ -r_124^post10+r_124^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_277^0-a_277^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ -__disjvr_35^post10+__disjvr_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ -a_116^post10+a_116^0 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ __disjvr_41^0-__disjvr_41^post10 == 0 /\ a_330^0-a_330^post10 == 0 /\ len_132^0-len_132^post10 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ f_170^0-f_170^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -a_353^post10+a_353^0 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -__disjvr_36^post10+__disjvr_36^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -__disjvr_42^post10+__disjvr_42^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ -head_129^post10+head_129^0 == 0 /\ len_183^0-len_183^post10 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ a_210^0-a_210^post10 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ __disjvr_38^0-__disjvr_38^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ __disjvr_37^0-__disjvr_37^post10 == 0 /\ -f_263^post10+f_263^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ __disjvr_34^0-__disjvr_34^post10 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ rcd_58^0-rcd_58^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ __disjvr_15^0-__disjvr_15^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_29^0-length_29^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -a_184^post10+a_184^0 == 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ r_260^0-r_260^post10 == 0 /\ a_241^0-a_241^post10 == 0 /\ -__disjvr_23^post10+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -i_167^post10+i_167^0 == 0 /\ -a_308^post10+a_308^0 == 0 /\ __disjvr_43^0-__disjvr_43^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -a_330^0 <= 0 /\ __disjvr_31^0-__disjvr_31^post10 == 0 /\ __disjvr_39^0-__disjvr_39^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ head_27^0-head_27^post10 == 0), cost: 1
  11: l13 -> l14 : i_108^0'=i_108^post11, __disjvr_7^0'=__disjvr_7^post11, __disjvr_13^0'=__disjvr_13^post11, f_170^0'=f_170^post11, length_29^0'=length_29^post11, __disjvr_25^0'=__disjvr_25^post11, a_330^0'=a_330^post11, __disjvr_20^0'=__disjvr_20^post11, len_183^0'=len_183^post11, __disjvr_37^0'=__disjvr_37^post11, __disjvr_32^0'=__disjvr_32^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_223^0'=head_223^post11, r_260^0'=r_260^post11, __disjvr_4^0'=__disjvr_4^post11, __disjvr_10^0'=__disjvr_10^post11, x_20^0'=x_20^post11, __disjvr_41^0'=__disjvr_41^post11, __disjvr_22^0'=__disjvr_22^post11, a_241^0'=a_241^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_9^0'=__disjvr_9^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_58^0'=rcd_58^post11, head_129^0'=head_129^post11, r_124^0'=r_124^post11, __disjvr_27^0'=__disjvr_27^post11, ct_17^0'=ct_17^post11, temp_35^0'=temp_35^post11, __disjvr_39^0'=__disjvr_39^post11, __disjvr_34^0'=__disjvr_34^post11, t_23^0'=t_23^post11, head_27^0'=head_27^post11, __disjvr_15^0'=__disjvr_15^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, __disjvr_6^0'=__disjvr_6^post11, __disjvr_12^0'=__disjvr_12^post11, y_19^0'=y_19^post11, __disjvr_43^0'=__disjvr_43^post11, len_276^0'=len_276^post11, __disjvr_24^0'=__disjvr_24^post11, a_308^0'=a_308^post11, __disjvr_1^0'=__disjvr_1^post11, len_132^0'=len_132^post11, a_147^0'=a_147^post11, __disjvr_31^0'=__disjvr_31^post11, result_11^0'=result_11^post11, head_175^0'=head_175^post11, r_218^0'=r_218^post11, __disjvr_29^0'=__disjvr_29^post11, __disjvr_0^0'=__disjvr_0^post11, x_16^0'=x_16^post11, __disjvr_40^0'=__disjvr_40^post11, __disjvr_36^0'=__disjvr_36^post11, a_210^0'=a_210^post11, __disjvr_17^0'=__disjvr_17^post11, i_167^0'=i_167^post11, __disjvr_8^0'=__disjvr_8^post11, __disjvr_14^0'=__disjvr_14^post11, r_39^0'=r_39^post11, f_263^0'=f_263^post11, nondet_12^0'=nondet_12^post11, __disjvr_26^0'=__disjvr_26^post11, a_353^0'=a_353^post11, __disjvr_21^0'=__disjvr_21^post11, temp0_31^0'=temp0_31^post11, __disjvr_38^0'=__disjvr_38^post11, __disjvr_33^0'=__disjvr_33^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, head_268^0'=head_268^post11, head_32^0'=head_32^post11, __disjvr_5^0'=__disjvr_5^post11, __disjvr_11^0'=__disjvr_11^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, __disjvr_42^0'=__disjvr_42^post11, len_226^0'=len_226^post11, __disjvr_23^0'=__disjvr_23^post11, a_277^0'=a_277^post11, __disjvr_19^0'=__disjvr_19^post11, i_94^0'=i_94^post11, a_116^0'=a_116^post11, __disjvr_30^0'=__disjvr_30^post11, rcd_88^0'=rcd_88^post11, head_14^0'=head_14^post11, r_163^0'=r_163^post11, __disjvr_28^0'=__disjvr_28^post11, tmp_34^0'=tmp_34^post11, __disjvr_3^0'=__disjvr_3^post11, __disjvr_35^0'=__disjvr_35^post11, temp0_15^0'=temp0_15^post11, a_184^0'=a_184^post11, __disjvr_16^0'=__disjvr_16^post11, (length_29^0-length_29^post11 == 0 /\ -a_308^post11+a_308^0 == 0 /\ -a_353^post11+a_353^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ -__disjvr_42^post11+__disjvr_42^0 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ len_276^0-len_276^post11 == 0 /\ a_330^0-a_330^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -y_19^post11+y_19^0 == 0 /\ r_260^0-r_260^post11 == 0 /\ -__disjvr_43^post11+__disjvr_43^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ -a_277^post11+a_277^0 == 0 /\ __disjvr_37^0-__disjvr_37^post11 == 0 /\ len_226^0-len_226^post11 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ -__disjvr_41^post11+__disjvr_41^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ head_129^0-head_129^post11 == 0 /\ -__disjvr_31^post11+__disjvr_31^0 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_0^post11+__disjvr_0^0 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ i_108^0-i_108^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -__disjvr_34^post11+__disjvr_34^0 == 0 /\ -head_268^post11+head_268^0 == 0 /\ __disjvr_27^0-__disjvr_27^post11 == 0 /\ -a_184^post11+a_184^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ len_183^0-len_183^post11 == 0 /\ i_30^0-i_30^post11 == 0 /\ -__disjvr_21^post11+__disjvr_21^0 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ head_223^0-head_223^post11 == 0 /\ -head_14^post11+head_14^0 == 0 /\ -ct_17^post11+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_36^post11+__disjvr_36^0 == 0 /\ -__disjvr_29^post11+__disjvr_29^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ a_241^0-a_241^post11 == 0 /\ -len_132^post11+len_132^0 == 0 /\ -r_218^post11+r_218^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -__disjvr_39^post11+__disjvr_39^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -__disjvr_9^post11+__disjvr_9^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ a_147^0-a_147^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ __disjvr_1^0-__disjvr_1^post11 == 0 /\ -a_116^post11+a_116^0 == 0 /\ -__disjvr_40^post11+__disjvr_40^0 == 0 /\ t_23^0-t_23^post11 == 0 /\ __disjvr_32^0-__disjvr_32^post11 == 0 /\ -x_16^post11+x_16^0 == 0 /\ -__disjvr_35^post11+__disjvr_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ r_124^0-r_124^post11 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_175^0-head_175^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ -__disjvr_14^post11+__disjvr_14^0 == 0 /\ -a_210^post11+a_210^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ __disjvr_33^0-__disjvr_33^post11 == 0 /\ -__disjvr_30^post11+__disjvr_30^0 == 0 /\ -__disjvr_38^post11+__disjvr_38^0 == 0 /\ r_163^0-r_163^post11 == 0 /\ f_263^0-f_263^post11 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ -i_94^post11+i_94^0 == 0), cost: 1
  12: l14 -> l15 : i_108^0'=i_108^post12, __disjvr_7^0'=__disjvr_7^post12, __disjvr_13^0'=__disjvr_13^post12, f_170^0'=f_170^post12, length_29^0'=length_29^post12, __disjvr_25^0'=__disjvr_25^post12, a_330^0'=a_330^post12, __disjvr_20^0'=__disjvr_20^post12, len_183^0'=len_183^post12, __disjvr_37^0'=__disjvr_37^post12, __disjvr_32^0'=__disjvr_32^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_223^0'=head_223^post12, r_260^0'=r_260^post12, __disjvr_4^0'=__disjvr_4^post12, __disjvr_10^0'=__disjvr_10^post12, x_20^0'=x_20^post12, __disjvr_41^0'=__disjvr_41^post12, __disjvr_22^0'=__disjvr_22^post12, a_241^0'=a_241^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_9^0'=__disjvr_9^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_58^0'=rcd_58^post12, head_129^0'=head_129^post12, r_124^0'=r_124^post12, __disjvr_27^0'=__disjvr_27^post12, ct_17^0'=ct_17^post12, temp_35^0'=temp_35^post12, __disjvr_39^0'=__disjvr_39^post12, __disjvr_34^0'=__disjvr_34^post12, t_23^0'=t_23^post12, head_27^0'=head_27^post12, __disjvr_15^0'=__disjvr_15^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, __disjvr_6^0'=__disjvr_6^post12, __disjvr_12^0'=__disjvr_12^post12, y_19^0'=y_19^post12, __disjvr_43^0'=__disjvr_43^post12, len_276^0'=len_276^post12, __disjvr_24^0'=__disjvr_24^post12, a_308^0'=a_308^post12, __disjvr_1^0'=__disjvr_1^post12, len_132^0'=len_132^post12, a_147^0'=a_147^post12, __disjvr_31^0'=__disjvr_31^post12, result_11^0'=result_11^post12, head_175^0'=head_175^post12, r_218^0'=r_218^post12, __disjvr_29^0'=__disjvr_29^post12, __disjvr_0^0'=__disjvr_0^post12, x_16^0'=x_16^post12, __disjvr_40^0'=__disjvr_40^post12, __disjvr_36^0'=__disjvr_36^post12, a_210^0'=a_210^post12, __disjvr_17^0'=__disjvr_17^post12, i_167^0'=i_167^post12, __disjvr_8^0'=__disjvr_8^post12, __disjvr_14^0'=__disjvr_14^post12, r_39^0'=r_39^post12, f_263^0'=f_263^post12, nondet_12^0'=nondet_12^post12, __disjvr_26^0'=__disjvr_26^post12, a_353^0'=a_353^post12, __disjvr_21^0'=__disjvr_21^post12, temp0_31^0'=temp0_31^post12, __disjvr_38^0'=__disjvr_38^post12, __disjvr_33^0'=__disjvr_33^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, head_268^0'=head_268^post12, head_32^0'=head_32^post12, __disjvr_5^0'=__disjvr_5^post12, __disjvr_11^0'=__disjvr_11^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, __disjvr_42^0'=__disjvr_42^post12, len_226^0'=len_226^post12, __disjvr_23^0'=__disjvr_23^post12, a_277^0'=a_277^post12, __disjvr_19^0'=__disjvr_19^post12, i_94^0'=i_94^post12, a_116^0'=a_116^post12, __disjvr_30^0'=__disjvr_30^post12, rcd_88^0'=rcd_88^post12, head_14^0'=head_14^post12, r_163^0'=r_163^post12, __disjvr_28^0'=__disjvr_28^post12, tmp_34^0'=tmp_34^post12, __disjvr_3^0'=__disjvr_3^post12, __disjvr_35^0'=__disjvr_35^post12, temp0_15^0'=temp0_15^post12, a_184^0'=a_184^post12, __disjvr_16^0'=__disjvr_16^post12, (0 == 0 /\ -__disjvr_33^post12+__disjvr_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ head_129^0-head_129^post12 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -y_19^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post12 == 0 /\ -f_263^post12+f_263^0 == 0 /\ head_27^0-head_27^post12 == 0 /\ x_16^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -__disjvr_29^post12+__disjvr_29^0 == 0 /\ -__disjvr_11^post12+__disjvr_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ -r_163^post12+r_163^0 == 0 /\ -r_39^post12+r_39^0 == 0 /\ ct_17^0-y_19^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ a_241^0-a_241^post12 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_268^post12+head_268^0 == 0 /\ len_276^0-len_276^post12 == 0 /\ __disjvr_12^0-__disjvr_12^post12 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ 1-a_330^0+a_353^post12 <= 0 /\ ct_17^0 <= 0 /\ -len_226^post12+len_226^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -ct_17^0+y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ head_223^0-head_223^post12 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_39^post12+__disjvr_39^0 == 0 /\ -a_116^post12+a_116^0 == 0 /\ rcd_58^0-rcd_58^post12 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post12+__disjvr_21^0 == 0 /\ __disjvr_37^0-__disjvr_37^post12 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ -__disjvr_35^post12+__disjvr_35^0 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ y_19^0 <= 0 /\ f_170^0-f_170^post12 == 0 /\ a_330^0-a_330^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -ct_17^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -__disjvr_31^post12+__disjvr_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ r_124^0-r_124^post12 == 0 /\ -x_20^0+t_23^post12 == 0 /\ len_132^0-len_132^post12 == 0 /\ -__disjvr_36^post12+__disjvr_36^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ __disjvr_41^0-__disjvr_41^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ -a_308^post12+a_308^0 == 0 /\ -a_277^post12+a_277^0 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ head_175^0-head_175^post12 == 0 /\ -1+a_330^0-a_353^post12 <= 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ length_29^0-length_29^post12 == 0 /\ -__disjvr_34^post12+__disjvr_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ r_218^0-r_218^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ len_183^0-len_183^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -a_210^post12+a_210^0 == 0 /\ -__disjvr_42^post12+__disjvr_42^0 == 0 /\ -__disjvr_30^post12+__disjvr_30^0 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -__disjvr_14^post12+__disjvr_14^0 == 0 /\ -tmp_34^post12+tmp_34^0 == 0 /\ a_147^0-a_147^post12 == 0 /\ x_20^0-x_20^post12 == 0 /\ r_260^0-r_260^post12 == 0 /\ -__disjvr_40^post12+__disjvr_40^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ i_108^0-i_108^post12 == 0 /\ -__disjvr_38^post12+__disjvr_38^0 == 0 /\ -a_184^post12+a_184^0 == 0 /\ __disjvr_15^0-__disjvr_15^post12 == 0 /\ __disjvr_43^0-__disjvr_43^post12 == 0), cost: 1
  13: l15 -> l16 : i_108^0'=i_108^post13, __disjvr_7^0'=__disjvr_7^post13, __disjvr_13^0'=__disjvr_13^post13, f_170^0'=f_170^post13, length_29^0'=length_29^post13, __disjvr_25^0'=__disjvr_25^post13, a_330^0'=a_330^post13, __disjvr_20^0'=__disjvr_20^post13, len_183^0'=len_183^post13, __disjvr_37^0'=__disjvr_37^post13, __disjvr_32^0'=__disjvr_32^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, head_223^0'=head_223^post13, r_260^0'=r_260^post13, __disjvr_4^0'=__disjvr_4^post13, __disjvr_10^0'=__disjvr_10^post13, x_20^0'=x_20^post13, __disjvr_41^0'=__disjvr_41^post13, __disjvr_22^0'=__disjvr_22^post13, a_241^0'=a_241^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_9^0'=__disjvr_9^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_58^0'=rcd_58^post13, head_129^0'=head_129^post13, r_124^0'=r_124^post13, __disjvr_27^0'=__disjvr_27^post13, ct_17^0'=ct_17^post13, temp_35^0'=temp_35^post13, __disjvr_39^0'=__disjvr_39^post13, __disjvr_34^0'=__disjvr_34^post13, t_23^0'=t_23^post13, head_27^0'=head_27^post13, __disjvr_15^0'=__disjvr_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, __disjvr_6^0'=__disjvr_6^post13, __disjvr_12^0'=__disjvr_12^post13, y_19^0'=y_19^post13, __disjvr_43^0'=__disjvr_43^post13, len_276^0'=len_276^post13, __disjvr_24^0'=__disjvr_24^post13, a_308^0'=a_308^post13, __disjvr_1^0'=__disjvr_1^post13, len_132^0'=len_132^post13, a_147^0'=a_147^post13, __disjvr_31^0'=__disjvr_31^post13, result_11^0'=result_11^post13, head_175^0'=head_175^post13, r_218^0'=r_218^post13, __disjvr_29^0'=__disjvr_29^post13, __disjvr_0^0'=__disjvr_0^post13, x_16^0'=x_16^post13, __disjvr_40^0'=__disjvr_40^post13, __disjvr_36^0'=__disjvr_36^post13, a_210^0'=a_210^post13, __disjvr_17^0'=__disjvr_17^post13, i_167^0'=i_167^post13, __disjvr_8^0'=__disjvr_8^post13, __disjvr_14^0'=__disjvr_14^post13, r_39^0'=r_39^post13, f_263^0'=f_263^post13, nondet_12^0'=nondet_12^post13, __disjvr_26^0'=__disjvr_26^post13, a_353^0'=a_353^post13, __disjvr_21^0'=__disjvr_21^post13, temp0_31^0'=temp0_31^post13, __disjvr_38^0'=__disjvr_38^post13, __disjvr_33^0'=__disjvr_33^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, head_268^0'=head_268^post13, head_32^0'=head_32^post13, __disjvr_5^0'=__disjvr_5^post13, __disjvr_11^0'=__disjvr_11^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, __disjvr_42^0'=__disjvr_42^post13, len_226^0'=len_226^post13, __disjvr_23^0'=__disjvr_23^post13, a_277^0'=a_277^post13, __disjvr_19^0'=__disjvr_19^post13, i_94^0'=i_94^post13, a_116^0'=a_116^post13, __disjvr_30^0'=__disjvr_30^post13, rcd_88^0'=rcd_88^post13, head_14^0'=head_14^post13, r_163^0'=r_163^post13, __disjvr_28^0'=__disjvr_28^post13, tmp_34^0'=tmp_34^post13, __disjvr_3^0'=__disjvr_3^post13, __disjvr_35^0'=__disjvr_35^post13, temp0_15^0'=temp0_15^post13, a_184^0'=a_184^post13, __disjvr_16^0'=__disjvr_16^post13, (__disjvr_13^0-__disjvr_13^post13 == 0 /\ len_183^0-len_183^post13 == 0 /\ -__disjvr_5^0+__disjvr_5^post13 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ -i_167^post13+i_167^0 == 0 /\ len_132^0-len_132^post13 == 0 /\ -__disjvr_38^post13+__disjvr_38^0 == 0 /\ __disjvr_37^0-__disjvr_37^post13 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ -r_39^post13+r_39^0 == 0 /\ __disjvr_43^0-__disjvr_43^post13 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ -head_268^post13+head_268^0 == 0 /\ -t_23^post13+t_23^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ -rcd_88^post13+rcd_88^0 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_42^post13+__disjvr_42^0 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_14^post13+__disjvr_14^0 == 0 /\ -rcd_58^post13+rcd_58^0 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ a_210^0-a_210^post13 == 0 /\ i_94^0-i_94^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -x_SLAM_f_18^post13+x_SLAM_f_18^0 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -a_353^post13+a_353^0 == 0 /\ length_29^0-length_29^post13 == 0 /\ -__disjvr_35^post13+__disjvr_35^0 == 0 /\ -a_277^post13+a_277^0 == 0 /\ -a_116^post13+a_116^0 == 0 /\ -head_SLAM_f_26^post13+head_SLAM_f_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post13 == 0 /\ -__disjvr_21^post13+__disjvr_21^0 == 0 /\ -x_20^post13+x_20^0 == 0 /\ -a_184^post13+a_184^0 == 0 /\ head_129^0-head_129^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ r_218^0-r_218^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ ct_17^0-ct_17^post13 == 0 /\ -head_175^post13+head_175^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ -f_263^post13+f_263^0 == 0 /\ -__disjvr_40^post13+__disjvr_40^0 == 0 /\ -__disjvr_32^post13+__disjvr_32^0 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -__disjvr_33^post13+__disjvr_33^0 == 0 /\ -__disjvr_16^post13+__disjvr_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ -a_330^post13+a_330^0 == 0 /\ -r_163^post13+r_163^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ -r_124^post13+r_124^0 == 0 /\ -len_276^post13+len_276^0 == 0 /\ -a_147^post13+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ __disjvr_36^0-__disjvr_36^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -head_14^post13+head_14^0 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ head_27^0-head_27^post13 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ head_223^0-head_223^post13 == 0 /\ a_308^0-a_308^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ __disjvr_25^0-__disjvr_25^post13 == 0 /\ a_241^0-a_241^post13 == 0 /\ __disjvr_31^0-__disjvr_31^post13 == 0 /\ f_170^0-f_170^post13 == 0 /\ -r_260^post13+r_260^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ -len_226^post13+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_41^0-__disjvr_41^post13 == 0 /\ __disjvr_39^0-__disjvr_39^post13 == 0), cost: 1
  14: l16 -> l17 : i_108^0'=i_108^post14, __disjvr_7^0'=__disjvr_7^post14, __disjvr_13^0'=__disjvr_13^post14, f_170^0'=f_170^post14, length_29^0'=length_29^post14, __disjvr_25^0'=__disjvr_25^post14, a_330^0'=a_330^post14, __disjvr_20^0'=__disjvr_20^post14, len_183^0'=len_183^post14, __disjvr_37^0'=__disjvr_37^post14, __disjvr_32^0'=__disjvr_32^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, head_223^0'=head_223^post14, r_260^0'=r_260^post14, __disjvr_4^0'=__disjvr_4^post14, __disjvr_10^0'=__disjvr_10^post14, x_20^0'=x_20^post14, __disjvr_41^0'=__disjvr_41^post14, __disjvr_22^0'=__disjvr_22^post14, a_241^0'=a_241^post14, __disjvr_18^0'=__disjvr_18^post14, i_30^0'=i_30^post14, __disjvr_9^0'=__disjvr_9^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_58^0'=rcd_58^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, __disjvr_27^0'=__disjvr_27^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, __disjvr_39^0'=__disjvr_39^post14, __disjvr_34^0'=__disjvr_34^post14, t_23^0'=t_23^post14, head_27^0'=head_27^post14, __disjvr_15^0'=__disjvr_15^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, __disjvr_6^0'=__disjvr_6^post14, __disjvr_12^0'=__disjvr_12^post14, y_19^0'=y_19^post14, __disjvr_43^0'=__disjvr_43^post14, len_276^0'=len_276^post14, __disjvr_24^0'=__disjvr_24^post14, a_308^0'=a_308^post14, __disjvr_1^0'=__disjvr_1^post14, len_132^0'=len_132^post14, a_147^0'=a_147^post14, __disjvr_31^0'=__disjvr_31^post14, result_11^0'=result_11^post14, head_175^0'=head_175^post14, r_218^0'=r_218^post14, __disjvr_29^0'=__disjvr_29^post14, __disjvr_0^0'=__disjvr_0^post14, x_16^0'=x_16^post14, __disjvr_40^0'=__disjvr_40^post14, __disjvr_36^0'=__disjvr_36^post14, a_210^0'=a_210^post14, __disjvr_17^0'=__disjvr_17^post14, i_167^0'=i_167^post14, __disjvr_8^0'=__disjvr_8^post14, __disjvr_14^0'=__disjvr_14^post14, r_39^0'=r_39^post14, f_263^0'=f_263^post14, nondet_12^0'=nondet_12^post14, __disjvr_26^0'=__disjvr_26^post14, a_353^0'=a_353^post14, __disjvr_21^0'=__disjvr_21^post14, temp0_31^0'=temp0_31^post14, __disjvr_38^0'=__disjvr_38^post14, __disjvr_33^0'=__disjvr_33^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, head_268^0'=head_268^post14, head_32^0'=head_32^post14, __disjvr_5^0'=__disjvr_5^post14, __disjvr_11^0'=__disjvr_11^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, __disjvr_42^0'=__disjvr_42^post14, len_226^0'=len_226^post14, __disjvr_23^0'=__disjvr_23^post14, a_277^0'=a_277^post14, __disjvr_19^0'=__disjvr_19^post14, i_94^0'=i_94^post14, a_116^0'=a_116^post14, __disjvr_30^0'=__disjvr_30^post14, rcd_88^0'=rcd_88^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, __disjvr_28^0'=__disjvr_28^post14, tmp_34^0'=tmp_34^post14, __disjvr_3^0'=__disjvr_3^post14, __disjvr_35^0'=__disjvr_35^post14, temp0_15^0'=temp0_15^post14, a_184^0'=a_184^post14, __disjvr_16^0'=__disjvr_16^post14, (-a_184^post14+a_184^0 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -__disjvr_43^post14+__disjvr_43^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ a_277^0-a_277^post14 == 0 /\ -r_39^post14+r_39^0 == 0 /\ -__disjvr_31^post14+__disjvr_31^0 == 0 /\ head_223^0-head_223^post14 == 0 /\ -__disjvr_21^post14+__disjvr_21^0 == 0 /\ -__disjvr_0^post14+__disjvr_0^0 == 0 /\ r_124^0-r_124^post14 == 0 /\ __disjvr_27^0-__disjvr_27^post14 == 0 /\ f_170^0-f_170^post14 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_218^post14+r_218^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -len_132^post14+len_132^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ -__disjvr_39^post14+__disjvr_39^0 == 0 /\ -__disjvr_36^post14+__disjvr_36^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ length_29^0-length_29^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ __disjvr_7^0-__disjvr_7^post14 == 0 /\ -head_14^post14+head_14^0 == 0 /\ -__disjvr_30^post14+__disjvr_30^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -__disjvr_9^post14+__disjvr_9^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_116^post14+a_116^0 == 0 /\ -__disjvr_35^post14+__disjvr_35^0 == 0 /\ -x_16^post14+x_16^0 == 0 /\ -len_226^post14+len_226^0 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -head_27^post14+head_27^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ __disjvr_32^0-__disjvr_32^post14 == 0 /\ -i_167^post14+i_167^0 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ a_241^0-a_241^post14 == 0 /\ __disjvr_33^0-__disjvr_33^post14 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_268^post14+head_268^0 == 0 /\ -a_147^post14+a_147^0 == 0 /\ __disjvr_40^0-__disjvr_40^post14 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0 /\ __disjvr_41^0-__disjvr_41^post14 == 0 /\ r_260^0-r_260^post14 == 0 /\ temp_35^0-temp_35^post14 == 0 /\ a_330^0-a_330^post14 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ x_20^0-x_20^post14 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ __disjvr_38^0-__disjvr_38^post14 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ -x_SLAM_f_18^post14+x_SLAM_f_18^0 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ __disjvr_6^post14-__disjvr_6^0 == 0 /\ __disjvr_2^0-__disjvr_2^post14 == 0 /\ __disjvr_37^0-__disjvr_37^post14 == 0 /\ -head_129^post14+head_129^0 == 0 /\ rcd_58^0-rcd_58^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ __disjvr_34^0-__disjvr_34^post14 == 0 /\ -result_11^post14+result_11^0 == 0 /\ -__disjvr_24^post14+__disjvr_24^0 == 0 /\ i_108^0-i_108^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ -head_175^post14+head_175^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -__disjvr_42^post14+__disjvr_42^0 == 0), cost: 1
  15: l17 -> l18 : i_108^0'=i_108^post15, __disjvr_7^0'=__disjvr_7^post15, __disjvr_13^0'=__disjvr_13^post15, f_170^0'=f_170^post15, length_29^0'=length_29^post15, __disjvr_25^0'=__disjvr_25^post15, a_330^0'=a_330^post15, __disjvr_20^0'=__disjvr_20^post15, len_183^0'=len_183^post15, __disjvr_37^0'=__disjvr_37^post15, __disjvr_32^0'=__disjvr_32^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, head_223^0'=head_223^post15, r_260^0'=r_260^post15, __disjvr_4^0'=__disjvr_4^post15, __disjvr_10^0'=__disjvr_10^post15, x_20^0'=x_20^post15, __disjvr_41^0'=__disjvr_41^post15, __disjvr_22^0'=__disjvr_22^post15, a_241^0'=a_241^post15, __disjvr_18^0'=__disjvr_18^post15, i_30^0'=i_30^post15, __disjvr_9^0'=__disjvr_9^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_58^0'=rcd_58^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, __disjvr_27^0'=__disjvr_27^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, __disjvr_39^0'=__disjvr_39^post15, __disjvr_34^0'=__disjvr_34^post15, t_23^0'=t_23^post15, head_27^0'=head_27^post15, __disjvr_15^0'=__disjvr_15^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, __disjvr_6^0'=__disjvr_6^post15, __disjvr_12^0'=__disjvr_12^post15, y_19^0'=y_19^post15, __disjvr_43^0'=__disjvr_43^post15, len_276^0'=len_276^post15, __disjvr_24^0'=__disjvr_24^post15, a_308^0'=a_308^post15, __disjvr_1^0'=__disjvr_1^post15, len_132^0'=len_132^post15, a_147^0'=a_147^post15, __disjvr_31^0'=__disjvr_31^post15, result_11^0'=result_11^post15, head_175^0'=head_175^post15, r_218^0'=r_218^post15, __disjvr_29^0'=__disjvr_29^post15, __disjvr_0^0'=__disjvr_0^post15, x_16^0'=x_16^post15, __disjvr_40^0'=__disjvr_40^post15, __disjvr_36^0'=__disjvr_36^post15, a_210^0'=a_210^post15, __disjvr_17^0'=__disjvr_17^post15, i_167^0'=i_167^post15, __disjvr_8^0'=__disjvr_8^post15, __disjvr_14^0'=__disjvr_14^post15, r_39^0'=r_39^post15, f_263^0'=f_263^post15, nondet_12^0'=nondet_12^post15, __disjvr_26^0'=__disjvr_26^post15, a_353^0'=a_353^post15, __disjvr_21^0'=__disjvr_21^post15, temp0_31^0'=temp0_31^post15, __disjvr_38^0'=__disjvr_38^post15, __disjvr_33^0'=__disjvr_33^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, head_268^0'=head_268^post15, head_32^0'=head_32^post15, __disjvr_5^0'=__disjvr_5^post15, __disjvr_11^0'=__disjvr_11^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, __disjvr_42^0'=__disjvr_42^post15, len_226^0'=len_226^post15, __disjvr_23^0'=__disjvr_23^post15, a_277^0'=a_277^post15, __disjvr_19^0'=__disjvr_19^post15, i_94^0'=i_94^post15, a_116^0'=a_116^post15, __disjvr_30^0'=__disjvr_30^post15, rcd_88^0'=rcd_88^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, __disjvr_28^0'=__disjvr_28^post15, tmp_34^0'=tmp_34^post15, __disjvr_3^0'=__disjvr_3^post15, __disjvr_35^0'=__disjvr_35^post15, temp0_15^0'=temp0_15^post15, a_184^0'=a_184^post15, __disjvr_16^0'=__disjvr_16^post15, (len_276^0-len_276^post15 == 0 /\ x_20^0-x_20^post15 == 0 /\ len_183^0-len_183^post15 == 0 /\ __disjvr_7^0-__disjvr_7^post15 == 0 /\ __disjvr_37^0-__disjvr_37^post15 == 0 /\ -__disjvr_9^post15+__disjvr_9^0 == 0 /\ -a_116^post15+a_116^0 == 0 /\ a_330^0-a_330^post15 == 0 /\ -__disjvr_24^post15+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post15 == 0 /\ -head_268^post15+head_268^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ -__disjvr_43^post15+__disjvr_43^0 == 0 /\ -len_226^post15+len_226^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ length_29^0-length_29^post15 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -head_27^post15+head_27^0 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -x_SLAM_f_18^post15+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_308^post15+a_308^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -head_129^post15+head_129^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post15 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ -__disjvr_42^post15+__disjvr_42^0 == 0 /\ -__disjvr_19^post15+__disjvr_19^0 == 0 /\ -y_19^post15+y_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post15 == 0 /\ -__disjvr_11^post15+__disjvr_11^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ head_32^0-head_32^post15 == 0 /\ -__disjvr_38^post15+__disjvr_38^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ r_260^0-r_260^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_29^post15+__disjvr_29^0 == 0 /\ -r_218^post15+r_218^0 == 0 /\ -a_277^post15+a_277^0 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -r_163^post15+r_163^0 == 0 /\ a_147^0-a_147^post15 == 0 /\ -__disjvr_35^post15+__disjvr_35^0 == 0 /\ -a_184^post15+a_184^0 == 0 /\ i_108^0-i_108^post15 == 0 /\ f_170^0-f_170^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ rcd_58^0-rcd_58^post15 == 0 /\ -__disjvr_21^post15+__disjvr_21^0 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -__disjvr_30^post15+__disjvr_30^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_36^post15+__disjvr_36^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ r_124^0-r_124^post15 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ a_241^0-a_241^post15 == 0 /\ f_263^0-f_263^post15 == 0 /\ -a_353^post15+a_353^0 == 0 /\ __disjvr_32^0-__disjvr_32^post15 == 0 /\ __disjvr_41^0-__disjvr_41^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ -len_132^post15+len_132^0 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ __disjvr_1^0-__disjvr_1^post15 == 0 /\ -__disjvr_31^post15+__disjvr_31^0 == 0 /\ __disjvr_27^0-__disjvr_27^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ __disjvr_33^0-__disjvr_33^post15 == 0 /\ __disjvr_12^0-__disjvr_12^post15 == 0 /\ -__disjvr_39^post15+__disjvr_39^0 == 0 /\ -__disjvr_25^post15+__disjvr_25^0 == 0 /\ __disjvr_40^0-__disjvr_40^post15 == 0), cost: 1
  16: l18 -> l12 : i_108^0'=i_108^post16, __disjvr_7^0'=__disjvr_7^post16, __disjvr_13^0'=__disjvr_13^post16, f_170^0'=f_170^post16, length_29^0'=length_29^post16, __disjvr_25^0'=__disjvr_25^post16, a_330^0'=a_330^post16, __disjvr_20^0'=__disjvr_20^post16, len_183^0'=len_183^post16, __disjvr_37^0'=__disjvr_37^post16, __disjvr_32^0'=__disjvr_32^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, head_223^0'=head_223^post16, r_260^0'=r_260^post16, __disjvr_4^0'=__disjvr_4^post16, __disjvr_10^0'=__disjvr_10^post16, x_20^0'=x_20^post16, __disjvr_41^0'=__disjvr_41^post16, __disjvr_22^0'=__disjvr_22^post16, a_241^0'=a_241^post16, __disjvr_18^0'=__disjvr_18^post16, i_30^0'=i_30^post16, __disjvr_9^0'=__disjvr_9^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_58^0'=rcd_58^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, __disjvr_27^0'=__disjvr_27^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, __disjvr_39^0'=__disjvr_39^post16, __disjvr_34^0'=__disjvr_34^post16, t_23^0'=t_23^post16, head_27^0'=head_27^post16, __disjvr_15^0'=__disjvr_15^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, __disjvr_6^0'=__disjvr_6^post16, __disjvr_12^0'=__disjvr_12^post16, y_19^0'=y_19^post16, __disjvr_43^0'=__disjvr_43^post16, len_276^0'=len_276^post16, __disjvr_24^0'=__disjvr_24^post16, a_308^0'=a_308^post16, __disjvr_1^0'=__disjvr_1^post16, len_132^0'=len_132^post16, a_147^0'=a_147^post16, __disjvr_31^0'=__disjvr_31^post16, result_11^0'=result_11^post16, head_175^0'=head_175^post16, r_218^0'=r_218^post16, __disjvr_29^0'=__disjvr_29^post16, __disjvr_0^0'=__disjvr_0^post16, x_16^0'=x_16^post16, __disjvr_40^0'=__disjvr_40^post16, __disjvr_36^0'=__disjvr_36^post16, a_210^0'=a_210^post16, __disjvr_17^0'=__disjvr_17^post16, i_167^0'=i_167^post16, __disjvr_8^0'=__disjvr_8^post16, __disjvr_14^0'=__disjvr_14^post16, r_39^0'=r_39^post16, f_263^0'=f_263^post16, nondet_12^0'=nondet_12^post16, __disjvr_26^0'=__disjvr_26^post16, a_353^0'=a_353^post16, __disjvr_21^0'=__disjvr_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_38^0'=__disjvr_38^post16, __disjvr_33^0'=__disjvr_33^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, head_268^0'=head_268^post16, head_32^0'=head_32^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, __disjvr_42^0'=__disjvr_42^post16, len_226^0'=len_226^post16, __disjvr_23^0'=__disjvr_23^post16, a_277^0'=a_277^post16, __disjvr_19^0'=__disjvr_19^post16, i_94^0'=i_94^post16, a_116^0'=a_116^post16, __disjvr_30^0'=__disjvr_30^post16, rcd_88^0'=rcd_88^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, __disjvr_28^0'=__disjvr_28^post16, tmp_34^0'=tmp_34^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_35^0'=__disjvr_35^post16, temp0_15^0'=temp0_15^post16, a_184^0'=a_184^post16, __disjvr_16^0'=__disjvr_16^post16, (0 == 0 /\ r_124^0-r_124^post16 == 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -__disjvr_34^post16+__disjvr_34^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ __disjvr_36^0-__disjvr_36^post16 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ -head_14^post16+head_14^0 == 0 /\ -head_32^post16+head_32^0 == 0 /\ a_210^0-a_210^post16 == 0 /\ __disjvr_37^0-__disjvr_37^post16 == 0 /\ i_94^0-i_94^post16 == 0 /\ -a_116^post16+a_116^0 == 0 /\ -r_163^post16+r_163^0 == 0 /\ -len_276^post16+len_276^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -__disjvr_28^post16+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ -__disjvr_40^post16+__disjvr_40^0 == 0 /\ -__disjvr_16^post16+__disjvr_16^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ r_218^0-r_218^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ -__disjvr_33^post16+__disjvr_33^0 == 0 /\ f_170^0-f_170^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ __disjvr_39^0-__disjvr_39^post16 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -__disjvr_0^post16+__disjvr_0^0 == 0 /\ length_29^0-length_29^post16 == 0 /\ a_147^0-a_147^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ len_226^0-len_226^post16 == 0 /\ ct_17^0-ct_17^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ __disjvr_43^0-__disjvr_43^post16 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_175^0-head_175^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -a_184^post16+a_184^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ x_20^0-x_20^post16 == 0 /\ a_241^0-a_241^post16 == 0 /\ __disjvr_32^0-__disjvr_32^post16 == 0 /\ a_308^0-a_308^post16 == 0 /\ head_27^0-head_27^post16 == 0 /\ -__disjvr_35^post16+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post16 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -head_223^post16+head_223^0 == 0 /\ -__disjvr_14^post16+__disjvr_14^0 == 0 /\ -a_330^post16+a_353^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post16 == 0 /\ -i_167^post16+i_167^0 == 0 /\ __disjvr_41^0-__disjvr_41^post16 == 0 /\ -__disjvr_42^post16+__disjvr_42^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ -rcd_58^post16+rcd_58^0 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ -__disjvr_30^post16+__disjvr_30^0 == 0 /\ -__disjvr_38^post16+__disjvr_38^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ -temp_35^post16+temp_35^0 == 0 /\ r_260^0-r_260^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ head_129^0-head_129^post16 == 0 /\ -__disjvr_21^post16+__disjvr_21^0 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ a_330^post16-a_353^0 <= 0 /\ -i_30^post16+i_30^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ -__disjvr_31^post16+__disjvr_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0), cost: 1
  17: l12 -> l10 : i_108^0'=i_108^post17, __disjvr_7^0'=__disjvr_7^post17, __disjvr_13^0'=__disjvr_13^post17, f_170^0'=f_170^post17, length_29^0'=length_29^post17, __disjvr_25^0'=__disjvr_25^post17, a_330^0'=a_330^post17, __disjvr_20^0'=__disjvr_20^post17, len_183^0'=len_183^post17, __disjvr_37^0'=__disjvr_37^post17, __disjvr_32^0'=__disjvr_32^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, head_223^0'=head_223^post17, r_260^0'=r_260^post17, __disjvr_4^0'=__disjvr_4^post17, __disjvr_10^0'=__disjvr_10^post17, x_20^0'=x_20^post17, __disjvr_41^0'=__disjvr_41^post17, __disjvr_22^0'=__disjvr_22^post17, a_241^0'=a_241^post17, __disjvr_18^0'=__disjvr_18^post17, i_30^0'=i_30^post17, __disjvr_9^0'=__disjvr_9^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_58^0'=rcd_58^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, __disjvr_27^0'=__disjvr_27^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, __disjvr_39^0'=__disjvr_39^post17, __disjvr_34^0'=__disjvr_34^post17, t_23^0'=t_23^post17, head_27^0'=head_27^post17, __disjvr_15^0'=__disjvr_15^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, __disjvr_6^0'=__disjvr_6^post17, __disjvr_12^0'=__disjvr_12^post17, y_19^0'=y_19^post17, __disjvr_43^0'=__disjvr_43^post17, len_276^0'=len_276^post17, __disjvr_24^0'=__disjvr_24^post17, a_308^0'=a_308^post17, __disjvr_1^0'=__disjvr_1^post17, len_132^0'=len_132^post17, a_147^0'=a_147^post17, __disjvr_31^0'=__disjvr_31^post17, result_11^0'=result_11^post17, head_175^0'=head_175^post17, r_218^0'=r_218^post17, __disjvr_29^0'=__disjvr_29^post17, __disjvr_0^0'=__disjvr_0^post17, x_16^0'=x_16^post17, __disjvr_40^0'=__disjvr_40^post17, __disjvr_36^0'=__disjvr_36^post17, a_210^0'=a_210^post17, __disjvr_17^0'=__disjvr_17^post17, i_167^0'=i_167^post17, __disjvr_8^0'=__disjvr_8^post17, __disjvr_14^0'=__disjvr_14^post17, r_39^0'=r_39^post17, f_263^0'=f_263^post17, nondet_12^0'=nondet_12^post17, __disjvr_26^0'=__disjvr_26^post17, a_353^0'=a_353^post17, __disjvr_21^0'=__disjvr_21^post17, temp0_31^0'=temp0_31^post17, __disjvr_38^0'=__disjvr_38^post17, __disjvr_33^0'=__disjvr_33^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, head_268^0'=head_268^post17, head_32^0'=head_32^post17, __disjvr_5^0'=__disjvr_5^post17, __disjvr_11^0'=__disjvr_11^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, __disjvr_42^0'=__disjvr_42^post17, len_226^0'=len_226^post17, __disjvr_23^0'=__disjvr_23^post17, a_277^0'=a_277^post17, __disjvr_19^0'=__disjvr_19^post17, i_94^0'=i_94^post17, a_116^0'=a_116^post17, __disjvr_30^0'=__disjvr_30^post17, rcd_88^0'=rcd_88^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, __disjvr_28^0'=__disjvr_28^post17, tmp_34^0'=tmp_34^post17, __disjvr_3^0'=__disjvr_3^post17, __disjvr_35^0'=__disjvr_35^post17, temp0_15^0'=temp0_15^post17, a_184^0'=a_184^post17, __disjvr_16^0'=__disjvr_16^post17, (-head_32^post17+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ __disjvr_31^0-__disjvr_31^post17 == 0 /\ __disjvr_43^0-__disjvr_43^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -__disjvr_35^post17+__disjvr_35^0 == 0 /\ -__disjvr_14^post17+__disjvr_14^0 == 0 /\ -__disjvr_26^post17+__disjvr_26^0 == 0 /\ -r_163^post17+r_163^0 == 0 /\ -rcd_58^post17+rcd_58^0 == 0 /\ -r_218^post17+r_218^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -i_167^post17+i_167^0 == 0 /\ __disjvr_32^0-__disjvr_32^post17 == 0 /\ __disjvr_41^0-__disjvr_41^post17 == 0 /\ __disjvr_13^0-__disjvr_13^post17 == 0 /\ head_268^0-head_268^post17 == 0 /\ __disjvr_2^0-__disjvr_2^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ r_124^0-r_124^post17 == 0 /\ -__disjvr_30^post17+__disjvr_30^0 == 0 /\ -head_SLAM_f_26^post17+head_SLAM_f_26^0 == 0 /\ -f_263^post17+f_263^0 == 0 /\ head_223^0-head_223^post17 == 0 /\ -__disjvr_33^post17+__disjvr_33^0 == 0 /\ __disjvr_36^0-__disjvr_36^post17 == 0 /\ a_330^0-a_330^post17 == 0 /\ r_260^0-r_260^post17 == 0 /\ __disjvr_27^0-__disjvr_27^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -__disjvr_42^post17+__disjvr_42^0 == 0 /\ head_129^0-head_129^post17 == 0 /\ -__disjvr_28^post17+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ i_108^0-i_108^post17 == 0 /\ __disjvr_39^0-__disjvr_39^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ -temp0_15^post17+temp0_15^0 == 0 /\ __disjvr_34^0-__disjvr_34^post17 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ len_183^0-len_183^post17 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ f_170^0-f_170^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_38^0-__disjvr_38^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_37^0-__disjvr_37^post17 == 0 /\ -x_16^post17+x_16^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ -a_210^post17+a_210^0 == 0 /\ -len_226^post17+len_226^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ head_27^0-head_27^post17 == 0 /\ -head_14^post17+head_14^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ ct_17^0-ct_17^post17 == 0 /\ -__disjvr_40^post17+__disjvr_40^0 == 0 /\ -__disjvr_16^post17+__disjvr_16^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_11^0-result_11^post17 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ a_353^0-a_353^post17 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -head_175^post17+head_175^0 == 0 /\ __disjvr_25^0-__disjvr_25^post17 == 0 /\ __disjvr_18^0-__disjvr_18^post17 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ -len_276^post17+len_276^0 == 0 /\ -a_147^post17+a_147^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ a_308^0-a_308^post17 == 0 /\ length_29^0-length_29^post17 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0), cost: 1
  29: l28 -> l29 : i_108^0'=i_108^post29, __disjvr_7^0'=__disjvr_7^post29, __disjvr_13^0'=__disjvr_13^post29, f_170^0'=f_170^post29, length_29^0'=length_29^post29, __disjvr_25^0'=__disjvr_25^post29, a_330^0'=a_330^post29, __disjvr_20^0'=__disjvr_20^post29, len_183^0'=len_183^post29, __disjvr_37^0'=__disjvr_37^post29, __disjvr_32^0'=__disjvr_32^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_223^0'=head_223^post29, r_260^0'=r_260^post29, __disjvr_4^0'=__disjvr_4^post29, __disjvr_10^0'=__disjvr_10^post29, x_20^0'=x_20^post29, __disjvr_41^0'=__disjvr_41^post29, __disjvr_22^0'=__disjvr_22^post29, a_241^0'=a_241^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_9^0'=__disjvr_9^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_58^0'=rcd_58^post29, head_129^0'=head_129^post29, r_124^0'=r_124^post29, __disjvr_27^0'=__disjvr_27^post29, ct_17^0'=ct_17^post29, temp_35^0'=temp_35^post29, __disjvr_39^0'=__disjvr_39^post29, __disjvr_34^0'=__disjvr_34^post29, t_23^0'=t_23^post29, head_27^0'=head_27^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, __disjvr_6^0'=__disjvr_6^post29, __disjvr_12^0'=__disjvr_12^post29, y_19^0'=y_19^post29, __disjvr_43^0'=__disjvr_43^post29, len_276^0'=len_276^post29, __disjvr_24^0'=__disjvr_24^post29, a_308^0'=a_308^post29, __disjvr_1^0'=__disjvr_1^post29, len_132^0'=len_132^post29, a_147^0'=a_147^post29, __disjvr_31^0'=__disjvr_31^post29, result_11^0'=result_11^post29, head_175^0'=head_175^post29, r_218^0'=r_218^post29, __disjvr_29^0'=__disjvr_29^post29, __disjvr_0^0'=__disjvr_0^post29, x_16^0'=x_16^post29, __disjvr_40^0'=__disjvr_40^post29, __disjvr_36^0'=__disjvr_36^post29, a_210^0'=a_210^post29, __disjvr_17^0'=__disjvr_17^post29, i_167^0'=i_167^post29, __disjvr_8^0'=__disjvr_8^post29, __disjvr_14^0'=__disjvr_14^post29, r_39^0'=r_39^post29, f_263^0'=f_263^post29, nondet_12^0'=nondet_12^post29, __disjvr_26^0'=__disjvr_26^post29, a_353^0'=a_353^post29, __disjvr_21^0'=__disjvr_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_38^0'=__disjvr_38^post29, __disjvr_33^0'=__disjvr_33^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, head_268^0'=head_268^post29, head_32^0'=head_32^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, __disjvr_42^0'=__disjvr_42^post29, len_226^0'=len_226^post29, __disjvr_23^0'=__disjvr_23^post29, a_277^0'=a_277^post29, __disjvr_19^0'=__disjvr_19^post29, i_94^0'=i_94^post29, a_116^0'=a_116^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_88^0'=rcd_88^post29, head_14^0'=head_14^post29, r_163^0'=r_163^post29, __disjvr_28^0'=__disjvr_28^post29, tmp_34^0'=tmp_34^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_35^0'=__disjvr_35^post29, temp0_15^0'=temp0_15^post29, a_184^0'=a_184^post29, __disjvr_16^0'=__disjvr_16^post29, (len_132^0-len_132^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -r_218^post29+r_218^0 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ -__disjvr_35^post29+__disjvr_35^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ head_27^0-head_27^post29 == 0 /\ -tmp_34^post29+tmp_34^0 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ a_241^0-a_241^post29 == 0 /\ __disjvr_32^0-__disjvr_32^post29 == 0 /\ __disjvr_22^0-__disjvr_22^post29 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ -__disjvr_14^post29+__disjvr_14^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ -len_276^post29+len_276^0 == 0 /\ -__disjvr_33^post29+__disjvr_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ __disjvr_41^0-__disjvr_41^post29 == 0 /\ a_308^0-a_308^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -a_147^post29+a_147^0 == 0 /\ len_183^0-len_183^post29 == 0 /\ r_260^0-r_260^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ -__disjvr_30^post29+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ __disjvr_37^0-__disjvr_37^post29 == 0 /\ __disjvr_34^0-__disjvr_34^post29 == 0 /\ head_129^0-head_129^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ i_108^0-i_108^post29 == 0 /\ head_268^0-head_268^post29 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ rcd_58^0-rcd_58^post29 == 0 /\ -len_226^post29+len_226^0 == 0 /\ -x_16^post29+x_16^0 == 0 /\ -__disjvr_13^0+__disjvr_13^post29 == 0 /\ a_330^0-a_330^post29 == 0 /\ __disjvr_42^0-__disjvr_42^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post29+f_263^0 == 0 /\ __disjvr_17^0-__disjvr_17^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ __disjvr_38^0-__disjvr_38^post29 == 0 /\ -a_116^post29+a_116^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -a_184^post29+a_184^0 == 0 /\ -__disjvr_40^post29+__disjvr_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ -__disjvr_43^post29+__disjvr_43^0 == 0 /\ __disjvr_36^0-__disjvr_36^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ y_19^0-y_19^post29 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ f_170^0-f_170^post29 == 0 /\ head_223^0-head_223^post29 == 0 /\ -a_353^post29+a_353^0 == 0 /\ -rcd_88^post29+rcd_88^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ -temp0_15^post29+temp0_15^0 == 0 /\ -head_14^post29+head_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ i_30^0-i_30^post29 == 0 /\ x_20^0-x_20^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_39^0-__disjvr_39^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ a_210^0-a_210^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -head_SLAM_f_26^post29+head_SLAM_f_26^0 == 0 /\ -head_175^post29+head_175^0 == 0 /\ __disjvr_31^0-__disjvr_31^post29 == 0 /\ -a_277^post29+a_277^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ ct_17^0-ct_17^post29 == 0), cost: 1
  30: l29 -> l30 : i_108^0'=i_108^post30, __disjvr_7^0'=__disjvr_7^post30, __disjvr_13^0'=__disjvr_13^post30, f_170^0'=f_170^post30, length_29^0'=length_29^post30, __disjvr_25^0'=__disjvr_25^post30, a_330^0'=a_330^post30, __disjvr_20^0'=__disjvr_20^post30, len_183^0'=len_183^post30, __disjvr_37^0'=__disjvr_37^post30, __disjvr_32^0'=__disjvr_32^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_223^0'=head_223^post30, r_260^0'=r_260^post30, __disjvr_4^0'=__disjvr_4^post30, __disjvr_10^0'=__disjvr_10^post30, x_20^0'=x_20^post30, __disjvr_41^0'=__disjvr_41^post30, __disjvr_22^0'=__disjvr_22^post30, a_241^0'=a_241^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_9^0'=__disjvr_9^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_58^0'=rcd_58^post30, head_129^0'=head_129^post30, r_124^0'=r_124^post30, __disjvr_27^0'=__disjvr_27^post30, ct_17^0'=ct_17^post30, temp_35^0'=temp_35^post30, __disjvr_39^0'=__disjvr_39^post30, __disjvr_34^0'=__disjvr_34^post30, t_23^0'=t_23^post30, head_27^0'=head_27^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, __disjvr_6^0'=__disjvr_6^post30, __disjvr_12^0'=__disjvr_12^post30, y_19^0'=y_19^post30, __disjvr_43^0'=__disjvr_43^post30, len_276^0'=len_276^post30, __disjvr_24^0'=__disjvr_24^post30, a_308^0'=a_308^post30, __disjvr_1^0'=__disjvr_1^post30, len_132^0'=len_132^post30, a_147^0'=a_147^post30, __disjvr_31^0'=__disjvr_31^post30, result_11^0'=result_11^post30, head_175^0'=head_175^post30, r_218^0'=r_218^post30, __disjvr_29^0'=__disjvr_29^post30, __disjvr_0^0'=__disjvr_0^post30, x_16^0'=x_16^post30, __disjvr_40^0'=__disjvr_40^post30, __disjvr_36^0'=__disjvr_36^post30, a_210^0'=a_210^post30, __disjvr_17^0'=__disjvr_17^post30, i_167^0'=i_167^post30, __disjvr_8^0'=__disjvr_8^post30, __disjvr_14^0'=__disjvr_14^post30, r_39^0'=r_39^post30, f_263^0'=f_263^post30, nondet_12^0'=nondet_12^post30, __disjvr_26^0'=__disjvr_26^post30, a_353^0'=a_353^post30, __disjvr_21^0'=__disjvr_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_38^0'=__disjvr_38^post30, __disjvr_33^0'=__disjvr_33^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, head_268^0'=head_268^post30, head_32^0'=head_32^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, __disjvr_42^0'=__disjvr_42^post30, len_226^0'=len_226^post30, __disjvr_23^0'=__disjvr_23^post30, a_277^0'=a_277^post30, __disjvr_19^0'=__disjvr_19^post30, i_94^0'=i_94^post30, a_116^0'=a_116^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_88^0'=rcd_88^post30, head_14^0'=head_14^post30, r_163^0'=r_163^post30, __disjvr_28^0'=__disjvr_28^post30, tmp_34^0'=tmp_34^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_35^0'=__disjvr_35^post30, temp0_15^0'=temp0_15^post30, a_184^0'=a_184^post30, __disjvr_16^0'=__disjvr_16^post30, (0 == 0 /\ t_23^post30-head_14^0 <= 0 /\ -__disjvr_43^post30+__disjvr_43^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ -__disjvr_26^post30+__disjvr_26^0 == 0 /\ -y_19^0 <= 0 /\ len_276^0-len_276^post30 == 0 /\ x_16^0-head_14^0 <= 0 /\ -a_210^post30+a_210^0 == 0 /\ len_183^0-len_183^post30 == 0 /\ ct_17^0-y_19^0 <= 0 /\ length_29^0-length_29^post30 == 0 /\ -a_330^0+a_308^post30 <= 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ -__disjvr_11^post30+__disjvr_11^0 == 0 /\ y_19^0-y_19^post30 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -i_94^post30+i_94^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -a_353^post30+a_353^0 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_14^post30+head_14^0 == 0 /\ a_330^0-a_330^post30 == 0 /\ -temp0_15^post30+temp0_15^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -__disjvr_42^post30+__disjvr_42^0 == 0 /\ -t_23^post30+head_14^0 <= 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ i_167^0-i_167^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -f_263^post30+f_263^0 == 0 /\ -head_SLAM_f_26^post30+head_SLAM_f_26^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ ct_17^0 <= 0 /\ -ct_17^0+y_19^0 <= 0 /\ a_330^0-a_308^post30 <= 0 /\ -head_129^post30+head_129^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ __disjvr_37^0-__disjvr_37^post30 == 0 /\ -x_20^0+t_23^post30 == 0 /\ -a_277^post30+a_277^0 == 0 /\ head_32^0-head_32^post30 == 0 /\ __disjvr_40^0-__disjvr_40^post30 == 0 /\ y_19^0 <= 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -__disjvr_9^post30+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ -a_184^post30+a_184^0 == 0 /\ -__disjvr_31^post30+__disjvr_31^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ r_260^0-r_260^post30 == 0 /\ i_30^0-i_30^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -r_218^post30+r_218^0 == 0 /\ -r_163^post30+r_163^0 == 0 /\ -__disjvr_29^post30+__disjvr_29^0 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ -__disjvr_38^post30+__disjvr_38^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ i_108^0-i_108^post30 == 0 /\ a_147^0-a_147^post30 == 0 /\ -head_268^post30+head_268^0 == 0 /\ -rcd_88^post30+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -__disjvr_30^post30+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ __disjvr_32^0-__disjvr_32^post30 == 0 /\ a_241^0-a_241^post30 == 0 /\ -__disjvr_39^post30+__disjvr_39^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ f_170^0-f_170^post30 == 0 /\ head_223^0-head_223^post30 == 0 /\ -__disjvr_36^post30+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post30 == 0 /\ -x_16^post30+x_16^0 == 0 /\ __disjvr_34^0-__disjvr_34^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -len_226^post30+len_226^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -__disjvr_35^post30+__disjvr_35^0 == 0 /\ -a_116^post30+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ __disjvr_33^0-__disjvr_33^post30 == 0), cost: 1
  31: l30 -> l31 : i_108^0'=i_108^post31, __disjvr_7^0'=__disjvr_7^post31, __disjvr_13^0'=__disjvr_13^post31, f_170^0'=f_170^post31, length_29^0'=length_29^post31, __disjvr_25^0'=__disjvr_25^post31, a_330^0'=a_330^post31, __disjvr_20^0'=__disjvr_20^post31, len_183^0'=len_183^post31, __disjvr_37^0'=__disjvr_37^post31, __disjvr_32^0'=__disjvr_32^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_223^0'=head_223^post31, r_260^0'=r_260^post31, __disjvr_4^0'=__disjvr_4^post31, __disjvr_10^0'=__disjvr_10^post31, x_20^0'=x_20^post31, __disjvr_41^0'=__disjvr_41^post31, __disjvr_22^0'=__disjvr_22^post31, a_241^0'=a_241^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_9^0'=__disjvr_9^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_58^0'=rcd_58^post31, head_129^0'=head_129^post31, r_124^0'=r_124^post31, __disjvr_27^0'=__disjvr_27^post31, ct_17^0'=ct_17^post31, temp_35^0'=temp_35^post31, __disjvr_39^0'=__disjvr_39^post31, __disjvr_34^0'=__disjvr_34^post31, t_23^0'=t_23^post31, head_27^0'=head_27^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, __disjvr_6^0'=__disjvr_6^post31, __disjvr_12^0'=__disjvr_12^post31, y_19^0'=y_19^post31, __disjvr_43^0'=__disjvr_43^post31, len_276^0'=len_276^post31, __disjvr_24^0'=__disjvr_24^post31, a_308^0'=a_308^post31, __disjvr_1^0'=__disjvr_1^post31, len_132^0'=len_132^post31, a_147^0'=a_147^post31, __disjvr_31^0'=__disjvr_31^post31, result_11^0'=result_11^post31, head_175^0'=head_175^post31, r_218^0'=r_218^post31, __disjvr_29^0'=__disjvr_29^post31, __disjvr_0^0'=__disjvr_0^post31, x_16^0'=x_16^post31, __disjvr_40^0'=__disjvr_40^post31, __disjvr_36^0'=__disjvr_36^post31, a_210^0'=a_210^post31, __disjvr_17^0'=__disjvr_17^post31, i_167^0'=i_167^post31, __disjvr_8^0'=__disjvr_8^post31, __disjvr_14^0'=__disjvr_14^post31, r_39^0'=r_39^post31, f_263^0'=f_263^post31, nondet_12^0'=nondet_12^post31, __disjvr_26^0'=__disjvr_26^post31, a_353^0'=a_353^post31, __disjvr_21^0'=__disjvr_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_38^0'=__disjvr_38^post31, __disjvr_33^0'=__disjvr_33^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, head_268^0'=head_268^post31, head_32^0'=head_32^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, __disjvr_42^0'=__disjvr_42^post31, len_226^0'=len_226^post31, __disjvr_23^0'=__disjvr_23^post31, a_277^0'=a_277^post31, __disjvr_19^0'=__disjvr_19^post31, i_94^0'=i_94^post31, a_116^0'=a_116^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_88^0'=rcd_88^post31, head_14^0'=head_14^post31, r_163^0'=r_163^post31, __disjvr_28^0'=__disjvr_28^post31, tmp_34^0'=tmp_34^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_35^0'=__disjvr_35^post31, temp0_15^0'=temp0_15^post31, a_184^0'=a_184^post31, __disjvr_16^0'=__disjvr_16^post31, (-a_116^post31+a_116^0 == 0 /\ __disjvr_25^0-__disjvr_25^post31 == 0 /\ -rcd_88^post31+rcd_88^0 == 0 /\ head_129^0-head_129^post31 == 0 /\ a_210^0-a_210^post31 == 0 /\ -__disjvr_34^post31+__disjvr_34^0 == 0 /\ x_20^0-x_20^post31 == 0 /\ -__disjvr_16^post31+__disjvr_16^0 == 0 /\ __disjvr_32^0-__disjvr_32^post31 == 0 /\ -__disjvr_41^post31+__disjvr_41^0 == 0 /\ head_27^0-head_27^post31 == 0 /\ a_147^0-a_147^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -__disjvr_40^post31+__disjvr_40^0 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ -__disjvr_21^post31+__disjvr_21^0 == 0 /\ -__disjvr_33^post31+__disjvr_33^0 == 0 /\ x_16^0-x_16^post31 == 0 /\ head_223^0-head_223^post31 == 0 /\ a_330^0-a_330^post31 == 0 /\ -__disjvr_0^post31+__disjvr_0^0 == 0 /\ __disjvr_27^0-__disjvr_27^post31 == 0 /\ r_260^0-r_260^post31 == 0 /\ f_170^0-f_170^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ r_39^0-r_39^post31 == 0 /\ -a_308^post31+a_308^0 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -__disjvr_29^post31+__disjvr_29^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -len_226^post31+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ len_183^0-len_183^post31 == 0 /\ r_218^0-r_218^post31 == 0 /\ -__disjvr_39^post31+__disjvr_39^0 == 0 /\ -__disjvr_35^post31+__disjvr_35^0 == 0 /\ r_124^0-r_124^post31 == 0 /\ __disjvr_43^0-__disjvr_43^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ __disjvr_37^0-__disjvr_37^post31 == 0 /\ f_263^0-f_263^post31 == 0 /\ -a_277^post31+a_277^0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ -a_184^post31+a_184^0 == 0 /\ -__disjvr_38^post31+__disjvr_38^0 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -head_268^post31+head_268^0 == 0 /\ -i_94^post31+i_94^0 == 0 /\ -__disjvr_14^post31+__disjvr_14^0 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ len_276^0-len_276^post31 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_42^post31+__disjvr_42^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ a_241^0-a_241^post31 == 0 /\ -__disjvr_30^post31+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_36^post31+__disjvr_36^0 == 0 /\ temp_35^0-temp_35^post31 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ head_175^0-head_175^post31 == 0 /\ -a_353^post31+a_353^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -__disjvr_31^post31+__disjvr_31^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ __disjvr_15^0-__disjvr_15^post31 == 0 /\ __disjvr_14^post31-__disjvr_14^0 == 0 /\ -r_163^post31+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -y_19^post31+y_19^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0), cost: 1
  32: l31 -> l32 : i_108^0'=i_108^post32, __disjvr_7^0'=__disjvr_7^post32, __disjvr_13^0'=__disjvr_13^post32, f_170^0'=f_170^post32, length_29^0'=length_29^post32, __disjvr_25^0'=__disjvr_25^post32, a_330^0'=a_330^post32, __disjvr_20^0'=__disjvr_20^post32, len_183^0'=len_183^post32, __disjvr_37^0'=__disjvr_37^post32, __disjvr_32^0'=__disjvr_32^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_223^0'=head_223^post32, r_260^0'=r_260^post32, __disjvr_4^0'=__disjvr_4^post32, __disjvr_10^0'=__disjvr_10^post32, x_20^0'=x_20^post32, __disjvr_41^0'=__disjvr_41^post32, __disjvr_22^0'=__disjvr_22^post32, a_241^0'=a_241^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_9^0'=__disjvr_9^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_58^0'=rcd_58^post32, head_129^0'=head_129^post32, r_124^0'=r_124^post32, __disjvr_27^0'=__disjvr_27^post32, ct_17^0'=ct_17^post32, temp_35^0'=temp_35^post32, __disjvr_39^0'=__disjvr_39^post32, __disjvr_34^0'=__disjvr_34^post32, t_23^0'=t_23^post32, head_27^0'=head_27^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, __disjvr_6^0'=__disjvr_6^post32, __disjvr_12^0'=__disjvr_12^post32, y_19^0'=y_19^post32, __disjvr_43^0'=__disjvr_43^post32, len_276^0'=len_276^post32, __disjvr_24^0'=__disjvr_24^post32, a_308^0'=a_308^post32, __disjvr_1^0'=__disjvr_1^post32, len_132^0'=len_132^post32, a_147^0'=a_147^post32, __disjvr_31^0'=__disjvr_31^post32, result_11^0'=result_11^post32, head_175^0'=head_175^post32, r_218^0'=r_218^post32, __disjvr_29^0'=__disjvr_29^post32, __disjvr_0^0'=__disjvr_0^post32, x_16^0'=x_16^post32, __disjvr_40^0'=__disjvr_40^post32, __disjvr_36^0'=__disjvr_36^post32, a_210^0'=a_210^post32, __disjvr_17^0'=__disjvr_17^post32, i_167^0'=i_167^post32, __disjvr_8^0'=__disjvr_8^post32, __disjvr_14^0'=__disjvr_14^post32, r_39^0'=r_39^post32, f_263^0'=f_263^post32, nondet_12^0'=nondet_12^post32, __disjvr_26^0'=__disjvr_26^post32, a_353^0'=a_353^post32, __disjvr_21^0'=__disjvr_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_38^0'=__disjvr_38^post32, __disjvr_33^0'=__disjvr_33^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, head_268^0'=head_268^post32, head_32^0'=head_32^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, __disjvr_42^0'=__disjvr_42^post32, len_226^0'=len_226^post32, __disjvr_23^0'=__disjvr_23^post32, a_277^0'=a_277^post32, __disjvr_19^0'=__disjvr_19^post32, i_94^0'=i_94^post32, a_116^0'=a_116^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_88^0'=rcd_88^post32, head_14^0'=head_14^post32, r_163^0'=r_163^post32, __disjvr_28^0'=__disjvr_28^post32, tmp_34^0'=tmp_34^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_35^0'=__disjvr_35^post32, temp0_15^0'=temp0_15^post32, a_184^0'=a_184^post32, __disjvr_16^0'=__disjvr_16^post32, (-__disjvr_14^post32+__disjvr_14^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ __disjvr_37^0-__disjvr_37^post32 == 0 /\ f_170^0-f_170^post32 == 0 /\ -head_268^post32+head_268^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ -len_226^post32+len_226^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ a_116^0-a_116^post32 == 0 /\ -rcd_88^post32+rcd_88^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -__disjvr_35^post32+__disjvr_35^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -__disjvr_34^post32+__disjvr_34^0 == 0 /\ a_308^0-a_308^post32 == 0 /\ -i_167^post32+i_167^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ __disjvr_43^0-__disjvr_43^post32 == 0 /\ r_218^0-r_218^post32 == 0 /\ __disjvr_17^0-__disjvr_17^post32 == 0 /\ len_183^0-len_183^post32 == 0 /\ -__disjvr_38^post32+__disjvr_38^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ __disjvr_42^0-__disjvr_42^post32 == 0 /\ f_263^0-f_263^post32 == 0 /\ a_210^0-a_210^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -i_94^post32+i_94^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ __disjvr_18^0-__disjvr_18^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -__disjvr_33^post32+__disjvr_33^0 == 0 /\ -__disjvr_21^post32+__disjvr_21^0 == 0 /\ -len_276^post32+len_276^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ -y_19^post32+y_19^0 == 0 /\ __disjvr_39^0-__disjvr_39^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ __disjvr_12^0-__disjvr_12^post32 == 0 /\ __disjvr_32^0-__disjvr_32^post32 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ length_29^0-length_29^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_241^0-a_241^post32 == 0 /\ -a_353^post32+a_353^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_15^post32-__disjvr_15^0 == 0 /\ __disjvr_36^0-__disjvr_36^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -x_SLAM_f_18^post32+x_SLAM_f_18^0 == 0 /\ -r_124^post32+r_124^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post32+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post32+head_14^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ head_129^0-head_129^post32 == 0 /\ -__disjvr_30^post32+__disjvr_30^0 == 0 /\ -a_277^post32+a_277^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ x_20^0-x_20^post32 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ -tmp_34^post32+tmp_34^0 == 0 /\ -a_184^post32+a_184^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -r_39^post32+r_39^0 == 0 /\ head_223^0-head_223^post32 == 0 /\ -a_330^post32+a_330^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ i_108^0-i_108^post32 == 0 /\ -__disjvr_31^post32+__disjvr_31^0 == 0 /\ r_260^0-r_260^post32 == 0 /\ -__disjvr_0^post32+__disjvr_0^0 == 0 /\ head_27^0-head_27^post32 == 0 /\ -__disjvr_40^post32+__disjvr_40^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_41^0-__disjvr_41^post32 == 0 /\ -head_175^post32+head_175^0 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -head_32^post32+head_32^0 == 0), cost: 1
  33: l32 -> l33 : i_108^0'=i_108^post33, __disjvr_7^0'=__disjvr_7^post33, __disjvr_13^0'=__disjvr_13^post33, f_170^0'=f_170^post33, length_29^0'=length_29^post33, __disjvr_25^0'=__disjvr_25^post33, a_330^0'=a_330^post33, __disjvr_20^0'=__disjvr_20^post33, len_183^0'=len_183^post33, __disjvr_37^0'=__disjvr_37^post33, __disjvr_32^0'=__disjvr_32^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_223^0'=head_223^post33, r_260^0'=r_260^post33, __disjvr_4^0'=__disjvr_4^post33, __disjvr_10^0'=__disjvr_10^post33, x_20^0'=x_20^post33, __disjvr_41^0'=__disjvr_41^post33, __disjvr_22^0'=__disjvr_22^post33, a_241^0'=a_241^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_9^0'=__disjvr_9^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_58^0'=rcd_58^post33, head_129^0'=head_129^post33, r_124^0'=r_124^post33, __disjvr_27^0'=__disjvr_27^post33, ct_17^0'=ct_17^post33, temp_35^0'=temp_35^post33, __disjvr_39^0'=__disjvr_39^post33, __disjvr_34^0'=__disjvr_34^post33, t_23^0'=t_23^post33, head_27^0'=head_27^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, __disjvr_6^0'=__disjvr_6^post33, __disjvr_12^0'=__disjvr_12^post33, y_19^0'=y_19^post33, __disjvr_43^0'=__disjvr_43^post33, len_276^0'=len_276^post33, __disjvr_24^0'=__disjvr_24^post33, a_308^0'=a_308^post33, __disjvr_1^0'=__disjvr_1^post33, len_132^0'=len_132^post33, a_147^0'=a_147^post33, __disjvr_31^0'=__disjvr_31^post33, result_11^0'=result_11^post33, head_175^0'=head_175^post33, r_218^0'=r_218^post33, __disjvr_29^0'=__disjvr_29^post33, __disjvr_0^0'=__disjvr_0^post33, x_16^0'=x_16^post33, __disjvr_40^0'=__disjvr_40^post33, __disjvr_36^0'=__disjvr_36^post33, a_210^0'=a_210^post33, __disjvr_17^0'=__disjvr_17^post33, i_167^0'=i_167^post33, __disjvr_8^0'=__disjvr_8^post33, __disjvr_14^0'=__disjvr_14^post33, r_39^0'=r_39^post33, f_263^0'=f_263^post33, nondet_12^0'=nondet_12^post33, __disjvr_26^0'=__disjvr_26^post33, a_353^0'=a_353^post33, __disjvr_21^0'=__disjvr_21^post33, temp0_31^0'=temp0_31^post33, __disjvr_38^0'=__disjvr_38^post33, __disjvr_33^0'=__disjvr_33^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_268^0'=head_268^post33, head_32^0'=head_32^post33, __disjvr_5^0'=__disjvr_5^post33, __disjvr_11^0'=__disjvr_11^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, __disjvr_42^0'=__disjvr_42^post33, len_226^0'=len_226^post33, __disjvr_23^0'=__disjvr_23^post33, a_277^0'=a_277^post33, __disjvr_19^0'=__disjvr_19^post33, i_94^0'=i_94^post33, a_116^0'=a_116^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_88^0'=rcd_88^post33, head_14^0'=head_14^post33, r_163^0'=r_163^post33, __disjvr_28^0'=__disjvr_28^post33, tmp_34^0'=tmp_34^post33, __disjvr_3^0'=__disjvr_3^post33, __disjvr_35^0'=__disjvr_35^post33, temp0_15^0'=temp0_15^post33, a_184^0'=a_184^post33, __disjvr_16^0'=__disjvr_16^post33, (head_223^0-head_223^post33 == 0 /\ __disjvr_25^0-__disjvr_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ -head_14^post33+head_14^0 == 0 /\ -__disjvr_35^post33+__disjvr_35^0 == 0 /\ -__disjvr_30^post33+__disjvr_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_184^post33+a_184^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -tmp_34^post33+tmp_34^0 == 0 /\ head_27^0-head_27^post33 == 0 /\ __disjvr_40^0-__disjvr_40^post33 == 0 /\ -a_210^post33+a_210^0 == 0 /\ __disjvr_32^0-__disjvr_32^post33 == 0 /\ -__disjvr_16^post33+__disjvr_16^0 == 0 /\ __disjvr_27^0-__disjvr_27^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ -f_263^post33+f_263^0 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ a_277^0-a_277^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ -__disjvr_3^post33+__disjvr_3^0 == 0 /\ __disjvr_16^post33-__disjvr_16^0 == 0 /\ len_132^0-len_132^post33 == 0 /\ -r_218^post33+r_218^0 == 0 /\ -a_241^post33+a_241^0 == 0 /\ -__disjvr_36^post33+__disjvr_36^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ a_330^0-a_330^post33 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ -head_268^post33+head_268^0 == 0 /\ -__disjvr_24^post33+__disjvr_24^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -a_116^post33+a_116^0 == 0 /\ -r_260^post33+r_260^0 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post33 == 0 /\ -len_226^post33+len_226^0 == 0 /\ __disjvr_15^0-__disjvr_15^post33 == 0 /\ __disjvr_41^0-__disjvr_41^post33 == 0 /\ a_353^0-a_353^post33 == 0 /\ a_308^0-a_308^post33 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_SLAM_f_26^post33+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -__disjvr_11^post33+__disjvr_11^0 == 0 /\ -len_183^post33+len_183^0 == 0 /\ __disjvr_37^0-__disjvr_37^post33 == 0 /\ __disjvr_31^0-__disjvr_31^post33 == 0 /\ -i_94^post33+i_94^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ x_20^0-x_20^post33 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -head_175^post33+head_175^0 == 0 /\ -__disjvr_33^post33+__disjvr_33^0 == 0 /\ __disjvr_38^0-__disjvr_38^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ -__disjvr_42^post33+__disjvr_42^0 == 0 /\ __disjvr_39^0-__disjvr_39^post33 == 0 /\ i_108^0-i_108^post33 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ ct_17^0-ct_17^post33 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ -__disjvr_43^post33+__disjvr_43^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ rcd_58^0-rcd_58^post33 == 0 /\ -r_39^post33+r_39^0 == 0 /\ len_276^0-len_276^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0), cost: 1
  34: l33 -> l10 : i_108^0'=i_108^post34, __disjvr_7^0'=__disjvr_7^post34, __disjvr_13^0'=__disjvr_13^post34, f_170^0'=f_170^post34, length_29^0'=length_29^post34, __disjvr_25^0'=__disjvr_25^post34, a_330^0'=a_330^post34, __disjvr_20^0'=__disjvr_20^post34, len_183^0'=len_183^post34, __disjvr_37^0'=__disjvr_37^post34, __disjvr_32^0'=__disjvr_32^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_223^0'=head_223^post34, r_260^0'=r_260^post34, __disjvr_4^0'=__disjvr_4^post34, __disjvr_10^0'=__disjvr_10^post34, x_20^0'=x_20^post34, __disjvr_41^0'=__disjvr_41^post34, __disjvr_22^0'=__disjvr_22^post34, a_241^0'=a_241^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_9^0'=__disjvr_9^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_58^0'=rcd_58^post34, head_129^0'=head_129^post34, r_124^0'=r_124^post34, __disjvr_27^0'=__disjvr_27^post34, ct_17^0'=ct_17^post34, temp_35^0'=temp_35^post34, __disjvr_39^0'=__disjvr_39^post34, __disjvr_34^0'=__disjvr_34^post34, t_23^0'=t_23^post34, head_27^0'=head_27^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, __disjvr_6^0'=__disjvr_6^post34, __disjvr_12^0'=__disjvr_12^post34, y_19^0'=y_19^post34, __disjvr_43^0'=__disjvr_43^post34, len_276^0'=len_276^post34, __disjvr_24^0'=__disjvr_24^post34, a_308^0'=a_308^post34, __disjvr_1^0'=__disjvr_1^post34, len_132^0'=len_132^post34, a_147^0'=a_147^post34, __disjvr_31^0'=__disjvr_31^post34, result_11^0'=result_11^post34, head_175^0'=head_175^post34, r_218^0'=r_218^post34, __disjvr_29^0'=__disjvr_29^post34, __disjvr_0^0'=__disjvr_0^post34, x_16^0'=x_16^post34, __disjvr_40^0'=__disjvr_40^post34, __disjvr_36^0'=__disjvr_36^post34, a_210^0'=a_210^post34, __disjvr_17^0'=__disjvr_17^post34, i_167^0'=i_167^post34, __disjvr_8^0'=__disjvr_8^post34, __disjvr_14^0'=__disjvr_14^post34, r_39^0'=r_39^post34, f_263^0'=f_263^post34, nondet_12^0'=nondet_12^post34, __disjvr_26^0'=__disjvr_26^post34, a_353^0'=a_353^post34, __disjvr_21^0'=__disjvr_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_38^0'=__disjvr_38^post34, __disjvr_33^0'=__disjvr_33^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, head_268^0'=head_268^post34, head_32^0'=head_32^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, __disjvr_42^0'=__disjvr_42^post34, len_226^0'=len_226^post34, __disjvr_23^0'=__disjvr_23^post34, a_277^0'=a_277^post34, __disjvr_19^0'=__disjvr_19^post34, i_94^0'=i_94^post34, a_116^0'=a_116^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_88^0'=rcd_88^post34, head_14^0'=head_14^post34, r_163^0'=r_163^post34, __disjvr_28^0'=__disjvr_28^post34, tmp_34^0'=tmp_34^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_35^0'=__disjvr_35^post34, temp0_15^0'=temp0_15^post34, a_184^0'=a_184^post34, __disjvr_16^0'=__disjvr_16^post34, (0 == 0 /\ -len_132^post34+len_132^0 == 0 /\ __disjvr_34^0-__disjvr_34^post34 == 0 /\ -head_14^post34+head_14^0 == 0 /\ ct_17^0-ct_17^post34 == 0 /\ -__disjvr_30^post34+__disjvr_30^0 == 0 /\ -__disjvr_14^post34+__disjvr_14^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ a_353^0-a_353^post34 == 0 /\ head_175^0-head_175^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ -a_116^post34+a_116^0 == 0 /\ -__disjvr_24^post34+__disjvr_24^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ len_183^0-len_183^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ __disjvr_37^0-__disjvr_37^post34 == 0 /\ -__disjvr_31^post34+__disjvr_31^0 == 0 /\ f_170^0-f_170^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -r_218^post34+r_218^0 == 0 /\ -i_94^post34+i_94^0 == 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ -r_163^post34+r_163^0 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ -head_27^post34+head_27^0 == 0 /\ -a_308^post34+a_308^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_226^post34+a_308^0 <= 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ head_129^0-head_129^post34 == 0 /\ __disjvr_39^0-__disjvr_39^post34 == 0 /\ __disjvr_32^0-__disjvr_32^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -head_268^post34+head_268^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_19^post34+__disjvr_19^0 == 0 /\ __disjvr_27^0-__disjvr_27^post34 == 0 /\ a_147^0-a_147^post34 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -__disjvr_3^post34+__disjvr_3^0 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ i_108^0-i_108^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -a_241^post34+a_241^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ r_260^0-r_260^post34 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ -__disjvr_40^post34+__disjvr_40^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -__disjvr_6^post34+__disjvr_6^0 == 0 /\ -a_210^post34+a_210^0 == 0 /\ -a_277^post34+a_277^0 == 0 /\ t_23^0-t_23^post34 == 0 /\ __disjvr_25^0-__disjvr_25^post34 == 0 /\ head_223^0-head_223^post34 == 0 /\ -x_16^post34+x_16^0 == 0 /\ -__disjvr_35^post34+__disjvr_35^0 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -__disjvr_42^post34+__disjvr_42^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -__disjvr_21^post34+__disjvr_21^0 == 0 /\ f_263^0-f_263^post34 == 0 /\ -__disjvr_0^post34+__disjvr_0^0 == 0 /\ -__disjvr_43^post34+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post34 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -__disjvr_38^post34+__disjvr_38^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ -__disjvr_29^post34+__disjvr_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ __disjvr_33^0-__disjvr_33^post34 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ len_276^0-len_276^post34 == 0 /\ -1+len_226^post34-a_308^0 <= 0 /\ -__disjvr_36^post34+__disjvr_36^0 == 0 /\ a_330^0-a_330^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0), cost: 1
  35: l34 -> l35 : i_108^0'=i_108^post35, __disjvr_7^0'=__disjvr_7^post35, __disjvr_13^0'=__disjvr_13^post35, f_170^0'=f_170^post35, length_29^0'=length_29^post35, __disjvr_25^0'=__disjvr_25^post35, a_330^0'=a_330^post35, __disjvr_20^0'=__disjvr_20^post35, len_183^0'=len_183^post35, __disjvr_37^0'=__disjvr_37^post35, __disjvr_32^0'=__disjvr_32^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_223^0'=head_223^post35, r_260^0'=r_260^post35, __disjvr_4^0'=__disjvr_4^post35, __disjvr_10^0'=__disjvr_10^post35, x_20^0'=x_20^post35, __disjvr_41^0'=__disjvr_41^post35, __disjvr_22^0'=__disjvr_22^post35, a_241^0'=a_241^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_9^0'=__disjvr_9^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_58^0'=rcd_58^post35, head_129^0'=head_129^post35, r_124^0'=r_124^post35, __disjvr_27^0'=__disjvr_27^post35, ct_17^0'=ct_17^post35, temp_35^0'=temp_35^post35, __disjvr_39^0'=__disjvr_39^post35, __disjvr_34^0'=__disjvr_34^post35, t_23^0'=t_23^post35, head_27^0'=head_27^post35, __disjvr_15^0'=__disjvr_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, __disjvr_6^0'=__disjvr_6^post35, __disjvr_12^0'=__disjvr_12^post35, y_19^0'=y_19^post35, __disjvr_43^0'=__disjvr_43^post35, len_276^0'=len_276^post35, __disjvr_24^0'=__disjvr_24^post35, a_308^0'=a_308^post35, __disjvr_1^0'=__disjvr_1^post35, len_132^0'=len_132^post35, a_147^0'=a_147^post35, __disjvr_31^0'=__disjvr_31^post35, result_11^0'=result_11^post35, head_175^0'=head_175^post35, r_218^0'=r_218^post35, __disjvr_29^0'=__disjvr_29^post35, __disjvr_0^0'=__disjvr_0^post35, x_16^0'=x_16^post35, __disjvr_40^0'=__disjvr_40^post35, __disjvr_36^0'=__disjvr_36^post35, a_210^0'=a_210^post35, __disjvr_17^0'=__disjvr_17^post35, i_167^0'=i_167^post35, __disjvr_8^0'=__disjvr_8^post35, __disjvr_14^0'=__disjvr_14^post35, r_39^0'=r_39^post35, f_263^0'=f_263^post35, nondet_12^0'=nondet_12^post35, __disjvr_26^0'=__disjvr_26^post35, a_353^0'=a_353^post35, __disjvr_21^0'=__disjvr_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_38^0'=__disjvr_38^post35, __disjvr_33^0'=__disjvr_33^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, head_268^0'=head_268^post35, head_32^0'=head_32^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, __disjvr_42^0'=__disjvr_42^post35, len_226^0'=len_226^post35, __disjvr_23^0'=__disjvr_23^post35, a_277^0'=a_277^post35, __disjvr_19^0'=__disjvr_19^post35, i_94^0'=i_94^post35, a_116^0'=a_116^post35, __disjvr_30^0'=__disjvr_30^post35, rcd_88^0'=rcd_88^post35, head_14^0'=head_14^post35, r_163^0'=r_163^post35, __disjvr_28^0'=__disjvr_28^post35, tmp_34^0'=tmp_34^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_35^0'=__disjvr_35^post35, temp0_15^0'=temp0_15^post35, a_184^0'=a_184^post35, __disjvr_16^0'=__disjvr_16^post35, (0 == 0 /\ -__disjvr_35^post35+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post35 == 0 /\ -a_353^post35+a_353^0 == 0 /\ len_183^0-len_183^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ __disjvr_39^0-__disjvr_39^post35 == 0 /\ __disjvr_37^0-__disjvr_37^post35 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ len_132^0-len_132^post35 == 0 /\ __disjvr_32^0-__disjvr_32^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -__disjvr_16^post35+__disjvr_16^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ -__disjvr_38^post35+__disjvr_38^0 == 0 /\ i_30^post35 <= 0 /\ i_30^post35 == 0 /\ -length_29^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -f_263^post35+f_263^0 == 0 /\ f_170^0-f_170^post35 == 0 /\ __disjvr_36^0-__disjvr_36^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ a_330^0-a_330^post35 == 0 /\ -temp_35^post35+temp_35^0 == 0 /\ r_124^0-r_124^post35 == 0 /\ -temp0_15^post35+temp0_15^0 == 0 /\ a_241^0-a_241^post35 == 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ head_27^0-head_27^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -len_226^post35+len_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ __disjvr_12^0-__disjvr_12^post35 == 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -__disjvr_34^post35+__disjvr_34^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -head_175^post35+head_175^0 == 0 /\ -__disjvr_3^post35+__disjvr_3^0 == 0 /\ -head_32^post35 <= 0 /\ -a_184^post35+a_184^0 == 0 /\ -head_SLAM_f_26^post35+head_SLAM_f_26^0 == 0 /\ -__disjvr_33^post35+__disjvr_33^0 == 0 /\ x_20^0-x_20^post35 == 0 /\ head_129^0-head_129^post35 == 0 /\ -__disjvr_29^post35+__disjvr_29^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ a_308^0-a_308^post35 == 0 /\ r_218^0-r_218^post35 == 0 /\ -head_268^post35+head_268^0 == 0 /\ -len_276^post35+len_276^0 == 0 /\ -a_210^post35+a_210^0 == 0 /\ i_108^0-i_108^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ __disjvr_7^0-__disjvr_7^post35 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_30^post35 <= 0 /\ y_19^0-y_19^post35 == 0 /\ __disjvr_43^0-__disjvr_43^post35 == 0 /\ r_260^0-r_260^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ -__disjvr_40^post35+__disjvr_40^0 == 0 /\ head_14^0-head_14^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -__disjvr_26^post35+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -__disjvr_42^post35+__disjvr_42^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -x_16^post35+x_16^0 == 0 /\ head_32^post35 <= 0 /\ head_32^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ head_223^0-head_223^post35 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ -r_39^post35+r_39^0 == 0 /\ -__disjvr_14^post35+__disjvr_14^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -a_277^post35+a_277^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_30^post35+__disjvr_30^0 == 0 /\ __disjvr_41^0-__disjvr_41^post35 == 0 /\ -__disjvr_31^post35+__disjvr_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0), cost: 1
  90: l35 -> l62 : i_108^0'=i_108^post90, __disjvr_7^0'=__disjvr_7^post90, __disjvr_13^0'=__disjvr_13^post90, f_170^0'=f_170^post90, length_29^0'=length_29^post90, __disjvr_25^0'=__disjvr_25^post90, a_330^0'=a_330^post90, __disjvr_20^0'=__disjvr_20^post90, len_183^0'=len_183^post90, __disjvr_37^0'=__disjvr_37^post90, __disjvr_32^0'=__disjvr_32^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, head_223^0'=head_223^post90, r_260^0'=r_260^post90, __disjvr_4^0'=__disjvr_4^post90, __disjvr_10^0'=__disjvr_10^post90, x_20^0'=x_20^post90, __disjvr_41^0'=__disjvr_41^post90, __disjvr_22^0'=__disjvr_22^post90, a_241^0'=a_241^post90, __disjvr_18^0'=__disjvr_18^post90, i_30^0'=i_30^post90, __disjvr_9^0'=__disjvr_9^post90, __disjvr_2^0'=__disjvr_2^post90, rcd_58^0'=rcd_58^post90, head_129^0'=head_129^post90, r_124^0'=r_124^post90, __disjvr_27^0'=__disjvr_27^post90, ct_17^0'=ct_17^post90, temp_35^0'=temp_35^post90, __disjvr_39^0'=__disjvr_39^post90, __disjvr_34^0'=__disjvr_34^post90, t_23^0'=t_23^post90, head_27^0'=head_27^post90, __disjvr_15^0'=__disjvr_15^post90, head_SLAM_f_26^0'=head_SLAM_f_26^post90, __disjvr_6^0'=__disjvr_6^post90, __disjvr_12^0'=__disjvr_12^post90, y_19^0'=y_19^post90, __disjvr_43^0'=__disjvr_43^post90, len_276^0'=len_276^post90, __disjvr_24^0'=__disjvr_24^post90, a_308^0'=a_308^post90, __disjvr_1^0'=__disjvr_1^post90, len_132^0'=len_132^post90, a_147^0'=a_147^post90, __disjvr_31^0'=__disjvr_31^post90, result_11^0'=result_11^post90, head_175^0'=head_175^post90, r_218^0'=r_218^post90, __disjvr_29^0'=__disjvr_29^post90, __disjvr_0^0'=__disjvr_0^post90, x_16^0'=x_16^post90, __disjvr_40^0'=__disjvr_40^post90, __disjvr_36^0'=__disjvr_36^post90, a_210^0'=a_210^post90, __disjvr_17^0'=__disjvr_17^post90, i_167^0'=i_167^post90, __disjvr_8^0'=__disjvr_8^post90, __disjvr_14^0'=__disjvr_14^post90, r_39^0'=r_39^post90, f_263^0'=f_263^post90, nondet_12^0'=nondet_12^post90, __disjvr_26^0'=__disjvr_26^post90, a_353^0'=a_353^post90, __disjvr_21^0'=__disjvr_21^post90, temp0_31^0'=temp0_31^post90, __disjvr_38^0'=__disjvr_38^post90, __disjvr_33^0'=__disjvr_33^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, head_268^0'=head_268^post90, head_32^0'=head_32^post90, __disjvr_5^0'=__disjvr_5^post90, __disjvr_11^0'=__disjvr_11^post90, x_SLAM_f_18^0'=x_SLAM_f_18^post90, __disjvr_42^0'=__disjvr_42^post90, len_226^0'=len_226^post90, __disjvr_23^0'=__disjvr_23^post90, a_277^0'=a_277^post90, __disjvr_19^0'=__disjvr_19^post90, i_94^0'=i_94^post90, a_116^0'=a_116^post90, __disjvr_30^0'=__disjvr_30^post90, rcd_88^0'=rcd_88^post90, head_14^0'=head_14^post90, r_163^0'=r_163^post90, __disjvr_28^0'=__disjvr_28^post90, tmp_34^0'=tmp_34^post90, __disjvr_3^0'=__disjvr_3^post90, __disjvr_35^0'=__disjvr_35^post90, temp0_15^0'=temp0_15^post90, a_184^0'=a_184^post90, __disjvr_16^0'=__disjvr_16^post90, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post90 == 0 /\ -x_SLAM_f_18^post90+x_SLAM_f_18^0 == 0 /\ i_94^0-i_94^post90 == 0 /\ a_210^0-a_210^post90 == 0 /\ -head_14^post90+head_14^0 == 0 /\ __disjvr_36^0-__disjvr_36^post90 == 0 /\ -a_116^post90+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post90 == 0 /\ -temp0_31^post90+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post90 == 0 /\ tmp_34^post90-temp_35^0 == 0 /\ -__disjvr_27^post90+__disjvr_27^0 == 0 /\ -__disjvr_40^post90+__disjvr_40^0 == 0 /\ __disjvr_12^0-__disjvr_12^post90 == 0 /\ __disjvr_9^0-__disjvr_9^post90 == 0 /\ -__disjvr_42^post90+__disjvr_42^0 == 0 /\ -__disjvr_15^post90+__disjvr_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post90 == 0 /\ __disjvr_18^0-__disjvr_18^post90 == 0 /\ -a_184^post90+a_184^0 == 0 /\ tmp_34^post90-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_6^0-__disjvr_6^post90 == 0 /\ len_183^0-len_183^post90 == 0 /\ __disjvr_43^0-__disjvr_43^post90 == 0 /\ -r_39^post90+r_39^0 == 0 /\ __disjvr_31^0-__disjvr_31^post90 == 0 /\ a_147^0-a_147^post90 == 0 /\ -__disjvr_23^post90+__disjvr_23^0 == 0 /\ x_20^0-x_20^post90 == 0 /\ -__disjvr_11^post90+__disjvr_11^0 == 0 /\ __disjvr_39^0-__disjvr_39^post90 == 0 /\ __disjvr_19^0-__disjvr_19^post90 == 0 /\ ct_17^0-ct_17^post90 == 0 /\ __disjvr_5^0-__disjvr_5^post90 == 0 /\ head_27^0-head_27^post90 == 0 /\ __disjvr_32^0-__disjvr_32^post90 == 0 /\ -__disjvr_3^post90+__disjvr_3^0 == 0 /\ __disjvr_13^0-__disjvr_13^post90 == 0 /\ -r_163^post90+r_163^0 == 0 /\ -t_23^post90+t_23^0 == 0 /\ r_124^0-r_124^post90 == 0 /\ -tmp_34^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_0^0-__disjvr_0^post90 == 0 /\ -len_276^post90+len_276^0 == 0 /\ -a_277^post90+a_277^0 == 0 /\ a_241^0-a_241^post90 == 0 /\ __disjvr_25^0-__disjvr_25^post90 == 0 /\ -len_226^post90+len_226^0 == 0 /\ -rcd_88^post90+rcd_88^0 == 0 /\ -rcd_58^post90+rcd_58^0 == 0 /\ r_260^0-r_260^post90 == 0 /\ __disjvr_41^0-__disjvr_41^post90 == 0 /\ tmp_34^post90-head_32^post90 <= 0 /\ __disjvr_1^0-__disjvr_1^post90 == 0 /\ a_330^0-a_330^post90 == 0 /\ -__disjvr_2^post90+__disjvr_2^0 == 0 /\ i_108^0-i_108^post90 == 0 /\ -__disjvr_30^post90+__disjvr_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -__disjvr_35^post90+__disjvr_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post90 == 0 /\ -__disjvr_17^post90+__disjvr_17^0 == 0 /\ -__disjvr_14^post90+__disjvr_14^0 == 0 /\ -1+i_30^post90-i_30^0 == 0 /\ -__disjvr_26^post90+__disjvr_26^0 == 0 /\ head_129^0-head_129^post90 == 0 /\ __disjvr_20^0-__disjvr_20^post90 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ 1-i_30^post90 <= 0 /\ -1+i_30^post90 <= 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ x_16^0-x_16^post90 == 0 /\ -__disjvr_38^post90+__disjvr_38^0 == 0 /\ length_29^0-length_29^post90 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90+head_32^post90 <= 0 /\ -__disjvr_37^post90+__disjvr_37^0 == 0 /\ -__disjvr_8^post90+__disjvr_8^0 == 0 /\ -__disjvr_28^post90+__disjvr_28^0 == 0 /\ a_308^0-a_308^post90 == 0 /\ y_19^0-y_19^post90 == 0 /\ -i_167^post90+i_167^0 == 0 /\ -__disjvr_16^post90+__disjvr_16^0 == 0 /\ -__disjvr_29^post90+__disjvr_29^0 == 0 /\ -head_175^post90+head_175^0 == 0 /\ len_132^0-len_132^post90 == 0 /\ f_170^0-f_170^post90 == 0 /\ -__disjvr_21^post90+__disjvr_21^0 == 0 /\ -__disjvr_33^post90+__disjvr_33^0 == 0 /\ -tmp_34^post90+head_32^post90 <= 0 /\ -tmp_34^post90+head_32^post90 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post90 == 0 /\ __disjvr_4^0-__disjvr_4^post90 == 0 /\ -f_263^post90+f_263^0 == 0 /\ 1-length_29^0 <= 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ -a_353^post90+a_353^0 == 0 /\ r_218^0-r_218^post90 == 0 /\ head_223^0-head_223^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90-head_32^post90 <= 0 /\ -head_268^post90+head_268^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ -temp0_15^post90+temp0_15^0 == 0), cost: 1
  36: l36 -> l37 : i_108^0'=i_108^post36, __disjvr_7^0'=__disjvr_7^post36, __disjvr_13^0'=__disjvr_13^post36, f_170^0'=f_170^post36, length_29^0'=length_29^post36, __disjvr_25^0'=__disjvr_25^post36, a_330^0'=a_330^post36, __disjvr_20^0'=__disjvr_20^post36, len_183^0'=len_183^post36, __disjvr_37^0'=__disjvr_37^post36, __disjvr_32^0'=__disjvr_32^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_223^0'=head_223^post36, r_260^0'=r_260^post36, __disjvr_4^0'=__disjvr_4^post36, __disjvr_10^0'=__disjvr_10^post36, x_20^0'=x_20^post36, __disjvr_41^0'=__disjvr_41^post36, __disjvr_22^0'=__disjvr_22^post36, a_241^0'=a_241^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_9^0'=__disjvr_9^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_58^0'=rcd_58^post36, head_129^0'=head_129^post36, r_124^0'=r_124^post36, __disjvr_27^0'=__disjvr_27^post36, ct_17^0'=ct_17^post36, temp_35^0'=temp_35^post36, __disjvr_39^0'=__disjvr_39^post36, __disjvr_34^0'=__disjvr_34^post36, t_23^0'=t_23^post36, head_27^0'=head_27^post36, __disjvr_15^0'=__disjvr_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, __disjvr_6^0'=__disjvr_6^post36, __disjvr_12^0'=__disjvr_12^post36, y_19^0'=y_19^post36, __disjvr_43^0'=__disjvr_43^post36, len_276^0'=len_276^post36, __disjvr_24^0'=__disjvr_24^post36, a_308^0'=a_308^post36, __disjvr_1^0'=__disjvr_1^post36, len_132^0'=len_132^post36, a_147^0'=a_147^post36, __disjvr_31^0'=__disjvr_31^post36, result_11^0'=result_11^post36, head_175^0'=head_175^post36, r_218^0'=r_218^post36, __disjvr_29^0'=__disjvr_29^post36, __disjvr_0^0'=__disjvr_0^post36, x_16^0'=x_16^post36, __disjvr_40^0'=__disjvr_40^post36, __disjvr_36^0'=__disjvr_36^post36, a_210^0'=a_210^post36, __disjvr_17^0'=__disjvr_17^post36, i_167^0'=i_167^post36, __disjvr_8^0'=__disjvr_8^post36, __disjvr_14^0'=__disjvr_14^post36, r_39^0'=r_39^post36, f_263^0'=f_263^post36, nondet_12^0'=nondet_12^post36, __disjvr_26^0'=__disjvr_26^post36, a_353^0'=a_353^post36, __disjvr_21^0'=__disjvr_21^post36, temp0_31^0'=temp0_31^post36, __disjvr_38^0'=__disjvr_38^post36, __disjvr_33^0'=__disjvr_33^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, head_268^0'=head_268^post36, head_32^0'=head_32^post36, __disjvr_5^0'=__disjvr_5^post36, __disjvr_11^0'=__disjvr_11^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, __disjvr_42^0'=__disjvr_42^post36, len_226^0'=len_226^post36, __disjvr_23^0'=__disjvr_23^post36, a_277^0'=a_277^post36, __disjvr_19^0'=__disjvr_19^post36, i_94^0'=i_94^post36, a_116^0'=a_116^post36, __disjvr_30^0'=__disjvr_30^post36, rcd_88^0'=rcd_88^post36, head_14^0'=head_14^post36, r_163^0'=r_163^post36, __disjvr_28^0'=__disjvr_28^post36, tmp_34^0'=tmp_34^post36, __disjvr_3^0'=__disjvr_3^post36, __disjvr_35^0'=__disjvr_35^post36, temp0_15^0'=temp0_15^post36, a_184^0'=a_184^post36, __disjvr_16^0'=__disjvr_16^post36, (0 == 0 /\ __disjvr_15^0-__disjvr_15^post36 == 0 /\ a_210^0-a_210^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ length_29^0-length_29^post36 == 0 /\ __disjvr_23^0-__disjvr_23^post36 == 0 /\ -a_116^post36+a_116^0 == 0 /\ -i_94^post36+i_94^0 == 0 /\ temp_35^0-temp_35^post36 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -head_268^post36+head_268^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ -__disjvr_41^post36+__disjvr_41^0 == 0 /\ __disjvr_39^0-__disjvr_39^post36 == 0 /\ -i_167^post36+i_167^0 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ -a_147^0 <= 0 /\ -len_132^0 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 == 0 /\ r_218^0-r_218^post36 == 0 /\ -head_SLAM_f_26^post36+head_14^0 <= 0 /\ result_11^0-result_11^post36 == 0 /\ -__disjvr_40^post36+__disjvr_40^0 == 0 /\ -__disjvr_8^post36+__disjvr_8^0 == 0 /\ -__disjvr_24^post36+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ i_108^0-i_108^post36 == 0 /\ rcd_58^0-rcd_58^post36 == 0 /\ head_129^0-head_129^post36 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ -x_SLAM_f_18^post36+x_SLAM_f_18^0 == 0 /\ -__disjvr_11^post36+__disjvr_11^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ __disjvr_27^0-__disjvr_27^post36 == 0 /\ -__disjvr_33^post36+__disjvr_33^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -__disjvr_42^post36+__disjvr_42^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_19^post36+__disjvr_19^0 == 0 /\ -head_27^0 <= 0 /\ head_223^0-head_223^post36 == 0 /\ len_183^0-len_183^post36 == 0 /\ a_330^0-a_330^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -head_27^post36+head_SLAM_f_26^post36 <= 0 /\ __disjvr_37^0-__disjvr_37^post36 == 0 /\ -head_14^post36+head_14^0 == 0 /\ head_32^0-head_32^post36 == 0 /\ r_260^0-r_260^post36 == 0 /\ head_SLAM_f_26^post36-head_14^0 <= 0 /\ head_SLAM_f_26^post36-head_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -a_241^post36+a_241^0 == 0 /\ -len_226^0 <= 0 /\ a_308^0-a_308^post36 == 0 /\ -r_124^post36+r_124^0 == 0 /\ -__disjvr_43^post36+__disjvr_43^0 == 0 /\ -r_39^post36+r_39^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ __disjvr_17^0-__disjvr_17^post36 == 0 /\ __disjvr_2^0-__disjvr_2^post36 == 0 /\ len_132^0-len_132^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -a_277^post36+a_277^0 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ a_241^0-len_132^0 <= 0 /\ -__disjvr_35^post36+__disjvr_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -__disjvr_38^post36+__disjvr_38^0 == 0 /\ -__disjvr_30^post36+__disjvr_30^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -__disjvr_14^post36+__disjvr_14^0 == 0 /\ len_276^0-len_276^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ -__disjvr_16^post36+__disjvr_16^0 == 0 /\ -head_27^post36+head_14^0 <= 0 /\ -f_263^post36+f_263^0 == 0 /\ __disjvr_31^0-__disjvr_31^post36 == 0 /\ __disjvr_32^0-__disjvr_32^post36 == 0 /\ len_226^0 <= 0 /\ -a_241^0+len_132^0 <= 0 /\ y_19^0-y_19^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -__disjvr_36^post36+__disjvr_36^0 == 0 /\ -len_226^post36+len_226^0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ f_170^0-f_170^post36 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_163^0-r_163^post36 == 0 /\ -a_353^post36+a_353^0 == 0 /\ head_27^post36-head_14^0 <= 0 /\ -a_147^post36+a_147^0 == 0), cost: 1
  39: l36 -> l40 : i_108^0'=i_108^post39, __disjvr_7^0'=__disjvr_7^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, length_29^0'=length_29^post39, __disjvr_25^0'=__disjvr_25^post39, a_330^0'=a_330^post39, __disjvr_20^0'=__disjvr_20^post39, len_183^0'=len_183^post39, __disjvr_37^0'=__disjvr_37^post39, __disjvr_32^0'=__disjvr_32^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, head_223^0'=head_223^post39, r_260^0'=r_260^post39, __disjvr_4^0'=__disjvr_4^post39, __disjvr_10^0'=__disjvr_10^post39, x_20^0'=x_20^post39, __disjvr_41^0'=__disjvr_41^post39, __disjvr_22^0'=__disjvr_22^post39, a_241^0'=a_241^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_9^0'=__disjvr_9^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, head_129^0'=head_129^post39, r_124^0'=r_124^post39, __disjvr_27^0'=__disjvr_27^post39, ct_17^0'=ct_17^post39, temp_35^0'=temp_35^post39, __disjvr_39^0'=__disjvr_39^post39, __disjvr_34^0'=__disjvr_34^post39, t_23^0'=t_23^post39, head_27^0'=head_27^post39, __disjvr_15^0'=__disjvr_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_6^0'=__disjvr_6^post39, __disjvr_12^0'=__disjvr_12^post39, y_19^0'=y_19^post39, __disjvr_43^0'=__disjvr_43^post39, len_276^0'=len_276^post39, __disjvr_24^0'=__disjvr_24^post39, a_308^0'=a_308^post39, __disjvr_1^0'=__disjvr_1^post39, len_132^0'=len_132^post39, a_147^0'=a_147^post39, __disjvr_31^0'=__disjvr_31^post39, result_11^0'=result_11^post39, head_175^0'=head_175^post39, r_218^0'=r_218^post39, __disjvr_29^0'=__disjvr_29^post39, __disjvr_0^0'=__disjvr_0^post39, x_16^0'=x_16^post39, __disjvr_40^0'=__disjvr_40^post39, __disjvr_36^0'=__disjvr_36^post39, a_210^0'=a_210^post39, __disjvr_17^0'=__disjvr_17^post39, i_167^0'=i_167^post39, __disjvr_8^0'=__disjvr_8^post39, __disjvr_14^0'=__disjvr_14^post39, r_39^0'=r_39^post39, f_263^0'=f_263^post39, nondet_12^0'=nondet_12^post39, __disjvr_26^0'=__disjvr_26^post39, a_353^0'=a_353^post39, __disjvr_21^0'=__disjvr_21^post39, temp0_31^0'=temp0_31^post39, __disjvr_38^0'=__disjvr_38^post39, __disjvr_33^0'=__disjvr_33^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_268^0'=head_268^post39, head_32^0'=head_32^post39, __disjvr_5^0'=__disjvr_5^post39, __disjvr_11^0'=__disjvr_11^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_42^0'=__disjvr_42^post39, len_226^0'=len_226^post39, __disjvr_23^0'=__disjvr_23^post39, a_277^0'=a_277^post39, __disjvr_19^0'=__disjvr_19^post39, i_94^0'=i_94^post39, a_116^0'=a_116^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, head_14^0'=head_14^post39, r_163^0'=r_163^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_34^0'=tmp_34^post39, __disjvr_3^0'=__disjvr_3^post39, __disjvr_35^0'=__disjvr_35^post39, temp0_15^0'=temp0_15^post39, a_184^0'=a_184^post39, __disjvr_16^0'=__disjvr_16^post39, (0 == 0 /\ -a_308^post39+a_308^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -a_353^post39+a_353^0 == 0 /\ rcd_58^0-rcd_58^post39 == 0 /\ ct_17^0-ct_17^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -temp0_15^post39+temp0_15^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ -a_277^post39+a_277^0 == 0 /\ -f_263^post39+f_263^0 == 0 /\ -a_147^0 <= 0 /\ a_241^0-a_241^post39 == 0 /\ -len_132^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post39 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ a_330^0-a_330^post39 == 0 /\ -__disjvr_35^post39+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ __disjvr_39^0-__disjvr_39^post39 == 0 /\ __disjvr_37^0-__disjvr_37^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ a_147^0-a_147^post39 == 0 /\ head_27^0-head_27^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ len_132^0-len_132^post39 == 0 /\ __disjvr_1^0-__disjvr_1^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -__disjvr_34^post39+__disjvr_34^0 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ r_124^0-r_124^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ -i_94^post39+i_94^0 == 0 /\ __disjvr_42^0-__disjvr_42^post39 == 0 /\ -i_167^post39+i_167^0 == 0 /\ -head_268^post39+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_16^post39+__disjvr_16^0 == 0 /\ -__disjvr_33^post39+__disjvr_33^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ __disjvr_31^0-__disjvr_31^post39 == 0 /\ a_210^0-a_210^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ __disjvr_41^0-__disjvr_41^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -len_276^post39+len_276^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ head_223^0-head_223^post39 == 0 /\ r_260^0-r_260^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ -__disjvr_19^post39+__disjvr_19^0 == 0 /\ __disjvr_43^0-__disjvr_43^post39 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ -len_226^post39+len_226^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -a_116^post39+a_116^0 == 0 /\ __disjvr_32^0-__disjvr_32^post39 == 0 /\ i_108^0-i_108^post39 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ -__disjvr_40^post39+__disjvr_40^0 == 0 /\ -__disjvr_38^post39+__disjvr_38^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -x_16^post39+x_16^0 == 0 /\ -r_163^post39+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ r_218^0-r_218^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ len_183^0-len_183^post39 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_22^0-__disjvr_22^post39 == 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ -__disjvr_14^post39+__disjvr_14^0 == 0), cost: 1
  37: l37 -> l38 : i_108^0'=i_108^post37, __disjvr_7^0'=__disjvr_7^post37, __disjvr_13^0'=__disjvr_13^post37, f_170^0'=f_170^post37, length_29^0'=length_29^post37, __disjvr_25^0'=__disjvr_25^post37, a_330^0'=a_330^post37, __disjvr_20^0'=__disjvr_20^post37, len_183^0'=len_183^post37, __disjvr_37^0'=__disjvr_37^post37, __disjvr_32^0'=__disjvr_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_223^0'=head_223^post37, r_260^0'=r_260^post37, __disjvr_4^0'=__disjvr_4^post37, __disjvr_10^0'=__disjvr_10^post37, x_20^0'=x_20^post37, __disjvr_41^0'=__disjvr_41^post37, __disjvr_22^0'=__disjvr_22^post37, a_241^0'=a_241^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_9^0'=__disjvr_9^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_58^0'=rcd_58^post37, head_129^0'=head_129^post37, r_124^0'=r_124^post37, __disjvr_27^0'=__disjvr_27^post37, ct_17^0'=ct_17^post37, temp_35^0'=temp_35^post37, __disjvr_39^0'=__disjvr_39^post37, __disjvr_34^0'=__disjvr_34^post37, t_23^0'=t_23^post37, head_27^0'=head_27^post37, __disjvr_15^0'=__disjvr_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, __disjvr_6^0'=__disjvr_6^post37, __disjvr_12^0'=__disjvr_12^post37, y_19^0'=y_19^post37, __disjvr_43^0'=__disjvr_43^post37, len_276^0'=len_276^post37, __disjvr_24^0'=__disjvr_24^post37, a_308^0'=a_308^post37, __disjvr_1^0'=__disjvr_1^post37, len_132^0'=len_132^post37, a_147^0'=a_147^post37, __disjvr_31^0'=__disjvr_31^post37, result_11^0'=result_11^post37, head_175^0'=head_175^post37, r_218^0'=r_218^post37, __disjvr_29^0'=__disjvr_29^post37, __disjvr_0^0'=__disjvr_0^post37, x_16^0'=x_16^post37, __disjvr_40^0'=__disjvr_40^post37, __disjvr_36^0'=__disjvr_36^post37, a_210^0'=a_210^post37, __disjvr_17^0'=__disjvr_17^post37, i_167^0'=i_167^post37, __disjvr_8^0'=__disjvr_8^post37, __disjvr_14^0'=__disjvr_14^post37, r_39^0'=r_39^post37, f_263^0'=f_263^post37, nondet_12^0'=nondet_12^post37, __disjvr_26^0'=__disjvr_26^post37, a_353^0'=a_353^post37, __disjvr_21^0'=__disjvr_21^post37, temp0_31^0'=temp0_31^post37, __disjvr_38^0'=__disjvr_38^post37, __disjvr_33^0'=__disjvr_33^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, head_268^0'=head_268^post37, head_32^0'=head_32^post37, __disjvr_5^0'=__disjvr_5^post37, __disjvr_11^0'=__disjvr_11^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, __disjvr_42^0'=__disjvr_42^post37, len_226^0'=len_226^post37, __disjvr_23^0'=__disjvr_23^post37, a_277^0'=a_277^post37, __disjvr_19^0'=__disjvr_19^post37, i_94^0'=i_94^post37, a_116^0'=a_116^post37, __disjvr_30^0'=__disjvr_30^post37, rcd_88^0'=rcd_88^post37, head_14^0'=head_14^post37, r_163^0'=r_163^post37, __disjvr_28^0'=__disjvr_28^post37, tmp_34^0'=tmp_34^post37, __disjvr_3^0'=__disjvr_3^post37, __disjvr_35^0'=__disjvr_35^post37, temp0_15^0'=temp0_15^post37, a_184^0'=a_184^post37, __disjvr_16^0'=__disjvr_16^post37, (-head_14^post37+head_14^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_34^0-__disjvr_34^post37 == 0 /\ ct_17^0-ct_17^post37 == 0 /\ -head_SLAM_f_26^post37+head_SLAM_f_26^0 == 0 /\ -__disjvr_36^post37+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post37 == 0 /\ len_183^0-len_183^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ -__disjvr_24^post37+__disjvr_24^0 == 0 /\ __disjvr_38^0-__disjvr_38^post37 == 0 /\ -a_116^post37+a_116^0 == 0 /\ -__disjvr_31^post37+__disjvr_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ __disjvr_37^0-__disjvr_37^post37 == 0 /\ f_170^0-f_170^post37 == 0 /\ -len_226^post37+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_16^post37+__disjvr_16^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -r_163^post37+r_163^0 == 0 /\ -a_210^post37+a_210^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -a_308^post37+a_308^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -head_268^post37+head_268^0 == 0 /\ -head_27^post37+head_27^0 == 0 /\ r_124^0-r_124^post37 == 0 /\ __disjvr_39^0-__disjvr_39^post37 == 0 /\ head_129^0-head_129^post37 == 0 /\ -i_94^post37+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_32^0-__disjvr_32^post37 == 0 /\ __disjvr_27^0-__disjvr_27^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ -__disjvr_30^post37+__disjvr_30^0 == 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ i_108^0-i_108^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ __disjvr_33^0-__disjvr_33^post37 == 0 /\ -a_241^post37+a_241^0 == 0 /\ __disjvr_40^0-__disjvr_40^post37 == 0 /\ r_260^0-r_260^post37 == 0 /\ x_20^0-x_20^post37 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ -len_132^post37+len_132^0 == 0 /\ -f_263^post37+f_263^0 == 0 /\ -__disjvr_0^post37+__disjvr_0^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ head_223^0-head_223^post37 == 0 /\ __disjvr_25^0-__disjvr_25^post37 == 0 /\ -__disjvr_42^post37+__disjvr_42^0 == 0 /\ -__disjvr_35^post37+__disjvr_35^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ -a_277^post37+a_277^0 == 0 /\ r_39^0-r_39^post37 == 0 /\ y_19^0-y_19^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ -__disjvr_29^post37+__disjvr_29^0 == 0 /\ -r_218^post37+r_218^0 == 0 /\ -__disjvr_43^post37+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post37 == 0 /\ a_353^0-a_353^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -i_167^post37+i_167^0 == 0 /\ len_276^0-len_276^post37 == 0 /\ a_330^0-a_330^post37 == 0 /\ __disjvr_17^post37-__disjvr_17^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post37 == 0), cost: 1
  38: l38 -> l4 : i_108^0'=i_108^post38, __disjvr_7^0'=__disjvr_7^post38, __disjvr_13^0'=__disjvr_13^post38, f_170^0'=f_170^post38, length_29^0'=length_29^post38, __disjvr_25^0'=__disjvr_25^post38, a_330^0'=a_330^post38, __disjvr_20^0'=__disjvr_20^post38, len_183^0'=len_183^post38, __disjvr_37^0'=__disjvr_37^post38, __disjvr_32^0'=__disjvr_32^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_223^0'=head_223^post38, r_260^0'=r_260^post38, __disjvr_4^0'=__disjvr_4^post38, __disjvr_10^0'=__disjvr_10^post38, x_20^0'=x_20^post38, __disjvr_41^0'=__disjvr_41^post38, __disjvr_22^0'=__disjvr_22^post38, a_241^0'=a_241^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_9^0'=__disjvr_9^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_58^0'=rcd_58^post38, head_129^0'=head_129^post38, r_124^0'=r_124^post38, __disjvr_27^0'=__disjvr_27^post38, ct_17^0'=ct_17^post38, temp_35^0'=temp_35^post38, __disjvr_39^0'=__disjvr_39^post38, __disjvr_34^0'=__disjvr_34^post38, t_23^0'=t_23^post38, head_27^0'=head_27^post38, __disjvr_15^0'=__disjvr_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, __disjvr_6^0'=__disjvr_6^post38, __disjvr_12^0'=__disjvr_12^post38, y_19^0'=y_19^post38, __disjvr_43^0'=__disjvr_43^post38, len_276^0'=len_276^post38, __disjvr_24^0'=__disjvr_24^post38, a_308^0'=a_308^post38, __disjvr_1^0'=__disjvr_1^post38, len_132^0'=len_132^post38, a_147^0'=a_147^post38, __disjvr_31^0'=__disjvr_31^post38, result_11^0'=result_11^post38, head_175^0'=head_175^post38, r_218^0'=r_218^post38, __disjvr_29^0'=__disjvr_29^post38, __disjvr_0^0'=__disjvr_0^post38, x_16^0'=x_16^post38, __disjvr_40^0'=__disjvr_40^post38, __disjvr_36^0'=__disjvr_36^post38, a_210^0'=a_210^post38, __disjvr_17^0'=__disjvr_17^post38, i_167^0'=i_167^post38, __disjvr_8^0'=__disjvr_8^post38, __disjvr_14^0'=__disjvr_14^post38, r_39^0'=r_39^post38, f_263^0'=f_263^post38, nondet_12^0'=nondet_12^post38, __disjvr_26^0'=__disjvr_26^post38, a_353^0'=a_353^post38, __disjvr_21^0'=__disjvr_21^post38, temp0_31^0'=temp0_31^post38, __disjvr_38^0'=__disjvr_38^post38, __disjvr_33^0'=__disjvr_33^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, head_268^0'=head_268^post38, head_32^0'=head_32^post38, __disjvr_5^0'=__disjvr_5^post38, __disjvr_11^0'=__disjvr_11^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, __disjvr_42^0'=__disjvr_42^post38, len_226^0'=len_226^post38, __disjvr_23^0'=__disjvr_23^post38, a_277^0'=a_277^post38, __disjvr_19^0'=__disjvr_19^post38, i_94^0'=i_94^post38, a_116^0'=a_116^post38, __disjvr_30^0'=__disjvr_30^post38, rcd_88^0'=rcd_88^post38, head_14^0'=head_14^post38, r_163^0'=r_163^post38, __disjvr_28^0'=__disjvr_28^post38, tmp_34^0'=tmp_34^post38, __disjvr_3^0'=__disjvr_3^post38, __disjvr_35^0'=__disjvr_35^post38, temp0_15^0'=temp0_15^post38, a_184^0'=a_184^post38, __disjvr_16^0'=__disjvr_16^post38, (-__disjvr_33^post38+__disjvr_33^0 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ a_116^0-a_116^post38 == 0 /\ __disjvr_36^0-__disjvr_36^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ -__disjvr_34^post38+__disjvr_34^0 == 0 /\ -__disjvr_35^post38+__disjvr_35^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post38 == 0 /\ -len_132^post38+len_132^0 == 0 /\ -__disjvr_19^post38+__disjvr_19^0 == 0 /\ -a_277^post38+a_277^0 == 0 /\ -__disjvr_42^post38+__disjvr_42^0 == 0 /\ -head_175^post38+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_32^0-__disjvr_32^post38 == 0 /\ f_170^0-f_170^post38 == 0 /\ a_241^0-a_241^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ -__disjvr_40^post38+__disjvr_40^0 == 0 /\ -a_184^post38+a_184^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ __disjvr_1^0-__disjvr_1^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ t_23^0-t_23^post38 == 0 /\ -a_210^post38+a_210^0 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ r_218^0-r_218^post38 == 0 /\ -__disjvr_29^post38+__disjvr_29^0 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -a_308^post38+a_308^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -__disjvr_30^post38+__disjvr_30^0 == 0 /\ -__disjvr_38^post38+__disjvr_38^0 == 0 /\ __disjvr_25^0-__disjvr_25^post38 == 0 /\ i_167^0-i_167^post38 == 0 /\ -__disjvr_14^post38+__disjvr_14^0 == 0 /\ -len_226^post38+len_226^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post38+head_14^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -__disjvr_4^post38+__disjvr_4^0 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ -a_353^post38+a_353^0 == 0 /\ __disjvr_41^0-__disjvr_41^post38 == 0 /\ __disjvr_43^0-__disjvr_43^post38 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -__disjvr_3^post38+__disjvr_3^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ r_124^0-r_124^post38 == 0 /\ head_129^0-head_129^post38 == 0 /\ __disjvr_7^0-__disjvr_7^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ len_276^0-len_276^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_330^0-a_330^post38 == 0 /\ -__disjvr_0^post38+__disjvr_0^0 == 0 /\ f_263^0-f_263^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ __disjvr_37^0-__disjvr_37^post38 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ -r_163^post38+r_163^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -__disjvr_31^post38+__disjvr_31^0 == 0 /\ i_108^0-i_108^post38 == 0 /\ -head_268^post38+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ r_260^0-r_260^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ -__disjvr_21^post38+__disjvr_21^0 == 0 /\ head_223^0-head_223^post38 == 0 /\ len_183^0-len_183^post38 == 0 /\ length_29^0-length_29^post38 == 0 /\ -rcd_88^post38+rcd_88^0 == 0), cost: 1
  40: l40 -> l41 : i_108^0'=i_108^post40, __disjvr_7^0'=__disjvr_7^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, length_29^0'=length_29^post40, __disjvr_25^0'=__disjvr_25^post40, a_330^0'=a_330^post40, __disjvr_20^0'=__disjvr_20^post40, len_183^0'=len_183^post40, __disjvr_37^0'=__disjvr_37^post40, __disjvr_32^0'=__disjvr_32^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, head_223^0'=head_223^post40, r_260^0'=r_260^post40, __disjvr_4^0'=__disjvr_4^post40, __disjvr_10^0'=__disjvr_10^post40, x_20^0'=x_20^post40, __disjvr_41^0'=__disjvr_41^post40, __disjvr_22^0'=__disjvr_22^post40, a_241^0'=a_241^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, head_129^0'=head_129^post40, r_124^0'=r_124^post40, __disjvr_27^0'=__disjvr_27^post40, ct_17^0'=ct_17^post40, temp_35^0'=temp_35^post40, __disjvr_39^0'=__disjvr_39^post40, __disjvr_34^0'=__disjvr_34^post40, t_23^0'=t_23^post40, head_27^0'=head_27^post40, __disjvr_15^0'=__disjvr_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_6^0'=__disjvr_6^post40, __disjvr_12^0'=__disjvr_12^post40, y_19^0'=y_19^post40, __disjvr_43^0'=__disjvr_43^post40, len_276^0'=len_276^post40, __disjvr_24^0'=__disjvr_24^post40, a_308^0'=a_308^post40, __disjvr_1^0'=__disjvr_1^post40, len_132^0'=len_132^post40, a_147^0'=a_147^post40, __disjvr_31^0'=__disjvr_31^post40, result_11^0'=result_11^post40, head_175^0'=head_175^post40, r_218^0'=r_218^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, x_16^0'=x_16^post40, __disjvr_40^0'=__disjvr_40^post40, __disjvr_36^0'=__disjvr_36^post40, a_210^0'=a_210^post40, __disjvr_17^0'=__disjvr_17^post40, i_167^0'=i_167^post40, __disjvr_8^0'=__disjvr_8^post40, __disjvr_14^0'=__disjvr_14^post40, r_39^0'=r_39^post40, f_263^0'=f_263^post40, nondet_12^0'=nondet_12^post40, __disjvr_26^0'=__disjvr_26^post40, a_353^0'=a_353^post40, __disjvr_21^0'=__disjvr_21^post40, temp0_31^0'=temp0_31^post40, __disjvr_38^0'=__disjvr_38^post40, __disjvr_33^0'=__disjvr_33^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, head_268^0'=head_268^post40, head_32^0'=head_32^post40, __disjvr_5^0'=__disjvr_5^post40, __disjvr_11^0'=__disjvr_11^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_42^0'=__disjvr_42^post40, len_226^0'=len_226^post40, __disjvr_23^0'=__disjvr_23^post40, a_277^0'=a_277^post40, __disjvr_19^0'=__disjvr_19^post40, i_94^0'=i_94^post40, a_116^0'=a_116^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, head_14^0'=head_14^post40, r_163^0'=r_163^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_34^0'=tmp_34^post40, __disjvr_3^0'=__disjvr_3^post40, __disjvr_35^0'=__disjvr_35^post40, temp0_15^0'=temp0_15^post40, a_184^0'=a_184^post40, __disjvr_16^0'=__disjvr_16^post40, (-__disjvr_33^post40+__disjvr_33^0 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ length_29^0-length_29^post40 == 0 /\ -f_263^post40+f_263^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -head_SLAM_f_26^post40+head_SLAM_f_26^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ __disjvr_43^0-__disjvr_43^post40 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_37^0-__disjvr_37^post40 == 0 /\ -__disjvr_18^0+__disjvr_18^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -r_218^post40+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post40 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ a_330^0-a_330^post40 == 0 /\ -a_353^post40+a_353^0 == 0 /\ i_108^0-i_108^post40 == 0 /\ -head_268^post40+head_268^0 == 0 /\ -len_226^post40+len_226^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -head_14^post40+head_14^0 == 0 /\ __disjvr_42^0-__disjvr_42^post40 == 0 /\ -i_94^post40+i_94^0 == 0 /\ a_210^0-a_210^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ len_183^0-len_183^post40 == 0 /\ -a_184^post40+a_184^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ __disjvr_34^0-__disjvr_34^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -i_167^post40+i_167^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -head_175^post40+head_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ ct_17^0-ct_17^post40 == 0 /\ -len_276^post40+len_276^0 == 0 /\ __disjvr_35^0-__disjvr_35^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ f_170^0-f_170^post40 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_223^0-head_223^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_36^0-__disjvr_36^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -x_20^post40+x_20^0 == 0 /\ head_27^0-head_27^post40 == 0 /\ a_308^0-a_308^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -x_16^post40+x_16^0 == 0 /\ -a_277^post40+a_277^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -a_116^post40+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_88^post40+rcd_88^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -r_260^post40+r_260^0 == 0 /\ a_241^0-a_241^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post40 == 0 /\ __disjvr_31^0-__disjvr_31^post40 == 0 /\ __disjvr_39^0-__disjvr_39^post40 == 0 /\ -__disjvr_40^post40+__disjvr_40^0 == 0 /\ -__disjvr_32^post40+__disjvr_32^0 == 0 /\ -__disjvr_38^post40+__disjvr_38^0 == 0), cost: 1
  41: l41 -> l42 : i_108^0'=i_108^post41, __disjvr_7^0'=__disjvr_7^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, length_29^0'=length_29^post41, __disjvr_25^0'=__disjvr_25^post41, a_330^0'=a_330^post41, __disjvr_20^0'=__disjvr_20^post41, len_183^0'=len_183^post41, __disjvr_37^0'=__disjvr_37^post41, __disjvr_32^0'=__disjvr_32^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, head_223^0'=head_223^post41, r_260^0'=r_260^post41, __disjvr_4^0'=__disjvr_4^post41, __disjvr_10^0'=__disjvr_10^post41, x_20^0'=x_20^post41, __disjvr_41^0'=__disjvr_41^post41, __disjvr_22^0'=__disjvr_22^post41, a_241^0'=a_241^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, __disjvr_27^0'=__disjvr_27^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, __disjvr_39^0'=__disjvr_39^post41, __disjvr_34^0'=__disjvr_34^post41, t_23^0'=t_23^post41, head_27^0'=head_27^post41, __disjvr_15^0'=__disjvr_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_6^0'=__disjvr_6^post41, __disjvr_12^0'=__disjvr_12^post41, y_19^0'=y_19^post41, __disjvr_43^0'=__disjvr_43^post41, len_276^0'=len_276^post41, __disjvr_24^0'=__disjvr_24^post41, a_308^0'=a_308^post41, __disjvr_1^0'=__disjvr_1^post41, len_132^0'=len_132^post41, a_147^0'=a_147^post41, __disjvr_31^0'=__disjvr_31^post41, result_11^0'=result_11^post41, head_175^0'=head_175^post41, r_218^0'=r_218^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, x_16^0'=x_16^post41, __disjvr_40^0'=__disjvr_40^post41, __disjvr_36^0'=__disjvr_36^post41, a_210^0'=a_210^post41, __disjvr_17^0'=__disjvr_17^post41, i_167^0'=i_167^post41, __disjvr_8^0'=__disjvr_8^post41, __disjvr_14^0'=__disjvr_14^post41, r_39^0'=r_39^post41, f_263^0'=f_263^post41, nondet_12^0'=nondet_12^post41, __disjvr_26^0'=__disjvr_26^post41, a_353^0'=a_353^post41, __disjvr_21^0'=__disjvr_21^post41, temp0_31^0'=temp0_31^post41, __disjvr_38^0'=__disjvr_38^post41, __disjvr_33^0'=__disjvr_33^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, head_268^0'=head_268^post41, head_32^0'=head_32^post41, __disjvr_5^0'=__disjvr_5^post41, __disjvr_11^0'=__disjvr_11^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_42^0'=__disjvr_42^post41, len_226^0'=len_226^post41, __disjvr_23^0'=__disjvr_23^post41, a_277^0'=a_277^post41, __disjvr_19^0'=__disjvr_19^post41, i_94^0'=i_94^post41, a_116^0'=a_116^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_34^0'=tmp_34^post41, __disjvr_3^0'=__disjvr_3^post41, __disjvr_35^0'=__disjvr_35^post41, temp0_15^0'=temp0_15^post41, a_184^0'=a_184^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -1-len_132^0+len_183^post41 <= 0 /\ -result_11^post41+result_11^0 == 0 /\ -head_129^post41+head_129^0 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -a_147^post41+a_147^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ r_124^0-r_124^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_42^post41+__disjvr_42^0 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -len_132^post41+len_132^0 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_3^post41+__disjvr_3^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ __disjvr_34^0-__disjvr_34^post41 == 0 /\ -1-a_184^post41+a_147^0 <= 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -ct_17^post41+ct_17^0 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ -r_218^post41+r_218^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ r_260^0-r_260^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ x_20^0-x_20^post41 == 0 /\ y_19^0-y_19^post41 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -x_SLAM_f_18^post41+x_SLAM_f_18^0 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_38^post41+__disjvr_38^0 == 0 /\ head_175^0-head_175^post41 == 0 /\ __disjvr_40^0-__disjvr_40^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ 1+len_132^0-len_183^post41 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post41 == 0 /\ -a_308^post41+a_308^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -__disjvr_31^post41+__disjvr_31^0 == 0 /\ -__disjvr_43^post41+__disjvr_43^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -__disjvr_39^post41+__disjvr_39^0 == 0 /\ -f_263^post41+f_263^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_36^post41+__disjvr_36^0 == 0 /\ 1+a_184^post41-a_147^0 <= 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ __disjvr_32^0-__disjvr_32^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ __disjvr_1^0-__disjvr_1^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ -head_268^post41+head_268^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_35^post41+__disjvr_35^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ -x_16^post41+x_16^0 == 0 /\ __disjvr_33^0-__disjvr_33^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -len_226^post41+len_226^0 == 0 /\ a_330^0-a_330^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ head_223^0-head_223^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ __disjvr_37^0-__disjvr_37^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ -head_27^post41+head_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0), cost: 1
  42: l42 -> l43 : i_108^0'=i_108^post42, __disjvr_7^0'=__disjvr_7^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, length_29^0'=length_29^post42, __disjvr_25^0'=__disjvr_25^post42, a_330^0'=a_330^post42, __disjvr_20^0'=__disjvr_20^post42, len_183^0'=len_183^post42, __disjvr_37^0'=__disjvr_37^post42, __disjvr_32^0'=__disjvr_32^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, head_223^0'=head_223^post42, r_260^0'=r_260^post42, __disjvr_4^0'=__disjvr_4^post42, __disjvr_10^0'=__disjvr_10^post42, x_20^0'=x_20^post42, __disjvr_41^0'=__disjvr_41^post42, __disjvr_22^0'=__disjvr_22^post42, a_241^0'=a_241^post42, __disjvr_18^0'=__disjvr_18^post42, i_30^0'=i_30^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, __disjvr_27^0'=__disjvr_27^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, __disjvr_39^0'=__disjvr_39^post42, __disjvr_34^0'=__disjvr_34^post42, t_23^0'=t_23^post42, head_27^0'=head_27^post42, __disjvr_15^0'=__disjvr_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_6^0'=__disjvr_6^post42, __disjvr_12^0'=__disjvr_12^post42, y_19^0'=y_19^post42, __disjvr_43^0'=__disjvr_43^post42, len_276^0'=len_276^post42, __disjvr_24^0'=__disjvr_24^post42, a_308^0'=a_308^post42, __disjvr_1^0'=__disjvr_1^post42, len_132^0'=len_132^post42, a_147^0'=a_147^post42, __disjvr_31^0'=__disjvr_31^post42, result_11^0'=result_11^post42, head_175^0'=head_175^post42, r_218^0'=r_218^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, x_16^0'=x_16^post42, __disjvr_40^0'=__disjvr_40^post42, __disjvr_36^0'=__disjvr_36^post42, a_210^0'=a_210^post42, __disjvr_17^0'=__disjvr_17^post42, i_167^0'=i_167^post42, __disjvr_8^0'=__disjvr_8^post42, __disjvr_14^0'=__disjvr_14^post42, r_39^0'=r_39^post42, f_263^0'=f_263^post42, nondet_12^0'=nondet_12^post42, __disjvr_26^0'=__disjvr_26^post42, a_353^0'=a_353^post42, __disjvr_21^0'=__disjvr_21^post42, temp0_31^0'=temp0_31^post42, __disjvr_38^0'=__disjvr_38^post42, __disjvr_33^0'=__disjvr_33^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, head_268^0'=head_268^post42, head_32^0'=head_32^post42, __disjvr_5^0'=__disjvr_5^post42, __disjvr_11^0'=__disjvr_11^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_42^0'=__disjvr_42^post42, len_226^0'=len_226^post42, __disjvr_23^0'=__disjvr_23^post42, a_277^0'=a_277^post42, __disjvr_19^0'=__disjvr_19^post42, i_94^0'=i_94^post42, a_116^0'=a_116^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_34^0'=tmp_34^post42, __disjvr_3^0'=__disjvr_3^post42, __disjvr_35^0'=__disjvr_35^post42, temp0_15^0'=temp0_15^post42, a_184^0'=a_184^post42, __disjvr_16^0'=__disjvr_16^post42, (-a_353^post42+a_353^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ len_276^0-len_276^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_32^0-__disjvr_32^post42 == 0 /\ -__disjvr_31^post42+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ len_226^0-len_226^post42 == 0 /\ r_218^0-r_218^post42 == 0 /\ -a_308^post42+a_308^0 == 0 /\ __disjvr_34^0-__disjvr_34^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -temp0_15^post42+temp0_15^0 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ r_260^0-r_260^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -head_268^post42+head_268^0 == 0 /\ -len_132^post42+len_132^0 == 0 /\ __disjvr_1^0-__disjvr_1^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_39^post42+__disjvr_39^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_36^post42+__disjvr_36^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ __disjvr_37^0-__disjvr_37^post42 == 0 /\ -head_14^post42+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -tmp_34^post42+tmp_34^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ -__disjvr_42^post42+__disjvr_42^0 == 0 /\ i_108^0-i_108^post42 == 0 /\ __disjvr_19^post42-__disjvr_19^0 == 0 /\ i_167^0-i_167^post42 == 0 /\ -a_184^post42+a_184^0 == 0 /\ a_330^0-a_330^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -__disjvr_33^post42+__disjvr_33^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ head_223^0-head_223^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ __disjvr_27^0-__disjvr_27^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ a_147^0-a_147^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -x_SLAM_f_18^post42+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ length_29^0-length_29^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -a_116^post42+a_116^0 == 0 /\ -__disjvr_40^post42+__disjvr_40^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ __disjvr_43^0-__disjvr_43^post42 == 0 /\ f_263^0-f_263^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ -a_210^post42+a_210^0 == 0 /\ -__disjvr_35^post42+__disjvr_35^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -__disjvr_38^post42+__disjvr_38^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0), cost: 1
  43: l43 -> l44 : i_108^0'=i_108^post43, __disjvr_7^0'=__disjvr_7^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, length_29^0'=length_29^post43, __disjvr_25^0'=__disjvr_25^post43, a_330^0'=a_330^post43, __disjvr_20^0'=__disjvr_20^post43, len_183^0'=len_183^post43, __disjvr_37^0'=__disjvr_37^post43, __disjvr_32^0'=__disjvr_32^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, head_223^0'=head_223^post43, r_260^0'=r_260^post43, __disjvr_4^0'=__disjvr_4^post43, __disjvr_10^0'=__disjvr_10^post43, x_20^0'=x_20^post43, __disjvr_41^0'=__disjvr_41^post43, __disjvr_22^0'=__disjvr_22^post43, a_241^0'=a_241^post43, __disjvr_18^0'=__disjvr_18^post43, i_30^0'=i_30^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, __disjvr_27^0'=__disjvr_27^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, __disjvr_39^0'=__disjvr_39^post43, __disjvr_34^0'=__disjvr_34^post43, t_23^0'=t_23^post43, head_27^0'=head_27^post43, __disjvr_15^0'=__disjvr_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_6^0'=__disjvr_6^post43, __disjvr_12^0'=__disjvr_12^post43, y_19^0'=y_19^post43, __disjvr_43^0'=__disjvr_43^post43, len_276^0'=len_276^post43, __disjvr_24^0'=__disjvr_24^post43, a_308^0'=a_308^post43, __disjvr_1^0'=__disjvr_1^post43, len_132^0'=len_132^post43, a_147^0'=a_147^post43, __disjvr_31^0'=__disjvr_31^post43, result_11^0'=result_11^post43, head_175^0'=head_175^post43, r_218^0'=r_218^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, x_16^0'=x_16^post43, __disjvr_40^0'=__disjvr_40^post43, __disjvr_36^0'=__disjvr_36^post43, a_210^0'=a_210^post43, __disjvr_17^0'=__disjvr_17^post43, i_167^0'=i_167^post43, __disjvr_8^0'=__disjvr_8^post43, __disjvr_14^0'=__disjvr_14^post43, r_39^0'=r_39^post43, f_263^0'=f_263^post43, nondet_12^0'=nondet_12^post43, __disjvr_26^0'=__disjvr_26^post43, a_353^0'=a_353^post43, __disjvr_21^0'=__disjvr_21^post43, temp0_31^0'=temp0_31^post43, __disjvr_38^0'=__disjvr_38^post43, __disjvr_33^0'=__disjvr_33^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, head_268^0'=head_268^post43, head_32^0'=head_32^post43, __disjvr_5^0'=__disjvr_5^post43, __disjvr_11^0'=__disjvr_11^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_42^0'=__disjvr_42^post43, len_226^0'=len_226^post43, __disjvr_23^0'=__disjvr_23^post43, a_277^0'=a_277^post43, __disjvr_19^0'=__disjvr_19^post43, i_94^0'=i_94^post43, a_116^0'=a_116^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_34^0'=tmp_34^post43, __disjvr_3^0'=__disjvr_3^post43, __disjvr_35^0'=__disjvr_35^post43, temp0_15^0'=temp0_15^post43, a_184^0'=a_184^post43, __disjvr_16^0'=__disjvr_16^post43, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -__disjvr_35^post43+__disjvr_35^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post43 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -i_167^post43+i_167^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_38^post43+__disjvr_38^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ __disjvr_37^0-__disjvr_37^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ f_170^0-f_170^post43 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ -__disjvr_33^post43+__disjvr_33^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ __disjvr_43^0-__disjvr_43^post43 == 0 /\ __disjvr_17^0-__disjvr_17^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ ct_17^0-ct_17^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ f_263^0-f_263^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ a_147^0-a_147^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post43 == 0 /\ -a_116^post43+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_276^post43+len_276^0 == 0 /\ len_132^0-len_132^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ -__disjvr_40^post43+__disjvr_40^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_30^0-i_30^post43 == 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ __disjvr_32^0-__disjvr_32^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ -a_353^post43+a_353^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ __disjvr_41^0-__disjvr_41^post43 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -r_124^post43+r_124^0 == 0 /\ __disjvr_39^0-__disjvr_39^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ head_14^0-head_14^post43 == 0 /\ -__disjvr_42^post43+__disjvr_42^0 == 0 /\ r_260^0-r_260^post43 == 0 /\ head_27^0-head_27^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ r_218^0-r_218^post43 == 0 /\ len_183^0-len_183^post43 == 0 /\ head_129^0-head_129^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ i_108^0-i_108^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -__disjvr_0^post43+__disjvr_0^0 == 0 /\ -__disjvr_34^post43+__disjvr_34^0 == 0 /\ -__disjvr_31^post43+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -a_184^post43+a_184^0 == 0), cost: 1
  44: l44 -> l39 : i_108^0'=i_108^post44, __disjvr_7^0'=__disjvr_7^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, length_29^0'=length_29^post44, __disjvr_25^0'=__disjvr_25^post44, a_330^0'=a_330^post44, __disjvr_20^0'=__disjvr_20^post44, len_183^0'=len_183^post44, __disjvr_37^0'=__disjvr_37^post44, __disjvr_32^0'=__disjvr_32^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, head_223^0'=head_223^post44, r_260^0'=r_260^post44, __disjvr_4^0'=__disjvr_4^post44, __disjvr_10^0'=__disjvr_10^post44, x_20^0'=x_20^post44, __disjvr_41^0'=__disjvr_41^post44, __disjvr_22^0'=__disjvr_22^post44, a_241^0'=a_241^post44, __disjvr_18^0'=__disjvr_18^post44, i_30^0'=i_30^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, __disjvr_27^0'=__disjvr_27^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, __disjvr_39^0'=__disjvr_39^post44, __disjvr_34^0'=__disjvr_34^post44, t_23^0'=t_23^post44, head_27^0'=head_27^post44, __disjvr_15^0'=__disjvr_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_6^0'=__disjvr_6^post44, __disjvr_12^0'=__disjvr_12^post44, y_19^0'=y_19^post44, __disjvr_43^0'=__disjvr_43^post44, len_276^0'=len_276^post44, __disjvr_24^0'=__disjvr_24^post44, a_308^0'=a_308^post44, __disjvr_1^0'=__disjvr_1^post44, len_132^0'=len_132^post44, a_147^0'=a_147^post44, __disjvr_31^0'=__disjvr_31^post44, result_11^0'=result_11^post44, head_175^0'=head_175^post44, r_218^0'=r_218^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, x_16^0'=x_16^post44, __disjvr_40^0'=__disjvr_40^post44, __disjvr_36^0'=__disjvr_36^post44, a_210^0'=a_210^post44, __disjvr_17^0'=__disjvr_17^post44, i_167^0'=i_167^post44, __disjvr_8^0'=__disjvr_8^post44, __disjvr_14^0'=__disjvr_14^post44, r_39^0'=r_39^post44, f_263^0'=f_263^post44, nondet_12^0'=nondet_12^post44, __disjvr_26^0'=__disjvr_26^post44, a_353^0'=a_353^post44, __disjvr_21^0'=__disjvr_21^post44, temp0_31^0'=temp0_31^post44, __disjvr_38^0'=__disjvr_38^post44, __disjvr_33^0'=__disjvr_33^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_268^0'=head_268^post44, head_32^0'=head_32^post44, __disjvr_5^0'=__disjvr_5^post44, __disjvr_11^0'=__disjvr_11^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_42^0'=__disjvr_42^post44, len_226^0'=len_226^post44, __disjvr_23^0'=__disjvr_23^post44, a_277^0'=a_277^post44, __disjvr_19^0'=__disjvr_19^post44, i_94^0'=i_94^post44, a_116^0'=a_116^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_34^0'=tmp_34^post44, __disjvr_3^0'=__disjvr_3^post44, __disjvr_35^0'=__disjvr_35^post44, temp0_15^0'=temp0_15^post44, a_184^0'=a_184^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_39^0-__disjvr_39^post44 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ head_223^0-head_223^post44 == 0 /\ -head_27^post44+head_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ i_108^0-i_108^post44 == 0 /\ -__disjvr_36^post44+__disjvr_36^0 == 0 /\ -head_14^post44+head_14^0 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ __disjvr_40^0-__disjvr_40^post44 == 0 /\ -__disjvr_43^post44+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -__disjvr_3^post44+__disjvr_3^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ __disjvr_32^0-__disjvr_32^post44 == 0 /\ f_170^0-f_170^post44 == 0 /\ t_23^0-t_23^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ r_124^0-r_124^post44 == 0 /\ a_308^0-a_308^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_277^post44+a_277^0 == 0 /\ __disjvr_34^0-__disjvr_34^post44 == 0 /\ __disjvr_41^0-__disjvr_41^post44 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -head_175^post44+head_175^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -i_167^post44+i_167^0 == 0 /\ a_353^0-a_353^post44 == 0 /\ -r_218^post44+r_218^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ len_276^0-len_276^post44 == 0 /\ length_29^0-length_29^post44 == 0 /\ -r_39^post44+r_39^0 == 0 /\ -len_183^0+len_132^post44 <= 0 /\ -i_94^post44+i_94^0 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_33^post44+__disjvr_33^0 == 0 /\ __disjvr_37^0-__disjvr_37^post44 == 0 /\ __disjvr_17^0-__disjvr_17^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -r_163^post44+r_163^0 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ a_330^0-a_330^post44 == 0 /\ -head_268^post44+head_268^0 == 0 /\ -a_147^post44+a_184^0 <= 0 /\ -__disjvr_14^post44+__disjvr_14^0 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ x_20^0-x_20^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ -a_241^post44+a_241^0 == 0 /\ -__disjvr_19^post44+__disjvr_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ len_183^0-len_132^post44 <= 0 /\ __disjvr_31^0-__disjvr_31^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -f_263^post44+f_263^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_42^post44+__disjvr_42^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post44+__disjvr_35^0 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_16^post44+x_16^0 == 0 /\ a_147^post44-a_184^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ -len_226^post44+len_226^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -a_210^post44+a_210^0 == 0 /\ -a_116^post44+a_116^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_38^0-__disjvr_38^post44 == 0 /\ ct_17^0-ct_17^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0), cost: 1
  45: l39 -> l36 : i_108^0'=i_108^post45, __disjvr_7^0'=__disjvr_7^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, length_29^0'=length_29^post45, __disjvr_25^0'=__disjvr_25^post45, a_330^0'=a_330^post45, __disjvr_20^0'=__disjvr_20^post45, len_183^0'=len_183^post45, __disjvr_37^0'=__disjvr_37^post45, __disjvr_32^0'=__disjvr_32^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, head_223^0'=head_223^post45, r_260^0'=r_260^post45, __disjvr_4^0'=__disjvr_4^post45, __disjvr_10^0'=__disjvr_10^post45, x_20^0'=x_20^post45, __disjvr_41^0'=__disjvr_41^post45, __disjvr_22^0'=__disjvr_22^post45, a_241^0'=a_241^post45, __disjvr_18^0'=__disjvr_18^post45, i_30^0'=i_30^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, __disjvr_27^0'=__disjvr_27^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, __disjvr_39^0'=__disjvr_39^post45, __disjvr_34^0'=__disjvr_34^post45, t_23^0'=t_23^post45, head_27^0'=head_27^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_6^0'=__disjvr_6^post45, __disjvr_12^0'=__disjvr_12^post45, y_19^0'=y_19^post45, __disjvr_43^0'=__disjvr_43^post45, len_276^0'=len_276^post45, __disjvr_24^0'=__disjvr_24^post45, a_308^0'=a_308^post45, __disjvr_1^0'=__disjvr_1^post45, len_132^0'=len_132^post45, a_147^0'=a_147^post45, __disjvr_31^0'=__disjvr_31^post45, result_11^0'=result_11^post45, head_175^0'=head_175^post45, r_218^0'=r_218^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, x_16^0'=x_16^post45, __disjvr_40^0'=__disjvr_40^post45, __disjvr_36^0'=__disjvr_36^post45, a_210^0'=a_210^post45, __disjvr_17^0'=__disjvr_17^post45, i_167^0'=i_167^post45, __disjvr_8^0'=__disjvr_8^post45, __disjvr_14^0'=__disjvr_14^post45, r_39^0'=r_39^post45, f_263^0'=f_263^post45, nondet_12^0'=nondet_12^post45, __disjvr_26^0'=__disjvr_26^post45, a_353^0'=a_353^post45, __disjvr_21^0'=__disjvr_21^post45, temp0_31^0'=temp0_31^post45, __disjvr_38^0'=__disjvr_38^post45, __disjvr_33^0'=__disjvr_33^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, head_268^0'=head_268^post45, head_32^0'=head_32^post45, __disjvr_5^0'=__disjvr_5^post45, __disjvr_11^0'=__disjvr_11^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_42^0'=__disjvr_42^post45, len_226^0'=len_226^post45, __disjvr_23^0'=__disjvr_23^post45, a_277^0'=a_277^post45, __disjvr_19^0'=__disjvr_19^post45, i_94^0'=i_94^post45, a_116^0'=a_116^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_34^0'=tmp_34^post45, __disjvr_3^0'=__disjvr_3^post45, __disjvr_35^0'=__disjvr_35^post45, temp0_15^0'=temp0_15^post45, a_184^0'=a_184^post45, __disjvr_16^0'=__disjvr_16^post45, (f_170^0-f_170^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ i_167^0-i_167^post45 == 0 /\ -__disjvr_38^post45+__disjvr_38^0 == 0 /\ -__disjvr_35^post45+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_218^post45+r_218^0 == 0 /\ -__disjvr_24^post45+__disjvr_24^0 == 0 /\ __disjvr_39^0-__disjvr_39^post45 == 0 /\ -head_268^post45+head_268^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ a_353^0-a_353^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_42^post45+__disjvr_42^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -temp0_15^post45+temp0_15^0 == 0 /\ -head_129^post45+head_129^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post45 == 0 /\ __disjvr_7^0-__disjvr_7^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -x_16^post45+x_16^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -a_210^post45+a_210^0 == 0 /\ __disjvr_31^0-__disjvr_31^post45 == 0 /\ x_20^0-x_20^post45 == 0 /\ __disjvr_32^0-__disjvr_32^post45 == 0 /\ -__disjvr_43^post45+__disjvr_43^0 == 0 /\ a_147^0-a_147^post45 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ __disjvr_33^0-__disjvr_33^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_40^0-__disjvr_40^post45 == 0 /\ -__disjvr_36^post45+__disjvr_36^0 == 0 /\ head_223^0-head_223^post45 == 0 /\ -len_183^post45+len_183^0 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ a_330^0-a_330^post45 == 0 /\ r_260^0-r_260^post45 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ i_108^0-i_108^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ __disjvr_34^0-__disjvr_34^post45 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ __disjvr_41^0-__disjvr_41^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -f_263^post45+f_263^0 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -a_241^post45+a_241^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0), cost: 1
  83: l62 -> l81 : i_108^0'=i_108^post83, __disjvr_7^0'=__disjvr_7^post83, __disjvr_13^0'=__disjvr_13^post83, f_170^0'=f_170^post83, length_29^0'=length_29^post83, __disjvr_25^0'=__disjvr_25^post83, a_330^0'=a_330^post83, __disjvr_20^0'=__disjvr_20^post83, len_183^0'=len_183^post83, __disjvr_37^0'=__disjvr_37^post83, __disjvr_32^0'=__disjvr_32^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, head_223^0'=head_223^post83, r_260^0'=r_260^post83, __disjvr_4^0'=__disjvr_4^post83, __disjvr_10^0'=__disjvr_10^post83, x_20^0'=x_20^post83, __disjvr_41^0'=__disjvr_41^post83, __disjvr_22^0'=__disjvr_22^post83, a_241^0'=a_241^post83, __disjvr_18^0'=__disjvr_18^post83, i_30^0'=i_30^post83, __disjvr_9^0'=__disjvr_9^post83, __disjvr_2^0'=__disjvr_2^post83, rcd_58^0'=rcd_58^post83, head_129^0'=head_129^post83, r_124^0'=r_124^post83, __disjvr_27^0'=__disjvr_27^post83, ct_17^0'=ct_17^post83, temp_35^0'=temp_35^post83, __disjvr_39^0'=__disjvr_39^post83, __disjvr_34^0'=__disjvr_34^post83, t_23^0'=t_23^post83, head_27^0'=head_27^post83, __disjvr_15^0'=__disjvr_15^post83, head_SLAM_f_26^0'=head_SLAM_f_26^post83, __disjvr_6^0'=__disjvr_6^post83, __disjvr_12^0'=__disjvr_12^post83, y_19^0'=y_19^post83, __disjvr_43^0'=__disjvr_43^post83, len_276^0'=len_276^post83, __disjvr_24^0'=__disjvr_24^post83, a_308^0'=a_308^post83, __disjvr_1^0'=__disjvr_1^post83, len_132^0'=len_132^post83, a_147^0'=a_147^post83, __disjvr_31^0'=__disjvr_31^post83, result_11^0'=result_11^post83, head_175^0'=head_175^post83, r_218^0'=r_218^post83, __disjvr_29^0'=__disjvr_29^post83, __disjvr_0^0'=__disjvr_0^post83, x_16^0'=x_16^post83, __disjvr_40^0'=__disjvr_40^post83, __disjvr_36^0'=__disjvr_36^post83, a_210^0'=a_210^post83, __disjvr_17^0'=__disjvr_17^post83, i_167^0'=i_167^post83, __disjvr_8^0'=__disjvr_8^post83, __disjvr_14^0'=__disjvr_14^post83, r_39^0'=r_39^post83, f_263^0'=f_263^post83, nondet_12^0'=nondet_12^post83, __disjvr_26^0'=__disjvr_26^post83, a_353^0'=a_353^post83, __disjvr_21^0'=__disjvr_21^post83, temp0_31^0'=temp0_31^post83, __disjvr_38^0'=__disjvr_38^post83, __disjvr_33^0'=__disjvr_33^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, head_268^0'=head_268^post83, head_32^0'=head_32^post83, __disjvr_5^0'=__disjvr_5^post83, __disjvr_11^0'=__disjvr_11^post83, x_SLAM_f_18^0'=x_SLAM_f_18^post83, __disjvr_42^0'=__disjvr_42^post83, len_226^0'=len_226^post83, __disjvr_23^0'=__disjvr_23^post83, a_277^0'=a_277^post83, __disjvr_19^0'=__disjvr_19^post83, i_94^0'=i_94^post83, a_116^0'=a_116^post83, __disjvr_30^0'=__disjvr_30^post83, rcd_88^0'=rcd_88^post83, head_14^0'=head_14^post83, r_163^0'=r_163^post83, __disjvr_28^0'=__disjvr_28^post83, tmp_34^0'=tmp_34^post83, __disjvr_3^0'=__disjvr_3^post83, __disjvr_35^0'=__disjvr_35^post83, temp0_15^0'=temp0_15^post83, a_184^0'=a_184^post83, __disjvr_16^0'=__disjvr_16^post83, (0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ i_94^0-i_94^post83 == 0 /\ r_124^0-r_124^post83 == 0 /\ __disjvr_18^0-__disjvr_18^post83 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83+head_32^post83 <= 0 /\ __disjvr_36^0-__disjvr_36^post83 == 0 /\ -__disjvr_28^post83+__disjvr_28^0 == 0 /\ __disjvr_34^0-__disjvr_34^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -head_SLAM_f_26^post83+head_SLAM_f_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post83 == 0 /\ -head_14^post83+head_14^0 == 0 /\ len_132^0-len_132^post83 == 0 /\ -len_226^post83+len_226^0 == 0 /\ __disjvr_9^0-__disjvr_9^post83 == 0 /\ __disjvr_6^0-__disjvr_6^post83 == 0 /\ -a_184^post83+a_184^0 == 0 /\ -tmp_34^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ -2+i_30^post83 <= 0 /\ __disjvr_12^0-__disjvr_12^post83 == 0 /\ tmp_34^post83-temp_35^0 == 0 /\ -x_SLAM_f_18^post83+x_SLAM_f_18^0 == 0 /\ -__disjvr_2^post83+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post83 == 0 /\ -r_39^post83+r_39^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ -__disjvr_15^post83+__disjvr_15^0 == 0 /\ a_147^0-a_147^post83 == 0 /\ __disjvr_43^0-__disjvr_43^post83 == 0 /\ x_20^0-x_20^post83 == 0 /\ __disjvr_7^0-__disjvr_7^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83-head_32^post83 <= 0 /\ -a_116^post83+a_116^0 == 0 /\ -len_276^post83+len_276^0 == 0 /\ __disjvr_31^0-__disjvr_31^post83 == 0 /\ __disjvr_39^0-__disjvr_39^post83 == 0 /\ -head_268^post83+head_268^0 == 0 /\ -__disjvr_35^post83+__disjvr_35^0 == 0 /\ -x_16^post83+x_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post83 == 0 /\ __disjvr_42^0-__disjvr_42^post83 == 0 /\ -t_23^post83+t_23^0 == 0 /\ -i_167^post83+i_167^0 == 0 /\ length_29^0-length_29^post83 == 0 /\ -1+i_30^post83-i_30^0 == 0 /\ -__disjvr_14^post83+__disjvr_14^0 == 0 /\ ct_17^0-ct_17^post83 == 0 /\ tmp_34^post83-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ __disjvr_23^0-__disjvr_23^post83 == 0 /\ -__disjvr_16^post83+__disjvr_16^0 == 0 /\ -__disjvr_33^post83+__disjvr_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post83 == 0 /\ a_210^0-a_210^post83 == 0 /\ -__disjvr_3^post83+__disjvr_3^0 == 0 /\ -__disjvr_30^post83+__disjvr_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post83 == 0 /\ r_260^0-r_260^post83 == 0 /\ __disjvr_4^0-__disjvr_4^post83 == 0 /\ -head_223^post83+head_223^0 == 0 /\ a_241^0-a_241^post83 == 0 /\ -f_263^post83+f_263^0 == 0 /\ __disjvr_25^0-__disjvr_25^post83 == 0 /\ 2-length_29^0 <= 0 /\ -a_353^post83+a_353^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post83 == 0 /\ __disjvr_32^0-__disjvr_32^post83 == 0 /\ a_330^0-a_330^post83 == 0 /\ head_27^0-head_27^post83 == 0 /\ -rcd_88^post83+rcd_88^0 == 0 /\ -__disjvr_19^post83+__disjvr_19^0 == 0 /\ a_308^0-a_308^post83 == 0 /\ -__disjvr_37^post83+__disjvr_37^0 == 0 /\ -__disjvr_27^post83+__disjvr_27^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -__disjvr_11^post83+__disjvr_11^0 == 0 /\ 2-i_30^post83 <= 0 /\ -__disjvr_1^post83+__disjvr_1^0 == 0 /\ __disjvr_21^0-__disjvr_21^post83 == 0 /\ tmp_34^post83-head_32^post83 <= 0 /\ __disjvr_8^0-__disjvr_8^post83 == 0 /\ -__disjvr_40^post83+__disjvr_40^0 == 0 /\ f_170^0-f_170^post83 == 0 /\ __disjvr_0^0-__disjvr_0^post83 == 0 /\ -a_277^post83+a_277^0 == 0 /\ -r_218^post83+r_218^0 == 0 /\ -temp0_31^post83+temp0_31^0 == 0 /\ i_108^0-i_108^post83 == 0 /\ head_129^0-head_129^post83 == 0 /\ -head_175^post83+head_175^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post83 == 0 /\ -temp0_15^post83+temp0_15^0 == 0 /\ -r_163^post83+r_163^0 == 0 /\ -__disjvr_38^post83+__disjvr_38^0 == 0 /\ y_19^0-y_19^post83 == 0 /\ -__disjvr_26^post83+__disjvr_26^0 == 0 /\ -tmp_34^post83+head_32^post83 <= 0 /\ -tmp_34^post83+head_32^post83 == 0 /\ -__disjvr_29^post83+__disjvr_29^0 == 0 /\ -__disjvr_17^post83+__disjvr_17^0 == 0 /\ len_183^0-len_183^post83 == 0), cost: 1
  84: l81 -> l82 : i_108^0'=i_108^post84, __disjvr_7^0'=__disjvr_7^post84, __disjvr_13^0'=__disjvr_13^post84, f_170^0'=f_170^post84, length_29^0'=length_29^post84, __disjvr_25^0'=__disjvr_25^post84, a_330^0'=a_330^post84, __disjvr_20^0'=__disjvr_20^post84, len_183^0'=len_183^post84, __disjvr_37^0'=__disjvr_37^post84, __disjvr_32^0'=__disjvr_32^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, head_223^0'=head_223^post84, r_260^0'=r_260^post84, __disjvr_4^0'=__disjvr_4^post84, __disjvr_10^0'=__disjvr_10^post84, x_20^0'=x_20^post84, __disjvr_41^0'=__disjvr_41^post84, __disjvr_22^0'=__disjvr_22^post84, a_241^0'=a_241^post84, __disjvr_18^0'=__disjvr_18^post84, i_30^0'=i_30^post84, __disjvr_9^0'=__disjvr_9^post84, __disjvr_2^0'=__disjvr_2^post84, rcd_58^0'=rcd_58^post84, head_129^0'=head_129^post84, r_124^0'=r_124^post84, __disjvr_27^0'=__disjvr_27^post84, ct_17^0'=ct_17^post84, temp_35^0'=temp_35^post84, __disjvr_39^0'=__disjvr_39^post84, __disjvr_34^0'=__disjvr_34^post84, t_23^0'=t_23^post84, head_27^0'=head_27^post84, __disjvr_15^0'=__disjvr_15^post84, head_SLAM_f_26^0'=head_SLAM_f_26^post84, __disjvr_6^0'=__disjvr_6^post84, __disjvr_12^0'=__disjvr_12^post84, y_19^0'=y_19^post84, __disjvr_43^0'=__disjvr_43^post84, len_276^0'=len_276^post84, __disjvr_24^0'=__disjvr_24^post84, a_308^0'=a_308^post84, __disjvr_1^0'=__disjvr_1^post84, len_132^0'=len_132^post84, a_147^0'=a_147^post84, __disjvr_31^0'=__disjvr_31^post84, result_11^0'=result_11^post84, head_175^0'=head_175^post84, r_218^0'=r_218^post84, __disjvr_29^0'=__disjvr_29^post84, __disjvr_0^0'=__disjvr_0^post84, x_16^0'=x_16^post84, __disjvr_40^0'=__disjvr_40^post84, __disjvr_36^0'=__disjvr_36^post84, a_210^0'=a_210^post84, __disjvr_17^0'=__disjvr_17^post84, i_167^0'=i_167^post84, __disjvr_8^0'=__disjvr_8^post84, __disjvr_14^0'=__disjvr_14^post84, r_39^0'=r_39^post84, f_263^0'=f_263^post84, nondet_12^0'=nondet_12^post84, __disjvr_26^0'=__disjvr_26^post84, a_353^0'=a_353^post84, __disjvr_21^0'=__disjvr_21^post84, temp0_31^0'=temp0_31^post84, __disjvr_38^0'=__disjvr_38^post84, __disjvr_33^0'=__disjvr_33^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_268^0'=head_268^post84, head_32^0'=head_32^post84, __disjvr_5^0'=__disjvr_5^post84, __disjvr_11^0'=__disjvr_11^post84, x_SLAM_f_18^0'=x_SLAM_f_18^post84, __disjvr_42^0'=__disjvr_42^post84, len_226^0'=len_226^post84, __disjvr_23^0'=__disjvr_23^post84, a_277^0'=a_277^post84, __disjvr_19^0'=__disjvr_19^post84, i_94^0'=i_94^post84, a_116^0'=a_116^post84, __disjvr_30^0'=__disjvr_30^post84, rcd_88^0'=rcd_88^post84, head_14^0'=head_14^post84, r_163^0'=r_163^post84, __disjvr_28^0'=__disjvr_28^post84, tmp_34^0'=tmp_34^post84, __disjvr_3^0'=__disjvr_3^post84, __disjvr_35^0'=__disjvr_35^post84, temp0_15^0'=temp0_15^post84, a_184^0'=a_184^post84, __disjvr_16^0'=__disjvr_16^post84, (0 == 0 /\ __disjvr_37^0-__disjvr_37^post84 == 0 /\ -len_226^post84+len_226^0 == 0 /\ head_27^post84-head_14^post84 <= 0 /\ a_241^0-a_241^post84 == 0 /\ r_260^0-r_260^post84 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ head_14^post84-result_11^11 == 0 /\ r_124^0-r_124^post84 == 0 /\ head_14^post84-head_SLAM_f_26^post84 <= 0 /\ rcd_58^0-rcd_58^post84 == 0 /\ head_27^post84-head_SLAM_f_26^post84 <= 0 /\ head_27^post84-head_SLAM_f_26^post84 == 0 /\ __disjvr_13^0-__disjvr_13^post84 == 0 /\ -len_132^0 <= 0 /\ -__disjvr_8^post84+__disjvr_8^0 == 0 /\ -__disjvr_5^post84+__disjvr_5^0 == 0 /\ a_147^0-i_30^post84 <= 0 /\ __disjvr_22^0-__disjvr_22^post84 == 0 /\ -__disjvr_9^post84+__disjvr_9^0 == 0 /\ -a_116^post84+a_116^0 == 0 /\ x_16^0-x_16^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ -__disjvr_43^post84+__disjvr_43^0 == 0 /\ -__disjvr_28^post84+__disjvr_28^0 == 0 /\ len_183^0-len_183^post84 == 0 /\ -ct_17^post84+ct_17^0 == 0 /\ -__disjvr_36^post84+__disjvr_36^0 == 0 /\ -a_210^post84+a_210^0 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -head_27^post84+head_14^post84 <= 0 /\ -__disjvr_11^post84+__disjvr_11^0 == 0 /\ -__disjvr_14^post84+__disjvr_14^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ __disjvr_4^0-__disjvr_4^post84 == 0 /\ -__disjvr_33^post84+__disjvr_33^0 == 0 /\ -__disjvr_16^post84+__disjvr_16^0 == 0 /\ -head_14^post84+head_SLAM_f_26^post84 <= 0 /\ -head_14^post84+head_SLAM_f_26^post84 == 0 /\ -__disjvr_21^post84+__disjvr_21^0 == 0 /\ -head_27^post84+head_SLAM_f_26^post84 <= 0 /\ a_308^0-a_308^post84 == 0 /\ t_23^0-t_23^post84 == 0 /\ __disjvr_15^0-__disjvr_15^post84 == 0 /\ -__disjvr_31^post84+__disjvr_31^0 == 0 /\ __disjvr_2^0-__disjvr_2^post84 == 0 /\ -a_147^0+i_30^post84 <= 0 /\ head_129^0-head_129^post84 == 0 /\ -head_268^post84+head_268^0 == 0 /\ -__disjvr_39^post84+__disjvr_39^0 == 0 /\ len_132^0 <= 0 /\ -temp0_15^post84+temp0_15^0 == 0 /\ -r_163^post84+r_163^0 == 0 /\ -__disjvr_19^post84+__disjvr_19^0 == 0 /\ -__disjvr_34^post84+__disjvr_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post84 == 0 /\ -head_175^post84+head_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post84 == 0 /\ -__disjvr_18^post84+__disjvr_18^0 == 0 /\ f_170^0-f_170^post84 == 0 /\ -x_SLAM_f_18^post84+x_SLAM_f_18^0 == 0 /\ -len_132^post84+len_132^0 == 0 /\ i_108^0-i_108^post84 == 0 /\ len_276^0-len_276^post84 == 0 /\ __disjvr_29^0-__disjvr_29^post84 == 0 /\ -y_19^post84+y_19^0 == 0 /\ -__disjvr_0^post84+__disjvr_0^0 == 0 /\ -__disjvr_30^post84+__disjvr_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post84 == 0 /\ -__disjvr_40^post84+__disjvr_40^0 == 0 /\ -i_30^0 <= 0 /\ -a_147^post84+a_147^0 == 0 /\ -f_263^post84+f_263^0 == 0 /\ __disjvr_12^0-__disjvr_12^post84 == 0 /\ -a_277^post84+a_277^0 == 0 /\ -__disjvr_42^post84+__disjvr_42^0 == 0 /\ head_223^0-head_223^post84 == 0 /\ -__disjvr_35^post84+__disjvr_35^0 == 0 /\ -a_184^post84+a_184^0 == 0 /\ -__disjvr_24^post84+__disjvr_24^0 == 0 /\ -__disjvr_17^post84+__disjvr_17^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -__disjvr_10^post84+__disjvr_10^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ x_20^0-x_20^post84 == 0 /\ a_330^0-a_330^post84 == 0 /\ __disjvr_41^0-__disjvr_41^post84 == 0 /\ -__disjvr_38^post84+__disjvr_38^0 == 0 /\ __disjvr_20^0-__disjvr_20^post84 == 0 /\ -__disjvr_25^post84+__disjvr_25^0 == 0 /\ -__disjvr_3^post84+__disjvr_3^0 == 0 /\ __disjvr_32^0-__disjvr_32^post84 == 0 /\ -rcd_88^post84+rcd_88^0 == 0 /\ -__disjvr_23^post84+__disjvr_23^0 == 0 /\ -a_353^post84+a_353^0 == 0 /\ __disjvr_7^0-__disjvr_7^post84 == 0 /\ __disjvr_26^0-__disjvr_26^post84 == 0 /\ -r_218^post84+r_218^0 == 0), cost: 1
  87: l81 -> l84 : i_108^0'=i_108^post87, __disjvr_7^0'=__disjvr_7^post87, __disjvr_13^0'=__disjvr_13^post87, f_170^0'=f_170^post87, length_29^0'=length_29^post87, __disjvr_25^0'=__disjvr_25^post87, a_330^0'=a_330^post87, __disjvr_20^0'=__disjvr_20^post87, len_183^0'=len_183^post87, __disjvr_37^0'=__disjvr_37^post87, __disjvr_32^0'=__disjvr_32^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, head_223^0'=head_223^post87, r_260^0'=r_260^post87, __disjvr_4^0'=__disjvr_4^post87, __disjvr_10^0'=__disjvr_10^post87, x_20^0'=x_20^post87, __disjvr_41^0'=__disjvr_41^post87, __disjvr_22^0'=__disjvr_22^post87, a_241^0'=a_241^post87, __disjvr_18^0'=__disjvr_18^post87, i_30^0'=i_30^post87, __disjvr_9^0'=__disjvr_9^post87, __disjvr_2^0'=__disjvr_2^post87, rcd_58^0'=rcd_58^post87, head_129^0'=head_129^post87, r_124^0'=r_124^post87, __disjvr_27^0'=__disjvr_27^post87, ct_17^0'=ct_17^post87, temp_35^0'=temp_35^post87, __disjvr_39^0'=__disjvr_39^post87, __disjvr_34^0'=__disjvr_34^post87, t_23^0'=t_23^post87, head_27^0'=head_27^post87, __disjvr_15^0'=__disjvr_15^post87, head_SLAM_f_26^0'=head_SLAM_f_26^post87, __disjvr_6^0'=__disjvr_6^post87, __disjvr_12^0'=__disjvr_12^post87, y_19^0'=y_19^post87, __disjvr_43^0'=__disjvr_43^post87, len_276^0'=len_276^post87, __disjvr_24^0'=__disjvr_24^post87, a_308^0'=a_308^post87, __disjvr_1^0'=__disjvr_1^post87, len_132^0'=len_132^post87, a_147^0'=a_147^post87, __disjvr_31^0'=__disjvr_31^post87, result_11^0'=result_11^post87, head_175^0'=head_175^post87, r_218^0'=r_218^post87, __disjvr_29^0'=__disjvr_29^post87, __disjvr_0^0'=__disjvr_0^post87, x_16^0'=x_16^post87, __disjvr_40^0'=__disjvr_40^post87, __disjvr_36^0'=__disjvr_36^post87, a_210^0'=a_210^post87, __disjvr_17^0'=__disjvr_17^post87, i_167^0'=i_167^post87, __disjvr_8^0'=__disjvr_8^post87, __disjvr_14^0'=__disjvr_14^post87, r_39^0'=r_39^post87, f_263^0'=f_263^post87, nondet_12^0'=nondet_12^post87, __disjvr_26^0'=__disjvr_26^post87, a_353^0'=a_353^post87, __disjvr_21^0'=__disjvr_21^post87, temp0_31^0'=temp0_31^post87, __disjvr_38^0'=__disjvr_38^post87, __disjvr_33^0'=__disjvr_33^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, head_268^0'=head_268^post87, head_32^0'=head_32^post87, __disjvr_5^0'=__disjvr_5^post87, __disjvr_11^0'=__disjvr_11^post87, x_SLAM_f_18^0'=x_SLAM_f_18^post87, __disjvr_42^0'=__disjvr_42^post87, len_226^0'=len_226^post87, __disjvr_23^0'=__disjvr_23^post87, a_277^0'=a_277^post87, __disjvr_19^0'=__disjvr_19^post87, i_94^0'=i_94^post87, a_116^0'=a_116^post87, __disjvr_30^0'=__disjvr_30^post87, rcd_88^0'=rcd_88^post87, head_14^0'=head_14^post87, r_163^0'=r_163^post87, __disjvr_28^0'=__disjvr_28^post87, tmp_34^0'=tmp_34^post87, __disjvr_3^0'=__disjvr_3^post87, __disjvr_35^0'=__disjvr_35^post87, temp0_15^0'=temp0_15^post87, a_184^0'=a_184^post87, __disjvr_16^0'=__disjvr_16^post87, (0 == 0 /\ -x_SLAM_f_18^post87+x_SLAM_f_18^0 == 0 /\ -temp0_31^post87+temp0_31^0 == 0 /\ -r_163^post87+r_163^0 == 0 /\ 1-length_29^0+i_94^post87 <= 0 /\ -r_124^post87+r_124^0 == 0 /\ __disjvr_23^0-__disjvr_23^post87 == 0 /\ head_27^0-head_27^post87 == 0 /\ a_308^0-a_308^post87 == 0 /\ -x_16^post87+x_16^0 == 0 /\ -a_116^post87+a_116^0 == 0 /\ t_23^0-t_23^post87 == 0 /\ __disjvr_32^0-__disjvr_32^post87 == 0 /\ a_241^0-a_241^post87 == 0 /\ -len_226^post87+len_226^0 == 0 /\ __disjvr_22^0-__disjvr_22^post87 == 0 /\ __disjvr_31^0-__disjvr_31^post87 == 0 /\ rcd_58^0-rcd_58^post87 == 0 /\ __disjvr_5^0-__disjvr_5^post87 == 0 /\ -__disjvr_21^post87+__disjvr_21^0 == 0 /\ -len_276^post87+len_276^0 == 0 /\ -head_14^post87+head_14^0 == 0 /\ __disjvr_41^0-__disjvr_41^post87 == 0 /\ -__disjvr_16^post87+__disjvr_16^0 == 0 /\ -__disjvr_40^post87+__disjvr_40^0 == 0 /\ __disjvr_10^0-__disjvr_10^post87 == 0 /\ -a_147^post87+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post87 == 0 /\ __disjvr_11^0-__disjvr_11^post87 == 0 /\ tmp_34^post87-temp_35^0 == 0 /\ len_183^0-len_183^post87 == 0 /\ r_260^0-r_260^post87 == 0 /\ -__disjvr_27^post87+__disjvr_27^0 == 0 /\ 1-i_30^post87+i_94^post87 <= 0 /\ __disjvr_2^0-__disjvr_2^post87 == 0 /\ __disjvr_34^0-__disjvr_34^post87 == 0 /\ head_129^0-head_129^post87 == 0 /\ -1-i_30^0+i_30^post87 == 0 /\ __disjvr_9^0-__disjvr_9^post87 == 0 /\ head_223^0-head_223^post87 == 0 /\ __disjvr_20^0-__disjvr_20^post87 == 0 /\ i_108^0-i_108^post87 == 0 /\ -tmp_34^post87+head_32^post87 == 0 /\ __disjvr_13^0-__disjvr_13^post87 == 0 /\ -__disjvr_24^post87+__disjvr_24^0 == 0 /\ head_268^0-head_268^post87 == 0 /\ -r_39^post87+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post87 == 0 /\ a_330^0-a_330^post87 == 0 /\ __disjvr_42^0-__disjvr_42^post87 == 0 /\ -__disjvr_3^post87+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post87 == 0 /\ __disjvr_25^0-__disjvr_25^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87 == 0 /\ -a_184^post87+a_184^0 == 0 /\ r_218^0-r_218^post87 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post87+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_43^post87+__disjvr_43^0 == 0 /\ -__disjvr_38^post87+__disjvr_38^0 == 0 /\ -__disjvr_14^post87+__disjvr_14^0 == 0 /\ -__disjvr_26^post87+__disjvr_26^0 == 0 /\ -__disjvr_1^post87+__disjvr_1^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -a_277^post87+a_277^0 == 0 /\ -i_167^post87+i_167^0 == 0 /\ a_210^0-a_210^post87 == 0 /\ -__disjvr_35^post87+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post87 == 0 /\ -i_30^0 <= 0 /\ -temp0_15^post87+temp0_15^0 == 0 /\ ct_17^0-ct_17^post87 == 0 /\ -__disjvr_30^post87+__disjvr_30^0 == 0 /\ -__disjvr_8^post87+__disjvr_8^0 == 0 /\ -f_263^post87+f_263^0 == 0 /\ __disjvr_7^0-__disjvr_7^post87 == 0 /\ f_170^0-f_170^post87 == 0 /\ y_19^0-y_19^post87 == 0 /\ len_132^0-len_132^post87 == 0 /\ __disjvr_39^0-__disjvr_39^post87 == 0 /\ -__disjvr_33^post87+__disjvr_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post87 == 0 /\ -nondet_12^post87+nondet_12^0 == 0 /\ -a_353^post87+a_353^0 == 0 /\ -1+i_30^post87-i_94^post87 <= 0 /\ __disjvr_18^0-__disjvr_18^post87 == 0 /\ -__disjvr_36^post87+__disjvr_36^0 == 0 /\ -__disjvr_28^post87+__disjvr_28^0 == 0 /\ length_29^0-length_29^post87 == 0 /\ -__disjvr_19^post87+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post87 == 0 /\ -head_175^post87+head_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post87 == 0 /\ result_11^0-result_11^post87 == 0 /\ __disjvr_15^0-__disjvr_15^post87 == 0 /\ -x_20^post87+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post87 == 0), cost: 1
  85: l82 -> l83 : i_108^0'=i_108^post85, __disjvr_7^0'=__disjvr_7^post85, __disjvr_13^0'=__disjvr_13^post85, f_170^0'=f_170^post85, length_29^0'=length_29^post85, __disjvr_25^0'=__disjvr_25^post85, a_330^0'=a_330^post85, __disjvr_20^0'=__disjvr_20^post85, len_183^0'=len_183^post85, __disjvr_37^0'=__disjvr_37^post85, __disjvr_32^0'=__disjvr_32^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, head_223^0'=head_223^post85, r_260^0'=r_260^post85, __disjvr_4^0'=__disjvr_4^post85, __disjvr_10^0'=__disjvr_10^post85, x_20^0'=x_20^post85, __disjvr_41^0'=__disjvr_41^post85, __disjvr_22^0'=__disjvr_22^post85, a_241^0'=a_241^post85, __disjvr_18^0'=__disjvr_18^post85, i_30^0'=i_30^post85, __disjvr_9^0'=__disjvr_9^post85, __disjvr_2^0'=__disjvr_2^post85, rcd_58^0'=rcd_58^post85, head_129^0'=head_129^post85, r_124^0'=r_124^post85, __disjvr_27^0'=__disjvr_27^post85, ct_17^0'=ct_17^post85, temp_35^0'=temp_35^post85, __disjvr_39^0'=__disjvr_39^post85, __disjvr_34^0'=__disjvr_34^post85, t_23^0'=t_23^post85, head_27^0'=head_27^post85, __disjvr_15^0'=__disjvr_15^post85, head_SLAM_f_26^0'=head_SLAM_f_26^post85, __disjvr_6^0'=__disjvr_6^post85, __disjvr_12^0'=__disjvr_12^post85, y_19^0'=y_19^post85, __disjvr_43^0'=__disjvr_43^post85, len_276^0'=len_276^post85, __disjvr_24^0'=__disjvr_24^post85, a_308^0'=a_308^post85, __disjvr_1^0'=__disjvr_1^post85, len_132^0'=len_132^post85, a_147^0'=a_147^post85, __disjvr_31^0'=__disjvr_31^post85, result_11^0'=result_11^post85, head_175^0'=head_175^post85, r_218^0'=r_218^post85, __disjvr_29^0'=__disjvr_29^post85, __disjvr_0^0'=__disjvr_0^post85, x_16^0'=x_16^post85, __disjvr_40^0'=__disjvr_40^post85, __disjvr_36^0'=__disjvr_36^post85, a_210^0'=a_210^post85, __disjvr_17^0'=__disjvr_17^post85, i_167^0'=i_167^post85, __disjvr_8^0'=__disjvr_8^post85, __disjvr_14^0'=__disjvr_14^post85, r_39^0'=r_39^post85, f_263^0'=f_263^post85, nondet_12^0'=nondet_12^post85, __disjvr_26^0'=__disjvr_26^post85, a_353^0'=a_353^post85, __disjvr_21^0'=__disjvr_21^post85, temp0_31^0'=temp0_31^post85, __disjvr_38^0'=__disjvr_38^post85, __disjvr_33^0'=__disjvr_33^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, head_268^0'=head_268^post85, head_32^0'=head_32^post85, __disjvr_5^0'=__disjvr_5^post85, __disjvr_11^0'=__disjvr_11^post85, x_SLAM_f_18^0'=x_SLAM_f_18^post85, __disjvr_42^0'=__disjvr_42^post85, len_226^0'=len_226^post85, __disjvr_23^0'=__disjvr_23^post85, a_277^0'=a_277^post85, __disjvr_19^0'=__disjvr_19^post85, i_94^0'=i_94^post85, a_116^0'=a_116^post85, __disjvr_30^0'=__disjvr_30^post85, rcd_88^0'=rcd_88^post85, head_14^0'=head_14^post85, r_163^0'=r_163^post85, __disjvr_28^0'=__disjvr_28^post85, tmp_34^0'=tmp_34^post85, __disjvr_3^0'=__disjvr_3^post85, __disjvr_35^0'=__disjvr_35^post85, temp0_15^0'=temp0_15^post85, a_184^0'=a_184^post85, __disjvr_16^0'=__disjvr_16^post85, (__disjvr_32^0-__disjvr_32^post85 == 0 /\ head_27^0-head_27^post85 == 0 /\ __disjvr_13^0-__disjvr_13^post85 == 0 /\ head_175^0-head_175^post85 == 0 /\ -__disjvr_22^post85+__disjvr_22^0 == 0 /\ -__disjvr_16^post85+__disjvr_16^0 == 0 /\ x_16^0-x_16^post85 == 0 /\ -__disjvr_21^post85+__disjvr_21^0 == 0 /\ -__disjvr_31^post85+__disjvr_31^0 == 0 /\ -__disjvr_33^post85+__disjvr_33^0 == 0 /\ __disjvr_34^0-__disjvr_34^post85 == 0 /\ __disjvr_37^0-__disjvr_37^post85 == 0 /\ __disjvr_25^0-__disjvr_25^post85 == 0 /\ -__disjvr_39^post85+__disjvr_39^0 == 0 /\ head_32^0-head_32^post85 == 0 /\ -__disjvr_36^post85+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post85 == 0 /\ temp_35^0-temp_35^post85 == 0 /\ x_20^0-x_20^post85 == 0 /\ -__disjvr_23^post85+__disjvr_23^0 == 0 /\ __disjvr_1^0-__disjvr_1^post85 == 0 /\ __disjvr_15^0-__disjvr_15^post85 == 0 /\ -r_163^post85+r_163^0 == 0 /\ -__disjvr_29^post85+__disjvr_29^0 == 0 /\ -a_308^post85+a_308^0 == 0 /\ -len_226^post85+len_226^0 == 0 /\ head_129^0-head_129^post85 == 0 /\ __disjvr_2^0-__disjvr_2^post85 == 0 /\ -len_132^post85+len_132^0 == 0 /\ r_218^0-r_218^post85 == 0 /\ len_276^0-len_276^post85 == 0 /\ len_183^0-len_183^post85 == 0 /\ -x_SLAM_f_18^post85+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post85+__disjvr_30^0 == 0 /\ -a_210^post85+a_210^0 == 0 /\ -__disjvr_35^post85+__disjvr_35^0 == 0 /\ -__disjvr_38^post85+__disjvr_38^0 == 0 /\ __disjvr_39^post85-__disjvr_39^0 == 0 /\ -tmp_34^post85+tmp_34^0 == 0 /\ -a_116^post85+a_116^0 == 0 /\ i_108^0-i_108^post85 == 0 /\ -__disjvr_5^post85+__disjvr_5^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post85 == 0 /\ r_260^0-r_260^post85 == 0 /\ -a_184^post85+a_184^0 == 0 /\ a_330^0-a_330^post85 == 0 /\ i_167^0-i_167^post85 == 0 /\ __disjvr_14^0-__disjvr_14^post85 == 0 /\ -__disjvr_10^post85+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post85 == 0 /\ -i_94^post85+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ -__disjvr_11^post85+__disjvr_11^0 == 0 /\ head_223^0-head_223^post85 == 0 /\ r_124^0-r_124^post85 == 0 /\ -y_19^post85+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -f_263^post85+f_263^0 == 0 /\ __disjvr_18^0-__disjvr_18^post85 == 0 /\ rcd_58^0-rcd_58^post85 == 0 /\ __disjvr_27^0-__disjvr_27^post85 == 0 /\ __disjvr_24^0-__disjvr_24^post85 == 0 /\ -__disjvr_3^post85+__disjvr_3^0 == 0 /\ -temp0_15^post85+temp0_15^0 == 0 /\ a_147^0-a_147^post85 == 0 /\ -head_268^post85+head_268^0 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ -a_353^post85+a_353^0 == 0 /\ __disjvr_20^0-__disjvr_20^post85 == 0 /\ -head_14^post85+head_14^0 == 0 /\ -__disjvr_17^post85+__disjvr_17^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ i_30^0-i_30^post85 == 0 /\ -__disjvr_19^post85+__disjvr_19^0 == 0 /\ t_23^0-t_23^post85 == 0 /\ __disjvr_7^0-__disjvr_7^post85 == 0 /\ __disjvr_6^0-__disjvr_6^post85 == 0 /\ -f_170^post85+f_170^0 == 0 /\ a_241^0-a_241^post85 == 0 /\ __disjvr_26^0-__disjvr_26^post85 == 0 /\ -__disjvr_4^post85+__disjvr_4^0 == 0 /\ -__disjvr_9^post85+__disjvr_9^0 == 0 /\ r_39^0-r_39^post85 == 0 /\ -__disjvr_0^post85+__disjvr_0^0 == 0 /\ __disjvr_43^0-__disjvr_43^post85 == 0 /\ -ct_17^post85+ct_17^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ __disjvr_40^0-__disjvr_40^post85 == 0 /\ -__disjvr_42^post85+__disjvr_42^0 == 0 /\ -__disjvr_8^post85+__disjvr_8^0 == 0 /\ -__disjvr_28^post85+__disjvr_28^0 == 0 /\ temp0_31^0-temp0_31^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ -a_277^post85+a_277^0 == 0), cost: 1
  86: l83 -> l36 : i_108^0'=i_108^post86, __disjvr_7^0'=__disjvr_7^post86, __disjvr_13^0'=__disjvr_13^post86, f_170^0'=f_170^post86, length_29^0'=length_29^post86, __disjvr_25^0'=__disjvr_25^post86, a_330^0'=a_330^post86, __disjvr_20^0'=__disjvr_20^post86, len_183^0'=len_183^post86, __disjvr_37^0'=__disjvr_37^post86, __disjvr_32^0'=__disjvr_32^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, head_223^0'=head_223^post86, r_260^0'=r_260^post86, __disjvr_4^0'=__disjvr_4^post86, __disjvr_10^0'=__disjvr_10^post86, x_20^0'=x_20^post86, __disjvr_41^0'=__disjvr_41^post86, __disjvr_22^0'=__disjvr_22^post86, a_241^0'=a_241^post86, __disjvr_18^0'=__disjvr_18^post86, i_30^0'=i_30^post86, __disjvr_9^0'=__disjvr_9^post86, __disjvr_2^0'=__disjvr_2^post86, rcd_58^0'=rcd_58^post86, head_129^0'=head_129^post86, r_124^0'=r_124^post86, __disjvr_27^0'=__disjvr_27^post86, ct_17^0'=ct_17^post86, temp_35^0'=temp_35^post86, __disjvr_39^0'=__disjvr_39^post86, __disjvr_34^0'=__disjvr_34^post86, t_23^0'=t_23^post86, head_27^0'=head_27^post86, __disjvr_15^0'=__disjvr_15^post86, head_SLAM_f_26^0'=head_SLAM_f_26^post86, __disjvr_6^0'=__disjvr_6^post86, __disjvr_12^0'=__disjvr_12^post86, y_19^0'=y_19^post86, __disjvr_43^0'=__disjvr_43^post86, len_276^0'=len_276^post86, __disjvr_24^0'=__disjvr_24^post86, a_308^0'=a_308^post86, __disjvr_1^0'=__disjvr_1^post86, len_132^0'=len_132^post86, a_147^0'=a_147^post86, __disjvr_31^0'=__disjvr_31^post86, result_11^0'=result_11^post86, head_175^0'=head_175^post86, r_218^0'=r_218^post86, __disjvr_29^0'=__disjvr_29^post86, __disjvr_0^0'=__disjvr_0^post86, x_16^0'=x_16^post86, __disjvr_40^0'=__disjvr_40^post86, __disjvr_36^0'=__disjvr_36^post86, a_210^0'=a_210^post86, __disjvr_17^0'=__disjvr_17^post86, i_167^0'=i_167^post86, __disjvr_8^0'=__disjvr_8^post86, __disjvr_14^0'=__disjvr_14^post86, r_39^0'=r_39^post86, f_263^0'=f_263^post86, nondet_12^0'=nondet_12^post86, __disjvr_26^0'=__disjvr_26^post86, a_353^0'=a_353^post86, __disjvr_21^0'=__disjvr_21^post86, temp0_31^0'=temp0_31^post86, __disjvr_38^0'=__disjvr_38^post86, __disjvr_33^0'=__disjvr_33^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, head_268^0'=head_268^post86, head_32^0'=head_32^post86, __disjvr_5^0'=__disjvr_5^post86, __disjvr_11^0'=__disjvr_11^post86, x_SLAM_f_18^0'=x_SLAM_f_18^post86, __disjvr_42^0'=__disjvr_42^post86, len_226^0'=len_226^post86, __disjvr_23^0'=__disjvr_23^post86, a_277^0'=a_277^post86, __disjvr_19^0'=__disjvr_19^post86, i_94^0'=i_94^post86, a_116^0'=a_116^post86, __disjvr_30^0'=__disjvr_30^post86, rcd_88^0'=rcd_88^post86, head_14^0'=head_14^post86, r_163^0'=r_163^post86, __disjvr_28^0'=__disjvr_28^post86, tmp_34^0'=tmp_34^post86, __disjvr_3^0'=__disjvr_3^post86, __disjvr_35^0'=__disjvr_35^post86, temp0_15^0'=temp0_15^post86, a_184^0'=a_184^post86, __disjvr_16^0'=__disjvr_16^post86, (r_218^0-r_218^post86 == 0 /\ r_260^0-r_260^post86 == 0 /\ -a_116^post86+a_116^0 == 0 /\ -a_184^post86+a_184^0 == 0 /\ len_226^0-len_226^post86 == 0 /\ __disjvr_39^0-__disjvr_39^post86 == 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ -i_94^post86+i_94^0 == 0 /\ head_129^0-head_129^post86 == 0 /\ __disjvr_20^0-__disjvr_20^post86 == 0 /\ a_210^0-a_210^post86 == 0 /\ -__disjvr_16^post86+__disjvr_16^0 == 0 /\ a_147^0-a_147^post86 == 0 /\ i_108^0-i_108^post86 == 0 /\ -head_14^post86+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post86 == 0 /\ __disjvr_24^0-__disjvr_24^post86 == 0 /\ rcd_58^0-rcd_58^post86 == 0 /\ -a_308^post86+a_308^0 == 0 /\ -__disjvr_26^post86+__disjvr_26^0 == 0 /\ -x_SLAM_f_18^post86+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post86 == 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ ct_17^0-ct_17^post86 == 0 /\ -__disjvr_14^post86+__disjvr_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86 == 0 /\ head_223^0-head_223^post86 == 0 /\ x_16^0-x_16^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ -temp_35^post86+temp_35^0 == 0 /\ r_124^0-r_124^post86 == 0 /\ result_11^0-result_11^post86 == 0 /\ -__disjvr_2^post86+__disjvr_2^0 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post86+__disjvr_8^0 == 0 /\ head_27^0-head_27^post86 == 0 /\ __disjvr_32^0-__disjvr_32^post86 == 0 /\ -__disjvr_42^post86+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post86 == 0 /\ a_241^0-a_241^post86 == 0 /\ -__disjvr_28^post86+__disjvr_28^0 == 0 /\ f_170^0-f_170^post86 == 0 /\ f_263^0-f_263^post86 == 0 /\ r_39^0-r_39^post86 == 0 /\ -i_30^post86+i_30^0 == 0 /\ -__disjvr_31^post86+__disjvr_31^0 == 0 /\ -y_19^post86+y_19^0 == 0 /\ -__disjvr_17^post86+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post86 == 0 /\ -__disjvr_11^post86+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post86 == 0 /\ -__disjvr_3^post86+__disjvr_3^0 == 0 /\ __disjvr_12^0-__disjvr_12^post86 == 0 /\ -r_163^post86+r_163^0 == 0 /\ len_183^0-len_183^post86 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post86+__disjvr_35^0 == 0 /\ -__disjvr_34^post86+__disjvr_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post86 == 0 /\ a_330^0-a_330^post86 == 0 /\ -__disjvr_40^post86+__disjvr_40^0 == 0 /\ -__disjvr_21^post86+__disjvr_21^0 == 0 /\ -a_277^post86+a_277^0 == 0 /\ -head_32^post86+head_32^0 == 0 /\ -i_167^post86+i_167^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ -__disjvr_38^post86+__disjvr_38^0 == 0 /\ -__disjvr_29^post86+__disjvr_29^0 == 0 /\ len_132^0-len_132^post86 == 0 /\ -head_268^post86+head_268^0 == 0 /\ __disjvr_9^0-__disjvr_9^post86 == 0 /\ __disjvr_6^0-__disjvr_6^post86 == 0 /\ -__disjvr_22^post86+__disjvr_22^0 == 0 /\ -len_276^post86+len_276^0 == 0 /\ -__disjvr_33^post86+__disjvr_33^0 == 0 /\ -__disjvr_23^post86+__disjvr_23^0 == 0 /\ __disjvr_43^0-__disjvr_43^post86 == 0 /\ -rcd_88^post86+rcd_88^0 == 0 /\ -__disjvr_5^post86+__disjvr_5^0 == 0 /\ -__disjvr_36^post86+__disjvr_36^0 == 0 /\ head_175^0-head_175^post86 == 0 /\ __disjvr_18^0-__disjvr_18^post86 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_30^post86+__disjvr_30^0 == 0 /\ -temp0_15^post86+temp0_15^0 == 0 /\ x_20^0-x_20^post86 == 0 /\ __disjvr_37^0-__disjvr_37^post86 == 0 /\ nondet_12^0-nondet_12^post86 == 0 /\ -a_353^post86+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -__disjvr_0^post86+__disjvr_0^0 == 0 /\ __disjvr_15^0-__disjvr_15^post86 == 0 /\ __disjvr_10^0-__disjvr_10^post86 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_41^post86+__disjvr_41^0 == 0 /\ __disjvr_13^0-__disjvr_13^post86 == 0 /\ __disjvr_4^0-__disjvr_4^post86 == 0), cost: 1
  88: l84 -> l81 : i_108^0'=i_108^post88, __disjvr_7^0'=__disjvr_7^post88, __disjvr_13^0'=__disjvr_13^post88, f_170^0'=f_170^post88, length_29^0'=length_29^post88, __disjvr_25^0'=__disjvr_25^post88, a_330^0'=a_330^post88, __disjvr_20^0'=__disjvr_20^post88, len_183^0'=len_183^post88, __disjvr_37^0'=__disjvr_37^post88, __disjvr_32^0'=__disjvr_32^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, head_223^0'=head_223^post88, r_260^0'=r_260^post88, __disjvr_4^0'=__disjvr_4^post88, __disjvr_10^0'=__disjvr_10^post88, x_20^0'=x_20^post88, __disjvr_41^0'=__disjvr_41^post88, __disjvr_22^0'=__disjvr_22^post88, a_241^0'=a_241^post88, __disjvr_18^0'=__disjvr_18^post88, i_30^0'=i_30^post88, __disjvr_9^0'=__disjvr_9^post88, __disjvr_2^0'=__disjvr_2^post88, rcd_58^0'=rcd_58^post88, head_129^0'=head_129^post88, r_124^0'=r_124^post88, __disjvr_27^0'=__disjvr_27^post88, ct_17^0'=ct_17^post88, temp_35^0'=temp_35^post88, __disjvr_39^0'=__disjvr_39^post88, __disjvr_34^0'=__disjvr_34^post88, t_23^0'=t_23^post88, head_27^0'=head_27^post88, __disjvr_15^0'=__disjvr_15^post88, head_SLAM_f_26^0'=head_SLAM_f_26^post88, __disjvr_6^0'=__disjvr_6^post88, __disjvr_12^0'=__disjvr_12^post88, y_19^0'=y_19^post88, __disjvr_43^0'=__disjvr_43^post88, len_276^0'=len_276^post88, __disjvr_24^0'=__disjvr_24^post88, a_308^0'=a_308^post88, __disjvr_1^0'=__disjvr_1^post88, len_132^0'=len_132^post88, a_147^0'=a_147^post88, __disjvr_31^0'=__disjvr_31^post88, result_11^0'=result_11^post88, head_175^0'=head_175^post88, r_218^0'=r_218^post88, __disjvr_29^0'=__disjvr_29^post88, __disjvr_0^0'=__disjvr_0^post88, x_16^0'=x_16^post88, __disjvr_40^0'=__disjvr_40^post88, __disjvr_36^0'=__disjvr_36^post88, a_210^0'=a_210^post88, __disjvr_17^0'=__disjvr_17^post88, i_167^0'=i_167^post88, __disjvr_8^0'=__disjvr_8^post88, __disjvr_14^0'=__disjvr_14^post88, r_39^0'=r_39^post88, f_263^0'=f_263^post88, nondet_12^0'=nondet_12^post88, __disjvr_26^0'=__disjvr_26^post88, a_353^0'=a_353^post88, __disjvr_21^0'=__disjvr_21^post88, temp0_31^0'=temp0_31^post88, __disjvr_38^0'=__disjvr_38^post88, __disjvr_33^0'=__disjvr_33^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, head_268^0'=head_268^post88, head_32^0'=head_32^post88, __disjvr_5^0'=__disjvr_5^post88, __disjvr_11^0'=__disjvr_11^post88, x_SLAM_f_18^0'=x_SLAM_f_18^post88, __disjvr_42^0'=__disjvr_42^post88, len_226^0'=len_226^post88, __disjvr_23^0'=__disjvr_23^post88, a_277^0'=a_277^post88, __disjvr_19^0'=__disjvr_19^post88, i_94^0'=i_94^post88, a_116^0'=a_116^post88, __disjvr_30^0'=__disjvr_30^post88, rcd_88^0'=rcd_88^post88, head_14^0'=head_14^post88, r_163^0'=r_163^post88, __disjvr_28^0'=__disjvr_28^post88, tmp_34^0'=tmp_34^post88, __disjvr_3^0'=__disjvr_3^post88, __disjvr_35^0'=__disjvr_35^post88, temp0_15^0'=temp0_15^post88, a_184^0'=a_184^post88, __disjvr_16^0'=__disjvr_16^post88, (-__disjvr_38^post88+__disjvr_38^0 == 0 /\ f_170^0-f_170^post88 == 0 /\ -__disjvr_26^post88+__disjvr_26^0 == 0 /\ i_167^0-i_167^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post88+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post88 == 0 /\ i_30^0-i_30^post88 == 0 /\ __disjvr_37^0-__disjvr_37^post88 == 0 /\ __disjvr_20^0-__disjvr_20^post88 == 0 /\ y_19^0-y_19^post88 == 0 /\ -__disjvr_35^post88+__disjvr_35^0 == 0 /\ -head_268^post88+head_268^0 == 0 /\ -r_163^post88+r_163^0 == 0 /\ -rcd_88^post88+rcd_88^0 == 0 /\ ct_17^0-ct_17^post88 == 0 /\ -__disjvr_1^post88+__disjvr_1^0 == 0 /\ a_353^0-a_353^post88 == 0 /\ -head_27^post88+head_27^0 == 0 /\ -i_94^post88+i_94^0 == 0 /\ -__disjvr_5^post88+__disjvr_5^0 == 0 /\ -__disjvr_28^post88+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post88+head_SLAM_f_26^0 == 0 /\ -result_11^post88+result_11^0 == 0 /\ -temp0_15^post88+temp0_15^0 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -f_263^post88+f_263^0 == 0 /\ -__disjvr_42^post88+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post88 == 0 /\ __disjvr_10^0-__disjvr_10^post88 == 0 /\ -a_147^post88+a_147^0 == 0 /\ -__disjvr_19^post88+__disjvr_19^0 == 0 /\ -head_129^post88+head_129^0 == 0 /\ __disjvr_32^0-__disjvr_32^post88 == 0 /\ temp_35^0-temp_35^post88 == 0 /\ t_23^0-t_23^post88 == 0 /\ __disjvr_40^0-__disjvr_40^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ __disjvr_8^0-__disjvr_8^post88 == 0 /\ __disjvr_15^0-__disjvr_15^post88 == 0 /\ -a_277^post88+a_277^0 == 0 /\ -__disjvr_36^post88+__disjvr_36^0 == 0 /\ r_124^0-r_124^post88 == 0 /\ -__disjvr_12^post88+__disjvr_12^0 == 0 /\ x_20^0-x_20^post88 == 0 /\ -head_32^post88+head_32^0 == 0 /\ -a_116^post88+a_116^0 == 0 /\ __disjvr_7^0-__disjvr_7^post88 == 0 /\ -__disjvr_24^post88+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post88 == 0 /\ -a_184^post88+a_184^0 == 0 /\ __disjvr_31^0-__disjvr_31^post88 == 0 /\ -temp0_31^post88+temp0_31^0 == 0 /\ -x_16^post88+x_16^0 == 0 /\ -a_210^post88+a_210^0 == 0 /\ a_308^0-a_308^post88 == 0 /\ -__disjvr_16^post88+__disjvr_16^0 == 0 /\ -__disjvr_23^post88+__disjvr_23^0 == 0 /\ -head_14^post88+head_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post88 == 0 /\ __disjvr_13^0-__disjvr_13^post88 == 0 /\ -len_183^post88+len_183^0 == 0 /\ __disjvr_4^0-__disjvr_4^post88 == 0 /\ __disjvr_29^0-__disjvr_29^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ -x_SLAM_f_18^post88+x_SLAM_f_18^0 == 0 /\ __disjvr_3^0-__disjvr_3^post88 == 0 /\ -__disjvr_0^post88+__disjvr_0^0 == 0 /\ a_330^0-a_330^post88 == 0 /\ r_260^0-r_260^post88 == 0 /\ __disjvr_14^0-__disjvr_14^post88 == 0 /\ __disjvr_34^0-__disjvr_34^post88 == 0 /\ __disjvr_21^0-__disjvr_21^post88 == 0 /\ -head_175^post88+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post88 == 0 /\ -__disjvr_18^post88+__disjvr_18^0 == 0 /\ __disjvr_30^0-__disjvr_30^post88 == 0 /\ head_223^0-head_223^post88 == 0 /\ i_108^0-i_108^post88 == 0 /\ __disjvr_9^0-__disjvr_9^post88 == 0 /\ -a_241^post88+a_241^0 == 0 /\ __disjvr_22^0-__disjvr_22^post88 == 0 /\ -__disjvr_43^post88+__disjvr_43^0 == 0 /\ -__disjvr_6^post88+__disjvr_6^0 == 0 /\ __disjvr_41^0-__disjvr_41^post88 == 0 /\ -__disjvr_11^post88+__disjvr_11^0 == 0 /\ -len_226^post88+len_226^0 == 0 /\ -r_218^post88+r_218^0 == 0 /\ rcd_58^0-rcd_58^post88 == 0 /\ len_276^0-len_276^post88 == 0 /\ __disjvr_27^0-__disjvr_27^post88 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88 == 0 /\ -len_132^post88+len_132^0 == 0 /\ -r_39^post88+r_39^0 == 0), cost: 1
  92: l85 -> l86 : i_108^0'=i_108^post92, __disjvr_7^0'=__disjvr_7^post92, __disjvr_13^0'=__disjvr_13^post92, f_170^0'=f_170^post92, length_29^0'=length_29^post92, __disjvr_25^0'=__disjvr_25^post92, a_330^0'=a_330^post92, __disjvr_20^0'=__disjvr_20^post92, len_183^0'=len_183^post92, __disjvr_37^0'=__disjvr_37^post92, __disjvr_32^0'=__disjvr_32^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, head_223^0'=head_223^post92, r_260^0'=r_260^post92, __disjvr_4^0'=__disjvr_4^post92, __disjvr_10^0'=__disjvr_10^post92, x_20^0'=x_20^post92, __disjvr_41^0'=__disjvr_41^post92, __disjvr_22^0'=__disjvr_22^post92, a_241^0'=a_241^post92, __disjvr_18^0'=__disjvr_18^post92, i_30^0'=i_30^post92, __disjvr_9^0'=__disjvr_9^post92, __disjvr_2^0'=__disjvr_2^post92, rcd_58^0'=rcd_58^post92, head_129^0'=head_129^post92, r_124^0'=r_124^post92, __disjvr_27^0'=__disjvr_27^post92, ct_17^0'=ct_17^post92, temp_35^0'=temp_35^post92, __disjvr_39^0'=__disjvr_39^post92, __disjvr_34^0'=__disjvr_34^post92, t_23^0'=t_23^post92, head_27^0'=head_27^post92, __disjvr_15^0'=__disjvr_15^post92, head_SLAM_f_26^0'=head_SLAM_f_26^post92, __disjvr_6^0'=__disjvr_6^post92, __disjvr_12^0'=__disjvr_12^post92, y_19^0'=y_19^post92, __disjvr_43^0'=__disjvr_43^post92, len_276^0'=len_276^post92, __disjvr_24^0'=__disjvr_24^post92, a_308^0'=a_308^post92, __disjvr_1^0'=__disjvr_1^post92, len_132^0'=len_132^post92, a_147^0'=a_147^post92, __disjvr_31^0'=__disjvr_31^post92, result_11^0'=result_11^post92, head_175^0'=head_175^post92, r_218^0'=r_218^post92, __disjvr_29^0'=__disjvr_29^post92, __disjvr_0^0'=__disjvr_0^post92, x_16^0'=x_16^post92, __disjvr_40^0'=__disjvr_40^post92, __disjvr_36^0'=__disjvr_36^post92, a_210^0'=a_210^post92, __disjvr_17^0'=__disjvr_17^post92, i_167^0'=i_167^post92, __disjvr_8^0'=__disjvr_8^post92, __disjvr_14^0'=__disjvr_14^post92, r_39^0'=r_39^post92, f_263^0'=f_263^post92, nondet_12^0'=nondet_12^post92, __disjvr_26^0'=__disjvr_26^post92, a_353^0'=a_353^post92, __disjvr_21^0'=__disjvr_21^post92, temp0_31^0'=temp0_31^post92, __disjvr_38^0'=__disjvr_38^post92, __disjvr_33^0'=__disjvr_33^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, head_268^0'=head_268^post92, head_32^0'=head_32^post92, __disjvr_5^0'=__disjvr_5^post92, __disjvr_11^0'=__disjvr_11^post92, x_SLAM_f_18^0'=x_SLAM_f_18^post92, __disjvr_42^0'=__disjvr_42^post92, len_226^0'=len_226^post92, __disjvr_23^0'=__disjvr_23^post92, a_277^0'=a_277^post92, __disjvr_19^0'=__disjvr_19^post92, i_94^0'=i_94^post92, a_116^0'=a_116^post92, __disjvr_30^0'=__disjvr_30^post92, rcd_88^0'=rcd_88^post92, head_14^0'=head_14^post92, r_163^0'=r_163^post92, __disjvr_28^0'=__disjvr_28^post92, tmp_34^0'=tmp_34^post92, __disjvr_3^0'=__disjvr_3^post92, __disjvr_35^0'=__disjvr_35^post92, temp0_15^0'=temp0_15^post92, a_184^0'=a_184^post92, __disjvr_16^0'=__disjvr_16^post92, (a_277^0-a_277^post92 == 0 /\ head_268^0-head_268^post92 == 0 /\ -__disjvr_40^0+__disjvr_40^post92 == 0 /\ -a_147^post92+a_147^0 == 0 /\ __disjvr_34^0-__disjvr_34^post92 == 0 /\ -head_129^post92+head_129^0 == 0 /\ -head_SLAM_f_26^post92+head_SLAM_f_26^0 == 0 /\ -__disjvr_23^post92+__disjvr_23^0 == 0 /\ -__disjvr_18^post92+__disjvr_18^0 == 0 /\ __disjvr_13^0-__disjvr_13^post92 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ -__disjvr_3^post92+__disjvr_3^0 == 0 /\ -__disjvr_17^post92+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post92 == 0 /\ r_124^0-r_124^post92 == 0 /\ -r_39^post92+r_39^0 == 0 /\ __disjvr_21^0-__disjvr_21^post92 == 0 /\ __disjvr_40^0-__disjvr_40^post92 == 0 /\ __disjvr_8^0-__disjvr_8^post92 == 0 /\ -__disjvr_31^post92+__disjvr_31^0 == 0 /\ -__disjvr_6^post92+__disjvr_6^0 == 0 /\ -__disjvr_43^post92+__disjvr_43^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post92+a_116^0 == 0 /\ -ct_17^post92+ct_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post92 == 0 /\ -a_210^post92+a_210^0 == 0 /\ -__disjvr_35^post92+__disjvr_35^0 == 0 /\ -x_16^post92+x_16^0 == 0 /\ -len_226^post92+len_226^0 == 0 /\ -__disjvr_24^post92+__disjvr_24^0 == 0 /\ head_175^0-head_175^post92 == 0 /\ -x_SLAM_f_18^post92+x_SLAM_f_18^0 == 0 /\ -rcd_88^post92+rcd_88^0 == 0 /\ i_30^0-i_30^post92 == 0 /\ x_20^0-x_20^post92 == 0 /\ -head_32^post92+head_32^0 == 0 /\ -i_167^post92+i_167^0 == 0 /\ -__disjvr_16^post92+__disjvr_16^0 == 0 /\ -__disjvr_5^post92+__disjvr_5^0 == 0 /\ y_19^0-y_19^post92 == 0 /\ length_29^0-length_29^post92 == 0 /\ -__disjvr_30^post92+__disjvr_30^0 == 0 /\ -__disjvr_39^post92+__disjvr_39^0 == 0 /\ -temp0_15^post92+temp0_15^0 == 0 /\ __disjvr_15^0-__disjvr_15^post92 == 0 /\ t_23^0-t_23^post92 == 0 /\ -result_11^post92+result_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post92 == 0 /\ -f_263^post92+f_263^0 == 0 /\ __disjvr_0^0-__disjvr_0^post92 == 0 /\ __disjvr_33^0-__disjvr_33^post92 == 0 /\ __disjvr_4^0-__disjvr_4^post92 == 0 /\ -a_308^post92+a_308^0 == 0 /\ -__disjvr_42^post92+__disjvr_42^0 == 0 /\ r_260^0-r_260^post92 == 0 /\ -__disjvr_36^post92+__disjvr_36^0 == 0 /\ -__disjvr_19^post92+__disjvr_19^0 == 0 /\ -__disjvr_11^post92+__disjvr_11^0 == 0 /\ -len_132^post92+len_132^0 == 0 /\ __disjvr_20^0-__disjvr_20^post92 == 0 /\ __disjvr_32^0-__disjvr_32^post92 == 0 /\ a_241^0-a_241^post92 == 0 /\ __disjvr_2^0-__disjvr_2^post92 == 0 /\ -temp0_31^post92+temp0_31^0 == 0 /\ i_108^0-i_108^post92 == 0 /\ -__disjvr_26^post92+__disjvr_26^0 == 0 /\ r_163^0-r_163^post92 == 0 /\ rcd_58^0-rcd_58^post92 == 0 /\ -a_184^post92+a_184^0 == 0 /\ -tmp_34^post92+tmp_34^0 == 0 /\ -__disjvr_29^post92+__disjvr_29^0 == 0 /\ a_353^0-a_353^post92 == 0 /\ __disjvr_1^0-__disjvr_1^post92 == 0 /\ __disjvr_28^0-__disjvr_28^post92 == 0 /\ -r_218^post92+r_218^0 == 0 /\ -head_27^post92+head_27^0 == 0 /\ -i_94^post92+i_94^0 == 0 /\ __disjvr_27^0-__disjvr_27^post92 == 0 /\ __disjvr_12^0-__disjvr_12^post92 == 0 /\ len_276^0-len_276^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ -len_183^post92+len_183^0 == 0 /\ -head_14^post92+head_14^0 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ a_330^0-a_330^post92 == 0 /\ __disjvr_25^0-__disjvr_25^post92 == 0 /\ __disjvr_14^0-__disjvr_14^post92 == 0 /\ f_170^0-f_170^post92 == 0 /\ __disjvr_37^0-__disjvr_37^post92 == 0 /\ __disjvr_38^0-__disjvr_38^post92 == 0 /\ __disjvr_9^0-__disjvr_9^post92 == 0 /\ __disjvr_22^0-__disjvr_22^post92 == 0 /\ head_223^0-head_223^post92 == 0), cost: 1
  93: l86 -> l1 : i_108^0'=i_108^post93, __disjvr_7^0'=__disjvr_7^post93, __disjvr_13^0'=__disjvr_13^post93, f_170^0'=f_170^post93, length_29^0'=length_29^post93, __disjvr_25^0'=__disjvr_25^post93, a_330^0'=a_330^post93, __disjvr_20^0'=__disjvr_20^post93, len_183^0'=len_183^post93, __disjvr_37^0'=__disjvr_37^post93, __disjvr_32^0'=__disjvr_32^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, head_223^0'=head_223^post93, r_260^0'=r_260^post93, __disjvr_4^0'=__disjvr_4^post93, __disjvr_10^0'=__disjvr_10^post93, x_20^0'=x_20^post93, __disjvr_41^0'=__disjvr_41^post93, __disjvr_22^0'=__disjvr_22^post93, a_241^0'=a_241^post93, __disjvr_18^0'=__disjvr_18^post93, i_30^0'=i_30^post93, __disjvr_9^0'=__disjvr_9^post93, __disjvr_2^0'=__disjvr_2^post93, rcd_58^0'=rcd_58^post93, head_129^0'=head_129^post93, r_124^0'=r_124^post93, __disjvr_27^0'=__disjvr_27^post93, ct_17^0'=ct_17^post93, temp_35^0'=temp_35^post93, __disjvr_39^0'=__disjvr_39^post93, __disjvr_34^0'=__disjvr_34^post93, t_23^0'=t_23^post93, head_27^0'=head_27^post93, __disjvr_15^0'=__disjvr_15^post93, head_SLAM_f_26^0'=head_SLAM_f_26^post93, __disjvr_6^0'=__disjvr_6^post93, __disjvr_12^0'=__disjvr_12^post93, y_19^0'=y_19^post93, __disjvr_43^0'=__disjvr_43^post93, len_276^0'=len_276^post93, __disjvr_24^0'=__disjvr_24^post93, a_308^0'=a_308^post93, __disjvr_1^0'=__disjvr_1^post93, len_132^0'=len_132^post93, a_147^0'=a_147^post93, __disjvr_31^0'=__disjvr_31^post93, result_11^0'=result_11^post93, head_175^0'=head_175^post93, r_218^0'=r_218^post93, __disjvr_29^0'=__disjvr_29^post93, __disjvr_0^0'=__disjvr_0^post93, x_16^0'=x_16^post93, __disjvr_40^0'=__disjvr_40^post93, __disjvr_36^0'=__disjvr_36^post93, a_210^0'=a_210^post93, __disjvr_17^0'=__disjvr_17^post93, i_167^0'=i_167^post93, __disjvr_8^0'=__disjvr_8^post93, __disjvr_14^0'=__disjvr_14^post93, r_39^0'=r_39^post93, f_263^0'=f_263^post93, nondet_12^0'=nondet_12^post93, __disjvr_26^0'=__disjvr_26^post93, a_353^0'=a_353^post93, __disjvr_21^0'=__disjvr_21^post93, temp0_31^0'=temp0_31^post93, __disjvr_38^0'=__disjvr_38^post93, __disjvr_33^0'=__disjvr_33^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, head_268^0'=head_268^post93, head_32^0'=head_32^post93, __disjvr_5^0'=__disjvr_5^post93, __disjvr_11^0'=__disjvr_11^post93, x_SLAM_f_18^0'=x_SLAM_f_18^post93, __disjvr_42^0'=__disjvr_42^post93, len_226^0'=len_226^post93, __disjvr_23^0'=__disjvr_23^post93, a_277^0'=a_277^post93, __disjvr_19^0'=__disjvr_19^post93, i_94^0'=i_94^post93, a_116^0'=a_116^post93, __disjvr_30^0'=__disjvr_30^post93, rcd_88^0'=rcd_88^post93, head_14^0'=head_14^post93, r_163^0'=r_163^post93, __disjvr_28^0'=__disjvr_28^post93, tmp_34^0'=tmp_34^post93, __disjvr_3^0'=__disjvr_3^post93, __disjvr_35^0'=__disjvr_35^post93, temp0_15^0'=temp0_15^post93, a_184^0'=a_184^post93, __disjvr_16^0'=__disjvr_16^post93, (-__disjvr_0^post93+__disjvr_0^0 == 0 /\ -__disjvr_30^post93+__disjvr_30^0 == 0 /\ -temp0_15^post93+temp0_15^0 == 0 /\ -__disjvr_3^post93+__disjvr_3^0 == 0 /\ __disjvr_15^0-__disjvr_15^post93 == 0 /\ __disjvr_19^0-__disjvr_19^post93 == 0 /\ -__disjvr_42^post93+__disjvr_42^0 == 0 /\ -a_353^post93+a_353^0 == 0 /\ len_276^0-len_276^post93 == 0 /\ head_32^0-head_32^post93 == 0 /\ temp0_31^0-temp0_31^post93 == 0 /\ len_226^0-len_226^post93 == 0 /\ r_124^0-r_124^post93 == 0 /\ r_260^0-r_260^post93 == 0 /\ -__disjvr_11^post93+__disjvr_11^0 == 0 /\ -a_147^post93+a_147^0 == 0 /\ -__disjvr_41^post93+__disjvr_41^0 == 0 /\ __disjvr_20^0-__disjvr_20^post93 == 0 /\ -y_19^post93+y_19^0 == 0 /\ __disjvr_2^0-__disjvr_2^post93 == 0 /\ -__disjvr_17^post93+__disjvr_17^0 == 0 /\ head_129^0-head_129^post93 == 0 /\ __disjvr_32^0-__disjvr_32^post93 == 0 /\ i_108^0-i_108^post93 == 0 /\ -__disjvr_34^post93+__disjvr_34^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post93 == 0 /\ -ct_17^post93+ct_17^0 == 0 /\ -a_184^post93+a_184^0 == 0 /\ -rcd_88^post93+rcd_88^0 == 0 /\ -a_277^post93+a_277^0 == 0 /\ __disjvr_27^0-__disjvr_27^post93 == 0 /\ -__disjvr_43^post93+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93 == 0 /\ x_16^0-x_16^post93 == 0 /\ -head_14^post93+head_14^0 == 0 /\ r_218^0-r_218^post93 == 0 /\ head_223^0-head_223^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ len_183^0-len_183^post93 == 0 /\ x_20^0-x_20^post93 == 0 /\ __disjvr_37^0-__disjvr_37^post93 == 0 /\ __disjvr_25^0-__disjvr_25^post93 == 0 /\ i_30^0-i_30^post93 == 0 /\ head_175^0-head_175^post93 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_4^post93+__disjvr_4^0 == 0 /\ t_23^0-t_23^post93 == 0 /\ __disjvr_9^0-__disjvr_9^post93 == 0 /\ -a_308^post93+a_308^0 == 0 /\ -__disjvr_8^post93+__disjvr_8^0 == 0 /\ -__disjvr_5^post93+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post93 == 0 /\ -__disjvr_23^post93+__disjvr_23^0 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ -__disjvr_28^post93+__disjvr_28^0 == 0 /\ -len_132^post93+len_132^0 == 0 /\ __disjvr_18^0-__disjvr_18^post93 == 0 /\ __disjvr_7^0-__disjvr_7^post93 == 0 /\ -__disjvr_31^post93+__disjvr_31^0 == 0 /\ a_330^0-a_330^post93 == 0 /\ -__disjvr_29^post93+__disjvr_29^0 == 0 /\ i_167^0-i_167^post93 == 0 /\ a_241^0-a_241^post93 == 0 /\ -__disjvr_36^post93+__disjvr_36^0 == 0 /\ -__disjvr_39^post93+__disjvr_39^0 == 0 /\ r_39^0-r_39^post93 == 0 /\ __disjvr_24^0-__disjvr_24^post93 == 0 /\ __disjvr_6^0-__disjvr_6^post93 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 == 0 /\ -__disjvr_38^post93+__disjvr_38^0 == 0 /\ -tmp_34^post93+tmp_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post93 == 0 /\ -a_116^post93+a_116^0 == 0 /\ -f_170^post93+f_170^0 == 0 /\ __disjvr_12^0-__disjvr_12^post93 == 0 /\ rcd_58^0-rcd_58^post93 == 0 /\ __disjvr_13^0-__disjvr_13^post93 == 0 /\ -head_268^post93+head_268^0 == 0 /\ -__disjvr_35^post93+__disjvr_35^0 == 0 /\ -r_163^post93+r_163^0 == 0 /\ -a_210^post93+a_210^0 == 0 /\ -__disjvr_14^post93+__disjvr_14^0 == 0 /\ -__disjvr_22^post93+__disjvr_22^0 == 0 /\ f_263^0-f_263^post93 == 0 /\ -i_94^post93+i_94^0 == 0 /\ __disjvr_10^0-__disjvr_10^post93 == 0 /\ -__disjvr_33^post93+__disjvr_33^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_27^post93+head_27^0 == 0 /\ -__disjvr_16^post93+__disjvr_16^0 == 0 /\ -__disjvr_40^post93+__disjvr_40^0 == 0 /\ -__disjvr_21^post93+__disjvr_21^0 == 0 /\ temp_35^0-temp_35^post93 == 0 /\ length_29^0-length_29^post93 == 0 /\ -x_SLAM_f_18^post93+x_SLAM_f_18^0 == 0), cost: 1
  95: l88 -> l89 : i_108^0'=i_108^post95, __disjvr_7^0'=__disjvr_7^post95, __disjvr_13^0'=__disjvr_13^post95, f_170^0'=f_170^post95, length_29^0'=length_29^post95, __disjvr_25^0'=__disjvr_25^post95, a_330^0'=a_330^post95, __disjvr_20^0'=__disjvr_20^post95, len_183^0'=len_183^post95, __disjvr_37^0'=__disjvr_37^post95, __disjvr_32^0'=__disjvr_32^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_223^0'=head_223^post95, r_260^0'=r_260^post95, __disjvr_4^0'=__disjvr_4^post95, __disjvr_10^0'=__disjvr_10^post95, x_20^0'=x_20^post95, __disjvr_41^0'=__disjvr_41^post95, __disjvr_22^0'=__disjvr_22^post95, a_241^0'=a_241^post95, __disjvr_18^0'=__disjvr_18^post95, i_30^0'=i_30^post95, __disjvr_9^0'=__disjvr_9^post95, __disjvr_2^0'=__disjvr_2^post95, rcd_58^0'=rcd_58^post95, head_129^0'=head_129^post95, r_124^0'=r_124^post95, __disjvr_27^0'=__disjvr_27^post95, ct_17^0'=ct_17^post95, temp_35^0'=temp_35^post95, __disjvr_39^0'=__disjvr_39^post95, __disjvr_34^0'=__disjvr_34^post95, t_23^0'=t_23^post95, head_27^0'=head_27^post95, __disjvr_15^0'=__disjvr_15^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, __disjvr_6^0'=__disjvr_6^post95, __disjvr_12^0'=__disjvr_12^post95, y_19^0'=y_19^post95, __disjvr_43^0'=__disjvr_43^post95, len_276^0'=len_276^post95, __disjvr_24^0'=__disjvr_24^post95, a_308^0'=a_308^post95, __disjvr_1^0'=__disjvr_1^post95, len_132^0'=len_132^post95, a_147^0'=a_147^post95, __disjvr_31^0'=__disjvr_31^post95, result_11^0'=result_11^post95, head_175^0'=head_175^post95, r_218^0'=r_218^post95, __disjvr_29^0'=__disjvr_29^post95, __disjvr_0^0'=__disjvr_0^post95, x_16^0'=x_16^post95, __disjvr_40^0'=__disjvr_40^post95, __disjvr_36^0'=__disjvr_36^post95, a_210^0'=a_210^post95, __disjvr_17^0'=__disjvr_17^post95, i_167^0'=i_167^post95, __disjvr_8^0'=__disjvr_8^post95, __disjvr_14^0'=__disjvr_14^post95, r_39^0'=r_39^post95, f_263^0'=f_263^post95, nondet_12^0'=nondet_12^post95, __disjvr_26^0'=__disjvr_26^post95, a_353^0'=a_353^post95, __disjvr_21^0'=__disjvr_21^post95, temp0_31^0'=temp0_31^post95, __disjvr_38^0'=__disjvr_38^post95, __disjvr_33^0'=__disjvr_33^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_268^0'=head_268^post95, head_32^0'=head_32^post95, __disjvr_5^0'=__disjvr_5^post95, __disjvr_11^0'=__disjvr_11^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, __disjvr_42^0'=__disjvr_42^post95, len_226^0'=len_226^post95, __disjvr_23^0'=__disjvr_23^post95, a_277^0'=a_277^post95, __disjvr_19^0'=__disjvr_19^post95, i_94^0'=i_94^post95, a_116^0'=a_116^post95, __disjvr_30^0'=__disjvr_30^post95, rcd_88^0'=rcd_88^post95, head_14^0'=head_14^post95, r_163^0'=r_163^post95, __disjvr_28^0'=__disjvr_28^post95, tmp_34^0'=tmp_34^post95, __disjvr_3^0'=__disjvr_3^post95, __disjvr_35^0'=__disjvr_35^post95, temp0_15^0'=temp0_15^post95, a_184^0'=a_184^post95, __disjvr_16^0'=__disjvr_16^post95, (-__disjvr_21^post95+__disjvr_21^0 == 0 /\ a_308^0-a_308^post95 == 0 /\ __disjvr_22^0-__disjvr_22^post95 == 0 /\ __disjvr_5^0-__disjvr_5^post95 == 0 /\ t_23^0-t_23^post95 == 0 /\ -r_39^post95+r_39^0 == 0 /\ __disjvr_13^0-__disjvr_13^post95 == 0 /\ -x_20^post95+x_20^0 == 0 /\ -head_175^post95+head_175^0 == 0 /\ -len_276^post95+len_276^0 == 0 /\ -__disjvr_15^post95+__disjvr_15^0 == 0 /\ -a_147^post95+a_147^0 == 0 /\ -y_19^post95+y_19^0 == 0 /\ -__disjvr_40^post95+__disjvr_40^0 == 0 /\ __disjvr_6^0-__disjvr_6^post95 == 0 /\ __disjvr_42^0-__disjvr_42^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -__disjvr_33^post95+__disjvr_33^0 == 0 /\ -__disjvr_19^post95+__disjvr_19^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post95 == 0 /\ __disjvr_4^0-__disjvr_4^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ __disjvr_31^0-__disjvr_31^post95 == 0 /\ -__disjvr_3^post95+__disjvr_3^0 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -r_124^post95+r_124^0 == 0 /\ __disjvr_41^0-__disjvr_41^post95 == 0 /\ __disjvr_34^0-__disjvr_34^post95 == 0 /\ head_129^0-head_129^post95 == 0 /\ ct_17^0-ct_17^post95 == 0 /\ -x_16^post95+x_16^0 == 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post95 == 0 /\ head_268^0-head_268^post95 == 0 /\ __disjvr_2^0-__disjvr_2^post95 == 0 /\ -__disjvr_24^post95+__disjvr_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post95 == 0 /\ -rcd_88^post95+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ -__disjvr_35^post95+__disjvr_35^0 == 0 /\ -a_116^post95+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post95 == 0 /\ a_330^0-a_330^post95 == 0 /\ __disjvr_23^0-__disjvr_23^post95 == 0 /\ __disjvr_0^0-__disjvr_0^post95 == 0 /\ -__disjvr_27^post95+__disjvr_27^0 == 0 /\ head_223^0-head_223^post95 == 0 /\ r_260^0-r_260^post95 == 0 /\ __disjvr_37^0-__disjvr_37^post95 == 0 /\ -__disjvr_30^post95+__disjvr_30^0 == 0 /\ i_108^0-i_108^post95 == 0 /\ -__disjvr_41^0+__disjvr_41^post95 == 0 /\ __disjvr_20^0-__disjvr_20^post95 == 0 /\ -a_353^post95+a_353^0 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -temp0_15^post95+temp0_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -__disjvr_28^post95+__disjvr_28^0 == 0 /\ a_241^0-a_241^post95 == 0 /\ -len_226^post95+len_226^0 == 0 /\ __disjvr_18^0-__disjvr_18^post95 == 0 /\ -__disjvr_26^post95+__disjvr_26^0 == 0 /\ -head_32^post95+head_32^0 == 0 /\ i_30^0-i_30^post95 == 0 /\ __disjvr_38^0-__disjvr_38^post95 == 0 /\ -__disjvr_11^post95+__disjvr_11^0 == 0 /\ a_210^0-a_210^post95 == 0 /\ -a_277^post95+a_277^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ r_218^0-r_218^post95 == 0 /\ -__disjvr_14^post95+__disjvr_14^0 == 0 /\ __disjvr_12^0-__disjvr_12^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -head_14^post95+head_14^0 == 0 /\ len_132^0-len_132^post95 == 0 /\ -a_184^post95+a_184^0 == 0 /\ __disjvr_29^0-__disjvr_29^post95 == 0 /\ -i_167^post95+i_167^0 == 0 /\ -__disjvr_8^post95+__disjvr_8^0 == 0 /\ __disjvr_25^0-__disjvr_25^post95 == 0 /\ -f_263^post95+f_263^0 == 0 /\ -tmp_34^post95+tmp_34^0 == 0 /\ __disjvr_36^0-__disjvr_36^post95 == 0 /\ __disjvr_43^0-__disjvr_43^post95 == 0 /\ f_170^0-f_170^post95 == 0 /\ __disjvr_7^0-__disjvr_7^post95 == 0 /\ __disjvr_39^0-__disjvr_39^post95 == 0 /\ -__disjvr_16^post95+__disjvr_16^0 == 0 /\ -__disjvr_32^post95+__disjvr_32^0 == 0 /\ head_27^0-head_27^post95 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post95 == 0 /\ -__disjvr_1^post95+__disjvr_1^0 == 0), cost: 1
  96: l89 -> l90 : i_108^0'=i_108^post96, __disjvr_7^0'=__disjvr_7^post96, __disjvr_13^0'=__disjvr_13^post96, f_170^0'=f_170^post96, length_29^0'=length_29^post96, __disjvr_25^0'=__disjvr_25^post96, a_330^0'=a_330^post96, __disjvr_20^0'=__disjvr_20^post96, len_183^0'=len_183^post96, __disjvr_37^0'=__disjvr_37^post96, __disjvr_32^0'=__disjvr_32^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_223^0'=head_223^post96, r_260^0'=r_260^post96, __disjvr_4^0'=__disjvr_4^post96, __disjvr_10^0'=__disjvr_10^post96, x_20^0'=x_20^post96, __disjvr_41^0'=__disjvr_41^post96, __disjvr_22^0'=__disjvr_22^post96, a_241^0'=a_241^post96, __disjvr_18^0'=__disjvr_18^post96, i_30^0'=i_30^post96, __disjvr_9^0'=__disjvr_9^post96, __disjvr_2^0'=__disjvr_2^post96, rcd_58^0'=rcd_58^post96, head_129^0'=head_129^post96, r_124^0'=r_124^post96, __disjvr_27^0'=__disjvr_27^post96, ct_17^0'=ct_17^post96, temp_35^0'=temp_35^post96, __disjvr_39^0'=__disjvr_39^post96, __disjvr_34^0'=__disjvr_34^post96, t_23^0'=t_23^post96, head_27^0'=head_27^post96, __disjvr_15^0'=__disjvr_15^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, __disjvr_6^0'=__disjvr_6^post96, __disjvr_12^0'=__disjvr_12^post96, y_19^0'=y_19^post96, __disjvr_43^0'=__disjvr_43^post96, len_276^0'=len_276^post96, __disjvr_24^0'=__disjvr_24^post96, a_308^0'=a_308^post96, __disjvr_1^0'=__disjvr_1^post96, len_132^0'=len_132^post96, a_147^0'=a_147^post96, __disjvr_31^0'=__disjvr_31^post96, result_11^0'=result_11^post96, head_175^0'=head_175^post96, r_218^0'=r_218^post96, __disjvr_29^0'=__disjvr_29^post96, __disjvr_0^0'=__disjvr_0^post96, x_16^0'=x_16^post96, __disjvr_40^0'=__disjvr_40^post96, __disjvr_36^0'=__disjvr_36^post96, a_210^0'=a_210^post96, __disjvr_17^0'=__disjvr_17^post96, i_167^0'=i_167^post96, __disjvr_8^0'=__disjvr_8^post96, __disjvr_14^0'=__disjvr_14^post96, r_39^0'=r_39^post96, f_263^0'=f_263^post96, nondet_12^0'=nondet_12^post96, __disjvr_26^0'=__disjvr_26^post96, a_353^0'=a_353^post96, __disjvr_21^0'=__disjvr_21^post96, temp0_31^0'=temp0_31^post96, __disjvr_38^0'=__disjvr_38^post96, __disjvr_33^0'=__disjvr_33^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, head_268^0'=head_268^post96, head_32^0'=head_32^post96, __disjvr_5^0'=__disjvr_5^post96, __disjvr_11^0'=__disjvr_11^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, __disjvr_42^0'=__disjvr_42^post96, len_226^0'=len_226^post96, __disjvr_23^0'=__disjvr_23^post96, a_277^0'=a_277^post96, __disjvr_19^0'=__disjvr_19^post96, i_94^0'=i_94^post96, a_116^0'=a_116^post96, __disjvr_30^0'=__disjvr_30^post96, rcd_88^0'=rcd_88^post96, head_14^0'=head_14^post96, r_163^0'=r_163^post96, __disjvr_28^0'=__disjvr_28^post96, tmp_34^0'=tmp_34^post96, __disjvr_3^0'=__disjvr_3^post96, __disjvr_35^0'=__disjvr_35^post96, temp0_15^0'=temp0_15^post96, a_184^0'=a_184^post96, __disjvr_16^0'=__disjvr_16^post96, (0 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ -__disjvr_43^post96+__disjvr_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post96 == 0 /\ -r_39^post96+r_39^0 == 0 /\ -i_94^post96+i_94^0 == 0 /\ head_223^0-head_223^post96 == 0 /\ 1+len_226^0-len_276^post96 <= 0 /\ -head_27^post96+head_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post96 == 0 /\ a_241^0-a_241^post96 == 0 /\ __disjvr_2^0-__disjvr_2^post96 == 0 /\ rcd_58^0-rcd_58^post96 == 0 /\ -__disjvr_12^post96+__disjvr_12^0 == 0 /\ -__disjvr_26^post96+__disjvr_26^0 == 0 /\ -1+a_241^0-a_277^post96 <= 0 /\ __disjvr_27^0-__disjvr_27^post96 == 0 /\ i_108^0-i_108^post96 == 0 /\ -__disjvr_36^post96+__disjvr_36^0 == 0 /\ -temp0_15^post96+temp0_15^0 == 0 /\ -__disjvr_19^post96+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ __disjvr_32^0-__disjvr_32^post96 == 0 /\ t_23^0-t_23^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ __disjvr_22^0-__disjvr_22^post96 == 0 /\ r_124^0-r_124^post96 == 0 /\ __disjvr_25^0-__disjvr_25^post96 == 0 /\ a_308^0-a_308^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -__disjvr_35^post96+__disjvr_35^0 == 0 /\ -__disjvr_42^post96+__disjvr_42^0 == 0 /\ -a_116^post96+a_116^0 == 0 /\ -a_210^post96+a_210^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ __disjvr_34^0-__disjvr_34^post96 == 0 /\ -__disjvr_28^post96+__disjvr_28^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -head_SLAM_f_26^post96+head_SLAM_f_26^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ __disjvr_40^0-__disjvr_40^post96 == 0 /\ __disjvr_8^0-__disjvr_8^post96 == 0 /\ -a_184^post96+a_184^0 == 0 /\ -__disjvr_38^post96+__disjvr_38^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post96 == 0 /\ -__disjvr_11^post96+__disjvr_11^0 == 0 /\ -__disjvr_6^post96+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post96 == 0 /\ length_29^0-length_29^post96 == 0 /\ -1-len_226^0+len_276^post96 <= 0 /\ -f_263^post96+f_263^0 == 0 /\ -__disjvr_1^post96+__disjvr_1^0 == 0 /\ len_132^0-len_132^post96 == 0 /\ __disjvr_0^0-__disjvr_0^post96 == 0 /\ __disjvr_7^0-__disjvr_7^post96 == 0 /\ -__disjvr_23^post96+__disjvr_23^0 == 0 /\ -tmp_34^post96+tmp_34^0 == 0 /\ -__disjvr_33^post96+__disjvr_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post96 == 0 /\ -head_32^post96+head_32^0 == 0 /\ __disjvr_17^0-__disjvr_17^post96 == 0 /\ 1-a_241^0+a_277^post96 <= 0 /\ __disjvr_37^0-__disjvr_37^post96 == 0 /\ __disjvr_3^0-__disjvr_3^post96 == 0 /\ head_27^0-f_263^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post96 == 0 /\ a_330^0-a_330^post96 == 0 /\ -r_163^post96+r_163^0 == 0 /\ -r_218^post96+r_218^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ __disjvr_15^0-__disjvr_15^post96 == 0 /\ a_353^0-a_353^post96 == 0 /\ -head_268^post96+head_268^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ x_20^0-x_20^post96 == 0 /\ -head_14^post96+head_14^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ -r_260^post96+r_260^0 == 0 /\ __disjvr_21^0-__disjvr_21^post96 == 0 /\ __disjvr_39^0-__disjvr_39^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post96+__disjvr_5^0 == 0 /\ -len_226^post96+len_226^0 == 0 /\ len_183^0-len_183^post96 == 0 /\ __disjvr_31^0-__disjvr_31^post96 == 0 /\ __disjvr_30^0-__disjvr_30^post96 == 0 /\ -head_27^0+f_263^0 <= 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -head_175^post96+head_175^0 == 0 /\ -x_16^post96+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post96 == 0 /\ -__disjvr_24^post96+__disjvr_24^0 == 0 /\ -i_167^post96+i_167^0 == 0 /\ __disjvr_10^0-__disjvr_10^post96 == 0 /\ -__disjvr_16^post96+__disjvr_16^0 == 0 /\ -head_129^post96+head_129^0 == 0 /\ ct_17^0-ct_17^post96 == 0 /\ __disjvr_14^0-__disjvr_14^post96 == 0), cost: 1
  97: l90 -> l91 : i_108^0'=i_108^post97, __disjvr_7^0'=__disjvr_7^post97, __disjvr_13^0'=__disjvr_13^post97, f_170^0'=f_170^post97, length_29^0'=length_29^post97, __disjvr_25^0'=__disjvr_25^post97, a_330^0'=a_330^post97, __disjvr_20^0'=__disjvr_20^post97, len_183^0'=len_183^post97, __disjvr_37^0'=__disjvr_37^post97, __disjvr_32^0'=__disjvr_32^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_223^0'=head_223^post97, r_260^0'=r_260^post97, __disjvr_4^0'=__disjvr_4^post97, __disjvr_10^0'=__disjvr_10^post97, x_20^0'=x_20^post97, __disjvr_41^0'=__disjvr_41^post97, __disjvr_22^0'=__disjvr_22^post97, a_241^0'=a_241^post97, __disjvr_18^0'=__disjvr_18^post97, i_30^0'=i_30^post97, __disjvr_9^0'=__disjvr_9^post97, __disjvr_2^0'=__disjvr_2^post97, rcd_58^0'=rcd_58^post97, head_129^0'=head_129^post97, r_124^0'=r_124^post97, __disjvr_27^0'=__disjvr_27^post97, ct_17^0'=ct_17^post97, temp_35^0'=temp_35^post97, __disjvr_39^0'=__disjvr_39^post97, __disjvr_34^0'=__disjvr_34^post97, t_23^0'=t_23^post97, head_27^0'=head_27^post97, __disjvr_15^0'=__disjvr_15^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, __disjvr_6^0'=__disjvr_6^post97, __disjvr_12^0'=__disjvr_12^post97, y_19^0'=y_19^post97, __disjvr_43^0'=__disjvr_43^post97, len_276^0'=len_276^post97, __disjvr_24^0'=__disjvr_24^post97, a_308^0'=a_308^post97, __disjvr_1^0'=__disjvr_1^post97, len_132^0'=len_132^post97, a_147^0'=a_147^post97, __disjvr_31^0'=__disjvr_31^post97, result_11^0'=result_11^post97, head_175^0'=head_175^post97, r_218^0'=r_218^post97, __disjvr_29^0'=__disjvr_29^post97, __disjvr_0^0'=__disjvr_0^post97, x_16^0'=x_16^post97, __disjvr_40^0'=__disjvr_40^post97, __disjvr_36^0'=__disjvr_36^post97, a_210^0'=a_210^post97, __disjvr_17^0'=__disjvr_17^post97, i_167^0'=i_167^post97, __disjvr_8^0'=__disjvr_8^post97, __disjvr_14^0'=__disjvr_14^post97, r_39^0'=r_39^post97, f_263^0'=f_263^post97, nondet_12^0'=nondet_12^post97, __disjvr_26^0'=__disjvr_26^post97, a_353^0'=a_353^post97, __disjvr_21^0'=__disjvr_21^post97, temp0_31^0'=temp0_31^post97, __disjvr_38^0'=__disjvr_38^post97, __disjvr_33^0'=__disjvr_33^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, head_268^0'=head_268^post97, head_32^0'=head_32^post97, __disjvr_5^0'=__disjvr_5^post97, __disjvr_11^0'=__disjvr_11^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, __disjvr_42^0'=__disjvr_42^post97, len_226^0'=len_226^post97, __disjvr_23^0'=__disjvr_23^post97, a_277^0'=a_277^post97, __disjvr_19^0'=__disjvr_19^post97, i_94^0'=i_94^post97, a_116^0'=a_116^post97, __disjvr_30^0'=__disjvr_30^post97, rcd_88^0'=rcd_88^post97, head_14^0'=head_14^post97, r_163^0'=r_163^post97, __disjvr_28^0'=__disjvr_28^post97, tmp_34^0'=tmp_34^post97, __disjvr_3^0'=__disjvr_3^post97, __disjvr_35^0'=__disjvr_35^post97, temp0_15^0'=temp0_15^post97, a_184^0'=a_184^post97, __disjvr_16^0'=__disjvr_16^post97, (-tmp_34^post97+tmp_34^0 == 0 /\ -__disjvr_9^post97+__disjvr_9^0 == 0 /\ -a_184^post97+a_184^0 == 0 /\ -a_210^post97+a_210^0 == 0 /\ r_124^0-r_124^post97 == 0 /\ -r_163^post97+r_163^0 == 0 /\ -r_218^post97+r_218^0 == 0 /\ __disjvr_34^0-__disjvr_34^post97 == 0 /\ -__disjvr_10^post97+__disjvr_10^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -__disjvr_16^post97+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ __disjvr_15^0-__disjvr_15^post97 == 0 /\ a_330^0-a_330^post97 == 0 /\ a_353^0-a_353^post97 == 0 /\ -__disjvr_29^post97+__disjvr_29^0 == 0 /\ __disjvr_41^0-__disjvr_41^post97 == 0 /\ -__disjvr_21^post97+__disjvr_21^0 == 0 /\ -__disjvr_23^post97+__disjvr_23^0 == 0 /\ -head_14^post97+head_14^0 == 0 /\ -__disjvr_30^post97+__disjvr_30^0 == 0 /\ -__disjvr_12^post97+__disjvr_12^0 == 0 /\ -__disjvr_22^post97+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ __disjvr_7^0-__disjvr_7^post97 == 0 /\ len_183^0-len_183^post97 == 0 /\ head_129^0-head_129^post97 == 0 /\ len_276^0-len_276^post97 == 0 /\ x_20^0-x_20^post97 == 0 /\ __disjvr_20^0-__disjvr_20^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ __disjvr_37^0-__disjvr_37^post97 == 0 /\ rcd_58^0-rcd_58^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -y_19^post97+y_19^0 == 0 /\ i_108^0-i_108^post97 == 0 /\ -__disjvr_35^post97+__disjvr_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post97 == 0 /\ -__disjvr_3^post97+__disjvr_3^0 == 0 /\ -__disjvr_39^post97+__disjvr_39^0 == 0 /\ ct_17^0-ct_17^post97 == 0 /\ -__disjvr_31^post97+__disjvr_31^0 == 0 /\ -a_116^post97+a_116^0 == 0 /\ -__disjvr_6^post97+__disjvr_6^0 == 0 /\ -__disjvr_0^post97+__disjvr_0^0 == 0 /\ -len_226^post97+len_226^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ r_260^0-r_260^post97 == 0 /\ __disjvr_42^post97-__disjvr_42^0 == 0 /\ -__disjvr_26^post97+__disjvr_26^0 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ __disjvr_25^0-__disjvr_25^post97 == 0 /\ a_241^0-a_241^post97 == 0 /\ __disjvr_18^0-__disjvr_18^post97 == 0 /\ head_223^0-head_223^post97 == 0 /\ __disjvr_32^0-__disjvr_32^post97 == 0 /\ -x_16^post97+x_16^0 == 0 /\ -__disjvr_38^post97+__disjvr_38^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ __disjvr_40^0-__disjvr_40^post97 == 0 /\ -__disjvr_36^post97+__disjvr_36^0 == 0 /\ -head_27^post97+head_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post97 == 0 /\ -i_94^post97+i_94^0 == 0 /\ -head_268^post97+head_268^0 == 0 /\ __disjvr_1^0-__disjvr_1^post97 == 0 /\ __disjvr_33^0-__disjvr_33^post97 == 0 /\ -__disjvr_5^post97+__disjvr_5^0 == 0 /\ -rcd_88^post97+rcd_88^0 == 0 /\ -a_308^post97+a_308^0 == 0 /\ __disjvr_4^0-__disjvr_4^post97 == 0 /\ __disjvr_27^0-__disjvr_27^post97 == 0 /\ -__disjvr_42^post97+__disjvr_42^0 == 0 /\ -__disjvr_28^post97+__disjvr_28^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ -temp0_15^post97+temp0_15^0 == 0 /\ -__disjvr_8^post97+__disjvr_8^0 == 0 /\ f_263^0-f_263^post97 == 0 /\ f_170^0-f_170^post97 == 0 /\ -__disjvr_19^post97+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ __disjvr_43^0-__disjvr_43^post97 == 0 /\ __disjvr_24^0-__disjvr_24^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ -__disjvr_11^post97+__disjvr_11^0 == 0 /\ a_147^0-a_147^post97 == 0 /\ -__disjvr_17^post97+__disjvr_17^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -a_277^post97+a_277^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0), cost: 1
  98: l91 -> l92 : i_108^0'=i_108^post98, __disjvr_7^0'=__disjvr_7^post98, __disjvr_13^0'=__disjvr_13^post98, f_170^0'=f_170^post98, length_29^0'=length_29^post98, __disjvr_25^0'=__disjvr_25^post98, a_330^0'=a_330^post98, __disjvr_20^0'=__disjvr_20^post98, len_183^0'=len_183^post98, __disjvr_37^0'=__disjvr_37^post98, __disjvr_32^0'=__disjvr_32^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_223^0'=head_223^post98, r_260^0'=r_260^post98, __disjvr_4^0'=__disjvr_4^post98, __disjvr_10^0'=__disjvr_10^post98, x_20^0'=x_20^post98, __disjvr_41^0'=__disjvr_41^post98, __disjvr_22^0'=__disjvr_22^post98, a_241^0'=a_241^post98, __disjvr_18^0'=__disjvr_18^post98, i_30^0'=i_30^post98, __disjvr_9^0'=__disjvr_9^post98, __disjvr_2^0'=__disjvr_2^post98, rcd_58^0'=rcd_58^post98, head_129^0'=head_129^post98, r_124^0'=r_124^post98, __disjvr_27^0'=__disjvr_27^post98, ct_17^0'=ct_17^post98, temp_35^0'=temp_35^post98, __disjvr_39^0'=__disjvr_39^post98, __disjvr_34^0'=__disjvr_34^post98, t_23^0'=t_23^post98, head_27^0'=head_27^post98, __disjvr_15^0'=__disjvr_15^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, __disjvr_6^0'=__disjvr_6^post98, __disjvr_12^0'=__disjvr_12^post98, y_19^0'=y_19^post98, __disjvr_43^0'=__disjvr_43^post98, len_276^0'=len_276^post98, __disjvr_24^0'=__disjvr_24^post98, a_308^0'=a_308^post98, __disjvr_1^0'=__disjvr_1^post98, len_132^0'=len_132^post98, a_147^0'=a_147^post98, __disjvr_31^0'=__disjvr_31^post98, result_11^0'=result_11^post98, head_175^0'=head_175^post98, r_218^0'=r_218^post98, __disjvr_29^0'=__disjvr_29^post98, __disjvr_0^0'=__disjvr_0^post98, x_16^0'=x_16^post98, __disjvr_40^0'=__disjvr_40^post98, __disjvr_36^0'=__disjvr_36^post98, a_210^0'=a_210^post98, __disjvr_17^0'=__disjvr_17^post98, i_167^0'=i_167^post98, __disjvr_8^0'=__disjvr_8^post98, __disjvr_14^0'=__disjvr_14^post98, r_39^0'=r_39^post98, f_263^0'=f_263^post98, nondet_12^0'=nondet_12^post98, __disjvr_26^0'=__disjvr_26^post98, a_353^0'=a_353^post98, __disjvr_21^0'=__disjvr_21^post98, temp0_31^0'=temp0_31^post98, __disjvr_38^0'=__disjvr_38^post98, __disjvr_33^0'=__disjvr_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, head_268^0'=head_268^post98, head_32^0'=head_32^post98, __disjvr_5^0'=__disjvr_5^post98, __disjvr_11^0'=__disjvr_11^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, __disjvr_42^0'=__disjvr_42^post98, len_226^0'=len_226^post98, __disjvr_23^0'=__disjvr_23^post98, a_277^0'=a_277^post98, __disjvr_19^0'=__disjvr_19^post98, i_94^0'=i_94^post98, a_116^0'=a_116^post98, __disjvr_30^0'=__disjvr_30^post98, rcd_88^0'=rcd_88^post98, head_14^0'=head_14^post98, r_163^0'=r_163^post98, __disjvr_28^0'=__disjvr_28^post98, tmp_34^0'=tmp_34^post98, __disjvr_3^0'=__disjvr_3^post98, __disjvr_35^0'=__disjvr_35^post98, temp0_15^0'=temp0_15^post98, a_184^0'=a_184^post98, __disjvr_16^0'=__disjvr_16^post98, (r_218^0-r_218^post98 == 0 /\ __disjvr_39^0-__disjvr_39^post98 == 0 /\ __disjvr_20^0-__disjvr_20^post98 == 0 /\ __disjvr_9^0-__disjvr_9^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ -__disjvr_40^post98+__disjvr_40^0 == 0 /\ len_183^0-len_183^post98 == 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ __disjvr_37^0-__disjvr_37^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ a_210^0-a_210^post98 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -head_268^post98+head_268^0 == 0 /\ -i_94^post98+i_94^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ a_116^0-a_116^post98 == 0 /\ __disjvr_23^0-__disjvr_23^post98 == 0 /\ -__disjvr_19^post98+__disjvr_19^0 == 0 /\ result_11^0-result_11^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -__disjvr_2^post98+__disjvr_2^0 == 0 /\ -__disjvr_8^post98+__disjvr_8^0 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ -head_14^post98+head_14^0 == 0 /\ a_241^0-a_241^post98 == 0 /\ __disjvr_18^0-__disjvr_18^post98 == 0 /\ head_27^0-head_27^post98 == 0 /\ __disjvr_25^0-__disjvr_25^post98 == 0 /\ __disjvr_32^0-__disjvr_32^post98 == 0 /\ -i_30^post98+i_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post98 == 0 /\ __disjvr_1^0-__disjvr_1^post98 == 0 /\ a_147^0-a_147^post98 == 0 /\ __disjvr_6^0-__disjvr_6^post98 == 0 /\ __disjvr_24^0-__disjvr_24^post98 == 0 /\ -__disjvr_11^post98+__disjvr_11^0 == 0 /\ -__disjvr_17^post98+__disjvr_17^0 == 0 /\ -__disjvr_28^post98+__disjvr_28^0 == 0 /\ __disjvr_12^0-__disjvr_12^post98 == 0 /\ -head_175^post98+head_175^0 == 0 /\ __disjvr_13^0-__disjvr_13^post98 == 0 /\ __disjvr_36^0-__disjvr_36^post98 == 0 /\ -__disjvr_34^post98+__disjvr_34^0 == 0 /\ -a_277^post98+a_277^0 == 0 /\ -__disjvr_42^post98+__disjvr_42^0 == 0 /\ x_20^0-x_20^post98 == 0 /\ len_132^0-len_132^post98 == 0 /\ -__disjvr_38^post98+__disjvr_38^0 == 0 /\ __disjvr_7^0-__disjvr_7^post98 == 0 /\ a_330^0-a_330^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ head_129^0-head_129^post98 == 0 /\ __disjvr_10^0-__disjvr_10^post98 == 0 /\ -__disjvr_29^post98+__disjvr_29^0 == 0 /\ -__disjvr_16^post98+__disjvr_16^0 == 0 /\ -i_167^post98+i_167^0 == 0 /\ a_308^0-a_308^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -r_163^post98+r_163^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -r_39^post98+r_39^0 == 0 /\ -len_276^post98+len_276^0 == 0 /\ i_108^0-i_108^post98 == 0 /\ -__disjvr_33^post98+__disjvr_33^0 == 0 /\ -__disjvr_14^post98+__disjvr_14^0 == 0 /\ __disjvr_43^0-__disjvr_43^post98 == 0 /\ -__disjvr_26^post98+__disjvr_26^0 == 0 /\ -__disjvr_21^post98+__disjvr_21^0 == 0 /\ -t_23^post98+t_23^0 == 0 /\ r_260^0-r_260^post98 == 0 /\ x_16^0-x_16^post98 == 0 /\ -__disjvr_30^post98+__disjvr_30^0 == 0 /\ -temp0_15^post98+temp0_15^0 == 0 /\ -__disjvr_3^post98+__disjvr_3^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -__disjvr_5^post98+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post98 == 0 /\ head_223^0-head_223^post98 == 0 /\ -a_353^post98+a_353^0 == 0 /\ -x_SLAM_f_18^post98+x_SLAM_f_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post98+__disjvr_15^0 == 0 /\ -f_263^post98+f_263^0 == 0 /\ -__disjvr_31^post98+__disjvr_31^0 == 0 /\ -__disjvr_43^0+__disjvr_43^post98 == 0 /\ __disjvr_41^0-__disjvr_41^post98 == 0 /\ -__disjvr_27^post98+__disjvr_27^0 == 0 /\ -__disjvr_35^post98+__disjvr_35^0 == 0 /\ -a_184^post98+a_184^0 == 0 /\ __disjvr_4^0-__disjvr_4^post98 == 0 /\ -len_226^post98+len_226^0 == 0), cost: 1
  99: l92 -> l87 : i_108^0'=i_108^post99, __disjvr_7^0'=__disjvr_7^post99, __disjvr_13^0'=__disjvr_13^post99, f_170^0'=f_170^post99, length_29^0'=length_29^post99, __disjvr_25^0'=__disjvr_25^post99, a_330^0'=a_330^post99, __disjvr_20^0'=__disjvr_20^post99, len_183^0'=len_183^post99, __disjvr_37^0'=__disjvr_37^post99, __disjvr_32^0'=__disjvr_32^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_223^0'=head_223^post99, r_260^0'=r_260^post99, __disjvr_4^0'=__disjvr_4^post99, __disjvr_10^0'=__disjvr_10^post99, x_20^0'=x_20^post99, __disjvr_41^0'=__disjvr_41^post99, __disjvr_22^0'=__disjvr_22^post99, a_241^0'=a_241^post99, __disjvr_18^0'=__disjvr_18^post99, i_30^0'=i_30^post99, __disjvr_9^0'=__disjvr_9^post99, __disjvr_2^0'=__disjvr_2^post99, rcd_58^0'=rcd_58^post99, head_129^0'=head_129^post99, r_124^0'=r_124^post99, __disjvr_27^0'=__disjvr_27^post99, ct_17^0'=ct_17^post99, temp_35^0'=temp_35^post99, __disjvr_39^0'=__disjvr_39^post99, __disjvr_34^0'=__disjvr_34^post99, t_23^0'=t_23^post99, head_27^0'=head_27^post99, __disjvr_15^0'=__disjvr_15^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, __disjvr_6^0'=__disjvr_6^post99, __disjvr_12^0'=__disjvr_12^post99, y_19^0'=y_19^post99, __disjvr_43^0'=__disjvr_43^post99, len_276^0'=len_276^post99, __disjvr_24^0'=__disjvr_24^post99, a_308^0'=a_308^post99, __disjvr_1^0'=__disjvr_1^post99, len_132^0'=len_132^post99, a_147^0'=a_147^post99, __disjvr_31^0'=__disjvr_31^post99, result_11^0'=result_11^post99, head_175^0'=head_175^post99, r_218^0'=r_218^post99, __disjvr_29^0'=__disjvr_29^post99, __disjvr_0^0'=__disjvr_0^post99, x_16^0'=x_16^post99, __disjvr_40^0'=__disjvr_40^post99, __disjvr_36^0'=__disjvr_36^post99, a_210^0'=a_210^post99, __disjvr_17^0'=__disjvr_17^post99, i_167^0'=i_167^post99, __disjvr_8^0'=__disjvr_8^post99, __disjvr_14^0'=__disjvr_14^post99, r_39^0'=r_39^post99, f_263^0'=f_263^post99, nondet_12^0'=nondet_12^post99, __disjvr_26^0'=__disjvr_26^post99, a_353^0'=a_353^post99, __disjvr_21^0'=__disjvr_21^post99, temp0_31^0'=temp0_31^post99, __disjvr_38^0'=__disjvr_38^post99, __disjvr_33^0'=__disjvr_33^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, head_268^0'=head_268^post99, head_32^0'=head_32^post99, __disjvr_5^0'=__disjvr_5^post99, __disjvr_11^0'=__disjvr_11^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, __disjvr_42^0'=__disjvr_42^post99, len_226^0'=len_226^post99, __disjvr_23^0'=__disjvr_23^post99, a_277^0'=a_277^post99, __disjvr_19^0'=__disjvr_19^post99, i_94^0'=i_94^post99, a_116^0'=a_116^post99, __disjvr_30^0'=__disjvr_30^post99, rcd_88^0'=rcd_88^post99, head_14^0'=head_14^post99, r_163^0'=r_163^post99, __disjvr_28^0'=__disjvr_28^post99, tmp_34^0'=tmp_34^post99, __disjvr_3^0'=__disjvr_3^post99, __disjvr_35^0'=__disjvr_35^post99, temp0_15^0'=temp0_15^post99, a_184^0'=a_184^post99, __disjvr_16^0'=__disjvr_16^post99, (0 == 0 /\ -len_276^0+len_226^post99 <= 0 /\ -rcd_88^post99+rcd_88^0 == 0 /\ __disjvr_43^0-__disjvr_43^post99 == 0 /\ __disjvr_37^0-__disjvr_37^post99 == 0 /\ i_94^0-i_94^post99 == 0 /\ __disjvr_17^0-__disjvr_17^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post99+a_277^0 == 0 /\ __disjvr_31^0-__disjvr_31^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -__disjvr_35^post99+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post99 == 0 /\ __disjvr_5^0-__disjvr_5^post99 == 0 /\ __disjvr_41^0-__disjvr_41^post99 == 0 /\ -__disjvr_16^post99+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post99 == 0 /\ -__disjvr_2^post99+__disjvr_2^0 == 0 /\ r_124^0-r_124^post99 == 0 /\ __disjvr_13^0-__disjvr_13^post99 == 0 /\ __disjvr_7^0-__disjvr_7^post99 == 0 /\ __disjvr_40^0-__disjvr_40^post99 == 0 /\ __disjvr_11^0-__disjvr_11^post99 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post99 == 0 /\ __disjvr_10^0-__disjvr_10^post99 == 0 /\ len_276^0-len_226^post99 <= 0 /\ len_183^0-len_183^post99 == 0 /\ -__disjvr_1^post99+__disjvr_1^0 == 0 /\ r_260^0-r_260^post99 == 0 /\ -__disjvr_23^post99+__disjvr_23^0 == 0 /\ y_19^0-y_19^post99 == 0 /\ __disjvr_34^0-__disjvr_34^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ -__disjvr_15^post99+__disjvr_15^0 == 0 /\ -__disjvr_27^post99+__disjvr_27^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ head_129^0-head_129^post99 == 0 /\ __disjvr_39^0-__disjvr_39^post99 == 0 /\ __disjvr_24^0-__disjvr_24^post99 == 0 /\ i_108^0-i_108^post99 == 0 /\ ct_17^0-ct_17^post99 == 0 /\ __disjvr_9^0-__disjvr_9^post99 == 0 /\ length_29^0-length_29^post99 == 0 /\ -temp0_15^post99+temp0_15^0 == 0 /\ head_268^0-head_268^post99 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ -head_32^post99+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post99 == 0 /\ __disjvr_42^0-__disjvr_42^post99 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_25^0-__disjvr_25^post99 == 0 /\ __disjvr_18^0-__disjvr_18^post99 == 0 /\ f_170^0-f_170^post99 == 0 /\ head_223^0-head_223^post99 == 0 /\ __disjvr_36^0-__disjvr_36^post99 == 0 /\ -__disjvr_38^post99+__disjvr_38^0 == 0 /\ -a_116^post99+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post99 == 0 /\ a_210^0-a_210^post99 == 0 /\ __disjvr_21^0-__disjvr_21^post99 == 0 /\ __disjvr_32^0-__disjvr_32^post99 == 0 /\ __disjvr_20^0-__disjvr_20^post99 == 0 /\ head_27^0-head_27^post99 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -a_184^post99+a_184^0 == 0 /\ -a_241^post99+a_277^0 <= 0 /\ -head_14^post99+head_14^0 == 0 /\ -__disjvr_30^post99+__disjvr_30^0 == 0 /\ -__disjvr_26^post99+__disjvr_26^0 == 0 /\ -__disjvr_14^post99+__disjvr_14^0 == 0 /\ r_218^0-r_218^post99 == 0 /\ -tmp_34^post99+tmp_34^0 == 0 /\ -__disjvr_33^post99+__disjvr_33^0 == 0 /\ -len_276^post99+len_276^0 == 0 /\ -a_353^post99+a_353^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -head_175^post99+head_175^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ -__disjvr_28^post99+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post99+head_SLAM_f_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post99 == 0 /\ a_308^0-a_308^post99 == 0 /\ -t_23^post99+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ a_241^post99-a_277^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post99 == 0 /\ -__disjvr_19^post99+__disjvr_19^0 == 0 /\ -a_330^post99+a_330^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_20^post99+x_20^0 == 0 /\ -f_263^post99+f_263^0 == 0 /\ -__disjvr_3^post99+__disjvr_3^0 == 0 /\ -r_39^post99+r_39^0 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -r_163^post99+r_163^0 == 0), cost: 1
 100: l87 -> l4 : i_108^0'=i_108^post100, __disjvr_7^0'=__disjvr_7^post100, __disjvr_13^0'=__disjvr_13^post100, f_170^0'=f_170^post100, length_29^0'=length_29^post100, __disjvr_25^0'=__disjvr_25^post100, a_330^0'=a_330^post100, __disjvr_20^0'=__disjvr_20^post100, len_183^0'=len_183^post100, __disjvr_37^0'=__disjvr_37^post100, __disjvr_32^0'=__disjvr_32^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_223^0'=head_223^post100, r_260^0'=r_260^post100, __disjvr_4^0'=__disjvr_4^post100, __disjvr_10^0'=__disjvr_10^post100, x_20^0'=x_20^post100, __disjvr_41^0'=__disjvr_41^post100, __disjvr_22^0'=__disjvr_22^post100, a_241^0'=a_241^post100, __disjvr_18^0'=__disjvr_18^post100, i_30^0'=i_30^post100, __disjvr_9^0'=__disjvr_9^post100, __disjvr_2^0'=__disjvr_2^post100, rcd_58^0'=rcd_58^post100, head_129^0'=head_129^post100, r_124^0'=r_124^post100, __disjvr_27^0'=__disjvr_27^post100, ct_17^0'=ct_17^post100, temp_35^0'=temp_35^post100, __disjvr_39^0'=__disjvr_39^post100, __disjvr_34^0'=__disjvr_34^post100, t_23^0'=t_23^post100, head_27^0'=head_27^post100, __disjvr_15^0'=__disjvr_15^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, __disjvr_6^0'=__disjvr_6^post100, __disjvr_12^0'=__disjvr_12^post100, y_19^0'=y_19^post100, __disjvr_43^0'=__disjvr_43^post100, len_276^0'=len_276^post100, __disjvr_24^0'=__disjvr_24^post100, a_308^0'=a_308^post100, __disjvr_1^0'=__disjvr_1^post100, len_132^0'=len_132^post100, a_147^0'=a_147^post100, __disjvr_31^0'=__disjvr_31^post100, result_11^0'=result_11^post100, head_175^0'=head_175^post100, r_218^0'=r_218^post100, __disjvr_29^0'=__disjvr_29^post100, __disjvr_0^0'=__disjvr_0^post100, x_16^0'=x_16^post100, __disjvr_40^0'=__disjvr_40^post100, __disjvr_36^0'=__disjvr_36^post100, a_210^0'=a_210^post100, __disjvr_17^0'=__disjvr_17^post100, i_167^0'=i_167^post100, __disjvr_8^0'=__disjvr_8^post100, __disjvr_14^0'=__disjvr_14^post100, r_39^0'=r_39^post100, f_263^0'=f_263^post100, nondet_12^0'=nondet_12^post100, __disjvr_26^0'=__disjvr_26^post100, a_353^0'=a_353^post100, __disjvr_21^0'=__disjvr_21^post100, temp0_31^0'=temp0_31^post100, __disjvr_38^0'=__disjvr_38^post100, __disjvr_33^0'=__disjvr_33^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, head_268^0'=head_268^post100, head_32^0'=head_32^post100, __disjvr_5^0'=__disjvr_5^post100, __disjvr_11^0'=__disjvr_11^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, __disjvr_42^0'=__disjvr_42^post100, len_226^0'=len_226^post100, __disjvr_23^0'=__disjvr_23^post100, a_277^0'=a_277^post100, __disjvr_19^0'=__disjvr_19^post100, i_94^0'=i_94^post100, a_116^0'=a_116^post100, __disjvr_30^0'=__disjvr_30^post100, rcd_88^0'=rcd_88^post100, head_14^0'=head_14^post100, r_163^0'=r_163^post100, __disjvr_28^0'=__disjvr_28^post100, tmp_34^0'=tmp_34^post100, __disjvr_3^0'=__disjvr_3^post100, __disjvr_35^0'=__disjvr_35^post100, temp0_15^0'=temp0_15^post100, a_184^0'=a_184^post100, __disjvr_16^0'=__disjvr_16^post100, (-__disjvr_9^post100+__disjvr_9^0 == 0 /\ len_183^0-len_183^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ y_19^0-y_19^post100 == 0 /\ -rcd_88^post100+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ __disjvr_34^0-__disjvr_34^post100 == 0 /\ -__disjvr_35^post100+__disjvr_35^0 == 0 /\ __disjvr_4^0-__disjvr_4^post100 == 0 /\ __disjvr_39^0-__disjvr_39^post100 == 0 /\ -__disjvr_30^post100+__disjvr_30^0 == 0 /\ head_268^0-head_268^post100 == 0 /\ -__disjvr_26^post100+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post100 == 0 /\ __disjvr_32^0-__disjvr_32^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -i_94^post100+i_94^0 == 0 /\ -__disjvr_12^post100+__disjvr_12^0 == 0 /\ head_223^0-head_223^post100 == 0 /\ -__disjvr_1^post100+__disjvr_1^0 == 0 /\ -__disjvr_28^post100+__disjvr_28^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post100 == 0 /\ -head_SLAM_f_26^post100+head_SLAM_f_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -f_263^post100+f_263^0 == 0 /\ -head_27^post100+head_27^0 == 0 /\ x_20^0-x_20^post100 == 0 /\ -__disjvr_16^post100+__disjvr_16^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ a_330^0-a_330^post100 == 0 /\ -__disjvr_23^post100+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post100 == 0 /\ __disjvr_20^0-__disjvr_20^post100 == 0 /\ -head_32^post100+head_32^0 == 0 /\ t_23^0-t_23^post100 == 0 /\ -__disjvr_31^post100+__disjvr_31^0 == 0 /\ __disjvr_40^0-__disjvr_40^post100 == 0 /\ -a_147^post100+a_147^0 == 0 /\ a_277^0-a_277^post100 == 0 /\ -__disjvr_36^post100+__disjvr_36^0 == 0 /\ r_124^0-r_124^post100 == 0 /\ -r_218^post100+r_218^0 == 0 /\ ct_17^0-ct_17^post100 == 0 /\ -__disjvr_6^post100+__disjvr_6^0 == 0 /\ -temp0_15^post100+temp0_15^0 == 0 /\ __disjvr_37^0-__disjvr_37^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ r_260^0-r_260^post100 == 0 /\ -__disjvr_24^post100+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post100 == 0 /\ -__disjvr_19^post100+__disjvr_19^0 == 0 /\ -__disjvr_5^post100+__disjvr_5^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -len_226^post100+len_226^0 == 0 /\ -a_116^post100+a_116^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ __disjvr_38^0-__disjvr_38^post100 == 0 /\ i_108^0-i_108^post100 == 0 /\ a_308^0-a_308^post100 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ a_353^0-a_353^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -a_184^post100+a_184^0 == 0 /\ -a_210^post100+a_210^0 == 0 /\ -__disjvr_42^post100+__disjvr_42^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post100 == 0 /\ __disjvr_7^0-__disjvr_7^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100 == 0 /\ -__disjvr_13^post100+__disjvr_13^0 == 0 /\ -__disjvr_11^post100+__disjvr_11^0 == 0 /\ -r_39^post100+r_39^0 == 0 /\ __disjvr_17^0-__disjvr_17^post100 == 0 /\ -__disjvr_0^post100+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post100 == 0 /\ __disjvr_15^0-__disjvr_15^post100 == 0 /\ __disjvr_10^0-__disjvr_10^post100 == 0 /\ __disjvr_22^0-__disjvr_22^post100 == 0 /\ -__disjvr_3^post100+__disjvr_3^0 == 0 /\ -__disjvr_43^post100+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ -r_163^post100+r_163^0 == 0 /\ rcd_58^0-rcd_58^post100 == 0 /\ __disjvr_18^0-__disjvr_18^post100 == 0 /\ length_29^0-length_29^post100 == 0 /\ len_276^0-len_276^post100 == 0 /\ __disjvr_27^0-__disjvr_27^post100 == 0 /\ -a_241^post100+a_241^0 == 0), cost: 1
 101: l93 -> l34 : i_108^0'=i_108^post101, __disjvr_7^0'=__disjvr_7^post101, __disjvr_13^0'=__disjvr_13^post101, f_170^0'=f_170^post101, length_29^0'=length_29^post101, __disjvr_25^0'=__disjvr_25^post101, a_330^0'=a_330^post101, __disjvr_20^0'=__disjvr_20^post101, len_183^0'=len_183^post101, __disjvr_37^0'=__disjvr_37^post101, __disjvr_32^0'=__disjvr_32^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, head_223^0'=head_223^post101, r_260^0'=r_260^post101, __disjvr_4^0'=__disjvr_4^post101, __disjvr_10^0'=__disjvr_10^post101, x_20^0'=x_20^post101, __disjvr_41^0'=__disjvr_41^post101, __disjvr_22^0'=__disjvr_22^post101, a_241^0'=a_241^post101, __disjvr_18^0'=__disjvr_18^post101, i_30^0'=i_30^post101, __disjvr_9^0'=__disjvr_9^post101, __disjvr_2^0'=__disjvr_2^post101, rcd_58^0'=rcd_58^post101, head_129^0'=head_129^post101, r_124^0'=r_124^post101, __disjvr_27^0'=__disjvr_27^post101, ct_17^0'=ct_17^post101, temp_35^0'=temp_35^post101, __disjvr_39^0'=__disjvr_39^post101, __disjvr_34^0'=__disjvr_34^post101, t_23^0'=t_23^post101, head_27^0'=head_27^post101, __disjvr_15^0'=__disjvr_15^post101, head_SLAM_f_26^0'=head_SLAM_f_26^post101, __disjvr_6^0'=__disjvr_6^post101, __disjvr_12^0'=__disjvr_12^post101, y_19^0'=y_19^post101, __disjvr_43^0'=__disjvr_43^post101, len_276^0'=len_276^post101, __disjvr_24^0'=__disjvr_24^post101, a_308^0'=a_308^post101, __disjvr_1^0'=__disjvr_1^post101, len_132^0'=len_132^post101, a_147^0'=a_147^post101, __disjvr_31^0'=__disjvr_31^post101, result_11^0'=result_11^post101, head_175^0'=head_175^post101, r_218^0'=r_218^post101, __disjvr_29^0'=__disjvr_29^post101, __disjvr_0^0'=__disjvr_0^post101, x_16^0'=x_16^post101, __disjvr_40^0'=__disjvr_40^post101, __disjvr_36^0'=__disjvr_36^post101, a_210^0'=a_210^post101, __disjvr_17^0'=__disjvr_17^post101, i_167^0'=i_167^post101, __disjvr_8^0'=__disjvr_8^post101, __disjvr_14^0'=__disjvr_14^post101, r_39^0'=r_39^post101, f_263^0'=f_263^post101, nondet_12^0'=nondet_12^post101, __disjvr_26^0'=__disjvr_26^post101, a_353^0'=a_353^post101, __disjvr_21^0'=__disjvr_21^post101, temp0_31^0'=temp0_31^post101, __disjvr_38^0'=__disjvr_38^post101, __disjvr_33^0'=__disjvr_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, head_268^0'=head_268^post101, head_32^0'=head_32^post101, __disjvr_5^0'=__disjvr_5^post101, __disjvr_11^0'=__disjvr_11^post101, x_SLAM_f_18^0'=x_SLAM_f_18^post101, __disjvr_42^0'=__disjvr_42^post101, len_226^0'=len_226^post101, __disjvr_23^0'=__disjvr_23^post101, a_277^0'=a_277^post101, __disjvr_19^0'=__disjvr_19^post101, i_94^0'=i_94^post101, a_116^0'=a_116^post101, __disjvr_30^0'=__disjvr_30^post101, rcd_88^0'=rcd_88^post101, head_14^0'=head_14^post101, r_163^0'=r_163^post101, __disjvr_28^0'=__disjvr_28^post101, tmp_34^0'=tmp_34^post101, __disjvr_3^0'=__disjvr_3^post101, __disjvr_35^0'=__disjvr_35^post101, temp0_15^0'=temp0_15^post101, a_184^0'=a_184^post101, __disjvr_16^0'=__disjvr_16^post101, (-x_SLAM_f_18^post101+x_SLAM_f_18^0 == 0 /\ __disjvr_25^0-__disjvr_25^post101 == 0 /\ a_241^0-a_241^post101 == 0 /\ r_260^0-r_260^post101 == 0 /\ -a_277^post101+a_277^0 == 0 /\ head_175^0-head_175^post101 == 0 /\ -a_116^post101+a_116^0 == 0 /\ -__disjvr_41^post101+__disjvr_41^0 == 0 /\ __disjvr_15^0-__disjvr_15^post101 == 0 /\ i_108^0-i_108^post101 == 0 /\ temp_35^0-temp_35^post101 == 0 /\ a_330^0-a_330^post101 == 0 /\ __disjvr_1^0-__disjvr_1^post101 == 0 /\ __disjvr_32^0-__disjvr_32^post101 == 0 /\ head_129^0-head_129^post101 == 0 /\ -__disjvr_21^post101+__disjvr_21^0 == 0 /\ -head_14^post101+head_14^0 == 0 /\ -__disjvr_42^post101+__disjvr_42^0 == 0 /\ x_16^0-x_16^post101 == 0 /\ -__disjvr_30^post101+__disjvr_30^0 == 0 /\ -__disjvr_40^post101+__disjvr_40^0 == 0 /\ -a_184^post101+a_184^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ -ct_17^post101+ct_17^0 == 0 /\ length_29^0-length_29^post101 == 0 /\ head_32^0-head_32^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101 == 0 /\ -a_210^post101+a_210^0 == 0 /\ len_226^0-len_226^post101 == 0 /\ f_170^0-f_170^post101 == 0 /\ __disjvr_37^0-__disjvr_37^post101 == 0 /\ -__disjvr_23^post101+__disjvr_23^0 == 0 /\ -__disjvr_11^post101+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post101 == 0 /\ -__disjvr_0^post101+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post101 == 0 /\ -head_27^post101+head_27^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ i_167^0-i_167^post101 == 0 /\ -__disjvr_39^post101+__disjvr_39^0 == 0 /\ -__disjvr_3^post101+__disjvr_3^0 == 0 /\ -__disjvr_36^post101+__disjvr_36^0 == 0 /\ __disjvr_2^0-__disjvr_2^post101 == 0 /\ -__disjvr_31^post101+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post101 == 0 /\ result_11^0-result_11^post101 == 0 /\ len_276^0-len_276^post101 == 0 /\ -len_132^post101+len_132^0 == 0 /\ -r_163^post101+r_163^0 == 0 /\ rcd_58^0-rcd_58^post101 == 0 /\ r_218^0-r_218^post101 == 0 /\ __disjvr_24^0-__disjvr_24^post101 == 0 /\ -rcd_88^post101+rcd_88^0 == 0 /\ __disjvr_18^0-__disjvr_18^post101 == 0 /\ f_263^0-f_263^post101 == 0 /\ head_223^0-head_223^post101 == 0 /\ -__disjvr_17^post101+__disjvr_17^0 == 0 /\ -__disjvr_14^post101+__disjvr_14^0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ -__disjvr_34^post101+__disjvr_34^0 == 0 /\ -__disjvr_35^post101+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post101 == 0 /\ -__disjvr_38^post101+__disjvr_38^0 == 0 /\ -__disjvr_28^post101+__disjvr_28^0 == 0 /\ -__disjvr_5^post101+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post101 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post101 == 0 /\ __disjvr_12^0-__disjvr_12^post101 == 0 /\ __disjvr_7^0-__disjvr_7^post101 == 0 /\ len_183^0-len_183^post101 == 0 /\ -i_94^post101+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post101 == 0 /\ -__disjvr_8^post101+__disjvr_8^0 == 0 /\ -__disjvr_16^post101+__disjvr_16^0 == 0 /\ a_147^0-a_147^post101 == 0 /\ __disjvr_43^0-__disjvr_43^post101 == 0 /\ -__disjvr_10^post101+__disjvr_10^0 == 0 /\ -__disjvr_33^post101+__disjvr_33^0 == 0 /\ -y_19^post101+y_19^0 == 0 /\ i_30^0-i_30^post101 == 0 /\ x_20^0-x_20^post101 == 0 /\ __disjvr_20^0-__disjvr_20^post101 == 0 /\ -temp0_15^post101+temp0_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ -__disjvr_29^post101+__disjvr_29^0 == 0 /\ -a_353^post101+a_353^0 == 0 /\ -a_308^post101+a_308^0 == 0 /\ -__disjvr_19^post101+__disjvr_19^0 == 0 /\ t_23^0-t_23^post101 == 0 /\ -head_268^post101+head_268^0 == 0 /\ r_124^0-r_124^post101 == 0), cost: 1


Applied preprocessing
Original rule:
l10 -> l13 : i_108^0'=i_108^post10, __disjvr_7^0'=__disjvr_7^post10, __disjvr_13^0'=__disjvr_13^post10, f_170^0'=f_170^post10, length_29^0'=length_29^post10, __disjvr_25^0'=__disjvr_25^post10, a_330^0'=a_330^post10, __disjvr_20^0'=__disjvr_20^post10, len_183^0'=len_183^post10, __disjvr_37^0'=__disjvr_37^post10, __disjvr_32^0'=__disjvr_32^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, head_223^0'=head_223^post10, r_260^0'=r_260^post10, __disjvr_4^0'=__disjvr_4^post10, __disjvr_10^0'=__disjvr_10^post10, x_20^0'=x_20^post10, __disjvr_41^0'=__disjvr_41^post10, __disjvr_22^0'=__disjvr_22^post10, a_241^0'=a_241^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_9^0'=__disjvr_9^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_58^0'=rcd_58^post10, head_129^0'=head_129^post10, r_124^0'=r_124^post10, __disjvr_27^0'=__disjvr_27^post10, ct_17^0'=ct_17^post10, temp_35^0'=temp_35^post10, __disjvr_39^0'=__disjvr_39^post10, __disjvr_34^0'=__disjvr_34^post10, t_23^0'=t_23^post10, head_27^0'=head_27^post10, __disjvr_15^0'=__disjvr_15^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, __disjvr_6^0'=__disjvr_6^post10, __disjvr_12^0'=__disjvr_12^post10, y_19^0'=y_19^post10, __disjvr_43^0'=__disjvr_43^post10, len_276^0'=len_276^post10, __disjvr_24^0'=__disjvr_24^post10, a_308^0'=a_308^post10, __disjvr_1^0'=__disjvr_1^post10, len_132^0'=len_132^post10, a_147^0'=a_147^post10, __disjvr_31^0'=__disjvr_31^post10, result_11^0'=result_11^post10, head_175^0'=head_175^post10, r_218^0'=r_218^post10, __disjvr_29^0'=__disjvr_29^post10, __disjvr_0^0'=__disjvr_0^post10, x_16^0'=x_16^post10, __disjvr_40^0'=__disjvr_40^post10, __disjvr_36^0'=__disjvr_36^post10, a_210^0'=a_210^post10, __disjvr_17^0'=__disjvr_17^post10, i_167^0'=i_167^post10, __disjvr_8^0'=__disjvr_8^post10, __disjvr_14^0'=__disjvr_14^post10, r_39^0'=r_39^post10, f_263^0'=f_263^post10, nondet_12^0'=nondet_12^post10, __disjvr_26^0'=__disjvr_26^post10, a_353^0'=a_353^post10, __disjvr_21^0'=__disjvr_21^post10, temp0_31^0'=temp0_31^post10, __disjvr_38^0'=__disjvr_38^post10, __disjvr_33^0'=__disjvr_33^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, head_268^0'=head_268^post10, head_32^0'=head_32^post10, __disjvr_5^0'=__disjvr_5^post10, __disjvr_11^0'=__disjvr_11^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, __disjvr_42^0'=__disjvr_42^post10, len_226^0'=len_226^post10, __disjvr_23^0'=__disjvr_23^post10, a_277^0'=a_277^post10, __disjvr_19^0'=__disjvr_19^post10, i_94^0'=i_94^post10, a_116^0'=a_116^post10, __disjvr_30^0'=__disjvr_30^post10, rcd_88^0'=rcd_88^post10, head_14^0'=head_14^post10, r_163^0'=r_163^post10, __disjvr_28^0'=__disjvr_28^post10, tmp_34^0'=tmp_34^post10, __disjvr_3^0'=__disjvr_3^post10, __disjvr_35^0'=__disjvr_35^post10, temp0_15^0'=temp0_15^post10, a_184^0'=a_184^post10, __disjvr_16^0'=__disjvr_16^post10, (0 == 0 /\ __disjvr_40^0-__disjvr_40^post10 == 0 /\ i_108^0-i_108^post10 == 0 /\ -head_SLAM_f_26^post10+head_SLAM_f_26^0 == 0 /\ __disjvr_32^0-__disjvr_32^post10 == 0 /\ -__disjvr_33^post10+__disjvr_33^0 == 0 /\ -len_276^post10+len_276^0 == 0 /\ head_268^0-head_268^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -a_147^post10+a_147^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_27^0-__disjvr_27^post10 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ head_223^0-head_223^post10 == 0 /\ -len_226^post10+len_226^0 == 0 /\ __disjvr_10^0-__disjvr_10^post10 == 0 /\ -r_163^post10+r_163^0 == 0 /\ -r_218^post10+r_218^0 == 0 /\ -r_124^post10+r_124^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_277^0-a_277^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ -__disjvr_35^post10+__disjvr_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ -a_116^post10+a_116^0 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ __disjvr_41^0-__disjvr_41^post10 == 0 /\ a_330^0-a_330^post10 == 0 /\ len_132^0-len_132^post10 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post10 == 0 /\ head_175^0-head_175^post10 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ f_170^0-f_170^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -a_353^post10+a_353^0 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -__disjvr_36^post10+__disjvr_36^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -temp0_15^post10+temp0_15^0 == 0 /\ -__disjvr_42^post10+__disjvr_42^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ -head_129^post10+head_129^0 == 0 /\ len_183^0-len_183^post10 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ a_210^0-a_210^post10 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ __disjvr_38^0-__disjvr_38^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ __disjvr_37^0-__disjvr_37^post10 == 0 /\ -f_263^post10+f_263^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ __disjvr_34^0-__disjvr_34^post10 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ rcd_58^0-rcd_58^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ __disjvr_15^0-__disjvr_15^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_29^0-length_29^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -a_184^post10+a_184^0 == 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ r_260^0-r_260^post10 == 0 /\ a_241^0-a_241^post10 == 0 /\ -__disjvr_23^post10+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -i_167^post10+i_167^0 == 0 /\ -a_308^post10+a_308^0 == 0 /\ __disjvr_43^0-__disjvr_43^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -a_330^0 <= 0 /\ __disjvr_31^0-__disjvr_31^post10 == 0 /\ __disjvr_39^0-__disjvr_39^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ head_27^0-head_27^post10 == 0), cost: 1
New rule:
l10 -> l13 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, a_330^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l13 -> l14 : i_108^0'=i_108^post11, __disjvr_7^0'=__disjvr_7^post11, __disjvr_13^0'=__disjvr_13^post11, f_170^0'=f_170^post11, length_29^0'=length_29^post11, __disjvr_25^0'=__disjvr_25^post11, a_330^0'=a_330^post11, __disjvr_20^0'=__disjvr_20^post11, len_183^0'=len_183^post11, __disjvr_37^0'=__disjvr_37^post11, __disjvr_32^0'=__disjvr_32^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, head_223^0'=head_223^post11, r_260^0'=r_260^post11, __disjvr_4^0'=__disjvr_4^post11, __disjvr_10^0'=__disjvr_10^post11, x_20^0'=x_20^post11, __disjvr_41^0'=__disjvr_41^post11, __disjvr_22^0'=__disjvr_22^post11, a_241^0'=a_241^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_9^0'=__disjvr_9^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_58^0'=rcd_58^post11, head_129^0'=head_129^post11, r_124^0'=r_124^post11, __disjvr_27^0'=__disjvr_27^post11, ct_17^0'=ct_17^post11, temp_35^0'=temp_35^post11, __disjvr_39^0'=__disjvr_39^post11, __disjvr_34^0'=__disjvr_34^post11, t_23^0'=t_23^post11, head_27^0'=head_27^post11, __disjvr_15^0'=__disjvr_15^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, __disjvr_6^0'=__disjvr_6^post11, __disjvr_12^0'=__disjvr_12^post11, y_19^0'=y_19^post11, __disjvr_43^0'=__disjvr_43^post11, len_276^0'=len_276^post11, __disjvr_24^0'=__disjvr_24^post11, a_308^0'=a_308^post11, __disjvr_1^0'=__disjvr_1^post11, len_132^0'=len_132^post11, a_147^0'=a_147^post11, __disjvr_31^0'=__disjvr_31^post11, result_11^0'=result_11^post11, head_175^0'=head_175^post11, r_218^0'=r_218^post11, __disjvr_29^0'=__disjvr_29^post11, __disjvr_0^0'=__disjvr_0^post11, x_16^0'=x_16^post11, __disjvr_40^0'=__disjvr_40^post11, __disjvr_36^0'=__disjvr_36^post11, a_210^0'=a_210^post11, __disjvr_17^0'=__disjvr_17^post11, i_167^0'=i_167^post11, __disjvr_8^0'=__disjvr_8^post11, __disjvr_14^0'=__disjvr_14^post11, r_39^0'=r_39^post11, f_263^0'=f_263^post11, nondet_12^0'=nondet_12^post11, __disjvr_26^0'=__disjvr_26^post11, a_353^0'=a_353^post11, __disjvr_21^0'=__disjvr_21^post11, temp0_31^0'=temp0_31^post11, __disjvr_38^0'=__disjvr_38^post11, __disjvr_33^0'=__disjvr_33^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, head_268^0'=head_268^post11, head_32^0'=head_32^post11, __disjvr_5^0'=__disjvr_5^post11, __disjvr_11^0'=__disjvr_11^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, __disjvr_42^0'=__disjvr_42^post11, len_226^0'=len_226^post11, __disjvr_23^0'=__disjvr_23^post11, a_277^0'=a_277^post11, __disjvr_19^0'=__disjvr_19^post11, i_94^0'=i_94^post11, a_116^0'=a_116^post11, __disjvr_30^0'=__disjvr_30^post11, rcd_88^0'=rcd_88^post11, head_14^0'=head_14^post11, r_163^0'=r_163^post11, __disjvr_28^0'=__disjvr_28^post11, tmp_34^0'=tmp_34^post11, __disjvr_3^0'=__disjvr_3^post11, __disjvr_35^0'=__disjvr_35^post11, temp0_15^0'=temp0_15^post11, a_184^0'=a_184^post11, __disjvr_16^0'=__disjvr_16^post11, (length_29^0-length_29^post11 == 0 /\ -a_308^post11+a_308^0 == 0 /\ -a_353^post11+a_353^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ -__disjvr_42^post11+__disjvr_42^0 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ len_276^0-len_276^post11 == 0 /\ a_330^0-a_330^post11 == 0 /\ x_20^0-x_20^post11 == 0 /\ -y_19^post11+y_19^0 == 0 /\ r_260^0-r_260^post11 == 0 /\ -__disjvr_43^post11+__disjvr_43^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ -a_277^post11+a_277^0 == 0 /\ __disjvr_37^0-__disjvr_37^post11 == 0 /\ len_226^0-len_226^post11 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ -__disjvr_41^post11+__disjvr_41^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ head_129^0-head_129^post11 == 0 /\ -__disjvr_31^post11+__disjvr_31^0 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_0^post11+__disjvr_0^0 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ i_108^0-i_108^post11 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -__disjvr_34^post11+__disjvr_34^0 == 0 /\ -head_268^post11+head_268^0 == 0 /\ __disjvr_27^0-__disjvr_27^post11 == 0 /\ -a_184^post11+a_184^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ len_183^0-len_183^post11 == 0 /\ i_30^0-i_30^post11 == 0 /\ -__disjvr_21^post11+__disjvr_21^0 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ head_223^0-head_223^post11 == 0 /\ -head_14^post11+head_14^0 == 0 /\ -ct_17^post11+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_36^post11+__disjvr_36^0 == 0 /\ -__disjvr_29^post11+__disjvr_29^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ a_241^0-a_241^post11 == 0 /\ -len_132^post11+len_132^0 == 0 /\ -r_218^post11+r_218^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -__disjvr_39^post11+__disjvr_39^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -__disjvr_9^post11+__disjvr_9^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ a_147^0-a_147^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ __disjvr_1^0-__disjvr_1^post11 == 0 /\ -a_116^post11+a_116^0 == 0 /\ -__disjvr_40^post11+__disjvr_40^0 == 0 /\ t_23^0-t_23^post11 == 0 /\ __disjvr_32^0-__disjvr_32^post11 == 0 /\ -x_16^post11+x_16^0 == 0 /\ -__disjvr_35^post11+__disjvr_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ r_124^0-r_124^post11 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ head_175^0-head_175^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ -__disjvr_14^post11+__disjvr_14^0 == 0 /\ -a_210^post11+a_210^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ __disjvr_33^0-__disjvr_33^post11 == 0 /\ -__disjvr_30^post11+__disjvr_30^0 == 0 /\ -__disjvr_38^post11+__disjvr_38^0 == 0 /\ r_163^0-r_163^post11 == 0 /\ f_263^0-f_263^post11 == 0 /\ -f_170^post11+f_170^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ -i_94^post11+i_94^0 == 0), cost: 1
New rule:
l13 -> l14 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l14 -> l15 : i_108^0'=i_108^post12, __disjvr_7^0'=__disjvr_7^post12, __disjvr_13^0'=__disjvr_13^post12, f_170^0'=f_170^post12, length_29^0'=length_29^post12, __disjvr_25^0'=__disjvr_25^post12, a_330^0'=a_330^post12, __disjvr_20^0'=__disjvr_20^post12, len_183^0'=len_183^post12, __disjvr_37^0'=__disjvr_37^post12, __disjvr_32^0'=__disjvr_32^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, head_223^0'=head_223^post12, r_260^0'=r_260^post12, __disjvr_4^0'=__disjvr_4^post12, __disjvr_10^0'=__disjvr_10^post12, x_20^0'=x_20^post12, __disjvr_41^0'=__disjvr_41^post12, __disjvr_22^0'=__disjvr_22^post12, a_241^0'=a_241^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_9^0'=__disjvr_9^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_58^0'=rcd_58^post12, head_129^0'=head_129^post12, r_124^0'=r_124^post12, __disjvr_27^0'=__disjvr_27^post12, ct_17^0'=ct_17^post12, temp_35^0'=temp_35^post12, __disjvr_39^0'=__disjvr_39^post12, __disjvr_34^0'=__disjvr_34^post12, t_23^0'=t_23^post12, head_27^0'=head_27^post12, __disjvr_15^0'=__disjvr_15^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, __disjvr_6^0'=__disjvr_6^post12, __disjvr_12^0'=__disjvr_12^post12, y_19^0'=y_19^post12, __disjvr_43^0'=__disjvr_43^post12, len_276^0'=len_276^post12, __disjvr_24^0'=__disjvr_24^post12, a_308^0'=a_308^post12, __disjvr_1^0'=__disjvr_1^post12, len_132^0'=len_132^post12, a_147^0'=a_147^post12, __disjvr_31^0'=__disjvr_31^post12, result_11^0'=result_11^post12, head_175^0'=head_175^post12, r_218^0'=r_218^post12, __disjvr_29^0'=__disjvr_29^post12, __disjvr_0^0'=__disjvr_0^post12, x_16^0'=x_16^post12, __disjvr_40^0'=__disjvr_40^post12, __disjvr_36^0'=__disjvr_36^post12, a_210^0'=a_210^post12, __disjvr_17^0'=__disjvr_17^post12, i_167^0'=i_167^post12, __disjvr_8^0'=__disjvr_8^post12, __disjvr_14^0'=__disjvr_14^post12, r_39^0'=r_39^post12, f_263^0'=f_263^post12, nondet_12^0'=nondet_12^post12, __disjvr_26^0'=__disjvr_26^post12, a_353^0'=a_353^post12, __disjvr_21^0'=__disjvr_21^post12, temp0_31^0'=temp0_31^post12, __disjvr_38^0'=__disjvr_38^post12, __disjvr_33^0'=__disjvr_33^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, head_268^0'=head_268^post12, head_32^0'=head_32^post12, __disjvr_5^0'=__disjvr_5^post12, __disjvr_11^0'=__disjvr_11^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, __disjvr_42^0'=__disjvr_42^post12, len_226^0'=len_226^post12, __disjvr_23^0'=__disjvr_23^post12, a_277^0'=a_277^post12, __disjvr_19^0'=__disjvr_19^post12, i_94^0'=i_94^post12, a_116^0'=a_116^post12, __disjvr_30^0'=__disjvr_30^post12, rcd_88^0'=rcd_88^post12, head_14^0'=head_14^post12, r_163^0'=r_163^post12, __disjvr_28^0'=__disjvr_28^post12, tmp_34^0'=tmp_34^post12, __disjvr_3^0'=__disjvr_3^post12, __disjvr_35^0'=__disjvr_35^post12, temp0_15^0'=temp0_15^post12, a_184^0'=a_184^post12, __disjvr_16^0'=__disjvr_16^post12, (0 == 0 /\ -__disjvr_33^post12+__disjvr_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ head_129^0-head_129^post12 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -y_19^0 <= 0 /\ __disjvr_32^0-__disjvr_32^post12 == 0 /\ -f_263^post12+f_263^0 == 0 /\ head_27^0-head_27^post12 == 0 /\ x_16^0-head_14^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ -__disjvr_29^post12+__disjvr_29^0 == 0 /\ -__disjvr_11^post12+__disjvr_11^0 == 0 /\ -i_94^post12+i_94^0 == 0 /\ -r_163^post12+r_163^0 == 0 /\ -r_39^post12+r_39^0 == 0 /\ ct_17^0-y_19^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ a_241^0-a_241^post12 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ __disjvr_27^0-__disjvr_27^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ -y_19^post12+y_19^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_268^post12+head_268^0 == 0 /\ len_276^0-len_276^post12 == 0 /\ __disjvr_12^0-__disjvr_12^post12 == 0 /\ -x_SLAM_f_18^post12+x_SLAM_f_18^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ 1-a_330^0+a_353^post12 <= 0 /\ ct_17^0 <= 0 /\ -len_226^post12+len_226^0 == 0 /\ x_16^0-x_16^post12 == 0 /\ -ct_17^0+y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ head_223^0-head_223^post12 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_39^post12+__disjvr_39^0 == 0 /\ -a_116^post12+a_116^0 == 0 /\ rcd_58^0-rcd_58^post12 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post12+__disjvr_21^0 == 0 /\ __disjvr_37^0-__disjvr_37^post12 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ -__disjvr_35^post12+__disjvr_35^0 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ y_19^0 <= 0 /\ f_170^0-f_170^post12 == 0 /\ a_330^0-a_330^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -ct_17^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -__disjvr_31^post12+__disjvr_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ r_124^0-r_124^post12 == 0 /\ -x_20^0+t_23^post12 == 0 /\ len_132^0-len_132^post12 == 0 /\ -__disjvr_36^post12+__disjvr_36^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ __disjvr_41^0-__disjvr_41^post12 == 0 /\ i_167^0-i_167^post12 == 0 /\ -a_308^post12+a_308^0 == 0 /\ -a_277^post12+a_277^0 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ head_175^0-head_175^post12 == 0 /\ -1+a_330^0-a_353^post12 <= 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ length_29^0-length_29^post12 == 0 /\ -__disjvr_34^post12+__disjvr_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ r_218^0-r_218^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ len_183^0-len_183^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -a_210^post12+a_210^0 == 0 /\ -__disjvr_42^post12+__disjvr_42^0 == 0 /\ -__disjvr_30^post12+__disjvr_30^0 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -__disjvr_14^post12+__disjvr_14^0 == 0 /\ -tmp_34^post12+tmp_34^0 == 0 /\ a_147^0-a_147^post12 == 0 /\ x_20^0-x_20^post12 == 0 /\ r_260^0-r_260^post12 == 0 /\ -__disjvr_40^post12+__disjvr_40^0 == 0 /\ head_14^0-head_14^post12 == 0 /\ i_108^0-i_108^post12 == 0 /\ -__disjvr_38^post12+__disjvr_38^0 == 0 /\ -a_184^post12+a_184^0 == 0 /\ __disjvr_15^0-__disjvr_15^post12 == 0 /\ __disjvr_43^0-__disjvr_43^post12 == 0), cost: 1
New rule:
l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0), cost: 1

Applied preprocessing
Original rule:
l15 -> l16 : i_108^0'=i_108^post13, __disjvr_7^0'=__disjvr_7^post13, __disjvr_13^0'=__disjvr_13^post13, f_170^0'=f_170^post13, length_29^0'=length_29^post13, __disjvr_25^0'=__disjvr_25^post13, a_330^0'=a_330^post13, __disjvr_20^0'=__disjvr_20^post13, len_183^0'=len_183^post13, __disjvr_37^0'=__disjvr_37^post13, __disjvr_32^0'=__disjvr_32^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, head_223^0'=head_223^post13, r_260^0'=r_260^post13, __disjvr_4^0'=__disjvr_4^post13, __disjvr_10^0'=__disjvr_10^post13, x_20^0'=x_20^post13, __disjvr_41^0'=__disjvr_41^post13, __disjvr_22^0'=__disjvr_22^post13, a_241^0'=a_241^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_9^0'=__disjvr_9^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_58^0'=rcd_58^post13, head_129^0'=head_129^post13, r_124^0'=r_124^post13, __disjvr_27^0'=__disjvr_27^post13, ct_17^0'=ct_17^post13, temp_35^0'=temp_35^post13, __disjvr_39^0'=__disjvr_39^post13, __disjvr_34^0'=__disjvr_34^post13, t_23^0'=t_23^post13, head_27^0'=head_27^post13, __disjvr_15^0'=__disjvr_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, __disjvr_6^0'=__disjvr_6^post13, __disjvr_12^0'=__disjvr_12^post13, y_19^0'=y_19^post13, __disjvr_43^0'=__disjvr_43^post13, len_276^0'=len_276^post13, __disjvr_24^0'=__disjvr_24^post13, a_308^0'=a_308^post13, __disjvr_1^0'=__disjvr_1^post13, len_132^0'=len_132^post13, a_147^0'=a_147^post13, __disjvr_31^0'=__disjvr_31^post13, result_11^0'=result_11^post13, head_175^0'=head_175^post13, r_218^0'=r_218^post13, __disjvr_29^0'=__disjvr_29^post13, __disjvr_0^0'=__disjvr_0^post13, x_16^0'=x_16^post13, __disjvr_40^0'=__disjvr_40^post13, __disjvr_36^0'=__disjvr_36^post13, a_210^0'=a_210^post13, __disjvr_17^0'=__disjvr_17^post13, i_167^0'=i_167^post13, __disjvr_8^0'=__disjvr_8^post13, __disjvr_14^0'=__disjvr_14^post13, r_39^0'=r_39^post13, f_263^0'=f_263^post13, nondet_12^0'=nondet_12^post13, __disjvr_26^0'=__disjvr_26^post13, a_353^0'=a_353^post13, __disjvr_21^0'=__disjvr_21^post13, temp0_31^0'=temp0_31^post13, __disjvr_38^0'=__disjvr_38^post13, __disjvr_33^0'=__disjvr_33^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, head_268^0'=head_268^post13, head_32^0'=head_32^post13, __disjvr_5^0'=__disjvr_5^post13, __disjvr_11^0'=__disjvr_11^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, __disjvr_42^0'=__disjvr_42^post13, len_226^0'=len_226^post13, __disjvr_23^0'=__disjvr_23^post13, a_277^0'=a_277^post13, __disjvr_19^0'=__disjvr_19^post13, i_94^0'=i_94^post13, a_116^0'=a_116^post13, __disjvr_30^0'=__disjvr_30^post13, rcd_88^0'=rcd_88^post13, head_14^0'=head_14^post13, r_163^0'=r_163^post13, __disjvr_28^0'=__disjvr_28^post13, tmp_34^0'=tmp_34^post13, __disjvr_3^0'=__disjvr_3^post13, __disjvr_35^0'=__disjvr_35^post13, temp0_15^0'=temp0_15^post13, a_184^0'=a_184^post13, __disjvr_16^0'=__disjvr_16^post13, (__disjvr_13^0-__disjvr_13^post13 == 0 /\ len_183^0-len_183^post13 == 0 /\ -__disjvr_5^0+__disjvr_5^post13 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ -i_167^post13+i_167^0 == 0 /\ len_132^0-len_132^post13 == 0 /\ -__disjvr_38^post13+__disjvr_38^0 == 0 /\ __disjvr_37^0-__disjvr_37^post13 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ -r_39^post13+r_39^0 == 0 /\ __disjvr_43^0-__disjvr_43^post13 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ -head_268^post13+head_268^0 == 0 /\ -t_23^post13+t_23^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ -rcd_88^post13+rcd_88^0 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_42^post13+__disjvr_42^0 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_14^post13+__disjvr_14^0 == 0 /\ -rcd_58^post13+rcd_58^0 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ a_210^0-a_210^post13 == 0 /\ i_94^0-i_94^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ -x_SLAM_f_18^post13+x_SLAM_f_18^0 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -a_353^post13+a_353^0 == 0 /\ length_29^0-length_29^post13 == 0 /\ -__disjvr_35^post13+__disjvr_35^0 == 0 /\ -a_277^post13+a_277^0 == 0 /\ -a_116^post13+a_116^0 == 0 /\ -head_SLAM_f_26^post13+head_SLAM_f_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post13 == 0 /\ -__disjvr_21^post13+__disjvr_21^0 == 0 /\ -x_20^post13+x_20^0 == 0 /\ -a_184^post13+a_184^0 == 0 /\ head_129^0-head_129^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ r_218^0-r_218^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ ct_17^0-ct_17^post13 == 0 /\ -head_175^post13+head_175^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ -f_263^post13+f_263^0 == 0 /\ -__disjvr_40^post13+__disjvr_40^0 == 0 /\ -__disjvr_32^post13+__disjvr_32^0 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -__disjvr_33^post13+__disjvr_33^0 == 0 /\ -__disjvr_16^post13+__disjvr_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ -a_330^post13+a_330^0 == 0 /\ -r_163^post13+r_163^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ -r_124^post13+r_124^0 == 0 /\ -len_276^post13+len_276^0 == 0 /\ -a_147^post13+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ __disjvr_36^0-__disjvr_36^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -head_14^post13+head_14^0 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ head_27^0-head_27^post13 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ head_223^0-head_223^post13 == 0 /\ a_308^0-a_308^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ __disjvr_25^0-__disjvr_25^post13 == 0 /\ a_241^0-a_241^post13 == 0 /\ __disjvr_31^0-__disjvr_31^post13 == 0 /\ f_170^0-f_170^post13 == 0 /\ -r_260^post13+r_260^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ -len_226^post13+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_41^0-__disjvr_41^post13 == 0 /\ __disjvr_39^0-__disjvr_39^post13 == 0), cost: 1
New rule:
l15 -> l16 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l16 -> l17 : i_108^0'=i_108^post14, __disjvr_7^0'=__disjvr_7^post14, __disjvr_13^0'=__disjvr_13^post14, f_170^0'=f_170^post14, length_29^0'=length_29^post14, __disjvr_25^0'=__disjvr_25^post14, a_330^0'=a_330^post14, __disjvr_20^0'=__disjvr_20^post14, len_183^0'=len_183^post14, __disjvr_37^0'=__disjvr_37^post14, __disjvr_32^0'=__disjvr_32^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, head_223^0'=head_223^post14, r_260^0'=r_260^post14, __disjvr_4^0'=__disjvr_4^post14, __disjvr_10^0'=__disjvr_10^post14, x_20^0'=x_20^post14, __disjvr_41^0'=__disjvr_41^post14, __disjvr_22^0'=__disjvr_22^post14, a_241^0'=a_241^post14, __disjvr_18^0'=__disjvr_18^post14, i_30^0'=i_30^post14, __disjvr_9^0'=__disjvr_9^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_58^0'=rcd_58^post14, head_129^0'=head_129^post14, r_124^0'=r_124^post14, __disjvr_27^0'=__disjvr_27^post14, ct_17^0'=ct_17^post14, temp_35^0'=temp_35^post14, __disjvr_39^0'=__disjvr_39^post14, __disjvr_34^0'=__disjvr_34^post14, t_23^0'=t_23^post14, head_27^0'=head_27^post14, __disjvr_15^0'=__disjvr_15^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, __disjvr_6^0'=__disjvr_6^post14, __disjvr_12^0'=__disjvr_12^post14, y_19^0'=y_19^post14, __disjvr_43^0'=__disjvr_43^post14, len_276^0'=len_276^post14, __disjvr_24^0'=__disjvr_24^post14, a_308^0'=a_308^post14, __disjvr_1^0'=__disjvr_1^post14, len_132^0'=len_132^post14, a_147^0'=a_147^post14, __disjvr_31^0'=__disjvr_31^post14, result_11^0'=result_11^post14, head_175^0'=head_175^post14, r_218^0'=r_218^post14, __disjvr_29^0'=__disjvr_29^post14, __disjvr_0^0'=__disjvr_0^post14, x_16^0'=x_16^post14, __disjvr_40^0'=__disjvr_40^post14, __disjvr_36^0'=__disjvr_36^post14, a_210^0'=a_210^post14, __disjvr_17^0'=__disjvr_17^post14, i_167^0'=i_167^post14, __disjvr_8^0'=__disjvr_8^post14, __disjvr_14^0'=__disjvr_14^post14, r_39^0'=r_39^post14, f_263^0'=f_263^post14, nondet_12^0'=nondet_12^post14, __disjvr_26^0'=__disjvr_26^post14, a_353^0'=a_353^post14, __disjvr_21^0'=__disjvr_21^post14, temp0_31^0'=temp0_31^post14, __disjvr_38^0'=__disjvr_38^post14, __disjvr_33^0'=__disjvr_33^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, head_268^0'=head_268^post14, head_32^0'=head_32^post14, __disjvr_5^0'=__disjvr_5^post14, __disjvr_11^0'=__disjvr_11^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, __disjvr_42^0'=__disjvr_42^post14, len_226^0'=len_226^post14, __disjvr_23^0'=__disjvr_23^post14, a_277^0'=a_277^post14, __disjvr_19^0'=__disjvr_19^post14, i_94^0'=i_94^post14, a_116^0'=a_116^post14, __disjvr_30^0'=__disjvr_30^post14, rcd_88^0'=rcd_88^post14, head_14^0'=head_14^post14, r_163^0'=r_163^post14, __disjvr_28^0'=__disjvr_28^post14, tmp_34^0'=tmp_34^post14, __disjvr_3^0'=__disjvr_3^post14, __disjvr_35^0'=__disjvr_35^post14, temp0_15^0'=temp0_15^post14, a_184^0'=a_184^post14, __disjvr_16^0'=__disjvr_16^post14, (-a_184^post14+a_184^0 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -__disjvr_43^post14+__disjvr_43^0 == 0 /\ -a_210^post14+a_210^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ a_277^0-a_277^post14 == 0 /\ -r_39^post14+r_39^0 == 0 /\ -__disjvr_31^post14+__disjvr_31^0 == 0 /\ head_223^0-head_223^post14 == 0 /\ -__disjvr_21^post14+__disjvr_21^0 == 0 /\ -__disjvr_0^post14+__disjvr_0^0 == 0 /\ r_124^0-r_124^post14 == 0 /\ __disjvr_27^0-__disjvr_27^post14 == 0 /\ f_170^0-f_170^post14 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -r_218^post14+r_218^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -len_132^post14+len_132^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ -__disjvr_39^post14+__disjvr_39^0 == 0 /\ -__disjvr_36^post14+__disjvr_36^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ length_29^0-length_29^post14 == 0 /\ a_308^0-a_308^post14 == 0 /\ __disjvr_7^0-__disjvr_7^post14 == 0 /\ -head_14^post14+head_14^0 == 0 /\ -__disjvr_30^post14+__disjvr_30^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -__disjvr_9^post14+__disjvr_9^0 == 0 /\ y_19^0-y_19^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post14+f_263^0 == 0 /\ -a_116^post14+a_116^0 == 0 /\ -__disjvr_35^post14+__disjvr_35^0 == 0 /\ -x_16^post14+x_16^0 == 0 /\ -len_226^post14+len_226^0 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ len_276^0-len_276^post14 == 0 /\ -head_27^post14+head_27^0 == 0 /\ -i_94^post14+i_94^0 == 0 /\ __disjvr_32^0-__disjvr_32^post14 == 0 /\ -i_167^post14+i_167^0 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ a_241^0-a_241^post14 == 0 /\ __disjvr_33^0-__disjvr_33^post14 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -len_183^post14+len_183^0 == 0 /\ -head_268^post14+head_268^0 == 0 /\ -a_147^post14+a_147^0 == 0 /\ __disjvr_40^0-__disjvr_40^post14 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0 /\ __disjvr_41^0-__disjvr_41^post14 == 0 /\ r_260^0-r_260^post14 == 0 /\ temp_35^0-temp_35^post14 == 0 /\ a_330^0-a_330^post14 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ x_20^0-x_20^post14 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ a_353^0-a_353^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ __disjvr_38^0-__disjvr_38^post14 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ -x_SLAM_f_18^post14+x_SLAM_f_18^0 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ __disjvr_6^post14-__disjvr_6^0 == 0 /\ __disjvr_2^0-__disjvr_2^post14 == 0 /\ __disjvr_37^0-__disjvr_37^post14 == 0 /\ -head_129^post14+head_129^0 == 0 /\ rcd_58^0-rcd_58^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ __disjvr_34^0-__disjvr_34^post14 == 0 /\ -result_11^post14+result_11^0 == 0 /\ -__disjvr_24^post14+__disjvr_24^0 == 0 /\ i_108^0-i_108^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ -head_175^post14+head_175^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -__disjvr_42^post14+__disjvr_42^0 == 0), cost: 1
New rule:
l16 -> l17 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l17 -> l18 : i_108^0'=i_108^post15, __disjvr_7^0'=__disjvr_7^post15, __disjvr_13^0'=__disjvr_13^post15, f_170^0'=f_170^post15, length_29^0'=length_29^post15, __disjvr_25^0'=__disjvr_25^post15, a_330^0'=a_330^post15, __disjvr_20^0'=__disjvr_20^post15, len_183^0'=len_183^post15, __disjvr_37^0'=__disjvr_37^post15, __disjvr_32^0'=__disjvr_32^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, head_223^0'=head_223^post15, r_260^0'=r_260^post15, __disjvr_4^0'=__disjvr_4^post15, __disjvr_10^0'=__disjvr_10^post15, x_20^0'=x_20^post15, __disjvr_41^0'=__disjvr_41^post15, __disjvr_22^0'=__disjvr_22^post15, a_241^0'=a_241^post15, __disjvr_18^0'=__disjvr_18^post15, i_30^0'=i_30^post15, __disjvr_9^0'=__disjvr_9^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_58^0'=rcd_58^post15, head_129^0'=head_129^post15, r_124^0'=r_124^post15, __disjvr_27^0'=__disjvr_27^post15, ct_17^0'=ct_17^post15, temp_35^0'=temp_35^post15, __disjvr_39^0'=__disjvr_39^post15, __disjvr_34^0'=__disjvr_34^post15, t_23^0'=t_23^post15, head_27^0'=head_27^post15, __disjvr_15^0'=__disjvr_15^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, __disjvr_6^0'=__disjvr_6^post15, __disjvr_12^0'=__disjvr_12^post15, y_19^0'=y_19^post15, __disjvr_43^0'=__disjvr_43^post15, len_276^0'=len_276^post15, __disjvr_24^0'=__disjvr_24^post15, a_308^0'=a_308^post15, __disjvr_1^0'=__disjvr_1^post15, len_132^0'=len_132^post15, a_147^0'=a_147^post15, __disjvr_31^0'=__disjvr_31^post15, result_11^0'=result_11^post15, head_175^0'=head_175^post15, r_218^0'=r_218^post15, __disjvr_29^0'=__disjvr_29^post15, __disjvr_0^0'=__disjvr_0^post15, x_16^0'=x_16^post15, __disjvr_40^0'=__disjvr_40^post15, __disjvr_36^0'=__disjvr_36^post15, a_210^0'=a_210^post15, __disjvr_17^0'=__disjvr_17^post15, i_167^0'=i_167^post15, __disjvr_8^0'=__disjvr_8^post15, __disjvr_14^0'=__disjvr_14^post15, r_39^0'=r_39^post15, f_263^0'=f_263^post15, nondet_12^0'=nondet_12^post15, __disjvr_26^0'=__disjvr_26^post15, a_353^0'=a_353^post15, __disjvr_21^0'=__disjvr_21^post15, temp0_31^0'=temp0_31^post15, __disjvr_38^0'=__disjvr_38^post15, __disjvr_33^0'=__disjvr_33^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, head_268^0'=head_268^post15, head_32^0'=head_32^post15, __disjvr_5^0'=__disjvr_5^post15, __disjvr_11^0'=__disjvr_11^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, __disjvr_42^0'=__disjvr_42^post15, len_226^0'=len_226^post15, __disjvr_23^0'=__disjvr_23^post15, a_277^0'=a_277^post15, __disjvr_19^0'=__disjvr_19^post15, i_94^0'=i_94^post15, a_116^0'=a_116^post15, __disjvr_30^0'=__disjvr_30^post15, rcd_88^0'=rcd_88^post15, head_14^0'=head_14^post15, r_163^0'=r_163^post15, __disjvr_28^0'=__disjvr_28^post15, tmp_34^0'=tmp_34^post15, __disjvr_3^0'=__disjvr_3^post15, __disjvr_35^0'=__disjvr_35^post15, temp0_15^0'=temp0_15^post15, a_184^0'=a_184^post15, __disjvr_16^0'=__disjvr_16^post15, (len_276^0-len_276^post15 == 0 /\ x_20^0-x_20^post15 == 0 /\ len_183^0-len_183^post15 == 0 /\ __disjvr_7^0-__disjvr_7^post15 == 0 /\ __disjvr_37^0-__disjvr_37^post15 == 0 /\ -__disjvr_9^post15+__disjvr_9^0 == 0 /\ -a_116^post15+a_116^0 == 0 /\ a_330^0-a_330^post15 == 0 /\ -__disjvr_24^post15+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post15 == 0 /\ -head_268^post15+head_268^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ -__disjvr_43^post15+__disjvr_43^0 == 0 /\ -len_226^post15+len_226^0 == 0 /\ -a_210^post15+a_210^0 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ length_29^0-length_29^post15 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -head_27^post15+head_27^0 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -x_SLAM_f_18^post15+x_SLAM_f_18^0 == 0 /\ x_16^0-x_16^post15 == 0 /\ -a_308^post15+a_308^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -head_129^post15+head_129^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post15 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ i_167^0-i_167^post15 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ head_175^0-head_175^post15 == 0 /\ -__disjvr_42^post15+__disjvr_42^0 == 0 /\ -__disjvr_19^post15+__disjvr_19^0 == 0 /\ -y_19^post15+y_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post15 == 0 /\ -__disjvr_11^post15+__disjvr_11^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ head_32^0-head_32^post15 == 0 /\ -__disjvr_38^post15+__disjvr_38^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ r_260^0-r_260^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_29^post15+__disjvr_29^0 == 0 /\ -r_218^post15+r_218^0 == 0 /\ -a_277^post15+a_277^0 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -r_163^post15+r_163^0 == 0 /\ a_147^0-a_147^post15 == 0 /\ -__disjvr_35^post15+__disjvr_35^0 == 0 /\ -a_184^post15+a_184^0 == 0 /\ i_108^0-i_108^post15 == 0 /\ f_170^0-f_170^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ t_23^0-t_23^post15 == 0 /\ rcd_58^0-rcd_58^post15 == 0 /\ -__disjvr_21^post15+__disjvr_21^0 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15 == 0 /\ -__disjvr_30^post15+__disjvr_30^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ head_223^0-head_223^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_36^post15+__disjvr_36^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ r_124^0-r_124^post15 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ a_241^0-a_241^post15 == 0 /\ f_263^0-f_263^post15 == 0 /\ -a_353^post15+a_353^0 == 0 /\ __disjvr_32^0-__disjvr_32^post15 == 0 /\ __disjvr_41^0-__disjvr_41^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ -len_132^post15+len_132^0 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ __disjvr_1^0-__disjvr_1^post15 == 0 /\ -__disjvr_31^post15+__disjvr_31^0 == 0 /\ __disjvr_27^0-__disjvr_27^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ __disjvr_33^0-__disjvr_33^post15 == 0 /\ __disjvr_12^0-__disjvr_12^post15 == 0 /\ -__disjvr_39^post15+__disjvr_39^0 == 0 /\ -__disjvr_25^post15+__disjvr_25^0 == 0 /\ __disjvr_40^0-__disjvr_40^post15 == 0), cost: 1
New rule:
l17 -> l18 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l18 -> l12 : i_108^0'=i_108^post16, __disjvr_7^0'=__disjvr_7^post16, __disjvr_13^0'=__disjvr_13^post16, f_170^0'=f_170^post16, length_29^0'=length_29^post16, __disjvr_25^0'=__disjvr_25^post16, a_330^0'=a_330^post16, __disjvr_20^0'=__disjvr_20^post16, len_183^0'=len_183^post16, __disjvr_37^0'=__disjvr_37^post16, __disjvr_32^0'=__disjvr_32^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, head_223^0'=head_223^post16, r_260^0'=r_260^post16, __disjvr_4^0'=__disjvr_4^post16, __disjvr_10^0'=__disjvr_10^post16, x_20^0'=x_20^post16, __disjvr_41^0'=__disjvr_41^post16, __disjvr_22^0'=__disjvr_22^post16, a_241^0'=a_241^post16, __disjvr_18^0'=__disjvr_18^post16, i_30^0'=i_30^post16, __disjvr_9^0'=__disjvr_9^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_58^0'=rcd_58^post16, head_129^0'=head_129^post16, r_124^0'=r_124^post16, __disjvr_27^0'=__disjvr_27^post16, ct_17^0'=ct_17^post16, temp_35^0'=temp_35^post16, __disjvr_39^0'=__disjvr_39^post16, __disjvr_34^0'=__disjvr_34^post16, t_23^0'=t_23^post16, head_27^0'=head_27^post16, __disjvr_15^0'=__disjvr_15^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, __disjvr_6^0'=__disjvr_6^post16, __disjvr_12^0'=__disjvr_12^post16, y_19^0'=y_19^post16, __disjvr_43^0'=__disjvr_43^post16, len_276^0'=len_276^post16, __disjvr_24^0'=__disjvr_24^post16, a_308^0'=a_308^post16, __disjvr_1^0'=__disjvr_1^post16, len_132^0'=len_132^post16, a_147^0'=a_147^post16, __disjvr_31^0'=__disjvr_31^post16, result_11^0'=result_11^post16, head_175^0'=head_175^post16, r_218^0'=r_218^post16, __disjvr_29^0'=__disjvr_29^post16, __disjvr_0^0'=__disjvr_0^post16, x_16^0'=x_16^post16, __disjvr_40^0'=__disjvr_40^post16, __disjvr_36^0'=__disjvr_36^post16, a_210^0'=a_210^post16, __disjvr_17^0'=__disjvr_17^post16, i_167^0'=i_167^post16, __disjvr_8^0'=__disjvr_8^post16, __disjvr_14^0'=__disjvr_14^post16, r_39^0'=r_39^post16, f_263^0'=f_263^post16, nondet_12^0'=nondet_12^post16, __disjvr_26^0'=__disjvr_26^post16, a_353^0'=a_353^post16, __disjvr_21^0'=__disjvr_21^post16, temp0_31^0'=temp0_31^post16, __disjvr_38^0'=__disjvr_38^post16, __disjvr_33^0'=__disjvr_33^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, head_268^0'=head_268^post16, head_32^0'=head_32^post16, __disjvr_5^0'=__disjvr_5^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, __disjvr_42^0'=__disjvr_42^post16, len_226^0'=len_226^post16, __disjvr_23^0'=__disjvr_23^post16, a_277^0'=a_277^post16, __disjvr_19^0'=__disjvr_19^post16, i_94^0'=i_94^post16, a_116^0'=a_116^post16, __disjvr_30^0'=__disjvr_30^post16, rcd_88^0'=rcd_88^post16, head_14^0'=head_14^post16, r_163^0'=r_163^post16, __disjvr_28^0'=__disjvr_28^post16, tmp_34^0'=tmp_34^post16, __disjvr_3^0'=__disjvr_3^post16, __disjvr_35^0'=__disjvr_35^post16, temp0_15^0'=temp0_15^post16, a_184^0'=a_184^post16, __disjvr_16^0'=__disjvr_16^post16, (0 == 0 /\ r_124^0-r_124^post16 == 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -__disjvr_34^post16+__disjvr_34^0 == 0 /\ -x_SLAM_f_18^post16+x_SLAM_f_18^0 == 0 /\ __disjvr_36^0-__disjvr_36^post16 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ -head_14^post16+head_14^0 == 0 /\ -head_32^post16+head_32^0 == 0 /\ a_210^0-a_210^post16 == 0 /\ __disjvr_37^0-__disjvr_37^post16 == 0 /\ i_94^0-i_94^post16 == 0 /\ -a_116^post16+a_116^0 == 0 /\ -r_163^post16+r_163^0 == 0 /\ -len_276^post16+len_276^0 == 0 /\ -rcd_88^post16+rcd_88^0 == 0 /\ -__disjvr_28^post16+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ -__disjvr_40^post16+__disjvr_40^0 == 0 /\ -__disjvr_16^post16+__disjvr_16^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ r_218^0-r_218^post16 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ -__disjvr_33^post16+__disjvr_33^0 == 0 /\ f_170^0-f_170^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ __disjvr_39^0-__disjvr_39^post16 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -__disjvr_0^post16+__disjvr_0^0 == 0 /\ length_29^0-length_29^post16 == 0 /\ a_147^0-a_147^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ len_226^0-len_226^post16 == 0 /\ ct_17^0-ct_17^post16 == 0 /\ -len_132^post16+len_132^0 == 0 /\ __disjvr_43^0-__disjvr_43^post16 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_175^0-head_175^post16 == 0 /\ -a_277^post16+a_277^0 == 0 /\ -a_184^post16+a_184^0 == 0 /\ f_263^0-f_263^post16 == 0 /\ x_20^0-x_20^post16 == 0 /\ a_241^0-a_241^post16 == 0 /\ __disjvr_32^0-__disjvr_32^post16 == 0 /\ a_308^0-a_308^post16 == 0 /\ head_27^0-head_27^post16 == 0 /\ -__disjvr_35^post16+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post16 == 0 /\ -head_268^post16+head_268^0 == 0 /\ -head_223^post16+head_223^0 == 0 /\ -__disjvr_14^post16+__disjvr_14^0 == 0 /\ -a_330^post16+a_353^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post16 == 0 /\ -i_167^post16+i_167^0 == 0 /\ __disjvr_41^0-__disjvr_41^post16 == 0 /\ -__disjvr_42^post16+__disjvr_42^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ -rcd_58^post16+rcd_58^0 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ -__disjvr_30^post16+__disjvr_30^0 == 0 /\ -__disjvr_38^post16+__disjvr_38^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ len_183^0-len_183^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ -y_19^post16+y_19^0 == 0 /\ -temp_35^post16+temp_35^0 == 0 /\ r_260^0-r_260^post16 == 0 /\ -a_353^post16+a_353^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ head_129^0-head_129^post16 == 0 /\ -__disjvr_21^post16+__disjvr_21^0 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ a_330^post16-a_353^0 <= 0 /\ -i_30^post16+i_30^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ -__disjvr_31^post16+__disjvr_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16 == 0), cost: 1
New rule:
l18 -> l12 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l10 : i_108^0'=i_108^post17, __disjvr_7^0'=__disjvr_7^post17, __disjvr_13^0'=__disjvr_13^post17, f_170^0'=f_170^post17, length_29^0'=length_29^post17, __disjvr_25^0'=__disjvr_25^post17, a_330^0'=a_330^post17, __disjvr_20^0'=__disjvr_20^post17, len_183^0'=len_183^post17, __disjvr_37^0'=__disjvr_37^post17, __disjvr_32^0'=__disjvr_32^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, head_223^0'=head_223^post17, r_260^0'=r_260^post17, __disjvr_4^0'=__disjvr_4^post17, __disjvr_10^0'=__disjvr_10^post17, x_20^0'=x_20^post17, __disjvr_41^0'=__disjvr_41^post17, __disjvr_22^0'=__disjvr_22^post17, a_241^0'=a_241^post17, __disjvr_18^0'=__disjvr_18^post17, i_30^0'=i_30^post17, __disjvr_9^0'=__disjvr_9^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_58^0'=rcd_58^post17, head_129^0'=head_129^post17, r_124^0'=r_124^post17, __disjvr_27^0'=__disjvr_27^post17, ct_17^0'=ct_17^post17, temp_35^0'=temp_35^post17, __disjvr_39^0'=__disjvr_39^post17, __disjvr_34^0'=__disjvr_34^post17, t_23^0'=t_23^post17, head_27^0'=head_27^post17, __disjvr_15^0'=__disjvr_15^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, __disjvr_6^0'=__disjvr_6^post17, __disjvr_12^0'=__disjvr_12^post17, y_19^0'=y_19^post17, __disjvr_43^0'=__disjvr_43^post17, len_276^0'=len_276^post17, __disjvr_24^0'=__disjvr_24^post17, a_308^0'=a_308^post17, __disjvr_1^0'=__disjvr_1^post17, len_132^0'=len_132^post17, a_147^0'=a_147^post17, __disjvr_31^0'=__disjvr_31^post17, result_11^0'=result_11^post17, head_175^0'=head_175^post17, r_218^0'=r_218^post17, __disjvr_29^0'=__disjvr_29^post17, __disjvr_0^0'=__disjvr_0^post17, x_16^0'=x_16^post17, __disjvr_40^0'=__disjvr_40^post17, __disjvr_36^0'=__disjvr_36^post17, a_210^0'=a_210^post17, __disjvr_17^0'=__disjvr_17^post17, i_167^0'=i_167^post17, __disjvr_8^0'=__disjvr_8^post17, __disjvr_14^0'=__disjvr_14^post17, r_39^0'=r_39^post17, f_263^0'=f_263^post17, nondet_12^0'=nondet_12^post17, __disjvr_26^0'=__disjvr_26^post17, a_353^0'=a_353^post17, __disjvr_21^0'=__disjvr_21^post17, temp0_31^0'=temp0_31^post17, __disjvr_38^0'=__disjvr_38^post17, __disjvr_33^0'=__disjvr_33^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, head_268^0'=head_268^post17, head_32^0'=head_32^post17, __disjvr_5^0'=__disjvr_5^post17, __disjvr_11^0'=__disjvr_11^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, __disjvr_42^0'=__disjvr_42^post17, len_226^0'=len_226^post17, __disjvr_23^0'=__disjvr_23^post17, a_277^0'=a_277^post17, __disjvr_19^0'=__disjvr_19^post17, i_94^0'=i_94^post17, a_116^0'=a_116^post17, __disjvr_30^0'=__disjvr_30^post17, rcd_88^0'=rcd_88^post17, head_14^0'=head_14^post17, r_163^0'=r_163^post17, __disjvr_28^0'=__disjvr_28^post17, tmp_34^0'=tmp_34^post17, __disjvr_3^0'=__disjvr_3^post17, __disjvr_35^0'=__disjvr_35^post17, temp0_15^0'=temp0_15^post17, a_184^0'=a_184^post17, __disjvr_16^0'=__disjvr_16^post17, (-head_32^post17+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ __disjvr_31^0-__disjvr_31^post17 == 0 /\ __disjvr_43^0-__disjvr_43^post17 == 0 /\ len_132^0-len_132^post17 == 0 /\ -__disjvr_35^post17+__disjvr_35^0 == 0 /\ -__disjvr_14^post17+__disjvr_14^0 == 0 /\ -__disjvr_26^post17+__disjvr_26^0 == 0 /\ -r_163^post17+r_163^0 == 0 /\ -rcd_58^post17+rcd_58^0 == 0 /\ -r_218^post17+r_218^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post17+a_277^0 == 0 /\ -i_167^post17+i_167^0 == 0 /\ __disjvr_32^0-__disjvr_32^post17 == 0 /\ __disjvr_41^0-__disjvr_41^post17 == 0 /\ __disjvr_13^0-__disjvr_13^post17 == 0 /\ head_268^0-head_268^post17 == 0 /\ __disjvr_2^0-__disjvr_2^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -i_94^post17+i_94^0 == 0 /\ r_124^0-r_124^post17 == 0 /\ -__disjvr_30^post17+__disjvr_30^0 == 0 /\ -head_SLAM_f_26^post17+head_SLAM_f_26^0 == 0 /\ -f_263^post17+f_263^0 == 0 /\ head_223^0-head_223^post17 == 0 /\ -__disjvr_33^post17+__disjvr_33^0 == 0 /\ __disjvr_36^0-__disjvr_36^post17 == 0 /\ a_330^0-a_330^post17 == 0 /\ r_260^0-r_260^post17 == 0 /\ __disjvr_27^0-__disjvr_27^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -__disjvr_42^post17+__disjvr_42^0 == 0 /\ head_129^0-head_129^post17 == 0 /\ -__disjvr_28^post17+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ i_108^0-i_108^post17 == 0 /\ __disjvr_39^0-__disjvr_39^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ -temp0_15^post17+temp0_15^0 == 0 /\ __disjvr_34^0-__disjvr_34^post17 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ len_183^0-len_183^post17 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ f_170^0-f_170^post17 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_38^0-__disjvr_38^post17 == 0 /\ a_241^0-a_241^post17 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_37^0-__disjvr_37^post17 == 0 /\ -x_16^post17+x_16^0 == 0 /\ -a_116^post17+a_116^0 == 0 /\ -a_184^post17+a_184^0 == 0 /\ -a_210^post17+a_210^0 == 0 /\ -len_226^post17+len_226^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ head_27^0-head_27^post17 == 0 /\ -head_14^post17+head_14^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ ct_17^0-ct_17^post17 == 0 /\ -__disjvr_40^post17+__disjvr_40^0 == 0 /\ -__disjvr_16^post17+__disjvr_16^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ result_11^0-result_11^post17 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ a_353^0-a_353^post17 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -head_175^post17+head_175^0 == 0 /\ __disjvr_25^0-__disjvr_25^post17 == 0 /\ __disjvr_18^0-__disjvr_18^post17 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ -len_276^post17+len_276^0 == 0 /\ -a_147^post17+a_147^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ a_308^0-a_308^post17 == 0 /\ length_29^0-length_29^post17 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ -i_30^post17+i_30^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0), cost: 1
New rule:
l12 -> l10 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l28 : i_108^0'=i_108^post28, __disjvr_7^0'=__disjvr_7^post28, __disjvr_13^0'=__disjvr_13^post28, f_170^0'=f_170^post28, length_29^0'=length_29^post28, __disjvr_25^0'=__disjvr_25^post28, a_330^0'=a_330^post28, __disjvr_20^0'=__disjvr_20^post28, len_183^0'=len_183^post28, __disjvr_37^0'=__disjvr_37^post28, __disjvr_32^0'=__disjvr_32^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, head_223^0'=head_223^post28, r_260^0'=r_260^post28, __disjvr_4^0'=__disjvr_4^post28, __disjvr_10^0'=__disjvr_10^post28, x_20^0'=x_20^post28, __disjvr_41^0'=__disjvr_41^post28, __disjvr_22^0'=__disjvr_22^post28, a_241^0'=a_241^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_9^0'=__disjvr_9^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_58^0'=rcd_58^post28, head_129^0'=head_129^post28, r_124^0'=r_124^post28, __disjvr_27^0'=__disjvr_27^post28, ct_17^0'=ct_17^post28, temp_35^0'=temp_35^post28, __disjvr_39^0'=__disjvr_39^post28, __disjvr_34^0'=__disjvr_34^post28, t_23^0'=t_23^post28, head_27^0'=head_27^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, __disjvr_6^0'=__disjvr_6^post28, __disjvr_12^0'=__disjvr_12^post28, y_19^0'=y_19^post28, __disjvr_43^0'=__disjvr_43^post28, len_276^0'=len_276^post28, __disjvr_24^0'=__disjvr_24^post28, a_308^0'=a_308^post28, __disjvr_1^0'=__disjvr_1^post28, len_132^0'=len_132^post28, a_147^0'=a_147^post28, __disjvr_31^0'=__disjvr_31^post28, result_11^0'=result_11^post28, head_175^0'=head_175^post28, r_218^0'=r_218^post28, __disjvr_29^0'=__disjvr_29^post28, __disjvr_0^0'=__disjvr_0^post28, x_16^0'=x_16^post28, __disjvr_40^0'=__disjvr_40^post28, __disjvr_36^0'=__disjvr_36^post28, a_210^0'=a_210^post28, __disjvr_17^0'=__disjvr_17^post28, i_167^0'=i_167^post28, __disjvr_8^0'=__disjvr_8^post28, __disjvr_14^0'=__disjvr_14^post28, r_39^0'=r_39^post28, f_263^0'=f_263^post28, nondet_12^0'=nondet_12^post28, __disjvr_26^0'=__disjvr_26^post28, a_353^0'=a_353^post28, __disjvr_21^0'=__disjvr_21^post28, temp0_31^0'=temp0_31^post28, __disjvr_38^0'=__disjvr_38^post28, __disjvr_33^0'=__disjvr_33^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, head_268^0'=head_268^post28, head_32^0'=head_32^post28, __disjvr_5^0'=__disjvr_5^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, __disjvr_42^0'=__disjvr_42^post28, len_226^0'=len_226^post28, __disjvr_23^0'=__disjvr_23^post28, a_277^0'=a_277^post28, __disjvr_19^0'=__disjvr_19^post28, i_94^0'=i_94^post28, a_116^0'=a_116^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_88^0'=rcd_88^post28, head_14^0'=head_14^post28, r_163^0'=r_163^post28, __disjvr_28^0'=__disjvr_28^post28, tmp_34^0'=tmp_34^post28, __disjvr_3^0'=__disjvr_3^post28, __disjvr_35^0'=__disjvr_35^post28, temp0_15^0'=temp0_15^post28, a_184^0'=a_184^post28, __disjvr_16^0'=__disjvr_16^post28, (0 == 0 /\ __disjvr_12^0-__disjvr_12^post28 == 0 /\ __disjvr_36^0-__disjvr_36^post28 == 0 /\ __disjvr_22^0-__disjvr_22^post28 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ __disjvr_32^0-__disjvr_32^post28 == 0 /\ -__disjvr_33^post28+__disjvr_33^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ r_124^0-r_124^post28 == 0 /\ -r_39^post28+r_39^0 == 0 /\ __disjvr_37^0-__disjvr_37^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ -a_308^post28+a_308^0 == 0 /\ a_330^0-a_330^post28 == 0 /\ -r_218^post28+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post28 == 0 /\ -temp0_15^post28+temp0_15^0 == 0 /\ -head_32^post28+head_32^0 == 0 /\ -r_163^post28+r_163^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -len_226^post28+len_226^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ __disjvr_39^0-__disjvr_39^post28 == 0 /\ -__disjvr_14^post28+__disjvr_14^0 == 0 /\ head_129^0-head_129^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ len_132^0-len_132^post28 == 0 /\ a_147^0-a_147^post28 == 0 /\ len_183^0-len_183^post28 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ __disjvr_43^0-__disjvr_43^post28 == 0 /\ -__disjvr_30^post28+__disjvr_30^0 == 0 /\ __disjvr_31^0-__disjvr_31^post28 == 0 /\ -__disjvr_34^post28+__disjvr_34^0 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -f_263^post28+f_263^0 == 0 /\ __disjvr_42^0-__disjvr_42^post28 == 0 /\ -a_116^post28+a_116^0 == 0 /\ i_108^0-i_108^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ -__disjvr_35^post28+__disjvr_35^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -a_184^post28+a_184^0 == 0 /\ __disjvr_23^0-__disjvr_23^post28 == 0 /\ head_268^0-head_268^post28 == 0 /\ -i_167^post28+i_167^0 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ head_27^0-head_27^post28 == 0 /\ -__disjvr_11^post28+__disjvr_11^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -i_94^post28+i_94^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_38^post28+__disjvr_38^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ head_223^0-head_223^post28 == 0 /\ a_241^0-a_241^post28 == 0 /\ -len_276^post28+len_276^0 == 0 /\ f_170^0-f_170^post28 == 0 /\ a_210^0-a_210^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_8^0-__disjvr_8^post28 == 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ -a_353^post28+a_353^0 == 0 /\ r_260^0-r_260^post28 == 0 /\ x_20^0-x_20^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ length_29^0-length_29^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -__disjvr_26^post28+__disjvr_26^0 == 0 /\ -__disjvr_40^post28+__disjvr_40^0 == 0 /\ y_19^0-y_19^post28 == 0 /\ -a_277^post28+a_277^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -head_SLAM_f_26^post28+head_SLAM_f_26^0 == 0 /\ -__disjvr_28^post28+__disjvr_28^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0), cost: 1
New rule:
l1 -> l28 : ct_17^0'=ct_17^post28, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, len_226^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : i_108^0'=i_108^post29, __disjvr_7^0'=__disjvr_7^post29, __disjvr_13^0'=__disjvr_13^post29, f_170^0'=f_170^post29, length_29^0'=length_29^post29, __disjvr_25^0'=__disjvr_25^post29, a_330^0'=a_330^post29, __disjvr_20^0'=__disjvr_20^post29, len_183^0'=len_183^post29, __disjvr_37^0'=__disjvr_37^post29, __disjvr_32^0'=__disjvr_32^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, head_223^0'=head_223^post29, r_260^0'=r_260^post29, __disjvr_4^0'=__disjvr_4^post29, __disjvr_10^0'=__disjvr_10^post29, x_20^0'=x_20^post29, __disjvr_41^0'=__disjvr_41^post29, __disjvr_22^0'=__disjvr_22^post29, a_241^0'=a_241^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_9^0'=__disjvr_9^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_58^0'=rcd_58^post29, head_129^0'=head_129^post29, r_124^0'=r_124^post29, __disjvr_27^0'=__disjvr_27^post29, ct_17^0'=ct_17^post29, temp_35^0'=temp_35^post29, __disjvr_39^0'=__disjvr_39^post29, __disjvr_34^0'=__disjvr_34^post29, t_23^0'=t_23^post29, head_27^0'=head_27^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, __disjvr_6^0'=__disjvr_6^post29, __disjvr_12^0'=__disjvr_12^post29, y_19^0'=y_19^post29, __disjvr_43^0'=__disjvr_43^post29, len_276^0'=len_276^post29, __disjvr_24^0'=__disjvr_24^post29, a_308^0'=a_308^post29, __disjvr_1^0'=__disjvr_1^post29, len_132^0'=len_132^post29, a_147^0'=a_147^post29, __disjvr_31^0'=__disjvr_31^post29, result_11^0'=result_11^post29, head_175^0'=head_175^post29, r_218^0'=r_218^post29, __disjvr_29^0'=__disjvr_29^post29, __disjvr_0^0'=__disjvr_0^post29, x_16^0'=x_16^post29, __disjvr_40^0'=__disjvr_40^post29, __disjvr_36^0'=__disjvr_36^post29, a_210^0'=a_210^post29, __disjvr_17^0'=__disjvr_17^post29, i_167^0'=i_167^post29, __disjvr_8^0'=__disjvr_8^post29, __disjvr_14^0'=__disjvr_14^post29, r_39^0'=r_39^post29, f_263^0'=f_263^post29, nondet_12^0'=nondet_12^post29, __disjvr_26^0'=__disjvr_26^post29, a_353^0'=a_353^post29, __disjvr_21^0'=__disjvr_21^post29, temp0_31^0'=temp0_31^post29, __disjvr_38^0'=__disjvr_38^post29, __disjvr_33^0'=__disjvr_33^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, head_268^0'=head_268^post29, head_32^0'=head_32^post29, __disjvr_5^0'=__disjvr_5^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, __disjvr_42^0'=__disjvr_42^post29, len_226^0'=len_226^post29, __disjvr_23^0'=__disjvr_23^post29, a_277^0'=a_277^post29, __disjvr_19^0'=__disjvr_19^post29, i_94^0'=i_94^post29, a_116^0'=a_116^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_88^0'=rcd_88^post29, head_14^0'=head_14^post29, r_163^0'=r_163^post29, __disjvr_28^0'=__disjvr_28^post29, tmp_34^0'=tmp_34^post29, __disjvr_3^0'=__disjvr_3^post29, __disjvr_35^0'=__disjvr_35^post29, temp0_15^0'=temp0_15^post29, a_184^0'=a_184^post29, __disjvr_16^0'=__disjvr_16^post29, (len_132^0-len_132^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ -r_163^post29+r_163^0 == 0 /\ -r_218^post29+r_218^0 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -r_124^post29+r_124^0 == 0 /\ -__disjvr_35^post29+__disjvr_35^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ head_27^0-head_27^post29 == 0 /\ -tmp_34^post29+tmp_34^0 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ a_241^0-a_241^post29 == 0 /\ __disjvr_32^0-__disjvr_32^post29 == 0 /\ __disjvr_22^0-__disjvr_22^post29 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ -__disjvr_14^post29+__disjvr_14^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ -len_276^post29+len_276^0 == 0 /\ -__disjvr_33^post29+__disjvr_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -head_32^post29+head_32^0 == 0 /\ __disjvr_41^0-__disjvr_41^post29 == 0 /\ a_308^0-a_308^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ -a_147^post29+a_147^0 == 0 /\ len_183^0-len_183^post29 == 0 /\ r_260^0-r_260^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ -t_23^post29+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ -__disjvr_30^post29+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ __disjvr_37^0-__disjvr_37^post29 == 0 /\ __disjvr_34^0-__disjvr_34^post29 == 0 /\ head_129^0-head_129^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ i_108^0-i_108^post29 == 0 /\ head_268^0-head_268^post29 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ rcd_58^0-rcd_58^post29 == 0 /\ -len_226^post29+len_226^0 == 0 /\ -x_16^post29+x_16^0 == 0 /\ -__disjvr_13^0+__disjvr_13^post29 == 0 /\ a_330^0-a_330^post29 == 0 /\ __disjvr_42^0-__disjvr_42^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_263^post29+f_263^0 == 0 /\ __disjvr_17^0-__disjvr_17^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ __disjvr_38^0-__disjvr_38^post29 == 0 /\ -a_116^post29+a_116^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -a_184^post29+a_184^0 == 0 /\ -__disjvr_40^post29+__disjvr_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ -__disjvr_43^post29+__disjvr_43^0 == 0 /\ __disjvr_36^0-__disjvr_36^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ y_19^0-y_19^post29 == 0 /\ -__disjvr_11^post29+__disjvr_11^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ f_170^0-f_170^post29 == 0 /\ head_223^0-head_223^post29 == 0 /\ -a_353^post29+a_353^0 == 0 /\ -rcd_88^post29+rcd_88^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ -temp0_15^post29+temp0_15^0 == 0 /\ -head_14^post29+head_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ i_30^0-i_30^post29 == 0 /\ x_20^0-x_20^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_39^0-__disjvr_39^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ a_210^0-a_210^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -head_SLAM_f_26^post29+head_SLAM_f_26^0 == 0 /\ -head_175^post29+head_175^0 == 0 /\ __disjvr_31^0-__disjvr_31^post29 == 0 /\ -a_277^post29+a_277^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ ct_17^0-ct_17^post29 == 0), cost: 1
New rule:
l28 -> l29 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l30 : i_108^0'=i_108^post30, __disjvr_7^0'=__disjvr_7^post30, __disjvr_13^0'=__disjvr_13^post30, f_170^0'=f_170^post30, length_29^0'=length_29^post30, __disjvr_25^0'=__disjvr_25^post30, a_330^0'=a_330^post30, __disjvr_20^0'=__disjvr_20^post30, len_183^0'=len_183^post30, __disjvr_37^0'=__disjvr_37^post30, __disjvr_32^0'=__disjvr_32^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, head_223^0'=head_223^post30, r_260^0'=r_260^post30, __disjvr_4^0'=__disjvr_4^post30, __disjvr_10^0'=__disjvr_10^post30, x_20^0'=x_20^post30, __disjvr_41^0'=__disjvr_41^post30, __disjvr_22^0'=__disjvr_22^post30, a_241^0'=a_241^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_9^0'=__disjvr_9^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_58^0'=rcd_58^post30, head_129^0'=head_129^post30, r_124^0'=r_124^post30, __disjvr_27^0'=__disjvr_27^post30, ct_17^0'=ct_17^post30, temp_35^0'=temp_35^post30, __disjvr_39^0'=__disjvr_39^post30, __disjvr_34^0'=__disjvr_34^post30, t_23^0'=t_23^post30, head_27^0'=head_27^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, __disjvr_6^0'=__disjvr_6^post30, __disjvr_12^0'=__disjvr_12^post30, y_19^0'=y_19^post30, __disjvr_43^0'=__disjvr_43^post30, len_276^0'=len_276^post30, __disjvr_24^0'=__disjvr_24^post30, a_308^0'=a_308^post30, __disjvr_1^0'=__disjvr_1^post30, len_132^0'=len_132^post30, a_147^0'=a_147^post30, __disjvr_31^0'=__disjvr_31^post30, result_11^0'=result_11^post30, head_175^0'=head_175^post30, r_218^0'=r_218^post30, __disjvr_29^0'=__disjvr_29^post30, __disjvr_0^0'=__disjvr_0^post30, x_16^0'=x_16^post30, __disjvr_40^0'=__disjvr_40^post30, __disjvr_36^0'=__disjvr_36^post30, a_210^0'=a_210^post30, __disjvr_17^0'=__disjvr_17^post30, i_167^0'=i_167^post30, __disjvr_8^0'=__disjvr_8^post30, __disjvr_14^0'=__disjvr_14^post30, r_39^0'=r_39^post30, f_263^0'=f_263^post30, nondet_12^0'=nondet_12^post30, __disjvr_26^0'=__disjvr_26^post30, a_353^0'=a_353^post30, __disjvr_21^0'=__disjvr_21^post30, temp0_31^0'=temp0_31^post30, __disjvr_38^0'=__disjvr_38^post30, __disjvr_33^0'=__disjvr_33^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, head_268^0'=head_268^post30, head_32^0'=head_32^post30, __disjvr_5^0'=__disjvr_5^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, __disjvr_42^0'=__disjvr_42^post30, len_226^0'=len_226^post30, __disjvr_23^0'=__disjvr_23^post30, a_277^0'=a_277^post30, __disjvr_19^0'=__disjvr_19^post30, i_94^0'=i_94^post30, a_116^0'=a_116^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_88^0'=rcd_88^post30, head_14^0'=head_14^post30, r_163^0'=r_163^post30, __disjvr_28^0'=__disjvr_28^post30, tmp_34^0'=tmp_34^post30, __disjvr_3^0'=__disjvr_3^post30, __disjvr_35^0'=__disjvr_35^post30, temp0_15^0'=temp0_15^post30, a_184^0'=a_184^post30, __disjvr_16^0'=__disjvr_16^post30, (0 == 0 /\ t_23^post30-head_14^0 <= 0 /\ -__disjvr_43^post30+__disjvr_43^0 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ -__disjvr_26^post30+__disjvr_26^0 == 0 /\ -y_19^0 <= 0 /\ len_276^0-len_276^post30 == 0 /\ x_16^0-head_14^0 <= 0 /\ -a_210^post30+a_210^0 == 0 /\ len_183^0-len_183^post30 == 0 /\ ct_17^0-y_19^0 <= 0 /\ length_29^0-length_29^post30 == 0 /\ -a_330^0+a_308^post30 <= 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ -__disjvr_11^post30+__disjvr_11^0 == 0 /\ y_19^0-y_19^post30 == 0 /\ -x_16^0+x_SLAM_f_18^0 <= 0 /\ -i_94^post30+i_94^0 == 0 /\ -head_27^post30+head_27^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -a_353^post30+a_353^0 == 0 /\ -x_SLAM_f_18^post30+x_SLAM_f_18^0 == 0 /\ -head_14^post30+head_14^0 == 0 /\ a_330^0-a_330^post30 == 0 /\ -temp0_15^post30+temp0_15^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -__disjvr_42^post30+__disjvr_42^0 == 0 /\ -t_23^post30+head_14^0 <= 0 /\ x_20^0-x_20^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ i_167^0-i_167^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -f_263^post30+f_263^0 == 0 /\ -head_SLAM_f_26^post30+head_SLAM_f_26^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -x_16^0+head_14^0 <= 0 /\ ct_17^0 <= 0 /\ -ct_17^0+y_19^0 <= 0 /\ a_330^0-a_308^post30 <= 0 /\ -head_129^post30+head_129^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_16^0-x_SLAM_f_18^0 <= 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ __disjvr_37^0-__disjvr_37^post30 == 0 /\ -x_20^0+t_23^post30 == 0 /\ -a_277^post30+a_277^0 == 0 /\ head_32^0-head_32^post30 == 0 /\ __disjvr_40^0-__disjvr_40^post30 == 0 /\ y_19^0 <= 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -__disjvr_9^post30+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ -a_184^post30+a_184^0 == 0 /\ -__disjvr_31^post30+__disjvr_31^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -ct_17^0 <= 0 /\ r_260^0-r_260^post30 == 0 /\ i_30^0-i_30^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -r_218^post30+r_218^0 == 0 /\ -r_163^post30+r_163^0 == 0 /\ -__disjvr_29^post30+__disjvr_29^0 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ -__disjvr_38^post30+__disjvr_38^0 == 0 /\ -ct_17^post30+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ i_108^0-i_108^post30 == 0 /\ a_147^0-a_147^post30 == 0 /\ -head_268^post30+head_268^0 == 0 /\ -rcd_88^post30+rcd_88^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ -__disjvr_0^post30+__disjvr_0^0 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ r_124^0-r_124^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -__disjvr_30^post30+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ __disjvr_32^0-__disjvr_32^post30 == 0 /\ a_241^0-a_241^post30 == 0 /\ -__disjvr_39^post30+__disjvr_39^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ f_170^0-f_170^post30 == 0 /\ head_223^0-head_223^post30 == 0 /\ -__disjvr_36^post30+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post30 == 0 /\ -x_16^post30+x_16^0 == 0 /\ __disjvr_34^0-__disjvr_34^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -len_226^post30+len_226^0 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -__disjvr_35^post30+__disjvr_35^0 == 0 /\ -a_116^post30+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post30 == 0 /\ -len_132^post30+len_132^0 == 0 /\ __disjvr_33^0-__disjvr_33^post30 == 0), cost: 1
New rule:
l29 -> l30 : t_23^0'=head_14^0, a_308^0'=a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0 /\ -x_20^0+head_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l30 -> l31 : i_108^0'=i_108^post31, __disjvr_7^0'=__disjvr_7^post31, __disjvr_13^0'=__disjvr_13^post31, f_170^0'=f_170^post31, length_29^0'=length_29^post31, __disjvr_25^0'=__disjvr_25^post31, a_330^0'=a_330^post31, __disjvr_20^0'=__disjvr_20^post31, len_183^0'=len_183^post31, __disjvr_37^0'=__disjvr_37^post31, __disjvr_32^0'=__disjvr_32^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, head_223^0'=head_223^post31, r_260^0'=r_260^post31, __disjvr_4^0'=__disjvr_4^post31, __disjvr_10^0'=__disjvr_10^post31, x_20^0'=x_20^post31, __disjvr_41^0'=__disjvr_41^post31, __disjvr_22^0'=__disjvr_22^post31, a_241^0'=a_241^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_9^0'=__disjvr_9^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_58^0'=rcd_58^post31, head_129^0'=head_129^post31, r_124^0'=r_124^post31, __disjvr_27^0'=__disjvr_27^post31, ct_17^0'=ct_17^post31, temp_35^0'=temp_35^post31, __disjvr_39^0'=__disjvr_39^post31, __disjvr_34^0'=__disjvr_34^post31, t_23^0'=t_23^post31, head_27^0'=head_27^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, __disjvr_6^0'=__disjvr_6^post31, __disjvr_12^0'=__disjvr_12^post31, y_19^0'=y_19^post31, __disjvr_43^0'=__disjvr_43^post31, len_276^0'=len_276^post31, __disjvr_24^0'=__disjvr_24^post31, a_308^0'=a_308^post31, __disjvr_1^0'=__disjvr_1^post31, len_132^0'=len_132^post31, a_147^0'=a_147^post31, __disjvr_31^0'=__disjvr_31^post31, result_11^0'=result_11^post31, head_175^0'=head_175^post31, r_218^0'=r_218^post31, __disjvr_29^0'=__disjvr_29^post31, __disjvr_0^0'=__disjvr_0^post31, x_16^0'=x_16^post31, __disjvr_40^0'=__disjvr_40^post31, __disjvr_36^0'=__disjvr_36^post31, a_210^0'=a_210^post31, __disjvr_17^0'=__disjvr_17^post31, i_167^0'=i_167^post31, __disjvr_8^0'=__disjvr_8^post31, __disjvr_14^0'=__disjvr_14^post31, r_39^0'=r_39^post31, f_263^0'=f_263^post31, nondet_12^0'=nondet_12^post31, __disjvr_26^0'=__disjvr_26^post31, a_353^0'=a_353^post31, __disjvr_21^0'=__disjvr_21^post31, temp0_31^0'=temp0_31^post31, __disjvr_38^0'=__disjvr_38^post31, __disjvr_33^0'=__disjvr_33^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, head_268^0'=head_268^post31, head_32^0'=head_32^post31, __disjvr_5^0'=__disjvr_5^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, __disjvr_42^0'=__disjvr_42^post31, len_226^0'=len_226^post31, __disjvr_23^0'=__disjvr_23^post31, a_277^0'=a_277^post31, __disjvr_19^0'=__disjvr_19^post31, i_94^0'=i_94^post31, a_116^0'=a_116^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_88^0'=rcd_88^post31, head_14^0'=head_14^post31, r_163^0'=r_163^post31, __disjvr_28^0'=__disjvr_28^post31, tmp_34^0'=tmp_34^post31, __disjvr_3^0'=__disjvr_3^post31, __disjvr_35^0'=__disjvr_35^post31, temp0_15^0'=temp0_15^post31, a_184^0'=a_184^post31, __disjvr_16^0'=__disjvr_16^post31, (-a_116^post31+a_116^0 == 0 /\ __disjvr_25^0-__disjvr_25^post31 == 0 /\ -rcd_88^post31+rcd_88^0 == 0 /\ head_129^0-head_129^post31 == 0 /\ a_210^0-a_210^post31 == 0 /\ -__disjvr_34^post31+__disjvr_34^0 == 0 /\ x_20^0-x_20^post31 == 0 /\ -__disjvr_16^post31+__disjvr_16^0 == 0 /\ __disjvr_32^0-__disjvr_32^post31 == 0 /\ -__disjvr_41^post31+__disjvr_41^0 == 0 /\ head_27^0-head_27^post31 == 0 /\ a_147^0-a_147^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ rcd_58^0-rcd_58^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -x_SLAM_f_18^post31+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -__disjvr_40^post31+__disjvr_40^0 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ -__disjvr_21^post31+__disjvr_21^0 == 0 /\ -__disjvr_33^post31+__disjvr_33^0 == 0 /\ x_16^0-x_16^post31 == 0 /\ head_223^0-head_223^post31 == 0 /\ a_330^0-a_330^post31 == 0 /\ -__disjvr_0^post31+__disjvr_0^0 == 0 /\ __disjvr_27^0-__disjvr_27^post31 == 0 /\ r_260^0-r_260^post31 == 0 /\ f_170^0-f_170^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ r_39^0-r_39^post31 == 0 /\ -a_308^post31+a_308^0 == 0 /\ -len_132^post31+len_132^0 == 0 /\ -__disjvr_29^post31+__disjvr_29^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -len_226^post31+len_226^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ len_183^0-len_183^post31 == 0 /\ r_218^0-r_218^post31 == 0 /\ -__disjvr_39^post31+__disjvr_39^0 == 0 /\ -__disjvr_35^post31+__disjvr_35^0 == 0 /\ r_124^0-r_124^post31 == 0 /\ __disjvr_43^0-__disjvr_43^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ __disjvr_37^0-__disjvr_37^post31 == 0 /\ f_263^0-f_263^post31 == 0 /\ -a_277^post31+a_277^0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ -a_184^post31+a_184^0 == 0 /\ -__disjvr_38^post31+__disjvr_38^0 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -head_268^post31+head_268^0 == 0 /\ -i_94^post31+i_94^0 == 0 /\ -__disjvr_14^post31+__disjvr_14^0 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ len_276^0-len_276^post31 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_42^post31+__disjvr_42^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ a_241^0-a_241^post31 == 0 /\ -__disjvr_30^post31+__disjvr_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_36^post31+__disjvr_36^0 == 0 /\ temp_35^0-temp_35^post31 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ head_175^0-head_175^post31 == 0 /\ -a_353^post31+a_353^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -__disjvr_31^post31+__disjvr_31^0 == 0 /\ length_29^0-length_29^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ __disjvr_15^0-__disjvr_15^post31 == 0 /\ __disjvr_14^post31-__disjvr_14^0 == 0 /\ -r_163^post31+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -y_19^post31+y_19^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0), cost: 1
New rule:
l30 -> l31 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l32 : i_108^0'=i_108^post32, __disjvr_7^0'=__disjvr_7^post32, __disjvr_13^0'=__disjvr_13^post32, f_170^0'=f_170^post32, length_29^0'=length_29^post32, __disjvr_25^0'=__disjvr_25^post32, a_330^0'=a_330^post32, __disjvr_20^0'=__disjvr_20^post32, len_183^0'=len_183^post32, __disjvr_37^0'=__disjvr_37^post32, __disjvr_32^0'=__disjvr_32^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, head_223^0'=head_223^post32, r_260^0'=r_260^post32, __disjvr_4^0'=__disjvr_4^post32, __disjvr_10^0'=__disjvr_10^post32, x_20^0'=x_20^post32, __disjvr_41^0'=__disjvr_41^post32, __disjvr_22^0'=__disjvr_22^post32, a_241^0'=a_241^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_9^0'=__disjvr_9^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_58^0'=rcd_58^post32, head_129^0'=head_129^post32, r_124^0'=r_124^post32, __disjvr_27^0'=__disjvr_27^post32, ct_17^0'=ct_17^post32, temp_35^0'=temp_35^post32, __disjvr_39^0'=__disjvr_39^post32, __disjvr_34^0'=__disjvr_34^post32, t_23^0'=t_23^post32, head_27^0'=head_27^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, __disjvr_6^0'=__disjvr_6^post32, __disjvr_12^0'=__disjvr_12^post32, y_19^0'=y_19^post32, __disjvr_43^0'=__disjvr_43^post32, len_276^0'=len_276^post32, __disjvr_24^0'=__disjvr_24^post32, a_308^0'=a_308^post32, __disjvr_1^0'=__disjvr_1^post32, len_132^0'=len_132^post32, a_147^0'=a_147^post32, __disjvr_31^0'=__disjvr_31^post32, result_11^0'=result_11^post32, head_175^0'=head_175^post32, r_218^0'=r_218^post32, __disjvr_29^0'=__disjvr_29^post32, __disjvr_0^0'=__disjvr_0^post32, x_16^0'=x_16^post32, __disjvr_40^0'=__disjvr_40^post32, __disjvr_36^0'=__disjvr_36^post32, a_210^0'=a_210^post32, __disjvr_17^0'=__disjvr_17^post32, i_167^0'=i_167^post32, __disjvr_8^0'=__disjvr_8^post32, __disjvr_14^0'=__disjvr_14^post32, r_39^0'=r_39^post32, f_263^0'=f_263^post32, nondet_12^0'=nondet_12^post32, __disjvr_26^0'=__disjvr_26^post32, a_353^0'=a_353^post32, __disjvr_21^0'=__disjvr_21^post32, temp0_31^0'=temp0_31^post32, __disjvr_38^0'=__disjvr_38^post32, __disjvr_33^0'=__disjvr_33^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, head_268^0'=head_268^post32, head_32^0'=head_32^post32, __disjvr_5^0'=__disjvr_5^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, __disjvr_42^0'=__disjvr_42^post32, len_226^0'=len_226^post32, __disjvr_23^0'=__disjvr_23^post32, a_277^0'=a_277^post32, __disjvr_19^0'=__disjvr_19^post32, i_94^0'=i_94^post32, a_116^0'=a_116^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_88^0'=rcd_88^post32, head_14^0'=head_14^post32, r_163^0'=r_163^post32, __disjvr_28^0'=__disjvr_28^post32, tmp_34^0'=tmp_34^post32, __disjvr_3^0'=__disjvr_3^post32, __disjvr_35^0'=__disjvr_35^post32, temp0_15^0'=temp0_15^post32, a_184^0'=a_184^post32, __disjvr_16^0'=__disjvr_16^post32, (-__disjvr_14^post32+__disjvr_14^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ __disjvr_37^0-__disjvr_37^post32 == 0 /\ f_170^0-f_170^post32 == 0 /\ -head_268^post32+head_268^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ -len_226^post32+len_226^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ a_116^0-a_116^post32 == 0 /\ -rcd_88^post32+rcd_88^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -__disjvr_35^post32+__disjvr_35^0 == 0 /\ ct_17^0-ct_17^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -__disjvr_34^post32+__disjvr_34^0 == 0 /\ a_308^0-a_308^post32 == 0 /\ -i_167^post32+i_167^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ __disjvr_43^0-__disjvr_43^post32 == 0 /\ r_218^0-r_218^post32 == 0 /\ __disjvr_17^0-__disjvr_17^post32 == 0 /\ len_183^0-len_183^post32 == 0 /\ -__disjvr_38^post32+__disjvr_38^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ __disjvr_42^0-__disjvr_42^post32 == 0 /\ f_263^0-f_263^post32 == 0 /\ a_210^0-a_210^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -i_94^post32+i_94^0 == 0 /\ -t_23^post32+t_23^0 == 0 /\ __disjvr_18^0-__disjvr_18^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -__disjvr_33^post32+__disjvr_33^0 == 0 /\ -__disjvr_21^post32+__disjvr_21^0 == 0 /\ -len_276^post32+len_276^0 == 0 /\ -a_147^post32+a_147^0 == 0 /\ -y_19^post32+y_19^0 == 0 /\ __disjvr_39^0-__disjvr_39^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ __disjvr_12^0-__disjvr_12^post32 == 0 /\ __disjvr_32^0-__disjvr_32^post32 == 0 /\ -temp_35^post32+temp_35^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ length_29^0-length_29^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ a_241^0-a_241^post32 == 0 /\ -a_353^post32+a_353^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_15^post32-__disjvr_15^0 == 0 /\ __disjvr_36^0-__disjvr_36^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -x_SLAM_f_18^post32+x_SLAM_f_18^0 == 0 /\ -r_124^post32+r_124^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post32+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_14^post32+head_14^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ head_129^0-head_129^post32 == 0 /\ -__disjvr_30^post32+__disjvr_30^0 == 0 /\ -a_277^post32+a_277^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ x_20^0-x_20^post32 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ -tmp_34^post32+tmp_34^0 == 0 /\ -a_184^post32+a_184^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ len_132^0-len_132^post32 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -r_39^post32+r_39^0 == 0 /\ head_223^0-head_223^post32 == 0 /\ -a_330^post32+a_330^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ i_108^0-i_108^post32 == 0 /\ -__disjvr_31^post32+__disjvr_31^0 == 0 /\ r_260^0-r_260^post32 == 0 /\ -__disjvr_0^post32+__disjvr_0^0 == 0 /\ head_27^0-head_27^post32 == 0 /\ -__disjvr_40^post32+__disjvr_40^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_41^0-__disjvr_41^post32 == 0 /\ -head_175^post32+head_175^0 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -head_32^post32+head_32^0 == 0), cost: 1
New rule:
l31 -> l32 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l32 -> l33 : i_108^0'=i_108^post33, __disjvr_7^0'=__disjvr_7^post33, __disjvr_13^0'=__disjvr_13^post33, f_170^0'=f_170^post33, length_29^0'=length_29^post33, __disjvr_25^0'=__disjvr_25^post33, a_330^0'=a_330^post33, __disjvr_20^0'=__disjvr_20^post33, len_183^0'=len_183^post33, __disjvr_37^0'=__disjvr_37^post33, __disjvr_32^0'=__disjvr_32^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, head_223^0'=head_223^post33, r_260^0'=r_260^post33, __disjvr_4^0'=__disjvr_4^post33, __disjvr_10^0'=__disjvr_10^post33, x_20^0'=x_20^post33, __disjvr_41^0'=__disjvr_41^post33, __disjvr_22^0'=__disjvr_22^post33, a_241^0'=a_241^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_9^0'=__disjvr_9^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_58^0'=rcd_58^post33, head_129^0'=head_129^post33, r_124^0'=r_124^post33, __disjvr_27^0'=__disjvr_27^post33, ct_17^0'=ct_17^post33, temp_35^0'=temp_35^post33, __disjvr_39^0'=__disjvr_39^post33, __disjvr_34^0'=__disjvr_34^post33, t_23^0'=t_23^post33, head_27^0'=head_27^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, __disjvr_6^0'=__disjvr_6^post33, __disjvr_12^0'=__disjvr_12^post33, y_19^0'=y_19^post33, __disjvr_43^0'=__disjvr_43^post33, len_276^0'=len_276^post33, __disjvr_24^0'=__disjvr_24^post33, a_308^0'=a_308^post33, __disjvr_1^0'=__disjvr_1^post33, len_132^0'=len_132^post33, a_147^0'=a_147^post33, __disjvr_31^0'=__disjvr_31^post33, result_11^0'=result_11^post33, head_175^0'=head_175^post33, r_218^0'=r_218^post33, __disjvr_29^0'=__disjvr_29^post33, __disjvr_0^0'=__disjvr_0^post33, x_16^0'=x_16^post33, __disjvr_40^0'=__disjvr_40^post33, __disjvr_36^0'=__disjvr_36^post33, a_210^0'=a_210^post33, __disjvr_17^0'=__disjvr_17^post33, i_167^0'=i_167^post33, __disjvr_8^0'=__disjvr_8^post33, __disjvr_14^0'=__disjvr_14^post33, r_39^0'=r_39^post33, f_263^0'=f_263^post33, nondet_12^0'=nondet_12^post33, __disjvr_26^0'=__disjvr_26^post33, a_353^0'=a_353^post33, __disjvr_21^0'=__disjvr_21^post33, temp0_31^0'=temp0_31^post33, __disjvr_38^0'=__disjvr_38^post33, __disjvr_33^0'=__disjvr_33^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, head_268^0'=head_268^post33, head_32^0'=head_32^post33, __disjvr_5^0'=__disjvr_5^post33, __disjvr_11^0'=__disjvr_11^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, __disjvr_42^0'=__disjvr_42^post33, len_226^0'=len_226^post33, __disjvr_23^0'=__disjvr_23^post33, a_277^0'=a_277^post33, __disjvr_19^0'=__disjvr_19^post33, i_94^0'=i_94^post33, a_116^0'=a_116^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_88^0'=rcd_88^post33, head_14^0'=head_14^post33, r_163^0'=r_163^post33, __disjvr_28^0'=__disjvr_28^post33, tmp_34^0'=tmp_34^post33, __disjvr_3^0'=__disjvr_3^post33, __disjvr_35^0'=__disjvr_35^post33, temp0_15^0'=temp0_15^post33, a_184^0'=a_184^post33, __disjvr_16^0'=__disjvr_16^post33, (head_223^0-head_223^post33 == 0 /\ __disjvr_25^0-__disjvr_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ -head_14^post33+head_14^0 == 0 /\ -__disjvr_35^post33+__disjvr_35^0 == 0 /\ -__disjvr_30^post33+__disjvr_30^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_184^post33+a_184^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -tmp_34^post33+tmp_34^0 == 0 /\ head_27^0-head_27^post33 == 0 /\ __disjvr_40^0-__disjvr_40^post33 == 0 /\ -a_210^post33+a_210^0 == 0 /\ __disjvr_32^0-__disjvr_32^post33 == 0 /\ -__disjvr_16^post33+__disjvr_16^0 == 0 /\ __disjvr_27^0-__disjvr_27^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ f_170^0-f_170^post33 == 0 /\ -f_263^post33+f_263^0 == 0 /\ -a_147^post33+a_147^0 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ a_277^0-a_277^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ -__disjvr_3^post33+__disjvr_3^0 == 0 /\ __disjvr_16^post33-__disjvr_16^0 == 0 /\ len_132^0-len_132^post33 == 0 /\ -r_218^post33+r_218^0 == 0 /\ -a_241^post33+a_241^0 == 0 /\ -__disjvr_36^post33+__disjvr_36^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -r_124^post33+r_124^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ a_330^0-a_330^post33 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ -head_268^post33+head_268^0 == 0 /\ -__disjvr_24^post33+__disjvr_24^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -a_116^post33+a_116^0 == 0 /\ -r_260^post33+r_260^0 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ __disjvr_34^0-__disjvr_34^post33 == 0 /\ -len_226^post33+len_226^0 == 0 /\ __disjvr_15^0-__disjvr_15^post33 == 0 /\ __disjvr_41^0-__disjvr_41^post33 == 0 /\ a_353^0-a_353^post33 == 0 /\ a_308^0-a_308^post33 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -i_167^post33+i_167^0 == 0 /\ -head_SLAM_f_26^post33+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ -head_129^post33+head_129^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -__disjvr_11^post33+__disjvr_11^0 == 0 /\ -len_183^post33+len_183^0 == 0 /\ __disjvr_37^0-__disjvr_37^post33 == 0 /\ __disjvr_31^0-__disjvr_31^post33 == 0 /\ -i_94^post33+i_94^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ x_20^0-x_20^post33 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -head_175^post33+head_175^0 == 0 /\ -__disjvr_33^post33+__disjvr_33^0 == 0 /\ __disjvr_38^0-__disjvr_38^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ rcd_88^0-rcd_88^post33 == 0 /\ -__disjvr_42^post33+__disjvr_42^0 == 0 /\ __disjvr_39^0-__disjvr_39^post33 == 0 /\ i_108^0-i_108^post33 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ ct_17^0-ct_17^post33 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ -__disjvr_43^post33+__disjvr_43^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ i_30^0-i_30^post33 == 0 /\ rcd_58^0-rcd_58^post33 == 0 /\ -r_39^post33+r_39^0 == 0 /\ len_276^0-len_276^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ -r_163^post33+r_163^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0), cost: 1
New rule:
l32 -> l33 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l33 -> l10 : i_108^0'=i_108^post34, __disjvr_7^0'=__disjvr_7^post34, __disjvr_13^0'=__disjvr_13^post34, f_170^0'=f_170^post34, length_29^0'=length_29^post34, __disjvr_25^0'=__disjvr_25^post34, a_330^0'=a_330^post34, __disjvr_20^0'=__disjvr_20^post34, len_183^0'=len_183^post34, __disjvr_37^0'=__disjvr_37^post34, __disjvr_32^0'=__disjvr_32^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, head_223^0'=head_223^post34, r_260^0'=r_260^post34, __disjvr_4^0'=__disjvr_4^post34, __disjvr_10^0'=__disjvr_10^post34, x_20^0'=x_20^post34, __disjvr_41^0'=__disjvr_41^post34, __disjvr_22^0'=__disjvr_22^post34, a_241^0'=a_241^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_9^0'=__disjvr_9^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_58^0'=rcd_58^post34, head_129^0'=head_129^post34, r_124^0'=r_124^post34, __disjvr_27^0'=__disjvr_27^post34, ct_17^0'=ct_17^post34, temp_35^0'=temp_35^post34, __disjvr_39^0'=__disjvr_39^post34, __disjvr_34^0'=__disjvr_34^post34, t_23^0'=t_23^post34, head_27^0'=head_27^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, __disjvr_6^0'=__disjvr_6^post34, __disjvr_12^0'=__disjvr_12^post34, y_19^0'=y_19^post34, __disjvr_43^0'=__disjvr_43^post34, len_276^0'=len_276^post34, __disjvr_24^0'=__disjvr_24^post34, a_308^0'=a_308^post34, __disjvr_1^0'=__disjvr_1^post34, len_132^0'=len_132^post34, a_147^0'=a_147^post34, __disjvr_31^0'=__disjvr_31^post34, result_11^0'=result_11^post34, head_175^0'=head_175^post34, r_218^0'=r_218^post34, __disjvr_29^0'=__disjvr_29^post34, __disjvr_0^0'=__disjvr_0^post34, x_16^0'=x_16^post34, __disjvr_40^0'=__disjvr_40^post34, __disjvr_36^0'=__disjvr_36^post34, a_210^0'=a_210^post34, __disjvr_17^0'=__disjvr_17^post34, i_167^0'=i_167^post34, __disjvr_8^0'=__disjvr_8^post34, __disjvr_14^0'=__disjvr_14^post34, r_39^0'=r_39^post34, f_263^0'=f_263^post34, nondet_12^0'=nondet_12^post34, __disjvr_26^0'=__disjvr_26^post34, a_353^0'=a_353^post34, __disjvr_21^0'=__disjvr_21^post34, temp0_31^0'=temp0_31^post34, __disjvr_38^0'=__disjvr_38^post34, __disjvr_33^0'=__disjvr_33^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, head_268^0'=head_268^post34, head_32^0'=head_32^post34, __disjvr_5^0'=__disjvr_5^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, __disjvr_42^0'=__disjvr_42^post34, len_226^0'=len_226^post34, __disjvr_23^0'=__disjvr_23^post34, a_277^0'=a_277^post34, __disjvr_19^0'=__disjvr_19^post34, i_94^0'=i_94^post34, a_116^0'=a_116^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_88^0'=rcd_88^post34, head_14^0'=head_14^post34, r_163^0'=r_163^post34, __disjvr_28^0'=__disjvr_28^post34, tmp_34^0'=tmp_34^post34, __disjvr_3^0'=__disjvr_3^post34, __disjvr_35^0'=__disjvr_35^post34, temp0_15^0'=temp0_15^post34, a_184^0'=a_184^post34, __disjvr_16^0'=__disjvr_16^post34, (0 == 0 /\ -len_132^post34+len_132^0 == 0 /\ __disjvr_34^0-__disjvr_34^post34 == 0 /\ -head_14^post34+head_14^0 == 0 /\ ct_17^0-ct_17^post34 == 0 /\ -__disjvr_30^post34+__disjvr_30^0 == 0 /\ -__disjvr_14^post34+__disjvr_14^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -x_SLAM_f_18^post34+x_SLAM_f_18^0 == 0 /\ i_167^0-i_167^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ a_353^0-a_353^post34 == 0 /\ head_175^0-head_175^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ -a_116^post34+a_116^0 == 0 /\ -__disjvr_24^post34+__disjvr_24^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ len_183^0-len_183^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ __disjvr_37^0-__disjvr_37^post34 == 0 /\ -__disjvr_31^post34+__disjvr_31^0 == 0 /\ f_170^0-f_170^post34 == 0 /\ -y_19^post34+y_19^0 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -r_218^post34+r_218^0 == 0 /\ -i_94^post34+i_94^0 == 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ -r_163^post34+r_163^0 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ -head_27^post34+head_27^0 == 0 /\ -a_308^post34+a_308^0 == 0 /\ r_124^0-r_124^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_226^post34+a_308^0 <= 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ head_129^0-head_129^post34 == 0 /\ __disjvr_39^0-__disjvr_39^post34 == 0 /\ __disjvr_32^0-__disjvr_32^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -head_268^post34+head_268^0 == 0 /\ rcd_58^0-rcd_58^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_19^post34+__disjvr_19^0 == 0 /\ __disjvr_27^0-__disjvr_27^post34 == 0 /\ a_147^0-a_147^post34 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -__disjvr_3^post34+__disjvr_3^0 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ i_108^0-i_108^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -a_241^post34+a_241^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ r_260^0-r_260^post34 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ x_20^0-x_20^post34 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ -__disjvr_40^post34+__disjvr_40^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -__disjvr_6^post34+__disjvr_6^0 == 0 /\ -a_210^post34+a_210^0 == 0 /\ -a_277^post34+a_277^0 == 0 /\ t_23^0-t_23^post34 == 0 /\ __disjvr_25^0-__disjvr_25^post34 == 0 /\ head_223^0-head_223^post34 == 0 /\ -x_16^post34+x_16^0 == 0 /\ -__disjvr_35^post34+__disjvr_35^0 == 0 /\ -a_184^post34+a_184^0 == 0 /\ -__disjvr_42^post34+__disjvr_42^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ -__disjvr_21^post34+__disjvr_21^0 == 0 /\ f_263^0-f_263^post34 == 0 /\ -__disjvr_0^post34+__disjvr_0^0 == 0 /\ -__disjvr_43^post34+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post34 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -__disjvr_38^post34+__disjvr_38^0 == 0 /\ -length_29^post34+length_29^0 == 0 /\ -__disjvr_29^post34+__disjvr_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ __disjvr_33^0-__disjvr_33^post34 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ len_276^0-len_276^post34 == 0 /\ -1+len_226^post34-a_308^0 <= 0 /\ -__disjvr_36^post34+__disjvr_36^0 == 0 /\ a_330^0-a_330^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0), cost: 1
New rule:
l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l34 -> l35 : i_108^0'=i_108^post35, __disjvr_7^0'=__disjvr_7^post35, __disjvr_13^0'=__disjvr_13^post35, f_170^0'=f_170^post35, length_29^0'=length_29^post35, __disjvr_25^0'=__disjvr_25^post35, a_330^0'=a_330^post35, __disjvr_20^0'=__disjvr_20^post35, len_183^0'=len_183^post35, __disjvr_37^0'=__disjvr_37^post35, __disjvr_32^0'=__disjvr_32^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, head_223^0'=head_223^post35, r_260^0'=r_260^post35, __disjvr_4^0'=__disjvr_4^post35, __disjvr_10^0'=__disjvr_10^post35, x_20^0'=x_20^post35, __disjvr_41^0'=__disjvr_41^post35, __disjvr_22^0'=__disjvr_22^post35, a_241^0'=a_241^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_9^0'=__disjvr_9^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_58^0'=rcd_58^post35, head_129^0'=head_129^post35, r_124^0'=r_124^post35, __disjvr_27^0'=__disjvr_27^post35, ct_17^0'=ct_17^post35, temp_35^0'=temp_35^post35, __disjvr_39^0'=__disjvr_39^post35, __disjvr_34^0'=__disjvr_34^post35, t_23^0'=t_23^post35, head_27^0'=head_27^post35, __disjvr_15^0'=__disjvr_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, __disjvr_6^0'=__disjvr_6^post35, __disjvr_12^0'=__disjvr_12^post35, y_19^0'=y_19^post35, __disjvr_43^0'=__disjvr_43^post35, len_276^0'=len_276^post35, __disjvr_24^0'=__disjvr_24^post35, a_308^0'=a_308^post35, __disjvr_1^0'=__disjvr_1^post35, len_132^0'=len_132^post35, a_147^0'=a_147^post35, __disjvr_31^0'=__disjvr_31^post35, result_11^0'=result_11^post35, head_175^0'=head_175^post35, r_218^0'=r_218^post35, __disjvr_29^0'=__disjvr_29^post35, __disjvr_0^0'=__disjvr_0^post35, x_16^0'=x_16^post35, __disjvr_40^0'=__disjvr_40^post35, __disjvr_36^0'=__disjvr_36^post35, a_210^0'=a_210^post35, __disjvr_17^0'=__disjvr_17^post35, i_167^0'=i_167^post35, __disjvr_8^0'=__disjvr_8^post35, __disjvr_14^0'=__disjvr_14^post35, r_39^0'=r_39^post35, f_263^0'=f_263^post35, nondet_12^0'=nondet_12^post35, __disjvr_26^0'=__disjvr_26^post35, a_353^0'=a_353^post35, __disjvr_21^0'=__disjvr_21^post35, temp0_31^0'=temp0_31^post35, __disjvr_38^0'=__disjvr_38^post35, __disjvr_33^0'=__disjvr_33^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, head_268^0'=head_268^post35, head_32^0'=head_32^post35, __disjvr_5^0'=__disjvr_5^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, __disjvr_42^0'=__disjvr_42^post35, len_226^0'=len_226^post35, __disjvr_23^0'=__disjvr_23^post35, a_277^0'=a_277^post35, __disjvr_19^0'=__disjvr_19^post35, i_94^0'=i_94^post35, a_116^0'=a_116^post35, __disjvr_30^0'=__disjvr_30^post35, rcd_88^0'=rcd_88^post35, head_14^0'=head_14^post35, r_163^0'=r_163^post35, __disjvr_28^0'=__disjvr_28^post35, tmp_34^0'=tmp_34^post35, __disjvr_3^0'=__disjvr_3^post35, __disjvr_35^0'=__disjvr_35^post35, temp0_15^0'=temp0_15^post35, a_184^0'=a_184^post35, __disjvr_16^0'=__disjvr_16^post35, (0 == 0 /\ -__disjvr_35^post35+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post35 == 0 /\ -a_353^post35+a_353^0 == 0 /\ len_183^0-len_183^post35 == 0 /\ a_116^0-a_116^post35 == 0 /\ __disjvr_39^0-__disjvr_39^post35 == 0 /\ __disjvr_37^0-__disjvr_37^post35 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ len_132^0-len_132^post35 == 0 /\ __disjvr_32^0-__disjvr_32^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -__disjvr_16^post35+__disjvr_16^0 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ -__disjvr_38^post35+__disjvr_38^0 == 0 /\ i_30^post35 <= 0 /\ i_30^post35 == 0 /\ -length_29^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -rcd_88^post35+rcd_88^0 == 0 /\ -f_263^post35+f_263^0 == 0 /\ f_170^0-f_170^post35 == 0 /\ __disjvr_36^0-__disjvr_36^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ a_330^0-a_330^post35 == 0 /\ -temp_35^post35+temp_35^0 == 0 /\ r_124^0-r_124^post35 == 0 /\ -temp0_15^post35+temp0_15^0 == 0 /\ a_241^0-a_241^post35 == 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ head_27^0-head_27^post35 == 0 /\ a_147^0-a_147^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -len_226^post35+len_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ __disjvr_12^0-__disjvr_12^post35 == 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 <= 0 /\ length_29^post35-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -__disjvr_34^post35+__disjvr_34^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -head_175^post35+head_175^0 == 0 /\ -__disjvr_3^post35+__disjvr_3^0 == 0 /\ -head_32^post35 <= 0 /\ -a_184^post35+a_184^0 == 0 /\ -head_SLAM_f_26^post35+head_SLAM_f_26^0 == 0 /\ -__disjvr_33^post35+__disjvr_33^0 == 0 /\ x_20^0-x_20^post35 == 0 /\ head_129^0-head_129^post35 == 0 /\ -__disjvr_29^post35+__disjvr_29^0 == 0 /\ i_167^0-i_167^post35 == 0 /\ a_308^0-a_308^post35 == 0 /\ r_218^0-r_218^post35 == 0 /\ -head_268^post35+head_268^0 == 0 /\ -len_276^post35+len_276^0 == 0 /\ -a_210^post35+a_210^0 == 0 /\ i_108^0-i_108^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ __disjvr_7^0-__disjvr_7^post35 == 0 /\ -x_SLAM_f_18^post35+x_SLAM_f_18^0 == 0 /\ -i_30^post35 <= 0 /\ y_19^0-y_19^post35 == 0 /\ __disjvr_43^0-__disjvr_43^post35 == 0 /\ r_260^0-r_260^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ -__disjvr_40^post35+__disjvr_40^0 == 0 /\ head_14^0-head_14^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -__disjvr_26^post35+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -__disjvr_42^post35+__disjvr_42^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -x_16^post35+x_16^0 == 0 /\ head_32^post35 <= 0 /\ head_32^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ head_223^0-head_223^post35 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ -r_39^post35+r_39^0 == 0 /\ -__disjvr_14^post35+__disjvr_14^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -a_277^post35+a_277^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_30^post35+__disjvr_30^0 == 0 /\ __disjvr_41^0-__disjvr_41^post35 == 0 /\ -__disjvr_31^post35+__disjvr_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0), cost: 1
New rule:
l34 -> l35 : length_29^0'=nondet_12^10, i_30^0'=0, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l36 -> l37 : i_108^0'=i_108^post36, __disjvr_7^0'=__disjvr_7^post36, __disjvr_13^0'=__disjvr_13^post36, f_170^0'=f_170^post36, length_29^0'=length_29^post36, __disjvr_25^0'=__disjvr_25^post36, a_330^0'=a_330^post36, __disjvr_20^0'=__disjvr_20^post36, len_183^0'=len_183^post36, __disjvr_37^0'=__disjvr_37^post36, __disjvr_32^0'=__disjvr_32^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, head_223^0'=head_223^post36, r_260^0'=r_260^post36, __disjvr_4^0'=__disjvr_4^post36, __disjvr_10^0'=__disjvr_10^post36, x_20^0'=x_20^post36, __disjvr_41^0'=__disjvr_41^post36, __disjvr_22^0'=__disjvr_22^post36, a_241^0'=a_241^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_9^0'=__disjvr_9^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_58^0'=rcd_58^post36, head_129^0'=head_129^post36, r_124^0'=r_124^post36, __disjvr_27^0'=__disjvr_27^post36, ct_17^0'=ct_17^post36, temp_35^0'=temp_35^post36, __disjvr_39^0'=__disjvr_39^post36, __disjvr_34^0'=__disjvr_34^post36, t_23^0'=t_23^post36, head_27^0'=head_27^post36, __disjvr_15^0'=__disjvr_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, __disjvr_6^0'=__disjvr_6^post36, __disjvr_12^0'=__disjvr_12^post36, y_19^0'=y_19^post36, __disjvr_43^0'=__disjvr_43^post36, len_276^0'=len_276^post36, __disjvr_24^0'=__disjvr_24^post36, a_308^0'=a_308^post36, __disjvr_1^0'=__disjvr_1^post36, len_132^0'=len_132^post36, a_147^0'=a_147^post36, __disjvr_31^0'=__disjvr_31^post36, result_11^0'=result_11^post36, head_175^0'=head_175^post36, r_218^0'=r_218^post36, __disjvr_29^0'=__disjvr_29^post36, __disjvr_0^0'=__disjvr_0^post36, x_16^0'=x_16^post36, __disjvr_40^0'=__disjvr_40^post36, __disjvr_36^0'=__disjvr_36^post36, a_210^0'=a_210^post36, __disjvr_17^0'=__disjvr_17^post36, i_167^0'=i_167^post36, __disjvr_8^0'=__disjvr_8^post36, __disjvr_14^0'=__disjvr_14^post36, r_39^0'=r_39^post36, f_263^0'=f_263^post36, nondet_12^0'=nondet_12^post36, __disjvr_26^0'=__disjvr_26^post36, a_353^0'=a_353^post36, __disjvr_21^0'=__disjvr_21^post36, temp0_31^0'=temp0_31^post36, __disjvr_38^0'=__disjvr_38^post36, __disjvr_33^0'=__disjvr_33^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, head_268^0'=head_268^post36, head_32^0'=head_32^post36, __disjvr_5^0'=__disjvr_5^post36, __disjvr_11^0'=__disjvr_11^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, __disjvr_42^0'=__disjvr_42^post36, len_226^0'=len_226^post36, __disjvr_23^0'=__disjvr_23^post36, a_277^0'=a_277^post36, __disjvr_19^0'=__disjvr_19^post36, i_94^0'=i_94^post36, a_116^0'=a_116^post36, __disjvr_30^0'=__disjvr_30^post36, rcd_88^0'=rcd_88^post36, head_14^0'=head_14^post36, r_163^0'=r_163^post36, __disjvr_28^0'=__disjvr_28^post36, tmp_34^0'=tmp_34^post36, __disjvr_3^0'=__disjvr_3^post36, __disjvr_35^0'=__disjvr_35^post36, temp0_15^0'=temp0_15^post36, a_184^0'=a_184^post36, __disjvr_16^0'=__disjvr_16^post36, (0 == 0 /\ __disjvr_15^0-__disjvr_15^post36 == 0 /\ a_210^0-a_210^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ length_29^0-length_29^post36 == 0 /\ __disjvr_23^0-__disjvr_23^post36 == 0 /\ -a_116^post36+a_116^0 == 0 /\ -i_94^post36+i_94^0 == 0 /\ temp_35^0-temp_35^post36 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -head_268^post36+head_268^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ -__disjvr_41^post36+__disjvr_41^0 == 0 /\ __disjvr_39^0-__disjvr_39^post36 == 0 /\ -i_167^post36+i_167^0 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ -a_147^0 <= 0 /\ -len_132^0 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 <= 0 /\ head_27^post36-head_SLAM_f_26^post36 == 0 /\ r_218^0-r_218^post36 == 0 /\ -head_SLAM_f_26^post36+head_14^0 <= 0 /\ result_11^0-result_11^post36 == 0 /\ -__disjvr_40^post36+__disjvr_40^0 == 0 /\ -__disjvr_8^post36+__disjvr_8^0 == 0 /\ -__disjvr_24^post36+__disjvr_24^0 == 0 /\ __disjvr_34^0-__disjvr_34^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ i_108^0-i_108^post36 == 0 /\ rcd_58^0-rcd_58^post36 == 0 /\ head_129^0-head_129^post36 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -head_175^post36+head_175^0 == 0 /\ -x_SLAM_f_18^post36+x_SLAM_f_18^0 == 0 /\ -__disjvr_11^post36+__disjvr_11^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ __disjvr_27^0-__disjvr_27^post36 == 0 /\ -__disjvr_33^post36+__disjvr_33^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -__disjvr_42^post36+__disjvr_42^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_19^post36+__disjvr_19^0 == 0 /\ -head_27^0 <= 0 /\ head_223^0-head_223^post36 == 0 /\ len_183^0-len_183^post36 == 0 /\ a_330^0-a_330^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -head_27^post36+head_SLAM_f_26^post36 <= 0 /\ __disjvr_37^0-__disjvr_37^post36 == 0 /\ -head_14^post36+head_14^0 == 0 /\ head_32^0-head_32^post36 == 0 /\ r_260^0-r_260^post36 == 0 /\ head_SLAM_f_26^post36-head_14^0 <= 0 /\ head_SLAM_f_26^post36-head_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -a_241^post36+a_241^0 == 0 /\ -len_226^0 <= 0 /\ a_308^0-a_308^post36 == 0 /\ -r_124^post36+r_124^0 == 0 /\ -__disjvr_43^post36+__disjvr_43^0 == 0 /\ -r_39^post36+r_39^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ __disjvr_17^0-__disjvr_17^post36 == 0 /\ __disjvr_2^0-__disjvr_2^post36 == 0 /\ len_132^0-len_132^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -a_277^post36+a_277^0 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ a_241^0-len_132^0 <= 0 /\ -__disjvr_35^post36+__disjvr_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -__disjvr_38^post36+__disjvr_38^0 == 0 /\ -__disjvr_30^post36+__disjvr_30^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -__disjvr_14^post36+__disjvr_14^0 == 0 /\ len_276^0-len_276^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ -__disjvr_16^post36+__disjvr_16^0 == 0 /\ -head_27^post36+head_14^0 <= 0 /\ -f_263^post36+f_263^0 == 0 /\ __disjvr_31^0-__disjvr_31^post36 == 0 /\ __disjvr_32^0-__disjvr_32^post36 == 0 /\ len_226^0 <= 0 /\ -a_241^0+len_132^0 <= 0 /\ y_19^0-y_19^post36 == 0 /\ x_20^0-x_20^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ -__disjvr_36^post36+__disjvr_36^0 == 0 /\ -len_226^post36+len_226^0 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ ct_17^0-ct_17^post36 == 0 /\ f_170^0-f_170^post36 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_163^0-r_163^post36 == 0 /\ -a_353^post36+a_353^0 == 0 /\ head_27^post36-head_14^0 <= 0 /\ -a_147^post36+a_147^0 == 0), cost: 1
New rule:
l36 -> l37 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : i_108^0'=i_108^post37, __disjvr_7^0'=__disjvr_7^post37, __disjvr_13^0'=__disjvr_13^post37, f_170^0'=f_170^post37, length_29^0'=length_29^post37, __disjvr_25^0'=__disjvr_25^post37, a_330^0'=a_330^post37, __disjvr_20^0'=__disjvr_20^post37, len_183^0'=len_183^post37, __disjvr_37^0'=__disjvr_37^post37, __disjvr_32^0'=__disjvr_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, head_223^0'=head_223^post37, r_260^0'=r_260^post37, __disjvr_4^0'=__disjvr_4^post37, __disjvr_10^0'=__disjvr_10^post37, x_20^0'=x_20^post37, __disjvr_41^0'=__disjvr_41^post37, __disjvr_22^0'=__disjvr_22^post37, a_241^0'=a_241^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_9^0'=__disjvr_9^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_58^0'=rcd_58^post37, head_129^0'=head_129^post37, r_124^0'=r_124^post37, __disjvr_27^0'=__disjvr_27^post37, ct_17^0'=ct_17^post37, temp_35^0'=temp_35^post37, __disjvr_39^0'=__disjvr_39^post37, __disjvr_34^0'=__disjvr_34^post37, t_23^0'=t_23^post37, head_27^0'=head_27^post37, __disjvr_15^0'=__disjvr_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, __disjvr_6^0'=__disjvr_6^post37, __disjvr_12^0'=__disjvr_12^post37, y_19^0'=y_19^post37, __disjvr_43^0'=__disjvr_43^post37, len_276^0'=len_276^post37, __disjvr_24^0'=__disjvr_24^post37, a_308^0'=a_308^post37, __disjvr_1^0'=__disjvr_1^post37, len_132^0'=len_132^post37, a_147^0'=a_147^post37, __disjvr_31^0'=__disjvr_31^post37, result_11^0'=result_11^post37, head_175^0'=head_175^post37, r_218^0'=r_218^post37, __disjvr_29^0'=__disjvr_29^post37, __disjvr_0^0'=__disjvr_0^post37, x_16^0'=x_16^post37, __disjvr_40^0'=__disjvr_40^post37, __disjvr_36^0'=__disjvr_36^post37, a_210^0'=a_210^post37, __disjvr_17^0'=__disjvr_17^post37, i_167^0'=i_167^post37, __disjvr_8^0'=__disjvr_8^post37, __disjvr_14^0'=__disjvr_14^post37, r_39^0'=r_39^post37, f_263^0'=f_263^post37, nondet_12^0'=nondet_12^post37, __disjvr_26^0'=__disjvr_26^post37, a_353^0'=a_353^post37, __disjvr_21^0'=__disjvr_21^post37, temp0_31^0'=temp0_31^post37, __disjvr_38^0'=__disjvr_38^post37, __disjvr_33^0'=__disjvr_33^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, head_268^0'=head_268^post37, head_32^0'=head_32^post37, __disjvr_5^0'=__disjvr_5^post37, __disjvr_11^0'=__disjvr_11^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, __disjvr_42^0'=__disjvr_42^post37, len_226^0'=len_226^post37, __disjvr_23^0'=__disjvr_23^post37, a_277^0'=a_277^post37, __disjvr_19^0'=__disjvr_19^post37, i_94^0'=i_94^post37, a_116^0'=a_116^post37, __disjvr_30^0'=__disjvr_30^post37, rcd_88^0'=rcd_88^post37, head_14^0'=head_14^post37, r_163^0'=r_163^post37, __disjvr_28^0'=__disjvr_28^post37, tmp_34^0'=tmp_34^post37, __disjvr_3^0'=__disjvr_3^post37, __disjvr_35^0'=__disjvr_35^post37, temp0_15^0'=temp0_15^post37, a_184^0'=a_184^post37, __disjvr_16^0'=__disjvr_16^post37, (-head_14^post37+head_14^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_34^0-__disjvr_34^post37 == 0 /\ ct_17^0-ct_17^post37 == 0 /\ -head_SLAM_f_26^post37+head_SLAM_f_26^0 == 0 /\ -__disjvr_36^post37+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -x_SLAM_f_18^post37+x_SLAM_f_18^0 == 0 /\ head_175^0-head_175^post37 == 0 /\ len_183^0-len_183^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ -__disjvr_24^post37+__disjvr_24^0 == 0 /\ __disjvr_38^0-__disjvr_38^post37 == 0 /\ -a_116^post37+a_116^0 == 0 /\ -__disjvr_31^post37+__disjvr_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ i_30^0-i_30^post37 == 0 /\ __disjvr_37^0-__disjvr_37^post37 == 0 /\ f_170^0-f_170^post37 == 0 /\ -len_226^post37+len_226^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_16^post37+__disjvr_16^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ -r_163^post37+r_163^0 == 0 /\ -a_210^post37+a_210^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -a_308^post37+a_308^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -head_268^post37+head_268^0 == 0 /\ -head_27^post37+head_27^0 == 0 /\ r_124^0-r_124^post37 == 0 /\ __disjvr_39^0-__disjvr_39^post37 == 0 /\ head_129^0-head_129^post37 == 0 /\ -i_94^post37+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_32^0-__disjvr_32^post37 == 0 /\ __disjvr_27^0-__disjvr_27^post37 == 0 /\ rcd_58^0-rcd_58^post37 == 0 /\ -__disjvr_30^post37+__disjvr_30^0 == 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ a_147^0-a_147^post37 == 0 /\ i_108^0-i_108^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ __disjvr_33^0-__disjvr_33^post37 == 0 /\ -a_241^post37+a_241^0 == 0 /\ __disjvr_40^0-__disjvr_40^post37 == 0 /\ r_260^0-r_260^post37 == 0 /\ x_20^0-x_20^post37 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ -len_132^post37+len_132^0 == 0 /\ -f_263^post37+f_263^0 == 0 /\ -__disjvr_0^post37+__disjvr_0^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ head_223^0-head_223^post37 == 0 /\ __disjvr_25^0-__disjvr_25^post37 == 0 /\ -__disjvr_42^post37+__disjvr_42^0 == 0 /\ -__disjvr_35^post37+__disjvr_35^0 == 0 /\ -a_184^post37+a_184^0 == 0 /\ -a_277^post37+a_277^0 == 0 /\ r_39^0-r_39^post37 == 0 /\ y_19^0-y_19^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ -__disjvr_29^post37+__disjvr_29^0 == 0 /\ -r_218^post37+r_218^0 == 0 /\ -__disjvr_43^post37+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post37 == 0 /\ a_353^0-a_353^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -i_167^post37+i_167^0 == 0 /\ len_276^0-len_276^post37 == 0 /\ a_330^0-a_330^post37 == 0 /\ __disjvr_17^post37-__disjvr_17^0 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post37 == 0), cost: 1
New rule:
l37 -> l38 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l38 -> l4 : i_108^0'=i_108^post38, __disjvr_7^0'=__disjvr_7^post38, __disjvr_13^0'=__disjvr_13^post38, f_170^0'=f_170^post38, length_29^0'=length_29^post38, __disjvr_25^0'=__disjvr_25^post38, a_330^0'=a_330^post38, __disjvr_20^0'=__disjvr_20^post38, len_183^0'=len_183^post38, __disjvr_37^0'=__disjvr_37^post38, __disjvr_32^0'=__disjvr_32^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, head_223^0'=head_223^post38, r_260^0'=r_260^post38, __disjvr_4^0'=__disjvr_4^post38, __disjvr_10^0'=__disjvr_10^post38, x_20^0'=x_20^post38, __disjvr_41^0'=__disjvr_41^post38, __disjvr_22^0'=__disjvr_22^post38, a_241^0'=a_241^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_9^0'=__disjvr_9^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_58^0'=rcd_58^post38, head_129^0'=head_129^post38, r_124^0'=r_124^post38, __disjvr_27^0'=__disjvr_27^post38, ct_17^0'=ct_17^post38, temp_35^0'=temp_35^post38, __disjvr_39^0'=__disjvr_39^post38, __disjvr_34^0'=__disjvr_34^post38, t_23^0'=t_23^post38, head_27^0'=head_27^post38, __disjvr_15^0'=__disjvr_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, __disjvr_6^0'=__disjvr_6^post38, __disjvr_12^0'=__disjvr_12^post38, y_19^0'=y_19^post38, __disjvr_43^0'=__disjvr_43^post38, len_276^0'=len_276^post38, __disjvr_24^0'=__disjvr_24^post38, a_308^0'=a_308^post38, __disjvr_1^0'=__disjvr_1^post38, len_132^0'=len_132^post38, a_147^0'=a_147^post38, __disjvr_31^0'=__disjvr_31^post38, result_11^0'=result_11^post38, head_175^0'=head_175^post38, r_218^0'=r_218^post38, __disjvr_29^0'=__disjvr_29^post38, __disjvr_0^0'=__disjvr_0^post38, x_16^0'=x_16^post38, __disjvr_40^0'=__disjvr_40^post38, __disjvr_36^0'=__disjvr_36^post38, a_210^0'=a_210^post38, __disjvr_17^0'=__disjvr_17^post38, i_167^0'=i_167^post38, __disjvr_8^0'=__disjvr_8^post38, __disjvr_14^0'=__disjvr_14^post38, r_39^0'=r_39^post38, f_263^0'=f_263^post38, nondet_12^0'=nondet_12^post38, __disjvr_26^0'=__disjvr_26^post38, a_353^0'=a_353^post38, __disjvr_21^0'=__disjvr_21^post38, temp0_31^0'=temp0_31^post38, __disjvr_38^0'=__disjvr_38^post38, __disjvr_33^0'=__disjvr_33^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, head_268^0'=head_268^post38, head_32^0'=head_32^post38, __disjvr_5^0'=__disjvr_5^post38, __disjvr_11^0'=__disjvr_11^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, __disjvr_42^0'=__disjvr_42^post38, len_226^0'=len_226^post38, __disjvr_23^0'=__disjvr_23^post38, a_277^0'=a_277^post38, __disjvr_19^0'=__disjvr_19^post38, i_94^0'=i_94^post38, a_116^0'=a_116^post38, __disjvr_30^0'=__disjvr_30^post38, rcd_88^0'=rcd_88^post38, head_14^0'=head_14^post38, r_163^0'=r_163^post38, __disjvr_28^0'=__disjvr_28^post38, tmp_34^0'=tmp_34^post38, __disjvr_3^0'=__disjvr_3^post38, __disjvr_35^0'=__disjvr_35^post38, temp0_15^0'=temp0_15^post38, a_184^0'=a_184^post38, __disjvr_16^0'=__disjvr_16^post38, (-__disjvr_33^post38+__disjvr_33^0 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ x_16^0-x_16^post38 == 0 /\ a_116^0-a_116^post38 == 0 /\ __disjvr_36^0-__disjvr_36^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ -__disjvr_34^post38+__disjvr_34^0 == 0 /\ -__disjvr_35^post38+__disjvr_35^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post38 == 0 /\ -len_132^post38+len_132^0 == 0 /\ -__disjvr_19^post38+__disjvr_19^0 == 0 /\ -a_277^post38+a_277^0 == 0 /\ -__disjvr_42^post38+__disjvr_42^0 == 0 /\ -head_175^post38+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ head_27^0-head_27^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_32^0-__disjvr_32^post38 == 0 /\ f_170^0-f_170^post38 == 0 /\ a_241^0-a_241^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ -__disjvr_40^post38+__disjvr_40^0 == 0 /\ -a_184^post38+a_184^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ __disjvr_1^0-__disjvr_1^post38 == 0 /\ a_147^0-a_147^post38 == 0 /\ t_23^0-t_23^post38 == 0 /\ -a_210^post38+a_210^0 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ r_218^0-r_218^post38 == 0 /\ -__disjvr_29^post38+__disjvr_29^0 == 0 /\ temp_35^0-temp_35^post38 == 0 /\ -a_308^post38+a_308^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -__disjvr_30^post38+__disjvr_30^0 == 0 /\ -__disjvr_38^post38+__disjvr_38^0 == 0 /\ __disjvr_25^0-__disjvr_25^post38 == 0 /\ i_167^0-i_167^post38 == 0 /\ -__disjvr_14^post38+__disjvr_14^0 == 0 /\ -len_226^post38+len_226^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_14^post38+head_14^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -__disjvr_4^post38+__disjvr_4^0 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ -a_353^post38+a_353^0 == 0 /\ __disjvr_41^0-__disjvr_41^post38 == 0 /\ __disjvr_43^0-__disjvr_43^post38 == 0 /\ -x_SLAM_f_18^post38+x_SLAM_f_18^0 == 0 /\ -__disjvr_3^post38+__disjvr_3^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ r_124^0-r_124^post38 == 0 /\ head_129^0-head_129^post38 == 0 /\ __disjvr_7^0-__disjvr_7^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ len_276^0-len_276^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ a_330^0-a_330^post38 == 0 /\ -__disjvr_0^post38+__disjvr_0^0 == 0 /\ f_263^0-f_263^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ __disjvr_37^0-__disjvr_37^post38 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ -r_163^post38+r_163^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -__disjvr_31^post38+__disjvr_31^0 == 0 /\ i_108^0-i_108^post38 == 0 /\ -head_268^post38+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ r_260^0-r_260^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ -__disjvr_21^post38+__disjvr_21^0 == 0 /\ head_223^0-head_223^post38 == 0 /\ len_183^0-len_183^post38 == 0 /\ length_29^0-length_29^post38 == 0 /\ -rcd_88^post38+rcd_88^0 == 0), cost: 1
New rule:
l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l36 -> l40 : i_108^0'=i_108^post39, __disjvr_7^0'=__disjvr_7^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, length_29^0'=length_29^post39, __disjvr_25^0'=__disjvr_25^post39, a_330^0'=a_330^post39, __disjvr_20^0'=__disjvr_20^post39, len_183^0'=len_183^post39, __disjvr_37^0'=__disjvr_37^post39, __disjvr_32^0'=__disjvr_32^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, head_223^0'=head_223^post39, r_260^0'=r_260^post39, __disjvr_4^0'=__disjvr_4^post39, __disjvr_10^0'=__disjvr_10^post39, x_20^0'=x_20^post39, __disjvr_41^0'=__disjvr_41^post39, __disjvr_22^0'=__disjvr_22^post39, a_241^0'=a_241^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_9^0'=__disjvr_9^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, head_129^0'=head_129^post39, r_124^0'=r_124^post39, __disjvr_27^0'=__disjvr_27^post39, ct_17^0'=ct_17^post39, temp_35^0'=temp_35^post39, __disjvr_39^0'=__disjvr_39^post39, __disjvr_34^0'=__disjvr_34^post39, t_23^0'=t_23^post39, head_27^0'=head_27^post39, __disjvr_15^0'=__disjvr_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_6^0'=__disjvr_6^post39, __disjvr_12^0'=__disjvr_12^post39, y_19^0'=y_19^post39, __disjvr_43^0'=__disjvr_43^post39, len_276^0'=len_276^post39, __disjvr_24^0'=__disjvr_24^post39, a_308^0'=a_308^post39, __disjvr_1^0'=__disjvr_1^post39, len_132^0'=len_132^post39, a_147^0'=a_147^post39, __disjvr_31^0'=__disjvr_31^post39, result_11^0'=result_11^post39, head_175^0'=head_175^post39, r_218^0'=r_218^post39, __disjvr_29^0'=__disjvr_29^post39, __disjvr_0^0'=__disjvr_0^post39, x_16^0'=x_16^post39, __disjvr_40^0'=__disjvr_40^post39, __disjvr_36^0'=__disjvr_36^post39, a_210^0'=a_210^post39, __disjvr_17^0'=__disjvr_17^post39, i_167^0'=i_167^post39, __disjvr_8^0'=__disjvr_8^post39, __disjvr_14^0'=__disjvr_14^post39, r_39^0'=r_39^post39, f_263^0'=f_263^post39, nondet_12^0'=nondet_12^post39, __disjvr_26^0'=__disjvr_26^post39, a_353^0'=a_353^post39, __disjvr_21^0'=__disjvr_21^post39, temp0_31^0'=temp0_31^post39, __disjvr_38^0'=__disjvr_38^post39, __disjvr_33^0'=__disjvr_33^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_268^0'=head_268^post39, head_32^0'=head_32^post39, __disjvr_5^0'=__disjvr_5^post39, __disjvr_11^0'=__disjvr_11^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_42^0'=__disjvr_42^post39, len_226^0'=len_226^post39, __disjvr_23^0'=__disjvr_23^post39, a_277^0'=a_277^post39, __disjvr_19^0'=__disjvr_19^post39, i_94^0'=i_94^post39, a_116^0'=a_116^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, head_14^0'=head_14^post39, r_163^0'=r_163^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_34^0'=tmp_34^post39, __disjvr_3^0'=__disjvr_3^post39, __disjvr_35^0'=__disjvr_35^post39, temp0_15^0'=temp0_15^post39, a_184^0'=a_184^post39, __disjvr_16^0'=__disjvr_16^post39, (0 == 0 /\ -a_308^post39+a_308^0 == 0 /\ length_29^0-length_29^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -a_353^post39+a_353^0 == 0 /\ rcd_58^0-rcd_58^post39 == 0 /\ ct_17^0-ct_17^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -temp0_15^post39+temp0_15^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ -a_277^post39+a_277^0 == 0 /\ -f_263^post39+f_263^0 == 0 /\ -a_147^0 <= 0 /\ a_241^0-a_241^post39 == 0 /\ -len_132^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post39 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ a_330^0-a_330^post39 == 0 /\ -__disjvr_35^post39+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ __disjvr_39^0-__disjvr_39^post39 == 0 /\ __disjvr_37^0-__disjvr_37^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ a_147^0-a_147^post39 == 0 /\ head_27^0-head_27^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ len_132^0-len_132^post39 == 0 /\ __disjvr_1^0-__disjvr_1^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ -__disjvr_34^post39+__disjvr_34^0 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ r_124^0-r_124^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ -i_94^post39+i_94^0 == 0 /\ __disjvr_42^0-__disjvr_42^post39 == 0 /\ -i_167^post39+i_167^0 == 0 /\ -head_268^post39+head_268^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_16^post39+__disjvr_16^0 == 0 /\ -__disjvr_33^post39+__disjvr_33^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ __disjvr_31^0-__disjvr_31^post39 == 0 /\ a_210^0-a_210^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ __disjvr_41^0-__disjvr_41^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -len_276^post39+len_276^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ head_223^0-head_223^post39 == 0 /\ r_260^0-r_260^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ -__disjvr_19^post39+__disjvr_19^0 == 0 /\ __disjvr_43^0-__disjvr_43^post39 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ -len_226^post39+len_226^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -a_116^post39+a_116^0 == 0 /\ __disjvr_32^0-__disjvr_32^post39 == 0 /\ i_108^0-i_108^post39 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ -__disjvr_40^post39+__disjvr_40^0 == 0 /\ -__disjvr_38^post39+__disjvr_38^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -x_16^post39+x_16^0 == 0 /\ -r_163^post39+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ r_218^0-r_218^post39 == 0 /\ -rcd_88^post39+rcd_88^0 == 0 /\ len_183^0-len_183^post39 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_22^0-__disjvr_22^post39 == 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ -__disjvr_14^post39+__disjvr_14^0 == 0), cost: 1
New rule:
l36 -> l40 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l40 -> l41 : i_108^0'=i_108^post40, __disjvr_7^0'=__disjvr_7^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, length_29^0'=length_29^post40, __disjvr_25^0'=__disjvr_25^post40, a_330^0'=a_330^post40, __disjvr_20^0'=__disjvr_20^post40, len_183^0'=len_183^post40, __disjvr_37^0'=__disjvr_37^post40, __disjvr_32^0'=__disjvr_32^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, head_223^0'=head_223^post40, r_260^0'=r_260^post40, __disjvr_4^0'=__disjvr_4^post40, __disjvr_10^0'=__disjvr_10^post40, x_20^0'=x_20^post40, __disjvr_41^0'=__disjvr_41^post40, __disjvr_22^0'=__disjvr_22^post40, a_241^0'=a_241^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_9^0'=__disjvr_9^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, head_129^0'=head_129^post40, r_124^0'=r_124^post40, __disjvr_27^0'=__disjvr_27^post40, ct_17^0'=ct_17^post40, temp_35^0'=temp_35^post40, __disjvr_39^0'=__disjvr_39^post40, __disjvr_34^0'=__disjvr_34^post40, t_23^0'=t_23^post40, head_27^0'=head_27^post40, __disjvr_15^0'=__disjvr_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_6^0'=__disjvr_6^post40, __disjvr_12^0'=__disjvr_12^post40, y_19^0'=y_19^post40, __disjvr_43^0'=__disjvr_43^post40, len_276^0'=len_276^post40, __disjvr_24^0'=__disjvr_24^post40, a_308^0'=a_308^post40, __disjvr_1^0'=__disjvr_1^post40, len_132^0'=len_132^post40, a_147^0'=a_147^post40, __disjvr_31^0'=__disjvr_31^post40, result_11^0'=result_11^post40, head_175^0'=head_175^post40, r_218^0'=r_218^post40, __disjvr_29^0'=__disjvr_29^post40, __disjvr_0^0'=__disjvr_0^post40, x_16^0'=x_16^post40, __disjvr_40^0'=__disjvr_40^post40, __disjvr_36^0'=__disjvr_36^post40, a_210^0'=a_210^post40, __disjvr_17^0'=__disjvr_17^post40, i_167^0'=i_167^post40, __disjvr_8^0'=__disjvr_8^post40, __disjvr_14^0'=__disjvr_14^post40, r_39^0'=r_39^post40, f_263^0'=f_263^post40, nondet_12^0'=nondet_12^post40, __disjvr_26^0'=__disjvr_26^post40, a_353^0'=a_353^post40, __disjvr_21^0'=__disjvr_21^post40, temp0_31^0'=temp0_31^post40, __disjvr_38^0'=__disjvr_38^post40, __disjvr_33^0'=__disjvr_33^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, head_268^0'=head_268^post40, head_32^0'=head_32^post40, __disjvr_5^0'=__disjvr_5^post40, __disjvr_11^0'=__disjvr_11^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_42^0'=__disjvr_42^post40, len_226^0'=len_226^post40, __disjvr_23^0'=__disjvr_23^post40, a_277^0'=a_277^post40, __disjvr_19^0'=__disjvr_19^post40, i_94^0'=i_94^post40, a_116^0'=a_116^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, head_14^0'=head_14^post40, r_163^0'=r_163^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_34^0'=tmp_34^post40, __disjvr_3^0'=__disjvr_3^post40, __disjvr_35^0'=__disjvr_35^post40, temp0_15^0'=temp0_15^post40, a_184^0'=a_184^post40, __disjvr_16^0'=__disjvr_16^post40, (-__disjvr_33^post40+__disjvr_33^0 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ length_29^0-length_29^post40 == 0 /\ -f_263^post40+f_263^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -head_SLAM_f_26^post40+head_SLAM_f_26^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ __disjvr_43^0-__disjvr_43^post40 == 0 /\ __disjvr_17^0-__disjvr_17^post40 == 0 /\ __disjvr_37^0-__disjvr_37^post40 == 0 /\ -__disjvr_18^0+__disjvr_18^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -r_218^post40+r_218^0 == 0 /\ __disjvr_41^0-__disjvr_41^post40 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ a_330^0-a_330^post40 == 0 /\ -a_353^post40+a_353^0 == 0 /\ i_108^0-i_108^post40 == 0 /\ -head_268^post40+head_268^0 == 0 /\ -len_226^post40+len_226^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -head_14^post40+head_14^0 == 0 /\ __disjvr_42^0-__disjvr_42^post40 == 0 /\ -i_94^post40+i_94^0 == 0 /\ a_210^0-a_210^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ len_183^0-len_183^post40 == 0 /\ -a_184^post40+a_184^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ __disjvr_34^0-__disjvr_34^post40 == 0 /\ -__disjvr_30^post40+__disjvr_30^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -i_167^post40+i_167^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -head_175^post40+head_175^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ ct_17^0-ct_17^post40 == 0 /\ -len_276^post40+len_276^0 == 0 /\ __disjvr_35^0-__disjvr_35^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ f_170^0-f_170^post40 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_223^0-head_223^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_36^0-__disjvr_36^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_19^post40+__disjvr_19^0 == 0 /\ -x_20^post40+x_20^0 == 0 /\ head_27^0-head_27^post40 == 0 /\ a_308^0-a_308^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -x_16^post40+x_16^0 == 0 /\ -a_277^post40+a_277^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -a_116^post40+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_88^post40+rcd_88^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -r_260^post40+r_260^0 == 0 /\ a_241^0-a_241^post40 == 0 /\ -__disjvr_14^post40+__disjvr_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post40 == 0 /\ __disjvr_31^0-__disjvr_31^post40 == 0 /\ __disjvr_39^0-__disjvr_39^post40 == 0 /\ -__disjvr_40^post40+__disjvr_40^0 == 0 /\ -__disjvr_32^post40+__disjvr_32^0 == 0 /\ -__disjvr_38^post40+__disjvr_38^0 == 0), cost: 1
New rule:
l40 -> l41 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : i_108^0'=i_108^post41, __disjvr_7^0'=__disjvr_7^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, length_29^0'=length_29^post41, __disjvr_25^0'=__disjvr_25^post41, a_330^0'=a_330^post41, __disjvr_20^0'=__disjvr_20^post41, len_183^0'=len_183^post41, __disjvr_37^0'=__disjvr_37^post41, __disjvr_32^0'=__disjvr_32^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, head_223^0'=head_223^post41, r_260^0'=r_260^post41, __disjvr_4^0'=__disjvr_4^post41, __disjvr_10^0'=__disjvr_10^post41, x_20^0'=x_20^post41, __disjvr_41^0'=__disjvr_41^post41, __disjvr_22^0'=__disjvr_22^post41, a_241^0'=a_241^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_9^0'=__disjvr_9^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, head_129^0'=head_129^post41, r_124^0'=r_124^post41, __disjvr_27^0'=__disjvr_27^post41, ct_17^0'=ct_17^post41, temp_35^0'=temp_35^post41, __disjvr_39^0'=__disjvr_39^post41, __disjvr_34^0'=__disjvr_34^post41, t_23^0'=t_23^post41, head_27^0'=head_27^post41, __disjvr_15^0'=__disjvr_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_6^0'=__disjvr_6^post41, __disjvr_12^0'=__disjvr_12^post41, y_19^0'=y_19^post41, __disjvr_43^0'=__disjvr_43^post41, len_276^0'=len_276^post41, __disjvr_24^0'=__disjvr_24^post41, a_308^0'=a_308^post41, __disjvr_1^0'=__disjvr_1^post41, len_132^0'=len_132^post41, a_147^0'=a_147^post41, __disjvr_31^0'=__disjvr_31^post41, result_11^0'=result_11^post41, head_175^0'=head_175^post41, r_218^0'=r_218^post41, __disjvr_29^0'=__disjvr_29^post41, __disjvr_0^0'=__disjvr_0^post41, x_16^0'=x_16^post41, __disjvr_40^0'=__disjvr_40^post41, __disjvr_36^0'=__disjvr_36^post41, a_210^0'=a_210^post41, __disjvr_17^0'=__disjvr_17^post41, i_167^0'=i_167^post41, __disjvr_8^0'=__disjvr_8^post41, __disjvr_14^0'=__disjvr_14^post41, r_39^0'=r_39^post41, f_263^0'=f_263^post41, nondet_12^0'=nondet_12^post41, __disjvr_26^0'=__disjvr_26^post41, a_353^0'=a_353^post41, __disjvr_21^0'=__disjvr_21^post41, temp0_31^0'=temp0_31^post41, __disjvr_38^0'=__disjvr_38^post41, __disjvr_33^0'=__disjvr_33^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, head_268^0'=head_268^post41, head_32^0'=head_32^post41, __disjvr_5^0'=__disjvr_5^post41, __disjvr_11^0'=__disjvr_11^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_42^0'=__disjvr_42^post41, len_226^0'=len_226^post41, __disjvr_23^0'=__disjvr_23^post41, a_277^0'=a_277^post41, __disjvr_19^0'=__disjvr_19^post41, i_94^0'=i_94^post41, a_116^0'=a_116^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, head_14^0'=head_14^post41, r_163^0'=r_163^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_34^0'=tmp_34^post41, __disjvr_3^0'=__disjvr_3^post41, __disjvr_35^0'=__disjvr_35^post41, temp0_15^0'=temp0_15^post41, a_184^0'=a_184^post41, __disjvr_16^0'=__disjvr_16^post41, (0 == 0 /\ -1-len_132^0+len_183^post41 <= 0 /\ -result_11^post41+result_11^0 == 0 /\ -head_129^post41+head_129^0 == 0 /\ -a_353^post41+a_353^0 == 0 /\ -a_147^post41+a_147^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ r_124^0-r_124^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_42^post41+__disjvr_42^0 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -len_132^post41+len_132^0 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_3^post41+__disjvr_3^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ __disjvr_34^0-__disjvr_34^post41 == 0 /\ -1-a_184^post41+a_147^0 <= 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -head_32^post41+head_32^0 == 0 /\ -ct_17^post41+ct_17^0 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ length_29^0-length_29^post41 == 0 /\ -r_218^post41+r_218^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -a_277^post41+a_277^0 == 0 /\ r_260^0-r_260^post41 == 0 /\ -a_210^post41+a_210^0 == 0 /\ x_20^0-x_20^post41 == 0 /\ y_19^0-y_19^post41 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -x_SLAM_f_18^post41+x_SLAM_f_18^0 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_38^post41+__disjvr_38^0 == 0 /\ head_175^0-head_175^post41 == 0 /\ __disjvr_40^0-__disjvr_40^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_15^0-__disjvr_15^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ 1+len_132^0-len_183^post41 <= 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post41 == 0 /\ -a_308^post41+a_308^0 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -__disjvr_31^post41+__disjvr_31^0 == 0 /\ -__disjvr_43^post41+__disjvr_43^0 == 0 /\ a_241^0-a_241^post41 == 0 /\ -__disjvr_39^post41+__disjvr_39^0 == 0 /\ -f_263^post41+f_263^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_36^post41+__disjvr_36^0 == 0 /\ 1+a_184^post41-a_147^0 <= 0 /\ -__disjvr_0^post41+__disjvr_0^0 == 0 /\ __disjvr_32^0-__disjvr_32^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ __disjvr_1^0-__disjvr_1^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ -head_268^post41+head_268^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_35^post41+__disjvr_35^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ __disjvr_27^0-__disjvr_27^post41 == 0 /\ rcd_58^0-rcd_58^post41 == 0 /\ -x_16^post41+x_16^0 == 0 /\ __disjvr_33^0-__disjvr_33^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post41+a_116^0 == 0 /\ len_276^0-len_276^post41 == 0 /\ -len_226^post41+len_226^0 == 0 /\ a_330^0-a_330^post41 == 0 /\ -i_94^post41+i_94^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ head_223^0-head_223^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ __disjvr_37^0-__disjvr_37^post41 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ -head_27^post41+head_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_21^post41+__disjvr_21^0 == 0), cost: 1
New rule:
l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : i_108^0'=i_108^post42, __disjvr_7^0'=__disjvr_7^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, length_29^0'=length_29^post42, __disjvr_25^0'=__disjvr_25^post42, a_330^0'=a_330^post42, __disjvr_20^0'=__disjvr_20^post42, len_183^0'=len_183^post42, __disjvr_37^0'=__disjvr_37^post42, __disjvr_32^0'=__disjvr_32^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, head_223^0'=head_223^post42, r_260^0'=r_260^post42, __disjvr_4^0'=__disjvr_4^post42, __disjvr_10^0'=__disjvr_10^post42, x_20^0'=x_20^post42, __disjvr_41^0'=__disjvr_41^post42, __disjvr_22^0'=__disjvr_22^post42, a_241^0'=a_241^post42, __disjvr_18^0'=__disjvr_18^post42, i_30^0'=i_30^post42, __disjvr_9^0'=__disjvr_9^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, head_129^0'=head_129^post42, r_124^0'=r_124^post42, __disjvr_27^0'=__disjvr_27^post42, ct_17^0'=ct_17^post42, temp_35^0'=temp_35^post42, __disjvr_39^0'=__disjvr_39^post42, __disjvr_34^0'=__disjvr_34^post42, t_23^0'=t_23^post42, head_27^0'=head_27^post42, __disjvr_15^0'=__disjvr_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_6^0'=__disjvr_6^post42, __disjvr_12^0'=__disjvr_12^post42, y_19^0'=y_19^post42, __disjvr_43^0'=__disjvr_43^post42, len_276^0'=len_276^post42, __disjvr_24^0'=__disjvr_24^post42, a_308^0'=a_308^post42, __disjvr_1^0'=__disjvr_1^post42, len_132^0'=len_132^post42, a_147^0'=a_147^post42, __disjvr_31^0'=__disjvr_31^post42, result_11^0'=result_11^post42, head_175^0'=head_175^post42, r_218^0'=r_218^post42, __disjvr_29^0'=__disjvr_29^post42, __disjvr_0^0'=__disjvr_0^post42, x_16^0'=x_16^post42, __disjvr_40^0'=__disjvr_40^post42, __disjvr_36^0'=__disjvr_36^post42, a_210^0'=a_210^post42, __disjvr_17^0'=__disjvr_17^post42, i_167^0'=i_167^post42, __disjvr_8^0'=__disjvr_8^post42, __disjvr_14^0'=__disjvr_14^post42, r_39^0'=r_39^post42, f_263^0'=f_263^post42, nondet_12^0'=nondet_12^post42, __disjvr_26^0'=__disjvr_26^post42, a_353^0'=a_353^post42, __disjvr_21^0'=__disjvr_21^post42, temp0_31^0'=temp0_31^post42, __disjvr_38^0'=__disjvr_38^post42, __disjvr_33^0'=__disjvr_33^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, head_268^0'=head_268^post42, head_32^0'=head_32^post42, __disjvr_5^0'=__disjvr_5^post42, __disjvr_11^0'=__disjvr_11^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_42^0'=__disjvr_42^post42, len_226^0'=len_226^post42, __disjvr_23^0'=__disjvr_23^post42, a_277^0'=a_277^post42, __disjvr_19^0'=__disjvr_19^post42, i_94^0'=i_94^post42, a_116^0'=a_116^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, head_14^0'=head_14^post42, r_163^0'=r_163^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_34^0'=tmp_34^post42, __disjvr_3^0'=__disjvr_3^post42, __disjvr_35^0'=__disjvr_35^post42, temp0_15^0'=temp0_15^post42, a_184^0'=a_184^post42, __disjvr_16^0'=__disjvr_16^post42, (-a_353^post42+a_353^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ head_27^0-head_27^post42 == 0 /\ len_276^0-len_276^post42 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_32^0-__disjvr_32^post42 == 0 /\ -__disjvr_31^post42+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ a_241^0-a_241^post42 == 0 /\ -__disjvr_0^post42+__disjvr_0^0 == 0 /\ len_226^0-len_226^post42 == 0 /\ r_218^0-r_218^post42 == 0 /\ -a_308^post42+a_308^0 == 0 /\ __disjvr_34^0-__disjvr_34^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -temp0_15^post42+temp0_15^0 == 0 /\ temp0_31^0-temp0_31^post42 == 0 /\ r_260^0-r_260^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -head_268^post42+head_268^0 == 0 /\ -len_132^post42+len_132^0 == 0 /\ __disjvr_1^0-__disjvr_1^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -a_277^post42+a_277^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ -__disjvr_39^post42+__disjvr_39^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_36^post42+__disjvr_36^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ __disjvr_2^0-__disjvr_2^post42 == 0 /\ __disjvr_37^0-__disjvr_37^post42 == 0 /\ -head_14^post42+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -tmp_34^post42+tmp_34^0 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ -__disjvr_42^post42+__disjvr_42^0 == 0 /\ i_108^0-i_108^post42 == 0 /\ __disjvr_19^post42-__disjvr_19^0 == 0 /\ i_167^0-i_167^post42 == 0 /\ -a_184^post42+a_184^0 == 0 /\ a_330^0-a_330^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -__disjvr_33^post42+__disjvr_33^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ -__disjvr_16^post42+__disjvr_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ head_223^0-head_223^post42 == 0 /\ r_124^0-r_124^post42 == 0 /\ __disjvr_27^0-__disjvr_27^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ a_147^0-a_147^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ -rcd_88^post42+rcd_88^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -x_SLAM_f_18^post42+x_SLAM_f_18^0 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ length_29^0-length_29^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -a_116^post42+a_116^0 == 0 /\ -__disjvr_40^post42+__disjvr_40^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ __disjvr_43^0-__disjvr_43^post42 == 0 /\ f_263^0-f_263^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ -a_210^post42+a_210^0 == 0 /\ -__disjvr_35^post42+__disjvr_35^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -__disjvr_21^post42+__disjvr_21^0 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ -__disjvr_38^post42+__disjvr_38^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0), cost: 1
New rule:
l42 -> l43 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l44 : i_108^0'=i_108^post43, __disjvr_7^0'=__disjvr_7^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, length_29^0'=length_29^post43, __disjvr_25^0'=__disjvr_25^post43, a_330^0'=a_330^post43, __disjvr_20^0'=__disjvr_20^post43, len_183^0'=len_183^post43, __disjvr_37^0'=__disjvr_37^post43, __disjvr_32^0'=__disjvr_32^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, head_223^0'=head_223^post43, r_260^0'=r_260^post43, __disjvr_4^0'=__disjvr_4^post43, __disjvr_10^0'=__disjvr_10^post43, x_20^0'=x_20^post43, __disjvr_41^0'=__disjvr_41^post43, __disjvr_22^0'=__disjvr_22^post43, a_241^0'=a_241^post43, __disjvr_18^0'=__disjvr_18^post43, i_30^0'=i_30^post43, __disjvr_9^0'=__disjvr_9^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, head_129^0'=head_129^post43, r_124^0'=r_124^post43, __disjvr_27^0'=__disjvr_27^post43, ct_17^0'=ct_17^post43, temp_35^0'=temp_35^post43, __disjvr_39^0'=__disjvr_39^post43, __disjvr_34^0'=__disjvr_34^post43, t_23^0'=t_23^post43, head_27^0'=head_27^post43, __disjvr_15^0'=__disjvr_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_6^0'=__disjvr_6^post43, __disjvr_12^0'=__disjvr_12^post43, y_19^0'=y_19^post43, __disjvr_43^0'=__disjvr_43^post43, len_276^0'=len_276^post43, __disjvr_24^0'=__disjvr_24^post43, a_308^0'=a_308^post43, __disjvr_1^0'=__disjvr_1^post43, len_132^0'=len_132^post43, a_147^0'=a_147^post43, __disjvr_31^0'=__disjvr_31^post43, result_11^0'=result_11^post43, head_175^0'=head_175^post43, r_218^0'=r_218^post43, __disjvr_29^0'=__disjvr_29^post43, __disjvr_0^0'=__disjvr_0^post43, x_16^0'=x_16^post43, __disjvr_40^0'=__disjvr_40^post43, __disjvr_36^0'=__disjvr_36^post43, a_210^0'=a_210^post43, __disjvr_17^0'=__disjvr_17^post43, i_167^0'=i_167^post43, __disjvr_8^0'=__disjvr_8^post43, __disjvr_14^0'=__disjvr_14^post43, r_39^0'=r_39^post43, f_263^0'=f_263^post43, nondet_12^0'=nondet_12^post43, __disjvr_26^0'=__disjvr_26^post43, a_353^0'=a_353^post43, __disjvr_21^0'=__disjvr_21^post43, temp0_31^0'=temp0_31^post43, __disjvr_38^0'=__disjvr_38^post43, __disjvr_33^0'=__disjvr_33^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, head_268^0'=head_268^post43, head_32^0'=head_32^post43, __disjvr_5^0'=__disjvr_5^post43, __disjvr_11^0'=__disjvr_11^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_42^0'=__disjvr_42^post43, len_226^0'=len_226^post43, __disjvr_23^0'=__disjvr_23^post43, a_277^0'=a_277^post43, __disjvr_19^0'=__disjvr_19^post43, i_94^0'=i_94^post43, a_116^0'=a_116^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, head_14^0'=head_14^post43, r_163^0'=r_163^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_34^0'=tmp_34^post43, __disjvr_3^0'=__disjvr_3^post43, __disjvr_35^0'=__disjvr_35^post43, temp0_15^0'=temp0_15^post43, a_184^0'=a_184^post43, __disjvr_16^0'=__disjvr_16^post43, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43 == 0 /\ -__disjvr_35^post43+__disjvr_35^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -__disjvr_20^0+__disjvr_20^post43 == 0 /\ -r_163^post43+r_163^0 == 0 /\ -i_167^post43+i_167^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_38^post43+__disjvr_38^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ __disjvr_37^0-__disjvr_37^post43 == 0 /\ i_94^0-i_94^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ f_170^0-f_170^post43 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ -__disjvr_33^post43+__disjvr_33^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ __disjvr_43^0-__disjvr_43^post43 == 0 /\ __disjvr_17^0-__disjvr_17^post43 == 0 /\ -head_32^post43+head_32^0 == 0 /\ -head_268^post43+head_268^0 == 0 /\ -__disjvr_14^post43+__disjvr_14^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ -__disjvr_19^post43+__disjvr_19^0 == 0 /\ ct_17^0-ct_17^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ length_29^0-length_29^post43 == 0 /\ f_263^0-f_263^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ a_147^0-a_147^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ -len_226^post43+len_226^0 == 0 /\ __disjvr_36^0-__disjvr_36^post43 == 0 /\ -a_116^post43+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post43+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_276^post43+len_276^0 == 0 /\ len_132^0-len_132^post43 == 0 /\ x_16^0-x_16^post43 == 0 /\ -__disjvr_40^post43+__disjvr_40^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_30^0-i_30^post43 == 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ __disjvr_32^0-__disjvr_32^post43 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ a_241^0-a_241^post43 == 0 /\ -a_330^post43+a_330^0 == 0 /\ -head_223^post43+head_223^0 == 0 /\ -a_353^post43+a_353^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ __disjvr_41^0-__disjvr_41^post43 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ -__disjvr_21^post43+__disjvr_21^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -r_124^post43+r_124^0 == 0 /\ __disjvr_39^0-__disjvr_39^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ head_14^0-head_14^post43 == 0 /\ -__disjvr_42^post43+__disjvr_42^0 == 0 /\ r_260^0-r_260^post43 == 0 /\ head_27^0-head_27^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ r_218^0-r_218^post43 == 0 /\ len_183^0-len_183^post43 == 0 /\ head_129^0-head_129^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ a_308^0-a_308^post43 == 0 /\ -a_277^post43+a_277^0 == 0 /\ i_108^0-i_108^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ -__disjvr_0^post43+__disjvr_0^0 == 0 /\ -__disjvr_34^post43+__disjvr_34^0 == 0 /\ -__disjvr_31^post43+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -a_184^post43+a_184^0 == 0), cost: 1
New rule:
l43 -> l44 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l44 -> l39 : i_108^0'=i_108^post44, __disjvr_7^0'=__disjvr_7^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, length_29^0'=length_29^post44, __disjvr_25^0'=__disjvr_25^post44, a_330^0'=a_330^post44, __disjvr_20^0'=__disjvr_20^post44, len_183^0'=len_183^post44, __disjvr_37^0'=__disjvr_37^post44, __disjvr_32^0'=__disjvr_32^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, head_223^0'=head_223^post44, r_260^0'=r_260^post44, __disjvr_4^0'=__disjvr_4^post44, __disjvr_10^0'=__disjvr_10^post44, x_20^0'=x_20^post44, __disjvr_41^0'=__disjvr_41^post44, __disjvr_22^0'=__disjvr_22^post44, a_241^0'=a_241^post44, __disjvr_18^0'=__disjvr_18^post44, i_30^0'=i_30^post44, __disjvr_9^0'=__disjvr_9^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, head_129^0'=head_129^post44, r_124^0'=r_124^post44, __disjvr_27^0'=__disjvr_27^post44, ct_17^0'=ct_17^post44, temp_35^0'=temp_35^post44, __disjvr_39^0'=__disjvr_39^post44, __disjvr_34^0'=__disjvr_34^post44, t_23^0'=t_23^post44, head_27^0'=head_27^post44, __disjvr_15^0'=__disjvr_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_6^0'=__disjvr_6^post44, __disjvr_12^0'=__disjvr_12^post44, y_19^0'=y_19^post44, __disjvr_43^0'=__disjvr_43^post44, len_276^0'=len_276^post44, __disjvr_24^0'=__disjvr_24^post44, a_308^0'=a_308^post44, __disjvr_1^0'=__disjvr_1^post44, len_132^0'=len_132^post44, a_147^0'=a_147^post44, __disjvr_31^0'=__disjvr_31^post44, result_11^0'=result_11^post44, head_175^0'=head_175^post44, r_218^0'=r_218^post44, __disjvr_29^0'=__disjvr_29^post44, __disjvr_0^0'=__disjvr_0^post44, x_16^0'=x_16^post44, __disjvr_40^0'=__disjvr_40^post44, __disjvr_36^0'=__disjvr_36^post44, a_210^0'=a_210^post44, __disjvr_17^0'=__disjvr_17^post44, i_167^0'=i_167^post44, __disjvr_8^0'=__disjvr_8^post44, __disjvr_14^0'=__disjvr_14^post44, r_39^0'=r_39^post44, f_263^0'=f_263^post44, nondet_12^0'=nondet_12^post44, __disjvr_26^0'=__disjvr_26^post44, a_353^0'=a_353^post44, __disjvr_21^0'=__disjvr_21^post44, temp0_31^0'=temp0_31^post44, __disjvr_38^0'=__disjvr_38^post44, __disjvr_33^0'=__disjvr_33^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_268^0'=head_268^post44, head_32^0'=head_32^post44, __disjvr_5^0'=__disjvr_5^post44, __disjvr_11^0'=__disjvr_11^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_42^0'=__disjvr_42^post44, len_226^0'=len_226^post44, __disjvr_23^0'=__disjvr_23^post44, a_277^0'=a_277^post44, __disjvr_19^0'=__disjvr_19^post44, i_94^0'=i_94^post44, a_116^0'=a_116^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, head_14^0'=head_14^post44, r_163^0'=r_163^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_34^0'=tmp_34^post44, __disjvr_3^0'=__disjvr_3^post44, __disjvr_35^0'=__disjvr_35^post44, temp0_15^0'=temp0_15^post44, a_184^0'=a_184^post44, __disjvr_16^0'=__disjvr_16^post44, (0 == 0 /\ __disjvr_39^0-__disjvr_39^post44 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ head_223^0-head_223^post44 == 0 /\ -head_27^post44+head_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ rcd_58^0-rcd_58^post44 == 0 /\ i_108^0-i_108^post44 == 0 /\ -__disjvr_36^post44+__disjvr_36^0 == 0 /\ -head_14^post44+head_14^0 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ __disjvr_40^0-__disjvr_40^post44 == 0 /\ -__disjvr_43^post44+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -__disjvr_3^post44+__disjvr_3^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ __disjvr_32^0-__disjvr_32^post44 == 0 /\ f_170^0-f_170^post44 == 0 /\ t_23^0-t_23^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ r_124^0-r_124^post44 == 0 /\ a_308^0-a_308^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ -a_277^post44+a_277^0 == 0 /\ __disjvr_34^0-__disjvr_34^post44 == 0 /\ __disjvr_41^0-__disjvr_41^post44 == 0 /\ -a_184^post44+a_184^0 == 0 /\ -head_175^post44+head_175^0 == 0 /\ __disjvr_27^0-__disjvr_27^post44 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -i_167^post44+i_167^0 == 0 /\ a_353^0-a_353^post44 == 0 /\ -r_218^post44+r_218^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ len_276^0-len_276^post44 == 0 /\ length_29^0-length_29^post44 == 0 /\ -r_39^post44+r_39^0 == 0 /\ -len_183^0+len_132^post44 <= 0 /\ -i_94^post44+i_94^0 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -__disjvr_33^post44+__disjvr_33^0 == 0 /\ __disjvr_37^0-__disjvr_37^post44 == 0 /\ __disjvr_17^0-__disjvr_17^post44 == 0 /\ -head_32^post44+head_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -r_163^post44+r_163^0 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ a_330^0-a_330^post44 == 0 /\ -head_268^post44+head_268^0 == 0 /\ -a_147^post44+a_184^0 <= 0 /\ -__disjvr_14^post44+__disjvr_14^0 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ x_20^0-x_20^post44 == 0 /\ -r_260^post44+r_260^0 == 0 /\ -a_241^post44+a_241^0 == 0 /\ -__disjvr_19^post44+__disjvr_19^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ len_183^0-len_132^post44 <= 0 /\ __disjvr_31^0-__disjvr_31^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -f_263^post44+f_263^0 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_42^post44+__disjvr_42^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post44+__disjvr_35^0 == 0 /\ -__disjvr_24^post44+__disjvr_24^0 == 0 /\ -x_16^post44+x_16^0 == 0 /\ a_147^post44-a_184^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ -len_226^post44+len_226^0 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ rcd_88^0-rcd_88^post44 == 0 /\ -a_210^post44+a_210^0 == 0 /\ -a_116^post44+a_116^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ __disjvr_38^0-__disjvr_38^post44 == 0 /\ ct_17^0-ct_17^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0), cost: 1
New rule:
l44 -> l39 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l39 -> l36 : i_108^0'=i_108^post45, __disjvr_7^0'=__disjvr_7^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, length_29^0'=length_29^post45, __disjvr_25^0'=__disjvr_25^post45, a_330^0'=a_330^post45, __disjvr_20^0'=__disjvr_20^post45, len_183^0'=len_183^post45, __disjvr_37^0'=__disjvr_37^post45, __disjvr_32^0'=__disjvr_32^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, head_223^0'=head_223^post45, r_260^0'=r_260^post45, __disjvr_4^0'=__disjvr_4^post45, __disjvr_10^0'=__disjvr_10^post45, x_20^0'=x_20^post45, __disjvr_41^0'=__disjvr_41^post45, __disjvr_22^0'=__disjvr_22^post45, a_241^0'=a_241^post45, __disjvr_18^0'=__disjvr_18^post45, i_30^0'=i_30^post45, __disjvr_9^0'=__disjvr_9^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, head_129^0'=head_129^post45, r_124^0'=r_124^post45, __disjvr_27^0'=__disjvr_27^post45, ct_17^0'=ct_17^post45, temp_35^0'=temp_35^post45, __disjvr_39^0'=__disjvr_39^post45, __disjvr_34^0'=__disjvr_34^post45, t_23^0'=t_23^post45, head_27^0'=head_27^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_6^0'=__disjvr_6^post45, __disjvr_12^0'=__disjvr_12^post45, y_19^0'=y_19^post45, __disjvr_43^0'=__disjvr_43^post45, len_276^0'=len_276^post45, __disjvr_24^0'=__disjvr_24^post45, a_308^0'=a_308^post45, __disjvr_1^0'=__disjvr_1^post45, len_132^0'=len_132^post45, a_147^0'=a_147^post45, __disjvr_31^0'=__disjvr_31^post45, result_11^0'=result_11^post45, head_175^0'=head_175^post45, r_218^0'=r_218^post45, __disjvr_29^0'=__disjvr_29^post45, __disjvr_0^0'=__disjvr_0^post45, x_16^0'=x_16^post45, __disjvr_40^0'=__disjvr_40^post45, __disjvr_36^0'=__disjvr_36^post45, a_210^0'=a_210^post45, __disjvr_17^0'=__disjvr_17^post45, i_167^0'=i_167^post45, __disjvr_8^0'=__disjvr_8^post45, __disjvr_14^0'=__disjvr_14^post45, r_39^0'=r_39^post45, f_263^0'=f_263^post45, nondet_12^0'=nondet_12^post45, __disjvr_26^0'=__disjvr_26^post45, a_353^0'=a_353^post45, __disjvr_21^0'=__disjvr_21^post45, temp0_31^0'=temp0_31^post45, __disjvr_38^0'=__disjvr_38^post45, __disjvr_33^0'=__disjvr_33^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, head_268^0'=head_268^post45, head_32^0'=head_32^post45, __disjvr_5^0'=__disjvr_5^post45, __disjvr_11^0'=__disjvr_11^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_42^0'=__disjvr_42^post45, len_226^0'=len_226^post45, __disjvr_23^0'=__disjvr_23^post45, a_277^0'=a_277^post45, __disjvr_19^0'=__disjvr_19^post45, i_94^0'=i_94^post45, a_116^0'=a_116^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, head_14^0'=head_14^post45, r_163^0'=r_163^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_34^0'=tmp_34^post45, __disjvr_3^0'=__disjvr_3^post45, __disjvr_35^0'=__disjvr_35^post45, temp0_15^0'=temp0_15^post45, a_184^0'=a_184^post45, __disjvr_16^0'=__disjvr_16^post45, (f_170^0-f_170^post45 == 0 /\ r_124^0-r_124^post45 == 0 /\ i_167^0-i_167^post45 == 0 /\ -__disjvr_38^post45+__disjvr_38^0 == 0 /\ -__disjvr_35^post45+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_218^post45+r_218^0 == 0 /\ -__disjvr_24^post45+__disjvr_24^0 == 0 /\ __disjvr_39^0-__disjvr_39^post45 == 0 /\ -head_268^post45+head_268^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -rcd_88^post45+rcd_88^0 == 0 /\ __disjvr_27^0-__disjvr_27^post45 == 0 /\ -i_94^post45+i_94^0 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_30^post45+__disjvr_30^0 == 0 /\ a_353^0-a_353^post45 == 0 /\ len_276^0-len_276^post45 == 0 /\ __disjvr_25^0-__disjvr_25^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_42^post45+__disjvr_42^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -a_308^post45+a_308^0 == 0 /\ -temp0_15^post45+temp0_15^0 == 0 /\ -head_129^post45+head_129^0 == 0 /\ temp_35^0-temp_35^post45 == 0 /\ a_277^0-a_277^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ -len_132^post45+len_132^0 == 0 /\ -__disjvr_19^post45+__disjvr_19^0 == 0 /\ __disjvr_15^0-__disjvr_15^post45 == 0 /\ __disjvr_7^0-__disjvr_7^post45 == 0 /\ -__disjvr_0^post45+__disjvr_0^0 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -x_SLAM_f_18^post45+x_SLAM_f_18^0 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -x_16^post45+x_16^0 == 0 /\ -a_184^post45+a_184^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -a_210^post45+a_210^0 == 0 /\ __disjvr_31^0-__disjvr_31^post45 == 0 /\ x_20^0-x_20^post45 == 0 /\ __disjvr_32^0-__disjvr_32^post45 == 0 /\ -__disjvr_43^post45+__disjvr_43^0 == 0 /\ a_147^0-a_147^post45 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_2^0-__disjvr_2^post45 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ rcd_58^0-rcd_58^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ __disjvr_33^0-__disjvr_33^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_40^0-__disjvr_40^post45 == 0 /\ -__disjvr_36^post45+__disjvr_36^0 == 0 /\ head_223^0-head_223^post45 == 0 /\ -len_183^post45+len_183^0 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ a_330^0-a_330^post45 == 0 /\ r_260^0-r_260^post45 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ i_108^0-i_108^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ __disjvr_34^0-__disjvr_34^post45 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -len_226^post45+len_226^0 == 0 /\ __disjvr_41^0-__disjvr_41^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -f_263^post45+f_263^0 == 0 /\ -r_39^post45+r_39^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -a_241^post45+a_241^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0), cost: 1
New rule:
l39 -> l36 : TRUE, cost: 1

Applied preprocessing
Original rule:
l62 -> l81 : i_108^0'=i_108^post83, __disjvr_7^0'=__disjvr_7^post83, __disjvr_13^0'=__disjvr_13^post83, f_170^0'=f_170^post83, length_29^0'=length_29^post83, __disjvr_25^0'=__disjvr_25^post83, a_330^0'=a_330^post83, __disjvr_20^0'=__disjvr_20^post83, len_183^0'=len_183^post83, __disjvr_37^0'=__disjvr_37^post83, __disjvr_32^0'=__disjvr_32^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, head_223^0'=head_223^post83, r_260^0'=r_260^post83, __disjvr_4^0'=__disjvr_4^post83, __disjvr_10^0'=__disjvr_10^post83, x_20^0'=x_20^post83, __disjvr_41^0'=__disjvr_41^post83, __disjvr_22^0'=__disjvr_22^post83, a_241^0'=a_241^post83, __disjvr_18^0'=__disjvr_18^post83, i_30^0'=i_30^post83, __disjvr_9^0'=__disjvr_9^post83, __disjvr_2^0'=__disjvr_2^post83, rcd_58^0'=rcd_58^post83, head_129^0'=head_129^post83, r_124^0'=r_124^post83, __disjvr_27^0'=__disjvr_27^post83, ct_17^0'=ct_17^post83, temp_35^0'=temp_35^post83, __disjvr_39^0'=__disjvr_39^post83, __disjvr_34^0'=__disjvr_34^post83, t_23^0'=t_23^post83, head_27^0'=head_27^post83, __disjvr_15^0'=__disjvr_15^post83, head_SLAM_f_26^0'=head_SLAM_f_26^post83, __disjvr_6^0'=__disjvr_6^post83, __disjvr_12^0'=__disjvr_12^post83, y_19^0'=y_19^post83, __disjvr_43^0'=__disjvr_43^post83, len_276^0'=len_276^post83, __disjvr_24^0'=__disjvr_24^post83, a_308^0'=a_308^post83, __disjvr_1^0'=__disjvr_1^post83, len_132^0'=len_132^post83, a_147^0'=a_147^post83, __disjvr_31^0'=__disjvr_31^post83, result_11^0'=result_11^post83, head_175^0'=head_175^post83, r_218^0'=r_218^post83, __disjvr_29^0'=__disjvr_29^post83, __disjvr_0^0'=__disjvr_0^post83, x_16^0'=x_16^post83, __disjvr_40^0'=__disjvr_40^post83, __disjvr_36^0'=__disjvr_36^post83, a_210^0'=a_210^post83, __disjvr_17^0'=__disjvr_17^post83, i_167^0'=i_167^post83, __disjvr_8^0'=__disjvr_8^post83, __disjvr_14^0'=__disjvr_14^post83, r_39^0'=r_39^post83, f_263^0'=f_263^post83, nondet_12^0'=nondet_12^post83, __disjvr_26^0'=__disjvr_26^post83, a_353^0'=a_353^post83, __disjvr_21^0'=__disjvr_21^post83, temp0_31^0'=temp0_31^post83, __disjvr_38^0'=__disjvr_38^post83, __disjvr_33^0'=__disjvr_33^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, head_268^0'=head_268^post83, head_32^0'=head_32^post83, __disjvr_5^0'=__disjvr_5^post83, __disjvr_11^0'=__disjvr_11^post83, x_SLAM_f_18^0'=x_SLAM_f_18^post83, __disjvr_42^0'=__disjvr_42^post83, len_226^0'=len_226^post83, __disjvr_23^0'=__disjvr_23^post83, a_277^0'=a_277^post83, __disjvr_19^0'=__disjvr_19^post83, i_94^0'=i_94^post83, a_116^0'=a_116^post83, __disjvr_30^0'=__disjvr_30^post83, rcd_88^0'=rcd_88^post83, head_14^0'=head_14^post83, r_163^0'=r_163^post83, __disjvr_28^0'=__disjvr_28^post83, tmp_34^0'=tmp_34^post83, __disjvr_3^0'=__disjvr_3^post83, __disjvr_35^0'=__disjvr_35^post83, temp0_15^0'=temp0_15^post83, a_184^0'=a_184^post83, __disjvr_16^0'=__disjvr_16^post83, (0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ i_94^0-i_94^post83 == 0 /\ r_124^0-r_124^post83 == 0 /\ __disjvr_18^0-__disjvr_18^post83 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83+head_32^post83 <= 0 /\ __disjvr_36^0-__disjvr_36^post83 == 0 /\ -__disjvr_28^post83+__disjvr_28^0 == 0 /\ __disjvr_34^0-__disjvr_34^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -head_SLAM_f_26^post83+head_SLAM_f_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post83 == 0 /\ -head_14^post83+head_14^0 == 0 /\ len_132^0-len_132^post83 == 0 /\ -len_226^post83+len_226^0 == 0 /\ __disjvr_9^0-__disjvr_9^post83 == 0 /\ __disjvr_6^0-__disjvr_6^post83 == 0 /\ -a_184^post83+a_184^0 == 0 /\ -tmp_34^post83+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ -2+i_30^post83 <= 0 /\ __disjvr_12^0-__disjvr_12^post83 == 0 /\ tmp_34^post83-temp_35^0 == 0 /\ -x_SLAM_f_18^post83+x_SLAM_f_18^0 == 0 /\ -__disjvr_2^post83+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post83 == 0 /\ -r_39^post83+r_39^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 <= 0 /\ -__disjvr_15^post83+__disjvr_15^0 == 0 /\ a_147^0-a_147^post83 == 0 /\ __disjvr_43^0-__disjvr_43^post83 == 0 /\ x_20^0-x_20^post83 == 0 /\ __disjvr_7^0-__disjvr_7^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83-head_32^post83 <= 0 /\ -a_116^post83+a_116^0 == 0 /\ -len_276^post83+len_276^0 == 0 /\ __disjvr_31^0-__disjvr_31^post83 == 0 /\ __disjvr_39^0-__disjvr_39^post83 == 0 /\ -head_268^post83+head_268^0 == 0 /\ -__disjvr_35^post83+__disjvr_35^0 == 0 /\ -x_16^post83+x_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post83 == 0 /\ __disjvr_42^0-__disjvr_42^post83 == 0 /\ -t_23^post83+t_23^0 == 0 /\ -i_167^post83+i_167^0 == 0 /\ length_29^0-length_29^post83 == 0 /\ -1+i_30^post83-i_30^0 == 0 /\ -__disjvr_14^post83+__disjvr_14^0 == 0 /\ ct_17^0-ct_17^post83 == 0 /\ tmp_34^post83-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 <= 0 /\ __disjvr_23^0-__disjvr_23^post83 == 0 /\ -__disjvr_16^post83+__disjvr_16^0 == 0 /\ -__disjvr_33^post83+__disjvr_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post83 == 0 /\ a_210^0-a_210^post83 == 0 /\ -__disjvr_3^post83+__disjvr_3^0 == 0 /\ -__disjvr_30^post83+__disjvr_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post83 == 0 /\ r_260^0-r_260^post83 == 0 /\ __disjvr_4^0-__disjvr_4^post83 == 0 /\ -head_223^post83+head_223^0 == 0 /\ a_241^0-a_241^post83 == 0 /\ -f_263^post83+f_263^0 == 0 /\ __disjvr_25^0-__disjvr_25^post83 == 0 /\ 2-length_29^0 <= 0 /\ -a_353^post83+a_353^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post83 == 0 /\ __disjvr_32^0-__disjvr_32^post83 == 0 /\ a_330^0-a_330^post83 == 0 /\ head_27^0-head_27^post83 == 0 /\ -rcd_88^post83+rcd_88^0 == 0 /\ -__disjvr_19^post83+__disjvr_19^0 == 0 /\ a_308^0-a_308^post83 == 0 /\ -__disjvr_37^post83+__disjvr_37^0 == 0 /\ -__disjvr_27^post83+__disjvr_27^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -__disjvr_11^post83+__disjvr_11^0 == 0 /\ 2-i_30^post83 <= 0 /\ -__disjvr_1^post83+__disjvr_1^0 == 0 /\ __disjvr_21^0-__disjvr_21^post83 == 0 /\ tmp_34^post83-head_32^post83 <= 0 /\ __disjvr_8^0-__disjvr_8^post83 == 0 /\ -__disjvr_40^post83+__disjvr_40^0 == 0 /\ f_170^0-f_170^post83 == 0 /\ __disjvr_0^0-__disjvr_0^post83 == 0 /\ -a_277^post83+a_277^0 == 0 /\ -r_218^post83+r_218^0 == 0 /\ -temp0_31^post83+temp0_31^0 == 0 /\ i_108^0-i_108^post83 == 0 /\ head_129^0-head_129^post83 == 0 /\ -head_175^post83+head_175^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post83 == 0 /\ -temp0_15^post83+temp0_15^0 == 0 /\ -r_163^post83+r_163^0 == 0 /\ -__disjvr_38^post83+__disjvr_38^0 == 0 /\ y_19^0-y_19^post83 == 0 /\ -__disjvr_26^post83+__disjvr_26^0 == 0 /\ -tmp_34^post83+head_32^post83 <= 0 /\ -tmp_34^post83+head_32^post83 == 0 /\ -__disjvr_29^post83+__disjvr_29^0 == 0 /\ -__disjvr_17^post83+__disjvr_17^0 == 0 /\ len_183^0-len_183^post83 == 0), cost: 1
New rule:
l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l81 -> l82 : i_108^0'=i_108^post84, __disjvr_7^0'=__disjvr_7^post84, __disjvr_13^0'=__disjvr_13^post84, f_170^0'=f_170^post84, length_29^0'=length_29^post84, __disjvr_25^0'=__disjvr_25^post84, a_330^0'=a_330^post84, __disjvr_20^0'=__disjvr_20^post84, len_183^0'=len_183^post84, __disjvr_37^0'=__disjvr_37^post84, __disjvr_32^0'=__disjvr_32^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, head_223^0'=head_223^post84, r_260^0'=r_260^post84, __disjvr_4^0'=__disjvr_4^post84, __disjvr_10^0'=__disjvr_10^post84, x_20^0'=x_20^post84, __disjvr_41^0'=__disjvr_41^post84, __disjvr_22^0'=__disjvr_22^post84, a_241^0'=a_241^post84, __disjvr_18^0'=__disjvr_18^post84, i_30^0'=i_30^post84, __disjvr_9^0'=__disjvr_9^post84, __disjvr_2^0'=__disjvr_2^post84, rcd_58^0'=rcd_58^post84, head_129^0'=head_129^post84, r_124^0'=r_124^post84, __disjvr_27^0'=__disjvr_27^post84, ct_17^0'=ct_17^post84, temp_35^0'=temp_35^post84, __disjvr_39^0'=__disjvr_39^post84, __disjvr_34^0'=__disjvr_34^post84, t_23^0'=t_23^post84, head_27^0'=head_27^post84, __disjvr_15^0'=__disjvr_15^post84, head_SLAM_f_26^0'=head_SLAM_f_26^post84, __disjvr_6^0'=__disjvr_6^post84, __disjvr_12^0'=__disjvr_12^post84, y_19^0'=y_19^post84, __disjvr_43^0'=__disjvr_43^post84, len_276^0'=len_276^post84, __disjvr_24^0'=__disjvr_24^post84, a_308^0'=a_308^post84, __disjvr_1^0'=__disjvr_1^post84, len_132^0'=len_132^post84, a_147^0'=a_147^post84, __disjvr_31^0'=__disjvr_31^post84, result_11^0'=result_11^post84, head_175^0'=head_175^post84, r_218^0'=r_218^post84, __disjvr_29^0'=__disjvr_29^post84, __disjvr_0^0'=__disjvr_0^post84, x_16^0'=x_16^post84, __disjvr_40^0'=__disjvr_40^post84, __disjvr_36^0'=__disjvr_36^post84, a_210^0'=a_210^post84, __disjvr_17^0'=__disjvr_17^post84, i_167^0'=i_167^post84, __disjvr_8^0'=__disjvr_8^post84, __disjvr_14^0'=__disjvr_14^post84, r_39^0'=r_39^post84, f_263^0'=f_263^post84, nondet_12^0'=nondet_12^post84, __disjvr_26^0'=__disjvr_26^post84, a_353^0'=a_353^post84, __disjvr_21^0'=__disjvr_21^post84, temp0_31^0'=temp0_31^post84, __disjvr_38^0'=__disjvr_38^post84, __disjvr_33^0'=__disjvr_33^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_268^0'=head_268^post84, head_32^0'=head_32^post84, __disjvr_5^0'=__disjvr_5^post84, __disjvr_11^0'=__disjvr_11^post84, x_SLAM_f_18^0'=x_SLAM_f_18^post84, __disjvr_42^0'=__disjvr_42^post84, len_226^0'=len_226^post84, __disjvr_23^0'=__disjvr_23^post84, a_277^0'=a_277^post84, __disjvr_19^0'=__disjvr_19^post84, i_94^0'=i_94^post84, a_116^0'=a_116^post84, __disjvr_30^0'=__disjvr_30^post84, rcd_88^0'=rcd_88^post84, head_14^0'=head_14^post84, r_163^0'=r_163^post84, __disjvr_28^0'=__disjvr_28^post84, tmp_34^0'=tmp_34^post84, __disjvr_3^0'=__disjvr_3^post84, __disjvr_35^0'=__disjvr_35^post84, temp0_15^0'=temp0_15^post84, a_184^0'=a_184^post84, __disjvr_16^0'=__disjvr_16^post84, (0 == 0 /\ __disjvr_37^0-__disjvr_37^post84 == 0 /\ -len_226^post84+len_226^0 == 0 /\ head_27^post84-head_14^post84 <= 0 /\ a_241^0-a_241^post84 == 0 /\ r_260^0-r_260^post84 == 0 /\ -temp0_31^110+result_11^11 == 0 /\ head_14^post84-result_11^11 == 0 /\ r_124^0-r_124^post84 == 0 /\ head_14^post84-head_SLAM_f_26^post84 <= 0 /\ rcd_58^0-rcd_58^post84 == 0 /\ head_27^post84-head_SLAM_f_26^post84 <= 0 /\ head_27^post84-head_SLAM_f_26^post84 == 0 /\ __disjvr_13^0-__disjvr_13^post84 == 0 /\ -len_132^0 <= 0 /\ -__disjvr_8^post84+__disjvr_8^0 == 0 /\ -__disjvr_5^post84+__disjvr_5^0 == 0 /\ a_147^0-i_30^post84 <= 0 /\ __disjvr_22^0-__disjvr_22^post84 == 0 /\ -__disjvr_9^post84+__disjvr_9^0 == 0 /\ -a_116^post84+a_116^0 == 0 /\ x_16^0-x_16^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ -__disjvr_43^post84+__disjvr_43^0 == 0 /\ -__disjvr_28^post84+__disjvr_28^0 == 0 /\ len_183^0-len_183^post84 == 0 /\ -ct_17^post84+ct_17^0 == 0 /\ -__disjvr_36^post84+__disjvr_36^0 == 0 /\ -a_210^post84+a_210^0 == 0 /\ temp0_31^110-head_32^0 == 0 /\ -head_27^post84+head_14^post84 <= 0 /\ -__disjvr_11^post84+__disjvr_11^0 == 0 /\ -__disjvr_14^post84+__disjvr_14^0 == 0 /\ -i_94^post84+i_94^0 == 0 /\ __disjvr_4^0-__disjvr_4^post84 == 0 /\ -__disjvr_33^post84+__disjvr_33^0 == 0 /\ -__disjvr_16^post84+__disjvr_16^0 == 0 /\ -head_14^post84+head_SLAM_f_26^post84 <= 0 /\ -head_14^post84+head_SLAM_f_26^post84 == 0 /\ -__disjvr_21^post84+__disjvr_21^0 == 0 /\ -head_27^post84+head_SLAM_f_26^post84 <= 0 /\ a_308^0-a_308^post84 == 0 /\ t_23^0-t_23^post84 == 0 /\ __disjvr_15^0-__disjvr_15^post84 == 0 /\ -__disjvr_31^post84+__disjvr_31^0 == 0 /\ __disjvr_2^0-__disjvr_2^post84 == 0 /\ -a_147^0+i_30^post84 <= 0 /\ head_129^0-head_129^post84 == 0 /\ -head_268^post84+head_268^0 == 0 /\ -__disjvr_39^post84+__disjvr_39^0 == 0 /\ len_132^0 <= 0 /\ -temp0_15^post84+temp0_15^0 == 0 /\ -r_163^post84+r_163^0 == 0 /\ -__disjvr_19^post84+__disjvr_19^0 == 0 /\ -__disjvr_34^post84+__disjvr_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post84 == 0 /\ -head_175^post84+head_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post84 == 0 /\ -__disjvr_18^post84+__disjvr_18^0 == 0 /\ f_170^0-f_170^post84 == 0 /\ -x_SLAM_f_18^post84+x_SLAM_f_18^0 == 0 /\ -len_132^post84+len_132^0 == 0 /\ i_108^0-i_108^post84 == 0 /\ len_276^0-len_276^post84 == 0 /\ __disjvr_29^0-__disjvr_29^post84 == 0 /\ -y_19^post84+y_19^0 == 0 /\ -__disjvr_0^post84+__disjvr_0^0 == 0 /\ -__disjvr_30^post84+__disjvr_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post84 == 0 /\ -__disjvr_40^post84+__disjvr_40^0 == 0 /\ -i_30^0 <= 0 /\ -a_147^post84+a_147^0 == 0 /\ -f_263^post84+f_263^0 == 0 /\ __disjvr_12^0-__disjvr_12^post84 == 0 /\ -a_277^post84+a_277^0 == 0 /\ -__disjvr_42^post84+__disjvr_42^0 == 0 /\ head_223^0-head_223^post84 == 0 /\ -__disjvr_35^post84+__disjvr_35^0 == 0 /\ -a_184^post84+a_184^0 == 0 /\ -__disjvr_24^post84+__disjvr_24^0 == 0 /\ -__disjvr_17^post84+__disjvr_17^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -__disjvr_10^post84+__disjvr_10^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ x_20^0-x_20^post84 == 0 /\ a_330^0-a_330^post84 == 0 /\ __disjvr_41^0-__disjvr_41^post84 == 0 /\ -__disjvr_38^post84+__disjvr_38^0 == 0 /\ __disjvr_20^0-__disjvr_20^post84 == 0 /\ -__disjvr_25^post84+__disjvr_25^0 == 0 /\ -__disjvr_3^post84+__disjvr_3^0 == 0 /\ __disjvr_32^0-__disjvr_32^post84 == 0 /\ -rcd_88^post84+rcd_88^0 == 0 /\ -__disjvr_23^post84+__disjvr_23^0 == 0 /\ -a_353^post84+a_353^0 == 0 /\ __disjvr_7^0-__disjvr_7^post84 == 0 /\ __disjvr_26^0-__disjvr_26^post84 == 0 /\ -r_218^post84+r_218^0 == 0), cost: 1
New rule:
l81 -> l82 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l82 -> l83 : i_108^0'=i_108^post85, __disjvr_7^0'=__disjvr_7^post85, __disjvr_13^0'=__disjvr_13^post85, f_170^0'=f_170^post85, length_29^0'=length_29^post85, __disjvr_25^0'=__disjvr_25^post85, a_330^0'=a_330^post85, __disjvr_20^0'=__disjvr_20^post85, len_183^0'=len_183^post85, __disjvr_37^0'=__disjvr_37^post85, __disjvr_32^0'=__disjvr_32^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, head_223^0'=head_223^post85, r_260^0'=r_260^post85, __disjvr_4^0'=__disjvr_4^post85, __disjvr_10^0'=__disjvr_10^post85, x_20^0'=x_20^post85, __disjvr_41^0'=__disjvr_41^post85, __disjvr_22^0'=__disjvr_22^post85, a_241^0'=a_241^post85, __disjvr_18^0'=__disjvr_18^post85, i_30^0'=i_30^post85, __disjvr_9^0'=__disjvr_9^post85, __disjvr_2^0'=__disjvr_2^post85, rcd_58^0'=rcd_58^post85, head_129^0'=head_129^post85, r_124^0'=r_124^post85, __disjvr_27^0'=__disjvr_27^post85, ct_17^0'=ct_17^post85, temp_35^0'=temp_35^post85, __disjvr_39^0'=__disjvr_39^post85, __disjvr_34^0'=__disjvr_34^post85, t_23^0'=t_23^post85, head_27^0'=head_27^post85, __disjvr_15^0'=__disjvr_15^post85, head_SLAM_f_26^0'=head_SLAM_f_26^post85, __disjvr_6^0'=__disjvr_6^post85, __disjvr_12^0'=__disjvr_12^post85, y_19^0'=y_19^post85, __disjvr_43^0'=__disjvr_43^post85, len_276^0'=len_276^post85, __disjvr_24^0'=__disjvr_24^post85, a_308^0'=a_308^post85, __disjvr_1^0'=__disjvr_1^post85, len_132^0'=len_132^post85, a_147^0'=a_147^post85, __disjvr_31^0'=__disjvr_31^post85, result_11^0'=result_11^post85, head_175^0'=head_175^post85, r_218^0'=r_218^post85, __disjvr_29^0'=__disjvr_29^post85, __disjvr_0^0'=__disjvr_0^post85, x_16^0'=x_16^post85, __disjvr_40^0'=__disjvr_40^post85, __disjvr_36^0'=__disjvr_36^post85, a_210^0'=a_210^post85, __disjvr_17^0'=__disjvr_17^post85, i_167^0'=i_167^post85, __disjvr_8^0'=__disjvr_8^post85, __disjvr_14^0'=__disjvr_14^post85, r_39^0'=r_39^post85, f_263^0'=f_263^post85, nondet_12^0'=nondet_12^post85, __disjvr_26^0'=__disjvr_26^post85, a_353^0'=a_353^post85, __disjvr_21^0'=__disjvr_21^post85, temp0_31^0'=temp0_31^post85, __disjvr_38^0'=__disjvr_38^post85, __disjvr_33^0'=__disjvr_33^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, head_268^0'=head_268^post85, head_32^0'=head_32^post85, __disjvr_5^0'=__disjvr_5^post85, __disjvr_11^0'=__disjvr_11^post85, x_SLAM_f_18^0'=x_SLAM_f_18^post85, __disjvr_42^0'=__disjvr_42^post85, len_226^0'=len_226^post85, __disjvr_23^0'=__disjvr_23^post85, a_277^0'=a_277^post85, __disjvr_19^0'=__disjvr_19^post85, i_94^0'=i_94^post85, a_116^0'=a_116^post85, __disjvr_30^0'=__disjvr_30^post85, rcd_88^0'=rcd_88^post85, head_14^0'=head_14^post85, r_163^0'=r_163^post85, __disjvr_28^0'=__disjvr_28^post85, tmp_34^0'=tmp_34^post85, __disjvr_3^0'=__disjvr_3^post85, __disjvr_35^0'=__disjvr_35^post85, temp0_15^0'=temp0_15^post85, a_184^0'=a_184^post85, __disjvr_16^0'=__disjvr_16^post85, (__disjvr_32^0-__disjvr_32^post85 == 0 /\ head_27^0-head_27^post85 == 0 /\ __disjvr_13^0-__disjvr_13^post85 == 0 /\ head_175^0-head_175^post85 == 0 /\ -__disjvr_22^post85+__disjvr_22^0 == 0 /\ -__disjvr_16^post85+__disjvr_16^0 == 0 /\ x_16^0-x_16^post85 == 0 /\ -__disjvr_21^post85+__disjvr_21^0 == 0 /\ -__disjvr_31^post85+__disjvr_31^0 == 0 /\ -__disjvr_33^post85+__disjvr_33^0 == 0 /\ __disjvr_34^0-__disjvr_34^post85 == 0 /\ __disjvr_37^0-__disjvr_37^post85 == 0 /\ __disjvr_25^0-__disjvr_25^post85 == 0 /\ -__disjvr_39^post85+__disjvr_39^0 == 0 /\ head_32^0-head_32^post85 == 0 /\ -__disjvr_36^post85+__disjvr_36^0 == 0 /\ __disjvr_41^0-__disjvr_41^post85 == 0 /\ temp_35^0-temp_35^post85 == 0 /\ x_20^0-x_20^post85 == 0 /\ -__disjvr_23^post85+__disjvr_23^0 == 0 /\ __disjvr_1^0-__disjvr_1^post85 == 0 /\ __disjvr_15^0-__disjvr_15^post85 == 0 /\ -r_163^post85+r_163^0 == 0 /\ -__disjvr_29^post85+__disjvr_29^0 == 0 /\ -a_308^post85+a_308^0 == 0 /\ -len_226^post85+len_226^0 == 0 /\ head_129^0-head_129^post85 == 0 /\ __disjvr_2^0-__disjvr_2^post85 == 0 /\ -len_132^post85+len_132^0 == 0 /\ r_218^0-r_218^post85 == 0 /\ len_276^0-len_276^post85 == 0 /\ len_183^0-len_183^post85 == 0 /\ -x_SLAM_f_18^post85+x_SLAM_f_18^0 == 0 /\ -__disjvr_30^post85+__disjvr_30^0 == 0 /\ -a_210^post85+a_210^0 == 0 /\ -__disjvr_35^post85+__disjvr_35^0 == 0 /\ -__disjvr_38^post85+__disjvr_38^0 == 0 /\ __disjvr_39^post85-__disjvr_39^0 == 0 /\ -tmp_34^post85+tmp_34^0 == 0 /\ -a_116^post85+a_116^0 == 0 /\ i_108^0-i_108^post85 == 0 /\ -__disjvr_5^post85+__disjvr_5^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post85 == 0 /\ r_260^0-r_260^post85 == 0 /\ -a_184^post85+a_184^0 == 0 /\ a_330^0-a_330^post85 == 0 /\ i_167^0-i_167^post85 == 0 /\ __disjvr_14^0-__disjvr_14^post85 == 0 /\ -__disjvr_10^post85+__disjvr_10^0 == 0 /\ __disjvr_12^0-__disjvr_12^post85 == 0 /\ -i_94^post85+i_94^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85 == 0 /\ -__disjvr_11^post85+__disjvr_11^0 == 0 /\ head_223^0-head_223^post85 == 0 /\ r_124^0-r_124^post85 == 0 /\ -y_19^post85+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ -f_263^post85+f_263^0 == 0 /\ __disjvr_18^0-__disjvr_18^post85 == 0 /\ rcd_58^0-rcd_58^post85 == 0 /\ __disjvr_27^0-__disjvr_27^post85 == 0 /\ __disjvr_24^0-__disjvr_24^post85 == 0 /\ -__disjvr_3^post85+__disjvr_3^0 == 0 /\ -temp0_15^post85+temp0_15^0 == 0 /\ a_147^0-a_147^post85 == 0 /\ -head_268^post85+head_268^0 == 0 /\ -rcd_88^post85+rcd_88^0 == 0 /\ -a_353^post85+a_353^0 == 0 /\ __disjvr_20^0-__disjvr_20^post85 == 0 /\ -head_14^post85+head_14^0 == 0 /\ -__disjvr_17^post85+__disjvr_17^0 == 0 /\ length_29^0-length_29^post85 == 0 /\ i_30^0-i_30^post85 == 0 /\ -__disjvr_19^post85+__disjvr_19^0 == 0 /\ t_23^0-t_23^post85 == 0 /\ __disjvr_7^0-__disjvr_7^post85 == 0 /\ __disjvr_6^0-__disjvr_6^post85 == 0 /\ -f_170^post85+f_170^0 == 0 /\ a_241^0-a_241^post85 == 0 /\ __disjvr_26^0-__disjvr_26^post85 == 0 /\ -__disjvr_4^post85+__disjvr_4^0 == 0 /\ -__disjvr_9^post85+__disjvr_9^0 == 0 /\ r_39^0-r_39^post85 == 0 /\ -__disjvr_0^post85+__disjvr_0^0 == 0 /\ __disjvr_43^0-__disjvr_43^post85 == 0 /\ -ct_17^post85+ct_17^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ __disjvr_40^0-__disjvr_40^post85 == 0 /\ -__disjvr_42^post85+__disjvr_42^0 == 0 /\ -__disjvr_8^post85+__disjvr_8^0 == 0 /\ -__disjvr_28^post85+__disjvr_28^0 == 0 /\ temp0_31^0-temp0_31^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ -a_277^post85+a_277^0 == 0), cost: 1
New rule:
l82 -> l83 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l83 -> l36 : i_108^0'=i_108^post86, __disjvr_7^0'=__disjvr_7^post86, __disjvr_13^0'=__disjvr_13^post86, f_170^0'=f_170^post86, length_29^0'=length_29^post86, __disjvr_25^0'=__disjvr_25^post86, a_330^0'=a_330^post86, __disjvr_20^0'=__disjvr_20^post86, len_183^0'=len_183^post86, __disjvr_37^0'=__disjvr_37^post86, __disjvr_32^0'=__disjvr_32^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, head_223^0'=head_223^post86, r_260^0'=r_260^post86, __disjvr_4^0'=__disjvr_4^post86, __disjvr_10^0'=__disjvr_10^post86, x_20^0'=x_20^post86, __disjvr_41^0'=__disjvr_41^post86, __disjvr_22^0'=__disjvr_22^post86, a_241^0'=a_241^post86, __disjvr_18^0'=__disjvr_18^post86, i_30^0'=i_30^post86, __disjvr_9^0'=__disjvr_9^post86, __disjvr_2^0'=__disjvr_2^post86, rcd_58^0'=rcd_58^post86, head_129^0'=head_129^post86, r_124^0'=r_124^post86, __disjvr_27^0'=__disjvr_27^post86, ct_17^0'=ct_17^post86, temp_35^0'=temp_35^post86, __disjvr_39^0'=__disjvr_39^post86, __disjvr_34^0'=__disjvr_34^post86, t_23^0'=t_23^post86, head_27^0'=head_27^post86, __disjvr_15^0'=__disjvr_15^post86, head_SLAM_f_26^0'=head_SLAM_f_26^post86, __disjvr_6^0'=__disjvr_6^post86, __disjvr_12^0'=__disjvr_12^post86, y_19^0'=y_19^post86, __disjvr_43^0'=__disjvr_43^post86, len_276^0'=len_276^post86, __disjvr_24^0'=__disjvr_24^post86, a_308^0'=a_308^post86, __disjvr_1^0'=__disjvr_1^post86, len_132^0'=len_132^post86, a_147^0'=a_147^post86, __disjvr_31^0'=__disjvr_31^post86, result_11^0'=result_11^post86, head_175^0'=head_175^post86, r_218^0'=r_218^post86, __disjvr_29^0'=__disjvr_29^post86, __disjvr_0^0'=__disjvr_0^post86, x_16^0'=x_16^post86, __disjvr_40^0'=__disjvr_40^post86, __disjvr_36^0'=__disjvr_36^post86, a_210^0'=a_210^post86, __disjvr_17^0'=__disjvr_17^post86, i_167^0'=i_167^post86, __disjvr_8^0'=__disjvr_8^post86, __disjvr_14^0'=__disjvr_14^post86, r_39^0'=r_39^post86, f_263^0'=f_263^post86, nondet_12^0'=nondet_12^post86, __disjvr_26^0'=__disjvr_26^post86, a_353^0'=a_353^post86, __disjvr_21^0'=__disjvr_21^post86, temp0_31^0'=temp0_31^post86, __disjvr_38^0'=__disjvr_38^post86, __disjvr_33^0'=__disjvr_33^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, head_268^0'=head_268^post86, head_32^0'=head_32^post86, __disjvr_5^0'=__disjvr_5^post86, __disjvr_11^0'=__disjvr_11^post86, x_SLAM_f_18^0'=x_SLAM_f_18^post86, __disjvr_42^0'=__disjvr_42^post86, len_226^0'=len_226^post86, __disjvr_23^0'=__disjvr_23^post86, a_277^0'=a_277^post86, __disjvr_19^0'=__disjvr_19^post86, i_94^0'=i_94^post86, a_116^0'=a_116^post86, __disjvr_30^0'=__disjvr_30^post86, rcd_88^0'=rcd_88^post86, head_14^0'=head_14^post86, r_163^0'=r_163^post86, __disjvr_28^0'=__disjvr_28^post86, tmp_34^0'=tmp_34^post86, __disjvr_3^0'=__disjvr_3^post86, __disjvr_35^0'=__disjvr_35^post86, temp0_15^0'=temp0_15^post86, a_184^0'=a_184^post86, __disjvr_16^0'=__disjvr_16^post86, (r_218^0-r_218^post86 == 0 /\ r_260^0-r_260^post86 == 0 /\ -a_116^post86+a_116^0 == 0 /\ -a_184^post86+a_184^0 == 0 /\ len_226^0-len_226^post86 == 0 /\ __disjvr_39^0-__disjvr_39^post86 == 0 /\ -temp0_31^post86+temp0_31^0 == 0 /\ -i_94^post86+i_94^0 == 0 /\ head_129^0-head_129^post86 == 0 /\ __disjvr_20^0-__disjvr_20^post86 == 0 /\ a_210^0-a_210^post86 == 0 /\ -__disjvr_16^post86+__disjvr_16^0 == 0 /\ a_147^0-a_147^post86 == 0 /\ i_108^0-i_108^post86 == 0 /\ -head_14^post86+head_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post86 == 0 /\ __disjvr_24^0-__disjvr_24^post86 == 0 /\ rcd_58^0-rcd_58^post86 == 0 /\ -a_308^post86+a_308^0 == 0 /\ -__disjvr_26^post86+__disjvr_26^0 == 0 /\ -x_SLAM_f_18^post86+x_SLAM_f_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post86 == 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ ct_17^0-ct_17^post86 == 0 /\ -__disjvr_14^post86+__disjvr_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86 == 0 /\ head_223^0-head_223^post86 == 0 /\ x_16^0-x_16^post86 == 0 /\ -t_23^post86+t_23^0 == 0 /\ -temp_35^post86+temp_35^0 == 0 /\ r_124^0-r_124^post86 == 0 /\ result_11^0-result_11^post86 == 0 /\ -__disjvr_2^post86+__disjvr_2^0 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post86+__disjvr_8^0 == 0 /\ head_27^0-head_27^post86 == 0 /\ __disjvr_32^0-__disjvr_32^post86 == 0 /\ -__disjvr_42^post86+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post86 == 0 /\ a_241^0-a_241^post86 == 0 /\ -__disjvr_28^post86+__disjvr_28^0 == 0 /\ f_170^0-f_170^post86 == 0 /\ f_263^0-f_263^post86 == 0 /\ r_39^0-r_39^post86 == 0 /\ -i_30^post86+i_30^0 == 0 /\ -__disjvr_31^post86+__disjvr_31^0 == 0 /\ -y_19^post86+y_19^0 == 0 /\ -__disjvr_17^post86+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post86 == 0 /\ -__disjvr_11^post86+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post86 == 0 /\ -__disjvr_3^post86+__disjvr_3^0 == 0 /\ __disjvr_12^0-__disjvr_12^post86 == 0 /\ -r_163^post86+r_163^0 == 0 /\ len_183^0-len_183^post86 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_35^post86+__disjvr_35^0 == 0 /\ -__disjvr_34^post86+__disjvr_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post86 == 0 /\ a_330^0-a_330^post86 == 0 /\ -__disjvr_40^post86+__disjvr_40^0 == 0 /\ -__disjvr_21^post86+__disjvr_21^0 == 0 /\ -a_277^post86+a_277^0 == 0 /\ -head_32^post86+head_32^0 == 0 /\ -i_167^post86+i_167^0 == 0 /\ length_29^0-length_29^post86 == 0 /\ -__disjvr_38^post86+__disjvr_38^0 == 0 /\ -__disjvr_29^post86+__disjvr_29^0 == 0 /\ len_132^0-len_132^post86 == 0 /\ -head_268^post86+head_268^0 == 0 /\ __disjvr_9^0-__disjvr_9^post86 == 0 /\ __disjvr_6^0-__disjvr_6^post86 == 0 /\ -__disjvr_22^post86+__disjvr_22^0 == 0 /\ -len_276^post86+len_276^0 == 0 /\ -__disjvr_33^post86+__disjvr_33^0 == 0 /\ -__disjvr_23^post86+__disjvr_23^0 == 0 /\ __disjvr_43^0-__disjvr_43^post86 == 0 /\ -rcd_88^post86+rcd_88^0 == 0 /\ -__disjvr_5^post86+__disjvr_5^0 == 0 /\ -__disjvr_36^post86+__disjvr_36^0 == 0 /\ head_175^0-head_175^post86 == 0 /\ __disjvr_18^0-__disjvr_18^post86 == 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_30^post86+__disjvr_30^0 == 0 /\ -temp0_15^post86+temp0_15^0 == 0 /\ x_20^0-x_20^post86 == 0 /\ __disjvr_37^0-__disjvr_37^post86 == 0 /\ nondet_12^0-nondet_12^post86 == 0 /\ -a_353^post86+a_353^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -__disjvr_0^post86+__disjvr_0^0 == 0 /\ __disjvr_15^0-__disjvr_15^post86 == 0 /\ __disjvr_10^0-__disjvr_10^post86 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_41^post86+__disjvr_41^0 == 0 /\ __disjvr_13^0-__disjvr_13^post86 == 0 /\ __disjvr_4^0-__disjvr_4^post86 == 0), cost: 1
New rule:
l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l81 -> l84 : i_108^0'=i_108^post87, __disjvr_7^0'=__disjvr_7^post87, __disjvr_13^0'=__disjvr_13^post87, f_170^0'=f_170^post87, length_29^0'=length_29^post87, __disjvr_25^0'=__disjvr_25^post87, a_330^0'=a_330^post87, __disjvr_20^0'=__disjvr_20^post87, len_183^0'=len_183^post87, __disjvr_37^0'=__disjvr_37^post87, __disjvr_32^0'=__disjvr_32^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, head_223^0'=head_223^post87, r_260^0'=r_260^post87, __disjvr_4^0'=__disjvr_4^post87, __disjvr_10^0'=__disjvr_10^post87, x_20^0'=x_20^post87, __disjvr_41^0'=__disjvr_41^post87, __disjvr_22^0'=__disjvr_22^post87, a_241^0'=a_241^post87, __disjvr_18^0'=__disjvr_18^post87, i_30^0'=i_30^post87, __disjvr_9^0'=__disjvr_9^post87, __disjvr_2^0'=__disjvr_2^post87, rcd_58^0'=rcd_58^post87, head_129^0'=head_129^post87, r_124^0'=r_124^post87, __disjvr_27^0'=__disjvr_27^post87, ct_17^0'=ct_17^post87, temp_35^0'=temp_35^post87, __disjvr_39^0'=__disjvr_39^post87, __disjvr_34^0'=__disjvr_34^post87, t_23^0'=t_23^post87, head_27^0'=head_27^post87, __disjvr_15^0'=__disjvr_15^post87, head_SLAM_f_26^0'=head_SLAM_f_26^post87, __disjvr_6^0'=__disjvr_6^post87, __disjvr_12^0'=__disjvr_12^post87, y_19^0'=y_19^post87, __disjvr_43^0'=__disjvr_43^post87, len_276^0'=len_276^post87, __disjvr_24^0'=__disjvr_24^post87, a_308^0'=a_308^post87, __disjvr_1^0'=__disjvr_1^post87, len_132^0'=len_132^post87, a_147^0'=a_147^post87, __disjvr_31^0'=__disjvr_31^post87, result_11^0'=result_11^post87, head_175^0'=head_175^post87, r_218^0'=r_218^post87, __disjvr_29^0'=__disjvr_29^post87, __disjvr_0^0'=__disjvr_0^post87, x_16^0'=x_16^post87, __disjvr_40^0'=__disjvr_40^post87, __disjvr_36^0'=__disjvr_36^post87, a_210^0'=a_210^post87, __disjvr_17^0'=__disjvr_17^post87, i_167^0'=i_167^post87, __disjvr_8^0'=__disjvr_8^post87, __disjvr_14^0'=__disjvr_14^post87, r_39^0'=r_39^post87, f_263^0'=f_263^post87, nondet_12^0'=nondet_12^post87, __disjvr_26^0'=__disjvr_26^post87, a_353^0'=a_353^post87, __disjvr_21^0'=__disjvr_21^post87, temp0_31^0'=temp0_31^post87, __disjvr_38^0'=__disjvr_38^post87, __disjvr_33^0'=__disjvr_33^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, head_268^0'=head_268^post87, head_32^0'=head_32^post87, __disjvr_5^0'=__disjvr_5^post87, __disjvr_11^0'=__disjvr_11^post87, x_SLAM_f_18^0'=x_SLAM_f_18^post87, __disjvr_42^0'=__disjvr_42^post87, len_226^0'=len_226^post87, __disjvr_23^0'=__disjvr_23^post87, a_277^0'=a_277^post87, __disjvr_19^0'=__disjvr_19^post87, i_94^0'=i_94^post87, a_116^0'=a_116^post87, __disjvr_30^0'=__disjvr_30^post87, rcd_88^0'=rcd_88^post87, head_14^0'=head_14^post87, r_163^0'=r_163^post87, __disjvr_28^0'=__disjvr_28^post87, tmp_34^0'=tmp_34^post87, __disjvr_3^0'=__disjvr_3^post87, __disjvr_35^0'=__disjvr_35^post87, temp0_15^0'=temp0_15^post87, a_184^0'=a_184^post87, __disjvr_16^0'=__disjvr_16^post87, (0 == 0 /\ -x_SLAM_f_18^post87+x_SLAM_f_18^0 == 0 /\ -temp0_31^post87+temp0_31^0 == 0 /\ -r_163^post87+r_163^0 == 0 /\ 1-length_29^0+i_94^post87 <= 0 /\ -r_124^post87+r_124^0 == 0 /\ __disjvr_23^0-__disjvr_23^post87 == 0 /\ head_27^0-head_27^post87 == 0 /\ a_308^0-a_308^post87 == 0 /\ -x_16^post87+x_16^0 == 0 /\ -a_116^post87+a_116^0 == 0 /\ t_23^0-t_23^post87 == 0 /\ __disjvr_32^0-__disjvr_32^post87 == 0 /\ a_241^0-a_241^post87 == 0 /\ -len_226^post87+len_226^0 == 0 /\ __disjvr_22^0-__disjvr_22^post87 == 0 /\ __disjvr_31^0-__disjvr_31^post87 == 0 /\ rcd_58^0-rcd_58^post87 == 0 /\ __disjvr_5^0-__disjvr_5^post87 == 0 /\ -__disjvr_21^post87+__disjvr_21^0 == 0 /\ -len_276^post87+len_276^0 == 0 /\ -head_14^post87+head_14^0 == 0 /\ __disjvr_41^0-__disjvr_41^post87 == 0 /\ -__disjvr_16^post87+__disjvr_16^0 == 0 /\ -__disjvr_40^post87+__disjvr_40^0 == 0 /\ __disjvr_10^0-__disjvr_10^post87 == 0 /\ -a_147^post87+a_147^0 == 0 /\ __disjvr_4^0-__disjvr_4^post87 == 0 /\ __disjvr_11^0-__disjvr_11^post87 == 0 /\ tmp_34^post87-temp_35^0 == 0 /\ len_183^0-len_183^post87 == 0 /\ r_260^0-r_260^post87 == 0 /\ -__disjvr_27^post87+__disjvr_27^0 == 0 /\ 1-i_30^post87+i_94^post87 <= 0 /\ __disjvr_2^0-__disjvr_2^post87 == 0 /\ __disjvr_34^0-__disjvr_34^post87 == 0 /\ head_129^0-head_129^post87 == 0 /\ -1-i_30^0+i_30^post87 == 0 /\ __disjvr_9^0-__disjvr_9^post87 == 0 /\ head_223^0-head_223^post87 == 0 /\ __disjvr_20^0-__disjvr_20^post87 == 0 /\ i_108^0-i_108^post87 == 0 /\ -tmp_34^post87+head_32^post87 == 0 /\ __disjvr_13^0-__disjvr_13^post87 == 0 /\ -__disjvr_24^post87+__disjvr_24^0 == 0 /\ head_268^0-head_268^post87 == 0 /\ -r_39^post87+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post87 == 0 /\ a_330^0-a_330^post87 == 0 /\ __disjvr_42^0-__disjvr_42^post87 == 0 /\ -__disjvr_3^post87+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post87 == 0 /\ __disjvr_25^0-__disjvr_25^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87 == 0 /\ -a_184^post87+a_184^0 == 0 /\ r_218^0-r_218^post87 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post87+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_43^post87+__disjvr_43^0 == 0 /\ -__disjvr_38^post87+__disjvr_38^0 == 0 /\ -__disjvr_14^post87+__disjvr_14^0 == 0 /\ -__disjvr_26^post87+__disjvr_26^0 == 0 /\ -__disjvr_1^post87+__disjvr_1^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -a_277^post87+a_277^0 == 0 /\ -i_167^post87+i_167^0 == 0 /\ a_210^0-a_210^post87 == 0 /\ -__disjvr_35^post87+__disjvr_35^0 == 0 /\ __disjvr_37^0-__disjvr_37^post87 == 0 /\ -i_30^0 <= 0 /\ -temp0_15^post87+temp0_15^0 == 0 /\ ct_17^0-ct_17^post87 == 0 /\ -__disjvr_30^post87+__disjvr_30^0 == 0 /\ -__disjvr_8^post87+__disjvr_8^0 == 0 /\ -f_263^post87+f_263^0 == 0 /\ __disjvr_7^0-__disjvr_7^post87 == 0 /\ f_170^0-f_170^post87 == 0 /\ y_19^0-y_19^post87 == 0 /\ len_132^0-len_132^post87 == 0 /\ __disjvr_39^0-__disjvr_39^post87 == 0 /\ -__disjvr_33^post87+__disjvr_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post87 == 0 /\ -nondet_12^post87+nondet_12^0 == 0 /\ -a_353^post87+a_353^0 == 0 /\ -1+i_30^post87-i_94^post87 <= 0 /\ __disjvr_18^0-__disjvr_18^post87 == 0 /\ -__disjvr_36^post87+__disjvr_36^0 == 0 /\ -__disjvr_28^post87+__disjvr_28^0 == 0 /\ length_29^0-length_29^post87 == 0 /\ -__disjvr_19^post87+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post87 == 0 /\ -head_175^post87+head_175^0 == 0 /\ __disjvr_6^0-__disjvr_6^post87 == 0 /\ result_11^0-result_11^post87 == 0 /\ __disjvr_15^0-__disjvr_15^post87 == 0 /\ -x_20^post87+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post87 == 0), cost: 1
New rule:
l81 -> l84 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l84 -> l81 : i_108^0'=i_108^post88, __disjvr_7^0'=__disjvr_7^post88, __disjvr_13^0'=__disjvr_13^post88, f_170^0'=f_170^post88, length_29^0'=length_29^post88, __disjvr_25^0'=__disjvr_25^post88, a_330^0'=a_330^post88, __disjvr_20^0'=__disjvr_20^post88, len_183^0'=len_183^post88, __disjvr_37^0'=__disjvr_37^post88, __disjvr_32^0'=__disjvr_32^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, head_223^0'=head_223^post88, r_260^0'=r_260^post88, __disjvr_4^0'=__disjvr_4^post88, __disjvr_10^0'=__disjvr_10^post88, x_20^0'=x_20^post88, __disjvr_41^0'=__disjvr_41^post88, __disjvr_22^0'=__disjvr_22^post88, a_241^0'=a_241^post88, __disjvr_18^0'=__disjvr_18^post88, i_30^0'=i_30^post88, __disjvr_9^0'=__disjvr_9^post88, __disjvr_2^0'=__disjvr_2^post88, rcd_58^0'=rcd_58^post88, head_129^0'=head_129^post88, r_124^0'=r_124^post88, __disjvr_27^0'=__disjvr_27^post88, ct_17^0'=ct_17^post88, temp_35^0'=temp_35^post88, __disjvr_39^0'=__disjvr_39^post88, __disjvr_34^0'=__disjvr_34^post88, t_23^0'=t_23^post88, head_27^0'=head_27^post88, __disjvr_15^0'=__disjvr_15^post88, head_SLAM_f_26^0'=head_SLAM_f_26^post88, __disjvr_6^0'=__disjvr_6^post88, __disjvr_12^0'=__disjvr_12^post88, y_19^0'=y_19^post88, __disjvr_43^0'=__disjvr_43^post88, len_276^0'=len_276^post88, __disjvr_24^0'=__disjvr_24^post88, a_308^0'=a_308^post88, __disjvr_1^0'=__disjvr_1^post88, len_132^0'=len_132^post88, a_147^0'=a_147^post88, __disjvr_31^0'=__disjvr_31^post88, result_11^0'=result_11^post88, head_175^0'=head_175^post88, r_218^0'=r_218^post88, __disjvr_29^0'=__disjvr_29^post88, __disjvr_0^0'=__disjvr_0^post88, x_16^0'=x_16^post88, __disjvr_40^0'=__disjvr_40^post88, __disjvr_36^0'=__disjvr_36^post88, a_210^0'=a_210^post88, __disjvr_17^0'=__disjvr_17^post88, i_167^0'=i_167^post88, __disjvr_8^0'=__disjvr_8^post88, __disjvr_14^0'=__disjvr_14^post88, r_39^0'=r_39^post88, f_263^0'=f_263^post88, nondet_12^0'=nondet_12^post88, __disjvr_26^0'=__disjvr_26^post88, a_353^0'=a_353^post88, __disjvr_21^0'=__disjvr_21^post88, temp0_31^0'=temp0_31^post88, __disjvr_38^0'=__disjvr_38^post88, __disjvr_33^0'=__disjvr_33^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, head_268^0'=head_268^post88, head_32^0'=head_32^post88, __disjvr_5^0'=__disjvr_5^post88, __disjvr_11^0'=__disjvr_11^post88, x_SLAM_f_18^0'=x_SLAM_f_18^post88, __disjvr_42^0'=__disjvr_42^post88, len_226^0'=len_226^post88, __disjvr_23^0'=__disjvr_23^post88, a_277^0'=a_277^post88, __disjvr_19^0'=__disjvr_19^post88, i_94^0'=i_94^post88, a_116^0'=a_116^post88, __disjvr_30^0'=__disjvr_30^post88, rcd_88^0'=rcd_88^post88, head_14^0'=head_14^post88, r_163^0'=r_163^post88, __disjvr_28^0'=__disjvr_28^post88, tmp_34^0'=tmp_34^post88, __disjvr_3^0'=__disjvr_3^post88, __disjvr_35^0'=__disjvr_35^post88, temp0_15^0'=temp0_15^post88, a_184^0'=a_184^post88, __disjvr_16^0'=__disjvr_16^post88, (-__disjvr_38^post88+__disjvr_38^0 == 0 /\ f_170^0-f_170^post88 == 0 /\ -__disjvr_26^post88+__disjvr_26^0 == 0 /\ i_167^0-i_167^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post88+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_39^0-__disjvr_39^post88 == 0 /\ i_30^0-i_30^post88 == 0 /\ __disjvr_37^0-__disjvr_37^post88 == 0 /\ __disjvr_20^0-__disjvr_20^post88 == 0 /\ y_19^0-y_19^post88 == 0 /\ -__disjvr_35^post88+__disjvr_35^0 == 0 /\ -head_268^post88+head_268^0 == 0 /\ -r_163^post88+r_163^0 == 0 /\ -rcd_88^post88+rcd_88^0 == 0 /\ ct_17^0-ct_17^post88 == 0 /\ -__disjvr_1^post88+__disjvr_1^0 == 0 /\ a_353^0-a_353^post88 == 0 /\ -head_27^post88+head_27^0 == 0 /\ -i_94^post88+i_94^0 == 0 /\ -__disjvr_5^post88+__disjvr_5^0 == 0 /\ -__disjvr_28^post88+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post88+head_SLAM_f_26^0 == 0 /\ -result_11^post88+result_11^0 == 0 /\ -temp0_15^post88+temp0_15^0 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -f_263^post88+f_263^0 == 0 /\ -__disjvr_42^post88+__disjvr_42^0 == 0 /\ __disjvr_25^0-__disjvr_25^post88 == 0 /\ __disjvr_10^0-__disjvr_10^post88 == 0 /\ -a_147^post88+a_147^0 == 0 /\ -__disjvr_19^post88+__disjvr_19^0 == 0 /\ -head_129^post88+head_129^0 == 0 /\ __disjvr_32^0-__disjvr_32^post88 == 0 /\ temp_35^0-temp_35^post88 == 0 /\ t_23^0-t_23^post88 == 0 /\ __disjvr_40^0-__disjvr_40^post88 == 0 /\ length_29^0-length_29^post88 == 0 /\ __disjvr_8^0-__disjvr_8^post88 == 0 /\ __disjvr_15^0-__disjvr_15^post88 == 0 /\ -a_277^post88+a_277^0 == 0 /\ -__disjvr_36^post88+__disjvr_36^0 == 0 /\ r_124^0-r_124^post88 == 0 /\ -__disjvr_12^post88+__disjvr_12^0 == 0 /\ x_20^0-x_20^post88 == 0 /\ -head_32^post88+head_32^0 == 0 /\ -a_116^post88+a_116^0 == 0 /\ __disjvr_7^0-__disjvr_7^post88 == 0 /\ -__disjvr_24^post88+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post88 == 0 /\ -a_184^post88+a_184^0 == 0 /\ __disjvr_31^0-__disjvr_31^post88 == 0 /\ -temp0_31^post88+temp0_31^0 == 0 /\ -x_16^post88+x_16^0 == 0 /\ -a_210^post88+a_210^0 == 0 /\ a_308^0-a_308^post88 == 0 /\ -__disjvr_16^post88+__disjvr_16^0 == 0 /\ -__disjvr_23^post88+__disjvr_23^0 == 0 /\ -head_14^post88+head_14^0 == 0 /\ __disjvr_17^0-__disjvr_17^post88 == 0 /\ __disjvr_13^0-__disjvr_13^post88 == 0 /\ -len_183^post88+len_183^0 == 0 /\ __disjvr_4^0-__disjvr_4^post88 == 0 /\ __disjvr_29^0-__disjvr_29^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ -x_SLAM_f_18^post88+x_SLAM_f_18^0 == 0 /\ __disjvr_3^0-__disjvr_3^post88 == 0 /\ -__disjvr_0^post88+__disjvr_0^0 == 0 /\ a_330^0-a_330^post88 == 0 /\ r_260^0-r_260^post88 == 0 /\ __disjvr_14^0-__disjvr_14^post88 == 0 /\ __disjvr_34^0-__disjvr_34^post88 == 0 /\ __disjvr_21^0-__disjvr_21^post88 == 0 /\ -head_175^post88+head_175^0 == 0 /\ __disjvr_2^0-__disjvr_2^post88 == 0 /\ -__disjvr_18^post88+__disjvr_18^0 == 0 /\ __disjvr_30^0-__disjvr_30^post88 == 0 /\ head_223^0-head_223^post88 == 0 /\ i_108^0-i_108^post88 == 0 /\ __disjvr_9^0-__disjvr_9^post88 == 0 /\ -a_241^post88+a_241^0 == 0 /\ __disjvr_22^0-__disjvr_22^post88 == 0 /\ -__disjvr_43^post88+__disjvr_43^0 == 0 /\ -__disjvr_6^post88+__disjvr_6^0 == 0 /\ __disjvr_41^0-__disjvr_41^post88 == 0 /\ -__disjvr_11^post88+__disjvr_11^0 == 0 /\ -len_226^post88+len_226^0 == 0 /\ -r_218^post88+r_218^0 == 0 /\ rcd_58^0-rcd_58^post88 == 0 /\ len_276^0-len_276^post88 == 0 /\ __disjvr_27^0-__disjvr_27^post88 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88 == 0 /\ -len_132^post88+len_132^0 == 0 /\ -r_39^post88+r_39^0 == 0), cost: 1
New rule:
l84 -> l81 : TRUE, cost: 1

Applied preprocessing
Original rule:
l35 -> l62 : i_108^0'=i_108^post90, __disjvr_7^0'=__disjvr_7^post90, __disjvr_13^0'=__disjvr_13^post90, f_170^0'=f_170^post90, length_29^0'=length_29^post90, __disjvr_25^0'=__disjvr_25^post90, a_330^0'=a_330^post90, __disjvr_20^0'=__disjvr_20^post90, len_183^0'=len_183^post90, __disjvr_37^0'=__disjvr_37^post90, __disjvr_32^0'=__disjvr_32^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, head_223^0'=head_223^post90, r_260^0'=r_260^post90, __disjvr_4^0'=__disjvr_4^post90, __disjvr_10^0'=__disjvr_10^post90, x_20^0'=x_20^post90, __disjvr_41^0'=__disjvr_41^post90, __disjvr_22^0'=__disjvr_22^post90, a_241^0'=a_241^post90, __disjvr_18^0'=__disjvr_18^post90, i_30^0'=i_30^post90, __disjvr_9^0'=__disjvr_9^post90, __disjvr_2^0'=__disjvr_2^post90, rcd_58^0'=rcd_58^post90, head_129^0'=head_129^post90, r_124^0'=r_124^post90, __disjvr_27^0'=__disjvr_27^post90, ct_17^0'=ct_17^post90, temp_35^0'=temp_35^post90, __disjvr_39^0'=__disjvr_39^post90, __disjvr_34^0'=__disjvr_34^post90, t_23^0'=t_23^post90, head_27^0'=head_27^post90, __disjvr_15^0'=__disjvr_15^post90, head_SLAM_f_26^0'=head_SLAM_f_26^post90, __disjvr_6^0'=__disjvr_6^post90, __disjvr_12^0'=__disjvr_12^post90, y_19^0'=y_19^post90, __disjvr_43^0'=__disjvr_43^post90, len_276^0'=len_276^post90, __disjvr_24^0'=__disjvr_24^post90, a_308^0'=a_308^post90, __disjvr_1^0'=__disjvr_1^post90, len_132^0'=len_132^post90, a_147^0'=a_147^post90, __disjvr_31^0'=__disjvr_31^post90, result_11^0'=result_11^post90, head_175^0'=head_175^post90, r_218^0'=r_218^post90, __disjvr_29^0'=__disjvr_29^post90, __disjvr_0^0'=__disjvr_0^post90, x_16^0'=x_16^post90, __disjvr_40^0'=__disjvr_40^post90, __disjvr_36^0'=__disjvr_36^post90, a_210^0'=a_210^post90, __disjvr_17^0'=__disjvr_17^post90, i_167^0'=i_167^post90, __disjvr_8^0'=__disjvr_8^post90, __disjvr_14^0'=__disjvr_14^post90, r_39^0'=r_39^post90, f_263^0'=f_263^post90, nondet_12^0'=nondet_12^post90, __disjvr_26^0'=__disjvr_26^post90, a_353^0'=a_353^post90, __disjvr_21^0'=__disjvr_21^post90, temp0_31^0'=temp0_31^post90, __disjvr_38^0'=__disjvr_38^post90, __disjvr_33^0'=__disjvr_33^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, head_268^0'=head_268^post90, head_32^0'=head_32^post90, __disjvr_5^0'=__disjvr_5^post90, __disjvr_11^0'=__disjvr_11^post90, x_SLAM_f_18^0'=x_SLAM_f_18^post90, __disjvr_42^0'=__disjvr_42^post90, len_226^0'=len_226^post90, __disjvr_23^0'=__disjvr_23^post90, a_277^0'=a_277^post90, __disjvr_19^0'=__disjvr_19^post90, i_94^0'=i_94^post90, a_116^0'=a_116^post90, __disjvr_30^0'=__disjvr_30^post90, rcd_88^0'=rcd_88^post90, head_14^0'=head_14^post90, r_163^0'=r_163^post90, __disjvr_28^0'=__disjvr_28^post90, tmp_34^0'=tmp_34^post90, __disjvr_3^0'=__disjvr_3^post90, __disjvr_35^0'=__disjvr_35^post90, temp0_15^0'=temp0_15^post90, a_184^0'=a_184^post90, __disjvr_16^0'=__disjvr_16^post90, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post90 == 0 /\ -x_SLAM_f_18^post90+x_SLAM_f_18^0 == 0 /\ i_94^0-i_94^post90 == 0 /\ a_210^0-a_210^post90 == 0 /\ -head_14^post90+head_14^0 == 0 /\ __disjvr_36^0-__disjvr_36^post90 == 0 /\ -a_116^post90+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post90 == 0 /\ -temp0_31^post90+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post90 == 0 /\ tmp_34^post90-temp_35^0 == 0 /\ -__disjvr_27^post90+__disjvr_27^0 == 0 /\ -__disjvr_40^post90+__disjvr_40^0 == 0 /\ __disjvr_12^0-__disjvr_12^post90 == 0 /\ __disjvr_9^0-__disjvr_9^post90 == 0 /\ -__disjvr_42^post90+__disjvr_42^0 == 0 /\ -__disjvr_15^post90+__disjvr_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post90 == 0 /\ __disjvr_18^0-__disjvr_18^post90 == 0 /\ -a_184^post90+a_184^0 == 0 /\ tmp_34^post90-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_6^0-__disjvr_6^post90 == 0 /\ len_183^0-len_183^post90 == 0 /\ __disjvr_43^0-__disjvr_43^post90 == 0 /\ -r_39^post90+r_39^0 == 0 /\ __disjvr_31^0-__disjvr_31^post90 == 0 /\ a_147^0-a_147^post90 == 0 /\ -__disjvr_23^post90+__disjvr_23^0 == 0 /\ x_20^0-x_20^post90 == 0 /\ -__disjvr_11^post90+__disjvr_11^0 == 0 /\ __disjvr_39^0-__disjvr_39^post90 == 0 /\ __disjvr_19^0-__disjvr_19^post90 == 0 /\ ct_17^0-ct_17^post90 == 0 /\ __disjvr_5^0-__disjvr_5^post90 == 0 /\ head_27^0-head_27^post90 == 0 /\ __disjvr_32^0-__disjvr_32^post90 == 0 /\ -__disjvr_3^post90+__disjvr_3^0 == 0 /\ __disjvr_13^0-__disjvr_13^post90 == 0 /\ -r_163^post90+r_163^0 == 0 /\ -t_23^post90+t_23^0 == 0 /\ r_124^0-r_124^post90 == 0 /\ -tmp_34^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90 <= 0 /\ __disjvr_0^0-__disjvr_0^post90 == 0 /\ -len_276^post90+len_276^0 == 0 /\ -a_277^post90+a_277^0 == 0 /\ a_241^0-a_241^post90 == 0 /\ __disjvr_25^0-__disjvr_25^post90 == 0 /\ -len_226^post90+len_226^0 == 0 /\ -rcd_88^post90+rcd_88^0 == 0 /\ -rcd_58^post90+rcd_58^0 == 0 /\ r_260^0-r_260^post90 == 0 /\ __disjvr_41^0-__disjvr_41^post90 == 0 /\ tmp_34^post90-head_32^post90 <= 0 /\ __disjvr_1^0-__disjvr_1^post90 == 0 /\ a_330^0-a_330^post90 == 0 /\ -__disjvr_2^post90+__disjvr_2^0 == 0 /\ i_108^0-i_108^post90 == 0 /\ -__disjvr_30^post90+__disjvr_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0 /\ -__disjvr_35^post90+__disjvr_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post90 == 0 /\ -__disjvr_17^post90+__disjvr_17^0 == 0 /\ -__disjvr_14^post90+__disjvr_14^0 == 0 /\ -1+i_30^post90-i_30^0 == 0 /\ -__disjvr_26^post90+__disjvr_26^0 == 0 /\ head_129^0-head_129^post90 == 0 /\ __disjvr_20^0-__disjvr_20^post90 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ 1-i_30^post90 <= 0 /\ -1+i_30^post90 <= 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ x_16^0-x_16^post90 == 0 /\ -__disjvr_38^post90+__disjvr_38^0 == 0 /\ length_29^0-length_29^post90 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90+head_32^post90 <= 0 /\ -__disjvr_37^post90+__disjvr_37^0 == 0 /\ -__disjvr_8^post90+__disjvr_8^0 == 0 /\ -__disjvr_28^post90+__disjvr_28^0 == 0 /\ a_308^0-a_308^post90 == 0 /\ y_19^0-y_19^post90 == 0 /\ -i_167^post90+i_167^0 == 0 /\ -__disjvr_16^post90+__disjvr_16^0 == 0 /\ -__disjvr_29^post90+__disjvr_29^0 == 0 /\ -head_175^post90+head_175^0 == 0 /\ len_132^0-len_132^post90 == 0 /\ f_170^0-f_170^post90 == 0 /\ -__disjvr_21^post90+__disjvr_21^0 == 0 /\ -__disjvr_33^post90+__disjvr_33^0 == 0 /\ -tmp_34^post90+head_32^post90 <= 0 /\ -tmp_34^post90+head_32^post90 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post90 == 0 /\ __disjvr_4^0-__disjvr_4^post90 == 0 /\ -f_263^post90+f_263^0 == 0 /\ 1-length_29^0 <= 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 <= 0 /\ -a_353^post90+a_353^0 == 0 /\ r_218^0-r_218^post90 == 0 /\ head_223^0-head_223^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90-head_32^post90 <= 0 /\ -head_268^post90+head_268^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ -temp0_15^post90+temp0_15^0 == 0), cost: 1
New rule:
l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ -1+length_29^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l85 : i_108^0'=i_108^post91, __disjvr_7^0'=__disjvr_7^post91, __disjvr_13^0'=__disjvr_13^post91, f_170^0'=f_170^post91, length_29^0'=length_29^post91, __disjvr_25^0'=__disjvr_25^post91, a_330^0'=a_330^post91, __disjvr_20^0'=__disjvr_20^post91, len_183^0'=len_183^post91, __disjvr_37^0'=__disjvr_37^post91, __disjvr_32^0'=__disjvr_32^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, head_223^0'=head_223^post91, r_260^0'=r_260^post91, __disjvr_4^0'=__disjvr_4^post91, __disjvr_10^0'=__disjvr_10^post91, x_20^0'=x_20^post91, __disjvr_41^0'=__disjvr_41^post91, __disjvr_22^0'=__disjvr_22^post91, a_241^0'=a_241^post91, __disjvr_18^0'=__disjvr_18^post91, i_30^0'=i_30^post91, __disjvr_9^0'=__disjvr_9^post91, __disjvr_2^0'=__disjvr_2^post91, rcd_58^0'=rcd_58^post91, head_129^0'=head_129^post91, r_124^0'=r_124^post91, __disjvr_27^0'=__disjvr_27^post91, ct_17^0'=ct_17^post91, temp_35^0'=temp_35^post91, __disjvr_39^0'=__disjvr_39^post91, __disjvr_34^0'=__disjvr_34^post91, t_23^0'=t_23^post91, head_27^0'=head_27^post91, __disjvr_15^0'=__disjvr_15^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, __disjvr_6^0'=__disjvr_6^post91, __disjvr_12^0'=__disjvr_12^post91, y_19^0'=y_19^post91, __disjvr_43^0'=__disjvr_43^post91, len_276^0'=len_276^post91, __disjvr_24^0'=__disjvr_24^post91, a_308^0'=a_308^post91, __disjvr_1^0'=__disjvr_1^post91, len_132^0'=len_132^post91, a_147^0'=a_147^post91, __disjvr_31^0'=__disjvr_31^post91, result_11^0'=result_11^post91, head_175^0'=head_175^post91, r_218^0'=r_218^post91, __disjvr_29^0'=__disjvr_29^post91, __disjvr_0^0'=__disjvr_0^post91, x_16^0'=x_16^post91, __disjvr_40^0'=__disjvr_40^post91, __disjvr_36^0'=__disjvr_36^post91, a_210^0'=a_210^post91, __disjvr_17^0'=__disjvr_17^post91, i_167^0'=i_167^post91, __disjvr_8^0'=__disjvr_8^post91, __disjvr_14^0'=__disjvr_14^post91, r_39^0'=r_39^post91, f_263^0'=f_263^post91, nondet_12^0'=nondet_12^post91, __disjvr_26^0'=__disjvr_26^post91, a_353^0'=a_353^post91, __disjvr_21^0'=__disjvr_21^post91, temp0_31^0'=temp0_31^post91, __disjvr_38^0'=__disjvr_38^post91, __disjvr_33^0'=__disjvr_33^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, head_268^0'=head_268^post91, head_32^0'=head_32^post91, __disjvr_5^0'=__disjvr_5^post91, __disjvr_11^0'=__disjvr_11^post91, x_SLAM_f_18^0'=x_SLAM_f_18^post91, __disjvr_42^0'=__disjvr_42^post91, len_226^0'=len_226^post91, __disjvr_23^0'=__disjvr_23^post91, a_277^0'=a_277^post91, __disjvr_19^0'=__disjvr_19^post91, i_94^0'=i_94^post91, a_116^0'=a_116^post91, __disjvr_30^0'=__disjvr_30^post91, rcd_88^0'=rcd_88^post91, head_14^0'=head_14^post91, r_163^0'=r_163^post91, __disjvr_28^0'=__disjvr_28^post91, tmp_34^0'=tmp_34^post91, __disjvr_3^0'=__disjvr_3^post91, __disjvr_35^0'=__disjvr_35^post91, temp0_15^0'=temp0_15^post91, a_184^0'=a_184^post91, __disjvr_16^0'=__disjvr_16^post91, (0 == 0 /\ length_29^0-length_29^post91 == 0 /\ -r_260^post91+r_260^0 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ -t_23^post91+t_23^0 == 0 /\ -a_353^post91+a_353^0 == 0 /\ -__disjvr_27^post91+__disjvr_27^0 == 0 /\ __disjvr_43^0-__disjvr_43^post91 == 0 /\ __disjvr_17^0-__disjvr_17^post91 == 0 /\ __disjvr_23^0-__disjvr_23^post91 == 0 /\ -__disjvr_28^post91+__disjvr_28^0 == 0 /\ -temp0_15^post91+temp0_15^0 == 0 /\ len_183^0-len_183^post91 == 0 /\ temp_35^0-temp_35^post91 == 0 /\ -x_20^post91+x_SLAM_f_18^post91 <= 0 /\ -f_263^post91+f_263^0 == 0 /\ -len_226^post91+len_226^0 == 0 /\ a_330^0-a_330^post91 == 0 /\ -x_20^post91+head_14^0 <= 0 /\ __disjvr_37^0-__disjvr_37^post91 == 0 /\ -__disjvr_35^post91+__disjvr_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post91 == 0 /\ __disjvr_5^0-__disjvr_5^post91 == 0 /\ len_132^0-len_132^post91 == 0 /\ __disjvr_22^0-__disjvr_22^post91 == 0 /\ -y_19^post91 <= 0 /\ -temp0_31^post91+temp0_31^0 == 0 /\ -r_163^post91+r_163^0 == 0 /\ -a_116^post91+a_116^0 == 0 /\ __disjvr_34^0-__disjvr_34^post91 == 0 /\ i_108^0-i_108^post91 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ -i_94^post91+i_94^0 == 0 /\ -__disjvr_11^post91+__disjvr_11^0 == 0 /\ -r_124^post91+r_124^0 == 0 /\ -a_184^post91+a_184^0 == 0 /\ __disjvr_42^0-__disjvr_42^post91 == 0 /\ -i_167^post91+i_167^0 == 0 /\ -head_268^post91+head_268^0 == 0 /\ __disjvr_4^0-__disjvr_4^post91 == 0 /\ head_27^0 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 <= 0 /\ x_20^post91-x_SLAM_f_18^post91 == 0 /\ -__disjvr_12^post91+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post91 == 0 /\ -head_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91 == 0 /\ __disjvr_10^0-__disjvr_10^post91 == 0 /\ -__disjvr_33^post91+__disjvr_33^0 == 0 /\ -__disjvr_16^post91+__disjvr_16^0 == 0 /\ -rcd_58^post91+rcd_58^0 == 0 /\ x_20^post91-head_14^0 <= 0 /\ head_129^0-head_129^post91 == 0 /\ -__disjvr_2^post91+__disjvr_2^0 == 0 /\ -head_14^post91+head_14^0 == 0 /\ -len_226^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post91 == 0 /\ a_210^0-a_210^post91 == 0 /\ __disjvr_9^0-__disjvr_9^post91 == 0 /\ -head_14^0+x_SLAM_f_18^post91 <= 0 /\ -__disjvr_30^post91+__disjvr_30^0 == 0 /\ -ct_17^post91 <= 0 /\ -__disjvr_3^post91+__disjvr_3^0 == 0 /\ x_16^post91-head_14^0 <= 0 /\ x_16^post91-head_14^0 == 0 /\ -len_276^post91+len_276^0 == 0 /\ x_16^post91-x_SLAM_f_18^post91 <= 0 /\ -__disjvr_15^post91+__disjvr_15^0 == 0 /\ -a_147^post91+a_147^0 == 0 /\ head_223^0-head_223^post91 == 0 /\ result_11^0-result_11^post91 == 0 /\ i_30^0-i_30^post91 == 0 /\ __disjvr_21^0-__disjvr_21^post91 == 0 /\ -__disjvr_19^post91+__disjvr_19^0 == 0 /\ ct_17^post91-y_19^post91 <= 0 /\ -a_277^post91+a_277^0 == 0 /\ ct_17^post91 <= 0 /\ ct_17^post91 == 0 /\ -a_241^0 <= 0 /\ __disjvr_36^0-__disjvr_36^post91 == 0 /\ -head_175^post91+head_175^0 == 0 /\ f_170^0-f_170^post91 == 0 /\ __disjvr_24^0-__disjvr_24^post91 == 0 /\ head_14^0-x_SLAM_f_18^post91 <= 0 /\ a_308^0-a_308^post91 == 0 /\ -__disjvr_40^post91+__disjvr_40^0 == 0 /\ __disjvr_8^0-__disjvr_8^post91 == 0 /\ -x_16^post91+head_14^0 <= 0 /\ y_19^post91 <= 0 /\ __disjvr_41^0-__disjvr_41^post91 == 0 /\ __disjvr_0^0-__disjvr_0^post91 == 0 /\ -__disjvr_38^post91+__disjvr_38^0 == 0 /\ -head_32^post91+head_32^0 == 0 /\ -r_39^post91+r_39^0 == 0 /\ -r_218^post91+r_218^0 == 0 /\ -x_16^post91+x_SLAM_f_18^post91 <= 0 /\ -x_16^post91+x_SLAM_f_18^post91 == 0 /\ __disjvr_13^0-__disjvr_13^post91 == 0 /\ __disjvr_7^0-__disjvr_7^post91 == 0 /\ -rcd_88^post91+rcd_88^0 == 0 /\ -ct_17^post91+y_19^post91 <= 0 /\ -ct_17^post91+y_19^post91 == 0 /\ -__disjvr_1^post91+__disjvr_1^0 == 0 /\ __disjvr_20^0-__disjvr_20^post91 == 0 /\ -__disjvr_32^post91+__disjvr_32^0 == 0 /\ __disjvr_39^0-__disjvr_39^post91 == 0 /\ __disjvr_6^0-__disjvr_6^post91 == 0 /\ a_241^0-a_241^post91 == 0 /\ __disjvr_31^0-__disjvr_31^post91 == 0 /\ -__disjvr_26^post91+__disjvr_26^0 == 0 /\ -__disjvr_14^post91+__disjvr_14^0 == 0), cost: 1
New rule:
l4 -> l85 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l85 -> l86 : i_108^0'=i_108^post92, __disjvr_7^0'=__disjvr_7^post92, __disjvr_13^0'=__disjvr_13^post92, f_170^0'=f_170^post92, length_29^0'=length_29^post92, __disjvr_25^0'=__disjvr_25^post92, a_330^0'=a_330^post92, __disjvr_20^0'=__disjvr_20^post92, len_183^0'=len_183^post92, __disjvr_37^0'=__disjvr_37^post92, __disjvr_32^0'=__disjvr_32^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, head_223^0'=head_223^post92, r_260^0'=r_260^post92, __disjvr_4^0'=__disjvr_4^post92, __disjvr_10^0'=__disjvr_10^post92, x_20^0'=x_20^post92, __disjvr_41^0'=__disjvr_41^post92, __disjvr_22^0'=__disjvr_22^post92, a_241^0'=a_241^post92, __disjvr_18^0'=__disjvr_18^post92, i_30^0'=i_30^post92, __disjvr_9^0'=__disjvr_9^post92, __disjvr_2^0'=__disjvr_2^post92, rcd_58^0'=rcd_58^post92, head_129^0'=head_129^post92, r_124^0'=r_124^post92, __disjvr_27^0'=__disjvr_27^post92, ct_17^0'=ct_17^post92, temp_35^0'=temp_35^post92, __disjvr_39^0'=__disjvr_39^post92, __disjvr_34^0'=__disjvr_34^post92, t_23^0'=t_23^post92, head_27^0'=head_27^post92, __disjvr_15^0'=__disjvr_15^post92, head_SLAM_f_26^0'=head_SLAM_f_26^post92, __disjvr_6^0'=__disjvr_6^post92, __disjvr_12^0'=__disjvr_12^post92, y_19^0'=y_19^post92, __disjvr_43^0'=__disjvr_43^post92, len_276^0'=len_276^post92, __disjvr_24^0'=__disjvr_24^post92, a_308^0'=a_308^post92, __disjvr_1^0'=__disjvr_1^post92, len_132^0'=len_132^post92, a_147^0'=a_147^post92, __disjvr_31^0'=__disjvr_31^post92, result_11^0'=result_11^post92, head_175^0'=head_175^post92, r_218^0'=r_218^post92, __disjvr_29^0'=__disjvr_29^post92, __disjvr_0^0'=__disjvr_0^post92, x_16^0'=x_16^post92, __disjvr_40^0'=__disjvr_40^post92, __disjvr_36^0'=__disjvr_36^post92, a_210^0'=a_210^post92, __disjvr_17^0'=__disjvr_17^post92, i_167^0'=i_167^post92, __disjvr_8^0'=__disjvr_8^post92, __disjvr_14^0'=__disjvr_14^post92, r_39^0'=r_39^post92, f_263^0'=f_263^post92, nondet_12^0'=nondet_12^post92, __disjvr_26^0'=__disjvr_26^post92, a_353^0'=a_353^post92, __disjvr_21^0'=__disjvr_21^post92, temp0_31^0'=temp0_31^post92, __disjvr_38^0'=__disjvr_38^post92, __disjvr_33^0'=__disjvr_33^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, head_268^0'=head_268^post92, head_32^0'=head_32^post92, __disjvr_5^0'=__disjvr_5^post92, __disjvr_11^0'=__disjvr_11^post92, x_SLAM_f_18^0'=x_SLAM_f_18^post92, __disjvr_42^0'=__disjvr_42^post92, len_226^0'=len_226^post92, __disjvr_23^0'=__disjvr_23^post92, a_277^0'=a_277^post92, __disjvr_19^0'=__disjvr_19^post92, i_94^0'=i_94^post92, a_116^0'=a_116^post92, __disjvr_30^0'=__disjvr_30^post92, rcd_88^0'=rcd_88^post92, head_14^0'=head_14^post92, r_163^0'=r_163^post92, __disjvr_28^0'=__disjvr_28^post92, tmp_34^0'=tmp_34^post92, __disjvr_3^0'=__disjvr_3^post92, __disjvr_35^0'=__disjvr_35^post92, temp0_15^0'=temp0_15^post92, a_184^0'=a_184^post92, __disjvr_16^0'=__disjvr_16^post92, (a_277^0-a_277^post92 == 0 /\ head_268^0-head_268^post92 == 0 /\ -__disjvr_40^0+__disjvr_40^post92 == 0 /\ -a_147^post92+a_147^0 == 0 /\ __disjvr_34^0-__disjvr_34^post92 == 0 /\ -head_129^post92+head_129^0 == 0 /\ -head_SLAM_f_26^post92+head_SLAM_f_26^0 == 0 /\ -__disjvr_23^post92+__disjvr_23^0 == 0 /\ -__disjvr_18^post92+__disjvr_18^0 == 0 /\ __disjvr_13^0-__disjvr_13^post92 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ -__disjvr_3^post92+__disjvr_3^0 == 0 /\ -__disjvr_17^post92+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post92 == 0 /\ r_124^0-r_124^post92 == 0 /\ -r_39^post92+r_39^0 == 0 /\ __disjvr_21^0-__disjvr_21^post92 == 0 /\ __disjvr_40^0-__disjvr_40^post92 == 0 /\ __disjvr_8^0-__disjvr_8^post92 == 0 /\ -__disjvr_31^post92+__disjvr_31^0 == 0 /\ -__disjvr_6^post92+__disjvr_6^0 == 0 /\ -__disjvr_43^post92+__disjvr_43^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_116^post92+a_116^0 == 0 /\ -ct_17^post92+ct_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post92 == 0 /\ -a_210^post92+a_210^0 == 0 /\ -__disjvr_35^post92+__disjvr_35^0 == 0 /\ -x_16^post92+x_16^0 == 0 /\ -len_226^post92+len_226^0 == 0 /\ -__disjvr_24^post92+__disjvr_24^0 == 0 /\ head_175^0-head_175^post92 == 0 /\ -x_SLAM_f_18^post92+x_SLAM_f_18^0 == 0 /\ -rcd_88^post92+rcd_88^0 == 0 /\ i_30^0-i_30^post92 == 0 /\ x_20^0-x_20^post92 == 0 /\ -head_32^post92+head_32^0 == 0 /\ -i_167^post92+i_167^0 == 0 /\ -__disjvr_16^post92+__disjvr_16^0 == 0 /\ -__disjvr_5^post92+__disjvr_5^0 == 0 /\ y_19^0-y_19^post92 == 0 /\ length_29^0-length_29^post92 == 0 /\ -__disjvr_30^post92+__disjvr_30^0 == 0 /\ -__disjvr_39^post92+__disjvr_39^0 == 0 /\ -temp0_15^post92+temp0_15^0 == 0 /\ __disjvr_15^0-__disjvr_15^post92 == 0 /\ t_23^0-t_23^post92 == 0 /\ -result_11^post92+result_11^0 == 0 /\ __disjvr_41^0-__disjvr_41^post92 == 0 /\ -f_263^post92+f_263^0 == 0 /\ __disjvr_0^0-__disjvr_0^post92 == 0 /\ __disjvr_33^0-__disjvr_33^post92 == 0 /\ __disjvr_4^0-__disjvr_4^post92 == 0 /\ -a_308^post92+a_308^0 == 0 /\ -__disjvr_42^post92+__disjvr_42^0 == 0 /\ r_260^0-r_260^post92 == 0 /\ -__disjvr_36^post92+__disjvr_36^0 == 0 /\ -__disjvr_19^post92+__disjvr_19^0 == 0 /\ -__disjvr_11^post92+__disjvr_11^0 == 0 /\ -len_132^post92+len_132^0 == 0 /\ __disjvr_20^0-__disjvr_20^post92 == 0 /\ __disjvr_32^0-__disjvr_32^post92 == 0 /\ a_241^0-a_241^post92 == 0 /\ __disjvr_2^0-__disjvr_2^post92 == 0 /\ -temp0_31^post92+temp0_31^0 == 0 /\ i_108^0-i_108^post92 == 0 /\ -__disjvr_26^post92+__disjvr_26^0 == 0 /\ r_163^0-r_163^post92 == 0 /\ rcd_58^0-rcd_58^post92 == 0 /\ -a_184^post92+a_184^0 == 0 /\ -tmp_34^post92+tmp_34^0 == 0 /\ -__disjvr_29^post92+__disjvr_29^0 == 0 /\ a_353^0-a_353^post92 == 0 /\ __disjvr_1^0-__disjvr_1^post92 == 0 /\ __disjvr_28^0-__disjvr_28^post92 == 0 /\ -r_218^post92+r_218^0 == 0 /\ -head_27^post92+head_27^0 == 0 /\ -i_94^post92+i_94^0 == 0 /\ __disjvr_27^0-__disjvr_27^post92 == 0 /\ __disjvr_12^0-__disjvr_12^post92 == 0 /\ len_276^0-len_276^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ -len_183^post92+len_183^0 == 0 /\ -head_14^post92+head_14^0 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ a_330^0-a_330^post92 == 0 /\ __disjvr_25^0-__disjvr_25^post92 == 0 /\ __disjvr_14^0-__disjvr_14^post92 == 0 /\ f_170^0-f_170^post92 == 0 /\ __disjvr_37^0-__disjvr_37^post92 == 0 /\ __disjvr_38^0-__disjvr_38^post92 == 0 /\ __disjvr_9^0-__disjvr_9^post92 == 0 /\ __disjvr_22^0-__disjvr_22^post92 == 0 /\ head_223^0-head_223^post92 == 0), cost: 1
New rule:
l85 -> l86 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l86 -> l1 : i_108^0'=i_108^post93, __disjvr_7^0'=__disjvr_7^post93, __disjvr_13^0'=__disjvr_13^post93, f_170^0'=f_170^post93, length_29^0'=length_29^post93, __disjvr_25^0'=__disjvr_25^post93, a_330^0'=a_330^post93, __disjvr_20^0'=__disjvr_20^post93, len_183^0'=len_183^post93, __disjvr_37^0'=__disjvr_37^post93, __disjvr_32^0'=__disjvr_32^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, head_223^0'=head_223^post93, r_260^0'=r_260^post93, __disjvr_4^0'=__disjvr_4^post93, __disjvr_10^0'=__disjvr_10^post93, x_20^0'=x_20^post93, __disjvr_41^0'=__disjvr_41^post93, __disjvr_22^0'=__disjvr_22^post93, a_241^0'=a_241^post93, __disjvr_18^0'=__disjvr_18^post93, i_30^0'=i_30^post93, __disjvr_9^0'=__disjvr_9^post93, __disjvr_2^0'=__disjvr_2^post93, rcd_58^0'=rcd_58^post93, head_129^0'=head_129^post93, r_124^0'=r_124^post93, __disjvr_27^0'=__disjvr_27^post93, ct_17^0'=ct_17^post93, temp_35^0'=temp_35^post93, __disjvr_39^0'=__disjvr_39^post93, __disjvr_34^0'=__disjvr_34^post93, t_23^0'=t_23^post93, head_27^0'=head_27^post93, __disjvr_15^0'=__disjvr_15^post93, head_SLAM_f_26^0'=head_SLAM_f_26^post93, __disjvr_6^0'=__disjvr_6^post93, __disjvr_12^0'=__disjvr_12^post93, y_19^0'=y_19^post93, __disjvr_43^0'=__disjvr_43^post93, len_276^0'=len_276^post93, __disjvr_24^0'=__disjvr_24^post93, a_308^0'=a_308^post93, __disjvr_1^0'=__disjvr_1^post93, len_132^0'=len_132^post93, a_147^0'=a_147^post93, __disjvr_31^0'=__disjvr_31^post93, result_11^0'=result_11^post93, head_175^0'=head_175^post93, r_218^0'=r_218^post93, __disjvr_29^0'=__disjvr_29^post93, __disjvr_0^0'=__disjvr_0^post93, x_16^0'=x_16^post93, __disjvr_40^0'=__disjvr_40^post93, __disjvr_36^0'=__disjvr_36^post93, a_210^0'=a_210^post93, __disjvr_17^0'=__disjvr_17^post93, i_167^0'=i_167^post93, __disjvr_8^0'=__disjvr_8^post93, __disjvr_14^0'=__disjvr_14^post93, r_39^0'=r_39^post93, f_263^0'=f_263^post93, nondet_12^0'=nondet_12^post93, __disjvr_26^0'=__disjvr_26^post93, a_353^0'=a_353^post93, __disjvr_21^0'=__disjvr_21^post93, temp0_31^0'=temp0_31^post93, __disjvr_38^0'=__disjvr_38^post93, __disjvr_33^0'=__disjvr_33^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, head_268^0'=head_268^post93, head_32^0'=head_32^post93, __disjvr_5^0'=__disjvr_5^post93, __disjvr_11^0'=__disjvr_11^post93, x_SLAM_f_18^0'=x_SLAM_f_18^post93, __disjvr_42^0'=__disjvr_42^post93, len_226^0'=len_226^post93, __disjvr_23^0'=__disjvr_23^post93, a_277^0'=a_277^post93, __disjvr_19^0'=__disjvr_19^post93, i_94^0'=i_94^post93, a_116^0'=a_116^post93, __disjvr_30^0'=__disjvr_30^post93, rcd_88^0'=rcd_88^post93, head_14^0'=head_14^post93, r_163^0'=r_163^post93, __disjvr_28^0'=__disjvr_28^post93, tmp_34^0'=tmp_34^post93, __disjvr_3^0'=__disjvr_3^post93, __disjvr_35^0'=__disjvr_35^post93, temp0_15^0'=temp0_15^post93, a_184^0'=a_184^post93, __disjvr_16^0'=__disjvr_16^post93, (-__disjvr_0^post93+__disjvr_0^0 == 0 /\ -__disjvr_30^post93+__disjvr_30^0 == 0 /\ -temp0_15^post93+temp0_15^0 == 0 /\ -__disjvr_3^post93+__disjvr_3^0 == 0 /\ __disjvr_15^0-__disjvr_15^post93 == 0 /\ __disjvr_19^0-__disjvr_19^post93 == 0 /\ -__disjvr_42^post93+__disjvr_42^0 == 0 /\ -a_353^post93+a_353^0 == 0 /\ len_276^0-len_276^post93 == 0 /\ head_32^0-head_32^post93 == 0 /\ temp0_31^0-temp0_31^post93 == 0 /\ len_226^0-len_226^post93 == 0 /\ r_124^0-r_124^post93 == 0 /\ r_260^0-r_260^post93 == 0 /\ -__disjvr_11^post93+__disjvr_11^0 == 0 /\ -a_147^post93+a_147^0 == 0 /\ -__disjvr_41^post93+__disjvr_41^0 == 0 /\ __disjvr_20^0-__disjvr_20^post93 == 0 /\ -y_19^post93+y_19^0 == 0 /\ __disjvr_2^0-__disjvr_2^post93 == 0 /\ -__disjvr_17^post93+__disjvr_17^0 == 0 /\ head_129^0-head_129^post93 == 0 /\ __disjvr_32^0-__disjvr_32^post93 == 0 /\ i_108^0-i_108^post93 == 0 /\ -__disjvr_34^post93+__disjvr_34^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post93 == 0 /\ -ct_17^post93+ct_17^0 == 0 /\ -a_184^post93+a_184^0 == 0 /\ -rcd_88^post93+rcd_88^0 == 0 /\ -a_277^post93+a_277^0 == 0 /\ __disjvr_27^0-__disjvr_27^post93 == 0 /\ -__disjvr_43^post93+__disjvr_43^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93 == 0 /\ x_16^0-x_16^post93 == 0 /\ -head_14^post93+head_14^0 == 0 /\ r_218^0-r_218^post93 == 0 /\ head_223^0-head_223^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ len_183^0-len_183^post93 == 0 /\ x_20^0-x_20^post93 == 0 /\ __disjvr_37^0-__disjvr_37^post93 == 0 /\ __disjvr_25^0-__disjvr_25^post93 == 0 /\ i_30^0-i_30^post93 == 0 /\ head_175^0-head_175^post93 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_4^post93+__disjvr_4^0 == 0 /\ t_23^0-t_23^post93 == 0 /\ __disjvr_9^0-__disjvr_9^post93 == 0 /\ -a_308^post93+a_308^0 == 0 /\ -__disjvr_8^post93+__disjvr_8^0 == 0 /\ -__disjvr_5^post93+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post93 == 0 /\ -__disjvr_23^post93+__disjvr_23^0 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ -__disjvr_28^post93+__disjvr_28^0 == 0 /\ -len_132^post93+len_132^0 == 0 /\ __disjvr_18^0-__disjvr_18^post93 == 0 /\ __disjvr_7^0-__disjvr_7^post93 == 0 /\ -__disjvr_31^post93+__disjvr_31^0 == 0 /\ a_330^0-a_330^post93 == 0 /\ -__disjvr_29^post93+__disjvr_29^0 == 0 /\ i_167^0-i_167^post93 == 0 /\ a_241^0-a_241^post93 == 0 /\ -__disjvr_36^post93+__disjvr_36^0 == 0 /\ -__disjvr_39^post93+__disjvr_39^0 == 0 /\ r_39^0-r_39^post93 == 0 /\ __disjvr_24^0-__disjvr_24^post93 == 0 /\ __disjvr_6^0-__disjvr_6^post93 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 == 0 /\ -__disjvr_38^post93+__disjvr_38^0 == 0 /\ -tmp_34^post93+tmp_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post93 == 0 /\ -a_116^post93+a_116^0 == 0 /\ -f_170^post93+f_170^0 == 0 /\ __disjvr_12^0-__disjvr_12^post93 == 0 /\ rcd_58^0-rcd_58^post93 == 0 /\ __disjvr_13^0-__disjvr_13^post93 == 0 /\ -head_268^post93+head_268^0 == 0 /\ -__disjvr_35^post93+__disjvr_35^0 == 0 /\ -r_163^post93+r_163^0 == 0 /\ -a_210^post93+a_210^0 == 0 /\ -__disjvr_14^post93+__disjvr_14^0 == 0 /\ -__disjvr_22^post93+__disjvr_22^0 == 0 /\ f_263^0-f_263^post93 == 0 /\ -i_94^post93+i_94^0 == 0 /\ __disjvr_10^0-__disjvr_10^post93 == 0 /\ -__disjvr_33^post93+__disjvr_33^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_27^post93+head_27^0 == 0 /\ -__disjvr_16^post93+__disjvr_16^0 == 0 /\ -__disjvr_40^post93+__disjvr_40^0 == 0 /\ -__disjvr_21^post93+__disjvr_21^0 == 0 /\ temp_35^0-temp_35^post93 == 0 /\ length_29^0-length_29^post93 == 0 /\ -x_SLAM_f_18^post93+x_SLAM_f_18^0 == 0), cost: 1
New rule:
l86 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l88 : i_108^0'=i_108^post94, __disjvr_7^0'=__disjvr_7^post94, __disjvr_13^0'=__disjvr_13^post94, f_170^0'=f_170^post94, length_29^0'=length_29^post94, __disjvr_25^0'=__disjvr_25^post94, a_330^0'=a_330^post94, __disjvr_20^0'=__disjvr_20^post94, len_183^0'=len_183^post94, __disjvr_37^0'=__disjvr_37^post94, __disjvr_32^0'=__disjvr_32^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, head_223^0'=head_223^post94, r_260^0'=r_260^post94, __disjvr_4^0'=__disjvr_4^post94, __disjvr_10^0'=__disjvr_10^post94, x_20^0'=x_20^post94, __disjvr_41^0'=__disjvr_41^post94, __disjvr_22^0'=__disjvr_22^post94, a_241^0'=a_241^post94, __disjvr_18^0'=__disjvr_18^post94, i_30^0'=i_30^post94, __disjvr_9^0'=__disjvr_9^post94, __disjvr_2^0'=__disjvr_2^post94, rcd_58^0'=rcd_58^post94, head_129^0'=head_129^post94, r_124^0'=r_124^post94, __disjvr_27^0'=__disjvr_27^post94, ct_17^0'=ct_17^post94, temp_35^0'=temp_35^post94, __disjvr_39^0'=__disjvr_39^post94, __disjvr_34^0'=__disjvr_34^post94, t_23^0'=t_23^post94, head_27^0'=head_27^post94, __disjvr_15^0'=__disjvr_15^post94, head_SLAM_f_26^0'=head_SLAM_f_26^post94, __disjvr_6^0'=__disjvr_6^post94, __disjvr_12^0'=__disjvr_12^post94, y_19^0'=y_19^post94, __disjvr_43^0'=__disjvr_43^post94, len_276^0'=len_276^post94, __disjvr_24^0'=__disjvr_24^post94, a_308^0'=a_308^post94, __disjvr_1^0'=__disjvr_1^post94, len_132^0'=len_132^post94, a_147^0'=a_147^post94, __disjvr_31^0'=__disjvr_31^post94, result_11^0'=result_11^post94, head_175^0'=head_175^post94, r_218^0'=r_218^post94, __disjvr_29^0'=__disjvr_29^post94, __disjvr_0^0'=__disjvr_0^post94, x_16^0'=x_16^post94, __disjvr_40^0'=__disjvr_40^post94, __disjvr_36^0'=__disjvr_36^post94, a_210^0'=a_210^post94, __disjvr_17^0'=__disjvr_17^post94, i_167^0'=i_167^post94, __disjvr_8^0'=__disjvr_8^post94, __disjvr_14^0'=__disjvr_14^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, nondet_12^0'=nondet_12^post94, __disjvr_26^0'=__disjvr_26^post94, a_353^0'=a_353^post94, __disjvr_21^0'=__disjvr_21^post94, temp0_31^0'=temp0_31^post94, __disjvr_38^0'=__disjvr_38^post94, __disjvr_33^0'=__disjvr_33^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_32^0'=head_32^post94, __disjvr_5^0'=__disjvr_5^post94, __disjvr_11^0'=__disjvr_11^post94, x_SLAM_f_18^0'=x_SLAM_f_18^post94, __disjvr_42^0'=__disjvr_42^post94, len_226^0'=len_226^post94, __disjvr_23^0'=__disjvr_23^post94, a_277^0'=a_277^post94, __disjvr_19^0'=__disjvr_19^post94, i_94^0'=i_94^post94, a_116^0'=a_116^post94, __disjvr_30^0'=__disjvr_30^post94, rcd_88^0'=rcd_88^post94, head_14^0'=head_14^post94, r_163^0'=r_163^post94, __disjvr_28^0'=__disjvr_28^post94, tmp_34^0'=tmp_34^post94, __disjvr_3^0'=__disjvr_3^post94, __disjvr_35^0'=__disjvr_35^post94, temp0_15^0'=temp0_15^post94, a_184^0'=a_184^post94, __disjvr_16^0'=__disjvr_16^post94, (0 == 0 /\ -a_353^post94+a_353^0 == 0 /\ -y_19^post94+y_19^0 == 0 /\ head_129^0-head_129^post94 == 0 /\ -a_308^post94+a_308^0 == 0 /\ __disjvr_19^0-__disjvr_19^post94 == 0 /\ __disjvr_2^0-__disjvr_2^post94 == 0 /\ -temp0_15^post94+temp0_15^0 == 0 /\ -__disjvr_21^post94+__disjvr_21^0 == 0 /\ -__disjvr_31^post94+__disjvr_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post94 == 0 /\ -t_23^post94+t_23^0 == 0 /\ -__disjvr_0^post94+__disjvr_0^0 == 0 /\ len_226^0-len_226^post94 == 0 /\ r_218^0-r_218^post94 == 0 /\ a_241^0-a_241^post94 == 0 /\ x_20^0-x_20^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ r_260^0-r_260^post94 == 0 /\ i_108^0-i_108^post94 == 0 /\ -__disjvr_11^post94+__disjvr_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post94 == 0 /\ a_147^0-a_147^post94 == 0 /\ __disjvr_39^0-__disjvr_39^post94 == 0 /\ __disjvr_20^0-__disjvr_20^post94 == 0 /\ head_27^0-head_27^post94 == 0 /\ -__disjvr_17^post94+__disjvr_17^0 == 0 /\ __disjvr_32^0-__disjvr_32^post94 == 0 /\ __disjvr_1^0-__disjvr_1^post94 == 0 /\ -len_132^post94+len_132^0 == 0 /\ -a_277^post94+a_277^0 == 0 /\ -head_32^post94+head_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ x_16^0-x_16^post94 == 0 /\ r_124^0-r_124^post94 == 0 /\ rcd_58^0-rcd_58^post94 == 0 /\ -a_184^post94+a_184^0 == 0 /\ -__disjvr_28^post94+__disjvr_28^0 == 0 /\ -tmp_34^post94+tmp_34^0 == 0 /\ __disjvr_27^0-__disjvr_27^post94 == 0 /\ head_223^0-head_223^post94 == 0 /\ -__disjvr_42^post94+__disjvr_42^0 == 0 /\ -__disjvr_34^post94+__disjvr_34^0 == 0 /\ -ct_17^post94+ct_17^0 == 0 /\ -__disjvr_16^post94+__disjvr_16^0 == 0 /\ -len_226^0 <= 0 /\ -__disjvr_8^post94+__disjvr_8^0 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -__disjvr_22^post94+__disjvr_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post94 == 0 /\ -__disjvr_23^post94+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post94 == 0 /\ -len_276^post94+len_276^0 == 0 /\ -__disjvr_33^post94+__disjvr_33^0 == 0 /\ length_29^0-length_29^post94 == 0 /\ __disjvr_7^0-__disjvr_7^post94 == 0 /\ len_183^0-len_183^post94 == 0 /\ -__disjvr_29^post94+__disjvr_29^0 == 0 /\ a_330^0-a_330^post94 == 0 /\ __disjvr_26^0-__disjvr_26^post94 == 0 /\ -r_163^post94+r_163^0 == 0 /\ __disjvr_43^0-__disjvr_43^post94 == 0 /\ -a_241^0 <= 0 /\ -__disjvr_3^post94+__disjvr_3^0 == 0 /\ __disjvr_37^0-__disjvr_37^post94 == 0 /\ i_167^0-i_167^post94 == 0 /\ -__disjvr_36^post94+__disjvr_36^0 == 0 /\ __disjvr_13^0-__disjvr_13^post94 == 0 /\ -__disjvr_14^post94+__disjvr_14^0 == 0 /\ -x_SLAM_f_18^post94+x_SLAM_f_18^0 == 0 /\ -__disjvr_41^post94+__disjvr_41^0 == 0 /\ -rcd_88^post94+rcd_88^0 == 0 /\ -f_170^post94+f_170^0 == 0 /\ __disjvr_6^0-__disjvr_6^post94 == 0 /\ -a_116^post94+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post94 == 0 /\ -__disjvr_40^post94+__disjvr_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post94 == 0 /\ __disjvr_10^0-__disjvr_10^post94 == 0 /\ -a_210^post94+a_210^0 == 0 /\ -__disjvr_35^post94+__disjvr_35^0 == 0 /\ -__disjvr_30^post94+__disjvr_30^0 == 0 /\ -result_11^post94+result_11^0 == 0 /\ head_175^0-head_175^post94 == 0 /\ nondet_12^0-nondet_12^post94 == 0 /\ i_30^0-i_30^post94 == 0 /\ __disjvr_15^0-__disjvr_15^post94 == 0 /\ -__disjvr_5^post94+__disjvr_5^0 == 0 /\ -i_94^post94+i_94^0 == 0 /\ -__disjvr_38^post94+__disjvr_38^0 == 0), cost: 1
New rule:
l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l88 -> l89 : i_108^0'=i_108^post95, __disjvr_7^0'=__disjvr_7^post95, __disjvr_13^0'=__disjvr_13^post95, f_170^0'=f_170^post95, length_29^0'=length_29^post95, __disjvr_25^0'=__disjvr_25^post95, a_330^0'=a_330^post95, __disjvr_20^0'=__disjvr_20^post95, len_183^0'=len_183^post95, __disjvr_37^0'=__disjvr_37^post95, __disjvr_32^0'=__disjvr_32^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, head_223^0'=head_223^post95, r_260^0'=r_260^post95, __disjvr_4^0'=__disjvr_4^post95, __disjvr_10^0'=__disjvr_10^post95, x_20^0'=x_20^post95, __disjvr_41^0'=__disjvr_41^post95, __disjvr_22^0'=__disjvr_22^post95, a_241^0'=a_241^post95, __disjvr_18^0'=__disjvr_18^post95, i_30^0'=i_30^post95, __disjvr_9^0'=__disjvr_9^post95, __disjvr_2^0'=__disjvr_2^post95, rcd_58^0'=rcd_58^post95, head_129^0'=head_129^post95, r_124^0'=r_124^post95, __disjvr_27^0'=__disjvr_27^post95, ct_17^0'=ct_17^post95, temp_35^0'=temp_35^post95, __disjvr_39^0'=__disjvr_39^post95, __disjvr_34^0'=__disjvr_34^post95, t_23^0'=t_23^post95, head_27^0'=head_27^post95, __disjvr_15^0'=__disjvr_15^post95, head_SLAM_f_26^0'=head_SLAM_f_26^post95, __disjvr_6^0'=__disjvr_6^post95, __disjvr_12^0'=__disjvr_12^post95, y_19^0'=y_19^post95, __disjvr_43^0'=__disjvr_43^post95, len_276^0'=len_276^post95, __disjvr_24^0'=__disjvr_24^post95, a_308^0'=a_308^post95, __disjvr_1^0'=__disjvr_1^post95, len_132^0'=len_132^post95, a_147^0'=a_147^post95, __disjvr_31^0'=__disjvr_31^post95, result_11^0'=result_11^post95, head_175^0'=head_175^post95, r_218^0'=r_218^post95, __disjvr_29^0'=__disjvr_29^post95, __disjvr_0^0'=__disjvr_0^post95, x_16^0'=x_16^post95, __disjvr_40^0'=__disjvr_40^post95, __disjvr_36^0'=__disjvr_36^post95, a_210^0'=a_210^post95, __disjvr_17^0'=__disjvr_17^post95, i_167^0'=i_167^post95, __disjvr_8^0'=__disjvr_8^post95, __disjvr_14^0'=__disjvr_14^post95, r_39^0'=r_39^post95, f_263^0'=f_263^post95, nondet_12^0'=nondet_12^post95, __disjvr_26^0'=__disjvr_26^post95, a_353^0'=a_353^post95, __disjvr_21^0'=__disjvr_21^post95, temp0_31^0'=temp0_31^post95, __disjvr_38^0'=__disjvr_38^post95, __disjvr_33^0'=__disjvr_33^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, head_268^0'=head_268^post95, head_32^0'=head_32^post95, __disjvr_5^0'=__disjvr_5^post95, __disjvr_11^0'=__disjvr_11^post95, x_SLAM_f_18^0'=x_SLAM_f_18^post95, __disjvr_42^0'=__disjvr_42^post95, len_226^0'=len_226^post95, __disjvr_23^0'=__disjvr_23^post95, a_277^0'=a_277^post95, __disjvr_19^0'=__disjvr_19^post95, i_94^0'=i_94^post95, a_116^0'=a_116^post95, __disjvr_30^0'=__disjvr_30^post95, rcd_88^0'=rcd_88^post95, head_14^0'=head_14^post95, r_163^0'=r_163^post95, __disjvr_28^0'=__disjvr_28^post95, tmp_34^0'=tmp_34^post95, __disjvr_3^0'=__disjvr_3^post95, __disjvr_35^0'=__disjvr_35^post95, temp0_15^0'=temp0_15^post95, a_184^0'=a_184^post95, __disjvr_16^0'=__disjvr_16^post95, (-__disjvr_21^post95+__disjvr_21^0 == 0 /\ a_308^0-a_308^post95 == 0 /\ __disjvr_22^0-__disjvr_22^post95 == 0 /\ __disjvr_5^0-__disjvr_5^post95 == 0 /\ t_23^0-t_23^post95 == 0 /\ -r_39^post95+r_39^0 == 0 /\ __disjvr_13^0-__disjvr_13^post95 == 0 /\ -x_20^post95+x_20^0 == 0 /\ -head_175^post95+head_175^0 == 0 /\ -len_276^post95+len_276^0 == 0 /\ -__disjvr_15^post95+__disjvr_15^0 == 0 /\ -a_147^post95+a_147^0 == 0 /\ -y_19^post95+y_19^0 == 0 /\ -__disjvr_40^post95+__disjvr_40^0 == 0 /\ __disjvr_6^0-__disjvr_6^post95 == 0 /\ __disjvr_42^0-__disjvr_42^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -__disjvr_33^post95+__disjvr_33^0 == 0 /\ -__disjvr_19^post95+__disjvr_19^0 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ __disjvr_10^0-__disjvr_10^post95 == 0 /\ __disjvr_4^0-__disjvr_4^post95 == 0 /\ i_94^0-i_94^post95 == 0 /\ __disjvr_31^0-__disjvr_31^post95 == 0 /\ -__disjvr_3^post95+__disjvr_3^0 == 0 /\ -r_163^post95+r_163^0 == 0 /\ -r_124^post95+r_124^0 == 0 /\ __disjvr_41^0-__disjvr_41^post95 == 0 /\ __disjvr_34^0-__disjvr_34^post95 == 0 /\ head_129^0-head_129^post95 == 0 /\ ct_17^0-ct_17^post95 == 0 /\ -x_16^post95+x_16^0 == 0 /\ -x_SLAM_f_18^post95+x_SLAM_f_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post95 == 0 /\ head_268^0-head_268^post95 == 0 /\ __disjvr_2^0-__disjvr_2^post95 == 0 /\ -__disjvr_24^post95+__disjvr_24^0 == 0 /\ __disjvr_17^0-__disjvr_17^post95 == 0 /\ -rcd_88^post95+rcd_88^0 == 0 /\ rcd_58^0-rcd_58^post95 == 0 /\ -__disjvr_35^post95+__disjvr_35^0 == 0 /\ -a_116^post95+a_116^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_183^0-len_183^post95 == 0 /\ a_330^0-a_330^post95 == 0 /\ __disjvr_23^0-__disjvr_23^post95 == 0 /\ __disjvr_0^0-__disjvr_0^post95 == 0 /\ -__disjvr_27^post95+__disjvr_27^0 == 0 /\ head_223^0-head_223^post95 == 0 /\ r_260^0-r_260^post95 == 0 /\ __disjvr_37^0-__disjvr_37^post95 == 0 /\ -__disjvr_30^post95+__disjvr_30^0 == 0 /\ i_108^0-i_108^post95 == 0 /\ -__disjvr_41^0+__disjvr_41^post95 == 0 /\ __disjvr_20^0-__disjvr_20^post95 == 0 /\ -a_353^post95+a_353^0 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -temp0_15^post95+temp0_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ -__disjvr_28^post95+__disjvr_28^0 == 0 /\ a_241^0-a_241^post95 == 0 /\ -len_226^post95+len_226^0 == 0 /\ __disjvr_18^0-__disjvr_18^post95 == 0 /\ -__disjvr_26^post95+__disjvr_26^0 == 0 /\ -head_32^post95+head_32^0 == 0 /\ i_30^0-i_30^post95 == 0 /\ __disjvr_38^0-__disjvr_38^post95 == 0 /\ -__disjvr_11^post95+__disjvr_11^0 == 0 /\ a_210^0-a_210^post95 == 0 /\ -a_277^post95+a_277^0 == 0 /\ length_29^0-length_29^post95 == 0 /\ r_218^0-r_218^post95 == 0 /\ -__disjvr_14^post95+__disjvr_14^0 == 0 /\ __disjvr_12^0-__disjvr_12^post95 == 0 /\ -temp0_31^post95+temp0_31^0 == 0 /\ -head_14^post95+head_14^0 == 0 /\ len_132^0-len_132^post95 == 0 /\ -a_184^post95+a_184^0 == 0 /\ __disjvr_29^0-__disjvr_29^post95 == 0 /\ -i_167^post95+i_167^0 == 0 /\ -__disjvr_8^post95+__disjvr_8^0 == 0 /\ __disjvr_25^0-__disjvr_25^post95 == 0 /\ -f_263^post95+f_263^0 == 0 /\ -tmp_34^post95+tmp_34^0 == 0 /\ __disjvr_36^0-__disjvr_36^post95 == 0 /\ __disjvr_43^0-__disjvr_43^post95 == 0 /\ f_170^0-f_170^post95 == 0 /\ __disjvr_7^0-__disjvr_7^post95 == 0 /\ __disjvr_39^0-__disjvr_39^post95 == 0 /\ -__disjvr_16^post95+__disjvr_16^0 == 0 /\ -__disjvr_32^post95+__disjvr_32^0 == 0 /\ head_27^0-head_27^post95 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post95 == 0 /\ -__disjvr_1^post95+__disjvr_1^0 == 0), cost: 1
New rule:
l88 -> l89 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l89 -> l90 : i_108^0'=i_108^post96, __disjvr_7^0'=__disjvr_7^post96, __disjvr_13^0'=__disjvr_13^post96, f_170^0'=f_170^post96, length_29^0'=length_29^post96, __disjvr_25^0'=__disjvr_25^post96, a_330^0'=a_330^post96, __disjvr_20^0'=__disjvr_20^post96, len_183^0'=len_183^post96, __disjvr_37^0'=__disjvr_37^post96, __disjvr_32^0'=__disjvr_32^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, head_223^0'=head_223^post96, r_260^0'=r_260^post96, __disjvr_4^0'=__disjvr_4^post96, __disjvr_10^0'=__disjvr_10^post96, x_20^0'=x_20^post96, __disjvr_41^0'=__disjvr_41^post96, __disjvr_22^0'=__disjvr_22^post96, a_241^0'=a_241^post96, __disjvr_18^0'=__disjvr_18^post96, i_30^0'=i_30^post96, __disjvr_9^0'=__disjvr_9^post96, __disjvr_2^0'=__disjvr_2^post96, rcd_58^0'=rcd_58^post96, head_129^0'=head_129^post96, r_124^0'=r_124^post96, __disjvr_27^0'=__disjvr_27^post96, ct_17^0'=ct_17^post96, temp_35^0'=temp_35^post96, __disjvr_39^0'=__disjvr_39^post96, __disjvr_34^0'=__disjvr_34^post96, t_23^0'=t_23^post96, head_27^0'=head_27^post96, __disjvr_15^0'=__disjvr_15^post96, head_SLAM_f_26^0'=head_SLAM_f_26^post96, __disjvr_6^0'=__disjvr_6^post96, __disjvr_12^0'=__disjvr_12^post96, y_19^0'=y_19^post96, __disjvr_43^0'=__disjvr_43^post96, len_276^0'=len_276^post96, __disjvr_24^0'=__disjvr_24^post96, a_308^0'=a_308^post96, __disjvr_1^0'=__disjvr_1^post96, len_132^0'=len_132^post96, a_147^0'=a_147^post96, __disjvr_31^0'=__disjvr_31^post96, result_11^0'=result_11^post96, head_175^0'=head_175^post96, r_218^0'=r_218^post96, __disjvr_29^0'=__disjvr_29^post96, __disjvr_0^0'=__disjvr_0^post96, x_16^0'=x_16^post96, __disjvr_40^0'=__disjvr_40^post96, __disjvr_36^0'=__disjvr_36^post96, a_210^0'=a_210^post96, __disjvr_17^0'=__disjvr_17^post96, i_167^0'=i_167^post96, __disjvr_8^0'=__disjvr_8^post96, __disjvr_14^0'=__disjvr_14^post96, r_39^0'=r_39^post96, f_263^0'=f_263^post96, nondet_12^0'=nondet_12^post96, __disjvr_26^0'=__disjvr_26^post96, a_353^0'=a_353^post96, __disjvr_21^0'=__disjvr_21^post96, temp0_31^0'=temp0_31^post96, __disjvr_38^0'=__disjvr_38^post96, __disjvr_33^0'=__disjvr_33^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, head_268^0'=head_268^post96, head_32^0'=head_32^post96, __disjvr_5^0'=__disjvr_5^post96, __disjvr_11^0'=__disjvr_11^post96, x_SLAM_f_18^0'=x_SLAM_f_18^post96, __disjvr_42^0'=__disjvr_42^post96, len_226^0'=len_226^post96, __disjvr_23^0'=__disjvr_23^post96, a_277^0'=a_277^post96, __disjvr_19^0'=__disjvr_19^post96, i_94^0'=i_94^post96, a_116^0'=a_116^post96, __disjvr_30^0'=__disjvr_30^post96, rcd_88^0'=rcd_88^post96, head_14^0'=head_14^post96, r_163^0'=r_163^post96, __disjvr_28^0'=__disjvr_28^post96, tmp_34^0'=tmp_34^post96, __disjvr_3^0'=__disjvr_3^post96, __disjvr_35^0'=__disjvr_35^post96, temp0_15^0'=temp0_15^post96, a_184^0'=a_184^post96, __disjvr_16^0'=__disjvr_16^post96, (0 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ -__disjvr_43^post96+__disjvr_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post96 == 0 /\ -r_39^post96+r_39^0 == 0 /\ -i_94^post96+i_94^0 == 0 /\ head_223^0-head_223^post96 == 0 /\ 1+len_226^0-len_276^post96 <= 0 /\ -head_27^post96+head_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post96 == 0 /\ a_241^0-a_241^post96 == 0 /\ __disjvr_2^0-__disjvr_2^post96 == 0 /\ rcd_58^0-rcd_58^post96 == 0 /\ -__disjvr_12^post96+__disjvr_12^0 == 0 /\ -__disjvr_26^post96+__disjvr_26^0 == 0 /\ -1+a_241^0-a_277^post96 <= 0 /\ __disjvr_27^0-__disjvr_27^post96 == 0 /\ i_108^0-i_108^post96 == 0 /\ -__disjvr_36^post96+__disjvr_36^0 == 0 /\ -temp0_15^post96+temp0_15^0 == 0 /\ -__disjvr_19^post96+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96 == 0 /\ __disjvr_32^0-__disjvr_32^post96 == 0 /\ t_23^0-t_23^post96 == 0 /\ -x_SLAM_f_18^post96+x_SLAM_f_18^0 == 0 /\ __disjvr_22^0-__disjvr_22^post96 == 0 /\ r_124^0-r_124^post96 == 0 /\ __disjvr_25^0-__disjvr_25^post96 == 0 /\ a_308^0-a_308^post96 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -__disjvr_35^post96+__disjvr_35^0 == 0 /\ -__disjvr_42^post96+__disjvr_42^0 == 0 /\ -a_116^post96+a_116^0 == 0 /\ -a_210^post96+a_210^0 == 0 /\ f_170^0-f_170^post96 == 0 /\ __disjvr_34^0-__disjvr_34^post96 == 0 /\ -__disjvr_28^post96+__disjvr_28^0 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -head_SLAM_f_26^post96+head_SLAM_f_26^0 == 0 /\ y_19^0-y_19^post96 == 0 /\ __disjvr_40^0-__disjvr_40^post96 == 0 /\ __disjvr_8^0-__disjvr_8^post96 == 0 /\ -a_184^post96+a_184^0 == 0 /\ -__disjvr_38^post96+__disjvr_38^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post96 == 0 /\ -__disjvr_11^post96+__disjvr_11^0 == 0 /\ -__disjvr_6^post96+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post96 == 0 /\ length_29^0-length_29^post96 == 0 /\ -1-len_226^0+len_276^post96 <= 0 /\ -f_263^post96+f_263^0 == 0 /\ -__disjvr_1^post96+__disjvr_1^0 == 0 /\ len_132^0-len_132^post96 == 0 /\ __disjvr_0^0-__disjvr_0^post96 == 0 /\ __disjvr_7^0-__disjvr_7^post96 == 0 /\ -__disjvr_23^post96+__disjvr_23^0 == 0 /\ -tmp_34^post96+tmp_34^0 == 0 /\ -__disjvr_33^post96+__disjvr_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post96 == 0 /\ -head_32^post96+head_32^0 == 0 /\ __disjvr_17^0-__disjvr_17^post96 == 0 /\ 1-a_241^0+a_277^post96 <= 0 /\ __disjvr_37^0-__disjvr_37^post96 == 0 /\ __disjvr_3^0-__disjvr_3^post96 == 0 /\ head_27^0-f_263^0 <= 0 /\ __disjvr_41^0-__disjvr_41^post96 == 0 /\ a_330^0-a_330^post96 == 0 /\ -r_163^post96+r_163^0 == 0 /\ -r_218^post96+r_218^0 == 0 /\ -a_147^post96+a_147^0 == 0 /\ __disjvr_15^0-__disjvr_15^post96 == 0 /\ a_353^0-a_353^post96 == 0 /\ -head_268^post96+head_268^0 == 0 /\ i_30^0-i_30^post96 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ x_20^0-x_20^post96 == 0 /\ -head_14^post96+head_14^0 == 0 /\ rcd_88^0-rcd_88^post96 == 0 /\ -r_260^post96+r_260^0 == 0 /\ __disjvr_21^0-__disjvr_21^post96 == 0 /\ __disjvr_39^0-__disjvr_39^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_5^post96+__disjvr_5^0 == 0 /\ -len_226^post96+len_226^0 == 0 /\ len_183^0-len_183^post96 == 0 /\ __disjvr_31^0-__disjvr_31^post96 == 0 /\ __disjvr_30^0-__disjvr_30^post96 == 0 /\ -head_27^0+f_263^0 <= 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -head_175^post96+head_175^0 == 0 /\ -x_16^post96+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post96 == 0 /\ -__disjvr_24^post96+__disjvr_24^0 == 0 /\ -i_167^post96+i_167^0 == 0 /\ __disjvr_10^0-__disjvr_10^post96 == 0 /\ -__disjvr_16^post96+__disjvr_16^0 == 0 /\ -head_129^post96+head_129^0 == 0 /\ ct_17^0-ct_17^post96 == 0 /\ __disjvr_14^0-__disjvr_14^post96 == 0), cost: 1
New rule:
l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ head_27^0-f_263^0 == 0), cost: 1

Applied preprocessing
Original rule:
l90 -> l91 : i_108^0'=i_108^post97, __disjvr_7^0'=__disjvr_7^post97, __disjvr_13^0'=__disjvr_13^post97, f_170^0'=f_170^post97, length_29^0'=length_29^post97, __disjvr_25^0'=__disjvr_25^post97, a_330^0'=a_330^post97, __disjvr_20^0'=__disjvr_20^post97, len_183^0'=len_183^post97, __disjvr_37^0'=__disjvr_37^post97, __disjvr_32^0'=__disjvr_32^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, head_223^0'=head_223^post97, r_260^0'=r_260^post97, __disjvr_4^0'=__disjvr_4^post97, __disjvr_10^0'=__disjvr_10^post97, x_20^0'=x_20^post97, __disjvr_41^0'=__disjvr_41^post97, __disjvr_22^0'=__disjvr_22^post97, a_241^0'=a_241^post97, __disjvr_18^0'=__disjvr_18^post97, i_30^0'=i_30^post97, __disjvr_9^0'=__disjvr_9^post97, __disjvr_2^0'=__disjvr_2^post97, rcd_58^0'=rcd_58^post97, head_129^0'=head_129^post97, r_124^0'=r_124^post97, __disjvr_27^0'=__disjvr_27^post97, ct_17^0'=ct_17^post97, temp_35^0'=temp_35^post97, __disjvr_39^0'=__disjvr_39^post97, __disjvr_34^0'=__disjvr_34^post97, t_23^0'=t_23^post97, head_27^0'=head_27^post97, __disjvr_15^0'=__disjvr_15^post97, head_SLAM_f_26^0'=head_SLAM_f_26^post97, __disjvr_6^0'=__disjvr_6^post97, __disjvr_12^0'=__disjvr_12^post97, y_19^0'=y_19^post97, __disjvr_43^0'=__disjvr_43^post97, len_276^0'=len_276^post97, __disjvr_24^0'=__disjvr_24^post97, a_308^0'=a_308^post97, __disjvr_1^0'=__disjvr_1^post97, len_132^0'=len_132^post97, a_147^0'=a_147^post97, __disjvr_31^0'=__disjvr_31^post97, result_11^0'=result_11^post97, head_175^0'=head_175^post97, r_218^0'=r_218^post97, __disjvr_29^0'=__disjvr_29^post97, __disjvr_0^0'=__disjvr_0^post97, x_16^0'=x_16^post97, __disjvr_40^0'=__disjvr_40^post97, __disjvr_36^0'=__disjvr_36^post97, a_210^0'=a_210^post97, __disjvr_17^0'=__disjvr_17^post97, i_167^0'=i_167^post97, __disjvr_8^0'=__disjvr_8^post97, __disjvr_14^0'=__disjvr_14^post97, r_39^0'=r_39^post97, f_263^0'=f_263^post97, nondet_12^0'=nondet_12^post97, __disjvr_26^0'=__disjvr_26^post97, a_353^0'=a_353^post97, __disjvr_21^0'=__disjvr_21^post97, temp0_31^0'=temp0_31^post97, __disjvr_38^0'=__disjvr_38^post97, __disjvr_33^0'=__disjvr_33^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, head_268^0'=head_268^post97, head_32^0'=head_32^post97, __disjvr_5^0'=__disjvr_5^post97, __disjvr_11^0'=__disjvr_11^post97, x_SLAM_f_18^0'=x_SLAM_f_18^post97, __disjvr_42^0'=__disjvr_42^post97, len_226^0'=len_226^post97, __disjvr_23^0'=__disjvr_23^post97, a_277^0'=a_277^post97, __disjvr_19^0'=__disjvr_19^post97, i_94^0'=i_94^post97, a_116^0'=a_116^post97, __disjvr_30^0'=__disjvr_30^post97, rcd_88^0'=rcd_88^post97, head_14^0'=head_14^post97, r_163^0'=r_163^post97, __disjvr_28^0'=__disjvr_28^post97, tmp_34^0'=tmp_34^post97, __disjvr_3^0'=__disjvr_3^post97, __disjvr_35^0'=__disjvr_35^post97, temp0_15^0'=temp0_15^post97, a_184^0'=a_184^post97, __disjvr_16^0'=__disjvr_16^post97, (-tmp_34^post97+tmp_34^0 == 0 /\ -__disjvr_9^post97+__disjvr_9^0 == 0 /\ -a_184^post97+a_184^0 == 0 /\ -a_210^post97+a_210^0 == 0 /\ r_124^0-r_124^post97 == 0 /\ -r_163^post97+r_163^0 == 0 /\ -r_218^post97+r_218^0 == 0 /\ __disjvr_34^0-__disjvr_34^post97 == 0 /\ -__disjvr_10^post97+__disjvr_10^0 == 0 /\ t_23^0-t_23^post97 == 0 /\ -head_32^post97+head_32^0 == 0 /\ -__disjvr_16^post97+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^post97+x_SLAM_f_18^0 == 0 /\ __disjvr_15^0-__disjvr_15^post97 == 0 /\ a_330^0-a_330^post97 == 0 /\ a_353^0-a_353^post97 == 0 /\ -__disjvr_29^post97+__disjvr_29^0 == 0 /\ __disjvr_41^0-__disjvr_41^post97 == 0 /\ -__disjvr_21^post97+__disjvr_21^0 == 0 /\ -__disjvr_23^post97+__disjvr_23^0 == 0 /\ -head_14^post97+head_14^0 == 0 /\ -__disjvr_30^post97+__disjvr_30^0 == 0 /\ -__disjvr_12^post97+__disjvr_12^0 == 0 /\ -__disjvr_22^post97+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post97 == 0 /\ i_167^0-i_167^post97 == 0 /\ __disjvr_7^0-__disjvr_7^post97 == 0 /\ len_183^0-len_183^post97 == 0 /\ head_129^0-head_129^post97 == 0 /\ len_276^0-len_276^post97 == 0 /\ x_20^0-x_20^post97 == 0 /\ __disjvr_20^0-__disjvr_20^post97 == 0 /\ i_30^0-i_30^post97 == 0 /\ __disjvr_37^0-__disjvr_37^post97 == 0 /\ rcd_58^0-rcd_58^post97 == 0 /\ length_29^0-length_29^post97 == 0 /\ -len_132^post97+len_132^0 == 0 /\ -y_19^post97+y_19^0 == 0 /\ i_108^0-i_108^post97 == 0 /\ -__disjvr_35^post97+__disjvr_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post97 == 0 /\ -__disjvr_3^post97+__disjvr_3^0 == 0 /\ -__disjvr_39^post97+__disjvr_39^0 == 0 /\ ct_17^0-ct_17^post97 == 0 /\ -__disjvr_31^post97+__disjvr_31^0 == 0 /\ -a_116^post97+a_116^0 == 0 /\ -__disjvr_6^post97+__disjvr_6^0 == 0 /\ -__disjvr_0^post97+__disjvr_0^0 == 0 /\ -len_226^post97+len_226^0 == 0 /\ -temp0_31^post97+temp0_31^0 == 0 /\ r_260^0-r_260^post97 == 0 /\ __disjvr_42^post97-__disjvr_42^0 == 0 /\ -__disjvr_26^post97+__disjvr_26^0 == 0 /\ temp_35^0-temp_35^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ __disjvr_25^0-__disjvr_25^post97 == 0 /\ a_241^0-a_241^post97 == 0 /\ __disjvr_18^0-__disjvr_18^post97 == 0 /\ head_223^0-head_223^post97 == 0 /\ __disjvr_32^0-__disjvr_32^post97 == 0 /\ -x_16^post97+x_16^0 == 0 /\ -__disjvr_38^post97+__disjvr_38^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ __disjvr_40^0-__disjvr_40^post97 == 0 /\ -__disjvr_36^post97+__disjvr_36^0 == 0 /\ -head_27^post97+head_27^0 == 0 /\ __disjvr_2^0-__disjvr_2^post97 == 0 /\ -i_94^post97+i_94^0 == 0 /\ -head_268^post97+head_268^0 == 0 /\ __disjvr_1^0-__disjvr_1^post97 == 0 /\ __disjvr_33^0-__disjvr_33^post97 == 0 /\ -__disjvr_5^post97+__disjvr_5^0 == 0 /\ -rcd_88^post97+rcd_88^0 == 0 /\ -a_308^post97+a_308^0 == 0 /\ __disjvr_4^0-__disjvr_4^post97 == 0 /\ __disjvr_27^0-__disjvr_27^post97 == 0 /\ -__disjvr_42^post97+__disjvr_42^0 == 0 /\ -__disjvr_28^post97+__disjvr_28^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ -temp0_15^post97+temp0_15^0 == 0 /\ -__disjvr_8^post97+__disjvr_8^0 == 0 /\ f_263^0-f_263^post97 == 0 /\ f_170^0-f_170^post97 == 0 /\ -__disjvr_19^post97+__disjvr_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post97 == 0 /\ __disjvr_43^0-__disjvr_43^post97 == 0 /\ __disjvr_24^0-__disjvr_24^post97 == 0 /\ r_39^0-r_39^post97 == 0 /\ -__disjvr_11^post97+__disjvr_11^0 == 0 /\ a_147^0-a_147^post97 == 0 /\ -__disjvr_17^post97+__disjvr_17^0 == 0 /\ head_175^0-head_175^post97 == 0 /\ -a_277^post97+a_277^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0), cost: 1
New rule:
l90 -> l91 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l91 -> l92 : i_108^0'=i_108^post98, __disjvr_7^0'=__disjvr_7^post98, __disjvr_13^0'=__disjvr_13^post98, f_170^0'=f_170^post98, length_29^0'=length_29^post98, __disjvr_25^0'=__disjvr_25^post98, a_330^0'=a_330^post98, __disjvr_20^0'=__disjvr_20^post98, len_183^0'=len_183^post98, __disjvr_37^0'=__disjvr_37^post98, __disjvr_32^0'=__disjvr_32^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, head_223^0'=head_223^post98, r_260^0'=r_260^post98, __disjvr_4^0'=__disjvr_4^post98, __disjvr_10^0'=__disjvr_10^post98, x_20^0'=x_20^post98, __disjvr_41^0'=__disjvr_41^post98, __disjvr_22^0'=__disjvr_22^post98, a_241^0'=a_241^post98, __disjvr_18^0'=__disjvr_18^post98, i_30^0'=i_30^post98, __disjvr_9^0'=__disjvr_9^post98, __disjvr_2^0'=__disjvr_2^post98, rcd_58^0'=rcd_58^post98, head_129^0'=head_129^post98, r_124^0'=r_124^post98, __disjvr_27^0'=__disjvr_27^post98, ct_17^0'=ct_17^post98, temp_35^0'=temp_35^post98, __disjvr_39^0'=__disjvr_39^post98, __disjvr_34^0'=__disjvr_34^post98, t_23^0'=t_23^post98, head_27^0'=head_27^post98, __disjvr_15^0'=__disjvr_15^post98, head_SLAM_f_26^0'=head_SLAM_f_26^post98, __disjvr_6^0'=__disjvr_6^post98, __disjvr_12^0'=__disjvr_12^post98, y_19^0'=y_19^post98, __disjvr_43^0'=__disjvr_43^post98, len_276^0'=len_276^post98, __disjvr_24^0'=__disjvr_24^post98, a_308^0'=a_308^post98, __disjvr_1^0'=__disjvr_1^post98, len_132^0'=len_132^post98, a_147^0'=a_147^post98, __disjvr_31^0'=__disjvr_31^post98, result_11^0'=result_11^post98, head_175^0'=head_175^post98, r_218^0'=r_218^post98, __disjvr_29^0'=__disjvr_29^post98, __disjvr_0^0'=__disjvr_0^post98, x_16^0'=x_16^post98, __disjvr_40^0'=__disjvr_40^post98, __disjvr_36^0'=__disjvr_36^post98, a_210^0'=a_210^post98, __disjvr_17^0'=__disjvr_17^post98, i_167^0'=i_167^post98, __disjvr_8^0'=__disjvr_8^post98, __disjvr_14^0'=__disjvr_14^post98, r_39^0'=r_39^post98, f_263^0'=f_263^post98, nondet_12^0'=nondet_12^post98, __disjvr_26^0'=__disjvr_26^post98, a_353^0'=a_353^post98, __disjvr_21^0'=__disjvr_21^post98, temp0_31^0'=temp0_31^post98, __disjvr_38^0'=__disjvr_38^post98, __disjvr_33^0'=__disjvr_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, head_268^0'=head_268^post98, head_32^0'=head_32^post98, __disjvr_5^0'=__disjvr_5^post98, __disjvr_11^0'=__disjvr_11^post98, x_SLAM_f_18^0'=x_SLAM_f_18^post98, __disjvr_42^0'=__disjvr_42^post98, len_226^0'=len_226^post98, __disjvr_23^0'=__disjvr_23^post98, a_277^0'=a_277^post98, __disjvr_19^0'=__disjvr_19^post98, i_94^0'=i_94^post98, a_116^0'=a_116^post98, __disjvr_30^0'=__disjvr_30^post98, rcd_88^0'=rcd_88^post98, head_14^0'=head_14^post98, r_163^0'=r_163^post98, __disjvr_28^0'=__disjvr_28^post98, tmp_34^0'=tmp_34^post98, __disjvr_3^0'=__disjvr_3^post98, __disjvr_35^0'=__disjvr_35^post98, temp0_15^0'=temp0_15^post98, a_184^0'=a_184^post98, __disjvr_16^0'=__disjvr_16^post98, (r_218^0-r_218^post98 == 0 /\ __disjvr_39^0-__disjvr_39^post98 == 0 /\ __disjvr_20^0-__disjvr_20^post98 == 0 /\ __disjvr_9^0-__disjvr_9^post98 == 0 /\ -y_19^post98+y_19^0 == 0 /\ -__disjvr_40^post98+__disjvr_40^0 == 0 /\ len_183^0-len_183^post98 == 0 /\ -temp0_31^post98+temp0_31^0 == 0 /\ __disjvr_37^0-__disjvr_37^post98 == 0 /\ f_170^0-f_170^post98 == 0 /\ a_210^0-a_210^post98 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post98 == 0 /\ -head_268^post98+head_268^0 == 0 /\ -i_94^post98+i_94^0 == 0 /\ ct_17^0-ct_17^post98 == 0 /\ -rcd_88^post98+rcd_88^0 == 0 /\ -rcd_58^post98+rcd_58^0 == 0 /\ a_116^0-a_116^post98 == 0 /\ __disjvr_23^0-__disjvr_23^post98 == 0 /\ -__disjvr_19^post98+__disjvr_19^0 == 0 /\ result_11^0-result_11^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -__disjvr_2^post98+__disjvr_2^0 == 0 /\ -__disjvr_8^post98+__disjvr_8^0 == 0 /\ -temp_35^post98+temp_35^0 == 0 /\ r_124^0-r_124^post98 == 0 /\ -head_14^post98+head_14^0 == 0 /\ a_241^0-a_241^post98 == 0 /\ __disjvr_18^0-__disjvr_18^post98 == 0 /\ head_27^0-head_27^post98 == 0 /\ __disjvr_25^0-__disjvr_25^post98 == 0 /\ __disjvr_32^0-__disjvr_32^post98 == 0 /\ -i_30^post98+i_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post98 == 0 /\ __disjvr_1^0-__disjvr_1^post98 == 0 /\ a_147^0-a_147^post98 == 0 /\ __disjvr_6^0-__disjvr_6^post98 == 0 /\ __disjvr_24^0-__disjvr_24^post98 == 0 /\ -__disjvr_11^post98+__disjvr_11^0 == 0 /\ -__disjvr_17^post98+__disjvr_17^0 == 0 /\ -__disjvr_28^post98+__disjvr_28^0 == 0 /\ __disjvr_12^0-__disjvr_12^post98 == 0 /\ -head_175^post98+head_175^0 == 0 /\ __disjvr_13^0-__disjvr_13^post98 == 0 /\ __disjvr_36^0-__disjvr_36^post98 == 0 /\ -__disjvr_34^post98+__disjvr_34^0 == 0 /\ -a_277^post98+a_277^0 == 0 /\ -__disjvr_42^post98+__disjvr_42^0 == 0 /\ x_20^0-x_20^post98 == 0 /\ len_132^0-len_132^post98 == 0 /\ -__disjvr_38^post98+__disjvr_38^0 == 0 /\ __disjvr_7^0-__disjvr_7^post98 == 0 /\ a_330^0-a_330^post98 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ head_129^0-head_129^post98 == 0 /\ __disjvr_10^0-__disjvr_10^post98 == 0 /\ -__disjvr_29^post98+__disjvr_29^0 == 0 /\ -__disjvr_16^post98+__disjvr_16^0 == 0 /\ -i_167^post98+i_167^0 == 0 /\ a_308^0-a_308^post98 == 0 /\ length_29^0-length_29^post98 == 0 /\ -r_163^post98+r_163^0 == 0 /\ -head_32^post98+head_32^0 == 0 /\ -r_39^post98+r_39^0 == 0 /\ -len_276^post98+len_276^0 == 0 /\ i_108^0-i_108^post98 == 0 /\ -__disjvr_33^post98+__disjvr_33^0 == 0 /\ -__disjvr_14^post98+__disjvr_14^0 == 0 /\ __disjvr_43^0-__disjvr_43^post98 == 0 /\ -__disjvr_26^post98+__disjvr_26^0 == 0 /\ -__disjvr_21^post98+__disjvr_21^0 == 0 /\ -t_23^post98+t_23^0 == 0 /\ r_260^0-r_260^post98 == 0 /\ x_16^0-x_16^post98 == 0 /\ -__disjvr_30^post98+__disjvr_30^0 == 0 /\ -temp0_15^post98+temp0_15^0 == 0 /\ -__disjvr_3^post98+__disjvr_3^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -__disjvr_5^post98+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post98 == 0 /\ head_223^0-head_223^post98 == 0 /\ -a_353^post98+a_353^0 == 0 /\ -x_SLAM_f_18^post98+x_SLAM_f_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post98+__disjvr_15^0 == 0 /\ -f_263^post98+f_263^0 == 0 /\ -__disjvr_31^post98+__disjvr_31^0 == 0 /\ -__disjvr_43^0+__disjvr_43^post98 == 0 /\ __disjvr_41^0-__disjvr_41^post98 == 0 /\ -__disjvr_27^post98+__disjvr_27^0 == 0 /\ -__disjvr_35^post98+__disjvr_35^0 == 0 /\ -a_184^post98+a_184^0 == 0 /\ __disjvr_4^0-__disjvr_4^post98 == 0 /\ -len_226^post98+len_226^0 == 0), cost: 1
New rule:
l91 -> l92 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l92 -> l87 : i_108^0'=i_108^post99, __disjvr_7^0'=__disjvr_7^post99, __disjvr_13^0'=__disjvr_13^post99, f_170^0'=f_170^post99, length_29^0'=length_29^post99, __disjvr_25^0'=__disjvr_25^post99, a_330^0'=a_330^post99, __disjvr_20^0'=__disjvr_20^post99, len_183^0'=len_183^post99, __disjvr_37^0'=__disjvr_37^post99, __disjvr_32^0'=__disjvr_32^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, head_223^0'=head_223^post99, r_260^0'=r_260^post99, __disjvr_4^0'=__disjvr_4^post99, __disjvr_10^0'=__disjvr_10^post99, x_20^0'=x_20^post99, __disjvr_41^0'=__disjvr_41^post99, __disjvr_22^0'=__disjvr_22^post99, a_241^0'=a_241^post99, __disjvr_18^0'=__disjvr_18^post99, i_30^0'=i_30^post99, __disjvr_9^0'=__disjvr_9^post99, __disjvr_2^0'=__disjvr_2^post99, rcd_58^0'=rcd_58^post99, head_129^0'=head_129^post99, r_124^0'=r_124^post99, __disjvr_27^0'=__disjvr_27^post99, ct_17^0'=ct_17^post99, temp_35^0'=temp_35^post99, __disjvr_39^0'=__disjvr_39^post99, __disjvr_34^0'=__disjvr_34^post99, t_23^0'=t_23^post99, head_27^0'=head_27^post99, __disjvr_15^0'=__disjvr_15^post99, head_SLAM_f_26^0'=head_SLAM_f_26^post99, __disjvr_6^0'=__disjvr_6^post99, __disjvr_12^0'=__disjvr_12^post99, y_19^0'=y_19^post99, __disjvr_43^0'=__disjvr_43^post99, len_276^0'=len_276^post99, __disjvr_24^0'=__disjvr_24^post99, a_308^0'=a_308^post99, __disjvr_1^0'=__disjvr_1^post99, len_132^0'=len_132^post99, a_147^0'=a_147^post99, __disjvr_31^0'=__disjvr_31^post99, result_11^0'=result_11^post99, head_175^0'=head_175^post99, r_218^0'=r_218^post99, __disjvr_29^0'=__disjvr_29^post99, __disjvr_0^0'=__disjvr_0^post99, x_16^0'=x_16^post99, __disjvr_40^0'=__disjvr_40^post99, __disjvr_36^0'=__disjvr_36^post99, a_210^0'=a_210^post99, __disjvr_17^0'=__disjvr_17^post99, i_167^0'=i_167^post99, __disjvr_8^0'=__disjvr_8^post99, __disjvr_14^0'=__disjvr_14^post99, r_39^0'=r_39^post99, f_263^0'=f_263^post99, nondet_12^0'=nondet_12^post99, __disjvr_26^0'=__disjvr_26^post99, a_353^0'=a_353^post99, __disjvr_21^0'=__disjvr_21^post99, temp0_31^0'=temp0_31^post99, __disjvr_38^0'=__disjvr_38^post99, __disjvr_33^0'=__disjvr_33^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, head_268^0'=head_268^post99, head_32^0'=head_32^post99, __disjvr_5^0'=__disjvr_5^post99, __disjvr_11^0'=__disjvr_11^post99, x_SLAM_f_18^0'=x_SLAM_f_18^post99, __disjvr_42^0'=__disjvr_42^post99, len_226^0'=len_226^post99, __disjvr_23^0'=__disjvr_23^post99, a_277^0'=a_277^post99, __disjvr_19^0'=__disjvr_19^post99, i_94^0'=i_94^post99, a_116^0'=a_116^post99, __disjvr_30^0'=__disjvr_30^post99, rcd_88^0'=rcd_88^post99, head_14^0'=head_14^post99, r_163^0'=r_163^post99, __disjvr_28^0'=__disjvr_28^post99, tmp_34^0'=tmp_34^post99, __disjvr_3^0'=__disjvr_3^post99, __disjvr_35^0'=__disjvr_35^post99, temp0_15^0'=temp0_15^post99, a_184^0'=a_184^post99, __disjvr_16^0'=__disjvr_16^post99, (0 == 0 /\ -len_276^0+len_226^post99 <= 0 /\ -rcd_88^post99+rcd_88^0 == 0 /\ __disjvr_43^0-__disjvr_43^post99 == 0 /\ __disjvr_37^0-__disjvr_37^post99 == 0 /\ i_94^0-i_94^post99 == 0 /\ __disjvr_17^0-__disjvr_17^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_277^post99+a_277^0 == 0 /\ __disjvr_31^0-__disjvr_31^post99 == 0 /\ -x_16^post99+x_16^0 == 0 /\ -__disjvr_35^post99+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post99 == 0 /\ __disjvr_5^0-__disjvr_5^post99 == 0 /\ __disjvr_41^0-__disjvr_41^post99 == 0 /\ -__disjvr_16^post99+__disjvr_16^0 == 0 /\ __disjvr_12^0-__disjvr_12^post99 == 0 /\ -__disjvr_2^post99+__disjvr_2^0 == 0 /\ r_124^0-r_124^post99 == 0 /\ __disjvr_13^0-__disjvr_13^post99 == 0 /\ __disjvr_7^0-__disjvr_7^post99 == 0 /\ __disjvr_40^0-__disjvr_40^post99 == 0 /\ __disjvr_11^0-__disjvr_11^post99 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post99 == 0 /\ __disjvr_10^0-__disjvr_10^post99 == 0 /\ len_276^0-len_226^post99 <= 0 /\ len_183^0-len_183^post99 == 0 /\ -__disjvr_1^post99+__disjvr_1^0 == 0 /\ r_260^0-r_260^post99 == 0 /\ -__disjvr_23^post99+__disjvr_23^0 == 0 /\ y_19^0-y_19^post99 == 0 /\ __disjvr_34^0-__disjvr_34^post99 == 0 /\ -a_147^post99+a_147^0 == 0 /\ -__disjvr_15^post99+__disjvr_15^0 == 0 /\ -__disjvr_27^post99+__disjvr_27^0 == 0 /\ len_132^0-len_132^post99 == 0 /\ head_129^0-head_129^post99 == 0 /\ __disjvr_39^0-__disjvr_39^post99 == 0 /\ __disjvr_24^0-__disjvr_24^post99 == 0 /\ i_108^0-i_108^post99 == 0 /\ ct_17^0-ct_17^post99 == 0 /\ __disjvr_9^0-__disjvr_9^post99 == 0 /\ length_29^0-length_29^post99 == 0 /\ -temp0_15^post99+temp0_15^0 == 0 /\ head_268^0-head_268^post99 == 0 /\ rcd_58^0-rcd_58^post99 == 0 /\ -head_32^post99+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post99 == 0 /\ __disjvr_42^0-__disjvr_42^post99 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_25^0-__disjvr_25^post99 == 0 /\ __disjvr_18^0-__disjvr_18^post99 == 0 /\ f_170^0-f_170^post99 == 0 /\ head_223^0-head_223^post99 == 0 /\ __disjvr_36^0-__disjvr_36^post99 == 0 /\ -__disjvr_38^post99+__disjvr_38^0 == 0 /\ -a_116^post99+a_116^0 == 0 /\ __disjvr_4^0-__disjvr_4^post99 == 0 /\ a_210^0-a_210^post99 == 0 /\ __disjvr_21^0-__disjvr_21^post99 == 0 /\ __disjvr_32^0-__disjvr_32^post99 == 0 /\ __disjvr_20^0-__disjvr_20^post99 == 0 /\ head_27^0-head_27^post99 == 0 /\ -i_167^post99+i_167^0 == 0 /\ -a_184^post99+a_184^0 == 0 /\ -a_241^post99+a_277^0 <= 0 /\ -head_14^post99+head_14^0 == 0 /\ -__disjvr_30^post99+__disjvr_30^0 == 0 /\ -__disjvr_26^post99+__disjvr_26^0 == 0 /\ -__disjvr_14^post99+__disjvr_14^0 == 0 /\ r_218^0-r_218^post99 == 0 /\ -tmp_34^post99+tmp_34^0 == 0 /\ -__disjvr_33^post99+__disjvr_33^0 == 0 /\ -len_276^post99+len_276^0 == 0 /\ -a_353^post99+a_353^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -head_175^post99+head_175^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ -__disjvr_28^post99+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post99+head_SLAM_f_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post99 == 0 /\ a_308^0-a_308^post99 == 0 /\ -t_23^post99+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post99 == 0 /\ -temp_35^post99+temp_35^0 == 0 /\ a_241^post99-a_277^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post99 == 0 /\ -__disjvr_19^post99+__disjvr_19^0 == 0 /\ -a_330^post99+a_330^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_20^post99+x_20^0 == 0 /\ -f_263^post99+f_263^0 == 0 /\ -__disjvr_3^post99+__disjvr_3^0 == 0 /\ -r_39^post99+r_39^0 == 0 /\ -i_30^post99+i_30^0 == 0 /\ -r_163^post99+r_163^0 == 0), cost: 1
New rule:
l92 -> l87 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l87 -> l4 : i_108^0'=i_108^post100, __disjvr_7^0'=__disjvr_7^post100, __disjvr_13^0'=__disjvr_13^post100, f_170^0'=f_170^post100, length_29^0'=length_29^post100, __disjvr_25^0'=__disjvr_25^post100, a_330^0'=a_330^post100, __disjvr_20^0'=__disjvr_20^post100, len_183^0'=len_183^post100, __disjvr_37^0'=__disjvr_37^post100, __disjvr_32^0'=__disjvr_32^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, head_223^0'=head_223^post100, r_260^0'=r_260^post100, __disjvr_4^0'=__disjvr_4^post100, __disjvr_10^0'=__disjvr_10^post100, x_20^0'=x_20^post100, __disjvr_41^0'=__disjvr_41^post100, __disjvr_22^0'=__disjvr_22^post100, a_241^0'=a_241^post100, __disjvr_18^0'=__disjvr_18^post100, i_30^0'=i_30^post100, __disjvr_9^0'=__disjvr_9^post100, __disjvr_2^0'=__disjvr_2^post100, rcd_58^0'=rcd_58^post100, head_129^0'=head_129^post100, r_124^0'=r_124^post100, __disjvr_27^0'=__disjvr_27^post100, ct_17^0'=ct_17^post100, temp_35^0'=temp_35^post100, __disjvr_39^0'=__disjvr_39^post100, __disjvr_34^0'=__disjvr_34^post100, t_23^0'=t_23^post100, head_27^0'=head_27^post100, __disjvr_15^0'=__disjvr_15^post100, head_SLAM_f_26^0'=head_SLAM_f_26^post100, __disjvr_6^0'=__disjvr_6^post100, __disjvr_12^0'=__disjvr_12^post100, y_19^0'=y_19^post100, __disjvr_43^0'=__disjvr_43^post100, len_276^0'=len_276^post100, __disjvr_24^0'=__disjvr_24^post100, a_308^0'=a_308^post100, __disjvr_1^0'=__disjvr_1^post100, len_132^0'=len_132^post100, a_147^0'=a_147^post100, __disjvr_31^0'=__disjvr_31^post100, result_11^0'=result_11^post100, head_175^0'=head_175^post100, r_218^0'=r_218^post100, __disjvr_29^0'=__disjvr_29^post100, __disjvr_0^0'=__disjvr_0^post100, x_16^0'=x_16^post100, __disjvr_40^0'=__disjvr_40^post100, __disjvr_36^0'=__disjvr_36^post100, a_210^0'=a_210^post100, __disjvr_17^0'=__disjvr_17^post100, i_167^0'=i_167^post100, __disjvr_8^0'=__disjvr_8^post100, __disjvr_14^0'=__disjvr_14^post100, r_39^0'=r_39^post100, f_263^0'=f_263^post100, nondet_12^0'=nondet_12^post100, __disjvr_26^0'=__disjvr_26^post100, a_353^0'=a_353^post100, __disjvr_21^0'=__disjvr_21^post100, temp0_31^0'=temp0_31^post100, __disjvr_38^0'=__disjvr_38^post100, __disjvr_33^0'=__disjvr_33^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, head_268^0'=head_268^post100, head_32^0'=head_32^post100, __disjvr_5^0'=__disjvr_5^post100, __disjvr_11^0'=__disjvr_11^post100, x_SLAM_f_18^0'=x_SLAM_f_18^post100, __disjvr_42^0'=__disjvr_42^post100, len_226^0'=len_226^post100, __disjvr_23^0'=__disjvr_23^post100, a_277^0'=a_277^post100, __disjvr_19^0'=__disjvr_19^post100, i_94^0'=i_94^post100, a_116^0'=a_116^post100, __disjvr_30^0'=__disjvr_30^post100, rcd_88^0'=rcd_88^post100, head_14^0'=head_14^post100, r_163^0'=r_163^post100, __disjvr_28^0'=__disjvr_28^post100, tmp_34^0'=tmp_34^post100, __disjvr_3^0'=__disjvr_3^post100, __disjvr_35^0'=__disjvr_35^post100, temp0_15^0'=temp0_15^post100, a_184^0'=a_184^post100, __disjvr_16^0'=__disjvr_16^post100, (-__disjvr_9^post100+__disjvr_9^0 == 0 /\ len_183^0-len_183^post100 == 0 /\ f_170^0-f_170^post100 == 0 /\ y_19^0-y_19^post100 == 0 /\ -rcd_88^post100+rcd_88^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post100+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_30^0-i_30^post100 == 0 /\ __disjvr_34^0-__disjvr_34^post100 == 0 /\ -__disjvr_35^post100+__disjvr_35^0 == 0 /\ __disjvr_4^0-__disjvr_4^post100 == 0 /\ __disjvr_39^0-__disjvr_39^post100 == 0 /\ -__disjvr_30^post100+__disjvr_30^0 == 0 /\ head_268^0-head_268^post100 == 0 /\ -__disjvr_26^post100+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post100 == 0 /\ __disjvr_32^0-__disjvr_32^post100 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ -i_94^post100+i_94^0 == 0 /\ -__disjvr_12^post100+__disjvr_12^0 == 0 /\ head_223^0-head_223^post100 == 0 /\ -__disjvr_1^post100+__disjvr_1^0 == 0 /\ -__disjvr_28^post100+__disjvr_28^0 == 0 /\ -i_167^post100+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post100 == 0 /\ -head_SLAM_f_26^post100+head_SLAM_f_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post100 == 0 /\ head_175^0-head_175^post100 == 0 /\ -f_263^post100+f_263^0 == 0 /\ -head_27^post100+head_27^0 == 0 /\ x_20^0-x_20^post100 == 0 /\ -__disjvr_16^post100+__disjvr_16^0 == 0 /\ -head_129^post100+head_129^0 == 0 /\ a_330^0-a_330^post100 == 0 /\ -__disjvr_23^post100+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post100 == 0 /\ __disjvr_20^0-__disjvr_20^post100 == 0 /\ -head_32^post100+head_32^0 == 0 /\ t_23^0-t_23^post100 == 0 /\ -__disjvr_31^post100+__disjvr_31^0 == 0 /\ __disjvr_40^0-__disjvr_40^post100 == 0 /\ -a_147^post100+a_147^0 == 0 /\ a_277^0-a_277^post100 == 0 /\ -__disjvr_36^post100+__disjvr_36^0 == 0 /\ r_124^0-r_124^post100 == 0 /\ -r_218^post100+r_218^0 == 0 /\ ct_17^0-ct_17^post100 == 0 /\ -__disjvr_6^post100+__disjvr_6^0 == 0 /\ -temp0_15^post100+temp0_15^0 == 0 /\ __disjvr_37^0-__disjvr_37^post100 == 0 /\ -x_SLAM_f_18^post100+x_SLAM_f_18^0 == 0 /\ r_260^0-r_260^post100 == 0 /\ -__disjvr_24^post100+__disjvr_24^0 == 0 /\ __disjvr_33^0-__disjvr_33^post100 == 0 /\ -__disjvr_19^post100+__disjvr_19^0 == 0 /\ -__disjvr_5^post100+__disjvr_5^0 == 0 /\ -head_14^post100+head_14^0 == 0 /\ -len_226^post100+len_226^0 == 0 /\ -a_116^post100+a_116^0 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ __disjvr_38^0-__disjvr_38^post100 == 0 /\ i_108^0-i_108^post100 == 0 /\ a_308^0-a_308^post100 == 0 /\ -temp0_31^post100+temp0_31^0 == 0 /\ a_353^0-a_353^post100 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_16^post100+x_16^0 == 0 /\ -a_184^post100+a_184^0 == 0 /\ -a_210^post100+a_210^0 == 0 /\ -__disjvr_42^post100+__disjvr_42^0 == 0 /\ -result_11^post100+result_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post100 == 0 /\ __disjvr_7^0-__disjvr_7^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100 == 0 /\ -__disjvr_13^post100+__disjvr_13^0 == 0 /\ -__disjvr_11^post100+__disjvr_11^0 == 0 /\ -r_39^post100+r_39^0 == 0 /\ __disjvr_17^0-__disjvr_17^post100 == 0 /\ -__disjvr_0^post100+__disjvr_0^0 == 0 /\ __disjvr_14^0-__disjvr_14^post100 == 0 /\ __disjvr_15^0-__disjvr_15^post100 == 0 /\ __disjvr_10^0-__disjvr_10^post100 == 0 /\ __disjvr_22^0-__disjvr_22^post100 == 0 /\ -__disjvr_3^post100+__disjvr_3^0 == 0 /\ -__disjvr_43^post100+__disjvr_43^0 == 0 /\ __disjvr_41^0-__disjvr_41^post100 == 0 /\ -len_132^post100+len_132^0 == 0 /\ -r_163^post100+r_163^0 == 0 /\ rcd_58^0-rcd_58^post100 == 0 /\ __disjvr_18^0-__disjvr_18^post100 == 0 /\ length_29^0-length_29^post100 == 0 /\ len_276^0-len_276^post100 == 0 /\ __disjvr_27^0-__disjvr_27^post100 == 0 /\ -a_241^post100+a_241^0 == 0), cost: 1
New rule:
l87 -> l4 : TRUE, cost: 1

Applied preprocessing
Original rule:
l93 -> l34 : i_108^0'=i_108^post101, __disjvr_7^0'=__disjvr_7^post101, __disjvr_13^0'=__disjvr_13^post101, f_170^0'=f_170^post101, length_29^0'=length_29^post101, __disjvr_25^0'=__disjvr_25^post101, a_330^0'=a_330^post101, __disjvr_20^0'=__disjvr_20^post101, len_183^0'=len_183^post101, __disjvr_37^0'=__disjvr_37^post101, __disjvr_32^0'=__disjvr_32^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, head_223^0'=head_223^post101, r_260^0'=r_260^post101, __disjvr_4^0'=__disjvr_4^post101, __disjvr_10^0'=__disjvr_10^post101, x_20^0'=x_20^post101, __disjvr_41^0'=__disjvr_41^post101, __disjvr_22^0'=__disjvr_22^post101, a_241^0'=a_241^post101, __disjvr_18^0'=__disjvr_18^post101, i_30^0'=i_30^post101, __disjvr_9^0'=__disjvr_9^post101, __disjvr_2^0'=__disjvr_2^post101, rcd_58^0'=rcd_58^post101, head_129^0'=head_129^post101, r_124^0'=r_124^post101, __disjvr_27^0'=__disjvr_27^post101, ct_17^0'=ct_17^post101, temp_35^0'=temp_35^post101, __disjvr_39^0'=__disjvr_39^post101, __disjvr_34^0'=__disjvr_34^post101, t_23^0'=t_23^post101, head_27^0'=head_27^post101, __disjvr_15^0'=__disjvr_15^post101, head_SLAM_f_26^0'=head_SLAM_f_26^post101, __disjvr_6^0'=__disjvr_6^post101, __disjvr_12^0'=__disjvr_12^post101, y_19^0'=y_19^post101, __disjvr_43^0'=__disjvr_43^post101, len_276^0'=len_276^post101, __disjvr_24^0'=__disjvr_24^post101, a_308^0'=a_308^post101, __disjvr_1^0'=__disjvr_1^post101, len_132^0'=len_132^post101, a_147^0'=a_147^post101, __disjvr_31^0'=__disjvr_31^post101, result_11^0'=result_11^post101, head_175^0'=head_175^post101, r_218^0'=r_218^post101, __disjvr_29^0'=__disjvr_29^post101, __disjvr_0^0'=__disjvr_0^post101, x_16^0'=x_16^post101, __disjvr_40^0'=__disjvr_40^post101, __disjvr_36^0'=__disjvr_36^post101, a_210^0'=a_210^post101, __disjvr_17^0'=__disjvr_17^post101, i_167^0'=i_167^post101, __disjvr_8^0'=__disjvr_8^post101, __disjvr_14^0'=__disjvr_14^post101, r_39^0'=r_39^post101, f_263^0'=f_263^post101, nondet_12^0'=nondet_12^post101, __disjvr_26^0'=__disjvr_26^post101, a_353^0'=a_353^post101, __disjvr_21^0'=__disjvr_21^post101, temp0_31^0'=temp0_31^post101, __disjvr_38^0'=__disjvr_38^post101, __disjvr_33^0'=__disjvr_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, head_268^0'=head_268^post101, head_32^0'=head_32^post101, __disjvr_5^0'=__disjvr_5^post101, __disjvr_11^0'=__disjvr_11^post101, x_SLAM_f_18^0'=x_SLAM_f_18^post101, __disjvr_42^0'=__disjvr_42^post101, len_226^0'=len_226^post101, __disjvr_23^0'=__disjvr_23^post101, a_277^0'=a_277^post101, __disjvr_19^0'=__disjvr_19^post101, i_94^0'=i_94^post101, a_116^0'=a_116^post101, __disjvr_30^0'=__disjvr_30^post101, rcd_88^0'=rcd_88^post101, head_14^0'=head_14^post101, r_163^0'=r_163^post101, __disjvr_28^0'=__disjvr_28^post101, tmp_34^0'=tmp_34^post101, __disjvr_3^0'=__disjvr_3^post101, __disjvr_35^0'=__disjvr_35^post101, temp0_15^0'=temp0_15^post101, a_184^0'=a_184^post101, __disjvr_16^0'=__disjvr_16^post101, (-x_SLAM_f_18^post101+x_SLAM_f_18^0 == 0 /\ __disjvr_25^0-__disjvr_25^post101 == 0 /\ a_241^0-a_241^post101 == 0 /\ r_260^0-r_260^post101 == 0 /\ -a_277^post101+a_277^0 == 0 /\ head_175^0-head_175^post101 == 0 /\ -a_116^post101+a_116^0 == 0 /\ -__disjvr_41^post101+__disjvr_41^0 == 0 /\ __disjvr_15^0-__disjvr_15^post101 == 0 /\ i_108^0-i_108^post101 == 0 /\ temp_35^0-temp_35^post101 == 0 /\ a_330^0-a_330^post101 == 0 /\ __disjvr_1^0-__disjvr_1^post101 == 0 /\ __disjvr_32^0-__disjvr_32^post101 == 0 /\ head_129^0-head_129^post101 == 0 /\ -__disjvr_21^post101+__disjvr_21^0 == 0 /\ -head_14^post101+head_14^0 == 0 /\ -__disjvr_42^post101+__disjvr_42^0 == 0 /\ x_16^0-x_16^post101 == 0 /\ -__disjvr_30^post101+__disjvr_30^0 == 0 /\ -__disjvr_40^post101+__disjvr_40^0 == 0 /\ -a_184^post101+a_184^0 == 0 /\ -tmp_34^post101+tmp_34^0 == 0 /\ -ct_17^post101+ct_17^0 == 0 /\ length_29^0-length_29^post101 == 0 /\ head_32^0-head_32^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101 == 0 /\ -a_210^post101+a_210^0 == 0 /\ len_226^0-len_226^post101 == 0 /\ f_170^0-f_170^post101 == 0 /\ __disjvr_37^0-__disjvr_37^post101 == 0 /\ -__disjvr_23^post101+__disjvr_23^0 == 0 /\ -__disjvr_11^post101+__disjvr_11^0 == 0 /\ __disjvr_27^0-__disjvr_27^post101 == 0 /\ -__disjvr_0^post101+__disjvr_0^0 == 0 /\ __disjvr_4^0-__disjvr_4^post101 == 0 /\ -head_27^post101+head_27^0 == 0 /\ r_39^0-r_39^post101 == 0 /\ i_167^0-i_167^post101 == 0 /\ -__disjvr_39^post101+__disjvr_39^0 == 0 /\ -__disjvr_3^post101+__disjvr_3^0 == 0 /\ -__disjvr_36^post101+__disjvr_36^0 == 0 /\ __disjvr_2^0-__disjvr_2^post101 == 0 /\ -__disjvr_31^post101+__disjvr_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post101 == 0 /\ result_11^0-result_11^post101 == 0 /\ len_276^0-len_276^post101 == 0 /\ -len_132^post101+len_132^0 == 0 /\ -r_163^post101+r_163^0 == 0 /\ rcd_58^0-rcd_58^post101 == 0 /\ r_218^0-r_218^post101 == 0 /\ __disjvr_24^0-__disjvr_24^post101 == 0 /\ -rcd_88^post101+rcd_88^0 == 0 /\ __disjvr_18^0-__disjvr_18^post101 == 0 /\ f_263^0-f_263^post101 == 0 /\ head_223^0-head_223^post101 == 0 /\ -__disjvr_17^post101+__disjvr_17^0 == 0 /\ -__disjvr_14^post101+__disjvr_14^0 == 0 /\ temp0_31^0-temp0_31^post101 == 0 /\ -__disjvr_34^post101+__disjvr_34^0 == 0 /\ -__disjvr_35^post101+__disjvr_35^0 == 0 /\ __disjvr_22^0-__disjvr_22^post101 == 0 /\ -__disjvr_38^post101+__disjvr_38^0 == 0 /\ -__disjvr_28^post101+__disjvr_28^0 == 0 /\ -__disjvr_5^post101+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post101 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post101 == 0 /\ __disjvr_12^0-__disjvr_12^post101 == 0 /\ __disjvr_7^0-__disjvr_7^post101 == 0 /\ len_183^0-len_183^post101 == 0 /\ -i_94^post101+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post101 == 0 /\ -__disjvr_8^post101+__disjvr_8^0 == 0 /\ -__disjvr_16^post101+__disjvr_16^0 == 0 /\ a_147^0-a_147^post101 == 0 /\ __disjvr_43^0-__disjvr_43^post101 == 0 /\ -__disjvr_10^post101+__disjvr_10^0 == 0 /\ -__disjvr_33^post101+__disjvr_33^0 == 0 /\ -y_19^post101+y_19^0 == 0 /\ i_30^0-i_30^post101 == 0 /\ x_20^0-x_20^post101 == 0 /\ __disjvr_20^0-__disjvr_20^post101 == 0 /\ -temp0_15^post101+temp0_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post101 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 == 0 /\ -__disjvr_29^post101+__disjvr_29^0 == 0 /\ -a_353^post101+a_353^0 == 0 /\ -a_308^post101+a_308^0 == 0 /\ -__disjvr_19^post101+__disjvr_19^0 == 0 /\ t_23^0-t_23^post101 == 0 /\ -head_268^post101+head_268^0 == 0 /\ r_124^0-r_124^post101 == 0), cost: 1
New rule:
l93 -> l34 : TRUE, cost: 1

Simplified rules
Start location: l93
 110: l1 -> l28 : ct_17^0'=ct_17^post28, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, len_226^0 >= 0, cost: 1
 135: l4 -> l85 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1
 138: l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1
 102: l10 -> l13 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, a_330^0 >= 0, cost: 1
 103: l13 -> l14 : 0 == 0, cost: 1
 104: l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0), cost: 1
 105: l15 -> l16 : 0 == 0, cost: 1
 106: l16 -> l17 : 0 == 0, cost: 1
 107: l17 -> l18 : 0 == 0, cost: 1
 108: l18 -> l12 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 109: l12 -> l10 : TRUE, cost: 1
 111: l28 -> l29 : 0 == 0, cost: 1
 112: l29 -> l30 : t_23^0'=head_14^0, a_308^0'=a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0 /\ -x_20^0+head_14^0 == 0), cost: 1
 113: l30 -> l31 : 0 == 0, cost: 1
 114: l31 -> l32 : 0 == 0, cost: 1
 115: l32 -> l33 : 0 == 0, cost: 1
 116: l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 117: l34 -> l35 : length_29^0'=nondet_12^10, i_30^0'=0, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=0, 0 == 0, cost: 1
 134: l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ -1+length_29^0 >= 0), cost: 1
 118: l36 -> l37 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 1
 121: l36 -> l40 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1
 119: l37 -> l38 : 0 == 0, cost: 1
 120: l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 122: l40 -> l41 : 0 == 0, cost: 1
 123: l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1
 124: l42 -> l43 : 0 == 0, cost: 1
 125: l43 -> l44 : 0 == 0, cost: 1
 126: l44 -> l39 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 127: l39 -> l36 : TRUE, cost: 1
 128: l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1
 129: l81 -> l82 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 1
 132: l81 -> l84 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1
 130: l82 -> l83 : 0 == 0, cost: 1
 131: l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1
 133: l84 -> l81 : TRUE, cost: 1
 136: l85 -> l86 : 0 == 0, cost: 1
 137: l86 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 139: l88 -> l89 : 0 == 0, cost: 1
 140: l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ head_27^0-f_263^0 == 0), cost: 1
 141: l90 -> l91 : 0 == 0, cost: 1
 142: l91 -> l92 : 0 == 0, cost: 1
 143: l92 -> l87 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 144: l87 -> l4 : TRUE, cost: 1
 145: l93 -> l34 : TRUE, cost: 1


Eliminating location l34 by chaining:

Applied chaining
First rule:
l93 -> l34 : TRUE, cost: 1
Second rule:
l34 -> l35 : length_29^0'=nondet_12^10, i_30^0'=0, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=0, 0 == 0, cost: 1
New rule:
l93 -> l35 : length_29^0'=nondet_12^10, i_30^0'=0, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 117 145

Eliminating location l35 by chaining:

Applied chaining
First rule:
l93 -> l35 : length_29^0'=nondet_12^10, i_30^0'=0, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=0, 0 == 0, cost: 2
Second rule:
l35 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1+i_30^0, temp_35^0'=temp_35^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (i_30^0 == 0 /\ -1+length_29^0 >= 0), cost: 1
New rule:
l93 -> l62 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post90, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l93 -> l62 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post90, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l93 -> l62 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post90, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 134 146

Eliminating location l62 by chaining:

Applied chaining
First rule:
l93 -> l62 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=1, temp_35^0'=temp_35^post90, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l62 -> l81 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, head_32^0'=temp_35^0, tmp_34^0'=temp_35^0, (-1+i_30^0 == 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1
New rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4

Applied simplification
Original rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4
New rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 128 147

Eliminating location l82 by chaining:

Applied chaining
First rule:
l81 -> l82 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 1
Second rule:
l82 -> l83 : 0 == 0, cost: 1
New rule:
l81 -> l83 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (0 == 0 /\ i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 2

Applied simplification
Original rule:
l81 -> l83 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (0 == 0 /\ i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 2
New rule:
l81 -> l83 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 129 130

Eliminating location l84 by chaining:

Applied chaining
First rule:
l81 -> l84 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 1
Second rule:
l84 -> l81 : TRUE, cost: 1
New rule:
l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 132 133

Eliminating location l83 by chaining:

Applied chaining
First rule:
l81 -> l83 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 2
Second rule:
l83 -> l36 : (-i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_167^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1
New rule:
l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 131 149

Eliminating location l37 by chaining:

Applied chaining
First rule:
l36 -> l37 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 1
Second rule:
l37 -> l38 : 0 == 0, cost: 1
New rule:
l36 -> l38 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (0 == 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 2

Applied simplification
Original rule:
l36 -> l38 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (0 == 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 2
New rule:
l36 -> l38 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 2

Applied deletion
Removed the following rules: 118 119

Eliminating location l40 by chaining:

Applied chaining
First rule:
l36 -> l40 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1
Second rule:
l40 -> l41 : 0 == 0, cost: 1
New rule:
l36 -> l41 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2

Applied simplification
Original rule:
l36 -> l41 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2
New rule:
l36 -> l41 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 121 122

Eliminating location l38 by chaining:

Applied chaining
First rule:
l36 -> l38 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 2
Second rule:
l38 -> l4 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3

Applied deletion
Removed the following rules: 120 152

Eliminating location l41 by chaining:

Applied chaining
First rule:
l36 -> l41 : f_170^0'=f_170^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2
Second rule:
l41 -> l42 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (f_170^0-head_27^0 == 0 /\ -head_SLAM_f_26^0+head_14^0 == 0), cost: 1
New rule:
l36 -> l42 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 3

Applied deletion
Removed the following rules: 123 153

Eliminating location l42 by chaining:

Applied chaining
First rule:
l36 -> l42 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 3
Second rule:
l42 -> l43 : 0 == 0, cost: 1
New rule:
l36 -> l43 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 4

Applied simplification
Original rule:
l36 -> l43 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 4
New rule:
l36 -> l43 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 4

Applied deletion
Removed the following rules: 124 155

Eliminating location l43 by chaining:

Applied chaining
First rule:
l36 -> l43 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 4
Second rule:
l43 -> l44 : 0 == 0, cost: 1
New rule:
l36 -> l44 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 5

Applied simplification
Original rule:
l36 -> l44 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 5
New rule:
l36 -> l44 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 5

Applied deletion
Removed the following rules: 125 156

Eliminating location l44 by chaining:

Applied chaining
First rule:
l36 -> l44 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 5
Second rule:
l44 -> l39 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l36 -> l39 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 6

Applied deletion
Removed the following rules: 126 157

Eliminating location l39 by chaining:

Applied chaining
First rule:
l36 -> l39 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 6
Second rule:
l39 -> l36 : TRUE, cost: 1
New rule:
l36 -> l36 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 7

Applied deletion
Removed the following rules: 127 158

Eliminating location l85 by chaining:

Applied chaining
First rule:
l4 -> l85 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 1
Second rule:
l85 -> l86 : 0 == 0, cost: 1
New rule:
l4 -> l86 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 2

Applied simplification
Original rule:
l4 -> l86 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 2
New rule:
l4 -> l86 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 135 136

Eliminating location l88 by chaining:

Applied chaining
First rule:
l4 -> l88 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 1
Second rule:
l88 -> l89 : 0 == 0, cost: 1
New rule:
l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ len_226^0 >= 0), cost: 2

Applied simplification
Original rule:
l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ len_226^0 >= 0), cost: 2
New rule:
l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 138 139

Eliminating location l86 by chaining:

Applied chaining
First rule:
l4 -> l86 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0), cost: 2
Second rule:
l86 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l4 -> l1 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 3

Applied deletion
Removed the following rules: 137 160

Eliminating location l89 by chaining:

Applied chaining
First rule:
l4 -> l89 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ len_226^0 >= 0), cost: 2
Second rule:
l89 -> l90 : len_276^0'=1+len_226^0, a_277^0'=-1+a_241^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ head_27^0-f_263^0 == 0), cost: 1
New rule:
l4 -> l90 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 140 161

Eliminating location l1 by chaining:

Applied chaining
First rule:
l4 -> l1 : x_20^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, x_SLAM_f_18^0'=head_14^0, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 3
Second rule:
l1 -> l28 : ct_17^0'=ct_17^post28, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, len_226^0 >= 0, cost: 1
New rule:
l4 -> l28 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 4

Applied deletion
Removed the following rules: 110 162

Eliminating location l90 by chaining:

Applied chaining
First rule:
l4 -> l90 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 3
Second rule:
l90 -> l91 : 0 == 0, cost: 1
New rule:
l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 4
New rule:
l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 4

Applied deletion
Removed the following rules: 141 163

Eliminating location l28 by chaining:

Applied chaining
First rule:
l4 -> l28 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 4
Second rule:
l28 -> l29 : 0 == 0, cost: 1
New rule:
l4 -> l29 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 5

Applied simplification
Original rule:
l4 -> l29 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 5
New rule:
l4 -> l29 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 5

Applied deletion
Removed the following rules: 111 164

Eliminating location l91 by chaining:

Applied chaining
First rule:
l4 -> l91 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 4
Second rule:
l91 -> l92 : 0 == 0, cost: 1
New rule:
l4 -> l92 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 5

Applied simplification
Original rule:
l4 -> l92 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 5
New rule:
l4 -> l92 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 5

Applied deletion
Removed the following rules: 142 165

Eliminating location l29 by chaining:

Applied chaining
First rule:
l4 -> l29 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ len_226^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 5
Second rule:
l29 -> l30 : t_23^0'=head_14^0, a_308^0'=a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0 /\ -x_20^0+head_14^0 == 0), cost: 1
New rule:
l4 -> l30 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 6

Applied deletion
Removed the following rules: 112 166

Eliminating location l92 by chaining:

Applied chaining
First rule:
l4 -> l92 : head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ len_226^0 >= 0), cost: 5
Second rule:
l92 -> l87 : a_241^0'=a_277^0, len_226^0'=len_276^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l4 -> l87 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 6

Applied deletion
Removed the following rules: 143 167

Eliminating location l30 by chaining:

Applied chaining
First rule:
l4 -> l30 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 6
Second rule:
l30 -> l31 : 0 == 0, cost: 1
New rule:
l4 -> l31 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 7

Applied simplification
Original rule:
l4 -> l31 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 7
New rule:
l4 -> l31 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 7

Applied deletion
Removed the following rules: 113 168

Eliminating location l87 by chaining:

Applied chaining
First rule:
l4 -> l87 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 6
Second rule:
l87 -> l4 : TRUE, cost: 1
New rule:
l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7

Applied deletion
Removed the following rules: 144 169

Eliminating location l31 by chaining:

Applied chaining
First rule:
l4 -> l31 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 7
Second rule:
l31 -> l32 : 0 == 0, cost: 1
New rule:
l4 -> l32 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 8

Applied simplification
Original rule:
l4 -> l32 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 8
New rule:
l4 -> l32 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 8

Applied deletion
Removed the following rules: 114 170

Eliminating location l32 by chaining:

Applied chaining
First rule:
l4 -> l32 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 8
Second rule:
l32 -> l33 : 0 == 0, cost: 1
New rule:
l4 -> l33 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 9

Applied simplification
Original rule:
l4 -> l33 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (0 == 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 9
New rule:
l4 -> l33 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 9

Applied deletion
Removed the following rules: 115 172

Eliminating location l33 by chaining:

Applied chaining
First rule:
l4 -> l33 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 9
Second rule:
l33 -> l10 : len_226^0'=1+a_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10

Applied deletion
Removed the following rules: 116 173

Eliminating location l13 by chaining:

Applied chaining
First rule:
l10 -> l13 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, a_330^0 >= 0, cost: 1
Second rule:
l13 -> l14 : 0 == 0, cost: 1
New rule:
l10 -> l14 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0), cost: 2

Applied simplification
Original rule:
l10 -> l14 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0), cost: 2
New rule:
l10 -> l14 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, a_330^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 102 103

Eliminating location l14 by chaining:

Applied chaining
First rule:
l10 -> l14 : ct_17^0'=ct_17^post10, x_16^0'=x_16^post10, r_39^0'=r_39^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, a_330^0 >= 0, cost: 2
Second rule:
l14 -> l15 : t_23^0'=x_20^0, a_353^0'=-1+a_330^0, (ct_17^0-y_19^0 == 0 /\ -x_16^0+x_SLAM_f_18^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 == 0 /\ ct_17^0 == 0), cost: 1
New rule:
l10 -> l15 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 3

Applied deletion
Removed the following rules: 104 175

Eliminating location l15 by chaining:

Applied chaining
First rule:
l10 -> l15 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 3
Second rule:
l15 -> l16 : 0 == 0, cost: 1
New rule:
l10 -> l16 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 4

Applied simplification
Original rule:
l10 -> l16 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 4
New rule:
l10 -> l16 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 4

Applied deletion
Removed the following rules: 105 176

Eliminating location l16 by chaining:

Applied chaining
First rule:
l10 -> l16 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 4
Second rule:
l16 -> l17 : 0 == 0, cost: 1
New rule:
l10 -> l17 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 5

Applied simplification
Original rule:
l10 -> l17 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 5
New rule:
l10 -> l17 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 5

Applied deletion
Removed the following rules: 106 177

Eliminating location l17 by chaining:

Applied chaining
First rule:
l10 -> l17 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 5
Second rule:
l17 -> l18 : 0 == 0, cost: 1
New rule:
l10 -> l18 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 6

Applied simplification
Original rule:
l10 -> l18 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (0 == 0 /\ a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 6
New rule:
l10 -> l18 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 6

Applied deletion
Removed the following rules: 107 178

Eliminating location l18 by chaining:

Applied chaining
First rule:
l10 -> l18 : ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 6
Second rule:
l18 -> l12 : a_330^0'=a_353^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l10 -> l12 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 7

Applied deletion
Removed the following rules: 108 179

Eliminating location l12 by chaining:

Applied chaining
First rule:
l10 -> l12 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 7
Second rule:
l12 -> l10 : TRUE, cost: 1
New rule:
l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 8

Applied deletion
Removed the following rules: 109 180

Eliminated locations on linear paths
Start location: l93
 171: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 181: l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 8
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 159: l36 -> l36 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 7
 150: l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4


Applied simplification
Original rule:
l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=f_263^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_14^post94, (a_241^0 >= 0 /\ head_27^0-f_263^post94 == 0 /\ head_14^post94-head_SLAM_f_26^post94 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7
New rule:
l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7

Simplified simple loops
Start location: l93
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 182: l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7
 181: l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 8
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 159: l36 -> l36 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 7
 150: l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l4 -> l4 : a_241^0'=-1+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+len_226^0, a_277^0'=-1+a_241^0, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7
New rule:
l4 -> l4 : a_241^0'=-n+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=n+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=n+len_226^0, a_277^0'=-n+a_241^0, head_14^0'=head_SLAM_f_26^post94, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0 /\ -1+n >= 0 /\ 1-n+a_241^0 >= 0), cost: 7*n
Sub-proof via acceration calculus written to file:///tmp/tmpnam_FhgaIj.txt

Applied instantiation
Original rule:
l4 -> l4 : a_241^0'=-n+a_241^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=n+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=n+len_226^0, a_277^0'=-n+a_241^0, head_14^0'=head_SLAM_f_26^post94, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0 /\ -1+n >= 0 /\ 1-n+a_241^0 >= 0), cost: 7*n
New rule:
l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (0 >= 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0

Applied simplification
Original rule:
l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (0 >= 0 /\ a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0
New rule:
l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0

Applied deletion
Removed the following rules: 182

Applied simplification
Original rule:
l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=ct_17^post10, t_23^0'=x_20^0, x_16^0'=x_16^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=head_14^post10, (a_330^0 >= 0 /\ -y_19^0+ct_17^post10 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10 == 0 /\ -x_16^post10+x_SLAM_f_18^post10 == 0 /\ head_14^post10-x_SLAM_f_18^post10 == 0), cost: 8
New rule:
l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8

Simplified simple loops
Start location: l93
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 184: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0
 185: l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 159: l36 -> l36 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 7
 150: l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l10 -> l10 : a_330^0'=-1+a_330^0, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1+a_330^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8
New rule:
l10 -> l10 : a_330^0'=a_330^0-n0, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=a_330^0-n0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (-y_19^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ -1+n0 >= 0 /\ 1+a_330^0-n0 >= 0), cost: 8*n0
Sub-proof via acceration calculus written to file:///tmp/tmpnam_DGbAbH.txt

Applied instantiation
Original rule:
l10 -> l10 : a_330^0'=a_330^0-n0, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=a_330^0-n0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (-y_19^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ -1+n0 >= 0 /\ 1+a_330^0-n0 >= 0), cost: 8*n0
New rule:
l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (0 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0

Applied simplification
Original rule:
l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (0 >= 0 /\ -y_19^0 >= 0 /\ a_330^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0
New rule:
l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0

Applied deletion
Removed the following rules: 185

Applied simplification
Original rule:
l36 -> l36 : f_170^0'=f_170^post39, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -head_27^0+f_170^post39 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -head_SLAM_f_26^post39+head_14^post39 == 0), cost: 7
New rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7

Simplified simple loops
Start location: l93
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 184: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0
 187: l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 188: l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7
 150: l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0, a_147^0'=-1+a_147^0, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1+a_147^0, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7
New rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=len_132^0+n1, head_SLAM_f_26^0'=head_14^post39, len_132^0'=len_132^0+n1, a_147^0'=a_147^0-n1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=a_147^0-n1, (len_132^0 >= 0 /\ -1+n1 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ 1+a_147^0-n1 >= 0), cost: 7*n1
Sub-proof via acceration calculus written to file:///tmp/tmpnam_caFDmm.txt

Applied instantiation
Original rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=len_132^0+n1, head_SLAM_f_26^0'=head_14^post39, len_132^0'=len_132^0+n1, a_147^0'=a_147^0-n1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=a_147^0-n1, (len_132^0 >= 0 /\ -1+n1 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ 1+a_147^0-n1 >= 0), cost: 7*n1
New rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1, (0 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7+7*a_147^0

Applied simplification
Original rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1, (0 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7+7*a_147^0
New rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7+7*a_147^0

Applied deletion
Removed the following rules: 188

Applied acceleration
Original rule:
l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
New rule:
l81 -> l81 : i_30^0'=n2+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+n2+i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (length_29^0-n2-i_30^0 >= 0 /\ i_30^0 >= 0 /\ -2+n2 >= 0), cost: 2*n2
Sub-proof via acceration calculus written to file:///tmp/tmpnam_bjFHgm.txt

Applied instantiation
Original rule:
l81 -> l81 : i_30^0'=n2+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+n2+i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (length_29^0-n2-i_30^0 >= 0 /\ i_30^0 >= 0 /\ -2+n2 >= 0), cost: 2*n2
New rule:
l81 -> l81 : i_30^0'=length_29^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (0 >= 0 /\ i_30^0 >= 0 /\ -2+length_29^0-i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0

Applied simplification
Original rule:
l81 -> l81 : i_30^0'=length_29^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (0 >= 0 /\ i_30^0 >= 0 /\ -2+length_29^0-i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0
New rule:
l81 -> l81 : i_30^0'=length_29^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (i_30^0 >= 0 /\ -2+length_29^0-i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0

Accelerated simple loops
Start location: l93
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 184: l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0
 187: l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 190: l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7+7*a_147^0
 150: l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 192: l81 -> l81 : i_30^0'=length_29^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (i_30^0 >= 0 /\ -2+length_29^0-i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
Second rule:
l4 -> l4 : a_241^0'=-1, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_27^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (a_241^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 >= 0), cost: 7+7*a_241^0
New rule:
l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 == 0), cost: 10+7*a_241^0

Applied deletion
Removed the following rules: 184

Applied chaining
First rule:
l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
Second rule:
l10 -> l10 : a_330^0'=-1, ct_17^0'=y_19^0, t_23^0'=x_20^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0), cost: 8+8*a_330^0
New rule:
l4 -> l10 : a_330^0'=-1, x_20^0'=head_14^0, ct_17^0'=0, t_23^0'=head_14^0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, len_226^0'=1+a_330^0, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ len_226^0 >= 0), cost: 18+8*a_330^0

Applied deletion
Removed the following rules: 187

Applied chaining
First rule:
l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
Second rule:
l36 -> l36 : f_170^0'=head_27^0, len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, head_175^0'=head_175^post39, r_39^0'=r_39^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_14^0'=head_14^post39, a_184^0'=-1, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0), cost: 7+7*a_147^0
New rule:
l81 -> l36 : f_170^0'=head_32^0, length_29^0'=length_29^post84, len_183^0'=1+len_132^0+a_147^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, result_11^0'=result_11^post84, head_175^0'=head_175^post39, i_167^0'=i_167^post84, r_39^0'=r_39^post39, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_32^0'=head_32^post84, head_14^0'=head_14^post39, tmp_34^0'=tmp_34^post84, a_184^0'=-1, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -2+i_167^post84 >= 0 /\ -2+a_147^0 >= 0), cost: 10+7*a_147^0

Applied deletion
Removed the following rules: 190

Applied chaining
First rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l81 -> l81 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1-length_29^0+i_30^0 <= 0), cost: 2
New rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=3, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post87, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post83, i_94^0'=2, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post83, -3+nondet_12^10 >= 0, cost: 6

Applied chaining
First rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l81 -> l81 : i_30^0'=length_29^0, temp_35^0'=temp_35^post87, head_32^0'=temp_35^post87, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, (i_30^0 >= 0 /\ -2+length_29^0-i_30^0 >= 0), cost: 2*length_29^0-2*i_30^0
New rule:
l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=nondet_12^10, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post87, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post87, i_94^0'=-1+nondet_12^10, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 150 192

Chained accelerated rules with incoming rules
Start location: l93
 174: l4 -> l10 : x_20^0'=head_14^0, ct_17^0'=ct_17^post28, t_23^0'=head_14^post28, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_16^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, len_226^0'=1+a_330^0, head_14^0'=head_14^post28, (a_241^0 >= 0 /\ head_27^0 == 0 /\ head_14^post28-x_SLAM_f_18^post28 == 0 /\ head_14^post28-head_14^0 == 0 /\ -x_16^post28+x_SLAM_f_18^post28 == 0 /\ len_226^0 >= 0 /\ ct_17^post28 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 >= 0), cost: 10
 194: l4 -> l10 : a_330^0'=-1, x_20^0'=head_14^0, ct_17^0'=0, t_23^0'=head_14^0, head_27^0'=head_27^post91, head_SLAM_f_26^0'=head_SLAM_f_26^post91, y_19^0'=0, a_308^0'=a_330^0, x_16^0'=x_SLAM_f_18^post10, r_39^0'=r_39^post10, a_353^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, len_226^0'=1+a_330^0, head_14^0'=x_SLAM_f_18^post10, (a_330^0 >= 0 /\ a_241^0 >= 0 /\ head_27^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ len_226^0 >= 0), cost: 18+8*a_330^0
 154: l36 -> l4 : head_27^0'=head_14^0, head_SLAM_f_26^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 >= 0 /\ head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ len_226^0 == 0), cost: 3
 193: l36 -> l4 : a_241^0'=-1, head_27^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post94, len_276^0'=1+a_241^0+len_226^0, r_39^0'=r_39^post94, f_263^0'=head_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, head_268^0'=head_268^post94, len_226^0'=1+a_241^0+len_226^0, a_277^0'=-1, head_14^0'=head_SLAM_f_26^post94, (head_27^0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ a_241^0-len_132^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ len_226^0 == 0), cost: 10+7*a_241^0
 151: l81 -> l36 : length_29^0'=length_29^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_32^0, result_11^0'=result_11^post84, i_167^0'=i_167^post84, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, head_32^0'=head_32^post84, head_14^0'=head_32^0, tmp_34^0'=tmp_34^post84, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post84 >= 0 /\ i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-i_167^post84 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post84-a_147^0 <= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0), cost: 3
 195: l81 -> l36 : f_170^0'=head_32^0, length_29^0'=length_29^post84, len_183^0'=1+len_132^0+a_147^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, i_30^0'=a_147^0, temp_35^0'=temp_35^post84, head_27^0'=head_32^0, head_SLAM_f_26^0'=head_14^post39, len_132^0'=1+len_132^0+a_147^0, a_147^0'=-1, result_11^0'=result_11^post84, head_175^0'=head_175^post39, i_167^0'=i_167^post84, r_39^0'=r_39^post39, temp0_31^0'=temp0_31^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, head_32^0'=head_32^post84, head_14^0'=head_14^post39, tmp_34^0'=tmp_34^post84, a_184^0'=-1, (i_30^0 >= 0 /\ len_132^0 == 0 /\ length_29^0-i_30^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 >= 0 /\ -2+i_167^post84 >= 0 /\ -2+a_147^0 >= 0), cost: 10+7*a_147^0
 148: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=2, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post83, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post90, tmp_34^0'=temp_35^post90, -2+nondet_12^10 >= 0, cost: 4
 196: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=3, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post87, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post83, i_94^0'=2, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post83, -3+nondet_12^10 >= 0, cost: 6
 197: l93 -> l81 : length_29^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post90, i_30^0'=nondet_12^10, rcd_58^0'=rcd_58^post83, temp_35^0'=temp_35^post87, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, head_32^0'=temp_35^post87, i_94^0'=-1+nondet_12^10, rcd_88^0'=rcd_88^post87, tmp_34^0'=temp_35^post87, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l93
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0